adhoc - adhoc_995c9a2b.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 247.8 s
total steps: 380

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe short dark cap is left of center, while the long pen lies nearer center-right. I’ll send the left arm above the cap with the gripper rotated across the cap’s diagonal, then use its wrist view to refine alignment.

move_to

left_x0.3800left_y-0.1800left_z0.1600left_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, 0.6018, -0.3805, -0.0216, -0.0246, 0.9994, -0.0166, 0.7914, 0.6086, -0.3782, -0.0231, -0.0147, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3761, -1.5111, 10.5641, 1.7509, -0.0611, 0.0855, -0.0757, -0.841, -1.2239, 9.894, 1.8486, -0.0122, -0.0317, -0.105] 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":0.38,"left_y":-0.18,"left_z":0.16,"left_yaw":-0.75,"left_gripper":1.0},"note":"The short dark cap is left of center, while the long pen lies nearer center-right. I’ll send the left arm above the cap with the gripper rotated across the cap’s diagonal, then use its wrist view to refine alignment."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe cap is now centered on the left wrist camera’s jaw column and its long axis is perpendicular to the closing direction. It still sits just short of the fingertips, so I’ll advance about 2 cm while descending to table-level grasp height.

move_to

left_x0.3900left_y-0.1800left_z0.0050left_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]: [-0.292, 1.4258, 0.8352, -0.112, 0.3244, 0.1989, 0.9994, -0.0193, 0.7967, 0.6128, -0.3916, -0.0227, -0.0151, 0.9991] state[eef_state]: left_x=0.368 left_y=-0.1657 left_z=0.1333 left_yaw=-0.6831 left_pitch=-0.088 left_roll=-0.0432 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1809 right_yaw=-0.0028 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.4718, -6.0923, 10.0581, 1.9756, 0.2955, 0.2027, -0.0757, 0.0752, -1.6479, 7.0769, 1.8632, -0.0366, -0.0611, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":0.005,"left_yaw":-0.75,"left_gripper":1.0},"note":"The cap is now centered on the left wrist camera’s jaw column and its long axis is perpendicular to the closing direction. It still sits just short of the fingertips, so I’ll advance about 2 cm while descending to table-level grasp height."})

tool

executing move_to over 9 steps (0.9s)

step 26

assistant

agent noteAt table height the cap runs straight down the center between the left jaws, indicating good lateral and angular alignment. I’ll close the gripper to secure it and check the settled jaw opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2943, 1.8511, 0.6983, 0.3904, 0.3546, 0.2333, 0.9994, -0.0193, 0.7986, 0.6128, -0.3946, -0.0227, -0.0147, 0.9991] state[eef_state]: left_x=0.3832 left_y=-0.1765 left_z=0.0035 left_yaw=-0.7312 left_pitch=-0.1339 left_roll=-0.0592 left_gripper=0.9994 right_x=0.2942 right_y=0.0019 right_z=0.1797 right_yaw=-0.003 right_pitch=-0.0195 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [0.4308, -6.6393, 4.8889, 1.1111, 0.3199, -0.0366, -0.0757, -0.212, -1.4154, 7.0085, 1.746, -0.0562, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap runs straight down the center between the left jaws, indicating good lateral and angular alignment. I’ll close the gripper to secure it and check the settled jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 36

assistant

agent noteThe left gripper settled at 0.047, consistent with holding the roughly 4–5 mm-wide cap rather than an empty close. I’ll lift it clear of the table and verify that the cap moves with the hand.

move_to

left_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2951, 1.8671, 0.6983, 0.4145, 0.3485, 0.2272, 0.0474, -0.0193, 0.799, 0.6128, -0.3962, -0.0231, -0.0147, 0.9991] state[eef_state]: left_x=0.3856 left_y=-0.1765 left_z=0.0009 left_yaw=-0.7232 left_pitch=-0.1286 left_roll=-0.0567 left_gripper=0.0474 right_x=0.294 right_y=0.002 right_z=0.1793 right_yaw=-0.0027 right_pitch=-0.0214 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [-0.1162, -9.3744, 4.7521, 1.3651, 0.2076, 0.149, 1.2576, -0.2803, -1.1829, 7.0769, 1.7753, -0.0464, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.09},"note":"The left gripper settled at 0.047, consistent with holding the roughly 4–5 mm-wide cap rather than an empty close. I’ll lift it clear of the table and verify that the cap moves with the hand."})

tool

executing move_to over 6 steps (0.6s)

step 42

assistant

agent noteThe cap has disappeared from its original spot in the overhead view and the jaw opening remains nonzero, confirming the pickup. I’ll park the left arm high and outward with the cap while the right arm retrieves the pen.

move_to

left_x0.3000left_y0.0000left_z0.2000left_yaw-0.7500left_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]: [-0.2951, 1.6417, 0.8009, 0.0666, 0.345, 0.226, 0.0524, -0.0193, 0.7998, 0.6128, -0.3969, -0.0231, -0.0147, 0.9991] state[eef_state]: left_x=0.3815 left_y=-0.1747 left_z=0.0677 left_yaw=-0.721 left_pitch=-0.1477 left_roll=-0.0637 left_gripper=0.0524 right_x=0.294 right_y=0.002 right_z=0.1789 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [-0.0342, -9.2239, 9.0462, 1.5849, 0.1343, -0.0024, 1.0281, -0.1709, -0.9368, 7.0632, 1.7607, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2,"left_yaw":-0.75,"left_gripper":0.0},"note":"The cap has disappeared from its original spot in the overhead view and the jaw opening remains nonzero, confirming the pickup. I’ll park the left arm high and outward with the cap while the right arm retrieves the pen."})

tool

executing move_to over 16 steps (1.6s)

step 58

assistant

agent noteThe pen remains alone near the table center, angled forward-left to back-right. I’ll bring the right arm above it with yaw about +0.6 rad so the jaws close across the shaft.

move_to

right_x0.3800right_y0.3000right_z0.1600right_yaw0.6000right_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]: [0.3939, 1.2953, 1.066, -0.9081, 0.7277, 0.8516, 0.0524, -0.0193, 0.8021, 0.6128, -0.4114, -0.0227, -0.0147, 0.9991] state[eef_state]: left_x=0.3071 left_y=0.0043 left_z=0.1856 left_yaw=-0.6865 left_pitch=-0.1748 left_roll=-0.0759 left_gripper=0.0524 right_x=0.2921 right_y=0.002 right_z=0.1754 right_yaw=-0.003 right_pitch=-0.0397 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [0.212, -3.9316, 9.0462, 0.989, 0.5934, 0.2125, 1.0281, -0.212, -1.1966, 7.0222, 1.8584, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.3,"right_z":0.16,"right_yaw":0.6,"right_gripper":1.0},"note":"The pen remains alone near the table center, angled forward-left to back-right. I’ll bring the right arm above it with yaw about +0.6 rad so the jaws close across the shaft."})

tool

executing move_to over 25 steps (2.5s)

step 83

assistant

agent noteThe pen is centered between the right jaws and aligned along the jaw column, so the closing direction is across its diameter. I’ll advance slightly and descend to table level for the grasp.

move_to

right_x0.3900right_y0.3000right_z0.0050right_yaw0.6000right_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]: [0.3962, 1.2976, 1.0645, -0.9276, 0.7132, 0.8539, 0.0524, 0.6769, 1.6363, 1.0592, -0.0933, 0.0666, 0.0406, 0.9991] state[eef_state]: left_x=0.3035 left_y=0.0056 left_z=0.1814 left_yaw=-0.6822 left_pitch=-0.1973 left_roll=-0.0888 left_gripper=0.0524 right_x=0.3703 right_y=0.2871 right_z=0.1391 right_yaw=0.5877 right_pitch=-0.1078 right_roll=-0.0105 right_gripper=0.9991 state[joint_eff]: [-0.1162, -4.6974, 6.4615, 1.0867, 0.5104, -0.0708, 1.0281, 0.5265, -8.2667, 9.2923, 1.956, -0.0513, -0.022, -0.1001] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.3,"right_z":0.005,"right_yaw":0.6,"right_gripper":1.0},"note":"The pen is centered between the right jaws and aligned along the jaw column, so the closing direction is across its diameter. I’ll advance slightly and descend to table level for the grasp."})

tool

executing move_to over 9 steps (0.9s)

step 92

assistant

agent noteAt grasp height the pen shaft is between the fingertips, only slightly right of center but still well within the jaw span. I’ll close on it now and use the settled opening plus a lift to confirm the grasp.

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]: [0.3969, 1.2976, 1.0645, -0.9314, 0.7071, 0.8539, 0.0524, 0.6697, 1.9938, 0.9234, 0.3534, 0.0479, 0.0288, 0.9991] state[eef_state]: left_x=0.3028 left_y=0.0064 left_z=0.1804 left_yaw=-0.6791 left_pitch=-0.2041 left_roll=-0.0895 left_gripper=0.0524 right_x=0.3829 right_y=0.2969 right_z=0.0047 right_yaw=0.6023 right_pitch=-0.1551 right_roll=-0.0114 right_gripper=0.9991 state[joint_eff]: [-0.2393, -4.5607, 6.4752, 0.989, 0.3834, -0.0317, 1.0281, -0.5949, -9.0872, 4.7658, 1.7998, -0.0024, 0.1294, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the pen shaft is between the fingertips, only slightly right of center but still well within the jaw span. I’ll close on it now and use the settled opening plus a lift to confirm the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 102

assistant

agent noteThe right gripper closed to 0.009, which is an empty close, so the pen was not captured. I’ll reopen and shift the grasp point about 2.5 cm farther forward—the standard correction when an object looked centered in the wrist view but was still short of the fingertips.

move_to

right_x0.4100right_y0.3000right_z0.0050right_yaw0.6000right_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]: [0.3969, 1.298, 1.0637, -0.9318, 0.7033, 0.8543, 0.0524, 0.6693, 2.0079, 0.918, 0.3904, 0.0475, 0.0189, 0.0087] state[eef_state]: left_x=0.3026 left_y=0.0069 left_z=0.1796 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.3849 right_y=0.2984 right_z=0.0032 right_yaw=0.6077 right_pitch=-0.1376 right_roll=-0.0176 right_gripper=0.0087 state[joint_eff]: [-0.1709, -4.547, 6.3658, 0.9402, 0.315, -0.0366, 1.0281, 0.0615, -10.906, 5.6, 1.3162, 0.022, 0.0513, 0.7204] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.41,"right_y":0.3,"right_z":0.005,"right_yaw":0.6,"right_gripper":1.0},"note":"The right gripper closed to 0.009, which is an empty close, so the pen was not captured. I’ll reopen and shift the grasp point about 2.5 cm farther forward—the standard correction when an object looked centered in the wrist view but was still short of the fingertips."})

tool

executing move_to over 10 steps (1.0s)

step 112

assistant

agent noteAfter the forward correction, the pen is no longer visible ahead of the right fingertips, which is consistent with it lying directly between them. I’ll make the second grasp attempt now.

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]: [0.3969, 1.2976, 1.0637, -0.9321, 0.7033, 0.8543, 0.0524, 0.6449, 2.0415, 0.9905, 0.3508, 0.0242, -0.0093, 0.9946] state[eef_state]: left_x=0.3025 left_y=0.0068 left_z=0.1797 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.4018 right_y=0.3013 right_z=0.0057 right_yaw=0.6183 right_pitch=-0.1391 right_roll=-0.0243 right_gripper=0.9946 state[joint_eff]: [-0.1436, -4.4923, 6.3385, 0.8962, 0.2857, -0.0366, 1.0281, -1.1966, -8.3761, 7.5556, 1.6777, 0.0611, 0.105, 0.0659] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"After the forward correction, the pen is no longer visible ahead of the right fingertips, which is consistent with it lying directly between them. I’ll make the second grasp attempt now."})

tool

executing move_to over 10 steps (1.0s)

step 122

assistant

agent noteThe second right-arm close was also empty, so I won’t repeat the same approach. I’ll retract and park that arm to uncover the table, then remeasure where the pen has shifted before choosing a corrected grasp.

move_to

right_x0.3000right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3969, 1.298, 1.0637, -0.9321, 0.7029, 0.8543, 0.0524, 0.6437, 2.0453, 0.9928, 0.3504, 0.0216, -0.012, 0.0094] state[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1795 left_yaw=-0.6777 left_pitch=-0.2083 left_roll=-0.089 left_gripper=0.0524 right_x=0.4021 right_y=0.3015 right_z=0.0046 right_yaw=0.6209 right_pitch=-0.141 right_roll=-0.0247 right_gripper=0.0094 state[joint_eff]: [-0.1026, -4.5607, 6.3385, 0.8962, 0.3443, -0.0562, 1.0281, -0.1436, -10.4957, 5.135, 1.6435, -0.0171, -0.0122, 0.7253] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The second right-arm close was also empty, so I won’t repeat the same approach. I’ll retract and park that arm to uncover the table, then remeasure where the pen has shifted before choosing a corrected grasp."})

tool

executing move_to over 26 steps (2.6s)

step 148

assistant

agent noteWith the arm retracted, the pen is visible and has been rotated nearly horizontal by the failed contacts; that explains why the previous +0.6-rad grasp ejected it. I’ll approach the same center with yaw −1.57 rad, making the jaw closing direction vertical in the overhead view and perpendicular to the pen.

move_to

right_x0.3900right_y0.3000right_z0.1300right_yaw-1.5700right_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]: [0.3969, 1.2991, 1.0626, -0.9318, 0.7029, 0.8543, 0.0524, 0.0051, 0.9409, 0.7036, -0.4946, 0.0124, -0.0254, 0.9978] state[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1789 left_yaw=-0.678 left_pitch=-0.2092 left_roll=-0.0908 left_gripper=0.0524 right_x=0.3003 right_y=0.0029 right_z=0.1613 right_yaw=-0.0027 right_pitch=-0.171 right_roll=-0.0293 right_gripper=0.9978 state[joint_eff]: [-0.1846, -4.6154, 6.3795, 1.0037, 0.3248, -0.0464, 1.0281, -0.6769, -3.1521, 10.2632, 1.7363, -0.1441, 0.0904, 0.0464] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.3,"right_z":0.13,"right_yaw":-1.57,"right_gripper":1.0},"note":"With the arm retracted, the pen is visible and has been rotated nearly horizontal by the failed contacts; that explains why the previous +0.6-rad grasp ejected it. I’ll approach the same center with yaw −1.57 rad, making the jaw closing direction vertical in the overhead view and perpendicular to the pen."})

tool

executing move_to over 25 steps (2.5s)

step 173

assistant

agent noteThe −1.57-rad cross-table pose did not track: the right arm stopped at y=0.10 instead of 0.30 and sagged low, so I won’t descend from it. I’ll first raise and unfold the arm near its own side, then approach using the equivalent +1.57-rad jaw orientation, which should be kinematically friendlier.

move_to

right_x0.2800right_y0.0800right_z0.2200right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3969, 1.3045, 1.0618, -0.9325, 0.7029, 0.8539, 0.0524, 0.5358, 2.4382, 2.0247, -1.6623, 0.654, 2.0254, 0.9986] state[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1772 left_yaw=-0.6791 left_pitch=-0.2125 left_roll=-0.0972 left_gripper=0.0524 right_x=0.3692 right_y=0.0984 right_z=0.0556 right_yaw=-1.456 right_pitch=-0.2204 right_roll=-0.2096 right_gripper=0.9986 state[joint_eff]: [-0.0205, -4.7658, 6.3795, 0.8864, 0.2955, -0.0513, 1.0232, -1.4427, -11.3436, 8.5128, 0.188, 0.7302, 0.5201, -0.1587] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.28,"right_y":0.08,"right_z":0.22,"right_yaw":0.0,"right_gripper":1.0},"note":"The −1.57-rad cross-table pose did not track: the right arm stopped at y=0.10 instead of 0.30 and sagged low, so I won’t descend from it. I’ll first raise and unfold the arm near its own side, then approach using the equivalent +1.57-rad jaw orientation, which should be kinematically friendlier."})

tool

executing move_to over 11 steps (1.1s)

step 184

assistant

agent noteThe right arm is now safely raised and the horizontal pen is clearly exposed. I’ll approach above its center using +1.57 rad, which gives the same perpendicular jaw direction without the stalled wrist configuration.

move_to

right_x0.3800right_y0.3000right_z0.1600right_yaw1.5700right_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]: [0.3969, 1.3102, 1.0611, -0.934, 0.7029, 0.8539, 0.0524, 0.5648, 1.1103, 1.0431, -0.9333, 0.5713, 0.614, 0.9988] state[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1753 left_yaw=-0.6806 left_pitch=-0.2163 left_roll=-0.1044 left_gripper=0.0524 right_x=0.2766 right_y=0.0664 right_z=0.208 right_yaw=-0.2712 right_pitch=-0.2267 right_roll=-0.0649 right_gripper=0.9988 state[joint_eff]: [-0.0342, -5.0803, 6.5983, 0.9158, 0.3004, -0.0562, 1.0281, -0.3487, -2.7829, 6.3795, 1.3553, 0.2711, -0.0806, -0.1343] approver: 9 step(s) modified (delta_clamped ×9). 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":0.38,"right_y":0.3,"right_z":0.16,"right_yaw":1.57,"right_gripper":1.0},"note":"The right arm is now safely raised and the horizontal pen is clearly exposed. I’ll approach above its center using +1.57 rad, which gives the same perpendicular jaw direction without the stalled wrist configuration."})

tool

executing move_to over 20 steps (2.0s)

step 204

assistant

agent noteThis equivalent pose tracks correctly, and the horizontal pen now appears lengthwise along the wrist camera’s jaw column, so the jaws are perpendicular to it. I’ll descend with a slight safe table press to avoid riding over the thin shaft, keeping the grasp centered near x=0.40.

move_to

right_x0.4000right_y0.3000right_z-0.0100right_yaw1.5700right_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]: [0.3969, 1.3148, 1.0611, -0.9379, 0.7029, 0.8543, 0.0524, 0.4213, 1.9823, 1.7123, -0.8043, -0.614, -0.9257, 0.9988] state[eef_state]: left_x=0.302 left_y=0.0067 left_z=0.1738 left_yaw=-0.6825 left_pitch=-0.2203 left_roll=-0.1117 left_gripper=0.0524 right_x=0.3948 right_y=0.2924 right_z=0.158 right_yaw=1.4467 right_pitch=-0.2426 right_roll=-0.0808 right_gripper=0.9988 state[joint_eff]: [0.0205, -4.8342, 6.4615, 0.9744, 0.3199, -0.0513, 1.0281, 0.5265, -11.2342, 6.9128, 0.5885, -0.6569, -0.0855, -0.1343] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.3,"right_z":-0.01,"right_yaw":1.57,"right_gripper":1.0},"note":"This equivalent pose tracks correctly, and the horizontal pen now appears lengthwise along the wrist camera’s jaw column, so the jaws are perpendicular to it. I’ll descend with a slight safe table press to avoid riding over the thin shaft, keeping the grasp centered near x=0.40."})

tool

executing move_to over 11 steps (1.1s)

step 215

assistant

agent noteAt table height the pen tip is still between the jaws but shifted well left of their center, which risks another sideways ejection. With yaw near +π/2, wrist-image left corresponds mainly to decreasing base x, so I’ll shift the gripper 2 cm back to center the shaft before closing.

move_to

right_x0.3800right_y0.3000right_z-0.0100right_yaw1.5700right_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]: [0.3969, 1.3159, 1.0611, -0.9405, 0.7029, 0.8543, 0.0588, 0.4183, 2.2349, 1.4811, -0.4023, -0.6647, -1.0523, 0.9988] state[eef_state]: left_x=0.3016 left_y=0.0065 left_z=0.1733 left_yaw=-0.6832 left_pitch=-0.2221 left_roll=-0.1152 left_gripper=0.0588 right_x=0.3989 right_y=0.3005 right_z=0.0047 right_yaw=1.5586 right_pitch=-0.2447 right_roll=-0.075 right_gripper=0.9988 state[joint_eff]: [-0.1162, -4.7521, 6.2838, 0.906, 0.2906, -0.0171, 1.0281, -0.5538, -9.1419, 5.3128, 0.9011, -0.1685, -0.1685, -0.1343] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.3,"right_z":-0.01,"right_yaw":1.57,"right_gripper":1.0},"note":"At table height the pen tip is still between the jaws but shifted well left of their center, which risks another sideways ejection. With yaw near +π/2, wrist-image left corresponds mainly to decreasing base x, so I’ll shift the gripper 2 cm back to center the shaft before closing."})

tool

executing move_to over 2 steps (0.2s)

step 217

assistant

agent noteThe first correction tracked only about 7 mm and the pen remains near the left jaw, so it was too small rather than the wrong direction. I’ll continue another 2 cm backward, keeping light table contact, to put the shaft near the middle of the opening.

move_to

right_x0.3600right_y0.3000right_z-0.0050right_yaw1.5700right_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]: [0.3969, 1.3159, 1.0611, -0.9424, 0.7029, 0.8543, 0.0639, 0.4232, 2.2223, 1.4235, -0.3202, -0.7036, -1.0447, 0.9988] state[eef_state]: left_x=0.3013 left_y=0.0064 left_z=0.1732 left_yaw=-0.6836 left_pitch=-0.223 left_roll=-0.1169 left_gripper=0.0639 right_x=0.3923 right_y=0.306 right_z=0.0041 right_yaw=1.5715 right_pitch=-0.197 right_roll=-0.089 right_gripper=0.9988 state[joint_eff]: [-0.212, -4.6427, 6.2974, 0.9841, 0.3736, -0.0513, 0.7595, 1.0598, -11.6581, 4.3556, 0.8571, 0.2466, -0.2027, -0.1343] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.3,"right_z":-0.005,"right_yaw":1.57,"right_gripper":1.0},"note":"The first correction tracked only about 7 mm and the pen remains near the left jaw, so it was too small rather than the wrong direction. I’ll continue another 2 cm backward, keeping light table contact, to put the shaft near the middle of the opening."})

tool

executing move_to over 3 steps (0.3s)

step 220

assistant

agent noteThe pen stayed at the same edge of the wrist image while the gripper moved 2 cm, indicating the low jaw was dragging it rather than recentering over it. I’ll lift and retract again so the pen can settle and its new position can be measured without occlusion.

move_to

right_x0.2800right_y0.0500right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3969, 1.3159, 1.0607, -0.9504, 0.6876, 0.8539, 0.0666, 0.4282, 2.1548, 1.2778, -0.2138, -0.7292, -1.0176, 0.9988] state[eef_state]: left_x=0.2996 left_y=0.0079 left_z=0.1709 left_yaw=-0.6781 left_pitch=-0.2395 left_roll=-0.1179 left_gripper=0.0666 right_x=0.3695 right_y=0.302 right_z=0.0034 right_yaw=1.5704 right_pitch=-0.1635 right_roll=-0.0852 right_gripper=0.9988 state[joint_eff]: [-0.3624, -4.6291, 6.2701, 1.033, 0.4322, -0.0659, 1.0379, 1.3333, -11.2205, 4.4513, 0.9304, 0.0317, -0.0855, -0.1343] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.28,"right_y":0.05,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The pen stayed at the same edge of the wrist image while the gripper moved 2 cm, indicating the low jaw was dragging it rather than recentering over it. I’ll lift and retract again so the pen can settle and its new position can be measured without occlusion."})

tool

executing move_to over 21 steps (2.1s)

step 241

assistant

agent noteThe exposed pen is still horizontal. In the right wrist view at near-zero yaw it is far left and ahead, so I’ll first align the open hand over it at a neutral orientation by moving inward to y≈0.25 and slightly forward; only after centering will I rotate for the grasp.

move_to

right_x0.3100right_y0.2500right_z0.1500right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3969, 1.3197, 1.0607, -0.9543, 0.68, 0.8543, 0.0666, 0.3462, 0.9199, 0.7246, -0.564, 0.2157, 0.083, 0.9988] state[eef_state]: left_x=0.299 left_y=0.0088 left_z=0.1688 left_yaw=-0.6764 left_pitch=-0.2494 left_roll=-0.121 left_gripper=0.0666 right_x=0.2826 right_y=0.0656 right_z=0.1664 right_yaw=0.1053 right_pitch=-0.1786 right_roll=-0.0901 right_gripper=0.9988 state[joint_eff]: [-0.0068, -4.8342, 6.2838, 0.9402, 0.398, -0.0464, 1.0281, -0.6359, -2.7556, 9.2376, 1.6093, 0.2711, 0.1734, -0.1392] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.31,"right_y":0.25,"right_z":0.15,"right_yaw":0.0,"right_gripper":1.0},"note":"The exposed pen is still horizontal. In the right wrist view at near-zero yaw it is far left and ahead, so I’ll first align the open hand over it at a neutral orientation by moving inward to y≈0.25 and slightly forward; only after centering will I rotate for the grasp."})

tool

executing move_to over 16 steps (1.6s)

step 257

assistant

agent noteAt neutral yaw the pen is now precisely centered in the right wrist image, confirming its center is near x=0.31, y=0.25—not the earlier estimate. I’ll rotate the wrist in place by +π/2 so the jaws close across the shaft while preserving this calibrated center.

move_to

right_x0.3100right_y0.2500right_z0.1500right_yaw1.5700right_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]: [0.3969, 1.3235, 1.0607, -0.9565, 0.6621, 0.8543, 0.0666, 0.9401, 1.5948, 1.1442, -0.5983, 0.6353, 0.6415, 0.9988] state[eef_state]: left_x=0.2984 left_y=0.0112 left_z=0.1658 left_yaw=-0.6694 left_pitch=-0.2671 left_roll=-0.1182 left_gripper=0.0666 right_x=0.3051 right_y=0.2462 right_z=0.1394 right_yaw=0.0396 right_pitch=-0.2151 right_roll=-0.119 right_gripper=0.9988 state[joint_eff]: [-0.3077, -4.9846, 6.2154, 0.8767, 0.4957, -0.0122, 1.0281, 0.3624, -7.3094, 8.4718, 0.9988, 0.6081, 0.1538, -0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.31,"right_y":0.25,"right_z":0.15,"right_yaw":1.57,"right_gripper":1.0},"note":"At neutral yaw the pen is now precisely centered in the right wrist image, confirming its center is near x=0.31, y=0.25—not the earlier estimate. I’ll rotate the wrist in place by +π/2 so the jaws close across the shaft while preserving this calibrated center."})

tool

executing move_to over 10 steps (1.0s)

step 267

assistant

agent noteAfter rotation the pen is vertical and still close to the jaw column, but with clear space below it, meaning the fingertips remain a few centimetres short. I’ll advance about 2 cm and descend only to 6 cm first, allowing one final visual check before table contact.

move_to

right_x0.3500right_y0.2500right_z0.0600right_yaw1.5700right_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]: [0.3969, 1.3254, 1.0607, -0.9592, 0.654, 0.8539, 0.0701, 0.3954, 1.6405, 1.2297, -0.6136, -0.5533, -0.8795, 0.9988] state[eef_state]: left_x=0.2979 left_y=0.0122 left_z=0.1643 left_yaw=-0.6666 left_pitch=-0.2759 left_roll=-0.1188 left_gripper=0.0701 right_x=0.3333 right_y=0.2436 right_z=0.1444 right_yaw=1.3473 right_pitch=-0.257 right_roll=-0.1209 right_gripper=0.9988 state[joint_eff]: [-0.0205, -4.6427, 6.2427, 0.8767, 0.4567, -0.0513, 1.0281, -0.4308, -8.3761, 6.7897, 0.569, -0.5788, -0.0952, -0.1294] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.25,"right_z":0.06,"right_yaw":1.57,"right_gripper":1.0},"note":"After rotation the pen is vertical and still close to the jaw column, but with clear space below it, meaning the fingertips remain a few centimetres short. I’ll advance about 2 cm and descend only to 6 cm first, allowing one final visual check before table contact."})

tool

executing move_to over 6 steps (0.6s)

step 273

assistant

agent noteAt 6 cm the pen is fully lengthwise between the jaws, just slightly right of center. I’ll make a small forward correction and descend with light table pressure; this should place the thin shaft at the middle of the closing stroke instead of contacting one jaw first.

move_to

right_x0.3600right_y0.2500right_z-0.0100right_yaw1.5700right_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]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6502, 0.8543, 0.0701, 0.3592, 1.8919, 1.2205, -0.5365, -0.6411, -1.1152, 0.9988] state[eef_state]: left_x=0.2979 left_y=0.0128 left_z=0.1637 left_yaw=-0.6651 left_pitch=-0.2792 left_roll=-0.1171 left_gripper=0.0701 right_x=0.3431 right_y=0.2455 right_z=0.0593 right_yaw=1.5358 right_pitch=-0.2876 right_roll=-0.079 right_gripper=0.9988 state[joint_eff]: [-0.2256, -4.5744, 6.2838, 0.8327, 0.3346, -0.0317, 1.033, -0.7726, -8.6906, 7.8701, 0.9939, -0.6911, -0.188, -0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.25,"right_z":-0.01,"right_yaw":1.57,"right_gripper":1.0},"note":"At 6 cm the pen is fully lengthwise between the jaws, just slightly right of center. I’ll make a small forward correction and descend with light table pressure; this should place the thin shaft at the middle of the closing stroke instead of contacting one jaw first."})

tool

executing move_to over 5 steps (0.5s)

step 278

assistant

agent noteAt table height the pen shaft is now exactly centered between the right fingertips, unlike the earlier off-center attempts. I’ll close straight down on it and check for a nonempty settled opening.

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]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6384, 0.8543, 0.0701, 0.3553, 2.0686, 1.2186, -0.3912, -0.6666, -1.1633, 0.9988] state[eef_state]: left_x=0.2976 left_y=0.0145 left_z=0.1626 left_yaw=-0.6595 left_pitch=-0.2889 left_roll=-0.1114 left_gripper=0.0701 right_x=0.3549 right_y=0.252 right_z=0.002 right_yaw=1.5787 right_pitch=-0.2787 right_roll=-0.071 right_gripper=0.9988 state[joint_eff]: [-0.0342, -4.7111, 6.4479, 0.8767, 0.4029, -0.022, 1.0281, -0.6769, -7.5145, 5.8462, 0.6374, 0.0073, -0.022, -0.1294] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At table height the pen shaft is now exactly centered between the right fingertips, unlike the earlier off-center attempts. I’ll close straight down on it and check for a nonempty settled opening."})

tool

executing move_to over 10 steps (1.0s)

step 288

assistant

agent noteThe right gripper settled at 0.042, just above the empty threshold and consistent with the pen’s roughly 4 mm shaft. I’ll lift 9 cm and verify in the overhead view that the pen leaves the tabletop.

move_to

right_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6315, 0.8543, 0.0701, 0.355, 2.0716, 1.2186, -0.3824, -0.6857, -1.1603, 0.042] state[eef_state]: left_x=0.2977 left_y=0.0156 left_z=0.162 left_yaw=-0.6559 left_pitch=-0.2939 left_roll=-0.107 left_gripper=0.0701 right_x=0.3547 right_y=0.2546 right_z=0.0034 right_yaw=1.5831 right_pitch=-0.2597 right_roll=-0.0681 right_gripper=0.042 state[joint_eff]: [-0.0752, -4.7111, 6.2701, 0.862, 0.3346, -0.0366, 1.033, -0.3077, -10.7419, 5.2855, 0.7692, -0.1685, -0.022, 0.989] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.09},"note":"The right gripper settled at 0.042, just above the empty threshold and consistent with the pen’s roughly 4 mm shaft. I’ll lift 9 cm and verify in the overhead view that the pen leaves the tabletop."})

tool

executing move_to over 6 steps (0.6s)

step 294

assistant

agent noteThe pen stayed fixed relative to the right hand during the lift and its nonzero jaw opening confirms the grasp. I’ll present it near the center at a safe height, with the visible writing tip pointing toward the left arm so the cap can approach along the pen’s axis.

move_to

right_x0.3400right_y0.3400right_z0.1800right_yaw1.5700right_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]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6273, 0.8543, 0.0701, 0.355, 1.9667, 1.3571, -0.6228, -0.6815, -1.1603, 0.0438] state[eef_state]: left_x=0.2976 left_y=0.0162 left_z=0.1615 left_yaw=-0.6539 left_pitch=-0.2974 left_roll=-0.105 left_gripper=0.0701 right_x=0.3593 right_y=0.2557 right_z=0.0691 right_yaw=1.5806 right_pitch=-0.2624 right_roll=-0.0724 right_gripper=0.0438 state[joint_eff]: [-0.1846, -4.7111, 6.3111, 0.8669, 0.2906, -0.0366, 1.0281, -0.0479, -12.3419, 7.665, 0.5788, -0.4176, -0.0171, 1.0281] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.34,"right_z":0.18,"right_yaw":1.57,"right_gripper":0.0},"note":"The pen stayed fixed relative to the right hand during the lift and its nonzero jaw opening confirms the grasp. I’ll present it near the center at a safe height, with the visible writing tip pointing toward the left arm so the cap can approach along the pen’s axis."})

tool

executing move_to over 8 steps (0.8s)

step 302

assistant

agent noteThe pen is now presented horizontally at center height, with its writing tip extending toward the left arm. I’ll bring the held cap to a coaxial staging pose about 16 cm from the right grasp point, rotating it so its axis points toward the pen while maintaining safe hand clearance.

move_to

left_x0.3450left_y-0.1500left_z0.1800left_yaw-1.5700left_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]: [0.3969, 1.327, 1.0607, -0.9577, 0.6235, 0.8543, 0.0701, 0.5587, 1.9488, 1.7035, -0.8391, -0.5945, -0.9497, 0.0437] state[eef_state]: left_x=0.2976 left_y=0.0168 left_z=0.161 left_yaw=-0.6522 left_pitch=-0.3009 left_roll=-0.1038 left_gripper=0.0701 right_x=0.3449 right_y=0.3365 right_z=0.1649 right_yaw=1.588 right_pitch=-0.2633 right_roll=-0.0982 right_gripper=0.0437 state[joint_eff]: [-0.1573, -4.7658, 6.2564, 0.823, 0.2857, -0.0513, 1.0281, 0.5265, -10.8513, 8.253, 0.8571, -0.3541, 0.1832, 1.033] 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":0.345,"left_y":-0.15,"left_z":0.18,"left_yaw":-1.57,"left_gripper":0.0},"note":"The pen is now presented horizontally at center height, with its writing tip extending toward the left arm. I’ll bring the held cap to a coaxial staging pose about 16 cm from the right grasp point, rotating it so its axis points toward the pen while maintaining safe hand clearance."})

tool

executing move_to over 15 steps (1.5s)

step 317

assistant

agent noteThe writing tip is centered in the left wrist camera and both held objects are coaxial, confirming the staging geometry. I’ll advance the cap 5 cm along its own axis, stopping with the two grasp points still over 11 cm apart for a close alignment check.

move_to

left_x0.3450left_y-0.1900left_z0.1800left_yaw-1.5700left_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]: [-0.0975, 1.8732, 1.6817, -1.3582, 0.6701, 1.2915, 0.0701, 0.5579, 1.9503, 1.7012, -0.8547, -0.5945, -0.9508, 0.0437] state[eef_state]: left_x=0.3428 left_y=-0.1401 left_z=0.168 left_yaw=-1.5134 left_pitch=-0.3379 left_roll=-0.1556 left_gripper=0.0701 right_x=0.3423 right_y=0.3344 right_z=0.1619 right_yaw=1.5924 right_pitch=-0.2734 right_roll=-0.0817 right_gripper=0.0437 state[joint_eff]: [-0.4034, -9.0735, 8.1983, 0.2076, 0.6716, 0.3199, 1.033, -0.1299, -10.5641, 6.6393, 1.1697, -0.3053, -0.0317, 1.033] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.19,"left_z":0.18,"left_yaw":-1.57,"left_gripper":0.0},"note":"The writing tip is centered in the left wrist camera and both held objects are coaxial, confirming the staging geometry. I’ll advance the cap 5 cm along its own axis, stopping with the two grasp points still over 11 cm apart for a close alignment check."})

tool

executing move_to over 5 steps (0.5s)

step 322

assistant

agent noteThe pen tip has moved much closer on the left wrist view and remains centered; the grasp points are still about 13 cm apart. I’ll advance another 3 cm while matching the right hand’s x and height more closely, bringing the cap opening to the pen tip without forcing it.

move_to

left_x0.3420left_y-0.2150left_z0.1700left_yaw-1.5700left_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]: [-0.2226, 1.9194, 1.7573, -1.3796, 0.6579, 1.2114, 0.0701, 0.5579, 1.9503, 1.7012, -0.8577, -0.5949, -0.9508, 0.0437] state[eef_state]: left_x=0.3354 left_y=-0.183 left_z=0.1702 left_yaw=-1.5892 left_pitch=-0.3557 left_roll=-0.1968 left_gripper=0.0701 right_x=0.3417 right_y=0.3342 right_z=0.1616 right_yaw=1.5934 right_pitch=-0.2746 right_roll=-0.0788 right_gripper=0.0437 state[joint_eff]: [-0.2256, -9.1282, 8.5812, 0.5104, 0.3785, 0.0122, 1.033, -0.212, -10.5915, 6.5436, 1.0623, -0.315, -0.0122, 1.0281] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.342,"left_y":-0.215,"left_z":0.17,"left_yaw":-1.57,"left_gripper":0.0},"note":"The pen tip has moved much closer on the left wrist view and remains centered; the grasp points are still about 13 cm apart. I’ll advance another 3 cm while matching the right hand’s x and height more closely, bringing the cap opening to the pen tip without forcing it."})

tool

executing move_to over 3 steps (0.3s)

step 325

assistant

agent noteThe left arm tracked only 2 mm of the requested advance, indicating this sideways wrist pose is at a kinematic limit rather than that the visible gap is closed. I’ll instead advance the pen from the right by about 3 cm along its axis, keeping the gripper bodies roughly 10 cm apart while bringing the tip to the cap.

move_to

right_x0.3360right_y0.3650right_z0.1700right_yaw1.5700right_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]: [-0.2298, 1.9202, 1.7706, -1.3811, 0.6537, 1.1858, 0.0701, 0.5568, 1.9503, 1.697, -0.8581, -0.5949, -0.9512, 0.0437] state[eef_state]: left_x=0.3364 left_y=-0.1854 left_z=0.1729 left_yaw=-1.5774 left_pitch=-0.3601 left_roll=-0.2008 left_gripper=0.0701 right_x=0.3413 right_y=0.3333 right_z=0.1601 right_yaw=1.5936 right_pitch=-0.277 right_roll=-0.075 right_gripper=0.0437 state[joint_eff]: [-0.4855, -9.0325, 8.0479, 0.525, 0.4029, 0.0122, 1.0281, -0.2393, -10.4137, 6.7487, 1.0574, -0.3199, -0.022, 1.0281] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.336,"right_y":0.365,"right_z":0.17,"right_yaw":1.57,"right_gripper":0.0},"note":"The left arm tracked only 2 mm of the requested advance, indicating this sideways wrist pose is at a kinematic limit rather than that the visible gap is closed. I’ll instead advance the pen from the right by about 3 cm along its axis, keeping the gripper bodies roughly 10 cm apart while bringing the tip to the cap."})

tool

executing move_to over 3 steps (0.3s)

step 328

assistant

agent noteThe pen could advance only 1 cm and joint effort rose sharply, so the two wrist bodies are meeting before the visible object tips. I’ll back the cap hand away and offset it about 4 cm in x with a diagonal yaw; this creates wrist clearance while aiming the short cap toward the same pen tip.

move_to

left_x0.3000left_y-0.1500left_z0.1700left_yaw-1.1500left_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]: [-0.215, 1.9202, 1.7714, -1.3811, 0.6506, 1.1862, 0.0701, 0.5915, 1.9694, 1.7287, -0.8696, -0.5491, -0.8921, 0.0437] state[eef_state]: left_x=0.3394 left_y=-0.1799 left_z=0.1728 left_yaw=-1.5621 left_pitch=-0.3629 left_roll=-0.199 left_gripper=0.0701 right_x=0.339 right_y=0.3431 right_z=0.1575 right_yaw=1.5682 right_pitch=-0.3095 right_roll=-0.0583 right_gripper=0.0437 state[joint_eff]: [-1.7436, -9.1829, 7.9248, 0.5153, 0.5543, 0.0415, 1.0281, 2.9333, -9.6615, 10.0581, 1.2283, -0.4615, 0.0855, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.15,"left_z":0.17,"left_yaw":-1.15,"left_gripper":0.0},"note":"The pen could advance only 1 cm and joint effort rose sharply, so the two wrist bodies are meeting before the visible object tips. I’ll back the cap hand away and offset it about 4 cm in x with a diagonal yaw; this creates wrist clearance while aiming the short cap toward the same pen tip."})

tool

executing move_to over 4 steps (0.4s)

step 332

assistant

agent noteThe left retreat did not track because the wrists are still physically loaded against each other. I’ll first withdraw the right arm and pen along its approach axis while raising slightly, relieving contact so the cap arm can be repositioned safely.

move_to

right_x0.3600right_y0.2500right_z0.2000right_yaw1.5700right_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]: [-0.226, 1.9202, 1.7718, -1.3808, 0.654, 1.1858, 0.0701, 0.5926, 1.982, 1.7298, -0.8768, -0.5343, -0.8879, 0.048] state[eef_state]: left_x=0.3374 left_y=-0.1842 left_z=0.1733 left_yaw=-1.5731 left_pitch=-0.3594 left_roll=-0.1993 left_gripper=0.0701 right_x=0.3398 right_y=0.3416 right_z=0.1503 right_yaw=1.5632 right_pitch=-0.331 right_roll=-0.0471 right_gripper=0.048 state[joint_eff]: [-0.7863, -9.1692, 8.0342, 0.5006, 0.4225, 0.0269, 1.0281, -0.2393, -11.8222, 6.3521, 1.0965, -0.4567, -0.0855, 1.0281] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.25,"right_z":0.2,"right_yaw":1.57,"right_gripper":0.0},"note":"The left retreat did not track because the wrists are still physically loaded against each other. I’ll first withdraw the right arm and pen along its approach axis while raising slightly, relieving contact so the cap arm can be repositioned safely."})

tool

executing move_to over 8 steps (0.8s)

step 340

assistant

agent noteThe arms are separated again and both objects remain held. I’ll now place the cap hand diagonally from the presented pen tip; this keeps the bulky wrists about 18 cm apart while aiming the cap axis directly toward the tip.

move_to

left_x0.3000left_y-0.2300left_z0.1800left_yaw-1.0000left_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]: [-0.2291, 1.9202, 1.7679, -1.3849, 0.6357, 1.1828, 0.0701, 0.3817, 1.9697, 1.8435, -1.1557, -0.5873, -1.111, 0.048] state[eef_state]: left_x=0.3359 left_y=-0.1824 left_z=0.1703 left_yaw=-1.5752 left_pitch=-0.3793 left_roll=-0.2052 left_gripper=0.0701 right_x=0.3658 right_y=0.2562 right_z=0.176 right_yaw=1.5551 right_pitch=-0.3631 right_roll=-0.0249 right_gripper=0.048 state[joint_eff]: [-0.1299, -9.5932, 6.0376, 0.3248, 0.4567, -0.022, 1.0281, -0.7179, -12.8205, 8.5538, 0.696, -0.5641, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.23,"left_z":0.18,"left_yaw":-1.0,"left_gripper":0.0},"note":"The arms are separated again and both objects remain held. I’ll now place the cap hand diagonally from the presented pen tip; this keeps the bulky wrists about 18 cm apart while aiming the cap axis directly toward the tip."})

tool

executing move_to over 5 steps (0.5s)

step 345

assistant

agent noteFrom the right wrist view, the cap is now diagonally above-left of the centered pen tip with ample wrist clearance. I’ll move the cap along that visible line while slightly straightening its yaw, bringing its opening onto the tip at matched height.

move_to

left_x0.3350left_y-0.2750left_z0.1750left_yaw-0.8500left_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]: [-0.4648, 1.5494, 1.3258, -0.9703, 0.4667, 0.4801, 0.0686, 0.3775, 1.9675, 1.8416, -1.1664, -0.58, -1.1263, 0.048] state[eef_state]: left_x=0.2791 left_y=-0.2249 left_z=0.1684 left_yaw=-1.2001 left_pitch=-0.4281 left_roll=-0.219 left_gripper=0.0686 right_x=0.3649 right_y=0.2527 right_z=0.175 right_yaw=1.5602 right_pitch=-0.3735 right_roll=-0.0273 right_gripper=0.048 state[joint_eff]: [-0.1709, -7.0085, 6.4068, 1.2821, 0.0269, -0.105, 1.033, 0.0068, -9.9897, 6.2701, 0.9158, -0.4371, 0.1001, 1.0232] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.335,"left_y":-0.275,"left_z":0.175,"left_yaw":-0.85,"left_gripper":0.0},"note":"From the right wrist view, the cap is now diagonally above-left of the centered pen tip with ample wrist clearance. I’ll move the cap along that visible line while slightly straightening its yaw, bringing its opening onto the tip at matched height."})

tool

executing move_to over 5 steps (0.5s)

step 350

assistant

agent noteThe right wrist view shows the cap’s axis pointing directly at the pen tip, with only a few centimetres of diagonal gap remaining; the cap hand also sagged about 2 cm low. I’ll advance along that line while commanding extra height, pressing the cap onto the tip with the gripper bodies still offset.

move_to

left_x0.3600left_y-0.3100left_z0.2000left_yaw-0.9500left_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]: [-0.585, 1.6997, 1.4372, -0.8764, 0.297, 0.1032, 0.0666, 0.3771, 1.9675, 1.8404, -1.1679, -0.5766, -1.1271, 0.048] state[eef_state]: left_x=0.312 left_y=-0.2643 left_z=0.1513 left_yaw=-0.9479 left_pitch=-0.5098 left_roll=-0.2536 left_gripper=0.0666 right_x=0.3648 right_y=0.2519 right_z=0.1742 right_yaw=1.5598 right_pitch=-0.3776 right_roll=-0.0265 right_gripper=0.048 state[joint_eff]: [-0.2803, -8.7453, 9.812, 1.2869, 0.1392, -0.0415, 1.033, -0.1846, -10.4, 6.147, 0.7546, -0.3834, -0.0122, 1.0281] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.31,"left_z":0.2,"left_yaw":-0.95,"left_gripper":0.0},"note":"The right wrist view shows the cap’s axis pointing directly at the pen tip, with only a few centimetres of diagonal gap remaining; the cap hand also sagged about 2 cm low. I’ll advance along that line while commanding extra height, pressing the cap onto the tip with the gripper bodies still offset."})

tool

executing move_to over 5 steps (0.5s)

step 355

assistant

agent noteThe cap arm again stopped short in this extended pose, but the diagonal alignment remains good and the wrists are not touching. I’ll complete the insertion from the right instead, moving the pen tip toward the cap while lowering it to the cap’s actual height.

move_to

right_x0.3400right_y0.2900right_z0.1700right_yaw1.5700right_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]: [-0.5964, 1.7077, 1.4551, -0.8635, 0.2577, 0.0227, 0.0666, 0.3775, 1.9675, 1.8408, -1.1671, -0.577, -1.1271, 0.048] state[eef_state]: left_x=0.3193 left_y=-0.2668 left_z=0.1541 left_yaw=-0.8713 left_pitch=-0.5097 left_roll=-0.2508 left_gripper=0.0666 right_x=0.3649 right_y=0.2522 right_z=0.1744 right_yaw=1.5599 right_pitch=-0.3768 right_roll=-0.0275 right_gripper=0.048 state[joint_eff]: [0.1026, -8.6906, 9.6479, 1.4969, 0.0073, -0.0659, 1.0281, -0.0889, -10.3726, 6.0923, 0.7204, -0.3053, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.29,"right_z":0.17,"right_yaw":1.57,"right_gripper":0.0},"note":"The cap arm again stopped short in this extended pose, but the diagonal alignment remains good and the wrists are not touching. I’ll complete the insertion from the right instead, moving the pen tip toward the cap while lowering it to the cap’s actual height."})

tool

executing move_to over 4 steps (0.4s)

step 359

assistant

agent noteThe wrist views reveal that the dark closed end of the cap, not its opening, is facing the gold pen tip, and the rising right-arm effort confirms another wrist contact. I’ll separate the pen while rotating the cap 180° about its grasp so the open end faces the pen for a correct insertion attempt.

move_to

right_x0.3600right_y0.2000right_z0.1800right_yaw1.5700right_gripper0.0000left_x0.3100left_y-0.2500left_z0.1800left_yaw2.2500left_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]: [-0.5934, 1.7077, 1.4551, -0.9195, 0.2386, 0.0227, 0.0666, 0.4381, 1.9541, 1.7813, -1.0565, -0.5537, -1.0225, 0.048] state[eef_state]: left_x=0.312 left_y=-0.2564 left_z=0.1478 left_yaw=-0.8593 left_pitch=-0.5684 left_roll=-0.2488 left_gripper=0.0666 right_x=0.3612 right_y=0.2758 right_z=0.1664 right_yaw=1.5272 right_pitch=-0.369 right_roll=-0.0336 right_gripper=0.048 state[joint_eff]: [-0.1162, -8.5402, 9.6889, 2.0879, 0.2027, -0.0464, 1.0232, 4.0137, -12.4923, 5.1077, 0.5153, -0.4078, -0.3199, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.2,"right_z":0.18,"right_yaw":1.57,"right_gripper":0.0,"left_x":0.31,"left_y":-0.25,"left_z":0.18,"left_yaw":2.25,"left_gripper":0.0},"note":"The wrist views reveal that the dark closed end of the cap, not its opening, is facing the gold pen tip, and the rising right-arm effort confirms another wrist contact. I’ll separate the pen while rotating the cap 180° about its grasp so the open end faces the pen for a correct insertion attempt."})

tool

executing move_to over 20 steps (2.0s)

step 379

assistant

agent noteI successfully picked up both the pen and the cap, but I could not complete the capping operation safely. The first coaxial approach presented the cap’s closed end and the two wrist bodies contacted before insertion; after separating and flipping the cap, its opening faced a direction that would require reversing/regrasping the pen or exceeding the left arm’s cross-table bound. Continuing within the remaining geometry would risk dropping the objects or colliding the arms.

give_up

hindsightFor this task, identify the cap’s open end before grasping and grasp the pen near its back end so the writing tip protrudes farther than the bulky wrist. Two opposed vertical grippers on this rig begin contacting when their grasp points are roughly 12–14 cm apart, while a midpoint-grasped pen plus short cap requires less separation; use a diagonal approach or regrasp near the object ends. Also, a ±π/2 yaw is strongly configuration-dependent: +π/2 tracked for the right arm, while the opposite pose stalled.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2207, 1.5574, 1.4551, -1.4696, -0.4137, -2.0861, 0.0666, 0.2562, 1.9438, 1.7592, -1.2263, -0.588, -1.2716, 0.0479] state[eef_state]: left_x=0.2431 left_y=0.131 left_z=0.179 left_yaw=2.1127 left_pitch=-0.6169 left_roll=-0.2432 left_gripper=0.0666 right_x=0.3636 right_y=0.2002 right_z=0.1577 right_yaw=1.5715 right_pitch=-0.4032 right_roll=0.0056 right_gripper=0.0479 state[joint_eff]: [-3.0838, -6.0923, 6.6256, 0.779, 0.5153, -0.0904, 1.0281, -0.5675, -12.9162, 8.1983, 0.3394, -0.5836, -0.1294, 1.033] camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I successfully picked up both the pen and the cap, but I could not complete the capping operation safely. The first coaxial approach presented the cap’s closed end and the two wrist bodies contacted before insertion; after separating and flipping the cap, its opening faced a direction that would require reversing/regrasping the pen or exceeding the left arm’s cross-table bound. Continuing within the remaining geometry would risk dropping the objects or colliding the arms.","hindsight":"For this task, identify the cap’s open end before grasping and grasp the pen near its back end so the writing tip protrudes farther than the bulky wrist. Two opposed vertical grippers on this rig begin contacting when their grasp points are roughly 12–14 cm apart, while a midpoint-grasped pen plus short cap requires less separation; use a diagonal approach or regrasp near the object ends. Also, a ±π/2 yaw is strongly configuration-dependent: +π/2 tracked for the right arm, while the opposite pose stalled."})

tool

give_up: I successfully picked up both the pen and the cap, but I could not complete the capping operation safely. The first coaxial approach presented the cap’s closed end and the two wrist bodies contacted before insertion; after separating and flipping the cap, its opening faced a direction that would require reversing/regrasping the pen or exceeding the left arm’s cross-table bound. Continuing within the remaining geometry would risk dropping the objects or colliding the arms.

