adhoc

completed
2026-09-23T21:19:45.827844+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
187.1 s
total steps
353
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 loose cap is the short dark piece in the upper-left of the central workspace, while the pen lies diagonally to its lower-right. I am moving the left gripper above the cap with its finger gap oriented across the cap’s width for a wrist-camera alignment check.
move_to
left_x0.4300left_y-0.2450left_z0.1500left_yaw-0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7929, 0.6014, -0.3805, -0.0219, -0.025, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0139, 0.9992] state[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.3897, -1.5111, 10.4957, 1.8193, -0.0122, 0.0659, -0.0904, -0.7453, -1.1966, 9.8803, 1.8046, -0.022, -0.0317, -0.0904] 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":0.43,"left_y":-0.245,"left_z":0.15,"left_yaw":-0.5,"left_gripper":1.0},"note":"The loose cap is the short dark piece in the upper-left of the central workspace, while the pen lies diagonally to its lower-right. I am moving the left gripper above the cap with its finger gap oriented across the cap’s width for a wrist-camera alignment check."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe cap is centered on the left wrist camera’s jaw column and extends into the fingertip region at the bottom of the image. I am descending vertically with the jaws open to straddle it at table level.
move_to
left_x0.4300left_y-0.2450left_z0.0050left_yaw-0.5000left_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]: [-0.532, 1.6802, 1.0328, -0.0093, -0.0669, -0.0654, 0.9993, -0.0193, 0.7975, 0.6128, -0.3904, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.4177 left_y=-0.228 left_z=0.1243 left_yaw=-0.4519 left_pitch=-0.0831 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [-0.5675, -8.8, 9.5932, 2.0781, 0.2418, 0.2955, -0.0904, -0.1846, -1.7436, 6.7214, 1.8291, -0.0513, -0.0171, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.245,"left_z":0.005,"left_yaw":-0.5,"left_gripper":1.0},"note":"The cap is centered on the left wrist camera’s jaw column and extends into the fingertip region at the bottom of the image. I am descending vertically with the jaws open to straddle it at table level."})
tool
executing move_to over 8 steps (0.8s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteAfter the straight descent the cap has disappeared beneath the left gripper, as expected when it is between the fingertips. I am closing the jaws fully and will use the settled opening plus a lift to verify the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5335, 2.006, 0.9184, 0.3855, -0.0555, -0.0505, 0.9993, -0.0193, 0.8005, 0.6128, -0.3939, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.4257 left_y=-0.2359 left_z=0.0033 left_yaw=-0.4709 left_pitch=-0.129 left_roll=0.0048 left_gripper=0.9993 right_x=0.2944 right_y=0.0015 right_z=0.1794 right_yaw=-0.0006 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9992 state[joint_eff]: [-0.5128, -8.5402, 5.0667, 1.1795, 0.315, 0.0171, -0.0904, -0.335, -1.5385, 7.0769, 1.7851, -0.0562, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the straight descent the cap has disappeared beneath the left gripper, as expected when it is between the fingertips. I am closing the jaws fully and will use the settled opening plus a lift to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
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 left gripper settled at 0.009, which is an empty close rather than a held cap. I am reopening and lifting straight up so the overhead view can reveal whether the cap was displaced and allow one measured retry.
move_to
left_z0.1400left_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]: [-0.5327, 2.0106, 0.9207, 0.4259, -0.0719, -0.0521, 0.0089, -0.0193, 0.8005, 0.6128, -0.3943, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.4329 left_y=-0.2364 left_z=0.0098 left_yaw=-0.4557 left_pitch=-0.0902 left_roll=0.0113 left_gripper=0.0089 right_x=0.2944 right_y=0.0015 right_z=0.1793 right_yaw=-0.0006 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9992 state[joint_eff]: [-0.1709, -9.894, 5.559, 1.2625, 0.2027, -0.0073, 0.5739, -0.335, -1.1692, 7.0359, 1.707, -0.022, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_z":0.14,"left_gripper":1.0},"note":"The left gripper settled at 0.009, which is an empty close rather than a held cap. I am reopening and lifting straight up so the overhead view can reveal whether the cap was displaced and allow one measured retry."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe cap remains hidden by the hovering left wrist, while the long pen is still visible and unmoved in the center. I am parking the left arm at home to uncover the cap’s exact post-contact position before retrying.
move_to
left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5327, 1.763, 1.1038, -0.0536, -0.0746, -0.0692, 0.9948, -0.0193, 0.8009, 0.6128, -0.3969, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.4282 left_y=-0.233 left_z=0.1076 left_yaw=-0.4437 left_pitch=-0.1386 left_roll=0.0037 left_gripper=0.9948 right_x=0.294 right_y=0.0015 right_z=0.1786 right_yaw=-0.0006 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.212, -11.1795, 9.853, 1.707, -0.0415, 0.1685, 0.0171, -0.0615, -1.306, 7.241, 1.8144, -0.0513, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"The cap remains hidden by the hovering left wrist, while the long pen is still visible and unmoved in the center. I am parking the left arm at home to uncover the cap’s exact post-contact position before retrying."})
tool
executing move_to over 21 steps (2.1s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteWith the arm clear, the cap is visible unchanged near image (93,110), so the first close was just radially short rather than a large displacement. Following the wrist-camera fingertip offset, I am returning with a 2 cm farther-out radial target while preserving the cap-aligned yaw.
move_to
left_x0.4500left_y-0.2450left_z0.1300left_yaw-0.5000left_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]: [-0.0475, 0.9474, 0.754, -0.5072, -0.0555, -0.0586, 0.9982, -0.0193, 0.8051, 0.6128, -0.4118, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.3066 left_y=-0.0012 left_z=0.1794 left_yaw=0.0195 left_pitch=-0.1274 left_roll=-0.0015 left_gripper=0.9982 right_x=0.2922 right_y=0.0016 right_z=0.1744 right_yaw=-0.0005 right_pitch=-0.0446 right_roll=0.0005 right_gripper=0.9992 state[joint_eff]: [0.1846, -2.8513, 7.0769, 1.6386, 0.0659, 0.1538, -0.1929, -0.0205, -1.4427, 7.0222, 1.8632, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.245,"left_z":0.13,"left_yaw":-0.5,"left_gripper":1.0},"note":"With the arm clear, the cap is visible unchanged near image (93,110), so the first close was just radially short rather than a large displacement. Following the wrist-camera fingertip offset, I am returning with a 2 cm farther-out radial target while preserving the cap-aligned yaw."})
tool
executing move_to over 22 steps (2.2s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe cap now appears at the very bottom of the left wrist view, about 2 cm to the image-right of the jaw centerline; the pen is farther right and clearly distinct. I am making a small tool-right correction and descending to straddle the cap without changing its axis alignment.
move_to
left_x0.4460left_y-0.2550left_z0.0040left_yaw-0.5000left_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]: [-0.5018, 1.8027, 1.2007, -0.1806, -0.0395, -0.0574, 0.9989, -0.0193, 0.8097, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.436 left_y=-0.2272 left_z=0.1059 left_yaw=-0.4483 left_pitch=-0.2099 left_roll=-0.0066 left_gripper=0.9989 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [-0.5402, -9.4017, 9.7573, 1.9414, 0.1441, 0.3443, -0.1245, -0.1299, -1.6615, 7.0906, 1.6777, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.446,"left_y":-0.255,"left_z":0.004,"left_yaw":-0.5,"left_gripper":1.0},"note":"The cap now appears at the very bottom of the left wrist view, about 2 cm to the image-right of the jaw centerline; the pen is farther right and clearly distinct. I am making a small tool-right correction and descending to straddle the cap without changing its axis alignment."})
tool
executing move_to over 7 steps (0.7s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe cap vanished beneath the fingertips after the corrected descent, while the pen tip remains visible well to the right. I am closing on the cap and will check for a nonempty jaw spacing 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]: [-0.5308, 2.0529, 1.1248, 0.1005, -0.0395, -0.0498, 0.9989, -0.0193, 0.8108, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.4401 left_y=-0.2461 left_z=0.0043 left_yaw=-0.481 left_pitch=-0.2549 left_roll=0.0012 left_gripper=0.9989 right_x=0.2923 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [-0.4444, -9.0735, 5.4769, 1.2723, 0.3053, 0.0513, -0.1245, -0.3624, -1.4154, 7.1179, 1.663, -0.0464, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap vanished beneath the fingertips after the corrected descent, while the pen tip remains visible well to the right. I am closing on the cap and will check for a nonempty jaw spacing before lifting."})
tool
executing move_to over 10 steps (1.0s)
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 second close again settled at 0.009, so the cap escaped rather than being pinched; repeating at the same pose would be unproductive. I am clearing the left arm completely to re-measure the cap from the overhead view after this contact.
move_to
left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5308, 2.0655, 1.1244, 0.1322, -0.0513, -0.0505, 0.0091, -0.0193, 0.8112, 0.6125, -0.4133, -0.0204, -0.0143, 0.9992] state[eef_state]: left_x=0.4448 left_y=-0.2464 left_z=0.0035 left_yaw=-0.4706 left_pitch=-0.2358 left_roll=0.0085 left_gripper=0.0091 right_x=0.2924 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [-0.1299, -11.7675, 5.6547, 1.1648, 0.0757, -0.022, 0.6032, -0.1846, -1.347, 6.9812, 1.6923, -0.0269, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"The second close again settled at 0.009, so the cap escaped rather than being pinched; repeating at the same pose would be unproductive. I am clearing the left arm completely to re-measure the cap from the overhead view after this contact."})
tool
executing move_to over 22 steps (2.2s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe cap remains at its original overhead position, so it was not displaced; the likely failure was insufficient low-level engagement rather than a bad global estimate. To make progress and establish the final assembly geometry, I am now moving the right gripper above the pen’s midpoint, aligned with the pen shaft.
move_to
right_x0.4200right_y0.2700right_z0.1400right_yaw0.5500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0286, 0.8135, -0.6079, -0.0566, -0.0582, 0.9977, -0.0193, 0.8165, 0.6125, -0.4133, -0.0208, -0.0143, 0.9992] state[eef_state]: left_x=0.3039 left_y=-0.0011 left_z=0.1639 left_yaw=0.0211 left_pitch=-0.2495 left_roll=0.0081 left_gripper=0.9977 right_x=0.2927 right_y=0.0016 right_z=0.1708 right_yaw=-0.0002 right_pitch=-0.058 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [0.2667, -3.5761, 10.2085, 1.4628, 0.0952, 0.2173, 0.0366, -0.1162, -1.7436, 7.2137, 1.6972, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.27,"right_z":0.14,"right_yaw":0.55,"right_gripper":1.0},"note":"The cap remains at its original overhead position, so it was not displaced; the likely failure was insufficient low-level engagement rather than a bad global estimate. To make progress and establish the final assembly geometry, I am now moving the right gripper above the pen’s midpoint, aligned with the pen shaft."})
tool
executing move_to over 23 steps (2.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe pen shaft is centered precisely on the right wrist camera’s jaw column and runs into the fingertip region at the bottom edge. I am descending vertically to table level while keeping the gripper aligned along the shaft, so the jaws will close across it.
move_to
right_x0.4200right_y0.2700right_z0.0030right_yaw0.5500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0332, 0.815, -0.6357, -0.0517, -0.0547, 0.9979, 0.5613, 1.7168, 1.0809, -0.0574, 0.0143, 0.0071, 0.9993] state[eef_state]: left_x=0.2993 left_y=-0.0017 left_z=0.1586 left_yaw=0.0154 left_pitch=-0.2806 left_roll=0.0088 left_gripper=0.9979 right_x=0.4066 right_y=0.257 right_z=0.1184 right_yaw=0.5391 right_pitch=-0.1339 right_roll=-0.0036 right_gripper=0.9993 state[joint_eff]: [-0.2803, -3.0701, 6.9265, 1.6874, -0.0611, -0.0904, 0.0171, 0.2667, -8.3487, 9.3607, 2.0781, -0.0024, 0.0659, -0.0952] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.27,"right_z":0.003,"right_yaw":0.55,"right_gripper":1.0},"note":"The pen shaft is centered precisely on the right wrist camera’s jaw column and runs into the fingertip region at the bottom edge. I am descending vertically to table level while keeping the gripper aligned along the shaft, so the jaws will close across it."})
tool
executing move_to over 8 steps (0.8s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteAt table level the pen is still centered between the right fingertips, with the shaft crossing the closing direction. I am closing fully around the pen and will verify by jaw spacing and a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6426, -0.0517, -0.0544, 0.9979, 0.5674, 2.014, 0.9768, 0.3027, 0.0051, -0.0097, 0.9993] state[eef_state]: left_x=0.298 left_y=-0.0017 left_z=0.1572 left_yaw=0.0153 left_pitch=-0.2886 left_roll=0.0096 left_gripper=0.9979 right_x=0.414 right_y=0.2671 right_z=0.0048 right_yaw=0.562 right_pitch=-0.1752 right_roll=-0.011 right_gripper=0.9993 state[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.5214, -0.0855, -0.0562, -0.0122, -0.3077, -9.2513, 4.9709, 1.5214, -0.0464, 0.4957, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At table level the pen is still centered between the right fingertips, with the shaft crossing the closing direction. I am closing fully around the pen and will verify by jaw spacing and a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe right jaws nearly closed, but a thin dark shaft remains visibly centered between the fingertips; because this pen may be only a few millimetres thick, spacing alone is ambiguous. I am lifting 6 cm to see whether the pen rises with the gripper in the overhead view.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6449, -0.0517, -0.0544, 0.9979, 0.5674, 2.0224, 0.9798, 0.3519, 0.001, -0.0124, 0.0105] state[eef_state]: left_x=0.2976 left_y=-0.0016 left_z=0.1568 left_yaw=0.0154 left_pitch=-0.2909 left_roll=0.0097 left_gripper=0.9979 right_x=0.4205 right_y=0.2721 right_z=0.0111 right_yaw=0.567 right_pitch=-0.1313 right_roll=-0.0101 right_gripper=0.0105 state[joint_eff]: [-0.0342, -2.7282, 6.7761, 1.4725, -0.0611, -0.0659, -0.0073, -0.2667, -10.1538, 5.2444, 1.3114, 0.0317, -0.0415, 0.7009] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The right jaws nearly closed, but a thin dark shaft remains visibly centered between the fingertips; because this pen may be only a few millimetres thick, spacing alone is ambiguous. I am lifting 6 cm to see whether the pen rises with the gripper in the overhead view."})
tool
executing move_to over 4 steps (0.4s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe lifted wrist view shows the pen lying off to image-left rather than between the fingers, confirming an empty/ejected grasp. I am parking and reopening the right arm to expose both pieces and re-plan from their actual positions.
move_to
right_x0.3000right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0351, 0.815, -0.6479, -0.0517, -0.0544, 0.9979, 0.5674, 1.9259, 1.0199, 0.1741, -0.0025, -0.0151, 0.0126] state[eef_state]: left_x=0.2971 left_y=-0.0016 left_z=0.1561 left_yaw=0.0154 left_pitch=-0.2947 left_roll=0.01 left_gripper=0.9979 right_x=0.4142 right_y=0.2688 right_z=0.039 right_yaw=0.5714 right_pitch=-0.1725 right_roll=-0.0098 right_gripper=0.0126 state[joint_eff]: [-0.0889, -2.6872, 7.241, 1.4872, -0.0366, -0.0708, -0.0122, -0.2803, -12.4376, 8.4034, 1.663, 0.0024, -0.0269, 0.2076] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The lifted wrist view shows the pen lying off to image-left rather than between the fingers, confirming an empty/ejected grasp. I am parking and reopening the right arm to expose both pieces and re-plan from their actual positions."})
tool
executing move_to over 23 steps (2.3s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteBoth pieces are still essentially in their starting places; the pen is the long diagonal shaft, and the prior rounded-object close likely pushed it sideways. I am retrying the pen 2 cm farther outward, keeping the shaft-aligned yaw, and will use a partial close rather than crushing fully.
move_to
right_x0.4400right_y0.2700right_z0.1300right_yaw0.5500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0359, 0.815, -0.6559, -0.0517, -0.0544, 0.9979, -0.0025, 0.9646, 0.7406, -0.5339, 0.0025, -0.0139, 0.998] state[eef_state]: left_x=0.2956 left_y=-0.0015 left_z=0.1546 left_yaw=0.0156 left_pitch=-0.3035 left_roll=0.0105 left_gripper=0.9979 right_x=0.3011 right_y=0.0024 right_z=0.1636 right_yaw=-0.0034 right_pitch=-0.1985 right_roll=-0.0123 right_gripper=0.998 state[joint_eff]: [-0.1162, -2.7692, 6.7624, 1.5165, -0.0757, -0.0708, -0.0122, -0.4444, -3.0838, 9.894, 1.5702, -0.0708, -0.0757, -0.0757] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.27,"right_z":0.13,"right_yaw":0.55,"right_gripper":1.0},"note":"Both pieces are still essentially in their starting places; the pen is the long diagonal shaft, and the prior rounded-object close likely pushed it sideways. I am retrying the pen 2 cm farther outward, keeping the shaft-aligned yaw, and will use a partial close rather than crushing fully."})
tool
executing move_to over 23 steps (2.3s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe right wrist now shows the pen centered vertically, with its gold writing tip pointing away from the fingertips and the rear shaft entering the bottom edge; the loose cap is clearly off to image-left. I am descending with the fingers positioned around the rear shaft, using a slight table press for reliable low-object engagement.
move_to
right_x0.4400right_y0.2700right_z-0.0080right_yaw0.5500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0359, 0.815, -0.667, -0.0517, -0.0544, 0.9979, 0.5426, 1.8404, 1.2945, -0.2951, -0.0059, -0.0322, 0.999] state[eef_state]: left_x=0.2935 left_y=-0.0014 left_z=0.1529 left_yaw=0.0158 left_pitch=-0.3145 left_roll=0.0113 left_gripper=0.9979 right_x=0.4219 right_y=0.2598 right_z=0.1068 right_yaw=0.5592 right_pitch=-0.2817 right_roll=-0.0186 right_gripper=0.999 state[joint_eff]: [-0.2393, -2.7419, 7.0632, 1.4725, -0.0366, -0.0269, -0.0122, -0.3761, -9.7983, 9.7983, 1.8926, 0.0415, 0.2369, -0.1148] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.27,"right_z":-0.008,"right_yaw":0.55,"right_gripper":1.0},"note":"The right wrist now shows the pen centered vertically, with its gold writing tip pointing away from the fingertips and the rear shaft entering the bottom edge; the loose cap is clearly off to image-left. I am descending with the fingers positioned around the rear shaft, using a slight table press for reliable low-object engagement."})
tool
executing move_to over 8 steps (0.8s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteAt low height the gold pen tip projects about 2 cm to the image-left of the jaw center, showing that the rear shaft is not yet centered despite the high view. I am translating a small amount in the tool-left direction at the same height before closing.
move_to
right_x0.4350right_y0.2800right_z-0.0080right_yaw0.5500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.0811, 1.1927, 0.0372, -0.004, -0.0402, 0.999] state[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4362 right_y=0.2694 right_z=0.0046 right_yaw=0.5643 right_pitch=-0.292 right_roll=-0.0254 right_gripper=0.999 state[joint_eff]: [-0.3214, -2.5778, 6.8444, 1.3895, -0.0317, -0.0708, -0.0073, -0.4581, -7.9932, 5.2171, 1.2479, 0.0171, 0.1294, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.28,"right_z":-0.008,"right_yaw":0.55,"right_gripper":1.0},"note":"At low height the gold pen tip projects about 2 cm to the image-left of the jaw center, showing that the rear shaft is not yet centered despite the high view. I am translating a small amount in the tool-left direction at the same height before closing."})
tool
executing move_to over 1 steps (0.1s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteAfter the small lateral correction the visible pen tip disappeared beneath the fingertip region rather than moving farther across the image, indicating the shaft is now under the jaw gap. I am closing only to a 6.7 mm gap to pinch the rounded pen gently and avoid ejecting it sideways.
move_to
right_gripper0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.096, 1.1908, 0.0906, -0.004, -0.0414, 0.999] state[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4426 right_y=0.2733 right_z=0.0054 right_yaw=0.5647 right_pitch=-0.2554 right_roll=-0.027 right_gripper=0.999 state[joint_eff]: [-0.0342, -2.7145, 6.735, 1.4383, -0.0855, -0.0513, -0.0122, -0.3624, -9.1829, 5.3402, 1.5849, 0.0171, 0.1148, -0.1148] 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_gripper":0.07},"note":"After the small lateral correction the visible pen tip disappeared beneath the fingertip region rather than moving farther across the image, indicating the shaft is now under the jaw gap. I am closing only to a 6.7 mm gap to pinch the rounded pen gently and avoid ejecting it sideways."})
tool
executing move_to over 10 steps (1.0s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteThe 0.075 setting leaves about a 7 mm jaw gap and the pen has not rolled back into view, so it remains centered but may not yet be pinched. I am tightening gently to about 3.3 mm, appropriate for this thin shaft without using a full-force close.
move_to
right_gripper0.0350
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0132, -0.0498, 0.0753] state[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2778 right_z=0.0057 right_yaw=0.5827 right_pitch=-0.25 right_roll=-0.0262 right_gripper=0.0753 state[joint_eff]: [-0.1846, -2.7282, 6.7214, 1.3993, -0.0659, -0.0269, -0.0122, -0.6085, -11.1658, 5.6684, 1.4628, 0.0806, 0.0562, 0.2222] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.035},"note":"The 0.075 setting leaves about a 7 mm jaw gap and the pen has not rolled back into view, so it remains centered but may not yet be pinched. I am tightening gently to about 3.3 mm, appropriate for this thin shaft without using a full-force close."})
tool
executing move_to over 1 steps (0.1s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
right_cam
camera right_cam step 243
assistant
agent noteThe first tightening command advanced only one control increment, leaving the measured gap at 6.7 mm rather than the requested 3.3 mm; the shaft has still not appeared outside the jaws. I am continuing the same gentle close to reach the intended holding gap.
move_to
right_gripper0.0350
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0128, -0.0498, 0.0709] state[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2777 right_z=0.0057 right_yaw=0.5823 right_pitch=-0.25 right_roll=-0.0265 right_gripper=0.0709 state[joint_eff]: [0.0205, -2.7282, 6.735, 1.453, -0.0659, -0.0464, -0.0122, -0.7726, -11.3573, 5.6547, 1.4042, 0.0464, 0.0122, 0.0757] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.035},"note":"The first tightening command advanced only one control increment, leaving the measured gap at 6.7 mm rather than the requested 3.3 mm; the shaft has still not appeared outside the jaws. I am continuing the same gentle close to reach the intended holding gap."})
tool
executing move_to over 1 steps (0.1s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
right_cam
camera right_cam step 244
assistant
agent noteThe right gripper has reached a 3.4 mm gap with the pen still hidden between the fingertips. I am lifting about 7 cm; the overhead view will now decisively show whether the shaft moves with the hand.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0978, -0.0132, -0.0566, 0.0356] state[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4416 right_y=0.2779 right_z=0.0059 right_yaw=0.5864 right_pitch=-0.2493 right_roll=-0.0311 right_gripper=0.0356 state[joint_eff]: [-0.1709, -2.7282, 6.9675, 1.4286, -0.0366, -0.0415, -0.0122, -0.3487, -11.1385, 6.0239, 1.4969, -0.0659, 0.0317, 0.0464] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The right gripper has reached a 3.4 mm gap with the pen still hidden between the fingertips. I am lifting about 7 cm; the overhead view will now decisively show whether the shaft moves with the hand."})
tool
executing move_to over 5 steps (0.5s)
step 249
top_cam
camera top_cam step 249
left_cam
camera left_cam step 249
right_cam
camera right_cam step 249
assistant
agent noteThe pen stayed on the table to the tool-left after the lift, so that rounded shaft grasp remains unreliable. I am parking the right arm and returning the left arm over the larger cap; this time I will combine a slight table press with a gentle partial close to prevent sideways ejection.
move_to
right_x0.3000right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000left_x0.4500left_y-0.2550left_z0.1200left_yaw-0.5000left_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]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5514, 2.009, 1.2716, -0.1257, -0.0181, -0.065, 0.0357] state[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4344 right_y=0.2751 right_z=0.0434 right_yaw=0.5972 right_pitch=-0.3038 right_roll=-0.0309 right_gripper=0.0357 state[joint_eff]: [-0.0615, -2.7282, 6.7214, 1.4188, -0.0952, -0.0269, -0.0122, 0.1026, -14.106, 8.9368, 1.6337, 0.0708, 0.0317, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0,"left_x":0.45,"left_y":-0.255,"left_z":0.12,"left_yaw":-0.5,"left_gripper":1.0},"note":"The pen stayed on the table to the tool-left after the lift, so that rounded shaft grasp remains unreliable. I am parking the right arm and returning the left arm over the larger cap; this time I will combine a slight table press with a gentle partial close to prevent sideways ejection."})
tool
executing move_to over 23 steps (2.3s)
step 272
top_cam
camera top_cam step 272
left_cam
camera left_cam step 272
right_cam
camera right_cam step 272
assistant
agent noteThe cap is visible at the bottom of the left wrist image, slightly to the image-right of the jaw centerline, while the pen tip is farther right. I am correcting toward the cap and descending into a firm table-level straddle before the gentle close.
move_to
left_x0.4450left_y-0.2640left_z-0.0100left_yaw-0.5000left_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]: [-0.5255, 1.9217, 1.4509, -0.4881, -0.0532, -0.0669, 0.9989, 0.0101, 1.0737, 0.8791, -0.693, 0.0212, -0.0238, 0.9978] state[eef_state]: left_x=0.4372 left_y=-0.2385 left_z=0.1007 left_yaw=-0.451 left_pitch=-0.3851 left_roll=0.0097 left_gripper=0.9989 right_x=0.3018 right_y=0.0029 right_z=0.1644 right_yaw=-0.002 right_pitch=-0.3282 right_roll=-0.0344 right_gripper=0.9978 state[joint_eff]: [-0.6359, -10.359, 9.5521, 1.5751, -0.0415, 0.2808, -0.1197, -0.4581, -3.6991, 9.9624, 1.5507, -0.1636, 0.0171, -0.0611] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.264,"left_z":-0.01,"left_yaw":-0.5,"left_gripper":1.0},"note":"The cap is visible at the bottom of the left wrist image, slightly to the image-right of the jaw centerline, while the pen tip is farther right. I am correcting toward the cap and descending into a firm table-level straddle before the gentle close."})
tool
executing move_to over 8 steps (0.8s)
step 280
top_cam
camera top_cam step 280
left_cam
camera left_cam step 280
right_cam
camera right_cam step 280
assistant
agent noteThe cap disappeared under the left fingertip region after the corrected, slightly pressed descent. I am first narrowing the jaws to a 9.5 mm gap—just around the cap’s expected diameter—to establish contact without squeezing it out.
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]: [-0.551, 2.1204, 1.3357, -0.1875, -0.0555, -0.0616, 0.9989, 0.0082, 1.0756, 0.8768, -0.7177, 0.0181, -0.0338, 0.9984] state[eef_state]: left_x=0.4437 left_y=-0.257 left_z=0.003 left_yaw=-0.4772 left_pitch=-0.3983 left_roll=0.0161 left_gripper=0.9989 right_x=0.2967 right_y=0.0028 right_z=0.1591 right_yaw=0.0043 right_pitch=-0.3573 right_roll=-0.0386 right_gripper=0.9984 state[joint_eff]: [-0.7179, -8.7863, 5.1624, 1.243, 0.1636, 0.0464, -0.1245, -0.0068, -3.1385, 6.9265, 1.6532, -0.0317, 0.022, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.1},"note":"The cap disappeared under the left fingertip region after the corrected, slightly pressed descent. I am first narrowing the jaws to a 9.5 mm gap—just around the cap’s expected diameter—to establish contact without squeezing it out."})
tool
executing move_to over 9 steps (0.9s)
step 289
top_cam
camera top_cam step 289
assistant
agent noteAt a 1 cm gap the cap has not emerged sideways; only the separate pen’s gold tip remains visible at far image-right. I am tightening the left jaws to about 5 mm, enough to hold the cap body while still avoiding a hard full close.
move_to
left_gripper0.0550
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0715, -0.0685, 0.1057, 0.0082, 1.0756, 0.8764, -0.7258, 0.0181, -0.0345, 0.9985] state[eef_state]: left_x=0.4509 left_y=-0.2588 left_z=0.0037 left_yaw=-0.4609 left_pitch=-0.3663 left_roll=0.0231 left_gripper=0.1057 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0391 right_gripper=0.9985 state[joint_eff]: [-0.1436, -12.2598, 6.1607, 0.9158, 0.1392, 0.0366, 0.1392, -0.0479, -3.0017, 6.8581, 1.4628, -0.0366, -0.0464, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.055},"note":"At a 1 cm gap the cap has not emerged sideways; only the separate pen’s gold tip remains visible at far image-right. I am tightening the left jaws to about 5 mm, enough to hold the cap body while still avoiding a hard full close."})
tool
executing move_to over 1 steps (0.1s)
step 290
assistant
agent noteThe controller moved only one increment and the measured gap is still about 9.6 mm, so the intended cap-holding width has not yet been reached. I am continuing the same gentle close to the 5 mm target.
move_to
left_gripper0.0550
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0719, -0.0696, 0.1011, 0.0078, 1.0756, 0.8764, -0.7258, 0.0177, -0.0345, 0.9985] state[eef_state]: left_x=0.451 left_y=-0.2587 left_z=0.0037 left_yaw=-0.4599 left_pitch=-0.3663 left_roll=0.0227 left_gripper=0.1011 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0388 right_gripper=0.9985 state[joint_eff]: [-0.1573, -12.2188, 5.9556, 0.9304, 0.0562, 0.0024, 0.105, -0.2256, -2.7419, 6.7214, 1.4237, -0.0269, -0.0562, -0.0073] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.055},"note":"The controller moved only one increment and the measured gap is still about 9.6 mm, so the intended cap-holding width has not yet been reached. I am continuing the same gentle close to the 5 mm target."})
tool
executing move_to over 1 steps (0.1s)
step 291
assistant
agent noteThe left jaws have now reached a 5.3 mm gap with nothing visible outside the fingertips, consistent with the cap being pinched. I am lifting it 7 cm to verify that the short cap leaves the tabletop.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1429, -0.0746, -0.0734, 0.0558, 0.0082, 1.0801, 0.8745, -0.7273, 0.0177, -0.0345, 0.9985] state[eef_state]: left_x=0.4517 left_y=-0.2586 left_z=0.0042 left_yaw=-0.4554 left_pitch=-0.363 left_roll=0.0223 left_gripper=0.0558 right_x=0.2946 right_y=0.0029 right_z=0.1555 right_yaw=0.0051 right_pitch=-0.3737 right_roll=-0.0388 right_gripper=0.9985 state[joint_eff]: [0.0342, -11.6034, 5.9829, 1.3162, -0.0562, 0.0073, 0.0708, -0.0889, -2.9607, 6.8581, 1.4139, -0.0464, -0.022, -0.0122] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The left jaws have now reached a 5.3 mm gap with nothing visible outside the fingertips, consistent with the cap being pinched. I am lifting it 7 cm to verify that the short cap leaves the tabletop."})
tool
executing move_to over 5 steps (0.5s)
step 296
assistant
agent noteThe short cap’s former spot is still occluded by the raised left hand, so the first lift cannot conclusively distinguish a held cap from one left below. I am carrying the closed gripper up and back to a clear staging point; the overhead view will reveal whether the cap moved.
move_to
left_x0.3500left_y-0.1000left_z0.1500left_gripper0.0550
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5522, 2.072, 1.4296, -0.3603, -0.0746, -0.0811, 0.0559, 0.0078, 1.0805, 0.8673, -0.7277, 0.0177, -0.0345, 0.9985] state[eef_state]: left_x=0.4442 left_y=-0.254 left_z=0.0374 left_yaw=-0.4482 left_pitch=-0.427 left_roll=0.0246 left_gripper=0.0559 right_x=0.2932 right_y=0.0027 right_z=0.1525 right_yaw=0.0047 right_pitch=-0.3817 right_roll=-0.0389 right_gripper=0.9985 state[joint_eff]: [-0.2256, -14.9128, 9.8256, 1.5165, -0.0415, 0.0513, -0.0024, -0.1983, -2.5231, 7.3094, 1.4774, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.1,"left_z":0.15,"left_gripper":0.055},"note":"The short cap’s former spot is still occluded by the raised left hand, so the first lift cannot conclusively distinguish a held cap from one left below. I am carrying the closed gripper up and back to a clear staging point; the overhead view will reveal whether the cap moved."})
tool
executing move_to over 14 steps (1.4s)
step 310
assistant
agent noteThe cap is still on the table, but it is already aimed almost directly at the pen’s exposed gold tip. With limited reliable pinch purchase, I am placing the closed left fingertips just behind the cap along that axis to drive it onto the stationary pen tip.
move_to
left_x0.4100left_y-0.2250left_z0.0000left_yaw-0.5000left_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]: [-0.2565, 1.4521, 1.1244, -0.659, 0.0624, 0.136, 0.0559, 0.0082, 1.0821, 0.8635, -0.7265, 0.0177, -0.0345, 0.9985] state[eef_state]: left_x=0.3617 left_y=-0.1026 left_z=0.1467 left_yaw=-0.4071 left_pitch=-0.4125 left_roll=0.0293 left_gripper=0.0559 right_x=0.2927 right_y=0.0029 right_z=0.1507 right_yaw=0.0051 right_pitch=-0.3859 right_roll=-0.0389 right_gripper=0.9985 state[joint_eff]: [0.3077, -7.4598, 6.1197, 1.3358, 0.2564, 0.2418, 0.0659, -0.1846, -2.9744, 7.4325, 1.3651, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.225,"left_z":0.0,"left_yaw":-0.5,"left_gripper":0.0},"note":"The cap is still on the table, but it is already aimed almost directly at the pen’s exposed gold tip. With limited reliable pinch purchase, I am placing the closed left fingertips just behind the cap along that axis to drive it onto the stationary pen tip."})
tool
executing move_to over 11 steps (1.1s)
step 321
assistant
agent noteAt table height the left wrist shows the cap immediately to the image-right/front of the closed fingertips, confirming the hand is behind it rather than over it. I am sweeping forward-right along the cap’s own axis toward the pen’s gold tip.
move_to
left_x0.4600left_y-0.2800left_z0.0000left_yaw-0.5000left_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]: [-0.5117, 1.9469, 1.0943, -0.1818, -0.0284, -0.0032, 0.0066, 0.0078, 1.0847, 0.8604, -0.7277, 0.0177, -0.0345, 0.9985] state[eef_state]: left_x=0.396 left_y=-0.2126 left_z=0.0007 left_yaw=-0.4964 left_pitch=-0.4625 left_roll=0.0286 left_gripper=0.0066 right_x=0.292 right_y=0.0027 right_z=0.1486 right_yaw=0.0047 right_pitch=-0.3928 right_roll=-0.0389 right_gripper=0.9985 state[joint_eff]: [-0.4171, -8.4444, 6.9812, 1.0672, 0.0366, -0.0513, 0.525, -0.0889, -3.2068, 6.9265, 1.3162, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.28,"left_z":0.0,"left_yaw":-0.5,"left_gripper":0.0},"note":"At table height the left wrist shows the cap immediately to the image-right/front of the closed fingertips, confirming the hand is behind it rather than over it. I am sweeping forward-right along the cap’s own axis toward the pen’s gold tip."})
tool
executing move_to over 6 steps (0.6s)
step 327
assistant
agent noteThe cap disappeared from the pusher’s wrist view during the axial sweep, indicating it moved ahead of the fingertips. I am clearing the left arm to inspect whether it reached and seated on the pen tip.
move_to
left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5648, 2.207, 1.5158, -0.3218, -0.0544, -0.0528, 0.0056, 0.0082, 1.0897, 0.8589, -0.7284, 0.0177, -0.0345, 0.9985] state[eef_state]: left_x=0.4584 left_y=-0.2748 left_z=0.0054 left_yaw=-0.4959 left_pitch=-0.4392 left_roll=0.0235 left_gripper=0.0056 right_x=0.2917 right_y=0.0028 right_z=0.1465 right_yaw=0.005 right_pitch=-0.4001 right_roll=-0.0389 right_gripper=0.9985 state[joint_eff]: [-0.5538, -11.1385, 7.3504, 1.0476, -0.0269, -0.0513, 0.5739, -0.0068, -3.2068, 6.8308, 1.3797, -0.0171, -0.0269, -0.0122] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"The cap disappeared from the pusher’s wrist view during the axial sweep, indicating it moved ahead of the fingertips. I am clearing the left arm to inspect whether it reached and seated on the pen tip."})
tool
executing move_to over 25 steps (2.5s)
step 352
assistant
agent noteI could not obtain a verified grasp of either the very thin rounded pen or its cap. Multiple centered descents produced empty closes or sideways ejection, and the attempted axial cap push did not seat it; both pieces remain separate on the table, so the requested assembly is not complete.
give_up
hindsightOn this rig, these particular thin rounded pieces require low-height lateral centering rather than relying on the hover wrist view: both looked centered near the bottom of the wrist image at z≈0.1 m but were not between the jaws at table height because descent strongly shifts the wrist projection. Full closes eject them; partial closes around 0.035 for the pen and 0.055 for the cap also failed without a better low-height alignment reference. The pen’s exposed gold writing tip is its upper-left endpoint in the overhead image, and the cap begins aligned roughly toward that tip.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0494, 1.2026, 1.0325, -0.8593, -0.0563, -0.0517, 0.9979, 0.0078, 1.0916, 0.8555, -0.7265, 0.0177, -0.0345, 0.9985] state[eef_state]: left_x=0.3039 left_y=-0.0015 left_z=0.1649 left_yaw=0.0211 left_pitch=-0.4555 left_roll=0.0272 left_gripper=0.9979 right_x=0.2915 right_y=0.0027 right_z=0.1449 right_yaw=0.0047 right_pitch=-0.4035 right_roll=-0.0389 right_gripper=0.9985 state[joint_eff]: [0.1983, -5.012, 9.853, 1.1306, -0.0171, 0.0952, -0.0366, -0.1846, -3.0017, 7.1316, 1.3553, -0.0464, -0.0659, -0.0171] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain a verified grasp of either the very thin rounded pen or its cap. Multiple centered descents produced empty closes or sideways ejection, and the attempted axial cap push did not seat it; both pieces remain separate on the table, so the requested assembly is not complete.","hindsight":"On this rig, these particular thin rounded pieces require low-height lateral centering rather than relying on the hover wrist view: both looked centered near the bottom of the wrist image at z≈0.1 m but were not between the jaws at table height because descent strongly shifts the wrist projection. Full closes eject them; partial closes around 0.035 for the pen and 0.055 for the cap also failed without a better low-height alignment reference. The pen’s exposed gold writing tip is its upper-left endpoint in the overhead image, and the cap begins aligned roughly toward that tip."})
tool
give_up: I could not obtain a verified grasp of either the very thin rounded pen or its cap. Multiple centered descents produced empty closes or sideways ejection, and the attempted axial cap push did not seat it; both pieces remain separate on the table, so the requested assembly is not complete.
