adhoc

completed
2026-09-23T21:41:21.266937+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
261 s
total steps
398
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 cap is the short dark piece left of center, while the pen lies diagonally near the center-right. I am moving the left gripper above the cap and the right gripper above the pen, with each wrist yaw roughly aligned to the object's long axis.
move_to
left_x0.4000left_y-0.2200left_z0.1600left_yaw-0.4500left_gripper1.0000right_x0.4000right_y0.2600right_z0.1600right_yaw0.7500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6018, -0.3805, -0.0216, -0.0395, 0.9993, -0.0185, 0.7914, 0.609, -0.3775, -0.0227, -0.0326, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0021 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6496, -1.5111, 10.5504, 1.7851, -0.0171, 0.2369, -0.0855, -0.8, -1.2376, 9.8393, 1.8095, -0.0415, 0.2222, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.16,"left_yaw":-0.45,"left_gripper":1,"right_x":0.4,"right_y":0.26,"right_z":0.16,"right_yaw":0.75,"right_gripper":1},"note":"The cap is the short dark piece left of center, while the pen lies diagonally near the center-right. I am moving the left gripper above the cap and the right gripper above the pen, with each wrist yaw roughly aligned to the object's long axis."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe cap is nearly centered on the left jaw column and aligned vertically in that wrist view, but there is a little clear image below it, indicating it is just short of the fingertips. I am advancing the left grasp point slightly and descending to table level while keeping the gripper open.
move_to
left_x0.4150left_y-0.2040left_z-0.0050left_yaw-0.4100left_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]: [-0.5354, 1.5261, 0.9146, -0.0525, -0.104, -0.1089, 0.9993, 0.4793, 1.6093, 1.0027, -0.0338, -0.2085, -0.1581, 0.9991] state[eef_state]: left_x=0.387 left_y=-0.2041 left_z=0.1329 left_yaw=-0.4077 left_pitch=-0.0879 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3901 right_y=0.248 right_z=0.1405 right_yaw=0.7219 right_pitch=-0.0647 right_roll=0.0102 right_gripper=0.9991 state[joint_eff]: [-0.4171, -6.8308, 10.1538, 2.0781, 0.1001, 0.2466, -0.0855, 0.1983, -7.5145, 9.3333, 2.0391, -0.1441, -0.0122, -0.1001] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.204,"left_z":-0.005,"left_yaw":-0.41,"left_gripper":1},"note":"The cap is nearly centered on the left jaw column and aligned vertically in that wrist view, but there is a little clear image below it, indicating it is just short of the fingertips. I am advancing the left grasp point slightly and descending to table level while keeping the gripper open."})
tool
executing move_to over 9 steps (0.9s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteAt table height the cap now runs directly between the left fingertips on the jaw column. I am closing the left gripper to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.495, 1.9381, 0.7712, 0.4854, -0.0986, -0.0906, 0.9993, 0.4839, 1.6245, 1.0042, -0.0444, -0.2142, -0.1688, 0.9991] state[eef_state]: left_x=0.4124 left_y=-0.1988 left_z=0.0019 left_yaw=-0.3815 left_pitch=-0.1058 left_roll=0.011 left_gripper=0.9993 right_x=0.3876 right_y=0.2502 right_z=0.1325 right_yaw=0.7374 right_pitch=-0.0874 right_roll=0.011 right_gripper=0.9991 state[joint_eff]: [0.4581, -6.694, 4.7658, 1.0281, 0.2759, 0.0171, -0.0855, -0.5812, -9.1009, 6.5026, 1.7216, -0.0464, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At table height the cap now runs directly between the left fingertips on the jaw column. I am closing the left gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe left gripper settled at 0.01, which confirms an empty close despite the visual alignment. I am reopening and lifting slightly so I can make the prescribed outward correction without sweeping the cap along the table.
move_to
left_z0.0500left_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]: [-0.4911, 1.9572, 0.7712, 0.5343, -0.1043, -0.0959, 0.0102, 0.4843, 1.6245, 1.0039, -0.0448, -0.2146, -0.1692, 0.9991] state[eef_state]: left_x=0.4183 left_y=-0.1988 left_z=0.0031 left_yaw=-0.3703 left_pitch=-0.0758 left_roll=0.0068 left_gripper=0.0102 right_x=0.3874 right_y=0.2503 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0881 right_roll=0.0111 right_gripper=0.9991 state[joint_eff]: [-0.253, -10.4274, 4.9026, 1.2283, 0.0073, 0.0366, 0.8132, -0.3624, -7.8974, 6.653, 1.6825, -0.0708, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.05,"left_gripper":1},"note":"The left gripper settled at 0.01, which confirms an empty close despite the visual alignment. I am reopening and lifting slightly so I can make the prescribed outward correction without sweeping the cap along the table."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteWith the left gripper slightly raised, the cap remains exactly on the jaw column at the bottom edge, so the lateral and radial alignment is good. The first miss was likely because the fingertips did not press low enough around this thin piece, so I am descending to a firmer table-level contact.
move_to
left_x0.4100left_y-0.1940left_z-0.0150left_yaw-0.3700left_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]: [-0.4911, 1.8385, 0.7895, 0.3489, -0.104, -0.104, 0.9949, 0.4843, 1.6245, 1.0039, -0.0444, -0.2146, -0.1692, 0.9991] state[eef_state]: left_x=0.4089 left_y=-0.1939 left_z=0.0259 left_yaw=-0.3657 left_pitch=-0.1238 left_roll=0.0062 left_gripper=0.9949 right_x=0.3874 right_y=0.2504 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0877 right_roll=0.011 right_gripper=0.9991 state[joint_eff]: [-0.0205, -10.5504, 8.1846, 1.6386, -0.0757, 0.0708, -0.0855, -0.253, -7.8427, 6.6256, 1.7118, -0.1538, -0.0171, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.194,"left_z":-0.015,"left_yaw":-0.37,"left_gripper":1},"note":"With the left gripper slightly raised, the cap remains exactly on the jaw column at the bottom edge, so the lateral and radial alignment is good. The first miss was likely because the fingertips did not press low enough around this thin piece, so I am descending to a firmer table-level contact."})
tool
executing move_to over 3 steps (0.3s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe cap is still centered between the left fingertips and the grasp point has now reached table contact. I am closing again from this lower pose.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4911, 1.9442, 0.7712, 0.4915, -0.1219, -0.0925, 0.9989, 0.4843, 1.6245, 1.0039, -0.0502, -0.2138, -0.1692, 0.9991] state[eef_state]: left_x=0.415 left_y=-0.1935 left_z=0.0007 left_yaw=-0.3571 left_pitch=-0.104 left_roll=0.0241 left_gripper=0.9989 right_x=0.3867 right_y=0.2499 right_z=0.1312 right_yaw=0.7378 right_pitch=-0.0934 right_roll=0.012 right_gripper=0.9991 state[joint_eff]: [0.0479, -6.2291, 3.7949, 0.8718, 0.2906, -0.0904, -0.0952, -0.0889, -7.8291, 6.653, 1.6679, -0.0904, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is still centered between the left fingertips and the grasp point has now reached table contact. I am closing again from this lower pose."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe second close is also empty, and the wrist view showed only one end of the cap reaching up from the bottom edge rather than its midpoint between the jaws. I am reopening, lifting, and shifting the grasp point about 2.5 cm farther forward to center on the cap body rather than its end.
move_to
left_x0.4450left_z0.0500left_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]: [-0.4911, 1.9606, 0.7677, 0.5396, -0.131, -0.0956, 0.01, 0.4843, 1.6245, 1.0039, -0.0517, -0.2146, -0.1692, 0.9991] state[eef_state]: left_x=0.4194 left_y=-0.1941 left_z=0.0017 left_yaw=-0.3481 left_pitch=-0.0752 left_roll=0.0234 left_gripper=0.01 right_x=0.3865 right_y=0.2499 right_z=0.131 right_yaw=0.7385 right_pitch=-0.0947 right_roll=0.0129 right_gripper=0.9991 state[joint_eff]: [-0.1026, -10.3043, 5.1624, 1.2479, -0.0024, 0.0024, 0.7155, -0.335, -7.8701, 6.6256, 1.6728, -0.1392, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_z":0.05,"left_gripper":1},"note":"The second close is also empty, and the wrist view showed only one end of the cap reaching up from the bottom edge rather than its midpoint between the jaws. I am reopening, lifting, and shifting the grasp point about 2.5 cm farther forward to center on the cap body rather than its end."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteAfter the forward shift the cap vanished below the wrist image, proving that direction moved the fingertips past it toward the far side. I am correcting inward to bring the cap midpoint clearly ahead of the fingertips before descending.
move_to
left_x0.3850left_y-0.1940left_z0.0400left_yaw-0.3700left_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]: [-0.4618, 1.9095, 0.8803, 0.3168, -0.1226, -0.0948, 0.9948, 0.4843, 1.6245, 1.0039, -0.0525, -0.2146, -0.1692, 0.9991] state[eef_state]: left_x=0.4331 left_y=-0.1874 left_z=0.0217 left_yaw=-0.3253 left_pitch=-0.1345 left_roll=0.027 left_gripper=0.9948 right_x=0.3864 right_y=0.2498 right_z=0.1308 right_yaw=0.7385 right_pitch=-0.0955 right_roll=0.0131 right_gripper=0.9991 state[joint_eff]: [0.4991, -11.8769, 8.3214, 1.619, 0.149, 0.2711, 0.0366, -0.1846, -7.6376, 6.8171, 1.6142, -0.1294, -0.0171, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). 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":{"left_x":0.385,"left_y":-0.194,"left_z":0.04,"left_yaw":-0.37,"left_gripper":1},"note":"After the forward shift the cap vanished below the wrist image, proving that direction moved the fingertips past it toward the far side. I am correcting inward to bring the cap midpoint clearly ahead of the fingertips before descending."})
tool
executing move_to over 4 steps (0.4s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe inward correction brings the cap back on the jaw column, with its thicker body now around the fingertip convergence region rather than merely one end. I am descending at this corrected position to grasp it at table level.
move_to
left_x0.3850left_y-0.1940left_z-0.0150left_yaw-0.3800left_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]: [-0.5285, 1.7729, 0.7452, 0.2768, -0.1276, -0.1047, 0.9986, 0.4843, 1.6245, 1.0039, -0.0532, -0.2146, -0.1692, 0.9991] state[eef_state]: left_x=0.3848 left_y=-0.1945 left_z=0.0247 left_yaw=-0.3816 left_pitch=-0.172 left_roll=0.0283 left_gripper=0.9986 right_x=0.3863 right_y=0.2498 right_z=0.1307 right_yaw=0.7385 right_pitch=-0.0962 right_roll=0.0133 right_gripper=0.9991 state[joint_eff]: [-0.0068, -9.4838, 5.5863, 1.8974, -0.2613, -0.1245, -0.1197, -0.3077, -7.6786, 6.8034, 1.7411, -0.1197, -0.0611, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.194,"left_z":-0.015,"left_yaw":-0.38,"left_gripper":1},"note":"The inward correction brings the cap back on the jaw column, with its thicker body now around the fingertip convergence region rather than merely one end. I am descending at this corrected position to grasp it at table level."})
tool
executing move_to over 3 steps (0.3s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe readback stopped about 3 cm above the table because the left wrist had sagged to a noticeable forward pitch, putting a fingertip down early. I am leveling the wrist explicitly and repeating the descent so both jaws can surround the cap.
move_to
left_x0.3850left_y-0.1940left_z-0.0100left_yaw-0.3800left_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]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1345, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991] state[eef_state]: left_x=0.3817 left_y=-0.1957 left_z=0.0317 left_yaw=-0.3832 left_pitch=-0.1588 left_roll=0.0288 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991 state[joint_eff]: [0.0479, -9.0051, 5.7094, 1.663, -0.1587, -0.1001, -0.1245, -0.2256, -7.8701, 6.6803, 1.6874, -0.1587, -0.0659, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.194,"left_z":-0.01,"left_yaw":-0.38,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The readback stopped about 3 cm above the table because the left wrist had sagged to a noticeable forward pitch, putting a fingertip down early. I am leveling the wrist explicitly and repeating the descent so both jaws can surround the cap."})
tool
executing move_to over 6 steps (0.6s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe left descent is physically blocked before reaching the cap, likely because the two bulky wrists are crowding the center. The right wrist is already aligned over the pen, so I am lowering it first to secure the pen and then move it away, creating clearance for the cap grasp.
move_to
right_x0.3860right_y0.2500right_z-0.0100right_yaw0.7400right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1349, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991] state[eef_state]: left_x=0.3818 left_y=-0.1956 left_z=0.0317 left_yaw=-0.3829 left_pitch=-0.1587 left_roll=0.029 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991 state[joint_eff]: [0.253, -9.1282, 5.6, 1.6239, -0.2076, -0.0904, -0.1245, -0.0615, -7.6923, 6.8308, 1.6044, -0.1441, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.386,"right_y":0.25,"right_z":-0.01,"right_yaw":0.74,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The left descent is physically blocked before reaching the cap, likely because the two bulky wrists are crowding the center. The right wrist is already aligned over the pen, so I am lowering it first to secure the pen and then move it away, creating clearance for the cap grasp."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe right grasp point reached table level and the pen body is centered between the fingertips in the wrist view. I am closing the right gripper around the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5373, 1.7447, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4839, 1.9995, 0.7208, 0.6998, -0.2184, -0.1741, 0.9991] state[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0314 left_yaw=-0.3837 left_pitch=-0.1596 left_roll=0.0289 left_gripper=0.9988 right_x=0.3885 right_y=0.2515 right_z=0.0022 right_yaw=0.7428 right_pitch=-0.0037 right_roll=-0.0128 right_gripper=0.9991 state[joint_eff]: [0.0479, -7.6513, 5.4769, 1.5849, -0.0562, -0.0659, -0.022, -0.6222, -6.7214, 3.0974, 1.033, -0.1538, 0.0904, -0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right grasp point reached table level and the pen body is centered between the fingertips in the wrist view. I am closing the right gripper around the pen."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe right gripper settled at 0.049, above the empty threshold and consistent with gripping the pen's roughly 5 mm body. I am lifting it and moving it toward the right side to confirm the pickup and clear space around the cap.
move_to
right_x0.3500right_y0.1200right_z0.1700right_yaw0.7400right_pitch0.0000right_roll0.0000right_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]: [-0.5373, 1.7454, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4843, 2.0151, 0.7197, 0.7399, -0.2211, -0.1719, 0.049] state[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0311 left_yaw=-0.3837 left_pitch=-0.1603 left_roll=0.029 left_gripper=0.9988 right_x=0.3909 right_y=0.2535 right_z=0.0032 right_yaw=0.7442 right_pitch=0.0191 right_roll=-0.0154 right_gripper=0.049 state[joint_eff]: [-0.335, -7.7607, 5.4222, 1.6142, -0.1441, -0.0708, -0.0122, -0.335, -10.2359, 4.7932, 1.3407, -0.0366, -0.0366, 1.0085] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.12,"right_z":0.17,"right_yaw":0.74,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The right gripper settled at 0.049, above the empty threshold and consistent with gripping the pen's roughly 5 mm body. I am lifting it and moving it toward the right side to confirm the pickup and clear space around the cap."})
tool
executing move_to over 12 steps (1.2s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe pen lifted with the right gripper and is no longer lying at its original table position, confirming a successful pickup. With that wrist moved aside, I am retrying the left descent over the cap from the corrected inward position.
move_to
left_x0.3800left_y-0.1950left_z-0.0100left_yaw-0.3800left_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]: [-0.5373, 1.7485, 0.7345, 0.26, -0.131, -0.1074, 0.9988, 0.0788, 1.2968, 0.7597, -0.1162, -0.5194, -0.3973, 0.0531] state[eef_state]: left_x=0.3796 left_y=-0.1951 left_z=0.0278 left_yaw=-0.3859 left_pitch=-0.1746 left_roll=0.0291 left_gripper=0.9988 right_x=0.359 right_y=0.1199 right_z=0.1567 right_yaw=0.7029 right_pitch=0.0039 right_roll=-0.0134 right_gripper=0.0531 state[joint_eff]: [-0.335, -8.0205, 5.641, 1.7167, -0.0611, -0.0366, -0.0122, -0.1846, -6.1333, 9.1145, 1.5604, -0.3443, -0.0122, 1.033] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.195,"left_z":-0.01,"left_yaw":-0.38,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The pen lifted with the right gripper and is no longer lying at its original table position, confirming a successful pickup. With that wrist moved aside, I am retrying the left descent over the cap from the corrected inward position."})
tool
executing move_to over 6 steps (0.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteWith the right arm clear, the left gripper now reaches table level and the cap is centered between its fingertips. I am closing around the cap 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]: [-0.5373, 1.924, 0.5823, 0.7582, -0.1543, -0.1032, 0.9989, 0.0742, 1.2984, 0.7609, -0.1429, -0.5247, -0.4152, 0.058] state[eef_state]: left_x=0.3849 left_y=-0.1935 left_z=0.0001 left_yaw=-0.371 left_pitch=-0.004 left_roll=0.0197 left_gripper=0.9989 right_x=0.3557 right_y=0.1188 right_z=0.1523 right_yaw=0.7122 right_pitch=-0.016 right_roll=-0.0099 right_gripper=0.058 state[joint_eff]: [-0.212, -5.9556, 2.9333, 0.9304, 0.1783, -0.1343, -0.1245, 0.2256, -5.0256, 6.8718, 1.8339, -0.1734, 0.105, 1.033] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"With the right arm clear, the left gripper now reaches table level and the cap is centered between its fingertips. I am closing around the cap body."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe left gripper now reads 0.11, confirming a secure grasp on the roughly 1 cm cap, while the right still holds the pen. I am lifting both and rotating the cap collinear with the pen, staging their grasp points about 14 cm apart with the cap ahead of the pen tip.
move_to
left_x0.4500left_y-0.2700left_z0.1700left_yaw0.7100left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.3400right_y0.2900right_z0.1700right_yaw0.7100right_pitch0.0000right_roll0.0000right_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]: [-0.5373, 1.9385, 0.5777, 0.7998, -0.1596, -0.1051, 0.1096, 0.0734, 1.2984, 0.7605, -0.1493, -0.5243, -0.4164, 0.0615] state[eef_state]: left_x=0.3872 left_y=-0.1938 left_z=0.0014 left_yaw=-0.3655 left_pitch=0.0187 left_roll=0.0172 left_gripper=0.1096 right_x=0.3549 right_y=0.1184 right_z=0.151 right_yaw=0.7118 right_pitch=-0.0217 right_roll=-0.007 right_gripper=0.0615 state[joint_eff]: [-0.1026, -8.9915, 4.3556, 1.3114, 0.0806, 0.0415, 0.5495, -0.0205, -4.7248, 6.735, 1.6044, -0.2076, -0.0073, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.27,"left_z":0.17,"left_yaw":0.71,"left_pitch":0,"left_roll":0,"left_gripper":0,"right_x":0.34,"right_y":0.29,"right_z":0.17,"right_yaw":0.71,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The left gripper now reads 0.11, confirming a secure grasp on the roughly 1 cm cap, while the right still holds the pen. I am lifting both and rotating the cap collinear with the pen, staging their grasp points about 14 cm apart with the cap ahead of the pen tip."})
tool
executing move_to over 15 steps (1.5s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe staging move brought the bulky forearms into contact before the requested poses were reached; the right yaw stalled and its joint effort rose sharply. I am immediately separating both arms toward their own sides and raising them, while keeping both objects gripped.
move_to
left_x0.3200left_y-0.0500left_z0.2200left_gripper0.0000right_x0.3200right_y0.0500right_z0.2200right_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]: [-0.757, 2.4832, 2.328, -1.2907, -0.9432, -1.3937, 0.0849, 0.4919, 1.4689, 0.8909, -0.0639, 0.2127, 0.1398, 0.0586] state[eef_state]: left_x=0.4653 left_y=-0.238 left_z=0.1226 left_yaw=0.692 left_pitch=-0.0508 left_roll=0.0395 left_gripper=0.0849 right_x=0.3911 right_y=0.1714 right_z=0.1459 right_yaw=0.2194 right_pitch=-0.0655 right_roll=0.0009 right_gripper=0.0586 state[joint_eff]: [-5.2718, -10.4547, 7.706, 1.1355, -1.0379, -0.0415, 1.033, 15.3504, -5.8051, 11.2205, 2.2295, -2.9963, -2.2198, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.05,"left_z":0.22,"left_gripper":0,"right_x":0.32,"right_y":0.05,"right_z":0.22,"right_gripper":0},"note":"The staging move brought the bulky forearms into contact before the requested poses were reached; the right yaw stalled and its joint effort rose sharply. I am immediately separating both arms toward their own sides and raising them, while keeping both objects gripped."})
tool
executing move_to over 17 steps (1.7s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteBoth arms are safely separated and both gripper readings still show the objects are held. To avoid another two-arm collision, I will place the pen on the table along the forward axis near center, retract the right arm, and then fit the cap using only the left arm.
move_to
right_x0.3000right_y0.3300right_z0.1200right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.6205, 1.4693, 1.2678, -1.0668, -0.907, -1.195, 0.0849, 0.0929, 1.0122, 0.836, -0.4892, -0.0864, -0.0814, 0.0585] state[eef_state]: left_x=0.3258 left_y=-0.0574 left_z=0.2138 left_yaw=0.703 left_pitch=-0.0571 left_roll=0.0192 left_gripper=0.0849 right_x=0.3223 right_y=0.0489 right_z=0.2002 right_yaw=0.1918 right_pitch=-0.1029 right_roll=0.0028 right_gripper=0.0585 state[joint_eff]: [0.4991, -6.5299, 6.2017, 0.7741, -0.4957, 0.0757, 1.0281, -0.3214, -4.1231, 10.3726, 1.7558, -0.2271, -0.0366, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.33,"right_z":0.12,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"Both arms are safely separated and both gripper readings still show the objects are held. To avoid another two-arm collision, I will place the pen on the table along the forward axis near center, retract the right arm, and then fit the cap using only the left arm."})
tool
executing move_to over 24 steps (2.4s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe right gripper is now above the intended center-table placement, with the pen tip visibly pointing forward along +x. I am lowering the pen gently onto the tabletop while keeping that known orientation.
move_to
right_x0.3000right_y0.3300right_z0.0050right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.6182, 1.4738, 1.2583, -1.0653, -0.9009, -1.195, 0.0849, 1.1206, 1.8114, 1.1641, -0.3252, 0.8204, 0.7639, 0.0584] state[eef_state]: left_x=0.3251 left_y=-0.0569 left_z=0.2089 left_yaw=0.7042 left_pitch=-0.0659 left_roll=0.03 left_gripper=0.0849 right_x=0.2967 right_y=0.3252 right_z=0.1112 right_yaw=0.0454 right_pitch=-0.0391 right_roll=-0.032 right_gripper=0.0584 state[joint_eff]: [-0.2256, -6.2974, 7.0496, 0.6813, -0.5348, -0.022, 1.0281, 0.3761, -8.6632, 7.9795, 1.1453, 0.8376, 0.188, 1.0281] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.33,"right_z":0.005,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The right gripper is now above the intended center-table placement, with the pen tip visibly pointing forward along +x. I am lowering the pen gently onto the tabletop while keeping that known orientation."})
tool
executing move_to over 7 steps (0.7s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe pen is resting at table height in the chosen forward-pointing orientation. I am opening the right gripper to release it without changing its pose.
move_to
right_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]: [-0.6178, 1.4784, 1.2579, -1.0622, -0.8963, -1.1954, 0.0849, 1.1267, 2.0621, 1.0336, 0.0242, 0.8413, 0.8021, 0.0583] state[eef_state]: left_x=0.3257 left_y=-0.0578 left_z=0.207 left_yaw=0.7035 left_pitch=-0.0706 left_roll=0.0305 left_gripper=0.0849 right_x=0.2975 right_y=0.3271 right_z=0.0076 right_yaw=0.0183 right_pitch=-0.0377 right_roll=-0.0367 right_gripper=0.0583 state[joint_eff]: [-0.3214, -6.0786, 6.188, 0.735, -0.4518, -0.022, 1.033, 0.1026, -9.4154, 4.547, 1.2479, 0.6276, 0.1441, 1.033] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pen is resting at table height in the chosen forward-pointing orientation. I am opening the right gripper to release it without changing its pose."})
tool
executing move_to over 10 steps (1.0s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe released pen is clearly visible between the open right jaws with its tip still pointing forward, so it remained in place. I am retracting the right arm fully to its side to leave an unobstructed path for the cap.
move_to
right_x0.2800right_y0.0500right_z0.2200right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6174, 1.4784, 1.2541, -1.0611, -0.8825, -1.1954, 0.0849, 1.1271, 2.0789, 1.0283, 0.0559, 0.8452, 0.8043, 0.9947] state[eef_state]: left_x=0.3249 left_y=-0.059 left_z=0.2041 left_yaw=0.7 left_pitch=-0.084 left_roll=0.0298 left_gripper=0.0849 right_x=0.2983 right_y=0.328 right_z=0.003 right_yaw=0.0157 right_pitch=-0.0305 right_roll=-0.0277 right_gripper=0.9947 state[joint_eff]: [-0.0342, -5.9966, 6.5983, 0.7302, -0.569, -0.0366, 1.033, -0.1436, -11.4667, 5.3128, 0.8278, 0.3297, -0.0562, -0.0464] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.05,"right_z":0.22,"right_yaw":0,"right_gripper":1},"note":"The released pen is clearly visible between the open right jaws with its tip still pointing forward, so it remained in place. I am retracting the right arm fully to its side to leave an unobstructed path for the cap."})
tool
executing move_to over 24 steps (2.4s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteWith the right arm clear, the pen is plainly visible on the table along +x; its forward tip is near x≈0.36 at the centerline. I am rotating the held cap to the same axis and positioning its open end just ahead of that tip, still several centimeters above the table for inspection.
move_to
left_x0.4000left_y-0.3220left_z0.0800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6178, 1.4784, 1.2533, -1.0584, -0.8818, -1.1954, 0.0849, 0.3687, 0.8345, 0.7547, -0.5686, 0.3458, 0.197, 0.9985] state[eef_state]: left_x=0.3251 left_y=-0.0594 left_z=0.2039 left_yaw=0.6992 left_pitch=-0.0842 left_roll=0.0277 left_gripper=0.0849 right_x=0.2816 right_y=0.0485 right_z=0.2054 right_yaw=-0.045 right_pitch=-0.0446 right_roll=-0.03 right_gripper=0.9985 state[joint_eff]: [-0.253, -5.9829, 6.3658, 0.7302, -0.525, -0.0757, 1.033, -0.1983, -1.9897, 9.4017, 1.7753, 0.1245, -0.0269, -0.1734] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.322,"left_z":0.08,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"With the right arm clear, the pen is plainly visible on the table along +x; its forward tip is near x≈0.36 at the centerline. I am rotating the held cap to the same axis and positioning its open end just ahead of that tip, still several centimeters above the table for inspection."})
tool
executing move_to over 24 steps (2.4s)
step 256
top_cam
camera top_cam step 256
left_cam
camera left_cam step 256
right_cam
camera right_cam step 256
assistant
agent noteThe pen appears on the left jaw column beneath the held cap, but the Cartesian readback is about 2 cm left of the pen's known centerline due to tracking shortfall. I am compensating laterally and lowering the cap to the pen's table height while keeping their axes parallel.
move_to
left_x0.3900left_y-0.3400left_z0.0080left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9115, 2.0254, 1.2617, -0.1471, -0.7513, -0.7036, 0.0841, 0.3622, 0.8398, 0.757, -0.5919, 0.3218, 0.1795, 0.9983] state[eef_state]: left_x=0.39 left_y=-0.3006 left_z=0.0659 left_yaw=0.0497 left_pitch=-0.0442 left_roll=0.0352 left_gripper=0.0841 right_x=0.279 right_y=0.0498 right_z=0.1998 right_yaw=-0.023 right_pitch=-0.0748 right_roll=-0.0409 right_gripper=0.9983 state[joint_eff]: [-0.5538, -10.1128, 9.1829, 1.453, -0.315, 0.2369, 1.0037, 0.4444, -1.7846, 6.8444, 1.8144, 0.3101, 0.1294, -0.0269] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.34,"left_z":0.008,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The pen appears on the left jaw column beneath the held cap, but the Cartesian readback is about 2 cm left of the pen's known centerline due to tracking shortfall. I am compensating laterally and lowering the cap to the pen's table height while keeping their axes parallel."})
tool
executing move_to over 4 steps (0.4s)
step 260
top_cam
camera top_cam step 260
left_cam
camera left_cam step 260
right_cam
camera right_cam step 260
assistant
agent noteThe cap is now at table height with its axis and centerline matching the pen, and its open end should be only a few millimeters ahead of the pen tip. I am making a 1 cm axial insertion motion toward the pen, watching for a tracking stop or effort rise.
move_to
left_x0.3750left_y-0.3400left_z0.0080left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9577, 2.2105, 1.2636, 0.0399, -0.7746, -0.6975, 0.0814, 0.3614, 0.8398, 0.757, -0.5949, 0.3195, 0.1783, 0.9983] state[eef_state]: left_x=0.3862 left_y=-0.3279 left_z=0.0055 left_yaw=0.0148 left_pitch=-0.027 left_roll=0.0475 left_gripper=0.0814 right_x=0.2786 right_y=0.0499 right_z=0.1992 right_yaw=-0.0214 right_pitch=-0.0782 right_roll=-0.0416 right_gripper=0.9983 state[joint_eff]: [-0.0889, -12.0957, 6.0786, 0.9353, 1.0525, 0.0366, 1.0232, -0.1162, -1.3333, 6.8718, 1.5995, 0.105, -0.0269, -0.0073] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.34,"left_z":0.008,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The cap is now at table height with its axis and centerline matching the pen, and its open end should be only a few millimeters ahead of the pen tip. I am making a 1 cm axial insertion motion toward the pen, watching for a tracking stop or effort rise."})
tool
executing move_to over 2 steps (0.2s)
step 262
top_cam
camera top_cam step 262
assistant
agent noteThe first axial command moved only about 3 mm before effort rose, consistent with the cap mouth contacting and beginning to engage the pen tip. I am applying one controlled 1.5 cm seating motion along the same axis; the tabletop will support and resist the pen.
move_to
left_x0.3600left_y-0.3400left_z0.0080left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9745, 2.2135, 1.248, 0.0975, -0.7792, -0.7086, 0.0814, 0.3614, 0.8421, 0.757, -0.5949, 0.3164, 0.178, 0.9983] state[eef_state]: left_x=0.3828 left_y=-0.3366 left_z=0.0067 left_yaw=0.0064 left_pitch=-0.0021 left_roll=0.008 left_gripper=0.0814 right_x=0.2787 right_y=0.0504 right_z=0.1985 right_yaw=-0.0187 right_pitch=-0.081 right_roll=-0.041 right_gripper=0.9983 state[joint_eff]: [-1.0051, -12.5607, 4.9436, 1.2088, -0.1636, -0.0904, 1.0281, -0.1299, -1.2923, 6.8718, 1.6044, 0.1001, -0.0562, -0.0073] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.34,"left_z":0.008,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The first axial command moved only about 3 mm before effort rose, consistent with the cap mouth contacting and beginning to engage the pen tip. I am applying one controlled 1.5 cm seating motion along the same axis; the tabletop will support and resist the pen."})
tool
executing move_to over 2 steps (0.2s)
step 264
assistant
agent noteA second seating command again stopped after only a few millimeters with sustained contact, indicating the cap is no longer freely moving relative to the pen. I am opening and lifting straight up to test whether the cap remains attached, then I will verify the result from the overhead view.
move_to
left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9916, 2.2131, 1.2423, 0.1024, -0.7887, -0.717, 0.0814, 0.3614, 0.8429, 0.757, -0.5949, 0.3134, 0.178, 0.9983] state[eef_state]: left_x=0.377 left_y=-0.341 left_z=0.0067 left_yaw=-0.0 left_pitch=0.0038 left_roll=0.0053 left_gripper=0.0814 right_x=0.2787 right_y=0.051 right_z=0.1982 right_yaw=-0.0162 right_pitch=-0.0824 right_roll=-0.0395 right_gripper=0.9983 state[joint_eff]: [-0.294, -12.2735, 4.9709, 1.2869, -0.3346, -0.105, 1.0281, -0.0752, -1.4291, 6.9265, 1.6386, 0.1392, -0.0464, -0.0073] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_gripper":1},"note":"A second seating command again stopped after only a few millimeters with sustained contact, indicating the cap is no longer freely moving relative to the pen. I am opening and lifting straight up to test whether the cap remains attached, then I will verify the result from the overhead view."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteThe gripper opened, but the arm rose only 3 cm and the shoulder effort spiked, likely because a fingertip or the cap clip is still catching the object during a straight lift. I am moving diagonally away toward the left arm’s own side while lifting to clear the assembled pen without pulling along its axis.
move_to
left_x0.3000left_y-0.1200left_z0.2200left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9928, 2.1674, 1.2968, -0.02, -0.783, -0.7326, 0.9948, 0.3614, 0.8448, 0.757, -0.5949, 0.3122, 0.1749, 0.9983] state[eef_state]: left_x=0.3778 left_y=-0.3445 left_z=0.03 left_yaw=0.0037 left_pitch=-0.0118 left_roll=0.0083 left_gripper=0.9948 right_x=0.2789 right_y=0.0512 right_z=0.1976 right_yaw=-0.0137 right_pitch=-0.0845 right_roll=-0.042 right_gripper=0.9983 state[joint_eff]: [0.1026, -21.3402, 11.9316, 2.0879, -0.3736, 0.1294, -0.0757, -0.0615, -1.1966, 6.9675, 1.5751, 0.0513, 0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.22,"left_yaw":0,"left_gripper":1},"note":"The gripper opened, but the arm rose only 3 cm and the shoulder effort spiked, likely because a fingertip or the cap clip is still catching the object during a straight lift. I am moving diagonally away toward the left arm’s own side while lifting to clear the assembled pen without pulling along its axis."})
tool
executing move_to over 20 steps (2.0s)
step 294
assistant
agent noteThe cleared overhead view shows the cap and pen are still separate: the short cap is ahead of the pen with about a 2–3 cm lateral offset, explaining the hard stop. I am returning above the cap to regrasp it, then I will correct onto the pen’s actual centerline before inserting.
move_to
left_x0.3770left_y-0.3400left_z0.1000left_yaw0.0000left_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]: [-0.7036, 1.0847, 0.8703, -0.5034, -0.5919, -0.4908, 0.9983, 0.3614, 0.8501, 0.7567, -0.5957, 0.3096, 0.1745, 0.9983] state[eef_state]: left_x=0.3041 left_y=-0.1241 left_z=0.2096 left_yaw=0.0262 left_pitch=-0.0055 left_roll=-0.01 left_gripper=0.9983 right_x=0.2791 right_y=0.0518 right_z=0.1958 right_yaw=-0.0115 right_pitch=-0.0912 right_roll=-0.0431 right_gripper=0.9983 state[joint_eff]: [0.3487, -3.6855, 9.5385, 1.4823, -0.1587, 0.1734, -0.1929, -0.0615, -1.7162, 6.8855, 1.6581, 0.0757, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.377,"left_y":-0.34,"left_z":0.1,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The cleared overhead view shows the cap and pen are still separate: the short cap is ahead of the pen with about a 2–3 cm lateral offset, explaining the hard stop. I am returning above the cap to regrasp it, then I will correct onto the pen’s actual centerline before inserting."})
tool
executing move_to over 20 steps (2.0s)
step 314
assistant
agent noteThe cap is again centered on the left jaw column in the wrist view. I am lowering straight down at its current table position for a clean regrasp.
move_to
left_x0.3770left_y-0.3400left_z-0.0050left_yaw0.0000left_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]: [-0.9829, 2.0022, 1.3159, -0.2409, -0.7635, -0.7254, 0.9983, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1749, 0.9983] state[eef_state]: left_x=0.369 left_y=-0.3268 left_z=0.085 left_yaw=-0.0016 left_pitch=-0.0449 left_roll=0.0365 left_gripper=0.9983 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0119 right_pitch=-0.0968 right_roll=-0.045 right_gripper=0.9983 state[joint_eff]: [-0.6496, -10.6325, 8.7316, 1.5067, -0.5153, 0.0415, -0.1929, -0.1573, -1.5521, 7.0359, 1.5897, 0.0904, -0.0024, -0.0122] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.377,"left_y":-0.34,"left_z":-0.005,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The cap is again centered on the left jaw column in the wrist view. I am lowering straight down at its current table position for a clean regrasp."})
tool
executing move_to over 6 steps (0.6s)
step 320
assistant
agent noteThe left grasp point is at table level with the cap body between the fingertips. I am closing to pick it up again.
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]: [-0.9852, 2.2051, 1.2343, 0.0746, -0.7845, -0.7383, 0.9983, 0.3614, 0.8558, 0.757, -0.5957, 0.3096, 0.1749, 0.9983] state[eef_state]: left_x=0.3757 left_y=-0.3342 left_z=0.0041 left_yaw=0.0155 left_pitch=-0.0139 left_roll=0.009 left_gripper=0.9983 right_x=0.2796 right_y=0.052 right_z=0.1945 right_yaw=-0.0119 right_pitch=-0.0961 right_roll=-0.0447 right_gripper=0.9983 state[joint_eff]: [-0.4171, -9.6479, 5.053, 0.9792, -0.0855, 0.2173, -0.188, -0.0615, -1.4291, 6.9402, 1.5604, 0.0513, -0.0464, -0.0122] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left grasp point is at table level with the cap body between the fingertips. I am closing to pick it up again."})
tool
executing move_to over 10 steps (1.0s)
step 330
assistant
agent noteThe cap is secured again with a non-empty 0.054 reading. Based on the overhead offset and the pen’s known centerline at left-y≈−0.322, I am shifting the cap about 1.5 cm toward image-left while keeping it just ahead of the tip.
move_to
left_x0.3790left_y-0.3150left_z0.0080left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9852, 2.2169, 1.2312, 0.1089, -0.8165, -0.7368, 0.0535, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983] state[eef_state]: left_x=0.3792 left_y=-0.3323 left_z=0.0049 left_yaw=0.0349 left_pitch=0.0175 left_roll=0.007 left_gripper=0.0535 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0117 right_pitch=-0.0968 right_roll=-0.0453 right_gripper=0.9983 state[joint_eff]: [-0.3487, -12.4923, 5.559, 0.9841, -0.0806, -0.0317, 1.2479, -0.0205, -1.2786, 6.9949, 1.5653, 0.0708, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.379,"left_y":-0.315,"left_z":0.008,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The cap is secured again with a non-empty 0.054 reading. Based on the overhead offset and the pen’s known centerline at left-y≈−0.322, I am shifting the cap about 1.5 cm toward image-left while keeping it just ahead of the tip."})
tool
executing move_to over 2 steps (0.2s)
step 332
assistant
agent noteThe readback is now on the pen’s centerline at left-y=−0.322, removing the lateral error from the first attempt. I am advancing the cap 1.3 cm axially onto the pen tip.
move_to
left_x0.3650left_y-0.3150left_z0.0080left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9691, 2.1845, 1.1698, 0.1574, -0.7952, -0.7174, 0.0639, 0.3614, 0.8577, 0.7567, -0.5964, 0.3096, 0.1749, 0.9983] state[eef_state]: left_x=0.3782 left_y=-0.3216 left_z=0.005 left_yaw=0.027 left_pitch=0.014 left_roll=-0.0016 left_gripper=0.0639 right_x=0.2796 right_y=0.052 right_z=0.1937 right_yaw=-0.012 right_pitch=-0.099 right_roll=-0.0459 right_gripper=0.9983 state[joint_eff]: [1.1009, -12.3419, 5.094, 1.2723, -0.0513, 0.1148, 1.0281, -0.0205, -1.1829, 6.9949, 1.58, 0.1245, 0.0073, -0.0122] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.315,"left_z":0.008,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The readback is now on the pen’s centerline at left-y=−0.322, removing the lateral error from the first attempt. I am advancing the cap 1.3 cm axially onto the pen tip."})
tool
executing move_to over 2 steps (0.2s)
step 334
assistant
agent noteOn contact the cap deflected about 8 mm off the centerline toward less-negative y, showing the rim is glancing past the tip rather than entering. I am biasing the command 1 cm the opposite way while maintaining gentle axial pressure so the mouth can center on the tip.
move_to
left_x0.3650left_y-0.3250left_z0.0080left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9604, 2.1609, 1.1213, 0.1955, -0.783, -0.7017, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983] state[eef_state]: left_x=0.3759 left_y=-0.3137 left_z=0.0047 left_yaw=0.0194 left_pitch=0.0136 left_roll=-0.0045 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983 state[joint_eff]: [-1.0735, -12.8342, 4.3966, 1.1551, -0.2466, -0.0708, 1.033, -0.1026, -1.8256, 6.8718, 1.5946, 0.0708, -0.0611, -0.0122] 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_x":0.365,"left_y":-0.325,"left_z":0.008,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"On contact the cap deflected about 8 mm off the centerline toward less-negative y, showing the rim is glancing past the tip rather than entering. I am biasing the command 1 cm the opposite way while maintaining gentle axial pressure so the mouth can center on the tip."})
tool
executing move_to over 2 steps (0.2s)
step 336
assistant
agent noteThe counter-bias reduced the lateral deflection to about 4 mm and allowed nearly 1 cm of forward progress, so the cap is now finding the tip rather than skidding past it. I am centering the final few millimeters and applying another short seating stroke.
move_to
left_x0.3550left_y-0.3320left_z0.0080left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7059, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983] state[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0029 left_pitch=0.0125 left_roll=-0.0033 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983 state[joint_eff]: [0.0615, -12.6838, 4.2872, 1.0672, -0.2906, -0.0415, 1.0281, -0.0752, -1.5248, 7.2, 1.5653, 0.0659, -0.0855, -0.0122] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.332,"left_z":0.008,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The counter-bias reduced the lateral deflection to about 4 mm and allowed nearly 1 cm of forward progress, so the cap is now finding the tip rather than skidding past it. I am centering the final few millimeters and applying another short seating stroke."})
tool
executing move_to over 2 steps (0.2s)
step 338
assistant
agent noteThe final seating command produced no additional motion at all despite a 1.3 cm request, after the cap had already advanced about 1.1 cm; this is consistent with reaching the cap’s internal stop. I am releasing and retracting diagonally to expose the pen for an overhead verification without snagging the clip.
move_to
left_x0.3000left_y-0.1200left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7063, 0.0639, 0.3614, 0.8616, 0.7567, -0.5964, 0.3092, 0.1745, 0.9983] state[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0032 left_pitch=0.0125 left_roll=-0.0037 left_gripper=0.0639 right_x=0.2798 right_y=0.0522 right_z=0.1927 right_yaw=-0.0116 right_pitch=-0.1026 right_roll=-0.0473 right_gripper=0.9983 state[joint_eff]: [-0.0068, -12.465, 4.3829, 1.0818, -0.2955, -0.0855, 1.0281, -0.0752, -1.5248, 7.0222, 1.5653, 0.0611, -0.0708, -0.0073] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.2,"left_gripper":1},"note":"The final seating command produced no additional motion at all despite a 1.3 cm request, after the cap had already advanced about 1.1 cm; this is consistent with reaching the cap’s internal stop. I am releasing and retracting diagonally to expose the pen for an overhead verification without snagging the clip."})
tool
executing move_to over 18 steps (1.8s)
step 356
assistant
agent noteThe overhead check shows the cap was not seated; it was deflected just ahead and left of the pen and has rotated to about 40°. I am making a direct table-level regrasp at its new pose so I can correct the orientation one last time.
move_to
left_x0.3500left_y-0.3000left_z-0.0050left_yaw0.7000left_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]: [-0.7078, 1.0672, 0.7536, -0.3763, -0.6033, -0.4904, 0.9975, 0.3614, 0.8677, 0.7563, -0.5976, 0.3092, 0.1745, 0.9983] state[eef_state]: left_x=0.3034 left_y=-0.123 left_z=0.1877 left_yaw=0.0306 left_pitch=0.0202 left_roll=-0.0228 left_gripper=0.9975 right_x=0.2801 right_y=0.0523 right_z=0.1907 right_yaw=-0.0119 right_pitch=-0.1097 right_roll=-0.0501 right_gripper=0.9983 state[joint_eff]: [0.2667, -3.4256, 10.4137, 1.6239, -0.2271, 0.1978, 0.0073, -0.1162, -1.7983, 7.1043, 1.6386, 0.0904, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.3,"left_z":-0.005,"left_yaw":0.7,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The overhead check shows the cap was not seated; it was deflected just ahead and left of the pen and has rotated to about 40°. I am making a direct table-level regrasp at its new pose so I can correct the orientation one last time."})
tool
executing move_to over 16 steps (1.6s)
step 372
assistant
agent noteAt table height the cap is visible well to the left of the jaw column, so the overhead estimate was about 4 cm off laterally. I am shifting the open gripper toward +y to center the cap between the fingertips.
move_to
left_x0.3500left_y-0.2600left_z-0.0050left_yaw0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.034, 2.5412, 1.9114, -1.1046, -1.0065, -1.8053, 0.9989, 0.3614, 0.8707, 0.7528, -0.5995, 0.3092, 0.1745, 0.9983] state[eef_state]: left_x=0.3585 left_y=-0.3035 left_z=0.0032 left_yaw=0.643 left_pitch=0.016 left_roll=-0.0135 left_gripper=0.9989 right_x=0.2796 right_y=0.0521 right_z=0.1881 right_yaw=-0.0123 right_pitch=-0.1175 right_roll=-0.0532 right_gripper=0.9983 state[joint_eff]: [-0.5675, -12.5607, 4.7658, -0.188, 0.232, -0.3834, -0.1001, -0.0479, -1.812, 7.0906, 1.5507, 0.0757, -0.0415, -0.0073] camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.26,"left_z":-0.005,"left_yaw":0.7,"left_gripper":1},"note":"At table height the cap is visible well to the left of the jaw column, so the overhead estimate was about 4 cm off laterally. I am shifting the open gripper toward +y to center the cap between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 376
assistant
agent noteThe cap is now centered and aligned between the left fingertips at table level. I am closing for the final pickup.