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 · 11.35 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3805, -0.0216, -0.0246, 0.9994, -0.0166, 0.7914, 0.6086, -0.3782, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.5111, 10.5641, 1.7509, -0.0611, 0.0855, -0.0757, -0.841, -1.2239, 9.894, 1.8486, -0.0122, -0.0317, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd778ac7f96979adf690f6bfaf9ee03b4c6e7507b297f3772c222e4c0ff8e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c50a4f2fd25c0690b9a7fb584517e076ae3d7364878b5b53f4cc12135803af64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf8d66126e4bb6498b1e1bad5a02bf6d33166f8163f5efce73608af7091c63a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.232 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQScHMRVGVAyWcaefhO_Ev7SaWBcdB0RV1YUMk_PoFxkfdnYU3q-BlO5rOnz39KDdkvc6NMjUn8_eplGoJH6iQgB_ba7JNzVBwZ-8FT11HHvigWKh4HcYgR2BwIym3J4OvrSl3DDANfASOGnpNrXUfW0hGaAUw019H3cHxHdLDxSUEDmoiF8ibfIGgtOQWSTErcduiG7GcgVpAhdtfQCcL-eQkvqSeXsqVzJl1Ec-8vVeJy-dTDrLk-dwmZzdMcrBRii_VXYP8EC4LTn8oWefdyn5ghpUZcS9Y-3Gii7TzPUgwljFNDuy6AFGBk_A3wkNY_x_RkniSdoQvPKh0tgOXeb-LjW3S8STIlaSEIBczLKtSvn9QLeexfp_TfLwc_oACvvYwpkNi0TjmCT5chaGP7ipLqhcrYwo-c6pL_yOq19pvvYSDH6qO8PofgGKoG4sN-8LoYCXqzYbVe6mp03iFyHR305FIFCq3vDmqyZMG32ZSjvwWE_OJj-rZVQRoKakf5dy591Tn54cKxJIv_PK2z7OVf9RUJ1UOxVFWXeGqx__uDENxipyF4_kiDNs52hKFP6z1JamMiREE-dXoCVv4nx1KiXulDlHcn6di-6aPI69P49t0zB9p1CdVT9q_zzFUyKRO4vtazQJfSDpRpzj8fnnd7mMWAuki1ehakHw260EXsvgAzcSqbrUjRPppwcwEHVHg00xEIiMkGLRxtJ46D1HkxYX9xJ18ZDXn9ckbLE45OkQ-LRnO0Elhwqr9X3KTifgaNQnCML9aoNDoTqD6V2ttk-bUOj_ZQYxOE3xcaJpqHWGtXUuQbV0ZSkFVM343Xx3mmutvVn196SN71mae_4_g3tZ-R1AP0PSKJxVxL3D6xiasFFsoPoA4GrMZEGOb5wi9LNJe_KBCv-qnMG2-sdWNobKrGvqvCQ2muFO5M2RfkJu6uOelq2pnMKCA0srMPw7pnXavC68Fs1ryfTUZLRwul6t-FqP_FjOJr4DLiRQ0c4uIcHpXFsdldZ3i8Q9AmGNeJ0JFW-CUEmUaNfx58XnaTFOuR5-Jg1H5hxAB4OJlB1jytAbHGw3pPwCXhUG1WLmaffkZM_MQcORt4rkpHKdVaNxntH0hmbVGnDrwRWxWgPXFk_W80v-TypNqtBHnY6w7vHwIpNgAXycwEWdXWqhrpX1QV3biFQPI6LjTcrKDgqSnTtQrRK60adb42gFxiniI13AcKuMObc7ehGqObdSIqpKJh1Hqubl9CHTNj_iHLO6V3Y806xR-b_9p2kBPlupiSW2CMXAoL-AexeWl6AZ4o_O8N_e0bQSsbeBUnLwld4ZJfyKO40OtKdsYTUomtH6_mxrFAUnUaqFcnuMueoxJWQFqkecSgZoMJfQOP0T8eiR0shlVKUTq2rdyF64C0Oky0rculqFZCPnJEIAzsdp7A0ln1wyfYHgiXOmdeEb0hbh7nUTWl9xF6vp7psY416_CnNidXzvlVSHFWqbmVs6a_RMWcDhc_7x1BYwbOKoWp69CZpq_Xep4Z5VhPRKsrx57Q9FRcKLHEUmraHLRqvRJbt9NRTcJJayGXWp2fnByxNMdHPBlq5UA3SH_WLKShN9O_BLYtkZbgjC02bOjZ0HCE5xiI0cEi45VIQplkIg-ozUonbc-xdCLfivOl0rkC5U312VxFEo5OSLDaV4B1XjIItlNbHsOssv0o0HhBl0gVMblDcSL47xRoZihNKI6Ar70WEffxYVZmbAEKs-oNgMewaKXftMJbY-DVx0geMauNcolw8TleASniO_IR223vMoIJXcF1Tul99gYHCCVRSCwl-RD4oKMIGzofnkehNbqyB6PoyoOTfA4yhopTnIHx7BYAvN65xtCtwlO0dkCSnCAKVo90SkppzkmOQUPIbGqidY9KQiS90Is9N9DaWzlOE6zm3e1X0ShKkH7MYnNeeJF1VohkL5jT_wxnvgI6kxYZh1meyZxCINApUaMC8nWfx_RrQ0P9zLnIouPHLbXntIxcbkL7A8lTUpjbrhAC2hJHwWGRNtVKM5yTxyaD8YiXnuNW7T2MeaYzMgChoih2CTl4BxZ9rvBC5Ekp-vE_9ia3P7kCSam58ffWJKHlGeEQKL4FY-vVDi0B4f3GpSBK4-DNQ8rW3tMaJAJ3e1BwM83_9MJ2ftetpSe0OoYrEbRcvS6-Kvv8VTaI4iiGeWJ3NLTwdEM92RIDkq9Qv6hviyhWh6EU64li7iVx0AL1UaVd5nYckB4ztAc7KDS-7x3yGmhl_azapaRYCuJDjU5GuS2qRPhN2Mw07Rd2mCs2MLF6zc5tQ2BtGYST9QWCQZqucX1Q2obD4nIsxJWQjuGC0kRstmAEBj1nkXzStAnVLuHuzGF-fNhMMrGeu8ZxMLGSL5YKJ5um6zuBHok59QePhxl48F_jxTSvpIHOQ1Wm3qSnlnNB3Mfch92L1hE38RV2Zluoe98SOEAqElXnGk-xafT7TV6iTsUXCVdUcOX9ajWe0-Ol0--nbbIpMXMI_WxQ5zKiYZYl6mhIlVuGKG4vsc3L7f1tP6QnIyhqHnb0fjk6dCKbJfx--1VXTVJlTkO5WX3wb51gJRGO6e07kWy3JB9upx403ofw9L1c50gVdVD7zswQxTCJt3892aY5QGA3AcW83zap2rmuvc6shxigPzAw3ZofV6_ELvZXAKy1I6bS1iJjx7HvB4Ji28qUsqNM4YMJ6QZWZuRE0z4wvEdaZVprGCEbrr8mujW_kVk5r02pdY-G1eJr_-vpA-supmX3-Y41uHPB5wNPR-LtCjlImCtE1ooFxXjOUZVfTP-hYxs5nGBMiplXPOTqNIcxd6JfJ_SolWUJs_W8vz7RJ5Tpd1kEqqGia3r7FybrWRYm5Top-LcNpoKIkup1VThbnoXxJ83w0f4CxgZnWI4_0aN-kBVhdglTVA_4-Igdc92KcfUxEyZ3NidiXhE3O2zTUKect5XwLfD6beGljb37AD2NpjMU2qbtOUerMQtItQwFS3-tZwx_e_crgr3rEjo_nPqKVfBC2Jo6_0L9n3y6H9ownhBxj1f4gPwSRi0qLLUfW30AZ0L4Z62m3qCvfAIW53mK7RMYdiwuHLzKNSzNs0ujGwvejacjDDNcbkM8wZuzkyO19nc-CRT4e3mRSJdBw_mrHcjC4GrJGcI5fvr_7L_y-5x2ulQkAys3QWmMc7_Zw-6v8Mh_6_onI5gKUMlBZgF1YcXJnnvHlHjKC88DhUgFSw5ES_vl1NPHjrjNEyZS3aZrEdjcgNqYLYg8-rt31nY9QhHqG-NZnOMQ2-uE50_JckqFsQCOjhUuPpiutlb985u4OhFSUntGXhj1-6tMc29mhoyzGUR1dAkSChnGNBetiOIX4d_BScUuTJNw3utWJosKeTgEAeLo-j0zQU822mejPiy2VHwlsTyuxMM8tUmkEuEuU01cwuamL_7j8f9ED2g8gjEt18GkKTJb6HlR7YFZlgsvZoh8yld9QjWv0985o2997wTxLIkxxTlM6uh5HxXPLJ0KAHFQOudg0qGovFgGVrWJhd69VHf1oO7LvBQ-1s80FuGh8T4NcRQ8unvyvbDYOLFqWl89G3G54mIctW-FPQLOaHLjxHIcl5PxvWtPVyyeJJ_8XfBqWbhCBA0MSnxVFYK46FOZPWXtfzi8XdCprM4InrZyrKwepe9k52jJvko8B6D6xDcPoBL9KQVLfF-Bz4VBRYuzbRHSYlPl12XfIv8qBpJr-WZcNE5pfc6iKBtQzaedBkX7sf8TMUQkB8ic5QFT2MQTBmWHhoXS_VMP3saDY0dClAwlamyTe2zUqquBr1vt6MjXNjprn332LfWXN9sjD28t16KJjI0DqF49ZA==",
  "id": "rs_03cbd193bde188ff016ab45407c79487d08a142ecb4aac4144",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQSURLe9CXABvCose081y-l4GH2w3sMB70ORWuYSZ7EZB_bYxBtWxEZD71wo1mrPaggfFIXOFO1iNxrQrRnEfMwtrzPA5UyeuDpBQ4xpQ3LAP9ERHu8OqMkKdhTkLyQjaEpRspO8vL-D_UDfllecf2amh88K-oTZ67G7bWVNuYERmdx7DvHpVlXc9uqa7_ajSm5RZ_NmaQ5_PzcgtG15g39IcUtMPm1weqln3SooHGXfNJKBj9zoPMY_A-7z-r3xyS2xP4JgIIOg-JC-bTeoBoHbzC_aYOuP6b3EdyppVdxa43djUi25gMYLZHft40qaFXhgD5f-mYRCx6yTa2JjCkBzSjGgs-RKbVwontEipntsn6Inc7AQo0qDF1wAjs_34wxDieHltH6zXpCTP0f6shf-V2WF5hS-NrDYB0fZfVhdzQpfJHI7G9VANW89QD-zlV2c_-AQwXIL9-8ZgIq8UJS8dxfbhrngOF-iC-scib_rRv307tRmArnd0AXdPV4etLTxT6I5eGqJdwXbpfh8QqHQW58LnAx5NYg51_R623AcxzTWG9nfju0ON_a_9Fjbp4zU4N-4MYr4qFYrWB5GZZkaweKBa0K4qteeBGmo5mDGLuEShReRrVZVCszyARxtjbUV3-KMkJHg32_kzV4VPz6KcDtfGWzgPVuYooyoY3D6XXPc4ckrXm6YpKQtjy10arwu8tSJs7qbCXrG_LcxiEAPoXHnwlm-_FUMzAcooZ3Od5vxD3AwiBZPaSfLQKPsGm_OaFcuRuQ71ZNWQfgY_sllxhY5-ON6nvE8iOVscSYE3fzjuFQpFdFN0yKkmjMsEuk9UPqTLgQovCrLgwGYhSI6dIBIoBYU9D9hogNi8039tuQqUJIDe5Ko-XRJH_1dUtZc_R8q6vuvVsIp3pErfYDe4HHVZWjTr5gMwXyxRLKWRy-w1jEkMkVb4EWjfl5o03VZwDFJ5FOvbx6a32OXhtX6FpKnb3n-CmIb56F9oW46QFEbr2jF1C0e09G-AYx2pKi-sgWfW5x_gIlZYNEcNRJQVlNbMK3tRHxsZztFbYRMu8pLlTDZkOCaXHqfPWo1X1d4d76MtWntyTBB2e_iY1mKqffPQXQOrEZgUo7tQXknUkbBY9bT2wQdIFgXueDHPtoWXfP6LfZWCx4Xhv5B7RwSO50cK_xbyhiexswJhxD6oPzShNf8fnrzGH241buXPd3GFQbmvETsGSF7BE5dDaX7vQSdPdnyuwoNdzFtPAuTsZvO2GJyYLirtTUj9i8fTZcFFUSdk5ykA95IIJy7eS56t-od5hJLA0VEAg6x3SoFJfTW-fzYCXaSdWVbdHpfZJS06wXkglSgyfc72hFii_RN8CsWQDicQNF-Bu94PGGR0hQmTunYhaOTLj8Xm6ljMM7wlFe9TGlWOUCSUB7oSZrlvLrZtRLvLbhsKotdqfN-ZdN5wwkuQv0W1wfu3_Dr-HXHQNclYpcMsXODg7pJxY7ZlNNypmLgSNGk11pykcTvXKx6cpi9NwhsF0yXpQK5SibW4sm4K_7CcLV-zEIYHrFVHSVe0iY_BdbqmMhbVe59wimoUuWZPipvMHdQ3l5EPIaro2mbWs70um5N81jWpYE9cRXl5u5qhEj7g6WCP_8KFD71QOBfmWrcAe3F1J-hSZgjPiytY8fGhb9GpJP3fAR8GKsxOmcqRgnv7esqWDjnhODGAzWDaMx2uFdyvNwpRTEEy0L3x39bPhBhQ4CYHENtb5fn5NCnygIntETaYqBNIlR2golKszQ_U_FqbYS2i-IDVMUvEaHC8whxPQzpa6LD1OrZ-gTj9E2tC49YwOkbcCNSjRwdCTkD_N0RZef4Eviq50cMIAbywFyHl1s4ynwOKAmV-1TE4rVWAtZIDNBc9O9-RMrVKjZ5QsXI_8BhRGL2ozSYeTFiEdyPVz6JSJ3qKxGUCVeJ7klZDg9Jpi8-2XDca4jGOv04-cG3L_jv3yjSZKIrSwz9zKjA4F5LTr5c_t6wX2CodiZVvzRdKY8guMukP2Ejyqfc8p64eQD_jQOPshjGxIEh_my0bqUjtDif9AC4EvxEPGwk67wwEzMrqiVpGGntrI1oFX01c9ZDN-uSY4r65Iu87NvyeiqCFca3YpQCEm1tCMBqjxeGRnI4Bd6G-_vlmVbL-_reVrQwaH_Bm5gfn7MsRydrUjhTLRtMT3vjLVQwMcucKK4iNfsbfocgxLmkubg4_PQOhsv5qrDHz4K2A4W0xK5FnMjtYS7-PO47wuMQQdNT9msFDJDOmFEuSjrfc4mRHnsAtjKeiPCCjx7cw-CaCDpchAlp_qNw96qdLCIkNFREJggfiUYcbc2BBCfq7BPj6qotI8qFUgjggm5tG3x7Kaj9QPxKmJeVtm_GUGqPDyzHYFjYYfAJ7SD9JPoCdEjJIBed014Z3PAaU2id9gBtdzH-1mpk1uHG18-Yl57A4qBLhnJMneMhoBZywtYjEizeZo62wuaAL5-L8neDAvwn6YfVsYIToTwr-uQVjTsZfEQvOCgbef2Q8DK-kkmTHgLJCMaThU8P6jwo3JGwUZZrViK07zVkhZ9xCAD3Xsc2uHPvWmlgXkRtUeTr6fBYZnmF8ONnV0R-xP4HF-Wv44e6-2_QEzjQKZwk1pYudhMfDT7hCd5R9Jc8VU3HIAR-cScPwf1Xvs_Oq4Uhh04g7qWMt6q52qnCq-zMnIoDa-MT4DSQSM-xv6mSIU0P3RMOY6GYFGH2W7g6dDyiK3VHhtwWipx17sLNKnOSxOQEoWwQ42h3mTdX41fVv0t3CQ21-NSOMny4obCKpiv9lwCzn5Jv_tKvTiCRHmpy9TyUVcZTzfvMbojSRhEpOx9bNxEBy65OP0FulLArMQTNIgIdvzbnpKCZkFKZDCDRFnVHXuvMSMaDn_SX1qH3v94kBrXiDpe8vBnfWQse0PD6ZMP4Ep7MBdEeSLNNnRcjxJ1Zdwunr3bphD7zdVMd-iGPJirnW3NtiOAP2ku3AhBDFcXoDRHaJJCgRcc4KXlMbPofvNOuqriOFrBBGz0ECZx_UGofGzdnVTpKUAfmzJrchoCBFSOBOCNZWlKb7ytEqu-NXknduGAre_vHUGEyWFFJh8DjdHKeCdbXSY7xa2BwFKNZKFYSc4Ut_PlW7PgRaHLwBmK6tEfZoMu9E3nGa6o-osHxUitf4NLT21pjfGT7OBamOeQXH4-9xLbcOzZGRJkp-Ydd8YIOFWovKGoKhZDgUicMbK0bKkUxh77pEQQOTGfwaAPa5yr3qjxEwLXIFKaVSmk19tbo7OWo9NCKlHHpX0M5N-bBiK0M7_MyoOfxPTa2aYFO_nXY-_k_RLADtgfmmKzwYuZd78rTx55OjpO2JVjK1OAKDw5mEUkPLsR",
  "id": "rs_03cbd193bde188ff016ab4540cc90087d0adc5e9c176fb63b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.16,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The short dark cap is left of center, while the long pen lies nearer center-right. I’ll send the left arm above the cap with the gripper rotated across the cap’s diagonal, then use its wrist view to refine alignment.\"}",
  "call_id": "call_L3Z1OarKaHRipa9jMfX5kGJB",
  "id": "fc_03cbd193bde188ff016ab454113a1087d0bca66fdca8933e27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L3Z1OarKaHRipa9jMfX5kGJB",
  "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]: [-0.292, 1.4258, 0.8352, -0.112, 0.3244, 0.1989, 0.9994, -0.0193, 0.7967, 0.6128, -0.3916, -0.0227, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.368 left_y=-0.1657 left_z=0.1333 left_yaw=-0.6831 left_pitch=-0.088 left_roll=-0.0432 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1809 right_yaw=-0.0028 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -6.0923, 10.0581, 1.9756, 0.2955, 0.2027, -0.0757, 0.0752, -1.6479, 7.0769, 1.8632, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a903eb07a7bbab2ff3753b56f6a5dffbf68a711a5e705d2d3b5ca97823626aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccb399b8c8b0f623bb6735c0ac7507b64b5827d1bbd70ecaa037f2ddf67c5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6185c6b627629cd5d5da557474f4cd9119f72de628bb876a0699191b352e59e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 1.879 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, 0.6018, -0.3805, -0.0216, -0.0246, 0.9994, -0.0166, 0.7914, 0.6086, -0.3782, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.5111, 10.5641, 1.7509, -0.0611, 0.0855, -0.0757, -0.841, -1.2239, 9.894, 1.8486, -0.0122, -0.0317, -0.105]",
      "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]: [-0.292, 1.4258, 0.8352, -0.112, 0.3244, 0.1989, 0.9994, -0.0193, 0.7967, 0.6128, -0.3916, -0.0227, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.368 left_y=-0.1657 left_z=0.1333 left_yaw=-0.6831 left_pitch=-0.088 left_roll=-0.0432 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1809 right_yaw=-0.0028 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -6.0923, 10.0581, 1.9756, 0.2955, 0.2027, -0.0757, 0.0752, -1.6479, 7.0769, 1.8632, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a903eb07a7bbab2ff3753b56f6a5dffbf68a711a5e705d2d3b5ca97823626aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccb399b8c8b0f623bb6735c0ac7507b64b5827d1bbd70ecaa037f2ddf67c5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6185c6b627629cd5d5da557474f4cd9119f72de628bb876a0699191b352e59e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQZfWhds3IkpLc21ru-MrVMSHckSWTHHu6ttllqtH5Edvyt9ilhYoeyOlgvsbpJR5UZ-e8LVjX9wYlNFPsPA83hB1Hg2-tbUt0IDRtixRIhOR0V725_n3-Ni1rcNifwflJO3iexARCRiWQQ2qKg4_2Xg5BrYv7ZKQ-PUV7l0AOugxwUjpaEVruEGSUD1kmUGBl3hnEY0NWX7TuRxOYj8z2YEvzgpthYE6BRg0uzEgKm5W2QMq_o-jTAe_UrRvN2EAe2-HqQ7SwzkEOi7Jdf0YpkduyM_BHLD8XlW9QORZk86SoZbUsbuyczPdguLV2EISggDtaKhJ_AvL-HclbCkUAH_xukqafp3K8T-tiH8ldI0RSSYB7ymmOjE1u0FHYCq10Xlge5vaQnm4R7qRBCZCDqEF_2HEigTQ0OYJUhIaCq1EZF6Xd8vE5rFHs-lUOG0CNR7vefwP6b2YKqy-DnKO9o9wAviWT9GCGq-XJplpusZBYeewNBgh_KmFRCp4FGR-vgqUws7cqOjreYl4-pyU-It4uLvLExEI15EtAXNJ-zBHFFppQOazoLDYIZdrKwt1JMwpSeRd3uaR7O99zK46jrupXQRGHypmLaEte0CFfkDyXOQ78Vl4mSHmqtxGxhfYbW7mUYR8Oe7YYnMTZP3ZymESOq79Ker5QSy6pEh5fKqTTpkG2EhwqzSmVdXvsLcYsrY777C01nmP_A7BdIJg06-EC7TpvBNjoHEtfF6tnrGpoOw3EoqXX4tzALWDtgivA6W_M2nO8Pb26xtG-IGV7wjnlL1hnNzySFqxaFPAe6sdFgDSF81b85n3C7CRnu0Db69xumwJg2tkbxzq5t5s8FRxHmC-4PqlEWnyG7AWpt9Zl7OFtsAJmnhfvz-eKn4lxfZS9Z3FedO1pT5dnZb7iapvPa04zaKalU0bpXEKP0tgpWGjaMXFHki_Y6Ly7uwxWrx4H4mkElB9bc7GFj80c4gpZxvPWqV2E9pADnNsZbOegaODzznbcRlfH3d4wiGdpjRx2N76rWnRWmLFfzX-MWUmvnpfhvnbyYgu2krVhVaE78yZRqXtqZwx2_f7_eLh7SRrWk8-HHtzGDxKT3syfx01FCgoRSYRIqDKFVXjbPPRnMD10XswqwFnylOMF2dSf-3DCxFcBU1BUW9fn9WxB6hCT2gM6BLR1qTmgjpP8QbRCKPpSJkrCFQq9aAinWbkLVAA23xQ0rTGjLKxb4wOwx_sHR0RPWjpnz81tSfKizw1en4-jJdrTNO5ohsbQy84pzmXkwKxhJ4uU_nHgg0pS-qAXPEwhk-oB9PnHrtjGRWlmsVCOT3Hzk1f8fddxoEoJOe8bL4sqqlpzBwL0L7E6fbV6Gr65fOcmZYcDEjsEc3A2AhThUp6XWEXDwLemnSp3obvlOkFOD6P9eM6XyZg7hkc4LzO2irHylVkPDPY5_74KjkOuuQD4S61bMt6z582QwDfiISlITc1v6i8AkphVk4m11v7_GPD5QprUGE94nRigJNrdN3moKgC3Fh0HMT4KEGkMR5AQghvAUVu9JJbSzhgyPajjquXxJFh-BTwy2IvbykeY5hIg2oPMY86F7l5bMtn-WungcUYdtMT-1FEkgECsSl1x24Xp-EYGpABH_tk397kN6sw1Gbai75XMK9tTExSqyhu_QdbIK66XRsu1ecCCReJOJVrWO0dc5t3Zf9hFwUEMxaGfc-AfwkbvgLI70zTm9ENjsB2kOAvf4zaghrM_yms1eZCk7daI2-XeK7gOIF9saChQgXAqwsgouRO_NEdHpYyXwLl_eXBg915uRtDiLFUNZ_RO2lzyGph3j7kfqlnjIq3Ebcdexz0T2ysFGuF-J3bltMzixfyCwgHhG7YUyvOS0vjrpY7EkLxDtXSshJLMwWwrF6C29EOw6_1B0-thk2yLLFnMz8SbcbPBEJbsdT0cV_vtKDRqaMQPPLVsJoTWRyKGX7tXQgg0uiS9YPl1sEmZzjPlM31epNgvpye4ee0HXMzpuzT3GOxeAxH4QZ5qokyfcuufyGjrDvnDchmqSXjhUU3aPIWdRAJR4mNjD_Lg8TxAMn3C-Vdvv5_3PnqdrTSJ5XY60mHra2fVZskaSqP-Ageu-MEJzEp1On0D1Ee2ZXNk4jsAMcHixkjMl0puDffZ1eN3BwXj88gk6fO0aWFvEbcaFBCuq-QXAk4jUGu6Qzyz4Aybj57PTBf2M0o1IvzYvxtZzqngz9lBgIvYnVDHXGs0HOgWzQtBdskextLqwIl2Sa2c3d960HE2da91a7OtGrLeMK6YvbgWfMb2lE_RQpRj-xpfHWaZDdraMsOwubnKrLPGCaBVnvcd9P0otsKDwlXprKY9EYMBE4SIADMi0NbPuqBZZBR0JgMSIMhqEhbQvAIWlNwApj6C7JYqvqg6EumYOxmKDEy7AP4NER59DIziwuOGje-K_os3HZ2SJq08cYOASt3iRrZJArJmX5ZKQy8z26tupJnCf",
  "id": "rs_03cbd193bde188ff016ab45414b90c87d0895f10d10dcec1b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.005,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The cap is now centered on the left wrist camera’s jaw column and its long axis is perpendicular to the closing direction. It still sits just short of the fingertips, so I’ll advance about 2 cm while descending to table-level grasp height.\"}",
  "call_id": "call_Ltgpn6CvuXBSZCQvaGcmBnMU",
  "id": "fc_03cbd193bde188ff016ab45417863c87d09d7541b4fe054c44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ltgpn6CvuXBSZCQvaGcmBnMU",
  "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]: [-0.2943, 1.8511, 0.6983, 0.3904, 0.3546, 0.2333, 0.9994, -0.0193, 0.7986, 0.6128, -0.3946, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3832 left_y=-0.1765 left_z=0.0035 left_yaw=-0.7312 left_pitch=-0.1339 left_roll=-0.0592 left_gripper=0.9994 right_x=0.2942 right_y=0.0019 right_z=0.1797 right_yaw=-0.003 right_pitch=-0.0195 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.6393, 4.8889, 1.1111, 0.3199, -0.0366, -0.0757, -0.212, -1.4154, 7.0085, 1.746, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310fd64eef25aa4940225fb3b642d83a6f396c568ee24a54d03d00b173b7d5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dbbd6065ae52b80a54d48f528857842437b86158d9ff631d7487d3fa90b0133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710340a024c97bbe390ea1a2eb21f903670fcfb1f8006d8100eb08f8bd233f40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.115 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]: [-0.292, 1.4258, 0.8352, -0.112, 0.3244, 0.1989, 0.9994, -0.0193, 0.7967, 0.6128, -0.3916, -0.0227, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.368 left_y=-0.1657 left_z=0.1333 left_yaw=-0.6831 left_pitch=-0.088 left_roll=-0.0432 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1809 right_yaw=-0.0028 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -6.0923, 10.0581, 1.9756, 0.2955, 0.2027, -0.0757, 0.0752, -1.6479, 7.0769, 1.8632, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2943, 1.8511, 0.6983, 0.3904, 0.3546, 0.2333, 0.9994, -0.0193, 0.7986, 0.6128, -0.3946, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3832 left_y=-0.1765 left_z=0.0035 left_yaw=-0.7312 left_pitch=-0.1339 left_roll=-0.0592 left_gripper=0.9994 right_x=0.2942 right_y=0.0019 right_z=0.1797 right_yaw=-0.003 right_pitch=-0.0195 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.6393, 4.8889, 1.1111, 0.3199, -0.0366, -0.0757, -0.212, -1.4154, 7.0085, 1.746, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310fd64eef25aa4940225fb3b642d83a6f396c568ee24a54d03d00b173b7d5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dbbd6065ae52b80a54d48f528857842437b86158d9ff631d7487d3fa90b0133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710340a024c97bbe390ea1a2eb21f903670fcfb1f8006d8100eb08f8bd233f40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQbLBLmqN0gDaEXXjtNKVrB4O8sUwAyQO0bcKhzffyKDXF-bF_2Jj8jvotvc8axbp72R-EECoKpFD29IlxTm0RpqfUQXvqzEltuNufLzF98stf1Dmn8yBmoz2oQNYGNV2o1husIcL5wyrwoU0uhJN8_ZRjMHrKFNcg0DFzQHTkxmd5Omqx-Ip_Cl2oN2pgy4fxPSOZsZU7Xd37h0oQFn00BW_0CMlyLzcVxl7B_wiXTur2bWXEwfxBoYidCYB6MXQRg3toZo6WatSQ9jmlp5ezR_dKnMlbbkNS1fPtqjJ4l6ZcgcbIe_3yVWZ7ON3vadPPKA__eJKIDw3usA1zQKK2qBaoMvMYZ52XGsjmtIkzZFTVagKN5Eng58SAl9khsPvvLewASJ_Qd1_LV1ICYZWfMigcRbeAkMEn72HJNhqxg8HY8B2sXvfMtVRSXMf_f0eREr4_w5Kah_Stqmc1ys1wQVlQ1fYcVVAcsgsjYBqcCL_Zs04LOAjZWbgYvOd28RI3VnuenAD-44zDn6rNNxvMaG6VcQhb2DW7lyxOiDWjtaUnKH6jknlvHGbCgjxUBRS9K0jPLsENvzV1KFl2gwwRnqmCTv6ukWfvcMljbhEIWL2PI1K4-vHX7tY_vHINgF7pwhcg7j9vRWH_SVj4ylqnmPKFU2QEdPCyEX6W4jRtlm-6iOeiBlawK5QlK1p3ts7u5rPQL2MsIPYEmsUOVCK6cd6vKNwQxJ6w9FJn5cNNErkAPDCDX31eRcN1-kXB8dfZUcUkvD3aCBqx9UzJaosFUK5WuwpNvgMF0h_eYQ4zYS7EDy5JsxwsvYo-D3___Az9AWrs4SGbEvP_i69PYeHsfxkdDsOQLxuMcX1VnKnKQ6AzRKycsrJGhUw-_afoVGkzPpeOJNvJJtRZBm2AYJFYQgb7HhNVyw937j6ioPrbx8HzGlCtU1ND5IxKg22e6G-_9Kr32aB9CSL1v96E7PTqL9BfTdxh9cdeE4UmXy1Ji8Hf0lhAW-AJg0O3BWyA5AWcQ_Wfiam8ZEh9WYxzXQy_h2J6mIV1v4oBT2GzTMsoV6Q-n14xonUYxXUPsd87ie2ZzEp2Tv62pXYvAOIYthXW_jUrBuRfGw2Eq7j8HdNjcSLDTb2_Romr9TrCNM8ORt3wpz6cgZUyIdwdC91cJwiC44aDn5ZQ63TesEB6YdcbZwuqHXg_R3lZn6lrijLII04C6M-X8luu2enniWU8ZOxiwEd_skRxCJ_jHbDO_lfIHP0PhYwLQmA164hQC2-V5atoSkqTaB2IBSMUBOe4sVG4-SHnG9tKPdrQyDE5zs-SKfuE=",
  "id": "rs_03cbd193bde188ff016ab4541ada2c87d0baadc0d9ea84fefb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap runs straight down the center between the left jaws, indicating good lateral and angular alignment. I’ll close the gripper to secure it and check the settled jaw opening.\"}",
  "call_id": "call_Y1EVpuYdjJz7XbSJ147k2qrV",
  "id": "fc_03cbd193bde188ff016ab4541b1b2087d08a30faac45d76a27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y1EVpuYdjJz7XbSJ147k2qrV",
  "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]: [-0.2951, 1.8671, 0.6983, 0.4145, 0.3485, 0.2272, 0.0474, -0.0193, 0.799, 0.6128, -0.3962, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3856 left_y=-0.1765 left_z=0.0009 left_yaw=-0.7232 left_pitch=-0.1286 left_roll=-0.0567 left_gripper=0.0474 right_x=0.294 right_y=0.002 right_z=0.1793 right_yaw=-0.0027 right_pitch=-0.0214 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.3744, 4.7521, 1.3651, 0.2076, 0.149, 1.2576, -0.2803, -1.1829, 7.0769, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5419f6f2a3fef9325f7ba8dc2d34ad7f99d8b4e88108a645999e26bf0d44a4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51dd0542f44c1250540f033ac577d6da5534bbc39bd9645b06792842d58387d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ea6352875a06904da105b9bcbc9c093be05fa0ec69083fb7ab67c750c0b317",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 6.101 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, 0.6018, -0.3805, -0.0216, -0.0246, 0.9994, -0.0166, 0.7914, 0.6086, -0.3782, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.5111, 10.5641, 1.7509, -0.0611, 0.0855, -0.0757, -0.841, -1.2239, 9.894, 1.8486, -0.0122, -0.0317, -0.105]",
      "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]: [-0.2943, 1.8511, 0.6983, 0.3904, 0.3546, 0.2333, 0.9994, -0.0193, 0.7986, 0.6128, -0.3946, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3832 left_y=-0.1765 left_z=0.0035 left_yaw=-0.7312 left_pitch=-0.1339 left_roll=-0.0592 left_gripper=0.9994 right_x=0.2942 right_y=0.0019 right_z=0.1797 right_yaw=-0.003 right_pitch=-0.0195 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.6393, 4.8889, 1.1111, 0.3199, -0.0366, -0.0757, -0.212, -1.4154, 7.0085, 1.746, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2951, 1.8671, 0.6983, 0.4145, 0.3485, 0.2272, 0.0474, -0.0193, 0.799, 0.6128, -0.3962, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3856 left_y=-0.1765 left_z=0.0009 left_yaw=-0.7232 left_pitch=-0.1286 left_roll=-0.0567 left_gripper=0.0474 right_x=0.294 right_y=0.002 right_z=0.1793 right_yaw=-0.0027 right_pitch=-0.0214 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.3744, 4.7521, 1.3651, 0.2076, 0.149, 1.2576, -0.2803, -1.1829, 7.0769, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5419f6f2a3fef9325f7ba8dc2d34ad7f99d8b4e88108a645999e26bf0d44a4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51dd0542f44c1250540f033ac577d6da5534bbc39bd9645b06792842d58387d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ea6352875a06904da105b9bcbc9c093be05fa0ec69083fb7ab67c750c0b317",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQeDeFCUH-2nedAyT5-2xct0U_x6IFKa3c6Rp7OKdv3UIylulwpvJexQuA1aA0HW1SQhfUtHMVQ-GYHL5zgwia2lfxJkAQULHnCAzQAC0hIcefwoWo24PD58FG0QyAdVfX0dq2B7GTICMlpUO2as2RRZu6Ir-KkGQLapnTaquhTdyKKBp9oZ-UG018PRjFgWdpedBs6DTPDQK-1_sWX7IsCS_H4nut6HYfLAWjr6-rZ3QwtEsYMIlBB85cDu0z0K_T6rQ8aHfv0IpV_F98qo80o1PK9_UOLTo4IajXeQB6JPnr64L4GEV2FVQ06fqLVMzERYTvPH6BruBvdpkgpwDD6O4W29Z_-dUWpT6tRTbDrNKcYOO2wADZ-e_pYVfSD2cKdXA9CI-KCi3TySFPMfZYETnzRS5YAEUC2Q4x-BgIoWUZ879uKXaXLSVU2WTILpbPOaOhRYfUjCfRS4hxZuKXktQbZpUiI6ijODuMrBHkuRiv_s2YK6upihxU74DdC5fEIcyX70rRTG_TXnJsentl1nQyz0EuEMBacFA8B03W46TnCKx4T5WWEh5y16yh-Y3LCMWzAQlX1_xDOBAAY2YSmLaektQ7hYYRITk-gGPMrtTpK-2tDR_c8sz-mA4nlAoBpzHzlUO5cS3slSIdhhfVSJWF-Vw4dBFLGleppyWqsHr9BM2qyTqjAsxdf3hLCxt-awOLmMTDpTt6vmXOHOP48OX2pix5d8TdWkl_uaUb8AWnW6oo2AmRT5wag8-svHenXep1dybRxd7ksQEYR76wfoKxq8JRuWdCoJIV7FksGLszV5BeXvi_PjLvv4ayWTJ70zTZ17cEayZvOQvFkPkoY593desfuoQsRfrsRPCaY_UbE99l6RyH9P1ZKCDyIIIWtYxr3b_uz5isRCe8pOTiXwP1GGub6s5O3wtpTY4wGS1wdqzAuMZWksa-CeQzkbBi_aziF3pngUIYi2Fpug0XGSFn9GuMobD3ctxtiqztKs0WWv-BdAehlT4rKzowm8MaJTnJPWaW3W4t3Zhhmne2s4fzeXfabRAUufxaJSvwoj-6nud3K3hxbotdoPyTO_fbqqfufvFbMtLShBzb6pOYROjwPPv0UfIhl6jxF8OzuF9LFfP6_Wife7fzWU482dgPd6Pwnz0Fs08KzbYevu29sYLLr4G6fx6TyXoljj6W4fnqyZB2-oSpeSakeXTjvQG5pJLjMix-NLWMBGpNVIvJPfmH0tNqMaa5l6qELKEG16v0Ko9tEwfRnCrBlT-LMcRkZ1P0O2maUDUSY1qT3lUIEb0tl-HF9PJ1EUESGT9BZIaoRVT82lQKIOimq1WRDGGp1JhP2V-ce--89ahAwuPZ12A==",
  "id": "rs_03cbd193bde188ff016ab4541da66887d0a66b78e28d307ea9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The left gripper settled at 0.047, consistent with holding the roughly 4–5 mm-wide cap rather than an empty close. I’ll lift it clear of the table and verify that the cap moves with the hand.\"}",
  "call_id": "call_SlOlQaWO9NCfNHbiWgfz1f8x",
  "id": "fc_03cbd193bde188ff016ab4541e2a9087d09f6e81be11d0df24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SlOlQaWO9NCfNHbiWgfz1f8x",
  "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]: [-0.2951, 1.6417, 0.8009, 0.0666, 0.345, 0.226, 0.0524, -0.0193, 0.7998, 0.6128, -0.3969, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.1747 left_z=0.0677 left_yaw=-0.721 left_pitch=-0.1477 left_roll=-0.0637 left_gripper=0.0524 right_x=0.294 right_y=0.002 right_z=0.1789 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.2239, 9.0462, 1.5849, 0.1343, -0.0024, 1.0281, -0.1709, -0.9368, 7.0632, 1.7607, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8383b4b6f143bfa1020c71017ababcb00682b07acedfe17ba41e26448219e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add993f194c9e8ac02829ea2f72f245889f15170edb13dffdea7944961e08abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b88597a18b06033025f5e9c21100df581db76e9a0903f9742d630666f55ffcd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 4.984 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]: [-0.292, 1.4258, 0.8352, -0.112, 0.3244, 0.1989, 0.9994, -0.0193, 0.7967, 0.6128, -0.3916, -0.0227, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.368 left_y=-0.1657 left_z=0.1333 left_yaw=-0.6831 left_pitch=-0.088 left_roll=-0.0432 left_gripper=0.9994 right_x=0.2945 right_y=0.0019 right_z=0.1809 right_yaw=-0.0028 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -6.0923, 10.0581, 1.9756, 0.2955, 0.2027, -0.0757, 0.0752, -1.6479, 7.0769, 1.8632, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.8671, 0.6983, 0.4145, 0.3485, 0.2272, 0.0474, -0.0193, 0.799, 0.6128, -0.3962, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3856 left_y=-0.1765 left_z=0.0009 left_yaw=-0.7232 left_pitch=-0.1286 left_roll=-0.0567 left_gripper=0.0474 right_x=0.294 right_y=0.002 right_z=0.1793 right_yaw=-0.0027 right_pitch=-0.0214 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.3744, 4.7521, 1.3651, 0.2076, 0.149, 1.2576, -0.2803, -1.1829, 7.0769, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.6417, 0.8009, 0.0666, 0.345, 0.226, 0.0524, -0.0193, 0.7998, 0.6128, -0.3969, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.1747 left_z=0.0677 left_yaw=-0.721 left_pitch=-0.1477 left_roll=-0.0637 left_gripper=0.0524 right_x=0.294 right_y=0.002 right_z=0.1789 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.2239, 9.0462, 1.5849, 0.1343, -0.0024, 1.0281, -0.1709, -0.9368, 7.0632, 1.7607, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8383b4b6f143bfa1020c71017ababcb00682b07acedfe17ba41e26448219e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add993f194c9e8ac02829ea2f72f245889f15170edb13dffdea7944961e08abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b88597a18b06033025f5e9c21100df581db76e9a0903f9742d630666f55ffcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQlp9faFS_j20YSbMpODfiDWOsdiUu7-1uERLbF4sRYCr6FE8hSeMZJ_tZOoMiw4PF5NjZExjeD3e0lN4HlwYHLJXTWqDR2RVC71Ih-NWkKvKI9fVSuXyL3Vg2McmFvkyFJhU_n18nZgD_zCQYgalzl1EZo5rQi9FaVAM0OyqPzWC-VSclHOnWoEDtDDvKZaaVaAUmZUME-6VLZyJYqsqOcqK3DrFA5nuK2Zdp23xUN36axMcbIt-VmhSDm8qVq4kzPRnhZCx0iLBrMnaujXpUTM77uDo0D9AaPRTOrFKwLkonkA6Ah7UH8G44cf0YwW1SCTdA-YDI6_0lbSKi_JP-3ZAIN2Uo0PlVY5VVyGbqwDaTFwNI3-COSO357OiVxTWmqTnNtgoLGTGK0J_YSlmdUZxiL4QKL5trUvxeLeTP-ZQUIs2JQNUBxRuLlsOb8XDBa_cT-FgB4McF_WhG69xEnkgIFvnL56Zfz7vm0_TdJLS_NhaK0u9gHt5dn1yAWl5fk5xW8sbockUDnekytC4TaI1pqloCbMw7VZCtM0AkYraknQpBtqw6RkW9kHj8VZJVB9dmDYS_c0pYHgYjhEUDmPZhlEufAydk6UxXSopgE6ny2Pltg1H5laJdp5nJhw97Lck5Cn5WRDGLkoYELUEO2mwOL-6n-aAfJ1KwjioGgGcaRcbsWlnzQ-QARY8PFlzl-Hbmej3I5rphpmXZwPrFTR8dP-ttRASGGx04ZmFYt0u4R7drW2oCJY3XC1uxaw3M_X5KbyKPOfmbvS75bYUoTcyzsCs59YH-iPV994z2R9xAjXM_ipzMb5JNUPXx5QSPYMBjyKXJcNvajlRDJVEdtkqMpP2E53NnwJfY9Ohkm11x_AqeFzVFtOC2DrTh1GSNWrNT6i5SBPNkEjtMwSEQ2mcA0QfiFcd4mAAXIIMNW9r04X6p8prhVdazP5Ilm4DyRmo-hNAar82noVxle5OmtG5Dd4mKPg10IA0dz9JKS47GXu2sE6oLMyLziDyR31l6ptsKG-GjDNO8EzjDkiWFoclUEbcjnXUi5kAgyfmRzNXCCdmk3xT0keJhv4YSGc_QDiucMbk3Q99roeO_pgwDtqjFh5iShquux_NJ90k_AbbvTLTVispTNDAcVxa6EK4-AfV0ehdIScJnRB4dvo5RgoEO_95NJQ7sJpYJbpESSiKFQos0DMj6vuoSpUqiEYkB7kaHyds2_U7-jLFOKRnAYzfbEIv5cEsr-xqWADjOq_FpZn5SzI8NzAlvlAue47j1bI_0BsPP1shd-Bza24fLxGetEYN44kVafw7lb2YRA83V1lC3gIG8Svjc30qxLqlmRARsuNnvurb1QLE2ykXypQubikNqjmFE6-6TIfHfrIAsiYezvl2fU203EJGmKiQwifWtH7qRyPtPEh0mkLMceb8bGe_-RtcjU6CBvFd9I3ROSgXQor1IKUshbjKqwmfEWuTVEwhPF4s2mllB3fRejoxSTLbhx84PeSBZrA8a1COCuZfBEfk124qCvoqxvA26jCXUaPzZaQ5TfQAUAVNJJp9iaF3i7Dgfg2GQ95-P4FFT0oWOXYDbJHdqSXIBVFxcaapj16J_SFWl8hWtOl7pgE5S_H2mgUe_BRT43SE8l_OJSbiuFAJGhY0YXfRyK9aci027BSrtV_1h5Ubq_7XL8fNxs1bOFAFe4F5Wo0Nouc_LzrYKvqvWNqdUVqPLa9uhUGeWQsDVTWy2NLMMkey2lKhp89pcpTIFvVJ4te3B3mR9VIno83xIYM5PCwnm1PbnzK4JRFNn9OE9qOE6_vr8LSpQKSD4joyYbZRUTOkCAtM3EY6FJck0RqUdmrG6oRJEdJXieJJ9Y4ymSvNh2qi7GreK3qt3HBBxeXePo_N9Mdko=",
  "id": "rs_03cbd193bde188ff016ab45420f64087d0aef6dab34da5a5ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2,\"left_yaw\":-0.75,\"left_gripper\":0.0},\"note\":\"The cap has disappeared from its original spot in the overhead view and the jaw opening remains nonzero, confirming the pickup. I’ll park the left arm high and outward with the cap while the right arm retrieves the pen.\"}",
  "call_id": "call_MZpYVCtpP4bUGLzFPb7w6u90",
  "id": "fc_03cbd193bde188ff016ab45423507087d09d0ff76e326f0356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MZpYVCtpP4bUGLzFPb7w6u90",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [0.3939, 1.2953, 1.066, -0.9081, 0.7277, 0.8516, 0.0524, -0.0193, 0.8021, 0.6128, -0.4114, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0043 left_z=0.1856 left_yaw=-0.6865 left_pitch=-0.1748 left_roll=-0.0759 left_gripper=0.0524 right_x=0.2921 right_y=0.002 right_z=0.1754 right_yaw=-0.003 right_pitch=-0.0397 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.9316, 9.0462, 0.989, 0.5934, 0.2125, 1.0281, -0.212, -1.1966, 7.0222, 1.8584, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ad0ee4eddb2da4cd8370897bbadb2e7856c2723ef9d7e6f737c3d6b4198ae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a4f9835465158ec66eb4d375547912e54884a77167d9275506c1db2e460322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4539758a304812d9fe3e95cd2e6893b266d78958c14f14600148065edd57bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.923 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]: [-0.2943, 1.8511, 0.6983, 0.3904, 0.3546, 0.2333, 0.9994, -0.0193, 0.7986, 0.6128, -0.3946, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3832 left_y=-0.1765 left_z=0.0035 left_yaw=-0.7312 left_pitch=-0.1339 left_roll=-0.0592 left_gripper=0.9994 right_x=0.2942 right_y=0.0019 right_z=0.1797 right_yaw=-0.003 right_pitch=-0.0195 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -6.6393, 4.8889, 1.1111, 0.3199, -0.0366, -0.0757, -0.212, -1.4154, 7.0085, 1.746, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2951, 1.6417, 0.8009, 0.0666, 0.345, 0.226, 0.0524, -0.0193, 0.7998, 0.6128, -0.3969, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.1747 left_z=0.0677 left_yaw=-0.721 left_pitch=-0.1477 left_roll=-0.0637 left_gripper=0.0524 right_x=0.294 right_y=0.002 right_z=0.1789 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.2239, 9.0462, 1.5849, 0.1343, -0.0024, 1.0281, -0.1709, -0.9368, 7.0632, 1.7607, -0.0269, -0.0317, -0.0122]",
      "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]: [0.3939, 1.2953, 1.066, -0.9081, 0.7277, 0.8516, 0.0524, -0.0193, 0.8021, 0.6128, -0.4114, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0043 left_z=0.1856 left_yaw=-0.6865 left_pitch=-0.1748 left_roll=-0.0759 left_gripper=0.0524 right_x=0.2921 right_y=0.002 right_z=0.1754 right_yaw=-0.003 right_pitch=-0.0397 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.9316, 9.0462, 0.989, 0.5934, 0.2125, 1.0281, -0.212, -1.1966, 7.0222, 1.8584, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ad0ee4eddb2da4cd8370897bbadb2e7856c2723ef9d7e6f737c3d6b4198ae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a4f9835465158ec66eb4d375547912e54884a77167d9275506c1db2e460322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4539758a304812d9fe3e95cd2e6893b266d78958c14f14600148065edd57bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQrzzcB_C4aPsSLvtwyWbkvTeRGSlB6EvzK2R702CFItuNmPXoCDdvDPehlaDJsqFJEPAzgFuTjayGz81zZDTWlZ6stdluAOUIX22XhwpTlgXqts6DZughKrrb5uiTWkuwMk2TALpt9srXvUIv2BzdMPhUedS-SBjtS37vr9JNdNqCZVeQbjNilVi4AyeN4JT0gsMrGq5kfkUHsdF1fXJNkdo8i8NZ5nKwgYzZJYn76p0G_cx8JmSxFrI054-zxZc5B3ow2kr9f58JHze_PJ7Hmn1PQ_8Qn2NQf_sJKsn2LDGh8mgiYiSnOi8AkPHULg9BurA4RBZCwWWXE2NG2A6lJQWaXB0v8XklVAzqfrunKJHyFvxUN_1nrE2MEAReaGmOy8_t9FHwO-h4TSr1yAiBbFjxrnNUEVmFSRFeROjAkl7RTxA_r1td-McJqs1YoLhvxqIkEHOFmPtWTyQuvrjN0s4AVy_KalpuIT-kXeltLnZoSCnPjaLzSFTNtoz0TkLrqXh5OJB87kqEKeVmsvoXWRpAKWyARHomK9m2-_arbhDvMVvAPunlpCerehE-n1TnVJ_cFYpsCLDVUKOiQAvUVkQMmWqNjfZyFfXx9XcpAhu4eBx1bwtuS2Uwsu5GX61OLk2SdJiuZwJz03aVvdRaY0r1BsH0FGy6_GZ0FX_RrMzHBSx15BPcttENlyisulp4D14yQRda1_goHXZXYGZ2arWEq-P8nWa2eE1ddcjR4g5UJzFWoxRbihyZhvNOmCTjPQx9T8TIW5MBGFTa1uDKTv8t-3-x2fnorTbqT2LiYSfEZZHhGElucxzVAE1HAuNZwakQmNuY7SIhITYb2NCWOEmd0hwuj_JZAGupRok_cFFu9fFyX2ZC-ZPzYdV2GkvQixtcVzjEEdqsTGWqh2cziCSjH-WIYsUfBtBRKeJ7hC-gRHIcMeKdYI0mQB8KJ4LtAa1q5xdjLAY0xujZVzEg0ZYWyrOOdx1v4y3X_VFmGfZD9yuwudH3HMnAXSTKDseZmWK8ym-yZoeSMWjOhwA-FEc8pZRANt_MLGgvAC8eODOi1BTvXYLVDMs8ce_Uunic8mf3VTW774xsnK_wQToXLsVEz44y5QY2Sb7y0Y7yJeGLOtwHUhmC2QDcXl_LGGp05pAcUlClXf8gKkdDqyWICnx42tNk5RdN3tCbsEfJKRnY5am79ubYC7-TDAat1jWOFZ4BiVWwKLV79UJ2kM6TXkUZlSydqHOaCjYkxzfmBa0F7zE2JNqpLmTUrGAIvEA2eApMOZM_VjD_a1Ahxd3bInsROdvuZ39e9GpOn-ERArYsxjOYf0MHUBt0cKXSiNNpm11McWywJGjYt7VfkdzZSKQSf-mgPaIg0dLazmnzkl-U1q7UkdVC7da9YG42cKZWfDzd7dctsw0QhZ3UzOZFdF0LBgmSo-GeptCLaEbC9nXpphLeZxAWb7mAcKtaMEQ3KMUBhStM_4fgiJoxFjihlVpD1C-yNWPziJoD8HI5jV-vBfapuJZQMjFCtvoCX9-XnGahTl3uU_kkIPhmMv6qeQmx-VeWsWwhHYkZn7zxAGu_S5S38Kl7d_Rsg5rJOxHkhq7a_iP2_IvQwUYlxCpD_RTr4Sbmr6CGklT_LScpt5-WEslosXbiLE6HFD1yUDYwJbXLQUWPXuJ1hZeNXPx5-AlGnk4NeRZgQjl8UT_TpYezwTF0VhIpFzHvVm7AWPwEvr4UQjRimZ44-9YvR4mGsZtcg9ASMdIYVnTRhTVPMsNmUOmUNiQsvNnRcFzZ79MWhMjEw4G6WmOuNPyyen1QX5fSzlL2jNpGpp1qbuPVvF5XEBF4LbUuF45045f331PEvPqX5W9FR9ozExYQN0mT55w==",
  "id": "rs_03cbd193bde188ff016ab45428eba087d0bf65e7bc1baadf37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.3,\"right_z\":0.16,\"right_yaw\":0.6,\"right_gripper\":1.0},\"note\":\"The pen remains alone near the table center, angled forward-left to back-right. I’ll bring the right arm above it with yaw about +0.6 rad so the jaws close across the shaft.\"}",
  "call_id": "call_YUi0pV9NUGcTt0C3ZU286Cil",
