adhoc - adhoc_c843deec.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 241.4 s
total steps: 419

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe long black pen is near the table center, angled from upper-left to lower-right, while the detached cap is farther left. I’ll bring the right gripper above the pen with its tool axis aligned along the pen so the jaws will close across the barrel.

move_to

right_x0.3800right_y0.2900right_z0.1600right_yaw0.5500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3809, -0.0219, -0.0242, 0.9997, -0.0181, 0.7914, 0.6083, -0.3843, -0.0238, -0.0265, 0.9991] state[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1791 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9997 right_x=0.2945 right_y=0.0025 right_z=0.1818 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.3761, -1.4838, 10.5368, 1.7949, -0.0415, 0.0806, -0.0464, -0.6085, -1.2103, 10.0171, 1.9219, -0.0317, 0.0855, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.29,"right_z":0.16,"right_yaw":0.55,"right_gripper":1.0},"note":"The long black pen is near the table center, angled from upper-left to lower-right, while the detached cap is farther left. I’ll bring the right gripper above the pen with its tool axis aligned along the pen so the jaws will close across the barrel."})

tool

executing move_to over 24 steps (2.4s)

step 24

assistant

agent noteThe right wrist view shows the pen nearly parallel to the jaw column and only about a centimeter to image-right of center, so the approach orientation is good. I’ll make a small lateral correction and descend to table-level around the barrel.

move_to

right_x0.3750right_y0.2680right_z0.0150right_yaw0.5500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0216, -0.025, 0.9997, 0.6769, 1.6058, 0.9981, -0.0406, 0.1043, 0.0521, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3684 right_y=0.277 right_z=0.137 right_yaw=0.5447 right_pitch=-0.0772 right_roll=-0.0128 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.7299, 6.9949, 1.7118, -0.0073, -0.0366, -0.0171, 0.5128, -7.8564, 9.5932, 2.0781, 0.105, 0.0269, -0.105] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.375,"right_y":0.268,"right_z":0.015,"right_yaw":0.55,"right_gripper":1.0},"note":"The right wrist view shows the pen nearly parallel to the jaw column and only about a centimeter to image-right of center, so the approach orientation is good. I’ll make a small lateral correction and descend to table-level around the barrel."})

tool

executing move_to over 8 steps (0.8s)

step 32

assistant

agent noteAt grasp height the pen barrel appears roughly two centimeters to the right of the jaw centerline, though it remains parallel to the jaws. I’ll shift the fingertips right across the pen while maintaining the low approach.

move_to

right_x0.3820right_y0.2510right_z0.0050right_yaw0.5500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6464, 1.8862, 0.7773, 0.4011, 0.0738, 0.0357, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9997 right_x=0.3665 right_y=0.2647 right_z=0.0104 right_yaw=0.5482 right_pitch=-0.1385 right_roll=-0.0135 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.3607, 7.2, 1.7558, -0.022, -0.0659, -0.0171, -0.6769, -8.3761, 4.8479, 1.8584, -0.0464, -0.105, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.382,"right_y":0.251,"right_z":0.005,"right_yaw":0.55,"right_gripper":1.0},"note":"At grasp height the pen barrel appears roughly two centimeters to the right of the jaw centerline, though it remains parallel to the jaws. I’ll shift the fingertips right across the pen while maintaining the low approach."})

tool

executing move_to over 2 steps (0.2s)

step 34

assistant

agent noteThe barrel is now nearly centered between the low right jaws and aligned lengthwise with the tool. I’ll close fully across the pen and use the settled opening to confirm a grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6178, 1.9095, 0.7712, 0.4465, 0.0456, 0.0113, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9997 right_x=0.3734 right_y=0.2598 right_z=0.0066 right_yaw=0.5569 right_pitch=-0.124 right_roll=-0.0128 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.2923, 7.2137, 1.6972, -0.0562, -0.022, -0.0171, -1.388, -7.6923, 7.1453, 1.5849, -0.0611, -0.0659, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The barrel is now nearly centered between the low right jaws and aligned lengthwise with the tool. I’ll close fully across the pen and use the settled opening to confirm a grasp."})

tool

executing move_to over 10 steps (1.0s)

step 44

assistant

agent noteThe right gripper settled at 0.044, just above the empty threshold and consistent with the pen’s few-millimeter diameter. I’ll lift it about eight centimeters to verify that the pen travels with the gripper.

move_to

right_z0.0900right_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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5781, 1.9095, 0.7723, 0.4259, 0.0223, -0.0113, 0.0442] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3788 right_y=0.2467 right_z=0.003 right_yaw=0.5491 right_pitch=-0.1441 right_roll=-0.0159 right_gripper=0.0442 state[joint_eff]: [-0.294, -1.2513, 7.0222, 1.7363, -0.0611, -0.0659, -0.0122, 0.2803, -7.9111, 7.0359, 1.5897, 0.0171, 0.0611, 1.1306] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.09,"right_gripper":0.0},"note":"The right gripper settled at 0.044, just above the empty threshold and consistent with the pen’s few-millimeter diameter. I’ll lift it about eight centimeters to verify that the pen travels with the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 50

assistant

agent noteThe pen is no longer on the tabletop and the right opening remains around 0.047 after lifting, confirming it is held. I’ll park that arm high and to the right, keeping the pen clear while the left arm picks up the cap.

move_to

right_x0.3500right_y0.1200right_z0.1800right_yaw0.5500right_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]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9996, 0.5781, 1.7073, 0.8783, 0.107, 0.0208, -0.0128, 0.0469] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9996 right_x=0.3777 right_y=0.2463 right_z=0.0706 right_yaw=0.5512 right_pitch=-0.1548 right_roll=-0.0163 right_gripper=0.0469 state[joint_eff]: [-0.3214, -0.9641, 7.0769, 1.7656, -0.0611, -0.0708, -0.0122, -0.3214, -10.0718, 8.3077, 1.5849, -0.0073, -0.0562, 1.033] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.12,"right_z":0.18,"right_yaw":0.55,"right_gripper":0.0},"note":"The pen is no longer on the tabletop and the right opening remains around 0.047 after lifting, confirming it is held. I’ll park that arm high and to the right, keeping the pen clear while the left arm picks up the cap."})

tool

executing move_to over 11 steps (1.1s)

step 61

assistant

agent noteOnly the detached cap remains on the table, left of center and angled from lower-left to upper-right. I’ll bring the left gripper above it with the tool axis along the cap’s length, leaving the pen parked well away in the right gripper.

move_to

left_x0.3900left_y-0.2400left_z0.1600left_yaw-0.5500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.2157, 1.2942, 0.9035, -0.3901, -0.2218, -0.2409, 0.0468] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9997 right_x=0.3519 right_y=0.1206 right_z=0.1577 right_yaw=0.5213 right_pitch=-0.1897 right_roll=-0.0128 right_gripper=0.0468 state[joint_eff]: [-0.253, -1.388, 7.0632, 1.7265, -0.0464, -0.0708, -0.0073, -0.2667, -6.3658, 9.6889, 1.6923, -0.2759, -0.0171, 1.0281] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.24,"left_z":0.16,"left_yaw":-0.55,"left_gripper":1.0},"note":"Only the detached cap remains on the table, left of center and angled from lower-left to upper-right. I’ll bring the left gripper above it with the tool axis along the cap’s length, leaving the pen parked well away in the right gripper."})

tool

executing move_to over 22 steps (2.2s)

step 83

assistant

agent noteIn the left wrist view the cap is at the very bottom and about three centimeters image-left of the jaw centerline, indicating the depth is close but the lateral alignment needs correction. I’ll shift left in the tool frame and descend to grasp height.

move_to

left_x0.3950left_y-0.2050left_z0.0120left_yaw-0.5500left_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]: [-0.5594, 1.5314, 0.9295, -0.0689, -0.0437, -0.0574, 0.9997, 0.2119, 1.2964, 0.9031, -0.4114, -0.2291, -0.2584, 0.0468] state[eef_state]: left_x=0.3779 left_y=-0.2233 left_z=0.1334 left_yaw=-0.5028 left_pitch=-0.0986 left_roll=-0.01 left_gripper=0.9997 right_x=0.3483 right_y=0.1196 right_z=0.1533 right_yaw=0.5347 right_pitch=-0.211 right_roll=-0.0131 right_gripper=0.0468 state[joint_eff]: [-0.4855, -7.3094, 10.0718, 1.956, 0.0855, 0.2857, -0.0464, -0.0479, -5.1624, 6.8718, 1.6679, -0.0415, 0.1538, 1.0379] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.205,"left_z":0.012,"left_yaw":-0.55,"left_gripper":1.0},"note":"In the left wrist view the cap is at the very bottom and about three centimeters image-left of the jaw centerline, indicating the depth is close but the lateral alignment needs correction. I’ll shift left in the tool frame and descend to grasp height."})

tool

executing move_to over 8 steps (0.8s)

step 91

assistant

agent noteAt table height the cap’s length is aligned with the tool, but its centerline is still about one centimeter left of the jaws. I’ll make one final small lateral correction before closing.

move_to

left_x0.4030left_y-0.1960left_z0.0030left_yaw-0.5500left_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]: [-0.4641, 1.85, 0.7265, 0.3756, 0.0437, 0.0093, 0.9998, 0.2111, 1.298, 0.9009, -0.4137, -0.2298, -0.2596, 0.0468] state[eef_state]: left_x=0.386 left_y=-0.1978 left_z=0.0033 left_yaw=-0.5181 left_pitch=-0.1755 left_roll=-0.0162 left_gripper=0.9998 right_x=0.3476 right_y=0.1193 right_z=0.1515 right_yaw=0.5356 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468 state[joint_eff]: [0.3624, -8.7453, 4.8342, 1.873, 0.2564, 0.1343, -0.0366, 0.0615, -5.053, 6.9675, 1.5165, -0.1685, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.403,"left_y":-0.196,"left_z":0.003,"left_yaw":-0.55,"left_gripper":1.0},"note":"At table height the cap’s length is aligned with the tool, but its centerline is still about one centimeter left of the jaws. I’ll make one final small lateral correction before closing."})

tool

executing move_to over 2 steps (0.2s)

step 93

assistant

agent noteThe cap is now centered between the left jaws at table height and remains aligned along the tool axis. I’ll close across its body and check the resulting jaw opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4419, 1.8763, 0.7456, 0.3992, 0.0681, 0.0311, 0.9997, 0.2111, 1.2991, 0.9009, -0.4129, -0.2295, -0.2596, 0.0468] state[eef_state]: left_x=0.3954 left_y=-0.1964 left_z=0.0033 left_yaw=-0.5285 left_pitch=-0.1579 left_roll=-0.0154 left_gripper=0.9997 right_x=0.3477 right_y=0.1193 right_z=0.1512 right_yaw=0.5353 right_pitch=-0.217 right_roll=-0.0115 right_gripper=0.0468 state[joint_eff]: [0.841, -7.1179, 7.4051, 1.5165, 0.2759, 0.1685, -0.0464, -0.0068, -4.8615, 6.8171, 1.4823, -0.1245, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The cap is now centered between the left jaws at table height and remains aligned along the tool axis. I’ll close across its body and check the resulting jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 103

assistant

agent noteThe left gripper closed to 0.011, which is an empty close; the fingertips likely landed just short of the cap despite its appearance at the bottom of the wrist view. I’ll reopen and advance two centimeters outward along the cap axis for the prescribed second attempt.

move_to

left_x0.4180left_y-0.2050left_z0.0080left_yaw-0.5500left_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]: [-0.44, 1.8862, 0.7513, 0.4007, 0.0597, 0.0277, 0.0106, 0.2108, 1.2991, 0.9009, -0.4126, -0.2298, -0.2596, 0.0468] state[eef_state]: left_x=0.3976 left_y=-0.1949 left_z=0.0013 left_yaw=-0.5176 left_pitch=-0.161 left_roll=-0.0125 left_gripper=0.0106 right_x=0.3478 right_y=0.1192 right_z=0.1513 right_yaw=0.5353 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468 state[joint_eff]: [-0.294, -9.3197, 4.4923, 1.5458, 0.1538, 0.0415, 0.9255, -0.3487, -4.8068, 6.8171, 1.4676, -0.1734, -0.0366, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.418,"left_y":-0.205,"left_z":0.008,"left_yaw":-0.55,"left_gripper":1.0},"note":"The left gripper closed to 0.011, which is an empty close; the fingertips likely landed just short of the cap despite its appearance at the bottom of the wrist view. I’ll reopen and advance two centimeters outward along the cap axis for the prescribed second attempt."})

tool

executing move_to over 10 steps (1.0s)

step 113

assistant

agent noteAfter reopening and advancing outward, the cap is no longer visible ahead of the fingertips, consistent with it being directly under the grasp point rather than short of it. I’ll make the second close now.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4339, 1.9194, 0.828, 0.3466, 0.065, 0.0395, 0.9959, 0.2108, 1.2991, 0.9005, -0.4129, -0.2298, -0.2596, 0.0487] state[eef_state]: left_x=0.4119 left_y=-0.1996 left_z=0.0036 left_yaw=-0.5227 left_pitch=-0.1714 left_roll=-0.0082 left_gripper=0.9959 right_x=0.3477 right_y=0.1192 right_z=0.151 right_yaw=0.5353 right_pitch=-0.2173 right_roll=-0.0111 right_gripper=0.0487 state[joint_eff]: [0.3897, -7.8564, 7.9658, 1.4383, 0.2125, 0.1392, -0.105, -0.0342, -4.9983, 6.8308, 1.453, -0.1245, -0.0708, 0.6862] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"After reopening and advancing outward, the cap is no longer visible ahead of the fingertips, consistent with it being directly under the grasp point rather than short of it. I’ll make the second close now."})

tool

executing move_to over 10 steps (1.0s)

step 123

assistant

agent noteThe second close also settled empty at 0.011, so repeating at the same estimate would be unproductive. I’ll retract the left arm high to clear the overhead view and relocate the cap, which may have been nudged by the first attempt.

move_to

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

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4328, 1.9198, 0.8291, 0.3389, 0.0589, 0.0292, 0.011, 0.2111, 1.2991, 0.9005, -0.4126, -0.2298, -0.2596, 0.0516] state[eef_state]: left_x=0.4118 left_y=-0.1978 left_z=0.0024 left_yaw=-0.5108 left_pitch=-0.1786 left_roll=-0.0122 left_gripper=0.011 right_x=0.3477 right_y=0.1194 right_z=0.1511 right_yaw=0.5357 right_pitch=-0.217 right_roll=-0.0113 right_gripper=0.0516 state[joint_eff]: [-0.2256, -9.0051, 5.3265, 1.6581, 0.1099, 0.0904, 0.8864, -0.0752, -4.9983, 6.8581, 1.4921, -0.149, -0.0317, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"The second close also settled empty at 0.011, so repeating at the same estimate would be unproductive. I’ll retract the left arm high to clear the overhead view and relocate the cap, which may have been nudged by the first attempt."})

tool

executing move_to over 18 steps (1.8s)

step 141

assistant

agent noteWith the arm cleared, the cap is visible near its original lateral position but slightly closer to the bases, and its true long axis is nearly radial rather than diagonal. I’ll re-approach about three centimeters inward of the failed grasp with the tool aligned to this clearer orientation.

move_to

left_x0.3700left_y-0.1950left_z0.1300left_yaw0.0500left_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]: [-0.0353, 0.9779, 0.7525, -0.5266, -0.0219, -0.0544, 0.9971, 0.2111, 1.301, 0.8989, -0.4137, -0.2298, -0.26, 0.0556] state[eef_state]: left_x=0.305 left_y=-0.0033 left_z=0.1663 left_yaw=0.0018 left_pitch=-0.1804 left_roll=-0.0182 left_gripper=0.9971 right_x=0.3473 right_y=0.1193 right_z=0.1496 right_yaw=0.5362 right_pitch=-0.2213 right_roll=-0.01 right_gripper=0.0556 state[joint_eff]: [0.1983, -2.8239, 9.9624, 1.5263, 0.0269, 0.1099, -0.0757, -0.1162, -5.1214, 7.0632, 1.5458, -0.1441, -0.0366, 1.033] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.195,"left_z":0.13,"left_yaw":0.05,"left_gripper":1.0},"note":"With the arm cleared, the cap is visible near its original lateral position but slightly closer to the bases, and its true long axis is nearly radial rather than diagonal. I’ll re-approach about three centimeters inward of the failed grasp with the tool aligned to this clearer orientation."})

tool

executing move_to over 18 steps (1.8s)

step 159

assistant

agent noteThe corrected left wrist view now shows the cap centered on the jaw column and aligned almost exactly with the tool axis, unlike the failed diagonal approach. I’ll descend vertically without changing that alignment.

move_to

left_x0.3700left_y-0.1950left_z0.0040left_yaw0.0500left_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]: [-0.6949, 1.586, 1.0275, -0.4068, -0.4908, -0.5808, 0.9986, 0.2111, 1.301, 0.8989, -0.4156, -0.2295, -0.26, 0.0564] state[eef_state]: left_x=0.3568 left_y=-0.1844 left_z=0.1114 left_yaw=0.0378 left_pitch=-0.2401 left_roll=0.0183 left_gripper=0.9986 right_x=0.347 right_y=0.1191 right_z=0.1493 right_yaw=0.536 right_pitch=-0.2232 right_roll=-0.0097 right_gripper=0.0564 state[joint_eff]: [-0.4171, -6.9949, 9.6479, 1.4921, -0.4371, -0.0611, -0.1587, -0.1436, -4.9983, 6.8171, 1.4872, -0.149, -0.0464, 1.033] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.195,"left_z":0.004,"left_yaw":0.05,"left_gripper":1.0},"note":"The corrected left wrist view now shows the cap centered on the jaw column and aligned almost exactly with the tool axis, unlike the failed diagonal approach. I’ll descend vertically without changing that alignment."})

tool

executing move_to over 7 steps (0.7s)

step 166

assistant

agent noteAt table height the cap remains centered between the left fingertips, with its thicker body directly at the grasp point. I’ll close across it now.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7002, 1.8542, 0.8833, -0.0589, -0.4919, -0.6022, 0.9985, 0.2108, 1.301, 0.8989, -0.4156, -0.2295, -0.2596, 0.0567] state[eef_state]: left_x=0.3604 left_y=-0.1899 left_z=0.0037 left_yaw=0.0571 left_pitch=-0.2863 left_roll=0.0494 left_gripper=0.9985 right_x=0.347 right_y=0.119 right_z=0.1493 right_yaw=0.5354 right_pitch=-0.2232 right_roll=-0.0094 right_gripper=0.0567 state[joint_eff]: [-0.1299, -8.253, 4.9162, 1.3211, -0.2759, 0.1734, -0.1636, -0.3214, -5.0393, 6.7761, 1.4432, -0.1441, -0.0366, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap remains centered between the left fingertips, with its thicker body directly at the grasp point. I’ll close across it now."})

tool

executing move_to over 10 steps (1.0s)

step 176

assistant

agent noteThe left gripper settled at 0.110, a roughly 10 mm held thickness and clearly not an empty close. I’ll lift the cap to confirm it moves with the jaws before bringing the two parts together.

move_to

left_z0.1000left_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]: [-0.701, 1.8652, 0.8768, -0.0299, -0.4988, -0.6056, 0.1102, 0.2111, 1.301, 0.8989, -0.4152, -0.2295, -0.2596, 0.0603] state[eef_state]: left_x=0.3622 left_y=-0.1904 left_z=0.0015 left_yaw=0.0607 left_pitch=-0.2739 left_roll=0.0433 left_gripper=0.1102 right_x=0.347 right_y=0.1191 right_z=0.1494 right_yaw=0.5358 right_pitch=-0.2228 right_roll=-0.0095 right_gripper=0.0603 state[joint_eff]: [-0.0068, -9.4701, 5.7778, 0.8669, -0.2027, 0.0366, 0.5446, -0.0752, -4.7385, 6.8034, 1.4676, -0.1587, -0.0659, 0.9158] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.10,"left_gripper":0.0},"note":"The left gripper settled at 0.110, a roughly 10 mm held thickness and clearly not an empty close. I’ll lift the cap to confirm it moves with the jaws before bringing the two parts together."})

tool

executing move_to over 7 steps (0.7s)

step 183

assistant

agent noteBoth parts are confirmed held; the right wrist view shows the pen’s exposed metal tip projecting forward from its gripper. I’ll position the pen near the center line at a safe height, with its tip pointing outward along a simple shared assembly axis.

move_to

right_x0.3000right_y0.3250right_z0.2000right_yaw0.3000right_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]: [-0.701, 1.6962, 1.0336, -0.3832, -0.4938, -0.6098, 0.0847, 0.2108, 1.301, 0.8989, -0.4152, -0.2295, -0.26, 0.0641] state[eef_state]: left_x=0.3591 left_y=-0.1888 left_z=0.0754 left_yaw=0.0652 left_pitch=-0.2965 left_roll=0.057 left_gripper=0.0847 right_x=0.3471 right_y=0.119 right_z=0.1494 right_yaw=0.5356 right_pitch=-0.2228 right_roll=-0.0098 right_gripper=0.0641 state[joint_eff]: [-0.1983, -9.935, 9.2513, 1.2234, -0.3443, 0.1148, 1.033, -0.2393, -5.012, 6.8034, 1.4432, -0.1343, -0.022, 0.7155] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.325,"right_z":0.2,"right_yaw":0.3,"right_gripper":0.0},"note":"Both parts are confirmed held; the right wrist view shows the pen’s exposed metal tip projecting forward from its gripper. I’ll position the pen near the center line at a safe height, with its tip pointing outward along a simple shared assembly axis."})

tool

executing move_to over 18 steps (1.8s)

step 201

assistant

agent noteThe pen is high near the center, and its tip still points forward; the actual yaw settled near 0.23 rad. I’ll bring the cap to the same lateral line and orientation but about 17 cm farther forward, so the two grippers remain separated while their facing ends approach.

move_to

left_x0.4700left_y-0.3100left_z0.2000left_yaw0.2300left_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]: [-0.6533, 1.6955, 1.0286, -0.4015, -0.4908, -0.6128, 0.0861, 0.9394, 1.6318, 1.3834, -0.7776, 0.4747, 0.4942, 0.0598] state[eef_state]: left_x=0.3634 left_y=-0.1688 left_z=0.0717 left_yaw=0.1175 left_pitch=-0.3144 left_roll=0.0694 left_gripper=0.0861 right_x=0.302 right_y=0.2822 right_z=0.1793 right_yaw=0.2269 right_pitch=-0.3001 right_roll=-0.0983 right_gripper=0.0598 state[joint_eff]: [-3.9179, -7.8427, 6.4752, 1.2625, -0.2515, -0.0317, 0.7937, 4.1504, -5.4359, 10.9333, 2.5714, -0.3687, -0.5153, 1.033] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.47,"left_y":-0.31,"left_z":0.2,"left_yaw":0.23,"left_gripper":0.0},"note":"The pen is high near the center, and its tip still points forward; the actual yaw settled near 0.23 rad. I’ll bring the cap to the same lateral line and orientation but about 17 cm farther forward, so the two grippers remain separated while their facing ends approach."})

tool

executing move_to over 13 steps (1.3s)

step 214

assistant

agent noteThe arms crossed during the cap approach and the uncommanded right pose shift plus high effort indicate arm-to-arm contact, though both gripper openings still show their objects held. I’ll immediately separate the left arm back toward its own side and higher before choosing a safer assembly geometry.

move_to

left_x0.4000left_y-0.1000left_z0.2500left_yaw0.0000left_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]: [-0.7116, 2.5568, 2.6896, -1.5227, -0.5617, -0.8371, 0.0797, 0.775, 1.5867, 1.3914, -0.7826, 0.7231, 0.7292, 0.0598] state[eef_state]: left_x=0.4533 left_y=-0.262 left_z=0.1338 left_yaw=0.3321 left_pitch=-0.4413 left_roll=0.2461 left_gripper=0.0797 right_x=0.3575 right_y=0.1915 right_z=0.2195 right_yaw=-0.2219 right_pitch=-0.1042 right_roll=-0.0291 right_gripper=0.0598 state[joint_eff]: [-4.2188, -11.9453, 7.7607, 1.3602, -0.5983, -0.0464, 1.0281, 13.5453, -3.5214, 6.0513, 1.3407, -2.0195, -2.337, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.1,"left_z":0.25,"left_yaw":0.0,"left_gripper":0.0},"note":"The arms crossed during the cap approach and the uncommanded right pose shift plus high effort indicate arm-to-arm contact, though both gripper openings still show their objects held. I’ll immediately separate the left arm back toward its own side and higher before choosing a safer assembly geometry."})

tool

executing move_to over 15 steps (1.5s)

step 229

assistant

agent noteThe arms are separated again and both objects remain held. A safer plan is to turn both tools sideways so the pen and cap face each other across the table center while each arm stays on its own side; I’ll begin rotating the right-held pen toward that lateral axis.

move_to

right_x0.3600right_y0.1500right_z0.2200right_yaw1.0000right_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]: [-0.4088, 1.7615, 1.8275, -1.1931, -0.3622, -0.2325, 0.0797, 0.7784, 1.6203, 1.3823, -0.8265, 0.7025, 0.7216, 0.0598] state[eef_state]: left_x=0.4039 left_y=-0.1028 left_z=0.2349 left_yaw=0.06 left_pitch=-0.4634 left_roll=0.243 left_gripper=0.0797 right_x=0.3515 right_y=0.1914 right_z=0.1972 right_yaw=-0.2122 right_pitch=-0.1663 right_roll=-0.0985 right_gripper=0.0598 state[joint_eff]: [0.3077, -10.5231, 6.2154, 1.0476, -0.2076, 0.1734, 1.033, -0.4444, -10.2906, 7.2137, 1.5409, 0.4713, 0.0317, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.15,"right_z":0.22,"right_yaw":1.0,"right_gripper":0.0},"note":"The arms are separated again and both objects remain held. A safer plan is to turn both tools sideways so the pen and cap face each other across the table center while each arm stays on its own side; I’ll begin rotating the right-held pen toward that lateral axis."})

tool

executing move_to over 8 steps (0.8s)

step 237

assistant

agent noteThe first rotation brought the pen partway sideways while keeping the arms well separated and efforts normal. I’ll complete the right tool rotation to roughly 90 degrees so the pen tip points toward the table center.

move_to

right_x0.3600right_y0.1500right_z0.2200right_yaw1.5700right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1934, -0.3435, -0.2276, 0.0831, 0.1711, 1.4345, 1.2362, -0.6712, -0.3573, -0.5114, 0.0569] state[eef_state]: left_x=0.4032 left_y=-0.1057 left_z=0.232 left_yaw=0.043 left_pitch=-0.4763 left_roll=0.2316 left_gripper=0.0831 right_x=0.3714 right_y=0.1305 right_z=0.2042 right_yaw=0.7447 right_pitch=-0.2324 right_roll=-0.0791 right_gripper=0.0569 state[joint_eff]: [-0.3487, -8.8274, 6.3111, 1.033, -0.3785, -0.0904, 0.906, -0.2667, -5.9556, 8.6222, 1.2186, -0.3394, -0.0708, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.15,"right_z":0.22,"right_yaw":1.57,"right_gripper":0.0},"note":"The first rotation brought the pen partway sideways while keeping the arms well separated and efforts normal. I’ll complete the right tool rotation to roughly 90 degrees so the pen tip points toward the table center."})

tool

executing move_to over 6 steps (0.6s)

step 243

assistant

agent noteThe right yaw stalled around 0.9 rad because the current pose accumulated significant pitch and roll. I’ll move slightly inward and higher while explicitly leveling the tool, aiming for a more nearly sideways pen orientation without bringing it toward the other arm.

move_to

right_x0.3200right_y0.1000right_z0.2500right_yaw1.4000right_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]: [-0.4084, 1.7645, 1.8256, -1.1927, -0.3393, -0.2302, 0.0834, 0.1368, 1.4685, 1.2682, -0.741, -0.4713, -0.6765, 0.0569] state[eef_state]: left_x=0.4031 left_y=-0.1065 left_z=0.2318 left_yaw=0.0409 left_pitch=-0.4769 left_roll=0.2258 left_gripper=0.0834 right_x=0.3641 right_y=0.1347 right_z=0.2009 right_yaw=0.8997 right_pitch=-0.2386 right_roll=-0.0791 right_gripper=0.0569 state[joint_eff]: [-0.1983, -8.5949, 6.2427, 1.0134, -0.2222, -0.0269, 0.4811, -0.6359, -5.7915, 8.5675, 1.3797, -0.2515, 0.1294, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.1,"right_z":0.25,"right_yaw":1.4,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The right yaw stalled around 0.9 rad because the current pose accumulated significant pitch and roll. I’ll move slightly inward and higher while explicitly leveling the tool, aiming for a more nearly sideways pen orientation without bringing it toward the other arm."})

tool

executing move_to over 8 steps (0.8s)

step 251

assistant

agent noteA fully sideways two-arm pose is not tracking reliably, so I’ll use a safer supported assembly: lay the pen radially on the center-right table with its tip forward, retract the right arm, then slide the cap onto it using only the left arm. I’ll first align the held pen above that placement line.

move_to

right_x0.3600right_y0.3000right_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]: [-0.408, 1.7695, 1.8225, -1.1931, -0.3382, -0.2302, 0.0847, -0.1078, 1.6821, 1.5497, -0.9752, -0.6815, -0.91, 0.0568] state[eef_state]: left_x=0.4032 left_y=-0.1065 left_z=0.2287 left_yaw=0.0422 left_pitch=-0.485 left_roll=0.2289 left_gripper=0.0847 right_x=0.4027 right_y=0.072 right_z=0.2162 right_yaw=0.9485 right_pitch=-0.2013 right_roll=-0.0005 right_gripper=0.0568 state[joint_eff]: [-0.1299, -8.4581, 6.5436, 0.9988, -0.1832, -0.0366, 0.9255, 0.1573, -10.2359, 8.212, 0.7106, -0.9988, 0.5495, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.3,"right_z":0.12,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"A fully sideways two-arm pose is not tracking reliably, so I’ll use a safer supported assembly: lay the pen radially on the center-right table with its tip forward, retract the right arm, then slide the cap onto it using only the left arm. I’ll first align the held pen above that placement line."})

tool

executing move_to over 20 steps (2.0s)

step 271

assistant

agent noteThe right arm settled at a diagonal rather than radial pose, but the pen remains securely held and the line is clear of the left arm. I’ll preserve this actual orientation and lower the pen gently onto the table.

move_to

right_x0.3200right_y0.3460right_z0.0040right_yaw0.4800right_pitch-0.1900right_roll-0.0800right_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]: [-0.408, 1.7748, 1.8179, -1.1931, -0.3321, -0.2302, 0.0863, 0.9543, 1.7947, 1.1374, -0.1745, 0.3714, 0.2527, 0.0563] state[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2248 left_yaw=0.0393 left_pitch=-0.4963 left_roll=0.2281 left_gripper=0.0863 right_x=0.3196 right_y=0.3463 right_z=0.0939 right_yaw=0.4829 right_pitch=-0.1947 right_roll=-0.0866 right_gripper=0.0563 state[joint_eff]: [-0.1162, -8.9915, 6.6667, 0.9695, -0.2613, -0.022, 0.7155, -1.5111, -8.0205, 7.5692, 1.4383, 0.6911, 0.2515, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.346,"right_z":0.004,"right_yaw":0.48,"right_pitch":-0.19,"right_roll":-0.08,"right_gripper":0.0},"note":"The right arm settled at a diagonal rather than radial pose, but the pen remains securely held and the line is clear of the left arm. I’ll preserve this actual orientation and lower the pen gently onto the table."})

tool

executing move_to over 6 steps (0.6s)

step 277

assistant

agent noteThe right descent stopped about five centimeters high while the pen’s forward end visibly meets the tabletop, indicating the long pen is supported at an angle. I’ll open the right gripper so it can settle flat on the table.

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]: [-0.408, 1.7748, 1.8172, -1.1927, -0.3321, -0.2306, 0.0874, 0.9581, 1.8454, 0.9852, 0.0463, 0.4065, 0.2493, 0.0563] state[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2246 left_yaw=0.0396 left_pitch=-0.4966 left_roll=0.228 left_gripper=0.0874 right_x=0.3167 right_y=0.3353 right_z=0.0508 right_yaw=0.462 right_pitch=-0.167 right_roll=-0.1038 right_gripper=0.0563 state[joint_eff]: [-0.1709, -8.6359, 6.2427, 0.9792, -0.2027, -0.0611, 0.7741, 0.4581, -9.4291, 6.7761, 1.8632, 0.1441, -0.105, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The right descent stopped about five centimeters high while the pen’s forward end visibly meets the tabletop, indicating the long pen is supported at an angle. I’ll open the right gripper so it can settle flat on the table."})

tool

executing move_to over 10 steps (1.0s)

step 287

assistant

agent noteThe right gripper is fully open and the pen is now resting on the table in front of it. I’ll retract the empty right arm to its own side, clearing the pen and the path for the cap-only insertion.

move_to

right_x0.2900right_y0.0000right_z0.2000right_yaw0.0000right_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]: [-0.408, 1.7748, 1.8164, -1.1927, -0.3321, -0.2302, 0.0904, 0.9577, 1.8454, 0.9852, 0.0525, 0.3985, 0.2386, 0.995] state[eef_state]: left_x=0.4028 left_y=-0.1074 left_z=0.2243 left_yaw=0.0396 left_pitch=-0.4973 left_roll=0.2286 left_gripper=0.0904 right_x=0.3166 right_y=0.3371 right_z=0.0514 right_yaw=0.4743 right_pitch=-0.1648 right_roll=-0.1038 right_gripper=0.995 state[joint_eff]: [-0.335, -8.6906, 6.188, 1.0379, -0.1783, -0.0317, 0.5983, -0.3487, -8.8821, 5.9692, 1.4383, 0.188, 0.1441, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.2,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The right gripper is fully open and the pen is now resting on the table in front of it. I’ll retract the empty right arm to its own side, clearing the pen and the path for the cap-only insertion."})

tool

executing move_to over 29 steps (2.9s)

step 316

assistant

agent noteWith the right arm clear, the pen is visible lying diagonally; its exposed tip is the upper-left end, around x≈0.41 m and left-arm y≈−0.27 m. I’ll hover the cap just beyond that tip, aligned to the pen’s 0.47 rad axis, so its opening faces back toward the pen.

move_to

left_x0.4400left_y-0.2500left_z0.1100left_yaw0.4700left_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]: [-0.408, 1.7748, 1.8145, -1.1923, -0.3317, -0.2302, 0.0933, -0.0116, 0.7929, 0.6369, -0.4622, 0.0124, -0.0105, 0.9984] state[eef_state]: left_x=0.4026 left_y=-0.1074 left_z=0.2237 left_yaw=0.0396 left_pitch=-0.4989 left_roll=0.229 left_gripper=0.0933 right_x=0.2873 right_y=-0.0019 right_z=0.1784 right_yaw=-0.0324 right_pitch=-0.0512 right_roll=-0.0068 right_gripper=0.9984 state[joint_eff]: [-0.1436, -8.6906, 6.2564, 1.0623, -0.1734, -0.0366, 0.5739, -0.3761, -2.0991, 10.2222, 1.8779, -0.2125, -0.0464, -0.1783] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.25,"left_z":0.11,"left_yaw":0.47,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"With the right arm clear, the pen is visible lying diagonally; its exposed tip is the upper-left end, around x≈0.41 m and left-arm y≈−0.27 m. I’ll hover the cap just beyond that tip, aligned to the pen’s 0.47 rad axis, so its opening faces back toward the pen."})

tool

executing move_to over 17 steps (1.7s)

step 333

assistant

agent noteThe left wrist view now shows the pen perfectly centered on and parallel to the cap axis, extending right up to the fingertip region. I’ll lower the cap to the pen’s tabletop height while preserving this strong axial alignment.

move_to

left_x0.4400left_y-0.2500left_z0.0150left_yaw0.4700left_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]: [-0.8013, 2.1571, 1.6505, -0.6899, -0.8715, -1.0279, 0.0797, -0.017, 0.7956, 0.6334, -0.4648, -0.0006, -0.0269, 0.9982] state[eef_state]: left_x=0.4312 left_y=-0.2457 left_z=0.0946 left_yaw=0.4225 left_pitch=-0.0726 left_roll=0.0633 left_gripper=0.0797 right_x=0.2867 right_y=-0.0012 right_z=0.1756 right_yaw=-0.018 right_pitch=-0.06 right_roll=-0.0127 right_gripper=0.9982 state[joint_eff]: [-0.3761, -11.8359, 9.0188, 0.7399, -0.7106, -0.0562, 1.0281, 0.3897, -1.3607, 7.4735, 1.7265, 0.0659, 0.1001, -0.022] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.25,"left_z":0.015,"left_yaw":0.47,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"The left wrist view now shows the pen perfectly centered on and parallel to the cap axis, extending right up to the fingertip region. I’ll lower the cap to the pen’s tabletop height while preserving this strong axial alignment."})

tool

executing move_to over 6 steps (0.6s)

step 339

assistant

agent noteAt pen height the shaft remains exactly centered and its tip reaches the cap’s opening region between the jaws. I’ll slide the cap about two centimeters backward along its own axis to start seating it over the pen tip.

move_to

left_x0.4150left_y-0.2590left_z0.0150left_yaw0.4700left_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]: [-0.8078, 2.3039, 1.5356, -0.4416, -0.9119, -1.0744, 0.0797, -0.0174, 0.7959, 0.6312, -0.4648, -0.0013, -0.0277, 0.9982] state[eef_state]: left_x=0.4335 left_y=-0.246 left_z=0.0145 left_yaw=0.4571 left_pitch=-0.0395 left_roll=0.0504 left_gripper=0.0797 right_x=0.2864 right_y=-0.0011 right_z=0.1745 right_yaw=-0.0173 right_pitch=-0.0627 right_roll=-0.0128 right_gripper=0.9982 state[joint_eff]: [-0.1983, -12.0957, 5.5179, 1.0134, -0.6667, -0.1148, 1.033, -0.1983, -1.1829, 7.1453, 1.7021, -0.0366, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.259,"left_z":0.015,"left_yaw":0.47,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"At pen height the shaft remains exactly centered and its tip reaches the cap’s opening region between the jaws. I’ll slide the cap about two centimeters backward along its own axis to start seating it over the pen tip."})

tool

executing move_to over 2 steps (0.2s)

step 341

assistant

agent noteThe axial slide stopped after only a few millimeters despite a larger command, indicating the cap has contacted the pen rather than passing beside it. I’ll lift a few millimeters to relieve table friction and apply one short, straight seating push along the same aligned axis.

move_to

left_x0.4050left_y-0.2650left_z0.0200left_yaw0.4700left_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]: [-0.8272, 2.3123, 1.5166, -0.4011, -0.9447, -1.1202, 0.0797, -0.0174, 0.7959, 0.6308, -0.4648, -0.0013, -0.0277, 0.9982] state[eef_state]: left_x=0.4302 left_y=-0.251 left_z=0.0122 left_yaw=0.4741 left_pitch=-0.0055 left_roll=0.0087 left_gripper=0.0797 right_x=0.2863 right_y=-0.0011 right_z=0.1743 right_yaw=-0.0173 right_pitch=-0.063 right_roll=-0.0128 right_gripper=0.9982 state[joint_eff]: [-2.0308, -13.8598, 4.7658, 0.6618, -0.2027, -0.149, 1.033, -0.1573, -1.1692, 7.0769, 1.7021, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.265,"left_z":0.02,"left_yaw":0.47,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"The axial slide stopped after only a few millimeters despite a larger command, indicating the cap has contacted the pen rather than passing beside it. I’ll lift a few millimeters to relieve table friction and apply one short, straight seating push along the same aligned axis."})

tool

executing move_to over 2 steps (0.2s)

step 343

assistant

agent noteThe final seating push advanced about 2 cm along the pen axis while remaining centered, consistent with the cap sliding into place rather than skimming sideways. I’ll release the cap at this seated position; it should remain on the supported pen if the insertion is complete.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8783, 2.3123, 1.5105, -0.4351, -0.9665, -1.1881, 0.0797, -0.0174, 0.7959, 0.6296, -0.4648, -0.0013, -0.0307, 0.9982] state[eef_state]: left_x=0.4131 left_y=-0.2648 left_z=0.0114 left_yaw=0.4673 left_pitch=0.0048 left_roll=-0.0046 left_gripper=0.0797 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0156 right_pitch=-0.0642 right_roll=-0.0153 right_gripper=0.9982 state[joint_eff]: [-1.1829, -14.5436, 5.3265, 0.5739, -0.4713, -0.0366, 1.0281, -0.0479, -0.9094, 7.2274, 1.6777, -0.0415, 0.0171, -0.0122] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The final seating push advanced about 2 cm along the pen axis while remaining centered, consistent with the cap sliding into place rather than skimming sideways. I’ll release the cap at this seated position; it should remain on the supported pen if the insertion is complete."})

tool

executing move_to over 10 steps (1.0s)

step 353

assistant

agent noteAfter release, the wrist view shows a single continuous aligned object remaining between the open jaws, with no separate cap displaced to either side. I’ll retract the left arm fully to reveal the tabletop and verify the capped pen as one piece.

move_to

left_x0.3000left_y0.0000left_z0.2000left_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]: [-0.8909, 2.3108, 1.5093, -0.4862, -0.9615, -1.2266, 0.9952, -0.0174, 0.7959, 0.6296, -0.4648, -0.0017, -0.0311, 0.9982] state[eef_state]: left_x=0.4042 left_y=-0.2638 left_z=0.0085 left_yaw=0.4742 left_pitch=-0.0104 left_roll=0.0116 left_gripper=0.9952 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0151 right_pitch=-0.0642 right_roll=-0.0154 right_gripper=0.9982 state[joint_eff]: [-0.253, -14.3521, 5.4085, 0.696, -0.569, 0.0562, -0.0904, -0.0205, -1.1556, 7.1726, 1.6923, -0.0317, -0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"After release, the wrist view shows a single continuous aligned object remaining between the open jaws, with no separate cap displaced to either side. I’ll retract the left arm fully to reveal the tabletop and verify the capped pen as one piece."})

tool

executing move_to over 24 steps (2.4s)

step 377

assistant

agent noteThe cleared overhead view shows the first insertion did not hold: the cap is separate just beyond the pen’s upper end, and the pen remains diagonal. I’ll recover the cap at its new location, approaching along its now nearly horizontal axis, then use the opposite end of the pen.

move_to

left_x0.4500left_y-0.2700left_z0.1200left_yaw1.4000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0635, 0.8471, 0.6464, -0.3973, -0.1375, -0.1135, 0.9985, -0.0174, 0.8005, 0.6292, -0.4652, -0.0021, -0.0345, 0.9982] state[eef_state]: left_x=0.3011 left_y=0.0087 left_z=0.182 left_yaw=0.102 left_pitch=-0.02 left_roll=-0.0081 left_gripper=0.9985 right_x=0.2864 right_y=-0.001 right_z=0.1724 right_yaw=-0.0129 right_pitch=-0.0695 right_roll=-0.0179 right_gripper=0.9982 state[joint_eff]: [0.1573, -2.3179, 10.5504, 1.8095, 0.0659, 0.1636, -0.1636, -0.0342, -1.5658, 7.0222, 1.663, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":-0.27,"left_z":0.12,"left_yaw":1.4,"left_gripper":1.0},"note":"The cleared overhead view shows the first insertion did not hold: the cap is separate just beyond the pen’s upper end, and the pen remains diagonal. I’ll recover the cap at its new location, approaching along its now nearly horizontal axis, then use the opposite end of the pen."})

tool

executing move_to over 25 steps (2.5s)

step 402

assistant

agent noteAlthough the high-yaw pose could not reach the requested lateral coordinate, the wrist view shows the displaced cap centered directly at the fingertip line. I’ll descend the remaining few centimeters at this actual pose and grasp it.

move_to

left_x0.4280left_y-0.1100left_z0.0040left_yaw1.3000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5728, 2.5423, 2.1471, -1.5581, -0.8822, -2.085, 0.9985, -0.0174, 0.8051, 0.6262, -0.4725, -0.0017, -0.0349, 0.9982] state[eef_state]: left_x=0.4279 left_y=-0.1094 left_z=0.0531 left_yaw=1.3029 left_pitch=-0.059 left_roll=-0.0189 left_gripper=0.9985 right_x=0.2852 right_y=-0.0011 right_z=0.1683 right_yaw=-0.0131 right_pitch=-0.0844 right_roll=-0.0184 right_gripper=0.9982 state[joint_eff]: [0.3487, -11.8769, 7.2274, -0.5397, -0.4225, 0.0171, -0.1636, -0.1573, -1.5795, 7.4325, 1.7314, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 402): [image omitted: streamed camera frame] camera 'left_cam' (step 402): [image omitted: streamed camera frame] camera 'right_cam' (step 402): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.428,"left_y":-0.11,"left_z":0.004,"left_yaw":1.3,"left_gripper":1.0},"note":"Although the high-yaw pose could not reach the requested lateral coordinate, the wrist view shows the displaced cap centered directly at the fingertip line. I’ll descend the remaining few centimeters at this actual pose and grasp it."})

tool

executing move_to over 4 steps (0.4s)

step 406

assistant

agent noteAt table height the cap is centered laterally but still has clear image space below it, indicating it is a couple of centimeters short of the fingertips. I’ll advance outward along the high-yaw tool axis before closing.

move_to

left_x0.4440left_y-0.1320left_z0.0040left_yaw1.3000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6319, 2.7369, 2.3455, -1.562, -0.8558, -2.0937, 0.9985, -0.0174, 0.8055, 0.6262, -0.474, -0.0017, -0.0349, 0.9982] state[eef_state]: left_x=0.4378 left_y=-0.1508 left_z=0.0058 left_yaw=1.2589 left_pitch=-0.0823 left_roll=-0.0185 left_gripper=0.9985 right_x=0.285 right_y=-0.0011 right_z=0.1679 right_yaw=-0.0131 right_pitch=-0.0863 right_roll=-0.0184 right_gripper=0.9982 state[joint_eff]: [2.0308, -14.2154, 6.7897, -0.6764, -0.5641, -0.022, -0.1587, -0.3077, -1.1282, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 406): [image omitted: streamed camera frame] camera 'left_cam' (step 406): [image omitted: streamed camera frame] camera 'right_cam' (step 406): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.444,"left_y":-0.132,"left_z":0.004,"left_yaw":1.3,"left_gripper":1.0},"note":"At table height the cap is centered laterally but still has clear image space below it, indicating it is a couple of centimeters short of the fingertips. I’ll advance outward along the high-yaw tool axis before closing."})

tool

executing move_to over 2 steps (0.2s)

step 408

assistant

agent noteThe cap has moved into the fingertip region and remains centered between the jaws. I’ll close across it now for the recovery grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6048, 2.7579, 2.3646, -1.5707, -0.8814, -2.1014, 0.9986, -0.0174, 0.807, 0.6262, -0.474, -0.0017, -0.0349, 0.9982] state[eef_state]: left_x=0.4447 left_y=-0.1373 left_z=0.0041 left_yaw=1.2807 left_pitch=-0.0565 left_roll=-0.0218 left_gripper=0.9986 right_x=0.285 right_y=-0.0011 right_z=0.1675 right_yaw=-0.0131 right_pitch=-0.0878 right_roll=-0.0184 right_gripper=0.9982 state[joint_eff]: [-0.3897, -13.3128, 6.5846, -0.4274, -0.3199, 0.0122, -0.1587, -0.0615, -1.1419, 6.9675, 1.6484, -0.0122, -0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 408): [image omitted: streamed camera frame] camera 'left_cam' (step 408): [image omitted: streamed camera frame] camera 'right_cam' (step 408): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The cap has moved into the fingertip region and remains centered between the jaws. I’ll close across it now for the recovery grasp."})

tool

executing move_to over 10 steps (1.0s)

step 418

assistant

agent noteI successfully picked up and verified both the pen and cap, but the first aligned insertion contacted the wrong end of the pen and left them separate. A recovery grasp of the displaced cap then closed empty, and there is not enough remaining call budget to safely relocate, regrasp, and perform the opposite-end insertion.

give_up

hindsightThe pen end that projected forward in the right wrist view was the rear/clicker end, not the writing tip; the cap must be applied to the opposite end. For this rig, avoid bringing both arms to the center for assembly because their links collide even with roughly 15–18 cm end-effector separation. Place the pen on the table, retract the pen arm, then approach the writing tip with the cap arm. The successful cap pickup used a nearly radial orientation around left yaw 0.05 and produced a gripper reading around 0.08–0.11; high-yaw recovery poses near the forward workspace track lateral targets poorly.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6044, 2.7579, 2.3638, -1.5745, -0.8799, -2.0933, 0.0111, -0.0174, 0.807, 0.6258, -0.474, -0.0017, -0.0349, 0.9982] state[eef_state]: left_x=0.4439 left_y=-0.1368 left_z=0.0041 left_yaw=1.2776 left_pitch=-0.0564 left_roll=-0.0105 left_gripper=0.0111 right_x=0.285 right_y=-0.0011 right_z=0.1674 right_yaw=-0.0131 right_pitch=-0.0882 right_roll=-0.0184 right_gripper=0.9982 state[joint_eff]: [0.1162, -14.6803, 4.7385, -0.2418, -0.4469, -0.0415, 0.779, -0.0752, -1.2786, 6.9675, 1.663, -0.0171, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 418): [image omitted: streamed camera frame] camera 'left_cam' (step 418): [image omitted: streamed camera frame] camera 'right_cam' (step 418): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I successfully picked up and verified both the pen and cap, but the first aligned insertion contacted the wrong end of the pen and left them separate. A recovery grasp of the displaced cap then closed empty, and there is not enough remaining call budget to safely relocate, regrasp, and perform the opposite-end insertion.","hindsight":"The pen end that projected forward in the right wrist view was the rear/clicker end, not the writing tip; the cap must be applied to the opposite end. For this rig, avoid bringing both arms to the center for assembly because their links collide even with roughly 15–18 cm end-effector separation. Place the pen on the table, retract the pen arm, then approach the writing tip with the cap arm. The successful cap pickup used a nearly radial orientation around left yaw 0.05 and produced a gripper reading around 0.08–0.11; high-yaw recovery poses near the forward workspace track lateral targets poorly."})

tool

give_up: I successfully picked up and verified both the pen and cap, but the first aligned insertion contacted the wrong end of the pen and left them separate. A recovery grasp of the displaced cap then closed empty, and there is not enough remaining call budget to safely relocate, regrasp, and perform the opposite-end insertion.

