adhoc

completed
2026-09-23T22:44:50.661918+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
227.5 s
total steps
252
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe overhead view shows the short cap left of center and the long pen nearer center-right. I’ll move the left gripper above the cap with the jaws rotated roughly perpendicular to the cap’s diagonal axis, while keeping the right arm parked.
move_to
left_x0.3800left_y-0.1600left_z0.1500left_yaw-0.7500left_gripper1.0000right_x0.2960right_y0.0020right_z0.1840
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, 0.794, 0.6018, -0.3809, -0.02, -0.0116, 0.9994, -0.0185, 0.7925, 0.6102, -0.3756, -0.0227, -0.0147, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.1787 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.296 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.4974, 10.5915, 1.7705, -0.0659, -0.0757, -0.0708, -0.7316, -1.2923, 9.8393, 1.746, 0.0024, -0.0024, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.16,"left_z":0.15,"left_yaw":-0.75,"left_gripper":1.0,"right_x":0.296,"right_y":0.002,"right_z":0.184},"note":"The overhead view shows the short cap left of center and the long pen nearer center-right. I’ll move the left gripper above the cap with the jaws rotated roughly perpendicular to the cap’s diagonal axis, while keeping the right arm parked."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe cap is visible in the left wrist camera, but it sits about three centimetres to the image-right of the jaw column and still slightly short of the fingertips. I’ll shift the grasp laterally toward it and add a small outward correction before descending.
move_to
left_x0.3730left_y-0.1680left_z0.1200left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2218, 1.4212, 0.7963, -0.0956, 0.3759, 0.2535, 0.9994, -0.0185, 0.7979, 0.6132, -0.3882, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3677 left_y=-0.1457 left_z=0.1239 left_yaw=-0.6769 left_pitch=-0.0886 left_roll=-0.0475 left_gripper=0.9994 right_x=0.2951 right_y=0.0021 right_z=0.1815 right_yaw=0.0 right_pitch=-0.0153 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.3761, -6.3111, 9.7026, 1.9365, 0.2955, 0.1929, -0.0708, -0.3214, -1.4701, 6.7624, 1.9219, -0.0611, -0.0464, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.373,"left_y":-0.168,"left_z":0.12,"left_yaw":-0.75,"left_gripper":1.0},"note":"The cap is visible in the left wrist camera, but it sits about three centimetres to the image-right of the jaw column and still slightly short of the fingertips. I’ll shift the grasp laterally toward it and add a small outward correction before descending."})
tool
executing move_to over 2 steps (0.2s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe first correction was mostly clamped and barely changed the cap’s image position; it remains well right of the jaw column. I’ll make a clearer diagonal shift along the gripper’s rightward axis while staying at approach height.
move_to
left_x0.3420left_y-0.1880left_z0.1200left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.244, 1.4639, 0.8124, -0.0856, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3683 left_y=-0.1583 left_z=0.1172 left_yaw=-0.7263 left_pitch=-0.0968 left_roll=-0.0535 left_gripper=0.9994 right_x=0.2948 right_y=0.0022 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0172 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.6769, -5.1487, 9.2513, 1.6142, 0.1441, 0.0122, -0.0708, -0.2803, -1.2376, 7.0359, 1.7607, -0.0611, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.342,"left_y":-0.188,"left_z":0.12,"left_yaw":-0.75,"left_gripper":1.0},"note":"The first correction was mostly clamped and barely changed the cap’s image position; it remains well right of the jaw column. I’ll make a clearer diagonal shift along the gripper’s rightward axis while staying at approach height."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe long object in the wrist view is the pen beyond the fingertips; the cap itself is hidden directly beneath the left gripper in the overhead view. The left grasp point now matches the cap’s last visible location, so I’ll descend vertically to table level without further lateral chasing.
move_to
left_x0.3650left_y-0.1660left_z0.0000left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0172 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.0205, -6.9402, 8.6769, 1.5604, 0.1587, 0.0122, -0.0708, -0.1026, -1.1282, 7.0222, 1.7558, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.166,"left_z":0.0,"left_yaw":-0.75,"left_gripper":1.0},"note":"The long object in the wrist view is the pen beyond the fingertips; the cap itself is hidden directly beneath the left gripper in the overhead view. The left grasp point now matches the cap’s last visible location, so I’ll descend vertically to table level without further lateral chasing."})
tool
executing move_to over 7 steps (0.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe arm did not track the descent at all, indicating an awkward IK posture rather than contact. I’ll first raise and fold it slightly inward to recover a movable configuration, then re-approach the cap.
move_to
left_x0.3300left_y-0.1500left_z0.2000left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=-0.0002 right_pitch=-0.0172 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.2256, -6.9402, 8.8821, 1.5946, 0.1538, -0.0073, -0.0708, -0.3761, -1.1145, 7.0769, 1.7411, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.15,"left_z":0.2,"left_yaw":-0.75,"left_gripper":1.0},"note":"The arm did not track the descent at all, indicating an awkward IK posture rather than contact. I’ll first raise and fold it slightly inward to recover a movable configuration, then re-approach the cap."})
tool
executing move_to over 7 steps (0.7s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteWith the arm raised, the cap is now visible near the bottom of the left wrist view, just left of the jaw convergence point; the long object farther ahead is the pen. I’ll center the cap with a small tool-left correction and lower only to a stable pre-grasp height.
move_to
left_x0.3550left_y-0.1400left_z0.1200left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.242, 1.2758, 0.984, -0.4271, 0.4007, 0.2722, 0.9994, -0.0185, 0.8005, 0.6132, -0.3912, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3439 left_y=-0.1522 left_z=0.1985 left_yaw=-0.7271 left_pitch=-0.0794 left_roll=-0.0466 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.021 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [0.3624, -4.6701, 8.1162, 1.3065, 0.2564, 0.1978, -0.0708, -0.294, -1.4701, 7.0632, 1.7265, -0.022, -0.0611, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.14,"left_z":0.12,"left_yaw":-0.75,"left_gripper":1.0},"note":"With the arm raised, the cap is now visible near the bottom of the left wrist view, just left of the jaw convergence point; the long object farther ahead is the pen. I’ll center the cap with a small tool-left correction and lower only to a stable pre-grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe cap is at the correct depth near the fingertip row but remains about two centimetres left of the jaw column. I’ll apply one larger lateral centering correction while holding roughly the same pre-grasp height.
move_to
left_x0.3660left_y-0.1140left_z0.1000left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1822, 1.3853, 0.7712, -0.1947, 0.4362, 0.3141, 0.9994, -0.0185, 0.8005, 0.6132, -0.3943, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3462 left_y=-0.136 left_z=0.1129 left_yaw=-0.7231 left_pitch=-0.1445 left_roll=-0.0799 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [0.7316, -5.2855, 6.8034, 1.619, 0.4469, 0.0269, -0.0708, -0.3761, -1.2923, 7.0222, 1.7607, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.366,"left_y":-0.114,"left_z":0.1,"left_yaw":-0.75,"left_gripper":1.0},"note":"The cap is at the correct depth near the fingertip row but remains about two centimetres left of the jaw column. I’ll apply one larger lateral centering correction while holding roughly the same pre-grasp height."})
tool
executing move_to over 2 steps (0.2s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThat correction moved the cap noticeably toward center, from about column 88 to 96, confirming the direction. I’ll continue the same tool-left shift until the cap lies on the 110 jaw column.
move_to
left_x0.3790left_y-0.1020left_z0.1000left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.123, 1.4517, 0.7807, -0.1566, 0.485, 0.3569, 0.9994, -0.0185, 0.8005, 0.6132, -0.395, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3586 left_y=-0.1237 left_z=0.1023 left_yaw=-0.7264 left_pitch=-0.1391 left_roll=-0.0877 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.6222, -5.4906, 8.5949, 1.2576, 0.4469, 0.1929, -0.0708, -0.335, -1.2376, 7.0222, 1.7216, -0.0513, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.379,"left_y":-0.102,"left_z":0.1,"left_yaw":-0.75,"left_gripper":1.0},"note":"That correction moved the cap noticeably toward center, from about column 88 to 96, confirming the direction. I’ll continue the same tool-left shift until the cap lies on the 110 jaw column."})
tool
executing move_to over 2 steps (0.2s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe cap is now centered on the jaw column and its long axis is vertical in the wrist image, so the jaws will close across it correctly. Because its lower end still has a little clear image below it, I’ll advance about two centimetres outward while descending to a near-table grasp height.
move_to
left_x0.3780left_y-0.1110left_z0.0200left_yaw-0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1928, 0.5056, 0.4026, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3577 left_y=-0.1105 left_z=0.0834 left_yaw=-0.7304 left_pitch=-0.1921 left_roll=-0.1138 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.0068, -6.8171, 8.7179, 1.5409, 0.3394, 0.0073, -0.0708, -0.1846, -1.5932, 7.0222, 1.7558, -0.0317, -0.0513, -0.0122] 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":{"left_x":0.378,"left_y":-0.111,"left_z":0.02,"left_yaw":-0.75,"left_gripper":1.0},"note":"The cap is now centered on the jaw column and its long axis is vertical in the wrist image, so the jaws will close across it correctly. Because its lower end still has a little clear image below it, I’ll advance about two centimetres outward while descending to a near-table grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe low descent again stalled with no contact, and the readback shows the wrist has accumulated about 0.19 rad of unintended pitch and 0.11 rad of roll. I’ll raise slightly and explicitly straighten pitch and roll to recover a vertical, descendable grasp posture while preserving the cap alignment.
move_to
left_x0.3580left_y-0.1110left_z0.1300left_yaw-0.7500left_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]: [-0.0788, 1.5047, 0.7902, -0.1917, 0.506, 0.4023, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3579 left_y=-0.1105 left_z=0.0836 left_yaw=-0.7304 left_pitch=-0.191 left_roll=-0.1136 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [0.2393, -6.6803, 8.8821, 1.5018, 0.4176, -0.0171, -0.0708, -0.3487, -1.3197, 7.0222, 1.7656, -0.022, -0.0513, -0.0073] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.358,"left_y":-0.111,"left_z":0.13,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The low descent again stalled with no contact, and the readback shows the wrist has accumulated about 0.19 rad of unintended pitch and 0.11 rad of roll. I’ll raise slightly and explicitly straighten pitch and roll to recover a vertical, descendable grasp posture while preserving the cap alignment."})
tool
executing move_to over 7 steps (0.7s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteStraightening reduced the orientation error and the cap remains centered, now reaching the fingertip row. I’ll retry the vertical descent with pitch and roll explicitly held at zero.
move_to
left_x0.3500left_y-0.1070left_z0.0000left_yaw-0.7500left_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]: [-0.0589, 1.38, 0.7109, -0.1207, 0.5327, 0.4057, 0.9994, -0.0185, 0.8062, 0.6132, -0.3969, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3502 left_y=-0.1069 left_z=0.1086 left_yaw=-0.7224 left_pitch=-0.0865 left_roll=-0.0552 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1773 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [0.3761, -5.4769, 6.5573, 1.7509, 0.3834, 0.1441, -0.0708, -0.1709, -1.4838, 7.0632, 1.7509, -0.022, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.107,"left_z":0.0,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"Straightening reduced the orientation error and the cap remains centered, now reaching the fingertip row. I’ll retry the vertical descent with pitch and roll explicitly held at zero."})
tool
executing move_to over 8 steps (0.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe left grasp point reached table height and the cap is visibly between the jaws, aligned lengthwise away from the camera so closure is across its body. I’ll close fully and inspect the settled gripper width before lifting.
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]: [-0.0448, 1.7622, 0.4469, 0.564, 0.5629, 0.4294, 0.9994, -0.0185, 0.8093, 0.6132, -0.4122, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3463 left_y=-0.1063 left_z=-0.0004 left_yaw=-0.7422 left_pitch=-0.0429 left_roll=-0.0282 left_gripper=0.9994 right_x=0.2925 right_y=0.0022 right_z=0.1734 right_yaw=0.0 right_pitch=-0.0507 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [0.4855, -5.4359, 3.0427, 0.7204, 0.1685, -0.0415, -0.0757, -0.3761, -1.5248, 7.159, 1.8388, -0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left grasp point reached table height and the cap is visibly between the jaws, aligned lengthwise away from the camera so closure is across its body. I’ll close fully and inspect the settled gripper width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe settled width is 0.009, so the close was empty; the cap remains visible just beyond the closed fingertips, with its near end only about one to two centimetres outward. I’ll reopen and lift clear before making that small outward correction.
move_to
left_z0.0600left_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]: [-0.0452, 1.7737, 0.4366, 0.5911, 0.5575, 0.4286, 0.0091, -0.0181, 0.8101, 0.6132, -0.4122, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3455 left_y=-0.1056 left_z=-0.003 left_yaw=-0.738 left_pitch=-0.0411 left_roll=-0.0226 left_gripper=0.0091 right_x=0.2925 right_y=0.0023 right_z=0.1732 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [-0.0752, -7.3504, 4.6974, 1.2527, 0.2662, 0.0073, 0.7155, -0.0889, -1.4017, 7.0222, 1.7118, -0.0415, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06,"left_gripper":1.0},"note":"The settled width is 0.009, so the close was empty; the cap remains visible just beyond the closed fingertips, with its near end only about one to two centimetres outward. I’ll reopen and lift clear before making that small outward correction."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteAfter reopening, the cap’s near end is centered and reaches almost exactly to the fingertip convergence row. I’ll move the grasp point two centimetres outward and descend straight to table level for the corrected grasp.
move_to
left_x0.3600left_y-0.1050left_z0.0000left_yaw-0.7500left_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]: [-0.046, 1.5139, 0.4965, 0.2459, 0.5507, 0.4213, 0.995, -0.0181, 0.8112, 0.6132, -0.4126, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3386 left_y=-0.1045 left_z=0.045 left_yaw=-0.7305 left_pitch=-0.064 left_roll=-0.0411 left_gripper=0.995 right_x=0.2926 right_y=0.0023 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.053 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [-0.1846, -6.653, 7.9658, 1.4921, 0.1978, 0.0269, -0.1783, -0.0889, -1.3607, 7.0632, 1.6923, -0.0415, -0.0562, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.105,"left_z":0.0,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"After reopening, the cap’s near end is centered and reaches almost exactly to the fingertip convergence row. I’ll move the grasp point two centimetres outward and descend straight to table level for the corrected grasp."})
tool
executing move_to over 3 steps (0.3s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe corrected descent places the cap’s near end directly between the left fingertips at table level. I’ll close again and use the settled width to verify that this time the jaws captured it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0338, 1.7851, 0.4824, 0.5388, 0.5831, 0.4446, 0.9984, -0.0185, 0.815, 0.6128, -0.4149, -0.0223, -0.0147, 0.999] state[eef_state]: left_x=0.3527 left_y=-0.1056 left_z=-0.0007 left_yaw=-0.7549 left_pitch=-0.0432 left_roll=-0.0345 left_gripper=0.9984 right_x=0.2924 right_y=0.0021 right_z=0.1711 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [0.0889, -6.3111, 3.3709, 0.0415, -0.3199, -0.4176, -0.1832, -0.2256, -1.3744, 7.0085, 1.7949, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The corrected descent places the cap’s near end directly between the left fingertips at table level. I’ll close again and use the settled width to verify that this time the jaws captured it."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe second close also settled at 0.009 and the rounded cap slid sideways rather than being captured. With the jaws no longer occluding it, the overhead view shows the cap a few pixels right and slightly behind the grasp point, so I’ll reopen and lift before applying that measured correction.
move_to
left_z0.0800left_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]: [-0.033, 1.7962, 0.4751, 0.5644, 0.5808, 0.4469, 0.0093, -0.0181, 0.8165, 0.6128, -0.4137, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3528 left_y=-0.105 left_z=-0.0026 left_yaw=-0.7535 left_pitch=-0.0388 left_roll=-0.0266 left_gripper=0.0093 right_x=0.2927 right_y=0.0024 right_z=0.1709 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [-0.2256, -7.4872, 4.5333, 1.2283, 0.2271, -0.0415, 0.7057, -0.1436, -1.3607, 6.9949, 1.6532, -0.0708, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"left_gripper":1.0},"note":"The second close also settled at 0.009 and the rounded cap slid sideways rather than being captured. With the jaws no longer occluding it, the overhead view shows the cap a few pixels right and slightly behind the grasp point, so I’ll reopen and lift before applying that measured correction."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteNow that the gripper is open and elevated, the overhead view cleanly shows the cap about one centimetre forward and roughly 2.5 centimetres inward/right of the fingertip midpoint. I’ll make exactly that lateral correction at approach height.
move_to
left_x0.3580left_y-0.1300left_z0.0700left_yaw-0.7500left_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]: [-0.033, 1.491, 0.5713, 0.1371, 0.5762, 0.4438, 0.995, -0.0185, 0.8185, 0.6132, -0.4137, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3467 left_y=-0.1042 left_z=0.0629 left_yaw=-0.7493 left_pitch=-0.0604 left_roll=-0.0438 left_gripper=0.995 right_x=0.2928 right_y=0.0022 right_z=0.1706 right_yaw=0.0 right_pitch=-0.0614 right_roll=0.0011 right_gripper=0.999 state[joint_eff]: [-0.0889, -7.2, 8.4855, 1.3211, 0.1978, -0.0464, -0.1538, -0.3214, -1.347, 7.2274, 1.7753, -0.0611, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.358,"left_y":-0.13,"left_z":0.07,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"Now that the gripper is open and elevated, the overhead view cleanly shows the cap about one centimetre forward and roughly 2.5 centimetres inward/right of the fingertip midpoint. I’ll make exactly that lateral correction at approach height."})
tool
executing move_to over 3 steps (0.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe overhead view now puts the cap at the fingertip midpoint, with the jaws straddling its diagonal axis. I’ll descend vertically at this corrected position, then use a gentler partial close to avoid ejecting the rounded cap.
move_to
left_x0.3450left_y-0.1270left_z0.0000left_yaw-0.7500left_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]: [-0.1188, 1.5127, 0.5568, 0.2005, 0.5289, 0.3943, 0.9983, -0.0185, 0.8185, 0.6128, -0.4141, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3445 left_y=-0.1273 left_z=0.0576 left_yaw=-0.7716 left_pitch=-0.0612 left_roll=-0.0412 left_gripper=0.9983 right_x=0.2927 right_y=0.0022 right_z=0.1703 right_yaw=0.0 right_pitch=-0.0622 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [0.212, -5.4496, 6.0376, 1.9512, 0.0366, -0.0415, -0.1832, -0.2667, -1.3744, 7.2137, 1.663, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.127,"left_z":0.0,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The overhead view now puts the cap at the fingertip midpoint, with the jaws straddling its diagonal axis. I’ll descend vertically at this corrected position, then use a gentler partial close to avoid ejecting the rounded cap."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteAt table height the cap fills the center gap and lies between the open fingers, but its rounded body could squirt out under a hard close. I’ll close only to about 1.4 cm jaw spacing, near the cap diameter, and check whether it is retained.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1249, 1.755, 0.4248, 0.6041, 0.5102, 0.3775, 0.9984, -0.0185, 0.8207, 0.6132, -0.4141, -0.0227, -0.0143, 0.999] state[eef_state]: left_x=0.3397 left_y=-0.126 left_z=-0.0008 left_yaw=-0.7534 left_pitch=-0.0455 left_roll=-0.0271 left_gripper=0.9984 right_x=0.2929 right_y=0.0022 right_z=0.1699 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=0.0015 right_gripper=0.999 state[joint_eff]: [-0.1709, -4.7521, 3.0701, 0.9304, 0.1245, -0.1001, -0.1832, -0.1299, -1.4838, 7.0222, 1.663, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15},"note":"At table height the cap fills the center gap and lies between the open fingers, but its rounded body could squirt out under a hard close. I’ll close only to about 1.4 cm jaw spacing, near the cap diameter, and check whether it is retained."})
tool
executing move_to over 9 steps (0.9s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe partial close kept the cap perfectly centered between the jaws, but the gripper reached the commanded 0.155 without contact. I’ll reduce the gap gently to about 9.5 mm so the jaws should engage the cap without a violent snap.
move_to
left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1249, 1.7889, 0.408, 0.6971, 0.5037, 0.3679, 0.155, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3437 left_y=-0.1255 left_z=-0.0014 left_yaw=-0.7424 left_pitch=-0.0136 left_roll=-0.0068 left_gripper=0.155 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [-0.1026, -5.5179, 3.6855, 1.8046, 0.3004, 0.0317, 0.0659, -0.0752, -1.2786, 7.4051, 1.7411, -0.0317, -0.0757, -0.0122] 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_gripper":0.1},"note":"The partial close kept the cap perfectly centered between the jaws, but the gripper reached the commanded 0.155 without contact. I’ll reduce the gap gently to about 9.5 mm so the jaws should engage the cap without a violent snap."})
tool
executing move_to over 1 steps (0.1s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe one-step command barely moved the jaws, leaving them at 0.151, while the cap remains exactly centered. I’ll now request full closure so the rate-limited controller can continue until it contacts the cap; a nonzero settled width will confirm capture.
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]: [-0.1253, 1.7889, 0.408, 0.6971, 0.5041, 0.3676, 0.1507, -0.0185, 0.8223, 0.6128, -0.4137, -0.0223, -0.0147, 0.999] state[eef_state]: left_x=0.3436 left_y=-0.1257 left_z=-0.0014 left_yaw=-0.7429 left_pitch=-0.0135 left_roll=-0.0073 left_gripper=0.1507 right_x=0.293 right_y=0.0021 right_z=0.1694 right_yaw=-0.0003 right_pitch=-0.0656 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [-0.1983, -5.8051, 3.9179, 1.8046, 0.1685, -0.0171, 0.0562, -0.3761, -1.5248, 7.0222, 1.6532, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The one-step command barely moved the jaws, leaving them at 0.151, while the cap remains exactly centered. I’ll now request full closure so the rate-limited controller can continue until it contacts the cap; a nonzero settled width will confirm capture."})
tool
executing move_to over 2 steps (0.2s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe hard close ejected the rounded cap forward, so I’ll stop repeating that grasp for now. I’ll park the left arm and move the right arm above the pen’s midpoint, with its jaws rotated perpendicular to the pen’s diagonal axis; once the pen is secured, the stationary held pen will provide a better target for the cap.
move_to
left_x0.2800left_y-0.0200left_z0.1800left_gripper1.0000right_x0.3800right_y0.2900right_z0.1400right_yaw0.7500right_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]: [-0.1253, 1.7889, 0.408, 0.6998, 0.503, 0.3672, 0.0085, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3441 left_y=-0.1256 left_z=-0.001 left_yaw=-0.7418 left_pitch=-0.0117 left_roll=-0.0055 left_gripper=0.0085 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [-0.2803, -6.4068, 3.9453, 1.5897, 0.1929, 0.0024, 0.696, -0.0615, -1.3744, 7.0222, 1.7216, -0.0122, -0.0806, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.02,"left_z":0.18,"left_gripper":1.0,"right_x":0.38,"right_y":0.29,"right_z":0.14,"right_yaw":0.75,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The hard close ejected the rounded cap forward, so I’ll stop repeating that grasp for now. I’ll park the left arm and move the right arm above the pen’s midpoint, with its jaws rotated perpendicular to the pen’s diagonal axis; once the pen is secured, the stationary held pen will provide a better target for the cap."})
tool
executing move_to over 24 steps (2.4s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe right wrist view clearly shows the pen centered on the jaw column and oriented vertically in the image, while the ejected cap is the shorter black piece upper-left. I’ll advance the usual two centimetres outward and descend to table level over the pen.
move_to
right_x0.3920right_y0.2750right_z0.0000right_yaw0.7500right_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]: [0.4057, 1.111, 0.7765, -0.6804, 0.8276, 0.8402, 0.9978, 0.5838, 1.6333, 0.9421, 0.062, -0.1181, -0.0795, 0.9991] state[eef_state]: left_x=0.2833 left_y=-0.016 left_z=0.1639 left_yaw=-0.7006 left_pitch=-0.0398 left_roll=-0.0256 left_gripper=0.9978 right_x=0.3721 right_y=0.2751 right_z=0.1212 right_yaw=0.7178 right_pitch=-0.0669 right_roll=0.0048 right_gripper=0.9991 state[joint_eff]: [0.212, -3.8222, 9.2513, 1.1111, 0.5934, 0.1001, -0.0855, 0.7179, -7.5556, 8.8821, 2.1172, -0.1783, 0.0366, -0.1099] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.392,"right_y":0.275,"right_z":0.0,"right_yaw":0.75,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The right wrist view clearly shows the pen centered on the jaw column and oriented vertically in the image, while the ejected cap is the shorter black piece upper-left. I’ll advance the usual two centimetres outward and descend to table level over the pen."})
tool
executing move_to over 8 steps (0.8s)
step 158
top_cam
camera top_cam step 158
assistant
agent noteThe pen is now centered between the right fingertips at table height, with its shaft perpendicular to the closing direction. I’ll close gently to a 9.5 mm gap first to avoid flicking the smooth barrel sideways.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.4091, 1.1133, 0.7784, -0.6945, 0.8188, 0.8394, 0.9981, 0.5411, 2.0098, 0.791, 0.6209, -0.1722, -0.1207, 0.9991] state[eef_state]: left_x=0.2818 left_y=-0.0145 left_z=0.1617 left_yaw=-0.6926 left_pitch=-0.053 left_roll=-0.0358 left_gripper=0.9981 right_x=0.3896 right_y=0.2736 right_z=0.0044 right_yaw=0.7424 right_pitch=-0.0305 right_roll=-0.0036 right_gripper=0.9991 state[joint_eff]: [-0.3077, -3.2342, 6.3658, 1.2186, 0.4274, -0.0562, 0.022, -0.6222, -7.3641, 4.2188, 1.3455, -0.2271, 0.0757, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.1},"note":"The pen is now centered between the right fingertips at table height, with its shaft perpendicular to the closing direction. I’ll close gently to a 9.5 mm gap first to avoid flicking the smooth barrel sideways."})
tool
executing move_to over 9 steps (0.9s)
step 167
assistant
agent noteThe 9.5 mm close kept the pen centered, but the jaws reached the command without yet gripping it. I’ll reduce the gap to about 4.8 mm, which should contact the barrel while maintaining this stable alignment.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.4091, 1.1133, 0.7784, -0.6964, 0.8154, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6613, -0.1776, -0.1249, 0.1061] state[eef_state]: left_x=0.2816 left_y=-0.0142 left_z=0.1611 left_yaw=-0.6906 left_pitch=-0.0565 left_roll=-0.0365 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0032 right_yaw=0.746 right_pitch=-0.0116 right_roll=-0.008 right_gripper=0.1061 state[joint_eff]: [-0.3624, -2.8239, 6.5299, 1.1062, 0.3736, -0.0562, -0.0073, 0.1709, -10.7829, 4.9026, 1.3944, -0.0073, -0.0415, 0.315] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.05},"note":"The 9.5 mm close kept the pen centered, but the jaws reached the command without yet gripping it. I’ll reduce the gap to about 4.8 mm, which should contact the barrel while maintaining this stable alignment."})
tool
executing move_to over 1 steps (0.1s)
step 168
assistant
agent noteThe rate limiter allowed only a tiny jaw motion in one step, from 0.106 to 0.103, and the pen has not shifted. I’ll continue the same gentle close toward 0.05.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.4095, 1.1133, 0.7784, -0.696, 0.815, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6617, -0.1772, -0.1246, 0.1025] state[eef_state]: left_x=0.2816 left_y=-0.014 left_z=0.1611 left_yaw=-0.69 left_pitch=-0.0566 left_roll=-0.036 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0033 right_yaw=0.7455 right_pitch=-0.0113 right_roll=-0.0079 right_gripper=0.1025 state[joint_eff]: [-0.0479, -3.0838, 6.7761, 1.0818, 0.3785, -0.0562, -0.0073, -0.0068, -10.8239, 4.8752, 1.326, -0.0122, -0.0269, 0.2515] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.05},"note":"The rate limiter allowed only a tiny jaw motion in one step, from 0.106 to 0.103, and the pen has not shifted. I’ll continue the same gentle close toward 0.05."})
tool
executing move_to over 1 steps (0.1s)
step 169
assistant
agent noteThe right gripper stopped at 0.076 instead of reaching 0.05 and its gripper effort rose, indicating contact on a roughly 7 mm pen barrel. I’ll lift ten centimetres while maintaining the grasp and confirm the pen moves with the jaws.
move_to
right_z0.1000right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.4095, 1.1133, 0.7784, -0.696, 0.8116, 0.8391, 0.9982, 0.5381, 2.0281, 0.7872, 0.6651, -0.178, -0.1276, 0.0757] state[eef_state]: left_x=0.2817 left_y=-0.0135 left_z=0.1607 left_yaw=-0.6882 left_pitch=-0.0592 left_roll=-0.0346 left_gripper=0.9982 right_x=0.3921 right_y=0.2746 right_z=0.0038 right_yaw=0.7478 right_pitch=-0.0082 right_roll=-0.0107 right_gripper=0.0757 state[joint_eff]: [0.0068, -3.0701, 6.4615, 1.1062, 0.3639, -0.0611, -0.0073, -0.3077, -9.2376, 4.7248, 1.6532, -0.1343, 0.0122, 1.0232] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"right_gripper":0.05},"note":"The right gripper stopped at 0.076 instead of reaching 0.05 and its gripper effort rose, indicating contact on a roughly 7 mm pen barrel. I’ll lift ten centimetres while maintaining the grasp and confirm the pen moves with the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 176
assistant
agent noteThe pen’s 0.076 grasp width held through the lift, and the pen is absent from the exposed tabletop, confirming pickup. The cap is now clearly visible to the left wrist about two centimetres image-right of the jaw column and a few centimetres short of the fingertips, so I’ll make a combined centering and outward approach while raising the held pen slightly.
move_to
left_x0.3050left_y-0.0300left_z0.1000left_yaw-0.7500left_pitch0.0000left_roll0.0000left_gripper1.0000right_z0.1200right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.4095, 1.1137, 0.7784, -0.696, 0.8078, 0.8391, 0.9981, 0.5381, 1.7763, 0.8722, 0.3103, -0.1806, -0.1287, 0.0757] state[eef_state]: left_x=0.2817 left_y=-0.013 left_z=0.1602 left_yaw=-0.6861 left_pitch=-0.0623 left_roll=-0.0335 left_gripper=0.9981 right_x=0.3896 right_y=0.2737 right_z=0.0787 right_yaw=0.7507 right_pitch=-0.0254 right_roll=-0.0065 right_gripper=0.0757 state[joint_eff]: [0.0479, -3.0838, 6.6667, 1.116, 0.3492, -0.0562, -0.0171, -0.294, -10.865, 8.2256, 1.707, -0.0708, -0.0611, 1.0281] 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_x":0.305,"left_y":-0.03,"left_z":0.1,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_z":0.12,"right_gripper":0.05},"note":"The pen’s 0.076 grasp width held through the lift, and the pen is absent from the exposed tabletop, confirming pickup. The cap is now clearly visible to the left wrist about two centimetres image-right of the jaw column and a few centimetres short of the fingertips, so I’ll make a combined centering and outward approach while raising the held pen slightly."})
tool
executing move_to over 4 steps (0.4s)
step 180
assistant
agent noteThe cap moved closer to the jaw column, now only about 13 pixels right, while the large upward image shift is mainly from the arm’s descent. I’ll advance the left grasp point about 3.5 cm outward with a small additional tool-right correction, keeping the pen safely raised.
move_to
left_x0.3200left_y-0.0400left_z0.1000left_yaw-0.7500left_pitch0.0000left_roll0.0000left_gripper1.0000right_z0.1400right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3367, 1.2556, 0.577, -0.3923, 0.8116, 0.8021, 0.9983, 0.5385, 1.7306, 0.9138, 0.1635, -0.1814, -0.1287, 0.0755] state[eef_state]: left_x=0.285 left_y=-0.0322 left_z=0.0878 left_yaw=-0.7434 left_pitch=-0.079 left_roll=-0.0999 left_gripper=0.9983 right_x=0.3829 right_y=0.27 right_z=0.0871 right_yaw=0.7524 right_pitch=-0.0835 right_roll=0.0065 right_gripper=0.0755 state[joint_eff]: [-0.4034, -4.7795, 6.8444, 1.4042, 0.5153, -0.0415, -0.1832, 0.0205, -11.0838, 9.5385, 1.873, -0.0708, -0.0513, 1.0281] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.04,"left_z":0.1,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_z":0.14,"right_gripper":0.05},"note":"The cap moved closer to the jaw column, now only about 13 pixels right, while the large upward image shift is mainly from the arm’s descent. I’ll advance the left grasp point about 3.5 cm outward with a small additional tool-right correction, keeping the pen safely raised."})
tool
executing move_to over 4 steps (0.4s)
step 184
assistant
agent noteThe cap remains fully visible with a large gap below it, so the left fingertips are still several centimetres short despite the last modest motion. I’ll make the larger combined outward-and-inward move toward the cap’s known tabletop region, while keeping the held pen high and stationary.
move_to
left_x0.3500left_y-0.1200left_z0.1000left_yaw-0.7500left_pitch0.0000left_roll0.0000left_gripper1.0000right_z0.1500right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2718, 1.3048, 0.5583, -0.226, 0.7887, 0.7345, 0.9983, 0.5381, 1.7123, 0.9333, 0.128, -0.181, -0.1314, 0.0754] state[eef_state]: left_x=0.3032 left_y=-0.0419 left_z=0.0837 left_yaw=-0.7536 left_pitch=-0.0499 left_roll=-0.0589 left_gripper=0.9983 right_x=0.3836 right_y=0.2701 right_z=0.0963 right_yaw=0.7531 right_pitch=-0.0813 right_roll=0.0037 right_gripper=0.0754 state[joint_eff]: [-0.4718, -3.9179, 8.0752, 1.4286, 0.3199, -0.0415, -0.1832, -0.3624, -10.6051, 8.1162, 1.7118, -0.1099, -0.0122, 1.0281] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.12,"left_z":0.1,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_z":0.15,"right_gripper":0.05},"note":"The cap remains fully visible with a large gap below it, so the left fingertips are still several centimetres short despite the last modest motion. I’ll make the larger combined outward-and-inward move toward the cap’s known tabletop region, while keeping the held pen high and stationary."})
tool
executing move_to over 7 steps (0.7s)
step 191
assistant
agent noteThe readback shows the left arm barely tracked the lateral target because it is again stuck in a low awkward posture, not because the visual estimate was wrong. I’ll raise it substantially first while retaining the intended cap coordinates, then descend from the recovered configuration.
move_to
left_x0.3500left_y-0.1200left_z0.1800left_yaw-0.7500left_pitch0.0000left_roll0.0000left_gripper1.0000right_z0.1600right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2676, 1.3121, 0.5583, -0.1898, 0.7845, 0.7143, 0.9983, 0.5381, 1.7123, 0.9333, 0.1261, -0.181, -0.1314, 0.0734] state[eef_state]: left_x=0.3085 left_y=-0.0411 left_z=0.0854 left_yaw=-0.7432 left_pitch=-0.0381 left_roll=-0.0489 left_gripper=0.9983 right_x=0.3833 right_y=0.27 right_z=0.096 right_yaw=0.7531 right_pitch=-0.0831 right_roll=0.0041 right_gripper=0.0734 state[joint_eff]: [-0.3487, -4.5333, 8.0615, 1.5653, 0.3346, -0.0708, -0.188, -0.3624, -10.4957, 8.4444, 1.7753, -0.0904, 0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.12,"left_z":0.18,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_z":0.16,"right_gripper":0.05},"note":"The readback shows the left arm barely tracked the lateral target because it is again stuck in a low awkward posture, not because the visual estimate was wrong. I’ll raise it substantially first while retaining the intended cap coordinates, then descend from the recovered configuration."})
tool
executing move_to over 8 steps (0.8s)
step 199
assistant
agent noteAfter raising, the left arm reached the intended region and the cap is now exactly on the jaw column; it is fully visible with clear space below, indicating the fingertips are about 2–3 cm short. I’ll add that outward offset and descend to table level in one controlled motion.
move_to
left_x0.3660left_y-0.1200left_z0.0000left_yaw-0.7500left_pitch0.0000left_roll0.0000left_gripper1.0000right_z0.1600right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0788, 1.2575, 0.7998, -0.2623, 0.5747, 0.4412, 0.9984, 0.5388, 1.6493, 1.0641, -0.1074, -0.1818, -0.1345, 0.0722] state[eef_state]: left_x=0.3408 left_y=-0.1196 left_z=0.1649 left_yaw=-0.791 left_pitch=-0.0139 left_roll=-0.0042 left_gripper=0.9984 right_x=0.3816 right_y=0.2695 right_z=0.1343 right_yaw=0.757 right_pitch=-0.1217 right_roll=0.0107 right_gripper=0.0722 state[joint_eff]: [-0.3897, -4.1094, 9.6205, 1.5653, 0.1734, -0.0952, -0.1832, -0.3077, -10.8786, 9.3607, 1.5311, -0.1001, 0.0122, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.366,"left_y":-0.12,"left_z":0.0,"left_yaw":-0.75,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_z":0.16,"right_gripper":0.05},"note":"After raising, the left arm reached the intended region and the cap is now exactly on the jaw column; it is fully visible with clear space below, indicating the fingertips are about 2–3 cm short. I’ll add that outward offset and descend to table level in one controlled motion."})
tool
executing move_to over 11 steps (1.1s)
step 210
assistant
agent noteThe cap is clearly visible in the right wrist view ahead of the held pen tip, so a supported tabletop insertion is now more reliable than another slippery cap grasp. I’ll park the left arm and begin rotating the pen toward the cap’s diagonal axis, using an intermediate yaw to avoid a large sweep.
move_to
left_x0.2800left_y-0.0200left_z0.1800left_gripper1.0000right_x0.3760right_y0.2660right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0856, 1.8072, 0.4995, 0.5739, 0.5499, 0.4038, 0.9983, 0.5381, 1.6424, 1.1069, -0.2131, -0.1806, -0.1394, 0.0721] state[eef_state]: left_x=0.3585 left_y=-0.1198 left_z=0.0001 left_yaw=-0.7589 left_pitch=-0.0352 left_roll=-0.0312 left_gripper=0.9983 right_x=0.376 right_y=0.2655 right_z=0.1361 right_yaw=0.7598 right_pitch=-0.1766 right_roll=0.0185 right_gripper=0.0721 state[joint_eff]: [-0.5812, -5.5453, 3.5624, 0.9939, 0.0415, -0.1538, -0.1832, -0.2803, -9.853, 9.6479, 1.7558, -0.1441, 0.0269, 1.0281] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.02,"left_z":0.18,"left_gripper":1.0,"right_x":0.376,"right_y":0.266,"right_z":0.15,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.05},"note":"The cap is clearly visible in the right wrist view ahead of the held pen tip, so a supported tabletop insertion is now more reliable than another slippery cap grasp. I’ll park the left arm and begin rotating the pen toward the cap’s diagonal axis, using an intermediate yaw to avoid a large sweep."})
tool
executing move_to over 12 steps (1.2s)
step 222
assistant
agent noteAt near-zero yaw the held pen and cap are already parallel in the right wrist view; the cap’s wider open end appears lower-left of the pen tip. I’ll move the pen tip about six centimetres left and three centimetres toward the base while lowering it near the cap’s tabletop height.
move_to
right_x0.3400right_y0.3300right_z0.0300right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0500left_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3939, 1.1538, 0.807, -0.6682, 0.8135, 0.8333, 0.9983, 0.8429, 1.7039, 1.0992, -0.1757, 0.5781, 0.4465, 0.0721] state[eef_state]: left_x=0.2925 left_y=-0.0136 left_z=0.1641 left_yaw=-0.701 left_pitch=-0.0505 left_roll=-0.0257 left_gripper=0.9983 right_x=0.3659 right_y=0.2709 right_z=0.1305 right_yaw=0.1178 right_pitch=-0.0728 right_roll=-0.0401 right_gripper=0.0721 state[joint_eff]: [0.212, -4.2872, 8.7316, 1.1941, 0.4957, 0.1245, -0.188, 0.4308, -7.788, 9.5248, 1.6679, 0.5543, 0.2613, 1.0281] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.33,"right_z":0.03,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.05,"left_z":0.18},"note":"At near-zero yaw the held pen and cap are already parallel in the right wrist view; the cap’s wider open end appears lower-left of the pen tip. I’ll move the pen tip about six centimetres left and three centimetres toward the base while lowering it near the cap’s tabletop height."})
tool
executing move_to over 7 steps (0.7s)
step 229
assistant
agent noteAt cap height, the mouth is now about 2–3 cm left of the pen axis and roughly 3 cm farther outward; both axes remain parallel. I’ll translate the held pen by those amounts without changing its orientation or height, bringing the tip to the cap mouth.
move_to
right_x0.3650right_y0.3500right_z0.0200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3958, 1.1538, 0.831, -0.7338, 0.8078, 0.8352, 0.9982, 1.0172, 2.0361, 1.0786, 0.0399, 0.7593, 0.6624, 0.0721] state[eef_state]: left_x=0.2868 left_y=-0.0147 left_z=0.1654 left_yaw=-0.6993 left_pitch=-0.0739 left_roll=-0.059 left_gripper=0.9982 right_x=0.3365 right_y=0.3199 right_z=0.0248 right_yaw=0.0445 right_pitch=-0.0571 right_roll=-0.0575 right_gripper=0.0721 state[joint_eff]: [-0.2803, -3.7675, 9.347, 1.0916, 0.4029, -0.0562, -0.0269, 0.9915, -9.7573, 7.2684, 1.409, 0.6716, 0.1685, 1.0281] approver: 1 step(s) modified (delta_clamped). 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":0.365,"right_y":0.35,"right_z":0.02,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.05},"note":"At cap height, the mouth is now about 2–3 cm left of the pen axis and roughly 3 cm farther outward; both axes remain parallel. I’ll translate the held pen by those amounts without changing its orientation or height, bringing the tip to the cap mouth."})
tool
executing move_to over 3 steps (0.3s)
step 232
assistant
agent noteThe pen tip is now exactly on the cap’s centreline. The cap’s nearer, wider mouth is about 3–4 cm ahead of the tip, so I’ll advance the pen straight outward along the aligned axis to enter it.
move_to
right_x0.3900right_y0.3450right_z0.0200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3962, 1.1549, 0.831, -0.7383, 0.7971, 0.8352, 0.9982, 1.0157, 2.1571, 1.2072, 0.0635, 0.7795, 0.6918, 0.0721] state[eef_state]: left_x=0.2862 left_y=-0.0134 left_z=0.1635 left_yaw=-0.6938 left_pitch=-0.0848 left_roll=-0.0598 left_gripper=0.9982 right_x=0.3561 right_y=0.3454 right_z=0.0161 right_yaw=0.0156 right_pitch=-0.0262 right_roll=-0.0159 right_gripper=0.0721 state[joint_eff]: [-0.0615, -3.412, 6.6256, 1.0916, 0.4957, -0.0757, -0.0122, -0.841, -10.7692, 6.2838, 1.409, 0.4957, -0.0464, 1.0379] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.345,"right_z":0.02,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.05},"note":"The pen tip is now exactly on the cap’s centreline. The cap’s nearer, wider mouth is about 3–4 cm ahead of the tip, so I’ll advance the pen straight outward along the aligned axis to enter it."})
tool
executing move_to over 3 steps (0.3s)
step 235
assistant
agent noteThe attempted insertion did not translate because the right arm is stuck in a near-floor IK posture; the alignment itself remains exact. I’ll lift just enough to recover motion while moving to the intended forward position, then make one final low forward seating stroke.
move_to
right_x0.3900right_y0.3450right_z0.0800right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3962, 1.1557, 0.831, -0.741, 0.7891, 0.8356, 0.9982, 1.0142, 2.1708, 1.2201, 0.0631, 0.7784, 0.6918, 0.0721] state[eef_state]: left_x=0.2859 left_y=-0.0124 left_z=0.1622 left_yaw=-0.6901 left_pitch=-0.0926 left_roll=-0.0593 left_gripper=0.9982 right_x=0.358 right_y=0.3473 right_z=0.0136 right_yaw=0.0148 right_pitch=-0.0276 right_roll=-0.0164 right_gripper=0.0721 state[joint_eff]: [-0.294, -3.2752, 6.4342, 1.1013, 0.3639, -0.0513, -0.0122, -0.7316, -10.7009, 6.9402, 1.4335, 0.4713, -0.0904, 1.0281] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.345,"right_z":0.08,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.05},"note":"The attempted insertion did not translate because the right arm is stuck in a near-floor IK posture; the alignment itself remains exact. I’ll lift just enough to recover motion while moving to the intended forward position, then make one final low forward seating stroke."})
tool
executing move_to over 5 steps (0.5s)
step 240
assistant
agent noteEven the recovery lift was completely stalled, confirming this exact low, level wrist orientation is at an IK dead point. I’ll use forward wrist pitch to unlock the arm and drive the already aligned pen tip straight into the cap with a final outward seating motion.
move_to
right_x0.4000right_y0.3470right_z0.0200right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3962, 1.1557, 0.831, -0.7414, 0.7845, 0.8356, 0.9982, 1.0142, 2.1708, 1.2201, 0.0631, 0.7784, 0.6918, 0.0721] state[eef_state]: left_x=0.2859 left_y=-0.0118 left_z=0.1617 left_yaw=-0.6877 left_pitch=-0.0963 left_roll=-0.0577 left_gripper=0.9982 right_x=0.358 right_y=0.3473 right_z=0.0136 right_yaw=0.0148 right_pitch=-0.0276 right_roll=-0.0164 right_gripper=0.0721 state[joint_eff]: [0.0068, -3.2615, 6.4479, 1.0232, 0.3639, -0.0317, -0.0122, -0.5265, -10.6598, 6.9265, 1.4579, 0.4225, -0.0757, 1.0281] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.347,"right_z":0.02,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":0.05},"note":"Even the recovery lift was completely stalled, confirming this exact low, level wrist orientation is at an IK dead point. I’ll use forward wrist pitch to unlock the arm and drive the already aligned pen tip straight into the cap with a final outward seating motion."})
tool
executing move_to over 11 steps (1.1s)
step 251
assistant
agent noteI secured and held the pen, and aligned its tip with the cap on the tabletop, but the final insertion missed just to the side after the low right-arm posture reached an IK dead point. The call budget is exhausted before I can re-center and seat the cap safely.
give_up
hindsightFor this rig, grasp the pen first with a gentle staged close; its barrel was retained at a settled gripper reading of about 0.076. The smooth cap repeatedly ejected under full closure, so either grip it with staged closure below 0.10 while perfectly centered or use tabletop insertion. For insertion near right_y≈0.35 and z≈0.02, yaw 0 can enter an IK dead point where even a lift command does not move; approach the aligned insertion pose from z≈0.10 with forward pitch already applied, rather than lowering level and trying to advance afterward.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3962, 1.1557, 0.831, -0.7448, 0.7734, 0.8356, 0.9982, 0.9894, 2.3157, 1.1553, 0.6651, 0.8955, 0.3981, 0.0721] state[eef_state]: left_x=0.2854 left_y=-0.0105 left_z=0.1601 left_yaw=-0.6822 left_pitch=-0.1065 left_roll=-0.0562 left_gripper=0.9982 right_x=0.3927 right_y=0.353 right_z=0.0197 right_yaw=0.0241 right_pitch=0.2557 right_roll=0.0017 right_gripper=0.0721 state[joint_eff]: [-0.1846, -3.2068, 6.6256, 1.0427, 0.3883, -0.0611, -0.0122, -1.1556, -9.347, 4.9983, 1.5751, 0.4029, -0.0952, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). 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
give_up({"reason":"I secured and held the pen, and aligned its tip with the cap on the tabletop, but the final insertion missed just to the side after the low right-arm posture reached an IK dead point. The call budget is exhausted before I can re-center and seat the cap safely.","hindsight":"For this rig, grasp the pen first with a gentle staged close; its barrel was retained at a settled gripper reading of about 0.076. The smooth cap repeatedly ejected under full closure, so either grip it with staged closure below 0.10 while perfectly centered or use tabletop insertion. For insertion near right_y≈0.35 and z≈0.02, yaw 0 can enter an IK dead point where even a lift command does not move; approach the aligned insertion pose from z≈0.10 with forward pitch already applied, rather than lowering level and trying to advance afterward."})
tool
give_up: I secured and held the pen, and aligned its tip with the cap on the tabletop, but the final insertion missed just to the side after the low right-arm posture reached an IK dead point. The call budget is exhausted before I can re-center and seat the cap safely.
