adhoc

completed
2026-09-23T21:36:37.394654+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
225.5 s
total steps
357
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe loose cap is left of center and the pen lies diagonally just right of center; the left arm is the natural choice for the cap. I’m moving the open left gripper above the cap with the jaws rotated across its long axis.
move_to
left_x0.3900left_y-0.2400left_z0.1500left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3801, -0.0196, -0.0246, 0.9996, -0.0185, 0.7914, 0.6086, -0.3786, -0.0235, -0.0147, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0023 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.3897, -1.5111, 10.5504, 1.7363, -0.0513, 0.0611, -0.0513, -0.5812, -1.2376, 9.894, 1.8779, -0.0317, -0.0317, -0.0855] 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":0.39,"left_y":-0.24,"left_z":0.15,"left_yaw":-0.75,"left_gripper":1.0},"note":"The loose cap is left of center and the pen lies diagonally just right of center; the left arm is the natural choice for the cap. I’m moving the open left gripper above the cap with the jaws rotated across its long axis."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteIn the left wrist view the cap is very close to the fingertips but sits about 1–2 cm left of the jaw centerline. I’m making a small tool-left correction while staying above the table before descending.
move_to
left_x0.4050left_y-0.2050left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.466, 1.5612, 0.9081, -0.0196, 0.1921, 0.1043, 0.9996, -0.0193, 0.7979, 0.6128, -0.3908, -0.0235, -0.0147, 0.9993] state[eef_state]: left_x=0.3787 left_y=-0.2242 left_z=0.1232 left_yaw=-0.6938 left_pitch=-0.0868 left_roll=-0.0278 left_gripper=0.9996 right_x=0.2947 right_y=0.0021 right_z=0.1807 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.4581, -7.2137, 9.9761, 1.9707, 0.3883, 0.1441, -0.0513, -0.3214, -1.7436, 6.694, 1.8193, -0.0611, -0.0415, -0.022] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.205,"left_z":0.15},"note":"In the left wrist view the cap is very close to the fingertips but sits about 1–2 cm left of the jaw centerline. I’m making a small tool-left correction while staying above the table before descending."})
tool
executing move_to over 3 steps (0.3s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe cap now lines up with the left jaw centerline and reaches the bottom edge, indicating it is directly at the grasp point. I’m descending vertically to table level to enclose it.
move_to
left_x0.4050left_y-0.2050left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3901, 1.581, 0.9897, -0.1192, 0.2348, 0.1238, 0.9996, -0.0193, 0.7979, 0.6128, -0.3923, -0.0231, -0.0147, 0.9993] state[eef_state]: left_x=0.3955 left_y=-0.2031 left_z=0.1316 left_yaw=-0.6651 left_pitch=-0.1163 left_roll=-0.0484 left_gripper=0.9996 right_x=0.2945 right_y=0.002 right_z=0.1804 right_yaw=-0.0011 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-0.0205, -6.7897, 10.0171, 1.7509, 0.1587, 0.3004, -0.0171, -0.0342, -1.1556, 6.9949, 1.7607, -0.022, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.205,"left_z":-0.005},"note":"The cap now lines up with the left jaw centerline and reaches the bottom edge, indicating it is directly at the grasp point. I’m descending vertically to table level to enclose it."})
tool
executing move_to over 9 steps (0.9s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe attempted full descent stalled at about 14 cm, so the arm is not in contact and needs a less aggressive intermediate pose. I’m keeping the cap centered while requesting a modest 8 cm descent to help the IK unfold.
move_to
left_x0.4000left_y-0.2000left_z0.0600left_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.5852, 1.0199, -0.1482, 0.2436, 0.141, 0.9996, -0.0193, 0.7979, 0.6128, -0.3939, -0.0231, -0.0147, 0.9993] state[eef_state]: left_x=0.4005 left_y=-0.1989 left_z=0.1375 left_yaw=-0.6654 left_pitch=-0.1172 left_roll=-0.0415 left_gripper=0.9996 right_x=0.2942 right_y=0.002 right_z=0.1801 right_yaw=-0.0011 right_pitch=-0.0175 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-0.1573, -7.3778, 9.1556, 1.5556, 0.2173, 0.2076, -0.0122, -0.1573, -1.2786, 7.0085, 1.7558, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.06,"left_yaw":-0.65},"note":"The attempted full descent stalled at about 14 cm, so the arm is not in contact and needs a less aggressive intermediate pose. I’m keeping the cap centered while requesting a modest 8 cm descent to help the IK unfold."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe intermediate move successfully brought the fingertips to about 4 cm above the table, and the cap remains centered between them. I’m completing the short vertical descent with a slight table press.
move_to
left_x0.3850left_y-0.1920left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3798, 1.7393, 0.8345, 0.0723, 0.2325, 0.1295, 0.9996, -0.0193, 0.7979, 0.6128, -0.3969, -0.0227, -0.0147, 0.9993] state[eef_state]: left_x=0.3816 left_y=-0.1923 left_z=0.0378 left_yaw=-0.6619 left_pitch=-0.2339 left_roll=-0.0767 left_gripper=0.9996 right_x=0.2938 right_y=0.0019 right_z=0.1795 right_yaw=-0.0014 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.4308, -9.4838, 7.0359, 2.2344, -0.0464, -0.1197, -0.0171, -0.0752, -1.2786, 7.0769, 1.7607, -0.022, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.192,"left_z":-0.01},"note":"The intermediate move successfully brought the fingertips to about 4 cm above the table, and the cap remains centered between them. I’m completing the short vertical descent with a slight table press."})
tool
executing move_to over 4 steps (0.4s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe cap is centered between the left fingertips at table height. I’m closing the gripper fully to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3798, 1.8606, 0.7933, 0.2543, 0.2176, 0.1371, 0.9996, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993] state[eef_state]: left_x=0.3893 left_y=-0.1926 left_z=0.0033 left_yaw=-0.6524 left_pitch=-0.2179 left_roll=-0.055 left_gripper=0.9996 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [0.3624, -5.9829, 4.2051, 1.1941, 0.232, -0.1245, -0.0171, -0.1299, -1.306, 7.0085, 1.7509, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap is centered between the left fingertips at table height. I’m closing the gripper fully to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe left gripper settled at 0.050, above the empty threshold, and the cap is visibly projecting from between the jaws. I’m lifting it clear of the table to confirm the grasp and leave room for the right arm.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.379, 1.8771, 0.7841, 0.3038, 0.2207, 0.1322, 0.0496, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993] state[eef_state]: left_x=0.3925 left_y=-0.1941 left_z=0.0018 left_yaw=-0.6501 left_pitch=-0.1943 left_roll=-0.0542 left_gripper=0.0496 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [0.2393, -6.8581, 4.9983, 1.243, 0.1685, -0.0366, 1.1355, -0.2803, -1.1145, 7.0632, 1.7802, -0.0171, -0.0562, -0.0171] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The left gripper settled at 0.050, above the empty threshold, and the cap is visibly projecting from between the jaws. I’m lifting it clear of the table to confirm the grasp and leave room for the right arm."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe cap lifted with the left gripper and is no longer on the tabletop, confirming the grasp. I’m now moving the open right gripper above the diagonal pen, rotating the jaws across the pen shaft while keeping clear of the cap arm.
move_to
right_x0.3900right_y0.2900right_z0.1500right_yaw0.7500right_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]: [-0.3801, 1.6402, 0.9688, -0.1524, 0.2165, 0.1295, 0.055, -0.0193, 0.799, 0.6128, -0.3981, -0.0231, -0.0147, 0.9993] state[eef_state]: left_x=0.3887 left_y=-0.1923 left_z=0.0921 left_yaw=-0.6482 left_pitch=-0.2287 left_roll=-0.0626 left_gripper=0.055 right_x=0.2938 right_y=0.002 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [-0.1709, -10.0171, 9.6615, 1.4383, 0.0855, -0.0464, 1.0281, -0.1983, -1.2786, 7.0359, 1.7509, -0.0464, -0.0708, -0.0171] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.29,"right_z":0.15,"right_yaw":0.75,"right_gripper":1.0},"note":"The cap lifted with the left gripper and is no longer on the tabletop, confirming the grasp. I’m now moving the open right gripper above the diagonal pen, rotating the jaws across the pen shaft while keeping clear of the cap arm."})
tool
executing move_to over 24 steps (2.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pen is at grasp depth in the right wrist view but sits roughly 4–5 cm left of the jaw centerline. I’m shifting the right gripper tool-left to center the shaft without lowering yet.
move_to
right_x0.3450right_y0.3200right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3801, 1.6386, 0.9638, -0.1699, 0.2157, 0.1299, 0.0617, 0.5705, 1.6508, 1.0245, -0.0277, -0.1333, -0.0933, 0.9993] state[eef_state]: left_x=0.3846 left_y=-0.1905 left_z=0.0879 left_yaw=-0.6492 left_pitch=-0.249 left_roll=-0.0675 left_gripper=0.0617 right_x=0.3805 right_y=0.2763 right_z=0.1311 right_yaw=0.7243 right_pitch=-0.0862 right_roll=0.0058 right_gripper=0.9993 state[joint_eff]: [0.0205, -7.5419, 6.8444, 1.6142, 0.0757, -0.0171, 1.033, 0.3214, -7.9658, 9.1556, 2.0293, -0.0708, 0.0024, -0.0855] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.32,"right_z":0.15},"note":"The pen is at grasp depth in the right wrist view but sits roughly 4–5 cm left of the jaw centerline. I’m shifting the right gripper tool-left to center the shaft without lowering yet."})
tool
executing move_to over 4 steps (0.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe pen shaft is now centered on the right jaw column, with its near end still a couple of centimeters short of the fingertip convergence. I’m advancing slightly outward and descending to an intermediate height while preserving the alignment.
move_to
right_x0.3650right_y0.3200right_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3801, 1.6382, 0.9638, -0.1726, 0.215, 0.1295, 0.0669, 0.7265, 1.6577, 1.0412, -0.0757, -0.0463, -0.0292, 0.9993] state[eef_state]: left_x=0.3842 left_y=-0.1902 left_z=0.0876 left_yaw=-0.6485 left_pitch=-0.2514 left_roll=-0.0678 left_gripper=0.0669 right_x=0.3416 right_y=0.3193 right_z=0.1251 right_yaw=0.7725 right_pitch=-0.1302 right_roll=0.0059 right_gripper=0.9993 state[joint_eff]: [-0.1846, -7.706, 6.7897, 1.5067, 0.0562, -0.0757, 1.0281, -0.2256, -10.8786, 9.5248, 1.5751, 0.1978, 0.1392, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.32,"right_z":0.06},"note":"The pen shaft is now centered on the right jaw column, with its near end still a couple of centimeters short of the fingertip convergence. I’m advancing slightly outward and descending to an intermediate height while preserving the alignment."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe combined advance-and-descent request stalled near 12 cm, so I’m removing the radial component and asking for a simpler vertical intermediate descent at the currently aligned x-y pose.
move_to
right_x0.3400right_y0.3180right_z0.0600right_yaw0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1761, 0.2146, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0071, 0.9993] state[eef_state]: left_x=0.3835 left_y=-0.1899 left_z=0.0869 left_yaw=-0.6486 left_pitch=-0.2551 left_roll=-0.0683 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7451 right_pitch=-0.1478 right_roll=-0.0024 right_gripper=0.9993 state[joint_eff]: [-0.2803, -7.7197, 6.3795, 1.5067, 0.0708, -0.0366, 1.0281, -0.3487, -10.359, 9.1282, 1.6532, 0.0415, 0.0904, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.318,"right_z":0.06,"right_yaw":0.75},"note":"The combined advance-and-descent request stalled near 12 cm, so I’m removing the radial component and asking for a simpler vertical intermediate descent at the currently aligned x-y pose."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe right arm will not descend and the overhead view shows the two wrist bodies crowding each other near center, so collision avoidance is likely blocking it. I’m moving the cap-holding left arm outward and high to create clear working space, without changing its grasp.
move_to
left_x0.3000left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1764, 0.2142, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0067, 0.9993] state[eef_state]: left_x=0.3835 left_y=-0.1898 left_z=0.0868 left_yaw=-0.6483 left_pitch=-0.2556 left_roll=-0.0681 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7449 right_pitch=-0.1478 right_roll=-0.0021 right_gripper=0.9993 state[joint_eff]: [-0.2667, -7.6103, 6.4342, 1.4725, 0.022, -0.0464, 1.0281, -0.5265, -10.359, 9.1692, 1.6532, 0.0464, 0.1099, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2},"note":"The right arm will not descend and the overhead view shows the two wrist bodies crowding each other near center, so collision avoidance is likely blocking it. I’m moving the cap-holding left arm outward and high to create clear working space, without changing its grasp."})
tool
executing move_to over 17 steps (1.7s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteWith the left arm parked, the wrists are now well separated and the pen remains immediately ahead of the right fingertips. I’m retrying the simple vertical descent now that the collision constraint is removed.
move_to
right_x0.3400right_y0.3180right_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.318, 1.2808, 1.0992, -0.9379, 0.5758, 0.7033, 0.0697, 0.7448, 1.6524, 1.0393, -0.0975, -0.004, -0.0078, 0.9993] state[eef_state]: left_x=0.3058 left_y=0.0032 left_z=0.1835 left_yaw=-0.5921 left_pitch=-0.2865 left_roll=-0.0884 left_gripper=0.0697 right_x=0.3379 right_y=0.3174 right_z=0.1225 right_yaw=0.7432 right_pitch=-0.1493 right_roll=-0.0048 right_gripper=0.9993 state[joint_eff]: [0.1709, -5.2718, 9.1556, 1.0134, 0.3736, 0.1783, 1.033, -0.1026, -8.1299, 6.8034, 1.6679, -0.0708, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.318,"right_z":0.06},"note":"With the left arm parked, the wrists are now well separated and the pen remains immediately ahead of the right fingertips. I’m retrying the simple vertical descent now that the collision constraint is removed."})
tool
executing move_to over 5 steps (0.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe descent succeeded, but the wrist view now clearly shows the pen running beside the right fingertip rather than between the jaws. I’m making a small tool-right correction at the same height to bring the shaft into the jaw gap.
move_to
right_x0.3600right_y0.2800right_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3183, 1.2827, 1.0985, -0.9539, 0.5751, 0.7071, 0.0725, 0.7448, 1.7714, 0.9134, 0.0792, -0.004, -0.0082, 0.9993] state[eef_state]: left_x=0.3028 left_y=0.0024 left_z=0.1812 left_yaw=-0.5979 left_pitch=-0.2983 left_roll=-0.1009 left_gripper=0.0725 right_x=0.3308 right_y=0.3108 right_z=0.0514 right_yaw=0.7434 right_pitch=-0.2176 right_roll=-0.0052 right_gripper=0.9993 state[joint_eff]: [-0.1846, -4.5607, 6.735, 1.1502, 0.2906, -0.0708, 1.033, -0.2803, -8.1573, 6.3385, 1.9072, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.28,"right_z":0.06},"note":"The descent succeeded, but the wrist view now clearly shows the pen running beside the right fingertip rather than between the jaws. I’m making a small tool-right correction at the same height to bring the shaft into the jaw gap."})
tool
executing move_to over 3 steps (0.3s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe pen is now inside the jaw gap but remains about 2–3 cm right of the centerline. I’m applying one smaller centering correction while descending the final few centimeters to table level.
move_to
right_x0.3720right_y0.2620right_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3183, 1.2827, 1.0981, -0.9573, 0.5732, 0.7044, 0.0725, 0.6434, 1.7798, 0.9104, 0.0685, -0.062, -0.0639, 0.9993] state[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1805 left_yaw=-0.5962 left_pitch=-0.3021 left_roll=-0.1047 left_gripper=0.0725 right_x=0.3515 right_y=0.2817 right_z=0.045 right_yaw=0.7229 right_pitch=-0.2377 right_roll=-0.0023 right_gripper=0.9993 state[joint_eff]: [-0.1983, -4.041, 6.3658, 1.0183, 0.2711, -0.0122, 1.0281, -0.2256, -9.8667, 8.9094, 1.6484, -0.1734, -0.1099, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.372,"right_y":0.262,"right_z":-0.005},"note":"The pen is now inside the jaw gap but remains about 2–3 cm right of the centerline. I’m applying one smaller centering correction while descending the final few centimeters to table level."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteAt table height the pen shaft lies between the right fingertips, close to the jaw centerline. I’m closing the right gripper to secure the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3183, 1.2839, 1.0973, -0.9588, 0.5728, 0.7048, 0.0725, 0.5724, 1.9064, 0.873, 0.2214, -0.104, -0.1184, 0.9992] state[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1798 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.369 right_y=0.2638 right_z=0.0033 right_yaw=0.7186 right_pitch=-0.2451 right_roll=-0.0091 right_gripper=0.9992 state[joint_eff]: [-0.2256, -4.3556, 6.6393, 0.9744, 0.2515, -0.0122, 1.033, -0.4991, -6.8718, 4.8615, 1.2918, -0.1197, 0.0317, -0.0171] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At table height the pen shaft lies between the right fingertips, close to the jaw centerline. I’m closing the right gripper to secure the pen."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe right gripper settled at 0.042, just above the empty threshold, and the pen is visibly clamped along the jaw centerline. I’m lifting it about 10 cm to verify that it comes off the table.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9577, 0.5728, 0.7044, 0.0725, 0.5621, 1.9182, 0.8661, 0.2684, -0.1135, -0.1276, 0.0418] state[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1797 left_yaw=-0.5968 left_pitch=-0.3043 left_roll=-0.107 left_gripper=0.0725 right_x=0.3745 right_y=0.2638 right_z=0.004 right_yaw=0.7205 right_pitch=-0.2161 right_roll=-0.0132 right_gripper=0.0418 state[joint_eff]: [-0.3624, -4.4376, 6.5162, 1.0037, 0.2076, -0.0415, 1.033, -0.6222, -7.5282, 5.1487, 1.4969, -0.0904, 0.0366, 1.1502] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The right gripper settled at 0.042, just above the empty threshold, and the pen is visibly clamped along the jaw centerline. I’m lifting it about 10 cm to verify that it comes off the table."})
tool
executing move_to over 8 steps (0.8s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe pen has lifted successfully and its writing tip is exposed beyond the right jaws; the cap remains secure in the parked left gripper. I’m raising the pen slightly more so both objects can be aligned in free space with good clearance.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9581, 0.5728, 0.7048, 0.0725, 0.5621, 1.7084, 1.0565, -0.1524, -0.1135, -0.1318, 0.0436] state[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1796 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.3748 right_y=0.2639 right_z=0.0958 right_yaw=0.7236 right_pitch=-0.2364 right_roll=-0.0128 right_gripper=0.0436 state[joint_eff]: [-0.335, -4.4239, 6.3521, 0.9939, 0.232, -0.0464, 1.0281, -0.3897, -11.2205, 8.6085, 1.4628, -0.0708, 0.0269, 1.0281] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The pen has lifted successfully and its writing tip is exposed beyond the right jaws; the cap remains secure in the parked left gripper. I’m raising the pen slightly more so both objects can be aligned in free space with good clearance."})
tool
executing move_to over 6 steps (0.6s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteBoth objects are now safely elevated, with the pen tip clearly visible. I’m rotating the cap arm partway toward the opposite heading from the pen so the two long axes can meet head-on, using an intermediate angle to avoid a large wrist jump.
move_to
left_yaw-1.5000left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3183, 1.2846, 1.0966, -0.9581, 0.5724, 0.7044, 0.0725, 0.5632, 1.6684, 1.2663, -0.4534, -0.1131, -0.1432, 0.048] state[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1794 left_yaw=-0.5968 left_pitch=-0.3053 left_roll=-0.1078 left_gripper=0.0725 right_x=0.3728 right_y=0.2633 right_z=0.1488 right_yaw=0.733 right_pitch=-0.2869 right_roll=-0.0125 right_gripper=0.048 state[joint_eff]: [-0.2393, -4.4923, 6.4752, 0.9695, 0.2222, -0.0464, 1.033, -0.1846, -11.1658, 9.4427, 1.6044, -0.0855, 0.0659, 1.0281] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":-1.5,"left_z":0.2},"note":"Both objects are now safely elevated, with the pen tip clearly visible. I’m rotating the cap arm partway toward the opposite heading from the pen so the two long axes can meet head-on, using an intermediate angle to avoid a large wrist jump."})
tool
executing move_to over 6 steps (0.6s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe first rotation was smooth and the cap remains held, but the wrist readback reached only about −1.33 rad. I’m continuing toward roughly −2.4 rad, opposite the pen’s +0.73 rad heading.
move_to
left_yaw-2.3500left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3214, 1.7771, 1.5467, -1.5051, 0.6521, 1.5826, 0.0725, 0.5629, 1.6691, 1.2675, -0.4736, -0.1131, -0.1436, 0.048] state[eef_state]: left_x=0.3093 left_y=-0.0062 left_z=0.1655 left_yaw=-1.3252 left_pitch=-0.3397 left_roll=-0.1605 left_gripper=0.0725 right_x=0.37 right_y=0.2612 right_z=0.1457 right_yaw=0.7338 right_pitch=-0.3065 right_roll=-0.0092 right_gripper=0.048 state[joint_eff]: [-0.3897, -7.7744, 6.9538, 0.1538, 0.4518, 0.2369, 1.0183, -0.3487, -8.4034, 6.6393, 1.536, -0.0806, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":-2.35,"left_z":0.2},"note":"The first rotation was smooth and the cap remains held, but the wrist readback reached only about −1.33 rad. I’m continuing toward roughly −2.4 rad, opposite the pen’s +0.73 rad heading."})
tool
executing move_to over 7 steps (0.7s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe cap wrist has reached a practical rotation limit near −1.49 rad, so forcing it farther would not help. I’m instead rotating the pen toward +1.55 rad, which gives the required opposite heading while both arms remain separated.
move_to
right_yaw1.5500right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2916, 1.8469, 1.5723, -1.5791, 0.6231, 1.7256, 0.0725, 0.5629, 1.6691, 1.2675, -0.4728, -0.1131, -0.1463, 0.048] state[eef_state]: left_x=0.3008 left_y=-0.0136 left_z=0.1525 left_yaw=-1.485 left_pitch=-0.3377 left_roll=-0.1955 left_gripper=0.0725 right_x=0.3701 right_y=0.2613 right_z=0.1459 right_yaw=0.7353 right_pitch=-0.3057 right_roll=-0.0112 right_gripper=0.048 state[joint_eff]: [-0.4581, -8.6906, 7.5009, -0.188, 0.3297, -0.0952, 1.0183, -0.1709, -8.3077, 6.7897, 1.453, -0.0904, -0.0073, 1.0232] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":1.55,"right_z":0.18},"note":"The cap wrist has reached a practical rotation limit near −1.49 rad, so forcing it farther would not help. I’m instead rotating the pen toward +1.55 rad, which gives the required opposite heading while both arms remain separated."})
tool
executing move_to over 6 steps (0.6s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe pen rotated to +1.36 rad and stayed secure; it needs only a small additional turn to oppose the cap’s −1.49 rad axis. I’m completing that alignment before translating either object toward the other.
move_to
right_yaw1.7000right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2913, 1.8473, 1.5692, -1.5799, 0.6094, 1.7187, 0.0725, 0.3798, 1.9404, 1.766, -0.9642, -0.5396, -0.8921, 0.0495] state[eef_state]: left_x=0.2991 left_y=-0.0122 left_z=0.1505 left_yaw=-1.4879 left_pitch=-0.3505 left_roll=-0.2072 left_gripper=0.0725 right_x=0.3921 right_y=0.2581 right_z=0.1737 right_yaw=1.3603 right_pitch=-0.3321 right_roll=-0.0384 right_gripper=0.0495 state[joint_eff]: [-0.1846, -8.6769, 5.0803, -0.0317, 0.4274, 0.0317, 1.0183, -0.7043, -10.0444, 7.2957, 0.5592, -0.6764, -0.0073, 1.0183] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":1.7,"right_z":0.18},"note":"The pen rotated to +1.36 rad and stayed secure; it needs only a small additional turn to oppose the cap’s −1.49 rad axis. I’m completing that alignment before translating either object toward the other."})
tool
executing move_to over 3 steps (0.3s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe pen and cap axes are now nearly collinear and opposite in heading. I’m bringing the cap arm inward to a staging point on that shared line while leaving about 15 cm between the gripper bodies for safety.
move_to
left_x0.3700left_y-0.1200left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2913, 1.8488, 1.5635, -1.5776, 0.6018, 1.7184, 0.0725, 0.3588, 2.1426, 2.1059, -1.2549, -0.6281, -1.214, 0.0518] state[eef_state]: left_x=0.2978 left_y=-0.0114 left_z=0.1482 left_yaw=-1.4922 left_pitch=-0.3566 left_roll=-0.2143 left_gripper=0.0725 right_x=0.401 right_y=0.2651 right_z=0.1804 right_yaw=1.6118 right_pitch=-0.331 right_roll=-0.0678 right_gripper=0.0518 state[joint_eff]: [-0.294, -8.6222, 5.0667, -0.1245, 0.4518, -0.0464, 1.0232, -1.2513, -11.0974, 6.4889, 0.105, -0.5788, -0.0122, 1.0134] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.12,"left_z":0.2},"note":"The pen and cap axes are now nearly collinear and opposite in heading. I’m bringing the cap arm inward to a staging point on that shared line while leaving about 15 cm between the gripper bodies for safety."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe cap is staged inward and its exposed end points down the shared axis; the pen tip is still about 18 cm away. I’m advancing the pen to a second staging point that should leave roughly 4–5 cm between the two ends while matching their heights.
move_to
right_x0.3680right_y0.3950right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0387, 2.0029, 1.9285, -1.5879, 0.63, 1.3338, 0.0725, 0.3462, 2.1864, 2.1582, -1.367, -0.6331, -1.3212, 0.0518] state[eef_state]: left_x=0.3555 left_y=-0.1143 left_z=0.1816 left_yaw=-1.5191 left_pitch=-0.3874 left_roll=-0.2411 left_gripper=0.0725 right_x=0.3923 right_y=0.2564 right_z=0.1715 right_yaw=1.6972 right_pitch=-0.3559 right_roll=-0.0305 right_gripper=0.0518 state[joint_eff]: [-0.335, -9.4974, 8.2393, 0.1783, 0.6471, -0.0073, 1.0183, -0.6496, -11.9453, 7.6376, 0.4225, -0.6129, -0.1099, 1.0183] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.368,"right_y":0.395,"right_z":0.19},"note":"The cap is staged inward and its exposed end points down the shared axis; the pen tip is still about 18 cm away. I’m advancing the pen to a second staging point that should leave roughly 4–5 cm between the two ends while matching their heights."})
tool
executing move_to over 12 steps (1.2s)
step 196
assistant
agent noteThe close wrist views reveal that the pen tip is facing the cap’s closed pointed end, so the cap must be regrasped in reverse. I’m moving the pen safely away while lowering the cap to the table at its current location for a controlled flip.
move_to
left_x0.3520left_y-0.1120left_z0.0000right_x0.3700right_y0.2500right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0418, 2.0094, 1.9041, -1.5829, 0.6044, 1.314, 0.074, 0.6334, 2.5065, 2.7728, -1.4857, -0.5461, -1.0424, 0.0531] state[eef_state]: left_x=0.3522 left_y=-0.1116 left_z=0.1712 left_yaw=-1.5235 left_pitch=-0.4178 left_roll=-0.2789 left_gripper=0.074 right_x=0.37 right_y=0.39 right_z=0.1836 right_yaw=1.7283 right_pitch=-0.3708 right_roll=-0.0588 right_gripper=0.0531 state[joint_eff]: [-0.8137, -11.1248, 5.6137, 0.2564, 0.7985, 0.0317, 0.569, 0.2667, -12.0684, 6.1744, 1.0867, -0.359, 0.4322, 0.9646] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.352,"left_y":-0.112,"left_z":0.0,"right_x":0.37,"right_y":0.25,"right_z":0.2},"note":"The close wrist views reveal that the pen tip is facing the cap’s closed pointed end, so the cap must be regrasped in reverse. I’m moving the pen safely away while lowering the cap to the table at its current location for a controlled flip."})
tool
executing move_to over 12 steps (1.2s)
step 208
assistant
agent noteThe cap is resting on the tabletop while the pen is parked clear and still firmly held. I’m opening the left gripper to release the cap without disturbing its known orientation.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0399, 2.1136, 1.4021, -1.0096, 0.5903, 1.309, 0.0739, 0.3668, 2.162, 2.1658, -1.417, -0.588, -1.3258, 0.0551] state[eef_state]: left_x=0.3444 left_y=-0.1086 left_z=0.0094 left_yaw=-1.535 left_pitch=-0.4352 left_roll=-0.3166 left_gripper=0.0739 right_x=0.3798 right_y=0.2547 right_z=0.1779 right_yaw=1.7161 right_pitch=-0.4032 right_roll=-0.0251 right_gripper=0.0551 state[joint_eff]: [-0.4308, -9.3197, 4.7248, 0.1148, 0.4274, 0.0024, 0.9597, -0.2667, -15.4188, 5.6821, 0.4713, -0.6325, -0.1099, 0.9499] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The cap is resting on the tabletop while the pen is parked clear and still firmly held. I’m opening the left gripper to release the cap without disturbing its known orientation."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteThe released cap is visible lengthwise: its pointed closed end is farther forward and its wider opening is nearer the current fingertips. I’m lifting the open left gripper before rotating and relocating it over the pointed end for the reversed grasp.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0399, 2.1162, 1.3987, -1.0393, 0.6334, 1.309, 0.9947, 0.3622, 2.1571, 2.1574, -1.422, -0.58, -1.3357, 0.0584] state[eef_state]: left_x=0.3371 left_y=-0.1145 left_z=0.0132 left_yaw=-1.5449 left_pitch=-0.3953 left_roll=-0.359 left_gripper=0.9947 right_x=0.3789 right_y=0.251 right_z=0.1768 right_yaw=1.7188 right_pitch=-0.4128 right_roll=-0.0241 right_gripper=0.0584 state[joint_eff]: [-0.2256, -10.3863, 5.5863, 0.2027, -0.105, 0.0024, -0.0611, -0.0205, -11.2068, 6.3932, 0.5592, -0.4811, 0.0806, 0.696] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The released cap is visible lengthwise: its pointed closed end is farther forward and its wider opening is nearer the current fingertips. I’m lifting the open left gripper before rotating and relocating it over the pointed end for the reversed grasp."})
tool
executing move_to over 9 steps (0.9s)
step 227
assistant
agent noteFrom the known release pose, the cap’s closed end is about 2.5 cm along its former forward axis, at approximately x=0.34, y=−0.137. I’m positioning above that end and rotating the gripper 180° so the cap opening will project forward after the grasp.
move_to
left_x0.3400left_y-0.1370left_z0.1200left_yaw1.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0399, 2.0304, 1.7309, -1.4834, 0.617, 1.3056, 0.9962, 0.3614, 2.1571, 2.1574, -1.4216, -0.577, -1.3365, 0.0596] state[eef_state]: left_x=0.3394 left_y=-0.1122 left_z=0.1245 left_yaw=-1.5569 left_pitch=-0.4136 left_roll=-0.3882 left_gripper=0.9962 right_x=0.3794 right_y=0.2503 right_z=0.1765 right_yaw=1.7176 right_pitch=-0.4157 right_roll=-0.0257 right_gripper=0.0596 state[joint_eff]: [-0.0342, -12.5333, 7.5692, -0.149, 0.4518, -0.0171, 0.1392, 0.0342, -11.4256, 5.8872, 0.5446, -0.4176, -0.0366, 0.7399] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.137,"left_z":0.12,"left_yaw":1.6},"note":"From the known release pose, the cap’s closed end is about 2.5 cm along its former forward axis, at approximately x=0.34, y=−0.137. I’m positioning above that end and rotating the gripper 180° so the cap opening will project forward after the grasp."})
tool
executing move_to over 21 steps (2.1s)
step 248
assistant
agent noteThe 180° rotation completed, but the arm translated substantially during the reconfiguration and is not yet over the cap. With the new wrist configuration established, I’m returning directly above the cap’s closed end at a lower pre-grasp height.
move_to
left_x0.3400left_y-0.1370left_z0.1000left_yaw1.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.345, 1.8938, 1.507, -1.0897, -0.6022, -2.0514, 0.9964, 0.3614, 2.1574, 2.1517, -1.4235, -0.5724, -1.3369, 0.062] state[eef_state]: left_x=0.3865 left_y=-0.0288 left_z=0.111 left_yaw=1.4516 left_pitch=-0.4555 left_roll=-0.3883 left_gripper=0.9964 right_x=0.3785 right_y=0.2492 right_z=0.1742 right_yaw=1.7202 right_pitch=-0.4218 right_roll=-0.0184 right_gripper=0.062 state[joint_eff]: [-1.7026, -9.6479, 7.8701, 0.0513, -0.5348, -0.1441, 0.0073, -0.0205, -11.2752, 6.188, 0.5543, -0.4078, -0.0269, 0.6129] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.137,"left_z":0.1,"left_yaw":1.55},"note":"The 180° rotation completed, but the arm translated substantially during the reconfiguration and is not yet over the cap. With the new wrist configuration established, I’m returning directly above the cap’s closed end at a lower pre-grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe flipped wrist configuration is near a folded reach limit and cannot translate back toward the cap from its current pose. I’m first moving it high and closer to its base to unfold the arm, after which it can approach the cap normally.
move_to
left_x0.2500left_y0.0000left_z0.2000left_yaw1.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3931, 1.9461, 1.5551, -1.1263, -0.5915, -2.0872, 0.9964, 0.3614, 2.1574, 2.1509, -1.4223, -0.572, -1.3369, 0.0645] state[eef_state]: left_x=0.3879 left_y=-0.0503 left_z=0.1035 left_yaw=1.4438 left_pitch=-0.4629 left_roll=-0.3624 left_gripper=0.9964 right_x=0.3786 right_y=0.2492 right_z=0.174 right_yaw=1.72 right_pitch=-0.4221 right_roll=-0.0189 right_gripper=0.0645 state[joint_eff]: [-0.4718, -9.853, 7.5829, 0.3101, -0.4127, -0.105, -0.0122, -0.335, -11.5487, 5.8051, 0.4908, -0.359, -0.0122, 0.6422] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.0,"left_z":0.2,"left_yaw":1.45},"note":"The flipped wrist configuration is near a folded reach limit and cannot translate back toward the cap from its current pose. I’m first moving it high and closer to its base to unfold the arm, after which it can approach the cap normally."})
tool
executing move_to over 11 steps (1.1s)
step 269
assistant
agent noteAfter unfolding, the cap’s closed end appears centered on the left jaw column and close to the fingertip convergence. I’m advancing about 2 cm and descending to table height to enclose that closed end with the reversed gripper orientation.
move_to
left_x0.2900left_y0.0000left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3988, 1.4216, 1.3338, -1.3861, -0.588, -2.0869, 0.9964, 0.3614, 2.1574, 2.1509, -1.422, -0.569, -1.3365, 0.0678] state[eef_state]: left_x=0.2707 left_y=-0.0038 left_z=0.1955 left_yaw=1.4167 left_pitch=-0.4772 left_roll=-0.4084 left_gripper=0.9964 right_x=0.3789 right_y=0.2488 right_z=0.1738 right_yaw=1.7189 right_pitch=-0.425 right_roll=-0.0198 right_gripper=0.0678 state[joint_eff]: [0.1573, -5.7641, 5.2855, 0.2564, -0.4371, -0.1148, -0.0122, -0.0205, -11.5624, 5.9419, 0.5153, -0.3639, -0.0464, 0.3297] approver: 4 step(s) modified (delta_clamped ×4). 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":0.29,"left_y":0.0,"left_z":0.0},"note":"After unfolding, the cap’s closed end appears centered on the left jaw column and close to the fingertip convergence. I’m advancing about 2 cm and descending to table height to enclose that closed end with the reversed gripper orientation."})
tool
executing move_to over 13 steps (1.3s)
step 282
assistant
agent noteAt table height the cap is directly under the reversed left jaws and is occluded by them, consistent with being inside the gap. I’m closing on the cap’s closed end.
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]: [-0.3603, 1.6569, 0.7795, -0.625, -0.6044, -2.0418, 0.9963, 0.3614, 2.1574, 2.1509, -1.422, -0.5686, -1.3365, 0.07] state[eef_state]: left_x=0.28 left_y=0.0056 left_z=0.0102 left_yaw=1.4432 left_pitch=-0.4456 left_roll=-0.3551 left_gripper=0.9963 right_x=0.3789 right_y=0.2488 right_z=0.1737 right_yaw=1.7188 right_pitch=-0.4253 right_roll=-0.0199 right_gripper=0.07 state[joint_eff]: [0.1846, -4.588, 3.2615, 1.2918, 0.3687, -0.2906, -0.0122, -0.0752, -11.5487, 5.7641, 0.5397, -0.3932, -0.0269, 0.2173] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap is directly under the reversed left jaws and is occluded by them, consistent with being inside the gap. I’m closing on the cap’s closed end."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe left gripper closed to 0.012, confirming an empty grasp; the cap likely slipped beside a fingertip. I’m reopening and lifting straight up so the overhead view can reveal where it moved before a single corrected retry.
move_to
left_gripper1.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3603, 1.6577, 0.7738, -0.6151, -0.5949, -2.0403, 0.0119, 0.3614, 2.1574, 2.1506, -1.4216, -0.5686, -1.3369, 0.0728] state[eef_state]: left_x=0.2795 left_y=0.0043 left_z=0.008 left_yaw=1.4411 left_pitch=-0.4553 left_roll=-0.3555 left_gripper=0.0119 right_x=0.379 right_y=0.2488 right_z=0.1736 right_yaw=1.719 right_pitch=-0.4253 right_roll=-0.0201 right_gripper=0.0728 state[joint_eff]: [-0.1983, -6.4205, 5.6547, 0.2125, -0.5299, -0.0366, 0.9597, -0.253, -11.5624, 5.7641, 0.4811, -0.3346, -0.0171, 0.2759] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.15},"note":"The left gripper closed to 0.012, confirming an empty grasp; the cap likely slipped beside a fingertip. I’m reopening and lifting straight up so the overhead view can reveal where it moved before a single corrected retry."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteWith the arm lifted, the cap is clearly visible about 4 cm baseward and 5 cm inward from the left grasp point, lying just to the right of the gripper in the overhead view. I’m moving above that measured position while keeping the reversed orientation.
move_to
left_x0.2450left_y-0.0500left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3599, 1.4906, 1.1442, -1.1419, -0.585, -2.0453, 0.9947, 0.3614, 2.1574, 2.1498, -1.422, -0.5575, -1.3365, 0.0742] state[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.132 left_yaw=1.4395 left_pitch=-0.4683 left_roll=-0.3675 left_gripper=0.9947 right_x=0.3795 right_y=0.2472 right_z=0.1724 right_yaw=1.7167 right_pitch=-0.4363 right_roll=-0.0212 right_gripper=0.0742 state[joint_eff]: [-0.0752, -7.4051, 8.0205, 0.1734, -0.4811, 0.0855, -0.0269, 0.0889, -11.3983, 5.9829, 0.5543, -0.4664, -0.022, 0.1343] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_y":-0.05,"left_z":0.12},"note":"With the arm lifted, the cap is clearly visible about 4 cm baseward and 5 cm inward from the left grasp point, lying just to the right of the gripper in the overhead view. I’m moving above that measured position while keeping the reversed orientation."})
tool
executing move_to over 5 steps (0.5s)
step 307
assistant
agent noteThe cap now appears at the bottom of the left wrist view only about 1 cm right of the jaw centerline, so the overhead correction was effective. I’m descending at this corrected pose with a tiny inward adjustment to place the cap between the fingertips.
move_to
left_x0.2670left_y-0.0150left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4088, 1.4548, 1.0592, -1.1336, -0.5762, -2.0861, 0.9962, 0.3614, 2.1574, 2.1498, -1.4216, -0.5568, -1.3369, 0.0757] state[eef_state]: left_x=0.2668 left_y=-0.0068 left_z=0.1174 left_yaw=1.4346 left_pitch=-0.4743 left_roll=-0.3444 left_gripper=0.9962 right_x=0.3796 right_y=0.2471 right_z=0.1723 right_yaw=1.7165 right_pitch=-0.4369 right_roll=-0.022 right_gripper=0.0757 state[joint_eff]: [-0.6496, -6.8308, 5.3265, 0.3736, -0.4518, -0.1197, 0.1441, -0.1436, -11.3983, 5.8462, 0.5495, -0.3492, -0.0269, 0.1441] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.267,"left_y":-0.015,"left_z":0.0},"note":"The cap now appears at the bottom of the left wrist view only about 1 cm right of the jaw centerline, so the overhead correction was effective. I’m descending at this corrected pose with a tiny inward adjustment to place the cap between the fingertips."})
tool
executing move_to over 8 steps (0.8s)
step 315
assistant
agent noteThe first descent stopped at 10 cm without contact, indicating the IK needs an intermediate request rather than a full table-level move. I’m keeping the cap centered and requesting a modest descent to 5 cm.
move_to
left_x0.2730left_y-0.0130left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.416, 1.4994, 1.0428, -1.0801, -0.5686, -2.0869, 0.9963, 0.3614, 2.1574, 2.1498, -1.422, -0.5533, -1.3365, 0.0778] state[eef_state]: left_x=0.2729 left_y=-0.0127 left_z=0.1025 left_yaw=1.4324 left_pitch=-0.4797 left_roll=-0.3343 left_gripper=0.9963 right_x=0.3798 right_y=0.2467 right_z=0.172 right_yaw=1.7157 right_pitch=-0.4403 right_roll=-0.0222 right_gripper=0.0778 state[joint_eff]: [-0.3761, -5.7504, 5.4222, 0.4225, -0.3834, -0.1245, 0.0024, -0.1846, -11.5624, 6.0513, 0.5055, -0.3785, -0.0171, 0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.273,"left_y":-0.013,"left_z":0.05},"note":"The first descent stopped at 10 cm without contact, indicating the IK needs an intermediate request rather than a full table-level move. I’m keeping the cap centered and requesting a modest descent to 5 cm."})
tool
executing move_to over 4 steps (0.4s)
step 319
assistant
agent noteThe arm is stuck in the upper IK branch despite the intermediate request. I’m using the previously successful low-pose target at x=0.29, y=0 with the same yaw to trigger the known table-reaching configuration; the cap is within about 2 cm of this pose.
move_to
left_x0.2900left_y0.0000left_z0.0000left_yaw1.4400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.416, 1.4994, 1.0424, -1.0801, -0.5686, -2.0869, 0.9964, 0.3614, 2.1574, 2.1498, -1.4216, -0.5529, -1.3365, 0.0789] state[eef_state]: left_x=0.2728 left_y=-0.0126 left_z=0.1024 left_yaw=1.4326 left_pitch=-0.4796 left_roll=-0.3339 left_gripper=0.9964 right_x=0.3799 right_y=0.2466 right_z=0.172 right_yaw=1.7154 right_pitch=-0.4406 right_roll=-0.0227 right_gripper=0.0789 state[joint_eff]: [-0.335, -5.8462, 5.4906, 0.3394, -0.3834, -0.1099, -0.0073, -0.2256, -11.5487, 5.7094, 0.5055, -0.3785, -0.0073, 0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.0,"left_yaw":1.44},"note":"The arm is stuck in the upper IK branch despite the intermediate request. I’m using the previously successful low-pose target at x=0.29, y=0 with the same yaw to trigger the known table-reaching configuration; the cap is within about 2 cm of this pose."})
tool
executing move_to over 7 steps (0.7s)
step 326
assistant
agent noteThe known low-pose target succeeded, and a dark cap segment is now centered between the left fingertips at table height. I’m closing for the corrected reversed grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3511, 1.6985, 0.8314, -0.6838, -0.5755, -2.0262, 0.9964, 0.3614, 2.1574, 2.1498, -1.4227, -0.5503, -1.3369, 0.0793] state[eef_state]: left_x=0.2804 left_y=0.0035 left_z=0.0078 left_yaw=1.4684 left_pitch=-0.4595 left_roll=-0.2859 left_gripper=0.9964 right_x=0.3798 right_y=0.2462 right_z=0.1717 right_yaw=1.7155 right_pitch=-0.4435 right_roll=-0.0223 right_gripper=0.0793 state[joint_eff]: [0.4991, -6.4889, 3.535, 1.072, 0.3004, -0.2808, -0.0171, -0.1709, -11.2615, 5.7504, 0.5446, -0.3883, -0.0122, 0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The known low-pose target succeeded, and a dark cap segment is now centered between the left fingertips at table height. I’m closing for the corrected reversed grasp."})
tool
executing move_to over 10 steps (1.0s)
step 336
assistant
agent noteThe second close was empty, and the cap is now plainly visible immediately left of the left fingertip after being squeezed sideways. I’m reopening and shifting about 3 cm image-left at table height to center directly over it.
move_to
left_x0.2520left_y0.0050left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3519, 1.7023, 0.8288, -0.6693, -0.5678, -2.0232, 0.011, 0.3614, 2.1574, 2.1498, -1.422, -0.5503, -1.3365, 0.0794] state[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.0057 left_yaw=1.4627 left_pitch=-0.4684 left_roll=-0.2907 left_gripper=0.011 right_x=0.38 right_y=0.2462 right_z=0.1717 right_yaw=1.7149 right_pitch=-0.4433 right_roll=-0.0229 right_gripper=0.0794 state[joint_eff]: [-0.0479, -6.8855, 4.9573, 0.1978, -0.3883, 0.0073, 0.9304, -0.212, -11.5624, 5.8325, 0.5348, -0.3248, -0.0366, -0.0024] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.252,"left_y":0.005,"left_z":0.0,"left_gripper":1.0},"note":"The second close was empty, and the cap is now plainly visible immediately left of the left fingertip after being squeezed sideways. I’m reopening and shifting about 3 cm image-left at table height to center directly over it."})
tool
executing move_to over 10 steps (1.0s)
step 346
assistant
agent noteAfter the lateral shift the cap is no longer beside either fingertip and a dark cap-shaped segment lies in the center of the jaw gap. I’m closing once more from this directly centered pose.