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 · 9.578 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3809, -0.0219, -0.0242, 0.9997, -0.0181, 0.7914, 0.6083, -0.3843, -0.0238, -0.0265, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1791 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9997 right_x=0.2945 right_y=0.0025 right_z=0.1818 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.4838, 10.5368, 1.7949, -0.0415, 0.0806, -0.0464, -0.6085, -1.2103, 10.0171, 1.9219, -0.0317, 0.0855, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4396a1c33bd8fd05100166c3e619f6abff22b54c76bf01b8bbbbeecf96badd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0379e272e9730e7f9930c9d2e13a3ca56d6b0268472fac9ea9a7b543c8e9dc19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:832a29f20f43ea90141548289296cdd05f8d15cf81d111e54b0934896fc332af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.671 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6TcuKZ68pmBp3jAMsqSKfUy_mWJlPXJzpUQDfTc_3wTvLNHmRcyIK3TdxQ5JbWUWMy0lbSvxxdrzZBUBpeHo2i3NGE-zzLsaNq0qSHKuRYn5rMDB6Ck-v-alI-RiowD8QfOHV-DfdCzuvnaoNgNqXbweTegT37bYebTeTRSitC9SJXpXBpR8gUhr-rtHG_E4NARYrqphkkyRjtVcq46r0cqjGSeJ98y0hjPPpZ2oSGE9knf_eOow8k54mk0EALqmDU0ZuVn7YAJgsE7GTf6fx6Vc5ZMr6kp8zTYJETouBAdAwgFKeeJJWX5XXuZ9rcQVyibp3Yu2Ku3UW5cVgu-Ahx8gUZfr4s_V9HxQ8LVIOQFZP3cN14I-6N4GpwurZqGELwuJmtfgkW7GkYSAwkXhdkpwdQGD8T4mx6DZewmfArSMiRboW28Bph8CqS-FoXMkb7bvG_ekyRqN45AA670bTIlXIY6RKfjZ1gGlNja1P17jhKGFGxs0iHasXlrcYx173yL87wivxihe-hfd-NNTbKY6RiI8LwOA2IxI2DrhRSjZt41N4VnVa0akNb6r2NxUTA2y4vQleeJLekIAcH1AGCBCzf3SJVxNxl71IfdFzVkh5Np26lhnQZzs1huwf8opaqNyuBvKUI2KVXfKn4FmoKqPaULkFtsNw0K5CGRduXP3HQQ58bQOJ5yCx-T_FT65OkbQF7jnGs3_DvA7pR9i_AQxLvVWocveJeTtUCWE6XQzaIHdBiAN5VvY75BQ9q5-ahYJIeg1vRMo9h8a-S6bB1EeJ1i4CBOl4R7LTvy_pW36N_hUBgHkNdoQSZTx3fY4EDA_vAQOsUKjObf1wbB7eAtBYeB0zTOyy0wInCNnGNeNjowSTHF321nOWJH1kJqclWXIVKR_gmQ5jfZqxYNaNp0Fq0rRIiKf9xfdbU35PrzW3AwAgwYVBs1E01iepnjD6kVGEgsR8lN7m8ED1c2_roseuw6d5C_awYcFTTOlTytqtucar46cTOJcwNkBZCA_FuQErhdXo8s6zH2n7LMCooPB3e_AEKNUew6pYXHHuIO25V4pAmdKNjb33tcP8zjfrItD7qZNiM2pHCLFE4GqDxgmlTUdYQdxtnKPHEGQfl458HnfV6k6xk7YO1UpopoCzPP4oGrPJtDhFMYyy0N9NJdhuSw6JrabDtOEJn3FdLVc18Lk19ebmD0kqKkF8Z4LHeTmiVx3ENz-8y0hLqIC2yEZxuHReGx5ewSmADq0ZpC9auRJAzhVQ7bChIshTF-f3dcgHs_aEy4DWfyaJQL_LMQNDkoLSxIi3JGP_0LbCQiFO5b0j635uaQLAjaE1VafwtmFfyKGjDrJR260niAbfAN9qASsDcxpV7QndkQ3WBMKuco6VLkS5xRp5zGtxj_ZPo3NrSLHwZR0bsTd2zfCPzqeuPKukD7D4G6xhqKurqkfFNFokO2vmtdzQNsCx3bJ3OZNtnKlAN9SwfQfe6T1x4EqkosyLzcynVi7r_YpWfyJUfexeZqpQvcFZ-X5N-4CgKl38_HVDmb087VQ0o7wLz08lROhkBsOKicPgpOhgROK_OaT9w7k6Rnxu8_A3-KceFX_wncGjuED-eW3hJ93Szot3LfpSr2TMI23R27vVIC1R4uqyIlnv_0SPQPEmtduqb1MdYRqAClYQxLPiJZGrhNfZwuVZpLkPOjX-yz7t5x411n9wrOfxjTzbnXIbAFjPntnhJ3bPNMRgJlMbDDsABiNbLxssVenWyU72h2BWvr3ww9rp0Cy4nu7A0y2FU-tr08kPluWaYkk1d-Rvd0bzdsML78n6eRazD4W8fm3JdBotxy_Z_XkXPEP9tyk7LkP13-wuMoKjmiKLOqnkymbFoIu5Rp8cyDtedH1BwJ7eJARHytqu14wUP4VspseThIbOe2WiP4dcM2JGGqQdqNpRA3ZDO3ii0JBbd2cEHXpI0cl3-bQPZIdzrLpB0vDczOYo4-OFzdnucZiyzQrAUH8ZwUPSW0LXJOPK0QeU8G3-u_MS9v0y0FVNpsLIX6pChBrDTOVcSPTeaWFZLozF-eWGEzI14js3fSQbbZn0talglxom75CAcdJAxTM6VwVpJRYSPE-nb3Q3xoKA7XQwlKw8xZXHL-mWR6TZ4Fi8qLozZyREzXXaAkw3iyquhOqI5OidG22Lik3eRUllcfZIC7S25qNrS0Riye-e4QKGBF0IT1sDfhLFV8CefI-Ozt5PU_rxRJT95ujDHJIio5P4snz1Od8psdvnDmw29G5jiyG5VGe_M5BHx4AakIDczrOTFVV-kKVAXiBRDmyxMkpWuVBjHdqz_DGhNJaVSgmAbB5ry5kYnqS8Z-_xnDpFsZGOrtal4mYQKqf9PYMuek7FpB-vQ4WhdEAPyN4rtOWcKTfunAHIKY-F9ic-noQUvoHsK_I0pcNGo24jewx2Vd0HH1FQ-E0I6r2lvswYibEU_BTsBh2fSXJRn-OjpAcSKSM1Lk2qApbPHh60IC8YxFprU056r0odXCzLdJ1zEGf7QQmNxXp8oAd2IiFY_Y_2dGGJ4GCJW9XvoIXuyy_ilI6b4h8TGxJIb-hMKw-KsCjhp5Swu4Tz--Fj-3Qe7iaJ3172XuNQHy0JVBMIM5WQgXz_BbPGAfKRzwiqEtSfv-X8rXwd2_zOOtEK7r0vGuLVYN35GwIycrnhe03_zARphZUNpOTpu-dSH4o7lL6jcl5aGQ89A9I3VynjtDto6IJMUKm1i9c6gQh5rWs_bgim1ruDswe0LMA0NawC3DSpWn7YnAI2E656bdguQOJfCbVJYI5uXyd9AxDV86Mn91Lu7-qx3BUzbxVLcorsMZ-YhR1JrMzU7H6aWdYtUcfEzvDS9FJJZ46Gw0sPVxDcbCf5KRQoMhc3SFKkxEmSPKqQlPd30y77K7K7XtEHJY-bWgqZwYC6jZVno3UOWfMy0iyiFeazeq62kytDCGqqLQXURHboziuD1Pg2OX9D5wHZUX-wer47qeMBn08w1BfqI69D7Rz1Hd_s2KC0zMePHoOFHyjXu1v01erAApV7YCIqKeCuPTSRv6PN-wv-cCal2U4YnsGOOj8IpFAyMlzwu0n0sRzf66v0q5Tgy1ERljvrafwvh8ilGahMcG6AXdSCqiqH8yAHt_hDWzK4aKapsk5bD3ow-fPgoRWk1PMPBv3JN90HdtBKiTbn0l5SRoDYXLfY0u66MYiE9iBim_N0F-F36H5BeppmgIBchXmP3vw-BNE-Sus819YgoUVJhOklrJ7hWYWa9nOfD3A2VwXXnjAgPsVbi-bmVCeTCaRSJLpnz37K0fA4UrXrDI2X7VU5d7NliHn9rdJOiR6-5KhZ7UVFBCQPcMY5z8bhqcRZBlv1e-MZMXSrGY2ZTXsvIx4588buBJWkjEKtnmUVtqAHrlqy5LwYwPddvvL9sbn535zlcjtWQg36V6CDzM27gfupspgdmkKRA8MDNvvcAZbhxHvBhqNU40kWE3sWGMYxGtUnn3Vv86DQt-4VQ1yULl826iPTeKRSJZY8YYFmqY4dbuKvi37paon_wzh6hA1u7BdOuYW2eLsPGdkOSqO8m3UTSHyeZH6XZdXkP5H4Zn83uHR2sEbPxGbLvcA81ajoSDOHPASqV4RoyYsncOu2tEAlKAdLtDu_zF8G9LGaGQPVYGpm6tKGglzNiLvXkumHhVwaxMDz3_z73haeL4JUx7hJ8o4LXtzHfc-9VZ7zyXS98c9uCWYr10rhHM3RqYcJv-_L3daIcdGJPZxwDFdBA0U_mmHJFvn9cmm3cOHVjT0SmmPOvgAA0fKrBLpAeqBBj6HwUNsihrhPFFLfriNprgI6QG783fA7JAXcKMcqfDfBXj6s7vuvIjsv0U_y_htAWHyKTPRkedNce5Vp1FrIKaAbtjM5oiHWyMYJy5etnY0N6NlNQ_Zh-_vlrOphIErjnAgQ5Xuy11rrlZLN6",
  "id": "rs_079248f874c6ada1016ab44e8a95e087d0a3a2c2a74953cebc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6Th3fZ3BVCnpDmk44p2WoIk6iEtiA4fmZNXsM4DHMwv2YwOrXN4-en4J19LY7SupmiXquWsy3tSmLgJCPUjZv5QZrIRU8Be0rpZlP8YW1wSRzDuzYTLrB77-mXxybMO4yhyK7RsO5Ov2hTh3Rg4mnkx7ZZ0rFVQhdO-BlLCFlpfrI8YSDlqUbjHdaRAT3f9vsJcFLjjc1dExLsvP7C2YQZ6Q1i4Pg-MtASEy9YfPtQ_AESCLRaVLfuzko7C6cpCZpnc583RJf-QEVetIvrqw43K_HOGMEFYJ7fqvD7TbSYXZy7tDUvD6_LMCGsc5xKAj4fdG8kUgB9dnJ0Gnj7UURYeY5NuqxIwlH7EFNn45LQUimTGLtgcf3DZJrF_rCt3jOB5p1f6M_V_utz3uYqOltKS4tRsUHSVePGd-wBwwcVp5vAlhWyNG3oLpRTzJjCjbIvqafR2R0zih4__PSnOYSZPQjMH9SWVF3clZJnsh6KtYRSQd4Xtx4fafozu1YknM11nqrOkXAekQ9eHKrHSP4DXSU0GFREYiQsot3LrHk5KbLlToTGdEhmFLjqsCsDs8zsgGSmqvT4wwphO_dR9VdOh9-engPOCA1RdHLyB6StYIbOFo1pGgjJhlMq4zDwEPKjFBGDTggTnokIrOhRFwRg1UJ6fO-fjlrx7-SyM9V97KJ2tO-Bt2W3Jc7Yl6hdqvH14TH_E-Ar1jTBJw_eGz1adFFNWGWhL154q3nPTaH3VIIjNGkxSaPgXLmASBYlLIPQgokHkcOd06WDOTZLZg_Lh0Vcgbonpuzsl19S0cBkfXKyOOPAN-4TLE1KgjrYImaB5ajJ5iZRamU2J31FNNQnBJ2OJKvzDK5-npN0EMDxhYhgItXITeSNKXolFPg8anAUKc3pXtKvfephgLF0K3q-CMtlaS1-KYt2ZTbrO711kKl5P9_iSUe7bconCprRCwoiLd3PPm2MBp--XlaGh8WwvKndI1CafzFc56zJrLqfzjC8s-z0TdXHGkcgCLQwHD2mN2oposqFryHuAgTnwI67wwWchscscg6KwpWjDr7GtvBL05mkRD9cVazJ0zv5-qQ27pAhQRm7FY2_LV-rjHCUqJy666jvy3bICM1-8dNhWO5apEj6IEdv5g7l1gEn9BYMx38ciXz6td8dq6bK8eGiI-kvwp81J4sTzLZR0UwLhG0Vkl3PXCbptWsBDVcrL99cWMqDGKzTso7fU1sqPm0xo3JnX2NQtNjA0s7gSFCNMC0ra4EVEnmPGfVGa5qP5GBmti-czOWkD_PtoDf4zfNAXFvwlTVLsxyIQVYMcLhCC0IzCiYyx9HC_hvHWGdsCVuTLngrmXp5QTS9Fv1JNEZQe3ysv5HjyoY9iUwxbHlKCh6PN7WUOD58nehJofAr4r6owZhD5-NphxKuVLLj1LncIUz_e_YLKGrWLMScCIqHFKppGK1qPcDD682i_COcSkGFY-0qCW4q4Ll6mvH0pWRNNHUZ4EpJbB2-js-vWg8oKT0v5zh-oUkVAIBbG8FlfY_Atd5j6TnIVDOiCRcD8VNEPAeq0O79g_WjKiq0VA8zWSEQW-FeOevg17dQ2cXVF_m6Uw7hrVaLy2m6mV-yPr7NsfxT-R3572Qm7HHaWnq3hBgdwmxUDuZe-lx6x0sH1-pCgbU1asljuUYnqJahZva55xpBm98Yotf6ZPgzsMkwpuLIq4786Zf2KZ7NJKOYvpdpvms_V3rx-5bb4vz3vniVck09McQnChAUhKW39nD9iqyUwoPCKm_8Ld0nc3juq7NcTzNl3lGYHpjMiZTS0faxPO4_o-KpwxOGfiBdeEO7OawL0B7cmhu3O-rlh4xBbDjqoei5S6-u4vNAS1PiLeeguo7UcMJiBqhWHbdLiwPy1qPGMRZuQzngllL9u3ZPi9DJHpuQAmKbWlFXaYgc1rkhB-fNyvwZa4EIs4kANN36dTmWoc_iWebRJsRkA74AysgKC-t8P707SacrJYGSwFsMIouo_3xg23R2zqZhl2ujXnfuZiT5wKPZaqRi25hh7y4jTG-ttH1c_EbA4jV1MRVAMI72IYS8fpKzsw-BA7700F6IjimwReiSeP4yqGPIiB0T3yCfiZ0jK1wkwbfRuir7dtNY-p8SNOtAHJIuVgxzhWEyEbCRF5t7uxbIOBrcPFyYEjYbmJgB9NOn7RyGj1wrm-6cYWIR0JlyTwwVr1miY7IabRqyxYaYKddMXg65BXp51JY-HgNSXEZxdmCYRLD0b2CThPPNZejabFWsGl03cS8VRBBJ04H46TTKfuGCt-S9wbWX7p_IJ0OTmmdzcoMs3plqVibwxfJV1E01sNVB3l0IXGLTyYp0TaUJZI-fPQ-XfB-O5Q7HdGqf1NHTcA3H-Pb98fIpg4RK9ea3pZXsk9Ul4ot8X3vflLtZQVaM2W7hUpBBJ11OjpGiYT4y0UXjPDlqp1XWuoyg7Uu22TUfLzoOty_geGIp2oKQLRKBflWjjPq3HO9VQJvCdomSjXRgJQ==",
  "id": "rs_079248f874c6ada1016ab44e8fbce887d0803b2d6de90735ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.29,\"right_z\":0.16,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The long black pen is near the table center, angled from upper-left to lower-right, while the detached cap is farther left. I’ll bring the right gripper above the pen with its tool axis aligned along the pen so the jaws will close across the barrel.\"}",
  "call_id": "call_daD0zWzYnjpEyt3YMAJDfUET",
  "id": "fc_079248f874c6ada1016ab44e9220a887d08e7854c80d304c7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_daD0zWzYnjpEyt3YMAJDfUET",
  "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]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0216, -0.025, 0.9997, 0.6769, 1.6058, 0.9981, -0.0406, 0.1043, 0.0521, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3684 right_y=0.277 right_z=0.137 right_yaw=0.5447 right_pitch=-0.0772 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.7299, 6.9949, 1.7118, -0.0073, -0.0366, -0.0171, 0.5128, -7.8564, 9.5932, 2.0781, 0.105, 0.0269, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f6a8dab5383ee2b39bdda89f97e4b70616a26afca08c741a7c7ea5704d6bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1f2c62fc161fba6ec76e56ee35ba457d1bf496510ce5f56372191c88c01279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b64e022eff88e168b97a66be3ee7c295c973c30e6bac27af89f7ea4b3e0cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 4.693 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3809, -0.0219, -0.0242, 0.9997, -0.0181, 0.7914, 0.6083, -0.3843, -0.0238, -0.0265, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1791 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9997 right_x=0.2945 right_y=0.0025 right_z=0.1818 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.4838, 10.5368, 1.7949, -0.0415, 0.0806, -0.0464, -0.6085, -1.2103, 10.0171, 1.9219, -0.0317, 0.0855, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0216, -0.025, 0.9997, 0.6769, 1.6058, 0.9981, -0.0406, 0.1043, 0.0521, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3684 right_y=0.277 right_z=0.137 right_yaw=0.5447 right_pitch=-0.0772 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.7299, 6.9949, 1.7118, -0.0073, -0.0366, -0.0171, 0.5128, -7.8564, 9.5932, 2.0781, 0.105, 0.0269, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f6a8dab5383ee2b39bdda89f97e4b70616a26afca08c741a7c7ea5704d6bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1f2c62fc161fba6ec76e56ee35ba457d1bf496510ce5f56372191c88c01279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b64e022eff88e168b97a66be3ee7c295c973c30e6bac27af89f7ea4b3e0cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6aQp471nWMbu7Pd2aMo6hjawRa0CyEM9tFG9D11q8xI0zemK0BGPZ-K9t4LQjOP2SsTRSSxNKdbwvaq7KjQlLxMB2QVDf_jfmIfv708G5epQH7ksSKrrgi4qBBmYOMoCHpviiIKTwi2utIhixwYqq0REVZzJWTdJqMqP8c_KGmGMCcUGRkY0JkVpNLxc3a62g_k6QMEqrPehWb_xbCqLWxlCON4BRfovUAyV26LKIqJZ-24K9N6kpuLNbY7FH2cc-tZqRqzgVU-cdFfkHOi_GpYZu0eO6UFc23AlH1Movif75cOAKvwcDXLqmd4Mm1IlQnhm-BmdnrfCkPhAJ8fyt6ooaPCyZBuzQedc8bokTdZ8BqRRfqzjKFEjF1XXDdox_N0MFTO-hvnZwWDfkS_gsrAyPPfJdIRL3oNnDMqww55_Jnq1-hULtH7Kg0Dhk_Y1XqtXkF2WKLO2Qz3VGjs3Kz09HdI2VO7v9QYE8bpcy_ELOAphwKdiG4cy9DlnmYYE8HVOoP5M3PkTJVdAV5sf7byulmfSIyO5vNTFbBynOmHX0InIvPMUktGgkgrYYwA1LnDptPHrQ9S6stlpgvvh2f1L8tGlZAZ7zBbacwfXXUHEoZPEUtJFt7IG3hUx84GW9wUNW-UJ6QW5zj9ULrTefVnxvnLqNQy7KrECP5ojVNyIll8CFqbTvIXdM7pq0H0qoX4L7d3kK2d4_flIu-n82tF6gRrqTWsE34AxHLBKOWQuJ6_LKt_TwiusyGBWVM1i6uz2RBfaA7h49crT01iaVb9LQVnDz6Y0fOXLdAnMMeBv8WdpzED2a2CFjqXzLsdEBgFlFzrW0itW71DmRWnq9lf74-m46rnonbRRI9XOhuXiR-BQc01EeHzKYRck8bkgyiFHvO0o1DVXSjV4zUVHtvIxiyYrX8jBaMNen37c0xNO4aun2qa9l6i13Odxso3vBGMp3VZwFLliyA8V4TGR8NCXy_3geZ1QzAFJyWfnGBKde1Vx_zozvWj4ipsWRK2hrtdRy_dE7R6gzcoGa2otuBJugqwEQQSr3htuYI_nKUhto4r-SsLPGW7WAYMWlhidHWfyPHp_xRzrUe_XWVL4BJ3aTJ80LGw6O5P0MPtkN3wmDhog7H0VSL5rSuM3gkZbE00nLNLAWW6jj0FJw9WrcBMTXFeLsJHTHDCbchdI88u7szDa43m253z_Zvy7fIxWLGIc6CPf47eNd3qUPagFAhqp8R_ThUE233UNw_rFhMyZGTrydmQ1HLBPf8xbXNhK2renzPJI9Mm16YOKCIT44-2GndOJq86FSucTDdfTWkwcJHvubmyCtdyMliikMaPQeQQ64l7djg47abv9nltXxvZ02Rjri7Zy0bMfUX1FAmGS16C3GhouA02itADQFWi2C73L7LlQzjRjofW3VToU9y1flqst-AciesGOEDYuYKcEeC4SwxuoDqcdJLT_9X1lr2xAEYomRwGO5X7z7DuT1lhgRj4qDk1g-MKf624jxRsYeSDgGVn5x53XRfkWxACq6SdpuGtRtdERHTPWebC5i4QfOdtQ7UBrvchBLVcaGVYk5KuYel_66C--aIdBMwJKegmENBFOwewP_HalQhGVoAQgVwrL2WKCvBn0kq6mQCHhy-vkacZBCURyfJvKEEkO4jea9V4VDQgvqUg5hgIykEAuIz_T3Rt_ltFIdpaievBCANnm-jCjOP1Ti5CAl4eYVuNEe6oMOmBJCdY2TVoKxGEkZ9Q3iuE3puhszJA__7zYIuECugCLUO0ey_UCK1aYNX2F1a5wB3XxxhY5La1u4qNjYW_Q11DdjrrwRZHL2PMRFP4juFScTxoL-AmjToi50H5fuWrHYyFdkL7vaFSD7tCKBHrPQ8xipWOQxYRBgwc7bVTHOHvRfX9gwr0TxSvoPbLXTCxzIT-4xtr38_pQ_092OMuVBUVgw9R2rlBJyhdXW1EutkjYiWkUNvS-1xzmPyb4IIVEqnsr8H2fsCS-euOm40D4uwO9U4QDRWzlMlUThBV_BVC--ZKLPNJXBkJYaOZiJ2ZCuIpk_KqLkxtf7HmRwCePyzlgGicGF1qGvt367c5xCj-2fKSd7mkO9XFBB_eP7n9TLcTv-mIH0JiO8KbESeJ7bmumPqFrBZWL-mlK7IQScZg45jIW3IIsMzYkW_vzqlVyN_OF5zgzO4o-p7-4nA_0EHmQ6I_XWco0nmNopeCE01mgIiGFp0f1QXahDpCdhXUZK14E04MaSImTFpWNtMFXDyhbJt8UF1QT_H4RhRyawS_uEkV8y1yOnb2aipRPZgIJwENYTK65hBCe_057PC9Y0laBhOe5BvM_zp0iFb7MHJaJXDkgdmkxF9w0b069Xc3xigr0nWDZRB_IxY4qfmQAhQ6u7lPniuwYx9r_UQgRIk6avunzxyRW8kzBnfHIajODDXNhf6amI3pX2kXN7NuSCGkN4E_BDwDZ4hqf7qMbQZHCSvRgneybDWKlJoV1iXcykbjDqU-ZM1a9MWdocd9FYOH4Q70TkQVqTZYlAEp2nDGmpjrNdmNkJ4KLFooIHw1vPViBBunmgyYqSy0ZU3btLjiUQ0Kpb1TfW5QieP8mHk106h8fHRMctJQjgERZfXkSeDKJenTL1x0l5J4FcpykfFAiXKtf8a1QBDhg-FT9zP0eBIJISsK1N2ok4Js3o2iVtzITOE0DK8dkCu7K2x41yPTwe3ltWjsgYzNzGzW7zmuxIk8eqRL4MJVBhAg214HZYNiv2DwIDhieB_7w==",
  "id": "rs_079248f874c6ada1016ab44e966a0087d091fcadb48fc08774",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.268,\"right_z\":0.015,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The right wrist view shows the pen nearly parallel to the jaw column and only about a centimeter to image-right of center, so the approach orientation is good. I’ll make a small lateral correction and descend to table-level around the barrel.\"}",
  "call_id": "call_pUB7V4D69ZZA8q0avV4s81a6",
  "id": "fc_079248f874c6ada1016ab44e9949ec87d09c1a20eb955b0794",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pUB7V4D69ZZA8q0avV4s81a6",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6464, 1.8862, 0.7773, 0.4011, 0.0738, 0.0357, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9997 right_x=0.3665 right_y=0.2647 right_z=0.0104 right_yaw=0.5482 right_pitch=-0.1385 right_roll=-0.0135 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3607, 7.2, 1.7558, -0.022, -0.0659, -0.0171, -0.6769, -8.3761, 4.8479, 1.8584, -0.0464, -0.105, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969ee7c4f2a0eaa3491a6853e0c5e37e4dd9772efccfc2de6a16e6a5f60ce820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc700b229c67052cd967527fca8ec27d241c0d43a9d9025dd1bf4d38f60e3e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d9486bb52b3c5c65a5a9ad3cb5aeac33c9979ad06519477e8b6c2612789c67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.232 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0216, -0.025, 0.9997, 0.6769, 1.6058, 0.9981, -0.0406, 0.1043, 0.0521, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3684 right_y=0.277 right_z=0.137 right_yaw=0.5447 right_pitch=-0.0772 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.7299, 6.9949, 1.7118, -0.0073, -0.0366, -0.0171, 0.5128, -7.8564, 9.5932, 2.0781, 0.105, 0.0269, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6464, 1.8862, 0.7773, 0.4011, 0.0738, 0.0357, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9997 right_x=0.3665 right_y=0.2647 right_z=0.0104 right_yaw=0.5482 right_pitch=-0.1385 right_roll=-0.0135 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3607, 7.2, 1.7558, -0.022, -0.0659, -0.0171, -0.6769, -8.3761, 4.8479, 1.8584, -0.0464, -0.105, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969ee7c4f2a0eaa3491a6853e0c5e37e4dd9772efccfc2de6a16e6a5f60ce820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc700b229c67052cd967527fca8ec27d241c0d43a9d9025dd1bf4d38f60e3e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d9486bb52b3c5c65a5a9ad3cb5aeac33c9979ad06519477e8b6c2612789c67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6f_5Xvav02mODktCO182hFv4ipmKoIar7u83a4tENZRK6oGWzAYgPWfFmvif7E6t9z_WmXAALstqeYVnnhEV_DZBXwLtuBT2AJrB0b8WHrwFZt3GfOiuHxGyPX0Li5fVzc1ScrCt3aNZIz-JUD2slXWAZfhBASj1oe78DRNj0hhsSx9_mgvfk-ft3VoZx7FVFcysDsWeoPeGnPOZUa62FHeQVgD-bLRxQZ5YndxyWE6l_ceNjN5RkhOZfIbNEHUw26ZT1-RnUJ4zBRmvW08n79AmCR_KY2yb2n254Pft41GHwuJxiPh5TO39vYVPP0EL87cSD-AS6TKCb9vjlIKW6OhAOUB5rBMWhsUJq9qaWUWIoempzybDYp1k2ApvTJvHNqfbO9nYNdbYjH10dmc5wN8npUAjfJmTTy--ujwsmjM4mJdkM0E2p0B9OGYxIOp6wEdHgbwHdi4jyLyO4QiHyYqJhw6qy15YS50w9luAs5vC1IizVho4dcXKHX2qyjVNAKrjoigEqkFsq35Wn-GLBphFyDvNZKO6FZJTMYRPYBPEIoYKH5wUY4icv3d8fnKtAXh5BPYd7ff2PWGJvtfkTADsmsluCckWePjL6u3j9N4OIF9VBPOgvWddX6J0vskm6g4CDJSMCmP4cbV0lDOgtdf_jTjSckXLPWbwIDW-yNiIngi5Zre70giP7CQhAUnS1lPCKR1MhZy0o2XQjFuvRU3R36BP07R9tieLBsAF-ZrN2SKzfss0zeqBJcEcxGnu5i2dUyXHdp4gb9nIT3-Hrfe7Zwq-Z8M30zHFNo9LFzCypkngbAU64uEI53QEBna3QcIShuX-0K8ZhNHI2G4ei5FtMqUoGesldtbEMvYZW36vCryi7WO-u9f0IyqMBgwMDqIpJL7waxwDFeYIzn5JwqQydvL9eluJlCF41zP3G_7QBLySDsYxV9I0_hXSwGo4pzzzmZp8O0_z9cJEyl2HK42ZSL65G1gNxXfxuALfuzL_d_D1hFBB-h3EL-v0J4sdSt1LAboHAPK_v3tcAYWmBGbBnvWbgHejx4flRqMHR_kLg29FLyk5347GuFHaNk7ik26RWEk5ezBIA-3vfv95SVNhSj1uvM3BfTFUmS49z8hb8FshYDqmp446qNPdqJihONpRa4Q8MmrPrUtb_tjmIeRq9ltRkS1R2VOLAhPe60psXFK-FJsk2nrvuBL4RMYUEPDatlEz4fMpUDUL__rGKQOkc_I_IIunIS9ibo3a9KwljW-0mzAtxk3FOFT8dYKiRLPax2pe9gM-Lt69shfxxG9xPq55OPUnjl83j6cwFzmYUvBjnatII2xqV2eumHWK1nX34LHMlBeffS10ldq4UKNMlokDi3BdB4JC3IP62R0K2K-eeJxxFWjQ_1dEfZ3rnQStMCzONzKz4XT7ziwM2-UWouCQ1BXcuunJO6I3QebN4l_sYUL38mktzfn_B4ViK-YXw3pDTVM5XAc48X2cNBc3baga2a-oLnhnC8XjhQvj-Rlc9qbjFWkggSVvB5NSf0Lk91dCLG9nvkMyExPJWl7ZXfAdSQKW_E1QBx1Re7GGWoKF3WCUw9ezeOpYH7rhrmATtfLis3am7PngxkxDHiQi04ljsZi2be3GJ-yr3XLXsT5tgbawc0iUutynsY0_1nsVvxmN0jyD0eatjvYKeMql3_dirBpAFDuzrldz2maION2Qa4bnPxXq6z9RMmzf1HjUjVaAxMb0ChidQRWnFSlpVym1fRksxAoM3jscoX2ZMd6peQuHfwO3aMZyFpYEqfmW5ozZR30b4inJ-EGFhj_AJZ4dT-BVVKBEzM6ojRfSjmic-GqJD-xYu4SYI13JmbSUzB2uhUzGSKtZgRqN5ziqNS5_0QtfiQeIFC8j2qT3L_V5ezLRhUZ9Jtj3yt-8mzTUoUJHIiKUBOAU87epZq6OwrnOhymOGlN5IGOpQttJQ=",
  "id": "rs_079248f874c6ada1016ab44e9d06fc87d0b7932e0a821994ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.382,\"right_y\":0.251,\"right_z\":0.005,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"At grasp height the pen barrel appears roughly two centimeters to the right of the jaw centerline, though it remains parallel to the jaws. I’ll shift the fingertips right across the pen while maintaining the low approach.\"}",
  "call_id": "call_k7aakNY8MPSdTIDkxBEdi8xj",
  "id": "fc_079248f874c6ada1016ab44e9e9d4887d08b4a96f84a1d23dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k7aakNY8MPSdTIDkxBEdi8xj",
  "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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6178, 1.9095, 0.7712, 0.4465, 0.0456, 0.0113, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9997 right_x=0.3734 right_y=0.2598 right_z=0.0066 right_yaw=0.5569 right_pitch=-0.124 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.2923, 7.2137, 1.6972, -0.0562, -0.022, -0.0171, -1.388, -7.6923, 7.1453, 1.5849, -0.0611, -0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a3c20c1de3c75114e361b00c547ffb8311f6ab60ad2aa1f0c33ae86d5f3b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e1598021812105b2fdec18ce966a330accd6282abfbf8c47b7a0bf6b70d77ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7d6c4ad24c0c04984abe281fb2ed5c85b4ad26ed4a0ba5faf0c61cd24cd041",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.43 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3809, -0.0219, -0.0242, 0.9997, -0.0181, 0.7914, 0.6083, -0.3843, -0.0238, -0.0265, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1791 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9997 right_x=0.2945 right_y=0.0025 right_z=0.1818 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.4838, 10.5368, 1.7949, -0.0415, 0.0806, -0.0464, -0.6085, -1.2103, 10.0171, 1.9219, -0.0317, 0.0855, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6464, 1.8862, 0.7773, 0.4011, 0.0738, 0.0357, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9997 right_x=0.3665 right_y=0.2647 right_z=0.0104 right_yaw=0.5482 right_pitch=-0.1385 right_roll=-0.0135 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3607, 7.2, 1.7558, -0.022, -0.0659, -0.0171, -0.6769, -8.3761, 4.8479, 1.8584, -0.0464, -0.105, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6178, 1.9095, 0.7712, 0.4465, 0.0456, 0.0113, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9997 right_x=0.3734 right_y=0.2598 right_z=0.0066 right_yaw=0.5569 right_pitch=-0.124 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.2923, 7.2137, 1.6972, -0.0562, -0.022, -0.0171, -1.388, -7.6923, 7.1453, 1.5849, -0.0611, -0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a3c20c1de3c75114e361b00c547ffb8311f6ab60ad2aa1f0c33ae86d5f3b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e1598021812105b2fdec18ce966a330accd6282abfbf8c47b7a0bf6b70d77ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7d6c4ad24c0c04984abe281fb2ed5c85b4ad26ed4a0ba5faf0c61cd24cd041",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6hMmkaLUXDz0pC-1foyMv2YsFo8guSU3caBczehZWOhpw893Fmrd4kLGbXom5x9wD0h-B-as9CpaCwUS1vfoK3JduC0u2GEBdmaShfpvzRgKl2QQuRl_oODA59eHn3qtwWjuR3IMnx7sjxsxgeZex3z6H0QXglwx23G4bs_DPEvdy9JlGmwRalq34ZPvmBBU3Cn5HSzCrYRsgmfw2-bPatiLW4ZimtxHMWLSN0YzZ9GtPQfmf9R1Uk2C7tnfyGquwYfV7nEaWnmfvH7KzmOAbOCBJttTyVgV9uu-7s767fFinLiLvVd8yYbhBMxnNKMHncx4kRN5TWvS901KbOpguAKmXovmlxgK5DxCkl2kKg4gwsfMq_ZVbYTt4fN0fxx8_MsMLjoa61REnbn2FWcA5ihGzvoYQCMsdD0inzzLc1ptFXhQ6KTA9w1RFG8ncs2bmTKtKCr7jyqwcvenZPDV1Gx0mopKm5j1QXypHKXM3HsRZR1cTOJZW42LGP83ic-VyImPHW2YeaST_4H9UhczDJioua4-Y_ybPrIFI4aNKdDaoQRC4vwpYPZ7-zvXaZe0ffB2HkxQHFQhs9GbhnH8UAbXdxA5KtqP6BhjZhKnpkhUlq2Zc4MMGXweCNjCv_LHegeX7keWTTwK318l-349RqwCH5qthJEyzcRTDFweolTR6dmH2tKKsZRfybJxSZmkMYH0ebCKzp6_EwhMwNkeBBh6ZULVquANfIjsTUeVLrLO_NwFRs50ohtKDnicWsS0TNL-TiNbkaY3TcJVNlJhFhhQxEWkyAmObH-DHT830uato4g1Hr-W-eE4xpmcMdyRp4Hu2qXZlLeFS-13S6XTG5MEIOthlOOB51when7DqYoxqDl3UzKzVfAZaA1vw7Sn04nm_2ytYf-gH-bxG6MH_rAhr8SiqTeqwbMgtwmD1NZEXAUqdpEt-1vUpf6oFT5kckhXIRsHfP9ioM_OOaZPjnBlm3x1PJiErFry2K2xe2qdqys2wWws7rH8DVEphFQEEk1eMtw6ccD4XsvJUPo7ZCsnlbKj9qg9d457nBFq_PZgkE-OeAfNDO3kZz4ChxUQRWhyB6ypPjHRJMt6LpQfUNdalrZqo8wec1mHpJ0xtmQLDt0LSlp9pVAe8F5YRzIM_wluy-YMX9b6ytsbGEwCLqv_lHoBs5CbReHbPcG8g9DSJQsBH1rge2Zm-dSkc8eEqw",
  "id": "rs_079248f874c6ada1016ab44ea0d87087d0acb43f9f0a01f067",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The barrel is now nearly centered between the low right jaws and aligned lengthwise with the tool. I’ll close fully across the pen and use the settled opening to confirm a grasp.\"}",
  "call_id": "call_5z2ozqNhCr4YhMK0Il1vFgc2",
  "id": "fc_079248f874c6ada1016ab44ea1047887d0b570c11cbf59d2ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5z2ozqNhCr4YhMK0Il1vFgc2",
  "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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5781, 1.9095, 0.7723, 0.4259, 0.0223, -0.0113, 0.0442]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3788 right_y=0.2467 right_z=0.003 right_yaw=0.5491 right_pitch=-0.1441 right_roll=-0.0159 right_gripper=0.0442\nstate[joint_eff]: [-0.294, -1.2513, 7.0222, 1.7363, -0.0611, -0.0659, -0.0122, 0.2803, -7.9111, 7.0359, 1.5897, 0.0171, 0.0611, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2f2578713b1adf40e62d4dea4dc1d514f248ea63dfc3253bd98b4735b60d92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd79262c80315a4ce728e118bbf58dfb64d62cc2ee17dbbbccb127c42f6bc50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14004d5450a5a013fdc061b3e8ac734c12bc28e9baf31c87ea3e8183ced0911a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 6.048 s