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 · 13.91 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]: [-0.02, 0.794, 0.6018, -0.3809, -0.02, -0.0116, 0.9994, -0.0185, 0.7925, 0.6102, -0.3756, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.1787 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.296 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4974, 10.5915, 1.7705, -0.0659, -0.0757, -0.0708, -0.7316, -1.2923, 9.8393, 1.746, 0.0024, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd4be03d09b967dcf19d1612b2c2313ecf756ff21678698a3cf7f3a6769bef64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec2885422e420b68387252294ccdc0defc793d1846fcad8700254cee0b9a852",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206f6157e1ad80ebc2e999dddd0ee8b138ef53ce970583335c9f46c7c942017b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 8.225 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0d3a518622cde59b016ab45670b1f487d0b2a1a07b3e2a2b4e",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0d3a518622cde59b016ab45676054087d0a49e629d017b252b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFZ9qS8_Y9FPQ2BZE04dN87hghpPPR-5rh5v0axSVqsZOrEbGFIRn7Emp469BSpN1w23LR3QjhhmH7YqVrDTtlcCAisPohmMWlVT-UyEW9Ljl8eYZ8f9Cc20SUZ8bvKTNg2JiZ9F8BuY1PxSyAaYS1nepntazpog2OWlc4VwlEY9sxLzPVGIOe0nqR5jiDFVcbADlhRM7TZjtsPX47MuFq9OogS3T9TmrGO6XzrSL0mWiBJ6U2TsKb39ZxyJ9OvvBhrhoQePOF5CDUzevYKQ7f4q5HZb0d2fj33wZ-wpwDagaPTotmDD0KYcYMx7EUKmEx3nCTWcH4et-veNS4jmcF73c6uJTLS7YVb-0sqobfFHZOw3SD4q0ml6wo5qYLz4P2plBo-UjVLhG1ZrKr-hxky3vGYpzHHdQVw8vgRLRqKFZk41xIowyfNmKFrQZSyjm3gm8_lH_i3NCvN5N-oKYmmDzi_VZ2mvhzHLQnrTZPDc2iWD4-mkhbwLFzZJlJTrPyZo8XlSOSJG0utliqLAS9SEG0plkaZgm6R3yl4lEtukn5LcT5_dn3GuVFBc086W7zTt73tCeWK5KnsMsUaHctg5br1MmpxyUvEnylvS9SFPYUDaHhXZqe0wMBRueRlFpuqt9SefXThk02S3tUAmTFQGUilnLf6A7nRTT-vO_iGF4iRkdfiLKYTuB0jKuusNXzOYzTjUfnCgSK8EPyXjU1D7tgPMBmVWgSVcQ5K5NfLQw95gnRHluPtXxAiUSV0wdnvB1ddQPnrGsHLUZe6SGsqp1p2nhVlg7fYOwHSVYtABP9IgYfiloQCk_DV6LamDGH60BcfGmiBwXCXYzbpjxWvQo1d5LpqREhEFsE9a_mj-Q9J2gWclXnXaEbozSQJW5lINyW8fzg04CfcILKgwwiX-S27XG1gRGrmxYxPILUFb-6Y8r5mmH1KbX1IqAegfBMPAazukoCjhT8oTr5zQb9vi04ArvlkDW9ltS8L_fq9onqZj_bm2_GTT_GDetDkrnGUZAxt2AMt3h4pEIpr3ua6Q3P3V7TFV0AbyP9Snwtny56RRmBfD1gGsL2xRSnCU1fMKOHuTYpVE0Vdmsv_dffF8NLa1Ra4KNWtkmqCh9DfKPPoU-Fd87JUJK3IOmEhiIpYjyIFbqSZt52Rp0qK5GAevnPfAYAsWbuUhHmJ6RM1vZgdy0lqdzP4eqqmXWoDaGZyieR8VJy_OPLwQ78cM1zGG_i5Ck2hO0IYQtf2kfoWz1IyFddjNubLbwXHbtHv9wipfT4R5QYVRHMSIpiC7-VezRg==",
  "id": "rs_0d3a518622cde59b016ab4567b94a887d0bbd01d94fd25381b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.16,\"left_z\":0.15,\"left_yaw\":-0.75,\"left_gripper\":1.0,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.184},\"note\":\"The overhead view shows the short cap left of center and the long pen nearer center-right. I’ll move the left gripper above the cap with the jaws rotated roughly perpendicular to the cap’s diagonal axis, while keeping the right arm parked.\"}",
  "call_id": "call_GZhOcS5vGAEph73a0N6AUEy2",
  "id": "fc_0d3a518622cde59b016ab4567bdb9087d0be69db0aeb8e3a5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GZhOcS5vGAEph73a0N6AUEy2",
  "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]: [-0.2218, 1.4212, 0.7963, -0.0956, 0.3759, 0.2535, 0.9994, -0.0185, 0.7979, 0.6132, -0.3882, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3677 left_y=-0.1457 left_z=0.1239 left_yaw=-0.6769 left_pitch=-0.0886 left_roll=-0.0475 left_gripper=0.9994 right_x=0.2951 right_y=0.0021 right_z=0.1815 right_yaw=0.0 right_pitch=-0.0153 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.3111, 9.7026, 1.9365, 0.2955, 0.1929, -0.0708, -0.3214, -1.4701, 6.7624, 1.9219, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98be08f4a6e7b13bb16d7c9153bbea63f24677e7f6dd3427a22ed8f8c5b35873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ad0faf693641757cc43572e3b0f5d96035cde63494c4a684a2b5b451ec5f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466c7578dbf6c5457be0cab2af47911d0a5067a58cdea938a13dd3f860535ee4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.275 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6018, -0.3809, -0.02, -0.0116, 0.9994, -0.0185, 0.7925, 0.6102, -0.3756, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.1787 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.296 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4974, 10.5915, 1.7705, -0.0659, -0.0757, -0.0708, -0.7316, -1.2923, 9.8393, 1.746, 0.0024, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2218, 1.4212, 0.7963, -0.0956, 0.3759, 0.2535, 0.9994, -0.0185, 0.7979, 0.6132, -0.3882, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3677 left_y=-0.1457 left_z=0.1239 left_yaw=-0.6769 left_pitch=-0.0886 left_roll=-0.0475 left_gripper=0.9994 right_x=0.2951 right_y=0.0021 right_z=0.1815 right_yaw=0.0 right_pitch=-0.0153 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.3111, 9.7026, 1.9365, 0.2955, 0.1929, -0.0708, -0.3214, -1.4701, 6.7624, 1.9219, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98be08f4a6e7b13bb16d7c9153bbea63f24677e7f6dd3427a22ed8f8c5b35873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ad0faf693641757cc43572e3b0f5d96035cde63494c4a684a2b5b451ec5f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466c7578dbf6c5457be0cab2af47911d0a5067a58cdea938a13dd3f860535ee4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFaHACEMKGnSe8pVOCPbu58L1raX2vKSl4sPIV5ctkuE9TYPAHQQ-dpoaUOfTmQljLsHkEzi2WT7cmBatiET7-NE3FCbltLci1Ii2awPFxviBKd7Byz8cr--2t7viMm_f9fowRpDVQJMkOBxLP6rTZqGCcpACrPlpOheV6slwevwhvG6Q_1dSO3GZGozOp4Rsnw-1wfVitblrV4ROyhELfiGDREBlSu5WlaHIUV4lmvPg4OqPgPdoJwQYTLxtRIW_YLdbM-dgruaNzu7XV1s_ELl7QLxgGxgPWg-BqzAW_7nz-Rnv3eKD6V11BdhlNv14rFzNKOY-4OuG6ON5uwfkOPBOSYGLwGWIZu3p9-K9LOe-22myuEqT4OdKr2sgzvCooV7iK9M67WmuT3u6l01urDCahWQRxFrH7kFhDESUvkKMf7UlcDdsLcpPbHCbexDAU9ZlKaN7qf1mLlPD5jCU-_RcxQZrDdObn4ltBc1jNdKDBCXVyUqgTZMJtlJNSdUsTpXNw_0CVy8mE7Qoban71hbJRPhcL6bC6Zd3SsfZ-Ge1MD9pMHF3EMUkR4igKG-F8SbDZjGhpVNgZuU4QPwBuRlI1-H29QTWlarrZGLnKEXSU5SeIqF-ivgZ9tlA2goFUZ9Uwgb3HAUygdaBIv7T2l4M7dYUavwaNn5tmi0ZM5yaWnccR31PmimiY9trmmb7kLfH5JDae2A28_pvyPr64VR3gZAMAJUrHw7s4tIibUCgP5slFpT_YVqi3rOEwg3An3bboyZK7yA8qYq9Pl3Ok2ZxafPe8doLGKm5rEy-HObrBtLwzTwaaO22f782x3Q1u5kIpHzm35t80Ey5MT6oHQQW11_IZT6VcKAIeRjr2O_8ICUi6lKBrj-lpns6y4VbooOyQtbPVuUI-V_EvjOPwsAaBuCI6df3qb8rlUbTY4zn9W5tk5D-y4hI4q7TuGg6JLVFON8t2gjSCGVtnvveya7qzygJ3t2a0G6GxwZeKC3tcUbEw2EvTnQ1bX_3aKoTXQixwu3yDn-jkNt1MnGO7rGatfh5C0NPcQfBE5i0H4kKGCRTQ5aiq7Fr5YYLnQS6zdINpJG5mgC-dfy48_DdGLV7pGgapMOc-FNmLT-QGDRrqZhV2YO5tdxa_4-lkod3kc0x8VHJRlJjCt4aV3gPD7r89XFJJ_7JogEEbkteLyj2PscpKGKBT8JzOcj4HgtVhWZ8zaS0iSjXV198aRHVnwUNJW4ps41CNyrY1DDg5Bx-WxKLCS25aTYJG0UX8XTTf8vQAWw1rJpaa2H_1877JkOc-R9NyoDgf9bMHXOQIiPCD9HyXBVlaW-v7mpnUnm_kG-3kZ1Jjfsipaz701lc5ljQoeRRpTYV7HO_XBXP3ruASknA4XT4mTGeDYn8p3FFiw0YxqNod8NbZ5GSfxjHqy7K1Q_ua5YLLDhIWF5rbV2iycPauUeP4PWxbIqF-033A5MHU83B7FNpesmXY4q-6cFuN8d_eAUVIH2abkZ9ogOAwiyVQnJD2YugMfjZtcnbc_CoXNcBtChdwqSyrt-jwPyo9zRJCA4vlrG9KftdklwpT0h_FKTJP40rpb9uaINEA1Gh6N4FGCnj_ZpgVoNxk03BgtAriq5V4ZlBc8-c4JmxjueBydGzgbLulEV7hxLgUa7QZoEr97aMWlpvnaPlDanN1rhbs0C_BBmDW7LhUBSb4q9vuX4g-auBV7Ym7wL4fbabi8UQvTpDkpxtzggppB0LS9yeAp9yy0vgEHkHwcKCVICOBkXe0rdKyfnAh7t7t2PfjLXdSucb2EXxP5uMzR43IA6Ehk3kFWgaytCEfPStr2pPZu05HMioDeH9DxTz9sDT11ZcpmOPem1F3oxHoHw0c4sis1godjKfxajdsk3jzZ9DRlvU1P6PEwYxfx2NutqLMeuJOLrEm50QJ1oTyNUcBRjjRJHeudXhwwGturDymZEBb0atoTgQpPD4v8W-6K9dnJw18qxmLe7Fql8UKw9ufYXL9Ugi9-1nqUe6KMSjfZO4k_sx8Nt_-3SqYV6NRIQLyun6Z3VYZJ4e4dEc1Rb--smdOattZoC_9KdWZmmuhgAfFivOwBNQwPdPu4JjmQhFOxrYQ8Wh8T3adsbdg5fS4xQ6t0Afoo8vxW8KJIi1ZCRNWfvIh3FR3VMdH3J_UHmhWrOxqfazwGoSIuSWKRCVtdgG2EVmdaZSy7BUaLxBHLnqshKpBMbstCWRFmCzQQthdLREysBhwPPhOnzLmlRxpWe1aqKnXTP1UdcnsoF0ul_8WZ-rAywr_9WxT9Vg8gSs1I5rbkkmGp0kQCiqcFSWlRC2DTG43IyVTY1A5XO3q1GAdF52YNUPZQ4wP1fPBNrcgCLrH6Go4g0A6UOvsC9D0uo4HT-6bdPZ8vYSfzy-fN10JjMq-lKG16V6tg4HHlEfVkLkObY7-IJBpjceL7jvdWJyUazxeiUWROv3MjEhnSRS2kPGxfn6T8I3Qe9Ciba3Zb6XkMYVDMUyFeiCVciPvQdj8wCnIgIInSdDyy-qmou39i25wKjFt2OhdjbN-fj6BqpfAyJG3ZnrB_P0VG4D1EgXERh8v7nFFHKMfQZTFZkZHfHo3b2kFE9V1tNp0nUADqliZZ4NAEOKIExGVBBzV8d1bPtXUKPWgokjtxS2Kc2XAJUW4cYWDxd5iKSqoyhek1HarXzktAKbIBJw64mcuPxKpjQCcfxWZvvAU3ZX0RtLhTBldWNGrtYBd6yC1FKF-VVcj53Cmmr10aqJEwcCjRq_0mcNI-Isk9yJDSp61b7KbOup2KdTaJmvf7mTddfZTinzGYEMkde1JOeDKWeDD8XGwmT9LPW6P-FPTLVLlXfx_TzTJiHnMwESlXAzKvQndGVR_70E2ZxiIxtltwh4YhZ8zg_j5NNX3lIVkk9slj8f2_Dpq3AsznFAaaSlOzc2AFfzsmCSM83p47H5uUOPsYinVB4kCIV9JuDmsyugP6tzQCJvSfGt9QOUf4RalLCPoad5Mb9_YWeCpZWZeScpglD0DgEK_gl-7Ew1kWV7dw84fzG6MweFWv2QNxSkBhrCdqRBC9vz9azHzX-ztf7KWoie0_VQdX5BanIty0pYc-QjPbmUbMYhrnLZnLECuPjo6LrqmwNCiT7hU0AyoiHBVx90Z0zOxLQIkPX89nakCiUJk5l1Uh6_Gg_q6AigC9dKSDdW9j1paIaP4iccHeJVgnJYh3iLLQuoNy-FjjTw2HfQFljlwuZcPHM_-nkHbCjnn4jIxdAn8I-4hn2teAC-zXegH2KHuAcJg_dLV0Jv5mn-H3xHIoL_YH0v9jLGGUE_pNreC0VGbVEpp4hMdHPszvaMt3lDVymMFR-_IycypqJTvTMaMUbtY5YeUhPi1jdYD1p4QmaR4hD1mTyyXMojpwN68zIq0ehvk9YGVo_O6mvhpcZVRR6rY9anGQvb9hQEOSnAYkXKM4HjcXS4TiDE8iqjs_2ku5qIcY889h13n0ymOysvkLKVFMOPX2NQn3nsiNtwL8pwpY3pKjtOzVkLTzbl7s2Cnje1IqeY0jYAf6xSh6F0ywuq1ttdZ1Nu4AxB7eJgzw11Ka5mTvTVRbNUmUmDRuQbJE9VNKG3OUxbXRCHXrN4duEkKDjjULtpnZN3lj6SkRhtnSgSK9oecrXp0KK9Nx2XbsAF_8g5Mb6XNbDXBF8rw90VvrxFfk75vY56tJSsOmgi2dYj9eFqb9X-zssH9-yaj0EPZY2wpl9zL1eW8P-yprDB-qaUjUEU8T1ED6wK-4x9nZdDcnC45t9u6IFytFoCW9pR6flL7osObivh5UHhHG9eRK0slPk2QW3HGaqPQDy4ST0oTh40peBy-3fXfkXPDW7HW5NMAYPMUcxDdrT0dnIVl4vxhbfiu9sB7UVXNr6he6qwaLuLGc6wf4DXQp0vsP2ahLy00CX4XjziJXfQ6ro82PZqMrFiTKr3ILDA9oUP3K-3pasbMYXpGUa884AREH8-MVEtP2U9Hr-m8E2jltKWNNzePeICjfm",
  "id": "rs_0d3a518622cde59b016ab4568011d087d0b298043140f7eb6c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFaH2VafTsN3-XVm4geQITE5EejLld2Xkz84AF6o5gk5FEd1e3iY36NFjKhTacFXbsvfxY1_ITW3pGNaIoiS7TqRfezY1zdJ8xDe3u_kb9sCROg6mNjQmpwPP-Y0-zfejZn5c97BaQJ5XXEtqXx6v5VB-K72QO_z-1yNArnRk0HLw2xOwbca5kLpGbbZeikNwQbGSrcEJdjC_Rlpnova4eEUXAw9YSyYqnVa70i5l3awye8Muvo3k7oBSgtXqHkLj_QFsW1Mxut5w4edugdCluuYgZAF4Yaqji5liIP12O-S_RkRWPuDt56Y80t9_KeehhfsjRbP42SKnwql3pnI1pUwHfT175hJVgLheS9UgpxqPArhao0UKj8dSZn3UdFzY19MTau6BJOa79U5wSNUqy1LcQ-PI45MPuxG1O9h40N9vkIzpQBiEmY7dU-FjTUddr74t5BXakjc3EpBxMfsckOtfqhc5-2Pj7IcBaID2uQTN2a11VTrfnSbf67QPa2KNMMBli7JZa7coTxRWeEY4yIFqFbSLOL_sVKKoX82sTOU-7ZKNpmG6ZQNFW-bt18LnRv0KBh-p9EWXpF7wD2icL5fARB92UzzxQyvMJ5OdJT8pEiMYCpF_mGzOF8yXXYGqHFgj7drtS3OqtZPsfmJmm361WaJbl8r3sEDQqEKO0sxBdJQP7ZoSexjqgq4ZIxJropCOH5zmFW4OvgfViyRcye-lnLTfIFF3WiExDKEEcSHk4LSDaQj5piqlzFRFBeeCYEVpj7izlJd6o0BF6_BN6tSaKa82RrWyJq2oghIPhx2-MKo-moNXyCW1w2NQn4g04e1u5Rh_9VpFqigQPCocEtXkgt3WFd_Jh03tp8wLuUJO1cNhEWT1qEP0eBDvLd-RGio-xKdGxMUr0qqz_OkU9MgcOhe_OsNaCgD4SG6PyILYmsSMTA0yUH2YtqCbDpJrw6Zb1sFPGEp1fUHhRPjGbOdHjhIzAFwWk1sPc1qDMSO6RaU6VarT047nlK0CNxWoSTIxqgb-_VdvhZcm3SH9jx_vcKcPcOrIXFzgrXK37o9CoP1lj0kZOz5a9rM6I6XWR59XOA2ojFhkKsP80OFol8PLrCiF1ixlFFq4lDDQv1BBt6ZRVS375bSgQQ9yHvP3NyiqCWCuAup48BBdzk2TV3BKj7drIdaXh0r1VGOqY0s5gbjMnLBet1ofH1dXp1YAZstzQGKVEYRwJXjYlNA4SrqRH85c9agVchgvzLkTfbL2ktbBoV_m49DOX6vdfzgHWTAlkc_K7qtZEv5xPkSohu5W2k0aPhjM7O_hdcx3TiYkQHF8WfwP1r-Pf1Xp8H2QrXXVSYVQZ83PX0Ii5Nh0Rwv1LllVppLcjNEj20CAIciUNuINwm_uM90o-Suo-kxqIzdKUvxoHfnaizioxhLINgFwlFycbpVQuQ1fy0r8Y40hw9X_0tH0ry3lyAZJhVl3za_PhxCB6_mKoEuPYYfAXGFUtQIFfykIfaC9w9xqw5ZXIoaG3ZOnqYmFBHAIEhZbzfL4L7iK2m8va30k2VM-qd9oB6FI5TAYcye43AflE0bXpxz9R_Z2GbTUbEAIVW8EhnjwA_v7nYyWDAnGt66C02RX-kVehtMeXiKh0ZaLl4aR2u9YSswb73CP6S6q_mkocuO",
  "id": "rs_0d3a518622cde59b016ab456851e3087d0ac930c7e1c45b5b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.373,\"left_y\":-0.168,\"left_z\":0.12,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The cap is visible in the left wrist camera, but it sits about three centimetres to the image-right of the jaw column and still slightly short of the fingertips. I’ll shift the grasp laterally toward it and add a small outward correction before descending.\"}",
  "call_id": "call_GHiNcQVuSTyam4VJzmIMQ3jL",
  "id": "fc_0d3a518622cde59b016ab45686205c87d081688592862f8959",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GHiNcQVuSTyam4VJzmIMQ3jL",
  "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]: [-0.244, 1.4639, 0.8124, -0.0856, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.1583 left_z=0.1172 left_yaw=-0.7263 left_pitch=-0.0968 left_roll=-0.0535 left_gripper=0.9994 right_x=0.2948 right_y=0.0022 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0172 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -5.1487, 9.2513, 1.6142, 0.1441, 0.0122, -0.0708, -0.2803, -1.2376, 7.0359, 1.7607, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b24457789c793df117a76c63ae6271f3c2980bb737d07d8149838043787a6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ee5279052841a92fffddc65f43f37d8681412d06c0c45e9a859df190347f87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f246ad410d746c3b8ba76fe8ff7f0d432d512b0447010eefb5ed1dbab2109c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 6.657 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 13 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2218, 1.4212, 0.7963, -0.0956, 0.3759, 0.2535, 0.9994, -0.0185, 0.7979, 0.6132, -0.3882, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3677 left_y=-0.1457 left_z=0.1239 left_yaw=-0.6769 left_pitch=-0.0886 left_roll=-0.0475 left_gripper=0.9994 right_x=0.2951 right_y=0.0021 right_z=0.1815 right_yaw=0.0 right_pitch=-0.0153 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.3111, 9.7026, 1.9365, 0.2955, 0.1929, -0.0708, -0.3214, -1.4701, 6.7624, 1.9219, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.244, 1.4639, 0.8124, -0.0856, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.1583 left_z=0.1172 left_yaw=-0.7263 left_pitch=-0.0968 left_roll=-0.0535 left_gripper=0.9994 right_x=0.2948 right_y=0.0022 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0172 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -5.1487, 9.2513, 1.6142, 0.1441, 0.0122, -0.0708, -0.2803, -1.2376, 7.0359, 1.7607, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b24457789c793df117a76c63ae6271f3c2980bb737d07d8149838043787a6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ee5279052841a92fffddc65f43f37d8681412d06c0c45e9a859df190347f87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f246ad410d746c3b8ba76fe8ff7f0d432d512b0447010eefb5ed1dbab2109c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFaL7qmMDYrnGv-2F1QpJankUpoSF_kR4P-PY2dYWB7REUQzbCRonbQttlWyFrbJurVrPANE6bPlmRVNcCRnJzXHpny2rGOIxJgN3Jmy8sJgC7L3ZoNdNa3TFvAtzNSWRojWA4ILx7c8VELvuhQOpNS-3zXWPs-GgJM4VWzxKj4G7012obDpNhqJAKmXYOETVPQFG0YhTWQrgFtM7Jg7U4EaU9H9osr3Usrxu0nFqf83wktonE0q3ovPsjvPukExZ0c3n560awpdIgqA0Y-H1yjj8uJPKbq4OZ1FnaXs7ohtikz6NmcHqyx88ygZK1U88S3asfc3ckII58jPnfdkn_d0mZNP0JrYIiluxLmu2lg6mI99r4b_pWWLBAMNz0Jj6KVUEgV8BvgE07AuRQOzPpTVEU9VWY0yr-58ixVQsm0nb8IFU4NZCIXhGMtgrGFoUCmpt4nvW1mJTgH94oSw4HbVaWjAdN0cphIQwzacUQRgrkWMpchHvl0oY1UDg6Vq423N108wqotdUQAqtQPYVmyijCUJM3WWlbtk9Lz0rYUph6_sU05TVJcCC7DZBL-W1b66YjgRqYHQ7harXoGI2SRWKrexI0mmI9e_sO-DmBG2vHkg9u0_OqqVny7rANxqwuJk2jeyvxOZE64NS4jSpHD75q_4rDor-9IUt6iflnmux8tUYtF9cPg0cqU0GG4wUIY54QrJ0lZKYPdmotA2Hf07Sy2aAieXoU342ZSz1HNRQiJWmZJxxvWGkYWayCeyvGJHxfs5kZM45sKe8byxLlhazz5csHp6DOkgl4lWZvyrxTP8tCG620h7CHj2EkOdNd8gWOS_Jc2ex2nZ_InC8jYttKzP7WZJJ6jgUCOTEb18qw16DvwBCyFkapM__FAqlRhKzgrlpasnamDSBiANhAsa1DHCy-6lZFGxCVpxld9lFKVkyiMq_DO7kgYB92PdSIUempC4mKA9aB_dGNOquzCQVgwRv6SbuG-70HAQP5rybaqu5iU1lPGvjTmOhhWTLLf0CSxf4WsBhe1wpJXvGte6Yv_tgaUKfXrlC4W5JGCr51iSi0hp367MiiIWNA70hikX4D_6ckjw8Y05o0ItBAZvXCFdcx2to3RwwTUbCQXuZ4LsY6dMGSX-VFZK7iNl2GxEgckaexmrJfqA41mvasEqENknlf8vvWvxgezTSh7xxpx6kXIAIFvnn4inaPmj8OX8X2Dy6UNYia5Mh7lLmRtdC2Fj_YUocLnai7lXn4Knhb7x1yd39DKRIBHQn1x8uvuKjFOwXChAJUkhV21pY7f6sV6u_iSZobnOWup9-Nnu_4mcN_IwgiTOjbmWU0X0Lk4NYsO8aVjMfLRO4pbCKHhVW82un_uEduNgkAyZzuGmqNdRKtGCeVPJ4hkVlybaE4arcqsDHAoRIqI_PgH_xdYq2URV0MhPIwRHSr0jnC-JTe_BLcvY51qrdfy93Y9GlBmkPOr9ieo0mx5vEBizUr18jlvNXMYkV2GFTSoE-mWHyC4LHO82Uc-4ibcbUpr2g0BWoHDS03G7YrUBdj8nfqQ0pQKnP8-AS-OS36oBiBuVKPdrDkp__MlF6qmZwGvKJjSsLGLXhrBpBx78nI22Lf1TIqGiQSDa4PMF4sAXgEEq3mHt_Afbbza2wHzmyNcfFHHQmLoZSMxec4p4UaYrYkXUo3fyiUv0DYt6TVRnqff96fxhijpbslmOJ8bvmo8cCZD8NBM0CyGhTXXkrykvv3TUzkAs6cAGr_Xkxfqxlb7HznP5V4Ci95qqXOWaoidK1-nr",
  "id": "rs_0d3a518622cde59b016ab45689005487d082122b20dd83bff6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.342,\"left_y\":-0.188,\"left_z\":0.12,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The first correction was mostly clamped and barely changed the cap’s image position; it remains well right of the jaw column. I’ll make a clearer diagonal shift along the gripper’s rightward axis while staying at approach height.\"}",
  "call_id": "call_ncGSSZD55C3GfShvHk1MMGsf",
  "id": "fc_0d3a518622cde59b016ab4568a8b3887d08d98a8c98b49a2a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ncGSSZD55C3GfShvHk1MMGsf",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0172 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -6.9402, 8.6769, 1.5604, 0.1587, 0.0122, -0.0708, -0.1026, -1.1282, 7.0222, 1.7558, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d61642cf4ce9a1ff9050f83bfb44d879d921a50ce404ef19279a23f6bd0881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d468c3c834b0b4fc2b7c087ffa1fea5f8b183ce4d4d976c6afa9bbf45ba7c22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7619d83d4a13bc84cdd3261443090fb679bd0a8f2b668617102040f4e560fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.113 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 13 changed as sent

message 17 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]: [-0.02, 0.794, 0.6018, -0.3809, -0.02, -0.0116, 0.9994, -0.0185, 0.7925, 0.6102, -0.3756, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0012 left_z=0.1787 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.296 right_y=0.0021 right_z=0.1842 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4974, 10.5915, 1.7705, -0.0659, -0.0757, -0.0708, -0.7316, -1.2923, 9.8393, 1.746, 0.0024, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.244, 1.4639, 0.8124, -0.0856, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.1583 left_z=0.1172 left_yaw=-0.7263 left_pitch=-0.0968 left_roll=-0.0535 left_gripper=0.9994 right_x=0.2948 right_y=0.0022 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0172 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -5.1487, 9.2513, 1.6142, 0.1441, 0.0122, -0.0708, -0.2803, -1.2376, 7.0359, 1.7607, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0172 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -6.9402, 8.6769, 1.5604, 0.1587, 0.0122, -0.0708, -0.1026, -1.1282, 7.0222, 1.7558, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d61642cf4ce9a1ff9050f83bfb44d879d921a50ce404ef19279a23f6bd0881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d468c3c834b0b4fc2b7c087ffa1fea5f8b183ce4d4d976c6afa9bbf45ba7c22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7619d83d4a13bc84cdd3261443090fb679bd0a8f2b668617102040f4e560fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFaSpuz4-Gl7klMlose-zi_0hvdCkGnJObgIn5J-gdq0ZYHjXiLA3hFd1QxiRcJfc8ORpX8acp6qWjLi7qoFiPuf4lNFuKPfsg3-Xfk-hND7UcLhyoUbIYOfo7MHRg0lb6x3uAi4DmYIrBDsM85oSokhAq6PiTYJbIsqGsh7jpvioVKB_RAuONFSjNpZIt9BM3ZTbleg2QvXrZ94Z1WgoApGLTklXNbn9mLfInDqXBWJec-zQ3pe3cEdj4h8UfPXtVUqWNzSFvqdF63xE7_L4bN5nHbXJe4JIgBsmp85Q2xj_VeApt-XVZslh04Adf1xiv6unSSJ8KkJEOovx9qaxq4j2Qb3SFgBYY4Mz6vh_Ao5inz93zqYqwgx2qJufKQtBXSp0Q7PzWGfuUbu9B_P80yfCZiNuv_KTtkzkQ4WIEp-NDd0O5sK21ngZLZDAti_ifnkVoykeG_jiUOeKDh5EnRTJ6D9W0MuyC39LZCad3TQO89pTRLIFefVM70eygO21lBY7To8VN_Ea7F8tzHkj9u8TmRsLCUVwJ3pgQMZkN1RB1wL8MEulZ-Ha6h54DzlEWjzjFaNn2p1YzwUrGG3rdthk5v93mOqF3C85HOYbxmwk8jvA9vkFfM-lU3kZLZ416FBWp8N22xKE37KlWzHTKbqqe_X4NZyC-hmwLdPWqs_gm-LXcYiYAXHccgKsw_EibQXtfUbMEs6Ne4tOEVztm9Ku6WhMJ9g60FQJYfldTuskYD--4P6Yn8sbXzy6zS741i89K1RrfvVQRcS809qH9v6FHNb-unocLbSaqf7FSB292Jfroo4ytbezeMnXeRvkETsk-2bHbLy0CPEBco0CGQlW5znrmqXVFzFU-sSYoipTtPgoaaNQhxb8212m9cp_fJy7dEhLUp-cL3y4y7jEVW8VpO5lRhlle2xLF11T0rC5H8xxXL-RD1yJMl8JllK50PzcoFZWDDfO9TAd-prz9v5fsVec6xVmugsmkVDpkL1ff83NnSaorgvG7Qwi6zB1uyJRo3ogq78twvWIzCDKJhheI66V8i6c_7DA9vGW2CLv79PBMRYASlZHVvdkWz3l0mc_4kS230jocmgAAuf_OPbS53QNz3d_ly98gxYIRutlT65MZfJ06wJCux8gKsi27DZCEnepMkrdiN8CMOjreM7sApDmv51srsWNwfJy-GNZNzK6pe1wuusiRibfw7IWat1nexu1vRHbNf8vNdQ4TEcTLjPz48hJ2iz_iI36IF3vu67AGyI1ApMA7Zf4iW3GuCjNBXRhrfMH7sR2Z8AhlbIpSxcLiSdlKyIFJm2kRqRO93PKo6EGr0voSVjIfWxWGmMQpo6EMdslk4X_SIqj0RldIGPn5PEG5QKGr3Sgr_Y6pToN6KkLGU9rR-zKnESDSkE0t2pWzXrZvhu4Q0qQd72ycmrAvL__HCbftg9wOqfDwxCSnBjkKxhqb5KeB-Gxq4wWVl7Wu93J5lalkK8mzMsZeUbnajinwszAYgWbg45NzLwPNHUT7IWhBTY1cla36SinOi75XhifLUb67oQDf0MvpD_sraSMMaFQsP3HpikwNbLlZUllCwbfLNI33Q01rimFRXQVJWJXMhIfDyC_32MPToGgm8D65sixWct73erIen6Ius5XsqV9bd9WEgW_a81egPvER66FsjMubqZULn4_04w8lOT_7D5BoZ9G32jHiCsv6qfCjOfzZAvSxvT5K-yyCVJfoFW3xf6ZGlpBHKIg9C9XZf3O7WrwF4G_3wDDzGtgzqp43SGBqob6dJbQyOO-zj1w_P0B1yxVtYz1OAMxrGcXZmTBF-N9ReYoK-wuv0p6BdsjPcOgl5eXKxTkeI_Fz1tdhTEN3wPJdeKopuWdDFQxzbD-6cULCEHSAZ-nbIEDjSQd1eAn46l-hSSpduhvX4s796GHU3yhtJKZZ81Q8Hj_yRtCo2k4m9_AXHISO6YrBvhsSW8oqzGy_4tJuFbjoFU9Ga3IE0H64POk7nUIiTlrDQgVcAIGc_oKLxGyH9PJWN9_ssETlar4W7lUfaUsdy2mon66nkM35k2L3avk9ySVGBTp_sZfC9hQJqw1INggf-DRUSq2jbS3T-a78FzaehJGn-5jqI1Y6rO4-JKmpxTZvxOMz1FUtjwZiZqXfEAct0qNtjXzYHLrvcYApmL6UhFX3sPbykO19ghwRy-LK3l5tqPyMg-uvnUw7lXRz5kVJib2zTDtqusT8bMV1tPvFAZ5smmtYIyP0JqCDsYbjV0XSBhpvy8H8l30OfaxQbS_SIzcUJmf81CS4ZNUsLozcOHyN1vRZLAbj5sAeeTBI5A4TB37NMPzo8WaZ_2oGujZhO6FvOftvCrDD3-x5KpUlzeQYfXUsL-QIrq3V3rnlScTvslJHWfg8X-FAmQYESsVa8ewMFFZd2HuOA8LLTzgT9_awa-DfceMxx7SqmbIsWKV2aGAbx-QPG2SHrrja91u0DGuOtsaZepT8kZjcHuqBxXc_wE6CdJnzganFcSUFIwUc0RXcb8PWDEGIhmBMdceJv0mK2HKyrk_pQzp2jABRxzpATTHDkXn9d35N37g5ti0CNNROHlmL6T2aLgXtC_x9x3WgZHvDrYNw5CczJtKryyBuYvZSvXwgs1zMM-kXxI88fh12qmFW8Uv2IPjv9i3pNgOZ3p3lNgKDeetF3upOQapeqkFNHurOVdL_Poo6Ib77WyIWOu7g2jx6H6e89bcb3xp7tuxabTVEk2pjQHJ_7iWIelBNC6U0efcZduLvTIxTstpuWoDPRLuhuuM_4DvsrPB25hxWHUrbyXi4D83dxeteZ3PJhFLA_NauTtLvJCS4zXDahN-KbOZ4-TXM-QhCrrWo4mQTBlKLQTLV5flV6au2XfJoUix64EzKKlhwYDrnhE_7TGgk3sOy_Tzv2xTLIDt7Ams_H6pJLbNjzSW7DemqP1UvmTqH_sDv_ryia3Y15jCkCKJGdMI5MyWL7bVWInH8B3etJlbxrpKCjfKmb9e7aMfceTLAQVRL2IBqN6QxSSFxNYxvrhO8icb6MsytsJlgOCfRtrOqqtKhLLK4a14ELRCJuRjdggn7-hAK4Zd3lHo7ORjgn89mUMda_lyeBHb42HtKU6mcheeNI0XX1pKin_qpe__FuwFtVB4Wvz9zeZqvYV-P6ROOXYWm1Mg71eNeCtB7xI6KE1sPsXoF0Bctv6ZwTHPhGePXzbb6XJVa_0g8TaYKtmdaefFIMcLjCvd8DG5-qZvrR34diBsIsQF_v9rdKXqSMmtr0v9WpEffsql36Ztcn90dnLTermKloM4bB1HO20vYifarKGjQLVy2saByi-5rXxtNC_QNMeqFWL26F1WVI4EqyhAqaR1uyEP-nrVbLO6UyFEtWzKE9NaNN4mW2cpsiIR0FXMUaAS-X2KQ-w4eD7o4ZthpcjKV291V1Bmu9ChNKwyzoBalqx0MSr1yfC3ZBOURj4vYMdBQzpQ5gJDllAARML8vpEjo5f6FtBE1LfOpqwpkVTkmg9yd25ogTzNjnDZgiTGCJ1jdgayau2AQWmflDuI9Ld5D4nKpCe8ZVDkSRSDvmiGK22oPz33Xgwg7reRu1u9XVsrKsGddpISxJKFgZm4FnsY8sBUG8gBor6Uf_e2tU-zgOB5HXEWldnT6kuImCF1BlZJl4nQRItAE6Ij1gr0jT7bAOg3joDzMYynIuzBylcFZzbjk3Qrvqeo3vXjxWzkLPsjkyvdMKblieR6J9znO30JzEWoqZLtGAI-hGdwze-vbj8d0rZSduBc3DzefAMYdmiKWg-wUeWC-Da8Jor_D3CTRWoeaMssFvvocE3rMSOfrxW2vanWJ3L9mH3Hjqu2S9ulTNRAg9xyg7A-vu_r2GogafJRK3GNje9GUWwMgJLwkGgZwVxHV2sYMcBrjDwLcSPeYa_lqxHnQa-aYXFa_aPGlrtYkOIwDolQgNsjfqx_6-8Lu-kKwYwZL-CoJQsASZjqoDiU67p1BHV5gLP6w3FFVkH9Q0g3IpeI4gm6QNKsAmRWalGyFsSHhLEtoMTkFEx0d1Nmzwg6jSCs-pdmAxlDAWsJJAGajonU1bENOza",
  "id": "rs_0d3a518622cde59b016ab4568cb2b087d0ab0bfda5b6e00023",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.166,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The long object in the wrist view is the pen beyond the fingertips; the cap itself is hidden directly beneath the left gripper in the overhead view. The left grasp point now matches the cap’s last visible location, so I’ll descend vertically to table level without further lateral chasing.\"}",
  "call_id": "call_eB6Yng9dV1HzZ8zn5g6iyW1J",
  "id": "fc_0d3a518622cde59b016ab45691742c87d0a753be7b0deb69e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eB6Yng9dV1HzZ8zn5g6iyW1J",
  "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]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=-0.0002 right_pitch=-0.0172 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.9402, 8.8821, 1.5946, 0.1538, -0.0073, -0.0708, -0.3761, -1.1145, 7.0769, 1.7411, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833770a8e7633157de3a2956edac800f72718cd9c81c5e751bb45afd4b3d22ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463937c4324cec81bdf6299d8fd7e0b2cf4512a2e0047feedd3e3c8fc12f82d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83699e9b3d5cd154e19edc7edfc4795a697c84cc685236d5ab804a458bde7cd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 10.19 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 17 changed as sent

message 21 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2218, 1.4212, 0.7963, -0.0956, 0.3759, 0.2535, 0.9994, -0.0185, 0.7979, 0.6132, -0.3882, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3677 left_y=-0.1457 left_z=0.1239 left_yaw=-0.6769 left_pitch=-0.0886 left_roll=-0.0475 left_gripper=0.9994 right_x=0.2951 right_y=0.0021 right_z=0.1815 right_yaw=0.0 right_pitch=-0.0153 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -6.3111, 9.7026, 1.9365, 0.2955, 0.1929, -0.0708, -0.3214, -1.4701, 6.7624, 1.9219, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0172 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -6.9402, 8.6769, 1.5604, 0.1587, 0.0122, -0.0708, -0.1026, -1.1282, 7.0222, 1.7558, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=-0.0002 right_pitch=-0.0172 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.9402, 8.8821, 1.5946, 0.1538, -0.0073, -0.0708, -0.3761, -1.1145, 7.0769, 1.7411, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833770a8e7633157de3a2956edac800f72718cd9c81c5e751bb45afd4b3d22ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463937c4324cec81bdf6299d8fd7e0b2cf4512a2e0047feedd3e3c8fc12f82d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83699e9b3d5cd154e19edc7edfc4795a697c84cc685236d5ab804a458bde7cd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFaYdybrfOR5oG-BVzd3RKaegQnncvg8d4-vXzocQABAFdhEqBOSjgi3ADMelodUgNbSHw5oeowXRvybxCa2hGW5z8Z2ljOY58Z_rCvlSPGXzk_-rD1JSPq9hIPh7HmFq62mBHG78W4Cg_1kmaL9n_wDrghAz5bd7MAdPniQdNGQXc-iyuXBPZ_iHeoxF7RupQs4eVC_xoc5zaQ2-TmFkIEnk3W2EPjSTeSCaEMcswavE2dopwQhg9N6wyno0syzq-f9-X2i_lFxbBnK2b4JnxcDB9tyxHP7ZlSvvSQPz9JOl9VNXP9e7i-Lsfe9FHxHVSzUYbAd9FMGc7QTWCfBjtMmafiOMPW3T3utJSmRS2XbGLMI9hhQinBm_Wf23vRXGepT8Lq6I5SW9KPQoXwNBBlxk203S8AaFF5rjuqNYOUJGfoqmjO8Ik-WDJD-b2On1Q9xnRQIueIOAZTRUSr58QcL8w1LzcnL-D8WUOSpQTpUulWc7CStJngjaO-cdwVjOyVtEpnCcPV-d8jszJOFekRHLrK1vc6wzg3xUCBDweq5KvDO4DoDa8JyQsHSBVmdw6QSQQjTVj3b8xs5309Ki__uXEeXopEOYrtncWmTCAY2_cPAPI6gjYF1outzUmnnK98cQkdnkqQI5QU9mTcbImiMmUBjA8eQd6ESiHpl0eT5umfirfElTPOOPqXYltXulv2NjWRyVbjpDoq0tGkKl0e6bdRI-wKyU43lSL8A4IL9ZG0I5A0N0i2yxp3OARIF1GN9lHbnXqCGOb7iJ9zw2xeeVFZsoZYpKcrQTJhvet3KqRwcxxBXzjCMGX-X3ISeedXGaCoHuz1ZcQS6I4vJa1jhYGN0BDMSOiEy_HTeCsDrrDO2scBiG1EFdFKop2lU6obKciSkUhD34oX90XDdW3piqoh9aF7oXuiN-wK4UqcjGQmsh0e2lBeaDgreLM19DIu3eI6u-ki1BdreZzC2IgJlKuCjKpN-3hEmESd2kFO15bIRb6JuVRdB-jONbH_7C5lPdDmovg8wLCG7_V6W099PomN1OxukjHygu54ALK6bpUidbmMuIxImwaOojFo7bKJjZAfkQVFo5xUZ4Swlxa9IrI6vQPJxBqRfc3kbkOolLe4UNQ7QWf0EhU0jU3YsabF6sXhCLG4IGNBO3N_2PLe9pHFCDMpWAyPaJiFyrky1N77Hr1W_5LnhGGyEuyNswId5gjTSe3ag6N-0xFTxEe8jOT3RxsSmFRg8UXE_4zTOMxI8gjPKYMNdo9c2ea-Gpo_tOKHDrHUQUrx1d6rjGUWYwNpI-Klx7yb7h7n6ayQjOYI5okTVLzVi516wtbFg71tU2ifVKuRdF3TFSXaHT4e8SBd9hXYQGtEksxJthCMCzqqDfMqvXKts2oM25m1I17iOjwibuMNdZ_OdWnIkzsQ_anO9F29oi-7GKm28iCNbTR9tCUO8K46XlCPKAJnLN2-OczzWtkJrM2e1D-U7bEcBgLghYonRbJNqShYP9r_raX2G_eykn4_TUs7rNO2245JZkZwa2e5ftZ6BrNfAqqm860lDNzXavG7h04pba5ZgOWVWbezpsOVPkMby0UqjxBeJMj4eq5Q_q3jIbNyKuZivGpaE9MRCjrELwonY9BHS-JRSH5PDOgbMqxeplpygVSvabRhqyz7ALIAqfvoADMsqwVcLQf9WIQCCUI3dnmD0osfk6RbxWsyxxT7w2vO-9GwKAbaL0mDkIwiv_ALDfvXqu5eCTFqj6t3_OPOUvAhPTznD-I-6X-_elGhA_J5vWvzimyPTifqRnxFNl9WBccscgpHy9hpE6RhBga8bv6n5uwSc2G6kdlRtb58t5Z9Ojvzaxl2xE3ReGFdOUuTMkhGs3E_oQmHHFj25gHbtlrllwrb_1LlVrP5ewyLn0sL4eORPusZX5O7u6X04NOWv6juxg6XZnWcLbGqwn1cTZeJqZJuNQX0Gy4snyz7Hddgwi8Ne1-1QHay0kIFMTeaqswhZ_MzWekgIeQqPIAmuTj1mYyXSQMPaO_RUcprDLcWoBDBEdv9dIq-DJif2uBeKMhmVOPOL6xhAccDDDRkxiPAIxsdVlXApSE0qFEqmHLANhlIKUUo-1qnyvRd0WDV5_L5PKQV7tGcKbiPNhNcQ-3zIFdjwGJPfdbFOMgVaj0lKlNBVYhUbqggPTIkrF2Tx6cVsYxWLCxtS2BtZWkGjy_4BpCqjFA3vgoIkBS2k5b9N_CWjo7-uxTXiPQU0ByhKgqwPYSyCYm6seSoJnlveAdqo8CgcbIhw_DJVDgxf3ZKMu_CwQEYqxlor9Nm6prlKNoqe6M5q5xJ7Vu8rdtuohRik4h_PZVgHAX5L4AXB8dcSWn0ICk-t9wVbn-EbmvXf0Xf2BsL3sUeE6xRU1b8SA9licOPJ9AcvE65cP9lqCd4UO52wguFWlGrdYidYlQhEeufjvofvKE8oH-2ftWWmwOsoKoepdd3XcYq1hd9-yjaE1GLdLM8V5RQk4UCSlG52a5fONCmbY1LITAD5t534n77Sisf2G979rS8X9-qK1ylMkbuwILFmVg39rKIqE2Y73NL1OoBJoIl-mM3L7IC7VAtpdxaCNvNTSU4RwxVUPZCk9QgHp53pitz6RXE0Iv1Ckc3bxaxlCzSoQqdihK-PR5Ty2HPMUfwsE2FSO-E6Fwukz60bLZSRn23XbH_KsKfWEC_PNrXR_OftWijT1k0tbSdiMJ1wYL_rd1oTurtLC9jQTV6oMwiOIKJiz_yHFZnw4JESWw==",
  "id": "rs_0d3a518622cde59b016ab45694575c87d0ac6bc11fd93027cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.15,\"left_z\":0.2,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The arm did not track the descent at all, indicating an awkward IK posture rather than contact. I’ll first raise and fold it slightly inward to recover a movable configuration, then re-approach the cap.\"}",
  "call_id": "call_zNOUJWq6xEQpMd5bDvYGUpBk",
  "id": "fc_0d3a518622cde59b016ab4569755cc87d0ad66566b7c33844b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zNOUJWq6xEQpMd5bDvYGUpBk",
