adhoc

completed
2026-09-23T21:29:20.356239+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
272.4 s
total steps
307
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe overhead view shows the short cap left of center and the pen diagonally near center, separated enough for one arm per object. I’m moving the left arm above the cap and the right arm above the pen, matching each tool yaw roughly perpendicular to the object for a later grasp.
move_to
left_x0.3800left_y-0.2300left_z0.1600left_yaw-0.7000left_gripper1.0000right_x0.4000right_y0.3000right_z0.1600right_yaw0.7800right_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]: [-0.0196, 0.7933, 0.6018, -0.3805, -0.0219, -0.0246, 0.9998, -0.0177, 0.7918, 0.609, -0.3786, -0.0216, -0.0128, 0.9992] state[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.179 left_yaw=-0.0008 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0022 right_z=0.1832 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4034, -1.4564, 10.5778, 1.7802, -0.0317, 0.0659, -0.0366, -0.6632, -1.2103, 9.894, 1.873, -0.0659, -0.0708, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.23,"left_z":0.16,"left_yaw":-0.7,"left_gripper":1.0,"right_x":0.4,"right_y":0.3,"right_z":0.16,"right_yaw":0.78,"right_gripper":1.0},"note":"The overhead view shows the short cap left of center and the pen diagonally near center, separated enough for one arm per object. I’m moving the left arm above the cap and the right arm above the pen, matching each tool yaw roughly perpendicular to the object for a later grasp."})
tool
executing move_to over 25 steps (2.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteIn the left wrist view the cap is about 2–3 cm left of the jaw column, while in the right wrist view the pen is about 1 cm right of it. I’m making small yaw-aware lateral corrections to center both objects without descending yet.
move_to
left_x0.3830left_y-0.1950left_z0.1600right_x0.3990right_y0.2780right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4778, 1.4899, 0.8803, -0.062, 0.1436, 0.0711, 0.9998, 0.5663, 1.6901, 1.0874, -0.0357, -0.1631, -0.107, 0.9992] state[eef_state]: left_x=0.3681 left_y=-0.215 left_z=0.1318 left_yaw=-0.6505 left_pitch=-0.0916 left_roll=-0.0257 left_gripper=0.9998 right_x=0.3908 right_y=0.2867 right_z=0.1392 right_yaw=0.7542 right_pitch=-0.0675 right_roll=0.0093 right_gripper=0.9992 state[joint_eff]: [-0.2667, -6.653, 10.1265, 2.1074, 0.2759, 0.2564, -0.0366, 0.3624, -8.3487, 9.3333, 2.044, -0.0659, -0.0366, -0.1001] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.383,"left_y":-0.195,"left_z":0.16,"right_x":0.399,"right_y":0.278,"right_z":0.16},"note":"In the left wrist view the cap is about 2–3 cm left of the jaw column, while in the right wrist view the pen is about 1 cm right of it. I’m making small yaw-aware lateral corrections to center both objects without descending yet."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe pen now runs along the right jaw column and is within the open jaw width, while the prior simultaneous correction was safety-clamped. I’m handling one arm at a time and descending the right gripper straight onto the pen at its current alignment.
move_to
right_x0.3920right_y0.2870right_z-0.0050right_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]: [-0.4358, 1.5009, 0.9226, -0.1314, 0.1829, 0.0921, 0.9998, 0.5564, 1.7027, 1.1175, -0.078, -0.1898, -0.1253, 0.9991] state[eef_state]: left_x=0.3728 left_y=-0.2051 left_z=0.133 left_yaw=-0.6537 left_pitch=-0.1239 left_roll=-0.0414 left_gripper=0.9998 right_x=0.3916 right_y=0.287 right_z=0.1386 right_yaw=0.7769 right_pitch=-0.0883 right_roll=0.0155 right_gripper=0.9991 state[joint_eff]: [1.0051, -8.5128, 10.5231, 1.9951, 0.1441, 0.2955, -0.0171, -1.3197, -10.8239, 9.853, 1.8339, -0.1099, -0.0317, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.392,"right_y":0.287,"right_z":-0.005,"right_gripper":1.0},"note":"The pen now runs along the right jaw column and is within the open jaw width, while the prior simultaneous correction was safety-clamped. I’m handling one arm at a time and descending the right gripper straight onto the pen at its current alignment."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe right arm barely descended despite a large z request, and both wrists are crowded over the center even though the fingertips are separated. I’m parking the left arm high at its home side to remove any inter-arm constraint before retrying the pen grasp.
move_to
left_x0.2700left_y0.0000left_z0.2200left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3939, 1.5005, 0.9565, -0.1993, 0.1917, 0.1074, 0.9998, 0.5362, 1.7016, 1.1278, -0.128, -0.1921, -0.1318, 0.9991] state[eef_state]: left_x=0.3777 left_y=-0.1895 left_z=0.1353 left_yaw=-0.6285 left_pitch=-0.1551 left_roll=-0.0431 left_gripper=0.9998 right_x=0.3926 right_y=0.2767 right_z=0.1341 right_yaw=0.763 right_pitch=-0.1254 right_roll=0.0204 right_gripper=0.9991 state[joint_eff]: [-0.1709, -8.5128, 9.2103, 1.6532, 0.1734, 0.149, -0.0122, -0.4581, -10.8786, 8.9915, 1.663, -0.1148, -0.0366, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":0.0,"left_z":0.22,"left_yaw":0.0,"left_gripper":1.0},"note":"The right arm barely descended despite a large z request, and both wrists are crowded over the center even though the fingertips are separated. I’m parking the left arm high at its home side to remove any inter-arm constraint before retrying the pen grasp."})
tool
executing move_to over 17 steps (1.7s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteWith the left arm parked, the right wrist view still shows the pen centered and lengthwise between the jaws. I’m lowering in an intermediate step while pitching the tool forward, which improves low-table reach at this radial distance.
move_to
right_x0.3910right_y0.2760right_z0.0600right_yaw0.7650right_pitch0.3500right_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]: [-0.0196, 0.8612, 0.8585, -0.7498, 0.0196, -0.0521, 0.9998, 0.5369, 1.7054, 1.1198, -0.1276, -0.1925, -0.1322, 0.9991] state[eef_state]: left_x=0.2733 left_y=-0.0053 left_z=0.2032 left_yaw=-0.0209 left_pitch=-0.1808 left_roll=-0.0458 left_gripper=0.9998 right_x=0.3908 right_y=0.2761 right_z=0.1291 right_yaw=0.7646 right_pitch=-0.1365 right_roll=0.0229 right_gripper=0.9991 state[joint_eff]: [0.1573, -1.9487, 10.1402, 1.6044, -0.0415, -0.0464, -0.0366, -0.1436, -8.8, 7.2821, 1.6093, -0.1441, -0.0708, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.391,"right_y":0.276,"right_z":0.06,"right_yaw":0.765,"right_pitch":0.35,"right_gripper":1.0},"note":"With the left arm parked, the right wrist view still shows the pen centered and lengthwise between the jaws. I’m lowering in an intermediate step while pitching the tool forward, which improves low-table reach at this radial distance."})
tool
executing move_to over 17 steps (1.7s)
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 noteThe forward-pitched descent succeeded to about 4.5 cm, and the pen remains centered between the right jaws. I’m continuing straight down to table level for the grasp.
move_to
right_x0.3870right_y0.2760right_z0.0000right_yaw0.7650right_pitch0.3500right_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]: [-0.0181, 0.8677, 0.8608, -0.7715, 0.0135, -0.0521, 0.9998, 0.5163, 2.0357, 0.6506, 1.0767, -0.2596, -0.0536, 0.9992] state[eef_state]: left_x=0.2704 left_y=-0.0037 left_z=0.1986 left_yaw=-0.0141 left_pitch=-0.2067 left_roll=-0.0415 left_gripper=0.9998 right_x=0.3865 right_y=0.2757 right_z=0.0454 right_yaw=0.7652 right_pitch=0.263 right_roll=0.029 right_gripper=0.9992 state[joint_eff]: [-0.1846, -1.7026, 6.735, 1.7558, -0.0122, -0.0659, -0.0171, -0.9504, -7.9932, 3.6718, 2.1563, -0.1294, 0.1245, -0.1001] 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":{"right_x":0.387,"right_y":0.276,"right_z":0.0,"right_yaw":0.765,"right_pitch":0.35,"right_gripper":1.0},"note":"The forward-pitched descent succeeded to about 4.5 cm, and the pen remains centered between the right jaws. I’m continuing straight down to table level for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe right grasp point stopped at 1.7 cm, still a little high for this thin pen and without a clear contact-effort rise. I’m applying the allowed small below-table target to seat the jaws around the pen rather than closing from above it.
move_to
right_x0.3910right_y0.2800right_z-0.0200right_yaw0.7840right_pitch0.3600right_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]: [-0.0181, 0.873, 0.8604, -0.7761, 0.012, -0.0521, 0.9998, 0.5163, 2.278, 0.6689, 1.4059, -0.2668, -0.0605, 0.9991] state[eef_state]: left_x=0.27 left_y=-0.0034 left_z=0.1963 left_yaw=-0.0128 left_pitch=-0.217 left_roll=-0.0403 left_gripper=0.9998 right_x=0.3908 right_y=0.2796 right_z=0.0173 right_yaw=0.7842 right_pitch=0.3654 right_roll=-0.0044 right_gripper=0.9991 state[joint_eff]: [-0.0889, -1.347, 6.8308, 1.6874, -0.0171, -0.0611, -0.0171, -0.4171, -6.8171, 2.3179, 0.2564, -0.022, 0.5153, -0.1001] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.391,"right_y":0.28,"right_z":-0.02,"right_yaw":0.784,"right_pitch":0.36,"right_gripper":1.0},"note":"The right grasp point stopped at 1.7 cm, still a little high for this thin pen and without a clear contact-effort rise. I’m applying the allowed small below-table target to seat the jaws around the pen rather than closing from above it."})
tool
executing move_to over 3 steps (0.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe second descent is at the same low pose and the pen’s shaft enters the jaw gap on the centerline in the wrist view. I’m closing the right gripper now and will judge the grasp from the settled opening and a 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]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0521, 0.9998, 0.5163, 2.3108, 0.6731, 1.4822, -0.2668, -0.0521, 0.9991] state[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0115 left_pitch=-0.2178 left_roll=-0.0392 left_gripper=0.9998 right_x=0.3921 right_y=0.2803 right_z=0.0215 right_yaw=0.7845 right_pitch=0.4113 right_roll=-0.0091 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.1692, 6.7761, 1.5653, -0.0073, -0.0757, -0.0171, -0.5812, -7.159, 1.9624, 1.6239, -0.0757, 0.1343, -0.1001] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The second descent is at the same low pose and the pen’s shaft enters the jaw gap on the centerline in the wrist view. I’m closing the right gripper now and will judge the grasp from the settled opening and a lift."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe gripper settled at 0.009, which is an empty close, and the pen remains visible ahead of the fingertips. I’m reopening and lifting a few centimetres before shifting the grasp point outward for the single measured retry.
move_to
right_z0.0700right_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]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0517, 0.9998, 0.5167, 2.3108, 0.6697, 1.4815, -0.2672, -0.0414, 0.0086] state[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0117 left_pitch=-0.2178 left_roll=-0.0389 left_gripper=0.9998 right_x=0.3911 right_y=0.28 right_z=0.0204 right_yaw=0.7786 right_pitch=0.4072 right_roll=0.0037 right_gripper=0.0086 state[joint_eff]: [-0.1846, -1.3744, 6.8718, 1.5897, -0.022, -0.0269, -0.0171, -0.3624, -9.5795, 2.906, 1.8486, -0.0366, -0.1343, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07,"right_gripper":1.0},"note":"The gripper settled at 0.009, which is an empty close, and the pen remains visible ahead of the fingertips. I’m reopening and lifting a few centimetres before shifting the grasp point outward for the single measured retry."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteAt the raised pose the pen is still just ahead of the fingertips and about 2 cm to the right of the jaw column. I’m shifting the grasp point roughly 2 cm outward and 1.5 cm toward the pen laterally before the retry.
move_to
right_x0.4110right_y0.2950right_z0.0700right_yaw0.7800right_pitch0.3500right_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]: [-0.0181, 0.8726, 0.8589, -0.7761, 0.0071, -0.0521, 0.9998, 0.5167, 2.1162, 0.6441, 1.2922, -0.2676, -0.0418, 0.9949] state[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.1958 left_yaw=-0.0085 left_pitch=-0.2182 left_roll=-0.0367 left_gripper=0.9998 right_x=0.3904 right_y=0.2797 right_z=0.057 right_yaw=0.777 right_pitch=0.3877 right_roll=0.009 right_gripper=0.9949 state[joint_eff]: [-0.3624, -1.4154, 6.653, 1.5849, -0.0464, -0.0659, -0.0171, -0.2803, -11.1111, 3.3983, 2.0147, -0.0659, -0.022, -0.1001] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.411,"right_y":0.295,"right_z":0.07,"right_yaw":0.78,"right_pitch":0.35,"right_gripper":1.0},"note":"At the raised pose the pen is still just ahead of the fingertips and about 2 cm to the right of the jaw column. I’m shifting the grasp point roughly 2 cm outward and 1.5 cm toward the pen laterally before the retry."})
tool
executing move_to over 2 steps (0.2s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe correction brought the grasp point outward, and the pen now enters the lower jaw gap with only a small rightward offset. I’m descending at this corrected target to seat both jaws around the shaft for the retry.
move_to
right_x0.4110right_y0.2950right_z-0.0100right_yaw0.7800right_pitch0.3500right_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]: [-0.0181, 0.8722, 0.8589, -0.7769, 0.0071, -0.0517, 0.9998, 0.5194, 2.1029, 0.7055, 1.1744, -0.2668, -0.0418, 0.999] state[eef_state]: left_x=0.2697 left_y=-0.0025 left_z=0.1957 left_yaw=-0.0087 left_pitch=-0.2185 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4006 right_y=0.2868 right_z=0.0556 right_yaw=0.7747 right_pitch=0.346 right_roll=0.0206 right_gripper=0.999 state[joint_eff]: [-0.1573, -1.347, 6.6393, 1.5018, -0.0708, -0.0562, -0.0171, 0.5265, -11.2615, 5.4769, 2.4347, -0.0024, -0.1294, -0.1197] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.411,"right_y":0.295,"right_z":-0.01,"right_yaw":0.78,"right_pitch":0.35,"right_gripper":1.0},"note":"The correction brought the grasp point outward, and the pen now enters the lower jaw gap with only a small rightward offset. I’m descending at this corrected target to seat both jaws around the shaft for the retry."})
tool
executing move_to over 5 steps (0.5s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe lateral correction reached its target, but the arm remained at 5.5 cm because this farther pose is at the low-reach boundary. I’m using the maximum allowed forward pitch to gain table-level reach without changing the now-correct pen alignment.
move_to
right_x0.4090right_y0.2930right_z0.0000right_yaw0.7800right_pitch0.6000right_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]: [-0.0181, 0.8772, 0.8589, -0.7761, 0.0067, -0.0521, 0.9998, 0.5213, 2.0953, 0.757, 1.0828, -0.2668, -0.0414, 0.999] state[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1946 left_yaw=-0.0082 left_pitch=-0.2227 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4086 right_y=0.2925 right_z=0.0554 right_yaw=0.7736 right_pitch=0.3146 right_roll=0.0296 right_gripper=0.999 state[joint_eff]: [-0.1846, -1.8256, 6.6667, 1.4823, -0.0659, -0.0317, -0.0171, 0.1026, -11.3299, 4.6838, 1.9365, -0.0073, -0.1392, -0.1197] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.409,"right_y":0.293,"right_z":0.0,"right_yaw":0.78,"right_pitch":0.6,"right_gripper":1.0},"note":"The lateral correction reached its target, but the arm remained at 5.5 cm because this farther pose is at the low-reach boundary. I’m using the maximum allowed forward pitch to gain table-level reach without changing the now-correct pen alignment."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteMaximum pitch moved the wrist farther outward than commanded and the pen disappeared beneath the near fingertip region, but the 3.5 cm grasp height is still too high. I’m retracting to the reachable near end of the pen while keeping maximum pitch and requesting firm table-level seating.
move_to
right_x0.3900right_y0.2800right_z-0.0200right_yaw0.7800right_pitch0.6000right_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]: [-0.0181, 0.8833, 0.857, -0.7818, 0.0067, -0.0517, 0.9998, 0.5182, 2.4817, 0.9463, 1.5497, -0.2928, 0.0044, 0.999] state[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1913 left_yaw=-0.0084 left_pitch=-0.2365 left_roll=-0.036 left_gripper=0.9998 right_x=0.4392 right_y=0.3133 right_z=0.0348 right_yaw=0.8022 right_pitch=0.5749 right_roll=0.0044 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.9487, 6.8171, 1.5751, -0.0757, -0.0513, -0.0122, -0.3624, -9.1829, 3.5897, 1.6239, 0.0122, 0.1734, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.28,"right_z":-0.02,"right_yaw":0.78,"right_pitch":0.6,"right_gripper":1.0},"note":"Maximum pitch moved the wrist farther outward than commanded and the pen disappeared beneath the near fingertip region, but the 3.5 cm grasp height is still too high. I’m retracting to the reachable near end of the pen while keeping maximum pitch and requesting firm table-level seating."})
tool
executing move_to over 4 steps (0.4s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe arm is stuck at the extreme pitched configuration and did not track the retract command. I’m first raising and retracting to a comfortable pose to escape the singularity, then I can make one clean reachable approach to the pen’s nearer end.
move_to
right_x0.3500right_y0.2500right_z0.1500right_yaw0.7800right_pitch0.3500right_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]: [-0.0181, 0.8837, 0.857, -0.783, 0.0067, -0.0521, 0.9997, 0.5182, 2.4943, 0.9558, 1.5703, -0.2897, 0.0109, 0.999] state[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.191 left_yaw=-0.0082 left_pitch=-0.238 left_roll=-0.0362 left_gripper=0.9997 right_x=0.4406 right_y=0.3135 right_z=0.0362 right_yaw=0.7982 right_pitch=0.5917 right_roll=0.0064 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.5385, 6.735, 1.5507, -0.0513, -0.0269, -0.0171, -0.4991, -8.7179, 3.8222, 1.8095, 0.1001, -0.105, -0.1148] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.25,"right_z":0.15,"right_yaw":0.78,"right_pitch":0.35,"right_gripper":1.0},"note":"The arm is stuck at the extreme pitched configuration and did not track the retract command. I’m first raising and retracting to a comfortable pose to escape the singularity, then I can make one clean reachable approach to the pen’s nearer end."})
tool
executing move_to over 9 steps (0.9s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe combined escape move was not tracked at all, indicating the wrist is pinned at a joint-limit singularity rather than merely out of Cartesian reach. I’m first backing off only the pitch by a modest amount so the arm can unlock before any translation.
move_to
right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 0.8875, 0.8551, -0.7864, 0.0067, -0.0517, 0.9998, 0.5182, 2.4947, 0.9565, 1.5707, -0.2893, 0.0105, 0.999] state[eef_state]: left_x=0.2687 left_y=-0.0025 left_z=0.1887 left_yaw=-0.0083 left_pitch=-0.2471 left_roll=-0.0359 left_gripper=0.9998 right_x=0.4408 right_y=0.3135 right_z=0.0363 right_yaw=0.7982 right_pitch=0.5924 right_roll=0.0057 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.536, -0.0513, -0.0317, -0.0073, -0.3897, -8.8821, 3.7265, 1.8584, 0.0904, -0.1099, -0.1197] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_pitch":0.45},"note":"The combined escape move was not tracked at all, indicating the wrist is pinned at a joint-limit singularity rather than merely out of Cartesian reach. I’m first backing off only the pitch by a modest amount so the arm can unlock before any translation."})
tool
executing move_to over 5 steps (0.5s)
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 pitch-only command unlocked the wrist and reduced the tilt from 0.59 to 0.50 rad. I’m continuing the orientation backoff before retracting the arm, avoiding another coupled singular command.
move_to
right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 0.8917, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.5232, 2.3806, 0.9218, 1.3937, -0.2901, -0.0193, 0.999] state[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1876 left_yaw=-0.0081 left_pitch=-0.2517 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4384 right_y=0.3153 right_z=0.042 right_yaw=0.8059 right_pitch=0.4989 right_roll=0.0026 right_gripper=0.999 state[joint_eff]: [-0.0342, -1.7299, 6.694, 1.4725, -0.0757, -0.0513, -0.0171, -0.6769, -12.8342, 4.2735, 1.8242, -0.0464, -0.0366, -0.022] approver: 3 step(s) modified (delta_clamped ×3). 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_pitch":0.3},"note":"The pitch-only command unlocked the wrist and reduced the tilt from 0.59 to 0.50 rad. I’m continuing the orientation backoff before retracting the arm, avoiding another coupled singular command."})
tool
executing move_to over 7 steps (0.7s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteWith pitch reduced to 0.30, the pen’s metal tip is now visible exactly between the jaws at the bottom center, and the grasp point is only 2.8 cm above the table. I’m making a pure vertical descent so the jaws surround the pen without disturbing this alignment.
move_to
right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.2555, 0.9173, 1.0649, -0.2897, -0.0681, 0.999] state[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0083 left_pitch=-0.2513 left_roll=-0.0358 left_gripper=0.9998 right_x=0.434 right_y=0.3132 right_z=0.0275 right_yaw=0.81 right_pitch=0.2994 right_roll=0.0136 right_gripper=0.999 state[joint_eff]: [-0.3214, -1.5248, 6.653, 1.4774, -0.0513, -0.0317, -0.0171, -0.0068, -13.5726, 5.5726, 1.8584, 0.0562, -0.0269, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.0},"note":"With pitch reduced to 0.30, the pen’s metal tip is now visible exactly between the jaws at the bottom center, and the grasp point is only 2.8 cm above the table. I’m making a pure vertical descent so the jaws surround the pen without disturbing this alignment."})
tool
executing move_to over 2 steps (0.2s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe pure descent reached 1.5 cm with the pen tip still centered inside the jaw gap, which is now low enough for the shaft. I’m closing for the corrected grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3009, 0.9283, 1.0939, -0.2905, -0.0753, 0.999] state[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0081 left_pitch=-0.2513 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4348 right_y=0.3138 right_z=0.0147 right_yaw=0.8142 right_pitch=0.2944 right_roll=0.008 right_gripper=0.999 state[joint_eff]: [0.0205, -1.5111, 6.6803, 1.4872, -0.0757, -0.0757, -0.0171, -0.1846, -8.5675, 4.6427, 0.9695, -0.0806, 0.0855, -0.0171] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pure descent reached 1.5 cm with the pen tip still centered inside the jaw gap, which is now low enough for the shaft. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe close reading is only 0.01, normally empty, but the jaws were centered on the pen’s very thin conical tip, which can produce a misleadingly small opening. I’m lifting 5–6 cm while staying closed to verify whether the pen moves with the gripper.
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]: [-0.0181, 0.8967, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3199, 0.9337, 1.137, -0.297, -0.0761, 0.01] state[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.1864 left_yaw=-0.0081 left_pitch=-0.2567 left_roll=-0.036 left_gripper=0.9998 right_x=0.4361 right_y=0.3158 right_z=0.0168 right_yaw=0.8231 right_pitch=0.323 right_roll=0.0 right_gripper=0.01 state[joint_eff]: [0.0068, -1.9761, 6.7077, 1.4481, -0.0415, -0.0757, -0.0171, -0.2256, -12.465, 3.6171, 1.4921, 0.0073, -0.0317, 0.7741] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The close reading is only 0.01, normally empty, but the jaws were centered on the pen’s very thin conical tip, which can produce a misleadingly small opening. I’m lifting 5–6 cm while staying closed to verify whether the pen moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe overhead view is still occluded at the pen location, so the lift alone cannot resolve the unusually thin 0.012 reading. I’m retracting the closed right gripper high and toward its own side; this will reveal whether the pen stayed on the table or traveled with the jaws.
move_to
right_x0.3600right_y0.2200right_z0.1500right_yaw0.8200right_pitch0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 0.8986, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.1452, 0.9215, 0.9642, -0.2974, -0.0799, 0.012] state[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1859 left_yaw=-0.0083 left_pitch=-0.2586 left_roll=-0.0358 left_gripper=0.9998 right_x=0.435 right_y=0.3153 right_z=0.0625 right_yaw=0.8246 right_pitch=0.3132 right_roll=-0.0006 right_gripper=0.012 state[joint_eff]: [-0.1983, -1.5932, 6.6667, 1.5311, -0.0366, -0.0464, -0.0171, -0.0615, -12.6564, 5.3949, 1.7949, -0.0757, -0.0024, 0.1929] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.22,"right_z":0.15,"right_yaw":0.82,"right_pitch":0.3,"right_gripper":0.0},"note":"The overhead view is still occluded at the pen location, so the lift alone cannot resolve the unusually thin 0.012 reading. I’m retracting the closed right gripper high and toward its own side; this will reveal whether the pen stayed on the table or traveled with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteWith the arm retracted, the overhead view confirms the pen stayed on the table; its shaft runs from upper-left to lower-right, with the near endpoint around (0.36, 0.27) in the right frame. I’m reopening and approaching the reachable near half of the shaft rather than the very thin endpoint.
move_to
right_x0.3800right_y0.2800right_z0.1000right_yaw0.7800right_pitch0.3000right_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]: [-0.0181, 0.9039, 0.8551, -0.786, 0.0067, -0.0517, 0.9998, 0.3664, 1.5433, 0.5739, 0.7017, -0.4225, -0.1215, 0.0066] state[eef_state]: left_x=0.27 left_y=-0.0025 left_z=0.1847 left_yaw=-0.0083 left_pitch=-0.2632 left_roll=-0.0357 left_gripper=0.9998 right_x=0.3687 right_y=0.2229 right_z=0.1469 right_yaw=0.8003 right_pitch=0.3177 right_roll=-0.008 right_gripper=0.0066 state[joint_eff]: [-0.2256, -1.7436, 6.694, 1.5311, -0.0708, -0.022, -0.0171, -0.1983, -6.7761, 6.4479, 1.8584, -0.022, -0.0708, 0.6764] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.28,"right_z":0.1,"right_yaw":0.78,"right_pitch":0.3,"right_gripper":1.0},"note":"With the arm retracted, the overhead view confirms the pen stayed on the table; its shaft runs from upper-left to lower-right, with the near endpoint around (0.36, 0.27) in the right frame. I’m reopening and approaching the reachable near half of the shaft rather than the very thin endpoint."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right wrist now clearly shows the silver pen shaft running into the lower jaw gap, only slightly right of center, while the black cap is well to the left. I’m descending vertically at this reachable near-shaft location without adding any outward offset.
move_to
right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 0.9073, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5323, 1.8145, 0.625, 0.8642, -0.2619, -0.0856, 0.9953] state[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1821 left_yaw=-0.0081 left_pitch=-0.2716 left_roll=-0.0359 left_gripper=0.9998 right_x=0.3704 right_y=0.2754 right_z=0.0864 right_yaw=0.7997 right_pitch=0.2474 right_roll=0.0026 right_gripper=0.9953 state[joint_eff]: [-0.1983, -1.9214, 6.9812, 1.4676, -0.0171, -0.0708, -0.0171, 0.4171, -7.5556, 7.0632, 2.1612, 0.1294, 0.0806, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.0},"note":"The right wrist now clearly shows the silver pen shaft running into the lower jaw gap, only slightly right of center, while the black cap is well to the left. I’m descending vertically at this reachable near-shaft location without adding any outward offset."})
tool
executing move_to over 6 steps (0.6s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe pure descent reached 3.6 mm above the table, and the pen shaft is visibly between the fully open jaws rather than ahead of them. I’m closing at this table-seated pose to grasp the shaft body.
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]: [-0.0181, 0.9115, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5362, 2.17, 0.6086, 1.2129, -0.26, -0.0933, 0.9961] state[eef_state]: left_x=0.2698 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9998 right_x=0.3685 right_y=0.276 right_z=0.0036 right_yaw=0.8045 right_pitch=0.2249 right_roll=0.0009 right_gripper=0.9961 state[joint_eff]: [-0.1983, -1.9761, 6.694, 1.4383, -0.0269, -0.0562, -0.0122, -0.5402, -7.3641, 3.494, 1.1258, -0.0806, 0.1001, 0.0611] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pure descent reached 3.6 mm above the table, and the pen shaft is visibly between the fully open jaws rather than ahead of them. I’m closing at this table-seated pose to grasp the shaft body."})
tool
executing move_to over 10 steps (1.0s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe gripper settled at 0.053, corresponding to about 5 mm thickness and clearly above the empty threshold, consistent with the pen shaft. I’m lifting about 8 cm to confirm the pen travels with the right gripper before working on the cap.
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]: [-0.0181, 0.9119, 0.8513, -0.7868, 0.0067, -0.0521, 0.9997, 0.5346, 2.1891, 0.6113, 1.2423, -0.2592, -0.0948, 0.0526] state[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9997 right_x=0.37 right_y=0.2759 right_z=0.0026 right_yaw=0.804 right_pitch=0.2373 right_roll=-0.0044 right_gripper=0.0526 state[joint_eff]: [-0.1162, -1.7162, 6.735, 1.4286, -0.0269, -0.0415, -0.0122, 0.0205, -10.5504, 2.8239, 1.5995, -0.0562, -0.0757, 1.326] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The gripper settled at 0.053, corresponding to about 5 mm thickness and clearly above the empty threshold, consistent with the pen shaft. I’m lifting about 8 cm to confirm the pen travels with the right gripper before working on the cap."})
tool
executing move_to over 5 steps (0.5s)
step 195
top_cam
camera top_cam step 195
assistant
agent noteThe 5 mm grasp persisted through the lift and the pen visibly rose with the right gripper, confirming a secure pickup. I’m parking it high on the right side, still closed, to clear the center and cap for the left arm.
move_to
right_x0.3000right_y0.1000right_z0.2000right_yaw0.7800right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 0.915, 0.8513, -0.7864, 0.0067, -0.0517, 0.9998, 0.5346, 1.8759, 0.606, 0.9623, -0.2592, -0.0948, 0.0613] state[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1803 left_yaw=-0.0083 left_pitch=-0.2784 left_roll=-0.0355 left_gripper=0.9998 right_x=0.37 right_y=0.2759 right_z=0.0749 right_yaw=0.8059 right_pitch=0.2642 right_roll=-0.0121 right_gripper=0.0613 state[joint_eff]: [-0.1983, -1.5385, 6.6803, 1.4872, -0.0562, -0.022, -0.0073, -0.2256, -9.1145, 6.4615, 1.7118, -0.0659, -0.0073, 1.033] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.1,"right_z":0.2,"right_yaw":0.78,"right_pitch":0.0,"right_gripper":0.0},"note":"The 5 mm grasp persisted through the lift and the pen visibly rose with the right gripper, confirming a secure pickup. I’m parking it high on the right side, still closed, to clear the center and cap for the left arm."})
tool
executing move_to over 15 steps (1.5s)
step 210
assistant
agent noteThe pen is now safely parked high on the right, and the short black cap is isolated left of center with its long axis nearly lateral. I’m moving the left gripper above the cap with its jaw-closing direction perpendicular to that axis.
move_to
left_x0.3700left_y-0.2100left_z0.1200left_yaw-1.3000left_pitch0.2500left_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]: [-0.0181, 0.9203, 0.8505, -0.7872, 0.0067, -0.0517, 0.9998, -0.0216, 1.0775, 0.7677, -0.3836, -0.6216, -0.4736, 0.0613] state[eef_state]: left_x=0.2703 left_y=-0.0025 left_z=0.1785 left_yaw=-0.0082 left_pitch=-0.2853 left_roll=-0.0355 left_gripper=0.9998 right_x=0.3133 right_y=0.0997 right_z=0.1906 right_yaw=0.7332 right_pitch=0.0149 right_roll=-0.0201 right_gripper=0.0613 state[joint_eff]: [-0.0342, -2.1265, 6.7214, 1.4725, -0.0415, -0.0415, -0.0171, -0.4581, -4.5333, 9.4154, 1.4237, -0.3492, -0.0708, 1.033] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.21,"left_z":0.12,"left_yaw":-1.3,"left_pitch":0.25,"left_gripper":1.0},"note":"The pen is now safely parked high on the right, and the short black cap is isolated left of center with its long axis nearly lateral. I’m moving the left gripper above the cap with its jaw-closing direction perpendicular to that axis."})
tool
executing move_to over 19 steps (1.9s)
step 229
assistant
agent noteThe cap is now lengthwise between the left jaws and partly at the fingertip row, but its center is about 2 cm left of the jaw column. I’m making a small forward correction at the current yaw to center the cap before descending.
move_to
left_x0.3800left_y-0.2000left_z0.0950
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1501, 1.7603, 0.8532, 0.1303, 0.9604, 0.524, 0.9998, -0.0238, 1.0801, 0.7647, -0.408, -0.6247, -0.4831, 0.0613] state[eef_state]: left_x=0.3647 left_y=-0.1979 left_z=0.0953 left_yaw=-1.1869 left_pitch=0.1541 left_roll=-0.1319 left_gripper=0.9998 right_x=0.3096 right_y=0.0995 right_z=0.1848 right_yaw=0.7382 right_pitch=-0.0056 right_roll=-0.0061 right_gripper=0.0613 state[joint_eff]: [-0.253, -9.3607, 7.6923, 1.6093, 0.6129, 0.1538, -0.0366, 0.0068, -3.3983, 7.0769, 1.6972, -0.2564, 0.0562, 1.033] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.2,"left_z":0.095},"note":"The cap is now lengthwise between the left jaws and partly at the fingertip row, but its center is about 2 cm left of the jaw column. I’m making a small forward correction at the current yaw to center the cap before descending."})
tool
executing move_to over 2 steps (0.2s)
step 231
assistant
agent noteThe small correction shifted the cap farther left in the wrist view, showing that decreasing base-y was the wrong lateral direction at this yaw. I’m reversing only that component by about 2 cm to bring the cap onto the jaw centerline empirically.