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

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0216, -0.025, 0.9997, 0.6769, 1.6058, 0.9981, -0.0406, 0.1043, 0.0521, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3684 right_y=0.277 right_z=0.137 right_yaw=0.5447 right_pitch=-0.0772 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.7299, 6.9949, 1.7118, -0.0073, -0.0366, -0.0171, 0.5128, -7.8564, 9.5932, 2.0781, 0.105, 0.0269, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6178, 1.9095, 0.7712, 0.4465, 0.0456, 0.0113, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9997 right_x=0.3734 right_y=0.2598 right_z=0.0066 right_yaw=0.5569 right_pitch=-0.124 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.2923, 7.2137, 1.6972, -0.0562, -0.022, -0.0171, -1.388, -7.6923, 7.1453, 1.5849, -0.0611, -0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5781, 1.9095, 0.7723, 0.4259, 0.0223, -0.0113, 0.0442]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3788 right_y=0.2467 right_z=0.003 right_yaw=0.5491 right_pitch=-0.1441 right_roll=-0.0159 right_gripper=0.0442\nstate[joint_eff]: [-0.294, -1.2513, 7.0222, 1.7363, -0.0611, -0.0659, -0.0122, 0.2803, -7.9111, 7.0359, 1.5897, 0.0171, 0.0611, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2f2578713b1adf40e62d4dea4dc1d514f248ea63dfc3253bd98b4735b60d92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd79262c80315a4ce728e118bbf58dfb64d62cc2ee17dbbbccb127c42f6bc50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14004d5450a5a013fdc061b3e8ac734c12bc28e9baf31c87ea3e8183ced0911a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6lafUvnLPdh0_ECMC7CEuMzFqXXWbvML_1tMOtFqXDS3fzhh-B_AUpggX_njZVuCOjIUhpejqxHGJ3mzK4aZ9THUWDRgHa6XgPeYWG4bxviRUYZcUYh0LA-Vax2NQ7Ow4arMl3Yn-S3o0hoGMjpLBQBo3FTtP4jfNUx0OhzpXGfMHWeSE9aAkpEijSABUs26BzlXcrcvrQ7ID3FnRz4VRcG4RMnpqjIeGBUNSmLwkDeZoj3mc0IPn18uPK6lCZC-PmLzQeRp7yaAp3dx0pYkDFjCvabaJ0pbWVsEMg1LWQY4dUSpq_BiJXxR-PwCk2tQVFDHtqb_ZDHqP2MQ_mKAgvmAOgeASHIemZFlwR6EBkUUyL2Jwku-n5IuxkCn8nomxEzFDX7WIbXNaggW8-xQfrCN0D4osSss2OksuTVc0P3JDUFj4xFTW7B2yq6RnRq0D1c7hdvA99i4cNimnKHLERn-UsPoldxoXLJdltwmRGJcz_A7k1YhQ4l53GKNEutpkP_5i9Wmb45HYIqlwpcCxi99-Lwv55THLFsMKz500TrnPCn3TimvOF1r-jUggcDXx5ZolmEzatMcwWh9QEPhN7SaRs9xc0Wj_rxPA_n6FsRgtebVoluISZFmZKxEXDzLbtpiNxMORGLbUSOvQmcYjkni5uWQ6me7YF5UMA8G3W93zS9eR-FrwA3D1IPpR-PwpBxf1ApwIJ6u9jeVEBwuZFDh3E26L5c53sOScc1uHOjfcvopBnKqVOumNdpmMJ3dPNHCmINKD6mNezGsKceixVzvOTwuaXck8TDb8tlScg2TW125yGKqN2DPX83i_5hxzPt1TdZ76IBOP6pYZiKt5G4b12-yIY9iBhc1Vn9366oF-yPOTgaHjl5J_FKvxGFkRtjdjMO9SmMAQdVKq5p8JV0UcOliL-e6u7PulxAkRNaWX6a64NZoGa35z80CYLvJHzqWiw9T_c6Kwx1V8v17ysDRk_r2Pdc2GQW1Hq4yG1ul7rMKdDNvfEBTFu5hmDnP-iT7_oCSBMm_oDKDXCAPcbIf1wSd31_z_HyoTL72B72segMLmyvQgyS5WIWUbTyGFYdUfQJw7bC6sghZMVXqqfX-eoUMlKrE_QiBoQb6TZBLCjARd49ZkfwYR2sypAUnW33xmZw0mScnIJUAttWhME3T0w_moZcomnkERtDRM5aoc1xQiNDnss8_-BXPZiRCI4zIvJ4gCcXdox04fP94Jlvf2geFgSGx4xJo-_5neLQ9a516zCKxUSkIHgjqam40m2LWt0ZQJmLDZt0GgFP1nUgqwKpWKYHdhQ7GXSeCjeGHU=",
  "id": "rs_079248f874c6ada1016ab44ea3f52487d085e62be1c6e38f0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_gripper\":0.0},\"note\":\"The right gripper settled at 0.044, just above the empty threshold and consistent with the pen’s few-millimeter diameter. I’ll lift it about eight centimeters to verify that the pen travels with the gripper.\"}",
  "call_id": "call_MbKQtDl8Xvfekw0RnkFth2Hf",
  "id": "fc_079248f874c6ada1016ab44ea44ae887d0b9b65f7917441be7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MbKQtDl8Xvfekw0RnkFth2Hf",
  "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]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9996, 0.5781, 1.7073, 0.8783, 0.107, 0.0208, -0.0128, 0.0469]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9996 right_x=0.3777 right_y=0.2463 right_z=0.0706 right_yaw=0.5512 right_pitch=-0.1548 right_roll=-0.0163 right_gripper=0.0469\nstate[joint_eff]: [-0.3214, -0.9641, 7.0769, 1.7656, -0.0611, -0.0708, -0.0122, -0.3214, -10.0718, 8.3077, 1.5849, -0.0073, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24651b8f64a71120eb89a76cc34fad529f3de81c29301ef79ad78a8b79b3b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf7957ff5f53512a71c551bcb3f4b1b88969ebdd3852a1ad5d7c34e55ce3dec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba62bdb616d24c94b7d4589a03af33a26da238e36c84b094e0fdbd55568a73b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.46 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6464, 1.8862, 0.7773, 0.4011, 0.0738, 0.0357, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9997 right_x=0.3665 right_y=0.2647 right_z=0.0104 right_yaw=0.5482 right_pitch=-0.1385 right_roll=-0.0135 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3607, 7.2, 1.7558, -0.022, -0.0659, -0.0171, -0.6769, -8.3761, 4.8479, 1.8584, -0.0464, -0.105, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5781, 1.9095, 0.7723, 0.4259, 0.0223, -0.0113, 0.0442]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3788 right_y=0.2467 right_z=0.003 right_yaw=0.5491 right_pitch=-0.1441 right_roll=-0.0159 right_gripper=0.0442\nstate[joint_eff]: [-0.294, -1.2513, 7.0222, 1.7363, -0.0611, -0.0659, -0.0122, 0.2803, -7.9111, 7.0359, 1.5897, 0.0171, 0.0611, 1.1306]\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 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9996, 0.5781, 1.7073, 0.8783, 0.107, 0.0208, -0.0128, 0.0469]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9996 right_x=0.3777 right_y=0.2463 right_z=0.0706 right_yaw=0.5512 right_pitch=-0.1548 right_roll=-0.0163 right_gripper=0.0469\nstate[joint_eff]: [-0.3214, -0.9641, 7.0769, 1.7656, -0.0611, -0.0708, -0.0122, -0.3214, -10.0718, 8.3077, 1.5849, -0.0073, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24651b8f64a71120eb89a76cc34fad529f3de81c29301ef79ad78a8b79b3b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf7957ff5f53512a71c551bcb3f4b1b88969ebdd3852a1ad5d7c34e55ce3dec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba62bdb616d24c94b7d4589a03af33a26da238e36c84b094e0fdbd55568a73b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6rp7Z113FiQFH4LSuzwTlhoLMOKBvZbIzkw-a-0HYL0Qq6QuE_6vCXeE75VJBNjehyRI2quJBQi0YJG1iv2KB-hbtdDjYh96yqKoDtS8xLXenUdynXor7Ana6rUYOLFAIqopXZcClB0N1bEXjThPnEhDar7qI-2IqD-He3gyn9e0fMyBvzIwh3GJCbED38oJ-zzqD7nAkok7e0Ef13yTDR2vCiie-R90LffQBLgB06hl2tlfII6dV-7qhf3Qj03_9oFvYXUlmQwK3BSRtxUbWGrqY2N_NnIUWX6UjtdUrUd7qQ1cj5fV_2KSDMZK63FdrqoCVV72nxv-sq9M3_uxvWyuKgzqZrtzXwy4kRO0FjmB1TOie-jWjeRzeCWx9nLhucTVoytTv52QsF6JVNfpwwEYrNdIL3yScO5fcf0rkLsu-uUtff1PehfzNM9tC0V5bIpp55L1VPBPuu317GT1HqUfg_L3ZteUU8Vi6JpT6BbJS3i7p9jU1EEXBclpzKAV0z0-BAY5PqIh8HcgbySJoZNDa1y2_MuMKIap2P3c_RbhSis1HtApse6uO0lk2u_W3jz_p_VDOH4uGKzZsmd_qgfoCtBQoN9sPfUBJFSdG-ryADcsQ6GDibIZqukBDLWSBC5TMKLxBqm8cZHDCUOqXhhgGSabyhOOksUUcgNaGjwjotXBM8d6XgLsGkfX13aphS7yDJPE9dYZ93ud8iXW4dNmKsAWqzIormbGJaEhVFIpk1TnBT8pDCHNgtpg-KtnltlgIpgsesJs4iIgBt3OLko5nEZ_Mwt8Tgik0lss-oss9U0daogGULgD04lCZJ4DGsO4GHNBlJI0ehp43gGPUfc7DVI0QoNZCEad2w-YvFk3cD4cSTg_PTSakcySh-cnYnJFQQ7ClL-39TPSiTWpVCHOG28fchSIMOmy4f2p3II0nBwVnHegLNYBJvSxWlt7dJ5KxtgFKvQ6C1FtxQE_0A5lizIUPv2DT_tYLB0u2dD_b6wZSakO99ogf9pMkgehKY7tVMdWZr5A_qZTAT72ToYerqrbEB217AKzgHa4ZOeDCAZfpAvkN2HOh1iJ3rWR9XUL9eCyVjIrbEQD1iE7qa54Adx_ocS_6Uhcc-_GhImVL2UyZlAj1iQCuoYsBrmqIOgXCYY5tah0_YdDahN75VwsZcesXdPOcFUYAR33Nn_B8j4FPIDkH5SFpFg1nB5-0NN9AgSIQR_KwBmhLtuPV2Yo9Zbkv0XNR5jwx5kKtOev0EWXx23WLFhWB4hmaNNw2ud7t3S7z2IWPI5vlG1DqWlvxMtyhPrpd1x2nBbn6IJQQaECaPZ5XHYFG2c2pOFkh3izre0-CpxZX7nQFFysqEfONcKHJgX3HJc8mkXo3eW8WWhb_fF-2e27w4RQCgTJXBJeN6pOQTH_utdh4t-3yCkFe2KVQ_9-DpCX3zwnqsKNThqLOnEaIvJcqZP9lGMSjcePvcnTG2qiRbqM-oJLPz1Dcatlm2LQiIc9RCQZFrz0dj5_Uynkjph3TjYzCHhvcpyvBMVkBAvuvogFqZuOdwZ65kjwm-k5A0bgYDCSwrYB85KDtAfXfls-RvXNkEXzypltqB_tHsSQNPHcrVIPUuEO4wTMSfCv2M_tDPQuoG56EqZJAjcgdg-KPACLwNWDaHPA8APjr9w2StmfObheIi1N0SH-VcNpgK3NYBaAga5PRSAykWJgg7OAtRbUxPpQo9IqS-EOehCATRJ7FMySO-DbiZk55nEWE_XtjjHDSisqQXt9TqVhCYfTobLt-6jbR_luLVYyZXcwta3uHf0arMnOgneK6jQIh-642xL8Uc37l_Pl1yhmZsULdllHO8FVwZNu4uVopwotc3_eX0hX4Wyiv4yktHqezexDAKBAGVs6LmEdgnv0OhLEtVED0Mw6MLx7NZkxooug3eM8ZKGWKolzOIDczF8lGM-4M84-_xVVQ8uSaSe5Ziw0cvJ-2Sn5cl-kMhSjV4J6sn-M3uL9Ssywd1Z6iN-04ZhBS2EvWsbyceJX5gQf5lOCipzYrA6VEqg1crSXqeuO4-aFDA7BvjJe_aqkEPNDHOx6mCRjBjOdkprXS-EN-dKEmuZxvfc66Sv8BFRlJGil-p0cy2zyluEBb2v8b4JhS6B2bWaPlpbWf3VZQJom95dtop-ZEQyUPDHkwo4VDzrwnBdGX5O51Ou7a2J3ej5je2hDZoXdV0FLKIsuzsLxHmIPkcWCwOuyqDm82Y-5rpzL7F5rEIx1I7f166CjpRty_9IF2tCkW_eD96_oQTg8p2fCjmBtWHrJNCDgkDOtJp3nFaW0xfl7aLRRI4gvTGYjXXoLNS4Wg7YhCpfuXogroBi85HgKYKnsjk3Ba20T1UTwB1z_ntMi4jafiSc7EXd51HCqdjBjKYBVCS2oqzo29DDXX3bNbdROPCvCEnvBGZZOTmR63w6L7wYOAgMHw5cNc8Wk8r1Vd3QAPt363Jr8F7KSUbKqHdGwwHLZhH8aVYuFVYPoeHdBHydJYhuuj1u6T6lq-FwkVVwGYNrAdqkkLVTpVgc7-jfVSdMVMf-OTOCkJTZOmfr69ECSXTG5GlAmzRuhlxHUd_dSec93bWB0MQaYwjnuNrU8l5Q_tqQXslw5nvbVLXOOtxe3A3rK9AN_kwdixlBN6rZ3AWcUONcpnUxV5uGofnRtYPkQqfJImyS1L9Ka5zB72c12QYE9k4t_20hTZPwUAWw07fq5N_O10mZ5zaP0uQJG9Ql7qcLFwXoue2C0XuIbrJf81hbGiPBsK7AGeVYzrvAZSc98q0TWwGqd5rFvtS8Aj2Mgk460Iw-2bmY9l2f0QTjdXVOiskUujDEwCySZZwJnEstq43ojugwIe1AqdVAg1t",
  "id": "rs_079248f874c6ada1016ab44ea724f887d0a85e55e42ab298c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.18,\"right_yaw\":0.55,\"right_gripper\":0.0},\"note\":\"The pen is no longer on the tabletop and the right opening remains around 0.047 after lifting, confirming it is held. I’ll park that arm high and to the right, keeping the pen clear while the left arm picks up the cap.\"}",
  "call_id": "call_lLUxfFG7klNy55qSHMpOwRME",
  "id": "fc_079248f874c6ada1016ab44eaaec7c87d0b3a4b2523fc60cd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lLUxfFG7klNy55qSHMpOwRME",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.2157, 1.2942, 0.9035, -0.3901, -0.2218, -0.2409, 0.0468]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9997 right_x=0.3519 right_y=0.1206 right_z=0.1577 right_yaw=0.5213 right_pitch=-0.1897 right_roll=-0.0128 right_gripper=0.0468\nstate[joint_eff]: [-0.253, -1.388, 7.0632, 1.7265, -0.0464, -0.0708, -0.0073, -0.2667, -6.3658, 9.6889, 1.6923, -0.2759, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3688720c9b8c899af8f03dee425237e72bb1919b78f45e619378ae24f5bbbad5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64817ebc3f3c9649896d24050d1db508b20fabd4f0b509838ff08edd54b95884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc931cdfa77841f4579a700d70b0db3586b753e24ea8c4fac9854ab2d76d7bdb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.677 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.6178, 1.9095, 0.7712, 0.4465, 0.0456, 0.0113, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9997 right_x=0.3734 right_y=0.2598 right_z=0.0066 right_yaw=0.5569 right_pitch=-0.124 right_roll=-0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.2923, 7.2137, 1.6972, -0.0562, -0.022, -0.0171, -1.388, -7.6923, 7.1453, 1.5849, -0.0611, -0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9996, 0.5781, 1.7073, 0.8783, 0.107, 0.0208, -0.0128, 0.0469]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9996 right_x=0.3777 right_y=0.2463 right_z=0.0706 right_yaw=0.5512 right_pitch=-0.1548 right_roll=-0.0163 right_gripper=0.0469\nstate[joint_eff]: [-0.3214, -0.9641, 7.0769, 1.7656, -0.0611, -0.0708, -0.0122, -0.3214, -10.0718, 8.3077, 1.5849, -0.0073, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.2157, 1.2942, 0.9035, -0.3901, -0.2218, -0.2409, 0.0468]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9997 right_x=0.3519 right_y=0.1206 right_z=0.1577 right_yaw=0.5213 right_pitch=-0.1897 right_roll=-0.0128 right_gripper=0.0468\nstate[joint_eff]: [-0.253, -1.388, 7.0632, 1.7265, -0.0464, -0.0708, -0.0073, -0.2667, -6.3658, 9.6889, 1.6923, -0.2759, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3688720c9b8c899af8f03dee425237e72bb1919b78f45e619378ae24f5bbbad5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64817ebc3f3c9649896d24050d1db508b20fabd4f0b509838ff08edd54b95884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc931cdfa77841f4579a700d70b0db3586b753e24ea8c4fac9854ab2d76d7bdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6xvD_lMPNLxBXkKYyvArxTGE60FLFrO5luBIKhP7zxI4P6ddGdLivyd1gBy5XR6x1Z4A0yCDdt-1T3HBc6P-cuRL7ToCII08OmXDPIyko1XUhHBau4iB0Lc-1qUULn-KTCQ1AFYIi88G1RO3kJ1uU5zVOtrb6S3wWqdFGsC5ENHsvK1hHXBou4VcXNBIlJRg7T__ZNapkHM7UOEvFnPPYs63DJq0VY-7Q5OquUd-6KRzjUrVieByINEcTVxKOIydAg18-ks6qmExuCnXQeFfpTa2-iFm5VC077EcLKBSMgJbiOR8H-lTBlA-ldHbWWQio5CswxtKs3y528COSeEPABd2zqDNzgIcrosYSDhbhl0o_vQLIqIAGuA-06pPdzxepQ5fIX6x2XLXKCdUG5p1C2lsorK6nYymirF6BX8cPh0UMLG7jwlsgw5iXD8ITFJrkE8rhtMOqZPmllb1X00TZ5z1fXUfK7vL0WbjmT2JhVsoBpu86DBK5DC_GeEVFzK-2SeyyAtUydES9ZCHjV4vdl2_JSEj1HEQ27j-RSKXgVShIOrmisVOyjq3wSIOZan3HeqFLOBmKfyZUOZLip5N2an52iaMBmnbQak3wWjvn-3SzMoBUsNtHnRMTDMMBN6Ie-2XLXGFxp_Y0AGVLQ3H37dRk5BjCm9cz2_5PpvWQRW_BMwbd3Lil1468txtryDRl-KdJ4sWyDGtI7vvnHQ-gesT-NKwaVPoBybWLrYjA8vyu59GJyHQ68a7BlsMF99zTsbQPzihnZVD7sEFm32So3H-UL9et-BLizKUaR2BuBN1bzsMtYkzbkfB3Ya65opIC4nEKja254I7Jd8Jkdm4HTO3SDT_JPwM7CSjUqgGBrQbI9OQlDTPD6puCNMj0-N0MDpDqbGOAc6tNlfi5y9ft4HEelK-iUTOK_70_tGVHVqUQMM86i336o-3-mIVDGjlswY3gDchR-XHaApt562fyh-nGq5C9mHdSZKdwExnqfakS4RJ-1FfaEmHx8mkWPXosdxNGavcbzDxI2y13CNq_y2FLXmb8mYAaa8q3E7-nLC75i7R2LwfowlR_WTlM0psZLUWTQToaqNqJrpEUTXo0AoVc5PDKE1P8h1QALh8aBlKD_yyiiJlT4MvkKJ7QINv-ya2nhgpW7KLWRdg4YwEaq_G5aQxAkLlEUbHrz25NSr8oMv85Ey7bU5A_eiBHKA3x3WgOUZdY-XSg9UZ7Apj88yu7eXGrORtYm5pp4QE15Rx2H-ipLDH_x0_2_FKKSTNNw4zJNtAU6e7anfu2Q9Ae_FzdG10kfWGMHtH9R0gOwhxAdpM9ieZY6i8lD9EAHNVY9FJX3pCEa3EkvVKM0qIu03mgGA20g6QpG08BOtW42IQnpGeHHt0xNPMyizeiwT2QmsSKQXgFF-gyxlQyw7_YkhDK7B4LQZKylbESUVXBlwqJBMvopKX8n5iTmpChbGVNb_JXMblpaV-mAPn_yfbgHFanURc7cbXkgFyP3jYbK-baofcKBscnc5ITa1q42cVkQAKSimb9TKSXXeQdNRVRVxGV9TBp_P-D7_rCZyOwEY2h_nDL9XsWbili3Hy_U5oDqX5LkQwPkOc-agUFmD3Ojz7uhderqr-5UdssY9s0nuhlZ9pwHY4jsIp_f2iSjvDWCLINqxKuEd00XLJ_Pb5Q0oA5TijqhRmFvdxl7eyzwwA0iNidfTkRq-iv5l0Pvbwt0RJoZv9t8W9bF9gNs6Ljbdw7xqLX_Ow5joHj5GVvgPIDaB2mvHeoetG6wMKjG_nVjH9TuaKTvHRo76rPnaFr6cg==",
  "id": "rs_079248f874c6ada1016ab44eaf099087d0801fbc5e26aa5cee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.24,\"left_z\":0.16,\"left_yaw\":-0.55,\"left_gripper\":1.0},\"note\":\"Only the detached cap remains on the table, left of center and angled from lower-left to upper-right. I’ll bring the left gripper above it with the tool axis along the cap’s length, leaving the pen parked well away in the right gripper.\"}",
  "call_id": "call_X2DRj9DBKfgY9oW3XbC5Zf49",
  "id": "fc_079248f874c6ada1016ab44eb0702c87d09d9b5009dd6703ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X2DRj9DBKfgY9oW3XbC5Zf49",
  "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]: [-0.5594, 1.5314, 0.9295, -0.0689, -0.0437, -0.0574, 0.9997, 0.2119, 1.2964, 0.9031, -0.4114, -0.2291, -0.2584, 0.0468]\nstate[eef_state]: left_x=0.3779 left_y=-0.2233 left_z=0.1334 left_yaw=-0.5028 left_pitch=-0.0986 left_roll=-0.01 left_gripper=0.9997 right_x=0.3483 right_y=0.1196 right_z=0.1533 right_yaw=0.5347 right_pitch=-0.211 right_roll=-0.0131 right_gripper=0.0468\nstate[joint_eff]: [-0.4855, -7.3094, 10.0718, 1.956, 0.0855, 0.2857, -0.0464, -0.0479, -5.1624, 6.8718, 1.6679, -0.0415, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3080c59e0f06e117c96c9792df97059517d2b3cf527b326ddf184d1f3ffa743",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8dde5731517cf73d5d00a7095d29b889e6429b9cd73735ab365cb0eb0fef28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c701f4016466449ced1428c0864cf1d6ee7a1696604ff434da3333831f94d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 4.998 s

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

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.5781, 1.9095, 0.7723, 0.4259, 0.0223, -0.0113, 0.0442]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9997 right_x=0.3788 right_y=0.2467 right_z=0.003 right_yaw=0.5491 right_pitch=-0.1441 right_roll=-0.0159 right_gripper=0.0442\nstate[joint_eff]: [-0.294, -1.2513, 7.0222, 1.7363, -0.0611, -0.0659, -0.0122, 0.2803, -7.9111, 7.0359, 1.5897, 0.0171, 0.0611, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.2157, 1.2942, 0.9035, -0.3901, -0.2218, -0.2409, 0.0468]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9997 right_x=0.3519 right_y=0.1206 right_z=0.1577 right_yaw=0.5213 right_pitch=-0.1897 right_roll=-0.0128 right_gripper=0.0468\nstate[joint_eff]: [-0.253, -1.388, 7.0632, 1.7265, -0.0464, -0.0708, -0.0073, -0.2667, -6.3658, 9.6889, 1.6923, -0.2759, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5594, 1.5314, 0.9295, -0.0689, -0.0437, -0.0574, 0.9997, 0.2119, 1.2964, 0.9031, -0.4114, -0.2291, -0.2584, 0.0468]\nstate[eef_state]: left_x=0.3779 left_y=-0.2233 left_z=0.1334 left_yaw=-0.5028 left_pitch=-0.0986 left_roll=-0.01 left_gripper=0.9997 right_x=0.3483 right_y=0.1196 right_z=0.1533 right_yaw=0.5347 right_pitch=-0.211 right_roll=-0.0131 right_gripper=0.0468\nstate[joint_eff]: [-0.4855, -7.3094, 10.0718, 1.956, 0.0855, 0.2857, -0.0464, -0.0479, -5.1624, 6.8718, 1.6679, -0.0415, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3080c59e0f06e117c96c9792df97059517d2b3cf527b326ddf184d1f3ffa743",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8dde5731517cf73d5d00a7095d29b889e6429b9cd73735ab365cb0eb0fef28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c701f4016466449ced1428c0864cf1d6ee7a1696604ff434da3333831f94d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE63ttk4pBZZM6HtXqe5nHEMrmE2Ja48heZzHdfZnNIKqTHD5i4MziVhLDd2UCSXtvhwdPfJdLqqvFMIgatrNsW9mZzx5aoqrIVNb0BmN2x1H0dfPjhymti_rhJmOhT-3BwcPkkPnpnJxqkxEj78FO5kZZcs5R-snaVQCh7N1hRwkapFpC1jbf-UpghIPgl1C33881RcSYFl3fxLa7t3RtzkSxYIztft8eHILgiQmdfws5mJYAqVROsqNcRfWsKcCVus7-hb97oILQyyHbkx_xSDOVCAkjlfViaEsPb-Mfd6nf4RT3RH9eZL6H_Jp3BM6jWcYp_fF30K_3GaCXpRCxq4E77_zSEzf9Gq0E6YjzAPDf6hH8bb7mx16uYIEiN8vrMK8cWuOBfqWtCkqzLkmRQlqHygjUH3SlPsAoPvBymqa8y6ihRHSWFnVbybqtBREhhaLSyGKmMRsRE6XjjTXdahuSb0xYei83_EHQEC0suxs4Wzza2mDwUx4C_ZKK0bjX_c2KSXtJiIUsvmWaGCWJwnQ3JsBST0giNR95kSc614wh4mOcJuENFfx1wb9Oin-GT6ct-1-Otf6t5WvTbic0ZNPpVJSDEV3nJ8UNnlcu-_6A94K-D8hPTMlVSUoUpNiDDwaX2oZXk8i1MKMtzKooLGfjwcmG8fx2OSM0-m-s7k3XwITHPlF-BBhUM2DH-FJMXYyeqPhfjY_0EadR4EQ9NS8ubIoe-zp5Sz3z-l-gq5xFVFvsGaecGXrsXDCSLp17H_4ErcmRJEU86gW7Ku78Hvgu9CYmACI8Ppp6CKw3-GZLi70M1XXP_5aGcJW-IaHG3NCV0raOQcJL4ZKUac32WyUcU26ECz5q42Cn3lLCMJRZ4H-ruf9PGBvJXEd1dX2cgI161J6cFITC7wdbuzwlYgo6FOQKHhLmAs73rbjLfkRW1Vrw6BCEWPkBmuFEANc9DBcaDl6QZcSU7RuhhNb6foUbly7n7-ruvEkUEdk2fKvOGQIBow0jLud1wedlfo7seyF1z6eQvm-WWCKV4XwsrfhvZYc0GpCs5vUf2lACQiGeH0oSWqGLWUT6yFSL07fjvzd-rk8o6euxbqoYGIVuTxBaUmnM_0z8X8VsysmVa3U5UfPVo9IbRHN4laKdROVThM_4lzL9I8om5PlzwE_ZWPJGj1gau9LAmCTdXqZa6z85k1ZKRfqCTA-MtlgHysq-mKJnLYj7sOq4a3YaQD0TJ19tmVOYwQpqEnT3i5sav1cEQyfSBBngzhxgIZFGwt2cMCWqZca96t18301XVdedDimLI2p5g-iOm8MdJCszYwFfSNDWRZHx857U88n6uze7Tz8ZUj0PTrsrH6mGWGibDRg80zcTpKYIgEbPei_W5ELrQ0C_ET_FqLTKz300oGFJMkLF2FIHlFFaoRPH_xa8XqZCxdzfW5snD0TeRTGnuCYafDl8n5ublMrRFcuxZrHAqijJEx7qS6B8wZrxT7sCHXiFdaHzsxGHnem7ivrYDUrcjaEJt5FyNayEOCZJ-k9_4FV80fqMsUYapDHQYJ5zoC2T8vcodmnJrpFY8LjpNRf4mwyhJ42f0GE-3yjYB4o4vI55bQ9HAELal9SbxaenFksOluoP0MGLsA1OGvN8pYRZ6_59vatWod_OdGaEHv-ojqZiNnqmmLKTxZHF521fj4QKO9LT0M_IQQVAeXLzWVSyGZOLiE5-hcGvAMur__QOEJmASOvtk4TnlfEdFa3QcgA82SVAZfs0HPceNe5EbrmdDvzqsJJL1OQj5PLKhkVvGLH-sA-7TuIqEW0x8x9AhG6Qbu30DQp70PJhrcaYVYxK1dzy7lIbssr8HN0JyrCByQ8e60JI-rkQysgB28ZK-hMOGMoZi7RTtoIzFWd16OOwWaSdXws3P-gXVfZtE-YuDXXBWlEjl1pGXaxKS_Y1zuIpG3oCfiNTi9VZc6QmvWNKodzA3CxgTSq9CMBz0cK0IVYcjYr9GrN8qqYb3dnLT_5PybuXyhzcIPQijJho83XEZ6Ve7_8G1y3LdmAqfJyQkW",
  "id": "rs_079248f874c6ada1016ab44eb48b3487d09b4a42f9ec847710",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.205,\"left_z\":0.012,\"left_yaw\":-0.55,\"left_gripper\":1.0},\"note\":\"In the left wrist view the cap is at the very bottom and about three centimeters image-left of the jaw centerline, indicating the depth is close but the lateral alignment needs correction. I’ll shift left in the tool frame and descend to grasp height.\"}",
  "call_id": "call_eUpU8oAyAMIzp1kHbkTMl6jP",
  "id": "fc_079248f874c6ada1016ab44eb635c887d08fc803b892cb5836",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eUpU8oAyAMIzp1kHbkTMl6jP",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4641, 1.85, 0.7265, 0.3756, 0.0437, 0.0093, 0.9998, 0.2111, 1.298, 0.9009, -0.4137, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.386 left_y=-0.1978 left_z=0.0033 left_yaw=-0.5181 left_pitch=-0.1755 left_roll=-0.0162 left_gripper=0.9998 right_x=0.3476 right_y=0.1193 right_z=0.1515 right_yaw=0.5356 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [0.3624, -8.7453, 4.8342, 1.873, 0.2564, 0.1343, -0.0366, 0.0615, -5.053, 6.9675, 1.5165, -0.1685, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d825e4908a126bb0f12ddb6c4569bf4c35fd1ceba2cd336dfbec6508d96f1ef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e206fd12a26b26292f29776e3f80e9a79c3e6ebaf533b4a3ea658c841288453f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11db816db78d637ccfbae68355c35225f8b46917de56d568323d287a4e607c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 1.857 s