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 · 13.15 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, 0.7929, 0.6014, -0.3805, -0.0219, -0.025, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0139, 0.9992]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.5111, 10.4957, 1.8193, -0.0122, 0.0659, -0.0904, -0.7453, -1.1966, 9.8803, 1.8046, -0.022, -0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffba0e52cb40c3b45ccd1d782d0c1e37a785d635fb5724f9bb2daef7b9f334d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0e611a697c98a6ef09d5f4ff227de1b268f2b6262f2997c5f010d78caec1d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b14e59637e1998c504d3783790ca7125cd065f548fe31edd3f88c8e4a686ad9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 6.047 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKL2lj4gyUe7y4tdCHfyVYKUuL-RL_bfIrw9ioKgcmOPkdwiMA571_OllcEGzSGAmZ_IrYrVOPUJMgRQN-X0wXJOK6kDsPpoXB_GBmqAl8y9ocv4RdO0v3YWnzmdjKYTlM_FA1P4-9Zme1yRRUa6nZyu9QKbCoXlMEXOCWCmzQ7T5s2PfliWOXw9pBIPJkzRNLd8TcUIGKgvDJ2QgmvoTIgtSbo_x7wWhTw9x_KU3Tvo8zKFRm_eBCBdvcsvAmgK3yQRehauGP2zMt7WsJ4bz_jJIUGDV_f10JODl5saKYEN28CdP_i79A8MBeykjQLoeb1e_1S2vQXP1dGaxiDx_5mmyPFo5FWmmj6_ZxDSN34C-X9tGUHdKoVlECByQx1ASR3IqR6Bt20QMIaT2mm4wPwjAjIyiDBd8Y2OAKYjQOpRiZkWxiB1gtjBehkx4MndZy6Ye653jwatrdAM3qDNoauXwp9CbFRBo5RAfT4mxFJ7gMZosLzvO0DjB1xYVuWIGqZ35UHUD6_-KVT2frxuam8Zpqj_YXwb4aBMabGeAfYM79ESUBBmSuQVJovX5hg-pH5pmocFno-9vqfzjRQz8itHHNiQiH1iYY7LHfzEvKylSPax14NnxVLixyQjvg33N0GrWn1dDFVmJ7pMA5f7hlQaKOeVQNKVikhpXReuQIHpKVmfFck3OS-IWHIhFK_O6wjGaBvszhTozl87CB4FvK4WHi-j0jixUfWPhtFmh4YQNO32yvwMDc25Aj5bOMvphSl2yjlgm8Ftlzr3-EoprJwFNfasbOdW6lrlhalHZ18ot37iuYzm8zs8Smcg5Y1wkzjoMdyI6UhKT_fRf93oGoehZhj7tQ1yD_JMEo_im31IMA8KL4T9RxO7F67H6X0H7N2KPxctGnLJ129UMqeAV9zispXz9EGuniPwRI7gDQHZcDwL-SUI5juGTI2zVg55os_RMz1NpYaZ4K8gS-alE6iLuKYvrtJEoncMIpmXPCffdD0CKQ8OnhcwEB7y4t_G5VbFHxi4AuRTL03L7z6j-TRemT3ck56NzMfC5_CsKspCMIw9AdD4V2Kcs17SFIbHbJaWzdDJjWx5vMKGI85OcdpNvWD5RnZZo2CswTv4gDGEuqzbtBLXDby9Pz1ItaDovDktM7C_crGPhQpig8k4Z83zahOSEWKM-5WJ8kwcLzLYxWHRPUKzA2DYDmg7i2r6v0xdCZ7QwKsBQsMxxlEwSb_aPAiC4E8wpotOery8fM7yfe5LocBgCK47RARDluqtRGN3vlozagekj59o6bbz-4c8K9r3Dv8i6z7a158uWfEhK7KjL_cEqR-KHD7bqMSPdLPlP1heu3VhkIeXjLv69t5CFwqmZ-lW52qGnNkjRo2_uD_VRikKBClOo788I0NxceJBgxbkcP1COfCHhBmz7VwFUERrHZ2T90lwu4TpRf5KbXNdAsVUCT_EujSDxVR5GPoC4tEk4Y278Egmbt3-feCFTvoDD61vjMk53jdCDQZnfY-dp76Fc5tF5NxzAzpg8K9ttX1raAt68TtLjPwYtnTFat-zF6cgU3IeRRmhVYxftbd3StPNOmXm2ECgubkuxaJEI6i6jRoScA9apnt5tDy-2a27Q1jz3glI8Pni2rCqCkG4Xv9mczRes234LjDuPYhmeYsERtJaKDfwAx-wiAgeHxNludBznkxcY-KpyaQ-OctjsQNqHKltSmq2JWynVV4kC14w_BIz3TsawVMsvFAlhiSLv6xWukNCrTXyR2Ffn6yXo5ACuSzASeAHMZWtxUG3-lDFthzpNwCJuP3KREGyAN4194ApsaE77DmxxQ8Mks4QN6mOAVfsu697pvzS4XWla1vt4Rl9YiaLk56a_Py5XgWWnglZV6A-8B2sSjhl3LlW7ZUKIyHv8pSI6qZo9z0rICzbuYDcl1DgjJup8yHoRukklO_Onf33UunJyyO4ZVN8QKFEfcUYtr50i9Jm7sG7U3DnOPD8ctWoRT7-jweilgzncrpKJHHGKYXKNdmPdmdc_v5Th0v5Ol9ewY94soiQM160UiO6-R6VWij4iANNLWzYvLNM6qVwmg_tYmZv8fsuu9PzZLJCyKqj2f0nAAvVEYPVGQypvJfc0p7HhXxEt5C_mUsQ5LitTvW7WxN2Y_yx2a00zkezYsTUkZ2MoGfwTjS0Ug51f1KfChR2oO3Hof7PmFJVorORLPFGwgeXjjeqbUoTe9shx7kQTaH-FbgXHQD6TEq0TNRnuLQynyJNo4JdX45XPq3wZqdcjL0C70eO7nrelFVB9AnrkOK37v7J0fnusyIXa6MgwXakEx-dHhMQmP7X4RQkN7bilnkAtYwnziB3YnVq2fWmqsaQJQEytE3aohqrGlNKLDQxyJJM0EYw8xtE6HjdTzWOzOOwOjHc0-ldcXRwJhU4SM-cuoBI54xZEJaPKiCog1bl8S_ajFgedgLefiKcPPF8b9jv5uv8GgUeCHoBbw_U6u7z-lGqyivuFqfBYEP_XIFHs_tXT4YEeowJtdO1vJVzBMyLfRMbg-9HrsAQzzzSVwyxATu2oBiJlmi9HLaaSPuTu10wfqdDF4J0L73Ks0iXwgpA9Soes47jDBEgqWsNTCWm76pGB5uX-_t79WYv9rCdTWuomBJ2-vlBrA_peF6SPItFJxch9-k8D1d7E9s8rVhr7vbtpF-Yl7IF1d6hakUYwI43wDfyxUKEvU2l0JxcDh7XokCCLfU-K3-HsJwCq-oNjWugJpD_2h52aABGcb2tos2svhDLC6V-I4mP_73jT_hJNI60cucnO84QiqtzyZuF531wYB_pG4XToFpavhS20uBHFnBzIe5Xsbv6MJcMOeAW-z2MaWYY-FdTtM7lwVjk39d48LFrXL_DrVOMuUmGUBFcSFYi31iO7oeNuflPmWM2L2YN1B11P1uMp_5qa8-98TFOgvpELY0meuV5b6Y48GaQ-7zxrCJCKUiba4RJMJlNOOqBOkiImwycLB9C1CXFKz2dAVHPG--PMIKVh_sbZ-pTyku4fLGfD6qjdFsYh_RDTTvupXn-1hWZLWLQFCIX1gJxZicQQDnE-G3JaDCIzXy3Ijx4fcroqeL8FSws9apoLhG1rSCbt7BqSbVdroEB9paQ20z1ijJ9wNC8opodgUx2Oem0V44blxONnsxvL-0FrTak6xcarpQQ-UDs4h2LzWbom16T2LPkrcD4RQt1m5O90_JKbS2fwfEo6P0NXV7nIIxRJESM5wokrmpe7zMQ747Me9dM8bRamZh8MUzco-9FxwiYUAPUhTI_4UnVqQnrwRic880dEf9EsnEZvBStmqBABpC5dM7SD8FZAW4puoRSAYs6dcZCAsEO3YDk-qkJeHtAPLVXRE18Yb0oDpiqoBh52G8Rj1ut9R88eS2kjEkenALbZbNYAw4pNVxeak6FuTk6ezHrlmh9NUxalRjwQipqLxeCELxcIYiDLh9F6LCqsE1nsUZsLiXdALNnkTrDqpazPo-xHYIOc7NHnMbvfxgYfgs5kDzg1uMqqNQX_O5mlqJNtiOfyEvltECNHt21dcLktlylg6GpupulWIq101IVdWDFBYfWiok7BoASSYhU8O-1l8_VaY-FxZbq0b8eF9B83O6836aMiBMesxg8CSMLsWypl3DPSgM5GrfjcnIrkL73dr7NZemyuyjWVotKSl3WtcgV-YOxLtH1tDAiDU3uxkfhWCDPyIGyr1_4UJX2Fl9drNgqOkPQr-hZVI9Q7tamHYdl3ktSWmR6akdB0gH1iev3W8NUjpXgq-REyldb3Iq0iS9FRjQ1fN8m4PVej43RYcV0aWMfYQ7yC4OtN7v6e3BFapzGKeGDVM43V4vZVisXnKGDKutkiRl4apOUAWkobCQEmyXpSjprTmPhdOEmumYjV_QUQFhOOux3zaOUg==",
  "id": "rs_028c8a142639ebd2016ab4428037b087d083cdc600cd337df8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKL-pqMB8JD62V5FAvM6_qWS7QZhA2p6rKiC-WJ1tAqOHLlZ4NekAk9RwGhNxXmCBeKBmekTIJCwQMc-6tvYu7yUkBvOayQXQq1NnWmfEOfnaKDScUV0gELYD0wX4Ra3CkIfOhjDpuWX3Rn_xggJV-b1GL_mOYayUwmt9xX0XrI_fgbJK1SjEtvyHClNLT2U2Eq0_4EQOitjFVqKsfm4XsftsVWsZ-_BozaiS3ojUhzZqsMZ-2fmZaY_MJtv1JR2VAWJzrIuINp0WMMTVd-aS65EJqr5uszrzFHeDlHWHGhvDw1oEtOY8PBM62EInc3ZU_n2AP2Wx6CGEnEDRuqX8Xf1NiGIzV2FqsSswgHvz5IliIN48v7BDaaC2Yra9GXMg5vmQLgMxA4qXpilz7W9v3D6HFq2dMdQigTYBQGHXHLQ4g5k335eXP96cAWdcXtI7vjHmCLD5GRzwrOeMTYYGZTcN13AW5QnLYir3wueHC1aJ7yydGqJjxYzjcfvYIZYdDNaGdeMkD1s_UOIDKrotxZZuRDtloGtrlXqgmqwTOP2Zni7JEcR1oH29h33qvTYmdDsZcBqnJZk1FlnMvBMN8dGCIUE92K3cbhnscSuzrBUf1vuvO6eEarADdAjLt84_kdiSFZCwy4VFo_n1Apa4zLR-NhId9uKPIpuN0_6jEMIwBEOR5WJjRGGeK1dyGSSG8YPdu4aHfH2uomFL6LlqQDY60sIfp4RPdqwmPiMI5VZpu1vU9DjxEYzOh16ccJixd_YbC28sQBe9miK23HJPm2m2AgZ-MSe-SO4d5Xw9LUixMAPVHvGe3769cg3mIMQ28jP87pivQHMzIZhdhI7U5ArV5orrFHTbDEKqenqX3gcigyR4vVIDv-qDj4gKngXgp4o2_2z_K4CoDx6DDLGygcFGd70NQz_9DoO_5G6qYrRWzayjvxxzQiflfoP0Dy3OeMrS8ECThEBqbVbtsEZ_kq8Q3B_LWqYNy6dZb8gKYEhdumeqfjyXA9ZEk2POWducfFJKYgdXtMfm1l6jOjXwqPzjnreKwAFVjDJu9g_wki6XP_LeXnduz9_DTJqW7mkeS4o3U4Mw6-VSjCTNC7QODRj4G73oHAXlhOrLyVN8RMJAEcRqOcFvHxy0Pvg7ADcitHDTD0-SJPfiEcJBWwqDr3u4vueGpw8FWa_fJ8-b4hVXoPcTzw2YJ7E36Gp3Mt56EOWTlflLtLZlRZ3gFi5ZiZZsE8F7T4SSM8tF4d8cIPdkJp89kosUi79_jU48aBIHwl22GTbySvkUe2ZvDtew3NsnSiGoFRSxsgd7xSdOorTknHGYe-gTI0ncamSvwwJy7t6DOgdWCLIVuHJyTyLXpViiNpSkEWceJ6DJeezKZ08dzoZSvBUCN5Mdteb8aQgpUvIG2rROYebHEDRO0JuUHAStxkgUygSe4bdRb5XGZddsv-MRQxJkvWKZ6TF9JQH_gKbKRKkgmjx3HV07C7B_UXlpQ40DW9JbZOLPrVONJLSYQc7GV0FBaVkA5_74Bmiafx2EZkibXRVNAXxg6OCsxkRUDy4ea3fRtwW6HC_U4eQomOtpG1XVg36qt5dDMyFM5dureljK_LH2Hp6BssooWKIKOyiTacj2bleikEw_qkKyfA3bKz1QilRNLDcTo6saP75sjDU8ujjRoB9ok6giMo95TnhELOPF1p481HKVTlRACg0JXB_uQ3VBkuwe-eEGR5Zo6bx-L1a8SZSfEs9QIg_A4KT_WzV-PABxztEFtzVoil5Qgzr2H_EcnaAdbsj-kDWAJ2ct6TadoZYA2-QynmfjDxbD12sIUUNwuecT9fa8XqRyoUVafNGGCb434zHkzBRu6eYiGPw3M2mFMk7AP1FU3vbh8UL2nIT27B2QI3gl9sU2NOnR0rFb2k3o1qPgU2fa_rbRUUNYColNdZK6VdIjHsCOWWu5RGp_K_KGz25lTNZ8IIoswY8HNXiIKqDenL-jFwvlgsaRLpQByOmEB8M9EhVcESfRSJvat1QXt5XuhnnXtIYekDwtOlYWDfiJOpInSbxxijqVucsrkxFj0_-FYcJLUIuaoDAuhielcWohUjvXIPz0vEfQUO5yf7zAuEhjnDeJ_7BQTPeBeakvO0Nh8nL--gCMRTjCRLNBmxKeIGknsuxG8kRiQE0zWSFmUDhJFd3lS7PCWmqr4IwnF8qIAqg6Qj-xjhUlRWraJYyiJ2tjuFHgJ5X_A0-G6xGO65yXoWWHwMImSxoexTRzSge_Lcai-hLpbdUwDbVgqV2IN8qzw6NLrVXC_eZAxgt02ybIxh1zkPwUOOiSwlQXtsTQKoJQZNLgshvrKG_c78NSazg3ftJbGLsaXAf6dSZ5_6qQr4ZZBlZf3x7mVe6cASgibgsYOGEhqOO_KeDekNt4en-HZuJpdg-pBb8Lo7i9XIFsu-oUT1XDumoBc83NOyqCq8HPL7UKskgK4rgr4-cJLN4tAYWT_fHM3bAk5GeUBeH-nF8dt7yjbAoHrgGIYWm3C8RE-AHg4ysHNsd3EYtPaW3XAPmGPzrMfmhN8ajkgejHwePcJp0jlfXJt1ulWnzYMmuj6f2LQHAGdn3pROVjlcMg20wGl1Ahbnjlbjd06QBiDZp8CNFkILXUhNKLDGnIfSNPMPiQzosdRp60bl7-e2EdV6Vbt0gEONoPBqUEhck_o4w5lLiOrnoLCNLQnnkPtrycKQQOZsUf0Uv5WDzbI3lpwV4QkMsStGTzqAn5k3T58RABY9IB7Q5AXwFSiPjVe2C7mgjx-aGfbOCV6yU8ZlfCs4r_VnSNPIMXtv878mjtOpvDDFI-OALSQmKEkDske2KQ4_WviznTUKHB2ek4NB78tEN8YvhYp1WGa94IIKBFlSei3LByE9az3L6RdZYC7GvAD-lvG_oZ0oq0HhOAQyj3eK6X9KvXaFehxHhvv5F3AbccyvGqrK7E2AIMlZubkoEnMsYKCJmJjzbbZgv_pTHLDYj5vGf_P82ty48v1Z3kIl-Bz7OgsB5SRpHvMySm2MEPoYgnmYjZ8cjez7jgQZnubTxJQUZpZdP-SAoCKyh3zfHfabJf8fRjQdSkA_YTAvlBdygFaQ2R6mrrkIRBHxTzoQTkngGcEgZ1p5hl1G6DOPdyXhE9hHywgf0iLUfnn9DxC7JRz2xLhmgkCtIUfiEjYgBwVIRpkOOhmtsCAaSNCHdB7KCpo384hI3-OvfKJQd8CpV37EidQFBfjyyyRaq4aMnXy-e1BdsKSlAgVPN-UnuBNFS0Awz7_D2ws_gUxCEIXc_j8KwMDTLMSHVhC2KHZiJcp3oM6k1ZHMOaiRj2poZT_pLAYoYX7todhEKg9ljH0J-kXly3kLR1uYgy-IrLDoaKThORcib7gInTCdT98dlOdau2TzbUNYms4z2Co58rSm6g72swD0tDZuX7NeRPCgaQ1DN_XG_qrefUj8pVlT7HZXoXUhbwwNK86GNY2hHbD6HPuRl3zllx3ypqXxvVT4TZnXnQv0q5FTG4ZEBJRMQuFOZXolqkvpqyUlwYQSUZ2AkEIG5dMKQGQLaNa0UVLGwLMoW5b4Q2ETW4Le",
  "id": "rs_028c8a142639ebd2016ab44285829087d0a2d7ded2358f6a34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.245,\"left_z\":0.15,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The loose cap is the short dark piece in the upper-left of the central workspace, while the pen lies diagonally to its lower-right. I am moving the left gripper above the cap with its finger gap oriented across the cap’s width for a wrist-camera alignment check.\"}",
  "call_id": "call_Rb8biO59LCn0lkHLmOSbNhvY",
  "id": "fc_028c8a142639ebd2016ab4428ad42c87d0bdce35307eda03f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rb8biO59LCn0lkHLmOSbNhvY",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.532, 1.6802, 1.0328, -0.0093, -0.0669, -0.0654, 0.9993, -0.0193, 0.7975, 0.6128, -0.3904, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4177 left_y=-0.228 left_z=0.1243 left_yaw=-0.4519 left_pitch=-0.0831 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -8.8, 9.5932, 2.0781, 0.2418, 0.2955, -0.0904, -0.1846, -1.7436, 6.7214, 1.8291, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d016f06690ed8d912b311c4e6ac306f73fba1202f99a0c431eef9f419d3a77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede698936fb1a40c41bb4142fc0623dbf9e06fd6a5f672f9df2d48bffc2326be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3fdb43ee0cce3463ff5a609916923c82238dd9d31380b228828659007d7ad5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 1.96 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6014, -0.3805, -0.0219, -0.025, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0139, 0.9992]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.5111, 10.4957, 1.8193, -0.0122, 0.0659, -0.0904, -0.7453, -1.1966, 9.8803, 1.8046, -0.022, -0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.532, 1.6802, 1.0328, -0.0093, -0.0669, -0.0654, 0.9993, -0.0193, 0.7975, 0.6128, -0.3904, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4177 left_y=-0.228 left_z=0.1243 left_yaw=-0.4519 left_pitch=-0.0831 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -8.8, 9.5932, 2.0781, 0.2418, 0.2955, -0.0904, -0.1846, -1.7436, 6.7214, 1.8291, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d016f06690ed8d912b311c4e6ac306f73fba1202f99a0c431eef9f419d3a77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede698936fb1a40c41bb4142fc0623dbf9e06fd6a5f672f9df2d48bffc2326be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3fdb43ee0cce3463ff5a609916923c82238dd9d31380b228828659007d7ad5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEKUGFw1EMegBGyKTmJl2ICu-wPNUfC2dAH9OiLn2J8thvJ1Eyd2CzXP7CJZXsC1vy0x7J4_Qq5itlWl-hJAVzxl2687-cgyhywS89OLOmDBHISjxFMST9ppCjF1cgKLCGCUwLh-s7DdpAF90u0T8M72CteCEdnzCMBo6EYW6DxVcUbUbN2WC3Xx4Z7J4hS7SQmbAI8eL2R43e2LkKEQh4lZSe1mLLEiDbbHkJTlegf_d_pGLoA0FUVHDbiz7YMOjVpis7kPBtDKwDYxaoGrbC0bVP28X6kFVf2H-0onCxkgNMqPQPvTkMiqot8H3oi--wX39oPuWawX2v61mXb9JrqOOfZwK6b7KRwP6lkHmOHuua6ZTzdTE5JrmlWYAke9kbgzNuBu_KTSO-2cKRvH1K79-3ZgKT4S-OdXj5TCmxNcjT8E7VgUL7SeVeHf6byhJKKX_W-6i7EgiUiS9mOj6c3yawVu6PA_baaOc8Z1YuwGYBXBHLQx_mK9sB82p71vukJcN58adhgqcvq7RkPk35ISgJjEThNhzlcie-kb6pgS94kna2zQYvijK63fzaCA0EWVBa0sGMDQPj3sf-a3TwMMtJZjGDOzBaqtB66F_4kRw9H-KvjBh4rjwxcp594DZlth9UKzPw07vHRnKTsv6dzowPInuzGghqhkHbgyDQ1rSFXqFwk2tAQk0gO6cFLSouHxo18u1c_M7Bo2PtjVyfH7H7VWA8svbuURV7_ObJ85ChsX9mzVJxzofh7_y0QnKe22f-hNKQHntnFFVxkjIWYrkUhEbFKwqpJsr5Z4aDrSS0_SRSOMoSv0O3aw8ujL58zU6IeUnoYrIEvpmFPiwUhQ1D2iAzw8QvU4HjvVbU6gVyaoEuE11I73SXryhaSXE2FDWOyHcDzdZlcXF67MigMQlunVWJ64wUoD_0TKqF-PdzqpwycOr8y2WdE4LUuVCAah9xK9ZxDSICWClDABHajZYzfNYYrd9DlJiPgE1jHFoeoSvROTcj50K2qIWK9gLWVKiUCZwvusBUIPHB07rmV-P5eMY5GAjqLxqIYeaoKf_UU1MKn4tHrEMYHhst3OQEglNbrstIyTOvU6QUPq7C8v76_w6GbcgZ1ozuHC6i3NOscW07WoKmObOvP4SHoiJVzPfB78t1NIMtk-qdFKi8RyoScyRuoObi-YigbDnGbk1lPbV5b2t4R2egquslhAUSpSfkWzQtUf5D8MvuWkf6lFe0hs410umZbriWi9d9wYoJ3sUFTI6LeTWAuMEkq0FaTuzfVeuvN_5K8A12vHCLhk-F0aFN_nOVYEwlqPrTisRTN9L591-FnQzIYLi2lieOnhqjcIdKqr9WEZkk__jE_q3X_uVUXHl36_OARh8KnvKwTkKGQW3am1UFuQOlJ0KnlYDsTScCpoZyiam5ONSchpbXv7dxenhTYlWRU__qMig0cRd-SD5t3dS49HrBO-1kTkRxru1IRO7pY_P_5E2joHkX3ZLjfIEwd3FGrJzkFZDvWiFPJMR9ICXN8eCMqWZ-A1eN-DEkNJ2HHI3mc5lfDnIb_FWDE6gXVa392SgAlgDyCw6HJiGa8LM0ZnJY0Vl_KTw3ZITdWurpox8wvoxy9qCP1Y_p-fcI-sS1jGFI39a0_DMOm1Usj1EhEshyMBKiHefITcKFkMSe0zjTCd17d7lfWwosXvZ5oPMi2w0FqLsgBOXkfUj6HjHB_lhXqdpLrc3J4hAkOfLu811Yx02lfs8V309gdWGFjEb0xQdVIDWX42FtAob4WGJBvLd12JQVN1NbH0vVsgNoWOschGkHNJQwrgcm3nuNYF2QYS95QAUThuvh4fSd9JmqLMTyA2exc5TqgGv80u4leKWbp1WtKb_6cYn-gzJFFDfEe3IVTqzdAh3jJoEMm8EDHqCtgzdOsd2tQXzsD39c0gMo-u1yV_meOncmTpMOQKhBRiBpatgmCxu4rfaUXEYJ4wCUDNmiUikq4lR3II1YO_TBQG5WHelmTLEXU3UPZwF_I0qPurjDr1gYZQS5fpgSjH20OGT6n8-N21wew7U8ai0zTbxiANDU7XwzKncVfzD7fp7ioZ__6utgIe41GNgZ9Rv9BW5tEu90JkQVUbzVtcaqUypetGjJG8TwepQCi1AVybcumBGsoTVik5sy1b3eW44g0K7zbL21rvT1fXMpFprv_ebiMBNigx7-bpMidq01-so6Nreo8fqsI5jC90zMGpa63o4vDxlRPBKQZK8XHegwDZKXRVtSrL6zRAVWEbwM2TOdUQMw_iQSLBZgr87cIe-f2b5vtplyMyEWvnmLONgBkPUcXjrJDTUH94Qq09r2OHkMQ3b35SfurDLjs08PKeHxoCLukRJ9izNi8cIDItQlKACiPMfss-DqHwBhxIt6FDx8kYYspRrIBxFw_qF4K3c2cyg07Nb38Q5r8SvYlZ7iTaBzdQxxrCbaCnVQLXxJ4y1j3-9Oq9YtMsAUujp86yJ9STqO8BcIzckd-y3K5Des06YLIS7XeCk5hCCVepTQkH9HhXPZVyf7rlPZJFuKkwf7RNHCMVhdVTlMsLMd2M0KxijkFYGFESkMy8e-QEDZCMwPwzmkk=",
  "id": "rs_028c8a142639ebd2016ab4428fe0e887d0bf1ab8b0bf851865",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.245,\"left_z\":0.005,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The cap is centered on the left wrist camera’s jaw column and extends into the fingertip region at the bottom of the image. I am descending vertically with the jaws open to straddle it at table level.\"}",
  "call_id": "call_ll5diDCMVinOr6FclUtmQZDz",
  "id": "fc_028c8a142639ebd2016ab44293171887d0a73f423e06ee6cf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ll5diDCMVinOr6FclUtmQZDz",
  "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]: [-0.5335, 2.006, 0.9184, 0.3855, -0.0555, -0.0505, 0.9993, -0.0193, 0.8005, 0.6128, -0.3939, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4257 left_y=-0.2359 left_z=0.0033 left_yaw=-0.4709 left_pitch=-0.129 left_roll=0.0048 left_gripper=0.9993 right_x=0.2944 right_y=0.0015 right_z=0.1794 right_yaw=-0.0006 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -8.5402, 5.0667, 1.1795, 0.315, 0.0171, -0.0904, -0.335, -1.5385, 7.0769, 1.7851, -0.0562, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db952ecd400aeacc3500f185e205a9be604f53f80d904e8b2d6a36953847b83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb70bde70269ea1822a13a9a2b4fe5ef08b43f2c457b27c8c724baf624ded187",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c22d5ce99bc957043485559ee61704cb4e05ae88f6b097d8af526dc4356153b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 5.761 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.532, 1.6802, 1.0328, -0.0093, -0.0669, -0.0654, 0.9993, -0.0193, 0.7975, 0.6128, -0.3904, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4177 left_y=-0.228 left_z=0.1243 left_yaw=-0.4519 left_pitch=-0.0831 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -8.8, 9.5932, 2.0781, 0.2418, 0.2955, -0.0904, -0.1846, -1.7436, 6.7214, 1.8291, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5335, 2.006, 0.9184, 0.3855, -0.0555, -0.0505, 0.9993, -0.0193, 0.8005, 0.6128, -0.3939, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4257 left_y=-0.2359 left_z=0.0033 left_yaw=-0.4709 left_pitch=-0.129 left_roll=0.0048 left_gripper=0.9993 right_x=0.2944 right_y=0.0015 right_z=0.1794 right_yaw=-0.0006 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -8.5402, 5.0667, 1.1795, 0.315, 0.0171, -0.0904, -0.335, -1.5385, 7.0769, 1.7851, -0.0562, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db952ecd400aeacc3500f185e205a9be604f53f80d904e8b2d6a36953847b83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb70bde70269ea1822a13a9a2b4fe5ef08b43f2c457b27c8c724baf624ded187",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c22d5ce99bc957043485559ee61704cb4e05ae88f6b097d8af526dc4356153b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKW80DIRXJtnjwaxsSPlL_5L6NkTU-0s7FwYL2H9ablavnbBd9L19E-my955yKIgX3-6AjHwvTH0NJg7cXXvcALQpxZKJtsGi8RRk-V3vwNaEVpaxvhbWi97Tht1O76p07YYobamkfrhV--o8Cuf5-i9zMnNzMaOlDmaTPR-XZ-deDa-IoeOxTE2b2z6U-YldpvGi_wXbgwNWaFyjXxOKEyie-SUUDylEQmCqVJlQxWdo76TKg1gzlU70Z7LT_1GLgADW5iu98Cvl0iVmE-pMN29qf70WXuScH_iDXSD9024Wryog7ZWLsh7C2ydJtahlgTd-Vjlxpd2rhnfKEUo5ARPQsFlL-vPyi2AHha4KEwtvpoknATZ8MHGFWimdP1Mms0O5G8PAsTDiHGCROrDlhak9n5vZ1CpmYZbyqreidLuwaFuNAQk9A06x_ldZ75rptqmrfSFTppZwKKfx_uy5QzDGF5Y8JKARreg5TpLrgxVihnzRsq_9fIQnDuvcdohJ28DKhTYxCgRo9fwMnFf2lzaX-oqyhLkX7QHg1b6qqKJwEzN-z4z_RqNcFGtdQG_gbF2ikdXWiQOuZHSyIn57HuAxXP8vq57JQySxV4KoBvVd-NbaQiF3BoPcGO14U2tKVwZwmSYqzpKSI78EaEGDLyNvPn4Z5xrjEcik5lngMrk24wppo-yBeuyul9ouueWv-lkn5ZIatsYKwo79yQ1cHOUjUOQQSTBFb-tnCv7vmdFiz1dRMRTVTpizq_O-wukku56Kt-180UvIQqaEgZo-DN10l83TMR1EP8dFSnFcOFj2ymhidoa6d16j_9rbTBhllhl8iH2c2OHT0S6yY8p7z669sNxxGgeoCrPRWxfb4UMzR1qu25VJ3meY2vtbdXHuybXmJlPO4mqFg1z3ZKWyc7U_stuFEBXpR_fleMzLeoZ2TI4KpWm-FIqHQXd43BB34VqMn2AqBOuIrvX9JXZntGMLayyeiJcLlQhYRmeS21FyyDslpu48LvE-cM8m4poDlQEZN4KDo2svhU1OdV03UsMausinmw86tZtUD5K2GXfd65ARWoL1e37nQI22r1FIDyF_ZGhoBjjEt68NGkKgETtas35j81dq7HmGsiEjr_VPHWeDxD7Bxz6heU7b8uq8t_sH_7GUYtTgFqbMDhQG_NLS_m9PgFKxOV3xReRmmFSwom98m13qHOVVFKw8NSTfY3yCVsiE2BhHPacXIMBTytETl4I-gxvRO61Cbm_TJFzsPzr4hVx-RxeawdjysYXiDL",
  "id": "rs_028c8a142639ebd2016ab44295d48887d080bb56a7a9b58cfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the straight descent the cap has disappeared beneath the left gripper, as expected when it is between the fingertips. I am closing the jaws fully and will use the settled opening plus a lift to verify the grasp.\"}",
  "call_id": "call_tk6ktazeYfZCWJkPPyQwcLsv",
  "id": "fc_028c8a142639ebd2016ab44295fb6087d0a43f7c24f854db54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tk6ktazeYfZCWJkPPyQwcLsv",
  "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]: [-0.5327, 2.0106, 0.9207, 0.4259, -0.0719, -0.0521, 0.0089, -0.0193, 0.8005, 0.6128, -0.3943, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=-0.2364 left_z=0.0098 left_yaw=-0.4557 left_pitch=-0.0902 left_roll=0.0113 left_gripper=0.0089 right_x=0.2944 right_y=0.0015 right_z=0.1793 right_yaw=-0.0006 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.894, 5.559, 1.2625, 0.2027, -0.0073, 0.5739, -0.335, -1.1692, 7.0359, 1.707, -0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db1f099dd671c73782aad07d95df896629797e9db596d9e07445cbea2cce539",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8929f69597c0e5e259218666e0fab26eb6a862ec388a398774283a959c911f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e2fe4c051fec761827764a8b2e6fbbd7270440e2db9b317a96790506380aa36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.766 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6014, -0.3805, -0.0219, -0.025, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0139, 0.9992]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.5111, 10.4957, 1.8193, -0.0122, 0.0659, -0.0904, -0.7453, -1.1966, 9.8803, 1.8046, -0.022, -0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5335, 2.006, 0.9184, 0.3855, -0.0555, -0.0505, 0.9993, -0.0193, 0.8005, 0.6128, -0.3939, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4257 left_y=-0.2359 left_z=0.0033 left_yaw=-0.4709 left_pitch=-0.129 left_roll=0.0048 left_gripper=0.9993 right_x=0.2944 right_y=0.0015 right_z=0.1794 right_yaw=-0.0006 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -8.5402, 5.0667, 1.1795, 0.315, 0.0171, -0.0904, -0.335, -1.5385, 7.0769, 1.7851, -0.0562, -0.0269, -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 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5327, 2.0106, 0.9207, 0.4259, -0.0719, -0.0521, 0.0089, -0.0193, 0.8005, 0.6128, -0.3943, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=-0.2364 left_z=0.0098 left_yaw=-0.4557 left_pitch=-0.0902 left_roll=0.0113 left_gripper=0.0089 right_x=0.2944 right_y=0.0015 right_z=0.1793 right_yaw=-0.0006 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.894, 5.559, 1.2625, 0.2027, -0.0073, 0.5739, -0.335, -1.1692, 7.0359, 1.707, -0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db1f099dd671c73782aad07d95df896629797e9db596d9e07445cbea2cce539",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8929f69597c0e5e259218666e0fab26eb6a862ec388a398774283a959c911f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e2fe4c051fec761827764a8b2e6fbbd7270440e2db9b317a96790506380aa36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEKdejsHA3cOGSsU3KbjGsdkKAF0V6JR9c5z4nCz_-YQ-8-KEzf9K8AVf-iJGwEeCxj2rI_ONEpJv4Hf1HPJmZrcBIz1OdMQnXCo3YVTY1gYfKDFGtEMa6Bt0UWS9M5pXCzcKGzKsjEhbidqGlNOlHwHDOptwXCMAeT_Whf6Ff42y_i6j5hIV0E6VIn2jrz6M1I5XPN94EaClRs7VXH7F5PF0X2ZCCmAq1iGmmZPOal9EXeWtfedD_y_YK8tmqxAO4L598vW_VBIZKF-efPOZ12ahEUL5fvSlbNCLQ9EdVjEPG_UHTzs7_y_IXc1EJnCxKZIhqY-49AaW_Klf1bT5xy5hcVSTYdJwrcG2DhhYEe4uxLjcaGp87LpIACSqTlUHJQLMBJWkpOZcAXhieUmRikYHtrrSHZ20QCG1ZDZpcvZPteTBWJp6hpRyOvyQF5Hiwq0qGiNI8TxK7u67ZzEL2vE1LUt5YwHd2ECzD2CpcbrCfvpfnGa1cBwrtwX__4ix0xOhqYsO64CyZx3joA-b5BBoQOMl-WtyEjFvY2DpEKwcDVvKVYaO05Q0E1fNPHr4RommltpzXIaKhtblj2Et1juzvMCpdHSD71CC73VzXe2IvgiTaRl59WI9JYeEpuhJ_KfZIbCXoqwbHjuihHn_aRfem1UfRugrYIHEGv972Oro1mORK7EYSxeIuPUfSYdYkf0hbA1ZpqjUk96W7QpNqkY24tgxaXoRxhIF0urhgyfsf-1hPAHriSUv3EZMQptkBBrOYuBgTf34NMj07YFNKhcAX2L0ctbpLWqCddsaDbEJgHe_12sr6qD7sdaKT8nXZHNxYkHDgu2UR176ObDmOTuBZ0FouKbvfSahVd1hMLYghlBU05RAXb7bZt-k-BttXQDtOguwoyyYzlqeyqiJllQhITyJWliJKrCPCFNpV15Eztj0TpOQRSUrQOX8vMw3EzbL3eFEyHQTrBozKIIye4_YwylXL0f3HDsmxRr3dcWrhH6Gb-FOMZqKW2YzY8J1WZ78GBZ9GFue7slmCyJID6PEVZWyGjzOB4EoI3lKht6Ww8kgLiQwpnlKHNte5wt6-MnPTKt2k1frpgqTKYnZiLmTSaW2twcJXhR5EusxzLo-fqGDomWxD3kO8YategEWSfXuIq4YrcswTsiu8LB-lUt45Ih55ev8A83u7gevmK7W-ytKG7Z8HcVuymndl-pReSewcD0DsepUv7JOj7y997GtGVco6TFfibpOIUoYXwlQKSwCEMNFSnzvU9w3TuARH10KuLxd8q4jQ8OUgzi_JyCOMKTokJaTV2A8GWbA9PU3vHfWc_QeUcGwW1InT9hz34YUbLew3qc42JRZuUH5GUpSbsWRw4toFbEwDeFiEQpuJTwd0pTh87Q26LcZwYjpCiJUKzN4Z8WTDA7tB8icWytqx7nJkAjQ9aQQpPrFhXbuk88-XoIBUPV4mvBuWT2M0d1btIcxOU6pKhPXsrVOOhyYZeQkt2uiR05TVyXNPLLEm8iFNTHSgnFn5wUqbOZDgIkf6TCLTsA2ubbYlMU7PhA5QbnqG0mHZngbtxv_gAKmykCk5aV3mfHRQ5VjhC8oa3fekAAeAf8uGM1dGaY4k2Lghx12zbUlrNK5qoXBuOUjQwsav7ySRsNHsOPAXCHiSUN-_webDzq-yXF25xNilD9vUwdcfUrd-vpTRwhlG3MuZsuUmMiZ_gTB24cke_kpEWMCnnSvwe5jkV_KNlDUdhsjy3tXkwEiVsXvO3cEdsssbzcwzLvo4AAr_zoji88v-IYkb-37Lu6TcVhGSuXSrT9Sho6INoWWsHK1mYq57kwE-HvIL_3xPJ0rlFbuk3Sdoz58flMP-wcgfd00JgTt38_Bo8obE8zBh87m5K_BHHwXg0yV9ZbZ4boX0k1zKdFpNpZDKgl9QkZKosJkfpDxz7q6s6kxEAb4KRADWLq4_S5ZUzGfIOpnEzMArgn28D5cM0c7jI8NXqZWQSNsMhPSs6qyuDDi9hk88vJQ8Ao_5UAV1TfSY7b1HuT2QCCzKpFsgzYhKNwTD7gni3A9zmMB-x9GRgx-wpR-_DJT4aAjh3S2Pr68zv4AHXddzBc593y9Tc4Kre0K_ZGSxsqrLe66tq9VBYiuZA-h6edr1mzkHh_Mqm_HiuM8QuJ9iaYzJMm6nzyAheb3Bg251LdeYhaVwY6vvATbZL3xB79cIAUtIfvTlLKFHvY4R30xUL5p57WzvufWL6vu7Q6PCHkXULz215LGL_8O2X-dR9MrxzbuWfJVuWyGhbHbySJE6bwfFQEiWohpL-jA8jlHtfOJoNkF9hSDceX4_w1VL6OCdUWBFGPzC1vAT-YzfLefW6jwwoxNPJ38AbyAGWkh8DP65VbWX83ohp5z246nwmkym5zVSsW_QcBr0ql0jmIfEUOoiuJG5C30olqrvU9g5aF6dPiOH-1LbdQX9mHRmNZvBDBuKk-7w0G5gT8h44jWqDTDQFwzC6bOxxZiAX9As1UcQGtPsSNXFYwYEzH9sZaHpTstm-cLMF10AyNyNsODVxmnQK0SOKDMnpbtUl7zYk1487uoTbgidG_uze4VYmS2dB5hdPspos52vfsU5-RrxWO6uzDGMkLTdDytLHXcSIG_0R3I-KTbp5vfxBuyRWb2q_pbLXbS47eOTL5zHTVqr3bg_Bk6Pyt03WbC4tP7HQEDPt9hK9r2yMT3tLBYaZWLxeEV0R59Rm9GuI7OyBiZOX_Ku5dtSRTNFS30qbXgPsrFLZZYixPwIPpcJ00tal8cCFthBKLAS2v8zSGLyxLF_p6glWqJpwsAlFn2GwUKQNybN8rQpaLSSbVePmLUxo2ZhbE0FukZT578LdUAr50Aet2Ttaky3m8BEN9g9rCWJO8pvlvdGUmcha_h5i56-REb9g3DLBZx0KjwQ2Fd8HTHx7qJFJJM0TCqyXLc_zO2RB6XI5ruaWPHLk0tguSBvv5lRonhICEUs5Tp4yxZASml6pS4eJNjQp_DLtlldLXBa0JQQVYdEw_sTodMcN76uDAFIRISvsqlY7c2_1OXfL0Taid9vZyAiZ0MfehZh8XzB04UVscKyepgIzJ4ZmlORg8y1MLK0BOtU96Mk58-eJo3asFBXLADBy1F5QLPG8UjUzEhKM8WIORjA==",