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]: [-0.3794, 1.6188, 0.7353, -0.6384, -0.6098, -2.0426, 0.9947, 0.3614, 2.1574, 2.1498, -1.4216, -0.5503, -1.3369, 0.0795] state[eef_state]: left_x=0.2662 left_y=0.0066 left_z=0.0099 left_yaw=1.4332 left_pitch=-0.4359 left_roll=-0.336 left_gripper=0.9947 right_x=0.38 right_y=0.2463 right_z=0.1717 right_yaw=1.715 right_pitch=-0.4432 right_roll=-0.0235 right_gripper=0.0795 state[joint_eff]: [-0.2667, -5.2991, 3.0701, 0.2564, 0.0464, -0.1587, -0.0415, -0.1162, -11.5077, 5.7368, 0.5397, -0.3687, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the lateral shift the cap is no longer beside either fingertip and a dark cap-shaped segment lies in the center of the jaw gap. I’m closing once more from this directly centered pose."})
tool
executing move_to over 10 steps (1.0s)
step 356
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3801, 1.6184, 0.7265, -0.6392, -0.6121, -2.0415, 0.0111, 0.3614, 2.1574, 2.1498, -1.422, -0.5503, -1.3365, 0.0795] state[eef_state]: left_x=0.2632 left_y=0.008 left_z=0.0084 left_yaw=1.4357 left_pitch=-0.4313 left_roll=-0.3262 left_gripper=0.0111 right_x=0.38 right_y=0.2462 right_z=0.1717 right_yaw=1.7149 right_pitch=-0.4433 right_roll=-0.0229 right_gripper=0.0795 state[joint_eff]: [0.0342, -5.8325, 5.4496, 0.3883, -0.3394, -0.0122, 0.9451, -0.0342, -11.5624, 5.9419, 0.5348, -0.3297, -0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.33 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
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{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3801, -0.0196, -0.0246, 0.9996, -0.0185, 0.7914, 0.6086, -0.3786, -0.0235, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0023 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.5111, 10.5504, 1.7363, -0.0513, 0.0611, -0.0513, -0.5812, -1.2376, 9.894, 1.8779, -0.0317, -0.0317, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d7b9fd4a614676946b62b6d0e28c6f44c17966f13feaf27422a7ffa5cf2fa47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd22be6e10d9798f21db4f9ca005eeb6a2fdc1bcf3c7e3a3d9af08a6391b1b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9671cd2ab8aba70128948bd60dc0e5be13d5f0cb3abaefc638936d1668defec7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 6.817 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ9d4b3tIcobD0wc233tMu1CYtgbnb0A3no3i9DyVCPT6a8WZ8WG-IrTj0BRglXuR8hAi3UgVYfiMXiNm8nhTmva-giVtccp0kk6LVNhM2hr3kPKPnMH9JSYSc8NYjJrBUTpB1LSBj48qKIURrWn6sM1U1_WpcHjV7X4WOGA1Ct_UMO-3Hdwy3L-yhxdmuPIV0oeMLiedHPE7hAk3lu82ryOhUYRAv0V_uBUDKZqzc4Afwcqtz4Mhm7xtsuxwpA6VtM15GPMwczyeVeMSXhSBn-orOCr_BNJ5Cz7qF5KOBN6juSnZrAmsxTof6qvK91L1FuLXzYWNI8cScI9qQxc-GzzLO-rlKDx6fri1xrrhi1eaVI-81WUvsQLfsfAs2TqWVkbZg5aDM5AodbHsP7c6fkxIkqsL8zhEl90T1DeeLYC2Fxc3K9_GWeiEaOzEgEcWKIy3vl9X8iec7LwX81GbJQnJk9hbLj5Vq50Lmm7UJCGcbE3rkqfjTuBd3_faNb1uMrR3Jn6xcQLkrdLS-4pWfaEwRWckk6NID-pDAWLw7SzEPRByNIf-aEf-pgbd7obD29WSSRytaI_bj9TuPOCO_SGpdp6b5lPpTTKlch1WSFPDfKXnD0WiecgG2cHilt1E93p7TGtU_nzLtC1rAN3iTEkvK0dtx-_RWROzmaxUyAAhrbjH8DuwpXz2xrHJoSn88XaFqNI9miSxXzuAYOPxOPuZoYqlWj0jp41XaCZMQGWAtvSh14BmhDLycUFNByFzv8F4x9-1Zrt5LUFKHOpGZkV8aK2I6OOcVmqQ7_UolzYwRD2Gw4RNIVNu0gtYx4N6vO-awIXVgBzPhDjAYlrHdp97KqYZC-EwdHNumJEhFaFhXpNtd5uqGnNtS9alLsXG3AySsrW1b8Se9PzeQwuDKEVjjnwEot_Ny-9Eg4n8UbulIZy4_6PnOSZ-Qs54gcp2n-f5LXjvUItEpJs69XSE3oZwGm0K3wdurOBWT6MTL4-d-Zh3zF_XOxOsasF-uPKGMQ2zTg2OGylY7giea6ASFLThAgVHPaqe38mCGyo2hT8kjYOzZaAwpiiK4HxEHfmnbGdYun9Vb5HYuQEYrHRG4UCILL76BUMX_-o47G0Gz1sEQYSF3QjxmyhGm1PbTeIDacqjIeDEWNvZoOwVjlnfUvw8Dz-zcAoZkhnBp2VxPXbvhvXVuc_A6URUMiw7HBPPR5FCByel2OXEzOhYtAIiUhseOJ6y4k_4qACcwYFEJcuNJ6jp_8eNxGx4jvrA3ujpHMg7lx-n-ODHhH6WQnL1MfQjh-4eKPBjXAl7ve_sg8TFAx7_SKp_ITdnan01CLxBl_0F-Q5qwUeEENlBADBNbNlHHYfSBWNhwFrSZtIeV1cXZHmGbkg5vsTaXVOKgD1zuv2WbW4rBu31u5F2wUJabIzNaFnANJJFMm8u01mHEEVpn7-oH5PhH3N66siloZBZIwQ1rq5WGikdOtX8sAS6Sil87XvMrHLHAmvFOaCFqsnJ2wgh8cW0FhGsWavQf-ljltBSyoPWdZhTwtbZiEs-CGcubNS4FM__aDorhSmZ8dtnvzXQkSoswfFtdTXdcDFOQVlCAfxP85ncK_InwMGb6DZtl9W8FulOlwdHCPMzW3dHZ9zPJt9PIkh876R-SpCjuopD25WOPKyj_49pJ1oy0kBZy5Xycl4G78DlhYJFSZMz-UPNqDgW6e0MdHEt8bJT4MTCII8mKVXJoFNS42aGOwrdhxZwIj3g_RCVOZEYLkgvhwoWnDCnQ8AErAxYp49W0HkBsvIg9sV7VVzYrsL2S86Wn4HLd7qle66UgcQBOjWrRB-GmcP1IsNJewhdP-p0lcmKqo2pRH9zd3N7Jt1fOM8gOJn0Pko5AHH_SMoR0E55Bhf9P0y-NCVCRclUkOsqsKm_Q2Lg0a4Npuz5CSV5cDZWQgCjtRMGQyfRyfSSkCmzCPlaChMDstzi5dclg-qE-zaHeOXyKTX9OJd_FMTn7pLpxEOpkLWc9ghilB9xJCmZgzLdJwsyk8VRi7tLV6dTenHZiwpPF1TPeISdlXebVr2fo2pJA13a97P1LWPZiGkKL7F7ddvcM2hq36Oa8MGiNva_MiNqxlgFgpCaeEmwJjQl4Nsg89fynby5NdqupEMkMcPmaq7lHcz8Z7hkZogukPAGgbIpEMQYz1jQa1vMxHpJrIJN3osz5E-2t15nxYjeUuuhIb_kMbg0LaISzcSq8hcLe0v2tB2vc3F8GMQ0_li5J8JeGkGEVb9EvzQc_FqUZ5EgKD0XvDIgzOCYNAEhh5YLKL28acW9DxXUYRZU7huRXpxRmu9_7dTKHw7SkcXwZhq5Zp2r-XVqPSq79nfsxAJYHpRNBFCt8Sx_YNXquNPgCYaZqNmIgERC2jyiTCh1TzWUoTCBiJ4ddEW1ZjzzUwtR7ZCSWi6KZU4Uj1Cwv4H8i40Zq5QBaFKuaiYq3xkgQSL5AgdfpAnefDVn60BjO5DJcTMmCcZWGIWgkNNz0SW7ylkJZc3Bt_eiu2oJpJZ1WlN-8ssC3sSUmva8qCNjvdw07krBEjRS3FWTCueGULfX2EzM8cfH9h4dFqlUvlao1bxM-lD23Dozj6q7dZjdZABE1ngfuqJZ6KyKf85Wn53bYSqOolDEIC5yEj-sPg5sq4cAqL9mQPyreu8OBqsxIbxBckmlJSjKDp2YF1_zipgsD1RKKQl96e-CtzLg3uQVooMzraJ5ZN2M-27escDqvGZx_eXILxJzHAtEcGahXZdHD6uTwZKPFVrHDjViAOJ8on70uPhIx5vufe_5d2xkftHvoibjGI79yLTOAZHQfFD96ql7UgI3-cfsl7F5NJhT_Z-XUqngpyruPNFGafPiVrBq2mWUMKPxu_jH_U1_VAsAPfm4srT75LAcEnwXnfugfW4QAq8P3EIqz2U84_OTtO2SG14bJssbLPkTiUR1Kst0zuixO4D0-Z8Bem-uyVGlHvNXvdZGAFzT4UGe3Z8xde",
  "id": "rs_0be44dae70bec4a9016ab44679217887d09f66ae5ce4f97376",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.24,\"left_z\":0.15,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The loose cap is left of center and the pen lies diagonally just right of center; the left arm is the natural choice for the cap. I’m moving the open left gripper above the cap with the jaws rotated across its long axis.\"}",
  "call_id": "call_5KNkJ038AUu3hPuHnbfmi1AD",
  "id": "fc_0be44dae70bec4a9016ab4467cccb487d09a177217e2c2e675",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5KNkJ038AUu3hPuHnbfmi1AD",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.466, 1.5612, 0.9081, -0.0196, 0.1921, 0.1043, 0.9996, -0.0193, 0.7979, 0.6128, -0.3908, -0.0235, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3787 left_y=-0.2242 left_z=0.1232 left_yaw=-0.6938 left_pitch=-0.0868 left_roll=-0.0278 left_gripper=0.9996 right_x=0.2947 right_y=0.0021 right_z=0.1807 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.2137, 9.9761, 1.9707, 0.3883, 0.1441, -0.0513, -0.3214, -1.7436, 6.694, 1.8193, -0.0611, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238c5c4a33e6237c80f135d2adb8eb518aedfc5e00fe4510c3ba443e26c39115",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92aaa19ff5b03a976e18e159a0efb40cd4b176f2a9e95cbda188044e2bb7911",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea42dae32dc0c44feaaa0e9a2c08dc00e12170490fa6f74378b36b9633503e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.169 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3801, -0.0196, -0.0246, 0.9996, -0.0185, 0.7914, 0.6086, -0.3786, -0.0235, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0023 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.5111, 10.5504, 1.7363, -0.0513, 0.0611, -0.0513, -0.5812, -1.2376, 9.894, 1.8779, -0.0317, -0.0317, -0.0855]",
      "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]: [-0.466, 1.5612, 0.9081, -0.0196, 0.1921, 0.1043, 0.9996, -0.0193, 0.7979, 0.6128, -0.3908, -0.0235, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3787 left_y=-0.2242 left_z=0.1232 left_yaw=-0.6938 left_pitch=-0.0868 left_roll=-0.0278 left_gripper=0.9996 right_x=0.2947 right_y=0.0021 right_z=0.1807 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.2137, 9.9761, 1.9707, 0.3883, 0.1441, -0.0513, -0.3214, -1.7436, 6.694, 1.8193, -0.0611, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238c5c4a33e6237c80f135d2adb8eb518aedfc5e00fe4510c3ba443e26c39115",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92aaa19ff5b03a976e18e159a0efb40cd4b176f2a9e95cbda188044e2bb7911",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea42dae32dc0c44feaaa0e9a2c08dc00e12170490fa6f74378b36b9633503e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaGQEhDG3jxTDTl0XEE5M8Kern_V_xv36RbzIxe82ENYsDnrT4fOkMALMAwoCxuI8fLR_CtpL4M1mcdWYbg-qVCWiQjnmCOZtq0f0lz8ymlgs3qVqYsLRoD4uFWiHYm3Jl44vWD4KMGQJLrGucvU-izeMPIy22EW8mqBjvRMRn6BtWmDvxVTRs5FeORDbOS3xfQVrZdqk6ct5jAsTySV5sqNHw8LRPhDtJJzvcsFqIB-KaAsXGkoOYrWdcC8UI-KgAxbiZMmxQ_3ECnxxa32XXnz7dS_udadhoiUPfMiV0GMByXReGfXRmm7Ll6XGt5JDApmuZoEYivaKw9ax0so5C05028BAVhjYVLDCp-G2uXZXWJPSyor5BhIeQckCxZGDNPtPjCjkJc3SYlORAUlAEoyrR0thbtpejcqYjdOfUan2nYS_5yiWh8ywg5ImtL6RUtQUaFUamfLA788GEbpKO5z05Lk8laf5ktaz9IGfe7SR7SUKtTL6fA87iOr9r5KjX7mLqEkXWi2xDjAoJuVTUzpdWBxCIdXdJgoaaGaTcq0qGy_wwXLMj54bH9vZrjBib5asiJ6jRPOmqNFnLWOlTDebqVhf8vlZtHQFk9e59SZIv4zxhxQmLdPfkJq-VefjHn0kd4NHjOvb9n6EuoJp3wh3oKvqfF3q5PI62ibpPjNVuUQZveFJgulsxGzZLWmeuQHVsrFlks96zzYWwaKCJkgHzYs4zd0Eg9MFU10BOYqS7tNDUlrzs0KiBtlRGBsHT7OL8VLlKvQIPIT7jO-8ipl9W_x9mvTnHiEefSlRvxWAOwibQfd5jq3FvM4d3bWF0XYZVugoez6-jEbCCe13wuoJ8v6zcvy23aVgX_wU_wMQLKch4wKfrWlwSSesQQYjv_hPRVvCSlwMumSxpY_9b8u7mJ9Fol6ZH5at42R7yaLpw-ZYsvqMoxDMPa4_E0y8gnxKgIqHovjaJWG9UsHmYIxAKjrHdZNVN3jlVs8wspOixtenRqQOW1DXQqdKbCR9SYWBKmoge7qu6V2xas0Vl1jBqrE0qye6kyNkICPw1WMbNh6Nja7ISNyEptKNjObpy_zs_D2HQz3RRnjBrrJcmdkwQwT168mxyCH7h4Drq_lUvKl43-gDI91S_KZQookyMHODXVx9HsXBYfo7nfZprAEW5lvxYzjfkgnEbPjFcnL5QfvFFtwXogjvvDGyAz6Rllfx027a5aE2oNbPH1VY6RYqDZSTOeKHQuPByBeX2O9L--G_UqopmMYpG6y2-mKhKsDF1MXLDscMLNLyefDBEHPkYQysMFRwZuBc70T68akrIzEs48ajGX9H4N6qtACkNekyDNeTzCjvIZfLs9NLNChdZFsHO94ZfjM9UNEiGpXkSjRZr6W6P6qNUQhDaqqkT8SERnCE5nTQ0HtSiAEwT8kR_MiJ11cdvo_Lqx-G7hlJAXOT1ve7V_Yzkov6rxownwxHXI35oO49hMKT_VzZ937CEjxxcr5H0j9qb7ZrALljzz9USXrTdRzvNL0E3kd_zwtqeCVSN2ikj2qgefY0oTli6sUoQxqq30jrJWCX7Jr98wunPmaWJH9NivM32L-siL1_omX4nLWmswsuP8l6ptiNQijzAAVmOgh-khMPg1sRZMIO4A1WZqK1gbhMQxBm05UhIvXsPPIjysaqnD96gH2IN3V9n4Fv0x2YAG3kM6mSV4q_NM6MYw8T5YpQ4QLahU9czcBj18WFr39pzFAtuytpNfqdKNos83R_jKamF9Wq5J0XWWo0AVxfqy0sZL1n3pzr7A3IZek_qMbH-hKxgCHyvFkelhJ1WO-ugvnzb3z47muYMmqDpbS4_Mb0-b9Ye4xFM3Z5tMctAAYNFb_bl67iSCMwQpkj7s6GvAyGoBGq0tZteUVT5-Bd9LKPsm2SY9uQmyW6_6SO81FesqHnuW_cmqgvmqWGCoMjXmqMPxAdCmBsEH-_ERR5wLBdL-jrvR8OlqdvBpTVkpC3mRbODQlZaNFmuP5_OvAhWfnJoFTtpYrXXJCMx1u_m4411vnzrnFjoajtGlnGCJQszh-51bqh_a1DtwxZSuXfTpRAWLc9DUvuTd5xDnXmjns9VKfX0gsAT7u2cMSTMsoxN48_1pMsrwpGV82U59wGzN65SgqDOdFVftdy5LFPZuWhhi3j7LRijGG64P6uLZQePim2A-LqZ2ZK0nIg6DX_VtcEMLiUePg5Nsb5jyJBP8UbrhbkK2y2EGFc8MhcvQCFrbmX321T_fCgJGc98chTAvKG8_MJ1Y8XNA8h4H8hgVtRp45_hloHc66atTzQ23NDYhPaU0SnrKhyzfgG-SEXyAEaRqfwMOFpyUWvMuyQk1NDG7TlazyzcxKCkvmzBLylEycX24sgewVsGLinZGrYdJOekNBELNa7HMCzonuegxKb73hCnGimi8XXZTlCOmWwUTJNTgJgZhWKHcTELdlUbNT1-6_gkvwcoWcQrnIMaxEZR-OaYAJvaln1laj9EcFd51OEdC8D14xLqQ-c8oat9OzT_jdHTEGXIpQl9lFnQNTfky74HxBWDX1UgzuVgY5n3H3_Y7sISU5IC5AO9jPPnw94wqHastmUtPkEdFGreKcOnj7PTuBaqlKZWb4NNahbGw12T_-JWh9idlFWySEBY6eqXP46rt8RoKBviYYeyUxewEYxWb6xQ5_K4nC4DgFe8baC9TBecYQKKEI1LCASkvYO7x1QD3ZXhAe_EHCzXMmmskA-xZORMZJEBpVvGBttkkomG31vx0iFTKSy_poIS9YUU0-xOYnmIWJnK4OXy0afzCIv3JYbQ7HSQ6OFnHULVkTXwbNykftVU7MfMaz1PsRU175xN3hgko7EYz_uT4Rt2QD0cPyWftKH2dUR4hGG4Ksu0m9tD8bGa-moRJTAxblI2mUCDLnvs-NG9e4FhvuggE8cjD2BcFDPbgynO2mXwyPlrRjJIQHqlFJzIquyLTygcoawfyQBI36-ZX4J29SBY6yoMo4k2R0Gsygd8y2fHJhNe_parzS4FntDMiRUzF1lx579RJTG8hdhA-1fqV4nBqNNrZiCogFhj3tP9VMdwbq1YEeZyP_K5QQIQA7YA5J6ZAfIcMs2nW3CExhCnFJieyMRqCzE0pVzR0awXQPdbm78AbtZLTX_4qSHP8_HE_RbuxVbO8TvkY8q27KbKgAYMKFjpGFz0mUIIrUWmh2NQpr90PY7Agc0ycERRzHHWpIT6kZjshGN8x0ZcKaxtSgapJ_A6ckIGZRaxB23jXxVU2kzx1gc6NHXKJswh7VD8sRXjOggbTIESc8NtRJGxErrPzfIrU7YUzRixBxFLC_ji3Uhd_WTgiEYM6tBsTlWBGHbRIdLx1QhrNCK4adENgjwwNoYf9Nkw9j1kdNvHHGapqR-8yt5_mzmkvXSe9DuPijb0NXeJ8SLzeS09r2HSyLt0oue73j63cU9USwb0FkQxQYvJ4W5kRu1noqibcQfY1rginCA4=",
  "id": "rs_0be44dae70bec4a9016ab446811dc087d0bb0ada3e63257cbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.205,\"left_z\":0.15},\"note\":\"In the left wrist view the cap is very close to the fingertips but sits about 1–2 cm left of the jaw centerline. I’m making a small tool-left correction while staying above the table before descending.\"}",
  "call_id": "call_RnX4xcJU5RPcMnotgwBxkmHq",
  "id": "fc_0be44dae70bec4a9016ab44685d5e887d0a007e1007933f002",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RnX4xcJU5RPcMnotgwBxkmHq",
  "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]: [-0.3901, 1.581, 0.9897, -0.1192, 0.2348, 0.1238, 0.9996, -0.0193, 0.7979, 0.6128, -0.3923, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3955 left_y=-0.2031 left_z=0.1316 left_yaw=-0.6651 left_pitch=-0.1163 left_roll=-0.0484 left_gripper=0.9996 right_x=0.2945 right_y=0.002 right_z=0.1804 right_yaw=-0.0011 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -6.7897, 10.0171, 1.7509, 0.1587, 0.3004, -0.0171, -0.0342, -1.1556, 6.9949, 1.7607, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8681b050341a761a769fc049328eddfa9284775116c0c3415fc3efe701d0b745",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99877782c6d4d5e0e30af8fd7d510392e9ec80422cded1f985f93cd803a9f36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd360ffc1e8cf5fb3ac111f7b42440480b9ad88400e9d0eda4e3598b3148a3b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 5.063 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]: [-0.466, 1.5612, 0.9081, -0.0196, 0.1921, 0.1043, 0.9996, -0.0193, 0.7979, 0.6128, -0.3908, -0.0235, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3787 left_y=-0.2242 left_z=0.1232 left_yaw=-0.6938 left_pitch=-0.0868 left_roll=-0.0278 left_gripper=0.9996 right_x=0.2947 right_y=0.0021 right_z=0.1807 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.2137, 9.9761, 1.9707, 0.3883, 0.1441, -0.0513, -0.3214, -1.7436, 6.694, 1.8193, -0.0611, -0.0415, -0.022]",
      "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]: [-0.3901, 1.581, 0.9897, -0.1192, 0.2348, 0.1238, 0.9996, -0.0193, 0.7979, 0.6128, -0.3923, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3955 left_y=-0.2031 left_z=0.1316 left_yaw=-0.6651 left_pitch=-0.1163 left_roll=-0.0484 left_gripper=0.9996 right_x=0.2945 right_y=0.002 right_z=0.1804 right_yaw=-0.0011 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -6.7897, 10.0171, 1.7509, 0.1587, 0.3004, -0.0171, -0.0342, -1.1556, 6.9949, 1.7607, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8681b050341a761a769fc049328eddfa9284775116c0c3415fc3efe701d0b745",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99877782c6d4d5e0e30af8fd7d510392e9ec80422cded1f985f93cd803a9f36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd360ffc1e8cf5fb3ac111f7b42440480b9ad88400e9d0eda4e3598b3148a3b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaJ5Xy4EH64Aayhht2fOyymo7nthMz6mmP4bdpRnX3qm9vp2Dg6GHbpNNcN6KlPwP5kMdun02kBcIBcQk6D1J5ybnIoNyFjCHMYf2oy4T3_Qor0DnHjfvpkOhTOp6pNRFa7ASmV7FsplFtsxq5PzpWB-r9xBI04DwWUoCDX-PobwOtRj5bLYrBz_yQ_sHbftaAKq7Dg29Qf2A3uG01mNLeRomh2SeBRVUiWkbrcTnwkCYWLeRzcXYcqP3exd4ezXHLb2NUj32qa10QjPor3hI838aRzBPFcG82Rpo2fxIDoSS7XnNvhT6vJgv2ZgEY3Z_fEcMy_cUcY9-i9RUgAZjCmSXraFl2hKljxxHUNTYkcFIC2aNkDVjsYGmq3VLUcFZEk0QSNMQSXWlPY956TDU0SGvcgb8JeYL4wqy8CQ8d-n9M4Oyhv5MEiJMPIqp1mD4wpL9AbF5d_8MwR80JbiG97VzSxz6-uL3W2x1_gCkf0esUsxtNoKZjUExQlzemgMhTpWbyK3tRFdaJtA5ayaTuWb-KoGEa1S2ar7Cjl82RzUTJknQtVKmVMU_v8CFQ7IyYstHi-5mOmb8wCCY3S7u5MaTWvpgI45lVxsfVytsjM7Y00acKef0_TLiAG3J9AyEoZB8GHPnGf4qeoaZ_DDOaF6vkNn30KPL3pe8dRhFj9RNAC-mLuMr_EZhtp9H9Eh11AF91e84m4JjgKpjdNZP3mIawtF_0pVmTxh2D988hHzgzJVuyTiMFgB9u1u499XPninCnkr-wZH9e2EC7zZPvIpspO2YJUL8d_QwEjFcfFvcbFdPI0npr-D3EwaYEs3-b_0Rwm2uUJDNUbGF8NFbGvVeD8NEaUvLEzZ3cXryQY6wXoc1liq70fT_tbkc-81FkQDtxoI07VWYMQV0qdrDGiYaU-LEp7KWkOQUGT_kRKpRMsVGGS1SyjRalBX2YywZVxnA9hItBGePOW2I_iOdFwCwUZcYkVVnWiFkjyv8V1_rk7mHVDe5P3-ze_mhe7FvTIEA7eL58hXMAavTko_F-fG03_y200a97eocdQHU1kGOJj6CXNwAdU5OU8Xb_GOScoSCoAQQYS68RUuglEi37MmixqxwMOXV6SvwWJDhMeplxRYPkKbuiCWxSS0NT7jWDG2_x1m0NDu5OPY9W1ln4SUfWfs5Xix1AsgiClNPzAmmvDuo-iIaVVBKRSs0JepBgRLQyjZKaSKfI8rAzjkRXGshvKbENB9fabdxn2WkuYv3OrZ_FNhp_ZOS2gU2F04-5i_7t_N3fWAuqhcU281KQIw3RMeari8_b05jhnK0PaZxqu9kcQyqaDEqL6-ASK9mKl",
  "id": "rs_0be44dae70bec4a9016ab44687da4887d0a1168ca7dc23f8c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.205,\"left_z\":-0.005},\"note\":\"The cap now lines up with the left jaw centerline and reaches the bottom edge, indicating it is directly at the grasp point. I’m descending vertically to table level to enclose it.\"}",
  "call_id": "call_iXHB7GHqyciyzzUCtLV7fHTt",
  "id": "fc_0be44dae70bec4a9016ab4468840b887d0aefaa557acde52bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iXHB7GHqyciyzzUCtLV7fHTt",
  "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]: [-0.3737, 1.5852, 1.0199, -0.1482, 0.2436, 0.141, 0.9996, -0.0193, 0.7979, 0.6128, -0.3939, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1989 left_z=0.1375 left_yaw=-0.6654 left_pitch=-0.1172 left_roll=-0.0415 left_gripper=0.9996 right_x=0.2942 right_y=0.002 right_z=0.1801 right_yaw=-0.0011 right_pitch=-0.0175 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.3778, 9.1556, 1.5556, 0.2173, 0.2076, -0.0122, -0.1573, -1.2786, 7.0085, 1.7558, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db85bdef1e4323e15648683d5a39b6a378710f2f2642cd32d10a096e8068d56e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02c7d387270f6c5137248e852c58fdf779404c4abd6063e870cf3e2cc7d2c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d2e2e32347803ceca717e5abf59d787a3e50043e692407961d6663032fbf87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.754 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3801, -0.0196, -0.0246, 0.9996, -0.0185, 0.7914, 0.6086, -0.3786, -0.0235, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0023 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.5111, 10.5504, 1.7363, -0.0513, 0.0611, -0.0513, -0.5812, -1.2376, 9.894, 1.8779, -0.0317, -0.0317, -0.0855]",
      "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]: [-0.3901, 1.581, 0.9897, -0.1192, 0.2348, 0.1238, 0.9996, -0.0193, 0.7979, 0.6128, -0.3923, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3955 left_y=-0.2031 left_z=0.1316 left_yaw=-0.6651 left_pitch=-0.1163 left_roll=-0.0484 left_gripper=0.9996 right_x=0.2945 right_y=0.002 right_z=0.1804 right_yaw=-0.0011 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -6.7897, 10.0171, 1.7509, 0.1587, 0.3004, -0.0171, -0.0342, -1.1556, 6.9949, 1.7607, -0.022, -0.0513, -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]: [-0.3737, 1.5852, 1.0199, -0.1482, 0.2436, 0.141, 0.9996, -0.0193, 0.7979, 0.6128, -0.3939, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1989 left_z=0.1375 left_yaw=-0.6654 left_pitch=-0.1172 left_roll=-0.0415 left_gripper=0.9996 right_x=0.2942 right_y=0.002 right_z=0.1801 right_yaw=-0.0011 right_pitch=-0.0175 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.3778, 9.1556, 1.5556, 0.2173, 0.2076, -0.0122, -0.1573, -1.2786, 7.0085, 1.7558, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db85bdef1e4323e15648683d5a39b6a378710f2f2642cd32d10a096e8068d56e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02c7d387270f6c5137248e852c58fdf779404c4abd6063e870cf3e2cc7d2c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d2e2e32347803ceca717e5abf59d787a3e50043e692407961d6663032fbf87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaOG2qxP2RXMg5BloJRM_usYmcoCOEA5DrYnO3yUOcMLAOIaTgg8RzT_PGeD2pN8OULqFVbER14N-u0HGjzt2bN8i075r_UErKX6_2_VaEE0lChr35tAwvzmnUyg0EgE_38eNjzFIxFnxM9ZdqHrrYV3B5UE1fRlfCGWDGWtqGNOSuL6yerm2md8qSwqF87waiTaLKWssDyVUdI0ZvWpy6Ey9k9fZZDlfHlJ4WgjnPDzxvY7qSzp1A-AbjnbGtzWL_0jKy2lbtPwlzlV04dXdiaijwbpgmqvsTc2dMN9GLYsQlLwG7ENeUp-h8r-Srxr_p6uuURPpPrIfdI33pRhy_7sfzGokDv591vl3nfn_f5gI91HP6b4JMjCuMntz8TRtsMFnFM7B3HYyQBJdOFmYVksf3Tc19v5SNyu_9UiLOt3znKyqrIDkUQ3p4wEUS22zDbiiVNLwuD9dg9CTW_ggLI0muk8IHaP3RoXwQ-eAi_XWbSYt2xvYMDJhxX6u7-8PeJkTjaACFCClv1f0ccJMnFGiOx2A6yhfwnVFH4SQvoV2GlxM2xn-EgfnUtfXp5O4TVGHuWbECXC2MHryZiI0rvdcoqmtiGtXkvH3GAWUurYz_4Hur-q93Qo9WfrVuLNMGg-7gCHemRElNdnW63BleqZZrlNqv5QdlCeyrilqOt0hP2iotBzTWH_34ZYX303VYtC2m6X_kq0hCe9Z2IT6g-tA_Av3VWhPCYjB5nzmKJHepUqg2vUUwTzFfwgjcQ1D7HRW-lPg9kbgzgltMzA_9__dB5SRZKcD3jPoOH9YsAK4UrFxTt7VROh87fsiTJTfT86Ma78pvrNdHwM0XC1bAM2GX7CUkoMq2hT8lpcydRHDo2001UdSH4nAl-VgSnG2Pqd_CF-SjQV856cclRMVvCanNpgIvparCKjGpuO_c4WzopR5N33CXk8iyx3Kqi5hNqR-etT9mB5CIhsqOPW6_zDgWSyZlbRB6ZJs2mLMNn7hnzhdkFyN-rEsSEPHebyfQy4cLjgSoDc3K6H9kW7y4HyKwq5hF_wjy7Ku_fz1e_XB5KJqCznZ-QPT0YYZIu2907ZUXibMjYxTd1EyQXEw_oD2zL9unIMaLRi1yOzQ1f828xMlXlwNiNfjXeuphBYVZE5SIyQpSmvwW-PDHrESOZsAbyAl8yPOR-vpe1MIoTibHxVQU5DBgY4acRip7oh4mv6g8ITDARqJ-VpzclTqnFe7Vc6Cy0w8zM3_QvZBZb3bWU3nSHXRia8nxPC0D76c4ST1muEyqFUOpbxSOfdF7f0tYX9HmLe9Ar8TYwjmk5Qs1NsWHaFdsu5PZjV6Uyxwatk0XqKHTrshggl0piCGBmtAR8wSzxU1a0LM4aciwljdLSFXphrCIb-xdpaCiwjkXCBcQXlCrSdzkS2I-bkwo1MYCe84rnRLOffdKp6Yf1mjQcyHrDCVq8kcDgM3FKmSvGh8VvcOR-9faoCYoAqewG4cII6iFCzASk3d7LMAUbxZTboKG3iEXkn04bKrRtdayZMoy9ITYAKXPEqpSKkOQ8iumYLU5X_6tYcNesdNVXKwzYI9BxS8ZoG4Xj4BQ7ns77aCgyZaJYAFZ5Nal-88pWC47DgnCQMn4p1tSNChB0n2SQtbVTTrQZMsKZ-_7LRKZTYRXQgPJemNXYukIe56KV6f6UETWSGVXwGrZ95WyQyk8LTy03ULqZXXoTy38Np0hxh39gzL0ZOEljDcuZ7zc3q84BTirwunx79ZnUEXYFVdZAnOaKpgbK9Y_2fUeLuJdAYFNA70ofhU8ZO_7GEtWJWDBEbg5OgKhB1LpIbtD3BvknoRBMaVi5v0DjQydLH05-K10f3HLjf2-w1I-R9y9PUihEMuoRblPdTwCktdT866R7io7DtqfZ3rKh6oxZiqWru1al6LaaofJT-lYmvw6Zy_9b7b_ct5wmhH3Kf16K5ZE6XJ2E29yX3Qvai-ZNNUmOG8hPRyWkrAP7qF79S820lCRjgxFfIGovj3wATFw89ROtnl_BXoKklb9Gs0nhpdYaml_0Bh5ouAe4C5nEXIwy3B0bXy_98i8vtfxTwI0Qrdb8IBHQRf8-9T_3AkvqMzFXCl5fR4F5UoO8nHEI9RJbH33KNXB_AepfaZ0pf9ndd86pvfqIIyDKVBvgZYcc6ETe-o5TYa6E0gVPXxieFGEfVuFWs2lZRzSH47X97n3e-ijqonrhhAfqKnf-KqQRTpbQOwcj4cNFwksINHC3rJuq4TmsX1NdYLV50quUAkLGLMm6nUaQLXYQtiLhz10w01h6DCny9bpEG_uIj9S0kyUipGfSoRgM8-TivW38Pwb9Z_t2se1WpaqQSn_gtnxPMIpEBi6KIWQwJB2SLXA1DVKfZiuVq54uGHR2kvfyW0DNakVRcGaHk0asxjzB_oPHArevU4-9rGy-0xgVfqLisnNBkFspNVEJy3BWcgHYHaj9Lj7HVSkvKlMIix-O9dPM3C8It---KEUeWfalsS6IZUVJYg==",
  "id": "rs_0be44dae70bec4a9016ab4468b277087d09c473ecb3e411a78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.06,\"left_yaw\":-0.65},\"note\":\"The attempted full descent stalled at about 14 cm, so the arm is not in contact and needs a less aggressive intermediate pose. I’m keeping the cap centered while requesting a modest 8 cm descent to help the IK unfold.\"}",
  "call_id": "call_Ks0vAsA7wLBhktFbl0uJjrXM",
  "id": "fc_0be44dae70bec4a9016ab4468df29087d08b2ea84eef6f7966",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ks0vAsA7wLBhktFbl0uJjrXM",
  "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]: [-0.3798, 1.7393, 0.8345, 0.0723, 0.2325, 0.1295, 0.9996, -0.0193, 0.7979, 0.6128, -0.3969, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3816 left_y=-0.1923 left_z=0.0378 left_yaw=-0.6619 left_pitch=-0.2339 left_roll=-0.0767 left_gripper=0.9996 right_x=0.2938 right_y=0.0019 right_z=0.1795 right_yaw=-0.0014 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -9.4838, 7.0359, 2.2344, -0.0464, -0.1197, -0.0171, -0.0752, -1.2786, 7.0769, 1.7607, -0.022, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd102fade07779e66276001be6f027436f5cec14d0bf19eb788aa2d9cef87e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68ccdf3776fa4660649dfd26f38fca677263218371f0296fc07f30a68c512d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5639ce5148d8257f722751b5b52be0b8d69747604c0a7be3b93c312e520db836",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 1.873 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]: [-0.466, 1.5612, 0.9081, -0.0196, 0.1921, 0.1043, 0.9996, -0.0193, 0.7979, 0.6128, -0.3908, -0.0235, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3787 left_y=-0.2242 left_z=0.1232 left_yaw=-0.6938 left_pitch=-0.0868 left_roll=-0.0278 left_gripper=0.9996 right_x=0.2947 right_y=0.0021 right_z=0.1807 right_yaw=-0.0008 right_pitch=-0.0145 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -7.2137, 9.9761, 1.9707, 0.3883, 0.1441, -0.0513, -0.3214, -1.7436, 6.694, 1.8193, -0.0611, -0.0415, -0.022]",
      "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]: [-0.3737, 1.5852, 1.0199, -0.1482, 0.2436, 0.141, 0.9996, -0.0193, 0.7979, 0.6128, -0.3939, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1989 left_z=0.1375 left_yaw=-0.6654 left_pitch=-0.1172 left_roll=-0.0415 left_gripper=0.9996 right_x=0.2942 right_y=0.002 right_z=0.1801 right_yaw=-0.0011 right_pitch=-0.0175 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.3778, 9.1556, 1.5556, 0.2173, 0.2076, -0.0122, -0.1573, -1.2786, 7.0085, 1.7558, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.7393, 0.8345, 0.0723, 0.2325, 0.1295, 0.9996, -0.0193, 0.7979, 0.6128, -0.3969, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3816 left_y=-0.1923 left_z=0.0378 left_yaw=-0.6619 left_pitch=-0.2339 left_roll=-0.0767 left_gripper=0.9996 right_x=0.2938 right_y=0.0019 right_z=0.1795 right_yaw=-0.0014 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -9.4838, 7.0359, 2.2344, -0.0464, -0.1197, -0.0171, -0.0752, -1.2786, 7.0769, 1.7607, -0.022, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd102fade07779e66276001be6f027436f5cec14d0bf19eb788aa2d9cef87e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68ccdf3776fa4660649dfd26f38fca677263218371f0296fc07f30a68c512d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5639ce5148d8257f722751b5b52be0b8d69747604c0a7be3b93c312e520db836",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaSNz0AMAjZvwhmKxz0ltz1SEUXYq_e1BqKGvGK65i-BW1uAQf5GhtXIM35NikxJ8Nmo78GhACpZ2PKs61ff9rVrpTC9O-LLVvHRi4Efpn2D-xDupHV2hbKKGt_hZ71o7ENb8urUc_Z9wR2Ep5tGCl645BOJRnkmani_l9jmwKdfVbO-XlmuNBo3aFDhdEEI7_qn-hy0l-uVCmSfMmwTgmCFIp1MDREnzyQIc4zr3qtWgW-aktyXyAlZz4mn30JFBwL5iLCQj7-uxQ_Ff5PU3kebLCHuh_woaRCCr-kWkTfWS9LoVDZeeUo57zZrZwVPJ7IHcYs3JB3SsiHg4cKPHkbKLlT4WCcnzYZ8tS9wOp7Pnv-m7nUcT0mJ7LYTi1hJnzH7L4zkkj9seyK8JCsjjfXz7Uwgmx8ZebWsYG1wzADQ-W4Y34qMzpv81OMP6NF-nPlwAC_k1SobXReNNFK_lB859v6FH6DDtJ_4DNYJt1IRU3_xhadCWVuEjwsi0_XBmk3wbOr8pxVrvih15TqiOZpKi0e4szrfop5RiJog139D0iR22wuw4dG1pXyDDYT1Uui3BvSnGx6KRgGOUwZEHIrj85yvq6g13SXhPa1vXFBGGEayVJQty2jwCzYuYEEPToak1UglkF-P-Wc6rtxF85MFI27sY6XFwgiS8ys5VmdB-IGwdMyw3q-pRU7wist94Ke1SCr2E9tzYoZgrAkejIOXkeouknXxaLPCZstJrIgesd-R6Hwxx4_T3ZKZNz13y27GaQKrIb0tJ6CvhlcUlEY737veoOXnanpzrGSDclwtSpfXYDANjAVarTftrpmtecTGIqEB2Y53S-gzhA6v8hqyz24SPOBao3C6kA2XZE3bdxKux_h1-LTJx9i-6rE9KQij1YsdZG6vH1hiykt1oo-Rx4-vjhP1V3SPVgPpwBtDFW8u9mWGOaZDu77Q2HHNPeJBgXefM2o9fk4cBGjShh2-qbntb0IEwkEC1BduXDKlzuEnO_qG-APooqjjayz5zgZOzA6sp0YOMLVuA6HCY9_Pe5P08H1UnSdKw0haRsQrkM8seZzcm_Ny5ujbMzkutzZslMSjDS-GmPwAgY2034GtVufOfNmuskCdOdinacs-rPq0u9SNHCldzkTW6wobGG4bq7-eJ2iDLeMYd3ehUl8YYRN5dDrHcdGlymFvmwRrphhgDSwW4oyli95XjGMHcFRTY3khIr_3hGpIjbqVY2kHDN7HpNwbjVoRqrm12-v-pOUeWdQfAErXWBouoa2VKLhW9rs9Z1xj5ilodLsuNtGooDKuX-lfk3sbe54LLQNX79vNOx_0-MXvs4h6J9X_vkVjdHouxcRsbkkc0oZvtU7pv2kiFBDEn-CkoYwnNG3ynydz1fEh_7bRp-Q5vV_kW7hCXh9pxhaMpVrYvEvSjglVa3LvJi921rnWHE0SEs9ZTY=",
  "id": "rs_0be44dae70bec4a9016ab446907a2087d0a3876a3744cf8b3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.192,\"left_z\":-0.01},\"note\":\"The intermediate move successfully brought the fingertips to about 4 cm above the table, and the cap remains centered between them. I’m completing the short vertical descent with a slight table press.\"}",
  "call_id": "call_zQYsc1tYnIaewirpspclE0pU",
  "id": "fc_0be44dae70bec4a9016ab44691330087d097093c0906b20dd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zQYsc1tYnIaewirpspclE0pU",
  "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]: [-0.3798, 1.8606, 0.7933, 0.2543, 0.2176, 0.1371, 0.9996, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3893 left_y=-0.1926 left_z=0.0033 left_yaw=-0.6524 left_pitch=-0.2179 left_roll=-0.055 left_gripper=0.9996 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -5.9829, 4.2051, 1.1941, 0.232, -0.1245, -0.0171, -0.1299, -1.306, 7.0085, 1.7509, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af25d84254e8bd5e9e376c65f0e54e91037ab955e907b04624ca4fb276cfb28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca574f6a92e907b977aca34bcbb06dd871ab0bb7699bff1318b88626996711a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32159fe82d395695ac0cafe63b261856824cb220e127d62c529bc68b00d5754f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.339 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]: [-0.3901, 1.581, 0.9897, -0.1192, 0.2348, 0.1238, 0.9996, -0.0193, 0.7979, 0.6128, -0.3923, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3955 left_y=-0.2031 left_z=0.1316 left_yaw=-0.6651 left_pitch=-0.1163 left_roll=-0.0484 left_gripper=0.9996 right_x=0.2945 right_y=0.002 right_z=0.1804 right_yaw=-0.0011 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -6.7897, 10.0171, 1.7509, 0.1587, 0.3004, -0.0171, -0.0342, -1.1556, 6.9949, 1.7607, -0.022, -0.0513, -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]: [-0.3798, 1.7393, 0.8345, 0.0723, 0.2325, 0.1295, 0.9996, -0.0193, 0.7979, 0.6128, -0.3969, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3816 left_y=-0.1923 left_z=0.0378 left_yaw=-0.6619 left_pitch=-0.2339 left_roll=-0.0767 left_gripper=0.9996 right_x=0.2938 right_y=0.0019 right_z=0.1795 right_yaw=-0.0014 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -9.4838, 7.0359, 2.2344, -0.0464, -0.1197, -0.0171, -0.0752, -1.2786, 7.0769, 1.7607, -0.022, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3798, 1.8606, 0.7933, 0.2543, 0.2176, 0.1371, 0.9996, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3893 left_y=-0.1926 left_z=0.0033 left_yaw=-0.6524 left_pitch=-0.2179 left_roll=-0.055 left_gripper=0.9996 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -5.9829, 4.2051, 1.1941, 0.232, -0.1245, -0.0171, -0.1299, -1.306, 7.0085, 1.7509, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af25d84254e8bd5e9e376c65f0e54e91037ab955e907b04624ca4fb276cfb28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca574f6a92e907b977aca34bcbb06dd871ab0bb7699bff1318b88626996711a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32159fe82d395695ac0cafe63b261856824cb220e127d62c529bc68b00d5754f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaU39dS7difH6y_m-Y7ACDYl2KDz0yNFjz9tskSH-z_gvA4nQDi_unCHZiW-RXgzJP5auJB4HPiTAsGqUQcegi2dVbU5Wym7PhCIeDvOlMdVuRylP51iN5GQ5jn0Z7_fCsf1mf3OW2IyyY1yxAypfvbdEDp7sidsIWRUVnA5f6lJuBHQd_bZkM7Bjdr-mGfKYnKE-lPFlmshnTaP-gAEApFedvFKwPPWCc1Nun4ic2tPnqV6Mai241xuZZRXTYEPCPYughwgNeryJH9ym1HylE_sWEkL0vocmyqj7HSAEKabAZnIVx4e2bg71aGyNX1VCImlIUCPCWKcwxb3lHT3qfNcFsbMdU78NB4eufa_m6oeMeMsBJcRZBwG5f46-5Xprhv9c2m8GmLOvubr6DznhgooL4cAswGwxuYEJDMERcKClcov0P0bqSQjywl7k-VGwQrBt5Oq34IAGdbSD0Z1gOTW-mlboxe900ieENIKy7Ja8kFuV9TMB39sywyQsXrHYTUkmJ6iB-KoIWDR3MfWkSlCUgilos8RgRDqPfPENnzNFeBPG8e6PEjk2TO_pYZlQ-ULjOZnne-3wmzHF-aIIZsGHicoDWqTHJcPQU8HNCr-McSIE1pAJ72Y94ljkVyoG2PNSRg6aanEhfTc1419PxWp5jCSO0gPAG2zMWGc225RCaK367ZbDcQJsksTmXHT_EeR-MnV6roygeGGBr5B9BkVk0xgMyXEnfVYKz6WPZEjkQj9N0l1YeJWPujJmgEktJj6kk62GPz6Uo_WJZu2pRQ2FjJilXrCng7unVCtsl5O3RzPAmioEUwNe_DGAtDE7qKPVjSa3aFvzXStfZ_whlbohi_rrK0Agb97pDM2CSaI6WszoYGmtmgC8mRTcWUGctEvI41ChQ1nnqqBzBAE59LtHpX7IZ2L8-BfHtRQbBdtrHm4v-vGeNixJwmR3SyaeMR_LyEUN0YvrkdKvM4lBuxZ8R93jZZbCDLWIZn2G0lP2oLTUpq_oQWBnTnq7QRAb19wxXtGi_-vHlAAo_rYUt4LCqYQdNsabECV7e_Epk0_AoEEoKAvqNMjXfwfP4Xcn3_2sDeZ3BoqYR8yxLFvCTJ3lK0rXX40SoMjYH3uWiWXzL26Qf8fqrznIw03zeBoFQWOFIm-em7589wq5T1ReGKxYwRByC_0iXZcVMszUe1WIoNoVdZRoJnPMv-FOgcm2w_kpfphiCYNedftoHq-_w7tFP_3CEwg3bKm_j6vG2UDoyw6HbPO5spH2teEAycxqek",
  "id": "rs_0be44dae70bec4a9016ab4469393cc87d095acbea992cdef12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap is centered between the left fingertips at table height. I’m closing the gripper fully to secure it.\"}",
  "call_id": "call_UJfr2dFYD0fABFRBZZUS5Bay",
  "id": "fc_0be44dae70bec4a9016ab44693cc5487d09657a7032a1583d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UJfr2dFYD0fABFRBZZUS5Bay",