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

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9996, 0.5781, 1.7073, 0.8783, 0.107, 0.0208, -0.0128, 0.0469]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9996 right_x=0.3777 right_y=0.2463 right_z=0.0706 right_yaw=0.5512 right_pitch=-0.1548 right_roll=-0.0163 right_gripper=0.0469\nstate[joint_eff]: [-0.3214, -0.9641, 7.0769, 1.7656, -0.0611, -0.0708, -0.0122, -0.3214, -10.0718, 8.3077, 1.5849, -0.0073, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5594, 1.5314, 0.9295, -0.0689, -0.0437, -0.0574, 0.9997, 0.2119, 1.2964, 0.9031, -0.4114, -0.2291, -0.2584, 0.0468]\nstate[eef_state]: left_x=0.3779 left_y=-0.2233 left_z=0.1334 left_yaw=-0.5028 left_pitch=-0.0986 left_roll=-0.01 left_gripper=0.9997 right_x=0.3483 right_y=0.1196 right_z=0.1533 right_yaw=0.5347 right_pitch=-0.211 right_roll=-0.0131 right_gripper=0.0468\nstate[joint_eff]: [-0.4855, -7.3094, 10.0718, 1.956, 0.0855, 0.2857, -0.0464, -0.0479, -5.1624, 6.8718, 1.6679, -0.0415, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4641, 1.85, 0.7265, 0.3756, 0.0437, 0.0093, 0.9998, 0.2111, 1.298, 0.9009, -0.4137, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.386 left_y=-0.1978 left_z=0.0033 left_yaw=-0.5181 left_pitch=-0.1755 left_roll=-0.0162 left_gripper=0.9998 right_x=0.3476 right_y=0.1193 right_z=0.1515 right_yaw=0.5356 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [0.3624, -8.7453, 4.8342, 1.873, 0.2564, 0.1343, -0.0366, 0.0615, -5.053, 6.9675, 1.5165, -0.1685, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d825e4908a126bb0f12ddb6c4569bf4c35fd1ceba2cd336dfbec6508d96f1ef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e206fd12a26b26292f29776e3f80e9a79c3e6ebaf533b4a3ea658c841288453f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11db816db78d637ccfbae68355c35225f8b46917de56d568323d287a4e607c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE68F9tCE_vTqyqMkOef69KmKKxWaxWIlOpZxVxPVNbhIC2HOW0z4pqSc_8f8pebcikRtBcMdrj30KMxH94fjiPe0KQWeVP4LdO9Q8RrM_IirWNnGTvnUQySdaVnH60YBwsmwjWjP-gvobMYVXE8wOmO4vtMlZr7xJJtdz7baSvIUwSDslpS41qEapaSsXQudLQY8xrh9JsoRe8DmLMuNvx5hIeybvkRxgF9seY3hw4kTcxKSOfySGLPh9ccTCPDqFFXk0A0rxbp0LXcw8yEhuXv1jP2t2rtPu_woBRFA6TUMoLXRfcbQXFDTnPhq3fra-AtID87UFDkEEpC1ox_814KsSCOEvVA2P1vgOM4UzOCIQOl0R6SzLfefQHG4Vkrq4TE8gRvHLzmF6K3DWEbiKhPJfvfuA7Z0GHBfKLFJwuVkzNTgqxlevGGpsqrMvGGjAEqeaJdxNoyKDiyh6s0XRWJ8GKnrLOuxdOxLeiJ9A-vlhwWmvyuNsj6t5A6lDN_nhRoiGmOCZhLtQygImd40WviYIZ5s0d47HFXvyXrUG8m2gvQnBb3n-3Typne4Hk4QL9XJEjIe47oVHW5q53wy6kZxMtnpv9aUcRoYx9aUSvQplflA3ZvfZdH1GL8oS8dgb4j0a6ImLutn3cI1jgpHbdnB4DXjCPHwafYSbqvk2u-s_SQjLLacs_Ywi3vVuHJELH-cxBFZPjfBwFuzXLfvF6ZrCWrbKAMLscqTiQMQB7RoWWsDyZ-DOlpFldNNtD6jehEz0gg4OFBJbUgaNT0YyOkOgXVnNRO3OGOmg7sCoxcoDkIutyTwbK5ayauJo8IQ2JAlJdfvlGTpAQvnzQi3cxCVCOEc68zTlxZ4SLqsdKz9zl3QfDfYVVF5zRePatcuAol4dqTxbXRyMgGBVhZmRpEbbunH77DLo4DiBl7MN2rfWc61nVNb-yDJngmN73w75euyY99JqC_PYomh9s_TWCNBa2VCA-jIAMELIk6HK-ZnBMDRmStxPUUQYAPdjYqJkACZKkPUawvsmbwhYseUgOZriuF2jaRp9UjSlXqiW0wV2C-a85fBwcUuGKGmG9UmsLBiqpWc8KNxGij9ODLF1RWeylz58z-ovqqFbKT7h9906mcX4j29tRCZhPNcboAMww8a1UI3AmFEftuVtCw67motgnof2LBdXAf1GYr4hLcGPaIgaAbZ3h02OY_Q0vwYaY_J1rVdqcNC5p-tyEjNRnj88-4lxZ3JqCMQpaYhB379cqzx_ua7T7IRf-7sJji2Y21lhQ03MGb7JU2e2XjOKw9JzsOtXTQzpTOPDpN8nfvHTSkHch_-iOvcUyHbLKiAhMD_gvnyqtibJDtJqD_kxVWEmGSW2mOTbCXtxF41fr0iyZcExCL28uk1jYS_t7g_kElgR32RrPbpmVzjGnvHuWw-nCx3eWxdTbayJQ4QkLmB_OFU3gQMnV59Mw7O9zCKxPvtrNlTfQ9Y_FVa273K5oxdhNMelUxjkS5QUchasBSa_AJH1_RNWAENA21TUbDOlS-W9sqWLd5zuHY2wRDUy-4z0Y_h-oaqiZJtLrw_1qDmEsTG7MCmFM-8ZYF_RIB-C9_GBI-uCh-l9KrG-ut8382B3IRF2oTUCkKtzVPekFFU1N2LbQqVCrgz_8DzhRpCkMmMnTuFrglI9kA6Nu3h0Vf7VkTEmf8WF91VEAzvQ72ar-9stqKm0zTuSLMoL-dle2IXYqYxibn76vituPdYxO_TVMBB8zLgIt0Uj_z3eSi0a3HcUH4u8lbJhVGrBRHU1gqOJoJ8SRztp8_dKJDakx5DQnlyaOyiycvX7-dolp6fStZ2G-uICP8_NE8uTqDcO9aYRhIBf-Mmf3L1DwgGYvJt_JY3iMWw8vAiYaTRfwkwimQiEEgpsKvRwxdqxthi2GFlM5MuN-y-GIwbLq2HX4l3U3TasEJ22Ve0rETqyjMQLs=",
  "id": "rs_079248f874c6ada1016ab44eba824087d0a05a34d5b9183116",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.403,\"left_y\":-0.196,\"left_z\":0.003,\"left_yaw\":-0.55,\"left_gripper\":1.0},\"note\":\"At table height the cap’s length is aligned with the tool, but its centerline is still about one centimeter left of the jaws. I’ll make one final small lateral correction before closing.\"}",
  "call_id": "call_ImrHi2dGgc9BaXXvxeZih8Uz",
  "id": "fc_079248f874c6ada1016ab44ebc099487d0b5a0cfd2ad2721aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ImrHi2dGgc9BaXXvxeZih8Uz",
  "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]: [-0.4419, 1.8763, 0.7456, 0.3992, 0.0681, 0.0311, 0.9997, 0.2111, 1.2991, 0.9009, -0.4129, -0.2295, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3954 left_y=-0.1964 left_z=0.0033 left_yaw=-0.5285 left_pitch=-0.1579 left_roll=-0.0154 left_gripper=0.9997 right_x=0.3477 right_y=0.1193 right_z=0.1512 right_yaw=0.5353 right_pitch=-0.217 right_roll=-0.0115 right_gripper=0.0468\nstate[joint_eff]: [0.841, -7.1179, 7.4051, 1.5165, 0.2759, 0.1685, -0.0464, -0.0068, -4.8615, 6.8171, 1.4823, -0.1245, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceff807ca164a9fcacbb85470bb1a01010e538e67f8a28bae36c8e31161dfd70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275d5b05c1c587259e02c7637f0f5480000ee98b2633733debf1dcae83f7d751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe44b031eb4b58c66ca285977778618a52381a841bcdaa896a4cec44906766e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 4.175 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.025, 0.9997, 0.2157, 1.2942, 0.9035, -0.3901, -0.2218, -0.2409, 0.0468]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9997 right_x=0.3519 right_y=0.1206 right_z=0.1577 right_yaw=0.5213 right_pitch=-0.1897 right_roll=-0.0128 right_gripper=0.0468\nstate[joint_eff]: [-0.253, -1.388, 7.0632, 1.7265, -0.0464, -0.0708, -0.0073, -0.2667, -6.3658, 9.6889, 1.6923, -0.2759, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4641, 1.85, 0.7265, 0.3756, 0.0437, 0.0093, 0.9998, 0.2111, 1.298, 0.9009, -0.4137, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.386 left_y=-0.1978 left_z=0.0033 left_yaw=-0.5181 left_pitch=-0.1755 left_roll=-0.0162 left_gripper=0.9998 right_x=0.3476 right_y=0.1193 right_z=0.1515 right_yaw=0.5356 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [0.3624, -8.7453, 4.8342, 1.873, 0.2564, 0.1343, -0.0366, 0.0615, -5.053, 6.9675, 1.5165, -0.1685, -0.0171, 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 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4419, 1.8763, 0.7456, 0.3992, 0.0681, 0.0311, 0.9997, 0.2111, 1.2991, 0.9009, -0.4129, -0.2295, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3954 left_y=-0.1964 left_z=0.0033 left_yaw=-0.5285 left_pitch=-0.1579 left_roll=-0.0154 left_gripper=0.9997 right_x=0.3477 right_y=0.1193 right_z=0.1512 right_yaw=0.5353 right_pitch=-0.217 right_roll=-0.0115 right_gripper=0.0468\nstate[joint_eff]: [0.841, -7.1179, 7.4051, 1.5165, 0.2759, 0.1685, -0.0464, -0.0068, -4.8615, 6.8171, 1.4823, -0.1245, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceff807ca164a9fcacbb85470bb1a01010e538e67f8a28bae36c8e31161dfd70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275d5b05c1c587259e02c7637f0f5480000ee98b2633733debf1dcae83f7d751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe44b031eb4b58c66ca285977778618a52381a841bcdaa896a4cec44906766e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6--fFHYa7JuHxy1EpHognwjBZg3zNLuwFj4aqA3Vz9CwgY0idMiiEpWAPl5YW3p41eZzPAJ1CsXPyTZ1pgvkdvrf-HldLS9CT3ALpqP-QfEZwVZolJTqbMaW5vdc_m3L4-4ZBR1MfjAssAxxD1YFmSCc2YzYYJqyzMEhPuW8omP0mgwEAV0VNWJCgvfBKawUfABjWi-JlXCvWpgYx-RPNaYSY9b1uDcMEi0eQ641AJqWnD6zw7GbfFsW4CDSsULnjS0y8RiubQ6j5dqescJoNKP_IajfjLMHpYPNGeNAthXs51K3mSAOLb-oVW7sAKYj3hggmL9_kG0iZiyG7sbP0x-wiholhnuMYLVRwVbhrxfoALP7v3VYESKUpsb21Ojn8gsMfW8ap1ndfkF83xd6REtWTNFdVL4JOW-fK3rjzQiUjk0TB3QpQMlu1HaBcGbGNbJp75XpozEDgtBeu4ig1EznQ4csn5wWfGoGICXAnaeHF74Z9aWreDBIQJj7iQzpfTfPGW0E08r1rW-Mn4LqwrurHsxs2iYGYECf8InHMCxzgvGASmchq9D1T5N2Zqv79_qa12WPW21vQMCFGxoISGzA2PHa1BUPRQh8omHiMXHSmgXECNMFemL2-6zw0KaNdEZI3aWraZzCcEkhAhnJZZSTAucDneXksr23ugAdM2I68mZeF45Du45q9GSjGNbqF_ZxaYDvai2rRDXZUAPjbTFSoHkH03tYki6bckClHWoSIvu1UuSlIUyaUHq5X4uvS4fJFRDJgRgYlBMK948-KQA4KoJPaAknB9wvIEMytsjj8_PpMpmfrek4tXqPo902VvlXVc9SaG5HXQgGDhkRkdyX3XXRDIQV_l7W0nffY6nPVlbDIB2jQVw2KtzTJmogqjqm8xVEpF3LAznuEYSegbTc3uqUZcde_IfBbuzNYwGoUS0pwWB9bMDSF69RbH-as8QhDwloCAUrppl7T9W-lfAlDK_SPQmwO4GhCq4dNHmdueZtGiqxVrB4n_nJn3LFKurGRFypCnfHOvEmwwGHqu2hq-LjLEtfEv7xF9v8c7BHAupgWwnM5_xRPWW3uRN9COzqKxeBFDbBYvMReYj-ZsTefFNH-79n8tQmEbyZmoQssios7puVlVMVf1aqQZ7iyrf3G-C2HzUsWm8ntk92kZ2_-4jYBTwMSQuWe70OGV5Cnzk3oACq7BC6zkdeXdrdIz",
  "id": "rs_079248f874c6ada1016ab44ebe011487d0baf3a26822464f4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap is now centered between the left jaws at table height and remains aligned along the tool axis. I’ll close across its body and check the resulting jaw opening.\"}",
  "call_id": "call_yAcq2Pbi5AOfzuRdSYIw2FKo",
  "id": "fc_079248f874c6ada1016ab44ebe246087d086ad6122eeeac403",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yAcq2Pbi5AOfzuRdSYIw2FKo",
  "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]: [-0.44, 1.8862, 0.7513, 0.4007, 0.0597, 0.0277, 0.0106, 0.2108, 1.2991, 0.9009, -0.4126, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3976 left_y=-0.1949 left_z=0.0013 left_yaw=-0.5176 left_pitch=-0.161 left_roll=-0.0125 left_gripper=0.0106 right_x=0.3478 right_y=0.1192 right_z=0.1513 right_yaw=0.5353 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [-0.294, -9.3197, 4.4923, 1.5458, 0.1538, 0.0415, 0.9255, -0.3487, -4.8068, 6.8171, 1.4676, -0.1734, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38b10199d9ace621c06a9c30bf7b5bac69cb9b5b54cbdb60873c9dadb0ff19e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd20171f98fcaf4ca08dea4f660d26c74dbc5fd3023cdf217a4a33f52517a27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3683df9870dba63ddf3f1f65a8b8ea390d5d5edc38f33b8825310d4fe648ca96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.396 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5594, 1.5314, 0.9295, -0.0689, -0.0437, -0.0574, 0.9997, 0.2119, 1.2964, 0.9031, -0.4114, -0.2291, -0.2584, 0.0468]\nstate[eef_state]: left_x=0.3779 left_y=-0.2233 left_z=0.1334 left_yaw=-0.5028 left_pitch=-0.0986 left_roll=-0.01 left_gripper=0.9997 right_x=0.3483 right_y=0.1196 right_z=0.1533 right_yaw=0.5347 right_pitch=-0.211 right_roll=-0.0131 right_gripper=0.0468\nstate[joint_eff]: [-0.4855, -7.3094, 10.0718, 1.956, 0.0855, 0.2857, -0.0464, -0.0479, -5.1624, 6.8718, 1.6679, -0.0415, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4419, 1.8763, 0.7456, 0.3992, 0.0681, 0.0311, 0.9997, 0.2111, 1.2991, 0.9009, -0.4129, -0.2295, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3954 left_y=-0.1964 left_z=0.0033 left_yaw=-0.5285 left_pitch=-0.1579 left_roll=-0.0154 left_gripper=0.9997 right_x=0.3477 right_y=0.1193 right_z=0.1512 right_yaw=0.5353 right_pitch=-0.217 right_roll=-0.0115 right_gripper=0.0468\nstate[joint_eff]: [0.841, -7.1179, 7.4051, 1.5165, 0.2759, 0.1685, -0.0464, -0.0068, -4.8615, 6.8171, 1.4823, -0.1245, -0.0513, 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 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.44, 1.8862, 0.7513, 0.4007, 0.0597, 0.0277, 0.0106, 0.2108, 1.2991, 0.9009, -0.4126, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3976 left_y=-0.1949 left_z=0.0013 left_yaw=-0.5176 left_pitch=-0.161 left_roll=-0.0125 left_gripper=0.0106 right_x=0.3478 right_y=0.1192 right_z=0.1513 right_yaw=0.5353 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [-0.294, -9.3197, 4.4923, 1.5458, 0.1538, 0.0415, 0.9255, -0.3487, -4.8068, 6.8171, 1.4676, -0.1734, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38b10199d9ace621c06a9c30bf7b5bac69cb9b5b54cbdb60873c9dadb0ff19e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd20171f98fcaf4ca08dea4f660d26c74dbc5fd3023cdf217a4a33f52517a27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3683df9870dba63ddf3f1f65a8b8ea390d5d5edc38f33b8825310d4fe648ca96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7DuH3RrihqkLIL1VEv_BMcHLnWVi0uNY9DqHSiLkRgBTNkNuOl5OU7uNmfWnuxWKGs_A9f-uv0F6HhfB_VGoq6PrWvYpck-FcL6CbcXgGEWd3aouGaGxIzT2tKZnbfqSF7bZGzbKTZTDMs-oRHfAsuPr1Y8FbVis_HR8xCvHhFeuZ8Vm4McNaisYdrClX2qdvgYqTgvqK6o3uV2U8nAaduwbysnBFGgNL2_fpKfNUFssSHQS4oTLbMgwhfyU0kFzWBVl4EcrKGae7cvPAAfDguoZQgU4BOToUbN97if2UIDN1TEmLydTvhSHCv5SaIuWp8Edp66FaLmB9NGmBQz3tGxaC8MPcjtbesrTRRjApanFZPondglV1rKQvIPGErG8IZnW5DqEU5cR5TfiyuppOCrTgI8HEWSOpt_ZWZGQRUF0M6ADoTLoMU0GKczkIDoEnyhaksgZNbW1g6KFTUQrzrZl1-rbnx4HjERKMFelAW3ClatwMBnZeqXhuISiXXIxztZqahc_EjIfZdamIZj4aSq7ethM-VjFpx1-CYySwh8xrBbK2EIrMtJRAg4TmDKbM3VglKmzVHL5mRXzw9ApFX_C5VJuKij6pbWEZxJeL3dqm0GmlqRr7vZebcngM9m9FYLhfaWTJBIAAcKCKFL0qihNZ9zKaBoGQQMqm7pE206BazZu-mf37cw8qqvYuNll-5ecNy-505M56MskEXbThO7tdZGYVMbtmbxd_jwOuOvwQid1ZyEVrJiiB_ePIJz1oJizIh6KZDfC5-R6OAgsEbYAlP2QZsVW300Xco7CZ7lXw0P40OZyVUzTCu64RqqUnYsDUumXNGQk8Le_-xtGmmS8Nn3AlWn8Yz8MnKbMmT254G-WfroH4e1mETRmkP4r-yPFCfaYXVqxJh-hEVhRjbWwFTmCtSFt6NVFn9grQhbl0ZswwgeoIACL-ToAof5V21mNebk4YuqZK4v1Auqzr8pniEdU_ViWDKWlsO0IS5_7oV1DV8Nf5blbvUe_UzKsXoWluRLDXlqtx9sgtZGldga8kgVMwFOpXesgMAjNK7vLQNxPWkhr04RLKAcHYazsOBe6-A_3wkd36l4CfbRKnrOww_WFepeAF7yFPZ_FQxUMu4xPzHfkKo8xXwQoYrXtMdCaaKqEK0pF8EkeGSLtjWi5r0o6XYEmQM6ATm2NuT8IycprbfqOSPAA3jVMI5ASI_M-E8ddGxeFY7GXRFnrDQgaxHDgvdlioqfrDwjoMnqEct-1_v3aiTlwPRNhLD8UYbc1-CTdndHdXh8ayTSl6P8CrPMt3_--mdsPXlh9LmmDNOdlyHlztTMpTJQvgin5pJVBv689xha3dwNCX2SEyZKhv_QgSHXAhK2rKdjrkqNb7FUcq-GyR34Wfz_Y5pdvBPxDzvEDod9y2vlpKkC-teD42E4MxGrXXdYAxvQcf67f2t9T7ez75-6Y-jsS0PVv__tSTuimSCUGNysomoKluMFKg-_4qQ6NQZnquzvzLGcl8L3rrMED18qr3_whbJFF79wuM6m_ovsLENHx-3qB5Xxq1F1_EZvAYX6CCYylWvyCFS1k9YVfvTCQtKT-ylnV7TQ_VyggHk_eGEzKqHIUOLwafbNZJ-CbkMEG-pi8JES9I3KwD4iH3Kcs6YqF6or7T9px1YWwMfB2DH3qAWDeRexd_MYakSqusx30D7U27Gn9GkIudXrCcijd7AtJ7uQMhsxCT7BPljO9rLehR3BAx_83QPSkDID9eJox-fewC-vtgBbZlroMcDUG4GB8qhfxrioqo2bM5ZokIvtV8klooAta3CtyicgAe2snaB6f_k9HT-TMzIEhuTE-bufk8sV3dW-GdbH6agPn3tcm41NCqZlyRL2E2RemzjL7UHxyNMskXPa8NQSGrOO54dJU08FdGR0QQoHz6t9UK-8RZ2zeyptBGMm5vvUO_910gty2FlRiw_97cXjMEZl6o47cTz1s8igv8JWZfYEP0WQB407LD4UKOg_pjLU5x_NevOnP1kRIuVMoToH2GZK6meM3HQhJqkriKM28NjpSV2sERNnsGSQrchkpjzQj8nJ19NAhfeIUHiYhA-nREXW_BNsHjlgJSau6l65ASXP2YVveL0QPYPWD3H9xZr6BDcq-BLoYrOGiIYX_z4nL_Od5YrotQPyHl5jqF445L3m-1VhGD7V9R9kny5Ffj-bZvWxb7aEfhuwyA1XVIzcmM8NmvgY9ovMt1R",
  "id": "rs_079248f874c6ada1016ab44ec0fbe887d085dcfb38c2d3b60a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.205,\"left_z\":0.008,\"left_yaw\":-0.55,\"left_gripper\":1.0},\"note\":\"The left gripper closed to 0.011, which is an empty close; the fingertips likely landed just short of the cap despite its appearance at the bottom of the wrist view. I’ll reopen and advance two centimeters outward along the cap axis for the prescribed second attempt.\"}",
  "call_id": "call_Bej3TtG34R2fHT6R5NiVnAXL",
  "id": "fc_079248f874c6ada1016ab44ec2d88c87d0a8608a771bcff161",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bej3TtG34R2fHT6R5NiVnAXL",
  "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]: [-0.4339, 1.9194, 0.828, 0.3466, 0.065, 0.0395, 0.9959, 0.2108, 1.2991, 0.9005, -0.4129, -0.2298, -0.2596, 0.0487]\nstate[eef_state]: left_x=0.4119 left_y=-0.1996 left_z=0.0036 left_yaw=-0.5227 left_pitch=-0.1714 left_roll=-0.0082 left_gripper=0.9959 right_x=0.3477 right_y=0.1192 right_z=0.151 right_yaw=0.5353 right_pitch=-0.2173 right_roll=-0.0111 right_gripper=0.0487\nstate[joint_eff]: [0.3897, -7.8564, 7.9658, 1.4383, 0.2125, 0.1392, -0.105, -0.0342, -4.9983, 6.8308, 1.453, -0.1245, -0.0708, 0.6862]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671390ac3e6c6e9f930ec780079c2c6b8f764e192e85cb1b10c54de750486f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfdd384ad7a8e87b83e1d102fc6df84e579ac7d9e2944f7d729c49514cccd312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82ecea83d7a05368a9a096ea53b27cea52eec201e7efd2c788a519fbfbaa919",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 2.294 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4641, 1.85, 0.7265, 0.3756, 0.0437, 0.0093, 0.9998, 0.2111, 1.298, 0.9009, -0.4137, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.386 left_y=-0.1978 left_z=0.0033 left_yaw=-0.5181 left_pitch=-0.1755 left_roll=-0.0162 left_gripper=0.9998 right_x=0.3476 right_y=0.1193 right_z=0.1515 right_yaw=0.5356 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [0.3624, -8.7453, 4.8342, 1.873, 0.2564, 0.1343, -0.0366, 0.0615, -5.053, 6.9675, 1.5165, -0.1685, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.44, 1.8862, 0.7513, 0.4007, 0.0597, 0.0277, 0.0106, 0.2108, 1.2991, 0.9009, -0.4126, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3976 left_y=-0.1949 left_z=0.0013 left_yaw=-0.5176 left_pitch=-0.161 left_roll=-0.0125 left_gripper=0.0106 right_x=0.3478 right_y=0.1192 right_z=0.1513 right_yaw=0.5353 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [-0.294, -9.3197, 4.4923, 1.5458, 0.1538, 0.0415, 0.9255, -0.3487, -4.8068, 6.8171, 1.4676, -0.1734, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4339, 1.9194, 0.828, 0.3466, 0.065, 0.0395, 0.9959, 0.2108, 1.2991, 0.9005, -0.4129, -0.2298, -0.2596, 0.0487]\nstate[eef_state]: left_x=0.4119 left_y=-0.1996 left_z=0.0036 left_yaw=-0.5227 left_pitch=-0.1714 left_roll=-0.0082 left_gripper=0.9959 right_x=0.3477 right_y=0.1192 right_z=0.151 right_yaw=0.5353 right_pitch=-0.2173 right_roll=-0.0111 right_gripper=0.0487\nstate[joint_eff]: [0.3897, -7.8564, 7.9658, 1.4383, 0.2125, 0.1392, -0.105, -0.0342, -4.9983, 6.8308, 1.453, -0.1245, -0.0708, 0.6862]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671390ac3e6c6e9f930ec780079c2c6b8f764e192e85cb1b10c54de750486f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfdd384ad7a8e87b83e1d102fc6df84e579ac7d9e2944f7d729c49514cccd312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82ecea83d7a05368a9a096ea53b27cea52eec201e7efd2c788a519fbfbaa919",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7HNiC23z7c0SHD8RFZc7DGmWEK-aQs1ZJfCaUwrT8YFXCbd9T8slwFLl6Vnl_7Z-OvViPUJmQ-ZvjHMUQzhqgHRcrmipA6odNybkW2tNNQkVKA6lqLXegh50CNeiGR5MKu5ZpV4hjkw1xW7_MmMn_-SNerBBLbBInR7C4kZJjfGz-DqU98DaKWSG35PGEA34Y7_QARuQfzXHtO2gB5KqyKOK3qxaziP7dH4gYRUIBcQFmgOj5ViOI1g-zHtvRbaINJOVJh4QLcbHkU9HDvBJmfR3VF24KEKBieaNwmLF3f64rRJSZkLYEQJx1hx7Oij9xRoMZ8dmMowCjYENxPYCWPrfSzH1uOH24dS4TcR8XbaeD1xkLOJ0cZDD6DcPNmRNbVf7kXAWn2Gxze8apmyw3OYcklTA-Q09_DDA49sgSPKzrXmbvQ55-ZUzLlBbSTandciedA9L_nSKN0FYo5Hfgm3WxBT325i7_mcVxEWmpLCnEMCknOb4vylj6ixALxoVqNw6-w_gq9_dbwSFSWZ7ruYzF4BhOjDJWJDBtxodHQJKQ9t60Y_HnkG4O4TdS6vIKsyYer3hul4h17uby04jSaQGJJZkKtd_dKW-ERX7EzhwHTCZZ4sJtud5q8G-BRZr5ZCHe2mhub_H5mXZ5lPSO5Tvb1f3-J97SpQwqqCGlIKrZlCxVz1lwAZWWvckRRnTTywnYI9smEnT51AtE8HESzbXJ7Z4wkciUWpeoTCs7GgIUw0RQSa_YIOjBKDzZdHRK8CbUSF6nWNmNcrt9rzVVnmjRY_B8tqphYGUPayt81MgEttKPAmbKr6io-Dv-qFS3cmVajVXOh-y9ZEv7dHgLGmVbPkt7Tf-XDg9v9ZaCpwq6yfRC3gPootzCEmiHSan-Y6a9oLWyfYsctDjuLRShLYd-02mD52_LFWx2p8hs-kWUL4XnbM4PwN9QB4Zbdqu3XT_pEguYkZUIaSsL92S9oFLWw10K7oS8RJuIO3Mor1BV-ABKDPqh5cjSlMhXrTUVtWqGwEWssYIsfjXyal5ziDZTd_IJm3qGEsM3hQLR5x4nJPnuIHqJ6aj5PAlxCnQEPQYEH0y8urs9Zm05x3MRHMMucDSv-QzCsrb6s-nlX9BOEOSXsMZbQNx2GInzNsRs1PycE3Nag4uiJ12Z8FwG1sWk49bCyGcpGbEgTlbnC4WQWuaQdkDQJ0bos2Mh_ydFkc5q3_asSiWzBbClCilbESX5k4_q6XvUKp_9oxMTc9ZIGBV7Rb94-j_zqteXezv_TW2uwOf1SQ8pGU_KacMKzLC-rckC11WsPRpLVRULYdvayyj2PBGy-60qGTjWUFmMUjT0DVXZjDnxVWojF3MLJMgciXr0rViMN4laszlAasvj1gHwYf7enfD0MYgAjFPJ0NAdJyNbiaK9CITC0CJf-HvOxB7t3uvhdfsZ0kPdI1_q6oM6bwLe8RVj2j1y3uYBjiaDT7QOSO8sn1at1fsirDqZ69ZJcRU4qxq0Nn94QvjnnGzZohLUZtpXpfBSXEMhfYkW7bQOTr1ffMN_kiQURnVoCQfnu43Ria3-FanxuFouPqiIdoETeidqpFDW67_je",
  "id": "rs_079248f874c6ada1016ab44ec5ed2c87d0a12f0e1f8ab4c202",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After reopening and advancing outward, the cap is no longer visible ahead of the fingertips, consistent with it being directly under the grasp point rather than short of it. I’ll make the second close now.\"}",
  "call_id": "call_vu7y9FRDFVPMR3nbsxPA9wUi",
  "id": "fc_079248f874c6ada1016ab44ec6909c87d09b9755a945cc5b95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vu7y9FRDFVPMR3nbsxPA9wUi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 1.9198, 0.8291, 0.3389, 0.0589, 0.0292, 0.011, 0.2111, 1.2991, 0.9005, -0.4126, -0.2298, -0.2596, 0.0516]\nstate[eef_state]: left_x=0.4118 left_y=-0.1978 left_z=0.0024 left_yaw=-0.5108 left_pitch=-0.1786 left_roll=-0.0122 left_gripper=0.011 right_x=0.3477 right_y=0.1194 right_z=0.1511 right_yaw=0.5357 right_pitch=-0.217 right_roll=-0.0113 right_gripper=0.0516\nstate[joint_eff]: [-0.2256, -9.0051, 5.3265, 1.6581, 0.1099, 0.0904, 0.8864, -0.0752, -4.9983, 6.8581, 1.4921, -0.149, -0.0317, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0ca34571e12554960fa4daf192f33f41b842fc2bc24177457287e172c2c96f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702893a448024aeee4132139b7d2d77a4593273939509f1eb20e4e5720298db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8390b65dd907c38b3e7e49002bf413133f6ff3f89f79732f834281fc4ede0ec4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 7.085 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4419, 1.8763, 0.7456, 0.3992, 0.0681, 0.0311, 0.9997, 0.2111, 1.2991, 0.9009, -0.4129, -0.2295, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3954 left_y=-0.1964 left_z=0.0033 left_yaw=-0.5285 left_pitch=-0.1579 left_roll=-0.0154 left_gripper=0.9997 right_x=0.3477 right_y=0.1193 right_z=0.1512 right_yaw=0.5353 right_pitch=-0.217 right_roll=-0.0115 right_gripper=0.0468\nstate[joint_eff]: [0.841, -7.1179, 7.4051, 1.5165, 0.2759, 0.1685, -0.0464, -0.0068, -4.8615, 6.8171, 1.4823, -0.1245, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4339, 1.9194, 0.828, 0.3466, 0.065, 0.0395, 0.9959, 0.2108, 1.2991, 0.9005, -0.4129, -0.2298, -0.2596, 0.0487]\nstate[eef_state]: left_x=0.4119 left_y=-0.1996 left_z=0.0036 left_yaw=-0.5227 left_pitch=-0.1714 left_roll=-0.0082 left_gripper=0.9959 right_x=0.3477 right_y=0.1192 right_z=0.151 right_yaw=0.5353 right_pitch=-0.2173 right_roll=-0.0111 right_gripper=0.0487\nstate[joint_eff]: [0.3897, -7.8564, 7.9658, 1.4383, 0.2125, 0.1392, -0.105, -0.0342, -4.9983, 6.8308, 1.453, -0.1245, -0.0708, 0.6862]\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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 1.9198, 0.8291, 0.3389, 0.0589, 0.0292, 0.011, 0.2111, 1.2991, 0.9005, -0.4126, -0.2298, -0.2596, 0.0516]\nstate[eef_state]: left_x=0.4118 left_y=-0.1978 left_z=0.0024 left_yaw=-0.5108 left_pitch=-0.1786 left_roll=-0.0122 left_gripper=0.011 right_x=0.3477 right_y=0.1194 right_z=0.1511 right_yaw=0.5357 right_pitch=-0.217 right_roll=-0.0113 right_gripper=0.0516\nstate[joint_eff]: [-0.2256, -9.0051, 5.3265, 1.6581, 0.1099, 0.0904, 0.8864, -0.0752, -4.9983, 6.8581, 1.4921, -0.149, -0.0317, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0ca34571e12554960fa4daf192f33f41b842fc2bc24177457287e172c2c96f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702893a448024aeee4132139b7d2d77a4593273939509f1eb20e4e5720298db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8390b65dd907c38b3e7e49002bf413133f6ff3f89f79732f834281fc4ede0ec4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7KxWePtOXwI-a7fc_Ol28cOzWQ20IMJW2wo3ppGBMued0GBjD7cc0DYPYydHLsHOpQzCcx1jSedo6gsQABw8XRFAUm-mA50lDvRW3fV6VgBJ5J5hm8fLWMVNVlA8KA2Vjbc5If69MWDTnvp6xZuA1KojqNAvpZQDSPUZ--rnqbB-20_iaOzX0eIISl-Ufk60nD_dfKns0NfE9WuPoCNoyrjvFTaJcq7m8OuSuKWLB0YH8f1kebFyck2LsY202ipcev_tlTnaSSBwPtOBuhSoLvGJON_KI5OboD4doatnsvKoU3RMRsS2iFSGFDK8VQA-NmHqAEbP6L9OMHqa2bypdi4NQB3vRNL4XLX_Otct-xGznLPtLnR6zdRwiw2UTEyFQ8ct7t8i4Q5LxLjilvgHXAhxzlWls6giTTz7yPwOEH0QoPOIpnAEDXveyuqVErYojnZJ5tmCfwpnFrL0hUrgrz6GHbhORj0otcxfBWA7HeLLhKGwyJefQoNJog8Hf7ZHlng0sIIEtJZ9yJwZ0S0Yhj4l_2ZJmpMYWr9PCdOqDx3ylQsYaXQ82dz7SA7tP-qtwwvJbb8xinbh7Bx7ARkGhIaVd4-oYVKkZSDdLdI_AkSUlPNRkcNGZJSzxtKD4tibyWaIz65J97Lpp-b9COfX3rFGbMO4JbbhLvRMi6LRq-ySxvnDgEWXXSWw8rh_p0_O8aAdYOfZkn0L-R6zaF_ox9Yah5Zm1-6QG54Pd4fqyc9EsY8cjyuynaWm8Zn_5zhsgC23bzVhN2ztW0ZznnYgFYAXFtWF7_i0ydg7AomEN0HrDM7ecHA3G0p9KrZtbWl4qFiZtxqFZwWXRXFCFI7mNDO8TCN51DGQ6jAsn1cKTlGejJTBnQvHkDyDIHEooyhK5ZteP2fkmTDdycxgNnVuV60XPNmjpxbdzJw3PnpGbAB-LczAx5LZwNFUZz5bhZTwynU0N7UYu4CmWEqixk_-gEeuNSKEVqarFOkFt5R-AbUaB4Bl5sUbnKyaynKGPCnaYHb-yDj982UuhPnZExGXL1xkyj6N-2LGNnAnC7nk5yY0Ig6nuYmVcSuYFpT8pAKXgjZV7buAs19aZ16xRKM3jk5K2WIOVWFqpmmasRjoBcnAEBA9dQA0QGbluT2NzKxfroDDcfMrbGNMyuvgYQFne1DesB7TuyKEXffxIVrMLMxv7PymaLowvfQZzaNhWyJdxpjbIMulAoQGjnIJs_UrMINJFC_B7cSosFqG4HSJc8j8I6RjCgH0cw6SJEtgeLJ95se3yvo6fe3EUhRnjB8KTDjpqqX1nvrn5ENXkRYZV5rCIp3f0VF5JLr94Mc2GWMQNd-3DSHSAs9zRGMoFFTLS0s8aKTtW1U-cBTOds_t-1ehbkLqgmLplsPgM4tL16sTEQ",
  "id": "rs_079248f874c6ada1016ab44ec9576087d0a93089c5421465fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The second close also settled empty at 0.011, so repeating at the same estimate would be unproductive. I’ll retract the left arm high to clear the overhead view and relocate the cap, which may have been nudged by the first attempt.\"}",
  "call_id": "call_FyysKgnZ9Xr4qydJvuWoA7WA",
  "id": "fc_079248f874c6ada1016ab44ec9c33087d09a3cbfd0c279a72a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FyysKgnZ9Xr4qydJvuWoA7WA",
  "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]: [-0.0353, 0.9779, 0.7525, -0.5266, -0.0219, -0.0544, 0.9971, 0.2111, 1.301, 0.8989, -0.4137, -0.2298, -0.26, 0.0556]\nstate[eef_state]: left_x=0.305 left_y=-0.0033 left_z=0.1663 left_yaw=0.0018 left_pitch=-0.1804 left_roll=-0.0182 left_gripper=0.9971 right_x=0.3473 right_y=0.1193 right_z=0.1496 right_yaw=0.5362 right_pitch=-0.2213 right_roll=-0.01 right_gripper=0.0556\nstate[joint_eff]: [0.1983, -2.8239, 9.9624, 1.5263, 0.0269, 0.1099, -0.0757, -0.1162, -5.1214, 7.0632, 1.5458, -0.1441, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5af9b9583013cad7eebcd28d237c8498cb90b5b90bff3336287ebf4408b7318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7309581a7538f249bb56e9f44c70f5b4c6f11ca08618451d4fcf88b2e2d15c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23168b7b7cb62639674f7534374a7f993a56a8fe42b92e96c8318338bd63ead8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 4.215 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.44, 1.8862, 0.7513, 0.4007, 0.0597, 0.0277, 0.0106, 0.2108, 1.2991, 0.9009, -0.4126, -0.2298, -0.2596, 0.0468]\nstate[eef_state]: left_x=0.3976 left_y=-0.1949 left_z=0.0013 left_yaw=-0.5176 left_pitch=-0.161 left_roll=-0.0125 left_gripper=0.0106 right_x=0.3478 right_y=0.1192 right_z=0.1513 right_yaw=0.5353 right_pitch=-0.2166 right_roll=-0.0114 right_gripper=0.0468\nstate[joint_eff]: [-0.294, -9.3197, 4.4923, 1.5458, 0.1538, 0.0415, 0.9255, -0.3487, -4.8068, 6.8171, 1.4676, -0.1734, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 1.9198, 0.8291, 0.3389, 0.0589, 0.0292, 0.011, 0.2111, 1.2991, 0.9005, -0.4126, -0.2298, -0.2596, 0.0516]\nstate[eef_state]: left_x=0.4118 left_y=-0.1978 left_z=0.0024 left_yaw=-0.5108 left_pitch=-0.1786 left_roll=-0.0122 left_gripper=0.011 right_x=0.3477 right_y=0.1194 right_z=0.1511 right_yaw=0.5357 right_pitch=-0.217 right_roll=-0.0113 right_gripper=0.0516\nstate[joint_eff]: [-0.2256, -9.0051, 5.3265, 1.6581, 0.1099, 0.0904, 0.8864, -0.0752, -4.9983, 6.8581, 1.4921, -0.149, -0.0317, 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 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0353, 0.9779, 0.7525, -0.5266, -0.0219, -0.0544, 0.9971, 0.2111, 1.301, 0.8989, -0.4137, -0.2298, -0.26, 0.0556]\nstate[eef_state]: left_x=0.305 left_y=-0.0033 left_z=0.1663 left_yaw=0.0018 left_pitch=-0.1804 left_roll=-0.0182 left_gripper=0.9971 right_x=0.3473 right_y=0.1193 right_z=0.1496 right_yaw=0.5362 right_pitch=-0.2213 right_roll=-0.01 right_gripper=0.0556\nstate[joint_eff]: [0.1983, -2.8239, 9.9624, 1.5263, 0.0269, 0.1099, -0.0757, -0.1162, -5.1214, 7.0632, 1.5458, -0.1441, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5af9b9583013cad7eebcd28d237c8498cb90b5b90bff3336287ebf4408b7318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7309581a7538f249bb56e9f44c70f5b4c6f11ca08618451d4fcf88b2e2d15c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23168b7b7cb62639674f7534374a7f993a56a8fe42b92e96c8318338bd63ead8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_079248f874c6ada1016ab44ece031087d087821cb23135353f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.195,\"left_z\":0.13,\"left_yaw\":0.05,\"left_gripper\":1.0},\"note\":\"With the arm cleared, the cap is visible near its original lateral position but slightly closer to the bases, and its true long axis is nearly radial rather than diagonal. I’ll re-approach about three centimeters inward of the failed grasp with the tool aligned to this clearer orientation.\"}",
  "call_id": "call_FDxacLGijSpb8YZKkazZC6ZO",
  "id": "fc_079248f874c6ada1016ab44ed2089c87d09e7c3a28c77e84d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FDxacLGijSpb8YZKkazZC6ZO",
  "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]: [-0.6949, 1.586, 1.0275, -0.4068, -0.4908, -0.5808, 0.9986, 0.2111, 1.301, 0.8989, -0.4156, -0.2295, -0.26, 0.0564]\nstate[eef_state]: left_x=0.3568 left_y=-0.1844 left_z=0.1114 left_yaw=0.0378 left_pitch=-0.2401 left_roll=0.0183 left_gripper=0.9986 right_x=0.347 right_y=0.1191 right_z=0.1493 right_yaw=0.536 right_pitch=-0.2232 right_roll=-0.0097 right_gripper=0.0564\nstate[joint_eff]: [-0.4171, -6.9949, 9.6479, 1.4921, -0.4371, -0.0611, -0.1587, -0.1436, -4.9983, 6.8171, 1.4872, -0.149, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9706197c13b006e9ba3b49784c01adcac76b74056b05746e6726832bfecb88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81647e9ce6ec048862b8d8a287748c77a331b62bf45b405a50699bcb535a340a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732eed6c667aed5bb3590a9f99de7286d0a9b4f590ab5ddafce5f9da353db7c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.121 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4339, 1.9194, 0.828, 0.3466, 0.065, 0.0395, 0.9959, 0.2108, 1.2991, 0.9005, -0.4129, -0.2298, -0.2596, 0.0487]\nstate[eef_state]: left_x=0.4119 left_y=-0.1996 left_z=0.0036 left_yaw=-0.5227 left_pitch=-0.1714 left_roll=-0.0082 left_gripper=0.9959 right_x=0.3477 right_y=0.1192 right_z=0.151 right_yaw=0.5353 right_pitch=-0.2173 right_roll=-0.0111 right_gripper=0.0487\nstate[joint_eff]: [0.3897, -7.8564, 7.9658, 1.4383, 0.2125, 0.1392, -0.105, -0.0342, -4.9983, 6.8308, 1.453, -0.1245, -0.0708, 0.6862]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0353, 0.9779, 0.7525, -0.5266, -0.0219, -0.0544, 0.9971, 0.2111, 1.301, 0.8989, -0.4137, -0.2298, -0.26, 0.0556]\nstate[eef_state]: left_x=0.305 left_y=-0.0033 left_z=0.1663 left_yaw=0.0018 left_pitch=-0.1804 left_roll=-0.0182 left_gripper=0.9971 right_x=0.3473 right_y=0.1193 right_z=0.1496 right_yaw=0.5362 right_pitch=-0.2213 right_roll=-0.01 right_gripper=0.0556\nstate[joint_eff]: [0.1983, -2.8239, 9.9624, 1.5263, 0.0269, 0.1099, -0.0757, -0.1162, -5.1214, 7.0632, 1.5458, -0.1441, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6949, 1.586, 1.0275, -0.4068, -0.4908, -0.5808, 0.9986, 0.2111, 1.301, 0.8989, -0.4156, -0.2295, -0.26, 0.0564]\nstate[eef_state]: left_x=0.3568 left_y=-0.1844 left_z=0.1114 left_yaw=0.0378 left_pitch=-0.2401 left_roll=0.0183 left_gripper=0.9986 right_x=0.347 right_y=0.1191 right_z=0.1493 right_yaw=0.536 right_pitch=-0.2232 right_roll=-0.0097 right_gripper=0.0564\nstate[joint_eff]: [-0.4171, -6.9949, 9.6479, 1.4921, -0.4371, -0.0611, -0.1587, -0.1436, -4.9983, 6.8171, 1.4872, -0.149, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9706197c13b006e9ba3b49784c01adcac76b74056b05746e6726832bfecb88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81647e9ce6ec048862b8d8a287748c77a331b62bf45b405a50699bcb535a340a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732eed6c667aed5bb3590a9f99de7286d0a9b4f590ab5ddafce5f9da353db7c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7ZCZ04Lgqnto0Owub08Gt_Pp3SepqLLtalYEHS2iFyJlxVikpP3hb-mS2pBG5ph7_xAyvuLYN_hpDqzJKkTz5eNp894ZMtODD_AXlDKVhNtAon_BQpXEal5A-4qUTBnqh9cTtT0FOG0gCNxJ0oIGyCGo_-010IDNvBpvtlDdeS5yrZ-8_83ZrwbdL7PoCcfq8JSt3oOyMUbNwQN1tbCEtjyFe0RlX-xZ6GpsIpZ03-3Tah2aqnUwZJJktrM5EYhwcT2PIAzTkFQMLe6GGVVzgqclLBG9qwqQUccQomVKIq7_aFhv8mSUPXUrBikLAc8cUBFfXfEJVKy67sBix7GscGoRUeCECZVbW482vk4FKMqnDJM1SU1-hGFOrw8X-alBg_EE1IvoXRsk1fq3xsmoznlOBrh7zR6TTMYrBE6rA8JHRoWE0xvvOonMlH0y0WQ1as_b11aFyW1oDyAVGbUCv3DaqTEz-Pt2LHwPtgbmO5x-GPK8_t3LexO_lGpPKkU5RpsgnzpkHSsOvIyauejos2O0h2C814mWYuphd67rR-FMO0-zzMVPfjDanfTaqRl7cPZaMAeILFBgNErqpee4mI03nRqmzBWDVHLZWJfB-lFYruDdlfJqhb6QrB6QGKI1iq4O-bMLdSkKQZSw5yKQgUQAqkOnloa8uIrc6PxcevPKS4Vjl_HL0S_qop_l1yvDi4_F0lQdkuRgEMa-VqIRRZ5ynex1eRrgWbdfrzU8TINEgod1r_jTs-70n-nKdqLdU9qhgaQkBKU3kXF_eLa5RYVou_mo7F_XnLeiCkC-16TKbDkgwDS8KNaDYFB5G-t5HVZA1p2xGVAIEX46dsKZ4TAPM4vWNUbGrPF9ShhFyqYUoZJmTdXQ6T-Asasns6VFo2ACTnn3gpChZF9FLdpazLijPprCM_ZF7r8AbXm4aiJqhUjI4eZn2in5Clq_lAMOxpq4izB7EkR1KwkvaFhNweHIvfVElgRjTl552L-rQUrWmjKn7JdhWAavxRHImUyBnS53FiBCrlA1hyP4YsjP3KeNsSuqgc4Kl69r6jhKnYPlVjy2Pmh6BKTRRxY6RoehevvmzIZYPoWlrXqXJB0Bwg8vysYv7VLD5hEQlF1l4g4E19aRleK72-CTWH_HqIBmvT6PQpru2ia1tjtglTJbTxqdR8lN5bBQXKBqkBdXZJZM4KH_gqbZZ_rildbalvdcRpPM2W3RRDJvQVHYxKNqasBlQ57qTZq4-J0BrUUnIqvVERD0_2Umx4kiSpE4WQk1TsqrBq6niZ_I6lv7RKqwUxGtnXbNCL3ihp-1UmK9ABER_zCIhAfv9M32mMpupg8PON9ts_evvbbv1ZuHwbk9w9a4w4OziusLkhng8YR6hSyDrZEFaFJPFu_uOimmsB1GF3IEtPUnjg6snkw2mSII1bg8S97zQDjXtv7MbKEvJLBn9y-JNubfZKGN4lVrSIl1Zh59qZjvB5i6fPL4-V3Y9jmvNYO-jZ6PCPzmf9qoQAJ7ZNoCt56X3SsM62lqm-er2wDgnm8cevWohVjoGIEZnHI5QB4eIbsSnjchfcKs0wyhgWcpUk5Txs6CDtFbYbDCkfkBFJ6ACMTLCCQNHsvWkRUK7GxB7fFwd5uVjaI-lbnk_7YeXcxbU5QJthwYWAW-Ip5oFlfGhpPzQ9uw1jVqFtGV4O_aya0eJRwR9FMMQyfUB74vb4knMkwPX6JMEsFTUlyRMdTmvxLwnuFH1ycXpsxAOamzB8cZPZyU1b0FHdpURUDjljg3m6J-j6YcJMSqgRFVBWLoDWeVTKZg5e3yrmVvRsEN5ZLTJMrbYZddUrMRd3SErDM6LUS8neOxxhDspSaDQqFUfy_Fms9hGPVY8DxIBRKCMJC6lUMXWZJMEVOAiTMVj4MDa1yigktZOBEyCM",
  "id": "rs_079248f874c6ada1016ab44ed6d77087d0a7e8bea60f6147a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.195,\"left_z\":0.004,\"left_yaw\":0.05,\"left_gripper\":1.0},\"note\":\"The corrected left wrist view now shows the cap centered on the jaw column and aligned almost exactly with the tool axis, unlike the failed diagonal approach. I’ll descend vertically without changing that alignment.\"}",
  "call_id": "call_RjZCj3rMnMPMkY0ozEwsuWX2",
  "id": "fc_079248f874c6ada1016ab44ed86a8887d083951ff01a51fe68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RjZCj3rMnMPMkY0ozEwsuWX2",
  "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]: [-0.7002, 1.8542, 0.8833, -0.0589, -0.4919, -0.6022, 0.9985, 0.2108, 1.301, 0.8989, -0.4156, -0.2295, -0.2596, 0.0567]\nstate[eef_state]: left_x=0.3604 left_y=-0.1899 left_z=0.0037 left_yaw=0.0571 left_pitch=-0.2863 left_roll=0.0494 left_gripper=0.9985 right_x=0.347 right_y=0.119 right_z=0.1493 right_yaw=0.5354 right_pitch=-0.2232 right_roll=-0.0094 right_gripper=0.0567\nstate[joint_eff]: [-0.1299, -8.253, 4.9162, 1.3211, -0.2759, 0.1734, -0.1636, -0.3214, -5.0393, 6.7761, 1.4432, -0.1441, -0.0366, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b1e42949269a17107a74a3f887b67d5a07626c882d0eaa4835a634aedea493",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8751aefea76646aa70983b1434a4ed7e098193099eb4b52d156fe1d0061ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9856fff77b11c25ab6d3e90d8cd67cf0b10f54833b0eeda4bf858ab6b0b2e093",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 2.449 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 1.9198, 0.8291, 0.3389, 0.0589, 0.0292, 0.011, 0.2111, 1.2991, 0.9005, -0.4126, -0.2298, -0.2596, 0.0516]\nstate[eef_state]: left_x=0.4118 left_y=-0.1978 left_z=0.0024 left_yaw=-0.5108 left_pitch=-0.1786 left_roll=-0.0122 left_gripper=0.011 right_x=0.3477 right_y=0.1194 right_z=0.1511 right_yaw=0.5357 right_pitch=-0.217 right_roll=-0.0113 right_gripper=0.0516\nstate[joint_eff]: [-0.2256, -9.0051, 5.3265, 1.6581, 0.1099, 0.0904, 0.8864, -0.0752, -4.9983, 6.8581, 1.4921, -0.149, -0.0317, 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 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6949, 1.586, 1.0275, -0.4068, -0.4908, -0.5808, 0.9986, 0.2111, 1.301, 0.8989, -0.4156, -0.2295, -0.26, 0.0564]\nstate[eef_state]: left_x=0.3568 left_y=-0.1844 left_z=0.1114 left_yaw=0.0378 left_pitch=-0.2401 left_roll=0.0183 left_gripper=0.9986 right_x=0.347 right_y=0.1191 right_z=0.1493 right_yaw=0.536 right_pitch=-0.2232 right_roll=-0.0097 right_gripper=0.0564\nstate[joint_eff]: [-0.4171, -6.9949, 9.6479, 1.4921, -0.4371, -0.0611, -0.1587, -0.1436, -4.9983, 6.8171, 1.4872, -0.149, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7002, 1.8542, 0.8833, -0.0589, -0.4919, -0.6022, 0.9985, 0.2108, 1.301, 0.8989, -0.4156, -0.2295, -0.2596, 0.0567]\nstate[eef_state]: left_x=0.3604 left_y=-0.1899 left_z=0.0037 left_yaw=0.0571 left_pitch=-0.2863 left_roll=0.0494 left_gripper=0.9985 right_x=0.347 right_y=0.119 right_z=0.1493 right_yaw=0.5354 right_pitch=-0.2232 right_roll=-0.0094 right_gripper=0.0567\nstate[joint_eff]: [-0.1299, -8.253, 4.9162, 1.3211, -0.2759, 0.1734, -0.1636, -0.3214, -5.0393, 6.7761, 1.4432, -0.1441, -0.0366, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b1e42949269a17107a74a3f887b67d5a07626c882d0eaa4835a634aedea493",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8751aefea76646aa70983b1434a4ed7e098193099eb4b52d156fe1d0061ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9856fff77b11c25ab6d3e90d8cd67cf0b10f54833b0eeda4bf858ab6b0b2e093",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7coCYFyxSKddAS0jmQrLx6RTku_5tYrUGD3W-ktxjV7x29vFayzRNmxIGw7F5wyhix6WikzL9sqvh0yZgD1drM4Ptrmifg9Z5x_O9X0K7XUyG0puhognv1jFcGce1vkZJLkhpPqXPORnHv6T3aGZra7vBuLpZAE6CsuD33NSZW_E9GbBq5bUzSU9BZweghYziYf7jJoaeuFiEf3S1qlzUDPlvere2z3qsSIlJs3W9KkljVcdl0oz_6F7hkzwAeVH1PGMZzqjVu_Q95jkTVyFOobDYF_93V9YBqksud-ydqN7SNr4NvOCqbK9p-JE5LiffurE5zm2mFPfBTVRkoly-NEvDhyjF5-c2BZskWqP1131lZV7LYAmxqC2au4r-R6YLWUGl6MO6KpDrdYp8IMl8b0o9rBq-eEZ6cvtsbQ282NKNau4aj5Ho0PjlM4SA_ik-T3kvXUzhNLpbJjW1yBEAf6uf6IybFNmvxFUVAr82U6K-CT6LOSkG1vi_Gx0G1qtjrDWu6Ug1efnrFPIQtvfcCJfs9_QFASfXzgDJhAED5VU-d2xyvoXuNFApzqAUNwrPc1EKWb7JOHwqdaFZ-mIGIWp1xGfx4xvWvGRAgWF2dGQ5aLVE3Q6V3ztOy0i1xRHezloHYF7jjuviQGVE0bZeP0te-0Wwyhk2mu4ZEpdwV4ZRCPM6PjcDD1UIAAqX5zsfsCvzUG38FAyyZei0HYeZ75KprIbQ2wtnO6817XlEa8GkulhN7jtaSlq1J1b4lgMruZrdCDzo7ooK-7glizpMuxt53BWXAYXEsmHXnEX9sSObUL9fVSy3PXvzt37DoztjysHUdmvYsufwfWlHNzRR7xMn6e4VMgO8ygBCyOub62A6ky9lLbsmUt0N2I52cblMNNAXkCbEUVVF65CTYlvdmzVsembzfDcb-fpwHH1qI2HuL0KG2zypREafnpgZ7rJe_K-yPngCnEyGUswY68B2gXVySyFfFWG18r3Ure6FFF8fIjTcYJnT9F1tQ73plnpGFQWFdrYIBsBd-o5F1w4RpJjQow-QrsgQbDoFBWX4aCOdnHeR7ZD1EoYmeQ3arfmARnTJCEd-3YHfgjDkPzku79GZC8Lt5BEpNdmoJN2WnlENCF_n6AqGs2Z6RcbLllAqkZPTHXAxueY3E9QF67SavFuHoeDHcdkptTHe9C_4DQVU_WD5INdy9nRR0LJr4FozC7HszCKyMWbdZg7Ex_NYBYbGIv3MEF3QI_eTDVELAYlBEi71nkbi9Fcy6JRfeTh9vF7xtw9J57TyKu-AGYhEUB5-6g0OEoTV-F90HsOOseBZOuKvJDYCb97eupnKJh-2oJJhbWHRgwMJ2C9Czzf7x41ywxZPlXQvGsUFRidAZpNvDuq2sxttOxiiy8EW13x5x",
  "id": "rs_079248f874c6ada1016ab44edb869087d0b7bc060a36b9b08c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap remains centered between the left fingertips, with its thicker body directly at the grasp point. I’ll close across it now.\"}",
  "call_id": "call_DLW47yoVyKqH7oVktW2dK1gO",
  "id": "fc_079248f874c6ada1016ab44edc03e887d08997947ce6392bf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DLW47yoVyKqH7oVktW2dK1gO",
  "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]: [-0.701, 1.8652, 0.8768, -0.0299, -0.4988, -0.6056, 0.1102, 0.2111, 1.301, 0.8989, -0.4152, -0.2295, -0.2596, 0.0603]\nstate[eef_state]: left_x=0.3622 left_y=-0.1904 left_z=0.0015 left_yaw=0.0607 left_pitch=-0.2739 left_roll=0.0433 left_gripper=0.1102 right_x=0.347 right_y=0.1191 right_z=0.1494 right_yaw=0.5358 right_pitch=-0.2228 right_roll=-0.0095 right_gripper=0.0603\nstate[joint_eff]: [-0.0068, -9.4701, 5.7778, 0.8669, -0.2027, 0.0366, 0.5446, -0.0752, -4.7385, 6.8034, 1.4676, -0.1587, -0.0659, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5710e1c7f8c950d44d01d3dabb157ae190a1783171f853f6d89b38e1cb2c9f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2cbf2f7d49cb481fa75f88f10b84c38d61f1d4487dfd122d9261e618b38ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6388159031bafd80a604aa8dba346d5e41347c2ffa4a4b1349f564c84510880f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 15.13 s

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

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0353, 0.9779, 0.7525, -0.5266, -0.0219, -0.0544, 0.9971, 0.2111, 1.301, 0.8989, -0.4137, -0.2298, -0.26, 0.0556]\nstate[eef_state]: left_x=0.305 left_y=-0.0033 left_z=0.1663 left_yaw=0.0018 left_pitch=-0.1804 left_roll=-0.0182 left_gripper=0.9971 right_x=0.3473 right_y=0.1193 right_z=0.1496 right_yaw=0.5362 right_pitch=-0.2213 right_roll=-0.01 right_gripper=0.0556\nstate[joint_eff]: [0.1983, -2.8239, 9.9624, 1.5263, 0.0269, 0.1099, -0.0757, -0.1162, -5.1214, 7.0632, 1.5458, -0.1441, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7002, 1.8542, 0.8833, -0.0589, -0.4919, -0.6022, 0.9985, 0.2108, 1.301, 0.8989, -0.4156, -0.2295, -0.2596, 0.0567]\nstate[eef_state]: left_x=0.3604 left_y=-0.1899 left_z=0.0037 left_yaw=0.0571 left_pitch=-0.2863 left_roll=0.0494 left_gripper=0.9985 right_x=0.347 right_y=0.119 right_z=0.1493 right_yaw=0.5354 right_pitch=-0.2232 right_roll=-0.0094 right_gripper=0.0567\nstate[joint_eff]: [-0.1299, -8.253, 4.9162, 1.3211, -0.2759, 0.1734, -0.1636, -0.3214, -5.0393, 6.7761, 1.4432, -0.1441, -0.0366, 1.0232]\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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 1.8652, 0.8768, -0.0299, -0.4988, -0.6056, 0.1102, 0.2111, 1.301, 0.8989, -0.4152, -0.2295, -0.2596, 0.0603]\nstate[eef_state]: left_x=0.3622 left_y=-0.1904 left_z=0.0015 left_yaw=0.0607 left_pitch=-0.2739 left_roll=0.0433 left_gripper=0.1102 right_x=0.347 right_y=0.1191 right_z=0.1494 right_yaw=0.5358 right_pitch=-0.2228 right_roll=-0.0095 right_gripper=0.0603\nstate[joint_eff]: [-0.0068, -9.4701, 5.7778, 0.8669, -0.2027, 0.0366, 0.5446, -0.0752, -4.7385, 6.8034, 1.4676, -0.1587, -0.0659, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5710e1c7f8c950d44d01d3dabb157ae190a1783171f853f6d89b38e1cb2c9f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2cbf2f7d49cb481fa75f88f10b84c38d61f1d4487dfd122d9261e618b38ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6388159031bafd80a604aa8dba346d5e41347c2ffa4a4b1349f564c84510880f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7g1LbnKq1f5ZPoHy1j9MU8W9qX5evFVLMcXwy95Zg-dw2P-IxQeX5Dd2qdvP7Fpo6rNryj0l9NzeokPvHhORKSAsfYjmA7nupLux3CXOg1Cruqom4E6H89zdPq1NIgVoMlrCXm2w73NhgXHDkIsUp5QNCgHp1LXuWdKG5PjtkedpqKagyHoUZQJEont7rrEPkSuR4YjbmrOO-3OTjBp3Q3Kh2P7qlE6GqmTk684OaS1-BMAL0nH1PGTna7kZtW6CD0Ay08DFs-BlWiz6TuT_xAwq9_qISilfdWZUhlPA_HMVP2AI-M4pVGLkAFDtNXfGOH04aiv7neetMOGArtBdI8GshXoR_0WPadXbofE9gDRA7Lo9E4Ig5wLKOlyDqoyTCyUTFYz60z63KJb3EJsDGqlB4TuZKa7mHr_-NhmFz1iCXOVsuKa2is0UbbqSYgozNC3GygMhhi1qwHZgSY98noLkIKUUOpiV7uw_PhuVbdAxYeglBYckaG5ocP_4fVV-1YyFwJY-kvXN8EBFxn8mCgDnUONVh0fmS09AZag4S8ykmQiq2eup2QtVCJ0nZIHY__vkJ3ZR6RKPXm59N6L6QvIhJJY1fIXyEkhCb8Zvw3IbJZanZbEWnzI0q0doMaa4CQAbe9GGpD0vJYUxwsX7txIWyHSNEMcaw3TwKdggW88WtxUpKq3lFY0Um8CRWK-XCZxTNVxBBSC28HYdYO5t3h0xQr9Ufm4XvjeBvW-PsTTSw-JXfM4uq7XX5vO8DrMSmfAjhzvo70JtU6vl5ZKmz8kbzFZVN0tRL537eNi46SPVau_FNpcCngHS7TQmSD7KgQRTt8hngcSAu14ICsC0LnSUn1zgvmbdtfwLj9eaaCKZe6RaVkX3qXhMDA1zZ-3e2indRJlCqbidgJvzx-q2JsqgOmcQtKCiJJY8RCkJu7OsHElIXCj5_aTtA0GfbQiitDPCu_kwIyCwVerkQGTuVu6VwUW76cpvmGFYL_2KJ3sR-1dCQ-SmRDys57pf_Ku7DftTamGW1o_SEdva2Rjt_ZlPA69oI356rllkhh47-Hi6Gy5O5RDYgj86d50UV9yPPnIJLayvQKRSVdERI1eZslpdBeOzLw5hZHOe_3dBVBasoFP3NuyJwGGF978xHXwShlMzHI8ix-0YNbCCarPt72Q4SVsQgKh8t-d6Vcp3vJ8rj_SAdcmJHb8qgowjTT4cskIEucWqhLxtKT4I1Yz-7UnQ==",
  "id": "rs_079248f874c6ada1016ab44edf3ce087d0b472b20164cb58e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.10,\"left_gripper\":0.0},\"note\":\"The left gripper settled at 0.110, a roughly 10 mm held thickness and clearly not an empty close. I’ll lift the cap to confirm it moves with the jaws before bringing the two parts together.\"}",
  "call_id": "call_O1E2BHfCsUVhyfc2F6jVLM2D",
  "id": "fc_079248f874c6ada1016ab44edf70a487d0bf94083649b65930",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O1E2BHfCsUVhyfc2F6jVLM2D",
  "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]: [-0.701, 1.6962, 1.0336, -0.3832, -0.4938, -0.6098, 0.0847, 0.2108, 1.301, 0.8989, -0.4152, -0.2295, -0.26, 0.0641]\nstate[eef_state]: left_x=0.3591 left_y=-0.1888 left_z=0.0754 left_yaw=0.0652 left_pitch=-0.2965 left_roll=0.057 left_gripper=0.0847 right_x=0.3471 right_y=0.119 right_z=0.1494 right_yaw=0.5356 right_pitch=-0.2228 right_roll=-0.0098 right_gripper=0.0641\nstate[joint_eff]: [-0.1983, -9.935, 9.2513, 1.2234, -0.3443, 0.1148, 1.033, -0.2393, -5.012, 6.8034, 1.4432, -0.1343, -0.022, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29cf9005b6384280b3bdcbbc6e6c29212976960d412c0cb2d7e8a7a1467b006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4b682a82c79e35d0b195bf6e8de0160088bbd682b340da77be68f767092be1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709e5b92173734242043d723a5e0acad5070b7ba08816f642511889d11dcb5c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 4.834 s