move_to
left_y-0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1532, 1.7954, 0.8818, 0.1314, 0.9955, 0.5415, 0.9998, -0.0238, 1.0801, 0.7647, -0.4107, -0.625, -0.4831, 0.0613] state[eef_state]: left_x=0.3673 left_y=-0.203 left_z=0.095 left_yaw=-1.2217 left_pitch=0.174 left_roll=-0.1327 left_gripper=0.9998 right_x=0.3092 right_y=0.0996 right_z=0.1844 right_yaw=0.7385 right_pitch=-0.0074 right_roll=-0.004 right_gripper=0.0613 state[joint_eff]: [0.1983, -6.9949, 8.4581, 1.3504, 0.3101, -0.0171, -0.0171, -0.1709, -3.0974, 6.8308, 1.5165, -0.2906, -0.0415, 1.0281] 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":{"left_y":-0.18},"note":"The small correction shifted the cap farther left in the wrist view, showing that decreasing base-y was the wrong lateral direction at this yaw. I’m reversing only that component by about 2 cm to bring the cap onto the jaw centerline empirically."})
tool
executing move_to over 3 steps (0.3s)
step 234
assistant
agent noteIncreasing base-y moved the cap in the correct image direction, but the arm only tracked about 5 mm of the requested change. I’m continuing that same lateral correction while holding a safe approach height.
move_to
left_y-0.1600left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1513, 1.8095, 0.8894, 0.0975, 0.9497, 0.5247, 0.9998, -0.0238, 1.0801, 0.7647, -0.4114, -0.6247, -0.4835, 0.0613] state[eef_state]: left_x=0.3706 left_y=-0.1982 left_z=0.0833 left_yaw=-1.1761 left_pitch=0.1241 left_roll=-0.1669 left_gripper=0.9998 right_x=0.3091 right_y=0.0996 right_z=0.1842 right_yaw=0.7384 right_pitch=-0.0081 right_roll=-0.004 right_gripper=0.0613 state[joint_eff]: [-0.212, -8.1162, 7.9658, 1.4969, 0.4274, -0.0171, -0.0171, -0.0615, -3.1521, 6.8718, 1.4725, -0.232, -0.0317, 1.0281] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.16,"left_z":0.1},"note":"Increasing base-y moved the cap in the correct image direction, but the arm only tracked about 5 mm of the requested change. I’m continuing that same lateral correction while holding a safe approach height."})
tool
executing move_to over 4 steps (0.4s)
step 238
assistant
agent noteThe left arm has stopped tracking further lateral motion at this wrist orientation, but the cap remains fully inside the 9.5 cm jaw span and is aligned perpendicular to closure. I’m descending to table level with forward pitch so the fingers surround it before closing.
move_to
left_z0.0000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1513, 1.8095, 0.8906, 0.0967, 0.9497, 0.5247, 0.9997, -0.0238, 1.0801, 0.7643, -0.4114, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.3708 left_y=-0.1982 left_z=0.0836 left_yaw=-1.1761 left_pitch=0.1243 left_roll=-0.1666 left_gripper=0.9997 right_x=0.309 right_y=0.0996 right_z=0.1841 right_yaw=0.7387 right_pitch=-0.0082 right_roll=-0.0036 right_gripper=0.0613 state[joint_eff]: [-0.0615, -8.212, 7.8838, 1.4628, 0.4469, -0.0122, -0.0171, -0.0205, -3.1932, 6.9675, 1.4823, -0.2906, -0.0464, 1.0281] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0,"left_pitch":0.3},"note":"The left arm has stopped tracking further lateral motion at this wrist orientation, but the cap remains fully inside the 9.5 cm jaw span and is aligned perpendicular to closure. I’m descending to table level with forward pitch so the fingers surround it before closing."})
tool
executing move_to over 6 steps (0.6s)
step 244
assistant
agent noteThe left grasp point reached 1.1 cm above the table; the cap is visible lengthwise at the lower jaw gap and remains within both fingers despite the lateral offset. I’m closing now to capture the cap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1234, 2.0857, 0.7822, 0.4702, 1.1053, 0.4778, 0.9981, -0.0238, 1.0821, 0.7643, -0.4129, -0.6247, -0.4831, 0.0613] state[eef_state]: left_x=0.3513 left_y=-0.199 left_z=0.0109 left_yaw=-1.2172 left_pitch=0.2135 left_roll=-0.2769 left_gripper=0.9981 right_x=0.309 right_y=0.0996 right_z=0.1833 right_yaw=0.7383 right_pitch=-0.0109 right_roll=-0.001 right_gripper=0.0613 state[joint_eff]: [-0.4171, -2.906, 0.335, -2.0928, -1.707, -1.5751, -0.1734, -0.1436, -2.8923, 6.8855, 1.5507, -0.2711, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0.0},"note":"The left grasp point reached 1.1 cm above the table; the cap is visible lengthwise at the lower jaw gap and remains within both fingers despite the lateral offset. I’m closing now to capture the cap."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteThe cap close settled at 0.009, so it was empty; the table-level wrist view showed the cap about 4 cm left of center, too far for a reliable close. I’m reopening, lifting, and reducing yaw to a more trackable orientation before one carefully centered retry.
move_to
left_z0.0800left_yaw-0.7000left_pitch0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.123, 2.0979, 0.7799, 0.4877, 1.1072, 0.4728, 0.0092, -0.0238, 1.084, 0.7639, -0.4122, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.351 left_y=-0.199 left_z=0.0081 left_yaw=-1.2159 left_pitch=0.2154 left_roll=-0.2795 left_gripper=0.0092 right_x=0.3091 right_y=0.0996 right_z=0.1827 right_yaw=0.7388 right_pitch=-0.0118 right_roll=-0.0001 right_gripper=0.0613 state[joint_eff]: [-0.2256, -10.0444, 4.1778, 1.0085, 0.2857, 0.0269, 0.5055, -0.0889, -3.3709, 6.8581, 1.4774, -0.2466, -0.0611, 1.0281] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"left_yaw":-0.7,"left_pitch":0.25,"left_gripper":1.0},"note":"The cap close settled at 0.009, so it was empty; the table-level wrist view showed the cap about 4 cm left of center, too far for a reliable close. I’m reopening, lifting, and reducing yaw to a more trackable orientation before one carefully centered retry."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteWith the arm lifted, the overhead view now reveals the cap just behind the left fingertips, explaining why it vanished from the forward-looking wrist camera. I’m retracting the grasp point about 2–3 cm toward the base so the cap will sit ahead of and centered under the jaws.
move_to
left_x0.3200left_y-0.2000left_z0.1000left_yaw-0.7000left_pitch0.2500left_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]: [-0.2962, 1.7401, 0.4377, 0.9024, 0.5987, -0.0746, 0.9952, -0.0238, 1.0859, 0.7635, -0.4118, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.3416 left_y=-0.2046 left_z=0.068 left_yaw=-0.7772 left_pitch=0.2232 left_roll=-0.2874 left_gripper=0.9952 right_x=0.3093 right_y=0.0996 right_z=0.1821 right_yaw=0.7388 right_pitch=-0.0132 right_roll=0.0012 right_gripper=0.0613 state[joint_eff]: [-0.294, -7.2274, 4.2872, 1.9121, 0.0269, -0.0366, -0.1343, -0.0342, -2.9744, 6.9265, 1.5116, -0.2466, -0.0513, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.2,"left_z":0.1,"left_yaw":-0.7,"left_pitch":0.25,"left_gripper":1.0},"note":"With the arm lifted, the overhead view now reveals the cap just behind the left fingertips, explaining why it vanished from the forward-looking wrist camera. I’m retracting the grasp point about 2–3 cm toward the base so the cap will sit ahead of and centered under the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 267
assistant
agent noteThe cap is still absent from the forward wrist view and appears just down-right of the left fingertips overhead, so it remains slightly behind and to the arm’s right. I’m retracting another 3 cm and shifting rightward to put the grasp point directly over it.
move_to
left_x0.2900left_y-0.2300left_z0.1000left_yaw-0.7000left_pitch0.2500left_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]: [-0.3424, 1.5444, 0.3531, 0.8425, 0.5045, -0.1287, 0.9986, -0.0238, 1.0882, 0.7635, -0.411, -0.6254, -0.4835, 0.0613] state[eef_state]: left_x=0.3219 left_y=-0.2016 left_z=0.094 left_yaw=-0.7193 left_pitch=0.2474 left_roll=-0.2856 left_gripper=0.9986 right_x=0.3095 right_y=0.0997 right_z=0.1816 right_yaw=0.7391 right_pitch=-0.0141 right_roll=0.0024 right_gripper=0.0613 state[joint_eff]: [-0.2393, -5.053, 5.1761, 1.6874, -0.0464, 0.0269, -0.1538, -0.0479, -3.0838, 6.9128, 1.5214, -0.2564, -0.0464, 1.0281] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.23,"left_z":0.1,"left_yaw":-0.7,"left_pitch":0.25,"left_gripper":1.0},"note":"The cap is still absent from the forward wrist view and appears just down-right of the left fingertips overhead, so it remains slightly behind and to the arm’s right. I’m retracting another 3 cm and shifting rightward to put the grasp point directly over it."})
tool
executing move_to over 3 steps (0.3s)
step 270
assistant
agent noteThe overhead view now places the cap directly within the left fingertip footprint; its absence from the wrist camera is expected because anything at the grasp point falls below that camera’s frame. I’m descending vertically at this corrected overhead alignment for the cap retry.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5179, 1.4727, 0.2935, 0.8242, 0.3744, -0.1783, 0.9986, -0.0238, 1.0878, 0.7628, -0.4114, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.2854 left_y=-0.2328 left_z=0.0899 left_yaw=-0.7558 left_pitch=0.2206 left_roll=-0.2915 left_gripper=0.9986 right_x=0.3093 right_y=0.0996 right_z=0.1813 right_yaw=0.7388 right_pitch=-0.0148 right_roll=0.0028 right_gripper=0.0613 state[joint_eff]: [1.1692, -5.9966, 5.4906, 1.9316, -0.1783, -0.0952, -0.1587, -0.0752, -3.1111, 6.9128, 1.5018, -0.2613, -0.0171, 1.0281] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0},"note":"The overhead view now places the cap directly within the left fingertip footprint; its absence from the wrist camera is expected because anything at the grasp point falls below that camera’s frame. I’m descending vertically at this corrected overhead alignment for the cap retry."})
tool
executing move_to over 6 steps (0.6s)
step 276
assistant
agent noteThe pure z command was not tracked, indicating this yaw/roll configuration is at a low-reach singularity despite the modest radius. I’m pitching the left tool forward while repeating the descent, the same method that restored table reach for the right arm.
move_to
left_z0.0000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5411, 1.4536, 0.2848, 0.8257, 0.2985, -0.2016, 0.9985, -0.0238, 1.0885, 0.7628, -0.4118, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.2883 left_y=-0.2297 left_z=0.092 left_yaw=-0.7016 left_pitch=0.2236 left_roll=-0.2853 left_gripper=0.9985 right_x=0.3093 right_y=0.0996 right_z=0.181 right_yaw=0.7388 right_pitch=-0.0157 right_roll=0.0036 right_gripper=0.0613 state[joint_eff]: [-0.1026, -5.6821, 5.3675, 1.9316, 0.0122, -0.0806, -0.022, -0.212, -3.1795, 6.8444, 1.5018, -0.2857, -0.0366, 1.033] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0,"left_pitch":0.5},"note":"The pure z command was not tracked, indicating this yaw/roll configuration is at a low-reach singularity despite the modest radius. I’m pitching the left tool forward while repeating the descent, the same method that restored table reach for the right arm."})
tool
executing move_to over 10 steps (1.0s)
step 286
assistant
agent noteForward pitch lowered the left grasp point to 4.5 cm and the right wrist view shows the left fingers arriving beside the cap. I’m continuing the same vertical-pitched descent to table level without adding lateral motion.
move_to
left_z0.0000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5213, 1.9915, 0.2962, 1.4498, 0.3183, -0.2283, 0.9985, -0.0238, 1.0931, 0.7589, -0.4133, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.3106 left_y=-0.238 left_z=0.0449 left_yaw=-0.6892 left_pitch=0.3169 left_roll=-0.3009 left_gripper=0.9985 right_x=0.3088 right_y=0.0996 right_z=0.1779 right_yaw=0.7389 right_pitch=-0.0228 right_roll=0.0104 right_gripper=0.0613 state[joint_eff]: [0.0889, -6.8855, 4.0957, 2.1856, 0.1734, -0.1001, -0.022, -0.0479, -3.6171, 7.1179, 1.4823, -0.2613, -0.0317, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0,"left_pitch":0.5},"note":"Forward pitch lowered the left grasp point to 4.5 cm and the right wrist view shows the left fingers arriving beside the cap. I’m continuing the same vertical-pitched descent to table level without adding lateral motion."})
tool
executing move_to over 7 steps (0.7s)
step 293
assistant
agent noteThe second pitched descent drove the wrist toward its joint limit and raised it again, mirroring the earlier right-arm singularity. I’m backing off only the pitch to unlock the wrist; on this rig that also lowers the grasp point at the extreme pose.
move_to
left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5049, 2.0903, 0.4145, 1.5532, 0.3214, -0.2436, 0.9985, -0.0238, 1.0931, 0.7589, -0.4122, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.3434 left_y=-0.2494 left_z=0.0624 left_yaw=-0.6752 left_pitch=0.4357 left_roll=-0.2953 left_gripper=0.9985 right_x=0.3089 right_y=0.0996 right_z=0.1781 right_yaw=0.7389 right_pitch=-0.022 right_roll=0.0096 right_gripper=0.0613 state[joint_eff]: [-0.1162, -6.3658, 4.0957, 2.0586, 0.1734, 0.0464, -0.0171, -0.1026, -3.2479, 6.9402, 1.4823, -0.2857, -0.0464, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_pitch":0.3},"note":"The second pitched descent drove the wrist toward its joint limit and raised it again, mirroring the earlier right-arm singularity. I’m backing off only the pitch to unlock the wrist; on this rig that also lowers the grasp point at the extreme pose."})
tool
executing move_to over 5 steps (0.5s)
step 298
assistant
agent noteThe pitch-only backoff moved the wrist away from its joint limit while preserving the overhead alignment over the cap. I’m retrying a pure vertical descent now that the singular orientation has been cleared.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5053, 1.9347, 0.4191, 1.2835, 0.3168, -0.2417, 0.9985, -0.0238, 1.0931, 0.7589, -0.4122, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.3419 left_y=-0.2479 left_z=0.0629 left_yaw=-0.6652 left_pitch=0.3279 left_roll=-0.3118 left_gripper=0.9985 right_x=0.3089 right_y=0.0996 right_z=0.1781 right_yaw=0.7389 right_pitch=-0.022 right_roll=0.0096 right_gripper=0.0613 state[joint_eff]: [-0.3487, -8.8684, 5.094, 1.6972, 0.0171, 0.188, -0.0122, -0.1846, -3.2479, 6.9265, 1.4921, -0.2711, -0.0464, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0},"note":"The pitch-only backoff moved the wrist away from its joint limit while preserving the overhead alignment over the cap. I’m retrying a pure vertical descent now that the singular orientation has been cleared."})
tool
executing move_to over 5 steps (0.5s)
step 303
assistant
agent noteThe unlocked pure descent succeeded to 2.4 cm; the left fingers remain over the cap footprint. I’m applying the small allowed below-table target to seat the jaws fully around the cap for the retry.
move_to
left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.506, 2.2314, 0.4587, 1.5848, 0.3122, -0.218, 0.998, -0.0238, 1.0977, 0.7574, -0.4145, -0.6254, -0.4835, 0.0613] state[eef_state]: left_x=0.348 left_y=-0.2508 left_z=0.0242 left_yaw=-0.6776 left_pitch=0.375 left_roll=-0.2786 left_gripper=0.998 right_x=0.3086 right_y=0.0997 right_z=0.1758 right_yaw=0.7394 right_pitch=-0.0279 right_roll=0.0156 right_gripper=0.0613 state[joint_eff]: [0.1846, -5.1761, 2.2359, 1.5751, 0.0611, -0.5055, -0.0513, -0.3487, -3.453, 6.9675, 1.5116, -0.2711, -0.0317, 1.0281] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01},"note":"The unlocked pure descent succeeded to 2.4 cm; the left fingers remain over the cap footprint. I’m applying the small allowed below-table target to seat the jaws fully around the cap for the retry."})
tool
executing move_to over 3 steps (0.3s)
step 306
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5041, 2.2711, 0.5293, 1.5845, 0.3126, -0.1993, 0.998, -0.0238, 1.0973, 0.757, -0.4122, -0.625, -0.4835, 0.0613] state[eef_state]: left_x=0.3634 left_y=-0.2584 left_z=0.0252 left_yaw=-0.6889 left_pitch=0.4076 left_roll=-0.2531 left_gripper=0.998 right_x=0.3089 right_y=0.0996 right_z=0.1761 right_yaw=0.739 right_pitch=-0.0264 right_roll=0.0138 right_gripper=0.0613 state[joint_eff]: [0.1162, -5.7778, 1.9487, 1.7021, 0.0415, -0.149, -0.0122, -0.0342, -3.1111, 6.8308, 1.4481, -0.2906, -0.0415, 1.0281] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 15.73 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]: [-0.0196, 0.7933, 0.6018, -0.3805, -0.0219, -0.0246, 0.9998, -0.0177, 0.7918, 0.609, -0.3786, -0.0216, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.179 left_yaw=-0.0008 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0022 right_z=0.1832 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.4564, 10.5778, 1.7802, -0.0317, 0.0659, -0.0366, -0.6632, -1.2103, 9.894, 1.873, -0.0659, -0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8830ef5591ac3697c4b2f06e6e1c0028f5bc87ca14915dfdad6707a8d3948791",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c2cc18a17c431fb89812cc6904809cc32867629316a0b981ab54b26237ed5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf054e87a475d1e4720abc008e57adeaca5d3d37310fcf0c7f47c2b2abcd1fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 15.5 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0730ee0a5a705988016ab444be622c87d0b9fac73deac9d11f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtETNMtczRKaxxRVh_yVZbe_04KRLcnuPpNPm2vo18M-rbosVsVMewX_IpP6--6pcyN7XKAuJ3FLKmd8jldedYolorLkYJupMjzcAlVi9xE-bLHbLUn_Xus3kdQNy4nSCHf0UksipELLS70zQeQT5-80tM7ujmizclf00V7BKUcTAxV9X0UwnmT90ymEf28sXtmkv8KwhmEJSd-gvOU1Dq7fVvNnMn4EXFoDaUMmbvReTqlU7FEdW_e2lHb6V4x4sBYc9thclIPeV988DGVSPCKBXVNyHNs1Zah1RwTxlKLnebT2qsnqXUJB9gHkqktbC0dT4kM0dAByl1Cl9JcRx8_NfOMfnB_kKcGWP7Ea3LyRxcCRKMe6cOzkI4OmwGdp-kQKG6bnAtRmVAfP84Dv-F0QjAy43XkIMu3yCDM0aMEQ54_4VcFwEmSNFMObRvPsH2XfhBTIuRCERcabNy4WVgY78c5nrhFZpzNh3aHuAcBExbMAHxX24UUlhH_KrCoixKAQzG5Ot8yQKujOIAV7Bo_53tebkdrqOxkBSUZejpighsMNdZQSyWrSMc8aLmzaKa1agFf4shBY2CNLiKaahxQ4YIyS8apT64wE3aFmnu1FNZSWLrdh5iqMEc9Z5tHmlDn35i4X5IAy5iZ0SQDPKsj7J1WSn6FWq963QOggdDldoDTMNKSlYfLtDZPb1PUsZdRqHTveqngUVqFVJuHmLyLbEmSZzusYhHmoOZJB6iEu8d-Z3yE18ZkzmZoqTLh3jhpqeJ2aU4NtIK9bWKz8P2G1pnD07PEvtTaHhfkH0IjP0-Ho1GHkSEAsJ_vQ-R1_dEySuc5xdeHb_d77E3AuzLGUdKwZEwswtWxjv0PB598zLhmDNOrUGrNyCEkDSfTsZ8OS1rm0P_or46P-IZz7aztaGo2idPD7rAN5DV424f0plDDnJmczMSYyYSAur6kFJTdKD6akQmOnUlz8d5j3QPoQqxLKZaUTE8NsoApEihfnBO_ZBH22aDs5ATnrRJ1JrmYf5Ky_ONj0WcU0-cuDTz8N_H66hojVPwWS1YT_2yJzS3fbfXpHmuXDXd-hlEls4HRrdweZwV5J3j22Cvz5fZM0-wGg9A81JUbdErE9Q7MIQsE4TnZbyN8o79CRUZDIglIXBxdogA-0p6BD9puRYQGB7TC5u_34cSiJ06fTXY2rnsabwDKTjJsN9P0PkP_PD4kfCeEYU8yj054tXgYSaN9TsrFnSneSj4TLqK51V9ri5J2uFuAmxsRDhPWZ6NAoXPBLKkVVBe3CGHjSgofhE8qPsst90FhLXt6rFz0GBcG0dn3wJtwfL8X-UW5hZmiKqy91IDvqGnpU6HWU-tMBtJPguQTtUpREf1km46xrbPfZKVP5nJfUzN570lXDSfW-K-iZusJVksUyuV21nAeeTNCp8HddwbS68hZS_QF6RH5xTUr0pTK-PCqbzY7QFt8zYDUyAk09JHAwDYO65dX0SeE5MW5LzCoOzzFVbOUn00kJyLDkaGT42AiQOP3gGV3ndyqids0NHRHZlCv87Ks4zYhXCxLAp1oJKm9ImiPjUiFs4ZQcoVadL7ds3DkLgqjaifPB8jpUFdQtZXotdrsYXjUgtYN3UwMaDV8NbmS5Xo97LyAyEwWzknAW-q8YInfdXP9isuy99ni8mAf1cty_7SgQJvv7tMlKQVo8eTjZQzHTycgWIjUAK7jGiReERecWHBPeHq8xy-akCk3sHqlMq6XsL19XIz3KOzpw0vbpTQPjCIpiu3WMLv2Cse9BbDtdQbAEvX46Vf4LywnWLZUyLv9LymIS6fvWSZNeweQ233poJWIy2Gsw1qsQ1y71Y45dFTG4ITH2Z3zncA0qpNRch9Cu7SuAgna_HStG92zI0OZwS9ux2tGI8GD9v5lEv7_Rn1c_K_9hSJe8FffE0s7_0qV_HkislgwpoEliiV9xhcbtj1OS9c07WMOju8PYlnrEV6EGWhmibCU-KWhVN6sUa3RLi-cTMgMtESbujqOL20JIWdPhzfM_T5IIhvfcjpQZL2fvw5k92r3iI-6ygyIGKRps_b9A9MnGDynjlbYLs-IrFvSAHziH8OOb_pqAW_jkCnYwF_DBP-qwksHDOdjuYIKTLSk__iFetpvJGTFO_ljToFNsFS5JihurcSeEMrEeKTpkOnZna96y4m3jKMbzrr8QfNtQVbK0JfqdDnQSAkuI6AiGKChOVTOBp17nQmzYgMNppZFRNbzLi3AK7TKQYw8_rfIVXOs6-r7LP4unnIm44TRxM4mxJvpW3Sd7-EQLJul742EFPGVVNqWSq1y6ugriL_8VpGBZlodXIwfmtculgA7jVsPuIqRsEoYQPbDPYMCl2NzPU74siHP3JVetq6Ym671ZDXjIxZWS8bKht3cs-rhnTWavFXWz1woR5bw8eH1OqhuOxrPYkBBKS3nrh6tvkON8GhJb1FoYWVimqxHU07xnkYE0I6OVH7G4orLJSQDfysYzug9ASCAiDIatJjqNdP2u7WG2EFUxXsZizqXLvLG8XJEraBxofBi6HFRRrY4aE3wU_z9whdhmPzpC7aJAvIAiED-ABQ5qYs_UBUSPSmcIagjxu-lAJZ-tBoNIWvy3fp8wo-hY3zLzHDiHLU_FHpDy2m2ZRarYKlV57wYhNX0CT-53aXTTaaYb6kEbQKSoqDsFSaYWNEjUblLuyuuvsgYRk_dM9RcQ6i68TqRqU-gvn0RdrMmW8NwPLL-WWpa-JALeCH3GBRONkdHgZDQsYJ0KnGV7n0B0GKCIRAimEt2axIasmyesgtZJGNapzVGNXmrhg0MQWxMCV9dUhq4c1DvUgRm26rCamQIbBZS2ZVu44RCgkmza47syKWu2W2TMoNUUS2xWhYs6PUZLUiwYywrlljKdkiz99FgC9L5SsQgNDF29LzLIy8-xe_8fiMvSapzAR14WL-MjXMFa1m99bXK0LDzmmm0eMO2k7ZxATYDfXokEnJmui4VqjdXcBtdbCdRRq-vBuSG6zL0AANurnEqHRi_lhJkaCHqVEka8rIQdw9t-v5W66CjFJVL-dW__sDAEEyraXpmBPPgXpB8nl6RX-hxnT-v1DxER2MDsm9od0gpSyYRC6bMprc8PDfnRE-5d2WJB8kSXQFlZbxmzeRU9Hg6IL2Lgb-wM8OmrDg_QZJuHraV2Zt6j9CypU9igz9m3OIe1Wz7vU0is8aR-S-dH-bGM0rpGHL7_uRRKFQ4DvIHId2Vy3Eg2nJk9LbAiA8JFz4lPXkc8K_N56cjjWz6bF3g5L9wB6qHphsPS8_dfiwjywr1kxDSgMHrgnVUGYtC0vn9rTe-6vTdYBTEZwm7vou_Kh8lpMGOynkBCyVW1rPkrOs_t0wRUocgJ5J9bJ6SkxFYMCDGu8k4732SM6DdpYSL8taU2KGkvyLN5X56zhQ-eaU9Si3UYkFPHW40ExNnmmB1AevlxfJsneCU7zhZPW68qCZlK1OQrbJrjgueKWEArvQs0-8l3mCy4-EqvmGWC64mS0pZOIH1uF_qIs9FZ588Qy83KC9SXqDiS177PJov0gAogBpO9M2uQ_kOrlcWiz8q4-6iOAp_evy2qDkMo_I1Hw9EEPoxXcJ7WjnZSpQuoVJkhC7lSgnMCDlVWA5Z_09fb4IUXPgqmwm8A8iNKRG3Qe_-rrNpkwIWwaORQTqUPF21GPBtKmJXp5wk096Uik4jtMAqbeMlVkWNXQRnVAE9QxOXGdMThHrVUdpPwIbu7zKAFiw7n-y9Xt4v0-BtbufdXS5jewqP4iN6PGx7-SEgTbFZkSaYeRAEP15FPvTPf4XY8ZKZNJuTsm1daJEj_AF3yRud8iiKftBe59iKm6yfOXUw-qkB4StvLlbNwpmnk-s_nzxQ7Ori7KLFf8fiD8hT59Zs0KYy7lmZDr7OPkJWCqI5WXkDDOv29EXT1L2JhRprsTZt4BowYmXLu0",
  "id": "rs_0730ee0a5a705988016ab444c4198487d0858d3961f399e39f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtETNCtfJHLdrDAs-rcuXaYi217YfYbBrBhrKF8A2sQBsqXW_MzJkzfhwgXAb5a3l-h7O9XtoNl_CMKxg5prRXnJcMJfYS_9d8-EQHJpQO8GKlXcZm1W5XERhLft2PBcp98fhgRKHHWNjZks7RQx3doEga1RSLANSzyV0Im1jPajvXPMQP-ok6HM1bC7RWy9elZUqpLYX0UWQ5quu0e3wMWpIKS_Y6-EDusQIFBtxeakJl06GVT7VnmHYrj6Ca63zgjYxoeROis_CUqEOtdjmuCA-KZV48BwialKJQFjfAFEP3uCA5K3rL9BYYSLLVuPAtHxBaZ1NWcjll_RZ5cM36xSsWCcV1pAsPn3oB5VHl9DyJtsXGmnb0YUj-V2RJp_CW0R2ULVG94UxHR8yxLZkMnyoyqK2OZlS1pks1q16EBEfdD8BTiyaIwdPuM66QODkxtwPCOj6AAKsEx9PsR-rjzbGloye-C011a3uRI_eF1kvpb6SaE9t8Gwe0sHr57SQSTWX5UC_VyAt7djcDKUiOtlIxlwaPHveqqVhuiQDSYf54y5tUqt0_GmbP18fkF7Z1HrWSo414DIYcorIetLh_Dho5501FsEqzEa1DPqYJkgiACSfDKFssbtYBhI7z3_qr5sAHP4Oscfm61So6bO6UFKXiSoQjw5fR4iWp93tEuW0iEU04n36mB9nQQkH23XUGdbUa-3mfPL4DqzRC48oEjOsF55rxriq25XAHPIrPXHgCEUkfmbjkYyYN62I8D3AExwggp-WIESRRENu1rvMCBmJaW19RaLxppOaQoLWX2wd8L4gW5uFH2e7HZHVh_4ygy2wT7O90PRLnibD7UuOH3wiB9D0A39_bE7L9dO33reemXyljD6NMP1pI8C_qgDzP2I6FdJ7nw7ma0IR0m9osu3oGr1-5yYC1Tk9Bg8MgmcQb6MLfEBkszxUsbREYKoRp1-X9QL_m3hA5avSJJzvN9xYv7kl0jqVqBvDhy5gbOBcS0d7_I4Wte9eqMeWJcma52Zr16ad5W_gbRUO0q8GRbOdudw47B-_gzukCHzVABDY4JLA72SlipMM0wVVD6lkD1gQ4OZvP_yipvmo9bRIAInRCON40JF14uOJ2WLhDSx8fREIJUZaXkpr4oXGvJTU9Dm7WzUB1GwxUdrOPm8O9v57kgTiUETFAxZI2hcigyJYV9S9zaz-QSFgsz_vDkW2KaheYOlLEbjJ1NlnB-cxsPF0Wv0ka-sbpykClLb5wb0qRDb-HpFsrcwxsr4WaGq5Dk8SbEmZYw0ojQmQLHD9Gt3hJ4ZPdOqkFzGyk7Mc81Enmd0p-sBCxBvhAiNdJF4pzwQeOADPBuKt94APHW4mmqokjxgtxlpwG6cpQK8dDJgREXEDUf6LFIGBIhv-Qc4TbwvtBLYaQeeenGQG567HwWdb3ccjcrBjKEp4iLutmNlIhHeKmrIU7UVEecigv_9FoRIGT3mLoMEc0Pt10FQL_dHJh4XswRJcUV0rRkMzQV8VeKcYvFYrTT5r3jwKQPOrT80rlraFfvoaO8ziAdPtjt_F2pB0zWO-EEEHFN5Txomp7CEN6PLLZ6FKF5c6wk62PvvtexBTlT8QSRYfVjE_lNnxAKUpv5V6P0IQIppM_NNPL88gsuoK21sUceghXhj2FnAwwMzvar5Y9gosvUBYgJFC8rTB2PTSDaxOtfxnAtNLvH6ZFVP1d0UgBgcjT1d5gPG8SK26wGbXcAuZXwDf5VtzhEE1qOO-wIUQpm5vaRtV8UXtldHcuF7kk9HzLH-2bUQtxogXAjlAKvERVV3XU8RIdsj9UdbD6nwSmT7qIt59dz0g8W1HZUJ-qYudKEI7h6b4mpu3_UjnRpQPgVR2XuYmoEwq3cfOl0V78BzcfOfi9iumhCImkJIe2jo1IsZgFWvCKjQlnhb5C6WXj6gdY8z_g3ilpSxdRyMQvmFk8mHmJX00Rv_J_ERDAcOhNyAz-ZuG3Rg71QrTOmCxg2c945LZsu_JyaQmG4QGqc5Ca4kFd97IjG7jSkjqNm56Hh6LFhv_DB5hO_51V2vSmO5vWdyafd6Lf5cakSWh4FvpN6qJCfbcNuGoAMlHwRx6mPZbGxTzVs11SZnlf8bWvAEq2-IC6RLMCjbB2o58x8fAZZ0jq_7MUfa8SkXYx-Ry16MSggkxT6CnHb1fYbhxPCUqFIBMI_Bt1lljSn82Xv61e1Qxhiw4mu8KFjDExWe6G9EeK-BUBy-Qe31_poZ8xowGw4IoXIjTDloAjdqhqmyaV2TDSAo_XCGJo0_nHifX0ZNQqNe84t-Hu2QkRhmvTiDt6X3GQzFau2SShVAOUwC9PoDvJJo=",