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]: [-1.0069, 2.4592, 1.7103, -1.047, -1.0454, -1.8584, 0.9989, 0.3614, 0.8726, 0.7525, -0.5987, 0.3092, 0.1745, 0.9983] state[eef_state]: left_x=0.3511 left_y=-0.2625 left_z=0.0012 left_yaw=0.6891 left_pitch=0.0611 left_roll=-0.0026 left_gripper=0.9989 right_x=0.2798 right_y=0.0522 right_z=0.1876 right_yaw=-0.0123 right_pitch=-0.119 right_roll=-0.0538 right_gripper=0.9983 state[joint_eff]: [0.7179, -13.3402, 4.1094, 0.0708, -0.1001, 0.1538, -0.1294, -0.0342, -1.7299, 7.0632, 1.5214, 0.0708, -0.0415, -0.0122] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is now centered and aligned between the left fingertips at table level. I am closing for the final pickup."})
tool
executing move_to over 10 steps (1.0s)
step 386
assistant
agent noteThe cap is securely regrasped. I am rotating it back onto the pen’s forward axis while translating directly to the pen centerline, ending with the cap mouth overlapping the tip for insertion.
move_to
left_x0.3500left_y-0.3220left_z0.0060left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0019, 2.4489, 1.6955, -1.0523, -1.0481, -1.8584, 0.0539, 0.3614, 0.8726, 0.7521, -0.5987, 0.3092, 0.1745, 0.9983] state[eef_state]: left_x=0.3506 left_y=-0.2575 left_z=0.0031 left_yaw=0.6928 left_pitch=0.0649 left_roll=0.007 left_gripper=0.0539 right_x=0.2798 right_y=0.0521 right_z=0.1874 right_yaw=-0.0123 right_pitch=-0.1193 right_roll=-0.0539 right_gripper=0.9983 state[joint_eff]: [-0.4718, -11.5624, 6.3932, 0.0171, -0.4567, -0.0122, 1.8046, -0.0615, -1.5111, 6.8855, 1.5751, 0.0757, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.322,"left_z":0.006,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The cap is securely regrasped. I am rotating it back onto the pen’s forward axis while translating directly to the pen centerline, ending with the cap mouth overlapping the tip for insertion."})
tool
executing move_to over 6 steps (0.6s)
step 392
assistant
agent noteThe combined rotation at table height was blocked partway, leaving the cap still held but not yet aligned. I am lifting just above the pen to finish the yaw and centerline correction without the cap scraping or colliding sideways.
move_to
left_x0.3700left_y-0.3220left_z0.0600left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0206, 2.1395, 1.1194, -0.1188, -0.9661, -0.9745, 0.069, 0.3614, 0.8764, 0.7513, -0.5987, 0.3092, 0.1745, 0.9983] state[eef_state]: left_x=0.3428 left_y=-0.2741 left_z=0.0024 left_yaw=0.2032 left_pitch=0.026 left_roll=0.0954 left_gripper=0.069 right_x=0.28 right_y=0.0522 right_z=0.1861 right_yaw=-0.0125 right_pitch=-0.1236 right_roll=-0.0556 right_gripper=0.9983 state[joint_eff]: [-0.1162, -10.3726, 4.8752, 1.0525, 0.2369, 0.2613, 1.033, -0.1162, -1.5795, 7.0632, 1.5849, 0.0659, -0.0708, -0.0073] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.322,"left_z":0.06,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The combined rotation at table height was blocked partway, leaving the cap still held but not yet aligned. I am lifting just above the pen to finish the yaw and centerline correction without the cap scraping or colliding sideways."})
tool
executing move_to over 5 steps (0.5s)
step 397
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.008, 2.1178, 1.1126, -0.038, -0.8772, -0.8406, 0.069, 0.3614, 0.8764, 0.7513, -0.5987, 0.3092, 0.1745, 0.9983] state[eef_state]: left_x=0.3481 left_y=-0.2905 left_z=0.0048 left_yaw=0.1031 left_pitch=-0.0164 left_roll=0.0893 left_gripper=0.069 right_x=0.28 right_y=0.0522 right_z=0.1861 right_yaw=-0.0125 right_pitch=-0.1236 right_roll=-0.0556 right_gripper=0.9983 state[joint_eff]: [-0.1299, -13.2308, 6.7487, 0.9451, -0.5739, -0.1197, 1.0379, -0.0615, -1.6342, 6.8444, 1.536, 0.1001, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 15.35 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6018, -0.3805, -0.0216, -0.0395, 0.9993, -0.0185, 0.7914, 0.609, -0.3775, -0.0227, -0.0326, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0021 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5111, 10.5504, 1.7851, -0.0171, 0.2369, -0.0855, -0.8, -1.2376, 9.8393, 1.8095, -0.0415, 0.2222, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a26fdb171f0ff979fc56a2dad4a7695f558bf484020fe87c378a2991446a27b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e1a54eded3e84f50cb4cd3ebc7249c23f179187d1d433fd103a59ef693fd7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00025e817a153d7d1a3bb0f1e523159744cd764b4f4c75ed7127214432a7a12b",
      "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 · 6.638 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_042d95d650c18e1c016ab4478f513487d0b646b0174fc580f2",
  "summary": [],
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}
{
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  "id": "rs_042d95d650c18e1c016ab44794874487d0bba08db2e1d68922",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_042d95d650c18e1c016ab44799dfb887d08b42bcec29aeaaef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.16,\"left_yaw\":-0.45,\"left_gripper\":1,\"right_x\":0.4,\"right_y\":0.26,\"right_z\":0.16,\"right_yaw\":0.75,\"right_gripper\":1},\"note\":\"The cap is the short dark piece left of center, while the pen lies diagonally near the center-right. I am moving the left gripper above the cap and the right gripper above the pen, with each wrist yaw roughly aligned to the object's long axis.\"}",
  "call_id": "call_u4o8mC1loRZIMIqpJbMq9wVq",
  "id": "fc_042d95d650c18e1c016ab4479c787087d082ae6833bcf54025",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u4o8mC1loRZIMIqpJbMq9wVq",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5354, 1.5261, 0.9146, -0.0525, -0.104, -0.1089, 0.9993, 0.4793, 1.6093, 1.0027, -0.0338, -0.2085, -0.1581, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.2041 left_z=0.1329 left_yaw=-0.4077 left_pitch=-0.0879 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3901 right_y=0.248 right_z=0.1405 right_yaw=0.7219 right_pitch=-0.0647 right_roll=0.0102 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.8308, 10.1538, 2.0781, 0.1001, 0.2466, -0.0855, 0.1983, -7.5145, 9.3333, 2.0391, -0.1441, -0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d979fb325067b6cae7118119164f1e3efe7972da21f238d561681c98aa75dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4808fd620fe960fc0659a0e545bb27d77b2ce91b4760f2be6ef0bdddceeb873f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9543c0cb1d3229f40fa8279f2e07086350ff93061e519bace5d63458b656002a",
      "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 · 2.587 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 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, 0.7933, 0.6018, -0.3805, -0.0216, -0.0395, 0.9993, -0.0185, 0.7914, 0.609, -0.3775, -0.0227, -0.0326, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0021 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5111, 10.5504, 1.7851, -0.0171, 0.2369, -0.0855, -0.8, -1.2376, 9.8393, 1.8095, -0.0415, 0.2222, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5354, 1.5261, 0.9146, -0.0525, -0.104, -0.1089, 0.9993, 0.4793, 1.6093, 1.0027, -0.0338, -0.2085, -0.1581, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.2041 left_z=0.1329 left_yaw=-0.4077 left_pitch=-0.0879 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3901 right_y=0.248 right_z=0.1405 right_yaw=0.7219 right_pitch=-0.0647 right_roll=0.0102 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.8308, 10.1538, 2.0781, 0.1001, 0.2466, -0.0855, 0.1983, -7.5145, 9.3333, 2.0391, -0.1441, -0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d979fb325067b6cae7118119164f1e3efe7972da21f238d561681c98aa75dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4808fd620fe960fc0659a0e545bb27d77b2ce91b4760f2be6ef0bdddceeb873f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9543c0cb1d3229f40fa8279f2e07086350ff93061e519bace5d63458b656002a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEem7ve7bJyNqUfPVhVKVt_xHC6QemcYn6JxS8YH1BY7k3eGi2epWU_8LXQ2sw89_R3a7v31fpF4mjT4id_GIfXWB_xfZUFqI2P7MYvuLzXsOI1C2368MUCDlnBMbeVYK12lIKapkqdzM46ILMbGsp9ZBGsSHI4t4STbDo_S5S-GKe0do2jXPS2cvPs8h9gaC3I32s5pbuH-7drqVCUm8KQwVKliojGsJ0-U2wecQdU82G-nifgJI0OMDyvLI2qn-2sm9TM7ysU3jFhPlHXqGfRnHL09yvA4WZUPWrkcPzrkV7aHajqrYZCSMA5MM3pjROGR1RSbSl12OiB3nK3yc96iMz0KrQEtS1YExj41gyoOb732jU9Qk_uzmdnXz2PpfKax3Vv5ChZGF8X9MCFyLT2VT8zns6yBt5xcRkGbre8xQWMlRVrwtMfZOfULD8vrtww7l3rhamcc7KbyqcF8emjOdlGew7rzf1FOVR1GYa7XFdwdb0TaUcTnhGAGgQf5Oj0ifwvkCWcUzYe9pdzPJMlmsRe_OMs4VVE47NE263AD6zY4krZogy9Hv8SKDAgiX7jH16f9zusew886oDPNwQYm7jabBHWN2OcuyFhDU1MbW3lndD6MikSpDC5sASQm-ij7k49FUsbX1rF5X07WZWK0cZdLMsmpOEGhqeSwAx9UFg_TFHghsymFo4y8T5CVPtWIwOcJ18_kH9v-FEocVNGt5fcho-p60pHBKzIOums5k59J4zK23j97t-HXoC0bYkHoHMDgIUdrvpijuOvkRakxHd3t9Te4nrp0mbwef4U4Tt1AKsNdZYhPLjYTkltjemYbrpInkfJB_vcKnrBXNzlKILG7uEO0V3ffeBkCCA91OBoNrSz7Vv169buwTe37XCruCSUXQf9rZug4wK25GpqqjYbeuTUeXGLitNMnmAVVTfnle-64vvyGEfgYhsXxGbi6-P-KsmqjrCCF8ZjG6nDYpjxoySxHdkTiq3fULYau_FNAkhz74tqsR4kS10xSmA8Ts5zQVkqJXupyPqaz5KhGJfYSDK7y75H0i2s-q--0a_iBRQPyqsH5PLtlcBZNTQMbnw6iGTSQaxZPioAlvrzF-yQxE2pUszgYTMBpb609Pu2Mjn665OJvFk-l6r9xtHRdu98jYg0CY0eZkfeJOF7-VFYbS04oNW6wZCNuqXQCW4wPXjRmFuFnpJKeuwMkZxLY-Lu4-bcTZlb2RI3iR-U2kSH_w162YCwbCGyjqetY6ag5kNQTeReedc6ny39ofnGmLw3eIjTzkg3Xyu4w4nFCpEMU2s_Lx5RglrxV5ChqsIRswbloxws7GRMk9m_fwMt7r2MgJOiSfn8d7Pc3ucFCak1UlBX-fcOSjubWyUgDkjg_S1oqatxLG4UYF6aRhJtyCBpH7i__A6g6HeXDwG8rrDf0mEOYO9821m8qUtWbcKpSrego7kFjmNoYSi6mrhnuICW6OzQOEHiRDJeLV1vJ5wrCtkYHm5NPFMwy-Rwd063NUALraFv6vobK3zCY7bodZSuQBZ_EP6UqTBL1aPjNtEPTUY5iB0r9Mt-Q12vaRruSYBdUWtPQpr_KQwe7YUg-Q44mEtnK7-0rVQTGVPpmGFNEjjnfdwA82IOymnfYyS6fNt7proNsPHkyBwTI0tEB-4krtZFZjrhdg5T20HWW1uO1rhgrYAbeuj-Ibp_vfD7WMQWI7iX8_7V7BPQkrPm1GQHCm83l8VcbkDhFjGRcS_cGeaBKeB-z4dEK2wvfRUG769g4Ikq24eYpvyozZcXoPEYFkpNU2pKP05M2yo0-HNpNdtFrIqJRVs6Rt5cA5hnF8aUyyJR4LIQlGTqig-C2VkWxSEHYUK5MD05guV1225gG-ruY4RV_--1wJOIifZ6BJnXMfjKtgwrQcDG2CN0UDrV0FSWKKiX-fbCgZCp_RzYUBj1TajvK_ZmOpkrN3zgwD68HEfiaMwh6mzUXuRSLqIVJHrh3eMsFU1mBKQ8tp39ianTrLHmBtKtkQiEjeFKs9w4EmO3cmCtm6Oh8L7EYDowStjWszmVzh9r8eRgCz0cOCodGKOXoVJjmKGmtahgLwX_1MBtX0SfgytWjwhVUQmq8pdrs-GFdL4kJiwQtY-s5nsCL2OcmcHlJ1sDAkPQ7cOfh4tTDrDPvmxMIhXrx3goCSmMpPtooJTrz3Y7RQ91ji2eOVrQL45VdH043pZMZAk2Mzogyjj3gmtNIgrC_LrBbxA0DX1kJ7WMaYu0eJC9y9cYo_rfgh6NxPapv7GjIcPgUd6nn-4YNDoneQD1CVB4-4519PiJFw1-_mG5vz-p3J69snjQKDEct8m2-v_pSt1jwRgXK8fNynr0YyjzAjaeZeXzmUhfMVqpuN_inDoqdmcDDlmMN7xfjRP1QyycZTrFilETz9MHfQxoF4vATijWV98L7k0_ho6emy2HFQIQzuO1lamCG3DZ4LG7mdZkqMiWwlyCQPZbGM-YL1P3GY_yN5DYUykaid-KO9jprtvacqijfoqrKrQi2RDBNQM1QCByxOhoPDd5PEhFSXR_mg5DSUpY_st_YWl7rW4i9o_2sdvUTBqNzXMZm74mcyJ9t7rgcpin1TMVfB1hNu9_K8EEyf3vNS0T40pY8SNymUbe_j8RXajx8Z44-TW5Qxguxtrm4fP-Po6Mr0npnW7xF3sQeLtakO_lpnZLLFFnbgoFqM_S7rAYacj6NnBULccdfBSkK49p_Cq3KIHziRrqkpWQFlDZwldag56-wMH3yydMdCXO25_ZS9RhjCzuJwDJds2qAii0DIQfHy0cDQ04y0FZY2fAQE5oewSSgonJvcQMLHuunWN9m4G3AXro-xDrGiANucJ8d9XKKmAFyq28amlVgof8jNI4_sniPO_C4u6VqtsqYMCTqrYozsJZFEyzzq5U-xQUMYrrGOLQtTk1lruzt2Hxz5g7JdXs9N_nd4l2r1ZVISW1ifqPnEwgB2Kk0-4WIiujb9AWUWIzQ2BCENAO7irw7I1gerpnST1Ka-T5TA1qqa4SvMEu1jL15AAKbnXIlel4MosrWzYs_yJbiJMF31xcf-MEHO1u-ZMVHUfwMI82aSbQdrAyxnC3_FKDN2h38b-HA89FCjN0LI23NENHHvu8z7pOPygtFp1g9AtiCmS_p_9oxcJJSLO-wGpugWJoGBroar4RpFdjvrMRtDT2T2U4hPcdSrW7P9UZOke8Ok1s0dQSEqXM6EnWvpL47KEjsmv7GEyTxL1MCBCD3uzgF2phxzCZ8esgUFHCREUV5g_2h40C34l9ybb2JY20Frsu2DIE95quykU0Cu4s-DScNCdgDIoQtoGQ3oqsZKzZlsJKqbiituXY8vL3ZxXz6YwNEC1t3ZRK5a5N2IMRL7Inwsm9cCa3MduY94qEWM-YjA7w57VjE0aToK14EPP9wVj8R64gdr39jjlyOl6wRU64uq1tuZ8QHdVhhHLD6LZv2_WmteT8p6RK1agNw4LI3QJxA322q2NmXvwvxx6alL-916PRqDv4S8sSd5sJOOrJ_waydaizE90kdcfxizHGb-V8gjewcMQx1LeSIvHmu9VWvzKTZUQ8GdI2Gs337UQ==",
  "id": "rs_042d95d650c18e1c016ab447a0e41087d0bc8ad827e2c19b6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.204,\"left_z\":-0.005,\"left_yaw\":-0.41,\"left_gripper\":1},\"note\":\"The cap is nearly centered on the left jaw column and aligned vertically in that wrist view, but there is a little clear image below it, indicating it is just short of the fingertips. I am advancing the left grasp point slightly and descending to table level while keeping the gripper open.\"}",
  "call_id": "call_L7bfhu0iQD9jHFIEXqviCspK",
  "id": "fc_042d95d650c18e1c016ab447a54df887d0981b283d47f3da4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L7bfhu0iQD9jHFIEXqviCspK",
  "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]: [-0.495, 1.9381, 0.7712, 0.4854, -0.0986, -0.0906, 0.9993, 0.4839, 1.6245, 1.0042, -0.0444, -0.2142, -0.1688, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.1988 left_z=0.0019 left_yaw=-0.3815 left_pitch=-0.1058 left_roll=0.011 left_gripper=0.9993 right_x=0.3876 right_y=0.2502 right_z=0.1325 right_yaw=0.7374 right_pitch=-0.0874 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -6.694, 4.7658, 1.0281, 0.2759, 0.0171, -0.0855, -0.5812, -9.1009, 6.5026, 1.7216, -0.0464, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2debe6e6464d5f6147c78e65878e315dfa14811e061a71ce38a3c3069e883872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22fb914bc0385f578a423a9cfee2aac28d41f5b2708615463caa8a0578f5ac7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2c2c9aa4ceef2218304c2aae136e0a15a62700d74292561fd600165575cbfc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.957 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5354, 1.5261, 0.9146, -0.0525, -0.104, -0.1089, 0.9993, 0.4793, 1.6093, 1.0027, -0.0338, -0.2085, -0.1581, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.2041 left_z=0.1329 left_yaw=-0.4077 left_pitch=-0.0879 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3901 right_y=0.248 right_z=0.1405 right_yaw=0.7219 right_pitch=-0.0647 right_roll=0.0102 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.8308, 10.1538, 2.0781, 0.1001, 0.2466, -0.0855, 0.1983, -7.5145, 9.3333, 2.0391, -0.1441, -0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.495, 1.9381, 0.7712, 0.4854, -0.0986, -0.0906, 0.9993, 0.4839, 1.6245, 1.0042, -0.0444, -0.2142, -0.1688, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.1988 left_z=0.0019 left_yaw=-0.3815 left_pitch=-0.1058 left_roll=0.011 left_gripper=0.9993 right_x=0.3876 right_y=0.2502 right_z=0.1325 right_yaw=0.7374 right_pitch=-0.0874 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -6.694, 4.7658, 1.0281, 0.2759, 0.0171, -0.0855, -0.5812, -9.1009, 6.5026, 1.7216, -0.0464, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2debe6e6464d5f6147c78e65878e315dfa14811e061a71ce38a3c3069e883872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22fb914bc0385f578a423a9cfee2aac28d41f5b2708615463caa8a0578f5ac7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2c2c9aa4ceef2218304c2aae136e0a15a62700d74292561fd600165575cbfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEepo9uIvXf8mb9f8vjI4rg1j230Yu-cAeZqWRky7zn9HQ_0sRykXHkXqRR_BrJKQbouITsSe7WEjKVXFM1XO5MUxj2SGq428vwRn8Hx7bW1F-TTr4FM9XCdJMqWEEV8-p2Doa_x0R9XhWJQmx7_3W_gLrxo4izLOwZT4d8fJR7FryJKaiyLA1rd_rH2i9vJPDAu3jSY0iDur9utZiuKwLURSWOrOKHOrExj663DuNOK3AmiT5Ubyk03kIQAU90AMZVqrU7j5ZDgsg0FO16vJgGvHWF5OAEudyZU8YiqZNltwZ1zz-1L3Dbzhu9-d26NgmI7JNURbCJw0VgYb04JlHfBlRumG1pWeoMGkGN0HeCRkhp9G8VSzj-clBiCbRaNyP3mEFuJggo-6mJROeTjOpojsEDq_D-j6IuGS6KmnwYlNiMSu01LwWQBd64X4KCQmfIPQW0mLITJQwCnai7tIrTS5djsfm4shaMC7hYVmuVrv1TBcaadgwuFczGq7AUFQY2zyhVmu3_Mh-PScsUOTh7_LiFaST1Qqn24YWV_1f1ge6VXux-kvoMNJJBCloxNCLIgWVLN2uu_L4TlnpTxbfBdjL0bXHAQeUtlbfgwa-PuFuOOM0J6hLoYa6DC2fy1ZuRHQZbzzVDyRsGMIIjKAIaiPP-gCL53OjIDuaqBFZFT1iOTULfAXtJkqqUBbaz4xMYb81M3Fv6C86cJktwRlBdrVvIKnrHUwnv-pTOIqvPw5mkSe79JfNoGbokuzXAT_r9F7kdJdhzDvKpvSc6IERlfSaYg9BK6DCnn-M-GgyTcJkS3bprWUdX17SzArAhvr1wGD3cAXwmkJ8RJOmrJR2Yedz1-_7C6dXaGh0jkNmu9pYw8941zPdxp7UVNiMEMWa3BtqdiQroorKNMkXkt6cKqnSyAE73dcjITGE5REX_XvFvxDVYMnKqIi6bRB2N3B-OlC01Yy0jwYBkLG7kaOwmdoMra6k7ZlOTpX4lgID4WbFS2kaWQ5rcazTou42I1Sn0AGEPHXSoWCwcvRtonDhlfPubmGdOZ09SirQfs2jH1nxjuuOQYQ1Otywu8LZrCU6h23XTbKaafNeDQ7QADYCyB9a9fzSO2Nz2vGLJtdZ_lMRNp1-2FUD0CMPRDJPvbsJ50P6NjAyf-q7c9WIKyD8hfKkQAwuakSM0vrfcz0X4-sL7cutwz-30AtU7oOpz1ZXljfUpmBD45AdK67coRLMqa7J8ISG6BnLStfLr9etCWfmKnTYPPADXXSPfpQAlDgwkXG61_c_7x9LGFJB6LpW45UzRyu2omcJLxcmTfNzm0Xf8=",
  "id": "rs_042d95d650c18e1c016ab447a8a28087d090ed6f52f5ed72c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At table height the cap now runs directly between the left fingertips on the jaw column. I am closing the left gripper to secure it.\"}",
  "call_id": "call_dFYy0Vpq9WWpyc5ZUYruwynU",
  "id": "fc_042d95d650c18e1c016ab447a9223087d0bdb0240f768ee52d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dFYy0Vpq9WWpyc5ZUYruwynU",
  "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]: [-0.4911, 1.9572, 0.7712, 0.5343, -0.1043, -0.0959, 0.0102, 0.4843, 1.6245, 1.0039, -0.0448, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4183 left_y=-0.1988 left_z=0.0031 left_yaw=-0.3703 left_pitch=-0.0758 left_roll=0.0068 left_gripper=0.0102 right_x=0.3874 right_y=0.2503 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0881 right_roll=0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -10.4274, 4.9026, 1.2283, 0.0073, 0.0366, 0.8132, -0.3624, -7.8974, 6.653, 1.6825, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fac3b5e16a86bcd53215076341c3401499b970e7b4904ac8de53c965d2f253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947b1f93b6a11664cded2d9845b2093861f040b9a7fadf0745643ee8443b7b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec66f9da90b91f5f20ba2d3616650e9fd694b663bdf4edb80d1ec5221613d9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.897 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 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, 0.7933, 0.6018, -0.3805, -0.0216, -0.0395, 0.9993, -0.0185, 0.7914, 0.609, -0.3775, -0.0227, -0.0326, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0021 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5111, 10.5504, 1.7851, -0.0171, 0.2369, -0.0855, -0.8, -1.2376, 9.8393, 1.8095, -0.0415, 0.2222, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.495, 1.9381, 0.7712, 0.4854, -0.0986, -0.0906, 0.9993, 0.4839, 1.6245, 1.0042, -0.0444, -0.2142, -0.1688, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.1988 left_z=0.0019 left_yaw=-0.3815 left_pitch=-0.1058 left_roll=0.011 left_gripper=0.9993 right_x=0.3876 right_y=0.2502 right_z=0.1325 right_yaw=0.7374 right_pitch=-0.0874 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -6.694, 4.7658, 1.0281, 0.2759, 0.0171, -0.0855, -0.5812, -9.1009, 6.5026, 1.7216, -0.0464, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9572, 0.7712, 0.5343, -0.1043, -0.0959, 0.0102, 0.4843, 1.6245, 1.0039, -0.0448, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4183 left_y=-0.1988 left_z=0.0031 left_yaw=-0.3703 left_pitch=-0.0758 left_roll=0.0068 left_gripper=0.0102 right_x=0.3874 right_y=0.2503 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0881 right_roll=0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -10.4274, 4.9026, 1.2283, 0.0073, 0.0366, 0.8132, -0.3624, -7.8974, 6.653, 1.6825, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fac3b5e16a86bcd53215076341c3401499b970e7b4904ac8de53c965d2f253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947b1f93b6a11664cded2d9845b2093861f040b9a7fadf0745643ee8443b7b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec66f9da90b91f5f20ba2d3616650e9fd694b663bdf4edb80d1ec5221613d9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEevv2xun_3FegPywHIHxVt9vm2lGpABiY9LKMsfjOu_LLFQBPUZvmxtKpPFnZVv1Q7tilIXy8vZjsAm5OB6tqXSIvCSHXX7hU8p4U3pKT5MRRyWIK0_hC6xIVCLANfp2nb3fgLIEUoZ86Unxhdpbuj_fhmd5H6haW_BCn-f9WeIQZa1SZpn96XTJE0bPIgw0T2POS4pjVp7caTlEXTuQjpYnDKHgDjKdqkeEQpMjUj7dmtmcenxMr_6RSnRzj4tTDaA9nMQH8vW6iEK8VYfW9jechE9l41n-h7JUOqbouJyqbzxdDgqaK73RgikMMGaD8RG4w51Tq-WWr9pKdcYzVz6EuLn6J5L5k7nRItqchtaW4CYI4zSqNmiOE22HHdf2NmBqnDq8qyMxaqpIChAxPRfcl9eQWFrX3qa0-76qgm_RwfSx5Mf02U_rqa7wxqg2w41vwV4A6xfTesJmhxRfFl82-RhiOxeJwBjlom12Gy-70hkcIvh9zFvF4DzzQRpqlDp0qeFmPrRm-iJwqeqocJ_uwcKeAM7pBtrb7Td2xlRn7rPrYeoXPiB0jeCzjoE7Qxwli2qv3z7KNk7RcURggpYPtMcWM6K6L2ra_BM4o8gurIfnX6GiXm5BRLWQQBlhICFgc7KPJZgpXnpfUL6N5wgC1NKzOZhLDXdFbi1fU7yGiDHZFEo-9qWptS2wsxikgCTIM9tY2kGqfPf-stiLFUQo0UT1QgM8dgOMK5vFM1X6YE9_MgbOtAP_BeZuIEMQni2JjaR-ulwjYPlTpc1OmKIvmDTCaHKnSdWjaIXyQKlS5PMRT7Yz73hu7Jj-AoAWcznEs5ILnWXliuA2CI0kUt5hUHLCKBWnqtsv7ZjyRVVANfr9l6LHWHMGgrbURbtjN4mu11zpxp_9TCEsoNXqsTK6U_7tAVfBnSLtOYFQPSatfTnPlxxm5shS7XmMrDWIrle2J8k5GETMXZfvrq_qq8YfhSUS1-IPhefe5NjeohAzJ2BDWpCFNUFqs2KZKAiGLXOw8NMlH1qa8d9kWKvPl3UdQozsqmO2noV7f-cLdF_jmdRD3cO7QIpT1MF20LGaiuNLr5oobSPD8GsFUYEQANE4oI8SzcX-W9pdw_Sx-ukSoecb9j_rfUCph5sn3kV9wIHq5ftXaXueLrEyR3M13i4fYJXserUXTrZOCPn49S6EiZAfuhKsNNRj82Pwv9Jm7XKrG9OteXpByqDaQ_BJqjvlpyqmUh2ukgTy-MqFHgvF-wjF91noif8NjHp_jRTxX6gAjWwF55m199-G8yKrvdRHMPYAysu3CLsOUYGdojuxBBmuoG2fc_IOw4f96fRX4fHyOgRvGTqAQjpppg7dbchUFUDOTXKjBWASAMCDjMc5NYBNA0GLnMoUzEsMLRgv_isaPuRAQF5l0UbNLo-r_ldqj1nDJc5Yj17nyZ-Zsp7gs_UKlgfLexmfc_ZOs8_mjrP0oZgfgh5-MKnb8WdspS683drfD-w-aYdZ0m5Z1hBj2JngNxIiR6IRJtroahPdRvaLhJwmGAPRnAxFS-7hF_ZAJt91CfDrzVm6KDODRwr_VQuj11rWILlY4rgAY3P1SHxB2YjCGe_0e-zWJewtXYljdB7tC1Vj8A5jARb6bbYwwAA3x-y1p4URf5n7wQfIFEVbY6IgZLKUYgoiJyIMO62eqS6Ngkr4QwsGuZjq2HrBoAQRHvoR_Uk4aBH6TiqwN0Lar-Gxe3-corQ4tu86TYNU8Ws1dUgrEZ9oQASZowPyplE_J2vOLxIL92mUpWhGDqlyevYzNuCKD4_L85bGiKrzkNBaCmOcJSpyVFnPKcf0QPFYIJgSjj5HCw0ur1a8Cnr68XvF3iWyeTM1O9u68mzcAWE8DKUVHWEMantZQV3T9YaAsJlV0Yh87ORX1_IcKHt5V_Zt3dfm3Lh5VVe2xXVAJw2oMjgo6JDsQljRStFmh2XqromCgzj3FSUXDR2oA9EgBVQnFleoe8U2V10ocUhH6GRmTqTfc-HyRiS_hOApgGAwTL5e6LPObndqLMsV6A_fg0KVOyYkhwki-neIgbJ5-6gCm2rgRRlwiRKrMvZBWJoxlYleXBWFEsNwHcfg9ynfeZcA4Vnj0jUolBZjZRXUSuk34F3TxGLEd-ylIEsfvPSsb3tclgduwgOwW7WzDXsqoJqRkIDikyuME8TxYOfD9SofVa6CmoB18DtHkrrQZvE8I6PbgS9vcUvZ8H4ecqnqdsNrEX8baOAsf47CHmD7QOYg3Xnj_3FDNjBCLBoGQgeWVjqg3o2JjC2wtJTeKj_n-uEsJA_EBDf2n9Dann3uhQm1Syy4rJ0PSjk6HNzEsgvkYXES34KhBGAY588GwpzP76ek7ydkaYRDz_tO9ItXFea7j9r6O4UxQcT_6mBOUkX3KFxkQOWZvkDDipohybp-fKIsuUPspAZVTuxmWn9dxYxLCsX54AUL70b1ckk_Q7ptc4ZdafV_sBK2-M9325rjnDMZV_J5Fzp2FNirm1jJg==",
  "id": "rs_042d95d650c18e1c016ab447ac239c87d0a63b15fb68dde339",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05,\"left_gripper\":1},\"note\":\"The left gripper settled at 0.01, which confirms an empty close despite the visual alignment. I am reopening and lifting slightly so I can make the prescribed outward correction without sweeping the cap along the table.\"}",
  "call_id": "call_UWrKvebCgwBYdVQ0ul2gTz6W",
  "id": "fc_042d95d650c18e1c016ab447aee68c87d0aab099b13a3c5b3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UWrKvebCgwBYdVQ0ul2gTz6W",
  "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]: [-0.4911, 1.8385, 0.7895, 0.3489, -0.104, -0.104, 0.9949, 0.4843, 1.6245, 1.0039, -0.0444, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4089 left_y=-0.1939 left_z=0.0259 left_yaw=-0.3657 left_pitch=-0.1238 left_roll=0.0062 left_gripper=0.9949 right_x=0.3874 right_y=0.2504 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0877 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -10.5504, 8.1846, 1.6386, -0.0757, 0.0708, -0.0855, -0.253, -7.8427, 6.6256, 1.7118, -0.1538, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eddfba810d62b4bcf469e4fccfff245c7d79e3f275f10615a40661e56ca2937",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b16757c4a0e629e4c570b3608ecbae2cb3d4de642891d54940cfad93d288fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad861eba7963bec23d2db60bb42ab7117c3fdac277415c5109717f85437e567b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 1.94 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5354, 1.5261, 0.9146, -0.0525, -0.104, -0.1089, 0.9993, 0.4793, 1.6093, 1.0027, -0.0338, -0.2085, -0.1581, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.2041 left_z=0.1329 left_yaw=-0.4077 left_pitch=-0.0879 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3901 right_y=0.248 right_z=0.1405 right_yaw=0.7219 right_pitch=-0.0647 right_roll=0.0102 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.8308, 10.1538, 2.0781, 0.1001, 0.2466, -0.0855, 0.1983, -7.5145, 9.3333, 2.0391, -0.1441, -0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9572, 0.7712, 0.5343, -0.1043, -0.0959, 0.0102, 0.4843, 1.6245, 1.0039, -0.0448, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4183 left_y=-0.1988 left_z=0.0031 left_yaw=-0.3703 left_pitch=-0.0758 left_roll=0.0068 left_gripper=0.0102 right_x=0.3874 right_y=0.2503 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0881 right_roll=0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -10.4274, 4.9026, 1.2283, 0.0073, 0.0366, 0.8132, -0.3624, -7.8974, 6.653, 1.6825, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.8385, 0.7895, 0.3489, -0.104, -0.104, 0.9949, 0.4843, 1.6245, 1.0039, -0.0444, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4089 left_y=-0.1939 left_z=0.0259 left_yaw=-0.3657 left_pitch=-0.1238 left_roll=0.0062 left_gripper=0.9949 right_x=0.3874 right_y=0.2504 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0877 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -10.5504, 8.1846, 1.6386, -0.0757, 0.0708, -0.0855, -0.253, -7.8427, 6.6256, 1.7118, -0.1538, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eddfba810d62b4bcf469e4fccfff245c7d79e3f275f10615a40661e56ca2937",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b16757c4a0e629e4c570b3608ecbae2cb3d4de642891d54940cfad93d288fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad861eba7963bec23d2db60bb42ab7117c3fdac277415c5109717f85437e567b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEe19y8L1rNOlCUe-CVVmOd4POP0rvvT2W8N3w-W2Q-iHD3gtMF6AKv5uHXtTEHLdHPeoO0hSxCa1GdLZgr2Yjo2NXSWy2F9wbbiEljOqMUusjm--qy5rxvPy739HTz4aAOpx50L_WaNb20puIhF0xQh4Y7a2pVy5VKI5xp5OjMWw8LoHtGdW2UDQNVGkke9X6POnWohciIRsG-U_ggxUW8rGMTzcGxgLvCw-GfOwQg4QdSPD9hYahxOtc1_64v82_cCyxu4rGbV3PBVnxtO9a7X42bbtFjpCfwXSnOcJlEPmaI1CtXrIpb6vutjlpxe5XJUmyrB3U-alD5r_dnjJdLV5cqYwIu9wrdH3ZFMTzDpEsHyabWJh8xZAUx9_99btBq2XyyJJqVlyGW75ROhyYxSeWnXgUrYpz0gMHhgCyBmHOLQ5ZU3VArVao3lR0vRNy4jwTj5RUVdr1adE7iezCV5MX29JhRuEXMcG76-YFKiiibNTOCUALgekNjQL20cgjYMu2ZMX1FH8cIO7NHdlgC4U7ikCOx2WwdaR_G_SQ2-35BYFlaM5EUJsKNGBohFPcaHvP0Zr2h1NAdrjJwwEYE9sOwwXQOqkbsA43xk3pomyCQL0HnJ_wrG_eomkMDkYJxR4rzYBmlJg29p05pMiEc-Bcg0V6_45K7FDZHtXIZwj-hhuvoc07SN4DopK1Wu-Q3KX_lnkC2naZQUjEVXl-feLu-ndzWVF9-piDdihFxQWnxazZnn46gn9Fkfw6HvWJOxs76Ye-GpeNXFKQWLByU0ur9c6pVbeSNJCBbAnawweUq7UEiGsvVvZKTC6DRsIakuebCTmAeF-06rzDos9A0N39GsKPpQLs-Rjql0FSNaYGCaO5Qq72Tl9PA3scB9T6BD22Zmx0IZRGMxMa90tv4O40kXK0sglwfW0khZslvhKAPk4CekWJuhUTHgf2xlbq3ImbfGxSHeI4SuKNkTZzYC2ruWdpk8N9eN2nYi7hn6SdceH-Etrhq7zuyGnr7rjx6sG0T8_bRNxxZDYVb_F5ijroUylw3ksDIfNCF9whFeFJouanX1WlPYol7xi7FeK85_vinQJeEaq2y95eQvbJYMcNqagB_zLml47iVBawXUSjdytD4RnI26ENiXUMMcJZ9FCU8BrdzzGDzo2l7R-t3O2NcUCH5sidJmflvrHvMMEdjRcnKzlocckCJvc63On6vb6rIciLN5Hj2UqROzWfzkoJiuXSsjuVPlmEm1tevGQZDp2umXyZ2DdR7XgQlE9nGdh4ReH3IN4fF4ORT5jSeI0rdphFvppESCnttKSBvzcvlFSY1ZUL5o6iWyFCVsShiuctolh1kWqY5A-TR8KtcHcgfahQPVkF5fi2cnp9nOtqK1EzlOd2sMN_OE3YxbbABuAwAf7CQCpkA_lJLF5DsNgKbYvdg2rNF324juQ2ADDEfkTNYgGOQy2OoatCqR8ICRwQ9ziwsrnDyHvED-dsLkiKUFz7WY7EH7zixbPR5EfDWE14QUba3NLYWl_hvMLJS5qJFUSfa2Llir8jE7woPrlK6B6yzzSzZo8nWXP2An832v_-YkboQUKsMdJOYY1NY9M1o7DU0z9YJqSAVRx5BqoWAfEABkPKP1yUER36qGyJnknvhGM2ezL48TYgoJAElgubgFMTXFGfn_vZvvLMYMIODxJeu8Du-DfmNIzbDpTROZcEY2NYxRrc8eU_OMdEvDKpizbk8SEqROugaiddAKvHHWd96JSitRB6CvI5vR486o7Cmkk5KiRQtWF_bzUoeQDoncHMJeyCoAGrkPN5VUYbdP76OAZ-pBNMI6quprH4tna0wUUH8k1eXI6Nr2Cf-L-T7BX1fM85i5vXMC0nRb0AnhZuBsrExL47EazkoLNyX3tu2gzEQtsDzxbnVw9jD0pOHoBiEkf8am2GWxTB58ZB2MZHxA5-5TrqOA8ciyLflDEcXy_h0btZEw52tobM_qg0iMox9Ahdq4e1LYrp01c0LlWksJERYx203o-Qcv-H0s24rI8qUMQVcgXEiQUWSPkZseEsRNcK7Juk2DcdhOd2m_1mdYdS7h1daBfPdLVmmjIcFKd1_GN2Hxg95vdy_wFhcjL8sGNqtyZG0jpGn-k-IILZ_F-tDXbYpd8BwCKX4UafBWKBXVf6qdv0RkbhoHtySYXTF0xoP30coRLGrWrbYTKhYr2oOoe477Mg1oIKxP3C2jQBjnzL7Si_z4vdlS8kcFk14MAh55l7StezC3mUjOzYugGo5Ub6Fvb1vAnea7lCakHLNq9baoTJs75gTgtoycEmSY9DvY0XVCt-d5vKhEotOuwF_q1kAUCWZnlmttd2rtWD9rROeswfnswrvnXl9kwu1m4DDUpUuXc9uG-DerOQHRZwvUtg6Cqo9fETh4O3veq8cMe05AofsW-YsrHrSqV551JVgJjibVGUMhBPAdyWW8VP5DcPvQht8Jx2Gr2brY0DOCLqbJBZUTl6wOedQIXX-JbiJMfbdGH9NSMOn9lG39uCzZtkIiirurlenybKh3_ktLoQUeMKknfu-QwnVlFmVPG8PjuyxZSIn2YlxqCzNDM1yvVqDiAm5PZ9IrChl3egqGZKJjLW07dxYBhe7Wr-Z_LmjILvGgq2dbbMpB6WjLNvvDgu4bxFNf2IcK0CRyK3PXBZtrx2bIn_V9ZKhSPV61_r4VNgH5d0Fk4OVdp9ljo2k0tXS0gftkdYKcwg7qsysd7JLetorWvwqvAjptDGFFZ-NZdWMUxvxde6B32r3poVmJk63_VmuuBa8a2UrJUSyMdlEPr_SCEHHINmhG2NWLPv1OIMnR9b351WV2koYZ8424w5HSgKt_bEjhjey1h6xXmb-j5l4evI6L",
  "id": "rs_042d95d650c18e1c016ab447b1bff087d0b03b90972035fc7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.194,\"left_z\":-0.015,\"left_yaw\":-0.37,\"left_gripper\":1},\"note\":\"With the left gripper slightly raised, the cap remains exactly on the jaw column at the bottom edge, so the lateral and radial alignment is good. The first miss was likely because the fingertips did not press low enough around this thin piece, so I am descending to a firmer table-level contact.\"}",
  "call_id": "call_TlyaAb0rgZSyoWjIlyfuoAbb",
  "id": "fc_042d95d650c18e1c016ab447b48e8487d0af80a982a6849c2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TlyaAb0rgZSyoWjIlyfuoAbb",
  "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]: [-0.4911, 1.9442, 0.7712, 0.4915, -0.1219, -0.0925, 0.9989, 0.4843, 1.6245, 1.0039, -0.0502, -0.2138, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.415 left_y=-0.1935 left_z=0.0007 left_yaw=-0.3571 left_pitch=-0.104 left_roll=0.0241 left_gripper=0.9989 right_x=0.3867 right_y=0.2499 right_z=0.1312 right_yaw=0.7378 right_pitch=-0.0934 right_roll=0.012 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2291, 3.7949, 0.8718, 0.2906, -0.0904, -0.0952, -0.0889, -7.8291, 6.653, 1.6679, -0.0904, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573ad4068a446d715bbb997fda2825e64617589f6ff2011f7cb5137d22f2b559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8edfe88690a049e6b451dd1212176c4217d5948e1a1cd6630d7de68d90abea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb7ad03eda63884bebbc2d5e865fdee058b354611cd788bf8d76c097ded10c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 7.351 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.495, 1.9381, 0.7712, 0.4854, -0.0986, -0.0906, 0.9993, 0.4839, 1.6245, 1.0042, -0.0444, -0.2142, -0.1688, 0.9991]\nstate[eef_state]: left_x=0.4124 left_y=-0.1988 left_z=0.0019 left_yaw=-0.3815 left_pitch=-0.1058 left_roll=0.011 left_gripper=0.9993 right_x=0.3876 right_y=0.2502 right_z=0.1325 right_yaw=0.7374 right_pitch=-0.0874 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -6.694, 4.7658, 1.0281, 0.2759, 0.0171, -0.0855, -0.5812, -9.1009, 6.5026, 1.7216, -0.0464, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.8385, 0.7895, 0.3489, -0.104, -0.104, 0.9949, 0.4843, 1.6245, 1.0039, -0.0444, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4089 left_y=-0.1939 left_z=0.0259 left_yaw=-0.3657 left_pitch=-0.1238 left_roll=0.0062 left_gripper=0.9949 right_x=0.3874 right_y=0.2504 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0877 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -10.5504, 8.1846, 1.6386, -0.0757, 0.0708, -0.0855, -0.253, -7.8427, 6.6256, 1.7118, -0.1538, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9442, 0.7712, 0.4915, -0.1219, -0.0925, 0.9989, 0.4843, 1.6245, 1.0039, -0.0502, -0.2138, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.415 left_y=-0.1935 left_z=0.0007 left_yaw=-0.3571 left_pitch=-0.104 left_roll=0.0241 left_gripper=0.9989 right_x=0.3867 right_y=0.2499 right_z=0.1312 right_yaw=0.7378 right_pitch=-0.0934 right_roll=0.012 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2291, 3.7949, 0.8718, 0.2906, -0.0904, -0.0952, -0.0889, -7.8291, 6.653, 1.6679, -0.0904, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573ad4068a446d715bbb997fda2825e64617589f6ff2011f7cb5137d22f2b559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8edfe88690a049e6b451dd1212176c4217d5948e1a1cd6630d7de68d90abea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb7ad03eda63884bebbc2d5e865fdee058b354611cd788bf8d76c097ded10c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEe3C5258Hm5mK_67ZhdvKWH_-mFThTy3zC7lhbX5qKutxo1f3vpnVl-KYVNfj5mcBOTegsmNXU7CvidoYWGhnpY9Q61rQ91vqLWwY8IoF1w9BXH2lfK_pIFOJZT-01nZtcbttA-Fd6EQ2eNCGSWu5yr5gdPappbwb4JNL8J0xfV4A1e_FVpASyhBIilvY_R3aw87R_WUy2DMsQdLhvrpjjdUqkmIDrlde3ZeHUB_aADdxNMB2sID36AWI5KNPexaQ_cN4R0DMyzJR_F4LFgKPXmRHU1HDueC1VqdhFQyjVvG_v9Vaaend0wzRXzsaKfEd7PIU1dYADku2yo5uJmuOXrJZEeQ58Pe7D_Vsg16ssLJ-7df97Gj-Jw3SwGSdCeHJaBz7MWbLAQdameb-GmKcsdyzWHCnJ4_nFyNgqeCQhOd_bP5twuaA6Hr08xlWt7_ozH5_B6QzXO-KhaUZz9noktGQU6kXRp2YGNFFaUBqVf-7LZxuLQtc3sACp5gv6365jhz-qDEKXBoFG-afL5rHa9eJFma7Wgzi9hPxwo6BAratmVePUUSqRb2gOOYct2u7eEQvjZwinMUaz2_3Zt8n8GpNfQHfQhuwQ933dTb37uBwUKiHekr3_3JXShL-9_IH0stGBEtxbsVCkIfiiyc_PZOURTEP9shfNSvM-zB2sbN1U2d3iLAYTrAirsvVgCK3nvm9XoCU53Bx_tNHOUrq4ttoWur3Uc-3q7OY0SjcPzTi4Ds4TH-l6h1sBmXdO1NDiK1iZyir7dUgTeTARsMEaLJMdARA-_C_9jD6g_d1odufQxohRHJ94wjBV-4XktoiDP9mlKaj9ePeZ63vS1ytwluKkLW1KxaMiMpSt29zYRjJHnvY7LPq6GNRyrVoFDVOdFdbsqtAQah1oaPR_f7U8nIM09vCQgk7n3GHd1RQgpnAztcVyTye2da8wK7aAYf-lZUTyoM9IHMtECLogdgmejcZqZbB7yMTon4fJmmi7ye9e12n-6yQj2xiS4GhlZB1w9_GDwLZ453M_lj7lzAe5Tloq-HNsj3ZfAO1jnUDHfmHZ4zj_bD7OCd6kD9GCiksBMnxrOaZ15IIYaS-ZDPiYGb0DZ8ucHDnGt34R1Iml2C0xMAEZxvqrqbYijJcvMhL-xd-m-ZsXmkKS4amTU-kfuKt2Nt7mmXhNzLE2RBrvzRm_5uQwJALeNjjs3n-fLk0bDNp8aDq80h3oEAuQ2hz-c1A==",