  "id": "rs_028c8a142639ebd2016ab44298ef4487d0be4d2fd4bbb9c075",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The left gripper settled at 0.009, which is an empty close rather than a held cap. I am reopening and lifting straight up so the overhead view can reveal whether the cap was displaced and allow one measured retry.\"}",
  "call_id": "call_jqH6i48BKm5j7A5fxdNsoNc0",
  "id": "fc_028c8a142639ebd2016ab4429cb0b487d08f5dab210481256c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jqH6i48BKm5j7A5fxdNsoNc0",
  "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]: [-0.5327, 1.763, 1.1038, -0.0536, -0.0746, -0.0692, 0.9948, -0.0193, 0.8009, 0.6128, -0.3969, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4282 left_y=-0.233 left_z=0.1076 left_yaw=-0.4437 left_pitch=-0.1386 left_roll=0.0037 left_gripper=0.9948 right_x=0.294 right_y=0.0015 right_z=0.1786 right_yaw=-0.0006 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.1795, 9.853, 1.707, -0.0415, 0.1685, 0.0171, -0.0615, -1.306, 7.241, 1.8144, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33a971c40b2aa35c29e589a22b6882426da884f93901faae72bc47d89d957fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661fb83ff450c55cb6505a4140b5082ab2b8aadca2f7e1d2f8ad9325c13b7a82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d727183c708467ab06714bdc7a58f681ae0fdf1f5e3353b0c655c5df382c4d",
      "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 · 6.153 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.532, 1.6802, 1.0328, -0.0093, -0.0669, -0.0654, 0.9993, -0.0193, 0.7975, 0.6128, -0.3904, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4177 left_y=-0.228 left_z=0.1243 left_yaw=-0.4519 left_pitch=-0.0831 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0006 right_pitch=-0.0156 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5675, -8.8, 9.5932, 2.0781, 0.2418, 0.2955, -0.0904, -0.1846, -1.7436, 6.7214, 1.8291, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5327, 2.0106, 0.9207, 0.4259, -0.0719, -0.0521, 0.0089, -0.0193, 0.8005, 0.6128, -0.3943, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=-0.2364 left_z=0.0098 left_yaw=-0.4557 left_pitch=-0.0902 left_roll=0.0113 left_gripper=0.0089 right_x=0.2944 right_y=0.0015 right_z=0.1793 right_yaw=-0.0006 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.894, 5.559, 1.2625, 0.2027, -0.0073, 0.5739, -0.335, -1.1692, 7.0359, 1.707, -0.022, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5327, 1.763, 1.1038, -0.0536, -0.0746, -0.0692, 0.9948, -0.0193, 0.8009, 0.6128, -0.3969, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4282 left_y=-0.233 left_z=0.1076 left_yaw=-0.4437 left_pitch=-0.1386 left_roll=0.0037 left_gripper=0.9948 right_x=0.294 right_y=0.0015 right_z=0.1786 right_yaw=-0.0006 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.1795, 9.853, 1.707, -0.0415, 0.1685, 0.0171, -0.0615, -1.306, 7.241, 1.8144, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33a971c40b2aa35c29e589a22b6882426da884f93901faae72bc47d89d957fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661fb83ff450c55cb6505a4140b5082ab2b8aadca2f7e1d2f8ad9325c13b7a82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d727183c708467ab06714bdc7a58f681ae0fdf1f5e3353b0c655c5df382c4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKi8o35z0TzEd0kcVKUJCNcxodul43zTpMEsaLiXoON9Hws0mBRuXZJCYrhk4AiaFiounC9hAt3yDZRBdPn5C124pi9hPht0p2wIQw86V9uw16GKjC723SzO65Ec0a3UkIB8Ngdq_9xMm4cqdBBEB-6kQKqKReWniLHJsQ75xyCGHaKjzOZBKBd21vEtNiHJXWHuo6wGH4gpH9LXN3zvPWG6VawNh_Gs5VGZ9V3-jzDOA2Y1TzV5Zi-fTDBL9fPpxkRwNSBasK4Nv_zHIAuFOXf1ezTq6lZK__uuJHugFcxhSg6m1wmCmkeM97Nz28A0r0qOT_fPj6m-iNZ2dVXmo8Qaimaiz1Wkt2CioWp4lz-1rtZYhAb9AwAZMRxORY3xcWzlPonY8Xwh13-l6xLq3NSTbr0KkFobV2pL0eS9hYk1wb5GVIeT-B9DDTwziz3_Mhhq5tCbocIXgPnK_mqlzcNTvMqmXXPBgN81jROcsfSVhA44h0hg5RDM49xo-cN_RdVZhWKbQZbAo9fSOE2KEcgqIh-SuWFD0Jn1tFa8S6ehphEWa7sJjRfd_09yOrI8CG8gXvhHIP-_HUQmO-NuuJGZcJyoKGmygdzNKuiypjQdYNwAMVlkOvovWqxIdHbcFBaVPJ6251VidMWYFggut2j9O59HCuh06s5lZd8qvfRgr8iSveRNYqwUqfBFBAUbEGlJSLW3-1BAmcQ4O1slOHu9VVluCTgxY2zpLF0zb6Ex2mnnaQ57h36qjhvoOAE2gAyfP8b1VTVLamkAs7n3yzFO0moqGrM0TFUJ38q1fW8TXDxzGJFiEIQ-RhVcMQvJZlxNuPgsWYypD83sCVlf7E9nRSIHUWbWoIiFEk4YaQoSIHMFRkKGasQ6BYtvJSbwIvkKu8RvWLRQnKBOgH0GGUW_vohPdi9pjv5JSbie3P6rt8Zc-VKHKXMhLaP7G76M4WEVGgA6NHPW_brfUlonQNjPEsQPqWoaC7deI_zS2BhdF475734A35YncPwiDWS4CuIdYMtwX4fVv-tjpRgbjHWaSWmxnKWTnyHRIoDC53JAafsKSchTZOtznck5kMbXj33kLzLSZpFtlsr7ukl-Idr55rxOJxC-am-T9EQDNcLnv819Ho9kBsp-O5_CSvkK_i6nsfk22WPb1fUzumX3uAncqjbuF_5ijo1DXEuVcyLtnM5DyALW3tCMQTPTXW0ZXyQDk3T0uEb0XH0r30cGhQLJZ5j8ZcBnuUMd9a3SnuX3Pa3smGVtVvdbDeZx4VDlV4626KTH35-5PwlXNrhovGiTZ5QfhTZFvNogKZmyAVu9SS1iQIxXgVW-xS73gFTU9K8TLUvOnzsTQX60RYu4A3x6bsZgnn7ooRELPKRMpt-4wUdqifRkqzi2KS-NHurXUYA372ROKgZKZkTfhImemrpmo14dgagD_G_d82V2ac57rLZvNl5OkprURWin6DtWFthkOVxQw1EL8K16HaPKJG9qLdI2aJ40vXSefBtUXIriieThOFE9hIxNXpKLXMsdMgtAxHsGFWt7GMhrgQxHleNmXUDfpEuhFCFyWsDa0aBHr16-cChPU_jhoVorGog9msP9MjH-XecVqUTtEjPLWtfBEaPnZSToHRurCIPHQRM3XkMfheWmAvxj8rVh9uQ2ifXXqxrHz8y55D9DuEaxpD-CFJ3ZRnxpLUdPs-KJ6MAZSDYBd63qO3Z6mRyNOaPtBdnCrKs8AFsCyhVJz-D_ACVsWj8z425t6EFBXsq17X3LVoseM82PuiXv-BAeO6Tb9ODoZr2N9jgX9BCfiZpUVajl2rjjEa1-9NJp8JpjnkCCllEXnBdXsaAD1yEj2u4l_nbqYbhZ7gLGwUCCGuJt8grsaQnD_QBKTYZaL6ZPBeTolxTET1gSu9wrzJ4mLR_DKMyXPih77yDciZBy4vfTX0vm2XDYXDOlCO1CgGX5WLXbk3wqVh3fNguYOVR9Kb1l_AbMUz52lK9KgXOvVNFMe9PgJYZCIuFr_fFGyQ_FkgaI94Penc8uHbxz5NxYkFznlIsTzNBGqTW6_ebcOf13ll_Yl1IiKYOYF879MMyaOHH7Hw4OtRtsa1nz4_qmimNRN3xlBX1Jntsz3dhqC6IEVd1LiQet4jXSv6KijUkc6AfcTTCezj8b1A26FK2El9-julW1CMS2f5AmM_lrPg_KqT16lUfc6rjH3ZESLAVgVie1RBZcASYkT1hCZrxbyLPp0_YXOyrhd_ooE8T0BNOAJKG0w==",
  "id": "rs_028c8a142639ebd2016ab4429f58a487d0aad311300fad3498",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The cap remains hidden by the hovering left wrist, while the long pen is still visible and unmoved in the center. I am parking the left arm at home to uncover the cap’s exact post-contact position before retrying.\"}",
  "call_id": "call_mtCDAUZewAJPkgBthljaZ5Pr",
  "id": "fc_028c8a142639ebd2016ab442a1210c87d0a9319558acbf582e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mtCDAUZewAJPkgBthljaZ5Pr",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0475, 0.9474, 0.754, -0.5072, -0.0555, -0.0586, 0.9982, -0.0193, 0.8051, 0.6128, -0.4118, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.0012 left_z=0.1794 left_yaw=0.0195 left_pitch=-0.1274 left_roll=-0.0015 left_gripper=0.9982 right_x=0.2922 right_y=0.0016 right_z=0.1744 right_yaw=-0.0005 right_pitch=-0.0446 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -2.8513, 7.0769, 1.6386, 0.0659, 0.1538, -0.1929, -0.0205, -1.4427, 7.0222, 1.8632, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90c8f1787ef385838ab919a02de1182f6863a028c26239ac71a0a9db805772e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67976a236ea2e974d6649fb27fdc3064bc9414f5e906e511415b612bc9cb28e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfce04baf20b56ed737882f8833e526e000d3793acc291d4c35865d005b3b0f1",
      "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 · 4.893 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5335, 2.006, 0.9184, 0.3855, -0.0555, -0.0505, 0.9993, -0.0193, 0.8005, 0.6128, -0.3939, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4257 left_y=-0.2359 left_z=0.0033 left_yaw=-0.4709 left_pitch=-0.129 left_roll=0.0048 left_gripper=0.9993 right_x=0.2944 right_y=0.0015 right_z=0.1794 right_yaw=-0.0006 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -8.5402, 5.0667, 1.1795, 0.315, 0.0171, -0.0904, -0.335, -1.5385, 7.0769, 1.7851, -0.0562, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5327, 1.763, 1.1038, -0.0536, -0.0746, -0.0692, 0.9948, -0.0193, 0.8009, 0.6128, -0.3969, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4282 left_y=-0.233 left_z=0.1076 left_yaw=-0.4437 left_pitch=-0.1386 left_roll=0.0037 left_gripper=0.9948 right_x=0.294 right_y=0.0015 right_z=0.1786 right_yaw=-0.0006 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.1795, 9.853, 1.707, -0.0415, 0.1685, 0.0171, -0.0615, -1.306, 7.241, 1.8144, -0.0513, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0475, 0.9474, 0.754, -0.5072, -0.0555, -0.0586, 0.9982, -0.0193, 0.8051, 0.6128, -0.4118, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.0012 left_z=0.1794 left_yaw=0.0195 left_pitch=-0.1274 left_roll=-0.0015 left_gripper=0.9982 right_x=0.2922 right_y=0.0016 right_z=0.1744 right_yaw=-0.0005 right_pitch=-0.0446 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -2.8513, 7.0769, 1.6386, 0.0659, 0.1538, -0.1929, -0.0205, -1.4427, 7.0222, 1.8632, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90c8f1787ef385838ab919a02de1182f6863a028c26239ac71a0a9db805772e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67976a236ea2e974d6649fb27fdc3064bc9414f5e906e511415b612bc9cb28e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfce04baf20b56ed737882f8833e526e000d3793acc291d4c35865d005b3b0f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKquNvjP_p7j0slxSXzp9P6-3O8gLxsyUcYmxdoEBgO9dRricPWYpfSpdC6T4H-Np-nTitOSmvetigdJ7nAV1uSh1We6srXEWCx44bSIQav_8LgAjBTKjhQUVniv0G7KYG6QOpm_Lo-by5TVVf082kxgX5YmF4xZGmlRxeADt3uBXwybqcQn1txi9bJHa8HOF76h9vQo2mB8nto2sPGfi-DwvcbXzH328_Nvp4TTGANsqSGTdhKR387sGy0-8GNbuFovv3JAb8DhH7PP-_LWev9ltZ8A7GReqf-gEvQrgKJn5V9wiZnekXIv0KYbmxfpubKkPxZLNugahZ4-o_kpAAUL1xzSL4b7ma2cpHMECqgr_LnoylWZKyqhSVuWO-GQwR1RUdKKMcFdY8XmcfB602RKyJ1idMJ5_lNCS9whbHIhvN1BFrie8a6lL71eqFADV5CLEB_5q_aqJejB5le2yeIwUmTixgZj-Hhq7Vqf1zjisVprmSWlsrew3AA9W-ffEqhgA5O88xn6v2PNfeD6CSehh9F3nqHi3zEu7U1jsp85jGjeM6hYPEnOzwtz9T5cd7ZxiImw45N6oXz9eAh7m47YJnTLD7X503x81Hi8H9hBWIHVUDqCCTaK9iKo5eO9U-PBvluNSwUYk5w3xWmnogXEiYrCPLSV9GLiVe_BrccwIVkfTBaZK1LwIo1vkzcQSefw-aU0YXFShYSsi0Bz8-ZaaTLpSL8Fbyl1giIkH7Q_s3iBXEAf3MCKEzjKgW1KAdkWdN7-h_M2kS7623yzfIQAxxojrblkZe4T7_Xp1C9X38uFcTOTXGB_Volaz4Aqb_AfVgp2mtm7uepawh12dDd8Ko5jhmlWxYCs7WG_Y9jkcrOPaEskVLWtjeBNcSvyZK8-PVHLVa8eRncePRKKTX1AgOjuHnVGGIpPGP4Is7XSmqDNfJrMiX0G6LxtC3KnBzvWS-VnFoeCnSguy_1XDEF5Tkext9OFLnbCnRDBBpMBxnznh6m3xuXK2HSsEdQnQiVmAulTwH7pboqfNIhv8isqoHcONCKvOG-XeU46EvFCTvB8rlU-pTx2WQCfW33FVjaIn6E1oAZMlODfu73tsa-xluzGSSr5xwVskpe1qbawWxH6kv8bdmZ2G0aonKDP6EA9mVJFGCefL3jR0TMmNh9gOFXvIh26O0OPwyn6LDd7fkKIzn-31N5cD6_WWOp7xXsnvqdng5LsW2olwhE4Raex67alIrjMIyd2uRYXiJebMbpBm1CynCdVfCC33mww23cUTIZrZoSQrK1Fwoyl8N1lfyz5kiFyT6aVpDZa4CkSZWIpp4s1zIPHK9uFTZIwL3gaZHkLROQaM8orbn0Mo-4FEHuOq2_8P19ahNch6AiI-RYifVxtfgluSEzLhr7PgJCHwQrSB2pU-2k5LI3sJXz4ffmZtnJ8T0wcj1mfn3MO8Q2NQFoDwRFUnwuCUDqIS8gdWLVFmHgZM2eR9707k0HTqbg0yeGziDb1QEH-LO_rOaqHRcpodSnbrPg8G7QkWMZlFxlpbF3-0oNCuO26OrHMkZHpysbpq3nnccvUpMqGBWP4t3L-TzcPPRfBvya3yCv4AXcyA1pYHq951Rf2PYaSNkOdRjfzSPGyNYrQrImIutL-z09fNO0wzyNZiVdrN8FQFvGeK78QctTSkBkMYtKVZy4eiBM1SlyIAzXWmPz4dpHSrqUFqWlzGyNXSPd79SvlvzEMfWGe9zh14i0ecG0w3i_-vj_i5GyzwCCdkPOHlhpvAsnM1yMEYVnZ55PwAndXLnc02EVXxyXproeyRlfx7kchwSdovTJ7lFkI9tviZL5q-lfs1kl0ldWbF8VtFeiTSLTPZuUoF1WCt9G5sNk3XFQ6DE1sfpJpl9eoV4IwHMLsmwMRnUZDpHSqOlFNYNmHEoszqfDe9DQ1jjuqDK5PmBbkbKRy1HbOjz1C6Nx3uY_fUYZbKQLrNE_chFv9WeAadI4zE2mSVCDy0XeAXWH2HM9PJnYsHh7MDQzc8RuhIIAa1dE8KJ3yVZyQOJBaKp-9JBi6tegy2wDjYewo15ONDCxs3jzv4iNl0_6tZlrPPsJroi9NgADcXlF3y8nS5oup74TFz_-OZ78jqeA5LZRYCnQe7ePGD30VbPQ1THPcSb64bttwuBQINQeYIkDSWS-kSpPixHNqEDT_DHpciicX6ookBcRGCe8ZBD9avM53rC17ng2pql_qrmngAE8rCorefJdT4dX21UK_XJ9mxPxmhGehXtv6PnJsx3k-L4LF_baWXkRI9eKrXk-zaUXygNTMvzDOnOQZSPN8_qOWj0OP_SF_xrRnKaws_5YjU_pXNscC964VEb0AtYgcV6ED1nfL3M1gzvkO4F7o-1QVgze05giiuKPWoCJRMpmHab1cFuZcxEXEWwrLeYTsEOny1XcrJs261xshwh_f_fY_pMnXf-3FRsqrD1aa9A_TcyOPlxq9gXbuvR7-qmwy2-j3RiP34pT5oDPtgoJddEraiP-mygNi-I-EbS2vxlIXK28L5a9knQhDJiWatEN_oBCg1p5X92YdwpQ5B82QO5TiwSfvmeayqCqTzAhyPS4ZMCnpliWLLH1kE4lroee0AGwNHL3xTrZZrSQ6KeXir9bRUxEdkwBIGU2fGTnUAq9tOOiPVurTmAhSZJLJ5D9sATFV0GfO5ROYbXas3Ba9uYoNAcX-uBPSkiFQAK3B0Myt2eJv-plJ0Ihs_VOnVO1NmYr5MligsglRFaXEMnefhNxzFO97SKVoZcepqflqdLOJzJknYEI_rojB90MiCLkJZpSF7me18aExuLCCNidsmJNJJsrPqzCJcD00LDEteDwByOFRma2yj_pbXZQUCDi_dVhJw88lJdcKBDecOpfKQeDnd3YiMUawDrcWazbu-xjLmpy4wUT0DJVD4rZM_k9b09j8uRPumr3SHOzp7oPnBaahChBPFAw4_sYMch5Uzdwd9DZ99nR2tc3J8HzRogoNvbPwmeLxcqWQ1FuCAuwCjawiXyOsWSutzz7iykcrqmrR2oEGiqfG-V-L-GEVQE1FyCum7c0Ml1hamwVQ5ECCfzQNrmMBc9QqdjgBNAomGpVaC46Yx0Ts2lMx5KhtRPXcPKe_8ipVyrYnAD7mvW8ORY-VBIFPAGNgsOGPSZnsKPB6av04yLIoGuAG7BBtN2hItA4v-xKGRgERO3O0IymucEb0q1WJUG0PEv_gZQqhTbfibqwOrdEPGpT4Wfa1FBb4TEatkPt",
  "id": "rs_028c8a142639ebd2016ab442a55df887d0b2c760d851c37676",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.245,\"left_z\":0.13,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"With the arm clear, the cap is visible unchanged near image (93,110), so the first close was just radially short rather than a large displacement. Following the wrist-camera fingertip offset, I am returning with a 2 cm farther-out radial target while preserving the cap-aligned yaw.\"}",
  "call_id": "call_P0xCQ7v67TxlViABacJc7vPo",
  "id": "fc_028c8a142639ebd2016ab442a95d6487d0a66096038b048599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P0xCQ7v67TxlViABacJc7vPo",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5018, 1.8027, 1.2007, -0.1806, -0.0395, -0.0574, 0.9989, -0.0193, 0.8097, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.436 left_y=-0.2272 left_z=0.1059 left_yaw=-0.4483 left_pitch=-0.2099 left_roll=-0.0066 left_gripper=0.9989 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -9.4017, 9.7573, 1.9414, 0.1441, 0.3443, -0.1245, -0.1299, -1.6615, 7.0906, 1.6777, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6cf0a3fdfcfee6c0ceccddb55e93a36e37c8048cc8d174b9485e844ff7cb95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d79e07423b5b48d2b3f85e1e41ba62866fe16c2f688a485f70cf888648375f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8648af0c6660a81ea11ca5bd3f371d76596f7e93d2de2962e1a21983c74e1533",
      "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 · 1.664 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5327, 2.0106, 0.9207, 0.4259, -0.0719, -0.0521, 0.0089, -0.0193, 0.8005, 0.6128, -0.3943, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=-0.2364 left_z=0.0098 left_yaw=-0.4557 left_pitch=-0.0902 left_roll=0.0113 left_gripper=0.0089 right_x=0.2944 right_y=0.0015 right_z=0.1793 right_yaw=-0.0006 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.894, 5.559, 1.2625, 0.2027, -0.0073, 0.5739, -0.335, -1.1692, 7.0359, 1.707, -0.022, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0475, 0.9474, 0.754, -0.5072, -0.0555, -0.0586, 0.9982, -0.0193, 0.8051, 0.6128, -0.4118, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.0012 left_z=0.1794 left_yaw=0.0195 left_pitch=-0.1274 left_roll=-0.0015 left_gripper=0.9982 right_x=0.2922 right_y=0.0016 right_z=0.1744 right_yaw=-0.0005 right_pitch=-0.0446 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -2.8513, 7.0769, 1.6386, 0.0659, 0.1538, -0.1929, -0.0205, -1.4427, 7.0222, 1.8632, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5018, 1.8027, 1.2007, -0.1806, -0.0395, -0.0574, 0.9989, -0.0193, 0.8097, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.436 left_y=-0.2272 left_z=0.1059 left_yaw=-0.4483 left_pitch=-0.2099 left_roll=-0.0066 left_gripper=0.9989 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -9.4017, 9.7573, 1.9414, 0.1441, 0.3443, -0.1245, -0.1299, -1.6615, 7.0906, 1.6777, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6cf0a3fdfcfee6c0ceccddb55e93a36e37c8048cc8d174b9485e844ff7cb95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d79e07423b5b48d2b3f85e1e41ba62866fe16c2f688a485f70cf888648375f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8648af0c6660a81ea11ca5bd3f371d76596f7e93d2de2962e1a21983c74e1533",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEKxXm6m3Db0NTslVSsoLIKyPYyRoSHrwijsJyaG8iic6Ffne3eTx1FMtKFGZrF5oMeCS5ZntbsBUdxex48ZwL2ZVOSFYp4gu0hqOPmtXdXagvyP2whPge-9L34WM1iGIqvJaZmhsc6HkJ1pdZLvqNj7drNoHmbk7FZaqlubyXsFoA1A1cZhAq1VsQvWY7l25I48XMQWp7jBASOOevejGNF_2IDTm6lXO94UBxXrNgv5Ugg4RxVS_J5ya_R5KH99HAvNh5EgKbN_p-FRbqDqAVOaO0q8vCMshUTzIawUBKdHEq908KutRSg1UJh4s5yL1RxEQ3Qza7FFWw5_ouK3UqgTKiqoDPQpf7InUqcsdSFJBd8gTen2YKWelWBRe_AFyyyP0waLWcifsmZpK6yNn5iepTqHWRYKnF4SoHvBYu6DJpz-tBPDJMw9PTQi7o8W6OUuDuG2KXZqTTGAsNfL844WqeBP2Hz4ebk-5pCdxgHKdvrBX_2i9DlQret_XQQR9JMURkSZiXvWrKpCFfoWo099i1lGZkv5K8MFDChZn0Z4PrbwsLrBGgBn6C6DLqvyxK_23U7C-6-LjU4EbqdoY3Tx_wx_Xm-XZAS1YPLiI28G9noDY5hcy-bUnsU2-fuJh1zsYIER9SfIf0SOW6keTdORq1B7x5UjJ57QcFmib3SCyct47DtB8tZ66sc-TrOGwvCk5jF-pEDQnO-2BMAtE7HnR2NdlYKUy3NMgiCYPOHWMXDGrZyU1zJPmo40G8eiM4u0W0izAK_5uru32g8t2jDU0Z6y7xrqLc6XFLYQvbO2fyyNk5VdDm4j5pRki-j2vUEMGD-wNZ5JmI4sHxQ_yrkABO2qTUG3_GDm8unsnlHUIpK5BcIQAkyxsPJpnlBVN14tisy3MvMs5MbtGzsMpW4JV2ED_JJSPQxjPJc39fchib7oFFpdajTP-dyV1wurnDhgvid2DKjqhsZ-LC7j2W_eEzhbkxhdXRRDc9yfE6iA6ViObv9guRI45mLoX_aO8b1tW1yCEKj4geKblNtfafNG6t4w5MW5CQkVt1qKU49sFYmibgAZXg4PkXU61QKcB3_1bDZfLvDu7uYelQT-zRDw7ib5zGBoIrNS2_5qQfsURQ5FWp7wSpOO9uEw-3vr2V8BdFquuDf64dmwzM2s3AnCEtcRB5hdlru7hYoizlXL_diuCF_uggiuBXbtiyO1HOCtiUEjTwkC_DjXHEAZfRAt8U_HrXBxPtrMSiS1GC6pAilxKZ4wH4sjNgl3D13nfmMPnjM7g2wJLqdvnM9NUeL54gcz0R5FGkDQDxQfah3w-3WCusajsPb5uekcieO9Dxl9KGjgzfXS6Hl-Xwiv5nWnIYHLBALQa4F9aL7bhrYiyeL-UM8fsto8LYegV9BfvV7z-xj1ydL8pmImZTclXRQtN89hidjGJeT5YE9nAbwhnjx3EoFIkZDJyEYHQwlu8RRN8_hJTXKzv8e4ZhiBVwh-2x4UOq7jlPFGJGhZTjWdvYFyaxVWdaXeqgu6xSQFCVvr9l_j2VIs6hFr7G1mVwsdCpC-6hsmIuiTnAcU3iaUTrkaRuWltKP6FMTs1tpqq_1fUKEzfYDfvmwLG1ajEtaRDYxNcLjEq-Ls-kKPEwxIkceJhNojWb5xRoBLoG_8x5jNfo3BT4jLzKWhrtx_5CDsdT5qFisU-bP5nmhJG1CCHMwsrS6-IZNzMtJCfakrBBL6IcnI1Umq9bFNpPucgGq9BWAFYuy3ZxONrWvEHloUV21S6VWORPCXOho-WV98tGf2L-MyEQaN6M738LI61yvL2hWAlLP2BzwIsVkxPa2i9fOLqrMp7txCiafQR-H8JtTgY2ZPmlutBffPau9GPgHbjBc4kW06_ktwr5HJ-x_6_8cyQwr_FTqUXRc5m1R9BWc6YX3POGQehPBO0q7N8kBNOHTclVGNdtPUWL4DSxKrkk9MUVaJ2UJsho9UsxQLg4rJroAC0o0198d8jIhKIsJPrGPAsmGCxaX47wYs95PuHGYD6hJOkUjcEP4u6viyxa7DEnw6nLD5BvRLjGynD6zQCxOlUiFHvfZXF7aGlyHnYXXVaY-7oPbo8vv1pYTkD7IivtYZrhegE5zCIq2BqK__MVFTH-54G7usJ2tTkVKcPYNnr6Dno-SaDEIW_d_GN_UrVKH7m3A-honPwc0vKfeP3zMHRgb75r69WwgJmIIJYCRuR4GdrnOSDnkjvBpivmPPfwnSrH9Ga0RM7Wu0KOAvj98-0eKe3IHj-DYl-vL9WRiKjVGz5JhMqFpDtyJolLfjMDnjF6FFyBVyqRXVtvBn7Plwm2_QjoDF5M7yJH8iUSV63sZ3g8GpgJM78yc-MjY2vE9hH_ULZIIQANGjFtlRxYseRVT6Yis7TuBblHxop4IYcgdff3zJ3B-WaWQXPiC8gOz9p3P1lyldCQ44EHpSsWQqy3y3AnzpV7LnHwoAYdHAiBu0gRosuntpQIXvPayq5mwtKK2__i1Gkikus_AtY8j33UvZI7294dTGMCwy2nw-kVqODQAsiqViXbR410tePSYWzBb5CYQLIz3imBMtDmmvTTgR3ya_PysiaQZBFiA9tJaloFYwlah1uN_Ny8jEG-51egJ-BXH0aErjgsQKGf6EoxE8p6swylvogut_yFwRtDEjmIrSBCCjkmBOE2b_OGOzHsmIXasWgfjBZ6rPMQ==",
  "id": "rs_028c8a142639ebd2016ab442ad925c87d0a89f96aa21a98219",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.446,\"left_y\":-0.255,\"left_z\":0.004,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The cap now appears at the very bottom of the left wrist view, about 2 cm to the image-right of the jaw centerline; the pen is farther right and clearly distinct. I am making a small tool-right correction and descending to straddle the cap without changing its axis alignment.\"}",
  "call_id": "call_Rc9HRurEpLlnEeLxfT4LKpQ7",
  "id": "fc_028c8a142639ebd2016ab442b0734087d0882d0e9eb345a475",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rc9HRurEpLlnEeLxfT4LKpQ7",
  "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]: [-0.5308, 2.0529, 1.1248, 0.1005, -0.0395, -0.0498, 0.9989, -0.0193, 0.8108, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4401 left_y=-0.2461 left_z=0.0043 left_yaw=-0.481 left_pitch=-0.2549 left_roll=0.0012 left_gripper=0.9989 right_x=0.2923 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -9.0735, 5.4769, 1.2723, 0.3053, 0.0513, -0.1245, -0.3624, -1.4154, 7.1179, 1.663, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801efd419914b12daf891af25951a201621b915e9f3070e0017bd685f805045a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33179cf8c003dbc070ca26018ba4c9936dff3164edcf8288d9757bfb6a70ae99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97438bd5aa96bc577aff9250b1d948dfdca17fca9cd10438043ddda05c25d3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.08 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5327, 1.763, 1.1038, -0.0536, -0.0746, -0.0692, 0.9948, -0.0193, 0.8009, 0.6128, -0.3969, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4282 left_y=-0.233 left_z=0.1076 left_yaw=-0.4437 left_pitch=-0.1386 left_roll=0.0037 left_gripper=0.9948 right_x=0.294 right_y=0.0015 right_z=0.1786 right_yaw=-0.0006 right_pitch=-0.0256 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.1795, 9.853, 1.707, -0.0415, 0.1685, 0.0171, -0.0615, -1.306, 7.241, 1.8144, -0.0513, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5018, 1.8027, 1.2007, -0.1806, -0.0395, -0.0574, 0.9989, -0.0193, 0.8097, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.436 left_y=-0.2272 left_z=0.1059 left_yaw=-0.4483 left_pitch=-0.2099 left_roll=-0.0066 left_gripper=0.9989 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -9.4017, 9.7573, 1.9414, 0.1441, 0.3443, -0.1245, -0.1299, -1.6615, 7.0906, 1.6777, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 2.0529, 1.1248, 0.1005, -0.0395, -0.0498, 0.9989, -0.0193, 0.8108, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4401 left_y=-0.2461 left_z=0.0043 left_yaw=-0.481 left_pitch=-0.2549 left_roll=0.0012 left_gripper=0.9989 right_x=0.2923 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -9.0735, 5.4769, 1.2723, 0.3053, 0.0513, -0.1245, -0.3624, -1.4154, 7.1179, 1.663, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801efd419914b12daf891af25951a201621b915e9f3070e0017bd685f805045a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33179cf8c003dbc070ca26018ba4c9936dff3164edcf8288d9757bfb6a70ae99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97438bd5aa96bc577aff9250b1d948dfdca17fca9cd10438043ddda05c25d3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKzmWPNUQhaObTwKHUiUCd-HX2xVWksm_crYNfr5m6MD0CPRfkSLNB8QjNXq6Wqed4HGiHhQYKCWGddCLRg8as_WJ6nYSzriSYBsy136KTDY-_JBlX-6-C7D9VHAMda0zFWQ7a1EqGSdHXdpwyRFTPaVcyEDv0N_HfZ7Vy-FmlngGCChygE5V-tx5TIdrXApXzgfryyMHk5bOZwvs8RouOPm9UoTsyFbwSWOjdD6RbsGpufZ28W7OAU1ann00bjYcTC3apLyJPeU3_XimLc7K-6aMe_xBgIBVxiUOTwgie8wlZgx63nApqSVWRKyVXtVPXks1zlGyPel7zvOiQZQUn9ekJ3qPozzBixeql2nIvNr_WHgvqX_9NesotsiFh0CgwqroQbEUc2Bc76b3-AhLY_X9UkpwaMnAaqAhfmCk1_gnDE2YykWDgdWPUuYoP5owHgVVJ78ROCvsaQcAvDaVBa1yUOdyIaOIj3SjxPw5HGfF5nDmxy0UsAsztGQYJSdkD9IzyUwUU7aHMD5H9ULxrS4iBwFJuU42h_PTWxMEf0nHYMrWJEAbIPQH8ee0x3zVC469Hr8HbSubAcvWRyU1p9YC1Fng-f4FC-oXOPmOs1yhPI9ikyLJ18fnE7l_mYjg-Nmj5BWrkzKL2wN4fJ6epGCAzsbZnqUMFq82xgzaOhDpGF55NQsTa0Uff4h6lB6DYhp9ZLREDanv-lQeHqxpHT9oU36frAtNTJz1dq956ASpXmb21oIH1bycdt-as1m5Is_a2wR0XgUmSHJjZXIvwYLTRNUkFaCheIgx5NqDyOuPfhtG-4AI_kUkGd5sp7M4sm8oYpV2c2_U6l4e0-TO82HvOMFZA_ZTawF15k0HCzd_8ofF-vAEGAk2BaIOcqBNTVcFOSOH3JlaGztoiBokeHOKow98fz_oC92K7utVgZiDLcjUmxtY7ektf5PPV3WA_jtvFR6NIypwoUVlH3utykmuDNX2X-I3oQUsdBm7KsByazNtrwuSoOdk5JDrDCgLyy7CuLfXR9lFfe3lIy9s2fUdAVpJwr2TaeTlTmpFbPT0FPYhtItfF4jl_Q7Z4cjt7oYuqUDqhrLhjTMedI08H9JTTUJIJWZili8QAklsJjLiBQLrGHZLw83qa8_5FWt-2ZjKu273in_UDnjlkN1hvJ048NSZEEg0AuRJLTtVFi4a1hADl9quH3-MWMjFqvycFPhiw_88pqAGIpvyC8hEytVg==",