  "id": "rs_0730ee0a5a705988016ab444c9452487d0949f073d78881951",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.23,\"left_z\":0.16,\"left_yaw\":-0.7,\"left_gripper\":1.0,\"right_x\":0.4,\"right_y\":0.3,\"right_z\":0.16,\"right_yaw\":0.78,\"right_gripper\":1.0},\"note\":\"The overhead view shows the short cap left of center and the pen diagonally near center, separated enough for one arm per object. I’m moving the left arm above the cap and the right arm above the pen, matching each tool yaw roughly perpendicular to the object for a later grasp.\"}",
  "call_id": "call_TZUsHo3eOmHNN99eSz3ujPPu",
  "id": "fc_0730ee0a5a705988016ab444cbc2b487d0aae1a9e368c9670f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TZUsHo3eOmHNN99eSz3ujPPu",
  "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]: [-0.4778, 1.4899, 0.8803, -0.062, 0.1436, 0.0711, 0.9998, 0.5663, 1.6901, 1.0874, -0.0357, -0.1631, -0.107, 0.9992]\nstate[eef_state]: left_x=0.3681 left_y=-0.215 left_z=0.1318 left_yaw=-0.6505 left_pitch=-0.0916 left_roll=-0.0257 left_gripper=0.9998 right_x=0.3908 right_y=0.2867 right_z=0.1392 right_yaw=0.7542 right_pitch=-0.0675 right_roll=0.0093 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.653, 10.1265, 2.1074, 0.2759, 0.2564, -0.0366, 0.3624, -8.3487, 9.3333, 2.044, -0.0659, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b23099be31c0eef5eecadb9acdfcd9e83455b816b0e4366bece157a3b3b1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af5359d7f42ecaf9d2eedc42ead5c7316bc21d335f2b00bfe7cfa4852b94cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d47c531fa3c1a46afbe4e6cd5bb48ece3cf287b55bec548f72dd49a2ba3a630c",
      "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 · 10.72 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.7933, 0.6018, -0.3805, -0.0219, -0.0246, 0.9998, -0.0177, 0.7918, 0.609, -0.3786, -0.0216, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.179 left_yaw=-0.0008 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0022 right_z=0.1832 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.4564, 10.5778, 1.7802, -0.0317, 0.0659, -0.0366, -0.6632, -1.2103, 9.894, 1.873, -0.0659, -0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4778, 1.4899, 0.8803, -0.062, 0.1436, 0.0711, 0.9998, 0.5663, 1.6901, 1.0874, -0.0357, -0.1631, -0.107, 0.9992]\nstate[eef_state]: left_x=0.3681 left_y=-0.215 left_z=0.1318 left_yaw=-0.6505 left_pitch=-0.0916 left_roll=-0.0257 left_gripper=0.9998 right_x=0.3908 right_y=0.2867 right_z=0.1392 right_yaw=0.7542 right_pitch=-0.0675 right_roll=0.0093 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.653, 10.1265, 2.1074, 0.2759, 0.2564, -0.0366, 0.3624, -8.3487, 9.3333, 2.044, -0.0659, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b23099be31c0eef5eecadb9acdfcd9e83455b816b0e4366bece157a3b3b1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af5359d7f42ecaf9d2eedc42ead5c7316bc21d335f2b00bfe7cfa4852b94cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d47c531fa3c1a46afbe4e6cd5bb48ece3cf287b55bec548f72dd49a2ba3a630c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0730ee0a5a705988016ab444d0f6ac87d08f4c1cf1a41d919b",
  "summary": [],
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}
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  "id": "rs_0730ee0a5a705988016ab444d6211487d08556084a0b23e13a",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0730ee0a5a705988016ab444db45d087d09d8b907ac59fbafe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.383,\"left_y\":-0.195,\"left_z\":0.16,\"right_x\":0.399,\"right_y\":0.278,\"right_z\":0.16},\"note\":\"In the left wrist view the cap is about 2–3 cm left of the jaw column, while in the right wrist view the pen is about 1 cm right of it. I’m making small yaw-aware lateral corrections to center both objects without descending yet.\"}",
  "call_id": "call_kU0EgoHQ25oKjbLXhTKIY709",
  "id": "fc_0730ee0a5a705988016ab444ddb55087d0b7e5a7499a1d7df6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kU0EgoHQ25oKjbLXhTKIY709",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4358, 1.5009, 0.9226, -0.1314, 0.1829, 0.0921, 0.9998, 0.5564, 1.7027, 1.1175, -0.078, -0.1898, -0.1253, 0.9991]\nstate[eef_state]: left_x=0.3728 left_y=-0.2051 left_z=0.133 left_yaw=-0.6537 left_pitch=-0.1239 left_roll=-0.0414 left_gripper=0.9998 right_x=0.3916 right_y=0.287 right_z=0.1386 right_yaw=0.7769 right_pitch=-0.0883 right_roll=0.0155 right_gripper=0.9991\nstate[joint_eff]: [1.0051, -8.5128, 10.5231, 1.9951, 0.1441, 0.2955, -0.0171, -1.3197, -10.8239, 9.853, 1.8339, -0.1099, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931ae5641f4ce95532e6f723432a2f04836c00b11dd86280165573d03923a90b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76846b65bfa232ddae77aa641abf7e58f7c850341dd39a364335240dbd5883ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39ec67ff0712ac7cb0c2ed28f08a4d7d5e7274ead057083566ef4d5073d00ea",
      "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 · 9.183 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 14 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4778, 1.4899, 0.8803, -0.062, 0.1436, 0.0711, 0.9998, 0.5663, 1.6901, 1.0874, -0.0357, -0.1631, -0.107, 0.9992]\nstate[eef_state]: left_x=0.3681 left_y=-0.215 left_z=0.1318 left_yaw=-0.6505 left_pitch=-0.0916 left_roll=-0.0257 left_gripper=0.9998 right_x=0.3908 right_y=0.2867 right_z=0.1392 right_yaw=0.7542 right_pitch=-0.0675 right_roll=0.0093 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.653, 10.1265, 2.1074, 0.2759, 0.2564, -0.0366, 0.3624, -8.3487, 9.3333, 2.044, -0.0659, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4358, 1.5009, 0.9226, -0.1314, 0.1829, 0.0921, 0.9998, 0.5564, 1.7027, 1.1175, -0.078, -0.1898, -0.1253, 0.9991]\nstate[eef_state]: left_x=0.3728 left_y=-0.2051 left_z=0.133 left_yaw=-0.6537 left_pitch=-0.1239 left_roll=-0.0414 left_gripper=0.9998 right_x=0.3916 right_y=0.287 right_z=0.1386 right_yaw=0.7769 right_pitch=-0.0883 right_roll=0.0155 right_gripper=0.9991\nstate[joint_eff]: [1.0051, -8.5128, 10.5231, 1.9951, 0.1441, 0.2955, -0.0171, -1.3197, -10.8239, 9.853, 1.8339, -0.1099, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931ae5641f4ce95532e6f723432a2f04836c00b11dd86280165573d03923a90b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76846b65bfa232ddae77aa641abf7e58f7c850341dd39a364335240dbd5883ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39ec67ff0712ac7cb0c2ed28f08a4d7d5e7274ead057083566ef4d5073d00ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETpUrQqMu-VLcG6seIhwoaQ3OUIaDXRzUh7wSAOK8UJ89dB9-1oterQtF4ClnpWd_HF_bH0dxACafCub6W7XWngqRV6zRHj_KwcOjsOoyP5RfLhEkQo4XmcuLqwUv2tQKvvnQlVLtfCo-kxKZhYgpkCpV5YF2U32hQSb7Rrm7Us5KLc7kN3egnQrjFaPsyeL8tCMOVxKhId9xKXhgFxdA_BHem0XGMFD3Mtj_FIwwSif6uTbSwEcxkLFfyEz_nOxkwo35drkj2h1huHQH40uzgnzssKSvAHJknIj69nDMMD9Ry95zbTqQrMpAlGWGxiSxJ8_zGIHpriBJV666E2x6aYLVX2XL8Uba-q6Z7ZgAwWeNQvwrKVS_gjeo4Ty2XuLPznOMV6BYpiP_QPhfl-6XK-y56O7scfZaotsafq8L3KA9GYZtRqSg4i88j2gGxKnRRDOhgMdJXD2Ovp4ueABCvVdgcP6dZucoQvJ8V3Fp7-ojsfHBF5VttRVy4hMNT_5PVrnVeXnfI21nW70UgC7qxT2bvH9zubLFGlXWnMcE0qeQaiirSi7L2hTK_ztXK0yzX5t8U2Ub-nGU1E3je5Jo7JhbpWfp-6QTbbMdiePAqhLY2CA_1_Lan8VJCeqgTvANPLbteOuxWEK-DDRNFz_p53HVUJ2AYtTrLCoYUxLdaviQNhTHlPYpKZkDBl2OYuTKFjB0xg7LyE3nQr2-Ri_9a0bEN3WG7hICZWjIUI6OdXTDt9Mk5QdSK8iQuMhWeaETsuOrqX388tU2PSgF9GtRaVI7WXchZ7KdR3HDYQc2qCdWdbTkhdV-ZZoH2FLUhwuZVtbDcpnOpk7T5udsLOarmYsOzMQy7LvVL4zoHnpTDmmVYlccD3T_1raejagsGrGdM-UEah42CbW3nPChYI1ulygqrM0inZVI3gfzW0QiYtaofF63-y6GrZS0K1Z5HtIhw9KUJt51fDPuGX8ULoEaXG6Yf86mFauPUIYZw5r6yMVVGMS3m_MfxaTr3GMm49smbGTLnA8oXuz12NiL_rLNyFZkhJ8lDlPRgLNV0nYex6DEFZ2xde3ME-LvVnKfAzNKwDSryLfbxOftu9qy84W2Uu85u0zoR4AHVwQp-TrHZ6nk0qE2VD5wMqhXoTG_0-xa7nYlpErUiYfMHJXOkZkID7iiIBEF_jn5c9oq91rr-8ZOk8jGMU3GwaLfRPUMx5aHH0WTQPcSNtoyoIGGNE7cnMgtggQxsofdhaAsPKVTi--D8a6I1QrLwViQzkF7ZQ2uI7Mxw9JEnHXpbyWu5HjZJju2r51ECbW5q3uT3UAKxrR4L6dR3dgN2V8U_85_aQBLXBClu07noSF1DwLp8Gn_tv4e8mhifFb8IkGVHyMAT3yiWRc8FoOVvkwJIbw_9-laimWE1AiHUMM4d2snJO6ScOo00mtX9ZdLMMaTEDBirsgXvJf9PIU1cVgGXcMRO3w0agMUsGBuYGUV5ePZQIQlVxm0GYtUgAgfJ6twq54fJRkdfXkqEe69rwNz7fHWIRb7wEtWXaIHitvX_CRyDI8eLzbN1lr1WfUXVS6KNbgVlFc7EmNKZqVTTYPwlH-s0NxbnsrjCSEfI0t67Bxn6zYmCXVhUHSgbf_yXogtmzfC9vTKhjuDxGUYGUvVgUey_Tenhx24hcKLz4HoCvP_ASXWgHRqnkJMFpKEUzjGZP_xj3HThS3alf26aVWRCcrI2Qd7vT5rd6SdDk0D1utJU7dt3yN1K-XYlVmnHvgqOaF0aZ2GxeWEEO790NGgsjLUSCvv5OZUGSehJgHe4X8rYC84_UwLuIZlFlpqmRXihW-0iX2YAafg9BLJG7sVDdmCdafTU4zdnfbdGhROvkBWIbuVReXjM08j4s1_7Z8dcmI5MQgLxZtu18fEVRNzBgEs9S9EWhQtHaNlfdJXpMedWqWRL_SK6YzGYC5Eie8zhiEXx8z9pPElsJ1mOc18a-zv78ro1YnhFliGWx5pxwH5cAEOvsFpqq4dYnofWufP9sokbzJya1eH1SzrTiZclEeaYnvK7dGgZTsYHH9nxqV4Ph_t9bjw3gM3iRXt5iRlVrsphPpOzOyOEoiAXkEVKATph2Ed-dRhoXArX6y2AzkKf6BPQ0x9DtbrlhoWdkbfvpfV8VbWno-MUEBVtGZuJEmRa4qxOyNED_1Ww9IqzTa2TDgZqtQ3QBOoLhOZjXlxdn57v9lxUTUcydzp2PTsK6slIAr0zpDQ4FBtE_nHptRyLU2TMRChEIVVfPDaPr3riKpFxS3T7xqekWiFap6aCdBjDvkDM5ssnL8bXMMCeiiJAXtRJw1ruqNOmeUwgwfrQuScjZg3_H6rAaHN8MfHP6g3UVQcYNPU5g8MJ-JtKtrBSzobCacrl0-IzyGszc_rDXa8efr__bab7t2sn3AALLvMz2NwVtGfFnfqYIYGCR6H8GCYyaQdVzw7cXVDTq03D-076jk_wGkPmbY02QM1t3FHjMduOI1VhbXhnb453Yp2pJbSOdflb0e1bGwPSfaUsuHfrrfG8rOKoCyY1XgzXDv4EX4o-_IrVEzns4LsVfKtMP6UVD58GpDGL4mfMnUbLl7tXOFXoy8mVg7KUEDs7mFqJpPzkZwjXAbXYTjyWPZ_QJAGMwoCppq9ZyU8xShbJzfp0ZGqYNlj6swA09wRUIEicp2GIrXaFH-T2UqAMnp-ZwUKMBiAziXbqxbOkNDB_3YjFjGki4wV-uV6ZO1Ij8ictjpk57pJn-OCCLYTqAYHwdvyjO4kf_S9WexCtYwqZvMl0pS77zBpgWX1aIm6em2xgVYC-BZcaaeEhfsfaoogGo5bNCzOERs7COvcYjJEoIZjP1z7N0ad3Wvfc72rQDi3Cnh_JtPhdhHGVcNLTqOML3ddBzzF6WL4KbF-kCR5Sbc87T3NdtCo-ttlZcsKToY__LzAsUTFqZLfioHhXk_WXrK-V6xEPUYZfHlPJUxCrjmb-9xarbjVC8HL9D5erBU7RwvEk8ujWnLbC3WyTGgwJRr5xKNErLuoJ4JBmYphEwmTeDTkff-NZEFboTln8ZpRwpB_URm7F1cIlWfh1WaMUPFRoTyvLEJO5RhdIEAYvB6DQT3fPuqR9oTWowpdRbiJd8oZHxH17eIdjtfwzosP-l0FNrWTgch0hkWkM3VlxPO2HYLQ7ZE4nvF5UMNxWecZAkPqn0y_P45SFB3YvwCwrarld54MHy7ubr6oJfsd05tUgBBVzcHL1xFgGxEbl-Hros1EULDSTh6kq2ap3rv7jiwaUeiGHWnr-jnj9q5sC_ZAGKDMhw7f4DnJyqWMjVSA1_sF7YPLq-4V-x59Lgd4n5lAqbyS-_l6fNhR8h7JueSzEEZPDN4n1IhtGpZDOgOBLhF7bvCHFm8pBgu5R_go7WezjCGi9bC1s8gxwr-UZkPB31dGrXb8bJiTE4AwVvRl5rbHYzDEJTjky8dCGVVYoSm0g50tHmvYUDn48_pfCQsB_OA_HfmukOoZIOkls8v3VzwJ2DCoeO4tTRuGKX9wTCPur-pq1o06Y_HH5xeh3JzIowfS9vJZ65Uj8qjX9iFmJ15p87E7M-oyij97lTbgh-P4UTng0jhBvIrXIbl84znzxQr1-ovsmJj9kZzjP1F2SbgW8WFrqBGS-K6MxbBEGUTxXvIJboZilHcmqc6ruCTL0oRlQetGuvyYGJjUhPKKQphUdyg8Ab5Rndm5ZYOq4ecF5ZkXWdr43dCSZYq1-1Z2q4c8CJwemV5VH0HgoVSl9QEd5vAm9G40yMqDhAzLNRt9aUy-I2nrR-gCGmY196zIJR6P23T1r7MMlxjgzZyEPHUU_WTdsd4JyCP1x-c95Htg8Os3cvDxDoXOoXxU4GbLwMp9yn6F53YxZOSSJKT23OhbbTmfjLZoHh_ez2HycRHrmKya3FhPP6JqEeBBKPg93urDdoh-G0idTSCluTopkpb5KucfgsJFVgea1geuFI0jF1Bt8zZcXTXGG8x1l_4gRQ_GTSvDNfrZsEBTPWxwh2RJLmNhlNanwpoHUKjUw8_KneHoqUXWy4_APmu0IueLMPi2m0cSowcyJJj4AaClps75Td",
  "id": "rs_0730ee0a5a705988016ab444e0b7d087d08c581368c19f1e00",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtETpXgKQXUvr6wXN24YiSZaiv7gJpcMGl0ZrEaoj9W4N1lAkQenX8qVnD0X3EWw0Rm7LWMt99RVLHDsS8ZFKqSC-LIXnsBW9XZdpj8HDGj5vUvyYB0LPqLfNvBppcypK_qBHRT-ykEKjU6MJsgee5my-jYqZJ6Lw_8o8iZdFWDuW3uPIsh-H42V0fElXiO2kf4WTjTkxdIojEbFX8Gk1xvyxdFa0gXrni7LZwL3qxLuICnB4E6fzglF4wlOjoQobsGgfrtL6Hjvf2w-zLu-UQIlm7KYLaEA4swy2ddaNb3LHNrG4NQlEo753D1rduKRkDghaqi9kMgaYADpNNHP0wOZF_gVJ80bwZ3mvnmBuK2tPpFlc16tUnA9foym6tZMB-JgmueHVysyfzzCk_-zChcfrHVE7DC71_-Mrr2loC8sePpUl34zTQ5vVhssxY06vJcJbvFAAw2Ihgow6WG4cq1gRVfyLmJH8NecxyKc-ZsP4GE6BSKbJIcEEExUbe4VUo07tFyxMPUtg-YyWsFardkl0JVHvqoxPs31zdq-EI2rQKHqRKDQVTfuGjxQN7tB3QNKQv_RmDwQzoPMXeP4hbv1T3e1-xSfNFRWQsS8lnjnR4PX873wm3ZFtn5cgOiL48U8A7FeC6UScXI9VRDSdCY25Gcf_v140WGYFiq_yHJ3wb9J88nPv4eKzvVdnUwypWHbhC-gX207j47BDMy6Q1Ns8AouQD3UiyNd4BjeVzzGlrRcqmPaqxC7QS4V7qMtQbVafNeKqcSrQOSdLsRtuWIDPQyaoVilB0k0te44eo8Rr2qPCg26aJXC9YVmPWmBq3V1G-UZWYuDNGXVBGksJDNi1Y12-5Vobh-LqdDojHJx22tPXNYo_Akn5hnHdFx7Cu4TG-iulVqpbZ6IUgV3gVJ8NidXelQK7yw9KznTbDBCQyZtKO6CmOEs-OiYIhIYlyzbXjoTVSlFcIpa9XoZodiBZNQiSOifG5ZHhlusRHUgBXWYtTzavsgqCCfpuuDCa0lK5Seumvm8ZCrwHJcqKDnTh_d9ZINJo-lnucSA4FqFGak13nEdewO_drt0x937lvAvgPYWYnZVe2eK3HuUjAi6oDXC-XsMuHhvQ_C8aoTQCrwlPdX8c1weE-cjYsWpJwjYMP4qO6tIrbFAabtcUUAXZmZWwn4SmnvY0kI_iZAMKo8MZJZdJLnJ4OyfkuMaMJH25tDkkdXFvUTTm2vSZGVxzgjt22-DUuC9_P1LHSFC4boCX-vahr7DaaRvSh1xFIF6wAhg8Kk_LrU7Fvel7Kj6N3bRtpifK_bNgqNJSAXEscwVckqGukHnpkq-mKLS6URDk0V3D1Vz9_7UkaVtnQpy_m2ZESTaXs60J5zW7nIkrYtrboTIexT6u4JryocFca713mVR18HjP1iD-yyuTwugTFiwYM05tmSTw-A670AMCaAg4qywtE6k_h75RIRAwaxbYGlaFGZ0gzhP4nfQGtv95KRdjnYu8Rh1pKJvBZlPUJGVFj0PyCiDf-wYalmKva95htzcn6WzVN2ByBAwmdNTCHaXslj734HcRWDSo4cx-Iu0dYmlG5lKUGpBTuTO5wfblMcZS0lkedOEwyxvysgZ6Vh9sHeM5IYqK6BWtEeiIuJXR0G08PVe4yPI2fdHVEzSDDr-1WOuZd7KsvXUVwqaH_3wPgapXifM3Slt3HT8pEKOwDhFi7vNtuzbyt-2gIETxMHcXAhPdq5gmCa8KWRTzizy8VGKDlSZIjnceuuQSatAz1mBmvWPbB7qzi5sALDEAwqYbkmU56wE_DhtJDU10t75yA3PsnrdSK6cCqjSQRwQwiNrsCqhETjJHfu8s21aD2kegQ_SmXKRS8bTklMEFnjl6iZlRQ8u5L0qVbaXhgZAaaH1K433Y4m1SvAq6C0yGh2D2eqevw5FI2Giyq7d8cgl9D6eP_t5KuW58PbrVjnM1AZX7s1L0BCuWOqcxx7CF2UQhoF9vBaBmKoOqQnUPB0fMMhVHUyrEwifcxSZW9LSLAkXfrJrwzs8i62AMfUAS194RDZvqInS8BTqrDyvNKS9Flp7UkCCCGrGLfMs-o3mZKk0jtgyoEOBegllzh2sSZxEZEshWpFx488KD1LJiNwsxwwwlpXjVtPUAhEQwtYlPDViuQckD4rS4DuJVUGfQoRCF7gVKb9MoyVmsir2N2eFD4TtCqjkeofKHmIF6y2Vsvq0kiXo_P_W7IvFAuxvasbNjneJoLaFHUIBBTY_DYybIYWHSOLv6zyeCyFgrinYHwEdvt6KENDACXOj1TDjBjFDVRhU9Ei68JSKUbREC-zQKAnfBfbCBw1s-6eeNpPZ16Ooq7vA2Jsifloeu3KvgltmOLRURZx5CCsYTRR5ph0u3l2L2knFDXUrnWnXGf8L26c1gQb0jYkRIRApZ6GS2zDGn3gDuQaprAo32kbfLeBRl9PJAA7QA2CrGvsiQO2yaBxZj0BXHTcOYXbc5GoRS7UfRCY1THVOqlG9D4oIkegUlWu1EL4PWBDxfaD4KCfEEbwL0sqWtOD3eUmlC2vLzS3cDuCUqOOSdWF3AgtD9wxDz8i13YMa0VmCxs327XxVbv2k5KS-JdCRQMUnl4Gea3hCHy7DCCcrtBn5_8Es_5pRnLeR3qMiYjwyT6Z47DTzuCnXczQRHtrQ9onnCAYwNPKZHxxVj4fzO5HCkPkcl2EkGu5vw1fQNpx-YHBoOOButg6mqt-S20z7xYQPrWJD_KIsgC6UA2e4M21lEEHvkfNDNRoBm6ydXi6QUNl_bghxxkyidnpevEOoyy-xYkM75S8NbupGJvp051LTeyiccGbAPam4AJ6HFDFzaJ9Uhiftv-IRS4MovIagAvaR7UHzO",
  "id": "rs_0730ee0a5a705988016ab444e5208887d08ef54a2ecc4c9f04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.287,\"right_z\":-0.005,\"right_gripper\":1.0},\"note\":\"The pen now runs along the right jaw column and is within the open jaw width, while the prior simultaneous correction was safety-clamped. I’m handling one arm at a time and descending the right gripper straight onto the pen at its current alignment.\"}",
  "call_id": "call_u3L2TJA7mKGqxQYOmWN1Inuj",
  "id": "fc_0730ee0a5a705988016ab444e8daec87d0b2ec746d0c88d24b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u3L2TJA7mKGqxQYOmWN1Inuj",
  "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]: [-0.3939, 1.5005, 0.9565, -0.1993, 0.1917, 0.1074, 0.9998, 0.5362, 1.7016, 1.1278, -0.128, -0.1921, -0.1318, 0.9991]\nstate[eef_state]: left_x=0.3777 left_y=-0.1895 left_z=0.1353 left_yaw=-0.6285 left_pitch=-0.1551 left_roll=-0.0431 left_gripper=0.9998 right_x=0.3926 right_y=0.2767 right_z=0.1341 right_yaw=0.763 right_pitch=-0.1254 right_roll=0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.5128, 9.2103, 1.6532, 0.1734, 0.149, -0.0122, -0.4581, -10.8786, 8.9915, 1.663, -0.1148, -0.0366, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5ba44125830c6f47e5d46ad051165288d740be960b79264aee9ffdfd370cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad33efca451ed5d9e2756ec6a7e37557043df19bfaa76e02947c909ec5537cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d984921358a5303d6de2984b2d66e7de835651583947b72c97813ba8190033",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.859 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 14 changed as sent

message 19 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]: [-0.0196, 0.7933, 0.6018, -0.3805, -0.0219, -0.0246, 0.9998, -0.0177, 0.7918, 0.609, -0.3786, -0.0216, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.179 left_yaw=-0.0008 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0022 right_z=0.1832 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.4564, 10.5778, 1.7802, -0.0317, 0.0659, -0.0366, -0.6632, -1.2103, 9.894, 1.873, -0.0659, -0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4358, 1.5009, 0.9226, -0.1314, 0.1829, 0.0921, 0.9998, 0.5564, 1.7027, 1.1175, -0.078, -0.1898, -0.1253, 0.9991]\nstate[eef_state]: left_x=0.3728 left_y=-0.2051 left_z=0.133 left_yaw=-0.6537 left_pitch=-0.1239 left_roll=-0.0414 left_gripper=0.9998 right_x=0.3916 right_y=0.287 right_z=0.1386 right_yaw=0.7769 right_pitch=-0.0883 right_roll=0.0155 right_gripper=0.9991\nstate[joint_eff]: [1.0051, -8.5128, 10.5231, 1.9951, 0.1441, 0.2955, -0.0171, -1.3197, -10.8239, 9.853, 1.8339, -0.1099, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3939, 1.5005, 0.9565, -0.1993, 0.1917, 0.1074, 0.9998, 0.5362, 1.7016, 1.1278, -0.128, -0.1921, -0.1318, 0.9991]\nstate[eef_state]: left_x=0.3777 left_y=-0.1895 left_z=0.1353 left_yaw=-0.6285 left_pitch=-0.1551 left_roll=-0.0431 left_gripper=0.9998 right_x=0.3926 right_y=0.2767 right_z=0.1341 right_yaw=0.763 right_pitch=-0.1254 right_roll=0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.5128, 9.2103, 1.6532, 0.1734, 0.149, -0.0122, -0.4581, -10.8786, 8.9915, 1.663, -0.1148, -0.0366, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5ba44125830c6f47e5d46ad051165288d740be960b79264aee9ffdfd370cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad33efca451ed5d9e2756ec6a7e37557043df19bfaa76e02947c909ec5537cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d984921358a5303d6de2984b2d66e7de835651583947b72c97813ba8190033",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETzhLt9y1TmB2w75lOZQhL09ZLz3pf2VxxJulGtpSFVfePSSZWm_jFa_Xp3OXPbl209A1yzwUNSeo3aHqIWOnStbD_eldu5j8xvyNxWJ-AhC5pZIfUKLHF_ngy8XZGcr4bpbyVTalUwalPA2QiP1PVZa8sFJlFDwRweGAETuxiHLJCMVP7YOii-SpG1zBIMvAoptlgfjbxDiavYyk5NMo1NVOtSQ1Io41nd6R0li4VREhK7bdylQFSrCDArTREYTo8jEo9liFxWHkJ8uLdOKwenPFWEx2KciQfuX9GsOdNN5mlNQGRb055OUQKPVawyULPENSXdfYvQTEMMdL7t6_6UKOqMeM44sQCOT4gqCAcsTveo3v0fh3XgIpIrXKukoE5Gi2G87TCvlxNL69E9mDTR6FmeVtQnIZxfVMZvTKWS-jWs9TNyVuGT4Tr0gXdT0caxTrOGK2G6hQqKZxLWpg3O_KDdGz6Ct596Mt8zbnWhOgs882CTjJo8X7J4rOmsZPokB7rC83fgqjRX2TTHA9fuE0OpPOSqC-VWVsTwWynQB0pfDIC1TpZqU-Qv6_eQm3gCJiUs-ytJkbLJVBKX9yMQB5oRPYJhpgvQKEMFN5brIX4DqJB1ZpOqaIJ9TFv7JDAHbDR83VMqYsmpptTn9nQgyrywH_vOVPZhkig9YwYna81DkbzBG6A8O02bntalyBskJPq7NlxAtcP6XQXtdT-CQ4LO0t4v_IW9Ma55-Bd6JiPfSuQERbpPcC6Pc6A4bPxfJn5Wx6cprubeNasIN3cSS9RmJoxD6LFvJbsSXWllULj4pcnX8tTrmc149xFSIKWKa_LchhjI2t-hEjsG9FEfFobPA1BPgyEDHBpZPpMIk1svxRVJ3mGkx8ZxDUQYm15-DZ6E-qFX52MKfDWuxT6n2jhS_zDKrCB_aFKHM9v6vFyuVOclip-QZxnMrfH4kQPNKRFjLxLHzIzdrKcTyKdnXFdZ_YC8esTC4uIirGWB77gx3Q-g2UawcU2jrRAanjS_Cye8xAm6Ep9OR7X7VxoGf7I2wGSrOz3r2JVmdW9lomo7FQ9svEyboMsnbbINp8bco80nVfYNsEVUwRtaomzZALdXSArOvnkUHyPMt5soAux-KlX3Fj_0DD5T6_gY90kmdYvn9xlbMSluG8g52rhO0KA4LiWpwZGZ9SUDGPXVjc84hXtYb4VeIQYxSslZIQ3RF9sJCOaCxKDM2tsfOsOC6Wf2_8cHK8xfVMGGX3i9TEdAmRX3sy-Wx_NCW63UQ2vG4grsa5KbPgqf_B148YPaktljdheGlaF6_IVwF7SsRfvz0iAkbP2j29QpQ4HxhEXUTn5WnqaF5nL4B5_ANyrPeYpz42kWbF42IhFBnW97b9VP92pnUUE0inahePVsE033myBR0jy1raKLNnBzghn_gJBqjGdIzqFU6H3snITB3sD09Um3LAS-btOAr5_XMoRKQphty_vgxy5foFDyrKk8qH6mjV3g0ZXTm9CfaskBkgdw8yRXM4o63OLb4hAcRPZTjn0IW8IRwrfa_oMEVrYUDKLYKD4m6zpufybCa7mOj2ng4jiTpyIvx3q1ccB2vbT1VRHvTvyeizNaTZVLMoJHj-MLSVN9ho1zcSzSwB1ofo15G_Ue31fNbi9TCsbLnGqhb9Ts_HWrcOi6FFC9kCutYeKntyl4HB2pgkRrFptfOT7QEIhBcr2UhmFkOa0ggQ85B6HTvRcC_9QJg-9wcLCkVsQ1FIMQ6iT7qT22MPsY2CFrzASClzvHV7dBJynnPCafN0yQA-5QU6C4ZsUs1nitCzhapmObtz_bhKSmCONn2XLcm0onsYgLyX5plB5tT4Q9q7zjBdEpBFcWVMYInznQNHxUjYQWUaxPr_hU6OCM0NyEypSh8HQTwKOwbQgniPSkK9BYgsoW0gmj-507SgH8igOfyG-yJGq_QKkPo7d_0mjZT_sZu8gQrBAnypyfXi-XQ2bCK09dpJ9aqhU843H3lM2_g_q_TTvi6I75Mo91ChDoZJ7r-1ST0NbM5Xkp-0H8R-WxVIgwAeCzfiiBfm6N7PM2EaIXvp97UPK3S0cMSzQZSOeeUrGvaUSoSP8IJL1YWWwzPPETX67Rz9baeVpSMtj7D14_cGQH7pegLzFso41EXSEB4WehxFqWDj5DFzTSXntpeuHSfMih1DU3NJLvmjF6A7UlFNpUUJ3WK9sGdRlnvv_Q9dB65OVDnqdoj34g2hJnkHmaFcA30wBnlnfeZ4yurRbzHPcGQzoRu43xnN1R2kxVPXA3O8hEJL8dSbDYbLZQjZAXQWERzu_Vo2k0S0XP6PI69y5lsRK66Oj6IBVDIDCx0q9-lJCMaDBX4ZT2V35LoihVDh_-7CLqbfeqho3G6B7VU4YFg5O1w6K8DAIrrzppVTXys8NcD4xLjrFU5tjwBZsO3k7QhMonwEXllzu2pZRpnIpqWZDN39sM3l6POCBOFRORCnQDmGIOS50BAGz4-ZpoBtBCCHDClZkoXvDVVx5SFVjx2fqX1HA7zjWcdWXHZ_omPkXA1ZtbtLqYgK4ZRB5W6QVlnGUxcI0GGHrZsQrraxjGaJ6vmHrMzYrmf2wDDwuMJ2Qg5IR4oVTpZcz_WCsXtUFMWplWvNUFc4s5oHt1ByWPmHfccpe5kPZZRejJiajmKU_4C8x6F3kHSRVYWt9pCMi3Kt7z2pUMKkl_CK_65Hat_t4-w9JNBG5tAbFWF4-YGsk_QD1Od-3--BPvRIuAKX1VvdwLRDTxTnOWPjFLNKdXbWhQHf4Bp8heDgwNNNo9HTRUuwffsFDA8KE_n2ivU3dOoVFdNuFvc-ESx0WiD2SMT_34705DHTVocnKFz7WqT3zuyEQvbhHgSleOd5OagoEVi2TBKQKH541z7N9lOvLhfu2vkwLnLFjSF5zy153-Xf9buXwXyK-CpdK6K4weKR_sGqix_k3uvmyOTuDkFMUnXMQ4seikhKniki8o62tD4dxpJZm-UHnxnN2DQBVVPfvAYTeDRWk7UI5dFQDgc-Dd_MgUURwTI02hiKxqnZUuvPHpSubDiVHWZ048Aitt4Ql_7sykt7xFPeT5caDvOthntM0A-nHQDQJy3dfcYcvvj68zGuBfSSCUnYEMQG3DIygJybwWCjdNbf_mk1ehQJaYVuqGQFLVVu8DIXlMQj17tX-e8e0E23gvyYxS7jBreJljpH9Hvld46ytwJ7gksNATAjfyYYwDR4ISn2MEypdGKsT7sBTxGG7pJfkVoc974uSYyv57dIZmn2M3-sgYoVJftUfnw0kWaS6qP--V2wwzCoGZ6dqFBwnU_a_g9rv8ODexw_NWkYe9qQ72hVshRvT9dtHz8Kez49aaOS-yJHdZOLvth6uOeo5QZbj1XkUV1GF2G9I7FFhraGDEHhKcnxXqiWx03D5LTE3ID4kmIVKPlaBYg8kSRFHot8ykHXiBIuwMDaeI4oBgfJBr7jtVh9CdalMF7exwIufnYYBCeg2I9U49b5CFmR7xyWmftB6i-8YBJBXFZBMzJI-V1GU-OST9aAolc5yfVfLLsug0nLIVZz7zH0IydT0klziuasyGyOeqHJxL9Ozk-dl7NRcmoIgUZ6pDor7hZIloL-t9TKeW7f8sflY-nFfG26aaaItwJs5Q3xVF4Bw8zaLrG3VSeUInZ0K4w6PPCp3DcW1oHWnbiwvOSEbA4RnZHLEH6WBI6kzLainMSEC-mHetvIcxCsw3veFjfyYqIDj6k5KU6L9j-wHttVYNUns5wc1bNz707S5VdC_uhr3Vn1hqyG22BR88egPPeSHJZ_8Rs11Thc2EoRr46iMleZC65EEceJfpnYjbWiqgvaLLMxfgY_qcDpjt61FmOTXf8Szd2WlJkODABlD05LAk9KcNq-sXt3Ihif3OAy6JPL6efzIJPlyjWNLKTW9Dl9zmwv0WkDiIuDROJ2LyoDz04U3hXeQqLWrmSRF0DpGFvK8KD2jNmntzrDpmZkOSkxpjbB43MtZ36J2gmUI-kzVLYJ1uhYIRGQLHaaMnBPUxsdXUmZVp0xcQfx1fTngura1pFTBU60SpyJl1tKY-MbdUukAA",
