adhoc

completed
2026-09-23T21:13:24.165717+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
233.7 s
total steps
345
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short black pen cap is left of center, while the longer pen lies right of it; the left wrist camera also shows the cap ahead and to the arm’s right. I’m moving the left gripper above the cap with a high, open approach.
move_to
left_x0.4000left_y-0.2000left_z0.1500left_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, 0.7925, 0.6018, -0.3805, -0.0219, -0.0246, 0.9993, -0.0177, 0.791, 0.6086, -0.379, -0.0227, -0.0158, 0.9994] state[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=0.0024 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6496, -1.4838, 10.5641, 1.7851, -0.0024, 0.0806, -0.0806, -0.7316, -1.2103, 9.894, 1.8779, -0.0073, -0.0171, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.15,"left_gripper":1.0},"note":"The short black pen cap is left of center, while the longer pen lies right of it; the left wrist camera also shows the cap ahead and to the arm’s right. I’m moving the left gripper above the cap with a high, open approach."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is now close to the left fingertips but sits slightly right of the jaw centerline and just ahead of the grasp point. I’m correcting a few centimeters inward across the table and outward radially, while descending to a low pre-grasp height.
move_to
left_x0.4200left_y-0.2250left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6765, 1.5967, 0.9745, -0.1368, -0.5438, -0.4259, 0.9993, -0.0193, 0.7959, 0.6128, -0.3904, -0.0238, -0.0158, 0.9993] state[eef_state]: left_x=0.3881 left_y=-0.1898 left_z=0.1298 left_yaw=-0.0096 left_pitch=-0.0591 left_roll=0.0327 left_gripper=0.9993 right_x=0.2946 right_y=0.0021 right_z=0.1813 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.4855, -7.788, 9.4564, 1.7656, -0.2662, 0.0659, -0.0806, -0.0752, -1.6068, 6.8991, 1.8877, -0.0708, -0.0611, -0.022] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.225,"left_z":0.05},"note":"The cap is now close to the left fingertips but sits slightly right of the jaw centerline and just ahead of the grasp point. I’m correcting a few centimeters inward across the table and outward radially, while descending to a low pre-grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe cap is centered between the left jaws and aligned lengthwise with the finger channel. I’m descending straight to table-level grasp height before closing.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.691, 1.9011, 0.9821, 0.075, -0.548, -0.445, 0.9993, -0.0193, 0.7979, 0.6128, -0.3943, -0.0238, -0.0158, 0.9993] state[eef_state]: left_x=0.4067 left_y=-0.2123 left_z=0.0384 left_yaw=-0.0057 left_pitch=-0.123 left_roll=0.0734 left_gripper=0.9993 right_x=0.2942 right_y=0.0021 right_z=0.18 right_yaw=-0.0006 right_pitch=-0.0179 right_roll=0.0009 right_gripper=0.9993 state[joint_eff]: [-0.6496, -9.2103, 8.2803, 1.6825, -0.315, 0.0171, -0.0122, -0.3214, -1.4154, 7.0085, 1.7509, -0.0073, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0},"note":"The cap is centered between the left jaws and aligned lengthwise with the finger channel. I’m descending straight to table-level grasp height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe cap remains centered at the table-level grasp point. I’m closing the left gripper fully around its narrow body.
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]: [-0.6907, 1.9797, 0.9524, 0.1825, -0.5461, -0.4469, 0.9993, -0.0193, 0.7979, 0.6128, -0.3946, -0.0235, -0.0158, 0.9993] state[eef_state]: left_x=0.4075 left_y=-0.2131 left_z=0.0104 left_yaw=-0.0057 left_pitch=-0.1244 left_roll=0.0713 left_gripper=0.9993 right_x=0.2941 right_y=0.0021 right_z=0.1799 right_yaw=-0.0009 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9993 state[joint_eff]: [-0.0479, -9.0051, 4.6291, 1.5604, -0.2711, -0.0122, -0.0171, -0.335, -1.2239, 7.2137, 1.7753, -0.0122, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap remains centered at the table-level grasp point. I’m closing the left gripper fully around its narrow body."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe closed left gripper settled at 0.045, just above the empty threshold and consistent with gripping the thin cap. I’m lifting it well clear of the table to verify the pickup before approaching the pen.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6907, 1.9984, 0.9394, 0.2359, -0.5514, -0.4473, 0.0448, -0.0193, 0.7986, 0.6128, -0.3965, -0.0238, -0.0154, 0.9993] state[eef_state]: left_x=0.4095 left_y=-0.2137 left_z=0.0065 left_yaw=-0.0031 left_pitch=-0.105 left_roll=0.0602 left_gripper=0.0448 right_x=0.2939 right_y=0.0021 right_z=0.1793 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0013 right_gripper=0.9993 state[joint_eff]: [-0.1709, -8.8821, 4.9299, 1.3553, -0.1685, 0.0024, 1.0281, -0.253, -1.0735, 7.0222, 1.7851, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The closed left gripper settled at 0.045, just above the empty threshold and consistent with gripping the thin cap. I’m lifting it well clear of the table to verify the pickup before approaching the pen."})
tool
executing move_to over 9 steps (0.9s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe cap has lifted with the left gripper and is no longer on the tabletop; the remaining long pen lies right of center and appears in the right wrist view to the arm’s left. I’m moving the open right gripper high above the pen for alignment.
move_to
right_x0.4000right_y0.2000right_z0.1500right_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]: [-0.6899, 1.7596, 1.1442, -0.2379, -0.5468, -0.4553, 0.0443, -0.0193, 0.799, 0.6128, -0.3969, -0.0238, -0.0154, 0.9993] state[eef_state]: left_x=0.4075 left_y=-0.2125 left_z=0.1126 left_yaw=0.0009 left_pitch=-0.1301 left_roll=0.0706 left_gripper=0.0443 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0013 right_gripper=0.9993 state[joint_eff]: [-0.1846, -11.0291, 9.5932, 1.453, -0.359, 0.0513, -0.0708, -0.2393, -1.2923, 7.1316, 1.7509, -0.0073, -0.0269, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.2,"right_z":0.15,"right_gripper":1.0},"note":"The cap has lifted with the left gripper and is no longer on the tabletop; the remaining long pen lies right of center and appears in the right wrist view to the arm’s left. I’m moving the open right gripper high above the pen for alignment."})
tool
executing move_to over 17 steps (1.7s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe pen is close in the right wrist view but remains left of the jaw column, and its diagonal axis is about 40–45° from the gripper’s finger channel. I’m shifting toward it, lowering to a pre-grasp height, and yawing the right tool to align the finger channel along the pen.
move_to
right_x0.4100right_y0.2700right_z0.0800right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6899, 1.7611, 1.1431, -0.2512, -0.5442, -0.4557, 0.0442, 0.6506, 1.5917, 0.9817, -0.1463, 0.485, 0.3561, 0.9993] state[eef_state]: left_x=0.4054 left_y=-0.2113 left_z=0.1094 left_yaw=0.0006 left_pitch=-0.1438 left_roll=0.0791 left_gripper=0.0442 right_x=0.3862 right_y=0.195 right_z=0.1296 right_yaw=0.0448 right_pitch=-0.0914 right_roll=-0.0461 right_gripper=0.9993 state[joint_eff]: [-0.212, -8.9641, 6.7214, 1.4188, -0.315, -0.0171, -0.0171, 0.0068, -7.6513, 8.9915, 1.7607, 0.4713, 0.3248, -0.0806] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.27,"right_z":0.08,"right_yaw":0.7},"note":"The pen is close in the right wrist view but remains left of the jaw column, and its diagonal axis is about 40–45° from the gripper’s finger channel. I’m shifting toward it, lowering to a pre-grasp height, and yawing the right tool to align the finger channel along the pen."})
tool
executing move_to over 7 steps (0.7s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe yaw correction worked: the pen now runs vertically down the right wrist image and is centered on the jaw column. I’m descending straight to the pen’s table-level grasp height.
move_to
right_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6899, 1.7611, 1.1431, -0.2523, -0.5438, -0.4553, 0.0443, 0.5434, 1.7962, 0.9657, 0.112, -0.0067, -0.0612, 0.9993] state[eef_state]: left_x=0.4053 left_y=-0.2113 left_z=0.1092 left_yaw=0.0002 left_pitch=-0.1449 left_roll=0.0799 left_gripper=0.0443 right_x=0.4036 right_y=0.2494 right_z=0.0667 right_yaw=0.5721 right_pitch=-0.1575 right_roll=-0.0425 right_gripper=0.9993 state[joint_eff]: [-0.1983, -8.8684, 6.5162, 1.3211, -0.2857, -0.0269, -0.0073, -0.5675, -8.5949, 8.335, 1.8144, -0.1929, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.01},"note":"The yaw correction worked: the pen now runs vertically down the right wrist image and is centered on the jaw column. I’m descending straight to the pen’s table-level grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe centered pen remains between the right jaws at table height. I’m closing fully to secure the pen across its narrow barrel.
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]: [-0.6899, 1.7618, 1.1431, -0.2543, -0.5438, -0.4553, 0.0443, 0.5388, 1.9301, 0.8925, 0.2714, -0.0261, -0.0803, 0.9993] state[eef_state]: left_x=0.405 left_y=-0.2111 left_z=0.1086 left_yaw=0.0004 left_pitch=-0.1469 left_roll=0.0816 left_gripper=0.0443 right_x=0.3965 right_y=0.2466 right_z=0.0078 right_yaw=0.595 right_pitch=-0.2049 right_roll=-0.0413 right_gripper=0.9993 state[joint_eff]: [-0.3214, -8.9368, 6.3795, 1.3553, -0.2418, -0.0366, -0.0171, 0.1983, -9.4838, 5.6684, 2.0684, 0.0757, 0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The centered pen remains between the right jaws at table height. I’m closing fully to secure the pen across its narrow barrel."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe right gripper settled at 0.045, consistent with the pen’s slim barrel rather than an empty close. I’m lifting the pen clear of the table to verify both objects are now held.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.255, -0.5434, -0.4553, 0.0442, 0.5388, 1.9423, 0.8841, 0.2962, -0.0303, -0.0834, 0.0447] state[eef_state]: left_x=0.4049 left_y=-0.211 left_z=0.1081 left_yaw=0.0003 left_pitch=-0.1483 left_roll=0.0823 left_gripper=0.0442 right_x=0.3961 right_y=0.2472 right_z=0.0038 right_yaw=0.6002 right_pitch=-0.2006 right_roll=-0.0409 right_gripper=0.0447 state[joint_eff]: [-0.3487, -8.9504, 6.694, 1.3797, -0.2613, -0.0513, -0.0171, -0.3624, -10.0991, 6.4615, 1.2821, -0.0073, 0.0171, 1.2332] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The right gripper settled at 0.045, consistent with the pen’s slim barrel rather than an empty close. I’m lifting the pen clear of the table to verify both objects are now held."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteBoth objects lifted with their grippers, and the pen’s exposed metal tip is visible from the left wrist side. I’m raising both to a common working height, rotating the cap parallel to the pen, and bringing it to a cautious pre-alignment point near the tip while keeping the grippers separated.
move_to
left_x0.4300left_y-0.3000left_z0.1800left_yaw0.6000right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.2554, -0.5438, -0.4549, 0.0442, 0.5388, 1.6993, 1.1488, -0.2504, -0.0315, -0.0902, 0.0484] state[eef_state]: left_x=0.4049 left_y=-0.2109 left_z=0.1081 left_yaw=0.0004 left_pitch=-0.1484 left_roll=0.0831 left_gripper=0.0442 right_x=0.3951 right_y=0.2468 right_z=0.1199 right_yaw=0.6055 right_pitch=-0.2394 right_roll=-0.0425 right_gripper=0.0484 state[joint_eff]: [-0.3487, -8.8684, 6.3932, 1.3553, -0.2808, -0.0513, -0.0073, -0.3624, -11.4667, 9.2923, 1.6386, -0.0122, 0.1001, 1.0281] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.3,"left_z":0.18,"left_yaw":0.6,"right_z":0.18},"note":"Both objects lifted with their grippers, and the pen’s exposed metal tip is visible from the left wrist side. I’m raising both to a common working height, rotating the cap parallel to the pen, and bringing it to a cautious pre-alignment point near the tip while keeping the grippers separated."})
tool
executing move_to over 8 steps (0.8s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe two wrist bodies came too close during the paired move, shown by the shifted right pose and large joint effort, so I’m immediately backing only the left arm away to restore safe separation while retaining the cap.
move_to
left_x0.3600left_y-0.1600left_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7902, 2.442, 2.4203, -1.4322, -0.8085, -1.2469, 0.0442, 0.3901, 1.6802, 1.2701, -0.5171, 0.0402, -0.0746, 0.053] state[eef_state]: left_x=0.4385 left_y=-0.256 left_z=0.1461 left_yaw=0.5688 left_pitch=-0.1914 left_roll=0.1273 left_gripper=0.0442 right_x=0.4133 right_y=0.1661 right_z=0.1347 right_yaw=0.3854 right_pitch=-0.3669 right_roll=-0.0849 right_gripper=0.053 state[joint_eff]: [-5.1214, -11.3026, 7.8154, 1.1697, -0.8864, -0.1978, -0.0073, 11.6308, -10.3043, 12.465, 2.3321, -1.1844, -0.5739, 1.0281] 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":{"left_x":0.36,"left_y":-0.16,"left_z":0.18},"note":"The two wrist bodies came too close during the paired move, shown by the shifted right pose and large joint effort, so I’m immediately backing only the left arm away to restore safe separation while retaining the cap."})
tool
executing move_to over 9 steps (0.9s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe arms are safely separated again, and the right wrist view clearly shows the pen’s metal tip pointing straight forward along the tool axis. I’m moving only the pen arm to a stable central presentation pose that leaves room in front for a face-to-face cap approach.
move_to
right_x0.3400right_y0.2800right_z0.1800right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7586, 1.8961, 1.6329, -1.2068, -0.7963, -1.2163, 0.0442, 0.3931, 1.692, 1.269, -0.5396, 0.0444, -0.0792, 0.053] state[eef_state]: left_x=0.3621 left_y=-0.1643 left_z=0.1639 left_yaw=0.5851 left_pitch=-0.2093 left_roll=0.1629 left_gripper=0.0442 right_x=0.4088 right_y=0.1649 right_z=0.126 right_yaw=0.3872 right_pitch=-0.4025 right_roll=-0.0916 right_gripper=0.053 state[joint_eff]: [0.2803, -11.7402, 6.4889, 0.6716, -0.5299, 0.1538, -0.0073, -0.4308, -9.347, 6.6803, 1.5751, -0.0708, -0.0171, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.28,"right_z":0.18,"right_yaw":0.6},"note":"The arms are safely separated again, and the right wrist view clearly shows the pen’s metal tip pointing straight forward along the tool axis. I’m moving only the pen arm to a stable central presentation pose that leaves room in front for a face-to-face cap approach."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe pen is now presented with its nib forward, while the cap arm is well separated. I’m raising and rotating the cap arm away from the pen first, so the final approach can be face-to-face rather than bringing the two wrist bodies alongside each other.
move_to
left_x0.3000left_y-0.1200left_z0.2600left_yaw-1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7479, 1.8931, 1.6184, -1.2381, -0.7925, -1.2133, 0.0442, 0.6582, 1.6897, 1.4319, -0.746, 0.1276, 0.0082, 0.0542] state[eef_state]: left_x=0.3569 left_y=-0.1546 left_z=0.1601 left_yaw=0.6028 left_pitch=-0.2228 left_roll=0.2069 left_gripper=0.0442 right_x=0.3559 right_y=0.2513 right_z=0.1629 right_yaw=0.5234 right_pitch=-0.4346 right_roll=-0.117 right_gripper=0.0542 state[joint_eff]: [-0.6906, -9.1692, 7.1316, 0.9206, -0.5104, -0.0562, -0.0122, 5.2308, -8.9915, 10.0171, 1.4481, -0.3883, -0.0317, 1.033] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.26,"left_yaw":-1.0},"note":"The pen is now presented with its nib forward, while the cap arm is well separated. I’m raising and rotating the cap arm away from the pen first, so the final approach can be face-to-face rather than bringing the two wrist bodies alongside each other."})
tool
executing move_to over 11 steps (1.1s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe cap grip reading remains stable while the arm is raised, and the pen tip remains steadily visible in the right wrist view. I’m completing the cap arm’s face-to-face rotation at this safe, separated pose before translating toward the nib.
move_to
left_yaw-2.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.168, 1.2251, 1.2446, -0.9142, 0.2813, 0.5697, 0.0442, 0.659, 1.6905, 1.4315, -0.7597, 0.1303, 0.0109, 0.0542] state[eef_state]: left_x=0.3122 left_y=-0.0991 left_z=0.2382 left_yaw=-0.7448 left_pitch=-0.2883 left_roll=0.168 left_gripper=0.0442 right_x=0.3537 right_y=0.2494 right_z=0.1607 right_yaw=0.5192 right_pitch=-0.4489 right_roll=-0.1202 right_gripper=0.0542 state[joint_eff]: [0.0342, -3.7128, 9.1145, 1.2625, 0.2418, 0.2564, -0.0122, -0.1162, -8.4308, 6.7897, 1.3211, -0.0171, -0.0855, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":-2.5},"note":"The cap grip reading remains stable while the arm is raised, and the pen tip remains steadily visible in the right wrist view. I’m completing the cap arm’s face-to-face rotation at this safe, separated pose before translating toward the nib."})
tool
executing move_to over 12 steps (1.2s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe rotated left wrist now clearly reveals the black cap still on the tabletop, so the earlier 0.044 reading was an empty close; the pen remains securely held by the right arm. I’m resetting the empty left gripper to a high, neutral orientation above the cap area for a clean second pickup.
move_to
left_x0.2200left_y-0.2300left_z0.2200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4576, 1.8664, 1.6661, -1.565, 0.6628, 2.0518, 0.0442, 0.659, 1.6913, 1.4311, -0.7631, 0.1303, 0.0113, 0.0542] state[eef_state]: left_x=0.2301 left_y=-0.2305 left_z=0.1695 left_yaw=-2.38 left_pitch=-0.3197 left_roll=0.1191 left_gripper=0.0442 right_x=0.353 right_y=0.2489 right_z=0.1598 right_yaw=0.5187 right_pitch=-0.4534 right_roll=-0.1207 right_gripper=0.0542 state[joint_eff]: [0.9231, -11.1795, 5.1624, -0.1245, 0.3883, 0.2466, -0.0073, -0.0479, -8.4991, 6.8308, 1.3016, 0.0366, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.23,"left_z":0.22,"left_yaw":0.0},"note":"The rotated left wrist now clearly reveals the black cap still on the tabletop, so the earlier 0.044 reading was an empty close; the pen remains securely held by the right arm. I’m resetting the empty left gripper to a high, neutral orientation above the cap area for a clean second pickup."})
tool
executing move_to over 16 steps (1.6s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe cap is visible just to the right of the empty left jaw column at nearly the correct radial depth. I’m opening the gripper, shifting about five centimeters toward it, lowering to a pre-grasp height, and compensating the near-base yaw shortfall to align the finger channel with the cap.
move_to
left_x0.2000left_y-0.3000left_z0.0800left_yaw0.4000left_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]: [-1.1526, 1.4761, 1.4002, -1.1549, -0.548, -0.4843, 0.0442, 0.659, 1.6955, 1.4303, -0.775, 0.1276, 0.0113, 0.0542] state[eef_state]: left_x=0.2163 left_y=-0.2513 left_z=0.208 left_yaw=-0.3741 left_pitch=-0.4083 left_roll=0.3131 left_gripper=0.0442 right_x=0.3508 right_y=0.2478 right_z=0.1562 right_yaw=0.52 right_pitch=-0.4703 right_roll=-0.1207 right_gripper=0.0542 state[joint_eff]: [-0.2256, -6.653, 7.6786, 0.398, -0.4615, -0.1392, -0.0122, -0.0889, -8.5265, 6.612, 1.2576, 0.0366, -0.0366, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2,"left_y":-0.3,"left_z":0.08,"left_yaw":0.4,"left_gripper":1.0},"note":"The cap is visible just to the right of the empty left jaw column at nearly the correct radial depth. I’m opening the gripper, shifting about five centimeters toward it, lowering to a pre-grasp height, and compensating the near-base yaw shortfall to align the finger channel with the cap."})
tool
executing move_to over 10 steps (1.0s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe open jaws now straddle the cap and its long axis is nearly vertical in the wrist image; it is only about two centimeters left of the jaw centerline. I’m making that small lateral correction and descending straight to table grasp height.
move_to
left_x0.1950left_y-0.2750left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.2602, 2.0865, 1.6455, -1.3865, -0.598, -1.4322, 0.9948, 0.659, 1.6955, 1.4277, -0.8104, 0.128, 0.0025, 0.0542] state[eef_state]: left_x=0.2027 left_y=-0.2944 left_z=0.0826 left_yaw=0.3294 left_pitch=-0.4156 left_roll=0.3686 left_gripper=0.9948 right_x=0.3444 right_y=0.2428 right_z=0.151 right_yaw=0.5221 right_pitch=-0.5086 right_roll=-0.132 right_gripper=0.0542 state[joint_eff]: [-0.6085, -9.7162, 7.4735, -0.1587, -0.4615, -0.0415, -0.0855, -0.0752, -8.3897, 6.8581, 1.6142, 0.0317, 0.022, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.195,"left_y":-0.275,"left_z":0.01},"note":"The open jaws now straddle the cap and its long axis is nearly vertical in the wrist image; it is only about two centimeters left of the jaw centerline. I’m making that small lateral correction and descending straight to table grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe cap passed below the wrist image exactly between the jaws at table height, which is the expected centered grasp geometry. I’m closing the left gripper around it now.
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]: [-1.264, 2.0972, 1.3918, -1.1759, -0.5938, -1.4536, 0.9959, 0.6586, 1.6955, 1.4208, -0.8375, 0.1276, -0.0074, 0.0542] state[eef_state]: left_x=0.1918 left_y=-0.2662 left_z=0.0212 left_yaw=0.3621 left_pitch=-0.4131 left_roll=0.4142 left_gripper=0.9959 right_x=0.3385 right_y=0.2381 right_z=0.1454 right_yaw=0.5255 right_pitch=-0.5429 right_roll=-0.1423 right_gripper=0.0542 state[joint_eff]: [-0.3624, -9.2103, 4.8342, -0.2564, -0.3883, 0.0757, 0.105, -0.1846, -8.1162, 6.9949, 1.2479, 0.0122, 0.0904, 1.0379] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap passed below the wrist image exactly between the jaws at table height, which is the expected centered grasp geometry. I’m closing the left gripper around it now."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe left gripper settled at 0.009, confirming an empty close; the cap was centered laterally but the fingertips were slightly short radially. I’m reopening, backing up to a low view, and advancing the grasp point two centimeters outward for the prescribed retry.
move_to
left_x0.2120left_z0.0700left_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]: [-1.2636, 2.1014, 1.3754, -1.1667, -0.5903, -1.4567, 0.0092, 0.659, 1.6955, 1.4208, -0.8322, 0.1276, -0.0082, 0.0542] state[eef_state]: left_x=0.1902 left_y=-0.2625 left_z=0.0165 left_yaw=0.3702 left_pitch=-0.415 left_roll=0.425 left_gripper=0.0092 right_x=0.3394 right_y=0.239 right_z=0.146 right_yaw=0.5268 right_pitch=-0.5377 right_roll=-0.1418 right_gripper=0.0542 state[joint_eff]: [-0.1299, -10.3316, 6.106, -0.3834, -0.3394, 0.0073, 0.6764, -0.0752, -8.2393, 6.4615, 1.1111, 0.0317, -0.0366, 1.0379] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.212,"left_z":0.07,"left_gripper":1.0},"note":"The left gripper settled at 0.009, confirming an empty close; the cap was centered laterally but the fingertips were slightly short radially. I’m reopening, backing up to a low view, and advancing the grasp point two centimeters outward for the prescribed retry."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe retry view no longer shows a distinct cap between the open jaws, so it may have been nudged or hidden by the arm. I’m retracting the left arm to its high home side to clear the overhead view and re-locate the cap rather than repeating blind closes.
move_to
left_x0.2900left_y0.0000left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.2114, 2.0842, 1.4841, -1.3037, -0.5877, -1.4109, 0.9953, 0.6586, 1.6955, 1.4208, -0.836, 0.1272, -0.0082, 0.0542] state[eef_state]: left_x=0.2057 left_y=-0.2587 left_z=0.0482 left_yaw=0.404 left_pitch=-0.4278 left_roll=0.4658 left_gripper=0.9953 right_x=0.3388 right_y=0.2384 right_z=0.1456 right_yaw=0.5265 right_pitch=-0.5415 right_roll=-0.142 right_gripper=0.0542 state[joint_eff]: [0.3624, -13.3812, 7.3504, -0.5885, -0.5543, 0.1441, -0.1392, -0.1709, -8.2803, 6.6256, 1.1209, 0.0366, -0.0562, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.2,"left_yaw":0.0},"note":"The retry view no longer shows a distinct cap between the open jaws, so it may have been nudged or hidden by the arm. I’m retracting the left arm to its high home side to clear the overhead view and re-locate the cap rather than repeating blind closes."})
tool
executing move_to over 23 steps (2.3s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteWith the left arm cleared, the cap is plainly visible near the base at lower center; the earlier attempts were about 7–10 cm too far forward. I’m approaching its estimated near-base coordinates from above with the open jaws aligned to its slight diagonal.
move_to
left_x0.1400left_y-0.2750left_z0.1000left_yaw0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2741, 1.1599, 1.0409, -0.9977, -0.4305, 0.0536, 0.996, 0.659, 1.6955, 1.42, -0.8394, 0.1268, -0.0082, 0.0542] state[eef_state]: left_x=0.277 left_y=0.0024 left_z=0.1774 left_yaw=0.0892 left_pitch=-0.4845 left_roll=0.4687 left_gripper=0.996 right_x=0.3379 right_y=0.238 right_z=0.1449 right_yaw=0.5269 right_pitch=-0.5457 right_roll=-0.1423 right_gripper=0.0542 state[joint_eff]: [0.2803, -4.6838, 9.935, 1.3797, -0.1587, 0.1441, 0.0659, -0.1436, -8.1299, 6.612, 1.1355, 0.0806, -0.0562, 1.0281] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.14,"left_y":-0.275,"left_z":0.1,"left_yaw":0.35},"note":"With the left arm cleared, the cap is plainly visible near the base at lower center; the earlier attempts were about 7–10 cm too far forward. I’m approaching its estimated near-base coordinates from above with the open jaws aligned to its slight diagonal."})
tool
executing move_to over 25 steps (2.5s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
right_cam
camera right_cam step 243
assistant
agent noteThe cap is now centered on the left jaw column and aligned lengthwise, but it still has clear wrist-image space below it, indicating the fingertips are a few centimeters short. I’m advancing outward 2.5 cm and lowering to a low pre-grasp height while preserving the lateral alignment.
move_to
left_x0.1650left_z0.0450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.3762, 1.9896, 1.5608, -1.5188, -0.4904, -1.4769, 0.9961, 0.659, 1.6955, 1.4189, -0.8394, 0.1272, -0.0086, 0.0542] state[eef_state]: left_x=0.1416 left_y=-0.2694 left_z=0.0961 left_yaw=0.3344 left_pitch=-0.498 left_roll=0.4842 left_gripper=0.9961 right_x=0.3377 right_y=0.2378 right_z=0.1445 right_yaw=0.5267 right_pitch=-0.5468 right_roll=-0.1431 right_gripper=0.0542 state[joint_eff]: [-0.3487, -9.265, 6.8581, -0.779, -0.3834, -0.0464, -0.0024, -0.0752, -8.253, 6.5299, 1.1062, 0.0073, -0.0513, 1.0281] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.165,"left_z":0.045},"note":"The cap is now centered on the left jaw column and aligned lengthwise, but it still has clear wrist-image space below it, indicating the fingertips are a few centimeters short. I’m advancing outward 2.5 cm and lowering to a low pre-grasp height while preserving the lateral alignment."})
tool
executing move_to over 4 steps (0.4s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteThe outward correction brought the cap to the jaw convergence point at the bottom center, with its axis still aligned. I’m descending straight to table contact for the grasp.
move_to
left_z-0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.3151, 2.0384, 1.4609, -1.3758, -0.4938, -1.4349, 0.9961, 0.659, 1.6955, 1.4181, -0.8482, 0.1272, -0.0116, 0.0542] state[eef_state]: left_x=0.1584 left_y=-0.2609 left_z=0.0551 left_yaw=0.3744 left_pitch=-0.5052 left_roll=0.5146 left_gripper=0.9961 right_x=0.3361 right_y=0.2365 right_z=0.1433 right_yaw=0.5278 right_pitch=-0.5565 right_roll=-0.1461 right_gripper=0.0542 state[joint_eff]: [-0.253, -8.6769, 4.7932, -0.398, -0.4908, 0.105, -0.0073, -0.1436, -8.294, 6.5846, 1.2381, 0.0024, -0.0415, 1.0281] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.005},"note":"The outward correction brought the cap to the jaw convergence point at the bottom center, with its axis still aligned. I’m descending straight to table contact for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 251
top_cam
camera top_cam step 251
left_cam
camera left_cam step 251
assistant
agent noteThe descent stopped about four centimeters short because the pitched fingertips contacted the tabletop, and the cap is visibly centered between them at that contact height. I’m closing now rather than pressing harder.
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]: [-1.3113, 2.0525, 1.4338, -1.3224, -0.4896, -1.4307, 0.9961, 0.659, 1.6955, 1.4162, -0.8597, 0.1276, -0.0116, 0.0542] state[eef_state]: left_x=0.1594 left_y=-0.2625 left_z=0.0424 left_yaw=0.371 left_pitch=-0.5116 left_roll=0.5037 left_gripper=0.9961 right_x=0.3337 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5697 right_roll=-0.1486 right_gripper=0.0542 state[joint_eff]: [-0.4855, -9.0325, 4.3009, -0.4127, -0.315, -0.0513, -0.0122, -0.1573, -8.294, 6.5709, 1.1502, 0.0464, -0.0708, 1.0281] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped about four centimeters short because the pitched fingertips contacted the tabletop, and the cap is visibly centered between them at that contact height. I’m closing now rather than pressing harder."})
tool
executing move_to over 10 steps (1.0s)
step 261
assistant
agent noteThe gripper again closed empty because its actual pitch and roll left the jaws riding over the thin cap at a 4 cm-high grasp point. I’m reopening and explicitly straightening the tool at a raised pose so the fingertips can descend vertically around the cap.
move_to
left_z0.1300left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.3113, 2.0525, 1.4322, -1.3224, -0.4885, -1.4345, 0.0093, 0.659, 1.6955, 1.4162, -0.8593, 0.1276, -0.0116, 0.0542] state[eef_state]: left_x=0.1591 left_y=-0.2621 left_z=0.042 left_yaw=0.3744 left_pitch=-0.5115 left_roll=0.5033 left_gripper=0.0093 right_x=0.3338 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5693 right_roll=-0.1485 right_gripper=0.0542 state[joint_eff]: [-0.3761, -9.7709, 4.8889, -0.4078, -0.2515, 0.0317, 0.6716, -0.1846, -7.9521, 6.4342, 1.033, 0.0611, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The gripper again closed empty because its actual pitch and roll left the jaws riding over the thin cap at a 4 cm-high grasp point. I’m reopening and explicitly straightening the tool at a raised pose so the fingertips can descend vertically around the cap."})
tool
executing move_to over 18 steps (1.8s)
step 279
assistant
agent noteThe tool is now nearly vertical and the cap is visible just left of the jaw centerline at the bottom of the image. I’m shifting about two centimeters toward it and lowering to a vertical pre-grasp height while holding pitch and roll at zero.
move_to
left_x0.1510left_y-0.2450left_z0.0450left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.4986, 1.9396, 1.375, -1.4521, -0.873, -2.0647, 0.997, 0.659, 1.6955, 1.4155, -0.8589, 0.1272, -0.0116, 0.0542] state[eef_state]: left_x=0.1584 left_y=-0.264 left_z=0.1125 left_yaw=0.3733 left_pitch=-0.0488 left_roll=0.0603 left_gripper=0.997 right_x=0.3337 right_y=0.2346 right_z=0.1413 right_yaw=0.5267 right_pitch=-0.5697 right_roll=-0.1482 right_gripper=0.0542 state[joint_eff]: [0.6222, -11.4667, 4.8068, -0.6081, -0.696, -0.0952, -0.0171, -0.0615, -8.2667, 6.4889, 1.0281, 0.0171, -0.022, 1.0281] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.151,"left_y":-0.245,"left_z":0.045,"left_pitch":0.0,"left_roll":0.0},"note":"The tool is now nearly vertical and the cap is visible just left of the jaw centerline at the bottom of the image. I’m shifting about two centimeters toward it and lowering to a vertical pre-grasp height while holding pitch and roll at zero."})
tool
executing move_to over 5 steps (0.5s)
step 284
assistant
agent noteThe cap is now nearly centered between the straightened jaws, and the grasp point is low without premature fingertip contact. I’m descending vertically to table level before closing.
move_to
left_z-0.0100left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.4975, 1.9697, 1.1309, -1.2068, -0.9108, -2.0933, 0.9975, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542] state[eef_state]: left_x=0.161 left_y=-0.2379 left_z=0.0548 left_yaw=0.3736 left_pitch=-0.0069 left_roll=0.0543 left_gripper=0.9975 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542 state[joint_eff]: [0.4034, -7.3778, 4.3692, -0.4127, -0.6227, -0.022, 0.0415, 0.0342, -8.2667, 6.4479, 1.0818, 0.0073, -0.0317, 1.0281] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01,"left_pitch":0.0,"left_roll":0.0},"note":"The cap is now nearly centered between the straightened jaws, and the grasp point is low without premature fingertip contact. I’m descending vertically to table level before closing."})
tool
executing move_to over 5 steps (0.5s)
step 289
assistant
agent noteThe vertical descent again stopped with the cap visibly between the jaw tips, indicating table contact at this near-base geometry rather than further free motion. I’m closing from this aligned vertical pose to test the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.4967, 1.9846, 1.1072, -1.1316, -0.9123, -2.0933, 0.9976, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0113, 0.0542] state[eef_state]: left_x=0.1616 left_y=-0.2417 left_z=0.0426 left_yaw=0.3733 left_pitch=-0.0164 left_roll=0.0189 left_gripper=0.9976 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5251 right_pitch=-0.5724 right_roll=-0.1484 right_gripper=0.0542 state[joint_eff]: [0.3214, -8.6632, 4.1094, -0.3785, -0.6911, -0.0513, -0.0073, -0.335, -8.253, 6.4205, 1.0232, 0.0415, -0.0415, 1.0281] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The vertical descent again stopped with the cap visibly between the jaw tips, indicating table contact at this near-base geometry rather than further free motion. I’m closing from this aligned vertical pose to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 299
assistant
agent noteThe close was still empty, so despite appearing at the bottom edge the cap remained just short of the closing plane. I’m reopening, lifting slightly, and advancing another 2.5 cm outward while keeping the tool vertical for one final centered grasp attempt.
move_to
left_x0.1850left_z0.0800left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.4967, 1.9846, 1.1065, -1.1217, -0.9073, -2.0933, 0.0092, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542] state[eef_state]: left_x=0.1612 left_y=-0.2428 left_z=0.0411 left_yaw=0.3752 left_pitch=-0.0234 left_roll=0.0115 left_gripper=0.0092 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542 state[joint_eff]: [-0.1026, -8.5128, 4.0957, -0.5348, -0.4957, -0.0366, 0.6862, -0.0479, -8.294, 6.4205, 1.0379, 0.0073, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.185,"left_z":0.08,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The close was still empty, so despite appearing at the bottom edge the cap remained just short of the closing plane. I’m reopening, lifting slightly, and advancing another 2.5 cm outward while keeping the tool vertical for one final centered grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteAfter the outward advance the cap has disappeared directly beneath the open jaw channel, while the overhead view shows it occluded by the gripper. I’m descending vertically at this corrected radial position.
move_to
left_z-0.0100left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.4326, 1.9316, 1.1309, -1.1633, -0.9207, -2.0235, 0.9948, 0.6579, 1.6955, 1.4151, -0.8619, 0.1272, -0.0113, 0.0542] state[eef_state]: left_x=0.1785 left_y=-0.2364 left_z=0.0617 left_yaw=0.3954 left_pitch=-0.0227 left_roll=0.0315 left_gripper=0.9948 right_x=0.3334 right_y=0.2338 right_z=0.1408 right_yaw=0.525 right_pitch=-0.5731 right_roll=-0.1485 right_gripper=0.0542 state[joint_eff]: [0.4581, -10.7829, 6.8034, -0.5495, -0.9011, 0.1685, -0.0464, -0.1436, -8.0615, 6.4342, 1.0281, 0.0269, -0.022, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01,"left_pitch":0.0,"left_roll":0.0},"note":"After the outward advance the cap has disappeared directly beneath the open jaw channel, while the overhead view shows it occluded by the gripper. I’m descending vertically at this corrected radial position."})
tool
executing move_to over 5 steps (0.5s)
step 314
assistant
agent noteThe straightened gripper now reached the true table-level grasp point at the corrected outward position, unlike the earlier 4 cm-short contacts. I’m closing around the occluded cap.
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]: [-1.4368, 2.0926, 1.0431, -0.9539, -0.9386, -2.046, 0.996, 0.6579, 1.6955, 1.4151, -0.8669, 0.1272, -0.012, 0.0542] state[eef_state]: left_x=0.1785 left_y=-0.2304 left_z=0.0002 left_yaw=0.3964 left_pitch=0.0039 left_roll=0.0465 left_gripper=0.996 right_x=0.3325 right_y=0.2331 right_z=0.1403 right_yaw=0.5251 right_pitch=-0.5781 right_roll=-0.1497 right_gripper=0.0542 state[joint_eff]: [-0.6222, -7.6376, 2.7282, -0.2418, -0.2173, 0.0855, 0.1001, -0.1709, -8.0889, 6.4068, 1.1062, -0.0024, -0.0708, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The straightened gripper now reached the true table-level grasp point at the corrected outward position, unlike the earlier 4 cm-short contacts. I’m closing around the occluded cap."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe close was empty at true table height, indicating the remaining error is lateral: the last visible cap edge was about two centimeters left of the jaw centerline. I’m reopening and shifting the grasp point that final two centimeters toward the cap for a last attempt.
move_to
left_x0.1700left_y-0.2100left_z0.0350left_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]: [-1.4403, 2.0983, 1.0405, -0.9474, -0.9382, -2.056, 0.0091, 0.6579, 1.6955, 1.4151, -0.8692, 0.1272, -0.0116, 0.0542] state[eef_state]: left_x=0.1776 left_y=-0.2305 left_z=-0.0019 left_yaw=0.3985 left_pitch=0.0043 left_roll=0.04 left_gripper=0.0091 right_x=0.3321 right_y=0.2328 right_z=0.1401 right_yaw=0.5246 right_pitch=-0.5803 right_roll=-0.1499 right_gripper=0.0542 state[joint_eff]: [0.1983, -9.2239, 3.6034, -0.4615, -0.4322, 0.0659, 0.5983, -0.2803, -8.2803, 6.3795, 1.0476, -0.0073, -0.0757, 1.0281] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.17,"left_y":-0.21,"left_z":0.035,"left_gripper":1.0},"note":"The close was empty at true table height, indicating the remaining error is lateral: the last visible cap edge was about two centimeters left of the jaw centerline. I’m reopening and shifting the grasp point that final two centimeters toward the cap for a last attempt."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteThe cap is again occluded directly beneath the laterally corrected open jaws. With little motion budget left, I’m making the final table-level descent and close together to try to secure it.
move_to
left_z-0.0100left_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]: [-1.4536, 1.9675, 0.9905, -1.0409, -0.9276, -2.0792, 0.995, 0.6579, 1.6955, 1.4151, -0.8692, 0.1272, -0.0116, 0.0542] state[eef_state]: left_x=0.1711 left_y=-0.2139 left_z=0.0276 left_yaw=0.4023 left_pitch=-0.0009 left_roll=0.0352 left_gripper=0.995 right_x=0.3321 right_y=0.2328 right_z=0.1401 right_yaw=0.5246 right_pitch=-0.5803 right_roll=-0.1499 right_gripper=0.0542 state[joint_eff]: [-0.5265, -9.388, 3.1795, -0.6178, -0.4811, -0.0855, -0.1734, -0.0615, -8.0615, 6.3795, 0.989, 0.0562, -0.0415, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01,"left_gripper":0.0},"note":"The cap is again occluded directly beneath the laterally corrected open jaws. With little motion budget left, I’m making the final table-level descent and close together to try to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 344
assistant
agent noteI secured and lifted the pen with the right gripper, but could not secure the cap. The cap lies very near the left arm’s folded/base limit and is thin enough that repeated, visually aligned table-level closes settled at 0.009 (empty); therefore I cannot safely complete the capping operation within this trial.
give_up
hindsightThe cap was near x≈0.17, left_y≈-0.22, not at the farther object initially inferred from the oblique views. At this near-base pose, explicitly commanding left_pitch=0 and left_roll=0 is essential: otherwise the fingertips contact while the grasp-point readback remains around z=0.04. Even with a vertical tool reaching z≈0, the cap was too thin or laterally ambiguous to register in the jaws. A future attempt should locate the cap from the cleared overhead view first, pick it before the pen, and consider using the other arm or an end/clip grasp rather than a top-down body grasp.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.4536, 2.0575, 0.9642, -0.9192, -0.9352, -2.0857, 0.0088, 0.6579, 1.6955, 1.4151, -0.8841, 0.1272, -0.012, 0.0542] state[eef_state]: left_x=0.1721 left_y=-0.2156 left_z=-0.0025 left_yaw=0.4025 left_pitch=0.0043 left_roll=0.0227 left_gripper=0.0088 right_x=0.3294 right_y=0.2307 right_z=0.1386 right_yaw=0.5235 right_pitch=-0.5951 right_roll=-0.1525 right_gripper=0.0542 state[joint_eff]: [-0.2256, -6.2291, 2.8513, -0.2222, -0.3053, 0.0366, 0.6569, -0.212, -8.2667, 6.3795, 1.1111, 0.0317, -0.0415, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I secured and lifted the pen with the right gripper, but could not secure the cap. The cap lies very near the left arm’s folded/base limit and is thin enough that repeated, visually aligned table-level closes settled at 0.009 (empty); therefore I cannot safely complete the capping operation within this trial.","hindsight":"The cap was near x≈0.17, left_y≈-0.22, not at the farther object initially inferred from the oblique views. At this near-base pose, explicitly commanding left_pitch=0 and left_roll=0 is essential: otherwise the fingertips contact while the grasp-point readback remains around z=0.04. Even with a vertical tool reaching z≈0, the cap was too thin or laterally ambiguous to register in the jaws. A future attempt should locate the cap from the cleared overhead view first, pick it before the pen, and consider using the other arm or an end/clip grasp rather than a top-down body grasp."})
tool
give_up: I secured and lifted the pen with the right gripper, but could not secure the cap. The cap lies very near the left arm’s folded/base limit and is thin enough that repeated, visually aligned table-level closes settled at 0.009 (empty); therefore I cannot safely complete the capping operation within this trial.