  "id": "rs_028c8a142639ebd2016ab442b2fbb087d084a45bb50dc9fb3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap vanished beneath the fingertips after the corrected descent, while the pen tip remains visible well to the right. I am closing on the cap and will check for a nonempty jaw spacing before lifting.\"}",
  "call_id": "call_0rUELEPmHqKxURZeg10oyYLS",
  "id": "fc_028c8a142639ebd2016ab442b3225887d0a7bc1b57f51eea8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0rUELEPmHqKxURZeg10oyYLS",
  "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]: [-0.5308, 2.0655, 1.1244, 0.1322, -0.0513, -0.0505, 0.0091, -0.0193, 0.8112, 0.6125, -0.4133, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4448 left_y=-0.2464 left_z=0.0035 left_yaw=-0.4706 left_pitch=-0.2358 left_roll=0.0085 left_gripper=0.0091 right_x=0.2924 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -11.7675, 5.6547, 1.1648, 0.0757, -0.022, 0.6032, -0.1846, -1.347, 6.9812, 1.6923, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4239ea71405de417800719ed1a2bbb053ab778d660ad795b2445f9ca1457abb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7144cba9206734f6478144f981cb49f2667b8f19b3b191f6ba94fc0ee79d7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a70b4183777cdca2393a58b6b42a993e178681d2b62be2d3283a2b53f342fd0",
      "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 · 5.752 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0475, 0.9474, 0.754, -0.5072, -0.0555, -0.0586, 0.9982, -0.0193, 0.8051, 0.6128, -0.4118, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.0012 left_z=0.1794 left_yaw=0.0195 left_pitch=-0.1274 left_roll=-0.0015 left_gripper=0.9982 right_x=0.2922 right_y=0.0016 right_z=0.1744 right_yaw=-0.0005 right_pitch=-0.0446 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -2.8513, 7.0769, 1.6386, 0.0659, 0.1538, -0.1929, -0.0205, -1.4427, 7.0222, 1.8632, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 2.0529, 1.1248, 0.1005, -0.0395, -0.0498, 0.9989, -0.0193, 0.8108, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4401 left_y=-0.2461 left_z=0.0043 left_yaw=-0.481 left_pitch=-0.2549 left_roll=0.0012 left_gripper=0.9989 right_x=0.2923 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -9.0735, 5.4769, 1.2723, 0.3053, 0.0513, -0.1245, -0.3624, -1.4154, 7.1179, 1.663, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 2.0655, 1.1244, 0.1322, -0.0513, -0.0505, 0.0091, -0.0193, 0.8112, 0.6125, -0.4133, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4448 left_y=-0.2464 left_z=0.0035 left_yaw=-0.4706 left_pitch=-0.2358 left_roll=0.0085 left_gripper=0.0091 right_x=0.2924 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -11.7675, 5.6547, 1.1648, 0.0757, -0.022, 0.6032, -0.1846, -1.347, 6.9812, 1.6923, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4239ea71405de417800719ed1a2bbb053ab778d660ad795b2445f9ca1457abb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7144cba9206734f6478144f981cb49f2667b8f19b3b191f6ba94fc0ee79d7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a70b4183777cdca2393a58b6b42a993e178681d2b62be2d3283a2b53f342fd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEK3qQFhnSAm4yaYZkRcADwxJ9VWfQtWtwps8wvwRx4OJlpOVQJ-rXy9p56_vfTdGZn4pYhreFAhDVJFVODbR0D-6OzElSeFRdqMV4biDOCxZ4V8bHFLr4QEJ7VGakhQYmKuGBQt9VHhG8yYF-sGxppagKn_Z6yvqTUorhMQs3WHMcrz9UKzB2qn-vuJjOneNHrUHVPveTJ7bkcJ5qKxyacHCo3Pv-plhu35LJy9aiUanwtUxiKRuy1kKmAfh7EWGVe4R8xbCFee57C8BbiZ_hU_NVmMW7jP4XrVcj-EG9FnYlYrH4ZwL3-d14xDcbzk8xS2tx_L55SNveyCV__l7hoxKEJ4IdW-vVfqJ_T-prpT0eGZOa2PBQi1eLIzXOtVjUudBiRSWwOpn9bk--dY6ODCn3sChG9wI15pzogcABEu2fH_wfgJEGzenLKuL_UFNi2n1EEl5SX2TaKMRTDsnu-lofZXPJ9LoCv5Ulnq3TUCWY88ltb1jcK0IWPO_N_RVCxpzOcN4OA1Sq3OCReV_l6dtHkUHwvvQZ1SQIpI5yD4Z5RnkjHfFDnBtL01N8Y_U3AqboVCGW62O3iUSsEh3rG3DFipT3rTUINkIompbnJj-tuZYuRoaXGCJLWYeNhXPj28cbO_rgn6Zk2mCoooWXr5D3l_ek-1BBDpxq1JpawsDezfzmNaltINjAFb7lsQEU9vGr8VeTqk4-TcOR1wUcKOaqnKjN_1NAYku6sQWiDLdyYgbA7bDZdzuzVTIzqyYXXuSbA8aRhG_eepv9JqJlPJII8uKni1b2q6e_gjqbDHqqs3ZryE4l9_UbxFxDP8114Da5OqIghB_perTPpI3qVsQXdsIpouwC6YZvoxcUr86X8sQ1lXb5zpOTkgfJC5tGmi3fPN9JJhlBvz2C3t_aDdTE65TxdokduXUa8J2j7c65Pjaec3XlUI_6MzS4oTpxzDi-kjPMJESQi9K1Oo5fWS-bAq4lUAtlQXdLOB2uPZ8jZBKbvbqM1EgEB4E9uqcso-pcTHBrb854L-di8VwllE2TKJXpeubQblVhpVXNmQOiBYnxKGc1b51wzhei60_tpTvShlnZHnsV0MqAJr5NTBXQIuKsXRI3NdOgoxrNyn303EKK5rLXTAl002NuApqobu43dth3qVMiNUE0Aqf1QaJY2iwSrpSvV6U1ItuxUDuui4dOy-J7G_ne2rzHJsqF3pOQ4Z9PKtoSkBNN3K8aZ7H2-FOjt6vJqsZ0_cEjeMT3-szKukcHDeHnWXTeerRnq_hpQCIUjmIvT282PJfwr0xNpqRXsbdkhShu0ePoXZzHrcdDpvj_PjcOb4ik4BZ7dMfNHzTQPG84XT_FDZDJL9vejCnKupi7bVj1LzOC4tM6ydAaME2qDXCBOVGCq2sKLG19d9CnKDD4N9qt6zib4R_fNbJRJ_EFu_N-d1I3aXYu7dNvKSwC2ZpCBE5mGj4PSTX-2pA8CK5HJj4javP2nyG3iE6ZHG6vHy340Y_Wd7TJ6EsBbcaT8uubi4VNiQ1dGVnAn1crFLrOYq4Tnu1ATKWXKGCt3mPBfiIEtMmubYHwQON3T3uc4383wgsz_qmikb8acVv2OyTek8UItOCTjICFNIbKxpmbitssgu_lvuNXaBBPSjymntTOPBUTKaHAZpNB69ouRux-_BAnWUBv5kTz5cxeQVPgsLjHT9iiWfPoLvd1q06IbZGaifLtcO2EuoAAlOd3HJyWTbXvx5uCJk3j3GwJVCJg9eQfSeJ3LJmn9qi9UxBK1_K9o2ZQsVqytAqlz8Nx1Yi6-ymZyp9TD6uDCcBhJZB9gFOwn5Uxzq8GbKYSFyy46VZcmWwZzhc_cF",
  "id": "rs_028c8a142639ebd2016ab442b58b9c87d09458f52781bb2791",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The second close again settled at 0.009, so the cap escaped rather than being pinched; repeating at the same pose would be unproductive. I am clearing the left arm completely to re-measure the cap from the overhead view after this contact.\"}",
  "call_id": "call_aqfZc7vBvS0ip5FjxjfbiivI",
  "id": "fc_028c8a142639ebd2016ab442b6a84087d0a69032f7ee8ef4e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aqfZc7vBvS0ip5FjxjfbiivI",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0286, 0.8135, -0.6079, -0.0566, -0.0582, 0.9977, -0.0193, 0.8165, 0.6125, -0.4133, -0.0208, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0011 left_z=0.1639 left_yaw=0.0211 left_pitch=-0.2495 left_roll=0.0081 left_gripper=0.9977 right_x=0.2927 right_y=0.0016 right_z=0.1708 right_yaw=-0.0002 right_pitch=-0.058 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -3.5761, 10.2085, 1.4628, 0.0952, 0.2173, 0.0366, -0.1162, -1.7436, 7.2137, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512c7a86808ee021f6e0fbeac3a3151402a88bceb89597d3c3ab41a4dee2cdd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77fb6fef006192cf5a224fca0dcfa51ee589b165d90e8250bde859a51bb1a086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e848c160a54a6502a652114d209ea3995fdc9c1708f3b9fe12094b1759331765",
      "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 · 4.289 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5018, 1.8027, 1.2007, -0.1806, -0.0395, -0.0574, 0.9989, -0.0193, 0.8097, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.436 left_y=-0.2272 left_z=0.1059 left_yaw=-0.4483 left_pitch=-0.2099 left_roll=-0.0066 left_gripper=0.9989 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0005 right_pitch=-0.0515 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -9.4017, 9.7573, 1.9414, 0.1441, 0.3443, -0.1245, -0.1299, -1.6615, 7.0906, 1.6777, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 2.0655, 1.1244, 0.1322, -0.0513, -0.0505, 0.0091, -0.0193, 0.8112, 0.6125, -0.4133, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4448 left_y=-0.2464 left_z=0.0035 left_yaw=-0.4706 left_pitch=-0.2358 left_roll=0.0085 left_gripper=0.0091 right_x=0.2924 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -11.7675, 5.6547, 1.1648, 0.0757, -0.022, 0.6032, -0.1846, -1.347, 6.9812, 1.6923, -0.0269, -0.0611, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0286, 0.8135, -0.6079, -0.0566, -0.0582, 0.9977, -0.0193, 0.8165, 0.6125, -0.4133, -0.0208, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0011 left_z=0.1639 left_yaw=0.0211 left_pitch=-0.2495 left_roll=0.0081 left_gripper=0.9977 right_x=0.2927 right_y=0.0016 right_z=0.1708 right_yaw=-0.0002 right_pitch=-0.058 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -3.5761, 10.2085, 1.4628, 0.0952, 0.2173, 0.0366, -0.1162, -1.7436, 7.2137, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512c7a86808ee021f6e0fbeac3a3151402a88bceb89597d3c3ab41a4dee2cdd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77fb6fef006192cf5a224fca0dcfa51ee589b165d90e8250bde859a51bb1a086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e848c160a54a6502a652114d209ea3995fdc9c1708f3b9fe12094b1759331765",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEK_BZRbRmeHnesLbHqUNgHosVMNDeuFMx-ztVBvVvtzfBIrJv1aNQ7Bq-MrfaoPbaExregdBjSvPXT2yxMi12750IldPU7nTxJkwwa22jf846hcSwLnJxsDxfeSreXeltfkAvpFAN2Xsv7QY87ONtfzEfbbJSRV1Q1XWHmJbEg-qnrUJ0NfT7b87P1Q_L1-MsQ-9hvIHfJqKEdGhck9rZt6FFhCJHKxPNSIbEMHTo3kB_O2V_Bre0HGejeABlfkPqGLmpPMiqzOcfAKeHcOLjt6j48tjofsH6BEDw5l0uxvCYWjzSWP3UnaQZ5eDEn3Fh2XJFS_hcjaXdc0btEQccU4RcEbh5v2Kwv5NqllqVg0ps_hxTiZP6FHXBUiqgfEvK9H16rShoY1Fw5prPy76hJGEiNzRZi_fhUKgRfBc36yLMxLed7pGBX0UczvcDn9-STwMPSLUG4PGv1rtbTbD8iO_M3eQ2GM2R75M0_Z9uxD8bZ4btBLqCl3_88SeKloZe4Q7jSLcgvOEKglmyiUdzlC6LMbceODazBoI_Tudsxod8ppWMqHLUx74rfEdNWAX4MYk_4PjfAQWMFBOc-d5b-7nyUgYwE-BJghdBxcNhAyatar_22A6zB5-0nDw7MbKtc_r99No3OqBlndnB_hfMdUqx3Eu0lpGR1LlICTzG92nP9DnyeiYrFkML19ceV1jGcMYM3mbl6xRqbMyN5cjWRxkQ2EkoJTeVH-ite1dBnsHhRfFY5m_ksrA-myYzijAbAnBcFfs_-dkd60Nwcx4Fv39wafaln5I8pdaubSa1Axq7_Yb9YOw8NmPGNlrSTjKnIGHF4f0q4nSw94cORSAKIlGbW-hwXopKQ9jZ2KmRIl_6nQGD3nkl2LHIrAwJDjLL68oD3dsTuu5ZidZUsAF0EywV28BiCOeiSmZsoEe1JTqmkCK4svIKVtbSrlMb6NP0al04qKIuMxuMfGTpzhTfdl2PgMV1_n04VPYvy8HMvwCk0kFJFeVixwab62wvhcXYl_8Tj3-y0AskJWJ3hEDK3BYIv_ePdswzl-L7goNG0983278rMVjW0X6W52yo4cBEJT5gBMnvpzBg3XhLCNXyiCrLTON4X1NQU1djgl_Swxecqsdns8seTEj8qCV0I-c5ll2GyAxhqF2IjlZGs3Oa0aTGBIB9yYittwAwg5sVayxzMMQkllsvzmGClAyXqUSE9pc1aoKIUKOyjL6fvamZFbe_oLhkEjkJFvIhNcqI0jLMuMEntiSfXEnTeS0VHC2pwYRtFLe7iwEXo3U-Ia24V9lsXZOGZfm2ZvrCJosfVVEtrkm_BB9bQg3t3py5Zd4vi9_insltsYokeyAAlWtqPr5D_C5fvGvCdVW9kTGkTN9txc7IrfywDZMJho5Hgx7TXqIjuAoit5Wfvu_acdjWM2mrXWxQ8dU9ydS_Sm4aYa3I_UIAgamxciXduSSk4gk1zsog0MxyXeZzxQg17IwDZvp11zOblnT0JG9M0D-M-UHerF57zGwrP8zb5ruEfDrOu2LKm0hKCWFuliNbZH3Njwn3BON7yLDiMsfulqx7HVRTHMdO9UOEJRTyJsjYHW6WTqUVphbAi256uEb0ESfprHG6DLJKZ3h1sPUZ9sK3A2GFl6tcksWsfxu4JjIZAhUcS65PlQT1H_YtJZ5WKRv9DaZB3tQMZmBj0s2t3WZUu7sCmoZY3VQq09yUhzPfuH4PHM-eofzZN_sBNiS94WKkMNiHiuJLG2yKLffxOru85uvwun6zau3qdAFDVCDLLXSyZ9u4qHr2bx5KyPGIBmRTlS9YCCQGYU2V0gAC_YBM71ViIosldYIrAE8_x_cf2FRBXDSmC9v4erf4SHBXY55p-p48BOjY7osVzVTklsfjVMdEdBJGddY4oIVqsObQCWJjeriRiK41YuB0RJfUMT-pikOt7dYQqyE4_OOccPAh-5BhK27IkQVElUXykYCgvSyFrdzeCAEc_TcQ8215qostj0izTLoXY75y9HaK-2O7Na_YRXWTnH9qaQTPJ_RMOAP9A9iG8VEksxX47VwodJU219zL1kFENxahrv2mnlTYZ-LgxS28y_vH5A_Bhpd0yeNlhoYNq3Tc6Yr3wvnlBxgBA35iwcJR_cxAfhEyeQXC_vMtEghaTUJpesVlQjOUDZnb2I2syL96q0eP3A39VAE2FlE2ovMWY4v3MVIGmorVgyprkeyqKojz09ni63Ib7QzBm4WYVAxDCxrHK9Snqet6iKaQSBT10P4YL51yJQMQM67r6PZxI_YGEDyn_J1QcX-hJxqRF4pZ4lzy7g0KhlsO_reWANp2fy9fXMzd9_3XP6m4YQ--k1kYZwFViEICm_470Oa5ApAMZPVar2hgwltcrsw-C2GeXCWDk9fbC9-_1Px3QJWL8iyZBWQc1F-8bhkhs1juYRxtzcgJtnfMzWutYaNfOrCJ5b0Ja0-o5Rt_mXfUkGujG_T8DIiUh-qoBOb71WwxW6kAyI0asaWhqP5EdRA42nbhKzf_NuJHBU3GAes0oDovmDojYQRy3MZepejw9QOJSOg2l96NXfjtd6HtISPA4q-3I_vxHT-v36gbXljNcWerrg4FDwnsa1PhrnvS5HYOpETsloOtIz5af79gXuRHcVQGCFxlKojErIO8PS6DyTrvPEMZWEKibecNh2UN_W9zQq2Opn2azCdJcBaRUGNjjKnNRlkt8_kP0Gh3RbZx8UvmT3duO3lUSXaczrKwR1jEooPO5pMR5H-iqeerCP4OyiPODcPiSB2mMWrnsm5coPhlnscrN3dziStrTon7SpnBAU06Js5fDd7OI-gBhsH64V_0wSS9tbIzZt2z2w3vnkwtS_2N7N7jk3PUq0839efhJtMC1t0aqZSY1qgT5bKNXr_B7oXJchmihcEgaXONL3Mmc3L2LOFOEnqLPP5jSi8z3XVHlmx08ED_kIkdjslqFDN8ZR81zDEFZmDW6AwRWawYE_2BF3AxfzO1G7PcO-mlB7eHF6AtUY6ISHfbUBMj5Scab3plVr57ymbRsJpEw7t0p01GqhdnGOVOsCXBoEs2IFs0KxWKJFfIsHEyFZpFTwk--KdzBmhlPz7JhM59QWINFmijaZ5acduF0YRKyVgKwcjw-4367xsCloimyQSTiNFiKKoldObLaQ2Xqi068prY24I6PYuAFLTBvr4SP7Fx2L0pazbifzgcAJowEyAKizRKZNtFngR-IR22PPPh5-k8SDE36F9QgtcZQhpH47JDqRBO2N9NorCAofUoliFL1xBf7qWMLp05mYJXEouyBsgSBAYi-TnUyftwaBvD-mfwt0h6VO6eYnPEMuGjbfUzpciRs8lBmTw4pu2UNPoTImYm7om5YkNQ1WehBD2SWGY53Hw0mTfJBc9jmlpHZSqA==",
  "id": "rs_028c8a142639ebd2016ab442bae64087d08d928c5553324b71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.27,\"right_z\":0.14,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The cap remains at its original overhead position, so it was not displaced; the likely failure was insufficient low-level engagement rather than a bad global estimate. To make progress and establish the final assembly geometry, I am now moving the right gripper above the pen’s midpoint, aligned with the pen shaft.\"}",
  "call_id": "call_Urswl7JwMsIKscWCUyP2sNPo",
  "id": "fc_028c8a142639ebd2016ab442be742c87d09c602299624bb70c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Urswl7JwMsIKscWCUyP2sNPo",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0332, 0.815, -0.6357, -0.0517, -0.0547, 0.9979, 0.5613, 1.7168, 1.0809, -0.0574, 0.0143, 0.0071, 0.9993]\nstate[eef_state]: left_x=0.2993 left_y=-0.0017 left_z=0.1586 left_yaw=0.0154 left_pitch=-0.2806 left_roll=0.0088 left_gripper=0.9979 right_x=0.4066 right_y=0.257 right_z=0.1184 right_yaw=0.5391 right_pitch=-0.1339 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -3.0701, 6.9265, 1.6874, -0.0611, -0.0904, 0.0171, 0.2667, -8.3487, 9.3607, 2.0781, -0.0024, 0.0659, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46afcb78b0920f26c7fd874c0523543bc1d02ef7d71a2595e24eebfa1e426700",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c251b50f6a9de949f06ce383ddbee0e583b28ddc5d8089c2025930c52fae7893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a9b0eb72f7bf5d5cea65dba117f636723e4bf792257abfbdfc0b70b47c1b1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.452 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 2.0529, 1.1248, 0.1005, -0.0395, -0.0498, 0.9989, -0.0193, 0.8108, 0.6125, -0.4137, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4401 left_y=-0.2461 left_z=0.0043 left_yaw=-0.481 left_pitch=-0.2549 left_roll=0.0012 left_gripper=0.9989 right_x=0.2923 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.4444, -9.0735, 5.4769, 1.2723, 0.3053, 0.0513, -0.1245, -0.3624, -1.4154, 7.1179, 1.663, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0286, 0.8135, -0.6079, -0.0566, -0.0582, 0.9977, -0.0193, 0.8165, 0.6125, -0.4133, -0.0208, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0011 left_z=0.1639 left_yaw=0.0211 left_pitch=-0.2495 left_roll=0.0081 left_gripper=0.9977 right_x=0.2927 right_y=0.0016 right_z=0.1708 right_yaw=-0.0002 right_pitch=-0.058 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -3.5761, 10.2085, 1.4628, 0.0952, 0.2173, 0.0366, -0.1162, -1.7436, 7.2137, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0332, 0.815, -0.6357, -0.0517, -0.0547, 0.9979, 0.5613, 1.7168, 1.0809, -0.0574, 0.0143, 0.0071, 0.9993]\nstate[eef_state]: left_x=0.2993 left_y=-0.0017 left_z=0.1586 left_yaw=0.0154 left_pitch=-0.2806 left_roll=0.0088 left_gripper=0.9979 right_x=0.4066 right_y=0.257 right_z=0.1184 right_yaw=0.5391 right_pitch=-0.1339 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -3.0701, 6.9265, 1.6874, -0.0611, -0.0904, 0.0171, 0.2667, -8.3487, 9.3607, 2.0781, -0.0024, 0.0659, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46afcb78b0920f26c7fd874c0523543bc1d02ef7d71a2595e24eebfa1e426700",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c251b50f6a9de949f06ce383ddbee0e583b28ddc5d8089c2025930c52fae7893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a9b0eb72f7bf5d5cea65dba117f636723e4bf792257abfbdfc0b70b47c1b1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELGZgwwkCg5tyqeOBD70X5r0koIiIX7agboUlTJiRN0xGV7FfMFa4jXKg8QERmlvetFFNQFsy_TgB2gf3UsCGw15AlBvvXwBQbqeyt26zo32JP3vZkHncfHN2dKo9t7UZ6c7nmiKJBCAJ3yG8nhG4WL-uyGFuonaDBxBHAhOiabsTIHGWHZohrLSDr6eyzJZ7lS9JMQpeDtZC2zz8TleiUkQyJK4Ik_RUqcrpBtOHjmWjefWNy5Nb75nhZnm0cv4rtOAcWHnM2WqVOux_Dxz3KeOjq-jnhtA6V90xN4F0nwy5eRE2PjqCKAtYXnRGeqKhSkAqXH-xaHJecFCkWuCOindbS6Eve0GpXkUmTZhD-DT121EztnGwAHWp1ap8wiPDukJdYWSM6GqtB8Tb4zho2rSRI_TXSURtBylftWtCbArG8z795TsCh-38d6Ae17TDlanD7X9ciVFGaVYR6L3wPMdJ0bvUXf-xZURAOmQ4VVBaI9khcShp0pctkIjrRyfMWwNlcgxnxXK8PrCSO0H7iukUrZtkWJK6m7asSFzhPRTKNVAzuP-9YllnOZpyZU5oP4QWENMblBB60w53uDvl71XvDLhYA2s9maCFV7RhnBHb3A2TEIh0MkGKuQaE8bbBw-3M9ywjfDkxI05tYdxJ5ts3ZxIAxv40xqXMFnWN3rngVbWZYPzpzAa3R71DhEoJpLTcKRLCGwN8MjSKqhYDE_9miAM-l7eVLK00NOTgVTYzoCdvX53Av9RlPjIAl_nbDHGgr9sXi_zd7nGP9vOSwJvP5qVSvfdpN2dfTxCN_nxi9pBulkHAMjG2TskmmdlQnTTjxoW03BsPyDrzzyQWgYZMXOxJeM9XRxWRREZLWa1YkQ7pZ8yum6n53Nhwv9SJOQhkK8qPQbsiAcCM1sG-Yc6XiKRXDhXl2srhgZalxnqdZfxL54WALqR1drwefWypbb0B5FFYZfBdVwhp0p9tXYD8RJKCvbhQGMYbAXz-KNYFwctBEzuGrdy1h0-SuecVAS7v10utxjW6wokmlPi4Ib3z-CC250rlzZpNld7SXas8ikJ9hew9mz-WkVAo2c5Tie727wJipctq7LdRWb1MXutn2WQCOMf0dImGfglcnFuca33WPsg6Fo_S0uDlITnM8OalMt8mMwEximIOdybGpxg8X1Okz827T_m8sBHSWfcUTSV3XSauXPuEcTqZ7gafnop95E3zEFMA0owhPHxjD-XEGibkW62VAthl4ZqQkTKxV1_N3npvO2dqrjhRWJspnjZBcOt59vFiQUctwVFwKyw21RCv13NMp0QZ6OxXIc8yMdumvTNpDvCVhgoR-U-z-Dw84Lj-nAMlPBrawXJl3EDgdiEvdTCw1J4gVYDgpdY5uVjrAMI-ao37j0-KYM_w4Udwc_4vxqNtYPp3ykwbXBVWyFqQAcSqhYG4DWvzJNcuFx0WlLDWuZgJa6gidrlxGDfgblgn3zXCHUz30dGD8nLZfl9dsIjZkbBC0HohxcykIe_DW5GGGRxU3pXWGyKI8XNjkoP01a4Rn0ZLMJXMts9Eu_HFgdztYOL3P94liBvqdu6qbxQ-hRx5CtRY96xd-yRMeytn2LmoWMDMFxkH7GBeWA3QleUxd2D3zVWoCi8B9VoSew55GIiO8V0738zjgHW81ZgMPAnF68Exk6yoYAkTHZ0IKcbrS-iLaBUNabluFh6tNZcd8DkTUz3Tz5tcfNUPcGksTZQI3nqWS-F3H6DVaZs5UdLUcnZ6s4TEdbPOQS1vQZHhTzmLPirrgmlP6GK8IED2oVoKqdR6bta8DhuODOS9t22ht7rEPFAINmJR7DAFzf8J7JFvFBHa5R8ZK2YcU1iCf1WhwnLNBdcaWdX4HvtO3E1DYWM_V4jZ2VMrFNDeJZ49-mOiNmWhZ5WqaTjX2P-CdZJ6sDskvqfh9lnA094JLcdyKGUXVjSvJkuVeR85gkmzslRHPNkarc_7HZKKriglCDhxCF21vUuz1gBQ3xuL-S7lW2dXJuHBkTt2DpSMli3cLCvC6_P4GVXPwYDa2-4-EJqeEMKuUVGQ3xow==",
  "id": "rs_028c8a142639ebd2016ab442c2d30c87d0969912de5ac816d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.27,\"right_z\":0.003,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The pen shaft is centered precisely on the right wrist camera’s jaw column and runs into the fingertip region at the bottom edge. I am descending vertically to table level while keeping the gripper aligned along the shaft, so the jaws will close across it.\"}",
  "call_id": "call_Pkcf7b3q9AT2Gl4PZJIJni6p",
  "id": "fc_028c8a142639ebd2016ab442c4626887d0ae5e77917a1fff85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pkcf7b3q9AT2Gl4PZJIJni6p",
  "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]: [-0.0483, 1.0344, 0.815, -0.6426, -0.0517, -0.0544, 0.9979, 0.5674, 2.014, 0.9768, 0.3027, 0.0051, -0.0097, 0.9993]\nstate[eef_state]: left_x=0.298 left_y=-0.0017 left_z=0.1572 left_yaw=0.0153 left_pitch=-0.2886 left_roll=0.0096 left_gripper=0.9979 right_x=0.414 right_y=0.2671 right_z=0.0048 right_yaw=0.562 right_pitch=-0.1752 right_roll=-0.011 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.5214, -0.0855, -0.0562, -0.0122, -0.3077, -9.2513, 4.9709, 1.5214, -0.0464, 0.4957, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1351db0309ab10f320ff91dd80ba2d362c25a498905ef663a9f5dd6bb7a01a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0b68b313184ca82bac52706a983230f2be8beef3394f107972a97129df82d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f68318a10f0e976df07d17aecae82e02596edfaac53ab89e7a5d4ba413e16f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.35 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 2.0655, 1.1244, 0.1322, -0.0513, -0.0505, 0.0091, -0.0193, 0.8112, 0.6125, -0.4133, -0.0204, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.4448 left_y=-0.2464 left_z=0.0035 left_yaw=-0.4706 left_pitch=-0.2358 left_roll=0.0085 left_gripper=0.0091 right_x=0.2924 right_y=0.0016 right_z=0.1723 right_yaw=-0.0005 right_pitch=-0.0526 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -11.7675, 5.6547, 1.1648, 0.0757, -0.022, 0.6032, -0.1846, -1.347, 6.9812, 1.6923, -0.0269, -0.0611, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0332, 0.815, -0.6357, -0.0517, -0.0547, 0.9979, 0.5613, 1.7168, 1.0809, -0.0574, 0.0143, 0.0071, 0.9993]\nstate[eef_state]: left_x=0.2993 left_y=-0.0017 left_z=0.1586 left_yaw=0.0154 left_pitch=-0.2806 left_roll=0.0088 left_gripper=0.9979 right_x=0.4066 right_y=0.257 right_z=0.1184 right_yaw=0.5391 right_pitch=-0.1339 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -3.0701, 6.9265, 1.6874, -0.0611, -0.0904, 0.0171, 0.2667, -8.3487, 9.3607, 2.0781, -0.0024, 0.0659, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6426, -0.0517, -0.0544, 0.9979, 0.5674, 2.014, 0.9768, 0.3027, 0.0051, -0.0097, 0.9993]\nstate[eef_state]: left_x=0.298 left_y=-0.0017 left_z=0.1572 left_yaw=0.0153 left_pitch=-0.2886 left_roll=0.0096 left_gripper=0.9979 right_x=0.414 right_y=0.2671 right_z=0.0048 right_yaw=0.562 right_pitch=-0.1752 right_roll=-0.011 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.5214, -0.0855, -0.0562, -0.0122, -0.3077, -9.2513, 4.9709, 1.5214, -0.0464, 0.4957, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1351db0309ab10f320ff91dd80ba2d362c25a498905ef663a9f5dd6bb7a01a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0b68b313184ca82bac52706a983230f2be8beef3394f107972a97129df82d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f68318a10f0e976df07d17aecae82e02596edfaac53ab89e7a5d4ba413e16f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_028c8a142639ebd2016ab442c94f8887d0b27b8648d25658ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table level the pen is still centered between the right fingertips, with the shaft crossing the closing direction. I am closing fully around the pen and will verify by jaw spacing and a short lift.\"}",
  "call_id": "call_OULCYXqROwPPIEKS2cvZQZYI",