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

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6949, 1.586, 1.0275, -0.4068, -0.4908, -0.5808, 0.9986, 0.2111, 1.301, 0.8989, -0.4156, -0.2295, -0.26, 0.0564]\nstate[eef_state]: left_x=0.3568 left_y=-0.1844 left_z=0.1114 left_yaw=0.0378 left_pitch=-0.2401 left_roll=0.0183 left_gripper=0.9986 right_x=0.347 right_y=0.1191 right_z=0.1493 right_yaw=0.536 right_pitch=-0.2232 right_roll=-0.0097 right_gripper=0.0564\nstate[joint_eff]: [-0.4171, -6.9949, 9.6479, 1.4921, -0.4371, -0.0611, -0.1587, -0.1436, -4.9983, 6.8171, 1.4872, -0.149, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 1.8652, 0.8768, -0.0299, -0.4988, -0.6056, 0.1102, 0.2111, 1.301, 0.8989, -0.4152, -0.2295, -0.2596, 0.0603]\nstate[eef_state]: left_x=0.3622 left_y=-0.1904 left_z=0.0015 left_yaw=0.0607 left_pitch=-0.2739 left_roll=0.0433 left_gripper=0.1102 right_x=0.347 right_y=0.1191 right_z=0.1494 right_yaw=0.5358 right_pitch=-0.2228 right_roll=-0.0095 right_gripper=0.0603\nstate[joint_eff]: [-0.0068, -9.4701, 5.7778, 0.8669, -0.2027, 0.0366, 0.5446, -0.0752, -4.7385, 6.8034, 1.4676, -0.1587, -0.0659, 0.9158]\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 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 1.6962, 1.0336, -0.3832, -0.4938, -0.6098, 0.0847, 0.2108, 1.301, 0.8989, -0.4152, -0.2295, -0.26, 0.0641]\nstate[eef_state]: left_x=0.3591 left_y=-0.1888 left_z=0.0754 left_yaw=0.0652 left_pitch=-0.2965 left_roll=0.057 left_gripper=0.0847 right_x=0.3471 right_y=0.119 right_z=0.1494 right_yaw=0.5356 right_pitch=-0.2228 right_roll=-0.0098 right_gripper=0.0641\nstate[joint_eff]: [-0.1983, -9.935, 9.2513, 1.2234, -0.3443, 0.1148, 1.033, -0.2393, -5.012, 6.8034, 1.4432, -0.1343, -0.022, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29cf9005b6384280b3bdcbbc6e6c29212976960d412c0cb2d7e8a7a1467b006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4b682a82c79e35d0b195bf6e8de0160088bbd682b340da77be68f767092be1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709e5b92173734242043d723a5e0acad5070b7ba08816f642511889d11dcb5c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_079248f874c6ada1016ab44ee20d8087d0be035d80a5aecd79",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7wnytMLePXD3OsbM65-xV7uY3S81ma3MpTUfOKNaTquAvObhKAS6gJNelb1M6hi6GxkirkwLGKiwu67uthRhnGrAtiv8vJ3ZHRbElTxXNZKqEMJydqs-m0j-jHdo-2Ewljs1NgeI_lMshMvOqx2VA4wxW_0QPzPkMIFvqeYOqkdKZTJfEsmc5diVtc5e0rn3SFpLiGb014-k5tXWbmOKsVxtGrG4Qii6aPvJHFSWOKwWVAXnBaMQP_GXG00bwkZoobbW-lvUuwmI_EdQzSn3Jh3NZwFGBeowW_PwOcOhi03sQxvbw9h1x0DYT_qUGKrjRc-hRqfS5leNkf7CNfGUtAMeF4CtRowHruBG0qMMGURsWPxCrzgQVzwLBGwxpcDld2Y6QUMMqr7q_oVYXVBaysEUSms0BRi6jmYDM9ahiNBLN6HCSVo-IPSOKdcgi5HeXTNhiYDH5wGfkqqOmImO1aXt-093wQ_-AOmbiyyrih0yI0i5D19apGsiz4i3D0vG6OCr-1BoC1yZymkDEWLSJjDX0nJiXJfM6iLUmcJJqZWtXdvnc5-7YduJFqlDD0AlR3C1wxk-VB-zLV-Cuop9F_o_lRN_Fy6mJcqPbog8wNl7gltsJ2VYPBDLHlPmmKc5jDwDiHXW77T4ihR8As2Iez4VrwvE4mBB0i6Np5FKtpFzwj8qQWuUJwD-RhQH4I9u8QhwhsEsq65uhLo9cY7tr27aRCmDROux1-2kQBvz5VDX7b7nyyJwbzDDVG2X5Z-AKgEeqCY8AlrsKil274L5KG1-BE9CYa8LMOUNjKXJ9yEp07J9UMronyiLlPvtkttFlD-1opg3fU3A4qwCntAwd5a17d69OYeybOeK53RxVutVGeIbUUKMrrU2GDe8pWOj8EpDDNQQ5rMCbG5cIW5cDzgEbFW5ZVH0N0hf-EfXwDwszNsmWf5PpjmMhQTvyxi95PepgiSoJHn2AHEGZUuvtLqKPHrc7SES4v7qsMlHSYE4jafC21ty6Rt8pjNksjH2gWJxmg2QdU5U2iNIswEC0Lf0zvNsiGeGjIKkLuYGT1C8IJ86dtcgCZjU_HFUmoy3gSwh9Wf7MqD7Y0r-KvgtuZBGn6PbomN3CWlLxCDlBpifltcrcpsThXMMfpSrBXz6iTfaIVtbFB0goPjA9N4hQc8kkQUQBERxLo6UcCGzjX46lpOYVP40WebvdJQvXyB9EEE7wWm8_8_RCqX0IhEWd-p-Op2BEQc7givbkyqTaB8ZL5azNxwDi1QCvNFz3m13Fe2ormeBTB6i8-3BZwRFQqSIrSNATcoHvCWUU-oRjm4_nxg9x8J8Rfk2iU_oWochqH7mo1H5VchWXHKtjdz2F83nFRnGtVmvmzt5MkQhkYaxk3tp-_-vx_7UoQ43yKc45GhC8OI0ovVS21FWqZRNnip8iDKQvkIvXxs_QYdADnBfGTf0ULG-HWa1gDsXtwLH-_vj9nWlvCCkq9FTCdZe4Xd2WkUPvx3BjVGgxOzGh_PRnwwtlUiPw5N5OiTy1Th5LmMiw53b7J8vYDkIMh7LKqZF5dYdQXN2LrXRuSaExbjSWBK3ILaPiICzjxWI2qcNkj_KwSyyC5rN02iEjJXQMfF9eequARZYonzxBZ2U2SRv3QTKXY67BpR3Z6-YFzFs62rPzxSJGKNq1hW6PTtyfwfwNIXpuCgcrFwsRhxwGq9F4f1XSWDFPJzyfuuTKhkfq91wgAfDykh-3KEEQVpve-9wbGirxaijT3tXvGYdK4SNV-wWwNEXQm6d2RI7CVjLeosdVaS8LLq3fvJL6qmKkCpnGUCbLd4MVHFVoZ_XpAC7rfsVPCs-NpvXJEoLD3SOwgpT0ICqzuwjX16qUnkt9tLZytlj17W_ykp2m3-RUNJfuRAR8lf6soNIoN2J-yq1p1fCwL97hi2-kR-5i2KsfmbeVrxiOn5l3p01jR8-V1_WjnwmfdvOYQ0sKcRNWIywpGAptBikWs1bzV9INgdghXn1GvcgjtFhyy3pb9JjpLBmvQVmTzsRE3my4nzIEIdByBb0r-0eZ2mez2W9WL53xXaPZhCf7IuSEOr2wJ6Vst4hClMZT9cDD2URqUul_T4Rrq5u0vyTGg-2QaAfIUHeUKdERmKu2u5ptDDLCWxEybuSJxOWmk00wugXyVzrS7CCXQrTJ3RMtJFG1N4j-dgSwe4e_HeGBt0zeE9gZ37YDIbKbfcI7qw26YA1-IYEA28BDRQEvzvSAvGq2lXPOGUCAlLnKtFwIejZms69NdSoveV-nJsdEd6nvtItLwHf_O7dR_Zsqw-kpIbRjEkBnV_wLjjEHFHkt4WvrMa5iXg8FiHQPO6fjNHBWtJsOWbif5U7ySMxlRCrVZTZeOHyJ08ni-rFRSyLxahIvHC-uY4PDX6gWeuPu3_So9blRH_0W4Gnn9Lwl9QXZ41qUcDvse-PLxN8Mt3zMFS32w_S0uymKu45lI0eWr8s4SM1to3AgsdO4OVdiEUiuKwozwGx5Aa5Zhan1ZQmqZnSs9wLCA_JWlHgQeIVRt0DdQ5_ExSNOpD3l73ih4ZrcegVaGrcR8_xpFn0GK0gCzp2sqpIeqnTQWAHCMktEKPkOUl0eB9rR9LuodCZXRR7bCrBHzpxvS3jR2F9igsTD7ikF6Xv5LIo9q66gPqIKIZAdj0_bRk-NWft9SRwJFwkFjA9FyBbqA2dPlpXyMTYHEP22m7ZP1qt3C1bhTb8uxo23yKuSsZiQoqKuWOsNeb6QxrzyDYpKeSGklJuO1gWgmXtEDgfzW7D6pJY8JFsoktjffq9m1SX8_--TPX-NZ4AG0_11z3lsfzj7MZsZg273QP1WijsFhsGu1ndVSoe2EgvqmR5tLKmtvl3tW3kCj0wkb0J0wqvrJVuiBw5vpooY1X-Ecv3bsY8fyIDzlWIGV7t2qO5y7Tu9A8RqSSU5q6bA4C__OQrT3MmH0tVWIZg-Q61AFy751OAX30ED5ZxzOscJG30fcvmrcQ_LZTDjY-9S8ZKlTCMLRxX6BtLfxbioAqWyDIxWUXK7mE8ETqjiVbv63Wffz-JVpsE16IbC7K7qHKA_n2otjIXhZ9o3SBKC1s-BfV6VQ4J5rBurRJdrd-jyOXhJUr8kGvJ_-x6lyhbu4ERLBA5s_xDCXThvOusGTXAp_JIeqVdfPdTOyICvsWvi05ubpURt9eOt-b48aKK7u1YedfJpxJ6v91CZTgBNVTrtU5NHTwnaEhv74E69VPjAp7ABeyut2Lqqw965XFRIU8KP0OUMIWfrbcIVOV6e690q8o51nbvMa2Ef5qI-tJdRN3yvkl40frAzwbVAfgzw4Pm47AkawjYNCOy8f3r53uQH4LOt0Wvtohd0Ur0Ci0fBju1z19N_Mj-E7rnOJwuUUTUAQokgvpfVyN8748KKhPFPEFPJL2cuDHpPnZcdQ3ar6CRIUGqfSUWmjdX8pWuyGZr4RzHVDljoe8bDB0WIm3OQnMr50JEXqVDTkrzjY_bZfv3vmPPJTiEO0LuXV0Ti8of99_EIC7DXMXRTkrIuxXDN3upOHpP4Qc-rJDxtTtsztarwhCZ087gR3Y-L9L3NbtAjonfUgsDd1PgARtprsTj8pqL-IhXK6-QW13A84P_VmSd4UB0zfbwj0z-Cqy8C_ksVRrsUmVHAnT4h6W-PoKRKt2ADtPW2IRSD4JI3cqreXkzQnnLrsn-LACYScuNYzoNBFlzTWKghGlXM8HrrblkFbpi4NYynizk1ftJxktBkq5DBWeJTmysh2IyiPwAyZJr80_pm452-ghIhTVcqkMVoM6JGXKBufmZopVESxubIcYk0QZqoYiVYAiKMOyJjLAluQqQV2YnEzHTzfBhJJO3vKpWaA6dXmoZNinKNhEci1yp3XlcVx4BkHFRfacGRpOQsfysRBmqzoJ9zOFGANCZ3guA4BAbeFM4_CHNegMa2UOVE5FlJTDi2waJSnfLtPl9OD5UD57CxVGzW-phMNZdTef0gkeeCEq-hkiALW60g8vlnAHh_H28MR3bju9YkEww8RQLUydvmIRSe8HS4FF7Zmfyu4TU1OV4JDI6dgleAXC5uTLeuG4b2R",
  "id": "rs_079248f874c6ada1016ab44ee7c17487d0b024df8f35411503",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7wUrTeNtjma2iXyoYUEni3mfgwXOHVcO7XGeX-C6TyMOZwK4VIUERlECxVT04BRLYLniponoXkf-C36eHGAKBkhzqgHu7J8_-jEdRKW3E3Ab1fNT_z7ItnL19bXg1x11IA1hu4hrH7a7p6EnPS9nlP8XRHX67ItGTYCRZhxNmuyumR7yQFrRuZITt79tspO6_lD9GG2L17iyXyvB_s9e_3XZmOIDsw8oWwtkH4V1JJjf33gbt3nGsdPwbHHZ74C6cIU9teWeSFV2aEY4lX9Eo-NXuuwDU_UNVzJ2q4uBRy5AjN4dSTI1623T7ZiPLxV6CgxQ1_kGOIoIWUuRIGgIE61NguzjQJZ0XPlTOA_zSehL0Q8T9GiHa0ZPCuzoqCn4hbUqhvQgiHeixn4UAvxZuAHYcFtDPc_p92HeoRSQEE45EjKz-MilihaZYs7X1uSY1XHkI9vBNc9pOiDWs55fgjH3VcNgBu2OKnUeouOVdd7tvF-LH0zdccExX6Kh-WkKN_FlUxLfwqqRcn9EXx_UP-denEVafkpgRT7UBvZuUer5DGCgYyifUIuUdx4HG92697Zvbxca3CzdGwW8McZhEU1f9pqGNxhmUUNLe_2CWumuiexrowLJTb7QErkNmoIN62z4oD_6ZrOe6O48iKn4nmK1H3TRPtQZ2HAkF6SZZ7WmB-9HWf3-omy3znwt7szGAUxOVJn4V1Rhy0H5Vsu1WicHxIAXAqozJj1WCk_5hGlE6F-RW43ILU_PBKcNcICmyIbo5LzN5bL471RLnt66zKhKgrs_F1SFe7BMOMHL-QrKjC6I_D45CYrmNiWs2vgBKzimACifk2wh-AcWIKfqI7dB8EjSz3DLqfSuufNn5YKvZlL7hMC-MB6jrF1i2xzYlPyE6R-L02ujRzvy5-DyvQRsVbIPagheVBfDmbBb5f_JGYlYwDI1GU8958lBl2sOYTo6_to3hwdRkVL8B66jyi6Zza8ru0Q2I5hkSnONPheSI-j4aWBJUKCoHtMkGrBszqySo80MqmNzdKDDBzK-05dGGku1PwIC_aoGAv37JcUhpTZ7JCjEq-eAQNhErMLc4-9FqD7y0t9i9OKAX8wjExc8BvkQBJmLTfRvJSflV09iXzVs3Y4iDLbzxlsW1l0sG_k25DQpkFCu-vIOsjF-wSt6dh5peImCXSelV4euAUTgop86P-5gFtYAQigCNlJ7cq2DK_7PDD2wUAZhKpaPo-uoxaUahVZncCnsuqFNfJojF6RFmd-dHVG66GTt8fuS9xw2WoE_OCAe4EqlmNyc4K2FpV91BNvmGTGRJ6QnrW1uAU17HiST64ikdkEsdpcl8rivvhYuDtlzjx9TQFhCZgoiAsB2dlzKyZFcR8DGKIkeYvKxR7GBB04ExNGsF3P6WVEsquRTTp2wSOuAoaP8BPpccacah4f24X0wzQnXWJ7Zowlw9HICgqWt9znfVpXSiWuTYf1CkzRgrMflKFAAK4DGII9gmq3TWJkDJpY6rUcgsfq2lDOrfyJxJuFlxyXyEQ81svdB3Q_VjPZlCshOeoeZEsR7Urn43STnXn5YdfoVzeseZDXH8hnFXqgjo8YHiN5u1C-ujX1-tV1FtufI8yv2rBei9ygqhLH54h25kMDGD5ADGsj2rMblnt-NgMJXd2lCOJlC5wI-km9eHtmyP-ZZSYe1h5Xnb5eLjX5794hp8OL7pmNjLqFC4EcD-AfwLiMPuwh58nVnwXZm69hoeQpDFlXkOnZ68tgydZO-bJku6rmItqqqrlkT9aushxWZ87UdQtoQFnDytkX5CGVaCa75z5c2FVBF1EYwVDg49ofCgiiuLnr77y_cKP2TAjt5GU1IXvLhOLUmROjysQQfPCRaVRdu3gTpaC-J2gTBckbtkV5Z7V_5IcmLTDiK8PgDLkrm999Rl9ZZbLIL0s5wNT42Vzbe6gpGkTtKXv--nRpX_uQX_Y1BTXYmaQG7gLcUZFjDpfDCV-bP7CkEGnqc46Hw==",
  "id": "rs_079248f874c6ada1016ab44eed2d5487d08823fde13248dbfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.325,\"right_z\":0.2,\"right_yaw\":0.3,\"right_gripper\":0.0},\"note\":\"Both parts are confirmed held; the right wrist view shows the pen’s exposed metal tip projecting forward from its gripper. I’ll position the pen near the center line at a safe height, with its tip pointing outward along a simple shared assembly axis.\"}",
  "call_id": "call_cPsBgZ2u1yPRQdtwsjz3yA13",
  "id": "fc_079248f874c6ada1016ab44eeefd3c87d09e3ecdfb92ff9499",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cPsBgZ2u1yPRQdtwsjz3yA13",
  "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]: [-0.6533, 1.6955, 1.0286, -0.4015, -0.4908, -0.6128, 0.0861, 0.9394, 1.6318, 1.3834, -0.7776, 0.4747, 0.4942, 0.0598]\nstate[eef_state]: left_x=0.3634 left_y=-0.1688 left_z=0.0717 left_yaw=0.1175 left_pitch=-0.3144 left_roll=0.0694 left_gripper=0.0861 right_x=0.302 right_y=0.2822 right_z=0.1793 right_yaw=0.2269 right_pitch=-0.3001 right_roll=-0.0983 right_gripper=0.0598\nstate[joint_eff]: [-3.9179, -7.8427, 6.4752, 1.2625, -0.2515, -0.0317, 0.7937, 4.1504, -5.4359, 10.9333, 2.5714, -0.3687, -0.5153, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21496fae80fa6fd09cb6b22cc8aabb4d4bea91b1bb448b6eb26bdf2656f73864",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386cd028840c66f8340b08b12c642a5b14af825c6de8426d14fd102adcf335bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9312b5772e4ac34b7aaa9553a3299a0285dd24f028bc95f368c4f01434affb29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 4.142 s

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

message 63 changed as sent

message 71 changed as sent

message 77 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7002, 1.8542, 0.8833, -0.0589, -0.4919, -0.6022, 0.9985, 0.2108, 1.301, 0.8989, -0.4156, -0.2295, -0.2596, 0.0567]\nstate[eef_state]: left_x=0.3604 left_y=-0.1899 left_z=0.0037 left_yaw=0.0571 left_pitch=-0.2863 left_roll=0.0494 left_gripper=0.9985 right_x=0.347 right_y=0.119 right_z=0.1493 right_yaw=0.5354 right_pitch=-0.2232 right_roll=-0.0094 right_gripper=0.0567\nstate[joint_eff]: [-0.1299, -8.253, 4.9162, 1.3211, -0.2759, 0.1734, -0.1636, -0.3214, -5.0393, 6.7761, 1.4432, -0.1441, -0.0366, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 1.6962, 1.0336, -0.3832, -0.4938, -0.6098, 0.0847, 0.2108, 1.301, 0.8989, -0.4152, -0.2295, -0.26, 0.0641]\nstate[eef_state]: left_x=0.3591 left_y=-0.1888 left_z=0.0754 left_yaw=0.0652 left_pitch=-0.2965 left_roll=0.057 left_gripper=0.0847 right_x=0.3471 right_y=0.119 right_z=0.1494 right_yaw=0.5356 right_pitch=-0.2228 right_roll=-0.0098 right_gripper=0.0641\nstate[joint_eff]: [-0.1983, -9.935, 9.2513, 1.2234, -0.3443, 0.1148, 1.033, -0.2393, -5.012, 6.8034, 1.4432, -0.1343, -0.022, 0.7155]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6533, 1.6955, 1.0286, -0.4015, -0.4908, -0.6128, 0.0861, 0.9394, 1.6318, 1.3834, -0.7776, 0.4747, 0.4942, 0.0598]\nstate[eef_state]: left_x=0.3634 left_y=-0.1688 left_z=0.0717 left_yaw=0.1175 left_pitch=-0.3144 left_roll=0.0694 left_gripper=0.0861 right_x=0.302 right_y=0.2822 right_z=0.1793 right_yaw=0.2269 right_pitch=-0.3001 right_roll=-0.0983 right_gripper=0.0598\nstate[joint_eff]: [-3.9179, -7.8427, 6.4752, 1.2625, -0.2515, -0.0317, 0.7937, 4.1504, -5.4359, 10.9333, 2.5714, -0.3687, -0.5153, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21496fae80fa6fd09cb6b22cc8aabb4d4bea91b1bb448b6eb26bdf2656f73864",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386cd028840c66f8340b08b12c642a5b14af825c6de8426d14fd102adcf335bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9312b5772e4ac34b7aaa9553a3299a0285dd24f028bc95f368c4f01434affb29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE72pf_efjD1_y6CHCG03Fx24I0X7sGFYqepC4FqMrSoPE-sYwvVEULwQ7mBv2S1jwUp24EfciU-A7BE7FIJaTtuMBUDwj8mRFgGhRjffWsHFc-8vIWV7jQwvMYb8yXOii6y68pjYVq4zG0h5W6_MUrHTCZIsNA7J7jwM1TK2hYXfyoSvm5tAWlzAsDe-IG5OlbCN0yLZPxdRr-chv6MCWuoE2hGi_gP9NG4S15GkgzKFQC4veztnn_4F3XNNFumxPqNoORrrsnwjhJKzWJUcQTg8mvVt_i2fDGxo3B9OrLyyGM0BNUHUkamxNJhJ0a1uFZ0u0a7GgM8ReLj3kLnKknTZOTaDtQr3utFO-hv7gsK73379f8j6321DJChZ7wBvgjRZYoUkK65j1FeV3qdwOowwD2dkPBso5IhJZ4GdtJ4Hi1DUaX9ZGjCPoj-LIprr6QqhIZ6YNOWsMxkjnLyG76NYxpRisL1FtM0y6KtEVzmOVQ9VH12Hk0Qem6HA3-gEATxaH4Auzukdzza_6GdnvnzAmsXwqrU6aXmBWgj_TugUjTmYF-gGOXDPmWFiRiL7opZHCkJxACUgvBRTEVBfhes30dnTVfE28bsQ9K0gkRmlgPicQ_UucHu03EsLHsi6J_sFUqHMNVA5h-SMhejZ_8qb3zFYNuL7wCHvYkxLsByamH2CJlg7KSO6ipIs2IoJ1K5LZJ-IYh_QmqlKE_i2jFe6wD8pL0UE51hz-S6mfFJsuKOoRjjud-QpTRn45At4RApQRH3YOgxiHaiaKWcUG5h3TBy2B2lmYb1tgaCEL6uUZtdy1QI5EQCJ7vV70OZOrWFViDLHcejXMkvNmW5ICybhIRFT1FeZIFXZGVMVHfJw6K5CukC9ts7El5eq-JPdeRk0iiTI4Dg7jwzYM1OuZGdJivd_kLN1A2ksMBRAlxhuIQIT0i1Szg81eEGOy0Do-eE8IcZMuUGjyr-Yw1aukUD0juXXB314ZSzyuGFNb4TpOWLEUdcIC4y6oBLD2zDO23V0WDSBfDxe44zzBC-sfunOnJfIGX1Eo8BJe9TUWsIa7KeffNlOqFIqNJP5RD0xru1MTmE9EF1-aM69Pq2JX7vqDsbWA_UjFoX07Uvj12JgytSEh1bZLTY40rUBXFm4PFrJnXDnknzgHVfH9FmZPIktmqRJlBPg1eLQr9NS01bv2ER2gRmhDCfzL2fe0lCRcI4aUm4MNg0p14eVc16NZW_7cuj1S-v_IikrXJIm46WtkI5jf0qsCi7IClWDgQRVD2MOENZ9Gw9K7pjVB_utl6JkT7MDBqA2MT9LfkkiJDfZaWUbC4ZyEaVCljuJBlxVNCxO9cSjhk2D4Fc1ENhURaYQII70b72RP_tAQjwEjixCsmydNNG4bKJxDdpFTT91b36s4tzB2TujWQNvpj6D38ONBjJkidSkrQEvNl5jhMr6MipPoR3iHoatS5iJM7CjKR_ZmWE06VWffCiuwcoLp-uTLz-8s5tHEELhDAFyG3fz9DVWPnFaLMYKiEveeChATFBHyYcpNQhc-RnBrh5IRGsKejLC5G6X8uS7ByWiZeJzXpf34kRAj9vZHxhOvM-ddZVEhwXIx8XUNuBZuPMOlT5ecyL2i4in3RlHLFrOeocN-BKblIUOwASpAWN2hEJXB3MAL45RYi909JrPp1_hXaf1-dikh9XKYTYyUCB35yA3h_DmBrDNJuX28tothg88Qf68bKre6qUnjexBgsoLjCzM8zB3efh-vYG2ZCsRc__W9nePvsaZSk7ZaH2t3tEVctz_Tt0bVhCxlUqa2jz9xwlyqf3OUm3drxm_mUsS-Ktz6RU0OilbPfmaS5b4jKoGtERHq_XrqJuHp1pVWdpRZkU-0doFlgLZCgWs_TOJwLrUH8dz_ocX8X-Kt4PWG4p8yVf8YgS6Ahuo5k4ZhLL7b0GKRyPq72V7RyZHH1qatWgTGzJ0PmNZA2ikil4n1-28lTEpYZDG2iPouZ-M10LuSkoANJV066MSlSldy-Vwqaxv2dKcjeSGb3YnYdh0x-rOK4cMx16n_OSzHBbNrlx3RjQyuxR0aGgV6ze_AK_G_hRFTLsO3UCBA_99HyBGw181l7DKVq5hQFBi95MXE6UTh0gfelxMA9la0ET4VDXI7lIaawpH_7MF-G1qmYc4to8quuOjK5YoL_uokdNEDrUDtJ7FNc-_2j_Oqoc_sBtlfvKjc5Z1WnGd77z5A6nlZjn48ZI-oItycG_OSDE_ouumTfe1MaQl5No4oIQFl8yazAOaJdjimhS538WYtkmy8KYaZD2bM-h5xqQ8C4AkDSQhr0qYEnE90mQfJ_u5v7yrrLFCSRuU2VmkmbRSfzIJDfykHNhJYHI8hly5y-ObhzMl-GrFx1D89Uif4R7D-UEJ_802a1Sq_5ouPohpemCr4X-AkpNR4p-Gpj3LqfhG7Gmn5FTMFgqsTlxoePiyG3uNSMR6CXC57ADUROqiuczOVDoW_wOR-ccrg7AdW9xVqRYGSCymlWxXy4JWRBNXZ5yixOqmCNC8HLvvbCFsfknRzCY-At4jH2VGOxPPyXiLEKWY0P3yw==",
  "id": "rs_079248f874c6ada1016ab44ef2f84c87d0a08f358e64c9975d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.31,\"left_z\":0.2,\"left_yaw\":0.23,\"left_gripper\":0.0},\"note\":\"The pen is high near the center, and its tip still points forward; the actual yaw settled near 0.23 rad. I’ll bring the cap to the same lateral line and orientation but about 17 cm farther forward, so the two grippers remain separated while their facing ends approach.\"}",
  "call_id": "call_j4WnL3SXGJi38Z2pVnb5l8Nt",
  "id": "fc_079248f874c6ada1016ab44ef59ed087d09b5de2f5ed25e629",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j4WnL3SXGJi38Z2pVnb5l8Nt",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7116, 2.5568, 2.6896, -1.5227, -0.5617, -0.8371, 0.0797, 0.775, 1.5867, 1.3914, -0.7826, 0.7231, 0.7292, 0.0598]\nstate[eef_state]: left_x=0.4533 left_y=-0.262 left_z=0.1338 left_yaw=0.3321 left_pitch=-0.4413 left_roll=0.2461 left_gripper=0.0797 right_x=0.3575 right_y=0.1915 right_z=0.2195 right_yaw=-0.2219 right_pitch=-0.1042 right_roll=-0.0291 right_gripper=0.0598\nstate[joint_eff]: [-4.2188, -11.9453, 7.7607, 1.3602, -0.5983, -0.0464, 1.0281, 13.5453, -3.5214, 6.0513, 1.3407, -2.0195, -2.337, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea73da74bbcfd7725d4f9f329d90b9a4d26e6f43bef002e008d21ddc4ac07e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb317005ec7eb16e69f0119fa66507189e4624717baadc32fb1c4142093a895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e25cf69616eb4f6b90c99b215c742e4c04478fa2cb91f38a68c6c64207f7cad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 6.996 s

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

message 67 changed as sent

message 77 changed as sent

message 81 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 1.8652, 0.8768, -0.0299, -0.4988, -0.6056, 0.1102, 0.2111, 1.301, 0.8989, -0.4152, -0.2295, -0.2596, 0.0603]\nstate[eef_state]: left_x=0.3622 left_y=-0.1904 left_z=0.0015 left_yaw=0.0607 left_pitch=-0.2739 left_roll=0.0433 left_gripper=0.1102 right_x=0.347 right_y=0.1191 right_z=0.1494 right_yaw=0.5358 right_pitch=-0.2228 right_roll=-0.0095 right_gripper=0.0603\nstate[joint_eff]: [-0.0068, -9.4701, 5.7778, 0.8669, -0.2027, 0.0366, 0.5446, -0.0752, -4.7385, 6.8034, 1.4676, -0.1587, -0.0659, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6533, 1.6955, 1.0286, -0.4015, -0.4908, -0.6128, 0.0861, 0.9394, 1.6318, 1.3834, -0.7776, 0.4747, 0.4942, 0.0598]\nstate[eef_state]: left_x=0.3634 left_y=-0.1688 left_z=0.0717 left_yaw=0.1175 left_pitch=-0.3144 left_roll=0.0694 left_gripper=0.0861 right_x=0.302 right_y=0.2822 right_z=0.1793 right_yaw=0.2269 right_pitch=-0.3001 right_roll=-0.0983 right_gripper=0.0598\nstate[joint_eff]: [-3.9179, -7.8427, 6.4752, 1.2625, -0.2515, -0.0317, 0.7937, 4.1504, -5.4359, 10.9333, 2.5714, -0.3687, -0.5153, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7116, 2.5568, 2.6896, -1.5227, -0.5617, -0.8371, 0.0797, 0.775, 1.5867, 1.3914, -0.7826, 0.7231, 0.7292, 0.0598]\nstate[eef_state]: left_x=0.4533 left_y=-0.262 left_z=0.1338 left_yaw=0.3321 left_pitch=-0.4413 left_roll=0.2461 left_gripper=0.0797 right_x=0.3575 right_y=0.1915 right_z=0.2195 right_yaw=-0.2219 right_pitch=-0.1042 right_roll=-0.0291 right_gripper=0.0598\nstate[joint_eff]: [-4.2188, -11.9453, 7.7607, 1.3602, -0.5983, -0.0464, 1.0281, 13.5453, -3.5214, 6.0513, 1.3407, -2.0195, -2.337, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea73da74bbcfd7725d4f9f329d90b9a4d26e6f43bef002e008d21ddc4ac07e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb317005ec7eb16e69f0119fa66507189e4624717baadc32fb1c4142093a895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e25cf69616eb4f6b90c99b215c742e4c04478fa2cb91f38a68c6c64207f7cad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE78jRMKB62YLLjxYvkcYxdQQ2ODQNcINTd1hGzal13G0uqOFPhosQ0eOyx_tiSjHoMoTRN7jk6hgi_QD_qgmZHsFxp67eO-oCUTtZXEtsHwJAby7cHk2pcNfHf6g28OKDDwa1yL47Z1PujwSLx-ZYUYloMDZZen2u7nhLSv4rSTif--3meNlC47gifvlBaG2ovJ9aN8PTh-nyfK7EtDBOiYVUlej4THx3fyYGXSkN8DsqBxmJaNaIOs4fHF_ZmfAJYVXraPPEAiF8D6NVTQXsGAJAkYhZh3lzwF0-ROXmskhIsdUM-Hkc014FPpLHjFK5zhjSVv1_9DwNFWx5DxcAGy9ga_iB9zMS6BFGY7xmpF-JGaJgo-6hGngz9sEvbm7zMuGJO--5b__Mn4LxOxO-ixYhzgkvYWMU4sDGwQ-0l8qVdj_fYHzVmejouMAFy_lnuSg2EbeJIX8hDpqmKByGKPuQSUXtGy6TnZkiDEsSUJjK-3-Q876pNoZ65L4PVjR-CYzJkfrMRihbDYrONUQMlHSG0ss5F-Sn96ZTbLLg9Cq9729L-byyZgJDQ4X3qkhjOHpYtydmMD_BxZVoB2cJLs4PqTXK66p5krren7CdV44mjeJlbwYpajoDeIKj6oNMher51ge-01YyN3NdCI8kT84Pprl_y_U9qOSR3-sz2uQj5_o4wpW3R65VQgfPGgbSkekn091ctZWovfry7ZlOEjINHcO5PvHJ2JsWuiT0SfZyeTGcwwXtUYOn0cUCog5QV_WwUFVRHfVN1YujscyTjxi_UHZArlBw_ATFLl3zI7DdseHJqkJExvrD7-w0VDKBdVj-IMT-6bj-sXGWjaA2OEfRIlRJmjodUmfKNmx8kKhfjUBTSsmqxp6nTbLUBUp4rZ6i7QhoF3kOJQiFaJ3wr6kqSPljMfirMKH7LVGHg0MhMdtF-yqbfHG4dK5a8gCKKPycRMCFL_Yfa8_ecnm8RviNem9tLy4cw9MM3ZWovjWfzMheEoveVQONgbB_0woX2mCcd6lcrFfBP50nltfNYHRmkNZWUk7BdOxGAH0W1mFVPH5kQ0xPtUkJDvvJ7JIidiZRzmH3hNImL8oiSR7be5ZfNIXtF3XAZZYt7yocA2G00bJCN3baEKWbhGmbxDabV1GsEAYMxRDbIGI9z58qxl-b99OmkHdM9TkmbrG0GKIl1G3IVPjsPdMSmlVe3cPFUgg6Dbx0vDTDnmYQLeeIKvkvOZ6q73guqbhm5xqaGnK6H56mqm3NQwflShEynGhtr0P9E8GULzkUGOpLImr8sLyVvb9i8Iw95Tro4T-zEpsaSY-r2g_VVwxpFv2Vw5YKHFXpvXAI5SAH6U98m6KooYGrZpM27n8ywfEnT8pyjDiXdBdPtWX0e3qNYKskF4cKrqJ5n3ZQEq6ytXpkeMBdaz87OnYrHdwIIbm7HlCHFCurxxLdVMuEHTEFW0w7moEKu6IvyFtC8kVxBR_4XDGE1OcM5jVQ2e-QtFpQNrtXoQGbEyTcGfnfT5FiKEvawQsccTAAildlrsK2pP9pNt8d7dliKmjZidluA2gH_5KKW7EGIjmiBKW7esPxW02PWl4xTtEOZm-wgfUYYTq2RNvsH6csNkgIMfXr5mvQRQNyodufq7yFovZDIJ6u-n52EYCmZYDSkLiWwT4Kg5nSx3uha91KH2srr60u_raNtUf1lHlrElW-o_BzH56IzvB78bDyHrBSL-r7VI4Mhl42A21KQzIkMYWkwfBsBlJ35HA4HzuLHX9Z9ExTMoAALCRJWmnPQoOc7iI-lELYpo2Zt7qrFVLAr4rrId6Re29u3AvHp-YPZot1T-E9mcmh3oba60T2DlRw5KElqRm9IGqIgqb6U2ZyjQ7aoZ2SEId60RXN0T50M=",
  "id": "rs_079248f874c6ada1016ab44ef9386087d0a62772b9ab6eed3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.1,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":0.0},\"note\":\"The arms crossed during the cap approach and the uncommanded right pose shift plus high effort indicate arm-to-arm contact, though both gripper openings still show their objects held. I’ll immediately separate the left arm back toward its own side and higher before choosing a safer assembly geometry.\"}",
  "call_id": "call_eNZK1C1UAgsgn9cXRS0HNVCU",
  "id": "fc_079248f874c6ada1016ab44efaff2c87d0b703fafee294e960",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eNZK1C1UAgsgn9cXRS0HNVCU",
  "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]: [-0.4088, 1.7615, 1.8275, -1.1931, -0.3622, -0.2325, 0.0797, 0.7784, 1.6203, 1.3823, -0.8265, 0.7025, 0.7216, 0.0598]\nstate[eef_state]: left_x=0.4039 left_y=-0.1028 left_z=0.2349 left_yaw=0.06 left_pitch=-0.4634 left_roll=0.243 left_gripper=0.0797 right_x=0.3515 right_y=0.1914 right_z=0.1972 right_yaw=-0.2122 right_pitch=-0.1663 right_roll=-0.0985 right_gripper=0.0598\nstate[joint_eff]: [0.3077, -10.5231, 6.2154, 1.0476, -0.2076, 0.1734, 1.033, -0.4444, -10.2906, 7.2137, 1.5409, 0.4713, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb23ac8c01040ae0424fc25a12251697b9a04c2a62bf109b4d9f4b39dce8f345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009b3038d2a3fd769794b4024d79e91579c114f94e7cd159e2dc65c999a99a55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c9532bf158b4e72af64ddff303aa94dc21a22faa68af4b0256922ab0583ea1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.632 s

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

message 71 changed as sent

message 81 changed as sent

message 85 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.701, 1.6962, 1.0336, -0.3832, -0.4938, -0.6098, 0.0847, 0.2108, 1.301, 0.8989, -0.4152, -0.2295, -0.26, 0.0641]\nstate[eef_state]: left_x=0.3591 left_y=-0.1888 left_z=0.0754 left_yaw=0.0652 left_pitch=-0.2965 left_roll=0.057 left_gripper=0.0847 right_x=0.3471 right_y=0.119 right_z=0.1494 right_yaw=0.5356 right_pitch=-0.2228 right_roll=-0.0098 right_gripper=0.0641\nstate[joint_eff]: [-0.1983, -9.935, 9.2513, 1.2234, -0.3443, 0.1148, 1.033, -0.2393, -5.012, 6.8034, 1.4432, -0.1343, -0.022, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7116, 2.5568, 2.6896, -1.5227, -0.5617, -0.8371, 0.0797, 0.775, 1.5867, 1.3914, -0.7826, 0.7231, 0.7292, 0.0598]\nstate[eef_state]: left_x=0.4533 left_y=-0.262 left_z=0.1338 left_yaw=0.3321 left_pitch=-0.4413 left_roll=0.2461 left_gripper=0.0797 right_x=0.3575 right_y=0.1915 right_z=0.2195 right_yaw=-0.2219 right_pitch=-0.1042 right_roll=-0.0291 right_gripper=0.0598\nstate[joint_eff]: [-4.2188, -11.9453, 7.7607, 1.3602, -0.5983, -0.0464, 1.0281, 13.5453, -3.5214, 6.0513, 1.3407, -2.0195, -2.337, 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 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4088, 1.7615, 1.8275, -1.1931, -0.3622, -0.2325, 0.0797, 0.7784, 1.6203, 1.3823, -0.8265, 0.7025, 0.7216, 0.0598]\nstate[eef_state]: left_x=0.4039 left_y=-0.1028 left_z=0.2349 left_yaw=0.06 left_pitch=-0.4634 left_roll=0.243 left_gripper=0.0797 right_x=0.3515 right_y=0.1914 right_z=0.1972 right_yaw=-0.2122 right_pitch=-0.1663 right_roll=-0.0985 right_gripper=0.0598\nstate[joint_eff]: [0.3077, -10.5231, 6.2154, 1.0476, -0.2076, 0.1734, 1.033, -0.4444, -10.2906, 7.2137, 1.5409, 0.4713, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb23ac8c01040ae0424fc25a12251697b9a04c2a62bf109b4d9f4b39dce8f345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009b3038d2a3fd769794b4024d79e91579c114f94e7cd159e2dc65c999a99a55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c9532bf158b4e72af64ddff303aa94dc21a22faa68af4b0256922ab0583ea1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8ERf5oX4LEG7Ir3ZDroLyTmIxumQ-0PwWxfOCVsMIlcyMje59aofZ7GilqrYdHan_A9-FHReLGBn3kZSgxjJPCAfrSmw2g2Ig7jpx_Dsr199znH9YOSdywxK3zHA-J2EXZiB8AidJ9gNGeNbyhGOeX0MdDhxFEOqbIsp8I6aAY8OchPjOzGEw8vTzztUZzY2nYPLwMZ5JZj8DwCO7tfxwny4_6RZEUcfjAqAVs2uSKsG8IcbryOUymox43k2RhkCxDjQR5DRwvR_5IzvrUabVPEmnfxQeceOy2MSKEIZzU-yOL3gt9mRZsfNREkHgptNYgcZI5fjqufi2vE1MdGSkeJ7ICsYXXyOkOEBiL2FkwEqdMvviVBVtfmGd85LU92SNJPeYi-jdqCmsGZhzzFFTSeZKfyu0dbvgoapUsopH7odSwKTCIEsPJj2kc61UYDdEgrcnkXVKwUFVNd-pt4LDRoI0-sz5b10giZg90ZIFz8QywUNAms2x8UcZ0ivxyVkljCY_qcd0fNR06hWiX6uzQU5tvNGDUNwxm0OLDZ2S8oxTPvpZ-opZTHpR9i_m3ttZApPedh0akCK6xpEk3onZ4GTbto7wB4XmtaFt-JUwrIhev44_npj333jc4Sv0RW4k9vNRYagUdO_YkPZuzStBfizpSL75yRAqTk9chR02rtoiDCCyvM4_jBanm_ceM2HSlEsB68cDKZ2jdmfBbbScHn4hW-SUNb_azmDRnFaCk4Un-VcR3afvhcoAH5xkIqB4KvtI1WsaSjjFvT8uLdmJi2TGXWtZthja1HQ3DM1wlShiYTxXH38UrIoPDnUe22EDxBFBYMQX_5YeF92gSU_MBQmeAsmI2bvqmBlo0NTL6bObkZ7mrhmZZ4idv1jxKDS3WtflV9UtMeZqleXAUPtKzhdoJQazY8xd6MBCdni3vdsfwLAYc6Dg8XB0R5ugJZdQJLFaqa5r8gaR8LhmPjNt-PUanT0AY2sAxaJee44R7quFklgmNtjJH46QbLWbWfzvpZnmw-d8EhN6ttKqc1h12KTGtiY06GGOyWYq57nQU_j13u7PkpeqNf9zZus8ngGJ0JRhtBqVHXvJfCeWiE969wjhdUkTWaFKCSB7BJhEIov3lq7KswKZISvBqQGesywW-cj_EKYkTKCnIUdItCKNTXB0A-F3wG6gc4-TfMrCZC8UfLCXoCsk_kqAzgsJQJld5fWEELCxKNoy56Z4mTv1TyP6UM5SC1jjZ6-5u7cBvIz9aiD80wUu5oEGXMOy4qDm_SBwkxF2lzxB-z4yVZFtm3uUcICrWR5fEykV-S_fsFFhqPaLIqvOx5X3lgwmqvdIcv96R3wqxxHP4QC0BQ4iFMg6CNcB1UcwVTNP6nnu83zzBZPwohu8kbBs73352uXblhdoPZzH9Du0Zrf1jGaQ0lnhiYlPcuf7D-GkDlDhpOxmHP6H6d0WvmfFfGD5Y9RyWHrfPxS7cGJvOph6mSYoo_DzByxhM80_FrLSmGz4pt1ZPEn3vbEsSd3yq2IFVL_emw8q3FprncRSKS78hNtu1o3PnsMBz-ER-OZsd8x60LSas1_eCCljWKKKc39z1yazHhS19iinsUwSQoxOAvfEP-kFU2cn6ASGIwacU6FV5KVgSLXTvWWEuBI3Vf263C0qhktSo20xT3bX5pfMwpxs1QUlS5HbKAKHmFVzjKb7uIhSpPxZWI2Y0wCeEt7oqGSNTNt1Ij9KO7cTsD2S8987eq2IgTWog9GNf5_9xzHJ9d4K_INvonF49ObNT10W9H5zD_B91hlifADcZY-6ld_4fSHzyY_zlqLrC9gRWdhFjwwcJZy9LFQrmqpB9JONnzjfRNfZ_oJOHC5OrFjLV5NhCzB6lotFpbsDdcVe9ejTO1hpwJGzWqlPXHH4utI8dBg_lGmrBRGh3HO7rNqFK-p5zjuXEPu1cSE4l7LIjxTkzrJuUoclEefrv8OEbUEsVlj9lhnQiU5oiAWfNl6a5SPHEGgevUyHLDdgaYAJZRG2F4-dwpnYlZSO-zSSfdwYlw054A_5UJT_s0ySLJZmEEiCV0HkWF-0xlWKX0RUga9Kv9aTB71DbuTCQc8OIyXp-V_cQrGv6eDCRxzQFIIxFGNEqM1LLlvSOMQ4o0LJlRx2wWFcyncQNlEUf40VC-sxIA-ce5LZlcZ9NbkRztoxD9EWOp9m-9elrcF3hlNRoFrXMBy-t8LWbHmXbipjrLewqnzw4X2M7AC8Xk01qxQ129ABaEMH86HGZ58EoP2AmTdc9K5Bs1bIkAGDyVIgyTKZVTe1p0G3PQ6--JFSZDynTSvw2KMFrBJD4IyiIbjnzJpSXb075aytRMWZAccQpIBeLmNcadQHvhPjgVs3-Hwb734MIRG-AruS6S8gWLsX1KyDzvvlOnP_Fyw2f6UYeZKk39P7N2eRWs1BlvCrN1Vl1UnEHCMRAKQBSgnYdhq4_hbOaKZh2w79IOrh7jtiWi6PShAjT9cRLE_kjrP3gkIZPDwh0nVlUoccs6MeQaxlOa032TFpWRxH1EOlpFZjnc_5cKiKc2S6hx_ew0UVEZ-UuHVCXHU7fTcFb7LqJQfHC_OeZ6eLmdw8bL3UH2W6n3ViTPx0T6Pz_vjvxlEH8MibVoquHatI5kgZIK-KXVrECc1KqLfKs1omF_rtvnVHkZCC__8FL_7-fqYo9Fvd52a9a3D_laBv80_2J6dUIe36gjpsUmTzalr_XATbGql25sdyx-NDdlFulyBu8_CrP8gbpJ0YP2X7FuOQXrMIuSv7M41EabOf3mueRJl5U386nlPpq8LWE7JHRY6vDogru0F12yLFvaXnWpmufQQCaC2wHO1hALj6-4tbgHzPNlJHc8sdwNQaPQwkrkiHpCLzhRk8_rA70jfHLOPR8iZKcywO8C8RnuQzkHer-mYk_TOEOa88rQiYEqQzSfx7ty3vtQmkvL0VoQGAjwr6jGwCG0ObnxMUkwe-UuqQkLT3CVqbegFb-hxLh-x_WqOdpBkkFouTfP9BLGtnWXIHv8F3tzGfS09HyRgC6CKPjgGvqvvMl9VIh1xHl-vK_M892gQv16PEF70YAi0rIw7ngejkI5ne5M3QqZp-OLOmLWSed171pqyVr5IZGm23m6yCgjNfcyPRWyx6fKhgGc4oXKOCW8jmlwy-H8sS9JTpL-34HqpHxjGOjQVs_En1007l91KW66c8P9To2_IhwVHp-_rkKVNMOb1z_AauALX1c0kMfvgbMx-nbiN3NjvkQdiLWZiECJnfeYcb4-2k7y8kmXLg78Cua2hzsK9Hjq3UFH9JNHfuFyVjbaZZNNabm_0Lcy4U6tpBu9KYVqZIqt50zwuNE8ouItNbIN07QaCywgCDLQNpUCpSOfpUr4hWl2Tevyrqn9An84zw-21mBnxIHI3EuHTUXEfWOLfmH_k8lVVT38jaRrI5rk8I1aI3pSbtNDbmSm10lCCseFiHKdgW7VeWjptdCqchCU1aA2KWHJBwe1r0dWAM1ap3Kf7vjg4NmtBtcYdZBPk3Ss1rwpgD84wqKt4R6v7P5nRaUzRCMyr6AGKuEnVJJAu0QBbyUvzIB803mANwsDE_kRS76fYRNKfw2ZbYjTcGDq0Y2puXkENZ72ESP1Gg4nAReK9pHhT0RdL2UPDT8HW4KHAY9vXCA-WRVPdZ-qaDYe313hF06rkXm8YjCMuP6uh0F",
  "id": "rs_079248f874c6ada1016ab44efeb2c887d099521d79a5c6d273",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.15,\"right_z\":0.22,\"right_yaw\":1.0,\"right_gripper\":0.0},\"note\":\"The arms are separated again and both objects remain held. A safer plan is to turn both tools sideways so the pen and cap face each other across the table center while each arm stays on its own side; I’ll begin rotating the right-held pen toward that lateral axis.\"}",
  "call_id": "call_6wL78TPBdEbXrym8r8N5nSaV",
  "id": "fc_079248f874c6ada1016ab44f035ec887d08d03a94988987478",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6wL78TPBdEbXrym8r8N5nSaV",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1934, -0.3435, -0.2276, 0.0831, 0.1711, 1.4345, 1.2362, -0.6712, -0.3573, -0.5114, 0.0569]\nstate[eef_state]: left_x=0.4032 left_y=-0.1057 left_z=0.232 left_yaw=0.043 left_pitch=-0.4763 left_roll=0.2316 left_gripper=0.0831 right_x=0.3714 right_y=0.1305 right_z=0.2042 right_yaw=0.7447 right_pitch=-0.2324 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.3487, -8.8274, 6.3111, 1.033, -0.3785, -0.0904, 0.906, -0.2667, -5.9556, 8.6222, 1.2186, -0.3394, -0.0708, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25749e908aec87080f516334a7d5f7bcf7853344ad0c3e3c42c2611555637c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e00123f5536af8687d75dab75fa94be330dd5d606ef1a05893cf6a98a15b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725ac1b3ba4580c72fa61d59cf5ceb71dddc74579fb23f6e48895fbaa6deaed2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 6.814 s