  "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]: [-0.379, 1.8771, 0.7841, 0.3038, 0.2207, 0.1322, 0.0496, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3925 left_y=-0.1941 left_z=0.0018 left_yaw=-0.6501 left_pitch=-0.1943 left_roll=-0.0542 left_gripper=0.0496 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.2393, -6.8581, 4.9983, 1.243, 0.1685, -0.0366, 1.1355, -0.2803, -1.1145, 7.0632, 1.7802, -0.0171, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce2db4a442f6d005bb5783c659485582d23a05d94e6753551b3be107755492f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e4dbf895e230622e48af1b6a1f7adf995a8a8bfade785dc624878356de4a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98aa57bc2ce177eef8e6f903ccc4fdb4f0e07e0a8aeb6ff0c8d25dc0c654b051",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.386 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]: [-0.3737, 1.5852, 1.0199, -0.1482, 0.2436, 0.141, 0.9996, -0.0193, 0.7979, 0.6128, -0.3939, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1989 left_z=0.1375 left_yaw=-0.6654 left_pitch=-0.1172 left_roll=-0.0415 left_gripper=0.9996 right_x=0.2942 right_y=0.002 right_z=0.1801 right_yaw=-0.0011 right_pitch=-0.0175 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -7.3778, 9.1556, 1.5556, 0.2173, 0.2076, -0.0122, -0.1573, -1.2786, 7.0085, 1.7558, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3798, 1.8606, 0.7933, 0.2543, 0.2176, 0.1371, 0.9996, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3893 left_y=-0.1926 left_z=0.0033 left_yaw=-0.6524 left_pitch=-0.2179 left_roll=-0.055 left_gripper=0.9996 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -5.9829, 4.2051, 1.1941, 0.232, -0.1245, -0.0171, -0.1299, -1.306, 7.0085, 1.7509, -0.0317, -0.0464, -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 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]: [-0.379, 1.8771, 0.7841, 0.3038, 0.2207, 0.1322, 0.0496, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3925 left_y=-0.1941 left_z=0.0018 left_yaw=-0.6501 left_pitch=-0.1943 left_roll=-0.0542 left_gripper=0.0496 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.2393, -6.8581, 4.9983, 1.243, 0.1685, -0.0366, 1.1355, -0.2803, -1.1145, 7.0632, 1.7802, -0.0171, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce2db4a442f6d005bb5783c659485582d23a05d94e6753551b3be107755492f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e4dbf895e230622e48af1b6a1f7adf995a8a8bfade785dc624878356de4a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98aa57bc2ce177eef8e6f903ccc4fdb4f0e07e0a8aeb6ff0c8d25dc0c654b051",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaXfw5TIm4FOEtwc3n5Yp67m06VJv0HgGFs-UMz-T_EpWGKiKXNbrGtqs9jTK-RBKa1LfbJUqQomhBeWplt108XaToQRdp4QQq8jaXdfPUqVcsKL9_yj3a3XSaCodm1qWqT8p8L9xgVLRB1J6dlN9VAfssBvz5FU5kMEQs5J22obqEiuWxkk1lLnPr2-sounhLYNzYBPiapuYdq5YU7Ulo7gWxjK5RD9zfj9REmPa2OwN6Mn5bO008vmQ2uJcbUVzi9aW49OpEdmWQ-bjNpkMANpFR1yT-yR7zftAyNJI726mYV6GUE9wmNuhEHqs5ilRSg9M680rfqG2y3YkdLpF_duly4iRWJl2JubJuz3zEJjBIXws8lJuoNBvk8SDmY0_zlhtzTpyf4r_Bj3ese9l9SHr2ZemnXIYlxTf6oCNAhgbyKdcRT3pihUyRaT6mYFijyGC_8PP_0kA-3FX2tZ7v0cy27FuizOChWv6ewXWRZT3i1sgS6rTJ3k83XLsGfGJnIf5SWCwcp-YAHbGu0dbuGdimIBb_XQ7-WLWKdanws8tBnoQRfMWwW-CxSaratenQfjXjTQyXtBF-7ThNr23jVb9pfmuT0gTG1Xh4lF1OsYvbvCnkzi10S__jNhhEjh4mQWPwZyEW5uphfTTNruZB8-rdXcnOJqJpmFh-KuYKEWMpN41m8CIl3Am-_HCCi5w2xAN3wM2uWVNmhFp5nLtNfmQFwVK0PKKJ13BUQqjgEpKhNiWnpSvAb1kcEAQ89aFXbf9KO28EaL2oQY1lr-LdeHWOmOfPRDvFeb4SSOAyjj87LXzK_zhHTsf_we_E-6semhmBP5-vbDH4ChdBBchpgXFmXBsLJlvTowgrazEy62At_cW46c41wWXr3ACsC5UvU6cqSDkhyksU08l2tmNpCjgBI1ktK5yMaQlGX1vQwVOOLyJwxwCxLslaE1m0RFJQqIviNC-HgGhx41krdOC162VVt7KqqJJqhG7thJ061TEMB2NLNvOAVDHYorZohY0-zzZUJ24GjxEAP3XdJFcnnH99OAr7RrFGcFfU0f2opBzjGTHAcXJZF5pya8xK2dNNEbSXtfTOa67E_DBhHcKW1hf-pZkcRH2oKWJO-IKo-gSum60EE-KhCs61gpZyXnXU7s2uhgElRqWrQsUyhLr69ztiNfow_RNOPFXLqhRMAlKkfJlJgbdE05ffO5LRX2iLKWC4m0ha_aCk_V-5t5v52ynVorj_UsaJhs9zO1OzeoSiQnDzXYImia4Ev1j7cCq0dJjZ8hQYQMzeaYttqMPTcAVrVURgOOSVVyYKCTwCq7jelBhg8a8fx3xBH_fvU_WuR4yHoxiI0pIcoM6b7pDdJQaKk7wiIXwlaLNpZVZ_-h2uIT0_qsYbJwXwbkzSY2HaxWLcisl7MGJm2qkT2w5wrsJyJIzDkpjqHsjPbrPBGR6qN2EtboX8cPDqdYube8MNqvWugBCxtZNoNcKwo2RoshdBob5dSKnn_pK3DsngpN3w=",
  "id": "rs_0be44dae70bec4a9016ab44696674887d086237079a99957c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The left gripper settled at 0.050, above the empty threshold, and the cap is visibly projecting from between the jaws. I’m lifting it clear of the table to confirm the grasp and leave room for the right arm.\"}",
  "call_id": "call_gOdGCJODLHmGOtoE5DrRce7k",
  "id": "fc_0be44dae70bec4a9016ab446970ea487d0a5b43c5e32fd218b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gOdGCJODLHmGOtoE5DrRce7k",
  "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]: [-0.3801, 1.6402, 0.9688, -0.1524, 0.2165, 0.1295, 0.055, -0.0193, 0.799, 0.6128, -0.3981, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3887 left_y=-0.1923 left_z=0.0921 left_yaw=-0.6482 left_pitch=-0.2287 left_roll=-0.0626 left_gripper=0.055 right_x=0.2938 right_y=0.002 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -10.0171, 9.6615, 1.4383, 0.0855, -0.0464, 1.0281, -0.1983, -1.2786, 7.0359, 1.7509, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc72a31327091916da58c9d6156d38123190f3085847e4ef45b7bd82e874140a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03eee63af71d69791f0ee89d5db359b57a24927e5d023b3201ff8ba1e2f5143",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc38c38ca7bab4e4abf5f91260bc3499d2ba52c5c4edd005e684fc7de0e1fa8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.036 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]: [-0.3798, 1.7393, 0.8345, 0.0723, 0.2325, 0.1295, 0.9996, -0.0193, 0.7979, 0.6128, -0.3969, -0.0227, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3816 left_y=-0.1923 left_z=0.0378 left_yaw=-0.6619 left_pitch=-0.2339 left_roll=-0.0767 left_gripper=0.9996 right_x=0.2938 right_y=0.0019 right_z=0.1795 right_yaw=-0.0014 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -9.4838, 7.0359, 2.2344, -0.0464, -0.1197, -0.0171, -0.0752, -1.2786, 7.0769, 1.7607, -0.022, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.379, 1.8771, 0.7841, 0.3038, 0.2207, 0.1322, 0.0496, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3925 left_y=-0.1941 left_z=0.0018 left_yaw=-0.6501 left_pitch=-0.1943 left_roll=-0.0542 left_gripper=0.0496 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.2393, -6.8581, 4.9983, 1.243, 0.1685, -0.0366, 1.1355, -0.2803, -1.1145, 7.0632, 1.7802, -0.0171, -0.0562, -0.0171]",
      "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]: [-0.3801, 1.6402, 0.9688, -0.1524, 0.2165, 0.1295, 0.055, -0.0193, 0.799, 0.6128, -0.3981, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3887 left_y=-0.1923 left_z=0.0921 left_yaw=-0.6482 left_pitch=-0.2287 left_roll=-0.0626 left_gripper=0.055 right_x=0.2938 right_y=0.002 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -10.0171, 9.6615, 1.4383, 0.0855, -0.0464, 1.0281, -0.1983, -1.2786, 7.0359, 1.7509, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc72a31327091916da58c9d6156d38123190f3085847e4ef45b7bd82e874140a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03eee63af71d69791f0ee89d5db359b57a24927e5d023b3201ff8ba1e2f5143",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc38c38ca7bab4e4abf5f91260bc3499d2ba52c5c4edd005e684fc7de0e1fa8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEabN4_Ij1TQekErhe2VW3a-sdikXwgdHHBFypELsc3JuMsXE6b6ZST3ch5untLfaacbY_v1jJu5sDKPBr0Eo6hX_EVWzS9rncrS8DZSiKdHBbtedrZ5JkLqVdMzqWjxgjs4mpuBR2v8RRsthSLc6WosT751ibRvgy8Ze-uM0eAJfn3ghmEJnYwlN0f0JFfIhdqqQv5FLLDLJyF0gPf2Q3XTJiMwQadbqwSieFmEJj4lBQG6LpR-BsiiDLORTbyIgPXr_qU5ZdsTFYB7RmkQPxwWV4NBTcBUkYlph9q3kTNy1nqkbBwgft0dCacU5jSRJwtxaCY3azj7HQe_BJoPzOPgY8T0mvaILpLmgfySey6VZkGdqodFp1GublKCsrb3mKZH_cQNNq3TaaIOonM8hiqiPDJge3N_rCDPJDOr8UDxQGv1YH87uW3ftMoktTGSaR-M_Z3kUvLsWkW86yCQbULs07WbvND7vBxgDKCcoCx1cBFpajljeLWolzR7gd8r_c4NviwjAI_XSrPq7_5cjRFwOnCssfWRfXTd1g8YGIbpjYCfXlu8HFiaJ-uQwwPBc5UTfVXt5cSHvjRmLKSZJzq-uBLT1Sm3JgXCz0K-AVt5-48OfA8aEJdATu87jf2sdOiWN9DhRgkzhQlWWRE8c8cPKLIUXYD1tqL0MUC_NK9DZ2Ysdz-g0FBthHFR70KSYpocDCp-MUIVDRu9EX7UFOOAa1AkOyJLM8vDljIcp4Mnspep83YkDPKs05BS3I-v1mTU8dj9BZZWUTHs7HFp1Vkcp4F6Q0KchxDQhYaY4EH056LbqeOsTl9I31kRQtl307rA_WUm1ZstrNPjdHLcYNEAugPKRm62ka1yEygN1o9fCzX8nl-vrVbOvVhxrq0gLfLrrHz7-trZ5gC8A-lw9fZoO5nd_ySSseKPcICu2ZENV8wHo7G-14LkAFeVIXDJEXFNqXrvGtUyzloRIWEWxRZ4z3ZMOexPShTRemiAG1vLkY8xwkqkLlJLv2zu9cYlaXxkQCJ0Jt89ScYYifhvvcoaaAOvAs52maYr0kz6sk7GDvJLIfhM1JY2Xrt1SLTa3_ENAcScjGrcImGh74MiPEiOAcSqM3Lwvu2o7pQP-5Wu637kyj2wwxv_FePxP6bJDuSH5GGBWQyV3MD2nyhB-8Y3GI3jCRDnyOonmQdbsiKM8A6erV7A5evVrxruHve-IhXT5upxHwc6NdcF34AsRdpJBVZ9PVtoL969t4Qg_2Fg5DPDKVb1xocZiys7VHMGDBp77OwidNtoo1KNmRjr3EhbeX-jZtaZFm7y3VIp3cu3DHmh731jfZ_XtnVQxuT4XoYchew3VPSTqvgi2gAZHA_8V8c6O_mKjowIpoYShvTUPBGRjSUa0WUx_voOq3HS8VPvm6rczatOdQntfIEEBSbPy9LditfAEJdmIaaQRm1kEqyaTW3R9rGiiQrYg1-6nmcDd8u8wsTxdpxlIkkPlgmwuQZE-CPP1JdCxI65AIL9WeZtrRjF7iTSI-tJi5MNAAIJEW0JHCyVp_Oo-STOpjFoXuWBdjUlifIDQVOOT9qOeS9ZO9_0VWLsK9665xQRoNplDz2clS_Sxz6c5myqO0ifcuhaa8zXGQxM_hwOLG78m0MRdIcrPcgcwpgOlxvReiOP3iebPi7r3qOjnkuLMP3lxHQx9GgP2003pZT-5TUBdN9C9BytCBMVVUNsyXZQTdBWVV4u_hR-zTufuzYBM6F3Z0Ryzaw2y7O1ih8JUGHdAD0FMYZBEdox8-FhV9f8d9A9pCGwczLwrGjgebXyyCMV6Y8N780KztIyyPMStuHyljs51nmPyVYrQjH6X_CTAVTPR0THixAk6ICaF4iLL-blPdJvUOLqsosHOXDPyYjdoAEQXwwxVQlba0Hn0HfwfggnvwD7k-4Qu08UaVv83SB-JKPGsZMyEnHOBtHWofR2rfm11tbFKRC2R8viC4NaHrER4M_8Z1s5_PWDkPzrfDoLB8uB5lJZMEaOAYyRnhqkWrk=",
  "id": "rs_0be44dae70bec4a9016ab446994f1087d0862197ec038207c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.29,\"right_z\":0.15,\"right_yaw\":0.75,\"right_gripper\":1.0},\"note\":\"The cap lifted with the left gripper and is no longer on the tabletop, confirming the grasp. I’m now moving the open right gripper above the diagonal pen, rotating the jaws across the pen shaft while keeping clear of the cap arm.\"}",
  "call_id": "call_pvY0r3d0H3qwwBgxNEQBUt0f",
  "id": "fc_0be44dae70bec4a9016ab4469ad30487d0860cf0597e7a8380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pvY0r3d0H3qwwBgxNEQBUt0f",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6386, 0.9638, -0.1699, 0.2157, 0.1299, 0.0617, 0.5705, 1.6508, 1.0245, -0.0277, -0.1333, -0.0933, 0.9993]\nstate[eef_state]: left_x=0.3846 left_y=-0.1905 left_z=0.0879 left_yaw=-0.6492 left_pitch=-0.249 left_roll=-0.0675 left_gripper=0.0617 right_x=0.3805 right_y=0.2763 right_z=0.1311 right_yaw=0.7243 right_pitch=-0.0862 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -7.5419, 6.8444, 1.6142, 0.0757, -0.0171, 1.033, 0.3214, -7.9658, 9.1556, 2.0293, -0.0708, 0.0024, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02cbb3aec676ddf2234e766b4e9274ede363c594fb82d8e774f52279dd072a72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8356024853c5e6ff74c92684a8ff6147ead388fbf94c6823357d2ad7b7d3147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35601a7de2d1253349389d5a5d23c2ade6035c15e6c2a9909e97dd4544a73184",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.168 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]: [-0.3798, 1.8606, 0.7933, 0.2543, 0.2176, 0.1371, 0.9996, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3893 left_y=-0.1926 left_z=0.0033 left_yaw=-0.6524 left_pitch=-0.2179 left_roll=-0.055 left_gripper=0.9996 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -5.9829, 4.2051, 1.1941, 0.232, -0.1245, -0.0171, -0.1299, -1.306, 7.0085, 1.7509, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3801, 1.6402, 0.9688, -0.1524, 0.2165, 0.1295, 0.055, -0.0193, 0.799, 0.6128, -0.3981, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3887 left_y=-0.1923 left_z=0.0921 left_yaw=-0.6482 left_pitch=-0.2287 left_roll=-0.0626 left_gripper=0.055 right_x=0.2938 right_y=0.002 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -10.0171, 9.6615, 1.4383, 0.0855, -0.0464, 1.0281, -0.1983, -1.2786, 7.0359, 1.7509, -0.0464, -0.0708, -0.0171]",
      "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]: [-0.3801, 1.6386, 0.9638, -0.1699, 0.2157, 0.1299, 0.0617, 0.5705, 1.6508, 1.0245, -0.0277, -0.1333, -0.0933, 0.9993]\nstate[eef_state]: left_x=0.3846 left_y=-0.1905 left_z=0.0879 left_yaw=-0.6492 left_pitch=-0.249 left_roll=-0.0675 left_gripper=0.0617 right_x=0.3805 right_y=0.2763 right_z=0.1311 right_yaw=0.7243 right_pitch=-0.0862 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -7.5419, 6.8444, 1.6142, 0.0757, -0.0171, 1.033, 0.3214, -7.9658, 9.1556, 2.0293, -0.0708, 0.0024, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02cbb3aec676ddf2234e766b4e9274ede363c594fb82d8e774f52279dd072a72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8356024853c5e6ff74c92684a8ff6147ead388fbf94c6823357d2ad7b7d3147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35601a7de2d1253349389d5a5d23c2ade6035c15e6c2a9909e97dd4544a73184",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEajnw0XWmq-Bf3augtdBhQfzTETmHKFLsXuiLzap5JhdcIyJ7421FrK3Pzm5lpygb2D59VzS1Wyb0s3makQ0wdP00zQns1kCvDY1jL0aXPkOEK0WDkeRRLCN5FWlfe5Xfcn9UTzBclesFjDHEenY52lFovo1LhRVjUyCbhnYYgGcHePMCfJsROHf8r5qSH9j6JP1Yu2T82x-CAxYlbzBNeFCQAdR8iDovgLTApvu5rwlv2TpKHhmBUrW-3EZvwYaVjoWoIGWxnPZ7fJ7ixQqq3fC312JPaHJpkT6b8d7z6v4ffy9wuF9i2jzP6_WInvnAVjqpWv0UI4D-pcCfJIdeyonzuCbnFV1PYkzTyjIZt3-0IHhC56AvJPNvP76oisQ3cVfiMHO5k95xJuXxxyiS4mih0x7oouQs_LmkylFhOAi6kj4ncybh31e-Dm31N-nOfUeVKFRgxmyvrcESNqh5-WuJLYvyVh_vWzm0LpQCT1YJQF9Hc8h3PJAFO-Htqa2tUj6rOe3xw0NcBWrE_uzsAl4bfesxQT1EIrsOcnMyfJIy_SkoujdJUOZwhrZ3Ih6NYe_1hzydYhpAYDcPJ9LdknMimx_cczuwxRd3p62mmKea7eREVEN5ejSNLlEzvNta3Tu80L7Hiv8bPa-syJ3b-ctCBn_Rb5uOi3sRL-G2ySFb8jy8hTE1L7OsIOPqa4An_U53ZqMmLojnisETFRvjL-fcu6cK5UPtMpOA33wtfv8dNyvBfNHN3azXkvbL0PoKoaGiAfK53SdaMT3k0NsXOtM651lvYA-v55cZaTPtDPjuLuQjm3yjd5-O1SUjDIg_4UxEPY3DUc9UeRiG51A_Y067K8KErtU-THN80ekl5_bTW6MYZwVtDGXdgX_bV8XNr66KhTQR8_CmpnQ-RpvbGqetR9ravpGA8GKvAEjpwDICcVIUHTVN7DMCUXGdlyUx4B69tgS6vtH9xymSHmKcTg93fxEaxYJkky_Uf23tJ2eLIcRe-_3stNyYFQmD62EW2chzmSLmwp32oFWa6xbxDHEc8zas-QjG1mAIF5YAyxPlxFfZEot5JznETcnMcH7EEp5yTubHhmqsxWLor49G4z_LqhyJGA_5htiTexeWgwGvvHOfauGLrvTSiy1VqcxtU-ehQOxXQHBd998VKCXwEDl6J1uSZ6nyszn34WICbuHWQ6O7HeRMr1K8xOdfmCMvFFwCiVYKnYi0ez3-vkxSheP8p_h2x0-imxNUjjBI3FNtRav9eFTVHppUJULta7Vxwo3kVwibFdMde0gVgZSCSK0GU0sde4ZK9xinotUBVlbNsPnBD2035d-9naA039wKR9EgSYf3ATChQtvkDAQKZsdF9jKUErsNctuhoPKS2SiqvbYFZOudKWVyeB342U-NWBDxJy4tmzoBVbQcWQdGwQw9umCEZ_Y-ZxF16bt_dzLeDLebg0WMBaXhqu89FRR8BO4acJcb7hHuiifHoBgzIq_GpRAlusxzeU5P6WoBxIxZQlE-Y_sfY2IiZHd9xVEoq-2N5Fn7K4mQXHZ6RwzuGkK1mpoDWd1v3Giwav-_EJnNS3Js0gkdtrvJoF8juZE0g-SVbQF2xPQYOmNNiaqQ3GzlYapExMSoWfVZLO91uN2GUMtlmf_OwlHdc8tjoF0lS0dHwVioWwNrw3lqNqj5XDbYW5priVHVKhXr23Pe2iUqRKcbUnsncohAm7Upz8VcCVNL2ZtQ1sR-fwV76ZlE3kcD8xFEulCn2JElhxY1bioPCt1tOARjVbCf05zfI1prcmUjybBL2IOxz6_TMmThP7Bs5ca2i10bv2i4-STelMzid5eMzGKeKwE2jWmFokeLz1WmP3coXHVHeSKAtK7LMA8DUpFdhpmPY5WkZ8TtvXQtowykq47x5gcLEzdvXm2g18fu_6r15LL6v0PksZk81wzFoCnVH3JbcATzwepcZv3DnpcjGMA81fxQpe6UJhNgBoaGVybJLULAsav2eN8TK5sOslPsxa0gD0KYnbsFIHdUiDSLxHeHOkBg0QlYIYpAKPP-4hAB8xOwph1dH4eFCXXjSrT7w9eziWgn-3wZw9QnysQGKz35EAt9nlUaPGJVJCQykE-q389UlyIKUCLkqO5qZlNQ6TYVb2Ov7dv3DXnGNwMtMzf0ZA6eWpQmIwFPqpFarNBQFKTvYU_Rzne-N64xvZUXJNIpnUt4ovf2ODdtvqBfJzPT_oikMf5dmmWkWQ07o_tlxKSIZw5-Azsa5ldEfomIbxqCXuEf2ZSig23dr8fXqSPbHCxRsxocDQB93sFJEBVMREcq5KokDrN7mWcYMaaQbZG8J3maJVKv8Y3mo=",
  "id": "rs_0be44dae70bec4a9016ab4469f8fd087d0b0cc040533aae642",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.32,\"right_z\":0.15},\"note\":\"The pen is at grasp depth in the right wrist view but sits roughly 4–5 cm left of the jaw centerline. I’m shifting the right gripper tool-left to center the shaft without lowering yet.\"}",
  "call_id": "call_twWL7ByfarkM5TOBBI8DBsuC",
  "id": "fc_0be44dae70bec4a9016ab446a24c1c87d0b58d8b3f3cbf5273",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_twWL7ByfarkM5TOBBI8DBsuC",
  "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]: [-0.3801, 1.6382, 0.9638, -0.1726, 0.215, 0.1295, 0.0669, 0.7265, 1.6577, 1.0412, -0.0757, -0.0463, -0.0292, 0.9993]\nstate[eef_state]: left_x=0.3842 left_y=-0.1902 left_z=0.0876 left_yaw=-0.6485 left_pitch=-0.2514 left_roll=-0.0678 left_gripper=0.0669 right_x=0.3416 right_y=0.3193 right_z=0.1251 right_yaw=0.7725 right_pitch=-0.1302 right_roll=0.0059 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -7.706, 6.7897, 1.5067, 0.0562, -0.0757, 1.0281, -0.2256, -10.8786, 9.5248, 1.5751, 0.1978, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f97a14ca6bbfa872960f1fcc427581f2fc19f01acb9b4dfcee219beff7706d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e865cf877c25a960da3ff9dbd14fe741557e5ab6a096676f14c2099c52270a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477e42732ca20fb2638fec37fa12fe9e7a7152d913131615350db150ff0419e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.858 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.379, 1.8771, 0.7841, 0.3038, 0.2207, 0.1322, 0.0496, -0.0193, 0.799, 0.6128, -0.3977, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3925 left_y=-0.1941 left_z=0.0018 left_yaw=-0.6501 left_pitch=-0.1943 left_roll=-0.0542 left_gripper=0.0496 right_x=0.2938 right_y=0.002 right_z=0.179 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.2393, -6.8581, 4.9983, 1.243, 0.1685, -0.0366, 1.1355, -0.2803, -1.1145, 7.0632, 1.7802, -0.0171, -0.0562, -0.0171]",
      "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]: [-0.3801, 1.6386, 0.9638, -0.1699, 0.2157, 0.1299, 0.0617, 0.5705, 1.6508, 1.0245, -0.0277, -0.1333, -0.0933, 0.9993]\nstate[eef_state]: left_x=0.3846 left_y=-0.1905 left_z=0.0879 left_yaw=-0.6492 left_pitch=-0.249 left_roll=-0.0675 left_gripper=0.0617 right_x=0.3805 right_y=0.2763 right_z=0.1311 right_yaw=0.7243 right_pitch=-0.0862 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -7.5419, 6.8444, 1.6142, 0.0757, -0.0171, 1.033, 0.3214, -7.9658, 9.1556, 2.0293, -0.0708, 0.0024, -0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9638, -0.1726, 0.215, 0.1295, 0.0669, 0.7265, 1.6577, 1.0412, -0.0757, -0.0463, -0.0292, 0.9993]\nstate[eef_state]: left_x=0.3842 left_y=-0.1902 left_z=0.0876 left_yaw=-0.6485 left_pitch=-0.2514 left_roll=-0.0678 left_gripper=0.0669 right_x=0.3416 right_y=0.3193 right_z=0.1251 right_yaw=0.7725 right_pitch=-0.1302 right_roll=0.0059 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -7.706, 6.7897, 1.5067, 0.0562, -0.0757, 1.0281, -0.2256, -10.8786, 9.5248, 1.5751, 0.1978, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f97a14ca6bbfa872960f1fcc427581f2fc19f01acb9b4dfcee219beff7706d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e865cf877c25a960da3ff9dbd14fe741557e5ab6a096676f14c2099c52270a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477e42732ca20fb2638fec37fa12fe9e7a7152d913131615350db150ff0419e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEan3YNPaso1QVHY0OYN8KLgzoy4Sa3-mHUuCZ91V96Xb23W2QXk-0eBAv2VBS4b0tIiwzviWqUlLHxS3sQerPV7bgCQD0Tk9ZFyhPGCiszwzrbK0CfRyla8Bma49p0JN4PqqI5l0wSc3heW9vB74Arl89d6gee15qY0iM3hOE4WYokgNlt3KGV1aCXIlofe_NMPgDrAbpxqa9QE7Ud6Da5FE7PJDoP18c_JjYPmrmJNHfRYpFBwo_ZcPq2_OfT4xhLDUnEd8RISFFGPp7eGP5_eB7yHSEl2ldPgvpSNvvrr_k8pjEJQm6v1egxM-JbydncuwvMcxz9EeVyk-S3QWJm271dbg_zrPDRVBTqfG0cWKxBt_TzBc5tcn0EYj8e-HH8_vYUGpMFk67UvDaHZQRta8XeOWXgakL9zB_YFPYOPQKHFG0hImTICZxh16c1lvyq8R0MGCbSBoXxgHBMI_yuaraxPDE-CoEqN0f3Ccf9lEubyZrHT4cz7pvPCMYmieUMV7K6RYP_NOSi_qb5LlVAO-QybmCchmMXqXDJRThneHpZDDAieeEoR-hLk8bunXBzYfMhFNodw2OuYGlvjU77jVPkIdX8FZGWZQL4sq_EptEk-nWhzTOQsw0b7coDE1kefy4u7q9TiMaORNuxE7LpxjKkczznkJPv1AYm_t4LfZ9uLt5dTR9WFssZHbP2vn4aTpd1JZ_KVLsuiv_JxRNK6DzNq4hbEaHGzvahjl3-Vlydvk40cxJBaIwNd0m2E-C7EcEz51K4CIMRgQUu6FU71ykQo7MBxMcgEP75W84ZBGLlCsoGo0CDRVb0M4DcSGYSCDh2OGGRPQQJXMK2ji1FVvwsp2b2uDV2lQEzgIC1njuupNl9ijW2Dgde4NzPfJi7LtQYArtg8wnaNRvNV9k243dSXKC_LZKOpee96GXhgm0N1rGRGxnGoRd_bHV2jaIDU_kgX3t61M-VljyKAyxtC06NYI_oWLAbzf7NUXjzZtGdV15HNvKNiOAmSFcVJToNIKeT8mjFZXi9lkMR_eGqK3Wa_28kWpKHeRLvgxPTN6U1pirUyvlB1HQE9r_MXJpich23MaQhWwG0UZ5GkfAf6rCH0QkhquSDgxAPzi74BtDavF-DJC_p-y5O3HqDK-ApJag1jPuaO9jllTieig5fpWHO-w-qt48r2rgI_4uL4KWoKxRce6Mbeo8xFZso8MYeyTGijI-G0QtiMyMqx882Etc7Jxgb67O8hJV-gihloJooK4e9sJQl_ZEksVJLa8aARi9GUaHQY5xDJkdlQnvuZB-iUfNPPpK5q0y-CJE5hgGmJJg39MMX3p2NATjD6uE3covN9kQcZR1m6npxsoJTnw79XvDAeysLELwcBv_3HLU34wrWmyjr8IF0M_QEgq1SsnOwnDv1GQQgZ1iWgv9FxTXA_APSeQFMygLx9j7Ld3bNv8BOojNVK7R-VG0cojGd6zCbo2gmHkFgo93jSdivsXRZwKHzympyISXPnZWkCI2yNKeYKld3Cuca6ZujetMdN-Nx-VEx5Ha6u7VU7t5tB-FYkVftTxiXkCpeeQwILUdMrUKzBggC-P4cWVzua__R-VmxHppmZvnCHomI3C_LB-N_YYESBVGz8XwmOtqdxBfh2o2RaCaglUdQVFux9hyY6ySmiFFRI6dt8nRTS2lzI-XGpO8t6wYS4U8E3kYfXAFY5z5JsOeg_t2eVfR1H7DP1Ziwc1vnqkmNQcTjfroqRe3VwAyIbMmZInBAdokfHmiiLwktq0dhlZR4KhR0D_w2Rp5gOALO4vxxyTVJC95Ew6hYtwZT48vKoNOiIYzPBgsaRUHE7KywYTdi9uAREpBKmtf6pihuH4D3TqLNKMRGn0MpaE8fL-JzuFo-D3UBM0Nd1Cvx8z2rN8GEqS9Y8EutACds-92LgjSwbrzGr_mCfpniZbHiN0XMlEyEkNbuz0p0sChWxq4nJ9Tzp8U6vqw-S5s1S64yis1YtDlLKwC10274lnn_fy38GV3JgGBpnb-SKZ63Oj_0HPBXFkjGwVtdhCcrVlHug0cG2RWZZoSSDA-CwFID6JkYCtxwoYNJeQ7-hPZjvaalW8R76Z6bhSEAe1knL4gknF5r2ZdXK5fLOjsfC92qJkpo7yUYCsFSKjE9OEdLtjqMoO_1loNsRT26W4sWTY_H2iYXJnHloAGc0NqNTFmkIIfu3epKoEAGYKfLrXuD05xg3LmD01V08W8A2",
  "id": "rs_0be44dae70bec4a9016ab446a4aec887d0bb3c44da9fd12364",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.32,\"right_z\":0.06},\"note\":\"The pen shaft is now centered on the right jaw column, with its near end still a couple of centimeters short of the fingertip convergence. I’m advancing slightly outward and descending to an intermediate height while preserving the alignment.\"}",
  "call_id": "call_pUA3yfPefiNNmIT8H5lSMzTH",
  "id": "fc_0be44dae70bec4a9016ab446a6ca8487d0bd12f5920420c7d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pUA3yfPefiNNmIT8H5lSMzTH",
  "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]: [-0.3801, 1.6382, 0.9634, -0.1761, 0.2146, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0071, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1899 left_z=0.0869 left_yaw=-0.6486 left_pitch=-0.2551 left_roll=-0.0683 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7451 right_pitch=-0.1478 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.7197, 6.3795, 1.5067, 0.0708, -0.0366, 1.0281, -0.3487, -10.359, 9.1282, 1.6532, 0.0415, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ead373f176b7f5801e25214e632444b8b8690e2356ce284d84975b5af984f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338f97fae8a8d285414f23cccdf6e3dd0d780876dd7fe4c6fbf0623d72fb5198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc372db15c84753547a0bc4131b3dbb5801b4c477e9f615c6cc524bc3be6b6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.997 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6402, 0.9688, -0.1524, 0.2165, 0.1295, 0.055, -0.0193, 0.799, 0.6128, -0.3981, -0.0231, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.3887 left_y=-0.1923 left_z=0.0921 left_yaw=-0.6482 left_pitch=-0.2287 left_roll=-0.0626 left_gripper=0.055 right_x=0.2938 right_y=0.002 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -10.0171, 9.6615, 1.4383, 0.0855, -0.0464, 1.0281, -0.1983, -1.2786, 7.0359, 1.7509, -0.0464, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9638, -0.1726, 0.215, 0.1295, 0.0669, 0.7265, 1.6577, 1.0412, -0.0757, -0.0463, -0.0292, 0.9993]\nstate[eef_state]: left_x=0.3842 left_y=-0.1902 left_z=0.0876 left_yaw=-0.6485 left_pitch=-0.2514 left_roll=-0.0678 left_gripper=0.0669 right_x=0.3416 right_y=0.3193 right_z=0.1251 right_yaw=0.7725 right_pitch=-0.1302 right_roll=0.0059 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -7.706, 6.7897, 1.5067, 0.0562, -0.0757, 1.0281, -0.2256, -10.8786, 9.5248, 1.5751, 0.1978, 0.1392, -0.022]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1761, 0.2146, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0071, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1899 left_z=0.0869 left_yaw=-0.6486 left_pitch=-0.2551 left_roll=-0.0683 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7451 right_pitch=-0.1478 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.7197, 6.3795, 1.5067, 0.0708, -0.0366, 1.0281, -0.3487, -10.359, 9.1282, 1.6532, 0.0415, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ead373f176b7f5801e25214e632444b8b8690e2356ce284d84975b5af984f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338f97fae8a8d285414f23cccdf6e3dd0d780876dd7fe4c6fbf0623d72fb5198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc372db15c84753547a0bc4131b3dbb5801b4c477e9f615c6cc524bc3be6b6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaqyp2s9K2MPJz3UFLAY86lPN3CuPjbrzUKm266z7fyZi0r6Jz9ugeJB-1Hoew-jXLUEWViiIqP1JyqXxzfXvCl_VxDPWeb1ZW9-04xb6ujDSD3S761G23JObrnrteXpAwD7hoABooF5ZFAE4RMPDmmJ1dHhEYO8eNwRQTkjtSIQyMqIMxhHVqfCGc8-5BGjxQy_4IUQAJDPoWbVfNHUzyL1G_-wDpq_vmh5uwdQvOOuCDxvixyQUk3ixZTtyORlk9v97bVVT3_6cJ5nkkJZb-SVihRjkeVQGkO72jTgXlW0exK32TLvrPiKeXSVMnmw8pUe21qXx9kuBu4qrXu-VEjE6hIZRM4eVdwvADSnUID5i4kj3a_UzPU_n60JzLUVBzfqJtgdsD1TmCFTGStTaYmqtYpPf5pzNciFftNgHOCuugR9L0YEpkfDk1JP9JmS8ZHcyQAggjZqDMftgsE542bZK7pT62QuKJBzCFN5-DgYllQmGl2MHQ9w1CFi05BuFI16fuebCBsOPhfZfMGtT7oFHVMSH4GDR0YBo198B4mL9tHDwKh6PGKjqtjrLRjRpG51Vcl1Wl9gLtVX0Sd2Sk9mWrXOPQaMGnZ7cmBgIfQ18-pWznarQIsu1mFz3nJ-H96lm9qJnlmJ7i-KP3QR_A3O_dcXry1g7ZS1jGY-1EeFytBFHtX76s3eLkZMFVnTHVv1Isqvp-hcRz8o-i1zP3aVIQL9q0GHGCzrfbDt-HoVwKTyNh1T0P7hbkKdHfLUMTm8DF5f9VJVmx3l3vPIGFGcdiP46dLRxWOj1AMTP8jcb8pD0pkwUiBQbGi0859poZZD5Io-DiDn99_EtK4mbppLuGS03O5W9JUvFZ_SCBTuvcGYcrAqyWp5wxqch4wXI2BNRBq0y5YfTBCC_CySt4qHZmRE_6gVbWMHAluXGtgHZv0ZiIGqaYCvcA1o-4fMt6zSNIQHgM6xQAz14Rz1Yav-tdfikm3yWb0cnGFt3Yjy4hshzEgebAnPivV0ecF4u1o6Q30tn7YBdMxbR332KoLZ9l7q6aR3Vo8XZjCgAHvGokwp8gEk6Y0MFFt9_Qmc_Y19xobHewQ9BC68_O1RbmX97Y90Qy7zCYF1I0pEhrMe9dSI69R7jYWZzZlrgsBFfNYYt-IRO3MXMP--aoGJefUdWGZg48dgdj8sv9dJqFD8y-tJIww0wwyP6yQ69LyPhOw7lWAJkHeRfB1JFpI8F63Dkwuy9A2mmkVB3EYdVVhsq2--Ru25rr7t8i8nJrzpYL_-if0GdTggYuGLef8AlrHseElNKJZwpvcP_7rCjvhuKmtPLY-vZGxIRjCtAzpAs0atuhz7cUJc9eO2fTAajw1TdepP8ADOWvutyNrXYFpMcTZQ7g_cJEat6-H7gtShQgHjqHv0i0FZMBxikUha6BGFjT6DMgJKGZQvcfijLshLjb6dcTJFWV-ThMGQEz1ELgE5asWt6w2eVA1m6N7THxJng==",
  "id": "rs_0be44dae70bec4a9016ab446a978b887d0b036958dca4aa38c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.318,\"right_z\":0.06,\"right_yaw\":0.75},\"note\":\"The combined advance-and-descent request stalled near 12 cm, so I’m removing the radial component and asking for a simpler vertical intermediate descent at the currently aligned x-y pose.\"}",
  "call_id": "call_hbIZuQazyb5h8fF0N8NiFKtr",
  "id": "fc_0be44dae70bec4a9016ab446aa054887d0bcc23c6f1d61251a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hbIZuQazyb5h8fF0N8NiFKtr",
  "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]: [-0.3801, 1.6382, 0.9634, -0.1764, 0.2142, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0067, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1898 left_z=0.0868 left_yaw=-0.6483 left_pitch=-0.2556 left_roll=-0.0681 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7449 right_pitch=-0.1478 right_roll=-0.0021 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -7.6103, 6.4342, 1.4725, 0.022, -0.0464, 1.0281, -0.5265, -10.359, 9.1692, 1.6532, 0.0464, 0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4311ee222f9463359ae4d916d26c5aa0a5b08c2733d4b7f8abd9c3bb725b644c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97cec2f9bd5d3edf71cfab82cb48f6f7cf75c103327ebaa14bd9bfc5d8000c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfb599e0e02148b5f4e3bea952b1ee129fd3f7d1f55fea6031790d627709f2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.43 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6386, 0.9638, -0.1699, 0.2157, 0.1299, 0.0617, 0.5705, 1.6508, 1.0245, -0.0277, -0.1333, -0.0933, 0.9993]\nstate[eef_state]: left_x=0.3846 left_y=-0.1905 left_z=0.0879 left_yaw=-0.6492 left_pitch=-0.249 left_roll=-0.0675 left_gripper=0.0617 right_x=0.3805 right_y=0.2763 right_z=0.1311 right_yaw=0.7243 right_pitch=-0.0862 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -7.5419, 6.8444, 1.6142, 0.0757, -0.0171, 1.033, 0.3214, -7.9658, 9.1556, 2.0293, -0.0708, 0.0024, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1761, 0.2146, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0071, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1899 left_z=0.0869 left_yaw=-0.6486 left_pitch=-0.2551 left_roll=-0.0683 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7451 right_pitch=-0.1478 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.7197, 6.3795, 1.5067, 0.0708, -0.0366, 1.0281, -0.3487, -10.359, 9.1282, 1.6532, 0.0415, 0.0904, -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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1764, 0.2142, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0067, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1898 left_z=0.0868 left_yaw=-0.6483 left_pitch=-0.2556 left_roll=-0.0681 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7449 right_pitch=-0.1478 right_roll=-0.0021 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -7.6103, 6.4342, 1.4725, 0.022, -0.0464, 1.0281, -0.5265, -10.359, 9.1692, 1.6532, 0.0464, 0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4311ee222f9463359ae4d916d26c5aa0a5b08c2733d4b7f8abd9c3bb725b644c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97cec2f9bd5d3edf71cfab82cb48f6f7cf75c103327ebaa14bd9bfc5d8000c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfb599e0e02148b5f4e3bea952b1ee129fd3f7d1f55fea6031790d627709f2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEavnsoj8rr4WEWVAE11yH9zPMCasRVQzVDbMJxGBlMDtkgcem2_uT1rpxpui23nOHuElU7JDiIFNP8kQdsjdbcnLgd1uWg-RsBTwCtFpvseoxZUrfxQnjvrOWAmF8IjDPzpMY9KmkxtGANjy7u4mz-lFw5AG6TPE8Ncce92A4WyXyEXU0fJHawyR6CGG-9dVXV6-eWlKRa7NbVojskffTwYOMEZIdL6aFnCocGEFpE7FLDqfsw_HMQobZRw3oJ7_hvbG6jXmo8m7rfDrU3_SUY_rYZrMU6-HIisB0iJH-d6NUWxLOENhYuc_rVCVzhA4VjzMXZoMxcXXj0LCm2-HLBNuKdsE-Dm7BSppYi7rhZ_Jkw70Kfvtur83ALR84uhDxZmpYb0mMwTn6hXlRQ91Wnyllo_HpzM071q8w8roMFFGkEnz8OrUAAIFk1Fo29I5vDDVVYO-KZ8pUnv38oN71JnqfvIUjSFI1CFxLEWSxTPN5FS5tWTK_6OEz_WdDccwvZBr1dN8UijzEGSmBYZmsFOz32DAzEPf1xifjUvBChdBmJBBRJDHrAVFsxw3ssImINog_Z7mONwAN9RwS6wHFYHeD2j4hlRa4uCvEMxeZAD8YU4JF7U_fGrm24ypxW2XoOSK5n5qpjTJ9ik5qBEmpqOhNOBTH3JYwd282xw3ZbL1XmMo_qLIqAYWrIukQsv9d-31RnrvtEky9DKkhmGp3zKa1LEnrNvLdff94kVOpJN6lru_hU59bqPrp6YfiElLyaDEsQryEa88j7kv7A1PFnhLF1ooHxC2S3ayhPlFmAOfc3NC2uE_jfCIQhNsuSzIqUxsVX1yvtxmRD6_qkVGBC2GmHKH0Q0tA8yChDEJXYkhBPl-HWtcW7kX7KMeJwgdACyvnX7kcR5K3iP_Lt3z_5Gy6OYY8QlNqZBTdgXAEBrsDHoh9a_IQVceLHBvc-1ouOrrBnNUs_47gL6tdJM5Fw4TuMpCKwG-1_hig7rgKdTeFGJU2gmkMJCo6GV5mBtMotAuKI3YPh7i7cuNnaFf4X0HPt-0S9Hr7cJNDpjkIjwOgOYvLkBfy4uSsxuKQZxGHBNWaMQZzcXx7zGsujlda7AZVElaxeAkDbnx7DmpkWy2QFXuGmkeZxAXsIPxnxkxkUllQjmCEyQEFabiB0EM1p1Cjx8gsdDn4TCKAg_2RyDgEAFpO6H7Q0oq5bv56JT-MaHc6eAwiV19S4x64kWtGnyph5r6qYN9LJ-X_xYoiaTDGkN7slNhaaFBgwIxJigMXUW60vygcSU7AY8JkYyvAXJ11QIm5thoZ1snua1njN2R6JLgV-_GtTzMtkU_vM3fZI__HpqVEaH3JeNqRGz_xlynUcntTvTv3zD0xHnCo9riK2njS9aWhkFszFaw_WxenymjhOsIoJf3n0EApjsBvenvAJK5QoxHeGrKzU7qt-BVvsGP9RezGmitEuYln9OcI6C3EN4tnyjAiCvq2DaDz6fcbTDgMlHGW7KN_ijncJtdkU7oQDTxy96RIYXtAX-UfkGi2iA8msVm_EL3mxnF0HeQLMVwG0MeTLrzq-PDWY6n6gIVbXSukdG6IheBxNX2FUBJb3-JLIPT1ixozH9B2JDSDd6YhAkwg5PVKxzhAsNestgbB3bedtbZ5kaQTJTg8ysoyZplWu1kcRvI0fkLBzedKGTEZxSCqKwymk_c6PLUb2OIK1lzeaFhTktbPHIZIyzyN6AxvDkRLktwmH1vFnpCwbjfGhcWJEsu6odjFLO1QH0-u42efAdsft-DSCj7WQm_Hb5lWZn3cJE3tqJyxoJxnNRH1sx29d-cLDKI82_Yz4wJd2-gJEO73A7UpvYvmCBCn-Y_XpM9inpQfuOlmL5ZUt-TSRJkawdBwO98W_EMpVoL_89zPPfjEzmdcX_GS3S1H3Stdn4fAVJaiXnjDuawSjb2Wxb6Vp59l1hxh0idZ4=",
  "id": "rs_0be44dae70bec4a9016ab446ac86a887d0a01c503d74183e17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2},\"note\":\"The right arm will not descend and the overhead view shows the two wrist bodies crowding each other near center, so collision avoidance is likely blocking it. I’m moving the cap-holding left arm outward and high to create clear working space, without changing its grasp.\"}",
  "call_id": "call_UXCRYUhBtojfarqVfYnyfntt",