  "id": "fc_028c8a142639ebd2016ab442c9801487d0bb0d353ac88376df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OULCYXqROwPPIEKS2cvZQZYI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6449, -0.0517, -0.0544, 0.9979, 0.5674, 2.0224, 0.9798, 0.3519, 0.001, -0.0124, 0.0105]\nstate[eef_state]: left_x=0.2976 left_y=-0.0016 left_z=0.1568 left_yaw=0.0154 left_pitch=-0.2909 left_roll=0.0097 left_gripper=0.9979 right_x=0.4205 right_y=0.2721 right_z=0.0111 right_yaw=0.567 right_pitch=-0.1313 right_roll=-0.0101 right_gripper=0.0105\nstate[joint_eff]: [-0.0342, -2.7282, 6.7761, 1.4725, -0.0611, -0.0659, -0.0073, -0.2667, -10.1538, 5.2444, 1.3114, 0.0317, -0.0415, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f3763dc5f98edba5bfb72a75a08678bb4fe209e6bc6d8415871454b614705b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e4af23b8498505f8aa3cd7059c6b3a3899a8955c3e04b38bd7a529de7c0bf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ca27e056a21d5447517feff31568b9d7fb9ffc99c640b0b59f7e22d0ee701c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.107 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0286, 0.8135, -0.6079, -0.0566, -0.0582, 0.9977, -0.0193, 0.8165, 0.6125, -0.4133, -0.0208, -0.0143, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0011 left_z=0.1639 left_yaw=0.0211 left_pitch=-0.2495 left_roll=0.0081 left_gripper=0.9977 right_x=0.2927 right_y=0.0016 right_z=0.1708 right_yaw=-0.0002 right_pitch=-0.058 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -3.5761, 10.2085, 1.4628, 0.0952, 0.2173, 0.0366, -0.1162, -1.7436, 7.2137, 1.6972, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6426, -0.0517, -0.0544, 0.9979, 0.5674, 2.014, 0.9768, 0.3027, 0.0051, -0.0097, 0.9993]\nstate[eef_state]: left_x=0.298 left_y=-0.0017 left_z=0.1572 left_yaw=0.0153 left_pitch=-0.2886 left_roll=0.0096 left_gripper=0.9979 right_x=0.414 right_y=0.2671 right_z=0.0048 right_yaw=0.562 right_pitch=-0.1752 right_roll=-0.011 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.5214, -0.0855, -0.0562, -0.0122, -0.3077, -9.2513, 4.9709, 1.5214, -0.0464, 0.4957, -0.0904]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6449, -0.0517, -0.0544, 0.9979, 0.5674, 2.0224, 0.9798, 0.3519, 0.001, -0.0124, 0.0105]\nstate[eef_state]: left_x=0.2976 left_y=-0.0016 left_z=0.1568 left_yaw=0.0154 left_pitch=-0.2909 left_roll=0.0097 left_gripper=0.9979 right_x=0.4205 right_y=0.2721 right_z=0.0111 right_yaw=0.567 right_pitch=-0.1313 right_roll=-0.0101 right_gripper=0.0105\nstate[joint_eff]: [-0.0342, -2.7282, 6.7761, 1.4725, -0.0611, -0.0659, -0.0073, -0.2667, -10.1538, 5.2444, 1.3114, 0.0317, -0.0415, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f3763dc5f98edba5bfb72a75a08678bb4fe209e6bc6d8415871454b614705b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e4af23b8498505f8aa3cd7059c6b3a3899a8955c3e04b38bd7a529de7c0bf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ca27e056a21d5447517feff31568b9d7fb9ffc99c640b0b59f7e22d0ee701c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELOy4usvltyktADpDBvnVdunNpLuX1VW5G1sjQu6_luGDqaXE1C5rc7NZ1FSxUe6jx3V-cNdCoP2o9Quamx1gUd3Hq9n7sOCg1TKzOOPfVWLGo0VHdrhLUbyQQgn-NUEXz3gsy_C8lPR0lyXs8Jcb-WTRffgwRuB_9S5lcvzJzMiAIk85gQWQ5tuQq_sowjR__uJ9L5D2NGoIQBk8h7TyOF8lkXJTWQtUuTwYw0Z2y3w39qciTDQKPg6d1c0taQ7gBVL3RLxFp6w_UYzQ_NspObwDM90uJchS07V1Pfbhdmj_D8O_7uV44jwO7TTCPdK2vaInjWJVGBXmYMpQW1Lw2Nb6VIdgfqheTXHWZp64rCUgpugnbSevJ9giXANJ4tsnNhQtGRZ1CDBAs5uVJeO5FeNxNIbYjaplLiv4KSEOdb9MSUs0ZfSBfRZd7FAojSJ1HkPLq3-9-snrs1WgpEDZDV1tCznjVzcfscskdP89RFmEQcajmRor5w4Gfb56WJ9rFU3Nmb9SRVPSI1bPoPSJSD2QRv3EoGA2JDJPRx3-THWUof5yyI9ILibyzkico2rE2kpQnk-pHvCNu4YLltp1Hauw64zz_DqIcfIWKWgdn4oKUa3un4o1xgzkopBytGfY-x3Aom-ylvS74cbqqFr3auMRAEc-iICwjwbamw0a_vRZvYX82WIBjik0ychmuERRo2-rcQ2NwwdvisxJflpPOGg3q4DKWht08rEQsmM8Paz0sYdgt2ytFpLlLyHFGY5y2m7UWUF4jlLU3JrUlrzXCEV4ZAhDQHPBExCnfQVNGdaSy67O7bPMt1qLJk7i73zpl9EtoPWto2RSUUQ27aNkk1VSA14uG0tD5S4AOXw9AQrSGDTXRQXjI9MMAJLJUcgYklUxZKh2roU0x476Ia5Y5gt5RqI5UEbuhPzKkIVRVyz4kt3QW_GbABgLkUM-78AgMwXBg5SoOpCO5zI60F16XYWaYHdGk2Ylh9lxOhXgBd6j5VsbKNcKGBouUVfBoF_WEm-f0vdgq_GJFS8Se-0_3Rfaj1E94AeUGEAc4DhByU4hHvJIev_bz1HS8eigKY1RnI6kiWoM5ngSzdUb0KX-ln59rXzgu_jfk_7CKAJg8N3VWpDkBnxKEU5OQ0BxC7FFeplsdzQZBkV9ZLG2yltlJB0_eow8XjIMcnQaODoi2iuSWXLBPOuQjefQ0qyGNwALVGi5HvCP7T9OnRetC16rnOwq5QL_4MaUEH_N5jfTaLfQupASBFF-a_uTr-R9-3WDP1u-3vEdTeZ74IJd9QKPiF0E57CFc8mnChKPLoe1rHgCV-8W5h8uzmRDx7Y4gbySiRSZykC0vKzIxO-kIHivJcRCqWgXQXdKJ1WlyXNYEXuf7OXly5CK6dYsLbX_X5294b7Fx2t8lTTZ_Lr_In5ljsmOTaUv-tbS1ew80aPOnhbqvAS9IqD7pgD_99GRpsiu3lD1Or4x013qEYB9xWIlhctQBMu0Uw-JuGwUs1bwxfLdv9ii_TanDhU4ygcqFL94izSxsGMD_V8kcSmi_De7bO1GgGKNkXTpkFZbuJ_JfsDO-X4IynrsIU_sHRgFfZzuKX8hQPQ7I2tfHdQNBU4DBigpkmFmarcAIhM_viOXEerp-8uVB-njXp3AguVIUjFzjAKOaERgIXJjLYz6XuB-GDWxv5U7UAHRXvJQ8QsaBo4IYputX3PpCZN55n_7kD4P18hGzWhugDiFSsqbgi25aQu9QXfzE-xShftVlY7kc4in6ZAGE40r8xMXwow_GBdsVzTcsNQm2unhrKPy7iMEiwec3cWdi4Hf471K4iakbTXtOOindOK6QtXch1VVmWOT65bwrS3530yIpNvIRJxp_Dnl5wJ4fRpDISvoDJE843BT6LB88PzdNIKR_5xGo45ZXXk_tyLX1vF0QLxFxwCFCXZM3vtj62CdgGDi-QSt9bUdKNJ5ivEY6dsC1Ue4JlDoGG",
  "id": "rs_028c8a142639ebd2016ab442cc27b487d09c4dd370ec4a545c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The right jaws nearly closed, but a thin dark shaft remains visibly centered between the fingertips; because this pen may be only a few millimetres thick, spacing alone is ambiguous. I am lifting 6 cm to see whether the pen rises with the gripper in the overhead view.\"}",
  "call_id": "call_KaJSw0yWFfiBZMO5vPM6i1jM",
  "id": "fc_028c8a142639ebd2016ab442cd973487d09b82faddf1cb2288",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KaJSw0yWFfiBZMO5vPM6i1jM",
  "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]: [-0.0483, 1.0351, 0.815, -0.6479, -0.0517, -0.0544, 0.9979, 0.5674, 1.9259, 1.0199, 0.1741, -0.0025, -0.0151, 0.0126]\nstate[eef_state]: left_x=0.2971 left_y=-0.0016 left_z=0.1561 left_yaw=0.0154 left_pitch=-0.2947 left_roll=0.01 left_gripper=0.9979 right_x=0.4142 right_y=0.2688 right_z=0.039 right_yaw=0.5714 right_pitch=-0.1725 right_roll=-0.0098 right_gripper=0.0126\nstate[joint_eff]: [-0.0889, -2.6872, 7.241, 1.4872, -0.0366, -0.0708, -0.0122, -0.2803, -12.4376, 8.4034, 1.663, 0.0024, -0.0269, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d989708c45effb38ef39696f2c7d13deb549bf6103d8897f9bc5d07a70637e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4f6879c761cb72f800cc60aadaa58538b1693b117681bc43bd07e62011bb8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f977a764016fd115ba83e7abe89937ab5c1b05ea94eae60303f39c6252f38b60",
      "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 · 6.736 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0332, 0.815, -0.6357, -0.0517, -0.0547, 0.9979, 0.5613, 1.7168, 1.0809, -0.0574, 0.0143, 0.0071, 0.9993]\nstate[eef_state]: left_x=0.2993 left_y=-0.0017 left_z=0.1586 left_yaw=0.0154 left_pitch=-0.2806 left_roll=0.0088 left_gripper=0.9979 right_x=0.4066 right_y=0.257 right_z=0.1184 right_yaw=0.5391 right_pitch=-0.1339 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -3.0701, 6.9265, 1.6874, -0.0611, -0.0904, 0.0171, 0.2667, -8.3487, 9.3607, 2.0781, -0.0024, 0.0659, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6449, -0.0517, -0.0544, 0.9979, 0.5674, 2.0224, 0.9798, 0.3519, 0.001, -0.0124, 0.0105]\nstate[eef_state]: left_x=0.2976 left_y=-0.0016 left_z=0.1568 left_yaw=0.0154 left_pitch=-0.2909 left_roll=0.0097 left_gripper=0.9979 right_x=0.4205 right_y=0.2721 right_z=0.0111 right_yaw=0.567 right_pitch=-0.1313 right_roll=-0.0101 right_gripper=0.0105\nstate[joint_eff]: [-0.0342, -2.7282, 6.7761, 1.4725, -0.0611, -0.0659, -0.0073, -0.2667, -10.1538, 5.2444, 1.3114, 0.0317, -0.0415, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0351, 0.815, -0.6479, -0.0517, -0.0544, 0.9979, 0.5674, 1.9259, 1.0199, 0.1741, -0.0025, -0.0151, 0.0126]\nstate[eef_state]: left_x=0.2971 left_y=-0.0016 left_z=0.1561 left_yaw=0.0154 left_pitch=-0.2947 left_roll=0.01 left_gripper=0.9979 right_x=0.4142 right_y=0.2688 right_z=0.039 right_yaw=0.5714 right_pitch=-0.1725 right_roll=-0.0098 right_gripper=0.0126\nstate[joint_eff]: [-0.0889, -2.6872, 7.241, 1.4872, -0.0366, -0.0708, -0.0122, -0.2803, -12.4376, 8.4034, 1.663, 0.0024, -0.0269, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d989708c45effb38ef39696f2c7d13deb549bf6103d8897f9bc5d07a70637e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4f6879c761cb72f800cc60aadaa58538b1693b117681bc43bd07e62011bb8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f977a764016fd115ba83e7abe89937ab5c1b05ea94eae60303f39c6252f38b60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELRfagfVqt1G2Kz62ctJVpiJ29aFuxfT7qTyzPtnvRN8TjoD7QCEgWJomaQbLQb8fUCbEIA-IC2kGgaiREvmj6_verGYgk5jt2KEKp79FSBI4nTYPPUqxJu9qFBaOk7-06SI3nHPdm53VRkYnxgsG0wEdjr5kQQNsoIGKLGWvzCoZiIUxG4VZYHi6B0kDyJUcYA_uvQmBtHH4XG7vKtYKSOictZM2WzBrU7GXOsWe9huK9zpQdF4cO9My2pABZ0y0xjfDlre_afq7LRxVS_X87zvJuLKrOhgP_uSL2uQ9tbIgRMLAtpMf2sSG6Kf5JXb3fdWQSVHYyS3o9FIgHEb5hrxWoAra-ubR9R5XOlWFAxbPUur3xslK3ux1LkQMKmzA23u2VvdxK9Ij0hkVwmrCKobnnq-QM9chg_l9MMJO6t69o6uoCLyK_6r8xK5bgMeQQ4NwfA9ld-TUjvMaH0CdFxLCrZ2rSOxRJyeR3Mpb6zGyBqzQZOrqdaXKEECG4B-xy8CVdLVjYEjYJ--mQP3xh5AfyfJvl07QdPDhsS56sfXw3m5mv5aIjkkN9oBkRt-4Aq5wRhNQDLAwOmg5vtHJirADVjURs0mElTEV_wuW--ZKHXFRuFnoqo05-9R4z_YTC1KJAzJja3sWTIuKb-q0fTWsGC6lLvFqaYngyNhSUbeDOeiQCYZnFB9qBncHs1vM2TgAslJIMJUDSZ7a41BaPMHPC3gz_7AWby44zUOfoy-DzkGNEFVL5cHNZbuf5_Idi5zZbGvaLl6BGV0Lp0Z5GlhrAFBcEboukVbWQaiRw5zYSaZIxRvlaPIdwPMy0CPN45s0sumKW-oro1iEfT5m7QWjK_fypIx4ujXvpQ5B0YJOHDaJsijqubr8Aumw6LvElnv8tUsmMv7j3KlJOur0zpnANyjfn71J3_73-qLtUbrfY1ZYLun0WOYlJ-QZlRVJBO5MsD-iJMNd4D1rKzG2GHYiDvt3Whn3NHgSD2OBf_fXCENURa3pArya0Ds3C6lvBILQm7yrGf4MMnqaScgv4q4flI8qckvtCcsOhta0iH3VJEfru7f_K2ye7kpXEtcbFZsQPWAhrGPraUlKqxryvdW3XFwNW5Qeisy9_we00B_z2lF4PPF80VfSc6dTTXqfBByGBVyudVf-3zZrdpUrU7ghcrj23IhDX_bfv5yVcl8taU2Bod1bTVGfNtZAOLnZs0IDTVvmpsq7a_Vw6cLeFvycHqdrM3qyMddRBidu_pWGzzCQWmI3RXTVT9eScuMvwuMcyBTRZ8DC3caf-KOTafdcydL4oa2kCp1_wyVsQG6o9vhfetgv__jJFc1CcRbQz5xq-Fr_H_5BQCJKh-gRTQmjFnDSEhgrUo8xFyPdoUqArRCiKqYG25V56KzU8Du3siXmYp7VdU5RTUXmDVjSpTmokDZ00xnSceEr1zXDDK4TilQofzmUSoTzhQtzPYp3Ln7ctqg-uKt1vLuiXUezgz7CMmnEZBkZf7PXBrN05rp-5HLNuXM-SJWHQ5DL4Hk1CJMW54sY-3rh6leMOK3lEIQEeOx6bzvTSIszrpCGRCh3tsmm0TLtveZRwigcR_W00qiWBdKUfM0hOlYTOlpMedA9cCfDEejngf5eMC0gPtTxeArxujwR06aALwZCerlWhyKUfc-a_821OIXkfmwJaD56ZSk5TvGNuZmsJ8-tVJ7ySdPRjMaA1zK3RuZs35dsyBRG-Lf74MaDzAGhqnpfBEap89c3Rct5ho2ZLuUc7lfiJ5TMC5oIszV2yDZ-T3pOzi",
  "id": "rs_028c8a142639ebd2016ab442cff27487d0b75a9e724fffb0c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The lifted wrist view shows the pen lying off to image-left rather than between the fingers, confirming an empty/ejected grasp. I am parking and reopening the right arm to expose both pieces and re-plan from their actual positions.\"}",
  "call_id": "call_MVjXlhnygqkZtqfaywJFzmsb",
  "id": "fc_028c8a142639ebd2016ab442d10e0c87d0a3f4de7e4c14abd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MVjXlhnygqkZtqfaywJFzmsb",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.6559, -0.0517, -0.0544, 0.9979, -0.0025, 0.9646, 0.7406, -0.5339, 0.0025, -0.0139, 0.998]\nstate[eef_state]: left_x=0.2956 left_y=-0.0015 left_z=0.1546 left_yaw=0.0156 left_pitch=-0.3035 left_roll=0.0105 left_gripper=0.9979 right_x=0.3011 right_y=0.0024 right_z=0.1636 right_yaw=-0.0034 right_pitch=-0.1985 right_roll=-0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.7692, 6.7624, 1.5165, -0.0757, -0.0708, -0.0122, -0.4444, -3.0838, 9.894, 1.5702, -0.0708, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621d60159467b5045897ad13104d792cf2bb6e54d060ac08ca20c86689085f35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f9a8c9caf48d8f38f99a88125db807a3cb6e9888f429b153a54e1fb682008f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5562d308ce614c4ace09dbfd34cdec42371894336649a7a429e7dec4d4788df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.387 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6426, -0.0517, -0.0544, 0.9979, 0.5674, 2.014, 0.9768, 0.3027, 0.0051, -0.0097, 0.9993]\nstate[eef_state]: left_x=0.298 left_y=-0.0017 left_z=0.1572 left_yaw=0.0153 left_pitch=-0.2886 left_roll=0.0096 left_gripper=0.9979 right_x=0.414 right_y=0.2671 right_z=0.0048 right_yaw=0.562 right_pitch=-0.1752 right_roll=-0.011 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.5214, -0.0855, -0.0562, -0.0122, -0.3077, -9.2513, 4.9709, 1.5214, -0.0464, 0.4957, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0351, 0.815, -0.6479, -0.0517, -0.0544, 0.9979, 0.5674, 1.9259, 1.0199, 0.1741, -0.0025, -0.0151, 0.0126]\nstate[eef_state]: left_x=0.2971 left_y=-0.0016 left_z=0.1561 left_yaw=0.0154 left_pitch=-0.2947 left_roll=0.01 left_gripper=0.9979 right_x=0.4142 right_y=0.2688 right_z=0.039 right_yaw=0.5714 right_pitch=-0.1725 right_roll=-0.0098 right_gripper=0.0126\nstate[joint_eff]: [-0.0889, -2.6872, 7.241, 1.4872, -0.0366, -0.0708, -0.0122, -0.2803, -12.4376, 8.4034, 1.663, 0.0024, -0.0269, 0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.6559, -0.0517, -0.0544, 0.9979, -0.0025, 0.9646, 0.7406, -0.5339, 0.0025, -0.0139, 0.998]\nstate[eef_state]: left_x=0.2956 left_y=-0.0015 left_z=0.1546 left_yaw=0.0156 left_pitch=-0.3035 left_roll=0.0105 left_gripper=0.9979 right_x=0.3011 right_y=0.0024 right_z=0.1636 right_yaw=-0.0034 right_pitch=-0.1985 right_roll=-0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.7692, 6.7624, 1.5165, -0.0757, -0.0708, -0.0122, -0.4444, -3.0838, 9.894, 1.5702, -0.0708, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621d60159467b5045897ad13104d792cf2bb6e54d060ac08ca20c86689085f35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f9a8c9caf48d8f38f99a88125db807a3cb6e9888f429b153a54e1fb682008f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5562d308ce614c4ace09dbfd34cdec42371894336649a7a429e7dec4d4788df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELajE5X9xQ1I0eAm5kcVT-w5RjAm-Q51DChAaNqsQ9qi25ywa2iXgdjWxkesc0yQ18Fk19EBNkGtzgC1He1CggXDJSkIP4dKDr_guXZst-U3L_6kg8YXHRthhErTTQlwlRXEWhTL_rjUL41xqI1YIaYCs8kCUDqfT-R5XsuGydhgwm_E7vOwfZAR2vK9ZOWsn0d1jBeI35LHntPg8nNiHRTCUbvJwcDhDKbphjmlA0TDPaQFbKog0IX6iIxhOEGxBsV21HlIEJNkZGmy3jUi8UAUanWVAzHIVVigrELYi-W19F1PldykkN5_1kvQh-N5bFtolh1tQwEdvR6ONJU-nm3sXejtgoQg7U7irqkkqegASBGtXqBhI9Q3xnKS8E8QGoAkCf8bEfUKQTOTf9UAPvaxQfWWSfB2fTTLM9BoGDayLrANnMRJoUChis30ATVjls1il2-_CFMhniODHG_Q9i54dgVoNWHFXhsX0FKWJLZzdm5l4ovht8_n2B9SBbkz2umy0ivFBh41hUT-ZnvRN7ItHmiw2k7Oy2VHJEztym7-h9tzttzSGlR-YqBHsuH4V8ZwXaMRsxU5_yXeKics6yX-g0_-GvIUaXk73I7OAPJ8fqc7D9plYCjJzbe9GyJ5cajff4qRRgj5wOfmViW4lECFMxPLSwv8bg1NvAUPn5KB7C9ncDpQSLxgRWcA02P9Sd5ZveUccLIwRYrqyIOtMbYPQDpvvCxhs4c6vrsjxnwMDLHk8RtKCCrhrkT5yF8RjXo3QNvUGe43yYtmkKcvI8VfnRu6N_3fx3s-BH_MYO8SFasjQDb3xk2FHNcJH_HylGZE5LA4GyIWH9i4b7Whjvyb4unySeMfak5t_ioeRHGcmquZeB-8GrfoDP3HVxWOKKfNzQeUxkyMiJWYfwM8-e8iLLXMQh267hKaGLr466oB2D3yqD4KzUKwPEKQb-F0cvgEWO74dbWEPej7_TF1bDqDgMaqt_1GlVX61C27PxIWWNRPfYMO_EV2_jiQNcSulmYMRiuOfodyqCrDwS0c5Gx9WC1EKCfM9f7l2PA33HOBxjyvglAYv3t_9CRg4QHUdkqemxjgtv3S98SRnl8EreLrBqWu_Exib8gprAgjDBIU4PLok43ODZbew6cL6Y3llPaPG-2NlYGvNwXP_ouG2c9TrHNbGIx-1LcCXk05uxg8TOwQ_12L67UnDqIQ-59CgjbcT6lGPFW2UpOB_zJ_QNd2sRGv3Ixc4QX0YjuumRjJcc0HnMB0QuTVOJBFojc488yZpNR8Y8nefn0_C5O0p4bULERkB-vCsS7hKa4pzKmWa6lvqK4j3OKTScYAGDvqLMSh6rTODOhxCJsnl42op_DKu92p8ACzV2qlZI5mRUp3sE3fmINWjVeXSeNaBSOsa1K3k3MqDytWRhODg8aCvlTLw-SV52YdC8jMhP2wzWFlmy1ScHzS8plRp6Wz2bcpRtlO_sPEnNDxV_A762iP6ZIEMlRZROtLGW8zVeTjB98S85PTRZwqxBr6nuWYeo0C_sBK7KLqH8lWixiJa73pdDtszApUCVgifMgq0ZQjSRV3348LIaT2fSsGFa-zdZKbImvT47pBW16pl_DwiVxHCPge0UkNYvridLvnUTVJk50jn-ZJaxkp8ycowUmHJWQ6qE_w1cpNALKxnHjtN5-JdEsKGNwj6Sl8g_lGOjLcITkCD8ll4C_r4BEF5mrZ841R8vMCroBqLCcBGjxzATZadfAhFiVGU-7Kj4TYlFQTbtsJau7Ja1fs3T0j9twl_KJR7IfFtSYKjEY-d6jrZGqQm9W6Ge4q995Zbt7b-LjMPR6LnEmzFwAQdBxA7zdWcjjX8OB6zA8W5PjCS2DNjLjYxwU1AL9q524B1yEJQaCvrFzTGI5NLn-zhWIpvCACl8QugQH63pSZQaYhFoCBR0pQU_vrnShjNkLjV1HkwH03vcQOvsSt4WaEmYxAGF0FPrJRkbaJ3_71mKnujhQaMmANPLFbtsxT26iStTE2Q9FdOXO-e7YCW4l-Kzs8tBOlHWugGWLPo-BM5e3R0HWhsR-drbioajxrCNBthhX53LdGIVQ94CdVqXDbMIfDLjEcpUP7jrKd0PUEweD30axAK6ENEZfr_LTtyrj3i-dk5BrevsUNyqu0gtrcd7MHiFxM56X3XGUza-8pW2q6qVV0TI3vuioGamB6LAmB2EV-eabcOZ7UBVdPiwcEIMDrPzIuH30gogxlBPDnhmxSphDwo-9DpHbCb4PPdiGjZ7VcNuNH1j5zFHyfADtskRbvqZOF9Kz4aLD-q7nsZi7cdIkAwJsnZ-E6G4FWsnRNagjM_LI79mH6xzeJc5iwEUeqll5zgltpzTuK9nnuw-MLtjG8k0Dcr2s1vzjifjGkKwgP1YR2gcVci47NOOzBLwnorUSg2aT24ErgovFV7EHZfoqVtAhTJtgKDYYFlg1CCPPqTOu0vPu9a8qT5fOVpPLXbAgs89_C2yY2C9WOVABHn9SaiyqISC26Cg4Z5j0ydXMLKCNnCclX89Q36wOm4K4E5BIklrHQT_9HBK1BG4U4cTkHvrmqdX7f98uCFebzG8IU0yTGgPTHPokPgp0cQqbqJRcgx-tXniiFKoHGZLxLKPgQCd5srndBG_4kpLArILYnE9qFXqh3_oq3Xe617cdaXxRoolAxVwMLWNVce56t9uydjMOC-Ug-qeQ8_UY0xe51smVv5_k1sODeCv_XE3DJFYqX4ZpoD975U3ybW6dAuo2UVGTwPbtn5RkIcrOuUWxa38DJNWZcL5y1g_NQ13MJrkSL7Koq3xEvUHzLYXD8hHX2ls4066E_DcrnEMDu03sWvj2NclrjiBFBxxWujSblZa-yd7udna9u-9gNfSxhWflwiAKh5RqXUNeZVk2yYsZoJ85rCIHbKNoxMl1JwbMCTLvDygYcTt69YRjxMCWyHjn8ET3M2tyxe-p0-aT9syhtDz4bPJN_w6Rhg5kr_f-gnpEV-E1hOotw4tN4FrL09mpMy7l0pIYpM19g9nwt0cOr6VTxbR-K8CMfBQJtymG_gAuOC64LoEozFxFrS020WkNGTZZA7_-jIznWoAgYEyYUEHlqLdvGlP6khUsKO-FrE7lJexe13PwoYVinVr7GoFS19flLTUrZR3ckLg8po0N7qZUosCT_w_6LLWx7WPl4UV1cVlMCwiBR4FieyGn4L7bE48LH-1gJjIFw7W85EYvxZMYtL6Ft8qdEcw3odF73VHnB3exZCD0ZOX2suR5FigR4HEgpCBTKpqRLoJ6BYwd6XGGE-RFr0-v66VeF_2DvOJtM2Rlm0RE1LX58kVvkIMOfXn8bwc1lwG6TsDc3zteZ1R4kCfGcYqTfxdypx1D0rXtBApZdydtN0lzwLqBQZ2msxzg0vEQC3xAnamdreL3gIaU8qaB5TUJ4ptXGanQyZSRMtaic3j0zDDY6k-qSchw5zpcxyxGozQ8GS6giq1UP2xpE6QsAi9m_VsXTNBR4YiDQTlJCHKZ",
  "id": "rs_028c8a142639ebd2016ab442d53d2c87d0a8608cad49ada2c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.27,\"right_z\":0.13,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"Both pieces are still essentially in their starting places; the pen is the long diagonal shaft, and the prior rounded-object close likely pushed it sideways. I am retrying the pen 2 cm farther outward, keeping the shaft-aligned yaw, and will use a partial close rather than crushing fully.\"}",
  "call_id": "call_hX2vXR1CLle6SKu8pdQ9y7jd",
  "id": "fc_028c8a142639ebd2016ab442d9d39887d08db43cc7833508f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hX2vXR1CLle6SKu8pdQ9y7jd",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.667, -0.0517, -0.0544, 0.9979, 0.5426, 1.8404, 1.2945, -0.2951, -0.0059, -0.0322, 0.999]\nstate[eef_state]: left_x=0.2935 left_y=-0.0014 left_z=0.1529 left_yaw=0.0158 left_pitch=-0.3145 left_roll=0.0113 left_gripper=0.9979 right_x=0.4219 right_y=0.2598 right_z=0.1068 right_yaw=0.5592 right_pitch=-0.2817 right_roll=-0.0186 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7419, 7.0632, 1.4725, -0.0366, -0.0269, -0.0122, -0.3761, -9.7983, 9.7983, 1.8926, 0.0415, 0.2369, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b20f70eb1dc96abd3f32fc1fc2df5c137c12f112ff6fd13752cc6e0ecfef10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dbbb9beb09babfd39555d7f406a901c854e2834593c286b01a14c1a6fa45835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fabb4ebe426737563a5561d9bfa666d50beb7c9a196088f3cf1747508bdb0f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.708 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0344, 0.815, -0.6449, -0.0517, -0.0544, 0.9979, 0.5674, 2.0224, 0.9798, 0.3519, 0.001, -0.0124, 0.0105]\nstate[eef_state]: left_x=0.2976 left_y=-0.0016 left_z=0.1568 left_yaw=0.0154 left_pitch=-0.2909 left_roll=0.0097 left_gripper=0.9979 right_x=0.4205 right_y=0.2721 right_z=0.0111 right_yaw=0.567 right_pitch=-0.1313 right_roll=-0.0101 right_gripper=0.0105\nstate[joint_eff]: [-0.0342, -2.7282, 6.7761, 1.4725, -0.0611, -0.0659, -0.0073, -0.2667, -10.1538, 5.2444, 1.3114, 0.0317, -0.0415, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.6559, -0.0517, -0.0544, 0.9979, -0.0025, 0.9646, 0.7406, -0.5339, 0.0025, -0.0139, 0.998]\nstate[eef_state]: left_x=0.2956 left_y=-0.0015 left_z=0.1546 left_yaw=0.0156 left_pitch=-0.3035 left_roll=0.0105 left_gripper=0.9979 right_x=0.3011 right_y=0.0024 right_z=0.1636 right_yaw=-0.0034 right_pitch=-0.1985 right_roll=-0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.7692, 6.7624, 1.5165, -0.0757, -0.0708, -0.0122, -0.4444, -3.0838, 9.894, 1.5702, -0.0708, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.667, -0.0517, -0.0544, 0.9979, 0.5426, 1.8404, 1.2945, -0.2951, -0.0059, -0.0322, 0.999]\nstate[eef_state]: left_x=0.2935 left_y=-0.0014 left_z=0.1529 left_yaw=0.0158 left_pitch=-0.3145 left_roll=0.0113 left_gripper=0.9979 right_x=0.4219 right_y=0.2598 right_z=0.1068 right_yaw=0.5592 right_pitch=-0.2817 right_roll=-0.0186 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7419, 7.0632, 1.4725, -0.0366, -0.0269, -0.0122, -0.3761, -9.7983, 9.7983, 1.8926, 0.0415, 0.2369, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b20f70eb1dc96abd3f32fc1fc2df5c137c12f112ff6fd13752cc6e0ecfef10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dbbb9beb09babfd39555d7f406a901c854e2834593c286b01a14c1a6fa45835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fabb4ebe426737563a5561d9bfa666d50beb7c9a196088f3cf1747508bdb0f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELgBcAKVATdGfGESDqQKrCO91SZBTxqwWV3BZY2wN6YJH3NFg6MASQRILYAkzDyjzkOKVqtBCVvdKzLZmWX-ROQyFpVaoEgLDRI5DbF8s2i4XudSE4M2ag-32qzzKWiqEpRs9uzprjVJRWlogcec-oRoVfjNBXz1eTzWlEDJPds2yenemPORYp99z9BYnMg-W9NkQzepG-lKqw-a1AG1nDwKjEZIA-OIFySGu1gqdN0kuU1JBJzCC_grhkVgrGaoOdqxUDaW4YeZnoxekm2s6DFpBSma6_DafDKtzsyYBZfpltynYueyaxyIVC8T8us1W0M-OZVO3fq6Vj3W_ZvwmSnSIA31QRjIBC2v26JCQ3Z1IOf-NAxfGiAEFvdWCBslm3euLTGIo3BF07Rv2I9Qr__KBcLd_unN1lK6WhcMj7e1AhUXCHu0K0grJosyfNxzj65yFzmUSF8md85TpDdVdJbl5sXA3ovws3GRw1jB8GyF8KK4qoxM6EajxUJYyIQKDS3DP3aceSIYa3vrab1HihmvOgbNhKEi-m8vtaX150ISLnp2A3nPOS5ZjxY16YSFQazT1mbLh4sJtxCG5DCaKdZSKiFBgCu6Kr9oYh43x85ipxu7Z_wYSb7Kz3iKSmS1MjujGYVbWk1oR19U5FTFwvrrfH70UVgS0bOrwpFbW_PTT2ACq0M_yrPxaV2q0nOrrzvhkASEItMqUCN55YukEqheVgwzeEjJyqn76CB84_00fjYXgJh_DXMnwaH5D0dYqp0QeAxSBb_TtOK3MPRI1kcPPtV_peTZH2ffQo9TWuPtGpq05K_bqXzGKGH2O-8fG2LiH7joaQNiCvhAdKB12q1a1MkTl7xsOYyo7Am-hssaYsxKhFZlEyAZDiH2xeKJhtUnGqUopxXAJPK6xwA4y2ndRn-hXazKrq29EQUQE_IURGngm3_KIQ02jF-zSjtNrsciVHT_LDm-8sa7nQbuIrNlLgiUQi3zZK0WZ5A0Rq0_uda1jF6xXJKSgjenwQ4WKm7-vxAvMb5OJrczgkmLlGolwmr_ubQxEUmPi9QnKKQQ0twAaW_za_UaVmD5JwU4Joi4ErCglTboEfzepbucfReyDdxNAxeo8tsq5DC6FdfhcTtGxetzt7bxbM4ytATgeG-6oO4dQB3m03UFzcpIniMIbNxsT4tmWeqzFO-kVFtBgX21srMdDt_br7e78K3ZCn-ihzyHkj3I6hpFz94hMZqlfCauNnsZfOgtUyjBYWHKJP9f_4ATLHbcs1jnVbfKhsWuCk8_I7mQaSYL5KIKQd6MKIk_afbwBjOIevwD_RhWrSdjG1tJnJ5EQ9aIMGXQazJQurL3nrsxoVOLxP8_grShhzmsDwXruClWv1_5PNgypa591jRMXYw7UmS2HAVbm-Yl7p8YEc_wFgI774GcX-SSClk71_SZtbdBiAfd1dhadEwb2_6nPA3vFliWDKAUfPNAQHHZ5pvfwxLAnnN7KvOtKdnX8oxNnCSrX1QltnvEI0entkLlIWQdh32QNziBJ7Ff8F6nv7zNoCjW5ksA3i0Y3eKO2dol5WU1ine-Mh6Il9B1b0LoJCDQ_SAKeUJ_DVQ0CRqAc-2RPmw0ikjkVjLjXsJnFhjc8N-PKwInInPJLJa7nGdKl7_OtoUjrRETlsWMxBUzvqFBwkhmpV-6tG_fccD9SeOGn8t5Tvx_CDbw65alw4o8lturLJTOGomgUbjCO_Yqq3WtgxlIuMX5ZaATrpDNQk8bS7TWdn50jnu8jNolM2cOu7x0jgEYIISzuX85Jk_keaYPji74_bpAZHvNQ==",
  "id": "rs_028c8a142639ebd2016ab442de2e7087d08bbbe549b51a1a95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.27,\"right_z\":-0.008,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The right wrist now shows the pen centered vertically, with its gold writing tip pointing away from the fingertips and the rear shaft entering the bottom edge; the loose cap is clearly off to image-left. I am descending with the fingers positioned around the rear shaft, using a slight table press for reliable low-object engagement.\"}",
  "call_id": "call_jfjgwcPqRDzGJ2RGeONrtEwM",
  "id": "fc_028c8a142639ebd2016ab442df5f7c87d09a0f066cce59dbcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jfjgwcPqRDzGJ2RGeONrtEwM",
  "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]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.0811, 1.1927, 0.0372, -0.004, -0.0402, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4362 right_y=0.2694 right_z=0.0046 right_yaw=0.5643 right_pitch=-0.292 right_roll=-0.0254 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -2.5778, 6.8444, 1.3895, -0.0317, -0.0708, -0.0073, -0.4581, -7.9932, 5.2171, 1.2479, 0.0171, 0.1294, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2a5aa72361000ddc56a7aa64d693622cf736bfaa63f79e45087d465993c5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1275bc7ebcc550e6b1052a1efe436af310d94a36d0b992c63ae5e1dd7953e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9c000297b4775755267dc2362cf2682e968d5377055eb4b86cd80acfa263e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.41 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0351, 0.815, -0.6479, -0.0517, -0.0544, 0.9979, 0.5674, 1.9259, 1.0199, 0.1741, -0.0025, -0.0151, 0.0126]\nstate[eef_state]: left_x=0.2971 left_y=-0.0016 left_z=0.1561 left_yaw=0.0154 left_pitch=-0.2947 left_roll=0.01 left_gripper=0.9979 right_x=0.4142 right_y=0.2688 right_z=0.039 right_yaw=0.5714 right_pitch=-0.1725 right_roll=-0.0098 right_gripper=0.0126\nstate[joint_eff]: [-0.0889, -2.6872, 7.241, 1.4872, -0.0366, -0.0708, -0.0122, -0.2803, -12.4376, 8.4034, 1.663, 0.0024, -0.0269, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.667, -0.0517, -0.0544, 0.9979, 0.5426, 1.8404, 1.2945, -0.2951, -0.0059, -0.0322, 0.999]\nstate[eef_state]: left_x=0.2935 left_y=-0.0014 left_z=0.1529 left_yaw=0.0158 left_pitch=-0.3145 left_roll=0.0113 left_gripper=0.9979 right_x=0.4219 right_y=0.2598 right_z=0.1068 right_yaw=0.5592 right_pitch=-0.2817 right_roll=-0.0186 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7419, 7.0632, 1.4725, -0.0366, -0.0269, -0.0122, -0.3761, -9.7983, 9.7983, 1.8926, 0.0415, 0.2369, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.0811, 1.1927, 0.0372, -0.004, -0.0402, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4362 right_y=0.2694 right_z=0.0046 right_yaw=0.5643 right_pitch=-0.292 right_roll=-0.0254 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -2.5778, 6.8444, 1.3895, -0.0317, -0.0708, -0.0073, -0.4581, -7.9932, 5.2171, 1.2479, 0.0171, 0.1294, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2a5aa72361000ddc56a7aa64d693622cf736bfaa63f79e45087d465993c5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1275bc7ebcc550e6b1052a1efe436af310d94a36d0b992c63ae5e1dd7953e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9c000297b4775755267dc2362cf2682e968d5377055eb4b86cd80acfa263e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELllvW9YLeZbCs0V1jI2YXqL9mUp3KicxP7zOKdAJgV5yq92XY7sAHk7Pw4b-d26HVHty8203q_NJob8IIsTjCdxpMR9b10qSYIXW3dwowIi9ph2yeeFlsLnCYYKiNtFPz2MxQ1cMnSBI8spg-2onaoAWhYKSnr3qMlay4fghjgADUGMe052ZFF0c16StT0qj_LD1o4ZPImdrNiGKqBJkEojbnfxT5wpBCIUkhY7aCBz22BGr23GbwRcgJbXXTKcoZeUuiURIvg9VOja2DKCXQWRN75cZtSlJXEUM3hdKPy6sUDtUnTujBhIxELQnvhzk5s1HILNtIsY-3c4FZlP4mQW9EAoka2Kvz2BPIPYfFBe2hM8_9AnOv-iXftzPQjQDmR7U1hnkcifWxJKRoVJ9MsK2c4Jh-duZQbAxLFdtqaGkme8-LAPDGsnZomW9soJ_37MyTqqFdnNYpueuIfQ-t9pxb5h7K5bq6yJGhx2rP6zIeC-v34ZVTsk2s75_RweuBmrwYg1ZzWjGrTvTYuNarGKDCsUKTGuRjF3Ouv_0Zt50Fw9XwNyVbl1lW_Nx72C_Euad0x4yfhGamNCLTBeSJaMlngLavWZvYcwRe6L5f_kQEJh0-2CerJeu-R6H5Bk2A6qh8_3SaBPEq8v6PjTJouZGgEekQQx4CqK8H-6x0g0gcWK_GBJGAs5Q_HEXDNkmodcqOfzdf7ScB6CgYKjabserN0AYRlKY6ttEXC9C867gtGkys5cM1JCilLHNYWfRQjl6FEenMFbimiI8RXLk-SgvjaCFe33e08bweUAeKWgBEfw9kzW09yNweLekq5hVH0CKJlyM8oppqGjUcGMRP2A_iHZYo36pu9CPuz_D847K1okaqyPFa9wwmU8PdN0up3OsWwDObr2Jinfd0MxzcKO9NHtXHklkoncrSf01w5u8hz76HhOMNOyRBMfP8Hhi9v1yWh3tnR9orNDKf_iAGilB-ePYQzqCdk6qQ8bdgsBl1ExHoZLqiToy2gwjYz_YzI4Mo1xwobebiRJcfyaoOon-LUFmhIWHdnac4_gpO6oen4E5l8jEMVALg63DXBSEG-F8rKQ9xrS4xUl7LRySLtJPzSH4zPtwJnpkDl0I4DSXYLW3SmqLeqQUmmX6pY3VHr0kRZv7-1srgTq5K7LFhQsvC8Ywc8afDO5K01kwHDwt4IqjiyyN4LGHXfaUpNOmEkaFhXL5gQftTi_xFuNOK0Bbawe3EAgTkEkh72yQN0_XwOAxA2f0c-VJe_LoL4yBgE2CLJJz1K53bCnkyWlV43T0WeFSnN-hKjWCDB1qn9svari7SzvIfFUutiGA95InNdLXUKU00Q6-pzR8mUAsE_cH2jFCeVJaDrZO6QR5fUCJ6oL75HQ4WQ0eXb25HxzHcUtuIABJKMPd940XCIEov-Grqq22KuHepaks7ZDwmZzOXAFTKNt_pCjFOGKML5SJsGGzjrarfRftk_PKv6Hv20OjyeM68YrOpae74RWVeKDN4u2zb7ULVZOWq_vJkOQU8aCxLl5Tp20yHD6PamnqakwOWxhBbjRpyfwnTZYn6y4TarGICKifkzW23UET4doSe6rZPRsuVgML-heM79dpbfm4dp292Aq0zBVOX2gQKM3A5GlNMZ_pV7_qgYxAHvWpe4wEzdUEEkYEUzHzWqapC-u1L5UWDOM6mI-QlXxdQis8CT2xOcYpX_jiHNMJw2ZQqrI0BmaYUniQgwdupuBaRJm_aXj_MAgE8GH27-WuMcUCM7bHyvzmW2-xfq3FgAEirseE9lKaUM1bJ1I2kO8pZ9PD5A8gwr1a7zudGdOqTRZi4PJ9SWf0UD78452P4mJ5vTJ9ZSll9SicrKs86hH6RNutYBI5vEGxh9Gon5MQeRsJnbi0gMQ8O1aVOF934ZQLt2gtl3DcdAqDV047jD3Hhe2Q==",