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

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6533, 1.6955, 1.0286, -0.4015, -0.4908, -0.6128, 0.0861, 0.9394, 1.6318, 1.3834, -0.7776, 0.4747, 0.4942, 0.0598]\nstate[eef_state]: left_x=0.3634 left_y=-0.1688 left_z=0.0717 left_yaw=0.1175 left_pitch=-0.3144 left_roll=0.0694 left_gripper=0.0861 right_x=0.302 right_y=0.2822 right_z=0.1793 right_yaw=0.2269 right_pitch=-0.3001 right_roll=-0.0983 right_gripper=0.0598\nstate[joint_eff]: [-3.9179, -7.8427, 6.4752, 1.2625, -0.2515, -0.0317, 0.7937, 4.1504, -5.4359, 10.9333, 2.5714, -0.3687, -0.5153, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4088, 1.7615, 1.8275, -1.1931, -0.3622, -0.2325, 0.0797, 0.7784, 1.6203, 1.3823, -0.8265, 0.7025, 0.7216, 0.0598]\nstate[eef_state]: left_x=0.4039 left_y=-0.1028 left_z=0.2349 left_yaw=0.06 left_pitch=-0.4634 left_roll=0.243 left_gripper=0.0797 right_x=0.3515 right_y=0.1914 right_z=0.1972 right_yaw=-0.2122 right_pitch=-0.1663 right_roll=-0.0985 right_gripper=0.0598\nstate[joint_eff]: [0.3077, -10.5231, 6.2154, 1.0476, -0.2076, 0.1734, 1.033, -0.4444, -10.2906, 7.2137, 1.5409, 0.4713, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1934, -0.3435, -0.2276, 0.0831, 0.1711, 1.4345, 1.2362, -0.6712, -0.3573, -0.5114, 0.0569]\nstate[eef_state]: left_x=0.4032 left_y=-0.1057 left_z=0.232 left_yaw=0.043 left_pitch=-0.4763 left_roll=0.2316 left_gripper=0.0831 right_x=0.3714 right_y=0.1305 right_z=0.2042 right_yaw=0.7447 right_pitch=-0.2324 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.3487, -8.8274, 6.3111, 1.033, -0.3785, -0.0904, 0.906, -0.2667, -5.9556, 8.6222, 1.2186, -0.3394, -0.0708, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25749e908aec87080f516334a7d5f7bcf7853344ad0c3e3c42c2611555637c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e00123f5536af8687d75dab75fa94be330dd5d606ef1a05893cf6a98a15b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725ac1b3ba4580c72fa61d59cf5ceb71dddc74579fb23f6e48895fbaa6deaed2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8HkBklbCq1vpuEIzr5SBKAC409_DSlPwt4Ce9-NQZMyaQRsiEB5N0V9m2cPU7MRzTatO1u8kmxTZ1Tbwo7ij7ZA_1DyB51rOvU2vQC5uGxqLOklawkmBxGr0g60UWsJnL_2ZiLgt2LGwJ-apxmlR9hrxqSAXa_Xvy9LVisfDz0gJGEWFEODEr925wYtuXsIlfrOTN61BhF_kd6KzxFeXF7t63MbuE_MutvivCkiXZEveAYt61ZCQ8JITcUzkmHR1EIPgB7AYc3X7frIfn7W5eC4lyOvIWj26pjWy6boLOgL7NCVh7De6nkgyK_sZCQgPSiP-gcBs-1XLuKnj8ApH2NS82_irot9jxPDq_TDGWuNBkHWzTQ3B7pJUSwnRXU5DM31ZBU_TKlE6y0_GA-9GEeGFjK91um8DNZhj06NlBboHrGpwxkhGQvbKedCIsb5q-JgjeMAATUEAUfqNKSsFrUQoE0HHZ0BSly8xN0iLEsP-OIJ_GTxtaTjpU-zK0y7l44kUVTIECvMsjxQfN_GYTaQNwpvdmOGHfLhJh1rVtV9Wc-m8VymmCc5HkyF1D1GknkJsOo8i88m32_Fj7cdLZcAvEHrZZ8tQj2Z0xElSPL2P6b2t76gn3JbNzhYvHL0MKrGdq5ShHMXfl2PlqJIc8AAtE2_T5OB4USA6QMOvG01UWR8UeIDPF9vJaa5iuu3ecXye5_5Y9171ker1rj9yVJ6sL1jlw3psdEneaw8Vr-CVMTp4Cs97npp5x8Mtadx8I67wdhc_hAaJaF87ZYiAzpjkEbKK_U39E_YzQGGHMvkhAOsdDvf9Ae33IcCOWMZ7kqchoLjIAWxI-IvxdTUYXC4O77pLsDtPSWX4M6TD8_KmQhGVWROlymPJ0i6v5-3r2iqi8AtpZi_Lx724NX9xILDe5dmvyL4qNBuzqh8S2Etv6avnGyo3wKDn3E6Nam03po1mkmj9nTP_-S5WROjGwG6a0rKhH63VARsNHI10msk9sPHekhykRqepYDpROM1g4fuI7l5uQMJL7LHwVaDg0I4U6ODyaco6feMhf20JJ8aOa22GKqM3DuSk20VN0OB6ewiaDP-siZ0hRpVKgbgcuvHIh4aMscQcP8xDal_Zqtw0wnLiYZoXXu5iF_hRhIev6nbOYVfBjOmJjC9_u2FPMUK0WvqQxFwRSa15WtHGMtE0UyXEL5djqc5-MH2WIQD8pNRCeto7cuQeNheCw-Y-5HAt6SQtxl_hxSXkT8nVtNVJJ3QtvuILtf8KOgk5of1jAJ",
  "id": "rs_079248f874c6ada1016ab44f06724087d09ba50f04cc18adf2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.15,\"right_z\":0.22,\"right_yaw\":1.57,\"right_gripper\":0.0},\"note\":\"The first rotation brought the pen partway sideways while keeping the arms well separated and efforts normal. I’ll complete the right tool rotation to roughly 90 degrees so the pen tip points toward the table center.\"}",
  "call_id": "call_1rgw5YD8WG1AHvcmMRxNuNew",
  "id": "fc_079248f874c6ada1016ab44f06bd9487d0944758bcf9232661",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1rgw5YD8WG1AHvcmMRxNuNew",
  "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]: [-0.4084, 1.7645, 1.8256, -1.1927, -0.3393, -0.2302, 0.0834, 0.1368, 1.4685, 1.2682, -0.741, -0.4713, -0.6765, 0.0569]\nstate[eef_state]: left_x=0.4031 left_y=-0.1065 left_z=0.2318 left_yaw=0.0409 left_pitch=-0.4769 left_roll=0.2258 left_gripper=0.0834 right_x=0.3641 right_y=0.1347 right_z=0.2009 right_yaw=0.8997 right_pitch=-0.2386 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.1983, -8.5949, 6.2427, 1.0134, -0.2222, -0.0269, 0.4811, -0.6359, -5.7915, 8.5675, 1.3797, -0.2515, 0.1294, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63fbd2c970755fda6681f32cc9aec388f5f9348eed2008200b1680d224af806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da182b350724f0375a86504d50802a1c55b3787850a641185a54465da5c67bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb9f77bc95f12ae8710ac1a2d045a038797e47042ef06b266521526542c60be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 10.21 s

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

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7116, 2.5568, 2.6896, -1.5227, -0.5617, -0.8371, 0.0797, 0.775, 1.5867, 1.3914, -0.7826, 0.7231, 0.7292, 0.0598]\nstate[eef_state]: left_x=0.4533 left_y=-0.262 left_z=0.1338 left_yaw=0.3321 left_pitch=-0.4413 left_roll=0.2461 left_gripper=0.0797 right_x=0.3575 right_y=0.1915 right_z=0.2195 right_yaw=-0.2219 right_pitch=-0.1042 right_roll=-0.0291 right_gripper=0.0598\nstate[joint_eff]: [-4.2188, -11.9453, 7.7607, 1.3602, -0.5983, -0.0464, 1.0281, 13.5453, -3.5214, 6.0513, 1.3407, -2.0195, -2.337, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1934, -0.3435, -0.2276, 0.0831, 0.1711, 1.4345, 1.2362, -0.6712, -0.3573, -0.5114, 0.0569]\nstate[eef_state]: left_x=0.4032 left_y=-0.1057 left_z=0.232 left_yaw=0.043 left_pitch=-0.4763 left_roll=0.2316 left_gripper=0.0831 right_x=0.3714 right_y=0.1305 right_z=0.2042 right_yaw=0.7447 right_pitch=-0.2324 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.3487, -8.8274, 6.3111, 1.033, -0.3785, -0.0904, 0.906, -0.2667, -5.9556, 8.6222, 1.2186, -0.3394, -0.0708, 1.0183]\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 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1927, -0.3393, -0.2302, 0.0834, 0.1368, 1.4685, 1.2682, -0.741, -0.4713, -0.6765, 0.0569]\nstate[eef_state]: left_x=0.4031 left_y=-0.1065 left_z=0.2318 left_yaw=0.0409 left_pitch=-0.4769 left_roll=0.2258 left_gripper=0.0834 right_x=0.3641 right_y=0.1347 right_z=0.2009 right_yaw=0.8997 right_pitch=-0.2386 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.1983, -8.5949, 6.2427, 1.0134, -0.2222, -0.0269, 0.4811, -0.6359, -5.7915, 8.5675, 1.3797, -0.2515, 0.1294, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63fbd2c970755fda6681f32cc9aec388f5f9348eed2008200b1680d224af806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da182b350724f0375a86504d50802a1c55b3787850a641185a54465da5c67bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb9f77bc95f12ae8710ac1a2d045a038797e47042ef06b266521526542c60be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_079248f874c6ada1016ab44f097f5487d0aeaeb8d435dac8eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.1,\"right_z\":0.25,\"right_yaw\":1.4,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The right yaw stalled around 0.9 rad because the current pose accumulated significant pitch and roll. I’ll move slightly inward and higher while explicitly leveling the tool, aiming for a more nearly sideways pen orientation without bringing it toward the other arm.\"}",
  "call_id": "call_jaBeai5FD52QR3Ahi7WAR6Ha",
  "id": "fc_079248f874c6ada1016ab44f0e3d3487d088628b97a2d07eb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jaBeai5FD52QR3Ahi7WAR6Ha",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7695, 1.8225, -1.1931, -0.3382, -0.2302, 0.0847, -0.1078, 1.6821, 1.5497, -0.9752, -0.6815, -0.91, 0.0568]\nstate[eef_state]: left_x=0.4032 left_y=-0.1065 left_z=0.2287 left_yaw=0.0422 left_pitch=-0.485 left_roll=0.2289 left_gripper=0.0847 right_x=0.4027 right_y=0.072 right_z=0.2162 right_yaw=0.9485 right_pitch=-0.2013 right_roll=-0.0005 right_gripper=0.0568\nstate[joint_eff]: [-0.1299, -8.4581, 6.5436, 0.9988, -0.1832, -0.0366, 0.9255, 0.1573, -10.2359, 8.212, 0.7106, -0.9988, 0.5495, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd135c602fd8908d652f05a859830eb04cf0f7b95ba0003d4797aa11c700135e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f36c1199b233c68189356d741068a5a636ee3657a8f71315add7b31e869a32e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedeb97655a4794e120b75a85f153f20a557d7f9281a8a149fab45d582030d55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 4.832 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4088, 1.7615, 1.8275, -1.1931, -0.3622, -0.2325, 0.0797, 0.7784, 1.6203, 1.3823, -0.8265, 0.7025, 0.7216, 0.0598]\nstate[eef_state]: left_x=0.4039 left_y=-0.1028 left_z=0.2349 left_yaw=0.06 left_pitch=-0.4634 left_roll=0.243 left_gripper=0.0797 right_x=0.3515 right_y=0.1914 right_z=0.1972 right_yaw=-0.2122 right_pitch=-0.1663 right_roll=-0.0985 right_gripper=0.0598\nstate[joint_eff]: [0.3077, -10.5231, 6.2154, 1.0476, -0.2076, 0.1734, 1.033, -0.4444, -10.2906, 7.2137, 1.5409, 0.4713, 0.0317, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1927, -0.3393, -0.2302, 0.0834, 0.1368, 1.4685, 1.2682, -0.741, -0.4713, -0.6765, 0.0569]\nstate[eef_state]: left_x=0.4031 left_y=-0.1065 left_z=0.2318 left_yaw=0.0409 left_pitch=-0.4769 left_roll=0.2258 left_gripper=0.0834 right_x=0.3641 right_y=0.1347 right_z=0.2009 right_yaw=0.8997 right_pitch=-0.2386 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.1983, -8.5949, 6.2427, 1.0134, -0.2222, -0.0269, 0.4811, -0.6359, -5.7915, 8.5675, 1.3797, -0.2515, 0.1294, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7695, 1.8225, -1.1931, -0.3382, -0.2302, 0.0847, -0.1078, 1.6821, 1.5497, -0.9752, -0.6815, -0.91, 0.0568]\nstate[eef_state]: left_x=0.4032 left_y=-0.1065 left_z=0.2287 left_yaw=0.0422 left_pitch=-0.485 left_roll=0.2289 left_gripper=0.0847 right_x=0.4027 right_y=0.072 right_z=0.2162 right_yaw=0.9485 right_pitch=-0.2013 right_roll=-0.0005 right_gripper=0.0568\nstate[joint_eff]: [-0.1299, -8.4581, 6.5436, 0.9988, -0.1832, -0.0366, 0.9255, 0.1573, -10.2359, 8.212, 0.7106, -0.9988, 0.5495, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd135c602fd8908d652f05a859830eb04cf0f7b95ba0003d4797aa11c700135e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f36c1199b233c68189356d741068a5a636ee3657a8f71315add7b31e869a32e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedeb97655a4794e120b75a85f153f20a557d7f9281a8a149fab45d582030d55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8alIi37-1-8vyDZYEHXOphT6V41izShTmZIvXTO6ZfWqSWc1tE2ruA4VaH2R2faOgccErXNRBrcQhO-oLeGzoroc_LgvhdwE7_DTnPHCl4uCTChFml-ON7ug_CwzNsT-9-Hr5HQziyR9ZK4MEy_9GyYHzfgQ3GY-GbDQMHoGHFrUBfs5eEfsbx8n7ExnqBNH6DHs5ad5-9vV6v3LvdOkIGfCQ8HQzBuyeNObNx764fc-TmWhNsKC6xIDE0PTnU4z6vJcInQEoTHc-D-kAgXbz6ureO1lCxriZ1HZoZT6tZ2y73pHIbpaLEBMuNJPOyA8lNaw4CV2KLzw8vt3Q73NY2_SMam3tBHmJXOtn-SUMPZWzcBMqaQsTwJVdcngwWL7TywO8Kp5XoDbXKprWBlk8eWHp-tsb5ip8RzChr67B6eFgfFEnX_YXfYIyxwTaLRYlyEqP0Qw1qRhJB8VXh4v5VW37J73h6XJsRjfhKpsvWq_DBxu_cbauAa6aJhRMFmVek6Cjs_PChM0uiDo2NwIQkcuj473oI3l8Yyi2hbUvvYnqND4oDk-tABVSnxmL2C8dzWLeqRmDjhIKm6YWEfjjrCDfzbYSNFy3eDsDXv3--PfGBbFbXUre0XfgHhKIxVD6ztPqUWUBKRoJVRVbbyzWc5ECesWOz6unHDwvYULB9mFlMcQoz7eaien1CWly8Ct8ugtGgXMxOvI6eCq2FYtNuHveHvjrC_1N75E7aTi9FF9djV3TKWe5Nm9Tk40pMiG9ie99apE-w6J6-FAONQpyltZE2v-GSlMGcR1JTvpPA4iLaOKhUk5_zgPNBE7F5XK7VNXny2sw3Iza9G877zl5tvyqyag1ryl5T37fu7dHeEM9d5qDskeBfQ19SwOlmMo2Y_lxB5AqYz4DN3EWNMXwZzDGu6iJhOMjtNvSrSjrccfl3BPGUFBjKNeyYY0JQMMph7jPMAdq6ov5j4CigPbAXDf2DEep5StLWhDdz0ydSryk2QBz9kWk4tFycgpJ1FUVknqGJmjpkJsvoe_KA6iaEPBnQSBEpwTBFJdi9t2pAxL-8zwPT8WwN-TZaZA74QYIK3E77_Mp0lISiD6BTZRsAA1xr4KKJzcDLQsIq2WgA-wU060aBnnhAdG8kjQj9XCjRjWJk5HkQpwnURthJEoNQG6uV9L6oUyNMZJautujUjhXjpmKHdY6aEd_n8nLS_sge7vws7v8cExSnqFk3ZRMDj3illlGX60wk1zk-VRB1qLZTU1TEs6XRPxaQcKj9yW_HvfSSuYXCjGq2wT0b4Tur1F_tFvsQobGW9K0Hp-iVEZPpNPwPtHVXXsyN4sfdEAIcUFvhUE2aBjKLkFqEUOtVPo_7hWEH5IupOnAFvSN_gk4ai7vgX7zpwqkm2iGn9KZ7UqyTwJXrEtbmZHNkUBRiEToON_EGuAemQb-yi7sJTDB5wNJ6IeYLt2VNFZGwIuwWqcd8w5N9KXJqxH4uvdFVPf1N3v3Zrd8RcnM4imk3BF8rrLSLja1kEMr0y7rVDVTGmP4xNt_3mZiF3lpjJAVbOjphOsFzQPwgPcClEj5K6tfpyeuo6jxvSVYiXSQbxJ5R_X-JGBCOulRg2FWJLVNJxNcKgbt9YtoyrPsUqwQTg5fYgiDbAwjJT_FxGq5nmd77L_40-HUU1gulYS7BCR9wHcwr2Ov1IYKfP587wMNqHIt1-wJq9AoEa4YQXhSntom1SdPI_TvPQlJnSqCDEIcQJJXlEBJsM7PraRMcR6aU_4cALsfVfAMZDzBhmnbgF7B440tCc4gHACaGEPV2yv16uSvlo7og4lLkSDOmCrNZt6WURFZd4L7vdTF_6ZZ7kvk9sJny2RuKXc_igwmjAe7g2OMaHtLKHdpl5KVmBZc3fbNTEJl7eFalAWuv_6Zpr3Eu0JEhqj73gQW6MIPORbAeDzeAsDBAPCXF0xIJG0-QHPnLi_ZCe2_D9FI7rxVPVx0jcA2r32EmWBzuZBbD6UKXBghl-GPvWmljAkWMWZ1GVMkvRC1l3G-IoD2CKRL6XUPJ1sYRHf4IkC6smlb0x_qO3qYYHiAKp1cVLXFEenc5ql-6UF90G_uw9w8q1YKc3h861fCEbH7ria43T8L1Qi0vYsZxL4xEASdrUgfpIghDJkSiTEDCtKTmf9QaNLZl_AI71wxQfP7-6HgUa6Q_Q0mCBzFkAwHCCJPVA8o-UkcfQ-0C0S6VEaFokxNrZ9PgLdle8IPOl1bvMT5NcqRRR8kdMzxLSP5MAUr_BU83uld3Bd2y6VTZNeMfoggvzu-bgKyacSllGO6BTTfw0thXSbNi4GLmxf1vZoY1Y_Hzys2Cu7vi3H4MYkZprjuCqHHsSeFvD3m4WnDcZWDeHfRSaivDx0g--Sr7Gh_S-keAEBcHu7-wuJAsOdOp_NCuluCjMR-0S-yf_W9Q-0hY1ImMAbMH6EfXT-1oW_pMvolPI9uiMSjg1sRxnAahOQLGAL2smI1bQz7iUWtcHB44DfBfrZyHQpof8pUD5b3zshMvV-sIwmpC1TeIwvATixd7_BG948C9nMsHM3ffLmq5SCQKgi-LXlRgOmnkTmcNiYRDafx_cKPI1L0TJSYig5Zqs_DZtMgkmmDt3TPFjpa1LHRxBZQilctptfBSY-ciOGc6Zitm80dExvOiJG4ilOSSqc8SUcFY57Bb54TtnCFsuKdxiTLzbNWptIeS7jHEALFf-SL4wPCohX5ej-TsGkpzIR-fMYsGIShZea7WTbEawEoxoS26Gs1OslEHy7teRvGIeE-YtabBoOcqh46q3aCgzUXS5z2OwhpgPFynZUy-porh4F9Bd-8s1eIHciWpLeL0L466C2ijJJoghcTbDpNGT3YEuc2FdwGCGqxKMPIpmvMAkr7FGmm1jRvwNjTxI85NgBSc3nMqwHFvXwJYmie-r6JSVc4qleGOWj35I6Bj36rNDJPlAicDhSYl3FHF_cau3YCheUbvQeT0eAPj8O4iaBva-V6ZLvCNr3bTx--pktQihLJumCUR-lNedRQ_y6s5s4IESSaWrEw3cubjtTCYRvRyvUx76z2DOqJVd-rWSPmo6-SYJjua_MoXyQDDGAzVXVyhxorZF9OWkvsgnbeIa3CZZBadijblUCz8PavKqeFxDTo9Uah8nDUmMRH-ZWJvZFPlbPl1qPaAgErMkQHJKvsAZoVhcNtCiYNsIzosGkxG1JPUxOYiaBR1uX2gQKcjGGqYFEzaOkqQsUq7NvGyAo7jHn2X2XLrSW-vkxD9kECjDATeDyB8v9UR210HBOJ1lFMB75sJKuZUxGoef29k-Frsi6cQAcjdA7z6z3UCZdEhwxn-ZYsBYHTzbxMYo_sJnwBj2nuE9WArrhOuBUlgC9DQQ9j19c_vL6MvV3rWDG8sK7fEcfojUXTXMM9DLr0P7CNju6db5bboDVsq22-HPRL5g5kE3yIiHz_uQuhci3zdSDBqBWVFyO0vsTK4scY40xp2jyknTvoLccycbAdfIVjiL0WXFaSaZd1NAUnp1yF7w5W1Wws3Bcm1COUwV63yK2B_QiDrlkQ5xFL2Fvoc6u3SyAAEtFvhFDECbqE28kf5wmwovIPzoRwRKsGhSXdFw3jriQHoMzCjUDggZFnN7vaZFTceFvlDXj3U6uE1t5v-akBTAlwIo5_B6DQlYkSzosEr8pTzzdXCNr_oa2rbSfM1kxp-n2lrvgaddqDs8w5rG1hVIZ-ENoLe3X8ZYhuH6y7ww68yZDBTmAY6UuosZXnD9Mm3-k-lNah1jkd5sl7xkIHm5qzAh8F2CWvQ0a-ekFJEztsa6-4Rgk0Inss8MYlgQMluFyiMVMntrvUEsGTNgBPL0gOnH4RZXEyYOvCN5lEMM0AUUCuz9jqM0zVRTyGQSBzNx5-3wCklO-8fvh4OmVkLQINemHwcfPQA8TSB-IsWCCmxzIms8DqBJG-GZPAN7-Rl_ErRwNglDW4PYMs_pXOEqd0mQ56-ez8DI-Biv2p64_K02BZjWc7Glz_5b8L9Z5vI1AjiO31JF6ztkrjnzT-PCF8mf8d9lNzaxTX5iw0uBUTz7KdjG68x_aHtiAr1t9MdthNtQYuURgy6SQCd83GU2xSBSi7jEttxzCyCyjO_ZcegtaGzZFkvUnP9x8eMnRtshEgsyv_6zhwZqW7vdt5S-LsAJPJLq4GbiCDKrMTgg2-OGjdrPuonJ63JbhR0O55L",
  "id": "rs_079248f874c6ada1016ab44f113fc887d0924f1948ff0f1536",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8a6NQ8rf2abCd8HpDhr1xs-RvS8xVLNPx0qvKarwbkEBlqYrwXCq5JEQbaaiWhHIN2Q8Z_IxYhpm0ogrlK75VnESwWReJB6-Ow80QDZ5ozBcFuthYVvFLINZMiYhE_ZoyifnNbnzU-OPZcUc8twtlKd67yG-05f2TzGH6IWb68k_NwcGP8tCnW0ouqvPeik3EszorQchSkeNZXHjiwLeZDBXU40rx_71Q7BEfCJYVdESTZFYKIQ0uQU9EV0O6T1bictj4JBe8pcJD2fWf29rhi7VC4aE0JtzgdV57AtuQNJSwiiVr7Wt65MX8Zzo8z7hI7wf3vFb6BLk3XcnxjzXelt1mt8jkGjQmQ8Vy40-Xf5h5tEOSvtTgsev0-KDLJBdMSXZ_Uv9re-eVyBdBiQjLeJqaWoS8clnXj4mlEFCF252S6XN6jMd6Dk36neq1m8_5f57NY81z2xjxlNf7VQvy3Clc2oX5m3IUb8yiU5WJjJvErja4q80xY6wl7UxrZM4-IkkSGqzefqcPBbhsK-UUaZoY5HT5jePCEk18353MTxr0zVIndLEgr_-qaI4V8W4fpZxZLxuACXiVVXsDgRese2AerEv26wp3Y6ye6iuTCQT-F1fFWJuwAbXftEL_szqxxEP9JYFiRPHGku305AfbwpLsRSFkEd7dOUhSSxjByg9ozVp9ioC-OVuT49AsERsBJYfwzUrbG3MyFdNlneRKlU_0dO4-T0MVyMt_YTmtmBPUml6x9xCy_a_yle6qoU2XkIaqnpvyi4ecK8FDH9ysxPJDy3wC_u7y-_9G271oC-QrgmuS26wsstldv7RTQTquJNSFMGs4zdoL1Ho-21WDiYBUf-ATYFhEjn-jAQzUX-5SLLbgZnsPvmfeUHgDjJ22UeE2QyhB9GcoVQYuYUJ6phNe4DJ-jntSkJ4xMiKwmLRtTxVmfcs2zPaccGxJGYUlLjOZfbqlVIWFox_DruxTXR_GeGPkUTnggqL_idu5Y_-jmxoaNxBGfwSJh3knAhyZfUpF4v2SOzcZkQVjlQUCxJ983xoUpDypHycAxPoGNcyuYGWX-ctVyulUORIoGb8Yy0OPMpEp_Yl8bC2hmwfAfmqysSwCIWWyFHLt_ENm4p9FUkxXP1PU8IB-gOiwNffIfe3Ab3VwkolbKSnBBEy5ppd4pgiTfORdThe5h9J1EBUD1BOUvdoZwZjsHWJ1UOfhGJUqQPsij-MIJ4Y6qNaPzm2SKFLfVgJ5KqPVmxXUn3Ul4DHUaVpbHhKRqfNmEciGdzpSkcPPpORQXmx2gPLo7syCWgWModgovED-scXvpesWCPt2cg3hCSzgncyOWbL-dnc0IhRJgVvGII16ILNuv4oSKRbHIUkqbIHbkIkPGRw5oOMpl9LsAjfgpPqaZJmN64UdhL3QUxLTV8d6ISE0G2dhbOfGMQc8vHh1Ei_flzFkcnzGR_PRIvp8GD0Obqa26SILf0Igw74LawDfKtgDVDUdKG1jH0We-0RC-cocbQTukiy66nsM_nDhMkjGVxSlifgWJxvkxiHcsHo4BlgLfFN9OP7R0DcRRumT-kklj6OfG43Gcg4CWalBe9V2erijk3eQfg9Iyj1diWANihNUvE3MgSrUAC-jbeUj6DFwxWpDuEAuwF5dc7M1WpH8TS8ncUdSZ4tx0FO35pjbwTy3SQigt5EzSNR8rIYBuC3Oy5_MbyUaMdhu5V_8PO8a6_VKq0ou2Hh6_uzdqyXdEgmN1KTOsILAuwXrEp16XrzxBVFZp55LhY-VsA5QYdj-5hZe9eYf3_mYqW3Loy0EX73SoF0To9t4lRG-untQfGTuK0FnvmOqQ2jYrNhI40orspeu3B8m7HGHrYCyZjcP1kQs011JtNEE4WKUPku9fpAodzYju7fAU8bm0JYcGlNmhffowd-KhNKJtJNEGCrw5xmrwvjpm-JODnAB_NzUHlFjdNjD5A4Z67jLB33p__okwMZEpx-n3no9nOmiWPYMXo0-DB2EFX9cAr2BdycFnVbTPfJf9rsq1WLh_bmCLLNQgFfvm0-1P1AFHmWxPHm8omvbIAwnuqD9vwCz97OCVom2RXdPy3fzQzgD2myxM-GtpQotCCT5PYymprW3ibApv_fXNtIEnqOF2TDNCqZc3ICtjUXpb63fYf7EjMDCqTouvhkr6oTDv3Y8QsvwesicV8Sk_f8eTm8jh0soMkYmnP8XcuLldAGMY6QbuSzwDg2dj1uG52NO9fRa0JtK8uPPd8-qaP-yhvqATwAOhXbMYPEW7Skm6uCi3aaiHCNKeAgKyDzfsqKWtmm0UHA_EKn0wJqOwrTm9nOwqemZHbpC_tJzjn0muY6HX0sUfW0q-IRBVBULGBLTEbXe3Gy8FD2GK9CPq8rBKDET7USD-HgrVgMpC7JPYAbFpBrI4T38Ky5QaDZmSLCEqVDLEWHchaTeQfEeDQctX0RTqx3txGIZrIVJLBN7PoDvWTyp4JkiTkjFtYJNj4ELcUxVjgLKfiQ-DRLvX5g==",
  "id": "rs_079248f874c6ada1016ab44f1661a887d0a24e9663f734a0d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.3,\"right_z\":0.12,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"A fully sideways two-arm pose is not tracking reliably, so I’ll use a safer supported assembly: lay the pen radially on the center-right table with its tip forward, retract the right arm, then slide the cap onto it using only the left arm. I’ll first align the held pen above that placement line.\"}",
  "call_id": "call_dEiijX2ApJuxH9JBu01Yz27a",
  "id": "fc_079248f874c6ada1016ab44f18d79887d0859453b315b1f731",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dEiijX2ApJuxH9JBu01Yz27a",
  "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]: [-0.408, 1.7748, 1.8179, -1.1931, -0.3321, -0.2302, 0.0863, 0.9543, 1.7947, 1.1374, -0.1745, 0.3714, 0.2527, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2248 left_yaw=0.0393 left_pitch=-0.4963 left_roll=0.2281 left_gripper=0.0863 right_x=0.3196 right_y=0.3463 right_z=0.0939 right_yaw=0.4829 right_pitch=-0.1947 right_roll=-0.0866 right_gripper=0.0563\nstate[joint_eff]: [-0.1162, -8.9915, 6.6667, 0.9695, -0.2613, -0.022, 0.7155, -1.5111, -8.0205, 7.5692, 1.4383, 0.6911, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1168cfc6887d879fa86b7cc5ecf11553fe597291c7663c724db729ae7360e428",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77afd2c4526f2be41b56854cfdcbc6f54d474919117d24e391b282bbc4ebf799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb865b04e14773a5ec42fd8384ba4581aaf3428647818a27927310151a6141a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 4.447 s

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

message 89 changed as sent

message 97 changed as sent

message 102 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1934, -0.3435, -0.2276, 0.0831, 0.1711, 1.4345, 1.2362, -0.6712, -0.3573, -0.5114, 0.0569]\nstate[eef_state]: left_x=0.4032 left_y=-0.1057 left_z=0.232 left_yaw=0.043 left_pitch=-0.4763 left_roll=0.2316 left_gripper=0.0831 right_x=0.3714 right_y=0.1305 right_z=0.2042 right_yaw=0.7447 right_pitch=-0.2324 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.3487, -8.8274, 6.3111, 1.033, -0.3785, -0.0904, 0.906, -0.2667, -5.9556, 8.6222, 1.2186, -0.3394, -0.0708, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7695, 1.8225, -1.1931, -0.3382, -0.2302, 0.0847, -0.1078, 1.6821, 1.5497, -0.9752, -0.6815, -0.91, 0.0568]\nstate[eef_state]: left_x=0.4032 left_y=-0.1065 left_z=0.2287 left_yaw=0.0422 left_pitch=-0.485 left_roll=0.2289 left_gripper=0.0847 right_x=0.4027 right_y=0.072 right_z=0.2162 right_yaw=0.9485 right_pitch=-0.2013 right_roll=-0.0005 right_gripper=0.0568\nstate[joint_eff]: [-0.1299, -8.4581, 6.5436, 0.9988, -0.1832, -0.0366, 0.9255, 0.1573, -10.2359, 8.212, 0.7106, -0.9988, 0.5495, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8179, -1.1931, -0.3321, -0.2302, 0.0863, 0.9543, 1.7947, 1.1374, -0.1745, 0.3714, 0.2527, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2248 left_yaw=0.0393 left_pitch=-0.4963 left_roll=0.2281 left_gripper=0.0863 right_x=0.3196 right_y=0.3463 right_z=0.0939 right_yaw=0.4829 right_pitch=-0.1947 right_roll=-0.0866 right_gripper=0.0563\nstate[joint_eff]: [-0.1162, -8.9915, 6.6667, 0.9695, -0.2613, -0.022, 0.7155, -1.5111, -8.0205, 7.5692, 1.4383, 0.6911, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1168cfc6887d879fa86b7cc5ecf11553fe597291c7663c724db729ae7360e428",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77afd2c4526f2be41b56854cfdcbc6f54d474919117d24e391b282bbc4ebf799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb865b04e14773a5ec42fd8384ba4581aaf3428647818a27927310151a6141a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8geUda0yBBLhumwOPfuwgksRAIdrBOgKrO_ghjfY3berGoToxA5sVBy5aQfFVnuFQJgB-640h9EY9M3Ogir2ru368gP8kD0ujAXSGE8J7_vokPcEm1nFrLaZuNUdEEABlGeuQVtXV9dyA4HnTKZWZMnJYrIVR4D7NFeFwH8nXMH8RJ-pislvy8JVZcvswG0UNNrzAbIzjqOq18PJd4UTps4Y0eo7DApYrlDRg9eZk9MboPSIqfl6pFB3q7yOVVd7Sp44bUj4Wn1xE9VfNLaepVzl-RXZSwUd6CHi3WKMGHu58VVz2MlA_PPJWiQ2heBTiZsrJJmz2Y_rJPvwLHzKppNPw3wjc76-2SZSvk16HnqgqJlwkysAYBH4kdqPJTJAxe9UeH5q1LR9rf-4oCBEfBx5IoWzM9rxyZoWnpareHXRe95YFuuHje0ZdP8lXJCqiV5WEGB_MdhPWFnJ3dLscix8qRmqwqHw37oIq6pjVuKuu6nK0M-Hqw6JWhwShqWMXeHdvgG22HsmWrtR0la6DEb16QcsVOT776o1EBC2PdJKz2WpwG8dQEtlFKrDujbEM9EZWZW2wHVgw-r7qE7oKqiGf3XgYQsQjMyC1JbWzCw010YYQjWD1nWag9WKKVXfsV0kdwKdnmFjtaViWv_tcbPgvIa6-FkzKzECMAu88_K7V_vfiG5fSNLEhEaOCS1tb-6Xv9-syTuxwIcSuIbfQbXjsRH-prT4RDnvcY-3_BuUP9z2H5CjS9vsUnGNhF3T_72YMYtKFyQrnqaPovHs6ax8QY77ii0meAJ1Yrcw5AMMk6LrXzG6Xgso40gGeF36nizGmUg7wzKYujBMUN2e8t7LwQShYPTiovcljbbANX3Gh8_NteeBG-np7FB7s8dNnDDK3PL7srCJmYa30aFMbDU9x-A6pyYP3jQ7wc_WKknUjpa7AyPBMCi4HLtedoSPPlv90bqnXFbn82jzq-FSlaPg7ivSAzhrkfLFka_ufuczQc5CvXeiW3xDFB1LheuRmerbkcTzcuNVNEAgBhpSfr6IPOQTB15vCiuAYnxWMkly138TygcuY6HYIUq4jZVCOjL3jEmyj6a96oj3y7MF2TUf-HkkLD_1-IUA6FstxUT6mcpQgSeNgDWPW4rpLzTW1uUobZ76F5EWpYqp6sVSgHifVvmTPXdZZ3sa13iYDxXUtaBg9rvEPt72v-RCvcAJyL4ooCnlWBOJKqijMekDwhRdnSV4cqVQr3nCEN8S80VxzluRWPZEVh5cDu6yILXc37uS8VtSkb-P9yBNIT29VFzy44Iqoxd7EJp0A_Py-zfCKroZYNRabmg90-KJ6I1X6_cb27A2SjHpHTOycdXWAP87zhmqZ4Kdq4P4MDccOS7ESzAgvQkQeB9Au4S0a9_k2eSQzUI4WTZIg5bOVQWnpaTt7EpZAKvOmlYmTQCdfimLbkqbfT7RPYgelMLDVu6Tt_3M4DZvgR1bFQ24DsMa5H4Zv4myCZI9CnKOqh_DUtKIS_fTLGya8jMriNvWgub1RNJUAwyY153PiR75UeKqlt2-Wsj7cQTdIIOHUWpiX3WlLiW1oT_4frW9RbtLTQq3_GEEnxG_wqjoMLzquT99hCSMCSbxJEhxk6dqtghdgjpE7SDWTKvgi246pNuL67pb9RP8pAwc5tqQWD4F9j6491Y0j3Owt3cajBqdjakfllwBqot0QHsROXJ9MBH_2qSgtCKsyJMYiMwaflkAl4P0bdR6BnutnRqsiWVb6Phh-1-lBhHQ7RbMpxUOOjccvXaWIbRfPSB8oA0buEPOcJtrBJLCRzlpqErA9tAgaMXb9BS82EO1qAAG3HiqShGXD2XO8LVFgCflZCO51IP3aaxGU71oyh_-UJlFSunDtb47QkwaK6olMz9nvwiHoOo7zaZr_9XIjgwhOO_aigz2RVBZVobg90XRtuofLwEyml2PDwIvmcYbX0M3RF_HAjBJdTEeZDx_azcNegcXM8U7DVF6v5SIRZZuiFxCQyzeRHl_ggJeSxRByhqgZgeXKIe5OJ-iBfGcya6GOJZCnJNzalZfmf_0Knp-7fi0eGlF-llv1rv5jRy-xLvGFLBZNkJFwzxF4fPMEADilgj9I73RmGur1tB8CHvJwCS-oF3KkwJ7Enoz5MazcqIlHVhAiuT9LNM38F",
  "id": "rs_079248f874c6ada1016ab44f1d9f4887d0bd87f4c016c76f84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.346,\"right_z\":0.004,\"right_yaw\":0.48,\"right_pitch\":-0.19,\"right_roll\":-0.08,\"right_gripper\":0.0},\"note\":\"The right arm settled at a diagonal rather than radial pose, but the pen remains securely held and the line is clear of the left arm. I’ll preserve this actual orientation and lower the pen gently onto the table.\"}",
  "call_id": "call_2740fyEyq9FQxFdrOePrZ65b",
  "id": "fc_079248f874c6ada1016ab44f1fb82087d09d69b7920ae26700",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2740fyEyq9FQxFdrOePrZ65b",
  "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]: [-0.408, 1.7748, 1.8172, -1.1927, -0.3321, -0.2306, 0.0874, 0.9581, 1.8454, 0.9852, 0.0463, 0.4065, 0.2493, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2246 left_yaw=0.0396 left_pitch=-0.4966 left_roll=0.228 left_gripper=0.0874 right_x=0.3167 right_y=0.3353 right_z=0.0508 right_yaw=0.462 right_pitch=-0.167 right_roll=-0.1038 right_gripper=0.0563\nstate[joint_eff]: [-0.1709, -8.6359, 6.2427, 0.9792, -0.2027, -0.0611, 0.7741, 0.4581, -9.4291, 6.7761, 1.8632, 0.1441, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864abca18ed8f623c27c00d84138e813b039e7c19c9c80cfe1ec235eba3be214",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ad6bb189a29133146f6419740fce1eca55b4ed54b13c9925b772e41a59d06c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982868f698759a318b4d4d0b960f102351fea8c6764015a22d649b77fd998b27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 3.143 s

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

message 93 changed as sent

message 102 changed as sent

message 106 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7645, 1.8256, -1.1927, -0.3393, -0.2302, 0.0834, 0.1368, 1.4685, 1.2682, -0.741, -0.4713, -0.6765, 0.0569]\nstate[eef_state]: left_x=0.4031 left_y=-0.1065 left_z=0.2318 left_yaw=0.0409 left_pitch=-0.4769 left_roll=0.2258 left_gripper=0.0834 right_x=0.3641 right_y=0.1347 right_z=0.2009 right_yaw=0.8997 right_pitch=-0.2386 right_roll=-0.0791 right_gripper=0.0569\nstate[joint_eff]: [-0.1983, -8.5949, 6.2427, 1.0134, -0.2222, -0.0269, 0.4811, -0.6359, -5.7915, 8.5675, 1.3797, -0.2515, 0.1294, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8179, -1.1931, -0.3321, -0.2302, 0.0863, 0.9543, 1.7947, 1.1374, -0.1745, 0.3714, 0.2527, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2248 left_yaw=0.0393 left_pitch=-0.4963 left_roll=0.2281 left_gripper=0.0863 right_x=0.3196 right_y=0.3463 right_z=0.0939 right_yaw=0.4829 right_pitch=-0.1947 right_roll=-0.0866 right_gripper=0.0563\nstate[joint_eff]: [-0.1162, -8.9915, 6.6667, 0.9695, -0.2613, -0.022, 0.7155, -1.5111, -8.0205, 7.5692, 1.4383, 0.6911, 0.2515, 1.0281]\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 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8172, -1.1927, -0.3321, -0.2306, 0.0874, 0.9581, 1.8454, 0.9852, 0.0463, 0.4065, 0.2493, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2246 left_yaw=0.0396 left_pitch=-0.4966 left_roll=0.228 left_gripper=0.0874 right_x=0.3167 right_y=0.3353 right_z=0.0508 right_yaw=0.462 right_pitch=-0.167 right_roll=-0.1038 right_gripper=0.0563\nstate[joint_eff]: [-0.1709, -8.6359, 6.2427, 0.9792, -0.2027, -0.0611, 0.7741, 0.4581, -9.4291, 6.7761, 1.8632, 0.1441, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864abca18ed8f623c27c00d84138e813b039e7c19c9c80cfe1ec235eba3be214",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ad6bb189a29133146f6419740fce1eca55b4ed54b13c9925b772e41a59d06c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982868f698759a318b4d4d0b960f102351fea8c6764015a22d649b77fd998b27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8l5baiI46kBO-u2lVlU-77Jz85HrKqB3tuhy6JVmJTBqsjTQuVxvXRo8bOEWzOayXfRBdr_y9OoGXE-oHBjHrj6L8CB5HzdjSdkzpwo6Xelu2yQ8HrmhG08lBez-kLrRZ_rMwF5JHpTQM3zH7lS-2n1pyoRzpNqzPHwqZ04hu44ocsasWpyU0GPf1cd5hZ9CaSJ9ILrNY57MG3Hr00HiL3kZB6MZFAjF5WWrotX28uldDCUlQ2HFi4QBu3eHctRzhTvzgkoJqj1EqBrjIdxnH9-iTYuARr6ORYmw6FX8XQh6DKlJ107VBq9nprdOMBXdeoc8vxNAqcloR0F1abn7TkJ3DLo90R0qq5XzYeLapvvo8vIgy1s9A3CgK4UniEkTq25UBwKub99nztJsOmu8-7a9Qaproc72r5On_QJ7HehXzSGdjslUk6AHmwP7J3Kw922x77T_MLDPxMxUW80hbl6OX53qbUpdIpMbCy1koykVebhSHzfQOHWf093ROLq4s5d0yRnfEKz9WLlveLjyUOhBuNBTtL0LWtTSVJedSZ0zYmxvHWvU2mtx5TZgSXGKs2ly4RO4yYzSaWZtzzbvX6AOg3pclabpWYVqCTLCerqZr655rWSieMC2_IUrrN_UL8Z0yAXptEZztKTOzst3qLHzXCrFwMjVW95FBUFPUU8GuUmRUvo5RXG4EaZmefmvJP5YrbqE4EKeR35PjTgKNAbYKt_Dw7l1_7mUXx45l5mRwTy1zT6k81QiRSIpn_cn3I4XXuK8CkTzOKEeTVRQ9b0-PhHgPQfq9f7rVwisIlerS96wIfxcY441_R_A3IFEmXY-FxiLsVu5qd2OWQduO5vDKebeW5OJfHRwHPVNk8HjB8GUoWJhrCWGsv-yzI2QCyrT1Aibrn6j7yyHKXof5Qv58Tu8JmEiPACr_FhNHLcI67G8915xjK7yCfRe8-o7M-CgHVR0YWbuM4vSMGCBceArAzf4opTJzlFvDxbecNE0XO6bCD4dKhn_Mng65xglK0ZwKh7O1nOusBb4sjvnPLCkUFExoseyioQJO9DMWI-741ViIYWCctcA1-6SragWzhV9nlSwMzPbafYB34TfgNCEN4V8bLyTQLgizFLq9gL-saVKW8jTHpTrb_vGbxpL7WhGSZYin26vx7mvAaXjoVitGn-z-cKIK9Dc63qehztaL4yWyY7BX5FgpNeFatgqpJFicrG5A2wbQmvWyCZlWMWcOgiuN_SjSWwT3Ih5UAZZq05pGqe3wMLjPAQrbwqraMGDsmkd4Petd97KM-ADsT-1JH94Zm2gAn1JeAnRbgVZH6Ky8JU15yYrFOX8tE8wWCakg-VVnLWH0Y3HgjCU-CyqLzi0OPOgOPQ0RZx_r9UlWFDXE_1AJpk72qG1jc8QVX6O_Nt-Od9vi7Kf28HBrJGqD2BgShi0yYrqAp6grcKIz1FPUSLNrG0afp8iqK3T5HpCicrepMTMkg14xhiiGQ5XcWlkUWXelXQxmNMz0z2sG_pJhQjdixEpx0nymqS0ncZW0uabJsQioBRhDFeJnIGqLVPFxrWGmz6lC1h3mwXzpbhflMz5LrHH45uQmbcqn0",
  "id": "rs_079248f874c6ada1016ab44f231b1487d0bc8d85b58afe0418",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The right descent stopped about five centimeters high while the pen’s forward end visibly meets the tabletop, indicating the long pen is supported at an angle. I’ll open the right gripper so it can settle flat on the table.\"}",
  "call_id": "call_2AhRXHnjIQqUehe5WhakjD1V",
  "id": "fc_079248f874c6ada1016ab44f24f11087d0b0e587c2c5106488",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2AhRXHnjIQqUehe5WhakjD1V",
  "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]: [-0.408, 1.7748, 1.8164, -1.1927, -0.3321, -0.2302, 0.0904, 0.9577, 1.8454, 0.9852, 0.0525, 0.3985, 0.2386, 0.995]\nstate[eef_state]: left_x=0.4028 left_y=-0.1074 left_z=0.2243 left_yaw=0.0396 left_pitch=-0.4973 left_roll=0.2286 left_gripper=0.0904 right_x=0.3166 right_y=0.3371 right_z=0.0514 right_yaw=0.4743 right_pitch=-0.1648 right_roll=-0.1038 right_gripper=0.995\nstate[joint_eff]: [-0.335, -8.6906, 6.188, 1.0379, -0.1783, -0.0317, 0.5983, -0.3487, -8.8821, 5.9692, 1.4383, 0.188, 0.1441, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315613d68594ee5913a65f2b5161fea772aa2c8777654db84cd2d538fa6b597c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69e4b947c575265de541a4bead543976236d557c9c35a596f5e0e4fc92eb8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c24a752350539a6027e8beef3bedfe2679924ac225bdd385c3235c620990f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 7.832 s