  "id": "rs_0730ee0a5a705988016ab444ebc3b487d0b342137c95499257",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtETzaJQrGK75-R8I675AEZzidztp0JGLfWzQDa0d4IJM0R_vUVnwoepXG7T99HoJV572g9pdrVSFauMNYsvbyq6ldHguEEM6Q8h1EfB24RiHA0gcVoOKd37PDqZbkKyTxmc-aw7mXBeaH1eGz4ec4Ci7EkP9N75uVhEwilXotjBcCPWuWN8KuNw0li0NcuZyYWxzasDAfG5X73zEp07XZhc8czb_RJ5NOucKLZ8BwnC-A110yLiI4Q6n2fE5ogAD69ZGk5oSFChKGMSIbu1mRHcrK2iXwADq9TaqsJ5Mjp1AaZlSExPg0LbIkGgiBR0rt4Oay3XHhpK6a3s_jBvG2dv1RGCBk1KpvBE7x3dwkiRPYO0dGnNjZJPfKIXHfxg6wVHAQ_FLIvw21xOZXVbSbVFwFA7jHUPjCT9HQ0triYl7Tfwq08KSByiwcPy4sJ9eQO13kao-SdCZvHbI60lMo-XEopb3CGjY6sTJzu-DtZgQd_kqwoXPDX1vTBBq3QhDe0ETHZcEfkdtAYY4tBrDfXYkIeilZS40RRU9HGrYU3OvBqV0zSEARCXDaEwzSc8Svlfdq5dUisXj4oUniDo-EFgG6zvXfSmv299UgTofBGmtzc6G-WvDDQ9iuOwNESYC3z0CDXdx4008Zw2Raz25NaIXC7RIwPr_iuE3FQHnB_TR0IkkXP4CWboF7s6ZqXbEPMZ8vb56uG26t0559AhlTmDEJnBINHYyltitEhPqe9oYN6Mi3FGiB2lMpQl01Zp-5GtAbr8zT7t1HL_7CuWB13zAgfoLnY17HPutkypJS-lDolTAFbFwfE1CjaGN-xQQA-GGg2W2VOue3xdZBQHbPg3Ro4nHzwo_kySFaQqP9Ff3a-w9vcBSMrsJQM0mzIY9iwDrzUTw5-nsrKGn5hrFz5sads6zDZACANNqhndW0xWPN5__iD8lSMMyxTP5_8v0HIZm_FE8-Ixwi1_oAB5MPE1IBoy_MWwdCPxmYeff9_XXPd5ifkucgaVP0_21591ZAQ3AnW0gz32NupUBXzsB-91O5DQCFnp86Qv7IwTkbElU33bAQFoBxyb8Jjt8eXueVu9FnqJ_9SaztfXHAhk53yZLj3Z1CtN6JUfqVq1ipkPocvK5pHwHrBeaxpWvm8xVoSxOXzJnKTy7RyuIv6SsuzHP9uzfCGAC6pOogv94771JbPO7ZCoyo9reAl7mK3HCIaWQOqQZzKkF6y8su_tpUCw-n846VfS8ZKKpJQIPofqR8HmEJUmfvflmBGli887n7mjcIvBjhI1ys2_Svvgg-akn_JjIWI7EHjSZKirLgBTlSqu295A_gInYqF7nT1pXZRunLl219shrtm8lGlwC3WmYuTuBL54sK65Mj5NCYZfLmgSmlTUZSLe6CeCzzOdJQYI6E3jfvJfl7VsmNciXcSyqQmTCw7nDj-PnRYaG-enX1ImgHQ9m8YMOG4U7OSzK4alSnxplcRj0O0WR1tPZPLIAgFgmBXKhkJ4qlaKoFfAzyWN0p7YMVac60cWSkD_5O4PT2FmzeV66BmNFFv8i9AjNRmjKHCtTsOAMJkCy6-4TP_zHn7mlewqwR3D4G7iwwRBd-j-ijz0l4J1fVAjt_fw_2t7dkSh46Cg9QWtnYACKarAAm8dywkHPldg3NlpdWcKINE1FZS-sdoUiBzdB6rHnknaKHX1DioG5LVJt37VX1XEeEU6JWVSvRJm2MadPTgmbyoVjh8YW0Wkx86fYydUVYzKXP7MS88GKswrAznK9obl-JyTZsUgHMl8oOSNKSpiAwxUxdUauM1bXULM5yrnPAS6tn4qSTmZ6bS6NwPgHbbyrIxjGBKXskyi2zEf6dmVsyXUs0X2r7fULwIGdn32rQvUlWgKluMF56ZT9i8Gfq-s=",
  "id": "rs_0730ee0a5a705988016ab444f188e887d0854fa33e8cd851f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":0.0,\"left_z\":0.22,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The right arm barely descended despite a large z request, and both wrists are crowded over the center even though the fingertips are separated. I’m parking the left arm high at its home side to remove any inter-arm constraint before retrying the pen grasp.\"}",
  "call_id": "call_5r3vVKClD8ux7KC9Tt5ud2Pi",
  "id": "fc_0730ee0a5a705988016ab444f2eab887d0a219d3b8d5688941",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5r3vVKClD8ux7KC9Tt5ud2Pi",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8612, 0.8585, -0.7498, 0.0196, -0.0521, 0.9998, 0.5369, 1.7054, 1.1198, -0.1276, -0.1925, -0.1322, 0.9991]\nstate[eef_state]: left_x=0.2733 left_y=-0.0053 left_z=0.2032 left_yaw=-0.0209 left_pitch=-0.1808 left_roll=-0.0458 left_gripper=0.9998 right_x=0.3908 right_y=0.2761 right_z=0.1291 right_yaw=0.7646 right_pitch=-0.1365 right_roll=0.0229 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -1.9487, 10.1402, 1.6044, -0.0415, -0.0464, -0.0366, -0.1436, -8.8, 7.2821, 1.6093, -0.1441, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167ed5304db4dff5af3abfde0790c3029cf425f56ef1974fe1fba52ba9f1433c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f50fccdf7d8a7b5e3fc167d0dd19d7d99dddb612e23fbe5eb3ccbf672187cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479c2b8abb1899b80d7c4279a6e77c251fb71466e7b9ea93dffbebe0abdf4b3c",
      "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 · 2.158 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 19 changed as sent

message 24 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4778, 1.4899, 0.8803, -0.062, 0.1436, 0.0711, 0.9998, 0.5663, 1.6901, 1.0874, -0.0357, -0.1631, -0.107, 0.9992]\nstate[eef_state]: left_x=0.3681 left_y=-0.215 left_z=0.1318 left_yaw=-0.6505 left_pitch=-0.0916 left_roll=-0.0257 left_gripper=0.9998 right_x=0.3908 right_y=0.2867 right_z=0.1392 right_yaw=0.7542 right_pitch=-0.0675 right_roll=0.0093 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.653, 10.1265, 2.1074, 0.2759, 0.2564, -0.0366, 0.3624, -8.3487, 9.3333, 2.044, -0.0659, -0.0366, -0.1001]",
      "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]: [-0.3939, 1.5005, 0.9565, -0.1993, 0.1917, 0.1074, 0.9998, 0.5362, 1.7016, 1.1278, -0.128, -0.1921, -0.1318, 0.9991]\nstate[eef_state]: left_x=0.3777 left_y=-0.1895 left_z=0.1353 left_yaw=-0.6285 left_pitch=-0.1551 left_roll=-0.0431 left_gripper=0.9998 right_x=0.3926 right_y=0.2767 right_z=0.1341 right_yaw=0.763 right_pitch=-0.1254 right_roll=0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.5128, 9.2103, 1.6532, 0.1734, 0.149, -0.0122, -0.4581, -10.8786, 8.9915, 1.663, -0.1148, -0.0366, -0.1001]\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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8612, 0.8585, -0.7498, 0.0196, -0.0521, 0.9998, 0.5369, 1.7054, 1.1198, -0.1276, -0.1925, -0.1322, 0.9991]\nstate[eef_state]: left_x=0.2733 left_y=-0.0053 left_z=0.2032 left_yaw=-0.0209 left_pitch=-0.1808 left_roll=-0.0458 left_gripper=0.9998 right_x=0.3908 right_y=0.2761 right_z=0.1291 right_yaw=0.7646 right_pitch=-0.1365 right_roll=0.0229 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -1.9487, 10.1402, 1.6044, -0.0415, -0.0464, -0.0366, -0.1436, -8.8, 7.2821, 1.6093, -0.1441, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167ed5304db4dff5af3abfde0790c3029cf425f56ef1974fe1fba52ba9f1433c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f50fccdf7d8a7b5e3fc167d0dd19d7d99dddb612e23fbe5eb3ccbf672187cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479c2b8abb1899b80d7c4279a6e77c251fb71466e7b9ea93dffbebe0abdf4b3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtET4Jq98bfoPa6KqCnlAMJbPPDraTti7wXn_qr1k1hHi3N_F8UqiG4E5m2WGtRtvP0TzxuylGUqDTu_9WVdb5dW9WGKP0gRlZsIu4ZtzAmMAaK1Fn20bYUXEz3-GwPzON6iVfU_JuN2S5IyXln88JGzHHHWT8f2y0idkc3XfIq3KghStUDCBtquuOaEVdk8p92bqrhX6XpHM7OLUuVF277M_50A5VQCrumeq2cti6nJ64Vp16T7zUqp12eWXIrgMFx1q5kFII5aZ-iT5W_7obwXwYOUnftf18adSglkQDEW4wBZjL5Frz8_lBrQ8_DzzF-F99zYcfC8ILRxQXr611KZVa4dVwUSJp-u2sWnO0DmzyJ2ZFrbzrjLnkAwOwsw2wbeBCGzBk5H9D4RTG-NMp5nURxJfdq582p4ouomLpTuwzIIndmMViM-IpqFGjL4-Qjja4yJW0V4ZByZ5vglRdqO3QTi5O0nwWxlTLMFIDW2qKi77o2pr0JgNis16SPO3gRHs4zz9TTGjm3y1Ya9G-vTDtmyKe2ONenbNvkwA25yz7FoJtYL7tqwmlOXzPB8wRjyGzhtWPyYgWGfJ28u7AHiw08aqDOSV61H_rMs4uuKOwqwBCASSezMm3jFUq4OJDgIdS_mF5GlEtfF3YNhOEDi1g8_FpMWWNmGvSyKdqhvVaTVnQTCBlguw2wdpsYfBHIeA_YS2dW6fYuoekgO7-QMpgzGxaMq8W0jbdiQh96huiXty9CUfKET7o2uC8W2-9gj3q5VMHpEkrXmli1_-0pi2bGy1vcOVwX7uBl3wPbPpegYI7kVnuf7thGE34BoEGDWxpdQvuoJ2pT7T2jD4VXX0yk6-9qLG1HI2BlW0jAB4rJEYo1DFFd-Quc-iiJzbD_Rkyi8J99PNw9DAybn5xx-dSZvXo3b0ODVXuTvnbJSHpQvK26J6Tbt2rPjbf1XE7M-3FJk2a5P0V6jwNqBWWQKIQMrNlXA6D7KtPTY7lRq7dkzF7RoIe8Hbd_mlLW9-ZIsmbLYJIECAys8pCsxPH9y4xKwQVkHbkBboLFQ22A_PMPezPCTQS5OzMCcA9-oDq8_tVJFJE4OouoqHHWC3JgrS_bPiXErUDLZ4Vxd8WGkjRkXZI1qU89Foe4GjOumMk3G6lLUA77N-K7tKwDO29_DTN9v3ZeNe1pslDz-vLq1lIYPcr8LoWy6nwwwaBSLAV4UK_5RVhS3L9OEwxNzZOWJspzDfU-Rcc9l-nWz6PFmSBP6d_t-V6Ml3LJCa6ZaAaBi8WTsqLipROHqhRP1qMQWNCh98uCoh96ofc_XinijG5qxqr-u8KGgQTGoMASMOI_EFhLTwYefielNFmgMbSV2HgFg0LnRlLNWuUMQggIjFfWtbR0VAlw5buWXgDg_2YZNA5iFfYSxy92xzerxnhcsawQnPfmt1zc3dRaikRSjRju8wvu7LCpRi5Jgz4vRSM6ymG4cYbUziLXq_WzNSy9VIiV6IVZSoLyXpd3ze_aFbCWIA2kGMM3m_Hp0vlyWRGpg0fPl9CqBAKfjWweXjhfCuzRZVPAMt_v0VMQmY935fKMFJJYofMU30B9ONlScWYc3S",
  "id": "rs_0730ee0a5a705988016ab444f6d19c87d090054c0cf103ac7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.391,\"right_y\":0.276,\"right_z\":0.06,\"right_yaw\":0.765,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"With the left arm parked, the right wrist view still shows the pen centered and lengthwise between the jaws. I’m lowering in an intermediate step while pitching the tool forward, which improves low-table reach at this radial distance.\"}",
  "call_id": "call_QQ91C1k0zgj61GX6rPQleyMK",
  "id": "fc_0730ee0a5a705988016ab444f7879087d0a49312ece79af179",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QQ91C1k0zgj61GX6rPQleyMK",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8677, 0.8608, -0.7715, 0.0135, -0.0521, 0.9998, 0.5163, 2.0357, 0.6506, 1.0767, -0.2596, -0.0536, 0.9992]\nstate[eef_state]: left_x=0.2704 left_y=-0.0037 left_z=0.1986 left_yaw=-0.0141 left_pitch=-0.2067 left_roll=-0.0415 left_gripper=0.9998 right_x=0.3865 right_y=0.2757 right_z=0.0454 right_yaw=0.7652 right_pitch=0.263 right_roll=0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.7026, 6.735, 1.7558, -0.0122, -0.0659, -0.0171, -0.9504, -7.9932, 3.6718, 2.1563, -0.1294, 0.1245, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5b7616f76f6c6513c5edbd770778fa00a66bcee982145ae320e5c34d280240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b897627c07229c7888825cc0fd7c27b4c9e1234cdcac40d0880645561605af8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd82751531be85c18b843807bea0179bef8c2f669b801b4be8450fb5aed6adaf",
      "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 · 4.069 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 24 changed as sent

message 28 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4358, 1.5009, 0.9226, -0.1314, 0.1829, 0.0921, 0.9998, 0.5564, 1.7027, 1.1175, -0.078, -0.1898, -0.1253, 0.9991]\nstate[eef_state]: left_x=0.3728 left_y=-0.2051 left_z=0.133 left_yaw=-0.6537 left_pitch=-0.1239 left_roll=-0.0414 left_gripper=0.9998 right_x=0.3916 right_y=0.287 right_z=0.1386 right_yaw=0.7769 right_pitch=-0.0883 right_roll=0.0155 right_gripper=0.9991\nstate[joint_eff]: [1.0051, -8.5128, 10.5231, 1.9951, 0.1441, 0.2955, -0.0171, -1.3197, -10.8239, 9.853, 1.8339, -0.1099, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8612, 0.8585, -0.7498, 0.0196, -0.0521, 0.9998, 0.5369, 1.7054, 1.1198, -0.1276, -0.1925, -0.1322, 0.9991]\nstate[eef_state]: left_x=0.2733 left_y=-0.0053 left_z=0.2032 left_yaw=-0.0209 left_pitch=-0.1808 left_roll=-0.0458 left_gripper=0.9998 right_x=0.3908 right_y=0.2761 right_z=0.1291 right_yaw=0.7646 right_pitch=-0.1365 right_roll=0.0229 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -1.9487, 10.1402, 1.6044, -0.0415, -0.0464, -0.0366, -0.1436, -8.8, 7.2821, 1.6093, -0.1441, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8677, 0.8608, -0.7715, 0.0135, -0.0521, 0.9998, 0.5163, 2.0357, 0.6506, 1.0767, -0.2596, -0.0536, 0.9992]\nstate[eef_state]: left_x=0.2704 left_y=-0.0037 left_z=0.1986 left_yaw=-0.0141 left_pitch=-0.2067 left_roll=-0.0415 left_gripper=0.9998 right_x=0.3865 right_y=0.2757 right_z=0.0454 right_yaw=0.7652 right_pitch=0.263 right_roll=0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.7026, 6.735, 1.7558, -0.0122, -0.0659, -0.0171, -0.9504, -7.9932, 3.6718, 2.1563, -0.1294, 0.1245, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5b7616f76f6c6513c5edbd770778fa00a66bcee982145ae320e5c34d280240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b897627c07229c7888825cc0fd7c27b4c9e1234cdcac40d0880645561605af8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd82751531be85c18b843807bea0179bef8c2f669b801b4be8450fb5aed6adaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtET8pdF87-Gr8wsPkHOGmhFVvPJCCKS69I3XB7F_caBUKKxiJtmFFzEQI2j6pdipgUks82ux2NutQo3h0dAWJjeqBqoI_jH0KKWnEx5U3gr47GMMvhyB69KnfG8iqoaRpr-2KI2yJDW6iMY80AbvTEy6ZO__1IWc-ju66F6mEjgHy9B7mmS-PSxkcABXpTRIqiRf4_oNtJZ6x8sNjYXgPWiez1rMxEaIMOcSfeselZCddMdyNpkvcYSX5Z7onv_y6yr-ker_06vzhK4gQxyb0nfh5s-2UoZovtotpX9XDYncuEgop-1SZFU7G6IgrdjhK1jT24srQPW2QM-aialVX_FnwpaS7tBfd7V-edqTFb3nxDwAjdvJhdzFSY4mrQsl8NT2KV9uWJ8n2WYFQ76iOR3M6r6-t4_M525lloWMDuxhOd_WasU5tC0ymH0ZZeV-JFmxZ0G6hmIY-2tw1Y0SS4bkauO5pi_KB_6snVjbE330OT1c5Q8BAOmU5nfaS6Rwk-TN0EU5wuiK-zZ_QQWzZhI5D833pe7fZ8TU2CW5u62isoIUKMHabBYbMlzaii5Aoj_cXPuWTsacwrgBKAFhAQeYD6ik3WzYeWoqwaqkGYgK3e9xn2qibHMnsq7kMo8HQy9Dwftb2IacoWSEzwYLqFmbPIjzvlHbEA0JA4XYET1_VbOieoWdBMADyvUGWSF6F3gechs8VM_nMjWiEWqmaf49PSt5BJ7JdEl-WAqiz8CWWpuZpYB3KYGWRuIFsERcFtMiepOT1IddhNceNnuTHihmhW91zhvvi28_rJABUstQwf9-CzhvdHlZD3Qkn3TBi7-OS8_lvJ5ZzdAZQnNF6HoY7q43y7j83RTbtrgNAb2wGPEnwjv3L-RrlGN4Nfz1YDHP0mZRdk_RYf9uY6U3hNtG6Cv4FoSUW1xtO883bAJ3vwUHCoDd-rDwcpMXAo6GZW7JVrYccLQSzv9HWFhZSlZb4qlKlBvBa-UTVBDqBkGZ0jwKIicxLFIKfyQJzf15_kQTQUhOj9248yRDu4OBAZtFMpvzNzKN-gluFShoiZ62vhtcREpLta9s_nkOTm9wTF3SAgW5-fDqsZrRWrFQ0Iazr8IRoMXNdRmZrhViTg4Lret5o0XysszmJyO9nMgo5xnDq6ydC58pJnCdDkAep5bOAYL3W2r-AeSQp36ELiz5-EfCJTHhzTfhnELlETYFiyiU4heMthMVx-nD5EVK20EHqt9IdmDXGKvL7NAO84ijYHMfuo1Cwb2dx9W_AyUX_EZWLIK1NDOQy-lcNjDju8gzSuqbKHMaOFImrJPR3cWovibpmvR5bkIWC5xzpPLBdZ5E7iS31dwM5Qjel72tyI0oY7CW-L3sBgmFi6rNOzfRjjQ=",
  "id": "rs_0730ee0a5a705988016ab444fb0fb487d0a6233f594e7b07f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.387,\"right_y\":0.276,\"right_z\":0.0,\"right_yaw\":0.765,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"The forward-pitched descent succeeded to about 4.5 cm, and the pen remains centered between the right jaws. I’m continuing straight down to table level for the grasp.\"}",
  "call_id": "call_GytJ16RqYN0ZA5C0rkqKwrj1",
  "id": "fc_0730ee0a5a705988016ab444fb76a487d08a310173b41e1e94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GytJ16RqYN0ZA5C0rkqKwrj1",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.873, 0.8604, -0.7761, 0.012, -0.0521, 0.9998, 0.5163, 2.278, 0.6689, 1.4059, -0.2668, -0.0605, 0.9991]\nstate[eef_state]: left_x=0.27 left_y=-0.0034 left_z=0.1963 left_yaw=-0.0128 left_pitch=-0.217 left_roll=-0.0403 left_gripper=0.9998 right_x=0.3908 right_y=0.2796 right_z=0.0173 right_yaw=0.7842 right_pitch=0.3654 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.347, 6.8308, 1.6874, -0.0171, -0.0611, -0.0171, -0.4171, -6.8171, 2.3179, 0.2564, -0.022, 0.5153, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64523d4316af9cc0132efe47f0bc6671dedcd13f4eb17ffa006596704efc74b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e87f7544a2fca578e39bb7c3bdcf2546aa1142286acb31496da3f5e38800b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd88f103095bf3d5d84613d967851122cf1409afcbefe94c551c710c4c5d736",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.789 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 28 changed as sent

message 32 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]: [-0.3939, 1.5005, 0.9565, -0.1993, 0.1917, 0.1074, 0.9998, 0.5362, 1.7016, 1.1278, -0.128, -0.1921, -0.1318, 0.9991]\nstate[eef_state]: left_x=0.3777 left_y=-0.1895 left_z=0.1353 left_yaw=-0.6285 left_pitch=-0.1551 left_roll=-0.0431 left_gripper=0.9998 right_x=0.3926 right_y=0.2767 right_z=0.1341 right_yaw=0.763 right_pitch=-0.1254 right_roll=0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.5128, 9.2103, 1.6532, 0.1734, 0.149, -0.0122, -0.4581, -10.8786, 8.9915, 1.663, -0.1148, -0.0366, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8677, 0.8608, -0.7715, 0.0135, -0.0521, 0.9998, 0.5163, 2.0357, 0.6506, 1.0767, -0.2596, -0.0536, 0.9992]\nstate[eef_state]: left_x=0.2704 left_y=-0.0037 left_z=0.1986 left_yaw=-0.0141 left_pitch=-0.2067 left_roll=-0.0415 left_gripper=0.9998 right_x=0.3865 right_y=0.2757 right_z=0.0454 right_yaw=0.7652 right_pitch=0.263 right_roll=0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.7026, 6.735, 1.7558, -0.0122, -0.0659, -0.0171, -0.9504, -7.9932, 3.6718, 2.1563, -0.1294, 0.1245, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.873, 0.8604, -0.7761, 0.012, -0.0521, 0.9998, 0.5163, 2.278, 0.6689, 1.4059, -0.2668, -0.0605, 0.9991]\nstate[eef_state]: left_x=0.27 left_y=-0.0034 left_z=0.1963 left_yaw=-0.0128 left_pitch=-0.217 left_roll=-0.0403 left_gripper=0.9998 right_x=0.3908 right_y=0.2796 right_z=0.0173 right_yaw=0.7842 right_pitch=0.3654 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.347, 6.8308, 1.6874, -0.0171, -0.0611, -0.0171, -0.4171, -6.8171, 2.3179, 0.2564, -0.022, 0.5153, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64523d4316af9cc0132efe47f0bc6671dedcd13f4eb17ffa006596704efc74b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e87f7544a2fca578e39bb7c3bdcf2546aa1142286acb31496da3f5e38800b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd88f103095bf3d5d84613d967851122cf1409afcbefe94c551c710c4c5d736",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUAaRk2pLiQZuIFX98NgHzaCeY646KfjuOiKUvzuo_eyRp9lQr_JuY5mn8nWd0TOIQAXbu9J-Kr-t3SdV39AscqcjJySvfprn33WSJYlaToPbAjPgOSsVcwrbWPEwhbHLYnlF2faEe5fPDk5vbB6nT5qg5puLMxONzBCiE4XyIEUnXNOzzM_S5gMfxgGDOtr8YyySAMfpzYLu-NenfmsU77XkTRO6oteEfwPKlc7P86Ynu3DSVBtvVkoD58csTgl13AolUoBAt8HzX7vrESgAMAhDPxLsyMrR5cNcJqq5dykj8UrjeydXbwF40HJQ2mYnL2-Da-W8GfhkWIpvCWRk5ZPJg_dLIG4LhIx0HN--U4fNLTOYHaa3DIivxbmFdXoTglnT6WMCgpI2YZsaMVoZOsZL8-HvyHJRrWY4BTxMml4e72wKhKh8ZJp7A8GBYIkhRRyHY8pyX9K98_nVcAWPmif6V1hC19dcXWGNbTINOiOg93hkmO-7IcH8KoRa5nMrcsneNjC7cDxNBXe3kEU9hlf-CBAekNsNMUSj95ogPCsCM0UDd8rxTxvtSy20cZ8paMrOQVm40Bnis7kNtLG0COSHPgXz8ysSU7N6k-3-wygIWmcRg9AdhOFTlGY_u_y873d3NCZyC6FBRfKXpe9Vn1sDnyaYum38D3k0c31b7bPwl5D4btRPRvbISemcvLaBCytHe2BAA0j3BCCec8Dkv73JKZIvqzOD7dNWPd_txSqZsLIAdtR7n5zG8xU-m_pX7AeVxfm3CN-ofkaqq36tEaV5J4GT3HwTxqzC0JrT9q43wEbCff7odb3rM2Zpize4x_KDhvuAfjlf9nIEm56sHlnry9Ng9gwam7pRcH4Nl4A6o5VbvtHqfeM4OMg8yYRdEVYp40r8yaxZv8zcB9WFDlJEtuaiJKEWYfQ3cyFEeyyHaGFNJcN4G_Q2VzQuVC4i5L4aSRa3ejbIlxwo8pxGXPCXC9XaEA_iFoEtDCtdsdjMZd8plZ7sgEIPGI9Z-P3fZi9xmoSBTA5c5unlwbO_AQTGwbi3Jr-OvdvjghP3RtOlZQqvPJhuu54f8H8R-YYSYeoD9aFKcdA336xIzxrmbuaNQo7ar6A2YWIkoGXm02UJ0NrHisZUyr7hJPJmRC1Fh-p_zSAq4rMhYL9I-lkJLOb5yTYqhBytnXE3i9ZhdS7Hfu3Ig_q342ns4zfLtlcOYfewGjIdlhRA8ZjnXDd2R5agosW1YTGSIpdCy4Mq57VQbKCdSlwNMVi6mdDI7S1qu-XrBaLGesIkAqbZsQHrBlrVXHX5BoOHlulkxFW1iQ33vinXR9YuRsS5hL-kZMnHIoDQdjJyyA40IX_n2jo3cwbQYiXeJoyPvPUtLRWlqYRPq8KFPidNPd6b68FmNiLkJ4cVWgKbIovx9HIecYfvncew7v2b4dtSCFPDDWvyDgSFA5OBSUuzE3F5zsfcZplM-O8n42Zq-6y5LZbq0M_4KAFfpW1idEhtHbwbL861_XBhLCjZgcfMdNckSszegwLmA5j0hmK1w0AK_QPRIIkcCt5wP9rTzRuHBm-K4BN57EKAQ=",
  "id": "rs_0730ee0a5a705988016ab444fe009087d097ef0be5db195b65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.391,\"right_y\":0.28,\"right_z\":-0.02,\"right_yaw\":0.784,\"right_pitch\":0.36,\"right_gripper\":1.0},\"note\":\"The right grasp point stopped at 1.7 cm, still a little high for this thin pen and without a clear contact-effort rise. I’m applying the allowed small below-table target to seat the jaws around the pen rather than closing from above it.\"}",
  "call_id": "call_jF2WOUfwrmcXcCSJSHxdXlGS",
  "id": "fc_0730ee0a5a705988016ab444fef3ec87d0b3e86f6f4dfc67e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jF2WOUfwrmcXcCSJSHxdXlGS",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0521, 0.9998, 0.5163, 2.3108, 0.6731, 1.4822, -0.2668, -0.0521, 0.9991]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0115 left_pitch=-0.2178 left_roll=-0.0392 left_gripper=0.9998 right_x=0.3921 right_y=0.2803 right_z=0.0215 right_yaw=0.7845 right_pitch=0.4113 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.7761, 1.5653, -0.0073, -0.0757, -0.0171, -0.5812, -7.159, 1.9624, 1.6239, -0.0757, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3fbfb403e60cb9a23a5be64355662f33dc0fce50ef3fd9f146f7d16487b99c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac993d65fdd2c867849565ec75e15e1e316b545dfcd44c7e0f2c3861194f1bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95314116a82eabf7f5b69417b0d142833a2ffcad776de021a3de0fdd0a55c2c0",
      "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 · 5.239 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8612, 0.8585, -0.7498, 0.0196, -0.0521, 0.9998, 0.5369, 1.7054, 1.1198, -0.1276, -0.1925, -0.1322, 0.9991]\nstate[eef_state]: left_x=0.2733 left_y=-0.0053 left_z=0.2032 left_yaw=-0.0209 left_pitch=-0.1808 left_roll=-0.0458 left_gripper=0.9998 right_x=0.3908 right_y=0.2761 right_z=0.1291 right_yaw=0.7646 right_pitch=-0.1365 right_roll=0.0229 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -1.9487, 10.1402, 1.6044, -0.0415, -0.0464, -0.0366, -0.1436, -8.8, 7.2821, 1.6093, -0.1441, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.873, 0.8604, -0.7761, 0.012, -0.0521, 0.9998, 0.5163, 2.278, 0.6689, 1.4059, -0.2668, -0.0605, 0.9991]\nstate[eef_state]: left_x=0.27 left_y=-0.0034 left_z=0.1963 left_yaw=-0.0128 left_pitch=-0.217 left_roll=-0.0403 left_gripper=0.9998 right_x=0.3908 right_y=0.2796 right_z=0.0173 right_yaw=0.7842 right_pitch=0.3654 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.347, 6.8308, 1.6874, -0.0171, -0.0611, -0.0171, -0.4171, -6.8171, 2.3179, 0.2564, -0.022, 0.5153, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0521, 0.9998, 0.5163, 2.3108, 0.6731, 1.4822, -0.2668, -0.0521, 0.9991]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0115 left_pitch=-0.2178 left_roll=-0.0392 left_gripper=0.9998 right_x=0.3921 right_y=0.2803 right_z=0.0215 right_yaw=0.7845 right_pitch=0.4113 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.7761, 1.5653, -0.0073, -0.0757, -0.0171, -0.5812, -7.159, 1.9624, 1.6239, -0.0757, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3fbfb403e60cb9a23a5be64355662f33dc0fce50ef3fd9f146f7d16487b99c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac993d65fdd2c867849565ec75e15e1e316b545dfcd44c7e0f2c3861194f1bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95314116a82eabf7f5b69417b0d142833a2ffcad776de021a3de0fdd0a55c2c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUDxP_5wxs39gRsgoDEmsV9iA5ivcsD_TFf_1__gu1NwuSUrLKP-XNQRQn6uVX7ti1XdjQMEV8QcNjinXpN5pFiYJ8xgAS4ZJEB-5j_YNoad4WgXyjjNab_Mz8_C5PkTAOMLz7nDqoDxiHdE1ziNxyXVmUSxMQP3s_Hwj0A2hlg4vxlJw_mIUwiP3HMShM4yLuw-2XNcDbbWCtpay1IRaU2vT8LVRA13E2IguQwvSRkEaf6EfUJpCE_2IuB7sykacdfmyi4K3B38YpKF31RF0ORynReHH1qrcKpsvDm9I1bOSvvWMBlj4W9x2usTjZfy57cSEI500XWfPjmAptB7-YVMTnubn7M4UTOW2YbxbNSnXy8yGIAcG0JDZILKFwisEdDKRGPntc_cwlH7t_mi-GnNw07doNP4T2SFsPwGaRyeTVHduPCdNqc6FWzv6jJzO-4BkqRvmU3a19H3W412FdknPlGgvfsqOdGNCGevcaNG6A0DYSPQgYocjsypde9Tx-we_jT3bGOOibAR0Z_KmJy_sfb0mQ04JpIHQVgT5KhyZFl9pc1XJn7VTtoynB0YQBvOAkhoD5Jt4xKEOmD_RpD6yrtaHYhmwhm6cNy-YFgOOnJnP2Hhw1xedk8nYQhJbpEhR8yeLYdgQM1xbDyhQjTF-8076l_3D291OtZchjOT3LCWE0ZBPE9rmLyuAzNgF6EYssyFcKMdEQj7itkI6ac1e5VLfG_4uXdMyJGtLof6dedKthjXpnwivuvsemcxmFgLUqUAc07-uPlbLHlmpG6hY8oPDTuC23btI6hhQDNzXUUBVG7o7-NCoe7aIxGfIaY4Y9IxOpQhdq62TPqf07jnYadtKj0Uw43aU5sM1zleBiIS1jq7WPqAlrFVVOEFZ0RHdZYLeW6iY6GC-WiLEdHR3HB2BlbXA57wtOqWmI0GYgGDA6kKxu71JXSnsU8wlTP2HPAhVTv9rzsIgUBsXi2emwu4MzSUA1lVV1W2RFc6EYj_J3wcI8vMatkypshX-E0bSCjyPa0lfJ7qFZ21XCEzfBDZ0BuCMlszHgU4ccsnGbx5e2pepc-M6GoZpxrc_YFIlOrCgnBfGLoV_kgsvYaFIAzGCxRgmqUjpyrfuXbvrCUw4tkT7hquJwzislG5ddAWer3H_kTCv0HujdGLsHdQWWlUH0jx2eaQMkfcSTiGkE8M4zguNwVAFteuPHV75G0KvFvhNCrlLSBkk6yqzi9gw68adYfoz9c8p6fWRRQFFG2rBB5aqV7uNRglRSoKHj17YSB8QsDMHPnYniFKBcdBciGCL3M1lrEA4FVvSzZBoEtSV640ufwQUrvKFva62FnuMIVN2QjK9P32URWhb6Wk3nhH0afUMc5-65DvP14LKS8C2vd9qYVPJKk797-YA1EvWJlevbtYftAc80aPl0ZuajlmwisGRZUSf2c222n16e1sTEqUqh_HyBjVOOP8_YDQzlVCGxv8YfPm4J9sFOSNdhWp-l3voAHhKy0hE1zI36N9w1mBnOtH6t7FqcjgYoYrF9tdRw9O2ewtrXdVUEIUBC8Kme0_iRd0b9HVIpd3U5ZWeWsX9E7xZrMMesyoyTXKvtPlqKxdJseeUxDrSflaxsHUHJ6HHj3_OOFX27MSyRFfQN1PLjeGzjI6B21K0Lf",