  "id": "rs_028c8a142639ebd2016ab442e3637887d084a8fc78f73d2b51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.28,\"right_z\":-0.008,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"At low height the gold pen tip projects about 2 cm to the image-left of the jaw center, showing that the rear shaft is not yet centered despite the high view. I am translating a small amount in the tool-left direction at the same height before closing.\"}",
  "call_id": "call_n4tDzaTyRDor8J4ujOfj0GRt",
  "id": "fc_028c8a142639ebd2016ab442e4f2d487d081997401f73e975e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n4tDzaTyRDor8J4ujOfj0GRt",
  "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]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.096, 1.1908, 0.0906, -0.004, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4426 right_y=0.2733 right_z=0.0054 right_yaw=0.5647 right_pitch=-0.2554 right_roll=-0.027 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -2.7145, 6.735, 1.4383, -0.0855, -0.0513, -0.0122, -0.3624, -9.1829, 5.3402, 1.5849, 0.0171, 0.1148, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102e85aabc02d21368eebb28a33de6ff9bb21d2798ef7552831f363f23ab6e93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a896cc4662654053004fcd8412fef98767161882721c85a478aa30ae8503bd27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f316c5b211d16b57216b38bc7bc084fbf817e904246b0afda1535353f2f2b037",
      "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 18 attempt 0 · /responses · status 200 · 2.696 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.6559, -0.0517, -0.0544, 0.9979, -0.0025, 0.9646, 0.7406, -0.5339, 0.0025, -0.0139, 0.998]\nstate[eef_state]: left_x=0.2956 left_y=-0.0015 left_z=0.1546 left_yaw=0.0156 left_pitch=-0.3035 left_roll=0.0105 left_gripper=0.9979 right_x=0.3011 right_y=0.0024 right_z=0.1636 right_yaw=-0.0034 right_pitch=-0.1985 right_roll=-0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -2.7692, 6.7624, 1.5165, -0.0757, -0.0708, -0.0122, -0.4444, -3.0838, 9.894, 1.5702, -0.0708, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.0811, 1.1927, 0.0372, -0.004, -0.0402, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4362 right_y=0.2694 right_z=0.0046 right_yaw=0.5643 right_pitch=-0.292 right_roll=-0.0254 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -2.5778, 6.8444, 1.3895, -0.0317, -0.0708, -0.0073, -0.4581, -7.9932, 5.2171, 1.2479, 0.0171, 0.1294, -0.1148]\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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.096, 1.1908, 0.0906, -0.004, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4426 right_y=0.2733 right_z=0.0054 right_yaw=0.5647 right_pitch=-0.2554 right_roll=-0.027 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -2.7145, 6.735, 1.4383, -0.0855, -0.0513, -0.0122, -0.3624, -9.1829, 5.3402, 1.5849, 0.0171, 0.1148, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102e85aabc02d21368eebb28a33de6ff9bb21d2798ef7552831f363f23ab6e93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a896cc4662654053004fcd8412fef98767161882721c85a478aa30ae8503bd27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f316c5b211d16b57216b38bc7bc084fbf817e904246b0afda1535353f2f2b037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELoIFA9yhq4RoAFazlFROIXSfka6cw1ecaBevO-E74uhNNM6H9t3fBepLYDPXEiJLylcPHEIYgHjYzzuKLg0GNj33qwGXnxTbZFULCc_BMSj_FALUOuqBISNy06HXiBZOnr3hvc-rzyVaPggOfCEoNPyy0f4jgrKYlCnWk9gV_6b8PwozqmyZ8x-j5NtsxHO-FyDK9owpm1pzlvvvNKEjtF91_1WKq6UszXLId4_z_JxQd0Squqlsh8Ly3bcvh3vvnx8cHKmTzag92m7_hl-6D_1lRvIPhwhGvwp_LKVsXYhBR1XJKUX5oM9spiv-IxnEbIFPu7ANkiAI-jRGFyd17A1X2QvVfz4c-CkvPoeIwbcLaZhU_MDD1hbOpxg08efFz7R1o2XlYfsh1TffdhESM4Rxlo02gf5fVPRNsvDEZ0G25z2J-Ym9DV7ZGe6nM9-fqETRsAr66yYR7F1MY1uTYOO-jPkXvK7nM4eaHcDTxSnxdm1pK6yLfHoHLxLXEZbINX3Nv00kIWFimSMgCt2udx_iB3wT0KAG3GA4pXrgK5FtsyqrMupxshHafLRbBkx3z09cB1tSJ082EaHwAimVXzJPN0cJCAfMUcbFTSRGPMXZ7E0u8bqyxxmb-whUI7AMnjeO1zE-yEx_JBMlZ37TicXe3eEqu8V_jJrUt0efhi5uSjHWgnlkdewgu8fDOZ36CQxSES0z3vrtSuehO3Iv2r5GsEwEq9DxzF1mFt28C3T1SV8PMUbYOIFITijYIZtjJLMDXycJf4yv6akQQ7-xXuc8VeEHli6m45sfecyT66teYctOLfcW1wkK0UTyq7qes94KJKRJ1CvvGwW-SFgiGydsN8b-vlrAP5Z-N0IuLbO0prTZbjCqyF0KIdatN1B-rOOqe198GCy-2mqE4xflQ5TfHby_r_XbDTDLY9s5Npix7oAPwZLLXGO3mSEUA_4RhqkVcszQdU28V7AsNkB9v0YTsoN8vqfYH_eC_qFJeiPpD2Rd8rhRJ_QyZGIxlhPledxwIsVcPI9-mSPlX8ynieLEN_mVGVda0FEg0aolkhlLtVQgZL3rY9PP1j1flzbJW2_cfItAU65kQHO900AbEyEoeE1uDdQJ-F6jVRXxuVdQpsrMhLgr7rnXteIcTRW_a1YdCiLj1jD1zpadQHeVhKVyKBop6GUrLE6wPan-QeGF8XAo-n2hYlIiC00tOFPRwmj5R9d8KdZWYpFHBgB5Y_HQbvG1_RZffy1RajqTyy7bdNXxrEF-TGLfqTmqNpa4DKd1HLVJ8tGfJF88aKMRnDCXoYV6n16rnWHxcvTbpCM2RTWXErl7ZbcgQZv3bmzHsyMUcmNlB7Y-wFyP13vEFQideYRdOJFqXCVl_A4mxdjkk5J6lqQdsEl5R-dwIyGB_Nm0NGNRIk4coXEYJr3sIyWSuVHqZ6aY__DPYNsjZY-2E=",
  "id": "rs_028c8a142639ebd2016ab442e7082887d082ecfe4478b03e23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.07},\"note\":\"After the small lateral correction the visible pen tip disappeared beneath the fingertip region rather than moving farther across the image, indicating the shaft is now under the jaw gap. I am closing only to a 6.7 mm gap to pinch the rounded pen gently and avoid ejecting it sideways.\"}",
  "call_id": "call_DzLgRsovEV5yE6Y8jgYE7oIP",
  "id": "fc_028c8a142639ebd2016ab442e79ea887d09a41984116f99db0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DzLgRsovEV5yE6Y8jgYE7oIP",
  "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]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0132, -0.0498, 0.0753]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2778 right_z=0.0057 right_yaw=0.5827 right_pitch=-0.25 right_roll=-0.0262 right_gripper=0.0753\nstate[joint_eff]: [-0.1846, -2.7282, 6.7214, 1.3993, -0.0659, -0.0269, -0.0122, -0.6085, -11.1658, 5.6684, 1.4628, 0.0806, 0.0562, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae544e13174c479c80183aaa14c2eea6ec1c28c8cbcfa0d101f05b8ada81db81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92507751da9065facb96de2510d898908dd039af5924ca0db45beab2d8d1373a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170a22bfa31fc87fc253b2e29dc721c8dc75223fc19106a3601711e2bf334e7e",
      "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 19 attempt 0 · /responses · status 200 · 2.992 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0359, 0.815, -0.667, -0.0517, -0.0544, 0.9979, 0.5426, 1.8404, 1.2945, -0.2951, -0.0059, -0.0322, 0.999]\nstate[eef_state]: left_x=0.2935 left_y=-0.0014 left_z=0.1529 left_yaw=0.0158 left_pitch=-0.3145 left_roll=0.0113 left_gripper=0.9979 right_x=0.4219 right_y=0.2598 right_z=0.1068 right_yaw=0.5592 right_pitch=-0.2817 right_roll=-0.0186 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7419, 7.0632, 1.4725, -0.0366, -0.0269, -0.0122, -0.3761, -9.7983, 9.7983, 1.8926, 0.0415, 0.2369, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.096, 1.1908, 0.0906, -0.004, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4426 right_y=0.2733 right_z=0.0054 right_yaw=0.5647 right_pitch=-0.2554 right_roll=-0.027 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -2.7145, 6.735, 1.4383, -0.0855, -0.0513, -0.0122, -0.3624, -9.1829, 5.3402, 1.5849, 0.0171, 0.1148, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0132, -0.0498, 0.0753]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2778 right_z=0.0057 right_yaw=0.5827 right_pitch=-0.25 right_roll=-0.0262 right_gripper=0.0753\nstate[joint_eff]: [-0.1846, -2.7282, 6.7214, 1.3993, -0.0659, -0.0269, -0.0122, -0.6085, -11.1658, 5.6684, 1.4628, 0.0806, 0.0562, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae544e13174c479c80183aaa14c2eea6ec1c28c8cbcfa0d101f05b8ada81db81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92507751da9065facb96de2510d898908dd039af5924ca0db45beab2d8d1373a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170a22bfa31fc87fc253b2e29dc721c8dc75223fc19106a3601711e2bf334e7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELsAexvBaGn4wBpsa0nJIMWatQkDxYFoEt1cIvNXYgEDC_SXC_X1L2zE4B3na4LDioBpgRoNus1YNb7jWTsxnZZfQe32Y1XLS1A0kNYL1-a0iyhO2xRiFW44uYrQOzV9Clp0c_v_m7kh5vd6KbO19mgQDbGNYm7HQtaj3xHjWkNIPJtIo0jhdpXUoZGCUkbgqIInRLrdH_xtHcLTcar54N8zAnigJ0BgLjsz-VImI6BdureAkmRE6cSkYLLs4uGLPse-1o6nGmyN0zDMKxIOE4BgY_KsiO4sdRctfP6ffbWidGy5zAvxhFYrD8ZZrerKBSiB4GTUEn98PQ-9hmnBNPkCF3K4YSiL0-PSgzRUzUkWVLGHhPAsb2-9YIjQomKsy-EIEK7QSgmKqgw3NlBd6pbOjIJrIPfgAgvfBGtWcc9JyQQYqUV2iAvupScmpVZd-LP6Z6SuR9eIrSRz7UT8aEsFxU3ixy0amo2BfMz1_sWLP-2DkV1-ryl6sFdS-N07XlaTXoh3kbO1YkwPSTn7xEqdFlfEpcYL0I1hwY4B2XGtdObKQPAgJVo1bw6-zcvrUhU2xtpCJwYjCrvsrixPUfhG0ZqGInSTktA-jgB1vx2bI67EQWJqhkuN02B_QYk73vSnEkii7svQ5jijpyaqzSv0iU8SJXsb4VVN3mEkHiLFeA2ZRIlsFtufWtylUCL4Xwjk8YbUFZq9hsKgH87F7O4hqcCMgHM7ccz36rbyFGQw8rioaWzKIdL6QpoAjEnIcK5LNQwkyWrKJQzCI_yxmZzjJicpiZh-Te-wmxo1msoLAwh2H-2Bg8Xa_RdntRGealvZKUQ1vtYa-I_oBoUTCPglo3LvwQ0ERW8wdr6JpTUmHeh7CTSH_Znw0GNG_wU5rPnYq044z-2JjCkFD8bVFpFF09zkn0N8wQynAniU5LEYNdTmYfBZbH9NE-BOJnLaSldEhJntD3ZNBl9BzyU-fzh44F-V7pdeM6Jo9o4bw1Zi80HWucc2cIf3oIAtYmVpl5vLI7bI2uWMWEnM7UkOOgzXTP_ZlPTueiG4eRrtZiE4KBi4qODu4rQhSZjmvqAVnQCS3zYh-iaCyhn_lWD25tFFpjzUqdFp2Sx09rFL1f3aMhDq-8jLG3dbdO2hLdQir7jmgs5EPdOZYUKFmqSEbbPVjoK3RcaLgwwHm5_9SRkkHaHGjNnNLBxckb5v-6mgahOdr_v0gv5It0s7lg4DOAxWJlKUCJZZaMiPeT4VKQmZyUSdk505x6WPWDx59zij7_eYV8IHCLkIMm6TnNuKrMlWPhTBtHePT6MU429RsAhRZGpbBfDFr71AEaLxCZ3eLsbkjnTY89I1AV3eA7B-wmhR5DPyvYLV-CRIG9EGRTu-UwomJ0ii6yOXIJZuRLqJ6fjrm3rYnEWjEJ7ILxNXTuZyCoMimWjf4m_hLkCEADNnMM8f1BJ48vpMLhF7Oqy6OXrWIx4nqLhxq0yAIBYjVyeoHPBJHgthn47MmtdOYN7F_jeyuRJ5v2ogOGHPLV92oDwQlA8b2nydQBMdbkQ28fWaA==",
  "id": "rs_028c8a142639ebd2016ab442ea8ec887d0aa748d635fde18a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.035},\"note\":\"The 0.075 setting leaves about a 7 mm jaw gap and the pen has not rolled back into view, so it remains centered but may not yet be pinched. I am tightening gently to about 3.3 mm, appropriate for this thin shaft without using a full-force close.\"}",
  "call_id": "call_QYNXDFxPpjJPBeJOOO5lmno7",
  "id": "fc_028c8a142639ebd2016ab442eb2e5087d0b3aec98c9e0b5877",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QYNXDFxPpjJPBeJOOO5lmno7",
  "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]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0128, -0.0498, 0.0709]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2777 right_z=0.0057 right_yaw=0.5823 right_pitch=-0.25 right_roll=-0.0265 right_gripper=0.0709\nstate[joint_eff]: [0.0205, -2.7282, 6.735, 1.453, -0.0659, -0.0464, -0.0122, -0.7726, -11.3573, 5.6547, 1.4042, 0.0464, 0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1507f8b7d24713051c6eb8a6f7df75ba8dc4e9ba73adc41f310b4c31c30074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce2faf4247f37af87d8d9ea56449994181ca5c30f949603e62a88d2dadd9138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6765cf013a711c09fd9137f87bdd6b4d4221ba3d1597c4b3881e35f6753e853",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.302 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.0811, 1.1927, 0.0372, -0.004, -0.0402, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4362 right_y=0.2694 right_z=0.0046 right_yaw=0.5643 right_pitch=-0.292 right_roll=-0.0254 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -2.5778, 6.8444, 1.3895, -0.0317, -0.0708, -0.0073, -0.4581, -7.9932, 5.2171, 1.2479, 0.0171, 0.1294, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0132, -0.0498, 0.0753]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2778 right_z=0.0057 right_yaw=0.5827 right_pitch=-0.25 right_roll=-0.0262 right_gripper=0.0753\nstate[joint_eff]: [-0.1846, -2.7282, 6.7214, 1.3993, -0.0659, -0.0269, -0.0122, -0.6085, -11.1658, 5.6684, 1.4628, 0.0806, 0.0562, 0.2222]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0128, -0.0498, 0.0709]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2777 right_z=0.0057 right_yaw=0.5823 right_pitch=-0.25 right_roll=-0.0265 right_gripper=0.0709\nstate[joint_eff]: [0.0205, -2.7282, 6.735, 1.453, -0.0659, -0.0464, -0.0122, -0.7726, -11.3573, 5.6547, 1.4042, 0.0464, 0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1507f8b7d24713051c6eb8a6f7df75ba8dc4e9ba73adc41f310b4c31c30074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce2faf4247f37af87d8d9ea56449994181ca5c30f949603e62a88d2dadd9138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6765cf013a711c09fd9137f87bdd6b4d4221ba3d1597c4b3881e35f6753e853",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELvVzyKFMeurlwGRQCJcmkB7RuJyHOJxVs7veJX7t2fCHB6YULzEDcvkpAOqjhLPdshlwQhcgpqzhF6639b6YOmW45LUhgF_C-K7AjHI1HC6A4uJWNEOgOvWVjJu_9OkQ549i9jD8T1O26bpeI7RjufSdbXKz4-CDv_Szvq9a0m2zqmqlfYWHgS2vAHEko-8NS7nerQww_S2YIsDZtZYOD9Im10Kfe7ri9h56wNeDYeAvRBFGeUUlR3PB1QdYJsUGA_MyzXTOAmuFLyYl--iiMXHJaOH7v4qulqX-ayzdlxuSD9ma87zRd1a9nRD_vSNUotSTaP_RbFnLI7saOS5HugVCaE1Tlj5S1KNXVcff_TPl1CTVA14Jxv5Q06hBjp1rTstZtIeRmuz52-nXEL1h8VtAwcbR0OoUnQbbZMLeWnwuW-ELbMeEm_w4G7E0fIB5qaFwGsVUyWThiBxiHpRBnYLTROqgFUeKrO4waGNdj680Y9Landhhq62YKaC4HkxOVO6yQRXTcdgeStiItG9IqrjGWyoDY9BytXHBsLEq45yY4f_HxzMj7KVF-D9WSRW-EkAMswTrMZCC7_L5TsEWHHDJwSPMXXhXI6MrOQcRzVkofZ7oHXwCuHTsgbjQJxg4-cKNzgRLrnQzjoldeLrJKBjU_bW3SCd6hhx1J8i9d167WlB3V7poj5p-499DKm8n1Ku7gDgoINXmFGZHsiz1SBOWM1Fa6ZcyQGeq1jveNa3HoNeYfyDFOFLae_zFNxfRa3fAGKnY_fEnk4NTPeg1Lkop8KF_teLWmRJroz3XULFAcXxn2ERC7lfM7PzRJ-LiQpFx_pZ35KbrWbZczZqNHQ7LqcZ8LY9GRba4L4OudEvvTp5BucMaJbU3gTwM6ex3l3NhwzWkGT5ZeKGGQc2HYpUTtStsKtXDBX6jWaL43M_ta2Qr42dVviIpeUtnsfh10wFOMPcvVeloCaE87Rq8qwKiM5vazxjayi0LX2TNXFeNFopNvSnd05epzTP51ZInZHeHtyqqhIVz8jmkNFp-J1w8N5cT9cqjvpFV-VCLdUCSGnNa95kV9AYJnbNgxwo9pBQNZoPpZRhebpvPpRF3ZjA0qcxxL4Y5zIlucie3NCoRlmYLIMw0pBDb-K48UbabfkiqIp7oTAxWYSrsUa0NVf1NnIYq1ZFT5c-tDKYdaffGI-XQx7KUwzslKTjTrAbLfgGnCLvcNCkqtLMOK8B0UvswKnirLU58OKLx7M8AQ7e7WYSAduXFJ7zOW84O7GxR1V4RdZ9AWE6IzLysR4e-DdcTkpFyY05crs9nZnDFgMEQu87hOXGVUs_MVlEUi6a1TJDDssyk1KaZO_e0ScX2CpF0c1xBcReTTFglCBP-H73SH3C0DtHwQIthw6YG7O7jgv9qZLwRufATM111C3YVOTWVgaFwJ2zeohH8Sl229JyupCB_wR7J2wVbfFPDIPzoDsvhvVQD8FZZeLW1h6yA4upZe-w-UDnWAz8PIgbZhb3DYsui9m10M4PtjcsOTwQic8_hZTU23nd5WJy4sXcRInAfN3QIPBDqYm4OPkJTxQ81sXFvb22s9LWCyVKSjcHs7BDKdZ0T19h3-rK-fOMvI8BvuLE9_SVKw1RatupjE2Nt3Zh3gilEZFMwn6VI0JjuK0",
  "id": "rs_028c8a142639ebd2016ab442ed1b9087d0a7eb368f1f38ef31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.035},\"note\":\"The first tightening command advanced only one control increment, leaving the measured gap at 6.7 mm rather than the requested 3.3 mm; the shaft has still not appeared outside the jaws. I am continuing the same gentle close to reach the intended holding gap.\"}",
  "call_id": "call_o9KWkpUjhvnaF65zMvlKiJC9",
  "id": "fc_028c8a142639ebd2016ab442ee10c487d0bc91eaf79f80c16d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o9KWkpUjhvnaF65zMvlKiJC9",
  "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]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0978, -0.0132, -0.0566, 0.0356]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4416 right_y=0.2779 right_z=0.0059 right_yaw=0.5864 right_pitch=-0.2493 right_roll=-0.0311 right_gripper=0.0356\nstate[joint_eff]: [-0.1709, -2.7282, 6.9675, 1.4286, -0.0366, -0.0415, -0.0122, -0.3487, -11.1385, 6.0239, 1.4969, -0.0659, 0.0317, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06860f37e8b993b0624f612677010c7b6da06998c7f3efa02abdf01f52c182c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272a3cb623d0982d8b495df3a39c45145f1c40871d554ebc93d4ef9aa51d2d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07175e7e2ab949f4ab9540b25911ff0311bfa5eaede05b00994e09eb17e9c86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 11.24 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5449, 2.096, 1.1908, 0.0906, -0.004, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4426 right_y=0.2733 right_z=0.0054 right_yaw=0.5647 right_pitch=-0.2554 right_roll=-0.027 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -2.7145, 6.735, 1.4383, -0.0855, -0.0513, -0.0122, -0.3624, -9.1829, 5.3402, 1.5849, 0.0171, 0.1148, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0128, -0.0498, 0.0709]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2777 right_z=0.0057 right_yaw=0.5823 right_pitch=-0.25 right_roll=-0.0265 right_gripper=0.0709\nstate[joint_eff]: [0.0205, -2.7282, 6.735, 1.453, -0.0659, -0.0464, -0.0122, -0.7726, -11.3573, 5.6547, 1.4042, 0.0464, 0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0978, -0.0132, -0.0566, 0.0356]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4416 right_y=0.2779 right_z=0.0059 right_yaw=0.5864 right_pitch=-0.2493 right_roll=-0.0311 right_gripper=0.0356\nstate[joint_eff]: [-0.1709, -2.7282, 6.9675, 1.4286, -0.0366, -0.0415, -0.0122, -0.3487, -11.1385, 6.0239, 1.4969, -0.0659, 0.0317, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06860f37e8b993b0624f612677010c7b6da06998c7f3efa02abdf01f52c182c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272a3cb623d0982d8b495df3a39c45145f1c40871d554ebc93d4ef9aa51d2d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07175e7e2ab949f4ab9540b25911ff0311bfa5eaede05b00994e09eb17e9c86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtELxS61VZid_xzzw1cb92RT6BuaNZfpWQBbbCQ9ngomcX_dElhPJYFWl5RggBCV0yNzok8_rQd5OktZYlT3L6oDwKsqjbJ_LRqLEbXnXx-d7bwMDdbMHnpixWhQsNKz8wtwvpA7EiFoNii_BwfRUjhTAV6aAvpYVg4xq1emzJtpq59zZyVaOW4y165bjRywssPJ7iM1PBCfB1HDrTp7_fUSCjVXgNShhB6Ixklt3OxYRS36PLrZ_Huo7upBdaXlC6TQX_Wrnf-Qx2qYi03mddFHfOmSY9jIyx8i957PY2Nv4XxMu9fLQ2au7rGUoyCoo3iIiSPdN8m-HG8yMjMdWL71odrZA20tBSJCBJco46Fr_2AJw-2qCXiV35koTYrRrHavavAhCaR1T6zgdJIbRCH9WOyTmXhsInaQ3Jqtev_eM2m6XHT08pZzksqSFroeeErU8J-fdBP46imaCv4NgqCOPkRa4cqzEowwwvB_-hI-VX2mUDtZJBu4O4i3Vr8ijBYKyTcXvx98amgUmJQ2MmLjY1npXeNnkukLVq7ScgW5WUHuBwP6AU3S8K9HmeVG_WGNbQyQJ7FUjzJUFb3vuBviPs4FBjgWTphtYE_HmDSG3Z0w9FLc9X1xTPxKnXSqvRmPz4p3CSditi3gVJplb-yEoXN8-IYlHsivHyKQTjO0isGWq3rhqGx7cKx85n8CPw-2u2ONXIj8wD-CL_Q-agXdbDksJaEjXW2zmD6bMdK2B9T5OK-RbVbzH_CGQYpgbemlXL36-WuMC0S1p00PkLq1Q3jtIXdBXjMz9KcHoD_RmpkyifzE56aM1S4Z5Rn-FnhKGaijRjHtrlwFvYVL_0UM8J9waOg-oT56LxpyZPMfqSf6ygN5a0qF9GwvgmgvBcvmLV1OlRcX-gTsKrUr3wnuq88bNsHqdZJ8wQ-HP_iJDf9L-6oYEPakir12T6s0VIUcjxt63i59YW1DYmeMiMgAIXxz-3XuvvdCZxJxZEbfpMjKoOOLaonfdvxmsM4n3cIwS6qLiJJvnN8gengAD29Clbg-bma9nH1_9y9XbtMfNLXHYdtog_r6FSXeRqHM5nzzZPU9hDws9pkyidmtNY_11_jqNnYSV6MPHM0RsA7bmYt2au5c4lwQWFxPDyik36nUOB8hj1kBkwnjLJ8_WrkGPPm4_SmUu0D3k_25C8i7yiNFsSfniTuDEr31EcO9NZ6wGPmzeebg2vLhrR1wSkh60FKyX0qXAVpwB36RisY6zmPo=",
  "id": "rs_028c8a142639ebd2016ab442f055ac87d0890f167c6be8d97b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The right gripper has reached a 3.4 mm gap with the pen still hidden between the fingertips. I am lifting about 7 cm; the overhead view will now decisively show whether the shaft moves with the hand.\"}",
  "call_id": "call_cQOKk6GQyc1uOCAjNf1xXWwG",
  "id": "fc_028c8a142639ebd2016ab442f0886087d0b729ba6ff6a81162",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cQOKk6GQyc1uOCAjNf1xXWwG",
  "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]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5514, 2.009, 1.2716, -0.1257, -0.0181, -0.065, 0.0357]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4344 right_y=0.2751 right_z=0.0434 right_yaw=0.5972 right_pitch=-0.3038 right_roll=-0.0309 right_gripper=0.0357\nstate[joint_eff]: [-0.0615, -2.7282, 6.7214, 1.4188, -0.0952, -0.0269, -0.0122, 0.1026, -14.106, 8.9368, 1.6337, 0.0708, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753e4048e3ec8708a91f6f661e24bceb8bfb18b66a9ce4f84bbfcec23b5beadc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ca4665e69d1e5ab0c70014dc873094da21229594c6c93d0b10aa4d35c4865a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f2781a1c9dd4317efeac727220bd524d2f9171eaea3547c7ad22983cd008bf",
      "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 · 3.762 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0132, -0.0498, 0.0753]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2778 right_z=0.0057 right_yaw=0.5827 right_pitch=-0.25 right_roll=-0.0262 right_gripper=0.0753\nstate[joint_eff]: [-0.1846, -2.7282, 6.7214, 1.3993, -0.0659, -0.0269, -0.0122, -0.6085, -11.1658, 5.6684, 1.4628, 0.0806, 0.0562, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0978, -0.0132, -0.0566, 0.0356]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4416 right_y=0.2779 right_z=0.0059 right_yaw=0.5864 right_pitch=-0.2493 right_roll=-0.0311 right_gripper=0.0356\nstate[joint_eff]: [-0.1709, -2.7282, 6.9675, 1.4286, -0.0366, -0.0415, -0.0122, -0.3487, -11.1385, 6.0239, 1.4969, -0.0659, 0.0317, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5514, 2.009, 1.2716, -0.1257, -0.0181, -0.065, 0.0357]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4344 right_y=0.2751 right_z=0.0434 right_yaw=0.5972 right_pitch=-0.3038 right_roll=-0.0309 right_gripper=0.0357\nstate[joint_eff]: [-0.0615, -2.7282, 6.7214, 1.4188, -0.0952, -0.0269, -0.0122, 0.1026, -14.106, 8.9368, 1.6337, 0.0708, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753e4048e3ec8708a91f6f661e24bceb8bfb18b66a9ce4f84bbfcec23b5beadc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ca4665e69d1e5ab0c70014dc873094da21229594c6c93d0b10aa4d35c4865a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f2781a1c9dd4317efeac727220bd524d2f9171eaea3547c7ad22983cd008bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_028c8a142639ebd2016ab442f449a487d0a55d548b78cde143",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0,\"left_x\":0.45,\"left_y\":-0.255,\"left_z\":0.12,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The pen stayed on the table to the tool-left after the lift, so that rounded shaft grasp remains unreliable. I am parking the right arm and returning the left arm over the larger cap; this time I will combine a slight table press with a gentle partial close to prevent sideways ejection.\"}",