  "id": "fc_0be44dae70bec4a9016ab446aebfd887d08c42ada2aaff38fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UXCRYUhBtojfarqVfYnyfntt",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.318, 1.2808, 1.0992, -0.9379, 0.5758, 0.7033, 0.0697, 0.7448, 1.6524, 1.0393, -0.0975, -0.004, -0.0078, 0.9993]\nstate[eef_state]: left_x=0.3058 left_y=0.0032 left_z=0.1835 left_yaw=-0.5921 left_pitch=-0.2865 left_roll=-0.0884 left_gripper=0.0697 right_x=0.3379 right_y=0.3174 right_z=0.1225 right_yaw=0.7432 right_pitch=-0.1493 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2718, 9.1556, 1.0134, 0.3736, 0.1783, 1.033, -0.1026, -8.1299, 6.8034, 1.6679, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6e436add93fd3204cf8f236db03dfabda29c5e1d66833acc0f5ac462acf928",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cff18d532b6cf3792ca1bfb868842ca53c594ae62463b417525cfcbd23808c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0862b3c7bf66e42a427ceda160049f04ca05390378b46827b0c48bf3227ca2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.864 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9638, -0.1726, 0.215, 0.1295, 0.0669, 0.7265, 1.6577, 1.0412, -0.0757, -0.0463, -0.0292, 0.9993]\nstate[eef_state]: left_x=0.3842 left_y=-0.1902 left_z=0.0876 left_yaw=-0.6485 left_pitch=-0.2514 left_roll=-0.0678 left_gripper=0.0669 right_x=0.3416 right_y=0.3193 right_z=0.1251 right_yaw=0.7725 right_pitch=-0.1302 right_roll=0.0059 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -7.706, 6.7897, 1.5067, 0.0562, -0.0757, 1.0281, -0.2256, -10.8786, 9.5248, 1.5751, 0.1978, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1764, 0.2142, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0067, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1898 left_z=0.0868 left_yaw=-0.6483 left_pitch=-0.2556 left_roll=-0.0681 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7449 right_pitch=-0.1478 right_roll=-0.0021 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -7.6103, 6.4342, 1.4725, 0.022, -0.0464, 1.0281, -0.5265, -10.359, 9.1692, 1.6532, 0.0464, 0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.318, 1.2808, 1.0992, -0.9379, 0.5758, 0.7033, 0.0697, 0.7448, 1.6524, 1.0393, -0.0975, -0.004, -0.0078, 0.9993]\nstate[eef_state]: left_x=0.3058 left_y=0.0032 left_z=0.1835 left_yaw=-0.5921 left_pitch=-0.2865 left_roll=-0.0884 left_gripper=0.0697 right_x=0.3379 right_y=0.3174 right_z=0.1225 right_yaw=0.7432 right_pitch=-0.1493 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2718, 9.1556, 1.0134, 0.3736, 0.1783, 1.033, -0.1026, -8.1299, 6.8034, 1.6679, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6e436add93fd3204cf8f236db03dfabda29c5e1d66833acc0f5ac462acf928",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cff18d532b6cf3792ca1bfb868842ca53c594ae62463b417525cfcbd23808c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0862b3c7bf66e42a427ceda160049f04ca05390378b46827b0c48bf3227ca2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEa0yDTP185pBbPXY8nNSw6EQRxvaxC-S0JMAAJxQDdcBz3BZSV-SdB4IESRvhtnsgelPiqhmQrL6wpVpq-NcW8tiqrwDi2wUXD-_2p0OsVX_1s04rYCzfTWEkLd-GdaFvX4Oj7_G5oQmif9S1nsC6OcGf10L8b7jjfOzy7-IBgNpBh_ufPTxQ2OYpUGgCIyBj3UJTEMJ3bQlWnKvfZaxjAGo8gOY4y_VkIc_bOOhA7xG05X2fR3MDLtxgMpm11x5UjMa6M1qVRGx5cIFAxW3qjqsZAU8Y-iDG21Yg9f5VfimgRy7xZPoGv0A6TBWOKKlLGuDtK6zb8g4MhHThiTx9Cs2YU5_6I3hoidCfVs12sCYlKlVOMWG6BKaeStc5K--iFuyeItptZRwXHUuAlYYvg9d4ciMVjvRA0rwJIEPpE4CxShNn_gX4JgiIY6r9-eDSIxJe2MnKDBZoFvsuBW-BeagZQUBPgckFtkx5Cg5AWraPQ63UNzPI3jBRhPPvKl6flab6NH8f8z-KaPptlin1iss_sezV2tyy1FOQsASFhPs2APVDA8GH8UBg3ZiwuM5dpl5pzSZ3LBzaAakgS3eHkSfHd3ptiRi54rfDyXi-heeTmi6tG0GPX5IERmx-WAKjazP2wPdBpqwlulmKlqL0bhqGG9G8Fom2cM4CvqbOvVJ7oQBKJ98_rLgDTghbCQb47kQaX4H6O_JP0pBcM1yG5zvTSYOBSHYSpN83NWvc-Bu5tG8RmH47aTKW0F0zoRdVb-szeFobHSO_mF21JIFK2QfB6YNnTLhtV5RKKi0k2E3Nb4JP0yu9v-goWa0k5bmzsi6b87eM5C6_PhirU8DW46aobMY3XDXDQKnfciaX6AF12vxxkZWppsPy9YA_GnFmfTGonvVUdlO6xFs2h982HGqnx5DAdUtrQcMQvXO-gINng5rZFDDdlCax5_Q4f8dEtdGA6QKK_JFTWo6zaZVqSoZ5z6a3Pc9Y7srMOO-dqIDdcpgAmzGQOQ8qorOD-r7pYKxJ63lBX6CrwFCwaGNywRboZ-dixpsmggN6Zojz2VZeH0m33tSSP1HIQLosoNkx6Wx4dBS5iaR5KnTIBmp0cfXuuTarTQpPkRsZsKqpqKZnVg_5q-6riIo2GdfK8A2DVFsb4zjCcj49t-ilEuLuZWt3FkESeGZ-Ubjd3ct-aMGBhW2gjXFxTMswVUCs-BzQOgd8bs_bhwz8WVGDD5nePZVFFtrPRakMDBIJ6-u4WHTejmiF0zRqRI8XX2BgaUttbzdINKY-kaVgbQ2T2ApIZHyuYGdpxtHIMSjXLOWvNg47U5nFcylywgG55RSxBClhAxen-aFUXs9gcQLKQpmty79cNRBJllicyUcmrADlLqzo1xbyBBoMrkUTxbQsy8Q_-5hFoj6ZAFYRfvx9Vgq96MVAnmQccS0YC28ne_vY5gam1bL2VluupQiekX0FP0QIVQG68vNPKbVM75jpfcufKW1ZD2vod-8n49YOp9haw2M29Pi4lKlHUr8iccapMnOhIPCeDoxae5DFhle6bZyFuqSAOGdQlo5io43gXFEQNEZtIiTBDiheR7jyRVt9mgLTsKUGFLVfCoZEWGw_rPFCDv5P0_YOrSKq5n0mfJjd7ksnfzokq3ompSazMUP8GBoXwVLV4oXCwCiOy3z2AEkxU0w5VAWXeSIV2viLhlJO_QiZGRy5ikj4UVR87oQ9S7vBmF",
  "id": "rs_0be44dae70bec4a9016ab446b1f1b487d0bc0b864b93edcebe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.318,\"right_z\":0.06},\"note\":\"With the left arm parked, the wrists are now well separated and the pen remains immediately ahead of the right fingertips. I’m retrying the simple vertical descent now that the collision constraint is removed.\"}",
  "call_id": "call_nE9VuhmX4mLidBIjceV6S97R",
  "id": "fc_0be44dae70bec4a9016ab446b31b7c87d091461333ee919a68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nE9VuhmX4mLidBIjceV6S97R",
  "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]: [0.3183, 1.2827, 1.0985, -0.9539, 0.5751, 0.7071, 0.0725, 0.7448, 1.7714, 0.9134, 0.0792, -0.004, -0.0082, 0.9993]\nstate[eef_state]: left_x=0.3028 left_y=0.0024 left_z=0.1812 left_yaw=-0.5979 left_pitch=-0.2983 left_roll=-0.1009 left_gripper=0.0725 right_x=0.3308 right_y=0.3108 right_z=0.0514 right_yaw=0.7434 right_pitch=-0.2176 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -4.5607, 6.735, 1.1502, 0.2906, -0.0708, 1.033, -0.2803, -8.1573, 6.3385, 1.9072, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9db2481453c387a1254bb28136d5341f3d76926511436bcf366978b615c52d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978f47510bcd4cfe7b04d6e37e2826bda71d697169e61440cbd3f5e673668d06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5ee593e5478a8e683fdbfc5e8d6f28a9f56eda375519b09a11178fe7203143",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 4.222 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1761, 0.2146, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0071, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1899 left_z=0.0869 left_yaw=-0.6486 left_pitch=-0.2551 left_roll=-0.0683 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7451 right_pitch=-0.1478 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.7197, 6.3795, 1.5067, 0.0708, -0.0366, 1.0281, -0.3487, -10.359, 9.1282, 1.6532, 0.0415, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.318, 1.2808, 1.0992, -0.9379, 0.5758, 0.7033, 0.0697, 0.7448, 1.6524, 1.0393, -0.0975, -0.004, -0.0078, 0.9993]\nstate[eef_state]: left_x=0.3058 left_y=0.0032 left_z=0.1835 left_yaw=-0.5921 left_pitch=-0.2865 left_roll=-0.0884 left_gripper=0.0697 right_x=0.3379 right_y=0.3174 right_z=0.1225 right_yaw=0.7432 right_pitch=-0.1493 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2718, 9.1556, 1.0134, 0.3736, 0.1783, 1.033, -0.1026, -8.1299, 6.8034, 1.6679, -0.0708, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2827, 1.0985, -0.9539, 0.5751, 0.7071, 0.0725, 0.7448, 1.7714, 0.9134, 0.0792, -0.004, -0.0082, 0.9993]\nstate[eef_state]: left_x=0.3028 left_y=0.0024 left_z=0.1812 left_yaw=-0.5979 left_pitch=-0.2983 left_roll=-0.1009 left_gripper=0.0725 right_x=0.3308 right_y=0.3108 right_z=0.0514 right_yaw=0.7434 right_pitch=-0.2176 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -4.5607, 6.735, 1.1502, 0.2906, -0.0708, 1.033, -0.2803, -8.1573, 6.3385, 1.9072, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9db2481453c387a1254bb28136d5341f3d76926511436bcf366978b615c52d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978f47510bcd4cfe7b04d6e37e2826bda71d697169e61440cbd3f5e673668d06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5ee593e5478a8e683fdbfc5e8d6f28a9f56eda375519b09a11178fe7203143",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEa4uR1ZubqmrAZOvVl0HgmdZHr1LWEtWEVYIOgEsK3WhYpM96aga07-p-UP1caTq93z5pqUpONPYmwc0zHvvpW1TAVEG3K8tHLRTDyXkXlJy4cnnlFQv09pAsCEDDdGtP2hv00hEmQax8Qh78dJUn4U-y5TcobvcuKxWhyOS_M-8Vdwpgt-5fnjdNI6Lssyr6jdDA34P_ddlQ2E5LRfMmX-iawYSujbp6jUn2JIRdEvi9ZjPaUJ1Nnf4vJYiAkKpERfWc5kzuouvsWmy4bJ7cenKZV9pnUj3wNrjrnYDgtMV1XnIOFIsU5QeJCF9poM1Na6ytcBUVVH4bmTk2tO1c-xL0122kQNzbf_t3fNhskeVO_9fWx9xONJ2GIV1_vX44pdEyFby2ru_iQAZctwv7JOVLe8aZ1oJlh4fMkuLSdkFScnR64M5U4K8EW47B-69CqJM4zK6-H3j44TSN9JaPLdXz3LJz9dB7DCGjNcLFoerMb4QSw8WudyEt7POtYS0sNxKDGJQHRsetDQVH01_Zr4R1-NKmvEjjI1b7wGwxDhVOoe50sWPLH0uxtVuuAMOEA_zEfPnlsRCFrnjyMjQf1lEx82XxAnP5VhguVtDrcaKZZGZSx5DzIM2KONgCRg81b8WVrfyJbdM3WV9xZ2dgNfKtUdgnwk8DhvqLDp8M7P0VTFzb2kgnxCL44u5_gA0vFwFie34MgAvCaY2TEt5Rn5-a1hqD22ifcwrCMn-OpIq1m51IsfNMH_NMKSbPNet1co5zDzpOYXZSPNVqC488ksNYutLw2ZdouPfjSSKoQgxrLg8gHX6EiyS2r7hQ0paOOgM8t_A-uFMNQmdjXsMMc8J4W1Vcp-tLtppQHeyO_zxEB3dDUXI-cYSH2HmXWu1NcWlCFbYshL2m0JjL8UrbMauq-Ii6cuPH17GoIfB-oR2ClkweuJqWsDiVkwmLqfLDe73HtT25CuDnDDC8t7beAnFTYFd-1Lzfed81-ICSJuV0TrrbYJUWpwQaYxqGZiWhrYiMO5-5inYiKwwVuAV75fmawIN-asUp3-wEPdDyFHssfJMIAYVtkD5XrXEcF1zZgF8R9Oa9y8Kq2X8R6ojJjAMW0EMkM6NFDmbta1n1zaL8MG_8KcMJoPdn7bsBpyGDeaCKKzdGXiLQ0uOjtXl40Bs3K-wtzLSZx-2DqjKkR1wMtcryE_HmrK0pschIfok1xohjZ8TEYrmXrsTQXlht98VX4sl4Hplai946JT2Niu7ooGejbs2CTTUN_7aczPC1u6UqZTRVgykIcwrpAPSym_REjQQA63l-1SBLV3yOUJhfDSHcznuT72wQGPAYHpVQp9r70BaASUaK7TsKQZM4sYrl9CsyJU6oKojNAMrCFywqtsy9vfcp_0LH1gJxYET7-Mf2K0Bo2LrW_0lSq45hDTDeXeitHjGoxhLAbnEu5ji1oY0BuG_MKBeFqoqWQle-EBFWA7bEb9dTT-4riBIbZmM4Qeh_004tUQy_wMoIGOYNXWfRLV7CQWvL3KnLcZH8MlmH5UzwFkiM9eMY3RYEXGloLMqVnKVS1GUIppc-Vm98pec8ZMk293Jku8I8i3vbhKvnvHf3JHTHmEwnpBp78XGrWswYtAXp4pRDnEjq3V8kKXC9DhnQWke4K5ptaBJYZIo4X6-pGndAQAdbwRmKBF9XURtLXAn75oon-q81FDYttDtaay1BF6nASx50eejPkYtVOgQRlevcntUu6WoXusL_SrfSfdEQEOORnP2xBaEllaAJrebnj4b1BQLSmv-LKMAIclvX7j5UHxbOFsNMv4qc3cG0BvgLsMBns43jdwUeybrDMgWso0MY7AuXkecvjUPYjSfryWQ8PL_LTDpdq5QEed_ueRAd1ci1KnpGz9nhI9PH9mW3QA9nIO1pdaVwRv",
  "id": "rs_0be44dae70bec4a9016ab446b624ac87d09226579c4ebadd20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.28,\"right_z\":0.06},\"note\":\"The descent succeeded, but the wrist view now clearly shows the pen running beside the right fingertip rather than between the jaws. I’m making a small tool-right correction at the same height to bring the shaft into the jaw gap.\"}",
  "call_id": "call_TyBd9AfuzGnOYQDxOQ4dli41",
  "id": "fc_0be44dae70bec4a9016ab446b7aa2487d0b6c9ef6530240e5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TyBd9AfuzGnOYQDxOQ4dli41",
  "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]: [0.3183, 1.2827, 1.0981, -0.9573, 0.5732, 0.7044, 0.0725, 0.6434, 1.7798, 0.9104, 0.0685, -0.062, -0.0639, 0.9993]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1805 left_yaw=-0.5962 left_pitch=-0.3021 left_roll=-0.1047 left_gripper=0.0725 right_x=0.3515 right_y=0.2817 right_z=0.045 right_yaw=0.7229 right_pitch=-0.2377 right_roll=-0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -4.041, 6.3658, 1.0183, 0.2711, -0.0122, 1.0281, -0.2256, -9.8667, 8.9094, 1.6484, -0.1734, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11d3385224d6b56cd526ce71e342d3bedb4c29e4a41f72fc52b94b88eda3143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9480e410869803dc08bb6bf82808c0d3a2ae97bf2523827f8c2888c5aac7698",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e855181956828eb3a1bbc377c34d93f478d084077a3ebef5456fc9ad907445",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.142 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3801, 1.6382, 0.9634, -0.1764, 0.2142, 0.1299, 0.0669, 0.7448, 1.6524, 1.0416, -0.0982, -0.0067, -0.0067, 0.9993]\nstate[eef_state]: left_x=0.3835 left_y=-0.1898 left_z=0.0868 left_yaw=-0.6483 left_pitch=-0.2556 left_roll=-0.0681 left_gripper=0.0669 right_x=0.3379 right_y=0.318 right_z=0.1233 right_yaw=0.7449 right_pitch=-0.1478 right_roll=-0.0021 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -7.6103, 6.4342, 1.4725, 0.022, -0.0464, 1.0281, -0.5265, -10.359, 9.1692, 1.6532, 0.0464, 0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2827, 1.0985, -0.9539, 0.5751, 0.7071, 0.0725, 0.7448, 1.7714, 0.9134, 0.0792, -0.004, -0.0082, 0.9993]\nstate[eef_state]: left_x=0.3028 left_y=0.0024 left_z=0.1812 left_yaw=-0.5979 left_pitch=-0.2983 left_roll=-0.1009 left_gripper=0.0725 right_x=0.3308 right_y=0.3108 right_z=0.0514 right_yaw=0.7434 right_pitch=-0.2176 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -4.5607, 6.735, 1.1502, 0.2906, -0.0708, 1.033, -0.2803, -8.1573, 6.3385, 1.9072, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2827, 1.0981, -0.9573, 0.5732, 0.7044, 0.0725, 0.6434, 1.7798, 0.9104, 0.0685, -0.062, -0.0639, 0.9993]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1805 left_yaw=-0.5962 left_pitch=-0.3021 left_roll=-0.1047 left_gripper=0.0725 right_x=0.3515 right_y=0.2817 right_z=0.045 right_yaw=0.7229 right_pitch=-0.2377 right_roll=-0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -4.041, 6.3658, 1.0183, 0.2711, -0.0122, 1.0281, -0.2256, -9.8667, 8.9094, 1.6484, -0.1734, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11d3385224d6b56cd526ce71e342d3bedb4c29e4a41f72fc52b94b88eda3143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9480e410869803dc08bb6bf82808c0d3a2ae97bf2523827f8c2888c5aac7698",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e855181956828eb3a1bbc377c34d93f478d084077a3ebef5456fc9ad907445",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEa849Fs4w8D6CAvrhler8Lyc0BIm2OFRPRj48vZQgPy53MZEe_50PsQrOp5EH_x01bIUvGLMWmx14E5w_BJoJCHUaFurRNTjl6U45ARY9YHrDdy9ouYnIJRwpEBam5sDkZioeL2t7LvtmxOYCt2DcYreVT7LhVl3C5G8xdWzj-NhGJgZZQtuD_00nTIXNnaTwvTBxHaFI-u1T6TSDzcfLdAwtpUov6DfNoOLEDR9g7RDRZ123o2VkIKKsrNK5K4TJtbWwaBo4XThcPIk2eab5FdJxO9cQt-HKFlB1CUcUXOXT1rtD9NpywZUc38TZf3-xCIjG7r7804iQ4hfyyngNxSURSm-nOCRpf-8aMQHsTCxUPHL_2nzIgjgA4RQLnHhZlcFKp7X-gi9arHuZylyqRWxzin6F6fyBaSAQ61D_15J_hBiIkU5XIDpVDKO-RhhPBBGi5yxXudrSQRHTRLuvLbjQVsnFWCTSo3ommKIaLEwhkvic12p3s-yu6gtw7zr_Bd3DVUqWxEGMDqbiuRNlxEw600lUWtSOV-u_B-hxA2x8TmAaAM7k-B1fcgbru4yZS5Kcgh900NBsz2J-wTbN7a1qmR2ixsl9kME8ZtXoKLEtT3Dx68HVUM5Teze8RdMmgkpbAlj0t_rp6HkCxhhG8WCVqpi2rnusNFucnVp94RcFSJ7CWeo1n221a_jjYQJeu0xc5f4Pz92Fonen5pQh5BmEm6bHc4qcwRmTV_X1w4FukuykbeRaphCDVEBUv4jACKcRZB8tBUQYmFc_ldWg9Ut--hB-AuKM6geJzOeo3ML6s_VJ6RnuWTllmbzG5l_kuq675cEKCxttYHir9h25_I95ooPWu-k3sY9vdLoRwmuRS_sDI5NDVH0PU68RFgrAVg16KjsnW2_Qune3WW59CFgzTL0CPxfLGiQWwQMT1ZVzeyVQ8I8Tym_dj_rWIkATUnJIGyDNb2FBUwnT3qViXnkwx5n0z4a_G9B1FKC7diVQiT8lpw8UTlEaU3zDuqsq3uGPQJ9-Lho9T6Cv0LK0phRtp6KRYVdArs42CFsDFKZgyoLIoIME1KQ14u27TrylptucvyhAn6QtzAzw1UQAK0lIzuK2zwI1wjipMEyRLjFThNX8FVNmJCjJ5yr4AUlfRbkwG9a9pPZ5pEt06PpO8_MjFjUJNFFc4qEdzrV5v8CLfAMRGMSCkfyH3fIpq0EvqHemKT3LPJQrMiSowHXFwrobMMfsj7g_L2RM5KZX3_R7Yd7ik6B21BRWG19fJsBhn74TQjWV1-pTCXy9fqCpfOV0cWsEYBoqo7BJZkvqls0aSgJQTe-KvggTWsmqO_5_6-isMZfg1iK6GYrwsVeZLn_nwDldTB6H7EdfOiAIZ3P-3T2gfkhWNN2nJ0-x3T5pYyZCkrV_jsVqtWXNzygAaAb7T1gleFIKCR6Kc4o9-mJRD14rfPiX-m8dcPVnlksJsf_ESyD1alHsyba1kgj5Oq61aa2pqL4RsAoE1hEdSj4i_IVRHrsQp3gcVmbVyLZc8B7tnhOKzBRrifJ_A1PXcgFJ4k-DM7F3Fnl4dJ0hreVh7mTAbKtwIzbGJVb3jN8Jz2Vj_ISDHTeesEwpXxFnztXhGkaLkcOr3Gc7pIHW7mmvvQa1D335oAUy1f_tSNC4FroymnuJNclyFg6AmUHdunUoUc62soljBs9_jvNHPOa61sI8wJfagZZuankQg1pjXB",
  "id": "rs_0be44dae70bec4a9016ab446ba91fc87d0bc09e1ea6f137853",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.372,\"right_y\":0.262,\"right_z\":-0.005},\"note\":\"The pen is now inside the jaw gap but remains about 2–3 cm right of the centerline. I’m applying one smaller centering correction while descending the final few centimeters to table level.\"}",
  "call_id": "call_lRO3NFUzZ4dHNORLQhNvY81w",
  "id": "fc_0be44dae70bec4a9016ab446bbdc0087d0b70b64edbb3efb67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lRO3NFUzZ4dHNORLQhNvY81w",
  "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]: [0.3183, 1.2839, 1.0973, -0.9588, 0.5728, 0.7048, 0.0725, 0.5724, 1.9064, 0.873, 0.2214, -0.104, -0.1184, 0.9992]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1798 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.369 right_y=0.2638 right_z=0.0033 right_yaw=0.7186 right_pitch=-0.2451 right_roll=-0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 6.6393, 0.9744, 0.2515, -0.0122, 1.033, -0.4991, -6.8718, 4.8615, 1.2918, -0.1197, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5bbf660555ef097ba987d899376248706f3f5f66b1343f096a21b9f42388674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154038e3921955d7165c8bad597537abff748d7956b32b6680093b35369d5527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c8aa2a88f18b888a5726eecb751f3da2320d3ad3bcd6bdef10a16f07b829fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 2.424 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.318, 1.2808, 1.0992, -0.9379, 0.5758, 0.7033, 0.0697, 0.7448, 1.6524, 1.0393, -0.0975, -0.004, -0.0078, 0.9993]\nstate[eef_state]: left_x=0.3058 left_y=0.0032 left_z=0.1835 left_yaw=-0.5921 left_pitch=-0.2865 left_roll=-0.0884 left_gripper=0.0697 right_x=0.3379 right_y=0.3174 right_z=0.1225 right_yaw=0.7432 right_pitch=-0.1493 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2718, 9.1556, 1.0134, 0.3736, 0.1783, 1.033, -0.1026, -8.1299, 6.8034, 1.6679, -0.0708, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2827, 1.0981, -0.9573, 0.5732, 0.7044, 0.0725, 0.6434, 1.7798, 0.9104, 0.0685, -0.062, -0.0639, 0.9993]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1805 left_yaw=-0.5962 left_pitch=-0.3021 left_roll=-0.1047 left_gripper=0.0725 right_x=0.3515 right_y=0.2817 right_z=0.045 right_yaw=0.7229 right_pitch=-0.2377 right_roll=-0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -4.041, 6.3658, 1.0183, 0.2711, -0.0122, 1.0281, -0.2256, -9.8667, 8.9094, 1.6484, -0.1734, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0973, -0.9588, 0.5728, 0.7048, 0.0725, 0.5724, 1.9064, 0.873, 0.2214, -0.104, -0.1184, 0.9992]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1798 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.369 right_y=0.2638 right_z=0.0033 right_yaw=0.7186 right_pitch=-0.2451 right_roll=-0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 6.6393, 0.9744, 0.2515, -0.0122, 1.033, -0.4991, -6.8718, 4.8615, 1.2918, -0.1197, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5bbf660555ef097ba987d899376248706f3f5f66b1343f096a21b9f42388674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154038e3921955d7165c8bad597537abff748d7956b32b6680093b35369d5527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c8aa2a88f18b888a5726eecb751f3da2320d3ad3bcd6bdef10a16f07b829fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEa_ZhOxnHd7LO06MHVNgRv4BOuboeJipMZnuL33sDqmjf4dJBa3Vjq6_vKStQvGVI33ZQmzfHwoQlXwx3KV-1ZM8t2VXdg1D_8hKLLu8JGSjtlJHzxbvzD5ojT8onEYTItA415kxZVfoZRm9DurtUNzhxg2Eq_wzGcOzASyanS9JaYdyqzOOM_fflyVfWG2mrGJJeeJnuFOIxRHYMHL-aIqhFQxYkfAJbY3nSHUqVHUTJymj5ZuPHAC29fzkAqA4Q6p2x3M-jv8z0RGRuUqaXLflPn5rqV5odiASJwszA2kE8zFAkl5oYLV7u4z2KKxE7_Ldzq-qEvTVlRx5wUl8LJuvCAomy2PikW9p5YkmUBzI-4bdxnsIhCjGu93GQb3nWFO_sn6bLfhf-At8fcOOIvczft8QeLDp4rA0CZZE_0t_ZrdoHaz_4Mu7xw4v_i2MKPb1ORouHZlZ06PR0Us4aJTjF4JbkYFQ3tBgPleEa5ze757qDiiAYsBwilsLM6e1P_TwgG7Jdv8RWugknqiYiTyj9SSFJurhM2qV14X72ENDWFYM7j-QLhmO51F-jzTjMJ4aMoXBdDg8oVt-odSupybQq006P4Wb_CH9niX0JgcJS_PNtdHF_gFEBHOc3r9zcnt4r1glknLQqw7HM_KSzYFIch73rrpOP43_1c_3PVXqZ6zu-iwPvHZH_RUIZFoBcVmsAJGY8erLP8MgzyCLJZkvJBn6vMolLsdCPbeclaBzA9p95gy50N24aDTp42jNkricr9lqk2EgBJUO8ahzYiCyqxGvK5QxUtahQKYug7kQjWJywW-isrhQj5F6EvRx2vWN-h2Db3CTogsNTe8PPRi3GSHWmQ0dEZp2O7w3dMHVxFo5pFlvTxquvKD4dU67WJe6oeTpCjvwD0TXaYXHFJ8V73q-TkHgq9oAb1litLsqqmFr1Dzyxm4UWLrKPxbMpd-WooWSvwdAitUm_aK0SyXZTM2XxVI9z_aMiLJAXHL45J0n_rXw-CgqnzaEHVtwi6TOiSL25DNADYrqFW5YQpSho_mggdypGxLzoBAc5IOY9Y8b9Rk-9xWWahty8B7HfKq5maTIxsEQeZzzq48fFY41OXd5ojDViFlwJvjhmYrARJ9C1KlBZuGSO_vWSlPo4Az6ijnGrCNgujy4VZ_QrAmFsOGTIxTMP68zW0_gDj4mWyuAJpcM-q6UAiet809l94RNxv-wsDimUPAehJ1zrbkB0OVx3kCv24J7EUhIoZtIIu8duV41LvsAqC26tU3oddd",
  "id": "rs_0be44dae70bec4a9016ab446bea86c87d0a0ff3a2208b44199",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the pen shaft lies between the right fingertips, close to the jaw centerline. I’m closing the right gripper to secure the pen.\"}",
  "call_id": "call_32z4Fwgcuupv9bLUOxtAAO7r",
  "id": "fc_0be44dae70bec4a9016ab446bee2ac87d084a80204a186a6db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_32z4Fwgcuupv9bLUOxtAAO7r",
  "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]: [0.3183, 1.2839, 1.0966, -0.9577, 0.5728, 0.7044, 0.0725, 0.5621, 1.9182, 0.8661, 0.2684, -0.1135, -0.1276, 0.0418]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1797 left_yaw=-0.5968 left_pitch=-0.3043 left_roll=-0.107 left_gripper=0.0725 right_x=0.3745 right_y=0.2638 right_z=0.004 right_yaw=0.7205 right_pitch=-0.2161 right_roll=-0.0132 right_gripper=0.0418\nstate[joint_eff]: [-0.3624, -4.4376, 6.5162, 1.0037, 0.2076, -0.0415, 1.033, -0.6222, -7.5282, 5.1487, 1.4969, -0.0904, 0.0366, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66af95788960ff411b71c7ba06be3006f98890d5313327d5885e3dc06a16d895",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e087ea5e1ac0a41446aa73c98299e87031cd168af813e64aea4e8d6fef597a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae67242d5e6688f192364c2846c585c8a21193bba70405a3ecd816efdf2bd645",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 13.38 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2827, 1.0985, -0.9539, 0.5751, 0.7071, 0.0725, 0.7448, 1.7714, 0.9134, 0.0792, -0.004, -0.0082, 0.9993]\nstate[eef_state]: left_x=0.3028 left_y=0.0024 left_z=0.1812 left_yaw=-0.5979 left_pitch=-0.2983 left_roll=-0.1009 left_gripper=0.0725 right_x=0.3308 right_y=0.3108 right_z=0.0514 right_yaw=0.7434 right_pitch=-0.2176 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -4.5607, 6.735, 1.1502, 0.2906, -0.0708, 1.033, -0.2803, -8.1573, 6.3385, 1.9072, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0973, -0.9588, 0.5728, 0.7048, 0.0725, 0.5724, 1.9064, 0.873, 0.2214, -0.104, -0.1184, 0.9992]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1798 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.369 right_y=0.2638 right_z=0.0033 right_yaw=0.7186 right_pitch=-0.2451 right_roll=-0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 6.6393, 0.9744, 0.2515, -0.0122, 1.033, -0.4991, -6.8718, 4.8615, 1.2918, -0.1197, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9577, 0.5728, 0.7044, 0.0725, 0.5621, 1.9182, 0.8661, 0.2684, -0.1135, -0.1276, 0.0418]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1797 left_yaw=-0.5968 left_pitch=-0.3043 left_roll=-0.107 left_gripper=0.0725 right_x=0.3745 right_y=0.2638 right_z=0.004 right_yaw=0.7205 right_pitch=-0.2161 right_roll=-0.0132 right_gripper=0.0418\nstate[joint_eff]: [-0.3624, -4.4376, 6.5162, 1.0037, 0.2076, -0.0415, 1.033, -0.6222, -7.5282, 5.1487, 1.4969, -0.0904, 0.0366, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66af95788960ff411b71c7ba06be3006f98890d5313327d5885e3dc06a16d895",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e087ea5e1ac0a41446aa73c98299e87031cd168af813e64aea4e8d6fef597a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae67242d5e6688f192364c2846c585c8a21193bba70405a3ecd816efdf2bd645",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbCB7evZ5Ub0bVnKIwjOcJEwxhwPwvEtFHlbPph6uGGd9NDpalaUpppHpWoR_-GtF6RflKrq8-rntAFzG2zvZR_VPPanwWsYxx8tpFMjezx6sd1NAA1aqy6hkzOAGB03fmWMu4cWTJXgtjOg5WzE6Ok409CE1H7AgkBGj08zvXb1Y1wQG0xFGOntDWl_sEM1M-wEmsz2dHATD4UKWJVS5hDHnmWmfwjHQLCjDk4NCRBhr1xJlK6DUIJsaQkWp-AfZrWzuIxmmKSaIx-t0HE2Lcet5yD24IKjsa9XGM8N7MPNwpAPS8gjjPvsQdgDP80VsyD5s5W98fshtPhaHnKdSEvPZZ_sqRpKHs5E6gO1V6n_nHVHpeGb155VzcX8U09qx1BQvqZ_Ze71RWZlmbYKPONvGNx3NLV8F2RJ2vFHYwdjLt8DXHG330LMsXR3Nbr-pn3pUwr8COeiepKp60BxjRXXHpf201qx_zR63WoYW7Tm4hUkJqr1_0NiRQtbNH2L71mBbQOwVDclK1MMD_7qR3GAvKL8b_mwaRFP1L3EZfVW8EJfXIz5FuIR8ym04WjC3_P3BZi33-XuRKSDDGGUw5YFjIigaY8ZpnpMB-TkCB5puLhPfb6vgvhJsIiD-vkn95mE5NHHrQjqmBdGwud4oRUhK55Z05iSAaNuUyGiT59dCoomtYB5g0UXdo_rc_FK_TBtc95iexUWIsXlcg9fAEnD-rP2pA0W13gVp0_rvkRlL6QtA3r6ZCQIHtMyD2FFARMdR6RK424I22MV4cbtJFIMf_Gm7YP1T_jCDxHxab0XZfDO17PW07hYn5elW3YR_jYF1zZgMFwhBAcwXPXLbh6uPYNlbjnF3PnflPXQUqoMkQ1ZjNafn4P4nDUo6DYkApDGTyP9_RlCVcBZB6BG2_wj0JQlFYn1Hc98pBD-KXx8B1rWpe9vnxZAlzCs8nbQf-5nG-z6_6aR6-gpCezkb4dncoeIp7CWWD-s2SPoK3sBlWRq52JTnXq4OEGdo-HLpEod8767tY8W_YV9w3pc-L9D_rysBZa3hToDsHDPNMFKC6j6N0oyKhPhy8NPNsdJ5VS-CMXOFpXqMaZv1z93ils6EAjrhX5g-Ik5JCZWX89P5iZQ60SHZIlcmHKj4J2HL3fbax_-RyFXZAJrviRMVAU9l3Zf2X6OWQQsZ0jBLu-uLuJ1hsX9OCpmdqA_Y37vCZM3jc-9MmKjwXA1rDbTS3yAFlofc8YYGAQSFeCdEEcq1q_ZUGhiYiqMmbAi2bXF7sQTigayg6YzQwXAQQtD21_K2EdIVCSLZlb_sam5yBhlzIwr01CfEz2hGl_WDizPQEV",
  "id": "rs_0be44dae70bec4a9016ab446c1d18c87d0ae3cd3fdeb8d13d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right gripper settled at 0.042, just above the empty threshold, and the pen is visibly clamped along the jaw centerline. I’m lifting it about 10 cm to verify that it comes off the table.\"}",
  "call_id": "call_FWSlsNMOytjiypQawY4zMoxU",
  "id": "fc_0be44dae70bec4a9016ab446c229f887d083b705438977a1ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FWSlsNMOytjiypQawY4zMoxU",
  "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]: [0.3183, 1.2839, 1.0966, -0.9581, 0.5728, 0.7048, 0.0725, 0.5621, 1.7084, 1.0565, -0.1524, -0.1135, -0.1318, 0.0436]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1796 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.3748 right_y=0.2639 right_z=0.0958 right_yaw=0.7236 right_pitch=-0.2364 right_roll=-0.0128 right_gripper=0.0436\nstate[joint_eff]: [-0.335, -4.4239, 6.3521, 0.9939, 0.232, -0.0464, 1.0281, -0.3897, -11.2205, 8.6085, 1.4628, -0.0708, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae2a79e4d662940ab476435b72bcb524fbd44b780e6ca3c90a86ae22400558c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0059bbc65ac3741cda943c2736650fa9a84ab889e666dae5c42ba957155970c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77552f49f905474d71e7e8238f38a1ad608e4c647683b161771bb57b314227d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.606 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2827, 1.0981, -0.9573, 0.5732, 0.7044, 0.0725, 0.6434, 1.7798, 0.9104, 0.0685, -0.062, -0.0639, 0.9993]\nstate[eef_state]: left_x=0.3021 left_y=0.0025 left_z=0.1805 left_yaw=-0.5962 left_pitch=-0.3021 left_roll=-0.1047 left_gripper=0.0725 right_x=0.3515 right_y=0.2817 right_z=0.045 right_yaw=0.7229 right_pitch=-0.2377 right_roll=-0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -4.041, 6.3658, 1.0183, 0.2711, -0.0122, 1.0281, -0.2256, -9.8667, 8.9094, 1.6484, -0.1734, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9577, 0.5728, 0.7044, 0.0725, 0.5621, 1.9182, 0.8661, 0.2684, -0.1135, -0.1276, 0.0418]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1797 left_yaw=-0.5968 left_pitch=-0.3043 left_roll=-0.107 left_gripper=0.0725 right_x=0.3745 right_y=0.2638 right_z=0.004 right_yaw=0.7205 right_pitch=-0.2161 right_roll=-0.0132 right_gripper=0.0418\nstate[joint_eff]: [-0.3624, -4.4376, 6.5162, 1.0037, 0.2076, -0.0415, 1.033, -0.6222, -7.5282, 5.1487, 1.4969, -0.0904, 0.0366, 1.1502]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9581, 0.5728, 0.7048, 0.0725, 0.5621, 1.7084, 1.0565, -0.1524, -0.1135, -0.1318, 0.0436]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1796 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.3748 right_y=0.2639 right_z=0.0958 right_yaw=0.7236 right_pitch=-0.2364 right_roll=-0.0128 right_gripper=0.0436\nstate[joint_eff]: [-0.335, -4.4239, 6.3521, 0.9939, 0.232, -0.0464, 1.0281, -0.3897, -11.2205, 8.6085, 1.4628, -0.0708, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae2a79e4d662940ab476435b72bcb524fbd44b780e6ca3c90a86ae22400558c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0059bbc65ac3741cda943c2736650fa9a84ab889e666dae5c42ba957155970c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77552f49f905474d71e7e8238f38a1ad608e4c647683b161771bb57b314227d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbRp72--Nb9w14qapBuNVxnR2sqs_wv3WhB7c3JnUTmAq-tksoKUtrAgw8pI-tfzguO5QbbzclZQpVD4pXh3heKzFHNSNsKGo2jm7Ir0WXpdNOMcccxVxwdyO7rB3K_fh3SkZqToLdm3ZrLBQrlwkZHX5CC6a4MJ-XNvjr8VJbqERRsTNnBREQtZ81kpOVeM6SbR768Hby5gVKZxuZHjWe7iQgDfzIgGQEZyuojYCohRYDGdrdfiem1Z3QlkVR5oKUe_3saqGk6YG5cfekuSbs84nC0KqDyxGs-HO9WH5lpxI6OmmVElknw21TmSQvs54gV_wCvv44-F8_NCbU1mkmXBMuJtgCi2ux12xgBrrAOA1mGohjI8-D8anZbcPdADAAK4gZscOmG0nfTdYFpVSDLWC8ve7CHVFxv52LFXkL_dpfN2SC8rO8VS3kt9kFawgY6IF9Fl3nv1V_AkHuc4GF6qVEbauSlicEKnUHVFdcgEhV-Hjezr7o2uJMllZcXzxUZOGwPShMVPot1cu9OzrLmcUbVj-uuh5TVCzGVamTqZu1nYGN1VvFOkIx8aSeCVtANVWBxvpuBtRkY0X3PrUPu7I7Kk3EzjmbAkcTQ7iH94P0oZyvLRisYl4xCw0ssYQn5sRESR8XUHRUhJs47tZ3ckiWOHRskzQ-Rc_kSqDj2TvtXfpK08YPNiFuzttV_xPhAggBFHPJG9VAr2gfVy-vCjL5pccFBRzpP5gpWqTr_6VHH9OpODNXZA_WmEc8hqXiNKIKjR7SDILDtHC36TK1mkUSI242QnWSxjNAnSCQRAqHWKwilwd6SS2RT5VjF-dNNVJyXvcYxoqBXrIAO5mXfwi-ciLN3HvjGDx1HTaZXpdH9r8_DFndYMjsgPNjHeQTJbYq2acJ0Am9BSyCig-0eJ29ByFw5XrZwY14pZdR44llXZA9Ep3_So7WUs4dQRHXEIeKFFn0srQzC9TNqtf_j9l4mTROqNFWjfrYu8wxDVbKPH6rvWc2CoexDVHLHB8Ih4pwlSl6m_CR_9NNfnuq3E-yGuNnVvLz3Va89LaLNGk3SshOA_HCjC4fZ1IMYruD6xUTci6-srpLXP_hmdKBKEl6PxkRsJ5CzblHxVA0xxB3YruTnkm_etAYy5e93sy8e3Qf6ennbpJ9RbF0yiQX2tByzAJOkJZvXt2IF4sUdZn5sq8oSxIqdoWmGTvjxoN3g5-3LWkspHtnpYnnp8VAjgMmVUixUFROokNRV4_SLbTt8zW2g4cSoC0dN-48LNzpqBI3EWfBpbYbrULGeTuMWc3eeYZ7Di5yL9xN6bVnbwIcs2sDq4STQwfMt3Um596WtEP3_SvDnnwjuKVoRCojOaaCsSZmf8FPBgasvWXJzHk1xt-8mBsclZMfReLHNpj3UPFfuYFfz9cxucop2KRrmPHIGu3_yCB1SlL_coKUZnmX7bgdrXhSJ8dfqZ6HYEUqPSHzWtBcRdxGZS88omP4EE8Ur2QYmfvcM1gm2wnZf58w0_4IvaOc_pGwkgk-gLLrhTcOyeajDQ6PpgIeTspn0zx4hEKcDUEym2gfmAmlCYkMqZNN4GfvTOPkfTB74SZyGz6iRkfHG--QmiTGV4xptMwfvCI-T9Rd-1Ck1YWbVevcqKMYMgkyUfPzmrVuk_7u3IrnH8FcM5WUhO4PfABp1RN5fJrnDEgnAI-qDxOC3pQa4EQrpewHuSs1La-lzFV0mzCXg6hnN9I5VK5DCJd-mUqhHtqs4plTBzL8iyziNmeyFMPlVSkRFKWkRDI9Py72ZYzXjOuvXIcy27sdq3XaHBOwRGHlrjdXg6NRAOWyiy336tzRBHOnxUQarL1qJpS8jvy05f0kgT652EJy8ieJYUgB_kZVwoJSSVDEICDqgRheVafFHbjawdqTCi_jhU7j7RQUhYHVV4UbxLTwM4V96ouKg2_GGs0WYz2901XamD-XifbDF7pAjYH4qkwXrWf1OpYEWvZwO5PwJ9QcRVZJq3pdYE7ZLXDm43NxKN3kkrT2phMWtS3-7EQjRa0cWBmpIL2Oo0BJABwxpBccNPY5TzVgfX6vMIqjGsSV7SNmMf2TKyyPStH4_TH1p1Ow5rwm_BLIz-otqJWj23I8ifOtMaYcmSrY6F13Ju7b18pGvDX_VuYPTYuy_Abga0Gmo2iW3WYYQ2TT7wftoPWAR1HK6WQsWoGb06qEX2nLMPEDJ67Y4yU8XjMhm7OWMTguEpznt-jFnkbpFqMLmEbqmek3qhKpUZw9Ozvsp3U21VosUlXbEB0FQD2i671caS-31y3hZ8fqX46wm0nW5L1mwxMOCAkjeo1-e8T5mpbxDlARuyUFsi8uiFzpVs3XxWhpLhd47Tkge6JCcYf-vL853fnJexXP4l6LswaIpK1edpOijY6mENHQ4GyotrOa5xASQN39jtW14qfPikDqwhXSNfM7B_FLP0osAWqSR9nbdjpA-dAXhg0-4D5rU2etWsUHlsYi14V-u2lfpIgHxkLZtYfi7SfZ0fQjxi6P-lU8ajQlDs464OeO6MTfeVR_afkO5Tac3phdtGjeRZmt6RpxWyxVcUGQnRxSAoPYqP5IaDNP6TEgP9ggpcchGpZHhQqnONMIM05qSH283My_Xs4nDORbTzfU683mfG6ZTq6kVlyahCoDDZroCTsN3_7_yK6D5Pe7RNrgCN_0gcx_kltCoide_tIUiCneIt5Q2XQd4LnDbwM-6zhQwJtnDaUEULhUxFaEP6-jocZMkVxjCp6IQ02EcV-13Uxir-VvNtx6HeNtbVFXBqWAs1S0RuGp7FJ7BWEdGpXCQ_kwsmV7YsKIpYUpQu4iB3qsdbCA7RNfdNo9u_SnqXBjGOhA0EBDrEgXq77ZjmEfO08BsKo48OLWM1-nYkLV44AZ0ROWjFEDD0PdRM7txJsBzYYx1qM6bCPeOdobSgdNYRPMxfJ54InbKheyzdBV9DGlCIAAMQAcH0WKPI_wL2neNzGx9euDsaXmHyfyWVLwa9aXOMZEug23zlrM771lXtVBWl9tSE7oOqGe6e_gAb1SQmsbPLOXmAbXNxWEg9zdkRapynnp539OXpkNGRhi5ivDfQb5k6MxXzwSouUmq3Tkk_BTMAGDrEw2aAMEE6Ekd9HQu7eyOQQ7cOrM2-iYB5szwDdGnOvgNQCRRM0TXiIxpo0adQlLi0qTMv5OlXcS3o-pkoV3CKGpAXwSPwHult6T_W_hpDqtNNqbGvl9m9wphIXtJbdZ4pwT9z5-hHXGDU0lh2xsrkT1UEysEpcQFnubCfd7FQojkemfvVZmBxQteWyfTLLIWdY5BE_WBe8wVPij5nxY25h8l9Ce2SutPvh8ZLqx8yXtKfr5CZTVdoU0xXaRpOQ2774KLi25J6GiSVoHzWsmsXLAI3jx8qwmy5d2hF5WZGTN-3YrCNlofbvcxfhJlfbSy2nMJOY-kW9wWys9EFnmD0x8aiCO2XDbudtgVliEpow_i7X3_uVQ-BGzIr2gbh9x3gQKY5j0b1HusSHFIVn4kPUowMZe4DrgmFqwrn6BYUP_WI2Q7r2BuJPafSNmezGinf1DDuEFAdSVc79zotPqjncHGZcLwN8rmtdxDxDdKz8hMcEpCI2KJe1QilqaD5d40bRmCaWGDRpAIjtJJHipyUeAl_SoEBQR4nAhWHamNOF-fVlYqCJWmIx6mPu6tTc3VV0jjn0xkaJO13FLBugSZeqsC8oqvfO_DzPJHmk7gP2OOfkwntGT8ARd_dNpd454qU7U8lJjWzmgI1oVYFRMVpGUSSL9hU_izc_2edIa-yxpo8fIA0Fsm6Xq4X-E9kN02LURg0vdKgpK-hPCcdF8i9oKXi6PPPEPssbeK9gGWQehcabP4KPvss7I3PlJ9_IJJEh0elWr_DLAxnMrccqZ1rj8Cx89HagHYxDDYu4S5r9va-w2J28hHf0ONcM5-aUZQyxRM5tslJWUt_1ogqyQKzHReo3FubgVQ_aD-FsBKbYzF0mGQN4JDRlVqF6gfM2c5mdYt_sR1evaADaf4I1eSrOq3OnKBaibIkQrL4HX9GH4DkkNFq3BCvm5ljbMBPzVAK6QACPN5Tq0EbrB9f11Y2U2z3ScWvr6xgTLZk9aLuckdSQI-ZLNJcZ46Oye7opKo_oA7-9w5",