  "id": "fc_03cbd193bde188ff016ab4542a6ed887d0a2182d81586e6533",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YUi0pV9NUGcTt0C3ZU286Cil",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.2976, 1.0645, -0.9276, 0.7132, 0.8539, 0.0524, 0.6769, 1.6363, 1.0592, -0.0933, 0.0666, 0.0406, 0.9991]\nstate[eef_state]: left_x=0.3035 left_y=0.0056 left_z=0.1814 left_yaw=-0.6822 left_pitch=-0.1973 left_roll=-0.0888 left_gripper=0.0524 right_x=0.3703 right_y=0.2871 right_z=0.1391 right_yaw=0.5877 right_pitch=-0.1078 right_roll=-0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -4.6974, 6.4615, 1.0867, 0.5104, -0.0708, 1.0281, 0.5265, -8.2667, 9.2923, 1.956, -0.0513, -0.022, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ddc9ca56f4b1c21cc0b58c76a402ea59ad96d814cfc0ef85871d5adbd875e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013ee1081b0277024cbe458d115ba858da57ded49dd69e71bae4e80e46fe0a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7c361e4037638ee6ffe96889e9925500375e8a7cad016978ca58c2c5542745",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.861 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.8671, 0.6983, 0.4145, 0.3485, 0.2272, 0.0474, -0.0193, 0.799, 0.6128, -0.3962, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3856 left_y=-0.1765 left_z=0.0009 left_yaw=-0.7232 left_pitch=-0.1286 left_roll=-0.0567 left_gripper=0.0474 right_x=0.294 right_y=0.002 right_z=0.1793 right_yaw=-0.0027 right_pitch=-0.0214 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -9.3744, 4.7521, 1.3651, 0.2076, 0.149, 1.2576, -0.2803, -1.1829, 7.0769, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3939, 1.2953, 1.066, -0.9081, 0.7277, 0.8516, 0.0524, -0.0193, 0.8021, 0.6128, -0.4114, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0043 left_z=0.1856 left_yaw=-0.6865 left_pitch=-0.1748 left_roll=-0.0759 left_gripper=0.0524 right_x=0.2921 right_y=0.002 right_z=0.1754 right_yaw=-0.003 right_pitch=-0.0397 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.9316, 9.0462, 0.989, 0.5934, 0.2125, 1.0281, -0.212, -1.1966, 7.0222, 1.8584, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.2976, 1.0645, -0.9276, 0.7132, 0.8539, 0.0524, 0.6769, 1.6363, 1.0592, -0.0933, 0.0666, 0.0406, 0.9991]\nstate[eef_state]: left_x=0.3035 left_y=0.0056 left_z=0.1814 left_yaw=-0.6822 left_pitch=-0.1973 left_roll=-0.0888 left_gripper=0.0524 right_x=0.3703 right_y=0.2871 right_z=0.1391 right_yaw=0.5877 right_pitch=-0.1078 right_roll=-0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -4.6974, 6.4615, 1.0867, 0.5104, -0.0708, 1.0281, 0.5265, -8.2667, 9.2923, 1.956, -0.0513, -0.022, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ddc9ca56f4b1c21cc0b58c76a402ea59ad96d814cfc0ef85871d5adbd875e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013ee1081b0277024cbe458d115ba858da57ded49dd69e71bae4e80e46fe0a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7c361e4037638ee6ffe96889e9925500375e8a7cad016978ca58c2c5542745",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQxUaOH6W8EUPAkw5ebq8IHokqK7cvYZ0BhurGWQqfH8NzhD1dpjsV8MpMfiC4VWj06xzcbD5FYb6y_tCfy56mecTjNaYT3V2AdSqfvyR3oaGXjAjZ1m873ZWOZvk1nSQfW9tYlbc_ON_OitlyamMB7fFvFf3c5svBeRASSzur1A_lvRtty5uHozxqsV1KIq3GzF4BebFFjiBmTrjWCbKFHdJ3FJpvvs5UbSP0IT_QutBFlBSAbkehE9tje8l8BNeoL4px6UMFjdc9VHRffqK8FA4ippT7GjGhvgrreFa9TCeDhe7xIt9xKFCiQ88EigBaIZTDHGbhSjvFV8jJ19nvW2tvpl0DpJfRWTkVJFJ-VHVHp9Cj4BiwITsEKfIWXgpaXE-Pq-GlyHxtwW9joeognwvgId1I5XculFaGzyC4iOP8UtWnfYmoA4dWlGy2z_naOzecGcP9Z398kke-XPsWxceOhInsZIFRqF5ro-epTtFmp1q_EPTcvFtBHW_Rw9ZwWXPSJsLXgyExL03mD9uzWqM4FZKigs4gORkLJsMD9-gHLmb40dmVglLzEajcUnSo93VvSVO-eHtXjwMn4k8LWEUvABgK0wBQIBICSGtdjdQyw8hjzs6buPW44-VlSjbq5jyeXwNeov-zBaMVMxZwrJmIKwNZLu15zSiwrgGF5S_gl4BvTlsllNSylqNwpEO_Zpw2BFvAJBHMaO1rVbkDImFZcshfTLWwa32Y7Ywbtc-OOtN1_6bVpKEjVmV-kSJv51Obsh8S4mdDhVdi3Zw8TzJF0MwczD3Dayn2jT8SJO8-2gnBv31d3Ji6QI2efraJiNcLyHO0B54Km_IXNon2bmNXrGE1cLTeIuooy1aYBoN_b7DiF_g9Yf-XP5zdM99K_f95e-bwS-aUe2fCoq0257QJZOhHSA_ESeB6UQQU5DrDDmZlBDfEraU4Xgl4AdooSXs_pTi1ja1FtudlQ8QSbmbNm2SMJZ5N57SQoJtmPRJEXhRQFMS3eHCchI2lMA1qt8Ng-NPOmMjfdWK_7IJ6H039FMLUYyuCbaQpCWPm-rC_s_en3yru9pgzwdcmIjXUXc2pB03j9e8po_eyHN2XdVMp9rrs6IZPVq0RjEM0zjIZ3ndBoteRFRlLiG6848jREDN-JfJDOTcsLzYQ6guCcOgorA5CIp_UGHHtXkgwtPDAKfo5SzT8oZ8PjoF8JRv45JMSfQcLbvmTGeYGASHKQ-Bm8W10E7CtAmXtPhJHx-obBzENLC_1Ra8neDW5EFH3NoIscu8__qQCOlPdy1lHrc2I9DDwVu-1pDn5UPIPMZHHKuTW3b0JdsZVsVeWRYkHA0Mw7h4_50eilv6ZOUiPEPR9BRjkA4RK5zv1slEEbl_LACNaFzIPvUTTv9N1maoSEIpZ8liriBk03jYXzsWBV7P6HluM86QNQi4vRRJzDdE0mwzZYmcerHgbR874-oP9nhGQfCTNgGZQeMdAfffV7BcPiw23nwPS2MAt0pHJCMV3UJp593hdGlpRGOCts20yXrxuZhBtr9Vn2adR1AnSWbTlGRMUIOCw9eIvwMOlJIECvOkRkYAAXAqrNNdU_EfaDEi9BnFQNMbuEyV4VQmQL_Yv2aYKHsfJW03z3c1urW3fnp40bWYSwxnYC2CvMRCMEZUK3rIqwYN5L_lvWSd2lzw==",
  "id": "rs_03cbd193bde188ff016ab4542f60b887d0946deb5de82466d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.3,\"right_z\":0.005,\"right_yaw\":0.6,\"right_gripper\":1.0},\"note\":\"The pen is centered between the right jaws and aligned along the jaw column, so the closing direction is across its diameter. I’ll advance slightly and descend to table level for the grasp.\"}",
  "call_id": "call_TxaSV4YEJSWN54lSEJxaYd4w",
  "id": "fc_03cbd193bde188ff016ab454305be887d09be9b552d7906f26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TxaSV4YEJSWN54lSEJxaYd4w",
  "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]: [0.3969, 1.2976, 1.0645, -0.9314, 0.7071, 0.8539, 0.0524, 0.6697, 1.9938, 0.9234, 0.3534, 0.0479, 0.0288, 0.9991]\nstate[eef_state]: left_x=0.3028 left_y=0.0064 left_z=0.1804 left_yaw=-0.6791 left_pitch=-0.2041 left_roll=-0.0895 left_gripper=0.0524 right_x=0.3829 right_y=0.2969 right_z=0.0047 right_yaw=0.6023 right_pitch=-0.1551 right_roll=-0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -4.5607, 6.4752, 0.989, 0.3834, -0.0317, 1.0281, -0.5949, -9.0872, 4.7658, 1.7998, -0.0024, 0.1294, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7218b0dca1d7177fc8e64e8addc1a163c68d23b431795bf87db434878ac1a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc73f44ba998fed98e7f18e5060f285433a888f229965b8ec05061ddc751056",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b375070e0f50fa946dfc242027084908fd90bc3d88bd8ef0ce380c27775b6114",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 4.23 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]: [-0.2951, 1.6417, 0.8009, 0.0666, 0.345, 0.226, 0.0524, -0.0193, 0.7998, 0.6128, -0.3969, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.1747 left_z=0.0677 left_yaw=-0.721 left_pitch=-0.1477 left_roll=-0.0637 left_gripper=0.0524 right_x=0.294 right_y=0.002 right_z=0.1789 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -9.2239, 9.0462, 1.5849, 0.1343, -0.0024, 1.0281, -0.1709, -0.9368, 7.0632, 1.7607, -0.0269, -0.0317, -0.0122]",
      "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]: [0.3962, 1.2976, 1.0645, -0.9276, 0.7132, 0.8539, 0.0524, 0.6769, 1.6363, 1.0592, -0.0933, 0.0666, 0.0406, 0.9991]\nstate[eef_state]: left_x=0.3035 left_y=0.0056 left_z=0.1814 left_yaw=-0.6822 left_pitch=-0.1973 left_roll=-0.0888 left_gripper=0.0524 right_x=0.3703 right_y=0.2871 right_z=0.1391 right_yaw=0.5877 right_pitch=-0.1078 right_roll=-0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -4.6974, 6.4615, 1.0867, 0.5104, -0.0708, 1.0281, 0.5265, -8.2667, 9.2923, 1.956, -0.0513, -0.022, -0.1001]",
      "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]: [0.3969, 1.2976, 1.0645, -0.9314, 0.7071, 0.8539, 0.0524, 0.6697, 1.9938, 0.9234, 0.3534, 0.0479, 0.0288, 0.9991]\nstate[eef_state]: left_x=0.3028 left_y=0.0064 left_z=0.1804 left_yaw=-0.6791 left_pitch=-0.2041 left_roll=-0.0895 left_gripper=0.0524 right_x=0.3829 right_y=0.2969 right_z=0.0047 right_yaw=0.6023 right_pitch=-0.1551 right_roll=-0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -4.5607, 6.4752, 0.989, 0.3834, -0.0317, 1.0281, -0.5949, -9.0872, 4.7658, 1.7998, -0.0024, 0.1294, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7218b0dca1d7177fc8e64e8addc1a163c68d23b431795bf87db434878ac1a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc73f44ba998fed98e7f18e5060f285433a888f229965b8ec05061ddc751056",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b375070e0f50fa946dfc242027084908fd90bc3d88bd8ef0ce380c27775b6114",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ11VzvEoTLYsf6JEEsNw3w-DsBlhlRU0M79ZoMstvLFeIsoqJhR0udXeF-lsaQuK1kBm-dFUAO7KuT-FMuwD6D3OOghxkO-PadmPJTizSOI8of8A-69w05u2DoLOn3G9e9ootkyGnKn1Z4_fTY76Rpl6GmfArYh0sOmcvZVvBEqcfIgEQOzcLTTn2wjtLafztBCgn1afTXo9POM1VshsLUF0w_ErqaCqukjTBBHNt6_j_hTXxiEFVgeMaKvciX4vnu5IWLBoS_9S2IumT9Z7HvrOk1fUMbZo4N9dp9n8od6EliN7zsgWvg604Xy1TOWy1TDkxhBl-gu8inRg9a8NsdjftMFmlb64BeUnGMhLwtDHKSjoH406KIigHQeBC05C9xlztrF_Zws1t_tOrfh2hAZVi1gooNBI7JC1SVDDZ4IJb_7wS7SSfW0mnqKYqf7zYv8HejZUZPvJCUGeXDblboWjHETFWEyFSuPliT9oyn4IJHOkGdVIc4X53NWiB52klqoBEnB4NcpgQGYIxbb1tKFIT87wfEH667ZTfJtCVMcbM6aI5R-XJtFsGVeW_WCzlEzyOwk8TV6k-hy7KkXHQIMHv9ZMVnyLm4zy_UJ03ss_WTHH9INbQgkHJdKkXlr2D0L58mMTcoxU5LEpG02-urGNcw3Eef0H2xcAKHVd0849qgaJI9oBtRg_THX0zbjNWRNbJNcg7L6HHzdSdjKsFr8fNSTXYby-Qdz8jWJ7ToemksE2py-LFEZr9Gx0Uo8Ukg-gVMdn7lDb79LkAVTQdPtIixucUWDLcq8_mjEP5CynFNffpt7cruzFHgnVPwpFRgMcfVQQ-y9LN9PAtbxoKFuZSQvRfjzHR08Lhcoy5UI-hE9ICRVWTPex23cQhm7Y0WcXT7UY4QLnJNFqrqjgcfsuMCUkJR3-l4OekU7lqUBLlaajILBNSvktDwvmCGxBINI5ggVDbWwOb_mktjECuUz37uk0mVgsu54tfoYWc_c-E_TMWu1q1n7tDE0T6x-Tvik_Nzn-3wN9OWQn2zpblkUJdnjNjaCEm8nzaA_w0R5Ibbyc95p-WTICtF8GJ7fYPpDiOAjsiBhxFUsZxJ0rXfpEl_X1DPx8dDsYIOgaySmRY9yO6D6yQ4gUNyj3be5xY2SM2YL2Vj7dZ4XpMmVjApmJrCBrqB9RmchN3sMiaJlL-idZiPyxk81RoAYnZoTT4qiD14KxS5NdLsu77p7u_ewZpJHGTr3bRRejZvKCOWPWtTY21tqFfKA9azSEMCLb7u72usSc3zw5Mk0KLolknWeWQVAq8DA2KN1pmUroRNxrEYALbyercVF2n055dRgVMvWfow5DkiKua342_PhsF3c5XDxW8_le9_Fe_037-e90i_oumE55fVolpxBm7grgpa487pQcMNIVD3bBp3cRYhc0y3yxxSkHIPaOppurT0ix8zph-r_iUpuIEZDO4QHfuW",
  "id": "rs_03cbd193bde188ff016ab4543367b087d08b8b3c4c8b9fa3ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the pen shaft is between the fingertips, only slightly right of center but still well within the jaw span. I’ll close on it now and use the settled opening plus a lift to confirm the grasp.\"}",
  "call_id": "call_yf1xbbjlr84HyoUxum7Gu6iU",
  "id": "fc_03cbd193bde188ff016ab45434ea9487d0bd703c1ccc43b05e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yf1xbbjlr84HyoUxum7Gu6iU",
  "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]: [0.3969, 1.298, 1.0637, -0.9318, 0.7033, 0.8543, 0.0524, 0.6693, 2.0079, 0.918, 0.3904, 0.0475, 0.0189, 0.0087]\nstate[eef_state]: left_x=0.3026 left_y=0.0069 left_z=0.1796 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.3849 right_y=0.2984 right_z=0.0032 right_yaw=0.6077 right_pitch=-0.1376 right_roll=-0.0176 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, -4.547, 6.3658, 0.9402, 0.315, -0.0366, 1.0281, 0.0615, -10.906, 5.6, 1.3162, 0.022, 0.0513, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21abd79cf8e1b7be6ea0b13006e1656f0a84aab57056b12cacd067c1af0596bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1983499184e167f02c1e9f612ed0985005099bb59e37205860409fbe3ce7a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92acdbbd8d6cb67be6d2db0dbbfe412c1070c4854bbe066f75e1e2d0921e63f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.633 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]: [0.3939, 1.2953, 1.066, -0.9081, 0.7277, 0.8516, 0.0524, -0.0193, 0.8021, 0.6128, -0.4114, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3071 left_y=0.0043 left_z=0.1856 left_yaw=-0.6865 left_pitch=-0.1748 left_roll=-0.0759 left_gripper=0.0524 right_x=0.2921 right_y=0.002 right_z=0.1754 right_yaw=-0.003 right_pitch=-0.0397 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.9316, 9.0462, 0.989, 0.5934, 0.2125, 1.0281, -0.212, -1.1966, 7.0222, 1.8584, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.2976, 1.0645, -0.9314, 0.7071, 0.8539, 0.0524, 0.6697, 1.9938, 0.9234, 0.3534, 0.0479, 0.0288, 0.9991]\nstate[eef_state]: left_x=0.3028 left_y=0.0064 left_z=0.1804 left_yaw=-0.6791 left_pitch=-0.2041 left_roll=-0.0895 left_gripper=0.0524 right_x=0.3829 right_y=0.2969 right_z=0.0047 right_yaw=0.6023 right_pitch=-0.1551 right_roll=-0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -4.5607, 6.4752, 0.989, 0.3834, -0.0317, 1.0281, -0.5949, -9.0872, 4.7658, 1.7998, -0.0024, 0.1294, -0.105]\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 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]: [0.3969, 1.298, 1.0637, -0.9318, 0.7033, 0.8543, 0.0524, 0.6693, 2.0079, 0.918, 0.3904, 0.0475, 0.0189, 0.0087]\nstate[eef_state]: left_x=0.3026 left_y=0.0069 left_z=0.1796 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.3849 right_y=0.2984 right_z=0.0032 right_yaw=0.6077 right_pitch=-0.1376 right_roll=-0.0176 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, -4.547, 6.3658, 0.9402, 0.315, -0.0366, 1.0281, 0.0615, -10.906, 5.6, 1.3162, 0.022, 0.0513, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21abd79cf8e1b7be6ea0b13006e1656f0a84aab57056b12cacd067c1af0596bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1983499184e167f02c1e9f612ed0985005099bb59e37205860409fbe3ce7a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92acdbbd8d6cb67be6d2db0dbbfe412c1070c4854bbe066f75e1e2d0921e63f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ7h1AcgC2dGzb8s0qvJ2K_2JbADHr7sfmzpdJu0QWP-DKnIKwoK1UhiVNwjemhAKJ6sZlHlRoaidRH6j4frfJkXWYpyKLckAW96Iee7H4iLi2kkhQbKiABDc1RVrhhC6Ou85jR4LNpIbLvd_cW4aFP8frPuGmZgF1hCzBUYRwc-RDEShAkjhAlI8f4_GyKNXDqOaUAp1SbbTxcIUxlXuhx6pTbYG5LHyvpjstEtfLL8MGARojDAgPZ9M6zr5tK8WXixQjgB0agQICn3wLpRcbUztwpvrOJMvpueiZOT33YFPa6ea1a51M5HlHzpDh_BwUrTBxE3n5Jmbx1zaCHSYn1nrGRFc5yXOg3ZVB1a7zhFehdYh_W0RAbosapB_dIj3I_wGHbIhLfxP3vdFCRZWCr4KP-Oa3juF8D5gDBtozw6pGNyv3XIA7uxVqA9vLf-2gW2wHvfcrMBSrWcG2tp_Lu_UE0eZnR1WFzGRer95SRHn690n4r1nwI5byxwOxFTKg4BvLkh3RPIf0GySozbIb9dF16GsPyl3aoM_QDaKPgXwqgtHg2uGociprQ9wz-sQcuIovvGBv9SBnYLrjEv3iU7DrbRcaTgp5i0eNQBQcw4qeWAcc3akPjwQlLdmUwJOnLh8x0boiXlpEW8rPzm97UxioSgFwM1Jlp8tZZztI88moAsHVWYjTAwOOabkEupaKoPMMCW0AEX_9pR7XdjZ9nlW4x6M-H2nY5UhEOYYfJ-aCOc-0-2hbBzQhZJRI_hnP0Snfy58U_GCuvYLnEiP1c-G-QNWLovv-nZNL2HfiSNCXVt4othVD312Ob-4jEDwdpd-dv34eRKzG6DFEjprBy3vTc7jQhvK455dLAyF45k94Ns3CMqjg7r2Tabx9iULV6HG2hQVkTKyUVyOeAjHnPDY0T9DLymsiBoUD6Gx-V9bP5CrB51UlNG2R4pO1IPf_JryUn-Wl9tORvITPm-XF9hy9lck0sOmfwt0I9lLao7T3zznvMWv8L8KjaCeQizASXHfjqCvyCb6TPG3Fjw0vQ2BQuDq8Ypd9F29qf627Z94PyVVsbUQPBpxTgafPEaCbOI6e1r4N-tb3819gr-cuRpLeN2q1HxmP2Vy2ENvQbrhUPCXM4rwaAClShciGtVXhaOj899aPmGmmkSWxlh9k9C_lioA5Cf5KwBMBW1siqxUd9g5ktbHpKo_4TIQTs3o-2AUlYV2mo3coNQdDHpT6heIyt7t2OXxIIDkQ2LgxYo9HkG4Wc3EvmErEEhjiYFCRzfDLJy_bDPRS6kM20EP-Vw3EMXAXDZ0b29fiWTdFePajq3oO5dPtJE5Gau6j7EXylsl2V-tynz_KcXrbclKIBSE8_bsC5J70vYDH7sZcmzu8a8aVjCCAOBVHZTyT_rldvC1TLg3p5OTsmltZKWDfbJ3ICzyhF_AqnQua5MOZzNx0gM1WBZUkwEaUGfDG0tsuCzyxk_69k6ftNGfe50HI_04vKxE01RMCssN8wwADn8j_XpfllAqufcG2XyjMJV2VuzQUilycsyNfRhLDLKst1R-UGjK1OsCHQ4bd0PoWSZ4qIzbQJI7jybKzWo8zSBwvu1hgeDmLxg1AnXA7uZweyCdDfbDx3PT9pdZgp9ekiuZewO5O2SUpwvw4gtXi3RZ1rZmo-vILHUazmKr2Rh3VNdwvgWoLNXgfwrQMaLyNj3gRV5A9RCNzium0E3ghg8iI1ZwMREeliTGykh1RVNhQWBNa5-CJeS9dkjs7oaNfRayeltwS-YhRU0aCz-TRQZPTa8St-pyxa1GBEUehV1IkOZ6HPnNHuLIGaMc__PXQv5qZyDcQR5L8XkXS34sM9_lKfsetBMB02GsUP31KJubr5An5nkHoDYiSiAkJ8AT8qF4ldPtLfGUF92TAZNT_bWphgOI0J9sewnZjt4IvOEnMqSPiqY0VMd7Vb0BXE8UMfUup0I6VF9RY6T4wYCUEmTwE2fWUeG1r0EnWzeNyivpidhypESpea86wt_urx5Ae8f0KF5hWlpQw-52Wg8cHyJJu_01qmTxzKcZ8_3PaVi5RnmGPDQm-UQIEisLPWpjwCXGGskBqZf48TAi4NzAEo5pTYJDiF6yJZW7QowhMHyZvH9o-QIA8-td1gWP8LPE-nVtQqFtvw75iqpZOCRoJ8L5DBN0hjyoVkQ0BL1JjTNSU3uGwlQjlMbQzBvdmks0uSSvY3DUPwVboSBSEnSlpiT4fJl4ATjIS5x7M5eil04TS6zH6ysQaMxgxlRIi0oNZs3oO8ycc9W95Bo3i63YTUnvXccfGa9hecOy7QU_f413gGvJAaoc9p2sIs7Wf962CFfoO2rhkvHS2PmClh91HGu3Kxw5qZCzkL5bPM929IK-FND5rVFMyLchrLLcvfDj5DNVQR3XKj5NASkSuN8HK533V4XgfzZpZ1h1fMPWgaQh01jg==",
  "id": "rs_03cbd193bde188ff016ab45437efd887d08ef8c3e44d68408f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.3,\"right_z\":0.005,\"right_yaw\":0.6,\"right_gripper\":1.0},\"note\":\"The right gripper closed to 0.009, which is an empty close, so the pen was not captured. I’ll reopen and shift the grasp point about 2.5 cm farther forward—the standard correction when an object looked centered in the wrist view but was still short of the fingertips.\"}",
  "call_id": "call_ernIHsvEXuq9MoorDlx46fFC",
  "id": "fc_03cbd193bde188ff016ab4543a22d487d0a629f8611d5d9e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ernIHsvEXuq9MoorDlx46fFC",
  "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]: [0.3969, 1.2976, 1.0637, -0.9321, 0.7033, 0.8543, 0.0524, 0.6449, 2.0415, 0.9905, 0.3508, 0.0242, -0.0093, 0.9946]\nstate[eef_state]: left_x=0.3025 left_y=0.0068 left_z=0.1797 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.4018 right_y=0.3013 right_z=0.0057 right_yaw=0.6183 right_pitch=-0.1391 right_roll=-0.0243 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -4.4923, 6.3385, 0.8962, 0.2857, -0.0366, 1.0281, -1.1966, -8.3761, 7.5556, 1.6777, 0.0611, 0.105, 0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346f12b2f161161d55d718b25a73003a53796d7d87f6db10af8c326f4aec4958",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4477e0be3c2df0019c1e7a0c202b090074647bb502f904457148f56f9158bb15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63881f4f1934cdb0ffae65c91837a5ac9114f9b2516188bc9cc502e4297c2052",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 5.234 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]: [0.3962, 1.2976, 1.0645, -0.9276, 0.7132, 0.8539, 0.0524, 0.6769, 1.6363, 1.0592, -0.0933, 0.0666, 0.0406, 0.9991]\nstate[eef_state]: left_x=0.3035 left_y=0.0056 left_z=0.1814 left_yaw=-0.6822 left_pitch=-0.1973 left_roll=-0.0888 left_gripper=0.0524 right_x=0.3703 right_y=0.2871 right_z=0.1391 right_yaw=0.5877 right_pitch=-0.1078 right_roll=-0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -4.6974, 6.4615, 1.0867, 0.5104, -0.0708, 1.0281, 0.5265, -8.2667, 9.2923, 1.956, -0.0513, -0.022, -0.1001]",
      "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]: [0.3969, 1.298, 1.0637, -0.9318, 0.7033, 0.8543, 0.0524, 0.6693, 2.0079, 0.918, 0.3904, 0.0475, 0.0189, 0.0087]\nstate[eef_state]: left_x=0.3026 left_y=0.0069 left_z=0.1796 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.3849 right_y=0.2984 right_z=0.0032 right_yaw=0.6077 right_pitch=-0.1376 right_roll=-0.0176 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, -4.547, 6.3658, 0.9402, 0.315, -0.0366, 1.0281, 0.0615, -10.906, 5.6, 1.3162, 0.022, 0.0513, 0.7204]\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 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]: [0.3969, 1.2976, 1.0637, -0.9321, 0.7033, 0.8543, 0.0524, 0.6449, 2.0415, 0.9905, 0.3508, 0.0242, -0.0093, 0.9946]\nstate[eef_state]: left_x=0.3025 left_y=0.0068 left_z=0.1797 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.4018 right_y=0.3013 right_z=0.0057 right_yaw=0.6183 right_pitch=-0.1391 right_roll=-0.0243 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -4.4923, 6.3385, 0.8962, 0.2857, -0.0366, 1.0281, -1.1966, -8.3761, 7.5556, 1.6777, 0.0611, 0.105, 0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346f12b2f161161d55d718b25a73003a53796d7d87f6db10af8c326f4aec4958",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4477e0be3c2df0019c1e7a0c202b090074647bb502f904457148f56f9158bb15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63881f4f1934cdb0ffae65c91837a5ac9114f9b2516188bc9cc502e4297c2052",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ-Bm9TaYYp_UmM8dSPqQcssJL6qTipt0c3DPXuscGTHsMi6Geyf_ARqrTViVkTjlJFY8k25vwkICZEvbmhMlft_WKqdr6OXvSyKzXHIL_x0imZbglM76H18Qe54tBk2yqkz9mJdCaLlTvnNI0_gDKmWQbniec8UApakH_MiQfhMyCjTg6BrcKyjh7JDnqFPJ0RKOqHiSeExgBYCdyOUfK2eSOQ5Nxkt_bFQJEm3XYKX0aTrWwGwyoTjJCikMbKj1HCPIsNrpswfaqBK7oNBU6qoO48u4G05Ovvkf2VVWUKg7P-ZD5O8FTloPJmDa_qSkYMEMciwxrE8tjX9eO-CzOpAWAYuoHoyexFko89nM2GuXwLWBja6LJfTttf9AusuSiHqUqZFP-Y0ba2GX03wmbm9o8NDsG9kuvMqyJ9_sH-lpBxsZ3MlRDsxp6IRQ3FwU1sakU5saJM-XbxEZ6J2M2aQIXVzECtxrjPSY1Afbr7WQvInPJnhabU3lzfILoXZdZC-Ij-022KsSkDUJAUcbUpMtxA61R8fq1rr0bIbEiVVj94HPuw2HiQL3-08cEhV8vGYaLEnmeXWPOvw3egZ11qYBS4Krthxut_olnRywA0H4vavcWbEw_CsuRJJ0J0DmEgGk2TGjOeJDgTCJO1JUzSY3IeOD7qEUciel_-ROI8-JL0ZDLWV7bWqzEsTguP6s03T4aPALB2fQgqYLHmz2_h40aNjNVX6MYQcgtFlveBvFJ1YMU_xwnNBwuiYygJvTxpfRFK_ReehZ4XmsEMDtwJfNrvne6DQz4zLXGWOlvFvlI4Ab2wLzkqAgHp3_YMZosgdiBCEZwocO9Dj1ynOs16a66hHaU3jNh_fhWbizP_4ssLEistfpbKNDB78Gp2HWEerhfIo8lO8TXba4itKgFzh6SUqQQIx4KelMxkstd0HwvK0RQP3srpQgcuQEBJOyKvNO13gw-KEbONp50197x-AT9gGQG_X1qp5CRjzCxpkb04F-Fx95SL1Kw3TOPC8cdOAw_4riS0g8hVwiAaFIhuG6fXANr2CpoB0Ao8gQqYv9rV_tCHvctRTs0oNS6quuvb8W6vKwbILlHUHSRxuRcIxohNFbQuw1HPaUW145_rR8lT2PBUHhpx3AG6QjOIf1sQ6v8mX2y_5t80TzVIBEMr8F3pQSe3WWOczSKNxV6BuKcMk_rfe8tRk8gubmwh8fu86JY4vhvY0VenaBTu3k25YG6qzhKci4r5uCHlFrMK63pnaUobD3lILiw7DtHBmUK3nfLSdtLQBUPSEK-9Q-SCgg==",
  "id": "rs_03cbd193bde188ff016ab4543d9a6087d09cdb3e28b3f8bc23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the forward correction, the pen is no longer visible ahead of the right fingertips, which is consistent with it lying directly between them. I’ll make the second grasp attempt now.\"}",
  "call_id": "call_oQEAsf7VcZa9klJUwFLAf4dC",
  "id": "fc_03cbd193bde188ff016ab4543ddd4087d0a9ec7251daa8437c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oQEAsf7VcZa9klJUwFLAf4dC",
  "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]: [0.3969, 1.298, 1.0637, -0.9321, 0.7029, 0.8543, 0.0524, 0.6437, 2.0453, 0.9928, 0.3504, 0.0216, -0.012, 0.0094]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1795 left_yaw=-0.6777 left_pitch=-0.2083 left_roll=-0.089 left_gripper=0.0524 right_x=0.4021 right_y=0.3015 right_z=0.0046 right_yaw=0.6209 right_pitch=-0.141 right_roll=-0.0247 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -4.5607, 6.3385, 0.8962, 0.3443, -0.0562, 1.0281, -0.1436, -10.4957, 5.135, 1.6435, -0.0171, -0.0122, 0.7253]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f89dcd5179c470a440d46295b2118d6cacd0eda99c9501f7cb2128e1e82b07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cdd5d07ab6cc4f018deb3e10c692960a81fd652c5416b9651ec4e403279d8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6623c082f95b1da68eaa29baa024ec4b8fc98f866a29ab8fc99a7eed297d1c11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 4.115 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]: [0.3969, 1.2976, 1.0645, -0.9314, 0.7071, 0.8539, 0.0524, 0.6697, 1.9938, 0.9234, 0.3534, 0.0479, 0.0288, 0.9991]\nstate[eef_state]: left_x=0.3028 left_y=0.0064 left_z=0.1804 left_yaw=-0.6791 left_pitch=-0.2041 left_roll=-0.0895 left_gripper=0.0524 right_x=0.3829 right_y=0.2969 right_z=0.0047 right_yaw=0.6023 right_pitch=-0.1551 right_roll=-0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -4.5607, 6.4752, 0.989, 0.3834, -0.0317, 1.0281, -0.5949, -9.0872, 4.7658, 1.7998, -0.0024, 0.1294, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.3969, 1.2976, 1.0637, -0.9321, 0.7033, 0.8543, 0.0524, 0.6449, 2.0415, 0.9905, 0.3508, 0.0242, -0.0093, 0.9946]\nstate[eef_state]: left_x=0.3025 left_y=0.0068 left_z=0.1797 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.4018 right_y=0.3013 right_z=0.0057 right_yaw=0.6183 right_pitch=-0.1391 right_roll=-0.0243 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -4.4923, 6.3385, 0.8962, 0.2857, -0.0366, 1.0281, -1.1966, -8.3761, 7.5556, 1.6777, 0.0611, 0.105, 0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [0.3969, 1.298, 1.0637, -0.9321, 0.7029, 0.8543, 0.0524, 0.6437, 2.0453, 0.9928, 0.3504, 0.0216, -0.012, 0.0094]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1795 left_yaw=-0.6777 left_pitch=-0.2083 left_roll=-0.089 left_gripper=0.0524 right_x=0.4021 right_y=0.3015 right_z=0.0046 right_yaw=0.6209 right_pitch=-0.141 right_roll=-0.0247 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -4.5607, 6.3385, 0.8962, 0.3443, -0.0562, 1.0281, -0.1436, -10.4957, 5.135, 1.6435, -0.0171, -0.0122, 0.7253]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f89dcd5179c470a440d46295b2118d6cacd0eda99c9501f7cb2128e1e82b07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cdd5d07ab6cc4f018deb3e10c692960a81fd652c5416b9651ec4e403279d8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6623c082f95b1da68eaa29baa024ec4b8fc98f866a29ab8fc99a7eed297d1c11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFREgAermDzyOK46ucRDv7I0hNzxxiH5mbwZTojJYMn_ilNlDRLjMriJbQVGLQIVjLDqfzdFWodDRp-UHHWoO5xf4vDLyz0KBg-lIMRzLq0ly26aYDYS7olhWKF9vPOL6_XG_Xvuqc0D0fcF86_GhaYFv8a_3b-REtQxolXHM9rEeVFh6Qke-jQqeE-bsOsE_SkMPrz8XXWpYMGTQxt6aJLTecB6Yf0zDth7bMOXUOQFHfQOpmnkuvdVfR7yNuS2dvHOZmRltlfZ6IKme0JQB7N1f58kkxbgau3rZRBucnbL_F5slv5E06xHgQR2JTyo_M9eMz2hpne1J2_2Y13vZ_ymt1Nm6UoMyayOuzYfyKGZ25d42v9i4ruAfKMCqVS_4QWXPSNIVkF_1PHEC8BS2shf_ukKmbvQgLi4X2mcHd2403jsoalIREu3W9p2AiHqjYbWPbwEenElvdqBrNNxxBenZ0KqB8TBiLHNlbYqiE29biZvb-sHPmgZeIp1y5sli8xR51NhW9bbDNuHR5NcD9_uLhYRFjMl2ooU-dx0_SElyZiC_3Gd0FuZ23YLAdXy35sX9l6VNVFLnMVxCSPrxc47ptvLeGle4EKmOnloau1eyvjpONt6lzU_HAdBqnwJLsRMmnqp0r7_gLf-0AGC4qqOIaajZqzJShCTN1Ff8TQAsQ5Jh-YpgplomCc1asli3wEqKoSn-BJCfn5mHgxF7YCtMGtWleP1jg_E0LRUS7YAT4b9-rEZTgNy22pF6_OtZA3SnoQ6VT2wXPMsXKbtYgeYGcaT20Kn9QDE3mqT9nhY9iaq8ezwkJ0gn9awYP0-EsY9wHEoR6CrjyWUNgril79m1TPqcBsVied5kQS3UFzcO3XjK0jF4J_AGa4tiR5yzMMBIAnacwdKni475v-Y--fhA0nEdvDAIgfVQMBXKB0EZHL1wX5eBYUofGuzDtaY3prUBV4DOHM2KgTAaW-aN8pzd5G1k_7PMbFq6f6dyKeInyCzOMmO8FlMe5uBx3-YXgnKflRNZbypUs0r0yrIrjvsOt6juRoa3eCdrmX2F1Lr5wwW5nlrnyOOP2aIXNMSkWDr-6xxiVwGeFQifY4I18a53Bq5O3Js6jgq4-lPuGMiI5C8FeguhxqHH5pz8CbOjYSZJ_Milp5RocqUvWGAcdpLyorhHKI3cUJk4fyz2GMqumkFOVWFrMf6FlIInZp5KWy-BA-ClDPQEbeiLiWCObR2ufYkap7aHPU6FyiWMsdTxHjqt2d2vBgb2Z-jBDZtbu6kMmojByVqtcV6wcUB6gB313YduOMHmVe-e5b8l6-C0tqDA5DtHKUmnFM-kxnUdIm8I7Psi69VEoZ1d48ar3N0c-LTPRK1J7NwOlCaLL1hMpTrK7dleDa6DlbGhhVbQpfZG3M4UZC42TcpP1vmspFRxTr70Bxq_hdmTXv_LfPQ6BxCU8J4vHVHERIZvCk4E6VqYjPekLzlGZ4M5fKnxbdCMz6cKHNnZntZpl4Nq3MfjphO2IHyERYTMYFOs1zA8jcCiXqPmnWCWeaNMV0rP7APS3b_at105pzcGEHMC0nCcsyhPeq5652IVa6uNS-T8IViWqtBl3XCIYdVL7Qs9T1I97kSmKn6H74yikOePjo2FYlNnb1kpQo5hjKw_7ZmdwFG8GyvKKWFEpbvJzSjCKSaZS2NJy9N8yuKPRut8lwlR1_E95JE-mF3AOuXIc8v2SsvAL8UglpDIGkBFL6ekDl44ttNaSuUsZ03aKG2JHCobNp8Q0zpln2K0hbL6NVEm7RIrUalSXjnE_col-UYPlQeinbz6KB9kNguoSBkmP20AgQDa-jk8KixniSz2EnJWr1HpvMxSAPyoA19dcq1lfsP0Souufe5SXtNEto-oTb_h5RXx9A8xeIhaaQLWAVYgomv3-kzL1S0_IlG6BV2U_FIsnHjZkSSebfWOJl0Mt_di0Xntc41zy5lQMQx8tfjmUEvin7junmMkZuJKcOWDz8D-pNC_DhDbf3RbjydvQj8hAQgkiHag0ThzWkAJI14FEZhvS7-YyXmH8j8QVoZvN713fpKGn93zOa2BVZyR01Rpjx8PwktoB4FDI0iJTMV85FwXZw4c3PWDbNndhmuxNX5heRoi6qe_5sFMEQZAGrujRxDKIVsbF-tFyojRFW8rMTZSpcR5ciwWT8HsMKHMrbZr80jSTUU49p0WdWApwaSd43PXFI4Kb5LuWLVDYCxF2UlTnzTCYb_dpE8ctBFnL_TGAXB-Il9zbwwcAgMzk0fyIDoAjkuqjb-uWosWbassaDXHBeT5IcikCDRBLMKRdHMfS8OX6MyDeOEddE9Wz5vSB24HI6w47KrBLty6CNzJrHR_IUR56dPSGTj7iXm1uZaXj6bA9ySQOWVnGCXn7n-jT9_VJRHnm-3PUuoCofgIPKqFHKq873Z2uk9zTg1S4CJ0rHI9g65ZLYtcBRgru-YoxPY1ZMXwqaqSDQa6aKldQp63FflT58rg-A2wfKCveRyoPDoC4I0V3Frsdwxun72E2nHMcAgarCP5YrLkaua9JIoIlm82i04HZcF_t4tM2HKvNQplZ4uJ_y3-KzSFgX7-jaqnjNIlD08T5QPY_2b1pQmbGuvg3-Hh_lb1I1f0a134UqFyrrTGmvXh6GPVk2cGFQS0xx0CqeXhyuLGl9F3DbnqmteecJ3wcNAGDIo0bc7Y4umUaxgOvxprdzCI5cX6z5_TWkdkKEN-IcYHE3Y6O_Iotn2YDf-NAK93RMS9zxgDqPZsPBBWmUqBOIU0DFd4J2EPUw4oIaLMZJXRzVj2dDOtGt9LR-gWctzzcUg_coEpmmGVQa_pykMLnsTYb13-vyzAIn75m8FvQLMe0OvM7jb86BKUCyZj42_i2BPeSmYjvEGcd9AUnRKUNEd8mipoLh0g-EMN6pOw5OzW7cx8yisAjVGpoVDA7aRRxwjFFW2mKFTzivy3fspb_gbDzz1-UI=",
  "id": "rs_03cbd193bde188ff016ab45440aad887d08159be5756e76511",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The second right-arm close was also empty, so I won’t repeat the same approach. I’ll retract and park that arm to uncover the table, then remeasure where the pen has shifted before choosing a corrected grasp.\"}",
  "call_id": "call_KHb4Xs7tyMfvQf9Zbk642NbS",
  "id": "fc_03cbd193bde188ff016ab45443bba887d09176b254d8b3bd7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KHb4Xs7tyMfvQf9Zbk642NbS",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.2991, 1.0626, -0.9318, 0.7029, 0.8543, 0.0524, 0.0051, 0.9409, 0.7036, -0.4946, 0.0124, -0.0254, 0.9978]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1789 left_yaw=-0.678 left_pitch=-0.2092 left_roll=-0.0908 left_gripper=0.0524 right_x=0.3003 right_y=0.0029 right_z=0.1613 right_yaw=-0.0027 right_pitch=-0.171 right_roll=-0.0293 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -4.6154, 6.3795, 1.0037, 0.3248, -0.0464, 1.0281, -0.6769, -3.1521, 10.2632, 1.7363, -0.1441, 0.0904, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda3be40260574b1dbd9bcc427da8807d0ac9d55c0919bdd2bdf8553a7713cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9900a96e13c5b9c85519b94346dbb86f109693fd00dceed8529940f17dc1f738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3977305a6a23f6913c29c095bd9ce294b13affdcfd59f44a8ebeb8e1150e9dd0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 4.831 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]: [0.3969, 1.298, 1.0637, -0.9318, 0.7033, 0.8543, 0.0524, 0.6693, 2.0079, 0.918, 0.3904, 0.0475, 0.0189, 0.0087]\nstate[eef_state]: left_x=0.3026 left_y=0.0069 left_z=0.1796 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.3849 right_y=0.2984 right_z=0.0032 right_yaw=0.6077 right_pitch=-0.1376 right_roll=-0.0176 right_gripper=0.0087\nstate[joint_eff]: [-0.1709, -4.547, 6.3658, 0.9402, 0.315, -0.0366, 1.0281, 0.0615, -10.906, 5.6, 1.3162, 0.022, 0.0513, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.3969, 1.298, 1.0637, -0.9321, 0.7029, 0.8543, 0.0524, 0.6437, 2.0453, 0.9928, 0.3504, 0.0216, -0.012, 0.0094]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1795 left_yaw=-0.6777 left_pitch=-0.2083 left_roll=-0.089 left_gripper=0.0524 right_x=0.4021 right_y=0.3015 right_z=0.0046 right_yaw=0.6209 right_pitch=-0.141 right_roll=-0.0247 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -4.5607, 6.3385, 0.8962, 0.3443, -0.0562, 1.0281, -0.1436, -10.4957, 5.135, 1.6435, -0.0171, -0.0122, 0.7253]\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 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]: [0.3969, 1.2991, 1.0626, -0.9318, 0.7029, 0.8543, 0.0524, 0.0051, 0.9409, 0.7036, -0.4946, 0.0124, -0.0254, 0.9978]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1789 left_yaw=-0.678 left_pitch=-0.2092 left_roll=-0.0908 left_gripper=0.0524 right_x=0.3003 right_y=0.0029 right_z=0.1613 right_yaw=-0.0027 right_pitch=-0.171 right_roll=-0.0293 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -4.6154, 6.3795, 1.0037, 0.3248, -0.0464, 1.0281, -0.6769, -3.1521, 10.2632, 1.7363, -0.1441, 0.0904, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda3be40260574b1dbd9bcc427da8807d0ac9d55c0919bdd2bdf8553a7713cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9900a96e13c5b9c85519b94346dbb86f109693fd00dceed8529940f17dc1f738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3977305a6a23f6913c29c095bd9ce294b13affdcfd59f44a8ebeb8e1150e9dd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03cbd193bde188ff016ab4544879a887d08005d5064ec0a618",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.3,\"right_z\":0.13,\"right_yaw\":-1.57,\"right_gripper\":1.0},\"note\":\"With the arm retracted, the pen is visible and has been rotated nearly horizontal by the failed contacts; that explains why the previous +0.6-rad grasp ejected it. I’ll approach the same center with yaw −1.57 rad, making the jaw closing direction vertical in the overhead view and perpendicular to the pen.\"}",
  "call_id": "call_mIHayh0AH1TwqYlOtNeqWokB",
  "id": "fc_03cbd193bde188ff016ab4544a79c887d0a1cb5c6790d889bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mIHayh0AH1TwqYlOtNeqWokB",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3045, 1.0618, -0.9325, 0.7029, 0.8539, 0.0524, 0.5358, 2.4382, 2.0247, -1.6623, 0.654, 2.0254, 0.9986]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1772 left_yaw=-0.6791 left_pitch=-0.2125 left_roll=-0.0972 left_gripper=0.0524 right_x=0.3692 right_y=0.0984 right_z=0.0556 right_yaw=-1.456 right_pitch=-0.2204 right_roll=-0.2096 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -4.7658, 6.3795, 0.8864, 0.2955, -0.0513, 1.0232, -1.4427, -11.3436, 8.5128, 0.188, 0.7302, 0.5201, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86dc25271f8092951529c4cccd17cacc23cda451a2dadd1a097d1e306426a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a69f035e4f91f52f424a597fb4608f18261698fcfe1e40460173fdb04941ebe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d27c5837d8d652105d8b9602bcc5560bbd99db4042456516af818319d830cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.219 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]: [0.3969, 1.2976, 1.0637, -0.9321, 0.7033, 0.8543, 0.0524, 0.6449, 2.0415, 0.9905, 0.3508, 0.0242, -0.0093, 0.9946]\nstate[eef_state]: left_x=0.3025 left_y=0.0068 left_z=0.1797 left_yaw=-0.6778 left_pitch=-0.2078 left_roll=-0.0889 left_gripper=0.0524 right_x=0.4018 right_y=0.3013 right_z=0.0057 right_yaw=0.6183 right_pitch=-0.1391 right_roll=-0.0243 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -4.4923, 6.3385, 0.8962, 0.2857, -0.0366, 1.0281, -1.1966, -8.3761, 7.5556, 1.6777, 0.0611, 0.105, 0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.3969, 1.2991, 1.0626, -0.9318, 0.7029, 0.8543, 0.0524, 0.0051, 0.9409, 0.7036, -0.4946, 0.0124, -0.0254, 0.9978]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1789 left_yaw=-0.678 left_pitch=-0.2092 left_roll=-0.0908 left_gripper=0.0524 right_x=0.3003 right_y=0.0029 right_z=0.1613 right_yaw=-0.0027 right_pitch=-0.171 right_roll=-0.0293 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -4.6154, 6.3795, 1.0037, 0.3248, -0.0464, 1.0281, -0.6769, -3.1521, 10.2632, 1.7363, -0.1441, 0.0904, 0.0464]",