  "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]: [-0.242, 1.2758, 0.984, -0.4271, 0.4007, 0.2722, 0.9994, -0.0185, 0.8005, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3439 left_y=-0.1522 left_z=0.1985 left_yaw=-0.7271 left_pitch=-0.0794 left_roll=-0.0466 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.021 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.3624, -4.6701, 8.1162, 1.3065, 0.2564, 0.1978, -0.0708, -0.294, -1.4701, 7.0632, 1.7265, -0.022, -0.0611, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be452a66038c185445baac24b8ab2e906d5528d5d3ee149c85630fa5800c1846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1bcb01a6f7abf0fd6d4a16a95b27ec724660f71c82ed722e8491e4651828f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3014ff879e052ff34b6e944020a2bb1469b1dff525ff40dd504370d67bcd1706",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.651 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.244, 1.4639, 0.8124, -0.0856, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.1583 left_z=0.1172 left_yaw=-0.7263 left_pitch=-0.0968 left_roll=-0.0535 left_gripper=0.9994 right_x=0.2948 right_y=0.0022 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0172 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -5.1487, 9.2513, 1.6142, 0.1441, 0.0122, -0.0708, -0.2803, -1.2376, 7.0359, 1.7607, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=-0.0002 right_pitch=-0.0172 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.9402, 8.8821, 1.5946, 0.1538, -0.0073, -0.0708, -0.3761, -1.1145, 7.0769, 1.7411, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.242, 1.2758, 0.984, -0.4271, 0.4007, 0.2722, 0.9994, -0.0185, 0.8005, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3439 left_y=-0.1522 left_z=0.1985 left_yaw=-0.7271 left_pitch=-0.0794 left_roll=-0.0466 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.021 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.3624, -4.6701, 8.1162, 1.3065, 0.2564, 0.1978, -0.0708, -0.294, -1.4701, 7.0632, 1.7265, -0.022, -0.0611, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be452a66038c185445baac24b8ab2e906d5528d5d3ee149c85630fa5800c1846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1bcb01a6f7abf0fd6d4a16a95b27ec724660f71c82ed722e8491e4651828f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3014ff879e052ff34b6e944020a2bb1469b1dff525ff40dd504370d67bcd1706",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFai_M8s-Cf_zhi3WOECGXYUQDqt1fAsr5rZSmTN9pMceLvhogcYSTD8Auvuy0V4uo_KRo05PK2HjQLHqdLZQm3yYc-7VPwN1H9Tv5W03AFzWb6zi40-tEx6VHXKa6erCRI0nYY4sS31qWNMjTwJjP4OdRh1pG6uasP4ELbQb_-TVpTy6v7Z4d8VTfI1t5RmtqDfFRGIkZnZVKFMkEharP8YgdI781u3t0DtKX6IOPD3r_Z2-y30yjFax4ZCllFq7VOB105avhszxANLOQ6VYv1HauYGph-1Rwdb78SNwt7eeSOKRUDdOBUujc-396C9fxlC1nsG5p4uDNCGfKNqtNSkMG6tnK6bqMR-JwKYG34AR-aLUQNJGJnAsk1eVPLllQsz4tfzRWj-I_AY1R6XLUouViwQSLj2NpwFORvOyybaByPqPT82grNkfdB2guaB1Zmne2GzEh_1Aqxg8sf8UB034vq5cOlVdrZnM0jqaohuVFQgj3ib9jNHG8_5P3voHc8XpIj7gIuu5PjRk5SZOE7-OOQyvaFyuDgpnXEMuycGqAEiOwEOTz35Fu6u27MmM6nde96A683D8GfaZW85PS5TibQCvAVLo1xN80oJlr9fichGvzFn1E1RrnRUgnlaYRVz8y_j8-AtFmEZotRuxXh8WYMyd-5K9EsoDpJ2ohkZaFsqfdTrzNMMo5QvQ-s-JG3k4bhBXkPNihzsZYaCuJOQi5idoBiJUWsvkwFuGThafmNJrtdpqAr0d6cV0MV0huabmC2QnE2mzYcNP3phNNIWOPUOJyB2kZYvTMTz2uN2zui_2HF-1OeWpGh2nh3mU3EYIotFjFB5pr0hculSZaHLijbETTdffxFKFq-vUaYKbeOfkv-rdT35dDGGGns1kaBURgeF-YMAIbFoNMzPr-tYRcNvVDrKcnKWoM_Akjc_XvvRvGC9nVUN5Z-giqfzGdG5zbThJnZkUDN1_4QRe438Qw1RwtyKeRM6KCwD947WIog0SxkazkNuM5xBT8UvtfOKlmazlMFS5j1GcJ82CCbh4v0VmOYIzyVcsJM8oYcqoJ2NnBB85XLeUjfEXBHhn50UTK5XGyuUfjoqA-JmdiKzEt9x8glu_RrKqraP6hARa6_UaX9C0YEi6hLTIQB0zoiuNzWlIqQ84VqByFLTbsl4ID4LmiLLD2xghO8ia-suvlGfwno3SqYhCJ2CuSmi4V0uL0T56ZMQcj-RWgnQMm31Eb5vrl4OfnBJHKC58D0nct5JUWfWZOR2L6Q7zO_6KAJMllTX1CKPuQXJ_mcwI9b_F8bRqCRfBXEz8UuDoGoN5CPOPlvqwvFIq2sWTixc6MpiABnAygGtzPq5uhy6DESErhMU46ZzUm-dzS84wrHDJNrqnl7yMepjrhVTGUVouPUB-q08CJpw3g6k_BDbeTjIruup7avLYco5Fr_Kz2S9J1TaErKA47P2jrPNnOQLzX-ByGvYqVcUc0T2B6D12-YvCqBwgvgm8MVd_6OyGNnplMCRnxv_tiLOdB5MbcUGBspEsM4blh9D_Wmy90JYAFKa5O-k553y9X3REC9UYz1tmZkSKUZdWZAjgla5QSrgwOs1buh2NUmjF_6O7nytx0oCZDKQDJGtDiO0Bifw0dAyTNLGuP8rJvx5mBG4PvRPrK7gvZMLPUARIV2KLUMqa_3ygpCTMCKyRHmgt0zeiWtfJXLbCf6Ww3aKPYvdYNsACpSk1qEo4saA9QBCeIEnTackgATkAIxLqYgycJCKImFvXjts8lnTTiQhDIOL7Wd0CmukTkd1-w1wmG-Rz5CHXolgqPcox4t_do_ITQ6UROXuSog7_9hhQfS0FpC07sOMDR7PIcDdFgTTNHjZwZ6_8gUeOymFV_b7LlcpLRZbXjz6-w-1eTQtcj5_YRasUY1VxdXKcUrMduqd3DYpfREQ-8w_16f-COCW7qxnXipDqOt08gM4xM1zVSQmLmuhUZdSB0wkXmbw79DG69NWAIlAEC5o3lBF8qPFksoeCqfaMA9K9T69Cy4aGq_uFIDe2CwKkhAlFCFQIQguBPyw3yKpN5vIgo0sJzL8mabSxIBizI0iL4YKh4iPruoRIfvBiTyZbJNQUJyfoRa7iVJsfsLhS8QpQfVMyv67gd46iw_7vGbi-WWj6NV60QH5a1qcB26UlwuoK-eotmROzBYb3U_1fGyBuwVfRBTcuN1EUwkkH7uv61T1aNyD5gGn0mQLt9iLjYvEBa3JJREww7mIbvyTecWXqMFwWQNNiFdkG10s_PqPOysHcFwJZ3nbCc3W3N9Pp1vuLazayE0F_1xSw3lipTlLo_4oFDuSYXJELu1iUKfTTDNFrcCRIEAQsi0InX8KtJNQYoL35_WfhY1y8boCw9rVzEnZ3iXSM4Ax9q1zRY2HrcckyvaFhPRBoZ1g_1rj8KEpDuS71ISA1RnEzDwhtQwfqgmc3ppkd2R_dOHxNU5W68MJzj36iqjfk-w0bAjUuaWaQSAPbKiaUnYNDAQORGhJErqa0BaQ15LpPKnajgcX5a9X74F9fmOKJw78bUplEQSljlI6tzL82yYO1HU94ixbzuAoZ9oNsvNLMldf7KVz3hdC0vLtSgQQTi0YbdtZhfBBnp_Tw_Wa_vlMOfVZufZbxx34QgLj4CSspyBrptit6G6PfCqbq_3hoVUtrQWza78-1kGiEIsB9t8OBsxZjFa5rKT680eK9n2IuOYRrZlQIXSnSJPXY12zg0jQZ-cT9pvVBdehaciSYesOemw-QfJrkbhyA12YpLVKke_A9jTbsX8eIEl6y_F7b0kMn3olojJbMhJb57uvzOmzgWJKv4s1iU9GDqNRKETmO9ec8OhhPH5ctQmw9BnLXgktDbTtjuM745QWZ6BW_XXSuUYI1AuqOUG_YjUzdNNlf1YHXH20nx-NdTq0-Qxu6NrjTn4oQRAmagaj1vWnX87aD5lPIBPt37B1-TWn3YQeTVNtdzl6X0uGhE-FwtTriOYd_RYnS4-SF1oB1suaLJzUVSnPHMoL3gGqJ4fk4xd41C-vaYJwwtwrdsLGotiKjfKXEV_lR2sd9hAb9iXGizCPXHypQnClgnMr303KonwlD3ylbEvEIJppZubDYW6vmGGfRMfVuIht6qe139jM-TmYrxOXR3nZmbyCWqN8INB_B9Ly8bChmqC-Lg_RVHRnULnEzNdpjO6c6w3TmZ3iyRS6A8_xGTB_7Sdmc1wihtmTccU66m_f_ZhqFr-a4U7Di1LJaUnS9Em8YnloyDhV-tmELV2t9VUE_nTdSsl5ibhiUrhuzHDkcA7ZQzO85hOZINbO1ZcxIXl5TvQJ04QJqEoWK2ST9nQbTwc1RnqSp9PpklvVVtNM2LQwTnLWIsvRLlYMQjc1ZT4uWThZQBFPYAA_dokvJvGFFm8F0zpB-qK8EPq__pXgwzCzJlqBWgjqqqgdTum_uW72o9BqwwwWVyIjNb4MiTzdyuo6bv1alMi8rqFWCxOI_vwxcQuy3HoeJrSjRZDz1V8u9etmMJMAH2cl9szBcdLer_cwTimKMnv_p8Mu2Mr4F_RnAF45g571gWHYxYi2A8CWdk8Rzds-85h6G-HY8uTSRpqLy5K18klRbzUoga5G1WEQoUP2kLv-kuUH_7ivpwwmB_Ct9DST1cjG3FneTLKes0UJqMML7nx5qqaXwXluNfKhEmudIQh8ty7HLRSupotHKNYCvk5OpevE8cHig1QgnXf03fXiKopQ6rtn70to-gRkSy7hzEoqE2i9O2K_XnO4ome0_Rq3ZnAM3hgOrbT3RFy7BFLShHDCQ7Xgx62htSkRHFDhJbwO038zKg_6sN2PysTwcW8rhlRXPJSTdFwR0C4eCCunRxSIY1A4molzZHE=",
  "id": "rs_0d3a518622cde59b016ab4569ae31c87d0966f7922116c499a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFaiTcept3_sBdmIeP2xCRmpwcBXPgk1GmWF7Yj2B3J_et2p4B5jPTWZuG5xJT6ZTxMnGXsoflpl97kH4LIS2SD23yPD0svCUf9o9uLVGRB9fcmLol4kC5GvS9jgXb3VqanSF2SbYzyIelly_sC1sG5Sj--XtYGl9sWJpB9mDBSeVjQtdff0U85tpyhuTniY6cOfVbwhu0Pvf5Q7FswPCGs5ghyYuY3dwrTIhrDXyWSgg66W7T0ViCKUrhMuufDmR3Oy8hF3Z9K4feGdooSo4_hwMntVM5COwBfYz4cGGW-ScX-xfLfU6nKSDFnLh9zAUDMui9P2Cu6_MmQGF1oBsBjlKrTCK9j64Np-1f0luWPCMuX1CDyQQ1tQSxOK_e5GXSmqD6BqytPD2lkBrfm5--iWTZJiB3kRpjesgQI-uVlV8a3X--OC1yfzD-GIVvnzcQ-h6fu41jlewBtCRi2GGKv4xAaCyCDBQMmntRwuYtK3DgETfevPuZ-vd12F00hiY_rXMo4t8qEl_zoIsFtvkwR_WTNvJ_epm-wMZkkiPNL9ioFOo1FhYWk8y_gzMK7PXG9XnakHeq6h_zXi5uyctfaCc3T94RmsmGXgCFNxwwiCScHr50_Km4_ETsmHE-54Nkw6g3l_N9lLnFGrAjJ9BJExnxCwZvqr-iq3353fbojyqbwzdqXH1nBwTanwoENbBVMm8xRuzr-BrKIredSH4HtvwNAZvtmdgH47YHGFkLCK3XAvyCBSTYNup_Cu9RCaSoxXlEyaK1adq6OwWRhkyaIXtqcxppp3k8qJQz_2dLRvqU3imC1h2Eh8MbfMLC9n065i9qMk44wWSHFCOEEXvUo7ywBd3tU5mbHFpsSYHyw_orP6PKceogiu15gguetdn6h7ctbqe5Vkq4Cui73p_GEujv3fjIht2JqCK_FsV9EWF47zUsCFf-chfcvk0agTlSL0pZr6u-5SaAKuPhSsQEoe3VsoZ8ZKJI3rkhLvR_KckmrhqTtwgNFQVvfRI9SkkYhkI0aGYByeuKSGYR4dwKPwDzPJCOrGhfCMIG3FOqJ8x1_nyAXcV2xh30xly9yIpD6-GXcYHAwwZ6sswL61urRqRDxBEGd-U9fyBOep5gccvpucK7RIomFItJmiE65_kbk78RXPSfSdt3Eq8sO9xDO85_FVM-uyjLDn0vdweHDfL1I3C9OCB8IVyhozYwjChH44w6Ra0XQFFO00vYN9e-m3mT9dhF7ooX3M2awevTwUNd4tG1DZiwhrcFFBs719JEMFPeqrMlhk6PmUfGjNAa9dOpDkE3bwTgWJxyvPZNKi_lOzOZ46uYN-7mc7zV0fcdBRZG0TmQh6IZVtEFJ0l2IfFpasX5XayZRW8X7-cmE-wmX9jFSXtoveDa8bEHSLP_WSZvbkA1BSO4FcoYNBfO6lCRzDSbZBtMG49-hyPr1HB9OOX5buzNzmCll3J0vpJJ0ViPBNJmUBRCFzTGFIGWQxSKsymo_ksTuRsStzKyjRjbAAcNx63iVoZ0UZ4G1qtDlPdE9W3l3W4_NwaBSuIvnixjbsq4C8knZjUzioTL2nKkUHfiy1nPhHCwGGkEoGVX_Tz72jlc6fJQBHZAY9126OyYZXDeKdZkMNag0_jmDE2VNW9pmg8gSDtp5kSsiD3k34OycrZKhMIow-uVg5ysmMI6cWv_jyixLoApdBQhptvV3vR6ZVZnS4yKukpF_c5jq5doFFoZ9KJlD2bjg9OQJ1MzG7_EJFfCmXvV2l2dMx3Qs43mOPnOZCZIuz-KTaAo2CSk71xyl3NwwONEYzUMOznoZVJfkaOXvJpVVL1G5vlBOxSYzZHS8BsX3zU8XHs2lCV03zmBSPq0xKOI9s96nkuxgL6zK0AgYdU91ECri4ykos1lLCDDwJme449Fs2cqc_0VpfbIkgh8asfxk3HvZBteykZ4ovTVhy7gg89oQ_dvxoKDYdXW9ya8eAmuvd34SlxRywwSmY_sN6Em2BmhsHL2n3tBE4PBZaR1mKVTQkhkmVpU5CX8ebGZGM7EvsX6nPw5ATT8Kt0eMuHF9VfCci05j9eR92chCIpp3Wj8gKY-4=",
  "id": "rs_0d3a518622cde59b016ab4569fd91087d084c3e5421f2b647b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.14,\"left_z\":0.12,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"With the arm raised, the cap is now visible near the bottom of the left wrist view, just left of the jaw convergence point; the long object farther ahead is the pen. I’ll center the cap with a small tool-left correction and lower only to a stable pre-grasp height.\"}",
  "call_id": "call_3EP3APo84eOAYnSNwCkZWkq3",
  "id": "fc_0d3a518622cde59b016ab456a1e44487d0962ae07881de1645",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3EP3APo84eOAYnSNwCkZWkq3",
  "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]: [-0.1822, 1.3853, 0.7712, -0.1947, 0.4362, 0.3141, 0.9994, -0.0185, 0.8005, 0.6132, -0.3943, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3462 left_y=-0.136 left_z=0.1129 left_yaw=-0.7231 left_pitch=-0.1445 left_roll=-0.0799 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.7316, -5.2855, 6.8034, 1.619, 0.4469, 0.0269, -0.0708, -0.3761, -1.2923, 7.0222, 1.7607, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c34abc52e8e16c5dbec3ce7b5449d81dfd0ccb9ebcb9375d90abadaab9ec1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974f2e478d4a084cd3efb9f6f47fc73661f7fd003b6cde8ffd06f76c6d0236a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8b3b8f5383a97065e45f4fa097c3b617c49953fa1e8f4675120364d217626b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.886 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 30 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0172 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -6.9402, 8.6769, 1.5604, 0.1587, 0.0122, -0.0708, -0.1026, -1.1282, 7.0222, 1.7558, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.242, 1.2758, 0.984, -0.4271, 0.4007, 0.2722, 0.9994, -0.0185, 0.8005, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3439 left_y=-0.1522 left_z=0.1985 left_yaw=-0.7271 left_pitch=-0.0794 left_roll=-0.0466 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.021 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.3624, -4.6701, 8.1162, 1.3065, 0.2564, 0.1978, -0.0708, -0.294, -1.4701, 7.0632, 1.7265, -0.022, -0.0611, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1822, 1.3853, 0.7712, -0.1947, 0.4362, 0.3141, 0.9994, -0.0185, 0.8005, 0.6132, -0.3943, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3462 left_y=-0.136 left_z=0.1129 left_yaw=-0.7231 left_pitch=-0.1445 left_roll=-0.0799 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.7316, -5.2855, 6.8034, 1.619, 0.4469, 0.0269, -0.0708, -0.3761, -1.2923, 7.0222, 1.7607, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c34abc52e8e16c5dbec3ce7b5449d81dfd0ccb9ebcb9375d90abadaab9ec1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974f2e478d4a084cd3efb9f6f47fc73661f7fd003b6cde8ffd06f76c6d0236a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8b3b8f5383a97065e45f4fa097c3b617c49953fa1e8f4675120364d217626b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFaobUGAu7rqF3KmsK49R49lAx-_VKoLWgqYyPjHKoUrrx70eo3kwrbpSvCIKgbG5O6CqFU4c8Bjbq2Y4zo2BeVW5-sSh6sFYL9J4GrQyWbeBKjaUBrD2t4T7Tw_6e7xNnlMdoqOeyZltLz6pTuRm4bw_XaA6x3-Wllm-x0RO1aU0He58m9yvHiA4I8DxxCHY21r1UMhjJ__kzKJ4DVxk-Du0CWGg__3IO7BRZvm7IlnJVPRhEA0jEPi8JL8tcy0kQtTqIAzwd0noMjD2CtAT5sZsjYbyTGt-IXDNE-QNphE1XN4EbXidQh-auhZKdoWKEju_xs-VqjrDfHr8v8qMNzpULtrXr36KqOxkqcYMwrEwNNBt9MCYqqmlh75LTP3bRzsSJSSVHTzsYh8wBMjP4UPjvchYy5kl_b4W1H9WNP5KPM970GWDJaibKLJW-aLK5gXmInGPSSseu2XEZHsHiDKbZBw5RQ_uIEdDK4t0a5Mm07aXG8NKVzX4cvSNQdf8j9E7PanY7wbZ3HTp6Rmf5E-X_cDuyinMgSBJGPu9TFFitc-ZQb71_4Jfn_wspo3Bb-rQPJNQmrgHEZMgHWFDW8-4uhE9lsiDHD4GT0clOIk_xOJibOAHd3xnJNBCV6QGBs2zR1xwwdq87GxjIRVnPx-CITuW1h4oUW2EC9CQhFEX7EwtnX9BvIDZsQwi_8k-i-1MtDP8hH5OTIPyFHJJcUc7vSzo-Tv7lh2CzPAgf-zgYOUlAtRF1qcg5LfRsWIu8O2PJUD57PSeEdqYjfIywgBGXpwxPO1F19HgwDwn5iXQ7_m9q8qX7KTZRMLiABo0ocIeRRcTytirGT-O2etPx4QtGEfNb09irK4-tKYOjjMnZfZs5ptQVfHGGwFUNH1ACAwHfqcSdANkc4-pkDFrXVACxlndFh9n19CDrHL2AIM8sUm8UDsg-HURtbIuDRRGZiYe1t_Jt6pTSWmIFDGF6Mv1U4mR1_vkAe9zMMX4OhNuOu9mQQkNQkUYrsqYvmg3SpxfOVKtKSB-h1nx-sZISrkm2pBaHGHhoSBSd8FKCJWcI2cc1NXb4ExPcx9Ok03NxsnDOSdgVBsDX4j-kssIgOCSKHwENumrHUkcsb6hNM72fFoloo9DDOoRZfPlSBcReSU7ijPU812FYnFkBNm981tY4WZxLxnTUMuWtnbY7vETE1KdCPjunof_qi_Q1O_c4LruqIkUF4m7k6R6AL4o7D7iXsuSTFRXGl0eTOI36LdMjWgeL600xN1WhRwBPnEXlxyUTAORExNvRuvQVQkB7ANB-5bH20g3Y9-pL8DH9q1Kyfm1g1Ok5VNrxhbGTzWEDDbk_RKORs7eLh3BCZREdi22aXxi9bQZ86HqplcWUxZ_Kay9YfZHwQp0zBLYrOe0Kn3vabPJETNXiH9Bmc840miS74DaOStWkVoY65-W7yEkJmRqPvUjASIUZYC7pw01K-5f3fPPFDakWMo_YOzcNkqybvvjjq4w6QTOuiJNAH1szFaRRIRmTwo710xn4C7NhnW7Hzv59d2lMjX4qApMhXjIBhWdCx_mhgSMNjpaMOEPztImI_9fc2D96VBG019MXJi5AAod0ZNz5ecH2jKXSCsFXKDlHVileaJEIC0gxIHunzOwKR7tFPHCKr24zeLYedq2kiM91XPhY_AJDz5PDUNhxnZbqQ_a6zZ8MQscNguXSfWw4V4zvGq6t_ka9uKnQMlsX5u6TVC13zSPxc8oR3jtrtkHLa1XwDUDoOKkG_O7up8vMT2SeOSH_Ea8tq3zVKZ4wexR8PvNi1Xee7aNysm5OP9VHsSSXqp3WXyVCMnkUf6j01z4nX2zTBSssHeZ1xy48HA8-GTUa_MJyby4g_F1ghYBKsHwy0VJiGdJukFQ_cjOwf0Q_Do-R4NcJHdh32nVriUOFnV4o9VrE5GyhLm6K2D5kdrqm7RE5xi2Bnv4t2lpEnPM910ZNEp7RnL71wlPMCo4w7WqvAkEft0hhpniN8Pw4zb19hcSsibObTjEBSQ6MvcaMtWhSdJqNU0dIsWAIb23_3IToj1qVjlJuJOaCz70_pr9KNMiZmSp_az-Sui5JiOIfQFZj5V8bCsc-MlRTI-4bfx8rPNCOdITCVGYcwoBtTWfayuMuCPTiNWLPpgJC3lVGBxbmWpCg5l1vuu9_TTSkF9m7lrFKPfgvgq8BybralmDt_s-nIm9AqDHVnb1uB4M5Zmm756uAaiKo1CJPVoe40_Fi9CcPSBDTo1Pg==",
  "id": "rs_0d3a518622cde59b016ab456a4af6487d09e702ab475abcc31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.114,\"left_z\":0.1,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The cap is at the correct depth near the fingertip row but remains about two centimetres left of the jaw column. I’ll apply one larger lateral centering correction while holding roughly the same pre-grasp height.\"}",
  "call_id": "call_ltuJYUgOO6gIgyk9RK0xh1QA",
  "id": "fc_0d3a518622cde59b016ab456a73a8487d09de206b7316efd9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ltuJYUgOO6gIgyk9RK0xh1QA",
  "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]: [-0.123, 1.4517, 0.7807, -0.1566, 0.485, 0.3569, 0.9994, -0.0185, 0.8005, 0.6132, -0.395, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3586 left_y=-0.1237 left_z=0.1023 left_yaw=-0.7264 left_pitch=-0.1391 left_roll=-0.0877 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.6222, -5.4906, 8.5949, 1.2576, 0.4469, 0.1929, -0.0708, -0.335, -1.2376, 7.0222, 1.7216, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1568033fdb179d63c0278f8c9010aeb96dc5411828a0de364bdf1ab17ecd370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17427a8bb97a38b7daabd25caf1d4b53c0de18a120cfd5719498bf46cff806e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29fe2b87af43d0749585ce7bc980bc674a40650d98b6c3f9e5fc3f74c863f7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.321 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 30 changed as sent

message 34 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2642, 1.4963, 0.8124, -0.0887, 0.3969, 0.2714, 0.9994, -0.0185, 0.7979, 0.6132, -0.3901, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.1656 left_z=0.1045 left_yaw=-0.7483 left_pitch=-0.1282 left_roll=-0.0701 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1811 right_yaw=-0.0002 right_pitch=-0.0172 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.9402, 8.8821, 1.5946, 0.1538, -0.0073, -0.0708, -0.3761, -1.1145, 7.0769, 1.7411, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1822, 1.3853, 0.7712, -0.1947, 0.4362, 0.3141, 0.9994, -0.0185, 0.8005, 0.6132, -0.3943, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3462 left_y=-0.136 left_z=0.1129 left_yaw=-0.7231 left_pitch=-0.1445 left_roll=-0.0799 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.7316, -5.2855, 6.8034, 1.619, 0.4469, 0.0269, -0.0708, -0.3761, -1.2923, 7.0222, 1.7607, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.123, 1.4517, 0.7807, -0.1566, 0.485, 0.3569, 0.9994, -0.0185, 0.8005, 0.6132, -0.395, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3586 left_y=-0.1237 left_z=0.1023 left_yaw=-0.7264 left_pitch=-0.1391 left_roll=-0.0877 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.6222, -5.4906, 8.5949, 1.2576, 0.4469, 0.1929, -0.0708, -0.335, -1.2376, 7.0222, 1.7216, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1568033fdb179d63c0278f8c9010aeb96dc5411828a0de364bdf1ab17ecd370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17427a8bb97a38b7daabd25caf1d4b53c0de18a120cfd5719498bf46cff806e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29fe2b87af43d0749585ce7bc980bc674a40650d98b6c3f9e5fc3f74c863f7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFar2Fsi0j3DWkWDRG36rbBiLboVAt1FMUjEsi7bGnDtLs67FQaPvCooFa9FO98tIo7mwN-ud5ygIQFFJ62JVOZJFcizuheOPIj7HJLq6kw4LKKwa7Uo8YMsrIuegD0hCMlmE-Lbv2KkNv3OeJgw7bA1mcoekaSaA-0donSaL0Bnvdm-U9rgS5cDN0CQJA0Q0qHFP_ux40jsLUFrV4bXx-kYRiRwIcvqEXMqAKknTbdex8qZx-vM1yA3XQIC95_jR4gWxphau60jTqILax5dwJ6loh3YvPXPUXDTWOLLIlcW_4KUP8TTvvnZJ-fwXzTyP5V84ZFXEee36VEdHIVm8cJwEAZnqvCw-V6t0roJlUtVWDmwU2Ci9XSt-To52z2GLG5CfEN_6bcV_yEnnLvWaHdFnwL9-M_tlEJSMrNRSfOri5miJsJc55hX7NGyolOtS6EfphSDQ2gGpABSfATOMP4SPFZjnJt7sp-6zLsptknXPdFfow-VYeVM_1ZPoOUZTYBg_8BmeBqlZfVuA3AlbyykIvJoaQ3wLBlJVPQvhITvLKAUVgXdQIhVFo9CYgdd87jjEh5VdX2bH49eiOTXPcevPHCfXD1mDnBS8H1QC_5vpJQJ9MY0rG7SFVwg35xFPwCcLHOABMH4szsDJFgq0lvitl7_fvALo96CJUy8QSRwWU_tI-DYxptm3W8I33bNN3H7mjAPBHvT-Yg768wKjc4uN-4hzagx-b9AfvTp3ADtF_HLTte061cxYNU1T8_keQOz55l5hPSMSw9liCWGvZ0i6b6A9Bsz85Je_-G0Qm5EAu-hKx7EZZ-AFkaISnVPi60rjJ8fO1F4G0Kh0GKaa1Ycply6CTVIIjmvYqXv3LP1qfJCSzIpP35hbxp2-iouRdwZWvHWyxkxUmYrWVOBH_ZW75k_F4bkmiPPdDnYVjkBVOv7eS_IX8buE7X1HlUmK9JwiCq5E03bOWFpsYoxhjee-HguPDuGePA6lP6izIOlElts8mUSBEFSsZK77VGQUJHsmUIbkQlbn9jrlh6ZmVS8iK3-6SMnBr-jXAUkS6B22YFcbdiALnKWfI9YoJLxIgXam0ZQqNGpukUhcJMN8zMjZ5wrTxm2LVg317QEooZ5NXNqPPwU2IB35QP-oT9IHK-ocQU_QtYlyXSoO57LYCjzVorRPz8GehC-ERdvFVVT7bB8bYwYjkt6GFwJo1azuz815CJAS2ds6sQEOGbuE0tzmQt8jQPZ4viR_SVAucXnCSx1DEb491b8I9p3rgg_wvkMLh6CuNPFHj2B3NoRV7DGJ8Iebn7_tdxqdrfzFFXwhmc1m1w3pqbCKPZHzX-Ubj9nmrkJ08b1UQ0bxO7739riCjk_axkfuWB56qRAaNxCrY6JUAwTN1liBdpMFwPy_cyPKM-pxWTTJM0FLbbemeAwTS5CkLvXRLoJYGpCHnN1IMMzglruVGDvETdpOlsV8G16k9oA4mf9mPbvgVhKQ5DbnMDKm95fnm1u3Lye8EgzTyH4bWY-m3DGCeVomMhtIljeSIWu3v0MtNRa-EnZOAnOiQ==",
  "id": "rs_0d3a518622cde59b016ab456a95d6087d0a4018089f1067ed0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.379,\"left_y\":-0.102,\"left_z\":0.1,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"That correction moved the cap noticeably toward center, from about column 88 to 96, confirming the direction. I’ll continue the same tool-left shift until the cap lies on the 110 jaw column.\"}",
  "call_id": "call_uO8p5wiACVYp7mbR3Jlb0rXk",
  "id": "fc_0d3a518622cde59b016ab456aa563887d087e1a948187443ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uO8p5wiACVYp7mbR3Jlb0rXk",
  "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]: [-0.0788, 1.5047, 0.7902, -0.1928, 0.5056, 0.4026, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3577 left_y=-0.1105 left_z=0.0834 left_yaw=-0.7304 left_pitch=-0.1921 left_roll=-0.1138 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8171, 8.7179, 1.5409, 0.3394, 0.0073, -0.0708, -0.1846, -1.5932, 7.0222, 1.7558, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b313a87af13a4ef8216caadc9c8990d78e6ece5fa07a15d2be2cab1bdabd88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0027dda451d577d3c9a75ea982a3fe99e00a00f833cd57dd0c2e2acce34156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37da3fcc2c30ee4942bc357f62d16d5e77e4c842fb8afc1468d9dbba71f712e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.568 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 34 changed as sent

message 38 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.242, 1.2758, 0.984, -0.4271, 0.4007, 0.2722, 0.9994, -0.0185, 0.8005, 0.6132, -0.3912, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3439 left_y=-0.1522 left_z=0.1985 left_yaw=-0.7271 left_pitch=-0.0794 left_roll=-0.0466 left_gripper=0.9994 right_x=0.2948 right_y=0.0021 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.021 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.3624, -4.6701, 8.1162, 1.3065, 0.2564, 0.1978, -0.0708, -0.294, -1.4701, 7.0632, 1.7265, -0.022, -0.0611, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.123, 1.4517, 0.7807, -0.1566, 0.485, 0.3569, 0.9994, -0.0185, 0.8005, 0.6132, -0.395, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3586 left_y=-0.1237 left_z=0.1023 left_yaw=-0.7264 left_pitch=-0.1391 left_roll=-0.0877 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.6222, -5.4906, 8.5949, 1.2576, 0.4469, 0.1929, -0.0708, -0.335, -1.2376, 7.0222, 1.7216, -0.0513, -0.022, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1928, 0.5056, 0.4026, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3577 left_y=-0.1105 left_z=0.0834 left_yaw=-0.7304 left_pitch=-0.1921 left_roll=-0.1138 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8171, 8.7179, 1.5409, 0.3394, 0.0073, -0.0708, -0.1846, -1.5932, 7.0222, 1.7558, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b313a87af13a4ef8216caadc9c8990d78e6ece5fa07a15d2be2cab1bdabd88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0027dda451d577d3c9a75ea982a3fe99e00a00f833cd57dd0c2e2acce34156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37da3fcc2c30ee4942bc357f62d16d5e77e4c842fb8afc1468d9dbba71f712e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFavn3WR_X2u61T5JhGs5N-UDV-EjIrm98-EJjZM_wMcDVEIoU7pcJ6sp6Uf9J7d37a5wavVTTjCvKEJXCiYpNVpYJ8ig8_xH-MMYyscuGOBYSaxH4-FFDcAUGxHHUgfRFQGFD6ojadQcC9i8wd_d9LkTzJ0TZh-b6uBVKLRCZbm_O3leFO8swUjxG2jIasWvfEnGZeiXNfPwwTwYFS4YnqGBiQ35YWseQaj2mSwpt8d7eSGWJUufK1QVm_WHzpBl0XESWCWZO9wEXG4HV36i1dtIflesPuEgdp331yCXQnFdfFI_Ltk4U1Xzc_oyH6rNQ6i1IGsW54_A5h2eOnRJFb8uGzjiONr_HVNPatrmxtjErDmkU2MjEE1Q8yffcEV_DAA0mmDCY7Hd0I19dWcZCdTqF-qMDMujWRLxkclIf2edQdmuG5p4qLJ9oAKciflZeyyJP1bYW9O80NUFwaaGtnh5DrpdwI_IwPRsYnmWTO4S3Zu9XH2qjadGROvIst5eJF4oU4DqIQvVB-_8e2OGw9uFA8aAxtqddy-eL5wzWQRnmsOYDfNemEIRotu6VXl8v23DhNMsy4QOJioxSvKr1oKIVAU4P5ndEFl4q_n1Hh4HCfsXCPBj-B8HS0EbkvBlG7yAG8uyENKp485FUZlx6A3DMEGZopj7frU_DV8E4ITXYoRetw-UWDt8g-9Yv5-oepuc1n8pSTdb0o0h64QBSA9r_62wfGO98cCGkNMgq2p_IIzmT5_rvetUeXyL5hxPyj5D__0wEDfNamGYnaHATyeTQuN1isyuKpHk8SIlC2X1UWBD-cj6kWvil4AB7f8TnHkMGuRKEAuJjPK3IbTIMuaAc67pJBMpP_ojT8jnxy159YztoVNuAcou2Fg5xr1bNQnsPOurrAMqvqxtPGMZaiZxfTk_3TzsijwsT7gvOuEfEJAFzRKHSjS8BALMdjrbYIpIk63-MHvjf95ZO2JMRaq00nw0ZS1aViWpwxQYkzjIzSwSuXIfk1BNEm2XyYCVSUr4z5RSWPpe3C-BpC6-zsBE0RXgMOeRf44rqO4NGFh7JGfqAtUQLgohF_q6102jGkdC_F1d5QotWmuzK5ZRL_vWDEm6iXUpMC2hJP0gStRunU7Q9jgQPr2PYPLBh4xIsZ2sI8qcEZm3fkpW93POjnvvd1eq5F3He17x5p3Xm-EdLKQE4dhUUHw2HVtCpTIOy65Nl1MOeWD_IippJJPZ4BkqaehnSi0PhUWs5teqsKjlw2ASsBliVGdpIk7jWRV-GbTp_Jn1hLWYRw_7HjkHJ2RjRetwLNdDRNHkz2Ee40D6gIeMlJJKzjWL2BYKC_hXRKyDGnfBUivsY51CGKZhNLmw05sA06TYmvKyyiIvmWzryTIVsinn_N63FcUEXCfz6sMeLV3tb4Svz-wWnQ8VPv2AEHB33fb598wMmsRTq4FvSCLE28BaofvxGeO9mxN-cHpMuQd8vqOf801nK4-oFQXkVB33MR-cZHBOQOsiJRTM2EkMnPnen-yf1R-oyh2WQbJaFN6R-Wn-SHi0Ff4WgfImsePVh5kbFia3leFd34Jie1EW9Iz3sazIzGafbyEbACmeeHjhFOSiS9eIFyK6koNzcyNQ2nbXDLjeqvJYR6oD0yKpCT9ccRaItQlik3tpP8rx7uX_uQM4eZF9h3E7wEs_hW3bAuaFzCQZgjlXjoao17128Co5Y9eR56aKrQRMYjvDxP7VttN3bhym3cDimdTvIu8zIl1AfBshXltP3GgfCtxL58-qx32XJ49jTiBXiJm16q8gxcSVRl_KmOak5SMe8PwqIZXQh0u8qk-wiNAmRS_qtZXr1g2r3gcL_GAjy3suEwGzZNDixoa8FjbITDmw5I8FD589g20YyfxkQXIcBn5bWZTpNLgZfRdLDnJsT9qzwIuL1oxLsBk5avsZefoXnjNvaMpZVli0tmuYJHIOX3OzMLDxb0U7Y7HG4RzsJTlaEMotyaa_7JvzTtxWXD-WR-aZYndRR6GMgwgqER9uSC67RwPbklZow4dPiea1qTljYxZaIEP_ML-r-vY8eoBi-ufXIAIWGvaYiZH8EEgKhtE90M7rV5vXfdiw2FZ7Fq5Xpu1Ov5aD5HDDrvRHtia3w3ObaKDh4fJILAC0YfaT6HQ3TZesY06fMdHY8TrEaq6wPybniUoWNSJI6wyFyLxnHNZpiVbptcyE49ZWw8RNNOJwQrUn33Dy0M-m5MX-fOXeddzW_xz8n2Av71-9FLZs99loTnNmSAhZfY1oU4apFB9o_pxrHBCD3u1x3MnI1A2k6BHt_hSGSdNB1S1cX6Y0iC_nGrsYnHtCU2jgMuCOCg=",
  "id": "rs_0d3a518622cde59b016ab456ac653c87d0a3cdc9373d89178a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.378,\"left_y\":-0.111,\"left_z\":0.02,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The cap is now centered on the jaw column and its long axis is vertical in the wrist image, so the jaws will close across it correctly. Because its lower end still has a little clear image below it, I’ll advance about two centimetres outward while descending to a near-table grasp height.\"}",
  "call_id": "call_e7aJ8SZFE2oKq3ajjFirhztP",
  "id": "fc_0d3a518622cde59b016ab456aec0a487d09f4692b024a3f5d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e7aJ8SZFE2oKq3ajjFirhztP",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1917, 0.506, 0.4023, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3579 left_y=-0.1105 left_z=0.0836 left_yaw=-0.7304 left_pitch=-0.191 left_roll=-0.1136 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -6.6803, 8.8821, 1.5018, 0.4176, -0.0171, -0.0708, -0.3487, -1.3197, 7.0222, 1.7656, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690e907b99b368ef537fa6ecc1deb2f8be1b6ff9966c1dc3feb57e6d9d282a41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569451efe50916a605d97c07aec15191c60f6514cda8527981120177696cbba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0d535e96c4513c8d469773c95d2adef6ab1ca8ba63303e1e28f41bb6027b3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.876 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1822, 1.3853, 0.7712, -0.1947, 0.4362, 0.3141, 0.9994, -0.0185, 0.8005, 0.6132, -0.3943, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3462 left_y=-0.136 left_z=0.1129 left_yaw=-0.7231 left_pitch=-0.1445 left_roll=-0.0799 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.7316, -5.2855, 6.8034, 1.619, 0.4469, 0.0269, -0.0708, -0.3761, -1.2923, 7.0222, 1.7607, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1928, 0.5056, 0.4026, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3577 left_y=-0.1105 left_z=0.0834 left_yaw=-0.7304 left_pitch=-0.1921 left_roll=-0.1138 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8171, 8.7179, 1.5409, 0.3394, 0.0073, -0.0708, -0.1846, -1.5932, 7.0222, 1.7558, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1917, 0.506, 0.4023, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3579 left_y=-0.1105 left_z=0.0836 left_yaw=-0.7304 left_pitch=-0.191 left_roll=-0.1136 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -6.6803, 8.8821, 1.5018, 0.4176, -0.0171, -0.0708, -0.3487, -1.3197, 7.0222, 1.7656, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690e907b99b368ef537fa6ecc1deb2f8be1b6ff9966c1dc3feb57e6d9d282a41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569451efe50916a605d97c07aec15191c60f6514cda8527981120177696cbba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0d535e96c4513c8d469773c95d2adef6ab1ca8ba63303e1e28f41bb6027b3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFa1H54cID_KaoapMmSkVtYbyGI5skyL8ZtQSHYuq-qaiLNMsMC0vIf5yGUzhUoExJvWDI9Qzkf5WucFq_TF1EPgBYaceTyBxYSLutHY69jLgvRtbYToyY5YLRtu9m1pbz94UHVpHzKMrLibTfvWZz0F2BRuplxPfI-GO_6hcM9J5S7pFIlhqn5NtfnyptFsBRMa9RTYXneFsQAXq95tmBkLLY8HDszeeyLhk-ryryQb_tvs1RF_zpDhG22dM5MTuyMasSWQiROVi2bIWojhfCymNFlCElTcUn20FyfdcPhgm3kleb5mDGzQ-qZUrq5TrLNpSaJKSTLL4zO5OtqxSxfpiZ6fXhAtDjXxb9doWjVdlXR8yXLnIiI4vgxr9ZktxydkeYLWNtfK_7WQz4VfdLn5ECp8qQDU__8kSXK5kDM14zlLbV6noz7OVaQOTYPFK33SXPTLzwyiYtuA6QUQuEVI3SaokFUuKAFuMGzJk3ggwSBF9HGhRC_sM1uuPtBIcNk6T82gxLelEv64INgNbiCjMWzTMQWfojraluunRTcZwhY5qn-MpZiS3Q6Ti02VNJoCLp1kgQFTY_D6ENiSitjDTZ924AVqvMIBq-dgVnLetG0iRyMJ9hgRfCcSnnmbWrZsDZ4JqmvQj7_nbJjADx_dDwYZee8093vtGFFTcNLKIWzp8deOQlT9ST7X1poiuRU4cYa7UcGy78o_q3DLCJN6N9bH5_YRPVWLMnYlc-vEmK7E9COaRqrNZZcYkdJJ7BEP-5RZ3en2CgM2XuEf2XN26dDaDh1PTZY7_IGTJotQHA8IlQhVcWGIhHMHEU6YyxLS6shHihFkLV--Ob2bt7Uvug4qAqwhr3DyzPzjLhBxhXvbn6svTbzMcSQYRDaI45fJPHCZuedTS900nGW1O3-veyEhS2vWxUyE720SUMmGTA-xBrDtWWCns3_06He8nMIsMw3R2KQPCFFXRt5ngjpvbI_UkaI7lqIeJD9ZBnbC4LvG5wQRMqxmLeunSMamyBX_qWtlCVyhrCk6cWsazPCN_L6RaFRlF2Z15cUFxCsymQVVvLKdaeil7af-6fWK9ARnkli3yA7ZmZ0dxULt2SeKWE_Ez7JQTZU1sQ1hp5KBmyvzIxe0zozMK379HYPKsKVIOXdy9UNtFMRm3MHkXMwX5ldAyFPqWxclq2UCMNrxgou4DaQXv-qXVE5gcszH_7XkJVwx1lff1QSiL8HdJ0SIYwfwePWoepJg1BgBm1kHHgwUZ7snZ-FAlWJtWq-Se_IRXKx_4P1DsZhB33awMSmvKVxmmGdRcx6FktGPahqRXKewzwxChK5tbTjPzVthPn-8U8ZqnBlkubn1xMSg9JXQgW2wZJMsHg6kvfVV37AftGUb9gdL1_e5PL-HBNUQdbLbWtYgY2qAYrr0fdWqui59171USlEcGaVKwwDBn_yrLIE7Adz7p_PgUV3gKy7Ks2Z5Fb7TW6c28ema_aDaJs_gn-Rqu-0f5ODvI68j6jiLQGb0mVY-BoPFeaNFot3ElUbxwdwbh4I-qSEFJbgMWBxRDemU8OcD8TDzqqpL5eZ1-T16GQU6FjKdFZaZ_7nFGt_wiZA45PtFFm-2uIumvQoC4kZUATX7QOP9s2rQM6b0c7BW1RgPelobOj-9czn1YhyZ_myQnKF3WTdfYH56Z1-egnQSUxxYQXu84n2_Ydo1GZIev4YeaqRqKOAlOEMDV17WSwdparfGdM_gtPSA0xzdkI-THUoXXU9UjktKixfB-Tn-MXms522MoKvnmdVtDmxzXN4RGeq6SwemyD9VxB0PAv7d5wKaiExeLX-g3h6_3oHOpyPVppIa3OAvvesMR4b5m2sX4p-l5R86zpO0Kfb1G3jEG9vI42supkm3xA-1kOkU8Q9bGlUGl5bR2sSNBKbjNI_iwWzl2AVmSv1YnZhw03l_s6kIsPm8-Arl7Tmt4rwY6ZhfisyYUgJ8macHbfa3oYrMtQ6X8XH_jqJR0omrgnZkjVkx3-iThckH-Ixvztz-Ba3oJ8mO2eg_tawI8SfTQfcbVJE4kt2QPT0BbHM_KA0LCELX9o1hHaqzDfYAOAvQevct-RoQjJnUs5qj53567e15ou2r5wCQAHUsoQS3M8flhuw4bN9umSIFbzjsYLs7-eh7cNCrBtAf3G03zmRRppIOkqQY_9YhKCpTB3ikDVq5GKX-n6DEKDdhiGRqVCBwYdxBq_bouJa632jSK9MihkP0xLg2dPgzXd-aNElwPyqqCTO3GJ-ON8JuVOxklCCckWX85da4YL3TzV0dhSld2B8MzhLAzeDXn45XX46krSOWnxTalJCKMvZq-LsV-DjAzgGyXIZI05V7Mmmsm5Rnnc45ZG0OS5GIzdP4GZzc5ndjFwR0B_hZFfzJ5SEZYrXB5BhyLnN-bQxaodaRaMXuOSwj3PuH5CzCkAol0_4esiy5FB26T2S3lKpZefTpMl2Hc2-ijh1zbxO6t9An7CrMXd2cccLFtCmDiiRF3g1zSL_9-iv4UAyp8zxyzf6N3vhFQUrPHo-ZoXzXP9q8dZj9O4Lw2vD7IxLY7OXkQBrLSSHr8g2U4YjAbrHz9rA9rhfCJmm1t830WKtiYbxEWPw1qyp1dGCh0NESvJTho1hSt9b3W3efcOYTu1rgYdy94HxHXhcZPb8BdebaJLxvzAtf",
  "id": "rs_0d3a518622cde59b016ab456b118fc87d0a825745751060df4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.111,\"left_z\":0.13,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The low descent again stalled with no contact, and the readback shows the wrist has accumulated about 0.19 rad of unintended pitch and 0.11 rad of roll. I’ll raise slightly and explicitly straighten pitch and roll to recover a vertical, descendable grasp posture while preserving the cap alignment.\"}",
  "call_id": "call_yC7Ne3YYpN0nDF9gr23Nb8Ie",
  "id": "fc_0d3a518622cde59b016ab456b3f59087d080fa2db78361fe74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yC7Ne3YYpN0nDF9gr23Nb8Ie",
  "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]: [-0.0589, 1.38, 0.7109, -0.1207, 0.5327, 0.4057, 0.9994, -0.0185, 0.8062, 0.6132, -0.3969, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3502 left_y=-0.1069 left_z=0.1086 left_yaw=-0.7224 left_pitch=-0.0865 left_roll=-0.0552 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1773 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.3761, -5.4769, 6.5573, 1.7509, 0.3834, 0.1441, -0.0708, -0.1709, -1.4838, 7.0632, 1.7509, -0.022, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f5fd774e8148681e5667310e9ec67b932ce0d19828db1ca07492d83aba3f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886c48b5ae3c5e7cc4ef49648c01302cff18d0db79fb3933ab6c43b823d621ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab09f7c1e9123aaa8729921f4c908c7f78d833a011dda6caa4c0ab4bdc376bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.262 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.123, 1.4517, 0.7807, -0.1566, 0.485, 0.3569, 0.9994, -0.0185, 0.8005, 0.6132, -0.395, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3586 left_y=-0.1237 left_z=0.1023 left_yaw=-0.7264 left_pitch=-0.1391 left_roll=-0.0877 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.6222, -5.4906, 8.5949, 1.2576, 0.4469, 0.1929, -0.0708, -0.335, -1.2376, 7.0222, 1.7216, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1917, 0.506, 0.4023, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3579 left_y=-0.1105 left_z=0.0836 left_yaw=-0.7304 left_pitch=-0.191 left_roll=-0.1136 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -6.6803, 8.8821, 1.5018, 0.4176, -0.0171, -0.0708, -0.3487, -1.3197, 7.0222, 1.7656, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0589, 1.38, 0.7109, -0.1207, 0.5327, 0.4057, 0.9994, -0.0185, 0.8062, 0.6132, -0.3969, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3502 left_y=-0.1069 left_z=0.1086 left_yaw=-0.7224 left_pitch=-0.0865 left_roll=-0.0552 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1773 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.3761, -5.4769, 6.5573, 1.7509, 0.3834, 0.1441, -0.0708, -0.1709, -1.4838, 7.0632, 1.7509, -0.022, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f5fd774e8148681e5667310e9ec67b932ce0d19828db1ca07492d83aba3f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886c48b5ae3c5e7cc4ef49648c01302cff18d0db79fb3933ab6c43b823d621ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab09f7c1e9123aaa8729921f4c908c7f78d833a011dda6caa4c0ab4bdc376bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFa5v9hnl9O9zZlPWZi6kKF4ngD4nj8YjI6rFLP1bFKUWlw3QdFD2PSwItieWF-Q2yC96RCr7c-NtBZehQmV1-e_eXj_tRsug-IeK71mVQlxne9e7vfGTCnP8jEurdr4Mnpk_COTqBvq_GrZLcyJilLfp70vjIDD_gl8NIIAxJkKX1Cn03q1-OBkNJFCsQU3KFZlY-PSWkDUuHzmtMhTNZSZsH4nWlRA88G9THzsu8socwzBcoo-BVJAgzc2haaEeeWcdmybKFINq-rKCp9v6X9-w93ZKG0bV5pTqaPDceDHtbWmp4gZEEOYVc6RnnMr5SSOAO4jaUGQQb8MvfZgPTrydiUC3vIB7yWIYaarc8vxk-iWeSazS8Tof2DWnyxzXmYPnNpERKsppvzzoEkUiMvwD0gd6-pw-VbwtTDGAcnscGZxVF0VOkKClfyPfsFFlGJX7OVSWRtFF4xCXc4xmJ8FlrtXlYBlRosBe6Q-KbXSUAwbQdJfH6xPc_Q8Hn5DTQzL6dHn1GWzuiR3qmz4L1TWdEr_OD2z1JGgvtZzdMiyDg_UKKnjImokoUJIV70OTVV23MEHPr9IufuOovAXjxmSo7F3WXzWSeIytf5MbA7cFWHM0UCWUOrw4MofmkX2lRn7DYc-z8qOUDESNrHL4YdA9TeJ9xFafuH5Xr68f8hItqbr-0VPsHT8ClA_DB8zC3zam8b5E7wKyvKioEsZk14cOeqa7aqTVyFRfGQKfTB9Uc0h9IFjOeTxmS1OksBFTM1HoNuDyEmSnFPD1f-n7-hJ9q9uiq4cktidxvK7K89GcA7pFU7CFc8Xx33ZTXTTBZx7aEgAm3y94TlEusTGQ4AloJ22QHGRYm6MaReonVF_51dw0zIACA4RMwUq03U93Eg6lk4satinEu7rMaJ3E7H9mE4Mdt_zFDcybxoHFhIC1gmrvJ0VDh9FfniJ71Q0pnHC3hUSkQ0YyToC5Gxwt6e_ZvU42GzFcYs2Co2vnzK2vt0Ym6BpMYAzaYk32AqbfoG6YbMoxrH_vfBmcS_KHGlY_N1L6npL-x92UO86GSyMtuU33gJPIW-cQQRohKPrD0lgMz5fuB4b8WcpF8zbsol4izcgj-3reTmCT19YibXjBLviMTGGCzlCShtF1ZT8s32JXlZa--4OD75unCLB6J61SLi7ZbEjoJkoWExDwsJrqBekUiN3qjRwesddbk_SS1mOOFXcKGkrZ_mrAMdW9NSU7KGOKW42vwBrxN_XEfAngOrBIqgu5GKhXugJw2IoHvwqUI3mG-KOIj_SaBAf7UqBSKHO6hd4GhAYYMF3RkMxtobKzQ__68_nHNpkDIU3dYdMMZu5sg8FvgdNx2kzXQaEyhfZjpHhGufphkNhPvYJP5_Q1Q3Ob94oEyk1Ft1NJvW3B6DfXtaCjKK4p0vM7eOz9O5MT5TgbYeVLeFItCnHQXIfcXwiAwivgbrAPuoz4vft",
  "id": "rs_0d3a518622cde59b016ab456b7868c87d082cf0e3a74e09ae8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.107,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"Straightening reduced the orientation error and the cap remains centered, now reaching the fingertip row. I’ll retry the vertical descent with pitch and roll explicitly held at zero.\"}",