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 · 7.092 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, 0.7925, 0.6018, -0.3805, -0.0219, -0.0246, 0.9993, -0.0177, 0.791, 0.6086, -0.379, -0.0227, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=0.0024 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.4838, 10.5641, 1.7851, -0.0024, 0.0806, -0.0806, -0.7316, -1.2103, 9.894, 1.8779, -0.0073, -0.0171, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb89caf532b35fec3f0d2d9cc8a8170236f4404db70097700e309edfa000bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746c5cf2f2ba004ac7156867086b2adb62918132cf970eece7592fa30c970a9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5716b99f9c17f358880a0471c434a442a649c1092f2521b3568d6eda5a8fc99c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.126 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEI4B3hb5uGkOfFc9DPxOOmEKJuegZE_IUw7GPcMJrVoJceCOCG8p3xD0dyOblLwpwuZXj5nMcM6-1UusVi0e8eI9b2PGnmVo0LQdwHxAu8nokcyDYnfNd2g8xrZoLpmMCpKVGKmFNqbByG6Y81Q8YkYAP2Ftk7zpKgc_lqs21Y-E-a9FtlHti2cYYUJR1nIu8SKC-D_wk9lU9wvdSorSQDxG9OVQD4vIeiIVnhNtOcdbxqXlET32HJ4N5FxKidRYkdVyUkDKiTnKNiICZPwM7p-XwwEA6E5T3Ka6KUuFOWeUlHHO1uMUsDokwy6xUcV20LffYI5Oea5WJCBy7_cxpCjQsZWXaHWRnpUxvnge_sDVXLWpSyt1vMxwd1QqhcHUAB9ow6tDsZvXyg2zeeXmLKIS1itj8GXm-b4iOTmz7QPLxGjfQrrwXKG0_OLK1Z79wBharKzZcUcnOdHx1xYxicMLkF-mJrS01e4MdXqVDzPHaa-ncTDH9TvKM5MRoJcD7QheuQ4Gc0AsoXd0ldO_MV-EP-T0VUjBeur6KDiwIxtp0IcVcozCWLAZeOZbs8O5AK9cgVCoTMUtZjHzhQT4UTfJLtjWXeM3mCe5hwZqNm5h7yADI1VUz_g1S9N2VTz-86i8sT-Datn1N0Vtm75WX_HQ0_C0VNRgKiHKCObcVQI5MnRilsjLtDPRmAJgNaGlOEUTwGWZwULmDgOSuv57uKLs08SmzHlSp27zGUqcZIzTeGtaERW7j9uVJCd1xQGf7TOp1w7_8kD_S23xVtRLqpfu_eqFQEtaaKySd0naXNr76odgeA4loFXov0VHN_i_59uDN4lDDLlx0CopM7iOIZJfhz1MEg3BYYobhGscyvnIKGQPEzEgn5Hx58F-97hb4rfEcDLRI_WONOFLMNZBHOAKF1N6eLkkthcgfXSmrmRSOKUAvq2kjnN3G4ghCxLvWOBfU-jnqEc05nYsQr01vp6BDB4fEFI6OuvQdqIFsXde7bl3FeDPssad6dFUK91IRsTBslCYHfXds96O7WkNedMYWhTEEXjNNmF8JcikvhBZ6nGLTafvgEOkuCdTMMSm1FC4PzXbJb2S7GQGYgLdieGypQpHY7cArRw2he0XPlsoMpopkU4QzZLvnL7w_pl0NlGl1N2dwkzzRhcbb7j6W0BtbVXveQbxkJQvpQgGTny5LPaqb5dLNqmOTE6I3zc9cTpMwv1rESLHf-bea3lvspp70VriYZw4617CqYxFzmGjpIocAb9jQWraiB5sRhTK1QQUPV-MKyTi6xEuZNTFTc6SmvnTROENiIRoAxp_OdgoM3hIfe_kHLjgY9GpSzlQiEiikHdwHtJlsLNx2leMrWkoxhqm-TuTu0UQXKHCNAp1Wr2V9cky7nZu1L52zvfkJzd9c4tjAXmizwSRJqNwk6GyOEMPzKXGst2B8tTvTkY72N9ZAkNCttfhw0zWiEqbNigUVQPMwrGNwAbe7xuUfkZmhUuM-rdqxhA_9LPSfIdJTDU0ImD3fxYPtITUNr5r-vbUez5BCqy4Rb4Ai8SHYtrpwVyYmXmV65xgVr90wiN_ZdxV8MCGhU0Zu2EEChr_mR-QjapuIsViRw9BOqIPcZEzLmrXoybrBKJT-7QWnkQXRq78DHG_UVI0G8MgXCebuvV3Oo6KnPQF-0D-qmM2xio-S-0vXDcq_HcKTnRrmw4QKW3lzfvworZxeDDUlRoSRhF2-W_QUEqConNmgngyPO6cUBlXv9oGlv5AWD9TF1qiUtWztu5c1MyfERulYKmvRR110JU8QfR4edzqHdvS8nTh2uKFz84twJT1TRYkk6o5rXDX5t_G5SBK5iTIvJCSoXCl6P7GCip2qZIm1Flt0Vt3kKc7ZFRqKz8cxVs-gxhn3GaVGqFCrb2qZ34o5wPqZ83XhcT3ANeN0LUqoV-KeTA0lHhX3MPQSnq6xCiZpfuTnZ04J4UmFCUtMYyCTAhtrigkeGSDNW_E8lO8PF_D4i_LXlIb0USjk8v4dshlH0rvR9AFi8KnbTzVvkUXpFJYQesK66zH66Do4VCGUkTTf3XeCrYkzsGOSBttt9ye0eO6LyMDG53OqrDuhS1U3lfw7PKhhpB7r5K2k_Kl6rKKSoGa6MwgMuDtfnjz79XMX5-qZud7qPx1pLYQbn1u2rKQi8opKEZ8ZY5cxpAghwVxYPn5p7-x17h9WVVni5nDJl2VYQx7Uyeg6vDmB0dv9Anm41QxBgBZh5kIhRLmCzfQB9oB0EyAnvw47CVH87ZE0oQTtIAznvTvQBgz7bOSsFBT58VIASejT_UekFok2k39gJKL-nGRZx4MplBCklbDbccAMcG6dfygyRsYgcZhHoCjv0J4dONKHoqg2B58I2rcnZ5BtJSA6pI-625vHD_rX7aX-IHhX34Vm-iJphCPa6GncroCH0j5dmkC26hO2GE_1PUs9uPBxSL5amnvF2xMHcLtYWHfbNSrm7uSxvmji31EgBt2BnnQSS1pkcb_hDDyrv2YYZu6JHyYRAogNeGVzUmIvSl-LYPo45ByVHDKrPn20hX3lxfvYxLAtrMcpMhcNyQ7uuN64toX0wR2pP94SvU79BdOaHrfXDlJzmOGg_zY9sKgbAdi8mT9Y8hhp7Kqeedhwmk80fh4BN0z3wS1MglA5fKGd7Rhup4FnNbfMOQnGwf0lKWTvJm7EgYAqXZM5WB481iFAupK2Dv4WPqeL9ilx0qtUJT6Zq6SA6mqcxvf6CE3r7-pvTTBOOkWtziqXr-yX3iyz9l6r5N3CCTUPxKYxoZaF_VRRld2Ry0753qWBDGmnfHtBHaYaywFYOdQ5rWuzapssl3rDiNDQECIiB5AuP5NbUcdCgDStxqvlxpKkXc_BVE6_5vIrZYDGUSbmGJfnNxLNeSam-hjJg0gdtaIlOwD7cN5MzJ9EATHrAaR2vUxgthp2_qRh18_V99m7pznAxwIzOyxsgtiAuoUm5NeM-vybdq2l1zYAShp4vqky57MEpTTFYQbGug-YAL9zgBu3p8UdZQ_Qq4V2sWPR9OOxuThpBJ30SnCvKgru0Q7TT5Hz6aUB8-7bgjhDepxeXSEVZ4YivGoTS3YBPsHpWwQgJbxGfvn_T3JC-4XyPDMkx3GxfK0mfuTtXnxlZ_6Vv3WsCR6eT5CQI7XS4rpkg5cCo8jgcxN-kEf0wpM7Xq2gmpN_ICqlkBToRcIIkjpMqzwbjY_lL5CMiqIvlsYegTE56pwOiisrPytU4121nybZJ0PwehZTs_zxCCb6rOjQb2EyURmsU2w40SugrcJ_13FhIKaIFyJvXOERNHFSaBSoI7wFzj1hTpZcsg2Kkxnk4uVmSw9JEG2ASGsKuCfuE1mkRIIBUE2QgKZr86GTq1ghyUTpLanbxH4-ZG9GR-cDPbPx-oENITJ8_m_0GkcablbteTskyu3KTPe_21u0ykXNpZrolblf2ZZgc4CdC6Hbyyd7aiOklTdgoyXlZzgmmLl6HiFsD68sbLANeQojf25AgCgrV7q_93_0kMqfhUXyWyJFxy-5AGzuQtUP4LDozu5nfzqe5zlyFtbOPZGXTVvcTBytLk15kpYuPUUqS-I_x-K1t3VyOhM95yXQ55QpBiB5AWBKmC0JsAYo5pulTp56p51YOnIGTBSt4N_-VTFlHRXkPHaYn8VWYALT53dkV0ks=",
  "id": "rs_044f3fcb6c721bad016ab4410203d887d0a1e1f6d7b4b58765",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The short black pen cap is left of center, while the longer pen lies right of it; the left wrist camera also shows the cap ahead and to the arm’s right. I’m moving the left gripper above the cap with a high, open approach.\"}",
  "call_id": "call_XYG73u9CO937vsyhVKPXugkR",
  "id": "fc_044f3fcb6c721bad016ab4410760a887d09d4b6b6d1682f045",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XYG73u9CO937vsyhVKPXugkR",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6765, 1.5967, 0.9745, -0.1368, -0.5438, -0.4259, 0.9993, -0.0193, 0.7959, 0.6128, -0.3904, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.3881 left_y=-0.1898 left_z=0.1298 left_yaw=-0.0096 left_pitch=-0.0591 left_roll=0.0327 left_gripper=0.9993 right_x=0.2946 right_y=0.0021 right_z=0.1813 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.788, 9.4564, 1.7656, -0.2662, 0.0659, -0.0806, -0.0752, -1.6068, 6.8991, 1.8877, -0.0708, -0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ffc7626c7bd58e63a8616f4f0b993eec5e6c5de8cc05856465d3f0fa94b3e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d75f3c76d064f4c970780cca4c62d2a37cb85ca068b240e721e757d406d9070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a9bcd60bb1f46e430a26ed028ace36260b3739b7a16af878720fdbcbda5a2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.261 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3805, -0.0219, -0.0246, 0.9993, -0.0177, 0.791, 0.6086, -0.379, -0.0227, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=0.0024 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.4838, 10.5641, 1.7851, -0.0024, 0.0806, -0.0806, -0.7316, -1.2103, 9.894, 1.8779, -0.0073, -0.0171, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6765, 1.5967, 0.9745, -0.1368, -0.5438, -0.4259, 0.9993, -0.0193, 0.7959, 0.6128, -0.3904, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.3881 left_y=-0.1898 left_z=0.1298 left_yaw=-0.0096 left_pitch=-0.0591 left_roll=0.0327 left_gripper=0.9993 right_x=0.2946 right_y=0.0021 right_z=0.1813 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.788, 9.4564, 1.7656, -0.2662, 0.0659, -0.0806, -0.0752, -1.6068, 6.8991, 1.8877, -0.0708, -0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ffc7626c7bd58e63a8616f4f0b993eec5e6c5de8cc05856465d3f0fa94b3e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d75f3c76d064f4c970780cca4c62d2a37cb85ca068b240e721e757d406d9070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a9bcd60bb1f46e430a26ed028ace36260b3739b7a16af878720fdbcbda5a2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEEQwRESaNCBowy2SO2MkQwK59RqLPX73JTz7DSZd8IcxvZlRnJdTHlaob7JGwgnvssa3lORrq4OgalDbztt7QFZC4_3U0SpoAdBlL1itmv4ulaCYLMlkpDEacwhWmozCPBKMl7K0KDOYlaeruTodM2LA5TJI0R3skSFOBKFXEN2VohDaeDU77XkfeweXpqXh1PH800y0HP5Yk2YvHjRDQR5om4AzQXXj0q_-8LOEjW6_03YP1OxQYn1_8JxtLMpO50y7khTol7NTANpIzMT2UovVcqwlqaDWbW7ZLEp4fmupVDVKi9G9mhd5OqXDWRlV0pAeHoXRtjQIgHjjwYEtjLwL7wiln6vy1pLeIIyR7JQUsftGWcfYLXTZQ8SmiAzebR33d7DubukXqXXy_X7FVMKTLZtVO5HBn_62E-EqjxVedABd9BBx72APAtlM8vsuzexXVhFC43eFIcu9H4Yo8VTH-gAajE5Q9YXlDA5NYcFlzPWgItZSogi-ooWZGC6f09j2SkiUOwdz8W51SG8CloH55htcTmbKXeaEi4flrftcGCIepbXvgimTeEDeS3eRU1sI3zZ06BONU6GIWFiFs9h7CoO9OmQOQbhLbui9L_uX03jXIO487gu0tzJ5Ze-XxMHvE2SdwAJLdls9kJ2GyFFBr6eNsaAcsFljGz6CCeb-hDduguXQUN73We0m90d_39-NPLMQ88m8DvrK5xRnhA36Glll0qSyYVObWzstSUO0WAAGTQqpq2B_OULUJu41hNNm5V9L8p7gh-qhCUmGaX01L5BsrIPsluuKJzpWk9LGpycqWGcdJCENqDkhceEQGMfl8bDbBHwqX-9HJOnR7TKQp77keGy8nvn1quKORDTkwGIKGYvY4_J0joVJokq9mOUbzGgrbZ5eGbzX1XUVK9NR6YcrB0ik2xu0blKm3MrvQCSKchmnZ5lobuCTJ1ev2UCIh-qHfbwpucN6RncBuhUQibscUqhDrbbJxU6vtwc6yN1L4_HHDKHUOYCZEGywp0A0mGogwizTpk70aGnMa8o4tSGWu2OKcRwuzeJbw3FZkMWwaDpfdIboVggTCjQMqAFDw-7Ra3VUQ1dVrk4wrRMKOzslnyJptCCSzA6C3pDzUz1kRYaR-6iOqckF68x1oFfak4njxNeM_CGP8yZx_Lk2KQl5xJZuZNbdIdNOiaNYEnZ-cRMLSUtcXbGObdtq3W_5Dfp8JdPKNk4RYa3tu_uAS4dfz9NwwayAQplWjY-lM_Pu296cS1gxYXawgYUPk5Dg8KG3O-AFv0zxHdNR5drLSvhfqQvzr05w0QCvOaD2t3Mflmf94yh3UVy3Frf89SxfxC_gKxBgehkNhH6yTuOoHGjdjzrL66Rd2DiRpkVIII6opqBgNcx4Bee8QjtrYXrelEfZGaJpdK0OWkkrUQQ9gybPBCcd-_uES3Ih0lfPpJL77bLJ3BwSAMmCgGmGf5rFniQtS68qiV34j9rI-yDAPGSjWyE4qkJq1XDkK7RTepYmTsLpGImRoSdhwERxi370r1_Ekj3-wqJlmKTv3MKt8_gIRFLEreDGx4EmBwoPxCt1zMZu3grBCSIWIUpzgx3PYvSa9ZYHQQCdQx5omB8mHcrmJ7kUMWb_jatk6YbOoNeimHLkaGlMHoQwJcI4wBajL9cAY9SGvHUCaw1LlHBXf0z00nY-KCLv6SXvs3VaxMvKWvKLHRVWxarhctHKj14n16mILbEH9FOOJPBVHnfAHrwwg2RGii836FxgIk6lyUQzktW6eJ7TLoNOXGmBO_kOoeIOup4_2zwZ8TfCiCJcN_Os-unnpc8mo1gjc6x2RXpx1EIaPKE87F5a2HzzVnhGwuV9A7mlU2lAxMrrRNl2fZnHbkh6ZUJ1wQLbTh0ThbsJ5sSIOdzFHgMsGdd88oXeEug4XZ54NJkAOD_QZ2ii5_Ul2iDncXHinwqiTThX9SUI1EHeS_E4XI76fcpmolrbpb3M3hkf3GJkJNICYhyN1Tpo-QwZiotRhMna3QwXeglKFTUz-WP67tHJFPfanbT4WPHgldO9YxG20g8tFYB9tjWkytdSrUzeFO5XE8RGy4iSDB_aSdeJTfDKH3pKOtmiDsQQWebIqtn5_obIyAW7L8qVAs5nhZcEHj2IEb7MtOQxX_sUQ3cS61rnT0pcx2jSitdCsnPK0emzZ8YFHyGhkd4ybTkhlZ-boQEAJI58BirucimIDnCv3RLb4FGd3GL195Pttz8V0ejwASyd6eYXFeFrvFTdldy22DomqpA8QUpXVd_SHvBU32cYUaSqnRn3rGlJ3U28cdfOjlW2wlmIPBCULGh2TNd05CignXRleMmmcAMHXLWV0ejySyMoV0hxsmRbb9LLVk09Us5oRBQN-0PKUIpEzXNopgWpotfgT7eCvuN4h0WMK7xOlFqorVzc9OlYhTkrU4S1Te4DFjm0LAiOFRp_uV45RFtdrnUJ7aa4746lKMXcLWz4v6lWyjrubNPPNyevTBtkLyBQux0vhc9piAe4Hly5QDw0bVBhPUf2MIjSZqsBIndZvjGd6M0NjjXao54o63FaEIbQ_505McTZenJh35sgYwY_PMiEwP1DmlVhVMlX2PDI7iTu-ypS-ikgAD5d0ZipB2HJRXjgB1WeQrii6uUa4gtsczR88sEcFzHnHsWliOpeDzN5rn7YyS968pLVmLkagVUfVf5wW2IolWSsVgwwSLgVxVB13cI4TRmZuP6il00o1ir0i3-VnYByz5xBx7V5n9J3lOW6l6wN0ZJe3YRSo1CtAsJRgjnq_RkCp821FBHaFD6abcs0MW4uk_Zz4j0S07q8-Z-6VKqMN6wiuYKXSZbDaqDp7lb924tk_mav3IcNQRT-1peVGPHJaxCBpcMVUi-bIvrhAFFI6uiSVYhcyrUFPty2PmjX2xvAQ4LVzMpORswornv",
  "id": "rs_044f3fcb6c721bad016ab4410b8f8087d082b2dac44447f020",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.225,\"left_z\":0.05},\"note\":\"The cap is now close to the left fingertips but sits slightly right of the jaw centerline and just ahead of the grasp point. I’m correcting a few centimeters inward across the table and outward radially, while descending to a low pre-grasp height.\"}",
  "call_id": "call_ig94ZxHAgYGML8y6RMiJViT4",
  "id": "fc_044f3fcb6c721bad016ab4410f100c87d08e82192c4cb85b41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ig94ZxHAgYGML8y6RMiJViT4",
  "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]: [-0.691, 1.9011, 0.9821, 0.075, -0.548, -0.445, 0.9993, -0.0193, 0.7979, 0.6128, -0.3943, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4067 left_y=-0.2123 left_z=0.0384 left_yaw=-0.0057 left_pitch=-0.123 left_roll=0.0734 left_gripper=0.9993 right_x=0.2942 right_y=0.0021 right_z=0.18 right_yaw=-0.0006 right_pitch=-0.0179 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -9.2103, 8.2803, 1.6825, -0.315, 0.0171, -0.0122, -0.3214, -1.4154, 7.0085, 1.7509, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e65cf04023e9895a938c1ff8106f6bed2a2ad9c57883a3e91ec712fb18d8b942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f9bacbf9351a7fd1f99f36dedcf1f4d9b30cfec34861755b967086a6a0d737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee4debbd6f17f69201fc13c4ee40d90fc1078beb075992b63f400ca54f9ad16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 1.723 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6765, 1.5967, 0.9745, -0.1368, -0.5438, -0.4259, 0.9993, -0.0193, 0.7959, 0.6128, -0.3904, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.3881 left_y=-0.1898 left_z=0.1298 left_yaw=-0.0096 left_pitch=-0.0591 left_roll=0.0327 left_gripper=0.9993 right_x=0.2946 right_y=0.0021 right_z=0.1813 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.788, 9.4564, 1.7656, -0.2662, 0.0659, -0.0806, -0.0752, -1.6068, 6.8991, 1.8877, -0.0708, -0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.691, 1.9011, 0.9821, 0.075, -0.548, -0.445, 0.9993, -0.0193, 0.7979, 0.6128, -0.3943, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4067 left_y=-0.2123 left_z=0.0384 left_yaw=-0.0057 left_pitch=-0.123 left_roll=0.0734 left_gripper=0.9993 right_x=0.2942 right_y=0.0021 right_z=0.18 right_yaw=-0.0006 right_pitch=-0.0179 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -9.2103, 8.2803, 1.6825, -0.315, 0.0171, -0.0122, -0.3214, -1.4154, 7.0085, 1.7509, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e65cf04023e9895a938c1ff8106f6bed2a2ad9c57883a3e91ec712fb18d8b942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f9bacbf9351a7fd1f99f36dedcf1f4d9b30cfec34861755b967086a6a0d737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee4debbd6f17f69201fc13c4ee40d90fc1078beb075992b63f400ca54f9ad16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEES1dF9fZlAV6dQ9gPf8ob0AQmr9maKjwelTtDV6nNdk4gMJjLW5gwwBxX83ECiTh4DEjo_GHrUuodGZp_HOAOyZo8YXOypQTGjuQa666WgRufnqHeFwAqniaKrH-Cfzt4REAeewqHbPKrlzikk5juxTIqEW3715AlpE8dgMi0Bd7frBLEly40Af0iOi7kIaKxRvOSmmvUyQxTyATB7Tjl8F9WWISOa4I5zf0izJP3hbAqum3JHrBLUvvdSAh7DuiNwfZvoyObWsxhqL_JphaJEkHeKubR7NVmLKL0h_R6CbctGXCC-b_MhS9-GbM0JqKbAH3ARYeJXmCRZxQlKYeFR0KEKGa6ZWAUgYDVbXiTr6d8W4SiWmgbc2cm5UUqXvraat50gNpGtNZtbiWl2cVd8NVxdtqHEzaUaNF_NQ-_RUgEVNcaAdPGursPRuQVErr7VNhr8XIwnaf3VkrxxVNxgbk6bDewMF8dsj2eeU2wiuuRpZmyoP8AYkJxX7NA7h-U5UG0pxUfrEtxmBsCP45OGT5puA3-tehuXYGAlXTX5D5ydYn44NK8oiHP5xLnshKHir95WDPGPJ8nlh23IMSXJc_RP4mcG-rQ8CKtwuOICsGj3izoFi6WR4QkUPxfmx-ldFE9anoE9dcKQK2xVv49-_6oC7_EfzHieL2uEd5XrThTUEwaRcTyfrWqhx19bp-YM81MdLP1Pbqvsc0BOp9cq72uyy2_nG9LzdiTvpDBv8mIllnikeVZf-p3hoJvDl4ta9rw-mWzn0rQgim-xgaG3A2jJEoD2wq_GvKao1Fw6BdU8fG4aQXYU5pUwHw9rzaTr_F58hs9kOCGXVBqdmXkXGJJScnEALnMIg2az8HsDW_RQAnGp5YSK6yCHrjkfRYipPwUSNV-N3y4QxBjM582Hjc3IlPLvfZyCcK5ALBaBUCv5nZhElEmp2ZHG93sDlhLrMNqfToOCYBdv9YbY9lOptJzluYVXUkFDlgD25PIdSTlPzyAOixwrOcESox0YJc9NiLBUcgv7S3lPSmzogwO1Fc6T7_lys9yBxeAm6qrRSaS0_CSnp3Bve8dyE-9CqO0Ovt2_-M3J1v_jGomGtdEJTHow-JTN6TA0jjRGTVN9Ma3azZrW0Tnp1vpi4FTiSPnPQ159MNyOE5h8i4y3zv9NpyoRhlrpw_nco4weQLnTzOu_8Orv5oCqdxSxwgzUq-sSTyYDQnxn-0fHWwP68hQ-1ZyF2Mx2Q1xFUfrRkig8d6MWf1cRZB2QPUYjvcSwg1nI-zD_SPajqHZsXBMbUA4UD0fQ9nB50ztft2ueMfUuoBHJNFdBhNIKVaa-acWmmNfw-6oDAGOUYj_xyIgWTQMn1VjW47cFhNavFnlSBI4D8rbuWRpLY2221bxEkwsGhn86qNU3sTSEDGzouhhiwm0rz5ZgMNz8h-NyLeiJWpKmsWpiGkcb_2j0rmDG0G0q2ySuUXCSSkkFFF6-J13vzhKz64qmmXKztYDYZk5J2c7GT-LrUVAiCntqHRgXisbfdz58rexlBLlUKlfUiV73B-Hgrg==",
  "id": "rs_044f3fcb6c721bad016ab4411185e887d08cab8def237e729a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"The cap is centered between the left jaws and aligned lengthwise with the finger channel. I’m descending straight to table-level grasp height before closing.\"}",
  "call_id": "call_h4kgRnOLZ3RzHVnsm3Iu866l",
  "id": "fc_044f3fcb6c721bad016ab441123a7887d0b5e537801ae8f8eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h4kgRnOLZ3RzHVnsm3Iu866l",
  "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]: [-0.6907, 1.9797, 0.9524, 0.1825, -0.5461, -0.4469, 0.9993, -0.0193, 0.7979, 0.6128, -0.3946, -0.0235, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2131 left_z=0.0104 left_yaw=-0.0057 left_pitch=-0.1244 left_roll=0.0713 left_gripper=0.9993 right_x=0.2941 right_y=0.0021 right_z=0.1799 right_yaw=-0.0009 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -9.0051, 4.6291, 1.5604, -0.2711, -0.0122, -0.0171, -0.335, -1.2239, 7.2137, 1.7753, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f226065f66a2f369d1b16e6b099d86028c01ba3e49e8bff93903baec81f86c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09ac6aa9ad543f4772ba0910f6920cb747281de34be0540580ec457d8feb4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4093c39a58bd9109a49fea003af6ff247fa8f1d0d8e960762d35ec19b46613",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.199 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3805, -0.0219, -0.0246, 0.9993, -0.0177, 0.791, 0.6086, -0.379, -0.0227, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=0.0024 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.4838, 10.5641, 1.7851, -0.0024, 0.0806, -0.0806, -0.7316, -1.2103, 9.894, 1.8779, -0.0073, -0.0171, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.691, 1.9011, 0.9821, 0.075, -0.548, -0.445, 0.9993, -0.0193, 0.7979, 0.6128, -0.3943, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4067 left_y=-0.2123 left_z=0.0384 left_yaw=-0.0057 left_pitch=-0.123 left_roll=0.0734 left_gripper=0.9993 right_x=0.2942 right_y=0.0021 right_z=0.18 right_yaw=-0.0006 right_pitch=-0.0179 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -9.2103, 8.2803, 1.6825, -0.315, 0.0171, -0.0122, -0.3214, -1.4154, 7.0085, 1.7509, -0.0073, -0.0659, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 1.9797, 0.9524, 0.1825, -0.5461, -0.4469, 0.9993, -0.0193, 0.7979, 0.6128, -0.3946, -0.0235, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2131 left_z=0.0104 left_yaw=-0.0057 left_pitch=-0.1244 left_roll=0.0713 left_gripper=0.9993 right_x=0.2941 right_y=0.0021 right_z=0.1799 right_yaw=-0.0009 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -9.0051, 4.6291, 1.5604, -0.2711, -0.0122, -0.0171, -0.335, -1.2239, 7.2137, 1.7753, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f226065f66a2f369d1b16e6b099d86028c01ba3e49e8bff93903baec81f86c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09ac6aa9ad543f4772ba0910f6920cb747281de34be0540580ec457d8feb4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4093c39a58bd9109a49fea003af6ff247fa8f1d0d8e960762d35ec19b46613",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEU7kq9UmMqXzrcRJQGS8OLpPWH5l1-Yh23WKkTCanSjrA9kJrpvsBaa2zxBuGL2uejPgDkttJCRRMhULfTukYbcd0YFpmVUY7_ba_PDptW34IIdMTS8_6xTxbhD9cm8wMqKduTajGKlAFfh-gjfUrCuu4jRqik30q4V86m4byA_ROldfRNO0O26EazvS8ydWedqrNrRVrHRw76sIQSw722hffutGuZR9K8gF3K6GCX-9DsWsZIk1Rw_c5TCw18mznxU-fmmxdKBm6SzSjGoZVG5o_-ZY1oCXf4bbgylu9ul7P81OPKLdwm-_q7kbnK-CXktlvqxPtM85P0qR_i2jmZBUxE7oa8sx_93jNMxwSkfWdvMmWSQzJ2rSbIkJAtEANVrzLKhkRZVVA97Mp-xWwZ1JvXQV663gCtHSqoevh4vqMZ0imS1lEAkBoAfn5dj15NKSVsZYfRMvOumaLpdeoZvU0ek_lHHcNRl8zehBuEj2QwA6mSuf5in8hKg-RlJQxHgdE-Slp-3laf698Lx17V6YQijz-Sgx3y0Q6SgRAs3unbIqIHVwynkxJzoaAZcmaMvTOu-yXAtmemJ1vQ2obyLpjqyApV2wagYz_XarJ7nQ5SG9c3MIDdtFkWHNUzeZcYztfmFHklyBCBM2zQ5a-PoLZQf8jL0m0N-iTyweRO6j0dNnM01UG_dRqsoLpgJDU8ctzDCseS9wUVYM_F6cbZbs-z6fEcoBL-X4A5Qh9xdzLmbZV_MS6mDUrqCNBWlJPaD1N2xUsb_4t-iNtx5trblZYIhjYjKXuR-ca3EXx4Ph60jzQbddkG8aTZJ5Jt3YOPijr20o7Ji34haVj62peY-n8vWKoBvIKX-xHhOJmGOivTPOxBzVEi7jYrSH9kwMzDn7kSo1r2fCJOqFBFoLJVY8FPVjMbyJoJG0xwTezbrt77DTRxzOm2w8kkjv4yd9TWpg8SH6qmLP93K5-DXZ37ZlGGeoNKNAM-pJ7T9JnAovZeLTnzvcE5zQa7PKCSyWGHFGnYdv4RBtiTbTIYMAFCh0hF0p1wd8xl60_Q0VMHEjLGtxGkgO9dUGwZGs2BE6jycpJt4ow-Z6irmQGQ2mJUMMkI-J0fSvPGnJwD5XC_O0eZIO7BB1nk3eTHxKIT-halbKcYh0tDYT6JRYgTtNc4ngUGRjqhZHdNUFzXZYspWbU=",
  "id": "rs_044f3fcb6c721bad016ab44114104487d0abf0bb0bc60a8fca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap remains centered at the table-level grasp point. I’m closing the left gripper fully around its narrow body.\"}",
  "call_id": "call_Hat5QV7dgRfoblmam0bfcgB2",
  "id": "fc_044f3fcb6c721bad016ab4411421c887d0b7b6fb78a947cef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hat5QV7dgRfoblmam0bfcgB2",
  "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]: [-0.6907, 1.9984, 0.9394, 0.2359, -0.5514, -0.4473, 0.0448, -0.0193, 0.7986, 0.6128, -0.3965, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4095 left_y=-0.2137 left_z=0.0065 left_yaw=-0.0031 left_pitch=-0.105 left_roll=0.0602 left_gripper=0.0448 right_x=0.2939 right_y=0.0021 right_z=0.1793 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.8821, 4.9299, 1.3553, -0.1685, 0.0024, 1.0281, -0.253, -1.0735, 7.0222, 1.7851, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932a486fc0e4cb83cf742b177c3e0fdf687a05dbd839fbb68efc0c917cae169c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dab6e9861e609753f7091ae45eea14c8e453aa9d92ea4193222c54a26bb6a73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff27ede74e27dfcac4068e26baed917953c4e05d0b30acd3d6ad80fb21673750",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 7.249 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6765, 1.5967, 0.9745, -0.1368, -0.5438, -0.4259, 0.9993, -0.0193, 0.7959, 0.6128, -0.3904, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.3881 left_y=-0.1898 left_z=0.1298 left_yaw=-0.0096 left_pitch=-0.0591 left_roll=0.0327 left_gripper=0.9993 right_x=0.2946 right_y=0.0021 right_z=0.1813 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.788, 9.4564, 1.7656, -0.2662, 0.0659, -0.0806, -0.0752, -1.6068, 6.8991, 1.8877, -0.0708, -0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 1.9797, 0.9524, 0.1825, -0.5461, -0.4469, 0.9993, -0.0193, 0.7979, 0.6128, -0.3946, -0.0235, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2131 left_z=0.0104 left_yaw=-0.0057 left_pitch=-0.1244 left_roll=0.0713 left_gripper=0.9993 right_x=0.2941 right_y=0.0021 right_z=0.1799 right_yaw=-0.0009 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -9.0051, 4.6291, 1.5604, -0.2711, -0.0122, -0.0171, -0.335, -1.2239, 7.2137, 1.7753, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 1.9984, 0.9394, 0.2359, -0.5514, -0.4473, 0.0448, -0.0193, 0.7986, 0.6128, -0.3965, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4095 left_y=-0.2137 left_z=0.0065 left_yaw=-0.0031 left_pitch=-0.105 left_roll=0.0602 left_gripper=0.0448 right_x=0.2939 right_y=0.0021 right_z=0.1793 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.8821, 4.9299, 1.3553, -0.1685, 0.0024, 1.0281, -0.253, -1.0735, 7.0222, 1.7851, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932a486fc0e4cb83cf742b177c3e0fdf687a05dbd839fbb68efc0c917cae169c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dab6e9861e609753f7091ae45eea14c8e453aa9d92ea4193222c54a26bb6a73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff27ede74e27dfcac4068e26baed917953c4e05d0b30acd3d6ad80fb21673750",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEXPo29YDnhjd4Bmrg1WWEsSrfO3SFZwSpmMp8EwkW_Ylr_7birNnSGJoemI7byNt8EY2-Rxcp1zXDsvwE7jjjVZOiDDvzPe3k5BXs_cmzI_gCSHIg8-8a2BsaS6KPeHFrBpp6SZ-f-fVlqmKi-Ju7OquFHxAMCE321vlZpC1Arznbid1_FiRYXIw8au-Vh-NoxmgezeGNKkcpmBAg3_iRcU0XjeL-m1-bBQCVS7-au1tDqnoGKNNRU-HHb28EB-vLS_nQKIojgvQWCwtflmPtG_j1vKVZ4wgHGpssW1KIzDEbZpxrsB0tmZ_7M7mhjlTSwC19NSO5hoZhPoZy3Paob1X7ZeumTV7r2gmKZBM4CSMNdrw3et9vT-RIkvyzIulWXfM-x6V6qAK_rKlPt9_2w7qrPEGkZxQB25OQJE23yzYrjGf8a7I6GP6MzkvxB13Mc51gvkNFl070bngoHTe6D6SnUu1kyZMG41wvf97fv-DKcYZNvleWmR8XcXzkiTqUkJvJX8dHcOB1n8G1yRqeybqaWOfhPLkZJ36v-w8p0UQvmRKFEuq-tm32dEQWE_kAAsB9s9t2E9EO9AqQ-yMZyR-ZGvvZzGtQ-O1LpQs7qn2kjFfYeSFUfRzFQcv3QrnsT8vIKG9Y4lOEyJ11pgRwvzaSWapRCxIWTChyEI4vNkvt3tfzggwCMqJXdfUSLRsnLXRAv0m6pHu1tl4Txa6mNgzlYZFrbWxHt1cxQgXsl1SzLG9xDoVRtuEge2KYYOeFo4hEMs0Tjgn_DU7GGRI_xxA59qzT4jJ2otj3i0EyA2bzi5SRlI2vhj4_yxYXi95PnUy93pv_HLPXzyO0iOz5HDckmZKs6-tDM_uOmZtN0icRdQJLxbaCKEiI2kGGV4wDMFZm-xZ-3domAQX8HGEavDbVANrCoQBWAwvZabani0JaRtWqOEwDLcqRT0WYsP3dzanruUXWGk0XXK0ohV738706yEaRVrTaWc8mLSChfO2mLooZwUrzIg0mxx71nSZ94zMSrKP9S5ki871eQmKJBnrM43W8RclMgtY_xV-JhLIHWgirXToaLYTbRKV-UR_K9lE81HVHXgJvMBUEybtTdQtocSQSoI7D7zRt6mMD51907Pkdsyrzw9Y-TuNISFFmU4Z5OFNrBvA8ckG7GqplHQTtUwFDvvoMluSS0JF1jubc4PhObxtIy6HXr4qKJUIg4AHc-70P6X3khLclth1iySqHg9SzVr2E6FEDqia5b6gfoa5lEvSfW94heDKZL_6C33d0OSjYvvjjs63S-jex7huEU8wWM7o6HdU0wGWIz0-iU2XJaKDHFJg9GPUtrT9aV2schxeyXY5rU4cUuBgde88BF7ihLNqDyVtAYOq0osWCuJ_7FsSMropD3zjXviAqAhHawOx4Vuwr5Xgs0G_MA_eT4GHYrAFAmS5X7F-M2X2w=",
  "id": "rs_044f3fcb6c721bad016ab44116c15887d0a77d170071c40154",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The closed left gripper settled at 0.045, just above the empty threshold and consistent with gripping the thin cap. I’m lifting it well clear of the table to verify the pickup before approaching the pen.\"}",
  "call_id": "call_a8Eij30C5KaUuABfbvqnGjbm",
  "id": "fc_044f3fcb6c721bad016ab44117582c87d08d708cb9fa11ac74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a8Eij30C5KaUuABfbvqnGjbm",
  "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]: [-0.6899, 1.7596, 1.1442, -0.2379, -0.5468, -0.4553, 0.0443, -0.0193, 0.799, 0.6128, -0.3969, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2125 left_z=0.1126 left_yaw=0.0009 left_pitch=-0.1301 left_roll=0.0706 left_gripper=0.0443 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -11.0291, 9.5932, 1.453, -0.359, 0.0513, -0.0708, -0.2393, -1.2923, 7.1316, 1.7509, -0.0073, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f962dea9ebcd7463891302bd66196e34980bf579100683903a08ea79cba74b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4f2a5207796480c3129d48fa749e5cc8254059eb69b24064425758a38db3ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7eea70dc033356177511f5a79626574aa89bc2e7d9114cbc82a0e97b88998a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 12.67 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.691, 1.9011, 0.9821, 0.075, -0.548, -0.445, 0.9993, -0.0193, 0.7979, 0.6128, -0.3943, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4067 left_y=-0.2123 left_z=0.0384 left_yaw=-0.0057 left_pitch=-0.123 left_roll=0.0734 left_gripper=0.9993 right_x=0.2942 right_y=0.0021 right_z=0.18 right_yaw=-0.0006 right_pitch=-0.0179 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -9.2103, 8.2803, 1.6825, -0.315, 0.0171, -0.0122, -0.3214, -1.4154, 7.0085, 1.7509, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 1.9984, 0.9394, 0.2359, -0.5514, -0.4473, 0.0448, -0.0193, 0.7986, 0.6128, -0.3965, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4095 left_y=-0.2137 left_z=0.0065 left_yaw=-0.0031 left_pitch=-0.105 left_roll=0.0602 left_gripper=0.0448 right_x=0.2939 right_y=0.0021 right_z=0.1793 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.8821, 4.9299, 1.3553, -0.1685, 0.0024, 1.0281, -0.253, -1.0735, 7.0222, 1.7851, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7596, 1.1442, -0.2379, -0.5468, -0.4553, 0.0443, -0.0193, 0.799, 0.6128, -0.3969, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2125 left_z=0.1126 left_yaw=0.0009 left_pitch=-0.1301 left_roll=0.0706 left_gripper=0.0443 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -11.0291, 9.5932, 1.453, -0.359, 0.0513, -0.0708, -0.2393, -1.2923, 7.1316, 1.7509, -0.0073, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f962dea9ebcd7463891302bd66196e34980bf579100683903a08ea79cba74b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4f2a5207796480c3129d48fa749e5cc8254059eb69b24064425758a38db3ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7eea70dc033356177511f5a79626574aa89bc2e7d9114cbc82a0e97b88998a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEgWnH7r2fpbuKSDyEswIhSA6ezvIo88HTpQb4fnV8H-QHQTEt96Z4REiiwpZxZL6KNFxR0f_2Kqyn2H3zHQFTruRpxY3_bYFldW9lnFTdPw1owqn4LlCEbVSvSDaassUDUzk70AKuwm2aKxSH5XnS-Ox9pxLycPyZQGiWh3h3IWy-qRnVt0G0-YLM21vhyCyse1DDucwZj0wzqfxYq7eHsGGIpzTtUNZKaCq7hZfvvfkJ4cRrB3UhGN8JYA76FSZsfEeiHrcDrVJ45rm-X-fmksOLaIuq6EOA826ytMfh-0bLs4xG6J3INpZdCXBdFjr_WQYV5PdPUu5TMAz84vRD06JkL4XFhZFGn3hJNyDhajed8ZXvi62a4nTTyg5RnJfAxcc-7JOKT_59uhaVo8uWkPIYkgfeyNMVVwlfwSexTC6aKQbXPndCujjZfdZRbxn71MY4eE64MAOreelarXhkGQn8cuWvQ5DlJc8L1nY3UKFDeAOAefWmbzAQvhaEcSSodmSLkEIDLUFA1v8rLgAIc-PhviDMx57sLltkZ-MTUuexBLrde4lqNaJIvT9ihlFrUZsnYagDGAJoT8LboJodot6Snf7YkkIVo2HbtAK8csqMnInP86EpC9_7F126QLcvcFeHtsYo4ytH-rX6_om9r6wsh8LqiRsiNNC7qdb9l9hjPrQub5Pnhfv3K6GqTa5cDNelWcOhHsHvTaipiEB4cpcHcKKpHz6wpe1HQS4me14qHCZc8bKCJLD7Lxr6ARrvg0HObnVGq88wcCQnOJIpswn3TQAD1zOi12YX2cWe2RdHujwayyQue-bqSCMcR6YMiaMBpEa6a7qgB5w-UNxuo2LSjXLuiGcVa1ky_YiPZSLw2aZQIjLbR-PebIbpO7dCbMYTDN6_r4ghiTMtV13Hf5j9lgMlPAi2DXsoroLWZcea5RNWMSzSOLSD48Ph-9kPS_rKhjPENZEo01FRuP_kFL_GVqcYXJ4Ok5O5KlxpuD8j3NpsUihvr3n-xVXKRKFScQaHxJ_WN2aK1pJjB3ov-BTrkTopz2s4g22QyMuDnZqUWP2x6C6nke93heN-eE1fMgWmjlUsUuvq9ciGLklnHHZfCvRhDyPo-68o9FV4ZHPVA9q7VK8D48W4COndM_GVW1dBQhOqnR1LyHM-5dEmtqtJWXjU559-ZA9pov8_8Cc8lipN2YPxSlz2xOXAe4GLOjprRhx_U7MnXvIjIgztP0k54ezbWIpFBq0PX7mp5OaBm46zHhU98ieUUl9QjQaGyD6GhXn_hoW_IqY3TPxtivGxIsOOXQsrLZb290LKZOp0bE6uwLxrarhroeDFdhPBsIVv4HEAatOO9P7urKlFhoOSLfUUem_7V-l-HMjxwJtf0igBqD1uzzUB8LPQhRTLHEPT9b_TbcjATAvYuAN2Ime1T16xy95gsT36womGLr1jTtCHGgXD4t_oJSCUWqUdIEGgR0CmkmR0qbzrwExg6h7nPBf8o68GOv8RNoNExNzzbOuw_KtiSxe_CSRpmXY0Klc6L9FYy7Al9Nhrvuxowx1dawjucDbnDQNasWkPaUiy_3jtTb-pFDkdBNgi6auGms5A0BVXzkLXhL9XbtE3d7M4ES-xQknDn3xkVfinWkAKT9x1HnGyb-MVTfbxDKd2bSlcAi58iTdPQqK2hviqE02UyN8ectBjdGy56Dm4gbTUWGaQym_596fhIsOkkkgpM5UJxGuynFY7fjgi5MVgxAwmwdWrawMcNFKUUHMV8fp1wcpkU6yIzXhCaBY49xNxPZrFx3--s_SYWg0icEzwZvFtNasxO7db73GSi5dMsWbiX_-Ei7GuhM8rqthD-69iB84y0U4bzQPdc09X0UZ2ABQzUXliQDtGN6qpsgSZgls8g-QIwWNu4NsZ1W3BObLj-hJDQ7FmN8h270HdxTVWcX799lN4jmkv8vIfoqDWdFSMcHWFxhd57qPvwGG6zzO0sTKMosSvKWCIBeFqt4Yx7QdBwiaGi8u2MGhBpPLzboWwx-kPNJystvX6-VNMWBddxoQmSrzVwMZGIXLCTiOfm6wJhuR5ltRMS73jjUdGR8FIqtflgiragJRcihoXGsi4r1CjxjJqmAr_f_bedskiPD16J6YgYhOclFT8Ht1ML4RBlM7LZGGpaZL7Bo6s8TQId6XasBoxV9uZPH2ONF6P9nee7Pabo9Ne7mGNamMYtHXMiTUskfv7qzGrvxIOXELUws1VKBiQgjYAGQudJ3oDid7xJ01mpdzhauLNMp8311-c6AbNGr507A4966RJwJ4RQLu89BIQvLtWE2O1rr3-s56ZNQvktnZ2bcHGDl3CKYbiLqaSZWxtYhvpENM2yCb0YE5DheVAhr3AHDW7RmWV_NQDvb0leUYT8CGoZhZB24fBhTcF-liGtNAsjiYhCkeYVMyHyedfVUYlsQFvWdyJJuOIH8lo2ie7B5eJTfRSpzbJUbWtsmTmycxtb1I6sedToC4iOb5BACETM5zuWM7LufgoQ0nFBl-Rl44DkKSDfhwk-zkJDnrjlFfKTL4rqgIG7QQhhoZ7FgjBP2OtNJze2mZcNaaSAkhEA--DcjdHgJPleaitUg_vh2MgHjhqGQVSAzdEJlPzY6CBfP9ZBJ8GfVDomNVEPcnCJ5ohJ3FzgSnb6Q-LQz79LnF4YI9komk2_dyofXeLrURouAw5BLTuuGLqBOX4H-ADRICioxFZDPrADTxJDJSN6qN3BJ3G3LUG7kXj7Ol1Cxlv-mbbxkxruRUG3Yfw2KdMaVVK53OEmwfi-xg4iyoluELkUlo6UyQb5ypGKkEfbH1Rd46Y-MjslmoVh4h9Pe6J1ir7ppB0a9iSu1mUeHsZFQQ3QBv5Ipb31VjWNCQaLZJo3GxJCYxhqxaCYB0Yc5Tj4AqRnzg7sw7cCxJ_DW8pvl3jkrBeC6dCMN9SJBnUL4899yzUq77JPUjPQ3H_1GxMBVoC1sECusyE1wKBVmWk-TopYbOGPudinKA5pUA-ZTzyDNBJdmhK3k0ZhwfX6ncorGVHB2h3HnXB49uNxudcnuRVycVxyKS-Tu4E_Ff-uwwrVddeifWdJGPT6yUw6xTXZlVmIp7pQmQyL-i6nCV-QMnvIpX6LVd1E8JioaoqtsVBBf46OZEPIUf4TNAmobOAduieqosXOztbeCpSNjjDy8PGlPuMn4eqbD-uyzrQdiLTO1xv3JoMkfVOKQH7FJaPLBsQY5Ycy9FTsxNZb5ohMJbKHyd3ot8UVYs2jYE9Am2wKT9Jj41781SvWdXctVhS-tG9uS-9WicdCokDSRYEWdbT71mzddJVbomj2wJcB_fgDrxyCAhSwL5IaY8NY3xON2ABJfXbJ_7Z101YWv3P5-az1zXTFkfp9yaeIJs7lrHICIB8gACiqDKx0rjJafT8DmcxPB1DxecH0bIIUKc9-J0a1VCiHjU7xHjqqAgxKD4LfyrysBUurbeANRuolrSUDwUqfpAeIX9PImhPu7P-Qa3t6UjoI7KNwyG486IX96IKRr5NbUPvvabUFwUMdXHqIiA-9xSyXMTawUAxTHtGWMAJc2-GBUJcZJF_sTkfDNx29CxQwqlsM407t-CJSoSMLNuc7OzbucmqpTQSyf92Qy4TsUnZKF4H6wcDft_7h_eGQYoV-gfynPbWNincMW8ZD4YGjlUCWIptYoFeBSTGneGCU1xMuSTHrZ9PJU3KVRsultpT3FTKS0UpIG0gc7mnSZ7y1yU9O6tfSLH7JOuih39jGFAN6JxN3qrnqU9nYCoFbpHg0jf0SN03zmz01fY0tPLKm86O817BK1kc2iV22tVrHq05EtSKLAeRucBDGlhtYTiQu8wU2B8HtLzRmqslyFd6c603HSu80pTjtXsTMputV1qHFQSlJ77ONpfF1P0qCvb63DSQiNqLZ43kFN_5FAt9kwZl99x-D5rhI8HRp2XEZchMVaSljKozoOJ_d1iwpkGP27w7-Y17VX1Lp2MwYEAZEi2tCucfwgQXnxCa4XWzO0a5u6wWGzUor1yrHcG7azBZPL5V9nN8USRsAKaT8Tpocqg1FRTOTpmGRsLuWtKVDoqVGLwqvoBs3VguBickPvxIhsZqq26XFoceIvLZIr_iTZoYL0YaZKEi7touWgQ7uKNis3VZS_O9uVrEoQ9ZEnGTiM3RC8O-4TT2qONW4Uv-EHBYQs5s=",