  "id": "rs_042d95d650c18e1c016ab447b6de6c87d0b80479cbd0d58ef0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is still centered between the left fingertips and the grasp point has now reached table contact. I am closing again from this lower pose.\"}",
  "call_id": "call_nWCJmakWquACcC1VCu3OFlox",
  "id": "fc_042d95d650c18e1c016ab447b6f7b087d09ca9c7b1145fd5e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nWCJmakWquACcC1VCu3OFlox",
  "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]: [-0.4911, 1.9606, 0.7677, 0.5396, -0.131, -0.0956, 0.01, 0.4843, 1.6245, 1.0039, -0.0517, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.1941 left_z=0.0017 left_yaw=-0.3481 left_pitch=-0.0752 left_roll=0.0234 left_gripper=0.01 right_x=0.3865 right_y=0.2499 right_z=0.131 right_yaw=0.7385 right_pitch=-0.0947 right_roll=0.0129 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.3043, 5.1624, 1.2479, -0.0024, 0.0024, 0.7155, -0.335, -7.8701, 6.6256, 1.6728, -0.1392, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd2cdc7eb7e25a0609be0b05af9bec2af6abb299690191d9c5ffb967dfa5136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd7482a6119167b80ddafcf4e0871919fe52fd3a3f782b2a4afc528cb96b409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8554b3f069a7fd3d56c01b4735ab12e66c08e90bd293d373a0352c68251b899",
      "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 · 4.045 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9572, 0.7712, 0.5343, -0.1043, -0.0959, 0.0102, 0.4843, 1.6245, 1.0039, -0.0448, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4183 left_y=-0.1988 left_z=0.0031 left_yaw=-0.3703 left_pitch=-0.0758 left_roll=0.0068 left_gripper=0.0102 right_x=0.3874 right_y=0.2503 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0881 right_roll=0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -10.4274, 4.9026, 1.2283, 0.0073, 0.0366, 0.8132, -0.3624, -7.8974, 6.653, 1.6825, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9442, 0.7712, 0.4915, -0.1219, -0.0925, 0.9989, 0.4843, 1.6245, 1.0039, -0.0502, -0.2138, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.415 left_y=-0.1935 left_z=0.0007 left_yaw=-0.3571 left_pitch=-0.104 left_roll=0.0241 left_gripper=0.9989 right_x=0.3867 right_y=0.2499 right_z=0.1312 right_yaw=0.7378 right_pitch=-0.0934 right_roll=0.012 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2291, 3.7949, 0.8718, 0.2906, -0.0904, -0.0952, -0.0889, -7.8291, 6.653, 1.6679, -0.0904, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9606, 0.7677, 0.5396, -0.131, -0.0956, 0.01, 0.4843, 1.6245, 1.0039, -0.0517, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.1941 left_z=0.0017 left_yaw=-0.3481 left_pitch=-0.0752 left_roll=0.0234 left_gripper=0.01 right_x=0.3865 right_y=0.2499 right_z=0.131 right_yaw=0.7385 right_pitch=-0.0947 right_roll=0.0129 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.3043, 5.1624, 1.2479, -0.0024, 0.0024, 0.7155, -0.335, -7.8701, 6.6256, 1.6728, -0.1392, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd2cdc7eb7e25a0609be0b05af9bec2af6abb299690191d9c5ffb967dfa5136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd7482a6119167b80ddafcf4e0871919fe52fd3a3f782b2a4afc528cb96b409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8554b3f069a7fd3d56c01b4735ab12e66c08e90bd293d373a0352c68251b899",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEe_3cD0C9qIw2St6muObVgi2lGT2uf28w4uhiBpnkUQZVV-yX3PByTRoHs11izpfYSCpyMD8HkGu6QikQhQiTrB2Bidyh8D11YPBGpeFK0KCJ8BQmqZk8j-WOPsI_A77slHR82smzGyHM2xfwn4Ue1Qifdd8H2qrI9dLslxJbh4d6UKBu2Mplz71VniocwKgpGAkOBkSfBkvh4SFJCUnxX70soepvuIYxYCN4FDnVHXXN049mKAAAlMCw-ROQZMtMzT5yM55fF-4CrGfCCIvrTNZn600tmGfDFnUO31lKCIT6-pHyScWI_N-nyFmo7bwrEUsxU0L_6eyL5ZFjEERr4lEaiAaLlxyJ6uWzZPLPG_4RBWbstgiiBO8hoEQfPwOak34FBPXfaOnTU6WjxsgD5YYRCbN036NqaFlMtbcqscogbTaG8PrRWM6JXzzYqGGZ9pgexu1qVE6evmNRcIhj6YOwIdwfEJ4S1eSNvG0WlZ46UpPQfN4qbZtrqSqplQ8FbQXmerdVhfG5vArStKM-2gxxQbuNlva1TXKS3jhMoxTHYr0bi009coGV17aZe3tyWEcAQAsZ0CYYxZkKPIsEz4mn1UbVes0AhG9JdDDu6Zd7XvNIepFkfhfWGudwfVqHnK13EhuOCVJVgJPo_2-tpWaEMx25bFhcvMsnaHRyUaeMZQx7icKevoE99SFN9GpsuhBzrONfimdsHwhJo_gOuT2Ur-rHV94Eqr809KQsNE7PADVaww1L9eHm5K_EnCKVuhqFeNGTpZc3F8Tfv098m3bHRaHCR1DzIp-G2T6Qfn-t9jiSuRgWVlBlL-exQyrNoxu7PcsSszD7MhKkXEgkl1XuDflsK0ofzxZCYgPr1CSd2H-R4tL9XmQkehNnvEl2gucblT8iasBfNOUi0twV3aYLj1e0uXQ-jl2B7frNx0c3I-69X6MDgvY4EIoReh0NQr354PjWjq3C3g1IJDojgt2yYppHuT3GTCn3vw9y02T2O2XSpq5Vk47eBXtI6DtyUfJ7UxKd-ahBI_TBy0gjdfjqaPcN6BqG6VphTpG0EMa3CUPZFVx0C0Ty5W7__uV7l-HzaZON4vprLhgDcZnuIALGGDosc4j-5EkFhwmZXEkNaAmAYgU1fkW60EWNiMrb5E1ZICtsYxn6J61Xc2dD3XTXr_GyLnkzigaHHLw60nO5Uzo0OX6IlyKaWJWkaXOpjtsiI1mjwUuuRP4sLsMrmnw_jWMM-UPwXaOdiviprKPponfdhKULtB2iDJzWvPMZ_-rfoJB85aaDaDRGrv2TZRIUc46KB4vsU7o1Kh95wKaUSAV_p8rMzd2zl2J_p2IPIm-GUpVziJq-FhmuGJuIn2a1jXjqBctxKLBlTvvGq1E9Gwy5kq3WbAem-Nka924-iFLuepdP-ON3KrmRSPMmmd66k4Tce_6iUNvVh05Z5at4jN7ycrDMNioH65TXy6qwnk11jACdL21EYKjTTOGyQHF6COCIBHS2KFSomvtqxvnvV66Oi3U-yEhlk2XjYaYCok1w8oDnDmq2GVMR0Ol8TXVA7kRzdCyjamF5sPhyFsCyQNbttEQzWvgo9ExiGiAEGgvwbT6VSmQ6fz2ZSyAobzlssrROxwS1MZC8-v3qxaX9NueYB8HM8bVJDQHI82CsVPW83p64ERFY2XOY1ZHiZui2tDr6Rj0qz-608WAC7TaaOUw6LQKrGjLR3dYlEg3OaLJNNSHxlGUnzTgGkIqpXldr_DDpobrvDFJZW_hEakIEFZbYTqCkWAAIjU9B9ClUEtqKj3-pzj7jhJNpEbv5I9Vyajx0SdYdr3d3IT3voDjEd3w9Oe_ke4sGSBP8O29WZ4PXOgZ50cdvsGye16nUsuuVpa1FNgsV5YQBQfGy8A8JsV5QfWc_zECoAztBGe8bZ4sLVF462HCrqJeia4PrS3pFDqVySiUTCSVmFP8G2VB-02p3F26CHLJ_UV46HYR3CfHUYdmDY8HxcAWXZi0NjaALoFEDt1qmAEbYt1WTgPwqEZNWrABjQU4cPtWrFSUeSGemjnbGAe3S7xlVJlYdjXwkAe2t3-r8iqyh6KE_-bMYU7ckOY2bA8AGFfC57woi9YwPlhr6L-DHr2jwrfrTYky4_9B7FOidyLVauIGVPQLQhHrCh_1Bqe3CG_ez_3MF7Ff1JQE4SzwAbm375IB5uFQLn2jWjBbeOt_z-tahbGWF8-2ypm3HXz1E-8JZWGIRcxkyJ0rWB6Y7uxG_ryv3tSYr095tuDuefndq2FGth54f8wvFLdOC-1jc065uXumBdScebWlfB1mDNjtBv5rt7HKzt2_ZaEDkPSHqHdnOpvNH7gIyAKtgYHVbL3k9I1Zhf1O55CscHD25nv1qqAth3S712GvuIt459EUQUwfLsuPU5id9oKygWhE3srj187K4DQcj0lx4BkFPHTGACtFjkLmN2783JNAJ4ayKiRsQuthIFHzxv7G-BZc5xYjhx9d6MfF_V2ii6Bge5a7Qjht92HlHKAMF5nNieFKym8RtvZ44tuMh01lxdcg9nLOM_hIXwgMnYP8uoQETDPmUvYS2h4mzaNr1cX1xZ8f8KcRfAYKcsx-YdopN1kN-kcWJoD3uD5yBi1_yYe9_GsRIEMqmG2QNBa8T3kBi8DbjnB70fOFHlPvlW3BMAtWNlkaDyVY3TELzbGF02Ihg2Jh5jB1O4Kyf4yhZbB5p1g7iGeakLpdwGMO9h1w2qu-t_hfoXAKYVM6D6QiEqwMrTar0a0-99XjoJE7t2CX2doULcTyAztAK1bNl8sSwK6wDUoq4dWH1PjOHRJf6JAqdyVBC019qS6GgZWJ6kwFRAh9MdGGb62H3wQkc1zhF8EjjzqpqJTOIS4e5lyr6B1kET6LFEo3uPYiyiUNPJz0y7WeG8OQcX8H0S86op6c-1vr1ea7WUAumuMB_1ujE9iAAdwYAgMWpDOTqHFCmlN1U5mtmb1MmW9COg7O1Ea3YUKtDTBhEZQxqwdFh1jWH6kCiDAzui6rEua3mDGgqqjI72GgNRsyaS-4y9yIAASteHOuNsLUHHeRE2MNsybn3HVVwzWHitQ-tII0EJmRfRg7eL5jOAConl1G4O5c2vnc6TEqGByhm6JbX_yIBkTe8UBslEy5X7U8O_vww38Vpb8EdnanZ124FzzqvT_-JxK4I-hjlHDEZOiTsisg0rI7JvqaUJsEZXRbEqbAO2jVY3l27DvBrzSt0zZU1SbLiT2eHAw9IfrsVCGHfLcVGdasQoTfUVPAQ-UlkVnuqjTAKdpm6fpcePRtIELeVtFiCiRHZVtm3GD2WILK30W9W-JisHasuccNIVrCYpToqQqxV-NZFLXg9qyOtunHstVlTYhrzLXOEhWsQBzkQTXkVEPjpRBkfYq-i2v3haY-cmRhXCvezcY93kHCD87aFwSH2WcgEttbKqaapGeYuiyg0WVzPc_oMfpKHoQDjzyQSnHj4g2GE9g1_1NOa4v4i9XgJVxF_9Uth8NJuAfKs7kCPWBuRDM8Dr3d7SZBrXsGtWcpu_pC-5rswNdViY7XBSx7g7BVwIdb9_tRkew2Vl8-cMNQ5y_r5Kqs7YhVvMUEzuVz2ZAhBR9oZlu2FubPfE5dIHsjarEmr9GQLidWXydsLnzojGUIBQz1rj-WhLvtLZiRcGB3q8DGDpz6Py-sjxWJ0vWN06DV3tNhUSbLSkd-1Wc1hQ3L_-f6YxyoQ5ZujRHcF0g5WAHcdRPhPwGM_s39UM1hwlgxPVIr31FQihrmeBSb4rm3SXDot4CswZ2PgN7rFV8fZ2etk-YzWvDYhhEKyUujryW9O-eLGoVzfAGoico_UrlRYh69yjDjEmBFDA5WaWOI0i9fT2e6xJxQ6aOA1o_ncBVsTR-Bsyx6kJxutppsEL9cHfKgvIaDO1QYxKzSCyh6LqqvX4ipYjU4DhTVGIofP0LyvSZ1UymzQPnRjxUkj7wXIcg8mM1p31XKz1dl8w40rLCpyT303zoDu0AloZpW8272k9pVjXt8RsaTcX1n6Wj2ga1bzddFghOD-eTiaQHdSLbLr1ckpWlJBT7S4CYwIQOeNP9LiCY7s3zoN5UKJQ-5QmktfVd9XZQPGMahhbF_AK6LlXa4HLVHXNbPdBdFE0yJdthIJPrCHju",
  "id": "rs_042d95d650c18e1c016ab447b9dc3c87d0a31dfd293c080e10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0.05,\"left_gripper\":1},\"note\":\"The second close is also empty, and the wrist view showed only one end of the cap reaching up from the bottom edge rather than its midpoint between the jaws. I am reopening, lifting, and shifting the grasp point about 2.5 cm farther forward to center on the cap body rather than its end.\"}",
  "call_id": "call_jhlJYnz041SbZlRpBiRqbVMy",
  "id": "fc_042d95d650c18e1c016ab447bf38f887d0980658910c6735bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jhlJYnz041SbZlRpBiRqbVMy",
  "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]: [-0.4618, 1.9095, 0.8803, 0.3168, -0.1226, -0.0948, 0.9948, 0.4843, 1.6245, 1.0039, -0.0525, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.1874 left_z=0.0217 left_yaw=-0.3253 left_pitch=-0.1345 left_roll=0.027 left_gripper=0.9948 right_x=0.3864 right_y=0.2498 right_z=0.1308 right_yaw=0.7385 right_pitch=-0.0955 right_roll=0.0131 right_gripper=0.9991\nstate[joint_eff]: [0.4991, -11.8769, 8.3214, 1.619, 0.149, 0.2711, 0.0366, -0.1846, -7.6376, 6.8171, 1.6142, -0.1294, -0.0171, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a79cdd28e264ad61dd248edc107d95d9624e5c5d9878a03d4ae20b96dc888793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44023e9a9a16a3d7de22b75535ccbaaa7221c8654a0aee56c87e0ad66b60f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e4ce3020c149932aedf195355d19cd9ff4c6448d317602d24db4b16921fbb3",
      "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 · 6.034 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.8385, 0.7895, 0.3489, -0.104, -0.104, 0.9949, 0.4843, 1.6245, 1.0039, -0.0444, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4089 left_y=-0.1939 left_z=0.0259 left_yaw=-0.3657 left_pitch=-0.1238 left_roll=0.0062 left_gripper=0.9949 right_x=0.3874 right_y=0.2504 right_z=0.1323 right_yaw=0.7383 right_pitch=-0.0877 right_roll=0.011 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -10.5504, 8.1846, 1.6386, -0.0757, 0.0708, -0.0855, -0.253, -7.8427, 6.6256, 1.7118, -0.1538, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9606, 0.7677, 0.5396, -0.131, -0.0956, 0.01, 0.4843, 1.6245, 1.0039, -0.0517, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.1941 left_z=0.0017 left_yaw=-0.3481 left_pitch=-0.0752 left_roll=0.0234 left_gripper=0.01 right_x=0.3865 right_y=0.2499 right_z=0.131 right_yaw=0.7385 right_pitch=-0.0947 right_roll=0.0129 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.3043, 5.1624, 1.2479, -0.0024, 0.0024, 0.7155, -0.335, -7.8701, 6.6256, 1.6728, -0.1392, -0.022, -0.0171]\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 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]: [-0.4618, 1.9095, 0.8803, 0.3168, -0.1226, -0.0948, 0.9948, 0.4843, 1.6245, 1.0039, -0.0525, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.1874 left_z=0.0217 left_yaw=-0.3253 left_pitch=-0.1345 left_roll=0.027 left_gripper=0.9948 right_x=0.3864 right_y=0.2498 right_z=0.1308 right_yaw=0.7385 right_pitch=-0.0955 right_roll=0.0131 right_gripper=0.9991\nstate[joint_eff]: [0.4991, -11.8769, 8.3214, 1.619, 0.149, 0.2711, 0.0366, -0.1846, -7.6376, 6.8171, 1.6142, -0.1294, -0.0171, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a79cdd28e264ad61dd248edc107d95d9624e5c5d9878a03d4ae20b96dc888793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44023e9a9a16a3d7de22b75535ccbaaa7221c8654a0aee56c87e0ad66b60f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e4ce3020c149932aedf195355d19cd9ff4c6448d317602d24db4b16921fbb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEfEaeND0N_SXzSEnoi7ebn6vC_AQHsmk6em_08gklSftpNbPxQ6bkL5FX0daAXvWWlRTiBS02LY0OiNEyNIeT6Fcen3zY6p4Gzgfq8l-HSrXt5-DbxCG6uVguX3GlzgT4Fj4ATXPrEFl80jeDmVJsFJ6SUS1v_LS3AsReh3Xy3-kQPVNcKAsRSpC5fyFg_HvYBqC2tG-A-hx8PB_EQNhCG11ljrZOoQc8_aF-EQ_0rMvaRc7DE31cuqLEVB4vmrSBAe0CJf_jujlzFagDeWyB9eRXNB8lFkUNd6ChhMnJbwsjGuYk9Z6lkjyPdNJakNbj95LQY_xDupgQrxjKpusMg-_pbRR-Hp1n3LXAbVBYMdQpfHJGqAIBaOvPJHQiyJzoaJ4siW0TLCBcM94wyUUuGSk22mQAq9kt7tvBsN31ZMRZqEzAHcaInUPJCi4ucnBG1YOLu3ZeEUEMbDN5AUE-OUL4VSV5AY_WHSwvBIXRZSyVa-jeQyRdjqqtlHGkfRYji-BNA--oERQwOB6ZrpJATPQKxHi7MUdqCMXQbdpT5TN_K57jbMDCz6lCbQ-KIetj69vDrJIRlb8uddQ6oY8y34IyzlRAnQ8RhHN6A7rSDn3hkQWTZDSUdVBaucg6rd3dm4rQuvBLE4ahp2harozF6snL9FMqhGgikN1khMSIIpR3LMO54Q7bPPDujW_xBgOcvJQxx-LM80sGZ2BWrsU1nNrvtQ7R3GlGyggJXceO5KEg63KNEJNQvA99-Y3wtoJjvXHZ1ZK8-VcdbKso4Be3oKeQ5DmN7GnTGNLXsHVFFOMZd7F1zdYRilQosy7jyZHtkbQDfmUFPJUS26ESGcvL3W1shGgKd4ZKiG8UJvEKdqrkEXor6xNSX3Hu4qF4YmNQEf2amv3Q-McyFcEul8xp7iCAgGgMiYhvr4Tec5Xn37EO-sZEQT6CgmhIg1PASE-b2pBx5Dx8NMh37-sDTPPF34dFC6zYSXcZtlPsctIfYh16n9CrZJCvIroXV7fjS3aPS4yFeT1T9xRNelYT4gky1mLH_G9QeSxbroA-6bzjs_ZuoR5eqtf170HQ0o-68boCdbSEWCBB8rGs9FXW2YKVFmCUpWZrdrMUZYejHWOeZdLQrgBp-EevNVHhQn95VS-oP0SYKQVgscS65-7el184pq-dmgSCj_sxPZsncpzJCm-1xItQM6mHORjgOHVLrPWa3HiuPwav5PliTNQrlV8KqY5JzYPwGcC9IgL7bGjLjC1S7cCULFgvPOQc7Db1N28iVtnc6Z6CCGnxzHKQp9RS_qiCRzwY08kDZ4K3FIKNOikrXnOljpevFy52MqYPCRxv0cOuEd3tufpdgo4TxKPlQTM9e1RjQastiB05EQxPELXXW2SB-g6jzM1XKf-jxQZjadbMHRNrTnV7tRiZMfsFWFXtfnH_u7A1dYFA6lv9WqUhWOOlfNT1nKwldFO0mfiwUsgPDhmafMxf61wTYE1EKpbIuWZ7koJpVSXVd0soaaddfjXYk8ttZjLAr-Pk_KSZrZWkWwpn5hjwB0yvCc_3vRHRZoxxrV62MGIit7T3yIJrafpX-TvTEQrEyjnWQXETBYrkzmiOF6bWoQyPAIx7x2M2pqkrnmNqKyrHi6YQjX3VBQ561FOUqAUe2GdmfSGWd8v3ECZigA75tzeEHO7kVd9245BQl6b7-UAm4c-xzJ6RQuk7bLCAfCW4TGt3wJur22Bfg4DtNiPGBd7sdGS5iJ4ON2NoBvAI_fCla7S27exbsJjxALEbwDIhAqV0pNo474FobREoiVQICUdW65mnd7vSUHHFctnYlD6LlEYJqmH5lvzHF83PUpyQi9wAHsJzfFtd3cHDutXVVLUWeJ6lXz9QtyYP8-aaLJhlgEvLOrV_nHGdYgSb6hik5jjpxQLGSw-rw7VictEu1Vt3tSMFhEuH5_tqPCx_Lz1jKnNCGX6kZr9hxX8XihmkAgdwyDuvle6ArdsgdysNvpsE9YpTwGRVbOGoWRUDsLTbcZOyszPo0J2z5p8jePFViC6wZA5PB3E-Ay_jN66EiGA25OMs2JrANHcFnf93ttu_LBac16H7eJVsau_2UxvdT5y5fNxqQeUjrx2lqVE8HhxPwnmKDHG-UNxXcQTxeH-v9jHGXkJHK1wrU5QWGB2yKhAFu57YvobdQ5vR0egKmECZc8dKKQQNWGrEXSUNXXeSak8u8jETv38wXl3LNrKry5jiTjDMxU",
  "id": "rs_042d95d650c18e1c016ab447c1df9087d09f4f60f45cf5ca2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.194,\"left_z\":0.04,\"left_yaw\":-0.37,\"left_gripper\":1},\"note\":\"After the forward shift the cap vanished below the wrist image, proving that direction moved the fingertips past it toward the far side. I am correcting inward to bring the cap midpoint clearly ahead of the fingertips before descending.\"}",
  "call_id": "call_Jr6a76Mb7K9yb1mqS4C0ATLs",
  "id": "fc_042d95d650c18e1c016ab447c3d05c87d084821c6c26083486",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jr6a76Mb7K9yb1mqS4C0ATLs",
  "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]: [-0.5285, 1.7729, 0.7452, 0.2768, -0.1276, -0.1047, 0.9986, 0.4843, 1.6245, 1.0039, -0.0532, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3848 left_y=-0.1945 left_z=0.0247 left_yaw=-0.3816 left_pitch=-0.172 left_roll=0.0283 left_gripper=0.9986 right_x=0.3863 right_y=0.2498 right_z=0.1307 right_yaw=0.7385 right_pitch=-0.0962 right_roll=0.0133 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -9.4838, 5.5863, 1.8974, -0.2613, -0.1245, -0.1197, -0.3077, -7.6786, 6.8034, 1.7411, -0.1197, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ade37b1da8e3d57a6f161b047affbffbf342c5c0e4ae87d30b477d5429e9646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3911dee63a505c246a1e3fa51d8c3fc20412884eb5d2b21dbeff4643a14cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa4dd8d6bd42ac002db0794d2cb67ff46a1a7d8d81eab4abeb00b71fc8f9e8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 4.804 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9442, 0.7712, 0.4915, -0.1219, -0.0925, 0.9989, 0.4843, 1.6245, 1.0039, -0.0502, -0.2138, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.415 left_y=-0.1935 left_z=0.0007 left_yaw=-0.3571 left_pitch=-0.104 left_roll=0.0241 left_gripper=0.9989 right_x=0.3867 right_y=0.2499 right_z=0.1312 right_yaw=0.7378 right_pitch=-0.0934 right_roll=0.012 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -6.2291, 3.7949, 0.8718, 0.2906, -0.0904, -0.0952, -0.0889, -7.8291, 6.653, 1.6679, -0.0904, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4618, 1.9095, 0.8803, 0.3168, -0.1226, -0.0948, 0.9948, 0.4843, 1.6245, 1.0039, -0.0525, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.1874 left_z=0.0217 left_yaw=-0.3253 left_pitch=-0.1345 left_roll=0.027 left_gripper=0.9948 right_x=0.3864 right_y=0.2498 right_z=0.1308 right_yaw=0.7385 right_pitch=-0.0955 right_roll=0.0131 right_gripper=0.9991\nstate[joint_eff]: [0.4991, -11.8769, 8.3214, 1.619, 0.149, 0.2711, 0.0366, -0.1846, -7.6376, 6.8171, 1.6142, -0.1294, -0.0171, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5285, 1.7729, 0.7452, 0.2768, -0.1276, -0.1047, 0.9986, 0.4843, 1.6245, 1.0039, -0.0532, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3848 left_y=-0.1945 left_z=0.0247 left_yaw=-0.3816 left_pitch=-0.172 left_roll=0.0283 left_gripper=0.9986 right_x=0.3863 right_y=0.2498 right_z=0.1307 right_yaw=0.7385 right_pitch=-0.0962 right_roll=0.0133 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -9.4838, 5.5863, 1.8974, -0.2613, -0.1245, -0.1197, -0.3077, -7.6786, 6.8034, 1.7411, -0.1197, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ade37b1da8e3d57a6f161b047affbffbf342c5c0e4ae87d30b477d5429e9646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3911dee63a505c246a1e3fa51d8c3fc20412884eb5d2b21dbeff4643a14cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa4dd8d6bd42ac002db0794d2cb67ff46a1a7d8d81eab4abeb00b71fc8f9e8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEfLzSsV0XaC5TyC87fNiqwO0wlyMy8PKNO6op2tdNnm-MQR-pdKkxy0pQlKXOIDOjQNEAP6XDG16cSmiSsNSQW4aN3jBHegLaBZMA3Jlu7MLdKP5HCJIefRHLw9Pl010eHV9emToGTUuH_utj5tDidYlgzdAKRtDGWF4pQzeyCGqCEekLBRk0kUxJtxPJ9jZOexzZjiRI--ikpwB-G1lGCMVllds7MTUV1f-W6QnKACULREoZWXLr_Y88u79cc9dM63TR9XhHwr2-P2rjEM8uUfcRZN6lf5EIOcNKbob-JbW1ZqKiKFLiWDZi0uMTnZVKgjd1u5FMqa8I8KvsJ8nRSxTKBBcncyi2EtOG2Ghpt37Eo5rS6UCsckSpiKK3ByLph_etT8_M2-xhJq9LIJRDJrtQDk7u2BWKi-H1ptMYbrPbcwkNzmUBV7jlk9dzINU2Cwj_2NHy4-h9j7o3pKRUIJSN6GjfnfN1HW_yQeCqO6H3Wd9Zf9hDtZ-MqP_PXQbgbxXY39kHrgl6vEtjEgO3ByRGOQSxBv3dorywTMYNfo48sIPFvhdq8x1YG6U_V24Sxf-gx2P0t-Pa5q4ROMOB5bUAcYPuPO-bKOgmHmLCSrp9eCk2XTwF3lV72hc7SBpj7pkG3tXcwq0TysXnPK8pfV5_9X1QO9JtYieyHLtlen2B1Njv4tq7c-4_L-Hm64EvnXYLm8UBzMvBL8ciCpKF6xtZw_eQV2CYsV3d89ZhW_IBY3etc-Ju22MGx2FSIiyOq6kZZyScUJvembzPinU7a-yX2Xut2Tr8m0u_vag4aLeHqy19EdRS2DvaYDWYS_OVIlWkqxX3ew0DqO8EFHR2VrVcQ5Zy9H6NTKIT9Yt0z2ywHsk2HQBRHsmTEYl2uJ_NEPwv_bAZpeFZEMTeSvYFiCUVZsijN74Z13zJJEQbzS9MFKuJ9gU8CiUO9nxhxdQtpr0emuqAQotJk1UwTPKTSgzojg-riFwu5UFAhlX1MfORT9IXXGNvNHt4Vc8btuInuEHveV3M2j_bET2KCMOfUVwsaop_21BDQovo8cIkUuS-MnjlSO28SmuSaEwSUwMa6Y_l4JEYTKTlMUeYxYPKuo9lmNif07iqZXxbDJR5MEGGP2sXJPDGPchbx_4f3gY8oXVTjcua_RjVi2SVquPZ7f2UsIt42UbwEVojcZUR9CDadDthb-P0cvZZLt8zj2YPAM7oiJbZZ2i6ukRY7sw3pZ8BtsUvm4DTuyqqrBHOq6M7m3CcNTlwrKrfBBif8JJMvr6tWi7NrdG67DmpLD-Ka8DkW9kmOj8jIJL-BCa2ENCzYWONY6_PuBJABgqjl5RIGBxpaslNf6VBXXHrBe4DFJYrsEeinEpm_EdrJgdHEcuygXGNyDs4CZ6o6r4_vFDN7k7P87asJlkADzPij_ZTqytZMFa51EkFpQZJo-GD4_AhZBs_lMP6k2qmYBH02jdppn4uWX-C7YG3g_EBax5swLVmAnR6b-aLLsDwj6YINECYVM7XrPHHLuVci0QrgszJ26Jjvghx57SEEVhY5qvdEoEn92JZL2ojZVlii8KK1sBztMht4uaaRdkJYnbG37dJBiJZ0r2e56lXYxNC1IQE9jPWKG9dUH6dQZHftmLwKkaJEONrnKvcKQhpwayGIlHiS47t8AqCE2A3aeM8z7KZyNXFR_0jgsA_HJNz0eS76GljLUPWBN7bjQmFgWsZ0wBJa9tImiUZmZgit9_QRs4xCJr1pzasgoaOjamQaQRU8wA9V0cbHUt-jVJCE7Kex4PosOPMndbM9id7aMBgO47ZAoMpnC_0VeYUVWkyBJUgaMpw2ydDe6kIpoQFt1tCU7D6k5_Yc-rL2cEB2-d380HmqBks1CUMj9ZRXt641tyWGg4vaR_Um60oaoOWN03mshU2CAlmbPpZUI1LSqeWgU-Xqjm1pMjU-f6UBeRnUfV0u-k_BjqUm4e10HhkIrsdx-Ojxu5bs8-9iAm7tqvTKc0L8sfawZdXXX0_pFC2yqPQ5Aj5AM88X8TMqvQQ9ZZLO0Y_pFvvaUcMzWKFxjUpcPNjcd-Z5ubWquNm4jzKGiKIIHYXKjyinR2fDpqm_v_TSDclKmn_x_bggLoWI2CrvG0kSrNr4aOEJYkWAJF7DM6KfS56vLfT1mIZ7NUjaO2rp1Zdq1SkxEN72Q32qGtYHPu0XhkYFE49A0KmxJwhTt9kHZQb40jGCAkTNkVE-V69STeFsJBY376ufXY7y6En-2-oPkNFGQF1iu6JPHhfLyf5AMhQeu1P1vK3lRtOLu781jsfWThjgrzCodviQSQaOWdhn_0RmuywkAC0i2rVysO309dN3qrN7CHmL8KdMY3_HsWrhqZc8PMYleTIRo2Kkuwun5-u7wLkBmY5s8VbxUheIsRWtctQCFjr1PW3a0pUBnP4G_GJbU20RsM0jJjdWAq6UcdHfakUTtZx5Izt9Fua_u2tj5fTNxrmWGRP4jLWqco1PU_LtFua-KP_n7ILTuBuwqlP_CuRTWf6ApSWVgo488Z5_dW_EdLM0FqWwyvu-guzQuDebwXndwciUMTvW5bDWxmO2HmkVWoDjMbZFPD7CZ5a-EAE7v0UT7qAV2UfBjs0Rb_7_6BSA27lPvP5o_mJvhTDMDatqLMP7G97mvSll3CKnGrYzSk-nz9MBVPTHsKCP14L_Hlm3roSOgJbbVlsuKcOxHT0GFKF9KOHEllqnnN4Y8Ld6uHmra4gtWOUwtiGm5cDSSCH4Japwk3mI4jtEu21TA0rC-CcwJg9O66rZ-GeONQ777W9rXmlSYzJmxB32nSHVDjEoudzC2srYsM123f8-dNvmKbbKmZHV25M3Ds1ofXae373rFXOgTD8ji6CTEpaZ_2o1jucBzvHVeqOXwYEGBgMAXRMwuGzFs2f7aBdVb1zmBkQ_ASir9vv6jowM6bP1kbOD71XTw5HL_ZwZ_UxaJTMksjxGhLflKsEQ_8qy8ETUgFgdg1eD2PHzXwvEdbPrR0g-urN9muCjY-UppMHC84mRcWlX3Ux_Ry1A4uWVGHjZWkOBPIoOMj2wWqyfmfIizPGJjWf69sIg9fONm-3S33MwSh7TMJchIffVcLjkkGEvsFuvKFklca098L859deX_k8Y9YqefnS3tJ7apR0V6NkPlJjFCDwE79EDzzuyFB2EBoMskrxJSXGQsUEeyz67nWgoVYYaL-Le-hhbZ9vRPIJhZ7rkEMgWvCeM0cDbFpqX04sRq0O2CRbjzPxkeCNCBIyuTXXlLv5udNC5J6KqKPzNI160xsw5Ux-TDO1Y=",
  "id": "rs_042d95d650c18e1c016ab447c657e887d0acc69b87a4c1f7ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.194,\"left_z\":-0.015,\"left_yaw\":-0.38,\"left_gripper\":1},\"note\":\"The inward correction brings the cap back on the jaw column, with its thicker body now around the fingertip convergence region rather than merely one end. I am descending at this corrected position to grasp it at table level.\"}",
  "call_id": "call_XyBOLzFxyLzYIvGjghuRW8uc",
  "id": "fc_042d95d650c18e1c016ab447ca35e887d0a733b5537e02c70c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XyBOLzFxyLzYIvGjghuRW8uc",
  "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]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1345, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3817 left_y=-0.1957 left_z=0.0317 left_yaw=-0.3832 left_pitch=-0.1588 left_roll=0.0288 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -9.0051, 5.7094, 1.663, -0.1587, -0.1001, -0.1245, -0.2256, -7.8701, 6.6803, 1.6874, -0.1587, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa0fe5ca9341512cec09be08f18ba910953aa2604fe46af418afa9959d10755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649fa34a6a17d8c3757df4b2c34216656e43e43db3d4ec2efbc9fe12db939390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a65af9ef0ef1bc7b94d2c55f82ad20f475727418449de743b5c5d8ff365a82",
      "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 · 8.578 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4911, 1.9606, 0.7677, 0.5396, -0.131, -0.0956, 0.01, 0.4843, 1.6245, 1.0039, -0.0517, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.1941 left_z=0.0017 left_yaw=-0.3481 left_pitch=-0.0752 left_roll=0.0234 left_gripper=0.01 right_x=0.3865 right_y=0.2499 right_z=0.131 right_yaw=0.7385 right_pitch=-0.0947 right_roll=0.0129 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.3043, 5.1624, 1.2479, -0.0024, 0.0024, 0.7155, -0.335, -7.8701, 6.6256, 1.6728, -0.1392, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5285, 1.7729, 0.7452, 0.2768, -0.1276, -0.1047, 0.9986, 0.4843, 1.6245, 1.0039, -0.0532, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3848 left_y=-0.1945 left_z=0.0247 left_yaw=-0.3816 left_pitch=-0.172 left_roll=0.0283 left_gripper=0.9986 right_x=0.3863 right_y=0.2498 right_z=0.1307 right_yaw=0.7385 right_pitch=-0.0962 right_roll=0.0133 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -9.4838, 5.5863, 1.8974, -0.2613, -0.1245, -0.1197, -0.3077, -7.6786, 6.8034, 1.7411, -0.1197, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1345, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3817 left_y=-0.1957 left_z=0.0317 left_yaw=-0.3832 left_pitch=-0.1588 left_roll=0.0288 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -9.0051, 5.7094, 1.663, -0.1587, -0.1001, -0.1245, -0.2256, -7.8701, 6.6803, 1.6874, -0.1587, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa0fe5ca9341512cec09be08f18ba910953aa2604fe46af418afa9959d10755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649fa34a6a17d8c3757df4b2c34216656e43e43db3d4ec2efbc9fe12db939390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a65af9ef0ef1bc7b94d2c55f82ad20f475727418449de743b5c5d8ff365a82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEfQ3TK9d_91KSO6oXeJFMdN0N45rigDUSLaIfYCYHJydhCUSFF2q-SVHVTyYZ1agziH0vHqblE5YAbOQHyAY4Z8Xda5A84XpA-ZGTqJt8FiD6cm3XyT8nWOM6Q12eUpF7WB3qL8enGMM9Z6-T0TOjYx84JroAK9Kkg7cbOjS_r_QHj2oF5VgqO-OmLpkvlR3fli8c3QKvdbmGAaigfXctnZXEIk3upNBvANNgHrCh2dtXQfFtf0cOH_DY2d89eiv8PIdeq1zxXailgZtTaXdVuJAxSaWGu0U33ky9z3Xsyi6yY8w4Wdd4mwdFfAkmmZQ3aiHipix_wdSXCY2ubxQICoDNapRSNbynzsRLfsibhHwUMWT7nxoT2ztzXdl3-4SJ7k3VM5w3umyIKLGiG47Shl-mIn2B_AvH9sSuDmGOUiuJnTrltXQilSg2lQqZAa7HqQg8tSNkR1R7VpTy89kFndNL-DJxIbp6DSdy_qVVvl-1-yBSASR_ZW7mNZsglZOTVjYpfZ1VOVzxkcRr6HGByiuX_DNU0khabP2VYnKxSkrDoL36O72lUMDI18FG0Fn6IEVT1U7jc7TRVzaB5GVslDGGLLaWskFt3ezyrq7TtYA5TNv8KPT6a60Pekmd2Cbi8HwrAxGmLvqwVH8lHLlvw810Zhvj2UsW09pMevY_Du-B3hr162fTo4wQFhOpje3JJdBUdA7ooPNJzAwcuHf0og5BzMqihD_jLse1mabsclfBS24dY1H_N3q8yhEW6J-v5JBcX_YtTLWqfvsonGYgVLbks_0mnHDr-8dQ6o79E9hSAJIx8zZx4myjZH8yMvt8IbcPCGRB0FaPixESEH6Bxy9k3UZuOcyjnCOBPirEPmLJujPi1ZB9r-UEnriw22lETYa2CAD-F1lgH6B3Z_WJBoa0Zc9I2FIV9pb6NbcVv6xwVCEtWG0n3onqxUyViEjnm-5NJKL3kxjuQ1vi6iOrd6YiDsP-7bwxUIk2pPrH_vX_249DIB5P1OMPGfIZsTZiGC8By-aYnKmqbOGmo4s6w2KpCmB858lbrW7hsO5Oo-Tf_mHGUUSa1tjzqAoiEGOr6lfIzFuULdK7LgNakLyGdZT1bYYWuM8J-yisrJKsvgFP58bWUs3dqsgel7JUDhq2P15UpX4LQZCbD8b2qjVspv04ry73yJjZZ8cBrofqf8BBSg1LCRoUMjsKiu-AO1vtAGQC_GoCKCIAi5yBMzV0xwvcxf3dvcsTnbpaWD2oMGUlrcHaFSvyeDqbCtdzwgDT2qlx9__lwk2U_kA0NZoD3UvRA8iEvSl3UhgiuCCgWcZ6wOmPbiQ0_KWCFnpHJ0CMMfbd5ANfstn09O_ySLhrmNGkQsBNGMtpkGUPPV6-dM6xPot3hTSmlB5VN-DGPrr3d9fS6faZ6W8x_5JWNpp-y8oLrbC3Tzjmfe9WVBtqfsbmyPFo2r9yOqjNYHdE2MVhUtDZN0g0xpIdkQ9pSfosmIGL653Sd8G__FSFwyi21c9nQHbMnja3eiHc8uQ-T9Z0sxNEjOGekjzwqbVmV1M0Ee-1r0hJFabx31-ILmsLoDPfDVI77xcP7w2e66q2Fn4Ohl9ssO5HFjPcgR9Md-2NrPKnwGeIaDzgOSYWt6tOIHtnTmaFVPXIbMwITmwKsof5jM-2VN2j2_V8ZOyFj0IEt-908vZKr1q64xj0VrWI6bEuriS4L4Ef_tFxJBXQy_9ufKYV1utw6GvppNjinG8bjU6uTTjfunzl_z_veESmQYziYGzBM2h87vH5d6amcXCnf83OzDz2eUCcPWzKVMxoiMTlsboaWdT7vmBkaIFtTFZrO03cGgGPeVcojQ8Bx5wIC02I9PdxoZtCMRhMMZnSZvd3-mPTTPVLu1w7G8_zr51tOFq_oqodsKCzvYQtoDAw0RB9iTCasq3GROBu2rub8QJGM4mcSB5tKX69S3_ORDkyEzzKkKn8osEz2IC-Vi0d0ldXCIWJ6CWK8vPuTFn9RIZPkF1p-lq4SGzOFhPnNh7W2tGB8ejS87QHZEFwLybluDLGEuu98sy6Rj4p-F3CK7C6Fvw6itcrtoet1NSp0f5vCzYqiA-nrCx38g4EO1iHTmH_gpZEdU-bIKunxae0zaCAcSLQZ3h6mfno5q0yaFWew9WhY1bKrxi5AihVosz38_-f9X9pK3-d-ZTpKGMJ54x0wnmAHuHjqEmzwA2HUIsgS8L9CTn0RRpM7fXJnJeM0EJwpUDoWFIIskvqJOArlXaM4yLiwWG843U6cpdP3u9WfFwLkwoAtSXimYsL5rLyVhipuSoGhxKntLD0E6l-_Cur8rf8wQ44nT1bY6ZVrFxFTC8f6ph8yx1jCkLFBy3Wole3YZ7jPEubvsmZC89jXO-2AAhDk_E7HMb8ipGCZR1p3COHHF1OZK7IeKg-p1yUiXzNUDmM37AlCVcwWVWIDAyO6xwfntCDVbmwhgoq0T8qU=",
  "id": "rs_042d95d650c18e1c016ab447cccc5487d0a1ee84fdd888b53a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.194,\"left_z\":-0.01,\"left_yaw\":-0.38,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The readback stopped about 3 cm above the table because the left wrist had sagged to a noticeable forward pitch, putting a fingertip down early. I am leveling the wrist explicitly and repeating the descent so both jaws can surround the cap.\"}",
  "call_id": "call_Y8z9EsqMQO4aCJsYSRGDylr4",
  "id": "fc_042d95d650c18e1c016ab447cf1a5487d0976062902eec3cf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y8z9EsqMQO4aCJsYSRGDylr4",
  "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]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1349, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1956 left_z=0.0317 left_yaw=-0.3829 left_pitch=-0.1587 left_roll=0.029 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1282, 5.6, 1.6239, -0.2076, -0.0904, -0.1245, -0.0615, -7.6923, 6.8308, 1.6044, -0.1441, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b6f293ea3b1a8bdc05f1f2560f33cab5f5d19a30af65b6e564270d127eb5360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f93704d88296599cae78f9753e624af9ea3ab38b783235e927da4e8543de23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2afb0d7199687dbf91d211b4e9df6cedbacd4f0ab4d6a65fa509b1964453880",
      "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 · 2.656 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]: [-0.4618, 1.9095, 0.8803, 0.3168, -0.1226, -0.0948, 0.9948, 0.4843, 1.6245, 1.0039, -0.0525, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.1874 left_z=0.0217 left_yaw=-0.3253 left_pitch=-0.1345 left_roll=0.027 left_gripper=0.9948 right_x=0.3864 right_y=0.2498 right_z=0.1308 right_yaw=0.7385 right_pitch=-0.0955 right_roll=0.0131 right_gripper=0.9991\nstate[joint_eff]: [0.4991, -11.8769, 8.3214, 1.619, 0.149, 0.2711, 0.0366, -0.1846, -7.6376, 6.8171, 1.6142, -0.1294, -0.0171, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1345, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3817 left_y=-0.1957 left_z=0.0317 left_yaw=-0.3832 left_pitch=-0.1588 left_roll=0.0288 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -9.0051, 5.7094, 1.663, -0.1587, -0.1001, -0.1245, -0.2256, -7.8701, 6.6803, 1.6874, -0.1587, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1349, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1956 left_z=0.0317 left_yaw=-0.3829 left_pitch=-0.1587 left_roll=0.029 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1282, 5.6, 1.6239, -0.2076, -0.0904, -0.1245, -0.0615, -7.6923, 6.8308, 1.6044, -0.1441, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b6f293ea3b1a8bdc05f1f2560f33cab5f5d19a30af65b6e564270d127eb5360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f93704d88296599cae78f9753e624af9ea3ab38b783235e927da4e8543de23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2afb0d7199687dbf91d211b4e9df6cedbacd4f0ab4d6a65fa509b1964453880",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEfZ9JZ2_On2E4l4lPr3U7XKoNK3J1aU1tqkHYtXHXbXe9ELpllw03hyJ2V5sktz4_TWwPHQSzjfdPAzIhBTL6PHdaQCdpz85YOqeQuEoJDl6s165JfYcMCK3zNJkQaorOERd05-kOKPuvyAZ_9bqoLFaW03DwAnkgZIoQNVwy-X-UDc2S6DlVebttjw4AejNFrg1b8RIamJLbO3vICxOB77Si7XWT7uLEsBarkGehohB8w75X79ijPZYnvb8pyq0ci8nDTaXE2XSaDntQUys7_v08iaF_KbCbPtsbXy035ELqC78cBePoOIc7psrkFDEoGrn85y5NxxErpdJiqqeF376Den3Tt0zmFVOGjzVTXwzTjAus15_q1HHEcFdCfHLWhG53lX6sOqkHRuSyoHz2YT1kzZQDjVEbnUQasihQvoYQoWUYXwsbCKhv9UPNVlSPu_dHd2bJ7le3zK4Yvlg_KnfVKTH9Mwdmno4u1QBUnAGWfiHjtR0HcXDNPICj2wMJHKtcFhNyCBoAZgBpbZrXC738yGecrs1_jWKOeNOBn0KJt56uUHtmAu1MYeXyxgC6UD6Wk7VDogb5ViZPXupJ5gnig8dJd7xF_O4iM87HFTL6Cd6wG3HbU_w08nXH5ty5lQfK_L_CPg_Dr473y4dIwTVdibCvjtPVjAWpoFrm4PHd7EmLVF4g4hxbnoyhzi_j3rWlo7VThR_Hm41ORLq3NBej-2ped-9qQbzb1Vb4PwiRD5aEzJDhk1YYQEFoZXqo7ZL-avy9QD4L1paxpHYAZoeh1nZTJEW8HVVlZ_VvEFpIGu7LM4ZQJy9EOIJSqlWnoRoyjXrziJvT-4ROzl2AWWcdCQp2Hf7Zprhg2PXuiXp3iKiN7BGDGGcIsAhadlW9aESbEp2f8elJO6b1MPhpUHBXcqjja50GSOB4x9KhMqXAiiaTGVU1u3ZqC_3ut_vUT8_E1Fq-1THPi47fcdn16HVUaM6jBIYpxsA-VmdutWyQBeOayGalw5fLULO_zk4mfhduxoDh4fnb9JFe7PzEv23_WnpRk3i9K11sWzj6tVCoLfzxYPiAahHyH5aTv1AnStxL4GIxDejndjGsP9EjpzHK9Cbl2FPMYKGXuQXQUJSeoNjBLrtkGhkicJIO74DVDV0XWuMcpW0Mw1STgPfCID4KUKeNSreuI0KnLR_g9jY9w_lCDTWkP17AhT4S2LRpTcmKHX51lQKVeIJyJ1cjGklmOa71dNSXlIg3YjYs3PuMYZb-UgBpU_S3x350Vkeh7CBc3uI5JHfiZdH2HLdPPmgpNd6O7EAviW1Cl5qumMyEiBRkRmlf5lJWEFW9558Pu-Rj2uD1CC5iYRz7Y2TmpB1Fq-4XLAPhKoBvz-DqB8Cipmob0vuvPNvtJxdOHrgCUGw88DZJA6vbeafBzSHnYCSpn6BXXYKrMJWGn8rVrQ5k9tAnJ2kZfoDcO0jrVl5i16rxE0QrfoPzkkdjRjaF1fgr6v58GRdvu-9OYwKWo0M5yi0Zyj7FxymncvhVZYptvTUyVRckD8GutJFhcQa1a8G8V7lvpiR4zu2ziF1GpDknB6IRDyCWlP7vf0qA6_IsMIAI2o8XgEFe6vgtJn_chKdSX_ZAqozCiGt5izFQD1Fd1UDM-VAXAkOmpuPicVRKUMkshQ857OlwxuZGY9WwvW_NaYRW3dHmKPsUE8vDhWzxu9l3Sj7w1gV6Zt087HNCzbSMkPZIg6VKmZIqRDFtlkP-nDKSSipiNuBCw9fObR3NE-eFLd2KwfuyICAGY7H44dSGvrPc-nmkfNL1UOp2r1hPfMLDVgbi3auGONieUabwsG2aRiB2KAf7AGDomCaJkV-u2jk-7wbyyeYcN2G-56JCeUtbACEKcmn4LTvrliVWHTQP3rKGDyXt82SXyWMaYBYkKSEx2t2Fvq81umNRXG1iNWM6VEVDRXALibb_jDXAmpFOh4_oKuRYdaIThNjRZF-fXamuZkR_BugGxK38uQUThrQxhOv4oL5vKWtoaOmZHAp-tSwwCQ03M2B8pNMBrrtWb5IJiX-e4xpgj6HIlPiazSIjS-jz5OtL0wfMCDaVsISSde7J2D_LZfaq434CEojHBG0qs4uQWoZ4z6NxAFXDBoLJZX81sUAhlvTm7t2AyeuoTCzSlCKICQ7QrIDgpHEjrudJCR2rnDHZYN8PpE5CwUcFosE4ADMiyKUw43ofdvUEAIV75c9gxj8zK61ta7ZaOzJXz6dKog_LHTI5RzMTYDiJNZh4tW29gid9J00GNAJkVOOrzJJnow9atrG8EAkH4PBkHVQv2y4IEAFv6ahkZtSEJJ8HyycRE4yXDoF-4xJTLs-ooF2eYxDjBh-ZoS4Wt7OPX08np9sqJnGEXDr0IcYi0q_QBmAx7EgDA0Iljw51w6p0wg_88bjzVAcVYI1BMbARnFUTZ5r7z6ERzJWDja5eUqWB56juHfv4T2eQQ-ouZN0SAEAOtUk9iShD6q6F-BWNvL_9WPDG7EoX4mDqZEkB1gVx8fqZF8BRAz-EQNIOW6cg-ziRh4JUtby3w7sP_G72VrHmpTGrRLyE0gFQSX-AYV7TA9s6Mcqqz7_QWJR4dZphsL9FV3BsLSU5nug7Mywriv_ytPUi3Tt9sb_VkTHAsOKWtyaYFYhOH-IUhh0P10d--MRaufzc1B0TpvS0y5zs9Wiwl6pnLke7whm8NSGbrrQxm5SgWoCLqbatSeuHxS-vcEXZTKuIYkilqhBpzvxaby7pCGaPqRIZw9ABHYr0Ym-IqjSPJSIr6ev1gyqoTpZevhvdAf9jWxqqgdqxwUdYxdPo8JGTfcbLveGxBkmN5X6sMlz5HJAuyqNqzaderXDe-D4W_399zK2kAaiK32_A8hNjYC7XcG6JiIr6qggss68d00e0YkWypDXHths9018Wm43Xbl4XHvmsJUxOUIJatwBvEFRscXHdLVBKIqxEHtZr8pyFGwMMWnqnhXbptBfHlkbshqw8X12w7A1ONgIWlKhgdDpIdxaaihfDWG-8EtFQYbBMmpqIRXeJbs3awREa226BpurwX_t4AUathWJsYUTcfXqA5zfLrRpAs8wbd9LtxaAcY1857XL5yFowBkVZSAGsgRFGRF4Wi2LmAbvevSqmBZAcOU0l5KQFtCTKW-4eixtswTAhk4HMmcKAmHXWgaI2pZWOoOV23DNC-rrzpRIFvNj-NFKxLI1eBXhYIv6jDXXrxkIjr28ABCN_WRgBaos00o_46pxNyzdzJJ15X4xf9QifxAwmCLmVjXL5JQzabRkkCOaaN9iHa0L9tyJNZHKxEHK-uGJ5NGl8Yy4gMozINWtWN8LNXPRqzfHHg4j9yPFqdCzqNhFrRDQMwUQlb9pEphndowyoxWQW3NmjG_z3228sC_5KetvN_gC4kOBhb_yxoIyNVyqZeXQ71wmt-HInZR61Ysy-8phUAVsj0DpPxKgM1BzLIzAC3-2kX1m5VMI_ZbfrqcJx39XuyfdDD_2oZGRtPcdJPHH4zQERBAboCH3n0_DjotWyTjeSF_O1QlojiFN3ZOXw_KPbCSbH-HB3d2-5Eoy3Wjon6HwgZnnkHb1-b2D4FIoyKOS9B9M4sJynrgQtZHQRxLoAES50FcfqZ59JGH0gbtzb-0hnaLu8KErFko8chEg4LTVfJaCQBAAPQ5bGuXNt0XBXjlha05CrxM1Qs-vYxYH6-c8yXgddgjn38G2iVq5hkVKqgjJNaNz-Gt7brbX9NXfDk3fMi1NtXSs__uhWs8Ary2YHrwRSOk108I_hp8Up9jw0a7CU6ohlIYsaKorF6mpLMejZmYddDPxzcIO-T697jVPTDbTBmJPvYtbJEcthhaLPUIkcfb1n6xILUwotZJXeqQQ7JiaCRCrHhdZ5mWmvb4R3NMtCvuY01fitiHCA5CrmVgZUifTuyWms2Lb0pjgx-v2vXccbQ542VDzHnpFMyujrPMq_GxKtYlEu6QrZAiio5a-CaqqKRDAFqzFpb0B_NbWfqmG3Q4r9aAEeHdZewceF2rLdcPx5a45okZFCM_FlBjfcMluop4jsRgFqOAh5k03t48AYnllYns8xDKeaLHRDbTRlHDsaFfhGvwLH73359kqFVu1iaOBDXSvBoCTeBiSD9yyhK5XCt84-BVyhAFyoiU1oxuxME-cMjEwKO9GaaYlDnsCYRzuQtkOROLwwLYfKbD6ZIi4bzqMUg9",