  "id": "rs_0730ee0a5a705988016ab44501dd4c87d089a050396f643117",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The second descent is at the same low pose and the pen’s shaft enters the jaw gap on the centerline in the wrist view. I’m closing the right gripper now and will judge the grasp from the settled opening and a lift.\"}",
  "call_id": "call_QF1pEEwbO290sUjV0Sxy60d9",
  "id": "fc_0730ee0a5a705988016ab445029b5887d0b4706e6162961f4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QF1pEEwbO290sUjV0Sxy60d9",
  "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]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0517, 0.9998, 0.5167, 2.3108, 0.6697, 1.4815, -0.2672, -0.0414, 0.0086]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0117 left_pitch=-0.2178 left_roll=-0.0389 left_gripper=0.9998 right_x=0.3911 right_y=0.28 right_z=0.0204 right_yaw=0.7786 right_pitch=0.4072 right_roll=0.0037 right_gripper=0.0086\nstate[joint_eff]: [-0.1846, -1.3744, 6.8718, 1.5897, -0.022, -0.0269, -0.0171, -0.3624, -9.5795, 2.906, 1.8486, -0.0366, -0.1343, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb4004484c9e107039a953ee3c052909a01849930cb773bcd7ffa2134e14d73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f4cf138d78d983097cb477709ece5df04bcc73ee80b53ef1f301b3b681c101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766cad5cd154fc6c09fb5de0dd265c37458f7c599ef7af8c96109d7f90aaedbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 7.168 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8677, 0.8608, -0.7715, 0.0135, -0.0521, 0.9998, 0.5163, 2.0357, 0.6506, 1.0767, -0.2596, -0.0536, 0.9992]\nstate[eef_state]: left_x=0.2704 left_y=-0.0037 left_z=0.1986 left_yaw=-0.0141 left_pitch=-0.2067 left_roll=-0.0415 left_gripper=0.9998 right_x=0.3865 right_y=0.2757 right_z=0.0454 right_yaw=0.7652 right_pitch=0.263 right_roll=0.029 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.7026, 6.735, 1.7558, -0.0122, -0.0659, -0.0171, -0.9504, -7.9932, 3.6718, 2.1563, -0.1294, 0.1245, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0521, 0.9998, 0.5163, 2.3108, 0.6731, 1.4822, -0.2668, -0.0521, 0.9991]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0115 left_pitch=-0.2178 left_roll=-0.0392 left_gripper=0.9998 right_x=0.3921 right_y=0.2803 right_z=0.0215 right_yaw=0.7845 right_pitch=0.4113 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.7761, 1.5653, -0.0073, -0.0757, -0.0171, -0.5812, -7.159, 1.9624, 1.6239, -0.0757, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0517, 0.9998, 0.5167, 2.3108, 0.6697, 1.4815, -0.2672, -0.0414, 0.0086]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0117 left_pitch=-0.2178 left_roll=-0.0389 left_gripper=0.9998 right_x=0.3911 right_y=0.28 right_z=0.0204 right_yaw=0.7786 right_pitch=0.4072 right_roll=0.0037 right_gripper=0.0086\nstate[joint_eff]: [-0.1846, -1.3744, 6.8718, 1.5897, -0.022, -0.0269, -0.0171, -0.3624, -9.5795, 2.906, 1.8486, -0.0366, -0.1343, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb4004484c9e107039a953ee3c052909a01849930cb773bcd7ffa2134e14d73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f4cf138d78d983097cb477709ece5df04bcc73ee80b53ef1f301b3b681c101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766cad5cd154fc6c09fb5de0dd265c37458f7c599ef7af8c96109d7f90aaedbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0730ee0a5a705988016ab44505e81c87d083953e3be5f4bc81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The gripper settled at 0.009, which is an empty close, and the pen remains visible ahead of the fingertips. I’m reopening and lifting a few centimetres before shifting the grasp point outward for the single measured retry.\"}",
  "call_id": "call_TJlmNbSg7C4GczwBL4BVWgO3",
  "id": "fc_0730ee0a5a705988016ab44508ebf087d09fd4c12afa71a9bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TJlmNbSg7C4GczwBL4BVWgO3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7761, 0.0071, -0.0521, 0.9998, 0.5167, 2.1162, 0.6441, 1.2922, -0.2676, -0.0418, 0.9949]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.1958 left_yaw=-0.0085 left_pitch=-0.2182 left_roll=-0.0367 left_gripper=0.9998 right_x=0.3904 right_y=0.2797 right_z=0.057 right_yaw=0.777 right_pitch=0.3877 right_roll=0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.3624, -1.4154, 6.653, 1.5849, -0.0464, -0.0659, -0.0171, -0.2803, -11.1111, 3.3983, 2.0147, -0.0659, -0.022, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8e4019426945f01d505dccbe1b3cb85724869f623aa5e3d0369c82e8d55315",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2debf4b378bfcbc8807a7517000cae7932be18d59f0d462b7df282c3b5443e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63127e51dea7d80d03c29a8137f3d93e6122808822e56c3a10fa2479482ab499",
      "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 · 5.378 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.873, 0.8604, -0.7761, 0.012, -0.0521, 0.9998, 0.5163, 2.278, 0.6689, 1.4059, -0.2668, -0.0605, 0.9991]\nstate[eef_state]: left_x=0.27 left_y=-0.0034 left_z=0.1963 left_yaw=-0.0128 left_pitch=-0.217 left_roll=-0.0403 left_gripper=0.9998 right_x=0.3908 right_y=0.2796 right_z=0.0173 right_yaw=0.7842 right_pitch=0.3654 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.347, 6.8308, 1.6874, -0.0171, -0.0611, -0.0171, -0.4171, -6.8171, 2.3179, 0.2564, -0.022, 0.5153, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0517, 0.9998, 0.5167, 2.3108, 0.6697, 1.4815, -0.2672, -0.0414, 0.0086]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0117 left_pitch=-0.2178 left_roll=-0.0389 left_gripper=0.9998 right_x=0.3911 right_y=0.28 right_z=0.0204 right_yaw=0.7786 right_pitch=0.4072 right_roll=0.0037 right_gripper=0.0086\nstate[joint_eff]: [-0.1846, -1.3744, 6.8718, 1.5897, -0.022, -0.0269, -0.0171, -0.3624, -9.5795, 2.906, 1.8486, -0.0366, -0.1343, 0.6667]\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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7761, 0.0071, -0.0521, 0.9998, 0.5167, 2.1162, 0.6441, 1.2922, -0.2676, -0.0418, 0.9949]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.1958 left_yaw=-0.0085 left_pitch=-0.2182 left_roll=-0.0367 left_gripper=0.9998 right_x=0.3904 right_y=0.2797 right_z=0.057 right_yaw=0.777 right_pitch=0.3877 right_roll=0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.3624, -1.4154, 6.653, 1.5849, -0.0464, -0.0659, -0.0171, -0.2803, -11.1111, 3.3983, 2.0147, -0.0659, -0.022, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8e4019426945f01d505dccbe1b3cb85724869f623aa5e3d0369c82e8d55315",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2debf4b378bfcbc8807a7517000cae7932be18d59f0d462b7df282c3b5443e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63127e51dea7d80d03c29a8137f3d93e6122808822e56c3a10fa2479482ab499",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEURaoRxppdBC4aYwceIerdfXUALhNZj0Uv0bpZZTCugJeUl1nbYtL6YDaMWUSJI6GkW9uWr1-L6gRo2WFHUpIpLGyg-RTRdctyJczQU4a30T3LjOFesd_kHi0pGS3qkG0OTx4ZpLeVTOTk1a9ndqOUdJQDmn3DPkvyLqNJ7YdTqxDJ7CyrqeSxYp95VE42az4EgJwwkOZf4ACeAYJzS8y8dDqnaXHAWxLYCVYoySzZzb8bQPvu8-I1Hk0Tetzp0mpdWjW4FWnrf61XkXkL1Ky24wORukvPTtllrYFcRQJ-UJ1tTanXgsVzwSqcvsDR5xzN_aKfxi5drv1ggPq-Tvg9Eszf5MuXqMSjQEchcTFs1Sp7q4T88_NOEEyuoph2GmZ_WpMZhgW7N1PGublqe2s5jPAz2u6Bcbdc0mpv0outE5c8JhxVCRaCVZD0-YX58Nnse32JB3k7nC2-Srk-oZABNyMx8JNvQOwqOsrUoOh1iROaVM4X3C1uklH4mnhSuLfNSGhhDJxPGJnF0vXUKBQ12tlHG4OcpmPpJQB1JpHBtwu5URnf8xd-kYuWl5eAWpxRhzzAsTJxhPJOQvpqRjWYZV4WL2ekgc0D67oz1d6SgIwW_pgABQPuCb60vdMCl1Mg_eYMPdXHA5vD-TzHBwr37QXSh1qePHgWGfF102sBgXifV8BF3u7ZKvydy0yRHxJ0T9Q4GY6JTgGfMy0ePfdk2LsgArr0qO4AslpMDYn2hgyTuGwlhpP0otN7bfDPGKnZJPVtqPHr5aMob1scVCfqu2sU9fZbvSNolOmAflenm9h1OrX1owkdjgJ6-NQ7hx2stV1z46A7TLICLWkyPGz4pjoeWE0MU_KtXisqwjyTToIkeW5d7pkUmP95NzxKV0vh1rubLtb4PsoQt0vO5P4FHyNkm_p_JN8mUBWgj6FnV_7BFeC7tgdRtqAYgSbid2XjKY14OUlBNjd2bCtP2V924c51HeCmghQM7f1fxqwaepie1kz9x5Nr9JWTCcNf3wx2juef7jR9mT2KY8CmvaS99GRWqxveEWPgbkRHHdZb9tYOCEzhd6462DrXq-AOM20Db-aqXQXCnY21Ck5V68qEuBMTHGP46XQ01fuLl5qH0vDRVkosOTiBbfBDQIaF3i83qDveV9hrbtPBUFdMeWeinHN6IgDoA1A01TvYyC8vS6AkSyE8rI_I39EN1V0Mhr9mxf7mIMDvKwpl3XxihAlWyIVpYm5abKvkVzEbABaqzEo3Il4vZcgHkMWjs9HAO0Y5hfqyWrC0qo63MRHRxuu66H5nSlhfJqtmCeRYD5MEZAvcvI_OJz8tALsJRCj31Hv4k-ajTe189pXEt_aenXFk3eW76bx3UAgNn7xVX_mLnqBBqME1hWaGGSIdwQeYtMImGm1_822SWlTfeY51JFTfcgT33IUIHIWwJ-Zlw8oyKEGXs0shcXNgF6tozAzkfV7wyWAjIQj_gE_WFrA8RPnQman1KLBiG2GVaLxgMXGLHmGCnEIMTJZsZwQ1QrfnRsDantwcaIclMJTzaE1RQMVjkPIEm-USsvKVQQL6Fk0Eygk22nNNUE_LKovTSZZPtga71yjTufoTvd0hDhcqdKNb_jbWxcqY7UIhiI5DHRKZ3xTyXrb-KmqmfhDoY3BDnJKSp-WaEtMd_WbVmnmJLweSXh2S127rvPiVsgHuFtmyUv4MydQzX9mYKYtPRoo1WGfXGzURw1Apd2A50DuoJY0vyIjXsR7RkYtx_tyzoNhRJIlv8t6qEvzsbChbrShS-Arw6_ptISMjnk611ZUNP_BK8FRT0WkSmWm4MLKwbja9Z59OpFFIUTFKggnzj3wzTAgD-UJl1JtYWdR9NFU0q9dL1hz3qTwdN2i6_ujsGpWaEeeXRv3ADbbRtr2TuDW1EP3hyjgbhdQN1tNKad90qLn0xusNNXqz8k9DK-zBC9VszZ35xmBOplcLinD_Z714adjm9KwDk80Osz28duiO4yoW-d1_xtkUAGBZbUI5dGuGM-Tyhc5MP8hAA45AAgyvAe9IaCQeHPV9ACA4_QPUfzG2MNXoxU4q_CD-rjIgjnRdP-2u-JKRW4lxmhzLouyfDFQ5EmsSx5rXXsKAbGTXvbnt6GvwB0aK2-xSWsSse3K7jNK9AfbdfJ0x6djGwcyUAMzE00-YZSC8DDDMpEt1ZgH6SK9U2L502wbm198Oy5-r44anPnrbS8wW3AINkzBJ-xY1UGlVRB3HOwx9x_J7YLc-XUxzTixDbcnAtgNb48S9EFMg5v7EK7x6-chh0rFO22OtC7Nkg5-T_SzUZgOxTCqlwAmuJfxe8qP_nP8-XjeeuQCBGYMvOsv9FsWlpsJhMHpDah4peLYuqn4QjbP2mgLhVisAdaMIdqdbUE5MJAMpyk5PeHT0-ey9uvZHFZ4Y-DcQUIvh5NW03pKpGzm3rc-iSWvO_HxQwiA2_gk3qUz3uSbM4TplMX0QlfKXjw5O5Zqq34dVHa9pkepvycDxy0KOEQGnMMSY3DKybGTa60uo2UZo1z3WCUxAdxffs2aLzZno61_GHEzV32kakBiMzsKrc6ZWiuqAdElFXsghcUfUxpBh_1MC5qOGQzBOMhL_4p5sI2y2GAsU2RlMP0WPrFcfn0WAFKWCVXA_HfIJzaiPrt772AoQfQytSgSgHGrfL8-043jPzxIA9xfBEQixWcys6ERc_aQA9S9WKGE_RXHfE-al6Vlh21x31K_GBfnX9WulsBWCroqBQyoG7MgBgJxtZIwIR2g5els7ATKs5qKp7-ABi3bWCjbq-0bPXFoLC5owCJlViwuBmcMgys-3_7Sx7n83EvxXWEI5ztXES9iT6yzFIovuCX4HOFvZvua11tmuzibOU8el0uwKwn6xRfEAtVGnaCGSridXf5ITA5Hq9nRYz0bgWYQV8jpcnhHWISJc9Sj34dp5LNBE9of4DNBQqTZu5mfddI7YllPpQszcCis7xDOeTYspZj7V2DvX_6uQ9x1dLXdjfcNTGFGRvr_hr1W1Bmes-hIwUgNb8QBAGmB9Q9iCsgGaStaanbZC80tO77l-j4_1vV-x9cETX6TcYJ67-ugPCGTK1o31FGTTZp2eRCFLacR9qcBUrTiAFEs4xPXpkNHNsU8prgeN6q5dQzfwzZo0Fe6SXetdZTtQLsJZkhDOrdBRfjJ07R4WW18a3HYVX4JknIavdOmB0gSzbG6jYRdr14bbFPUG3ArwbCSF3_RX3J9E8TcS_zlat4h7y4gm-3oXD3bJ8bjLBlln4hXSMcPQQvCmm7hWh2Ry1aD9I8eJqPhfWuTRJ4BQArYh-XPA4lWsX6ls0c6RYLVdqrNoEem-01lKk6VLz24Ew4lxeOH4Go-XC5BF2HSlujL2h3mR1UUP2MCvLWmQyangiwfcFZKi7OG_mj9ARjuPgqUdXndgqeyAIUGnfoouciGDJRoSK8noygl8OeketDhFlfuD9xUU-5MTWcpHnV42j7wzRk5rkMNbW46Nn2hoVQbTtELs2wXzKFfYP-PlQ0v60nV9YvuvjKVaIczj38aatzMkoXnKQV1sKg9zjRTvnBJHakoqVntx4azy23mqs_MOHTU1SOvo0o_dl1yXiQZchG2QGt0xYPsCva3nD6sEVuqeQeMKWXsUgd6QZZtoaqKbR-jkA3C67zNuoI2vsvD4ox8utoc96rZr92h0DDbYOIKTo",
  "id": "rs_0730ee0a5a705988016ab4450bc58087d0aacbe65f2f842bcb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.295,\"right_z\":0.07,\"right_yaw\":0.78,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"At the raised pose the pen is still just ahead of the fingertips and about 2 cm to the right of the jaw column. I’m shifting the grasp point roughly 2 cm outward and 1.5 cm toward the pen laterally before the retry.\"}",
  "call_id": "call_JwVRsXSh7aRBvZBWhhUOYCYS",
  "id": "fc_0730ee0a5a705988016ab44510f13087d0aefa62f19a711c46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JwVRsXSh7aRBvZBWhhUOYCYS",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8722, 0.8589, -0.7769, 0.0071, -0.0517, 0.9998, 0.5194, 2.1029, 0.7055, 1.1744, -0.2668, -0.0418, 0.999]\nstate[eef_state]: left_x=0.2697 left_y=-0.0025 left_z=0.1957 left_yaw=-0.0087 left_pitch=-0.2185 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4006 right_y=0.2868 right_z=0.0556 right_yaw=0.7747 right_pitch=0.346 right_roll=0.0206 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.347, 6.6393, 1.5018, -0.0708, -0.0562, -0.0171, 0.5265, -11.2615, 5.4769, 2.4347, -0.0024, -0.1294, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3c3f1c1743e06f5d3cc2f83306e3088476645cc096c2d49ac2da05a72f7f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6755bbbfad79c7a9d50466ac9864e3392025c7eb14e63a36f0dd778861ff3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7729d6e74825b05329786c9c252b4babb994a8b5b8529ca83992b42d2c4fe4",
      "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 · 5.573 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0521, 0.9998, 0.5163, 2.3108, 0.6731, 1.4822, -0.2668, -0.0521, 0.9991]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0115 left_pitch=-0.2178 left_roll=-0.0392 left_gripper=0.9998 right_x=0.3921 right_y=0.2803 right_z=0.0215 right_yaw=0.7845 right_pitch=0.4113 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.7761, 1.5653, -0.0073, -0.0757, -0.0171, -0.5812, -7.159, 1.9624, 1.6239, -0.0757, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7761, 0.0071, -0.0521, 0.9998, 0.5167, 2.1162, 0.6441, 1.2922, -0.2676, -0.0418, 0.9949]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.1958 left_yaw=-0.0085 left_pitch=-0.2182 left_roll=-0.0367 left_gripper=0.9998 right_x=0.3904 right_y=0.2797 right_z=0.057 right_yaw=0.777 right_pitch=0.3877 right_roll=0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.3624, -1.4154, 6.653, 1.5849, -0.0464, -0.0659, -0.0171, -0.2803, -11.1111, 3.3983, 2.0147, -0.0659, -0.022, -0.1001]\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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8722, 0.8589, -0.7769, 0.0071, -0.0517, 0.9998, 0.5194, 2.1029, 0.7055, 1.1744, -0.2668, -0.0418, 0.999]\nstate[eef_state]: left_x=0.2697 left_y=-0.0025 left_z=0.1957 left_yaw=-0.0087 left_pitch=-0.2185 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4006 right_y=0.2868 right_z=0.0556 right_yaw=0.7747 right_pitch=0.346 right_roll=0.0206 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.347, 6.6393, 1.5018, -0.0708, -0.0562, -0.0171, 0.5265, -11.2615, 5.4769, 2.4347, -0.0024, -0.1294, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3c3f1c1743e06f5d3cc2f83306e3088476645cc096c2d49ac2da05a72f7f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6755bbbfad79c7a9d50466ac9864e3392025c7eb14e63a36f0dd778861ff3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7729d6e74825b05329786c9c252b4babb994a8b5b8529ca83992b42d2c4fe4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUXwDGQ_pWC_g_ksSrWbmIX4eSeRKspgZPe-VgWvirvFfKDhRK26KawUMm4jiVqQPcauLQd8ZuyT07mgHp_6NaWv1YrhrAKgiO25rRHGwWwBpfadUTyKkeDpTRR4t4Zdm2B4B0HUQqx8UFSp3ulnuVVsBkKBs5kIadyFI_zmIFPpvQgKccsaTX0kSbA1QwrQtzdmLe6066wWgizzuFzX4ODezQj4cs76RqHCeyFq-mQASQN2d_j4HuF8L54aI7JEQsTJcEaXqscdCGUHU6P1sDIvLPqJh5N8iORR91xpwOWeZMtmTJubgj56bFtco_ielDJb2EQNCrWRjDzrHn2O09MkTeIzMz12BTOQHJi68Z8oUQk1YSDSMFmuHhDUUZwxe44weznqiMVCP84EQZzmGbNIahd8tgojfiV1KS3l-i7VFSVl-B91bHHtVtoJebg_LXIdr04ZcnqjkRznCWNFoEEGa7ZuRtiZBpPXloxRxqgvDar-uKwLknD6HbrTsKOX30YUtbDEwqBThWbtJXJdrx0P3mVwzOB9VgP0fKPQ70RZbGAQF09txrm4-6fXlpR43BzN5LMampY3xhPyIJ4iCYRVO3Xljyp1k6pZJTTg7JYuslyvN8Qg1xYImZQTL3inolHTE_RRTqRkG41wdBR095E9SusjopMb3SdG-S_25zL-0B9cSTRHvCBQF6WRSEcQrmkwoskYO2j1dYuk5KXeImF85DJ9zgUg8UK3vu8u7V49Sw9_VuLFZt0CqcduIFkQB32Lg-xixsLOZay2q6M2qK2IPaPi2jS5fnZYj9pWdhE0LrxSfWL1H8xDVUEhINJLwQiKX1CsamR0YUOhf2Vdk1lyZtaaDFBqNv5nAWpcSdC5ZfnmckTFbkV1nLBpIFoUWpEF8bmEcj16AfMyicYwlzWnluu-AMRdlIFkyxnnVdfcLoVxTVYLmrLShd0_MQLXFoLA_gfovEu7Fi9LsVqudCwdJve9ke_XStU5G3Wq8OHaR7HphN7j1hPLzABLtIqTA5k8Nn0XDH2csk2TlRXC5orVKoquVKGBQC_amsjkLdc1qMFO58P5N0AMpRoeymppOb6gXatDp0xbM3L-Mu1tvHidpwYRf5p4BoP1ZrJOpTmeLE8DtwCC4AFT9RRtT0AtbRsTgmQjFdkrbJTl1ilI00goglz-vl-DAtSiKe8QHj-h2jrw_OjvCEFd8c0u1xBPYfjqzct9YeRofM22zrYXjUXuloL8No8aYR5xH25ClF-OpglU46UB9lBQuY7RC8-EaCSgby0aX0ol0GgiVxYSyfrTGOkF8wTwMVYIvpOHy6X02yHDmcRzcdQXXMnhmdXdflX_XauhaH2vjt0tHoWLZXW-C8iHZR0NMgwlZRwng2_Fb5rhvLWxMiZdCM3_Pia6yhUDQ8QTpUcu90C-VsmwnDRUQ4UPrO1y_1vAZ2qCnKzKGZvcEslbXHhVIMT4FYGY-XdU3n0B879oA1lT--P7mZi-rKK5pSm39_W82vjYy5kivdCAIUuBNJ2tx4WbwHkauNJMGRooHoenytyvdBPinmI5keOuotHFex2dL4bQr9VxDFSZDmiH-Py9zEStLuGPUX7pfsca7Fs-gBRAVl8528_GGzjCJIkm3SZp_h0JuwZWtLuCf6g56DAzmXvQNHq7K4DqPlx4pdhZxmvRk7YTLMD69qatyeYRcuB0x-aQfVCweTe2SLIWijiDpFnOiRNm5mlNF0-fOt54bXnFta6IWZ-An42TZ1YZq1AqsdUDpIG0y8WSUKKdX68VNEyHsrnLqxVvVeq319NQ6JU0gjJkIGurMgR5WJ0otCU48rwCh38H6pMVPQiXTEB9T7nuFRZNQCvTQvtz0YemnnoFXFbWZz-PyCcKPcHozhmp0rt80w2bNTzqbxSThTaal-r1QIaDHvd301uzzbSNutWhnbdyjzAZagZfuFbVUs7SUJinQsJmrWtaoPKz03F-eOg9bOuafYJC1DumzDxqN7ME3f9xIXnxMASUFrE-OgU37Sy0MSpHtZM6WBclH4XZIwRVfUetb4QTn9NwQ1XprPq0qj3lBAz3itAIqgm6P4Z3WQmKBH2eBUscmGdzxsl-F6JN_DinNSIGBCX1_EortN_nYHYxImbrE2b5MiN3itIymJZmnSK9pr845vqmrjefImH2rphI2XBbDMq6BS_8qGUPHFzttEpL7hw9kbjaxr6M0GagY5rumKkxkDDhH6GK4Sg5b_O0vATx0YgQaeJKa085MARqNzfv4Ey5C0AkX8MJgoTsf4xfN43ZDrypNw3FxOrMvz9k1PFEy1T68TDsjlnwBwDwnV84H1MbG9Q6yPPhqFyDpOQGRbVTwzB14ZOM1Pp54YV9GdajWRX_neWx90bjq248NtTqBoFd_aW2ddjfo5j5Gn5xLV8NApt9bxloNRUJk33lp6Tg-iGIN5IlXebP1zk4ADRYQ==",
  "id": "rs_0730ee0a5a705988016ab44513568887d084da69bb81cc23d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.295,\"right_z\":-0.01,\"right_yaw\":0.78,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"The correction brought the grasp point outward, and the pen now enters the lower jaw gap with only a small rightward offset. I’m descending at this corrected target to seat both jaws around the shaft for the retry.\"}",
  "call_id": "call_Ji7L920z1xkF2KKwla6wwroJ",
  "id": "fc_0730ee0a5a705988016ab4451695fc87d0984633c6dd1bc614",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ji7L920z1xkF2KKwla6wwroJ",
  "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]: [-0.0181, 0.8772, 0.8589, -0.7761, 0.0067, -0.0521, 0.9998, 0.5213, 2.0953, 0.757, 1.0828, -0.2668, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1946 left_yaw=-0.0082 left_pitch=-0.2227 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4086 right_y=0.2925 right_z=0.0554 right_yaw=0.7736 right_pitch=0.3146 right_roll=0.0296 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.8256, 6.6667, 1.4823, -0.0659, -0.0317, -0.0171, 0.1026, -11.3299, 4.6838, 1.9365, -0.0073, -0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ddc00305d354a055fd60bf11a46cfa795c0063eea1ea0808395fc200afaf03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0225ff8a74ae7755384f8b13f5940c0eff4096b67db8646eaf46a612ee28b96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259fc477f5865f1f1c77bf7ffc374d219d99ac320719a10801a06a0e0b491650",
      "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 · 5.609 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7757, 0.0105, -0.0517, 0.9998, 0.5167, 2.3108, 0.6697, 1.4815, -0.2672, -0.0414, 0.0086]\nstate[eef_state]: left_x=0.2699 left_y=-0.0032 left_z=0.1958 left_yaw=-0.0117 left_pitch=-0.2178 left_roll=-0.0389 left_gripper=0.9998 right_x=0.3911 right_y=0.28 right_z=0.0204 right_yaw=0.7786 right_pitch=0.4072 right_roll=0.0037 right_gripper=0.0086\nstate[joint_eff]: [-0.1846, -1.3744, 6.8718, 1.5897, -0.022, -0.0269, -0.0171, -0.3624, -9.5795, 2.906, 1.8486, -0.0366, -0.1343, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8722, 0.8589, -0.7769, 0.0071, -0.0517, 0.9998, 0.5194, 2.1029, 0.7055, 1.1744, -0.2668, -0.0418, 0.999]\nstate[eef_state]: left_x=0.2697 left_y=-0.0025 left_z=0.1957 left_yaw=-0.0087 left_pitch=-0.2185 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4006 right_y=0.2868 right_z=0.0556 right_yaw=0.7747 right_pitch=0.346 right_roll=0.0206 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.347, 6.6393, 1.5018, -0.0708, -0.0562, -0.0171, 0.5265, -11.2615, 5.4769, 2.4347, -0.0024, -0.1294, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8772, 0.8589, -0.7761, 0.0067, -0.0521, 0.9998, 0.5213, 2.0953, 0.757, 1.0828, -0.2668, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1946 left_yaw=-0.0082 left_pitch=-0.2227 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4086 right_y=0.2925 right_z=0.0554 right_yaw=0.7736 right_pitch=0.3146 right_roll=0.0296 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.8256, 6.6667, 1.4823, -0.0659, -0.0317, -0.0171, 0.1026, -11.3299, 4.6838, 1.9365, -0.0073, -0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ddc00305d354a055fd60bf11a46cfa795c0063eea1ea0808395fc200afaf03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0225ff8a74ae7755384f8b13f5940c0eff4096b67db8646eaf46a612ee28b96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259fc477f5865f1f1c77bf7ffc374d219d99ac320719a10801a06a0e0b491650",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUdpXYPHtqN5D1btTArEK9hNjI5ZeN1b0PRVvxUTCCicAYMUimB8EgnSHlfGW8Dcn7q1ekQ1xYYV7qnqiXuYzGGkxJTT-nQRPTyhwxmxmINKMM9zKcwrPRytRPw3ef7XXCzUZZ3UIcSyXfNTcmsJjjzNZuDEr6Py5CGena1RUd2YFZnam_i9UqPR_ZbDx88aqZuDWPC3SGjWOB0_nP5Zw3T1128uq4uyRWERr9D8rak5jGkeN-YgJiff-PnL35OiKSoGiaXLLCmTUo03nr10S0MBnByqjTQKCOmbS-BIk5_S2ndsegxBIJV-PHXiDJ9z3Cmy5ZUj5ZVLZRHJZxig6-Vm0YY571zakb-DrRZHSxq5ZBYt4yTZodeUsKV_2DAuGQmhQZ1XNMTFVjzXzlgFOY0ylqTev9tFsnJ5xJVpKzxyNT4LRou8x5B-sfVO6ljL1fXCpDP5y76bnu071JeqhWdUGkeBFiMWaTaK5pIwd6OHUiQx3T5lvcAh4YHvUXXOSjHeOYlDHbrueeC6-EdJmo7wXKQRypTmDz4ygati03dU5DuKPDl18H6mntuhPVQw-DdgLPHCYiQbduj7hjLOeQ2TdzwUTVvbCsyxr3hfqaaRejEnz5lmsFoXEezhcp1oevwQMXVqfq84gmH5sbY5ja4V-Nrej8dB5yBkpRVVXHQTQdj_RPh6htSrve2Svwub0ECHhToLzIujUqvvVxWI3msTM9RCRdW8GqoGHhO0uiXL72EsjfvJcm9eZeHmhEnARk5nKVqRJHIqXSHlUG56ethmk-AMUts8K9julHF09CmNkmTyPujoAYjCGc8aqouRFl0mZqbwhjRW7uhmwFwOsevnddJ66tqS77NMjrTiZjas5aIBwvyIzWZbyE5X5xXSCDOtQxaYWh2N0mAvTxT_UsI-MSNOmLoTPdcFNCsNT67ftTHT2y5xoNRFvFQEE43-fWDx3bNtPD0LR_dwTaap5yKQf6JdQL5OswGLJWAsfJ2ffsZmCM3hHoZHzzY2Xya3KR8wzPDYnZoAAnqNi6KuaYRNkf8OqH2cmtt-yFkxDi0p_Hi-2D8JPuJFgPv2PWOyL19XqkyQClUhuWBs6Q_LHw89lR9eoWQCVlRU7usjdFsf6gVpKqORRyXwzOgln1nWxhO2wF4V_2WDhUT89-QGcqZAfWgZjX3TCd8zu9OU6dr152WNihQsbRJn_d1U2r5qO7HufGVihZzroZ1NJywKGStve_ApWsXkfT0XmuRVgqnmaII4FC0C8X9SjhBcd23neof-ZquFTBk15bPl-8IxtXqLLQkR96IAIP6a31aHyIHOGt9LQumy7NPY1Syc91HxAglEevXgGp0Lz-hLtTWoh_WM6Q8g2yxSHMdjkYGfJfzSjIGeVyOHBbH939ggJnGhVgHKUHniylleO9CW6W6ef1QnAthwavveMYOgfnGyLetSmXhu-2VY0WbEfA2cn6hIEFyJNW9X0MonqQ7xNbfSoY5hkyTVupJ1v05U2Y06SxFWE_RMNVhr5-mFSATgBq9_OOdExpe1TbA1IUNQDOGH4Qm3LXiVYK0i0R1WX1xExYTFulqgft09I5vhjSnZVF7O_Dps-JWVmj1lvEXHNnsDO8gaK3z4eD4VWyq-Xn8fR-2Gb3dSEDXPNosafCWvKxAvBdfcB7yMhzpoA6h_Q1DXKX58bfinQcE6PySJTqHsqlMO6C4QtXNhs9kjPQ0aUVYxTSCuiaQYjSDOrDAnmKPnX8YvcHU-bnIebOXhjyQbgfUbwpYaJ_6fS8FeWk_TE3LzRqma4u_ZWVuL-EcbkfE8fd80EFhwahUxua1w1cKdVALBEk4ioegn6X-j1THiDC81svs7VFsEL66oTN4UI9YhyHLFfeAOyPNgqY52nbP_9tr6daWT3PAg-bAg9EFBKt2urACKWevZFXPYIxOwjGFKG0fnV5aUdR_oMvCIjMJrtmGilHEotA14xhYS2Zlw188_WFD_WxMa7hKhyuKUXn0KEat_2Bn-p83P6OO3ImHePUk48sMRbtW9SOFU2JiTb9hERQeAKuB2MX3lcWF0fThsjBqrgec4aNbOmyOMDtNWVVEtu4YER9A-OeJNwnyqc271ILy-uwVhEIOv1Hv5N7Zg4bekuqiRnsEu5ESqi6LXHvzBnf-JKtoVkjG8qcXZl7eyhvZR7_qh_4f0YNUMRKFBBORiRzWxkmuKf9L34Dqf0U0BKdnRoRVL_sS9ZFG6kQyY0W25qdunnEZLjFkLm6mUVjYTcHm0dXgBjh-KmXIIDAljXJS7FvNb2il6UaNcfjK2sfXJP69PFTp5nwsYjGhnGF4J6-PqseCUcyOXIqnsCJBzZuUE0u5D1NJPzuXntBjehDRcZu6pMMDcyKmYRu9oCv8iBK6QL4H_iFhMiet-iLWs6jMShzBy1_jbSQviODQapsx_9JbpnrLfImCbNDpdU7NQLJ32As_Ynm_PhI2R5TdEYqCEU29ZX2_8tbv2M-MESzT1qoVwoG2A7bhxsLDNXzO60ejwX_bJ6eUdENQuko-hzSYQBv6RVtx23cTGJ57PkPs191GuGBAz9j6ARtO9ByakXEjbAxWscCLgWwu3KkYAfwALAtyesVO5LpN3n72ZXCnk6JSZNGzXNG5Qa3scTGINT_ySBoJnCv4uycnDeNlWrrLYOjGLEFKZKMkvQLiM39ekcZMEWZkDL__fqwBozLVuuEcp_p5mT7R2yVrM01UBT81TVUOP_yt7zVjp1aMwh-SSkC438l2H6CD-vTa_GPpmkXGggg0yO1eZpds-FHRmrJ-CCGUKAkwJa-1DbcCSTeGIsODA2UCMEVxBc-t2ySZ7MCL8tKMtb1Dve3Icodjjxq0hkumrW0SveHnlGzevrzFLH3nuiJbOv2_MUUvd65dkbkbqeitZdjBA1fIvYhqu6BiCCQ-82xNibzdjB6t3kqC",