  "call_id": "call_xvHLkHOUsvnRhV81HkyIWLO1",
  "id": "fc_0d3a518622cde59b016ab456b836a087d0a137bb30827d0300",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xvHLkHOUsvnRhV81HkyIWLO1",
  "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]: [-0.0448, 1.7622, 0.4469, 0.564, 0.5629, 0.4294, 0.9994, -0.0185, 0.8093, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3463 left_y=-0.1063 left_z=-0.0004 left_yaw=-0.7422 left_pitch=-0.0429 left_roll=-0.0282 left_gripper=0.9994 right_x=0.2925 right_y=0.0022 right_z=0.1734 right_yaw=0.0 right_pitch=-0.0507 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4855, -5.4359, 3.0427, 0.7204, 0.1685, -0.0415, -0.0757, -0.3761, -1.5248, 7.159, 1.8388, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f429e8f23fef4189f94beec03bae9dde89fc2412cb8a11b90163744a773667a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b507d3809e773dd4c1167e0a3604fd2bcbaf900f6156fc29aa986139140804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69110b96185fd27c1542dfbd67bf2a5421a03bc64f108d2baa7c2feeeb8349b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.004 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1928, 0.5056, 0.4026, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3577 left_y=-0.1105 left_z=0.0834 left_yaw=-0.7304 left_pitch=-0.1921 left_roll=-0.1138 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.8171, 8.7179, 1.5409, 0.3394, 0.0073, -0.0708, -0.1846, -1.5932, 7.0222, 1.7558, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0589, 1.38, 0.7109, -0.1207, 0.5327, 0.4057, 0.9994, -0.0185, 0.8062, 0.6132, -0.3969, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3502 left_y=-0.1069 left_z=0.1086 left_yaw=-0.7224 left_pitch=-0.0865 left_roll=-0.0552 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1773 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.3761, -5.4769, 6.5573, 1.7509, 0.3834, 0.1441, -0.0708, -0.1709, -1.4838, 7.0632, 1.7509, -0.022, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0448, 1.7622, 0.4469, 0.564, 0.5629, 0.4294, 0.9994, -0.0185, 0.8093, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3463 left_y=-0.1063 left_z=-0.0004 left_yaw=-0.7422 left_pitch=-0.0429 left_roll=-0.0282 left_gripper=0.9994 right_x=0.2925 right_y=0.0022 right_z=0.1734 right_yaw=0.0 right_pitch=-0.0507 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4855, -5.4359, 3.0427, 0.7204, 0.1685, -0.0415, -0.0757, -0.3761, -1.5248, 7.159, 1.8388, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f429e8f23fef4189f94beec03bae9dde89fc2412cb8a11b90163744a773667a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b507d3809e773dd4c1167e0a3604fd2bcbaf900f6156fc29aa986139140804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69110b96185fd27c1542dfbd67bf2a5421a03bc64f108d2baa7c2feeeb8349b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFa87nn_bwGMo9FWPRotvL3ij6zqK8wyQEDfwtSJ2jnIfDOkO9wBdl9xmmM0PWYvm_G3R7UHzvNoROjURx9TnI4qy5kVusUFGFzlf0m4rjH-ELPpoKLTvv8C8mrlKWjwq7a1KUtFNT6OqKAZ-neEkxmaJcjgWxTSk5YNLsDueVesA1jxuja8YNYoCr6JP_87uncs3WoV6brYVfxUugdmUNJmSF1GwNL4TDV2VtEgPaYLnduQ1WHMVw5HQt-GXoWnTVfyQG-7HSM1R4o_y2xd0dqhrk5d6x43Buqbhe3Cq26-mUNAna_7CqX0XznEqsgDae-4XXEvbsNjVgK_Zl_LuCGQZP2oris_Mo28uIa-k32pZifJm_aI0hbl6GnbR02C8Nlfq5tMhPWXbCWsJEElu_5MDyzBsDsxDjmrT18evTm7GlBpXT8GzAmV7gkcaCfFPULGW5Xkp8CqiXyVA3WiQRNcpjlpM2wtxNg1Vu3jBKBQYzCcElSMETDfkGahg-xzjeDTuyXHmP_9Ik7LADRxr_vngN4smxlEitloN2GIi7qTjiQoiJJ6_yPaChbhloCXU25P9amYml61wWceVoIroGUycGMvp8JHc3awySDbqwsVly21qlCNwUU6Nx2b9_elUZ3Le-k_3dPVoF65DmK66IR8u30C5VDkj-s3qYfyI3NtsClmnMM2oFqFDEJBdNGEqY7-ILDTPA0UwEbnFl67WP56OER4TzAS5QmfoStcHWDVeeK7x9ICTIc96Kg18jEXjH0x-zatmOOYtKyShhqr5x0Z_C7BI7zHUFH2K-fYeGxjaGLdLVuIuyX3zDBMsXZp7ly-p8kVqeUVtJyGm1x6D7ux8GBqlfYVP9J1yhH-wOnotQm_SnrvUCLtNSP4WlF3uNoFV5S3j1ZyxDY3_hEk4Bi5mr55qycwiHyfNqOu7uu2Cm8ir_P2XHDFZsq83wKSTrBpk0lj36obFdhiWul6o0mOCI1vNCE2JS_ISU_FN8yvmVVfpuSJI903hZvXCRf6M5HzWDPFzmklXai-unAwDwzGa6nNP8PugNbb6BNRWmD3YSGmOKQ4ytx7bpPzeRz5Hcd-BVynzOzQaCNuFAS75Obw6K87CggR9pguhGUPmq1HBbhytl_Vw9z4PPhtOlA8qFTrDRKRnB3enBjvR7IEB3XdW_-MMbzno-ZpeDoOtJgOx0Mix2G-RGFH6TEOSNvai8r4mXm6zuFwTuNVNQ5-QlVWjM2JurZciV0kkBOLv-j3t7shY7VTWDTJAAdDW9lDrOKVJrkKtYaIVjxpGXehip5q91oosepsfUugmmz9tokrHrNrB51fNjzHh8L-LvBouhFA-6UlAH0Ko3Jh1AwPwcfRnHMRnUvoB_oSTyuoMXMCaRbhYCXt_NAPj6vFEiumckhM",
  "id": "rs_0d3a518622cde59b016ab456bad5e087d0aef578c2ed26dfb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left grasp point reached table height and the cap is visibly between the jaws, aligned lengthwise away from the camera so closure is across its body. I’ll close fully and inspect the settled gripper width before lifting.\"}",
  "call_id": "call_s8DJD7Klwg5filxgxTb2j2Ce",
  "id": "fc_0d3a518622cde59b016ab456bb676887d0b18c3dfd22fb5060",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s8DJD7Klwg5filxgxTb2j2Ce",
  "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]: [-0.0452, 1.7737, 0.4366, 0.5911, 0.5575, 0.4286, 0.0091, -0.0181, 0.8101, 0.6132, -0.4122, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3455 left_y=-0.1056 left_z=-0.003 left_yaw=-0.738 left_pitch=-0.0411 left_roll=-0.0226 left_gripper=0.0091 right_x=0.2925 right_y=0.0023 right_z=0.1732 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.3504, 4.6974, 1.2527, 0.2662, 0.0073, 0.7155, -0.0889, -1.4017, 7.0222, 1.7118, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca0ab10e231f8822c3c8e20310950b779138a3def4966cc754acd37eaed332c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0760b0f0fe6aedd80bc895570490537f7a0efb94b85b158008645a2f40888d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c44f00ad0e56d65ab27db41cfcb3e6c03b6d389a5d34fae8e43ff16c2d9b23f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.839 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.5047, 0.7902, -0.1917, 0.506, 0.4023, 0.9994, -0.0185, 0.8043, 0.6132, -0.3969, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3579 left_y=-0.1105 left_z=0.0836 left_yaw=-0.7304 left_pitch=-0.191 left_roll=-0.1136 left_gripper=0.9994 right_x=0.2943 right_y=0.0022 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0305 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -6.6803, 8.8821, 1.5018, 0.4176, -0.0171, -0.0708, -0.3487, -1.3197, 7.0222, 1.7656, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0448, 1.7622, 0.4469, 0.564, 0.5629, 0.4294, 0.9994, -0.0185, 0.8093, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3463 left_y=-0.1063 left_z=-0.0004 left_yaw=-0.7422 left_pitch=-0.0429 left_roll=-0.0282 left_gripper=0.9994 right_x=0.2925 right_y=0.0022 right_z=0.1734 right_yaw=0.0 right_pitch=-0.0507 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4855, -5.4359, 3.0427, 0.7204, 0.1685, -0.0415, -0.0757, -0.3761, -1.5248, 7.159, 1.8388, -0.0415, -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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0452, 1.7737, 0.4366, 0.5911, 0.5575, 0.4286, 0.0091, -0.0181, 0.8101, 0.6132, -0.4122, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3455 left_y=-0.1056 left_z=-0.003 left_yaw=-0.738 left_pitch=-0.0411 left_roll=-0.0226 left_gripper=0.0091 right_x=0.2925 right_y=0.0023 right_z=0.1732 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.3504, 4.6974, 1.2527, 0.2662, 0.0073, 0.7155, -0.0889, -1.4017, 7.0222, 1.7118, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca0ab10e231f8822c3c8e20310950b779138a3def4966cc754acd37eaed332c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0760b0f0fe6aedd80bc895570490537f7a0efb94b85b158008645a2f40888d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c44f00ad0e56d65ab27db41cfcb3e6c03b6d389a5d34fae8e43ff16c2d9b23f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFbB_OlNdp-tJV1wubEYDn2sT-Xyrp4q1yI3mCcy98tguvNgWFSq_xTmYk_CtPGzGtoE_xB5hgcEFklrlXRlv2HyNe7QDPG8fFeEqGIiZB_fmLnXdN1Xs3o5-SoKoPDvYIp1dl6fSKwTtjcyojeLpivXNKD6JhlgFCejku7KV1dU54S-frg9ghIi6pozRfOM6-dsRdaoJZv1pNLCms3f2jQjtFn2Ry__6_pDdUnVKn6_kOV0HSIbNzQTDHvkC7SPcnO7ug8UqAtEXKhz5XZY9G4HClRqUNLrgQdV0GgrsW04sUhiAO7keEscs6S7CbmRzpwue9Koo2tknQLBQR5QOP9pTXzMde22tRrAi1jvar4NxEwvyToh0cz3UxATaET3F2Oux5NfVymadoY8n7OFFwjjum3rriorBf6XmdXWWYlGOw45jDfBMKwAHTq3xvSdp-rr8k_AulBMnjbAFQM4EhwnMWqdHdyvLjMq1GSWNkEbrzv9F5yYz3YbtvoewBy-to000Jnoya3BPx07FVF4204wEq6QvLtA8909lxpt4BkOpjfGs_itqLMTH9lUmzyT5EE6DoKZoX9btsFIeWFjA6Ec7LxLlzb9di2zIjnl3MPBpwJItXQVlzTKCCVqQ11s7Go92ebTYmFKmYZ57U5eXe7_-5sdPB8krZ6h6YitUTCznxp2E4gPwIbUwAZYrIhltPQRznKIHaJMlzeJIAImuFDpaNg6s3838p2-DTmbM2i4Rc_-2Vo9ViJ1St7cu_JFqsfHZ1kg0XcRaRkgdgL0Z-BSXET_eKxq9bYLzT0kOrpQ02cj4JUCimB24MPA-zshHPDDkF0pzCDUo_YqXGWRsHTCCUH0IinxwhG4pYW1YyiS4Wja_n3W5OK4ESwIc0OwvrDgTKSL_J1pL0cnqDo89bP9hh9w43KUdROM-GSmJ_fjAaDyaeoFUmuZjmgpO9imkgHiEAlqU89LmzT5FUzvmLEVmuaXKmeKTKCDRC-A-f_hDULbC_3t9R97ccONvnSJnbyq0NviJ3ICvz8-rsr_z2zoKU3qQEYQ2YRGBZOrjeWnfQIXoJDQ3aypZYyDPID7eUioBHoOvU5SOZ_Nr7y2nh6EWtLzmm4EcSL4LkMumNhUgQE79UcpYSTmKEP9p5EgIO2hB2xB8vbDhiHHqGU95CU12dBeyLZpn6Zdh2p69hpvWPJVT5oGydVoGI-HXXDneI2GN2u72HaXA9y_uc_qPB69I-CvpEp1ptjSRgmAc13aaO4FFS3OBUtJ4bRWCDZfDV4d19v9G_ycIpR3Rs4n2fv_x9R0xgAL3YTFp10YikhzPTt-ME7-eMHe7_ZANCSKdmoNE-iuSTLXn39i6r1PuEfEnHt959P72ypuNaWWbkyTdrftzBjigGTdaynAW4Y4Df86LwOKJ5G9Eigw2pNvl-LvoPnSiuPd_tipvBNBIjo0hSIVi35jEPlQsDyHz2KO-MLgLdR6FtRgOvmbhZAKO4wFPTkUriauqzS6zUONJz9-Nd6_IhhTuARlscxmNntoC9Ah57aYm-laE-JeNJbzC7x26non4y8-oTQo7ZnBvo4umhAGz5isCAFVEllBvyA345NJ4WBBrqlAHSCDhTP2X0W64S2vCpREN1y3r6GTfqJ5a8wI3QPyYG090VDEtn73biBmtXQC0NgmEJ9ewV732k2H_FyfizYPKxE2unIMFWSTvvyhrB_7zi4pWMrjPDWhIQWpoBpiTiNcTDkCZ2RWaZVkel367r0fy50pQagcv8rQntqG760nUwhMRwjwqyX81VGI76nMM9Q0FzvXW-U7laeGqwFCXhnFooaC3VXEMLDCjTrrMWuyJ90z5SfX9gydP3AZJR-UlV3L9lxViuqP0qMgMX09tkpLGa-0gZ-VVsFjlOUJh32BH4io5QzwDArZho4U6RngBrOyOlBTicDClWFvKZMIngoo9Iklt5L9HAEyxsDR3xk8-bIsB2JpmEw_xxVE8Y2hr_HWWqftWF0Zeg9Noo5-H1WjL3skiDWoaql_MfYYlRrnYnyFI-MROLtNeDq-z-BoYWELfE2fSVztl4ocMwGEw40GP01AWrCUx69D8Hzl7hnVzevI1DUDsLO4x4hqaH2BynSkZTYZgX6ua0QFzRy76WeqM3fk1-etAOU5Y6UHrGbgiKmZwOSiJPmK0PuywD6hHd6fgTOP6Ra4GH3XoQ==",
  "id": "rs_0d3a518622cde59b016ab456be23cc87d08f60c17e781de74e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The settled width is 0.009, so the close was empty; the cap remains visible just beyond the closed fingertips, with its near end only about one to two centimetres outward. I’ll reopen and lift clear before making that small outward correction.\"}",
  "call_id": "call_XoyvqFw9Qe59VxtsXxZreAVL",
  "id": "fc_0d3a518622cde59b016ab456c03ed887d0b3130763bb566426",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XoyvqFw9Qe59VxtsXxZreAVL",
  "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]: [-0.046, 1.5139, 0.4965, 0.2459, 0.5507, 0.4213, 0.995, -0.0181, 0.8112, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3386 left_y=-0.1045 left_z=0.045 left_yaw=-0.7305 left_pitch=-0.064 left_roll=-0.0411 left_gripper=0.995 right_x=0.2926 right_y=0.0023 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.053 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.653, 7.9658, 1.4921, 0.1978, 0.0269, -0.1783, -0.0889, -1.3607, 7.0632, 1.6923, -0.0415, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb0a31a213f268a05ff12b6457ff4b22cbcea5c8fd4837a3938a27983a680c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50dce1feaea4a38e42a70b41e6285524fb1a2a4e4e091ad2bd239f65e4d980cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9456b9bc50ea0661a47d49a25c3b25ecc28bc06ceb040a84f3e61690819450ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.86 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0589, 1.38, 0.7109, -0.1207, 0.5327, 0.4057, 0.9994, -0.0185, 0.8062, 0.6132, -0.3969, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3502 left_y=-0.1069 left_z=0.1086 left_yaw=-0.7224 left_pitch=-0.0865 left_roll=-0.0552 left_gripper=0.9994 right_x=0.2944 right_y=0.0022 right_z=0.1773 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.3761, -5.4769, 6.5573, 1.7509, 0.3834, 0.1441, -0.0708, -0.1709, -1.4838, 7.0632, 1.7509, -0.022, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0452, 1.7737, 0.4366, 0.5911, 0.5575, 0.4286, 0.0091, -0.0181, 0.8101, 0.6132, -0.4122, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3455 left_y=-0.1056 left_z=-0.003 left_yaw=-0.738 left_pitch=-0.0411 left_roll=-0.0226 left_gripper=0.0091 right_x=0.2925 right_y=0.0023 right_z=0.1732 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.3504, 4.6974, 1.2527, 0.2662, 0.0073, 0.7155, -0.0889, -1.4017, 7.0222, 1.7118, -0.0415, -0.0513, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.046, 1.5139, 0.4965, 0.2459, 0.5507, 0.4213, 0.995, -0.0181, 0.8112, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3386 left_y=-0.1045 left_z=0.045 left_yaw=-0.7305 left_pitch=-0.064 left_roll=-0.0411 left_gripper=0.995 right_x=0.2926 right_y=0.0023 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.053 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.653, 7.9658, 1.4921, 0.1978, 0.0269, -0.1783, -0.0889, -1.3607, 7.0632, 1.6923, -0.0415, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb0a31a213f268a05ff12b6457ff4b22cbcea5c8fd4837a3938a27983a680c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50dce1feaea4a38e42a70b41e6285524fb1a2a4e4e091ad2bd239f65e4d980cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9456b9bc50ea0661a47d49a25c3b25ecc28bc06ceb040a84f3e61690819450ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFbGricNOXQUV74eybOMvC3iIqDAOUAVZBVefQ7mWzVx3mErNAb016lkEaCm2JByBp4iFswgW71BmZhAZOowyoYAk56Qjy7fiTU-lpidsrK2x2pA6kbT-I2xywSOcP5BDOvMtHmMkHXaOl3-gmmzb1VmHXamoM-UOo_ydp8oaoxAwaH7Ko9AyCYCJM1FflJ3zM0yrAgRKV8HsjiMLaXLRhGcbZsfRhxh1sLCoh9GgLQrY_TCEQQJcfYRdhuDQKI7DY1JFrnWyqg_ms36ezQna5JR4gZPuORuy9o697aVdrTUHuH0sgfPZNQWvTKUaDvbOtg8jrqQ-8w3wGX6KgCuFzKyRdDGucc3IBpDAu2RyqoNT8Xa1KJWWfbsEzI0ykq4i4619MB0omQxbeTj42tc85FQ4UrxEQbdyUhchQXOLQ0aun1fi5kkot9IZxZ4krpDN4MMFQY6W2nQfT0QQxjWBzL1K6G3zj33UFIQD6D9zVLR45Rx_sr2lAuUx_MAY_Ph9yCaf4o4yotJ-LP7eZ87afUHeroNnZR-NC3iDt08FnoxUDABorphD2lAiUaBwruDvTXJ4NpMptNcIEGYYJWfJ4wA5Ljj0uTTfkkRHfuZeD_5D2E3p2N8MNr-PIYHO5h1ugmNd17R2t3RTEFtjkt4ZsAbJ6O6tOQ6ivnRugiBhl6Z2cotOx7n4-ole_w3DKK4tQM48vyvC74FJLb9_t38629xZBpcIiqeElwcJqwCp2Y4w5vpv0ty5o-4buyat7_VQC1A-PO63jVBRBZJWHaBUj3aaJLIaGWa0a0NpIYAUu83zJVkvODAth1ZXg-GCS6gVH-r6KbMxtChlW1sgEyu4feMjF28fOuIkBFa4fPYY0z51mddFXFgUDWYk57MoHEF7b1Om0gol5qW6-QQ6GZKiwIunTUghLaucI1Mb1XTIUCx72k4v6VVfYnS-pVIxlffZmR_TIdSGoLLkpTmv4ZR7qvipFWDwmK5KKW7EFUTd79lfWvl2uHzf5b27sXbHe6AwEsLoGyPXYUUF4P0gWb7q8EdyFtHLyMKzhhjW3qV_kp05l7BpMshG_vNtXpn5L2MIYwRLaKTHHM-C4ZVk2Ki5CWi0QlgHmCKSPIaG4pLTn0Ept41Op6f5YOGf0FRMXjPnZqoCkDuYf0bumfsGYM-xX0HKQd-FWOqRVMIXv_VRSMMcunuvzkHnoiXG_gQT-JMrtfVV4k3eX6jsJgmtim7XgAxQYzDXRLGcy4jGS7OEjTxw4gENyQDuX06bMLxdWXbDvhF8zJdOoPTX3X4HZd841tLyWs5aJ4ZBCaohLBJFh85tBQ7tKKJD9eZZ_I6Fq62GggZ4LkKicuIJGgEZMLl7M2YTNuJZWdvWUdtYoTQYlZnbhEe8lGVr1io_TKkhaHHc7YN2Kl9dw2zXgHxcd-U5VmTXKcejNuQMlnR7Mt9jxpBvKw=",
  "id": "rs_0d3a518622cde59b016ab456c328d487d0be8e71eaeeedfdfe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.105,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"After reopening, the cap’s near end is centered and reaches almost exactly to the fingertip convergence row. I’ll move the grasp point two centimetres outward and descend straight to table level for the corrected grasp.\"}",
  "call_id": "call_Vex7U39CUxic717zVX7MS3qn",
  "id": "fc_0d3a518622cde59b016ab456c48ed087d0a5c7d8ec1eec9a17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vex7U39CUxic717zVX7MS3qn",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0338, 1.7851, 0.4824, 0.5388, 0.5831, 0.4446, 0.9984, -0.0185, 0.815, 0.6128, -0.4149, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3527 left_y=-0.1056 left_z=-0.0007 left_yaw=-0.7549 left_pitch=-0.0432 left_roll=-0.0345 left_gripper=0.9984 right_x=0.2924 right_y=0.0021 right_z=0.1711 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.3111, 3.3709, 0.0415, -0.3199, -0.4176, -0.1832, -0.2256, -1.3744, 7.0085, 1.7949, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e1d9a9e71cb1d932e258f41224a9a5eb10bac947e11571d4301c4650c6e3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673c25fab341a675116bc2c32289459e2d0141da7ae0c40e262a1f0c6fb34a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2aa2f03d39f4adfc2f4cfed496d0765e18cb32060fa431004d5063c038746c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 5.992 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0448, 1.7622, 0.4469, 0.564, 0.5629, 0.4294, 0.9994, -0.0185, 0.8093, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3463 left_y=-0.1063 left_z=-0.0004 left_yaw=-0.7422 left_pitch=-0.0429 left_roll=-0.0282 left_gripper=0.9994 right_x=0.2925 right_y=0.0022 right_z=0.1734 right_yaw=0.0 right_pitch=-0.0507 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4855, -5.4359, 3.0427, 0.7204, 0.1685, -0.0415, -0.0757, -0.3761, -1.5248, 7.159, 1.8388, -0.0415, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.046, 1.5139, 0.4965, 0.2459, 0.5507, 0.4213, 0.995, -0.0181, 0.8112, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3386 left_y=-0.1045 left_z=0.045 left_yaw=-0.7305 left_pitch=-0.064 left_roll=-0.0411 left_gripper=0.995 right_x=0.2926 right_y=0.0023 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.053 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.653, 7.9658, 1.4921, 0.1978, 0.0269, -0.1783, -0.0889, -1.3607, 7.0632, 1.6923, -0.0415, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0338, 1.7851, 0.4824, 0.5388, 0.5831, 0.4446, 0.9984, -0.0185, 0.815, 0.6128, -0.4149, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3527 left_y=-0.1056 left_z=-0.0007 left_yaw=-0.7549 left_pitch=-0.0432 left_roll=-0.0345 left_gripper=0.9984 right_x=0.2924 right_y=0.0021 right_z=0.1711 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.3111, 3.3709, 0.0415, -0.3199, -0.4176, -0.1832, -0.2256, -1.3744, 7.0085, 1.7949, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e1d9a9e71cb1d932e258f41224a9a5eb10bac947e11571d4301c4650c6e3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673c25fab341a675116bc2c32289459e2d0141da7ae0c40e262a1f0c6fb34a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2aa2f03d39f4adfc2f4cfed496d0765e18cb32060fa431004d5063c038746c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFbJ9vKAsE00NYCHmqroTmgPFBY0o2AwmCOj4z-9UB62QFRncmbUJgpn01ZvrxeJIUODWQd894ajuQ10KiurmKHS__VSt0NWIGo1BlmH2_2iL4AWAB9-c2YNi4IW-cgCLRYjel3GsFLfIMmgNqP-lB1-TREbiOvqNsNIdrImOkOv63qEZWaTPSbdgSzNoQE3-8vlRIrrEtOj6O5Buj77SAVQ6mjurHbyRPSQKdd-Lh7ItEaxfASl-Dpqssd9ESgcShsPLCwD582dPDw_agWQ_3SB5H6gycNz8IGNVR_kyTIG8t9YUKxF0V-jCUeRi8Ox2oCfXuwK_qmaY45OkyVWYopd51kfA30RPridprDE8RX4l3nqWAjD2nQnAI-g5hBTEWAUDtaaDGgwxLy-pA2otZZ8ZUVXXPdcc4hCb2LoC8qA4l0dthh4cT1Vwd0RZrE7LkP0-UObu3YsHM-C7t_qzpKWftRMq_sXmUs4WAEVVV43mHj68wkQnZIHSBD3NOFPs_oOjswVNYg0KNpohnZo3b19s9fagGrogc53vylKRnSFBly_Lbx4YpeWFURTloWNRaZO_dQT_LSYJlROhyEEg529AEDYcVXfnbJmOo8iuywpZdcveJvT7FJ7Q0O20AzMeG6Csy5-BejbmhiKH46WEwGXpeznyrSgREYMu_dcjMsAjkTi1iRoy0aQnBtUuBVi8TpjcrZEs4UsCWRJlhMGB_sDxpNLK0h6yl1lI8j5E3hXM_iq4rBPUoBsuyXr4hK7HU6SNXAI-JQ3N8tuaD5k4SjFit9_dunDsvzQmSiVtj3rPntz3B23_HqS0QaAOxBGo1vuK17HrP5Vy9PUmZ8_fYi9ctE2lK61KhLuJSAQfUZ_oWE9whHEeQ48UEwWST5rPX-prJob_faGG3kSVEXEjiILdkfvA47nHWfmWxofhF4lLxEeBvEsML8c3j0HeDltJGXT3H-jdmr5RbG_hxtyBX8ada9l4TuyZ8SjwOx9_bEqZL-snLttxXH3M9TdhGKjyqpIIg1FnDRqK76BDgvYKb4FooMCSbQ11s-KbX3fAdPcZbWP0BLUWjZgYvveZ_yu5Z4X1h9DXMTGsJC_4srBoS-mOm1LpOh4iDHB8q4xseYFFF3svpWG5jkHAOC9P1SJReJ8G5dvYBOGBjtJmyV0xbMiAh2GqPo8X-RaaAv8Z2PtpsIHOspmAgF3aNo55dTM7-1PqKOTRamPlsLPicbXJbuKCLMPHNe8AdktETCcWpgpkzH7BQ0ggX-cU0wsdoja9oPpVtjxdPGrpM1E7EXaJ_8cJc8qdGgBFTaI7XEGO97u1WC9B_m1uR6zXZmNrKqh-2W-3xla4sFB0gwnaPjGL-lWZ32GahiXmtrMc-9SxpK5mIiujZ5fHQKI8bCAMsE3Kihf",
  "id": "rs_0d3a518622cde59b016ab456c831e087d08b9550b5aa2989d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The corrected descent places the cap’s near end directly between the left fingertips at table level. I’ll close again and use the settled width to verify that this time the jaws captured it.\"}",
  "call_id": "call_aSfbvp7LXtl4GlppjuO60N41",
  "id": "fc_0d3a518622cde59b016ab456c94f9487d08b732f33dd366c56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aSfbvp7LXtl4GlppjuO60N41",
  "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]: [-0.033, 1.7962, 0.4751, 0.5644, 0.5808, 0.4469, 0.0093, -0.0181, 0.8165, 0.6128, -0.4137, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3528 left_y=-0.105 left_z=-0.0026 left_yaw=-0.7535 left_pitch=-0.0388 left_roll=-0.0266 left_gripper=0.0093 right_x=0.2927 right_y=0.0024 right_z=0.1709 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.4872, 4.5333, 1.2283, 0.2271, -0.0415, 0.7057, -0.1436, -1.3607, 6.9949, 1.6532, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4968c4d3cc0836d11ee9c942af7f1a4750748a1305cc1dc7f241545ba605eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7306e1e53cd123e822be410e9cd223a6c58bbf1a8b0f40f143cb37b906dad523",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d115e89990c254826669e1322714c729543657df7a984b2723c92a2115ef70a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.133 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0452, 1.7737, 0.4366, 0.5911, 0.5575, 0.4286, 0.0091, -0.0181, 0.8101, 0.6132, -0.4122, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3455 left_y=-0.1056 left_z=-0.003 left_yaw=-0.738 left_pitch=-0.0411 left_roll=-0.0226 left_gripper=0.0091 right_x=0.2925 right_y=0.0023 right_z=0.1732 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.3504, 4.6974, 1.2527, 0.2662, 0.0073, 0.7155, -0.0889, -1.4017, 7.0222, 1.7118, -0.0415, -0.0513, -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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0338, 1.7851, 0.4824, 0.5388, 0.5831, 0.4446, 0.9984, -0.0185, 0.815, 0.6128, -0.4149, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3527 left_y=-0.1056 left_z=-0.0007 left_yaw=-0.7549 left_pitch=-0.0432 left_roll=-0.0345 left_gripper=0.9984 right_x=0.2924 right_y=0.0021 right_z=0.1711 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.3111, 3.3709, 0.0415, -0.3199, -0.4176, -0.1832, -0.2256, -1.3744, 7.0085, 1.7949, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.033, 1.7962, 0.4751, 0.5644, 0.5808, 0.4469, 0.0093, -0.0181, 0.8165, 0.6128, -0.4137, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3528 left_y=-0.105 left_z=-0.0026 left_yaw=-0.7535 left_pitch=-0.0388 left_roll=-0.0266 left_gripper=0.0093 right_x=0.2927 right_y=0.0024 right_z=0.1709 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.4872, 4.5333, 1.2283, 0.2271, -0.0415, 0.7057, -0.1436, -1.3607, 6.9949, 1.6532, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4968c4d3cc0836d11ee9c942af7f1a4750748a1305cc1dc7f241545ba605eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7306e1e53cd123e822be410e9cd223a6c58bbf1a8b0f40f143cb37b906dad523",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d115e89990c254826669e1322714c729543657df7a984b2723c92a2115ef70a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFbQpZIgSm_4iVZLNiQgrhoq_M4mnRVoFBmXr-b5w5ifMrz7TBU_yOKwxPd5tRsgz3hdTaolZLLXzRZZLsMKxt_6Y6HhmfRoMMAordbu6Umt6-0YlOVcEXZ0JsDIJOhSgZ9ldZAiDWUgB7ID-Az-J36jrvX8k8OPIN0BC6cyTpmrZODJlSt8b0J9caC45U7IKr3e_zDasi623rQtKVvJzCn0bNn0nnvarCuHj0PFLB4Qor4Br3VAhl5xOJlKm9EQPqzD8a58CA5JOcKjBETpPBPFlQrehfJZzNYzgu431eh4bMvja9k1FTgvkdZQMMVvGDqJHTmfE_B5bvXTLIi26lD39Tpt_yExOhuxJy4c4_QDKyzIBbNV71LLOho2-x-DnpM0_Y7xdE3VNbqDlY-vDeqIT14rg44DzP1HyUwdJRWkhqZrRD_jDWSLkfNrMxnXbypBA_0gVZ1uVb5a4va5lqcDdNG3cOkGD9AYPRL5VJbRtEEiK7fUESgtke7mRCEiQH-ARfvUzLJAHoJ-XMlTDcU2wg-4fLdcO72YXwtSYDE9mdGvdLTRLSC-pCxfGdHumu5duPilM6Jn88CWn6j07dD8kwx4IThEZl6Myqe_W9DhcpZ5HcpTat43zArtWOVksKQZ0-QQa7vwOCvU08irkB9IUpt3vTRWYe81rf6dmwcnv_byzhlyNcOK1ayB__4FFT3KYz2BH8AqGy4g1X1xzGuvw61I06B0x9VnNOgxzmqVbnJzAOq6R6RElx1ewfvn_CqWy6D0TCw3XH5YZpe6-fkW_2UWeA_dL0lw4C0KA2mcxWBumwhP60KW2vqmnnEiXmB9wPtPLQyBEjkRVFr584o1ISFxLFhi7zEyPMAvrqgSjVCxPQ1KcHGHjfg0oWod6hHOTbRtlQKa2MBGiI3XSMsFru05qqnTUNFamfTi8eQwcBipxjyOuUrYTwJSw8qyfMmiJB6MziCte0bAEj5MD2ijfh5_YyTpZCDUK-zrDdL6CDvhkWWPv6rRHkAYSPyrEhvywOyAsE8uBM_Ekb_p8N47ouz0RlbjCbGqlseH6sxXA5FWnlomuNCkW9D3La0xOd4vZecPhzIMcZH0tLvfPSmgrmN71PdNbOYyx5AK-EaO_LgsnU9dikA1lKNPo4Dp6VGHViEMWnUMz5j9yeKAWx9glvRqBKFDrIYsAZuJA1v4DE1tsdhXHAdvwQUKmt-HUa1v-cqWHkkFaej2mRI5dcpYbN8u3_q3qzZyhz-3QpAe4gszKBZK9nDiFMVKul0tcCQzHqfS1jbg1RdRHbkfgCmM96cDPAPZySQkpyyWo-t3FN6s1WfqXDE6H-yg_7U6mlbj2XA3ygkD50V9Hh-I1ByDHwVdW6Ojf5b8wd6tE9XAvLsm0-qL1tNDbA0Al33XX2WOv2B7chEcM2V-aPF3i4FPMhdVfwlqTXesStPwEkCtlFowkqSnXT8JaoNkyRZumh9_lF7JNBPFRb4cP4FXOoaLW2smgrSMJRoGv4TnoEMmYwo6BrkLnMluEllk48T54iIZFFbpj1chyRvotLaiZmmwsKFFZiHyeeeB_SRWVPi25RPkbgUMIerVCrVaY8HjzaKDtGoU8g7ognjKCCCZldR2PM_HlPhLAFiLJY5v_K4BpvzMBjkvznJoeOR_vYVJrE5utIQKnConWdhOkDJAFh0vWNBhOAjD2aDor3xiVWZv2OQEAC5gZnWYfrkmn66jZaHxSYX5d7FuFbxLNby_ZhOSZHoDteHK_qdrWadqBPvug4fwfF7sW_EAKF27ETE05IsjD0lpIxxmTI52-k_BCBumxed5aegHiG_QDGGrJLeo9xG4NP8I6CtH5xlJxBC4-nYZzJ0apsP5meIzKE0pbl-VypEI30tcA0fRNIHBEdPl6hrY-bUvR2GssIujjqqJ_X348dAbjPk_R0gN34rYi5q0ibQT8XkAs0Ox0voDsiPSEurLsscu66rKg8fWoDXsAQ0-390KRcyX0HHK9vpO7HvGIWdGJWVZyBOjsykM7UmRCk-p8hRCAHtkZPh7snTh737f2_0xpb8g-pRLwAP9CrGbhdv8Nj-s8Jbwn1IE0TUqn_H9ITq6IAnJqab8j-9AFVVKyI-OUQ_ruJ_Foie2ML3rLzAc31RHUaSbc24laCUN4LMVINC0_oiHAXFVs1DKarTauUMzCJFjEV_lN1497tI6SuRWDmeOhXjVHIuFrN8SvwdmYr6ixSpKW1J1KszlMRwZv6lYZfzKneOyUQ5hCasyEzORW_VRstQUUNv-TtM8cwsDxa_c7AKOQLFzoLjVg-fqDsvZVXl2eq5QJnHlgIKzptwaU7CPOCW16SjP6NGPuJxAExOg7BMvCEssKoidL3WlnXhdYL4UCCrGwAjnlot1jKkfHjGbl8JsEZF9HPdRJtMLnAj7EZV2i9fSOv5XkAP8aDMuA0apzVLx8_Couin5-lz1iCW7qPhUMNexCF-oXwMDAWS56oGFlhLrqy5sQNaMH8sP45dFcHmXOAsh9ULghFV5XjeRC8aB6nQOHyMKkckeDMOzQxDU73JFPZs1j7MJXWukAsP_X6jWWcsMPGJWw89YiVs0pXgPD6axvbo2IVITN_mAqSQB0uT52BmnncLQuR3JIuIZqC_EIxRyKJ4UIRq1LR_AbPoCIjJAVphkjvnZQhlDbL3UKpX5dvA7Ex6bYQ29mGxL9NF1aO849DEPYryDg_AYE2RK-ApA2lYabaaPFxwgms_inpILRuHQ_bVsSZi5YuXJ-dWcD80wc0c8hTZVaNmDUre-MrszcF_1yGCmAXniTk6_uC0qERa7wYKzlh-2bb_ZKrNqz7jlA7kwXeNEIMS4pZYQL_7XRbZ4vHgmx2BVRSzXXmaySmFrg3Lz5wy7tJ313ktwlt9TZrUiuWUVVdAsupXl-rQ2k8dqxMCWICxyDnH-fYo9xatogjjkG5BmBPwshKGmkWyoq_l7bqFeYsF0r_bNf9MjtMybVAlC4XxozUSWN037QsMoyMt3jEaui38tjtP59r9LUpmMwPVonBiaEOPiLe44SzJCMstirrRk_4PjqfhJQx2JQcCpGNLiOR4j4HZTVmpidcHGQH1XHG_7Hzz6W-G5aCTOKO2m4lSEgiSnp_ns48XG1qw3C3sGSY0Pn94r-nPQ4JOGDc-C40i7-ARNYZtljR89yeGYddSyB1PThZw0SubRbUKsiMdsG6iRk0vtCBjvGn2d3AWUzQsom2VSIgH-IZfVr4VOmx21e1P70RDQ6Uq7U3xM-M8yKuP1VZQweqIucn8OoUMjNQ1z3xXa7x2RNMagqzl6TiqsTIPhIMGiiPXYy7weseCik6-2NVS5Q3Awo_m8CxCy1d-EQySUjCrfnM9WwaSjfnycQ3sU5c-BBeISYtpQV8rHdAGAHxgYPlaUpkBTJRZyc0YN7RoThR3aDGSR3CA=",
  "id": "rs_0d3a518622cde59b016ab456cbc83087d0955dc85be9d85d49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The second close also settled at 0.009 and the rounded cap slid sideways rather than being captured. With the jaws no longer occluding it, the overhead view shows the cap a few pixels right and slightly behind the grasp point, so I’ll reopen and lift before applying that measured correction.\"}",
  "call_id": "call_T8i5tF5yyH2XTARKUXSCgE3o",
  "id": "fc_0d3a518622cde59b016ab456cfddb087d0954a8fed7e822dee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T8i5tF5yyH2XTARKUXSCgE3o",
  "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]: [-0.033, 1.491, 0.5713, 0.1371, 0.5762, 0.4438, 0.995, -0.0185, 0.8185, 0.6132, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3467 left_y=-0.1042 left_z=0.0629 left_yaw=-0.7493 left_pitch=-0.0604 left_roll=-0.0438 left_gripper=0.995 right_x=0.2928 right_y=0.0022 right_z=0.1706 right_yaw=0.0 right_pitch=-0.0614 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.2, 8.4855, 1.3211, 0.1978, -0.0464, -0.1538, -0.3214, -1.347, 7.2274, 1.7753, -0.0611, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d86984f731c11f135b2a82d5d3f16c8935805a28492ba03b83864e025040b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92d00ec9783b7882d72db1cfe0a106b25a8d0605a0add09ecb3e9fe97e8efaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317c2ef9898de01304e085934c638f6d0a4f5f5fd7e2857d1a9ceed9507999c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.785 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.046, 1.5139, 0.4965, 0.2459, 0.5507, 0.4213, 0.995, -0.0181, 0.8112, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3386 left_y=-0.1045 left_z=0.045 left_yaw=-0.7305 left_pitch=-0.064 left_roll=-0.0411 left_gripper=0.995 right_x=0.2926 right_y=0.0023 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.053 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.653, 7.9658, 1.4921, 0.1978, 0.0269, -0.1783, -0.0889, -1.3607, 7.0632, 1.6923, -0.0415, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.033, 1.7962, 0.4751, 0.5644, 0.5808, 0.4469, 0.0093, -0.0181, 0.8165, 0.6128, -0.4137, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3528 left_y=-0.105 left_z=-0.0026 left_yaw=-0.7535 left_pitch=-0.0388 left_roll=-0.0266 left_gripper=0.0093 right_x=0.2927 right_y=0.0024 right_z=0.1709 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.4872, 4.5333, 1.2283, 0.2271, -0.0415, 0.7057, -0.1436, -1.3607, 6.9949, 1.6532, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.033, 1.491, 0.5713, 0.1371, 0.5762, 0.4438, 0.995, -0.0185, 0.8185, 0.6132, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3467 left_y=-0.1042 left_z=0.0629 left_yaw=-0.7493 left_pitch=-0.0604 left_roll=-0.0438 left_gripper=0.995 right_x=0.2928 right_y=0.0022 right_z=0.1706 right_yaw=0.0 right_pitch=-0.0614 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.2, 8.4855, 1.3211, 0.1978, -0.0464, -0.1538, -0.3214, -1.347, 7.2274, 1.7753, -0.0611, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d86984f731c11f135b2a82d5d3f16c8935805a28492ba03b83864e025040b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92d00ec9783b7882d72db1cfe0a106b25a8d0605a0add09ecb3e9fe97e8efaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317c2ef9898de01304e085934c638f6d0a4f5f5fd7e2857d1a9ceed9507999c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFbWHxwwCBVz4wAxl52Ei98Z8YBBZPx9u9nOWJSwFGbBc2TQRPQ1ChMgJLzUbxSqMCVU8AOJdqgHkqd8kX0QgRN7zZ27XTKLwmV8HoRyCp5JoY3JMznYYShRaudwEJT4PRLVlERjRJaBMW1oRHuoMY06NkdBv6trWm5fSMqFYMi-xfaw4buS3QqDI3K8UalvYZK4L-OLG6xCPMHL7OiUOBosfIa9Q9LUFvtmjR9DxpysZdRrGGr2vuNHy-C5hWlR_YeDcf7QIOaCFHrQDB2wkqws0jrnoUhrSm5bEMv7nppdhQzbN6Q9_85pR0C73Kg0Qk30HL3zfU_BFM4iXeEveEB-ef4C055tkjoM5SP7FV4ZBOm5I4affzrcGXGcydLae8-u9EOJeBU7obnuiD41N7c4nleZuBRvQBAhpvF83RjXY1uHXP2Im53hR3Fp8clCOyPPpP52geuz5sCsrwswZo-l-fd29FoRQ-yET0T3aaRHWwObbaMAFLtBbWVjyzGJBRKHGsYpp0eQ8EvdBDVbYqW3D-F2vqHf5WlboaHIxQLcDIl2qtXudlcTKTqH6bUoI2gwBZB0bYXeJsv_QWaztx7YTppo68L2LpoUvTLLEVEaSWP6oAXWeLnOPTswIWaVYC8KKJPxa_wMFl1v3wK6VH1VsVcnIJu5QqZzO0yMcn_CCVr4Yu2olbBe0GdvOwgm4jUGAFpzYMC1fhlr-2_srNP-mA-6weZMwmpOYRIWpkDEsSnOYTVTVylxZB05YtI1cLpB3oSwk59X8xvZPcGtYs49AHALQ5ydVMl6Qd4PHMtay12qnofh9MWLU0Qv_ywMRxddtBUK-D87yr87vdaPibXSOp5DQAHiguEgCJtSGtnikJFn9MrGNvc5-b3xXACJ2BHoTgCZxChejCrtnps4G7UPfemDxXUOOl5uJPfBmrH9YmJ2UEI5Spie0_6IxvXIwiphmQUpXepJ5sMU3Z9aiu25m5t7AT1v2PY6DfhsTGvLruRCpR3-a365kbUZWfHbnuAeWgq_7YXcZDeoYzm4ncgilw2Q5Zfb3ygu6gxWYl3CSHqtsrzyMGHu-7ULr9cQ_zJdpc43iBECZNyiUvQHfCbRF0bELkDtjuJ3XEKo4xKzpuyjCWjVOhh-TbGMfC23StL-AfTP_wPYNuwdKo78eK6y79WSKvkVIZjPIY7Q7BUlaECU6EAUCh7YdT3l91848kJwKtLNeAagi7az2zoHhT3Ev30JWfngEryROD0Bt-_GaFXeHkIXdNYeKQJlNMymL0kOSp_zjWJb7-K9LYFvuzH9u48d_-_KtpJSzLi7zU6dy2P5X62Nvt26Sh-F1W84uoG8GCjEDeB-tyr6cK_iGhIEJ8bmTwJFA1gB2GdEIV_hS7YhEcyGty3B6GWyLtBtxe2UaZ5GV-BBzGFYuOfLhspCMqscScJkuMeMVHgoC2G_etRcFmACikRFJZpihCzBlF58KgXreYpjrCH1lUbdTI2-LdsIf4g7ZgS2weKvkpUU6R0TiQOYa_fCP6AklKUfikLG4Hq3vyRnJ2etyYti_zjUUYLjOVs-QGvk97W_FmrsZGNonhGwKQHWB2ozEDpJTJO7d5nR6pNvmDpnIs0XGc3xl8WZo0CiAJN1f8nfn24gffn13sfxUcBhyaI_gb0ieTLnWQ1f5OPVyKW_QbXtkahvIqYXPoRz7PRL-hF3wfLDxGjsuxS7T0MSexE5w8pwytdQkVW3oPpSwEMe55f0B4StS0b9lya6-6a2ZYK4tZ037QTZy5T83UYF1AVZydirs5FA20Enw115F9HVHRn76rtS5xHDclg3PisdgAg82wmzS0tmLgpJNdf3l46eNGwt2AhA7YPqrmYjFsLeiQuLDXKLhQRotx1xmne88RKZJtFMegSt8Br7oCD4IauaeEzr_S0IK1bhWNFN172IsB46vQpnrmBVqQFE7g_ZtDWeCNUTCx_h32Q7FJ71SdUXcYZaMo3wAZPWkM0_-Y9urzBIPrUxoi06uBwnuV44zE5wfDKmdzMa6J8jp8v46NlCtL1ItTUJ",