  "id": "rs_042d95d650c18e1c016ab447d1eaac87d0afead70496c0d543",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEfZE05grZgJknu5yjmqAzxUJ8bzg49J_3IX5E6sy986WpmmyP1Ohc0sES4-8j2XdzNk53KfOhY5uZANWTsjFas-oMfC5Gc4iJrahWf7-mQtiGyvvdYgumpGB2KNzQBvK2DA_WpcbAKOK_h9gWbSmgR_69nGq1VsubXZDHWTw1WaR2bNN5nI7sPI_jnhtJSCysoAjysdwSUQioKimIGxXy8s7UMCHMR11uaijUhE6K73GHgHjB-rN5QHID-tAX_TH2wPn2Zizi52zJUiX1CdgcCRKPX-A97q_ZImQ_qqKA9ognl7nAx4ONa5y6UK9DBt7nYoCIV1yMM5D_NBpye5cydZ-o9LIJy7G_Cw7wMIeJYmiN5viWeiz-IR_0hgkwicGYLKbMTIOsiKCdiRm5GFi53prBnRbJbWFckYcx9O3hi1LPQc2bk8OHgNaEvle3NtxNfUAColDqZfSaRsh8nEoMm-rvD_GrNpP5JOTbrrRAvjHEglBtxUds_MdG3NlBJ6yqh8W4ItDn-RLvesgmNkW6Qt0RqbSFa1KYyJlxIarTzJLfSSarDDB5r2aiIMpWj-xuU-jxGOKOw0jslanpvODbW9tO582GSN_wXaOerDdK611e_wBgdfAYqc6wcw6aSVFFe5uho-qlGTnOyA2nrxmCZq3odrjNETIlriIb6AHlcsB9B0lRlbZTo9r8uDUqjD02T9Y_dMmei5uRvn0zmlUJe1DG6Rn4TIlDa_pAOhwRaobj46E5ex92K72xcAkRQi39YJOB0mYBevkBCkX0mE_PmrGCtdAf3wg8qbIqtOBvGtIXnKhMgrqOfcHsGapbs5gzu0kjnRvtQcVgRJoeV6DoFR2d9sXaSsIyvP-6FRE6P6KLuzot3hnq3yAJlDiiygM9wJjgLozeEs2XYmzFLIdjWfYaYzYlsUiI1ljEhKZsIfTamWF8YQS9M5aQ4o7lo0WALllIwp2zHUulFAowkRDZGSms5n72hqNpHXBVzdgeQj2OnZqeJLhUNV_PcDAI4yZx7Ck5ojO-qDF4UcN3qwqE3qNG_0lLrXnlYoLXRokn6_rhebyuP5s0BdpZ6q2c1CrKd2Y4P19gUxhnFSDPZEtcZ86msE6-_GNM9f7iMdy_OT3OW-V4lsgZVi67PaSLx1BKZrsReBpUER7rWDT1fliJ4wLHrNLfil5Wr_Xig4QETzvNfB1AeiTBXwUKmuXSiXarC0olaldaQra3bWc5t2GM6Yw5hea0jjp1ygPz_eEmi1U0b0duqTNnCD1zuqMeMin0HDa_c9PJEGWoo9umqFR1-8J8Qz_gQq5QrxOKcjOEJ42-z5pMYXHwhCqerdOGsY-1vaY7U-chJo_xxXZWdQs4HQ88xpgpkr1TB0lO0T8b6Z4yyATM71K4e7Fiikffp9XHOlYB16oo6JjDg1_fiaHJAp4eP2hgsCj0km_xmd1Lc-HA9713nzfGgArgkVe-_ziqmTfYbUJbFDlAOQ5alu4NEaQlgNk8-QIusNjVouGUufUWmXyJMWMoV5GS1k8cEfN04dE1ANStXLJRYo5wHnvvMlK2gx8Qwt97KVzlIhgtdbRz74rSygm2VvkLoPTbXLT0hhInTXOYxDwemfiS33rA5PcH-TM2GlGyh_qsBuUI_ZOjrI7goFiJn_OwkHEmHGTQjB6sxYdxXEQ7GwTTD01wkX_SSqMTXZyj032xtZSuSEY3MUuObnowCqQNXWE1eckwhK1vkyZy0GkjIFUWq_CTlzgNfZ2GJzesOvriMFhMBO8mXAHF_bXC32nnhGNqPYA554A0zLT0zfupTnVW9YLLZ2JmadPuJB0_g6v4RFPhsTlsmfRUr0kGtzsjCEPjcHRq1b6LCPJZk6z2QluzJiTrbJwNcQj5tEfZpMOgkZ-xe_igD0YOeVEksBojP5KJgCLSLy",
  "id": "rs_042d95d650c18e1c016ab447d70c8c87d0be7ea40f385ae3d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.386,\"right_y\":0.25,\"right_z\":-0.01,\"right_yaw\":0.74,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The left descent is physically blocked before reaching the cap, likely because the two bulky wrists are crowding the center. The right wrist is already aligned over the pen, so I am lowering it first to secure the pen and then move it away, creating clearance for the cap grasp.\"}",
  "call_id": "call_kZcOMnrdxSEVAff7Lk9rHbTD",
  "id": "fc_042d95d650c18e1c016ab447d87a6c87d0a1ec31b4afd48f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kZcOMnrdxSEVAff7Lk9rHbTD",
  "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]: [-0.5373, 1.7447, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4839, 1.9995, 0.7208, 0.6998, -0.2184, -0.1741, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0314 left_yaw=-0.3837 left_pitch=-0.1596 left_roll=0.0289 left_gripper=0.9988 right_x=0.3885 right_y=0.2515 right_z=0.0022 right_yaw=0.7428 right_pitch=-0.0037 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.6513, 5.4769, 1.5849, -0.0562, -0.0659, -0.022, -0.6222, -6.7214, 3.0974, 1.033, -0.1538, 0.0904, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5161ac0bee4568216c8123fc7a79e460005cd28e1ed25416f48f28ed4e5412ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b3fd659350e05d2392fb5a5d551eb39e74cf4a8b1ac72b3302f9444d4c2576",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbcf44aedf16bc3baba88aeeb0a25a6052ac57c75833ffafeefde31960842d85",
      "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 · 3.411 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 49 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]: [-0.5285, 1.7729, 0.7452, 0.2768, -0.1276, -0.1047, 0.9986, 0.4843, 1.6245, 1.0039, -0.0532, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3848 left_y=-0.1945 left_z=0.0247 left_yaw=-0.3816 left_pitch=-0.172 left_roll=0.0283 left_gripper=0.9986 right_x=0.3863 right_y=0.2498 right_z=0.1307 right_yaw=0.7385 right_pitch=-0.0962 right_roll=0.0133 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -9.4838, 5.5863, 1.8974, -0.2613, -0.1245, -0.1197, -0.3077, -7.6786, 6.8034, 1.7411, -0.1197, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1349, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1956 left_z=0.0317 left_yaw=-0.3829 left_pitch=-0.1587 left_roll=0.029 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1282, 5.6, 1.6239, -0.2076, -0.0904, -0.1245, -0.0615, -7.6923, 6.8308, 1.6044, -0.1441, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7447, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4839, 1.9995, 0.7208, 0.6998, -0.2184, -0.1741, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0314 left_yaw=-0.3837 left_pitch=-0.1596 left_roll=0.0289 left_gripper=0.9988 right_x=0.3885 right_y=0.2515 right_z=0.0022 right_yaw=0.7428 right_pitch=-0.0037 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.6513, 5.4769, 1.5849, -0.0562, -0.0659, -0.022, -0.6222, -6.7214, 3.0974, 1.033, -0.1538, 0.0904, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5161ac0bee4568216c8123fc7a79e460005cd28e1ed25416f48f28ed4e5412ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b3fd659350e05d2392fb5a5d551eb39e74cf4a8b1ac72b3302f9444d4c2576",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbcf44aedf16bc3baba88aeeb0a25a6052ac57c75833ffafeefde31960842d85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEfd93btXR5eEdnd8mOuBwtWhb7DiKxMKo5_9hhAfb3K4X9zsgbuZTZXi_pTP9PPSevTS7da0yUok9KQ9GOW5dSNLbPW3iPFTlMe97CFsDgXE35SkCdTDLFoYB-zqtInuNiqczESYw6HSHMCzc7ES3bBmq5x02eKG1LMc8Xu2qmPeRhI5vQMo71ggx_OIW85zPSbl-Rj4PKImEd7PJAzgVNksz96erhAi348QqLbOvq5QbpWXtrv-CLwNLODhyj3-Wquvxvy5j008vmcbSP7dtlSHVsPQVqUOo4bVlUrVRXkw2lzPhButLOe50wZ0Qh12sn_ftUW6Rv5jbZya83TeiVG7mfy96hPaxEXq7qFqAVQXKIsl2agfzoz5QLkjOy-yDlsRxt4aMX95IkweYhdBLKnCwUAD2GAtjXPhl6Jk3YJbc7OMwh_ipuLjGv25dH1T_eGq6y5xC2HgAjIhNCy08571odkyiATxUJNmOqK4aZtOTHk0rVumm-yUpGlih42KzPE79rUVDs1zNHxaoxiUNeXQKGpgd0K4Uda2bdszfTScnj203_GDJwsxydA0FsTtGYqCQ4UIptJfo-ZAPRpFYVU0_yy5ZDgbWnF9ZQ5zsQskxdhtiV-oD51Nzjt54RMMkhb6RCtlCkxkZNOghm4z-kyAcAVZktXFBKT-w7o-V_LfWOLS1Kei6s25j_JVfh_cN6dDpWVcdZvvHoZU1BQvVb3yGKYkPhEHaPAGatKhJCLEN3ye0T_lG1gybSgxD5Y3TODEmWecO9Al1f4Evz5U_4-0gyAC2lekratuwoiEGd3U6DHsjgIUmbBlHUHgRzUr_YMhloo94Qdw1dsLiK7drNpE6h-OpiNpb_OlgdshKWkcAvvCjcEJWKeUVfUjc4qE-len4q6k2sjeTr7XwjAQEY-RTCg6oWbrlNa-0_pMnEDsAcANaOcVqRqhBNVf0vnDZkh8Al5HD4yIvA4xy2iJiJ8k74-vQibeP5lD4egQOUljzowAwD846pR9c-2PFYwB1P5TwmXR1pWPJoxnYRi8G2tbwSqoQZ7tgchV3Y1fQH8hP7NvBJjQzkESys9qhIQEFNS3cdQ9pSAJTMz2dScHWXfBl2_0_WaUipf6UvKoLeU4bxCe55RBYnWEIdIL9wjrNznsQ8r4l6DSGfglBAWuWC4vg6emBzfV78qaeQtqJyZTg0ngKdcMS5I7C84E7O1SP1Wvyx8Clobul-ihOp-m2pI64gVZ8-cD05ChEKL1cEac_AoreUMjf_q4ozzyNPmga2PiDoe_AeFyYTbQgYpavxGF8LK9BxcXI9Ixzokl088nkc22fu3qJTcMWr0Z39FQppa9VFs7LL6_KndwGDXKxj6y7iPt_coG2uqQNuwf0A_kF9tc30SWRgpnaDVW8nXTAjdY_zFi6VYnLIAVGZtXmjfaYxQQ8rutINVmRyKlOZarXPbTOyKS7nn0JHCPgT8hRiZwFr7wpB2H2fzunKqiSAXADAv-IUh0K7cHhdXBkIwApU=",
  "id": "rs_042d95d650c18e1c016ab447dba5c887d09445866c3a103d43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right grasp point reached table level and the pen body is centered between the fingertips in the wrist view. I am closing the right gripper around the pen.\"}",
  "call_id": "call_93ixvTOTX3vO66cEzZXVWEnd",
  "id": "fc_042d95d650c18e1c016ab447dc479087d0b671e37efb5fbbc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_93ixvTOTX3vO66cEzZXVWEnd",
  "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]: [-0.5373, 1.7454, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4843, 2.0151, 0.7197, 0.7399, -0.2211, -0.1719, 0.049]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0311 left_yaw=-0.3837 left_pitch=-0.1603 left_roll=0.029 left_gripper=0.9988 right_x=0.3909 right_y=0.2535 right_z=0.0032 right_yaw=0.7442 right_pitch=0.0191 right_roll=-0.0154 right_gripper=0.049\nstate[joint_eff]: [-0.335, -7.7607, 5.4222, 1.6142, -0.1441, -0.0708, -0.0122, -0.335, -10.2359, 4.7932, 1.3407, -0.0366, -0.0366, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d54a97a1b3a47c0b3f0a637b961c9ba3d83ea099dad51272b0ccaa76f68697b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1638332da6b508903963da1b80f22264289b0df134f4e613e49e5c6c4da7da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0dd9a77ca0d435343fc57abe87f87ec0a43a55b5caf5ad95a4d8d32eba4ce0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.478 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 49 changed as sent

message 53 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]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1345, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3817 left_y=-0.1957 left_z=0.0317 left_yaw=-0.3832 left_pitch=-0.1588 left_roll=0.0288 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -9.0051, 5.7094, 1.663, -0.1587, -0.1001, -0.1245, -0.2256, -7.8701, 6.6803, 1.6874, -0.1587, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7447, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4839, 1.9995, 0.7208, 0.6998, -0.2184, -0.1741, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0314 left_yaw=-0.3837 left_pitch=-0.1596 left_roll=0.0289 left_gripper=0.9988 right_x=0.3885 right_y=0.2515 right_z=0.0022 right_yaw=0.7428 right_pitch=-0.0037 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.6513, 5.4769, 1.5849, -0.0562, -0.0659, -0.022, -0.6222, -6.7214, 3.0974, 1.033, -0.1538, 0.0904, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7454, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4843, 2.0151, 0.7197, 0.7399, -0.2211, -0.1719, 0.049]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0311 left_yaw=-0.3837 left_pitch=-0.1603 left_roll=0.029 left_gripper=0.9988 right_x=0.3909 right_y=0.2535 right_z=0.0032 right_yaw=0.7442 right_pitch=0.0191 right_roll=-0.0154 right_gripper=0.049\nstate[joint_eff]: [-0.335, -7.7607, 5.4222, 1.6142, -0.1441, -0.0708, -0.0122, -0.335, -10.2359, 4.7932, 1.3407, -0.0366, -0.0366, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d54a97a1b3a47c0b3f0a637b961c9ba3d83ea099dad51272b0ccaa76f68697b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1638332da6b508903963da1b80f22264289b0df134f4e613e49e5c6c4da7da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0dd9a77ca0d435343fc57abe87f87ec0a43a55b5caf5ad95a4d8d32eba4ce0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEfhbaSrNJ0nZAhvlk8Aw3vdm8PdFXQNOfu46Z0LkWH9DPZnw2ukN4m98mQUjpgXoWgWQL46iFeDM-OgyNU_EkQ-38NSwrpX1zPvOKDlhUnjvA1oDozQ5EqvzB-RtChijb0gCmPMGcfIXh-FXpGa83uAyrFu5RoXU0DFS8o0LvQ5KlFp3SvNAa8y_-C6IHjRhmZ5nk_gaj0I1XwNH-3SbRzDx0fPI0KOHumsoO46jEbX_4HGtQV6WIR3CQKlzUbPJJHR0V6I_jWCylwlM1AL_mwB6NvQ1PKbVtNxdrxRrwkjgM4WAf1gEx9M37kIc90hcMyW9qzd5HNBC2izSCYAkU6ux9LQnL37bk3bLQTUj9aOhOKlhmCxVnZoa_K203uNuXqSpxQLk5_86xo91SxQX5vPJY39iLZTxUcUUPQbkRArTMKw09TzrGDqMAW6-u-DLO_rse8_7WEYsJxsFX2f5MvCfoh6kwVxmMZbPJpmz4tNNgngrmXp3Mic3LaW_z7YpgzsiwE-y7VZqQUpDT-NNHTQ3IA9vKIQ-s9pNLWCcI1zO0C04xNn1iagNugKMtgL_FdvsHsKSpYjIpHFhV7Yrr1rxVtonHASR9xQjdv1T0xevkS4luaRLQsrLL8LdFfXav45kaU8Cazux7iujrizPisEnvyjuPP9h5HVbkvnKUk7fAFKo0itEvkbYtIcSCBFCESbdVgSDQdpaBAEHuI5VoYXW3KN0_S_2Ki-jMA7id26-BRcTMaSrRjDt5basv-vd-pA8sahe_EUZP5NXoABaLtOd4uWrh-Pd6U3vag4hydi0lK8SKn7yklNKjLUgdAawXsXmobODph_GPWaTE4yBrO6OsSnAaWmNQiblkiecvgDVIcv86BdoD0ZtXr6qLcRmRWa7DnL4FrcZqtQPdVm0FdJgUTHy-dx_R3pYT1sfVd8OiGznl32HwG1p6NE10KHylsu1RwrXY_2QUZ7a-ERgpaiCqr1779yJ9vkxJbyyf9q7Lmn1qhhmyXQgWCb-A0EPuneGshI5lbeKguha7vZPx6bbfC-OdchCb7lB5jh3o-uirJUpoV5sBTB4dggtSFSwxhS8K_aKZCoJCvhWgCIXBq-Ov5kgt-we0UwzT9Tzc398xfvQ0GrbTd8qKdhDfaSrdiVbc3XNUG7waow4FJP3ZBr1xbsWQv3Y-A8o6vfdV2-o67eyjLpJVcPEThpa1GFZzaw9Dy_9-5M10ObBcysSLjPPsvMNNtwA6F_2ZnO1i5QJ-y-KWLslPKCYST2BkA-N85f0lSmd9JfwJbzUi0Php9WTP5vdGZBJK25sceuzthgWcEzfgJdU4mq7ZHc1Kf4hBzxRT9N2kQTewkT_TFqqnCwLZIPC4KQgus4cXdiATbpqLEBhemEUGIP9mBl4y0MAde89224xAhUTw1WZSZU7Q4xXlJL4tn6EMcixr2SFogJ0qPKIVy-7YGL-jAaqNUoypVVJqz6qHuMYbY71CSxdRxyZlhTO7RSlzmvBzNe6Ky5EZl4yTOOJeH9sRBf_AqixfOhrTwOG9lLTBK29tzSW8oPhi1DK-_3-FgNfQzNXdE7DwvCR_zd7rznJOMQ3zRDYQRiWYy5yJku4FkeSF1QXnn3cGBQlaul2Mc2CdAV9WEo5wZ3WM1CSWhouFermNfPICTJiniIPPY6terBSKQ9q4mlh0QNBTMlDj2B1mjNW1cGgyBwRq5rfecRxW7tsz97LcUETaRXkxpwMcwC9xCxZvvONAMuV3639KWrFWX6OY1sqBwDlE-G6SCQiXrmMFNKCKh_Vyx6ZCdRNSGwotTvJcwgJPz_mRN5okONHKUz2WTGoztRxJ07lxC9NcLhxekdlgU-",
  "id": "rs_042d95d650c18e1c016ab447def85887d08132c39d24a247a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.17,\"right_yaw\":0.74,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The right gripper settled at 0.049, above the empty threshold and consistent with gripping the pen's roughly 5 mm body. I am lifting it and moving it toward the right side to confirm the pickup and clear space around the cap.\"}",
  "call_id": "call_Qdaw8jd2KBneo3zfLTY2acl0",
  "id": "fc_042d95d650c18e1c016ab447e04cf487d0a6d575bb48b0cf7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qdaw8jd2KBneo3zfLTY2acl0",
  "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]: [-0.5373, 1.7485, 0.7345, 0.26, -0.131, -0.1074, 0.9988, 0.0788, 1.2968, 0.7597, -0.1162, -0.5194, -0.3973, 0.0531]\nstate[eef_state]: left_x=0.3796 left_y=-0.1951 left_z=0.0278 left_yaw=-0.3859 left_pitch=-0.1746 left_roll=0.0291 left_gripper=0.9988 right_x=0.359 right_y=0.1199 right_z=0.1567 right_yaw=0.7029 right_pitch=0.0039 right_roll=-0.0134 right_gripper=0.0531\nstate[joint_eff]: [-0.335, -8.0205, 5.641, 1.7167, -0.0611, -0.0366, -0.0122, -0.1846, -6.1333, 9.1145, 1.5604, -0.3443, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a05c3632f9d4e371ff9afb62f2c8e1d13d15d1f88ee17e1e11e5e697b74113e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a6c26a23cf361fc97ec1a910c7f6ac8c98c1c05544c88813f9bcdc84b85933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3cf28a73d0b1096fbee8dd4a5f2296ceeead10f57426ffded6711f3f54220b",
      "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 14 attempt 0 · /responses · status 200 · 2.123 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 53 changed as sent

message 57 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]: [-0.5373, 1.7443, 0.7345, 0.2714, -0.1349, -0.1078, 0.9989, 0.4843, 1.6245, 1.0039, -0.0555, -0.2146, -0.1692, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1956 left_z=0.0317 left_yaw=-0.3829 left_pitch=-0.1587 left_roll=0.029 left_gripper=0.9989 right_x=0.3859 right_y=0.2496 right_z=0.1302 right_yaw=0.7386 right_pitch=-0.0984 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1282, 5.6, 1.6239, -0.2076, -0.0904, -0.1245, -0.0615, -7.6923, 6.8308, 1.6044, -0.1441, -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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7454, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4843, 2.0151, 0.7197, 0.7399, -0.2211, -0.1719, 0.049]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0311 left_yaw=-0.3837 left_pitch=-0.1603 left_roll=0.029 left_gripper=0.9988 right_x=0.3909 right_y=0.2535 right_z=0.0032 right_yaw=0.7442 right_pitch=0.0191 right_roll=-0.0154 right_gripper=0.049\nstate[joint_eff]: [-0.335, -7.7607, 5.4222, 1.6142, -0.1441, -0.0708, -0.0122, -0.335, -10.2359, 4.7932, 1.3407, -0.0366, -0.0366, 1.0085]\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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7485, 0.7345, 0.26, -0.131, -0.1074, 0.9988, 0.0788, 1.2968, 0.7597, -0.1162, -0.5194, -0.3973, 0.0531]\nstate[eef_state]: left_x=0.3796 left_y=-0.1951 left_z=0.0278 left_yaw=-0.3859 left_pitch=-0.1746 left_roll=0.0291 left_gripper=0.9988 right_x=0.359 right_y=0.1199 right_z=0.1567 right_yaw=0.7029 right_pitch=0.0039 right_roll=-0.0134 right_gripper=0.0531\nstate[joint_eff]: [-0.335, -8.0205, 5.641, 1.7167, -0.0611, -0.0366, -0.0122, -0.1846, -6.1333, 9.1145, 1.5604, -0.3443, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a05c3632f9d4e371ff9afb62f2c8e1d13d15d1f88ee17e1e11e5e697b74113e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a6c26a23cf361fc97ec1a910c7f6ac8c98c1c05544c88813f9bcdc84b85933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3cf28a73d0b1096fbee8dd4a5f2296ceeead10f57426ffded6711f3f54220b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEfl9d0lzQQ-0pbjNnZ8mo-XBArKrKbrxcGVyOQG16mgd43dDWlZhoFWA3jc9z9pYVo2McbRyRrWSs0_ANHS_UFKv8qWvHLSiv8wCakURBOMS0vawTr0cyoWpxMzUBpOT_UIwqVKgkapv1UXzKoRhKot9_MWSPKN-oge9kuwh9QNWVLRdHKWwxGReIvyVuTGQObvCnRopCxetQvXvhw6zcvbfOWsc64SbEQk-6ActBbar_awCzxG7JrImrdLgd1ow84v4oij3VeewZUhmhPa7bGeJHgh0o-BDw_uwW6FhWZA2zJ78fV4DDFwCQcEe1MrWUaASHwzRBkVop8KF7qiAQQ51XWzl9NZ1E-tDHJUm2R6SX-RclWWhgmG-puouT-tpxK7DSiFqbEmEctnn5S0Fg8R5r8LDVJZAfdZixIjhPtyefwvm_d5lPie6Ag2LVt174r6GhX4j5O8KurcVZJyZoVJf4qAkl_Q-7REh1lsysmiwdKYviloiIr0e3h4XgtNYZSNTUhGpGhDUufKq6ry7kQeAK0kXZGl7Xd5Kd7b0itaUSBEoxs3hpmqRV70GvfbZGr20y8SNtu3ES1zy4MERg61Mo-Dzq4TWKaIKEANRqhxO5kVYg_1QYOQ7Lq-D4QgDJSf93N36c_Mv20zsYduaLkZ9FTBa-QLV3P-jP_nUzYUUUcIdSMG3ZiGj-0viIH1McX75Ome3sx_SatkUUeYioyXiSBOdXkeAyhFSJcisJ_thmyhfa56qKdePRCytY5RW_X5a_Rf28ThKx3A9m0NSa6DXNFblYB6WeCTiKhtYtmZQ9S4eloe-gfXSJo2GkL_Ppj7MswAzsGeUW3fph-7oGNpzYYA6F3YzD8VLblqjkGKvimKjgtgIqRTirD50IfGQqf4ADVRn7sREcGJ008D3cMJukVUJ9cqMZq8YvDzTFfYv-WEdcgVzPfhKSoRaicQdMRjFF3c6F6JjdMvoltMmzlmodOSPXEDKe4mR7edY_42-Gf4MRTMDB724IkezgwT5tXOLFnsBsdq55mzPTJQy5jA5S_2tTggt1M0vQPzRdlHNq2OutRFhJAbFns8tZGixw7a32--Xk5KAlvVnFgtX2aA57MEc1ztN6_QTQou6S0UxFel1J1eIJsG04r900Pq1_s4wJWBYwpxmdm8C49ZrsMU1tAP0_-zXV4Vc_KDsX5pPt_U8cwW1fazZsjv3Q32YxfeIGxpjA67Wk8EHXV8ub8D3twSIYjAFZmXG4fcXkehXXHps2b9TnbJ1qf_bqr0ostIarzmQ2b1Cb3-9LueTGcp8fM6dndp6RAhqNQKh7fFprona3z-HXR75olsh40dqXUx7Ot2-fF21IPRtzmG1sUyUAzHyuYgP93FZGvU-dXmh7vY53wS7fmsH8FeoYWztr0idvKv9yH7VdO4SVwv_LHqoe8fFnFfpDDDCY7Ah79R12jrPLTdP-X1DGuv1u1bpIccTiU5AHKRCYN56DXIwQeMcdzLEcU5WUt3ItkEae72NBYO2g8CqM1C1q-IyZxZaEALrA3MwB_t2lF5Ih2cY18mUD2GFadZZydGNnRySkCUeZMNACNFq4uqm8dR2z_8-ggFEWFgtLT9yOjf-1GUb7J0YPUXP9PkWGAPVEb8jbsf7PlPFrOeVYRnqqvRdGRelMCHajWhsu-JlImDv81YxDTbHvjyLCRPxh1trGxDFg8lplLTNiC2BiQmfO3A6N53joAGtqYGub_kdHcmd-S7EAJm3aJjk-QSaDRfTa178KkO1ViQjZCJUoos2zdCYOn8NLvGiTwy17kp-vh4F6z-SBIX7A==",
  "id": "rs_042d95d650c18e1c016ab447e45a6087d0bd7b196afe1194ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.195,\"left_z\":-0.01,\"left_yaw\":-0.38,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The pen lifted with the right gripper and is no longer lying at its original table position, confirming a successful pickup. With that wrist moved aside, I am retrying the left descent over the cap from the corrected inward position.\"}",
  "call_id": "call_5M9O3eJSJsm3tH9W1z5uoZlc",
  "id": "fc_042d95d650c18e1c016ab447e4d52887d0899e4afe2bc25292",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5M9O3eJSJsm3tH9W1z5uoZlc",
  "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]: [-0.5373, 1.924, 0.5823, 0.7582, -0.1543, -0.1032, 0.9989, 0.0742, 1.2984, 0.7609, -0.1429, -0.5247, -0.4152, 0.058]\nstate[eef_state]: left_x=0.3849 left_y=-0.1935 left_z=0.0001 left_yaw=-0.371 left_pitch=-0.004 left_roll=0.0197 left_gripper=0.9989 right_x=0.3557 right_y=0.1188 right_z=0.1523 right_yaw=0.7122 right_pitch=-0.016 right_roll=-0.0099 right_gripper=0.058\nstate[joint_eff]: [-0.212, -5.9556, 2.9333, 0.9304, 0.1783, -0.1343, -0.1245, 0.2256, -5.0256, 6.8718, 1.8339, -0.1734, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3492b9af65d091074a56330000e0538fe45ee479b6708f4e89fb6660028100c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81d5c40994b31c25c6e689ce549e8ec723456a090fe1a637f0621ae3b524ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58315d8df2bd9e97d127820182c2f3b19396f4e27576cfb0c052d24b37b37c2d",
      "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 · 18.95 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7447, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4839, 1.9995, 0.7208, 0.6998, -0.2184, -0.1741, 0.9991]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0314 left_yaw=-0.3837 left_pitch=-0.1596 left_roll=0.0289 left_gripper=0.9988 right_x=0.3885 right_y=0.2515 right_z=0.0022 right_yaw=0.7428 right_pitch=-0.0037 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.6513, 5.4769, 1.5849, -0.0562, -0.0659, -0.022, -0.6222, -6.7214, 3.0974, 1.033, -0.1538, 0.0904, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7485, 0.7345, 0.26, -0.131, -0.1074, 0.9988, 0.0788, 1.2968, 0.7597, -0.1162, -0.5194, -0.3973, 0.0531]\nstate[eef_state]: left_x=0.3796 left_y=-0.1951 left_z=0.0278 left_yaw=-0.3859 left_pitch=-0.1746 left_roll=0.0291 left_gripper=0.9988 right_x=0.359 right_y=0.1199 right_z=0.1567 right_yaw=0.7029 right_pitch=0.0039 right_roll=-0.0134 right_gripper=0.0531\nstate[joint_eff]: [-0.335, -8.0205, 5.641, 1.7167, -0.0611, -0.0366, -0.0122, -0.1846, -6.1333, 9.1145, 1.5604, -0.3443, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.924, 0.5823, 0.7582, -0.1543, -0.1032, 0.9989, 0.0742, 1.2984, 0.7609, -0.1429, -0.5247, -0.4152, 0.058]\nstate[eef_state]: left_x=0.3849 left_y=-0.1935 left_z=0.0001 left_yaw=-0.371 left_pitch=-0.004 left_roll=0.0197 left_gripper=0.9989 right_x=0.3557 right_y=0.1188 right_z=0.1523 right_yaw=0.7122 right_pitch=-0.016 right_roll=-0.0099 right_gripper=0.058\nstate[joint_eff]: [-0.212, -5.9556, 2.9333, 0.9304, 0.1783, -0.1343, -0.1245, 0.2256, -5.0256, 6.8718, 1.8339, -0.1734, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3492b9af65d091074a56330000e0538fe45ee479b6708f4e89fb6660028100c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81d5c40994b31c25c6e689ce549e8ec723456a090fe1a637f0621ae3b524ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58315d8df2bd9e97d127820182c2f3b19396f4e27576cfb0c052d24b37b37c2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEfo52hNILxbQJUXPJJi_XpUzS-7hGzupIaK4Cm_O7VYBPGEvppBB_ObKXwyAtumwSnx4_k4Yp0Yq-nSkdCI5GhYKaED8qVWBLcAvLUsKOVIaEhspQ_CjKEGIbqBfZzr9A4GMO0iML3P7KZqBbuX2xY99ONmyKV2h1OToErXmS59witW1G8xWx4j5fCOjRYcSuFXnEOBU3RB16BmKM01cCmeBdA9NCmkGHGb6vNcC6NCJkSLOKCSdOfbqCHpg9vDXz2qyLEtUEveiImNdzjB5EXYxVa_SVNvVU-WUUgNMWZ_y-wkqU8PfIqftl61sPJOSNhQBUxaWq3FLU6lhPWw0SNcvKQbhS839oZbka17pEgu3MWBT7v7NSGnBGg6nqpvCRXHrnF5gvhvJ3RnVy2sbx282AvESmAAd0bTz86tZS4PAH2M95wxEUAVwnRXzgdYQigyc0UkXoh2vkcmTwHCXvuNsaDS26yjzXisxyUc48BFDsk6hYaqXuE904B_4FOdWUoOyFRg10axyJxfuGao6q5LVBfYEk18-Y32GQQ7cGIFNUfaAWGeAhFFDwiBbv7cemQMD475lExPaX1uIZSHCtgL6kDgYw_b_iljIClavGh5LdzOAJDwnrUHs6uTNB3AuXR_D7l7RfysSdxxVMUuyBO-8mW7-aPZgnalO1X_wKTeeCKzxvIDNDByLYmmRXzC3i0O17dYGs046zY4NIVQu0blSHc6G6BqLPZpxmfameiboD8QWYQL507E-53si-PQb3Vuv0SRm2LXP4-mqlF_41rN9RToAnJ8dogqEM8EKiwnvleOR2XWUPr1LzYMRCb0o4FhbX7VLHgy7WMcnrqXeIDmrNo4-5jo4KrtJNtALjKuL2wOJnf8eBxNUc0Tsh9HYdpFqSoM4HWenXW5cTj2bNX8Em07qb2TqPIftT38bu-w0o9d1YOcRzGaMVmDAZTkSXcY1YA-5xx7ij0lUIYd3nX5NAd0Et-xYvMB-2e21RcwA3bUuCXobXfblAMqHlH1gFSgavc7ZF1_Bv3wcI2ouQy916Q1TpTdyT6zyUvnnVgZhCKvo4vhON6s2Wshm0DeHsZvBX9ZxumX-zT3KXg4YxKaCHUigPLwDdzmuZtGP7jEm1Tl8-jyuyYJ-iJaZqLdp49YlpuBg82mO2Gft7FiWDjfE9NIIlEby7FtvYWmwOslj-okHHexmitPP9WOFuJ37Nf0dTiGreCp5sTJq6laiVgqmJVCNv8mgQRTXXna-wGqX0f7YPbkS5W3WpJ6E4Wiu5WCzJBLThETmiDil7d4C_ShBKY6rq9wCYdUlJ1g31mLGgv94zKXqFS8VRw7LIn7t34OLVGtNUHzPoUhCAecRaUFfg==",
  "id": "rs_042d95d650c18e1c016ab447e7b65887d0b3980fc9b92e8d8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"With the right arm clear, the left gripper now reaches table level and the cap is centered between its fingertips. I am closing around the cap body.\"}",
  "call_id": "call_4Yeyn3CJQKx3p9Qy5lX41BWx",
  "id": "fc_042d95d650c18e1c016ab447e8152087d0832fa3b6ec18e715",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Yeyn3CJQKx3p9Qy5lX41BWx",
  "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]: [-0.5373, 1.9385, 0.5777, 0.7998, -0.1596, -0.1051, 0.1096, 0.0734, 1.2984, 0.7605, -0.1493, -0.5243, -0.4164, 0.0615]\nstate[eef_state]: left_x=0.3872 left_y=-0.1938 left_z=0.0014 left_yaw=-0.3655 left_pitch=0.0187 left_roll=0.0172 left_gripper=0.1096 right_x=0.3549 right_y=0.1184 right_z=0.151 right_yaw=0.7118 right_pitch=-0.0217 right_roll=-0.007 right_gripper=0.0615\nstate[joint_eff]: [-0.1026, -8.9915, 4.3556, 1.3114, 0.0806, 0.0415, 0.5495, -0.0205, -4.7248, 6.735, 1.6044, -0.2076, -0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e929af9a99954f1ccbeb62032a0658bc22c05ee22450a308ff80873409e1ad07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd867ed011cf086a3a3330208c43274fae598cdca815d878738a8678027c9207",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8083bea3eb61ca91c70342797eccb27ca0df0c14c16f288847acfbc31a5ca9dc",
      "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 · 4.706 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7454, 0.7345, 0.271, -0.1341, -0.1074, 0.9988, 0.4843, 2.0151, 0.7197, 0.7399, -0.2211, -0.1719, 0.049]\nstate[eef_state]: left_x=0.3816 left_y=-0.1957 left_z=0.0311 left_yaw=-0.3837 left_pitch=-0.1603 left_roll=0.029 left_gripper=0.9988 right_x=0.3909 right_y=0.2535 right_z=0.0032 right_yaw=0.7442 right_pitch=0.0191 right_roll=-0.0154 right_gripper=0.049\nstate[joint_eff]: [-0.335, -7.7607, 5.4222, 1.6142, -0.1441, -0.0708, -0.0122, -0.335, -10.2359, 4.7932, 1.3407, -0.0366, -0.0366, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.924, 0.5823, 0.7582, -0.1543, -0.1032, 0.9989, 0.0742, 1.2984, 0.7609, -0.1429, -0.5247, -0.4152, 0.058]\nstate[eef_state]: left_x=0.3849 left_y=-0.1935 left_z=0.0001 left_yaw=-0.371 left_pitch=-0.004 left_roll=0.0197 left_gripper=0.9989 right_x=0.3557 right_y=0.1188 right_z=0.1523 right_yaw=0.7122 right_pitch=-0.016 right_roll=-0.0099 right_gripper=0.058\nstate[joint_eff]: [-0.212, -5.9556, 2.9333, 0.9304, 0.1783, -0.1343, -0.1245, 0.2256, -5.0256, 6.8718, 1.8339, -0.1734, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.9385, 0.5777, 0.7998, -0.1596, -0.1051, 0.1096, 0.0734, 1.2984, 0.7605, -0.1493, -0.5243, -0.4164, 0.0615]\nstate[eef_state]: left_x=0.3872 left_y=-0.1938 left_z=0.0014 left_yaw=-0.3655 left_pitch=0.0187 left_roll=0.0172 left_gripper=0.1096 right_x=0.3549 right_y=0.1184 right_z=0.151 right_yaw=0.7118 right_pitch=-0.0217 right_roll=-0.007 right_gripper=0.0615\nstate[joint_eff]: [-0.1026, -8.9915, 4.3556, 1.3114, 0.0806, 0.0415, 0.5495, -0.0205, -4.7248, 6.735, 1.6044, -0.2076, -0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e929af9a99954f1ccbeb62032a0658bc22c05ee22450a308ff80873409e1ad07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd867ed011cf086a3a3330208c43274fae598cdca815d878738a8678027c9207",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8083bea3eb61ca91c70342797eccb27ca0df0c14c16f288847acfbc31a5ca9dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
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  "summary": [],
  "type": "reasoning"
}
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  "id": "rs_042d95d650c18e1c016ab447eff01087d092e1ea55cebb6735",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_042d95d650c18e1c016ab447f4c77487d086206b0e2fc553da",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEf8-PWwjIlOK5WII2CiTXbSgjmUb0CebuN_2JKRbe_M-n98nx2hQXdXW7yjCW2-q11OT5FiB1tqGyJOrcTPQOY0zwmtljR_1-V1e1HL48QjiK9r8serXd-rjqdmQhODAmSJiptO7luUjFBqbTLyG1G4NQV5sChQN_S_pwC2aETxH5Ak2Dh2G0ttWbwuOQ-_rAyiJ2Sxg_myUXO5uYlIpbxfBKbWtsGsOEYTCWtjtQcfpAp1JGwFtOTxrXZDBFQMzFGOgxozgbyx3Ab1TooJmNKqH0yUglCYTQH4p6tScgYB-N0DOzUulcO-Lb-tHzb218sDnk74tR42nVgPT-vZ2PzG5HEWI5AtNt7JrKsmmyK4Z2NBjRVQsrmgLfRrnXv8OOMubqiYozNf6SsKACKYJqTL36TQ3RFjLe6T7xEM3bx2o-lLc91yhSZ9aBx2-vae1BQd0Lrl0lRBLTVL8yWQ2u_X7zvH9SQfrUZPEFdRxGWTmCd6RMk-nPs1rpV1wS9l64rAgCKWZUaHFjakDpcrYvUr7Fb2TeXcxeTSngPJ8VrJSGx66kXNU-F-5zuQH1dNS-TzKP21bMFx12hR93g2snMYEzrm8lNrn8yMX0LPtl-Y2jRNmChgQqZ1qfyEplG80lXFR92T2q2LsoCltWQ9LOmyMKPdQ4_WANRX_o7LDjwSyw7mCbCY751XkmSAKFDrDoioWW5e4tzJ1ws1lO4bwJW4jGYqPPVchn5zRi0h0Vth1t8OLoy6NGtdzMgPVMSiICgZ1Fcxx1cxVu0cIZznV2SqECI-pSr0d1zV02UHh762qrYs0kubxpwSJDxz84QqxcebGAV_qukexvTYlLRfRM7zY2UY0I63HiqRoG7HqiT77PIe9eXs8FW_r_M_DIoXvwS3KAxIWXv572MaHkGntbVpR_RY1NBgnGIBOTFgaOK3F0dnQzhHs8NPpw9M31Xs8uqRfh5EXDpc4YtoNlu4ndJFYkGyhKg5nCn-KuZLK9cKSef0v7CkecdoqnUQTUUCWQrkJhuuZj4EWTmf0Wb-_iAtmkOJpZ7-WADMbza4xTBMQcHljFsQiJ-drnvGdZpr50ctayd-lGM16audBsNToOCwagXB9B-Ycrx5pjHaVhZYIrCgwUNTdz0spE54y8KZnt66PQA_KS1tarGPL-Pa0V80ZJQYBMqkcmS_jBM_n2oN8FN5y_bFdP9b9XrAwWJGQoLuzeSMB3YgbSX7a1ZGfshA7jJk1VZfZ6c6yjb2MRVMZnb3CYuLfMG-TIttVVudr2fx0uHXSd1tYxB9l__O1XBYZNb8xFyvJwH7Qhhf9-Z9fslat5x4CWSk7B1OastatAIN2pujY0aufzjvFRyPltpZHSnf_aaOkW_x2vQ3_jqZiCUBq5bqV9y591QLjecRS2ZCB52dHb8G8b7IJyzHYgr8gJg6idqdu5iDTRIf3bLQsRqaMKURQ9jS07JGs0_0nblv8eyKot63jnnPb3oY6H8popKSfVFgh9GQRQLN-x66XaNHkejpSK-9N8NFLxz5fl1UBHXy3Jdt3Cw-5d1uFqicdIvR3aZFsiC8nBLvDO7WKgnmiGyf59o7MhwaGRO1J8pKArWNzdzMLT3mrh5y4owizazR4LeGxZy4e078pUWa55jQqZrrCT4_dWDB_Cod2Gst3RjrZjXCnPg2r4Qpg6pfCnQqkZgjO02zCa38CumDLmBMBWCcyBb8bDfNlJ3nKilxUqOPgAAR1E6NJ65o5ifk5Q==",
  "id": "rs_042d95d650c18e1c016ab447fa2c3c87d09e7510204693dbbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.27,\"left_z\":0.17,\"left_yaw\":0.71,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0,\"right_x\":0.34,\"right_y\":0.29,\"right_z\":0.17,\"right_yaw\":0.71,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The left gripper now reads 0.11, confirming a secure grasp on the roughly 1 cm cap, while the right still holds the pen. I am lifting both and rotating the cap collinear with the pen, staging their grasp points about 14 cm apart with the cap ahead of the pen tip.\"}",
  "call_id": "call_7QnRrtDBDM7he9YXqLKJwGHU",