  "id": "rs_0730ee0a5a705988016ab44518d83087d0bd38d910db818966",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.409,\"right_y\":0.293,\"right_z\":0.0,\"right_yaw\":0.78,\"right_pitch\":0.6,\"right_gripper\":1.0},\"note\":\"The lateral correction reached its target, but the arm remained at 5.5 cm because this farther pose is at the low-reach boundary. I’m using the maximum allowed forward pitch to gain table-level reach without changing the now-correct pen alignment.\"}",
  "call_id": "call_lKr6Cultq27Ve4SRYSji064U",
  "id": "fc_0730ee0a5a705988016ab4451c454c87d09dddbaf32948aeb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lKr6Cultq27Ve4SRYSji064U",
  "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]: [-0.0181, 0.8833, 0.857, -0.7818, 0.0067, -0.0517, 0.9998, 0.5182, 2.4817, 0.9463, 1.5497, -0.2928, 0.0044, 0.999]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1913 left_yaw=-0.0084 left_pitch=-0.2365 left_roll=-0.036 left_gripper=0.9998 right_x=0.4392 right_y=0.3133 right_z=0.0348 right_yaw=0.8022 right_pitch=0.5749 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.9487, 6.8171, 1.5751, -0.0757, -0.0513, -0.0122, -0.3624, -9.1829, 3.5897, 1.6239, 0.0122, 0.1734, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702f614c70bef3c5e1065803fa20dc310db3130547fcce36c0a5de0c5e76c9d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a980f7ba8f9792bf3fefcc92b3172d9f0ed63ce3ea31f2a8ecfe1a952a1d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1593b1e18ee4d5cce141c2c83dfe8975cbb57efaeb2ddacf73319507c18fa943",
      "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 · 5.684 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8726, 0.8589, -0.7761, 0.0071, -0.0521, 0.9998, 0.5167, 2.1162, 0.6441, 1.2922, -0.2676, -0.0418, 0.9949]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.1958 left_yaw=-0.0085 left_pitch=-0.2182 left_roll=-0.0367 left_gripper=0.9998 right_x=0.3904 right_y=0.2797 right_z=0.057 right_yaw=0.777 right_pitch=0.3877 right_roll=0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.3624, -1.4154, 6.653, 1.5849, -0.0464, -0.0659, -0.0171, -0.2803, -11.1111, 3.3983, 2.0147, -0.0659, -0.022, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8772, 0.8589, -0.7761, 0.0067, -0.0521, 0.9998, 0.5213, 2.0953, 0.757, 1.0828, -0.2668, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1946 left_yaw=-0.0082 left_pitch=-0.2227 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4086 right_y=0.2925 right_z=0.0554 right_yaw=0.7736 right_pitch=0.3146 right_roll=0.0296 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.8256, 6.6667, 1.4823, -0.0659, -0.0317, -0.0171, 0.1026, -11.3299, 4.6838, 1.9365, -0.0073, -0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8833, 0.857, -0.7818, 0.0067, -0.0517, 0.9998, 0.5182, 2.4817, 0.9463, 1.5497, -0.2928, 0.0044, 0.999]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1913 left_yaw=-0.0084 left_pitch=-0.2365 left_roll=-0.036 left_gripper=0.9998 right_x=0.4392 right_y=0.3133 right_z=0.0348 right_yaw=0.8022 right_pitch=0.5749 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.9487, 6.8171, 1.5751, -0.0757, -0.0513, -0.0122, -0.3624, -9.1829, 3.5897, 1.6239, 0.0122, 0.1734, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702f614c70bef3c5e1065803fa20dc310db3130547fcce36c0a5de0c5e76c9d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a980f7ba8f9792bf3fefcc92b3172d9f0ed63ce3ea31f2a8ecfe1a952a1d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1593b1e18ee4d5cce141c2c83dfe8975cbb57efaeb2ddacf73319507c18fa943",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUjfjEX1XeGFXYrSjaYog7dMYroIYzWXagW3-LZ96e4cQnQncQ_UMcnh7Qc1D_g6i2EHDOp8bL0wY4tz1pWtD091_IOPyHaOrF-nENP1vON02JpvUbmrN4e_8WuKXo9zTKls3FYnDq9Hmmir8e3HW0SY4UZO959qHwiDmsfFRB88-SlWPNPf8Rb73CRF45fYbZ3Txj-RiuvNExpGfG7WOhUOPLusPxnxmv15tfZjvsNZXq254phBoJpUrWJgNNnP5xVABt142l0xkV-4M_DcjNptr8WjrOyD2zLU17JlcW4l5RkCSXWBh90X2ZgmK34B2CK46jyZJr9DsYys795RYRG2gty6EqmRjIp3ok5EI1CoLOQ9qiZf5GmXW8u2mLYvRbQV5w8A7AoyrqlOHUe5boEPN7vuHNpR0cjRWLKVVAOnHc3hZr4Q4tVBLq4VFv0l3xqLqeIwT3APdByg9Jue-oRkAb6D3fAdKb-sqz1scYZKhcus8AaFYDiLhIkKzBzfSzUrOpfmW1oY4qphHUDqOogPMQzElKtJB3EzuJIyC3chzSZdQh7KLFCuiugXiVItF64GFpWotiW4zl5G7_k6TfD9MxkoRFzNXCQ-yF3opYwkH6_cTKUBfHOmPICuZmjk_UI892b7UHVIDjlnp7NC7BGE2FkE9obYCWUc3ECm_lA7Z2j3uo5AZ3MD72SP9Skv99Wh1TAspx58fB1hfU5wgddT55l6azd9algB7UW-Wq8q93CmsratG8mrLYP0oSGPVTUyOiin73ydgaFo4iSglzmKfKKm2QVt3aUpUmKyeSYI_MmXxNG2YRMyd34R1R5EEUC_4_g06GmuFrqbsmGTGwZPxE3nQ6994JjgRDeAlJxw2W9Eydl-xNT_hMV6eA0e0mIK-ZDxkrm_ZZ95FXENuZnz9P17plWr4EHOKY9gTXOEuJvjroerv7PpdIgvYo4lp_KRk4skBOAgpd9gHYyVLXhdjPHZeRTDPluJLlC2fBCcXXZBGq1ei2C81FegTE0wz_S1Hx516DCOR-TpC8lWGLeUdX63u2NQKq-__ITW81urUwAmZTJcrDZEoF7gDjgcMbCz53Htcx2AZQHkpA6WlJUMyUmFxw3OWB-tU9QwOob_Rmuc1N-MUVY8fLdg0Qc9AHbts9Wq7bOTRkIZDfNBF4pSXuBQio3Isbu1eFtNamd0JCs0CMKJJuz-QwmupUmN3WtVKTbM_jgDysKo56pUOZfbh9iikYpTxdJ4SV5-115_tEfliseL8uG3w8f-U_Ly44s06yj3Ue4iLw9vziohVCu7pS7Ihv1Wr_LJkDeMbxLesz9iwNa2UmY9SeUQg9AI9x5bTS5ZViDpzpzh9tjyxxGZAISeO8LBj4OSN4f-_0gtpqqbkbKee0E6Ts4w8F8ONPkRf62oCX90-PxXrRHN3cm_T_ZemP1Zf4ccESbnvob8nwapd1d1Uf26iCIVzLv67jyoGduIPeIjqgB_hURj60xeKKEIUDG6b5J3LSqCl__Defrrvuyv_YkQVBB3zAuIAMu0vgD2rEpDheiaiNhRwIG79LjLwdUTsrj7LKpoaO1nt4qWvMUpYxR1pX3FcBuQrJghaFvtDf3U9rzl5-Va1ScLgFYCEIN-OxTDhVwhjKHTUCqAvcXQJYDaDmG_7pBkgVIe-zjsSNYmffhzAHAdMxNlseBzYpT5rgjJ8Uq9-I6d7W5tAvS_UCC27SmmrIgedvPXbtBxggrlUjGJx6kLxK4fWoegOJD5O_JBLc2SGkUZTXBfV-uJbaZ1wRP1sMn-V2HSe2gt0uip-O_p3tO2yls7wQSTAtOmmETMMTr2CzwcST--pa1MCGtKHSZGWC4KXCSHIbKWaczk7pC4DQjS4sLvwbuHAOKpp8jKSb1camcdDlTl6VZrqd427CbQt7dg5OUJePBY69SIxA8QmulvoD5d0YVPNqOHLYMZaCWLD_j_txHARH0fx2SUslUKPlARiXVv-rVpYhDgs4p9WsPpm7mYG8zCvwDc9msNfVrykmqSqVwOfEoQvDOSRWsE26DFu4x6vBzG4rncCXQOR-nRcCerIY08DxSJXyPq2KkIKwPjr_rKJhDahyGSo-bJN5gvZxbfeZcCMQ3hVgGA5C-0z8A4A7or9TocQJ5VDgjPfrA_BaVf0W5Tvy7OhcaZsMnOMIMgdUW2jBMKk3WJ1bH6_ZWqODVJ1CT7dPBM4648auw9M4iy3zm6HsCRTjYL8Wj_sc43DGYE-pZKPgdU4S3-rAn6mDz1dOs9CV8uGpKe4Dl4VNUv_3caR5DQolcvzO4XOjgPJa548bkVQAxqPyw-DTpQBHy50GrunpwUfMcoU4dAywGxhuZfhUAy_v1fFzvfdIdp1i68N8GrpYw0zIUOeffvs7QvsB3wocq4Sy0pZ995VvInnjbVfK9mEx1ewcygNzl-AHw8Yw4ITxOTSztNyZyYSDadVJB8dR65M4tfX09HGQJBNBlWBpQr-m2v2W2x_hRVRulsgL4PmAg2JMSIT1o5xToOJ_YKHPnJMhhCgWDNiYHLCHBpLX4i9yq-u0bgYWJRmeSRBNw6IPhAvjh8wZUJ-saxRDEsgr5cn8ygSGO-EFnh4U73OCalRqgH1VewV1IrizG5imtDb7m6tcOhycURAyJYToCApquk9rBfebVI3nPWGPp48caiYxb1fbtCwRzuDaa-X_dZSvv_XiCedbvKJ8yf0SZQgmFfxDnFqAv9XwBu9F723Oei1M9lsl__mCvWNXeOaCHqpWoJH7PqFglOw==",
  "id": "rs_0730ee0a5a705988016ab4451f80b087d0a4ddd1d279b3e42f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.28,\"right_z\":-0.02,\"right_yaw\":0.78,\"right_pitch\":0.6,\"right_gripper\":1.0},\"note\":\"Maximum pitch moved the wrist farther outward than commanded and the pen disappeared beneath the near fingertip region, but the 3.5 cm grasp height is still too high. I’m retracting to the reachable near end of the pen while keeping maximum pitch and requesting firm table-level seating.\"}",
  "call_id": "call_DDVwLAto6w2ZfM1kAQBVuTVx",
  "id": "fc_0730ee0a5a705988016ab44522b5b887d0a5112dfa365f0e68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DDVwLAto6w2ZfM1kAQBVuTVx",
  "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]: [-0.0181, 0.8837, 0.857, -0.783, 0.0067, -0.0521, 0.9997, 0.5182, 2.4943, 0.9558, 1.5703, -0.2897, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.191 left_yaw=-0.0082 left_pitch=-0.238 left_roll=-0.0362 left_gripper=0.9997 right_x=0.4406 right_y=0.3135 right_z=0.0362 right_yaw=0.7982 right_pitch=0.5917 right_roll=0.0064 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5385, 6.735, 1.5507, -0.0513, -0.0269, -0.0171, -0.4991, -8.7179, 3.8222, 1.8095, 0.1001, -0.105, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851f505bec143c798df65da8f32488b7ed3f48c67685ef7c9e0eab7ff96f6bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e21ae30bdf99eddbc5420bd354421240c099d7e7f50050e469ab066193cd2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334ea62f324a751ae5fb4c196de242d7f095dfeac2c6f66c61259f9a73a80003",
      "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 · 6.424 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8722, 0.8589, -0.7769, 0.0071, -0.0517, 0.9998, 0.5194, 2.1029, 0.7055, 1.1744, -0.2668, -0.0418, 0.999]\nstate[eef_state]: left_x=0.2697 left_y=-0.0025 left_z=0.1957 left_yaw=-0.0087 left_pitch=-0.2185 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4006 right_y=0.2868 right_z=0.0556 right_yaw=0.7747 right_pitch=0.346 right_roll=0.0206 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.347, 6.6393, 1.5018, -0.0708, -0.0562, -0.0171, 0.5265, -11.2615, 5.4769, 2.4347, -0.0024, -0.1294, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8833, 0.857, -0.7818, 0.0067, -0.0517, 0.9998, 0.5182, 2.4817, 0.9463, 1.5497, -0.2928, 0.0044, 0.999]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1913 left_yaw=-0.0084 left_pitch=-0.2365 left_roll=-0.036 left_gripper=0.9998 right_x=0.4392 right_y=0.3133 right_z=0.0348 right_yaw=0.8022 right_pitch=0.5749 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.9487, 6.8171, 1.5751, -0.0757, -0.0513, -0.0122, -0.3624, -9.1829, 3.5897, 1.6239, 0.0122, 0.1734, -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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8837, 0.857, -0.783, 0.0067, -0.0521, 0.9997, 0.5182, 2.4943, 0.9558, 1.5703, -0.2897, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.191 left_yaw=-0.0082 left_pitch=-0.238 left_roll=-0.0362 left_gripper=0.9997 right_x=0.4406 right_y=0.3135 right_z=0.0362 right_yaw=0.7982 right_pitch=0.5917 right_roll=0.0064 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5385, 6.735, 1.5507, -0.0513, -0.0269, -0.0171, -0.4991, -8.7179, 3.8222, 1.8095, 0.1001, -0.105, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851f505bec143c798df65da8f32488b7ed3f48c67685ef7c9e0eab7ff96f6bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e21ae30bdf99eddbc5420bd354421240c099d7e7f50050e469ab066193cd2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334ea62f324a751ae5fb4c196de242d7f095dfeac2c6f66c61259f9a73a80003",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUpHHlKKyXCLIXYR_oe_M14h8UokMKpiDrKnSw3XFjQ6Vf-GV6OFUmatF_zdqsTPtCXP6FJuhHo6uA7c1owo-FuCmSzVrarAF9Uq6Eo7F_VpErbuoKv9APBR5vc4onumyQQStoOwUFy0FJSAYS9oRNRIatIE4Y9iQIweV5YndnnQ9tvw7X09gfc7f3SwtCfun6mGnsvAktK6Pq0gSiXHbB-4zJpk38QfAbJ2rib328HD5___DaaMtVcM2tBTtdAvbLUP7ubQsJGWWw54-uu6KtK2h-cf8nS5VZNJEeKBTHp3a_hsxtkiOmFyn4b_GDush33hCIfhchNrIndHObwhe_aLQUyRUgcS31NyV0N2oajdZT5tAZH300nyVG1t2irfa-273lX5okeCRxi57LPQiKM1t5slIFdxQAhDuMy93sR0k8PaG0P2QM1JZX7X6OikR2j2W0Gwixcu_z9y6cMQWtyYvwgizgF38a70BzSnwWBMcWWL2r_pkp5m6V6wTxqNow-x9l28fSVeIThZmLIpd8a10mxLHVTllsXjCjNem1f28sPrmN247LPKNv9Ocxo5M7cxbxMUw3TSCCXbPHRD3jbtshNRVR1MSx5LNqmd5v-5VFNg7iChEVj-gQieDl3g12_-TyW5cMqryMhbsZ3U6Ga3QO7DIC3RKFIYzQ3zelhRejcHFy86AT10uL6qfWC1-Eh1mSEn6UtgFDT2j87HCXYow1ZNqFxQra962PveeortkkHxO-7pOwVi5P76_eF6UizQxBm2Ul9TeCQpN8yut7n71DcvOyoYBpabKZzmGb9WFTBe2DYcX18vWbblZ72zX3zJjLpn3sHsZPu3XEUSoMjz8M-6WohD_TaTX5Opf-ts63eeNzC3KL8IsC-tbytrNrngr0HyRkecD0_DMKI7KldZMyvg-r8T5ShyacWEJtNNwBuN6tslqsO80jZnkAJIQ3oTL2vWXyR-M-yQwBKnYZKQq-n9OIQ4-zYCqvHRsNPXb9cvvReAkHWs0ikD0MMCq95-MC9WwJoVoJ4JEDWxwpCZE6WnSDBSzYwU-TRUwHTiIsIzGkLW5Ni6gcaaeoRKOFIhZcVPMLnbRsXWI1zzO2h66NtUqwv4Wi-mt917X1vfw7c7T4HyIGhm55WW1s5LcggxsIOCbsacKWY3F-1ZpnqOCtv0QQ-Y8XE_jJ0d-LU8FcierkNKLypCaMnc8nDBYsB13vD3qQ5GBxkNfWV-rOOklEU2peSr5uicetaKdrq-DsifHkicqYsrnFS90FFhRAS-XUpR14RcKsIv7UF8Dn7yF_Ar1-2fKwwLm0QRjCLsZBOrUuSVQt5yZmOuL-h3XIkZgcOQFEy1kkZs49kz5ceBQY5H5xPHluorwXRGsuMiugsDCocYHts_P3RQVmQzZF94rMfReNqJu5LAGF8j1rYgALCu88qfGlyweZ5K8lBlsIsvkyoc7YSt5fZ6-dhWz4Fz54o2EuM9FlgARgSuhjSHqpPWaWvOGoir44UBX7tSyl4mYWQ68NCdAGOGr6n-cBJfr4zIDdH_oIX87UsPA_uHFNYvuDn0c6v72xYZTgB3SYiCGVvjS7YzB-4CHJlOTT34OtNda8iMW97LeGTudSt3eMNpKNtN3Cptmz3ybyQd8E3HdU1RN3nx3r14dMmdEhlIvf_KyxLJ1o4O4vQvaFn2xEH7TkCpnH60wTnsTUVyC3ym1LYt3Ej0LA0vUjf0-Pc7sk8XZV0U5_06BfiDiZBTTdt6UDbFGt-8UB9mzj1OCZHdP7StqrGCUeOq1kqz452HQoS86oNArfeSC0JYmRuO2PCep9PH9lGET0wvqZzBrwkfwqoo5xKgtwJpYIHzWBa0WSZHQm12nTaDClLXI7reKu6cA3K2UXwisIUoDtl6gA1nLHd1aTUFaWU1M9oO6yUAdOBIgkTIh8byzdu3jriuqkqDvV0B06xBJNQXtBrb3AtaCQg8UfvPa6WoHsEq97GnxfdC17rKMWQdfpmaxern-jAkhHeJHcFQo0iltfoP4Grzs64opjvyITZ50JEIbDk0rEjtu3tW7rFt-_Vp6Z6LYfhXr5tGEStQPnSeTtcP-CMEzoNRnTr8mf6E7S8ISiQexBI776yH9-UELeIKxYIWpes9FqpiIZe2rtDCCBgfUb3C3ETulebYVBbu3PYy0M6EgAESx1u4uh9gGP_3GKKEOFAYgLOjyXWaDA2RdzjT6SbERLmlBwsiqPtVV2ItbKbOQbZh03nK_8CqyKgE769idW0-QgVPgmMA8VWx1v8-blTtLdeR5sVa690Qu2uGrQHBk-DjJiH5vYL_8KfQQ4MbTvbnX9tpQ1-pNL4FDJssNTADnK8c9aRiJB2H6DJtcfW2S8SzGDO8KmUoi7GRhgOL2ykDHECFHeQJqAy9bLlkZdaw8WgDHt94c8_C-Xbyzi_6AHHTEEYJUp4W7eUvPXLciPtnR4OeaRJL0Gan5hSzR4i1Of1t9bkCOVmxgcc_zTIbb_jMZRWiT1HiQZ2UFHXCvf061iT0SsuI_9en0FbPezHTfG9jBhn_3DWJnmuvhM_5rN5yA1mf3Wjb3C22F2XNZAuDVA9M8zBSaE86Igoi3DmKF92j0WlA_K_Hddp1dAr",
  "id": "rs_0730ee0a5a705988016ab445258ec087d0b93c351de001dd25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.15,\"right_yaw\":0.78,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"The arm is stuck at the extreme pitched configuration and did not track the retract command. I’m first raising and retracting to a comfortable pose to escape the singularity, then I can make one clean reachable approach to the pen’s nearer end.\"}",
  "call_id": "call_DF1JOOMu4qvLIsnZIzdqizQT",
  "id": "fc_0730ee0a5a705988016ab44529183487d0a1adbb0ef3468556",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DF1JOOMu4qvLIsnZIzdqizQT",
  "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]: [-0.0181, 0.8875, 0.8551, -0.7864, 0.0067, -0.0517, 0.9998, 0.5182, 2.4947, 0.9565, 1.5707, -0.2893, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2687 left_y=-0.0025 left_z=0.1887 left_yaw=-0.0083 left_pitch=-0.2471 left_roll=-0.0359 left_gripper=0.9998 right_x=0.4408 right_y=0.3135 right_z=0.0363 right_yaw=0.7982 right_pitch=0.5924 right_roll=0.0057 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.536, -0.0513, -0.0317, -0.0073, -0.3897, -8.8821, 3.7265, 1.8584, 0.0904, -0.1099, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369d8ffe97744b9e446e98329ca41bf56a5e19c2f50c6d0c34c2c1dab6fe01e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91783d971595ad24bd9d710ebd4acb9cdc67fd538b510c9511b798759c376827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5984c62f26ed5d581d1c8029332355bea3cc4368d82ab97fba6087c59017df20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.425 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8772, 0.8589, -0.7761, 0.0067, -0.0521, 0.9998, 0.5213, 2.0953, 0.757, 1.0828, -0.2668, -0.0414, 0.999]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1946 left_yaw=-0.0082 left_pitch=-0.2227 left_roll=-0.0364 left_gripper=0.9998 right_x=0.4086 right_y=0.2925 right_z=0.0554 right_yaw=0.7736 right_pitch=0.3146 right_roll=0.0296 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.8256, 6.6667, 1.4823, -0.0659, -0.0317, -0.0171, 0.1026, -11.3299, 4.6838, 1.9365, -0.0073, -0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8837, 0.857, -0.783, 0.0067, -0.0521, 0.9997, 0.5182, 2.4943, 0.9558, 1.5703, -0.2897, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.191 left_yaw=-0.0082 left_pitch=-0.238 left_roll=-0.0362 left_gripper=0.9997 right_x=0.4406 right_y=0.3135 right_z=0.0362 right_yaw=0.7982 right_pitch=0.5917 right_roll=0.0064 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5385, 6.735, 1.5507, -0.0513, -0.0269, -0.0171, -0.4991, -8.7179, 3.8222, 1.8095, 0.1001, -0.105, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8875, 0.8551, -0.7864, 0.0067, -0.0517, 0.9998, 0.5182, 2.4947, 0.9565, 1.5707, -0.2893, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2687 left_y=-0.0025 left_z=0.1887 left_yaw=-0.0083 left_pitch=-0.2471 left_roll=-0.0359 left_gripper=0.9998 right_x=0.4408 right_y=0.3135 right_z=0.0363 right_yaw=0.7982 right_pitch=0.5924 right_roll=0.0057 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.536, -0.0513, -0.0317, -0.0073, -0.3897, -8.8821, 3.7265, 1.8584, 0.0904, -0.1099, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369d8ffe97744b9e446e98329ca41bf56a5e19c2f50c6d0c34c2c1dab6fe01e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91783d971595ad24bd9d710ebd4acb9cdc67fd538b510c9511b798759c376827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5984c62f26ed5d581d1c8029332355bea3cc4368d82ab97fba6087c59017df20",
      "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_0730ee0a5a705988016ab4452c093887d0af30f5cdf7367d27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_pitch\":0.45},\"note\":\"The combined escape move was not tracked at all, indicating the wrist is pinned at a joint-limit singularity rather than merely out of Cartesian reach. I’m first backing off only the pitch by a modest amount so the arm can unlock before any translation.\"}",
  "call_id": "call_4Y89H9wbZaI2TVhLX4QeX8OS",
  "id": "fc_0730ee0a5a705988016ab445300c1c87d0b199447b8fdb5a17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Y89H9wbZaI2TVhLX4QeX8OS",
  "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]: [-0.0181, 0.8917, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.5232, 2.3806, 0.9218, 1.3937, -0.2901, -0.0193, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1876 left_yaw=-0.0081 left_pitch=-0.2517 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4384 right_y=0.3153 right_z=0.042 right_yaw=0.8059 right_pitch=0.4989 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.7299, 6.694, 1.4725, -0.0757, -0.0513, -0.0171, -0.6769, -12.8342, 4.2735, 1.8242, -0.0464, -0.0366, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e445f2aa98bb74887333ea07fbd213d3c7f249d4688be3318e975f18524408d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ba4bf62b50dc318a2f4c15455d4ae0fd4167781931e400565ef733cdfe1691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52555f24dced3f242fabe8d55b7748f6fa0558e7b36f98005da807b89e3eaaf",
      "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 · 3.106 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8833, 0.857, -0.7818, 0.0067, -0.0517, 0.9998, 0.5182, 2.4817, 0.9463, 1.5497, -0.2928, 0.0044, 0.999]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1913 left_yaw=-0.0084 left_pitch=-0.2365 left_roll=-0.036 left_gripper=0.9998 right_x=0.4392 right_y=0.3133 right_z=0.0348 right_yaw=0.8022 right_pitch=0.5749 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.9487, 6.8171, 1.5751, -0.0757, -0.0513, -0.0122, -0.3624, -9.1829, 3.5897, 1.6239, 0.0122, 0.1734, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8875, 0.8551, -0.7864, 0.0067, -0.0517, 0.9998, 0.5182, 2.4947, 0.9565, 1.5707, -0.2893, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2687 left_y=-0.0025 left_z=0.1887 left_yaw=-0.0083 left_pitch=-0.2471 left_roll=-0.0359 left_gripper=0.9998 right_x=0.4408 right_y=0.3135 right_z=0.0363 right_yaw=0.7982 right_pitch=0.5924 right_roll=0.0057 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.536, -0.0513, -0.0317, -0.0073, -0.3897, -8.8821, 3.7265, 1.8584, 0.0904, -0.1099, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8917, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.5232, 2.3806, 0.9218, 1.3937, -0.2901, -0.0193, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1876 left_yaw=-0.0081 left_pitch=-0.2517 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4384 right_y=0.3153 right_z=0.042 right_yaw=0.8059 right_pitch=0.4989 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.7299, 6.694, 1.4725, -0.0757, -0.0513, -0.0171, -0.6769, -12.8342, 4.2735, 1.8242, -0.0464, -0.0366, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e445f2aa98bb74887333ea07fbd213d3c7f249d4688be3318e975f18524408d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ba4bf62b50dc318a2f4c15455d4ae0fd4167781931e400565ef733cdfe1691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52555f24dced3f242fabe8d55b7748f6fa0558e7b36f98005da807b89e3eaaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUzb8L-pPgwcamSlJBlTiOJ6c3x9sVORylBUez_rl4YwTEFkz1kzuBKg55f90CQM9pKh34pzmC940_TXOqCn0cdR0dtK21gAsuHo-uJZmbxd3_L3DKv1nRZy77cDZi1nI--FqR2k1U6u2VQ18Vt_39mWS2RNv8Ff1SOwI38i5nDvjlnZJOvX_eiCTYE2O4_irBm49R1AaR1VGGidbpvxXG-HvBmU2sPTVlwyRzSXEAucxxnYmCAnhk_X_y5bpyUAGMYPxuqyD_nWZ28dvrAYKow3qPz9n6XWB4rVfZvsa88AbHvKopsT6Cvg1AG7aq87I3wCn4b_aS8TQsE7COiPDfxiT53QzMkM3-VC1Q23PRqfXQBH3z18wmfU7X_QRexipekUsUowVARRJHRdkw0F4ShfYddDE-CLxkfRKo20D69Of0D1p8aAcsqIWpSiESuFCgFSnn-IJMRumSlHz4o7dAglIDIWzwDYnoX6etqlhS0imC63wSgiTbX35B5MJ-WPE-XiezWF0p02WfNVPokvFjAuNFDDX_h0PJIn2IrwwAdLsS47lAA1FwGqibQOwFNv5m7U9AsEnTk2ilZLEJQZroHuDmiYhP7KrsUz8nVyHlwaxCK9ckvQ4lyP32PN9fm9O4sZuMIbURnTV_1FC9WqrEJSCSh8P52JGfHkd2-PI6Q1HQHBKnx1hu8iHAwTCQGZb3mvXopeLQdYEG2gF-T1fBFE_fhCOKFNJR_fsoPM3n58CS8QJXMGvP3A7rdTyYPRRtQBKqtnLTP7KlvGksYXrzx2eYhpw7ChHEVblEPRL1Q2oYp8AMMsUajJTVA0JmK5ru-Th7755OZXNphDdc-GSnGY-AM4r0XSCpDdbShbd4_bDt2ZPX0aUO4Ar34_aqofQKJBKI1Yrp6T9Q7TXuWYzwlVlSAFt8Za9vyqDS6CcBGQvToaHYAoqYL4IYXhjAxdVO8EBNI8fxywPY0krdaOe_hkKXVjZQ60PalRTr_f3fpdi02eY4tpkFz_Pht_qRROlUhhyBXLB1ECj-LWDarhdNwv4ph7ZCViIsoY9mFlUHtysCuAghhz8i9tsZfK1A29BXOkJkh_epeYP732qCW81MM_5LC0UmcDArPuIbCGrZzAZ0QNR-omXwP0brfB6qzqQVpiIZXub6oxDD4sLzR6IJrv7wbdMu8gnSvA-yDL622p4WzmZVuST2RpyzdCgp_108TxzdJ-rgcRFKKe7r5YFPKoyU9o_cZ6fX6MdSNr7UNhyE=",
  "id": "rs_0730ee0a5a705988016ab44532c50487d0bc6bc9db6c818312",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_pitch\":0.3},\"note\":\"The pitch-only command unlocked the wrist and reduced the tilt from 0.59 to 0.50 rad. I’m continuing the orientation backoff before retracting the arm, avoiding another coupled singular command.\"}",
  "call_id": "call_y7CD3vkdMbYypazlCm50O6o2",
  "id": "fc_0730ee0a5a705988016ab4453307d087d08679a5252d2240d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y7CD3vkdMbYypazlCm50O6o2",