  "id": "rs_0d3a518622cde59b016ab456d3c08087d08ce187d28404352f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.13,\"left_z\":0.07,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"Now that the gripper is open and elevated, the overhead view cleanly shows the cap about one centimetre forward and roughly 2.5 centimetres inward/right of the fingertip midpoint. I’ll make exactly that lateral correction at approach height.\"}",
  "call_id": "call_sdpQIu5ZjsiuydyRe9AFvJLc",
  "id": "fc_0d3a518622cde59b016ab456d5c10c87d09cf41a465a99d356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sdpQIu5ZjsiuydyRe9AFvJLc",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1188, 1.5127, 0.5568, 0.2005, 0.5289, 0.3943, 0.9983, -0.0185, 0.8185, 0.6128, -0.4141, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3445 left_y=-0.1273 left_z=0.0576 left_yaw=-0.7716 left_pitch=-0.0612 left_roll=-0.0412 left_gripper=0.9983 right_x=0.2927 right_y=0.0022 right_z=0.1703 right_yaw=0.0 right_pitch=-0.0622 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.4496, 6.0376, 1.9512, 0.0366, -0.0415, -0.1832, -0.2667, -1.3744, 7.2137, 1.663, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed40f1a0ec1398187673b73658a0dbb6d2a27d8757e2957a94d982a3f6f0ccbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8c57470351223d4b67da3f6278a06cc6f87a28c37416f7feae1cbb144450ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb1965d3dc8cc5943d47f4c76359bf703047e470836c770a5eea4cc043b4093",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.929 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0338, 1.7851, 0.4824, 0.5388, 0.5831, 0.4446, 0.9984, -0.0185, 0.815, 0.6128, -0.4149, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3527 left_y=-0.1056 left_z=-0.0007 left_yaw=-0.7549 left_pitch=-0.0432 left_roll=-0.0345 left_gripper=0.9984 right_x=0.2924 right_y=0.0021 right_z=0.1711 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.0889, -6.3111, 3.3709, 0.0415, -0.3199, -0.4176, -0.1832, -0.2256, -1.3744, 7.0085, 1.7949, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.033, 1.491, 0.5713, 0.1371, 0.5762, 0.4438, 0.995, -0.0185, 0.8185, 0.6132, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3467 left_y=-0.1042 left_z=0.0629 left_yaw=-0.7493 left_pitch=-0.0604 left_roll=-0.0438 left_gripper=0.995 right_x=0.2928 right_y=0.0022 right_z=0.1706 right_yaw=0.0 right_pitch=-0.0614 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.2, 8.4855, 1.3211, 0.1978, -0.0464, -0.1538, -0.3214, -1.347, 7.2274, 1.7753, -0.0611, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1188, 1.5127, 0.5568, 0.2005, 0.5289, 0.3943, 0.9983, -0.0185, 0.8185, 0.6128, -0.4141, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3445 left_y=-0.1273 left_z=0.0576 left_yaw=-0.7716 left_pitch=-0.0612 left_roll=-0.0412 left_gripper=0.9983 right_x=0.2927 right_y=0.0022 right_z=0.1703 right_yaw=0.0 right_pitch=-0.0622 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.4496, 6.0376, 1.9512, 0.0366, -0.0415, -0.1832, -0.2667, -1.3744, 7.2137, 1.663, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed40f1a0ec1398187673b73658a0dbb6d2a27d8757e2957a94d982a3f6f0ccbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8c57470351223d4b67da3f6278a06cc6f87a28c37416f7feae1cbb144450ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb1965d3dc8cc5943d47f4c76359bf703047e470836c770a5eea4cc043b4093",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFba2f9vpCjFrOKHKxo8TvZ1rYYzPY8zaWJF1GGZdYXE-zaFG-2wml24oshYlc1RUOycBabXBMoEBdVXX7-censJjcxIJq-DGVwjD_7IfKYMoQJk-vkeFM_H-xQSi7WG_2i2Pf2zv6JRx5JSBLdg9cjjHbz4BJkSsR4-M6ZvV0k-OjsS7L9gH5QPcaTzF9CSfe3awYAg6jY0muaKeYPbt56pWpMQbRbvhlfV4K3Zq6dFRSm-yvIn23iitEwMZfBZZt08CaKOHIPX6MeuJKn86Ge09fQ4865uogPVkumi4uoLLBSqirrvJeZs2YtGpxdKncsHmY4nM2VK4bLy-A5mz6__mV6DtKGg22MiKcUr73fwxOl-WSDmCzgu-ZKTmGFFK88kNBvXyMVeEN1CjvjuB4d-w6cw54cXYbJ1PCLh_M4dS7ynn6hrqM8DrVhkF8GEBizi2ldqqeqnUrW7S10C-y3DGmDCybnj_A8sD_cESL0_waPuZP6g7inclXk2G4CegGKIUIIjqsNs-PyUgGrz3TBRMaWnosQbJyvRy12rNySd7-cbPdInP2Xe1z-YszTLkseqDXS4bKKW-XTzJjERNUz5aPikWiQ9iikfbLLMXmlzkEXyKRLf9bFn-xR_UcjVTYz7uRh5_yhobdtxQWb473-mWGlAcwyleddfHuNEhz2U5prCQ7l9BvIBBvsCAb2-vUvV2cdc99AJBTojjPoENgZ0OL1cdD5Z3z-qu-6hvSgFN-DlChkSLBpxsezIlX9wThWmSk0utAjFmiEU6QWT1oayIkQ-e7fWLqrhtdPPIo74GP-x-aXXSEi_X5y4OnEtQn10-B1UG7nHxInDUqAZ2m07vQKAckZDOpKs36kLPegjJS--ZW9QWGZ3bI9zpJlo81TUGPDM6sueUSx-0seWrjUtgPUBV8fv1BAhwS_kWLOpOGwSKfSG9jJiSGBWvaCP3NptZVh55TGw9HVb9WvHnpWxuxI6H8a2tMzOgJb-IAN6veJB9NFLhjTXvDZRWKKyV9YXi3--U00n2KUkm73OnDRlRxtTujlgn2VR_U8NviNMatQ7oIfv3x4MzsmXunpR93obNK_bN6YmhJSsLQrbt_335weBZmpv_nqinQUom0InKbvbBCOrHu1_Ux0BSfDQDexCRVEJHUdbt7UwtGMOGWQI12sjXn-ZIbu8B71tS9BFy3H-iJsC9cWiwA0b1Xxs1gbx8eWRBJx9Ueq9gr9ZUZnbnfseIYq6usgmZUDOOn6sOdtSZAYwC75wnfFXhFOgFXEkpBgnpzZhPszh5tHWbhXDPTdOsUwCcvk3_gciJEmbBnM_1lUz0kCaHhhbWMzpWf8DxzTGrF5jF-9jS23WCTDn75rsn3CZ9PU3OqACd96VLJIgkz2f1vyj8dTiyp2SOOw1yWDLpiVIb9_qKbMySBYKlrIsYk14LMBGGCkkefmZcyS6F0vkE1Id1-xjhzAcisuWwH3iMA05u-Zv1VbGsoHAzMcDCozar3a3ppWRqlH0snI9rtIAh6AuYMDmwsx7TXohU-QNY8JkMcS0JNKoQQa2U_Ws0ouicQiZQM97niaMXyyzRVdeSUNUrEySWZIItSUdKGA0aAouUbFEkMhHFATrNbK7Ex5Fh-hTYgMma8VwrLbnogQiS6145kH-RVf_jV2ij3_C0dpWd14xtAkSw5qABmskO92hUFkKAT3P7KEFXpCMkqfE6qbmZbzrAvGdneDhVjThf_qtGMkntv2m4JfO6C8BWh39HwetGTUT1o-cRCUokYV75Lme93ilB7VNEZrHUsXrhBY9M3qLLeRnV3GravwCHHMIsfnvBIuzNEKAHoB7Bs9YUxoj-dYQKOyiP4392leutpedBhLccxoToY06PW2KGbLkat_9-ZidUSQ_ZbVrLFMxLtlIK6X79Y8-_PowC7lMUYCmIS48uWtIqKVMjegffS4YusVj_dyhASQR4sVdDwo9sYSfvGekVkKXGFxk9O1K9egbuZYL9FLgDbA1z0SLmVEAdJqVTF8oDJHxo_H3gCXhy4_8Kt2LCYBMnjW75ls6C7pwGJvjiFDr9WeGFNYQtALJ_aJBQBTm8fTETEWyWj618QnB3XtjCUjVE0kT6hjHmQ_8vtpadxH57YmedTawA4mjdbFR8N-NCc7agRJvWY_DLtzmOqNTlHnXzxyZ",
  "id": "rs_0d3a518622cde59b016ab456d843c887d0af791153e514e3f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.127,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The overhead view now puts the cap at the fingertip midpoint, with the jaws straddling its diagonal axis. I’ll descend vertically at this corrected position, then use a gentler partial close to avoid ejecting the rounded cap.\"}",
  "call_id": "call_g020zxnSPK5zZS7z5Gd6O76u",
  "id": "fc_0d3a518622cde59b016ab456d9d55c87d0bf72b1f349eeeaa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g020zxnSPK5zZS7z5Gd6O76u",
  "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]: [-0.1249, 1.755, 0.4248, 0.6041, 0.5102, 0.3775, 0.9984, -0.0185, 0.8207, 0.6132, -0.4141, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3397 left_y=-0.126 left_z=-0.0008 left_yaw=-0.7534 left_pitch=-0.0455 left_roll=-0.0271 left_gripper=0.9984 right_x=0.2929 right_y=0.0022 right_z=0.1699 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -4.7521, 3.0701, 0.9304, 0.1245, -0.1001, -0.1832, -0.1299, -1.4838, 7.0222, 1.663, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6776349a916c0a5fa94500e2a7041aa2cee92e3058b47f5dd1eb2569c0550433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdbd5bddbbab5c29eecbe9cdcc40ae006d8876e6f5647bd27de3ab88dfee299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa20f9ddf97f7d61525f3c7635ed53cc92d6ae31accfe43718fea8a83888532",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.809 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.033, 1.7962, 0.4751, 0.5644, 0.5808, 0.4469, 0.0093, -0.0181, 0.8165, 0.6128, -0.4137, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3528 left_y=-0.105 left_z=-0.0026 left_yaw=-0.7535 left_pitch=-0.0388 left_roll=-0.0266 left_gripper=0.0093 right_x=0.2927 right_y=0.0024 right_z=0.1709 right_yaw=0.0007 right_pitch=-0.0599 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -7.4872, 4.5333, 1.2283, 0.2271, -0.0415, 0.7057, -0.1436, -1.3607, 6.9949, 1.6532, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1188, 1.5127, 0.5568, 0.2005, 0.5289, 0.3943, 0.9983, -0.0185, 0.8185, 0.6128, -0.4141, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3445 left_y=-0.1273 left_z=0.0576 left_yaw=-0.7716 left_pitch=-0.0612 left_roll=-0.0412 left_gripper=0.9983 right_x=0.2927 right_y=0.0022 right_z=0.1703 right_yaw=0.0 right_pitch=-0.0622 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.4496, 6.0376, 1.9512, 0.0366, -0.0415, -0.1832, -0.2667, -1.3744, 7.2137, 1.663, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1249, 1.755, 0.4248, 0.6041, 0.5102, 0.3775, 0.9984, -0.0185, 0.8207, 0.6132, -0.4141, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3397 left_y=-0.126 left_z=-0.0008 left_yaw=-0.7534 left_pitch=-0.0455 left_roll=-0.0271 left_gripper=0.9984 right_x=0.2929 right_y=0.0022 right_z=0.1699 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -4.7521, 3.0701, 0.9304, 0.1245, -0.1001, -0.1832, -0.1299, -1.4838, 7.0222, 1.663, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6776349a916c0a5fa94500e2a7041aa2cee92e3058b47f5dd1eb2569c0550433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdbd5bddbbab5c29eecbe9cdcc40ae006d8876e6f5647bd27de3ab88dfee299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa20f9ddf97f7d61525f3c7635ed53cc92d6ae31accfe43718fea8a83888532",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFbe72Xh9Txt0hwzFY_7wJPjvP5NOlOWgzOnA8Q-LLtbtu7OoA2gBnGD0wOntezmtPaFSwAxUCLIYPgL_2J8bIbOSYWxT6T_u-zypuFUQ5cPOwYHPlYddCayMWxyDeHVq84PHyHW_VuSqQr4Myo7r2hweMThGocbIALK5RGZUDpIralnD6qHVN8Cf9Bf9KTuAD_ttwi4xB1Ys2Ls1mX2KMsfUx9sQsrBrpjciDM0-54fh2TZUPx3rt6_nhegYovL1KmWtR5BBH73FEpMOYhQCfwhb5_P7O_l4sug9Wpr2FgRpBzjqd_DObpXgz94SFLOHehqYo6dSfvCFg1fbBS2yPDv9se8S6dKlJIsxlP3pow6oDXwAAoaKH05PHkWACVPQVDEKtanJOI-DmMGeAtf4HRVYvI53fz3NXKUnFp-KIk3R4wHZod-5Ad7HShoSRYhlhPndLegtmqwvCRBlSF2sb8NdcvnBvHTQpzdDYSHy_QdvHBuxxu9YE1B5fEhOQ9Unnz_TUbtUzsnxgFQgQZrxQWWjHAVTFM0A5QoA7Hk2xTT9BDBs-4XgBDuKLsz1FtFQPDFIa_EYf1AymlalF7pyqJqoJpr0G_hBE6BzBnn8zbYdPZTVio0FP9hMcUlJTxcSlR3K-BSCMs9H3JkGjSi2IFijIyyJHYs-PfMqVzyUsIPWfz3Xd5aAykcZZeeI4heVvEdvEZFqVMKUFr6vhXd962ewMyPEJxgUSsTuNEHIs658WhKCrqn8Kdh8lxxiAMN2lHaCbKuHUPId3R1wfZ2CmiSM_lNwD7f8d19EgBGL-rtMzBW2cui1czhqAeklH0i27LcyKd72Co1bshNYIwypS-azKxArSAMT0m_pWNwG798SQSgZqlKqpjWNmsVFfvnh4g3bXg0jiTEiiPa3bYYf63zW8oRnMvtd3iQbis2rLkn2E4gzUwa-eWsqPN5UeKo51pbBClGOh3h_tYlBC08sc7VM0p1bFw1Ck72n43LcGV_yn3aB84_CiSZeB-doJEoMTlucbD6Jj2Nhke3WVqwgjyPhYzcmvYTmLg7UizFX4NhwxTXf9wFhUZ5vApqxYHjkDoUxtaihCoj0iY526Gd5j5XcH_ktzIterIRzK4EuMGF-4q-dLlUuUG9q1y15BKCgDMK_FScKGx1Y5ZnQvO4xvta0cdm9Wwwfxu0UDh_VF9agCCxQ_R02dag5KU_3kfATWC6R4HRKu4Fp5HQHm1yft8PrxyWnPm843mUjI7Or_3ku8ES7a2EQ16lMqQvllRlbItTnN3zR_qE98NbxGk0sULAVNdnL2erhSYeSD8IwIypy1IjUgwDbBEWzQEdOFgXjkzEJ8yFMtClvbHjbsEqaI9LQDxe9u8uTmO56PXGzomGCwgE-EskFVMFyzZayaiCJu3c",
  "id": "rs_0d3a518622cde59b016ab456dc47e087d08d159d4bbd3a6311",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"At table height the cap fills the center gap and lies between the open fingers, but its rounded body could squirt out under a hard close. I’ll close only to about 1.4 cm jaw spacing, near the cap diameter, and check whether it is retained.\"}",
  "call_id": "call_sv8dSCtZQO1tBkHyIsGbFpcG",
  "id": "fc_0d3a518622cde59b016ab456dcbb5087d0ac289b09b7d8f2c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sv8dSCtZQO1tBkHyIsGbFpcG",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1249, 1.7889, 0.408, 0.6971, 0.5037, 0.3679, 0.155, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3437 left_y=-0.1255 left_z=-0.0014 left_yaw=-0.7424 left_pitch=-0.0136 left_roll=-0.0068 left_gripper=0.155 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.5179, 3.6855, 1.8046, 0.3004, 0.0317, 0.0659, -0.0752, -1.2786, 7.4051, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f3f0d8ba287c07e71f125e170a89f201a3c26d1989e20a8a8dcf173a6152db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e42bc48a8eb52b974fe82a7c821655bcfb0a0279e17c5d83c288640e23cd4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4323ef7f2ed3f92f7409e1873576d8acdd47c374ab3b7953a014ce68746ddc43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.826 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.033, 1.491, 0.5713, 0.1371, 0.5762, 0.4438, 0.995, -0.0185, 0.8185, 0.6132, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3467 left_y=-0.1042 left_z=0.0629 left_yaw=-0.7493 left_pitch=-0.0604 left_roll=-0.0438 left_gripper=0.995 right_x=0.2928 right_y=0.0022 right_z=0.1706 right_yaw=0.0 right_pitch=-0.0614 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.2, 8.4855, 1.3211, 0.1978, -0.0464, -0.1538, -0.3214, -1.347, 7.2274, 1.7753, -0.0611, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1249, 1.755, 0.4248, 0.6041, 0.5102, 0.3775, 0.9984, -0.0185, 0.8207, 0.6132, -0.4141, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3397 left_y=-0.126 left_z=-0.0008 left_yaw=-0.7534 left_pitch=-0.0455 left_roll=-0.0271 left_gripper=0.9984 right_x=0.2929 right_y=0.0022 right_z=0.1699 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -4.7521, 3.0701, 0.9304, 0.1245, -0.1001, -0.1832, -0.1299, -1.4838, 7.0222, 1.663, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1249, 1.7889, 0.408, 0.6971, 0.5037, 0.3679, 0.155, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3437 left_y=-0.1255 left_z=-0.0014 left_yaw=-0.7424 left_pitch=-0.0136 left_roll=-0.0068 left_gripper=0.155 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.5179, 3.6855, 1.8046, 0.3004, 0.0317, 0.0659, -0.0752, -1.2786, 7.4051, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f3f0d8ba287c07e71f125e170a89f201a3c26d1989e20a8a8dcf173a6152db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e42bc48a8eb52b974fe82a7c821655bcfb0a0279e17c5d83c288640e23cd4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4323ef7f2ed3f92f7409e1873576d8acdd47c374ab3b7953a014ce68746ddc43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFbhdtf_oRBay5nsTZINDYTlSqXwhcY663WYg3wJCOSkVXSCvgCotHhrBTuHJrHNk5QSCbq-wDFhE9_CN7TexFL3KiBkcgkIsnKQzFplvWqeD_rXAvFkTMkgw8clhDQrLVojv-QEiPkq1jLlcuvWtLYpM4TogxG8OcWT-UAAedoFM0OsJHGrppUTgGME050HmoaJRTRCoa20Aze6svbu-0xymNbFyI-7YZs59_cMeyEKKW-t1B8PsTujsUF0KO-ouZ9N6M5X3PsgVnKN4f0nrNVZd7hvoCRy-j6Z-8aQoQQPMWedPDTDPLsOVypKkMNS42Smqhkw9deM2qEYqxGu7-SDkliX3fc8AwDqIeok_-sxPQPxbJv3aoGHtK2vjePSI0Md92XCxdpz6CTebwJaTDU9DMrknfNuLpCn7GbM9nwL8K2ty0qwClXzGJJLiU6RrdmmZ2AVEYLpA4r4U-au70CwcB8j3P5veZLtCl6A-jGRsmws0stefcBZu-E8EsbiGSLprn5iuOjX9FFo1nM206bS3vi2md0xl7dn9bW-gRpeGMJt1q4OzLwmSQR8UosdbHR0sf7zbsHyVKwXtScoMCgBaEYku4FOfZa315sczrumGJIziE-IZOqO8Wa2aiK1_V40u2v2wqJ8l_kmUogGg1r-GWVGOvUv421q3yr8QFiVLKZ0JJbBm_RwUyZU3sWl64omMYoz0rxKbNayiTpHU1G3uhhQQhLup2zGyW1Suo_3j401NDB9JMM996g4nqhDubfoRNiJt16y6y-qKt23ctsMkzhE15-50-_XzvXp9j5FVdt1S0SRPuyDk6YJCk3jyH3M7ee9sz6EiKeMeRFoTn8JvadV5ugR7B0cRNFBmES6gHIuykbGyRdAbUvR79USJXfXqKOBplDjBlGSjIKUbUUrOz0klakhMLEvlkP4gAy7GytY-6PNnnhjFzG4BPQ_Z6B_0W8gKPJD5S539AqxrwPye6tm4mm1w7i_VcKrIckjFE4y2ODsK_s2DFy06nvP2tScZLPzdBdMvNJlhjyOdb_BYFZ0_rXVkWRwHaJhyH7bfylt4FuAMvrwmd14QIzFomDUa7dbsIk8CCp_uKRtOwT_LpfjTqqIk9OURtAVMrAwKn_Z8UQwsopVnrzoIHEkN6T3UlCR6WJ8a-8IlV-cm8O7XOF9HFwKIwv5PoZkqSQj-id9WXY_3N9K0rxNOL_mHTngnAD4bBYleCrK5DKoGCqMId7ErWAl8_Pp-gpQdSlEVrLavf8EYMRSRWZJpINDb9gySbUMcN002_MuDZY8i5D2r0v2KBXHbdgktRFQTYuIq2XsjVcN7x30E2xrZhzIn0TL-8xJ8s3oYwOUEjBXxDv4VkyUROcmwGNR-v2I6EAZNe1RspQEPqjwYlKTOZsl-qn1nPYmfJLn5hP_AJwmrQaNRr60YwKQ4F6Ru0nkCUibt8nZgXpCupopbA7fYhgpHb-7fyuxkR2Yce8ImG-0YqSoOaqn1gsh5GGQeOTn-mbH9IYtzzz8FW-KIJsg47YrFq6Oz_fK8WaGrxXkyBP4gm9nAZBnNjXQF6oGgQB8Ft3wR_Rm7bLJr_p-WmaP2gTo84Zr91UXvvWRBe0GOy3KYTzLR610vyQw1zMhNK5s2KH9XnD1OtM1xAkLr-AxjEeDal5tQAMbqX-CwUv6VBmd3UYsVHvu12yULzIyiVM9L-_t9TrkqoQ6tajGkchjXpKToPGQ2v_wILnD_xCpe7D4PdhAps38GPcpI1TCM02z4YovUxY=",
  "id": "rs_0d3a518622cde59b016ab456dfec0487d083ebdd8848c2d3ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.1},\"note\":\"The partial close kept the cap perfectly centered between the jaws, but the gripper reached the commanded 0.155 without contact. I’ll reduce the gap gently to about 9.5 mm so the jaws should engage the cap without a violent snap.\"}",
  "call_id": "call_ndWLe0hH2EYtDSebKxV33H5K",
  "id": "fc_0d3a518622cde59b016ab456e1232c87d08e054cbfe24332f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ndWLe0hH2EYtDSebKxV33H5K",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "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]: [-0.1253, 1.7889, 0.408, 0.6971, 0.5041, 0.3676, 0.1507, -0.0185, 0.8223, 0.6128, -0.4137, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3436 left_y=-0.1257 left_z=-0.0014 left_yaw=-0.7429 left_pitch=-0.0135 left_roll=-0.0073 left_gripper=0.1507 right_x=0.293 right_y=0.0021 right_z=0.1694 right_yaw=-0.0003 right_pitch=-0.0656 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -5.8051, 3.9179, 1.8046, 0.1685, -0.0171, 0.0562, -0.3761, -1.5248, 7.0222, 1.6532, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0284b0f04ef3917277e8abb9cf823975e47e6bb989407be3348e4e5543eda11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71bdcf6ce55e3d0563bb9a1535d5f488bdc8ca60ce4f19be355f7f5534333f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e196bfe8567973eabddb9265a3a01a7c5a198c0000e74391d92598e2c1587ecb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.991 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1188, 1.5127, 0.5568, 0.2005, 0.5289, 0.3943, 0.9983, -0.0185, 0.8185, 0.6128, -0.4141, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3445 left_y=-0.1273 left_z=0.0576 left_yaw=-0.7716 left_pitch=-0.0612 left_roll=-0.0412 left_gripper=0.9983 right_x=0.2927 right_y=0.0022 right_z=0.1703 right_yaw=0.0 right_pitch=-0.0622 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.212, -5.4496, 6.0376, 1.9512, 0.0366, -0.0415, -0.1832, -0.2667, -1.3744, 7.2137, 1.663, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1249, 1.7889, 0.408, 0.6971, 0.5037, 0.3679, 0.155, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3437 left_y=-0.1255 left_z=-0.0014 left_yaw=-0.7424 left_pitch=-0.0136 left_roll=-0.0068 left_gripper=0.155 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.5179, 3.6855, 1.8046, 0.3004, 0.0317, 0.0659, -0.0752, -1.2786, 7.4051, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1253, 1.7889, 0.408, 0.6971, 0.5041, 0.3676, 0.1507, -0.0185, 0.8223, 0.6128, -0.4137, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3436 left_y=-0.1257 left_z=-0.0014 left_yaw=-0.7429 left_pitch=-0.0135 left_roll=-0.0073 left_gripper=0.1507 right_x=0.293 right_y=0.0021 right_z=0.1694 right_yaw=-0.0003 right_pitch=-0.0656 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -5.8051, 3.9179, 1.8046, 0.1685, -0.0171, 0.0562, -0.3761, -1.5248, 7.0222, 1.6532, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0284b0f04ef3917277e8abb9cf823975e47e6bb989407be3348e4e5543eda11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71bdcf6ce55e3d0563bb9a1535d5f488bdc8ca60ce4f19be355f7f5534333f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e196bfe8567973eabddb9265a3a01a7c5a198c0000e74391d92598e2c1587ecb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFbloQAVDCKoGRqYy85MFORNUFzTpcllCCrDRBFkLkJr5slJd7bGC8kRJrOFaqpCvMSWfUWi0Oe54g9rqT0ANBnnzHrIKbYbsbit1Ig13lIoblEfVlL5bFOdtF7ucWJ7FkSUtZQJn59I-WFiTP84dWJojcseuadhl_Cc3hioUI4hT1xzBvVRxg914Li17Tq-oWdNyHYJHM9Yf-fZ90PROlR-NkKKR-W21KFLmreAXypryyoG5j2H3lgOKj9XHyRU4wUeBiY4OvNSKJXGolkrsPR4sLCTvsPuse_p1ydf-4PNmyM110njygx6yYh6llvLkd3uuABUQWzB530MfA-7-hAFrp2uEbb8owgkEwKnznhvuAeXzV3EIriN7KabtH7BGjh4u4loSMHz9s-vomPpWztp93Unrp8QYMXC0P5G4vJapvIvyWBH9belbOJ3ycQ8597X_wI1tGJGUeOLrjjhFxp75fhzWXtVeiTa5Rb7YPDKvOwO7WbdwN9DZqDwYl3VHnyZOz4V-uqGjfV1SA5y_C4vJN_9t7N5odtPhWScdAGay3DwfB1dizj936YiBTMczYehyZLyXU7yfDOTL2o_JA60CyB4_gNrCzf7x2v0lhDW-ivEoGNJIhx9waq7gskRhcl3Du_HGSKPu7IpWVyJcJYyQXAxphF7pR24YOx1kZmnfpukP2YbBk5wU1fjVYxoWJhNTOdgpbNhhM1XVuNh-IxrLLt4-6dB7BXUb1gFo2SxJsv9lZMU69Po2SrHoWeBOIakawb5AHUT5I8pJu2y2JxvRjOcG2hZ2FWYnFDtBC4kxcMWwPGpVf7LaYLcH_He8SlnyabhHSYz7Q7WC65GpXwOLfnk7Kv31YsMa6RYSjJQdJ3SNsihV7hA2oKA5dOkk1XpL_oHUzJddh4RPrjpjo6YzJ3pvphnb06uwii_-Qc3SjaaruNtR8KliE24tXXysHdudT8fXTzAGFLmpoKX9ECNERQX7WJS284sXj1DrKNgNSbPJHjNLR6j91MDip-ETFyTgGuECatdLKrwzwJucBfMOMAMmYkWpYc7Cs-5OO5WSkiDDClfOf44ZLY8HQYjQ-nVDPYU7wi4cEGnFtYbcU-ZV9_sPssFv3UmFWGagexHxLcaZUDj94R8sA30NuidGOtT_WCsn8rRFlBqY1gewO8jBUO5uImIlJVrPa_4gJAucAa-v-CMGcGHECxJBjfDN8i-KWYXhf7upPE4xKNHG-ktO5NZA3MeFTg2i1kbV1PF5qBYkves4GZd6pI35rrh4SGFI9bE7779XSNr_OZWHyNyAXFT0pNWtKFBjhtMf-z3l04xH-5W8dknWFxD6HgZ97fIZfcSlIxhQO8jkgTxTnBCKNC6CoJpWLpjE6qCHiYc1xFviWNxAv__HpWK_81l2KHrM-2CXftU1PGxaYxKt4ALpL_ObRg9zt263IUTwD0vkzsFEk6TaAezEIqeaPbTv8I1tHvBM1w8Nr07Kpb2ruUikt2gy-TeviplbY9LGtanMzwBIny4W2ySyGQBIPcRcAx9h1J67aQ0K1iCWlwHhCD2Y3PxLqvl-En_gMcCgxJHVbkjmtXV6Qn2DIe1MWqA3px-Vji6XraugkTzDvcnseKj-pH8QyUfrr5wOTQNPFYjSPJGYn_lIUx51czDET8XpVF6",
  "id": "rs_0d3a518622cde59b016ab456e38df087d0b76eae407ffe2750",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The one-step command barely moved the jaws, leaving them at 0.151, while the cap remains exactly centered. I’ll now request full closure so the rate-limited controller can continue until it contacts the cap; a nonzero settled width will confirm capture.\"}",
  "call_id": "call_6wwoJdRkvQra0mhabHul0ICi",
  "id": "fc_0d3a518622cde59b016ab456e47af087d0b5a0140ca64effd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6wwoJdRkvQra0mhabHul0ICi",
  "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]: [-0.1253, 1.7889, 0.408, 0.6998, 0.503, 0.3672, 0.0085, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3441 left_y=-0.1256 left_z=-0.001 left_yaw=-0.7418 left_pitch=-0.0117 left_roll=-0.0055 left_gripper=0.0085 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.4068, 3.9453, 1.5897, 0.1929, 0.0024, 0.696, -0.0615, -1.3744, 7.0222, 1.7216, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1377497875cc014d7f7a6305327ec0efec3aa94179df9d8eb4052663c4423e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4aee79c9b31962c31a8e7d5f239c3916794868870d2db39fb7bdf2d4c5b1551",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5f2af4a4db4508e184833d38a5e36b15c122ec4717d74db56bfe8d3e00d87b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.022 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1249, 1.755, 0.4248, 0.6041, 0.5102, 0.3775, 0.9984, -0.0185, 0.8207, 0.6132, -0.4141, -0.0227, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3397 left_y=-0.126 left_z=-0.0008 left_yaw=-0.7534 left_pitch=-0.0455 left_roll=-0.0271 left_gripper=0.9984 right_x=0.2929 right_y=0.0022 right_z=0.1699 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -4.7521, 3.0701, 0.9304, 0.1245, -0.1001, -0.1832, -0.1299, -1.4838, 7.0222, 1.663, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1253, 1.7889, 0.408, 0.6971, 0.5041, 0.3676, 0.1507, -0.0185, 0.8223, 0.6128, -0.4137, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3436 left_y=-0.1257 left_z=-0.0014 left_yaw=-0.7429 left_pitch=-0.0135 left_roll=-0.0073 left_gripper=0.1507 right_x=0.293 right_y=0.0021 right_z=0.1694 right_yaw=-0.0003 right_pitch=-0.0656 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -5.8051, 3.9179, 1.8046, 0.1685, -0.0171, 0.0562, -0.3761, -1.5248, 7.0222, 1.6532, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1253, 1.7889, 0.408, 0.6998, 0.503, 0.3672, 0.0085, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3441 left_y=-0.1256 left_z=-0.001 left_yaw=-0.7418 left_pitch=-0.0117 left_roll=-0.0055 left_gripper=0.0085 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.4068, 3.9453, 1.5897, 0.1929, 0.0024, 0.696, -0.0615, -1.3744, 7.0222, 1.7216, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1377497875cc014d7f7a6305327ec0efec3aa94179df9d8eb4052663c4423e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4aee79c9b31962c31a8e7d5f239c3916794868870d2db39fb7bdf2d4c5b1551",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5f2af4a4db4508e184833d38a5e36b15c122ec4717d74db56bfe8d3e00d87b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFbqM6EbvSFb2SJq73z66DRsPRuDOWIuH6qtBuXppcn3ZjGvsFOXY-mMAgDbMcFs-Jh7EduXZoovSuxVgG18tDHnCaPSMUJT5RX2kgz9SiS0HxaTbKSiGFaH-gQd2JsI67dYqYUm1oj7wygm2HT4wFCelBZkQKU1-I6bmSUT40rPhwZJtcwnLYOv2Bp3hP-2Bfjwbf9QahwANwyTqN4QlTZicYZ8smmfWEEbycNa2FrZeHHiEUrGuHfluupLcjwPOQzCYNOtLtC7nnJA7-a6-PFnSDZl75RkPASehEUThC8xhvTz-zTxUql9r1fGNH09tNMyzBPkTToz1fm53JaOCyynbyjvJDTPVMoZONiHaHiEutkKUSR0i8YV8BV6FelLoDlL8C5rAR8dV7XnCmOrgyq5jaQEMWXJCEclka7sSL2gOy6vx1EgmzrklrF8PvljJfVYwCkhsRDKkmIDcBCA8dPFJgyz1YdX296HWg4ycKQgPADJyjFknhvCsiPF2ec87o0wJfzLtbn-ovEVV334noJq1j62rIrj-GeA9OpHN94M4FTl3LiMcqUt8ChmuEVClR1vjDs-y3s9VDzUDqSYpcQUtvus8ajO5goO_FkBZmXFsEGrNDc5Fd8ECwsWBnZ55CKZo9gEy0Gh90CV6_wS4eE0pSOpfi_CwVPiVbOc8XsYx1ghEXtGlODks1OIj8Dy62HER3FKp-yVGUbaFOavmJmCxqVVY6VzXOoRLPxw-gsPEbyMQr2PiCTuN5j4IqxypdxiXL6hRVQK5nNqNeFkELDZdhCCV1qiX4px58MWTzAV0MyXuCsycf46thLo5fZlfd4CFgqyP5hNSBV2FjEd68WqF9KP9Rg1PSTtXCVwTSvk2nAT5d55s3JeEKg9LSV01AFFy01m0kjUfaLep1XZSa3OxYGdqniO8iMO35uGfwKfBQvzVmyMdDN_tHmWRxHnPZy7KrQl-8ZEzRyxLf1N_0GdOT1QDWO52qTgNftmgKpO-ulIyckt2y-9So8VLzwG-0eLa0xEyb_tJuItscbAZDJu5GTebrMEg6uGKRhNOhfdysFD7KbQDGjeeWfC-kwj0ZSNEO4bYvDouyzdn3PNIp32313U7ro3PWGS5Vopd45Vr_JFYljsYKVelHEmnpOdQhwjlUUbxJW4ILt33GkdBfvpSEA11vvh0ZBDHIsfP7VrXvMNoGjxcq9FYp2cy8baPg4knwCbGDGNCqcG9QAT_9LMRZgr7M-svYTDZKSA2UYmEcZ9lfroscCwb1hMLWh6-xVl4sObESjXdHKvBlbTGAUGgAyYjoh71Y_whDmGa28a2EocbOXuMZk6gAxOLEZIW9RjY4oxX9Smv26WTXAmsJF0LEp0DCfS6xvfAavSxf8mwMEb2k1_8Be3xXg4lD8dmzFULswSwQ2PVAp8SP8lwmFySfF8hnhzraY_ImmoJexNRsLNHDDcp6hwDrEWXJwnMYKF1mfzuN-y8QG1hYFmtSUishe0MuVZSrHBMis0SLS-_k-Mm129ikjycFbCEU4AXYWEhPdWlJwpEoMNsn6CRxG6iIlGMjI4lSGXSna30ym4DkpnPiWRbId9fsGuI8Hc9DLc2QOnCLVBrqhlNL_MCDTnO6w-M9vtsDQtXftKO1Ti-s1_BtMWFo7DoftJjL4KC_eh6edsF7QjP1WtN0lD4Jy9mjRwJA_zzTBcbRYtdTTovcg7TV1UjfdH3huqGPkVopHkihE0uBNj5OuOfQLXgvz9WocOES4H-mogtHEZVv_zwFRG3kteUjBW3E9TJNaNeCx73pU1_GuGmMrjgMAzZWwTh4sPtJdcqyoQ9aPhZjNFOh70zzJH1D_VpioWCoaArlLfRwW0DuaXSf8I_qGzIWQGSacIIdCx5z6vaV0lb867h6yT27AWggC-DwU6I7zbDTIbNtNUS_z_K8cmoZ34-kFLzo_o9fkfag86RekHQTg6Bq0Vl8ihJk4mHcE302EOxzCrxTXIdWXPsK8JN38U9vQna-CwVmRcisfY0tfQYfj8XZQLHEzVb40iEujO9h-TFrX3niAnZHsNk5eJerFNGVVyzualnirl5_NE4KChfHiLogcQu_Nttr_PWZCojC66vpbdCkbDWYINEXA2HDvV715vx47KyWfokysCRHFjhJVZdEvKFeNwgxmLTLt1FmrkPZpPjV3ifcrPiKf1ay_Yzi0G1MP6RfKEOIQOLYIdtyB3aW33gxxtHDrtNiFBgdkHkL3wn-7nktHi8nY66HtLoD-TbIro4X7tUMvTfwlD4VutAmDpLZfC5Nzka45_2-Rz5Jy09iI1nphxsC_OZtbByLzQ-YQ7aeAYqeSKyDCB3RDw1iZpRUXxFCsMIBlbTkpihXYxdCcPOLSlJtXohV4uM0xgK30qSfUndz3wxgvKshHK_l2EB77Ua3lxpZTUWHJJWItv",
  "id": "rs_0d3a518622cde59b016ab456e6f2a087d0a41e7f7b27bfa953",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.02,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.38,\"right_y\":0.29,\"right_z\":0.14,\"right_yaw\":0.75,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The hard close ejected the rounded cap forward, so I’ll stop repeating that grasp for now. I’ll park the left arm and move the right arm above the pen’s midpoint, with its jaws rotated perpendicular to the pen’s diagonal axis; once the pen is secured, the stationary held pen will provide a better target for the cap.\"}",
  "call_id": "call_f9Z4fee28HRC8PR3wN7BFKIT",
  "id": "fc_0d3a518622cde59b016ab456e9669887d09a63dc14e22aa3a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f9Z4fee28HRC8PR3wN7BFKIT",
  "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]: [0.4057, 1.111, 0.7765, -0.6804, 0.8276, 0.8402, 0.9978, 0.5838, 1.6333, 0.9421, 0.062, -0.1181, -0.0795, 0.9991]\nstate[eef_state]: left_x=0.2833 left_y=-0.016 left_z=0.1639 left_yaw=-0.7006 left_pitch=-0.0398 left_roll=-0.0256 left_gripper=0.9978 right_x=0.3721 right_y=0.2751 right_z=0.1212 right_yaw=0.7178 right_pitch=-0.0669 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.8222, 9.2513, 1.1111, 0.5934, 0.1001, -0.0855, 0.7179, -7.5556, 8.8821, 2.1172, -0.1783, 0.0366, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d386ad472c9ae119d58e037db9bb4f92127785b1693346a94d41669068b63af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3038dbe2cc8a678e673295d4cee52a6f42e014a5b5cf6a65b3e9667eb6d33a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e345d80dcf61413558de9cf927e00b23b2f3c9c2d2fc4683f8be47ceb5f255",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.33 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1249, 1.7889, 0.408, 0.6971, 0.5037, 0.3679, 0.155, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3437 left_y=-0.1255 left_z=-0.0014 left_yaw=-0.7424 left_pitch=-0.0136 left_roll=-0.0068 left_gripper=0.155 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.5179, 3.6855, 1.8046, 0.3004, 0.0317, 0.0659, -0.0752, -1.2786, 7.4051, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1253, 1.7889, 0.408, 0.6998, 0.503, 0.3672, 0.0085, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3441 left_y=-0.1256 left_z=-0.001 left_yaw=-0.7418 left_pitch=-0.0117 left_roll=-0.0055 left_gripper=0.0085 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.4068, 3.9453, 1.5897, 0.1929, 0.0024, 0.696, -0.0615, -1.3744, 7.0222, 1.7216, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4057, 1.111, 0.7765, -0.6804, 0.8276, 0.8402, 0.9978, 0.5838, 1.6333, 0.9421, 0.062, -0.1181, -0.0795, 0.9991]\nstate[eef_state]: left_x=0.2833 left_y=-0.016 left_z=0.1639 left_yaw=-0.7006 left_pitch=-0.0398 left_roll=-0.0256 left_gripper=0.9978 right_x=0.3721 right_y=0.2751 right_z=0.1212 right_yaw=0.7178 right_pitch=-0.0669 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.8222, 9.2513, 1.1111, 0.5934, 0.1001, -0.0855, 0.7179, -7.5556, 8.8821, 2.1172, -0.1783, 0.0366, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d386ad472c9ae119d58e037db9bb4f92127785b1693346a94d41669068b63af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3038dbe2cc8a678e673295d4cee52a6f42e014a5b5cf6a65b3e9667eb6d33a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e345d80dcf61413558de9cf927e00b23b2f3c9c2d2fc4683f8be47ceb5f255",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFbxzxu-mD8OlctZWefx05AV78rlJKBQ8FGYVTXA8dsMKzhOtYjdhmmzvtemMmkxklXn-Y625ViPmJAsv-Gc0DvPbq3UB-8m9-GPjG9IFZUvl3AgLsP1h3_KuJN5NlU5I2Bit36ewH81rCShEkJ6lG7BUt6i9TM7--lPGz8emtyj_Zdo6W9r4ILktiLo5sGRGZr1b8cBc2OONoL-PzSZQ0jlAXlJR5h5KgIzEQewVjXjwh9dKAYc_myG_UcoIs74lADxrd9dWBTCDRW1UWN_CPbs7lYILzOodW9CsQzttNg34iEJigPU3vU2m5n06Rx0nZaA3r6Xts2KZmh34bmVTclhkqZ8PaYScQQgV7ohIsHFJ6dqrnY5DQRoAVTMw8CDXQRTSGT_0hqnMkrf8qC_oIVAcUK6KayjoCGXANNoJQrqy3OFFPtE7Db6nNb34jlD3hNuz0YkY49w7zfcroaiLOa2qM1dcVxhH1nWmbQpdCu2fxWrBZbBrWWPVf05sYjYD5xLSl7U0U8RRZ3XOm5tn6ikBthVY2WthwONGkkp-2bGR1wnXckyluKxUOqQENFS7KSvGjnlWT7mGTNt-iIFGGia--iJceaHCd44lVmw0vkUN4IY5xzahIHhK_eyOU4KzsUxuvulbeZnmy23JO7jDdq0ZVJbnfMR0iQ6vU9LnF0gG6SVKRepmBy5m8Fozj0eYasQ0wLHe72CDG9CNcJpXGpq34LDe3IYu7V5WFRSKYqy1-A_TuB1DwJvYiauk_QjdPgdauXGuEQRUZGqHXc4vZty4qB6zQOWtMfkDWI14Blz18kWRcgfjijGggjAL2RzmWUixXodQdoG248Hl_JdKSIKVxe7eKWlvsh-XQ6sLnC4GbHMHeW2LhGkD_juB9xnpdxeAN8UHdP3K7LH7gCQPngGdllYjGfOuomuLZCOkFVtXQzthxlyxP-kqY4YVn5tuatuaKpC9upbfAwAqRqqHQuBtY1y_BeFn0wT03EMIZ9-p9n8Ypd7zmxTSAF8RsRKnmI_8u1LUTJqEelTbnLTrGvAlj7Bl-HfeXq3syPgqlPGLwYgjPnqeU48uJU8VGscwFMChIXbU-aNKnIT6H20p6JKxSp22VQWE8HOUgsFr4m9iltNW2Ys-RZUgZLgJQamtgN7Dx140yj2Tvj40IPBx_r7JeVZK5plfdEt5SY1JmP0FCt_n2-s7d71t1ay4WrBdv_g79Pvrx3daWRgz1rza2kV9DG-zxKpv7MHIAB9H0Uyi4g--sHUWw4goEw8T0NcdywSsFZaoxXxWpIXw34kLAqLaBtwt_xivgaBBg1VShkc1onCVm8YIa73NkL43JBIOUWjXb4kN14ZwNLQjYhBGKXKR3kKzuZOF_qXwD_pWT4vaM7EAcGlvt5c7RLzPola4g53OOuDQl2UwxAAH1tfsKa4miggKsQxLPWvR-WTGqZBZI-_UisofUB3_SF-dNAQ4NJaTdvtgtDoY1aOu3UQNZi1-lr_t_m4_vYB1_xXGFthLTuMJ8DzqLvvTBD3XPGKozvRyRJm0aSTwq13kz8tc4p0nm-96Twd9UEUdewlEHqBYZbPbniUIownZUMhjwoaJhylyYqcq9QP6nmo4h2sRsB-Thfp7F47GO9CoYAlfS0r3v_tsmy5RwhO7LmJiUWAUb9JVWGJt5i3CXtX5amxDGaW770gStnOpvrgyZpeoqf2O4FS4-edZzVFXgTQU-id3Qk3frpN45lTgoav9U59s86VkWJ-HAZ6ykoU34WZXeT5_pH9MR_0GSWPD2TZQKUu0YztDorcE2wpWhzYYhMf2gctrLxtu6gDj0fGj0bPvyV_HezSuT62oaHDF1wsVpuWO_WCeHfRh_cxyQDgXesq60hhOUpcp1qkDGsi3HcIyM7zyYl6AFotA3KrVlN5J1iEtoQHI5H2OhfwWOP2uhv7hFXpbHKsiNFe6TTKD73RyKvkkqM6wU9KkF7RuW7X7SmNNwdrnZZgocO3VmgjRp5Qz87J-uJwwDcHYNWN04B9hu184dnUc9Ab7_CAJrSJQU6VPDZK",
  "id": "rs_0d3a518622cde59b016ab456ee37e887d0b2bfe6367da867cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.275,\"right_z\":0.0,\"right_yaw\":0.75,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The right wrist view clearly shows the pen centered on the jaw column and oriented vertically in the image, while the ejected cap is the shorter black piece upper-left. I’ll advance the usual two centimetres outward and descend to table level over the pen.\"}",