  "id": "rs_044f3fcb6c721bad016ab44119c59087d08acd95f1c1f1feaf",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEg1bMIs_9hydr-ZMtGKDMjhbJvy1l7MAgiUnegE5qJCRT4E5wvqUI9LAIhYZ3uHnBO4KIH6zLp2DhJULuaFY242hsy23ICG4ecvcA_mR1Rei1yxtFQXRcGEQpVeM7Q9k14mg00swSDdXZH4veIAq43jCwQ9fZZ_2TqjL49lEz2NGSDa-2qRmt-duv9iZBNYSruVGiN2jYLlJSXz8gu9Cbw1OoEOlQDSRTqK85JCyijFIxtw2g1m7HiopBdf1oNKZTbJftcq9g-KXe3NozQde4GhzhP3qCfSMuhevNhumYTGDhOHo7WV2RwhTcBeVkdI2upoY8xVL6uHnK6s7n0eIjHt_VHbb1RrH7BDJlga6SRH4vo574iOklzxZj0Wql88SVb3UJeCvvVa5vbu8mz3tdHFasR0OdlEehYcgw8cFn1tmAGGv119zI8ji_bdHKKPFGibW0fMamusNYpFNDNM8HUY7Y2paVoshf3bmsOW2dPCFQx2haoUBaNglBjfkcUHRgtCYGNBphx4r24BOneh3tj9-4mFXlRoxp1Y5UuXklknZybeCwU2JCoLsEyFhI9LlyApIE5JwddWhFbnwkTchmRSWXFfFH8ZzW13yUnF58HnOvpI-GTQO1lgxSkZ3dwxUyQWCLRY0FHKwDULMq8uCmstSBoJkNon_IvCYi7_BPr0I_mZZMpdYwRwb_nkHkHSMNSS1uf79txIJdnaM2av_6mWWfOwDY_pjTwfqa2bHc9oPpQlzduQXGcGSqYJ9ZysEmYFG58r1JPd1qcaAHO52CR3J9dgRdAw7jQfxiU2Uscy_-1E3DZpd3aZnVsS1vwa1fS_Q44uZtV9uVH_H7356c56gR_qVjqeVIxONalltpPn5Qlr-0VPgqvgq_DrLwZv5Ae2mGgqaG3TyMmpudh-W0YIWRPZqmd3p-PoYYmdSRmTPqqUG8HLYtgvnGvVArkOOkJXNYGFZEYQVikd2ktQr44Tmef59Vhr6v23Ej9rMYyF_Yg3moHvJP8u8l-XM9pf38OKzeqlQsKrw59iD-4uNhutvC2DZ7lYP7z5daDJ299ewxbk2AAfXpDqFP39pTQlSBHufWxflv65iRTEdb_XqBbjo-eEaGqPwdFpm2z_7GUYS_SzRNZxElsv1CymUh-sCAUfJBsra51HzFjxrEb8eQbrUQWCcQbNXvqYIMoW7YVya7JjYdbVdEYWsegUN0mUk4fqbv2b8bu-pRtZl4w5boxU1Mli0jgelSRiidLbbAwTeY=",
  "id": "rs_044f3fcb6c721bad016ab4411f0ec887d0a81cffd5b4a1eaec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The cap has lifted with the left gripper and is no longer on the tabletop; the remaining long pen lies right of center and appears in the right wrist view to the arm’s left. I’m moving the open right gripper high above the pen for alignment.\"}",
  "call_id": "call_Ues2AU5MnvrCjsCN2NpTrKG1",
  "id": "fc_044f3fcb6c721bad016ab4411f3bc887d0b0969cad949c49c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ues2AU5MnvrCjsCN2NpTrKG1",
  "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]: [-0.6899, 1.7611, 1.1431, -0.2512, -0.5442, -0.4557, 0.0442, 0.6506, 1.5917, 0.9817, -0.1463, 0.485, 0.3561, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.2113 left_z=0.1094 left_yaw=0.0006 left_pitch=-0.1438 left_roll=0.0791 left_gripper=0.0442 right_x=0.3862 right_y=0.195 right_z=0.1296 right_yaw=0.0448 right_pitch=-0.0914 right_roll=-0.0461 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.9641, 6.7214, 1.4188, -0.315, -0.0171, -0.0171, 0.0068, -7.6513, 8.9915, 1.7607, 0.4713, 0.3248, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b062600a083494894e69b07354ed13ebea4821e94dcd04e92f7483e6bf79a352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4f1f2752c4cdb94bd5a0af806fd6e9232b7c02238d517f8c78372fe8116cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf257ecaf2a6c96a931140a68594b0c3f26d2298e16009ea88692de54b96884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.209 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 27 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 1.9797, 0.9524, 0.1825, -0.5461, -0.4469, 0.9993, -0.0193, 0.7979, 0.6128, -0.3946, -0.0235, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2131 left_z=0.0104 left_yaw=-0.0057 left_pitch=-0.1244 left_roll=0.0713 left_gripper=0.9993 right_x=0.2941 right_y=0.0021 right_z=0.1799 right_yaw=-0.0009 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -9.0051, 4.6291, 1.5604, -0.2711, -0.0122, -0.0171, -0.335, -1.2239, 7.2137, 1.7753, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7596, 1.1442, -0.2379, -0.5468, -0.4553, 0.0443, -0.0193, 0.799, 0.6128, -0.3969, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2125 left_z=0.1126 left_yaw=0.0009 left_pitch=-0.1301 left_roll=0.0706 left_gripper=0.0443 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -11.0291, 9.5932, 1.453, -0.359, 0.0513, -0.0708, -0.2393, -1.2923, 7.1316, 1.7509, -0.0073, -0.0269, -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]: [-0.6899, 1.7611, 1.1431, -0.2512, -0.5442, -0.4557, 0.0442, 0.6506, 1.5917, 0.9817, -0.1463, 0.485, 0.3561, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.2113 left_z=0.1094 left_yaw=0.0006 left_pitch=-0.1438 left_roll=0.0791 left_gripper=0.0442 right_x=0.3862 right_y=0.195 right_z=0.1296 right_yaw=0.0448 right_pitch=-0.0914 right_roll=-0.0461 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.9641, 6.7214, 1.4188, -0.315, -0.0171, -0.0171, 0.0068, -7.6513, 8.9915, 1.7607, 0.4713, 0.3248, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b062600a083494894e69b07354ed13ebea4821e94dcd04e92f7483e6bf79a352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4f1f2752c4cdb94bd5a0af806fd6e9232b7c02238d517f8c78372fe8116cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf257ecaf2a6c96a931140a68594b0c3f26d2298e16009ea88692de54b96884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEEuxjaJty4bYBaUpzWTpvYAsIKucXVGlKAQd_FwsP_VGvCo5xKNUddnyjonq1PLrjQDV9pyS84maoRGuy0fKFZ6k53t0iat9WxHowG4_PLsni9unnErHUQz81qKPIU5b1s2YSabhhIdzoYHnOMBLiZmr2Jr_Nnpdl7K74MS-8-n23Cpd4xAg6F9k9KU_H9_JcVbWQspjTnHKTzeE1ISJf5UC0rhfYNNJA6aoapa3oMiON1Uy9s1MmNNpcDE9iAqv-4cn00KSKg5iw9Fx3Dpg6085U_bv4WJdjha6iJeBIQhBO1_Gla-BdlU_yrhFvZUf2EwS7Qo4zDNQPH9Lz0YrtT61L83O84rhoXU-O5lM6lcEZUlM8ZJBZwYAf90t_F5TEIcBjeMkAgvG-6-ExgYOrcx6Coh993tE5EPqbvz3R2F5c5S9Ry_uUJCsOWQ6e42Cd7uFaR4HI0zTLWjsSswr_XEOOGgsHTzsMoVCwY61nwEVjyUITCkVSqoMf8d7Pd-s_9hZI_04BHvlslkcwZrosY7DAn3qNdju-X6BxnydOKy1tbeQ8HUBzRvEaBlkzCBMjVS6rabsUOrOom2OXGY7HYEnex5d-YWVaURoZJNbrUw17hHmpUwgCBOOmUMSDydkepEUGS7zP8E8ftpt6GaQYnKuYzbLyDS_V0jhPKhw3lzqlF7Zf-cFwSBf4ujkxQV9G0JVG1kMwMj6ULGttht0ugE41LU_gDliwlCzYcqGkDE8uhXyfxswhsgQGyYarTZy2kn_48fILs1yQkfgrrpEqckCMOiaNcVSYGXrPrwPWQkmH1C2Rzq5dZTWrRCCWY8ZPgQsrfcr21Tg9Zuh9qi15P91dket6Chk-xpbCMQFnUeOKcKS9YxefiPzG4hYVAtL0RdMgxJDTXBc5MTqNNEcSKmRciXmbiIeRGzcPmKi-eWAYWIB6rgvO3G3MNyQuClznCrCcnRQdofwHZi_ixJN4Anvx5tSqEalbm3bygGzQL0vYpxAEhtnWVQVU3w5_auHgWAdfkksc3GWYRY4u5ARjiRvxmOhCbBBkQkP5X3Udg-djAaF6eIWj1w99rwFJ3Bbf6K5zYw0hbjM3ikAi1AUt4fecXZdVHzbp8u25jZVnSMiSjMEcHC4dxfn6oCZqyqC6ex1feP_hT4KRt-UAfOWAA4EEr16Tr9ipNfFk8cHI84-QH4NofSv0ZVlrXaqrNf0qpWNooT4_PV3oKmMcUhtKBU_oeGHU6PytLnV9XvarQgUEsm5c8ogiVO-8v-N7JiNXB5_ijXj6QkmeowHdBuGlejgq90Ir8Si5e7lQphAX4pDPCfEEAXhbjlx7hz6T8mu5vg-ttj_z3xV7I1nS0XhW2jLadYc75mGthkPkPvfv1lEefNsTMuQJHUIxFXKcOYvJj71bNvz2l8_yQjp9lnIBl6_k8_nG3dXoucHrzs2Xx3T_dpZ9BUu2iqLtPdudGTFRoK8nRO8Azg56Nr6TE1RRS-bVhQ13s_ZL-Ddu_wId-BgIMN6oWRL00nIOXGIfL8y027VvwEh8y3ITDP3KIJWYFpyDG6PR1qthUSbOw-iNM7X8ng5XWGQmJwgFupHXV6EcKHPy6Rp9fb5qgwow5K3a5ksY1FtatpIuvtwceWPeiLohI3-Bvo91GN8rjL8jyf5pWDBNR5UPakKJlsruHboWVsk-hoztHHybM5fnelnlojBNjZ_1Pv0Q-WPm9l_uSPDLGn6KJC18M7JjJSoqQKGc-gpXqPAzk24gWeIhnIgWoPif_PQz7YMqyfJ9e2yg90B0U9WPIJkN1ZJ0L-nVuYfw6hV3lJNUpkz7Cq8YCiDUOrWZOLmfjkod5ZY9iZSBKggIXk9aGQnRtluUCOvTRupFbEIblgmqyp5pn-o0EDCqcZ1CzcDglYr9N55VEt8hix2ufC1bTu0Kr8gYY9YmoVdYBxIkkTZA6To6YLBItiCdJ9NvdVTUhdzNzH-xnZdn7r2xjr0zjklSc41Qgz8jFJoA7DZ2XIk7l_mMZebMGAr3mWHlnOzzuE-hTwa0JnejxHZL8jlG7hZV9CfxYEjo2tEM0sY3HSfkdqgrbIW_9PwYSaWB0C8xXZ3XjSefLLRxUD2CL8o4uxanDL7XC9ESDoh07USrPUjqZG-cS-f0lP4mijgOlXIECYPcFVCNWO0oSYUw0ccDyGcUrUyCCugnvPTt7K4K-jDQRX2LiL0GGGw5opPeiJ25EbweB9n9LYCGrGl1QNNcric6Aq2B2jPFBF_T6liicKkdw4Tfxx6pA6EaLt58EQd5CvHnRpaZc0eyJQwh-B4QE93S2eIMhmhRszZqHt8Nncs10DnpLwjsYkjXSWTb07pzbrSvuL4G62DskwXFIkqH8FvYMp8KyhOfUJOB62HFAcpwVZ6eXGi0ZAH9vl7ZxfSNnf-VQ8d-ihDZa-8WmujEqNTacYW2ZS4puGRuFAv8sHo_elsiYCbrueyjZMYBWPQIJFWCrWkfhqjYTLxnm-1y0108zZOB7mEFN7K4LySHqx2LrHyX_8Fr5OddgUthaFDXnU8KnSoKGz2nJu3qXJSjBz8mcY-JcmwWpgU6-6vBF-5uDNrlNI3B9-ukEgVjJ2A0RCpoKbsRY1fTQHsKslYTXSVZSJmzKn26t39UE3CvPAqSeJvdGPgPLAzg9XyhEB94OJD_K8La25Y8lTlxFXae_-l_vfBenZ3ueAxYjTc04uqyTEEgJk4XlnRaA5g2wnvN1Xb_kS8FpqbxFnBJ_17Cn04w0ON7OkrdGY1xA2c7NO4fbli9oyR-W_jR1sVndmngdkKIrrt1IT2Iu7G-DWCo4zYcvvBNFAeJcrgRWVEc0yyWDSy9PA8w1m7xWS_CDvPPeEWBMNFAEFFfNOSzhElyMGphyQWqQ90CivTOs0RqkCU6pyyMAcsl5U9RaNpvRnyRVafXqG-w1DGFYmefcciofHUTQcpVPxP_PgQV198tdi3WlgJkoW8RFoeLtwRJjgtcRJhObrVT087-KCYPt5rin67UiuQj0exSQrbqUWP-yIPSKl1rhFr4SVqCzq_fgXJ5-uxIrEKuncqtkU60pAzw20zp8UhePxboiD1hDAKL8VV7IG7fGqySA3menpETHDlov25h4WQvdDrgVTPPIi_K3KUhUZXr3-8Owlb7qNpUQI_Y3-LxO4CGMMQ11oRRVXMlNPPUMEVEGo_VPbb6w2aTJUONfW7Damp_b59Y8saJvkGXc6KiTtaCK_JKp4X6vBwGcfHoGEpleY8fRCQDKXbJF1yN_Zza-wUX-LUqUbDTFiw5u_vBZEu7On-K--hN12enTtl1abctmEkVa_cBQetB50fU4-IUHXZ5TPRxl5xGvJ0wpvHH3emF_NrYgtL1ny-Y5Xf1WTb3uOO-kLfVPvejzkIx8nobZqkkjam60Qx-ocDB4gKIo7DGmVihKvF0VarrLTzgg5-xj1TUk0EYWu7WgeY0l2gPE2uNsoz_zuw4xUh6MrS5upVJeADzKam4w3mhPBHFXeOlcmHnvZHIj_37cUoq1ISBt9CPTHZTMBvELKbwj8WXGzKc3NM8Bq0uM1DSdVimxvEbu2ePI8C0goFQAS0gLhtUyBlzRudoEhAqyR-dxTB7n22czvkruFEDPIvL4TR7l_X8WL8x7r8yRAkGVY0igPylWgtFni00ac-pViSPfXL6vjI6aY80E62umJNKitgPuPvOMr4dBfvaCdKyBfTnkgPuf5zcSz5GS1q5wdkdr0giPreQeIMGpTscGLEs6GXLL4vqZCAGk9LaaZIrGzk7fi6FupJg5C9T_GAKIeLM-xhS31-qxJnCtblXvlFNwQMwFeDhdMJrOYFyPU1bJVAVtyPy4mIOD_gB4SZtRX9kpLecRT0Q-EOyAhN26bsR85L-F6yhAbU_mlVGdj_sFK0d-CbENc7qYz3HRwNw==",
  "id": "rs_044f3fcb6c721bad016ab441247dcc87d0ab7a03ed59ca713d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEEuiznGsa2DJbpwRygHsb2J7OZqmD0TMyW0Vy2NGrspcJtQheT-13dF-OO7_gCl-ijnKvqn4JTFJL51EcqX614Xs1shge2403klpmKVKxU7r6gAIM0hdIIrm_EKzfzeC1iAeHN2jQXJ30deaPdixmRZAXW7FLgIbaxDJyX6jhoqqaqLAybAblnyVWzoRPaBqifDxc9SLekwx06iauY4WJab12bFcZe42zyV6k6WyfC48xW3p7hu2k75Kte5lYOIq0kYRnMSlxfkgslEvkb8ATNLhOORwpDav8BUk82OC-Z1NsHU38Efr_OwiQwufZ989rgcDO4ctaGJEJwAJHvTrU51zSqvz2NJeUwlfU7BZDLaflFQ4QqiNw5IC7sCcTWL3GLAtcPo1IWeQvenY83bReYJ7SC49qiulmoaCzlga0Q1lXBfWnrhwqmhQ9AuNe32DnqoOrS1GKJEvxadZxi8yfX0NmU5wkMONyK9D4Fwfwu8UkNULtQhusBxGkyU_C2bQQFfqeV9KsNaPBx_vsQEVyha08DxdzO-WpAXgAz-jXPB695HmAq03SCVmwbeD4hQ63YAWT6wglSt6GOfgQOQhQKZg5UXCoUdcTv95rOalY97EYGw_bP7iH5QOu3sSXDwkrUK_DGDP6Y8DVnuLg_p85d9J4yAsE30qwjRlOtwvDs021N6GpSxSBu-KDXUtPFGnMmo4-BbM2p5bcAv4UupzvdJ8pBYF3U8S_9ERxQzn3Qt6lOuFQawL4MdPx7vgMuVI0wUi69E2D0TIoq62lL0YaftfW-zatquaJYbdJmBmTs1vEE8y67n3hReGV9Y7m9eOvePMCEyF30i9w7BBaAN7lDz6tEdU5mvKPbvKAiTatlruv7WRaPDDVnCjzcA61ovHMfXGwx4v7PCgFT8kx_G7BgFd7QCyVKf2xJ2B-EpdxszOutu7-42Js7oeXAr34M79Soou8n-sWA0jfLqqNAQkaV3bxLtDpo_53Yj3Cc2uqiw5F2vyZjQim5AMPd25sLxogNw5Zy-29LizIQZ8VYNg5Y_RhOkS7llm_UlHqEJrQPqLKBIhkMb0BrAZEWuLpJCXB8mh7-kKyYQ4NMk24vFOU5sfboYKTUgB7fTUIxHGrorErJhvD_Ixf9-IjbSJ8ACFqOU5Q3uQbJxEWPPI9XOejPuP_rwdSm_5b1YJHMokjN9hfrpDM-buz_3Ll1k4DHpt5ddQVgj27qyQT2_j3t_yumi0q5XLjIcrYq3P2igI5SchfL3ZEsgITuQJTLB2X1esxmc_RBMuO9_tuHPC9JIwyUp_chWn6VB_hiX_OnugyplGN9uSReThUhNK05Zl-3NshvxEeOZClBVJ5XAYId1lllrWpKwrkDwMfT8NNFQ8u0M5Mjah0Si_WF5LIm-anaKsQ2a0hjFaj4m9qSUGoBst5-Yi6FGVy_4bzx5M21B3sC5za5FzEo9prN8amCM89OUMDAL62KsHOGI_MxI3UZp982RPLf_xnP2W46ME3Odf3QAjudpHDiMu1o8UgmIacrYnfqWQPUA_0FgqQ_tCNvSwjQrsWjfWWlzcbGpLa-H2KZLIeq65t5ZD_z3oAWFB5od0ZNcsQD4BHesMG91pEFgoExIs7_Y2sEUsheCLzHEDRL33g9IOzf5s2TYfA4lFhLGP7PDNkMCJfyLIwsiRL-n9MkTo2sdwdB0uGNdKOAvuAGpNkgsv8F9bY-iEMjg9ejWeSV_y0sGTa9JvWklQyBH6lwWfDtibQpFdc3_z9EERjOt9-4_w2gmlsRdMVrIz88Nf6YTEBAmiPO4NAiL-IIo2We8er2hV4DF4nzZfa4-XTndG5U3moLEhT4XjqCZSgrigC01e0ZSqbVgGcN_aWKmUcukg3I4WWkKbCtu1oSwUHkNcOxtBjSSOfPVqGwXFQLB7p5UZdwXCPF2EPapVkRO4thAbu2VuW_0U6koBfQmSDiNqAt9MjxIA6gu_l2sxX0XTKi6_N-8S6G2ZO8N9WOG1orpnDcr2ML4wtg2_paflhLc1sd6mtvq0cVFVtuugjoMRPT-r0pRZfgmZC2xd5YnABl2YO-N_cMzHVt4WD-2gZBTJjOs6Vx3vdoFD8LX5YXP9rmcDuysVbB4MJHfNcnojX9bPdhFAbzURBg5eoDtYChK7ecHliW7R5H_zilgpUITC_nYAofDQoBYURZvU30IgT8uZcKuGpcyi2v-VZpboJYcqBtWFVvP6h4K7e_BoS9M9tBOn9-O0zq4qAXbXBy9A8009x2fgPvXtid-0oPwP6bMa_z366PMHYLYTYirt8zU20hJH3kNFdHq4e09VBuqSX4q4VP-nhRoj_aG8ygs0tOVTfbJ4O84xg9QTmDjCXwOb-oCroicpqPaht5mMIi_KmYDsBZGN-OFhEG9Q_dtdPI28T52Mv_zJK8zAIAJcMdAbGODPKGqEcj7ktp3x8rqC8C3m12ahn-GcVTOw_B8jwIjsHNuL6Q5cV2Bi8SsAd51f8D2e4F-ztVZc2m9YzlZpEtDLI7SnNz-2UYCgswo4FemM-Hh_d2HkT1-p_94Fh4VXO1tTdFwO32GGJJtOAVQCaj5t5dqoVLsZiU42-PQHqatNt6qJX0MstQ66XrltQifVGa0dJYSQgE69Fa1qUqWyariYLvkcylIPosJBMUnzo-qzNGs0QfaM5IWY4d89KSdjtQiwVnaI_5wchcUly0AH3FtWxbFxuFcQJntgRd_w1cqRNbBwTRNxE3WJGT02b8dVxj53VJ5srff5njBwTUlOmo39j9REZ0tAqzGev1b5byMuVavJQQ1SaNpocD1m7n5YL2CYvwz4yOe68B6BRj2I49VIivbw7-HcNBnXCi9d6BhFOK1tEV7au4DAUPMIau2YiSn",
  "id": "rs_044f3fcb6c721bad016ab44129c3d487d0b8d2c2de6504a69c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.27,\"right_z\":0.08,\"right_yaw\":0.7},\"note\":\"The pen is close in the right wrist view but remains left of the jaw column, and its diagonal axis is about 40–45° from the gripper’s finger channel. I’m shifting toward it, lowering to a pre-grasp height, and yawing the right tool to align the finger channel along the pen.\"}",
  "call_id": "call_coDOih4tQRdHu44YjXqsghUm",
  "id": "fc_044f3fcb6c721bad016ab4412d414c87d0aefab9c771606a27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_coDOih4tQRdHu44YjXqsghUm",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7611, 1.1431, -0.2523, -0.5438, -0.4553, 0.0443, 0.5434, 1.7962, 0.9657, 0.112, -0.0067, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.4053 left_y=-0.2113 left_z=0.1092 left_yaw=0.0002 left_pitch=-0.1449 left_roll=0.0799 left_gripper=0.0443 right_x=0.4036 right_y=0.2494 right_z=0.0667 right_yaw=0.5721 right_pitch=-0.1575 right_roll=-0.0425 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.8684, 6.5162, 1.3211, -0.2857, -0.0269, -0.0073, -0.5675, -8.5949, 8.335, 1.8144, -0.1929, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c646c3b790f014c6da4af364c3bc7687d4a4b8dd80b9afbf308545e312c4f85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac716b597c6d7f2c754e0efd611343543e23c432438c0370810c0f3eeee2deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d329f6b233d45d26b24a8ce15fd4426f116142c1a2391097e0a7e28b5468fa0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 1.938 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 27 changed as sent

message 32 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 1.9984, 0.9394, 0.2359, -0.5514, -0.4473, 0.0448, -0.0193, 0.7986, 0.6128, -0.3965, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4095 left_y=-0.2137 left_z=0.0065 left_yaw=-0.0031 left_pitch=-0.105 left_roll=0.0602 left_gripper=0.0448 right_x=0.2939 right_y=0.0021 right_z=0.1793 right_yaw=-0.0008 right_pitch=-0.021 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.8821, 4.9299, 1.3553, -0.1685, 0.0024, 1.0281, -0.253, -1.0735, 7.0222, 1.7851, -0.0415, -0.0171, -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]: [-0.6899, 1.7611, 1.1431, -0.2512, -0.5442, -0.4557, 0.0442, 0.6506, 1.5917, 0.9817, -0.1463, 0.485, 0.3561, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.2113 left_z=0.1094 left_yaw=0.0006 left_pitch=-0.1438 left_roll=0.0791 left_gripper=0.0442 right_x=0.3862 right_y=0.195 right_z=0.1296 right_yaw=0.0448 right_pitch=-0.0914 right_roll=-0.0461 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.9641, 6.7214, 1.4188, -0.315, -0.0171, -0.0171, 0.0068, -7.6513, 8.9915, 1.7607, 0.4713, 0.3248, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7611, 1.1431, -0.2523, -0.5438, -0.4553, 0.0443, 0.5434, 1.7962, 0.9657, 0.112, -0.0067, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.4053 left_y=-0.2113 left_z=0.1092 left_yaw=0.0002 left_pitch=-0.1449 left_roll=0.0799 left_gripper=0.0443 right_x=0.4036 right_y=0.2494 right_z=0.0667 right_yaw=0.5721 right_pitch=-0.1575 right_roll=-0.0425 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.8684, 6.5162, 1.3211, -0.2857, -0.0269, -0.0073, -0.5675, -8.5949, 8.335, 1.8144, -0.1929, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c646c3b790f014c6da4af364c3bc7687d4a4b8dd80b9afbf308545e312c4f85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac716b597c6d7f2c754e0efd611343543e23c432438c0370810c0f3eeee2deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d329f6b233d45d26b24a8ce15fd4426f116142c1a2391097e0a7e28b5468fa0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEEyRcGN1h45uRi4iq_7QAU_F9yXn0VZlO5NpakfvN3wzcFrfWlczqMwG2hLirMO08hF2HHiOGNREPsVDtDUGqJ52VA35oLXBtn-2u4zyCB8-Le5f6dJ4dwGt_g5my5S8nTohZXqtFxgGNmZW8IcXNjo6OUei_0UaeqtwttxO_v04sEFuUQe6OsaLn_-KJocLKmxqFZsQglkAkiWKK78a7QvMZkFxvekGIlFmcuKQDBN1YQYF1OsFuWSv7t-3KTIot3NHEc5SF8gbzJVpbrSgMnKN0QVrBDp0_1XKNf9BlpBougxIWRrXzaQfJrvOGkpg1Ygkg2qDDUobCfJcLvHxXztvEmNMNGwgt3VMB2n-A8u8v6EVV5E0ROTm9dvUvQq6saeu0aJk7zoSOq1ctTyC2SmFMqpJyGssSlSq81i_JiwCK7xW5iiL_N6GgNBbxMzd287SRw-1g1k5qPYFdyfzu58mWp1zf12LHEz2t88beVo0i9vE-WltYtmjUmiAKZxoOtNsgROVXzpi-OyLICQTy3BWZ_SIiENi4JAezQqb5ifrGa4VUz9eqfiWb58hnTu6r9MwHNkoQkIQGdcYDHyGAbXnSp0bNPWePTnSMh4WQSD0blSuDyEhmt422dmHvGdNoAEyv-qUiQKZoIrS517Rgr10pUn-y0Gmoyx4KN1jcmnIfeGoBz2VBvtbjE5IOVgV4UPYOV3xj39KqLEKSx2tIMD-d1_bEW0-uo8SPeR2yWEA-rl8BUj68_qEXYH9y6HZ6dS9Imd_E_2d5O4kqKhLOdKVZvxapmH0aOjv2g_AqlmrzHHih03hxrXXAHUAUESXcVe3qYCX70XyqoxJhVS6DxNYSjNDZd7MTzElwTVyw0p7nZsd1zgKN7tsteZkqJ_DzvXsx1dADZw5ZzsO7MLUxLtVHHlLeqm4uJUEIsDFTlZKO1it8ozV8pfq58dBd6kFnR4yciQTAXL5WqWqQWuD--yTO-cK925aWfB6oA-biIa23Jn-nokcuVem0lPrMGNokw_cjJ1Z3mVNvFkir6HJ9phEQRoCNutx0kqYmYR6zKM_jMyQ6bxuDtehHnTXxwsiBVayFHiW4f_b93jC1c8EqSQNZ8AZ27CjkpffZsg33yluN22ynG1orHO3Yy9qv95jBV4Z0OFcy1J-SZYx1btWqczjyf2ArpUsZtxBpl0DtvXzCThzuGyQcWKg0zJZmJsRd0_WCWH9Yd8aeX_XBzFpSgq0tidlipLHD-FbEI46MoY5Lq2nQONKYKyxyzi9i4Y2LtURuHN9zOeW4izfdwR3Isp9o9p79-9PuB0B62Sr8gYsGGgsL2gPgOik2zX-5KFyo3Iniwdfy2698rBpkUNAxljGfGDbsu0MB9bpoZ4-YxWRq9U6k3FJfL-df_erfIxDBMUmL_DZaxRqepr2rEmCjcL45moUMtJdmG5W4PIjstqNQomIPEOmtaEcdEKgKVzZmgcwl3szcUPgsvFnjD3DwUQIlHvPpw1-w3Opeq31jtmmws3eZYp5XxZHslUmwmFo53RDkFNr7dzFheVTr2HOgfSL6ZeLnzddVPG10dX8otSXYMKgqHCWMso1fxyUrLYXSW5ASwBpntO2ziYjeJytULVy1lYf691a0eXoGs8xjjELoPMuTukTJWhAyKwkH3IIiN9pQyOUPVdzZ9XXdkzRdbFZQ==",
  "id": "rs_044f3fcb6c721bad016ab441300d7087d08c2d835a70d6ab1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.01},\"note\":\"The yaw correction worked: the pen now runs vertically down the right wrist image and is centered on the jaw column. I’m descending straight to the pen’s table-level grasp height.\"}",
  "call_id": "call_gvsoi4gGgM0dyWYtiakBmHEo",
  "id": "fc_044f3fcb6c721bad016ab4413155ac87d0b58f7f3efcfa6675",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gvsoi4gGgM0dyWYtiakBmHEo",
  "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]: [-0.6899, 1.7618, 1.1431, -0.2543, -0.5438, -0.4553, 0.0443, 0.5388, 1.9301, 0.8925, 0.2714, -0.0261, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.405 left_y=-0.2111 left_z=0.1086 left_yaw=0.0004 left_pitch=-0.1469 left_roll=0.0816 left_gripper=0.0443 right_x=0.3965 right_y=0.2466 right_z=0.0078 right_yaw=0.595 right_pitch=-0.2049 right_roll=-0.0413 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9368, 6.3795, 1.3553, -0.2418, -0.0366, -0.0171, 0.1983, -9.4838, 5.6684, 2.0684, 0.0757, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48463467681d5b39ff69ae111d17281502258df34aab5cc76438b33d3f5d7218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4750c3453ef15bd78850e95e853992df684ed9c643b684b8f2771d28a8b9825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c376db23a7e09e87b80b13ce13c9fac489b7103b6cc07742ff93ec9127297291",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.485 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 32 changed as sent

message 36 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7596, 1.1442, -0.2379, -0.5468, -0.4553, 0.0443, -0.0193, 0.799, 0.6128, -0.3969, -0.0238, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.4075 left_y=-0.2125 left_z=0.1126 left_yaw=0.0009 left_pitch=-0.1301 left_roll=0.0706 left_gripper=0.0443 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -11.0291, 9.5932, 1.453, -0.359, 0.0513, -0.0708, -0.2393, -1.2923, 7.1316, 1.7509, -0.0073, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7611, 1.1431, -0.2523, -0.5438, -0.4553, 0.0443, 0.5434, 1.7962, 0.9657, 0.112, -0.0067, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.4053 left_y=-0.2113 left_z=0.1092 left_yaw=0.0002 left_pitch=-0.1449 left_roll=0.0799 left_gripper=0.0443 right_x=0.4036 right_y=0.2494 right_z=0.0667 right_yaw=0.5721 right_pitch=-0.1575 right_roll=-0.0425 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.8684, 6.5162, 1.3211, -0.2857, -0.0269, -0.0073, -0.5675, -8.5949, 8.335, 1.8144, -0.1929, -0.0708, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7618, 1.1431, -0.2543, -0.5438, -0.4553, 0.0443, 0.5388, 1.9301, 0.8925, 0.2714, -0.0261, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.405 left_y=-0.2111 left_z=0.1086 left_yaw=0.0004 left_pitch=-0.1469 left_roll=0.0816 left_gripper=0.0443 right_x=0.3965 right_y=0.2466 right_z=0.0078 right_yaw=0.595 right_pitch=-0.2049 right_roll=-0.0413 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9368, 6.3795, 1.3553, -0.2418, -0.0366, -0.0171, 0.1983, -9.4838, 5.6684, 2.0684, 0.0757, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48463467681d5b39ff69ae111d17281502258df34aab5cc76438b33d3f5d7218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4750c3453ef15bd78850e95e853992df684ed9c643b684b8f2771d28a8b9825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c376db23a7e09e87b80b13ce13c9fac489b7103b6cc07742ff93ec9127297291",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEE0G9_QP4chDQ51eb_U0rYge9esnBQjxdJdgxQQWK6oK7fyAfRYICeu1NRX2hGZamFRBYmDTqwJyetRei3B_7ogUZuY2-8-Q29DpOui948dmVzzM75OmF0hLNVEqryrb3kyITDH2dQjvvx8QyVPAJsXZFnWguhVc2iM8GEGtvqxr0UXKrp6vh6Gii3q7V4-IViO40WH5gBdQyFEGEPytawKq83q9tav18Ygw6mxw_K8zF89SkhGX6RZIr7UL0QXIiwjDOFC5n8qtw45eWKxLtpmZhCPHTgSTdc7jMmWu01mvyfMVZKCrfl8j-RRHY9Sy8t8CFBRTONwlpLNMXxvhNwg8uFOelK1qgxheBD1Et31I362RbcfbVvTpSJzmP4ftqjh-xqcfEcTqERpbuJwSt4d2iPbPSEeNnFXSZC5oRteaYq0UJ9GiXO8h2dMmOpLM_pYs-BbERgVzSQXvZk-ogZkHTekgjXjWj_BMnQqz6ohcw1PN3VMvCVqk7eSSYbqEpDnS6oNxNeouoClGUNGapgpTs0fZFXQ-75l7Yy0AjlYgeqxC9RiibGnMEk_Zkrr3aQuxgzwMioZu3U-0b_RHRZHdzLJv5qfMs13kLXs0WtvL8ED6XoIPGh0iSKokXSR0Y3wsqU1PUFAByIxt9kVf6rLMMF_j75s7LyCUHq5_XexkvBfX2INIQDmx8s1A1Yf4oPrHaOsJEVIdBPcjx36Ia7k_r8W7FTcPleiW90JWU5aCAgrQSdWyMVgRtLRWPN2IAfgUk3DtbxMuewtJsmb0KNCWdptS1cd-XsvXXsW57p45w5yl5AAaJBwcQ1MZ6loCLUymNb1S4hLEtXryZSGs5YWBt9FhCPuY4KzI3NjL30FkP4zwOpgthuAWTVG63_IZMneEoFDE4FUtQbWndfhCnOeHcfoo9mfRYoMkCjBNDDLkuSav_S7Andvh_gbXlpw_TQZRkYVNotSgZwZyfNpswrfdgUKr3gCV4Bug6Oz9je2JzIEDi31zv3n1csdBHsV6GemWYVhu2-9bSg9WQYIkL-9WO_Ykg7pAUG-y12SvF6lY3YGBUZI8owofdjTTUoOvOG6cExJPee6aL6ajE80b-xQkS4C364vlNyo_cIXg8b7cmIKrExfbLUVBP1GgPB-_5fh87sDAWar0cFhhYplqQAIdW43w-vk4-dUxDES_m2kYd0=",
  "id": "rs_044f3fcb6c721bad016ab44133cbec87d09ac76aaaaf8c1cd8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The centered pen remains between the right jaws at table height. I’m closing fully to secure the pen across its narrow barrel.\"}",
  "call_id": "call_8Z99oXkeKpA6Yi6W6GpvTcoP",
  "id": "fc_044f3fcb6c721bad016ab44133d59087d0943570b4cc1a041a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Z99oXkeKpA6Yi6W6GpvTcoP",
  "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]: [-0.6899, 1.7626, 1.1431, -0.255, -0.5434, -0.4553, 0.0442, 0.5388, 1.9423, 0.8841, 0.2962, -0.0303, -0.0834, 0.0447]\nstate[eef_state]: left_x=0.4049 left_y=-0.211 left_z=0.1081 left_yaw=0.0003 left_pitch=-0.1483 left_roll=0.0823 left_gripper=0.0442 right_x=0.3961 right_y=0.2472 right_z=0.0038 right_yaw=0.6002 right_pitch=-0.2006 right_roll=-0.0409 right_gripper=0.0447\nstate[joint_eff]: [-0.3487, -8.9504, 6.694, 1.3797, -0.2613, -0.0513, -0.0171, -0.3624, -10.0991, 6.4615, 1.2821, -0.0073, 0.0171, 1.2332]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffa0c67b39e33958496ba0a245c39b226a7c44723c6c2ba0aeec49ec66cd61f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a64cba2be3ec4aba8c285f8b8ee34b91e0fd47c6becedff9cee760655838792",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e40770ee2a003296cfad746d0fd1f7d6779ae30eaa602b7c7e6a0e67a5e675c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 14.32 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7611, 1.1431, -0.2512, -0.5442, -0.4557, 0.0442, 0.6506, 1.5917, 0.9817, -0.1463, 0.485, 0.3561, 0.9993]\nstate[eef_state]: left_x=0.4054 left_y=-0.2113 left_z=0.1094 left_yaw=0.0006 left_pitch=-0.1438 left_roll=0.0791 left_gripper=0.0442 right_x=0.3862 right_y=0.195 right_z=0.1296 right_yaw=0.0448 right_pitch=-0.0914 right_roll=-0.0461 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.9641, 6.7214, 1.4188, -0.315, -0.0171, -0.0171, 0.0068, -7.6513, 8.9915, 1.7607, 0.4713, 0.3248, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7618, 1.1431, -0.2543, -0.5438, -0.4553, 0.0443, 0.5388, 1.9301, 0.8925, 0.2714, -0.0261, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.405 left_y=-0.2111 left_z=0.1086 left_yaw=0.0004 left_pitch=-0.1469 left_roll=0.0816 left_gripper=0.0443 right_x=0.3965 right_y=0.2466 right_z=0.0078 right_yaw=0.595 right_pitch=-0.2049 right_roll=-0.0413 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9368, 6.3795, 1.3553, -0.2418, -0.0366, -0.0171, 0.1983, -9.4838, 5.6684, 2.0684, 0.0757, 0.1294, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.255, -0.5434, -0.4553, 0.0442, 0.5388, 1.9423, 0.8841, 0.2962, -0.0303, -0.0834, 0.0447]\nstate[eef_state]: left_x=0.4049 left_y=-0.211 left_z=0.1081 left_yaw=0.0003 left_pitch=-0.1483 left_roll=0.0823 left_gripper=0.0442 right_x=0.3961 right_y=0.2472 right_z=0.0038 right_yaw=0.6002 right_pitch=-0.2006 right_roll=-0.0409 right_gripper=0.0447\nstate[joint_eff]: [-0.3487, -8.9504, 6.694, 1.3797, -0.2613, -0.0513, -0.0171, -0.3624, -10.0991, 6.4615, 1.2821, -0.0073, 0.0171, 1.2332]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffa0c67b39e33958496ba0a245c39b226a7c44723c6c2ba0aeec49ec66cd61f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a64cba2be3ec4aba8c285f8b8ee34b91e0fd47c6becedff9cee760655838792",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e40770ee2a003296cfad746d0fd1f7d6779ae30eaa602b7c7e6a0e67a5e675c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEE3cTGNru1ISHMGxGIEQIbP9BSokxEaoxo0TehbqvuSCz0lJrV20buTjxdmiHWtJkzO-tSt1mZ5cmQjiiGHUphEStUHEpTknFr8ZtxCoCvCp9ONm81GqdVQkuGCItznLHDRuPYgMJjQ-fUx0Wns6fshvJxr1TQ9VyUUy4mMm_WO0X-SwjLSdwLonVQioMRZf-0Z0Q0JJRssSusTcDORFdslCU2D-CIoWaqxEGO_RXX9g-LXbGv2FonvWUBKcX5jI04J2jZkNMHFvwmSLVXVQob57LcmeRSCp_8fSyViFH3fmmsH5zHoYZIg9Ebg-rey_MDaqpjaxiApRQPMY_ohb5N3B5cKmm31ud-FKcqW3eAkPfk94w1rZ-6YR8OkDxn4Ncs3m88SzSZSR-2uyQVFahBIF8gZiK-VEVrbKmq5CCp7pJMjNkE1pUSn51f_j2XmJR1qpgqsxOqi-Ih9-Zbbkyhq1d4EtpTyqfP311h5VtsrXVNRfSebwnNdIKD_Y_KBe4zOuHDtJs5MLjDUsjk1gtIB65EmjxzHY7SegywKRqFn_4ZiLycODZiMSbISxcPK5WtLpx1fgayUgQMw7v4A9w6kihgYBXPqgh9muVPqZeZ0n9a-JbUPSdXbem_kWreoX_WFJ-ftpKpdZ9g-IKm-QSLgVztrDhgH9kxZeejp4-mcDsGB20FTBT3AxQ5SDOpXrE4lcd-fVE64S6p_7Ntrz5kU8omEnTHk8sFy9axEB0PCe59-0naigTHehfbOKm8qw7Svo7PW7ovkFLGUGHPvbV3D7hbMBTK2RIa1tkB8Db0K8zIBysMfqvGUom0W1Cqn1dag9pN8mAsXrwwG3NKMiC70tCLqJo-T1VoinR_rJS7h3WYVTH-kOeK52kLWbhNZ_q5lOrYE6RoR634sQa4UT-f2mC3wywjNaDZ4iTkaB8wrL8iFv96N5y8l0k7X_hrJ8avNEe3dQNG7h8iYuhi-orUn85oEbO2kmN8sRsgy39KBHYy4078575_V87g6P-8Sh_Lu7ORBSFZW2e9BOn2GjVPFMi0liDmGP1Ie1z-IHkU-PI7yU5eYxHNqEcJfxSfBYhSJb8RXzpBOHnKrSzp9krRV56ZVOOFfB-6o3frF1edlppN_71QnR4xY3hmMxmdUpjEFRzpsddwi6yZVFuyn9TfBN7_mVltG4xVGxbyk9p9LYRgQkveQZnFPNOzKt5ucv2SLz2tqLKw1GIT9Vr6qdEJu7uugKF9TQo1BP34ms1ptcwhnrlJEy7uHZrfp2z0_vcBwbapYiW_EQcLOaRBW8i_iXyfoRGgWUALFbdHhjJJR0_U=",
  "id": "rs_044f3fcb6c721bad016ab44136966887d096a7ff4dba5bcf6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper settled at 0.045, consistent with the pen’s slim barrel rather than an empty close. I’m lifting the pen clear of the table to verify both objects are now held.\"}",
  "call_id": "call_Red0fGkkBeOcnnrsivOt4M3W",
  "id": "fc_044f3fcb6c721bad016ab441370d4087d08a03712cb9e44aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Red0fGkkBeOcnnrsivOt4M3W",
  "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]: [-0.6899, 1.7626, 1.1431, -0.2554, -0.5438, -0.4549, 0.0442, 0.5388, 1.6993, 1.1488, -0.2504, -0.0315, -0.0902, 0.0484]\nstate[eef_state]: left_x=0.4049 left_y=-0.2109 left_z=0.1081 left_yaw=0.0004 left_pitch=-0.1484 left_roll=0.0831 left_gripper=0.0442 right_x=0.3951 right_y=0.2468 right_z=0.1199 right_yaw=0.6055 right_pitch=-0.2394 right_roll=-0.0425 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -8.8684, 6.3932, 1.3553, -0.2808, -0.0513, -0.0073, -0.3624, -11.4667, 9.2923, 1.6386, -0.0122, 0.1001, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2718d29e2cddc8a254240b17b8e9c59cfd06f92b27717a1dff119cdc7b92cea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e8959355fbdf9e5ebc1e1a6b226dc6fa3f7f345771a3f16cede51db4b52fb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e531b9783fb23bce894f7ba71683389c4a6349f8e44398cc5fad831b663798f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.548 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7611, 1.1431, -0.2523, -0.5438, -0.4553, 0.0443, 0.5434, 1.7962, 0.9657, 0.112, -0.0067, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.4053 left_y=-0.2113 left_z=0.1092 left_yaw=0.0002 left_pitch=-0.1449 left_roll=0.0799 left_gripper=0.0443 right_x=0.4036 right_y=0.2494 right_z=0.0667 right_yaw=0.5721 right_pitch=-0.1575 right_roll=-0.0425 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -8.8684, 6.5162, 1.3211, -0.2857, -0.0269, -0.0073, -0.5675, -8.5949, 8.335, 1.8144, -0.1929, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.255, -0.5434, -0.4553, 0.0442, 0.5388, 1.9423, 0.8841, 0.2962, -0.0303, -0.0834, 0.0447]\nstate[eef_state]: left_x=0.4049 left_y=-0.211 left_z=0.1081 left_yaw=0.0003 left_pitch=-0.1483 left_roll=0.0823 left_gripper=0.0442 right_x=0.3961 right_y=0.2472 right_z=0.0038 right_yaw=0.6002 right_pitch=-0.2006 right_roll=-0.0409 right_gripper=0.0447\nstate[joint_eff]: [-0.3487, -8.9504, 6.694, 1.3797, -0.2613, -0.0513, -0.0171, -0.3624, -10.0991, 6.4615, 1.2821, -0.0073, 0.0171, 1.2332]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.2554, -0.5438, -0.4549, 0.0442, 0.5388, 1.6993, 1.1488, -0.2504, -0.0315, -0.0902, 0.0484]\nstate[eef_state]: left_x=0.4049 left_y=-0.2109 left_z=0.1081 left_yaw=0.0004 left_pitch=-0.1484 left_roll=0.0831 left_gripper=0.0442 right_x=0.3951 right_y=0.2468 right_z=0.1199 right_yaw=0.6055 right_pitch=-0.2394 right_roll=-0.0425 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -8.8684, 6.3932, 1.3553, -0.2808, -0.0513, -0.0073, -0.3624, -11.4667, 9.2923, 1.6386, -0.0122, 0.1001, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2718d29e2cddc8a254240b17b8e9c59cfd06f92b27717a1dff119cdc7b92cea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e8959355fbdf9e5ebc1e1a6b226dc6fa3f7f345771a3f16cede51db4b52fb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e531b9783fb23bce894f7ba71683389c4a6349f8e44398cc5fad831b663798f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFHx4k2bUvTmky96kHOooS5bqiRGNQzGGSlB8n-Y4bMWd3f6rUyPLd7ofj6oocd6RhiyJVlmY6nRxDDgxub2QVS8z0L4ihOV65nA9xPCLdZToIP5FHmxikQiMnUxSSzAhSpippws0O4E0bxBn8Vncx9F5Q47xUKArZ8UAmHZ7swYv26cGF4pkSwZ6k2q3zpwmQIDbGEVjS5sZHevwPwvKYtiQp4NtSGrBQvMTRDIczmYL4K5XzqGUi6hTWmDVnBDsJ24yyTmBZfk7eEKjb2v1CLNWSg-hYI47CE2N2WoFH5i2fgypnIFeYyydpGBO1i1k-SowHOxyictPHEP1xvQOjsWYbvrAzMzSnjOpXXtuowocq3cjNBx_DFf_sRy-GSztyGRss4FyCHuXypoMLid-9bytl_ZbiPJivOMWwpCXsTTCTFRI1i9QDQNoo_kXL3lFCDEaPWc9-6RYaBAivYx_Qt6-NJRIBavrKA8p_qhTjW4J7wyjRnIw9fMhkxMnYqeFcqq3H0Hi-zJPgO1kCBMAHw5tYa9YJxDIyQrDsLttMl6EZ_zQHt1o63Z_edMn5kBC3IYxQzxulkSsy-QbQypFzss_GGaed3zyWMjR3OPxXVWzMeVdH3-OoT-zqZ_bxFW7HJ3SYIZqBpam4wS1JcTqWf-Fp2OlYIUZiJ_Wo2eFVt38sby5xlcvCxu3LpSr2fwLH5c-ZDc_-VAZUSa5IWdJPFZwcad-earF_KgGpxftflx5KAFXC8SQ8C5xOLTC279kdfKSPSq2_jmcHKa-yHETJKdMPaI5FD3B0AZLX_wgNClrgkEColYta1TdHNkMty9SAi17VQZRPJxepT2ng--ZKy7Uzvk4JJhcUv3lrbu_vUgNKDEEkujRsV-KFF7zCduRgt3JlNyppeztkpJDNO_orbFhMLASXzku_do5axSo-MvtMQqZGshwVDpz9EwIhNchGvX25z_Nnd_f7Jln35PxQJ0NOhL2MHgo8asqRFutJdD6c7kq2P6lbcAi6lDYT82NXb1iJjRbD-tShG2FMGUSpe2t23DOPCjS6Il-5TOfgPBF6v-zjIhZGDRwJb0To1aPZ0i4K_bNkMkfvHSt6zZt2i3mdH3m46waT0j6h24ZFidvmtlzC4W8YZTJ5161MUT7lt2ljX-ONFOuyaq1D5FjCJhU_XKulFY9L9u0Qq86R333eQqcJnsFiCzyQGgLBSYoqRCtPxUA2Pma4WJF5W6ztrvVK-CzLVfAnnzoqlNMwPbCa484e-Qm4NvPwx_P8qLbx2t4Msx6m92wkshJcR0NvLdiEwhlhGCNwI9Tzj17bZrOM4XNfpXmL0G88xQ1Skp5baq8sRvXz2SGm3IqSWuTRH7PkS0PyG2cPCT1xLWcHP6wz-KDzaOxkPbw-YdrL9XDwPcaJ-8thGPt9pSpITCvZVeQAVERm9eJauTKZoRI9CapZ5wOP9tIkFPQSab9nuTGXAXN88iceRHVfbgVB7CstQNS9SkpZ3GiCkPKiIZJZ2dV-D__8hHGc2ZXfb74kQTMNLI8H_p4d0IlR6a1Vov0Bu4S7BiiTFZehiq6LTWRDpau0eTr1QvotLCPSbqxvYNgzFb_rwC78nBxmdM2Jnhs1ZHfkWKa7iOSkhuO05kS3ci7U9Qv-t3DHMEVK3AmwyZPtnqs5n0ne3FousfoqxjbDiqKv5UC9X_C95h2WLQFjMWaQSMmUprMIIbwrpb6wVemRYIqcDVVDA0r_A6QW5oH7ZeQS-0otEomosdk9-XgpJMxQ8tZw1huhluVLdphhwfx7_DIevUQ5GOzg1cEMOUTwvNOTvkXQd9EKUwB-MJK_DBLEk0wBnqPH2gShyZByXUgIoJfFWgONqceJt1ABqjzKh26sqplcwUkVtMWe5K8N_HrbqEieDEDhPrUz0VUQB6xcYEI6LTnvK--02p7VAW9wPNbHD8stqK1GVqUSXqAW93cLRThK_KIJm7McFr2VJhDPpKmydLr0qWpnd3SDblkESEniJfArFiPmZ1ntUXdfnv9Sgz9IcoWUz9H-z_uTVHJQ1UVsSgaL25PzxexKHOFMsbGK_YebllKV77HnyPaSdCnqVz-Tf-w_J48AR5vRz4CajwhgLAZA3oN0mUCTj5shu1wKBjHtHAvytzB5HpzHQ_J8yb0b-zOr91Trqk_DvIY-2pYsnz5FHbZGmGPsEI9-gVq3cdIi0QyxUecm4D9ReBnu2qYDT1S-jebaDiPAB3PgKLcyroDfletN01ei2pQknuG4SOLlgS-q4bdJdm6VOxg9neD8Nte8HZosFG5OnHLVQeSx3NnpQcJ1YtDnVg48Kclim5ezQ23hzKUsITWuRqloTEYfi3VMjMU5hvbLNpSD-nD5ftklWcWqwvHkB3CLdfioh610ioHtuQD2Vqbo1-1CRDERBI-5DfP4BLOn8ImvP1HpAzSmLPH1DRly-fR4Yu5UfK--1hNl2LIk1AbrlH0LJI5HQCKRyPKCgmnC98u3TeiVAuPHe210nZG-wm155rBRNl3hR-bhzDBrbfEcdaiJD3apfq-mz6ginA-wvfB09t_bL4k9Xl5AFvFPkQSUhAPMpBxZyN_ypMr86mY-FGKM_RL8ECGQF3OXgjLsyb5iNYOVYnXVl_cde8qkQxM0qND7Ns6F93LPXL2IGjPboaL-tfOiQY4nlIq9_7Kgmkwr-skunXJfv0KBYc70lfYOl8IQ6JLNhSXG3vvRic-hgIF6G9mHL3rdfPgIfmqx8TctxFCfg-EXSBhz77l4K_fWJ6san517y_4-V4qrkmvVSs6JFSMKAQeOH_2eps9p5K3UUii8WfNVtJuvMdp6Sb_SUQK5b8jn59qUTluoYfVepYOX3CY2UOAtMfLyDYFd9OpstOg2-gGKeFie_0DJkgTVZ3wExaMWHEwfjEqp0CAGcAPy6_A-sAt7woDXrdA9CAvaQGEyx91MQJRpi28bpUkyPviY6y3jBFrTjUTYBhReVwz38z7DwtpAXiw5Z4iMqRH1slRRP68QNA0wa6e7WQVMomu9aS9HzqhfkFvIE_7h7IzfhuRFNNbuN1bWnMRjd60Iap7UsD2R6vlyCfwDj7TniJvuYcfz-a_wkY2scESquDbUbjbVwImCu58FxsEsVLtRqkBQGDfhgTLSgxXmmUy5gfo073BSqq0dGXkQz8LJEeyifLe-K_Xo3WxzVWYFa3tDxNtC2EXk8r5b1QZHmpkOtfpS_Kp31IPeohWmKs97qg35g-h1-wQl-Kl2x5s_VaINJfOusVDSdmudGDX_y5IkkwUqUNLdYYSSXPXcnmMCJs9eKJVD0b6R0aldXVmmX6g9NOIiqF7CeeLa85n6iEfN9kipYo2lv6JOott8_hUKnAPS9KMaP5A-E2poK6EKwZKDsJZXCq9mIipmWDoqxCqgg-3Qp8rqBHgjEwoeqFd4EjFdbGfxOrvQiK8cNmiZP3UTZffuBpA8u2-ktSUVwa4e5C_3erVWwK6ByhV0X5NZGEB5RmuQezAj8xO-I3PHEKTBTGi2C50jlpi_lWSz2LO5aLMe4OJJtDFJ3wbjuT7rPRK0rJwdTvVWBfqH3GYHN-u_SFWVM-uRp5SKjcG91XooH55Wocpdq5HDtY_SYga7EiMu_RrdADaUwgNKTKlIyVacBz-tiqLTlNL0QmRJKH2aF3bpAexzGjGDIecxqQiHBfS3XuV2ehSxr88HFHrmy7f42ET7vgA5pMYqt2lzYoXCN0MAykY32Zb_oEYpwsNk2GnLQ-_zKpoir1MY7Pdalz1tdcdWUbMnBNHa03syd0jKBgk0qgXYvbXx1H2sBQcLoiPYZEHoNVmE9krjJ_1NmAN2KopDqTqnTpZS4OJ8lL4wI3-X7cjMLJVBQtcZGqXuUqVUYU_FuQl_P9RJrJTCozEcKXdvxwj5CVfdcIufsV-hg1E7XjnofixPUrABJRP-2ASJREC7arUgbaAroOfBhlDFHpiYKMRz04DTeIi08jaR_UYpBOI97k3zgrM9Wpt2PGLI6s4cw_zuEtQJStwJdH-f1iQNvXTLWroEdBYtroUQZtVqkeSqZeLYwoRuBxZA7N3RWWCk2lcPQ38DzNLCZJ6thBm2nbnasi3T5kNqMJDd3vBoiHzRrI8fSZgG_T0VEHIWerh7pgLRnItutJiDweD2Y4Ofj-CcYEHpxHs6O0WGcimSnbCMjEBPD3XIZFbCmK4h1bIOrtgt06PA8pVoRrnmJacX0kEoT6-lXrIRUQ_LHTKp0gLNj6avtEkgWvVHP0jvpSwhb5pFQomK9gw-0Fyw2Rbhfl0BGrcp1KAUJDqFXMQ==",