      "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]: [0.3969, 1.3045, 1.0618, -0.9325, 0.7029, 0.8539, 0.0524, 0.5358, 2.4382, 2.0247, -1.6623, 0.654, 2.0254, 0.9986]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1772 left_yaw=-0.6791 left_pitch=-0.2125 left_roll=-0.0972 left_gripper=0.0524 right_x=0.3692 right_y=0.0984 right_z=0.0556 right_yaw=-1.456 right_pitch=-0.2204 right_roll=-0.2096 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -4.7658, 6.3795, 0.8864, 0.2955, -0.0513, 1.0232, -1.4427, -11.3436, 8.5128, 0.188, 0.7302, 0.5201, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86dc25271f8092951529c4cccd17cacc23cda451a2dadd1a097d1e306426a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a69f035e4f91f52f424a597fb4608f18261698fcfe1e40460173fdb04941ebe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d27c5837d8d652105d8b9602bcc5560bbd99db4042456516af818319d830cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtFRSPmnvYMZoIKDnnPNSUIZtqRqWq98NFgQNis_BahxvlDxxRKGyGOzhLpCgFsS9-UIy3jWUxN2JnLN9m-7RQi_x1W6cmA2MYEIPJ5bYCeqCdYbBJAARZHwPFcjEVvlgdHG6LlFXjVPoBFB6fKPpBdFwLOLwPaxZWNHErLE2QVvUxeZ7GxOk1gj28SvZOU1M-1eOi8VeqZ_LCA5VLPCE4KIp9DDhj3gcphpwDzWk27yeU5cJEagh38jPswhGt7slbFnmQKk4M9Old2w-kSaFjByjyKHnLy5n3twJPP8bdHEB1ASjgDTJR8Ay8X43703M8mVnld3DBR_zmyxKG3eeMLEK2lPXJ-a1ciIHjwssinNWd80yXDnWDkBHkkn7LEoe_1gdjJCtIkrmgzLDa0uoxjgGWzCdD6wv62kTlM0focH0HSVES81qWe3SapOOm8yRcUQNdl-xLiLELfblOn1XYLJr-KhtN7o_T93KkSh5olGry1dRboHg1hdi3S-hYIIeliABECeGVOdWWGOSLXj8yQ2FK3EjpwOG6B-GcAUV9WmY33n6W9m9bXuj96g61SxRitiGOrI4GEaU0viGr7RNXdRBVTgPV7iuq8Ola0FPyHK-x82G35V-eyTiMy_oFcjqrbaln7yGeAgpQ4e7frpeVqFLTsaTtg9mIBuZOO-s4iuooWkUSPGIhhQm34jrroIGfhWC5WdMyTxNvnu98JEuGU2HoMyHPsgEeSIqYKh9CX3eiOzBPGfQQcTfIHmdiE_IydMiNSJfMOV1o2Cqm2BU8DtmhEhpmzypUjfxaSRbMX2PEL8SSL8tC36ip1U1-uvwzrFbd5pQV8kxlV3W24pdO97F0FAFuuPE7s0e7Vk1EcReHL3s84scrVBp45Xh9pPVfVETv9LDQUoVPL3de8-hMLMgCfudzcPt6CZCy1o4CPsrTLmbvldpCdonQ9iYLFCjIe3aoZDbUNP047h2Of0zkFfNHg2KGx01DEeVHQhomC3LjqCck81-qX8yIDXvsaDvvH-WI2yPLkBpxcfzDeIRDT4nANXmRW_406x5LLvrQJrmn48Yk4FccOf_nNTTPVnIwj-lW8rt9YhIhSD2n7aC_jSkMbN6V2DUojF2NNs4JUjM6kro2Gfay3gHzFzxpdTaiEOpIo90oyWd97wEe1r-bbOOzcGpYE3jF_vki-vDwuUnS796aIP5yBayYFe8ZSr50nGe1ekRvBCJc1Y3N76hpQKpAe0Fu8euchdEQIKm70nEDKXIC4ETTP-HXADBWpJ9wWemN7SVn763vex9SXl4vJEpuhqPUsrmcux1QQOUCvlBfGQtt7HLghIXp4lxRdYPrAkgR0oHivscVlJiNaDbv-DA_XKULW1oQZHYauWVQbfgo2K4KCcYMz0ZSaGB-LITaXKP0qQHflkkEfcBzNsUc0LPbhu1F2IV23JesgbCyf35X835v-oMleCMywvwV8aMfgqZH97DfDUidKzmZy6j6j8V71n4OohTchP2z4SjIJ_VWZyd26GGmC97ECNzR-tImOrYJyO6E08XQZUlziXIyTNIfQEWLj4yJINFkqnXEeIAx1-5M5sZ2H2J4Fkwkis49DgMBR1sRzqn1gvpIo5YMEeA6k7RJ0sb019_ZKrF8nYjUwcS9zHndBq9ACZEXxC-3I9pruQBC6mBp7elS5uDyhuzIPzqkNlRm1uigRPMmj9lbfGmcdsr8YJ3ECd2NHr90729avLuHhbM2fvp--kLenmNqNADEy0COXnNq2NT0XN_1yxv63zB2PIvy9oL5hojaGlSEhhiGrVN8WAW38vzQuBZ5-XIxbyDSKnj0hShkl5HvUJIlcr7GcosCFi3E92JB5uGuV5cTLqzZXj6ASwxyV09_tj9s6R1RHhpI4lmoztFh7k6hegTutb-WkjnnfNpUndCIc7SoZ2zWWsOzl7TpkJCHly0l5X4Q2U6pw1Boak1G41XOuJP1Y9LWDOxj3rMRZj_GE2xkQhVPlyFmJwEyohafJrTBVDdBIDs_XL3NBfh-byvaDymZi9pFMaIYzhof5kzOlYLiW1d5Axa28CgH3Mz5orX90gmm2eItb8w0XdpE3a7FJ3MSotfAGlTWsfLmGjO",
  "id": "rs_03cbd193bde188ff016ab4544f424487d0b81b30beb8b26d8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.08,\"right_z\":0.22,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The −1.57-rad cross-table pose did not track: the right arm stopped at y=0.10 instead of 0.30 and sagged low, so I won’t descend from it. I’ll first raise and unfold the arm near its own side, then approach using the equivalent +1.57-rad jaw orientation, which should be kinematically friendlier.\"}",
  "call_id": "call_9Kdji7T6ehschahQW8VZQql2",
  "id": "fc_03cbd193bde188ff016ab45451484887d09ebbe74e399ac2b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9Kdji7T6ehschahQW8VZQql2",
  "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]: [0.3969, 1.3102, 1.0611, -0.934, 0.7029, 0.8539, 0.0524, 0.5648, 1.1103, 1.0431, -0.9333, 0.5713, 0.614, 0.9988]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1753 left_yaw=-0.6806 left_pitch=-0.2163 left_roll=-0.1044 left_gripper=0.0524 right_x=0.2766 right_y=0.0664 right_z=0.208 right_yaw=-0.2712 right_pitch=-0.2267 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.0803, 6.5983, 0.9158, 0.3004, -0.0562, 1.0281, -0.3487, -2.7829, 6.3795, 1.3553, 0.2711, -0.0806, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1162dea9c0586ccc3df37ab03e284ece43bf5bda75a9e9c7bd82df66a22715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:905b50a521954197d0ecc5cf36ad0873422719d161ddabc3b6d5abf321085062",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ae5a865bc8fba23e0eeba9374f4fb494512b9ed6ccf8f9a9fbcb7b3b9af482",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 6.425 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]: [0.3969, 1.298, 1.0637, -0.9321, 0.7029, 0.8543, 0.0524, 0.6437, 2.0453, 0.9928, 0.3504, 0.0216, -0.012, 0.0094]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1795 left_yaw=-0.6777 left_pitch=-0.2083 left_roll=-0.089 left_gripper=0.0524 right_x=0.4021 right_y=0.3015 right_z=0.0046 right_yaw=0.6209 right_pitch=-0.141 right_roll=-0.0247 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -4.5607, 6.3385, 0.8962, 0.3443, -0.0562, 1.0281, -0.1436, -10.4957, 5.135, 1.6435, -0.0171, -0.0122, 0.7253]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.3969, 1.3045, 1.0618, -0.9325, 0.7029, 0.8539, 0.0524, 0.5358, 2.4382, 2.0247, -1.6623, 0.654, 2.0254, 0.9986]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1772 left_yaw=-0.6791 left_pitch=-0.2125 left_roll=-0.0972 left_gripper=0.0524 right_x=0.3692 right_y=0.0984 right_z=0.0556 right_yaw=-1.456 right_pitch=-0.2204 right_roll=-0.2096 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -4.7658, 6.3795, 0.8864, 0.2955, -0.0513, 1.0232, -1.4427, -11.3436, 8.5128, 0.188, 0.7302, 0.5201, -0.1587]",
      "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]: [0.3969, 1.3102, 1.0611, -0.934, 0.7029, 0.8539, 0.0524, 0.5648, 1.1103, 1.0431, -0.9333, 0.5713, 0.614, 0.9988]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1753 left_yaw=-0.6806 left_pitch=-0.2163 left_roll=-0.1044 left_gripper=0.0524 right_x=0.2766 right_y=0.0664 right_z=0.208 right_yaw=-0.2712 right_pitch=-0.2267 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.0803, 6.5983, 0.9158, 0.3004, -0.0562, 1.0281, -0.3487, -2.7829, 6.3795, 1.3553, 0.2711, -0.0806, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1162dea9c0586ccc3df37ab03e284ece43bf5bda75a9e9c7bd82df66a22715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:905b50a521954197d0ecc5cf36ad0873422719d161ddabc3b6d5abf321085062",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ae5a865bc8fba23e0eeba9374f4fb494512b9ed6ccf8f9a9fbcb7b3b9af482",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRV_nVYDMMxWEZ8VQNHaoDQFNKWRTbvNOs54AaJa5Clds2cMbuThvKtgY0j41t9C2eWsbdDCGJAYsBe9LYXwONaZr6XE8oMp68pskCDZ04XnQjNQRQN-NXUHtW4VCFa-5w8srd3qiQf4hFlFtWK_rEZ9wLeAfUiosbR4IrBxKALW3SrrR-7vpfa1S-kP4psmxp0oIPEjMARA5Big7dXtUAsa6TvkPCgoBJBED_osPnEh1rXldo9kmQ5iaWezVh6JRKZ2anL5xfunzR0QJ_Hg-3xPqbLWuW_CmQIDXtfQm36zR2ZmhW-on2Gh4iewQ-OHLFqoU9jKiWmHm-NiK879w3MGd35l2nf7vJCkKmqjerBqL7Zm2h0tSbYQR3xFsfiiaHb5wb65V2YU3KKxMRJ3NKjg365pAKj2YCsMeAH4Wv7lxkW7vrn2y3qk2lNwltEDqh78uchjbedbQGfcAiwBN2WstZ_HJbhs5d7fvNXdv3as8WVWOiebyxcqSmYO402pDYbf1_nsZm2a2pgVk39ViGMiukTmTXNc71DWqIgJRlTOL32GxrksSvtrHPDanf6yKoV61eWgDJGaFg0IfIZRrKweevyu5-h0TUJK7kns9iQQB4_qaIMd-RldT9UXPRbHUOF1OIWrv3ZE2IehCEtETSZ9VD3grqLcf8xdFWWKQDbaie0N4nllXKHUm54bCgrmvxTX39aqMFXplLqW7FmYWwp0NCn3yNLi6U7iOXOMRruqc_btOwuppfr8hhV4hZnKDevzur_UhGBLjfvKpHQ6MFlG7Rgxew6HYQzWJ46F8QjnEaxyYo_mlpiVfrFFWBL70Be07FojfTmGgPAQLn5bRneYCk8E2OG7OmxXiUOqC6KWWhXeZFPJ7Z1CbP8WlHTwUck6sgCjpw8L2Ng0yahn7Dbq9WUKYOyQdFbRCR3UB2wUf8vbzcFHH8Vcjko-hrhB_xZiE1wgpoYHFytANXiYVDAQx--o_4cCJhHkrFksfIFxTEyOdJouWp_DEUPGo2o_ati1wP3BRXuA91LMBCLWRcQjr4h0-KlLR8Hx66c6iaDQvDFiYHNW9hz9HoGEsril9_Lk0ZA_vvQwotoXlwNKLP_xVHX_mGZxjlE3JXjE5vG2Iy4iYjlBB0yS2IfxUvgGdIeQwmewr-x6nLjYWFutKbHWnElinAx_O3FUrEETkRUAqOFPZeJ4Yc1Jixw14nRiadQE3G1jbX4TojKZT0EA6mciRIgF5mumwq8G810Y-wLJ6hoLYLzA81zU67FexB1SCh_eQweG-HTuPdKEbVY0VmrucpHUQnc_ObXWVO_GDJCgqZYry5h3LcgD634SMtTQn0Q5JwseXHb0fHSQAjUFN_yUNInq3dPnVnoxG63JJTUFemfrDq7czYBXGHP3HfhMfhVAoxJIEJxOHyTrR-eQy4NsQ==",
  "id": "rs_03cbd193bde188ff016ab45454c0b487d09bc0f908059361d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.3,\"right_z\":0.16,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The right arm is now safely raised and the horizontal pen is clearly exposed. I’ll approach above its center using +1.57 rad, which gives the same perpendicular jaw direction without the stalled wrist configuration.\"}",
  "call_id": "call_PCNsbuIGodsB7JDuJUvHqgky",
  "id": "fc_03cbd193bde188ff016ab454552d6087d083ccfd2221d09726",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PCNsbuIGodsB7JDuJUvHqgky",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3148, 1.0611, -0.9379, 0.7029, 0.8543, 0.0524, 0.4213, 1.9823, 1.7123, -0.8043, -0.614, -0.9257, 0.9988]\nstate[eef_state]: left_x=0.302 left_y=0.0067 left_z=0.1738 left_yaw=-0.6825 left_pitch=-0.2203 left_roll=-0.1117 left_gripper=0.0524 right_x=0.3948 right_y=0.2924 right_z=0.158 right_yaw=1.4467 right_pitch=-0.2426 right_roll=-0.0808 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -4.8342, 6.4615, 0.9744, 0.3199, -0.0513, 1.0281, 0.5265, -11.2342, 6.9128, 0.5885, -0.6569, -0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bae7ef1f5a964d26a13f53437aaa3fecdb6f2be77ebcc5d968c4cc397a9de03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440bf712c9f4613b05312993d02665034138d98d3026cb9063695ff6b8319cd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b638b412c9f86ba1d8568e476ad11af22240f575f75aa4c547a46e8af4dda74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 5.69 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]: [0.3969, 1.2991, 1.0626, -0.9318, 0.7029, 0.8543, 0.0524, 0.0051, 0.9409, 0.7036, -0.4946, 0.0124, -0.0254, 0.9978]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1789 left_yaw=-0.678 left_pitch=-0.2092 left_roll=-0.0908 left_gripper=0.0524 right_x=0.3003 right_y=0.0029 right_z=0.1613 right_yaw=-0.0027 right_pitch=-0.171 right_roll=-0.0293 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -4.6154, 6.3795, 1.0037, 0.3248, -0.0464, 1.0281, -0.6769, -3.1521, 10.2632, 1.7363, -0.1441, 0.0904, 0.0464]",
      "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]: [0.3969, 1.3102, 1.0611, -0.934, 0.7029, 0.8539, 0.0524, 0.5648, 1.1103, 1.0431, -0.9333, 0.5713, 0.614, 0.9988]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1753 left_yaw=-0.6806 left_pitch=-0.2163 left_roll=-0.1044 left_gripper=0.0524 right_x=0.2766 right_y=0.0664 right_z=0.208 right_yaw=-0.2712 right_pitch=-0.2267 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.0803, 6.5983, 0.9158, 0.3004, -0.0562, 1.0281, -0.3487, -2.7829, 6.3795, 1.3553, 0.2711, -0.0806, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [0.3969, 1.3148, 1.0611, -0.9379, 0.7029, 0.8543, 0.0524, 0.4213, 1.9823, 1.7123, -0.8043, -0.614, -0.9257, 0.9988]\nstate[eef_state]: left_x=0.302 left_y=0.0067 left_z=0.1738 left_yaw=-0.6825 left_pitch=-0.2203 left_roll=-0.1117 left_gripper=0.0524 right_x=0.3948 right_y=0.2924 right_z=0.158 right_yaw=1.4467 right_pitch=-0.2426 right_roll=-0.0808 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -4.8342, 6.4615, 0.9744, 0.3199, -0.0513, 1.0281, 0.5265, -11.2342, 6.9128, 0.5885, -0.6569, -0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bae7ef1f5a964d26a13f53437aaa3fecdb6f2be77ebcc5d968c4cc397a9de03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440bf712c9f4613b05312993d02665034138d98d3026cb9063695ff6b8319cd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b638b412c9f86ba1d8568e476ad11af22240f575f75aa4c547a46e8af4dda74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRePA7X5PjZmKDsrZ9rXpiNL1mc43yJRj3AhxO6AN94FHG_dmJX2wutFDz-4i-x_MAA1eXL9j1HilATTfDZzhzk9myu1En9eb7iUijQDzsBneVCewTChWkRHPz10JMIAsU7x3aGdwaqG0O-znhFUDwStVKJ6c6jxbElt8mM1CbCRp12gxpf75F79B52Ref0XHFYcBWWkZKnJCBpPDE-fVsr_JbBgGMzUyxxqv2haF7E1gkVSEU-w_r_OkmHY8jOrM-r6thWh2KXLUQcw2HWqrNuy86EF15-FJU96702GTyuDbbgYVoBHlUfMVc59yUzKdg3rBhX3f5jrx5a8oa3NorYyviIGpWbAiceKws5CjqmmShN3V92sOlzn3OTfxhNclDgemMy9OjLaSIvl9uawcBfnn1uoCrTWTVq3g2F5vKyhhFjm9TM3CjuOXtPZzpa1nklPhHmNB6CLD8ypBEkqP8fcJR89m8MzjNpfqSVcpz_zJ47M-KeS8T3PAHwlUqj2Cq922LHjLnM2czgtT1Dvhv7TsmvDJVs9B-Jrab5lWA0wnIiw8g-41BsYlhf5C5P91zkvhY548pHoeRbOVtnHpLWcD_qZN3APhjSqHYcyqcIp2ENl3sB_qKmk2JF4uvY1Y_5oOoKEoTb-4GeINYtSBzM5LbtjYRcDer6NM7vUZVWAZokfvRnc0Dy4Ruke6Wav2jx39ZNse0Js9WhlxtoPTCT5ziV8F890QPRgeEqx9rNlIpG5ZapUplJOoL0QsxAT2F3rIBpcFOBrUHKza2VZUuAKXxDxH8ZHoj1RybWun2yHQKyfwd7YtgRNVwbRz1HQNye_MjXnAD0QC0PxpuTx-1bN2RfOYYBVhJFCs39At3oL0w79iJI2YthgIvKgEX3Aiq79dxD-0_2SMC0XDeRyKVmtRMhBoBowoOurVPw3VhO96VWnxGMtI4jXhLlcniyfjO0w1J2qihWXDKUABJcQI6K6TaMfImvcUfbe_BSy8xT1Dr5rbgLaOumesM2itiUnzPBtbhJaVT7aji5d3x0t4VyfXJix7_bYJmqich9WiTgi5Ns1EBogHFBmty1kjLrHEt4LTZlAnnksZ6GNs6LWQnI7JXqkKGS9P95THKoexl4vFpU-MVSST4QoMs5o9fzspYs5wVsc2rEM_7IwiXD3fMPF9VLbamIgeA2Ipy7zJQ0lmKCgpo44WVpI1wWJoOgOKV9DFzLzsDx9pRxqQkrmBQjV0gxiYn-5yHpyA8S5V3Kkd5JAJSLuYEcj7RCUdH5YSkjJRlrj3MIPgE04FF8pyo5ajFXXv9krH6DOPDJeAekYb16xLtj8F40W6iT9H4KrhaKD9K5nvAw22XLtrJcCB1ukRqGMiQDjW5qhEaWfuyjqambMEy4535OVJ-pyIaiSRwVxnx72dHe4p5v-Q86VK54skIun_vdxbasxzH-8CZGvhg3x64OhiY9-b4YIUfyThG4Kkg_qy4FvFZ4fQcRI5PRmeIsB-1SwZ5bp2sje8UsuGo05GbnXOzhHbwmZDeFZnX2NZR-hRvdab_ppCt5XEoPXY5mp3C12lp_Ig66KQChXVdR3Rcc36nbJTWikkhbuFPrVLfIOKhKxnuIyhOBsJNAY7riQUlIFEC8SUA3ZiWSaX6_BIvCw8q1-xs2wVDm1rCFK01xkp84WflTx7WZtxzer9JP4R8za796Vi9V1QOkqY8wZTGhwMrorZnnYFvOK8e2j1blg8wAW5NETc2ispcJ0i34blgTSGtjaZOLrKDuLR6LrbebNRoScwK8HLzv6w09tiuwk9ns6JXoaqo2BicA3-iuLgpJZFwCkD7es6yaQr425guC-vhylyimmU3pwfOCLZBcg5NwBwBsyasnDBADUxhRM-jvkS3FF_DwrHdRISTmAxCwawMrBfsGzHe8hHBBOeWF3l9ZiqdyM6ZVvpJiTi9Bro0gZDrsmvFyWMvlhOwvKjHcU6HAXPIaVyDJmoY0gDuRfDvBcJ-fp4bE1IrDID9SaWfpR4vknZwcf_04MrT4wAbnkayLTRDluMAh605J2bhQgV9iD038Z6NkyRvREWxeVB1f0EOdnlJcAWC1e_6mWLs2QmqfBrnGvbqsB5KZXNs6pp_Rw4qZKazgGe01rqpUl5UEoWAx1knqNOnwAYW7t8tVFK-w1K2GD4AQRGaSxxO48diPLdXh8_g3-t8pTAtd-4CB2so4tg1mA97Y5Y8g9vrPoZTxWHHUx3pM7sP05Cv7WkWpp7hXMCGVOyr_kbMU56KXWMuAW0mUaNWUhUc3ZAaoX7hSECFPB0db5z_v7DgLmautA5Yqqa9GnDm8ajLVSNdw8Xf_AVtJm7H8AE5VfJIs67DlqwHm4tXuYhLoflVsRogNTU0kp-868laxfOLqMkmBmBPQ2Y17dmWn0Ug6vR7lFitQngYv5WgsMzaibRMTRfieiwozWpoINRNFsOkS_uwrhSobHvrSwQkApRooFi63AqsOXGnz1Uz7usatzXetnBP3-gSN0NlCI4M5LBihnA37gYb0rZSAAEgbUkiGuFgFEHliTCVEtU8LQf2t_DBm3n3Q2K-nXGFj08S93_brbeBx9aaxXEq3UsSfumZV2FADCya3u1o4_eM5vvGtI-rBqGjMkuIdzXwx-qVwY7_jX6j1sNrWzg2AeC7JuTFV4qnC4Fz70vReFWYjb907yw3fGVdJyaC7OxbuCLs9w8ngtW9A2mcRMZJj6hgYupFOkHTeGkx1w_sIjmljj_xeYYNRO9Mo0kZqxQBbwOro2ga2qLXvRVf8LnssaBo4IWTndrCgXej6y8h_2ToIVSqUfaoXuQAP1yc96xJ8NUToCS31IwF45N_x-063NrRl2CYp7artlWVGJPJeh1QEOpWOR7l-_r74AzIT_1SF8VIuqafD8GrGFGTvKHz-Eg42cx41hv7rPpDnurY6nIMr3m4QdxchyKmoZ0fgQrA_n_LdojMIm2tneHmMLsBoeMRjTbSWC7dIn1u2A9oifU4nt1n7rWYkiPk6q_UXsOPxIRwFcw==",
  "id": "rs_03cbd193bde188ff016ab454594b3087d0b3f9774e2d957a44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.3,\"right_z\":-0.01,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"This equivalent pose tracks correctly, and the horizontal pen now appears lengthwise along the wrist camera’s jaw column, so the jaws are perpendicular to it. I’ll descend with a slight safe table press to avoid riding over the thin shaft, keeping the grasp centered near x=0.40.\"}",
  "call_id": "call_A6MboObtX009a4huvLF4Jx3S",
  "id": "fc_03cbd193bde188ff016ab4545d38e887d082cdbacb602ba616",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A6MboObtX009a4huvLF4Jx3S",
  "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]: [0.3969, 1.3159, 1.0611, -0.9405, 0.7029, 0.8543, 0.0588, 0.4183, 2.2349, 1.4811, -0.4023, -0.6647, -1.0523, 0.9988]\nstate[eef_state]: left_x=0.3016 left_y=0.0065 left_z=0.1733 left_yaw=-0.6832 left_pitch=-0.2221 left_roll=-0.1152 left_gripper=0.0588 right_x=0.3989 right_y=0.3005 right_z=0.0047 right_yaw=1.5586 right_pitch=-0.2447 right_roll=-0.075 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -4.7521, 6.2838, 0.906, 0.2906, -0.0171, 1.0281, -0.5538, -9.1419, 5.3128, 0.9011, -0.1685, -0.1685, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ba41b5c8116374b5dfadfb9af009e04d60ca076a70fde998e06ecd4012b3ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3822a60208bd72ce55ca092cdd340e58f190cf4caf23867f4a08a1b06edec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5033e12a7c1d89cb7cd68412e03433155513d62b004eedd7fb57c87b5136071",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 4.403 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]: [0.3969, 1.3045, 1.0618, -0.9325, 0.7029, 0.8539, 0.0524, 0.5358, 2.4382, 2.0247, -1.6623, 0.654, 2.0254, 0.9986]\nstate[eef_state]: left_x=0.3025 left_y=0.0069 left_z=0.1772 left_yaw=-0.6791 left_pitch=-0.2125 left_roll=-0.0972 left_gripper=0.0524 right_x=0.3692 right_y=0.0984 right_z=0.0556 right_yaw=-1.456 right_pitch=-0.2204 right_roll=-0.2096 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -4.7658, 6.3795, 0.8864, 0.2955, -0.0513, 1.0232, -1.4427, -11.3436, 8.5128, 0.188, 0.7302, 0.5201, -0.1587]",
      "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]: [0.3969, 1.3148, 1.0611, -0.9379, 0.7029, 0.8543, 0.0524, 0.4213, 1.9823, 1.7123, -0.8043, -0.614, -0.9257, 0.9988]\nstate[eef_state]: left_x=0.302 left_y=0.0067 left_z=0.1738 left_yaw=-0.6825 left_pitch=-0.2203 left_roll=-0.1117 left_gripper=0.0524 right_x=0.3948 right_y=0.2924 right_z=0.158 right_yaw=1.4467 right_pitch=-0.2426 right_roll=-0.0808 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -4.8342, 6.4615, 0.9744, 0.3199, -0.0513, 1.0281, 0.5265, -11.2342, 6.9128, 0.5885, -0.6569, -0.0855, -0.1343]",
      "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]: [0.3969, 1.3159, 1.0611, -0.9405, 0.7029, 0.8543, 0.0588, 0.4183, 2.2349, 1.4811, -0.4023, -0.6647, -1.0523, 0.9988]\nstate[eef_state]: left_x=0.3016 left_y=0.0065 left_z=0.1733 left_yaw=-0.6832 left_pitch=-0.2221 left_roll=-0.1152 left_gripper=0.0588 right_x=0.3989 right_y=0.3005 right_z=0.0047 right_yaw=1.5586 right_pitch=-0.2447 right_roll=-0.075 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -4.7521, 6.2838, 0.906, 0.2906, -0.0171, 1.0281, -0.5538, -9.1419, 5.3128, 0.9011, -0.1685, -0.1685, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ba41b5c8116374b5dfadfb9af009e04d60ca076a70fde998e06ecd4012b3ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3822a60208bd72ce55ca092cdd340e58f190cf4caf23867f4a08a1b06edec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5033e12a7c1d89cb7cd68412e03433155513d62b004eedd7fb57c87b5136071",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRl0tJ1aJP9frMADPViuZIJBVd2LS6MYkE-18723dbYY6qRg5OZBVU88XAuFFB9Se3wzRIiFklijj9DJqV32x9_BDq693PkdsU2fztfVeFQs5wk430LPhJeilaR9yet0n6YqOKLg-IhobaT26itza1TLLBnKcTE0nXf2mmTDQmGgPFKGn38rpJKZVS4NGXAMV6AO2QwghYRWS-M7LXi_9J-u39_hkb2znOMpPpKd7FOpvJ--MCqcXGUOiPDuePPLpmv2ou8hfyMcv48xeDoYe-05c2E6ue5o5yXy7TAQJXHX__QCeexqPSTpG1EkJUvDV873N7ktfoCXkyKTEVbJLgP8mG3uNv2StRcPL3eRRrKCNQmnoqWnnOtfs7lIjP_G8j7xZGi9UEF9AZAgILdHeJ6Z13SQYkiLB7OV1v5qVu59GOCpF7Ha9NkaaAN8-TTheyKq3HIH1TInHjAotLFz-Pp9LTegA0IPWEHpepNLI4hMjTc3CPF_6y3Z6VxhcC3NPjUBuzCkPXsWpjbGQVv5GmGx0GZn57Cs5G8zbWhEMlm6tJ8mkvqMe0fUu_eaXKdRjhOvvkJwExtzfDHa7uH0Kv_AlugZ5V_XEJN6bgHrJEO6rHEIUhu18_m_QHjrFVcU9KcDhLiZAfw1GaHV6iaDRPTJCo6v_TvPNIi2t0QwT32qVlGXo2EygxHiQZTgK0ae7xu8SF9dTGd8dCWT1Vlup1kr9s5c6k3LZ8irTdbePMmAptOwwACeM725f8jyblcv84tLLyqbXNzNW5fkTFUEp-ExNKZu_F52tftiRrmjV2AXn2FkNo_E9os5XZQ-kGFobGDgcXvf6bU6Qq6GwJ6VOk4DXiNqKjCLKJ6AUkXok3EuJeC4cjv4uGu6ZIlpqAaQa_WLReAa0_w0iRVap7JcEMUihbMZ0AFYGvOZ7N1HmmHRiTRS2Q8k_gSeDiUk2DJ5Ytl8m5e9KArM3hG7fcLIH-1B1w4_evUzXnQ-YGkoYN2CflyAxy0cHxzX0Yhe5EMe0s-szXnzdDWvRrJJvCYlE5Oq032vUoq85ugib9Oitj6zKQ3GT69PWWpWYqOvdm4EfpYA4Agbzlke9-AzFk_RcwFZfY-CUpWuGh1ecO2A3b3OErmxdf-cVBvhCvkJFB7qEFGVwoPHS52_j8WZy5vtRrZiQecNNjlLtXQFxmn--o7cu7ymOGK3PU0OlrOqgTnpYg3kVhLJxv9lpRKnmOmbTpJstjx9irQNgI8InJWyq-2jtDoW-GwoMeXILyiuxNI8FE-AMuz2HlCzgb9h00M-lnZyzP1vpMH13sT9F95GFy4-nybIUEVw0kbDM72fMpsiCSJDygrwjbATSLSqiecLsmWd3bTkbZRfEtTk2iUwqywOuL0R5zcQeRsJ0M0WCUbvlNZJ2j1bjeQsjJXuJNUNIE8D5wJJziFXVxcEFYwJE-WhntwRwptainFpT_ZRaHFK1UM1RaG2sJwLB2nLVq0HiWvIqCmaa5kZjtM8l6FQG5F9JdMVfSa7_DMxfqfyaLrA5ARjxJ3crYRrJZovzP7dvul3eJUeuz5FVVCqcDcsa6LGKGMUu3EASBFpDz9pFCVIUkkpCO2B24KR6o2VxTaL2_Beau-3cqadGiRUcW5yZdc5Cw-_lSrzn1cP41NTl17_d4JeN7Knbp-s5EF7V_r9HEVvodT091tWeomyUZpEBwWR-6DpmsESFA-YEy05ju9-KMd6QHsc3262UD5qrUjC21OMOH6BqCBsh-uUWYqssH5CUtIIwIb3eV1Z0DNzIBF0OY_ZgMiF2Pqf6nd2CIHoUrkS-t57sSTezu37d8ekjIiZClzq2oKfN2uF1g62wdJcjI_T9WtC-ZlcwoIRRq-rUvoHe2cVB1KPOCYj80v10RLOqVjMLnitLYPYkxwf-iU4lqfHiS7IUvdYjjXVQJFiMw6ksPdNnnlatARTygfq4wDQGRm5WF5IQIotUjfGwDAEe4TLACrYR_WOr_SIk9lB4v_dyoJFYykPHx0rHLYrcRLbVcud7w4U-cu0AlJ_OToA8P1lR88YcGb0al5zGbvk4p5xvPFVkWb8xTUHRR58jL7bsTvTH7ANtFmlCTYveKGcLNpM_YzvGabMLUs7HHb6pJlWjhmVlLOTehXdQXNXp423oXci83qdVcXwPmn25wF_-11njnhDnGYJsqDNeTa5NdXR8nvPf_U__e0Y_EwiwGkh8LyWXcagjWluuZPCv03fCHeEahWOUCqS0ZUWM90kEvTTYXgkfbjArq5u9NuAnleyX8H-bNaMXvCaTMlEvDzBfFbfnI-F29qmEEgGuXMzmDxDLrHs35Es8NEqjYdHH-qdxYp5lKyDJHCkvDYfwU8A4PkfHMYsN6x7g5FSoINvrKor0BQVpUBdH0Lvp7Iwox2rdNbjpgoJp1KctYInbcKgv7EalImSPyD5EevaOiYTpET285_Pr4FsUvfuFLTRJR9xrXJT8ZLxtYdS7wmvnFTOx09v0KMG-ER5IMMYRhR5v5L6qhQ3SWuCgfzGaAna5AV1GM2gBZEqteJQ56QxXWcajPUCHHqFpU_k8aHdzyx7fAL3GoQr1aVAgTlAdFlynYgrCU6kd-F5bQxyKP_c_IA5TwwX6iurfeSNKHRJTWC_9HWS7SfPwBBTyYsvEApYILiOylJ4LfREfs8sN1PzzTLin3aKLbNOHJYOrzoiXfmSR6Dwnlnj2zdzcZ-VM9ngwPvB3vbHT-MnHNzvp1aiB2WOIBBlO04HEsUGhIx4mSXrtKMeeBttqBQv4jru0PBUJAf0rsl2JwQuS9t_jet11s18fVo7RCB5-Af8g_oCKbn7niCsECgEbFnMU6WX5WdAL4YEoubErYZ5tSRKhdIwXqaJRjkAo6vfOnpd5Krn6_-g4BouXtSNvkI3z3V95ii9Q0PksKf-lrQEXpwDrhF-H9NUAC4wS4DQPyfBdYe7y7I72tvQvK395GgdmuchzauJLw4CGp0u5zJtv0IXrAOC23C0ExtoxpH_zJBmSliTy2TpyFW4x8M8YuyxyIj9hAVCy1jEXA=",
  "id": "rs_03cbd193bde188ff016ab45460afcc87d0a525e8961b785fa9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.3,\"right_z\":-0.01,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"At table height the pen tip is still between the jaws but shifted well left of their center, which risks another sideways ejection. With yaw near +π/2, wrist-image left corresponds mainly to decreasing base x, so I’ll shift the gripper 2 cm back to center the shaft before closing.\"}",
  "call_id": "call_LcjWagfXHI35U66U9Ss8YCgy",
  "id": "fc_03cbd193bde188ff016ab45464255887d0b0222dcb09220f51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LcjWagfXHI35U66U9Ss8YCgy",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3159, 1.0611, -0.9424, 0.7029, 0.8543, 0.0639, 0.4232, 2.2223, 1.4235, -0.3202, -0.7036, -1.0447, 0.9988]\nstate[eef_state]: left_x=0.3013 left_y=0.0064 left_z=0.1732 left_yaw=-0.6836 left_pitch=-0.223 left_roll=-0.1169 left_gripper=0.0639 right_x=0.3923 right_y=0.306 right_z=0.0041 right_yaw=1.5715 right_pitch=-0.197 right_roll=-0.089 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -4.6427, 6.2974, 0.9841, 0.3736, -0.0513, 0.7595, 1.0598, -11.6581, 4.3556, 0.8571, 0.2466, -0.2027, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf957f09bf1b907fb8bd66944c48ec510bd26e198f88fd2706c07a279993a78c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478cf42c33eec187a7d4d8928c3c32bdb171a8e51bb8dd1552f61c01a0bd0ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1899c7b91696128762adae5ea748adacc25944e9dde0f41a4f96fd6d40c95952",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 5.266 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]: [0.3969, 1.3102, 1.0611, -0.934, 0.7029, 0.8539, 0.0524, 0.5648, 1.1103, 1.0431, -0.9333, 0.5713, 0.614, 0.9988]\nstate[eef_state]: left_x=0.3024 left_y=0.0069 left_z=0.1753 left_yaw=-0.6806 left_pitch=-0.2163 left_roll=-0.1044 left_gripper=0.0524 right_x=0.2766 right_y=0.0664 right_z=0.208 right_yaw=-0.2712 right_pitch=-0.2267 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.0803, 6.5983, 0.9158, 0.3004, -0.0562, 1.0281, -0.3487, -2.7829, 6.3795, 1.3553, 0.2711, -0.0806, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.3969, 1.3159, 1.0611, -0.9405, 0.7029, 0.8543, 0.0588, 0.4183, 2.2349, 1.4811, -0.4023, -0.6647, -1.0523, 0.9988]\nstate[eef_state]: left_x=0.3016 left_y=0.0065 left_z=0.1733 left_yaw=-0.6832 left_pitch=-0.2221 left_roll=-0.1152 left_gripper=0.0588 right_x=0.3989 right_y=0.3005 right_z=0.0047 right_yaw=1.5586 right_pitch=-0.2447 right_roll=-0.075 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -4.7521, 6.2838, 0.906, 0.2906, -0.0171, 1.0281, -0.5538, -9.1419, 5.3128, 0.9011, -0.1685, -0.1685, -0.1343]",
      "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]: [0.3969, 1.3159, 1.0611, -0.9424, 0.7029, 0.8543, 0.0639, 0.4232, 2.2223, 1.4235, -0.3202, -0.7036, -1.0447, 0.9988]\nstate[eef_state]: left_x=0.3013 left_y=0.0064 left_z=0.1732 left_yaw=-0.6836 left_pitch=-0.223 left_roll=-0.1169 left_gripper=0.0639 right_x=0.3923 right_y=0.306 right_z=0.0041 right_yaw=1.5715 right_pitch=-0.197 right_roll=-0.089 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -4.6427, 6.2974, 0.9841, 0.3736, -0.0513, 0.7595, 1.0598, -11.6581, 4.3556, 0.8571, 0.2466, -0.2027, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf957f09bf1b907fb8bd66944c48ec510bd26e198f88fd2706c07a279993a78c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478cf42c33eec187a7d4d8928c3c32bdb171a8e51bb8dd1552f61c01a0bd0ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1899c7b91696128762adae5ea748adacc25944e9dde0f41a4f96fd6d40c95952",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03cbd193bde188ff016ab45466789087d09b8a72cfd6284dbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.3,\"right_z\":-0.005,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The first correction tracked only about 7 mm and the pen remains near the left jaw, so it was too small rather than the wrong direction. I’ll continue another 2 cm backward, keeping light table contact, to put the shaft near the middle of the opening.\"}",
  "call_id": "call_Hs45ZYKS09Z6UJTWjuZTAMze",
  "id": "fc_03cbd193bde188ff016ab454688e2887d0b818dff837ae02c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hs45ZYKS09Z6UJTWjuZTAMze",
  "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]: [0.3969, 1.3159, 1.0607, -0.9504, 0.6876, 0.8539, 0.0666, 0.4282, 2.1548, 1.2778, -0.2138, -0.7292, -1.0176, 0.9988]\nstate[eef_state]: left_x=0.2996 left_y=0.0079 left_z=0.1709 left_yaw=-0.6781 left_pitch=-0.2395 left_roll=-0.1179 left_gripper=0.0666 right_x=0.3695 right_y=0.302 right_z=0.0034 right_yaw=1.5704 right_pitch=-0.1635 right_roll=-0.0852 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -4.6291, 6.2701, 1.033, 0.4322, -0.0659, 1.0379, 1.3333, -11.2205, 4.4513, 0.9304, 0.0317, -0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0383715938cc08882dcf7c27143c5b57209335a172a4ba0a54b9f63a1aeb1b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de2a708c5c6c0b5fae0850c785c153432f0155820dce471a145f808985f78ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d327ae75d36bcb7f5afe61da47e1acb52e9f303de537738d5620e7d6ab93bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 5.577 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]: [0.3969, 1.3148, 1.0611, -0.9379, 0.7029, 0.8543, 0.0524, 0.4213, 1.9823, 1.7123, -0.8043, -0.614, -0.9257, 0.9988]\nstate[eef_state]: left_x=0.302 left_y=0.0067 left_z=0.1738 left_yaw=-0.6825 left_pitch=-0.2203 left_roll=-0.1117 left_gripper=0.0524 right_x=0.3948 right_y=0.2924 right_z=0.158 right_yaw=1.4467 right_pitch=-0.2426 right_roll=-0.0808 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -4.8342, 6.4615, 0.9744, 0.3199, -0.0513, 1.0281, 0.5265, -11.2342, 6.9128, 0.5885, -0.6569, -0.0855, -0.1343]",
      "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]: [0.3969, 1.3159, 1.0611, -0.9424, 0.7029, 0.8543, 0.0639, 0.4232, 2.2223, 1.4235, -0.3202, -0.7036, -1.0447, 0.9988]\nstate[eef_state]: left_x=0.3013 left_y=0.0064 left_z=0.1732 left_yaw=-0.6836 left_pitch=-0.223 left_roll=-0.1169 left_gripper=0.0639 right_x=0.3923 right_y=0.306 right_z=0.0041 right_yaw=1.5715 right_pitch=-0.197 right_roll=-0.089 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -4.6427, 6.2974, 0.9841, 0.3736, -0.0513, 0.7595, 1.0598, -11.6581, 4.3556, 0.8571, 0.2466, -0.2027, -0.1343]",
      "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]: [0.3969, 1.3159, 1.0607, -0.9504, 0.6876, 0.8539, 0.0666, 0.4282, 2.1548, 1.2778, -0.2138, -0.7292, -1.0176, 0.9988]\nstate[eef_state]: left_x=0.2996 left_y=0.0079 left_z=0.1709 left_yaw=-0.6781 left_pitch=-0.2395 left_roll=-0.1179 left_gripper=0.0666 right_x=0.3695 right_y=0.302 right_z=0.0034 right_yaw=1.5704 right_pitch=-0.1635 right_roll=-0.0852 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -4.6291, 6.2701, 1.033, 0.4322, -0.0659, 1.0379, 1.3333, -11.2205, 4.4513, 0.9304, 0.0317, -0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0383715938cc08882dcf7c27143c5b57209335a172a4ba0a54b9f63a1aeb1b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de2a708c5c6c0b5fae0850c785c153432f0155820dce471a145f808985f78ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d327ae75d36bcb7f5afe61da47e1acb52e9f303de537738d5620e7d6ab93bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRu3xjWpAMxLibGo5E8akTIKIwMllJmkIzkwLD5GRePsS684_CZI2YgtBxYW80fV8Err29EX6_6NRDtOIonL2kV9xYv1sSBndsUFlU-bWkX82r-i8W7RKRVpXhT4LOTaaJ_LH9SoO8x6QZBm3jsGDsH0_hBe3PWc24eLfksGr41wVSES3S5RYjOopyqMDCOo1j39agfEoe3UF7LXeGb-l8ajHyPAxxS2AqqsnVP1vjK2vl5ap7qdrcJR8jHWdoU8w4L7_Dxj8-Q9d4clQ0ujEZ-yVlBkYFQ5FG5I3i3p2pc4bV-OsgI7GcG1GBwk37le69xfZpgiQfUlOpTFiMhAHBiZ37j6V5JEOOwtHdzIXKu1IJlbEtrAR8oI42tw0mR3SdTmQVO7B_1DeXnHByI1FT_ktcYPBAsHvzfNR_LA1QUZ5ActSBVyGqxlFIBpx1CffcJOMoVCw6zFvdUhoeg2nN3xKBCK--w9291SuFJ5PY_rJIjTZI6KcmDevqfVK0qbOcUCCokFAfpupdJjBEZyRzfSgwiBjoRNy6Mt21fyUDXlRVx8JBgHlSEtg7ySmsmot0f-NVmjeY7q3sCcqS5L3tMcOqWiHgywCBK-qZxaX8jahHG8-DDmuafKgb7m1seieOy5-sexHt1UvoqHLanJcTC1R9joLOrDq7X1sUERKuuFN-DmmlzRChLPnlHVSinMY-OFkchOaY9OoP9ep_qVqWwpTP3qLj6RZ6u3LuDJokb2BhgZ4cjpOamamumDXy6VTbHZtSqrHCaagSTNj9KqYy563kaB_xdl2GvLu7bU804bBUB-WtvYiUWa7FNFLfkZfcf1CDowRHEjgrqxm3Ie2t38IxwjEqC6463C61WwlWzVgVOVCnoXVOCZ2ONeDcUD631XjHnKVtl-wMVpvQZeNL3sFn0jEaEU-1ZE2MBpO9yJjOnrIeiFn1Xf6NLdhhauozajd8hOx0ehSAXvQg52tvTo8biriejks528G_KE58I1H4bsUg2WBJ38Yx5LSygv1IUr8ZteomJo7u4M9YcrXeXtJHcyTjLt_X_BISaMWM2c6cDAUAq27npOP7N7HkmhbrIDpsOfHuXxaYMdVu4LLnNp_Zc6Ld4DXNMS_a6fjEGUT7m6x-bPRs1uOiIo09Cq_IzAdAMK0UVN6GNUru-zkIcKfAGR6PA0zcwarISkQWmoDiGxFIG8foiIK1Sdm3l-1lAnzRGjyY9QMse4Au-SIzik-sgDsTQIdqclnBURd3nWOSCeTgQiWgAv5dD_y_mRCo2TRIBS6yu7EbTwmj3ScZ9I74p92XZCy9JDsu5kxvSEp7sFdRVY47B0uQq86Nv69Peu0T5PSsdee3jZ8qoKsgvHWwDCIbmMwH5IQIEsUX_XkQqTdKJkxPPuOlxv41nd7mSY8rus6284YcxDd7Vgb5A7VMTl3eTLLUjW5ovXsCU9ZoNLt6EblpXHsVxZmnuEXup_KFoLOfueB8jz2myJJfXMnJXU-v_N0SY0lXyOae_xma0LMn6iBTUihLWaBSirEJJKJ_m3C6kq51BwRq5fLDQ7-81dSEtrHLzj0Fw9P12gtHobquatQlDMF5Q-JzvjrG1WWJcAtZySO3IpEYoCx6SHGlPt7owXKhY85nbBZdPArvsgLSpoBOltnhk4gykB39zcQg9qHHgY5tnqVxYrKT2H9KE-upeIURHTRpB_tBx7U18ycSQ96z1bXHrqTYQnPz_U5HHVRxU4TBALZfxeW07GIXnL8iKyMOIp_agii0TNO5NMvJHdp1Du2pWANWVzd2JL0N2rB3cL6OvJIFwFNNs-H5tmP3mrgonuCX-A79GVI39zE10_HlkaerMcxRjOsA2rCeO2Yf8PwNaZz2odmM2mimV5sycnShhlo4SH8I8KhgM_QbjkVt2XOdsv9JaeWHNAGDs8XdHbTI3r4exwBTvR-psxEwHMEFM0LYN0EFDkCff3ni0lsQ_RFSIzebmC_8bv7BZJVtJoI7-upYCMvB2-2uFFvpgJ1VDG0eSVm8hu4pmOxY8APlVurnNJAWSKZB31WpWebC2nJY_isMvo1v2si5aSusjCrj5a7CaW6CAsx8IujbO8YscVOG9vStLLzfyzpYjH88nTF78Z6SaAL6mU7WcHEl7HN2rg8k9HyUs2EZuS64OlpiQnrkSyyu77wDKjigxh6S7FexPUtjfzcXhtVSU2pYF3eMBg7ymAhu6XyKWcxzYC5Teo6F8hU6GGDoN6fz_9eNAWrlylcIaAwRostRpz6JS0cSfDJwwtrwQYHjSiXyysiHP61BxGmga36cUEt0qwa504ShKkCq1OLGorr3fhQQxBNSdrKgijvGFEwBK9BimDbw9YrhsuIxBTNaQ2yWe3zpwEmcPfSNrJZCttkNDG3GlebmK5TQ0snyFaPlCwLQ7QguRTesS8Y_-lzJISa0HBUic5A-JkI1bM0Xhad576k_0srZSMn1nWtWBcE0n5jt-QYZ27Y30NR6y00O0j_w8-o_kDBF38xOz80px_A==",
  "id": "rs_03cbd193bde188ff016ab4546b7a0487d08b413dfc4df28af0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.05,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The pen stayed at the same edge of the wrist image while the gripper moved 2 cm, indicating the low jaw was dragging it rather than recentering over it. I’ll lift and retract again so the pen can settle and its new position can be measured without occlusion.\"}",
  "call_id": "call_1jYhYUuXnqpsbRZx6bz5YJAs",
  "id": "fc_03cbd193bde188ff016ab4546df0b087d0840fb41e08d23d8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1jYhYUuXnqpsbRZx6bz5YJAs",
  "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]: [0.3969, 1.3197, 1.0607, -0.9543, 0.68, 0.8543, 0.0666, 0.3462, 0.9199, 0.7246, -0.564, 0.2157, 0.083, 0.9988]\nstate[eef_state]: left_x=0.299 left_y=0.0088 left_z=0.1688 left_yaw=-0.6764 left_pitch=-0.2494 left_roll=-0.121 left_gripper=0.0666 right_x=0.2826 right_y=0.0656 right_z=0.1664 right_yaw=0.1053 right_pitch=-0.1786 right_roll=-0.0901 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.8342, 6.2838, 0.9402, 0.398, -0.0464, 1.0281, -0.6359, -2.7556, 9.2376, 1.6093, 0.2711, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859baae18df3f5856c6a6e105e0e545a93c0d4cb3585f66be034ce7d652f0174",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7ecb35531346644fdbc65d649fbc13c31f4651149ecd17a4c237dba1690a4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82a76e41b0f90a66dec7b8e54118e0188ae9d0b4e345dfaac6856626bd0ef9ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 2.97 s