  "call_id": "call_0ImaToVMt08TgH0cCqg9ktD1",
  "id": "fc_0d3a518622cde59b016ab456f0243c87d0b5f6688c7252cc6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0ImaToVMt08TgH0cCqg9ktD1",
  "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]: [0.4091, 1.1133, 0.7784, -0.6945, 0.8188, 0.8394, 0.9981, 0.5411, 2.0098, 0.791, 0.6209, -0.1722, -0.1207, 0.9991]\nstate[eef_state]: left_x=0.2818 left_y=-0.0145 left_z=0.1617 left_yaw=-0.6926 left_pitch=-0.053 left_roll=-0.0358 left_gripper=0.9981 right_x=0.3896 right_y=0.2736 right_z=0.0044 right_yaw=0.7424 right_pitch=-0.0305 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -3.2342, 6.3658, 1.2186, 0.4274, -0.0562, 0.022, -0.6222, -7.3641, 4.2188, 1.3455, -0.2271, 0.0757, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3493ff8d11f7b74981bd2391606a81534cb9174e2a5ee0f9b5d71c28a4405342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0841594a2ce41e5a18b11c72e03c204dd6ba4ee854c49024305e7226ebf08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f3265ddd1eddd39fb4ab87a6b16dfe8bc2ff155203e7d09c0fd27782d9cc22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 2.595 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1253, 1.7889, 0.408, 0.6971, 0.5041, 0.3676, 0.1507, -0.0185, 0.8223, 0.6128, -0.4137, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3436 left_y=-0.1257 left_z=-0.0014 left_yaw=-0.7429 left_pitch=-0.0135 left_roll=-0.0073 left_gripper=0.1507 right_x=0.293 right_y=0.0021 right_z=0.1694 right_yaw=-0.0003 right_pitch=-0.0656 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -5.8051, 3.9179, 1.8046, 0.1685, -0.0171, 0.0562, -0.3761, -1.5248, 7.0222, 1.6532, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4057, 1.111, 0.7765, -0.6804, 0.8276, 0.8402, 0.9978, 0.5838, 1.6333, 0.9421, 0.062, -0.1181, -0.0795, 0.9991]\nstate[eef_state]: left_x=0.2833 left_y=-0.016 left_z=0.1639 left_yaw=-0.7006 left_pitch=-0.0398 left_roll=-0.0256 left_gripper=0.9978 right_x=0.3721 right_y=0.2751 right_z=0.1212 right_yaw=0.7178 right_pitch=-0.0669 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.8222, 9.2513, 1.1111, 0.5934, 0.1001, -0.0855, 0.7179, -7.5556, 8.8821, 2.1172, -0.1783, 0.0366, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4091, 1.1133, 0.7784, -0.6945, 0.8188, 0.8394, 0.9981, 0.5411, 2.0098, 0.791, 0.6209, -0.1722, -0.1207, 0.9991]\nstate[eef_state]: left_x=0.2818 left_y=-0.0145 left_z=0.1617 left_yaw=-0.6926 left_pitch=-0.053 left_roll=-0.0358 left_gripper=0.9981 right_x=0.3896 right_y=0.2736 right_z=0.0044 right_yaw=0.7424 right_pitch=-0.0305 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -3.2342, 6.3658, 1.2186, 0.4274, -0.0562, 0.022, -0.6222, -7.3641, 4.2188, 1.3455, -0.2271, 0.0757, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3493ff8d11f7b74981bd2391606a81534cb9174e2a5ee0f9b5d71c28a4405342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0841594a2ce41e5a18b11c72e03c204dd6ba4ee854c49024305e7226ebf08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f3265ddd1eddd39fb4ab87a6b16dfe8bc2ff155203e7d09c0fd27782d9cc22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFb1vYybbOl5zi1-wxQuBELyZ2o3uTaEBrX4WQGpyr3pl2b9x_-LBQWlePN8TePJvUnunyAqYw8xHdssqMozEeXlejsvolRffKCswxz-zORMplule8EqT8Ib_V5EEMoK9FJ4Dc1x9Rxjj_WCS-qgnFVMGROZfwGcxtl7-X4fIx_SqqIxNsTqoIHob9wAIsSnRkMDPS3bByUMsaHGlFcvhGXjN5Za6KFOcH7Gv5wP7cDGTKInrQKs59hNxULl6LE8tU0kA1Sj82tmLNiQCrau6gEO9IBlk9ukYOwG7AbPfE2aFdJzRE7oEEMqQEA5TOcqvmmiy928VUzHX7le7at8DNCU0nIpLRWpSGi1IYPWZ6oKr_eZCcSjhE8aLWZEnHSjnlF65h4IW5BeQ2x9Hg3qHcaFD0Da2ZUxTEVqH-paThH6U8yUEn5f3HGER1E0i9wdsYe6QdnsrebKegBNpbhc87_k5rwXfTQUcI1In2sS7zC-UYr2HmcTvQgPaczR5-H3gXhkP3MqndUpleEZk568gn3u1-lvOdBDVXsytMigADfxIOMq6CjdRJTsKsi0xLMcfzz-ppXxE_9uXBE-VjVC9NmlrlRpM65BXWnOJR5E9ZMD1tSNjyQRhL3zdBWgRGYpDhEz6lWwHzCtm2ZL4EYkE08ubAg6azF-utzu_Fg1oo4VgQhNC89OgpWrOZj14hQNS_v5BPefyYScOSiYbDM4-PigYCLT1aXK37qLwY005Fyivx_NxpGL4iHnjt5Sot18QQSNMhqJnQQoAV_d_vSPuKYQp9ipj3rfOuf4EodYqL0FUu0a_mLnfdUUm3EnJ4SxyDRyRPgbIlvsQodKOj2bCUe-Cmg3TaoQrwpBcoR8nOmfrWDaPYdjKS9PE7GpIzDRyGRg25y2ETIas7pHw-GFdFz_xBdQwSaxU42T1trXeed46p5QidoMJEb0AbAP-f8CsKaoEoXBh590zWpcacdLeyXSrDca3s9R9IAcXDcTzvLYfDWNAnxGqkohcF9ppEGs5INRfDyr1Q_cd-69fQKO940cw86v0Ov4LzmOhTKysPU3FojE9ZFetHz0GdcI0t-SDH8OSU8P7gggBpbcXjFUS66lUjLgKacBG6vE9HwDUpOxkIccV5pceG1qA9xkdUmRTObWpiunur_bKB5YbZmfrv1v8iUlYRIHdkvOSPSzfll6O895xr7AuvRMoskefqJEbfs7W_X9xOCXpWrbXQ_kgZUfITeVZNcNyW7fJMGZotvTNEuGCiqRRgLlpYkMsRSjxg2fkPH_6xbYF6wUEqlT3JLEpVnB6jzKueY3ulIuD__xXtsPF-jEO8S1b1r5E5CPk-endPn-DBkWX9LYCfIY5UQopTx9quXxpT68SvmhPs6Kv-ldFFQvYJvRy3ZEi2mzKbZFWieuuviJLkhpDiNUKoyM-2sLMH6TVRpa7GGaxURMdSP_vQxMDqaBwVZsZeoKuB5FbltpJ1UjuxMu3RomdjlARWSEYyQOW-bQKCHUeB2MnS2qAXXe4u3qF66d5xmbvvMZ1u6392Ch0nmIuqtcv7qSCRqoh_lVYfELyf1tGB9bwhVt5wlKRykspoaU8UHRAQorJYC0f-E3NuY9P0uwxmIHBfOU-slcytT8dEHH9A1dju98K2i7CemYAwzt-S3DhutLYJTA_uoXzOkIJ7auRxjc0dJpStpB9ju9Egjy7lyPvM2SRq4NmzOTliPxfcv0-K5zNtlbSvcqc6PziE_BJcrP2g==",
  "id": "rs_0d3a518622cde59b016ab456f34d1087d084ae88cf21a63cfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.1},\"note\":\"The pen is now centered between the right fingertips at table height, with its shaft perpendicular to the closing direction. I’ll close gently to a 9.5 mm gap first to avoid flicking the smooth barrel sideways.\"}",
  "call_id": "call_x9IVPjqtf8NEJTwo6Z9S24Xa",
  "id": "fc_0d3a518622cde59b016ab456f4660487d0a42dc13e6deb3d11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x9IVPjqtf8NEJTwo6Z9S24Xa",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4091, 1.1133, 0.7784, -0.6964, 0.8154, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6613, -0.1776, -0.1249, 0.1061]\nstate[eef_state]: left_x=0.2816 left_y=-0.0142 left_z=0.1611 left_yaw=-0.6906 left_pitch=-0.0565 left_roll=-0.0365 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0032 right_yaw=0.746 right_pitch=-0.0116 right_roll=-0.008 right_gripper=0.1061\nstate[joint_eff]: [-0.3624, -2.8239, 6.5299, 1.1062, 0.3736, -0.0562, -0.0073, 0.1709, -10.7829, 4.9026, 1.3944, -0.0073, -0.0415, 0.315]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2b8d87def69bf4e3ab37fda1775ec316bc5a3b3f7cb6d980ca709707a15e05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f965349051a913e7d223bbee2dfb99d775645a805ffa8c7f001d0e59e8f7ff44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6900dcd5750544da1c18b3cfe5c0b42a46783c81f928ab95d947bdcfba42c016",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 2.225 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1253, 1.7889, 0.408, 0.6998, 0.503, 0.3672, 0.0085, -0.0181, 0.8223, 0.6128, -0.4137, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3441 left_y=-0.1256 left_z=-0.001 left_yaw=-0.7418 left_pitch=-0.0117 left_roll=-0.0055 left_gripper=0.0085 right_x=0.293 right_y=0.0023 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.4068, 3.9453, 1.5897, 0.1929, 0.0024, 0.696, -0.0615, -1.3744, 7.0222, 1.7216, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4091, 1.1133, 0.7784, -0.6945, 0.8188, 0.8394, 0.9981, 0.5411, 2.0098, 0.791, 0.6209, -0.1722, -0.1207, 0.9991]\nstate[eef_state]: left_x=0.2818 left_y=-0.0145 left_z=0.1617 left_yaw=-0.6926 left_pitch=-0.053 left_roll=-0.0358 left_gripper=0.9981 right_x=0.3896 right_y=0.2736 right_z=0.0044 right_yaw=0.7424 right_pitch=-0.0305 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -3.2342, 6.3658, 1.2186, 0.4274, -0.0562, 0.022, -0.6222, -7.3641, 4.2188, 1.3455, -0.2271, 0.0757, -0.1099]\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]: [0.4091, 1.1133, 0.7784, -0.6964, 0.8154, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6613, -0.1776, -0.1249, 0.1061]\nstate[eef_state]: left_x=0.2816 left_y=-0.0142 left_z=0.1611 left_yaw=-0.6906 left_pitch=-0.0565 left_roll=-0.0365 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0032 right_yaw=0.746 right_pitch=-0.0116 right_roll=-0.008 right_gripper=0.1061\nstate[joint_eff]: [-0.3624, -2.8239, 6.5299, 1.1062, 0.3736, -0.0562, -0.0073, 0.1709, -10.7829, 4.9026, 1.3944, -0.0073, -0.0415, 0.315]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2b8d87def69bf4e3ab37fda1775ec316bc5a3b3f7cb6d980ca709707a15e05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f965349051a913e7d223bbee2dfb99d775645a805ffa8c7f001d0e59e8f7ff44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6900dcd5750544da1c18b3cfe5c0b42a46783c81f928ab95d947bdcfba42c016",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFb4mFx5LDKt0rzaSI4ZV_rV7nrTOFC1T4J1UCjX1nSWKs1KT7iu-XowigXVqFWv70tL5nVG5_1h5QkRzXsR3r5h6KrGn8R_kag8QqGMOEwb_SieO3nSPgaR0CzZDuzNlHhbI8GshLgi0X1SM4QN8f-50YRVzI7EXMbobphfDlEkRjlabTJU_WgVDtZUqKqsFgZX7898HJORlTVn3wf9gZzcqPK7fojrZ_BhuNRIyR-nyAK-qkCfioNp2oqZ6IQm4ymwPJptBsT40hiJqWwuw57heKww9ArbE7YjHxvu21mjh-slRUS6gXOnC5A6WtJ8PDLZIkmjXvpYA452I4hLeh-cljb2sh1qan1teqZCEyiPquwbsksQvuyGPmZqa3iac1xcAcjnVqPM3dabEPClGq801vtGVhb60GrG8fUdQbcMWPIsktCaFzf49wjmM0daENuS027wBrea6lbgvTe8bgPbNWnThl0uZrYNseFGNNf6exucUaYShdZELEc_-F4mxEPNpX8DNYK_POvzUxu1diOZeTgpkZMbsya1heIHr9BdwWmscDTTnKpZq3-02815spRpDI4GLhWPSVsTBseCX2wsjsokcdTnFaxKLH-X4dOIPd5G5N40IBC4CpIxQtU0yYAfPKan0_d7mpYQPnpyJT7ErGVwtoErCjWd4vOqdkbCjTGSWKo-CedYxzMET0ngxRAghSuukKuR750dps4kYd7pg_mVsBnm_yBwH4jwyOgz4AeL3qYwx4q0MSWMleRO2031CINSC_mu4RDghTWl9HTko-D6-qAZxxiljiS0qmHodWa8QKk_bjWEnxgaPPEKpz75pKq8QdT8kZ3dVERWl5XABjp0YjggLsGBAAxNclxml8uRqzImrrCNAeeWSIBnCruMOWfMei1mUlkVpgKRKWZg7xr3jIxVpIlr6D2FT_czOPkAjx8dS53blliiqSeHIm5Ko7-lqk8SJKtGtLCvn8k374J44i3zmZ3SQd5X1N-7vHfX5jzJ0_izA8a0f1c0THBwYhTytu9Lrw1ZyMxLS2UjHjt2gV1vr47NEcZ9YT58jnjgWjsObcZfN_v-Ga9pXOvXvYfIjBdxUUuAGsSg-HRdLc_DFFBgi9btyt_A1sgL3B4VWNnfPd12dR6zrSNyo7XYD01NCre50Vx20NbfquhAD1KNI2ittcA50lnwkUwBwv74trT-4Bf7JvjUE2o3NuD3GsEoBDXBrTbL15RpQT-6IrMu10PrB8XujBzoBsVgTM9E9QvVQb06gCfuXv1cvwr_jZCubs6tvJwURt0IE6RNXw==",
  "id": "rs_0d3a518622cde59b016ab456f7418487d0b6c05099f2dd18a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.05},\"note\":\"The 9.5 mm close kept the pen centered, but the jaws reached the command without yet gripping it. I’ll reduce the gap to about 4.8 mm, which should contact the barrel while maintaining this stable alignment.\"}",
  "call_id": "call_oOYwu6NR0Gug8D6dGlf9YlIY",
  "id": "fc_0d3a518622cde59b016ab456f7b33087d098da9a57de62bbc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOYwu6NR0Gug8D6dGlf9YlIY",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "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]: [0.4095, 1.1133, 0.7784, -0.696, 0.815, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6617, -0.1772, -0.1246, 0.1025]\nstate[eef_state]: left_x=0.2816 left_y=-0.014 left_z=0.1611 left_yaw=-0.69 left_pitch=-0.0566 left_roll=-0.036 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0033 right_yaw=0.7455 right_pitch=-0.0113 right_roll=-0.0079 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -3.0838, 6.7761, 1.0818, 0.3785, -0.0562, -0.0073, -0.0068, -10.8239, 4.8752, 1.326, -0.0122, -0.0269, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ccbbf4daa8b2cd9c4f7107d910e587cfdff20ca1b68c97a45b874325d217ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fefb50053b9eb2579398bc7b1cee8daff7253f9a7c0f9fdccc8b6ceeb4fb16a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e6ad11d4d6d596ed6a781d695f29f4ab5f608a18cd24a5e3c5b3b716be395a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.219 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4057, 1.111, 0.7765, -0.6804, 0.8276, 0.8402, 0.9978, 0.5838, 1.6333, 0.9421, 0.062, -0.1181, -0.0795, 0.9991]\nstate[eef_state]: left_x=0.2833 left_y=-0.016 left_z=0.1639 left_yaw=-0.7006 left_pitch=-0.0398 left_roll=-0.0256 left_gripper=0.9978 right_x=0.3721 right_y=0.2751 right_z=0.1212 right_yaw=0.7178 right_pitch=-0.0669 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.212, -3.8222, 9.2513, 1.1111, 0.5934, 0.1001, -0.0855, 0.7179, -7.5556, 8.8821, 2.1172, -0.1783, 0.0366, -0.1099]",
      "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]: [0.4091, 1.1133, 0.7784, -0.6964, 0.8154, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6613, -0.1776, -0.1249, 0.1061]\nstate[eef_state]: left_x=0.2816 left_y=-0.0142 left_z=0.1611 left_yaw=-0.6906 left_pitch=-0.0565 left_roll=-0.0365 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0032 right_yaw=0.746 right_pitch=-0.0116 right_roll=-0.008 right_gripper=0.1061\nstate[joint_eff]: [-0.3624, -2.8239, 6.5299, 1.1062, 0.3736, -0.0562, -0.0073, 0.1709, -10.7829, 4.9026, 1.3944, -0.0073, -0.0415, 0.315]\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 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]: [0.4095, 1.1133, 0.7784, -0.696, 0.815, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6617, -0.1772, -0.1246, 0.1025]\nstate[eef_state]: left_x=0.2816 left_y=-0.014 left_z=0.1611 left_yaw=-0.69 left_pitch=-0.0566 left_roll=-0.036 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0033 right_yaw=0.7455 right_pitch=-0.0113 right_roll=-0.0079 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -3.0838, 6.7761, 1.0818, 0.3785, -0.0562, -0.0073, -0.0068, -10.8239, 4.8752, 1.326, -0.0122, -0.0269, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ccbbf4daa8b2cd9c4f7107d910e587cfdff20ca1b68c97a45b874325d217ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fefb50053b9eb2579398bc7b1cee8daff7253f9a7c0f9fdccc8b6ceeb4fb16a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e6ad11d4d6d596ed6a781d695f29f4ab5f608a18cd24a5e3c5b3b716be395a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFb6_OD0ggHLHFCLnM12MPD9DS3a6ELgAyHoJAjdaZliDeGTuOUkmlWB862xwa79yb8pPAt2t_m7v92g62MCLNw7AYYfnyJ6Y0e0aQAZEEEeMPVpFiFJi8JzYeNlqvJ6pgwOjlqJH4ATwNG4rI90nEvLTORhlGtysoSX534fLvYK4LxYzXsfLu26bq3mB3aK5UCw_QwBuvBncIDScgbeOEJOxycO37qV1RyIQreuW2MLahGrxdAByBmXuTNuHzsJzbrVFcC_RuzyjSGRX0-Jxb_tp26zPorhp8kTpjcwcWnVZ4XoNP71JyXtmo-Wb_-0uHlK-su7IRQDfvK9BN2hzhhOehVW56e3gOC9w02CuGJ50_Fx78KoW6IYE7uOOOF_QF46FmwqNdZU6lby8RtPII5Ja96ZVGm8px0jzWk1SDTelL2jg4G5khUTXCHvhoYWt6CCEEvgNffmDiaqMnc33cb2rqUhznPn3KPnccyAhmks05TFSGsgxojGsUGyHBwntgXlrghlmiF0Gz2xC30xRBxsF8Js-U8Oimv495rcTQLOLOJpX4XPo2gmDfMGZ0LmmovMg4ELwExt2ZUxztro23JB2EdueNRs4CSgoUbZZ-7Ayw5hpVlqS8ypgUcIGfJ7sZrwNkJkUIhrSKnpdCnbFaI7XKzl-KTHaRZBIq7J0oYpE-WrWBkoRWDy123mYNP9TncmF-9LnlAx93dpmKqa2yHVqJbVNBk-FIpcAaFR7yOQxGYRyemdbkujaIEpHrKbGOnYBeA0P3MBC1ir5WlghL6I2YdBhP6bAaoakwbUzRpfVPdbJVy9X5TurKcIWBjsqFyPQL3tHVOzAyWulXA6bPNs-tDz9Gez1Tk_M04sPtOAAUium_hLn1shxef8ZiUciABDQbkLPz-gfYCNLXq3BDfTTCSc6ZeMkJSORe2CHrW5YeMUMUr4vtol9XpUdVyfi_fCKyTiE3Dsq5yjOn4OnoMwCI0xoHkcDNeFm5DB0y6moCKXcSyX1Nho_oYfF2G7rxl_l26wERQGqq5lDVOX8MSm-KseCgM9OYTg0fLFKsV_Vvj_oIFl1M-c-9ZTOkBFf1j491t-gPsOeadiC5lgNUjAE2XGk71GqSKRX23DUHk-kAOb-lJrUATZ2VxRHCrt8h_EwpSzLraz6-WxOCLQcNJEi2TuHVwLxeRBW6G7OYiDUs-WXzQpbHSw3AmL93daOzz7aI2z4PCkPPH719wR3SUw5Q==",
  "id": "rs_0d3a518622cde59b016ab456f9a82c87d0892dc6be57c608d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.05},\"note\":\"The rate limiter allowed only a tiny jaw motion in one step, from 0.106 to 0.103, and the pen has not shifted. I’ll continue the same gentle close toward 0.05.\"}",
  "call_id": "call_u0rXg3sxctcB2cPTF9SRXpKy",
  "id": "fc_0d3a518622cde59b016ab456f9c06887d0be04c4244b095017",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u0rXg3sxctcB2cPTF9SRXpKy",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "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]: [0.4095, 1.1133, 0.7784, -0.696, 0.8116, 0.8391, 0.9982, 0.5381, 2.0281, 0.7872, 0.6651, -0.178, -0.1276, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.0135 left_z=0.1607 left_yaw=-0.6882 left_pitch=-0.0592 left_roll=-0.0346 left_gripper=0.9982 right_x=0.3921 right_y=0.2746 right_z=0.0038 right_yaw=0.7478 right_pitch=-0.0082 right_roll=-0.0107 right_gripper=0.0757\nstate[joint_eff]: [0.0068, -3.0701, 6.4615, 1.1062, 0.3639, -0.0611, -0.0073, -0.3077, -9.2376, 4.7248, 1.6532, -0.1343, 0.0122, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31d2fdd74c11be78d9ffc2be4d1d5fad80625906c35fca9a8b3ef740e5749ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0afe908d07451fc5e7c63f4f8f3cf9e5b7dba16dad41df39fbddb8121722c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4cdf1762907d52cda6ca31aa8e09e21372b8004bbfd3815b94810f0cc33a62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 7.771 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4091, 1.1133, 0.7784, -0.6945, 0.8188, 0.8394, 0.9981, 0.5411, 2.0098, 0.791, 0.6209, -0.1722, -0.1207, 0.9991]\nstate[eef_state]: left_x=0.2818 left_y=-0.0145 left_z=0.1617 left_yaw=-0.6926 left_pitch=-0.053 left_roll=-0.0358 left_gripper=0.9981 right_x=0.3896 right_y=0.2736 right_z=0.0044 right_yaw=0.7424 right_pitch=-0.0305 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -3.2342, 6.3658, 1.2186, 0.4274, -0.0562, 0.022, -0.6222, -7.3641, 4.2188, 1.3455, -0.2271, 0.0757, -0.1099]\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]: [0.4095, 1.1133, 0.7784, -0.696, 0.815, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6617, -0.1772, -0.1246, 0.1025]\nstate[eef_state]: left_x=0.2816 left_y=-0.014 left_z=0.1611 left_yaw=-0.69 left_pitch=-0.0566 left_roll=-0.036 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0033 right_yaw=0.7455 right_pitch=-0.0113 right_roll=-0.0079 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -3.0838, 6.7761, 1.0818, 0.3785, -0.0562, -0.0073, -0.0068, -10.8239, 4.8752, 1.326, -0.0122, -0.0269, 0.2515]",
      "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]: [0.4095, 1.1133, 0.7784, -0.696, 0.8116, 0.8391, 0.9982, 0.5381, 2.0281, 0.7872, 0.6651, -0.178, -0.1276, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.0135 left_z=0.1607 left_yaw=-0.6882 left_pitch=-0.0592 left_roll=-0.0346 left_gripper=0.9982 right_x=0.3921 right_y=0.2746 right_z=0.0038 right_yaw=0.7478 right_pitch=-0.0082 right_roll=-0.0107 right_gripper=0.0757\nstate[joint_eff]: [0.0068, -3.0701, 6.4615, 1.1062, 0.3639, -0.0611, -0.0073, -0.3077, -9.2376, 4.7248, 1.6532, -0.1343, 0.0122, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31d2fdd74c11be78d9ffc2be4d1d5fad80625906c35fca9a8b3ef740e5749ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0afe908d07451fc5e7c63f4f8f3cf9e5b7dba16dad41df39fbddb8121722c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4cdf1762907d52cda6ca31aa8e09e21372b8004bbfd3815b94810f0cc33a62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFb9NO_5C68agtPRLWaB89eg7fSjmoRCktifIqJ1L8K7zTax6muqQx2bTfGkyFQP-BQNrQt6skB74F74H8SVifKQKZk6ERASLug3cyRDryhnT5wKrkfAAyNz0Ukkqq_pMX4cJl3HkV_6ON1jP033fIZG8bPAXQwV1Pb3LuS_JCoaWW_YnvjgNGZeG95gTCJZ1DwjZHSvIIptv_peIfQRdMhcLaZ8zo0zWXfALcQEbd81sU7ZB4a_jgUEBUcqCH_LmnqLd7XxJnrwCwy2U0jt2cBM6uNnvq8zG8_CnGaPRJGG4FXdQZnEEnPfqucQgxpsneZJ6qNMTwcbrR2ydkRDLFqgKmRvOX3hfDdQMnx02XDOlo3bq48QZuUcWDzpMQ2wnIo_QeKWxwirUnT7jvrpFP_YW85VePZm5q-Qf-r-wBptW8k1eWy8aZV4Vy_u1DZD3H5acg4WGkb1M0oP46G42KQm032k7HaBvSEpGS3r0SCB02gbwbE80hVLhN7jMlm1We8Zkrwjgb3Y3jO43rlYQ6KBdkGOrELQ-I3RgU7_P-HgCqQKBM28k1RW5avyzHJoJCUSu38GYRhUE6z2t0TvzvRhgMroM-i5af8DqHVk5XCsfi2E29oSjoQzbFx1OzTUbXcSFt4vIBl0S2KDaje9YPdwGYOTaNLDlGgcoT3dqX1LvorylJtbLkLpN0URR-Obf8XoDJqq5oHrX8veNfeO_WNt0ZIAO8argNt9jJDzyH5cB8-KRJC5N0HnDw3o69JjMajxCDLu2loYcQB7NtImf5ZqfhCmoKbkSTWtbYdAQ9wPd79CHbV8YBjBZ9E3wGFy1bWDykiy1l7h0seCJom_zUqp8QXP-sqnRJlCuqGrC8dxpEeP4dH5seHJnm-ttKvXdPTLwT3_cu_r74AxyIzZwzmXSqF6Rq7S0zOwKDA_y-2GDx-ixHOyiuS7XU4CgdtxetXBveO7Ru3sj95OGPYEbYyZHOEXWy2hplPHxdYtbHfuCBTeK9r-xFW5McwDU1lD32donjCeqjUZ8P45-ceV2yw5clBfvdgI-8l7kBwtlkgd0VSChpx8zXV1ozFWc8NJt5SpoQVVhC1FlOAtdiavm8kx06C1Ai7I-jjwOCbhKX0_vRARm_N62xT1BtZ6YGbbEXFtt5fLE0hJOO1oRYCc4QHpkWbhWPoOW5esEV2noyld4mnVQXRUZH71sON1rwkMZl2v7UIOTJp8rLm0nxFUj5RdLw6-Sah4f765udEthZqHFaawlVKCBNtqtLvOewgEQl78ydW9OtopCkvxJp-1MyWqUA==",
  "id": "rs_0d3a518622cde59b016ab456fbf91487d0b50182d573f4f047",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_gripper\":0.05},\"note\":\"The right gripper stopped at 0.076 instead of reaching 0.05 and its gripper effort rose, indicating contact on a roughly 7 mm pen barrel. I’ll lift ten centimetres while maintaining the grasp and confirm the pen moves with the jaws.\"}",
  "call_id": "call_vyXi0fPN8Ap6ltkVC9wr84kQ",
  "id": "fc_0d3a518622cde59b016ab456fc3e3087d0abf12109424b63b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vyXi0fPN8Ap6ltkVC9wr84kQ",
  "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]: [0.4095, 1.1137, 0.7784, -0.696, 0.8078, 0.8391, 0.9981, 0.5381, 1.7763, 0.8722, 0.3103, -0.1806, -0.1287, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.013 left_z=0.1602 left_yaw=-0.6861 left_pitch=-0.0623 left_roll=-0.0335 left_gripper=0.9981 right_x=0.3896 right_y=0.2737 right_z=0.0787 right_yaw=0.7507 right_pitch=-0.0254 right_roll=-0.0065 right_gripper=0.0757\nstate[joint_eff]: [0.0479, -3.0838, 6.6667, 1.116, 0.3492, -0.0562, -0.0171, -0.294, -10.865, 8.2256, 1.707, -0.0708, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498be9ed246508c7ee3d4e8c25233b6d071499a69dc6d54511f2cfc1bcf6efc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d300bab4fe83b1b544c2f83035ed65cfffeb927d3891578cd4b823de78ba9af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa534c6f94a6c89e14a4d61a1c636decf048b16ce01e014229038db28f4c0dfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.158 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]: [0.4091, 1.1133, 0.7784, -0.6964, 0.8154, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6613, -0.1776, -0.1249, 0.1061]\nstate[eef_state]: left_x=0.2816 left_y=-0.0142 left_z=0.1611 left_yaw=-0.6906 left_pitch=-0.0565 left_roll=-0.0365 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0032 right_yaw=0.746 right_pitch=-0.0116 right_roll=-0.008 right_gripper=0.1061\nstate[joint_eff]: [-0.3624, -2.8239, 6.5299, 1.1062, 0.3736, -0.0562, -0.0073, 0.1709, -10.7829, 4.9026, 1.3944, -0.0073, -0.0415, 0.315]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.4095, 1.1133, 0.7784, -0.696, 0.8116, 0.8391, 0.9982, 0.5381, 2.0281, 0.7872, 0.6651, -0.178, -0.1276, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.0135 left_z=0.1607 left_yaw=-0.6882 left_pitch=-0.0592 left_roll=-0.0346 left_gripper=0.9982 right_x=0.3921 right_y=0.2746 right_z=0.0038 right_yaw=0.7478 right_pitch=-0.0082 right_roll=-0.0107 right_gripper=0.0757\nstate[joint_eff]: [0.0068, -3.0701, 6.4615, 1.1062, 0.3639, -0.0611, -0.0073, -0.3077, -9.2376, 4.7248, 1.6532, -0.1343, 0.0122, 1.0232]",
      "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]: [0.4095, 1.1137, 0.7784, -0.696, 0.8078, 0.8391, 0.9981, 0.5381, 1.7763, 0.8722, 0.3103, -0.1806, -0.1287, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.013 left_z=0.1602 left_yaw=-0.6861 left_pitch=-0.0623 left_roll=-0.0335 left_gripper=0.9981 right_x=0.3896 right_y=0.2737 right_z=0.0787 right_yaw=0.7507 right_pitch=-0.0254 right_roll=-0.0065 right_gripper=0.0757\nstate[joint_eff]: [0.0479, -3.0838, 6.6667, 1.116, 0.3492, -0.0562, -0.0171, -0.294, -10.865, 8.2256, 1.707, -0.0708, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498be9ed246508c7ee3d4e8c25233b6d071499a69dc6d54511f2cfc1bcf6efc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d300bab4fe83b1b544c2f83035ed65cfffeb927d3891578cd4b823de78ba9af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa534c6f94a6c89e14a4d61a1c636decf048b16ce01e014229038db28f4c0dfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFcF6kHZECKmvqRaNfV3sCl2IGKwVaJceDPSXkp3yv3WFcbzTfuJqPgxoreufq5O4vu9RF7mMZccUZZj9wedg9WF6pryE2CWm3Miu7UYYGAIZXvtGUYHc5OTHf8a0MtHUKF1H7HVHy0KWuG2xcdWuXuTVY46xR37oO01wTVSRZrGmmnbVyfGfkAaoy1l0UFFTS75OIDyjqnoQYFdLsv0mjOaYx78-1QHnR_Kzfh2oiDhAT1w7kYR8llkp-U8p4eWCjbhFhl9DTBgDGF0bwnXCbnex2m65vc3b11-X10XziBI42spm6ZbzGNMTzqAAR3j1_OS_64D-yEEoMupd4H-5DEUFmifXyW04loIsZ6LWZ3gputz3FBSqemPfUkRTbtMb9e1Qf9kYHYpoorX89mhSmKXwiuxQqWzeiLDXZk9dpgfLn2ODebWE8Xnq5oCwYnCCY9oJB47-uUtAxeX7aI385KCYMlq_ClfpZyABhUn0rqfw8rOk47q3Hikh_IQAv_lFyMdP7t23QNJ_KznWojBHHi_y--kWU7TnWffUkwrFJjtXArviEqJwBEFkZFC98-CsDwL34uDplewLfZZ1JcSPvzvyAsUFlDqe9uzitqyjGQon6DC2cMMvd4rHeUALaVkxVolRjvuwbiri4Dx09yUu5qI2jPh9j4EEi-Ac3HS_M8DPl0C976iI3GFLIkMal3KQAPZBwYDmbRkJ0mbYIZ373MHQu1XWw862yMY_9AfxS5QLDuBBZSm0G4izoNkquodvEepqsv4rU3DaHd_2K0AJT1vD6u5K_qBa16-Nk_9MoDlTFE-ETB9uN227jFzxks8to9a8FwFgAM25ttnNtas14OJzkyICDVm7-htMcDkEM_Uiu9Hcvx3qYV4hFPR3bICdknUdtaCfiDZ7nyhIPsLgPDeOwbWvQS1p7sWp59Bs2aMSl4T4TZnDMnVrzDh98DaLVlCEDts3V8SNrCi5bu8O56Mi9-7Ipx5VN-NdFM1Py2UBHRrGX7l79_c5Epjtwoy_yfGG6VX8t04CF4-3OIpKkxbl2DDJ2HgCopGntFJpahg6cf7VMa87xxWYoOP6QJkbSYpccDYNpvsUQe5akgU1SL_ESSmx-rYnsnI-fwQLKFTLW1wFExJESkf8_8OMCfAIHmPYKPY-Gsh_Lk2mvqGvAu6C1Q7VizvkSrt9drBrdMq5mubEKmf3kTXqNTfg6xSka9rEiVscipvcwfYS00YR68l3FcWbeDp0xH4USLv49s8umu1u_2pVBBuyVZLKCI0AfvpRyD_W6p6unocI0GOK8h7cUj5bkp8Uz9_kv94e_SsJSGYpo7CSpY1eZId_yhZ1JhOONzZR_cSQno6YpzhhxxIHuu5RwjZ9K9dxpDOWXyzE2ILjNbZTaqm6EfTE0YhyotHgpg_Yw_TkS_TYazOYcUd1uj9AObdC1qpxULvi2XVGDuZbfwvP_dzn6QRYZrYwyRxXcy31HAd75t-q-I6FQKuIMu3ZjgS_Js6s_k26Rx7VSpQExwHPsl5xNfeUeMNePdYbCx6tsOyTH3OxkePyyov0skD8SwDhhYiWvsXt2DKHxDv3EHyhsecZAC260HKVigYmEPk7I_0wWmHehi5Dcec29EdCgh_KiZZtF_NTkGQw0mOZTbhdTTxCjugDnPFkUMN1EndRs7Ap76N39_C_CJ7jDf_V44s9ZAqmH6cUqH7MTh4cwKnJPWxB8kLT0MIXnZJqzxgLaSbAC2-0HnX9KIAtwdc8s2cs3LNqbgHOxnbgUqir8CZK1xogOA9aQ-jkGmrim54-c4PQN-slj1QJJNJrxv6q0hRPlEOZUv2Li-7uznfTZFn2_kwYoMQbLLCLydGvGY1ok3xX1D8qcrDo4lO0eYdnF00gIENLNai2uGVAq8XboIu-6-cWTSr1ePUKFOMunaPZ0JdN_ZKGdiW9X0vWE0rjlRv5a4fggQPNQhqN7SpNRWVHzBrou73n4skH-2zxbZx3quccC1HSwIoksR9ewvDmPks-BiVOsRuSaFwkaSiha53RzHe9BIHOXP40vKFCruOfQvMFgC2SC0xAgOS_rVVCMeB1Dx_-ruKXemjdhXv3fbIEJHCK9S2kxK80H0LzKOy_u_20_v9vBJu698gIlgvDS3mWBNFb0G1ncA-1M8Q6FNDFbUmk8ZsRDyg46eh4JRpMBqzNakN4dhx6xSvIanSW7uWcMC1hNFNW04WF-SuwZAm8JnEVZOn05niW_AJpfriUCdvBbzDIIIQA6ZdXIK_toDs8LnyMhI1Gr5XOX8PrmeOaOiOiBMnOqkr8DFHF9-KpP1cj_1pfwncM8axWg_NXAsnI9mmeDsqz1itMeD0JwK2ksD0vxX-FstD4UdsSUFbHZZkPs8-pTZLE2wSqcIj2XHJfp7KGrAdFjnYqhs0zovtcVJXHojTQ_nzhdVN4Cy6dvDoLenYqwMaHum1vN7jLZGa2u3kwfREhuk9cLfwDva8PGGkGuCLlkIARAMs1Ji2HIh7DXyqgvDkmsDA4MPeBcoFhTzULfiWfAWsla9vzuEkqK8554G94JYV30Zb4_iAsfFLICDlr_Be7_UUUWuDkCmCgkLMbZ4wXdSddTONCmd3ztlUVOgrsNI5bgq48wW9RY7C0tZTYbO3H0zagKPMeMxJpR0PnmmKCMtUy9RhGvRhxcVlcsyPxYXpfCYNQ9xIIDpXoCeUse9OXXr6P_tE1KEqZpBrk5qU6w3YqJzEN-RfX5uakBE1if5XzZhrwE02pOvPT9oSjODbC6KmDa6QmAQON6enb_wBkogJ7fA5YmtUuUA7bQ5QUkjS2p3TizgKf4i6hy9Y0GefQIJ4acYsiWacIVPbboMRb14odtN-qpoZM1hbjHmzyzwaMcAgOhS3JFu6yjFw3g9O6XJFb5s1Xxuiqbkzia-uXA2FsL2oMoJzOis-J7Cl23fzItLOxZFlHTegowYgqRfpq3afDfQiH_7mevssvudhxd4BLoLtpEBnyShPcBaRUG2jqQ61TtXznDzjdWK4JhtTAG6q-gpe9gQ-AunjRKPdRs2s0-W2o5iqiup3NrdMcM_bKbPYVQlW7EVMjNgZyXDN7YTCrsPOCIa3A5bPBrIKirkgNL8JL3-JZQy80ttrwr8PCyk2upjJPD0OJ0OJdAy7I14lwUJP20vOUUr0yeSf27Y_B2l1JdrjLSiWk42c31T0YJQaykqb4s0U7UvyanM9c4359FWRcHop3Z620ds-wLblly6BlMv9t9jIuidOAYs2dd5JsgDXTtY_y0OghLJKo4aHBw9Tqm4U70h5VmqbqHihgdcfShhRa4U3HR_AaTh94Tzk",
  "id": "rs_0d3a518622cde59b016ab4570002f087d0a5eb51184f73efb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.03,\"left_z\":0.1,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_z\":0.12,\"right_gripper\":0.05},\"note\":\"The pen’s 0.076 grasp width held through the lift, and the pen is absent from the exposed tabletop, confirming pickup. The cap is now clearly visible to the left wrist about two centimetres image-right of the jaw column and a few centimetres short of the fingertips, so I’ll make a combined centering and outward approach while raising the held pen slightly.\"}",
  "call_id": "call_zTn1gzJia3nDycxDO1ozVwFg",
  "id": "fc_0d3a518622cde59b016ab45704237c87d0b26173d7c8423380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zTn1gzJia3nDycxDO1ozVwFg",
  "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]: [0.3367, 1.2556, 0.577, -0.3923, 0.8116, 0.8021, 0.9983, 0.5385, 1.7306, 0.9138, 0.1635, -0.1814, -0.1287, 0.0755]\nstate[eef_state]: left_x=0.285 left_y=-0.0322 left_z=0.0878 left_yaw=-0.7434 left_pitch=-0.079 left_roll=-0.0999 left_gripper=0.9983 right_x=0.3829 right_y=0.27 right_z=0.0871 right_yaw=0.7524 right_pitch=-0.0835 right_roll=0.0065 right_gripper=0.0755\nstate[joint_eff]: [-0.4034, -4.7795, 6.8444, 1.4042, 0.5153, -0.0415, -0.1832, 0.0205, -11.0838, 9.5385, 1.873, -0.0708, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc8911b16158133615a80edc2d6e43617cfc5412258f30c64aef9fee9052805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42eb6929caa2b561ee16153a9f7af5aea4dfc14becf69ee711f8d51e036e76d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b84569d82f426374111f05190eddca2d3be78e6b582fa8f1572deb5e107f780",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 5.949 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]: [0.4095, 1.1133, 0.7784, -0.696, 0.815, 0.8391, 0.9981, 0.5381, 2.0277, 0.7872, 0.6617, -0.1772, -0.1246, 0.1025]\nstate[eef_state]: left_x=0.2816 left_y=-0.014 left_z=0.1611 left_yaw=-0.69 left_pitch=-0.0566 left_roll=-0.036 left_gripper=0.9981 right_x=0.3918 right_y=0.2743 right_z=0.0033 right_yaw=0.7455 right_pitch=-0.0113 right_roll=-0.0079 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -3.0838, 6.7761, 1.0818, 0.3785, -0.0562, -0.0073, -0.0068, -10.8239, 4.8752, 1.326, -0.0122, -0.0269, 0.2515]",
      "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]: [0.4095, 1.1137, 0.7784, -0.696, 0.8078, 0.8391, 0.9981, 0.5381, 1.7763, 0.8722, 0.3103, -0.1806, -0.1287, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.013 left_z=0.1602 left_yaw=-0.6861 left_pitch=-0.0623 left_roll=-0.0335 left_gripper=0.9981 right_x=0.3896 right_y=0.2737 right_z=0.0787 right_yaw=0.7507 right_pitch=-0.0254 right_roll=-0.0065 right_gripper=0.0757\nstate[joint_eff]: [0.0479, -3.0838, 6.6667, 1.116, 0.3492, -0.0562, -0.0171, -0.294, -10.865, 8.2256, 1.707, -0.0708, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3367, 1.2556, 0.577, -0.3923, 0.8116, 0.8021, 0.9983, 0.5385, 1.7306, 0.9138, 0.1635, -0.1814, -0.1287, 0.0755]\nstate[eef_state]: left_x=0.285 left_y=-0.0322 left_z=0.0878 left_yaw=-0.7434 left_pitch=-0.079 left_roll=-0.0999 left_gripper=0.9983 right_x=0.3829 right_y=0.27 right_z=0.0871 right_yaw=0.7524 right_pitch=-0.0835 right_roll=0.0065 right_gripper=0.0755\nstate[joint_eff]: [-0.4034, -4.7795, 6.8444, 1.4042, 0.5153, -0.0415, -0.1832, 0.0205, -11.0838, 9.5385, 1.873, -0.0708, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc8911b16158133615a80edc2d6e43617cfc5412258f30c64aef9fee9052805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42eb6929caa2b561ee16153a9f7af5aea4dfc14becf69ee711f8d51e036e76d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b84569d82f426374111f05190eddca2d3be78e6b582fa8f1572deb5e107f780",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFcKGQO9E758PzFUbDiWj07LobsWyihLiapF4NVG0nqENJ12l31SWvcnISSyhWjAFiFvWBFlpsjjw1F_S2pnU54qNrNitR7hwT32kKvk7MNSP7i_VJLXfGg0v3JR3O_17eNda2WkDN6NLmjb3Ul8c5Q23j9b7o_0wrSJcZpWSH4NON51Z_TMdSYBFg3OZjChTDaOvk0hO_2-TtqwschzjOvraYiopvv9wOHJPUx4wW-BeCuvMDz9kaq2Uj4v2WWlDASp_jNNEFa7_tVAtSiM0CmEYwC5F4gcKZQgFudZuvFgQNXnJnTkQLYdtYsEz0Rz24s9reh9UWy0mCDxA0WyZzFbT3t2yWOCCbF0uRJpw7d45xjrKJwvAxCcF4Ut60DIlngxUqSxmHSjIhVks3vIIBav2V8Ew-RQI9y3p-UPzZf3rRM5Ccva2DkJP88EGRSGhUZmnBuUjbwNc76OkoqCpMwimoPL8C6PqPEiyF_PEleXSalFYvoIGn8Kzi9wPbY3SgXS9IsKAix66uz-29tMv447UvD9G7-dc9w2LCSxjYnlO31eSMZZCfMf2dVMHlhVRXP-sF9icpmf_SXJVlKbdx-zqji_SXeC6mIKZybEll8jEGG2H8x2A-16Zm8ktT2WqagAVme_rNsSlXZs90-XENBCcId0_HvNpXBN4lf-R82McKTHI_WndUMhYoLfvIzBk_Xg6yyzJxGIo1MJ-JKEejk-yOH85jCsRy-Jt29zkIJ-v2WFwV9KjHWbrY9ciM6mXp391aTjcdPefHw2YjEGSrDozR1BzXSbbfbRLkoexHq6JgF5-kh7E9CW07ZerWFw98HpZV3Pt7TBLyANaLVm2hgc3ODMi_lhvUzse5njdO7iWXXIKSi8O7sjvcUbFck-SCwywZ8fyN9QDpXQSwoJZPF_E4VcWnfJUNK39oRaq3r_3-0G_IwINBmoS6NttMo4U5EdZejBmylsQmuj8nmgocrpdmRKEOzg2BWFq77PGsjD0omkFslw_zCFBtUC086njUGB7fel_zuN2T9f2-u7lZxWNhi89FMK3edhMLBu5vd2mb7s2DMfYHPgVSVo9HGp8BRW6ryrIyIR1QSga3jNgtqXIRwgkvICbqlaT3xvD72_G5HBelNTGTcyIeKz3Sb-bDROnZhSxAFix76RDxn7ee5SyNN90ySj0qaMlvesGQnjZyFzaEcvTCvpK8h7pYVL7UOY3UQeZ3ETINTXwBEEsm1e1SHo1mTr2yPSzUpbVRLxifan-7vxUa9Xj-k89f6o6a83RTuxbiopSFyxBWRa0kc-QZa24DbV2eyDTNyQkuKeNG79AVTFS0BPAYGWs-vb1vk9Nz86pUg0TgAj0bW1gkbHjwynsIqc7WckYDebMWk6lLppgjtmiQAh_WOagqqSRgSUOG-Z8OM7ymqVyLGmKIL1_ZwD0vjiHvHafZGeMfDbYzT-cH-yEc67nY8wN57so9y6mnbtzRjNNOYzCIi7Hp2EffJWAjg7MI_I-inewBwAzIsj0Gpkuf3jdfazkspQGFD2Rh2Fwy6p-WZuDzjTAkB5BT7Nm6Tal-9bECdrzyHWLH2fz5XO8nFhN4iWRNT6TynHSQkdA5NQMmh-RSV5QBSST62ZTk5cop1_vWKptOmI4kpKF1NNrPoFLhhbzuWBxwcAjemvhjeesfUXG8ufMKAOAv6wroADOD9rMaVaMB19VbRGSye5mMqs8UXSFd9o6KxoGYvfyCQOoV9ejMyHn24xxmaFQrXGO14jrO2fiEPjQYmA12Z4x2WUHfCcBvl2HYZqlLJGw1tkmZre4mjeD0DfgScfXYOvqJlLChV4-DZA716LaWgZcr5t_gobXcR8vSu7Gm44G_nABiqQo5yaXJdVk4R2lshOun11oKNmsOAbbojpFoCXXWYjTSUQJHTDRn6AkMPt7u8lFIDYKl8H0gwWiMQkPk8iN2CBCt5oKU2ysN9Id2gRekWPGc7ZpglkD41O7YoMj0MLYaR_uOBJa1rDc1l0lDKdZmoUH8Px25pTu9zDwcWjUpOO-lMgPIAJ7ONMMmrVlc-TjBjklco7rJ5bgfpjXz--azaPp6wLcmf813zQJRsZeTBYAa1MkvFOgbiwhHYCxavgaP6Q8Kh49BQBNsuHuryQvTgmu-dDaH2eR7EdF7Avh9wMQtaFa_jhLy8ThfvKgYfc1iob1R7b0TArFJymU2lPDpqOGuhA2V7e3FBTuDBZqJYlnWr62IJTkyn6L5iBslmkG7AHWimsX82MUM0fT2I3kSSjwgY-qutyrAU6Hpn1MXU0Xm2qpSUvbGdq3W_EQ01gn-DnH_rvt-gBnOaRufs9uK8XMxxnbcZ-g6whK86PlU6j6Ct_KT5LeeWwAYm08QtI39N4SPiawLOXZRWCSueeTtG6HEwwbIX-yI8=",