  "id": "rs_044f3fcb6c721bad016ab44139c98887d085d7464feeefa728",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFHdTyFg7P_tcKg5MccZd0GmZ3xBQEophftF3FwSn_1dz1hR2REcFczcJQm5RRCQEBs8ZHW0JjxgQ5TPoP-W5xRz_54KXZlJ85V3zTCLXadaaIAFwZVqCIi_w6BDm-gxG-jXykJ7bkJCthrUKTNMWSu-gzJT7fUC6YAj03cr7BznKY7-i4kMLYgCkWHn9RogzgJPM5Gobz7fgKPu6sDq57-t-MPQpOwne1c4VCzsrDlJtjWA7jTWKx_S0sl5jkYwidwRBK7NBgQzFB7zfgnvgMC-EqZjUwWxpYxJG8RK04XPLZvTbiJvC1l1V4HrNoS0tbbFvuBSMsZzM1LjdfgKDtVSNhmS091T7SlcSTwY8Wvxeo0Tmd7h5z_iEEwJpnoi57cCiehRd6wwDnZuEGMifPzPdrga3lxc9ra0J0aF5Gh7EikVQnWrYowkTk9AZ6B_FzTB86o4q3oQYuoJJvY6wmzgDxd3r4HN5v9WKXpMjWqx5ZgAN26bGSQNE84g9Hth_3jfu2W07dyPGURq11BN47nNbeVP256Zw6KaQmi8v13YV2WAY7cd7f4LdSIO-fHoPmYdHhwy8v5W0d4PQcTD6GoE8Q684px0HoMaiRsDKTt67PL5MIIutVP91yYPrdgHXJfBeKzWinwD1d3F_AkWCoNCeZ8kBk4bweao3WFd2a3Ry7ZDhGaKS4jazZhAdAQgTG00R2NNfZCq1RQGEozj93tqTTmQfQxcOGoyX-OEYc9gPpbxStUhpD6o-Lo2QV8Z_79q2WxXEeOktxNwgw_sVXQ69ZD7j_MpdRfi9Qtbg-t0sqtvbQeXOoT-2oyGXcwJ1vEDGLgIWo7horUO--_lRehYvW9frD0OC0MTFI-tQvPJiyz4rkMcrbXGmrlDEOOjW7SF36JqE6J5p2jGXZsmx5crD1WAUkbakbGJogPcVxA-hQVe-kop-h11FNfnBwo148Mutg4WB0Wn5LtMcZpIXZEO3ffLQS0s5tKMiR08PRqFGzm2rBEpX81cSJUrWqM6YgkBDedihhYevwjqD2i1RANEzPA6r3LhTqO6T2q0YxurugEooliqOtofiY47n-6XE3Emu14CgH8YWbZ5YVwebztBfi1AM9yATXa7zH-kCqthlh2RDUY-yubNzWNLt_xlRawYjYbtKw8FzRBNA7e00022JU8jZ1vBqcSr06Ffu3l-hEykQRWKxgXAMS5_NubG6Ox2gTa6EwMa3dsQ3PRVYh07C3xTmGp3Hdbt9ldPyE3ulIfLDskRxqTNK06puz0J69RPdp35wxR641AV13w39udpCKJzNoYiJJqj6Y-wWKCjimt8j7pS2neIeE-gwHkzelBe045SKvLiy28dwWdcEScMMIUpXLxOHbLrWvAOh2yQz9D90-seeQVQWz3YF0A_Is1mkAf19xh1v1nUpEMMBN8n99-4Mr23_jyIQ9A6POvctUEVg5zuqxYlhDFENUMAwwF_LFKYiNCCY-bbgBIxa0f3lf6yq0Y0HD5oZvAUTQFtmKE-0S3Cg32MouXEFjvh-eeWt1pTi87wnVCfaZ7L2tg_9v8W3Y34Tp30WIUVeGWTNCNoGDbPHxlsTlDZ2nvyF_REYPrTjXh3OTvaZ2gPDbGc2OC9rwm4RsaARlmI5our4_FnDhaJDD_5WNO_BMDJheFYzq2KFhb60yT0mE4ZuaPm4p0Gv_XwGrLgR-mQdLR_t6_wC69vIhWzl-gfKE8cPctXvDs6gvoa-u7G894gASIzbtpoz_AfY7PqOx-RwvVovRqIfcciErH4V5sSAbNp94mHrjduNzvcRFqAUMyq3Ao7inlqmIaVopjM7V_ouXYYJ0nrM8_mT70ZKy1RywhgDhvKz4rQ7FNN4dVK9nVtYnoRZKNkvPm4u4_SRFHLyzTjG5pPELjXcjaJgRaCNXOF9Vfyme5EUvA5DYUu5dHtztnARhUqi6_tyPRp64GhU08ySsspQB0vzJt9VW4gaz_62MA6JLL_182ta4JWx5iBGFqN2Um6Wr6jMczaSdXSpZh-PRIrOZCf6n5ajYm_W5Bn4BG-rxRQfK3Ighd_R4yllHWffqdAvvhoCNTUH5UxuapeC7_eO45VI-kTaOSc2xdfsNZI-2A1neMctWL9J4hythPM8WViEPd7VoXIKy5f_Ok-3KhvZhpJaRtoP-r53A0dpXeoyA9B2tHFttjNP3lJg1u2SzWB1Ld5EmmeF7Njn9Lbb6RJhFdlAnwm43-DFJhlP7pdrJEtE4Reu9HpfDDk9TXwQJEvKPTNzlRZVnV8rZTw1uFSDnk7IsoU6ZELwFRk_XNi0Dqc_RVZophiU5TOYcDENDuZ6SLekVgZwS3SrflRxEdT5hA02G2BDY1YwK5GgBx_qIk7niusV3XQb8_ZiRekzPSPP6Vj4wFbYSKbsjPur_gjJ0W7iZyroD9AoyiIDQJubHXeqGhHIddn-6bHJiA7iAPLb9BM0u8nTCDm0OkUc8sqpLUlX3SBV2SVpZIpxELzufd3PnmnHL_Or7ZZJInBNtGz7sMezAOqosYSjF_RgKxWN-S8YeLM4H2v4i732g28Ikng-30z9x2-MwPT-xpqcZ5zJ2jiq0sLkyIVmnD2dayAnNX4WdQ7D0IlqLlrpoqIKVriI7-xEQUAo3NX33CH5034x6OW-aNvIBeWw8nrZ3tGMrKu5Dbk2APYrkwlfWUQfmYaawu7p90YIjB7cnKz6Yz1SDwqTD8IiGWGWK0WocbRDQKcRssEiZHEILNutp9h71P1dfMLO7zb6NUMKROumYO_k-0EYCVKMwCLSZGjUk1WCbmCxMPPX-ThIXFe6zpL5vXEfWOyULVjDjEkZWCRiNrzTv-oBv5iv14428K1-3xdw2xIQ_Oy-_pVfjOxA4m6QVD3DEn9-dACgwW61NKQIeHJniOOC2W9A2AZpqGonrBmieWUuzS0FPmEWGS-orqvsjdvMXVWfpDaAxCcqhBYDRgt7w3Es8zn_wapfPGGqNLlYB9iKwV_6aOqy5MhNIjyqfkvtCilPC2nvUjqKeBU1de_v6GQi1bBB6Z6LaT5-TatarwcALoKrSHY-n2ely_-xILQ4YTa6WcIfY3xqy3rFEDGlkTNwi0A38EUZY8fkLmXdS0gnm0MFSsKdKJRIvyqhY546Cd-nSyv7iD4e018Z4vZs1iHJne2hig9DkgTg0YZ1490bRGp-YDTYPgScGhdtf4QmcdKIEE72E1ss5ZHf5F2Jw5mBeTSWNqm4gRIKquk-JdT3x3BdsNQfCUnULux3AY2T_XRKt9kaKr-TADW_tboqv2twxZIB5PlHkzWbmXECyHUPfrNoCkvIR67uOdv6CUXTZop5mLyGu2nVw00DFO-ugERpoDiykFgVqCYbm_SCOECd1BaCYzcH-cpnDMY7Coqh4DCGcl4Si47HWUyZufCTW4NLckgdOgVI53JFMtLWzBFNGLo1CVjihMZFOEMkUZHszga7f8wY1gcIQBnQ-CXknMuFlwSBzSKz-_gQOYkIGuzz6aya2-WXbsWrcv_na-8E3kvqHFTI2XN6jq8XmilR1U16IfhRJXFG6xKPLy6BF5f38qNRj2HY-JUuXcLzd8kV49ScUDHmCoTRlXeeKX3HK6_n3ASHffj6mUxD2KJWBtBbhOsjyzmfm620AeG1bPIvO_ob50JDb2Fbc7Ml7Ox5KGKtJfTpkQE0eBbVIxKMgCrqmzzZtpMYo0bzMeEwNTM_kXNeQJQKmN5o90EfDb6CfRyxq3MviiZVZ30iAPgU2rp-78dwBa_jjw2DQ4wWPF8-EBFq63tjphevfKojmR3KROPW7lT_8SvDcosBp2q67ZMwJeWm7_AfB2_yzE-LIRzWksunT9lr6cnK0UzMDD3xZhpa-XCUxL_3FAEM4=",
  "id": "rs_044f3fcb6c721bad016ab4413ec85087d0a6b9b985dfddbec9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFHXNnZOkMXe-fLZYekdR0MFB0NNNmNP8KIT02sDr0jf1y_Cto5wjbunoPSX1IZk3mF88pbMAtVhinc7hXTBBzRS1osbQApkI2SINrVUiayAtkVDpgWzCd9CokJyKMMKtZ3Wdhohmrzs50vrcPh1l_qU2n0DLKTlZ2oubR2PVKiXjq535SEYNEO4P9N7g6SLOISHEzJBhCtfaAMpey5zWOCSVb3GM6l_EyolK2KNDb4aPh-yICjqrLuxRkFjVOYx-wTAsTQ2iMMQ96VGM36PKuVU9qP1Ij7WA8DjBy-jVE54FDEvXycuSz3OfCKrr6ecnHIoSj4IiwNNpcCiqIYTBnDaJFAf_tg2upGcC3qirK1_cJYddcwjrxcXz9M1Ur2j0N2s_Iorh1WHk426SQUJPaBuV7aeNDoud2cLRMyipdQLIV3pYdXdU4RqAz8PcPE6P8XkZH9rzR7vpIZQj6Ck6Y836SNq3N5K_MNqF6j_FZCsQrJ3A6-pFmCShnSPhfFD5FKVdjmD2CG27sEmfsKXvl-KlzJAZBEmVh3AerfzUPsbJweBASwI9vLD3vYMYOA1gj-zbaXvgSEdMKM2Mx3QJzkq7ThwpauflyNRzt2gIh3x0vG_Gf5JDEUkUsxnh23FqVrB9xiRMOowYdwgmvuG3sWTRFNmXHna25VmIoiOmBVep7kl6KRjyjvUiRQMjvL9XieCQkasPypGy_URgJaprthfBLIvU295H8mTBK-0F1HXoDaIZ7XP-CFVI9rt8nS0RVZzEEDqahO-N5NewPSr4Og60ypDLSZD4tdhFsSGoQ6n1FNy0XJgRCQZk9dZyMqoTkixrhIAPW95y6T7OWk4CDNpFlumRbq37ZmHZa5KoYNRYeoyUVhSYoyk5GQ1MSQesgLjn7Dr2j4Gnt4uqhy5mbnGni4r714v3iNSpERBpYmFgPKTF8mse3ZOVcxp77l27DzMDWLxSNQ1mc2kzKtYxiJHx9yyUsD6wbDSPsQJeXl1AA_teRmPHLwHDfSZbl0_Racnu5sKrASleXAbFYHunEMrbsWTwpPql3ttP-0pqw9OVoP1WYZdzx91m67AyPd4rvJcmpfeeuBQQUp-QRTRwQw8xRiyIvF5on8bFpgttGL2h0r4VegbTGvtGTrQVwI2fFaFTcAzt25_Tcrrc1GHnX0WrVdH1iU7mor3ApfwcfszbqcJpMlu-C_7pPOliKwcn4iUWpSy7-3RjPSNm4yd2xu2BDQhBrBqhfm1pXS30UpW_VgbFLMg6ucCFn03mtEBjPfhx33PtmjdiRjSkbc4WijTfsUXiEJeCDL7DIyC2afveH0TBhImg7JXrtkRmiqH3rRiKa9alt_tJt3MJ1FEoInrpxXG15ZMp0N0HJ4KRdeKmeJTowGP1r5f2cemfR1_IMEUBgDeEAa0D-3J4EtrBf-bVCNp8Fo3juKOcTXjqUTofcbFr-kMn2HnXMh_JBdggQfxMRLghfcI2BeeFMT9OeAfUtVxtbgA16kkSCRaJTYKrqvOmyD5Jqgx1b4TwfwmAPsb8CXdY7y28YYd6x31rZoylSqteXWgKU4Ig2bgQf_CctHvpC9dWExjegjYA_vzn4sxM8RxpzZimOGbAU4CDeK6xXsq7OtbWMdYOao5ousB97djrg1fA0m_Qlo-oxh5FS8-_MPnAO4Syv-JPGMflWSIsj9oAHylk2V0rwqkAWkT0xaT88ObQIJqhubIBgxF6AVZwcI8BGxGYy0bUiY-jmGnhIaA0X65on6I9cMFkkTpELFVrlMxC60Bc4-oG7cKoAfMfx1BFI8Lpz6-2BfKSe8HdAqAYtf917Z5Qu1EbC1x0QCIDWnPUHg2trdCcrXMxURuRTfw2TrwaweT-fjEmpkKYbYnyaj590fQVcCKSB4N11nMVkx979yRJTRLo0z3YTrv0vXahrs9NM1yEhcNUEXiL4tIKqgJxlF1uIlUCf_JO5wBO94xPS7-SzVb0OMjJbKNkuyOY9XhqemSaRHET9EDVNbZhebxl0iVEUjBKsC2SAIG5snEhI_QMT9G56rbskh3QmiP4pPTXE3mXGaNDwEFNFtElRGddsHqGkrOOAljchy6mV_Xh1MzFfi1h2860pJgRLV284iVOFSRBdaJ_09mJvazIEHlbzZ61rGcrjWjueOOEyJkweLzjFHT_4YG48NyzZoezY2X8T_wxbZ5qbgFA==",
  "id": "rs_044f3fcb6c721bad016ab44144d15c87d093e9aec67843225d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.3,\"left_z\":0.18,\"left_yaw\":0.6,\"right_z\":0.18},\"note\":\"Both objects lifted with their grippers, and the pen’s exposed metal tip is visible from the left wrist side. I’m raising both to a common working height, rotating the cap parallel to the pen, and bringing it to a cautious pre-alignment point near the tip while keeping the grippers separated.\"}",
  "call_id": "call_ukrAzNoEurBFoMX31G54hNiF",
  "id": "fc_044f3fcb6c721bad016ab4414621c487d081505276a52cbc4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ukrAzNoEurBFoMX31G54hNiF",
  "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]: [-0.7902, 2.442, 2.4203, -1.4322, -0.8085, -1.2469, 0.0442, 0.3901, 1.6802, 1.2701, -0.5171, 0.0402, -0.0746, 0.053]\nstate[eef_state]: left_x=0.4385 left_y=-0.256 left_z=0.1461 left_yaw=0.5688 left_pitch=-0.1914 left_roll=0.1273 left_gripper=0.0442 right_x=0.4133 right_y=0.1661 right_z=0.1347 right_yaw=0.3854 right_pitch=-0.3669 right_roll=-0.0849 right_gripper=0.053\nstate[joint_eff]: [-5.1214, -11.3026, 7.8154, 1.1697, -0.8864, -0.1978, -0.0073, 11.6308, -10.3043, 12.465, 2.3321, -1.1844, -0.5739, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5eb705c5da84a73dc77211d8b2b80cd726111e9b8b1a97795961bd0b13bb3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5beae9f18b7f251d3d79c39b7dadcaabca3eb58814f2a4ea196b28628c36a2a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9050f3d142d9f0caf10f4f0b2fd6b97be7b9e048e208e458104b38720301c2ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 9.052 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 50 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7618, 1.1431, -0.2543, -0.5438, -0.4553, 0.0443, 0.5388, 1.9301, 0.8925, 0.2714, -0.0261, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.405 left_y=-0.2111 left_z=0.1086 left_yaw=0.0004 left_pitch=-0.1469 left_roll=0.0816 left_gripper=0.0443 right_x=0.3965 right_y=0.2466 right_z=0.0078 right_yaw=0.595 right_pitch=-0.2049 right_roll=-0.0413 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -8.9368, 6.3795, 1.3553, -0.2418, -0.0366, -0.0171, 0.1983, -9.4838, 5.6684, 2.0684, 0.0757, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.2554, -0.5438, -0.4549, 0.0442, 0.5388, 1.6993, 1.1488, -0.2504, -0.0315, -0.0902, 0.0484]\nstate[eef_state]: left_x=0.4049 left_y=-0.2109 left_z=0.1081 left_yaw=0.0004 left_pitch=-0.1484 left_roll=0.0831 left_gripper=0.0442 right_x=0.3951 right_y=0.2468 right_z=0.1199 right_yaw=0.6055 right_pitch=-0.2394 right_roll=-0.0425 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -8.8684, 6.3932, 1.3553, -0.2808, -0.0513, -0.0073, -0.3624, -11.4667, 9.2923, 1.6386, -0.0122, 0.1001, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7902, 2.442, 2.4203, -1.4322, -0.8085, -1.2469, 0.0442, 0.3901, 1.6802, 1.2701, -0.5171, 0.0402, -0.0746, 0.053]\nstate[eef_state]: left_x=0.4385 left_y=-0.256 left_z=0.1461 left_yaw=0.5688 left_pitch=-0.1914 left_roll=0.1273 left_gripper=0.0442 right_x=0.4133 right_y=0.1661 right_z=0.1347 right_yaw=0.3854 right_pitch=-0.3669 right_roll=-0.0849 right_gripper=0.053\nstate[joint_eff]: [-5.1214, -11.3026, 7.8154, 1.1697, -0.8864, -0.1978, -0.0073, 11.6308, -10.3043, 12.465, 2.3321, -1.1844, -0.5739, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5eb705c5da84a73dc77211d8b2b80cd726111e9b8b1a97795961bd0b13bb3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5beae9f18b7f251d3d79c39b7dadcaabca3eb58814f2a4ea196b28628c36a2a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9050f3d142d9f0caf10f4f0b2fd6b97be7b9e048e208e458104b38720301c2ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEFOc3dUOp4LEQfQ76ZyGswe_NEtxKfHASPbkTjX-CX_jfGrvwF1Sw2d9e0HKlDf8IzNcrWlzJkseKYVeuWGrA7RwAAwjisfODtoDML_QXGeMYsmTw_c1kN3QJ3bBqW_7xbil223b5pT0R29mMrE6EA6a66Qf-a2fUINhK3aH3RUHH5WlKaLahEiMnic20jxVC7k21pTxVc6Nw2bOcH23JMss3ffYXVqQO1JPz35fVrHTkXB_cbV1pkXpUGu63rtZaxCFjrFGP8YYph9PNjogaeXrPstPHYlPLyzIEypBi1u2gRHTehwgXeVZhkI0OCw7TIiF_9fFqGlxyiI9mgFs4xvkQ94HtceSAL4rXrgo8ZNoPJUKyu62aCENx9USecg-hhqd5sCkz19J3yoCphEILEvn0DkvItbQWC0IEyUlGhoLhLts3dcaLL4WQuZdvLXRdLuZiHA16h33NSQbml61RXlYiQ6Lba3pgvjvp-P1CTIaVFrSGFPVYGszDlNzKs5b1lgtJl_pwFkXcuyHoRlFyiVcWA-qPbOctTpHN3zR8Fg2d-Vb_fXm6GoTBfPKoMhJOhhH0vbHFal0ccmKIQuvjCT7YKU3paLY5lXhfT3dxyYorK42JWc1N6WWxjkoK1lC6eljjF3_4pNPl1wnWlwI1hueN4sEC9yBaECZkSminv7gAVEig7RvNsAFK7SEGMcgjkEq-pi_Ic5uO18STaBLQQJzcLo94HsFp-mTMvBVHi_1qzMG3m24tSqf9YraHkRvm5fXRAGywFx1HiusYAoHzvCeCun3eJhXJjeVVrtL702UeYyHc6gm1uXbZ0UYauxPEdIROalX6exdsV80JrmDksQ1OHkUCQMlSgGP_HdI3Kmfen9yq-Q2TmOLdlNcqYRwn6kuQ90LmK-1KRhHFQ0OxWxJZuPuin26S1Uv3aFA5SZuXeSPR8WOzka9MUSPLsJ3hujf9nAubPBzM-6p3vNE22gHndV0i6w9be7_c7ak3eIxs_HqY266xRYfo3tiuQvuxZjMdrHRrweoSP5lhuPJm_sfCVP7JojQPkOvUNNUwX6_DM93QdvzIBmH501b0WaMvna_NQSfziK1KmrEUQesf5hTCMb2M_ZtWKJ3s_IyOKjtSedSH9CdS6B1dnvQHc7qlraCE1g5ptf8_IoG2gO7OcjK-FSo8Q9VWPXJm7VIqe27yyJbS-cjqAmZk9H7DQFyCtkvicbdXVIBEWOzTXm0mu7r9yU-nL2GBssM3PNVs1lx1A3_6qIoibZIJNQBb6-T5JX-StzAag5b8jQ_3RnhfTmJYCqDt2ZKUb0Byl0mM8FMGwC2CzhwAVCXY40hfvD8fV-uTlbIbhAlVu-oX4-3LzkJKTIKnfp-pczUNhwclrva-JyjqNYTAXXnBtkAYQv5hpNbS6pirMGZso42dnMQ6p1j15vBWebWFvP1NvUTZex9mBmzu88mslc7g-dpoIuFypiQFAhFl3mmHpnHhVpwhsQfs-xFMGS86dDKPrAKYynZGlYPw6K7nHjaCQjdFcfUIhxtxlphM4ahw13NmnfHG8X0Zx2f-JIn4TNcjSvp3xWyfvmrFmN76XaQ1FAEH-VVxGoZ1iVK2fhQm0EB9Pcwt7b8keeWxnF0c8dK3lbelE0jd71HeXvadzxAmtWl4d9dJKqZK7az42fDS4P4wyks5YmxzDqblPK_uhAE1533nPlC_hc8_yTTH0MWLyXV43FYZ72qR14q3JCbhquEzIwtqaHHiwEr16exFDUZGo1mnavasxVl2qXMpPQy09k1pdS5rbtbOnBxw51waqgb9EELf5q0Cp1yzWmZquNfhAF1ySProxSu7yzPnYF0KYiGMxfIm6mgCuX7QKQpDN8w94HFteSMMAC5Q2PXlKaE-gx5ck0hx1KyK_ph324rIMtJoET9Nj9PDQMWYhACwAOLjT5x4alDWDdoJOwLHY7D5-MtxXXpAo9u4im8VMfHraLseK7TZrXcaW0Hjwj__iowePqVxLAFjrW-3r3G-uRt4hSm_ehc36dWzrKhDTqHuCC5oro82bl-wdE5HkBUmoPWKszaqKaUEbk9rFDC6-Mdr9STXvMdEowU6AG4nXOU7VYVsQt98HskLHksSRR659rqgdN8g0JZFWNENaqrycYa6vazC3y6RpNwvUPN2d8HKGo49ZdjXPo_Qd24CIEeuwaHcz5cJdNRz5RBoQfZOl-whw51uaPXNOPC8gdbpdasqYMe0anDFIVynljrOgGIMidlsHWg2w2G4cFfCQy0HoTvCL8BLi0br7X5HoDXKoJZOgcpQla1smSlJUPsBKkqN1s4KfqsNT7Muf79Md49EOyrmY5YDAg_LrOL6S-9zWUmkWshtEZRSfuct0O67O90EM4GFqtdyJe30U-zAS-CbcPImlS_Py1AAwdwekIcH5nSF-yfQFJxM-yrel7D7Uz2-5Q6IH4DqjpX0i9Yihj5H2xBB76tjCUbFE_jJiSF1e9JPWMKkIsrMQif8RMnO0_q78KT9QGL9ju4mL3foWr2peJ2q4W_6KjgA1zaRKzJZB_z8FX8-hENIR6rcToQMJebc4tlGmaRfkGlL8vYaX_l92lPXopNsh2mvaNS4c0VsBo9cXjc3qnIRJIq1QApsiLKN0JQgmgm0_Prc8z6rk5cLepLkN7nDm0mvN6iW-zOHCZ5I0WjdEL-4lPUUUduX1gtOnjjkVMU5l7rI7ot-48E0nXuHodsTVa_IfDfyM6rRRi0fE5syH6Wdb2syAMWS0XJHQ0EBpwbMIrd9OMP315SaxMf-5J18dNqbZ3PkYmL8C-G0wCpt3q5OAtQMTV8HWa_FSUXjgjgxfvEgnAaF5g2npciSfKL0R0fTQ=",
  "id": "rs_044f3fcb6c721bad016ab44149efec87d0874d59e130bddead",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.16,\"left_z\":0.18},\"note\":\"The two wrist bodies came too close during the paired move, shown by the shifted right pose and large joint effort, so I’m immediately backing only the left arm away to restore safe separation while retaining the cap.\"}",
  "call_id": "call_DYKpQY6I0ym4TW62u2inl2Y3",
  "id": "fc_044f3fcb6c721bad016ab4414d363887d0b3ea13005a4f5c2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DYKpQY6I0ym4TW62u2inl2Y3",
  "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]: [-0.7586, 1.8961, 1.6329, -1.2068, -0.7963, -1.2163, 0.0442, 0.3931, 1.692, 1.269, -0.5396, 0.0444, -0.0792, 0.053]\nstate[eef_state]: left_x=0.3621 left_y=-0.1643 left_z=0.1639 left_yaw=0.5851 left_pitch=-0.2093 left_roll=0.1629 left_gripper=0.0442 right_x=0.4088 right_y=0.1649 right_z=0.126 right_yaw=0.3872 right_pitch=-0.4025 right_roll=-0.0916 right_gripper=0.053\nstate[joint_eff]: [0.2803, -11.7402, 6.4889, 0.6716, -0.5299, 0.1538, -0.0073, -0.4308, -9.347, 6.6803, 1.5751, -0.0708, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f653422add676bda7f00af06c51a848d53c49774f0bfdea13712ecb3964ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af355dd5eb892a51dc67bffee0f8fa5abf96888bd8ea5a5ac75c894ae027d3e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95852b22b93bec6c893dd5049f15a60ee02df1278d5699c7fc6537a16ba5b549",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 9.241 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 50 changed as sent

message 54 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.255, -0.5434, -0.4553, 0.0442, 0.5388, 1.9423, 0.8841, 0.2962, -0.0303, -0.0834, 0.0447]\nstate[eef_state]: left_x=0.4049 left_y=-0.211 left_z=0.1081 left_yaw=0.0003 left_pitch=-0.1483 left_roll=0.0823 left_gripper=0.0442 right_x=0.3961 right_y=0.2472 right_z=0.0038 right_yaw=0.6002 right_pitch=-0.2006 right_roll=-0.0409 right_gripper=0.0447\nstate[joint_eff]: [-0.3487, -8.9504, 6.694, 1.3797, -0.2613, -0.0513, -0.0171, -0.3624, -10.0991, 6.4615, 1.2821, -0.0073, 0.0171, 1.2332]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7902, 2.442, 2.4203, -1.4322, -0.8085, -1.2469, 0.0442, 0.3901, 1.6802, 1.2701, -0.5171, 0.0402, -0.0746, 0.053]\nstate[eef_state]: left_x=0.4385 left_y=-0.256 left_z=0.1461 left_yaw=0.5688 left_pitch=-0.1914 left_roll=0.1273 left_gripper=0.0442 right_x=0.4133 right_y=0.1661 right_z=0.1347 right_yaw=0.3854 right_pitch=-0.3669 right_roll=-0.0849 right_gripper=0.053\nstate[joint_eff]: [-5.1214, -11.3026, 7.8154, 1.1697, -0.8864, -0.1978, -0.0073, 11.6308, -10.3043, 12.465, 2.3321, -1.1844, -0.5739, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7586, 1.8961, 1.6329, -1.2068, -0.7963, -1.2163, 0.0442, 0.3931, 1.692, 1.269, -0.5396, 0.0444, -0.0792, 0.053]\nstate[eef_state]: left_x=0.3621 left_y=-0.1643 left_z=0.1639 left_yaw=0.5851 left_pitch=-0.2093 left_roll=0.1629 left_gripper=0.0442 right_x=0.4088 right_y=0.1649 right_z=0.126 right_yaw=0.3872 right_pitch=-0.4025 right_roll=-0.0916 right_gripper=0.053\nstate[joint_eff]: [0.2803, -11.7402, 6.4889, 0.6716, -0.5299, 0.1538, -0.0073, -0.4308, -9.347, 6.6803, 1.5751, -0.0708, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f653422add676bda7f00af06c51a848d53c49774f0bfdea13712ecb3964ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af355dd5eb892a51dc67bffee0f8fa5abf96888bd8ea5a5ac75c894ae027d3e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95852b22b93bec6c893dd5049f15a60ee02df1278d5699c7fc6537a16ba5b549",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFY92H6_hgufHH9GMNLzzsgtv8ClYqd4gCpWQatZygfpGfDv770n1rnU7mj0WFmSm7Samu3N-diBriCbEUHzPa4pHqTBIYyqFIjkB7W-LBEBqldgFCCtCECiPm0HRZ7m6F8uoxi0nhdnK5pjMCiQNn0Qok5hsVgbWCeOPWl7NSlKI3yxhPoVHJ6bQ1KRn_ibP8zmvebZk-Bedc5Om38tClqTCHr9amw5jzthbZe72fUjuA9uxIhbRULgz6WYTxd0Masrn171aoFntjO4ZsBCPkJxzVQLWd58GnVhQgr-jUUtMKj1pBfAGgi2URLvva6dFeYzpX7RWjJlM3n41U4qEvGQi2pOZ2FvYdV-Qz1xnyOSV8WgXH9JT5ubWfbHgtei0GIHjxUboou9Cv_LnLQ_LDNBv8PcrlMv-dIVEyoxD9Yiv9hao0jpDlmCylNBW62EZ2Ky0hBl789I6zMPjhhhwkKRSvON2Oa7UJVaIdLWZmvGSi_xpy6KUOtvSr6nnCKoIkgbRLw4TsiqxjTcRMMKKTFj3iyyLdZjKuxq2c_KwO2CoN_iWvogttitbvJx4ulhius4tX9WfbnOQtoWqFyUd3Reiazd5UtfnUBjsYwecEFQmwCewbU8q1UQtSfkZi8-dBL6fhxz3TI3s6XcI0lxXh_17hX2c2QzLT_tiqEnqSMQ67ccqYBhzKW2j2TPEwnG3rVun_XlyUJtgiQrLZw3-sxxUXjQs30w79bYSmLRhrR-yG2mjNkpYyMrXFOyy8CSRVCYf6wuwlCriwll-ZQh-ce8NWQEIYBXP0UEykDwR7ZUgYBVBabTTHUByTNxq1b16CIXwQhG7gtYpdeRTHX0YdLZpbo4xiqEuRIrJ79oghEJVuMNDh4dNISSj-KYV9D1L3qukAsL9dYO7n9hqxeGPgoTXMW0QXEGY_wMLonFLjuDmChpI5kA3_uxXM8itf_xIwKheNPYvfsHPxffa9s-vUPdikdj8wQbAqPch9xzgp4tB2eewdy0fQngMejouoPgK_vPl9chpHYclnghaY9IE9Neh9QaWIm_Ql2S3eBwfMSVlhYejW6ywNxmbX4CtlmNWqQOwn4XXujDkg_uefOZ-ErHwkNIqZMYlNhCkUaoTbGOgSLCse0m43PVtdcGv0wIdc8gBCh1BBKl7Xw8p7hqD99HiqVm8HzYJ_oTfMW9XivOPL66QfETLdB1vlUxSH1ONnvQl-Bl2txTOLb6YB_c0tZsDqKnLNRBwIcF2X-rGYAWb9YIMfYeSqtUGWQNK5E_BB6obcH9NiCjfVi1DynpQApL6pRbnQw5WZZW9pIkosItkGNV3IR3X9_7YEoDUsFhtZDEnsiMPmWcyAV4rhA6Aib5Bx_itx6sUb2LVVQ9UrY2vtp5a6RoXwPEAt5XObhZJKe0jaKt-Gx0tTSp-zRn0y8TS5z35KI1_CPqXo2EX1juQdJQRwdZo4ODDzNPRPy2C-Z_kju9784cQg0XpkB2gUcwJqfD8_GWfmEovJuwzWAXefhvIfpKqUASltt4zNiUfpN7Y8C9tihysUljCi60IXCmGM74JtHAMMOJzxEXxp08yKG1uFpwPTrKf3T58098s0sU-y8w304nZ9OzRcPu1aNYDfXD8ENsY9IaNWId9Z2_b6A8h7zty1LeAcDT0SnVrzSB1SSKU6Nw0-vGR6t2Iaet1YufMNWHj9EBhBy4X80k_n1efqlLr2j5Nu-VB6E6XGwubeOTuh1rZ7pRMzA_e96IvOgqpuKI8EVkylKz-U9UL8xpd0pBFQXp1gg1EijmbOVM3KYKISUCwCUeeytjBtadfkWlNvT1X8C71-wS0PS3zN4ajrFMaGyICG_6qJTuJRfRwhQ2Ub6Ui8kmrRfKsVO11jVWQ8GUPYeb4g0H4oHXqfpEP1ZQvbxbu4EHNOk8He3cemX0lsmdIbDmKhrZGtteom5xWXbVxQwqs54uBu1Xnlv7bHbLguS-1AwTzSnVJ_W1weaaK8HaP3ogFcH2Wx4ZlmP_l0qwdRyFcE49zxnt3otguKJbfDSY0Tug5eZy19WXUwV2tRlDY9ewiL7jTBfdlVVoy5KLHn9bnnwGINbTL7IHUP2Hl5xvTfQ9ykdJ9i1oaERfLhVx9cQZOlCoikCPVxFb9KDvlHDq9nL-T9U_GcocisSNnFcTBuv7L2BVW7zghoe2mkxdSEn90XsgedjDaOKZjY7z-uCppZIbYvoqOOuSq6X-yp_cIybIsXGmHorwEqO67a8AzhWVM_rU4OXJc1wXPumIAwZclycO1cpasLpJEl29ai8ku2gVwBfdOprYUtltkFnpaXqzq9e0Aix3-vROiDSSqMjHq4G9MCb87CgcON0hKlyF8DAy6fe0wA2goMk76D1qZ2kdDx19Jvx7NmadfFqmDCpIPfPMC6bB0TtmwS3cDPRh9fuHyLFvOojIO4fNd6FvlWMOTXFEOamh7HwPwuuy8bTr9LdDv_xaPn-fT0QTl50U-7OPoQ-wsvO_DRHOXltU2omzjGKWljkul0bTlf2tFiUnrsuHxIsfLWFxo_-SaoDNAO2x0hXB0XRnHBeA4td9ebU_Jcx9Qnw3Aqy04BJgd6KVmUjWTdi9X67DNKw2ZIwj5LIko8QKor7Sg7w7CvYjfmbcIwnWNFAdg0wvTZ-qnARv5pRM0eyNX5O9Q37hRjmlZVlL0N4-wrF3jmQciP5p5xkLd3aJ0DZuvirjSX9HMUQai3MlvQaKwlvQUmGeUTi-Ssjdsil229r1zLxsW1Z7n78pnnSZM8AmrN--FNhAgIxeWgA-cAD1On0vKIbamEurUZVHMO9Qi3mxVyADJ_zcGLaRcy48sYFR7iHd0GrdVT48rc1eO3xL8A-bCv2mcpW0ik1GbbCFoq7lF648ZBfSbhlpaNzSgW9VHlZgkFavF2InV7mVYmKvqb3LchZR8Gt3TSFxGw8w_VUMA1FZIY2XcmzvbBo5b-STdkpUnE8DtAdr1w05J1mNt-TA03cNC86dgW_PlSm264RgbnIzVLWmLmVPylYCtTiOK0lb1Fu5maKPw5tkW9e9WKMEB-QUOeWQV7Y_AtBFTtzQ83eCySTvTp_WLvK_oqnOw69I-8oyZvhQfegQRwBeFZmOS6kL4aC0nrAjlDAxkWwwvAe-6yT6jRwHl7vrIoZCyyTiO10AGxatryi415JPn-z0Q4ezw-bBpXqcDRlKhfjsc2sEdUX4eJuoZ8pZwBKfsLR9e3yvRPok9vWoTL-XXlF0u71zPeMNSn3I_kiu76iV8j15W3XNv9O_YtgrjIm5QXV2eO-dfx6ZoySiqdgnptf3rCtIF-gGCMJk4X_zkpRyF7r6El9iLLmKd3bonqFZ9zoJVF2nnf9DQv3mlT9qO72qrE-lg1axyXungyhFN6rndW1mtnFr5EjmUNCQipwr8v_IhfmpFGPcueNm-Q31snwixacW6NeKdLWccCp7KXuhGllZ-inj41VkWCq29Z4NsJo3FvRsEHD4wV2p_238hC-OFWRwYkgtGH_JkBxIWuOpn_8EYJJ43yUT0KR-5Mp1bCjzcMDIi9aFqq5kdveM17su3KkVlPHe_B-NAeMD7ZEFiyscBLVh7v9rmbfs1Z1eYIiaxbRqHj3dHjH2k56avtuVNMuiEOrRtfjKj44yM6RttIBDq0aFczJ5WVjdWibiRtRBc_6jN6Kqouwnwogomg2iRbqBpnww0XQg8YWC84pcNyI4sK33AUlRZYXHmBeb7XsAt0ua_0JnTLfW6OVfjOpDIEKBbnF4Wuv220XBMZ7bCcA3xpzOQ2R6vFyeTitXRMi8p3kajubb-2Q1SgiuZpbks5N2Kye2M_HbPE53TjKd1_Tw9ra8o19QpaygW9QUwk-aGc1NPTiGRhgGyNn_pa3_yrJy85Y5PACeooHMzus3_5CbGqDbuVSoznzA_3A4wXUPT6qo1mBXUmud30CS-AaxVaW_yl-8NQfb73CZfJ4FpRNOwpWYuP38uGrm0gt9qihijJCr1ujvFzvJR1of0CH3TxxwLBBDfdeDOlwJkp411x-xgrTN8IpR_v8r50oIDFagIccRy2-qfbvpdtju4A=",
  "id": "rs_044f3fcb6c721bad016ab44150523c87d0baca8da77d1079d5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFY-eQxNdnXBFInhPcr4CQzLNKu04KphLch_NXLxEnTf0EFLbufUMEvVaFTgbqacYGiWBhl-w9b6X16X1mTeJDIlIPJVorm09GLag25IBMk5ibRGmilotiugiJJqQ8bLG2kSiRi47W-uPiLeA5dsyeNenCbv4GKkZeAgs0OP4eoWi_AnW2nSEMKt7LYzu55_47509zx_oT5sQ2zf0nr74Oy7cgNbc4ucPwvjLXv6blkA_UK9xTOjW2l36bZIhYcVZ22lJzA3FUhHmTEz1zhggLA49LOTp7H5KWVOb5-iLDbudMVSMysOg-1sVSY2T8hSJxLkUYSibe5nLwC0FlbFszjEcEcbyf7sBANARnEoRiCye0ff1_YiraMRLMJQVcn9BhgHTdg_T2kfxRQ1hUU1Rc0LTEZKG8Mgx10eQrrLUGtnS4uQeqTvoyUKOQ72xtIeCEN5kCeTty9aRR_mTNXLjsSxw0kPJ12I-kVTTrQH1mQsJheZhmVnthhBcoIQc87iKulPsNVa5e-U6jfk5ZDiGp05CzYG8WDksEYtN0ZmOHOR6LhMKSLyO6xUBewlVFPkk6Af3z2AekePcps3IRijju94P9hyap3VWpdtJE1mTSdbNOxq0bAOWWeAYhLHFZJ7MjLN19a8EW-uGgSB_vINWxUwsS1u21fstZIrYv1AblxxzkNH_Lg5iJlFJD5zUIUOrw3VGAldOjsjpt4WzQNpKkqvt87raJtwN3YTFW-yICeSMm7LDXhwqPY8eyp67H15bqV2rj6fomurdi_FSmh2aHA-omBeDTS6FD_ZJQJO07SqI43WxIuanZqn2_DF2hRCFXPXATvdtOv3ZkmbsjXLAUHz6JXJM--aTnxiX1pNJkPQGLJ-w3qud8yrRaz9iSo5lMnBKIv0JW9EHwBtbhIIvY_E74OAhfhMUU0xa9i1hRbwgOnkrxcLWrq05ZQxaIXNPZePSRXDyD5KT8ZWGFCLFcDXM4Cs_7ViCcrql3XseUkQX7b0DBwH-vo472u_CHIuHz-zPOdmOF8MnJ2fcUeSoWMnZ0b13eSu_hDqviHp5jFlBk6OdNxmVC_iinriyRIH2jT5ENFNgb7FEidO0UblYD2jOEHgTdLdGQsttBzu3uM4Fu9RNzNHWb1i5eoQzjSdAJTA0PRP05JZ5ZGTvLbDWt3yM3dPNfSwz2Gm672u0z5S9XvEM5or6Vu9pnU5jy_oYym7ucI2mQWNgksoqnZyDnldO4I1JTK-UH9ayotlnmRTiGdkmyoYu_51X7kT7hzbtYzKUm5MpSsEpdiiZNJ8hObx630BENjGn8fma8I2YkAqMj4_ayfVw2F8cOSvk26Ji5oaHKLbjCD728RO4h48J1Fm52vzzyfhL7ksXn3P9JIRYpzBwV_4FCULUd6UGAZz0bw9RhbWS9P8AO5Jb68DU6qni2-nZpIAFWoFDHCMAxmWw28Xd0gLAeyM8AMFG-aAF5ehXwL6GFU8BYKSGBUmesFEMpqtQw7Rrej2hR7NKMJwO-8PMj4_Rb2s3nWJS_0j__0lYJybgB2HQEmelPdA-6oJB8zOV_8jursUxUaMBMDCX0VoDCKemj-_zAclbLH2Iax6ECvsERFwDJo-oavh7BM6nxaYlRkRQICUvz9oR6LKvPEi8tGluntH-3hbO7F0hNseLyrhPItHD72mHTWfFJLVWCNzCOiVvpVeoBk2Ls08MNJhUG-6Nn_WoizqV7NsrHUibV5SGbYCGL8C9uep4v_qtnMPv_R17-NWIURgYrXA5xK-gyVLAU-FKQOVEYmDTwrR7cn_zSAq8fM6zosnw05ww==",
  "id": "rs_044f3fcb6c721bad016ab44155d4f887d0bebf8c4164590a05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.18,\"right_yaw\":0.6},\"note\":\"The arms are safely separated again, and the right wrist view clearly shows the pen’s metal tip pointing straight forward along the tool axis. I’m moving only the pen arm to a stable central presentation pose that leaves room in front for a face-to-face cap approach.\"}",
  "call_id": "call_IiP7OmUFVHEr57C5lJEtJIhw",
  "id": "fc_044f3fcb6c721bad016ab441571d9c87d08cfed4c54a7a1417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IiP7OmUFVHEr57C5lJEtJIhw",
  "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]: [-0.7479, 1.8931, 1.6184, -1.2381, -0.7925, -1.2133, 0.0442, 0.6582, 1.6897, 1.4319, -0.746, 0.1276, 0.0082, 0.0542]\nstate[eef_state]: left_x=0.3569 left_y=-0.1546 left_z=0.1601 left_yaw=0.6028 left_pitch=-0.2228 left_roll=0.2069 left_gripper=0.0442 right_x=0.3559 right_y=0.2513 right_z=0.1629 right_yaw=0.5234 right_pitch=-0.4346 right_roll=-0.117 right_gripper=0.0542\nstate[joint_eff]: [-0.6906, -9.1692, 7.1316, 0.9206, -0.5104, -0.0562, -0.0122, 5.2308, -8.9915, 10.0171, 1.4481, -0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cce7921763934123391fbf206928de71d26b7bdd9d6aa518f97325086cd3ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caf96cf333784961d45a5ff722f86651c8329d257a12fef6c9986be41667c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c59d0e6d5848b126404bb65ea8feb1970f2f04c717809b4829f4d51c3bfa987",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 11.11 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 54 changed as sent

message 59 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6899, 1.7626, 1.1431, -0.2554, -0.5438, -0.4549, 0.0442, 0.5388, 1.6993, 1.1488, -0.2504, -0.0315, -0.0902, 0.0484]\nstate[eef_state]: left_x=0.4049 left_y=-0.2109 left_z=0.1081 left_yaw=0.0004 left_pitch=-0.1484 left_roll=0.0831 left_gripper=0.0442 right_x=0.3951 right_y=0.2468 right_z=0.1199 right_yaw=0.6055 right_pitch=-0.2394 right_roll=-0.0425 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -8.8684, 6.3932, 1.3553, -0.2808, -0.0513, -0.0073, -0.3624, -11.4667, 9.2923, 1.6386, -0.0122, 0.1001, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7586, 1.8961, 1.6329, -1.2068, -0.7963, -1.2163, 0.0442, 0.3931, 1.692, 1.269, -0.5396, 0.0444, -0.0792, 0.053]\nstate[eef_state]: left_x=0.3621 left_y=-0.1643 left_z=0.1639 left_yaw=0.5851 left_pitch=-0.2093 left_roll=0.1629 left_gripper=0.0442 right_x=0.4088 right_y=0.1649 right_z=0.126 right_yaw=0.3872 right_pitch=-0.4025 right_roll=-0.0916 right_gripper=0.053\nstate[joint_eff]: [0.2803, -11.7402, 6.4889, 0.6716, -0.5299, 0.1538, -0.0073, -0.4308, -9.347, 6.6803, 1.5751, -0.0708, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7479, 1.8931, 1.6184, -1.2381, -0.7925, -1.2133, 0.0442, 0.6582, 1.6897, 1.4319, -0.746, 0.1276, 0.0082, 0.0542]\nstate[eef_state]: left_x=0.3569 left_y=-0.1546 left_z=0.1601 left_yaw=0.6028 left_pitch=-0.2228 left_roll=0.2069 left_gripper=0.0442 right_x=0.3559 right_y=0.2513 right_z=0.1629 right_yaw=0.5234 right_pitch=-0.4346 right_roll=-0.117 right_gripper=0.0542\nstate[joint_eff]: [-0.6906, -9.1692, 7.1316, 0.9206, -0.5104, -0.0562, -0.0122, 5.2308, -8.9915, 10.0171, 1.4481, -0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cce7921763934123391fbf206928de71d26b7bdd9d6aa518f97325086cd3ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caf96cf333784961d45a5ff722f86651c8329d257a12fef6c9986be41667c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c59d0e6d5848b126404bb65ea8feb1970f2f04c717809b4829f4d51c3bfa987",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFiBGOlLW7wjjEpx0ILl5C__BVA8ugAhj0bCscqBz9mAlklFm4q68ARQTZdWgy3GxsT332gL9sJMoAPiWUN6PWrF3FgJA_wyyvcAJMzen_J161bfZErYYFImX0sXKH7Wtjor_tjEf5rtN-sSbsUzMBjOKtDoHijd58DWxHZt1sMIw5h21_QNLnseGgt4fBjUor45IF0J4yCTFXnZf2OrCVAWEo2oIV4LogIJH5ZijfBaHe-F_U91wNtVilEd6FRmytM_NZ2xGVKM9Prv4CoiIQGkK9qd0Fapsmy8gAFjWyrHatfxSB34uIMs3edsxmOazkA0xPASzhatqrpqw_0-WnsH985VVHgemGVCIwghs3sUO5YBlFMU2yfQeOd7IDDp7HpC1ktCe8flRXVIBWkWPB6V6QDnosZ-a06qJXau1qkRKwYFGxfeJUi-Or3upoOduErmHkvfN92-OND_1eINdO-99hkHY3TAYCRJhJZiXGISgQbWrvoipLng-bB6R5VmJHRXLJt3Q_tEJ5DEC5atP4m4MTGGjmU_70IkX11-AKL1ySQ6E5dLxiojVfb4BpwiZPdY1CDHYLXZntNqdWpgeHyBZBA6VOEPdgadDhUEn9fwlO3uevSsCpWgQgLWRUCzYp9KRCKX4kiQMqqQm8l4o0PvmZijPc9_CEd_uJuLR6J1mlphWyNxmZyv2F-AT4GrW9A3hVbAOIUmYm9hmFx3KtpwQLIVvLhITHvyZyllKZqVJDeC57M1xqJ0jylqHQV-b158hIn9-S-B5SpbixswYQV0OoxYhcEN9XK9B4jdItNjdL2CcoG4y6-psTV3ss7rHFMykFueryPG6HzST4pU6Sz_g1wzVWJmrqRLPucXpt1rWkGdoZjtAibCwJRJS6lJxJPM4b5XRPMjZX7wrbzOcFASrDXyVUgzV9__V-LxfrP5ASrKxwCORRKkYoe0PkgadyvVNOI2j2xUECpjc2sk5YEJ4uegmZduD-A1MV-MPzVNzPoZsP9hIRV4Q_7lU8LcMdWdClGuHFtFTx_3SHTfgaO84qHZgWfv71Nr4LYCg40ussW2gRqfJ5CVvgO6-kueWT-K3vCTTPac9Gc5rJE5Hkwcl-Xpux3rZzxyDuJDWgEkx_9_waVAiVXZkNkDGyTGcqnanzZzqJuI_QnvvgxiXQG2dyEjWAesHVMfzCm-fLNMgGIPLb2ODVsyg9tZuSqrhsamAthuJdkamtTFszGnakFyeSCGe0BzeOMpWC92oCe93p_6J9PIcc1zQW6Htzi5dK_ejNJl27loKwAotd5jBiL6MZ1IFwWd-WvpJj_TNTBC1EEFVX2aN8pQAzDovW9DCjCzTk6z6AUdpdHeNsBSaECFIZx1EgtBEm8D3cuD58WaTELIYrbIviaEqhfXsdYUF3XMYLI6mAvgdfCkSZOcd9_vJeC-0Gv_ICyxMdGKINMCezUhsTG-2tWt-7sH86wCPFoP7J_R2RpiZikFUTCpad4X7xXo0lqq5_CKOJBh1wQIjL2OrnvIDn5HVh-94DoJglEH7DHwQlAcG2NQfh5w5XaXjroVlHSfR2VfKwq6vmVrQI3UY4-CcJ0SZ2TCekzOZmpqM-9bibe_RsiVPvo3IGctnqFjtUVfeHfOU6hdZ8dcBAXT7gjKsdA3s5Ror67dp_H8QHURAAEgP61tv8Egug3SuFVUoVtuyNYIlZ_y5pOY-4pr3I1TVIx8fOr2KXapWdK2QkHiYSvFUjTpw3XYALNZhfeJx5c1hGNPqM2SM6ByEBsfMz7vmBhIM3FPo4awknG1Mgyzc1kpaTX-Sba6fwiX8OK-96CCAk0EHHHBXeJpY3TQ0k1fLcfpT2_pXwmx-o-OYNyXE3Q6Jbamz8H4Impm9R4LsB10AHbLcOV50ZPMZ6IhFYHufgfCeW0wKoeXb2xKnW5nxAEQLnlBMSE7Z5nwWtxPACraUfFcO_OtVCy42VzMkl4JIo6ZLzh1wNkvmR4DuTr_8e7RLw-Q5N5aC12_Y4OlTZnHJKJ6Vf9bLt1wC0m-M2GXVN5WgJGLqhCKokOKHQ7iF8afz5f0PCTwZ6Nzdgb5rPz6gG-GSB5pjxdSRl79RaouX44KMEY7Bm_LQDbDQE9q8Mt-_KQmdtcKvIF2b4t8cmMSXRu4eCTEoBDJPBdY7bTwizhVWmdUDdIuBdpzdWGvmm24ZuXiS0c2Ai1pSeGyOs2FbethYvAdWJu-9CZO-ttKkUTdqw6TzsEc49qNZ55qKSoKRRg4MGg_hgrgJPBucyFt_0zfoxPaDHqSB8zteRCzEx9G84Npdh_d1dHU_7y1GLHw7t9h9IgBlnFjB5ZMcJw7hIhG53xPk0gfJHJInPxZNz5n4pM6wW7tBzXK_vDk02SCIKRpTHD2reJNzYSW1-fpg35ZffftHl0qv526pHQ086L76bygwVmqLbOguoQvS2-qnS-OPWkvjWX0pOIBRJnF_BhkW2FLG0MVJ6fBy76D9I4kC8nmh8htWRIX2k0cp26cVQCK38Rzx_r4wUSxb-dAST7W40tUR-gOMA50DGxb-1vUA6sHcp_jXMyDvdNw3Mln31-IzgTuABEgGAwQTour57v_349npt5B-npjB6QfT_kLjGzNI4kNB3wE5JmLQKfGi1ycSMbqs0V6BVwvxR9i_7cUmhyeIc3d-QPFv3buCo07w_jRZsX_ZRcJbhXcd2BJuyt1pxfCRP_xNop95R9UEenNi0SCFTO8JXBcXSfS9Z8W8WJbAuxlKcGTt5Q7KLs49zpvtaGjqQX6ZsIl1p8Gk24uIiWurBzY-AcEydO_rYIwzxuu9rHcvEb1jdxXgJbg_rvWaX0jwkIut-X3O2CHD5dAMFFSJT9z4l772E2yV-JUSyCB2kUgjVPENSVJGQaVrKLUmqJ99YjSdb9cw9s_yZCkyuZH4vdRbXRMPDsnHZ6b_HeCefHLA0KZzJzY-Ns6TzJcXeBtuemvukMeIeCLz0o9wyIGpd2YHLeKTyzSUMUUWCUjnpXGK0T4sm0rydhx1yZDxwEP5cRvk67JupRRA7R0sd1f_gGZeytQUnpcpZL0VK4Z1G0kuSjbIWnLXJWeoJA3TaL_A-k8mZqxkDkWrPRonr3pPgPlqwBR9LhwmfI59xCu-AgxYFfmxawfy8uyTseyK0d6Qte8PCxvrf_rH7lOlzjv3GYPJwzsFhFtJ7SaIF1Qpa--_kHQeXDruBlB_dpwXOso33E5cG-ZWJeZcEoMRwKXrUFMuXya-n9kivluVRY9FVwyZ4YFqCJOsGBwPwLc9y7jtbsp-JA2crQSGgGxYXpTZxQbZcx7TZqpOCbHSynfEJDh2eGdwiPmATSjXLPLGhDGm-iXKQyfASZoFgI6wHw30WONxpXjd6A_NnwuUJV6aTdaWGM5MrVrU5cyQnuin0tkaGau9PZ3t6NlcH0SAAOJS3RQJJt9Ce_-Wd209j8hTH4h0t7Ma5CQ1d-yWIf0u9keU_MQ3ce8C5WwG8Ep068KeTZzR8wI3447QYRNs8MKXqI-CdIQVj8l2ka3lCmbEWbLK-vlyPUVIC2_rofE4Rh8KUeNxYJDFcJav7lcTWQOShCqA-yjSF3ndxuxfWUzwO3crFJzlmHkHVoAPqeXGwPFRlf89-AmUqdIzEziVSve4WfPEAUTM2UHYBpLE9GO6n4OsUMjII0pf03Mp1XBYp_ijSihSlGSapR4xmbIwMe9HyjA8NA-eEd8iz_jcGnfoEzfXa0qXqr3vwaJwR29K17JB5sI1GGnPZfBx5oUF7Fln8Ntcw_09hPmaFUJrgep9UAQy0dOgDJHP-2nelJQMaoPRbB5pg=",