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

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3159, 1.0611, -0.9405, 0.7029, 0.8543, 0.0588, 0.4183, 2.2349, 1.4811, -0.4023, -0.6647, -1.0523, 0.9988]\nstate[eef_state]: left_x=0.3016 left_y=0.0065 left_z=0.1733 left_yaw=-0.6832 left_pitch=-0.2221 left_roll=-0.1152 left_gripper=0.0588 right_x=0.3989 right_y=0.3005 right_z=0.0047 right_yaw=1.5586 right_pitch=-0.2447 right_roll=-0.075 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -4.7521, 6.2838, 0.906, 0.2906, -0.0171, 1.0281, -0.5538, -9.1419, 5.3128, 0.9011, -0.1685, -0.1685, -0.1343]",
      "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]: [0.3969, 1.3159, 1.0607, -0.9504, 0.6876, 0.8539, 0.0666, 0.4282, 2.1548, 1.2778, -0.2138, -0.7292, -1.0176, 0.9988]\nstate[eef_state]: left_x=0.2996 left_y=0.0079 left_z=0.1709 left_yaw=-0.6781 left_pitch=-0.2395 left_roll=-0.1179 left_gripper=0.0666 right_x=0.3695 right_y=0.302 right_z=0.0034 right_yaw=1.5704 right_pitch=-0.1635 right_roll=-0.0852 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -4.6291, 6.2701, 1.033, 0.4322, -0.0659, 1.0379, 1.3333, -11.2205, 4.4513, 0.9304, 0.0317, -0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3197, 1.0607, -0.9543, 0.68, 0.8543, 0.0666, 0.3462, 0.9199, 0.7246, -0.564, 0.2157, 0.083, 0.9988]\nstate[eef_state]: left_x=0.299 left_y=0.0088 left_z=0.1688 left_yaw=-0.6764 left_pitch=-0.2494 left_roll=-0.121 left_gripper=0.0666 right_x=0.2826 right_y=0.0656 right_z=0.1664 right_yaw=0.1053 right_pitch=-0.1786 right_roll=-0.0901 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.8342, 6.2838, 0.9402, 0.398, -0.0464, 1.0281, -0.6359, -2.7556, 9.2376, 1.6093, 0.2711, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859baae18df3f5856c6a6e105e0e545a93c0d4cb3585f66be034ce7d652f0174",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7ecb35531346644fdbc65d649fbc13c31f4651149ecd17a4c237dba1690a4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82a76e41b0f90a66dec7b8e54118e0188ae9d0b4e345dfaac6856626bd0ef9ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFR2iaXe1aubwuFP2cziJyyn4BcyWOGFwk_e-YYqyeGklbHOSUaR96cN0DAzM0KooYXjSWiq2oH_3NU485RxA1yV17dYwuEIUN080A8uPxg5GNjXDrqHeNDZnDHwls2B8uPZcr2ypgdgDhY9RRI5EnayTmGrvW1n6YSHaP7GVSAHiwqRHJCRQlnpEH6vqCiAf6wFMrq21hNegyAg8Cs8yXcAVHA7eRHffKMZoq1QYlmU1k4M1EPz4vbIdXCnCVCouHpSX_5vBU50VSQyb9oKCkj7peB7cX10rxo082QD0WTWt3_Ilq36NsVCoGCrXi7jO-zL05iNQwdx3FA6ANCj1kcmz8dXsBnv1dj23Ry2S9hPRPU-3SIPe28XU2WaFk4Eu_U2HTZcmit-Y8-R_20LBLXFQ6xEW85as-U9-3iuYi3M8687KRW4aAwHM5IuhRsQoRO3TLh521TRTP0n2385zJdPGmv6Cau_jhYuh_4VsQL31blkW_S2Gq-1RJeoKCZxXY_QLzYf27-HNAuUJv-uqu0Q2sWaD9BMXHtrrLUKvkyAtYrfB8LsarYi9IhRKiy9IoVRMsKcUheHSGvU2-TFkUKkgFndYzi1-v-H1iKcft5JFU2Vm2pAj7ans7GItAD5PDVKRceo2JNcyyHyVmzwly9ZRjFxZ-OXCs70rjjr-g8qFlN0dc-81pRLYhO6-uBUqiXaVL0uILTdwzXp0FWHKE0hwuYl_GeFPypCipJTSff4sBLjHG48LtBXpTv2VDFMKdxx_MSQOHQR2_hhsO9x7XXPrUqVfFInCprK3K63TzUOddwXOlITpJY_nAhr9dU35fR8XXXqnNOgWLv-e2KNKy35w-5jDD0bXuYOsKrwL1NFSH9WhpUhMf6woDCpLHjg4t-xkNKSRKlgn1EGOxWHiqx1mlIAa4NGOBa7wgWRSt1hBfEUZDxX2YzYIq1SD-P6FUOOGWVm8MZ6tUPCSkGOPxN-o5QOOd_jRZC3DWFChMAckkMxTyzJifufezofWOJkyzMy7JmDv1jWaimpglBRmEx49Nfd8cYbbGFVVSod5Yl8iu51RLVk5BU0VdjgCPwp1BWt3bjWvJ9PVwo6hiSd0hKx2mTNkcv8vHwQW2ftvSAcl7FDNwXD7sjCb7KPBkyvfQuSnXSmabBs0WR4EwEEaLCwUdKrdnauGNIAezcrEs_Eer8NNekdrUz6n0izvRi-3n0o8xKJfzm_wsrM1nouTpTK0km_tGY8Lilggn6922i5s1F2jeoFnV9qpD-gjD8S12NIWQ8INY-evR4v-CyR3CYOeypxfHYOakjYQvx0p-oUDq6IIAjAYkZc4KsXbkGDD8bdPWXGpHBkG3ccIHxZ_AivYoKEutQc0vEvZWEb_nrl83zkE5fHJB-fk-w-cwUCnunjAzeKCPnuTkxkHeKZupqF29IYyPRey7-ZNiuV_k6RXunAc6OtYG9WS2Hcrx-XAIfCbbRZNRZMkZY4b_CNBbhl77P8sqopIIegmAGJCFP1uVI7iuanVcNC8JLJBWtb_uyRVy70BrzGco3xn1qqCCK-9xKsxbxcE_da3bqze52P-HCzQEkSVBj90NyijQJiCwgqqPSWE7Bf-eDtHbzlw7d5kM7Jq9dimxPUZlIwz0HrPZvGmqFVxr-GQRqjKq4FbG6TNQ3yvbY1AXJu1AuL28W1dua982pS9cCr_b6upwgDnGpSNWEju3bLAPC4vI-IXOgsYsAmVElYv8JG2fA2sZrpW6YmvnNpBHeMt6Rf7E3GBoD351Au5Lj1FjjN630_r07UDFxoVSmjuzz99fkxKVEav86hxhskGNcgVvI9j_cc-43vXjQRWF_VfNoHKfhwlr8b-2SAe0-ObkhEqXsPoo2iQcJR1TPZxPMgm8agz5BxduzGD9qYwpGRn4pxIE7zQnedeCpk8V2hD4gdDS5n9obFiuNnkcCqDEVHrXQHsXy8oijNLoXQdIOB-dQ-5uZO9GdqL879MbwIm89_J_SGrNi-7CmV4j8idzUO8t2EAbREdkeKufxLGpdZ_O882esvi8XzXme8VAg7nk06KPPl-BTNjKloMrL-mUB0an8wv-7Irv2D_sUVIfqYX2Nldm5rg-Z7voWbEHk5nG4iyBzG09WJhPmiq27FoVkx0twoG3_Q7BFcPML7ZnqoPsakMhMJvdQQW2QkhRTRpYwrNxOf-OUecMw0dGVts9yxT9bzZWM3QrINWZB1ivUp3fQ7_eovXTARTN0widNYKcrsPc2Kdk8gnzT6ArK5fTJlnQ3o8IbGjuKyM33Ny68hOMBpQJlouPGQOoDrOeHQHq1EofgPnn5xcubTgyKtKclUKOd-gFu3PwI97hy6hEoXAFvTUIo4-vXEuHNvhF4Ld2iXX1k7_h3CTXBK49DMtyyc3qOdcansx6eKgNEZUtTIlzcE9ecEcc_LXbcV_LwAjLm0g9RrpuVmvIDmh9q8bSeUodssC13Yn-o60FHv0iQGTPM5YDAvkL5GodO-f-2zt3VzG9_4ZrmYmJ9weGIFN5ZDVNUW3MXBxhewUsld84fEttXKi2IZrq8BkgBLwveJlcCpc_j-_9P4tQcrOCHuBuByHeEhZkXUXGyEEdtSkYCpXN6fqy-be105WzPYOOLVqV6C77u4M9AqvwVauRghdgzk8TCagFEmBO60fpGt5ur-7_U-wQR_5pa-cRJgk_25ejNi37ql9zwM5N1X560b-daHaqJKn9EGV3Q0Wi56abwxhNKdyyvI6fSbVH3Pd8URdYIwFWI9vh-lVliJ2AQot9uElJTQ7Yc1o3fvBhDYDXLL6RQUDhewAjpqbRSXs3TBv7B2v2C2fX-kow==",
  "id": "rs_03cbd193bde188ff016ab454722c7087d08d7a2bc596aedf41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.25,\"right_z\":0.15,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The exposed pen is still horizontal. In the right wrist view at near-zero yaw it is far left and ahead, so I’ll first align the open hand over it at a neutral orientation by moving inward to y≈0.25 and slightly forward; only after centering will I rotate for the grasp.\"}",
  "call_id": "call_5mBaTPGBTkMZ3f59IMx1A2II",
  "id": "fc_03cbd193bde188ff016ab45475aa3087d0abbcd4adb69f45b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5mBaTPGBTkMZ3f59IMx1A2II",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [0.3969, 1.3235, 1.0607, -0.9565, 0.6621, 0.8543, 0.0666, 0.9401, 1.5948, 1.1442, -0.5983, 0.6353, 0.6415, 0.9988]\nstate[eef_state]: left_x=0.2984 left_y=0.0112 left_z=0.1658 left_yaw=-0.6694 left_pitch=-0.2671 left_roll=-0.1182 left_gripper=0.0666 right_x=0.3051 right_y=0.2462 right_z=0.1394 right_yaw=0.0396 right_pitch=-0.2151 right_roll=-0.119 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.9846, 6.2154, 0.8767, 0.4957, -0.0122, 1.0281, 0.3624, -7.3094, 8.4718, 0.9988, 0.6081, 0.1538, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15fa7d8cb6cb2ea08b68db0bfa46eeec6acaaa0227d65db7f68c8c741a96bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910db70f419b4fc2e83419a40840901fe9cf75fab22ff76a66413808e6387edf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606fa63bec96557b62a0e33a15fe643e4dcf3a94c56628b68d47793991d0949c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 5.997 s

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

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3159, 1.0611, -0.9424, 0.7029, 0.8543, 0.0639, 0.4232, 2.2223, 1.4235, -0.3202, -0.7036, -1.0447, 0.9988]\nstate[eef_state]: left_x=0.3013 left_y=0.0064 left_z=0.1732 left_yaw=-0.6836 left_pitch=-0.223 left_roll=-0.1169 left_gripper=0.0639 right_x=0.3923 right_y=0.306 right_z=0.0041 right_yaw=1.5715 right_pitch=-0.197 right_roll=-0.089 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -4.6427, 6.2974, 0.9841, 0.3736, -0.0513, 0.7595, 1.0598, -11.6581, 4.3556, 0.8571, 0.2466, -0.2027, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3197, 1.0607, -0.9543, 0.68, 0.8543, 0.0666, 0.3462, 0.9199, 0.7246, -0.564, 0.2157, 0.083, 0.9988]\nstate[eef_state]: left_x=0.299 left_y=0.0088 left_z=0.1688 left_yaw=-0.6764 left_pitch=-0.2494 left_roll=-0.121 left_gripper=0.0666 right_x=0.2826 right_y=0.0656 right_z=0.1664 right_yaw=0.1053 right_pitch=-0.1786 right_roll=-0.0901 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.8342, 6.2838, 0.9402, 0.398, -0.0464, 1.0281, -0.6359, -2.7556, 9.2376, 1.6093, 0.2711, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3235, 1.0607, -0.9565, 0.6621, 0.8543, 0.0666, 0.9401, 1.5948, 1.1442, -0.5983, 0.6353, 0.6415, 0.9988]\nstate[eef_state]: left_x=0.2984 left_y=0.0112 left_z=0.1658 left_yaw=-0.6694 left_pitch=-0.2671 left_roll=-0.1182 left_gripper=0.0666 right_x=0.3051 right_y=0.2462 right_z=0.1394 right_yaw=0.0396 right_pitch=-0.2151 right_roll=-0.119 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.9846, 6.2154, 0.8767, 0.4957, -0.0122, 1.0281, 0.3624, -7.3094, 8.4718, 0.9988, 0.6081, 0.1538, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15fa7d8cb6cb2ea08b68db0bfa46eeec6acaaa0227d65db7f68c8c741a96bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910db70f419b4fc2e83419a40840901fe9cf75fab22ff76a66413808e6387edf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606fa63bec96557b62a0e33a15fe643e4dcf3a94c56628b68d47793991d0949c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFR7Ah-_iFYIeJlWcF6MXefpiu1O-vvQ77sAMPOfyVQyK8Qk2Qvwt1CrUmRRcEIBv0UAXzD55QA439JdiiFFtgWJZbN9Pm32mEDYM77Q8xz6LxvDpP-FnMxbyOk_1m1VyQgfN34_1nKxS5fohnWs26FgqYAuT-W5CJRoHRT6AuLvWiNECZEmT4nGygeTZBz0MlF8twCzR9yhjY6NIUCAtZ-3tvrzKpj9NbfVGuU0lKsmiYAKCskppbQJm7MBpycLY1NRlp4HoAhwacfL2qs0ztQB6jyfGr_l_Q8GQv8S7MfhEjuj-y7ZVfdh3i7IVXJVVFEMz-oHxrnWDk7piZw-EFFgXtkItzHgiyuegzvrTbqwQmbsaLuC-J5QG1_dF4Rd-roZgWqfDU6sYFxsPAoUjghaoohdXhhmEwts_Uz7zpYPDCfd2Cgbf0nHH5dR4b81TbqLofSL3Nm-5it6QCO_gqzwhX7_DYLKApwzfbxpwn7RTbGZOu9im1PxKdmU_aGeAoEfrQipHmNYMSmOqIu-7LfyK_iemIXLbOkwAIZs8wVuyYVYVuYXWz_afOF4KBeidVv4vP3IKvLtL3n0x97oRWWlwzYw0eWdZqSyrvustsgf06xkaxAqPgaEIV6PF1WCxKcAAQ18YqrxtM6tnAIYIiTWioyy07wv8bjOUj2uausIMUTE2fmd9L7mDukcspkq5jxZRai7wmS0_LI0BKFAxi9VdyILYvSi1wsUp4TOBtPw3yXFv2qndkSfayfOhQ1qIFHO4npEelR720GQ9RrTPRkRJkgTT9AuGJvndmQBPoAiQQA9dNun16rYqCOGTrY745ISTrDZIpdxmPxCDTGW7-XK1xW9vW_rVY6zV0MBXN3UKkZQkzavKJoGqta-huBGMcM1PckzkLxpOz0fOBhm8LPKyqx44zPfiUWjtGhyWOsnMjTT89q1Cd7V05vpwKh8ZrHSKVNdEYAwP0OWjGVo8Hnza8WUhaq_9DISBklPUksKbn0DoEfO5sQ7uhc7BmcfGuob6xQTdz5PiHo_4Zx-JYEwcPQzhoNR1X8uFTGDWl9pLVCJ2TPUgXFJQsABFR-Bmwm9JPiVDHj7y94a8CIfrMaVIMAmygxpHSxVAIUVJPSkl2_8M86GkmOQS75jU4-FQzxZ_aruSbHkGR6ok-FMLHGSRnejqbOUx3CwGg0dCno4JQD4tFQshKisd0vsJ5UOTYQQS-b2sefcrrmcdy0bGkemzpKPO2ebkZmqCmL1XFDv8Hiqp0IdlxBoInk9a5gTyOKNp1E1JYQ5KcyRGRwACgJXefg4r6wWi834xYUuSDB7btXB-gaZ9ZEHCoy0aMsDNu7qsFOy4NsBxV9MuNbl-ctHWf4gigVAAKhuzFS2NLgEzKRUDwCE4KoVwi9h8AL68u2CLMJvDlZBe3yrhvx1fonTXcif9ytLwCFMiWZBQu-JPoKh_Pgwf7cZFDKLTuAdzsuXpDLzCtGE_pB1lEaiiyAT-yZFjuNdFWSV5cMHjD5RxV0F0kA6jNC8XGcEOmaLoPS4SUQSLlNwq46qGlQeBpCtUThLeBrEc2ImE0Qv5BY6mxT5QvTz6m3PqagHcihCTSBH8Bx32LtzLufV_p-ryCxfUjul-aDSnd5psuaeWgOTvLAR_sr4Oz96w-Ji9q0eWUBxs9avPcqqTOWZPxBAuju9V6LVlzd73tCvQsexITwPmdetZOG41ZQTkmt4AF_2MsPGBSaAmmB8vKAZIQWd0A7OC0ZsTARnGr0q4_PSkNMssb0=",
  "id": "rs_03cbd193bde188ff016ab454793c1087d09072a276a86914bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.25,\"right_z\":0.15,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"At neutral yaw the pen is now precisely centered in the right wrist image, confirming its center is near x=0.31, y=0.25—not the earlier estimate. I’ll rotate the wrist in place by +π/2 so the jaws close across the shaft while preserving this calibrated center.\"}",
  "call_id": "call_yibo2Au0nskiji0jKZR1DygM",
  "id": "fc_03cbd193bde188ff016ab4547a48dc87d0959fe173abbae175",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yibo2Au0nskiji0jKZR1DygM",
  "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]: [0.3969, 1.3254, 1.0607, -0.9592, 0.654, 0.8539, 0.0701, 0.3954, 1.6405, 1.2297, -0.6136, -0.5533, -0.8795, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0122 left_z=0.1643 left_yaw=-0.6666 left_pitch=-0.2759 left_roll=-0.1188 left_gripper=0.0701 right_x=0.3333 right_y=0.2436 right_z=0.1444 right_yaw=1.3473 right_pitch=-0.257 right_roll=-0.1209 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -4.6427, 6.2427, 0.8767, 0.4567, -0.0513, 1.0281, -0.4308, -8.3761, 6.7897, 0.569, -0.5788, -0.0952, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b37493055ddca624e2064112453dc226605741e9612175362dd35b6ecff183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e84b89e7fea76566b3cf3c2c5135f43e958f1671387e4a95e82fd17d7b9cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0a4ac272e89ae87cb3c04b9a9ca2640d5d145691be1f598bb95d7a8d6a0220",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.965 s

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

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3159, 1.0607, -0.9504, 0.6876, 0.8539, 0.0666, 0.4282, 2.1548, 1.2778, -0.2138, -0.7292, -1.0176, 0.9988]\nstate[eef_state]: left_x=0.2996 left_y=0.0079 left_z=0.1709 left_yaw=-0.6781 left_pitch=-0.2395 left_roll=-0.1179 left_gripper=0.0666 right_x=0.3695 right_y=0.302 right_z=0.0034 right_yaw=1.5704 right_pitch=-0.1635 right_roll=-0.0852 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -4.6291, 6.2701, 1.033, 0.4322, -0.0659, 1.0379, 1.3333, -11.2205, 4.4513, 0.9304, 0.0317, -0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3235, 1.0607, -0.9565, 0.6621, 0.8543, 0.0666, 0.9401, 1.5948, 1.1442, -0.5983, 0.6353, 0.6415, 0.9988]\nstate[eef_state]: left_x=0.2984 left_y=0.0112 left_z=0.1658 left_yaw=-0.6694 left_pitch=-0.2671 left_roll=-0.1182 left_gripper=0.0666 right_x=0.3051 right_y=0.2462 right_z=0.1394 right_yaw=0.0396 right_pitch=-0.2151 right_roll=-0.119 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.9846, 6.2154, 0.8767, 0.4957, -0.0122, 1.0281, 0.3624, -7.3094, 8.4718, 0.9988, 0.6081, 0.1538, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3254, 1.0607, -0.9592, 0.654, 0.8539, 0.0701, 0.3954, 1.6405, 1.2297, -0.6136, -0.5533, -0.8795, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0122 left_z=0.1643 left_yaw=-0.6666 left_pitch=-0.2759 left_roll=-0.1188 left_gripper=0.0701 right_x=0.3333 right_y=0.2436 right_z=0.1444 right_yaw=1.3473 right_pitch=-0.257 right_roll=-0.1209 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -4.6427, 6.2427, 0.8767, 0.4567, -0.0513, 1.0281, -0.4308, -8.3761, 6.7897, 0.569, -0.5788, -0.0952, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b37493055ddca624e2064112453dc226605741e9612175362dd35b6ecff183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e84b89e7fea76566b3cf3c2c5135f43e958f1671387e4a95e82fd17d7b9cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0a4ac272e89ae87cb3c04b9a9ca2640d5d145691be1f598bb95d7a8d6a0220",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSCx5v98ydmdHi2Wmp_UCQ7NLxMAL4A3m7Zj3gPjkUXkE_QzsFT0Rpw90llk7AOHD6xIaOnAHwFASiVtVCFReODxcdXaqhWpxWHG48iFeIceTwPsVdk5N40dkKARkb4C4O8Hk4vQyJHb7WP3Ko-RSgI6tztqm2hbBp3HcPd3tswFvuLMTN9UPiuZAAwMhFneJAFWBtYJsLlf2J_q-AtkChHTxaysgqihHAEE-MWY-ET5oI_qqXyMaR7YIQBr0T9ODXe0yPQPS2fDUlWj9pC-Sn-x8_sLvxwYTyqDDbPdV8OI3WKQdTNSvZQe8zpOOF8yBAZtwYBIhlUcS8gVNVuvvPw9YLAe24k9tpgSC_WR5nTLdOIyVi4qvZTpjyUk87TpXIylNVLFU0xvppuusQtT8xRhNXaPk8cSBSPxb5FxJ0PHO8oQGNd0f8kfkCZYvbDD0gBaBmsBvfDbArSP4y9biqk-sQD961DKdBt5ZPCRiDOkH6ahgyIyLMuJ3pWQXMV_YPLTTgws3vQrUTtnzPh1OX03CaPUikeP-8LLx43AZBYqV4kNTPiA0btbk3xXoSeTFodGkCZYNKraBmG6ykeDdIZvONDfNblzaWbiEImsEcjIfzyQGr8PSoryMwGCOOJkSpdbRvrXYmN2FEtipJezeIIGR_t1dimS3DiiYKKJgiVv4G23i6zjjqUM5FOb60i993V_z8gzORZlUAw03qdOQn5Y657to5T3jxcdwAAUK0ReqbTSn99f3ZpTkIf2o6N5SnmH0mDC-jdEhN244zq-iES96hFSGpiGQdBPaaLWb7Y_Fsto_3no3WmLbP6JMCK7MWipOnxKOExfAKKFe36Ct-FHAWH9HA4sL_xRSCv5dbbula9RznGxOgt8NeuQfwic3erHN6g0wlTLUfPqlxZeW_uhIWwUJ04yOf1fh6meaJBLcl3fLM5lyG7QuAHFCbhKBwn_ksRN7_sDHsGL6w5tmlFbDeCCd-FfJKItwy9vEcC57BXHDpIcbrwyCekp8BI45M85kETk50Wwpv4Q0E2V3FaGE9jNNHLP_YGebspg-8idmTcfeGk-SsC3o5rTUbM35Oj19ur5L78ZUAm4dUrEnJmQ7if-arB5YC4xHNc3j33Y03Qw2JpOnfGhSfGgwJ1q8f-sccncimaVR0FejmfCUkM-QDijTnyT6D7rrkWG56FJDdDuDp7oPUUGYHVbnRui5Sf9bBOdIZyFtAFEguUZ21OS3y3DXepkZdjm_wQjk6s8BpY4hU0p3lzXwS5vmto5v_rbJ_MHvjxpvEu8i4uV5qKEiX4pVfb6UhInO7KBuj9z1UjYrUhrMHBjVcTs3knPxSPq5kc9-4VcTXbpfFd4U9JPWfxlVTZCIU59tLy5_ul0YP1Kybp-zZmQIj3gQH-AEoCIER1JMt3z1msArg1MGctmcN9QprKBV4TapxmcDdb8m5LdVuurOnaSa1xOf8OB3PbzZS0IaE8x6Ongl4qAfiqlHBKGh7aqAZUvQdjdmX8AVIez8q_cUZzgMowoU8FoAgDNzF8Cd5nUs9MWWNUPMQzb1MrrxhaFnMjsa_nYP6ggsVAPAHwGJIwCaNix7SLNUT3vE8YlTYEV0CfCAPBjH7GwrxMwumo--uPTv1rEdjtU6MC7B5znbmMBDwCL1htGmWqQlgIQAcaYr6GP_TZVOUek9I7Qw3nY_cDaPIsac27xMO_1Bz38wIVIj6zh7XqC3_UPaVTFp7ajjOWUFtIutfGROgeAfe-aD4M5l72gCc3w9vVs6gd9pHvjwqw_oj7YbtgrQEJdykJvtrsRfaCuY5N40d1VLfwchSKDUgEprrLkY8s1gBlEUE_8t7D2mIKnkp3tpet5tsVJ3MpFJCQegCVAlPVgQj6T5Y58bKp1b_xSNXmPHbxqA09Fu-9bWk3iCVWCflBlC759zMss7gFir1cMEevWG5Sk0icczjo-RfKv18gq2lfCw63MTfGEetcmftqvXnVS1Nm4eJfbWvluLJDfXWqzEwlEGYqk-nvgMHhYk-95Wm1XUY4KlA7IkZIKF5HETR2Uu5rYmnJgfnA1jD3NW70bBbKnv3KUSj5KSabCu8=",
  "id": "rs_03cbd193bde188ff016ab4547de82c87d0a8483606f37ee95d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.06,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"After rotation the pen is vertical and still close to the jaw column, but with clear space below it, meaning the fingertips remain a few centimetres short. I’ll advance about 2 cm and descend only to 6 cm first, allowing one final visual check before table contact.\"}",
  "call_id": "call_Payv2O4ToemadI2bGDnNp6lY",
  "id": "fc_03cbd193bde188ff016ab4548057fc87d0bed4d1c0d287af26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Payv2O4ToemadI2bGDnNp6lY",
  "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]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6502, 0.8543, 0.0701, 0.3592, 1.8919, 1.2205, -0.5365, -0.6411, -1.1152, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0128 left_z=0.1637 left_yaw=-0.6651 left_pitch=-0.2792 left_roll=-0.1171 left_gripper=0.0701 right_x=0.3431 right_y=0.2455 right_z=0.0593 right_yaw=1.5358 right_pitch=-0.2876 right_roll=-0.079 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -4.5744, 6.2838, 0.8327, 0.3346, -0.0317, 1.033, -0.7726, -8.6906, 7.8701, 0.9939, -0.6911, -0.188, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7546233f172a4b7f07fabf1b80a1a0b18fd1c3f084dc1f405ff0a220fd6bf0b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c107a07988c98cac230aa13ae88922c1785f38e0c5a8b830b1e355df8116300c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62110fb5600746869649ced21a9b29e64f9a2fad6f1fa43547e9b4597372fbbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.165 s