  "id": "rs_0be44dae70bec4a9016ab446c4ddf487d0807c51a047b8fbc4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbRP4Y3qQeV0Qnvh3luQFpQlrS5qKz5j8dJyLf440LVyj_wXZJpoNNtDn1ZFs7XTiIIwB1mcHE7ewWnFwN8tgcAC_ewjaUq56sn3Rk42-QXbJrTUbQa2rqXdZGixaV8qFacvg-IowLORJNyWCyQhm77rONBP0-66ouh6v5y5RqbHwGEjOQlnL0PwgyGbRY0uuqHkdTtgkEPnAnO-qBuqqSSlZxhk7Bizpf-jhoP1vrDBCny4dBVBM9CYZP2Vy-KGL2p6diQ9QMqvkb8Aq3gBHBW7gTTEwnDHDTlmZ2QKtdDtjc5HEalfSDjz4SEosx39ViLTzDfziIp0Aq0TIoWOIru3vQVS-vTmhPz63ZYYocW_C2OZAfUVXMyjxxuWODgyRGsyW-EpOIBIl5aHnY25QfigsDGM3IndXMU6sSBj-LivI1HBmUhf42nHToD-QvaSLbiEYMZYutB1VF3zZ_4rn49k3iLI61w1zl9s130Cdajm7LcB-octpklme2i4QaRYInnyQ_LDxsCvscMIEuSJIID30UZm3_nMdqNBLJXee9A_2ztxoIYLGfcieb40JpGMGH_PVsDTElVE9KlQsHrflDyIGDR5hEqhnxaPTQ64BsYt19Uuyy3lx_wrJvR3R4vmALf55IxNPRP6YqxsgfA0uSSpH-yP4uLe7URYKJX34Gyv1CyDLO5yHj0if39utarQS2QHAnNhxjXITL_HfMhfl5-dB-4t5LLfQzFohWkCoksTKS9JMms9wyRdKaCJUpqU2fVJDsgY9f7nh6J2i-0Ee3pvP9H7NnpeXZbmhbkqmhZgGSOdz2tduV2Qt5ExVIZ_oUM30eSO5DnS4fesjnLkq5-jddqJkJratyGal8lybx8fHhvChjuT1h4VS6Yx-6Zn_uT8Nlu6fzc-nH1yG4xS89L4NX9XYFyVurBGX7q23o1AIbJZXPNUutvfmULpH0UyF0VnJ_A4cxpkKynTDgPXpjcsw5-b4xgvScqIMivDWGUtJlrkeEmmcYJNzehDpzlvVNjs-z8DHAc8haCo9vmay88TE1nZA_P6Bbrz7YnQ4Swd_t2-ZSE53jyR9TU6wdYoJrnRj9u4x-pvjhrLj6YhJRIWIIiA1y4WSQT_oAONQ0Jt1-fl732pYHiVa247QB_4aStq0GFAvVLZp3yIiACYyW2G0bFvXxhDRRZ1uHCztyYUjuihoEWEjHccA3lMSLWN2J8y74HRNgAA8voSnbKTBiH-ROsv9ZsJOA4vLJnwl-FFnyM8MwmJCT4TxGqanTWQyRpgzf3CBQijgqSHlJrBdR80LKhwj8FvnPm9YA_D163czltxBmO6bD3HN8cwqF1U-7WZeYNOF9ib3tmPvc6tYwqyAvuP3QRiFx6xRnf5aLOk5xxSan2_XnfOfPqahkAXt26umMoqQmDyVaM9j0r-JCGuI2sV__0k4UANjTVS1EcuBGRbY3ZZnk1sAlxmlEsMBBgQpVJK3HUnx2G-Qm8ZvTV8Dcymnb-VwyUvhLrNiEv2SUGZvd5oz5VeGw63xt8-dcB-GIxmK1UBmf7LKNysfxB-kK3oFnwdRH4FdkCCG794wHqtHJmQJB1ahQmIl9cOCJcXp4xd0K9-9g1mnS62mjDWvj0KpbwBovdQ94C6ZJBMQ8axrjY7c8Phnlgk81XKL8zC-ijShKlcY0g9Duvw5LqERehzYWN00Urhjm6zjCyzU8GKTZBgGlAWfXmMkWBcASErL9qZoF6oTVb_jFgmZFpIjeUBTzQUGFOmkL7Eg9rMsvjuK8PE3vnmP0kk7YFAmYfNrFELXu5ASCSu_jWEhYSKz9W8hec8thWZToEFmWzmf1tFuh8OA0otaX-ARiP9igLSOBa0Xb3HgSiVwIkznUlPD9s36g5U1EA6IKDzkZqaK7MeZwQqwc2in_D9vxtkgd3OIcQXM5SOtvv8Lyauo4xfeDhnOFXqCztLWyy1Sr8CqbRtVcpx35BCDDI2mCLMl_ZUu4UnVXmdd05rTN1Rj7ZezPFHtpWo16tU4eZoojQAvOFUYPD3_6fMphQOHD_AWepK2duUbf8lsgCKyCS5gSDUPvqmbpgkAMSQo2B0mtis_UTqX2lQSmscnFYqUYWjviFyjElgLQg81dA2GIS9cc5KRjbsbdRluA83vfnAhDhvglDGGYlZMmrkzKQ4CbOmaE0_XwKJsxVz6_hfd_J6gjBD33UrItVi8UEkmnCrjgR5_bj762KhUlMNYzEXcMotVaK1XRolY--ebg1mX0m66g7QKKULaVfhzaR-NlLA_HaJOXzv-CXpNu05ftKmSwEfwT3BjI_BonSGmusLoniJ2z_oiMI3gWfys7gFsRaHnoYW9_LNzUKicNM2ZgaECEoMztzncUe9oD9DGgNLyC1O4SVlrU8fZuMaxZtyynUXsLtGwZ6qOyVhXYQpwZwPKogfQ3gyMtDbhEADBMSE0Xkmb1BtcGiAk_mkjueGWj43EGBXYOgltvpyROpcrr-WW2ojNfUzOoz_vZ0O7XD7onpeKSo2G7JgMIZsu505DzJcCahLMGcSSVx4-NQLEbOxHOx-787AaaVRUE_PUodouRBpW2hyh1qhLDCmcp7xFsocG9VzA20N4geHTVqTT_M-ql98s5FWjaRD5iwBl6C0i9TV6VERqLNCH51VUXxkWnrK0LvoAwiY-y5oF1NFvfuRtru0Hxdm_8Q2rtPFTZJirczeyRXPx4hrlzTCA-EV_D3pcC5TF_v5D3cOjUBqMT6KflHaP_7YpG9h6QYrXZsntvuHBOaCGuWu4ruc2yDucMDHi9pUiz-jTRSy14a4XZ-QPbGt5t2GmB1SO5qwHDxWMA1X4Eavw6VXrkPYZNWWF3P71BQCs1ofneLmKGOVdirm9jqQbUhGtlMmmKOASS_cerYZAFDP_USiWhYa1AZIjbpOWZzywC6J9FIYisyAqjkgHYGxp102NMqjQ2lemF8fbxtw2Dn5coQ7DM1QXieam0R_K8ChcgnDofAkLUnY0TTvKxQnSO8cUW-k4WhzZu7UNP64u07AB__pL3iarOxiLyjAPG4eQrBtjxy5gmZc1lA9gr3nfl_l8uQBcx0nimUWzf6cm4QVbrIVdKdNhslt4dwvtYcpF0Aa2dmr5DMbfvHOTfm6Z_MpPUPbRIz0WN0VnaEX-fXeaHDbNrCi-2H46aHhEVLQkqXVc_RLc-6bciep3YWWw17E_l7bAE6fLQZBPR3DxhEdxRmpmsmiNRc437-4KC-nz6zZngmjYYj2Jk52yLf0mWHBS5ZX_z4rNacAOTEFUOzh0PyiNMnYHIJ0exM6z_yN5AgISTUWl_GwRk9cwufuJJ8AqxDhltwgCvKpMBKAqiGoYG4i3FEsbqNc9KzzpI3-YGhr8Zh891NenZCMgsu583RteO8F2-JOsSj8WXsxFIfpggnH-fkjibP0JjK3J7GRmANy-6WdNNkspGYNYHdqNrjSHyOGW_pGwB9ITfoV985yW6Hbz8SN1hqG4yDGkl0nOBJIH47-jCSOXHI5_FgPOSCZHuJHBQ8qwh1skuZz56Rrgef-FzQWM-wvUhe2QT83xxQziCY7_2d5_eCZf6BNYtTkMlrFAhNx92xU9583v5QhAyI0fyI0zDsZMiWqBPiYBE_hPB18LdqXs5HvzmqjU4VKh8hzRr4O_0bBHKUEG4B8juffz2zxJsL8cm5VqG1Orsm1sLyie4C5JDa04Nt5xoUMGvHWCPXzarNVF-PE8qPCrQFHsw664yANChr9NNKt-uyEw-x8jXGkBHQb-X0WQOuwP6jTy-TDbVIL1wKsONff0QxE8obd3U2DIFJPKJ5rplR_6j_E8ihNSkJBpTqtzMsrwzXEIJjS9KCS3vzowaNdyB34ziShQaSxGu5CrQ6UwaJq9A3ARFI_9-Fb0OrRfNshch2NhNMMFOXAAnPKlWC8hJe584hf5UQx7WYQ58CPAn_IPV6Actd_FACmcQDvEgW7q7RWLljKLTPTb3rMxtGl0hfw-4B-afwYAfG55wLCpjSwH9w3e1xfzoeAVoVL2hZhnaybYg1swYZv5hE7A6XAiN44ZmxKyMCAQTG5DDDwjop0AB4MNRAhYCDrliPNMlwFvqAFz6mhV81yo7wSKPUV9XBMzRtiiUIHjNjTvlqrNg8vfN_o2mly_JdZGO7GAXw",
  "id": "rs_0be44dae70bec4a9016ab446ca2fa887d0871d59343854ebf9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The pen has lifted successfully and its writing tip is exposed beyond the right jaws; the cap remains secure in the parked left gripper. I’m raising the pen slightly more so both objects can be aligned in free space with good clearance.\"}",
  "call_id": "call_UffCZcELQp6rryMTcXx6v5Bb",
  "id": "fc_0be44dae70bec4a9016ab446d00f5887d0b50a27f4537716fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UffCZcELQp6rryMTcXx6v5Bb",
  "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]: [0.3183, 1.2846, 1.0966, -0.9581, 0.5724, 0.7044, 0.0725, 0.5632, 1.6684, 1.2663, -0.4534, -0.1131, -0.1432, 0.048]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1794 left_yaw=-0.5968 left_pitch=-0.3053 left_roll=-0.1078 left_gripper=0.0725 right_x=0.3728 right_y=0.2633 right_z=0.1488 right_yaw=0.733 right_pitch=-0.2869 right_roll=-0.0125 right_gripper=0.048\nstate[joint_eff]: [-0.2393, -4.4923, 6.4752, 0.9695, 0.2222, -0.0464, 1.033, -0.1846, -11.1658, 9.4427, 1.6044, -0.0855, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008f2c7562b171e61dd59ac664b65326f2cb12792bad0253d20ab9a0e9379657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcdeadf466fb83e7d9f02383f18982af94ccaca415db71e8c3d3469026774ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e160c8dbfd51850416cd3a47bdfbf241084fb218c05d1fc13c7b88ddfc7a0170",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.157 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 76 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0973, -0.9588, 0.5728, 0.7048, 0.0725, 0.5724, 1.9064, 0.873, 0.2214, -0.104, -0.1184, 0.9992]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1798 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.369 right_y=0.2638 right_z=0.0033 right_yaw=0.7186 right_pitch=-0.2451 right_roll=-0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 6.6393, 0.9744, 0.2515, -0.0122, 1.033, -0.4991, -6.8718, 4.8615, 1.2918, -0.1197, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9581, 0.5728, 0.7048, 0.0725, 0.5621, 1.7084, 1.0565, -0.1524, -0.1135, -0.1318, 0.0436]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1796 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.3748 right_y=0.2639 right_z=0.0958 right_yaw=0.7236 right_pitch=-0.2364 right_roll=-0.0128 right_gripper=0.0436\nstate[joint_eff]: [-0.335, -4.4239, 6.3521, 0.9939, 0.232, -0.0464, 1.0281, -0.3897, -11.2205, 8.6085, 1.4628, -0.0708, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2846, 1.0966, -0.9581, 0.5724, 0.7044, 0.0725, 0.5632, 1.6684, 1.2663, -0.4534, -0.1131, -0.1432, 0.048]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1794 left_yaw=-0.5968 left_pitch=-0.3053 left_roll=-0.1078 left_gripper=0.0725 right_x=0.3728 right_y=0.2633 right_z=0.1488 right_yaw=0.733 right_pitch=-0.2869 right_roll=-0.0125 right_gripper=0.048\nstate[joint_eff]: [-0.2393, -4.4923, 6.4752, 0.9695, 0.2222, -0.0464, 1.033, -0.1846, -11.1658, 9.4427, 1.6044, -0.0855, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008f2c7562b171e61dd59ac664b65326f2cb12792bad0253d20ab9a0e9379657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcdeadf466fb83e7d9f02383f18982af94ccaca415db71e8c3d3469026774ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e160c8dbfd51850416cd3a47bdfbf241084fb218c05d1fc13c7b88ddfc7a0170",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbUY60IBbn7XYItFvjMexBy-79yIMixWne_9I93LlrfbkieS1gt2q5JQLAD1xkS4Ap8KopkIryGlALPVzb1yEwvQrXLJVM17CgJjs14264BI_JjsXdKMmk7Bq_1UIaLrT-cipoPJl1f5K5mlS9K0ZPlwbktgSSWsBvc3a34_SbwU8HGb-ril_7MlZGdBGZT-x6VEPQEbjINzO6nx7ir2FNnihv4j4QkKu02t0ikD0ZOvXu2XHL0t3ioXM2omTZDOaOqfWnALM7BJwCiHlExMLSvCLRBg9aO7oHcuMWirclsELTMJXd9hul18kckmoRot1onfL6J9iqjj1mDxZVfmna11n0-i0ZpDOp8H1N0Pixtn-c7D7wNdwIWKWuLhkFKBn1HBkHF_YUNyxS7Js4RUgr7ZgEB9WEPamEJanL8BdolCrluW-LeuujV3Vlv7k3_--oH7NteQpXiVCHXRiOMXJKvMwSjg-A6egklSjrJH5TzSYzhWDu_hMvqG-7R2sQAiS2kHqOTM2YOlstzKybi0Vbb2z9ogeZ2oq0yi8aQGoAP3u4LA1prk3rRDJINvVcq7mUpXRqbEtcmLJToaAVUfjJRNNDrKTjokUCZpcarjxfa3rfB4IbCdimGMV1uikJreSjhzQokvCQHo4ZUXRP5swcFp1z0LTHfCdfntgzI1FVYG3hSgG2MBcTl4uS7msRBxRKXOOpu8BQTSv0b87ZQNl01lg-yQrAMRdlySgPatlk9SG5pY6TISkm4AGK1KiEz9XGS4WdMZE19Ba0RSabX-78XYeoRKmHKLpvIVAl8-lX27RNLtO8bYnvEA9-secY4yWAqwKnAw5Fu_rrDWafL_9EB0oRny_xS9zJzsKPStFQqYjXpML9id12avsYC0hKpEGg0pjb964NBwXjw9TIAe9NI2m3a-FADuAh44Dr--0OafR4CVwdHoh1sn49YYF4OXI6yY-6vGVFKeabw9Ge1kCasp9ylRxcJrW688mhKW-J6wOS7Y0Jewl1YKQ-47ZE12Jg7-FwT8o8APKdMc8brLDQV0rLVwkDqJRDMYD2KlVpC61SewgMtcELqVci2Z7kzPhxT_o-4l6eKYdEAuQ0szjj_9-Sdldj76uzpRRVwB_Gb0V2Cj7lbyg8QJSlPQ85yUJ0rtHtMK4ZBlWKSkKV9oWfcUAYTfnp-sbmRK38Jt7rJtKQjCd36rZHBx5fbyZzQ-1V_PjqfKfzCLfHXlm1xszrW6poVEMVjhcZr1AuWExCiTTheSlgItEcaT_V2UXA9evjpoZYUzf4Uxayf7TPE3maxImmIvP8ZRmWifkESOPmgYrm3_vBwixL1-S1VhieYsN2471n4JHDr2A1wmr4HPGa6gw==",
  "id": "rs_0be44dae70bec4a9016ab446d2d5c887d08b671a4b9e9df361",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":-1.5,\"left_z\":0.2},\"note\":\"Both objects are now safely elevated, with the pen tip clearly visible. I’m rotating the cap arm partway toward the opposite heading from the pen so the two long axes can meet head-on, using an intermediate angle to avoid a large wrist jump.\"}",
  "call_id": "call_QLqJhAyW0nkKL3uMrKLcS7A4",
  "id": "fc_0be44dae70bec4a9016ab446d3265c87d099b169047a33465b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QLqJhAyW0nkKL3uMrKLcS7A4",
  "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]: [0.3214, 1.7771, 1.5467, -1.5051, 0.6521, 1.5826, 0.0725, 0.5629, 1.6691, 1.2675, -0.4736, -0.1131, -0.1436, 0.048]\nstate[eef_state]: left_x=0.3093 left_y=-0.0062 left_z=0.1655 left_yaw=-1.3252 left_pitch=-0.3397 left_roll=-0.1605 left_gripper=0.0725 right_x=0.37 right_y=0.2612 right_z=0.1457 right_yaw=0.7338 right_pitch=-0.3065 right_roll=-0.0092 right_gripper=0.048\nstate[joint_eff]: [-0.3897, -7.7744, 6.9538, 0.1538, 0.4518, 0.2369, 1.0183, -0.3487, -8.4034, 6.6393, 1.536, -0.0806, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e69aa72dbe2d22483d8d4b772a87a52f44532a3530f3924609e3781b0106098",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88688674af3c76bd35e520db29e60ba426fdc3491abec38fea3376f0217bbcd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72db80f5cc97aa14c107b99d4bb5169bd65d5139a382b03d3b72533c9e0c5410",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.036 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 76 changed as sent

message 80 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9577, 0.5728, 0.7044, 0.0725, 0.5621, 1.9182, 0.8661, 0.2684, -0.1135, -0.1276, 0.0418]\nstate[eef_state]: left_x=0.3018 left_y=0.0024 left_z=0.1797 left_yaw=-0.5968 left_pitch=-0.3043 left_roll=-0.107 left_gripper=0.0725 right_x=0.3745 right_y=0.2638 right_z=0.004 right_yaw=0.7205 right_pitch=-0.2161 right_roll=-0.0132 right_gripper=0.0418\nstate[joint_eff]: [-0.3624, -4.4376, 6.5162, 1.0037, 0.2076, -0.0415, 1.033, -0.6222, -7.5282, 5.1487, 1.4969, -0.0904, 0.0366, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2846, 1.0966, -0.9581, 0.5724, 0.7044, 0.0725, 0.5632, 1.6684, 1.2663, -0.4534, -0.1131, -0.1432, 0.048]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1794 left_yaw=-0.5968 left_pitch=-0.3053 left_roll=-0.1078 left_gripper=0.0725 right_x=0.3728 right_y=0.2633 right_z=0.1488 right_yaw=0.733 right_pitch=-0.2869 right_roll=-0.0125 right_gripper=0.048\nstate[joint_eff]: [-0.2393, -4.4923, 6.4752, 0.9695, 0.2222, -0.0464, 1.033, -0.1846, -11.1658, 9.4427, 1.6044, -0.0855, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3214, 1.7771, 1.5467, -1.5051, 0.6521, 1.5826, 0.0725, 0.5629, 1.6691, 1.2675, -0.4736, -0.1131, -0.1436, 0.048]\nstate[eef_state]: left_x=0.3093 left_y=-0.0062 left_z=0.1655 left_yaw=-1.3252 left_pitch=-0.3397 left_roll=-0.1605 left_gripper=0.0725 right_x=0.37 right_y=0.2612 right_z=0.1457 right_yaw=0.7338 right_pitch=-0.3065 right_roll=-0.0092 right_gripper=0.048\nstate[joint_eff]: [-0.3897, -7.7744, 6.9538, 0.1538, 0.4518, 0.2369, 1.0183, -0.3487, -8.4034, 6.6393, 1.536, -0.0806, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e69aa72dbe2d22483d8d4b772a87a52f44532a3530f3924609e3781b0106098",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88688674af3c76bd35e520db29e60ba426fdc3491abec38fea3376f0217bbcd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72db80f5cc97aa14c107b99d4bb5169bd65d5139a382b03d3b72533c9e0c5410",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEbW1_RG2_gk4uzoE6DGGgOJ7ErmIW6oYBYw2X-1Wq15Sv5DHaEy9W689VOfxFnElT9Qw7op__h2Pbb7a8QSA8y9vytEtp99G4G0HYd2ho9ffzcaClWAn32DOqza8UFeTmm5JyI3djd8Svwj1qAxq_TiZSew7bVWZ4N52PqyOrzOUCJRLW1G8WV5uyrqOmeGl1LovomJVelMTTrsnFaGJg1-53PZtE9JnnF7nTG4RsG0nm_QwwbVFCHF1CVAiMbEUp4lTH_Hc6k7Tb1etNfCNdbNJ3GfPPh6eOFjIbI8ROfX2IZLHcnx0otMUW0m3Kai7d4YLPqm_mnNgiMetG3ywCkFZHMwKOMRgIL8uXUasbYve0F2tjveqJvpqX9b67Bners-cvUDx87WQbNaox-myfF2pU1xzveDWSsIRXZ5pC6RI2lE17GiP-BKjN3opthOCCU2Qj6-dgHEM8rocgoUJRp5rYv2awP34ZR-P-XW6Obmo48qw4TS9EfOf4_P1P5aFfoJGAnUsk7efCgEI1uSwtaPBxV8Eejvz1Jvu5zWcqU_Rer183y_ACIendxzLjOBNvZfRi_7HpcKHderEJoqvc22YEQaoNntM1o2-Fi3hXaQxcKPnrG5JsFn-YLVSnV1SrRm1ySw2py5e8hq7ZuuocBwEbUF7PwndQUzYpmkfKGPyU8UY0vIlQf9BmSiDlcC0gZqLJaM4ukCDUxm2T12xCm0a5oe590PUEgsITI4ilwBe_1wfdBuC3YGRZU0_64pR_EkXXMHQEzuipM9ZjJiQy3H-yzZEtmL8kmPBDzSnqoKE6OwZnNXGutRPtscdtVgXBEPA3gCdaUiEHqjiq-ev9Q_o8444u9LgZRUBn7W4s8rveFB1biD5sQFUVO_3yTQsiMcrAOs955_NVkiMK_9B4t9dZUOkB7xf9KY1-9H6g8ZEWhXsNgWb9gSyJnBtS9UYr8e7xMS-axZhjh4Enoh5eCk4jZylYZabbNf0hX4lGoXNBFlx9iHB5eqHL9Gxjb413zraayTvQnWaMqrwMn0Jn9C9ppzxTDM6GsG9vaKKVLtTblQ8GNrjdy0lR0m8dswvxSZAp4DnuPcmpFKrG76zASQ3KD9sGGx25lFgqkAvOmTQA0wBmyEBlDqXMW-rjnS-fm--j19vkBE_sMVrYpvSkxTKOuSIcVRk0_f9zcW4vrQykxNOL2Kh1dVHPmypIyL-RnhVklgqRAV7-s_tYRv5C8c7NhjKNHpMEzD3bL3D6rci3s=",
  "id": "rs_0be44dae70bec4a9016ab446d5d65c87d08f3496bed2098089",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":-2.35,\"left_z\":0.2},\"note\":\"The first rotation was smooth and the cap remains held, but the wrist readback reached only about −1.33 rad. I’m continuing toward roughly −2.4 rad, opposite the pen’s +0.73 rad heading.\"}",
  "call_id": "call_ev9O6hFmdr82RX32kZMfIoBQ",
  "id": "fc_0be44dae70bec4a9016ab446d6201087d0a5ad3540b881eee8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ev9O6hFmdr82RX32kZMfIoBQ",
  "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]: [0.2916, 1.8469, 1.5723, -1.5791, 0.6231, 1.7256, 0.0725, 0.5629, 1.6691, 1.2675, -0.4728, -0.1131, -0.1463, 0.048]\nstate[eef_state]: left_x=0.3008 left_y=-0.0136 left_z=0.1525 left_yaw=-1.485 left_pitch=-0.3377 left_roll=-0.1955 left_gripper=0.0725 right_x=0.3701 right_y=0.2613 right_z=0.1459 right_yaw=0.7353 right_pitch=-0.3057 right_roll=-0.0112 right_gripper=0.048\nstate[joint_eff]: [-0.4581, -8.6906, 7.5009, -0.188, 0.3297, -0.0952, 1.0183, -0.1709, -8.3077, 6.7897, 1.453, -0.0904, -0.0073, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a9bbb26decbea4432a66e2418299b8c827f0fe55e07d1d4640bd97053e2bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3571176fba2db585f75dee29b60e0720b1d1acecd5402ca53ce3a4224823fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdad39d117ab44762fd7df346de5de8094ac670a5ee1af631df4ff78920c1e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.384 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 80 changed as sent

message 84 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2839, 1.0966, -0.9581, 0.5728, 0.7048, 0.0725, 0.5621, 1.7084, 1.0565, -0.1524, -0.1135, -0.1318, 0.0436]\nstate[eef_state]: left_x=0.3017 left_y=0.0024 left_z=0.1796 left_yaw=-0.5971 left_pitch=-0.3045 left_roll=-0.1071 left_gripper=0.0725 right_x=0.3748 right_y=0.2639 right_z=0.0958 right_yaw=0.7236 right_pitch=-0.2364 right_roll=-0.0128 right_gripper=0.0436\nstate[joint_eff]: [-0.335, -4.4239, 6.3521, 0.9939, 0.232, -0.0464, 1.0281, -0.3897, -11.2205, 8.6085, 1.4628, -0.0708, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3214, 1.7771, 1.5467, -1.5051, 0.6521, 1.5826, 0.0725, 0.5629, 1.6691, 1.2675, -0.4736, -0.1131, -0.1436, 0.048]\nstate[eef_state]: left_x=0.3093 left_y=-0.0062 left_z=0.1655 left_yaw=-1.3252 left_pitch=-0.3397 left_roll=-0.1605 left_gripper=0.0725 right_x=0.37 right_y=0.2612 right_z=0.1457 right_yaw=0.7338 right_pitch=-0.3065 right_roll=-0.0092 right_gripper=0.048\nstate[joint_eff]: [-0.3897, -7.7744, 6.9538, 0.1538, 0.4518, 0.2369, 1.0183, -0.3487, -8.4034, 6.6393, 1.536, -0.0806, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2916, 1.8469, 1.5723, -1.5791, 0.6231, 1.7256, 0.0725, 0.5629, 1.6691, 1.2675, -0.4728, -0.1131, -0.1463, 0.048]\nstate[eef_state]: left_x=0.3008 left_y=-0.0136 left_z=0.1525 left_yaw=-1.485 left_pitch=-0.3377 left_roll=-0.1955 left_gripper=0.0725 right_x=0.3701 right_y=0.2613 right_z=0.1459 right_yaw=0.7353 right_pitch=-0.3057 right_roll=-0.0112 right_gripper=0.048\nstate[joint_eff]: [-0.4581, -8.6906, 7.5009, -0.188, 0.3297, -0.0952, 1.0183, -0.1709, -8.3077, 6.7897, 1.453, -0.0904, -0.0073, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a9bbb26decbea4432a66e2418299b8c827f0fe55e07d1d4640bd97053e2bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3571176fba2db585f75dee29b60e0720b1d1acecd5402ca53ce3a4224823fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdad39d117ab44762fd7df346de5de8094ac670a5ee1af631df4ff78920c1e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbaY3ejkc0XxvZgpiM-NDywyhZlHvQx9MYtYXiM--B6b4kqEtCAnfIC-2FCqIzE4yr16gVCxu6DMzLSeCDOSR_OglQHGZlvEIj0kpNMMNwuSppAdov_VWjwz6BAslow24HAYwtewyyy-b9BGN7jC33DLcYdctTD8h5FetNBktvcHHNKKgyCJdX08gBBm4NQek2gxVnyK39P9dR62EjAPIovPOq2ZuT8vRlJ68BlELaRkK5B6HFvkgHZu6vHjIyfFAQZ2P-KiNOBoKu9PHV9Yqn45nrDp3b2-Pfxue5kiIlQt3rDmrMlgvWhZE4bYFJ351ckslEqtDkJgmVdA1o-Ek_t3nci369EP9jSjTQwrEkractocZIui929mOXZpT5er5BnhZSJWb0k5DQd1-VtMhsT6y12-qLbx7gU1k2xoWM1TFdKKIaPEBU-AAtvLV-OHDxAj25GoqUX76onWet5dHVNY1STBTjlkN_Q7SVR_yKKNagMeoggfIiBPfixOBJdk88SQSGrHM0NOAmxLOlYBeAitCIUuO99p1H6OCcbIYdCuEnAmLJdEuayIYen9BSw02R7Pr_-3dWtPHHI_PkrLB0XxWHocldF2Jn_ZboQp2yhoKlgUg7NVgoLF-Pa5z8pW6W5c8NTuG7OCPO9Y402LokIBQijej5kXk7z00ER50tleYwjTuRxxnnSyYI8cstB4Siq9MYgmCy-8Fm_W1kzbqoWJMbMAXvQ1sT8BNe58T5hiO9qNFh7TnHvf55LU5mJd3PH66R3i3B13-xTzJjX5bm1E84pWV3XP6CYHif908-f1xk_O6bMUYruV940U2aDG1wuQp-Il4iXITpDZ16dKgXuCN_EKdP8bqlbO8udpm56hcN44H5yATKBia0Zh6ST3G0saQOtb4-G15Q3AOWy1IadBUoyZSqyXpNXO0ZDZQPGuBEylLhFQteWI7yQSYfdjcfZFrrO8lPbkwM15EVFzpOgfme_edi11j0_Q1bV6C_vi9VY8r8tPt0KSs-hIWq2Nh-44IDRn0Dfg9Uss-v2q5toNT0D1bQih0m-MGAmPoAzKvW_DOQbt55_Ls2o_FT5o2hPYiYzYdv8r7FSpe8B_RhYy5g_hfXrKN5b2EXI5gmO4ILY-YwyHCC265svFSjuPVG3ZYEcGTZ7PcfXouSwT5VaHmQ2oiJMHjLJQEcEgiIha6nN_G-87Cu68N5XDZsK6AMmaeYC2kYeJe-X6jNZEXu0noREZsKn6nDzH7tla9sPXN72IgDN7JtC13Wm0fdYrlge3jWWWCTsmGaOwSQP1cJX77c86c43AtbGvqI55z1d816I7ndv9lfsgNcWQNtRgorWVoFx_zg5DVdJXj5e7ld77Rpb1uoPKb7POthXC1PXJuzLtAd1yG7QG7jehR9HHZrHL-fEvJ02fPy9EHPyhc2eDVEaLsNHnqcLNklUescLPzZNY3HFqAXckODgeTv64eEDEdCPufHvdu-7k3QkqonE98VycWQvgYHRD7xp2DFO3k5Nxx6ZxdRlu6gbtFOAwBYTYurPe2YQUYOIQq8nOyaYIqgaionQgrrCzygGWwsfG-RE05VNrzsSu7o8ZKOKZe-ynKNXYcXkkXi5l-SRirxGf_ukK3z7pxrwjSsFCC4nvNyS3EqqpoykIhgMuzD1GP99",
  "id": "rs_0be44dae70bec4a9016ab446d8d1f487d08b6072979a04192d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":1.55,\"right_z\":0.18},\"note\":\"The cap wrist has reached a practical rotation limit near −1.49 rad, so forcing it farther would not help. I’m instead rotating the pen toward +1.55 rad, which gives the required opposite heading while both arms remain separated.\"}",
  "call_id": "call_tAnejZEqc7Zg8eAdjXkPok5V",
  "id": "fc_0be44dae70bec4a9016ab446d9ab5487d097f13499d12850c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tAnejZEqc7Zg8eAdjXkPok5V",
  "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]: [0.2913, 1.8473, 1.5692, -1.5799, 0.6094, 1.7187, 0.0725, 0.3798, 1.9404, 1.766, -0.9642, -0.5396, -0.8921, 0.0495]\nstate[eef_state]: left_x=0.2991 left_y=-0.0122 left_z=0.1505 left_yaw=-1.4879 left_pitch=-0.3505 left_roll=-0.2072 left_gripper=0.0725 right_x=0.3921 right_y=0.2581 right_z=0.1737 right_yaw=1.3603 right_pitch=-0.3321 right_roll=-0.0384 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -8.6769, 5.0803, -0.0317, 0.4274, 0.0317, 1.0183, -0.7043, -10.0444, 7.2957, 0.5592, -0.6764, -0.0073, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa8baf7083a7158cb91d604165f138f6f38b831959c160201147bf5b7cf7d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8c7956269cbc0e8395ce67c6fbdcbc62c50fb51b653a10832507fcc1f96084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34277b2add1ae4d25bea7c6813d40ca74057a36d4a4bfffbbbf38a352de661c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 7.437 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3183, 1.2846, 1.0966, -0.9581, 0.5724, 0.7044, 0.0725, 0.5632, 1.6684, 1.2663, -0.4534, -0.1131, -0.1432, 0.048]\nstate[eef_state]: left_x=0.3018 left_y=0.0025 left_z=0.1794 left_yaw=-0.5968 left_pitch=-0.3053 left_roll=-0.1078 left_gripper=0.0725 right_x=0.3728 right_y=0.2633 right_z=0.1488 right_yaw=0.733 right_pitch=-0.2869 right_roll=-0.0125 right_gripper=0.048\nstate[joint_eff]: [-0.2393, -4.4923, 6.4752, 0.9695, 0.2222, -0.0464, 1.033, -0.1846, -11.1658, 9.4427, 1.6044, -0.0855, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2916, 1.8469, 1.5723, -1.5791, 0.6231, 1.7256, 0.0725, 0.5629, 1.6691, 1.2675, -0.4728, -0.1131, -0.1463, 0.048]\nstate[eef_state]: left_x=0.3008 left_y=-0.0136 left_z=0.1525 left_yaw=-1.485 left_pitch=-0.3377 left_roll=-0.1955 left_gripper=0.0725 right_x=0.3701 right_y=0.2613 right_z=0.1459 right_yaw=0.7353 right_pitch=-0.3057 right_roll=-0.0112 right_gripper=0.048\nstate[joint_eff]: [-0.4581, -8.6906, 7.5009, -0.188, 0.3297, -0.0952, 1.0183, -0.1709, -8.3077, 6.7897, 1.453, -0.0904, -0.0073, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2913, 1.8473, 1.5692, -1.5799, 0.6094, 1.7187, 0.0725, 0.3798, 1.9404, 1.766, -0.9642, -0.5396, -0.8921, 0.0495]\nstate[eef_state]: left_x=0.2991 left_y=-0.0122 left_z=0.1505 left_yaw=-1.4879 left_pitch=-0.3505 left_roll=-0.2072 left_gripper=0.0725 right_x=0.3921 right_y=0.2581 right_z=0.1737 right_yaw=1.3603 right_pitch=-0.3321 right_roll=-0.0384 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -8.6769, 5.0803, -0.0317, 0.4274, 0.0317, 1.0183, -0.7043, -10.0444, 7.2957, 0.5592, -0.6764, -0.0073, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa8baf7083a7158cb91d604165f138f6f38b831959c160201147bf5b7cf7d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8c7956269cbc0e8395ce67c6fbdcbc62c50fb51b653a10832507fcc1f96084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34277b2add1ae4d25bea7c6813d40ca74057a36d4a4bfffbbbf38a352de661c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEbdlO0wCvpnvG3L7dv7babK3VBHLoN0jhJIqEVUAwtYBYggLgIfoEkC9A-NJ-ZwvudLgiTteXSZz5Do6OxwZ-tUjLasw3Hv3qHJEr5SjIbpjjRYDGA_nbG3p8tSNJxVqYiBrTqNNSwhMhw9jWZ2ocb0_ppbQEaq8taiBAZ3iCvyh1vBx108MvaTcOvmnSmbON9hi8U1XjQSr1rIeyHOIF0gGtYw3Synck8TCgB8YisWkUwPvev7Oe3NtKB35UgeQtCL5P8AdCmtzPt9kjvS8X3M0xfIwNjxVYexxD1AyqTEX-_by4mwXdgJE1InAhSoWNBio1mU_UT8fwQB_foInbTM_LdqQhLShe9ro_tgDt0JZrfw3Zv_dk-0Tb_Q8UK0bDM51wWPPEZ9twzjsI1bNrvVDIQVQp_fwdCnV-2GuHjuUdW64q7g0oDqh00fk7CxYK4jiJtv71Pl1B9J2nxstwesLu28FH5U9Iz3ffvSiiLr-EFjUN7sQm00rfOhVVAsO4U5ij76O6V2L2bDs_wP8FlSZ4vqXAM5VXp_QM6Wc10pLxkUheyLExByPV58FAnaS4dEh2vZRTB76wvlubAu6Fn5XNotjx5PRo9kctRtPoDZCmxr0r_ODYpcMObb3m-nTn2E0ZQdvKGBH4vPp6nsVmMmoOxqgPL5PHzw8evJ77zg5Dpda3hKNrM1k0P62DVv5fVg_Je9Wu8HNDO1TjCp3pFQc7-RXyoIZbBrHfvblJegOO6E6faD6Piace47I9bkiXov8T7sTF8QVv98oBIa-wagJK8LLQJkHzLtIrrwoB1yhEqZruvUPCakPruPdiW0Zmy6CP1KfJLNC6QoaYj_7AqyfQHAFrCLgPK4wGZ9M2524HQ6GBT6VSD5I-skWuvn0i3n7DArF5Ef4SN0G8kkcGRK50cDfiPDSRkmyNZnbFswkdDBMVdy9YqyKLBXBguT27lA68pP0ty5FB-JkuIi1YMPKGKjND5RD4CvVk5gli3VZ_fftN8Hshg0SyH2fL0pJYOQowMS0MouxrVmPXUo8gFHVdcOK5Tu5HoY9yy4eWIUE-AZdWhlReUaFouht2HE01HH3oGj4gkQS5LCr52gfqU9Ay7Vut6rvQXsDaCjv9DtV1xIKuohyCpAu7IXrEgjMfhqYu_CWMPpZfwWcPXRG7UUS1ceNYiYvMwl5PeAa6iHN1MRG_JfEckjAhNhIQrIM7ciK6uzh4Qpb8WNFOOzk7A8zGnizDLVl-5CU9OdVF0gnUgiPTKcw8iZSd8UjCk1plunwgvTrQTJ2phNPLwfEABg9Q==",
  "id": "rs_0be44dae70bec4a9016ab446dc348887d086c84d1b86e9a2fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":1.7,\"right_z\":0.18},\"note\":\"The pen rotated to +1.36 rad and stayed secure; it needs only a small additional turn to oppose the cap’s −1.49 rad axis. I’m completing that alignment before translating either object toward the other.\"}",
  "call_id": "call_JEoSW6PoEdb5CglHBgf4vES6",
  "id": "fc_0be44dae70bec4a9016ab446dc9f5087d0ac5593927d5cb36d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JEoSW6PoEdb5CglHBgf4vES6",
  "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]: [0.2913, 1.8488, 1.5635, -1.5776, 0.6018, 1.7184, 0.0725, 0.3588, 2.1426, 2.1059, -1.2549, -0.6281, -1.214, 0.0518]\nstate[eef_state]: left_x=0.2978 left_y=-0.0114 left_z=0.1482 left_yaw=-1.4922 left_pitch=-0.3566 left_roll=-0.2143 left_gripper=0.0725 right_x=0.401 right_y=0.2651 right_z=0.1804 right_yaw=1.6118 right_pitch=-0.331 right_roll=-0.0678 right_gripper=0.0518\nstate[joint_eff]: [-0.294, -8.6222, 5.0667, -0.1245, 0.4518, -0.0464, 1.0232, -1.2513, -11.0974, 6.4889, 0.105, -0.5788, -0.0122, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a44a1764349aebdfe07d6b6825f0b1b883605b2dd37b205ae086cd61951d40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6510831bcfdbad4fd1916bf4dca5dc4102d07bcad6f07384ea821441d4e3d6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b120f61247f044d230397cf6b7aed72c79639a370237e1b232d744c5300a3ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.063 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3214, 1.7771, 1.5467, -1.5051, 0.6521, 1.5826, 0.0725, 0.5629, 1.6691, 1.2675, -0.4736, -0.1131, -0.1436, 0.048]\nstate[eef_state]: left_x=0.3093 left_y=-0.0062 left_z=0.1655 left_yaw=-1.3252 left_pitch=-0.3397 left_roll=-0.1605 left_gripper=0.0725 right_x=0.37 right_y=0.2612 right_z=0.1457 right_yaw=0.7338 right_pitch=-0.3065 right_roll=-0.0092 right_gripper=0.048\nstate[joint_eff]: [-0.3897, -7.7744, 6.9538, 0.1538, 0.4518, 0.2369, 1.0183, -0.3487, -8.4034, 6.6393, 1.536, -0.0806, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2913, 1.8473, 1.5692, -1.5799, 0.6094, 1.7187, 0.0725, 0.3798, 1.9404, 1.766, -0.9642, -0.5396, -0.8921, 0.0495]\nstate[eef_state]: left_x=0.2991 left_y=-0.0122 left_z=0.1505 left_yaw=-1.4879 left_pitch=-0.3505 left_roll=-0.2072 left_gripper=0.0725 right_x=0.3921 right_y=0.2581 right_z=0.1737 right_yaw=1.3603 right_pitch=-0.3321 right_roll=-0.0384 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -8.6769, 5.0803, -0.0317, 0.4274, 0.0317, 1.0183, -0.7043, -10.0444, 7.2957, 0.5592, -0.6764, -0.0073, 1.0183]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2913, 1.8488, 1.5635, -1.5776, 0.6018, 1.7184, 0.0725, 0.3588, 2.1426, 2.1059, -1.2549, -0.6281, -1.214, 0.0518]\nstate[eef_state]: left_x=0.2978 left_y=-0.0114 left_z=0.1482 left_yaw=-1.4922 left_pitch=-0.3566 left_roll=-0.2143 left_gripper=0.0725 right_x=0.401 right_y=0.2651 right_z=0.1804 right_yaw=1.6118 right_pitch=-0.331 right_roll=-0.0678 right_gripper=0.0518\nstate[joint_eff]: [-0.294, -8.6222, 5.0667, -0.1245, 0.4518, -0.0464, 1.0232, -1.2513, -11.0974, 6.4889, 0.105, -0.5788, -0.0122, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a44a1764349aebdfe07d6b6825f0b1b883605b2dd37b205ae086cd61951d40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6510831bcfdbad4fd1916bf4dca5dc4102d07bcad6f07384ea821441d4e3d6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b120f61247f044d230397cf6b7aed72c79639a370237e1b232d744c5300a3ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEblzTxjz_tJg3wFzJ3xcxDIThmEt3nTbiuQGsjqsLjZtRGsVRoKPtvrRUKixqbJ8IP1kIFnJfH06azWM0iyridItM9OshOfYHf3-JyjcqRYcvPl7WY_4DMn2tB2knwCMWQEAAaOE0WMGnXT91ZsJW2aXs1x5Tcz_9WdxwFgVV0UHhJnTnE9A8ZhArsSQL0tcixlxsWWoYuzTSN0OE6HrmRf7oqVuC_IyVX_i20odagYWLeWny_r9tLUQmIztpILiD4xYLWWKTNmtdM7tg_KeiV3fbdg74PwFUqP7e0c13bOaFIqwR1AjE747AVNqWtRXTn6-_wMTC5riNZ0UuXBt8ZXzx9CNerBaaZasSU6w11rv3LTsYOGBrLXeParKCtO22BzVx5qq3SyFsAJlp-zDwTLJIjcvJyr--x0NK6TKHjUuNVyxXyY5FtpBCCilLYzOoWCIn7_NxeoeKhMvXmKWG3-IYXuLVBzrJEfzUhkWvsij0PbBfabboHzplgNq2zZf_ijc_PeJObLwvnuRaQ_En8IXRCrffHLgYIAu0x3TsJlJTvreM9XfHDY8SgHcz7D450h0I2CrcELeICXz8RXSZCXdkZWUsx71pI3f1KzyHNnWozpBnrt4Ak8K5ozD5vGcpsfz7gr8Y7OBpPrEUH3RMDe2zVOwGuEpogJxa3Fj5boZpC6Ez5WniA0FTl9H0lvfNvQhfg4HoqGkx1o3ZniUCs5hhKAKfHL2UlG0MVqID_zFnk-H2Anrt6v3NMICNvltq5Yo_pB0vAE5xY28cWLXYZvs5gpsyTNZBureKeHuTh_7M1SJsOC7a6TvEaRx-OW0LCP_b1BnjFvX_oby-UQkjkR4KDecg2RraFHi7LRyKXhD63xuVMwpsTk_pgsmycM_9l68T1CUwF5XXArjFnBfjISbGaoIyAi18NNr5MyM-0UjC44SVfQjfWyYqnBZ_uyIJC2X_FjaS_je059Z_kj2EJwPjmaPZHtD-9jpPG1ex6Cq456jtljNs-5zGx_tBcho57OMcURwxEZG6A8KaTAe3gJUw17PWuGuY70bN-qRHp0qL04pXvDztJfo-wqjkJiUa4NdO7aFSWX2nvIi_2rZBFx6zwaSWuXn13PcG_Vh5z0OQRTfwzcgnb14z-Vi3j_DaFQd2cd4G0P71D1moqltdFtfu3K956uhjAwMZJ6lurXj4zOqz9J8X4qUekByWEEg5tGJPXVjOxAOFNydjBpnpEQ0pk9ehQBMl1xEqjbo4mKEcAqF757qIT-dEogds_lxvXMVrZ7513-hAilETDyt-gPQmyWuH_EX6ZhSnlCEA3o6SiU2S_lFToVO0dsw9GCLYYIpH2RM1bhRHqObsh71jH1Y5d8mmjrIW-UmSZvLKCSN4unvamQvsmOlg-AWkd28T-Dgg_Ioin0A40MVpFeP3GG-r6e8-yB4JE93Y4khiLfiRGCVQwIc7Wbdulq9ORJTVQExnF5BpkFgmWycdP8_FBGcu6KrXc56Yg6R0BPZDN3o-rUPttORLmY6a_zJf3gwWGdICNnH_Brfwx9CJOLs2JdvDbHpGjOHKMTzeMOtUkH1A9SVg69qCKVtbTo0H8RUJeELeGvRLqMBa4aK0lxoTmqWktyw7cuy6YzjeEw53Y0lESwn0aP0hDZNC5CEgb3Qx07KVc037cTf_UKZjNYNry27OL8GX3kFOVM7CixbyYyXVY9MzFOQsGNW8JnDfMs2T0U4Jw72H9yPvvSJiY1OD_eazvP9YlyeEW3jfInN3TQpYtqmlMK7Q_c-7Sht21seRFXV-xLkWJ2VqXt80MVCcy46B_3tYlZ8h23lvN44VWFgq3mSVRB_D49cNn35aPIyeqVIvhLW2qDBq1BdNoWE9-YIew1nkFX-DfQ3_NSRfdI8K4tTrHRD7ja7fuu0PZi7Zxb6ysAJkTEAEuHexCWJ8o7UA_nmK5dsL1ap0wCBJks6Lwahk3ZPRAOgGtSZ-w_XN-5qgO3vqYS6Z_bvM0tuyLyanotXFWxW6nfvobseSMAc1siiptULolRydpFvo2RIyAYyZlw893BJiTuUknQid8A-MIa6zTIO-3nQhwe-dxXvjU2cgrl8yJ-Gp3E-6xZSCkgqhcQuTC0-eutuFYpNDz-DjQyfczdGjwnxrG6eIQdAj4h-4SOuyGn23FAWhLVDXt8WGVCtd5wdzOdoq3jmr6hNGEGNwGELBNz4TSvN6ennp1Ap6EnYTVcLgaoMKlzeYwZlJEllhDTcSuWaSq9AcFyY_qa6shYqMICSwCYSWBsT-7bbnU3KZHqEXEDqdPeIXmDZrj3P8raURxijI6EELaSKtmScftRScWml801VatvmsqZlUmun6W9g5RP1zGFO7_XsIFCVSmzVB2tm-PFZb09ojYPpVJIzoHAn5KhqHQ6HHzzdAaGBWsXk73lZqBM563f0CbxxFSMdfVyOssxeg67Cjisk2tAS9CRtqbUnZ4QqTg2aLXpJZj_2najfBn_gEkJVxwFLxZ8-l4Hg7fWqhOjF38uDDonrJC-C_Mo2-Cns2kuUfsPHC0ruw9LihsAbJIsO-OZIkfWIBSrOTCV4_i8SuEX3G-4BEQwgrt8TOngeQY1TQYid29B7-Bd0FGMcXMNXPOy5-fRPT1C9z-IKeAF3_qb4BXg6i79A0swVCwZT8Nvl3QFRIUGRwB_3jCuXGKOu73_3bDuhx8pJQe8-ObRB6SoyL1q2EP60Efz-iexl7tVCOLPRZeanyJWNbUImQbaARRVAOYfoSgwN_x_KDs79AsQmDbOfk2x7gMm-8qdU5FjV51772Metm0jlS8Gcx_D3pCG9MGTiYansSCcuFYumVoVh1LN4w-hEstvKbJKgW0beB_dVIhmXad9ygsBCCHNjjmG5pGJmbrJBz41UlntwmXzzs8MVFoN88FIzimNTeE7rY08gf4eXf0bkTl0z58liMJj1zgriXXbqxIx_E8b9cUaGeANN134JtY_N1eXYS98can-wT_Bt5NJh09EbaBWo5vG3Ckylm7mPERyYu-poe99z1vFMpRZe1Drp4njsZdfuO7v9KqOE5If4WKwu6sOmSTay88Xl1CBzkd6OMiR-i7fiTWFT8uqB6uYCuVj-6GSDHue6w2QK4DxmykMb6m0e6hD-Me8-JJxDNrcLc7EKy_ZGPps0-yANshKcGEoAAs6y8LF2UNxbEsaaarrEHhuxFkCnEWL2NPNGXREseT7qG7hok_2phfYOR3c2NqKCGUgq8P3Hr-Ckzxc5EyNVTzvnPRRRjB5sH4jWGpdrsq8Hw==",
  "id": "rs_0be44dae70bec4a9016ab446dedf2087d0be1449349a60f0f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.12,\"left_z\":0.2},\"note\":\"The pen and cap axes are now nearly collinear and opposite in heading. I’m bringing the cap arm inward to a staging point on that shared line while leaving about 15 cm between the gripper bodies for safety.\"}",
  "call_id": "call_CD67cjdsHWcu2p5wQLOJnREE",
  "id": "fc_0be44dae70bec4a9016ab446e3ecf887d0b7b95eebc6cea137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CD67cjdsHWcu2p5wQLOJnREE",