  "id": "rs_044f3fcb6c721bad016ab4415ab65487d094eeb5b86e6829ad",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFiOvbWbdZbavAoliukWXxKpJ_UVqbCk0dowtYvkFheqkVOow8jli1Du3skzI1UrorK9rSVlSO3Oh_F9E0JWRZZRg3wiudqMFbX9gmW4UFy390ZLK9VIXx6P-82cEuyxp19sImhhAFLBqxOp7LKLr5E-3YJIN_ja_mNlbqnjq1dJUOQ33jXdOVonqWjcUVSGMEGwBwTUc6T_90TLe_kckQdsqHYph1pK8A9ndJqn6XIwndA0qoyazjXLzFXM1MY4vN6WH1f1YcoRmJxryLRkJW6Q7IkzwgK3JJM9OSKfRJ_Z2ZHqUgY7PM8zTWC0rn2z7Qq03QNB17jzD0TejearGo1sl0GCuGWJwgV0cH4RlqbcEBjumJNv4S_clK9hP_ViT2_INUU_3k-bdzsG3DjVrlBuDmGXW7q_aijz40FT9-zQsnu8zLocsr8GM1YEp79SVzANMFdeFVVVuAd0JPj7x0A2IX_QVhpB2r7J__8Rp4gnUaXy6M1p55vyFabt_HyrbEx2n0Fw4T7L-YsTurYk_woCXOnvTdNTeSAcQwTatvyvJO6jJ_Lc6gfsEMqeOJojany3jeYSzrq9Dn2-9u-NqmfVOJgkShXUQOxz_Vf4UZjDNe01QQhPJygGB4x0DCYMsp_boPYIoxfypKf-8mM6rwx82t05I0BJdiKNjcmzRpQwUhA1E8IHi2W_pLwpPAzf1iyovWln8e1Xo6Rrb8O1sRTN3PS86HsOuKQtdS04H5hR3aonQM0iRPLBJVXsY3TSzUeLW7n5IoJovDku7J6PnmE8T5T0kVH3ya5QCezqvVLpHl2n0oTT2rGlKObbCJqUeXdTJ3hwdgzdZuNpPgBibU6pWYz4Zun8ywQmSqaOrWlxRk4dnsJhGQzuU9THxWP49u7gmvGo6RAuIRtN2olC-AGTa7U9oHGvuP17JRptDnJZzXGFPlwA2T2wPby2I1tFLO-mBecVfJM9Yyoab1aMRkslTKMAYy6loXu3VOYMKsILXBmMAo2WS0f_W3aVsxHSsKxS90VGlPXeIgRiV1sqebDyRsNePeZAIf6XxXr6IM9u7-9opUayZYYRQP9rjnfyTNAfS0pjFKZUyIq3AoBFCpno6RWgFz87XzXTrQK9U8gZ6z4VxaegK99SZ4o41RKP6-QkrQCLnbXS8nTYhC1_CYwcCmD1FaVsmMXiipcUMCAz7bgdvI1HwXv1mgq6Mgk8ygAIT_3Fs4l9OZMvxsGm2nKZEnE95TZHeJiETzsnQfJ2lc3730q4xGAYZLup8kezqLvzde7TDodCg4fZNwZn5fdOij8zCs7Qy4tGGPtfECe9Yuj3WyBTHAqUggXuW-pfAmNl304tF8LLMlCI_OUiEZLm1tpf9F1iIgUY44EinIx8yc=",
  "id": "rs_044f3fcb6c721bad016ab44160a03c87d0b158bc154e69add4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.26,\"left_yaw\":-1.0},\"note\":\"The pen is now presented with its nib forward, while the cap arm is well separated. I’m raising and rotating the cap arm away from the pen first, so the final approach can be face-to-face rather than bringing the two wrist bodies alongside each other.\"}",
  "call_id": "call_pxBCD7pOwGZSVZRucppp0KhI",
  "id": "fc_044f3fcb6c721bad016ab441611c0087d0a0597e2e61c963c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pxBCD7pOwGZSVZRucppp0KhI",
  "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]: [-0.168, 1.2251, 1.2446, -0.9142, 0.2813, 0.5697, 0.0442, 0.659, 1.6905, 1.4315, -0.7597, 0.1303, 0.0109, 0.0542]\nstate[eef_state]: left_x=0.3122 left_y=-0.0991 left_z=0.2382 left_yaw=-0.7448 left_pitch=-0.2883 left_roll=0.168 left_gripper=0.0442 right_x=0.3537 right_y=0.2494 right_z=0.1607 right_yaw=0.5192 right_pitch=-0.4489 right_roll=-0.1202 right_gripper=0.0542\nstate[joint_eff]: [0.0342, -3.7128, 9.1145, 1.2625, 0.2418, 0.2564, -0.0122, -0.1162, -8.4308, 6.7897, 1.3211, -0.0171, -0.0855, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98875efd56616cb959e989883ec52c2496c35ccf7c5b51a383dca688ce547859",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5cccfa2182e9954c728d921f51ec14b186f84c5bfd15024c2402d156c36f41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0f771020adc6b7efba077de44602645980a3c38107269f984acb699fa225ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.941 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 59 changed as sent

message 64 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7902, 2.442, 2.4203, -1.4322, -0.8085, -1.2469, 0.0442, 0.3901, 1.6802, 1.2701, -0.5171, 0.0402, -0.0746, 0.053]\nstate[eef_state]: left_x=0.4385 left_y=-0.256 left_z=0.1461 left_yaw=0.5688 left_pitch=-0.1914 left_roll=0.1273 left_gripper=0.0442 right_x=0.4133 right_y=0.1661 right_z=0.1347 right_yaw=0.3854 right_pitch=-0.3669 right_roll=-0.0849 right_gripper=0.053\nstate[joint_eff]: [-5.1214, -11.3026, 7.8154, 1.1697, -0.8864, -0.1978, -0.0073, 11.6308, -10.3043, 12.465, 2.3321, -1.1844, -0.5739, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7479, 1.8931, 1.6184, -1.2381, -0.7925, -1.2133, 0.0442, 0.6582, 1.6897, 1.4319, -0.746, 0.1276, 0.0082, 0.0542]\nstate[eef_state]: left_x=0.3569 left_y=-0.1546 left_z=0.1601 left_yaw=0.6028 left_pitch=-0.2228 left_roll=0.2069 left_gripper=0.0442 right_x=0.3559 right_y=0.2513 right_z=0.1629 right_yaw=0.5234 right_pitch=-0.4346 right_roll=-0.117 right_gripper=0.0542\nstate[joint_eff]: [-0.6906, -9.1692, 7.1316, 0.9206, -0.5104, -0.0562, -0.0122, 5.2308, -8.9915, 10.0171, 1.4481, -0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.168, 1.2251, 1.2446, -0.9142, 0.2813, 0.5697, 0.0442, 0.659, 1.6905, 1.4315, -0.7597, 0.1303, 0.0109, 0.0542]\nstate[eef_state]: left_x=0.3122 left_y=-0.0991 left_z=0.2382 left_yaw=-0.7448 left_pitch=-0.2883 left_roll=0.168 left_gripper=0.0442 right_x=0.3537 right_y=0.2494 right_z=0.1607 right_yaw=0.5192 right_pitch=-0.4489 right_roll=-0.1202 right_gripper=0.0542\nstate[joint_eff]: [0.0342, -3.7128, 9.1145, 1.2625, 0.2418, 0.2564, -0.0122, -0.1162, -8.4308, 6.7897, 1.3211, -0.0171, -0.0855, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98875efd56616cb959e989883ec52c2496c35ccf7c5b51a383dca688ce547859",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5cccfa2182e9954c728d921f51ec14b186f84c5bfd15024c2402d156c36f41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0f771020adc6b7efba077de44602645980a3c38107269f984acb699fa225ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFuS8GZV0oYGEFATCSAwUgJxNQ1Ut38c8zHZ5Y0YCwf-TOvCtv6p4TzA0rdrR9jxzR6GPPLvPwwNS4oPSDkhycP0KPeU5N2Ima51rMWOfXH6kOMIUZT6kJt-z52T6DNLn0Waanl2CaVeTeH-kILl0DJ1bO4p_fpoANlkJeZzj1JV0IhhI0QX0l52KHZxd334kg18zlhPNqVA7vutPepS00N7-9ChRCWnis96Qq_ZJ-j4I91n0yZKsR1WIr29L_3cw7Cwo-JM6cI79NYNyppV8TYMUSuK07oe4Imyn5HWGr_3UWyujyId8N73Uy1GkyiS721U0IU9dBVqL5CjmODzV27vej7veY35geBfdIl7BdWbgFSMhl1VKj40MoTPZFBrFEDRgNElW6_zQr3_bNyD-YbgGFzk27lKztHyce-NM6F5OfbynxUCizfkVV9wf2vnxOTh64yK3zU3BNDwdXs2-bUJZqGK00U_GbvyktZXDsViW0FWvVgKpYJBArtH_N1uualk5ncv7PNrZWKKdPTA_v0Wb4NqWT-p5SrfKBNfWt4cDkGiIzHPkjVeYKbmktFNHK2BwUp_RxKSTqryXXoBm0q6wkZhqZE_gFJH4xRgP9xk0T8Bg1EqNREIuCl1ck2CLi5naUixKmX9elkoO1Kyqkh5IO4tdU8PwXPb2zbttKVHi1fr68s0ltcK3aWGcSm-LUNbTrUZ75uFFj1n12brKNn5lMSa-YLttCrqHhfapG_Zu969FvJZ4jwxeySt6WJ2ae9fkIymp1PAIXAqvcM34TLzi3LqqYrNzwdxzEIAr45bBMdL177DFVUTWoan71JyBD76lfdX9Nx_TbJqrti6pZFPL5widk-sQRRVGD0DeF2TEszNtXd8ykkpqWEi-HHjvcbTj0gauobXroVFBlQmR253YJ3PHQJN4YXjIA7NmOBhkGXYJBrJ3DgDjrsDFMx--dJg0rjT0VCQfijtv9F07NptjOxsrTEJnb8IIwNA3JS-aHK2Qq9TQMUSGNhlwnK16W6KgPxiyXEYxKWtPDPJe_3Ecp-EUEaBhuPsrNYZ4pGFD3MmwiqK75BVqNo0znwZJ2QTLuQc4gX6AcJDZK5Wphv_w0qjP68lluLc_06gcEUpkhZW6L7i8UXO6Y7w5h5q6rd6Z5AvY-hEj0zzTBuzgF-9V9Rj3Uj19bak5YgWukJCzX7m1LH5OPORdGnyvxGR05-41-jpSqP5Z_-I7YKrU4rlu4VV-0gOJHTdanHk2cAfN3MPlhTuTYJQ_p4u3Xp2yTsAHaFK0kPyk5-HZE40QTe2f9DCXpsmfG3TrdSxGEH_zjV1eEDzXx8CtPCeQXjTmjR0Q38MEun_nEheNd-IR7D8vGVuVb3lqEEtv6A9_Iv1nkhBaZ7CKY_PTb7gd-Jc9WHwT-2wvuqX9KBsr34qJ_S5e-vSdtEnEts37bmH99LJR9poNS2mlHdqavNcWst7Iy1H4pFxddxSz67Ps0kBKIFDkE4c84B85NY8VD9jgyTlNpFgESrzMxr_U6xXYtaa6umJ0psnLWiY2hwMr8JZDosKradlstnwDg8oD6lbEekZaIhQFNVWnlS2HaUP5dkx7a0RCEwFqWn7XZSw0tPpR3hsdO_rHWnVrpPRXWjcu0NpSOxqSCCTmcrvKj9_UbfwGSsXPx5FFlHVGTfHRGIjO2b_UOcPkyMg1ut7c5iDLWmW3kl7a7k72PvEsIjPNU2Ee0loEk0FmBizm_GgSxw2TbQd7z0drISCvxAjDBk6CxuLsV0nEBjefIiHhMyoIzagTuveDotqVcnlF13a96rP1uIA_yY3KyIiUVsYwB-GCd_GVnqwBc_ffrV6WGRSwVP6ODRaXPMhbJkFbI0a-JdhAFf_zz7OpmhlTOxIZTzvCL6BrdOrieCs7GJcdg0sHkP80wKOJPsTgTROsiFL8r_YtQVgmbcxujtvCaxy4ciA4BGNqSin6ZsYAi2QDgfDLkDxrjF2Y2_Oe61w0B9fgg_gk65cAqfl27I7FFgaLoyqe4UEBAL5NVdI2zN-5QQiBdN_j_eloJmHh_tKC_LH8z5NkvQmh85R3z9hzigg8dHPJSJI6h7DfwWv5EvevJktYbKD_9aqz9BqB-OQ02o_TOkXiE2vYMR6b1efm5C5H-Oz423aMscsCkcKERLppNBKj6Wq3PaY2Dl71-Myyty2DJYM8hYet81vaVSXo_qIC7HxlmOsnZL6TXqIWISAGxdleCrttPj2qSgRLG8vzJa84JXzt2At_sWTIUyqIBNQyQ3j0rn1YmIS6mvvb7sFPV6Zk3njy_NhOGcX8hNqKCqSP0zOSYOAWGVgJnyXhSiXzuddv7gesSXZ3wR0q6oMKjDkjpF0vcjLN7cvkwR3wN9jkyKRp2r-FfxrwfVNs7rkK01mcJOxwIGAqgWlcqbqWMu_jx05q71ot3Tfvpv0w0EkuwhDYIz_aFIn5-L2qZWY9M4WEISPzoSDjjI3FXTuh26lYGMmVfcNWcXO-4jFg2jZM2XjMiDSbOq6qjeZ6a5N4VIRmoddN09jeZwiA8hVW_zibJWYtkNV4PRr1BmRRmO_ZmQRaGIIKmPnCKwHT-64sjka1ZkEa6Ys-kdf1BiXZ-hpjpBwy3G4j8ricmiUh-C4jgSTjcFI6fridA0mBHPrJp-7iZmeYDGzL51Q6Eij385IrO7XX7L6wSGE0rCrss9YYOqdNk1NdBRaOFJZiI3y-hOvxESfruH8__RuL4rsTT0HJGdmHahx9P6UGksL6h_euWJBMXtzTm2IuEiIx1FKM0c2vVXuNGaO9S-Hik3BsgTUZDasmr40mXbQE6iib2TgEUGnjSXkq8rzH1NZSTdFcJ7NwS9szQU7OqLvCQXBPmE-PpAx53mI1WeAYVCMeNTofOCoyzjGtb3SXivW4ckua_AHRccq0rRQ4XphvySpnn0DTmPVUJqsF8UwQ7KxVxwtirTdXPCifq-eXrzBN5P8ZRg2JMv1sgI4JzM6QbMSeLJRmenrgaGvqRPnBVK5oeglBX6l8I4sz1Q3dxMdCQXa5kIMwY8L1bkr7Me7evvj9x8Szuig5J_1_c2gFniq0J36TbQIq_IH7nkuD6GQCaLwmegsPmRtjHYfUi8UZQDc6MnO9u5y7TZrwbs5Q5svJMExggL1Eb9D5Vd7vhleNmVYF0Ob5qV5VYHiYPzRrKvHw81m5Y7Nl2b9eae1yskzGfd5e0v10l-c9B1p6gLEbZkbUxiZs3SWJtauE2QQsProgzmg53KDhqaAzJ5yUY1xXg7_91bV3lyYF07xpPIurETDS_xbfBS2b12cmn9qaXRiEbgCbmQRhJEiMOKKIPBMnVmI5QDMHIFG41clmYYIxpLBuR612fbTjbLz4tdXpOFYyOFFbk01Mvj57KgMODUJvbnMl_cTPNSvmNYVphrrUnpzsEE7FwHcxTUiXPnQJQ4v4lUFKEDOta42TzzO8RC-0KVpVhpo9lUtMADs7cHc63BL8ftWkXzxOFAMWQP8d-5PUrufw4zAzMsXEf93tUSSdYibjEvNFABuMljPYNZXL6ib8MKcQnBJ1ndRxplgj2Hb8UbFd3ZXzExw_azqOYQiRrW_rufb0zydtQ54ZZrDjz0X1Zduf1b5zzIDkH_zVgrOQAV2xex0ordPenwdDwyhil270DPT-VwbFbM-PuPr7wJRqIoRqcm6JusTP5ILDopvUeH2Nn6BL2sSKQ8jxYcu6QCTQ5SXwTtcbZ2FM7VuEYMgF6z1ROu1Gnn0iHwsYRVAvzZdQVmP2zJxwfu16VnysdLTtZFccJzZBqK1NSaI1AAbWR45EwVE36ndnvyWGw0pBzMuKQZx3_6g9YdkyZp2qtlsfHjdNatuIAL3adPy7etuqLSjT5VGjGpciT_w4agpY8YmZr79frnWJqSq1xNVKDXgaTvQ_dDPNooTrQLRztLr59ca05AHm7v5Jl5vT9s_nz_cgbuLuXcB0iHeJeGuyw0Im2ysJ6gRQ79l7fTRcP5WBbri98K7_gXPmGgKHu2dchP8GsXFD6_T7Yc8mflIAP4EQliFeqOkfHGvhpO5eEibNyq343enf3-FVDVhJTJXaoeGNITB1aZqgmtU5hy6aRx14lDnMPQv2t6OvJl9iwOmcjcx584Fvlj2M5ibb5Lj9mzyxntaqFC",
  "id": "rs_044f3fcb6c721bad016ab44165150c87d083c65022e05c9265",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEFuwgjSP3RnewlkdeR_zN2H5Skix5Ntpq7KyVGbM2nDs4DgzVOl6WpGTtEB0OAXIupUEjiW_lKNQ4t7paY_GrR6pmGOntAaF94Ud2s7OiJkKeG1JnwGkfrQ2fciK77-6btDJK5-lgH_TbIHrJhAe9Qk4GnAUWwkxseF6k4JYY89YbAhauytXO-T94xmFjlkZV0MYvd6B3bABQbdvgKJGEq5_n6Ws6nTyMWpaVgbXhitGoFFO0EE2kqxkPvHMfraeBEl50ngHg00d7c6B1aYdELFaY-3FSNwgbLX_8vzAVJ5u3Tsdo5Ux8rvxAoi0Xd0VEYPsLVFlRYgwUfzqQeVmAMRIifWgl8XBk6euF6CtFMIzWp6zDIZgwmk4VGrSTQgbMSJE0jmDWDf_p3kdkvkzS58TCvWQ4iviHxWePKj09satutp6OTWxJOO0yVDkB8GJ1kgvwPpXHhh2fQx69KzfMGbxqENSapu0Qj73wcjfIWg0mKbTGVmE0yEgs6qiUYzoRxY-clxlKK_e6S0imox_G3vyJ0lM9Z24-TG3RwJFtx3VT13R_BwttEWTx1S8195DjcV7Krxyb87X3WsXsDepIntQhgmT_nXQe6vTYudyva6h1Q79YFFr0UuxL2v0aN9O4CitKzvFq4ir_g61YMxg1oF8RL18f_FbL3aKQxNhzsHEYoNK5BInFeNncHdvSlyZc5au0M3Ke5-yvfld8ErgEwY2ZhCGcsjjJtm9toxgRVFj9jlo-yKLCsmS6uWDP-mPz4G3CnWhwgADjtzpHiWjSOu8ixYMXJr81fYJLO_CwPjfRh2Er2fggPC0hoJA81sjPHeXyMdkdTFn6qqeticPTmm9tNQyTgusOmXSQ_K2uM4vO7GBqFcXaKVwoVOhrv9yXNuivVe2yBsaSiW2UZv9GhkZfGOfchLuOXdOLDSshZRKSf0Uu8W22zgOc0lw73cn2mUKc9MA9WXlD98-mv5D_WfL9aDU5naxEZF1Jkf54QCjGfBBGFnsHg4pKH92e_Cc6IFry54I1q4FTE9i71O-PoeMt951GUrvK0KVbmUFEosB2BKpoyWOGcuec2AkypWuvyveqhNM5bLzObkAku4gdyKsE9XBLfNQ6XXsXy2tyUDWUduJXnX5WIpwS428xhqiunBLD1GqRpx2eJvoS5QcpR_t5by5bXsPGptHuuJl6CdOcRP3iDISGPUmCU-R2UHmCVWWI_QrJQPQWZqzpbaGqP5MD71dbB06IrIsJym6LFbR1vkY1C9EFjmGbe0hVbFBofSHCyj7cOWwPXp9jEZ9M4ouQ2drur_idUqWrHozaxU-ptb_0xErzA6hbdEEifcT9gbMeBLN0MuNcp7eGO_pC6G2QK_HQ5s7-ftUbnHTrgIpfpty-BhYBCruQip8XE1C0_D1Oz9ROjLUhQY7R7QxmgoUjKN12_p2WZSJVLnMMvM2YyeMeBOyyszhObpJsyaPNtuG2wYEyfrVim2GTZTipnX_-tpmNj06NeQQc1c2bIM2P3PmPxHy_QUEDp8UrAc04AZrPlzeJmdsmiHoKXFa72dUW111-czPR7yMCTiXaqhYWCBvkF4lHshVb2vXVgGr9KVV4cxIRVuk1bXr3kYNfuiHwWnBEfUpV74kIGIxxilDnYMgcK4kfIbUUl2gGeEFEZab76S5WeZ8df8nOlGsEgrVroGiI1I4xpIzpBV2aXzVSnKgrpSu8SjRc3rncmLk4ejUD8V4zpIv_CZEccdice3dFQBG7svWv9qpEUuW7vzRhrbVfjZwBr6S3HyL63F231q5UtBdMYmHr5sUr0B4BsMv20I22oyijQFaSMABhWj6jTv7bJIMy3zmtGTDyDQ9hSjIXXOQhrq2VW1aivOrGT5yzW89_p4Ji4PmfgvHINkYascmNU2cjms3YSfwRBi_jNGYBT4e2ZlxJ90kI4nH1uWBfYdhm3GuR9REZhMmNAuwNOR8BFebOHYApMfZqoZlLLKbgOpoWp46JG08aHrKadWuzAIPaawfljdeaCgisbg1GG2JpoXIYd3YH6R2baRU2QJukHBF5yKYBrJa-Ce6AlKtWKMVy8dJnEFzvAoX0ZuKdcwcSToZtdq-UbE9oGa4GLjSD0rKA1mlo0MPr61UuEi6pcS4xtJ8ThoMXj1BFeHs_95OKWidH9mq96bSeS3kxy8u_DapvDCe44sHq1reXr4k-1uBOmzLopRMX1115YYT3XFWZ4x0jDrKiTTNiB8vTBy1W7CZTvuBGrxDx6rJSL9iVWJ9pm9xUKNp1YSedQT4gPcMcFJSDlEEFSoy4MuQLmZDWzdaXNMoXwRnpPIcHJH8B0w7zYPCd4IWsnQFRfleRWhCaL8c3oPBunMUDfsgE9yW8BzneE9WsEqWApbPfpIYcG3AxlUYgED43F_mwvsWRirryiacGy4LeL_pMgH2DD6FboPn-9MiFnNYlfPKCv1K_VgJ6KpIY554FspMudCn1-vlGg_6Q_rY_lOAhastWugLgaxmmPZf8xyQMAKLLFhB6xAPzFG5CRQmEW9WPVm7zEqyH29bArDqlucCo6YfK-23DezYwjZUH481CN79n6ofjrG3NRUpfsFHdHWa6X5aZbfhPnQS54lvlKLFxlkrKHIPHbTeYuY3jlAsglPt7LgB5NM2Z2R__BHJrw8m34zZaUtX3-cshS1KwI2PbZlIweb5YEsPBw_2AKYb9BM46JmYytEweIXI9D4B7cvxIcNVIer19fGLqWyfKDIRY_wr2MlEPsMkzcMXeQgC7cLMwQsSjMIJbLP1y0_p6OrT_bT8TRHV6VktKvav1pDqFxpdMudg-vs29RmVM1UtgrwJjHIZrwgK0xgnTeDHea9ngfSNbb-iMteGX2uu2hzR18SsM2Y25JSSqXqo5D4ftPYD3iPj2qMc21Qo-aeaBTDTe_U-wnUC0X2W_8wVuAdcUp7RukMF_UN-lr4rTeAZMxr0nYiRWGXTR1jc3CAUyJmogh54YI5WLg3v9i7SFDjOwKMP1knBN2faSDupM8EF1-_iLIywtBfyPZwuCwur0dl7zq13ar9Fdvw7UId7oPbH0q3uKh79PgmSXiLln-Xi0GJR_SuYBte3ICKMy7qRuMEfIrNtSo=",
  "id": "rs_044f3fcb6c721bad016ab4416a1fac87d09c3cad370293f96f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":-2.5},\"note\":\"The cap grip reading remains stable while the arm is raised, and the pen tip remains steadily visible in the right wrist view. I’m completing the cap arm’s face-to-face rotation at this safe, separated pose before translating toward the nib.\"}",
  "call_id": "call_OQ2H9FvM77eLc8KX558lmR7N",
  "id": "fc_044f3fcb6c721bad016ab4416da54887d0baa0bac2a943512b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OQ2H9FvM77eLc8KX558lmR7N",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4576, 1.8664, 1.6661, -1.565, 0.6628, 2.0518, 0.0442, 0.659, 1.6913, 1.4311, -0.7631, 0.1303, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2301 left_y=-0.2305 left_z=0.1695 left_yaw=-2.38 left_pitch=-0.3197 left_roll=0.1191 left_gripper=0.0442 right_x=0.353 right_y=0.2489 right_z=0.1598 right_yaw=0.5187 right_pitch=-0.4534 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [0.9231, -11.1795, 5.1624, -0.1245, 0.3883, 0.2466, -0.0073, -0.0479, -8.4991, 6.8308, 1.3016, 0.0366, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abeb0789a16e009ae8d6754eeff83e4e4ca54625d8c101a34f7dce5e3661302d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0035218e69c32286cdbdc46ca70195501bc1730b7a0e61a001f0005b332a8f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ab0b3b51b0cec47e0632a5141b3362fc4d02459d1e5ceb73927ac06e8d2c28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 7.275 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 64 changed as sent

message 69 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7586, 1.8961, 1.6329, -1.2068, -0.7963, -1.2163, 0.0442, 0.3931, 1.692, 1.269, -0.5396, 0.0444, -0.0792, 0.053]\nstate[eef_state]: left_x=0.3621 left_y=-0.1643 left_z=0.1639 left_yaw=0.5851 left_pitch=-0.2093 left_roll=0.1629 left_gripper=0.0442 right_x=0.4088 right_y=0.1649 right_z=0.126 right_yaw=0.3872 right_pitch=-0.4025 right_roll=-0.0916 right_gripper=0.053\nstate[joint_eff]: [0.2803, -11.7402, 6.4889, 0.6716, -0.5299, 0.1538, -0.0073, -0.4308, -9.347, 6.6803, 1.5751, -0.0708, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.168, 1.2251, 1.2446, -0.9142, 0.2813, 0.5697, 0.0442, 0.659, 1.6905, 1.4315, -0.7597, 0.1303, 0.0109, 0.0542]\nstate[eef_state]: left_x=0.3122 left_y=-0.0991 left_z=0.2382 left_yaw=-0.7448 left_pitch=-0.2883 left_roll=0.168 left_gripper=0.0442 right_x=0.3537 right_y=0.2494 right_z=0.1607 right_yaw=0.5192 right_pitch=-0.4489 right_roll=-0.1202 right_gripper=0.0542\nstate[joint_eff]: [0.0342, -3.7128, 9.1145, 1.2625, 0.2418, 0.2564, -0.0122, -0.1162, -8.4308, 6.7897, 1.3211, -0.0171, -0.0855, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4576, 1.8664, 1.6661, -1.565, 0.6628, 2.0518, 0.0442, 0.659, 1.6913, 1.4311, -0.7631, 0.1303, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2301 left_y=-0.2305 left_z=0.1695 left_yaw=-2.38 left_pitch=-0.3197 left_roll=0.1191 left_gripper=0.0442 right_x=0.353 right_y=0.2489 right_z=0.1598 right_yaw=0.5187 right_pitch=-0.4534 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [0.9231, -11.1795, 5.1624, -0.1245, 0.3883, 0.2466, -0.0073, -0.0479, -8.4991, 6.8308, 1.3016, 0.0366, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abeb0789a16e009ae8d6754eeff83e4e4ca54625d8c101a34f7dce5e3661302d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0035218e69c32286cdbdc46ca70195501bc1730b7a0e61a001f0005b332a8f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ab0b3b51b0cec47e0632a5141b3362fc4d02459d1e5ceb73927ac06e8d2c28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEF2TMMpV0RZzfMYVoLdMR5pQLA6VYOG-KoQzH4qn58LrLMmmNyfmuEiDA8j2KpqPZevBxZsmzzp_hZ-K6l5qr0yIPtBMSdrRF2w045Yekn7WZywX37zS9cwPZICnw0p6b1JoFPkYjXL0JiCFCeONhfrR-E9Hov6AugTk3JyWFwIfyD3HdSX0mypYFeDsy3QoXr5EgEtQOPHcZnTXGWrTNBlgtF2mnQEghRm58OAwtk3mwAp9RD3Dtxo6XLQUPhUarbjKt-d-w-GnNNThtoIFFA0yEH_GCIhzg1AieTXX8qolQlve-J2s6VPdRaur9gC_kzwa4rhrtQ5A9LXIa1jtwsfBmeLng4wipF4jeP28ymW6HNNTPASKpiNhaFNn0PyBeaYwqjiSeYK5vJuqdRs_c6BT5WEnYm2x-rNqPswZ-jnNr9gsGJx8twvGPrJqGQueuuSYDZ_pLJZO7OX2V-4YaFlbjKp0BhjYxCjRtAx6A7a1XB0mDi4UPU5N4BG6ubC-fDH-4Vixadfh8riDEZpP4kIgk2C3Bhu8CFRtrNXosjJGHIRpFGdbQEoE6Dd5H7DLJTMp2zunAYa_KATdFgV_loBRLusNQ8ivo0-nNQvxTZwam0zhrNtNo5hmlmUOGc7Nr1SNkgGaQBFcr-dIR6raxMAvfjsjY18TbMog953BH4lD3e6WueJy40aLTSXfToQ7cDToiGiUtjDcgp-WmGeQX66kO4Ts1tIPLZUJlm0fFWgc1731hzuI2OZrMjP2QTQLIZrfj7rg1MHU0DPcGNsGAB9LOQc-ZZZ5Q06r1L6uSYq3qoQoxWXbhklH7kvF_4lBlkvbsuqtcwa06Owqa93BhyrDoPOH12KVuvr0Vt_OYtED_kAesDJI7eOCNpkQ5785rrK_IV8Wc5f9kTF069yqgaQXz5uu_LzhMEQ4dHiWTR9OLt2YiPevt3kmvJFwlBKB6TfjZUHT7hMU-tQFZerOT2Zsw8DqwU45akF2dAV-98bNjv4OLjpHxNgrYyy_mXt5-qR2bL3utTSaUTBDKEehmaf3wTpqm2QFBNQbwbKa4fMQB0zWvBxoCLHaWTn5P2ltO5sLXv15fvjISx1kx707W1WXm1JYSQYu0pu4_b68V0sOC2ZcKLv3pfLgbly3KHt9H0N4vqmm8e-q0p2L3FvTSU_gPesyL9ti9N9GMScfl2C1DBpd-Xpls01z8TeKHRgNVDxNEAnJDKMcXVYd9bEByh01aS0F6fpA2czYMgSmT5vW_E-Ox78jeYD0_ADezOukJArLnUt33d6xWbh0kdG93INXUfh6KFvjAunojypMMYztX-IhDQW5CNianseRBsOSPtiNZbWuTtxClupTpxYYRLMlNgWWn4I-CCAMtX8azaUXpyrWTKiZ7Cb7-5M29bHj_musTFoLHeaxHlH1E3wCHngKXreqSrM1-RaDWVOd_wBvsGm0Hgr63l9zoQDBr08vT3A1-YgGeNoJzqx1zU2or4sLU1DB_jphPKjp_CyZQp7asMXDpqpUFyj1MFKLtF_dhBt4tjb1qunDEh3fbNJiWJ9RgU7IM34Jk0zTIxI-ODfR6XL_T_UCWOJ2JTnXXYsRA3WYimRuGaD6ngcy28n1DvIu0TLht6Ey1MHs8E8BPtOxbXQuiYFvySdUNbdtHZVE0l_-4F_j4enojQuzYqdKcCwDWBzijlgMCc-hruWiijmnUd3ilp9Tf108OGLFe97rzWu4eV_abkS7rA3dPsR6NDzE3E0TBIhPjFoy69-_aJA6of7RE6e4SPWOm8BHdi-lPskKAPi3vhg0mWDtObWGdQnXUZA8SKmu5nRuRNfzVvL0fBXof5-mR3fAzNqxShql8kIqOfJ-gbI6t1ouG-mjiFwvZ5ptEuJuNcxPiMymircF7KqI0Z1zd__A7wPwMnLT_91-E4vk2qQx208Wm-O_2JJb3fuixqX4okxbPMqF4Z6LJvzV2Su8SPoIsiPG1xpSrIw-Dog5TuT0XlHqdRNmM0QiNORv4ivRwdGZXLQGJbTEptufZYFhfYS7IqMdkXdTkwqh44zQkfbkAUj8AVyFQmwVuGKrNGSUN3AP8AvYV_TR892DhRXrVq6vpZfiskjTlZyz2cU9CtinOEBDm3kz5ScvdEJUcfXYJdIRUHCA7IyqRYp5VCftdlaZ67iVIyDAkijL7ej0_IO8sxLMRyQGPQfnbXtdn3K19wRieHYTAtHODo0t8896dNFN_Qs6C3U9LywcWqqpNLRv5gVg74QWBPx0MQdsHj5YJjBVwlAS8Qe1j9gOlnyEE6Y9ttqYTkoa2wGBePZgpZoESSv2QXo80dLGw8HSd9_Q_UHfjKg2BhxQ0LpDEIqAVK0FwTEfCyshLvYtPCOhRe454XDLBg_LeKoXNzQIxtO1Hx_D8V4p9nh1cSXYepFxb4JDFFJTjuSNbzUEOPuqAF63-y9wIPE_v1eC_zPFWqEE74JU5F9CkqQWh5RRKY3fudYWJaX7GO0rq4iJyyfb4fd5QQbfKH1Kab2YIY36QzLi8QaIVbpaoXGrNqnicN4No954Ew7Ib51dyFsNzeew-gho69t6_KwHFam0tu9TXJX267luMp-bXtdFL_E-jlCHr6NTCP3m1LvT8-WnO4HeDFiMwLTph5lOnd9QsGzL05CTL7WoxIdjyV_j23yeKWK8xANi8vpchKNPd4DqgwUZYGyEcxA7yxN00NkWWZ9creMo3EnVByLAcG3vCsHY_oC8b14jVgplH7jwk6ykKTuvIPOgwYWL6AzWsZBFfhLtYAogz7j31NhIdcLNu7N2isA5dStbtQT_SICWnpKRQrWB0nQD-2n4ayCqtdB36GIFAIqYZP2Eo6z_9kXRG2eyVVD72mXzuKhbfpYHe7CQjp20imGAGu9U_aRZVHFVhEy81e0YXx5_stoHerGb3XNrD8fllk86WnS36yG-kyjYznIyFlEiYpnP1eM3M2dQ9DNqfDB_OGpPI61Epk8EymM-Z-ZF4_H_X545TpgYYtwPhwIdxA1IuiOH1OnjpwWH5ymFwFVUJRLZNcFEmbcdSkP0HVhqPH25Mxm6u_nFKX1tbtQ907H-rqNgFIdlPirfYoi4lMB6mKchSGkAzOPcqAt4qGJep6qRCQDE3QMSpSgANh_8tBKkf0eW6Nw2DqH0fnK73M4BwrPNJIxiizzMEM1L8ANtjg-xgy7OZOjRB1XYmfukNu2uaOlR4KjsPM_Sy4D8kYBxULTmH0tFiZuf-snSwZIIsknqTFNG3FgCe8_kyJFhwUZS35DIYFe56VtUhSo1u2juXlnSgzJ2xY6oCUS6PVwEiUvZ3TzxjXnTtqy9py1uyVSDQYmPZRq2FLPMX-JnWPebe25gVWMSmptjs07FlZrfRKDve0l7l68RBTnBCflY0jOzaApDCbHh15Tx8RA1sXHpVzecWnbAdfZuaP1G0nFZ-0Qzb6_6qf7wmZpJ2dIo3d_c4tLe_4ouog2lJvXPXlV1IIjyxucjUfbDx6oZDbODeRToF8jj9oK8rrC5n-QV_64z89Zc74Qzut3MBxPK4SQWOmZC00qwNf3x4EUvgOXuep8G6H72VFLhTNt",
  "id": "rs_044f3fcb6c721bad016ab44170d6d087d0906a55420e9839db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.23,\"left_z\":0.22,\"left_yaw\":0.0},\"note\":\"The rotated left wrist now clearly reveals the black cap still on the tabletop, so the earlier 0.044 reading was an empty close; the pen remains securely held by the right arm. I’m resetting the empty left gripper to a high, neutral orientation above the cap area for a clean second pickup.\"}",
  "call_id": "call_HUFWoVbCtUScumn0wJnUkXgz",
  "id": "fc_044f3fcb6c721bad016ab44175654c87d093d5ddfbcf77693c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HUFWoVbCtUScumn0wJnUkXgz",
  "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]: [-1.1526, 1.4761, 1.4002, -1.1549, -0.548, -0.4843, 0.0442, 0.659, 1.6955, 1.4303, -0.775, 0.1276, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2163 left_y=-0.2513 left_z=0.208 left_yaw=-0.3741 left_pitch=-0.4083 left_roll=0.3131 left_gripper=0.0442 right_x=0.3508 right_y=0.2478 right_z=0.1562 right_yaw=0.52 right_pitch=-0.4703 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [-0.2256, -6.653, 7.6786, 0.398, -0.4615, -0.1392, -0.0122, -0.0889, -8.5265, 6.612, 1.2576, 0.0366, -0.0366, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63121a631aa07ed57c3b8b0361aa5bd7d30aae01dc03e901650651e79cbff6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5db3a86937c374a08b88fb4b6474e7826fe000d93a54b3a65875e2937e50481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8242059afce7e0ef9d1568d0c5442843d7e382531690a19312692be404d0a98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.129 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 69 changed as sent

message 73 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]: [-0.7479, 1.8931, 1.6184, -1.2381, -0.7925, -1.2133, 0.0442, 0.6582, 1.6897, 1.4319, -0.746, 0.1276, 0.0082, 0.0542]\nstate[eef_state]: left_x=0.3569 left_y=-0.1546 left_z=0.1601 left_yaw=0.6028 left_pitch=-0.2228 left_roll=0.2069 left_gripper=0.0442 right_x=0.3559 right_y=0.2513 right_z=0.1629 right_yaw=0.5234 right_pitch=-0.4346 right_roll=-0.117 right_gripper=0.0542\nstate[joint_eff]: [-0.6906, -9.1692, 7.1316, 0.9206, -0.5104, -0.0562, -0.0122, 5.2308, -8.9915, 10.0171, 1.4481, -0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4576, 1.8664, 1.6661, -1.565, 0.6628, 2.0518, 0.0442, 0.659, 1.6913, 1.4311, -0.7631, 0.1303, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2301 left_y=-0.2305 left_z=0.1695 left_yaw=-2.38 left_pitch=-0.3197 left_roll=0.1191 left_gripper=0.0442 right_x=0.353 right_y=0.2489 right_z=0.1598 right_yaw=0.5187 right_pitch=-0.4534 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [0.9231, -11.1795, 5.1624, -0.1245, 0.3883, 0.2466, -0.0073, -0.0479, -8.4991, 6.8308, 1.3016, 0.0366, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1526, 1.4761, 1.4002, -1.1549, -0.548, -0.4843, 0.0442, 0.659, 1.6955, 1.4303, -0.775, 0.1276, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2163 left_y=-0.2513 left_z=0.208 left_yaw=-0.3741 left_pitch=-0.4083 left_roll=0.3131 left_gripper=0.0442 right_x=0.3508 right_y=0.2478 right_z=0.1562 right_yaw=0.52 right_pitch=-0.4703 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [-0.2256, -6.653, 7.6786, 0.398, -0.4615, -0.1392, -0.0122, -0.0889, -8.5265, 6.612, 1.2576, 0.0366, -0.0366, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63121a631aa07ed57c3b8b0361aa5bd7d30aae01dc03e901650651e79cbff6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5db3a86937c374a08b88fb4b6474e7826fe000d93a54b3a65875e2937e50481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8242059afce7e0ef9d1568d0c5442843d7e382531690a19312692be404d0a98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEF_RGP4gAuAeNm8_4XNhRJDzJtDgHhuw-F0ePGCt8oxuW33P-sJtpEg-JvMlBcQKq5tEo2659Q3Yb9B2aPtPE_mvNg9wT6BMuptSVn9z5J4edQ-jlPutJxSkI2BKNMwntH69GsYq9uN8bZI0e8W65wByT_EDUbu-LCFHmDnOM_wSZCdVN8nYx3X0k85nfnF91Sj_f_J7zpKmD5Emeo9UY7BZ3sb5uCEsy89vHHaU0Y4plTeW8qj4EZTZi4MssKVVzCM-I1q_DU9FgiHktoxRPhoF9hVfIYPu7jqpfZTNj6wlCQ1aRcZmRsM97-de4HPY8xBX9CbdrDoH05UUqNfMmJrLysHzwBphYtoKMhOveQLdyRWz3qOC7AAq_WMmm9LCzcdfyr5uWKgkxxsQKIAV-2OangTAwoCysiwbIchUH_s7uQxufZPdjsMAFIh1cIvBuwIU-cJxh0UOC3yz6VeQjYZJ97_lVUiFdlC9en1kqCwrScv5RwW-o7hyaq1MojDJy2MtRung5GmQ0lHLwMGsc7ZJUCIp4nCl1bdwVpbYmXvTtaZp_-R6HVGeXi_BBdgkgtldGHe3l2jzOXhtpLlablu1gXLzRlvi8e_H5CLooR2blo7mdP5hIbG-9av8uP6I9dmNfk-egQiDmTsO4K_5RInnmHHjH-BBsSlCz3UlvdwJTpJvWHv85isK3qKX-zaKk_1IRxb0mR8pODIcYB9Qt0kcxSJYFH4IP5XJblGQfGzQbXmFcDOJFRYEKthjybwD42AhuTDUJe3wrxiKMsmXPXQqIFVwEVV9xvifdUMYCM_lNeWmLs-xeQ1jzxkSCZ1o6T8DDUhUjzTZNP3WqmLq4BRV6Ka0dZ9Nsvr-SUN_EGJhK8hgxNjH1m5YgEXqE7-SLvwCPTD6-xtLahwmHTwCK3v-myvqb1GWwGwwBJN9_c4fZReqcyfzvFVkhKomk1W3p44xxIteHHxJGmp-VM4nwWQhtH2MlMrsCNUjL4BIXZ2oXtmEGTktLZ-8uSIA4pkz67DyX6MjG2Y60Z4hHBBkRBCwqmhFi7k9dR3Mauptp_9tTRMNrNjr8qMkGmVVWi1TTZvfkRllWXc9r-w8NJIPfiXBe8ys_kmLDIB0DNgVWIxziIWE-BA8xviUKNoYuL51Nc4skMkuf2gkLR7wsPbEkLL8PPLg0LIyCHqlKNa7C103FpRkuFV3VaPUWy1-6YeCcOP_Bv3iVUr3czYQD7_B73J9UuKfSzVsfwYu33Z76BO1pquEXZmPOJV4PhdkhaDcz37j_zLlzpyZt20W8lz1t6gzSxedkrW_h7l7FsC3YGntpHq6HUtDzU5_b5mBI8s99qyFleG5vSkfp85YxITIBPu5B383RzGOVOt3mWLzo3IacKVnynxTNFR-Gzti28NCs-NoF53SmI968YRGARtFWWokkFzaB9yucGfQCLdBLGl_SGg-sc-K-yRwp8XQiQ0tw53pSgCR4zovRCQoq0icnGMt7Vz8Nil5faDquDQopa6IQM8iAxYHVRX4fzB52WreSx-X9CB1VmyibsjKuS827OjL8JiPdWIyg4E4YcgYqXsOPNbx59QN2y9ZD52ZalG_gqLK9FYVz-wYwSL8iNfUZ1GQsWdaRjY4znxt9eLR6uGyLwYG5GjtkmS7TPMRhdn7r_DK89wDllPzfeybksODZPWJph2uDaiOjKpQk_eMzn_q96LjYApv83dszxVTfYoR03aCibM_dWwJcenkuvyHrUyiudrU606LZ_aUjCFYEmrJSrojkuj9uExm0xI49nfFh27cvmBV2IXnUrIVSBafb5RL2vNBegti-QSctg6MdUcMdcSQRSVLS6azcfdBr-6fyTt_37PPU9b5S90oxivgBhV0OmNhDava0y8_hSiHKk_L_4gFmPpSwewlglO3ElX3XTgtStRsfdjKrj1-wpOU48dUay2YcYMmSKAkve_CPE6zmwQkJ5gITTSYow_mle9jzEekPX3kihzoZcH_zVeo3Ogf0jRiXMI3zpmyJ8fGAge2_s1PsEkHeY9Es50RU6Y860fp5UxiElFSY7ZsdiGuBQvdVuX9YD41S5piFA6oBbJIaV6KAlmSJauGKNkHFufNU0bv525t5dFWpqq63Zo_yk67H6lKxsMTrbdH1TD2GiBAyKGqn7SdFnMo1XRZvcVdYnBT-lhgcxACAWWF0465VFPWU4TIAkYxyDuvf_i-icrQ558CpskCUglN5M_EffPukwIFeI21k9MsrEPqX_yfxjLTkaPCr8QmXege6TtYxfXunHq6Uu_a1zoy9WvbVcxaHgMjTs7YuBmHslyqkgd2VbR44nA2CiqDQDiwmu9mDoSRwjjh2BrWe7WOSkyrhSR1zlEMTMr2H0daFN-IPQARwlZT6aeEBD9jlJ3qvvbZEqu1RwrWlJ_3VYv2bVDqbsV2gDiQjiyRmfVw-tzIduSXrF1W-YDm9-q6bg3kRUyDWva3E6kJ-qppI3CacinkycXAJwijso_D_QuklAuq-G86gi_tfBxAx9UC8QurH1GeC8iHkrT9NVcbTk3YtJxMsZVSXsChFPqsnykEnQyr4TlhplOZ6p-ELX3Yk3jOMvJl5URGABSKX2NuZS1U8LbeoZ5lZwknC0OsjBEdlWARuaKxn55WMHHr23--BJvUg2r09T4wo2MaFsJNErpK7j6katiTHndqNCnBhP0W47cDzgxI2Gsuu3uzPW1UZQAKK6YsIQgJf-qwImokSpw0lgDt0EufsAks7gYuEGL6MJ-CvLxlbrL9lLtQVQPnMF6wmWEgGekOlPlPrwO-cN_kIWSDxAA88cmS6KttKwH7Pvly5KGfeuPiUvenxxw_-UCGX2fNbl02B8bTFMmeqvL38WXkqstNyJg4eCBCokhLI8-Q7cA028DIvxHkABkNuswsGUH-K336vBaSC5q9RcVriGJw3Uo3V9TVZ3UV91L3NQrvjw3XBwn6yynZ7HyF42SLPbwhkcNC8H-SQRgj0CBtlMwbxQ5suKBonKYPj2O-knCej7DUbm_r6MT-b8dAKNB2ULRi3Nbh5NbqyjBWhvC1anTAG2nAZgZd8RMT8REdPltf4vh8cbRLFMua5_a9w5DJwXFFBX3DksHp25KlNvCYHlW5KRC7TRvQLQLfcJC1Fvtt-jmckrz3fGcytradaXAU1gjK61P1SddokEbRz-6g7eh2rZ1e6v5jTjeJq5orycxT13FG05C6DE1uAn9gEElPK6-ABbkEUB5WfXsGsCl-ssBO7tI5ii75f4QvIRIW6hEHzaLMQ33tEhe2u5EpRXj03u9iM7b0T2wB7jRmkb9hliSsRCBYrzBPk2VriS7WpGfeqtuASULbE-jrnJgT0GiOa1qMQU7GQMjYOj4OanXf2ThthX_bt2RO60dw110P1bE2n0LG1whRX5M3l0o7KKEAJG2Nngp_xQUaf1g4wdyhox_aXsDAr1osGdAHZldONy9ggmGmTa3QwXMe6Zu3yULsCIOo4b-4lX_DX5gMoiP6fXDWdIn-O0kW-dNW1FlUrw_eb-QQ_UHJpBNlXwV2fkFK9MqVwF75FY=",
  "id": "rs_044f3fcb6c721bad016ab44179433087d08f101105e0900d84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":-0.3,\"left_z\":0.08,\"left_yaw\":0.4,\"left_gripper\":1.0},\"note\":\"The cap is visible just to the right of the empty left jaw column at nearly the correct radial depth. I’m opening the gripper, shifting about five centimeters toward it, lowering to a pre-grasp height, and compensating the near-base yaw shortfall to align the finger channel with the cap.\"}",
  "call_id": "call_hFKQ30gxoG15hTPyQGWUX0GY",
  "id": "fc_044f3fcb6c721bad016ab4417e749c87d09d13cb4f318ea18e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hFKQ30gxoG15hTPyQGWUX0GY",
  "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]: [-1.2602, 2.0865, 1.6455, -1.3865, -0.598, -1.4322, 0.9948, 0.659, 1.6955, 1.4277, -0.8104, 0.128, 0.0025, 0.0542]\nstate[eef_state]: left_x=0.2027 left_y=-0.2944 left_z=0.0826 left_yaw=0.3294 left_pitch=-0.4156 left_roll=0.3686 left_gripper=0.9948 right_x=0.3444 right_y=0.2428 right_z=0.151 right_yaw=0.5221 right_pitch=-0.5086 right_roll=-0.132 right_gripper=0.0542\nstate[joint_eff]: [-0.6085, -9.7162, 7.4735, -0.1587, -0.4615, -0.0415, -0.0855, -0.0752, -8.3897, 6.8581, 1.6142, 0.0317, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86826677017699214d03f93e136a3556272123f8a896eb3b435ce417bc1c75a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b2cad8b9dcb1fa48e0db135825b49777a4be04e4ab5d646be553ae8660a97d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f791bd786f3c0c0e5b577910377c536ddff558e4d2b455a81ac5cfc8a448fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.987 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 73 changed as sent

message 77 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.168, 1.2251, 1.2446, -0.9142, 0.2813, 0.5697, 0.0442, 0.659, 1.6905, 1.4315, -0.7597, 0.1303, 0.0109, 0.0542]\nstate[eef_state]: left_x=0.3122 left_y=-0.0991 left_z=0.2382 left_yaw=-0.7448 left_pitch=-0.2883 left_roll=0.168 left_gripper=0.0442 right_x=0.3537 right_y=0.2494 right_z=0.1607 right_yaw=0.5192 right_pitch=-0.4489 right_roll=-0.1202 right_gripper=0.0542\nstate[joint_eff]: [0.0342, -3.7128, 9.1145, 1.2625, 0.2418, 0.2564, -0.0122, -0.1162, -8.4308, 6.7897, 1.3211, -0.0171, -0.0855, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1526, 1.4761, 1.4002, -1.1549, -0.548, -0.4843, 0.0442, 0.659, 1.6955, 1.4303, -0.775, 0.1276, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2163 left_y=-0.2513 left_z=0.208 left_yaw=-0.3741 left_pitch=-0.4083 left_roll=0.3131 left_gripper=0.0442 right_x=0.3508 right_y=0.2478 right_z=0.1562 right_yaw=0.52 right_pitch=-0.4703 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [-0.2256, -6.653, 7.6786, 0.398, -0.4615, -0.1392, -0.0122, -0.0889, -8.5265, 6.612, 1.2576, 0.0366, -0.0366, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2602, 2.0865, 1.6455, -1.3865, -0.598, -1.4322, 0.9948, 0.659, 1.6955, 1.4277, -0.8104, 0.128, 0.0025, 0.0542]\nstate[eef_state]: left_x=0.2027 left_y=-0.2944 left_z=0.0826 left_yaw=0.3294 left_pitch=-0.4156 left_roll=0.3686 left_gripper=0.9948 right_x=0.3444 right_y=0.2428 right_z=0.151 right_yaw=0.5221 right_pitch=-0.5086 right_roll=-0.132 right_gripper=0.0542\nstate[joint_eff]: [-0.6085, -9.7162, 7.4735, -0.1587, -0.4615, -0.0415, -0.0855, -0.0752, -8.3897, 6.8581, 1.6142, 0.0317, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86826677017699214d03f93e136a3556272123f8a896eb3b435ce417bc1c75a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b2cad8b9dcb1fa48e0db135825b49777a4be04e4ab5d646be553ae8660a97d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f791bd786f3c0c0e5b577910377c536ddff558e4d2b455a81ac5cfc8a448fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGEt-TVNLtJTN19OchvwBEw3Hl3kGRDUJ7BK5A_c_lDZs3_7PwnWC_A_EhiclrI9KGMdQPEg-36c6C3StFA9KF0VB-POhyuudd18ejOB1feqBFy0SGUFZtsPjhNASF9CPNdMmZoy7HxhwHe_-WGa8CrDKQE2GXtx8pvWngh2Ms1WW7XTwyMP-XB-ZebEcD7eZJ2QaU3dWlG2VTLT4LBUVC3lI5sXcyeoRKIDcrZ8UfJSe3qUI0D7710eGquPOTKbMEelaL4AD6nvx_4A1zY_7lPBESJsdSC-PvCdxin0drf5SU8RipW0MtWbifF3EK4KQDSGq0IQuoB20Mssjfz8YNU1ejFHxLSbc4P9Fb6wv-ZQFJnSzvDnafjKJpn8A3T0CbQQ1GL5Vi_Hw2By-tnqZmrMdOC7OInZkfBZhqP7aX9tMwOzddRDiki_nXkuM_QQWBIEISQgxx60RzW8Sr6MQLfgD-MsBfg0hc0c5cO2r7Z6B_9n_BltN-UGE1OjWel7n7DpnL_fKFM0sfNq7FpZ82Q5Z-sgAK0CnUVY51vKw3KX4u3zifJgC3qpSvRCifSe24Vl6ayaVG8y58qwR-RWR4rq_sBxszALwquxj94YzZJJyF7bcPEdSJeiIU0YGQ7DMV9-hsc3rRbt-hbqPpGHI5l6_0WhXQ4F-uTeZ6koYSQl2iUGXuwSuIZLr6LQOnACidLNsnRYR0yxTYGew3JXYnNt2DUnnwh5RJZZ1CF_qy8QD9QwK7FwmHl0Nsrns9cAmJHNVNYKjkSLM0BBXr79aA2KEhBQ4K4Ei96R5wgZaLw1pcwav9V96-NKzg8OFIz_JTKI9zWBHYlZqUCNU3p8bfJmB9dkYJjXI9aHWxXn_GmvqbpXrag_N9h1vSQ5GJVoQp0evPjCt_EQ5Y_plR2LZGcY3iHK4iyBvV-OUoXj0CVyJ111UqhnhIPm7VvdINMNfHM4T7BGf7VJNqaqYEp4Kd5cVTIkL2RtmB-NdeRuSLHiJ7h5Q9_Yt2OGaM2zzTDX1CdZnBS288JfulPuFHADiYy4joM_ag9S3_o-y61H-wkyM1taZJIDE5ZKhQZD31nBFDZiRTdPk3--slPoP-K7n9IJUdLHvj_gIDXLO2zazLcuaPkN-SP7CV_sv-nOdN_WaDLrsV3-T9A0fetjnAVDBnSkVohr37Hl7X_uahEwYb_l2qzfOCQ3fIVPRcB0TtzUFS9RF7i48ess7OLe8ZwT_h-OQMGZjqKtcs3BAEp70FwJiETVuZTMUnQhQBFvtsBcNMHKALi0s85aTH20w4Px8pzNGeX75ukxTkKc5S7Dv5SFBNHwjIKX2BeWURggIbP6-TUg7w87nSTdA79hPvz42eX0edXNRHnZO8220A5M2nQOqKwFDyJ6kF6J0B9g2evZFyXKxx3zjgU2g-4jImn1rbFWC6EKwzswXOVQOb5XbkoleBSSTbLZVhP1k1Ribhiavv36eJ4LVFrCfGnPDxC2NDOcfi6FgiZDHu3PakzlawIfEFWWeV0-tFDXCo7eebc9qolUyGwcwGjunpxPzaFO-2V3-XdEGxf0d0HTtFDD5z5bKNlJlMPyAgav5lWtVciGz_F7eKHNuer0vR3ep8syW26s69rl3NNULPig8qlkUfqz6alrh4_L7iRiDWSXlBi7KwUt2xj5MT4xNbQSRTKaSplGD8niPXJzBazUnVCxUH987eXc_FXLYGcSVk--NQE2_vE3idDpEBQ7T4eGvXeXp2eSOBE4OvYZ9VDm-mC0iPKxRC4QjsuxZBTsvI0LlxS-pZ8Lz_eRq8VfCSHX912bMWBoA7Lyxt9tvW-bF-c6VtiI-TMJkAVRnR3b_IUufQwvjisPXAuKsbZ6Lfp9kh4b88wuPHbvEVIJLReOxGbKQpKjl5VQMTXFoOKMd93boWUimPD4CpKBsjNT1QH6owASBcBqmYADpC17UhKp2cgslO73xs=",