  "call_id": "call_86h0j8SpuP8t5UToPjeL1FFS",
  "id": "fc_028c8a142639ebd2016ab442faf5a487d0b54e6478939fd0f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_86h0j8SpuP8t5UToPjeL1FFS",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5255, 1.9217, 1.4509, -0.4881, -0.0532, -0.0669, 0.9989, 0.0101, 1.0737, 0.8791, -0.693, 0.0212, -0.0238, 0.9978]\nstate[eef_state]: left_x=0.4372 left_y=-0.2385 left_z=0.1007 left_yaw=-0.451 left_pitch=-0.3851 left_roll=0.0097 left_gripper=0.9989 right_x=0.3018 right_y=0.0029 right_z=0.1644 right_yaw=-0.002 right_pitch=-0.3282 right_roll=-0.0344 right_gripper=0.9978\nstate[joint_eff]: [-0.6359, -10.359, 9.5521, 1.5751, -0.0415, 0.2808, -0.1197, -0.4581, -3.6991, 9.9624, 1.5507, -0.1636, 0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d201d5e8600c113e95f2d270a203491e9e976e6022ee81fc517d9d5fa3417c18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53ad2198ba5b68684c8cd963ae569296f86758aebb788905e390c47f01a896c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07ee99e86c75fe4095853581a6b7dc7f67060416fa70a4a9107a7203024bb341",
      "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 · 2.161 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0971, -0.0128, -0.0498, 0.0709]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4415 right_y=0.2777 right_z=0.0057 right_yaw=0.5823 right_pitch=-0.25 right_roll=-0.0265 right_gripper=0.0709\nstate[joint_eff]: [0.0205, -2.7282, 6.735, 1.453, -0.0659, -0.0464, -0.0122, -0.7726, -11.3573, 5.6547, 1.4042, 0.0464, 0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5514, 2.009, 1.2716, -0.1257, -0.0181, -0.065, 0.0357]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4344 right_y=0.2751 right_z=0.0434 right_yaw=0.5972 right_pitch=-0.3038 right_roll=-0.0309 right_gripper=0.0357\nstate[joint_eff]: [-0.0615, -2.7282, 6.7214, 1.4188, -0.0952, -0.0269, -0.0122, 0.1026, -14.106, 8.9368, 1.6337, 0.0708, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5255, 1.9217, 1.4509, -0.4881, -0.0532, -0.0669, 0.9989, 0.0101, 1.0737, 0.8791, -0.693, 0.0212, -0.0238, 0.9978]\nstate[eef_state]: left_x=0.4372 left_y=-0.2385 left_z=0.1007 left_yaw=-0.451 left_pitch=-0.3851 left_roll=0.0097 left_gripper=0.9989 right_x=0.3018 right_y=0.0029 right_z=0.1644 right_yaw=-0.002 right_pitch=-0.3282 right_roll=-0.0344 right_gripper=0.9978\nstate[joint_eff]: [-0.6359, -10.359, 9.5521, 1.5751, -0.0415, 0.2808, -0.1197, -0.4581, -3.6991, 9.9624, 1.5507, -0.1636, 0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d201d5e8600c113e95f2d270a203491e9e976e6022ee81fc517d9d5fa3417c18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53ad2198ba5b68684c8cd963ae569296f86758aebb788905e390c47f01a896c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07ee99e86c75fe4095853581a6b7dc7f67060416fa70a4a9107a7203024bb341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMCsQxA8U_ON_fSG6TQLaa94lCHHsX8P_6lavYyIXVPb35SNW2CGYZXBF7iuh3surG3O_TwhWgeHgJDA2YrryjwEAzapPllUCWVLVDf0y0C0qgUObvqHPvKH_WS5WHO4Bsk2JUobims773MpH5GFwIP41MGB2yeT-IbAdg443q1NTyZZ6tMwXAlsMpIkaBYVgHrsqv1qAvh0r4G7HdlymY9Vu0VOdOLbNnH_L74Ez_C6hyUy9zHMy12yhj3DzmhmAD8RFHTQbENy9iJ3FTp72INOeHQUInlNkR0C6nEQuYah0W3DtiH6cCxAoLAlk53iZh5ZUeCS7-kXBO4dEv5JlwezySEEMxxXxUJN4BoZStA-wSGPU4Km6eEMktNbEcJoBLbXY3KsYltzlCokLkliUasY7JB_4d7DPiI5hxUUC7DmGA0116CrnrdEuRn9bX0velfZ5DSoMTWFxJdWwiCPjJQULr4m2gAtCJLq-mFLKAa7dMmKXmSHd9dOiv3QMm560ZoychOGW24RCMcZsP9p2VpZ6xk_M_Nk-kGc7Q9ao6T3FNxKwGh3tUrgdn8yu4a9JtfiDU1TPJFJsPDMVK5lN8MK2cHO4hfYY0MOsfVN2mwwyVbz8aFAqoapXr7wj1iZfrNuetbaeyq1W_h-hIftdyboWmBkiIFnftgD55NIzyALIw2C4G2R3dOE30d1xtMY0ZfGSp9WEtpRuTwuSe5RZilG3APKvnC-AuK_8hr_ZmwGxrJNWothcOAmE45YIEny2McGrLGfvTdnRATkrqJWBKEjNUL6KVOcxjeRSNHNSiVQ5bAt4YzC9VIGDUY9a-7L_PnUMXwctZLNcPTL3ZGWkQQd7zl4_oyRzjz-BvwM8vvRiBllJ0p05Xn_ARExF4rEXpHBQMK8wPO3DgD3hehm6cpNLo8pv4LsCmR7OpKphIw7E5Db-eSptPDBwVm8b-Bg4Wwpq5Jn071Qp_FOXZkp_58Y4R3Xv_bDmFZ29aAU8OG6-4pvJJ66L5C3J1ZIxaMyOK6MTR1HqyVI8yXfld2TtriHzv_eoms_lKMCPhjgIeVSpQnykT_YNQlCKrsXmzhKmhZ_b5leIKOy26fGsiI0bDRftI_a2Jp49v11Fx7xS2T-gGmmlcJBOiWDkba_p3jHBvirk5kj9ZnOq_4YkuINdFq8F3-gpKQRH96FAw4Gi7Fm27XSGuila8m4s4B9TQxiMDsVS1wsARe0rJu16cLtfX64o1vWYhA2W9zmaqmTKG6V0XeijEJtotz1afCbjPgPft0KV_KskwcR88PQjDoFKpdAPdJw6z0EWCIWRbhss6qfxrOq6n0qcYxum34gEwQ1sNe2CPUjrzmJUjv7JGluGUAwVViBJJ1kCODkejkBPs4pOuTPXtAVTDBNUHbpNHBYKmdkBEstqC6qOnmXBlRqBTMUb4nX00KDl-HLQuPCvxThpPa-wEeNeZeHmXX-Z9_qA60ANl3TPArGGK1ABh0HKZPXCxh8OQXGl9P__RvkuYQNytVBWPzAJCCqKuflmMGeDlVthnrfEBRhjh-oPG5MbWn_ngRcAkBlAbCSw_-DtBLV098SsZHB5UtD0s20qsBVdFPzAWy-L2dBGDT7u3l99JOckEgE3NpRuanKUpCk7jyO5PxuXpq3FrTjjIpZKDzepbCUApmARl0M2ymU8XX2H8F-nbXaaFxuPH6vjy3Cai3ggqOOdWABoBR2euLJsxXaZM8w0PahBC70jzK5hMyVWgTi_tce80R9Z5V4oo7DhPV1VXygrVc2qtjXi1c9TiNKsuRgx4FQT2cD2R-EY4v7R2qsdgtBWB7imwmHzc0wDZGW9xelYx2VfcD03azJEIrctAw1cvycIQYUHRhNbTz4PkjavOv0coSzlohN_FkNkR33p22Gpo4utHwdKCEhSdtcFCYkezDEYeWIhnQupgxiQdvJvMY1h7ktXycyMdk8s_kMsok3vvPFhLL-gGqtVYNc-xkszol0yYfotx-KUN9-_kEhA==",
  "id": "rs_028c8a142639ebd2016ab443007aec87d0bfeca36c1a7ba9ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.264,\"left_z\":-0.01,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The cap is visible at the bottom of the left wrist image, slightly to the image-right of the jaw centerline, while the pen tip is farther right. I am correcting toward the cap and descending into a firm table-level straddle before the gentle close.\"}",
  "call_id": "call_63yzOKxZMTUvJRoSYUHig0oW",
  "id": "fc_028c8a142639ebd2016ab4430200cc87d089d5487e945678f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_63yzOKxZMTUvJRoSYUHig0oW",
  "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]: [-0.551, 2.1204, 1.3357, -0.1875, -0.0555, -0.0616, 0.9989, 0.0082, 1.0756, 0.8768, -0.7177, 0.0181, -0.0338, 0.9984]\nstate[eef_state]: left_x=0.4437 left_y=-0.257 left_z=0.003 left_yaw=-0.4772 left_pitch=-0.3983 left_roll=0.0161 left_gripper=0.9989 right_x=0.2967 right_y=0.0028 right_z=0.1591 right_yaw=0.0043 right_pitch=-0.3573 right_roll=-0.0386 right_gripper=0.9984\nstate[joint_eff]: [-0.7179, -8.7863, 5.1624, 1.243, 0.1636, 0.0464, -0.1245, -0.0068, -3.1385, 6.9265, 1.6532, -0.0317, 0.022, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c63e7fd8efa8e53b8434a42732e397b3b7d16f5f616dd1942c9a88d23d6d0c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2701e454a9a21b1eaeb2453b9dd8b41f90240f682f42d235b6fd43fa04500b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf752ec21d8df891d18a0687e3db27ae89a7de69bc0af1ce18ad729d2f841ce",
      "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 24 attempt 0 · /responses · status 200 · 3.738 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5503, 2.0987, 1.1923, 0.0978, -0.0132, -0.0566, 0.0356]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4416 right_y=0.2779 right_z=0.0059 right_yaw=0.5864 right_pitch=-0.2493 right_roll=-0.0311 right_gripper=0.0356\nstate[joint_eff]: [-0.1709, -2.7282, 6.9675, 1.4286, -0.0366, -0.0415, -0.0122, -0.3487, -11.1385, 6.0239, 1.4969, -0.0659, 0.0317, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5255, 1.9217, 1.4509, -0.4881, -0.0532, -0.0669, 0.9989, 0.0101, 1.0737, 0.8791, -0.693, 0.0212, -0.0238, 0.9978]\nstate[eef_state]: left_x=0.4372 left_y=-0.2385 left_z=0.1007 left_yaw=-0.451 left_pitch=-0.3851 left_roll=0.0097 left_gripper=0.9989 right_x=0.3018 right_y=0.0029 right_z=0.1644 right_yaw=-0.002 right_pitch=-0.3282 right_roll=-0.0344 right_gripper=0.9978\nstate[joint_eff]: [-0.6359, -10.359, 9.5521, 1.5751, -0.0415, 0.2808, -0.1197, -0.4581, -3.6991, 9.9624, 1.5507, -0.1636, 0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.551, 2.1204, 1.3357, -0.1875, -0.0555, -0.0616, 0.9989, 0.0082, 1.0756, 0.8768, -0.7177, 0.0181, -0.0338, 0.9984]\nstate[eef_state]: left_x=0.4437 left_y=-0.257 left_z=0.003 left_yaw=-0.4772 left_pitch=-0.3983 left_roll=0.0161 left_gripper=0.9989 right_x=0.2967 right_y=0.0028 right_z=0.1591 right_yaw=0.0043 right_pitch=-0.3573 right_roll=-0.0386 right_gripper=0.9984\nstate[joint_eff]: [-0.7179, -8.7863, 5.1624, 1.243, 0.1636, 0.0464, -0.1245, -0.0068, -3.1385, 6.9265, 1.6532, -0.0317, 0.022, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c63e7fd8efa8e53b8434a42732e397b3b7d16f5f616dd1942c9a88d23d6d0c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2701e454a9a21b1eaeb2453b9dd8b41f90240f682f42d235b6fd43fa04500b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf752ec21d8df891d18a0687e3db27ae89a7de69bc0af1ce18ad729d2f841ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMFLRhE45B-sYhB-wlfK716FYDbGTXC29m19ZinjpWyJMrNL4WRp8B_AXPypzb7Ey8bYZyDRLgxj0TFBSJ6xGc6QRPKTRaYYIkQhv9NslW5nnidFcSkPF6DIDikkT4soyTobo5EjI01uosAPQArQUhZWHL5w9zzcPE1LRKeuB1X5pRqtY2tlV9CqKeF3RSBmMeBoPu_HW-5uYx6j6miWQ4g6bF-98v6YrVjc5L9V7Jc4tC-ri51bj0VSnTMo4ZAr76fmfAZjWWU7pJ4JCDa13eYk6shsZJjn1DK8VSd2nP5m9orNU8HASLvqmxlHqd32Nl5eSh47Sl69fjrqzDVlbfpRpU5HPbDGP__3HblCTeH_xsWeXMoVcEL2lZQv27RVHYFf5uCJ6MuvOQhzVMOpkUa6XXPvuPAOQf1OpLYHK5PEOh15_U8DkKTY8MtPE1AZRPrHf4M__19xImo7pCktVc5pO8coVGBli9KaLvLuJs59Nz6E4b7wWIv0ZHaNwSzdUorgOKgR2EHnex-OSBYn-J0GS-82yXUGG0M_STZbb2Fe648pWKpAXn6jcwiAZx8u_jqIhNwdDjeb1OePPokTcTGLR7hSvREg1CsGvMgKqzwELEWo9SJmYRd1kbQ47YF8UHR38_W_Fvanjr_GoIQUgNdrQzeNQHkdyfMCezzkUtriKNFhf0Y3WkN5-FLFzMIclDcST7BB-NIc6M7Y6MuQhfG1_366D2Y_-OOvVjOmCFtch2ZEXGiq9vy2y7IUCHCmtOYmi7tfeEEEhTI2YTqpDN9Ytgvw1R6KsLPOQHcD_YWlVoK8aNnDiUB2W5h_A92xVq6zyPAYJBYKKcdvQrIdkiSfX4pOh4v50vd9okYcTxCjuUjjprpqqs0tcrTi844c8Abzptl6x3JhS1kBWMnd08Lz9QZsFXxC7Hj455QtxbdSIDJiOTtPv7UtG3E8RSqLFYSlG846S3s7nj1RtBTCHClreLnB5998Zh51FobxJXCGJPUlvftKZ0pn2WLinXsSgF0gbO2zvaGfoJNxQuOl9oHWaZSH6_e8f7A1H53YVpt4wpUNVfAVerVBk2CcqNQlp6CNoJvguXecUHc4tEYhrHu9uQSaCAHBuNHjW8sO5dgtI4h6AB19NqPn2P2wd-QzKFZXLBDAFLx3PsGrhb5IVbK-IPQvIZaIblvoaox367GNNM-DVAhaxOIu8MGIvT84MzjDrJPBPwcumM0ybA4BoN0S5pxZNUnEdFHDNhu-fQqlcI=",
  "id": "rs_028c8a142639ebd2016ab44304ce7087d08b071a3261d06bd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.1},\"note\":\"The cap disappeared under the left fingertip region after the corrected, slightly pressed descent. I am first narrowing the jaws to a 9.5 mm gap—just around the cap’s expected diameter—to establish contact without squeezing it out.\"}",
  "call_id": "call_bHmpVHXDXS4FdMqA1eT7bn1i",
  "id": "fc_028c8a142639ebd2016ab4430501a087d0b6dbd9314fe9cab3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bHmpVHXDXS4FdMqA1eT7bn1i",
  "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]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0715, -0.0685, 0.1057, 0.0082, 1.0756, 0.8764, -0.7258, 0.0181, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4509 left_y=-0.2588 left_z=0.0037 left_yaw=-0.4609 left_pitch=-0.3663 left_roll=0.0231 left_gripper=0.1057 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0391 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -12.2598, 6.1607, 0.9158, 0.1392, 0.0366, 0.1392, -0.0479, -3.0017, 6.8581, 1.4628, -0.0366, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b27bc9843bbce4204ff3fa9a2f2ef560dfea4f46e5c5cc2201152b6d203dc84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3f56565260f71895b06f8484fa44aced481aa49fae785f00a31d1f7bf30ac0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65e0809ae67c6c078c6062e7519e4bf8fbb845c521313df1b1f9e0f55ba160e",
      "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 · 2.124 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 1.0363, 0.815, -0.6701, -0.0517, -0.0544, 0.9979, 0.5514, 2.009, 1.2716, -0.1257, -0.0181, -0.065, 0.0357]\nstate[eef_state]: left_x=0.2929 left_y=-0.0014 left_z=0.1523 left_yaw=0.0159 left_pitch=-0.3179 left_roll=0.0115 left_gripper=0.9979 right_x=0.4344 right_y=0.2751 right_z=0.0434 right_yaw=0.5972 right_pitch=-0.3038 right_roll=-0.0309 right_gripper=0.0357\nstate[joint_eff]: [-0.0615, -2.7282, 6.7214, 1.4188, -0.0952, -0.0269, -0.0122, 0.1026, -14.106, 8.9368, 1.6337, 0.0708, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.551, 2.1204, 1.3357, -0.1875, -0.0555, -0.0616, 0.9989, 0.0082, 1.0756, 0.8768, -0.7177, 0.0181, -0.0338, 0.9984]\nstate[eef_state]: left_x=0.4437 left_y=-0.257 left_z=0.003 left_yaw=-0.4772 left_pitch=-0.3983 left_roll=0.0161 left_gripper=0.9989 right_x=0.2967 right_y=0.0028 right_z=0.1591 right_yaw=0.0043 right_pitch=-0.3573 right_roll=-0.0386 right_gripper=0.9984\nstate[joint_eff]: [-0.7179, -8.7863, 5.1624, 1.243, 0.1636, 0.0464, -0.1245, -0.0068, -3.1385, 6.9265, 1.6532, -0.0317, 0.022, 0.0513]\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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0715, -0.0685, 0.1057, 0.0082, 1.0756, 0.8764, -0.7258, 0.0181, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4509 left_y=-0.2588 left_z=0.0037 left_yaw=-0.4609 left_pitch=-0.3663 left_roll=0.0231 left_gripper=0.1057 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0391 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -12.2598, 6.1607, 0.9158, 0.1392, 0.0366, 0.1392, -0.0479, -3.0017, 6.8581, 1.4628, -0.0366, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b27bc9843bbce4204ff3fa9a2f2ef560dfea4f46e5c5cc2201152b6d203dc84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3f56565260f71895b06f8484fa44aced481aa49fae785f00a31d1f7bf30ac0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65e0809ae67c6c078c6062e7519e4bf8fbb845c521313df1b1f9e0f55ba160e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMKZ3_A9nhSRL7KCkrsgnMs_fV_5pl9ByRlMa7erZ2kXZpUxRCjEeUTakda8h3isk1w8pScS4JQ3Z9-G9WfHdFG-9mXUDJOYOSH550jgHIFE0qQb679_9YSvxig51qQOopoaGF1h-GIeX5OfH6HV_Uuqdk6_yjlkvk0AphATlDrX__bCw9Z_Fb0ir3wPmYpDEiBMaRDbzkBxjLuA25GA7WxCuAzj2wGz-4QmFC1cgc7q3fmXiECc00j6hWU8elI_kzNY0a0jHZA1UDOvu1gY9SiT38a9LouBfSJsWEBdZcVKZoQdwHVvZMJP1K3W7JAlq46rsJqxNbwfzACR7RXRk1REs2cIm4k9Vi4rKickIhuZ4O5x59TZW2t0QV-zk3Byx95GwaeyIdqxFfvEy_uZ1cUhiBMftcgpyyl5cLnu2WfOlc3gbC21mbGhuWa-GOpQJVMrc15Mw_1hai4nTHUXbzoKsu83hJJmQCX_pz3YhtP57Ct3MGdnPGweeKhelZK2r3OUT-VJR_ciw6NWrbRaziKFNSoEYVp4iDJbJ1yv4diuhJcHJl8RXwBTvzcMbWSX2ba4VlmpoW24LcnepcBNiuPsPbbS2pwgHo-Llqw-LlLWP42ZleStTeBQ1fD75xjmci_EtOyioK8UIQ4xLrT6S3PJ8rChwWd0muluh9MpZkBJj2zCnjZKKI6NtoJk6LjTmz8vVL36mVOV8hwWTV85XgqN8zMXhThAMu6RYc_U98ENxC6e-9-1nxtwJ_hHkV6bDbmWBPaFWY71EJVkWQwKma1-Kodg6srLaL8SahpS-JS94mhxWwvO6qIHSpylFHrcm6GCPHEyXKQ3i2ABVgW19rNfXYfP5CnohFNKpSInRQkwlgy4lqL93z9wrAic2FwDApy5vLwFrdSuDiLWbFKfNsqQBLhcgsRdd2LbW8THb1j0XapA7MzwE9O3AahhVRPziIxrtR6OTC9Cb8VnCgkHh5vFFO5vWRd8uT9mQqOebt_RcReNJtYKn-ZETfc41X1_T-AFO0FLHj1G-KmzLveP9fLjuTrYZsp1gTCV4Oef9q9g9cKonxpSNsKF77rJwzEVJal3P4s3f3tIu_55VJap__TT9RvEW0ISj-Lhi9eDZPxL6tJI5AtJzbMTunk9wa6prrNAFC5LPVZiULAUdTT3qc0xoqRs_JuZ9JIp2YBSCU_v5CciqmtD3g3SrZsUsvBO2ZiCG4Lga0BlGDe4V1aE7UM25DDrJjq8kU4U54bcZ-7nn1ytOMyFg65H2yg8WtEiJqq_C9K9fnG6CnY4owGCXS42j80L2ShBYyDdR2ACbs6Sq286ChV-sXaqChqjbbfLfBZ",
  "id": "rs_028c8a142639ebd2016ab44308553887d094a17a13302a3e30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.055},\"note\":\"At a 1 cm gap the cap has not emerged sideways; only the separate pen’s gold tip remains visible at far image-right. I am tightening the left jaws to about 5 mm, enough to hold the cap body while still avoiding a hard full close.\"}",
  "call_id": "call_w2c1bSKDP2lVHzf5J2rzAYzo",
  "id": "fc_028c8a142639ebd2016ab4430988c887d09d7e815bb8e93807",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w2c1bSKDP2lVHzf5J2rzAYzo",
  "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]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0719, -0.0696, 0.1011, 0.0078, 1.0756, 0.8764, -0.7258, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.451 left_y=-0.2587 left_z=0.0037 left_yaw=-0.4599 left_pitch=-0.3663 left_roll=0.0227 left_gripper=0.1011 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.2188, 5.9556, 0.9304, 0.0562, 0.0024, 0.105, -0.2256, -2.7419, 6.7214, 1.4237, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a648ecaedb9ced5b2a24e34f568530a868218f842a2f5a26ab23144c4c6511a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e963626fa493f3a93f0b3f0be340501e4fa66c0533c0285864739c8461c0e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97293723d5db2593f6a1ba0b2f68cf4b4b0aa3710d5b03c68f765e8333eaa477",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.405 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5255, 1.9217, 1.4509, -0.4881, -0.0532, -0.0669, 0.9989, 0.0101, 1.0737, 0.8791, -0.693, 0.0212, -0.0238, 0.9978]\nstate[eef_state]: left_x=0.4372 left_y=-0.2385 left_z=0.1007 left_yaw=-0.451 left_pitch=-0.3851 left_roll=0.0097 left_gripper=0.9989 right_x=0.3018 right_y=0.0029 right_z=0.1644 right_yaw=-0.002 right_pitch=-0.3282 right_roll=-0.0344 right_gripper=0.9978\nstate[joint_eff]: [-0.6359, -10.359, 9.5521, 1.5751, -0.0415, 0.2808, -0.1197, -0.4581, -3.6991, 9.9624, 1.5507, -0.1636, 0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0715, -0.0685, 0.1057, 0.0082, 1.0756, 0.8764, -0.7258, 0.0181, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4509 left_y=-0.2588 left_z=0.0037 left_yaw=-0.4609 left_pitch=-0.3663 left_roll=0.0231 left_gripper=0.1057 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0391 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -12.2598, 6.1607, 0.9158, 0.1392, 0.0366, 0.1392, -0.0479, -3.0017, 6.8581, 1.4628, -0.0366, -0.0464, -0.0073]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0719, -0.0696, 0.1011, 0.0078, 1.0756, 0.8764, -0.7258, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.451 left_y=-0.2587 left_z=0.0037 left_yaw=-0.4599 left_pitch=-0.3663 left_roll=0.0227 left_gripper=0.1011 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.2188, 5.9556, 0.9304, 0.0562, 0.0024, 0.105, -0.2256, -2.7419, 6.7214, 1.4237, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a648ecaedb9ced5b2a24e34f568530a868218f842a2f5a26ab23144c4c6511a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e963626fa493f3a93f0b3f0be340501e4fa66c0533c0285864739c8461c0e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97293723d5db2593f6a1ba0b2f68cf4b4b0aa3710d5b03c68f765e8333eaa477",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMMHa2j-C9kHE24RSKfit4xIsE6y8Vhk3aWePb9X5kFP02CPU3ZHd_y-RBsF6oCQwhF1EnK12M8cwkE3HwtkBXY6CqF8N3QaQEjwMw5Uc3n0u0T4ggk4BISO7i7vHzMNF72HSAmdtj9YWhBmzbidvajWtIJec40m8UdCIAmQBqLGWSpne_I7URchlK8iTj7ZJsfQCnpYMDhyUgDLIKNx3SHXl0V_QiRgfbYNWW1RY45F_kYo4uJbHKErb1gLDLjvJQ9iIFDtW-QQgFCnZaJr_gnRU1_X7VpFUsRsmOytWtv7pJstNyGaQAAKJqsSI3QUj81A8AdQ5kg8s6j1GSVNEUIQlhH5SgOxkQuhf8z_tc5isR3H7HjVLngxlN5G6UKZm7PBvAi7Bj-GA0ZvXcMHKOlX25gsnByYGCUsyjjqgohyi04NRvl96XJKRW5zznZSnjg2Jr3Qu5eyhEXw1usKY1A6jgVnw5_zWkN5Ip8HKrmG2qE7qt6rBiVKs9Gm7GP8LDSuebWHWxHFVzy7b2msP9uNsRAmVnOICr7THggwQoA8fBuMM1WML-riGOg_xF8mUJ04RS-zpZ0Fo7jwyWUV42aaRqA1vzUaW2X0d2EN54x9lE-0S-K3InSKC3VNYmL02gc6yczR74NjK4AFj8zJRHduzfPWnBy5OsZVJMeeKyrh2Sq6koUjG2xTEFhGRYHq5SXF8Baw9DxFsB1yFF_uZrutGpUYQ6Bv0GgmZl1Pj8ecS4tRfk6XfSUGWM3I13QrwsiRIE2_SpRBjvEI6iqodQcEy66sKOrIrU4dneIvalYxQ8eFebJjArmbnbKyhxgvpIquvwglrDrKXPdbqUk3L5mXnN-xS1x8UcKL9fSlR8Dd8qNRhPBXq4PJVr3UUScrDvaxdCONibB_aqVRDfGi23BOVSUH7LUhlb5a1enVoPUkvTttbsrXyz0Y9CMq7eWvuL65HgMHlCPBQRHWrIQjjHjIoMmJUp5JXHCPky0NduN9-6ZOM4opqlZqmLDYKFN76uzk5br0BOA11kfzTOVSpfnswcUw6LK6UddmAaY3ZF-A3YB65CXF9e0j02MzK01tlS5w0ygmjFnHUakGMoq3o1WteWwsnoz3nGwq3WyrLtkGDnlxufoxuCd6L-4wojqlZag3nR1JgfJA35yj-OZnayvvZvhyufeUod6_fGRDGukrJNENy53tqLHIKxlTMOnZOvm",
  "id": "rs_028c8a142639ebd2016ab4430bc1a887d0be98edc534daabe0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.055},\"note\":\"The controller moved only one increment and the measured gap is still about 9.6 mm, so the intended cap-holding width has not yet been reached. I am continuing the same gentle close to the 5 mm target.\"}",
  "call_id": "call_MhHzTw3Sl158hwBiZOrG3AAi",
  "id": "fc_028c8a142639ebd2016ab4430be78487d0b18a7d62e65394aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MhHzTw3Sl158hwBiZOrG3AAi",
  "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]: [-0.5522, 2.1311, 1.3357, -0.1429, -0.0746, -0.0734, 0.0558, 0.0082, 1.0801, 0.8745, -0.7273, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4517 left_y=-0.2586 left_z=0.0042 left_yaw=-0.4554 left_pitch=-0.363 left_roll=0.0223 left_gripper=0.0558 right_x=0.2946 right_y=0.0029 right_z=0.1555 right_yaw=0.0051 right_pitch=-0.3737 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [0.0342, -11.6034, 5.9829, 1.3162, -0.0562, 0.0073, 0.0708, -0.0889, -2.9607, 6.8581, 1.4139, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df930edf034d0dcad64e94a88013889aeff45cb6cc9481b7a1faf884a369959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe982001ef01b6f6ca7e40d6dc35323c3bc6372f89b106024c46d8a50e9c8b85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e5779237550bd8b7a79b607c77b294e2a38fdb4b53b0641b0b484ee88a8f3f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.154 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.551, 2.1204, 1.3357, -0.1875, -0.0555, -0.0616, 0.9989, 0.0082, 1.0756, 0.8768, -0.7177, 0.0181, -0.0338, 0.9984]\nstate[eef_state]: left_x=0.4437 left_y=-0.257 left_z=0.003 left_yaw=-0.4772 left_pitch=-0.3983 left_roll=0.0161 left_gripper=0.9989 right_x=0.2967 right_y=0.0028 right_z=0.1591 right_yaw=0.0043 right_pitch=-0.3573 right_roll=-0.0386 right_gripper=0.9984\nstate[joint_eff]: [-0.7179, -8.7863, 5.1624, 1.243, 0.1636, 0.0464, -0.1245, -0.0068, -3.1385, 6.9265, 1.6532, -0.0317, 0.022, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0719, -0.0696, 0.1011, 0.0078, 1.0756, 0.8764, -0.7258, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.451 left_y=-0.2587 left_z=0.0037 left_yaw=-0.4599 left_pitch=-0.3663 left_roll=0.0227 left_gripper=0.1011 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.2188, 5.9556, 0.9304, 0.0562, 0.0024, 0.105, -0.2256, -2.7419, 6.7214, 1.4237, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1429, -0.0746, -0.0734, 0.0558, 0.0082, 1.0801, 0.8745, -0.7273, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4517 left_y=-0.2586 left_z=0.0042 left_yaw=-0.4554 left_pitch=-0.363 left_roll=0.0223 left_gripper=0.0558 right_x=0.2946 right_y=0.0029 right_z=0.1555 right_yaw=0.0051 right_pitch=-0.3737 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [0.0342, -11.6034, 5.9829, 1.3162, -0.0562, 0.0073, 0.0708, -0.0889, -2.9607, 6.8581, 1.4139, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df930edf034d0dcad64e94a88013889aeff45cb6cc9481b7a1faf884a369959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe982001ef01b6f6ca7e40d6dc35323c3bc6372f89b106024c46d8a50e9c8b85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e5779237550bd8b7a79b607c77b294e2a38fdb4b53b0641b0b484ee88a8f3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMPdKPSHZB3lVmBsnzUzDEzcnd24xTp4i3lXoNVn_67KoFk2FMOtkNFjcsBTrnGKmDbCq-JTW6CwES9JGrvbxVY4pNuhATPnz9fIRKxktTDIuvPJeE7h7nJLYvBMEjUd9FOWh8gNG8ZfHRUpWTAOX4U2lHdEvJNLoLZcpk8-ZFI2pIqBflU7UR5FyfG7t_K38gfc9w-T3HzXITj6YM2-DtjS6IQER_MfB1s6RyJW63l5HsyMZ6ZcDPxN5bq_i10yR_710mnUr9996Pgc0s3EoNF9ps5QQohvZHP1ZSz3utIrewa_akjJ3XY3Z9HAA5Qy41D6y1HU0EjbzwcPGdwKBQSG4UcwPkJmla93VDSHGKpKPBGdxAqxcrAqKPhfOdyHGwwXHpY4u_FubRLyMcGCPVxiShRuzmUFp28psC4auNNU_nHcnzcuzYIe7yFBzzesSDcrvXoAEea6SytAsDKE5Eq5Mfmt2SqChP1YDUYNLDjSL4pDeGUgETxTLYFTv0c7Y2cMD6ytN5uLgYguoYMoFvEZbAxTM6H_X4PR_TMy2ZwY9hsyLiqm7nvdIuNl3QE-O-9JQ4jlwYhvNFb8HxQhREUb0O-uQ92KvKVNmxfdsSwezPyk8gBcl6Bx1Nah0z78QTO0AoHNOyJ3NZD8D2qmxzoae6RTkRISPIdhx6ZpM2VbfO5BAFm93N5tpy3ZgTOwRcPTJI4EyEA7G4tN59gfzu5j74-sxmHAdPNOWEmMchoVJFxNixcmt6GL94YeHnEx-SeXrdKsLihKOIhPiOM8F69I2Q3WSDXKigOKRVlanf2pihx4AVrrn5rfKSZInLHBoDhQOPdMUxD4Ri9wG9mhPPHwxexLZb_PAuBwFxoVVYzkkiYPXmYR2Ngd4Z8Td9Dt8vyb__Noj6hLUK-s1hO2v0W3BSipl5Db8Qo7MvhnpfD5Gf6O70J-91wblrZhpFQpqCcIj6x9BlF0_mOL0a7R846xKXkDuxXs1MbV-ukm82_z8e6QGHZAG2O6_oFZU91m3piafTrXk186uuMrxowmW74_c5ewEi9vXZLivg5LnbRrVr_S5S5JZaXzwxDCqZdxEi6gELl5NiGXVwf9QOjErioPcMp4nZJf2FQiZ5qfYWvGDB23DE-xAKCBkS1f0UJksQN-mlU9lHKjHe9CnZx6F7QPzdLigVnxD5tA9iNozMrRqA=",