  "id": "fc_042d95d650c18e1c016ab447fb64f087d0bef965b73f47dde1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7QnRrtDBDM7he9YXqLKJwGHU",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.757, 2.4832, 2.328, -1.2907, -0.9432, -1.3937, 0.0849, 0.4919, 1.4689, 0.8909, -0.0639, 0.2127, 0.1398, 0.0586]\nstate[eef_state]: left_x=0.4653 left_y=-0.238 left_z=0.1226 left_yaw=0.692 left_pitch=-0.0508 left_roll=0.0395 left_gripper=0.0849 right_x=0.3911 right_y=0.1714 right_z=0.1459 right_yaw=0.2194 right_pitch=-0.0655 right_roll=0.0009 right_gripper=0.0586\nstate[joint_eff]: [-5.2718, -10.4547, 7.706, 1.1355, -1.0379, -0.0415, 1.033, 15.3504, -5.8051, 11.2205, 2.2295, -2.9963, -2.2198, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3bcbb1412e1dfa8f44384e09b43673cd2776bfa5a7b89b8e2d6a1e20a9a7f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf0968e970007209fa2273e5b44326d2b33989c2228ac68a3dede244bcbd5a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f89606606f317ad0dd8f7a96a3dc87b48d61ab0703711280c9fd9c1667699aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 7.914 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 72 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.7485, 0.7345, 0.26, -0.131, -0.1074, 0.9988, 0.0788, 1.2968, 0.7597, -0.1162, -0.5194, -0.3973, 0.0531]\nstate[eef_state]: left_x=0.3796 left_y=-0.1951 left_z=0.0278 left_yaw=-0.3859 left_pitch=-0.1746 left_roll=0.0291 left_gripper=0.9988 right_x=0.359 right_y=0.1199 right_z=0.1567 right_yaw=0.7029 right_pitch=0.0039 right_roll=-0.0134 right_gripper=0.0531\nstate[joint_eff]: [-0.335, -8.0205, 5.641, 1.7167, -0.0611, -0.0366, -0.0122, -0.1846, -6.1333, 9.1145, 1.5604, -0.3443, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.9385, 0.5777, 0.7998, -0.1596, -0.1051, 0.1096, 0.0734, 1.2984, 0.7605, -0.1493, -0.5243, -0.4164, 0.0615]\nstate[eef_state]: left_x=0.3872 left_y=-0.1938 left_z=0.0014 left_yaw=-0.3655 left_pitch=0.0187 left_roll=0.0172 left_gripper=0.1096 right_x=0.3549 right_y=0.1184 right_z=0.151 right_yaw=0.7118 right_pitch=-0.0217 right_roll=-0.007 right_gripper=0.0615\nstate[joint_eff]: [-0.1026, -8.9915, 4.3556, 1.3114, 0.0806, 0.0415, 0.5495, -0.0205, -4.7248, 6.735, 1.6044, -0.2076, -0.0073, 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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.757, 2.4832, 2.328, -1.2907, -0.9432, -1.3937, 0.0849, 0.4919, 1.4689, 0.8909, -0.0639, 0.2127, 0.1398, 0.0586]\nstate[eef_state]: left_x=0.4653 left_y=-0.238 left_z=0.1226 left_yaw=0.692 left_pitch=-0.0508 left_roll=0.0395 left_gripper=0.0849 right_x=0.3911 right_y=0.1714 right_z=0.1459 right_yaw=0.2194 right_pitch=-0.0655 right_roll=0.0009 right_gripper=0.0586\nstate[joint_eff]: [-5.2718, -10.4547, 7.706, 1.1355, -1.0379, -0.0415, 1.033, 15.3504, -5.8051, 11.2205, 2.2295, -2.9963, -2.2198, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3bcbb1412e1dfa8f44384e09b43673cd2776bfa5a7b89b8e2d6a1e20a9a7f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf0968e970007209fa2273e5b44326d2b33989c2228ac68a3dede244bcbd5a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f89606606f317ad0dd8f7a96a3dc87b48d61ab0703711280c9fd9c1667699aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEgCs1Cpi9Iumy009gTD5J3PHx6WybxAs51v9BxPPJEZZos3pCww-TOaYapRAH7K3XcsbutZ9hfYw78L7KsGppbP8TKi3miBMYd6SJ0iSDUkNH9C_mWIeiGLkvbgpQfuUY31k8GAiPmjq_a9NGry8wHx8fsdBDrZYAvMtJ4xlpUYmQ6nCH3_fGWMFWw7vFTc-2fTFDh4-oghKkgOwSi1vjCrz41zru6hQWgeeoqXZgp5krsmp7oDzHkuua-ZyVfIJ9xTsChhuDmzgC4okBCWG-GgpHq3NnM6YcX5U_m99rJUMIABQ51Z88WTTaLWn35mWlRs97IK7lxf4OHAhP6J7LBHpwA-l9tLrmMjjiPoe8KVYC2WwKPW3BMnMVoyGN-shL0tKFBLZJWmxH_2LErbf155_9CpXIkpZI0vm7hlMzn3UN9N2YOxngd-zWtvENyVnnIrwZmV0MogQrfdImQhg6CpJ1nviODWsUdqRZ7euQ2RTjM4gAOSYsW5qs24DL5NArApnuLetDUE6CYIewAKZT2uCQGVPS7XTxM6PlECShnJFi_PE2wtertyCXUjxa5Wsq4r7jZpzww1J97KsFFInX5Q_zM_Mhr5qK5oIDqZ1ESqYnxxsOHBHhp6_F_JPk-DtjHlJ2co9bt-L8kMPOLwMaUGlfnkOSsHL9k7NDNenW_PZnXNNUr06tmRgP3of7JqboLe1No0dX3sFBfD3hfciLihVWwsPS6a209fOdoqDnjYXW1Zu4BMJjYK9ArAhP3l5sEKiwIR8IE07cSciJa2q6z_p-DzXKNNfO30SEblxTELPu7QC94Jq_RR0rCnRQsYk-83G684-kBGqYo3WgXEb7awB_3-IrqKQD0UrpcKCotJkYpsyiQGZkiGg4mRR8SZrN33GI-KBHiLIUz7euaPl-JbDVe1zFAtgRBzcbQDVrl85-jvTQewp2_hxPOHLZbVA82krlv_euE1UIqEIweLJJ6u5GCot21wha3hP4FUxL8dNWQGh_7vtEdsX5lvO2vZHWso3dAf8LUdsSLe5hIy-FPPY5sRThdYJVxygOBZF03jFi9SKlSJ5c0klyqx4YFQvu08HU1M3aWjMY06hoAKsAthbdZ6DZeZIIQdnUanm19kcyQ1BXKcyRkQNlJmm97jp5Tm_RUHDw-Ab45LA2qG4c4vOajHP48MawCDyylHKD8vhirun47AjIKvK42xLoNJ-Mcwgzc1S22pV-b1-Kk_FeJPjvs4MMp7eaFMNKL5zMZhxsnkG4UZDby_U1Vi67nmP9fu1TwWvAL-IpqshSANoONtVyWbS1ifKXR4oJzY4B_wl9py9hB3ZHrejU1tqQRmkvQtNKV9Mfopf0icB5Ce66vJrae-Humn6pVJvH0Qf9kkiEnUr2TEgf1XLvxWI9A3gHhwA9GAWCOXHYRMLvRBIukaNs1Ojgu6sEikXazELMOvzhS0dhkjvX4fxuW1SFwgUWXK9YdR6-_Os3ezkvgt3aygGcSr8f10y7vuGs0jHwqEI_RBZ9FozR0NtBhv8pa26QrJPV76uuvhzPRmh6yEc4kjtfY8ruUd6buoSwvj7gc40je9GXuejYDnCLaYJ-f32vIUwSLTcWifYoLdg-M0leQPK1ZRSrfLIJRb-2P0bDHlJxW3yQ1R9b3SoNsNq17lomM4QPaXRBEI95o2or9lKonB6AOAHDg1-Nfj0U1NR6MdoqbTDhYS8khdXrsD4lWf2RgAIoUgf9KdXVCPGK99hlLWoU5O71XNMZInKPHBMpcUOcyQwOfHYsu-TF_89TAszAQ30AIWb-S037hbqtpGnVHE9krCmzqonYoea8C_bLkdLsSU4_029mqR8KLJZ0xOIrcwAllRB1dyrMGS4asVVwhMy0k4Zi2tvs912o3OruvJrd5L5OTXd-k15rbxDhlqmqaapLRLY7u7_13-9uX0KRVub_nrv_edARfczSCwwHJzWWHayaxNJB6vguRbgx0Xe0McuiTs-fije09sZEdvF79D2MCBFh0Qj0SVTmq9q5T2gxCyA3aoFnN3G0WDMVsOaMvMawut5EURSS8Cd4vwCj4dOefaYY6ueRJ1ZOq6Rega5y5QX1bTIQys28fxxh9ybm_GitqA4Bhk-Nlw6f3uK6BmSLw-YB7yk2MgRFeBAvwWx0tV1DwFeNsOrduiHTuEb_B-TmyAqVq7n25j1K8H1PsvihG4ujgICjWUuhWdfE1PuDKRLTV5fXJrvRh8KekL5gZeAF-keOk5bs450snKqmJNo2VCkwH84LJv911Ui9ls-6_yLSJMWKqTKhW07dpf--tEi03zRDCSSHqvlE5Ku-ALlRfhXQ22_axXa6ZrEP87WpITIgsakNfMABIST6puMvKdRpzuxJK_yXPes6ybcWhQqy31Wc6wUMJqhtW7FEkJksGXVR9d5shmNlRiQ3gzeGHXUZhBhL9zaTDvPutWpHlSyZpvlc3VpEwUnycajmWNY9puLdGQYJ64oziw4yUqeT3m3-d6hAnwbW_588mbxwFAGE3Xn-ECR_HwdHNRvUZlM20=",
  "id": "rs_042d95d650c18e1c016ab447ff0d2487d083a108b54192b3bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.05,\"left_z\":0.22,\"left_gripper\":0,\"right_x\":0.32,\"right_y\":0.05,\"right_z\":0.22,\"right_gripper\":0},\"note\":\"The staging move brought the bulky forearms into contact before the requested poses were reached; the right yaw stalled and its joint effort rose sharply. I am immediately separating both arms toward their own sides and raising them, while keeping both objects gripped.\"}",
  "call_id": "call_TSvj02SWAp0aiLu955Hx4wxv",
  "id": "fc_042d95d650c18e1c016ab44801aba487d0bfdfffb000bf6ddd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TSvj02SWAp0aiLu955Hx4wxv",
  "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]: [-0.6205, 1.4693, 1.2678, -1.0668, -0.907, -1.195, 0.0849, 0.0929, 1.0122, 0.836, -0.4892, -0.0864, -0.0814, 0.0585]\nstate[eef_state]: left_x=0.3258 left_y=-0.0574 left_z=0.2138 left_yaw=0.703 left_pitch=-0.0571 left_roll=0.0192 left_gripper=0.0849 right_x=0.3223 right_y=0.0489 right_z=0.2002 right_yaw=0.1918 right_pitch=-0.1029 right_roll=0.0028 right_gripper=0.0585\nstate[joint_eff]: [0.4991, -6.5299, 6.2017, 0.7741, -0.4957, 0.0757, 1.0281, -0.3214, -4.1231, 10.3726, 1.7558, -0.2271, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1d3c7d01244c5304cb3531f746fc6443725590aafe15ee1a2cf976b5cb31eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa20ee3bea4a73e1986b5b341aa831317eb9e5cf076b5487be4623de5e3a1f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f1c8e495e97506bcc39440f59e2811801137511fdf36d043d2a5f5f68bd575",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.408 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 72 changed as sent

message 76 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.924, 0.5823, 0.7582, -0.1543, -0.1032, 0.9989, 0.0742, 1.2984, 0.7609, -0.1429, -0.5247, -0.4152, 0.058]\nstate[eef_state]: left_x=0.3849 left_y=-0.1935 left_z=0.0001 left_yaw=-0.371 left_pitch=-0.004 left_roll=0.0197 left_gripper=0.9989 right_x=0.3557 right_y=0.1188 right_z=0.1523 right_yaw=0.7122 right_pitch=-0.016 right_roll=-0.0099 right_gripper=0.058\nstate[joint_eff]: [-0.212, -5.9556, 2.9333, 0.9304, 0.1783, -0.1343, -0.1245, 0.2256, -5.0256, 6.8718, 1.8339, -0.1734, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.757, 2.4832, 2.328, -1.2907, -0.9432, -1.3937, 0.0849, 0.4919, 1.4689, 0.8909, -0.0639, 0.2127, 0.1398, 0.0586]\nstate[eef_state]: left_x=0.4653 left_y=-0.238 left_z=0.1226 left_yaw=0.692 left_pitch=-0.0508 left_roll=0.0395 left_gripper=0.0849 right_x=0.3911 right_y=0.1714 right_z=0.1459 right_yaw=0.2194 right_pitch=-0.0655 right_roll=0.0009 right_gripper=0.0586\nstate[joint_eff]: [-5.2718, -10.4547, 7.706, 1.1355, -1.0379, -0.0415, 1.033, 15.3504, -5.8051, 11.2205, 2.2295, -2.9963, -2.2198, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6205, 1.4693, 1.2678, -1.0668, -0.907, -1.195, 0.0849, 0.0929, 1.0122, 0.836, -0.4892, -0.0864, -0.0814, 0.0585]\nstate[eef_state]: left_x=0.3258 left_y=-0.0574 left_z=0.2138 left_yaw=0.703 left_pitch=-0.0571 left_roll=0.0192 left_gripper=0.0849 right_x=0.3223 right_y=0.0489 right_z=0.2002 right_yaw=0.1918 right_pitch=-0.1029 right_roll=0.0028 right_gripper=0.0585\nstate[joint_eff]: [0.4991, -6.5299, 6.2017, 0.7741, -0.4957, 0.0757, 1.0281, -0.3214, -4.1231, 10.3726, 1.7558, -0.2271, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1d3c7d01244c5304cb3531f746fc6443725590aafe15ee1a2cf976b5cb31eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa20ee3bea4a73e1986b5b341aa831317eb9e5cf076b5487be4623de5e3a1f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f1c8e495e97506bcc39440f59e2811801137511fdf36d043d2a5f5f68bd575",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_042d95d650c18e1c016ab44805a0c887d0bb041696f2b1c8a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.33,\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"Both arms are safely separated and both gripper readings still show the objects are held. To avoid another two-arm collision, I will place the pen on the table along the forward axis near center, retract the right arm, and then fit the cap using only the left arm.\"}",
  "call_id": "call_UtCYGPBAQgoSk2UQHoM2XVjI",
  "id": "fc_042d95d650c18e1c016ab4480ad3d887d0b733541afa28fcfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UtCYGPBAQgoSk2UQHoM2XVjI",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4738, 1.2583, -1.0653, -0.9009, -1.195, 0.0849, 1.1206, 1.8114, 1.1641, -0.3252, 0.8204, 0.7639, 0.0584]\nstate[eef_state]: left_x=0.3251 left_y=-0.0569 left_z=0.2089 left_yaw=0.7042 left_pitch=-0.0659 left_roll=0.03 left_gripper=0.0849 right_x=0.2967 right_y=0.3252 right_z=0.1112 right_yaw=0.0454 right_pitch=-0.0391 right_roll=-0.032 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -6.2974, 7.0496, 0.6813, -0.5348, -0.022, 1.0281, 0.3761, -8.6632, 7.9795, 1.1453, 0.8376, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b4896acea390184dc79141c5278f8be1202cd8565f0e455b63048684446e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6957e0f43a0111b1197e013a5b35e4e7c6e5951b047fd5498536f874fec052b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649dd96f5da4312be87ff35842d5a43208d31a63e4fa0ed2176b9e2a3d530be0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.203 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 76 changed as sent

message 80 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5373, 1.9385, 0.5777, 0.7998, -0.1596, -0.1051, 0.1096, 0.0734, 1.2984, 0.7605, -0.1493, -0.5243, -0.4164, 0.0615]\nstate[eef_state]: left_x=0.3872 left_y=-0.1938 left_z=0.0014 left_yaw=-0.3655 left_pitch=0.0187 left_roll=0.0172 left_gripper=0.1096 right_x=0.3549 right_y=0.1184 right_z=0.151 right_yaw=0.7118 right_pitch=-0.0217 right_roll=-0.007 right_gripper=0.0615\nstate[joint_eff]: [-0.1026, -8.9915, 4.3556, 1.3114, 0.0806, 0.0415, 0.5495, -0.0205, -4.7248, 6.735, 1.6044, -0.2076, -0.0073, 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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6205, 1.4693, 1.2678, -1.0668, -0.907, -1.195, 0.0849, 0.0929, 1.0122, 0.836, -0.4892, -0.0864, -0.0814, 0.0585]\nstate[eef_state]: left_x=0.3258 left_y=-0.0574 left_z=0.2138 left_yaw=0.703 left_pitch=-0.0571 left_roll=0.0192 left_gripper=0.0849 right_x=0.3223 right_y=0.0489 right_z=0.2002 right_yaw=0.1918 right_pitch=-0.1029 right_roll=0.0028 right_gripper=0.0585\nstate[joint_eff]: [0.4991, -6.5299, 6.2017, 0.7741, -0.4957, 0.0757, 1.0281, -0.3214, -4.1231, 10.3726, 1.7558, -0.2271, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4738, 1.2583, -1.0653, -0.9009, -1.195, 0.0849, 1.1206, 1.8114, 1.1641, -0.3252, 0.8204, 0.7639, 0.0584]\nstate[eef_state]: left_x=0.3251 left_y=-0.0569 left_z=0.2089 left_yaw=0.7042 left_pitch=-0.0659 left_roll=0.03 left_gripper=0.0849 right_x=0.2967 right_y=0.3252 right_z=0.1112 right_yaw=0.0454 right_pitch=-0.0391 right_roll=-0.032 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -6.2974, 7.0496, 0.6813, -0.5348, -0.022, 1.0281, 0.3761, -8.6632, 7.9795, 1.1453, 0.8376, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b4896acea390184dc79141c5278f8be1202cd8565f0e455b63048684446e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6957e0f43a0111b1197e013a5b35e4e7c6e5951b047fd5498536f874fec052b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649dd96f5da4312be87ff35842d5a43208d31a63e4fa0ed2176b9e2a3d530be0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEgQr7Q39knRAvyeXtbo_fsNiCzpFobHOOcqoWdeYpcZCuf89cxb7UXSmW4CWhG24y4vE90C5D4yBmkPJSXpIzgpU_VlfJ1JBNgSSk8c3XSx2Zy5zPG6u4xobXOn-wqzeLKOdG6J5FKVieh_8uvWCudnOpKrr55fCpp3mRTMQfskR-zD6nj-LrDAUES85MBshrCPO3bSs4gL2IfH5Tt84DrfT1iiTLgnKFC7CbbOVXjJAS4wbgFSr2BtfkTt8rBl3hwjcK0TDmM56nmj62SG4T-KzxNSKEhNQyG1HQCXRw3PZZzAKsi1T3KN9m4Ik97ncGH75650tQZA1bNHUc7-BNtqiPWNraCFUPOuh8zQ3YOpx9fZ4zsa7U2bTcULUWm07dj1k3XB_GmAUQBbN-yUV2oGWtss1bTw9HnW0-BjkZBv8XrgzfZrSo1y1BRN5gkd7Px_PYJ3gjWhXQJrxxy0bhRAleOMSlnr_GAWwMT6Whv_KbcQCc3nvK9URygKuqi_X_CnRVDsjGcv5ges3wOvwyegtG0BzlvDJf8QoO_RltMhIOZrbVMsmA0qrsvu80QV0EkIRP6pRywgtSC-sBgk3wpmgPKiwjbP9cRzq3DhaUsA_ilMyQe9ugmcWm1d1sLnm56iPyKEBGGWmUzS1FXI92Gai9gX_fpMycKNPmwsNWDnJY9qBrZ_TGA6xy2PjufEUUI5r45GN4QRTD-ZvjUErWN3_1Y8MbNvSinACmfVocMM5NheoLU7eVpjxARvomT50As0Av0Y5zH0dca1YGRta1L8kBr3AdQhJN7TeC4ZNPmfa3BQSPtzwZ44iYdNCZs7WWM1TCpVumWnSVesfRJxWGeAht-M013OgjOFz65HLzz8iHQIGK2HiHsKUnEEjz-w5v_p_m8s4cf31XL5rFRU8CGzSiNnvqNk0UMGPoJvcuQPhFC8_qmuLL4ELNimwniyusszfgOubQdUnTFXebnXJcXtySzLKm7wE57MEAb_cRx6u067EiEWCLZe9Z0eQStukwaQFIfP5sAnzkTRZG3uMCJEcXv3EwCH9vRz9MhPdjD5cJVtcitazaIWpOCws7Fmkl_vh9OsZJKQUuE9vLdoFraUdXLMUS0x_5nFK9QAxTaZ4X7Cuq31VXrzEMAw-dnuZY1mEq56HHRI3p-SwUisjLO4IlBSOLmdDLMKj32fCpkUns87i6wv4rN7Lsleky0zJj1eU4r-_oc2Zvr7UAEklGsjI4ElLNA1JHlcCk-t3eTtuitnRl9YcROki7grptd-r63cqLylTyOrpRhNFV_ihMhvTNvmnv2p49PO6dcTcq_UjtClL-Va7ABG7JpO9Mt-Qq2UdPPCtolKkXzDPuzvQ2c4BdeCbL9zstYWoWsGHB3rPrQ=",
  "id": "rs_042d95d650c18e1c016ab4480fb75c87d0b6afacd0b30b1ffa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.33,\"right_z\":0.005,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The right gripper is now above the intended center-table placement, with the pen tip visibly pointing forward along +x. I am lowering the pen gently onto the tabletop while keeping that known orientation.\"}",
  "call_id": "call_MFzfyB7InMwhDygdsA8yuG6Y",
  "id": "fc_042d95d650c18e1c016ab448101ff087d0bfdef4bb1d3374f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MFzfyB7InMwhDygdsA8yuG6Y",
  "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]: [-0.6178, 1.4784, 1.2579, -1.0622, -0.8963, -1.1954, 0.0849, 1.1267, 2.0621, 1.0336, 0.0242, 0.8413, 0.8021, 0.0583]\nstate[eef_state]: left_x=0.3257 left_y=-0.0578 left_z=0.207 left_yaw=0.7035 left_pitch=-0.0706 left_roll=0.0305 left_gripper=0.0849 right_x=0.2975 right_y=0.3271 right_z=0.0076 right_yaw=0.0183 right_pitch=-0.0377 right_roll=-0.0367 right_gripper=0.0583\nstate[joint_eff]: [-0.3214, -6.0786, 6.188, 0.735, -0.4518, -0.022, 1.033, 0.1026, -9.4154, 4.547, 1.2479, 0.6276, 0.1441, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604f9a61546ecd511344ddc12801986dfd67338f7dc37aa95a75047ea46238b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ced7b54aaf0b2cef94bac23ec64f4ec84ef7ed113c67addf90fb5abcfcf32dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd06170e297290235a0d12d573dd556f5c4407d041aa2e3e2e876ed4b0b7512b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.448 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.757, 2.4832, 2.328, -1.2907, -0.9432, -1.3937, 0.0849, 0.4919, 1.4689, 0.8909, -0.0639, 0.2127, 0.1398, 0.0586]\nstate[eef_state]: left_x=0.4653 left_y=-0.238 left_z=0.1226 left_yaw=0.692 left_pitch=-0.0508 left_roll=0.0395 left_gripper=0.0849 right_x=0.3911 right_y=0.1714 right_z=0.1459 right_yaw=0.2194 right_pitch=-0.0655 right_roll=0.0009 right_gripper=0.0586\nstate[joint_eff]: [-5.2718, -10.4547, 7.706, 1.1355, -1.0379, -0.0415, 1.033, 15.3504, -5.8051, 11.2205, 2.2295, -2.9963, -2.2198, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4738, 1.2583, -1.0653, -0.9009, -1.195, 0.0849, 1.1206, 1.8114, 1.1641, -0.3252, 0.8204, 0.7639, 0.0584]\nstate[eef_state]: left_x=0.3251 left_y=-0.0569 left_z=0.2089 left_yaw=0.7042 left_pitch=-0.0659 left_roll=0.03 left_gripper=0.0849 right_x=0.2967 right_y=0.3252 right_z=0.1112 right_yaw=0.0454 right_pitch=-0.0391 right_roll=-0.032 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -6.2974, 7.0496, 0.6813, -0.5348, -0.022, 1.0281, 0.3761, -8.6632, 7.9795, 1.1453, 0.8376, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.4784, 1.2579, -1.0622, -0.8963, -1.1954, 0.0849, 1.1267, 2.0621, 1.0336, 0.0242, 0.8413, 0.8021, 0.0583]\nstate[eef_state]: left_x=0.3257 left_y=-0.0578 left_z=0.207 left_yaw=0.7035 left_pitch=-0.0706 left_roll=0.0305 left_gripper=0.0849 right_x=0.2975 right_y=0.3271 right_z=0.0076 right_yaw=0.0183 right_pitch=-0.0377 right_roll=-0.0367 right_gripper=0.0583\nstate[joint_eff]: [-0.3214, -6.0786, 6.188, 0.735, -0.4518, -0.022, 1.033, 0.1026, -9.4154, 4.547, 1.2479, 0.6276, 0.1441, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604f9a61546ecd511344ddc12801986dfd67338f7dc37aa95a75047ea46238b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ced7b54aaf0b2cef94bac23ec64f4ec84ef7ed113c67addf90fb5abcfcf32dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd06170e297290235a0d12d573dd556f5c4407d041aa2e3e2e876ed4b0b7512b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEgTdFuoKa0oV1_Fo30RTYO7w-AAPJiIKgW0RvPuKD0qwyWO1u6pC8I7VB-4QHI8qaLfCOrtSksk_aTaBJDw-tlen-LTQOxU_r-bOy97diX4uJt5K-WuupRVG_P1_ZgzeNqwxvy_AZIREwh_1yTYGpPHhXSdGr-17eXk9b7WnU-z-mX1icnTDLqG5hILfgWjFvGU0enOo8VKgsIdu6BKPadTDbI24SO6GC-3HZqRqI8RWLx-98_51az1_2Fr1-ybBYZOMh_nLD57wLORTBWiWxOoietCqpMvtLtVa64FKVAFeyefgo7e2f_epQwIAndPqd4VspgjgNHC1VRXARnTfWAE96b-4bL3Yg_t-bctmaTV3HJ7NwF23Gq9AkYhV7rCUqKRKJ7nWChNbwZB5zkRU2MDc4-r4uJ32C853bcr8pUzcbdVE2AI3PtpzAwgt22aL-l9vsC18ygtQUXBAZtV8FAuVNuQCJANuJYwngKihz5UKpx_ogrcOFqp-vp-GcTEPjczx8lD-54N9bgzV5NWW6NnjSyxtJ89gwtzVyVhYoxFUfWfFAjx1rWn54wJyUY1qlqjYKS-Jc67GzMsWkc_OzVbVwIgMAMEjhZDiCMY3bIPDOJqhkintJPQPsyNGP_7fIdQZKwhQQmPagmV8m5E8uD3uHpAbg61c3ZwdRlBexdxoSdnHAj0tOo8NMwAv82U5zVXcwcBefPIwx8zirSOeTNXGBd4YFG1_c9Qh56BYCA9k2P3YNrgJ__eg7yYdiMOGDhreQyiSf4nh3xC0DvpA867gUStqEOJw5c51XAyDLeWed22I3ugVVrLaOICvPpryJx0xsZyxOzwPZGxHCLKCjc9O4K9nANFBUVwQpl2i-gQIY1bquQxNq6FNyN_dDbNjk03kVX8KHI_t1EoGuw9aQNuUUaB2EeEj5H3O5pyh2yfKtEMtuB2C7aMKi0ATJ18Pqp5Fy-YD4Vuug525HcpMjgUiixiR-csDWL9a6edWd7TllEWsKPcFRN_6tOhxsbwu3ycQbJ5bXJf5DcXhZC3565vsBYjG4uC8Gprr-DOzOyRqZijYM9DF96O4FDBOTzqHDAdEAVTaG0xK5kz30RS8sme4LdU1g76PLqxxKWeKZjP6kJsppPce8Aw_P4XEI5z3X8ZpPJNBrJ3jxpzFOCh-9EEviqs11hOsOBaHeE0Nz_675w=",
  "id": "rs_042d95d650c18e1c016ab44812b1c487d0ba486d948843d187",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen is resting at table height in the chosen forward-pointing orientation. I am opening the right gripper to release it without changing its pose.\"}",
  "call_id": "call_fVdZsDuzhricMe923vVn0tAA",
  "id": "fc_042d95d650c18e1c016ab44812c6f887d0a5fe6a6ba3ea5eb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fVdZsDuzhricMe923vVn0tAA",
  "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]: [-0.6174, 1.4784, 1.2541, -1.0611, -0.8825, -1.1954, 0.0849, 1.1271, 2.0789, 1.0283, 0.0559, 0.8452, 0.8043, 0.9947]\nstate[eef_state]: left_x=0.3249 left_y=-0.059 left_z=0.2041 left_yaw=0.7 left_pitch=-0.084 left_roll=0.0298 left_gripper=0.0849 right_x=0.2983 right_y=0.328 right_z=0.003 right_yaw=0.0157 right_pitch=-0.0305 right_roll=-0.0277 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -5.9966, 6.5983, 0.7302, -0.569, -0.0366, 1.033, -0.1436, -11.4667, 5.3128, 0.8278, 0.3297, -0.0562, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846323534af8ab8490dfb2cf48c80a613c1b3479dcb655d29b746f203e04e995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23503f59824dfc44eaed204d948fe299b883f81f37f26b696e905cce049d097c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26116eacab9d53b6f90b35594e227ab55653c0b0a42f11ee7f544b2495c38ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 5.006 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6205, 1.4693, 1.2678, -1.0668, -0.907, -1.195, 0.0849, 0.0929, 1.0122, 0.836, -0.4892, -0.0864, -0.0814, 0.0585]\nstate[eef_state]: left_x=0.3258 left_y=-0.0574 left_z=0.2138 left_yaw=0.703 left_pitch=-0.0571 left_roll=0.0192 left_gripper=0.0849 right_x=0.3223 right_y=0.0489 right_z=0.2002 right_yaw=0.1918 right_pitch=-0.1029 right_roll=0.0028 right_gripper=0.0585\nstate[joint_eff]: [0.4991, -6.5299, 6.2017, 0.7741, -0.4957, 0.0757, 1.0281, -0.3214, -4.1231, 10.3726, 1.7558, -0.2271, -0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.4784, 1.2579, -1.0622, -0.8963, -1.1954, 0.0849, 1.1267, 2.0621, 1.0336, 0.0242, 0.8413, 0.8021, 0.0583]\nstate[eef_state]: left_x=0.3257 left_y=-0.0578 left_z=0.207 left_yaw=0.7035 left_pitch=-0.0706 left_roll=0.0305 left_gripper=0.0849 right_x=0.2975 right_y=0.3271 right_z=0.0076 right_yaw=0.0183 right_pitch=-0.0377 right_roll=-0.0367 right_gripper=0.0583\nstate[joint_eff]: [-0.3214, -6.0786, 6.188, 0.735, -0.4518, -0.022, 1.033, 0.1026, -9.4154, 4.547, 1.2479, 0.6276, 0.1441, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6174, 1.4784, 1.2541, -1.0611, -0.8825, -1.1954, 0.0849, 1.1271, 2.0789, 1.0283, 0.0559, 0.8452, 0.8043, 0.9947]\nstate[eef_state]: left_x=0.3249 left_y=-0.059 left_z=0.2041 left_yaw=0.7 left_pitch=-0.084 left_roll=0.0298 left_gripper=0.0849 right_x=0.2983 right_y=0.328 right_z=0.003 right_yaw=0.0157 right_pitch=-0.0305 right_roll=-0.0277 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -5.9966, 6.5983, 0.7302, -0.569, -0.0366, 1.033, -0.1436, -11.4667, 5.3128, 0.8278, 0.3297, -0.0562, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846323534af8ab8490dfb2cf48c80a613c1b3479dcb655d29b746f203e04e995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23503f59824dfc44eaed204d948fe299b883f81f37f26b696e905cce049d097c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26116eacab9d53b6f90b35594e227ab55653c0b0a42f11ee7f544b2495c38ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEgX2m6ondrPtzcwp8k9Bayb7uCxuQDRXJ3Zs9_flR6xpezA9lFO4c5pkuIedAGz7TzhJxvvxpDtDxUFg7-S7lgJYavMY9C5F7vdFcef_36-8FIr0WEnvF2hQvY7yQpMd3wD8YWQFfkunATq619rxGHJV40wAC_BQt1OfzQgauNHomJgcnIVabUo0yNhHjIJ2F4hPLDgyfbpupkEGDpde3UatEv6oUriR1_l_6U8gISqIRMnYqWObKYVYG28AqgD0U04ql4ha3crBcB31YndyR0oYWd99Bh2IVWEPByETLftiAEb5py6AHbMuKo0m4b-IK0DHTEj2uMgDdD3hrzMY4dLmZs9g7Mm8hfZjpiP7qD7-oUwc5k7HmAd8X4j14EvFkUffhtk9T8qNy2sIGfZEr-RCex-biaVOBSLA4YdmPS5nx6UJo2m2D7j-MjEUopXTPM5546mwIyy95WOqCasE7e-hQuVdVECXSKcKvWnxSoHVItMyg_UBLaUvdazm1HqLTUz64j4Qs-hxSk7jMFXOrs12ale8U80qYmW5zq_bDlwt9g2rgUUOvakBqTTEtsqqCNbgg-vuA4pEO-AvvwLnAo3tuIxHgTT2KBUqK06uQYv1Z9LfPSz_Ixm3GaWFoMwa4xePDSgUnoT-lxVNAKE_LWb1tew5UL0XaLlw8W0nfFBebXULl7VBHFfScxyNLMsVQhJiTLHQozEzWAqbvmRwvCa0WEnTyx_5ywX4LOE54nLLVrVtGPt3pHHyL_pD6g2zv97tMqtf8viXXPNx0w_YBOVo8oHEjD86ADB0noB9hcprnOHvAJ8tInqrf4PkMz3JnEYtfTrqI5YjzUk6QfxGjMO-6QTTg7X2BfLyChgbbIfKmk4ZUzGvLyoYXim2OkuI_R_uqG3cpBXuwzyealGuho-pTk4qefqAhnblUCdDYXsMod6qad8PTBr_b_ZTb6nLDT6tRlyAwSxRKhDJf9q-dNg1k03QOeBqfXcypjYfavwpYm8zNKy_RVP49wUwWDAAoDhKpa8MoJ9YIX4AYuK_IpEIqhO7ZWVuqSz-hmsBtWVirxpjbcYySfhjRkdM_3b6zHaw1-ouVRqOSY9xYb-WXwkrZs4MZxuzJjRiOlq1GcNFC0cMn-tI_6wpfHQNzqpyWXx9ElX8ulBkZv5xlvmhYIB1Jxh8OQUFf44LKG0q_VvuKvAdpWDHmNUCw7iArbjPQ-SvsIVt9IUhtYQ_6nJLNLKhuWYSM_nXrB7ITDo4O_evA-73gwA5J0wA9RMkbEtJ1j4zoo7JBQT5iIqm_biPF-0phixgbIIXv3LtGZ6UkddQICor122JV5_X7KBEq-qA99m",
  "id": "rs_042d95d650c18e1c016ab44815e3a887d09ad4003a2aeea9e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.05,\"right_z\":0.22,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The released pen is clearly visible between the open right jaws with its tip still pointing forward, so it remained in place. I am retracting the right arm fully to its side to leave an unobstructed path for the cap.\"}",
  "call_id": "call_WUaedHQXPXtoHB8YB6h7Q3nV",
  "id": "fc_042d95d650c18e1c016ab44816375087d09cc2e6433986f2ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WUaedHQXPXtoHB8YB6h7Q3nV",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.4784, 1.2533, -1.0584, -0.8818, -1.1954, 0.0849, 0.3687, 0.8345, 0.7547, -0.5686, 0.3458, 0.197, 0.9985]\nstate[eef_state]: left_x=0.3251 left_y=-0.0594 left_z=0.2039 left_yaw=0.6992 left_pitch=-0.0842 left_roll=0.0277 left_gripper=0.0849 right_x=0.2816 right_y=0.0485 right_z=0.2054 right_yaw=-0.045 right_pitch=-0.0446 right_roll=-0.03 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -5.9829, 6.3658, 0.7302, -0.525, -0.0757, 1.033, -0.1983, -1.9897, 9.4017, 1.7753, 0.1245, -0.0269, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff6c4400e49735717cea0c828282129519421fc3f6722c3d6adf1bcaa1fbaf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff91465d77a50218089e9aec25e12427ca8777c4680b058153b3159d8a7e200",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a98d51b8921459960a50affcb3960480aac86d367e0949b06dd258a0ece60b3",
      "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 22 attempt 0 · /responses · status 200 · 5.493 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4738, 1.2583, -1.0653, -0.9009, -1.195, 0.0849, 1.1206, 1.8114, 1.1641, -0.3252, 0.8204, 0.7639, 0.0584]\nstate[eef_state]: left_x=0.3251 left_y=-0.0569 left_z=0.2089 left_yaw=0.7042 left_pitch=-0.0659 left_roll=0.03 left_gripper=0.0849 right_x=0.2967 right_y=0.3252 right_z=0.1112 right_yaw=0.0454 right_pitch=-0.0391 right_roll=-0.032 right_gripper=0.0584\nstate[joint_eff]: [-0.2256, -6.2974, 7.0496, 0.6813, -0.5348, -0.022, 1.0281, 0.3761, -8.6632, 7.9795, 1.1453, 0.8376, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6174, 1.4784, 1.2541, -1.0611, -0.8825, -1.1954, 0.0849, 1.1271, 2.0789, 1.0283, 0.0559, 0.8452, 0.8043, 0.9947]\nstate[eef_state]: left_x=0.3249 left_y=-0.059 left_z=0.2041 left_yaw=0.7 left_pitch=-0.084 left_roll=0.0298 left_gripper=0.0849 right_x=0.2983 right_y=0.328 right_z=0.003 right_yaw=0.0157 right_pitch=-0.0305 right_roll=-0.0277 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -5.9966, 6.5983, 0.7302, -0.569, -0.0366, 1.033, -0.1436, -11.4667, 5.3128, 0.8278, 0.3297, -0.0562, -0.0464]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.4784, 1.2533, -1.0584, -0.8818, -1.1954, 0.0849, 0.3687, 0.8345, 0.7547, -0.5686, 0.3458, 0.197, 0.9985]\nstate[eef_state]: left_x=0.3251 left_y=-0.0594 left_z=0.2039 left_yaw=0.6992 left_pitch=-0.0842 left_roll=0.0277 left_gripper=0.0849 right_x=0.2816 right_y=0.0485 right_z=0.2054 right_yaw=-0.045 right_pitch=-0.0446 right_roll=-0.03 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -5.9829, 6.3658, 0.7302, -0.525, -0.0757, 1.033, -0.1983, -1.9897, 9.4017, 1.7753, 0.1245, -0.0269, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff6c4400e49735717cea0c828282129519421fc3f6722c3d6adf1bcaa1fbaf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff91465d77a50218089e9aec25e12427ca8777c4680b058153b3159d8a7e200",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a98d51b8921459960a50affcb3960480aac86d367e0949b06dd258a0ece60b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEge2i_6ritZDpber6_zRdId7WTyKr7rCDtxjMtiDr8D989pl4sRLz2y2Fx1er2t9NEKu2w45JgAlhRb_rTGAkCDoHTpAwERTR_39ePM5ncog6RhyEmY9KC6FqTwMt99TIBm9_OkgDV7vIZVrOyBkt2TBOf6_gk7zJpkN-SiPmSBBuTolBgRARDXXQglRo6r-aZ2S5YoLFjDJ-zQXxw7fxMKjRgmPHVgIKUkwen1lTik-glSKNoyemH_D2Ce7AELxOTZ36fZ1quUUmQhNG7kqXY92QhI7Ou-QBMz4KqtSekDXnlie81oIrGw4qaVmE3BbxylZzRmsQLRFd7Cnm2Q-jIPfi_lyyjsqvbOOMRvbOSsUiy6RpDfznf9wk1qsPBJhL1AVli4sakj3b_rY22tJvvr17sVfjNm2OCva9cixWwm2WUYv67h_Bu9Oy_t5pk8RkREVjMVnpp9JMZTFqlH7o9e0yxhskw5MM7__MPE-lmhEC177d6WoIUyGhfEJ_qZbVLUPPBVWc2Bezz85KvprXnCe250VQsCF9p3J8f8p_gtc9lDMRAZSH9fXdLYWVIHferpQSW78n-aB4ErW_bzPAlk3xfUbfddtCKD-ie7Ub0Xib3O4lnqOUOrkA4SGAD_1Uu-DFzJRlgM84eF6BiLRJxIeTsNoo177GHc9AOhVwD8QoW-K-V0WGS0uXOevE4df2TErPdZwxbFk64HEOFmF2Fw1dhaA7zUv6iAjRQ0ZNgORdZRgyJQ9Ge66GJCuqhDAOxzcDkEFFk0M2_6zsuHtRUmG2qr_zZ0bNJRMmRo2zM9zrgWqD8Jw7QuUt4zwKDVkNb5MB0-ukb-XBLFjQ7so0RZDNUY5i7I2cTjrNwjPUhD6Akoh0oPsR0PErjzi1qR5PJ12CeFPvV3lGBq3ySxerJK9K0mOERrGCXm-abzGXa7BUIG1gFsj0MU1FV2mzCppTy9Up79CRdGuIc8zE6PSuvvo4e2yfo7tin-84CWNM1Xo1GC_Tlj5KGN2nAgk3ShkJNXdoqiajACQQFpQXaD5V_y7AIET9CI5POwSxPzymr9uOhWPUr82-7OIPRx8TftT0NTsFT7skNWB7MoVo2onWccDTC8Zqjnh5TOn-QAypB576aGtHdOkyEIIFk8HF8ScncHijexu49hpKvnS_9j-uQ5XCsmp9ciRG1_VF_LMw9KMOIZFzGpielM_U-timYyP__qeu1B1Ats0UIz7RimVggs48oFzFrIx3CGiIGufizle3sO87D6-QV4DJHd7X7Oh8R5c4tLDiEN5_qUi2yEkO0sUvudwYGshKgp8IWc9NglC209Uk8tVfEz__f99sXxs3IsScG9Sa0xzbVGpyuy6SxF2Oy9E6qGmd_t83AxlTbwuaFFu-eLUr8kDiDxRo3DwxOR50UYlICrvAdIqg2VHSazdjrpuAgxfM8qaDTdUVECHae9z1rHHoJHJRp2hvx8WxT8XNZl1QT1lL42wKLuraT2uKksWmR0f9nCIGZZ9X88FNsHYVii4hdmg2vM3EV6xU-obxpSpaAJUl2yk1ma2FJMq-G-K_pvrEhkmOqWmEKAO5P0tkhk_yWrIHa9tjPTCUjd30VMFtfalt3zzn3dONZ4ufcSoC39cbxCMzKj17XQqajboSU8ILMATu8ORaIHbn72DWtJFC-d7xgGZrwseMtQLsvlPR6u7vQWGmlTNWd26INbXG751irqxxwIRVmCXQNIWphCBs2B8ZykL23IwlyaWShwJkCjET_bs2ZQjXscJiyFYXdyIJxkusoEMrwoBviIkn8Fe2XRjeuWcGarPQHMoGqSuVGLMIuF6M-DWiI91uwFjr2g_LclCahyNM6t456cHo8pZjVnBWJ1kWnUdtTARAhKAQ4CEpCb_0Xxy6VsQZjU07RmFaZu7hufT_I-6Kn15zu_pR16o1gyHkujhPPVyMKvA38bxQIWjPSNs3jHPs_OIw9M4x3nIkIfv8bpejTpPxQ_RwahpG7hPwgx8ASYsksFTUs36w06WBnx78jr9mguV8ijA-liNQxm0pIFF-eUBobLfC3cJebJ0-gHbxNi_tQFzAgfYryAacpxpV_0l6HfYLiCMEFOxp_2419wyGv_Fcas5rb7zrtI_NhhZPNwW_VeC78lUykQnm7WvQkp7WlXslzenhWFBkcP6AxU-MmG2ZgH5Ce71VLds7Jt7j8sdL6n5JwkViBAU2-Rd7ytD8rR3rV5DUm4PuRVsqFR-aMoyX_Jvp5XX4zLkyxAQ9DG5HcsibxXhsKaKyKx9LGM74IZ3v_72anCnCLtj35JYX98PC1CnmPI_UG7H-XzylkiWFO2JAnnv33WIQiLOrvNe1Dr7yrcr5sJWiQr2OAQEkdobsJ2AvPxbrq32Lzs4-oN4UizUIm7byIjqR9bOxTGXowU0WWGqlDyJsuzOF8VwnI0",
  "id": "rs_042d95d650c18e1c016ab4481b01c887d0beba9719ded1252f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.322,\"left_z\":0.08,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"With the right arm clear, the pen is plainly visible on the table along +x; its forward tip is near x≈0.36 at the centerline. I am rotating the held cap to the same axis and positioning its open end just ahead of that tip, still several centimeters above the table for inspection.\"}",
  "call_id": "call_fUClLZ1QsCwfoKRNCInodX0q",
  "id": "fc_042d95d650c18e1c016ab4481d5d1487d09a50d17c2d3d85ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fUClLZ1QsCwfoKRNCInodX0q",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9115, 2.0254, 1.2617, -0.1471, -0.7513, -0.7036, 0.0841, 0.3622, 0.8398, 0.757, -0.5919, 0.3218, 0.1795, 0.9983]\nstate[eef_state]: left_x=0.39 left_y=-0.3006 left_z=0.0659 left_yaw=0.0497 left_pitch=-0.0442 left_roll=0.0352 left_gripper=0.0841 right_x=0.279 right_y=0.0498 right_z=0.1998 right_yaw=-0.023 right_pitch=-0.0748 right_roll=-0.0409 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -10.1128, 9.1829, 1.453, -0.315, 0.2369, 1.0037, 0.4444, -1.7846, 6.8444, 1.8144, 0.3101, 0.1294, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092afcf4ac60b3637c9becd03e0a6baf0f024ed7bc8ed299de509dceda338255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7299be0fc8cb24b5ff28fa3c21abc63c7f0121c9c230237d8d8aaae04fe2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f18e0a23df6ff6cf4412dd6823b4fa9dd24a26bf4701d6d399850c659c99d5c",
      "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 · 3.776 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.4784, 1.2579, -1.0622, -0.8963, -1.1954, 0.0849, 1.1267, 2.0621, 1.0336, 0.0242, 0.8413, 0.8021, 0.0583]\nstate[eef_state]: left_x=0.3257 left_y=-0.0578 left_z=0.207 left_yaw=0.7035 left_pitch=-0.0706 left_roll=0.0305 left_gripper=0.0849 right_x=0.2975 right_y=0.3271 right_z=0.0076 right_yaw=0.0183 right_pitch=-0.0377 right_roll=-0.0367 right_gripper=0.0583\nstate[joint_eff]: [-0.3214, -6.0786, 6.188, 0.735, -0.4518, -0.022, 1.033, 0.1026, -9.4154, 4.547, 1.2479, 0.6276, 0.1441, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.4784, 1.2533, -1.0584, -0.8818, -1.1954, 0.0849, 0.3687, 0.8345, 0.7547, -0.5686, 0.3458, 0.197, 0.9985]\nstate[eef_state]: left_x=0.3251 left_y=-0.0594 left_z=0.2039 left_yaw=0.6992 left_pitch=-0.0842 left_roll=0.0277 left_gripper=0.0849 right_x=0.2816 right_y=0.0485 right_z=0.2054 right_yaw=-0.045 right_pitch=-0.0446 right_roll=-0.03 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -5.9829, 6.3658, 0.7302, -0.525, -0.0757, 1.033, -0.1983, -1.9897, 9.4017, 1.7753, 0.1245, -0.0269, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9115, 2.0254, 1.2617, -0.1471, -0.7513, -0.7036, 0.0841, 0.3622, 0.8398, 0.757, -0.5919, 0.3218, 0.1795, 0.9983]\nstate[eef_state]: left_x=0.39 left_y=-0.3006 left_z=0.0659 left_yaw=0.0497 left_pitch=-0.0442 left_roll=0.0352 left_gripper=0.0841 right_x=0.279 right_y=0.0498 right_z=0.1998 right_yaw=-0.023 right_pitch=-0.0748 right_roll=-0.0409 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -10.1128, 9.1829, 1.453, -0.315, 0.2369, 1.0037, 0.4444, -1.7846, 6.8444, 1.8144, 0.3101, 0.1294, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092afcf4ac60b3637c9becd03e0a6baf0f024ed7bc8ed299de509dceda338255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7299be0fc8cb24b5ff28fa3c21abc63c7f0121c9c230237d8d8aaae04fe2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f18e0a23df6ff6cf4412dd6823b4fa9dd24a26bf4701d6d399850c659c99d5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEgmg7I8ug9PEL8R3zMQtGn5cW2UdzP9EHMO-pJmVtMvDL_qvwoaZL1mlb--90htF6guI47KFGbNoXHe5eRu7qziDES-DGR_Xb0Yw0P13R6ls00A6SxA8fC7C944W7dUa4w1c5tyDMMSrv5fKKTwwEMVK-uv_1br839LJHZaoUMBNNFan5P1NZo8oKzGLzmGqpnQfDdMiskO0ys0Hp4Lu3f9QkQ6ozz_uNasGHSv4RNMGPr0mOosr_kAZM0mlnyp24ihWPfNXKgLV-2d47ZUuAkLDLoXqNbfmUIIi1q_ABpnMBqQ4Ews2TAqb9fgIaAG8QgPlMGo-nfjrV78LTi627w6QklQe5b4EOwZG-EsN1bzF51SoN8KRzLeLXVihh8wPqr5wO0MnY1FhvaEMAHoemnu4FMyUlrf1IPdAWfshtW6nxxp-oyXho2ojcLYWQZCNDq1L1RtiC1TBS06cVZT7BcdL71EHJ6eEB6XXVski3ilehOsdK8TR8uHUSpDRIhvJs1fYM1v81qOKPGLBgWZPVh8gVLl7vCRYecLFd4h0L81Gr0iSEdmqL7-25ki_XcmF8ZYUzfdkw-NiHyet19BeEYsy86rAwiaRmUS7q1aoXs_SxXMcRm8XPdFqE5zQPcqVn8KEX3ZnhypNK39AxDew6xRZc7KqhGHXYcTCIohX1kwfdd2y9EMEcRT3xSmg8lFWapdN3s-QK33g_qSYuQdm5liXGl54WOKmdi7yrlhIX5ZSShL_RqltNpNOJI0Q_VdAvUeVqS7Dm9MJt05MNGOtKSKuRkgTU1R3sVs_esO0ZoWYhWfo-LKiiEFFs7W4kVJColfflNY4zXAGXWyquMd9-DM-H7IEQc7sFz8SJP5ZeCPCUTA5UUYYxKLry7uqk51qbmrTAkS8fFPew4GUpc-GnHWEC2oB1oKCc0RmxW857rQwGBM_2Ap5PvaFA5SbdRT2e2qPLPApialdt9Bd1CG5PYgUqlnVjz6EuPdbvTFaGIOYUS2x3Pn8cDjWL0qguJf7kZblD089_Iml2sR2i2qUDvWaO447jVyQUB2IvertVLZwUVrID1gnpizBQ4NJEF-i9vViHAfcPyVxS-I0ur7JSlNyGV4GqwAMemdkCC9YZAylD5IXiirewPp9FO44ntm5M93_0bo1YScwysqrVtNk1S9yKP39O6ptURJXZPrcUYqlrRucRME3vcbs9-BWXosZa7Vmm4OKp4hlRM3OrtQ89v07LR1ptMwKYXn_EYpZZO9WHo7cB9CHAjA_L9bGBSrUNu9zovXn5uva6qeEFJROcXqruwuOkQwI0ZwWPQEp_hnAUSF4jfcl0DNHMZDnG2xKzrhvow_p6w55xzH9lQGGLMw14khUmHfTCQINAQ8GX9shjZUqkMHb_k0F5JoiCmXXCR1loX0w0AKpRN3beX2wV59uSLvLnOxXSTlYeSAOMPrank8OW2k0SJO4lfB0z5axuJHg93HTc8sfr6Pw6lXMQT8TesSDBxLN9XW2m_I38ttbolNZ59iqOcM9vSmdnO4B3RnsciGh8JkdREK508O1JoVmFSHp7vtT6jma-0zT_YFLfFHEhYpV3kUVC9kbbExeLgGUxuG8o393ZP8cDoqyO-mMEuTKN9kosJHoDf_gq1q9uYUgTvBE--56JRwsxv6e9XHT7XWbkLESesbfDy7nGxQmJZAHaCntd9JYh7NRl11EZqjGYaksh9ivzGA6UKWVfTk2EvQ86_gIgbscwgOd64SjT-FV55w4Dk1QyIIZOMnoNqjYePwgkcKaCtYwtIR0ySgV7SFKI0TljFwCDIBclVioUVJm9RtytePj_4o0dqegm-KiwGBCy-7GqHp0LDLy2SLWFeKcjsSg5GskA5Jvu2CnYpHWI1jNK0mwRAbrqS-FTSgn8jF58nrTvCOE_h7DnldudNQbbNuXyRF5y9QrszF1oJjllT3Gr-SioEg5VTaUcd76ituhgUykBJL-xP09Do045OTBFOs6qRqNqDhvQGO7azN1sohHb12i2LCTCEIUM_6Nm26tYWZzBKa8QBntndGl1wVrbWIIjXgR9dRMPwoHaF3FQlu0m04YTChVSsLh5OiV33QumE9_SaBjAZyvwM63CGOsn5R3_0R5M256hTbQ8QvmjtUX7fsS49XAyIgcQ4Yh1NWfDQKlSgopT8-LPs7taG8L7LtVXzr7yQ2UQf9AkrfW18N4dYOH_7k5QJpz2FTq49uwqL0i4-HXn7yRa5vN6cp9FvkgS_oCSHa1hO-MTE6yA7QZCYcDo6tvELTmxXFbem0jQfYEdny09PcaTY9Wu6-la6jbBj07Z1gM6sWu4Y3dUc8lzO6gZYkZ6PDlVA8C7T94WJg3UOgxA6AN9vjokP6Z6dInr1vZN0_ejNXDN7isDZLjV8ScAxR-332l1NLM1sE7zXgGOQDYHSRZq-10OUVOsQZiRg8K6BWOj_WlPiRxYPD3-82wYqLgUsGUpHbp43QjHt97wHsebR2Wt7o5sZ3juiEOHP1iauRJemJ9oohmH6aafJk_ZfXYsWtRmgcdVQXp900sfrUCqDEf2w4s9x3uU2AlImMMwQWR2ipaoL2UsN8ujapimwMYSwoQauGQbFJNSDmrV2mraPPlrYWnEFkwtOZQF98XtYGWde778FW2DR_a3_BVh7wWsxBQXdXmLKKgza34s7T0WCXFxKM",