  "id": "rs_0d3a518622cde59b016ab45706f7ec87d09f82ed05c7a15179",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.04,\"left_z\":0.1,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_z\":0.14,\"right_gripper\":0.05},\"note\":\"The cap moved closer to the jaw column, now only about 13 pixels right, while the large upward image shift is mainly from the arm’s descent. I’ll advance the left grasp point about 3.5 cm outward with a small additional tool-right correction, keeping the pen safely raised.\"}",
  "call_id": "call_lsTSibw5JURMLc0FGri0VidX",
  "id": "fc_0d3a518622cde59b016ab4570958ac87d0b9dcf8251abd81d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lsTSibw5JURMLc0FGri0VidX",
  "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]: [0.2718, 1.3048, 0.5583, -0.226, 0.7887, 0.7345, 0.9983, 0.5381, 1.7123, 0.9333, 0.128, -0.181, -0.1314, 0.0754]\nstate[eef_state]: left_x=0.3032 left_y=-0.0419 left_z=0.0837 left_yaw=-0.7536 left_pitch=-0.0499 left_roll=-0.0589 left_gripper=0.9983 right_x=0.3836 right_y=0.2701 right_z=0.0963 right_yaw=0.7531 right_pitch=-0.0813 right_roll=0.0037 right_gripper=0.0754\nstate[joint_eff]: [-0.4718, -3.9179, 8.0752, 1.4286, 0.3199, -0.0415, -0.1832, -0.3624, -10.6051, 8.1162, 1.7118, -0.1099, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c08b1960cb81447880ee7332a419af3b08255866dc81ce2bdc6f7047c375776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62128aea2319c12cc9cf8f0a991be2df006a954c20385b3de580e1857edd229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b3e96a1bb55780ad3494133c7768cc4513423bf7fd22006f0d6769adb9a1bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.823 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]: [0.4095, 1.1133, 0.7784, -0.696, 0.8116, 0.8391, 0.9982, 0.5381, 2.0281, 0.7872, 0.6651, -0.178, -0.1276, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.0135 left_z=0.1607 left_yaw=-0.6882 left_pitch=-0.0592 left_roll=-0.0346 left_gripper=0.9982 right_x=0.3921 right_y=0.2746 right_z=0.0038 right_yaw=0.7478 right_pitch=-0.0082 right_roll=-0.0107 right_gripper=0.0757\nstate[joint_eff]: [0.0068, -3.0701, 6.4615, 1.1062, 0.3639, -0.0611, -0.0073, -0.3077, -9.2376, 4.7248, 1.6532, -0.1343, 0.0122, 1.0232]",
      "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]: [0.3367, 1.2556, 0.577, -0.3923, 0.8116, 0.8021, 0.9983, 0.5385, 1.7306, 0.9138, 0.1635, -0.1814, -0.1287, 0.0755]\nstate[eef_state]: left_x=0.285 left_y=-0.0322 left_z=0.0878 left_yaw=-0.7434 left_pitch=-0.079 left_roll=-0.0999 left_gripper=0.9983 right_x=0.3829 right_y=0.27 right_z=0.0871 right_yaw=0.7524 right_pitch=-0.0835 right_roll=0.0065 right_gripper=0.0755\nstate[joint_eff]: [-0.4034, -4.7795, 6.8444, 1.4042, 0.5153, -0.0415, -0.1832, 0.0205, -11.0838, 9.5385, 1.873, -0.0708, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2718, 1.3048, 0.5583, -0.226, 0.7887, 0.7345, 0.9983, 0.5381, 1.7123, 0.9333, 0.128, -0.181, -0.1314, 0.0754]\nstate[eef_state]: left_x=0.3032 left_y=-0.0419 left_z=0.0837 left_yaw=-0.7536 left_pitch=-0.0499 left_roll=-0.0589 left_gripper=0.9983 right_x=0.3836 right_y=0.2701 right_z=0.0963 right_yaw=0.7531 right_pitch=-0.0813 right_roll=0.0037 right_gripper=0.0754\nstate[joint_eff]: [-0.4718, -3.9179, 8.0752, 1.4286, 0.3199, -0.0415, -0.1832, -0.3624, -10.6051, 8.1162, 1.7118, -0.1099, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c08b1960cb81447880ee7332a419af3b08255866dc81ce2bdc6f7047c375776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62128aea2319c12cc9cf8f0a991be2df006a954c20385b3de580e1857edd229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b3e96a1bb55780ad3494133c7768cc4513423bf7fd22006f0d6769adb9a1bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFcR10H6q9JwFBg9F9QCvgBY_jV9r-3DbVLJJa9kA2GpDE2l261psvKVigOEXY0MubIaCWzQsIRbcgd64cBUUVrbLW6WYbLkL5d9rBd06Fi7bRsbDVxflKYswdeSak8RxHKcMpkBv3qlKvX9uzGmzi0q-etHG0GRfg7ZYd_2n1Ye8tOE3gyy0TXl6cpNvpRQ1qy0e8faEJMsFTFrV9EohJO0N1nZiBpddgK5nedV-CEQvdcaLgGAx7DklZRQvS61a1Z9ArcWuIu2rKk9Fu2WuE6x-Sr-P1VJxS48T7XCxLNXFAOL5lHmQc9xr0wXXNfkdpcuu7ALxixM5AeAMqUGOov1aNsQhwC_pNQUvkBnVkjL49wGF845-zeR6mql1g_Ll5k7V8EM471CY4ydyk3yBo5MUM_IPztzQlM2vc-x_dpQGdnhnBoAro9IcjRX9ZGMQ60IR0MaPzqxyu-kArAttKQnsThRCxEyxVjd8NpWO-EkmlpAz8ncyqSWKCBC7gIuvFDFNs8T6UCpuzYO5-w053nV4Jt-aEcXsJWACEj37fSHnHwWRs6lWHT2LmCvimd0cFr2Ty8B2alhiXRw8UTEvAz1hxXYXpGpUpXC_wibU5n9bOocIYMiXBX6gSHNKwZNbBYr4_Oqd6wMIoNs0QQGgGr45Q_u_bbsPS24l7kBnHzUPlhfOs-sfNaOke0Lfha13uN09T7yJpKLM9Sa6XQqhuRNV-XQheeETlO3sKtz5VRp2wSwjDOFirtSlxR6fyqjLRPwwQKdjlqjR56xTBEYHlf2ABDW35yy6rYUGewdonP9SBu5k1P6oG7fJrUCTI4kWA3H0_QVJ9yuGdp67CITu0ZTaopqUsJQe7yhvE9-1vbPBcLqJ3EK1Jc1YchE5n-vJQsMZIf0eiUnHjYuq5xDGwcSX2vpltC7cAtLA8GIANIstmOMIo3ucKftZfk1rFL3EMf0i69t1Lu82col1TZcr5lnPeh5dFvhYgo_mMNw6-ZPR3KIMburRUoby_FXgar7r_icNH5waGvl607z1h8cjpinwfHM0sgYZrkiGp-uRbvR6JN3_FiVBMcAkPUt6c3ioIzwB6cOmJXaRJSZLXg6Aj-PXTK0NubNiUZAhVz3ANPt4iA4yZbGO7OWTV9vYimRBt45EhmyUdniqz55HKJ1DneDV32711JmoIHYQIi4hpiBqs4l6JGK6TnehDxOcIE-D876mGKe2Nly7ElNJRS1jDMTnBvdlzbfU0bH_soTTMxC7TBE1BQuvUyF3L3MURglDj-QJ06Ke2r0YF-KS6ubQLFYItpNkH0zc6zlbZoHEUujs4Wm65CY54MRAE3X8JutHf5-67chV-C5v0sRVc_PGpvbZYDZA6Ygg4De9Zuxsd2AtTmKtb0iJFI2-Nq9SKzuflOrhnXS-eeKgXGVetf4mU1Ngm5eIc4W6O_yatMnMEeYAJog5huLKxv_8I8MA3gH75CwN9B-RCsWveJ750ZtbVIlXu1oIdavcWIqr-eiSx1CFHE98827M5h61CKYv2_V6yoPf_cF9lYNeNDym9drZirpfKavqDIzVOUyV1ASmB77nHtS1Wd5CddwO17FuDW7UbQun2ttLoLNq-S9kpdQEiP0t62-wAZsDKBVf-3K3KDDfXCJZ55dBymdS2aEWZzfUhGGcIL8wm0v_7Bt8dNIJE3x1aAWwMny4SGg7nmyS_Rfm4Q8yQKI6dilJPj2rHZSVlftD7S7kIUKuB9aldyTwt3yBthE6FySIJp2_iVvD1UPM3WAItXye_OLY00r3IVwHCWXtH23x37p85FHPeXr76KIvb0n52wKy_fU19NnEBiO10-c7e0raFDln1XpmYgX8byLBJMwwZqFDIrFVgWK_jFsssLxPzOQDCtVtRaJnwauG68ct9PZmkm3rdfZGzzcAl5vrrD6nhsisyLCNTHwGvigOCLFY0rFqePtp3K20SforjF-ED1ivOy9FdjPSR6apFV1cmD6PtCy8DpNxjkQBHEWdukQugPyw8IjVjXTSmyk0r11dL8nAu_zgvhS5aCFRvEhUnO9qV7BK7lt4UfUT3LrqF5BXluyN1U_GzJXUu0UL9jYe_1-uAiRS0wSgmUXGpPsrECn1OaEGghNMdJUX3xqZiaemOApLcoj3gNkseH0gc-7bkj7gnerGbvReDY6C2-wWr2TUbrwb8neu8rGwNQY_YIR68Dj_vXIupBNCROKPE2i7_XO_KxTuh06Bl9PrLq6XqrNVGh6UBG5l-l6fVblnm5ZYh7feP7mB7DBE85bJFzB2GAfSRM6-pw5EyPy8fOGiP61VaF3Tod5qj3nQaTOjaPHUH8K8XG-3x4WRE9FJfFF5c6RsRG_ULfhD2jJkvnVkIt5ZABTv6FtQ72NsX-ObNes7UL2sWCIQFuxDgvIaWUTd3DRkiReSzuAVAeLslVx63xIj5ow5cxRCM0lkCrpJBRkK1BfN2W-KZnpJVH9rHV81vuSRl7uCBh9g0XGtAQ81WPTbZfG6mfKqwBCC2cbnD65au0R8Ig-4RUY5J3Xq0e8OClzkQSwAJmqvHOVPyi9ePMzj31kYBbx0ZVFXKbBztQPQmTCFBlyfEHwLU2Obo1UHHAxiySOjbLNV3ceK6qAI4oFnEAQNioo2IjieFi4HCQ0IktDrT2jhhFntQn1vVE4ZLwAmmeGRDVRpAZpmuMWM4V-9zoZfelwq-06PKApjo0yQexvTxxOEt2HbqncQNvLnW1CTeONVVeMJv5B4QvPpRYwrJRkhJgHuQjsXVzA2XJYo_0cjEuMaCvjHPmJ6ENh-JdP3XKu-bzTW82xiooZT3kt9UWa-tVtVofPDmut1uX1D9t8rENnjrWtKQdRfZA87G6lfz2CyUa-c4ou3ixRCHOGPnJVtpZurwfnAw2hqha5rb1OjlXKf11uTIvwCLwgwCS_mvD9AyBltgIu_o2zVBQWS6VUXyQgHhebfBtc5Xc7pVciVY0g_Qokdjrgn598Hh8in7L6XbgZ-oHP5AwHSx15IJ93ROny4WOkecraZjnMXDhYXuBBgvR0VolCKxBXq48oJX3mOo6YczLc0M07WFIM7qFtAeG-yluSqOx7OGz20hhmkNshz_E2GwIbS8ap3dTjcd43X4TUZ3OxJm9dH1p9oGrTfAc9ldc-hNoYKyfWKrE43Yo-iz3ja3AQVAzsSR0L0kDjZqtdPuoOUwSLXc1G-6eIzNmwr1fz5AwswiWS1et3Mxg7jjp53haeGS65MM7px3LGxPbiMr_HBJVVwIiCnHA-s5ZzdM2sS6QTSmHUB0WKtCLhGKeYd6R3iskvKitoT5JugdQno7RfgqQ0vAEzRz2Pu3oJYpYHnnTYXNLAQp0ho_QEDT89i9FhtsU_SZqIQH8IosnfvMzAYIsy4gSfZRAjzYRDWArhWQhWcd0op2JFauoUkYwvpLWQorUYExzT1_1N9smHT5sKY4LMWn5hyQQOMt3Qw9XTKozYnw==",
  "id": "rs_0d3a518622cde59b016ab4570c5b8087d0904ef7c43a74803a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.1,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_z\":0.15,\"right_gripper\":0.05},\"note\":\"The cap remains fully visible with a large gap below it, so the left fingertips are still several centimetres short despite the last modest motion. I’ll make the larger combined outward-and-inward move toward the cap’s known tabletop region, while keeping the held pen high and stationary.\"}",
  "call_id": "call_mN2ZJ6rPOkOSYPi4nGx8pgaf",
  "id": "fc_0d3a518622cde59b016ab4570ffd6087d0b02d3940fa3bcc95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mN2ZJ6rPOkOSYPi4nGx8pgaf",
  "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]: [0.2676, 1.3121, 0.5583, -0.1898, 0.7845, 0.7143, 0.9983, 0.5381, 1.7123, 0.9333, 0.1261, -0.181, -0.1314, 0.0734]\nstate[eef_state]: left_x=0.3085 left_y=-0.0411 left_z=0.0854 left_yaw=-0.7432 left_pitch=-0.0381 left_roll=-0.0489 left_gripper=0.9983 right_x=0.3833 right_y=0.27 right_z=0.096 right_yaw=0.7531 right_pitch=-0.0831 right_roll=0.0041 right_gripper=0.0734\nstate[joint_eff]: [-0.3487, -4.5333, 8.0615, 1.5653, 0.3346, -0.0708, -0.188, -0.3624, -10.4957, 8.4444, 1.7753, -0.0904, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0698a165f34a8baa60fafef0c8e9cf55e8b5dc2b4a7ac4047093e80c6ede72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843bdef7463fd953f56b7a0b3561533529a43e690750cc9b89be0dd5b87095cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d76b0e3a51e09e91efd03fd520bd36a55b140d57272797eb08809a1764ea13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.583 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]: [0.4095, 1.1137, 0.7784, -0.696, 0.8078, 0.8391, 0.9981, 0.5381, 1.7763, 0.8722, 0.3103, -0.1806, -0.1287, 0.0757]\nstate[eef_state]: left_x=0.2817 left_y=-0.013 left_z=0.1602 left_yaw=-0.6861 left_pitch=-0.0623 left_roll=-0.0335 left_gripper=0.9981 right_x=0.3896 right_y=0.2737 right_z=0.0787 right_yaw=0.7507 right_pitch=-0.0254 right_roll=-0.0065 right_gripper=0.0757\nstate[joint_eff]: [0.0479, -3.0838, 6.6667, 1.116, 0.3492, -0.0562, -0.0171, -0.294, -10.865, 8.2256, 1.707, -0.0708, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2718, 1.3048, 0.5583, -0.226, 0.7887, 0.7345, 0.9983, 0.5381, 1.7123, 0.9333, 0.128, -0.181, -0.1314, 0.0754]\nstate[eef_state]: left_x=0.3032 left_y=-0.0419 left_z=0.0837 left_yaw=-0.7536 left_pitch=-0.0499 left_roll=-0.0589 left_gripper=0.9983 right_x=0.3836 right_y=0.2701 right_z=0.0963 right_yaw=0.7531 right_pitch=-0.0813 right_roll=0.0037 right_gripper=0.0754\nstate[joint_eff]: [-0.4718, -3.9179, 8.0752, 1.4286, 0.3199, -0.0415, -0.1832, -0.3624, -10.6051, 8.1162, 1.7118, -0.1099, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2676, 1.3121, 0.5583, -0.1898, 0.7845, 0.7143, 0.9983, 0.5381, 1.7123, 0.9333, 0.1261, -0.181, -0.1314, 0.0734]\nstate[eef_state]: left_x=0.3085 left_y=-0.0411 left_z=0.0854 left_yaw=-0.7432 left_pitch=-0.0381 left_roll=-0.0489 left_gripper=0.9983 right_x=0.3833 right_y=0.27 right_z=0.096 right_yaw=0.7531 right_pitch=-0.0831 right_roll=0.0041 right_gripper=0.0734\nstate[joint_eff]: [-0.3487, -4.5333, 8.0615, 1.5653, 0.3346, -0.0708, -0.188, -0.3624, -10.4957, 8.4444, 1.7753, -0.0904, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0698a165f34a8baa60fafef0c8e9cf55e8b5dc2b4a7ac4047093e80c6ede72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843bdef7463fd953f56b7a0b3561533529a43e690750cc9b89be0dd5b87095cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d76b0e3a51e09e91efd03fd520bd36a55b140d57272797eb08809a1764ea13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFcUetiu-Mos_gFNdPhUP3kj2amgw8ic2MQJNDIE80QOGfUYt7tp3R-xD_sWbXvK3GFbwOdUwF7JYyh9Fh8X0lmM-800NUyhDmf_jnxllsnK9MyZSXlTC2U5rVrL2kfyACQIqfghPmileLPO6lgsx_sjEuM0MY8IWIH8vxv_l5szgIJjmOKGGDt11HgWyh48PTZaAADm3h8s4BT7O8Ub6GE8mnuNHFApkVY_oBE0ptg2BnDxJljJDqCNR1K7SluURygJQ6gChkoBC2noFOuiZpI4laC88kRVzPaP16IjnLBa3k0aN1YCltOa3JbI50V3Bj_R_EAarlR7f4Rg_ULvQ3vfMKk4Wi_nySgXZnNQK0idWKprOZLzN-Ql3r860_-WSWv60kW22AmlojOa9NP2A_nkrq-6q2cAC_lKlvFew27JG0SqT-puPeNcIgvESA5ErLCy3PKHwrjTHJ9739556big_71uFe8LoBtAfxsBXDprIGv5Gc0AWKaPiNbtJikfbuE6b8f5a3X8Is7xYbjSPyVDxyODiEfPWtuE1VVyTxXuzqbYxS5wNmnn2gXHrg-W09JnLWQmctZ73yjAZM9WxeTxHO0gHrVBWVVXw-3CcxbeqPUJ3XAlnGdi8DJ5UD_WuDjIkEfrImSVXzeBI-WJpjd-PlOXcadFJ9jqpl5o93Fnxi855XGmfSZ8vKm4eMOkkiwQuflZJlBZT3BN1LRZU3SZN3bSshnZ0LNf9sNmrgKYotcN-wHp2MzmcJnEpwdvk29VVLRPk3BJ2k4d_slyCBb4ss13Ukvu9Jg298mBNxgH_KMSziXtF_lRST2kwWwgrdM8l0VR3cFBCH8hux7lN9XzRYkeW115BTZeVx6xCu9C86anw1PpxAeTioiRcytnl4HWCipOulkub0jgFgcamCBuIVXLGw3OEyu_wJ4M7gmd83ZpedpFwGmtwTsWMi8VnXjBe8l6xIT7c9USd7G3z_HjV5b9ZQ8yu0eSTG-on9TG3FsibNWh87GCykbaL3GaNnOZLKSSzwVvssurnXps8gzr4nNrMCSoeLOmsCz8D7gez61cqxuKRGvonjcX9iNaqEBgOiGtIT5ZjLx7Sp4RrWiVi_LPFsvfAQ60t3CAR1hXsWBbtwmDi_e2xTpYq6aajylGmKFSMO880QNKmirBL70QdCDfixa_3k5QPf1e0i9YK9mPetmCzot6f9Bi2A0TEGRwkSOm9rgAaVaL3zT8Pw7SjsA4F3Ng2dwwsJM5rFJDeKo7vO4fsgcd81eQvdlVJFhsr_HqxmlRkI441J2q0bfN55WS9dGkqEUBxoHr8C_pBhzCaJSiACDERIVBuryaTW4YZJcKa8UoGYsTfuII7R0PJk6n_Kfa_EEHy_R1OemQdtfJqMDOfnhQHVd9CGV8EKhv",
  "id": "rs_0d3a518622cde59b016ab457132efc87d081bcac7f17de2ef2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.18,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_z\":0.16,\"right_gripper\":0.05},\"note\":\"The readback shows the left arm barely tracked the lateral target because it is again stuck in a low awkward posture, not because the visual estimate was wrong. I’ll raise it substantially first while retaining the intended cap coordinates, then descend from the recovered configuration.\"}",
  "call_id": "call_YDR7iJ9xcTDd2R0T19d1kDxZ",
  "id": "fc_0d3a518622cde59b016ab45713c7bc87d084d50ba9b7af5140",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YDR7iJ9xcTDd2R0T19d1kDxZ",
  "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]: [-0.0788, 1.2575, 0.7998, -0.2623, 0.5747, 0.4412, 0.9984, 0.5388, 1.6493, 1.0641, -0.1074, -0.1818, -0.1345, 0.0722]\nstate[eef_state]: left_x=0.3408 left_y=-0.1196 left_z=0.1649 left_yaw=-0.791 left_pitch=-0.0139 left_roll=-0.0042 left_gripper=0.9984 right_x=0.3816 right_y=0.2695 right_z=0.1343 right_yaw=0.757 right_pitch=-0.1217 right_roll=0.0107 right_gripper=0.0722\nstate[joint_eff]: [-0.3897, -4.1094, 9.6205, 1.5653, 0.1734, -0.0952, -0.1832, -0.3077, -10.8786, 9.3607, 1.5311, -0.1001, 0.0122, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae2ca08deaf1adcf12d163cc5a0284f3cabbdc955a892dcafddb3af3a3169bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f5bfbeb22146fec6958cfab0a0d18649cf4ee22f39225d80708f0666674543",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0379bdf3dc27ff31975f14932d7749b7b5000e29b24dbace56c7147972ea6ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 12.73 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]: [0.3367, 1.2556, 0.577, -0.3923, 0.8116, 0.8021, 0.9983, 0.5385, 1.7306, 0.9138, 0.1635, -0.1814, -0.1287, 0.0755]\nstate[eef_state]: left_x=0.285 left_y=-0.0322 left_z=0.0878 left_yaw=-0.7434 left_pitch=-0.079 left_roll=-0.0999 left_gripper=0.9983 right_x=0.3829 right_y=0.27 right_z=0.0871 right_yaw=0.7524 right_pitch=-0.0835 right_roll=0.0065 right_gripper=0.0755\nstate[joint_eff]: [-0.4034, -4.7795, 6.8444, 1.4042, 0.5153, -0.0415, -0.1832, 0.0205, -11.0838, 9.5385, 1.873, -0.0708, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2676, 1.3121, 0.5583, -0.1898, 0.7845, 0.7143, 0.9983, 0.5381, 1.7123, 0.9333, 0.1261, -0.181, -0.1314, 0.0734]\nstate[eef_state]: left_x=0.3085 left_y=-0.0411 left_z=0.0854 left_yaw=-0.7432 left_pitch=-0.0381 left_roll=-0.0489 left_gripper=0.9983 right_x=0.3833 right_y=0.27 right_z=0.096 right_yaw=0.7531 right_pitch=-0.0831 right_roll=0.0041 right_gripper=0.0734\nstate[joint_eff]: [-0.3487, -4.5333, 8.0615, 1.5653, 0.3346, -0.0708, -0.188, -0.3624, -10.4957, 8.4444, 1.7753, -0.0904, 0.0024, 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 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]: [-0.0788, 1.2575, 0.7998, -0.2623, 0.5747, 0.4412, 0.9984, 0.5388, 1.6493, 1.0641, -0.1074, -0.1818, -0.1345, 0.0722]\nstate[eef_state]: left_x=0.3408 left_y=-0.1196 left_z=0.1649 left_yaw=-0.791 left_pitch=-0.0139 left_roll=-0.0042 left_gripper=0.9984 right_x=0.3816 right_y=0.2695 right_z=0.1343 right_yaw=0.757 right_pitch=-0.1217 right_roll=0.0107 right_gripper=0.0722\nstate[joint_eff]: [-0.3897, -4.1094, 9.6205, 1.5653, 0.1734, -0.0952, -0.1832, -0.3077, -10.8786, 9.3607, 1.5311, -0.1001, 0.0122, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae2ca08deaf1adcf12d163cc5a0284f3cabbdc955a892dcafddb3af3a3169bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f5bfbeb22146fec6958cfab0a0d18649cf4ee22f39225d80708f0666674543",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0379bdf3dc27ff31975f14932d7749b7b5000e29b24dbace56c7147972ea6ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFcYZm3CIwkSsfjAg9fZvxotlw09JY20wktEp2Yp2X1m9UjijbpYKLXC6kWUw4ztO4bWDuVrDYcn589e7lIHHN-DRWepmrmKmHbEtDsg6KaBlK2jgiZl8KG9Kv1Eg7rUINWSp65j3IWCNGPSyOg2fx7VkLUNTGboWILdKcmiuTAlecfopizDxh8LCGcqFAP3ynPzxJnIf3x2RPCJGSba1Sy1QA0BX5zk3Djuq1gdXbTWe_WvrtKX2k_jcswV9C636Cu8s7cW4E9b4eMbr1ofu53RuVLszzf2ITeqegSOTWEOkiHyHNn_s_OHI_Vac5Y34-3di1iu1gWIflgeXmaPNpQkFXK1X3K1-7uaflH6U-y_6Dm-pKKpKnCMppcAgitiHkGX9Ww0F6A-yLqEwD6Ve7mTYo_tMS5uAIl_Aiwi9S-MZ8q3alKcoboqT_d6h9Vm9w8PPa9SZ3YKQ0_BBHS5NdcQXg6AQ9SF_kvZTnlw-JMMJrBM1AR0OQeGv941ZXYn9zHepIF_uKagxFgzdYdxI98sI_PiAiRMdpOSifyeYVynqsggOrViD0hLPOg_03WLJKr9VvZRzzymbn6jH6VnysNyDegOta_2fWQ6OulODO5bEBT8QNkUhhMstxZrDsHRQw6nuLRCmvMXx7TFq-NiznRSlyTSS30jvdlla-OjKCk8kguNfrhdkoG8qub_TgMXxP1crRb5CjUIeunJAtBMqMZNbD_bOr0bzY1WXaM51CBCzA1WiHHhZgr5Cy-OPZGrr9jQhHRvY_TlQ24JO4AvQxq7ac1Tjp2weyESl1_IRlwAj1-MYC6mz83YWyhNgRUZKzyNkNxKODvTFyGKYlPf6MwauLzySEflaJKdS6JpjzMnCVxjm3vJrPV_t-Bs_ZsK12yHMyJLQilwn4GeGYPoHPBO3dmA-qny6jbnIRZ4EYbImHQh08EbKNhdpD_MLbGgxiOGBJp1jXJDBMR1dV4liRWwedbWEzpkO0b8gCVg5lXKo_zIODhlM3kEdTmidjz5yYc7HMPEcq2VK4zAXWCMZAzQleJsPD_jKYc49AnrYEa545acWkMAO0nC0i3OUTorNb3rO6ha93Z2q7GuU0t5PDgUrp7hHXAHw0BoetiTq-nScNpQSIA_qw-BlAPjNqzugK177L8RUZZTD8e5OsXdf_FuZtZYxqbXZykYXxhZbaGAaKj41zdFiQvqJrCo73-KwZ9Cl0KNiZqx7jgVV5y6bA7k8qhSLQYQljrIOKgvYcCdw_b6ju2zx1BLwR3c_udJVDxLgZq6aBDMOXeOVBkqQdkA5OWz4ic2_d1dWPsBTeWjJ9ArLSNCKkKDgE8CsNCKbE1abVH8QVMEF44xuBA_w5LIsPLC5sGUTN2JbkA32fHR6D6GjAAZDvrUpcGKUUYwfyy7xkK4MuY1lyiEMebDC16cx7qMaB3_rRbZGm1lHLk_L-a6ueapsrilMUPjg6imPjy3BTVymJsx1ZKPYjUg-ab5OPQ8dxKxrC76oiqEYIk7vfYcwTDEE69gBzhinaLn2nd27G7k3ckfXPOad5KEELB4AEewsgwsoxqaaD3BTjLprfI=",
  "id": "rs_0d3a518622cde59b016ab45716a2a487d0bc281e97656058ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.12,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_z\":0.16,\"right_gripper\":0.05},\"note\":\"After raising, the left arm reached the intended region and the cap is now exactly on the jaw column; it is fully visible with clear space below, indicating the fingertips are about 2–3 cm short. I’ll add that outward offset and descend to table level in one controlled motion.\"}",
  "call_id": "call_GT3ndUaj5ckOnh1XutXNJ2BB",
  "id": "fc_0d3a518622cde59b016ab45717eb2087d086a3b395249bfd1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GT3ndUaj5ckOnh1XutXNJ2BB",
  "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]: [-0.0856, 1.8072, 0.4995, 0.5739, 0.5499, 0.4038, 0.9983, 0.5381, 1.6424, 1.1069, -0.2131, -0.1806, -0.1394, 0.0721]\nstate[eef_state]: left_x=0.3585 left_y=-0.1198 left_z=0.0001 left_yaw=-0.7589 left_pitch=-0.0352 left_roll=-0.0312 left_gripper=0.9983 right_x=0.376 right_y=0.2655 right_z=0.1361 right_yaw=0.7598 right_pitch=-0.1766 right_roll=0.0185 right_gripper=0.0721\nstate[joint_eff]: [-0.5812, -5.5453, 3.5624, 0.9939, 0.0415, -0.1538, -0.1832, -0.2803, -9.853, 9.6479, 1.7558, -0.1441, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a840a065aa2757911a2506e8b45c8ebe4b69aff27f3a35da33e3e85e31f85a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337d7cf4c686309ec6cf9e611c210bd2d772b7fbae43906c50dd5ef667174775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c483838d24ce9c6cd148147060379d1ae7473c1651db900bbfb45683ab66e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.855 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2718, 1.3048, 0.5583, -0.226, 0.7887, 0.7345, 0.9983, 0.5381, 1.7123, 0.9333, 0.128, -0.181, -0.1314, 0.0754]\nstate[eef_state]: left_x=0.3032 left_y=-0.0419 left_z=0.0837 left_yaw=-0.7536 left_pitch=-0.0499 left_roll=-0.0589 left_gripper=0.9983 right_x=0.3836 right_y=0.2701 right_z=0.0963 right_yaw=0.7531 right_pitch=-0.0813 right_roll=0.0037 right_gripper=0.0754\nstate[joint_eff]: [-0.4718, -3.9179, 8.0752, 1.4286, 0.3199, -0.0415, -0.1832, -0.3624, -10.6051, 8.1162, 1.7118, -0.1099, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0788, 1.2575, 0.7998, -0.2623, 0.5747, 0.4412, 0.9984, 0.5388, 1.6493, 1.0641, -0.1074, -0.1818, -0.1345, 0.0722]\nstate[eef_state]: left_x=0.3408 left_y=-0.1196 left_z=0.1649 left_yaw=-0.791 left_pitch=-0.0139 left_roll=-0.0042 left_gripper=0.9984 right_x=0.3816 right_y=0.2695 right_z=0.1343 right_yaw=0.757 right_pitch=-0.1217 right_roll=0.0107 right_gripper=0.0722\nstate[joint_eff]: [-0.3897, -4.1094, 9.6205, 1.5653, 0.1734, -0.0952, -0.1832, -0.3077, -10.8786, 9.3607, 1.5311, -0.1001, 0.0122, 1.033]\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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0856, 1.8072, 0.4995, 0.5739, 0.5499, 0.4038, 0.9983, 0.5381, 1.6424, 1.1069, -0.2131, -0.1806, -0.1394, 0.0721]\nstate[eef_state]: left_x=0.3585 left_y=-0.1198 left_z=0.0001 left_yaw=-0.7589 left_pitch=-0.0352 left_roll=-0.0312 left_gripper=0.9983 right_x=0.376 right_y=0.2655 right_z=0.1361 right_yaw=0.7598 right_pitch=-0.1766 right_roll=0.0185 right_gripper=0.0721\nstate[joint_eff]: [-0.5812, -5.5453, 3.5624, 0.9939, 0.0415, -0.1538, -0.1832, -0.2803, -9.853, 9.6479, 1.7558, -0.1441, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a840a065aa2757911a2506e8b45c8ebe4b69aff27f3a35da33e3e85e31f85a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337d7cf4c686309ec6cf9e611c210bd2d772b7fbae43906c50dd5ef667174775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c483838d24ce9c6cd148147060379d1ae7473c1651db900bbfb45683ab66e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFcmATxcWX7UpjY5df65OIyEy51AKShtxwubttRh1YQY4pYw7xMKTBBqFIrpDXj5TYvo0b_PHFRp4spuCfv49h_I3KJScO5LPeRHeTHJNbYXS4xGadmZ8ghle9T5SCqovWsMkho2BqPhLNqrrIf0VIDO6bxGe9k1LT4KbJKk-12h03FTKwPG6uBmOd2E-w2IubQaH3C-vbA_5sQBz9dWenhXISydDfHMeamyeD3BZ_OviBl5GaXR4zqJW_rkcK-k-wZUM1VApSl1vq-Nwwp_CZAkLFVOu3YL0L67DeG6ceae4KftIxdMBul0oCry5n5LO9BxVV1WZR4uMIeFa3vQ0XXpvmw9EvHQH22lXIm-4CN16Dc9nzYTOz8qxECMwmXkHWzAPHCXjwZFbl8fbKFHK-Km1eELiBv0QXVHwKcDOWgsqjf_udOzRs7b6-82xwpCuGyST0qTB2ee-8J8ij4Ea9V6T-mDEE7qyHBVlaBVAO8SZUZK5nE4zb_1khRkxm8_HU0tOTDRblcn_rZzRjQHAmWC1a1dFa4Mt5n82VwH8Z5yHwEvrCOVxi8Yz_onmeyW4cH95K1hxSju1u3SEqNMgmajLVas23kUQpj_gpsEhsgQhNPHS1tBGYpOdnjcpHu5Bs4TpZLNYv7suYhy20Zpre6t1sbOP8ybOjdsW_0ay0LzdMiUNlXFDtuQBabbMrK8KkdnHtbd4f9wXkaouaLiVjRl1xwwRIaDg0QVGAkgWuFsj51o5VzVEjfd-GFgdBKfDGcqTEJK3TPr4hWdrWJ1181PizbJlzpYXH9Q8nofP4KN0m9_Oqdab_k_zwk0S-IQSSfJl_J9iToYHfZrT6o3cvJlmABl_9XvIqy5VKVYt_r2aiSjXxUjZFZh4esH3aZB_kc9HFYUS5mhJpam5mtaURmnO8ZJMCDg_Fs_eyjMco-xexb1NCMfWao_xIIwnRhY-phuveTtL-clZQhe_PlZUVmkiPR_2VPLc88SShfX6nMIBaCN7Q1JQuL-4wMcOr__Sb8dTOe3uWVZw9i0jkFongigawH7jD-bfvuotzfQNh7t6S8DAcpc0p0WsT91TDK6L6jwbMF4OQDpyHZyF8t9OyZB5nAQfE_i0HlnkseOx1wqwQ5yxsmNpSa30sxzbw-KVJ1Na-vtq1SWzJRh-rR2i1QpK9cnqnkjOAhlEBd8PQBp0QjrT7ym7YISuDYEP8R_Sb8qEVnj3rxPhmj-qdi57kxzMKyXRuzgQOVaYMYP8BJcxQBdjnohp0Fz9Tn8vNGuBql-2j_ywUd82xqn-ux240gaW-10PQJq8UGH0ajdS7jB2s2OuJv0nEKJisiRt_WWGHSyOc4432j4vSfnDlgh-CjPyOt5AqJLSIA3tCBeHRzbzFv75e0feJYzPnXvdELAK3td2B58niZkUK3wM2bE6KIXmLzIQ0Pt-T66iGr7vIMiYwQkxvWehZS3hdIh1GsK_ViOQDMQZgxS4v08BqQE8mJJHMI7Jt3W1czmEi5WUKY2P2EbiWBk76EE7kRsYcBHjXrtxvKcSqP8YbJFmKF7mljLSWzuNiavDH99Qg4p3d0cdBTsWUuWrhWjnD7eZ2r7gsRR_RDX80MArWoFqlv3evG0bBFTgUnAAytFWNa4rTDkITywoDMVkhs2sERHh602280Ei15HOss1WVWWnjGZWR0RGAjUCSI_-iv58lIXi5otgtcLJyi2mTqFDgiRHNeXfNKo4pLNqwQMdK5IA-mljWQR7UTFSoIQ2_HSTFNoYkjt3sF_S8NBdHV30TvUoKU7T1lRygqVAyKOl49v9Ln_ba_NNlP2pscZ8iwKZR7yVWZ4ec-sTOeZtPr-9Mq46Gvkrxr5r5TI9Ljlf3AlHfQmFNSB9SXtYgxhEw9u47wrhwsqz-qEwDxXagNqXO3_Fsf9_5T0pJJxox7JTRq5hyBaOanSEwn0X4LoFk69Y0cA6rXMFPrI5yIUUbM9JqasfRf9Bn5Ce04K0CsSWv3d3oOhLfOnSBKw_6KDPQdUnFPDW4o8MMzXcpj-ofvNZ7B082BnhPwkYSdZs2b1IDUBiM0Tio1kmWC9pdWP7B8ORD8mpVTBQbbNtsD5SWMyEG8vFfSyLHu5SGtfn9deeCw7OUoW638Sj4n0rglwc9F697KCXVUuJz_8xkdtUjUzyfXNEly8n6ZYMFkOTCF7RjjBZfYf26LUKMn9pbW7JqLhRGF78H3Rc01ONrq84J4wyTPKPeVWf9hz3b04GNhOBe5EiINaaxal09LIwgIfi-F_hYbCjQCbU533ipmtmGwOMZqh3bGvNpo20rB1WsMHtuqdbM6DNaRxl6obEgri59Pdpgnm58SNcyPvft9NeOzy_yzSDC2w2s8GCwLP_aceAikcg_pxo7fvEcOiOzPR7mZIRi6pHrf7LZqyQvQUPVZkN9FvYnIKlr1pnBBQ_RIbG67MIn8TTIKdD5RBpTuYPDuUEUPHqwT504hXa-xHIkcLzOHdurAkYPNQQFvpZhmEfwLJaNHJVykA0TLqUKWwubPFZFLhzSfEpm_xkelt8Pn27WFcf2F_97CIkrI8ne2h3Y46VhdOFbfET9B8fJFRzrETTi4hV6jEwEXPyER2ZsQVXh-r38-9b_ny_cc48GtubZl_nnjeWQ-KavvdQDORo1jlO4NkcJ87JNU7-95W3DY0n0yY5FmnED03crVQRcCbACVhrvs55fTxLk6_AfpRl86sH354np-Oq_AlgqJMmeIn9n5HOqAKQgrxrrpz5H5mIdeZBVcAWsNk3h4Y1x_fNFCCb-zVUgp9bl6eq1uHw2_gzeBxOUyjydRDJe-c6EUardFMskdTRj893_6In1C9OzuFdfvp5iRLq4y2xHKh9sdo8abAXD3daahoohEMR2buX6Vz9pbJtY36zKghJ9K83Oh3TlW56dECBoaTFPzPk8BYRHYwlvYc7-XUc9qhvpTmmYqm-SomnY8YBc0hpzS3ZpbIJn9Jf7njOzscQGRdt0de4w9aW_AIZxAmP7bf0VtRC1fun7EWk3ecoOBX_NafBWoT787Fi218Oh7OoRxXznBaPdBVMLccTTkX9HuW7IVBeVtfe1IclB599l6AprAzgnmu_kL8VfE7h_GNH6hmU2VMQpQpI5qJBhOBLOb2l9fYZkFsKaLwrb-8C0ZR9soxUVzWjqi_fdmhjv6h-fdHHev9u-d_sYAdt99Rb7wFweOyYd4h6AoZucCnimK5eryFWJZXf8JIbFEl9PO2Eu28hQ93CWWaQTJ86tEI9pnHwRAr9IFuEB-cA9WtaYRnl0-Tx-ivyt4bXuykET4oP1sLmJJERhE3UtTkv4rX2a5druFnqQ4HXOMHkjDQseHCqhG9rCyL-5bBXoF6M0KRa-qAmSlejHXphZf_oGRGSZLsqAFBrEzGkOOyvK5jZG_kErnjCQyvDByAItO3OMymMnj55eE5Z4bsF-mr7wK0kfhIe5u6HdjQmPk8xF06clDCYiuCMXCVVSosstAfm7kJ0Cpckjr0DJkWlNJHps9sMrCZCj1INzPCXlxNuGMaLjqW9wxPXsQfRfvLh4GrE4IQaLKU3ObBNJwOiPmKbyyRQXIVfqhTeELRmy5OkqRQECKRUOYQU3CWX6xWNezuFQqxxZEiqpv9LgTg0xAI_-yZCFvPAlF2yg10Ck1AZ5uVIqaWNAqLfV-rGXk7k5WBl9b1mzM2chJXo0LvnIiVhckxOX908IkrMbqGnmZNYH-cMMhwzKUdO4Oagx6t-n6QHNSXMoZBQyynZXvBCKHrnWhuomqcSDTWApAtYtPWCYVWlMixbAZM1Dd8eJloR8J5GVJbcdEvgpKJ6vTOsNTH12LiaCHyxJSvzvHsAhL5mOkl_DnikZ1Uedd1edAEi_8AWaOZNx3yWKDRAnk677relVqv6Tb_0fWGpO7eH-9kt2bEOQwQIml8VtdbuuIZqLHsHel8IFA53emQxsYizQIPnskq5Chx96PK_R_KcgIEeUrOmoKa28B00JK5Xgj8A_-WZXjrnPwn6yYJLn5dg3jSBPdDlzFMcgJ-2koq_AXNX4rOBG8_lXutnejmn_70XZfWF0uAFOmMMS1HSNmbWwDRn1_TOAWRRg0OuzwiGPsXCuRPmuTJsU5y6tKQHTmyyW6jr-M1-KL2_K-em0ZMrYbtBSTq53NP9q8Wm1tEkFsRYJGcZ2NLW2TDPcoYNRyfBwAlPjQ=",
  "id": "rs_0d3a518622cde59b016ab4571b343487d0852ffd65feade79a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFcm4-AwpqDji2OlySuqEdO6IuygxartfHw0HkqiFfVsX79CKA9sLoEVzGQc0b1QoZ9_AfJP34452Y1F2ZKOuN8XUJG7gnHot24ZJ99D-6Yq9KCrTGN64DivNcLZBS7j3PnASouBwvUAhSny8nqakYimq0DKV5ir-EE9_aUnmpNKKpiWrASh9kAn6ecU7Tw7ZJRusSZvn3p43ORJyNJ8hX4zBN-9kGIfoOJkfVn926CmKof856EMg9TlmhAbqaFbv6z9tdpxgNNqFd17bbaBFXGpu0cUmN7qINbvfyU4U5IN9PYWZZyygQRvJs9d619GAHIr6R23FpYjMHvCtQ-tmAQ_tpEXb9HbEXhXuJEr5s6YpjkHlEDEhiVybtbGTn20fTrlLlkiePLLVRjve8E-3-VYXKYe7YbyvJ2YZy4NjajlPXHWj9geolpELpQZzy4ygIS8ER0d6hfpgruD7YR3f2huNR8UgvOP8i7LrL_z8bhxt-FKAp5M2fd1Rva_BnkYq0TRdE1yG5bL-68JOlHMWsVD9q0UINZwY94agWpoNiLpV32OPrUuLv-ph77eYiQQrWcJWxxBI7WBCvb4JztK_HPLumG1cOvloOxlcCmVeGM1ovq1Nv7yv01VpcHYBTni2uj6k9fN-NuPIftVEUepvy8HyDFU4b2dntGLTSxVzk2jvyLLOzbiNzQj289EzBMIcbsy6k8jnUwyx830eFwvrogebIOczmcxDylTTraO95vbsRMHTbRl6Ih-RG_r73vnC9lFXN0PyrJ1pJB-mo7Ovn7mDxuY6lQOotEgUPGsGJfb0k5PmCtFU-cH4uZpMIobnfAbShh0Kzp1yO2FdaMloYb2XgFhnFRHtbnWR6m8BpLI3uWSqJDQ13PDVNsqaAZCL8MhBNZjt5cIgHnc3cRZuPJH8LHSPqTrtzX2xL7QqiUyk3DRyQOH63mFYoG8eY2mqNmURaWeqJcOBYTk_DsvSgCghRtkc47YA6kAfyLmH539HKOOpotFwcf4Hw_pDragUcHocUGmhbfBZdaw4XWWd50U2HXtem3AttitOA4WJt0OnF0Wnk5cWuX7TGdpRpImq0ok2ptIGyZvlNDFqRFIkuWATn1oRL9Yt48ffyzw9XRJpfrBUBYoZMiIcLivCM9-skHXkREcAWqz-1CTSfFR_g19lBKs3EiK52LuCmSjABzKmeHcG6MXrNpDSHLDuhck-TRRYmEfJ8ZCFNuZpRYBWcrfZMAvOjYB1wLP7lR16rl0utR1GhnSPxTk__M0BJBj3QajM-M6j7UJFkaQ2ewH146nwHexYxh4TuWBq0dgAYYNmjGHB9LYeB66FGMgQz8XZn-kQ_lWtdrtTULbC4fI2N6t5JT7fSA3PahvOFwZpRSsS-r_9h15ZzZbU01HRTbfef-svhU-B6K2b8D8EXJ4EbnZNPjqx2YRFijR_hdVSEbGIhnm825d7cRQjYcFaXqwHOPEHS5T_QNPG-ZZ2ud2un-BVza3oFSdGx7DC_vogpfj_YXHS9tP5fk2HC01jnidDq1zd2XHW_2O6kixdWC9ENQD9k8y_ni2fVrOdP_5mZFUIa5ozTfkszBq4mMTEturuCSZlWLfSDk-Grbn0TI_IYTX6wXANnS5sKsK6AyTcsCr6-VANK2DN8Id3KEFODV1eVBVopGr-w9pWnRzfaYFHzogZPENEth-7FjWOuNe6TQc_wgLcHORZ83mDtevuKVyUVe60FMrTIGmkajV63hdRl6KRvDGV7X_kmn7HgCngAGchlL5kql6jNGtFNwnwRb_Z5TYMdCyOl8MAd4tkaEIQy8lssK0R9FMr72RzMUGD8Y23FZFy24s3WkBjy4O5mPiGvOpTsyx-eWJTLd0aIxPRSA4ljwHzaLFZqTV1BSnL1sb_EAgTGicAu0LZc2oP7fqFUeI15iCXTJ32FNg3Qgs5MdH3oa-V4d68sljqLuAM9lNsFvGbdoUoUILNP4IbUZBiP8A5AnDEtPOLHH3wOgSUCWS-KzH76GtQyXco4W8bBLVUyLxg4bOWpW8EyUyqK5PXR_1S_E4jONrB6_MeVA75QlnM9uq9s7QlmwGZoPNBxYjKu1Jn7xNKox1TE61XVG8JmJ3idNbWsz920iDR46Z1yzl_pWIUiCogu54rDGS-gleWGoSR3QgoTmf2igeZPT2nvNYdNqjSokUJT151vs2g1qBGmdE44LLP4m6bfd57_3k_4OXwhdReskK0N2jmYTnuxlm7s19gBa8oFBAG19zpKo29Makhrj6YmjToMmwoB8o6erljGfn8RuYY13sHm_4JTukDULk-hz2tzAr_vifoCCsHphpJvFlMGHGEMoe4Spj2MZ21oYr9eAkMgrZsdv-Qih1fBwYbj9v2hOAlGHfrkRNEBDlzdSQrIFEuVzmQez_4yWiz-EKHR44knFGfVAeWEKIfh4FkjAnRpG2UnThx7y5P-52mqhwTdvOHHH441QzjRs-NQknLf4W01JGIJCdc6i7QfoVO7_EPq8FhQfTgRZCehnwEGV0ytGPNrsOWFfCBzarDOzdl-gqr86urKh2btSxuPVTUDmNRBHJTuU9Sr-QpUEkpqvdCbczhnGY7Zu3cbY85rQOp6y1RjCHytS1j8zmSgyKj4OSNHqGlmraT5GGosECeSIiNB-oBMEtIgxXSln8rxY3ALVfBLWvLhJaFBHMfL-FySo_xizpAV1jz9LzfiYPa6RoTkTygU2O_OTzSAk-jDUpGPCx5VQ-xLPyaOoN-cUuKMsGXi7uMT5-NneuC5wiEE5ZR5c2LklugSNVkvtbZRQdMU-Y1QNrP8QLi3xZNLAneuKXSMKncL259q-1dJ_Hggsr8qAyn3lcNw_mev3vKjQ1XIDFW_nv8JyysJBn4fVj03JvWiTM1YZC6cF7dHZaE3NraR8qhvSMZL8WFUI9Ya274OvcCnOLmPx8MB9OAsxvqD2sIkHmMseF0-KuVWjhr-bUU7kKUQyEr9N6qat2NBY_W--pDFk-HEaqToGakSB6hjV3lQXfJt50YbTICarTXyZI3p_qz-wi49FdY8nXRRfRkR-CEh9LntX0uZjeauCaAkyHkxaxXmEVNNlCUe9gkfYWn4IyH-2hA4r1Zd7LczoxWK6zOc5qHi_lRNYIJNU3dw9Xt_PBUn827S6rgE0v_tKHH5LjlexqYixmgOUyyBNj3Hsnz0QgZTfzjwPssIGc-qJN5h9VPW3Gdst0SUTDZf4oEv-YNT_tTzxF64w=",
  "id": "rs_0d3a518622cde59b016ab45720c25887d0ad8031312057186e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.02,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.376,\"right_y\":0.266,\"right_z\":0.15,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.05},\"note\":\"The cap is clearly visible in the right wrist view ahead of the held pen tip, so a supported tabletop insertion is now more reliable than another slippery cap grasp. I’ll park the left arm and begin rotating the pen toward the cap’s diagonal axis, using an intermediate yaw to avoid a large sweep.\"}",
  "call_id": "call_f3V4x3erKr9cWPqM6WSTxNh4",