  "id": "rs_028c8a142639ebd2016ab4430dd0c487d0bbc62ee1d8c5d32d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The left jaws have now reached a 5.3 mm gap with nothing visible outside the fingertips, consistent with the cap being pinched. I am lifting it 7 cm to verify that the short cap leaves the tabletop.\"}",
  "call_id": "call_YM9j2wY2Zfr3FRgworuQ2vF2",
  "id": "fc_028c8a142639ebd2016ab4430de9f487d09a9d3539f0a13ecd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YM9j2wY2Zfr3FRgworuQ2vF2",
  "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]: [-0.5522, 2.072, 1.4296, -0.3603, -0.0746, -0.0811, 0.0559, 0.0078, 1.0805, 0.8673, -0.7277, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4442 left_y=-0.254 left_z=0.0374 left_yaw=-0.4482 left_pitch=-0.427 left_roll=0.0246 left_gripper=0.0559 right_x=0.2932 right_y=0.0027 right_z=0.1525 right_yaw=0.0047 right_pitch=-0.3817 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -14.9128, 9.8256, 1.5165, -0.0415, 0.0513, -0.0024, -0.1983, -2.5231, 7.3094, 1.4774, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e343c1cad0fe8e2b933746a75398568d78b7fcdd68e8ed404d90d6ab73cf20f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f29be4364dbefd5fae22f2425accc56683242e179832b70ad8f37b85c841d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7fe9449e085718638596ac97c70f9803700b0e436bcf0b4a0ae3d00f8805261",
      "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 28 attempt 0 · /responses · status 200 · 15.66 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0715, -0.0685, 0.1057, 0.0082, 1.0756, 0.8764, -0.7258, 0.0181, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4509 left_y=-0.2588 left_z=0.0037 left_yaw=-0.4609 left_pitch=-0.3663 left_roll=0.0231 left_gripper=0.1057 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0391 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -12.2598, 6.1607, 0.9158, 0.1392, 0.0366, 0.1392, -0.0479, -3.0017, 6.8581, 1.4628, -0.0366, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1429, -0.0746, -0.0734, 0.0558, 0.0082, 1.0801, 0.8745, -0.7273, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4517 left_y=-0.2586 left_z=0.0042 left_yaw=-0.4554 left_pitch=-0.363 left_roll=0.0223 left_gripper=0.0558 right_x=0.2946 right_y=0.0029 right_z=0.1555 right_yaw=0.0051 right_pitch=-0.3737 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [0.0342, -11.6034, 5.9829, 1.3162, -0.0562, 0.0073, 0.0708, -0.0889, -2.9607, 6.8581, 1.4139, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.072, 1.4296, -0.3603, -0.0746, -0.0811, 0.0559, 0.0078, 1.0805, 0.8673, -0.7277, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4442 left_y=-0.254 left_z=0.0374 left_yaw=-0.4482 left_pitch=-0.427 left_roll=0.0246 left_gripper=0.0559 right_x=0.2932 right_y=0.0027 right_z=0.1525 right_yaw=0.0047 right_pitch=-0.3817 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -14.9128, 9.8256, 1.5165, -0.0415, 0.0513, -0.0024, -0.1983, -2.5231, 7.3094, 1.4774, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e343c1cad0fe8e2b933746a75398568d78b7fcdd68e8ed404d90d6ab73cf20f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f29be4364dbefd5fae22f2425accc56683242e179832b70ad8f37b85c841d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7fe9449e085718638596ac97c70f9803700b0e436bcf0b4a0ae3d00f8805261",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMSBbl3kJpH3tQqT4v8r96P6qwz3B319UoTEutJ4pCGzKKJ5o4YeW9Y_vCAhdek7Pz9jNnvKHthWqJ9AhXBRUGjS795kSsxk-_0OX0ICujl6EKSI_LNGy7Xja9FyGrz20cDChO5VO7oeW7NMLRgfefX3DSrdpiwE3vQ3sHIV1MzWzk591UhxZHJ6jQ_iQG8pdG-Kxdb7KJPmZTsmV19EyaPp68gWg1PIIy7qS4c9JNWmedX8jdiqk02sf3TjSg_ifmajFGDg0g1oTxOsFUt3g3ujKuKSaGh5HD8n4f0VL0A2kGfe7US4F7lRM4Oy5TyRIZh1vVTLpluA0HKyxWhPh3hQZcN9DP54oJf_XHQOvfJViyiG1RSlO3if45HhDdPyAmBQxIQ2jRK0WEilR34TNGMNamX33mUOMX7WBB2i8mdW5rwJ2WfRIrRq64boOYusD82ljzIwA4pIr9bj-vwO3IKEHBAf7As4JhzgBx9bWf7SH56etFdfRk8BIjV_3T7pwNbCVFOt_FnhdHqJlnAD_CvSDfApM-gfmJfl9dJUUYDiARidcECJLh0fd4PL2HuxWhmHfBw7HvqCNcvsKLI-0IwFnCmp6eBIllqB4Ac8ZRFUcyEetSqhhaUSqY9jj677EgxON3bteOOQI1M05oWglABssMM7khFVwverwpdV6ih3mxSqsVqfooWoS8GqoNJIMGAc6ZSgQDpWi2agEYDoCgiJWlu1oJ69fIa4NgTtA3MQ1JNNv065P9w6U9LbfIsEBwTMHlGOcugka9MC4d2wfQc2YAks-laXkCm1xuEqCgatKrEevJmACfvDr-rGEFIKBJKob0Asgn-AR6evq-RPqEVpQoUNO193f1dlAp4sNLjYTMOqBUkx4X5XKhYlkdsqGABkkt7SbkiseVYiDsgYG_LOVnplPN2efhNexvmMbRNFetagWa7sUXlUdQMm75FcIRgRRmfEyN4jXtVyxzlvMgUCXL3ATUFekrgoc8MUlm2E--ucXrI5GL8_kNnsaC_68XGT3BneN38qlEk3QuVJrQO0PxAEyqKMXaDstIE58yQCwAweT6moeAy98jP-PnvwlVxqSVFa3EvWh3mxNz41J_EDO-Ln4o6Md-ErMM97L3GWiarAKJSB8ogxDBCLqfCkup9rnqq_KnZbKD1k5crsBPo9PZU5l_ChbWYDWgcLFj2YKNzKokzXX0xoTEDt9EvdmG97OPKKMmNqb0NhZLOuJ7INsesJ0NL3GkyGLAnAao-P8LrFBpP4nOKpHswAU5vJbqA4dWVWFMPpPVL7C4u5DhtO-c3j-IxTXiSXkDUmWCza3VDJt-ErUr1fUJiyy5z5rJdo2itJzTKUxsSAoXaeE2SD9_Sxxz74jGzIi--N4GSKmJKkX64j91SN8e9LxUhsnEnvYklyxAsordoHM3Cc3WScdDjWazxqdxVwggkApPTjhekpGmY26sEa4gVyv8FthfSjG_WbCLGMUYlRTOP2SdK-IXyZOkWlBrJS16f_rwoySKAqDDkj-1eUfug3Xb2bzAtkyoB_gCbEv89V3HGdOPlqVc5BLJZr9HJDUYzu-dXeRo=",
  "id": "rs_028c8a142639ebd2016ab44310d63487d0a610e3c4de274516",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.15,\"left_gripper\":0.055},\"note\":\"The short cap’s former spot is still occluded by the raised left hand, so the first lift cannot conclusively distinguish a held cap from one left below. I am carrying the closed gripper up and back to a clear staging point; the overhead view will reveal whether the cap moved.\"}",
  "call_id": "call_mADoSxSZw7pD2EfWRdpmkGRo",
  "id": "fc_028c8a142639ebd2016ab44311c36887d0aba4796c142bd1cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mADoSxSZw7pD2EfWRdpmkGRo",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-0.2565, 1.4521, 1.1244, -0.659, 0.0624, 0.136, 0.0559, 0.0082, 1.0821, 0.8635, -0.7265, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.3617 left_y=-0.1026 left_z=0.1467 left_yaw=-0.4071 left_pitch=-0.4125 left_roll=0.0293 left_gripper=0.0559 right_x=0.2927 right_y=0.0029 right_z=0.1507 right_yaw=0.0051 right_pitch=-0.3859 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [0.3077, -7.4598, 6.1197, 1.3358, 0.2564, 0.2418, 0.0659, -0.1846, -2.9744, 7.4325, 1.3651, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e79ee61a390ff8a6eed12384eca323a10f3daae3f1aa69062fc800b332f407",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2400232cf5ac350c5d621e015ecbea1fc397a18f1aebaa7060eb6348478055",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955d361a52ac140025ca0ff44f463cb24235d0648c8f8b706999aead54379f84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.125 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1459, -0.0719, -0.0696, 0.1011, 0.0078, 1.0756, 0.8764, -0.7258, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.451 left_y=-0.2587 left_z=0.0037 left_yaw=-0.4599 left_pitch=-0.3663 left_roll=0.0227 left_gripper=0.1011 right_x=0.2951 right_y=0.0028 right_z=0.1578 right_yaw=0.0047 right_pitch=-0.3657 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -12.2188, 5.9556, 0.9304, 0.0562, 0.0024, 0.105, -0.2256, -2.7419, 6.7214, 1.4237, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.072, 1.4296, -0.3603, -0.0746, -0.0811, 0.0559, 0.0078, 1.0805, 0.8673, -0.7277, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4442 left_y=-0.254 left_z=0.0374 left_yaw=-0.4482 left_pitch=-0.427 left_roll=0.0246 left_gripper=0.0559 right_x=0.2932 right_y=0.0027 right_z=0.1525 right_yaw=0.0047 right_pitch=-0.3817 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -14.9128, 9.8256, 1.5165, -0.0415, 0.0513, -0.0024, -0.1983, -2.5231, 7.3094, 1.4774, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2565, 1.4521, 1.1244, -0.659, 0.0624, 0.136, 0.0559, 0.0082, 1.0821, 0.8635, -0.7265, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.3617 left_y=-0.1026 left_z=0.1467 left_yaw=-0.4071 left_pitch=-0.4125 left_roll=0.0293 left_gripper=0.0559 right_x=0.2927 right_y=0.0029 right_z=0.1507 right_yaw=0.0051 right_pitch=-0.3859 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [0.3077, -7.4598, 6.1197, 1.3358, 0.2564, 0.2418, 0.0659, -0.1846, -2.9744, 7.4325, 1.3651, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e79ee61a390ff8a6eed12384eca323a10f3daae3f1aa69062fc800b332f407",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2400232cf5ac350c5d621e015ecbea1fc397a18f1aebaa7060eb6348478055",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955d361a52ac140025ca0ff44f463cb24235d0648c8f8b706999aead54379f84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_028c8a142639ebd2016ab443152f1487d0845577aa5b58f286",
  "summary": [],
  "type": "reasoning"
}
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  "id": "rs_028c8a142639ebd2016ab4431a36b487d0874271b7ae2dc1cf",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMjKf51xbWkWmjeoPuRlsrjLuLnu90fU2Pw7yo8zVJWy950EbiFbymDuxsDxNuo7TH47WzDP8mejvzLIBucEekXnOjwET2LKr_ozGpg_eAKxA7QQAA479xJrL0Htwnt1TKs3OaKSSodYHmmj5xn9Fi_Gk_JO6uemfC7bJaliR2sB_enQ7jLDpOLyGMCVMt8pktKTETpOBYM3hJshI3-WK0BNxjnLhGdSvy0HEt8MZ4ZmyvCER9_r0CWPyrNbFxFqXS2rOJW3UKkfbFrMEUMyBetBUguNyx9-uC0MwJeCcyzPSxviKcJMtwuYwYtpu4pK64zKVDk-tj6xmQtGeklPIx-sWkS6PJ0PbAgV9dlJ_SQ3cJZJCDgbbagRtdUG0LDcGG3Ldtj7p-w0b5gU6O0-bfKHCvlicOY5rcyJUIMn9u5lSjGF85zDf3PDv8PpCDhqhz_T_wX2ox4xJW0QiMMwfeOqJCvwogdFvj__itlYFJw7MrYy9NAkj1-24um5b3G9mJ1u8oRMzz2SR9cZuHhLdv3oLuxm6mOavTS8x9KuxNRDdLuXpZQpYsQnDhJQU_NWzkuiyqdyeFYGwP8Mmip3ktdSOJAsnPj0Y2O4FqP6Hqo_H8ln_ImSVdUXAyPjqPE741nqSGVHU2rrnTfC5ZZMrqzCQugysEZCbSp9MkXsC17BKU0q4SCYoHzoNUxBQ5tMhcJf4kkQ9if1YyvMBW42wVL72yI39TJs-Q8HcHwASVIFJMil9HT4TspxOIrqTSjuUHMSZ3ABp37A0gifu7IYaVaVRCxNNs2m3a0JSk7G4h36QnBGfIR0ozHYjW4d3reRtUPSIYxRgi_RO0ZsT2jjhY6uO1FoKq6fLK24tDuZieTuq_0JKSIjTHLPHF8IkHXJX7PYOumdF-0qA50WqM-LJWy5GM1GkTwG-iNPWWefXDW8pLeC5uBYB6BhKaiCd8OuauZK6oH1c-Z7zkexrU7uU1pxb4ovWKsKLdT7aVPisQGJP9ptsxUdK0mR2iTlK4pwx7OJpvAWOBv1zM-UiDKy7Tkyg4LdSWS6Uzy8av3fAPfyftPPFGSHxSi6d2Xy32KFybIXzV2pA-8ZuwrtaWW7OquTEKGoOijiyZpIMsx6qDXJ1mQ1aWFSHoZqF75QnayJIe4-UAdKtrOVzInEI7fLswii-f5sNXxSx6_FFOsz0fkrIsNPmqIbnpL-8dt-7aTQVTH6vub3hb22Px0viZl-5mHmZk-wpmtC_35lj8iVok__Ej86ZKCbpBNRDCe0N4MEzl57GNmVy_LRcynUsxP-EveINqDPQneUHaAwnKPKtaUvGm0QljBjbMejTwe7t8JCdq5vs8MuWpjsoAMc5YJaYeGGIEzetMWK-8MPyj66cKLszR-za67fkiMdoFpuZVI-5Yl3_PPpLSvWOqfA5mjxHHWa5SGNNdwQ0mTGAbgHcJ1Rp7m4wp5WNqxAoCXEAwaBtP1Jgzf85Yc2WD9awzO-lltJDV1bopUD3EYpn95A_MLERfUaqAE79ZO3p9p5VgP1d0vc47F4C8s4TmuHG2S3w3OAQT2pAz_qjTElg5r9_paieGZTLxHovzdRKct2PQM_CGJ92rk8jP9q7YOKvXmRUnY8wP6FRc5SIDczsKH0DV9MHe4SHo3vcqgpZE-7FMtdD7TDjs4c4VLJXZtQSQixdu7ZXvvMFPwpDR_u_holGs5L4HBDqJgJk5bV6Abgvg2YimB12tSYyrjUcDdqlNoIWqtsY08tF38QpgAbznHkyRpxLo-Lg0QibCALkYoAWpw-vMH8CNW-rdV_4qbKUtucCsK22XaaA7WgbSPFG8I6XyaAx1g3psMKhCMa0YWzaUcBJaPJAY34opDtOWU_BsoOl4SPMMFAWj3YGQvrEGkLhYWJP8Jei0YmdcGsPf2RJCC6zY1ZxxRUVAOuPkXcb6f8VGD1p7LJtWqWqpdjYK2lUFFfdRiWngF_6Z5iCNtkOrTlVySEItB0-j3OthRYcWoV_nGtzSPuZhyHhjeZ-U7O93t_6wlvSO6qfNmjc1Pua8e_Kz9Ieih9LqT0lpQ6YVHL_Wj8eY21qz7-uVjdWt5W2F9AWSCThNrZ7ZIhuU-lZ7gc2yC-59HuoljtD9LMhbIu53Hwax5TCqKkwUf1OmUNpXG9jToM6mXQqS6U7EOgnzej2HZGwTWuAZxlNWp7pz_JXlMQAk12vYHX7TRLKIRk2Ax1Pma3LKrgOUeoPAQFDgJaVBrYHGMb_w_btRlucgPObVJVpB7xQHGqeJGS52dWMhbhmqJsMR4OXADrS5xqcZO2hLWki6LMcAgY9Q_RKHh5zb2EkNmsDkaB9deSe2C1UFhF1niUMdPQLlHdhjQbqopelpYForjisfZSUGGAQfSv3XfmGt6oX_InwSPEG-aI_S2XsdWZlaZEU9snrcMkwQ8gTy5lBPD1llB9dXYXW3cjtU5nq3wTP-ILp88c-0T1i-C4u5sA4kkG5oPXZ1wCre-ZAIiaLT8ySjtooA-3PTsAeqamSPxZ2YR7nZC3YNMQm9mBFKQ0NFn_Pmb4QT883fcQPWYtIGk19KyUQ_oLrYzGNEJdP-xPI5cAWkIfMtR_4VG48ACWx3TCNyNEzioEWfBpuh4oc1t75friyMTq8cCSeJsy10Dn4xVhnORIsyhm-VPnpPc5Ui_2AqaPDc6IblBJqNTv5GTTFauH7WDKLMFElgK3bw7CxwI1oVxnAPKxnXdbyuP6MUitOcbqBOrIr-0jlS1Lq_M3Lp2qJb7Wh7uJ2VzaHT5KB_h63IVQuKS5s7CoG7Sf03pDTdtidGaRCR-oT76l4Z4q3zmDG0h62tzM9RLgeJUcqnHFi9ibnHIT24fP6w=",
  "id": "rs_028c8a142639ebd2016ab4431f207487d09fee70508eb518da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.225,\"left_z\":0.0,\"left_yaw\":-0.5,\"left_gripper\":0.0},\"note\":\"The cap is still on the table, but it is already aimed almost directly at the pen’s exposed gold tip. With limited reliable pinch purchase, I am placing the closed left fingertips just behind the cap along that axis to drive it onto the stationary pen tip.\"}",
  "call_id": "call_JyPajvAHT6eOsIX1s5E1z9xR",
  "id": "fc_028c8a142639ebd2016ab44322615c87d0a54d744a49f8a1de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JyPajvAHT6eOsIX1s5E1z9xR",
  "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]: [-0.5117, 1.9469, 1.0943, -0.1818, -0.0284, -0.0032, 0.0066, 0.0078, 1.0847, 0.8604, -0.7277, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.396 left_y=-0.2126 left_z=0.0007 left_yaw=-0.4964 left_pitch=-0.4625 left_roll=0.0286 left_gripper=0.0066 right_x=0.292 right_y=0.0027 right_z=0.1486 right_yaw=0.0047 right_pitch=-0.3928 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -8.4444, 6.9812, 1.0672, 0.0366, -0.0513, 0.525, -0.0889, -3.2068, 6.9265, 1.3162, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b228859e00578b7de1409294c1577cd5a3f839266647b8551dd964c3b42b5ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1538aa0365ffe20744041298f5632eee8b9f90369803d4cbb913b5868dd7203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642ea39ce43db5d7cf6a32f28937d61492a3a9d8a79f9407e3a14703825e9789",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 2.708 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 121 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.1311, 1.3357, -0.1429, -0.0746, -0.0734, 0.0558, 0.0082, 1.0801, 0.8745, -0.7273, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4517 left_y=-0.2586 left_z=0.0042 left_yaw=-0.4554 left_pitch=-0.363 left_roll=0.0223 left_gripper=0.0558 right_x=0.2946 right_y=0.0029 right_z=0.1555 right_yaw=0.0051 right_pitch=-0.3737 right_roll=-0.0388 right_gripper=0.9985\nstate[joint_eff]: [0.0342, -11.6034, 5.9829, 1.3162, -0.0562, 0.0073, 0.0708, -0.0889, -2.9607, 6.8581, 1.4139, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2565, 1.4521, 1.1244, -0.659, 0.0624, 0.136, 0.0559, 0.0082, 1.0821, 0.8635, -0.7265, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.3617 left_y=-0.1026 left_z=0.1467 left_yaw=-0.4071 left_pitch=-0.4125 left_roll=0.0293 left_gripper=0.0559 right_x=0.2927 right_y=0.0029 right_z=0.1507 right_yaw=0.0051 right_pitch=-0.3859 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [0.3077, -7.4598, 6.1197, 1.3358, 0.2564, 0.2418, 0.0659, -0.1846, -2.9744, 7.4325, 1.3651, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.9469, 1.0943, -0.1818, -0.0284, -0.0032, 0.0066, 0.0078, 1.0847, 0.8604, -0.7277, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.396 left_y=-0.2126 left_z=0.0007 left_yaw=-0.4964 left_pitch=-0.4625 left_roll=0.0286 left_gripper=0.0066 right_x=0.292 right_y=0.0027 right_z=0.1486 right_yaw=0.0047 right_pitch=-0.3928 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -8.4444, 6.9812, 1.0672, 0.0366, -0.0513, 0.525, -0.0889, -3.2068, 6.9265, 1.3162, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b228859e00578b7de1409294c1577cd5a3f839266647b8551dd964c3b42b5ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1538aa0365ffe20744041298f5632eee8b9f90369803d4cbb913b5868dd7203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642ea39ce43db5d7cf6a32f28937d61492a3a9d8a79f9407e3a14703825e9789",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMnGcXVgilprxhKDeNVyxgpQvu_DS7sNlFBYekeXxhAWBiwiGurbCBtPwdM5BELOFCNGpj8dYVTLrCKqVA8QYEGe0cONBcr5S94lclZOKpehlfxkraXHLH6hl87vRsDQEfuTWDOeGqTzoySde63SqfCGBq3W52P3EIkkh19cadie33Y6r5jJKsCLt2yoAl4CiH4JVddwYbAcSuabDjxAMldrtpn1fev2t_pGZ6TYmSaGaoe7pUpnJr-GgSXQmUVAQsCQzQCh1WTWQfLCJl1YJSZp7Qncl_EyzEwqVdkgICfkFZFWo0gLMGY2_piXmE5zubUIu8EzVTwZynp3mi5F0b5qAl_ctJsVysLW5zaTJKfEmxy-94swQgj_Onnid8Gta_SeK_HLlipXxDN3RraHFPrNsmhKLSCLdUT9BwcHJCWvAqJm4mb_fwFGO8KobaGyvXfkbpjCZZtUVdxMAwljXJT1Vy2zFyakCEenv8iqTanf_bGs_OCZNE-suN9PvJ8-dEdV41acG4tCTzQDfzirT5SAcym9RZQGFrBViPuCKiufOShyeLKyVrYZmBcLRY2W-rNHu_iJPt_qIiiBnFSGUAgzElT7AuCpcyL3wjPxhUV9gaobsVgqWHLDMENgNRktLZgUGa92mA2N7BEVVQV9Sn8xxxWFKLBMqs5we_6BF7A56WQQjzHuZmTfX2-3i2ilYt7GcQ3Ay4j1FyQTtSgCVaHwZtLAIzo5ZCJ7OLRADb9O-W360UfT8iKlU3hpfFy6TFE8bZKzeRzWnwnIzrP12QLfFHXpH0pD6uwYxxxFXx-X5_nYEOx52jvW3SS4eeGjuHTFmojOTVl7KT5kzvkL__hTXE6t8FuTQgKb2AzpXsvCIeJpvF9D8mnXz3yAPJKie3Lf8NJg0hmULsAMaUFXwvaoeJpHodTU6BSqOsSaHBhxYAS1KyHPJWisF0XJZUw4mI0pGd4Q1D4iRPOHM9hnz7UfKt98NpAwnUip3uGzYiyssx_bIINVxlQV82EeEdNBeySgriMHG9a9zay8i6FHOV8qyodhq6W4NKKRhw19Ezi67LdeutbknAHyNz5T8fG4ecZlzq2enFs8iMCvR7eNgh1os2wfr4n6EyZvtN-2iXoR0ru3xHyMqv1KEHElv-pqfYSmfB9ysXHKLQlpiTdo8myNCqo3CyxMINXJzrT030zyzqJ0ZBsgsfOLrvTvxKiFcmSpR5kCmv8ri42fdewu3FLT4j8pVj9UGToSaUQ85AEORg1vfXwsdsLDfxpIS0kCBFb7ZvqxheA1uJHrj8NXegKYUVXUoyUj-4NR15RT7KbZqncyMHm4xkApnq0mecWvdZIcJ6yFapSEYqjcNWeCZGF3aNhbekkOQVFT9LSKdF2B-84F98IuLLsOcob6uFpDMLpZxh7ebDG9urEeiN6U_h_YkWG49d1EOclDFqPDV0cWbY=",
  "id": "rs_028c8a142639ebd2016ab44326302487d0ab31074b233e5bba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.28,\"left_z\":0.0,\"left_yaw\":-0.5,\"left_gripper\":0.0},\"note\":\"At table height the left wrist shows the cap immediately to the image-right/front of the closed fingertips, confirming the hand is behind it rather than over it. I am sweeping forward-right along the cap’s own axis toward the pen’s gold tip.\"}",
  "call_id": "call_RpQEFAJ12QY4WgwFFDwBjfTq",
  "id": "fc_028c8a142639ebd2016ab44326b22487d0bebb7fb557b32391",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RpQEFAJ12QY4WgwFFDwBjfTq",
  "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]: [-0.5648, 2.207, 1.5158, -0.3218, -0.0544, -0.0528, 0.0056, 0.0082, 1.0897, 0.8589, -0.7284, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4584 left_y=-0.2748 left_z=0.0054 left_yaw=-0.4959 left_pitch=-0.4392 left_roll=0.0235 left_gripper=0.0056 right_x=0.2917 right_y=0.0028 right_z=0.1465 right_yaw=0.005 right_pitch=-0.4001 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.5538, -11.1385, 7.3504, 1.0476, -0.0269, -0.0513, 0.5739, -0.0068, -3.2068, 6.8308, 1.3797, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd0d7c588ceb86d0d14c9f62abcc3d7e1846290e5e0115c479036f99907c0d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4048f02faf14ffaa5fc9962283b85e3e5d6884d2d39ff3f869eec365f3a8c6a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e0006e0cbceb7ad5eef26085378a545c5a0db07e384477edfd02cd98802d11",
      "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 31 attempt 0 · /responses · status 200 · 4.437 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 121 changed as sent

message 125 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5522, 2.072, 1.4296, -0.3603, -0.0746, -0.0811, 0.0559, 0.0078, 1.0805, 0.8673, -0.7277, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4442 left_y=-0.254 left_z=0.0374 left_yaw=-0.4482 left_pitch=-0.427 left_roll=0.0246 left_gripper=0.0559 right_x=0.2932 right_y=0.0027 right_z=0.1525 right_yaw=0.0047 right_pitch=-0.3817 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -14.9128, 9.8256, 1.5165, -0.0415, 0.0513, -0.0024, -0.1983, -2.5231, 7.3094, 1.4774, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.9469, 1.0943, -0.1818, -0.0284, -0.0032, 0.0066, 0.0078, 1.0847, 0.8604, -0.7277, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.396 left_y=-0.2126 left_z=0.0007 left_yaw=-0.4964 left_pitch=-0.4625 left_roll=0.0286 left_gripper=0.0066 right_x=0.292 right_y=0.0027 right_z=0.1486 right_yaw=0.0047 right_pitch=-0.3928 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -8.4444, 6.9812, 1.0672, 0.0366, -0.0513, 0.525, -0.0889, -3.2068, 6.9265, 1.3162, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5648, 2.207, 1.5158, -0.3218, -0.0544, -0.0528, 0.0056, 0.0082, 1.0897, 0.8589, -0.7284, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.4584 left_y=-0.2748 left_z=0.0054 left_yaw=-0.4959 left_pitch=-0.4392 left_roll=0.0235 left_gripper=0.0056 right_x=0.2917 right_y=0.0028 right_z=0.1465 right_yaw=0.005 right_pitch=-0.4001 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [-0.5538, -11.1385, 7.3504, 1.0476, -0.0269, -0.0513, 0.5739, -0.0068, -3.2068, 6.8308, 1.3797, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd0d7c588ceb86d0d14c9f62abcc3d7e1846290e5e0115c479036f99907c0d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4048f02faf14ffaa5fc9962283b85e3e5d6884d2d39ff3f869eec365f3a8c6a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e0006e0cbceb7ad5eef26085378a545c5a0db07e384477edfd02cd98802d11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEMr46Ld__InWM8-PJUYChNZobXoPDZxB9gvtaQJ9NSAhYAzYgDlyXAkiFqDLV24YWNXXIhGHNZUzEBLfJN_waLNeomPV4AnRFrj9LO7O5NH3FLk3Ivfnlqkz840_rH61T8kE0mJGMqREwNZiDqPjUjqxvYIoszx7lGYA6gKfEUearSx4ysnURFCNIZGyDUFk5vcLNI-FC_TmIaSWK8ulWhRJTTSq3vQ7uv_CSKOI8wzXIlyLuEnezdhQ4oX2KMoU2t_b4_I9pZV29eWj0RyLgPSXmYQBmVg-0MvBWXj3oI9SzW_8GJiTsiWbxRDYe77p9DxXkVicnIjEhtkAoIBtY867h19ul7qyG5AFiOqPDZ9tbGS76Sy4yIwMBVAmf7k12l6G-Is-3DNja71QfIy1NiUQ4FeHW-tPLVNJVFCdXU5ISPrghNCJWNsWD7Ub47gI480djM4e23QqF37vc4qvHmxOu5FfCm3Vkvw8h8O-FPVxOjcL-39bJg00jrJepBfORr3hwSyhvKpgqz3hgG2LzPYNiePPLTkcu_VtrJnu5Mh122smspeDyGk82TLtFi-m9fWsmNGjAs0hkJtEjIEiBZQpu5DW-EoVO_VEcE6h_AQGzHboC9gdC3ljP5-PLogboXzM-HJeJnuKPbfeMJK2oW9VX56dyNf-RDL5vdSykixLoGi_0KtmVdhkjNTlxqeg7JE_zLS0oDKZV1_0DAg6lDIusUhywncUgekTotBgQSK0OE0k0ghY3k-cI4mt57JP_-LTw423tYoGJje8QRmk8a9_LcTFIytSgGG9GlVQEJE-FLC3lt2R79gxcpDcICONefstnI3XcLPrOHHdAfNEGLXHtaZtETlX0cHk6AJBCZo1Dd643KKsPYap7CcaDvhWFk27666hAbTfLngOmMV3ATvUMA8qWRt5vihwdj-DojRxRKMR3vE7adghU78G-NFCJ1387HTfnRAp9Dq3YNIq5TSNrA7Fw9d-ArCraGnlbtXux51bXshk1euVoluMuXUYH_o6XllgJWv0Zhp406re-uEeHuFTu8vbd-gAIn3yM5Yx3ixgx7rMMsqYDR_1HZvGIvPansijqWFJd-c-ErcbXfbN2pl4GscYJSowCaE8blXpRkJfaSlfablby4PfPImqzNBL01_HqQgjqUucyN21TGoPhbawEqZugy_8ho8YWjLRKnpjxSPgmMqrbsMl5RfNNBcO3ucEY5kqy6ToZX-xgGAofyH6MI7O2T8rQPxuEyDoK-xH1xNWnBf5hX_wOcrG_jPAknKaSf30E0fcmnshZMcxg==",
  "id": "rs_028c8a142639ebd2016ab44329bb8c87d080884cec71fcc46d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The cap disappeared from the pusher’s wrist view during the axial sweep, indicating it moved ahead of the fingertips. I am clearing the left arm to inspect whether it reached and seated on the pen tip.\"}",
  "call_id": "call_nvbqt76x8RyBtssS80lXP2nw",
  "id": "fc_028c8a142639ebd2016ab44329efa887d0a508311c91ef440e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nvbqt76x8RyBtssS80lXP2nw",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0494, 1.2026, 1.0325, -0.8593, -0.0563, -0.0517, 0.9979, 0.0078, 1.0916, 0.8555, -0.7265, 0.0177, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.3039 left_y=-0.0015 left_z=0.1649 left_yaw=0.0211 left_pitch=-0.4555 left_roll=0.0272 left_gripper=0.9979 right_x=0.2915 right_y=0.0027 right_z=0.1449 right_yaw=0.0047 right_pitch=-0.4035 right_roll=-0.0389 right_gripper=0.9985\nstate[joint_eff]: [0.1983, -5.012, 9.853, 1.1306, -0.0171, 0.0952, -0.0366, -0.1846, -3.0017, 7.1316, 1.3553, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e362c04cda732cb72e3c992159e55dfeca491d361d5a69f06c4f3a4a0d10b116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1dffca5ed3059f97544c6b7c1c996fc46384cff59a12061c0b82dd45e171f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aacd8efb2d5856f59a266884fe28edbf5fb96858d3cf858acd469d5c49035f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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