  "id": "rs_042d95d650c18e1c016ab448220bc887d0bb2bce8c446cecd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.34,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The pen appears on the left jaw column beneath the held cap, but the Cartesian readback is about 2 cm left of the pen's known centerline due to tracking shortfall. I am compensating laterally and lowering the cap to the pen's table height while keeping their axes parallel.\"}",
  "call_id": "call_kpPEBvJeE1GDbUV5b5MKPl3R",
  "id": "fc_042d95d650c18e1c016ab448251da887d08db25c035a953377",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kpPEBvJeE1GDbUV5b5MKPl3R",
  "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]: [-0.9577, 2.2105, 1.2636, 0.0399, -0.7746, -0.6975, 0.0814, 0.3614, 0.8398, 0.757, -0.5949, 0.3195, 0.1783, 0.9983]\nstate[eef_state]: left_x=0.3862 left_y=-0.3279 left_z=0.0055 left_yaw=0.0148 left_pitch=-0.027 left_roll=0.0475 left_gripper=0.0814 right_x=0.2786 right_y=0.0499 right_z=0.1992 right_yaw=-0.0214 right_pitch=-0.0782 right_roll=-0.0416 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -12.0957, 6.0786, 0.9353, 1.0525, 0.0366, 1.0232, -0.1162, -1.3333, 6.8718, 1.5995, 0.105, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980ff04f40e5cdaefa5c8478393b126186d992dd1f94eb90ef5f7d05d240c1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d91a3ba3320d3b754bdf5c4d31d8990780e10278efd9b93b616d1b3e92281b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d964431f7728558801e558e80571cc52d7111d26d6ef0e6cfa671704e6b104f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 6.177 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6174, 1.4784, 1.2541, -1.0611, -0.8825, -1.1954, 0.0849, 1.1271, 2.0789, 1.0283, 0.0559, 0.8452, 0.8043, 0.9947]\nstate[eef_state]: left_x=0.3249 left_y=-0.059 left_z=0.2041 left_yaw=0.7 left_pitch=-0.084 left_roll=0.0298 left_gripper=0.0849 right_x=0.2983 right_y=0.328 right_z=0.003 right_yaw=0.0157 right_pitch=-0.0305 right_roll=-0.0277 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -5.9966, 6.5983, 0.7302, -0.569, -0.0366, 1.033, -0.1436, -11.4667, 5.3128, 0.8278, 0.3297, -0.0562, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9115, 2.0254, 1.2617, -0.1471, -0.7513, -0.7036, 0.0841, 0.3622, 0.8398, 0.757, -0.5919, 0.3218, 0.1795, 0.9983]\nstate[eef_state]: left_x=0.39 left_y=-0.3006 left_z=0.0659 left_yaw=0.0497 left_pitch=-0.0442 left_roll=0.0352 left_gripper=0.0841 right_x=0.279 right_y=0.0498 right_z=0.1998 right_yaw=-0.023 right_pitch=-0.0748 right_roll=-0.0409 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -10.1128, 9.1829, 1.453, -0.315, 0.2369, 1.0037, 0.4444, -1.7846, 6.8444, 1.8144, 0.3101, 0.1294, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9577, 2.2105, 1.2636, 0.0399, -0.7746, -0.6975, 0.0814, 0.3614, 0.8398, 0.757, -0.5949, 0.3195, 0.1783, 0.9983]\nstate[eef_state]: left_x=0.3862 left_y=-0.3279 left_z=0.0055 left_yaw=0.0148 left_pitch=-0.027 left_roll=0.0475 left_gripper=0.0814 right_x=0.2786 right_y=0.0499 right_z=0.1992 right_yaw=-0.0214 right_pitch=-0.0782 right_roll=-0.0416 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -12.0957, 6.0786, 0.9353, 1.0525, 0.0366, 1.0232, -0.1162, -1.3333, 6.8718, 1.5995, 0.105, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980ff04f40e5cdaefa5c8478393b126186d992dd1f94eb90ef5f7d05d240c1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d91a3ba3320d3b754bdf5c4d31d8990780e10278efd9b93b616d1b3e92281b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d964431f7728558801e558e80571cc52d7111d26d6ef0e6cfa671704e6b104f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEgquX8ADh3JTtfQpEye-OaXx3XdQdq0HbtkBGhl0ZHAAwZWlum2NK8-DJMBFqAUY8Pys1uxIzDkLqdTIv0lKFFtMYcjv8pFd0qsot91JyQ4O2K-upUBziV5zniJ-o_YSO1F8xs1PmYS6tkuP6Z0FJXGYDBToLpeygWMMebUR82P322Qd8QatKVu7tBVKYVrBfhkrcaKznOtUdDX7jLzku9EBVHdAea0TCEHnnGwSM7ZmlvBpsElm9Bs4RyLdyeQyyuEaPHsyeJ4oZbDWaTmH3Ynd7hoCj8ZR5ABfhpKRCfO9KGMPojPjel_yXkhwHj7LJNZM-auDQK65nE9kkH8Nk8hSGttKEZFMl9wBG4DgfwWr_VfeKbgRHIsQsgOx7KlEURZYWJuFlNBLR-ldsUF3nSW0NKzg1D3hdI-l3yLi44C_NafeWIySHbwVZ-XJEmQzY-3GTKbQR4zmNgGgXOuIkw-0it8LMOQjKxoxAtBM8C5BhgBQfODhaffv7ZizBCibmIWVf5-9NCTXQ1zDRCubinYbOVb5k58RY2qXRmr0NQxZqzzR1eOJDHuHwuuLKNjoof7Kahp7Nv9cz0aKLwrIQpJYwdlAPhMEx-JGJ4AH6CSSwJt30GnZCuw6A52c7YyYX-UojocgHYPs8GmfsQJrqtxa3SQ5e1upROtoT7Y1312J2VXEjOOxMn3dcdkcl3tQQVuohLwxmh53HRoqCWDFS3CcIU5uRbx60woPAffd9__NKabrmcpvw-KyOvZb49b9_9G3du0HYF_tegRXu1AzDENQyU7AraSYz4xGstjTxgju3PMJAAl6YpD4-m6EjJmJ8-4-0Xk-ey36QTVrVREEDOx4gv9IevdFJsmOrxYHW6-TegSukur7dcxjjZ2DxDsGZy6iC_w-KQCMelhxgQvkidzAxNu_-Kkmn2Z1HoT-aoVvlsiewGtaz2ZsLkVAWtGuaR6MeA_qCErq7fUu9YS1rBs7uXTRBqZJSJdfcQUeovIWuRSTryudzhJ99mpdZArAjiXsYXw0xKA4DVNI6Sdm2QdHDw7Pg8pqrVzhW_tOxjjjmfFPP8NvQi-RmzeP5wSXGOcliup42o4E0F-jWftg5-ROTosleXRLeYlOEVIouebWVvd3XmtQ3VmN8M_aWVTHm-osBYm0gFFGmd1wDNw5WiyDmc7LFwL08NDBougCNw1QfqAMjkbbbfcU2a13VDeS_gut_Lf1Aqt0PL2NnB8Gctsb_5Rjh1NSOyDpjBP_Jb7KULqVcnMCLoTUcx47SIGVjFCp8O2msjwI52B9pVEFPwzdu_Iw12yUZ5w6IbuODSrx5IFMDHz7OVkZULh5p9ZTPGjqGvGyzQJQm6s1-N8aWT7MizuGV5pqgvKViwh26CTSBjgDiaLucHZ9Ho0q9q74_IxRed4UPnC0Q67pKyfBy9wGgdmGmlpBTHyClMSdZezUUv1Y6gx0tC_QpMDPCyIy6Vs1blKuxRK70a0CoxiJxGbcsE2YF_W90oTgVhraEYIk9CL8RDt-nH_-Of0Udtb87aX5CizmFO7xS5io4bDzoOMGsQSrp3WVhCjTnp-qVxmJdqvSVGd9zoZ8uFhgsEZQZ33CviPOEnCQs-374TT8rL13hCXuJpDLvBAgUiTd81q9Dw=",
  "id": "rs_042d95d650c18e1c016ab44827d85c87d08af2ac9253fc4844",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.34,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The cap is now at table height with its axis and centerline matching the pen, and its open end should be only a few millimeters ahead of the pen tip. I am making a 1 cm axial insertion motion toward the pen, watching for a tracking stop or effort rise.\"}",
  "call_id": "call_5RgjPNd8jBuv8fPmEoW1XPCt",
  "id": "fc_042d95d650c18e1c016ab44828df7887d0b9c3067a408aa037",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5RgjPNd8jBuv8fPmEoW1XPCt",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9745, 2.2135, 1.248, 0.0975, -0.7792, -0.7086, 0.0814, 0.3614, 0.8421, 0.757, -0.5949, 0.3164, 0.178, 0.9983]\nstate[eef_state]: left_x=0.3828 left_y=-0.3366 left_z=0.0067 left_yaw=0.0064 left_pitch=-0.0021 left_roll=0.008 left_gripper=0.0814 right_x=0.2787 right_y=0.0504 right_z=0.1985 right_yaw=-0.0187 right_pitch=-0.081 right_roll=-0.041 right_gripper=0.9983\nstate[joint_eff]: [-1.0051, -12.5607, 4.9436, 1.2088, -0.1636, -0.0904, 1.0281, -0.1299, -1.2923, 6.8718, 1.6044, 0.1001, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03a4d5245c22e14f2e011f969d61ccec40f812f3663835fd4d56ac3d6fafa03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e24f39a4c49ed6fa5372be118783738c7c5f19a5b2aa38083d8b3ba504fddb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114dc4ffce949b8a6f27e4e03326a7959c368c5304e00b4947f5e8806dff8f0e",
      "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 25 attempt 0 · /responses · status 200 · 11.9 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.4784, 1.2533, -1.0584, -0.8818, -1.1954, 0.0849, 0.3687, 0.8345, 0.7547, -0.5686, 0.3458, 0.197, 0.9985]\nstate[eef_state]: left_x=0.3251 left_y=-0.0594 left_z=0.2039 left_yaw=0.6992 left_pitch=-0.0842 left_roll=0.0277 left_gripper=0.0849 right_x=0.2816 right_y=0.0485 right_z=0.2054 right_yaw=-0.045 right_pitch=-0.0446 right_roll=-0.03 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -5.9829, 6.3658, 0.7302, -0.525, -0.0757, 1.033, -0.1983, -1.9897, 9.4017, 1.7753, 0.1245, -0.0269, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9577, 2.2105, 1.2636, 0.0399, -0.7746, -0.6975, 0.0814, 0.3614, 0.8398, 0.757, -0.5949, 0.3195, 0.1783, 0.9983]\nstate[eef_state]: left_x=0.3862 left_y=-0.3279 left_z=0.0055 left_yaw=0.0148 left_pitch=-0.027 left_roll=0.0475 left_gripper=0.0814 right_x=0.2786 right_y=0.0499 right_z=0.1992 right_yaw=-0.0214 right_pitch=-0.0782 right_roll=-0.0416 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -12.0957, 6.0786, 0.9353, 1.0525, 0.0366, 1.0232, -0.1162, -1.3333, 6.8718, 1.5995, 0.105, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9745, 2.2135, 1.248, 0.0975, -0.7792, -0.7086, 0.0814, 0.3614, 0.8421, 0.757, -0.5949, 0.3164, 0.178, 0.9983]\nstate[eef_state]: left_x=0.3828 left_y=-0.3366 left_z=0.0067 left_yaw=0.0064 left_pitch=-0.0021 left_roll=0.008 left_gripper=0.0814 right_x=0.2787 right_y=0.0504 right_z=0.1985 right_yaw=-0.0187 right_pitch=-0.081 right_roll=-0.041 right_gripper=0.9983\nstate[joint_eff]: [-1.0051, -12.5607, 4.9436, 1.2088, -0.1636, -0.0904, 1.0281, -0.1299, -1.2923, 6.8718, 1.6044, 0.1001, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03a4d5245c22e14f2e011f969d61ccec40f812f3663835fd4d56ac3d6fafa03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e24f39a4c49ed6fa5372be118783738c7c5f19a5b2aa38083d8b3ba504fddb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114dc4ffce949b8a6f27e4e03326a7959c368c5304e00b4947f5e8806dff8f0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEgw0Dw-6mGLmtgNDe1UtT_ysXby5Z7Ng6WPPIT1jrdhU_hy4P09G5PfRTLHn_FD8TxSG-tk2i1hidDLwoKAchSVrGkh9gaeg1a8e93_y5dznP08_PPaS7LIaX36dcCVv6wuxc8e3t1U0Pt0fF6fKX1cOURxk7ZF71OkCHCniZwb3lBdbxSdp0cbZRSepjhYphdgQI8Ykde8O7VAXhiYoV9V-JCBR2EDogJ2Lg4ZVDDQk7ii4x3cFeURlixiY98x47uOLW8gshx5Q1-oL6IUk5BIUl-IzYu-L5krMN4DBC26UlfGlnk9138SCOkF7rYrNKEWmWOSWdoS6cntLAY7OPgV35UCOkp8sm4Bl41URKpspr3PKWCmxrUpY9m5Ebz6sxpY06ckzH9EQsX3PTt7tENXa6ZoYev8L20j5EzgiRVF018WwiI8zkN_Y6BbzlYUBIarphDKgeKaPItUlA453opVG1IL_Bg-GvPCd7sS6eTLqbLeL9sekK-wSmRqt_C9b-IuMkZY1qAGWcNtqEI6MFJHNtXu6R5Ew8Mz04nMbzNDSz2xd64BPD5VcEvA14uCy1ur3FT6cb4DzlEOynTqSN5uqH1aBim_-0frSMypz83l_91tNnirs_2MAhCysB96bQUT6KBNe1Goa-hmzBA_2T5_ed_9Bdcu7u3AQnJ44_yhZ3lgZyEwJxVOK-HKDXJRM3B06-VG03_0HIvZ6nQQJrH60sT6CUvj_9fs1aVaCqQ6vOrgcgQZHVrAyJR362yauhLFljUOTbMhsgqvUK5b3faVgtGOcvB3RpMthN3-YkfZXYOvpXpzTIc4ELN6WQsyaEKaOUnj0YmBztuQ4SOtqMtUJPORQ1ffPTNojSXsf3ltFCHDn-fXGYzxfxbwVjj6vA7wF1o9OFlDTSClygWrmHTdaWr1revufs3W2LHDkq7onLBInaQ-Xt-4_5ysBOirblIABNDazfNK_orNbs0FhgO02NkqGUeCOjryMh9RX9c_HvZXQT2-th0Rll_dWDQVHiyn97TKV1ZC0H2VU3QBw79zZVugl_tUAk0zz-Jfs_yH9scDY3wOjepYkGUyAoZR6azX9k4EtQ7pwhDccDLP9S8mLfc6kzIMMYyz8WPFyglFAGsN1TkbBmkOOhRFp8-7U-6IQk-VO7nqJzt65btKrZvuLlt6_cqEn4f-AJXxg50JrV8vaGkTOgr2XG5v8on9RCKvsseqjTQ8bcv7F9fOR7nsH2NmRRPLynDU2UADK8fUNmXO1FzVHBPKDsBsjmvQ3gqIc3XmsN-VUwSzsqnqlP3POKZW7Xd9r1ViFS59V8xY8biWUFJ6jGZAXlzYl_NbtTFV7DvxjHpO6-L8pPpeCSTYdUbNesr8N09--RE-cSC-_S-FLkCpr1EIvDtfc_QJ5KxBTioKMLdLg2hoR6BmYYXEhii2xA3sXl6Ys-3mFoyBeMyFzkskHPpQlGTayVLMyLWy0x-6Wxv_gfjd5EEf6p2zUc1ebbhjTymcmUVFxl3dAPxcHLvTfBuSgKAdZHMBRVz1E0tVZnPZPbhUMZW5gXa2zFuRVTeDL8hcw2E7nxTUPdxYT2x0Nm9MdqhFkbrigxKsArvUx0XzHah5WtnSOTHXDTSeuiZQVIkK9n9m2OVOaPtoGp-5rnLJybGFzdlld3FV6MXheGZiqPPX8X4Bbh0VF71Re5KQlb54EktMusOnL6RrEtiMQ2E0ymO0SkxAMIBuQazuIU5aCk99LQQeFxgVcrG2pLS8xyEzViKVijDTYA75V4g72gpTdx0qxxqBmGTqUVAlJ03ykOdOSHVRMrGH5mt_4ehee-wqzsz6AmsSUcyZe8kK2-oUq3QJL14GZ-HIv_SOZUURZW6hJUkb3_KPk1V6goZTWMGIh29tFxrIKe01ZZuppqilOaR59HYLzMfybrJCk-g6hyyr7C_GKK-cck2engni3yicRTNaYwvCz224Y2tcRxHJxLdAc59ed8e4mr0liJsZbbrXKU8szZv80LQPD_ClgIku-CYwyt_byyR2GQVpzMkwCC7tIt4f86fgdELVXD4S1EcPCvFeAMKk5jj0cSG6i-kW6DZgylMYJuNUtQxfm4feEb4rh2l_BJERG66icfThRE-muZH4RjIb0OG-q5Sf0K1K5sXvXSHsXtlMp6LBaTqldyrqOcQo9DipCRUIpAhcuqqHHW29VLY0ihsBkCgARtxSlYBRMesgRQ0zSbGk9IEWlTJZVNuNv4zwc5Wcot82p5pZ5x0RMLjG9Bvjplk3hU04b_AKorelV2A-vlwlgmNqho1bxmqLF-jz3Rap8hsH5b2q5t6QUDx3ca2YfjuVgfqCiobrjxGquin_gJ_BOjwGGgvyMjOK1ByQZOQtM35d1xhSBxG0aa2J37k-yHw-Y4ATXJTBC2tz6v8rhNkSiz8pk7BSnpl5sRDp_KE1xh4fSaLOdVehv1RvOg27vC4Z1ECVjt7lp0GDNq5eJV31D-CXelBZTxW0ruisT2epxLpwaGOO8L_7-DaGibNgeDworIRk7Ok1KipfsbqLnN5ntc_D5-mZJBSrdZ9cRDkv6sQy0G30i-CLQ8JRWV8J1ebTM4v676kNG2UVA0WpZjhC164yw1htRlsplULDVuorltFhdsBYH82rBA3aNQ==",
  "id": "rs_042d95d650c18e1c016ab4482c82ac87d08c3440c47beeed58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.34,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The first axial command moved only about 3 mm before effort rose, consistent with the cap mouth contacting and beginning to engage the pen tip. I am applying one controlled 1.5 cm seating motion along the same axis; the tabletop will support and resist the pen.\"}",
  "call_id": "call_KAU6skGZft3p6mpch7f5ygzv",
  "id": "fc_042d95d650c18e1c016ab4482ee76887d0a177372da2af6202",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KAU6skGZft3p6mpch7f5ygzv",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9916, 2.2131, 1.2423, 0.1024, -0.7887, -0.717, 0.0814, 0.3614, 0.8429, 0.757, -0.5949, 0.3134, 0.178, 0.9983]\nstate[eef_state]: left_x=0.377 left_y=-0.341 left_z=0.0067 left_yaw=-0.0 left_pitch=0.0038 left_roll=0.0053 left_gripper=0.0814 right_x=0.2787 right_y=0.051 right_z=0.1982 right_yaw=-0.0162 right_pitch=-0.0824 right_roll=-0.0395 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -12.2735, 4.9709, 1.2869, -0.3346, -0.105, 1.0281, -0.0752, -1.4291, 6.9265, 1.6386, 0.1392, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71549f8947031c01dbc69f5a1313cf0b77ab74a034cdd4fc2b8dac3579f67a7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dcc9bf070daa2bfadebc86cc347f8b1c4a3ce32bf1706fccb1b8e2672785d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b88664ab63f0e597df07bf7c69930657bc50fde0e3b116964321aa4b1c4a59",
      "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 · 6.479 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9115, 2.0254, 1.2617, -0.1471, -0.7513, -0.7036, 0.0841, 0.3622, 0.8398, 0.757, -0.5919, 0.3218, 0.1795, 0.9983]\nstate[eef_state]: left_x=0.39 left_y=-0.3006 left_z=0.0659 left_yaw=0.0497 left_pitch=-0.0442 left_roll=0.0352 left_gripper=0.0841 right_x=0.279 right_y=0.0498 right_z=0.1998 right_yaw=-0.023 right_pitch=-0.0748 right_roll=-0.0409 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -10.1128, 9.1829, 1.453, -0.315, 0.2369, 1.0037, 0.4444, -1.7846, 6.8444, 1.8144, 0.3101, 0.1294, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9745, 2.2135, 1.248, 0.0975, -0.7792, -0.7086, 0.0814, 0.3614, 0.8421, 0.757, -0.5949, 0.3164, 0.178, 0.9983]\nstate[eef_state]: left_x=0.3828 left_y=-0.3366 left_z=0.0067 left_yaw=0.0064 left_pitch=-0.0021 left_roll=0.008 left_gripper=0.0814 right_x=0.2787 right_y=0.0504 right_z=0.1985 right_yaw=-0.0187 right_pitch=-0.081 right_roll=-0.041 right_gripper=0.9983\nstate[joint_eff]: [-1.0051, -12.5607, 4.9436, 1.2088, -0.1636, -0.0904, 1.0281, -0.1299, -1.2923, 6.8718, 1.6044, 0.1001, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9916, 2.2131, 1.2423, 0.1024, -0.7887, -0.717, 0.0814, 0.3614, 0.8429, 0.757, -0.5949, 0.3134, 0.178, 0.9983]\nstate[eef_state]: left_x=0.377 left_y=-0.341 left_z=0.0067 left_yaw=-0.0 left_pitch=0.0038 left_roll=0.0053 left_gripper=0.0814 right_x=0.2787 right_y=0.051 right_z=0.1982 right_yaw=-0.0162 right_pitch=-0.0824 right_roll=-0.0395 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -12.2735, 4.9709, 1.2869, -0.3346, -0.105, 1.0281, -0.0752, -1.4291, 6.9265, 1.6386, 0.1392, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71549f8947031c01dbc69f5a1313cf0b77ab74a034cdd4fc2b8dac3579f67a7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dcc9bf070daa2bfadebc86cc347f8b1c4a3ce32bf1706fccb1b8e2672785d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b88664ab63f0e597df07bf7c69930657bc50fde0e3b116964321aa4b1c4a59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEg8vJVyvc5db0NFlPdnHx78g4VP_1UChvEkHn8sKGXAwTJo4hNfBKAl_4bEgnIGHbwSMUTzFBNroz5Eusi3uauysJgo5Gmk7nOvA6OM1s5ovHc5OYXHLQj0mksrvFhEQ1V0_Tc6JWXIcsS82bmqdW8ENOcYVODJvuL_BZtxiBO8dl4Ce1y-zGqGAgjxzI0d2Z8uMT7T6zB9d6Z0GEvGjc5rxusgSgshVHRQla1Aopc3R3nHHYTGLFGCu40QLTpUbO_iq41TzbRTg7VatGum8GnVcVymR6EZe2_FrRmT15sHxmvY0FPjNY6eI_jPl5MduLq1jSOWIOe3DIYzSzffyWdzhwuZW_365uqympLM0sD1ITmBxV-ad2frJsRAp3t2IsCw_u8HZ76cNErIpIV21VXHZIw5pzdon3JF0r7c2CqlNTuoFqVKbKT23pAs3SeS3O-WoS7SbtVPQMDIjPRGVkUj9_Mbh2hih767dRKL1MJlzmKBiIzp72EaV95fkHt114UUZLXshMAz-GNiMVPhfl9_WglnCShnRhHIRMygtsliwwNvFAMbujlEmq-b678UCnk8dRuuCG3h3tXxK7mRA0AnRwPnfRtBAsF9QvhumwbElPqg9oxkK5RSJpsP_go23dQcfkIUQ65DdYjcQ25fC3P6SFWlYq1-b3BFg0U3qL1hkeDLGRCIuuPS-TlcpfpnpMBNtLdjMrsIDLXAHGvLH1oWTlarfXhkcCvwhB9S1zbYfPnOx_5EwdNs41MIm_2ukIUJvhaTyXkf3MweTzaMt6lG9cV_RhViGKTbB84blT-VPnCt6e0Ozqj9a6e45gsYFNLBPQonx-pujeEzmOP6bxbXpa7W3aIKCVd5eaAedOrj0w9UlL5iDn6_-wtZdcH7llW_BiJMs9YF71Vh0NjPUOWJ5mj9yPOH5FsuYO7TkkNrRvHEOpI2Isc38k2D6fPezUjTRtWkq6jWS2ndIKSA4O-EnDHZsN_-6825v-_8VME1EZc498mORJO0-k6z3dj0KySAqbPDb-mwBPKJWzvz064yMtcWQuZaB7ONfMQVevDRns_oQ6T1dxjy9NMrno7ZAWIKWA_UfRTmiNv0eOj8BMlTTQk5XO5GAzHBBVvXOXaOaQpcZ9J3bw9d-2lleDHurzxNLLGheHfCc8DcifDwYNiXtAAtJgcsEVq-ktdFh54Zf7NB15g6u1S5Rw9Ob4HgpffR4d_vKmgpZjJ2LSffPkZy328j7IUnRySvwD0VLpBfXUbPqpmHlM6cudTRxhNjnpspgvSgTpF2RqKcRq5aUfMKjzr1e34sU3VqA9J2foiEGHRSqCHWFptkQq8krU7INh8G6Wwb95BdMCT0wSvR3sm9yAJvPZtAJFMtLuONy4Ji9j4stznkmeZuOoKlYevYADkwXgRnedMJeZSzbPtuvGFmL04WFUpUj-7UlPcWxsOgmWwM-LY0yZYA-XUC5aogD26IOFhwbeKCDZSAd9jbqQ2QNl6HXEb3uxFMLJLTGgMLJ27iJdhPnhMTP2_rr1nVQBKC3VE5rRr5kpmnFszghgMEm9p-yQdAgFT7b0wZRqtizxhPGEJVb93613G9aUiMwZ25QuUlMwY410SmdMIDVUgpN-mJ_Y4NPEEOIUVlDgiwK8uTOAhQ6u2XZ7idiFEIt30sN7_dUAjGWsQEWTTMBXt5d4kJfV8cX_jwKYqL8G68FZGI4YVZtanQRiqijzgja-bc1yziWgI8PmSsg3OTVh0B1HHSCrQGFxp6kIM6l5_8jZe6gta7gQXKlesleS7pqNCOWPR3C2Dbb1EI-TSyutVvDUbb3ZXYbCJ-YoFtSuy-TwKW8i09V92Og-sdmhMMEMiPnDBtFg0gYt7AkV3OtqLi3lxHiwcMHj1uuYvnjHgz40Ug15yD_ZrZjJNLG4fKi7bfLYivOkjCCaRkxtWfjTM3zKN2WNkg3iQzLuX2AQfocYBGfxt9qq_vv7YnHPUgpXW7N0Lf9-irTKaH9iN03UE0df3iDxG3yjDPu4YJrFKmP2cDrUSaGaHBY7N3FABzPvXTTsyYDpvyNF4KpfZBtIBDophxCso9AcUSRyREwq6PE3XMLLW27-8bpgCKUjby4vd9ATbn2GqcCa8LumecKg95N7R_l0NqDQJYhXrP9p6w7DZ9jWwnQlrNB_iR9hO8KQ2bQjpnuq4DInHU21a5-R2Oa7f1uYhFdzsDTu_5zfEoF7o6QynVu6_AsW7LCJ873AWxueVZMfg5qY0l9GTVxGUFDi-Lv8RuKXpFlRo2kBBaacIMD38cLvPv0hUS11H9qdXsJz62UXu8LCedH-1ZvochdTsQteF4juXZaOHlKa6U16GZua0n90ClCIxyAiEJfZvntLG21JHOMiNVNIT1O1SW8WS9C-y6zGn5sR1Pb8vxSO5mQRsgYH312hFypkOxA8NSwIZshmSZLUknS2BWSh-5fKGPh0IrjepIRk_pSZkHmGbCGn4jy29LZbprKCUCaEACdOhgepf819neitDi_bfWxaJrUY1KtDXolTrwW_KrYwd0SSsffKMgkxhNoasaiO0KkICIMuD9eCcVBnp-5TVrgxgN6yl3Z-nszyn2VGukgXRAMYLb3-AOYh-Wnuna1et4sQAuo1c-7pYiJUaHcZguvXljZrVQW2Jbz_pVkqg9MycUz7s0LnVAgtBWrYYj4CUgiD7vkFg93trPJ84zrbrVGycdSNEi8E6mKvN3rGXUrZHO3BQT54VHIUvtbhaQinT5N_BIY_Aew6PDTTg2u0LLUDz70rC_dDdte0q3jdL2wdLxkN5-Ed-UpedatN3GFaTzLoj5n-jSJ6nJUas_inXX-IIF8S7lSo6cbFcXdso2hRvttzW0w1EKpP68eFHyBdXZeR9fjSRsvXMU-MzTNzYchMPoplY71OUu4FzksOpT-RZ6mHYxNo3nGyhfBbM7xLr-M5nXbswURqnPJRpkeU6GKbM4zATy93fsOltd8fUWyUYVGlaxaplW5zl6scZ8N9YwAYd5uv3ZudBzHUZ0nM57MuFJ1AL-T6T_GMJs0i0n4QtpyD47UkeTvuzEyiAtHIz3dXolkOGyIpaiKCcw2HtjIhmikUFgPKPfBEIVuTi1LGPOzWL11EgndUcgb1kwvNgAIl2ozkt-6HXQTu79i1YT_72V76_GUGazVobB0RQxBT_ROuH9hoB_qNPPGEloILSBtERbg9__Iaf7WLjNm5-M7x9C1Yvt7UBSIZtmubAYbZvmcsHTqt--CBFa2otEke0EQqCr_B-mXUbzI_rIkUYGgDzgNJ4daNI0VYgn_INIMII8_yi-9llZwRMkPO7R0QjqDv6ZPOM3F9d4-1Ku3m64TEKy4y97nnVPx9grFsR3Dx_MKxi7gGcXwmgjnL2XOrlHy06DDlEQ_CMVeoumrcBRrnGaI3-AgN6Qw0NC0l2iFrdTsuCkKuZvWTxx3qSmkHy08I77uWKeFndm0eN0E6zm3hgnWNeCNv2FZnQQGDuDNM6ajhNDkn84lEYFZuJG_VwLuLwQ14LrEmlXAhCbt3HL6HlkXa6sognwFvPHtmxLUmCXc4Sc6X4bgE6jxYKd_4GNFCyunEav_9o-pgfO7tWOpkKLZyaldbq-L-EUpPZ8XZY1B9-v9PfJh4erszJ0J8fweW6QIg8HeWtc32Ss39Vwyr53SBijqNdACt8gt8hddBg9r5U7wZOpLg70hQ0_yLHfxhbWXsjGXUglajDzFPkGLBDXyyNOjH7Qbd6bdlsi0CEwF0Ft8LsC-ugMANHjBKTwMJY_D0d1CrHbnMn_0ldNT2nAnBevqenXkmig0DiGTA0nydhs8izX4VyNDQtXk9Rh5Ds9Hs7erShxxLiYnrdfAQsxXT8lOgg0K9VcxPfCBGr5H7GO2Pe-_X75WhWKNunEiTzXqN0AlAJ7HUeCt9jA5ZwfxXdo5Io9eQxb1zg0yMsgFHEd-lcOEQNcSy_M3psKljwvb9qaNNiZf1P0u05qPYBk8DemBmrybpn9nwy1aHVZpeP7JVB2SdMwng8Z-t3xP5Ja0ap8XTIOjzB2FkWUJA==",
  "id": "rs_042d95d650c18e1c016ab44832268887d0a021177aef6269a2",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEg8jB8rISHhpDd4H4lGr50fKG5Cyv587ckL22k-P_mt2Ldr_3JCVwYn5E6ZerzCgFQ8-xXl0j0FTE2wOExgIiUB0Ve9E6AOirYa_C9qGYzF-eYBzuOl8mXfKGFl4f-L8cdy_Ih0Kn2-aDbOQBM1tC2ygcUp_pSl5LK8H8ZZ_abQh2MJg1PIISC8TYJreV4UwhN7s3NFsxcLCDH4z_IH5GM-BDGLReHWjA189EqQRdKwnMFDvs-Hc1pCWicnaE2GSDknO0osX4CN7C6Dy3AegTLDEzb722gLaAxAA_l4Tw_X2Rr8oopGA3UZ_exoc79g3fsLEZwd1Socc19rBjp5YVi74hHNW9Y4dyRvNrsznc7Cv-frXhv_AcJi1yLp_Z5Iv_fB4ujMD9jlQfJtbVxGUVfU9wMn06SfzSlJ6n4gKerRyvilS1cdFqCMj7oKnDJeBuS-qC3vwLwPGF_rbfv2n90EZmN4Pikx3I-YfkK6vt7tusR_eKSatDSdVlL2EcwWdr-mMuFhbNyUF6G13kPBKjNIkkS5STF37PHuH9Uj5IqxJEW6iZDQBHEv5xkpilxX9y5FFXdvIeyvc4jmBw3_quWmIv-n0EpxLR6i-TeAVvZltpUyYgfMqAQd7bG4oVpiEy3KUCAH7Yr9Po4nTNU-6_cGFHh5HNvhaSvCNwf0yCXHyaieJebKSyi93QSWxp9DlJpZg5sJiLUE2XeDrcToS2zmCKqvAslZSs1_Qepcn1irq2PZXea-YAwmPsNEs6H1xPcB2WyfES7IEv6AG_g48ZfvX1i4fFRRGnUQkR1h0Fl0T2sHikMuPjzlCNKChAyAJUbqM6U1HxCAJOr6U5y9c6Iimirk83Q-21Hpzy-4W2fwmmrN8X0UeXWYGQAYh7Sh5xnSbewAboQRCpP2JoL6o32-Por5fjSDnToA-tnhj-o2xDTYWO6NkBF38wI1UyiTWxeWUpYin9XW3vrALB1TUPHIxIIu8g3DDxIfbLj2hZM4PnkU6W_BBCTQRd8-DXM17DuGG8_1gau1iMtWNdpt9SvcN2Eoj-6V0lRuGNUwhj3sbAinlQkJU8zXSb30OGcAxZLzONs_MtrqprL9zaIKwPWIxH13qrF6nxGWu9DzFihO4ukkA5qkqPq4lqoLusiymxV6xu0jAOf3VVzRe5869GvuDkTycoroWVQFR_nZXTmzY7lgHeRg4f_tek7L1QIjEVhU9K-Gyod4ysYm4MgSVybCEGEShkSb5pNtaJHhGbJ2qgBrOhpyHYPm31_mjl1V39VrRkyLriJD77ipWNqyOaJXscwvaOFyRPj96k4qiW-hB8P5CgwgkefPu6xyufscue77IFU10c_rSBjVHaze2sYkwCsB8wh0eajDRZHqWFt11kSv8MJRfU_0OI4JM2_YRmgfi5ZucqbwjJ1vc-uN-f-U2gYA2SxEmOKHdLGWC_P35yh6TVPJ9VPzYNDLZ42jDUiaq5riZuD0FvRHCp07HrzsNCAkE-UF0PEQfu-vgrePWCnoPlQ5FKRI6kFc0nADli9n1APkuk1e3ZMnAw7ok5zjtKbUlHjf7OHmf2aHgGhFMj2sOU9ywADKl_x7nt7168eCQd7THAn6WjqDVRjrtFkx7ReLE7SCcsteFAD5EaveNtaXthlXKIfBaXQ8PtjCob6oLQTGbbi03dBshs_jK3021mvwDoXMWmsZSy9iOjA9tNYdRYJey6yCm9a_CmWJJuSWgejxVRmjABFwH9I4Yt8Lb_UBoSTcKENn0osu5Aux-rKpzfduzCcKCxJQK359pcuHfbU_munEa_ghI2PIV8bFXIcFqQTGJggPF-CS9edBx0RNRuhdFYFS0CboPo_ero4bNQjgcxu-4IXLpuHQpiZvOjMpfkYUTSm4oN_BE8yxA628r-8wj0XP54NkID1sWNsZ2Lul42-Rm1N2zllsIPKeGAB8m_aes8iw_6tDveQI2TGurdqC2IXizKJtgXqHOlk0XliZC_3izWExpNxkncCFJztryE_6j2aoTJhSsuEhLxQ50crVkiqjel2U595V78W6J2G6LavtP3VVAnOCBV_PN4iZhUg73AP3Gvwny9c90ZK9OdbE4q36w1N1gbOYbaxz9YiWYsaQfAHolmTvTwSyWrGLEwLB7Dq5LsvawCqau3XXtGWlgooc-hhzsJeB7-5tPN5MVb_N3Qv091XFZTgYM8IkXtkgBLHF1RDgYj1RaceP094vWVWjHYXLMlfxkQlb38BDwtzO2aWJirMpAg220XYJaImof9cMN8ElJikRFMLmnKzBPTVk1iaySRjvotcHKWNMDWkx7Q8dEQivurDcDgBHBgqWpRjm1ihldEerK0-3bLY1naddGKzbayJsL5zwr1pwk98PHosgcE5w2UEOAUcwRcwkg8cz1uaD2tc6iws5Qd3NY5dg1VYQHrwzYxzBy9tx0DX81AopG-tByRfuxDLTWac0bQLdJuAOv5YLpPieSzKUqLyId362wTID8312C4M9iGjQXssKTN3eLnhgKAXXUd-puiZfbEMGUuyodzIux0pQGznXQAESqapxzEEE1iMvIUz_a-YC89n2yCqSE5CAlJ8p2AADFKkWqflxNH72yUPVY6NsAOXbmNut64ns5RqjzeR1HB4Lx_9ezfa9jA9t1x3hAT3ZGA6sqi7wx9oJqzLGOLAwpKXCzWZVWrPpHheTg1xi7QopBWlSB7n09GUlellhz85IUblFcrw5pMwRxbRruR9MTY8bWUVPB91H7ZWq9gNtwTsv1tghYuxjpRhevHj6ABPyuel6i6OlZmQhJZzEzFLfI_N9ClWnoG6apiioXRrekCR88c3tn7N9nPYCwwxOCONrIo2WAGZNwYbwu3DvqN_2mbMKfCdz7w8chWQOY4B1kyq5J9x312C7O7B5rgwUaK6PvSsoihhcX5rnbOeHzRkW90UySH8xbPZ9j83m26bKebgDhP-qfPE2uxu6XMqqJCKsEqJNOL9vTV8jqJLqc5ygJBElRyjaX4U3VlWvmi2f-rSAcGO8zGQyTkaBbtqCMCErY-5DSiWyMkcSoHpfHAQEIc7V4qZLDdbbPoy70uwWnExG9IXtxA0qJLSOH6WaZPQV1gpoXwfP0Y4EcExmfYZrfPrKf5RGDvifR_oPlXRE4ZKR62zjtBwSQef-rUnIXXMXmdVodWYfG6HEgxaAm4Z01xDtBc65meCVtrlkVV2n6mci7O_6D21kSevViPqqE7gBj9v4BzbKiko=",
  "id": "rs_042d95d650c18e1c016ab44837d5d487d0a53ea303baa10d8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":1},\"note\":\"A second seating command again stopped after only a few millimeters with sustained contact, indicating the cap is no longer freely moving relative to the pen. I am opening and lifting straight up to test whether the cap remains attached, then I will verify the result from the overhead view.\"}",
  "call_id": "call_h2vWOVPpaxmHy38l2DbSbJsl",
  "id": "fc_042d95d650c18e1c016ab4483b8f3887d0869aad36ac53d6de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h2vWOVPpaxmHy38l2DbSbJsl",
  "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]: [-0.9928, 2.1674, 1.2968, -0.02, -0.783, -0.7326, 0.9948, 0.3614, 0.8448, 0.757, -0.5949, 0.3122, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3778 left_y=-0.3445 left_z=0.03 left_yaw=0.0037 left_pitch=-0.0118 left_roll=0.0083 left_gripper=0.9948 right_x=0.2789 right_y=0.0512 right_z=0.1976 right_yaw=-0.0137 right_pitch=-0.0845 right_roll=-0.042 right_gripper=0.9983\nstate[joint_eff]: [0.1026, -21.3402, 11.9316, 2.0879, -0.3736, 0.1294, -0.0757, -0.0615, -1.1966, 6.9675, 1.5751, 0.0513, 0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ff835bd5a05c3e531da9e5cd88b529873d5ab8b5983a036b52627775683a48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e247b1e50380a3c20163ad2dd29763dc879314360e6bc70ea976aad2e08ed0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee43cf0a18be960ea347de3bc6f4b1c010a2b8de924d46985e1089926c74704f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.39 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 113 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9577, 2.2105, 1.2636, 0.0399, -0.7746, -0.6975, 0.0814, 0.3614, 0.8398, 0.757, -0.5949, 0.3195, 0.1783, 0.9983]\nstate[eef_state]: left_x=0.3862 left_y=-0.3279 left_z=0.0055 left_yaw=0.0148 left_pitch=-0.027 left_roll=0.0475 left_gripper=0.0814 right_x=0.2786 right_y=0.0499 right_z=0.1992 right_yaw=-0.0214 right_pitch=-0.0782 right_roll=-0.0416 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -12.0957, 6.0786, 0.9353, 1.0525, 0.0366, 1.0232, -0.1162, -1.3333, 6.8718, 1.5995, 0.105, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9916, 2.2131, 1.2423, 0.1024, -0.7887, -0.717, 0.0814, 0.3614, 0.8429, 0.757, -0.5949, 0.3134, 0.178, 0.9983]\nstate[eef_state]: left_x=0.377 left_y=-0.341 left_z=0.0067 left_yaw=-0.0 left_pitch=0.0038 left_roll=0.0053 left_gripper=0.0814 right_x=0.2787 right_y=0.051 right_z=0.1982 right_yaw=-0.0162 right_pitch=-0.0824 right_roll=-0.0395 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -12.2735, 4.9709, 1.2869, -0.3346, -0.105, 1.0281, -0.0752, -1.4291, 6.9265, 1.6386, 0.1392, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9928, 2.1674, 1.2968, -0.02, -0.783, -0.7326, 0.9948, 0.3614, 0.8448, 0.757, -0.5949, 0.3122, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3778 left_y=-0.3445 left_z=0.03 left_yaw=0.0037 left_pitch=-0.0118 left_roll=0.0083 left_gripper=0.9948 right_x=0.2789 right_y=0.0512 right_z=0.1976 right_yaw=-0.0137 right_pitch=-0.0845 right_roll=-0.042 right_gripper=0.9983\nstate[joint_eff]: [0.1026, -21.3402, 11.9316, 2.0879, -0.3736, 0.1294, -0.0757, -0.0615, -1.1966, 6.9675, 1.5751, 0.0513, 0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ff835bd5a05c3e531da9e5cd88b529873d5ab8b5983a036b52627775683a48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e247b1e50380a3c20163ad2dd29763dc879314360e6bc70ea976aad2e08ed0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee43cf0a18be960ea347de3bc6f4b1c010a2b8de924d46985e1089926c74704f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEhETlon_k5aObzNv4-rzehf4odmzVwjSV0rPch81_vH8SpTLWCQTsPGfr2mJf-eHTUdrCG1Vw_idfzzXKjYtXUqWcPZACs-wPwxqvsen2beh2ICS_H6v6GCmCZWkxKrrBvLtF8PrdKlhbMKZDKLamzftjiRPeNwXVnuVjvR21YRXGLfk_MgRsoD3fmNTe_s_TmuV59xPOn_6ZNrZHulYfa4u09TTuhwTZbI3r65_dK2t8Q-IRnDk42JlDSNPiUeGyYfSWPaE2ufzX9x-ZvkKudf_Vk33DvIvA501nqOp_HKvnVn5vJNEaeEIuLC-H5H4kyhxvnKiNKgIT2kHj6n-bYzIdU476uGrwGuLlf9ZK6G1AQk6z49sFZIJVWZiy39yCmxtvdahWVzTgMwxBQLlN6mDw5wVbQEziC7JXubIoIhSQhgY1a2D8z2Jeby9Sb76tAGCSiRivd6on8ibEouhp75iL_uA_39pDxJ10qp3H8A_QSYv2AYOywJQaOYrsfhfwqto2gTmC5JQbrMakHcLlgywHcFSOh_2nuL-Cm7040Xt9LC3lybrWZxir0Q_2miGyI1-RejgYWJBH5YlLB2eU0IjgyEQm0eh827IBeIvFcjZUJd_xC4t_OUkzKAUr6V3YBxX5cxKmxuR8fTmuplXF9xPC6__rGVvzdguYAjcezPAQw2WVFBpMj8LKcDN7lSc3Ew47ss2ZjE4Pj9vjO6mcPPbZezdB7Xree8_icopIeHSzXckLCh77m9PAP4IgSaMEHlx11aZfm3DTtIdSLsDkxfnH7RgXCu4NmZDTRpq-GKtD1QQpfNY9PC-QSZVR62b73QK6ZZV1K37RoY7JHcEFVzv2rnpCsNbTMFrAWDCYqTgt2Tzny-90Dls0wkcGwxpe3A6JTlTsGx8690HKgJtVGsITjA0qDRYIFIHUa8Nk51U5kG-k_kmdYZEH0t3AmCudYsi0UoyT3GdDcF_6jptnQXYGhlJo1i8Fw1lS0O78R-3hdjg7jJFspvUEjJthdUL46ZXgrCzmXuet5mGzcrb3Ab4Yg-ShsikRAZGnObJGAaurANzSHUZHatZVdPxRFFt--qEpbngjlZGaRw5eiE13rbiDsGNIY7Nm7bRMnptaHtVTVE7Sl5EStbgW4PTO-mcMicCKlXQmLiFqjDuaIDENCDDsWrKeCWnKxPTvE6jN8yQxR7sAGjy-oY76tBrUvSy7pbg4Do-BgsFAd9yZG7OOFG8Zvh2ZAJ7epb0-iVR85baIj6kXEZSZieMiPaLhAGgknh1MsJmEFk-2DTaPrai7TFnXIipEWCSkIVqRaQQEU8pvLxEm2JvWBfCNdnLH8cBM6ArSw_CJ7t2nNpkWV8R05iu7bq3wFtRPaaGgem-OiknpFuriPh2nhbUN2SrE8nMwzvRzA028nMSLAE4z1SQVdnhaJvnQ5-xIWGOcXoKZoPYSNJw4SeczbQ4Y1A66Z8-qF2PNSkp5XjO4TDnYTF4wDsdIzDiSW4RWCCPivIw1Zv2u_tj7XCYYnrrlqN1nyQUGsobwe9ojDVAU8zVvbyniulUg6u2RuHgbFB9uG79d8wFn8b5at8OxKDA-I5Fp-WecqdqGD-V5FJbvBDQBg76aXSFNt0pdt725o5H-nwLldJ8CHAcBS5Y1O-sBPgq1Sot70qW2ky1xF-md4n3I32I0HP-sOMD4Fdck1dSgb5v33fTrF1hTk9ks3ZOZ2J3U1Av2_IWTnzCVMb549nsi5fJX08iEOhRv-S0PSVn6gkzhcmzxtcmHB34tMlHxkQj-JvlD4_SvwP__MsxMkixJLMgNVMRbAjoC_mhizkLkLGxz1jh1zdALeRtM8fijF0rNZUU8N5wafnUwECU0geEJP8LXcA8Bk3OOA8kCC3z-3i848uGsUW2BGtwohNyETU_i8_TNXgkdEDU4UPGHAYPLMPC3s1DK0SNVX_qn3bhR3gGB6zwaz_jVkCqoR_PsZkVZRbPJXf9lCTD1UzfrUTaSIvZxPpnEnWnLnve3K7_F73VV4HKO8MFlQhEeKKD2R9PA-aUMSSbiIMWssG8hngibpS5PWfs6Avwsq9E64Xe_hhcmCTSYAR50i2BRqI_Bu_o_yXPLlxao4j6Rd1VY0NF_KHcZ2RxSGIWkTiSdqazPHk0BQ-LdEt8Eg2-pf_v_W_OTyJvywp",
  "id": "rs_042d95d650c18e1c016ab44840e3f087d0be574a002cbdea9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.22,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The gripper opened, but the arm rose only 3 cm and the shoulder effort spiked, likely because a fingertip or the cap clip is still catching the object during a straight lift. I am moving diagonally away toward the left arm’s own side while lifting to clear the assembled pen without pulling along its axis.\"}",
  "call_id": "call_4upRGHJjD7hcMLm8WkbNPBFb",
  "id": "fc_042d95d650c18e1c016ab4484323d887d0b5caf7cf15985116",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4upRGHJjD7hcMLm8WkbNPBFb",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7036, 1.0847, 0.8703, -0.5034, -0.5919, -0.4908, 0.9983, 0.3614, 0.8501, 0.7567, -0.5957, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3041 left_y=-0.1241 left_z=0.2096 left_yaw=0.0262 left_pitch=-0.0055 left_roll=-0.01 left_gripper=0.9983 right_x=0.2791 right_y=0.0518 right_z=0.1958 right_yaw=-0.0115 right_pitch=-0.0912 right_roll=-0.0431 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.6855, 9.5385, 1.4823, -0.1587, 0.1734, -0.1929, -0.0615, -1.7162, 6.8855, 1.6581, 0.0757, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e347425f94554221ca8a400fa3a72fff2f9b0af8f43b2d4d6b44daa4cb01cafe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab33176f186358f038abc6102685730c450cb41c80196d6be008829dc0322998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2cfa697251b111ec1f5fdd00a451b22d22c0b1ca027131be5a2933619de26b8",
      "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 · 2.692 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 113 changed as sent