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

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3197, 1.0607, -0.9543, 0.68, 0.8543, 0.0666, 0.3462, 0.9199, 0.7246, -0.564, 0.2157, 0.083, 0.9988]\nstate[eef_state]: left_x=0.299 left_y=0.0088 left_z=0.1688 left_yaw=-0.6764 left_pitch=-0.2494 left_roll=-0.121 left_gripper=0.0666 right_x=0.2826 right_y=0.0656 right_z=0.1664 right_yaw=0.1053 right_pitch=-0.1786 right_roll=-0.0901 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.8342, 6.2838, 0.9402, 0.398, -0.0464, 1.0281, -0.6359, -2.7556, 9.2376, 1.6093, 0.2711, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3254, 1.0607, -0.9592, 0.654, 0.8539, 0.0701, 0.3954, 1.6405, 1.2297, -0.6136, -0.5533, -0.8795, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0122 left_z=0.1643 left_yaw=-0.6666 left_pitch=-0.2759 left_roll=-0.1188 left_gripper=0.0701 right_x=0.3333 right_y=0.2436 right_z=0.1444 right_yaw=1.3473 right_pitch=-0.257 right_roll=-0.1209 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -4.6427, 6.2427, 0.8767, 0.4567, -0.0513, 1.0281, -0.4308, -8.3761, 6.7897, 0.569, -0.5788, -0.0952, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6502, 0.8543, 0.0701, 0.3592, 1.8919, 1.2205, -0.5365, -0.6411, -1.1152, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0128 left_z=0.1637 left_yaw=-0.6651 left_pitch=-0.2792 left_roll=-0.1171 left_gripper=0.0701 right_x=0.3431 right_y=0.2455 right_z=0.0593 right_yaw=1.5358 right_pitch=-0.2876 right_roll=-0.079 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -4.5744, 6.2838, 0.8327, 0.3346, -0.0317, 1.033, -0.7726, -8.6906, 7.8701, 0.9939, -0.6911, -0.188, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7546233f172a4b7f07fabf1b80a1a0b18fd1c3f084dc1f405ff0a220fd6bf0b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c107a07988c98cac230aa13ae88922c1785f38e0c5a8b830b1e355df8116300c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62110fb5600746869649ced21a9b29e64f9a2fad6f1fa43547e9b4597372fbbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSGEN-UhZddfbHDoVWghShrD8Nox1OtjPPW_nYF1H-9Qlz826R7DCf7_Yoc6bPVJ3gwTaSwFcwCy1tS4BMf0WySo_KzzcXu42wsKfMbbjZci6-r-v4XQL_0ceyZULhU0MAz1p72bLA-HjaK2cbAxdzoLRsiGlqt_0Hcz__CN6DTSwOi8S4uhCN6K6-vpvMeZa8mSGGvRPpz16iyxI6g0XzUN_TNM7wuQlWxJ7s9ApxtwTroim7SaLAt2pWJ5WUDV_R5AxPWsdMehx34rQyeBgqdIhIK6l9Yc0ps66tZ9IyHBvZ9qi0NSoZv_qfMuhZbVDTUx3nWwrw_KXsOzOVb_eglhLE9HDTSvcGMDAgMOBCqRX604pRc8ERMQu98IJdMpss9oMOGpLIEdIKaMJUOFhA1L4kcPwMz3-SzPGT2mHogvXL_jjywWcBiykpsXsqWwI7ywhKnswMVbRhKVrsnL352DdnCQLKY7xAZQc0R5F_gfDzDIgYUi5rcpnXyckQAE7PexWDAudnbaOPUYZ4lOt6rKrtZoYGrJvCq96muH96o6p6NML4zqTmO4d9nHB9uxH7L4S9lnzOrZscO3Hd2je2tGwZtV4ke7ylyx27WSSBBYZ2uinQY2Cwb2-V_aA1tm7cRXNrBqXJkCh0NgVlMjsjTQvkK11gmTgbfb1DEIpJsKc5vVed9WP8cZ4ucHff54qUDsWm5aDgUmTK5AntuHLBcUihvm6n-KL9zawGrE5XajRXU0DDplbhc8IinIlajEnFFgIUywTuBlwQLuxDe4a0vaHI_Fnge4t6d3v12ntzr898WGBYjy-VS5EmWwRKv9W7LQlVS7rt67MI4jM5H4THmxEI05rTdqLUrywcryPYGelELPw6nY8jwVEEKXX_FvFsA60R4trUSbu_HVQXCiVXqVLIoiELsWNCnladDTI5y0nJcR26y2lW9M2fMmtVqJjf23EHPwFDdBRAQ-FwU6K2jU9JYWw5BA5rQ683XdtbCsgPz26ksRKn7ZxC5jvo-fX6HPc_e6QEKJ9Sna9KFUer7LBXux0tLHqxjOHCfubtal9Vno5kZCOZrO42VlQB-O2IULXYSoQqFBtqZi_snyXGfcC4geCbOmQXc5GN_EGG-VSLEXw_SES4SIGbmHqvUYPAPdWX9grfTncd5VDu2g2bPEaqHINYaAkvfMUZLM6IQ7H2OzZBX-41xHLWT8VYvZTfkydu2mNyYtPG4UITGTsWMR5uvZA-f4-FfxqyePfS41OMaaABz7UHYpiVeVzkKfTKSmq0SCJ3mvp1gtMiJwqyJ5JeAjRdvFemOzYNlmVyVhAoPSgh0tbmRA9V9cr3Y1wW_u_Qk3hyxtjDKbR2Cx2v2HzLdTdK-klh6jN6YaxU5Dh15vWNjmxOEWkkjolzERF-m5Kin0TTolRQtPSdVIDkR4M4O7TbgIJx-NBezTnlSElp6sVEjXepyNBQFrndhJiMl-zEuntzYjpp6Wyah8OSuHbIS8wHeGQDIRvgUKdYdAtnFUk986fNdyDtgbYplAeHHXwU0WgdmM1B1AmdSDD__1PIJWEB5cfdeyJte53h7qRn0PmpPWUIxdR69Sysczyq6gQ_C4hk4Cd820JoJ0gk4IXE3jwoG_dpkn7PFiT2EnfBmfvsJRHdDUTBdbvB3gJolSmQFOnPZxRiT6mc2Fkg7C6H2pl3VamdbOi84GLIoqfcihvgTJyTupBVd59dHZU3QNrQNh8LKhM92wiFO4Furxqa2zqAcdfNVde3Jz-YfIrLBvTqEBVHDPMUKS0mPuReQNpyxx9k90Qu9N0aig2auRBG-plYn940rw3cunA_OwO6aWNk2znZrJLwRcBBkYRbDAgbZPm2NG9FKiYWNuT_38w==",
  "id": "rs_03cbd193bde188ff016ab45483fb3c87d0900b4e7d032f37f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.25,\"right_z\":-0.01,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"At 6 cm the pen is fully lengthwise between the jaws, just slightly right of center. I’ll make a small forward correction and descend with light table pressure; this should place the thin shaft at the middle of the closing stroke instead of contacting one jaw first.\"}",
  "call_id": "call_3fU6eEH34n7WkWPm0CO73plj",
  "id": "fc_03cbd193bde188ff016ab4548554b087d0a8601373938ac3c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3fU6eEH34n7WkWPm0CO73plj",
  "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]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6384, 0.8543, 0.0701, 0.3553, 2.0686, 1.2186, -0.3912, -0.6666, -1.1633, 0.9988]\nstate[eef_state]: left_x=0.2976 left_y=0.0145 left_z=0.1626 left_yaw=-0.6595 left_pitch=-0.2889 left_roll=-0.1114 left_gripper=0.0701 right_x=0.3549 right_y=0.252 right_z=0.002 right_yaw=1.5787 right_pitch=-0.2787 right_roll=-0.071 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -4.7111, 6.4479, 0.8767, 0.4029, -0.022, 1.0281, -0.6769, -7.5145, 5.8462, 0.6374, 0.0073, -0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f5c7795c4fedead66a9e4e5f83a8737b92a13bb6571eea93118f5964c1f1a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10bc1322903af5cc23b60f31b0d625875b84c92d8dde16f8b61fe330cfe850c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd28aa10508d6fd916a45d6e4d195b21beff00223332b0bb5771489465d08cd0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.914 s

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

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3235, 1.0607, -0.9565, 0.6621, 0.8543, 0.0666, 0.9401, 1.5948, 1.1442, -0.5983, 0.6353, 0.6415, 0.9988]\nstate[eef_state]: left_x=0.2984 left_y=0.0112 left_z=0.1658 left_yaw=-0.6694 left_pitch=-0.2671 left_roll=-0.1182 left_gripper=0.0666 right_x=0.3051 right_y=0.2462 right_z=0.1394 right_yaw=0.0396 right_pitch=-0.2151 right_roll=-0.119 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.9846, 6.2154, 0.8767, 0.4957, -0.0122, 1.0281, 0.3624, -7.3094, 8.4718, 0.9988, 0.6081, 0.1538, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6502, 0.8543, 0.0701, 0.3592, 1.8919, 1.2205, -0.5365, -0.6411, -1.1152, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0128 left_z=0.1637 left_yaw=-0.6651 left_pitch=-0.2792 left_roll=-0.1171 left_gripper=0.0701 right_x=0.3431 right_y=0.2455 right_z=0.0593 right_yaw=1.5358 right_pitch=-0.2876 right_roll=-0.079 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -4.5744, 6.2838, 0.8327, 0.3346, -0.0317, 1.033, -0.7726, -8.6906, 7.8701, 0.9939, -0.6911, -0.188, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6384, 0.8543, 0.0701, 0.3553, 2.0686, 1.2186, -0.3912, -0.6666, -1.1633, 0.9988]\nstate[eef_state]: left_x=0.2976 left_y=0.0145 left_z=0.1626 left_yaw=-0.6595 left_pitch=-0.2889 left_roll=-0.1114 left_gripper=0.0701 right_x=0.3549 right_y=0.252 right_z=0.002 right_yaw=1.5787 right_pitch=-0.2787 right_roll=-0.071 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -4.7111, 6.4479, 0.8767, 0.4029, -0.022, 1.0281, -0.6769, -7.5145, 5.8462, 0.6374, 0.0073, -0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f5c7795c4fedead66a9e4e5f83a8737b92a13bb6571eea93118f5964c1f1a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10bc1322903af5cc23b60f31b0d625875b84c92d8dde16f8b61fe330cfe850c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd28aa10508d6fd916a45d6e4d195b21beff00223332b0bb5771489465d08cd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSJk_H4bxUjO6a7iehMuj2EAI_KCG1klN2tmdNYJBXfBvi2iEeyCw10cFaNsLOfN0U8PCjj9AcR9yrFRsV5s4b6mNYr3A1PeMzXeavMzQnOd8Usaeo1rqCxYW9Z3HPBz9JUFD9esT7BviOffoGIvaETwL_ZdSfx01UZTY0Ig0oL-LkXc26xEO90a-1hZwMqrvlZH647dBpFwrkpTgNusPgUV5pXJqmzDJl6XigpNn22_vuoMIJ-33VZileqvUxaxrV3ZCxpgJXANnTwb-TH6mvmD_V0rHXx4vWOvvmnz0JNqNnIO5PhYbdo-OHV1baSJfPeFUMPxymJ_OTqTYi1QpwOTCa1fzOT95xH8mRLrDPncWNFfSguEScxkUojtLhwDB5K_TF4LcRiFbON_CwnNuxGGAo10Ho6HxeM3QyhlMK63PDDGRxYG9mJCYUYSRkEXL94oh83EetYFMyAhSzB33KDN6rkFcv5IloOhXodnJF27K5Ku9b6mQA8I5ufzAwnzCGK0KzJWo97Z_KSXLGN8vzWo22QCcFa7gSXTPoiTAR9acuYJq9xzHxxwqC5a0cKzBHiijtN5jIiloFUE2QI-ioWN6Ce6CdsxVc5QgWYapihSlceuaXxkCd9s_ADyd9ZfpDt8iqMHu0vT0Et8xIY0WO_OZ9SJ16GXOFt0nGmh0M0rB6SPaa8e6T48ZK9Cy5AS0Pj_RhBgG85ojYLbV68wWV5Wik-ZxieYXdTUUKQeKWjLiv9brJdi89mjiEloZ3oodndwyR_OjYmvEUDVH5FcNMp3ctElRMuhh6X5JYGGFSJaQ9pzC81Wc2XQWQ12O8SgZc60DxLU9xHfwM-rQgpQjj4WEryhzZYS4U1Xk1yAIyhT-H8GIVEbUPBfM57gv7_NTDWwdxErx1zrPGvAmLdoQdmySFCuNPT7okGrrMnL1rGXmHrutEi6WcySFgMRRs8yGw7o4jgNY1N32jaaieQmiowQfn3FpECzCfGU7wYeLhNxqNnzf4c5ab5bTlqDJC1UE6CFnDwt5poLB2CzAa-8z6aBQdesu3sgN8GNbfuh_TeeUDb0WiGes5Hklbxi8czMdJyoZ_1IXOa5Z445wcdHeljyaLHXUyf9--g0zLGGGD5CQcyG9R5LIZFWqEoUmMZeYhpffCmla2TEsMkH9h2D9IW51zjmzwBr2bQAeKx5PmrkwwOPC497HTH47m0S9iPAbQtWG0OAj9QDUAphFqdM-1YaQ==",
  "id": "rs_03cbd193bde188ff016ab4548836bc87d08b3e32e7f9bdc657",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the pen shaft is now exactly centered between the right fingertips, unlike the earlier off-center attempts. I’ll close straight down on it and check for a nonempty settled opening.\"}",
  "call_id": "call_2b8OBouGIuhuDH3zCzvcna7R",
  "id": "fc_03cbd193bde188ff016ab45488697887d08793b0720b2aa7c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2b8OBouGIuhuDH3zCzvcna7R",
  "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]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6315, 0.8543, 0.0701, 0.355, 2.0716, 1.2186, -0.3824, -0.6857, -1.1603, 0.042]\nstate[eef_state]: left_x=0.2977 left_y=0.0156 left_z=0.162 left_yaw=-0.6559 left_pitch=-0.2939 left_roll=-0.107 left_gripper=0.0701 right_x=0.3547 right_y=0.2546 right_z=0.0034 right_yaw=1.5831 right_pitch=-0.2597 right_roll=-0.0681 right_gripper=0.042\nstate[joint_eff]: [-0.0752, -4.7111, 6.2701, 0.862, 0.3346, -0.0366, 1.033, -0.3077, -10.7419, 5.2855, 0.7692, -0.1685, -0.022, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f8aef20b1a7ea62d347c5744066913ef2980fe533cb4982e6dd8a073c0cfca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15668070180bc1d91a82d7490eab0e166c1dc7d7a8796e6e679c3dff02fda4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2270036c5777e6bfd139f39de7d619c03161a0dfca17d5eebc1edfae1a2fcc0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 14.59 s

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

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3254, 1.0607, -0.9592, 0.654, 0.8539, 0.0701, 0.3954, 1.6405, 1.2297, -0.6136, -0.5533, -0.8795, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0122 left_z=0.1643 left_yaw=-0.6666 left_pitch=-0.2759 left_roll=-0.1188 left_gripper=0.0701 right_x=0.3333 right_y=0.2436 right_z=0.1444 right_yaw=1.3473 right_pitch=-0.257 right_roll=-0.1209 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -4.6427, 6.2427, 0.8767, 0.4567, -0.0513, 1.0281, -0.4308, -8.3761, 6.7897, 0.569, -0.5788, -0.0952, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6384, 0.8543, 0.0701, 0.3553, 2.0686, 1.2186, -0.3912, -0.6666, -1.1633, 0.9988]\nstate[eef_state]: left_x=0.2976 left_y=0.0145 left_z=0.1626 left_yaw=-0.6595 left_pitch=-0.2889 left_roll=-0.1114 left_gripper=0.0701 right_x=0.3549 right_y=0.252 right_z=0.002 right_yaw=1.5787 right_pitch=-0.2787 right_roll=-0.071 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -4.7111, 6.4479, 0.8767, 0.4029, -0.022, 1.0281, -0.6769, -7.5145, 5.8462, 0.6374, 0.0073, -0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6315, 0.8543, 0.0701, 0.355, 2.0716, 1.2186, -0.3824, -0.6857, -1.1603, 0.042]\nstate[eef_state]: left_x=0.2977 left_y=0.0156 left_z=0.162 left_yaw=-0.6559 left_pitch=-0.2939 left_roll=-0.107 left_gripper=0.0701 right_x=0.3547 right_y=0.2546 right_z=0.0034 right_yaw=1.5831 right_pitch=-0.2597 right_roll=-0.0681 right_gripper=0.042\nstate[joint_eff]: [-0.0752, -4.7111, 6.2701, 0.862, 0.3346, -0.0366, 1.033, -0.3077, -10.7419, 5.2855, 0.7692, -0.1685, -0.022, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f8aef20b1a7ea62d347c5744066913ef2980fe533cb4982e6dd8a073c0cfca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15668070180bc1d91a82d7490eab0e166c1dc7d7a8796e6e679c3dff02fda4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2270036c5777e6bfd139f39de7d619c03161a0dfca17d5eebc1edfae1a2fcc0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03cbd193bde188ff016ab4548c064c87d08289392105ed622b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The right gripper settled at 0.042, just above the empty threshold and consistent with the pen’s roughly 4 mm shaft. I’ll lift 9 cm and verify in the overhead view that the pen leaves the tabletop.\"}",
  "call_id": "call_5kVUGJ9fEkg3d7sDdbkv0PIC",
  "id": "fc_03cbd193bde188ff016ab4548d133c87d0b2abca9ea27a7706",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5kVUGJ9fEkg3d7sDdbkv0PIC",
  "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]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6273, 0.8543, 0.0701, 0.355, 1.9667, 1.3571, -0.6228, -0.6815, -1.1603, 0.0438]\nstate[eef_state]: left_x=0.2976 left_y=0.0162 left_z=0.1615 left_yaw=-0.6539 left_pitch=-0.2974 left_roll=-0.105 left_gripper=0.0701 right_x=0.3593 right_y=0.2557 right_z=0.0691 right_yaw=1.5806 right_pitch=-0.2624 right_roll=-0.0724 right_gripper=0.0438\nstate[joint_eff]: [-0.1846, -4.7111, 6.3111, 0.8669, 0.2906, -0.0366, 1.0281, -0.0479, -12.3419, 7.665, 0.5788, -0.4176, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7920cea5039252ada3bfc512d120d7ddb4944243ec9ca7f604d60bc2fdaad6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e3217fca02deca983717c50d28d12e36fa3d0dc298a8927bcbbdf29e29ca569",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86ed0f9b85ce77ce83c7193db015ba9d806c31d5a6f7d27b86529b6c0a94816",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.524 s

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

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6502, 0.8543, 0.0701, 0.3592, 1.8919, 1.2205, -0.5365, -0.6411, -1.1152, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0128 left_z=0.1637 left_yaw=-0.6651 left_pitch=-0.2792 left_roll=-0.1171 left_gripper=0.0701 right_x=0.3431 right_y=0.2455 right_z=0.0593 right_yaw=1.5358 right_pitch=-0.2876 right_roll=-0.079 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -4.5744, 6.2838, 0.8327, 0.3346, -0.0317, 1.033, -0.7726, -8.6906, 7.8701, 0.9939, -0.6911, -0.188, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6315, 0.8543, 0.0701, 0.355, 2.0716, 1.2186, -0.3824, -0.6857, -1.1603, 0.042]\nstate[eef_state]: left_x=0.2977 left_y=0.0156 left_z=0.162 left_yaw=-0.6559 left_pitch=-0.2939 left_roll=-0.107 left_gripper=0.0701 right_x=0.3547 right_y=0.2546 right_z=0.0034 right_yaw=1.5831 right_pitch=-0.2597 right_roll=-0.0681 right_gripper=0.042\nstate[joint_eff]: [-0.0752, -4.7111, 6.2701, 0.862, 0.3346, -0.0366, 1.033, -0.3077, -10.7419, 5.2855, 0.7692, -0.1685, -0.022, 0.989]\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 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6273, 0.8543, 0.0701, 0.355, 1.9667, 1.3571, -0.6228, -0.6815, -1.1603, 0.0438]\nstate[eef_state]: left_x=0.2976 left_y=0.0162 left_z=0.1615 left_yaw=-0.6539 left_pitch=-0.2974 left_roll=-0.105 left_gripper=0.0701 right_x=0.3593 right_y=0.2557 right_z=0.0691 right_yaw=1.5806 right_pitch=-0.2624 right_roll=-0.0724 right_gripper=0.0438\nstate[joint_eff]: [-0.1846, -4.7111, 6.3111, 0.8669, 0.2906, -0.0366, 1.0281, -0.0479, -12.3419, 7.665, 0.5788, -0.4176, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7920cea5039252ada3bfc512d120d7ddb4944243ec9ca7f604d60bc2fdaad6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e3217fca02deca983717c50d28d12e36fa3d0dc298a8927bcbbdf29e29ca569",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86ed0f9b85ce77ce83c7193db015ba9d806c31d5a6f7d27b86529b6c0a94816",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03cbd193bde188ff016ab4548f982887d092ef76c01141cf26",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_03cbd193bde188ff016ab45494658087d0956c9badb211ab67",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSdPvZWzo_73DZRG_bDfOmfwQ8GPVwQohz92_zQjHhJjQcSygJmbx7uVi-4alkyv6pJ7c2glreUuC8aVUQZH6H4NK2RO8qnfZd1-6hpGIr9M5FigZr7poY3hs0m7moHqwtNon9plQ3kd9P-pCihwjjEnyonRdXhVE8DVwFRejQqiYV0TEhlG1ugPya5T5RK5lDue9KUVi_fMaFH0rrxPrLD5CGbgpq_XZp_TfpHCtyVt-h09taY1M_5Q0V0gCeMkRofmVeWnBOBYyHrv-T8DATFiI8Rp1u37GKEjbwfICy11H_NICy7VhStaKPdMDfcaM5Rv5GVI8q4CLU__iwlMQOG5SR_rjj35_RXBQN-6XlRzyL48-jQ3WGxTv3rnPK7KRtVNK7d39WStqLE4yGh8daHJLqrwFbwqlItwPxCam9uwekFvdwIHJYcBxtp0n9l0xYmtKewGooDOdEUXhxZdtyANFTwRmApRrZisCuGpS1W8aT3RBi0vU9LhtUBo_8RGSmfIr4bzDjV4odq9ssvzOiAZarQYuozIMl8U9nAdK9h_vtZxUSoQ-dNc_wvYMwZo3RhYps4pB-vHB2QNv9lAPZcAQtgjd7QoaEZ7b2EF0NpeOVX5YKI48bG9EK87XmuMj5KVD_zEWwpxnRXUe1qemlYB_esllvzzTQX_z15P-k_7DHl_ojkKPThYa5CJUd2vC-APTSfpmq5kobSpYAV-I2YJvlVM-uzxbVVU41Xs_q-7zPZRUxJaUZIS62Q5owTYUxxb1Q-epDhNWwYPC2X1bFk9P2sZnVI5i3becrF8daZMAOWgbH8CucmEfVZ09xDWj4deprcLWaGtGQyqu4KPxf747Xdm45M3NlSfQxh11H-6o1brClZaXsTJdYz7G5LjgRj2CabWdBh5MHbWbh6NI-6xD_MpcIQZ6tqnyB_eoob0IZHEanqbgk0Uc9D43K_JWemn9-x49xqrIgys5U34Y6PDKcbB0xSy0Q_v6u_MXAekWrW7mcyYrYsz1-MRs_m-wtbVyUTyeM-6T9VrBAavDajlAb1Eu_FEY3unofjEOXXXFe9x4CBJiI0-AQLR16UiowsWBxIsq_zXw_zCDytWW_GgQ3iOM5RseLGvjkuI47K1zIiQGIPG6aQ-k1_sqeYGq61U7twX3X6kQp-8LOY7_K-fxuiQKdbfM4Xk5JxKarZpfU4LnToaCZoFALxBBGTM-MMnr5CM0dqhlWgIc68Xq8i6aIUAf0uUXbR_UdKm0G4mvN7kIYYWgVRtlX8DYgR5w8tg1eby1PodaK86QWycB0gM5q9Ax5LqtE_yXq8jtmS-q7E2DB-DA6XwFoAfRZ5gj10EseBVNxWj8PVriXy2IqgWbt7NHYiPiVvWIDAeQ2OtbTOOACWC48Z0gXK0PSAMBWF-WxnT3dH726aur-6vXE6XGuvdmrJ-mxo5DQbSeBBjwqXw2cSVwTJN_gtI9LkUML0KuojWs9UPPDwJ_2gp7Ack1EbUCAZetSMp7eq0xI3Wc39TD0DDghCVU_mOY8l2hctJc8gfmhtPlb8ePwSiN11i520eBU4GVPqBnbKf6bmx06tTObGUU7icsSIywZXcfx-EXxSoDr-8xyHRsGEx9Ofz0gxZr7BwatFw7fAx8iH1exXt1-4Z6DP_ftij37h0eyZfTddPpFdxu515OPnRO9Ds4IBkLCCM7H285lN6F13OQRQd_siLhI9qBcg1joR8zRL7SaWz6wOoTLmD-GwvFbUdPGzgTZGIi-AMUfhoaXSvWGbkpXhhce3xtVP7xESKjw1vAd5DmGsdoTplmVYwSBYkDIxcl09qJyaVxqZPzwbFL2VszHtIbqkzftNyCV0IgIvAgCEBlMbz7I9_KanA1-1siEyXu8qR-BI3ykaUTHXAEI_VVS32lg2hFYBaY5Bk0J7I4czC5fLviw346GuLdfqqTHa7s36uhkY5LIsI4yhw7aI68PREyVShabKmSibUo3ZHQ9PO5PW3IoGklt-S4gxvWprk7NK0f73L1lIY6e3692ML-L4NFfjQ2pX9pJgV5Xvc-Q_GqoxZ70LlT9iVpqusKBw5Vif3cjFDpfSSDIozOqoX6E-6IQ-lb86EdXueW-cPnufRMYc3YBSfo4ivxdtDXrWufCwcDG6CLAF9c_zsN7YMs2QlNZ__owVpGIvkMNtkRgGVeABN_XaRZwi45sVLS_A0X4XJSaoocZAv5NLHD33JydMBaSHzoUqaObVQ4OiLDdP3l0XHAlWgujp_umq4mOwjO-5KzqnB-Yq7Yis3Gvu4PjA-2axnC4EzNxlW7S-C3Pll3mGhDIeaw6bw-6stJhtkHQhBaOoU4RR3QmT1Yvx4_SMk07NBFLrdq-vbWSfyH7PIdKb0rfeCSh6y4cFGWW4MmwPLuWvomXBEymPxwsWe1Q9F3z0MPyEDU-Ts3oV4mJho6SvAfvISW_l83CfW0Mj_Ij0S4NznbEEQGUq4HgB4JLq00lqiwXgTNqJT53DBh9Wxbgk1LB34SLacxCLce6hgHK-clp6exyjB3U0e6c=",
  "id": "rs_03cbd193bde188ff016ab45499b3fc87d0b724a64296d43ac0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.34,\"right_z\":0.18,\"right_yaw\":1.57,\"right_gripper\":0.0},\"note\":\"The pen stayed fixed relative to the right hand during the lift and its nonzero jaw opening confirms the grasp. I’ll present it near the center at a safe height, with the visible writing tip pointing toward the left arm so the cap can approach along the pen’s axis.\"}",
  "call_id": "call_vvnj0oJcHl8kHu5AljNj7kaO",
  "id": "fc_03cbd193bde188ff016ab4549c1c7087d0b34a0d3f04366162",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vvnj0oJcHl8kHu5AljNj7kaO",
  "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]: [0.3969, 1.327, 1.0607, -0.9577, 0.6235, 0.8543, 0.0701, 0.5587, 1.9488, 1.7035, -0.8391, -0.5945, -0.9497, 0.0437]\nstate[eef_state]: left_x=0.2976 left_y=0.0168 left_z=0.161 left_yaw=-0.6522 left_pitch=-0.3009 left_roll=-0.1038 left_gripper=0.0701 right_x=0.3449 right_y=0.3365 right_z=0.1649 right_yaw=1.588 right_pitch=-0.2633 right_roll=-0.0982 right_gripper=0.0437\nstate[joint_eff]: [-0.1573, -4.7658, 6.2564, 0.823, 0.2857, -0.0513, 1.0281, 0.5265, -10.8513, 8.253, 0.8571, -0.3541, 0.1832, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7704f0b78470dd8cfbb14c02290aa2f6a65712cad8063682bccb12bc6c51446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8c1e8cd2de3a8b26ac90ddec7048318364dbb4c4ca232c9e9e93075c7c8793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dddee516e65058da395f1bf6836e021dca180f3f46da954e79cc60256826f1dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 6.22 s

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

message 91 changed as sent

message 99 changed as sent

message 105 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9588, 0.6384, 0.8543, 0.0701, 0.3553, 2.0686, 1.2186, -0.3912, -0.6666, -1.1633, 0.9988]\nstate[eef_state]: left_x=0.2976 left_y=0.0145 left_z=0.1626 left_yaw=-0.6595 left_pitch=-0.2889 left_roll=-0.1114 left_gripper=0.0701 right_x=0.3549 right_y=0.252 right_z=0.002 right_yaw=1.5787 right_pitch=-0.2787 right_roll=-0.071 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -4.7111, 6.4479, 0.8767, 0.4029, -0.022, 1.0281, -0.6769, -7.5145, 5.8462, 0.6374, 0.0073, -0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6273, 0.8543, 0.0701, 0.355, 1.9667, 1.3571, -0.6228, -0.6815, -1.1603, 0.0438]\nstate[eef_state]: left_x=0.2976 left_y=0.0162 left_z=0.1615 left_yaw=-0.6539 left_pitch=-0.2974 left_roll=-0.105 left_gripper=0.0701 right_x=0.3593 right_y=0.2557 right_z=0.0691 right_yaw=1.5806 right_pitch=-0.2624 right_roll=-0.0724 right_gripper=0.0438\nstate[joint_eff]: [-0.1846, -4.7111, 6.3111, 0.8669, 0.2906, -0.0366, 1.0281, -0.0479, -12.3419, 7.665, 0.5788, -0.4176, -0.0171, 1.0281]",
      "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]: [0.3969, 1.327, 1.0607, -0.9577, 0.6235, 0.8543, 0.0701, 0.5587, 1.9488, 1.7035, -0.8391, -0.5945, -0.9497, 0.0437]\nstate[eef_state]: left_x=0.2976 left_y=0.0168 left_z=0.161 left_yaw=-0.6522 left_pitch=-0.3009 left_roll=-0.1038 left_gripper=0.0701 right_x=0.3449 right_y=0.3365 right_z=0.1649 right_yaw=1.588 right_pitch=-0.2633 right_roll=-0.0982 right_gripper=0.0437\nstate[joint_eff]: [-0.1573, -4.7658, 6.2564, 0.823, 0.2857, -0.0513, 1.0281, 0.5265, -10.8513, 8.253, 0.8571, -0.3541, 0.1832, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7704f0b78470dd8cfbb14c02290aa2f6a65712cad8063682bccb12bc6c51446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8c1e8cd2de3a8b26ac90ddec7048318364dbb4c4ca232c9e9e93075c7c8793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dddee516e65058da395f1bf6836e021dca180f3f46da954e79cc60256826f1dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFShulOFGgr-I1MgEl81xENDb0ueEOaYaqQqeCymzpnAdfr9Fr1aJFoGfEcvi1FrDAK4rV-5pRFkBQyuxoHyD3v9n7pO7QMNPazUvPXnRmGgHws4Dk-jl_DXxeXFNJRoWvfTGilN8BY6ivNasjJKbI8V63Zilm0FbacLH1V3MjdIPYW8ujL9gzdZe-QVNQJkoIFz2GLTTn3KMEX52n191R62Ke1yGrsA1JKPfH8PkSZgxY9SdzLcQ7QgHLbCxHAJnU94x5AssFxzonFGk49FX5a18b6lwg2SUm3bxa3GnBUDu1vRi0FTpIf3jlS1QPskAp7nsX9mDdnFcJbjXMpKSqEO4GPDEG_pFcmY-gLy0QZse5c0Calz-Jb7wzSSK1Zer0XyRnp7SiWrl5_v5XB2qsV3LmIo4CYbyx-tPyENxH7xQ70ut2O6wgCKDTtIaZ-1FIURa7uSKpNwnAwkbpZ6zewHzwDdxWdKOwAeGAK2Ja8O1YhSIF7I7DqxdkVSi6z1eE2T_fdJ49cOhwD5IMxFgx8HsoKQRRilzAOcf4jpP3bo5hvK6QeDxW4dUzPQXku0DbWZMD_oCEyVBuVoKrF6Wc3rm-ClH33WrrGLBvNFpbDd8Q_gcjnvcN-zHOdTFQlZuXCsFDTa7B8kEi4LBinghNMJ5HEGN1FKhJNx4X9NYbdGeiWYFxJvwYx-tKNmPDDIbvbm-P9y4vpir3jdpKD0pnN5xWKduGeyUR6RK08V30NJokj3-3TW_WWNFWgtcklolMC_rNTlCiEjNLeWzm-UTaGQiT28FSz5-k9LlCGR3lQU05MA1BKUrGXLPGjYLipMinost5PlgmU2s2zAgIL5kuW3pyf1oZ_fSjgJXboJmxaINnm5hi5RI7EOMlsXn4DY4zHjGPbTMuI5h0urUS185edvDk-nq_eUIvRGPjkHELsOHI3OCGjnJTgSqaKyG96f3IOwSp7OaPQpHfk5pBYU9POIVxm552Nw53QJN9qmh8TFa70BlIyyLcrcQVUxEZ8SoWB1SbvR0pwHEVK-Vz_MP1vmo9ecWu-fSW3hSBnQ2CJWulR1cEJUYdV_dz0vdRZMnchpPdZjyyQyhjmxEemECrLO8JmnC2686ThmCva-_tQRbbG-_3ZngPZ4i8OddfeRbcrVGkPjzOC7DYqiweEK2RKwfGrvzbWI9tfVITyeQalNOu06Rmp2qgChIWkG2de69pX72aD2_BthiZYEYpo2V-NM24hwkGOBlyj4ByBm06w0MhuGik6nar4mD78LnFl98jUm41jPnpluBmuffWDKdEnhyDtkSUmBga3oN_UDbVtV8_11yt_GT1XJJ8ftJKjJdAe7tWDaIlRLLxGGFn_8tJEXsrAKf-SS2dvcUrg3DXuAHwddm57nZ26dGdcYgYp9P3-3zij3a7oka1WXZBahNYxneiRIrbNzfQr8r7GebUyP2--5taM5WBza6QoeaK2rjA8smRlrU3_fxLnAqVw-KG1D9-sbfWqjPoNfZm0wk4lCZ5nPJADYMA76aOowjLQf0wvlVN15IZCX8uS94hzw4U7QULcTwuydlPu87SvOg_vRhTgYDebDHGUzWcXVgEO93ET_M5xOawOnhdOVq-t7FKiQT_QC_vpCvRKQJfbrbjTjxbuSuNs-HDn-BlJRq8qhGVoF2cCXtJVGSY0HEPgmsR2BH_-7_h4zdQL_njBXBa1EdgUpLyADTjEstVH---oLgmuybJrDacJXa1xL6N7Sc1LVzzcqwZYjjnjbAHygwmFWAfF-rwXxdUwBIoyEPts0iZimUCtJ8ECeYY-Udq5bUh2rizpt-F-5e-1QuVst48_iLYKvQQOQ3eQvmkeOY9FWnR6HOlx7fbcdg8mQ5qtVaCbPzDLeAOMRfG3LLiZFeniJX1_2VtyJR_nk0XatwO48r3gQIARrN77NLbJPbayXh-hiYA==",
  "id": "rs_03cbd193bde188ff016ab4549efb4c87d082a8ecf842a15ae3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.15,\"left_z\":0.18,\"left_yaw\":-1.57,\"left_gripper\":0.0},\"note\":\"The pen is now presented horizontally at center height, with its writing tip extending toward the left arm. I’ll bring the held cap to a coaxial staging pose about 16 cm from the right grasp point, rotating it so its axis points toward the pen while maintaining safe hand clearance.\"}",
  "call_id": "call_JYubmp2aUWXztg2ztdM4PADa",
  "id": "fc_03cbd193bde188ff016ab454a073a487d08a6faa3b87b4ff8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JYubmp2aUWXztg2ztdM4PADa",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0975, 1.8732, 1.6817, -1.3582, 0.6701, 1.2915, 0.0701, 0.5579, 1.9503, 1.7012, -0.8547, -0.5945, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3428 left_y=-0.1401 left_z=0.168 left_yaw=-1.5134 left_pitch=-0.3379 left_roll=-0.1556 left_gripper=0.0701 right_x=0.3423 right_y=0.3344 right_z=0.1619 right_yaw=1.5924 right_pitch=-0.2734 right_roll=-0.0817 right_gripper=0.0437\nstate[joint_eff]: [-0.4034, -9.0735, 8.1983, 0.2076, 0.6716, 0.3199, 1.033, -0.1299, -10.5641, 6.6393, 1.1697, -0.3053, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40ad1365b6bbcf874f702e237de0f529d78746b574aa23d0946b594add319fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3c6eb3ce006648c5c809018f433ee0428172ef277c12936fbc8a1966ab0970",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8169fd59514f4296859514a84f4d46c9c528d8cf35fd9f90beae0151f7650302",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 5.825 s

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

message 95 changed as sent

message 105 changed as sent

message 109 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6315, 0.8543, 0.0701, 0.355, 2.0716, 1.2186, -0.3824, -0.6857, -1.1603, 0.042]\nstate[eef_state]: left_x=0.2977 left_y=0.0156 left_z=0.162 left_yaw=-0.6559 left_pitch=-0.2939 left_roll=-0.107 left_gripper=0.0701 right_x=0.3547 right_y=0.2546 right_z=0.0034 right_yaw=1.5831 right_pitch=-0.2597 right_roll=-0.0681 right_gripper=0.042\nstate[joint_eff]: [-0.0752, -4.7111, 6.2701, 0.862, 0.3346, -0.0366, 1.033, -0.3077, -10.7419, 5.2855, 0.7692, -0.1685, -0.022, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.3969, 1.327, 1.0607, -0.9577, 0.6235, 0.8543, 0.0701, 0.5587, 1.9488, 1.7035, -0.8391, -0.5945, -0.9497, 0.0437]\nstate[eef_state]: left_x=0.2976 left_y=0.0168 left_z=0.161 left_yaw=-0.6522 left_pitch=-0.3009 left_roll=-0.1038 left_gripper=0.0701 right_x=0.3449 right_y=0.3365 right_z=0.1649 right_yaw=1.588 right_pitch=-0.2633 right_roll=-0.0982 right_gripper=0.0437\nstate[joint_eff]: [-0.1573, -4.7658, 6.2564, 0.823, 0.2857, -0.0513, 1.0281, 0.5265, -10.8513, 8.253, 0.8571, -0.3541, 0.1832, 1.033]",
      "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]: [-0.0975, 1.8732, 1.6817, -1.3582, 0.6701, 1.2915, 0.0701, 0.5579, 1.9503, 1.7012, -0.8547, -0.5945, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3428 left_y=-0.1401 left_z=0.168 left_yaw=-1.5134 left_pitch=-0.3379 left_roll=-0.1556 left_gripper=0.0701 right_x=0.3423 right_y=0.3344 right_z=0.1619 right_yaw=1.5924 right_pitch=-0.2734 right_roll=-0.0817 right_gripper=0.0437\nstate[joint_eff]: [-0.4034, -9.0735, 8.1983, 0.2076, 0.6716, 0.3199, 1.033, -0.1299, -10.5641, 6.6393, 1.1697, -0.3053, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40ad1365b6bbcf874f702e237de0f529d78746b574aa23d0946b594add319fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3c6eb3ce006648c5c809018f433ee0428172ef277c12936fbc8a1966ab0970",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8169fd59514f4296859514a84f4d46c9c528d8cf35fd9f90beae0151f7650302",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSp-0Syb_kcNj53h4oX09VcDxqLa4Ia3E6AwC3DaoMFngUcE3PDXpA7rDRcza-9Gd5pU0XMaZD9AspHZc6-A63302FmLGpuyZ2oMRAFsB5F6XMLeGsUZpzPuhvG_rb7MN4GGPzqrKT1pEHf4oLaMbqnLsVHhwlT_zsbqqD1Ku1v8J7XLgqA_098EXThmMrKbcuNLNB1xZYOukHoPO9mg2l1I6AA-MhUEta2z0qWXUZqKAUVzoAnqJPtEPgpbk5-PPo_C1RXHxFRj_6tknUBq57S_cUAi4HRWWkedxw48eZmdh2vyljBrr5jRhomNowNu-4rlbEb9XR1p1fQVzBzHeiE1o4UZZQJqsVhL-pLWdVQkoNmwdaSN4tklU43GVE0sM7oSu79t1AW_Nl9ZtEvWuKPRkoHO7ZsVGLR9wR0IUBxmvRXKSQVPgkm07Nbv5L2_Uz_Uql0h5pZmWDNe68Y-ImUcb_X2YRBDVGuXyINs-UMpkmFvoQWchH11Tohpem8BnQCKJe7Ib5RSIueZZQ0xP7dUiTHcbyqq4_GV6mG5RajeAK8t9uDqDC8nMTa7WEyBpWrd8qxe32u1W23ZsRjJ1t3f6F8iIgTA2EBHDAtow0hYSB2pEBasFbCgpH_B9z6EzRLwEjFemvLxlEBsYbkTLs3IsbbL_d0cpXhL2MuSBhh2hy6f1vj8QHs5EcxeoBEnrdgC9eSlLwFcHTRLlSLngWgcOay4hv0pjL4-etm27hI1MObru79ivXeheu-tdnCAsg--5Cf0xlZLMFNSmKn_G6Mmbm9Gmm3TP0i2ANK41eRd38xWzA-ZN_BM4LcwmreHkT1mg1abp8fhiq3jSFQrQlqpYmjrZ9BCHLwBBooVpOvQp76F1XmR_ao4JE6So7dHJ6-W7MM4WQOC991wmR5s7Fzjls_cqYBbx-XOT9hCJ-RIRcgDm4PmsW558zRKBuEIXx_kpyNPj2MBsBkblZb2aSBYz9Z3HrEag4fQmHnAVKq6Y2HkfOLV2RSEMOQdQphFGyVf78x_Xfz-BrQB-nTtPZNeeuUThDrAt6ieRwsYM95awutugQuaZU7_DsTJ1tmMb95_tCwAsSbAOzd71-H0H6_2L0cR2jipVSL0lw0m5mo5oe1sYEbs82aSLNbk8mrrTR4DbRH2gyrpQilvcMivCrRsYiLSdYkcEbenuu-0JVD_DE1-vUr-G2AfBpkH6utaZgSNYBrhh3-DtOlaUhu0ZMzGGpasRMAULiiOysNv3k1cIri5neyDCW_NT3rSwZfs1dHIN9t3Shqh7HsYS21ynhs6xkL9Er6DZEPAqHgy2cyrCgG--06P0IktIakG0ynfgbqfI95fq1Q9Ups3p3JqGHyke63FnOxt3BozlRAz_qNsnkZ-_NDwY9d9k3kZVAO9baz-Ikx27rkDatB5fvHaf2MpagU-WPNlhSo_gSdROYx0QrG55iuU20fMT97cfB8rY4jizzxdce6DNDvCdtWmv94yUR1L0tUyAy0gYnNoNV5plehY3NZFMNIPPuJx0X9DQ0rKnuO1ziMtEmX_0D591s94llP6kljmd_4gMcSzk2ago6udNTRD4d0J1wEbUaKzwbuALGNb4LfTORhuvai3p70IrYXKbpVQNdjy9K7Ng5Onv_kZpyGNGiQDgdCA7dsjCQ8IgjpGvceXLcjefhrlVfC2Bt9tXcPwN8GLDwBZbrJ6tak82hJhpwkqweLrUS1R7H0MWCMuU58k625xPSrtQnYDTG5XgppkQRt1EQcjyoMAjvmSMSwwzFYxA6XPCAjylp4niKthc7FrEfTX75GsjlSaiONU7XyUZskNLFkD6AnU7tN3YLRnx8RSsPkkDuUms055WB-vD9wzogA2eiFrZUuQ_nB9-HcPk6Uf_KGlv2D9tqOewiBopYyU8tnl89Ssm_38bob9X-FDPIJMvCCqPqAnFz0Q54dUF5okyihP5nBRQGAF4IHD_t042VcWs5e995Rp1rU0py1O-q3cVVW3EL78fdGV-tcmeSgDMrIWEuHyt2-9L-8kblxbYkpsqN7feSstPW4aU83H1jRr_Lblf5KmwzFD0l0sElhYVxtdM-VR2NGBnowRId9i6rstkn7QJACn9KtU-t2j7sG2s0NbvQq7OWQ3FZvtDT3hYYl20_idjkdiY8S29IGwHyNZGsnj6wOIq0r4VWWIe3FRoZ4TGKYV0QQKMf8Uq3wlNodK3eZRyfO0NxKsTAtO5H4oFnFgeFzF_uXWTqU64gRoIrx7HmQjugATtVdi_DMb26-oatNa1SJB36fjHbGgM1q_gekH4zDB-FXwSduFpjIMAYn-A03hpOnFeK6OjhlbWWMcx5xmtPoAFnMRNwlNrEf8QakdkPP0wca01iiW9kN0KwhI8OejhOvJ5K15YLr0qhy-eGoeLA9oFXCy_JdlRjctyncbtifVLVSWMsN3XGFdjF_HpdFsFMM2yQCgjx8cJwg0oSX9ULBt5Je0wSNB2vRxYkVQ7yojOeEc7E_GhDzpDAQvi3jBaziVeJaqi_-uoS3wmQ6fcyu3uaPxLTIBRHvYb8ML1JXjmuaUIfCbRFGYdMqhoEUeRZWzQR8Dexl_WceWD_t1xS-RF2B91Hn13s9XZXUlre2NVJBkkGyzQZZfAWMnDgtXt6VkQ1YhgDqs7HQRq5XUw-x5B-9NizJaEKPbA9VIoL-ueB3Juaxn3zEgLVXEuk2ILEtuBg3MG1qgq7J-pVjfqQr-Z92NZRhVwc3FYkP97BK3q7a3M2gH3IXgg7eX4CmYIaMkEJ-CeedTvn6yKgTCnlb6q_dON3j4xYQ9ZCbqOjyvPJIW15oRp6S2bsSSDLqmDcZJaEJKf3hBs8xx0wFGNA=",
  "id": "rs_03cbd193bde188ff016ab454a466f887d0ac3a6e5ab07cd11d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.19,\"left_z\":0.18,\"left_yaw\":-1.57,\"left_gripper\":0.0},\"note\":\"The writing tip is centered in the left wrist camera and both held objects are coaxial, confirming the staging geometry. I’ll advance the cap 5 cm along its own axis, stopping with the two grasp points still over 11 cm apart for a close alignment check.\"}",
  "call_id": "call_ZDYHETnBur1GmIJI9xJ32TMK",
  "id": "fc_03cbd193bde188ff016ab454a7e13c87d09ae8d17c0679edae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZDYHETnBur1GmIJI9xJ32TMK",
  "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]: [-0.2226, 1.9194, 1.7573, -1.3796, 0.6579, 1.2114, 0.0701, 0.5579, 1.9503, 1.7012, -0.8577, -0.5949, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3354 left_y=-0.183 left_z=0.1702 left_yaw=-1.5892 left_pitch=-0.3557 left_roll=-0.1968 left_gripper=0.0701 right_x=0.3417 right_y=0.3342 right_z=0.1616 right_yaw=1.5934 right_pitch=-0.2746 right_roll=-0.0788 right_gripper=0.0437\nstate[joint_eff]: [-0.2256, -9.1282, 8.5812, 0.5104, 0.3785, 0.0122, 1.033, -0.212, -10.5915, 6.5436, 1.0623, -0.315, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d1af9395e356c7b31eef8aa8fd04b200ed3298dfa9a8bc1917be0473b2cfaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef9ddd7d159c33f12bb0852196a1b4bdf3db03b07a2c72c3e16d4ea97171e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b872ed3fe8ae427e84133f6f250cd0d6f868bbb27437b2a6c9f8e3e6b30f62ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 6.875 s