  "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]: [-0.0387, 2.0029, 1.9285, -1.5879, 0.63, 1.3338, 0.0725, 0.3462, 2.1864, 2.1582, -1.367, -0.6331, -1.3212, 0.0518]\nstate[eef_state]: left_x=0.3555 left_y=-0.1143 left_z=0.1816 left_yaw=-1.5191 left_pitch=-0.3874 left_roll=-0.2411 left_gripper=0.0725 right_x=0.3923 right_y=0.2564 right_z=0.1715 right_yaw=1.6972 right_pitch=-0.3559 right_roll=-0.0305 right_gripper=0.0518\nstate[joint_eff]: [-0.335, -9.4974, 8.2393, 0.1783, 0.6471, -0.0073, 1.0183, -0.6496, -11.9453, 7.6376, 0.4225, -0.6129, -0.1099, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b776a5219e9d0df0cce670c00e62906409abf0d2b2d1fa5edf3877e5fedcbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525f715a9baecbea561b1a505e12be09e95ffec4b9e25228998cc13065985ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddff97e21f222690a63bfebcadc561b438a11283a016564b77e1ab64c2920ece",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 9.928 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2916, 1.8469, 1.5723, -1.5791, 0.6231, 1.7256, 0.0725, 0.5629, 1.6691, 1.2675, -0.4728, -0.1131, -0.1463, 0.048]\nstate[eef_state]: left_x=0.3008 left_y=-0.0136 left_z=0.1525 left_yaw=-1.485 left_pitch=-0.3377 left_roll=-0.1955 left_gripper=0.0725 right_x=0.3701 right_y=0.2613 right_z=0.1459 right_yaw=0.7353 right_pitch=-0.3057 right_roll=-0.0112 right_gripper=0.048\nstate[joint_eff]: [-0.4581, -8.6906, 7.5009, -0.188, 0.3297, -0.0952, 1.0183, -0.1709, -8.3077, 6.7897, 1.453, -0.0904, -0.0073, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2913, 1.8488, 1.5635, -1.5776, 0.6018, 1.7184, 0.0725, 0.3588, 2.1426, 2.1059, -1.2549, -0.6281, -1.214, 0.0518]\nstate[eef_state]: left_x=0.2978 left_y=-0.0114 left_z=0.1482 left_yaw=-1.4922 left_pitch=-0.3566 left_roll=-0.2143 left_gripper=0.0725 right_x=0.401 right_y=0.2651 right_z=0.1804 right_yaw=1.6118 right_pitch=-0.331 right_roll=-0.0678 right_gripper=0.0518\nstate[joint_eff]: [-0.294, -8.6222, 5.0667, -0.1245, 0.4518, -0.0464, 1.0232, -1.2513, -11.0974, 6.4889, 0.105, -0.5788, -0.0122, 1.0134]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0387, 2.0029, 1.9285, -1.5879, 0.63, 1.3338, 0.0725, 0.3462, 2.1864, 2.1582, -1.367, -0.6331, -1.3212, 0.0518]\nstate[eef_state]: left_x=0.3555 left_y=-0.1143 left_z=0.1816 left_yaw=-1.5191 left_pitch=-0.3874 left_roll=-0.2411 left_gripper=0.0725 right_x=0.3923 right_y=0.2564 right_z=0.1715 right_yaw=1.6972 right_pitch=-0.3559 right_roll=-0.0305 right_gripper=0.0518\nstate[joint_eff]: [-0.335, -9.4974, 8.2393, 0.1783, 0.6471, -0.0073, 1.0183, -0.6496, -11.9453, 7.6376, 0.4225, -0.6129, -0.1099, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b776a5219e9d0df0cce670c00e62906409abf0d2b2d1fa5edf3877e5fedcbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525f715a9baecbea561b1a505e12be09e95ffec4b9e25228998cc13065985ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddff97e21f222690a63bfebcadc561b438a11283a016564b77e1ab64c2920ece",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEbrbxl_BDvm-Pz4Kys2R8QPKLdbHibu1Hcz__ZDI7WpumiE_Nh3cKGq6BGP3QvuBcjFd0GB4pSxdN6dgG2RocYZtlR3DU4T3X65rciCteeXKX2n3BVv8SrlV5ny9U0P6b8KTYxorT4KjvmmD0i61_gZoY-MdLEY0LbE5G1ti4429Fs8mvJRT7jzKkKwPfUw8IbjK9NmOX0WNORgWq9PZVCW9R93p1x9ai-2XHGKZsoz7jKKA_wECR81yNBZxCuB3CHNP43KI1iyNZTp0uwQnV_nW3x8Mxmvn0h__KlsvsDggqp6o16hQ3zpB66PTEr4KOoY-g9tHyiw46ATyeK3tpfSvOPtxO92MsC5_h1kokEknNaauJk0ypwlprO9s_26X2pB4BfFwTJmqceMvDPsKX8vkGqeDrJjewxvePt8yaXFzSnBUbzizXeC0uEpkDD1DEffJ7GnciocHp0LW74d9QLvG77YfzPIwoEafxTv8yslr3QCV43Feu7ZAjDEPnyivfsa2Xle9x9fh5R19Ha0kqihilPrUBuuDZiUPhD5IcjjJjis6cCwyjRwkD-bvWlL6fxJFA0IB1vPBBpwDZ5a1b4UB4jrYqtZwh_wZNOh2WQakFTAj5gvesEc8fvCB_-AiHINNM-vJFsYBcnJKGPYgek3K-I6VX7coXWblGUw6heGRz3m2-ndIUAINKnlr-s8pNFtbTsGIRwvqNOWoG2yYaMibIHvMpzoSdw6e-9D5JVettozZ1MPAi0wX7ng1lntQSAig8XLCUKFbCUQ-ITVv7GZlsn15_A-LeYY6btGNAW_w8y4vj8QjIJEz4CMm-8-GCDjFE1La1pTLm6WMf4m0r5_SzRPG0IXXIXBgn5DNVpJUDncXwF4iFHKFNos0JBOBgZVl_OS1I3986NC7Q1nBzIroqPmrQXelB6hiGqnCobTntZ2JxvQh2BYtABj3AyCQvy5LXke2HcEip4_LqDA5H8IvI2OI9XsTtV1lkubZKXZcr2aYBl9gOaunSbn06mwpSlvVkWbr_1s7WNDChJZn-xqF3BFZ3AbTQoLEhC-HFeq_foBBijw5pwXEzvTb_YX0xzxYOVFXETlegiHpJhg_sH6ciCJQEPzAB3sPivHS-hclr-hCoL0OnwkQHGmusjwI8xe0qecb57f9zm08LjHAdMC_OpfJzephS0B-DRr0slDJCUBFH-9VUri3AtSODm4Owx0P2SmooBuQoxU63N3N-OvZDmBEQ58azM3jvxHWFvZjH5hi8ggEWqBRyeUjopmjxw_gzaq9p4L1aiochGW9xqtx4divoHeInN0xwSyq4sZDH1wXRfUrM8JiM4SsMGh2xh1oycmOY1Q4DiiBmDH3T0CmaYiy4R1Dfti_ILRKcCXnIpUlFEcXgbVKkDuYlkfhesrg5j4stPNa-Bh8XXcxvi0POxOjyMeDq8zdcaJuFvOT1hP62Lp0cl8FoNCSEwa_2jXbvhfiIp7IWk9JWOqN4JJ0jvKgpwiScNgOoAivWUprknMFTtaJNeTxl6iZtmHGUgQWHnzFdJ7OvniW0lejAurB7Sf2an_MGYJDjJZzIKVPZNcikGMQ4YTjUfjNihPSjO6QfLwo8GzW9xGbht920nlZCSYlpiEg9TEttkI8m7IZW4OOi9GDIODLjhvBOGkrov4z_SeojrujdF_xAKDTBikTAhHHwKPVGalmEqMJF1FakKnnjsjFfsLHVmJj7r0uhfkjEzWKlv77NwwQDvUaOjU_DiAW4OGhsMOvj0qmRr9V-JrGGEdhRnH9oMC9hrv2qQtjIP-IJU7EPxzqO3lJjgKvDvg9G0SqDdkNgKPTATbloENRqCqEQ6MnFJeCLHpdxoKY_ArDGSeq8NENHFVxsZvJgbXeyoKDdDffWWzqLLFrXlV2KjT2f5fdc27kdqSeDKXigy8wnmqRjvZVRnCH8118xz4HMMXQTG6rBha7dx3k_5GgPQalrfDd9OSdN0hEcoHdYiMkXtzb_Lh4iJ35Tw8UHCkDad3GNX_t2off2PxDiL8if7wnWH75VogHDy6vZ5oQd464mgxqTXxVyj1Nq1SEeD-HZ9yrSOw2tEP1BoCDokMBdoPiJSS8yGIdjExc1R-59sAz9arum1MIIKoXTcx_JwS5o5ONaePAr4RarzJ2Y7lr9VW2QQUILtS87ybzIXhMMI-ZPHF4uHjU2fe-WUO3A==",
  "id": "rs_0be44dae70bec4a9016ab446e78d3c87d0bb86f7b94548911a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.368,\"right_y\":0.395,\"right_z\":0.19},\"note\":\"The cap is staged inward and its exposed end points down the shared axis; the pen tip is still about 18 cm away. I’m advancing the pen to a second staging point that should leave roughly 4–5 cm between the two ends while matching their heights.\"}",
  "call_id": "call_GsywnCAAouCZev07sTKqwF8i",
  "id": "fc_0be44dae70bec4a9016ab446ea150c87d0a001ba3f02151488",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GsywnCAAouCZev07sTKqwF8i",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0418, 2.0094, 1.9041, -1.5829, 0.6044, 1.314, 0.074, 0.6334, 2.5065, 2.7728, -1.4857, -0.5461, -1.0424, 0.0531]\nstate[eef_state]: left_x=0.3522 left_y=-0.1116 left_z=0.1712 left_yaw=-1.5235 left_pitch=-0.4178 left_roll=-0.2789 left_gripper=0.074 right_x=0.37 right_y=0.39 right_z=0.1836 right_yaw=1.7283 right_pitch=-0.3708 right_roll=-0.0588 right_gripper=0.0531\nstate[joint_eff]: [-0.8137, -11.1248, 5.6137, 0.2564, 0.7985, 0.0317, 0.569, 0.2667, -12.0684, 6.1744, 1.0867, -0.359, 0.4322, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83477ed7a1d8da20cf6e8be0b35777d0be000a650476f7885800a24070312286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9e4d9587ef387dc14804e3afe0bf307dc51fce46b50b9c4db86941f09b4cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7900b4e1c968558d78d48fb7fc0d3959bcb3d1949ecd6ec2c97068d930abc03b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.43 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2913, 1.8473, 1.5692, -1.5799, 0.6094, 1.7187, 0.0725, 0.3798, 1.9404, 1.766, -0.9642, -0.5396, -0.8921, 0.0495]\nstate[eef_state]: left_x=0.2991 left_y=-0.0122 left_z=0.1505 left_yaw=-1.4879 left_pitch=-0.3505 left_roll=-0.2072 left_gripper=0.0725 right_x=0.3921 right_y=0.2581 right_z=0.1737 right_yaw=1.3603 right_pitch=-0.3321 right_roll=-0.0384 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -8.6769, 5.0803, -0.0317, 0.4274, 0.0317, 1.0183, -0.7043, -10.0444, 7.2957, 0.5592, -0.6764, -0.0073, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0387, 2.0029, 1.9285, -1.5879, 0.63, 1.3338, 0.0725, 0.3462, 2.1864, 2.1582, -1.367, -0.6331, -1.3212, 0.0518]\nstate[eef_state]: left_x=0.3555 left_y=-0.1143 left_z=0.1816 left_yaw=-1.5191 left_pitch=-0.3874 left_roll=-0.2411 left_gripper=0.0725 right_x=0.3923 right_y=0.2564 right_z=0.1715 right_yaw=1.6972 right_pitch=-0.3559 right_roll=-0.0305 right_gripper=0.0518\nstate[joint_eff]: [-0.335, -9.4974, 8.2393, 0.1783, 0.6471, -0.0073, 1.0183, -0.6496, -11.9453, 7.6376, 0.4225, -0.6129, -0.1099, 1.0183]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0418, 2.0094, 1.9041, -1.5829, 0.6044, 1.314, 0.074, 0.6334, 2.5065, 2.7728, -1.4857, -0.5461, -1.0424, 0.0531]\nstate[eef_state]: left_x=0.3522 left_y=-0.1116 left_z=0.1712 left_yaw=-1.5235 left_pitch=-0.4178 left_roll=-0.2789 left_gripper=0.074 right_x=0.37 right_y=0.39 right_z=0.1836 right_yaw=1.7283 right_pitch=-0.3708 right_roll=-0.0588 right_gripper=0.0531\nstate[joint_eff]: [-0.8137, -11.1248, 5.6137, 0.2564, 0.7985, 0.0317, 0.569, 0.2667, -12.0684, 6.1744, 1.0867, -0.359, 0.4322, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83477ed7a1d8da20cf6e8be0b35777d0be000a650476f7885800a24070312286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9e4d9587ef387dc14804e3afe0bf307dc51fce46b50b9c4db86941f09b4cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7900b4e1c968558d78d48fb7fc0d3959bcb3d1949ecd6ec2c97068d930abc03b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEb2Soj9jHoBDih9-2iNHHYJxFpjL9SBPlKo390A0rPcg1vifho3BQ29xyYSOoPWfps1AuCVtjx0TrRS_6IYeihLTGlaf2SlvOPGezcpUyXqYLv_1UWQDn1jFKvl4WnCXExi5rLLxQswvOCaKLr3gb-BLHkQyE1F9vdkp-DNZFmOOdQkJERGw3fvT3-Pf5mDgwm6gSMAZ8zP04ZwTL2S-v13Am7_nfWgRhnWAK88Oqbms3vVs_whkeQSLqt-9a9MtLw5qa9TzWG3-wUmwpsE1tBek2WqXUZB5AWzlQYpY9V-_FMdbqpvHUCvgtykoNWLng4UmHcRDVHALFAbNgPwOSAtE1YngzfKjtNwPa6sr3fo8UzzgDGdn0C2_fhBRcV4dM-ZX9Q163JXoJFH6cJth6kjnhwyiLWsXLXy1Y_OVFvkiiXCLfBJzntH82GzGyADslG8re4SOcLr9i_9bJ-jJcgtAFFR3lU1pyS60sHMu_Nb6pxodlaDGtAJuPHoqf4YiNDkzSxahhbPSs-FaUYdCfYcZtReCQYRzxDwimptdQ61xzJBHOhSiHhK7map8l1eJqbZNF3JPJu-WcPQNyXw4K-8LTgvBpE2uj1nkIn8P9YsgYYr8CToERI0LaSBWk0_mz6E6pNOZ6ctPxdvaLU4CVZd4BD_uJyvmNXKwCQIL5e70XTyN1HrgcIEgu_NudkarHRq3C_q8EpzGtsAwOwDkxQykMJP7HfzNLbu6hUdP2a1c5HLYu5kEV11sn890ZORqvWWFNGpXqKua4cMA8PM1rChH43Ztrqx3YJjXn4ente02K3VmWOUI6eXItblYVYCAiooT6zA8abmR5MIElmDuTm6-wiQQcvQuyN2DX7JyVmBLtjmAyvYgVonm5oiOzkdjlMiiC-lrqttb-BHEVI3FWwf1Qp-EvPVgOfi2TOv_6HUea0gZ4IQ1YQgabMXhwfbgRKE_na9bvG7hH_8pYDvRX3UUUpHoIWAKPTg5AW4u1dt5LSr6G4-OuxSRKrV8vx9FIYqIFMzddtRVo26JTaGgttL3nSQRI-876U_t5f2p_mp-kwDXOM2I5PkW_Wor6EekBFExI54GBNH_AzkiR8qclGv1_kOkKokmowX3rX_l_vXZTUY-HEi1_mqJAJjBbiTKl9GT6WFw_khs72ucOVzqFWKzP-gRTteS62rdYgbqEfFN8bN58DUPxHo71-fNoPNtFbVjuK528Q2X9YTdMHLh8zXygVF9eGApsbpoGMLaVdjBmS4Pdcg_InWCvwD9dZN6cqmEyzdvnCNHMBD-UGiiACroKhVFn19AUqbLWyZ8JE_IC2ZgOGUpsv44Xv8pNQ7yHj71vXbCTaqVw9BauuHOGRpV6RqpZBa3AupY4DeI8ig-RRtrJtTXNJ9KVrkG2cEHPxu9RAt6qGqjBIAYBh0Xfh2mX7LybSXsg3y7Py8HLXX3DmY2KfF3BYRxJG0hQoRc392UxaX93Rz0WY9uAdSe5cZ47rR3Zg04LW0-hsIH9DdAJd84DFQeJ-VZEujl_8BiTLrmBpB98_AigC1KjIMSo8Ykgs0uKabsJ5fkdf1QmWuQT83lCM0HanfAqO24yej8fEZt8HSZOzh0iC9wAxx6QekAe3e2xwQBRAcZy15y8g-AVpwLmy1VzsqXVEUVLQlBu83YW6K7sIgGOm1gZ2cbUfDj0COWJnSnyV4Y3asG_M2fhHQRPKC_hDZVIw6bgHOEgdb6t8R33CEVLZZWjAdWI0eLo1uP3jpCSUvVOELKR9cFTw1U8fC2pwnAOOaLUuaC-XBwqqFo7HrUWR5fVeRCFFFYJlEr-SdO4qJgaUXrRKOm_sCD81ao7-totv681B48plqOJwAVPEZUiTYI2qxx_vEdLX-cB5BLWoTJjznwJX7eoCbZbkFvnwUTGrwKaJTmSSZRWcT7efJHdnE6SzGX4pGt5UPkkXETSDeWhLIbeCA1HKN3BoA2RXJp6GczI1NEpYZInQ0a9NdWWO2jb-YSjmVmpRTlmdRRRaFNyobQUTrUA1jTyLzZen1lL-c5KjLD3Ln5OUyaJqbPYkPI9avIUUC_fur0RX1-F-zEqAw1bNPHPQSwU1CpD_kuqHLeBNlxOSTgBgSRxjW-dy6FRuD9hqkiCpWC1675STdcc0yIVrpOOhjf81FF_tnBzN1mIjmb2SPtwVm0lElFFdquR-0MVEAmYt96uqjw9i6mPw38KYi2glxNosIrHQoEhTaxFGcCEPH3vsVZS3gdW2WuvuqnuIJtbO74QhQczTAArbL1ArM2vcXgXLXgBlQt6MKgwgWDDO-67zS2-yXyWt3rqnefNrkNFOBz3EUn6qvOc864o5LMS7b4xkd8FWe_oo32mxV6eu7TEXTTcJFFDxK8DjbsVZC3zKAghtmq9HG3FMjQt18Ii2l85APzo5mZRUe1bMvhS2ZAgrke_66ey2Il4xQyzimPmJQewky9DMqUb2nqo7TFLB7RwnzEZbAJ3ntYmNEEZehDqtle31rgKDAWsssDd9vjJddASCpcKVWUkqiXwZ4hAJqj8GIdlZGcSKSIKljFbJZF54NTp4zOq7jwc1XIbCVu6KXWLVwtiRIY3RCu8AaO__4femSRj5c0QcUk5jRi6mykIZmv7RGRnX05s0FOCBTwAoz_5xJeiBYdwTexga_Wok6rP3YbJcXmXJRaGXi1AjM2Lrm5FN_GYBax0lKD-IUZpwTvrUuP5k9qYxOBGuHjfUmizNniL7EPRxOi-Kmk84YWlymSa4Sivth8VabJx3RFgA7JEFEbPX25ckPaLlVQmj1KmpCuarhik2psZLcYULpQDPzijmo_on3IoF5ueG2fIak-Nagy12mtRQMtHZHu-6Tb1gvF6nxF4YeKiPaAgjDHFGLup_cN4rymmSATiAin0bJlX8zXpYyPe5eFnXCEV4aJoNILsE5KIVArXplPbeuKpz8cmDjeyMm2q6aDPDjQ2-P6ZQfqdLaNeWnNGbmENCgJhNRzuzjUa0PZCUUDASNzk_jRFplBunNsy9pTCznWUWOqS-II6qoODgSi3S7EY4GwteY05JfDQRui-zBvOhzjod-kaw2LeCdpaZeyakyFTJOjYObxULlTEmg1rIGv0AiZaJzM6vZLSNohxJmqbUuEm-Ex8PMe0nwpLQU8mHLnKKDTdtn9L_9r0NvjV9rnphUaxnVqVPW3sC2MRoS-lCVumZ2CYnZv3PVfmDHdx8fncsaCSK9tRVTNU123UCPmMfz5pZgoFsAwjtENWV5TO8tDKHP1uYXdcqw7PliBaj3wbB3QCVEfXeSyU3YGXwcY5qCPc1AFgUFeHUiafEpeWY7-3BsO2N6yg0ZnVNyVu32WEHnJiFdoN5_WIPSvfVcKkRgsCLAWxBqq9mX38KgO2V7E59Myi7ev2X5QoG7eGqHmg6ncFCGJC-XwKrN6elhHLZiVIB2LbzzFlgV_Kq5Ov2lmbnVrJDLIjeDPdVBSTF5ibxxd_Gt6A7r6uwlxqEQec2-pSrGUPfp7MWqRyEKSf-S3TrpyeLDhN44UK2Z5whfWFel-b5LzUqz52szKfxiwmqeVAw2RUYUb9BWuPxNo50z-dzABlU31DtMs9xNbTeyhKREmHvG5GvF5bhyV4JjwkKOlBil8Wy8sD8aMSFC87ZNhDvwNv4GYwTlCVjSXxTdXmJ_Z-PYDyoQ2QTIg1ASYiVZyBSCGefR4mpdAMvfm-BsB4fnKWH456I65xogswb7tl9eguKRfo_aadKDRo_2_2gTRnQlBU5xEyqymWXpTxgPd1WI1IwF9QnO7svCWleo9b5rMIUbKdicQMf_Lxaec84D7kLMxiwOGpCa1DXXvVVJumRhtp8PVlIBnv2VTFiZmHzQQXCaMSx3obYd9KmmMVjx66srpelpcavBD0PVPv9AnZj3G0u0xXaPGlQp6kyVvuoXe9Z22X3vsV1a1mZ0R3JW78W86mCJISlCcp56descYZ1gwjvn1NNa9iqo-CiGRz_L1qixo37dJlT3C9qP1NfUrIN0vBjT0vEDeUkjjMWR4M1ksjsigd5_FhYh04sIqnDWP8YkBAgmRkBbyt7uNlCmlm7YjBbmtSgC0sgub-pK3zTxOvcaBVhWubSoiNaaCs6hL8FN21Sz29wBWg2oRQH0aqJJ7DNtk3H60XQVKUSPgNkpF4xRngMOYfevmvQ_incDQeWFj6okEuWL95N4KpdjI1kseHZbYtMaN_OxVs-wEgakdR7cbTb1w6-fT7t5MQ==",
  "id": "rs_0be44dae70bec4a9016ab446ed530487d0a337002d0a3d730b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEb23tH7l45LrijkmgRXyknPNnRTXdDJW76dGRM10zV0-BK5tNkXrYoXlv9uyFKoQnN5DZiQ1yeDo9ywJY4A27drZbnyGSX1VSiSZOz3FYa-j9y-4AWkZYDmxa9PAF9WowrEl-6FTPlal1V6SY5cpl9SNiSF43qZHe5zsez_WzDYLLyCIEUhFFLMXnUUu9lezYylzV48HgPcKAd-rPU_Wptp-h5nZJSs-PEl5GrYVIOy3NjRDKPRb4WacDP2T0PhiM16xQ4BRdgChx-g_BIh5bf2rQKo5ytIcEr_lPIQXHRyhOfHvV2rbXVVONKY8tOQ6wjah7jAbzKUjP0KfzM26UXD-oRIeV3xmAzAAwRNUwCeym-W7X6MFa3hjRk61Nj_QS34g8P8-UHan4818c_3XUkyRNglDek2RLi1PZm2IyjTcAU0TgTAqNWJxSgVHgCrNMALlbuU4LMIu1hteyaFKK16L8Kz9NS5txkAuaCqZ64ob0mgy2uZZoMFJfyf64pMkORMQB-diH_3yfKA1G7ge0VEvFasV8yNxuRYw6xtP71vUyOlsf91JxRCavwPxAdSDz38lTCUXt2og4SEzL76ebuVUmceADV75U1pSf33rfcfIXu73osNnQo_YZxRzaJx_yV-4bunV4sNP98ENNZbyHa2_gFFry7aRvCVKAQjG9rhgnI34WDcNYk0je9Go6b0hIZEq_pRpH2bLR_h9apwK6aOs9zoPxLlCZRjBbp4mh6CF2Cyph6wRLF61-1GcdWkx7ZHIOWslf7qJab2Aiw-Q-GYHUCF0_vJ-503IFcmn4w2wZAmBD8M1TV69FAptzgXX-A0iZIvUisH-XM_Ict3rNzFrbyQLaXXOCCHSiB3mMBi8O6zXAPVG2mst4nYFrbVkGfu0fha43-UWNimQQjzI5lkBfi82-ztTQHZwlWyEXo9BpLaZ5KiUIiTzT15IBMblQdRD8r6xlFLOc3ZDc06WbGypbrOJzrgnERmswkAcHikb_dzP-uUelfPbS_YyW5XbdT9vrAPp5bqPBbpiiMeMXkdFXQJhdrJwDbHe81nVgF_-RGc7GpZnicSvoc8xj24w-icz_8Sri1aAJtEpfNPyc2eOG1tcOhq-UOgA0hAHp910PpdfS7_6PfGpjHA9PSYGsDOIxhZJusESuu5xLFP44A7ueHumnAMac0zqYrmq34WcNimzB5NC95fVbgHCQAz66yw33VCl6HDZXnSBuBbVyQE2TfXhlooWjjUQTRiV-twsDVHjUQCEn-XnTi8SJEozbOrBWMC85iTkLh9jpnqpPKW1ob5t99liORg8UA9gnOCS_gGG9oXYdrTnDciyNgoSFxXwVqzETzQZqkjLV75Z_FHKdrBb6EqkILPzu0_6UDIMf27smbWIlSCi8WkXLMERutVNJDWggDmcAVosB_OgbgShgwt3s29qSPc_5XSqaGKRbwYXvK3wXDC8B3IBMoM8CalO7l95Iwpha4DxVefUytjtFvjZ5nCyYMZ5Gxw4u7BbvJvWMWLSKz7myd_s7EISvAldoy0nJjxRXVxqFWif6DFmo8ZuhXrdcIvgxxQdRoJXzzE8lmyhZccGNGYqcIHVtkj-6TjGoOy2MWOAa9CRD5moDSBWTFFx-TVVyGJezdKb4X355kflE9FL4d-AsZe6cfCvFavKXFk1m3qW_-sPRERmKNRxcPHd_I1dikt5ZOVS_rqPqjdJYzvvuNbYE1zvYWT9RMDjRH5NfiaKViVEezFPC1Jf7UOks_vhlFcCaVD7uBV0TLbQjDL92bJl6NQPQNmBrn8BfzeSTNG3u5xJ6Pqy775GvuaRS9RoVJzA99sxxs5vjJLaffwqimymCNjrGYf_hRsJli0r-knBYo7lrpX52YO-xu0Ypx3CszE9adjg6vaP0WANutReoD1-bLU_ojXcQNLwTsQFxxbA-A0GS7AWBFTgpzVL3Wv3sJCVaphE2gOrwc-B00WCpeMXMXJYSq3GPWL4gS6iyhLl4u2-fdoOaKycP4QuGZ1UYb4jw55oc3MYj4mz5L_zFSl-q6xIs8ekiAZ5kCQh8pqSRC1rFh2aqmdBi6z5eEAhNrUcCvrmgfteZfLeg4OwxDIDs8lHILMqDBHCijlhW7_q49sbXPsfHDHYc-AlPyZD1wMcGt39STzf8Mw7EZ60hBmetN_Bc5s5zZr5ptuo3gua61PCGzcJXsXJvqfqqRR8K5g25yNLw8=",
  "id": "rs_0be44dae70bec4a9016ab446f2cec087d081ae23b5b64cff62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":-0.112,\"left_z\":0.0,\"right_x\":0.37,\"right_y\":0.25,\"right_z\":0.2},\"note\":\"The close wrist views reveal that the pen tip is facing the cap’s closed pointed end, so the cap must be regrasped in reverse. I’m moving the pen safely away while lowering the cap to the table at its current location for a controlled flip.\"}",
  "call_id": "call_XkdowtkiN6oGWjYFnlefre3I",
  "id": "fc_0be44dae70bec4a9016ab446f5097c87d0baed6f8ed09faf3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XkdowtkiN6oGWjYFnlefre3I",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0399, 2.1136, 1.4021, -1.0096, 0.5903, 1.309, 0.0739, 0.3668, 2.162, 2.1658, -1.417, -0.588, -1.3258, 0.0551]\nstate[eef_state]: left_x=0.3444 left_y=-0.1086 left_z=0.0094 left_yaw=-1.535 left_pitch=-0.4352 left_roll=-0.3166 left_gripper=0.0739 right_x=0.3798 right_y=0.2547 right_z=0.1779 right_yaw=1.7161 right_pitch=-0.4032 right_roll=-0.0251 right_gripper=0.0551\nstate[joint_eff]: [-0.4308, -9.3197, 4.7248, 0.1148, 0.4274, 0.0024, 0.9597, -0.2667, -15.4188, 5.6821, 0.4713, -0.6325, -0.1099, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e124e18ba46e7c4bb23c67cce765c066e46d7fa6679422ee7b1689a0d18aa265",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153d4e0514a97dcee6204b99c919ba5aed6350588f1c8642542f66385aaaf165",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc85eef7048e916955aab1cb3727de683f643c81d0fc8c40b762dc61ea1179c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.286 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 105 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2913, 1.8488, 1.5635, -1.5776, 0.6018, 1.7184, 0.0725, 0.3588, 2.1426, 2.1059, -1.2549, -0.6281, -1.214, 0.0518]\nstate[eef_state]: left_x=0.2978 left_y=-0.0114 left_z=0.1482 left_yaw=-1.4922 left_pitch=-0.3566 left_roll=-0.2143 left_gripper=0.0725 right_x=0.401 right_y=0.2651 right_z=0.1804 right_yaw=1.6118 right_pitch=-0.331 right_roll=-0.0678 right_gripper=0.0518\nstate[joint_eff]: [-0.294, -8.6222, 5.0667, -0.1245, 0.4518, -0.0464, 1.0232, -1.2513, -11.0974, 6.4889, 0.105, -0.5788, -0.0122, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0418, 2.0094, 1.9041, -1.5829, 0.6044, 1.314, 0.074, 0.6334, 2.5065, 2.7728, -1.4857, -0.5461, -1.0424, 0.0531]\nstate[eef_state]: left_x=0.3522 left_y=-0.1116 left_z=0.1712 left_yaw=-1.5235 left_pitch=-0.4178 left_roll=-0.2789 left_gripper=0.074 right_x=0.37 right_y=0.39 right_z=0.1836 right_yaw=1.7283 right_pitch=-0.3708 right_roll=-0.0588 right_gripper=0.0531\nstate[joint_eff]: [-0.8137, -11.1248, 5.6137, 0.2564, 0.7985, 0.0317, 0.569, 0.2667, -12.0684, 6.1744, 1.0867, -0.359, 0.4322, 0.9646]",
      "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]: [-0.0399, 2.1136, 1.4021, -1.0096, 0.5903, 1.309, 0.0739, 0.3668, 2.162, 2.1658, -1.417, -0.588, -1.3258, 0.0551]\nstate[eef_state]: left_x=0.3444 left_y=-0.1086 left_z=0.0094 left_yaw=-1.535 left_pitch=-0.4352 left_roll=-0.3166 left_gripper=0.0739 right_x=0.3798 right_y=0.2547 right_z=0.1779 right_yaw=1.7161 right_pitch=-0.4032 right_roll=-0.0251 right_gripper=0.0551\nstate[joint_eff]: [-0.4308, -9.3197, 4.7248, 0.1148, 0.4274, 0.0024, 0.9597, -0.2667, -15.4188, 5.6821, 0.4713, -0.6325, -0.1099, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e124e18ba46e7c4bb23c67cce765c066e46d7fa6679422ee7b1689a0d18aa265",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153d4e0514a97dcee6204b99c919ba5aed6350588f1c8642542f66385aaaf165",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc85eef7048e916955aab1cb3727de683f643c81d0fc8c40b762dc61ea1179c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEb5-LvwCjTLRKdB71J1oKZ3po9QYl2_K1eo5kx8UOawfWuBdexD57sETdCD1CDHtXAD3fMQkTfZU5r1QA_JhrsA8mg17EtGOZALlw7Wo32MjPmfnkbaQ5UdHk08xlETi7tYb0_lnQGLVBCdQc01V5i47XKftReOBRUa7-1r5eMDEl9_H7dldc0pVXlr_VzubYjDlS8Skx-A7_fFQx8pwptOp_4scDCZqz8e-CcggOT1_CHTU2HqA1h2vtEIQJ0iHBhxtTCeXJUklrazKcC5LdSQDVaitC1sR-Izr2Er28gxNi4f0HewzqPcLug9mslIFCNsgIj9uOqC67dK8wcdOznfRo2S4Xnw7p1WYt3tYe3HMCv0LpNzJEYkNx4SgDjfIza49FYfvpMx2o6CC8F9HkUOi-jzGo8U7v1PDcZqNDhy3zciB7RPVKBEJH9EYc-ePgvXgZgelexciWKGknIGt5U2aedFavY8lj44wLnTTz686-QA6PTjOKxT77IOEI8Ogbs1BvfgM17_PIwQ9M_Uh5y8VBhKgz572aZnexjtVmMly4iEptwnYPeXJ33LoV1eWqrtqOnGVMWjU3E6J3xCBHm4DYPB5ePM3Fuj_a5vrSazqI8fHge60ve9weRn6_l2X4akrO5QMqKpkcTqXJbmn8E_HmifD8cTexAqkEdkmjA5saRRxaULGATjJ3E6aJLlM6cGDoQ3ucmi2SdSOptybp8UCD-4M3cz_j8A-yAVuQO5wiire1Rae1ImxKX7cBUAEC3OWoAeQahMVhsudmguSvgca52eFm0TbxpqcoG_DLzx7URLUGbr7zAGiUHgWf4VbRNIzKXlYhj_lpC_7k9fVcX_lc0ZRwEkJjQJfUfy5XZLPdEi-ErkV4Cjxbvg_jtggp1gQR8eFLfwO9bRuAiPAqJw9-W9ORkJ4N3wIP64cO6LAdhNGGtI82hw87-uvZEfqokltPiBtWwh4brY35rSTQg4BxReRwZyz85jDSj7etz0u_uk3fM_otoXTeSyRsegJNRV2F0CC_kKd_NXVIWi6lI1o-dcxXGFaC9Eb9p_phBTzMjoIPisqkVsiw1UylR4XujA7A1bka7tPPDNPK4fmUQ2MYyFNHhShWv9-zAJw9PawG-oefAaCB2uGXLmAE_KE3cpByzojMkQhv--qg5DSHBL3SPldG996yI_SaWKXZAstbQ=",
  "id": "rs_0be44dae70bec4a9016ab446f8a5ac87d0aa2b85531fcc7617",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The cap is resting on the tabletop while the pen is parked clear and still firmly held. I’m opening the left gripper to release the cap without disturbing its known orientation.\"}",
  "call_id": "call_MEnPjjvojpgFqYd5nQ47Acy7",
  "id": "fc_0be44dae70bec4a9016ab446f8bb6487d0b17ec9f5bf6ea64f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MEnPjjvojpgFqYd5nQ47Acy7",
  "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]: [-0.0399, 2.1162, 1.3987, -1.0393, 0.6334, 1.309, 0.9947, 0.3622, 2.1571, 2.1574, -1.422, -0.58, -1.3357, 0.0584]\nstate[eef_state]: left_x=0.3371 left_y=-0.1145 left_z=0.0132 left_yaw=-1.5449 left_pitch=-0.3953 left_roll=-0.359 left_gripper=0.9947 right_x=0.3789 right_y=0.251 right_z=0.1768 right_yaw=1.7188 right_pitch=-0.4128 right_roll=-0.0241 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -10.3863, 5.5863, 0.2027, -0.105, 0.0024, -0.0611, -0.0205, -11.2068, 6.3932, 0.5592, -0.4811, 0.0806, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b077c78f7772b9d39483444887267b6a5aef49851a94daddc250b0ab48ad27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bce87978aec51078ca94e694c5690a68b1976ebc8ddf35f9b10654e25773dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7016b9fd2a35b9613d3919ea641bf70c04b6f42a337ab8c411abb059e855861e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.585 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0387, 2.0029, 1.9285, -1.5879, 0.63, 1.3338, 0.0725, 0.3462, 2.1864, 2.1582, -1.367, -0.6331, -1.3212, 0.0518]\nstate[eef_state]: left_x=0.3555 left_y=-0.1143 left_z=0.1816 left_yaw=-1.5191 left_pitch=-0.3874 left_roll=-0.2411 left_gripper=0.0725 right_x=0.3923 right_y=0.2564 right_z=0.1715 right_yaw=1.6972 right_pitch=-0.3559 right_roll=-0.0305 right_gripper=0.0518\nstate[joint_eff]: [-0.335, -9.4974, 8.2393, 0.1783, 0.6471, -0.0073, 1.0183, -0.6496, -11.9453, 7.6376, 0.4225, -0.6129, -0.1099, 1.0183]",
      "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]: [-0.0399, 2.1136, 1.4021, -1.0096, 0.5903, 1.309, 0.0739, 0.3668, 2.162, 2.1658, -1.417, -0.588, -1.3258, 0.0551]\nstate[eef_state]: left_x=0.3444 left_y=-0.1086 left_z=0.0094 left_yaw=-1.535 left_pitch=-0.4352 left_roll=-0.3166 left_gripper=0.0739 right_x=0.3798 right_y=0.2547 right_z=0.1779 right_yaw=1.7161 right_pitch=-0.4032 right_roll=-0.0251 right_gripper=0.0551\nstate[joint_eff]: [-0.4308, -9.3197, 4.7248, 0.1148, 0.4274, 0.0024, 0.9597, -0.2667, -15.4188, 5.6821, 0.4713, -0.6325, -0.1099, 0.9499]",
      "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]: [-0.0399, 2.1162, 1.3987, -1.0393, 0.6334, 1.309, 0.9947, 0.3622, 2.1571, 2.1574, -1.422, -0.58, -1.3357, 0.0584]\nstate[eef_state]: left_x=0.3371 left_y=-0.1145 left_z=0.0132 left_yaw=-1.5449 left_pitch=-0.3953 left_roll=-0.359 left_gripper=0.9947 right_x=0.3789 right_y=0.251 right_z=0.1768 right_yaw=1.7188 right_pitch=-0.4128 right_roll=-0.0241 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -10.3863, 5.5863, 0.2027, -0.105, 0.0024, -0.0611, -0.0205, -11.2068, 6.3932, 0.5592, -0.4811, 0.0806, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b077c78f7772b9d39483444887267b6a5aef49851a94daddc250b0ab48ad27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bce87978aec51078ca94e694c5690a68b1976ebc8ddf35f9b10654e25773dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7016b9fd2a35b9613d3919ea641bf70c04b6f42a337ab8c411abb059e855861e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEb_GUb_HZ4CXxr46ZrC0k78_2ZAMYsabx0dV1ddB6qusZPGjzNZO3zlEuBbSvTkwFwW391yrjRABe1LEI14n-jmWzFzG-xfJoi6mtGCLTdQ3rLrl13CYjWNjA1_ToDrDfzaF1XTejD9PXumCR-ux5xu4saX7PZcJeF4Q04jgLWovFY8_jlbyHBCvY5u2oLDR9wOcMRhz6A7lnbdHZxq0dW9ZA6qeZJV8nJ8hW1nzNCAr6OLvX0KhtAikF2Kb-KWvr6WlSQM_jrAtnKuleVtdMMtYxSbvTtIDyLkggzGS4UuI-OSffFzxt8Bta5FIFgZ4F-k7XyqAD7zawrL5-06Zz3kWJc_4X_LSawTeMVFOLmZp4SdHIjOmvEQhrw8SQrm_pSMzrcVSr_Q6uFWAF6OqxIqerdFTyylOxUyKQSKQ4XuSnpUHfCrrvonLE8k4JhPLsy9pbvqxQQRI6XVMbyCN6ipppGBpLJnVHSHKOaaMUiFoJ5Vu7T9sBk3YsnU0kUrmnz8ntWW2UqLUTajNIbA7ZmpqmU2JehgihsfmxZioPcDxgSLl_00aChX96JtuRBM9-bIxA724B_bMnHYe54gBUb5xCbo2XmK7yayxiPsYMFGTbBWK35wLYw21g5nCbbwdQmBYHe8S2VQbTsUpbwArZDAkuj1Bw76LXlkliz9OCVByKjNEt2s3CwSszLW_aIl-6b2PAuWgWEMDKmFTkqdXixCEIWKUchFdX0MJP9wBhGU1bix6AMJBxHEgWr33nnv5ZMKoVer_lqRYS4sObDfssFy4e0qBR4jQyfabwJlPDm5dbWTt2NHa88T_X8JP5lx3FWTWPwe0CY-GRddJOpBRSqfK9v1PSZuwgYajvRSXEncsvEuEOkWGMXhbTUojjwSXsdNHoa-rMQq0Az8oz6Ja5-al9pohmVfAa1T9RBkGmERQzdh6MMUJbJ-dz4RfcSKUHyUsOLymvJzLcIrGpVA3H939b1CkavvgIkkvq-q3FRTnvDcLuEHiuv4l7nkhE4BBHBcIQYoUG6cmwLi8xatsh16AW8fbISVog1zc7GRu93T8zk1e7S5tvHSi3RSE2hEcvkTyInQCrYoV-DCVBVL3kJHHQd5JOphGsRY1DXlVcqzjgPjlqChxTj4x7YFAu2uUMTcFkyaJJwtPQp0KypOCpY3Kx0IUNTUoZauHAl90xAzRjzblkgFDsw_jVumE7LQT2cp4V_NPnCOsiBlFj3J2Qw2bYPjfzTltxbj9LxMVL4KPdXGNXgB2IQ5UUjCVgfhcmaxK2sNnjyqZTg8rEyDbDDQNV75fTmauTLdExh1eUPA09jji6EZoK4v_fuG1yOd08VNbNXpIOhWtnrbIk8x0VhAIjZcJNwVR0ciSu9UAH4oM5No3T9lx1obNvNj5xEgvV1kXt4-esRiaiXb2QZbvFi0bLGbbokNhWtSEDF2Qm4ayVygnol8cLoEvT3Zidtvb9vnrjDmHeUgg6f7949LMpzIoiOnMqjHPLH9M2QEWm8dF185Ooit5TLbAiK1ULwIZUK7sqSH1yiHMZwahoyHZAuQ3BqXi3-JsY-RBLAM9WI90zTEKzr-FCQlyQInwfpJ5GYEEEL1h7kXyOVchVWvLEiO6qDnXLnvXLEBUdm9BRmqC-qndF_42KFBlu2zcTRKeN4ztniLKv1rGxS0diZLFf-97gMAOyTEUNf6YvVhofrqebtu6CZuJ4OHobXytOCrm58mrnmFMMzcwkY8Eyv9V4-Rxh9iAIeKhxDtBn7qekddJU9lxFc234y63GwfoFNHU0Fqy1ZkuPRauLN867k5jxcKJydtcyD3fbq_D7b59tgOgiq0FK-7DIx23tc3jYuEMxo6NtKlBmeaRdIGCDnNzrYORqco7UzobdS-R2PDAKrHuiJIU2H-UdNw0z0opRmAjL6UKmskhY0u7syyAD71HWRBLgTNTimSelDQwoPQ0bEfF6bCUaneo6sUY6nYUSmh5D4p088fFr0RjMabglIzWARZHcRxaiLwXpChMCqcxeTG6tXrWtsS51_mXQhIpYtKzwvlsY_cCNEFgWDhUpd3jB-n7FbTrBUz9oKadIw_UP-nAiMrZyxy5SiMK9nuSVKB2YGx5N-emu5XSrn901RbFhCp55eOm4NcYujoPO_OUzTYXOQ5gxbgK8detRbC_RgUn5xEfRrb1KGTclahAzhiDSTKBiLudoS1MhwpUry-hXM958dUu5ygdXDKBXpXjLk2Tw6IUKh3d0k3gtvs2VKfWUWE-9ZvI7CDOLQ9-HywHoEm-yr4TFXQJIgarGKAnPjIcDUdOuSirFmu3c7Al5Ikwafbb4iO1Eo1HxIT3nrgzVBMs0pweYC9j1r6UMmcKfIcMKH9jjAhYxaIPreGzd0kIJotS7jnSz-PoWjYqlU1yiw8DQuX5eQXBU7qV3FqbqkBN6t7_gokDEmsIAFGieWydwjEl5eBWphN4-stiZuoJRKZ7KEzMsXgx0f7aKC--gs8O2dio3eEZMID0EweRKOLFBYgJDQ4hlUfnAPN6hLF4RTuOEbaoAHR8OE3_O8UPmpXNdpAFVJlBWdEjGeWZVsLgkaSrv22j2l8ayW0tmTB8KX_HRJYOPCDIG_LGbxDZdhbV5C_KRrtT6aLIlCr0JCsqIKEgw==",
  "id": "rs_0be44dae70bec4a9016ab446fc0ecc87d0adc8d5c74bef4710",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The released cap is visible lengthwise: its pointed closed end is farther forward and its wider opening is nearer the current fingertips. I’m lifting the open left gripper before rotating and relocating it over the pointed end for the reversed grasp.\"}",
  "call_id": "call_LwUt634FECprHNWZuvBolVdX",
  "id": "fc_0be44dae70bec4a9016ab446feeb7487d0a869386b0415add5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LwUt634FECprHNWZuvBolVdX",
  "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]: [-0.0399, 2.0304, 1.7309, -1.4834, 0.617, 1.3056, 0.9962, 0.3614, 2.1571, 2.1574, -1.4216, -0.577, -1.3365, 0.0596]\nstate[eef_state]: left_x=0.3394 left_y=-0.1122 left_z=0.1245 left_yaw=-1.5569 left_pitch=-0.4136 left_roll=-0.3882 left_gripper=0.9962 right_x=0.3794 right_y=0.2503 right_z=0.1765 right_yaw=1.7176 right_pitch=-0.4157 right_roll=-0.0257 right_gripper=0.0596\nstate[joint_eff]: [-0.0342, -12.5333, 7.5692, -0.149, 0.4518, -0.0171, 0.1392, 0.0342, -11.4256, 5.8872, 0.5446, -0.4176, -0.0366, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0f5829cdfecc2b47f07b35e597aadcf6e937e116e4960f6916f13bdf44566d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac3c42e7f59c1cb86b1668f79668011f679e8e9efb5be65fbf0972cb7c1a938",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c4abe545311451b782a83046f5fb02a3348b166b8c39a83c49199450b0e582c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.969 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0418, 2.0094, 1.9041, -1.5829, 0.6044, 1.314, 0.074, 0.6334, 2.5065, 2.7728, -1.4857, -0.5461, -1.0424, 0.0531]\nstate[eef_state]: left_x=0.3522 left_y=-0.1116 left_z=0.1712 left_yaw=-1.5235 left_pitch=-0.4178 left_roll=-0.2789 left_gripper=0.074 right_x=0.37 right_y=0.39 right_z=0.1836 right_yaw=1.7283 right_pitch=-0.3708 right_roll=-0.0588 right_gripper=0.0531\nstate[joint_eff]: [-0.8137, -11.1248, 5.6137, 0.2564, 0.7985, 0.0317, 0.569, 0.2667, -12.0684, 6.1744, 1.0867, -0.359, 0.4322, 0.9646]",
      "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]: [-0.0399, 2.1162, 1.3987, -1.0393, 0.6334, 1.309, 0.9947, 0.3622, 2.1571, 2.1574, -1.422, -0.58, -1.3357, 0.0584]\nstate[eef_state]: left_x=0.3371 left_y=-0.1145 left_z=0.0132 left_yaw=-1.5449 left_pitch=-0.3953 left_roll=-0.359 left_gripper=0.9947 right_x=0.3789 right_y=0.251 right_z=0.1768 right_yaw=1.7188 right_pitch=-0.4128 right_roll=-0.0241 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -10.3863, 5.5863, 0.2027, -0.105, 0.0024, -0.0611, -0.0205, -11.2068, 6.3932, 0.5592, -0.4811, 0.0806, 0.696]",
      "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]: [-0.0399, 2.0304, 1.7309, -1.4834, 0.617, 1.3056, 0.9962, 0.3614, 2.1571, 2.1574, -1.4216, -0.577, -1.3365, 0.0596]\nstate[eef_state]: left_x=0.3394 left_y=-0.1122 left_z=0.1245 left_yaw=-1.5569 left_pitch=-0.4136 left_roll=-0.3882 left_gripper=0.9962 right_x=0.3794 right_y=0.2503 right_z=0.1765 right_yaw=1.7176 right_pitch=-0.4157 right_roll=-0.0257 right_gripper=0.0596\nstate[joint_eff]: [-0.0342, -12.5333, 7.5692, -0.149, 0.4518, -0.0171, 0.1392, 0.0342, -11.4256, 5.8872, 0.5446, -0.4176, -0.0366, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0f5829cdfecc2b47f07b35e597aadcf6e937e116e4960f6916f13bdf44566d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac3c42e7f59c1cb86b1668f79668011f679e8e9efb5be65fbf0972cb7c1a938",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c4abe545311451b782a83046f5fb02a3348b166b8c39a83c49199450b0e582c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcGTXq_Nt0kUkuWOG5Uz5wWt4gIzfNr5IdJ0i-2skVyPaKTWLBXh09_2x-VVQ3K2ce__Vv1OewpWtqzYxo1ULPHFBtOh3M3606PF1m1sSB5WSKSRKT2Lkt7lpGvBTJc08MlcKOin-TdUf1xwgf26983r7wWuiaddC9KSUs0Sj-vUmhgPmZ1JlwgouO3IiBcMICkhx9ogcFw5MWOt0-s-wENzvJVWkw6aFYHB0pnrGtrVUp1mYnGbNgiQEM5B3xFLCuLAaFR3oIRXQ3uyeB-RhQy2hLIdOORtXwggVVnOeOlOMtRazgY-ML2EOazcX0VDdoOjYpbmESVBQI9gIZvUpXx7mMXlUK3ZaSyndKpFi1e9x6miMWFjNFc2jvbw6tgwzvyq2FwJnK1oi7Gvy4mTR-TXBXEvvmR50RpArj32E0DUve2POb06QIKeAAmCnGQQP1HB7SBIVzKoM2OBUlmMsf_15NlWz8ir-904w0oVCCVrc1H9_s-q-7yBhZRdvdhOqEcDDnnba4cidnT9Xjw0TxipornyoLzpXakBtygP5JRYChluXXIaB0dBUtM-n8kGOQe_ITp1cHgodZYh6Gt81nhNCRzrTsyD8yqrawma2udIj_iZ2cq9lkdYdlWD5ZElHw8bBKcplWUxoasVnCF34YAD23S02-Q-crn4MFnMD7AHSszHgF9-_6YJOxXbh5KFwxqYZBZzCJXzCK9qD0WVEx7NQnz5SxryTnCZqq2-nhCc6YCunMjdjPllOqjaQT0Wkq2IzLQwEiluliwWuYKRfbR7oO3Skj4O8Amw4r3bgTq0XWWc7TRK6BuQHCNJCJ3qwq2omp4269vsyu91M_1c8fCzUX2A8xkD4qIx1IaTrMUND30a-TCQi2z4rw1mx5DYljSh2wlzRkFKSWsCfmeijFmbT7CRq3Ef5RAZCn767E_yh6T7JePyHy31jf69fXgf3a0r1p_RMMDLXFiPPRY_rswq6drmuS0FZp2YK34QhO6WYnNnsFpEQIE0OdiKAkYQyDh8okAGedLfciIPDa1FHm_JC9XgveM-WMYNX7F-IvDh1Qp-O89sWIbQ-KXgjYEjvzXVDbrCvhM8CbK83D7b-iPqEyEBzjqlP5y_bTPA8Ub4K_WL-dHv7TDwkkNXoWZkjwusogcBYAHve6F5nxjbupl8nNr39zwD1VJW_KivTjUuh_NaAGa98t9z8BRScmhIqjZhlZL4Hkm8OxFSaep7-lEUaY3GSJQZnRab4BNHx7-i4uqyjnS01m1aq9rtBYlhLNO3zYa5RQma4Qp4CJo5mWpMIEMhMiooDXUNywj1sOPNFV_IfjswP6crXhcbLl592twnkO7wITQvxDxwIdJLu_x_ljpUgPu0RD9mAeEb-qnoh3HckzgN9kVp3chyI8cc6bOhOcz9_pmcEboV32I9ZhatQLRMcVbSZ9tQxZdHeVLHMcrMls81tdM4PlZ75XKtr8bC0_J-Rp5_E3XMbM-z6ybDSfu3kmCul8GJDjYrRCmYv2mQ-uTJrUDKYkj_cP6oV3Qg1Y9hlHbKl8RrnRMyNgrYsa7cVTBkhmamOInLuaBqj88CE1qQcWxUhfnpFNAEWpcYS1KdVzqSH_Vm5sMVr7kF_Dre1_75K6eOgmcgkoRw6G27bSrYcaqTkprEmeVFGxQCsPxYvA6a2-JienFA4QR0bYbOH3aw6PnLQBNa6UOfYXJEvl0Qnv09cuYB9KLtZJfF2nBA4ypQXHczNO2bMtghzHElWNr-TAaczHqnx1T7toGGhXDLUFv_SuzTxALbNOQNX2Uw9mNanx9E97xez8tr-ItSXvphXO5WDy03qu94MqC7tt0YJH385e_1JrETcbTrSapKtgY6W_kqxb-_Q1JHGD6Qqn6KwDR13Nm_0zb9zUGx06e9AnoDhUyFXjA_HvGvsBoYTEqTzOFnyXzr5EaDj1-c-G0fQmsAoVpvSQBJL65W3ucJATzGZnG43ZX0eQie4H2grmH3npqyaFFJP5JdDPpwD6qIrc3c0OXWocVIy_RorY2_q9cTYUzhE_kIag1Gk1Jvcx6xKclATqfqMiWwT0XSUYtaCY-Ohi2PamyhxZPpLLQP3o51VpEANUOaKzRMhrdHehct7_YsG7Uiw5Fqs1LDyqGgBdE5_oPSCXy0tgLMC12gAIAMBvvp_dvmdZztgR86rBiJkL6VkFIOeCe7Nsxgaq7_swS6Z3prjoU_D4OkkmEE0L6FfSbBRpPJKwbBkShtnQPHJpH_zGpf2v5_SSOinyUL6aXqtY-h7rO4PnI2Gd_Oph5gyUKl7zn7USgOnRvdB-bpMEYp3eJkv50oM_DjGpuRDLvOND6pO0SwC5yhf_y0UwfioxPU1PHyGxPnx3a5diEC8tHRzBjIinapC2U7tvnusdXihItokT9v99z1dnYkm9ZdEzIxHjBKs8zQqOUFBKRnZhHKYLTIjDvebCosdXJifJub-1cSl5RVirbhjFblCfiYWa0WT21Rca2j6Nau1W-5QWX_d2Mf5IOBkkun8yPyuwF2U-sq_6KV9RGtt1bpWOCndIzwSHZ3yuwcfoU8AsEtQFbfqsXVxQNJC4RTiBgaWycHo7jAuqXpQM=",