message 117 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9745, 2.2135, 1.248, 0.0975, -0.7792, -0.7086, 0.0814, 0.3614, 0.8421, 0.757, -0.5949, 0.3164, 0.178, 0.9983]\nstate[eef_state]: left_x=0.3828 left_y=-0.3366 left_z=0.0067 left_yaw=0.0064 left_pitch=-0.0021 left_roll=0.008 left_gripper=0.0814 right_x=0.2787 right_y=0.0504 right_z=0.1985 right_yaw=-0.0187 right_pitch=-0.081 right_roll=-0.041 right_gripper=0.9983\nstate[joint_eff]: [-1.0051, -12.5607, 4.9436, 1.2088, -0.1636, -0.0904, 1.0281, -0.1299, -1.2923, 6.8718, 1.6044, 0.1001, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9928, 2.1674, 1.2968, -0.02, -0.783, -0.7326, 0.9948, 0.3614, 0.8448, 0.757, -0.5949, 0.3122, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3778 left_y=-0.3445 left_z=0.03 left_yaw=0.0037 left_pitch=-0.0118 left_roll=0.0083 left_gripper=0.9948 right_x=0.2789 right_y=0.0512 right_z=0.1976 right_yaw=-0.0137 right_pitch=-0.0845 right_roll=-0.042 right_gripper=0.9983\nstate[joint_eff]: [0.1026, -21.3402, 11.9316, 2.0879, -0.3736, 0.1294, -0.0757, -0.0615, -1.1966, 6.9675, 1.5751, 0.0513, 0.0122, -0.0073]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7036, 1.0847, 0.8703, -0.5034, -0.5919, -0.4908, 0.9983, 0.3614, 0.8501, 0.7567, -0.5957, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3041 left_y=-0.1241 left_z=0.2096 left_yaw=0.0262 left_pitch=-0.0055 left_roll=-0.01 left_gripper=0.9983 right_x=0.2791 right_y=0.0518 right_z=0.1958 right_yaw=-0.0115 right_pitch=-0.0912 right_roll=-0.0431 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.6855, 9.5385, 1.4823, -0.1587, 0.1734, -0.1929, -0.0615, -1.7162, 6.8855, 1.6581, 0.0757, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e347425f94554221ca8a400fa3a72fff2f9b0af8f43b2d4d6b44daa4cb01cafe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab33176f186358f038abc6102685730c450cb41c80196d6be008829dc0322998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2cfa697251b111ec1f5fdd00a451b22d22c0b1ca027131be5a2933619de26b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEhLDT-VyR-9LJWDHQ5sFCkhp2LOCx-kw3H_VgrGn0-jzM7Dn8W2MZbHmoVKr4yXCFXNPWLdpLSJJTQE5ad5D3kcJYG37BlH17T6TXqrFz6cMx0RCK1XwFimItrRhfbU16GZSNw3Pc5f743fMQnBImX7PfSphX7G4V4E6PKPLNVaZXJb-_mWiDwkGc1jvxwDoL6_gYPC-8AAkv1MAkL4WoG37zAEkR1_EjW6w-HU2lQ0B7pj5eznpZrWowcCYLq4LcQkHMSHUMPHDn4DScEMpCP6707wCMgDzRqJ2LegmdpbcK4WDpAE2RTql8TZzOBk249972ehlS3DAr-GWCXfnbvuC5R_IESlnR2pB3dHvVMaXG9K3c5JqJcCM90kwKaOhbNsi5hQf1GHg6M64hZQpmYQM86uM28Wqi1wMy03_gebdTAiMQg7odKhSNmu_BELURw5xCWKnKpWDuttLh-j41gshPMyUD4USxrRELGGE9ROgwibrW3nV04jPJbNOqQD8Mbux10IvXR24u8eohkhEQIWYbiQJmMVyUSt-DcD60r-6LLgk3xxORF8qpDck42xBkvmhSY4oMQPUNFcjeyZJ5qbS8f391Cpzp3_b-O4kQkPgsDp31A-tIHmhz4Q95x-G1PqixFVFfEv2Z4UDytFHWtNQVLPIoCCLLGJdkYmpNU4HF5CRrHXY02Gq2r5-kI4bwYa2Z8OQhzl0kL5sA2uQ_-okVs1t5LKGjN1iM99un-4ZtY6Mznp3N4SkiG7nBWJ-u9E0QNYsAHIE90ZAaW2Mi7ZtBE0jh-OcSVzD58nB6i6zGIp-_HZMqluJQsuYvG1Ap-lPo58nMQX82WQvWnvtkRyIRXt74DKP6V8f6pG0GohbsnNMgT1Wvj4wyq9G8WML14MZViRC5yzNcRYd-lh6Kucv083e_vk6dNpYKMi8w2FDM0aPREd7ZW18QNyow3PwGV3auWWyE8nQfy1Q_HKhchasu_QFdvpB-5PrJk4jIsN0AVV5ijrqRDTPQ0EKCta8vEpY-B7PJQlV8JucLl1z2Zk3CVAaS-t7gWdvcFzZaw1u3TQwiYvobNXMkXdpWQ5l7Xh-mKjbcX4JuZ57Y7b4h7aBLms6pY5lOwu4mE8ux2jm-CvM_5cRh9J9h-53sOb8a01ib8ePLjrcl97QHUxTv3kflpwLMkQhSgRuEbgcfwExiuckNRaVFgabKeMCs6YFISqf_QoLcwkHHDdwByE4v1lsrVURuWH_Ou3hXhJSAbx8TuoQCDJwcvzJrRgOfuqfdFcXF2uoaRMoAnZKr939MorMfGJ0MdkAWzmDlIRkH7UKy-tzBr7QeKm2F8rEeaHyn_iFvfhhu2pteIHMtmERWH6yVFxzKTtp_RojFVRYY-o7B9Iu86WuWw3zP8NJdrh7pjv_RD8H4OBK9gVsWTeW_PNEJNQOXZLth3oOvfA82vjj3qlrTqbijkdok4EsJBuLNQKP1FD4SB8F_ywmjd7mvbkoo--gV9SZFkaKPIIu6p3pT-m_Dhm1QVhIq4oRRBmkD0O4_2Bk36zJa3gbjMO8EywytDZNPlbAsrfk3C2CrbqmPGOmQjbVt4qS1yYuq3sKFnh23qF6KNYl38ooB5vt2PpvV6tyjuKTjlTDSQy9UbMZSh2zgXObJg7lDiKaFQ8XgvMDRPLytp2REmZaWexYspvBID_4QBLd-LAwvFkR4ofmnrPojOtoiYZFVwyQUKPw_oEOAhQNzxXhXnMO6UcVRdYnD3yeL29vRStxqnTYN28uwbPQW-LujMpPJyNBzWsM5rscDwDY6pP-rM_a28i2_Ns_SoNn658QBNT4AZE6SqwXXT0td8LFpAhciYk4bRIs2pAfsmWf4ee8D3s4Y25mkLscMHlGhNN38PEQCTvTPhJgMs3lImtEzhmZhK6X0vDBlqs364sq2yoRKWQyQsMvrfafVL7b9-tLkxAbMp5bu4_c99P-godSyG8TwzMHRNieQeUnr6RZZAo1vMa1rk1XWsGkKpMyLWh0ieSxOo4IXn9vKKCY32Opy1sMRyFy903_h75pvghCOLGYLRPvpa5pJXcdKNSCpQMj4sQRXldsMRBvNvHSrMfJ76IOR_yLK6EKEq0gz1N3oA1EzlXxZf9sAJyhkWA7hjkDQcyp-ypQwCx1dBYhI8jj7Vw0hOuG-RvmstHKWZzvJD6Px3q7h2ZCvH5zyjLnWlEeNOjB-usG4wFwkcatQZtK2ZQIHCUkw73MRKi82eORIiakoZ7EJ5jJI7GJpVn3d2unOlXNuxsELEeXmJPrhBp0QuGLo1_Co3obf3FlogVb2ZFmpbgS5QIIYPRdmN548AGSYTgMbRatR7FPpEjkdpb8uVv9S18sUlzPdaTk4SkZiEaToKJpzN5D9f2utdtzye9T20LGp5_p9qh7JbX9rh1yGlv-am2VNPUK1YbuVUfAWsrm-0VelHRCCpJxGRuyJ2-o3RJaaGLHBHNmQ0Q_5Dztj3SCdXNWxVPjIucNWRhYfSJZigrtVpGXGkNeefh4OMirFUbIeQkRtv9iiCx8K3vUrjxNKgV83JzgTv4p833CGASGwPhFiME1Qyfm436Lq4iW5UcpX5PanlHh02gQjH2P3-EVNG4cgWlpMhGCZf8K-XxlR2TVBXnkPrPsMFbEcH0PS6zLnor1BuKeKpxbHot9M0ZcSzTLF3Dm9mg9GUyaY7Cqo4fPa4PgnAI6Q==",
  "id": "rs_042d95d650c18e1c016ab4484742b887d098cfe400f9c2097e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.34,\"left_z\":0.1,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The cleared overhead view shows the cap and pen are still separate: the short cap is ahead of the pen with about a 2–3 cm lateral offset, explaining the hard stop. I am returning above the cap to regrasp it, then I will correct onto the pen’s actual centerline before inserting.\"}",
  "call_id": "call_vTFsj5otrIkuviyWydU9caBr",
  "id": "fc_042d95d650c18e1c016ab4484a5fe887d0b4da994953794580",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vTFsj5otrIkuviyWydU9caBr",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9829, 2.0022, 1.3159, -0.2409, -0.7635, -0.7254, 0.9983, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.369 left_y=-0.3268 left_z=0.085 left_yaw=-0.0016 left_pitch=-0.0449 left_roll=0.0365 left_gripper=0.9983 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0119 right_pitch=-0.0968 right_roll=-0.045 right_gripper=0.9983\nstate[joint_eff]: [-0.6496, -10.6325, 8.7316, 1.5067, -0.5153, 0.0415, -0.1929, -0.1573, -1.5521, 7.0359, 1.5897, 0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a05e4d46564378c309b09caea7bb8f577de9dcb5fed6829088bae5f5513f93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e8eae71969152e6465fcb41affb629987afe9dcb72c65a06e0a818e70cfd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ba82b5c7f6c3b692f30c55be55598bd5a67fd844e4aa88094356b87e53ea86",
      "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 · 2.039 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9916, 2.2131, 1.2423, 0.1024, -0.7887, -0.717, 0.0814, 0.3614, 0.8429, 0.757, -0.5949, 0.3134, 0.178, 0.9983]\nstate[eef_state]: left_x=0.377 left_y=-0.341 left_z=0.0067 left_yaw=-0.0 left_pitch=0.0038 left_roll=0.0053 left_gripper=0.0814 right_x=0.2787 right_y=0.051 right_z=0.1982 right_yaw=-0.0162 right_pitch=-0.0824 right_roll=-0.0395 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -12.2735, 4.9709, 1.2869, -0.3346, -0.105, 1.0281, -0.0752, -1.4291, 6.9265, 1.6386, 0.1392, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7036, 1.0847, 0.8703, -0.5034, -0.5919, -0.4908, 0.9983, 0.3614, 0.8501, 0.7567, -0.5957, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3041 left_y=-0.1241 left_z=0.2096 left_yaw=0.0262 left_pitch=-0.0055 left_roll=-0.01 left_gripper=0.9983 right_x=0.2791 right_y=0.0518 right_z=0.1958 right_yaw=-0.0115 right_pitch=-0.0912 right_roll=-0.0431 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.6855, 9.5385, 1.4823, -0.1587, 0.1734, -0.1929, -0.0615, -1.7162, 6.8855, 1.6581, 0.0757, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9829, 2.0022, 1.3159, -0.2409, -0.7635, -0.7254, 0.9983, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.369 left_y=-0.3268 left_z=0.085 left_yaw=-0.0016 left_pitch=-0.0449 left_roll=0.0365 left_gripper=0.9983 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0119 right_pitch=-0.0968 right_roll=-0.045 right_gripper=0.9983\nstate[joint_eff]: [-0.6496, -10.6325, 8.7316, 1.5067, -0.5153, 0.0415, -0.1929, -0.1573, -1.5521, 7.0359, 1.5897, 0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a05e4d46564378c309b09caea7bb8f577de9dcb5fed6829088bae5f5513f93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e8eae71969152e6465fcb41affb629987afe9dcb72c65a06e0a818e70cfd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ba82b5c7f6c3b692f30c55be55598bd5a67fd844e4aa88094356b87e53ea86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEhPM02OFCXiac8t_NOsBz3m9VFAzx9hJydUOFZBPu8_deqr-OCxnZANw0wIS_wxaVlFlTrWx_2h5WDd5Zf42tkr3Dg5ubORRy9I9hOjicz1L1imGB_7z61B4AcCVtjOgxIMbQRxkkB3uYgvFsfToUZbAK6KY2w-MH7xO1Nxl0-sntGIIIdfb9aS5z41xkTmaI9hGjOgXPblp3OurJ_Mm47OlQTL98YZSLPlHXsGP5OtDE-cZZm5hGToM5ljwVClIqcEw09mv9vgTNw0iyChg8oAocLmPiIzRnBW7F08lPAl12EvIZJQhAONONecI7D03y1mRbJzdMQ5weoVBZ0E3K6CDtJDTDutMD02Doxresdn-SAL7B2x-wM5CsG4fwdlaEKCq5ODE4rEuFo0besKvS_ENvfTzZvW2M3w0Lt0TFLaRDXT9F0UAf--HNth272wIO_KrYlnjm5E04iCFT3cBH2YQa4l0S-FMWbc-K00OyKCrDSovhSpwcdOxIODLBnjA7cbBW61BPs2cXXYTmRsnJciyt3-QcGqbz78ggyhLL1QchXqeXfSlVcTvvmVYWb7T5LK0cDT-KWN8kfs1KNNsW3D0uGRAZHGq2Uhe0pKtyuQpaQim3cnIrR-4npClmU3rcHfHlIljN-rAiCd5BODXzAZWzhcJOCU3T90-lYKL6O_iz5ErBs3hK_RLdurIQiIudQM1nEeoK7cgWOG-w5AR3Kkzo7gvqI35ovFD8XUIFfXOiMP0PKpyaQRVNItWMHF9ihELP-Jq7MNWnam37Veby3AMdXfxMxMO5F5gytDZNN15pQHjdq7RNR_8DptpnAG25TKVtuD2lqTquFyxi6zE1wNMRNJTilfwF_9bsqVdfuF_wr_nqQDFUelkVeoRwWFsetdzQCs429Mlc3xCE7z0a-EWi-rl7Orc5AMTIC_8yu8FZb75_OIzXZ1VpgW1z4sSwH1DuWzs2KnRggX2XwJATOUQnFKdzpg3weJFdIekNPzQQvJjDrdSXi-qpAMqZDyLv-oxxrM_iBsTJS_DKIzt0xJ5mKpOsbbw3f3GulQcRH4pnyX3tZRwKdn5Cfg2uVGqoMBcGJobUyyDGQC4It4oIwl4w3Y1XgkXUFu-WoNuoDpRczOUouNxQADCGxxNES9iuU6i-qya1Q-ZB_l2ERb8IBL4nFs5tqeupwumHwvAIOHCNqpY3TUbWhqnz9wR62Kl3izlYBl2IQ6T0xPD8WFQS8MdsnnkluhIwkJkjCSAqhaHIxsv7Csm0LN7XaX2FeCWPGbCdWiW1xOK3ROLxpCYHCVr-j46SKOoIdK0Aut2xSzG5NW0rT8BLoI_RSF0pnhk8ljRCdrGKG87jRCO68u8TGZfJdgqG9YFQOuoCvWTaUSPPPghxHDfdtywRtwhiIc1CXsli0BFAfYQcVNqBhMhrbjYv3c0SsYIdTgmEFqCGKTK7IQIH9NsHJOPmBrMDdf8sEu",
  "id": "rs_042d95d650c18e1c016ab4484e8d7c87d0ad5dcd08c7a45a81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.34,\"left_z\":-0.005,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The cap is again centered on the left jaw column in the wrist view. I am lowering straight down at its current table position for a clean regrasp.\"}",
  "call_id": "call_M2pluP7yr1i7UNe5igPpRY7Z",
  "id": "fc_042d95d650c18e1c016ab4484f2b7087d08049624c7609b837",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M2pluP7yr1i7UNe5igPpRY7Z",
  "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]: [-0.9852, 2.2051, 1.2343, 0.0746, -0.7845, -0.7383, 0.9983, 0.3614, 0.8558, 0.757, -0.5957, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3757 left_y=-0.3342 left_z=0.0041 left_yaw=0.0155 left_pitch=-0.0139 left_roll=0.009 left_gripper=0.9983 right_x=0.2796 right_y=0.052 right_z=0.1945 right_yaw=-0.0119 right_pitch=-0.0961 right_roll=-0.0447 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -9.6479, 5.053, 0.9792, -0.0855, 0.2173, -0.188, -0.0615, -1.4291, 6.9402, 1.5604, 0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d218b0940bde2958abfb0aca2a2877be32b4a2f733da4c21220f01e216b094b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5491834b7d968d688084f7beea22beed14514f803f525a8ebd12b34b77f99012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844762f72a21c1ade17e32739ec0a2e960b27510df480ec12d2f63a9658ab071",
      "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 · 8.973 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9928, 2.1674, 1.2968, -0.02, -0.783, -0.7326, 0.9948, 0.3614, 0.8448, 0.757, -0.5949, 0.3122, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3778 left_y=-0.3445 left_z=0.03 left_yaw=0.0037 left_pitch=-0.0118 left_roll=0.0083 left_gripper=0.9948 right_x=0.2789 right_y=0.0512 right_z=0.1976 right_yaw=-0.0137 right_pitch=-0.0845 right_roll=-0.042 right_gripper=0.9983\nstate[joint_eff]: [0.1026, -21.3402, 11.9316, 2.0879, -0.3736, 0.1294, -0.0757, -0.0615, -1.1966, 6.9675, 1.5751, 0.0513, 0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9829, 2.0022, 1.3159, -0.2409, -0.7635, -0.7254, 0.9983, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.369 left_y=-0.3268 left_z=0.085 left_yaw=-0.0016 left_pitch=-0.0449 left_roll=0.0365 left_gripper=0.9983 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0119 right_pitch=-0.0968 right_roll=-0.045 right_gripper=0.9983\nstate[joint_eff]: [-0.6496, -10.6325, 8.7316, 1.5067, -0.5153, 0.0415, -0.1929, -0.1573, -1.5521, 7.0359, 1.5897, 0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9852, 2.2051, 1.2343, 0.0746, -0.7845, -0.7383, 0.9983, 0.3614, 0.8558, 0.757, -0.5957, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3757 left_y=-0.3342 left_z=0.0041 left_yaw=0.0155 left_pitch=-0.0139 left_roll=0.009 left_gripper=0.9983 right_x=0.2796 right_y=0.052 right_z=0.1945 right_yaw=-0.0119 right_pitch=-0.0961 right_roll=-0.0447 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -9.6479, 5.053, 0.9792, -0.0855, 0.2173, -0.188, -0.0615, -1.4291, 6.9402, 1.5604, 0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d218b0940bde2958abfb0aca2a2877be32b4a2f733da4c21220f01e216b094b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5491834b7d968d688084f7beea22beed14514f803f525a8ebd12b34b77f99012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844762f72a21c1ade17e32739ec0a2e960b27510df480ec12d2f63a9658ab071",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEhSsY_3NelWpENFyVSF7s1iTYGE2u9w7I2ordl73XdbrnpnQiyyAp-ACBlvlMgwtWSNuhETi70bwtbL1EoLiOYmzw3lB3W6BQ4wfMntRD-h9-idWD8b-dweQdViZwZrDzd92hZku-cZh01u8qrF1soF-PG7Rlp8RjoA5-SiG65pbYJT13ey1NpntP6J8FpFrcjaxFybxOd3bX3gMsvc3IEQCz8W_Cqq3PP7Ep0l-WJn-ODnt0c2MWBLHMThzhJ_lwDbravwJe4PfPIpLrEHf6SYvMkuwEEK-x9o8p-nTVCTw_pwvzQ2ZHzBscJjv-zR8iAxyJbghrElHJRAXVNHpkCJOy_OBhB9cXpKT0WTZpXgEKlvYa2uv1ctLG1PZusXLEiY0lT-0KQGpxxm56BVp7VH4DZRf-QHAwgdUYx5lgGVyyt4xlHyReu1X9424n-6mNs_V2vL_2ka5V81RJu_hxvQkqyqTJzzouYET9ULSmTVkmZP7hPwCE4tMXQDegeZydUA7irBrAa3urhyITX34UQ0BeIA3qCLLL_IV--lGTbCP4aMpuAnxRxwNdfZbD400_7f3NnCfDYLnvrc6pOOa7qyeUD8BlecYVVcwlOsB7YmU8iNpQPxRF74IADN5WKIKpvrYfJOD2tV5STKEwvtTFQKK5ep7QMBIjdr_AVJb2UWJk_EFgtmb1MN5ywSdZiuu4JeSKrcGsDOVFddYUwmEBE013gc353p_u9RlOc5NxRSuBfZ5dJCxYNzH2ZFh9yNBXdxMMhH7ol7gtIlSC4mfgMxVQAnsIfv8g7h56BWbSFtG9VPrVoWcl79mnDLhUcKnZ2jZkdQf1hDcJwCH6aOeaIK9whM-fWTOL9sw_u83ZXsqJH6IM1bNxIdeXANfU8uRzSPzkvjoeNitZthdIZoaMT4VbjZb92dcZ7Pi52h_cbzQ4ud_AUR_RowQUZRKhSQG522ujg__zFriNwbzQLsAxL8s2QviUjKCMthOu4edjZZRzip613xKbYj_FA4e7exvlQym4TJnb9BrS277_Lu13hQ40Pr7k5eS1blsPhWEMxhWaykP77kC8WFfZCpNvyyO0vNtsMAlMw7mAYAUlTZcWCyNuL_Y70QKgyaufP7QfBMKue4gOgike3sPUTV4v6yKWEgQGjzAPkS67RmKs_ydDaLmemJ2aJfHB6c7sGDMq3yZqmbmfjFkhwzXtCA_lAGGHF51bgnsDDAVXBEmUH4TzJep4u-YRbFZGgPU5s9iVJPanw=",
  "id": "rs_042d95d650c18e1c016ab44851ac7487d0b53e1a0221335e69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left grasp point is at table level with the cap body between the fingertips. I am closing to pick it up again.\"}",
  "call_id": "call_nEGDpUayvveNd4TWg9J8fc5x",
  "id": "fc_042d95d650c18e1c016ab44851da4887d0b77ded5a937621ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nEGDpUayvveNd4TWg9J8fc5x",
  "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]: [-0.9852, 2.2169, 1.2312, 0.1089, -0.8165, -0.7368, 0.0535, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3792 left_y=-0.3323 left_z=0.0049 left_yaw=0.0349 left_pitch=0.0175 left_roll=0.007 left_gripper=0.0535 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0117 right_pitch=-0.0968 right_roll=-0.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -12.4923, 5.559, 0.9841, -0.0806, -0.0317, 1.2479, -0.0205, -1.2786, 6.9949, 1.5653, 0.0708, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8190ae69c3e25dd6d830bed98a8cd075d03d12e737e76b144fe2f889f5f82ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf334bc0a872c59e89a34c8bdb56ee238fe71c162da5638a97445ddd596f1a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14101c45bead163d02d980f9d81e375e7ec03ddf4d26cb385790377e5ba217ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7036, 1.0847, 0.8703, -0.5034, -0.5919, -0.4908, 0.9983, 0.3614, 0.8501, 0.7567, -0.5957, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3041 left_y=-0.1241 left_z=0.2096 left_yaw=0.0262 left_pitch=-0.0055 left_roll=-0.01 left_gripper=0.9983 right_x=0.2791 right_y=0.0518 right_z=0.1958 right_yaw=-0.0115 right_pitch=-0.0912 right_roll=-0.0431 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.6855, 9.5385, 1.4823, -0.1587, 0.1734, -0.1929, -0.0615, -1.7162, 6.8855, 1.6581, 0.0757, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9852, 2.2051, 1.2343, 0.0746, -0.7845, -0.7383, 0.9983, 0.3614, 0.8558, 0.757, -0.5957, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3757 left_y=-0.3342 left_z=0.0041 left_yaw=0.0155 left_pitch=-0.0139 left_roll=0.009 left_gripper=0.9983 right_x=0.2796 right_y=0.052 right_z=0.1945 right_yaw=-0.0119 right_pitch=-0.0961 right_roll=-0.0447 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -9.6479, 5.053, 0.9792, -0.0855, 0.2173, -0.188, -0.0615, -1.4291, 6.9402, 1.5604, 0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9852, 2.2169, 1.2312, 0.1089, -0.8165, -0.7368, 0.0535, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3792 left_y=-0.3323 left_z=0.0049 left_yaw=0.0349 left_pitch=0.0175 left_roll=0.007 left_gripper=0.0535 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0117 right_pitch=-0.0968 right_roll=-0.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -12.4923, 5.559, 0.9841, -0.0806, -0.0317, 1.2479, -0.0205, -1.2786, 6.9949, 1.5653, 0.0708, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8190ae69c3e25dd6d830bed98a8cd075d03d12e737e76b144fe2f889f5f82ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf334bc0a872c59e89a34c8bdb56ee238fe71c162da5638a97445ddd596f1a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14101c45bead163d02d980f9d81e375e7ec03ddf4d26cb385790377e5ba217ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEhcmLwUtQADz3v3cN5lGDeBZ48tEy1oOUfiVe3VDaZAJhFMgccjpNhtDqsXziT7y7xDme7LO2teYiEtFspv22O49amo4SJV7UMJ88P16HXtFkNueIQRQ14-zJhKgsvv01Z2QuV4kM779t5rJAe_TNKk_0lKw00YbkeJwlDXSCTBvID0BXngXZ-ab-gAqISKbLe06sxbMx-SFSpH9LvSnTAyA5dxYXr6U52ZK_GMUsQwqT7lElOTPcIPOdY5dDjLzwtzBZ73X4kvIcfR4eQwzgjpE0qET68hpVicld6_AChiyXIwin1rULYLy5eQQNlbyJBRp7gHotqi4nRjrcQmTSpLuLMsmUQELgBKloXU0w7fQKzikTCbkIH9m9fVb7eeMXiKBE-YYE0FPZkRuF9rkryCbhJ76Ltj2gs810gYWLAo-BHWIKhA8OFrboyoBEh9Z-xuTh9aZ5hbqv8BNWiQ3NDyVv49Wd0kYi6YOhZ8Q2hIFVxw0CkUvu2LiGC74jHxoWzGs5cnBeE_nm-AwLWXC687yDE_g12d297f-Bb5S2iCfXJZ5veWcODbnxBol3PuGFGWPVvZa7zNxttKNj3qLxw2S07wgeQqZQcUaaE7-Kgzy6gSwNJUMLjbHdYY_ehzYUy35RoiZlTNdPBOY5Y5wpdIY_hHWd4G4Hd1Y8kk64Hch1DrcjAtLcwfpUHzVETVaGC1qSm1ovEo8uwooaGZZ-MmVpPAoBACu7_uJN2i6GMUTTw6P7n5R2qvRpBjCxm0zUYHk4VevbvBvRSCcEHkbz-C0HV8tpqHK1p1fFsp2FFSzc8lWuuJpAHvPgiwOuzuYVMn0G_aU_m4wBGEKdcdW7W185LXJLdmQmpW76mMICfHYKEnjy28EDYXo7eYScX0W0Bz9LxOr79VCMJyW86XOdqIUPK8ifSdbZpVJoy7RyoMmRaqLH44l6tTs6TXwJWs65JiMRqHchW9p3MR9zZdkIsJy887y4rb9PGNyB_6qihLPopEnT91aPG_pQrSNweBMzP6K7eOTzMGrfnnrEdIrgFz-fVd9ulA6NNte4xR9fzn9ejZ8Em0fU0cT-GKcLAxNjnOGX4Xg4dmEovIWZta_tNsVE92wBfagAabajk0XY4X3c4cTOBPj1gFGS4nquyUbBin9KHmVsMiF2ZQTRK3DRSfbzHTdijPcimbcBib28CPCYzHk8UKhG_vpTEFm2uxiJqZfD8fg-Cx50OAT2CXWfyFNknTcW4yNVhmb5UfFBDoBJdunvU65y3CSJAE3vqvUuLLgp1x787mWJ5ehVizffq3GEau_TOqnEsSRnPaMXsfY9-LeVv1zlAKQTPVhnrDCoy2UrqjaqD-aEx87BV08xzA4PHKfOY5ZDaeU0qxMIEg157WZrFItEFNQKlkQmjVUO-zxXkrje5ggUk5bDR4ZhPlXNU1TOZ104ESqaIBIqmu9ybYHdRR2n2cPwBcfP-ww-_-cqNSBvgwExgAgZGGq5oRFnSijpBNpVfJJfKQn6pnBL1Tg8DTZcdqwnG_0JC8_qxFejso1uLDg0A0leaK6HVkYoHPfspBvNIlnw2D4_tcFy_y4ocAcqAjrmnRWpCkaOWHfP154bS8GDwkWnIebXlVwBqJA1Kij1vL7fCgc1lx9BEZwj3ChRGj1hI556wbO5FuIFz9iku0BPi_U1vIhP3NXu0LRJh7-jBXAkebCpFfxQchIp08a62pPPBV42oi7gWka8tKqzwI7vTxEhseN-XtUceThV0jj__9tkUsQCOQescFrgPOEz1hv_eXEw6BN9qwR8mTsv8XAUBlg5CaU2Z2jTjQ0yYh6Awd8RZdb4SxMUGYH4dsTOqYk5CMa9_of_9XEOoyv5VjN5BtVbAc0eD23SczXMJzUHIA14jzs3ppJ3D5rwNCEKZQz6D1C7PWIHUpvcZq6s9AqjAn5GPlJmqjJ_zvEBhXySNZZF1fDRLdxlX9XtJDTR1Dm_oAQr7doA2UAjLu5sx4_RkebxTh3Hhkjx3twGfyIYHm8GxnWPQbwVJC37XS0DIyowdATbOAypveaBXDGRuCkA6UB1Yn4wzhqM-1ca-9GlXrIJR5IXwZUUiuxtEq51xfRJ4oWZB5CKrk6ZaOhfRThJpzU0Bv1EteHejWJRX--z74JpN-FGrLvCwY7OA1GT8Czw6UpZcm8pxy2OatZrhl5tRfZ5s4sdglphZeFwUqir-oRzIXGc-NOWPnujjz1xaOfSzAAIodCshNSfGM5V8cYomfKpqnpqjAWpHWwpVXgEpFTgSKiw1BZMgE4V5E6NVFBProEBKCurtojVa3LpwUxxJLDp06QdcWC2lnUhs8o_dlO29XzZ2SV4uwDV3pBslkTQ5JdlOD91t4QWIasVrrGovrwb8zgnWRB_GE1qp9qmfuwcgQfeo-itwh-BbFZaIXokizZ2pEQdxYsE5CnY5HlPn4fGEd4Rp0dSclF1Bi-sk-g-9PU30jolFrxo3-GoohaG9VN5PjEBBHSR2OoFxbh1NVyaEOlEZu9C6hBW8EQrcTcYsp_Zj4s22DHFpB8r15bBwjF9Jmk0gWEHyUdzN-OOhSJHC6JM1SSBGAHeM7-ph2RkGcml8kD04pqHaymL9Cg5O21z9EiSbwIx3B9Akj8XCOwa1PRQNtzlw4EAzgpm_EQt78fqI56WuYvMdzmhrDe7rcgF2xeOukGmpg209CPy4-6lio4ktytsh5GcZqTWDtLHDKb8DyfKMdbtPKKJULmcN5nl0jZPWgtAU9p6syZAVFwqi_1BetarErioED9Ckg-JXlFjYp4bHXQm2JtTJHEux-dYDJzKkigzKItNdyJlJBKI1hQRIo46xsc_pJYFEJiaoudq3l654tBT7Z68IzzouYyhSFQ6xQjQGxuJ7fW5yXmzl0LDOov1gKf9WMkh8D-QnL4kquy-kqzj_PvVCLXLfE-Qkx5rXwksZNszDGmVu80S45AwBZpZVY6mO1JyGTKENTLIYe_KhMM5AckIDp2dgsg0_UXihIT_Pw5Ln0ZNF5hbrfktPkLLp4hsiyp--syxIb7W0c0wXpMbYrOZQvTUQ_OsZuQYOESkF63X7ZXkGObSrXJJmqzmahOiQGVgLtuJ8UeL43R_J1_8I-D6h74hk5zaGSY-O_MmuetLWwG-6S540fZGVO3V83GMkNbwe6AxSNipHNgS2bUwEi6CSMD0EU7nnyqJLg9BJxD4bOBYhaIsOtqCRR6j3pZezwY5OGCwZKzkgE7YmLmi02dCw7awe8Hq5trj_lF5OAxaaKl5A7qB9hFnpS0SDle5TXn203ryQrZhZ4nkmvW6le5Twig7_NfIEZH11qEX0psxYLJYgrkHBDhR3KuysOx4cI20PanJ3S_PADL5e3bvJWNxrzXaDc3rrAh9SQHEfpWC9ww3VOHvUX7DZlepOMfqrvbSM6PwpAXpzDFBGa_jdoRRiTwBoemM6ikJGAuYwQgmycTamixYcfhxOiVnTyfcdsgfQ9Rl5nULg6aUQWffd1Jk---rqmq8HIV4kq",
  "id": "rs_042d95d650c18e1c016ab44854e0d887d0a2a3d14bae839ff9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.379,\"left_y\":-0.315,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The cap is secured again with a non-empty 0.054 reading. Based on the overhead offset and the pen’s known centerline at left-y≈−0.322, I am shifting the cap about 1.5 cm toward image-left while keeping it just ahead of the tip.\"}",
  "call_id": "call_u2xtw2vZAfKcPX3yXMhQGVH0",
  "id": "fc_042d95d650c18e1c016ab4485acc8887d0b25fe5d8e341e402",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u2xtw2vZAfKcPX3yXMhQGVH0",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9691, 2.1845, 1.1698, 0.1574, -0.7952, -0.7174, 0.0639, 0.3614, 0.8577, 0.7567, -0.5964, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3782 left_y=-0.3216 left_z=0.005 left_yaw=0.027 left_pitch=0.014 left_roll=-0.0016 left_gripper=0.0639 right_x=0.2796 right_y=0.052 right_z=0.1937 right_yaw=-0.012 right_pitch=-0.099 right_roll=-0.0459 right_gripper=0.9983\nstate[joint_eff]: [1.1009, -12.3419, 5.094, 1.2723, -0.0513, 0.1148, 1.0281, -0.0205, -1.1829, 6.9949, 1.58, 0.1245, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a36124ea5d29f92dbea11a080ffd13d02f28e8ac67da2c3ed3fcf58648a169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fa5a3bb5cabd5fcb4268b8bec98a771368c70d64c1320db4ceb2c86adc79f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd45396feb9afc351940d64a7eace2b8ef30666b7535a2e2c4c06b1d91fb675",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.217 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9829, 2.0022, 1.3159, -0.2409, -0.7635, -0.7254, 0.9983, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.369 left_y=-0.3268 left_z=0.085 left_yaw=-0.0016 left_pitch=-0.0449 left_roll=0.0365 left_gripper=0.9983 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0119 right_pitch=-0.0968 right_roll=-0.045 right_gripper=0.9983\nstate[joint_eff]: [-0.6496, -10.6325, 8.7316, 1.5067, -0.5153, 0.0415, -0.1929, -0.1573, -1.5521, 7.0359, 1.5897, 0.0904, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9852, 2.2169, 1.2312, 0.1089, -0.8165, -0.7368, 0.0535, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3792 left_y=-0.3323 left_z=0.0049 left_yaw=0.0349 left_pitch=0.0175 left_roll=0.007 left_gripper=0.0535 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0117 right_pitch=-0.0968 right_roll=-0.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -12.4923, 5.559, 0.9841, -0.0806, -0.0317, 1.2479, -0.0205, -1.2786, 6.9949, 1.5653, 0.0708, -0.0611, -0.0073]\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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9691, 2.1845, 1.1698, 0.1574, -0.7952, -0.7174, 0.0639, 0.3614, 0.8577, 0.7567, -0.5964, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3782 left_y=-0.3216 left_z=0.005 left_yaw=0.027 left_pitch=0.014 left_roll=-0.0016 left_gripper=0.0639 right_x=0.2796 right_y=0.052 right_z=0.1937 right_yaw=-0.012 right_pitch=-0.099 right_roll=-0.0459 right_gripper=0.9983\nstate[joint_eff]: [1.1009, -12.3419, 5.094, 1.2723, -0.0513, 0.1148, 1.0281, -0.0205, -1.1829, 6.9949, 1.58, 0.1245, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a36124ea5d29f92dbea11a080ffd13d02f28e8ac67da2c3ed3fcf58648a169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fa5a3bb5cabd5fcb4268b8bec98a771368c70d64c1320db4ceb2c86adc79f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd45396feb9afc351940d64a7eace2b8ef30666b7535a2e2c4c06b1d91fb675",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEhgFurQaQFWkqgT9fN_Rut7X6jAhzB5cDK7MEzpNkjIOfGOpB76VaX3e3QhaTrWlAV9pU0TP-cityPWzzwObGWOzjzvJeF1wmLlvnIxrvbWlhg_qN5TPEI5Mvp2r5DifzFPLzeowFkvfipvwYAogNQxGw4MlH4fSlI83I6w6Yz1GVUQlKmBhbqahqcyXKuoTWVa04LVHmTuzJNfTG2rwLXk2n7nUdEpouFZ98IFG-tfoetlfS0kejz0jfa95KKNDE5ds-SBaQpv_3kNz1g_yZ4RAiR0CxrR0tqkqWlweRb2wL2Df13_slHhxRigfD0f8DvfAif8IUuRYOa6EYJKfz0CcHSbRjJI9dQReMHYRch3os1b6V_MQYPyWFa4t7DNA3__UkgZJa7PLowGCj2bhCmkxr1s_j84op7Mm0EsCF-tY4N7ALGBTHL7gFLWvhkyMk2D09EGX7J4CIVgF0cLjAsQqCG2QaOk2721UTkv1YgEzqrz_5mhyksXxwwJHfBerzdc9htqrcapdE-EUmJDIAJyoi91eB6OQTUbeWAWOuhX2rhuO9PE1cLWIeXa6Wj5thPkuIidwu1DrceJjCxYHKK48mef74EctdAhoCFZlT7gDcVPfZoE4mCMVsrgcL8FxIawxSqHxMAYKv9XtGbneHX-yIcv-km-3dszlUzfhb2srVl5nE5lNHc4YouEJVLShuMKaoktLMLXruu_wUIhxp2hzj4Py31AYqk1pr7IaSJRW2A2C5s5BmQ0SptW5pYCbB3xypEM4NSY6_Aj88XJov1yPcXGJ9j8bMa-WNqBy_BzQg1AUwBsea0iY71hprfYQlDEuxbiQRpk6MoCp2jt43gLwDCtk8RinShsU6XClj19kGFKt7QGXDoI26yA5p8FsbbbDdCAUTnTRJkYtNCA4AdlvK3CLcd84AKTQplQKvDM96Dna5ucJ-PWG0yWHvoBePpfUWuPg1qKQNB9Vj51dFpRRtYuNo0tGjCqulb_LwyREE9kC2cjQvS6Hu6WuTjxRoCAE32FuluGysOArfgGnIPkaB1gf6hXbR5RN0ftebLAaANr13xPcUxyW2OGIBJj6j8nNN7qU_4tJEO3p8z4m9OjdSipw4Hu4zJ68yBLtVEbKZcJZven_6Z_5rrWU3_yOnULPpqzoA1mNN9-61XVh6umCLlP5IMLzTZKTtYjmAMXVXAdJcFHplu5mCsyAVHVwm3Ri2HTuskuu9kkYmlN1Wc13TA6O2T6DLIUSAOJgWy5kf20VgP5zaim1MF3eYIDR-xRPwxBPjRchYgfIjEkPMjsf0XXAy_MMbZX1NRnnHF03e0_0ZRbtKtCgUUfzwmVSLBIM2QFaA9cXq6BQRQqpiuizVdvGaPsZvP5-R79MRL5P8YpfkEKmPHeUzeAjEo1BeddqyE8X-wokeKXvI8a9czoLsGLCbXF9ZNIKK65Emkfcc_SsztovFdVpWB6uRaRkUYi",
  "id": "rs_042d95d650c18e1c016ab4485eb4e487d0b1be975fae508017",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.315,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The readback is now on the pen’s centerline at left-y=−0.322, removing the lateral error from the first attempt. I am advancing the cap 1.3 cm axially onto the pen tip.\"}",
  "call_id": "call_tYvTLVWIH2Fg6tWWYiBknMfM",
  "id": "fc_042d95d650c18e1c016ab4485f309c87d09f76d4a7e33b8e82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tYvTLVWIH2Fg6tWWYiBknMfM",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9604, 2.1609, 1.1213, 0.1955, -0.783, -0.7017, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3759 left_y=-0.3137 left_z=0.0047 left_yaw=0.0194 left_pitch=0.0136 left_roll=-0.0045 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [-1.0735, -12.8342, 4.3966, 1.1551, -0.2466, -0.0708, 1.033, -0.1026, -1.8256, 6.8718, 1.5946, 0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b25ce8cfd10bec07db6171f4e0e0b6df24e79d877e47b361262a5dbbe88a433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95168be976591e2dd81870352f0ca91d8a3fd9eef5008d2fcae7ba83440855a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0650f740c76d969dbebdf858e3c22718fbbcaf143130f52f486b061f2f1b1d11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 3.302 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9852, 2.2051, 1.2343, 0.0746, -0.7845, -0.7383, 0.9983, 0.3614, 0.8558, 0.757, -0.5957, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3757 left_y=-0.3342 left_z=0.0041 left_yaw=0.0155 left_pitch=-0.0139 left_roll=0.009 left_gripper=0.9983 right_x=0.2796 right_y=0.052 right_z=0.1945 right_yaw=-0.0119 right_pitch=-0.0961 right_roll=-0.0447 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -9.6479, 5.053, 0.9792, -0.0855, 0.2173, -0.188, -0.0615, -1.4291, 6.9402, 1.5604, 0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9691, 2.1845, 1.1698, 0.1574, -0.7952, -0.7174, 0.0639, 0.3614, 0.8577, 0.7567, -0.5964, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3782 left_y=-0.3216 left_z=0.005 left_yaw=0.027 left_pitch=0.014 left_roll=-0.0016 left_gripper=0.0639 right_x=0.2796 right_y=0.052 right_z=0.1937 right_yaw=-0.012 right_pitch=-0.099 right_roll=-0.0459 right_gripper=0.9983\nstate[joint_eff]: [1.1009, -12.3419, 5.094, 1.2723, -0.0513, 0.1148, 1.0281, -0.0205, -1.1829, 6.9949, 1.58, 0.1245, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9604, 2.1609, 1.1213, 0.1955, -0.783, -0.7017, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3759 left_y=-0.3137 left_z=0.0047 left_yaw=0.0194 left_pitch=0.0136 left_roll=-0.0045 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [-1.0735, -12.8342, 4.3966, 1.1551, -0.2466, -0.0708, 1.033, -0.1026, -1.8256, 6.8718, 1.5946, 0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b25ce8cfd10bec07db6171f4e0e0b6df24e79d877e47b361262a5dbbe88a433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95168be976591e2dd81870352f0ca91d8a3fd9eef5008d2fcae7ba83440855a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0650f740c76d969dbebdf858e3c22718fbbcaf143130f52f486b061f2f1b1d11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEhkcHXrZUSDKCoiA9CJkXbgK42GUG67I5VwFwfvrK-pCgE2G6ggOC7FdukEjwbBsp53wQ7Jr3dWxN-Q2umPW7l7VnMfWZQfO8w_cW2K0A7rnbtd96jmQY33Ko7vK13ZpFJNbSJEiQ_F981zkpzT7TSQvUNdEXP-fA1-tLCmCtd372fqxydPQBB8Io8qvU7bGpE47L9_oVJHWkPK5US32j7emoGYT2RPJFwMq9tA4p099-5ERUUAm7B1DTVHkryBxPI--K9rpzw6AidaejROeVFwAhmMS-8-cn6PtFBrpmCaZ2af9mprtYmP0Fq7CwM4cY8SeOVqiqkHfDw1kN3BoQT7Cj_V53p1xRhO3OlXYMOYpV8vRYHF5v8GPfpm9kGsW4TWV6GbWV0_Qnr8_eELP2SML_44ih6i_LSJOBQDnPZsFlQmUIyuC3eHJI0gFY04EU4POVuoGh5Yg0OhlRMqQ2tx9assudHDTzwMho6tTXxxQBNfrdPyllaXmN68J7c84UOtrUc4pVMfYSOOUKac3wlKBWPXwTXuQVkMkJSfABaHyvjud3JQZ2PpSPZXLdBS6S_7d9k7iWbgJQPlf8hpUS05-6f5tILAQl-MbNbNoUtTSJUns_qvnc1_UiHsPqXqR3M_s48efOrHSyg3SKLZMRxkCjFgiBjBt_ecHMkc0WYjldubEVTLVxnwVU0tE6I_19C8WkYD4MSBUlBKGUDjbmZHlFs1wUdJU_H3lL-Li_9Usoris3Ra-6Rf9maj0ITVwYXKmTHM2CaY-0QJAGWViHx7v8Tm-LkfUzLAX_RR_uOdqaqMGVOZ1ayazoK-2WcSujWBnXNprmhvVBxI4DP6vD85XYTVDb4UnFU0HTBO-teUnKE06iE3_LycNpCz9Yf2Amo_mICuq5tZx9vwrKNkOkSREJXCtptKlB5_bO0MFQFwIBhiMLIqU_ieXFsHfNBmzYnH6cwWan-6kfzimtPKb3Tz4tjsH4jmLPuEOad74LaAqZoDyfPiDoC3yoKJrxc6va-zUISP3c3SVljg4NRVf6gnzPjUMfaXjlOq6mZ54eRTERLcp_ftBH51yrhaZZQkvuRblNziV7rneRRHYd-MuKdwBklZOhxoNE9zbHsmGm0DDbPs7WLqncSJTBLICH2PKmiyFpK1QwnIkNh76CT96Kqd0Uiu-u_UZZGpwJ-cWoR7HvHcIhMknNFWLe4kXYlVm526go6z5-dzWw3lJU-1Y78xN3kaXX6CIdJRzF6Zo6oLohHLOpz7b-SFGRtgtGLTQEkBA4kICtWh2FiKtk7bSYm8TSpaXe7q2Zbm11sLHrO3HTy-YuvIXtZ_J0DHboR7yEd_Q_tj2aF2cJp64SIZbbwmAGF_g68UI_3o1-FtXPekCx-2E9kNFJ626JRmQlwxMR3cFqEx57VrZOw0JjNDQDN7r2dGtNlsk5v3_ZXq6mMauQypYDDqTh46TVpfIhpgagVzoDzVAsItaHyIP2GVuPLPQ5DB822_W1gHapPZu_NelEVgk0as6qIdx9Sw3m0fiFjjeu1yZkQTeUkTi96ESkgOt1ywU6d3_x_q02CzyI1yMxvDmWGywkLwBTKGC8bEKXEidJI94hjRLH9NGQaPxv_LDn4ND0o0dGL0h5v8oZ8qg81LUe-TbsI399C_LU2v_1TpOC5Z4WWNAu8dr7Jcy2xhOPzvt0_tFtblpcnsvBE_2Wsj_zPn1h7wfwYZ0bVkOR2veTgeCMqMRwOtXf14sHtXG2dXOPWlIWUuqv31Gw4RYW5D-043-LtbTxxz2wC5LEu4utMZVx2365VKSfEBvXL8n-bwtXN_7k2XIToogVyRrp2I0VQTMkUlx3VgyNQUUD6n3hRM3-9c_YTpiZL5wGwCxhff2E7vuXIpjZ_xZNX5U2gMkagP77TXNP7bqrT5Ly9KjEvuNjhSfoFBTGij3SKdkW-zhGOOqqZZjcqGTRNbdmR_YkzOZnRaI1m2QrZwOSfpid1FH3M1KdjthwEAfrVSqiPREInJBN5z0HCgKz9i8T647isW852QvgvAoXR8w56E",
  "id": "rs_042d95d650c18e1c016ab44861c38087d08a45e02c73417c54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.325,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"On contact the cap deflected about 8 mm off the centerline toward less-negative y, showing the rim is glancing past the tip rather than entering. I am biasing the command 1 cm the opposite way while maintaining gentle axial pressure so the mouth can center on the tip.\"}",
  "call_id": "call_mf4ID9FZ0g3EZgNrb3Twvjsp",
  "id": "fc_042d95d650c18e1c016ab44863674087d09ed68ee47689ca13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mf4ID9FZ0g3EZgNrb3Twvjsp",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7059, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0029 left_pitch=0.0125 left_roll=-0.0033 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -12.6838, 4.2872, 1.0672, -0.2906, -0.0415, 1.0281, -0.0752, -1.5248, 7.2, 1.5653, 0.0659, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a96a8de910e87cdfa3af759223c1ac7100725a4808d1b358c25eb0556c5c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c59f0b73daddac1f09ff7def5e6784079e74fd8f20cabc7ceb973bcd973955",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50638240bf6287c4dcd53fe92e92cbfca7700f2bf0fd975dc40c57cf4b15aa57",