  "id": "fc_0d3a518622cde59b016ab457249bc487d0972ec28c979b85eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f3V4x3erKr9cWPqM6WSTxNh4",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3939, 1.1538, 0.807, -0.6682, 0.8135, 0.8333, 0.9983, 0.8429, 1.7039, 1.0992, -0.1757, 0.5781, 0.4465, 0.0721]\nstate[eef_state]: left_x=0.2925 left_y=-0.0136 left_z=0.1641 left_yaw=-0.701 left_pitch=-0.0505 left_roll=-0.0257 left_gripper=0.9983 right_x=0.3659 right_y=0.2709 right_z=0.1305 right_yaw=0.1178 right_pitch=-0.0728 right_roll=-0.0401 right_gripper=0.0721\nstate[joint_eff]: [0.212, -4.2872, 8.7316, 1.1941, 0.4957, 0.1245, -0.188, 0.4308, -7.788, 9.5248, 1.6679, 0.5543, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19eccc017760b742c61d92fbe2a1c9431c0694528e623d75f9320017b2803de3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c44fdaaa443cd782271b1afdc7616189ffb490586fccd86e86c054f96dc231e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af04c9e135b331a356d21f9f0e149710a903f861b8b0d8679e5a6e5b0fe37624",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 3.848 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 139 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]: [0.2676, 1.3121, 0.5583, -0.1898, 0.7845, 0.7143, 0.9983, 0.5381, 1.7123, 0.9333, 0.1261, -0.181, -0.1314, 0.0734]\nstate[eef_state]: left_x=0.3085 left_y=-0.0411 left_z=0.0854 left_yaw=-0.7432 left_pitch=-0.0381 left_roll=-0.0489 left_gripper=0.9983 right_x=0.3833 right_y=0.27 right_z=0.096 right_yaw=0.7531 right_pitch=-0.0831 right_roll=0.0041 right_gripper=0.0734\nstate[joint_eff]: [-0.3487, -4.5333, 8.0615, 1.5653, 0.3346, -0.0708, -0.188, -0.3624, -10.4957, 8.4444, 1.7753, -0.0904, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0856, 1.8072, 0.4995, 0.5739, 0.5499, 0.4038, 0.9983, 0.5381, 1.6424, 1.1069, -0.2131, -0.1806, -0.1394, 0.0721]\nstate[eef_state]: left_x=0.3585 left_y=-0.1198 left_z=0.0001 left_yaw=-0.7589 left_pitch=-0.0352 left_roll=-0.0312 left_gripper=0.9983 right_x=0.376 right_y=0.2655 right_z=0.1361 right_yaw=0.7598 right_pitch=-0.1766 right_roll=0.0185 right_gripper=0.0721\nstate[joint_eff]: [-0.5812, -5.5453, 3.5624, 0.9939, 0.0415, -0.1538, -0.1832, -0.2803, -9.853, 9.6479, 1.7558, -0.1441, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3939, 1.1538, 0.807, -0.6682, 0.8135, 0.8333, 0.9983, 0.8429, 1.7039, 1.0992, -0.1757, 0.5781, 0.4465, 0.0721]\nstate[eef_state]: left_x=0.2925 left_y=-0.0136 left_z=0.1641 left_yaw=-0.701 left_pitch=-0.0505 left_roll=-0.0257 left_gripper=0.9983 right_x=0.3659 right_y=0.2709 right_z=0.1305 right_yaw=0.1178 right_pitch=-0.0728 right_roll=-0.0401 right_gripper=0.0721\nstate[joint_eff]: [0.212, -4.2872, 8.7316, 1.1941, 0.4957, 0.1245, -0.188, 0.4308, -7.788, 9.5248, 1.6679, 0.5543, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19eccc017760b742c61d92fbe2a1c9431c0694528e623d75f9320017b2803de3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c44fdaaa443cd782271b1afdc7616189ffb490586fccd86e86c054f96dc231e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af04c9e135b331a356d21f9f0e149710a903f861b8b0d8679e5a6e5b0fe37624",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFcu_tUPdGrmU2IUPyYrP_2XzLsUhgrErCDBclbcMosw35qPTYVNk1FvGvD26wWhFbhzsbo-8Ydv1uSMuD1KnmgNnbsAsAuHukv2ZVfJSAPKegUDpzkX6YNXsCiPBlDKaX4phvDdMHxzb--sBDJ79jcQGqz542HMd9C3ZK6oMsPCzPgsO837NLj839BkOcBY4rekWH4aTj3NBPmJrCoQSZv7iNfyDD_tMUKtoZXbtFPodIZjDriPsA8N3MCVr4EWClL1p7aYwSHHvNEC-_JQ56zLscPJePE83a3KjcdJh3yOiyV7--rX133qyCcjyA82enyDWvlnITBa0GIr-8jNBvIM3nay4pvR499nCCCmPi7Co-LQFdOGDolgf6aiqc1vrbRN5KBCA6bdfcq0XkEV2t130y0hHOQAxUZmnGkWMVG3cf4G98l6Mp-zikmVp1wN75SA_7JQBkRHzOZWJRYvls1-a-LLF_j75luEPmv3YkCpQTE5Sg5DX8D-FpGIWLdnBT65TyonoIeHr7QoPJMpQjDgWzWt6S9mTQbbqhn4pjAhKfBAMuEuHkqyx_qTrx4KalQ1wX2TSYizdc5FYjzVB8WUxWex2rep4TAHd57tAkd7cDs7Dw4RCP-x-NU-5sD_OdT8rwF8O5C9VYmG9fFwFegC5GJo80pLXtVSOBxKiuHUBbLCL_X1WpQn_i_03mo7l5QttYDq42lRiGuZBylDpNquzEqTVjhnrP-vLERvK_LFQr43X_OsI0I35jzZKXuQ2cxQA64NoPm0G7IwNOx4EGyaYbMiRqe_ZFv9oSvN-IUlJd1Lqx1dLubeKs0NKwQfKzuQ2k0vKWPR-f6o64yRM3i5JN0QuC5crq3hT0EmoXbErXME9D99lCI_kSdV3W11TeO46v6_wrW9p1UPP40FaBgKr_kskRVmeqRia2kuerG4O4Saabiplvj0zSGvzsogS9hhoRzoKgV6c2Y5lpMnVo0Wgfu29qEiMa2bXntK4Av-8x-zQttIcL5bjq5DpcgduTYNCKpwXnlwQx-gbn4B0T2AxAX3-XSoEc8s_MXmgH3OwkpAKJ93CKhYMiCHVAS4JLnnS_E6QsdwYR9OAQiGvSM3xDqJAz-5FGJfnX4mzsE3yerqeWtJctCxhRRsB0OUCly0TZpOa2YXx6Y86NBQ__MWVntVzqvXe-i8qUrU5YqRSC_SVJYd62GKse9DkyUaEI3gLvkBTa5b2nlOIHRTcfxw-Qqqjspv8bVpNew2TKAEj4o8tXcQchkV18hQ4GPMZTSRzKiACgcxlz6PhRn1nHUJrhgRLc18Ng7ykYyv_dbfvQxug1DRb0NOU0HAxKIGwdq_zKSasYBoqZPXwipUCO-stHIBwGTMGXa2bI-7GQ8Qsme5AWxHv97aFEjaiHbWCNd94vSjsbiHN-_oc_FQO3LvXn9E56iQ8Od0erqjh15BpJw5WYJGo0XaBmMxxbUueIZqV_rIs_0cyxRS52alm2HV6Aet-sjOU8-obLRTcAWvZsQbWB_HSKMCc5B95-MSsd6OHPSbYHvuO9Z3ZcAoc-hDlZvVupekm1mwbmJHldp6LC2jW9_qr611i2Pcz1MeFdMSH81A21ncq1bDYYY26DzZoBAVHb6wPJpSAH6H-Q0ie1nbBQBG-LuM4XfJG4wZDvT2ktM8VbNxfwNtepZzywF0ExrtGj6_yYYnvnk8xPRZ04V5froLwrAhrSYkiwLg7pwtRQHuWuqtAnTZfmHhkEmP1LfUFpnjwNOpjG_nsELPm1NAR4O24ltQlpYeavJgulH0TnAslbWOxNHouaeFyX77lBWYAfrv0zVoLBDtBPuYZBFPKKfoEgJ_IzTOFeD5Nfyh1LURn0YEz-GCk91ZcpgcI3tol5v8Eh3Wmn5Skco0uZQJut15UUSajnJdd2kEIhNmAujLXzNzjBDWoCUAKPnF2uZwPBitPFJ-kt3k207rPgOuHNeo0Wt0JSEpBotmAnn5HxZguM6GpeUH_xjgl-Unauc8PeywsHfOHwtBP9rrwKqqVfO37Ys6IEjyD1ciMGRbCORXkwKUwPphHLCrfOt8SAxz3PNuUqaWECWkLeKMgPa1YOoZvWzIH5at7GHHb8wwm9NsT_oY3ELfyY8HQ6BrqHWdkSQ6NIbxikP62CRdezU6fxAXpZTmxmZrhAo65YcciGkq1rLgyAJI7bQH7jLZIVnni8Xcu0d7Vdkj0-5RohHFCXomKXjkd41cR3HJAcwgRNe3PiH-c0vCDbt9EhKydy-u3_Q1eIdBnxZ9jTgH_dhFhAFNbP4MYamKLfVUVHCBuIXYYwBoB28RUNXHnqJ2fc2no0NXxFkkpBOgZMyp4JFLApe5GAK4zzr8FN5vTV5CUa4cWIvWREZd8lE-K3GwuDz35Kh3jlet2fStt2lo_7rHEernnxvJOeUcwGP-CAhHMxMJsy39-BIES9mAF2I4WUyiQGTfgNCtnN05EoiTGyc4Vy2fNwwCsWZHRD2zDCrqTN4hYO0EruEFZ_C1B1MNkXvqS-WOCqn-XffjBe_2mXwpUY-dtwnfhADXoyblDWqU4ncaYKb_nvRBbqtx7ZIqq5tUp8Kx1P53rp2lDZuOs2UG5RDb0AWUuwxgnD8eBISwy7Fd6lSgZTPkwJqHKJU53eHjWd4rQuIHPIcHBf5h_LJ0X8ei2K24K9A3y4QuFeJGiuAYiOF_Z-2SHNNd3h36YE8jzoVAKxz4qPLjgFW2mlElqyeRZKpwtpzWmVKra4OowsgY7KCNy1D30o6eEm7o7C3dVFPZnf9p5oKrJm8P9eX_fMtB_rw0Odq8JzmJH5hV6LEl_3zdOuIBEXgl_5FGaEbSV9B-Gu_utQ799FGvGyDoACAj2JYiHic4AUln1PEadDdb9Rl90iPPEwArtg7HW7_820l_XkKv8B4nvXmTOXlaet39fuWG8e3JOWPiAq_Zp9tddcib4pjE_beIEMTyg7xUza-b85gMaamRJML2s3erBGoLiADqKOVMYDpUrJPdBLVcbhJowwO0vnAIycH4QKzJwsVjlunx8DP4KqBDD6PQc12ke2QO8U2273RH6K53EDXbk5s7Mza7ZcibSzRmzzbRVZ5dh8THryH1qqdNbfoi6LxwGO3iYrk-TYWQT0eYdjR_eJi1li4-3T8ZsvWHWnBT5Vj9E6t5iPA9nMaBqIf3FAFGqjOxFOJrXOl51gNUFfflnmtmIGbx6lRkpG3xjHBvMqZfjqt1cHgFtiJtV-nhYCwXFQ7lJKRR84PniQ6IBQDEwCau1y5bpE2tIgC77okHv3Sk0E51Ksm26OZrlNiewQ2CBZSyV_MlMwIGQ9EF",
  "id": "rs_0d3a518622cde59b016ab45729a8a887d0bb54581efc1342a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.33,\"right_z\":0.03,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.05,\"left_z\":0.18},\"note\":\"At near-zero yaw the held pen and cap are already parallel in the right wrist view; the cap’s wider open end appears lower-left of the pen tip. I’ll move the pen tip about six centimetres left and three centimetres toward the base while lowering it near the cap’s tabletop height.\"}",
  "call_id": "call_zQiiRYFg7vOd0mHDnWjQkKYo",
  "id": "fc_0d3a518622cde59b016ab4572d75c887d0ade25e7006f2909f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zQiiRYFg7vOd0mHDnWjQkKYo",
  "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]: [0.3958, 1.1538, 0.831, -0.7338, 0.8078, 0.8352, 0.9982, 1.0172, 2.0361, 1.0786, 0.0399, 0.7593, 0.6624, 0.0721]\nstate[eef_state]: left_x=0.2868 left_y=-0.0147 left_z=0.1654 left_yaw=-0.6993 left_pitch=-0.0739 left_roll=-0.059 left_gripper=0.9982 right_x=0.3365 right_y=0.3199 right_z=0.0248 right_yaw=0.0445 right_pitch=-0.0571 right_roll=-0.0575 right_gripper=0.0721\nstate[joint_eff]: [-0.2803, -3.7675, 9.347, 1.0916, 0.4029, -0.0562, -0.0269, 0.9915, -9.7573, 7.2684, 1.409, 0.6716, 0.1685, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866914d04e979d97f0b1553a94dd33a62899b6fd2b3d01c9db23f0a3370caca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab86270c2b6a04afb99868ad4f6594180dea7545dcc196736708c3916fde1cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b09e8c8064bf931e3d845ebc02938b2aab0c8d6a34a3a3dcd3429edb824eab1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.106 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 139 changed as sent

message 143 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]: [-0.0788, 1.2575, 0.7998, -0.2623, 0.5747, 0.4412, 0.9984, 0.5388, 1.6493, 1.0641, -0.1074, -0.1818, -0.1345, 0.0722]\nstate[eef_state]: left_x=0.3408 left_y=-0.1196 left_z=0.1649 left_yaw=-0.791 left_pitch=-0.0139 left_roll=-0.0042 left_gripper=0.9984 right_x=0.3816 right_y=0.2695 right_z=0.1343 right_yaw=0.757 right_pitch=-0.1217 right_roll=0.0107 right_gripper=0.0722\nstate[joint_eff]: [-0.3897, -4.1094, 9.6205, 1.5653, 0.1734, -0.0952, -0.1832, -0.3077, -10.8786, 9.3607, 1.5311, -0.1001, 0.0122, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3939, 1.1538, 0.807, -0.6682, 0.8135, 0.8333, 0.9983, 0.8429, 1.7039, 1.0992, -0.1757, 0.5781, 0.4465, 0.0721]\nstate[eef_state]: left_x=0.2925 left_y=-0.0136 left_z=0.1641 left_yaw=-0.701 left_pitch=-0.0505 left_roll=-0.0257 left_gripper=0.9983 right_x=0.3659 right_y=0.2709 right_z=0.1305 right_yaw=0.1178 right_pitch=-0.0728 right_roll=-0.0401 right_gripper=0.0721\nstate[joint_eff]: [0.212, -4.2872, 8.7316, 1.1941, 0.4957, 0.1245, -0.188, 0.4308, -7.788, 9.5248, 1.6679, 0.5543, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3958, 1.1538, 0.831, -0.7338, 0.8078, 0.8352, 0.9982, 1.0172, 2.0361, 1.0786, 0.0399, 0.7593, 0.6624, 0.0721]\nstate[eef_state]: left_x=0.2868 left_y=-0.0147 left_z=0.1654 left_yaw=-0.6993 left_pitch=-0.0739 left_roll=-0.059 left_gripper=0.9982 right_x=0.3365 right_y=0.3199 right_z=0.0248 right_yaw=0.0445 right_pitch=-0.0571 right_roll=-0.0575 right_gripper=0.0721\nstate[joint_eff]: [-0.2803, -3.7675, 9.347, 1.0916, 0.4029, -0.0562, -0.0269, 0.9915, -9.7573, 7.2684, 1.409, 0.6716, 0.1685, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866914d04e979d97f0b1553a94dd33a62899b6fd2b3d01c9db23f0a3370caca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab86270c2b6a04afb99868ad4f6594180dea7545dcc196736708c3916fde1cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b09e8c8064bf931e3d845ebc02938b2aab0c8d6a34a3a3dcd3429edb824eab1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFczQiPcX7pTrHB5_084OoMN9_82FRc1hJPsDbWr6vDGLtIZX9jFe0Ct1bhg17hEUYACgVtiqx49xrboD2VVK9JcwaeKjKLClkBdbcei89umADMxFCgIhhhkLGfqimd0-1OdVxH-mAgDviqHpE17y6x8twwvovo1oVBfP968MaasllZi2RYUlerCTyZcB3_g_4OcKSNXTA4veTK41pA7lLKsHug5BlXmJHK1Jhvbxx1tC3W9cpCkaXxCVK625FVAW0DTJ6reR1R0p_fP-rqWd1CKwAxGwCjY3lu8C9fM9IDmcWzg90k7vHCO5PVFHcHQP7OSlPx0OL_JYa-ltOjrqfbjqQRgKepRR8qnUyQcSsBXgbu9dw6A5btc_T1JFTWFQ8ROoNFbeT8BGk2RdXEFHVRDO1Jcek39edW7HMTauHR3uSCWXldLyAgSCh83rNJBMC2cmaKqY6xyTK2hKeEMAzbhSa2PuGipd2esrlPITMuUoZyX5Xzc7M7odriVxbg3TWbPT4i6WC_mmhlZYffv5ljgdDw859KKWcoKnl9NCEXGnJwO860u7mzOFNevJqWPFZ8nUKMrx3NaQkAjWvNM6kOlWyrI5ZB78bT1ZbtdoNHtg9IORRj9W9fSkOSejcKnEiKA10fbDkkhtFSCV0ydGyXBKp4kj4Oryb8kfRV47Q9u1fUvQlxpC-Ek0a1Ik2BtoBY0PtOM_bPwtZyssDvp6ts0cCgrGliF9npqJbTtVcmlR41BFYo7kuJK4VBhPmi8zYafFbNnU11PgLP28oFr55t6-CzkbycgIonkxjeEbDjkAiXwH0Hn1dW7ysCQgKDfYnXM_qkIFwqJE3ncPZQCEBYX4dfKsngEMMlcIEmueBGJgilJWWIofQ2Tlvq4QH7Imiqh33JpzZarY7kSbAKWkT4wnJX8Uwdy-o0CXVU-EcyZ_ZvL9iJ04O19lyCT1AyD5HxHZLx-t90f59Zs_1g-ZUuIsn-ptUzhGOjC-3L6h_5qKE6oIpzh6YQniK68Ipob4zJU8HylH7XtvZqtP4BVgmFljxu6PD3FhLnp9Oj_ssdwMLZZH_rUiAZ43yliq_dulQEqLu72b9FOHVeG_udVKQgybQOTkD_4dAy8hmuhRWzl1VBBHaSKZ8Owta586cpPR4hlRUtHBm_c4vOj6wbuwIoTczl30g6yxmCcMfzY1RCtkaWBp_6vYWiLJDy3jhSDeBHJ5bsXeavXjSUGGN296WX_c8Wad3qUi4Iiv0w4qnLpeda7eL2lgxeXaxsCAOpp1SyI1HSWq1xOPdP2DJsnhS2e8L5sp0dO1ATUm4Va2CphH4qVOXqWV6rz5mDGj1yGTh-PHOtEk0SY3k5Bhv4F2Dh7VrNecNADIb5lxijBMLLiNNT9FrlUFNXCebGzNMS3tcUFSpy0TL9hVEI6t1HwILdXLV4gZPj3jW68fLH4NHdLFpT5vtWUzXmczfGaXU1xxbq2z-t5BJB97sQf_g45wHhRTgeoLfcZHUSfDA5hHbRNxmhK6dh8itDP_S3Dz6FdmzyYfyp-F9ghhZZzAxS2TPpbXMgTAu3QXP-QGUIsFW_m1ALDnel1x5ggBA15-OizTUKcMDwmkSJArEbKGb-XSMuruocvTpT-xhZ73Y3SHk6UInPlgJOeMbrzklyHWrJfBxdoZGnvt3YusZmzcjLseZo1Q7gM7h7tzeUUPsYkeL_4j9CWigqQW1L_Juw0fuWB4ZaHx_MQQUc7p0Nv1Sc1ueyF4ubg5egBVAdqTj8o8dggXAUPgYW6cAtd4q-pNoHDs-tzdU6UKNkCPnPn_mnd8AyYwYaRF-E2dhWVznar4ouLU8oOUZAD2PFUAOdPjdTsNNKWhPtisPQ4q455d_tYm2yeVmdgEaYfe0klzMRMJwVZTUEDVWj6Dh6byxkQOrGA6wAba_qGqorNEXV0GlS-DA13zfmnOLLpA_DxmaFgliZpI_J0BAQjxhs0hz0tCGTDrM5pxCz06DdWH2u73-7GtDmbZ3mQmujZxBCujhkZ4SfOvOm6wS7ml9jlLOiE0sXirr9p3as-WclVAO6f7MN4YgKb5YkcmxyDrrAuruwcwK0DEQJpPV7WdLTUDD-6M2yRMy15Y8I9_hzW_-xqWP9VhaOvbg==",
  "id": "rs_0d3a518622cde59b016ab4573063dc87d09a184599521ad33d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.35,\"right_z\":0.02,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.05},\"note\":\"At cap height, the mouth is now about 2–3 cm left of the pen axis and roughly 3 cm farther outward; both axes remain parallel. I’ll translate the held pen by those amounts without changing its orientation or height, bringing the tip to the cap mouth.\"}",
  "call_id": "call_dlUKoOFIYAJapWaQFgkhPSLw",
  "id": "fc_0d3a518622cde59b016ab4573213c487d0b14cf5f7420ebb1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dlUKoOFIYAJapWaQFgkhPSLw",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1549, 0.831, -0.7383, 0.7971, 0.8352, 0.9982, 1.0157, 2.1571, 1.2072, 0.0635, 0.7795, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2862 left_y=-0.0134 left_z=0.1635 left_yaw=-0.6938 left_pitch=-0.0848 left_roll=-0.0598 left_gripper=0.9982 right_x=0.3561 right_y=0.3454 right_z=0.0161 right_yaw=0.0156 right_pitch=-0.0262 right_roll=-0.0159 right_gripper=0.0721\nstate[joint_eff]: [-0.0615, -3.412, 6.6256, 1.0916, 0.4957, -0.0757, -0.0122, -0.841, -10.7692, 6.2838, 1.409, 0.4957, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e315a1ed7e2a6b027c33b7ad934036251c237a7fe13d5f8b94837a071a199d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30533552da678bdf081a4d074bef4deba497e3fed2af03762c3d0df4f7436905",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e345dc67757ed222540d43cd11c0e469884a0300e1fb0598b4fa716cfdfe3b89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 7.114 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0856, 1.8072, 0.4995, 0.5739, 0.5499, 0.4038, 0.9983, 0.5381, 1.6424, 1.1069, -0.2131, -0.1806, -0.1394, 0.0721]\nstate[eef_state]: left_x=0.3585 left_y=-0.1198 left_z=0.0001 left_yaw=-0.7589 left_pitch=-0.0352 left_roll=-0.0312 left_gripper=0.9983 right_x=0.376 right_y=0.2655 right_z=0.1361 right_yaw=0.7598 right_pitch=-0.1766 right_roll=0.0185 right_gripper=0.0721\nstate[joint_eff]: [-0.5812, -5.5453, 3.5624, 0.9939, 0.0415, -0.1538, -0.1832, -0.2803, -9.853, 9.6479, 1.7558, -0.1441, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3958, 1.1538, 0.831, -0.7338, 0.8078, 0.8352, 0.9982, 1.0172, 2.0361, 1.0786, 0.0399, 0.7593, 0.6624, 0.0721]\nstate[eef_state]: left_x=0.2868 left_y=-0.0147 left_z=0.1654 left_yaw=-0.6993 left_pitch=-0.0739 left_roll=-0.059 left_gripper=0.9982 right_x=0.3365 right_y=0.3199 right_z=0.0248 right_yaw=0.0445 right_pitch=-0.0571 right_roll=-0.0575 right_gripper=0.0721\nstate[joint_eff]: [-0.2803, -3.7675, 9.347, 1.0916, 0.4029, -0.0562, -0.0269, 0.9915, -9.7573, 7.2684, 1.409, 0.6716, 0.1685, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1549, 0.831, -0.7383, 0.7971, 0.8352, 0.9982, 1.0157, 2.1571, 1.2072, 0.0635, 0.7795, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2862 left_y=-0.0134 left_z=0.1635 left_yaw=-0.6938 left_pitch=-0.0848 left_roll=-0.0598 left_gripper=0.9982 right_x=0.3561 right_y=0.3454 right_z=0.0161 right_yaw=0.0156 right_pitch=-0.0262 right_roll=-0.0159 right_gripper=0.0721\nstate[joint_eff]: [-0.0615, -3.412, 6.6256, 1.0916, 0.4957, -0.0757, -0.0122, -0.841, -10.7692, 6.2838, 1.409, 0.4957, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e315a1ed7e2a6b027c33b7ad934036251c237a7fe13d5f8b94837a071a199d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30533552da678bdf081a4d074bef4deba497e3fed2af03762c3d0df4f7436905",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e345dc67757ed222540d43cd11c0e469884a0300e1fb0598b4fa716cfdfe3b89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFc2vv3UcRHWXKoqXcwoYnjhPQVClmKVLHuDm6UhtKRcVFPcsjq90hOPmwcqybHdAjyY0RAw4kIfp68SsGSWVaJSZJ9J4nHRLN_kwgZ5ha3z584q40kQDALO2YekotpryS7OwjV-4jRSdnZHGbjRK66nfQlvqfpHAipNnC2PZP0IAWJv-76XYtmcqSEBjzNwIUYYWgqY-_Kdw1gApFqc3krv_wOuoGy19enllnGQyUGlXIg-fNmYzRO208mK-H6WjoEZnc5h0lNvU1F6Hxd9XqySMU023fUZ_gNKZveDQyeqV9eevDlKAV_62XrNLf5LxF_kMN0t-oPT9SFRW0k-SpFC1Bup_Skk13W4ejwoumKYj9M6KO1HAldaGrt-5M_LEs_l82-6Sv7qvNX3A3Ur7oCZm4FSSiw4keMDdtZEyY5k-dZDpwLVO6oNT6eDmJiKn2QLM8pSL4XMbzve2CGvuFhF_htZHLFgJe2gp1s4vVbpbcDmM7oE90ZYwculnPc5bibEy7wPRpro0U7lld46b5eLR8aTCk4HQWKu_6uaDpLwRb5KgbX_dv59tZqnP2cS09_0oC3U8zkylg_J9yK1p3PJdZA_xddnBjyyu6SegyIqvi93ArlhlkT2hSicrAofmb9pVh2eulqDQpwQsxGxQadGURodWKn8-zyjG3tEJ6hZ9Hay9ZOOIw89-MfiYz6Iml2ECcEHQMAWZsjB7YJY2Sn5rhEJTetcW8AvA4zEx1csk5iWro62KHY5P0_586n164gf4fZP4RcTDa49MTFtCpF2qLJ_oJ_pyFH_3NhSsijHFlnklUsalzw_zNMQDLSx3o4nlLN1f1UlLbWASIE2vNy-pLt7WKtQ9xh0TU1IV1HSFdzutrIDgigpKHVoh6qJhWvQx73HV08xv3d4ctK9hflTf75VzmVEKCKV2biE1vbjRrqdPLZvXesX2IK3slDeooACalBazQR3l_W3dkVUjcOFC96HUHQSME7CzKFkXquZTdvLFv0OJRRYR8jtqyhkPt8nKMs0mgTsNP_toikujUrvVWX7lWfilUbLNuOOUamlWW7J2hdLoicyOjzXO0jDT3q0ngnfu_U5euLG6jLnBow4feow0XybopLpVTS4GtOx5AXdn_rc3A3DWYktz3eJCjNMBPPjUJUKSF8ibUf4y09kJRlY_PHnDyyDK1c0BwPf7j__CkfKycHjto5DUtp0c3yEhH5-YVdJht5pH4PbIcSJGto07vSF0HImucU5kijm4Q0pr6qX8xsWLoVxZSom7k-pSWPTXmSgrKCniv6vNg52fY7qHRQEfK5x9bH5QIJMah3sGSBks1W1UoPivi-PHkEaBAXlb7CjnmeIYMAIQYZXXbh2IeDkvpTb4NNZ5XJsdf0sjfucdZfA4BXfTwJ92-FKe50KQaEWDyJEDRsBByHvtQKt4Ln6oPe9eaM02S66AAA355AbJEA1B_GgP7BaFYPeozPM1GdZp51TRyZwb14g-W2hsT-j88uxBi6-ZMWSu9O91a1Bqpx_uM5ll5Ka1toYQzMn08b45Ln-a0Y6qt70-r5MVyXsdhnfnscKG9fVde1dvJSdBeER0Y0BqOpKYkvwhCkmiW4dOHZqMd5gTGrbcHJcWn0UShTFLw2DsbrsDCcXP8fiacTJ4QsMIFoYK1_CrATsRqF3Uam0N_g0cNE9IWJufpv8lYphs1lUWnaKh_Ysn3Br-MmVAwsWkR4dQeV8",
  "id": "rs_0d3a518622cde59b016ab45734953087d0a3ee0c18a5983e07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.345,\"right_z\":0.02,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.05},\"note\":\"The pen tip is now exactly on the cap’s centreline. The cap’s nearer, wider mouth is about 3–4 cm ahead of the tip, so I’ll advance the pen straight outward along the aligned axis to enter it.\"}",
  "call_id": "call_sibENet59AWlI5PJc1ozkIBo",
  "id": "fc_0d3a518622cde59b016ab45735a21887d0b47a4bb3777e9962",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sibENet59AWlI5PJc1ozkIBo",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1557, 0.831, -0.741, 0.7891, 0.8356, 0.9982, 1.0142, 2.1708, 1.2201, 0.0631, 0.7784, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2859 left_y=-0.0124 left_z=0.1622 left_yaw=-0.6901 left_pitch=-0.0926 left_roll=-0.0593 left_gripper=0.9982 right_x=0.358 right_y=0.3473 right_z=0.0136 right_yaw=0.0148 right_pitch=-0.0276 right_roll=-0.0164 right_gripper=0.0721\nstate[joint_eff]: [-0.294, -3.2752, 6.4342, 1.1013, 0.3639, -0.0513, -0.0122, -0.7316, -10.7009, 6.9402, 1.4335, 0.4713, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ab164a8b23c3d6bba9c274afa81e66f44ae68ef8011fb30b62611c5a5686c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4f1cbd3082b4485e7f94d3a42a175b98de5f799608af03416d78f0b3f432534",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e55e998a6d21df3ba63749f06d4f5edb8a5ef6a06bb69efc373d0602247e06c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 5.849 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3939, 1.1538, 0.807, -0.6682, 0.8135, 0.8333, 0.9983, 0.8429, 1.7039, 1.0992, -0.1757, 0.5781, 0.4465, 0.0721]\nstate[eef_state]: left_x=0.2925 left_y=-0.0136 left_z=0.1641 left_yaw=-0.701 left_pitch=-0.0505 left_roll=-0.0257 left_gripper=0.9983 right_x=0.3659 right_y=0.2709 right_z=0.1305 right_yaw=0.1178 right_pitch=-0.0728 right_roll=-0.0401 right_gripper=0.0721\nstate[joint_eff]: [0.212, -4.2872, 8.7316, 1.1941, 0.4957, 0.1245, -0.188, 0.4308, -7.788, 9.5248, 1.6679, 0.5543, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1549, 0.831, -0.7383, 0.7971, 0.8352, 0.9982, 1.0157, 2.1571, 1.2072, 0.0635, 0.7795, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2862 left_y=-0.0134 left_z=0.1635 left_yaw=-0.6938 left_pitch=-0.0848 left_roll=-0.0598 left_gripper=0.9982 right_x=0.3561 right_y=0.3454 right_z=0.0161 right_yaw=0.0156 right_pitch=-0.0262 right_roll=-0.0159 right_gripper=0.0721\nstate[joint_eff]: [-0.0615, -3.412, 6.6256, 1.0916, 0.4957, -0.0757, -0.0122, -0.841, -10.7692, 6.2838, 1.409, 0.4957, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1557, 0.831, -0.741, 0.7891, 0.8356, 0.9982, 1.0142, 2.1708, 1.2201, 0.0631, 0.7784, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2859 left_y=-0.0124 left_z=0.1622 left_yaw=-0.6901 left_pitch=-0.0926 left_roll=-0.0593 left_gripper=0.9982 right_x=0.358 right_y=0.3473 right_z=0.0136 right_yaw=0.0148 right_pitch=-0.0276 right_roll=-0.0164 right_gripper=0.0721\nstate[joint_eff]: [-0.294, -3.2752, 6.4342, 1.1013, 0.3639, -0.0513, -0.0122, -0.7316, -10.7009, 6.9402, 1.4335, 0.4713, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ab164a8b23c3d6bba9c274afa81e66f44ae68ef8011fb30b62611c5a5686c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4f1cbd3082b4485e7f94d3a42a175b98de5f799608af03416d78f0b3f432534",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e55e998a6d21df3ba63749f06d4f5edb8a5ef6a06bb69efc373d0602247e06c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFc942R46ULu4DKa-cnGlMNhPBQVCbU3hK2Q0LifZevM4xClREM46uf7C_FShHSjkwKu8DS82EZ6Phxp2kj_XAbpR_umNfnEQ0KbWjyVXqI9SON-SMqTkHNB7NA-POkkJT4sq_D63XJvBinTqfXL0ikPxbcKqU174xPwnBEwvpz6gsvmGCdwDDp97v2TDqRGCa4lxKs_PGSZEYFYQITK3lxES2GbvB0dsdftmcC9GEVn8ijG5ef0W2_X4_S5K7jRUwHUQqptZioIsJjoQGbdF-A-ppfeud4ZBFXcRTaJdm5SYecV2C6qdMVilR7wnFKOZgBfad0wlwCl3QHzCIF8PbV1P35KsRopEkJXF5S72GGTsTy5WuhdERiutEndxYN7PyBh5tfdMK7G9LnCwX0FBXjzcsvzkMb4RmxM22Ex9f6gpv_vH8zTYLaB26Yy-BR0C94FFzkg5Uq0PHdy5IFfGU0iR0ox1ab8ddXmvKmso4phys6a-XUEzpFGPQM7D6g3Ld2jT5BogZuzFuoQIpHqt7UCV055wqqLd0bBfEAFk4d9ahPPEQyLm3hXn4eJcRFaGvd4o0dQArKYKwjaDA0BflzuT_Pu5nATAcNi3r1MHJYA_95NOw9QhM4F_LOtbmdkYochst2e5ZebiFUQ0X9Lt4eoKhMsTvxBTcuzfsXzI550WGuuwuQ_a_YjEZUUpSnpCk1luxXCqjdU4-7MBj1xreVtpIIFk5LsdpoG1nLzwUnRH2_v7pbkjmuRHZWyej7eq2SjVqBWa9VcP5p0pmt4VhZwrUH9SfiJ0RBLWxnuqho-FV2i5mamrYTifCL2ytrNDqaPMauVzyxors5Skt2fXt9a63BhNNj-ELwzWro8oatBw8Urr4PwXK1ovRjsQqyl87M6-2Dr1DV1pah6rJDJiBwf6bwsFHeXl8SwOXw2LJ8_AIyoRSbPFFsQh4P8i20yZ7KeHbJufEWqrI4EoKlN9SNYp3vaTOiTUPyEyxE7tf0NyRCl6LA41QLysF7Zd2E_zRCwE_jg3bkUQ0szvrTygOiIQWGqcyRA4EQ6E9X1Q1ApYdzN1gOrkIvRT6vTW8DtIjZtLHLO38nGV23zLNFNPSzZ-bwNDste9556CjrP_OcYvGlz1-5oOxRjRVgFoMyLwRUNL-Sd7CfaJfCLQxTRT-dh2jlVPhGfavo6cH36SHhG-7vGmYM7ldehR39ukJWu9-w8ptgigrtaro4XP5s8QEmYTE_oftXredui-XnINvaSXGmiiUrfyc1OJ7Lndgh3yRkhpFV6x-LZoXZ4z0iiz7WDUNLMHzFOnNLJrHFGaJiW0WTGD4GTsCT5sxy8TVuHOSCUTVbH6NBOZrzZ9rAlpiP-tEpK_jwF49tItxv2AIsY4W1_J7jKNpI-_02vI589_dTy-ad2xcH7y_TVVy4nIpjHvGynQCkWPDjwL0sbss8UAkwWl3G6sCT25aVoZzOLNUATDlQyGpSY6Q1UPHx7BsxXm9BxRBYlDZSRjrfjgmF_gCi_HkZd--S8vSBxfIIBYX_RiLDK6DE-TQz3V3GgXITqxxAmxQnXYuz-lu0T9uZi_B7CJuUb1-QMCMZFZPYrQHQITNtt4whFImRRoX6uAEap1JcABajGqJ2U8EnKdJclgrxiqdC_sBFt_ggm44RoWtzDYXK_wP8pNrWAZ8h-VDmJsiss3lK8pPXjnn5IEwzcdPhTFX4XURa6d4Camk9LZOCVAB7xBGe0HU__THt1q87cJeW-YyItO4lWV-qsBRFLGuoS4I9YynKusd1SZQKXm3v9_JOmfYbnXyTSwibf7tSJMzGJGd6LU1GcyFrjXKUQbcZbt_98dJgyVBHxU-BBa9QZ-Ag7I07hadEszE6YA6J52FOkAbIw1IeWm0EY09mlDckh5QfgSJgcwMmx5M2Zk4RUai3rWaihpur3at5nZwzgKacaV7eUL2qM8CSpWc8KKvz6-nb-SD44-aZAUhE2zTjHoouiy1-m6R9yzgpl6XryTU4kG0C_Z6tWiYXlFpFINS2_WT4jUA5DFmyVft3NVYVkQ0OZaiMRDymKJhHMhazUh4JL_MOaCbGH4h1G_W-gxAX62rZCZNtNfL2vEuwv2MAxAjzFkkv7oy5ptK9w-nbWjhT1KBlvgc4rffJ24DBB5frczqtl4frA2jcUrWg27Jlk_fneAwYIUIShKrUw5em7-ApEUO91vTLk4kGtwNOvAC3absUzX2oqvgkb66cqYq1a-mkXsIuUggeNG0Kh6eBT0g6_nTrPeTsp3FZRUYZD1_d_ZjkAHB93vhxOT-ExusYLWXDO6lZ8xNStTlhjWn67pbbHwLgzwuP-S-qbxCowKEQobutWvmuvAlCvuNqcu9ctmTpgf_2AH0vd_yHsgtFzpALrlTFcScPPWnxYO3-N-Yjt7TGg2uWTdH1gbqD_5jTrbjUfCl_wm2-5v4gPXJa3fWpyGWZwVhUMSwVFV0LUhiEaumkXNBnDU5Wa-l6gsj3TrDBwi6yyKtgdW_YhJQZ01oWFsL2sHPvnuLpwH6KX07zWRhD7zl7scj7Sa_gMakG79JWEmcSMAft24UvO_KCaFMe0LduH0bIf5LA_bDCv31zps-F2VkmUKTHBtaOKM7Tlo-XY1fjAU7IhByY1eU1V7G0psy5W7Kux0eRMZrMVheVGKrJcQ1LDhCm0p1CYYn__WLPV73e93ww4D-f0EzBEwpwICAy7jbbLOf5Tn1Ilych5c7ZM454UYfHQb2XAr2v6BrZNlxBG3ocOJ5PtnnofTUyVvGayjqQMBPGdvw2DbzriKQgwKGm4UMH8ZrYM2UG8Uc35a0GdwEGee-2ETxnz4bwcJlfYi1mcvHl-br5vbEanBgKF8rFb8tTKIXh1_lmRNlfD_vaKJeZzz_q34ynF26D4nTOfx287MzS1ELurA6x0bCNmI6FvOa7cQZwTqW1LMET6pkTFkkpbWgRGyi6rtIFpfLzoapDmX8x998f0NbIzXcfHf5dWunECF1uKLARhvYQ-dncoKUIndZQq-xtJsGODbSLRLmPiSiX_Lwvm6hW-UFopgxBpj-2Pc3znw_IV8QZ6_J9-hDB6g_JufYrynsn_mZAMIi9a8KocRkrT6SyttcG9Dm1rKKM7Pgl5mb_uCpCA7RGtmB-c9jA6WuIevJzKVo8T2Fk45z27WE66GKJGxxGD24H80rcaKSA94ixZutB7P5Q7UYU34Jk7gqz4iUG8QLTywPmJhRwFgzI8sAOLcEY2XhcSCFSTnXuvkxTg6Z094pGKRP_GIkGVeTtwgT9E7Q1Yg11yHaYWl6OpnE3qxhDNhoMozBNe94QV399cCBkrKx8WxnC_Pe4nbKEwqbRcpBdvJN5KRzUE1yKpJWqVMmtagH3kh8V-DOALBNi7ODElPqSACXHeSHafrxCpi3K1Kk6NChctlJMyciXtvpAk1fwbxooxy5Tr6S7ktKtZMk_UWY3qgGTU7Ctbm4pBEg==",
  "id": "rs_0d3a518622cde59b016ab457385f1887d0bb3023ca57ef4b04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.345,\"right_z\":0.08,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.05},\"note\":\"The attempted insertion did not translate because the right arm is stuck in a near-floor IK posture; the alignment itself remains exact. I’ll lift just enough to recover motion while moving to the intended forward position, then make one final low forward seating stroke.\"}",
  "call_id": "call_AgzbyqThDC61WzbGvZ5MZZQe",
  "id": "fc_0d3a518622cde59b016ab4573cab7487d096464274efe54d71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AgzbyqThDC61WzbGvZ5MZZQe",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1557, 0.831, -0.7414, 0.7845, 0.8356, 0.9982, 1.0142, 2.1708, 1.2201, 0.0631, 0.7784, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2859 left_y=-0.0118 left_z=0.1617 left_yaw=-0.6877 left_pitch=-0.0963 left_roll=-0.0577 left_gripper=0.9982 right_x=0.358 right_y=0.3473 right_z=0.0136 right_yaw=0.0148 right_pitch=-0.0276 right_roll=-0.0164 right_gripper=0.0721\nstate[joint_eff]: [0.0068, -3.2615, 6.4479, 1.0232, 0.3639, -0.0317, -0.0122, -0.5265, -10.6598, 6.9265, 1.4579, 0.4225, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd1728c0f4336ad5511bb1244e775b1c2fa8dc99c7ee8d1fc96bb341e65ab26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b678be2f3b49ddca0e01c9873f58b80710f62dd24ed3302d5742d7e8d03307c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b5a90a454d6e55f7947e87b80476c5487a22967195e817d45cd9f347698251",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 5.897 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3958, 1.1538, 0.831, -0.7338, 0.8078, 0.8352, 0.9982, 1.0172, 2.0361, 1.0786, 0.0399, 0.7593, 0.6624, 0.0721]\nstate[eef_state]: left_x=0.2868 left_y=-0.0147 left_z=0.1654 left_yaw=-0.6993 left_pitch=-0.0739 left_roll=-0.059 left_gripper=0.9982 right_x=0.3365 right_y=0.3199 right_z=0.0248 right_yaw=0.0445 right_pitch=-0.0571 right_roll=-0.0575 right_gripper=0.0721\nstate[joint_eff]: [-0.2803, -3.7675, 9.347, 1.0916, 0.4029, -0.0562, -0.0269, 0.9915, -9.7573, 7.2684, 1.409, 0.6716, 0.1685, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1557, 0.831, -0.741, 0.7891, 0.8356, 0.9982, 1.0142, 2.1708, 1.2201, 0.0631, 0.7784, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2859 left_y=-0.0124 left_z=0.1622 left_yaw=-0.6901 left_pitch=-0.0926 left_roll=-0.0593 left_gripper=0.9982 right_x=0.358 right_y=0.3473 right_z=0.0136 right_yaw=0.0148 right_pitch=-0.0276 right_roll=-0.0164 right_gripper=0.0721\nstate[joint_eff]: [-0.294, -3.2752, 6.4342, 1.1013, 0.3639, -0.0513, -0.0122, -0.7316, -10.7009, 6.9402, 1.4335, 0.4713, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3962, 1.1557, 0.831, -0.7414, 0.7845, 0.8356, 0.9982, 1.0142, 2.1708, 1.2201, 0.0631, 0.7784, 0.6918, 0.0721]\nstate[eef_state]: left_x=0.2859 left_y=-0.0118 left_z=0.1617 left_yaw=-0.6877 left_pitch=-0.0963 left_roll=-0.0577 left_gripper=0.9982 right_x=0.358 right_y=0.3473 right_z=0.0136 right_yaw=0.0148 right_pitch=-0.0276 right_roll=-0.0164 right_gripper=0.0721\nstate[joint_eff]: [0.0068, -3.2615, 6.4479, 1.0232, 0.3639, -0.0317, -0.0122, -0.5265, -10.6598, 6.9265, 1.4579, 0.4225, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd1728c0f4336ad5511bb1244e775b1c2fa8dc99c7ee8d1fc96bb341e65ab26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b678be2f3b49ddca0e01c9873f58b80710f62dd24ed3302d5742d7e8d03307c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b5a90a454d6e55f7947e87b80476c5487a22967195e817d45cd9f347698251",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFdE8Ne81OtIJGLAx4Q2aObWQfULo7NI9IvMVuZsQoSozUjtt4R6nKMFZqNIkUVmAWj62z_3A0FpZkMfTVJVpwLfvp2_j8wPKLFZqdgDnTniIBWvUTq-uPiyFICnjC9n6Ww1jizwzY4n19S4u4oN2FD41VtqjOkyMONdppbVbFmhzCMJtoEXrSjKjgDTZeqp4spIimQV2mTicQnKvIXwRFOQ-_J_6mJ71n9pMbUKLohcHS5xiNzp5eSUR0ZiQfrPw1LONXEhx4ZtSQVxqtNIP4Dhto_RhsMGXVq-1lGzKU7FevlXslS2-BV7k_GqvY75rlqaeIhwRIjfyPNRAWDTi7NKxj5JBzfO6vawnUEwOB8btKYxJA7OgFIXfEq8ycx4vjzJ3X64c57AEgEFrk-e7aphy94dDbFQDAJGEvNWXKbsqaW7LgBlbMxijHdo_2ryr1rp7TB06RxELI2QYg9xH1NOgYwNSZ5fOJBiyc24CJnEQoaoY1O_eT24_dW4M7o_yuWsMa9dV8DpfExa4fN5zGcHfftHbg9SP3qnGUnAMS0_7__1oqKIo48antzRZvU3I-R4LceJlcQrFnJmTJafQVNuwMV9Co38q8E9Gv5ey7ZnS_HwdhMYIEhmae4AyUoGeQa91ZRU_WxDR2uTlG1y211mxLfj6zQ4z1L3QtD0gGz1AA_lrZK-YcEjC4kL4KN-fXRvMxcWN5iTnjo8fxp0CdSM8OOdheXA1WQWO6jy6YWm-wlCNNYe_Br0LHrPK7KdVq43f2Ozd5sGpqn8jzO3jSxZUDhis2bsPpJxgsnJ2d2zwO1PFkF7EyorCMIHTFmoZnfWrTEqRaOgQQVthjvtJamef0E8GssZG7YOZKv3GoqVB-qnyMDJ5vewCW1MeUk6zU5rkdhqRGk24KEnYBX2jG5V7llGzh5vDCQnyDuYzw16u3mU49V5VyoBwoVmUMfMEwSGFLsqB97tYIDeZgMVUaeqbTgA8xBQt2K4rG-7Myb8nhkZcWOvJII7P9jtYRGKvql1xpjGXJPLKjdhPwOEJ4F-GMBhhwDr6KV3cCwugm9Q2vjjgNSnccVk00FVhq4EuCKNfqIPgnbhT4nn_1VTWENQs6HkXYMOPskKK8JHJQ8BjavVdJQqCJYT03g5Sfh9Dl3-Mpfj9IsbPhImXl4jJg-EcKAt3jhYI5k541ryStu7Z75grojRXlGs2geRMdmMm-AuGmaHRuDThfjC4R9nBZqz6PEWjODpKtJzLZRRDHUOsMlHSsGu259bNNGc31m4T_JVe1o-Jk4R2N_qtReDJ7eh0y-1vYPG04R0EGoi_TjV3QaWX5TMXx5JoqLCoJVyaulJxq9w_bWEZHFPE69f8hZ_YQvM7CmqC-OauQX8OrvEZPVy2XHYPWA3fj3HmkYXDbR6yPBQmlWlBQQGC4uWTSBIS-u2Ul70uA-yHUiIHQahoMzdEtgVORNzbkc4_Ciu6ssORagw-YtXo5enhSZ4TQtXNNTrw9zCpNI6EXgFCLGoENuICdQGRAny8S4O95nJcLBXMaP21TsPzBlUl-Hka2hqg4JV9Dv2lSRnLcLv_jONPLRhTq1IpDByg50azE7Gdb9KHi8o-IL0Zh9V7mjXlafqMojbS6ryv8TmLjEaKu44Drg_ft75nyE_LQAl4ZITfDcwjgrSdjNagcf6JlsLG0gmSsTdEy83aLOAu4xf9sDpfvYtkp6I0uQtjOzl1ggdA4CnLfGW5mRM6mICt-I7glaAZr8O4APV_6OtkN-kBaovsbuJODZS7njk8KLDThZm9Id0CXC_45qct9k5d3Lpwesm7_k_ap_B3xtxZRUBmvIZiH5t2qXd8PAyqVU_vHo9yiRL_fMZ7qzuG4X-IL7J_6dgHKYapw9G84yd9k0omuMWhkyOxq0bZkff5OU7u0VlqLQfr7ij5KQFXEebwAPpIDKWv5XNY1zPIkCxtFz6-OIgLyY-L6_xYNNcSSlZ3mulgfHSVIMVujfhAfjrwBGwFrFz-KBUq7j2wkwiPBe31y-WIurC1O78rlTEsJGBT8btQeVu1e_k9RUIMuJGqBxDP43tgPW34UI1WkYv1-P0g6XGI__uk7D2ABEpOMiiLwfRcUViNP9m-AZEd05_k9U6jZC5dEBNACqfPYo-SJHevNvu7opmCA_6HmzSqLLdN_D9lqCF2Fy_vs5LgZsuh7WEEoAl1tHPy7ZKTC0epU9ynS2a8bjUTH31tk0RQoQUlZOJ4KROcdaK1qLvFBXyf3BHGwHF8wxrXVKp1xj9SW-hyPBFIDFRCLB6_JsVTJtMbJXP-5jG48OpBPwBi-d4-W_Q2ecWZ2SFWyLGsZ2BcPRLljKSCz0s5eWHUaff_NPPREEhSTAPcLEcx7SgiHrcQFvTKN56z_hlonrddillyMFblopvZTf_KQ0nqHi9O_2De6N99Pr-aku_9BqhwwkDoaZ3WPi27hMSxLux7PkL8vgbQSuuLLr_B-lqyYtUwKM-0DgsBQ1oq0yrkUwo9vvSrocZ3NEzIKK_JJeqgNHO1hryUwJkqIGxCe_S2Yxd3B1LtjR4mN5CW2T2kHekXFUpdjUvj7U8MVhwLpJ6Dj9r08yso5DRLpH52Ck-HhEg-lxki8CF9ePaVFOfuLhiB5KWgzFxIb-4kW3ekDLNYF-2Yp_27FR9joN7IaaSOitr-GpTmVl8tp8MmdR5_GDgmk9prYunuz7_BpmbBd_sGN3wzuJQWwOvvDXnBms6c5lZNEvKZiqMxGmeqrJtDlEqd-ng3aI4ZCIU69FgjxOfjnbDhhln4fz0HV12EEHCrOsl9xtisLu-YHhY4zoQSfiTp8MNoV_HNmsiOSj_-XmTuQUs0NXoNAToffTs7xsstrvrdj724jK8az5MfO--5mkHDEn2d1r8KZFZWeq-CBsRryawzEpnRwNgtTTeLR63YSBykNokQ0xm_HGw8yEI-NOmlqrR3VMK5c0avKxPStIEfxfxA0_aiS0sdV-NbSXzoJ18LKkF_-hYJiXpDSuZAxzwzOpzXUxVkhk_19LHb20HRDha42yHuYI0eeg3fPD6qrm3FdnIDTVjRZ5UnMdvndDXS3ogZ5qnLA9tNFlFkbfjOV63NKFww-HfE6CzPgmhsLddTy1hQ4v7-5-rkkA_bUAChkS2XgkQnqCOcA==",
  "id": "rs_0d3a518622cde59b016ab4573fbb8487d08b20d76c7920b9c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.347,\"right_z\":0.02,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":0.05},\"note\":\"Even the recovery lift was completely stalled, confirming this exact low, level wrist orientation is at an IK dead point. I’ll use forward wrist pitch to unlock the arm and drive the already aligned pen tip straight into the cap with a final outward seating motion.\"}",
  "call_id": "call_TqfNFmOZmoLWP8evMxeNxYKv",
  "id": "fc_0d3a518622cde59b016ab45742e54887d0abc784e13a6a99dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqfNFmOZmoLWP8evMxeNxYKv",
  "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]: [0.3962, 1.1557, 0.831, -0.7448, 0.7734, 0.8356, 0.9982, 0.9894, 2.3157, 1.1553, 0.6651, 0.8955, 0.3981, 0.0721]\nstate[eef_state]: left_x=0.2854 left_y=-0.0105 left_z=0.1601 left_yaw=-0.6822 left_pitch=-0.1065 left_roll=-0.0562 left_gripper=0.9982 right_x=0.3927 right_y=0.353 right_z=0.0197 right_yaw=0.0241 right_pitch=0.2557 right_roll=0.0017 right_gripper=0.0721\nstate[joint_eff]: [-0.1846, -3.2068, 6.6256, 1.0427, 0.3883, -0.0611, -0.0122, -1.1556, -9.347, 4.9983, 1.5751, 0.4029, -0.0952, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00880edf56493b4d14a7772df454bc63c5be0054f0dc26e6f17c5ba5711fc471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655f7410f38316d67fe83ba0ccf27294bff26c7ab4d92f8623655f7b9ad625be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754692b1edbcfaca1e4fcba59a071259b6ec6843d1782c458582e4530632fd61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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