  "id": "rs_0be44dae70bec4a9016ab44701e0ac87d08e51e41b32ec0c9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.137,\"left_z\":0.12,\"left_yaw\":1.6},\"note\":\"From the known release pose, the cap’s closed end is about 2.5 cm along its former forward axis, at approximately x=0.34, y=−0.137. I’m positioning above that end and rotating the gripper 180° so the cap opening will project forward after the grasp.\"}",
  "call_id": "call_TMaq1hNUjJNgjbR2LG9FYeGw",
  "id": "fc_0be44dae70bec4a9016ab447054b8887d0a88e232d9da27ea1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TMaq1hNUjJNgjbR2LG9FYeGw",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.345, 1.8938, 1.507, -1.0897, -0.6022, -2.0514, 0.9964, 0.3614, 2.1574, 2.1517, -1.4235, -0.5724, -1.3369, 0.062]\nstate[eef_state]: left_x=0.3865 left_y=-0.0288 left_z=0.111 left_yaw=1.4516 left_pitch=-0.4555 left_roll=-0.3883 left_gripper=0.9964 right_x=0.3785 right_y=0.2492 right_z=0.1742 right_yaw=1.7202 right_pitch=-0.4218 right_roll=-0.0184 right_gripper=0.062\nstate[joint_eff]: [-1.7026, -9.6479, 7.8701, 0.0513, -0.5348, -0.1441, 0.0073, -0.0205, -11.2752, 6.188, 0.5543, -0.4078, -0.0269, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17c96b3725257066872e401ff7269fa87f2096a0c337d3d2abbc53ff786d277",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81de9da2702195278a681ac9a7712d62628acd5600dc77909c50063d2cc51a4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191ce82e22618a73402d8a23f8e96c8566a2e35560562796e891bffc9c174000",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 10.77 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]: [-0.0399, 2.1136, 1.4021, -1.0096, 0.5903, 1.309, 0.0739, 0.3668, 2.162, 2.1658, -1.417, -0.588, -1.3258, 0.0551]\nstate[eef_state]: left_x=0.3444 left_y=-0.1086 left_z=0.0094 left_yaw=-1.535 left_pitch=-0.4352 left_roll=-0.3166 left_gripper=0.0739 right_x=0.3798 right_y=0.2547 right_z=0.1779 right_yaw=1.7161 right_pitch=-0.4032 right_roll=-0.0251 right_gripper=0.0551\nstate[joint_eff]: [-0.4308, -9.3197, 4.7248, 0.1148, 0.4274, 0.0024, 0.9597, -0.2667, -15.4188, 5.6821, 0.4713, -0.6325, -0.1099, 0.9499]",
      "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]: [-0.0399, 2.0304, 1.7309, -1.4834, 0.617, 1.3056, 0.9962, 0.3614, 2.1571, 2.1574, -1.4216, -0.577, -1.3365, 0.0596]\nstate[eef_state]: left_x=0.3394 left_y=-0.1122 left_z=0.1245 left_yaw=-1.5569 left_pitch=-0.4136 left_roll=-0.3882 left_gripper=0.9962 right_x=0.3794 right_y=0.2503 right_z=0.1765 right_yaw=1.7176 right_pitch=-0.4157 right_roll=-0.0257 right_gripper=0.0596\nstate[joint_eff]: [-0.0342, -12.5333, 7.5692, -0.149, 0.4518, -0.0171, 0.1392, 0.0342, -11.4256, 5.8872, 0.5446, -0.4176, -0.0366, 0.7399]",
      "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]: [-0.345, 1.8938, 1.507, -1.0897, -0.6022, -2.0514, 0.9964, 0.3614, 2.1574, 2.1517, -1.4235, -0.5724, -1.3369, 0.062]\nstate[eef_state]: left_x=0.3865 left_y=-0.0288 left_z=0.111 left_yaw=1.4516 left_pitch=-0.4555 left_roll=-0.3883 left_gripper=0.9964 right_x=0.3785 right_y=0.2492 right_z=0.1742 right_yaw=1.7202 right_pitch=-0.4218 right_roll=-0.0184 right_gripper=0.062\nstate[joint_eff]: [-1.7026, -9.6479, 7.8701, 0.0513, -0.5348, -0.1441, 0.0073, -0.0205, -11.2752, 6.188, 0.5543, -0.4078, -0.0269, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17c96b3725257066872e401ff7269fa87f2096a0c337d3d2abbc53ff786d277",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81de9da2702195278a681ac9a7712d62628acd5600dc77909c50063d2cc51a4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191ce82e22618a73402d8a23f8e96c8566a2e35560562796e891bffc9c174000",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcM1w21sI5cF-G6ffvFyL4fLsO4rIeYIeQMbIX7WPwFLskpGkUFtiRNAVuwRQi_lG2ZXPqhq-Efnre_tZZX0DSLHjcySB59SSzwnz3NiOtWkTsqusj0kArVXqBFUU65ZsUNtUSpXFmwp7OmjhFZ_BPv0ILrJLeczBOOhEHJQa-rfRaQKpKVj2eYwpSnCtm3blLaZPRZswoU43L64gFK1VjKqG9dV-tau9RQsVZzxLtxvOySl1Fl8r-iD06te9eVuUPIWqseVMkRJKtsE5Y0FsGQuuC4ovgeWzKofGKRRf-MUsUUhMjaWHxXWqqqGjZCRmtXHGRalblH8AMzH3-y_4O4uOPrSAuOAmttSuhan2SgQirIZ63yzawN5mV5eK_4EfjK5LYdNvuKv_OIKyCwAZQGEFLfLo3eREwNLWkNc4awSRLSZsYH3eVV7Gyh82B2NULpIT6TBj_eKgXqzdVJJDRpvWrOZVHzqbi__c6VZ4hOfBhmfqlENV2dMEDGarC67sLuOP_BoNBtsLNAJk2XyK2wx8zPZ6RNGeqhWWytDPmF6DmtUBgShioLePyrYVCr36p5owS0IyoEBNXSqjDsjMuil4cQn3CLba4OMF4hw2IZCXfqsxbKVVyfHaUSttZ1AIMtM0VxNSNPYFkBXFqSn_0edHVblrB0lsZfsw8mdVnksiFQXsKnndwaG-4uYPUP9zrRsLI9yZbbrE2HggTf16VpQRs0Y6Mx75nBelkgdV-Gi28MC-g83zM5Tz-H-qIg61EpdL_-baamH3I3IEmVNdaBGWdBolw9bOGlEDiP2hX8CMhhrdmrcmZrfkVuwquN63aIp5HLzgIyRa9k5kQ8jNja6eqLb51_Zl_Zw1C0LpMDeSPlmOKX6kL1pE0pCoxJ_sz-TT1r1m9qC2-lmKXeEfG263ODPq-In_fcVN2x7BFKolz82c60I8_V5cSFnBywhy-MPWqLum0t_zJg_JVHtsf-B9qOVWbZHUTjWktg5xSdKWypk58U-X67CHT2joqN1L_cfAUZW7A68Nrb40L-EYbrHjbLkWCMvWEd8trEmnCXbWKb5obhi3Ya-UVAL9pkGVzyuFMG3dhB1p3fLx7uw15n5egcEdU4zpN_mQz1vFVw_tS3dcPZKnPl-LKrPPR0rqyZcQK5RY7TzeIDI_i0VieN77xkswqmX1cuCgT1pe8NYw28hwztausllUXEIy-TebnYXtekcPaq1hnKF6fcGdv98vPB-tQrn2lu6Uzb3YKnB52IFP4NbqsUXpYpC1FwRistaqo2zX95WaRdanfoAT2vBGii4qhtmGnhYD3H42pjPPJux4wzyfLkNyn_tO3S8tug9jQEHpWgbINh1vP88sGp5qYnngkL6ReYmAgA6ZqG95MAGpd9fLzVmVqv3lHA0EHQV6dtXOMqA5JmZabZHNjbZZfma1kprVkPoprfa2viDfVdBqd4c_YCFbdLKxa6OOTs9gjYCOK43TVbesQ2QGvaA-9MOspt1rh-9b2poB7xYws=",
  "id": "rs_0be44dae70bec4a9016ab44709828c87d0a571e6cab3b4d01a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.137,\"left_z\":0.1,\"left_yaw\":1.55},\"note\":\"The 180° rotation completed, but the arm translated substantially during the reconfiguration and is not yet over the cap. With the new wrist configuration established, I’m returning directly above the cap’s closed end at a lower pre-grasp height.\"}",
  "call_id": "call_3GPJ8fhbZpq3yEiCbVqyD9Un",
  "id": "fc_0be44dae70bec4a9016ab4470a289087d08a806aaf95de1af8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3GPJ8fhbZpq3yEiCbVqyD9Un",
  "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]: [-0.3931, 1.9461, 1.5551, -1.1263, -0.5915, -2.0872, 0.9964, 0.3614, 2.1574, 2.1509, -1.4223, -0.572, -1.3369, 0.0645]\nstate[eef_state]: left_x=0.3879 left_y=-0.0503 left_z=0.1035 left_yaw=1.4438 left_pitch=-0.4629 left_roll=-0.3624 left_gripper=0.9964 right_x=0.3786 right_y=0.2492 right_z=0.174 right_yaw=1.72 right_pitch=-0.4221 right_roll=-0.0189 right_gripper=0.0645\nstate[joint_eff]: [-0.4718, -9.853, 7.5829, 0.3101, -0.4127, -0.105, -0.0122, -0.335, -11.5487, 5.8051, 0.4908, -0.359, -0.0122, 0.6422]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c87664f7c50062c4e7c9864189bfa4a324dc4fe84304846f90291ad3ed9ffb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8baf7bc605faee6163ece009ff6e9d2982cc10b3de6084e536f8baf2e77c010d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae775b58b9c6987ff1634ce44864ad340d175e990573765fd7610c75b37e7275",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 5.591 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]: [-0.0399, 2.1162, 1.3987, -1.0393, 0.6334, 1.309, 0.9947, 0.3622, 2.1571, 2.1574, -1.422, -0.58, -1.3357, 0.0584]\nstate[eef_state]: left_x=0.3371 left_y=-0.1145 left_z=0.0132 left_yaw=-1.5449 left_pitch=-0.3953 left_roll=-0.359 left_gripper=0.9947 right_x=0.3789 right_y=0.251 right_z=0.1768 right_yaw=1.7188 right_pitch=-0.4128 right_roll=-0.0241 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -10.3863, 5.5863, 0.2027, -0.105, 0.0024, -0.0611, -0.0205, -11.2068, 6.3932, 0.5592, -0.4811, 0.0806, 0.696]",
      "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]: [-0.345, 1.8938, 1.507, -1.0897, -0.6022, -2.0514, 0.9964, 0.3614, 2.1574, 2.1517, -1.4235, -0.5724, -1.3369, 0.062]\nstate[eef_state]: left_x=0.3865 left_y=-0.0288 left_z=0.111 left_yaw=1.4516 left_pitch=-0.4555 left_roll=-0.3883 left_gripper=0.9964 right_x=0.3785 right_y=0.2492 right_z=0.1742 right_yaw=1.7202 right_pitch=-0.4218 right_roll=-0.0184 right_gripper=0.062\nstate[joint_eff]: [-1.7026, -9.6479, 7.8701, 0.0513, -0.5348, -0.1441, 0.0073, -0.0205, -11.2752, 6.188, 0.5543, -0.4078, -0.0269, 0.6129]",
      "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]: [-0.3931, 1.9461, 1.5551, -1.1263, -0.5915, -2.0872, 0.9964, 0.3614, 2.1574, 2.1509, -1.4223, -0.572, -1.3369, 0.0645]\nstate[eef_state]: left_x=0.3879 left_y=-0.0503 left_z=0.1035 left_yaw=1.4438 left_pitch=-0.4629 left_roll=-0.3624 left_gripper=0.9964 right_x=0.3786 right_y=0.2492 right_z=0.174 right_yaw=1.72 right_pitch=-0.4221 right_roll=-0.0189 right_gripper=0.0645\nstate[joint_eff]: [-0.4718, -9.853, 7.5829, 0.3101, -0.4127, -0.105, -0.0122, -0.335, -11.5487, 5.8051, 0.4908, -0.359, -0.0122, 0.6422]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c87664f7c50062c4e7c9864189bfa4a324dc4fe84304846f90291ad3ed9ffb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8baf7bc605faee6163ece009ff6e9d2982cc10b3de6084e536f8baf2e77c010d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae775b58b9c6987ff1634ce44864ad340d175e990573765fd7610c75b37e7275",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0be44dae70bec4a9016ab4470f6bbc87d0afd9ad0af7be8733",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcZ-ehEkeG2BkBuuv2n0hg21lQAD0OA0ZdlGRzQuAITQxg1EQWGDsIVsjZUKsr5fXsuW3oEV9FgYnWIZpKyY_YjfNyGsBRLyhESo-kNwsMjboVeZU8mbCKaaWAmkxB4S9Q_X1VuiUICxq4MXYrDktyHemj1gae2ZGV2LCm47bQCbH8Nz0zn7vzouLSBbOL6L_kYMiX5Pfmz5ixSS1y1bw0992SJK3FoeVQmgnFT-iei5eR4gbMfcX1Z8S1HK0fADN3IMEspuOV51GaIWpMJ2HmpMAcM9qSpJ22t3r5o2JJU7GIo-aI-8ToHgyV9nxWhdJYktfQE3bBUZYNeDz1MVkWpoDZYjo4rmNHH7Q0B75D8npd54l7TJWQ3O0AW3RZMODqAczW45Qt4QcM5NO19-53vfqX-HuRp_SUIh8wyzkbpA5DHQM7ceBWXfIIQQXy6K8iHOiEfK5I8arx88QTTIHKfcM1LTxMOW-YJj0oBed4Np_7gMsA3o2anejtF9cPcby9wCI7rM4LB1dBP-TcTDqcwvlKfuUSPNwIRXNVNixqQoJCl-1gKwvxkCM5opZWdFPwoDB6qT5yUxAUAyrzhKl-kSHWtPqu6ecWTGk9aMHxB-9i-V_qI2pJMzEepok8cPyhxutEy2TznLPSBw_hwxIh-AWvy78E8UnqYw89DF1ycT7EEGV_gLOiClAkuNYksYLJYEFF21ifSPsNQOTJtD7jHoI3VpC28zY2g-RlFpYxX-H5agWQYFkIr2L93NK_NCtuqakzproyp33rLb6zHNa2tDmDJ7ynfqftIViigZdD5VyCFyu3P9uuwNdo77kySbYgGlnXGePrTeKSawpYUPs8eKPjRNfvUsNrX6l1z0jhQ1g_i_ZIvZK723fiTTk8UuXa0VtKALgCEV-hcn1hnnJAycX91c-UwzceLLGAYuN8L_r-1fZF1BhAC5miuhuDGW5Nxumije5cLVGmiOVYxn94FyXbdbC4XHVxZdxxSmPvJK2oxLGT0_VhOot-IHR6NSlECHrjwESd2PQwLPlmIsEen2-yHsm2rkkajU90EvkrpFyF2Bk8yM5fnLIqZkuKlHgdI4FzyXhPCF9fdxGCbSUYk04XQ8LHRDPBaHhHHAVJdngZntxHZO4eVjYSun3p4B2RXka5kKAoUJ5EhQQ1xPqTo9ilIZyHsOzcXPSnzp8KSKR0RbFGpSCfTzOquMy28iZuQVHH4p2zpgc17ZSKWr9Wi-okWaoSeEGLj3xkNSGC0YTVGCfLcwkkJLRfvSWI4LTvKrvp5zrzaHPbw1N-w0VRpOavmtLcX3GPcsT0OVM4l51ugxM-WqlZBEPMcFyujcl90cEFv8FudJDABvBKUt5t8aXxK0W20i9tyc72sJnIR0M9CeHlYED7kv5ODjTDWgeoKJKjmRrungh0KmAInWCJq98JQYsHH8aDN5Qjto403pnoGDVi2FuThsP8Gf_mItsNdOwQi14IvthV6Ta2a7MEm-7iFQmbJs26gYni7M-SW5lmhgx_LDebz3lODHHuln_OU2opWt5d3VJzuvFYy87EOllxHufRmRAZp6TYby3XcPAfO1mAS7Gw9C6GeChJM5K9EEzUfBw4VZOxe22wTFS1gn0SZ2YUHMFWoNLw-1PePx2k6B-8Z7os5gFEDgfLvayTaPZKB9EJfi3VxasSj0_V6gJPFTcM1LbQSeIwxthBx391dg95ielpyGBE-nHL94e6fqnGHqNGSrBy3BI5luIyINrtbCN-uomSL2Q2xoN6zVjlsBQuemqVbU0y69j_3au4S4YC-jrOAFPVVJcjwGriQUNpGe9Z4HkOjngqjB_gOm1lZbJPfsYNtZzdYnd4CS2rF2LXpLYxtLMZe7lYMe3TRBLlfBTmyih-azgWCWcX6FuNivbYwmehrdvn8aKOEDYYaAazaVm8UB4lDtAszmWyqwvN9oVtGX_JXgOigA7a2zL1KxCLN8y5yx_Geq2nZs_H1gcocOwiSSiMcbuHQGxtOvbHghMLRwrYW2lhPOreonW5kszsRVBXk-lOsPYrgwhHFEoNiqNb-1KjtDAPuu0jsmtMZwThlKYE7eJOHJlf18cH8gF9N2NdeikMg_zp1dYWAyHDTs4M9MVQnpbwObMZpd5DNecUOrc69S3sF6OvIR0Vw-NxAMh07T6cs1sBoOuZwMcGf5VgMg8rrcqii_d1FSnnoRasUVGXn5Lr-Q6KkXx6rdOzfnJEVHFDC7WUiBzh5HrKrb6nWImOaqkliBVESw9raBYD4A6LlSffyCJe3S2h684ZX_t4mMsFGLDuGXwZByOHb9QtBKbanb2zNayoEWFhVMTIoSeNIXGLfWyNasCUq-dHzZID2o8MPGO5G3b1ifbSNficNv13rB0S_zYp1BnNrTyIa8yjnSB9-6Y-xAP-ni1_SeUZOdPtmDrdTlJJhTiKgfUax2uonaeN80191F1GDgLYm9GzHFRLvH8R2HFUnpOHtoUUx1vW6f0CeBUcASew9XkQKfbpRQRrdEj0OAqoK3D_6ZeYupGuFU0w9LEmHCvpzM0YV9FsM63_ff4uyZUba2ujV7Za1ak-WdcTYp0Si25JGyNp4TKri7LFuL3vIgZpFSJguPjz-lhnlJqlcJ-VnBJ7IBjoCA2pkvemlKinesd5te9coziP7-Nqt36S_SHub4XsYx1592jJd191mWngZZuOERC5rXB9QlhMITs1JxCQFhZxvXeYdHz2Dp5_Gzn9w5f-pcGJVasy5mkwImwFXFsldIBd2vHHDvSI4D37vZtZNGkcIwSd1CbSDr6REBWcTdCANap4nvriVFKKEopGd6y2AjgJvh1XLG6wlTJzWk63mT7szdo_WJpPYMkwuahr2YXdKhsSKySio_ADP1KZGEAx8VpT9nb6kRbv5l7E6GN7KIBFORItJzLUkQkNy8VQAj3bndQFzwYNZlB7H5SfaxYapmlzwLPNWvvOpbYeTV-CCqGv0bm_Nr_96nz1J457M9kLy_FuLuSotTeYId2urCuqY2Hpf1Uuicw4toXWx3neR6SQd8FJYhYRZfjs=",
  "id": "rs_0be44dae70bec4a9016ab44714b4f487d0b39e81b4d35c11af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.2,\"left_yaw\":1.45},\"note\":\"The flipped wrist configuration is near a folded reach limit and cannot translate back toward the cap from its current pose. I’m first moving it high and closer to its base to unfold the arm, after which it can approach the cap normally.\"}",
  "call_id": "call_hNF1reqvear3tNhKUKkiZhOd",
  "id": "fc_0be44dae70bec4a9016ab44718317087d09a6dad5f8ffb990a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hNF1reqvear3tNhKUKkiZhOd",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3988, 1.4216, 1.3338, -1.3861, -0.588, -2.0869, 0.9964, 0.3614, 2.1574, 2.1509, -1.422, -0.569, -1.3365, 0.0678]\nstate[eef_state]: left_x=0.2707 left_y=-0.0038 left_z=0.1955 left_yaw=1.4167 left_pitch=-0.4772 left_roll=-0.4084 left_gripper=0.9964 right_x=0.3789 right_y=0.2488 right_z=0.1738 right_yaw=1.7189 right_pitch=-0.425 right_roll=-0.0198 right_gripper=0.0678\nstate[joint_eff]: [0.1573, -5.7641, 5.2855, 0.2564, -0.4371, -0.1148, -0.0122, -0.0205, -11.5624, 5.9419, 0.5153, -0.3639, -0.0464, 0.3297]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ee364cea79c9f67c076be783a1e0d5a85dcc94cf386faadd693191ddd51d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803d168d285145f97e7e1892ae8124728678466777e7f38bae96aa36d5778ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008808425c65f9ab13a6cc76a5d04c5ac8205de8c8073940a895624842f6e3a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.394 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 126 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]: [-0.0399, 2.0304, 1.7309, -1.4834, 0.617, 1.3056, 0.9962, 0.3614, 2.1571, 2.1574, -1.4216, -0.577, -1.3365, 0.0596]\nstate[eef_state]: left_x=0.3394 left_y=-0.1122 left_z=0.1245 left_yaw=-1.5569 left_pitch=-0.4136 left_roll=-0.3882 left_gripper=0.9962 right_x=0.3794 right_y=0.2503 right_z=0.1765 right_yaw=1.7176 right_pitch=-0.4157 right_roll=-0.0257 right_gripper=0.0596\nstate[joint_eff]: [-0.0342, -12.5333, 7.5692, -0.149, 0.4518, -0.0171, 0.1392, 0.0342, -11.4256, 5.8872, 0.5446, -0.4176, -0.0366, 0.7399]",
      "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]: [-0.3931, 1.9461, 1.5551, -1.1263, -0.5915, -2.0872, 0.9964, 0.3614, 2.1574, 2.1509, -1.4223, -0.572, -1.3369, 0.0645]\nstate[eef_state]: left_x=0.3879 left_y=-0.0503 left_z=0.1035 left_yaw=1.4438 left_pitch=-0.4629 left_roll=-0.3624 left_gripper=0.9964 right_x=0.3786 right_y=0.2492 right_z=0.174 right_yaw=1.72 right_pitch=-0.4221 right_roll=-0.0189 right_gripper=0.0645\nstate[joint_eff]: [-0.4718, -9.853, 7.5829, 0.3101, -0.4127, -0.105, -0.0122, -0.335, -11.5487, 5.8051, 0.4908, -0.359, -0.0122, 0.6422]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3988, 1.4216, 1.3338, -1.3861, -0.588, -2.0869, 0.9964, 0.3614, 2.1574, 2.1509, -1.422, -0.569, -1.3365, 0.0678]\nstate[eef_state]: left_x=0.2707 left_y=-0.0038 left_z=0.1955 left_yaw=1.4167 left_pitch=-0.4772 left_roll=-0.4084 left_gripper=0.9964 right_x=0.3789 right_y=0.2488 right_z=0.1738 right_yaw=1.7189 right_pitch=-0.425 right_roll=-0.0198 right_gripper=0.0678\nstate[joint_eff]: [0.1573, -5.7641, 5.2855, 0.2564, -0.4371, -0.1148, -0.0122, -0.0205, -11.5624, 5.9419, 0.5153, -0.3639, -0.0464, 0.3297]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ee364cea79c9f67c076be783a1e0d5a85dcc94cf386faadd693191ddd51d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803d168d285145f97e7e1892ae8124728678466777e7f38bae96aa36d5778ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008808425c65f9ab13a6cc76a5d04c5ac8205de8c8073940a895624842f6e3a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcfcdQfV_WcL7Uu3qKVS4upPn0j5UWr3g4H0NQ7ex1l-ag7PSSh15QTXeaFOs6mMkSFYI3dFa50Q-Xstem0CzjsAbdOaM3EXIqv7ZOiMiLzHZKOwSlDsh6dcQSuA8RAsMT0a4_XJ0wSLmxXXkU7kilhn7nXYncBFTUpYxHvNWe6Foqs6OUgYtWudS1DNOXLtRAxNbRkfw9XjZUYsKNlZ8a0wFHv4Rt9-p1OdmOkHOUahVTxo6osV-7378ZBanmnO0ozQRcYLgugjM3-1qKP0hh07KVdsEuZ8wjY5sQDzK3qUZhc0cHcXZ0ixzv8a49P7M0g3SthXipXYi8HJuH0Y5zL18B8zdKVmG0X86ty75leH-lRl0IRV0esQUI4krbslsIHSLAdcxgpTSGtzYcMHKWOBnLcKTZVSXZH1w5L5hw8PYCAHuwkC2FAK9uz8qdBYuJrT7lgixRAKvcyNSul_pAuBdoBXlFDVhFGwH63vXwg1rOeA9NDmHeTPuF0E9ZlSG9Sw4tY9T09g8OGE0hQ1ZYc4HAA4MFmuGqpSaryfrVvrRfqTyd7LQSX1B-Z2NHwOTnkPSdzw-gpLW-dGxB2J1mXytbkYplLjzdPUm11Vd-9opQugLcsKeDhVTIqH6gIYe4yvZLl2jiBnqaQ0QoTr_oxmlnMPkBfyfvkBqQXVMdumQJoDHHJydc9mBmdl465rjXUcuRSvUVMR-O16-lQydhOimKPYi2R8zPGMVvgn_p57PjqcPHrRU2raOOwsXtMI_kgVX9YxMKXNvN2M4JWjCAnx7fNMRmoByFhLKzybfHLOFYR63pQFOLDQ4pYTqB472Qq6XHgWR9PPlUp5JtZ2HdBoEGAQf6DJO_G6OYpmDnbLRZ0XOKjwcCVP6P3buP_e3DKulDYhdrN5dObvzIIea4yCyHHN4orLsIZgpU9EMycZa0eaY_PZeG_TDIzoVlkdjnPqutQ7bN_aORmCo9IlQGf9SORsxGfryVzRtHhzrRBetcD6s4PKbyGsXHABMu8WbxjI-p_pQ8w0ONiTBZiA5e_ey6j1voxx97syvHXBz8RrAxL3Pe5JroUIehBerWxylEM8AAWxODZGx1U1QSscFcmBS31QxLRvtaAnwiWGangSPhJiafNnFEACR41ZGBU2JJd5qgU6TUfGj07ek3sOHD6LdImrJ5_7XFmXZJM0PH_GcHBb6dH_Ilg_0SHMi8lvAQ5l9ImWWCA0xPo96UaSIFUoSo31-TLlBE965orfTUxjuKpotaJwzoUhpsLOqkZDbMUDV1xyu3y0S3GT9u46rXOUMkB5VPHWv7XwyAF37Z2eJ_Z8eeG6zVgnvae0rUCmz7f11yfwBC8ZPqZbJN5gXmNpjqu0vsQroqqKtsp79Neabs9nlU8grcYubZb7xSw28y2W47VVHwSska43kFeR9JwqilbMno3KZYW94XlidY3RdR0c48AspG8m4VQQb644Z9xR97nBNmVs9QZbPjfDyyOAFnr_FMA_ubnZBcAW1W5mgciH9sbVl1e5-e1juTPoNThugWlqFMrIk8OudYOb1KglHsFRG3hYIfACikI_SfcFRGIqTk3uQwABiHUbH5GDyiDmI6HVah7elpdwKrra4jXWnJKrhVLnP2dcOI8DM6Gxd1PmNLPuNNwgcOdl0Fw-Uv41b88HqE4dRx0dTHH3aHnfbTC9m9AvuFFfoGTHqGShZUQlolP4EiUgR98dljs9IoLyQGgPzx6dQkNRLfjp4dVcghzYdeL_nQhKWfn9Am5sb8fxXsTpBsI4DxuOl5ODxWvgzN2QaG_tzbFgxwqwg7fU_dVf3fp9fr1Qht4--1xPW9TIGgbwG9E7vi6mk7IY-gOp3uQiTbaeGTkpw_CTd_PaysI5Jdpd5WuDTyTSkvWdhPYUoIPCgTtDY0mIxNNXWbzo1kbUxZCeTVngalhi6vPnroneuREiXn7iUBfGSleSsCm4-pVgFx1eqMZXNkx7L7FrzTTHAKmn_DF06mIQPeUoigcmZTXQ9fSrK7aS_Xco9FS-4sYjNnRTSBNeoQeMRBvCdD5y9gIoWHe66BrIGtHmORCig3fjPUVV2MulQb8-1wtQaqkytpTt9gCyuzP-gX32OPhu2w0UW4Oc8bY2A-p7Zl716NC7HoBjMTAJFePrxsM_dXAAffa-xcVNXDYWrYJCMUBxtJjHApd3ev92LoTzERG0Bj8HyMZv-RRD4kIPL9qkqCeLrDoZRbz46-6HztCsh7qCUWdhtKztnmCFEU939JTpkCGhMQKrBN-2eUwwo0=",
  "id": "rs_0be44dae70bec4a9016ab4471bc1c887d0a5eaf736009abcdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.0},\"note\":\"After unfolding, the cap’s closed end appears centered on the left jaw column and close to the fingertip convergence. I’m advancing about 2 cm and descending to table height to enclose that closed end with the reversed gripper orientation.\"}",
  "call_id": "call_8lMMeV1m420aZ3GV7NkuaVOz",
  "id": "fc_0be44dae70bec4a9016ab4471e13e887d0810d60eca1c54a95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8lMMeV1m420aZ3GV7NkuaVOz",
  "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]: [-0.3603, 1.6569, 0.7795, -0.625, -0.6044, -2.0418, 0.9963, 0.3614, 2.1574, 2.1509, -1.422, -0.5686, -1.3365, 0.07]\nstate[eef_state]: left_x=0.28 left_y=0.0056 left_z=0.0102 left_yaw=1.4432 left_pitch=-0.4456 left_roll=-0.3551 left_gripper=0.9963 right_x=0.3789 right_y=0.2488 right_z=0.1737 right_yaw=1.7188 right_pitch=-0.4253 right_roll=-0.0199 right_gripper=0.07\nstate[joint_eff]: [0.1846, -4.588, 3.2615, 1.2918, 0.3687, -0.2906, -0.0122, -0.0752, -11.5487, 5.7641, 0.5397, -0.3932, -0.0269, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ffc91d77295129b7b47e3dc0dc1080f3630cf1cc90100a690330cfc36b35aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72be703603aefe3d53fbe089b3bb3c70cd2fa8d558d87c977a9babc03a0dfeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6acbc61af803d4cef2b51e106a24ab74624a602eb1ae2d464ee23659af9790",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.884 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 126 changed as sent

message 130 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]: [-0.345, 1.8938, 1.507, -1.0897, -0.6022, -2.0514, 0.9964, 0.3614, 2.1574, 2.1517, -1.4235, -0.5724, -1.3369, 0.062]\nstate[eef_state]: left_x=0.3865 left_y=-0.0288 left_z=0.111 left_yaw=1.4516 left_pitch=-0.4555 left_roll=-0.3883 left_gripper=0.9964 right_x=0.3785 right_y=0.2492 right_z=0.1742 right_yaw=1.7202 right_pitch=-0.4218 right_roll=-0.0184 right_gripper=0.062\nstate[joint_eff]: [-1.7026, -9.6479, 7.8701, 0.0513, -0.5348, -0.1441, 0.0073, -0.0205, -11.2752, 6.188, 0.5543, -0.4078, -0.0269, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3988, 1.4216, 1.3338, -1.3861, -0.588, -2.0869, 0.9964, 0.3614, 2.1574, 2.1509, -1.422, -0.569, -1.3365, 0.0678]\nstate[eef_state]: left_x=0.2707 left_y=-0.0038 left_z=0.1955 left_yaw=1.4167 left_pitch=-0.4772 left_roll=-0.4084 left_gripper=0.9964 right_x=0.3789 right_y=0.2488 right_z=0.1738 right_yaw=1.7189 right_pitch=-0.425 right_roll=-0.0198 right_gripper=0.0678\nstate[joint_eff]: [0.1573, -5.7641, 5.2855, 0.2564, -0.4371, -0.1148, -0.0122, -0.0205, -11.5624, 5.9419, 0.5153, -0.3639, -0.0464, 0.3297]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.6569, 0.7795, -0.625, -0.6044, -2.0418, 0.9963, 0.3614, 2.1574, 2.1509, -1.422, -0.5686, -1.3365, 0.07]\nstate[eef_state]: left_x=0.28 left_y=0.0056 left_z=0.0102 left_yaw=1.4432 left_pitch=-0.4456 left_roll=-0.3551 left_gripper=0.9963 right_x=0.3789 right_y=0.2488 right_z=0.1737 right_yaw=1.7188 right_pitch=-0.4253 right_roll=-0.0199 right_gripper=0.07\nstate[joint_eff]: [0.1846, -4.588, 3.2615, 1.2918, 0.3687, -0.2906, -0.0122, -0.0752, -11.5487, 5.7641, 0.5397, -0.3932, -0.0269, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ffc91d77295129b7b47e3dc0dc1080f3630cf1cc90100a690330cfc36b35aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72be703603aefe3d53fbe089b3bb3c70cd2fa8d558d87c977a9babc03a0dfeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6acbc61af803d4cef2b51e106a24ab74624a602eb1ae2d464ee23659af9790",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcjg1QcGkf0ZRB6dcTK78gaspOxsvLOvZ_0PI9scgHbpk8nFGG8MR66sw4k8LOKwVWmNoRDgs6Ed4IlL5yuPudUbocqaR6l7hauqEaTgBcWvdj4Gad32Rz01AQekS9vwGIehkKJmcmWfFlkU-oj8I2xdVrpmPxeWBJUhOFWLG4jW6H6CtJpS-l9tfP4z3sILrqZJO2UpVNYhpzkZPsNuuILTVUkqgI0H073ixKZGhvjMWzVJr5_k99_fghpv9bwouGawmWaojQLZteWXLL6PIrrzMIdPkGqBV2ivx5iuTHf8QYlM1Jh5i3Vk8izEHkO4Tn-1BuVLJ8j39EpEAicanRqxiEgz7CkYhgVF7-2fNa2PrjOm2sqah3wn99JKRA63SrjMY9ytjBFN-6eSZNvz2XXdt6Z-sH5s4vxBrUt5QUVTvioYT3Gvv8cI5q8oEH2Z8ekDm1RjAOVk2a7yGVbBeTm_vrUGzBsVjvPuUH-J20QChY5rgpXiiHxUYedW0kN0Fa2FfYU3sbrdwLVaV1XdC1N4dT4ou_ZR7shGJtPK5BMo0_k2F1MTyjZp-FVOEM309Du8cIlOyLBB7NinWMDeSXEQpDxp_Q8M0EpamnOgKMa8-agOGJXo2-pive2uybOdqnhoLyGVUNJ35COtEnxGQjx18S3KxnG9IeAlX7B2gTRkuVbLrjqUHNvvmFf_7KJTYy_UlV1PvZiFAz5xSe8SHnTQM-8DOvwQHtiVbVO0GVKBCpE2sVb2bAKVf51FiLjuNEPUxMxmvfnybdHhRa3S0agLjAfEtKbNr7Uyttrc2VNrdl36nyx3BZcgEchj5cIzEwolvIb-n3XDoBBriHd7gMYGz2q-0tQzacF8QInYJ9QXV-QInH4s7Ke154_RRCsjYtSnpJmK8A7-TcLiuPD3wbXZ_cpFWlDvHkHEUGXOVLMyz-gRs7zhvXRzf1vXzwyiKe96eqDyqCI2GCKacYYrhHcNck7b3GdPu8NuHkXcZEEGihJPkoUurKGFDTaLjjb1jG0OcJIQoQhsN2Q60cUjkhjw2q-LtyF7UHb2x595r0FNEEssQTV7_vIEDrWAg77bffns_Jmwe0ZlL4VaMIyaEMqZAO81IDNy1q_8yHzS-xncjOZXRL4GW331JY70edtsz3-ldNfXze0a8AFCydQZ_KG_eeNTiLrobTIZOFuVg1e1m61cEoBXfxh91m1GPTta3BXfKHf3Jg-usokd9XSqPpCFQ==",
  "id": "rs_0be44dae70bec4a9016ab4472226b087d09fe235629fd7c990",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap is directly under the reversed left jaws and is occluded by them, consistent with being inside the gap. I’m closing on the cap’s closed end.\"}",
  "call_id": "call_O2AgU0eIB774zdEuwI0uAiiZ",
  "id": "fc_0be44dae70bec4a9016ab4472256a887d0b4e9f5d262e4636b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O2AgU0eIB774zdEuwI0uAiiZ",
  "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]: [-0.3603, 1.6577, 0.7738, -0.6151, -0.5949, -2.0403, 0.0119, 0.3614, 2.1574, 2.1506, -1.4216, -0.5686, -1.3369, 0.0728]\nstate[eef_state]: left_x=0.2795 left_y=0.0043 left_z=0.008 left_yaw=1.4411 left_pitch=-0.4553 left_roll=-0.3555 left_gripper=0.0119 right_x=0.379 right_y=0.2488 right_z=0.1736 right_yaw=1.719 right_pitch=-0.4253 right_roll=-0.0201 right_gripper=0.0728\nstate[joint_eff]: [-0.1983, -6.4205, 5.6547, 0.2125, -0.5299, -0.0366, 0.9597, -0.253, -11.5624, 5.7641, 0.4811, -0.3346, -0.0171, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e2f4e7470420e94de26e741bc49f1c42729266b4df2baea9eedd244137a33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c74d86340742428e5b9235ae96c145d83d5ed3e61854020293b3b4e78d8ad60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcd74faa885e28fd74e5ac8cd448bb3c71c276dd3f38d6e8c318df5b6414380",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 5.057 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 130 changed as sent

message 134 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]: [-0.3931, 1.9461, 1.5551, -1.1263, -0.5915, -2.0872, 0.9964, 0.3614, 2.1574, 2.1509, -1.4223, -0.572, -1.3369, 0.0645]\nstate[eef_state]: left_x=0.3879 left_y=-0.0503 left_z=0.1035 left_yaw=1.4438 left_pitch=-0.4629 left_roll=-0.3624 left_gripper=0.9964 right_x=0.3786 right_y=0.2492 right_z=0.174 right_yaw=1.72 right_pitch=-0.4221 right_roll=-0.0189 right_gripper=0.0645\nstate[joint_eff]: [-0.4718, -9.853, 7.5829, 0.3101, -0.4127, -0.105, -0.0122, -0.335, -11.5487, 5.8051, 0.4908, -0.359, -0.0122, 0.6422]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.6569, 0.7795, -0.625, -0.6044, -2.0418, 0.9963, 0.3614, 2.1574, 2.1509, -1.422, -0.5686, -1.3365, 0.07]\nstate[eef_state]: left_x=0.28 left_y=0.0056 left_z=0.0102 left_yaw=1.4432 left_pitch=-0.4456 left_roll=-0.3551 left_gripper=0.9963 right_x=0.3789 right_y=0.2488 right_z=0.1737 right_yaw=1.7188 right_pitch=-0.4253 right_roll=-0.0199 right_gripper=0.07\nstate[joint_eff]: [0.1846, -4.588, 3.2615, 1.2918, 0.3687, -0.2906, -0.0122, -0.0752, -11.5487, 5.7641, 0.5397, -0.3932, -0.0269, 0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.6577, 0.7738, -0.6151, -0.5949, -2.0403, 0.0119, 0.3614, 2.1574, 2.1506, -1.4216, -0.5686, -1.3369, 0.0728]\nstate[eef_state]: left_x=0.2795 left_y=0.0043 left_z=0.008 left_yaw=1.4411 left_pitch=-0.4553 left_roll=-0.3555 left_gripper=0.0119 right_x=0.379 right_y=0.2488 right_z=0.1736 right_yaw=1.719 right_pitch=-0.4253 right_roll=-0.0201 right_gripper=0.0728\nstate[joint_eff]: [-0.1983, -6.4205, 5.6547, 0.2125, -0.5299, -0.0366, 0.9597, -0.253, -11.5624, 5.7641, 0.4811, -0.3346, -0.0171, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e2f4e7470420e94de26e741bc49f1c42729266b4df2baea9eedd244137a33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c74d86340742428e5b9235ae96c145d83d5ed3e61854020293b3b4e78d8ad60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcd74faa885e28fd74e5ac8cd448bb3c71c276dd3f38d6e8c318df5b6414380",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcpcBjyjTyTUHU9MwoOsowWDgpFIan_41O-rO4sCEpd1o6ob9T_Im-MXUza6e1zjsFIBJRwtBmlC-0wwA3DBpsl3LbRdBpKQlY7b_aie3UfP6POer84THcESxJaFdoB0sImfyrj-jAZSpO_Ak1PFeMBZl5XfM93_J0jzJ_alb1gitsugW0plZtLFqa60AsR-FJuClQBP4mvq8KAf3RWnZGbWKIVAp5G-3fNHSKdh___6YbGWvDJA1a4IQ5cF9GS7RMRD3CirVXAI70lsQgTB61T9R84Din_5JJENA9dRa9BKGy3gpEiGBO_leri6svcr-4y8DMziMc2mGPSijCPVv-81aahsl96orqILaLUklb_AnLvJyN9WX0XL4rVopaj9sKnjrTgB1r_zXYcyOhNWfxtaVlzxZxgBUTTIaWqZL1kQVTzqOsSZK3YDyhGucqpzkNy-RLCLmRCx4ISgzebZFjWlgssuIQSHu2WsljcK0UF9Tpf_ZxRJviblnGeK8HUoD1gJPU5Xv-hLSAgIQ5msOIziiR_MRbV1fLb-Z4SR8Q9RkIRHmqaPXrQlk1nyKiqsm7NeOvu_y9izccGm9oQ810gbcX4_VcoSvG8J-b7rs6c4jepfCa72HTra0JV5CdZ63PFQ49lVZT_CWeYxvNw4eoRG7sHjtkYVEx5ysDJx-NDB1Hwtt3kAY0MJlBsCae3iw6S4CoMonvJ4nm5h18gCFjkMfle371tFBOW0GMN0rYfm_3KTb16YBZ9Mhrw2yhAPyHfdzw-O3nVgxctm5hcc_NXAyLObYmMk8AgkNY0D4djRT5f5XGCmR4XSD0VhKH3i7sdTmaSwJwKgINuMn_wwiiFHqaSacNypKNHjuZD0QsIYVTbiPoQm99Mgpe0E3BqYrU-zoVpcOu9CnvUgO0r6e_sDs-lV26zw8u8gtNj16blF3KN9ms0IAyOVGkfp9OwpwFX9GSKMLxMW7WYaDEymg-V3zDW782wveZljQbdfV8zcZfeWFDcAl5CLmz7EE6529i6w1_gUJMdlgNNfKAbgcqT50xqUV5NxRVdPGdEY9JOOVLYsb25DEFavVR4bAGPhj0SrW3D7LM9ITosji0sxZHy1u8Kr38Dm8Qn30hyeP2WGbqA8APsuZWHsYCnbbtQtU3CBZC9JilChAKDQA8IY3Ac5ZOoU9b8qByNALaJDHUC5IuPGZmBI7zSyXh855kgHc5HCx_ZtFQt6If4D002HX7_b-P6Vm3Zpi_q4n7x5kFfey_IUsOYbwtcoFzvW4Rj1u5bRoSA-vnUhVgIzP9fUx9rwz-9p7MYisTrDRLjMuQvhBy1ULwRDVLfIu-mMQGOpBaeoKCDAEGWr75byDdoAvA6k9wg3bbT0V1VfbnlhRFt0XdggB9fjlOVMGZoQogiXf_-LVxI44Pt72xbbNw3frtAvNcJKlxUIjVhK6E65E_dIDn9D1_OHiajUTSarLFxB6STGujH9tzlXutVNg1kzlS_NN49soi-O8piqTvtaf_pLTup7BlXgFP6wLmltcHvhHaOZkkTSInUfRyf622fYXaoa_NrJQBG7A9XcNscHRtuEYqLQGQUwWpsklFsiCeR3tTUyRxCfzgQGnuUpYa2IqfVFMnV9KiZC9IkfuRdsZezPtlcd2h55iMDY9XhdU4FjsLTikAKKI1xxEet9OyG7TquP039UoVwrA4WPxQOyj5BWBgHn8fF-tRk_hSuPWsfzooVpndfwUEjKV13oRpLMn_ND5rw338cUzJBoPn8HXzvrabqlEvpkUN0R8v_4DCitUnz43w5xDzuOBLBtubjrzs6qBwAlW6jd6bZ0zjgDaU1b6SSjH6yBB3B5n_GYvfDyjXa9g-pyZD4Akj2svE4GzL1tPmhnttOSqXjdVAt8p8YIdYzG9X_ztiNU8Nl_UiuZmOS_GxNQv5BnBGmdiccya-OsIWfUd4xUAZet6TDNYERvrVO0BvzscrrzQMWzoKjdRE6ny8lfsh08U8e0fNCVvMKusYUDpPeIXd0NCV7IwaDypRNa1XRjjCe-CcYG9Tt_Pw0QLmlVjDI2t1KnprVCG_HsHKt2hbmpmqIahHvfEmpDfsOk26wDhXkc3znMP9NnzaYRocWGF0vncGXxv9VxPxU_0i0tgHi8IGU_AeP8k2ktP89h2T7DNKG6yWdPZ8nQceaf0aWEzOL9SncqZkfxZEfN8wZ5Zh5wQpTFSIdV5rYyeSz5dGLulzg5ZVN6KJXhCmWMCnW6waCMLPA2sIzEs-MUbyJJMYvZ460zTlBtzBKSByfwk4e0H-9ZPFc1zlxt6MWjpb5DSzlkqJuTaoiY1oqEDiy90Z_GhxNpxCzJ304aUUqkRqhczNeQsHFIGZ9LDTLIO38YK-MLjNrSAaVSmZYwtVb_2ybdoklPQHLHy2_nfY=",
  "id": "rs_0be44dae70bec4a9016ab4472580bc87d09f21ee5a0a7744b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.15},\"note\":\"The left gripper closed to 0.012, confirming an empty grasp; the cap likely slipped beside a fingertip. I’m reopening and lifting straight up so the overhead view can reveal where it moved before a single corrected retry.\"}",
  "call_id": "call_40MBTX41TVx3ZlxD7ueX6Aih",
  "id": "fc_0be44dae70bec4a9016ab44727e88487d0afc88886bbaf6e6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_40MBTX41TVx3ZlxD7ueX6Aih",