      "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 34 attempt 0 · /responses · status 200 · 3.294 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9852, 2.2169, 1.2312, 0.1089, -0.8165, -0.7368, 0.0535, 0.3614, 0.8558, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3792 left_y=-0.3323 left_z=0.0049 left_yaw=0.0349 left_pitch=0.0175 left_roll=0.007 left_gripper=0.0535 right_x=0.2795 right_y=0.052 right_z=0.1943 right_yaw=-0.0117 right_pitch=-0.0968 right_roll=-0.0453 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -12.4923, 5.559, 0.9841, -0.0806, -0.0317, 1.2479, -0.0205, -1.2786, 6.9949, 1.5653, 0.0708, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9604, 2.1609, 1.1213, 0.1955, -0.783, -0.7017, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3759 left_y=-0.3137 left_z=0.0047 left_yaw=0.0194 left_pitch=0.0136 left_roll=-0.0045 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [-1.0735, -12.8342, 4.3966, 1.1551, -0.2466, -0.0708, 1.033, -0.1026, -1.8256, 6.8718, 1.5946, 0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7059, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0029 left_pitch=0.0125 left_roll=-0.0033 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -12.6838, 4.2872, 1.0672, -0.2906, -0.0415, 1.0281, -0.0752, -1.5248, 7.2, 1.5653, 0.0659, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a96a8de910e87cdfa3af759223c1ac7100725a4808d1b358c25eb0556c5c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c59f0b73daddac1f09ff7def5e6784079e74fd8f20cabc7ceb973bcd973955",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50638240bf6287c4dcd53fe92e92cbfca7700f2bf0fd975dc40c57cf4b15aa57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEhnYLABo4Tc0R1c6QSnbXnlFyUPSvtZemBnxMvLlhps8b55PIhqpcXQHYN2me6uH-AXhDZe5UFNPsX-xwr75HXpM2TuKvsugq-BAidzFns-2zmXqCMWsInby_pmnqcjHO_RZmDDqgDF9PRgXrnLA4Q_6fy52Nvk8bDOJm-6EsaIH30_3bjMlJSIGA3-zTFtCUc10mXeGvTGC2CzsjfgeN7-secm8jg6uACx4bt1NUWxRuw8KMTiPZ1DWop3_Db1zPzsfOJeMrjjzWM72b2v6mPN_l5tPLFUVcfZpfVvz4mMy2bQ5MWUM4iDhG-iLAN4k64UxyQyH_-A5eFh2dMj_h9uE7UTESv_WajBnYD_yxWgtnZGrQD6psSh7q7FBvZlqv4QQOpYe3te84iitcwdfVscyWhYlQZlmkRkewsEHAmiWzPVtBLmacr-hwYSVWt-FzhgyDJbPHSOyhxpzJLrUFR8rbhtsSYneu_qCzwc_sC4OHmgnrotOEd8TpSa1wsE9DRp0xlPLhPZL113kc7Mw2WmiJgM-7f21zQebpMfoZQ_STD8Bjs6CcfSDIvIyh_Bb8bBG2S3J0-IseoChXh8nTQsHcycp0pGTQuVh5b_egLzzIh_V8SMlID0kmoz-Ze7cCrxhDVHwNS4I8whsClByLkMOXXqEJbqIVewd4mYprM19ZYOb81XfJ7-19bQRq8l_tF5ZvfFwAYq-0k0_IWr9Gmpe0krl4u0uOmt2AXnDw-lAjn6pk-KqIny3zYNGHxf3awWK-b-JViIlGOpIVDEzRVLkGWKiUWHVONECkiN3Ccdn_9m_ZGH_NBLiJpVf-0rGKJw6nDtRoAOQFHrs3njQKyJ-Q4no7by-25tjLQcwYb62j2i1IYQaBnC0rkzOrhSIG8gUegLnXLjmjgUvROJio2gePNhWPhR0yFjcMQRpFHFq_wmrLc6jYiOAOtVPlFGH0fBIHVLNw2_GRKV36v8LCf9bRaeaQovuriVKJU6Htbjq-3J_HVQs31YEtWsGtQYOX5B7SxqE5GTFtXBiEUOINzBzDvAkBWJPleupuk-xUeAiVF3AslyPcwSQrgvHiKQHtR9M38YMaMyYiZ5gX5BJuW8qImBnsJfGXf8RJElcOKUHSKR1kvgtt7r8Krco784fxSdtZkdXHrobdS0aRIVHShdaxkxEKE5sP3t62b2QLtH9anB8xCmblEEtZyeWUS-wUkrCplR6mC5gp79_AyHsT2i3Tti1ppieNqr6e2qzZnyCmfrVoC9udk9DrqhsacfAMbAAs1cEqiWJhCLCg2_-RtEBYN1iNbSF9Bh7_xmtpogRUuH2x6tlMMZD_Kb9kv80CvOHWU0QzZ1WoqpNh4PZB87jo8mHncGnGwrsGBu1lPIJoi0qy_IDyisSbVQjk9znjPTymDf4Dminmtnl4Oec3aXz--3xgpD7b-JYL9peM1q4TiS2goyc3XT_pmPNW1GA9dCot-PzeKGy0ycVX3yLcqX5eHB6lRZG8iPFZXK9wH5dukrqhGo0QhCNpbbzyfKzqUTlmQBXY5Pu7_9jHqp5bf6CtDUtAJn_x79Jv1KWqxDINY=",
  "id": "rs_042d95d650c18e1c016ab44865e59887d08cabdfc87a780dfc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.332,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The counter-bias reduced the lateral deflection to about 4 mm and allowed nearly 1 cm of forward progress, so the cap is now finding the tip rather than skidding past it. I am centering the final few millimeters and applying another short seating stroke.\"}",
  "call_id": "call_KMu15N4Ot3tiDMT6HE33CYna",
  "id": "fc_042d95d650c18e1c016ab44866cbb087d088e2c7f16b643f44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KMu15N4Ot3tiDMT6HE33CYna",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7063, 0.0639, 0.3614, 0.8616, 0.7567, -0.5964, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0032 left_pitch=0.0125 left_roll=-0.0037 left_gripper=0.0639 right_x=0.2798 right_y=0.0522 right_z=0.1927 right_yaw=-0.0116 right_pitch=-0.1026 right_roll=-0.0473 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -12.465, 4.3829, 1.0818, -0.2955, -0.0855, 1.0281, -0.0752, -1.5248, 7.0222, 1.5653, 0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a36f4248bad6d498e8c74484f89bae524c023867edb8b3f3c7b87321bffe7b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da9edb460aaee13871c4a5fe07902744e7e3acd276ed91df754314c6443a4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7b349b3c73246405478d5aef7339d4828c1fb693ceb231f436b28197b96ea9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 9.027 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9691, 2.1845, 1.1698, 0.1574, -0.7952, -0.7174, 0.0639, 0.3614, 0.8577, 0.7567, -0.5964, 0.3096, 0.1749, 0.9983]\nstate[eef_state]: left_x=0.3782 left_y=-0.3216 left_z=0.005 left_yaw=0.027 left_pitch=0.014 left_roll=-0.0016 left_gripper=0.0639 right_x=0.2796 right_y=0.052 right_z=0.1937 right_yaw=-0.012 right_pitch=-0.099 right_roll=-0.0459 right_gripper=0.9983\nstate[joint_eff]: [1.1009, -12.3419, 5.094, 1.2723, -0.0513, 0.1148, 1.0281, -0.0205, -1.1829, 6.9949, 1.58, 0.1245, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7059, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0029 left_pitch=0.0125 left_roll=-0.0033 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -12.6838, 4.2872, 1.0672, -0.2906, -0.0415, 1.0281, -0.0752, -1.5248, 7.2, 1.5653, 0.0659, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7063, 0.0639, 0.3614, 0.8616, 0.7567, -0.5964, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0032 left_pitch=0.0125 left_roll=-0.0037 left_gripper=0.0639 right_x=0.2798 right_y=0.0522 right_z=0.1927 right_yaw=-0.0116 right_pitch=-0.1026 right_roll=-0.0473 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -12.465, 4.3829, 1.0818, -0.2955, -0.0855, 1.0281, -0.0752, -1.5248, 7.0222, 1.5653, 0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a36f4248bad6d498e8c74484f89bae524c023867edb8b3f3c7b87321bffe7b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da9edb460aaee13871c4a5fe07902744e7e3acd276ed91df754314c6443a4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7b349b3c73246405478d5aef7339d4828c1fb693ceb231f436b28197b96ea9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEhr7UJhYf_p-aW2SN_4Mi_8LwIbCzMTd4T7TKV_ME1KD1yuuunlfo8N6sXhMlTLyPzAo7qtwEus1bQjfl3HcLB4qrrOp5EJJNQyHPxdb7uZoxow8-t5Ok-QevyKq-Ni9xYpTKKQmJVYy21Q_X7KKpGa_fW8lbnPHCPVsyMOrPkUUYNNZnuLrOWDAL6ciTMQZvBT655_S8lXQkjBkfm0gk5ozxHSBS-r5CSzfhEqA9j95DUeglxajF02HSkUfHXnsiJpb86K8E0acY6coEVgSwHNzKLOmeZUD0XM6a4KomAR-nrotkudDtpUQzazzGHda_30wcvoUS3_4R69kxUlw9eyBNP1chk1SyKGP9xmP-9yDhXD-f22Y5ApESNglufFlBDUIiyeWNwj1M6gteawlT76d4gAuGA-op-ibdMKD-rESXkgKYcZ-rTzKU_jD3krEm3gR3LjP_ORs2u7AMuRmy9yWqvC8MqtLv4DwSSxnTdp-FEANxcCBUeBz2dGhaWjJlX-Hqf9sVJdz5HherD1IBUrUxi4GsYeBjFBfVRjBUX9i-YocbJfqRSuYMdYQddILz1CwtY1TnhgIC-A-o9wNROLLGkpkwxKhWQCu8IqVp9bTSG6RRBj0H0z7_qTXEH5wj6TGXNWwaQYjfvaYGmHOXhY20fKHzuN9DOcx_Wrwwyf2oH9rizJ-iUGZY3trIFj9izzpC18hJ11Kmd7wggk-dt7E7ZzjTKbUYiolAZayn-FR-QFKmY9o6AFg4N93-GTEHvHUUX_-dqUnWhjI3E0lZCFixaeB4ftL7chHyqsh2WZH1AQUM9iV5hELm_2-9WhTaDLUFbhL5gErlPqqxqKwskB-PhgV5Q1yOPBpLJrzm4KT8qE-rQ0-OP5AqcnKRypJmADEvGJjKKA_wG_GoLHrM7J4mL9B-h9BVFrHq5LW8UvwEM16R21W5B0pdKtIlTE5jkR-8OIPsnowyd_qpk-4llH7nG61i2AFE2rByK5WO71vBkJhzmXpJAyhA9iBGmYPx55ZBqUSF3ruk6a3EhGrXIOUIbHYAB1ATgGNzgtKmadOpDyqRRlMCOZmKm8JnjKcqAwueOin0o1ceEIbH7mzj9XZmj1BR9n3arXAsQxt7nQIHWOGagAau7_1mQDSKfgIEX5RpB9RNMaMHZ4UgNzraWPajyQKs8xu6WXi1pmd7IZuZH4NWSOmuIbmRR5g3t_MGqZXL_RzGPd_pXin9X3PHQxF3HDr5C3BwbmTLkAG2pIlMk7ToX4otFE0iNgwrny2rT3ObLAAr61XHawWgFq4K3Rg1_3Z_ZM5JTfI8eIp_l4bT8dfqSx63gznfT0-Kaohk0xksPcIMgwGVAkdLR7CQg0oLijxuC2BJn330jG9jccE7ES1x8KO-TWEvmr6IYeaYcT9wCX8ZqXxwdeVl-fVB1LzNkdgg-iKljWS_LXVBQHFIywbj3m_IcZKcGWVtWtmxJYzqzLN3r1U3zezRzQotjfwQuyPQwOhxRUDupAq6MAyqy65vMP5GV6uAeWSlIzRp54X3rjmURg-EON02_1O-3WUkMny6qR2H809eSgHv_JYgLgnu5eZpljGbnMYJLLI7VroFm0rFZCAPwI_0XVHAVTjGC1j2zdKBPH_Fta7f9LoDC1pR2dcCwFTF8fATNRG0n_kDGPLlDpusVOYq2jTAP9-_zO5AGasZo3QwCNtkiFoq0RWmdig9yGSC0dtbfqmLt2fkdqPelQSE3ybERoDYfFO_mTI4zWeL8Q6MFy0NfyP4OCB9PHnUhxkopvZaXnc1mGlf6ct1byRPMszN48NtArYvZ0XOxsEogBi-zzLzSpZzQVAgcekFOahAUK7wgr0iaL",
  "id": "rs_042d95d650c18e1c016ab4486938f087d0a13127e7e1f04057",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The final seating command produced no additional motion at all despite a 1.3 cm request, after the cap had already advanced about 1.1 cm; this is consistent with reaching the cap’s internal stop. I am releasing and retracting diagonally to expose the pen for an overhead verification without snagging the clip.\"}",
  "call_id": "call_EXVKIkfl50sFiNYlVIEjIEcR",
  "id": "fc_042d95d650c18e1c016ab4486a513c87d0a680b4c99e610a36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EXVKIkfl50sFiNYlVIEjIEcR",
  "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]: [-0.7078, 1.0672, 0.7536, -0.3763, -0.6033, -0.4904, 0.9975, 0.3614, 0.8677, 0.7563, -0.5976, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3034 left_y=-0.123 left_z=0.1877 left_yaw=0.0306 left_pitch=0.0202 left_roll=-0.0228 left_gripper=0.9975 right_x=0.2801 right_y=0.0523 right_z=0.1907 right_yaw=-0.0119 right_pitch=-0.1097 right_roll=-0.0501 right_gripper=0.9983\nstate[joint_eff]: [0.2667, -3.4256, 10.4137, 1.6239, -0.2271, 0.1978, 0.0073, -0.1162, -1.7983, 7.1043, 1.6386, 0.0904, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185460570637c2a6ae808a500a91c31b4ce29bcb922470505f7f25b288e330e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82dd145d03e16bb8905510a734eac6211890a7e905e68ca11f39277ef9126069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11e4b4b354be4e258a9fe0d4819dbf294c3f7b1cccab4f38a365ce930f7ba43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.078 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9604, 2.1609, 1.1213, 0.1955, -0.783, -0.7017, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3759 left_y=-0.3137 left_z=0.0047 left_yaw=0.0194 left_pitch=0.0136 left_roll=-0.0045 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [-1.0735, -12.8342, 4.3966, 1.1551, -0.2466, -0.0708, 1.033, -0.1026, -1.8256, 6.8718, 1.5946, 0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7063, 0.0639, 0.3614, 0.8616, 0.7567, -0.5964, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0032 left_pitch=0.0125 left_roll=-0.0037 left_gripper=0.0639 right_x=0.2798 right_y=0.0522 right_z=0.1927 right_yaw=-0.0116 right_pitch=-0.1026 right_roll=-0.0473 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -12.465, 4.3829, 1.0818, -0.2955, -0.0855, 1.0281, -0.0752, -1.5248, 7.0222, 1.5653, 0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7078, 1.0672, 0.7536, -0.3763, -0.6033, -0.4904, 0.9975, 0.3614, 0.8677, 0.7563, -0.5976, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3034 left_y=-0.123 left_z=0.1877 left_yaw=0.0306 left_pitch=0.0202 left_roll=-0.0228 left_gripper=0.9975 right_x=0.2801 right_y=0.0523 right_z=0.1907 right_yaw=-0.0119 right_pitch=-0.1097 right_roll=-0.0501 right_gripper=0.9983\nstate[joint_eff]: [0.2667, -3.4256, 10.4137, 1.6239, -0.2271, 0.1978, 0.0073, -0.1162, -1.7983, 7.1043, 1.6386, 0.0904, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185460570637c2a6ae808a500a91c31b4ce29bcb922470505f7f25b288e330e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82dd145d03e16bb8905510a734eac6211890a7e905e68ca11f39277ef9126069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11e4b4b354be4e258a9fe0d4819dbf294c3f7b1cccab4f38a365ce930f7ba43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEh2R0ZIqS8dGM3PjPrBqbSTqwvxVRCDvYQNxCrp4by25nDFwlIcfHUnV0FXZAap-vP8st9z5on8VINThxFZGOY4nSQGI098l-FTPCDeY8zERHcagA6-JFYyWIa849zcPH7VE-_3YsPB5BB1eouDwqz0eqX-wS8tg04Hji23em9rhugYcLuy_aJpIUH-8Es7Vd6vKenRwndJAWRmGEHRjK5Nnxswn22Nu48NEoVcttIt3Hin_raffmQDFFHcb2v2A24tVN1ae_4Z2iAejxgh8MXoo_jL8MUdmBIrAqkMR94rgxwiiAWk7xFhDnWr9u00RB6ep8xwkKPZnV8971UO3Bni0oY-6sxfBH8jAxKSix-Yu2ONj048LoJSRvcQ8UedQ24XWcqtShOBNbTZ71AIlJd4QpGjaNK3_1L4vBLbRmqZ2DQe2YeXl8xu0xpnrzGSWPNy7Q2Zh_kvi_3Wl2zppJKtvrFNZLn3p6tF1KVLMUmK2T3uEft7a66yB2b0GFD4a1m4tVi6_KEkdv_leLVV1d5u68mUZMrnFnGlRKjhdd9bbwqVPAv7BbD5Rt3izTMIWT83uJOk1yYlT9Yguik2ZCR_6WFdq0GZ11FiIS3RGiunWRqKjlB7zTyxf8KG4RlACLMb1P04KRQFd0KOchK62xEeNkEAi4M7JMcCNXEZbBtOJDt1ljbsWqQKUc_h-kkUqdpmal4ZfqTy8LZAaUKakUmoeIfrPQ-ujAwA1E5dVRuiq8fPBUKuAiqlYu-LjE8i1FYe6s5rT6jdwQRjN4CWrb0HKZpDa7BaeuhUygjFEFi4cbDd1JcL9SICWw4zij-Qu4lQiVYwAISjaOz6f-MQCdEdvSD_saIorG-wH-lxblX9qGms4JxpwCjJ0m_FCs22FZaGTuFSZHiOXDM9wvO1mhboTFfwbcKHTbGvvjzMuz5QeULA_PzPNbtUsiNS5pafIa9ttYmzL8IhuErX1MW2NPZhydzOhI0JwSQTKcCYaLZhcOME5KIX28RYCuwF-kpI3RUmE2-vcvrWqJ3y7GR76mE5PsC2MaSH1D1S28fBqtmyAWwzQSlwhAFrbQWPKqW0mqzJyisbugygmm0ec1tXeaPvBvfql4kVqfpY4b0WSGzJtLIQgP41LHaBp-rgOnJF1hPVGVOLWvTOPzbdGhEXvY7XxAMw4IeiGgsj3TSj7v-yBenotZQdChrVTOSiSOee7Xx0Sxbm8CE8kp_WYMWsAa05rbBfNKr2fX4gby0-5zbQa5uAqeLqwr8UNsLL-7IoA2MBpkrefbdeL1mUYzYyPjQJQ-m1CI-IfASRuxKj8e715igVh6hkXYveVwEoSHMekrfEa3_sKe5hKnvizxptLrjBBaOVXTPpCLlaSBc9savu4SZsOU9R84A2l9SqZo4eV0BaBAJ0fu7I_Wb253JMiFPFA0yynehlo72iaL14MTql5EKJ42kVKow5rZj7t5zckj8FevuDhczk0-xj0noEz8yii_PCeq70uJaTOGSKLNEq8J4cbRYfY-Y0ZLQUcBFvWlSr6hH8GeF_N1M4YZbun_j9OMHbuhc5M5WlesOwCv2ROPbOIMyuJtti7b3xACkjpXRjG0wGLdNSVYQoiDwa-SaNasrl_IOpcqFfUTYU980eRMdB9svPLpPd63ebVLj7i7y2SxpXFOIJYZ5a4AUYaJjtlxzn9ggbW-tT6zHGCHb2fG7BSv5XjPzm-M4fvTYL6ID-LPaMgO3pQtIHvJV-NWejMTSeR-oWpwBITcAFBbV304mfiMr7RAnZviXaDy7oaiNGi1m929l-UIEGsmcx6RVEevnw0eYFt4fdIXCIEwpTP39hPH_jYYOJiui5m5X5J6yCu_f5toqcxyCivwHQkOc2sXqERnIGGYTKRZA7KohvfAHaVwr1-DoG7TuWoCtddHWJX9lXSi2L3Jo6-yepLAlyw9psYv7xbboMXSJ1Aw3czHoKUVS_yHjw1ntzi_9qU-MxIOKX_RtDvJGOwxja_GYgQ9eCZpNMmFZhLUuu8OjM-XI7SfXf3hwl8GbkkxhtPdtUg7y-P5ZEYNsilyzlisUiy8BaXtVraEk1f0DrNpkJZ6VLuMkBRvDM-zX8XtIx55elQMVOlxAnzCe-sH-v8m-igs99lPmXUTwKeo6glmvscRWDGzZtHTQ-aFjqZ-89o6tOSjjBJQZi2T9EF_oezlQ2_iWTmxsMExGUZVTWmTbk9j_aKq8IbOfm1qA6tdHyT8riCNae9P_FcY43ZE9UXsw-XUsx__04rhu0Eu94W96PTObeqJJKRzOpKoOiu_iwaibxttrLb3LR9_2wBEJB6JDyMI3lG5-7y2TtJXF1Crf5gk-0QHGGXnAYceUe-54b6HLncIA8UDsbYcGbRRuFl_4OcK2VetA1ou_s5mhiodkyr6Q3DcZpUNbEYlEO2hD0iFMaLPkkmlTBUmqQfia61as5_VsZ4vjE05AZNeFzkNNzcMYZbLUY6UAIKFRjVbWj3u91XvL65TufFKOmuJ_ynR_hzcw2A9s4xF-1_D3fUMHwIU0u5UYqvFDJNvrr6AZ7TCXB967mvj_RtnxsDb-rJR1afhHW-h3gDGRCoIVLfyNGd-p93At0Eqc04-wah2BiV9wjcBe2oiZGDvQwV8onEhtJkSyruuSLSyJsgKBPXbnk-DbX7i314ZbKB2usd6hcX-dQ69mexSH1z6FNQ3Ae3soiowUcCzqPioQdRKOZyoLHAz2m-8e1PPRycj09aFi9bkN1wiqnwIF8r6N6qVtrJT0NYLAnaIc00YaEzcPq-qQieRl87U_oYbtS6FS4CNcFV7gmbRTMf9QClv-MiBDazgp_GMboEvh3JR9F3Zq1j35X4HpsLM2PW0IJUeXhzcsbjPL2_55NHcfEM6PdZR_WFGHkaHAzjupBfJAr_VNTDKWfYpLNTuq9lVDtUO8vNM6ra9Akl2WbCgXVIvdppIYGWE7hTOwvAQbHx7fkGIcanzt0d3AliYJId3pdeIn9kS7qHfVrNVVgCvnjdiZzUMoYLbd2tm0sbwc88u66Bx2UElFi7mfrJFygWdwPEfZMW75xwvWTeDdO_Xob9wj-T17FgiX0k6LH6Fb3F1vHvYLhGBiBdAZmBYHP3xv3Ob7y2HCq8WXF7jGYUQd2jCh9hQkfi4NT0ZNx0ZSFn923D97URhuVmdZL43aCaRAZWeUJx6Cqt699NcM4sHVZ6lxyfZq4ahOXpHfBZR2_WCmf5GDLgtP9aRrr37-jr3FgeUb92XwsmzBBs8dXaa5eTU1VtfC-d9VR7dHkvfQTkna88yf2wpM0-KRiOCMKABWajQHcVIdGKJ3NoS1LN-3vpBIloDUzl0uvPCTs5QRfbnsYjfvyvZ5nasWNVQoLGCfDQdSTgWhucKSODt8l04cbXoesrUGaruT9wZsNxzFnwSAiNeH0Utk2i0qqeByx7xVu4-9XVxr8TvbBdgz1vg30YXxvG6eyvms3OnDRMMitER7AoX2_SK1gKwwgINsWcmMlda08nzTQodRZuZEOxOXnIGD26kYtfABRLfAW2mbXpOy3EduJzJUvwM6amMFKjcRD4VZdH9zqQ-tmXTRUe0hSiexUP_K1gKWzIB8B8ewDl8OntlDYfXBo9A62sGKD9yklmrQoa0AiKXSOzlps4jb4kkrNYLbHJS8aLsh-gjkpi4F36eigsnl5agMjMsF0EecqsYYWtyBwGS9MwXmJedz-0I6SzpQSG3iBTIaj5FjPRCDh9Km7J6uhFztHcy2xCedHven2TS1otJq1ptfuInw19scR2cyrfk5YRNbJt0j99syKuZHmQOPy9oB0CVH71jw6PcqdWCQwZqWr",
  "id": "rs_042d95d650c18e1c016ab4486e60f487d08dc8e35757a6e2d4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEh2mzp8z5KcSdgqFzRg5TN1jrRJQl-3kTxU_bZdZgQnuyugbLn56nnZUpyGBQawDR4TqpOhtwZdFptZV0ij6gqmuP_AyoM5SLLQeLYyDC6ftfrg1Qw1I1Brcq9w2AtNUsE0rVHQd2obAF9W2A9JyuVFlFj4mfOzj6XfHoQdyqrXptqAhFTiaRADwFJPDValUsL6chNO_EPM6xKIworVwTjyvEZQaafaihYastSAnIHlrbObURp7e-NAaQ_CUQRU_owv2SFupaYbkcc_cETFH2ZoR5uY1AVRpNZf1pIifRyFC-iOhlCM6rVloJTlJeTtsEuE5drIO4WLh4nnTgH4y_R9GINmq1BlUVmE5D5IW0mRD9mpQxHnmbteMOeIwf6Qc57mxsnMACQj9ZLFOALGo2eyEpxmhPNbrSZzcZbNoDlHevZ0Z4dre2tBDwLdIlRNylbj5iJbbeJ2Z4YszmyxLRNSHBieeUghputZmtMztKS2gXI79c5ShecMsH-LVsxyyC26WYRhZN_0LWB2EB99Rm5Yu8gPigkIxoQfWXRuJSfDINDWDvnjM5XiqaoeUjPw762vo-aO543KXGGWGuVMg_Mx_17F_YWWZ49f4iTEPKMQ65sam0e8Yv2ziTll4CrAZ3tH0ZIrf9WH8T4-giFCKhlOfEBikZn-MbNRM9k77loSsmBtK3NB4UIRsDIydNgjAanGtcEw6b8NeRCjN5VqcPLjyxcGSTCR48iMEk1LPrT8w1IstqfZM0CjvCPS1rCQt_OVWdGAw9iHmpvG4ycZLJq8blqO0ILAcYtt1jA9sL6GuM2dRfl4MZCj8Rvm9x9tAMi5I1S1u8-pE5yfXQRodxNbmEDbU9ACbqzbzovWIbRjlX9zVzrJDTFHxNpoXATeu_tA2coNiYQwKEDcf5QqorkV4fB7qfcvcbWgLDJJxqV090Z_7ZPqegmh0JNhZUNDp7Rjyg3OvBpJX3fj13IIRcuf8RjJ91joLWxtu1T74fzhLkHIy7H13Ktf_fy_qvmBINg4WxTAO8NHzhAxEFIHnSi9B7AYJgddK_u1wgHEtdI4VHh9ufGSx_0rZ7ZXFtQS85x9F6z1GgmvqgDXO5MOapn4DTrfjGxizA2GT_512cLJiqIYDEfe67V9shlMGu8bOfVx1YF6Z3rZkzhm-iGnT-6-aoB6HQrJVPas6BNi0L5VsWUZ9wPfS6scnaWcGU89kAZ3xq0E4COSfZHGAiwBhomZcxeXlNWmq5XawHJZc8zLH2d99JhtxBNciiymrNuq_owdyVFZ6TGIAthNDsGLqTjktcyr467in6fWr27VcjGFez7gJTJtqFCTmibcLwc94zhcUhPSAEG1fI_koVi2SCZYHjWVjZWdJL0zFgN3abGStmtA1SUPMMTJUigERqkCyDPzQ_dcSnQLGaz4SntnEFbGgK5eyENIRhXMS6pVkMktXmKkNN_z0EsUeyNXC2NZlcPvJSE0Hn4nyJ2PAXs24J1E1AQZ1Rm7aLZiKyqDLYSof1jqk3kNppw7SvF3W5LkvWIwvy-hLkxQTDF9y97AYTY8gwZZnqJ9NC-CRVW4Kz04qefEQiMUV-pIst7FPCZe3lE3op0baoYZ0u_miv68AanknBZ4XYKMV9gxVc-J_GoUi-Nfg_c6DR6jZVEvDAQ1df_I-yvQzLJoYzE4KHRx8SaPXBmLht3FB3ZHxsXUqY_gUGa67VWTX8u1WA8y2aHjCkuHtMhFPb5xD6k-ILpXsmIdrM2F-0WUzq5S6wmCtEht5fvoVafvhXue0Mg7jzs1BLZc5PBS3kKY5jj4NSkNKctaxExwDE9Rc72OEFpJHTTQ-2toj4BlZpJuIilz82q9RfKLXSK8rHa79bnKg5YeAL6Fb6mZJjj9KVprT2cyFmela63NMeA0mDmnAiIafTOleZrdoEpaqgn8LMCBa1bg2UtG_SIfJ3XZYhy_skGCpgvHfG6o1y7n0F1fN17NaPLUQO0BN_6PwX5lJJsonIaGEorZhalXT_hQ-JoCmxoFiBcu2lxz3OrkjsOm6cfSMyKQKa2CfM6NGdxDISjne0kSxgBmTmpkWmVvtQPyZdj44CIhhXhI6_HGKtgQZi9fuX7HGjJx4J9DGxL_kz8whty9sXHdjFfPCgtsumBB-vZR3vhkIrU=",
  "id": "rs_042d95d650c18e1c016ab44873095887d0bc00dbc569259014",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.3,\"left_z\":-0.005,\"left_yaw\":0.7,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The overhead check shows the cap was not seated; it was deflected just ahead and left of the pen and has rotated to about 40°. I am making a direct table-level regrasp at its new pose so I can correct the orientation one last time.\"}",
  "call_id": "call_ZLWMTIPhyRr96FVeawLBdzQQ",
  "id": "fc_042d95d650c18e1c016ab448750a8087d0b21a2a16a617154f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZLWMTIPhyRr96FVeawLBdzQQ",
  "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]: [-1.034, 2.5412, 1.9114, -1.1046, -1.0065, -1.8053, 0.9989, 0.3614, 0.8707, 0.7528, -0.5995, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3585 left_y=-0.3035 left_z=0.0032 left_yaw=0.643 left_pitch=0.016 left_roll=-0.0135 left_gripper=0.9989 right_x=0.2796 right_y=0.0521 right_z=0.1881 right_yaw=-0.0123 right_pitch=-0.1175 right_roll=-0.0532 right_gripper=0.9983\nstate[joint_eff]: [-0.5675, -12.5607, 4.7658, -0.188, 0.232, -0.3834, -0.1001, -0.0479, -1.812, 7.0906, 1.5507, 0.0757, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32a0cc028851e41c241a93f11ef6bbba985063a1cc68eb59ee2abc47ddf1645",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6140ce6c725a700da9a3258b0a8a07a42ad829c4a5868e60283ba03336b34314",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d007f91b1d67bb4e4d3482d3322a62296c62770ca0eba024fdfff1b12484c56b",
      "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 37 attempt 0 · /responses · status 200 · 2.068 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 154 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7059, 0.0639, 0.3614, 0.8616, 0.7567, -0.5961, 0.3096, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0029 left_pitch=0.0125 left_roll=-0.0033 left_gripper=0.0639 right_x=0.2799 right_y=0.0521 right_z=0.1928 right_yaw=-0.0119 right_pitch=-0.1022 right_roll=-0.0474 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -12.6838, 4.2872, 1.0672, -0.2906, -0.0415, 1.0281, -0.0752, -1.5248, 7.2, 1.5653, 0.0659, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7078, 1.0672, 0.7536, -0.3763, -0.6033, -0.4904, 0.9975, 0.3614, 0.8677, 0.7563, -0.5976, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3034 left_y=-0.123 left_z=0.1877 left_yaw=0.0306 left_pitch=0.0202 left_roll=-0.0228 left_gripper=0.9975 right_x=0.2801 right_y=0.0523 right_z=0.1907 right_yaw=-0.0119 right_pitch=-0.1097 right_roll=-0.0501 right_gripper=0.9983\nstate[joint_eff]: [0.2667, -3.4256, 10.4137, 1.6239, -0.2271, 0.1978, 0.0073, -0.1162, -1.7983, 7.1043, 1.6386, 0.0904, -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 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.034, 2.5412, 1.9114, -1.1046, -1.0065, -1.8053, 0.9989, 0.3614, 0.8707, 0.7528, -0.5995, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3585 left_y=-0.3035 left_z=0.0032 left_yaw=0.643 left_pitch=0.016 left_roll=-0.0135 left_gripper=0.9989 right_x=0.2796 right_y=0.0521 right_z=0.1881 right_yaw=-0.0123 right_pitch=-0.1175 right_roll=-0.0532 right_gripper=0.9983\nstate[joint_eff]: [-0.5675, -12.5607, 4.7658, -0.188, 0.232, -0.3834, -0.1001, -0.0479, -1.812, 7.0906, 1.5507, 0.0757, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32a0cc028851e41c241a93f11ef6bbba985063a1cc68eb59ee2abc47ddf1645",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6140ce6c725a700da9a3258b0a8a07a42ad829c4a5868e60283ba03336b34314",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d007f91b1d67bb4e4d3482d3322a62296c62770ca0eba024fdfff1b12484c56b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEh7UhRywpZ5JqiPwMEPrcY4xTQ5mFQ9pfbqN5Yw324qSO3obT3w-D6xQe_T3TdNVHApVi0nVDi8O_HaSr-mRDb4BJ4wqMaDtRBuJ0F7Q3QhBFnKp0jZvgj_AMYmqz3oS1I6mqUzuAYWPPWd6DZ7XXqrLOaFzY6hNjKOm4rX20DXU8_pAJK8bu1KAzolZ7sB8FmaA9qIq625VKj-bTuVuJephsfglxCo-qIYCNidzWviTMsbtqE0vL2pchvTz_ha8RJeocD6Lb8Cw2nV4SLVW0o0hEa0YkksGXMoI3BuDP5P3xL-6Pn4WklEokALUMilb0G9_2TzrV7iCZ1b4JbaBl-8SgrK-ZsFrdVJsSE8eVMPuQgrfJTlc3BfeypgH3038VvWtXzTvI7Jgj3K_Iej4R06Y9AusjnEaFXx_wYpzTl6Fe_Co8eMS4h88x3quqB6JYxMjN16teBeXqAOJyL4ZPwls9Snv_M5HQ_noh8qfKJMsV5o29eTsd5fuBQGx7g3QaGgD1KSfG8CIQV2pRETvJwnTapBxvSkcogoB0lYYCJntkbTn8rzb2maUMD_oY-74G4KVNWdw3lIkpszqo4ipniHJWDnNySyuHoULgBjmFBcWgV7eysNrBtvp5QF14FXskIxDgAeP9Q7k0wU6lyrLVSTC4vmQCgUT0VSOP_mFrAt0ej0MOKdlKpGmors1hANyLqp9HbuP0E9vYPpB-rtWq-JnV6CriFDFUhEKdYrqJnhsOMSSgZHvKfOlqj24O-ixvm0RmpTP1w5lcuYQbqKWbTSBzVix8t6Tn-TRKS7w5Fh_Lc_A4En1qopwpyLkofwX6TwuSF8XQ4AqC38AuifIyFEEhIrdcyk76CUaIh6XANIBbs8ompJ7lzhL8IPjzc4vO4YtBlIhuvmRNHwxuXVtZn2dUhEG61bjHJieMDxeY9OJbpTWy5bmYU1S7aeq-uZiHBsxhuXEfatiQgktOek5poPK2GeT6IXg5UMHxmaX7qbpcU4Lf3pKl-dresSgRg_fLqdLIcRj1cFGoxnW1j5l05g_rEYqmcJ-AgRITL80W-rI-CoMWEsng4Lpx6ABFKvSJyX9HtqQZKHlyINS4BJx-sAJjMtlo3B626kFGBd5tUxuUAnotDhu9JNw3Kjl9EbYNZzw6HVnoOnEV1umzXOKs8RUi5KnXKcdQsnWpZTQPGPLprnEHxmQpS91C4p8HdcsbG-nwTPJEmscidT5kDadgS1TJelZcgp-7ZBLwsU2qYBdaFROrKxYVoSvHOo5fybablPkGcsQeah_2ArIfD12Iu2ds7bx9VtWkvF2akJX-I8O0Q1S4Q_BV00mcj1vn192kolwLm15372sGBUMnUuoRjqskQodcqyC6ozxzcpfas2cB8f4nXoVBd1SXg4kkA7gfTeb_s-XGsB9ss_jYbtBnL5zocnS6fI6slesVK_8eCU1mLzf3rEI3VRRTQsMbXo_fzJKA6a_YQmQHVdtf7kUHoLSwpE0jCHVt4f-o86zGZMi0noWxcal6UpxC0j1Uha9aY8gRiqNgo0T0OXyieDL2ovwsNm_a5z9XnSbzIC8PKFixY38fBCZQNRuv9eqcrISMU0cDqMa5yl6Xjk8KOAczMHlvGydEJKT5zJRcmqNTDvCQYE6golNas0HcEDG4tlvkrurUX5SKyP4EBjAnqUCtnxJa_lbZRBZf9CfFHvT9RQ7ddWQ3rrY-H0OglruwrUNOe7tnyp-PHJdpFuzKHOkbIVzEu5Wp18VVdL6dlzWCO6MnS9VrsNVYcFNFOvBGt0yzfYkh4__NJHoFiBNNK3yM__f2Iwb1md9eF5GLjFn3mjTRLlWU49eNR0ZYDTxgvUFUYxIC85zLi65liC0ps6ZLyZPuzxAVkBwWwS7savTqVTeAYywV-pI5AwW7P_3EKJroY5",
  "id": "rs_042d95d650c18e1c016ab44879524487d08d8758cd7d9a2fa6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.26,\"left_z\":-0.005,\"left_yaw\":0.7,\"left_gripper\":1},\"note\":\"At table height the cap is visible well to the left of the jaw column, so the overhead estimate was about 4 cm off laterally. I am shifting the open gripper toward +y to center the cap between the fingertips.\"}",
  "call_id": "call_iwFMgLVIgotybriAg1qM1evj",
  "id": "fc_042d95d650c18e1c016ab4487a998c87d0bef487d302f222c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iwFMgLVIgotybriAg1qM1evj",
  "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]: [-1.0069, 2.4592, 1.7103, -1.047, -1.0454, -1.8584, 0.9989, 0.3614, 0.8726, 0.7525, -0.5987, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3511 left_y=-0.2625 left_z=0.0012 left_yaw=0.6891 left_pitch=0.0611 left_roll=-0.0026 left_gripper=0.9989 right_x=0.2798 right_y=0.0522 right_z=0.1876 right_yaw=-0.0123 right_pitch=-0.119 right_roll=-0.0538 right_gripper=0.9983\nstate[joint_eff]: [0.7179, -13.3402, 4.1094, 0.0708, -0.1001, 0.1538, -0.1294, -0.0342, -1.7299, 7.0632, 1.5214, 0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22efd88537c9f96f9f7f48915291ee831b197d6a49be097b4f0c1eba5b1e0887",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bca64ea76a69f7186d2dfa16782e6c8d11caa9f5a1066474fb451c8d51d379",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe0f92ac414aa62298c2028599bef396c38bbce8f4421a6d0bb2f7635c0b420",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 5.519 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 154 changed as sent

message 158 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 2.1509, 1.1076, 0.1947, -0.7853, -0.7063, 0.0639, 0.3614, 0.8616, 0.7567, -0.5964, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3677 left_y=-0.318 left_z=0.0051 left_yaw=0.0032 left_pitch=0.0125 left_roll=-0.0037 left_gripper=0.0639 right_x=0.2798 right_y=0.0522 right_z=0.1927 right_yaw=-0.0116 right_pitch=-0.1026 right_roll=-0.0473 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -12.465, 4.3829, 1.0818, -0.2955, -0.0855, 1.0281, -0.0752, -1.5248, 7.0222, 1.5653, 0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.034, 2.5412, 1.9114, -1.1046, -1.0065, -1.8053, 0.9989, 0.3614, 0.8707, 0.7528, -0.5995, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3585 left_y=-0.3035 left_z=0.0032 left_yaw=0.643 left_pitch=0.016 left_roll=-0.0135 left_gripper=0.9989 right_x=0.2796 right_y=0.0521 right_z=0.1881 right_yaw=-0.0123 right_pitch=-0.1175 right_roll=-0.0532 right_gripper=0.9983\nstate[joint_eff]: [-0.5675, -12.5607, 4.7658, -0.188, 0.232, -0.3834, -0.1001, -0.0479, -1.812, 7.0906, 1.5507, 0.0757, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0069, 2.4592, 1.7103, -1.047, -1.0454, -1.8584, 0.9989, 0.3614, 0.8726, 0.7525, -0.5987, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3511 left_y=-0.2625 left_z=0.0012 left_yaw=0.6891 left_pitch=0.0611 left_roll=-0.0026 left_gripper=0.9989 right_x=0.2798 right_y=0.0522 right_z=0.1876 right_yaw=-0.0123 right_pitch=-0.119 right_roll=-0.0538 right_gripper=0.9983\nstate[joint_eff]: [0.7179, -13.3402, 4.1094, 0.0708, -0.1001, 0.1538, -0.1294, -0.0342, -1.7299, 7.0632, 1.5214, 0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22efd88537c9f96f9f7f48915291ee831b197d6a49be097b4f0c1eba5b1e0887",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bca64ea76a69f7186d2dfa16782e6c8d11caa9f5a1066474fb451c8d51d379",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe0f92ac414aa62298c2028599bef396c38bbce8f4421a6d0bb2f7635c0b420",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEh-okCQxSocwPDTYtD5w1qxPO1jH56ZaMIgqyI7PAMzh0Y_BAm4lPRl-cSQuRHTCOUv7N1M7DE3OzO9ZV0nAHIvTylPW_LLAHMloQrShz10eU6BDkYbjcJohHhAOOn8q8VYIeH5Z3uFIGZOI3gnpxj_wyIIL9HLO91EQpqLM6qkB_3qBcnDHFsCRh9uBSXLuBXNMNAAlHBjbLcNKwAg7xOTKmvCN0vHTFADvnxDegR1WIq3mNYaic_jUv0b2zdXJB-GryAtudaCPZWMK6K5yTbmvpkrLO7-18zd7N8WBeu1e1Pr905oke81kbqUEUB0gnCYHteT1USXjxQH5nNyEoKHbFOc9u-kRJss1v8ZI4-fh_Jyy5XFgdjxUTpgJzeOAqN_B3zgRCBbc1J42O9ZwHnJ-4LQ9ldFNNUdEob4FY5bxnSzuqy01J04gjHMFwi6c1sH1Q0gDfdr48CUWv136NwK63xl5jrzvVqHYv8aBHrHLexvoLDVOntFm9HrZBsOEPf8HusvaI_fSxORYuEh8VRQAi-AWMzZHmlGASWS8DozLSmLCEwDx5wFjyHDYlSqUXDDOxb5gOR0X6UfyW16s4sjk_UOsDeCl8mbxeleXOdB_2ZkFvmmO3sQGcnUzyBRmaL6b7HJ6QFYAwe_MXebUX1C4o9XlugW3uhGb10iG26-5e0rDjYifVUrhJff0M0u0r1RemjUpIqEQTqtoF42VsyV0eLC0l9KNftmVVBJSouUi_ZYkHv6DWQJ1JkGFfj4UCwIpdZ-zi2YdAXXFjtD5STbAMYIs3XfE_bQNUykyLdovJyezYu1XFvoeD7ENWIs8W_Pv53Uikg3cd-_529O5DHB0JyYb1nse2iDlyfu8WWsazH7QegB-ZYvlbYPrqDVt-DPQA-nWXwTQEM17mw2gjC5eIDZInwKQbUHQYG4pZkMQhNxKF_MSl0w2-p5sWNlrFuFR-vfgG6ko06R65vI6II_1vmh2ZbdJwsc65CjI0vhkN-8cc7A-CvWBLhOwYjPmmpruLmvkQ4NalE7RiqL4efva4plteJBfpUK9WDQJbQvZnrkr92bfuGfFf8oxXEcbAlol1nZ_ugVgtZioDhrgBXnwXCRzT7K2M2uEj3TKsxk-seChOeBXZW_u3D1FwJyv4aXMBkMmjyi0T5TKwDjXg4Mq-IHzqmVvLiMKIAZynTKBRk8d31ko6cPjf-ELDHpZK2UM4hU9s-RwshTJIx9ic2UPYSL1FI6FvJYU9J-bZhYAzbFDgly0dEsrmdHwEB53tUH",
  "id": "rs_042d95d650c18e1c016ab4487d425487d0b456d85ed3bb762a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now centered and aligned between the left fingertips at table level. I am closing for the final pickup.\"}",
  "call_id": "call_ymXu25JL131b8AEl5AfP0FDP",
  "id": "fc_042d95d650c18e1c016ab4487d7e7087d0ac93604886b251aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ymXu25JL131b8AEl5AfP0FDP",
  "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]: [-1.0019, 2.4489, 1.6955, -1.0523, -1.0481, -1.8584, 0.0539, 0.3614, 0.8726, 0.7521, -0.5987, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3506 left_y=-0.2575 left_z=0.0031 left_yaw=0.6928 left_pitch=0.0649 left_roll=0.007 left_gripper=0.0539 right_x=0.2798 right_y=0.0521 right_z=0.1874 right_yaw=-0.0123 right_pitch=-0.1193 right_roll=-0.0539 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -11.5624, 6.3932, 0.0171, -0.4567, -0.0122, 1.8046, -0.0615, -1.5111, 6.8855, 1.5751, 0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423c94b898f19b775c54439f53640e380f93c7b2881e28bca266be6e7fb72f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2241d5637371232756ea25f37d6b2e100b02b1ccb12a93bdcbab0ac2ecb53998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:241363f2a7ef18c875245b848229df6ecc844e391c0867b3237facfa0a6f0ff3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 5.567 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 149 changed as sent

message 158 changed as sent

message 162 changed as sent

message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7078, 1.0672, 0.7536, -0.3763, -0.6033, -0.4904, 0.9975, 0.3614, 0.8677, 0.7563, -0.5976, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3034 left_y=-0.123 left_z=0.1877 left_yaw=0.0306 left_pitch=0.0202 left_roll=-0.0228 left_gripper=0.9975 right_x=0.2801 right_y=0.0523 right_z=0.1907 right_yaw=-0.0119 right_pitch=-0.1097 right_roll=-0.0501 right_gripper=0.9983\nstate[joint_eff]: [0.2667, -3.4256, 10.4137, 1.6239, -0.2271, 0.1978, 0.0073, -0.1162, -1.7983, 7.1043, 1.6386, 0.0904, -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 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0069, 2.4592, 1.7103, -1.047, -1.0454, -1.8584, 0.9989, 0.3614, 0.8726, 0.7525, -0.5987, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3511 left_y=-0.2625 left_z=0.0012 left_yaw=0.6891 left_pitch=0.0611 left_roll=-0.0026 left_gripper=0.9989 right_x=0.2798 right_y=0.0522 right_z=0.1876 right_yaw=-0.0123 right_pitch=-0.119 right_roll=-0.0538 right_gripper=0.9983\nstate[joint_eff]: [0.7179, -13.3402, 4.1094, 0.0708, -0.1001, 0.1538, -0.1294, -0.0342, -1.7299, 7.0632, 1.5214, 0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 162 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0019, 2.4489, 1.6955, -1.0523, -1.0481, -1.8584, 0.0539, 0.3614, 0.8726, 0.7521, -0.5987, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3506 left_y=-0.2575 left_z=0.0031 left_yaw=0.6928 left_pitch=0.0649 left_roll=0.007 left_gripper=0.0539 right_x=0.2798 right_y=0.0521 right_z=0.1874 right_yaw=-0.0123 right_pitch=-0.1193 right_roll=-0.0539 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -11.5624, 6.3932, 0.0171, -0.4567, -0.0122, 1.8046, -0.0615, -1.5111, 6.8855, 1.5751, 0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423c94b898f19b775c54439f53640e380f93c7b2881e28bca266be6e7fb72f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2241d5637371232756ea25f37d6b2e100b02b1ccb12a93bdcbab0ac2ecb53998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:241363f2a7ef18c875245b848229df6ecc844e391c0867b3237facfa0a6f0ff3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_042d95d650c18e1c016ab448804c0c87d098b26f05ca8804e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.322,\"left_z\":0.006,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The cap is securely regrasped. I am rotating it back onto the pen’s forward axis while translating directly to the pen centerline, ending with the cap mouth overlapping the tip for insertion.\"}",
  "call_id": "call_Ho5rOdUb7pxC08rWwXygraAs",
  "id": "fc_042d95d650c18e1c016ab44883b82887d0a431ed965fe3fca1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ho5rOdUb7pxC08rWwXygraAs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0206, 2.1395, 1.1194, -0.1188, -0.9661, -0.9745, 0.069, 0.3614, 0.8764, 0.7513, -0.5987, 0.3092, 0.1745, 0.9983]\nstate[eef_state]: left_x=0.3428 left_y=-0.2741 left_z=0.0024 left_yaw=0.2032 left_pitch=0.026 left_roll=0.0954 left_gripper=0.069 right_x=0.28 right_y=0.0522 right_z=0.1861 right_yaw=-0.0125 right_pitch=-0.1236 right_roll=-0.0556 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -10.3726, 4.8752, 1.0525, 0.2369, 0.2613, 1.033, -0.1162, -1.5795, 7.0632, 1.5849, 0.0659, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:985c7a9936eb6e816c7a4d4f0b736e3ef442fa7f629923b5489f679f67e11b94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b691d2514c0576e78dc50edfeb08b2b816ea7da44bbe69249e6299488b469131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbd04c066901ad0c74a45b27bce645fe93c32566c5f111be2c4fb89868d30ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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