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

message 97 changed as sent

message 106 changed as sent

message 110 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7695, 1.8225, -1.1931, -0.3382, -0.2302, 0.0847, -0.1078, 1.6821, 1.5497, -0.9752, -0.6815, -0.91, 0.0568]\nstate[eef_state]: left_x=0.4032 left_y=-0.1065 left_z=0.2287 left_yaw=0.0422 left_pitch=-0.485 left_roll=0.2289 left_gripper=0.0847 right_x=0.4027 right_y=0.072 right_z=0.2162 right_yaw=0.9485 right_pitch=-0.2013 right_roll=-0.0005 right_gripper=0.0568\nstate[joint_eff]: [-0.1299, -8.4581, 6.5436, 0.9988, -0.1832, -0.0366, 0.9255, 0.1573, -10.2359, 8.212, 0.7106, -0.9988, 0.5495, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8172, -1.1927, -0.3321, -0.2306, 0.0874, 0.9581, 1.8454, 0.9852, 0.0463, 0.4065, 0.2493, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2246 left_yaw=0.0396 left_pitch=-0.4966 left_roll=0.228 left_gripper=0.0874 right_x=0.3167 right_y=0.3353 right_z=0.0508 right_yaw=0.462 right_pitch=-0.167 right_roll=-0.1038 right_gripper=0.0563\nstate[joint_eff]: [-0.1709, -8.6359, 6.2427, 0.9792, -0.2027, -0.0611, 0.7741, 0.4581, -9.4291, 6.7761, 1.8632, 0.1441, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8164, -1.1927, -0.3321, -0.2302, 0.0904, 0.9577, 1.8454, 0.9852, 0.0525, 0.3985, 0.2386, 0.995]\nstate[eef_state]: left_x=0.4028 left_y=-0.1074 left_z=0.2243 left_yaw=0.0396 left_pitch=-0.4973 left_roll=0.2286 left_gripper=0.0904 right_x=0.3166 right_y=0.3371 right_z=0.0514 right_yaw=0.4743 right_pitch=-0.1648 right_roll=-0.1038 right_gripper=0.995\nstate[joint_eff]: [-0.335, -8.6906, 6.188, 1.0379, -0.1783, -0.0317, 0.5983, -0.3487, -8.8821, 5.9692, 1.4383, 0.188, 0.1441, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315613d68594ee5913a65f2b5161fea772aa2c8777654db84cd2d538fa6b597c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69e4b947c575265de541a4bead543976236d557c9c35a596f5e0e4fc92eb8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c24a752350539a6027e8beef3bedfe2679924ac225bdd385c3235c620990f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8pcdzf03Yynu-6DUInKHrer1hPRT0fMvfj7_R8NA6mutYF-Wn1Ya4flr0SGL5K14NVwDdfdyD9IxuH94mqB_hqTkwPCDiAh-El-MzZmUB40yDU7xIDaAPMHHS_ztxoYAIWk7pTVa6EJNc_uWiK5n01_k7QMugFcnmkbAs31rnc6bn-sHE_bI4PzT_d336CspRLPOaIglWp46hI6aHOunkt76xhlYOoUzu7xlhMuop7pGegMfzzfB6yUTJl8TcvQhGwI3vAblZ66bNS6xj3Cxdeuc1KQx0TZJLvKE73giu1G_QwdvSbXbohAFfoHgZXrY8ojH_S9J2vTFpMzdeQ_QPECquWnnGCQCqRsUGLVNZ6Psxf-yeQ4BF7jTsf4dF8OxPBRjTP06e0sFlYFVJC11FZcZ7GL0ZSnBw2E6bXv9l1i2RQYEJ90xK-xZsuga355gFNGAVUUxq1pjAjvydtJm2sEqHL3M6NeyegG4SIMKTr_mZjRYfP7gTpjz5Vt8crO03o8a3w-KjHesMk_SbhRd8-traZNWeQrj29uaK5KyggMpWrYcR7LT18tuTX9xwhuwLyahsLwd99GGmbwuj6Q9TnlleBlcLnw0zfn-3TJxITtM8yjl4_Dvar_su15siFmn7Hm438ihiXHKFNzSBPmnL4Z0o_96Olao_VZOzEZEThvoGuqjUnxXC1pxvPLRt8tN-QPZo0Xj14Co_o8lpJAVLqIxhUd-yFIrxyLiEylgBoo4_FFnG64wagAvZL3ilPEbDEYsxO8FE6E7FMfEx3THeI0ww0XRMAbYbnec165QaE57JIx6Ci-dqOrzi4y840JN5ZknD1AtPnVlRxLbFsk8M1QG61gRE47V7v9Zm_38yh3JxKIA_6b_0gADe_6_t-3jL9kIwi0Tevqy_0_ZeG5WL2YPMGKFgXglf8bndmE2373pD_OL5vWhx320Iz92YoedzAA-XkZ__Zgonc639Xi7n8Nqw9KWEKJBQZM1MjUI1mTAn1iDf_00b77qM7jMYXCB5RaVyhyJpaF96-ktHATUS_Sc_nyJisGd_IdGFkN4oPEfOSG8Y9mFCgUbW7j6iJvjwKAjn5JA2KcNynn9n6b-miD5N_haaERgvp6RNJRdiaVjsWYZKNFfNlg9tb67O9gPqbU4sq7iU9OSUf802mPqqAGFi1t3ntVR-2zqu3q_l2-D3Wta2Y4jzfy6tWJ_czB6h9pVCXk9qAZs-oYav1_0ERFKWMDrdgpBO1lSQHeQKu70P5mxJ0Be9CbUl-f3_qQP2102l1siMjB-ics4ZLvqQbUoj3sptA3ml0m4W6_x_NgDYQZm7eveTJSUGEhm2dgxRs",
  "id": "rs_079248f874c6ada1016ab44f27e9b087d0b61fca2562986e9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.2,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The right gripper is fully open and the pen is now resting on the table in front of it. I’ll retract the empty right arm to its own side, clearing the pen and the path for the cap-only insertion.\"}",
  "call_id": "call_JJ0aWzqgNeeBR6rg44CE70tC",
  "id": "fc_079248f874c6ada1016ab44f284eb087d081260eb8b2086842",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JJ0aWzqgNeeBR6rg44CE70tC",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.408, 1.7748, 1.8145, -1.1923, -0.3317, -0.2302, 0.0933, -0.0116, 0.7929, 0.6369, -0.4622, 0.0124, -0.0105, 0.9984]\nstate[eef_state]: left_x=0.4026 left_y=-0.1074 left_z=0.2237 left_yaw=0.0396 left_pitch=-0.4989 left_roll=0.229 left_gripper=0.0933 right_x=0.2873 right_y=-0.0019 right_z=0.1784 right_yaw=-0.0324 right_pitch=-0.0512 right_roll=-0.0068 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.6906, 6.2564, 1.0623, -0.1734, -0.0366, 0.5739, -0.3761, -2.0991, 10.2222, 1.8779, -0.2125, -0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b78185f09f40ba47d3f51f5410d9d7dadaeb1e09a3322662f1e8977df1abd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c332a6d36da30324a71c604a8deca3af415aa0a14e26fa921f42ec4a06e554ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821fa7695ab39c4b5048ac7cf305e46c857e58271b5fdf17c80be10d87956093",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 5.037 s

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

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8179, -1.1931, -0.3321, -0.2302, 0.0863, 0.9543, 1.7947, 1.1374, -0.1745, 0.3714, 0.2527, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2248 left_yaw=0.0393 left_pitch=-0.4963 left_roll=0.2281 left_gripper=0.0863 right_x=0.3196 right_y=0.3463 right_z=0.0939 right_yaw=0.4829 right_pitch=-0.1947 right_roll=-0.0866 right_gripper=0.0563\nstate[joint_eff]: [-0.1162, -8.9915, 6.6667, 0.9695, -0.2613, -0.022, 0.7155, -1.5111, -8.0205, 7.5692, 1.4383, 0.6911, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8164, -1.1927, -0.3321, -0.2302, 0.0904, 0.9577, 1.8454, 0.9852, 0.0525, 0.3985, 0.2386, 0.995]\nstate[eef_state]: left_x=0.4028 left_y=-0.1074 left_z=0.2243 left_yaw=0.0396 left_pitch=-0.4973 left_roll=0.2286 left_gripper=0.0904 right_x=0.3166 right_y=0.3371 right_z=0.0514 right_yaw=0.4743 right_pitch=-0.1648 right_roll=-0.1038 right_gripper=0.995\nstate[joint_eff]: [-0.335, -8.6906, 6.188, 1.0379, -0.1783, -0.0317, 0.5983, -0.3487, -8.8821, 5.9692, 1.4383, 0.188, 0.1441, -0.1587]\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 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8145, -1.1923, -0.3317, -0.2302, 0.0933, -0.0116, 0.7929, 0.6369, -0.4622, 0.0124, -0.0105, 0.9984]\nstate[eef_state]: left_x=0.4026 left_y=-0.1074 left_z=0.2237 left_yaw=0.0396 left_pitch=-0.4989 left_roll=0.229 left_gripper=0.0933 right_x=0.2873 right_y=-0.0019 right_z=0.1784 right_yaw=-0.0324 right_pitch=-0.0512 right_roll=-0.0068 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.6906, 6.2564, 1.0623, -0.1734, -0.0366, 0.5739, -0.3761, -2.0991, 10.2222, 1.8779, -0.2125, -0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b78185f09f40ba47d3f51f5410d9d7dadaeb1e09a3322662f1e8977df1abd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c332a6d36da30324a71c604a8deca3af415aa0a14e26fa921f42ec4a06e554ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821fa7695ab39c4b5048ac7cf305e46c857e58271b5fdf17c80be10d87956093",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE80J5hQRENeMlX-SFp9xUfN6u2ciiOiqw3FmMv7wqpptwJ7kjDG0lVAnWE7PWu_ivLMzNoo6oxUE0xx8gunCwRCTR--te9JvYyZOswDOdujpeUMx930gaFFrgZx-G4BTZKXxdP9t67kKwrmFbRfjk5-88ACZ05hKkc9LKCuemQDVzYHpA7psEePoXw1HtsvEmQ7jVfkloz6JnALSNS687Wlhb8zbH7LMIzMTYjvAFZxRSjssv53m-Nzp4Y6suU-K5xYhetTCP6M1LCkWI9P3v4sWY-VatxwC-xnxjQwvK0yEQLb4qhmm7QXoOv9FpAKIQ5b7ZCwSVe_UdDxx3EyzO4nWQYWWgD5TGUoUnSQLUq-bawObm2sv7XfdXMEzEBCE6Za5tr3oPwcOyJpGqvU9bt_T_xWXD1D0dG5ANAf1T_0t6KgZurajpfbSkf_jLxrC9WxIcQn1JM75upH-Jv-2ML5vqM_g63ghy6_xZ_e_F3qvedAd7IdKC352h9jHqsHJlkoRzNlBJl9mFFlxapWszWUUfz3i_HowaSeyvBALKKOcaJzRsj5VnvV3uLBEy5o2nxSjylPGmKquAvozMWEG2deUR59OGcwZ_sDPZKCxeva0qk46wwtE_WwAnXv5OcgumO8OfyI2ozo9Gk8a98vrHXeOhnnZkE2TByXq2kI93Ws0ZyEu0_eoTVD6uh_M54EU0dZ25CctWzdNOi49lM9ylDhWBPZjboXsWVDBbMPKJfXzDDlj65RhnnHDhXLku072R9BhFzdHgj9rEulXTdwN_l78l2S43akUuz4VmWXWuNyQv9L1zJCg9dDt63YQN7gDrSv-VAjfkMukCfAUL6UBp7d6TWr7r3yQggOdDNMDRk08Iy5c8Arl_z0uz_uziXf8hNt7-YhqDz-xPb5RGW79ppQAgEr4K11AYub_xtzmfbb2sg8mLkbzToXecXtQnsXeB_Yc_bTM-waVzeCRQSCeWMW-zkxmODVjKdU1EkbU_agKmtVgxUHh6Glaippeb1KdGuK0sZYtYtBdPflwQWat4oeFQiq-SKh6aqeLLOuKWCZQCXQ4_1Po6m6HjCdzWoY0D5KpIZpMlMxnPZr-CfW4JSrwBHRF0kYDnxwCitAUSmpJUf1UxiaV8HGLHevCqvV_au3cL4S6Y3LlnU5GUeppY31__CT6Yu5UQWKpj_rT6bQJUxkaC3sfkbQWlFNU3qAvAHZhIyZ147s8gPi_7y_AzV2te1AlGkVVWJEmOXSiIH-Xj9gQbtPaKCK5vbxyOowMB1xsRz-Hv2aGoRhEDt_azLpHXjx7WEdIGh9P9-qaoc0Jlszl25x4q6YlD09IXZ68M0JwnKV3NxqBg64TAG4NaAQuub_LLbkfTh8ZXS-VEs8rHTYq98c1k7RWxDkEILbJBBkQpBXvI0XJzaMHAlxKt-SfA8QZ34_V9Kv7wyCR9Mnw_jaJyBVo5lqTA94O5U_-2iUPLJH9aAjpvli81QFz2z98Ggmv3AIdAhaPQKn4qPAAaHK50ux4jPRVhfpWDh_Yt1YSIJOvC8jUrxs7LyZKoeK93JhGqPSr3fLEXv2GCNgXfpBBA0ahXzKBMi1cGJyopKgTK9H3PbpUVKzVg1Lj7GB6PInu1OLynLgAgu_Pqfj4Hn2Qk-EFVhpBwRcqK3nGZoITrjnM8bIXZjrjzsqhbpH0LptubI2HjSZ7MdeusAbmf-SMbnFgb71DWe6tM6La_7aE5LmX15416Hw4XqbFv4LWuLEwGvlHplvuosCR8HfMPBQ3G6ofkQ2xUfQiHp3OgqSm1dUHbdYV7hevG0YtIqKIOYA0277rjRZYwxXNkh_I8y5G8nn__6C633v6eRt2jHzcxMp4FRujt-CQaDwFIAD6K_CofbgslIewHUxnQhblFgDdKQ-_3n45lvjy9TtuB8te3igMmgcu64Knjtd1QNpPLaBxIwSHQWwz7WJsBfvf7QdeSABg4_AfjvLKvDy-FljHFgcs_th0kEYcb4HumLwlIP19op8WjyRVfaKMyCMpZULmo_UD4WIdfZUOC8dB0TN8ZBGRRZ9W3ApOIx_CUblGEyjmv_ld-d9Qenmb2KSWQs5P_OXX3TjKzWKgwmSyvaXcZl1NSzyYS752ZLcsdRwNi7X_VdEf72GbDUafvDi1D59U7nPDzo3gxtXkKWJ6NilSHbk1OKjKy_-4JTzZdyDzXJMAtVzy9f4s_yrMol_7DyxYhTjNCkAahhIOOGkKOVTMaBiu65v-EGEmdqfHorBdAhkRf6Ip4uIbrO1XE1EcEDkmHCEQMciPa_HnghkkSFVjEE82gdxYnlRt9A-VBYkLb8Yz1DU8apB3c0q9rs59Zhf-xKulTnsQFIlwG4f2Xo8AnEKfCKyK7bdQf8ghnt5-tWPR8KAV9MFOqFmJHddmn61zvwxnO6L7X0gqajRLieto8OsHCv2XB7njlhvZ7NS2Y9rK14Jyifsj9exJAwcVACRoalw_XH9XjVZOwCwVQpzyzE50WM5LZyasRQCJArfZKZKFu9YL4FGyq8gsOZEN65KdD0fDSug1EN8PQzsBhq6Gvgzp6Ayk5yjiY9T2LQtfy9BkpP_MgCryRoldtsUAbvBmwHR6QthyBqhCUnj4ZttB1eBavNCJRwmISzU4poo_fEy6LaUDUfo-6xEVmrLEh24u5KgpJuVNWroxUUx0pDfiawuFGhj2xsIUbQmzWvT9ALqicVn5Mg4A2blvbKK3JfYxivzwlaLRvyttwiISmWi1RW0cpMrikfPJVJZ4v4487vy7CPXX0Q9sE2HEBXK30Ktp016ZbXKeeH3Rn60oW9LlDej-VLsdaJO-nG0NwOdFT3vT6m-Zlk6c0tn_tXlq5ZYU_VS7RxcOQ2lD6aV2zRKesdn8P9fpEcbE6XCzervalvVgYHsg56cWaFNdnQJaioC1lk1SXP795Bw0ju6b6EvQx5gFJXjJenfD2FNoOuI6_gxvAHHuHVc8FiID354grx6jEr_Ec9PjqUEXS_tAXvMF4BL2B1h2uj7s6QgAbXiO2rNKW3oIXdnlz8FC0NVyTfz_ENoLX2wf1Cfo5W6-SOQgbTT4A2n58lpUKkni08sAzwCDrnfVCoznLUtQBHZn9YQaOsFlH0QKYFM-GQCp4_ttD1QE2YcCpSB7AC9pIOU_sKNsfz3G-uiCaF1ZyPTthaRv3oMuayGelQlfQ-NEBORWWGoE2ya1bAX_Hc18nGrxDAbiTph_nroAoOFFzbuTE2laGGOVR9HjC8lekUyKRU4ksEbN0LsAlDbD1O68BMu6wiSt13TfnHmalJSsDdDSAWHtmhsMaz-Yj4Jh-gtgVNJZnvcrc7VZlWbYF5EkoqIuvvWuwuA7wheEyp5vhvpBSPTpOquamsznZwEKvtgEmxuXSaRmBBAZbjWg4U86-XWjYUWKPINM0Id6-LwRr-_iGfwqkHn-vOxNZUAWQ7mBUYbofwgpWaCC7BoCAz4eM5WiZQ4L6mQo4bRGM--GsK8ZOvPQdtmHIfgWjS5slm4dSx_QFg30RV5uryED_x0g9jt2sJ3Fda9h0Zht6nDX6qTc-O31q1W-e6zMw2hVFCux4NyqvC8ew5Scvclx83T1qsRxBT0HtauXAR1AYhfWCupDnM1S24hDzqrxCF5cJzdrEBk6mELePAvc3LHWq30fU-sQA==",
  "id": "rs_079248f874c6ada1016ab44f2e291487d086791b26eb542cc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.25,\"left_z\":0.11,\"left_yaw\":0.47,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"With the right arm clear, the pen is visible lying diagonally; its exposed tip is the upper-left end, around x≈0.41 m and left-arm y≈−0.27 m. I’ll hover the cap just beyond that tip, aligned to the pen’s 0.47 rad axis, so its opening faces back toward the pen.\"}",
  "call_id": "call_XKmYjG1kYJ1gOOg0nLEM8ncQ",
  "id": "fc_079248f874c6ada1016ab44f333ce887d087f1a425ec53873b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XKmYjG1kYJ1gOOg0nLEM8ncQ",
  "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]: [-0.8013, 2.1571, 1.6505, -0.6899, -0.8715, -1.0279, 0.0797, -0.017, 0.7956, 0.6334, -0.4648, -0.0006, -0.0269, 0.9982]\nstate[eef_state]: left_x=0.4312 left_y=-0.2457 left_z=0.0946 left_yaw=0.4225 left_pitch=-0.0726 left_roll=0.0633 left_gripper=0.0797 right_x=0.2867 right_y=-0.0012 right_z=0.1756 right_yaw=-0.018 right_pitch=-0.06 right_roll=-0.0127 right_gripper=0.9982\nstate[joint_eff]: [-0.3761, -11.8359, 9.0188, 0.7399, -0.7106, -0.0562, 1.0281, 0.3897, -1.3607, 7.4735, 1.7265, 0.0659, 0.1001, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169021c5f6a8267ef322cb3a0144a9e2ff12361a49c6f6dc0c901b263266f93c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c06189d987261ee32ef7b90d8e26cbfed9849a8da347be7aadac03fd1e714c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bef9eb5fa6378c5e30b6b23a18e982330f624d1c0e2cb384045f6f638372692",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 4.148 s

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

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8172, -1.1927, -0.3321, -0.2306, 0.0874, 0.9581, 1.8454, 0.9852, 0.0463, 0.4065, 0.2493, 0.0563]\nstate[eef_state]: left_x=0.4029 left_y=-0.1075 left_z=0.2246 left_yaw=0.0396 left_pitch=-0.4966 left_roll=0.228 left_gripper=0.0874 right_x=0.3167 right_y=0.3353 right_z=0.0508 right_yaw=0.462 right_pitch=-0.167 right_roll=-0.1038 right_gripper=0.0563\nstate[joint_eff]: [-0.1709, -8.6359, 6.2427, 0.9792, -0.2027, -0.0611, 0.7741, 0.4581, -9.4291, 6.7761, 1.8632, 0.1441, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8145, -1.1923, -0.3317, -0.2302, 0.0933, -0.0116, 0.7929, 0.6369, -0.4622, 0.0124, -0.0105, 0.9984]\nstate[eef_state]: left_x=0.4026 left_y=-0.1074 left_z=0.2237 left_yaw=0.0396 left_pitch=-0.4989 left_roll=0.229 left_gripper=0.0933 right_x=0.2873 right_y=-0.0019 right_z=0.1784 right_yaw=-0.0324 right_pitch=-0.0512 right_roll=-0.0068 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.6906, 6.2564, 1.0623, -0.1734, -0.0366, 0.5739, -0.3761, -2.0991, 10.2222, 1.8779, -0.2125, -0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8013, 2.1571, 1.6505, -0.6899, -0.8715, -1.0279, 0.0797, -0.017, 0.7956, 0.6334, -0.4648, -0.0006, -0.0269, 0.9982]\nstate[eef_state]: left_x=0.4312 left_y=-0.2457 left_z=0.0946 left_yaw=0.4225 left_pitch=-0.0726 left_roll=0.0633 left_gripper=0.0797 right_x=0.2867 right_y=-0.0012 right_z=0.1756 right_yaw=-0.018 right_pitch=-0.06 right_roll=-0.0127 right_gripper=0.9982\nstate[joint_eff]: [-0.3761, -11.8359, 9.0188, 0.7399, -0.7106, -0.0562, 1.0281, 0.3897, -1.3607, 7.4735, 1.7265, 0.0659, 0.1001, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169021c5f6a8267ef322cb3a0144a9e2ff12361a49c6f6dc0c901b263266f93c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c06189d987261ee32ef7b90d8e26cbfed9849a8da347be7aadac03fd1e714c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bef9eb5fa6378c5e30b6b23a18e982330f624d1c0e2cb384045f6f638372692",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_079248f874c6ada1016ab44f382cf887d0bae207cf586cbafd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.25,\"left_z\":0.015,\"left_yaw\":0.47,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The left wrist view now shows the pen perfectly centered on and parallel to the cap axis, extending right up to the fingertip region. I’ll lower the cap to the pen’s tabletop height while preserving this strong axial alignment.\"}",
  "call_id": "call_IMUOqFO7edcu74YZZXqP7UVf",
  "id": "fc_079248f874c6ada1016ab44f3a397087d08735fdde43665ab9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IMUOqFO7edcu74YZZXqP7UVf",
  "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]: [-0.8078, 2.3039, 1.5356, -0.4416, -0.9119, -1.0744, 0.0797, -0.0174, 0.7959, 0.6312, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4335 left_y=-0.246 left_z=0.0145 left_yaw=0.4571 left_pitch=-0.0395 left_roll=0.0504 left_gripper=0.0797 right_x=0.2864 right_y=-0.0011 right_z=0.1745 right_yaw=-0.0173 right_pitch=-0.0627 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -12.0957, 5.5179, 1.0134, -0.6667, -0.1148, 1.033, -0.1983, -1.1829, 7.1453, 1.7021, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321cadafd9f98e93342607d4fe0ae7c2afc809db154b508ee5275ebad07017dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439fa14cca7bd3efff8748e0cc3b7f00ff7aceca6f8247039c790e6183e64e38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7cd2cfe3d16dae90f5c79c5292eed8c417cf1ac9fc24f54fabac0f23c3122f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.219 s

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

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8164, -1.1927, -0.3321, -0.2302, 0.0904, 0.9577, 1.8454, 0.9852, 0.0525, 0.3985, 0.2386, 0.995]\nstate[eef_state]: left_x=0.4028 left_y=-0.1074 left_z=0.2243 left_yaw=0.0396 left_pitch=-0.4973 left_roll=0.2286 left_gripper=0.0904 right_x=0.3166 right_y=0.3371 right_z=0.0514 right_yaw=0.4743 right_pitch=-0.1648 right_roll=-0.1038 right_gripper=0.995\nstate[joint_eff]: [-0.335, -8.6906, 6.188, 1.0379, -0.1783, -0.0317, 0.5983, -0.3487, -8.8821, 5.9692, 1.4383, 0.188, 0.1441, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8013, 2.1571, 1.6505, -0.6899, -0.8715, -1.0279, 0.0797, -0.017, 0.7956, 0.6334, -0.4648, -0.0006, -0.0269, 0.9982]\nstate[eef_state]: left_x=0.4312 left_y=-0.2457 left_z=0.0946 left_yaw=0.4225 left_pitch=-0.0726 left_roll=0.0633 left_gripper=0.0797 right_x=0.2867 right_y=-0.0012 right_z=0.1756 right_yaw=-0.018 right_pitch=-0.06 right_roll=-0.0127 right_gripper=0.9982\nstate[joint_eff]: [-0.3761, -11.8359, 9.0188, 0.7399, -0.7106, -0.0562, 1.0281, 0.3897, -1.3607, 7.4735, 1.7265, 0.0659, 0.1001, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.3039, 1.5356, -0.4416, -0.9119, -1.0744, 0.0797, -0.0174, 0.7959, 0.6312, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4335 left_y=-0.246 left_z=0.0145 left_yaw=0.4571 left_pitch=-0.0395 left_roll=0.0504 left_gripper=0.0797 right_x=0.2864 right_y=-0.0011 right_z=0.1745 right_yaw=-0.0173 right_pitch=-0.0627 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -12.0957, 5.5179, 1.0134, -0.6667, -0.1148, 1.033, -0.1983, -1.1829, 7.1453, 1.7021, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321cadafd9f98e93342607d4fe0ae7c2afc809db154b508ee5275ebad07017dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439fa14cca7bd3efff8748e0cc3b7f00ff7aceca6f8247039c790e6183e64e38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7cd2cfe3d16dae90f5c79c5292eed8c417cf1ac9fc24f54fabac0f23c3122f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8_idUqbFmowGHs84aDEKGSRR4o31lEDRamehgg7nCWfRxydlcui02P8tHaseCHipbAYIHvv4FyZFLuezAnDVt93ftL5_ngJl9u6bfjaqgCQqEYi13EqNSNTzemfGJOyByAeywAI1uhYmpYSFXJ2kWxLYF8ulMtivZik8CWqSoYYH8q6mz_w5e5istW_ezr1YTsDE0B-qAsP5JbJRQGveKcbEAlgcKVF8sejHvxyfbdu_YlBNt24mpVnKBARrcLLi6NcO2SvRvAn7FDtOFzMQ1LqAclboTEV32LAyIOql9dJwMFUEegVpapztl0ZMNyN5t7061Oa7uUFIodqZ5921h0TwHKpuIK51U4pg-XkDmewY82EvLN8oAnCfkQxoiwVSLEo0LEzSubpk14RmHM5frLQqTE_voAWXPuPFx7YUM1rSc5HC0hPS_X0-CfjRTmO4Dv-h734P4KWZ7QkBBYK-Dcorw9h4_r4asxQ7_FI6chwYGq4jE8FVqq2_gC11V8ZTdezSTvPAU4QcLkXuPyzar06QXZL5lIIloAXplKTxyEtrxi1Gu_wqC9FeUzEDFNeJkqYTora_ZPz-JQY9Zs0SxWSOxYAsvKRbtWhIv-9CxTcPk9m6k-Yw8DsycnGqtBi91_qTXnx0IKyAaCt5AE3oTtsq4iAmdk2ekbG03vR06PH9cGnwdutDVDTXU8t5nvSMhgPYMcxngcCrOaUMKAl89i6stGWXlpVIxDSFHpYD1O_QbD2tbe5gkRdYc3xj_d5JocUGTV07pyPotMLfUxIkKotkgiTZIoB1A09gvVFkBKw1mz5jPMhHn0Ij58V1kQuJ3KqRrb7ExQW3jyQrhls-q4JkgIwHwOIuZSqYmUI03zsbnNw8Y0BFsyfaQDH_eFJh8NiD_qpHW7PiEJTrcRKdzgH7Y_CDMY9HX53IwX1GHcle3WKRHpCPud4sJ_vnhvRITXM5kMY4gqYE6lwsvJVWZrMEQqNoM88AK3sLTFVBcP5DZeeF4KLX8UOW9ZRis1l_rUPwsCvbq6-AoxcLrT1HjomV1qasCkVHb7WFDr5GCca2YD5ZFi-qdJnoQFlTn4qn009gQO-2qoAhq_hXVvyJqLEJ9njx1G_WuWydi4rroCvdF27RYpn11NxZQQ6xdknQ6SHQ3GczCWwKCXeJNkHN_AeDgCn6WbWUYA98c8ZS4tHNlR43k9AF17biWioTtFJA2A5h3hFdtlK_CO91GMe9lZFBLlJgwznGgTBJBuujpFgvX5-AJzg94jH2vXTRaU-TTN9fWwtYjc_SFDRCTq_t1258ru7V0VSxyISPPf_2otvVUCOr28WImg_9ajjaNvbIha9_NgeZ4KpH8dg7s4fPihogzrcmFTrAouqwCC_EsV2OBWQeNmqPrVhk0bWuAthkZFQalIAQgAw10tL0quH73xZW0au_0Q-ddRw44MgXSbwzCmE97hD1Y43QVqe63x8ze0YMw-Lgc1Ll6MVEKRKeyz5aiINGTTCHfLr689Owzco0UaKdomJSt7DyKPrXNFr9u3G2mofsCR5NmUI-kYaizXxOnBo8B73FJ6Ya0-TajA8U-eqQ2Yso3yVK3huts-MQZcEuwMSnZNcXgOBbM6NCfrWUoto3h_U3CLbqwZTmSw1DxmKijcdYL17PfZUe3gInN1MQxclRnS4Tx1wh_fS-AwIn7gLbjZmycVSLpypcWYrP-nW25o-3hpIBKqZJlw8wJSvqOHNWeeWKPjBFyv5JH4uyOSj0VEC9QTdAX9awwM37VZ4cqjDrV7ImwhcjBIj0RAqPs5MRl7f5vlM8_UH-VbW2uD_9ffqCGw911GU7tNSaNmQQDeKcoeHMTCeaeeOjk36ghhhANFu3ap1iSVntOYFL3YvarwnJE_mVcfr87Cl_pNY9dURBKf8Meo4BznvaYF_sZzJ3PqrhTZ6vKvACa3Yg==",
  "id": "rs_079248f874c6ada1016ab44f3d3ba087d0abbd5c115db7d701",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.259,\"left_z\":0.015,\"left_yaw\":0.47,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"At pen height the shaft remains exactly centered and its tip reaches the cap’s opening region between the jaws. I’ll slide the cap about two centimeters backward along its own axis to start seating it over the pen tip.\"}",
  "call_id": "call_zeoEH8nCwccl1bg1ygiSj4X7",
  "id": "fc_079248f874c6ada1016ab44f3ed47087d09a53400bad6730c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zeoEH8nCwccl1bg1ygiSj4X7",
  "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]: [-0.8272, 2.3123, 1.5166, -0.4011, -0.9447, -1.1202, 0.0797, -0.0174, 0.7959, 0.6308, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4302 left_y=-0.251 left_z=0.0122 left_yaw=0.4741 left_pitch=-0.0055 left_roll=0.0087 left_gripper=0.0797 right_x=0.2863 right_y=-0.0011 right_z=0.1743 right_yaw=-0.0173 right_pitch=-0.063 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-2.0308, -13.8598, 4.7658, 0.6618, -0.2027, -0.149, 1.033, -0.1573, -1.1692, 7.0769, 1.7021, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa628e3b22483ee3b4a5aac5f942f544a3cdfc233cab89a4deae8a0f9f2f01e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01764f11cbb21c729e5e43baddf91ee003511a125cfed649df244ac124d7f40c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc8e21d48f1ab8330e25eda59fbcc6b4fa52cb13fba11fe0252b96714c7b025",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 12.98 s

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

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.7748, 1.8145, -1.1923, -0.3317, -0.2302, 0.0933, -0.0116, 0.7929, 0.6369, -0.4622, 0.0124, -0.0105, 0.9984]\nstate[eef_state]: left_x=0.4026 left_y=-0.1074 left_z=0.2237 left_yaw=0.0396 left_pitch=-0.4989 left_roll=0.229 left_gripper=0.0933 right_x=0.2873 right_y=-0.0019 right_z=0.1784 right_yaw=-0.0324 right_pitch=-0.0512 right_roll=-0.0068 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.6906, 6.2564, 1.0623, -0.1734, -0.0366, 0.5739, -0.3761, -2.0991, 10.2222, 1.8779, -0.2125, -0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.3039, 1.5356, -0.4416, -0.9119, -1.0744, 0.0797, -0.0174, 0.7959, 0.6312, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4335 left_y=-0.246 left_z=0.0145 left_yaw=0.4571 left_pitch=-0.0395 left_roll=0.0504 left_gripper=0.0797 right_x=0.2864 right_y=-0.0011 right_z=0.1745 right_yaw=-0.0173 right_pitch=-0.0627 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -12.0957, 5.5179, 1.0134, -0.6667, -0.1148, 1.033, -0.1983, -1.1829, 7.1453, 1.7021, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8272, 2.3123, 1.5166, -0.4011, -0.9447, -1.1202, 0.0797, -0.0174, 0.7959, 0.6308, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4302 left_y=-0.251 left_z=0.0122 left_yaw=0.4741 left_pitch=-0.0055 left_roll=0.0087 left_gripper=0.0797 right_x=0.2863 right_y=-0.0011 right_z=0.1743 right_yaw=-0.0173 right_pitch=-0.063 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-2.0308, -13.8598, 4.7658, 0.6618, -0.2027, -0.149, 1.033, -0.1573, -1.1692, 7.0769, 1.7021, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa628e3b22483ee3b4a5aac5f942f544a3cdfc233cab89a4deae8a0f9f2f01e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01764f11cbb21c729e5e43baddf91ee003511a125cfed649df244ac124d7f40c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc8e21d48f1ab8330e25eda59fbcc6b4fa52cb13fba11fe0252b96714c7b025",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9Fj1hIUksnt9q89_CisjnOp-DeiVhBz4I2fg9PDxPByTwTOUqxj3IKM91rEFAKaNaDOG8S6fM76nVh6XaRilMPqHVfBCJSQ2OZUD0JwU7Clb1NIdAPxt_uQzsWGyL1KYrWX2LjkoLuQ2GGq68fJCZhfG0kTkdUH4DHE4S0sj0k9QNmEdhyNgl0hWcn87CgBiITu7kccqIwWFfGgKKcVNZNOTvx4OkDr8Kan90NGCk7mCBpoYAQqCF5kw8aromzq1ryM8OAmMBA9IRfxFQ3V0NRuoX3StJFG7EgYop32_Fp1q7cBJv6eCEg7tUwPrFhahMymVKUCXpygr2VcFTBm-dLlyIJvk-fJP2OL88w7QOAf9EOTb2U8b2zDnd_9SFWKgY-l2AVFNUJPLxN_KRBAPjAqGKqOw6P4qK5uG_m9xInn2z2JUqF1LYiRcBAqxfk48bSHLLVugwwkCi7HNLZ1-arfHWqXQ8TKb6r0FiS9-w7F4rv8-VpKSI9gMhq3Wg8tJlHd7osxfgbU4Oa9BEGOYFHYQvE9Vvrr9QPq96Jlqyxogpsga29lEcrejQTfLhYa5SIMon8TbY_jhxZH61xvCqqwibAcKJoBeH1rnFgGQxnzPaDfmixg6968Z71SeflmkcXvu7jYrVv3FekD_liFFYm__c8vLYXkFDjLUuLFnu6r6zH2B_NDmPgL-d-uaAOgsesDFbI0GCcQalRb4UyhTvYk82r857P4LZV3Lp-HBioWi6ZiEO-WiyiEECF39zvJkF8LiSkr-ndthv5L-Gqb2dzc_uDE87b6exN-SoW7DqKHtNc1M33iDaFSMjslbg5MHxd85GtxaT8mtzo3PNnPqVuv_AvI3saKAirjoOUowqvNCFv0llp0SlT69sUtCTQfVWKUHj0t81uphDSPQsPePHZjkIma-CCP98fqPxPDuwR7aKEbt8RDtUqet4g_iljFnFaXRFtNqDiRmwGX7QDL9RFyeHXghaTGtPnwCxVrliyd3x3TbyjfP0FhA0pMldFKbfz5wm6o-4Z50aUE4aB2_7EU4tMVS5ktP2_o40iydr4pBypfGqYm7V7gY3f3tCpb17Ou4f4TCyduB_T9tJM8m5BY9Q4708zYsFeUZJB1BmD7fRPWIwxLDYHglsZtFCuweGQSKUjhKaHY6pJsrXR3eXqv4rKr4e4qQ75OwhggPkxlD6ppDru2iEFFNsR17dK1bQhjzqQ0zSEnftpTIj6VxZaQgCEYbcx7ErrXAymMcDfqjFJSrPPGHEBhqnysA42S0RFzqMtgbimYOP79SJvaxnWM8bz3sJ0awpQHXNgNi8dDvmvKNX_JBcRr2iv3n_8cp68FhpAFb43wF7_o9REfSqSyJ0AB-XSQg1EtzZ1OJgQQriG6I__GWtrGx2Y6plPU2uQR2BbZLjtVmWgBJw0PRkPI13ZtC1h2E6ulPb--lmuqwmDfRiqF7xV2Vp0B9F_WG8oLJS2-QGlImdRPT7dZAG-_hcExmnnHImq4A5ID4kgdHCvH6gjc-_GpZfBf34r4bpMOLgxnozXml-RLfVZMaoTHMusMZT3Etfi_8FUHt5lU70fsiAAN3c9tGtfJA53Rlzchk5-Id9Lk_c8RZ7zQCLXOqBm9tcMxvAiEUkIm2W6uK34q4oYvfis3GAUjD17thLXigkXi9YlfQobyL1niUObpEnPLyUTk2ESb3ZBZThCS_Axq99NO-VsUAT6NPO04pNxGyByc2QW8O19LIB5nj--oE6JWIAsyQ7y3h-29fHOS2VOMaaNKqco0GenufIcYNagpp7Io6B2d0MInXg1bcBW7JO-YBwXOM2VcFhhBmSxoslwEW1wBhFSQsnY3nriMbRJE60V1X9f5A49qUKjb3qpN3OcKPL_WFVFikPNS_9IKUjmxSUqIHvz_2Krn6CGIGmWDHMAj9aKkL-ynMWCpoh8JO0mEbwTWOUQTtal11wl2tYFJB8DQ0XgiblHphTR5r5K9I1gUFTzqbp6MPSpDhhHka-ULagOxj47RMsc0fbm33UBOg39ImNL2_M2nrw9iZ0nOQNSwo6CXE8Aqd2NftnHjaC_dzwndZ8-LO0Jx_t8aXL7b4ftd1-rgv00iyyyyP-s6m1tBzeW8ZSNx8DQsn4q3dPtBuqrLkwYMofU5ZAdylyRfVfPQfvrnG86GRIhadc1SzO_n-LUtxIZslBFvLLMoiHw5SyE0r6BUZTC_gVNxeJEVxfsk0tsk4kcDM6d8XmZOZTZ_yoU70_xGq7h0s3NPaqpqH3OEBVjEdBhHpLf03edvkuX_7Yzn0nJFWIMxFDGDrkVGBqLFucrXujAKpLqI5da4m6MGStT_oyWrbcnUpDPyr6CRF07nwU5xa3Lrb0z8scTEMQr4Noq6jCy8nEFlUJzJb09vIjOl1go4WQu6HkyGGqzlVmsqXEk_zqZgqNq9ibqvKkuSaYSZm4D5oFjSxuExtq1RETliVcSYIcr784e5z8lCos8qCLD0TKEw9nU_HQmJ7Ujd8ysqIPYUD54fxfI1f_srVxMsB2zAWBWXg2vJs80Ibz_PBXZs_lrR2Ei9NL_WWS2PnwZXp2h_gU2kdZaKjlOH9erA9jWneUqU0PV8BRcgawgmDsnW2lYRhjPvAFAcMpIrbz2gaZFU8ZNWUVcsCcqqLH_IqGyhXHOmb2f3eR8QJ-nSjzEyApkJVufYyscka20MArFwMYsKiJO28t-JE8SlpgcYQ7iKYA3yVjuc56MTcIZrafqk0W8ukRqcmtQnGxqVovU-9npyWjMaw==",
  "id": "rs_079248f874c6ada1016ab44f4135ec87d088861a46015961d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.265,\"left_z\":0.02,\"left_yaw\":0.47,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The axial slide stopped after only a few millimeters despite a larger command, indicating the cap has contacted the pen rather than passing beside it. I’ll lift a few millimeters to relieve table friction and apply one short, straight seating push along the same aligned axis.\"}",
  "call_id": "call_pD25WxVIAIn6kS0Zc1W2ozik",
  "id": "fc_079248f874c6ada1016ab44f44252887d0a86755f2a05b99fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pD25WxVIAIn6kS0Zc1W2ozik",
  "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]: [-0.8783, 2.3123, 1.5105, -0.4351, -0.9665, -1.1881, 0.0797, -0.0174, 0.7959, 0.6296, -0.4648, -0.0013, -0.0307, 0.9982]\nstate[eef_state]: left_x=0.4131 left_y=-0.2648 left_z=0.0114 left_yaw=0.4673 left_pitch=0.0048 left_roll=-0.0046 left_gripper=0.0797 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0156 right_pitch=-0.0642 right_roll=-0.0153 right_gripper=0.9982\nstate[joint_eff]: [-1.1829, -14.5436, 5.3265, 0.5739, -0.4713, -0.0366, 1.0281, -0.0479, -0.9094, 7.2274, 1.6777, -0.0415, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea120b6ecddbac19b10a8a465b70b95f10706ea7cb63cc049566c8c568574dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4746c30936a9f6389040f79f983da834a15215793bde192d90dfad198ce7a002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce97a0b2280c6c82f9d3b840f7131d2131693594bbefbd9ecabf5eeb996bc2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 2.426 s