  "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]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.2555, 0.9173, 1.0649, -0.2897, -0.0681, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0083 left_pitch=-0.2513 left_roll=-0.0358 left_gripper=0.9998 right_x=0.434 right_y=0.3132 right_z=0.0275 right_yaw=0.81 right_pitch=0.2994 right_roll=0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 6.653, 1.4774, -0.0513, -0.0317, -0.0171, -0.0068, -13.5726, 5.5726, 1.8584, 0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9f50d83eb8a5dad0e25b3478504ed2c3de95234021def8e8b20275def30aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776dc79b885a71a7b3fb3b7f148e47f8a5e5eca05fe4c77195fb17570f0d3c08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:080ac0d84efd7b617bf527e3c9ba6ef790610552e3d62ce17d9baf36b66a92a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.225 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8837, 0.857, -0.783, 0.0067, -0.0521, 0.9997, 0.5182, 2.4943, 0.9558, 1.5703, -0.2897, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.191 left_yaw=-0.0082 left_pitch=-0.238 left_roll=-0.0362 left_gripper=0.9997 right_x=0.4406 right_y=0.3135 right_z=0.0362 right_yaw=0.7982 right_pitch=0.5917 right_roll=0.0064 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5385, 6.735, 1.5507, -0.0513, -0.0269, -0.0171, -0.4991, -8.7179, 3.8222, 1.8095, 0.1001, -0.105, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8917, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.5232, 2.3806, 0.9218, 1.3937, -0.2901, -0.0193, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1876 left_yaw=-0.0081 left_pitch=-0.2517 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4384 right_y=0.3153 right_z=0.042 right_yaw=0.8059 right_pitch=0.4989 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.7299, 6.694, 1.4725, -0.0757, -0.0513, -0.0171, -0.6769, -12.8342, 4.2735, 1.8242, -0.0464, -0.0366, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.2555, 0.9173, 1.0649, -0.2897, -0.0681, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0083 left_pitch=-0.2513 left_roll=-0.0358 left_gripper=0.9998 right_x=0.434 right_y=0.3132 right_z=0.0275 right_yaw=0.81 right_pitch=0.2994 right_roll=0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 6.653, 1.4774, -0.0513, -0.0317, -0.0171, -0.0068, -13.5726, 5.5726, 1.8584, 0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9f50d83eb8a5dad0e25b3478504ed2c3de95234021def8e8b20275def30aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776dc79b885a71a7b3fb3b7f148e47f8a5e5eca05fe4c77195fb17570f0d3c08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:080ac0d84efd7b617bf527e3c9ba6ef790610552e3d62ce17d9baf36b66a92a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEU3PX4GMS0IWlrroygjnwQlW4739f-Ffc_3SFvtnJ693uh82AXxq00Pr8U4P76qyQ-LZuMiHbDu3J80RWKoHVGw23Q5_7gNX3azIjaNyAXyUo0I4IwB0lRwx1Q6yviykHo8PtzkHydNIEByzevc3Ir5jGXtdOVmTJaQOgb2QV0q9X7SIJiKPqsmdoLMegvNR8Pok1UXIxgZHEEBuANc9hjtlHySibyybVPOizKJDRjt8r92pNQd14O3zrb332FUqdhoqGBooqb5n_ZD_DBl_jUxjlrrA_jqkpqTobl_TJ7v0ZA6YfRK2wG7sa9-w7JPGNK5mRNIwCM___gWi_kG5UHE-TMxde3BvwBDarn4ctToG2iZSVQq5bGzXIP2e-tOPBmYT8l-tYDLk2pB_mWFExZ1ynTXhPCYBbYQJYJCovdNf2aAfKWLUJBp0mDBUbjpv60hAgY8yJvLzyQDTHcEZQJuan3ExZYqSCLMgh4QHGL6sv6cgc-sPYywnfPAVUge05p7eph55HhkhtuP7YPhCQ8rwOdGr2K9hWK82_MRXo27TNudI0YI6tpRUcwVHC9BgoLOLs8pbfQwjjO8ageJveqs7sutPA34gac1wLZd4PqLtkCHfUypkpOWtEHzCeIlX1BA5K5IEK87O0KtUIJm6OY0OmW_wjYnV9-NPYH-iz2nX7glg5z4lq9mloviryRzCJLmwoZ853ZbtcT1iuYbfiGxUQJyEK_nUq912jcjyYRvHVwde63JzMh4voDGsoyRDAU0TYt7CE19_WO1j4ZPE1nx5NI5IojCrpW02EWqipWhXS3j86UtG_8P0ueK6GBGoL7VI3WF3XA8XrGk5w_skgCHQ3Zcn2BJqb4mvX8yjFMOZvC9vp8GKg-RgJQ_IVgQ176bGIkJuqfIKSU9ITNGv6yKWb64-2H1fUuPBzsQpCeprvhppVys3oq7rt8o1GjMLn9RmMhXfebp4f-gBM0APVAuZTt_IdEFZH3AGf6ULGw42sTkQnizR5iT0zVtWV17ds1LfV0gl6tzPMOmrPHF3FUA-Akeeb0PhD5wfhnUyTVB83CKWZ3ht2UU5o-X9IhfS_S9VQt9DqaI4z_luMsWZ8BSwaGVdDkTI3S0eIER9AhzxCLHunQNOx7LuuyDApsdHlRzgKGWgKhm6_kFpsm8K__fd_eVxxVZyVFnQSFLxnQcgxR8EdlZNdHrSIkpfetEuaz2-fxXWf9Bt_SvxsxTHYWbLW3H_9f7E6clYnptVCU3pK0iXdGqFY1bLDbqEsLJHR8k-er_GhieVvzSghN7v2xvzQvDSdY2c_mfWENqhtC2vp1TDPMSSyG2WkwEbNjmUaeDgYm9iBIDofzPqzkjeYuS34rOyt87HVkwVL3MM1dEaTUkZL4s-5O5Jv9uQG1Qxxkz2Xh0OW8QfksrTi3O-0hJt1_tc1azui8yWU4xBakQKce6VFrXI-9YVei3KGaxGpgZirSMJEoVZ7eGQi_noII2nfSvV1xC1whOaoqIyjTG1YHxnVVp898Rhdp9BwqR6H6uaFuCffggyvXbMswFQIXQvDXxdbXTGmB5lu2aoQrIxJzcXhh-tD0i6l7wXqbISEVSZv1ITPQTkbzstqo28T2VCdS_ynw0UYc2w9oqO3UNTyNyF2m7PL07ZLoMl_V7LnGKou533Fod2jEHsaWZCypBer-TbaipoL6BBWefRQxnQ0G7T7j4rbdGUZ6l8Hrrze9lqOU2mGtMZTjQaMf0u7QBlT9gTT_FYTxmKODACdxYlByMF_qaB6nNI-vsP1LfjDpFa-hZ6SzU3u7vS6YyvqauQpInOROG9NTE0Kpuw5KKqLbecG1fJhP3uGEaoXFeAvqG0s1RLhi_-6W7YuXXYVi4ha6MePEUhS-4hIRGOfglkKy7isLRC4Spu6TVxpUT6J7ohNdKRpuj_7WSzOcsIrRc3DjtQ0BMyM7PqV-96wMeTFg=",
  "id": "rs_0730ee0a5a705988016ab445358e2c87d0b62c3059a3861a5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.0},\"note\":\"With pitch reduced to 0.30, the pen’s metal tip is now visible exactly between the jaws at the bottom center, and the grasp point is only 2.8 cm above the table. I’m making a pure vertical descent so the jaws surround the pen without disturbing this alignment.\"}",
  "call_id": "call_11HtMcG1DZMawyU4lCKoUNaU",
  "id": "fc_0730ee0a5a705988016ab44536dee887d09caa798371e222b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_11HtMcG1DZMawyU4lCKoUNaU",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3009, 0.9283, 1.0939, -0.2905, -0.0753, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0081 left_pitch=-0.2513 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4348 right_y=0.3138 right_z=0.0147 right_yaw=0.8142 right_pitch=0.2944 right_roll=0.008 right_gripper=0.999\nstate[joint_eff]: [0.0205, -1.5111, 6.6803, 1.4872, -0.0757, -0.0757, -0.0171, -0.1846, -8.5675, 4.6427, 0.9695, -0.0806, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3510a436040942309f0154214f569f32b0fef2a187c6d4ffa66e8d3f033e61e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3540c2608e2cbbc25c597a6d7fe0554c5c7d04a8b1c3adba77aa0132af421e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bf0b99de23d0206e1db061869ac4c55a694fc8fa2fc2459da3942588ce176f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.986 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8875, 0.8551, -0.7864, 0.0067, -0.0517, 0.9998, 0.5182, 2.4947, 0.9565, 1.5707, -0.2893, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2687 left_y=-0.0025 left_z=0.1887 left_yaw=-0.0083 left_pitch=-0.2471 left_roll=-0.0359 left_gripper=0.9998 right_x=0.4408 right_y=0.3135 right_z=0.0363 right_yaw=0.7982 right_pitch=0.5924 right_roll=0.0057 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.536, -0.0513, -0.0317, -0.0073, -0.3897, -8.8821, 3.7265, 1.8584, 0.0904, -0.1099, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.2555, 0.9173, 1.0649, -0.2897, -0.0681, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0083 left_pitch=-0.2513 left_roll=-0.0358 left_gripper=0.9998 right_x=0.434 right_y=0.3132 right_z=0.0275 right_yaw=0.81 right_pitch=0.2994 right_roll=0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 6.653, 1.4774, -0.0513, -0.0317, -0.0171, -0.0068, -13.5726, 5.5726, 1.8584, 0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3009, 0.9283, 1.0939, -0.2905, -0.0753, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0081 left_pitch=-0.2513 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4348 right_y=0.3138 right_z=0.0147 right_yaw=0.8142 right_pitch=0.2944 right_roll=0.008 right_gripper=0.999\nstate[joint_eff]: [0.0205, -1.5111, 6.6803, 1.4872, -0.0757, -0.0757, -0.0171, -0.1846, -8.5675, 4.6427, 0.9695, -0.0806, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3510a436040942309f0154214f569f32b0fef2a187c6d4ffa66e8d3f033e61e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3540c2608e2cbbc25c597a6d7fe0554c5c7d04a8b1c3adba77aa0132af421e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bf0b99de23d0206e1db061869ac4c55a694fc8fa2fc2459da3942588ce176f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEU6Yv2ARoRT-N3uMbWk8evTs6yNtr1ooAZP9V5Fry5SCmdQposm-dcpAZG9fGmjZMd26ZM_QYhi44RDqFX1yTOgDtp-0DczbGEdGdcW2WGIXZWck5lJXxZy19xSs1HTxzRTRe4PivHuWSWxq6Bz4s_o4lVGfjucMYoeyPMpiiyUo4rRifgLe4D3wIAsxqYCpHfy0wVHxISR_kYwso2VHeLQbopxhPKa3s_sjQ6HjiilOkb1IYQtdLmBWA9RLjCL3g_0pOyIkxrQP4QG5Q2kseNuVeiZzZw-ZVU8SjO4n5kVmTXxknlx1y2dnTjPwGRn81a0Ckoj15Bx2rnbW62SH-yQgKISCyr0VfzGOkqqwxbhPbvx0b0ntqyMJKNm-rMBiQao4inZUwpmMmi6J4U6NtGbkPuyxDUWR1yrzGjEViKggWpzCwi8qGm5FfVq_lCopcufih83DbV4O8q7aaxnLVKD4v969j-6aVcOPu2kelguFxt0pOuzNcX2gfhMQizRTZe2cnGMl_it_C5CPGFjRqMNaWjbFq4vciCcnfuBF73bmf9AeKGqhbCkbRrUMUkepK0aOCt6eC5H0WfbG8OjPrvLNIBT0t0X4JmLox1rwB0dWM-dk27uDeb01uPLEYVAyLQ3op6RzJoJyxSIJ2_EaB91idJJUMEjJDhOBwA7NaVg6VoP2Fl-IpZ6fVCrbcDHvjE3HFGOm6jjsJcY_o5hx1cAIcZOiMxaC4kdkI_83b6W7sR24okY742ouRXQJ4WgpzeBMrUI_UQ3wR3gmMKTHGQYlX9Z46D7HWmMWgJw2sNuh3kWj3RUxf-c8CGfGlC8sGnSuGkEfz9kjZkDtW1_0bblXdaC3XX2rZK3r7zGfJS3xPMpG0sq1GUuFtc0XBpP8u7RPjGYj7S3s8_nCx80YBT_Ed1UVA3JJB-cwaqJye5LHW_lNEd41DPr3vwylGFTDHIyTGJWZ-NBMs2EIaD3g-OsATDlDFGUCFk7IAJRx-iFCsnqSr5I6p-j5pkpLWdGdFH9GG5C72jCCWcBFFaCbKQ2FR6nm2qnxqBo2sw2C3g0spJ10NkBR-dZjyLVDoBsCmRb64WPjqLj0Mzk2kwArNyNMA5YP0yJjLSfhvLzjVrlOc92ZeflDmOt82lneQQ1TJfLqot9vuMvGqlvhv5oZ4qfCgzS7KbWlvJZKUu1UlA07SOE_k-mGRgSwKUDEyeDkXQREiUOH4GCT_nkZlZAW3v6GZMSs9umUCweDbnB5Yrwyy212rDc-Ca0OuHuKjWQYeKx",
  "id": "rs_0730ee0a5a705988016ab44538fc4887d0a8addffb00b98b2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pure descent reached 1.5 cm with the pen tip still centered inside the jaw gap, which is now low enough for the shaft. I’m closing for the corrected grasp.\"}",
  "call_id": "call_Fw6kIkzwGB3fMSEBYiHRlv4k",
  "id": "fc_0730ee0a5a705988016ab4453924a887d0981798a7111c2ee8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fw6kIkzwGB3fMSEBYiHRlv4k",
  "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]: [-0.0181, 0.8967, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3199, 0.9337, 1.137, -0.297, -0.0761, 0.01]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.1864 left_yaw=-0.0081 left_pitch=-0.2567 left_roll=-0.036 left_gripper=0.9998 right_x=0.4361 right_y=0.3158 right_z=0.0168 right_yaw=0.8231 right_pitch=0.323 right_roll=0.0 right_gripper=0.01\nstate[joint_eff]: [0.0068, -1.9761, 6.7077, 1.4481, -0.0415, -0.0757, -0.0171, -0.2256, -12.465, 3.6171, 1.4921, 0.0073, -0.0317, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4609df3c6f0ec498b03d925f62a55edd6a41a7859fd1da5b0c25bfb1a7994d94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11e200619b2d3fcd4a90bc985848c4237cba8ae315292839d8ac82d5b248c70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84296b013f296b099718a3b0aab3e73358d21ce48ed49370c0f50ef79656e5ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 6.984 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8917, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.5232, 2.3806, 0.9218, 1.3937, -0.2901, -0.0193, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1876 left_yaw=-0.0081 left_pitch=-0.2517 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4384 right_y=0.3153 right_z=0.042 right_yaw=0.8059 right_pitch=0.4989 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.7299, 6.694, 1.4725, -0.0757, -0.0513, -0.0171, -0.6769, -12.8342, 4.2735, 1.8242, -0.0464, -0.0366, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3009, 0.9283, 1.0939, -0.2905, -0.0753, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0081 left_pitch=-0.2513 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4348 right_y=0.3138 right_z=0.0147 right_yaw=0.8142 right_pitch=0.2944 right_roll=0.008 right_gripper=0.999\nstate[joint_eff]: [0.0205, -1.5111, 6.6803, 1.4872, -0.0757, -0.0757, -0.0171, -0.1846, -8.5675, 4.6427, 0.9695, -0.0806, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8967, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3199, 0.9337, 1.137, -0.297, -0.0761, 0.01]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.1864 left_yaw=-0.0081 left_pitch=-0.2567 left_roll=-0.036 left_gripper=0.9998 right_x=0.4361 right_y=0.3158 right_z=0.0168 right_yaw=0.8231 right_pitch=0.323 right_roll=0.0 right_gripper=0.01\nstate[joint_eff]: [0.0068, -1.9761, 6.7077, 1.4481, -0.0415, -0.0757, -0.0171, -0.2256, -12.465, 3.6171, 1.4921, 0.0073, -0.0317, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4609df3c6f0ec498b03d925f62a55edd6a41a7859fd1da5b0c25bfb1a7994d94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11e200619b2d3fcd4a90bc985848c4237cba8ae315292839d8ac82d5b248c70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84296b013f296b099718a3b0aab3e73358d21ce48ed49370c0f50ef79656e5ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEU_IIK93qKY8a7-l6j3W2qxRVj1bwGOGGRjFMrZuM6I-9mF0dt5xKrtMgvlL5CESlHV2gO8DS4MiEZ92Re_jV4VaQQZN9o79OzbDxlOK27OSk52P2evx1IFQo8prH5fwsm0rbBK2AvLc9HmfsdYaoTsB-huZhs8bwiEpSxl4J8QHyjHnO7TGnhr0j0zFLeX7y8G5ch05zV497_KfwCnhVkPkezx77_qWAKn-17x4IhBG_8tI38GJwPAjgsQCjZGTZ6IvBxuAqVvAdcQNYj7Dw16hjuKR3d4W4jQOeuri79bkvFx6uHhg_rC5RulB9ebqpcv-lzpaaKmCPDchSFiwIRIFkicV5XZPcFXZXfxeWraigyd3uvS7g5brSEboCrb54Z9MjWuzq_1elsd_2e8q27zuoovk5BkX52_9H1twH0tnAG1juTT3tsPzpLvpjynPO7XwKtonTsUDbSzCfa4v1lQVm367kCiRPhX712HiFg91Oopbh5X8Frv8GXbGyIqcbTEZUBS7zEaaym6NHxAhIK1TNwt4bTY4aNjx7VKZsuHz1N15xHplf_Ki6-1QsXwvNtNCb_rGIl4u4QVtVCYKOrPyiLUgkWwQlWs0cJArOc1h4W_hhCg4eINuYqliKsFigU0xUQ4Z2sScimLtw_0SUF22waR0H-eHnlyVOYM2IrB7HJKnp7zagJE9HQN_6vqW-juZAffFTSxBEfuojFyqz124n3iMbmKZcI7le-Qx6GGMfnuJUlcfvdlwIvi8ofB5U_ADQqAqMaS5zrtGJ8X-kfi28CK-TWJ5c19NsqA1Bb8MdFxDHos-r26nzz4m0Lv9LVEUKid6LKjI3CtVPCSPyrMZR9EtLaxXftkUhsa2iKqZaY-9QTsdNlUGFTOJQHo54zeSkYFZ9mDATC473YOfqfOtsGpaJjJYiBL-VPHrsfaukBnr91lk0priyBAFTTRcc3vtdlqj94S8_MFZDfD6BLxI52dEjZ7HwGbpf8ePvznSnv0gfwqYw0WviyAJ5MWey6wD41gsbzgDFXwNLiq4HBWXnMZtUpVaMj5vpSmWnD1rE1Syw3qoYsOoaPYs1SeF9X2LgIlFaclzlp7VOKv1dvcTDYQFHAUF7Jn3dXCzI_UmLIW1XuKfpwdD6XI7zUbwBfqU_M9ICRY3YXCA5rdkCh_KfEzhznSe9oaoDjRAuOR3xELmKtye1V-7Ex43_RhOu0i1oIdkxD9YuJlLagvE1_aKzBKbp3L1-52hdtwVHkXn1U1Ad0lPC1GLnZ2Dp67Pw-1JG2rYz9XuhEXy2iVqmoyj_83a9jvTZH6jVeNvvD2x8KOprnYqMKzlkee1DeaIQh9TRIm673YPwYsrZ-t5mDjDyyxCjkYNjrOT29YqeKuBf_imuHlMsAymq_UATqHaD8SfGoSX3cFu8Aggpu_Q5HJ1XOWYWDAr41mM8nf2r4cGiFJE8c3_ye9kqPtrVAEmLFWkv4_sknAzNRlfJvJI76uDlMcGDz-FUl-Gv9llOEq1Z1EQGQSiAuYFIAEe0J95bLVNQYZpLM4Ymj0dFxsvIKqYHjDrlXKwuHkqJUKmvfESbGQOTizQQ8RIRqS_2JwTFM4DaKWeW_XoU9gzz8RfF6mURwI_i6obaK20gvCstV69CEm814KuFPxJNYvXHQqON4IkvQ2ppcKXw14_Wjdw18wDPYiwabJOVxZ0JGtFJUb0CGx9UUKjTBc4Cwq2JcNnlstZgLzSwzhY-jxSZ4tKkJNyoXv2zIzsfzw9Vc-jgXtYv7gkJxbvSg_N5fVm_xTkKXKb9ZZnZPEl2UKPMCsXy3mhxzJJZtWgXbvl2pZGte-UovudQPyx5wJ3n0CRlJaRaGuQokWpcU01Jb15dx5mmNunhF0v4zv1GwbSAGJwnpAydL7blhgWMiuBuzlsn8MRbLsELScEnstFOxQSJTmC4HQfiz-6dNnLs5Tt9Tf8RDRClaLxD-mhrmqKRalGyGH-FrbAurKhct2WiqLfJbgB5gzbF-ZOz4JXo1JWyze1Avj6OVssA04abGm7f4Vv28nHY77mTS0ITgoPQG_AZboilxr6O279x0ohWPR5C21t0VnfVN6nI03NJ5I250c3vKpbfnFq6tbCx4dUtKXL86p0kP7yqlywHd8PT3CSevJio8KadvwWfvJ1BCztqKiCUkn68Syzl7afICAyf4a0UEcq5Gx_5dk3FXyLV8hdxvjAdsqvK225LOGnm2hSDnzEfSHA1Yj",
  "id": "rs_0730ee0a5a705988016ab4453d6d4087d093dbf2528131638b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The close reading is only 0.01, normally empty, but the jaws were centered on the pen’s very thin conical tip, which can produce a misleadingly small opening. I’m lifting 5–6 cm while staying closed to verify whether the pen moves with the gripper.\"}",
  "call_id": "call_Nf4JPLuqR2upGDssHWLGF4mE",
  "id": "fc_0730ee0a5a705988016ab4453f18b087d0b73796bbc26d8c0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nf4JPLuqR2upGDssHWLGF4mE",
  "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]: [-0.0181, 0.8986, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.1452, 0.9215, 0.9642, -0.2974, -0.0799, 0.012]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1859 left_yaw=-0.0083 left_pitch=-0.2586 left_roll=-0.0358 left_gripper=0.9998 right_x=0.435 right_y=0.3153 right_z=0.0625 right_yaw=0.8246 right_pitch=0.3132 right_roll=-0.0006 right_gripper=0.012\nstate[joint_eff]: [-0.1983, -1.5932, 6.6667, 1.5311, -0.0366, -0.0464, -0.0171, -0.0615, -12.6564, 5.3949, 1.7949, -0.0757, -0.0024, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ee7b1ffb756a94ced0ed64ffc1585ca1563722b99536cacb7d8fb880bb13080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cdfa4747c65e35087c8f0aefb0d54fb495cf2887b97828541d81c2111f9513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc20954a22325e7c35075c31393f4a06558a7afbaae2f87484e605acc12de8f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 10.97 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.2555, 0.9173, 1.0649, -0.2897, -0.0681, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0083 left_pitch=-0.2513 left_roll=-0.0358 left_gripper=0.9998 right_x=0.434 right_y=0.3132 right_z=0.0275 right_yaw=0.81 right_pitch=0.2994 right_roll=0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 6.653, 1.4774, -0.0513, -0.0317, -0.0171, -0.0068, -13.5726, 5.5726, 1.8584, 0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8967, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3199, 0.9337, 1.137, -0.297, -0.0761, 0.01]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.1864 left_yaw=-0.0081 left_pitch=-0.2567 left_roll=-0.036 left_gripper=0.9998 right_x=0.4361 right_y=0.3158 right_z=0.0168 right_yaw=0.8231 right_pitch=0.323 right_roll=0.0 right_gripper=0.01\nstate[joint_eff]: [0.0068, -1.9761, 6.7077, 1.4481, -0.0415, -0.0757, -0.0171, -0.2256, -12.465, 3.6171, 1.4921, 0.0073, -0.0317, 0.7741]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8986, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.1452, 0.9215, 0.9642, -0.2974, -0.0799, 0.012]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1859 left_yaw=-0.0083 left_pitch=-0.2586 left_roll=-0.0358 left_gripper=0.9998 right_x=0.435 right_y=0.3153 right_z=0.0625 right_yaw=0.8246 right_pitch=0.3132 right_roll=-0.0006 right_gripper=0.012\nstate[joint_eff]: [-0.1983, -1.5932, 6.6667, 1.5311, -0.0366, -0.0464, -0.0171, -0.0615, -12.6564, 5.3949, 1.7949, -0.0757, -0.0024, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ee7b1ffb756a94ced0ed64ffc1585ca1563722b99536cacb7d8fb880bb13080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cdfa4747c65e35087c8f0aefb0d54fb495cf2887b97828541d81c2111f9513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc20954a22325e7c35075c31393f4a06558a7afbaae2f87484e605acc12de8f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0730ee0a5a705988016ab445417e2487d0bedcbf1af5fa3bb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.22,\"right_z\":0.15,\"right_yaw\":0.82,\"right_pitch\":0.3,\"right_gripper\":0.0},\"note\":\"The overhead view is still occluded at the pen location, so the lift alone cannot resolve the unusually thin 0.012 reading. I’m retracting the closed right gripper high and toward its own side; this will reveal whether the pen stayed on the table or traveled with the jaws.\"}",
  "call_id": "call_KBu4jwhvjH5vBj9T6aEtAM2Z",
  "id": "fc_0730ee0a5a705988016ab445465ec487d0a91e091440c886d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KBu4jwhvjH5vBj9T6aEtAM2Z",
  "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]: [-0.0181, 0.9039, 0.8551, -0.786, 0.0067, -0.0517, 0.9998, 0.3664, 1.5433, 0.5739, 0.7017, -0.4225, -0.1215, 0.0066]\nstate[eef_state]: left_x=0.27 left_y=-0.0025 left_z=0.1847 left_yaw=-0.0083 left_pitch=-0.2632 left_roll=-0.0357 left_gripper=0.9998 right_x=0.3687 right_y=0.2229 right_z=0.1469 right_yaw=0.8003 right_pitch=0.3177 right_roll=-0.008 right_gripper=0.0066\nstate[joint_eff]: [-0.2256, -1.7436, 6.694, 1.5311, -0.0708, -0.022, -0.0171, -0.1983, -6.7761, 6.4479, 1.8584, -0.022, -0.0708, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d008edffb08baa1d0e8ee870cd7a7a24443f86a258779859f96eea40044fef6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dacd33d1991abb7481ecd63e91167cdc8ce012d30630b0d32057b1dc94477a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a280400de50a9eebd7331087f9086cb91fe8353fb179b892abfe220dc6ff470",
      "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 · 3.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8913, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3009, 0.9283, 1.0939, -0.2905, -0.0753, 0.999]\nstate[eef_state]: left_x=0.269 left_y=-0.0025 left_z=0.1877 left_yaw=-0.0081 left_pitch=-0.2513 left_roll=-0.0361 left_gripper=0.9998 right_x=0.4348 right_y=0.3138 right_z=0.0147 right_yaw=0.8142 right_pitch=0.2944 right_roll=0.008 right_gripper=0.999\nstate[joint_eff]: [0.0205, -1.5111, 6.6803, 1.4872, -0.0757, -0.0757, -0.0171, -0.1846, -8.5675, 4.6427, 0.9695, -0.0806, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8986, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.1452, 0.9215, 0.9642, -0.2974, -0.0799, 0.012]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1859 left_yaw=-0.0083 left_pitch=-0.2586 left_roll=-0.0358 left_gripper=0.9998 right_x=0.435 right_y=0.3153 right_z=0.0625 right_yaw=0.8246 right_pitch=0.3132 right_roll=-0.0006 right_gripper=0.012\nstate[joint_eff]: [-0.1983, -1.5932, 6.6667, 1.5311, -0.0366, -0.0464, -0.0171, -0.0615, -12.6564, 5.3949, 1.7949, -0.0757, -0.0024, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9039, 0.8551, -0.786, 0.0067, -0.0517, 0.9998, 0.3664, 1.5433, 0.5739, 0.7017, -0.4225, -0.1215, 0.0066]\nstate[eef_state]: left_x=0.27 left_y=-0.0025 left_z=0.1847 left_yaw=-0.0083 left_pitch=-0.2632 left_roll=-0.0357 left_gripper=0.9998 right_x=0.3687 right_y=0.2229 right_z=0.1469 right_yaw=0.8003 right_pitch=0.3177 right_roll=-0.008 right_gripper=0.0066\nstate[joint_eff]: [-0.2256, -1.7436, 6.694, 1.5311, -0.0708, -0.022, -0.0171, -0.1983, -6.7761, 6.4479, 1.8584, -0.022, -0.0708, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d008edffb08baa1d0e8ee870cd7a7a24443f86a258779859f96eea40044fef6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dacd33d1991abb7481ecd63e91167cdc8ce012d30630b0d32057b1dc94477a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a280400de50a9eebd7331087f9086cb91fe8353fb179b892abfe220dc6ff470",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVTfJ8JVMkuGdpm_QNBkiF2MZgbHWskTL7i6VHR2FURPpmuJdSqHxVJAiHZTz3a7lVJSP-1s3PD7bn1Q0ZaVVoKXYGZ3eXWhiWqJYZYpcDaJrP_Djrkkn24ALRQ_Gezfgal6zlgisJYsUoQVpZNwiyCXTnwAaYxFPqHcucipe7XX4hTV0yQUl1bu8UnG8ho51jk2G3KikKogkfmeUB18bwUITxsPhuxztjYF7lRzBGpMXwOdP8F2vNsh9mQMC5osEUblbXu_EPxpw1EycjSDTWN8Zu5Z4PQO02iHtMAhzi9bzXlrKpDvpH7gpSxiNoOX5NthsQsxM2_6EDPB8VN8gL4KzVwZ0obXnQc-HTFjHuNzUhWqtpiG-ZaEZPbCP_yDi_riQWbWPW32oxj6Q6YtJICXOQWy_8uHGhfGmxsaK9OXUlputqpuyEvSXT0uiqksKUlVs25aprDLY5qACMqJ2t7uwGfsVv1irokVTI2c8S7czjQY9u6hemd4M0wuYsGR0authOdno_Cy5ibx_iTjOHgVHnYWBozGYDuaAKAE5mrhCsEqF5SBU1njRgKKccwi8AUaDxTY_GbJkzEfV3ygrSTq45MN0YJgdYlnTN7ZhDevKQxtOJxoTUExQzOS7puy_LqOE2KD_g9_m0Cx7GY-Tc6hgBBhb83OHoAALxOA7P9smJDAmn9Q4l5Ne_gJqFQYiYrP4GHDgY-7LDrAkpSGPhtPdMEFkyXgVQeEqRHhQhNOKwH6KAPXVQlQTRugiMHx1ouY8K7B36AO6nCCZ9NBNW8nO1AsjZ8Mb-fE5s8nF97iwLhiObUh4rqPQ1fkwaBQKtdC2JyHePcw2ko1xQZHnWKjPW-yaYGa6ELxX6mVFiymNr_rYZxsXmg753MiB9B1eeEZqSadplVr0kolx9ZgpH4BK8RN8sUQUdzo2l4j64x9VhPnRU4w7_nnPROfrPzIKwRra_DMU9yhCTMhKTaW27TOaXQaPD9KYjSNm6OD0JDHUs8Fo9Ir4FQktgte-AX5dM_oTYcAMrFbZF00xcKRs-IuvO0jz6nmfhtU40PEMAOKxukloADUpISdUlz1OIIZn94HJRmm_9pBg-WqFhAvLBr_sg7YMWAxEVOgmsnaIlb_p4f04oyey3U7590WWC9C6iIxhqvSoGYEiLQOG6SpvAaDyXJBTKm8ar-v3K8U6gJPkzE3DB_biduNt18-JQNO4aNGNoZIPfANCh9I2dqEGInXKKLyPXT_XnY1BMakjmx5b_ghW9xcRiZiG3tWe5IKbBFLCiJC2KCYQCVMMw3KH9u1BNLWvlvei1C_l-eKTHlC1pidpvcBsWO3rkxPHcoZO5fL4BGqcFzvkWP-bT291eR8Hgym7I_GxBK0PROtYSQkUpTEdBjjrUos1_O4IHi04rqvSyr4dFTfszgrmHOwdJfnAAxnrEDa5B5LtHhqGYHVHjeXfFaV_rzmAYdT661cBylCB04AWMoIcn1rw4D2INwu2vgE9dAOWnKYW1ra6z8PQBDWBOT-WmE1Ybr90cZI5epbz3oQlWfzHkuTGj6HbiLiYWm8WX1nT0omos_yG_5A92NXihXHo25tY7pouFG4By16kC7m4CPYXpm50_j2tz9Eb8XdNnBI_UxQ8FAHCd2j_EtyNRuxo-UXkfeIDO0ECMQng3puf2kjHrdgOCSDAJlrgj12uryzQt62qrinPp0cqdC7Mkk0DBnwZ0jFO8WGkpES7DjE_VWi598OMKLnB9o8n9fI9U6qMnCjkNo1FSBqFnGdCW1Adttksg-aViz1acsLZrtGAYY44CZHIVNEYAlq03qQ3JhZUzx0LZ7Y1DhqXJvbMx2cU665Fi2Ui7Zv43ic7bAU4No6JbcnOZKFSSgJmjUT4F_q2DRsi-0PMHw0smWIkUjmtnQtP_lNEgv4KhxFwCtVaxQXyPmLl_Pe4jD-w1vXzpCJonbVTt9PHL2fTFrGhyGZw7P5LpbE-PVu_KWl1Cv7-b4goFtUCgA-yU2dxAxJ5_WCMORkzLRW1RrNV9_tBA0kYug9egSbh-9zoQoR2wRIzgq4_KTsSt8-BOFMfhzdHzXUio8yEdMlN8mGmiRtKPKUQAiV9cngzDWMApONmLcIiiC06A6I8BGGDzPUclR1rU7udMwjzEe3yuWuCnyfcRvrVv5odCwd3tsXQDA-sBWUcuyGoQ1FaklXf0cZ2_obxDkLF9dDZbcRivqGL_224iU1m_B7S3sgT9GnjzUpYjOCXf7rmCwP_Z-6btJzDJ00y_gCdjsRpaOkAfPoigSvgw5y6ZfGTCAHhDInk9B5OT7j4EJi_nJOeuHzGivdiA3-u7NxsXH0-T-yqi-ZDfGOLZSMM7MndZx42BcdQN913EV9n__jmT0YRUD6nySCBbVdhO58P0V6sq1BF7T2TeB__FzmkApBVFioPDutKWLXbXOvJiZyZgEVF5p1X2yO529D3Dk877JPkmlWNL9qSUfVwaNQtfepHWc5u1onwjbNxc7aZHS7AIvlNpQnZma4_Y8k69KMYlzuz4f05l3_4febkon9DnPFuS4RONI5f7jeG6NP-99mQyi8LYXZ_iMW90YWjrGVmjYgCj0h8oW0Iee2F0SZc1p802LVZ-4rXe90HG4jAeurZxaFEA0IfUaFRGDY8deQJQSAZ2g7suuSOSzq1veLvwO5P6tipPVrcQQthzcqUwODohXE8685G1V8cljqCYNw1aqrTOxbbX38nA2ZjCBf9c26hkBBUhrtGGbgNAxgpMgZaoA3MS8wUH5gu4QmaYMXi5v3_nUG_s2_dagqIIGmXXjO45dkh0uuC-E1cYc4aD5ZU0HDxbc05hmzGDKu_2r7XOny5N-dM5q3I-23kCbpSgU2EQduKLmnPfVpUHDofaifb6RQpuyeT1u4r2p5p-n3jA1A36t5kWqo0LMherGHIyQ9RvA4LybqUBSMcdi1dak4p-7eoxVco3ZCoyhP6mmbnCnfAo9f92b67mSrRMcM5mZYWEwN490qh9hLy2QiLzrRkkpvW0ToHENSjW3aDtyOAwNZ8vnwx83fDb-WMYN7KbOyfDeSHhF_oGad7gpJEPT5OWUFvjASlKgz9d4WSS_EhUHoDPpK7NxIZy5Oexw4tMocNdMuNmDnJ95Wql_au3m8VRzM8c9KtrUPOKpPa5QpevBHT71l0N1k3ZBumLPaB98sGh7bKG6kdR_OxLuIhlB-acapS4KJzjiYf3pW3o-DhbA4NyvKgsX_ThlNFWDuFZHF-nm5Vjz76K5T65RCrHve97hM_uT5fskNwH-eub_mq0-brpt7fmvvQxBFpOqLlQLX4rA0Dj6youg_Z_rVDACNWnjG-VTiFZptLWk-qrwUTxrV_XRJYl3kfQaP4CsHkKMzYS9THe9ulJNUYGyVPh8SSxaARDRQZuG9gLJswGMZw4hlBsdgFYx_G7qawylOJnty_tJDLLtexa9Av4Zv6U2hu7rSTYMQNQaXbMBy3ME_1qxmddqC9bdGAbp9rkrhEuIRkWBiR6Pzcfp6WDrFOHbiwbSMoszm1w1vqg8XSgYloO4FaomFzlAjprXqZ5kNF-xBNFbJy80Z35I0ZBDO3MEnKqipJlXW8sT4fmCnm82aAaKkimWOoXY_Df4Mh0SCHJNp8A3sErP1LfkZ87r9t7hKqyjdkZdxd60cHb8Ojnbg8-1yO6S9nRVV1d8ZTvE1EtTUVGbxs_XNx9S9YieVyoBhAhvGf7topTjzEv9lRR5whGuTqvfQFB-J0Z3iAB-xRzkNarA5-YSYzmafb02wWkSSAapKD8Ew-nMPG9p6ei-uAuP7VAjEZ8WkGXf5IG4WQ2uaixK-Sdu3zYRqvwj1fjej99mH3RzU4ScWg==",