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

message 99 changed as sent

message 109 changed as sent

message 113 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3969, 1.3262, 1.0607, -0.9577, 0.6273, 0.8543, 0.0701, 0.355, 1.9667, 1.3571, -0.6228, -0.6815, -1.1603, 0.0438]\nstate[eef_state]: left_x=0.2976 left_y=0.0162 left_z=0.1615 left_yaw=-0.6539 left_pitch=-0.2974 left_roll=-0.105 left_gripper=0.0701 right_x=0.3593 right_y=0.2557 right_z=0.0691 right_yaw=1.5806 right_pitch=-0.2624 right_roll=-0.0724 right_gripper=0.0438\nstate[joint_eff]: [-0.1846, -4.7111, 6.3111, 0.8669, 0.2906, -0.0366, 1.0281, -0.0479, -12.3419, 7.665, 0.5788, -0.4176, -0.0171, 1.0281]",
      "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]: [-0.0975, 1.8732, 1.6817, -1.3582, 0.6701, 1.2915, 0.0701, 0.5579, 1.9503, 1.7012, -0.8547, -0.5945, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3428 left_y=-0.1401 left_z=0.168 left_yaw=-1.5134 left_pitch=-0.3379 left_roll=-0.1556 left_gripper=0.0701 right_x=0.3423 right_y=0.3344 right_z=0.1619 right_yaw=1.5924 right_pitch=-0.2734 right_roll=-0.0817 right_gripper=0.0437\nstate[joint_eff]: [-0.4034, -9.0735, 8.1983, 0.2076, 0.6716, 0.3199, 1.033, -0.1299, -10.5641, 6.6393, 1.1697, -0.3053, -0.0317, 1.033]",
      "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]: [-0.2226, 1.9194, 1.7573, -1.3796, 0.6579, 1.2114, 0.0701, 0.5579, 1.9503, 1.7012, -0.8577, -0.5949, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3354 left_y=-0.183 left_z=0.1702 left_yaw=-1.5892 left_pitch=-0.3557 left_roll=-0.1968 left_gripper=0.0701 right_x=0.3417 right_y=0.3342 right_z=0.1616 right_yaw=1.5934 right_pitch=-0.2746 right_roll=-0.0788 right_gripper=0.0437\nstate[joint_eff]: [-0.2256, -9.1282, 8.5812, 0.5104, 0.3785, 0.0122, 1.033, -0.212, -10.5915, 6.5436, 1.0623, -0.315, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d1af9395e356c7b31eef8aa8fd04b200ed3298dfa9a8bc1917be0473b2cfaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef9ddd7d159c33f12bb0852196a1b4bdf3db03b07a2c72c3e16d4ea97171e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b872ed3fe8ae427e84133f6f250cd0d6f868bbb27437b2a6c9f8e3e6b30f62ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSvfsABhCaFo_FV-yssN5B8FEaprPFMW3Fxs-OL8qwqyoW11xLPwHxYQYKshK3S941T5ZKopFZhRysFHEpAkLGKLTdYb4HiHiPEd7D_GC5nocNptLAn8R2mtRJCbaqx4ikLA-q2992SlQZIwI5BJKQth7t8LLaCU5UEG3fX1lxN0MImi94v-ZyiMrIp7cwOns_lMkupFeNDJsWKa1bFwmlHVKNf-GR0TjrH9zgUC1dT1vgl81fm1szpkKxUVd50zmRLnheK7s8NISm-98QWTpZkpICJtL2fMfx9XcQyyaI3Texldhg_o-oz5GZ0Ma1UmniKum_H2zK9Xz0YYleVhtX3MITxAkJha8ZWmTEn7KiowQACMMHy5FSgvVO2QH5x_N2LfObPGV901BDRKMCaUsDMA9RbUwZF2nH9v6vEiukle97Ljy3vGdOwDG9Hm0IZkYozsqAeCy2HEE52qX7wDyaXu5jXNHOPdb8J67etmnnpDBWXe50hbVCGUC8pPYCh6koJ8PLvu6uSrPYeJrDaJhcwzhaoeo9AxvXgCjc0L9LNS2kZE9_S49ASm5ate8p2hQS-4CgkcKU4zUR1KM9ehdkQEhhvPCS3Dj63tz15_CkAwt0GYb5-1pd0mbvxPr88BeoxricNBmP1q9r7HeESNIqNoqBMrZFHZkQqTgUVi53yc2NFbgfH-qIM1sFaE-bN6pAIzXal39I0MrWgEzKwvptMqWo4fNgq2iQFWYqToEFkMICUXRk4NXkzQrZf9q1VIUhU6PpKkBMkFAgzoUQ-qFNWEPjVYPqsDSJQufK_oh3igIrhMC61JPU9ZHuAocSNi0VFpI1M_pubQHbkLxDVyhq3gQ4_koIMjduQZJchKcZYGQKlFtWxeeNN90oFzcn4qXYE8nx4ZVcD-VW512o2NV1lTjnvPadJD0_MWyNURspXpMS9NQvcbawz8PuuEo4ZKCybSvATUxDFIAdt-mvObUvhPTiMZHLmm4iQlT4v7pTGNMJfIpmsxwdZkBWnTepFZa0Anwp1FDFrdz8UwxP6LsBd_NcWRUNqIjXnV8jb-bVGMAFsmxQTwa1m3t570dxQ_Y7Lhy9w5WmKmc9hU8l05KNrpjTJ__OyziJYlNH64grHhjnWLbRdklPZe3nxr_bW2nPwqD19paBb-d0nBSRNYG_EdP8xKmT9CJQiSklkCw_u8VGosFJ_IqvlSKPYp06JNiP4r-MywYNYW4p4AwVJAT-wy-ZYTAs7h26G7eS_CmdyBpDZ0dD8u_ggzBaaIEl4d1NmjHlNiS1b_qIISUZZlgpvnsbblzCEPmAaZ2KDvyplyO1jGCvs67bjzXciXe1M2lgHoI-EOe1Y7tzpa_ztrVkBxzASbj5fTPtx3yRKj6DoxD-An5VnARwqp9-xYXroo-kDsgavZ0piDRKTilGrZ1JSpc9_-HNbuNzF41T-rAvSw5yaJqVVCttWO30pBzLzZsiCa0ATwt1xVDXclCVG16JahzoUloJP2-C7w9J9Z85GpxYW6cSqO1Te1Qy-_RMHlrOeTVCOkRg6KedKMDTto2guO-K2yOFnlMfnYGxg7kLRnevIXidAdgTE5se_zrYPO8b3wp7frWIFeyhj8jumxUVxXvTE-OLnulBmcWn9vdm4fXVPC_vFLFPAsiBES87oRwyLa61X4CMpTSqNqCyqv4Ho_uOFQswSWlq3rp338eEkhODxzNQqQSsfP8-mFa23TIgJjJqLUO9q4MT5RktwJD9pxlClYR-0Wss4S3KvsIbKL5qs_NRVW_HLPhDmxxImKdhQr8KrGcsQFoH2qPkM_2go9EaZfMdVhOEc7XIMLwHebBEOdYdGLMRp8fzD0AaCyiyXeyBWZqzvbWfrsRkWAkdvxWbmzaaXWVPtqq44xFj2A4DtOP_ufiNUH-lQTrlqLEbnA2WDGHxmqtbpRTzLZAT8x4YXBp1LYnt8_95LijjaexhZRqXdPu8XmfXTtkkGEYa_Mw29JJDb93HC9RgZpaqQ_PlTLqz7-ZtntUunGmYZRVgN96AqMKBCi7kBhpO0RkP_SPQnbYcNj1DpUwWBsri_BUd1XXTGRQq1GjJ3jgdAs4pitg-iaL1e5AFRSkWbMbUUOK-3at4g0ElKfZLApt7JXt3XMN_6jRtQrbx4In7QrGLr2XB_05bX6_iKGWb4-Gi4BThBTEzLjg4L_-uHo1HuDO-mZBM8XbD-WK4skal02bVTfsmcittxqkN8LOxmCjzZJETZiPmfkQxnFtwEtxWzlDKCee-33iIHxj3uKunJx6Pt6h1RX3pzr6mNBpKICtYMUodgIelX-UNpcagG4ZbU5M7cY-jOuDItfKs0no_D1Bw=",
  "id": "rs_03cbd193bde188ff016ab454ac263487d08ede679e5143f079",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.342,\"left_y\":-0.215,\"left_z\":0.17,\"left_yaw\":-1.57,\"left_gripper\":0.0},\"note\":\"The pen tip has moved much closer on the left wrist view and remains centered; the grasp points are still about 13 cm apart. I’ll advance another 3 cm while matching the right hand’s x and height more closely, bringing the cap opening to the pen tip without forcing it.\"}",
  "call_id": "call_MVJjU0DO0TxhWNGlQfPYU493",
  "id": "fc_03cbd193bde188ff016ab454ae2a0487d0a0b3b3c04841d407",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MVJjU0DO0TxhWNGlQfPYU493",
  "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]: [-0.2298, 1.9202, 1.7706, -1.3811, 0.6537, 1.1858, 0.0701, 0.5568, 1.9503, 1.697, -0.8581, -0.5949, -0.9512, 0.0437]\nstate[eef_state]: left_x=0.3364 left_y=-0.1854 left_z=0.1729 left_yaw=-1.5774 left_pitch=-0.3601 left_roll=-0.2008 left_gripper=0.0701 right_x=0.3413 right_y=0.3333 right_z=0.1601 right_yaw=1.5936 right_pitch=-0.277 right_roll=-0.075 right_gripper=0.0437\nstate[joint_eff]: [-0.4855, -9.0325, 8.0479, 0.525, 0.4029, 0.0122, 1.0281, -0.2393, -10.4137, 6.7487, 1.0574, -0.3199, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee58d5480be978931c13b2bf9a65f3cd549a0f48b2d8606a7512b3f40a81f1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3932b0946fc4dec22c93221d5734c247c4ab35e84bdbf61db59fa4d69a15db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95cce31853052bb978cf8cef3ae6c4192163e1fe0153a7c3fa70c348c77456c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 13.97 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]: [0.3969, 1.327, 1.0607, -0.9577, 0.6235, 0.8543, 0.0701, 0.5587, 1.9488, 1.7035, -0.8391, -0.5945, -0.9497, 0.0437]\nstate[eef_state]: left_x=0.2976 left_y=0.0168 left_z=0.161 left_yaw=-0.6522 left_pitch=-0.3009 left_roll=-0.1038 left_gripper=0.0701 right_x=0.3449 right_y=0.3365 right_z=0.1649 right_yaw=1.588 right_pitch=-0.2633 right_roll=-0.0982 right_gripper=0.0437\nstate[joint_eff]: [-0.1573, -4.7658, 6.2564, 0.823, 0.2857, -0.0513, 1.0281, 0.5265, -10.8513, 8.253, 0.8571, -0.3541, 0.1832, 1.033]",
      "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]: [-0.2226, 1.9194, 1.7573, -1.3796, 0.6579, 1.2114, 0.0701, 0.5579, 1.9503, 1.7012, -0.8577, -0.5949, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3354 left_y=-0.183 left_z=0.1702 left_yaw=-1.5892 left_pitch=-0.3557 left_roll=-0.1968 left_gripper=0.0701 right_x=0.3417 right_y=0.3342 right_z=0.1616 right_yaw=1.5934 right_pitch=-0.2746 right_roll=-0.0788 right_gripper=0.0437\nstate[joint_eff]: [-0.2256, -9.1282, 8.5812, 0.5104, 0.3785, 0.0122, 1.033, -0.212, -10.5915, 6.5436, 1.0623, -0.315, -0.0122, 1.0281]",
      "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]: [-0.2298, 1.9202, 1.7706, -1.3811, 0.6537, 1.1858, 0.0701, 0.5568, 1.9503, 1.697, -0.8581, -0.5949, -0.9512, 0.0437]\nstate[eef_state]: left_x=0.3364 left_y=-0.1854 left_z=0.1729 left_yaw=-1.5774 left_pitch=-0.3601 left_roll=-0.2008 left_gripper=0.0701 right_x=0.3413 right_y=0.3333 right_z=0.1601 right_yaw=1.5936 right_pitch=-0.277 right_roll=-0.075 right_gripper=0.0437\nstate[joint_eff]: [-0.4855, -9.0325, 8.0479, 0.525, 0.4029, 0.0122, 1.0281, -0.2393, -10.4137, 6.7487, 1.0574, -0.3199, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee58d5480be978931c13b2bf9a65f3cd549a0f48b2d8606a7512b3f40a81f1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3932b0946fc4dec22c93221d5734c247c4ab35e84bdbf61db59fa4d69a15db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95cce31853052bb978cf8cef3ae6c4192163e1fe0153a7c3fa70c348c77456c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFS2ocmDEiZ4w_HfU98lcMxNqPSU6aLmCkUW6gSg7Pt7u4h4ktk7Owr6_LzLAc9Gpg3iHB8Zfe6y3c6vW9ziL2K_9CKqZofB5JAEhmsSIQDimTwWO7wxJ0Lwh-KVijiBEU7Tg4I2w_euSCE2NQAS2c354C03I_1pYRu5ywwYYSyJtGi6ywn0vsjRgAG455aD9D1Ur5x9-RjylQzZQOILfAedKErzgB_04v3bkTr38hyiQz1EY2LEMjlWzvHaIur1SKqfgV2pcyOCmopmQzS-oHoFzCn3S_1ZWUhrkYHbz-PgC5cWUqGFIYZkdc2vRvC4Wb9Iuyh2i2JWCIbl9K07KQEMQBxQkCJUiODhql-iFZjQTOXIJvgixwaIH-EpD-Z8Sp0fEzJV1ecDJ-QBPcwc_mdZ1fVSyHrsC9o2_ItELUvktSuivdd5LSNasUr_bx5nQ6B7CXK5qBT6OGJfP9IFdf9FX7hsTIF5E5q5tJUMC6loo0Gqp6jhfmIBvKd8lMXdhA1FoJkNsCbOxD04R69I9k8x4Amw2l7KGR2V8Q46fqKBEQjzWNLDPrWXG9v9SBuJw6-NbArIBKUq_lDvI5mTDAgbh2dtPFbhHaruAjErI36KiIE9O9Y9UQBkFJaZZ8p7WU46h9RZl3suN2WMM11m07yFwcX0cTaAFQeOCGt5qHEOk_4oQprFzwBlbyasJ_-v5LBQAMRcWyh2hgP6RYEZOqxwFqX2rfUxcPeYpozPI8tWwqE2w098QGoxTOnQm8oYwHNj8ZCC9Oc6GWGrk01R-S0k0pfWAQGnHjL_H3OlcB_RWmj0JjEr9gtbIYxUfQBZLGwj_61fmLnbE1uba3bCVEtluSiyWywBhRyHF8ZEeVqxSC98TmMZXO3wEckX2cv9dOB2BJbpI8OfgxVU4NlJ6P97J_geL6TQh6bSxVXQtItJ-KY3KYg0uY6LtAU9lfaoRNqwI1WXYp7ziDhYCnm1lwNWfiNVvLd58Q78tZN6fE-C1IQK1csZ-Om0wt7ijNkMS2uScieMLGmFqWPowYoGRienAp-TMkwhiT601umKSz9DiU5u6rvJYW9XnQBvd90uPjGqNazfLfzJ6zRlyUMcCYUOxnYmHnn2KMiwx-ERwLG7ex8sXaHpPW2Zko9XPd-44hh5qSbIQIweq3ot1aWA9IO1mW8r2ZAL0L_ow9lXDPgNL9BJXpif1TV_84pVV7hPxKXF6Ubeyqb-QwE2cz3LxYS7x5Yo5BSA6f9WxF4xRT3JLWMhLn0BwJm00TOhswA5Lbz4L5E3Qr9K9rMAtY6c24ciWlrrZqDhGb4Fvz41zPkMBHy0wJOhmrohTFnpg3LHqyXhPpkCxqwpGyvCp6FTW9JNv3l5D4uhlcWl3dtucfXs7Izv3iTGdP_u-G5c_N5aNnGBmw8KA4u3rrDYzVZvU2LyLr1IqWsS2ZSVlgZD7Td79P_RysDSfsZDMQlpOVjgw01Q6Nw-vobgWIcwq3_Vf66q8PvyZ3JBkZFj7cYGZgIdUlJ1DFH-g4ERcTsG2LGvYpqS3eU7Mqe9S7OVsb8RXLJCOcqEnRvO0AvCflZfGteGr1o6-mYamVzAmeJTlgjDcLt2dsSoBGCtWXP2CcW7-arh6ZxoKJWlsrysQhOz6Vmnma05TV2bBVRa4rozJSj29W0-U8J0TDgIHUOOp0shy08JdQdxID7ry1NiR1gytxgH2c7hPeXIDtCMQNQj_zPmPp4aad7Y3_pekYd__31an-xrslNw5T0GkdYnArx4l_Q3ezbWYaKYIcJDATWmjp9FroFWll6M2ILnWKECBcKaGSVdbIqVOZs0EgTpDPBUPdfrpCtHHtUK2itOco33DFUAJBIa3JZlgaVWAcnN3sSTNJK998QvJNClH5IaBAA9Z_nthnRY0jFpO_xrvcpTyRTUd6BhRJDu_6oaLjn-dec4Dh1Nw-c84SSaufvlz9KAaJyQ5_8VWX8fU5KzqN2Z1pHcPuv4aVCvZN2AijZYBeK8fPSV81oUUt92M1RRPC4AfdXKNc8fctkpW4gU-2LZN0cVlZ9tCoZfYcBKMDbLwrK4-D5_vm0dnQqoRVspAtviSNG29Gw_dURs6l249N3AXsriGAS0uaoP-_yZScPnv44CzipApVAJNRmRJRPQKDIXfAitx-0k2trTDPEaKSm41-BLHHdSgN3GovAbc6S67l8f8tIWkhJqqcLE3_KQvklOiDF2PueltgZrnR2XuMvnXcI7XbOuG-61ccOBDosGz7HMY7OUZzdUuSMAyGdhs9LpntAKxnM8nFaRMbjmuP1kS2Kjtkx93-AoUPuMY7ezF2xS4QzUkjL8hKc7n7-6bicr3P3_1rz9Dgwt3n9SiOoa8dmn6ixFF_Ka3vTW6TuNsvzdZZg6kjktPlE_w60w_DsMu-mdiad5Mt-n8LCMI6_Ex8rQkvoZ4VZhCY7RioFxb3tLZNE0xXtvlI-1loav1uPZk8SKIitdRCvGwazhmIGhrUpyHcE-1fnXk_k7YQIH6WvDa3jgkntMHwYI9V3nb3w6ZnyCtqj_8f1QQRvCADC8TTPkHFykhonEJmUnsPGTH0mRhMos1prnomxE5v1N_XJp2f6gM8NYPqlDdyZHFfXzYXcDJb9l4o8a2VrDSzuUGatg_fo0RA3VoxzCODK1GMIscw0mGX78wpSFOBTs052r_ICHb94Uo_ejUUdasQHN5lrspCreaFKf5IGQp_Dbl4GFZcirvNZtsjtwEwx-QGvCKPRDxx1majnH81nLcOLVg-jOporOJMJKFW2zyd7MM2oMXVJ805V0-4oIdYtakOMfiOa_6fvqYNk3mgvStw0OEs5WxWw74s6fOhNZHHe2JuYhaHDOF6IH1qdPb-2Pv_jgj4Kkb7CZDP9anlR_XXEdYQ3FDDPxRsEbhc7wKRukbPrC7dQcmQZLCXfQ_NSfvZSUWMVCIZBeq-8Vs_XZE_BWvmnff0oiyHlP480oiK5o0tmtsVdj9lmAEhIh8ZdS_KHo6tclBiFSpA7S9gLJWfRDq33KI6yvWUx3AnRv6niHeqbd2AFc8l_b7tZyM-FpkX7XCDro61msloNDavU7Wn6wHpqg4hR1ephblbTGs5BeIG6NM-xvZWWgQ5nFZhGfMqwcfIOfKytPZaK8Z4j1P9nZ2PURv7c0YpuD6rxkHCjje7WuXppRNxFl1e-J3p92BZ1avHn_kHmEn-LTmIk0pQVDzz1gUuvtvDl5yIrIdHSTzKbJjoWIRHRXcWzSdWmmDMenkyI2kQyqX0t2MowotGGm2boghNt8wxuC7LhqIDr51kbkurkeqftYyi8J7JBqpHdCyLTmaGfT0iyj9yuKIzS17gL3XC30tpKGS6u0ETDxemVwR1cA1FovTFHazJ9wVckuKjzr0ZAWaXwLIMGwRlm3VILB7TDZivJRrLZ3K7jFeO2ytfJhFBn_DoF_gSqEWYQ2Wh3uhFqbSpwnAW3GIAWJHttcQlf4E0lAIgoeWKWL52nfDsz_KqzFMWRXj5mibmym3qdtGNvVk9i5hb0MRmo27Sgc72jdjTg4C0b72EvT6BJE0EWHir-Q5dZjQ3wSxgrcvR_ea32eBjugtLP3Eks5RxHjWZEM7w==",
  "id": "rs_03cbd193bde188ff016ab454b0a48087d0b26315a95739dd31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.336,\"right_y\":0.365,\"right_z\":0.17,\"right_yaw\":1.57,\"right_gripper\":0.0},\"note\":\"The left arm tracked only 2 mm of the requested advance, indicating this sideways wrist pose is at a kinematic limit rather than that the visible gap is closed. I’ll instead advance the pen from the right by about 3 cm along its axis, keeping the gripper bodies roughly 10 cm apart while bringing the tip to the cap.\"}",
  "call_id": "call_eoAO65eTyv6jJxJY0Pl0KSlt",
  "id": "fc_03cbd193bde188ff016ab454b546f087d0876e3155831c73d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eoAO65eTyv6jJxJY0Pl0KSlt",
  "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]: [-0.215, 1.9202, 1.7714, -1.3811, 0.6506, 1.1862, 0.0701, 0.5915, 1.9694, 1.7287, -0.8696, -0.5491, -0.8921, 0.0437]\nstate[eef_state]: left_x=0.3394 left_y=-0.1799 left_z=0.1728 left_yaw=-1.5621 left_pitch=-0.3629 left_roll=-0.199 left_gripper=0.0701 right_x=0.339 right_y=0.3431 right_z=0.1575 right_yaw=1.5682 right_pitch=-0.3095 right_roll=-0.0583 right_gripper=0.0437\nstate[joint_eff]: [-1.7436, -9.1829, 7.9248, 0.5153, 0.5543, 0.0415, 1.0281, 2.9333, -9.6615, 10.0581, 1.2283, -0.4615, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f11eb3caedb9e6b24fa5a1be76abe6127d9c0369324a81ecbeaa40ac339cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7f71ee205923978028f4f16a4d1391e44209609dbe2c82ee594a0316134f29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96e776be4b3deea1eac4fa0cb5f57a46ccda83ac908bc48edde64435a895345",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.614 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]: [-0.0975, 1.8732, 1.6817, -1.3582, 0.6701, 1.2915, 0.0701, 0.5579, 1.9503, 1.7012, -0.8547, -0.5945, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3428 left_y=-0.1401 left_z=0.168 left_yaw=-1.5134 left_pitch=-0.3379 left_roll=-0.1556 left_gripper=0.0701 right_x=0.3423 right_y=0.3344 right_z=0.1619 right_yaw=1.5924 right_pitch=-0.2734 right_roll=-0.0817 right_gripper=0.0437\nstate[joint_eff]: [-0.4034, -9.0735, 8.1983, 0.2076, 0.6716, 0.3199, 1.033, -0.1299, -10.5641, 6.6393, 1.1697, -0.3053, -0.0317, 1.033]",
      "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]: [-0.2298, 1.9202, 1.7706, -1.3811, 0.6537, 1.1858, 0.0701, 0.5568, 1.9503, 1.697, -0.8581, -0.5949, -0.9512, 0.0437]\nstate[eef_state]: left_x=0.3364 left_y=-0.1854 left_z=0.1729 left_yaw=-1.5774 left_pitch=-0.3601 left_roll=-0.2008 left_gripper=0.0701 right_x=0.3413 right_y=0.3333 right_z=0.1601 right_yaw=1.5936 right_pitch=-0.277 right_roll=-0.075 right_gripper=0.0437\nstate[joint_eff]: [-0.4855, -9.0325, 8.0479, 0.525, 0.4029, 0.0122, 1.0281, -0.2393, -10.4137, 6.7487, 1.0574, -0.3199, -0.022, 1.0281]",
      "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]: [-0.215, 1.9202, 1.7714, -1.3811, 0.6506, 1.1862, 0.0701, 0.5915, 1.9694, 1.7287, -0.8696, -0.5491, -0.8921, 0.0437]\nstate[eef_state]: left_x=0.3394 left_y=-0.1799 left_z=0.1728 left_yaw=-1.5621 left_pitch=-0.3629 left_roll=-0.199 left_gripper=0.0701 right_x=0.339 right_y=0.3431 right_z=0.1575 right_yaw=1.5682 right_pitch=-0.3095 right_roll=-0.0583 right_gripper=0.0437\nstate[joint_eff]: [-1.7436, -9.1829, 7.9248, 0.5153, 0.5543, 0.0415, 1.0281, 2.9333, -9.6615, 10.0581, 1.2283, -0.4615, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f11eb3caedb9e6b24fa5a1be76abe6127d9c0369324a81ecbeaa40ac339cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7f71ee205923978028f4f16a4d1391e44209609dbe2c82ee594a0316134f29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96e776be4b3deea1eac4fa0cb5f57a46ccda83ac908bc48edde64435a895345",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  "role": "user"
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[blob elided: media budget]

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  "summary": [],
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  "summary": [],
  "type": "reasoning"
}

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  "encrypted_content": "gAAAAABqtFTEKsmhXu0anEAdWnhwAjhXHrM-bh7j-oqVH1Wp2iwMbV0KXXwmK0p7hSJji5PJaO9f_hPXBm1hqDkaH3HfFLt0LdVdvXj68EhXKLF9Kq8hNnbzew7D3W5UjEVm-3EFVJd2TdZm-6Lq34sHR-MfOHnDZg1sO0qjdfFqXDu4KoEWU6N9q_mCuw_Ex1Bi9jQnhtB_OHjI-gkNXiPHbD9OHaUwr1aHmX_R1HikLSdVZd3SL6NsbjN2MG114G3jE6iHmEyqgaflCRQ943-55LRdGPCpIxUG-aLK8sa49reE-IOJLCT0PfVlfDKnWeXXxnpP2q76YhgLl3TE9_Pq65leqKdy8LlyqdPyJYWAG_-DKylcRm95-JQtP6ErZXBdrzGei2s6Xhmd_5lvkls8YxUAxtiCNDI7YwJgGHWNHqKraFhWO42BDw_T81rog9EcLuRut2P8niI7zomS10QwSgc5JD6yni_y6oDrlTul3Lnxb1VnaDNsr9f9fFZ-bnsWO74_UpulJy3YIw5FKqBPYBjD1o9Jq2BZ8QcfeC5XywZZ9M1Y9BPVoJv2s5x3oca_c5EeQz9ioJyJP2jLOo9ibuEEFLFiLVLEOr5ZbMCL4Z6Ta23FSXSjr-Uz9oisqYUZR68A4-3kxojS1PCjNOypKUQOaYigT9IXxc5E6nHUNng-uskMSSSqkFo1oLjntKu6yzqhS1J0jhOJRAVhDq6pIAP4uzN51TIXOt5kkrlzmdDyS1SgZPuBb_UaNAKLWKJ-Zu6qMZbhJN3Ge17sf5i8kn1Ti6itJVMCgNEm26sKZoVNqYN4omwxotSD2JStYpZSffo9ULyCd3SDPjWhwf2b_9maCwA1hB7AMeeFN6hhszzYQ0-2MZYzkiqoO-UgEi-IgZMSnomq5npHBYRId-VsexvH1tjoqqIDAtdiWOLth8AoVIq0w9WnfI2zSc0-M-K-QZB2ZrFkIdFgdbr8L9ctFuvtGW8opJgFRTxryb0FEhFKe12EFGXm-Z_hv99KOTNcwSgcgjtQnf9FsATTnaDZxvawluPUyZkCgyhUWwMDwerqGLb-7xk3NG7wMM8AgYISC9zi9es7CsfI8flyvKH6c19xE8RtZYGDZEMdehgbO1Ciw0IVujicqztqDZjKrMPmVE8wSwVhGuuRE2zpXNQs--TCOCb0hAG_l7rT_uRN52Cmhi_s50LDyjjvFTV5sHYaBcf1mSg4VdM84XASmIw91HB4uAD7k-RHMDNNEYgvoeEch1r9BkdEBWr2EYFx7xNL3w8mfcYTySe1H-18wQgCuAJG9tbto47ZWoo19hyP9VR3GGULbazFLKDwJ_UQTeADZkgboqzv",
  "id": "rs_03cbd193bde188ff016ab454c2a09087d081b6e33894838d39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.17,\"left_yaw\":-1.15,\"left_gripper\":0.0},\"note\":\"The pen could advance only 1 cm and joint effort rose sharply, so the two wrist bodies are meeting before the visible object tips. I’ll back the cap hand away and offset it about 4 cm in x with a diagonal yaw; this creates wrist clearance while aiming the short cap toward the same pen tip.\"}",
  "call_id": "call_vD7FLv4Jytr8yXaf5HDMeYQh",
  "id": "fc_03cbd193bde188ff016ab454c314bc87d0b4a21cd9b7c502c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vD7FLv4Jytr8yXaf5HDMeYQh",
  "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]: [-0.226, 1.9202, 1.7718, -1.3808, 0.654, 1.1858, 0.0701, 0.5926, 1.982, 1.7298, -0.8768, -0.5343, -0.8879, 0.048]\nstate[eef_state]: left_x=0.3374 left_y=-0.1842 left_z=0.1733 left_yaw=-1.5731 left_pitch=-0.3594 left_roll=-0.1993 left_gripper=0.0701 right_x=0.3398 right_y=0.3416 right_z=0.1503 right_yaw=1.5632 right_pitch=-0.331 right_roll=-0.0471 right_gripper=0.048\nstate[joint_eff]: [-0.7863, -9.1692, 8.0342, 0.5006, 0.4225, 0.0269, 1.0281, -0.2393, -11.8222, 6.3521, 1.0965, -0.4567, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b7ebccff8108f44f400027f2dd70366e20e4d15aae27e425908168d0a77c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5257f75fb05b11a34e6c05f0e7509dcf37a3b10de4fd19c2efc92dadf4fc77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563edab25985286f5e6110e34762176f90842f042257bfa630da3b9976b92b43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 6.029 s

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

message 113 changed as sent

message 121 changed as sent

message 127 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2226, 1.9194, 1.7573, -1.3796, 0.6579, 1.2114, 0.0701, 0.5579, 1.9503, 1.7012, -0.8577, -0.5949, -0.9508, 0.0437]\nstate[eef_state]: left_x=0.3354 left_y=-0.183 left_z=0.1702 left_yaw=-1.5892 left_pitch=-0.3557 left_roll=-0.1968 left_gripper=0.0701 right_x=0.3417 right_y=0.3342 right_z=0.1616 right_yaw=1.5934 right_pitch=-0.2746 right_roll=-0.0788 right_gripper=0.0437\nstate[joint_eff]: [-0.2256, -9.1282, 8.5812, 0.5104, 0.3785, 0.0122, 1.033, -0.212, -10.5915, 6.5436, 1.0623, -0.315, -0.0122, 1.0281]",
      "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]: [-0.215, 1.9202, 1.7714, -1.3811, 0.6506, 1.1862, 0.0701, 0.5915, 1.9694, 1.7287, -0.8696, -0.5491, -0.8921, 0.0437]\nstate[eef_state]: left_x=0.3394 left_y=-0.1799 left_z=0.1728 left_yaw=-1.5621 left_pitch=-0.3629 left_roll=-0.199 left_gripper=0.0701 right_x=0.339 right_y=0.3431 right_z=0.1575 right_yaw=1.5682 right_pitch=-0.3095 right_roll=-0.0583 right_gripper=0.0437\nstate[joint_eff]: [-1.7436, -9.1829, 7.9248, 0.5153, 0.5543, 0.0415, 1.0281, 2.9333, -9.6615, 10.0581, 1.2283, -0.4615, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.226, 1.9202, 1.7718, -1.3808, 0.654, 1.1858, 0.0701, 0.5926, 1.982, 1.7298, -0.8768, -0.5343, -0.8879, 0.048]\nstate[eef_state]: left_x=0.3374 left_y=-0.1842 left_z=0.1733 left_yaw=-1.5731 left_pitch=-0.3594 left_roll=-0.1993 left_gripper=0.0701 right_x=0.3398 right_y=0.3416 right_z=0.1503 right_yaw=1.5632 right_pitch=-0.331 right_roll=-0.0471 right_gripper=0.048\nstate[joint_eff]: [-0.7863, -9.1692, 8.0342, 0.5006, 0.4225, 0.0269, 1.0281, -0.2393, -11.8222, 6.3521, 1.0965, -0.4567, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b7ebccff8108f44f400027f2dd70366e20e4d15aae27e425908168d0a77c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5257f75fb05b11a34e6c05f0e7509dcf37a3b10de4fd19c2efc92dadf4fc77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563edab25985286f5e6110e34762176f90842f042257bfa630da3b9976b92b43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFTIZx6kZBHzLeMpM0JNZ1Wp_3U7soPQ4NtqYZHFd9CqvWKV3eU_hIrA9ghd4f077WIa1ZN5EO8wupy-TdqH5aOlNb_cJmizkMzGuvtFqPzlmoiVlM4MAZ1f0U8aDbJTfmhAvi5_z0ugbgj4OAiK4uKjv-ZyKoJD41vznm6ferZ5DizowgN_Y6_eB7jv2-0D4kfMuKDfjIfLydHYDOqHdIPSYptfwZxt_WHJecn7AAsIrDR6qbb2Yxwnvnx3CufiXdlOdeAmwkXCGnhwjU4Q2ZoiaqbuXSR6s6Qrzxj95CHmknRPpBi3RDJApGfrwDqYluXJqKSQaeVD6xKp9TwZ35Nw2okvC1n6p89BqAnZVRofHodpB0BS1WY5drE9u1_WpVAv-T982Ew0IccmssENG0viLnYtpHuuym5t9YDQNA3ndkhYECz5SXa2fF-T56NmDJPksfA3oFU0o-C0ggdFi59C3S6nsEQ_uC_yQn1DAV6ci2TFMf6ZlQm-CEXDiAeyf_ZRhGZm-17nlTLThG7pz3qY8sMLroAP_P8x3SDFBlUNnzRTaEh_2h_XNRf9rfyJJAaib3jNctKSVkR3Lp8Q8t576qX2d_zPT0V9uOW5Dy4p2RVyzBEnzrUVuPji1tK_rFd2ZnjI5QZrxvjErSCtOuBCxX1r4TeXfdnqkLg2X-v1Qto_22YbD90GcONxqpQpeno3JeGa4SgkgOZBKYrBYsRNImGBbCr_qakKjhxs1Y19pczbK8Ii19MEkhjjpLCorPzPEwIb-5dIljbrI-Bd4vefbjEIXpnvDDsA1LtKHkLU6Lkg1NMKLfrDBQNgK1FDh95bCfdvvJYYenLPCR8B9nuTjn1QIUpTP_978eMahs9JJ_LN03AAjWaUVGC3w-7f30wyEUoWSAgDZ9pIQ60IXvqQDxOdEpUoS9CZ0HlohFnZGW-3QorJJRE2XTEiDYfY8WawfEqGv5YXmc9WPYOGpS9bTdAN0ePzL1tvQCzjH0Ifr7zXkm_SRuykFwcBiJO_6deEKaQSQBHkD_MRx_8-pY5XliZB8OMFZTJLjQMdFK7b6cL2esC7zGcI66jFhA-8cpWNpBFQ2Ckmna5vDuT6CngXTwtdWYkEiLHYfJdPqkGzym-FSeGPo6WnzsfRNbLvSZfgJ_DM69dXDwiXWOkZ82mB9CxtVYPfy1Y6XmxafET7XGsotWLij6O_k8sPVU83jWZemKL_ZfsMOWDcmfFwPK8hXbvGDDKbD2ht3bOH4uEY6H6f3QlJ53VBQrQyP4_XPGpwuZBIPe-dY7Vkc96u3sTDNAi_BqinlY2tvDXpQKzM-Um3gbzbSrBN2f45zikLSnnQDjPORARg3YKQzEP0sCcGy38mfc6_najMPTPZr-QGLiOZcmN0CBdMbpFG7fTD9VKAtc2iWG7hBvuwBeDLUBmH4WMCcgBJ6apTCFm10qwTg7TdAW-_bOSp6Tn5y9uicko8LoEFAQ5d6limaT5y3eqLsF9PlgInZbBLDQPZi3dO4-oggzHvDuhFrGaIl_lKpb2oT_rwjHoPeCWD9o0i7VVDqoIU9CGaoFACXrj4KyYaquxVgc8_qjmL3FZuATkudo7A",
  "id": "rs_03cbd193bde188ff016ab454c650a087d09bed2a2fc01e3b1b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.25,\"right_z\":0.2,\"right_yaw\":1.57,\"right_gripper\":0.0},\"note\":\"The left retreat did not track because the wrists are still physically loaded against each other. I’ll first withdraw the right arm and pen along its approach axis while raising slightly, relieving contact so the cap arm can be repositioned safely.\"}",
  "call_id": "call_kv1tbyeLW7x8e9Il5gccGzsq",
  "id": "fc_03cbd193bde188ff016ab454c70c4487d0880f9c1d0c47aebe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kv1tbyeLW7x8e9Il5gccGzsq",
  "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]: [-0.2291, 1.9202, 1.7679, -1.3849, 0.6357, 1.1828, 0.0701, 0.3817, 1.9697, 1.8435, -1.1557, -0.5873, -1.111, 0.048]\nstate[eef_state]: left_x=0.3359 left_y=-0.1824 left_z=0.1703 left_yaw=-1.5752 left_pitch=-0.3793 left_roll=-0.2052 left_gripper=0.0701 right_x=0.3658 right_y=0.2562 right_z=0.176 right_yaw=1.5551 right_pitch=-0.3631 right_roll=-0.0249 right_gripper=0.048\nstate[joint_eff]: [-0.1299, -9.5932, 6.0376, 0.3248, 0.4567, -0.022, 1.0281, -0.7179, -12.8205, 8.5538, 0.696, -0.5641, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:193113d5b64c319b2f553532a7b3dec95d50373db45941e3f0975fdb1dc5b7e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cede44373100779fc34952bf0550cf78200a89c7c527fbe559b113a9618cc418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d9103e6ce2e385258c9e01e7dbdd2e4dfcc3a0ff8bad15aff23f3e55f53578",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 5.311 s

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

message 117 changed as sent

message 127 changed as sent

message 131 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2298, 1.9202, 1.7706, -1.3811, 0.6537, 1.1858, 0.0701, 0.5568, 1.9503, 1.697, -0.8581, -0.5949, -0.9512, 0.0437]\nstate[eef_state]: left_x=0.3364 left_y=-0.1854 left_z=0.1729 left_yaw=-1.5774 left_pitch=-0.3601 left_roll=-0.2008 left_gripper=0.0701 right_x=0.3413 right_y=0.3333 right_z=0.1601 right_yaw=1.5936 right_pitch=-0.277 right_roll=-0.075 right_gripper=0.0437\nstate[joint_eff]: [-0.4855, -9.0325, 8.0479, 0.525, 0.4029, 0.0122, 1.0281, -0.2393, -10.4137, 6.7487, 1.0574, -0.3199, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.226, 1.9202, 1.7718, -1.3808, 0.654, 1.1858, 0.0701, 0.5926, 1.982, 1.7298, -0.8768, -0.5343, -0.8879, 0.048]\nstate[eef_state]: left_x=0.3374 left_y=-0.1842 left_z=0.1733 left_yaw=-1.5731 left_pitch=-0.3594 left_roll=-0.1993 left_gripper=0.0701 right_x=0.3398 right_y=0.3416 right_z=0.1503 right_yaw=1.5632 right_pitch=-0.331 right_roll=-0.0471 right_gripper=0.048\nstate[joint_eff]: [-0.7863, -9.1692, 8.0342, 0.5006, 0.4225, 0.0269, 1.0281, -0.2393, -11.8222, 6.3521, 1.0965, -0.4567, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2291, 1.9202, 1.7679, -1.3849, 0.6357, 1.1828, 0.0701, 0.3817, 1.9697, 1.8435, -1.1557, -0.5873, -1.111, 0.048]\nstate[eef_state]: left_x=0.3359 left_y=-0.1824 left_z=0.1703 left_yaw=-1.5752 left_pitch=-0.3793 left_roll=-0.2052 left_gripper=0.0701 right_x=0.3658 right_y=0.2562 right_z=0.176 right_yaw=1.5551 right_pitch=-0.3631 right_roll=-0.0249 right_gripper=0.048\nstate[joint_eff]: [-0.1299, -9.5932, 6.0376, 0.3248, 0.4567, -0.022, 1.0281, -0.7179, -12.8205, 8.5538, 0.696, -0.5641, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:193113d5b64c319b2f553532a7b3dec95d50373db45941e3f0975fdb1dc5b7e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cede44373100779fc34952bf0550cf78200a89c7c527fbe559b113a9618cc418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d9103e6ce2e385258c9e01e7dbdd2e4dfcc3a0ff8bad15aff23f3e55f53578",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtFTPkJs8AEYHoIwYN3epF97qNUGHRI8FXC4adInW998kDcHU24enTZcdBaInrGXHowH-2-MGztEQDp-o7DseDMNDf4Cuo3Zfnd8wY_4SG9DezWlj3JuSr46uU_1NdZZoAtdQQuy1oejQmyU1JsBDASMuNJQ3-VnFGrkl6mBvkHgFbuMAhs3_Udey0UKtINXvFQWJvelRR4fFjAuSA9GAf26eiW63gURSGgSp51poKMI0wroLtASO5Hf3GPlJ1Lt8J7VbbKWdnudaV70HbyqNqFKvf2hdMF6ISvGl93UpSVaQux90FgAijRPMO9inaqb28OKymFmsYouO2-dBHDp8_rffixEn-1JEXXHTM9lRlV4SX5ExrBxXVJFYEdS9iFJduS7rGQPKtkiITXKGeAuLKpmZUdmnP7ZSMSPQticd3ADuV7PzOJPjEdRjxu3tR1pC1OfZM8jUM_BgLiE1v-sA8IHR0Iwlg4wM_nn1TYTeIbkCXzTWivda6leDg0XaNQyNlHt1ArH5QyRlZw7nyiEStqJ4-oid1NuA71B3HsQZPPYu8dtB3uJUTA7orgcvUsRuxxmwHO_O2V0JwOOl1fbu4IUfwUq3X5-VUzwsybkvpMFBNXWi33Z9J9roBFRIw8D6P75BaDTMfJ6b3vHXY9ffKVlwo2dRAfCmF-kbXSBF-7rPqcrxcXxjcOuS-HiqAmsO64GnQHX9-6fxlSCYF12oRPQpKRt751auBjIs8e1Wa7T-5MZuM3WJtp_QUmu1u1OUmMBH945sCm-QRtQqiPFUw1Huo9PS3-NysG7v6bUWYxxwDGhjl3EFieTWHuMM-N53TOU6miO75PCfanAX2A9zp90icT7QryZf3geJdUP1qQ79UYBL9ZiANKPlUMEDnivKAlmPX9TcktcbPzPdqG5VgwtcOUmWm49TboU8b7kchC4jgqxlNXZ1AaGl2gwWINPQFDvffE7l-9fcQAgk2TwGFyrnQE2GPBOJbZeDAC6aLW7CCSob4aT_9PJEREWttPSc5WleWkdmy-8QpRVLFyzsZfF_eddIxI6rSheq3f-hQ1m3igv9edvozQJu9jbq1fQ_oLFjqabLCaEPl-y84NmXYly7sQ_3FK_NuffNwouTWbVjhNWVeOhkOFnsXMhSX_lHZjOahwjILfop3ImpZe16mamA5nm_7VZoCfza9C7_GiJmNEWGiOSxGkr9hheLvqrsdZsFdEeSyMkQLcJ3LmqcpnmKTw_bryp9su4m3b999r1524dkn165M81yMIz6SxT81f9HoKknQCqj8CamDe6dwWG9NFPl9-iwEGDzdON1ilgPCJxPf8iwSdyqH1_FCQLsdlbbNpaOdCXqboFEcEy8jzUcVGmaqfMee5ae4GwvFxGTt0YofXEuyKX17aoH6ZNrDmbkbNJdvJx4t_YVjxrXuTOyVbVHVhVT8_hogEWEd-07f1-0ES5atBdQ3MQOPO5X3nGHXuhdSMTv7XhBed4UwtrHpJE8LhdoGAqn5dx-KiFEPe2pf0-o_ooNDFEz2_FOSRgWn-RWF2snfkER7e7zx5fMxUn6QPMlpDeA_Cd0gvvvsyJw-adk33lEesTRvC53mvdjenH5U7_OkuIiyIJVInHAQ6V62N6GaIV5uZjJarzBUyaTTTsCytEq0OlmYtTUXZBT_dEF35unfLHsF5vKBtwqwswUFIE1LEA7EQmmjsVIn-uA6raj5Fto0YCFaeolbj5ONd_qYZPHiJdtq05G_GOWBn7wLpfRhTMWcfF6A3q_d0gv01GfrpXa2oLzIUStYFjKHmJHlYnvj11r9bZ7j69fJhwmXN5UYWrdFXcnrrf7b2XudwT1up0gAzG1e9uwQa5f16v6QtrNbVxK_f9dLtY7tjSeRP9z-JOrfIFZhKnYlN-GqFYL4PmDvteDWQk78AOgh2Lf5iWukuIq8uIw7ryFVuJelgsrUHPRDGT_UtZXlLR-YjkakiAuxm00qRiOhDxNXTqo7xAnITfW5lOTkT6Mel06c8s3zOa4Q7DTtwopsdllKBwQag41v15HHSG4glqMnMqsV9KYCzbU5QC3tWDxGKLRENrnFiVwSXe1gtZPtld8uUn4-Gvu02YVZ58cPWF5NVpsvzYWvlGBmyBU2f3AJyXLFzvH_q1YccHVkG3Dnhj8_JiQLgeq82QatwqzUzL4FA6X4I0dbuAUENxvYpBYCSRZ8OjZo-FOULY0J0AeeoSj-ZN07lZ-HvimOBPbq-QwPhm2Mnl6YIkTlwfgfSUugZB3Q-GIUOGfLbS2kSm19ag9uyi8qS8UW-x7Qo-jM8ldeckLtOAA7AIINwdfx_JVFZSHbbIlGxqNA4WfU-Ca7FdkUBv5RKDlK6BBbrPLw7a1Jv8Ye6zOe6ieAfdfwDmMf_dqwvE1oJY1tmY2_DZKU4TQz5Wy_L0rW4w5j2wFm11LFSP_AQgTV-WLfF85UQ4UJveiXUAVKHQdYM9WkQgYIytNdQaskCSHn0mAjMBPYrz5tAYCgsitqbk0HI71y6ocEVaBq1DYyuVc31wtwP-ZPnYG9IysvCWEzQ3iAtIRkbJGVqNcg9q_y3_D1-4_DScL9eDAPFs4HMav3Sya4BYUsMVP0CiQATxbQCU9Pe8iGVnMilixFUX3KJhSUMI5gt4Ou59R1_XnyBY_BAp39twnOIf7G2t3GUUFFM0_z4hu1aEXmO_dmy0oonAM7cQ58aLqtGNbeHlaMlNXT33tw2cVmTs0SG5vkQ_m8OP3OkyEJUKPa162JI4jSqGLyzy7mEdMkgqxogl0yHejTTLG5mDgaOtynPj01aJc4dM4TyfpQ1in_sonNDIHiEax63uikHTuyHUpsXT-Hlbw2nfZihSfOHU=",
  "id": "rs_03cbd193bde188ff016ab454ca58e087d0846bf43f963d54c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.23,\"left_z\":0.18,\"left_yaw\":-1.0,\"left_gripper\":0.0},\"note\":\"The arms are separated again and both objects remain held. I’ll now place the cap hand diagonally from the presented pen tip; this keeps the bulky wrists about 18 cm apart while aiming the cap axis directly toward the tip.\"}",
  "call_id": "call_wpkoCcJ3kHBBYOvjIZQZawQT",
  "id": "fc_03cbd193bde188ff016ab454ce677487d08c0fcfdae488cab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wpkoCcJ3kHBBYOvjIZQZawQT",
  "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]: [-0.4648, 1.5494, 1.3258, -0.9703, 0.4667, 0.4801, 0.0686, 0.3775, 1.9675, 1.8416, -1.1664, -0.58, -1.1263, 0.048]\nstate[eef_state]: left_x=0.2791 left_y=-0.2249 left_z=0.1684 left_yaw=-1.2001 left_pitch=-0.4281 left_roll=-0.219 left_gripper=0.0686 right_x=0.3649 right_y=0.2527 right_z=0.175 right_yaw=1.5602 right_pitch=-0.3735 right_roll=-0.0273 right_gripper=0.048\nstate[joint_eff]: [-0.1709, -7.0085, 6.4068, 1.2821, 0.0269, -0.105, 1.033, 0.0068, -9.9897, 6.2701, 0.9158, -0.4371, 0.1001, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9a927ffa1c7ce0fd2cd1e613e699d98f6ef27b502695b7e1b46988504fb7783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046e7cd855477c88b1f5441aa47b9089f5e8108e3ede00c9bf65db9241e65d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49797fa612f59ccc91997f053d365c4166b446888c303cb8aa362b2419dd8b5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 5.289 s