  "id": "rs_044f3fcb6c721bad016ab44181907887d0b82d37df422ca1e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.195,\"left_y\":-0.275,\"left_z\":0.01},\"note\":\"The open jaws now straddle the cap and its long axis is nearly vertical in the wrist image; it is only about two centimeters left of the jaw centerline. I’m making that small lateral correction and descending straight to table grasp height.\"}",
  "call_id": "call_kYPQCTdKAUUzfd3W9dX9dIqv",
  "id": "fc_044f3fcb6c721bad016ab44183e08487d098898d509975d5e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kYPQCTdKAUUzfd3W9dX9dIqv",
  "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]: [-1.264, 2.0972, 1.3918, -1.1759, -0.5938, -1.4536, 0.9959, 0.6586, 1.6955, 1.4208, -0.8375, 0.1276, -0.0074, 0.0542]\nstate[eef_state]: left_x=0.1918 left_y=-0.2662 left_z=0.0212 left_yaw=0.3621 left_pitch=-0.4131 left_roll=0.4142 left_gripper=0.9959 right_x=0.3385 right_y=0.2381 right_z=0.1454 right_yaw=0.5255 right_pitch=-0.5429 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [-0.3624, -9.2103, 4.8342, -0.2564, -0.3883, 0.0757, 0.105, -0.1846, -8.1162, 6.9949, 1.2479, 0.0122, 0.0904, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba361bb1fc4fcafcb053cb10ec0dadb93de3eaeccde985f82b791ca34da97403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e694cd71a0dff480da703173ced9685fd50eafd7b9f68928de6efc7a9a28cde7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b23ca9484e63c5cb777089fd1be44c0356f212ce93f59c0b1b9ac8e730263167",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 5.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4576, 1.8664, 1.6661, -1.565, 0.6628, 2.0518, 0.0442, 0.659, 1.6913, 1.4311, -0.7631, 0.1303, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2301 left_y=-0.2305 left_z=0.1695 left_yaw=-2.38 left_pitch=-0.3197 left_roll=0.1191 left_gripper=0.0442 right_x=0.353 right_y=0.2489 right_z=0.1598 right_yaw=0.5187 right_pitch=-0.4534 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [0.9231, -11.1795, 5.1624, -0.1245, 0.3883, 0.2466, -0.0073, -0.0479, -8.4991, 6.8308, 1.3016, 0.0366, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2602, 2.0865, 1.6455, -1.3865, -0.598, -1.4322, 0.9948, 0.659, 1.6955, 1.4277, -0.8104, 0.128, 0.0025, 0.0542]\nstate[eef_state]: left_x=0.2027 left_y=-0.2944 left_z=0.0826 left_yaw=0.3294 left_pitch=-0.4156 left_roll=0.3686 left_gripper=0.9948 right_x=0.3444 right_y=0.2428 right_z=0.151 right_yaw=0.5221 right_pitch=-0.5086 right_roll=-0.132 right_gripper=0.0542\nstate[joint_eff]: [-0.6085, -9.7162, 7.4735, -0.1587, -0.4615, -0.0415, -0.0855, -0.0752, -8.3897, 6.8581, 1.6142, 0.0317, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.264, 2.0972, 1.3918, -1.1759, -0.5938, -1.4536, 0.9959, 0.6586, 1.6955, 1.4208, -0.8375, 0.1276, -0.0074, 0.0542]\nstate[eef_state]: left_x=0.1918 left_y=-0.2662 left_z=0.0212 left_yaw=0.3621 left_pitch=-0.4131 left_roll=0.4142 left_gripper=0.9959 right_x=0.3385 right_y=0.2381 right_z=0.1454 right_yaw=0.5255 right_pitch=-0.5429 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [-0.3624, -9.2103, 4.8342, -0.2564, -0.3883, 0.0757, 0.105, -0.1846, -8.1162, 6.9949, 1.2479, 0.0122, 0.0904, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba361bb1fc4fcafcb053cb10ec0dadb93de3eaeccde985f82b791ca34da97403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e694cd71a0dff480da703173ced9685fd50eafd7b9f68928de6efc7a9a28cde7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b23ca9484e63c5cb777089fd1be44c0356f212ce93f59c0b1b9ac8e730263167",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGHc3L0RYuEk3sPS82OpiCf8CYKCw7VdGPV7iApw5xsquOZMu3HGuU0eCwHwd_Olxqb_dtYuRkNJs3iTypf7Q9Krfm6MQP33u_jwOzd-GyZWDjIbVw95CpZX0OeBzAM7uLmDJDvwduXC-X_A00xA6EAKX_UIlKttfMOERN8xErt0kO23KJGku8ybUW76En7U5JeN8hymAtbteeMOu8VIzRjss-4eyWnul8qagFhGjr0AgM-5pXW2zRQAfw1LRwiI6OU8lQ_76TYjGRgOk10OkvudTUHu8c0vKsCeOyudWDFOAfokEFeEZqXfexLJe8KW1TUZG_I7nKQUUNfsH45PrAoX5NRg1d0fWdIr3wdriHQBQaLlsw0Qbz4ABEj1OWzvq3KSwq7xPmk17E4_7mC-4T71-ADpbcJYo1_CcKonSVMPtceSkcmrgtA_3s7MZQuSDrvRQXqC5CT-7UWglE5dIGNNUMm0Zzep2PjBXZO6X5D-Dpqxi4xnYDXAqQvzVxsJ0_4cvPUGAXilrNjguK7uP1mEJ0I6gk4JVo1OH5a1Wk0SaHkjwDV-7k9PrObu9vgoDmxXlL545unGk8DFdE3CQH3XozA1Fkhkh8KAHZaJJttGY027EyPBTENT1bMANVp1T_1-DvJxrMvp7uhfpuJl01HGG754oce4ok-Y7OlCo0FYQqCIoEWKP40FoGkTbTwr2bWSioqt_cN2LiWZkhzmxgbHyJzhZuPqlKvCN1jmLlBJvPJyIQh4LHASKmxnOHgz74v2iZJSToIVvG8GUXWl_2o91Huvlw6my-xEqS_xmGgW48WV5gQvSLMpoRpNtuwpfjGEnIM3mX1k2nwHsanl1HfP1Cq3q1l8bsbnyUv8HwiTylDsmERpBp4Aa26VwIzZJFIS6rQrihrGKU1Xiui6LNQzu6eOLGpFia9QVmVSKc9kvHsGv54GYKtwK95PfbLP0XiKtvIsKd-qdFY04dxzP5ScoxB9ljhK8lLHys1kQRdz6sz4pK4x5hBdUab0UsDKCdDkjTBR_MJ6--E5Qjc1wO5mzhxo8c3V5AMtPL8LwE5B6LIa8-j_xCEW2UPBr-hph5pEvvRRI9Mbr0PV1okLdf-Bv6lABSWI5KPQ17tOjBQYDyCDvun-QeYixT2dvpAGM6ZWbEUSL0mXhJ23tGFGK7i89au_91ypr92HtbCr2sLS-4C7VLxYhOlcsZlm3EEapd3wqDcEIJaeg3LsuGt1aZnXBpdQTdUIGK38UW0Xm8b4VOilu5iGcm0zQLVCNXFTHcw",
  "id": "rs_044f3fcb6c721bad016ab44186e0e487d0bafbc98c27d40eb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap passed below the wrist image exactly between the jaws at table height, which is the expected centered grasp geometry. I’m closing the left gripper around it now.\"}",
  "call_id": "call_atOZhhtSfE0kRUlOPydJZA1h",
  "id": "fc_044f3fcb6c721bad016ab4418714ac87d0b9397b73e4164595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_atOZhhtSfE0kRUlOPydJZA1h",
  "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]: [-1.2636, 2.1014, 1.3754, -1.1667, -0.5903, -1.4567, 0.0092, 0.659, 1.6955, 1.4208, -0.8322, 0.1276, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.1902 left_y=-0.2625 left_z=0.0165 left_yaw=0.3702 left_pitch=-0.415 left_roll=0.425 left_gripper=0.0092 right_x=0.3394 right_y=0.239 right_z=0.146 right_yaw=0.5268 right_pitch=-0.5377 right_roll=-0.1418 right_gripper=0.0542\nstate[joint_eff]: [-0.1299, -10.3316, 6.106, -0.3834, -0.3394, 0.0073, 0.6764, -0.0752, -8.2393, 6.4615, 1.1111, 0.0317, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4dcc643b44c55532667025a6e8bc65771d663bb23819ef7f5e88832187fafd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2f4620bf8a78f6db43db999ef1e2b1b3a11b8bb867e5be4e3d12db2d29afa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a218de0ef120c490fdf45d7685755a85dc752bb3973c488120e05387e732815a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 5.135 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1526, 1.4761, 1.4002, -1.1549, -0.548, -0.4843, 0.0442, 0.659, 1.6955, 1.4303, -0.775, 0.1276, 0.0113, 0.0542]\nstate[eef_state]: left_x=0.2163 left_y=-0.2513 left_z=0.208 left_yaw=-0.3741 left_pitch=-0.4083 left_roll=0.3131 left_gripper=0.0442 right_x=0.3508 right_y=0.2478 right_z=0.1562 right_yaw=0.52 right_pitch=-0.4703 right_roll=-0.1207 right_gripper=0.0542\nstate[joint_eff]: [-0.2256, -6.653, 7.6786, 0.398, -0.4615, -0.1392, -0.0122, -0.0889, -8.5265, 6.612, 1.2576, 0.0366, -0.0366, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.264, 2.0972, 1.3918, -1.1759, -0.5938, -1.4536, 0.9959, 0.6586, 1.6955, 1.4208, -0.8375, 0.1276, -0.0074, 0.0542]\nstate[eef_state]: left_x=0.1918 left_y=-0.2662 left_z=0.0212 left_yaw=0.3621 left_pitch=-0.4131 left_roll=0.4142 left_gripper=0.9959 right_x=0.3385 right_y=0.2381 right_z=0.1454 right_yaw=0.5255 right_pitch=-0.5429 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [-0.3624, -9.2103, 4.8342, -0.2564, -0.3883, 0.0757, 0.105, -0.1846, -8.1162, 6.9949, 1.2479, 0.0122, 0.0904, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2636, 2.1014, 1.3754, -1.1667, -0.5903, -1.4567, 0.0092, 0.659, 1.6955, 1.4208, -0.8322, 0.1276, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.1902 left_y=-0.2625 left_z=0.0165 left_yaw=0.3702 left_pitch=-0.415 left_roll=0.425 left_gripper=0.0092 right_x=0.3394 right_y=0.239 right_z=0.146 right_yaw=0.5268 right_pitch=-0.5377 right_roll=-0.1418 right_gripper=0.0542\nstate[joint_eff]: [-0.1299, -10.3316, 6.106, -0.3834, -0.3394, 0.0073, 0.6764, -0.0752, -8.2393, 6.4615, 1.1111, 0.0317, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4dcc643b44c55532667025a6e8bc65771d663bb23819ef7f5e88832187fafd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2f4620bf8a78f6db43db999ef1e2b1b3a11b8bb867e5be4e3d12db2d29afa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a218de0ef120c490fdf45d7685755a85dc752bb3973c488120e05387e732815a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGOa9pW0fCP8DvepZXtlQEHavaS0xPNz9P2rTYnAToatiJ4RSodBVVdh_1BtxhSBxOq0bAB49lcSYtYpKK-PrnRfszCo0oK78-iYF6P9Hn6x6AyKJ0ewTWCrz3_QIHg_6Os5BfwnfNlZP8PFt93E4raTVitjopgnJ8Gyi47QRaNv_3XUDzmfI898-iwQ1RCAdnls5_mGtsL3IkOZsNRCMhyYiTspAnMbNzZ5Zn0oUqXa58juFdCzN79l1oWeqfmP2ZOVOyThh40WfpCzm-jRIPL8A0jFvpJRV3ETQ8uovHRb9ETrmi9XhwZkpRns7vM1T7ePRjVXnEObfQ70BKKlvA3gIOFP78TvI5BV4KWF9vs2oEUAIeQHfxFaZrsXSous31lZGM1KqzBum7_kjFOzaV0LS-rTLU4tidRKWz6fAgCT8R9rU2goZx9pccWr12SCJ4UTelun-kYAXkE8Cox_BDqxt74YYqYcdHVfnibk-U441gqiSCU3OzlTZkiz0JyCAh7hTcQUO2AupOYbwlj21TvMzY504T5136msOJOwbh01lCDBHxC2cIYvVGb5TM3FQeGyxV5b1Iwr1XvmgosrWf9_4Qxtqg7LBdOyQ1vkvKGNt67RiV4rgaJ0Nsv8nj4apbBRYp1hP7LT_1FUxTzuwoDIKECkMA5FAzVbgdDcq2VULs6ZonkJepeMqxnwm5UJElSPMNh3snNsvNE2glqJDE_lqWVzEgByfTQ1CZg_iFPGbZlWe0KAlLemWSSE7SZhXSFXrNcnIvE9fKMOpi9TiD3aVzXy7alobJs2iX4-eQuKUzClKNVyVXHfV9WfQdlx71fCg4DkYC_yjcfv1enefFK6p33hdj8b_qpAIDLcMagghhl2M1xf0mTzTeqatbzTVfe-TggSGZYptZLyZplFfntRfG6Xa70hwz9IFODQAn7UCIs6WrX32QCK1NW_dOXkjfuTEXahwZGvSvFgJULt12ve8p94qSZ34ygpHTu3B-N7LLUJr6Gu8PO_H_LlD2BhrxcI5TAOilVo_XVWueVLoWXiQxROygv8CA2nEh2yjRe0Utl87hAkypVS6FwwQyiKf0gSCzPKKWo_HK7kVfL4Qm9LGvivMouojl8sia6Z51CG0-P3_B1U5VixK65dtKm71H5s_nNaIGBfjfylxMvaKKQEJZtrpAo07sF3PTCYcg46pXfGIEfPi0ny6SX_cT9j_eZmUb9OTyNbHrTEgUnWkp9WbtiJkNNQ0Y0JGmPlGzNHf1r6Y057QqPWDjC9VLfylx198WOYCBHnQEOBp3e5pjuj1r-mISZL-Avy3Tks6TikK3jNrmJDBmZHy4WwpU2nfuBuLKqlAsHYgp-KrGDHYNpMA7Oski7rgrQGiAji9zyCC-tOcv2MEEUQKFzLJePgFytrDwb3xKZF74uWVVrYsP6HUsgSO1CmvXAa9JF2TIm1LaB8cACfG7CKVjIlhElfcQXlRcZ7AXCDPXiAo4XFjTKKG7Qe4-PN8a4wjw9PY78Ok4oikW1eukXq63oRqPj79vzEcvXUS68v7bEz183C19IRwAGWfVi1JdjwfKfCJZE4kJPdzNvOVzo0ErJuutaIXVAzGkSyulURskEjgh98_dQXXN0UWO2Jm_luD05VJoi4U5udC6nVHYJ6zQN2yZZ3NgppDC3tONI2k6xtusvW8E72T9q14mZYEH-N16WCi0b02KLaEsSR8CA0JfepaTOd2kCmLhdC6oTNA9zZgk-ZyXvW1BzIoqc39t8AwYqJ-KPD12fmh207b8dVUomRZaj_uj2_QPT-IyyIB4nogvuIOWNawGMWTMmWe1rDZpWITHxqzCvQEHl8fzP-ZiGxD2C95KUuA6HEVfynU-_SK8od7J17pQkW0giP55kYLPrJneaArTMF-9Iy1mqryKwC6wQ5dBpSCtPw2njQUL7sfb9fPhutg==",
  "id": "rs_044f3fcb6c721bad016ab4418a887487d0ade14cd91f21ccde",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.212,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The left gripper settled at 0.009, confirming an empty close; the cap was centered laterally but the fingertips were slightly short radially. I’m reopening, backing up to a low view, and advancing the grasp point two centimeters outward for the prescribed retry.\"}",
  "call_id": "call_wZqSUM3cJcButrhRH3ZlobBB",
  "id": "fc_044f3fcb6c721bad016ab4418dbb1887d083be509ecc44a70a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wZqSUM3cJcButrhRH3ZlobBB",
  "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]: [-1.2114, 2.0842, 1.4841, -1.3037, -0.5877, -1.4109, 0.9953, 0.6586, 1.6955, 1.4208, -0.836, 0.1272, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.2057 left_y=-0.2587 left_z=0.0482 left_yaw=0.404 left_pitch=-0.4278 left_roll=0.4658 left_gripper=0.9953 right_x=0.3388 right_y=0.2384 right_z=0.1456 right_yaw=0.5265 right_pitch=-0.5415 right_roll=-0.142 right_gripper=0.0542\nstate[joint_eff]: [0.3624, -13.3812, 7.3504, -0.5885, -0.5543, 0.1441, -0.1392, -0.1709, -8.2803, 6.6256, 1.1209, 0.0366, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1ecea51f066af53cd90e794796f92aff57ffeeed619536647a10c06f314241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89476ed49c4b8fd6cbfa49414e21244b3dadf5b71fd05ebabafca335c8d31823",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17c8c47f4133929be6e1037277f64044f46606a134f4cc6be2d5b5ddcf8d32a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 7.688 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2602, 2.0865, 1.6455, -1.3865, -0.598, -1.4322, 0.9948, 0.659, 1.6955, 1.4277, -0.8104, 0.128, 0.0025, 0.0542]\nstate[eef_state]: left_x=0.2027 left_y=-0.2944 left_z=0.0826 left_yaw=0.3294 left_pitch=-0.4156 left_roll=0.3686 left_gripper=0.9948 right_x=0.3444 right_y=0.2428 right_z=0.151 right_yaw=0.5221 right_pitch=-0.5086 right_roll=-0.132 right_gripper=0.0542\nstate[joint_eff]: [-0.6085, -9.7162, 7.4735, -0.1587, -0.4615, -0.0415, -0.0855, -0.0752, -8.3897, 6.8581, 1.6142, 0.0317, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2636, 2.1014, 1.3754, -1.1667, -0.5903, -1.4567, 0.0092, 0.659, 1.6955, 1.4208, -0.8322, 0.1276, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.1902 left_y=-0.2625 left_z=0.0165 left_yaw=0.3702 left_pitch=-0.415 left_roll=0.425 left_gripper=0.0092 right_x=0.3394 right_y=0.239 right_z=0.146 right_yaw=0.5268 right_pitch=-0.5377 right_roll=-0.1418 right_gripper=0.0542\nstate[joint_eff]: [-0.1299, -10.3316, 6.106, -0.3834, -0.3394, 0.0073, 0.6764, -0.0752, -8.2393, 6.4615, 1.1111, 0.0317, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.0842, 1.4841, -1.3037, -0.5877, -1.4109, 0.9953, 0.6586, 1.6955, 1.4208, -0.836, 0.1272, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.2057 left_y=-0.2587 left_z=0.0482 left_yaw=0.404 left_pitch=-0.4278 left_roll=0.4658 left_gripper=0.9953 right_x=0.3388 right_y=0.2384 right_z=0.1456 right_yaw=0.5265 right_pitch=-0.5415 right_roll=-0.142 right_gripper=0.0542\nstate[joint_eff]: [0.3624, -13.3812, 7.3504, -0.5885, -0.5543, 0.1441, -0.1392, -0.1709, -8.2803, 6.6256, 1.1209, 0.0366, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1ecea51f066af53cd90e794796f92aff57ffeeed619536647a10c06f314241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89476ed49c4b8fd6cbfa49414e21244b3dadf5b71fd05ebabafca335c8d31823",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17c8c47f4133929be6e1037277f64044f46606a134f4cc6be2d5b5ddcf8d32a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGUJzvEBpbCxADBZhoQkkX3L1vi6OJUEf0gRBUdnGI_eajX6T22OlsR5_GUREmDAyIKmqOeLuKcjxh0qLYelyuYFhFGRZfHg4dKV4Az3K76qNQl3bvELfvW91hvHW4X_dUJed74PkTzmLlrc0CdPneDk83kd5P98p6-iEKYMfSdIT1q71j1fq8dP_F_SFSkd0S9hQ7Bjet6a8Pjrc58GZZFalXEWNFMURdrMoO5qQwbib07_igSSDm57YYEpmSN2w_B1ainr5wUUA4oZG1lAmdDE5UHyjp-en4b-MkhWPMe7Xp4Rw6H2FB8Jo5U6wlELq7kZIgS13MaKP5VBvbZ24qvky00ftVdDU784hB8Mq9wbLpAURM5M8-_SCA8rixR8aVO-AlT3DnQNME2EMHz7goFqB7gPEHhIYLHlW3OBp3ugy2z0fM9c0opxzhwRCaxmVapoai1x3ln963h76P1mRv1rNdOKYP_LsONWzD871r0f8JFcKO0qxH_4D7fdxjx4O0uBeZp4c1INamIuH4qRUe74usp9xh0_O7kbW_p7pw-c7hcONnA2gcEc_peKbzyvS4TeMLyf9-sN9V-8y24Hvr7kZF_KMY2BPcPKskagH-lX7i_FYEbtGHAPo070dav-XTpaIxpwinA-YmmtwvKy4s-8hCjiN4ii9cUix2QUs8qCJ5tw_A-Cwaa89kZvMP2TE4zVq0H3M3YkxRazrKZQTV0fxGdz2k2X2CKExEUGdZTJxwUJHQiOSlWu8_p_63n0_VtSYxVoxWuBi8PRqSNgbTbS3LRDn9oJ2GQuO9NmtcikQkpAl6mbEgJhwVY5uNM1mpMe14WUKJ9P0kZQXBAgnOiQHFLJ_HQnwfk5lYoagKcG4hULezwyMN4Ay9xQQvo54vWAgFq_Gdf1iLWYEkGf0sbe1jdB-seI8LrstZrlaiX4Z_hMPzyXALZFD6XD28_NBuE8m2S06lL4VXzLrRagvbtdyOLsMRi6sfpWN-24THFY4e4k9YYmrXiThv9IOJp6az8GwBa9XQkSE0iWxO-U5pLkJEPIffNcr0-xFBELNaery9CqJoIk47s5aqvrD5OIaOe_7SWpGitwXZOnhjjxnO8VYo3wYpXcudfWGOnZfwrHQ6MUvC9vPfJ_HTr3t-f3eLhtYnP9iYY0HjmYOET6cySPTV5ResNG8F1mTp2VXc1VYp8oyhVgCPIpPE3sdMUJD_eB55vakbfFugxZLFGCccpYc0QfJFdGxOpVy6tqgKy4-01umXFsvmyOAdJuZUwiWI-rPAkoQxEgVP3cFQsoLhakfPfoWz-mooRt9ZTDQFIJahAbzEHDxZrZNrcVRJ-aUzreRn6ErQe8tqZmwdsO9hlh1Xy5OaBpsFD0XOkbDnrZWr26Qz2IxtUpSm7bqj0_wUA5g581LVTSvBeMulpPNsBHedeLVCYj2L8xFmWggdV29C0M5goVEWfNwoT7WUyYYygCHluatbpBgivrdTb0dekJ6aBPrKIkncu0Y26TptVuMu_hbIns4gnPHm7EaRzVvy1rb-Qsh3BvAEOOpxL5kl8I8Ord-HqDLZm4Gtgqa4a7A0i43ZnlS0miplu-2pZm5AWeTdTctnf9AlHFTm17RhAvNDTsbVzEzLHmySin9aPkVGrmB1JWw6f_4J5fSkdb51qdYVTIFq53tkLfVoZ1cbGbTx5GC6RmwNFWsIBB1ehYvmRRZDdw9Lpj2V4o-wB7AolZRZAY8eVzwLSZ_AD6a9qb8dp3OOLlZib87IfUPiVQ3PCNm9tic0r47kNA36V3VQVHEznB1djHsGAU5geOhj8VJN6bim3v0C8HS4lu5brqcQw08CfTQ_NFbzffPcK6wARLE4-yLkO9TPkpfAlrgMooIh49maZiKV2DmEZhtd_Sujnx8wmDPyN5Np_lZl2Ff4wLnmJNZ-QwYQ2hG_6vKBX5z9AryieY9fl458DfePJLptydUPbp3BY8D-nfJK8pPSga4nBvoeGAQiIEvxeWxTPhHEnhpgfz_FRBaou3BjwZhlq6UPjul_rjnw1P0cZlcbENO5tg2F6ubQAMEfAVYkph_076_rbBPOV4RDH4k3gA6RyYelvwsy0UV_NQWjP0Xw8YUD3HcUBZJwL5GlQP32DTXJrqcLbQH8DJ7Waw_bG6V8uUymTgD0P1gINm_foBcoZL2GkQpVsvwLeti5BD39hAxHG1MF8ai7fk9VI27GGf_SsIumJaC0SGUiJXwOz0vUuJ6SkxLvtEmLvEh-GY7m_8Er_uy_AULKPZ61aDFK5Tuvkmc3O1tqbWrUf2eJdqAZJDrbordsOi59itmDT-ZxE302VtkoHAG-URsb81BZKR47_K5NF1Nxp9VDZAglBPH8gCaX1yg8D-kAXAL4ixalc5ZA5s4IED1vJ_V0mDGrUaSCwdpWNNC0W4xK-k9MwbQIW",
  "id": "rs_044f3fcb6c721bad016ab44190a05887d08bd6e3d5515138eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.2,\"left_yaw\":0.0},\"note\":\"The retry view no longer shows a distinct cap between the open jaws, so it may have been nudged or hidden by the arm. I’m retracting the left arm to its high home side to clear the overhead view and re-locate the cap rather than repeating blind closes.\"}",
  "call_id": "call_8anyL2dQ0ionyycQdNNxLJSO",
  "id": "fc_044f3fcb6c721bad016ab44192ea4487d08b463858766cdf02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8anyL2dQ0ionyycQdNNxLJSO",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2741, 1.1599, 1.0409, -0.9977, -0.4305, 0.0536, 0.996, 0.659, 1.6955, 1.42, -0.8394, 0.1268, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.277 left_y=0.0024 left_z=0.1774 left_yaw=0.0892 left_pitch=-0.4845 left_roll=0.4687 left_gripper=0.996 right_x=0.3379 right_y=0.238 right_z=0.1449 right_yaw=0.5269 right_pitch=-0.5457 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [0.2803, -4.6838, 9.935, 1.3797, -0.1587, 0.1441, 0.0659, -0.1436, -8.1299, 6.612, 1.1355, 0.0806, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:560c21fe6340d493c99712a145566d85c58eebd80b8ac410447d5adb87b0568c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14035df2de076ef9e1b57943bda45df11bf7a7ac5c81e62b12685baa8c4732ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a19edc0aa2b89e48ddcd0e15f2b417c485933b66e76b24900ce241eec4c0c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.323 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.264, 2.0972, 1.3918, -1.1759, -0.5938, -1.4536, 0.9959, 0.6586, 1.6955, 1.4208, -0.8375, 0.1276, -0.0074, 0.0542]\nstate[eef_state]: left_x=0.1918 left_y=-0.2662 left_z=0.0212 left_yaw=0.3621 left_pitch=-0.4131 left_roll=0.4142 left_gripper=0.9959 right_x=0.3385 right_y=0.2381 right_z=0.1454 right_yaw=0.5255 right_pitch=-0.5429 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [-0.3624, -9.2103, 4.8342, -0.2564, -0.3883, 0.0757, 0.105, -0.1846, -8.1162, 6.9949, 1.2479, 0.0122, 0.0904, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.0842, 1.4841, -1.3037, -0.5877, -1.4109, 0.9953, 0.6586, 1.6955, 1.4208, -0.836, 0.1272, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.2057 left_y=-0.2587 left_z=0.0482 left_yaw=0.404 left_pitch=-0.4278 left_roll=0.4658 left_gripper=0.9953 right_x=0.3388 right_y=0.2384 right_z=0.1456 right_yaw=0.5265 right_pitch=-0.5415 right_roll=-0.142 right_gripper=0.0542\nstate[joint_eff]: [0.3624, -13.3812, 7.3504, -0.5885, -0.5543, 0.1441, -0.1392, -0.1709, -8.2803, 6.6256, 1.1209, 0.0366, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2741, 1.1599, 1.0409, -0.9977, -0.4305, 0.0536, 0.996, 0.659, 1.6955, 1.42, -0.8394, 0.1268, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.277 left_y=0.0024 left_z=0.1774 left_yaw=0.0892 left_pitch=-0.4845 left_roll=0.4687 left_gripper=0.996 right_x=0.3379 right_y=0.238 right_z=0.1449 right_yaw=0.5269 right_pitch=-0.5457 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [0.2803, -4.6838, 9.935, 1.3797, -0.1587, 0.1441, 0.0659, -0.1436, -8.1299, 6.612, 1.1355, 0.0806, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:560c21fe6340d493c99712a145566d85c58eebd80b8ac410447d5adb87b0568c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14035df2de076ef9e1b57943bda45df11bf7a7ac5c81e62b12685baa8c4732ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a19edc0aa2b89e48ddcd0e15f2b417c485933b66e76b24900ce241eec4c0c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGeJhsJ0ZVFiVID6049lMK9tZPR2HR5S1MCtgrjRa3KqkCA3djlC1VamLrQW3f2SzYKP5ljDVAEPeMFwfh2JVA-ZCZcNTU0CDWb6AVxrpZNjXMYc3aWwzoagrLVuofP3xcGCJRRysbMaqiMdfIF_211z4d0QiM8YANsWcCfpB9-SwOYQ6jKH6mLwKtGQNKSQI2Zj8tVbij4purynFn6f2oA4EL7h0hngtR2XDjO1bGk5aV9uynpgS6YkRZ1pLoYckftSDKcntfbiuuyIwf0oRSB9gcz6Igquoc4ZDlkBMWtOr_7LEjdLO1JYiyIBzeXLHz4DpEcPvP32KQWSpSY_f8E_OU7Jxxt_6s9Xi0tdb8PywSRrdCRDO3ZjUcUV2IMfpcdtTtaiuxbqYPFNw5KoqK-aaXbVGnYQXjv_V23JS3L6jKtF2FbaqLfQUcdZ1Hlr0CEJB2hxUPYe4zhq2k3UuvIFLVctQwsn0AyxSE8y5EsX5ezwbwrCkdgzlz6zUx3wU3pI8QFfQVYycX3nX30xyzYv-ecvC-NKSEJSqnaxPf7wIprg5GUFmQIsa7RuEmpOjjCU7wXSViuS4wKNikPQlHNmxQNwXP7s2mmmWXDRZ_XoTmeyz6uzLKZhm3xKZEXQYLITSOK8KS0nt5aiuFlqxdirL01e1dMrQ9-Ws5rIfEdThzOfQJu86I0EhBGtRRBIiClB_knDHUQbm7qxWj0Oj0WLLzTSDVIT4tv2H9WJ9hCs-MvhEiHW7dqbPXnKldq12oNd-VyTjZ8cETXs1oyOyerPmL4B5pEJ9_bx9x3A7m_sHxxhDdVlmagZt6wguE3yMG8RhuZFSo17F9VhJFcD2xl3bnqhrlSGCxoXsiWgtzvx_Na1RXICBziaX9-Gt9eKqF_dHwNVEc8xbXdHL81jpj1j1_O5Y_igJpI-609cEYn6jQ2xZ5jnpvD6paZMOEGkVg1fqBQxvOiTRhasa7vFhGWhD_XNoIjLm0_5VBMEhTUmBaecEP7ddUiF2GkJo9akMgBZoTnKCT4RQphGYjBmLaGOGcrjtx8YFWMlScd3j2srtf0TAnwkEhVSKMshoDlVExYxiv8d2fu8IQfmjBw2Mbz3I0TqZQNcWM1-aikkS1l1Q0ctOniX8GYD_7DrNALGRICAn1TogjKcfaxIszLh8M2z0livTrH1LntEiVNCV7s6WC8C7lhH67XPAjhQOSE9LM_2DGrei_aV8tjVHeR1uuUhBy2PCsCXX4Mjmi5t8CJ2RFmHpHsrMTZPx4jSMkkOsFSUUBURQTRbiJ_jTLzIOKTQKgin_e-kMx-JD5sKa56peB88GK8rkIe5-XYGD4JdcaxPa-Sqvgz57KIhiPuABSREJwWscZ5ZIIHxiXKeWiiJ-6RaJeF23lKu7g-gUmXDE7v13MXFRild-shWZXTcMoED_eDC7bAX0iIBa5RqyuaUCl9ybjmv20NMq1a0sT4wwNCpEtYQ8bVdWRbO03NaGssj0TxNteEb8KUO6qQ4BFxzL9Q1gainvQJSJ65UXfkXEqPkPokjVAfahmsYVK12k9wLb6U4JDB2AKNnXmh_3LNuOr_JuIq-mrwND3noFZAh3GWb3qa0msftKWsnVbxnjuDPVEchLitSxBtsSKCZMiHzjfS7L1gN9GCT01jt7JJRb6tDETUHJtPhxW-s8UROt02qEHYwn2CR_xA2CrBUcO2QPBaHs5sZemc5rI2vzhfdcjjsP_GapLBCsAdPqZqrPQ4rcH1d6Xwg5WkHQxtvHrk4M5ltmxzfIGQeUlAt8SprzEn37gwbHWGAVhthJuTwtQIVX-0YVrcMBOu6qXgjZpt_tybJUfI6n-Klut-vsZE8Ti3_CP2A9Wd7mWcxm1zWgn8q50_W_YugBqDrmBQH9fo6Nmoo_otn3KqesOOLL-nIAIcLzeo1VwmTgFbL5xTNe5dj-9O6YcHra50Y-b_7ieRnVVJK0D7fWh57HPMMaXxLyeZwxfuZb3B96mBj1CB545-huq6NaTLIoUKDbMmXzSQxLr2BvwNUgQrvk2r-ylm4Oj50LbzVM1nRec9p8QXoi2LVPEaGzZt5osjWfL4wfIoQySAecetpkl69PzFmL3xApqWDSk6Axi49TuBIK9joGEvmRpr32oFPh9sg2HAVfvHyXxorLilRLiG_471ibv4PiFfoRhk5dUnWVhz_C-De4i8wJsPXJTh3fcYObfC32AlA9zA7IcMjYSQTYeSZUpx4a2b0Hwo5zCw7iJmwVRW84-NQNoilb-xkOT2rfk4pJyTvDN7pc7f8v-zf0VlUZsWFGTBSwDTjx_rqpXr8YXWnRvJvyVYaSluI1z5kycImUjHD_d1KpfJ7GfpzrPsIJ4ptD3r1otOpRjcy28IAlmdaNpy7_9E0nemYF23SXDrFsU98v_NnJ0WRYyT5ef2gAoPfK2mqJhY0jXHcjj9W_m9k6S8JfOgNr0ZmEfCsynwggd5nGtvv6hvilEhJvHzpdbLNF2bgPWfSqz8F5wv41a6n2RFq1B4xmoiMCx2cWlYweEEg4ORxH7ODyg-ceDmMaufFQfEHC7l8tMB4i9XUQmvf4Aj3p9El5vD4th0hWnjZJNJdRZAL7oqykhY_4pqRYiLYqq9svkbHvo9i1WTvvZT8f9X2k0B-9e1qno2mPyG82YzSAOZoV2ZABdglutdTZmq6z9-VY5XymkaKQCgFdvQ4MmUYCHXkfVkp8yi0NiYL67fXyeTwwnekYKnPvCOabNh4gi-K5DSud-30Azy0hl3If_MQn5ROTZ9-BXHzXwVrnr5HQxaQP1btyLQsMu9fH_pTfEx3CemUFptmkwFSDL58GZBTq0br_2V93wuXiZkRnaZM6fsAypLabtspjqkcEX_bDjDZUdIN3o92pVV_2vtmfVg6UpWDNkQxlCeelnN0DsbJipNDl2bUYRsAZGC256LWQRMS0Bd8IlzAyPjDNhCTMFfy7hl8yS_YRM48Wj0iEyQjNwrw8gVLIImeEZeyF4j3QYu55exVxD0PdpB4zFff028tmrHJ8WdJlxWLGXviBIaP_LiRofc-AWVz-gpGfDgItKg55KZahkX7qoLjeBALkRW7ECSqyA6BJs1HI_D81MZmeGxw5UjUKECzeyXu9DT6hYhyyTpTp_rVz3lBiJ0wDWqr8cK42HA687CfW6DCTHs9McQVvtvQj6BJjQIUKguDpKnFUAiNEE9YN9wFBW3cjvRJAYW7aafwCoplh0NjG1Mc_24oAn2-ySOkW7EQ5HN6zS8hnd84ppoD6FyjkBPem8eTLwCB3eGazfQljvn_EZH_15Avavmg2W6x9qRk5yy99XBaxTXWWFLiHulLfdkQnBqEpjoU70tf1v1Oquk6Uo_xgr-0QGSlbCm_qlzGlYcHz6kVp6-sZNyn4iSTNv1HPpwhPj82c2x4hXCrlFirwIYvdmoOq5lPZqYSK2dDCQw-ukxYRSLSiTIkhwJ2lMk1zKtESPcbrRzeuLfY8ji8_YT0vq5MNHoet5fWA5WW74XkjO8-4lpmvA2h_bZ3dQOUIph1AIojnCrLLzOkMm6jRUqMgQsgkeXdaot0UW1sqJpWjQyzgAC0TBGhEb6cXBedkAS38WzfZq97_kUxTx8xwVUd90hqCf8RlO4PG3T2sC95mCndi32D6nS5O-KG1f-BEWJyNQoZe7EzdG1Swd7xm5xA2nQDO91LVqjW-1qcJ4_Nc_yGCngPrzFfYLrljzfT1VtR4ZdPbb4L9Dzmi806ehNVNGYVozBTVt4KI9jud3Wke-dNotbSwHdrEjwI1nsVsxoqc2uNexPZ0tYI83y8yoLRWfSJHkjVY5Fz2j90nRJvED1b07QImZmh4kFHE4uFceJ14NvArNJL7sHChXX9qOCRNY=",
  "id": "rs_044f3fcb6c721bad016ab4419824ec87d0a7880094ca309e00",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGeguua3Ko9J6XQMNuobAfXj9_sjxrkWKNr2WJhZMIZsEboCLiQeN5yqu_IeOJBCQa6BeOUedZAU56d2aw92S1ksE1a_AEZohR6-oa5EEgPT3lev8ThrJe8Uu2O427UCtmcmmiK-o6jdtR-b8n00URcvrdwree_KQ5osWYwbDf9YOfFIszxhxYNtOC21XMvOB5npQ64FYsy-0kSwT3FRsS-NOcQhU2vWUMBOpTQ7IV4k9bD21dSwNXgiRil4f1TZvKWtbNYua-O06PfEsBTbQC1W404FJutHW9qMxdKDDTezYptFn2s9Wt-AT7ioeJSPBNdz_bLi0TQLr0kk90oMqNTpjgt0hhWJ73YJiMXZgptifbU1BpsHeH52GiD5j6bGew4ltdH4k2NaUQADx2_AwuBk3J59wew5k-XmoRnD80kTBwBaGVSh9flaAi11UtN9zgdvRg3FjiGxrhRmb5qVSeW9SLsO2PqEZly2XuFNsvdcXQzENgqQGslAyMZlDCqUxvk0blW-lm86_edho8-a5JTEliXKegflMgnb-8rYMx5aJegv9W39aVWS_NQyGDON4p7Uw2dmm9ZLUuKDv2w_DjX08AdfIIQHLo6wjALeqxvKA3bJlxgB3NUIrDgArXQp2vUdEI5dLX0SzOxPmTVfxmmcWSEyXTIcYKW8jRjjNaUCGtMQk80f4XWxSt_7fHRL8OO6vEP4fJqj7JSIV-ZPWpSouaAVPuFPqesbaqZiuet2Rf0VvfINMMlFEMxn5qOqvK7ApyWEpJ14lwqNdZIKbnuMUZL4DclTor99gJp4o3KeEWgFYU53VeVWBO0tRucVS49mpRn5Maz1s26fSNxdPBGZ30HxNo2ON172LG105t123uvJrlJnyUDE4py_XKU2u6IzAFMfAJJtnQ_8YJhjGoxW3BrIQvh4X_CAMcfSwCOYiFPEqAx-_SNcFhACSCKokRqZPMrKfzQW1ouQAwQAnZM2WKFCMJcm4BFN2Z746lAOPDFyylwk9R7tN6BaP96NNHWS6cdvu0B6RBtByXEi4WOk7ikKYAwfhJHyYEVLeZuaeRb_SiQVo67GU8ZeGRC6mZ1KYf6qrQlw9x79yy-u6QPoHxjWABiMzz_wifUEkM3XJRHVwM_07HKxfR-jYV2raVHJv1BRLzyuSqAGZgdXFbx6LkYeqgvKQveAy2EA_36W4RlgCEW5um4M6u-wgS4BGz4M_YGTPcop5CS-WaECN_U03FhqAjxdgqixA5rsoSJkT33AG8tN-2k0GyBlpSURnC4",
  "id": "rs_044f3fcb6c721bad016ab4419d241887d086f7d26a19d32f7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.14,\"left_y\":-0.275,\"left_z\":0.1,\"left_yaw\":0.35},\"note\":\"With the left arm cleared, the cap is plainly visible near the base at lower center; the earlier attempts were about 7–10 cm too far forward. I’m approaching its estimated near-base coordinates from above with the open jaws aligned to its slight diagonal.\"}",
  "call_id": "call_WAVhddYB20xFvQSDhh6xiQfZ",
  "id": "fc_044f3fcb6c721bad016ab4419d773c87d08bc4cd3b8801e565",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WAVhddYB20xFvQSDhh6xiQfZ",
  "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]: [-1.3762, 1.9896, 1.5608, -1.5188, -0.4904, -1.4769, 0.9961, 0.659, 1.6955, 1.4189, -0.8394, 0.1272, -0.0086, 0.0542]\nstate[eef_state]: left_x=0.1416 left_y=-0.2694 left_z=0.0961 left_yaw=0.3344 left_pitch=-0.498 left_roll=0.4842 left_gripper=0.9961 right_x=0.3377 right_y=0.2378 right_z=0.1445 right_yaw=0.5267 right_pitch=-0.5468 right_roll=-0.1431 right_gripper=0.0542\nstate[joint_eff]: [-0.3487, -9.265, 6.8581, -0.779, -0.3834, -0.0464, -0.0024, -0.0752, -8.253, 6.5299, 1.1062, 0.0073, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483efb7fcff236be42b2be690969c9ec82ec63e9eca651de016a032efaca39b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24a3a3670eee82e37ab3c0ddec050f31eb131ee2cb4679d644f73df7b97baa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de495d9fba361f0bcb74681bd3848e9f7f9b1c20fc789818f66cd3ba1207de5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.091 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 98 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2636, 2.1014, 1.3754, -1.1667, -0.5903, -1.4567, 0.0092, 0.659, 1.6955, 1.4208, -0.8322, 0.1276, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.1902 left_y=-0.2625 left_z=0.0165 left_yaw=0.3702 left_pitch=-0.415 left_roll=0.425 left_gripper=0.0092 right_x=0.3394 right_y=0.239 right_z=0.146 right_yaw=0.5268 right_pitch=-0.5377 right_roll=-0.1418 right_gripper=0.0542\nstate[joint_eff]: [-0.1299, -10.3316, 6.106, -0.3834, -0.3394, 0.0073, 0.6764, -0.0752, -8.2393, 6.4615, 1.1111, 0.0317, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2741, 1.1599, 1.0409, -0.9977, -0.4305, 0.0536, 0.996, 0.659, 1.6955, 1.42, -0.8394, 0.1268, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.277 left_y=0.0024 left_z=0.1774 left_yaw=0.0892 left_pitch=-0.4845 left_roll=0.4687 left_gripper=0.996 right_x=0.3379 right_y=0.238 right_z=0.1449 right_yaw=0.5269 right_pitch=-0.5457 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [0.2803, -4.6838, 9.935, 1.3797, -0.1587, 0.1441, 0.0659, -0.1436, -8.1299, 6.612, 1.1355, 0.0806, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3762, 1.9896, 1.5608, -1.5188, -0.4904, -1.4769, 0.9961, 0.659, 1.6955, 1.4189, -0.8394, 0.1272, -0.0086, 0.0542]\nstate[eef_state]: left_x=0.1416 left_y=-0.2694 left_z=0.0961 left_yaw=0.3344 left_pitch=-0.498 left_roll=0.4842 left_gripper=0.9961 right_x=0.3377 right_y=0.2378 right_z=0.1445 right_yaw=0.5267 right_pitch=-0.5468 right_roll=-0.1431 right_gripper=0.0542\nstate[joint_eff]: [-0.3487, -9.265, 6.8581, -0.779, -0.3834, -0.0464, -0.0024, -0.0752, -8.253, 6.5299, 1.1062, 0.0073, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483efb7fcff236be42b2be690969c9ec82ec63e9eca651de016a032efaca39b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24a3a3670eee82e37ab3c0ddec050f31eb131ee2cb4679d644f73df7b97baa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de495d9fba361f0bcb74681bd3848e9f7f9b1c20fc789818f66cd3ba1207de5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEGmQgz0JSyu-poCDJ49R_xo5Y50CP0i71U_MkCP02kmeVg0SCRZXPrAxXfPFedldaAwLOOjQa3TRajehdczVsG_DeNh_SYQHkNOQeHWegStegGoLkhwL8Qa3UJMgqxKeZUQM13NufeAagiGsdHNVMHzRiXqrtrha3T-5-QNXSSydunXGwRz0YI6ZhFBx75-nyg6-kc6lEXB_nLfXPYJ5lp1mhhDJ07aEQ9TLE3Q7jxY-O-aH7KG7pDjOj60Hx5PEarhBDoUhkSRRNcTR0hQXj6v33NuiDX9aiiCyE9vba1XyIAyZQrxQdZu-2dxFuTJbTHE6KWHe9g7JthjGnDJCYREKtzuxXf-fkFIgn-Xksco1lbRmxyD_2O1vHSBscWSo7nkO1YDYzlhhxgNLoFrXvjDuCMcvI7w3VFKMVV4Z7USfYliUCTTO-75uh-xVRPOur36pG-adlakYG77EkGWTesDHdqIOmw83WgnY4ooUuzzzyDAHEGN9TVBCMp8O0oyNLcTJvMN4lQZBssHgJ_PtKu6olK2mo9dnKpl4lY4wXF7UFpp26K3u_A9YKa-s5yPmksv7FH78ZyNUBAaxn0grM4afuR7hyfYS3_EfFc_7ibGjxqGdxJ16y9Ojhi1xebxlOhwbZbNKLi1M-ZfJ7hUkmHYWtfH1eiW80EDfavKY9c0esjFEC2LBXWE5cDeLos8xGIOy22Uh4C5jp2MEpruAzImM_uuU0movWSSYBfNw0pGFRhw76yvtp2jDUSMdXoT5daCQkkJ9hKNafuk9rRzR1idctxT_bnmmKO_XoUNW5gW-WPXEt5BJ4LoNy8oayhiksvr9E5oDzxq8ICM7__mIhds8UEzRSAJIjy1FjB0GemYk2HPuKEF1nb1XoDEyULjoka-FLCh6JLoTiaY5nWxohK1-QtCBjKoocSFn-3th8GRVNFJu9odoAXVRb1_4dH_tGwRGg7p4jJuqS32i6fYwREUp_l3kp7TXuDTAN0FQLE3vzE53gJGNPBSyWGsqCiGqTsNpRbIU_yVW2crbZVHhF6RJ6AOVLAMK2OR9iF8tnVS2vrKnmA7d0MOCzJOYp9pRNfZBw6NG3zJfi_U10kR5YeFuQ7lrKi5YTzqYUKU4JgyBtoRMLmqRjyKB9cQGMUpOtIUWPwW6uSi8TxZCG1YkF0wbdF1Sdjo6jrS2ANnvwki3K9NT9qmQh1fpiw4qWoXXpVVLk4VuA7WiVeo0dFEY-IrUA8qZYK8NyVh0f-EHhzyeMFc8ZrDYERLcMwzdGofeWNdUA3FWiwBCSyvBTmT_x6i5EAy3KDUX688kn5Wsj5lqZELSiav-C8hk-9RpPPsEeXUCOlI3XTJ_h2NtCp7_7nd6Wn-TuQeD8xOnsq4RiZGF191GpsfQVZJnu23JZiy-jtsdb2W4vmcbdQKLDQwF_k5YVR8KEWef7scxWtfj7_qeh-OTA6HLQqadboWV_ZPM3QGhtBt-zFKrL_30jQitx8XEVuKZilL-b7mjiK3f5T0ZnhpO4rMlOnxoMTW1m90gDb2bTkq7P1RPME3mL0pn-h2sxdZgA9QiEwJOxr5SFJnNku6Yr4_BkvpqF_b2gBYxNP8JapE3tOGXeGitC1gZQcxGRFQjOJi7-ORF_DYfn81Rpq50HwEatx-UHZc6ADFDUMjMd0f3HnymVdQDLVbSXoc4P10WhuzN5CP1q3M3qRAPWweZpeUuYj6ffmXVM_Zg2_Z_GNNUW9npfLGX0nZatA848fm_0rPKO0iW_qzacV21BcBbBq2rl3scgzDLmESJAqP64LPuRQ_GZdYEtiVtm58uP7ZHkKaamSoxr3uwoMF4VlcriKWtHdki8V4el9NYy9SjBrc8i3XsQBWafXOxqGUkzMNIsiVGlwHRUhApDcsVPzdzdyUZngOr2zhDAoB6Upke2Dume0lp6Lg8Pr54ujN7igJkzuN6jyYmwir8R9AZofAf6cj0BG8nD3d2fSzyHdH_2ebl7ATRV8K568mtEfzkGC0M8ovTssIfEHQdiBzc2gXpzoFGCliTvs8B6ZVl_TqC1kcEULMZHa0eXTIXRsu_e6St-xeRJLpB7anPNOvSNBPmLUw6lalAGzDnPPXvfzX_J2KKrlJrXE2fjapwEXHSvXOzPFh2U0RAxxl7NL0TEfkx4udSoIei4i-vYPolx81TH_HXU2MuARw2gX9g0100QjF2sZulNDVrXCLqkENEyrIjQnWhT6TGfmCXOA-4zLVLMAvsuXrg3fvhaBt06BgICHRmwhbVcQWxtUJ3YUV5gwDJBN60qfXBw1f8MhmbhMsssrgT6xDSNls16_LBUo6oBEPZ3E8IzSlsuj0tMUjEpJUhcfhXHMmalHZRo_FcKnqONsojSnfI95Dy1CKa232s3urphpT3-97Sg50WxwmcUhQvvBrXWdIctkJIblI4prWiD9Fyakff8wFDNaWsAl--7We4zYT8dnVxpan6-W41HdVS6up-_U-Bxw50Gyd9_DgorPEjNCdT9fkAw2k2yx3xgew84X_nUIVKhuAhBPcXi4Ui4d83_ev8jBfyEPOGqgNParTc-V-YAU11pOsSRx_GJKjEJ9ABjJZQsmvVSn2sq-EKsd4VTClYHpeLB1hGTZBH4pDXgQOvNu3SOpz6x4C2PL-pf-3Q3BdJb1gRjEGnLQ7TPDPbl0LKOGV5NaML9RbYb6Hy4d1DXX0YBJU7tO6s8_JcpnBlIwYa4UGVaMNMu8=",