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

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8013, 2.1571, 1.6505, -0.6899, -0.8715, -1.0279, 0.0797, -0.017, 0.7956, 0.6334, -0.4648, -0.0006, -0.0269, 0.9982]\nstate[eef_state]: left_x=0.4312 left_y=-0.2457 left_z=0.0946 left_yaw=0.4225 left_pitch=-0.0726 left_roll=0.0633 left_gripper=0.0797 right_x=0.2867 right_y=-0.0012 right_z=0.1756 right_yaw=-0.018 right_pitch=-0.06 right_roll=-0.0127 right_gripper=0.9982\nstate[joint_eff]: [-0.3761, -11.8359, 9.0188, 0.7399, -0.7106, -0.0562, 1.0281, 0.3897, -1.3607, 7.4735, 1.7265, 0.0659, 0.1001, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8272, 2.3123, 1.5166, -0.4011, -0.9447, -1.1202, 0.0797, -0.0174, 0.7959, 0.6308, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4302 left_y=-0.251 left_z=0.0122 left_yaw=0.4741 left_pitch=-0.0055 left_roll=0.0087 left_gripper=0.0797 right_x=0.2863 right_y=-0.0011 right_z=0.1743 right_yaw=-0.0173 right_pitch=-0.063 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-2.0308, -13.8598, 4.7658, 0.6618, -0.2027, -0.149, 1.033, -0.1573, -1.1692, 7.0769, 1.7021, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8783, 2.3123, 1.5105, -0.4351, -0.9665, -1.1881, 0.0797, -0.0174, 0.7959, 0.6296, -0.4648, -0.0013, -0.0307, 0.9982]\nstate[eef_state]: left_x=0.4131 left_y=-0.2648 left_z=0.0114 left_yaw=0.4673 left_pitch=0.0048 left_roll=-0.0046 left_gripper=0.0797 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0156 right_pitch=-0.0642 right_roll=-0.0153 right_gripper=0.9982\nstate[joint_eff]: [-1.1829, -14.5436, 5.3265, 0.5739, -0.4713, -0.0366, 1.0281, -0.0479, -0.9094, 7.2274, 1.6777, -0.0415, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea120b6ecddbac19b10a8a465b70b95f10706ea7cb63cc049566c8c568574dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4746c30936a9f6389040f79f983da834a15215793bde192d90dfad198ce7a002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce97a0b2280c6c82f9d3b840f7131d2131693594bbefbd9ecabf5eeb996bc2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_079248f874c6ada1016ab44f46781c87d0a9f31986f9e7356f",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_079248f874c6ada1016ab44f4ba6b487d0a07112c84f45f8df",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9SFRQHLpceyZKpHhViSBOdSuHUTA1--UkRvaweKWPrCoVonIC2WwCOZ2jJb3fYjn2i-axOy1VEfyEEbmT-A8w5NeNQIM-VhBG6Sk7bUtVEr33pYI8fsxTD_NZu_W4QA5Dom00HM0oBuge_t_znh7CUgMB0O8Nn1W0YHLWQRr3_Gh8eNNGMpWdfU698XPW8Bvb3qdDmlvQ-MG_B3iP7JByw6HAQ40CiHvgdayBPygXd1-fTJjDeyPat2XMD9a1PfahtA2I52b-jcQDK4iObtDunadYVpZmglHxRAr7-kdtXX1t5GDGDHPHKmbcuvnR21tyhI0SlZ-o02mM6nSDHGhNHPHnv1c0Z8i2Nj7R86-XQJK1X99zamzMfxC1dg6DaG-TuoYLhd532QCLXF1o4215sEPHj4dtR91ZuPfstVFsFzHLu2TI1J0t1j5x_bB3_hhZgVA4o56ZHc1f6msR3enx5uSKyY9-c0mFBbK05RzvYG5bPHuwDFV89fzMJL6BHwCiH3hPgZz_1uihZ3jP9hIDsbQN1HABfFhQUYCleoTDSNnzBGorNFhuShqKL04KccHjzzFExrjQ0CgD4gUb4W1QPWgcRYlC4V3s4_2K41agcUEM8xorTqv8Jyfe2H0mvZbiuBfa0Wyht8jc-YJ96u4w2SGFHIXSJST-DhnRXwJ7ZzpUpTLI--uPA9k0R0zp4tnY1mKyApBEbKRPSMCM98ig1QpPfKE8_HQP-KdBEfVBggITDmhDhEJUNi0D-3ZY5dHibUPQOsNyd2s2G_3nOp-cbhFSG0ZmqILnFbdWbOaxdkcJPoE8_eincjFljX1HcnSlUbcJyIa1oed56CPbRuCddlueGxHMgMAHZpEeHYdp1Vdm3VbidAMlbL8rccadMuLx3E7lBLOk-xVvSeja42azKiKndE8CK6unHsmE4q_Sy-ggofQyGGEGoxkuAxoFHEbbZHanf3r1HTBY0_phBb8cfoVuWm3qEiJWskcdC-p1ax91wJkGWjad-F-ug-GmOrlgxp5i_fvi88zu1--t8aClWK5yfs3Hmnylur5uSbpqqWBaXIu_KqzBXvuEpl2A6VjtOROSR7Eyd20iQ48X7LYfQhcgd0sWz_0C-mJ_IQZAgp1UJDGDQxQABF3CQa1T8rFtFXOSkqOp7YC00AjrvqVVcUY2aL5YsqA0pT8lYgmyH24XZf9ohgNu3TKd70JZMtc1h4nQ76Y63-uxcLvJmeOaJhexYRstM_-99MA2n01jFnjcAHnSPNuUF9bfjTB9YF1r3dGaQYr1Ek5Jvx3k496Nr9sAtKCnW74m71xP3SzPtW0I8OpexlzzU16yXJTY_EhYLJW9ZZYCDopBBLkOjswlGZumMhvOtU_VpOV0SKtcjE0vwMG5PIX6Z2H4nfKRgOgIRbl_PIe13ufRFcvoJjbRu2ub9G_VQ8mbcyvJ21PebrfeVtsjQQ9PJsGmI3gjLAs1HfcLopiFd9Xpfd1ZKQN1DrtjiM1OQObeQjrJlvxPeKJCeoM3I2sn6gYfV58QDP52UpgeQuTKsh6ERcq2CQAVvSNSbhRLIZkqUVau3CQKmLfgCKMLer9eDGb6eU06h5AsEaYLHNzuxi-0UcizK0nDNkw==",
  "id": "rs_079248f874c6ada1016ab44f50f5d887d0a3cd6fc004d57201",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The final seating push advanced about 2 cm along the pen axis while remaining centered, consistent with the cap sliding into place rather than skimming sideways. I’ll release the cap at this seated position; it should remain on the supported pen if the insertion is complete.\"}",
  "call_id": "call_O2rugDRjUXO99VYx0A4vntZw",
  "id": "fc_079248f874c6ada1016ab44f51742087d0845adbf70f7888d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O2rugDRjUXO99VYx0A4vntZw",
  "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]: [-0.8909, 2.3108, 1.5093, -0.4862, -0.9615, -1.2266, 0.9952, -0.0174, 0.7959, 0.6296, -0.4648, -0.0017, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.4042 left_y=-0.2638 left_z=0.0085 left_yaw=0.4742 left_pitch=-0.0104 left_roll=0.0116 left_gripper=0.9952 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0151 right_pitch=-0.0642 right_roll=-0.0154 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -14.3521, 5.4085, 0.696, -0.569, 0.0562, -0.0904, -0.0205, -1.1556, 7.1726, 1.6923, -0.0317, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd853bf4865e97f77fc5e386cce66ab5a1ab5350bd076947f10f46a8124a8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de49e3562e0d7424d2c549185a831f31b104d7a3cce0b4471d2f540f82e11d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a157cf5a3c0175e1891f8efac7ef6c165058ef03a6e74c97fde56b09498a57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 7.784 s

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

message 122 changed as sent

message 130 changed as sent

message 136 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.3039, 1.5356, -0.4416, -0.9119, -1.0744, 0.0797, -0.0174, 0.7959, 0.6312, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4335 left_y=-0.246 left_z=0.0145 left_yaw=0.4571 left_pitch=-0.0395 left_roll=0.0504 left_gripper=0.0797 right_x=0.2864 right_y=-0.0011 right_z=0.1745 right_yaw=-0.0173 right_pitch=-0.0627 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -12.0957, 5.5179, 1.0134, -0.6667, -0.1148, 1.033, -0.1983, -1.1829, 7.1453, 1.7021, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8783, 2.3123, 1.5105, -0.4351, -0.9665, -1.1881, 0.0797, -0.0174, 0.7959, 0.6296, -0.4648, -0.0013, -0.0307, 0.9982]\nstate[eef_state]: left_x=0.4131 left_y=-0.2648 left_z=0.0114 left_yaw=0.4673 left_pitch=0.0048 left_roll=-0.0046 left_gripper=0.0797 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0156 right_pitch=-0.0642 right_roll=-0.0153 right_gripper=0.9982\nstate[joint_eff]: [-1.1829, -14.5436, 5.3265, 0.5739, -0.4713, -0.0366, 1.0281, -0.0479, -0.9094, 7.2274, 1.6777, -0.0415, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.3108, 1.5093, -0.4862, -0.9615, -1.2266, 0.9952, -0.0174, 0.7959, 0.6296, -0.4648, -0.0017, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.4042 left_y=-0.2638 left_z=0.0085 left_yaw=0.4742 left_pitch=-0.0104 left_roll=0.0116 left_gripper=0.9952 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0151 right_pitch=-0.0642 right_roll=-0.0154 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -14.3521, 5.4085, 0.696, -0.569, 0.0562, -0.0904, -0.0205, -1.1556, 7.1726, 1.6923, -0.0317, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd853bf4865e97f77fc5e386cce66ab5a1ab5350bd076947f10f46a8124a8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de49e3562e0d7424d2c549185a831f31b104d7a3cce0b4471d2f540f82e11d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a157cf5a3c0175e1891f8efac7ef6c165058ef03a6e74c97fde56b09498a57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9VNstER_VnX0ZTaDiTkfskoeJng9fDaRzAgScn0hEdZFWvj7A9boUwsYNMAqeMTFUFdK7mTgPcS4gp1fqdrbteNR75eOE-fp2qI0f3q-EfS4affGwm1MSoa5mtb060Db2JZtJwx-37vStN9SifnMQ7ximkh8AClJC3xdYI8swYGDliUNFkJnhU8QAW7on7xJ3DiIkubfjgm76RQ3CuhzqGwoJ2GTOCYn4Q83-PDr80tNrEliaILJda53n3y5K2k8Z-2-THALsiYXd3lnzcjOYCBvvhcIcWS8q2jraOpppF_ZGPvuP8arbGNsZaShXyNGd0FYEidTwMS54R2Dar_gsXfq7MQuPtmciVpP4xOmJofyjJ6Pf-qrWzFgcxcqsL9BUvUuOQ1B0zchKj-P230b9WS4jlTgj7wFEG066tOVQe6I6c76ySSD6TLCnlrYShWiC1XZEV-LnUrFhacVLsH_zEvG7J7p6CbicNpJCmjWTkno9BXlxnz80lOO2xmUytzwrfZo6GFVf877XOYbjWxXVmzwm74P2pY1sqvbHW1F-ZtEST1BZVAVTibe1KrSvsFZc6iUOTeqg3sZ2dtyzoNAKTo-gJShK-kvcbE5RYdAgCB_TOuXPQzxVCOeElZtYDSA0vazAEiEx7Fb1SqmSJdMlnfKs2gtLwUJVzRCeQyRQnrIonvg7zsDEaYXjZHqaittLv7IUDIj9F58Rf1KQsH91ThU34zs3biDFi8HEWMWlCkWghxoANFv8Zu1LHGOKbNR-rS4vrMkOtd4bpnzZA2sfovhz4pb-xbk3eYUyW2o-5oim1lo6OsnlTWKZZoOv6nDRUNCPpenM8HGF-wvL5yxQ5MuF6UHGxnhXltUC6Vb-e-fw83iSbczn9Ekhz_DDpKaro7eyq8UwxQ4v9kqdSw9giOZw8c53h30BE1cMcrf-sXECS588hjpk931hJEkNOc7ApZWd9XRDtN34bIfmPjTZ6e-olNAxdH0AB7xq9sQq6tRTO1djCtXmg0SXJUnwc-bi7MVwmECayvmGqWXcivn3JYyCrfArQQueZpr2tgBU6xIFZBN_Un9SkbkN7XsGaJCgItyo3i5dV-_FhbC90vZb5gtWQCe8cD-SR2RTmy7rrImG3ya3YtQus9SLjTrNKM6bjdumzGbNyMJIloAU6khjGpGIgJfnJuJwOMfRqkQ0rzz4OnaTHdFfpNRhdHH-H9zgc6ij1mdlJClbsBxOYk_UWZTOfuKAobwCplfhXTpBaa023IO84FVrHPK7HuWXkBPv-3mO1THsRqo113OEAv4UHv82-P0jy4XZfT7zTLaJ-gYC1vpbWDUjBBlWomdLPgN_2ecHEqkDla9V768QWMbJlaUSWoEi8CXeDW1DSxBafOMujWvw7RSbrlOLx40-5hX4XICNywWPaSsA8U5NSKXM3eg==",
  "id": "rs_079248f874c6ada1016ab44f546b9087d0bd8934f85279739b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"After release, the wrist view shows a single continuous aligned object remaining between the open jaws, with no separate cap displaced to either side. I’ll retract the left arm fully to reveal the tabletop and verify the capped pen as one piece.\"}",
  "call_id": "call_rnHTi1wUF45HSxp0e9bip2ZR",
  "id": "fc_079248f874c6ada1016ab44f54ce2887d08701a6f8744b5fcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rnHTi1wUF45HSxp0e9bip2ZR",
  "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]: [-0.0635, 0.8471, 0.6464, -0.3973, -0.1375, -0.1135, 0.9985, -0.0174, 0.8005, 0.6292, -0.4652, -0.0021, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3011 left_y=0.0087 left_z=0.182 left_yaw=0.102 left_pitch=-0.02 left_roll=-0.0081 left_gripper=0.9985 right_x=0.2864 right_y=-0.001 right_z=0.1724 right_yaw=-0.0129 right_pitch=-0.0695 right_roll=-0.0179 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -2.3179, 10.5504, 1.8095, 0.0659, 0.1636, -0.1636, -0.0342, -1.5658, 7.0222, 1.663, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299e5864562cb57fffbd0f126f5ba005bca58e5327584c723998df5cdd43f635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8892f5f4635afeb8c60bcff8209a7aec3c38a8f60b4d3a5d307dec1a55c1c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836451d8f2a937ff04e6cfe2d6cdf7ba08e0b0b81566c7074779a104ea40c943",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.982 s

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

message 126 changed as sent

message 136 changed as sent

message 140 changed as sent

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8272, 2.3123, 1.5166, -0.4011, -0.9447, -1.1202, 0.0797, -0.0174, 0.7959, 0.6308, -0.4648, -0.0013, -0.0277, 0.9982]\nstate[eef_state]: left_x=0.4302 left_y=-0.251 left_z=0.0122 left_yaw=0.4741 left_pitch=-0.0055 left_roll=0.0087 left_gripper=0.0797 right_x=0.2863 right_y=-0.0011 right_z=0.1743 right_yaw=-0.0173 right_pitch=-0.063 right_roll=-0.0128 right_gripper=0.9982\nstate[joint_eff]: [-2.0308, -13.8598, 4.7658, 0.6618, -0.2027, -0.149, 1.033, -0.1573, -1.1692, 7.0769, 1.7021, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.3108, 1.5093, -0.4862, -0.9615, -1.2266, 0.9952, -0.0174, 0.7959, 0.6296, -0.4648, -0.0017, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.4042 left_y=-0.2638 left_z=0.0085 left_yaw=0.4742 left_pitch=-0.0104 left_roll=0.0116 left_gripper=0.9952 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0151 right_pitch=-0.0642 right_roll=-0.0154 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -14.3521, 5.4085, 0.696, -0.569, 0.0562, -0.0904, -0.0205, -1.1556, 7.1726, 1.6923, -0.0317, -0.0024, -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 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0635, 0.8471, 0.6464, -0.3973, -0.1375, -0.1135, 0.9985, -0.0174, 0.8005, 0.6292, -0.4652, -0.0021, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3011 left_y=0.0087 left_z=0.182 left_yaw=0.102 left_pitch=-0.02 left_roll=-0.0081 left_gripper=0.9985 right_x=0.2864 right_y=-0.001 right_z=0.1724 right_yaw=-0.0129 right_pitch=-0.0695 right_roll=-0.0179 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -2.3179, 10.5504, 1.8095, 0.0659, 0.1636, -0.1636, -0.0342, -1.5658, 7.0222, 1.663, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299e5864562cb57fffbd0f126f5ba005bca58e5327584c723998df5cdd43f635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8892f5f4635afeb8c60bcff8209a7aec3c38a8f60b4d3a5d307dec1a55c1c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836451d8f2a937ff04e6cfe2d6cdf7ba08e0b0b81566c7074779a104ea40c943",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9fOfoXr5Zg6aGJ1OGranqS24VQqly4LqtbWEydBKlo5Md0OV12R9bIcO0UgyNp5HTGSRVyI-fHM5t4EIBsNi8P3xtVTXaPh2NnS4Ai97j3KBtgeyan5QextnbaOf27X4py-TCNak9ORsZqzSW8rzfcvERi-BobyYXyFp5pZZCuvnE5EAAOK9GABPZizUjeGnQawcx_bW47vUhCVjzUEexwZSWb1RYVMhycIKvMdjjeJ7Snt3xnGzFKkL78Bpf5TCiW25bTGvzkSkDay7WIZ-fQ0jLeUyn_N1nVYP57OPhUxcbDGtjMHpmANE2otVo7UtELVJmRHN7tluBSmH3JHp8Bp6LXYqR4eLrsjF2CNgEij7-khrQYFUdXau1ZVc0m5ecFWCAYBHTudGAkrOeDoZS9VnuiWJczgv7ZQdQs-K_mAwZjrp0YK0WlvZ6qJFb9pDd9WRZ1mXewzEsIVrzUvtxP29vXYVgfFSRTCtnyQ2g2W4s0OFTC0lYfJA48Wk6Ozhlxq8PP5iutynTx0WzlHgCN1PPzq1C9u5G_3rgf3IiFfFWB-JIli-2N45RDjtLBlTB1rErOG_HeHK9Gvx-MuyCtMPXltydmn1X-5Cu-6LQCDIyehNIDZtYiMGVU7CdNakBnKfNZ51AhH4xnHNgK2cmwBYXxshilCgNpS4daCpia8WDAcxO1Bpm_8hqRTFaWt803usoPvO61oTgl7y5QAE_ZBqSXLpSFWjfT90npO_bZvrGSMvPdTEico7GqJC8nOa47n7SHdoBTAO-o5guBTwyzYK_t0PhBHEV9gWbpywcO3MZQ2KzNoAy2RGrle4e2AXm7yGYn6Ef3zVJ0EZp7LztT0wi-rXm6wORN-Y9HvJ5FeTML1nMQoNrAUn3LkZ889zKwYYNPIUVz3q4xwcC8eT14KIO-b4aS3Eo9acODafSYL37b1uqsi2vKN8JqPfs-b-GDOKJ1bLCdHpOPZuASxPTgdPzHgkxRvv8mFpDPXxAQ19-ERq5yyWXZ_JAW1XvLes3m4GzpAO2qzCnBJm8g9kMajzHpi2Wd6kgZ-njk6PWvk4uivWkIrKUR_PaiUG5n6fjRhGHTEZdOBS9MnK2tA3R71t34Lux7BIGRYIAiVgAd-4ZvKLDpuKjfzRdAq9D0xOpORVu3XYQ45YmVU9jFBJenhlHio39fF3LKNTsdsqPNoiEZGb68O8yFoC0xpCkbUiNxkPaCP1Su107r31RT28AoQYEMHQ8lHRn6Gn5PZQw6QioZZDvQp1kaVXBHY-GaL5Bg0gsCxXrTU_wi6nohcUkgfdRv0dMuKtySItXyvo-Y1A2CT7rdjf2ezVcyucptUbRpn3pwqGLV266FqDNYo72YUU0CN0GJl0vA5d8v2Y-V0yN1YOd49BpQadLM9C_4ha2bP-9Lb2AvefObBfeESK7obmSmiSPjDU7VgShaTgNWnITQkTSefqL4xdZnHyp25QfjKd2MH7VZcS3VHjURNeczIQ9JBC9N2A2d3I1XjgdQdePhTCTstvuXxpEYciDgiYn2GSd1YMFSSube1Yf5J3v_s9cEIpcD73R7U6E-pzQbEO_0CAd_qa07ljCupEyzZYv4224IPY2PTeumpYr_jNSvv96oUahOc1dFhttZe0rIsd__474Mr1XD3Q2binAHepBc5DWEEQjJxwOKegH0EOUBLpLBJ3rduGIuPx3KRiGd9ewbRxUsXbK9tvsvm30_hUvTypGbqyhf0IkOJRQxqgvU-XTRifCP__zOimStflfzwBldeMQlhb4Tfo1y4Lm7GsvFzajGnEqQ6BpK9F56CWaJWA6okxQHVNR_NSR5Aie953bi4AeAdpgdmhRfiQTsocQ_8IXASvzyhVCfr1m8QjaNjazc2BkRgbAzSG6yRQx37JL1DaP0bdZISfXwHbkQ6LYxlxzARUjhvzrumennVw0N2QspQgJj0aqncy5dhx0mOdyLvxn2sObK2Zl2VrhaO1-WD9MCca_kGjrr445IQTzPerYasvCigmhN4vb7SKP41X69QhTESJlZxURqjOSSi-5eUCwlKZuBAR2H8GqwsCe0bXnBq00NteZP3UzWn_JgTXFFejLXHWssYqoTURwQUJTgbm8HQ9J2UatAjldlOgAmwoMp3vhH6mnbb27nxBEaHlC0IRHSLknaSxh5zAYnMaDnPsmPnLKaey_DLnq8BuM5VyKLtLw4XbEtWr-cS_bwGl2l73J8-y0bBVmz4GzPu79aU83_D44ASn_pSYaxFs9rSn39g_pIAKa4HgxABxEUjRdde69UlVB8VoN7_CUGMHxvbyscW5Lhw8-d-l6VXVkaWuKSylXXfYZvBmnD2keFByVvjW_1e1HUobn1eMIXNr7GxIqXPaoL16f7_nyci7cBwh54PMTmc3GDONi2FpEMvrWLmVp48chDp74XwjRx4JEpjIv8FP-ULtFo576tFTBWvppUGGZu9mcHp83gC1dYNhyijAkiAiak16YZC20x54OVdOmXPLdkIpWzYvkvTT0iUrYDZqe58r8vwSCdzTRW1-00BP6HdHNGA_S3noFYE-hMn1em7WlZ2POMJkMmrmqmqirEPx4I5WTs1s8ZoslAo8Uu5qZjMXHetciq-lyGQtaVPwBlwcTaWeua_pOfCcCVMxnijsmrr5Op2gmN9zg16aMrUXcxzPMrQkm02xcUBZVki9R3Zorq3wNNUOLriT2lI7PwqGvyNTg3_i0LJXx2LkeRl3cpqlWQCL8AAGH9_SKNX-bABw4pQmtvCZRJXT1xiBmOJxy3znSFPYeJp54AkIpL35BMJan9gMoEAnWCbVvfNcajJOG7loZVxmNkoTtSSF33I28W4BQ_PxDqU8w3VhjrCTS0oZ5nsMY-e64p2TSwr7w9CX_l5U-95WyhU0MInfqHAmgTM_YGrFKaclfgb9gIRT3PRMN_P7GSNrchqOyBMIdxfn984oTzLn1HSCjTjCwAFnA1rOLbrlcKP7DOe1UQie05cnc1cLxtEdZlKJjPz0RJOmQ3b55WstXqHNlCOgeJOZ5nnyredygESdDmdCTF2H1j5Hz0H365fCv1a0m5cxmlNMVtr7YKI8KupT9bA4lUfbNUurRhF1jQgwK3M2EAgXA0IKZxHEocj2tF9S4GQXfJ8UHDSHkVnppal8iLGox_GtWX4RDFpUn2c2cq00LP8tMvLQqVO3EgeqhvyIDfSp8jbNOm4v-StqPNAFWRvnOMC_YajuMsDM7162mP1i-bdqkyLfLUbiF2b9dF85rj2EeuBg4e7ccrxwvkJ6avttPYT8Ew5OKCQ9S3g1wEnwdBRy0ohxJn6R-7cx6SoCicS3Lqm_pql6IVLRtGYCTGLm32bXGRElFyC3jpB6sQ1q2xDRQ0zQGbXhF6X8xNdwM2H5yyE4NBhxcqMinAy67WcKQjA8SZoHR-orH0XAZtfLT5z83ov6YsaUIC595990NYpO-1sjQkBasN7WTdNbOB9cGcrvawCQuToFrM4bjn7GMkaWvbPPNrIGWXA1miZI-gMdnHrC9e3hxWiXj53cyNssNBUIdT8NPQLZR0O_pt472hvOYmKkmkA5s6tWdAXfy2M1QxTbBMlW-fZKWfKo3oNVdPoa1Y7G7XziUve2ygIvhGRa-dr9rR1B33wlxDP-HqUAcIFAtYgxptj1FfrAQn49OuZ_g3kt84b5BKIyBubGcIYdbl9qlX4IYHexRYwZVLxppoWx9_6j010CCq-7-e3kpMYkoakaJVZFG7EFXO_dHREoPwFIERwk0PqBs6EWJHgzHTDw4I02V4DhZCMS69lmcdOXWoJhpEMT0aXcTHEdnN-26TJKtyrDoz4qAf2jlvUiFIgNSs9w0nEwk0cdxtxkCiQCuLF8qaXlq91npwHA0hueoFEXgnYzeUxttZVzNYRIcBiAHSCG3nUKLafbHiQPnvbZJdsJd8jXptyPrgwKz_OdhUkxI9YGIUxdZcL6L_",
  "id": "rs_079248f874c6ada1016ab44f5992e887d090299f974a574401",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9fjI7I9AO-0iUlFNSKDk87qZGI9L8wmzBdLIp-KCAaxsaMZ3h3gn9EMRdyW7vCOlbENw4mKdiC_WpKul7upRScfymQIX8ILfSdu0tMekhqxOdVCommJgWbjDUpR7552qVeBEAT9iiMxIOWS4wHMcr6GZ-5qz83lSUyefGfoimEiuQrPa6dxneEgR4V_3haAJpb5cpGGfftx1Pi5pI7XpyfjusT0y_Mj3XzEQUDnU6SA-HiMMbCVuIr23Qa9oElAH0OHkcpnIn3J_39CQX2514glBdI2aF0-eu57dSIccVF9pW_yqLw83FcVcTg8XMLZJE3u9yHh2VNNTUqoSNokSBv_r67X17PNdSa5wc4BZwbAU5EtfRfZluHE_yVWN2fjly-b1OdjKD9GfKcpn3qL2yKRC-R_5OcNYuYQmAk2_QPsXjc8p-yNyhGRPiC_aj4lZBE2_Y9W6aT-YK3dwTAdesaKAzZlSN97PrjO2rrRDlu736eOrtN4XaNI-4d1rdxRq227Wf_CLWmUIdvYHCbDzaYO8cwoLtet5lPKOEtqRCkhQjDCw00M9j7CFqbNl2NM5sYTIRh-zNv8NNmfPlBCtPmBlpMCUwmNVjBEeshSh2ro77OMwOBkG8OqcUgNQluNfA-QW1uZA-l2gIZYgivTFMKbUZo17uzOM0_l240e-mmSiCjok2biv2spI_a2JRTdgB7FMeD7XE7EqoiHR-dIPo421b66Nhsw1x6Xf54YCJAcY59BxZfNjc5b0-e3dSPoV1DhqxZjyfWgDgLnmGi8bgYjO2aepGgT4ez7B6E5zhZhXWEG-RvJzLgCV5JidPpPJh-ROKZ96aC8NHkfKuN72Fzkn_ejjbA8MHlSMCP4eJtfwPQtuAmK3GePHnhghNzUFfw51QTFHVIQD1ji99IaVpwKGQm5kuHoI1xCVAbNgACSvkqq5DdrEhzuV1lC3YR_eBc1SNykbrIViAmkvFcoLVYqtARxkb5poXwf0kbDG5DWTii7xOg5ni7zJllb-Y36xc_oXsEqZ2wwEO_61uHNpa7DAx85-FpmcsAsHe2TiMTVXY9ro4KjDs7V780WLjDM2PJHXwR1oxuJnk6dwbErENmjeHoTrhh-EBM-kOMBN3LmAToOGFdm5HHwlwkgwmpW0b0tHZbQ5mLdoICfORu1JIa6nWPC7ELPzam_4rQ9Gs8NilQ0YNqPFpKyYVLxUqnu8OGrYb_ALpcpyKJHehScxWxS5Kzr4SvzwHKRvy4Jf6vy8SU10AQI8TDctaV4r9IZ3CejGdDWx4HsAkCueqdx81iQHHHag2fhJg8CIXHG1utMVYWgIPN_xuWt7FVkxsU_JgBQvbRHiwbdmwPvS2PxXeqjqOERGA5UzQiURn2ZSLCXlFCxyZYW54NW25IaablcuVGGKf53xgegHOSch_HVpZbUkPi9TKH_Ms5dRqFLzKGRyxKZwnT2dGUvvtGamkVR2lhfgg2va8KrS05ovaxMmC00A==",
  "id": "rs_079248f874c6ada1016ab44f5de37487d0b123018a852d09ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.27,\"left_z\":0.12,\"left_yaw\":1.4,\"left_gripper\":1.0},\"note\":\"The cleared overhead view shows the first insertion did not hold: the cap is separate just beyond the pen’s upper end, and the pen remains diagonal. I’ll recover the cap at its new location, approaching along its now nearly horizontal axis, then use the opposite end of the pen.\"}",
  "call_id": "call_hDSnO8lJ4Ixj5s7vMRqmdFqm",
  "id": "fc_079248f874c6ada1016ab44f5e66e487d0b615a62b066a1fe0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hDSnO8lJ4Ixj5s7vMRqmdFqm",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5728, 2.5423, 2.1471, -1.5581, -0.8822, -2.085, 0.9985, -0.0174, 0.8051, 0.6262, -0.4725, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4279 left_y=-0.1094 left_z=0.0531 left_yaw=1.3029 left_pitch=-0.059 left_roll=-0.0189 left_gripper=0.9985 right_x=0.2852 right_y=-0.0011 right_z=0.1683 right_yaw=-0.0131 right_pitch=-0.0844 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [0.3487, -11.8769, 7.2274, -0.5397, -0.4225, 0.0171, -0.1636, -0.1573, -1.5795, 7.4325, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf02358c97cb9c6c8d1a43c143373f9e8ffda6d7b70fdf76a19ee393da9f16b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec74d601ea2d3e9a0218a4fd4adf70089978297c316eb996fa2741fb56e0a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b080a4771ac45a0a177f6560ffce3cc2c47228c8cbe0a6cc9167e3629cbaa2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 3.76 s

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

message 130 changed as sent

message 140 changed as sent

message 145 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8783, 2.3123, 1.5105, -0.4351, -0.9665, -1.1881, 0.0797, -0.0174, 0.7959, 0.6296, -0.4648, -0.0013, -0.0307, 0.9982]\nstate[eef_state]: left_x=0.4131 left_y=-0.2648 left_z=0.0114 left_yaw=0.4673 left_pitch=0.0048 left_roll=-0.0046 left_gripper=0.0797 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0156 right_pitch=-0.0642 right_roll=-0.0153 right_gripper=0.9982\nstate[joint_eff]: [-1.1829, -14.5436, 5.3265, 0.5739, -0.4713, -0.0366, 1.0281, -0.0479, -0.9094, 7.2274, 1.6777, -0.0415, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0635, 0.8471, 0.6464, -0.3973, -0.1375, -0.1135, 0.9985, -0.0174, 0.8005, 0.6292, -0.4652, -0.0021, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3011 left_y=0.0087 left_z=0.182 left_yaw=0.102 left_pitch=-0.02 left_roll=-0.0081 left_gripper=0.9985 right_x=0.2864 right_y=-0.001 right_z=0.1724 right_yaw=-0.0129 right_pitch=-0.0695 right_roll=-0.0179 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -2.3179, 10.5504, 1.8095, 0.0659, 0.1636, -0.1636, -0.0342, -1.5658, 7.0222, 1.663, -0.0562, -0.0415, -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]: [-0.5728, 2.5423, 2.1471, -1.5581, -0.8822, -2.085, 0.9985, -0.0174, 0.8051, 0.6262, -0.4725, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4279 left_y=-0.1094 left_z=0.0531 left_yaw=1.3029 left_pitch=-0.059 left_roll=-0.0189 left_gripper=0.9985 right_x=0.2852 right_y=-0.0011 right_z=0.1683 right_yaw=-0.0131 right_pitch=-0.0844 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [0.3487, -11.8769, 7.2274, -0.5397, -0.4225, 0.0171, -0.1636, -0.1573, -1.5795, 7.4325, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf02358c97cb9c6c8d1a43c143373f9e8ffda6d7b70fdf76a19ee393da9f16b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec74d601ea2d3e9a0218a4fd4adf70089978297c316eb996fa2741fb56e0a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b080a4771ac45a0a177f6560ffce3cc2c47228c8cbe0a6cc9167e3629cbaa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9mgoD3KldG0BB3o1-VNpam8OXvAs1Jzz_zA-Vb_Kd-hLFMtUseHzSq4b0oHrIg3KGCZrDTXXfc6tD6pVlFkcsua5uMP4o1T5pS5e1tZ7Ztx1HfUz2TCxCo9TC7hbG0sxIu4I2C-SOcYlc1wQUrzKfey-ezntn3auEhobFtHvMufLuTGt8VdGHL-imm5Cm4GGh5cIM9RcL7GNSO5j_0Fr13OhkXc9eGaARE_frYMn8Inflf1Br7yMHaddltlnicobAFqfsKdV6RcPSfpqNOGlTDOyOTlIRnUVC3j4vGth38pw4rd80V9nTY3SWXyBhGIbyU2VlX50fyMtM38CS7qKYXXOVRlevOw3HqYYr6135A59c11-TYgpPO6hdeMzVBhCfJ0Qgl9uDaC-5Yr_8OrZQgcOgQRuAbr86wM1k9ft5FyqUQr4kziYWckB0ul_z0F9atn0KQXJG-F2YmIZB53aEH7nGi7hhqyCBR4admRD69dMTFLphWr4gSQbbMDUbzjvv-o8X355tuh5liORs2Daoliqg3E57ufa2B7s22YEhhOkxKBD-KKgyA-7lBpIs2Crb25JEAU0iENqqZfMswM3VKn-1mvPg85qt2mqliFnQI-S-VgulLIlpoa4i6Zg9pcVsqI_6C-6Uy093ksXWG8ulLBgfmq2veibTbtwI7SG-4qGLt7BhykExVV5uUShwMxgypHjhEJn-LaNyMkmsuswL7jU2NhxKSMBZNBwFJ7AfLD49we6huEAa7EOfsBAzLzyI5M6WAGiqNbFKw6VdisHlFYdzNWKjTFMCt6qN9kHKykJvjRdm6IjOWTaOKQ9BYMCDfqDYX6nORu0G3Yaiun3xKYW6ct-Mn8Bxn4cVC6RNy7TaAEX_z2od7qPvvcOHT9kSRgtiQlbIebZ8jAnF0XiXvnOOiTDEWblTwu0-mmZs_5MxHjWhibqSVIlPSmJZY5E9AmQJUEq68SsfLqLzcuNevKltDlQ255NzTrT-xgU1SS-TIz9Sv_vWDtXPe-qvf9bMeze1DN7H7x4g2ySQwID1LVZjxYcqLNrJbi-Cpq464h3vPubgCGNJzYHj0dDMuNKsxKdmtr6S54WXB2LxdxC0eZiwLNyGsM-nBdOgSWTCfYLBRq829BSuXbaiH6e0lg9pgAYfcCQFRakf9cx3jwUEjZVodcwM2oalToCGV1XRyBJ0p6P7gNYHNrEq5xIcaTHgqqIg4CDL1hmpFwK90wN4VlP6HXgSD4vwibvUbm7H5fLIaC2CN1LhMf0Lj_7xVjxJMRPtojFA29n6Zpt6q-gremVo5Nv9n3NHLbHG2Ah_9pZfTMs4aNObxWIqMLHMgti55-x1qhOikfI-ePleLsOUGkHu-qL8t3n2tUF0ijhAs4y8seSGiBBl5Czb2aPgSOqhg4dVfF31lowwxnP2JEAho9SF9I8yt-jhb8JaRlqb02GuFprObQmFFPfLXgOxWugLEFxT69njY2VFx8SDc_ACDvVV8w0BRHowslFzlJGMxe-klrDqAcHabJ3XnBdW-FHcdrZMyQ__rTTWtBaLALASpHZgaYYewYOcej-n6k_3DkrQG2AR_AkGkfZ3r1lz_ld0zAXji6Q4WSEgC-PlB9cflzwgGttMfoaanE9-EQo0nF46WT77nR_-eW_20M2M4lClI",
  "id": "rs_079248f874c6ada1016ab44f6416ec87d0bbc86ebd9ecf96fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.428,\"left_y\":-0.11,\"left_z\":0.004,\"left_yaw\":1.3,\"left_gripper\":1.0},\"note\":\"Although the high-yaw pose could not reach the requested lateral coordinate, the wrist view shows the displaced cap centered directly at the fingertip line. I’ll descend the remaining few centimeters at this actual pose and grasp it.\"}",
  "call_id": "call_Yid7EYIJu1Yh1pcBgQgEZ8zn",
  "id": "fc_079248f874c6ada1016ab44f65190c87d08c51fd5b05be313b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yid7EYIJu1Yh1pcBgQgEZ8zn",
  "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]: [-0.6319, 2.7369, 2.3455, -1.562, -0.8558, -2.0937, 0.9985, -0.0174, 0.8055, 0.6262, -0.474, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4378 left_y=-0.1508 left_z=0.0058 left_yaw=1.2589 left_pitch=-0.0823 left_roll=-0.0185 left_gripper=0.9985 right_x=0.285 right_y=-0.0011 right_z=0.1679 right_yaw=-0.0131 right_pitch=-0.0863 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [2.0308, -14.2154, 6.7897, -0.6764, -0.5641, -0.022, -0.1587, -0.3077, -1.1282, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d342da41c8643e215e4419beafd6dfa99d629b2822f253e7c9fb30fec59382ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255c4b7132ce6c2a5f71dbdb8fde4e22ff8589268a951c3424f03ca0074ef85d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76710fd251a2f2d3c6ef45b3f033134695a5ecc105dadd93a8dd0acca34b9886",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 2.107 s

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

message 136 changed as sent

message 145 changed as sent

message 149 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.3108, 1.5093, -0.4862, -0.9615, -1.2266, 0.9952, -0.0174, 0.7959, 0.6296, -0.4648, -0.0017, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.4042 left_y=-0.2638 left_z=0.0085 left_yaw=0.4742 left_pitch=-0.0104 left_roll=0.0116 left_gripper=0.9952 right_x=0.2862 right_y=-0.0011 right_z=0.1738 right_yaw=-0.0151 right_pitch=-0.0642 right_roll=-0.0154 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -14.3521, 5.4085, 0.696, -0.569, 0.0562, -0.0904, -0.0205, -1.1556, 7.1726, 1.6923, -0.0317, -0.0024, -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 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]: [-0.5728, 2.5423, 2.1471, -1.5581, -0.8822, -2.085, 0.9985, -0.0174, 0.8051, 0.6262, -0.4725, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4279 left_y=-0.1094 left_z=0.0531 left_yaw=1.3029 left_pitch=-0.059 left_roll=-0.0189 left_gripper=0.9985 right_x=0.2852 right_y=-0.0011 right_z=0.1683 right_yaw=-0.0131 right_pitch=-0.0844 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [0.3487, -11.8769, 7.2274, -0.5397, -0.4225, 0.0171, -0.1636, -0.1573, -1.5795, 7.4325, 1.7314, -0.0415, -0.0366, -0.0122]",
      "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]: [-0.6319, 2.7369, 2.3455, -1.562, -0.8558, -2.0937, 0.9985, -0.0174, 0.8055, 0.6262, -0.474, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4378 left_y=-0.1508 left_z=0.0058 left_yaw=1.2589 left_pitch=-0.0823 left_roll=-0.0185 left_gripper=0.9985 right_x=0.285 right_y=-0.0011 right_z=0.1679 right_yaw=-0.0131 right_pitch=-0.0863 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [2.0308, -14.2154, 6.7897, -0.6764, -0.5641, -0.022, -0.1587, -0.3077, -1.1282, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d342da41c8643e215e4419beafd6dfa99d629b2822f253e7c9fb30fec59382ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255c4b7132ce6c2a5f71dbdb8fde4e22ff8589268a951c3424f03ca0074ef85d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76710fd251a2f2d3c6ef45b3f033134695a5ecc105dadd93a8dd0acca34b9886",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9q_wVmpjr3-e68PKA4SfWm-IUF5ymQAnR70hY9xkX6DZ_OwyBMEdjasiC0jheJES6oeiYMorkQ3-tBnVun8Fs7s2e9BCPq8YDnoLMSSaOgOXAl23M1Muu1UwZY84xTrB-nxOevqeiZ0NvuMCecq-3CvY1FLRS9Xj2CFye-FyRCR0PN55rDi0aviVHASDL6fTBoLnfTHM9SMwXd-cn9KpLylf-Aqwj6BaL73t8INaKJzs5m6m4jrrdu9wG4qOTpc5vOIHYtSDTORujhYNMqaOrcJzvTS41ga-B_WvEX5iscPALAE5VXS3xl_Ab6wfhRUCOOq2_Hh2bOs_jqCS4K8cxNWkU6qFXI0KOSyl13FQmWfr6vCbfvBZA0E0Jj15v_1nFRpbMo9EB3EGVYmTXJ3iuZLhVcdiAszetawmS7IFf1ORIrgmolv5OvaXYcfI1lPkB0Ct1N600YyM4z30W-f68AoAa9lMjhjar_98GTlFQ2RGLHLtIlKB8VGAVkCTi3Zd1FLc6MppddAybl9aYV54d987hvOhsWhq8xwXaSNHa5s76SABtJArU3Oje_z0zIbin5Y4AL7W0lIbQsf4vkEAFKzOjb1rojcXWPi3vhdH1QxM6wPwSoqc0_Q-akd0E2sym5_mkI6SNtArQ8eYzh_DmEJ667fspgpVvhvo53ZZrpsftjBLkIV6KPmteHIgotT3Pqx5CVdEqt8_z7ehXbGqCC2MnNdbcxpTLMn8D12-4_DacIp5bE3vV-HFS6f7-ZaKU6vs67peSneA8GJs9YfmQV84y7qBbeDJ5H0x30VLaRx_ZqZ3dpD-FHWddcAOS0bkzZK1DtcJKYzJ4E6px_cFRlksp_JnB8HjjOLVsrOoawcxsrpfu2uzD5dCTppRxaGXUjeoF-FYpr4xecvD8TpiD2t6PftBbeQizYJajkeroi28SUDKfabzE2yuCJ0WdhM1H9Yw9gDngHkDTPJxrT4UWL6BU3Qv3Dic00EEp647RuiX65OgCAr0ADuFRMJpgIBMxHxklc1jmBaw7p-D6ILO0lnpJyQM3QGc9IGXF3niM-rZXfuG5_KR5Wl7sZ9k4RHxOWqX4UgpV9JEM37JrFPJNFFIbPlmYH5Rs78j8zLZlyERZ3TgIeqQd_HOBwt91_7-5pB9z3sslATlmPMEzaXUPPsJmSDuPUXK4Ef58R3HYbwDhwbjj-Cp--TcjOeq852u0__Gn1az2TC6388mI_9Da4IPWaCh_xHnCliy_0YDIH63RuvlbUpj2Nl7lkSglukUPrLZYimMIas-zqo_1it0SFpkuWA6B2Tf6ksyh3fauB6BdmefDebPoCPpVvJlybsoGQ2nyodSlTVano3gKxx42sVKa0OOjm_sEyoepSnq_w9GZ6VSs0-wh8xvxUytSZkQR0bS6SOxH1A9r3B6vzehT2OlnTo1tOesEcXm_DEl-rcT-QfY_Ziu_kbhe8ggkee2-Jlv5LpYDToMwgCpMcstEL5c4EJMR-RRf0L57UgLSeA-E8tgU4MW-b1e-qGERrBqGfXZCJDpykrb-w260X3qfberDIJWYp5fStOZYuKCfwssPGK0CDifuS7nTpwyYv8GwmVPc_8RTzlYTiUCO5ZXW9O_QXLajFOXpSr7tmbixf9cs=",
  "id": "rs_079248f874c6ada1016ab44f68421c87d0ac937bc8237e727b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.444,\"left_y\":-0.132,\"left_z\":0.004,\"left_yaw\":1.3,\"left_gripper\":1.0},\"note\":\"At table height the cap is centered laterally but still has clear image space below it, indicating it is a couple of centimeters short of the fingertips. I’ll advance outward along the high-yaw tool axis before closing.\"}",
  "call_id": "call_TWcUQ1NJTRIVAKxWTOGYn5Xp",
  "id": "fc_079248f874c6ada1016ab44f69375487d0a136cbb5feb4678d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TWcUQ1NJTRIVAKxWTOGYn5Xp",
  "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]: [-0.6048, 2.7579, 2.3646, -1.5707, -0.8814, -2.1014, 0.9986, -0.0174, 0.807, 0.6262, -0.474, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4447 left_y=-0.1373 left_z=0.0041 left_yaw=1.2807 left_pitch=-0.0565 left_roll=-0.0218 left_gripper=0.9986 right_x=0.285 right_y=-0.0011 right_z=0.1675 right_yaw=-0.0131 right_pitch=-0.0878 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [-0.3897, -13.3128, 6.5846, -0.4274, -0.3199, 0.0122, -0.1587, -0.0615, -1.1419, 6.9675, 1.6484, -0.0122, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13da472dcbfac9d8beeb4b7117a9d7d5012b96cbea7c7c30b1523ca6c29bc9e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9cb16c4ae7fbce3935f4243d0719db685f6eeaf809144958894de23189476d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8170654df23d00472854198afd721064784eab581ddae453de43c7e66f1ba7a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 5.383 s

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

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0635, 0.8471, 0.6464, -0.3973, -0.1375, -0.1135, 0.9985, -0.0174, 0.8005, 0.6292, -0.4652, -0.0021, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3011 left_y=0.0087 left_z=0.182 left_yaw=0.102 left_pitch=-0.02 left_roll=-0.0081 left_gripper=0.9985 right_x=0.2864 right_y=-0.001 right_z=0.1724 right_yaw=-0.0129 right_pitch=-0.0695 right_roll=-0.0179 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -2.3179, 10.5504, 1.8095, 0.0659, 0.1636, -0.1636, -0.0342, -1.5658, 7.0222, 1.663, -0.0562, -0.0415, -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]: [-0.6319, 2.7369, 2.3455, -1.562, -0.8558, -2.0937, 0.9985, -0.0174, 0.8055, 0.6262, -0.474, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4378 left_y=-0.1508 left_z=0.0058 left_yaw=1.2589 left_pitch=-0.0823 left_roll=-0.0185 left_gripper=0.9985 right_x=0.285 right_y=-0.0011 right_z=0.1679 right_yaw=-0.0131 right_pitch=-0.0863 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [2.0308, -14.2154, 6.7897, -0.6764, -0.5641, -0.022, -0.1587, -0.3077, -1.1282, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6048, 2.7579, 2.3646, -1.5707, -0.8814, -2.1014, 0.9986, -0.0174, 0.807, 0.6262, -0.474, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4447 left_y=-0.1373 left_z=0.0041 left_yaw=1.2807 left_pitch=-0.0565 left_roll=-0.0218 left_gripper=0.9986 right_x=0.285 right_y=-0.0011 right_z=0.1675 right_yaw=-0.0131 right_pitch=-0.0878 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [-0.3897, -13.3128, 6.5846, -0.4274, -0.3199, 0.0122, -0.1587, -0.0615, -1.1419, 6.9675, 1.6484, -0.0122, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13da472dcbfac9d8beeb4b7117a9d7d5012b96cbea7c7c30b1523ca6c29bc9e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9cb16c4ae7fbce3935f4243d0719db685f6eeaf809144958894de23189476d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8170654df23d00472854198afd721064784eab581ddae453de43c7e66f1ba7a6",
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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  "id": "rs_079248f874c6ada1016ab44f6bd36087d09c07e252da9a74f3",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap has moved into the fingertip region and remains centered between the jaws. I’ll close across it now for the recovery grasp.\"}",
  "call_id": "call_BtiPhivv3MuTPCqo36zJIuRy",
  "id": "fc_079248f874c6ada1016ab44f6bfc6087d0a40c1c530ee688e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BtiPhivv3MuTPCqo36zJIuRy",
  "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]: [-0.6044, 2.7579, 2.3638, -1.5745, -0.8799, -2.0933, 0.0111, -0.0174, 0.807, 0.6258, -0.474, -0.0017, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4439 left_y=-0.1368 left_z=0.0041 left_yaw=1.2776 left_pitch=-0.0564 left_roll=-0.0105 left_gripper=0.0111 right_x=0.285 right_y=-0.0011 right_z=0.1674 right_yaw=-0.0131 right_pitch=-0.0882 right_roll=-0.0184 right_gripper=0.9982\nstate[joint_eff]: [0.1162, -14.6803, 4.7385, -0.2418, -0.4469, -0.0415, 0.779, -0.0752, -1.2786, 6.9675, 1.663, -0.0171, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3a5906e745c50e88860f2e909c2683c8a25858133fdaab4bdc7f8bbaa9fe19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57aab8abb80affd1d958fdd157796be4a99e3ce881a528d61686904e27a4ec6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c93f3262307e802092a7ccd9af353c6ea2e22b1abbd87eaa0e60aed7f46b6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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