  "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]: [-0.3599, 1.4906, 1.1442, -1.1419, -0.585, -2.0453, 0.9947, 0.3614, 2.1574, 2.1498, -1.422, -0.5575, -1.3365, 0.0742]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.132 left_yaw=1.4395 left_pitch=-0.4683 left_roll=-0.3675 left_gripper=0.9947 right_x=0.3795 right_y=0.2472 right_z=0.1724 right_yaw=1.7167 right_pitch=-0.4363 right_roll=-0.0212 right_gripper=0.0742\nstate[joint_eff]: [-0.0752, -7.4051, 8.0205, 0.1734, -0.4811, 0.0855, -0.0269, 0.0889, -11.3983, 5.9829, 0.5543, -0.4664, -0.022, 0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d984b4dcd0740f8265b5ca5fd978ae9bb19ea984a822ae76b34ca04829d159c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408d854fb8854332a928639f074d22838aaed339163d8d0cc1566e7570c9783c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067f53aa47d611057063fe1582f27ef22f8420685e5dea18e29206cb0f1e62bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.539 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3988, 1.4216, 1.3338, -1.3861, -0.588, -2.0869, 0.9964, 0.3614, 2.1574, 2.1509, -1.422, -0.569, -1.3365, 0.0678]\nstate[eef_state]: left_x=0.2707 left_y=-0.0038 left_z=0.1955 left_yaw=1.4167 left_pitch=-0.4772 left_roll=-0.4084 left_gripper=0.9964 right_x=0.3789 right_y=0.2488 right_z=0.1738 right_yaw=1.7189 right_pitch=-0.425 right_roll=-0.0198 right_gripper=0.0678\nstate[joint_eff]: [0.1573, -5.7641, 5.2855, 0.2564, -0.4371, -0.1148, -0.0122, -0.0205, -11.5624, 5.9419, 0.5153, -0.3639, -0.0464, 0.3297]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.6577, 0.7738, -0.6151, -0.5949, -2.0403, 0.0119, 0.3614, 2.1574, 2.1506, -1.4216, -0.5686, -1.3369, 0.0728]\nstate[eef_state]: left_x=0.2795 left_y=0.0043 left_z=0.008 left_yaw=1.4411 left_pitch=-0.4553 left_roll=-0.3555 left_gripper=0.0119 right_x=0.379 right_y=0.2488 right_z=0.1736 right_yaw=1.719 right_pitch=-0.4253 right_roll=-0.0201 right_gripper=0.0728\nstate[joint_eff]: [-0.1983, -6.4205, 5.6547, 0.2125, -0.5299, -0.0366, 0.9597, -0.253, -11.5624, 5.7641, 0.4811, -0.3346, -0.0171, 0.2759]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3599, 1.4906, 1.1442, -1.1419, -0.585, -2.0453, 0.9947, 0.3614, 2.1574, 2.1498, -1.422, -0.5575, -1.3365, 0.0742]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.132 left_yaw=1.4395 left_pitch=-0.4683 left_roll=-0.3675 left_gripper=0.9947 right_x=0.3795 right_y=0.2472 right_z=0.1724 right_yaw=1.7167 right_pitch=-0.4363 right_roll=-0.0212 right_gripper=0.0742\nstate[joint_eff]: [-0.0752, -7.4051, 8.0205, 0.1734, -0.4811, 0.0855, -0.0269, 0.0889, -11.3983, 5.9829, 0.5543, -0.4664, -0.022, 0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d984b4dcd0740f8265b5ca5fd978ae9bb19ea984a822ae76b34ca04829d159c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408d854fb8854332a928639f074d22838aaed339163d8d0cc1566e7570c9783c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067f53aa47d611057063fe1582f27ef22f8420685e5dea18e29206cb0f1e62bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcvjwKHRaWolOLugn27VJw3hx3V8KE7zdMcAu8fhn9gnmOP0mz3MKCLesTqqpW3qMJcFqVDHf4nrGO1x4RMm4gDPaRKYYA9tvgQkEWoNRl6UzvqkEF4B7zfiKp_m9dMcNu2oX9_TPrZ1Udehw3eKNo1oID5mhXdaYy_E0mrYMGhYdykM3rbJi9YZWaUA_R9jMYVZmp9jVzb0oLdH2_jWgSdzI1r9BEfTnpdAPweBKpq3i8JWJycQXlKlde3utfkI9F2tC33sZsHT__5d5ub8O_BOIdAR7nvv2UqjfFR_RPpEZ0UouhC4ZmCIUSH12FSnFxV2kJ8S5FJeLOMYjAZjmLr3X8AOwcyeqQF9yVsy9EsMxKTX8I6EKqDSCpUTnwISs50a32nqylBcpZLx-KLUxXYCTA_5aASLzpHhEU5l6fKHIe2LnjzlTCUMq-uJf_riWRm8YZFVgW_P6hH1dJ-1Samg8NpJnyHGbpjdBCrfuUyxhML_nKYGjTbkvDh7OE4x4ErTFO2qsogmpvaKrJgpe4bMdnjbSGUAIPoyQSontUou3jQn2Btxjz1q29fsrlqjZlkEZB6o-q0J2Kw6GWTvzATdq6PtT3Xt0e-7B3Ma8EUAh9sLJ2fSbIyF4470WrsZIoaZxfvIN4o2HK8MhmgJXK03oZHq9Is5HfYdLxDHspzYrn8HVnHaVE2carWjLJ6FIEUwEgxK_aBBPF4DekyjP5dUnaca1SSVMoFyj5v6GD7lWDoMdC7FswGHtPGO8P_ymOffHyQRzjCwd83w6oxxmsXQ5ZWjfqH6xbnaerrbNQnt7JnGE1uvzsK60LkH3SReQTJjBmgqF7d6QOFg39-hnZgBkx6v2wTZ3QWyXglgIzyOv2SD4eanzrYmWFfdo9US3WQV9s_htuvDq3aZXDnBByN3W9LYuyh4a2ifpGthVIXEBpmsg7yXdvnzXGrvxUTZXjIXFOqF6rGOmlw_tFGEYF5ZxqglI7GvugK6eD7c5PycHTItEuNqk0ZsiJvZ99S76PJfYNl-i28WqA3KLdfqg_6EhqkPTTYPgkf7S6gkgKg-mnTLU2rQbsIR-YGzRt6SzbYRps90RD9Gq9aj-o-fEWKJ1avisBuzcJ94O9Crtuoiht3Bb4uQGPrRJ5_Rfdev2L38oAymbipToxOOY8KRLfXSjChAt7MAQNEKwiiSwog8KycJ2iOi0yDuyFkbhwtdBlfcBWB8Vc1Ve7jPPKXE5ttgmrwMPiHPzwHkNUkkZUy1Rxw_LD8FeZ-mK8cmnXvZgYqIa1uSPpLIF9HRABjdRwk-SzSY0UxSm8e4KPgruajsOd2-C6LDDchWZ-yzBg3XQGOoKr-nYpLhEoETy84KIzvLnqnvZcEBbnoBg9xtzWCQLKS6hAxtcRvqjE5HoEdSpnl92-K3hWk-gFC55IoYpzSy8lgMW7HcIsHJh7xLhaPpjZTTu-kylEtkepdA05FClwukX2Wp0MhBoQ--IciGXgEhgCNBfNMi-2AFodF_-C1NhpYuumgX4fPep8LWURJy2mqphy52juiPzcR_8_4hcbZ7x3skx6eW1UpagU7uvvCCn98mCDztf7FD1jh0fusOz3TXzreqWEPuF_k-qvN1N5ZPxsDgodhjaoRMM8vWyjFJUp9ucypiqXvIzGwQoQ7wXS4e8AcbRO8O41lJDUC-2XzTVNgH0k9vY4cdP2GLZ7e9P6MshyF84owG-_z9qAKabhzxiyuer57KQzbZ6vgaKt3mXSKIOuBpvDudo2suD-BrqZTrQx5b_sTpY_Mr4LwYsSJ_Ut8u3u0SesPaXvT8oaHKyRuzpEDIgcI0fxJnDyy3iHGjW4zijYLRdy_QhopiYEI4_Ov7cvD36oeARgnLOpIxcKQt3ry4Q02wdSIec_E2Bn4pRnDiYamU2t45WFLGz_u8R1n-Dbw2nyalpi8GxEJvau1GpAPVdtwirqtDd1knpnRlai6oG-ipcj1DDShyutwvN25PqB7o7XoY7M2E9lCQkeQDo0BOtJHnu6AzgGZ7Oc=",
  "id": "rs_0be44dae70bec4a9016ab4472c8b7487d08b6a1d82a2ba0488",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.05,\"left_z\":0.12},\"note\":\"With the arm lifted, the cap is clearly visible about 4 cm baseward and 5 cm inward from the left grasp point, lying just to the right of the gripper in the overhead view. I’m moving above that measured position while keeping the reversed orientation.\"}",
  "call_id": "call_QVTOxA7Ya70sEWCuGjXnFVCQ",
  "id": "fc_0be44dae70bec4a9016ab4472e061c87d08baf741f98d40b7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QVTOxA7Ya70sEWCuGjXnFVCQ",
  "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]: [-0.4088, 1.4548, 1.0592, -1.1336, -0.5762, -2.0861, 0.9962, 0.3614, 2.1574, 2.1498, -1.4216, -0.5568, -1.3369, 0.0757]\nstate[eef_state]: left_x=0.2668 left_y=-0.0068 left_z=0.1174 left_yaw=1.4346 left_pitch=-0.4743 left_roll=-0.3444 left_gripper=0.9962 right_x=0.3796 right_y=0.2471 right_z=0.1723 right_yaw=1.7165 right_pitch=-0.4369 right_roll=-0.022 right_gripper=0.0757\nstate[joint_eff]: [-0.6496, -6.8308, 5.3265, 0.3736, -0.4518, -0.1197, 0.1441, -0.1436, -11.3983, 5.8462, 0.5495, -0.3492, -0.0269, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb212d36479d0446ced37236e6abdf7c50a2b8a2057e6a77d33d071375adaec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d25846997edb326fabbb2a400e5448ad569c14ed6eb775d3fea7e9d59569bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07aae9a5533f69baca80a6088bb4955bbbc2da13f4f30ad3c84dee908cb3b1ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 3.566 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.6569, 0.7795, -0.625, -0.6044, -2.0418, 0.9963, 0.3614, 2.1574, 2.1509, -1.422, -0.5686, -1.3365, 0.07]\nstate[eef_state]: left_x=0.28 left_y=0.0056 left_z=0.0102 left_yaw=1.4432 left_pitch=-0.4456 left_roll=-0.3551 left_gripper=0.9963 right_x=0.3789 right_y=0.2488 right_z=0.1737 right_yaw=1.7188 right_pitch=-0.4253 right_roll=-0.0199 right_gripper=0.07\nstate[joint_eff]: [0.1846, -4.588, 3.2615, 1.2918, 0.3687, -0.2906, -0.0122, -0.0752, -11.5487, 5.7641, 0.5397, -0.3932, -0.0269, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3599, 1.4906, 1.1442, -1.1419, -0.585, -2.0453, 0.9947, 0.3614, 2.1574, 2.1498, -1.422, -0.5575, -1.3365, 0.0742]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.132 left_yaw=1.4395 left_pitch=-0.4683 left_roll=-0.3675 left_gripper=0.9947 right_x=0.3795 right_y=0.2472 right_z=0.1724 right_yaw=1.7167 right_pitch=-0.4363 right_roll=-0.0212 right_gripper=0.0742\nstate[joint_eff]: [-0.0752, -7.4051, 8.0205, 0.1734, -0.4811, 0.0855, -0.0269, 0.0889, -11.3983, 5.9829, 0.5543, -0.4664, -0.022, 0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4088, 1.4548, 1.0592, -1.1336, -0.5762, -2.0861, 0.9962, 0.3614, 2.1574, 2.1498, -1.4216, -0.5568, -1.3369, 0.0757]\nstate[eef_state]: left_x=0.2668 left_y=-0.0068 left_z=0.1174 left_yaw=1.4346 left_pitch=-0.4743 left_roll=-0.3444 left_gripper=0.9962 right_x=0.3796 right_y=0.2471 right_z=0.1723 right_yaw=1.7165 right_pitch=-0.4369 right_roll=-0.022 right_gripper=0.0757\nstate[joint_eff]: [-0.6496, -6.8308, 5.3265, 0.3736, -0.4518, -0.1197, 0.1441, -0.1436, -11.3983, 5.8462, 0.5495, -0.3492, -0.0269, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb212d36479d0446ced37236e6abdf7c50a2b8a2057e6a77d33d071375adaec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d25846997edb326fabbb2a400e5448ad569c14ed6eb775d3fea7e9d59569bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07aae9a5533f69baca80a6088bb4955bbbc2da13f4f30ad3c84dee908cb3b1ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEc0qJxLKzIw7cyxjoN8SxJKMt14sRSXLYxfUZC5EDAVutcl7jQCs1HzyIUEKtTEtJQApJAQtkPl5g3qRU7SFUBgcMUdjMh2--qXsf-GWsgAb9wqPTL7eaiQFYdPiyYEjF7O0TClV7LSUpTTbTNCc2v_JiU_gVdL2zm2eDnH9Wpg4nOq2WR9EDixYOeahwwDjNcej31kXmzEB64aCh8lEp5f8iT6p3eY6VfQBeLSovEFB2gcPf3_G0rLTpqYUcXP7Rg9xaOJISZTGa36-AAGr62_VhSQfeRHXP0M65qPZupDU9lgPukVmsxpilrOTLcxFIh-gkHIf7buVz2iiymmdEg6MUzZdNTjdBPHpL3fwc8X5j_VU7fm-09KgUCO0GDHF64wutC0V_zaOKPhJ9vliOB0CFpxkAk_jdHoLW16E7uz1-sivUtl8vnW48W4G7-RIicCrgGdh8ExrJDGTUIT_iZdFtv_Ka6afUVmSRZ51B2UhHQG4bfj54Eq0fzO_8-Xr8kUsr3z5wlrS4QB6KqnFW1Jkekvw0LLwzMAbZ1qL-R2Kosg2lJqNRPh40lbfGCPOkuDhUrhwOma2rZFUeJP0YaK2c3XW5igPt0_bWkCFnch7I6_k5_vL75547uRzWYAMHCFo5QLbIUEr-A1_PZwt3mN5O1PjdRnRE5ugKA5OBqsiVrryRhBXa-o_JoGDH0n1iw0PfOlx_UwP2MeIRfYpKy_7vievailS6vHM-xe65_jJr8UkpUcZJOK_0jzembSREvT0z701K_AXZktDvBAIAcE2HUd-O1WxmPMtH7SlgH9m1X-uL5QHWoxigL1eHkpWODRBxuA2WzBeDrN7HjNN0JG0ZL2AsCXUS6kt_FlIRr1_3cLNkvYMAX7wfjWRpgLUILmT8pHu1JYIQRE5MQh35OCNDie0l9rhKRli-p_qFHFsXOW8oXK-lWVZoGKWzLuYMd3bG_LpCxkmbNi_emtYpATT7nAFvpR_9QGYN1MdXWqgpC-OB5v1X7iNgxI2amrBXhXzq1rKcu_P99ztcumGp20H6dNpBWOC7JaI6t4Cpp5Nx5EJHALJ75yKz1vZ5yBQ0M7H-fvHuL8A14pWS3eIyzGk0U3gVVy-y-wTXMbNaRuR820XRPuA0T2IL6qzHXIYaeqAG5A-hNhR4ka6lSkbdmzebgkQ_u-mRz18dXKePEJo20qtPKC-maZRkHI9hEd3EvbqbNfvaXH3kE1JN6mdoTXP7_puoR9h0fYJFf6UpWn4NW2Pw9gthaXdkVaOrNSyN-QLJpF7PhAMUr_F7kTqnJW8r0jhtLbX6YAAMiMJiwg65e3aAttrcL2hiTM_3B3ime6XHY5A9RFkKKkftlWnWXbXEO1KDSnVfrWgWpcgVG_zdG433LQAN-P4UQEuMjOrQJZCNVxOQfLiNLTP4eBFY6sQYVAqgqa48HwY3SYpu-tCmZMZmC_4RNGtG11SIul_XH52GeI94sQmFG86aSnbxy0wn--OkDIyjuvZefXPHZX3A3isXa4FXl8nPIH5NDAREFbOBbHGq3OBFx9cTfl2jjkwq9WzSRGf-RkZronQWGXpd9FHRo0XZI5M3UyNAA21_jZYLC6Hhg4Hm8qK5VY4-8eQAQ8BK1ipDa_m14_OL2WzYG-p3c9H55zkSBCHfg4CNYW0LIAxraxAHxgcrRwoLDwCX5t4q88w4XUz49WyQe_R8QxFHtZTog-h6lxsgd1Pna268eSuQVyAEf3sLUBIHwQ_jpgOGLbpjF349MnIwUGKa9-kUK6t9QVP8ZM6iO_TMUkmXA_JdODB_PN3BlFt04Z4f277qbPjGiUcnKQGhAq3HkyIfnI_K9N8RxbE5UgWSQ5",
  "id": "rs_0be44dae70bec4a9016ab4473122c887d0947cc39153700cc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.267,\"left_y\":-0.015,\"left_z\":0.0},\"note\":\"The cap now appears at the bottom of the left wrist view only about 1 cm right of the jaw centerline, so the overhead correction was effective. I’m descending at this corrected pose with a tiny inward adjustment to place the cap between the fingertips.\"}",
  "call_id": "call_Ldsne37Byr1KDouOAcMY2aCQ",
  "id": "fc_0be44dae70bec4a9016ab44732d3b887d0ad6a57316b53bdcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ldsne37Byr1KDouOAcMY2aCQ",
  "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]: [-0.416, 1.4994, 1.0428, -1.0801, -0.5686, -2.0869, 0.9963, 0.3614, 2.1574, 2.1498, -1.422, -0.5533, -1.3365, 0.0778]\nstate[eef_state]: left_x=0.2729 left_y=-0.0127 left_z=0.1025 left_yaw=1.4324 left_pitch=-0.4797 left_roll=-0.3343 left_gripper=0.9963 right_x=0.3798 right_y=0.2467 right_z=0.172 right_yaw=1.7157 right_pitch=-0.4403 right_roll=-0.0222 right_gripper=0.0778\nstate[joint_eff]: [-0.3761, -5.7504, 5.4222, 0.4225, -0.3834, -0.1245, 0.0024, -0.1846, -11.5624, 6.0513, 0.5055, -0.3785, -0.0171, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083fdcf19834669a1fe62fdedd7ceb5996715726a1ba245334dee137a0e653cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7474367d94d06e43d7807c8faf992fb875cab94f20b7bada5528d6dc4653b66b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8deeec5e471ee4f0bdbd85a55ca979b57989264318b0f231c2df234735de88e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 5.449 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.6577, 0.7738, -0.6151, -0.5949, -2.0403, 0.0119, 0.3614, 2.1574, 2.1506, -1.4216, -0.5686, -1.3369, 0.0728]\nstate[eef_state]: left_x=0.2795 left_y=0.0043 left_z=0.008 left_yaw=1.4411 left_pitch=-0.4553 left_roll=-0.3555 left_gripper=0.0119 right_x=0.379 right_y=0.2488 right_z=0.1736 right_yaw=1.719 right_pitch=-0.4253 right_roll=-0.0201 right_gripper=0.0728\nstate[joint_eff]: [-0.1983, -6.4205, 5.6547, 0.2125, -0.5299, -0.0366, 0.9597, -0.253, -11.5624, 5.7641, 0.4811, -0.3346, -0.0171, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4088, 1.4548, 1.0592, -1.1336, -0.5762, -2.0861, 0.9962, 0.3614, 2.1574, 2.1498, -1.4216, -0.5568, -1.3369, 0.0757]\nstate[eef_state]: left_x=0.2668 left_y=-0.0068 left_z=0.1174 left_yaw=1.4346 left_pitch=-0.4743 left_roll=-0.3444 left_gripper=0.9962 right_x=0.3796 right_y=0.2471 right_z=0.1723 right_yaw=1.7165 right_pitch=-0.4369 right_roll=-0.022 right_gripper=0.0757\nstate[joint_eff]: [-0.6496, -6.8308, 5.3265, 0.3736, -0.4518, -0.1197, 0.1441, -0.1436, -11.3983, 5.8462, 0.5495, -0.3492, -0.0269, 0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.416, 1.4994, 1.0428, -1.0801, -0.5686, -2.0869, 0.9963, 0.3614, 2.1574, 2.1498, -1.422, -0.5533, -1.3365, 0.0778]\nstate[eef_state]: left_x=0.2729 left_y=-0.0127 left_z=0.1025 left_yaw=1.4324 left_pitch=-0.4797 left_roll=-0.3343 left_gripper=0.9963 right_x=0.3798 right_y=0.2467 right_z=0.172 right_yaw=1.7157 right_pitch=-0.4403 right_roll=-0.0222 right_gripper=0.0778\nstate[joint_eff]: [-0.3761, -5.7504, 5.4222, 0.4225, -0.3834, -0.1245, 0.0024, -0.1846, -11.5624, 6.0513, 0.5055, -0.3785, -0.0171, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083fdcf19834669a1fe62fdedd7ceb5996715726a1ba245334dee137a0e653cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7474367d94d06e43d7807c8faf992fb875cab94f20b7bada5528d6dc4653b66b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8deeec5e471ee4f0bdbd85a55ca979b57989264318b0f231c2df234735de88e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEc4rAZAO7H9Lw_nzLSxrepNjYgsyntfbPZYmZ0OxgmlgF2xU5JrU5hprDmz3pOLfCoHHsR_Kza-7gwxewe99Dhe_M2yJ6LDJjjYapOrKmALWmxE3d5ptdnoN1g6K7Dq8jusEiaXJJq4g7g2KQlntO-9Q8Fwr4Z2Yl-owt3gV6GqATzNypW-xhS6TKCwDQmt5oOm4ZTyIYayBSTUZwEjVDcq_P-rXK7HqJ64uEqHwfpkb7A8-jIav9itnyKbK48QjUjPHaj5NsR9TP5mVOsOxcJJY5I1rVbVJq7YTNfr63FvNyGQcapn87yRjGS0jou7CDzVIjZ5Hi6Iw4K22OwtiqZs8jBceh1dlYOs0NV_-xv7EstZrOQBWU7wbmh0CWZchlvj4kMFEwX2OzjAe3MF656uvfyyk0fAaL5CQ0QRiJZiLlbEJRuy7rjD6tWAGfklq243VW-KEWjndUDFHesQeGqdf72AfX76lDpY6oL0geQFhLQIlcbm-829itmgCaet2OccVccUFhZmIZKWdbeEop7KstUKL5jBzc1yfLY6VgkPU3-vMg4mqq5MGTDQq-b_f0yGmgCrm4CUyeiV98IAo3d6W15zhNPgMa5JhvkPWKej_jR7ZrswQ-sLuDUty6Lb5ypMDmBefNwCDgzhVJlili4Cidjq6DjaBvZYYkdhixyM4xKZLVqC8jKSFafgf7P6XNugnX9D0GMQfk9yqHQjT4ZI8sLNJ1ZacGLU2lXj3DCZ0QStajulTrMZpW6tJpKE4dNlU3SUp98dpMtlX5baUWj28MunXj2qisrbJpIi367x03IeZA8BLxjCygu-Yy7VrogYhxC-IHl3DqVAfZBc05MLVV2u_3yFbkrjEszsiKcDwNT4W_RpfB4puc36PiRmwwphyRUAie6enO9Dc3M3jLnKYzODpfGfc495u-wzDra59MRHli3LjwNoFBBCcpa_Qnv9dyQIw1cRASg3vDfgIH8ZkgeHl3S1FbGEh1kEtkXA6GtRyF3ulrYIo3BHUNWCVweZoYFaafW_GUAd7DJPo85bKGq9ZPGqiqYzcg3C91eMH2pzo9I7AeRdCn0YM-27a5EwsMeqczEeNDaCexzAYn3T2d-UC_wvIHFKLRRD_ViPMyXGZCSwqnumBxKHpPeAplghHdCVk29uVBJny7ctluSbL1T02_fm7uixhVIq2_yySgR7hhdkrqXFuHni8-jspdPWTy1TCQrOZJ_RLLnHL3_kdnTMGLcZBYFm_FPO6HvaR4hI8dAg0arG1TLBya5W3ovI1MkeOHWYo7VSzZ8cFUB8k1GrPbeiHip99_Smo4nOApKTiZcP_7eqXxt5XVMyu8mb5apvBOTlQCphCJoqk7wzG9RwqunWOrSNkSt7Dj7JVN592zDt9xP0LqcQuFN2GL1MdvtvkVgzZI4wIiE1xjuWsmEonPfo2d5IAB4faasp3oOJCINmxYHcbpecIY2ZRtlxWGWOsE5eLlA-jlDzdQkNxZu0SUz1sSiaRt9wBnQI1Nmt20jLAxgjTA799xfPPAWfz6e562zM2OareayyEM_gpkdG6MILziMd8uStWpLAF5LUNwB_rLPz7FZuv2_348dpNvtUFDooha1uK3TQ1W37-WYefU6HZzQa3VVj4Zb_WfeYc0WTbJ6ITf0eSUiuybFhDIeQ9XC6jwx1FIiiMOXFO3jOVmWevR1-4a_se5A1rP5XmJzDr5fq3hfenvr83wGrFBB-HLSeXulWNxXc-EnyUMmRr6tgsOsDW4OvUTm22TkctrYdInXbHnr0nZJ0LSPV85IjAVWfAm1_10ihnYQjog==",
  "id": "rs_0be44dae70bec4a9016ab44736487c87d0ac82fee389459272",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.273,\"left_y\":-0.013,\"left_z\":0.05},\"note\":\"The first descent stopped at 10 cm without contact, indicating the IK needs an intermediate request rather than a full table-level move. I’m keeping the cap centered and requesting a modest descent to 5 cm.\"}",
  "call_id": "call_svSAbqSjCpNfLP5G2lnfeVEo",
  "id": "fc_0be44dae70bec4a9016ab4473774f487d09d389d9e34a1a81b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_svSAbqSjCpNfLP5G2lnfeVEo",
  "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]: [-0.416, 1.4994, 1.0424, -1.0801, -0.5686, -2.0869, 0.9964, 0.3614, 2.1574, 2.1498, -1.4216, -0.5529, -1.3365, 0.0789]\nstate[eef_state]: left_x=0.2728 left_y=-0.0126 left_z=0.1024 left_yaw=1.4326 left_pitch=-0.4796 left_roll=-0.3339 left_gripper=0.9964 right_x=0.3799 right_y=0.2466 right_z=0.172 right_yaw=1.7154 right_pitch=-0.4406 right_roll=-0.0227 right_gripper=0.0789\nstate[joint_eff]: [-0.335, -5.8462, 5.4906, 0.3394, -0.3834, -0.1099, -0.0073, -0.2256, -11.5487, 5.7094, 0.5055, -0.3785, -0.0073, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12064f341842be9e5e0bcb099a0e3271b433159b7ffd5bf3769f6e4031d9c0fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e949b11e1ed839af5da182716270f607eeb1649be46186d9c1450cd30ab1623",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5ac5980d6849f0aa1c52945f0ef754a83bc3541c17beaad7cb8ba3cae04cca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.503 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3599, 1.4906, 1.1442, -1.1419, -0.585, -2.0453, 0.9947, 0.3614, 2.1574, 2.1498, -1.422, -0.5575, -1.3365, 0.0742]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.132 left_yaw=1.4395 left_pitch=-0.4683 left_roll=-0.3675 left_gripper=0.9947 right_x=0.3795 right_y=0.2472 right_z=0.1724 right_yaw=1.7167 right_pitch=-0.4363 right_roll=-0.0212 right_gripper=0.0742\nstate[joint_eff]: [-0.0752, -7.4051, 8.0205, 0.1734, -0.4811, 0.0855, -0.0269, 0.0889, -11.3983, 5.9829, 0.5543, -0.4664, -0.022, 0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.416, 1.4994, 1.0428, -1.0801, -0.5686, -2.0869, 0.9963, 0.3614, 2.1574, 2.1498, -1.422, -0.5533, -1.3365, 0.0778]\nstate[eef_state]: left_x=0.2729 left_y=-0.0127 left_z=0.1025 left_yaw=1.4324 left_pitch=-0.4797 left_roll=-0.3343 left_gripper=0.9963 right_x=0.3798 right_y=0.2467 right_z=0.172 right_yaw=1.7157 right_pitch=-0.4403 right_roll=-0.0222 right_gripper=0.0778\nstate[joint_eff]: [-0.3761, -5.7504, 5.4222, 0.4225, -0.3834, -0.1245, 0.0024, -0.1846, -11.5624, 6.0513, 0.5055, -0.3785, -0.0171, 0.2076]\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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.416, 1.4994, 1.0424, -1.0801, -0.5686, -2.0869, 0.9964, 0.3614, 2.1574, 2.1498, -1.4216, -0.5529, -1.3365, 0.0789]\nstate[eef_state]: left_x=0.2728 left_y=-0.0126 left_z=0.1024 left_yaw=1.4326 left_pitch=-0.4796 left_roll=-0.3339 left_gripper=0.9964 right_x=0.3799 right_y=0.2466 right_z=0.172 right_yaw=1.7154 right_pitch=-0.4406 right_roll=-0.0227 right_gripper=0.0789\nstate[joint_eff]: [-0.335, -5.8462, 5.4906, 0.3394, -0.3834, -0.1099, -0.0073, -0.2256, -11.5487, 5.7094, 0.5055, -0.3785, -0.0073, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12064f341842be9e5e0bcb099a0e3271b433159b7ffd5bf3769f6e4031d9c0fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e949b11e1ed839af5da182716270f607eeb1649be46186d9c1450cd30ab1623",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5ac5980d6849f0aa1c52945f0ef754a83bc3541c17beaad7cb8ba3cae04cca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEc-lPLpzwChMORnwwQZrCoqq5vXZUBXczkSTi84hz155Ae-G7JcRNGUzsqrQI-1kKeW1XlM3c3wDaveEAHV8ob1cZR9fEMErZ_qpneLJTGqZiXkymVVhgKSs5VwDSomZonpSbS4N4SDk4KqnCfWmD-nDAQ1b37HFcpXWWFixawWw69LQFsNJbchTLSHqIs7j2fZVW8hjLwahzvGatxXU09RXmxd1ujQDKYIt48dUd6i5qadlNikKf-S6UbZWo3zKtVZe_rA29KwP9fWHguYv2ykNuS-Rm3LmnZunRQ2gxCRAOAyaJsxED9R5weXWZUEEzCmIL8R2B3LHI5GDBTIEMgjf-GojESftyv8ZoUjmFFn54l8OO_0XXte7Kj9VU25wPcYbVnu6IXzG8HoBNGkO1e5q9BnqWK_3bWtsfPApOu2vqgLmqp6f7apvyK3h4tV2CgXbmpUd9q9-XE1GxlohhVnsZBSzeNdM0-gIhlOGIfba-jkSqfWeLBS_z0kGB6fMNsLd8IKvkGM0QhXEZLeM9ai4s1jAqLoCdb-l_x-xiPh6g8g5dWwtlJXRWm7LYfj70qGpNrfNEZI3CkeHWT7EOo09PUgcXG6tUYkejgiQqmeVED4f28w5LMUzxERTAwWZ-TO9nEyu_bvSiqoxnuoczGpfU1R7Wq7CAC9NWX4JXGRtOrgc7XKX46aWxgdfhJ5LhD7TpZzRmrB4vbGyDvGhBYqlI3XJBXOAkCL98vrWVPyIbScsWSLWNUVzWRSMr-Z2-anHZ1MPGQiwbUeD_5cOnoByvBPzkVO4H31k-a5Y5h1SPgpvYDxRpJA27nCkNuqvaxVgJxqGDbcZE8HLwGaR2xIbyT2q-WAtV09h8yArrPX6MjULKYhyvz3tMrD1ztRkpwuuxfPUB3-pUQNlAQ6PmsZEjSu6wYnxLi1RZ3wZeRGgkYoVSyPUDHsls8IFd7xLwk1toXutyF6h3ZusMLFX1CdWH329RfU8qOq_pNKoHQWIXRHsNXjIMyyiPRauXv42uP6kECzSNgUMC29_ssuXehJfbYOKC2uSbrWAw4VaTnE9QKIyZybYf8DCSSTUv6X3d-VMHsc7tGr1a0bVuHy7i-mUUEuXF-MW6f4Dkg7YmksVhKbZzHe5uJULwNEHSXK3iFVCh5e64V48Upk5VAAoj4Q301sYi4NrBdu3-Iz2A4o-DgeneiY0rhlGPEqQVl3b06JabSQ4x63N1n1bXyzla-C7kVSOCNclCffAKd9egfYC9bvD_MlBoQXzRX2G8eWGzm8oNQZnduifMrEbarQhRGpe98lpwYUVOVDzw4pQxT7BldEp-pB6b6o7ydscPEpHRl0fLRpCz11799QcLKtl2g1tbg5-UfEKAoM4aMM-l3jlBLVU1Hm6SYLqF9jQkM0wW6VmK0lwc3760sb7JyOU_-2V3dqeugo8gpDx7ztdwQoEshGwAll4fCVNEVgKticP5Lt9MTc1l77BuWR8YlWtj2yCep6fHVyOllTqo_y6HTgyazGTe_Ah-6tmKHWWZUFnWP8kZpDHP9bFEOEWo_JuJK9_CWii21x0EgyGp8eGYmHV3fTQGN3-xD95mRYJ-aAz_0H80LIyocGp9wReeeKcqcSBPYR5_Q-qaR9v2p8FuRS9IrGuI9aL3NTpCHHGA08V3sc9b9P_2zzS5OKsjVSpuLhZzggC2AEtEGQplx9Vz8IJr1dCTRAa9akWyRoqB_25BrI0yZTaFpRxIWp39m1DjQ_0P6vgqkVUCaMKPFucgj5AqOC4czyTXLfBnjXCdJRrOW3OGX0oLI3CDluFu3Wb94quj_WgRADN2r19oqGFqALhBj5woLMvl_0gfn93MZaKH9v_5puQYSCTpWaJSyEUVEcGL8EshYFmYMhgZ5IubNNLhCX0NxRVYtEbXpXrckNlSGSwK6x4ownD2oG7TeHCKtS54OxNCKVKgrVa0aEYgy81enoYvFM7L5HIqSR0ox3wNQqO22po42b8Gm0xcVgOoLSq1JKiXlIk_yxVa-Y1yV-IsfS9t0avuN6hV4S5lwBz0O_4wnQVSFpM5KmtM9Qmb33TYiwrVjHylK0J9FxielBr7OonUMYWgvL8z6K6sLOOs5RCkwkFg9YMDGwqfxsgMdbZxZ7kD5fMUf7-z5oVw6NSHXE0UlSwGd6zL8c9yJzniA2juQnIfb1PKcS2mVF_4wuNLv9t3e0tu17r-CuPd4n6D0NlVHaaflCj2J4vQoIktg0wAzuOCrDei4hjasnHJBvy26ob0avmodZojDpXfrzjOaOcUWqeadGU-ILlUa26CwwoPDGeuKePuvH7zBmAxWHCbNpfGdgEuMMwp_SWXJlijPgCdkyrjw__67RG0wDMgG1fATIdd_x9ZrY76aU8VNc16L7kqGovkv7uoKTU4AkEBB7ycITq7WMEBJVh11BGDvV5kHsn1QpR_kooAimMiOb3yKjhDnSxEt_h2wzSgb0qnw=",
  "id": "rs_0be44dae70bec4a9016ab4473a4fc087d0bfc57478c8e67ce6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.0,\"left_yaw\":1.44},\"note\":\"The arm is stuck in the upper IK branch despite the intermediate request. I’m using the previously successful low-pose target at x=0.29, y=0 with the same yaw to trigger the known table-reaching configuration; the cap is within about 2 cm of this pose.\"}",
  "call_id": "call_PEVRKDsBSte51B5tUuvGxehi",
  "id": "fc_0be44dae70bec4a9016ab4473d1ab487d0b1781c1f55e35359",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PEVRKDsBSte51B5tUuvGxehi",
  "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]: [-0.3511, 1.6985, 0.8314, -0.6838, -0.5755, -2.0262, 0.9964, 0.3614, 2.1574, 2.1498, -1.4227, -0.5503, -1.3369, 0.0793]\nstate[eef_state]: left_x=0.2804 left_y=0.0035 left_z=0.0078 left_yaw=1.4684 left_pitch=-0.4595 left_roll=-0.2859 left_gripper=0.9964 right_x=0.3798 right_y=0.2462 right_z=0.1717 right_yaw=1.7155 right_pitch=-0.4435 right_roll=-0.0223 right_gripper=0.0793\nstate[joint_eff]: [0.4991, -6.4889, 3.535, 1.072, 0.3004, -0.2808, -0.0171, -0.1709, -11.2615, 5.7504, 0.5446, -0.3883, -0.0122, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e90febb27d463477ec2dbf890e6cea8a8a9a169737a84a1076aa6abef5cf8fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8254125666298a226c31f177228fcb5776728b2e7a2a79fc08e6e1f11e1e5db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228b88b0850afc04915dc33452fb48a648c71b9e1e312775b20a7d21470dba25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.493 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4088, 1.4548, 1.0592, -1.1336, -0.5762, -2.0861, 0.9962, 0.3614, 2.1574, 2.1498, -1.4216, -0.5568, -1.3369, 0.0757]\nstate[eef_state]: left_x=0.2668 left_y=-0.0068 left_z=0.1174 left_yaw=1.4346 left_pitch=-0.4743 left_roll=-0.3444 left_gripper=0.9962 right_x=0.3796 right_y=0.2471 right_z=0.1723 right_yaw=1.7165 right_pitch=-0.4369 right_roll=-0.022 right_gripper=0.0757\nstate[joint_eff]: [-0.6496, -6.8308, 5.3265, 0.3736, -0.4518, -0.1197, 0.1441, -0.1436, -11.3983, 5.8462, 0.5495, -0.3492, -0.0269, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.416, 1.4994, 1.0424, -1.0801, -0.5686, -2.0869, 0.9964, 0.3614, 2.1574, 2.1498, -1.4216, -0.5529, -1.3365, 0.0789]\nstate[eef_state]: left_x=0.2728 left_y=-0.0126 left_z=0.1024 left_yaw=1.4326 left_pitch=-0.4796 left_roll=-0.3339 left_gripper=0.9964 right_x=0.3799 right_y=0.2466 right_z=0.172 right_yaw=1.7154 right_pitch=-0.4406 right_roll=-0.0227 right_gripper=0.0789\nstate[joint_eff]: [-0.335, -5.8462, 5.4906, 0.3394, -0.3834, -0.1099, -0.0073, -0.2256, -11.5487, 5.7094, 0.5055, -0.3785, -0.0073, 0.1001]\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 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3511, 1.6985, 0.8314, -0.6838, -0.5755, -2.0262, 0.9964, 0.3614, 2.1574, 2.1498, -1.4227, -0.5503, -1.3369, 0.0793]\nstate[eef_state]: left_x=0.2804 left_y=0.0035 left_z=0.0078 left_yaw=1.4684 left_pitch=-0.4595 left_roll=-0.2859 left_gripper=0.9964 right_x=0.3798 right_y=0.2462 right_z=0.1717 right_yaw=1.7155 right_pitch=-0.4435 right_roll=-0.0223 right_gripper=0.0793\nstate[joint_eff]: [0.4991, -6.4889, 3.535, 1.072, 0.3004, -0.2808, -0.0171, -0.1709, -11.2615, 5.7504, 0.5446, -0.3883, -0.0122, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e90febb27d463477ec2dbf890e6cea8a8a9a169737a84a1076aa6abef5cf8fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8254125666298a226c31f177228fcb5776728b2e7a2a79fc08e6e1f11e1e5db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228b88b0850afc04915dc33452fb48a648c71b9e1e312775b20a7d21470dba25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEdBuDXWDHp5yloYtSZUnn1NbjtBXkv8cZ6RxDYEANWsRUkkcKF9O6pq_VMVnFWazHtuDBq4yteQrLErP751jdEBG8lyD4Ub4eN6tNkX0eGDr3W9tQXfDKXSScCbdg1qbwG5ph2sX9t8QnhL4aJ0r-hVbyjNXKMDRJw-bZm71W3pHH7TjMltDKtTFmhWHS8Kqc4O8MRd0MFrA5sk9zYs7RGH5JqVSBjKrFCTZkgyZJERYSOQSYGCN2GLr94q9pJsmfOh1xU8iac40FG9lARqL4tp4eSB2LtYZFEGQn9W3lKMT4GUdfE3PMr1X9EsjQAqfcwYKbx6l7NG0idi2fE4011MS6J0lB5tTX0u4eLuZJKKyesLY1xdKcR9Ny1mBd6j0_CCXZQBY75tozNye9qylRIJKVQpWhHOwZPqXwkylNXQiD-oIwiHK2kOR2Aqarvp_mozEK2AHBHG8A-EEoyZygJoh_4AoRMrJXmwJoxmyBkgvdljYoK28v3GaW2XULiWFYC_eVTzTLquuNX-lURD8N9tijo5-5cwiymAf3IxEBsr9R3ngGSmBPchDpWzYyKuIO4O8t7d78Q4h8ffuLYHcfAMyME7IAmrcpyZY1y_g6IxKyKpNN2iYSj_vAmt9BPgApJquZ7eD40ShXSs8uB4fhZm4qRb2YUhzsitOaxPDdKtWdgyCkXsyKgUJ5QOR-FtyRTR_0OD-OxIwvANsY_Z3_Io0kvnAx3E0o2-N-bAEAYi4vTAWjkXOILw73DOrOs1c-EiB8qZnnyZt3GhFW9qSB-kGfs0_gWrIi1bIs0GXMsEDYOYD6-EzGGFqK6Pfh5TsKyOLaATHUsz7awcruc6eoAXPIQxOjyPKYBoOJRA0vUBIK7PjtJReo48zNejGs2WUw60odKSfwlctTlfHdyDTtTUJBBSlops2uQBNdH_t5ohLYXX2cvBmxdIUZaSYphNYd_ia3oirKP8G6dk3MW8uKyH01KSKRmAXucQj1lko6KkC9XxKck70LS08_CfDtL1TYjtgi99y3FAnrF4Z7qHXHrRvn9IC-Bx1lOo4ZgcilHUrUSwKjNj4d0f1dMyRcCrFjsWW-PbIL53j9FvmyIQwSpQw8IE_io7L0GdXk_HE4X_fqyMdBZ6Ie_z7Isrzg6xra2Uq-wZxkLzzEkG9rVCE8cX9zie4aiXlexmh2CulA_wZW8iJaFM__H1A4Q2Cy7mH1KrNi8gbgTZVLpJfYZFxtkJ_04TSobFY5P7lsbeqEn0DQCeqyMfXOFXX17hH5KNOKgoXoPoHiKIPEI4ajN8ekKgq-mxeXuywaUal3ik-52UyCG9KPdgtoC7HqAjLlgHwAGw",
  "id": "rs_0be44dae70bec4a9016ab4474023f087d0b29fa42ed07bf99b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The known low-pose target succeeded, and a dark cap segment is now centered between the left fingertips at table height. I’m closing for the corrected reversed grasp.\"}",
  "call_id": "call_hy8ndNGXEUYyLCXu4YPrfGsA",
  "id": "fc_0be44dae70bec4a9016ab44740806087d0ab5987f96dff6440",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hy8ndNGXEUYyLCXu4YPrfGsA",
  "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]: [-0.3519, 1.7023, 0.8288, -0.6693, -0.5678, -2.0232, 0.011, 0.3614, 2.1574, 2.1498, -1.422, -0.5503, -1.3365, 0.0794]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.0057 left_yaw=1.4627 left_pitch=-0.4684 left_roll=-0.2907 left_gripper=0.011 right_x=0.38 right_y=0.2462 right_z=0.1717 right_yaw=1.7149 right_pitch=-0.4433 right_roll=-0.0229 right_gripper=0.0794\nstate[joint_eff]: [-0.0479, -6.8855, 4.9573, 0.1978, -0.3883, 0.0073, 0.9304, -0.212, -11.5624, 5.8325, 0.5348, -0.3248, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce1fa7d51832364e0cad7547129a1f5771f09b6900e8ccf5b2f47c495939520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df315e14bb7989f1e802a0c7ba3c7bb3a83b395e9e900bb2b189c96e22438643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9a51d0a9ef9e9b7e4bf2da8e836e65390848a75e18e8124613852b898fb4d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.17 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.416, 1.4994, 1.0428, -1.0801, -0.5686, -2.0869, 0.9963, 0.3614, 2.1574, 2.1498, -1.422, -0.5533, -1.3365, 0.0778]\nstate[eef_state]: left_x=0.2729 left_y=-0.0127 left_z=0.1025 left_yaw=1.4324 left_pitch=-0.4797 left_roll=-0.3343 left_gripper=0.9963 right_x=0.3798 right_y=0.2467 right_z=0.172 right_yaw=1.7157 right_pitch=-0.4403 right_roll=-0.0222 right_gripper=0.0778\nstate[joint_eff]: [-0.3761, -5.7504, 5.4222, 0.4225, -0.3834, -0.1245, 0.0024, -0.1846, -11.5624, 6.0513, 0.5055, -0.3785, -0.0171, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3511, 1.6985, 0.8314, -0.6838, -0.5755, -2.0262, 0.9964, 0.3614, 2.1574, 2.1498, -1.4227, -0.5503, -1.3369, 0.0793]\nstate[eef_state]: left_x=0.2804 left_y=0.0035 left_z=0.0078 left_yaw=1.4684 left_pitch=-0.4595 left_roll=-0.2859 left_gripper=0.9964 right_x=0.3798 right_y=0.2462 right_z=0.1717 right_yaw=1.7155 right_pitch=-0.4435 right_roll=-0.0223 right_gripper=0.0793\nstate[joint_eff]: [0.4991, -6.4889, 3.535, 1.072, 0.3004, -0.2808, -0.0171, -0.1709, -11.2615, 5.7504, 0.5446, -0.3883, -0.0122, 0.0317]\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 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3519, 1.7023, 0.8288, -0.6693, -0.5678, -2.0232, 0.011, 0.3614, 2.1574, 2.1498, -1.422, -0.5503, -1.3365, 0.0794]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.0057 left_yaw=1.4627 left_pitch=-0.4684 left_roll=-0.2907 left_gripper=0.011 right_x=0.38 right_y=0.2462 right_z=0.1717 right_yaw=1.7149 right_pitch=-0.4433 right_roll=-0.0229 right_gripper=0.0794\nstate[joint_eff]: [-0.0479, -6.8855, 4.9573, 0.1978, -0.3883, 0.0073, 0.9304, -0.212, -11.5624, 5.8325, 0.5348, -0.3248, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce1fa7d51832364e0cad7547129a1f5771f09b6900e8ccf5b2f47c495939520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df315e14bb7989f1e802a0c7ba3c7bb3a83b395e9e900bb2b189c96e22438643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9a51d0a9ef9e9b7e4bf2da8e836e65390848a75e18e8124613852b898fb4d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEdGotTAEglgxZMK31NqkVWb1BRXsXGXUu7r4boHOWV3bEzaTGDG6MeCpOlSAi-G4EVZ20amNw8M-qLgKFNbp5pNBiGAdf06P1C2OwvzO9NC2TBoKK9maHd5tHfKzUOvWSEJCfv9VHTH1doVYPRqufS1aREbOvo8EXx4sqOtAK2K-oqdhqoLs3E9DuwOJahMuNtaYSF5041FnJzO0DwsyVw-c_xv8zHEpbKBQqLPtGzKkWmfBIo6pBHhzTXIvs_AzLm_VSzJcY1EF1u_PeXQ7q_W9HHoQRHDM7IgpiEPyzs4Lju0UFcqys0RKwcpRgsksEjMXhc4UqRxCZSNVYAuxZdUx278D-PuEPI3HESlXPcoABU-rK9G5Xx75jQ4iNWmzWl27re3PibzmoLNn-KX8z1Lxvv4xTlzj0KEXZz81ntGHoPQQYludhA_AfLfFofPzkeeM02atSq8HhMg4gloJqjfl0KFggjbpjOj6klPyL2xi4y5Zj5zFwjchYjoud8ycYq6Bko_RPqy4ZHs4eNYb4NehKHfxyCbEymorGsy7Gt3O3628WHxuiWm3AnIy10XaS7zPojLs2LzIQauDJ7sPAevIyMb0y6qezF1qJtULh4JKazWMrUUOERfPHtql4ABZFT-nl39EW58dtwKyMw6emQfFEQjH4dcZbk3JZ_h2G1X4-byhB8nPpGYp1DGh49IJJKpC-Fqrs2CXHoybGEjnPj4hS23Cg-4ItvFjqZK3N3E9E-tXn6N3gVeNMj5B43oM-Xw7AXHjiAP8pMSyP9Fpmzc2QXmMvkeMZgWl3ObHFJTP5PoSBZys3eb2f9AZtC2yfLrHcQkqvhhGBDookMkwHknlrFLD3Xt1MHVUMG4PWUfLMd4FhPFOo5pa7fWYkanL5Ef0Ox1ne1S4Djn01X86fPxHZMpAiOYgfsyJ5M6olgVXgGRRnj15RQCF0evjZoE59aTwdteaqfBciHzEWQIZSL8Z5g-kIEle1a0FuFzgHEc2OeJbNm2ogBQXVc1iQoP9Dy5Hwgi7wbS2L390HLYloL508HP4qwHMY-GgDARSRMWY53xPpFP_HiwYtfyaLgRCCbCxJivcfDqsEw-uUTix9HVQ6YmJy34Nj9JZ0DH5hwSLUEcbJPPMc-KVqgkiQm4xmbp52XBlLwghypJ1hh3VKYl37DdQOUdFYP8Tp0Nx6EBEh5szU13-O1_TQI8VOOvngJ_uSR6AuGrKcNmthZypC15txJE4Ti9wNomVg7GnMBDwQjKxWTbIUPRw_SBhEWvVzH2eN-bdv0zLg25WZ3Pttqhr807VBS30ZTx7CCvtRI2RCeZVeZHH4TMEaOietSCgFBO7efTPEaZp8F1QyHMsPErF96x8N3hdMeZSeFDwZ2AY_zYYCLg1iq2Cw5ly75mX8tZnQhSwxxtGOxZ7mL9YQDFJc70R3FmesWVkKZDTrGLCLCD0ca5yUpk3-gbWEIdmo4tbYhEgxzQOBMkdzuuc7iZJpzONzctA_6GpbZCPVJ8IRQxhR-RGrV7D2qPiWg_06Qr6qvy2nPWJxKEBLCqK_kY5qSi5-RLhH2FuXKOkdEdCEWWUV94oSe8vIjMwPor8SSfB2H2GhAdzLNDMpQzcu3fe9hrmWjFvYgjFaDHa8yO1vqvKL8sqWdip_ngBAolDlMLWWG_LSHFTWeIqCwRdHf7vZzEQaSsPp6LKGwDO6kdmiwBp4DScUjOCgP2iNYrmr1_aFHzlSJLWQKk4vzcQM_PLrmov_V5tHAWRWjkoyxtM2hjJZalWq8EZPeBgRCDgxVcC2dPmvI97IAweXsZ2J-R1eSjx-RNnShFyrW-fOxZn25JJZB4tnMcBCOlISEAkuATlZPvedjg9rNVyt6sM22ogvEzrfGHcE11k_qwwigbxXHTjLEk98kktT_42z7waWldElp3VqKilBLZsE7IfCExurbG-NKSCk8Ogv5J_ku9qJHX04AohD1V4zE1hadKBS5YemUms1crS6OlMSO9n7Kh4rJI7dyK4MDMMrRduoxmWaG-2iB8aHR52ivXf5yx4xbikqXriRiF7kMDQqHNhSm6gcT9U_yNTVlkRn2MqFexZOo=",
  "id": "rs_0be44dae70bec4a9016ab447440c8887d08794fd24adb792a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.252,\"left_y\":0.005,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"The second close was empty, and the cap is now plainly visible immediately left of the left fingertip after being squeezed sideways. I’m reopening and shifting about 3 cm image-left at table height to center directly over it.\"}",
  "call_id": "call_8E4yYSxiEog8A8iYRmx7JTMp",
  "id": "fc_0be44dae70bec4a9016ab44745a3f087d0be3dd0ffb7d67161",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8E4yYSxiEog8A8iYRmx7JTMp",
  "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]: [-0.3794, 1.6188, 0.7353, -0.6384, -0.6098, -2.0426, 0.9947, 0.3614, 2.1574, 2.1498, -1.4216, -0.5503, -1.3369, 0.0795]\nstate[eef_state]: left_x=0.2662 left_y=0.0066 left_z=0.0099 left_yaw=1.4332 left_pitch=-0.4359 left_roll=-0.336 left_gripper=0.9947 right_x=0.38 right_y=0.2463 right_z=0.1717 right_yaw=1.715 right_pitch=-0.4432 right_roll=-0.0235 right_gripper=0.0795\nstate[joint_eff]: [-0.2667, -5.2991, 3.0701, 0.2564, 0.0464, -0.1587, -0.0415, -0.1162, -11.5077, 5.7368, 0.5397, -0.3687, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebc4cab24ce079bbfe165571a2677b06e62493089b5556a01ae35b9baa91eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f3a6a46ecce1c117a8b5b60f29a66b1f00ccaed9d0865621b93d835787fb6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce03c5f9a7f4e6421568ea1b1761651c33f777be46054985b1c533f9714efd5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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