  "id": "rs_044f3fcb6c721bad016ab441a2395487d0a77b2583440c27c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.165,\"left_z\":0.045},\"note\":\"The cap is now centered on the left jaw column and aligned lengthwise, but it still has clear wrist-image space below it, indicating the fingertips are a few centimeters short. I’m advancing outward 2.5 cm and lowering to a low pre-grasp height while preserving the lateral alignment.\"}",
  "call_id": "call_kSpO3i6grtS0wlxa2uSS4RcD",
  "id": "fc_044f3fcb6c721bad016ab441a521c887d0b71f3e80750977a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kSpO3i6grtS0wlxa2uSS4RcD",
  "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]: [-1.3151, 2.0384, 1.4609, -1.3758, -0.4938, -1.4349, 0.9961, 0.659, 1.6955, 1.4181, -0.8482, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.2609 left_z=0.0551 left_yaw=0.3744 left_pitch=-0.5052 left_roll=0.5146 left_gripper=0.9961 right_x=0.3361 right_y=0.2365 right_z=0.1433 right_yaw=0.5278 right_pitch=-0.5565 right_roll=-0.1461 right_gripper=0.0542\nstate[joint_eff]: [-0.253, -8.6769, 4.7932, -0.398, -0.4908, 0.105, -0.0073, -0.1436, -8.294, 6.5846, 1.2381, 0.0024, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e5285c2eeaf6be6ec0c28752ba6c1e2e99f61cc2ee5a6917742ee09bccfc66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc56eb885ddcc79a1b176fe1c4fbc3279389cd4e813b0de3d1c5cb9dc06c58e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c955b1f3d708217538c87f64698eb38d85983eab1824e1a9a7e8e0fa42b96202",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 2.665 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 98 changed as sent

message 102 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.0842, 1.4841, -1.3037, -0.5877, -1.4109, 0.9953, 0.6586, 1.6955, 1.4208, -0.836, 0.1272, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.2057 left_y=-0.2587 left_z=0.0482 left_yaw=0.404 left_pitch=-0.4278 left_roll=0.4658 left_gripper=0.9953 right_x=0.3388 right_y=0.2384 right_z=0.1456 right_yaw=0.5265 right_pitch=-0.5415 right_roll=-0.142 right_gripper=0.0542\nstate[joint_eff]: [0.3624, -13.3812, 7.3504, -0.5885, -0.5543, 0.1441, -0.1392, -0.1709, -8.2803, 6.6256, 1.1209, 0.0366, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3762, 1.9896, 1.5608, -1.5188, -0.4904, -1.4769, 0.9961, 0.659, 1.6955, 1.4189, -0.8394, 0.1272, -0.0086, 0.0542]\nstate[eef_state]: left_x=0.1416 left_y=-0.2694 left_z=0.0961 left_yaw=0.3344 left_pitch=-0.498 left_roll=0.4842 left_gripper=0.9961 right_x=0.3377 right_y=0.2378 right_z=0.1445 right_yaw=0.5267 right_pitch=-0.5468 right_roll=-0.1431 right_gripper=0.0542\nstate[joint_eff]: [-0.3487, -9.265, 6.8581, -0.779, -0.3834, -0.0464, -0.0024, -0.0752, -8.253, 6.5299, 1.1062, 0.0073, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3151, 2.0384, 1.4609, -1.3758, -0.4938, -1.4349, 0.9961, 0.659, 1.6955, 1.4181, -0.8482, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.2609 left_z=0.0551 left_yaw=0.3744 left_pitch=-0.5052 left_roll=0.5146 left_gripper=0.9961 right_x=0.3361 right_y=0.2365 right_z=0.1433 right_yaw=0.5278 right_pitch=-0.5565 right_roll=-0.1461 right_gripper=0.0542\nstate[joint_eff]: [-0.253, -8.6769, 4.7932, -0.398, -0.4908, 0.105, -0.0073, -0.1436, -8.294, 6.5846, 1.2381, 0.0024, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e5285c2eeaf6be6ec0c28752ba6c1e2e99f61cc2ee5a6917742ee09bccfc66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc56eb885ddcc79a1b176fe1c4fbc3279389cd4e813b0de3d1c5cb9dc06c58e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c955b1f3d708217538c87f64698eb38d85983eab1824e1a9a7e8e0fa42b96202",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGpqY8zpPuCGot1ITOONnY_CyTCNt6xaay9HJ7-OOSKi2gK1TDrJOh49PJHbSkhdAsANWrry5wc87uaruVw_YpbrT_PM7Y8KINkP6imsOLqqLF8ggyu4tAFCWWRWJwAYT1xZEKP_F83LUXJsmzWfzxhmH6m9Xo9nFCuY7EgJwaglr7VVSTahxDVkW0U2Eb5V1WWVEpaoQeyTE-KzxPDHQMK1WEdNvPQz6o5YzR_bBLIDq9thp6wLDzrr7tsVwZkPVbz5FW8B41lApCxxDWoDlUjLtz1J-UI3SxucrDNtaSoHx27CTKIKONyaJhzqX-zPRXbdWWQCjfKmkF0q0SV_wpYyIwQakaqQwYgG5aI25Yv_KBBB2hZYFRxSgCY3PBuBaeLFYASXbAITPuSsxuzwepC63zY1KOMqesvA0ZtKbc17En54nD-7X7CKvxVf-cubu0SW7AMEBmYpSxCLKXzxZdRvZqrAS4Ep6kRwwWr4dgqK72mkF1B1ykGYK97SUDnfJlGuibXOOpClXNxeCwOiRpqU7L3oUeuD185v2FU7vrv9OsCqN6V8u403DKzOl4zN2bQK92kXuMl0CNciHeW4d-OTcddBY9Pw1aaijO9EtfdJ03g_NFE1Gd3w-DubaeQK1Hrj5VMugr-UEo_OUgo9kAvgYIf-389_fV-22CEF-sjwxr7Phmn-8Hgu01uLpCLdmRE2RqlhZH4dNR5kE3ddah7OZgwU92h8NU4CwWUZJrqmlTCsW4K46HW94e8130UYf2tW__FrdyufsM-JC7VmYTdGBtlW26K7bK41rywYCL0kaGGv78r_Fnt1pRtnKFTfksOZ9UaZ_wrT_qpNMXYyQ-ZVJ877j3AmerKOgmzGuhe_LfB01L6LUCPiR15EelYaFGc4jskouv5xPU3TbWHwjY0jccR649RsCxyQ563JgLVvGYoXkyyFo6ehYZ2kNC5i7HgYu-s5NMOkujE8xTWPKnbO3obFcKimewM7jkC98kCwI8tOvqpXfivfjf38bKMrRSq1tVwCrQp8uk1ihdIFPQyliV2jHkM1VGheJRrO7TfxYRofnQ8f6KX8BmDUR7f89CCa-_lcougjnoAbuhGPDt0PGol9ouleZueCQx-a-xOfz7CSG2imMxyFu4Ofzisl6EX5NOCMtvs1V_axPBFvdIMLw0T8fWJ2t1XicTkIi4qgpZxuPcW5xznmHwDVYNNn6CvnjggPeMqpa57fxvBwt4-0rr_stW9NtBCevhvMcQBjvaubctLh3odMet_fSFNLYCC9eDhT9W7O8JrfMSvf4K_yY3_kKX-g20uHh4ZWA0_iQQ=",
  "id": "rs_044f3fcb6c721bad016ab441a8655c87d0bc0ac66637adcb05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.005},\"note\":\"The outward correction brought the cap to the jaw convergence point at the bottom center, with its axis still aligned. I’m descending straight to table contact for the grasp.\"}",
  "call_id": "call_3RodOGZycn1LYefyPLPVEuk0",
  "id": "fc_044f3fcb6c721bad016ab441a8d05087d08ed0c708066a0225",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3RodOGZycn1LYefyPLPVEuk0",
  "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]: [-1.3113, 2.0525, 1.4338, -1.3224, -0.4896, -1.4307, 0.9961, 0.659, 1.6955, 1.4162, -0.8597, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1594 left_y=-0.2625 left_z=0.0424 left_yaw=0.371 left_pitch=-0.5116 left_roll=0.5037 left_gripper=0.9961 right_x=0.3337 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5697 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.4855, -9.0325, 4.3009, -0.4127, -0.315, -0.0513, -0.0122, -0.1573, -8.294, 6.5709, 1.1502, 0.0464, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4417aa25b05a13b46014e5cbadf1afc8d79b67acf579869bbdea7118e0bab72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401e7c11ee2bbadbf8b1798637c7cfc80941005d86516865f769b0d97b4be676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf70b893c608dd97e6b44e06fe9348638c914bd2884fc26c7536d02f130f913",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.917 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 102 changed as sent

message 106 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2741, 1.1599, 1.0409, -0.9977, -0.4305, 0.0536, 0.996, 0.659, 1.6955, 1.42, -0.8394, 0.1268, -0.0082, 0.0542]\nstate[eef_state]: left_x=0.277 left_y=0.0024 left_z=0.1774 left_yaw=0.0892 left_pitch=-0.4845 left_roll=0.4687 left_gripper=0.996 right_x=0.3379 right_y=0.238 right_z=0.1449 right_yaw=0.5269 right_pitch=-0.5457 right_roll=-0.1423 right_gripper=0.0542\nstate[joint_eff]: [0.2803, -4.6838, 9.935, 1.3797, -0.1587, 0.1441, 0.0659, -0.1436, -8.1299, 6.612, 1.1355, 0.0806, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3151, 2.0384, 1.4609, -1.3758, -0.4938, -1.4349, 0.9961, 0.659, 1.6955, 1.4181, -0.8482, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.2609 left_z=0.0551 left_yaw=0.3744 left_pitch=-0.5052 left_roll=0.5146 left_gripper=0.9961 right_x=0.3361 right_y=0.2365 right_z=0.1433 right_yaw=0.5278 right_pitch=-0.5565 right_roll=-0.1461 right_gripper=0.0542\nstate[joint_eff]: [-0.253, -8.6769, 4.7932, -0.398, -0.4908, 0.105, -0.0073, -0.1436, -8.294, 6.5846, 1.2381, 0.0024, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3113, 2.0525, 1.4338, -1.3224, -0.4896, -1.4307, 0.9961, 0.659, 1.6955, 1.4162, -0.8597, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1594 left_y=-0.2625 left_z=0.0424 left_yaw=0.371 left_pitch=-0.5116 left_roll=0.5037 left_gripper=0.9961 right_x=0.3337 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5697 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.4855, -9.0325, 4.3009, -0.4127, -0.315, -0.0513, -0.0122, -0.1573, -8.294, 6.5709, 1.1502, 0.0464, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4417aa25b05a13b46014e5cbadf1afc8d79b67acf579869bbdea7118e0bab72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401e7c11ee2bbadbf8b1798637c7cfc80941005d86516865f769b0d97b4be676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf70b893c608dd97e6b44e06fe9348638c914bd2884fc26c7536d02f130f913",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGsJZ82QtsNe7LDnbuxu3yRkpyc0Si1f21rZlcmJqKZA_T1kY1W7jIiKkzgetKKdRUwH5z7ftSokY09YgyJr4RQb2OaYqBL7odzQoYM0XGCNrFlf08AxV6oiKPubONIXaMT9XkugWphQG08pSERtoJiQDoZ_VsfK5UG83mhevzW48fn2Wxkb36Y4RLWcX0ER65cneC3NiIU3cYhM8naH7JJi8G3GJBL688LzLCYCHmLMZzlK86NOnHSL_qaxbad5NwNg5Tdic9u4GE02nQQE53B5l2ivV3fEbgtHQ5D9JboPTtWXVuJHRDcjqJ9GbqUQhNSIvpsho6q1597pH44x2VtsY2BkXXUTlNHq4OuSm3hP6AF4mCvICblTaPdZMQAK1cu6HRHDM9NN7WRv1POn6s6ZRbsoZ0AZjtoAL38GqZHjGhQqRJDr2peI2yjqiJc5HYuSk-M0L4yjeK_DBnu8G2RW6az_bXmAn9rl1ohcNgxbCZxX0sKX6UZiPfJGVkjkVfU6f_0wrF35WqODEMeT083Dx39taqrRvm67PRkB4aJWFTTlSmjYo5KFDT_-eEJsEFvQRlY_teW0InGnaHyHW9xRfDIEAIZGjmw4x9lRfEQssl9YuumTd5WCb-hy4L6jpfsOL4nF3_QPUAKaoeAZccHYQy8X9ZHR0s0xOFqSs_RAzqTLsyFaKDHkFirkEA-KdB2Fe-9BjeB4g7Z9Faqwvl787yROoomfUxAW_7cDYZEhp3-gBd-jFf_SemQPWanHsS2DWn4-EvPvMPv_czTfUyut8Qp11aJ7WjjCQbkaN_N6h1ngcA3ETUCgwjOcXvGLEscsOaYprqHlOZqGkW94mXGcy-n0y8WUts3VQ4txC-7TV48N0mH9BhNUOPu0jvczIdWkeg48xTwsnx7w-2WWO48137U64h4dd7M0H1wYXCZsB7nHIkMQyVfSo7ON3Aj7rVm3b2Cnr0Il0wtQJtiN3eUv12jkYaUXUxYqU7iq8Q_7luSxL7xqmrDn5AhPGeiTXTCFXMoFfx8MOhe8OSrSnnWocnG32u1xVlPIIa5nfIAdvKHz0Jg8piYVYAvZQ6E99g2p0g6rXOwh5V2My4X5bClj3yPKjhHogMDDOoB7gXCMIXE0p3xvCDelxxJXtdNXf-VLiY4R2CoMTW3YVWmZxXSrMQgBUZadXk0J1eyp3reMaA9iwhn0UHaNsWLoCKgQupa4F8T0qQUgK0BtzIjC0nlPYfSN6D7cMR3frBE5sEOKRPwRaGKAud6TBi1udCmDiBc_cgauKZlYgHf7PU4PVKLFcBkVi-RCm8Ce8XjvVstI9lmRzPu3aa-mHTBfxa8Dax5R4TCnyVjHtEHFLbDiGszaYqcQtqQWtopmLXDrukxRQHJAxLb1HolnhKsZZmev7Hq3rYdsKpTMizEoc-eOzbWl6xQuwir8qFGfK8wpPIgHo0FJ4WHaI0Ik6JkhU-MEkoCDzLf6PTybxaeibb_X6qpRB39mOqGs7QX25bCJLpYohgBOFLZiBBP3bwQhsmgH6fi9FRdKJwSWGXWJc9NvINChg==",
  "id": "rs_044f3fcb6c721bad016ab441ab3fe487d09f120cd2e4779869",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped about four centimeters short because the pitched fingertips contacted the tabletop, and the cap is visibly centered between them at that contact height. I’m closing now rather than pressing harder.\"}",
  "call_id": "call_OqnPpdSeDpsL8MnuzBrBEmjM",
  "id": "fc_044f3fcb6c721bad016ab441abf78887d0b26ef3d43ffdff75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OqnPpdSeDpsL8MnuzBrBEmjM",
  "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]: [-1.3113, 2.0525, 1.4322, -1.3224, -0.4885, -1.4345, 0.0093, 0.659, 1.6955, 1.4162, -0.8593, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1591 left_y=-0.2621 left_z=0.042 left_yaw=0.3744 left_pitch=-0.5115 left_roll=0.5033 left_gripper=0.0093 right_x=0.3338 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5693 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [-0.3761, -9.7709, 4.8889, -0.4078, -0.2515, 0.0317, 0.6716, -0.1846, -7.9521, 6.4342, 1.033, 0.0611, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f645e5da8f741e5aca44faa9482b5b759ce9bf611503b4b3911f4bfadb9d0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90499f9cb0b22f5d490ff2f231d71ab4d0263e4873f4c13c9ccec62918ebdcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84855532a4b2150191600b100112e6409272c24d1f263b78dc1a1abce6ec3fdc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 9.368 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3762, 1.9896, 1.5608, -1.5188, -0.4904, -1.4769, 0.9961, 0.659, 1.6955, 1.4189, -0.8394, 0.1272, -0.0086, 0.0542]\nstate[eef_state]: left_x=0.1416 left_y=-0.2694 left_z=0.0961 left_yaw=0.3344 left_pitch=-0.498 left_roll=0.4842 left_gripper=0.9961 right_x=0.3377 right_y=0.2378 right_z=0.1445 right_yaw=0.5267 right_pitch=-0.5468 right_roll=-0.1431 right_gripper=0.0542\nstate[joint_eff]: [-0.3487, -9.265, 6.8581, -0.779, -0.3834, -0.0464, -0.0024, -0.0752, -8.253, 6.5299, 1.1062, 0.0073, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3113, 2.0525, 1.4338, -1.3224, -0.4896, -1.4307, 0.9961, 0.659, 1.6955, 1.4162, -0.8597, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1594 left_y=-0.2625 left_z=0.0424 left_yaw=0.371 left_pitch=-0.5116 left_roll=0.5037 left_gripper=0.9961 right_x=0.3337 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5697 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.4855, -9.0325, 4.3009, -0.4127, -0.315, -0.0513, -0.0122, -0.1573, -8.294, 6.5709, 1.1502, 0.0464, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3113, 2.0525, 1.4322, -1.3224, -0.4885, -1.4345, 0.0093, 0.659, 1.6955, 1.4162, -0.8593, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1591 left_y=-0.2621 left_z=0.042 left_yaw=0.3744 left_pitch=-0.5115 left_roll=0.5033 left_gripper=0.0093 right_x=0.3338 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5693 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [-0.3761, -9.7709, 4.8889, -0.4078, -0.2515, 0.0317, 0.6716, -0.1846, -7.9521, 6.4342, 1.033, 0.0611, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f645e5da8f741e5aca44faa9482b5b759ce9bf611503b4b3911f4bfadb9d0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90499f9cb0b22f5d490ff2f231d71ab4d0263e4873f4c13c9ccec62918ebdcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84855532a4b2150191600b100112e6409272c24d1f263b78dc1a1abce6ec3fdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEGxY1v9qh6IQEfq_N2NGhaMGylGOxRSnhP-H2vSFCspKuROlqTFmkLRZXFM0soYPLodLtg5RQM7eSgjsgYn0vz3JlcItS0Y50ca9ncYcsKba16skZElrvSPXWNzhLxrawNzLPKH64RcAmff_KOZo_8nQ6-pcNiTZbspzg_ik69zj8nPGeveXzy59_8qIMyrRX38cbekKNqSsUdzSxwvDB5bIr6Un_On3gpHUsTAj9yD32IJBRpM7uen6Kn8Y-MpwxwoAPGaAiwLaunECkcQIsJCXZ95RfVbN1IMuOQnNEw1DVLrzcIlcADEPbeEPN8yLAfSHew83maJsJezrMRjBelJiuhPnnS40I3aDliTi_voxweQs6djHIVV_ioOfe-qodbUA0rOcYGS43UNPluYBTzHpTdjbT4Znal-sE3MZQCuzZtHDdjmliHNdX6E42eU9Fh25Bwk8U1YDbSn3S6ZxmE1WAXzgMtP9uyfmRWMxp1GN7IeDR-aYzyeQRgq5ugbJXrcwyQygKMz-sj6ytV-gGsKXDiRSXHkqA-Nw8ILywMWkVMj3_tROu8C0wulm3ci_RhfQQAbkvTzupN9zXt8Qvz926H6CjE7K40RRUvb-l12fbIqAsPxsH3gbA4rsiYOITS0g99Nnw7tO_MkOzNmenxxO847M4R1zHXglbBQSBcJBZMBRmI1aTIVb_-E62y0FIKaWEZFWcyUU59dTRMgxgNPl_QBupsXYyl8TkZouEpm_MuEA2HyB-MRY_fmmFDFVdzOr0VFfezA9vUmyBpWquDW32fSQi8BLLnBDCqvc-Q01IzK6221tdLp079mDPge0vcH4YUDI_h96KUinfEKJGnmrP1gUXEI24G9_hz9nDkGVEgdd4qXXY4CO07xiOpmkAxxhEujkjvFKvNm_E4bfkEBlUIFeNfA5QuQ968Qk-6_L7ntuLF7KtQ_uqddj7U-QM4VXucAM1b70eDLbStHtxkIGTM0VTMK5JLLrc6XcNznBCfZ7PwCGpC0rn9On4mlTnsyWj8cFOCnXra7FZhIC7MgJnbxRNXYS_r7cas8tl_W5wby5pHUDULHYRoHSRCckVsfoONE--RPcwJpTeeVfmrWHz6PJrLbpBMgYBs5mbYClnpARoqHdGBdP5axXRRJY92yAInDsLY4VGeKJxiGLZPA2g1-dNdMjlOKCG4t4evff_x0x5eavRh-G3IAm5FrIwkmxAdkFaGQcDeOUltvQUyGGyIMc9JQgxFCvea5G4eudrxvvkbJZTEDePBzr1xh7oYr6zYpWogrbpIE7VbGBo_MXD2gVs1MU0CbtpQ8gQDMlRAMstnjipBHq1EDHGIhfKeHmXE6ZdaDcdlX8cDwQAHuzya9dL6spd8PVIytQS-a_mBf-UeP37Jcbxb1avu1Qm9E5M2fKcGp06DSugr9bNC8yDDEpE8dHwqy4GY0raTNIGTjUTDpZUYI4eMX6B1iaWVxAYRxcxgIcjlAmDQnL3ZrfDn0Dig203UaCH5-ZA1suv-6ol5yLebG6mcctFYziXBIrZt7I3Ict1Wfjgb3U_F4yrRK9LciswLPvIjcu1BZe3Hl4y5d4ijK9d5AL6Jj_Ivr_DkKoBphiYL3xPtUr-Vldx0kGwVQGJWWX-cUsMIZSOagSZttTmuJ7yS5RCe5VZ80CWVlolZRjgdmRNeu1qSY3q1PNOpLGkqxzyO8Qs30gi1wwTELksZunpJKpJCFzK_-cFncxaKeD4iTqZmxJ7-meQG7Of6hwdE4wxsx-9Hifqwq0tAtwhjbHoxg1s1aS7c-aI1wxHAmUgC0tarMHB_H-EpCeNUQ7sgc19IdevBvFklF9M_U7UwGGHKaFhe33Z9oaI4lduqw40vgNi-8TsQPFkRi8mBGGaJcDSeebIOFe5FCotn6rrolat6vMk6mFAXC7FYWb-3m8PFWxH2wFIYiYVFnOqH3_kpSmTliU7eO-uX2j-H8zamJVdL78ZyAGqE7QTVu5TEwTTQtoDrLanPeX-7TL9804ZrPFEIX9g3zVLZcmi2PlcG8pEpdmbFVjdMxv_FanVOb3r3VCPMi0bI41mGPjQx3f2XSA1fy4l7AlnMihKAzchIo7JNZ3ztWM-TNVqvskJol_rwk2_2voFJsksdHLATDQxSNndfmOSKEMEhsfupSL_dYRSuC80RDeP2mqQDfNsMfd_Np64Bd4eYCb0JREbMyY2L7kL2ZpwLq-dyp20-RD3NwNwuJ0gmlm0joO9iHtecRV51ScDU7TglYDf_fejDekcj0DS2ipmIAS37TI174LCQrJz9yGgajdGZ2",
  "id": "rs_044f3fcb6c721bad016ab441aebd7887d0a3240241b129b556",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The gripper again closed empty because its actual pitch and roll left the jaws riding over the thin cap at a 4 cm-high grasp point. I’m reopening and explicitly straightening the tool at a raised pose so the fingertips can descend vertically around the cap.\"}",
  "call_id": "call_rux2Aj4rzVMw0tgRz4jIF0R5",
  "id": "fc_044f3fcb6c721bad016ab441b092fc87d084829735eb4a7e6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rux2Aj4rzVMw0tgRz4jIF0R5",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4986, 1.9396, 1.375, -1.4521, -0.873, -2.0647, 0.997, 0.659, 1.6955, 1.4155, -0.8589, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.264 left_z=0.1125 left_yaw=0.3733 left_pitch=-0.0488 left_roll=0.0603 left_gripper=0.997 right_x=0.3337 right_y=0.2346 right_z=0.1413 right_yaw=0.5267 right_pitch=-0.5697 right_roll=-0.1482 right_gripper=0.0542\nstate[joint_eff]: [0.6222, -11.4667, 4.8068, -0.6081, -0.696, -0.0952, -0.0171, -0.0615, -8.2667, 6.4889, 1.0281, 0.0171, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214338e860edfd5d792b56aab7cda245381365f046fe97ee8958f2896b4e89c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3ec5c52ed5fd7fbe21818e385c3c9ca45fedb3afb2de0a64cef1a2e3a9c6f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6334663c18957145b790e755b98ede88b26aac475deafc58967e1eb7c661573f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 2.739 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3151, 2.0384, 1.4609, -1.3758, -0.4938, -1.4349, 0.9961, 0.659, 1.6955, 1.4181, -0.8482, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.2609 left_z=0.0551 left_yaw=0.3744 left_pitch=-0.5052 left_roll=0.5146 left_gripper=0.9961 right_x=0.3361 right_y=0.2365 right_z=0.1433 right_yaw=0.5278 right_pitch=-0.5565 right_roll=-0.1461 right_gripper=0.0542\nstate[joint_eff]: [-0.253, -8.6769, 4.7932, -0.398, -0.4908, 0.105, -0.0073, -0.1436, -8.294, 6.5846, 1.2381, 0.0024, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3113, 2.0525, 1.4322, -1.3224, -0.4885, -1.4345, 0.0093, 0.659, 1.6955, 1.4162, -0.8593, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1591 left_y=-0.2621 left_z=0.042 left_yaw=0.3744 left_pitch=-0.5115 left_roll=0.5033 left_gripper=0.0093 right_x=0.3338 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5693 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [-0.3761, -9.7709, 4.8889, -0.4078, -0.2515, 0.0317, 0.6716, -0.1846, -7.9521, 6.4342, 1.033, 0.0611, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4986, 1.9396, 1.375, -1.4521, -0.873, -2.0647, 0.997, 0.659, 1.6955, 1.4155, -0.8589, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.264 left_z=0.1125 left_yaw=0.3733 left_pitch=-0.0488 left_roll=0.0603 left_gripper=0.997 right_x=0.3337 right_y=0.2346 right_z=0.1413 right_yaw=0.5267 right_pitch=-0.5697 right_roll=-0.1482 right_gripper=0.0542\nstate[joint_eff]: [0.6222, -11.4667, 4.8068, -0.6081, -0.696, -0.0952, -0.0171, -0.0615, -8.2667, 6.4889, 1.0281, 0.0171, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214338e860edfd5d792b56aab7cda245381365f046fe97ee8958f2896b4e89c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3ec5c52ed5fd7fbe21818e385c3c9ca45fedb3afb2de0a64cef1a2e3a9c6f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6334663c18957145b790e755b98ede88b26aac475deafc58967e1eb7c661573f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEG8S2Xb0j-hIGXp6I3gUYkvFumij4IfoFhWX1o4wcSMxk8xurAYDofcWfb7jt0tx6e9t7FG0PBIQL8ziiuoHCePR-EAuDLWP7OUrLIai02hXpjap30j2_JNa2Au5DsE1IAXlTb3XuFwMXLOyiVCWFem2ZVe-5_IwSp7TvMbgMV0rpis1pNsOK4BoXrNsskvhdd44QigBVNqiI6ZsDv0oVgcOY6A3BaLc8gg2D7tuTxxujOefegmJlXSWghrcZGugeWTItxswrTZTdVpz4e-mCqOGSawGQ_Kgcp4NjDlXhHGe4PvPqn2B_tWLZIiknikYcye3QD9Q3qdDwDijqDlxh8Dkmufk2N-FuzrxjuTwLkzlNerhPGeMEkxaKX9Cca1Go9QGQInFfE9mhxe3jCWZziF82-uZEk9sIyeKpA8K4IdXfz0OigIRmWVj0_58PyXg4-ZYLrSZFJlYc9RNx-h-xbmJDu4ftBMfSFJbu0YmNrryQQfCiohrGpaPQkrglQt-ru3HmXdC5kcS7Ef3OBm9Zdqt4tmBon7N4eciHXcFyHyvJrZ7p_VIVd75wmM77bB7UVXnwX_4CF-PW2a3Hfwkw2yJGDTkCBFknPcsy8d5uqA2NLR3PvGHQKzbJZvXBFmdky3Ck3R4EUGsCXKitbDEiTqY5I3ytaaxwwnpDcTccHnIfC0vvX0TpWii3n6u4cCjkfKqgDQK46GINL9mSn51-J-vnpq3d61rSib036r9spngczEtNA2DlZ1a2XgWOYVVzLx3y_-4-E-7EJYtnWkaC5NV8z2Dp8k4v7Z2e8iWv-rc968qFt4Z3nN6W4oyrxttGzvwvZVk9HVWLgkA4jNcOwVuun4HNmFC8SMgG1vhKT3bt27ivyxOzQKbjTsZUc0bCwlNx-_ADbyKQjhlWvVhcjr4hAusRL50VgcGZty6K7GV2TFrFDlHBnI0eG3bjoGq2XSVCSg0CxrvjzHKjJZzEM7jL5GD64qNyKxDRm3LjGYjycvBlt2GpkYklRy8AzsAY1V4KnWWLvl7mnM2gpn5UbEG5x9lZJL_HPIdO4SGnCSQ6D789qlhX33Rmr0xhOoO8EomBkrDnbb97Q3XgP2V1pslFicxoOEO0FLCc4G2CxuqpuN5wfCHf1zyIgd_kF5MS6iAzeklGCE6oe5ueSRg-as6R4w-gQwLZObdKOQKB3ymnAGIsvETLxE1wTghWUedd0Aay9uaig-V5W-_a-t8ddbJHI-pOPo0Rez6NZvABUbxHeiijNR-8l362NKj54Y9ihg1RdBxzE2jf9wUImrqQVSNkRYVL8C2JUADPzmYR1Hs7WJ1CQl7u5UGTQwJkDL5Y87vAPH_8S_SyQQWAwrI23VLhRuxOprZn0PDSMUD7Xt6J_ZLGz42c50PaRteQyC5GaIvvrRxG8-bCPNUX1DXrjyZcG1c2o_TGUKIkFGhtNqn72eX3gi3qOg67YkbA4OfKC3LQEJ6DwTybDddRfy_WRKyoSAfIYMg1fP7-RNv6y32HxKovhDNhLw2HCY1M2O8XUi0KLL88Sw6UTTAHI8HcXmiUKmmLWxQ0PgOVICyRd0t3-25lWzQrmUj2fxBfkoA2_nahmMxSnNS19r0JEdtaqASqjC9efb_W4hU4hUvj75XJ6AP1c5HecYDaTNia5l9DUpPHZHZ64C4XqnfcF6fLOY6322IftUTVD1tZKJOyS3P0EdoL_rDkbMdIZ2lKaNBqEaYoFoeoSlYbeJCkl-SGqIKzdHux4oJ3Wfbe5T-ylzaVQMR6cph2BUiRutq4YbdTJ8rWYL8eAZLZxSD5Rpm0mBMBE2mH5R597B1SSjJ0tRCYutD6hKdNJBDevpHr7J4KShK8NEsQRTDVS01K-1z0FIUywFBiJooyho6mJobDSXfIJPH2eGQJGuaTEeI4Ukd8-O-KCz0IjmPqyvD6XW2dYGiVXkkvQrQBmz746g7gCV0jYhZfkQ6C_clojaDTvq9z4EXAKymoHWrd-PWovniTnJdtdgl8e6YWBu_Jf-o09_naXXjRBNdpcrRe76PxDel1FSlnOX2hzuYf9bjhn9WqWKjw==",
  "id": "rs_044f3fcb6c721bad016ab441b95cd087d084fb6cf3164077c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.151,\"left_y\":-0.245,\"left_z\":0.045,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The tool is now nearly vertical and the cap is visible just left of the jaw centerline at the bottom of the image. I’m shifting about two centimeters toward it and lowering to a vertical pre-grasp height while holding pitch and roll at zero.\"}",
  "call_id": "call_5hpAyHqmWBNXqXdgR5aQ374V",
  "id": "fc_044f3fcb6c721bad016ab441bb754487d09954eaab45a6e717",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5hpAyHqmWBNXqXdgR5aQ374V",
  "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]: [-1.4975, 1.9697, 1.1309, -1.2068, -0.9108, -2.0933, 0.9975, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.161 left_y=-0.2379 left_z=0.0548 left_yaw=0.3736 left_pitch=-0.0069 left_roll=0.0543 left_gripper=0.9975 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [0.4034, -7.3778, 4.3692, -0.4127, -0.6227, -0.022, 0.0415, 0.0342, -8.2667, 6.4479, 1.0818, 0.0073, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8d056d7d9184f9c50e24cda76470cabfbb3aa51b8da2da7cf5d77601a72094",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbbd46d59f7cf6264e0ed87077cb1630c73499da00b906071e4b1bb4492f3e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c7531e4acaa042eefa95ae97178f928d1fb7bed8e4d239ba25aa984242e746",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.338 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3113, 2.0525, 1.4338, -1.3224, -0.4896, -1.4307, 0.9961, 0.659, 1.6955, 1.4162, -0.8597, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1594 left_y=-0.2625 left_z=0.0424 left_yaw=0.371 left_pitch=-0.5116 left_roll=0.5037 left_gripper=0.9961 right_x=0.3337 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5697 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.4855, -9.0325, 4.3009, -0.4127, -0.315, -0.0513, -0.0122, -0.1573, -8.294, 6.5709, 1.1502, 0.0464, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4986, 1.9396, 1.375, -1.4521, -0.873, -2.0647, 0.997, 0.659, 1.6955, 1.4155, -0.8589, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.264 left_z=0.1125 left_yaw=0.3733 left_pitch=-0.0488 left_roll=0.0603 left_gripper=0.997 right_x=0.3337 right_y=0.2346 right_z=0.1413 right_yaw=0.5267 right_pitch=-0.5697 right_roll=-0.1482 right_gripper=0.0542\nstate[joint_eff]: [0.6222, -11.4667, 4.8068, -0.6081, -0.696, -0.0952, -0.0171, -0.0615, -8.2667, 6.4889, 1.0281, 0.0171, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4975, 1.9697, 1.1309, -1.2068, -0.9108, -2.0933, 0.9975, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.161 left_y=-0.2379 left_z=0.0548 left_yaw=0.3736 left_pitch=-0.0069 left_roll=0.0543 left_gripper=0.9975 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [0.4034, -7.3778, 4.3692, -0.4127, -0.6227, -0.022, 0.0415, 0.0342, -8.2667, 6.4479, 1.0818, 0.0073, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8d056d7d9184f9c50e24cda76470cabfbb3aa51b8da2da7cf5d77601a72094",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbbd46d59f7cf6264e0ed87077cb1630c73499da00b906071e4b1bb4492f3e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c7531e4acaa042eefa95ae97178f928d1fb7bed8e4d239ba25aa984242e746",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEG_MSsvOCcTQkRH0L58OGsTGJlwZuSD0FpuGzCWWdnJ8zF6lLOm9qA6teizBJSGdtEAu0D5oY56Vorbo5dbXLNtQrQjiNYcCGpbmp3p_5J_yAZejzCbyVwxictNyQBEvq_zcUP4IfOtlB7gdVyzENLYN0vR6NKkQB6vGgxsQVNJvI24Abll40HSA189HdnXb9Re3YI7x9srX4ZsWD4LN2ErpeFp4RWxyVsUd4o74uCBwaZBYKDnngdUcik6Hpvht_5ls4TTleTQWh6_cyKcYs3E06-whYiyeT3aN4YsGz5ET4aCDzY_qkTV7rtgM4bhwtx5tEnLetM62f21l0SVYD72dCPMYG1yWszbRMVw2KYY65itPmQuY_GyIaC9YsGYrY6Fkydcm1NpVBYTe94zGZH51Mjr_KmkKTvWlgM7Ef8PZWgtSQhQMAWMtPSmjZ-B8qptbh1IHdbVRuvlWz_YHSsp5CfOD5M0R5xacGuD576Fq_P_ZPjhQzcmVshbBkwUpBGYI9qwd6cQbogtqKWJMzxls-NGA7zw1P6fimUpTLf_1EGrH4DT2ZAjnoci0GzRDMSU2qZCKJn8XCfypFADYFhhaHvH6N22lUUmV-Zk1r3eBycMoLEl1eMjU3Aa3DCOht57fQEITrztmRkPzm8VGwXbTTuMpbDiMgiBYmmYnLBNeMyVIkeB5-_VEGRtvQCAPQoaTCVE3lVGANkHy8X1NL6XAthNs-hEzU3g6BiXzOH33dVPy5uzldcm_KuLBuU6Tpqpppf4_3p0JTELfvfCtrzrtiMeXAt9EHCeCq_Lxi6LkYpdy7aHu6zM8uyK5-ZGVXliJm4b3rs1hEwbRacszaIXTdeAOwQNXZG-DEkpzkRAfjeyFo2Uiw1cc9M3hmMWJ8si3nBmn3MYiZ-sKIFDkXmh62UJUD5X0QhIjVzmr8CmyZVwIvpODu7V3GVYJYUM8Nr3pJI2rG4fcrlrvyC2veGog1esMAwBhW8RdCSw7PgzCJcQkSeE9EwM2sBn_q4gXB3KhEVb4SsMR_rmDL4ddnu_YGMrjtrTdVxe_Q1UA5ki88cUluPcwzYr3TvwvG_oAe_tyQoh-uWN2WbhLVxRHy9dyqxb3Ku1SpZlLoYlz3xz3QJtfr0mh4HwZCKVXcsss9gOq3n6BVcXk6H9InExBkfkFWTtlrV0SEe1mcOcGp4x-g4iT0uYs6PcfBbMWIHjDLrqK6nXBTqwtSRQaXkJcl3Z3F_nJLkeFrTsWP9P1TdvrsNOyXCbo99FzGSppnzIBV4I9_x1Ias8TcCMMYoAtWnP39UBDs8GzEhQTXtQqiY1bZJjCRwnTQ22pQVokRKxmXeN_HFUurL10iv8Eiel97khbrFLQv7Ze4ShwxH0SurHwQE=",
  "id": "rs_044f3fcb6c721bad016ab441be720087d0a6ff2010687053a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The cap is now nearly centered between the straightened jaws, and the grasp point is low without premature fingertip contact. I’m descending vertically to table level before closing.\"}",
  "call_id": "call_4kFjISGGqvhlVjZoFXg5yraa",
  "id": "fc_044f3fcb6c721bad016ab441bef34887d09653865cf24f66a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4kFjISGGqvhlVjZoFXg5yraa",
  "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]: [-1.4967, 1.9846, 1.1072, -1.1316, -0.9123, -2.0933, 0.9976, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1616 left_y=-0.2417 left_z=0.0426 left_yaw=0.3733 left_pitch=-0.0164 left_roll=0.0189 left_gripper=0.9976 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5251 right_pitch=-0.5724 right_roll=-0.1484 right_gripper=0.0542\nstate[joint_eff]: [0.3214, -8.6632, 4.1094, -0.3785, -0.6911, -0.0513, -0.0073, -0.335, -8.253, 6.4205, 1.0232, 0.0415, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e234fb7149126b053205db2d31d3527b59d78f2797546ec0196b72a9ad8a43e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dec60cc6cad2c7cc746da5888c0febb404d66dea2367a023367e3581ba0de13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465b7b2eec87297843b5c7c2ca308cb354b4d4e3815d35913871c91c12c66bea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 7.821 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.3113, 2.0525, 1.4322, -1.3224, -0.4885, -1.4345, 0.0093, 0.659, 1.6955, 1.4162, -0.8593, 0.1276, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1591 left_y=-0.2621 left_z=0.042 left_yaw=0.3744 left_pitch=-0.5115 left_roll=0.5033 left_gripper=0.0093 right_x=0.3338 right_y=0.2346 right_z=0.1415 right_yaw=0.5263 right_pitch=-0.5693 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [-0.3761, -9.7709, 4.8889, -0.4078, -0.2515, 0.0317, 0.6716, -0.1846, -7.9521, 6.4342, 1.033, 0.0611, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4975, 1.9697, 1.1309, -1.2068, -0.9108, -2.0933, 0.9975, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.161 left_y=-0.2379 left_z=0.0548 left_yaw=0.3736 left_pitch=-0.0069 left_roll=0.0543 left_gripper=0.9975 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [0.4034, -7.3778, 4.3692, -0.4127, -0.6227, -0.022, 0.0415, 0.0342, -8.2667, 6.4479, 1.0818, 0.0073, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4967, 1.9846, 1.1072, -1.1316, -0.9123, -2.0933, 0.9976, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1616 left_y=-0.2417 left_z=0.0426 left_yaw=0.3733 left_pitch=-0.0164 left_roll=0.0189 left_gripper=0.9976 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5251 right_pitch=-0.5724 right_roll=-0.1484 right_gripper=0.0542\nstate[joint_eff]: [0.3214, -8.6632, 4.1094, -0.3785, -0.6911, -0.0513, -0.0073, -0.335, -8.253, 6.4205, 1.0232, 0.0415, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e234fb7149126b053205db2d31d3527b59d78f2797546ec0196b72a9ad8a43e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dec60cc6cad2c7cc746da5888c0febb404d66dea2367a023367e3581ba0de13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465b7b2eec87297843b5c7c2ca308cb354b4d4e3815d35913871c91c12c66bea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHDcWe2w28jCqwRNHbX0vcVA9x1BN2qG104iH6Vl6I3rtEUbyosgNBHB3rw4tijAZSn9bPhysQvozpJt_W4IVSRSGgRhQnF-YcPDpx7Uanj6FjQvSzZ6n-IrCbRyMUBaLYTXP19xfLAPUagwuZBwdDXQO4MEoi5XhPdXtFJGerjCP1IPqyPzfRBujxabLxOw3TxVfS9N9UNaYhY5ru9TO4fH-PVs5gbN8xgJ6gfTIZgaBEuVc7OQ3mhexF0Kc9wuTGZq4bxGZIxhw1nE3GKUfnc797K6B_P0KZ604r0BqNOYh5DJH1_2z87BMHP0c9xFG4IGIvR6z7mDh8dp3nfSZdJ_Rctxc5AlaTrFT-RN-mYGOsCYqjz59deJ9GuOO3Ezl8_Ds364piRJyz8mrWsEqhUihC7IX915i6fmAcjJq6YlEKN_n11h6iZ3OkB2Byj8iiLYeDb8-Ew7LzG_-xeSXwjZSnsJ4psrEJqPQDJN1dHQXCJt8OOh6YPuvtH3leynb-8DqCp3g9Fd5X8JTT88TGSojkNZHOoFoF5ytORqG9EPOVqcUfLL41Lf_86cuRzNchbXjFFlUPhuKJuV2J8maCg2jEnOk_jcUCZhbP7sE4Fk6Mp7x1Qkg2d0nWzBWSE_mhsTARf0jT-Bp7G9dNIcGZc4_JCqVad3YCa0t6WAh50RO1NpKab4_dDH_ewBq4-ZnEOo24lRZP5xuIT9ar70CL8Cf7OMXjZJXjhTdpcpm1G6l8xt4I4LgVfSDk9TCNZxh1Cnq644holAQXwrQ3O8_E6rAY66volDUR-CsYjXr0SDfCmdWczOEDyw7HKpplB1Z5u-9aX_SInaNMSzUpsZWhYV_LTo7QR12CVXYlaxgHJxnXCFH_lclcNovFC7d0Zh64d6WTc_4I93N1PnAhXoNcpVGEB0_VXkD5sv8Q2F4MrFC1XMXdCzbwVck096Mxs_9oggeA1khtIvNDg9sULI1XHprElYZ-YfBN2w3bgbSA2Liv97KOONjphBrLvi2NGzcoGATDXiyuNMlACHT1q66a8OXLlSqLLFqKr8NoNr5PypgKR7ucIOnbRUTysi3uRceUO3xWjETe3D_h7Hxix43_cjUZEfnke0SLx2PmGkY7IhCwGLRtG1aesp8Eg6P3NKvC-0D0y4KVgv4GL_PRySV7cgOkF8M13sagPLwQxg4SB4uDDqoPTaOKzgaO77C5XOg7QxWt0yPyZxhpcB6NYDusikRC18twO-XTbKfyy5JERVch8lE4OfwXEOZ3OtX5hr0TtVTzC_WyeB3533IBaZE6flWrxRIefcOVSugS0cas6GWOtJnEA8cM9-5PJEZFlG34tyVsShK5IF5Hdi9boYUSEERiI90X3LhW6pmb69M3NNSKkuysixabji6ZRF6RyOXDf-K1OR2_-8a1L1_c4SmrmoVkv_LP1zhC9WD5GAVIMeNC1BQ3Z-SgqBCgZNzB79bUvCBZ_dheGljlPVPnMPGmXtEaw47mbfeEqKcWN4ysouMQuLyqMkPw849r-z5lJ5ElD7shem8Qllzx70zlOh1Upm33QYjNbMdPHHe6KXAtrThTkm_gbpuRZT-HvPuEUSLQeqBC81zdfda1IjrdEToA9tlmTU2uv5HNYN6IgkbJxA2nYaIi1Fudr8kvtyiYp8nAf70a4vIYv4zBNshEzPDWFIbYYzLsyILFOKYxE0Ruk1Wj23XDXYD71lh4xizagwfbOzKXi8XfLdE-1jgdiuO-dEph_wQL5a-qtSVao-c4zvXIPt-AfkyAKSMxb1hChoqS2k9BmhuwzgKaItTuUBobmBBmtj5Mq2OPOIyYwHCzhF9w=",