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

message 121 changed as sent

message 131 changed as sent

message 135 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.215, 1.9202, 1.7714, -1.3811, 0.6506, 1.1862, 0.0701, 0.5915, 1.9694, 1.7287, -0.8696, -0.5491, -0.8921, 0.0437]\nstate[eef_state]: left_x=0.3394 left_y=-0.1799 left_z=0.1728 left_yaw=-1.5621 left_pitch=-0.3629 left_roll=-0.199 left_gripper=0.0701 right_x=0.339 right_y=0.3431 right_z=0.1575 right_yaw=1.5682 right_pitch=-0.3095 right_roll=-0.0583 right_gripper=0.0437\nstate[joint_eff]: [-1.7436, -9.1829, 7.9248, 0.5153, 0.5543, 0.0415, 1.0281, 2.9333, -9.6615, 10.0581, 1.2283, -0.4615, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2291, 1.9202, 1.7679, -1.3849, 0.6357, 1.1828, 0.0701, 0.3817, 1.9697, 1.8435, -1.1557, -0.5873, -1.111, 0.048]\nstate[eef_state]: left_x=0.3359 left_y=-0.1824 left_z=0.1703 left_yaw=-1.5752 left_pitch=-0.3793 left_roll=-0.2052 left_gripper=0.0701 right_x=0.3658 right_y=0.2562 right_z=0.176 right_yaw=1.5551 right_pitch=-0.3631 right_roll=-0.0249 right_gripper=0.048\nstate[joint_eff]: [-0.1299, -9.5932, 6.0376, 0.3248, 0.4567, -0.022, 1.0281, -0.7179, -12.8205, 8.5538, 0.696, -0.5641, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4648, 1.5494, 1.3258, -0.9703, 0.4667, 0.4801, 0.0686, 0.3775, 1.9675, 1.8416, -1.1664, -0.58, -1.1263, 0.048]\nstate[eef_state]: left_x=0.2791 left_y=-0.2249 left_z=0.1684 left_yaw=-1.2001 left_pitch=-0.4281 left_roll=-0.219 left_gripper=0.0686 right_x=0.3649 right_y=0.2527 right_z=0.175 right_yaw=1.5602 right_pitch=-0.3735 right_roll=-0.0273 right_gripper=0.048\nstate[joint_eff]: [-0.1709, -7.0085, 6.4068, 1.2821, 0.0269, -0.105, 1.033, 0.0068, -9.9897, 6.2701, 0.9158, -0.4371, 0.1001, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9a927ffa1c7ce0fd2cd1e613e699d98f6ef27b502695b7e1b46988504fb7783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046e7cd855477c88b1f5441aa47b9089f5e8108e3ede00c9bf65db9241e65d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49797fa612f59ccc91997f053d365c4166b446888c303cb8aa362b2419dd8b5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03cbd193bde188ff016ab454d111a887d0af2738b1acce03a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.275,\"left_z\":0.175,\"left_yaw\":-0.85,\"left_gripper\":0.0},\"note\":\"From the right wrist view, the cap is now diagonally above-left of the centered pen tip with ample wrist clearance. I’ll move the cap along that visible line while slightly straightening its yaw, bringing its opening onto the tip at matched height.\"}",
  "call_id": "call_w9B98293n64DrVP1LqvBgtzL",
  "id": "fc_03cbd193bde188ff016ab454d3febc87d0859a202892bb44fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w9B98293n64DrVP1LqvBgtzL",
  "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]: [-0.585, 1.6997, 1.4372, -0.8764, 0.297, 0.1032, 0.0666, 0.3771, 1.9675, 1.8404, -1.1679, -0.5766, -1.1271, 0.048]\nstate[eef_state]: left_x=0.312 left_y=-0.2643 left_z=0.1513 left_yaw=-0.9479 left_pitch=-0.5098 left_roll=-0.2536 left_gripper=0.0666 right_x=0.3648 right_y=0.2519 right_z=0.1742 right_yaw=1.5598 right_pitch=-0.3776 right_roll=-0.0265 right_gripper=0.048\nstate[joint_eff]: [-0.2803, -8.7453, 9.812, 1.2869, 0.1392, -0.0415, 1.033, -0.1846, -10.4, 6.147, 0.7546, -0.3834, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ca9fabca0bf00f040259643f1f922937f1b05b719079b4a38339d49df23506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b535abb601dd590339ea758aaa10282add4601cc3495182bb1f2220e2ccc62b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec145121acf5c3a8aab252e4a822f98c4814608461593c724a842f457570c7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 5.207 s

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

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.226, 1.9202, 1.7718, -1.3808, 0.654, 1.1858, 0.0701, 0.5926, 1.982, 1.7298, -0.8768, -0.5343, -0.8879, 0.048]\nstate[eef_state]: left_x=0.3374 left_y=-0.1842 left_z=0.1733 left_yaw=-1.5731 left_pitch=-0.3594 left_roll=-0.1993 left_gripper=0.0701 right_x=0.3398 right_y=0.3416 right_z=0.1503 right_yaw=1.5632 right_pitch=-0.331 right_roll=-0.0471 right_gripper=0.048\nstate[joint_eff]: [-0.7863, -9.1692, 8.0342, 0.5006, 0.4225, 0.0269, 1.0281, -0.2393, -11.8222, 6.3521, 1.0965, -0.4567, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4648, 1.5494, 1.3258, -0.9703, 0.4667, 0.4801, 0.0686, 0.3775, 1.9675, 1.8416, -1.1664, -0.58, -1.1263, 0.048]\nstate[eef_state]: left_x=0.2791 left_y=-0.2249 left_z=0.1684 left_yaw=-1.2001 left_pitch=-0.4281 left_roll=-0.219 left_gripper=0.0686 right_x=0.3649 right_y=0.2527 right_z=0.175 right_yaw=1.5602 right_pitch=-0.3735 right_roll=-0.0273 right_gripper=0.048\nstate[joint_eff]: [-0.1709, -7.0085, 6.4068, 1.2821, 0.0269, -0.105, 1.033, 0.0068, -9.9897, 6.2701, 0.9158, -0.4371, 0.1001, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.585, 1.6997, 1.4372, -0.8764, 0.297, 0.1032, 0.0666, 0.3771, 1.9675, 1.8404, -1.1679, -0.5766, -1.1271, 0.048]\nstate[eef_state]: left_x=0.312 left_y=-0.2643 left_z=0.1513 left_yaw=-0.9479 left_pitch=-0.5098 left_roll=-0.2536 left_gripper=0.0666 right_x=0.3648 right_y=0.2519 right_z=0.1742 right_yaw=1.5598 right_pitch=-0.3776 right_roll=-0.0265 right_gripper=0.048\nstate[joint_eff]: [-0.2803, -8.7453, 9.812, 1.2869, 0.1392, -0.0415, 1.033, -0.1846, -10.4, 6.147, 0.7546, -0.3834, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ca9fabca0bf00f040259643f1f922937f1b05b719079b4a38339d49df23506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b535abb601dd590339ea758aaa10282add4601cc3495182bb1f2220e2ccc62b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec145121acf5c3a8aab252e4a822f98c4814608461593c724a842f457570c7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFTah2GrxtS2kMSMsalPpL-ATVBzMGAUDR3xRJL0R3i23Pdy1_srnuJpNESCko1GadGiacbFVzCMQPrr2mKeMiHpt3uQWgRjkVm7Jr-liY4-LJu695WR3BBfl8trUvVcpFyn_qwqZe5SQewZ0DqH4XUr9LrM3LiH6XCEIBmwaAX7Y8thVOBCNPBH-vcPhraTvLeTUlChvg8_mIijQOr4UeCh_tGC4BA7U6T5idbdNIoKQqztAcS4FXkKukgMvm8iPki-eqgFmt_belt68u1ThbBj3aI9V-LxsnlHVcBkxlpPFgo7iIRz_HjSUczxsqd1J5v-u3GJnjF5y4GX8zgR0EDoHfoAadzJ6h3U2xrTxICPq2hThe6HQlB38WVNHDmLmtbjbnARbgVBtg7eLXv0mzym82VdTUMpd6beEYGgIU659e8HLT7VTplpQk_QODUzZ_7jLP7qawKxedJzyvzLdcv-wPwpauki83bJBNXLv54oY6aX1FOIyHm-sLDe6ffouGqcm805UJLQds2Z6jCJs2SCqKaYLMoyji3M7jQHcxuV3dO0atTVa73tatrgqjetRx-iqx7d69AomCIEA0W_tFdsfPsw1uxkd4HDf4PwGy07mg12MReztXKdOyVuR_c-5Lv3dBvIddkc3i1fwD7BGbuv0uD15xq4OjfEhKPazA01A6QbzoBFC9jK6sChOQm7vkYooghIyGEvlfBmoIGnJ6OIWUwE6S1HS5w0DwFBGeDGzc5BQr0vtdx4tfF1z6OhJtWHmKWYtoZrq2hD18StdVnyFODcEMkGsD_0QXOqMA3NcHiJ7i1wmawwTjKqaSxdd-yf2q4GVzSAOIt_D7ZFaWjZtjfyTSlNZcoarJIMEZb9pDlIV8ZfqqpoDNRy8z1AGjxnhLKOX_rHXBOwm-dzmCw2zCeDcu-DGvlAS6wo_bbQu6yzAlSsJMc8xZFhMrQ7jGWVETVfbXbnD7knDHIGRc3w8DNnR3c7dceQfdiXIssxusKvQN7qOWL09aS1snvFVYodgMfZkQrMeBr302E1Mbegcf07eYnXYrBQXqMdQUDqaBrr-a2TSOp6wwnaRxrCHCeJ4KcaDByJfZEXf43uJ0jF1cKpagArjqK5Ysd2fcr3bAZ6aesuwhcFjHlxRMyGzyNDPucjpXel95V9ZufIc4xNOINeNTuF15uXGkL4_P1GQ-qHpMh2LtnPf-vtbmVIAfFPaqNZQwfB3hOyOhJbQeVrO-zKA47engrQ9NS73JmMCzGgmGtqJ4Mm0hLhyekgXFDvLLn69852ErEYnpG_ePzfxypWIRZbs2s_iJHw68SA_MWDUHbD3ljZ2ufmGHN_zd9r4xvJc5EfuMIX-Z7e2cc8uSft9B3FxY7OsgIYPb-9j7csO0f0dsbxZiqczRcdSopPse8u14PsnFGZoHh4bTz2HEY_VnA9BeqsiXBZvDfBs3CU-V1UbrROoMGSfnUol3RwEo_WPW__6Bp2NYzIm_IhPXof56WTecPWBWWBgunRTCu3dGDMDuapbJLp6TUoV0fhCyiKDmcq6wTdCly3lXen3Q3kWjs6c81sx3349EcwZvG1mrHYvTs60NHCYfMklGSHRiv8DY0q_zJNFm22vN2WV7keoi0MIWVO4rTrCJvMqarHO5LilSywZg66srMBgItgAjMa5o6LILbfBXCud9TwDvNlK9XC5DDlqf-6uNRHQQLbtcUTnY8eE557Dd58Y9spDxBWaHQcWUY0UAI_W5WLlDKnyK2nSSRbwMvqS9-pLsXze-7_9xkliqLGZwdjcQcITVXF_ViIKFaom1jWhW87xoG8BOjCuZbnjemnGzMjaeN-Qu2G2PenPDyRbkCbXfNcjyN1il2pCwhh3BFPNZUBPZs3i5JQnkcW9kEG3nyu-rXf696n6rpvV35kvzXzHxfr8EfqWozZa_i9uCEH9sfbshoZSNiFG5vb_RtUAaHpNsjXB6ujWRYy5bsrN8x671jx15dnCY-_ltFwuaZu0Kh8jPJk5KNuDOAv5WQxqBvOFg4GEDcpv_QkQORTZIINjYul-58-QIkjE_2um3_zlNCzpkehUdDBX00xYH0T6UBpKBRV1uUAnXf4cyagUBWtl4x-02gj482OzwE4yqcjcpZV7g==",
  "id": "rs_03cbd193bde188ff016ab454d7371487d08648fe39a883bfbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.31,\"left_z\":0.2,\"left_yaw\":-0.95,\"left_gripper\":0.0},\"note\":\"The right wrist view shows the cap’s axis pointing directly at the pen tip, with only a few centimetres of diagonal gap remaining; the cap hand also sagged about 2 cm low. I’ll advance along that line while commanding extra height, pressing the cap onto the tip with the gripper bodies still offset.\"}",
  "call_id": "call_4GKKx5T2f71femDjMmphVIqC",
  "id": "fc_03cbd193bde188ff016ab454d979a087d0a0cb35ab78677ab7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4GKKx5T2f71femDjMmphVIqC",
  "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]: [-0.5964, 1.7077, 1.4551, -0.8635, 0.2577, 0.0227, 0.0666, 0.3775, 1.9675, 1.8408, -1.1671, -0.577, -1.1271, 0.048]\nstate[eef_state]: left_x=0.3193 left_y=-0.2668 left_z=0.1541 left_yaw=-0.8713 left_pitch=-0.5097 left_roll=-0.2508 left_gripper=0.0666 right_x=0.3649 right_y=0.2522 right_z=0.1744 right_yaw=1.5599 right_pitch=-0.3768 right_roll=-0.0275 right_gripper=0.048\nstate[joint_eff]: [0.1026, -8.6906, 9.6479, 1.4969, 0.0073, -0.0659, 1.0281, -0.0889, -10.3726, 6.0923, 0.7204, -0.3053, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c51316db4d42bc3901ef13dc39b15caaaa6e27fb04d569f5302287cc9a29bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8420b044798d5841f9de64077627c43182bf9d4bf7a8bc6569d634fb0b2a362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ef288ef8efdca54b4c28c4fc3e823fd680f754cd2a856561a9554a395286ce9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 10.05 s

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

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2291, 1.9202, 1.7679, -1.3849, 0.6357, 1.1828, 0.0701, 0.3817, 1.9697, 1.8435, -1.1557, -0.5873, -1.111, 0.048]\nstate[eef_state]: left_x=0.3359 left_y=-0.1824 left_z=0.1703 left_yaw=-1.5752 left_pitch=-0.3793 left_roll=-0.2052 left_gripper=0.0701 right_x=0.3658 right_y=0.2562 right_z=0.176 right_yaw=1.5551 right_pitch=-0.3631 right_roll=-0.0249 right_gripper=0.048\nstate[joint_eff]: [-0.1299, -9.5932, 6.0376, 0.3248, 0.4567, -0.022, 1.0281, -0.7179, -12.8205, 8.5538, 0.696, -0.5641, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.585, 1.6997, 1.4372, -0.8764, 0.297, 0.1032, 0.0666, 0.3771, 1.9675, 1.8404, -1.1679, -0.5766, -1.1271, 0.048]\nstate[eef_state]: left_x=0.312 left_y=-0.2643 left_z=0.1513 left_yaw=-0.9479 left_pitch=-0.5098 left_roll=-0.2536 left_gripper=0.0666 right_x=0.3648 right_y=0.2519 right_z=0.1742 right_yaw=1.5598 right_pitch=-0.3776 right_roll=-0.0265 right_gripper=0.048\nstate[joint_eff]: [-0.2803, -8.7453, 9.812, 1.2869, 0.1392, -0.0415, 1.033, -0.1846, -10.4, 6.147, 0.7546, -0.3834, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5964, 1.7077, 1.4551, -0.8635, 0.2577, 0.0227, 0.0666, 0.3775, 1.9675, 1.8408, -1.1671, -0.577, -1.1271, 0.048]\nstate[eef_state]: left_x=0.3193 left_y=-0.2668 left_z=0.1541 left_yaw=-0.8713 left_pitch=-0.5097 left_roll=-0.2508 left_gripper=0.0666 right_x=0.3649 right_y=0.2522 right_z=0.1744 right_yaw=1.5599 right_pitch=-0.3768 right_roll=-0.0275 right_gripper=0.048\nstate[joint_eff]: [0.1026, -8.6906, 9.6479, 1.4969, 0.0073, -0.0659, 1.0281, -0.0889, -10.3726, 6.0923, 0.7204, -0.3053, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c51316db4d42bc3901ef13dc39b15caaaa6e27fb04d569f5302287cc9a29bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8420b044798d5841f9de64077627c43182bf9d4bf7a8bc6569d634fb0b2a362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ef288ef8efdca54b4c28c4fc3e823fd680f754cd2a856561a9554a395286ce9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFTgskmmpL4z0C7pcz6D3_AeqU0OpHXGN4nR4MEraZxXnpLyz6TbzYpFUOD5hX7dZnefSrHNmvErZYtjlmSKwbeZ8ULUaijtbtdRc2rTn8C9OxQZM8rNLX6M7o1sLHShMYUsj_rYnwAScrxwUDLLhzWJ6SSnRbpHEuZoFG2paka4UrA9BCiwVgnVCJFtonBoc7bHiyi4VZYVWCSOXUyQQlOaGhiOU_QdP5RU_UdiK2rQrzPEh_MbPheREse2r99bzVkXpariJRSSo_XU2yNZTs-JRhn6j6PSyDzrUbDoHPZDsayxlzOnuasYd3pibx_hWL3nbgobPJRtBLRQPhALLoXoKBVDWEdKQSecXuRKEnyho66AD79gQsz7dyPwUK7Dn1xVCZKEsDDGHW4KK3O_TXSSCzcMaNlRpD371xS8EuOZe99sYUN84CdLrvlsoN_g4gYwCiiU1l7KB98LkyrhJMGgkjAACE9xiNk1tSpSIpciGrHUq60gEt68V-krDXm6tb2Bjs4AYkmBkv5X2MUmlZl7HliOWCcVzVDIg-n5RVBMXi6D97BLCd8f5nQaPi05YSChpqR6BLyVRp1Rj89NK1LCL6VBLpUDGTfTdIDTNeXj1XdeDSlxtZJKDvcPQbPEofepvGOGPvwFU9_R4CgodQxJHDDL0yEm8HcNl-B4LDuSA5TeetKN_nnrLHEm80sDBnhlis1zyBAliW0N4vqcydn8kbv785sMlxd-KCVm9ob2KmzbHX3o4osg9ig1dL3_moEImLQJ_mw5C8iNc7bPgG37suJbCGWbhc-otUdFnuMng453ypULVYRRC4cGgIgLCBlgJ4iZTTQrae3nP20lPtJraQVTPObfABqvzEHdvZ90EWh8aFBTq3QThHioUknjP70K5-peizrc08BhqPoJEoRUip8WeAV5SKHxxd8oBqAVrz2Q0DEGUSMLaFBYpXrQ4Ps5iVB23NWsAY3cwkngbyVOFQscjP9e8_LUm6mNY7CFXKVJts0xRmYYB2xP8Kkbi6Grmyqs9VomnF3-9KxIQVGbSROyl5RyKvW603qCZDMInqx7ADSt3kky3Bp9jelr4oHziojyHjjaQBqfUVqFvYuGMQkXPgNvxSJPFfrLD1d5UWf8quQobxZqvJyzWMwGJXYQ6GN40dRvrBmsPdd-a4YvYqrxVlx9eKLwzN1I0Q0cVggPwShY0Su-PKB8hSHINhrCwVhhFPm8qFCegzcyu_2lg5x6NgQIQKpf2EUZnBPJEg1wiDajmVYKztmOBpeUx5jfaHM8zFovgchlciWFSgLECPK5B5O0BPuMJyrKGGrqVnff5xtX5DEDAqxr_RIUmNDYV1byl2dCqWiXvFdyfx5PBG4aVaaawkWjpzVo3o_eSaOETaq_Y4UENqak3H_5R2MNloUcUO27IkQ_IBmnFqRX4O0Pir4DksBWbdRVrQ-Sb1ba5Xzi6ApVlQ8_40QjrR6NU6-R5tWOez4063NADnZ7OZryrxsDFt78RCTaL8js-V0W04Dn5duXbyPfTJyYvJMPX74T95SqoIlgetp3KVdvAEkq86dUym6oFVr_5AAUoNS6v0iuo3amDl5BkqXWtvi5gV51KouLf2VzGj9x5ejDIxwfREDz2JesXXVS_omgbjYOSox2PYXoILqRxmFTHpgsXpshovc9xaAHS-595UpjG3atDecJAPZ3umibZrLq1iIRHwAWwY8BIjVuz5Czjj3RhBaf2viLVyfpx2yixTVxbe9ON7gPeU7XZMIkQgsr_Zd7iDSehWRk_oyy2ZoZk7LWA_6iYOo_t-TlRgW-3uoLsYNoaWkLulTR5_JIAW3mH9fJQkUd-uAWfuAW_mumX8wavanpy9aREMY0M1xnc3eeW4-dWj-8BLDH0YgDa-PDTVru9XZMdc297_IfL729TMcEOA3WAqVoI_3FQFrMQhF6KwxG9xvP5tQavnxbsZiOLx7SHqSJfccPwLzIRDTLK6NymbmS-9t6VaMSqRXoEqxcSelvxdoiRQkdAQ0B5sRqkGfU9X9fH_0FFptRJpGVqjiFht1is10hEQPsE6L0hy6pQ1QgW9t5D_Qo5ebZ7wMyx3870Me4CL_L7999cRUjqAMvcugY4HpZhL9QMKzgpn9qwDfCqpiRsavp14DU5IMyVGWPpBpr2otVQlhX3uDqJP0omiFgQ1nWB7C1vPu2T9y2UKIHfmaNjJsCC5c6uN3Ytzs=",
  "id": "rs_03cbd193bde188ff016ab454dc812887d0a2130fdf9a0cb5a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.29,\"right_z\":0.17,\"right_yaw\":1.57,\"right_gripper\":0.0},\"note\":\"The cap arm again stopped short in this extended pose, but the diagonal alignment remains good and the wrists are not touching. I’ll complete the insertion from the right instead, moving the pen tip toward the cap while lowering it to the cap’s actual height.\"}",
  "call_id": "call_hPxu12woZaJa6ENT3l5cuo27",
  "id": "fc_03cbd193bde188ff016ab454ded1b487d093f978855fd5399c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hPxu12woZaJa6ENT3l5cuo27",
  "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]: [-0.5934, 1.7077, 1.4551, -0.9195, 0.2386, 0.0227, 0.0666, 0.4381, 1.9541, 1.7813, -1.0565, -0.5537, -1.0225, 0.048]\nstate[eef_state]: left_x=0.312 left_y=-0.2564 left_z=0.1478 left_yaw=-0.8593 left_pitch=-0.5684 left_roll=-0.2488 left_gripper=0.0666 right_x=0.3612 right_y=0.2758 right_z=0.1664 right_yaw=1.5272 right_pitch=-0.369 right_roll=-0.0336 right_gripper=0.048\nstate[joint_eff]: [-0.1162, -8.5402, 9.6889, 2.0879, 0.2027, -0.0464, 1.0232, 4.0137, -12.4923, 5.1077, 0.5153, -0.4078, -0.3199, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf91dcd74315324ad00c582eb99d86735053fd7991440385f05cb2a71d8fcfc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952db474c5499d1107397d188723865a569c95e977bc809cc2f2b8e94d1e8902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6669b04772d35dc09ebb28b38957f0f829e92b66b925f21e5f4bf3b0f5c647e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 9.956 s

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

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4648, 1.5494, 1.3258, -0.9703, 0.4667, 0.4801, 0.0686, 0.3775, 1.9675, 1.8416, -1.1664, -0.58, -1.1263, 0.048]\nstate[eef_state]: left_x=0.2791 left_y=-0.2249 left_z=0.1684 left_yaw=-1.2001 left_pitch=-0.4281 left_roll=-0.219 left_gripper=0.0686 right_x=0.3649 right_y=0.2527 right_z=0.175 right_yaw=1.5602 right_pitch=-0.3735 right_roll=-0.0273 right_gripper=0.048\nstate[joint_eff]: [-0.1709, -7.0085, 6.4068, 1.2821, 0.0269, -0.105, 1.033, 0.0068, -9.9897, 6.2701, 0.9158, -0.4371, 0.1001, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5964, 1.7077, 1.4551, -0.8635, 0.2577, 0.0227, 0.0666, 0.3775, 1.9675, 1.8408, -1.1671, -0.577, -1.1271, 0.048]\nstate[eef_state]: left_x=0.3193 left_y=-0.2668 left_z=0.1541 left_yaw=-0.8713 left_pitch=-0.5097 left_roll=-0.2508 left_gripper=0.0666 right_x=0.3649 right_y=0.2522 right_z=0.1744 right_yaw=1.5599 right_pitch=-0.3768 right_roll=-0.0275 right_gripper=0.048\nstate[joint_eff]: [0.1026, -8.6906, 9.6479, 1.4969, 0.0073, -0.0659, 1.0281, -0.0889, -10.3726, 6.0923, 0.7204, -0.3053, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5934, 1.7077, 1.4551, -0.9195, 0.2386, 0.0227, 0.0666, 0.4381, 1.9541, 1.7813, -1.0565, -0.5537, -1.0225, 0.048]\nstate[eef_state]: left_x=0.312 left_y=-0.2564 left_z=0.1478 left_yaw=-0.8593 left_pitch=-0.5684 left_roll=-0.2488 left_gripper=0.0666 right_x=0.3612 right_y=0.2758 right_z=0.1664 right_yaw=1.5272 right_pitch=-0.369 right_roll=-0.0336 right_gripper=0.048\nstate[joint_eff]: [-0.1162, -8.5402, 9.6889, 2.0879, 0.2027, -0.0464, 1.0232, 4.0137, -12.4923, 5.1077, 0.5153, -0.4078, -0.3199, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf91dcd74315324ad00c582eb99d86735053fd7991440385f05cb2a71d8fcfc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952db474c5499d1107397d188723865a569c95e977bc809cc2f2b8e94d1e8902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6669b04772d35dc09ebb28b38957f0f829e92b66b925f21e5f4bf3b0f5c647e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFTq75vlf5EmfHqQiBRmiFT3T_fLkwHJxIo6xOc7-ISE89A3b93ry5IM64C01N-hvU9vZ_xMbwtKEzcZbE5qnaUZIsAfL7TR9Xk2pRBaloV-BkWUwHpmVAI7daw3s4E_paQUhg7bQTEpur9QDGt25UwJF_b9L3ozqYAzyzrHrPF_x0pA3A0WXNL_dTyYbhsPTVX8cc22mhqkdlHBdLi5_s8DgRExHwVbQBkHf_Wz6HCMpArytKCQE1422vhQStsONIsqw2dRgz3FH62vPARqNYqquK-XfPo1PA6xSHkESOJnZs88Jmy12S-lbi3cCpVMb44GyKrShCU7rOjRE4-Un4NzrK8isJcjXcFck7SM9WS-ehsuQ5ehlLHy5VP3nlFf8-L7vX24hf9Vl7ejPKcwqbAch6fRjeLotxw0uJev78VEbmnt2Q9oaopEE-aVtCA4gubSYV5sQv-Wt8H9fxq0FmcoyFBxWXHW_2_7OVrtBqvxUdXkiShJ6jSJ-CYzc2iMzczkt6-DUptrmJDL3dcHp8_vcm-MI3HGEZ91qZySHsE0hAmVQdQx9ambCmqLLQCvYm2CVYzgoXgGzCJlyk5MdSUbF11wn4bywTOkL29-hb_ASSbKqLvmWJaudTxDsj1mnXNukPR3lJzfSHOFO_eKjBzVgInYKi4WBtBvA8f45xX-1xEcyhEw7C-iSe5FOBFqKgtA0CnG82apDWMBxdhx3oz2zAJMZMkumd1bdOw5CxAVS6C8pLUhTSht-H6y0oWTy1eKpRXGAf28PpQEWHPevHYJDtKczNXk2FDINR5bApN1AlZSrZUzbXdPzFb-gHnPJ_W-anC9ORPXXjQ857UQm16HPka90-fHaaPaoqVOMRiPh1WWSzzh2G5wtGMNdTeiNcK_6d9-b-EroI20-eI5jRG7gRWF6-RnF7IyLPDv3USIAZ87vQ-sKd9HPd1f4PRdfY_Gva_4Fnm3hQZWU11qvKdopEfRekohqfA9KJRMS_sYmveYozXpgGVgP4_DL4-aFmZYItQmd2Nza3XliiX7SEjWcUWuUs1BGM3a29Xq5UthVBhOytfYkmg_AtZSJODY14mYEqfCO66zSLNTS_jz33podLz_2Yg5YY7qVdG_FaKGTPEbuE-JMyMfoE4UXJtjoHiCqpMMTH7zzBhT4E1MKgH-cc49fHAmQdJhpvpDgezBpAHy_SLiBrTm9ulAF5rc3A8_HpMXFrMqIC_z5y-tUvtvV7h_cvfmFxhRVnYUVdLWWe5uRKv94moR23-l2SHWb8FIeGi4b9DcdBJJoAW8Af_0JIpzt0JpdCgFhbnACzwdbow8VaPg5jyjhnNXz_vbptHjCeP0q30brU5u0bGCQdJE-UybvgZPkirkGva3vx29otXtn7FSDOZlckJfxTRtLqSWc1fae5o6Uls42WsANyGOPvSyWJgaURvBnFNB5jXFcnX5Xko_x9-mV_Jl7MOvVoBTsEGciePHvdCJt7prqKbSqrgcZR3I1sm5iZjCT0Pf3l9yDvM6eGAV7qW6CmTPhRzDsHdDAi8uye223htu2mD7koy6bx2rdwxsrP9KD8H7A2gFNB9WxlAV-yTlTBzsIGF7f0UsAvWhOQ5WKdX01tBSshXSD3MnQGi4l4kZn5YvgtSGNRfTe-fNclJGgRFQAmlHpkvEO9czGemKnjmZsZCC5gWF4S3U0SB7wuSefEd1NxccC2K-qsUGC2vI8c5a1P_AT-PD5XZGMSfbe7LOSxPHy7KYh1NtJmvNds6RKO59hRfMK_wkaDHuf1B17ayGow3A6FlHTohGU2JHGK8OwVpeoshkiPFtK-WQFCMHGvVboH_99k9h33vletQQ3vV70TKObOJk1019YLl_YyxThcPhPvYnO_mQj8z7ye4OOKtc3KPSaSXXHw_nBLp3ihEwE0faSGZXg9uXcitm8HtvxC61pv-NHbaoTwshPVjzLF3EFX3CL1xzAMVEe-eKZjsPZ-pNIl65Fhzlx4Pz7gfeGWoc835dwbXSVQjiVZwW0H1nZLRMOwxRI6OJYYna9fHRDXVwFPRJ4u9d3UguobcBFl7RqzOAWIRXLkUgG0OYqy4tY_COhcIEHr_QtqMxOYzcuHHeJ2sQ4HtcOaFH-lXb_6Y6qPj96itpt5QTqhStiSQOOdNQnW63VHx5i1VslmwkAae0AsYykDkwECfBqE9HaOWHHvPC30RRSFwGdMi8YJZ_Qe3gc9u-sEYoEXdJ81qNlTuoqV4zojdzqOWEp7U-Ss12lbQkwsD79N9B9zP3TOeLtNFpekHEg1cDGezh3J42MY7MZajphUDUbHAd3HG3yin_E1s1I0WVI6mzFu2_zBBsnJ4-0khBbz5AicebLXNdjKGrQuaN190HG3pvosDjIbMTKgt0X3cAR1dp8CfAS_tdGaQjEWUQvGIJXvfFf-H9r3dYwOAziHX7gbth97Tyl3qvMBRq5Hc2-ndFEAibapj53ueNUQFq5gDlJDxMFr8o5A1YUu3-Si-yedaWSpJHWMZybFlLcRZLlMGoO2fWM_t7qEQU4DZOr_ghclPV-pvmQjxxmyozkVC5YbERPH7pMuGiH1438H4yFNabOHmC4h-X33SoyxlQIAYwn4m1a58nhJfy5vi-T0DMyOVxIrKOCZBcpnUx6yv8Brx56xe9cjC1WxdMHOPsiZFW1b4qGdJxgVQ8w_7FJZxt7DlSXC8Kuji_FoY1nTZOTT4_hrwcKDoFkYq2Ma4ZBZ_TURiKnVjzQPwtqd47oPvubp5CbtbiykLgzgVjONdpbSUU_-ee-Qg8RuJ5m4LyRq0IXyFpEs9l6QAlOwbUe40vKOkNomf578uw9A5_6llePJ9E3vjjJKR8J-uR0qPQXVRNrxrmGPdCR54ojjjjqhgnGeBCVpqLQAo6pOZOHnDtczS7MIYmdyTAP-UIJDIUpWwuhXBRKalIakOVxmiuk_RRlKerGlqXOeX2NCZFKWu0g9M-JfLhqPFcQGk2Mi1hDvK9ImWfQlyvIpihd5vXyiC7g5CmzIDTfRaEu92Y76I41TcldejTc_4QK66uuOImQNgkDjkGfHrIsOZ2On-YG659ARt1k125fWPJcFoY7XC6HyHOTn0fHGtUqvbkVGEpDs6Um-oDcLIqCJvmW1_OcKJp7LhvVSITrndIsF3Cj_aPK0_M4D84d371_p1HH4PEYjMzpoYHMcZrBLvtUxLvRv4NV1_Arf_594a0Hg0GsX1U83drGHIwe4-qLfZIzngu9DOhbKzaq3OtBbMweLOoczTHMXcR3Dlg4vGMWOxxbJD7ETJdrdmah6ZZ9q7W0gFMyctDy6dGB1sNPqYB-1SYdG4pYI2lqrzVAnHIho_nx0Baw4K8CFR_aQV68KmBWCBgrQ8KBDzgVE3t2xMK-LHGWyg0Up-_4FXjxzux3-D2CMUtnsN6GTdEoZwfTfz2XIpHZ90vl_QeFdnydYza0Qu1e_95XxwBenT8-n2aZWKUrkXHQtRxuA2FuGbJfIh8T7zgAxE963FyK5SjVitJFWekO0aSmAFrJvW1Tg3UX3wTiaHLZNdLfe10FRq0Gcf22UFJjm-ffwPBvueTCqy125RuCPoLIBptujP4SDDkHEwsqzSy5M20U5EDa9wZNiGvSSs6L-f-XcY7VBt8bm1xBRbJVBsEKL4Yb2-skScHTQuLG5_vTo0jPj_hKIwc1TZ5Zoo6NyJ42r5WhPdrDjm_4u6TVmeCmDeEBBaVLNHyiytqS3JS0epQKs6wRqRrIORivBu-iv1tzVXboAtFaZrpBb0dkjywCKgfNIp3CBjBUcYqbYomVpkjMHxgVSS0pvffQxt7fb_HxdhIdVC81FWs-boHGLMo2MIr9EU0MWz5KCWDd5eWcceJes4GSzXcUO1zBgBu1_I3DfU3B_dXr6stDIqiwrdk4h-tY89ym6RdPqarCpbg9mgGT_jPuKSWrUdty2SFsjNIGD_99yfDJaYl-_RqKcZ46NqRwTGzwBYfcn7nDIZvRlREY6_CNH_HmlV-2sj5R6nU2SwH820T66jl8A5t5pJ8T45dxCLXXUhEf208X7ZIOPR32gdvhFitWjErGr7KHs8Zsu5G5VVAB0wu5cPYl7c5fhDW9vsTlGUHs6S2ixRosL5oLUvMKSippLfHcVdbjTco_T_Uw1oe0MRYttZ55WhNVSwrGI6PhvHJMTw621KH50abJ7uMXlU5YUmZVsp7_g2hf6o4XGAfmE63vk9Pifp5xmWqwCsV32Yimz1M4U4fwsJjxVSKKecxHKhiPyt4fOyEh8qTzesDsOWrDAolbUcOjM7uSZNueI-j0gAuJpOyPKn6KFbw9LbkCrJWWHAHQstL98ZKnMGaQy4xmyqADyusIE4b56xBRWmQ4sGLnQukurMyyoNXGl_L3_Y=",
  "id": "rs_03cbd193bde188ff016ab454e20d1c87d0b640b127e3b97c4f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFTq_zPthoCULegdRQ8jWhXTnzHOhzSAE2Tq4SZVfWiVxE3vyVu4-L_S1ilQof0S0ZTr3chcQ9-tS3ul363HqRVIzCZLbAbvj42BkmQP7yEUM6nPWObOaQClqugyO5i88pz2D80OeCtZlfuzqvV9-7YgUMqk_hrRzvQqlDK07ccvsRY8zaQsSYjgLMVCm2vYaLeQYA2GVN9xxHz0px1WW87KYCPBRf63ggOEOG_4KkIyNrfnicXBZ7kzmZkskSaoSX2AskXLdXPV3U_aYIx4UrrhriS8-ClV-FWgfSQCpbfw7flfe_JrPz0XdyLQuRiqCW04CfJ3QhCpnz6t_RPY_YQOseu-Ws0tbNnvagOhgFMj7jNIxhX9j7BjkBzAv1XtP91bfTwXoGMuGGvbOLCPCoBLow3e-Z0LAFUV9A-EloED3e3UD9FB823frKmtjkDG7wKpheE86FGx0f3uuNeI2ddvJYeiRcEmhGotFmbSPmSNvHASwRuWrTXp8y6m1PS_CNIJ1wv6MUoQZrN7mmLvIwTZWCo8AtnOfa1YrioJsG5RqipTPkqmtucr6NBb024Dq_3R5omWZYboOH9R4E3qXldNelrjcMGB-BclzSZxQJeP6vzEEzzY4hypCYEHdn4mJFhq8Apt0p_nhkaQn-PHPoQODdYptlTJpBnuTMenFYB0giL8414IkjOmFUBloatLhBngFh7ZarGh8bRqnTF20eAKx1BVlNJYaI9zRyo3DpFKHe1pmdlGE170y0IpOSBIytfvnjG8Ta0qaCuseAyqNVK6yvsf_TpmiZIiRhObFoapsfYqU0W949AqsjC_D6pwMMAzmp9bCJupTOS9dg4S-sAmmk1rzp0_5jr9165Z7l0mrsOXV12AUNHYcZYmCkEafmhhodJiCoJjQRiqu84udZI9Ov8AAJK9xCVF3DWGRtxE2nnTiyvuQIam9D2H0IShkGIok6fmMOaCidk8SgP0uHJ2XFJTZfHmsphckx9FNxIIdm7Qf-Tb8kJUxWtSSpuI8cpgzrolP0uFIze_FzHwJXDparXrKrxO9gYOIuDXdaY1bZ5iLwukzzAMHMMVUGMX-oTd-8zs1NAksOsskX_TyT-DLzM3rvzX5KDE7uNgKf05ggwTk5JQ8D24QvKNNEXIKG8uTUhPFAAYwNney-rwMhldL9aJbUucI5byg4fU0rXa4STTi2Cxkh9VWUpCAoqbCXyP1JAl2W8MWk9vrLp0ucCZCaS6Ttbshc9fVLLHejsfJZMZsQgdhAFkTITcg3WZPXnUiSwBxrswcgqUZ_m_zE4R5VRXhA2tVVqtKcTu32DaukrHMPyaySkEQhFc91YeO4-0qRaQT5JUpR8MrgUKFvVA78nrFZtqIqlC7zlXzDn3hZ9ocBzpE4hBFNC7Rl3Phs-k1GGv0AY3K9GE4hE4crxUkdTrunp9psxLTUZTJAAiVcE3Z1AUS4J1rUPnd3qk12NeKPTXF2BHv99gbm2GUj0ALkAzA7Lwu_YGKZK0nwMJDAiXl_tbQYc6eEvsYgzr1iGMy_kIO-duNi-HiY8ENdcZQza8Ql_NqqfrXWdCVwpbXtvOEMnH-EnoBjG6atibhh6GMb7kHXK8Az21Bc4hCUUT1bnWZtpfgqR6k4Yx18bVKFarCMbNyUVMYLCcQq3-8UTLA7u5FMYQThh579YcImUC1Z_1ANMOr6GedwsKjBFbb8qIGdGyKtn2ggXmH8NT6GBHCqHodLkbRnmXVEaWOFGWdorN9629p4fjMF9Q04zg6eScGOWh5kO8uINkcBQsF0B57oW7SCVqQSb6KXcEBbzYLflRU_0K9f_Dqdfj6hp9DrMTYN0nAJKlXo1EE-DEEtXqcSk5FGE2C4sCJkEULZt9SKV6ieGU3rtkY1XxYt6hgnzrt3sbGl-_qy1wo8RzH10160pFZon5giLYlZNvh33FTyOJ-psw67p4ioRmJ54osMZmRydlOQ6jAruEi3Zn5diNmh_vrxlARg33vbKTvhxwDDpSlGMq9MHu-oVoZx_zUmUKXFu8qGhrQZIc9CKHs20rzutCtZBY-Bd9p5EN4caNdwx4x_gPFWtSacMiV5DJmNmIdiJdG8YKaoUk7ETCvgqdAQtsUwJmPtZuQ7Gl6XY2lagD919j03oxi5KzxTB3yguVzij6-w8c0v9DnY2oFyWkJ2VUL93vCuxFgtEAN_6jLhwaam-01ExXQHtnkbsJAwDVMq8HZDN7wy88cQ6VcjWWPkIEvc0CNzcUmazOCQoDiMFEkSeTQm2zCniqiteLj4E=",
  "id": "rs_03cbd193bde188ff016ab454e7239487d08b125cffd1491371",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.2,\"right_z\":0.18,\"right_yaw\":1.57,\"right_gripper\":0.0,\"left_x\":0.31,\"left_y\":-0.25,\"left_z\":0.18,\"left_yaw\":2.25,\"left_gripper\":0.0},\"note\":\"The wrist views reveal that the dark closed end of the cap, not its opening, is facing the gold pen tip, and the rising right-arm effort confirms another wrist contact. I’ll separate the pen while rotating the cap 180° about its grasp so the open end faces the pen for a correct insertion attempt.\"}",
  "call_id": "call_SfAf3mpw1G3LhZ6yGo7hBMd7",
  "id": "fc_03cbd193bde188ff016ab454e98bf487d0bfaadf891a3734ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SfAf3mpw1G3LhZ6yGo7hBMd7",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2207, 1.5574, 1.4551, -1.4696, -0.4137, -2.0861, 0.0666, 0.2562, 1.9438, 1.7592, -1.2263, -0.588, -1.2716, 0.0479]\nstate[eef_state]: left_x=0.2431 left_y=0.131 left_z=0.179 left_yaw=2.1127 left_pitch=-0.6169 left_roll=-0.2432 left_gripper=0.0666 right_x=0.3636 right_y=0.2002 right_z=0.1577 right_yaw=1.5715 right_pitch=-0.4032 right_roll=0.0056 right_gripper=0.0479\nstate[joint_eff]: [-3.0838, -6.0923, 6.6256, 0.779, 0.5153, -0.0904, 1.0281, -0.5675, -12.9162, 8.1983, 0.3394, -0.5836, -0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f5a04ef529d18238df42e7f26b2f67cc607955e394768861424d31ae038c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e1a525acee082223af6d165be5868311039ed0ba0caa7a68b41e98537eb9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11d274ac5aac67861bbf119fcaf30b5f9298bf4d1ee151c1af6182c330435161",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]