  "id": "rs_044f3fcb6c721bad016ab441c1866087d0ba93743db0293748",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The vertical descent again stopped with the cap visibly between the jaw tips, indicating table contact at this near-base geometry rather than further free motion. I’m closing from this aligned vertical pose to test the grasp.\"}",
  "call_id": "call_o53WISldtV7NiqSDb86k4Jmu",
  "id": "fc_044f3fcb6c721bad016ab441c2b48887d0b224a57f8c0a6e27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o53WISldtV7NiqSDb86k4Jmu",
  "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]: [-1.4967, 1.9846, 1.1065, -1.1217, -0.9073, -2.0933, 0.0092, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1612 left_y=-0.2428 left_z=0.0411 left_yaw=0.3752 left_pitch=-0.0234 left_roll=0.0115 left_gripper=0.0092 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.1026, -8.5128, 4.0957, -0.5348, -0.4957, -0.0366, 0.6862, -0.0479, -8.294, 6.4205, 1.0379, 0.0073, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021b51c8dad31c6036d9dbcccc745dd9f5e0672d242c3fa72455aeaacca4cf2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0e57163f3ef77e64b1a474fb888d0e10edfc3c64052b58e80413fed2b5dd63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9efc78061b63898265a523861effffccf7cc5b2a1a26059e00d62e85ccdd6afe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.231 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4986, 1.9396, 1.375, -1.4521, -0.873, -2.0647, 0.997, 0.659, 1.6955, 1.4155, -0.8589, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1584 left_y=-0.264 left_z=0.1125 left_yaw=0.3733 left_pitch=-0.0488 left_roll=0.0603 left_gripper=0.997 right_x=0.3337 right_y=0.2346 right_z=0.1413 right_yaw=0.5267 right_pitch=-0.5697 right_roll=-0.1482 right_gripper=0.0542\nstate[joint_eff]: [0.6222, -11.4667, 4.8068, -0.6081, -0.696, -0.0952, -0.0171, -0.0615, -8.2667, 6.4889, 1.0281, 0.0171, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4967, 1.9846, 1.1072, -1.1316, -0.9123, -2.0933, 0.9976, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1616 left_y=-0.2417 left_z=0.0426 left_yaw=0.3733 left_pitch=-0.0164 left_roll=0.0189 left_gripper=0.9976 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5251 right_pitch=-0.5724 right_roll=-0.1484 right_gripper=0.0542\nstate[joint_eff]: [0.3214, -8.6632, 4.1094, -0.3785, -0.6911, -0.0513, -0.0073, -0.335, -8.253, 6.4205, 1.0232, 0.0415, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4967, 1.9846, 1.1065, -1.1217, -0.9073, -2.0933, 0.0092, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1612 left_y=-0.2428 left_z=0.0411 left_yaw=0.3752 left_pitch=-0.0234 left_roll=0.0115 left_gripper=0.0092 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.1026, -8.5128, 4.0957, -0.5348, -0.4957, -0.0366, 0.6862, -0.0479, -8.294, 6.4205, 1.0379, 0.0073, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021b51c8dad31c6036d9dbcccc745dd9f5e0672d242c3fa72455aeaacca4cf2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0e57163f3ef77e64b1a474fb888d0e10edfc3c64052b58e80413fed2b5dd63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9efc78061b63898265a523861effffccf7cc5b2a1a26059e00d62e85ccdd6afe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHMu5qmhv_GyxFSlEC5jrjHfoTRZlRTVGHHpoA-h4OblxL0T-6ekGmxZGgxBYDSJO_5kuIn2_jyjls_9yJatzxOQWMiguhPFOJoDmQleozqvPsnIhFYvrcZ8OwPE4oHBVaNcjTcPgGW3LuRvz6hzkIn4sn7J6JCrMDROHc_B_6RZ5zutSzdJwsx5O1dUVOyDhli1xzapOPkBL6CnIvRJ4mswPSQ_XUTLKH2yCfWP6JNBVJc01RdZn8IzG2Q7Hgfy4heE0BtqZJXiCRhjAAGFv2mKvsy9p2L8KfX3uxIa35WG-EehYYncpCDpX_MqbMxl93hdJBxxMUjF1WsR2fbEXL1CmulwYDJXLz184Dy0DPOtXAXiDWLqjK7m4irWxo2OJw65XwMGw6uaIen6MVw18tR_obMZHCEjt7Hae7Doac1Vg6qa4EfvxD4nFbOCMsosqcUWsv_9TABRS67xEHDYU9kuoqAnufRG7nGlcjX81Er1clSscMMGRMXn2j-uk85Xwkw1i_NE-P1vtTYnFQ22G7J3fG_aVdnGneWbehsqlrk70mhSpph6mgYJ8xUHxpiqkJwyhFz06mR6l9e29WVTo_gvaRUjwmYCUOMj_APp7uhPtM7-38v44_2UktynrTP0acdkUmwovx9AJs70htYbY8eUzD7_OOPZGE3vIuh1brvyEUDRzUs1SgEAy8UbyjSTEt9V49k4kKAFhCLVyeqvrRxOIhMh9qdecQ_WGcoOW2U29vCYQFajPn7LgarTGMy6tTvqhUPS--P4uQ6-HqpdoPEpsrUStvstsJn4xnKxytPC1xaFNkCJZqW1Cwx8CzT9UxwKiRhSeggTuOTLHS748UdRSjQELki88Why2IJLMx0oBJscXLtaeS2Omn1cvgJ14Z_VZ96Po8aNu_oiwSHIC_3ZLnDUqgpizPTz-_GAjS-Pj4OstBxDkhlj-u6QF_hZiSrD_tqLlieT4fjaK59TFXJGbdyK4Xt-T1mBL2FwLJGUxXlJ2T7Z-XEbBfHUvH1_1R7J559oJ0wiGmGTuIZzo3Yes5nGxLw3w0HqfJDf9jq3vTt-rU8OSAkyYiZC0dZPJlVztR2opoqj97SIv6sq8_LT42RBO7pzMBBJoWoXSQ2MUTs0PBrXvxe9pRUHbOE0zVxJ4dekjWL5sEYA0PSVb-o6QwNlOn2_CQ-drMowguqTRcx_xrmPzC-JRrVwsCq-rQ1rEzklh-HKeCFGBHtjuZQRHO7aV2vBLXVwO6iMail1O8ScFUf7IbNccnWNAx0ofn-thMPszlQsaMooN6xuaFpMUOnC2sm4sxmJrtUsSrvJ0cGk-ICC3rSmzHiLml_VkL_SyjvH_jalnFKVcwWIdABzgNSppNkHMzyf9fPPTILj-6_QChcPWnibjhpd2hHN1HH5ntf2KjIoZtGQOn5-P01zGrhKN8yfVQYkCvpgobB1yzaY6oKpFIkCERZiQvIqfAEILDyqGy44a7NThTnaYVtpituTJlXi4gH4dhPpF83Y2LiUKJoR9Jxzyj1NJSDJN_ecxmw3MW4mn-siR1JGgIjLAIrkT-wpIiuRtk6Gunwm-JtYMdK1FPBFAnYzNRQ9FtQ_DTh6UjJ23t4Wi6GJJxPZWs_gIAU4SRtvu_AD70Zxc99pFskn1UAB8q3gHUxHN8TlArGc8PPIiW4RxBD_GUa3LpqQOaJkbX_n6utMEWKbURhxiyb0bHNp3OKzJsjEfrev23yipvhmUbm9su_QolK61Kd_c925mstAlXnaoL2XlFQeFzZAXQh4TDs5275BMB6HV7T9805ixy0nfAs68GIDSGPW5_qiD_A3C9xz6TKujbfdkx_igebAp5Pp0W1yczlyh6a_O45tlgA7eiSdfBDwNDhckQS7trzWruoCiUwYRlqcMYaBpBYHZU_jlazZmO6wvj9tu40etNYcViJ4tJcH22JVAgNM5ekV6yBZBpR9kObY22D9K8LfupgQ5tvZIUzjz1r8OLWPYrb5IvPSeRkCAI_s5PTpwciKd1rS17tsrONlRINfLKjNd8Vw25kIvTE7SFnOpVKzhWLgMEG2WyYu-3qD47FmWmnNahyQeA76RqKCYuPAGaSjDYOY_w7B9igiZQhBIGmjyy5ic3Lzw8DD9R87gUb70sKr0kBfuHQbnKNtlOlesuc_BtmuPvWDiIlDe2LbH6a748yGr_n_NXWD2fQcjlRJHL3YAFliKJcJ-XP6uXymY0Ko-GP2qQiIzEP29-EcG7tHIUd_O7FESUBC7e9Ek2i_LES1k-GwBhxHt4wwOwZvkTFVLcnP132j74gDof0vWI4PjvUxACTupi8YqnB_hjGsk4SYDhfAoxobEHfrivcWOkv3TRZeI-p0Xh_V6A1PYvXqQCQqjX24M4BC5Rm9C85NqhjPYzvu7_oewJoPIm8dwF4uH6S5OAolh7v4YkgHaApZRbL1T3wvpOg8n2S-4OuL8DX1eSlQeXcTI1cjvoj7N1QtJW7set5RYFvqoifm8t5XQCVNliM1A8d1LPTBDUVlt7NzLMi1BmAtPDcQLXtIsXW7AIy4_siwRkv7WrtyRpWcO_-TnAbRcLprAXynfsCtPA_3kpjkzaFZGPa0BER7BzwiOj78CmWNMyuz_ms5OmuFMqYQrlOF1KFo3uFBJXNTp_nXW0BS6UQZBMALmMZnE-_d-KEr__acS8SeATwj_AzUuMQHuG6Kap_n2yuh6zgLbMZ8Ofx4NMIohR-2FIu_5bElUbZEscwAWSm4XPG12ql7bZ7WRGlbh6ks163FxCYvsMgVd0-y6vIXrdt2bzATCG23cHZF76D-ps9Xu1I1DYT3HAhPv6-YAxUlO-ypw4QJ5A2DmFeZrTwhAsSRrtuFEQdwOKkq2zyDktN6ihPpze-E2DoBRMKgss20P8wfiJekrrVxNuOW1YtGTjde0tko-AcL728V7tODdFPL-8sdGPJAVbS4RTFhpdm8Qz0lfsYw7SkKg6L0yNHE_UoZva-z68iGWBjYfW6GCfgOBj8lotsuCBSdltenmXIaS5KeTI-r8fft5uaWRIKtg-h3E9f3M0B8Jr3ucNrNUC77gpCvIW8U3U8ksIgmNzexLgm-GILA4go1fyo0Om74CYgSbChGQOfH7Zao5ei_LVDhAU1JNGsQBDJH-OBPqEo724TQxO1AFtM9DTvI7TM-LzC_tZqGL1Ld-S0bS07qALJ702KiABF3-CUFLziVR3Kj015J0pRpDKCDJMufvY4HvgrNQe2sdVj0fn3zDbftB70NXU26Hrpv2U5nSByale0ugunrG577_SMjERUGaoIZeGsuv9bD0YhjjcYsvyD349AhhwR1ECDuTNtRpbRsCwjhTTIbtqEHnS_6mkV4AJFHWZgguwf8MVLMkaF_f2DVwBCyP6ZR7zEbDZorwK84drHdailXy8QatQojOPTCjFwaeTJBLCZYgnahW__e5y3ANWRdboCqo9JOaCMmyA0DkV63ZeGOI7HkPeXq24M2gi5pzb4NuvrSjWFtVVWvSNXDmE23lHT_tw2q5kZjUsc2rywDdbl24DpoBPPgxNPP4JTOAPar-iQM5ZBKPgY_ml2yA0EGoVUp84LQfWSM6LlrYKX-7Qcnh9jFDcDAo9w4YfL7iubrpuyTdYafMsuTIBNGKg4diDaTAiVT78zQ0FmoNs7IQ1qodtVIA8pwY5YMzguOnxwuA_CRY3ZZusfFvGHSwA2cG0pvkwWh6tj8gIRsb5apUcFSdg-Vly5G8obAcNt9wnyjCkzLOIa5xbcmTAsUCgpJhsWxz0aIlauYSPvUjOI0dXIxhnId3OINkLeDLGwtjUd0pWjqXuk2lz0we7YCkkxhOqDET-6CS_I76ON1b_0-YsLu7bWnyPHPlaFDlDzKvZL0T_S_tY1ikbjX_KoZ6jbIV9-8bY6xtHug_SgBEvV9S5S97sCNcJKxGTd5k0QBP1zNKyagej2Azaaz48nDjpDtsNiVI6F8pzaiRd2YCH5enU8HCoZ7XGknyvi6hVJvRZl4ntjDnRoPnMC8TvyjRGoc3BKptK-r9zWFclC_WpRhIkLQWNrtgjoGnOPcmESyzvjybVPsuB6EIo-PHpl77hHb3D5cJA4VMCTLs1Gf2ehCDeiy7L3_KogjxkIxHETTGbP7NC2PB-V6ewuQj8IW_i9",
  "id": "rs_044f3fcb6c721bad016ab441c5c4bc87d0aa424567a19711d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.185,\"left_z\":0.08,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The close was still empty, so despite appearing at the bottom edge the cap remained just short of the closing plane. I’m reopening, lifting slightly, and advancing another 2.5 cm outward while keeping the tool vertical for one final centered grasp attempt.\"}",
  "call_id": "call_Pmhfd4D9cOIOuwVYWIKU1lm1",
  "id": "fc_044f3fcb6c721bad016ab441cb2c0c87d09bf5e44b9df11862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pmhfd4D9cOIOuwVYWIKU1lm1",
  "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]: [-1.4326, 1.9316, 1.1309, -1.1633, -0.9207, -2.0235, 0.9948, 0.6579, 1.6955, 1.4151, -0.8619, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1785 left_y=-0.2364 left_z=0.0617 left_yaw=0.3954 left_pitch=-0.0227 left_roll=0.0315 left_gripper=0.9948 right_x=0.3334 right_y=0.2338 right_z=0.1408 right_yaw=0.525 right_pitch=-0.5731 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [0.4581, -10.7829, 6.8034, -0.5495, -0.9011, 0.1685, -0.0464, -0.1436, -8.0615, 6.4342, 1.0281, 0.0269, -0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070f5ba520516bcfb0af99462c02611416419dd22cd740bc4743dd30185e91be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890748ff356500f12969590de6a0c6804ac7e406ed8e7ce5088f460fc9bd8591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf5731bd57857ba6a3b4b143afba52064a5f7c2149be3db0b06210e67743baa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 2.882 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4975, 1.9697, 1.1309, -1.2068, -0.9108, -2.0933, 0.9975, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.161 left_y=-0.2379 left_z=0.0548 left_yaw=0.3736 left_pitch=-0.0069 left_roll=0.0543 left_gripper=0.9975 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [0.4034, -7.3778, 4.3692, -0.4127, -0.6227, -0.022, 0.0415, 0.0342, -8.2667, 6.4479, 1.0818, 0.0073, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4967, 1.9846, 1.1065, -1.1217, -0.9073, -2.0933, 0.0092, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1612 left_y=-0.2428 left_z=0.0411 left_yaw=0.3752 left_pitch=-0.0234 left_roll=0.0115 left_gripper=0.0092 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.1026, -8.5128, 4.0957, -0.5348, -0.4957, -0.0366, 0.6862, -0.0479, -8.294, 6.4205, 1.0379, 0.0073, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4326, 1.9316, 1.1309, -1.1633, -0.9207, -2.0235, 0.9948, 0.6579, 1.6955, 1.4151, -0.8619, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1785 left_y=-0.2364 left_z=0.0617 left_yaw=0.3954 left_pitch=-0.0227 left_roll=0.0315 left_gripper=0.9948 right_x=0.3334 right_y=0.2338 right_z=0.1408 right_yaw=0.525 right_pitch=-0.5731 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [0.4581, -10.7829, 6.8034, -0.5495, -0.9011, 0.1685, -0.0464, -0.1436, -8.0615, 6.4342, 1.0281, 0.0269, -0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070f5ba520516bcfb0af99462c02611416419dd22cd740bc4743dd30185e91be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890748ff356500f12969590de6a0c6804ac7e406ed8e7ce5088f460fc9bd8591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf5731bd57857ba6a3b4b143afba52064a5f7c2149be3db0b06210e67743baa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHPPQhtAaV2eIUuILMGY0AQGK-vvrZEiZhCmXg_PvYXDrUxLAXz9DwHtvjFys1zKueW77ACtoqdtilH2eWSCAKP61slrTQ4qPdXHDYVaufJFHsSQ5S5p0JjaOmRJhcO2UdpoiztR6gaji2j-kIQC-M2-vAPAgHgx5oUaXIUeaLsrJcxLILqBjKhe5vq89mMFqS8BcAgd1AWvKVwNWUgjeCotT7XKLmmwiZeZzHyLCf8gW6U4j0g2pt0Ejezw81BzqBvgrMPxKPOb3XtayOeLyCWhEU0ekxQE0SDYINwGyQgI_a211zIsIvDxMRHcnO46sBjzx6I1jJLfjPqiDFIsewx-3OHArPOjnvGJnRXd_o3hAtRkI0wakHAKpm38AfEya_weudscs0dHeZkaKYTWEeBKPbTkX0U-FNwbWLx4wXz0NBRuoF0godrfrumqv-tyWj226B_kRkhpl46s6fUQ5BMtL7BAxZ4D9PpNx_yAbRZLh79-wYi8W2hPsT9Us0jkp7qiwqIKJN6NG7geiR8LBk0sGeMbg1jnCAmD0OFFhz-FG8dMZEi180nUAcKiLKAXLXKWk-QOsxLRV9q75y6y3xWrztU-_6hTPeXBwm3Tjj8_vZ1c8Z6A1vkr8xa0cP1GtFFDOhep2IuWo7T3USIhB-MVnti0llN2VVw4SCUFQkY9Na8_VwCvV8Ej9vspteBCQ8LjkVfnvIOWhBN3bd0ACrhb5sez4VPodcMNy4OOQeWCrr-KlNeAm7D-pGjT4CczlRHvl06krztoCVFCuryU1-bnhzWnYyjrRyg8fVDRsii9gMgDI98NHeg_IW4c57lwT11qcvY3zbGARSDJpBydwWUo_FTrD8nD_aZLOavSL_QygZqjdE1ZTIz7DDYhUV6zycjNCrvTw0O3ZWkVYupxPi5TH_VZf3vcZmlL7QYLQ6ZQs0xb8YD1_x-JYM-tsbOpnGoCwPf39fU6MqGWEabsYY_x_fCHni98ZJJRQI_dyjfkoYqXlVjqWy4D1EF8xGgoQ21GSAsSzWT2i7thZLqhStN3zW2rlgb7H6LgvFJcIPPp17_oKOrNVn5aPycSIX8YW-5nVvGw2A42Lp68m8menLyHUxH9ITfG_hYdgvI0uo7Jg8ZyDj-aaECcphuWDg2UGDogU8puJ_qtBNdEeO5fvwmr4qxTw_3-8nNgb7xBxnvO0kNrKrlu6mSOaWnVItYwuWs887FCYc5mtwofP9v2G1pnb8W9Qx9hkvmz-_90gQ1iF0KlTVpxt4Ny8BNCPlgo-zad5pV_GAoaiz3ErZstLhCMY86061hjTG9NHpe5FPWxjwExXCh-C6nYoQM7KvXuvFI",
  "id": "rs_044f3fcb6c721bad016ab441ce6c4c87d083bc03c862b80b19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"After the outward advance the cap has disappeared directly beneath the open jaw channel, while the overhead view shows it occluded by the gripper. I’m descending vertically at this corrected radial position.\"}",
  "call_id": "call_YFJdbfRLryCnzlsBb5FQKTlr",
  "id": "fc_044f3fcb6c721bad016ab441ceb1e487d095a52433216ac53d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YFJdbfRLryCnzlsBb5FQKTlr",
  "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]: [-1.4368, 2.0926, 1.0431, -0.9539, -0.9386, -2.046, 0.996, 0.6579, 1.6955, 1.4151, -0.8669, 0.1272, -0.012, 0.0542]\nstate[eef_state]: left_x=0.1785 left_y=-0.2304 left_z=0.0002 left_yaw=0.3964 left_pitch=0.0039 left_roll=0.0465 left_gripper=0.996 right_x=0.3325 right_y=0.2331 right_z=0.1403 right_yaw=0.5251 right_pitch=-0.5781 right_roll=-0.1497 right_gripper=0.0542\nstate[joint_eff]: [-0.6222, -7.6376, 2.7282, -0.2418, -0.2173, 0.0855, 0.1001, -0.1709, -8.0889, 6.4068, 1.1062, -0.0024, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bcb306ac97b55ee8bcbebd0451b286b57bc2d348c5de722c2839576a4c8b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edde22f94c5163e8152d1f774ccc52777866f99d01f814391cbb162cd7ea93fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0da82185b6f6975b18f4ad0f6d08d0c88c355918b76ea95efc23a8e8e6aa86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.237 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4967, 1.9846, 1.1072, -1.1316, -0.9123, -2.0933, 0.9976, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1616 left_y=-0.2417 left_z=0.0426 left_yaw=0.3733 left_pitch=-0.0164 left_roll=0.0189 left_gripper=0.9976 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5251 right_pitch=-0.5724 right_roll=-0.1484 right_gripper=0.0542\nstate[joint_eff]: [0.3214, -8.6632, 4.1094, -0.3785, -0.6911, -0.0513, -0.0073, -0.335, -8.253, 6.4205, 1.0232, 0.0415, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4326, 1.9316, 1.1309, -1.1633, -0.9207, -2.0235, 0.9948, 0.6579, 1.6955, 1.4151, -0.8619, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1785 left_y=-0.2364 left_z=0.0617 left_yaw=0.3954 left_pitch=-0.0227 left_roll=0.0315 left_gripper=0.9948 right_x=0.3334 right_y=0.2338 right_z=0.1408 right_yaw=0.525 right_pitch=-0.5731 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [0.4581, -10.7829, 6.8034, -0.5495, -0.9011, 0.1685, -0.0464, -0.1436, -8.0615, 6.4342, 1.0281, 0.0269, -0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4368, 2.0926, 1.0431, -0.9539, -0.9386, -2.046, 0.996, 0.6579, 1.6955, 1.4151, -0.8669, 0.1272, -0.012, 0.0542]\nstate[eef_state]: left_x=0.1785 left_y=-0.2304 left_z=0.0002 left_yaw=0.3964 left_pitch=0.0039 left_roll=0.0465 left_gripper=0.996 right_x=0.3325 right_y=0.2331 right_z=0.1403 right_yaw=0.5251 right_pitch=-0.5781 right_roll=-0.1497 right_gripper=0.0542\nstate[joint_eff]: [-0.6222, -7.6376, 2.7282, -0.2418, -0.2173, 0.0855, 0.1001, -0.1709, -8.0889, 6.4068, 1.1062, -0.0024, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bcb306ac97b55ee8bcbebd0451b286b57bc2d348c5de722c2839576a4c8b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edde22f94c5163e8152d1f774ccc52777866f99d01f814391cbb162cd7ea93fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0da82185b6f6975b18f4ad0f6d08d0c88c355918b76ea95efc23a8e8e6aa86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEHShE0nWJ2Di2ATytVYWHisE0U6izCEnAVErgui75-5cg6he5A9VrC7JwjhGVTCW2JuPRMQrJ3vWMg35GWBH8R4lVf4F6lS1t2oneHiK-7F7GJSJmAgwdy5PXU8lccSPdeIIwN8Nfp75OPksNMwrMgyXyhowsc8XMnTawkNbgFdV3fMZk-70PY9hMA8b63ATF6M4PfsgaSe-dFbz8jeMg6w_kbkhhaJZSHZ6yWCX41PLD49EG_u6KB4QV-QWOzoQBMwej8YhVUjXGB_h2gsDmbXX0ZSJn-1W_NRqTRIMafAulmBwVk-CxcHtTHcow4RBCXMg8Pz73DwrYdG7o16dddmB3Hxjb0ZSdbgPJo6d3SkdmI_mW_PzVXhYlSoe9Uw9V59YuG6o4-zT2KOKavEUPY2Dv7jjSpzC8LbTjc9XpCzRELXbhoZUpGWPV5Y9Fz3pAOSs-xwoK30MN-xQ4uzPFjOIgFW4xFPFwloQe8GjzuAp5URJpb8PxFfOhHMHlkWS99VpxtwS-wHbuF1L95Ua3eJxDP9iVVYnGDAmK7C4hS2iuZhd4DtCJax7seiP5Gtgc_kanL4kxA--gIgWcJaOgoiXqD4Nk8WrwdrHkNk1hLel95QxkrZ26W60OqffXZunsX48gbtkkOeMTYlGZqXY51fhYzlYd6IAWHkO-wJ10ghBDhOtqgtGxO6YbuA_gND3Hie2x-hWpue6uuP6GpvUPk3jc8-zmAnF1eB_FSlFx1HdCKB09zUViV1q-iqX4xFRRo9167YYMxPx3RwUNpvTqmJ_-3Mrkzu2PNZRMH8cekZ8zXjOh37pKRPDsjRv0npU8Sf2l4tHOXazZhjZm-ZAVwDXs3INHQhEw5LzqzOkQXwu6o_DGKb8ttXfo8lRBxtuKCd4LCmIX17tqfTWdHSWFe5kepI9LCP04A7_SlmxwE_JWK3O9VQxy_mEVJrGVGJOB8-TT6zZsyXlDkp_1mtiFoJRm6NI1gRpUkiGprFb-vpaqtGzo_nNATRRdoPV39liO1P5G1cn-RsQE1EiXFu79eGfkjovbV0G9W2G9XLmlFJBovv0k3EjngB4pOcY-OmWGVbJTLc_hKwY4Wxc7VMYg7DTu9cCxXPxMtRBHRcdKF3-lr8e0aZAI-k9aQN0oN3VDDB5rspEDY7_O5ygDybgqx2Uyl29pOLt8pxoHAD_nwkeZAgklBIRzeAm0p63cVyd0Zl",
  "id": "rs_044f3fcb6c721bad016ab441d1dac887d0a83cd09671a1b0c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The straightened gripper now reached the true table-level grasp point at the corrected outward position, unlike the earlier 4 cm-short contacts. I’m closing around the occluded cap.\"}",
  "call_id": "call_AqVNOguBmzF3Pv0QWFoHv7ui",
  "id": "fc_044f3fcb6c721bad016ab441d1f32087d0b63e493f1efa5352",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AqVNOguBmzF3Pv0QWFoHv7ui",
  "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]: [-1.4403, 2.0983, 1.0405, -0.9474, -0.9382, -2.056, 0.0091, 0.6579, 1.6955, 1.4151, -0.8692, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1776 left_y=-0.2305 left_z=-0.0019 left_yaw=0.3985 left_pitch=0.0043 left_roll=0.04 left_gripper=0.0091 right_x=0.3321 right_y=0.2328 right_z=0.1401 right_yaw=0.5246 right_pitch=-0.5803 right_roll=-0.1499 right_gripper=0.0542\nstate[joint_eff]: [0.1983, -9.2239, 3.6034, -0.4615, -0.4322, 0.0659, 0.5983, -0.2803, -8.2803, 6.3795, 1.0476, -0.0073, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f7ca5264180e2ba2c0e268c3fb4ba1a51fdb897437ec9eaabea2b1371bac13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c203576937920b401a8f858e29d958b7db50a70707042c47552ae64357daa5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a294020fc9a4ca681684aec5d461b141c43266b68a20706702bdfb67e8f827",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 3.386 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4967, 1.9846, 1.1065, -1.1217, -0.9073, -2.0933, 0.0092, 0.6579, 1.6955, 1.4155, -0.8616, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1612 left_y=-0.2428 left_z=0.0411 left_yaw=0.3752 left_pitch=-0.0234 left_roll=0.0115 left_gripper=0.0092 right_x=0.3335 right_y=0.2339 right_z=0.141 right_yaw=0.5253 right_pitch=-0.5724 right_roll=-0.1486 right_gripper=0.0542\nstate[joint_eff]: [-0.1026, -8.5128, 4.0957, -0.5348, -0.4957, -0.0366, 0.6862, -0.0479, -8.294, 6.4205, 1.0379, 0.0073, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4368, 2.0926, 1.0431, -0.9539, -0.9386, -2.046, 0.996, 0.6579, 1.6955, 1.4151, -0.8669, 0.1272, -0.012, 0.0542]\nstate[eef_state]: left_x=0.1785 left_y=-0.2304 left_z=0.0002 left_yaw=0.3964 left_pitch=0.0039 left_roll=0.0465 left_gripper=0.996 right_x=0.3325 right_y=0.2331 right_z=0.1403 right_yaw=0.5251 right_pitch=-0.5781 right_roll=-0.1497 right_gripper=0.0542\nstate[joint_eff]: [-0.6222, -7.6376, 2.7282, -0.2418, -0.2173, 0.0855, 0.1001, -0.1709, -8.0889, 6.4068, 1.1062, -0.0024, -0.0708, 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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4403, 2.0983, 1.0405, -0.9474, -0.9382, -2.056, 0.0091, 0.6579, 1.6955, 1.4151, -0.8692, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1776 left_y=-0.2305 left_z=-0.0019 left_yaw=0.3985 left_pitch=0.0043 left_roll=0.04 left_gripper=0.0091 right_x=0.3321 right_y=0.2328 right_z=0.1401 right_yaw=0.5246 right_pitch=-0.5803 right_roll=-0.1499 right_gripper=0.0542\nstate[joint_eff]: [0.1983, -9.2239, 3.6034, -0.4615, -0.4322, 0.0659, 0.5983, -0.2803, -8.2803, 6.3795, 1.0476, -0.0073, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f7ca5264180e2ba2c0e268c3fb4ba1a51fdb897437ec9eaabea2b1371bac13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c203576937920b401a8f858e29d958b7db50a70707042c47552ae64357daa5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a294020fc9a4ca681684aec5d461b141c43266b68a20706702bdfb67e8f827",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHYqAQpwrWW1HJf_T83EAUoKUsYE5n_Zt-bd0CrTIDHxTlfPszXbDy2wXkAROg58uf2_CGQOc5Q7EvplO1WiD7u8ml_SLC_DGdSIPPS6QXafNSQyfhKyzNS3yptQF5uN1wlYgoLzWED5kypXCW_DP36m93EZEDwrFs_EegNx9tbZHF5GpgADVDt8WGtk_q1J4wBSZq4XKegcNwPOxUigf4ZRubaUKCsJQLgbrqPAzz3ve-el_y_7fjzPB6znSr41vf_hereSbLJ2P_eo-nANeln3rchQ_7iWxRw4HLh4H4KF0tzV9_WlSF2PNzWhkEivqopnzmB32oC7R6r_MDTI3MPKuCtNbt4YApogZ99R_FMlVbQUq89kSGTfCVLHfypfEDKuHPAyIJEcY3sPMKtMr3r3PWgj3cqUlEmy0gpoXwSmO0MA2bEazLxpX3FmtLgK5EQupKgxMA8aiuF7hFyiQmG5P4MXlGFkqjVs9r4v3Waq8KspmzPJaRNZP7XXnDjlHlc4WRtmYmsCUoQGvRAPq9iCETJYxjZQWQLpordBsc2cE5BaOLaGIPl7PnRIt5P_scpp6QQD61yCfAzcjQpBCFVjRmAI-05llQ9Wet3HaMmjSGk68U2fjNEYT5wJ9OsV3wg1T4LpMXxbrn8XbYAiv5pPEm7BrC21K2gCKwHr0NET8DTHJOW5jvnMot1D_s6fJtyWRlAqFBs6V3EOP7ZYZ7U7s24aIgH6DF0P5iNGShKBUK9XYCpiPImPcNRV1N4Ji6XjKE5VDbAncjSs-L925zhVAyBWQTGyhggDEyf6lQEI2Rkld-ZcBsRUTFcc1d1u0LCnYWcvMu-xUiTztgJTfFIfKwFtqSEpiEKJmAVIxtZuP_7I_hLlLl7hvMuSt7ttF7tl-qmrdatCBWME6vb3Wbqw4R0mYhKwZQi3ZqoazaxWQUBqx6nEw7FhmaOwciFhGYGT7VIL6j5kPu3vJuC4gHGigVMvqm5VOcpKNArhaquwwhlC_23Lp-o9XRcZ40Cd8-JsFRBaTB7osa8viKnW9kxVZVagh0Vau9bk0QvoRlgW_OrKpEhGTLP232dmIML6BXiQoNUNXEY8nwlR6V9gbOu2J5PMnFjRA19lDSbJ3uB26wLVbAk--ioyYZBIWcWSxZ8n3mnPGWoPie4SE7_1iHiifAHghs_WwKed3FJnzGmI2mufdfNGM_zccjxUiISbd-iZA6ISc124SbkYyXKzm8aun2uWIh6oXdiXw8ECAunpZLCseJ-9c17dl47cPCoEDlwSMB5DNq19KaHLTHzH9wwwTX5Rr1VpM3Z93_0NKq5Mk887In3Rnp9CrgQeyC_7Jq_DGZclV9XggBYXENHuhN8VhSDnN-hqQUyjhdxL-Do0XtHU3IWlCd7rBCyoCqH5DHrva6ZqgqGAK6CZOTQFK1SQiR6ZsLmZP4VZlNfZSNKq0a3oXvpwDUNRjRRIzKd437fkvHlM1jHlwnBQ5Yq_5RO-eEEPZaz_OQqdjoXCljdCu6briU6or3yXkjD24Xgz9Tohw_pwqSh4KyawtqqXF-KF_1PAcbtIAJUJrtu1nFs3zEWHY-Kk9u15cEFWeaFM-ybacSVAp8AD4ij0sU3DszDPx_uea9sAUT-W9jWs7PwGEg7hWs8vObByYY5umwULuIeD56k0XKPJfsY24U7-w_WgJhywRs-Rg-b015BnuZ4QErsl-ADhi2yFHd4tj3q4YaOBSDT8mVYM32qHiH_O2PhZ7ftVlO4rNBJ37wQQf-437ZSYcgj-GVmP8Y96-XA-oZgAHNea8KXTyNozsUGNb-TnfKAbrgbHSeQ7mccOvwdXQtWCKC-XCagbOBm60lxlicU4tdiLNdt9Z4D9ncOLWznCf9wgpIlUrOnRk7Y1W2d5DAu3cEj5cxMKL_Ykkbgj_n8vbQ7o--6-yyoCMfyFYEkJZTMNRvc9wa-JL5JYcnxogOVPWot2mxq_EVEttUS_B5cH4w0_ZyoYNxlH7ujfNsnM2a80i4ZzyhmUXw2ssEMIotDuEiBtJWDM3pqzxWmAxnuqBMUPM7m439w7DSPwzqxCJ3_-HOJdG4_D2eRk054hOAUuhJd-UUZYVkcFJc13pPEsueuwuuP3u7hpy_qTeGuaeiqtWylAAjE8V76uA7W0Qs1ijHUL7LZrqd1o7NJvUUyugcJrduk_LYWxzlx8e9QZ_Bn64asqFRFzEQsk0V3RWInbygVcAiivBF01HyueSk8SVAF5OIgHwd_7qa8-S7cJEd0NTT2t4zq7C6Sk4W3xKO94P8rOp9YWN5O955SgfizV6jm-ItAIJPW3R-P70H_0MNdW8zZZdSk9rPeTeAgLSoYulcpiQZioaJKET_bCX_xoNTtcC6N3dE0mXir1pyZhsF17i_S6ei37YwiNdAARNZWvd2U_Cc3lk7Ar-xZscWKCFomkgnTfRi6JC4RDB7xT4X8omDfsWsnx0n0ChB448-smGymRBT2d5oWHDUDfOq4G4z3topTGhLKAFe34RKrBEQiF9rPFnqytfZvRg7bqg8f4jJq1zMpbY6r_3ZLHBOLC7BXupwIt2W-5yVmZKSeianK1Cq33Oo1MAr_zrAZ7SKYnuZwa6ryNmXBiIvpzicm_7BSn5ipW5-2-JdH6PS5IIspRdpEtfIjh97gjcAGoY3Dj9-QlZVQ4nepPOjchZdpm-aljBgQLF1fHLTFq4hfl3IEv8P-jCo_8oTTC08X9O_-Fx2xJvf-kIgEEbyW6Hfe_mDA47SdMsdrjP8jt3nHir-Ww3RPSRPI8jHObJCr3Y4QZ676GEjMB02ukAQJ0wa44y-3Snxtmyl6wgblIz9njxB_6wvnElxoscrWMHTNfHU=",
  "id": "rs_044f3fcb6c721bad016ab441d4f37c87d097a6c395a81dab6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.17,\"left_y\":-0.21,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The close was empty at true table height, indicating the remaining error is lateral: the last visible cap edge was about two centimeters left of the jaw centerline. I’m reopening and shifting the grasp point that final two centimeters toward the cap for a last attempt.\"}",
  "call_id": "call_XZS8lOPcuerlApTemSzmAC4N",
  "id": "fc_044f3fcb6c721bad016ab441d7fe3887d09434abc6b3b9af9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XZS8lOPcuerlApTemSzmAC4N",
  "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]: [-1.4536, 1.9675, 0.9905, -1.0409, -0.9276, -2.0792, 0.995, 0.6579, 1.6955, 1.4151, -0.8692, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1711 left_y=-0.2139 left_z=0.0276 left_yaw=0.4023 left_pitch=-0.0009 left_roll=0.0352 left_gripper=0.995 right_x=0.3321 right_y=0.2328 right_z=0.1401 right_yaw=0.5246 right_pitch=-0.5803 right_roll=-0.1499 right_gripper=0.0542\nstate[joint_eff]: [-0.5265, -9.388, 3.1795, -0.6178, -0.4811, -0.0855, -0.1734, -0.0615, -8.0615, 6.3795, 0.989, 0.0562, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bfe8bbc95c11693410c2d1da360d084654ba1a82221b13c124228afaf0e38a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b15d34517af22594099df552d4a7f8fe07fc86de414218894c1a9db1bf8134f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111fb4cc00744e66a24821dfa1d16b96c4a8bec5b24e6ed02203373143ce450a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.565 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4326, 1.9316, 1.1309, -1.1633, -0.9207, -2.0235, 0.9948, 0.6579, 1.6955, 1.4151, -0.8619, 0.1272, -0.0113, 0.0542]\nstate[eef_state]: left_x=0.1785 left_y=-0.2364 left_z=0.0617 left_yaw=0.3954 left_pitch=-0.0227 left_roll=0.0315 left_gripper=0.9948 right_x=0.3334 right_y=0.2338 right_z=0.1408 right_yaw=0.525 right_pitch=-0.5731 right_roll=-0.1485 right_gripper=0.0542\nstate[joint_eff]: [0.4581, -10.7829, 6.8034, -0.5495, -0.9011, 0.1685, -0.0464, -0.1436, -8.0615, 6.4342, 1.0281, 0.0269, -0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4403, 2.0983, 1.0405, -0.9474, -0.9382, -2.056, 0.0091, 0.6579, 1.6955, 1.4151, -0.8692, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1776 left_y=-0.2305 left_z=-0.0019 left_yaw=0.3985 left_pitch=0.0043 left_roll=0.04 left_gripper=0.0091 right_x=0.3321 right_y=0.2328 right_z=0.1401 right_yaw=0.5246 right_pitch=-0.5803 right_roll=-0.1499 right_gripper=0.0542\nstate[joint_eff]: [0.1983, -9.2239, 3.6034, -0.4615, -0.4322, 0.0659, 0.5983, -0.2803, -8.2803, 6.3795, 1.0476, -0.0073, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.4536, 1.9675, 0.9905, -1.0409, -0.9276, -2.0792, 0.995, 0.6579, 1.6955, 1.4151, -0.8692, 0.1272, -0.0116, 0.0542]\nstate[eef_state]: left_x=0.1711 left_y=-0.2139 left_z=0.0276 left_yaw=0.4023 left_pitch=-0.0009 left_roll=0.0352 left_gripper=0.995 right_x=0.3321 right_y=0.2328 right_z=0.1401 right_yaw=0.5246 right_pitch=-0.5803 right_roll=-0.1499 right_gripper=0.0542\nstate[joint_eff]: [-0.5265, -9.388, 3.1795, -0.6178, -0.4811, -0.0855, -0.1734, -0.0615, -8.0615, 6.3795, 0.989, 0.0562, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bfe8bbc95c11693410c2d1da360d084654ba1a82221b13c124228afaf0e38a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b15d34517af22594099df552d4a7f8fe07fc86de414218894c1a9db1bf8134f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111fb4cc00744e66a24821dfa1d16b96c4a8bec5b24e6ed02203373143ce450a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHd5nRCz1z8OpRrtc4iZjxL0Nm4rWFNUopq3QNOox2OCzOq1Qhdrm8HSmPmOnQKEIUAU6A2QFigLEMDDmUJq3EMCBQUNP1s36pN3D7d5CG0-BFTkSBtOPbpS_UZ6R46jkWOogohWzfsOXtjWKK5a17CKPL2hidNTsihXHOP20I5x9MpwsBE0r5drFgQHhS3FV5C0bdc6-21545xYp1Yc_bjSAXN5SGN2VT-RfeiGtJheb4NFpRiHfpCh91XCe3Qk1zNzZnRwm1ChJ01pIgSDl3GjYgLjgSyEErcMLrM4_-rvntfMgvHbkuaK-S2Tckt_pTHagWpbAo1YzrT5rJOVPokhA-ovqXtkMxnEE7OvkDCiZFRJbdhkOGYtRJ4n-HkQ8EE1v8LhZyn7Bl5fqjxmimj8-kTUJDAjO_83WJ2uKleVwE91BZe3zlqU2WGFTysWrvzN-95K7xt2tzk2KnG6c1mrVU5nCdWOq1jzk17Xr7_XzHcbIihHbsM90sQaGInB-VZC4drzaGEv-mlWBBa1Swo-x2ZZOadmf_IgCz9NWvkZj-ZcT3MacaydbPag-jW4UBsxDhdZlN2oU0zrApnXSg0zXLNrjWufOq3NHj8B8HU7CpL_CUpUeZMXp6vPOGtIwTkoCL5lQrZ2NB53oaJKtVks0g03AE4vE2UBUvFsAp_7dWNXocMcC6VbneyUmfi3SrVgMiMFwGUS166wUyW-aeTzuoVl7sww-tKgjuNNLCDcoZ-m10d9JeMWaereTJkofBOD74PhoW-Cvo92GmFljhN9VsXFOu8Ba7rnOOPcOWOZTh7J2BcIeRtXkieuSMGYVtH2o-zrp_waoOuWWNpzrglrw1Yv_6sebFFD3RI1cAekdHJK0SUjK_0AaT19s1hADZ-XLz9FJE2mNqp-OXsQ6hhTuAiRFixZeBhjNXLr-86Mu5NHFfs-ldVacdJLx9kQdaW4I1O0jsHkyc0EERWlSjeRO4_4oTTUK2oj6CAH4qmgwVEdswl5vwNMDF7xAx36O1l6vnnluNBlk9XwKOov5vU6-vWUMSz6Xbptp7NuAZ3O1BghEPB_ZjK1GH4wzRpekdXglE1vbqTWR97HJ1hiJehVYKmq0gpcXLwXF16R-r-4HENyD8JhlIo44s84o4bjf-sBuY4vWmKrGxlqTLjuF4_V5YBVW-cT1jRscn96SYyNoJUU5orKGQAIcA9TMfGlQ6E2kDCBP3Rq6l9_QkOEUflaOmI2ORIVSX_zJrOl7dtbKvJNp_HvO2iV9B6U1kJOKC-Gh1cVCdhFZSuL_LTPgLLLzFxeFRz8LtuJ63YACim9-ETszTENzxQ8O-B56JgAX_ssJ-e6fRO6SqcPbPOuPIpLXeSQYyNrOMGSVqe1BjSIs9bCz1SoiOm6zoGC0Gjs1CKhG-q0dWWt-fBY-A4R1qjEHalgPNdtf0CG6QftJ_KTisu2NAGwSKb5apTgSbYfdT7VwWbhgXzfznLBSWGMWqPAgzOedljWQwePg7gjfprRTApOV2qWY2IKXtH00CUwVP5mJmvilKb40rzajs0aJhQkgh-eNgYk1llL6F4mzKRPQL0mbYspvwgP5_k-bRuJDBAwgtEPl8p4w94V5qAJ_27QVIZlQDotFeERdlRiNTcLM2Xx3UFAMRD_wZ6Ix8nKB3eSLaGj8YTbw_8_nw1c80GhfbBrThBs-KWsoRRlaiWK1yblJTLUJB57qSSXtAWkipx38rOPVIbQZVguED0YFcZB31rTcbrGcxrcBLG03y0SJWjbLeCCWQA_tGfr10qcanKFaxZy3Vd3FCi756GxIYahw==",
  "id": "rs_044f3fcb6c721bad016ab441db3b6487d087629a338db5ed08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01,\"left_gripper\":0.0},\"note\":\"The cap is again occluded directly beneath the laterally corrected open jaws. With little motion budget left, I’m making the final table-level descent and close together to try to secure it.\"}",
  "call_id": "call_DMYrPmw4YH1ThWgXYi0c2Qty",
  "id": "fc_044f3fcb6c721bad016ab441dc714c87d09402ac8883679808",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DMYrPmw4YH1ThWgXYi0c2Qty",
  "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]: [-1.4536, 2.0575, 0.9642, -0.9192, -0.9352, -2.0857, 0.0088, 0.6579, 1.6955, 1.4151, -0.8841, 0.1272, -0.012, 0.0542]\nstate[eef_state]: left_x=0.1721 left_y=-0.2156 left_z=-0.0025 left_yaw=0.4025 left_pitch=0.0043 left_roll=0.0227 left_gripper=0.0088 right_x=0.3294 right_y=0.2307 right_z=0.1386 right_yaw=0.5235 right_pitch=-0.5951 right_roll=-0.1525 right_gripper=0.0542\nstate[joint_eff]: [-0.2256, -6.2291, 2.8513, -0.2222, -0.3053, 0.0366, 0.6569, -0.212, -8.2667, 6.3795, 1.1111, 0.0317, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ca18bf207a3c89d11f56044133272e0d29451a72440a1aa6094a67747eb1a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84f25025752c61172b81fa0b201f7bc91e052d9bb042b7f8b327685b2874759",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb93895e182fc51d541c542d0b27a077e2ae3ea2e1cfed34c7a25ed06397fae8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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