  "id": "rs_0730ee0a5a705988016ab44549340487d0ac7c5e2973c080fd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVTPDLIKEfB7HC58DUixxqqAT_y3D2MhUlY9iCdymP9MsC3O07KNxJLEcBJvFPwUcuQQRT0HfBJwjq1VlEZp81zPw_x2yrNb-BvJuap4JWTugzMd7o8aCU-KvCVqpdNSwcXjiFPcjiQy_jtVtsQM2cnBGyZZO0U4qFE1QH_lNgpzE5WV9WfVwRQlTZnaxlIld1wfoHjZjxAXya6Xn4XNE8C70nxDQ3I188odt7Nm_s_IWjRRlojAyTqsLmG6SYOyEn4WJeIL-W62QK8zei4K2WuZiYw2qSDB3pQj0GiogtJKBKL-RNOLLtpxoKf3CKvlADS0oKkEh4ONZrr_Gro9ameovqNcnDL2xkWjmahNivXI9ypOenDrkbvJmh4AcWZdCjcM1aXQZyf0r3_sx5fDlSYSpnTBJkUNj5DF4_ErX4CWOCdUTZOwZjpYPyjyJVOO9XquOAkTbIHwtNa07Nq3429m-z2Tnkc8sH8qXwrXHI1C-BGNYEWzX6OR_K5MRSmmsxTB5i0MPBBISIEyz6Yjet0NkY-jrUCT6IXC0efpUYUc44P1afu2W_x39WAg4Ebb7ZfpS8Ap-_9x60VBBgkWdPLChnTWUBAqvW7T5nr8y6CKB5-IyIEceZ3amoMHL7YiL9iKu9Y9IC4KjC8ztehxelVL4KMb_hHSMfapHb2axNbEjuoLwh2rp58I6W3_q7oiQJv5nN6lvBAM0Je9taIzgL2hCDUPzJ3xI9A_Sji20LtVXzjSGii-T5fvdgPid14l3hKOBPM8GgxWFKHLf1ByrSqJ29FFfoE-TEUhdJxDbbK3g4mowTGencinr5ECg35dPIVP9Oay2zllsfGcI32bsHmcOp77GAazb2K5YtqiNRlFIGRdwm7E6HNgD2IrXJHAk2MRPEB6MXry2Hr3GlayW6KQzoTmpcxjAas5_n2rC5Gt0GVGTWkrUi3UcUy_cdiw-osjE7dNt7kvYjxCHScmew5Ji1dVWsIebK0FZ48-YUDTAMbAcRNEyoEs0sGMmPqjbMBW_jD19V0vE7RR7NjYyRc360kdfy4Byb6fUiO9iJQm23DfkXlcZa2Hz0tlcslQqWqzD-jExIHbZ9ywsJ_qFldlHyuMPTTg4SAwGgOXGpijVqBoiGDlufIh4APUCi5d_hCT09Xod1mHwl06y4NU3UeSwyY1hsHprF9sERynPS33D-IRIeT7595PLiUFkPbbw2w0SwkbHFZL-11PIAwPTDTZRYYlZrboB8YX6wVGBMImOQ7Zegd6V9YRCO3A6HaMhHkibGVxNbA7Wj7u_i4bniyys_S1hqBCO3HJZvEIvous_4t_Rr31iEEplvRJ4meD6p35YURNXyYaw7ok93NAZc5uc1lW5W5tQr2CuzQ5A0Wj30YNwV_hv3fO0MQn5gpEDm7C39bltEZ6-AkO0hk9bHW6T-n-wQ8uCd0CFM-JFnmi-rKoh7U4uPrkKxWKTWmBHAFCX3pmuCm_Y23TSkQddf8qEB63mVDUE3WBUipG6Fv46ZBB-AVj8nx2G4RCdQt1DB1W_clzBom1ttI8YmzrfNvgejBqi2NL-UwtrUqtakEkxUYZyBiTWjMtHBYZTvlHM7px-VaKm42dFwvh23eWjG6mONUmzXP1jhX2XVDiQQVKRup9qTovfmkiEqUzyUL8vOmsFGamGbKRjnXObZL0bnegZMv2a2Xma6nQ0-cA16aUjtJIDoPOuv8vPdXnSnFzZvUZeouzJVKDcLY5qKMO9Sb3c_Vn60CUD7k0jOQfomE3jmRluuSztw9jBu6Q3GpMSmMkT18Cb4buo85yY0Riidx7DOpEB8ZGGzOx-1FkL6AzitGBmRdUcLrBQxfKGDs_7m1ND46ZUpR_-jbW4wzmH8NcxeaLsEZAtzahDi4y__sZlIsozEsoCzsqjgYC2JH6w_QmoPqtmq4xJBh9_zgIf7o6yI5d1zKga4vhrq3ZvyrE0kjW0-1KkiVTPMpCp0bQ2CsyQx5a-PxiVxvpCzluGiWqwJ0gnIEu8QtDtmhoNi94rAlFBbJ6iaVKkEMXIAp7MiekH3syqLTnabNmTl_7zbvoX5YitQIK7wOVWlTPtOJx-snp_VXW6H9wfjWQmZ6TZ-V7nKUeRftM4Ry4rbRUpQtAaSA0b9pM5p3en1-uVUGHG2wSfB7O3L3pszPzQKO6qhzMhRE2tU52DItfzQuau1sBE5hZh17vE7FJmoOCzQ0jyJug2HrS0WccgR4zmNuzjFQx40XmjBca9sPehwQXPH_Pre7lU_v7b8HCSXRznoqdazYKtOzSoVEnWts7tzXhU3JBTwN37cgX-mgZBaeZU8KTaaYrpRK3hYP_5sMZH9lJNFdcpDPf6_PX1PvAhbljYDU4otUbBjGpBbE9Gc8fAZ_uGQ_55ERCximEf4422OWk6aI93Ch6WbUce_fa-Fp2wDNJ8fDaLbVgKFX25xEb9xIDCupJ2Zm6sQJynwAToTZRCTdRzGL97dV-f45_PvdHeZLGcqhRJYAWhA5cv3kfuyCSNi43HZqnWVFkBEuBgWzzctF9CpwFkichFdf3b-g1iy5O3-45OE6wzwgAVOLncXL3HAiDPKfEw3axPDHxP5Ik5lhWv5Qm3pd81pj5VqI_0mnYIVme-2TxnOlFRLhw4ltfMjtdD0eUoTdlB9-jH6pvvAomyAHZQfsWzIeWYMbkdcyIgv6JE-K8j_1GBs1KWa0QsLiPDk3CgIYqlUeqlMUuZiosdl4EUvZ9bbLl1fgKXNlNnE2HPXvCVdV1ntdcWvyeU6gDHoI5sKaDZ279sRThBWUKQF4gkiS3sefLcqDBpNaLdGCzINixVsrlNL6HHO4mbqDikBwmqMeHvCY6-h6DnQ=",
  "id": "rs_0730ee0a5a705988016ab4454e745c87d09df8ffaeaac522e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.28,\"right_z\":0.1,\"right_yaw\":0.78,\"right_pitch\":0.3,\"right_gripper\":1.0},\"note\":\"With the arm retracted, the overhead view confirms the pen stayed on the table; its shaft runs from upper-left to lower-right, with the near endpoint around (0.36, 0.27) in the right frame. I’m reopening and approaching the reachable near half of the shaft rather than the very thin endpoint.\"}",
  "call_id": "call_zk6d9ak3RCuwlEVJGtnckhK9",
  "id": "fc_0730ee0a5a705988016ab44551e4ac87d0a7b2b41ad841b3d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zk6d9ak3RCuwlEVJGtnckhK9",
  "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]: [-0.0181, 0.9073, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5323, 1.8145, 0.625, 0.8642, -0.2619, -0.0856, 0.9953]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1821 left_yaw=-0.0081 left_pitch=-0.2716 left_roll=-0.0359 left_gripper=0.9998 right_x=0.3704 right_y=0.2754 right_z=0.0864 right_yaw=0.7997 right_pitch=0.2474 right_roll=0.0026 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.9214, 6.9812, 1.4676, -0.0171, -0.0708, -0.0171, 0.4171, -7.5556, 7.0632, 2.1612, 0.1294, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23eb93cfaf17dea9a44d3a374c86fa7106979fff3dd0642624ddf5844407a438",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e59a0526af6ba3cadcde9ac434463488dd48f822a1380d1c3c44dadf5da9263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a901496cab37468662191a3df9fcf375089a9fd5827c12f4afad725abaa1bca2",
      "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 · 5.27 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 93 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8967, 0.8551, -0.7868, 0.0067, -0.0521, 0.9998, 0.524, 2.3199, 0.9337, 1.137, -0.297, -0.0761, 0.01]\nstate[eef_state]: left_x=0.2693 left_y=-0.0025 left_z=0.1864 left_yaw=-0.0081 left_pitch=-0.2567 left_roll=-0.036 left_gripper=0.9998 right_x=0.4361 right_y=0.3158 right_z=0.0168 right_yaw=0.8231 right_pitch=0.323 right_roll=0.0 right_gripper=0.01\nstate[joint_eff]: [0.0068, -1.9761, 6.7077, 1.4481, -0.0415, -0.0757, -0.0171, -0.2256, -12.465, 3.6171, 1.4921, 0.0073, -0.0317, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9039, 0.8551, -0.786, 0.0067, -0.0517, 0.9998, 0.3664, 1.5433, 0.5739, 0.7017, -0.4225, -0.1215, 0.0066]\nstate[eef_state]: left_x=0.27 left_y=-0.0025 left_z=0.1847 left_yaw=-0.0083 left_pitch=-0.2632 left_roll=-0.0357 left_gripper=0.9998 right_x=0.3687 right_y=0.2229 right_z=0.1469 right_yaw=0.8003 right_pitch=0.3177 right_roll=-0.008 right_gripper=0.0066\nstate[joint_eff]: [-0.2256, -1.7436, 6.694, 1.5311, -0.0708, -0.022, -0.0171, -0.1983, -6.7761, 6.4479, 1.8584, -0.022, -0.0708, 0.6764]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9073, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5323, 1.8145, 0.625, 0.8642, -0.2619, -0.0856, 0.9953]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1821 left_yaw=-0.0081 left_pitch=-0.2716 left_roll=-0.0359 left_gripper=0.9998 right_x=0.3704 right_y=0.2754 right_z=0.0864 right_yaw=0.7997 right_pitch=0.2474 right_roll=0.0026 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.9214, 6.9812, 1.4676, -0.0171, -0.0708, -0.0171, 0.4171, -7.5556, 7.0632, 2.1612, 0.1294, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23eb93cfaf17dea9a44d3a374c86fa7106979fff3dd0642624ddf5844407a438",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e59a0526af6ba3cadcde9ac434463488dd48f822a1380d1c3c44dadf5da9263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a901496cab37468662191a3df9fcf375089a9fd5827c12f4afad725abaa1bca2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVXwNaGBD6bQetr8y-X1Wh-G8zT1hpjUawdtGPHnazLGoRKFHQfIOU3TeBkthjOLtSeg9Dlgg97rhaUJjA7r7RLbzE28zFeCb1TbSGxKiWw-VO-RnH38ltST-MW1pdUW6-9xh9wvtl1iGKPr-9qnBF4azFTCMAj4TkclThJxeQiwNIDHSb0OAmvdq7JtmitCUPzKrn3xZKDEzY6amtlO5Qfcf_IFLzA7UZ65izofMJq-yNuWle49pJstVixm7LhRQatZvKiOFKPXrP-ZMWJFVjgRZAigSU52n1cNc1D0j1sxcoX8ViUoJ3JmNhq4MMJo7dAPHtnMIZp_7WWwJGZa14OBMSqeRQxbXLJuMrRMOYUfq4C4nXYOEvnS1h24HXcpYv0WNfN1EArLeAzkzIXlrSrzE1n7FSBvbOJK2ioJElHBL5GV9AfXz9o6KvmaKUB9h7UMLpI6GhiBIcjHJ6aoL-b23HFX3N3C5dQXJBwXiDm1roTbfsnb8V80vFt05vzYfkR1CSYyeN-TnACQUQGZDqQ_-QoHBKdV5BnMYNsioolyeJu9uRwgMo8YNtyajcOgpZ4BHYhEzSJgssL4dnR2vzMOiX8H4PQlp9vC7UXU78_g9UnOH2HfHrqJ6_rjthW7DiJ0CcGXwiiTF9DymO5fN564wRopAos3RwbVze6MvkdHjg62T8-Naz0xUp8jDhmV9Dq7CZEi-V-qka1c13J-gzDZAq1uXPLd45uOayHgQrm4QI304R1pVXaMal2928oa73S_eL8Rorpze46NTRHwKLJ2WLLF2DV9f4Ee4jItQdAcupn_K6nyLVRyBsAuuNwBUmyhljI2cWZops5Ygha9CSWm_QD0wneWm3EntEcQgjURCEZAyCYcl4fubogs6DDOnUvXdmkYJJ6y25IFW_dMqkI6pXHvGWRIf8LcYjk0yvyRXkDxiVL_UKqt2B7fW1HM82G0en7Avbjt6mvHgm5nNRtbFnsMybHg8Yd60TpgxHBY1jTqC8ierDVxVj9Qvw8Ix_pSleuMkXsnlRqIuYSAd2kKFR62vaR3FMCPgTcMGxd65NvESvjR8ooj5gZYI4joGCjrNmAnqPgUdI76bd_YDcgdSsQh1M-WPNEIVsOa0VmlWVERR2GNsf3AbgxzriZz_bE_SNP9rcw5BKLy0AqJN42Urfw5qMdX0LnXaEKFXzGgMpKMPx4Ppx6cWAY27RScQb7936q7xroTKgRe6P5bJx6KB53icWf1w-MhQtHb4qieQ-LpRyBk1hTpp05-T_9_l3G67S1gdd630nX5nsfG-SKDb12ZLPJb3IwFLf3bI3zGUhtasDro4VsAcg1l19Z6txSV8nil0Ln534boHsRZkDnvloEGZeou78j_LMgyUVZ_h-U-X1twp7Rz4oEaFM1VwbWZmaykfXO5CSiOdRaXBCXuUTt8wSjf6jY7PnraO-muLTakn6-tys4vj2gPwxSWk10yo6Xb2qvUfOT9KmNyg3VuMDcSq4A05W5Qjr_zz6nzkOp8DBtTluTJANxXb_ExUXOa--qlsvGT5TnUYm3gykgz8eDoLCo7FQIpGhUAMvPvXGI4fABrf1WIvO8fC1bMKYITU3bI5Y_i-J3PT5RR6KyFueDjaqOJ19Kr5gsz7ZqqGRp-cHbKuMRvEperpJb8c9VTOygj7NFEdG4lPatrCjRSdm3ETFkU76F_fr1RxBr5dRFo0uPh05gMo088ewWYs35qIUk2UJ4ldmZ2yAR6ePZSUH63TOzPXYxaAcjn7w3eSnUbCIG32y7eF9oP6EL7dqeMxd592dfEnwSvj2WC7oU8vW_-GFgbp3SyM7Kh3rfHw5OMAWNQJ_W3Hu1wbjhq7tvt5Degfjq2YIbhk9Didb5Z8Lq6rr04pF37whD7SXNkjDokgQNtW3U-Ci9V9sBKYSWs7y8njfHm5EQKjb7yfp12AEzpESsBw9VstXYTnAIcyeWm9DloayWqIP6bSzcwD5ik73j9qVselo1GiOFXHxPQ6jVWHuljsNff4c9ppsAeVEDJu-cPEBhMLB2QD9bEjVhtuIRBJ0dWLVDOfqhAQiZfg==",
  "id": "rs_0730ee0a5a705988016ab4455539bc87d0870470da78a2c486",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.0},\"note\":\"The right wrist now clearly shows the silver pen shaft running into the lower jaw gap, only slightly right of center, while the black cap is well to the left. I’m descending vertically at this reachable near-shaft location without adding any outward offset.\"}",
  "call_id": "call_mwsVhltsQBX2WBi0pDSdJSNd",
  "id": "fc_0730ee0a5a705988016ab44556b8fc87d088341ba455375982",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mwsVhltsQBX2WBi0pDSdJSNd",
  "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]: [-0.0181, 0.9115, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5362, 2.17, 0.6086, 1.2129, -0.26, -0.0933, 0.9961]\nstate[eef_state]: left_x=0.2698 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9998 right_x=0.3685 right_y=0.276 right_z=0.0036 right_yaw=0.8045 right_pitch=0.2249 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.9761, 6.694, 1.4383, -0.0269, -0.0562, -0.0122, -0.5402, -7.3641, 3.494, 1.1258, -0.0806, 0.1001, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6a2270ca538e9b8aeaa11e56eee3064fac4eeabcd492866d3990efa9784124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558e32f495af63f3b29ce7608761593cf9529b34d58efa8215074105bc9da45c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966140ba74a03d5bc3861b5fa0cbc42dbc68f04b9f251bb10a6c374014a0d503",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.105 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 93 changed as sent

message 97 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.8986, 0.8551, -0.7868, 0.0067, -0.0517, 0.9998, 0.524, 2.1452, 0.9215, 0.9642, -0.2974, -0.0799, 0.012]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1859 left_yaw=-0.0083 left_pitch=-0.2586 left_roll=-0.0358 left_gripper=0.9998 right_x=0.435 right_y=0.3153 right_z=0.0625 right_yaw=0.8246 right_pitch=0.3132 right_roll=-0.0006 right_gripper=0.012\nstate[joint_eff]: [-0.1983, -1.5932, 6.6667, 1.5311, -0.0366, -0.0464, -0.0171, -0.0615, -12.6564, 5.3949, 1.7949, -0.0757, -0.0024, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9073, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5323, 1.8145, 0.625, 0.8642, -0.2619, -0.0856, 0.9953]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1821 left_yaw=-0.0081 left_pitch=-0.2716 left_roll=-0.0359 left_gripper=0.9998 right_x=0.3704 right_y=0.2754 right_z=0.0864 right_yaw=0.7997 right_pitch=0.2474 right_roll=0.0026 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.9214, 6.9812, 1.4676, -0.0171, -0.0708, -0.0171, 0.4171, -7.5556, 7.0632, 2.1612, 0.1294, 0.0806, -0.1832]\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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9115, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5362, 2.17, 0.6086, 1.2129, -0.26, -0.0933, 0.9961]\nstate[eef_state]: left_x=0.2698 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9998 right_x=0.3685 right_y=0.276 right_z=0.0036 right_yaw=0.8045 right_pitch=0.2249 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.9761, 6.694, 1.4383, -0.0269, -0.0562, -0.0122, -0.5402, -7.3641, 3.494, 1.1258, -0.0806, 0.1001, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6a2270ca538e9b8aeaa11e56eee3064fac4eeabcd492866d3990efa9784124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558e32f495af63f3b29ce7608761593cf9529b34d58efa8215074105bc9da45c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966140ba74a03d5bc3861b5fa0cbc42dbc68f04b9f251bb10a6c374014a0d503",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVdzdxAtr8gu1YVZZfNtCc9L3BMqua-mJBR6AZQBwDsizBDkJWdfX6DYJmS9Uub2Xw4TQ4uZKOfAcM_prbuVzIvkTewMYVve2g6Mg6C5cTck00R5BBwxmIZWSNZEflytBqSCO4v0qXazq9j6QS9OBfEmPbT_EoNrWN76hw2SnrZ4U3zKzqqAz16jF4zHsixkyJEfHOSmI8C8CLGIwZzphYV4ekfsjFSkl6ZHXdwpPi4o8EafinbN5yhZ1Wtc7aqpEjGHNMhQC6cWvw_OoVhRqwqflP6oLIbl0XrL4bdu3xmihZHEzK-TlJGPNHxFBa1XkbApLONafUuSnYDG1QS85hnlRL1JrPUfMYqMklVu8UeCas2gyLlFehEdtvD5PRYxBbfhvcQClE8pGl-STxSQiZhzMZAZWaaKczaEwwPNmahzuIMe6JSeBhjH6_KihEzoBt-r43moB8P6GABp03ZnlKTskS_pJD00TDFN5vbSo7e1OPOHFvgoGJo2MjWrgx43onPLlUhaYueIPxnamhOLPgK8s733a32neUCZgry9S5st5ifkeIw1CxgSFVouDUikKskqAR-MEULIDyPauQ-gxh8vLP1CA8psAYcnb1NDNRd278jcbcwKAop9eXXwI89mmcn9B5N0EGyWwLXrWs2SU9gC4eafaqDxcdXAGPZar8zNTCdZXU49mx9iB6yicveUrd310PtY_cLE2IHUqeqygpP08exHU8yNk2ReTPK1DU3aXkxfLWhQnPkgyxmwUG9zSlJYmiThhZs4MstDhQEJjH7QOMpZ-MjF6bcMOYmeP6tgi5GExvJefEbmYpLdjnrKp1OLKkAtA1hXMu3T8Rzanaxt_3mcebiHMfjcGQ2RZT4mJMgZsg8zvdfkweDbkEDEcpqXvqIgGGuiphrKj2DdtEJlM8jikHYieFKwL3yXUDaNGsF66f51I7HcouSKMOf6w1707EvYUKpL0P4h_6DHqeYZowxTMqy0mfZC4pVFSsV_C1Nxp3-D2Nx942zHtMm13BTvKhbN1SUuYIXTedokL5KjzWKBW-PwqjSTmHdqL33BzwdWd2VndXRRbEXxupU1XJhv74_QqFdRKQ7YjQt8ApNc5rV9lC68MOMY_4gaqPRIT8i8lIH8lFSrPZnaC5bF5U90bGm1MSTuuPFIr1XwhiameDrqSvRhzG3r2f7w4YnizWKPILWLgGM3ngkJjvRDeMLA3SWosc9z_04ZnPfdBoTP2QVnX9UVbdNKT837doMaMJQsEglFAPJfmO-4VZPn3ipY0HodOO3mG3y7hAQ1a7HMemOULj9M6HfW6NVnXu-jenzZ4zmuEpkW7GDcjKurs1VLfT0myAUKv18Rdp1P-Aab-34EIvLE1kf1OMWovPVswoePB8J6QrPWs4CNyaEbJ59fXAl9tSpzMsBeuf71QkrQ5-J2gMj6trCiHkJ_lOvF3IU6aLWYXRGT5_iQZPsQRnD6123Cjg4QHgkJpNzzAhYogKxpZIIuYqWSPYGH1aNz7HM8x5mKs2pzENkk8VBe_sIVsFqPvnlTUpbQFvegumf-Q==",
  "id": "rs_0730ee0a5a705988016ab4455b805c87d0a8cfeed99b3539ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pure descent reached 3.6 mm above the table, and the pen shaft is visibly between the fully open jaws rather than ahead of them. I’m closing at this table-seated pose to grasp the shaft body.\"}",
  "call_id": "call_t1MyzY4K2vAuKtxZpSJHH0kF",
  "id": "fc_0730ee0a5a705988016ab4455c589c87d08d9dd15c94291ce6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t1MyzY4K2vAuKtxZpSJHH0kF",
  "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]: [-0.0181, 0.9119, 0.8513, -0.7868, 0.0067, -0.0521, 0.9997, 0.5346, 2.1891, 0.6113, 1.2423, -0.2592, -0.0948, 0.0526]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9997 right_x=0.37 right_y=0.2759 right_z=0.0026 right_yaw=0.804 right_pitch=0.2373 right_roll=-0.0044 right_gripper=0.0526\nstate[joint_eff]: [-0.1162, -1.7162, 6.735, 1.4286, -0.0269, -0.0415, -0.0122, 0.0205, -10.5504, 2.8239, 1.5995, -0.0562, -0.0757, 1.326]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b6779d117f1b70833d00e40327ac83aaa2ea5af8c871dce816268a8aa16a76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b568f35beb86ef0ef8b4bf0cf68c50bf7218758dc2aeca559579216daa838f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cddf7d61865bea5f14326e630608bc4d429bbadd40bfcb3a521877c0001bc58",
      "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 · 6.376 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 97 changed as sent

message 101 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9039, 0.8551, -0.786, 0.0067, -0.0517, 0.9998, 0.3664, 1.5433, 0.5739, 0.7017, -0.4225, -0.1215, 0.0066]\nstate[eef_state]: left_x=0.27 left_y=-0.0025 left_z=0.1847 left_yaw=-0.0083 left_pitch=-0.2632 left_roll=-0.0357 left_gripper=0.9998 right_x=0.3687 right_y=0.2229 right_z=0.1469 right_yaw=0.8003 right_pitch=0.3177 right_roll=-0.008 right_gripper=0.0066\nstate[joint_eff]: [-0.2256, -1.7436, 6.694, 1.5311, -0.0708, -0.022, -0.0171, -0.1983, -6.7761, 6.4479, 1.8584, -0.022, -0.0708, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9115, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5362, 2.17, 0.6086, 1.2129, -0.26, -0.0933, 0.9961]\nstate[eef_state]: left_x=0.2698 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9998 right_x=0.3685 right_y=0.276 right_z=0.0036 right_yaw=0.8045 right_pitch=0.2249 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.9761, 6.694, 1.4383, -0.0269, -0.0562, -0.0122, -0.5402, -7.3641, 3.494, 1.1258, -0.0806, 0.1001, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9119, 0.8513, -0.7868, 0.0067, -0.0521, 0.9997, 0.5346, 2.1891, 0.6113, 1.2423, -0.2592, -0.0948, 0.0526]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9997 right_x=0.37 right_y=0.2759 right_z=0.0026 right_yaw=0.804 right_pitch=0.2373 right_roll=-0.0044 right_gripper=0.0526\nstate[joint_eff]: [-0.1162, -1.7162, 6.735, 1.4286, -0.0269, -0.0415, -0.0122, 0.0205, -10.5504, 2.8239, 1.5995, -0.0562, -0.0757, 1.326]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b6779d117f1b70833d00e40327ac83aaa2ea5af8c871dce816268a8aa16a76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b568f35beb86ef0ef8b4bf0cf68c50bf7218758dc2aeca559579216daa838f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cddf7d61865bea5f14326e630608bc4d429bbadd40bfcb3a521877c0001bc58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEViZXL_PTKdn71eYdDsHCTX1ItG4RmR1ndnps6qQHjxV1NrKcvPYqDz8cJEtR62SF0ChJiLcigcAEK2Er8TKQ_PleD7R6TPCYwoLT1Dsm7joIMwRZjYdLcF80y5cPC4Fk_70MdiGk3FoT-Pmpfgq-86DkQtJrC9hJTl9v9r9hoDjwadqKzt7OdoHgAKsZuTSE2TvChgzD6ge-WUaOX0aF3650v4MMxrILzz4Hb7lbBC5QTMFSj_AJHm4guXQ2ZGexEq9cJ-Z4dF4W4dr1gkIuhmAQ8PYPoVerts9Hpl9cTp2lBzGdvnO-z-QNmFUotK_wwi-AMotIPYx-TOlJW9gzsZ91Xk1jXIompng4rllwUTFniNdsCy_pDbjglrdYydNa867SC3EpnnsIDPbwUDz3O9bvs1WzVcVC5hLsz3mdpFv6MkSxzfWP-oufPOs72SwvjQyBEq4_CFOCBrJMr3rmBUFViAo1EKtubm80cjpAeuCS0TvrYEQUGqQ-u05AvvmOGX4u97-uY2G4BeFMqzFyRKXz02BMXS-2biUVR-4BN94AgKUloZmU4H9PPLDd3flnSHhRU0pf_5DsAlk9AGTpKID3NMylNZz6_j-imPV-UtIj72gtz_N2AL4XmVnZSxZRLu5ppkBWFfQeZ25Zcd4sx1kMydVmlVb_HEzeNtgPJnG95wh0hOY-D9nSQWf5mxzNugKuwfCzu3aulO-I_FWwk1q396_K2stbMptoFmXUTgzU2y9ahB_jBv2gaoxRrXdf28Q-kqevTlZuZ0WwxvP3n-ricwEJLXRSttqmLf8Fdjm8D5Bo27j4YZRhwt9NeclbrxAPf8G4Dr254Y2HxTWVa6szy87ZZXa1Eet8mDYUOaS5H8ubWzcRt1z3QlzhAQ4kA3UcXyErZd4-6iAazZQTFGAQzsNxiCBSs1BzDRE5xPdP0npPYbu3h-ma6CV_YCIMIT9imdLjSUMiyvPO9eBS-ljkxuOoU3RdKY-r0AE5-3kWfCIHW8ExbQY3Jb9C52OFUCiqjJdl18PqJ3aC_XLpkZrwnQrFNPIRC_bmNqNYcg7eIvJw5xwLNxKZhLZsWy1Bzol_VD_RllxOUYDnoM6PYvBQBlbsH6XutTE9EsCfzljw1JRgeHz2RtD2asQr-mPW_-_g9MZ09Dl-X-2jxK6yso1YJk-qtK-H9zVSYaVNGC9AlSIiyaEmTVUY955aQubpa5nsGvZm-cjGlH0qraGoqPjO_XeoXqP7rdu0yo6VjEWDglN7MRjcC6xfkijGE-mUU_ILOEckNm4_LroiH2pmU4mFWPKDh21jfLH_x1pU5uuSQyc74UKuIi0ESv9Prf-vmkvigVsL1TyTtZhcr_txPaQfbErD3mpKkhJgeUtYMW3x8kqFEAWQFdowU_vQffZrOAu2A2ZL9HT9YGRHwKFqON0lKSdwvXMPoy2L2kvMTsloSdxaiJsIfjlN94BEzrq-2XQvmOKeTPzYzHopbrtt5Kzz5yT17iniTeJrXqvz9hVbfOfvU1nw-CjDR50LHbSxLLeAMh5xQdLj5ZMDaz9FzzCHdr8sFrtIK2NCjbOKoeisrVQNsk-sm9TZvaAVCiRECkqJw_g2ecj8z4JDcRn4aob9Dgq2J9U6G0vlcWi7nMzUYlgAKPzQlW0NtCv6u993NtObDC1q6tza8HHXk_2EDPfpvv-IQsYJP-F3B4y0MeBxms7FDjvAFFlVv-_v57PWT0tS8Z95WSvXW2f01AW3Y8cLKqp3KTmCM9Mag8OhpV6STdDYPFklmNiXL3ZRw1oDzjxY4S6BORNJP9CgZi65IhrvNknAkOCu9FKMUDrvoEcdXC92j4H8j291smCjndTY9JcsMU7Mrvd25wuUjCEecAK9tw2JEN0qId3DGdVUFt5hEA5JKrV2oTfK5NOwP1ucIypgWa2kuKcvPnn5FOJm9NeT2i-fLebR-TK40mweyRib43ncVKKRtv-6NrVXQOEITyXuNA0q4XWJgPxjT2W7SKVEm3vl8tT1d53Xm7wGnBxWmh07EcccCfSLw8ahwQKEbcigtQSVZ0-chYgV2D_g_B6SykkfaRZteA2K20RblAs5voGMk36HExiv_U3urGYGlBr0CcAN-ULMbuO07287GIxK1AwH-NnJXhvCW0QTzk8H3XoU81G-ZERy1fQZhTkxSbevQ1WYiVqSZS_LLca2guc5JHN-Q3oZUUHpEjIkLgpJo=",
  "id": "rs_0730ee0a5a705988016ab445600d2887d0ad657ff7a1879daf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper settled at 0.053, corresponding to about 5 mm thickness and clearly above the empty threshold, consistent with the pen shaft. I’m lifting about 8 cm to confirm the pen travels with the right gripper before working on the cap.\"}",
  "call_id": "call_uttkuqZPHeiIL4lPMBXSN8OP",
  "id": "fc_0730ee0a5a705988016ab44561966887d0a7f3cb154f29db72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uttkuqZPHeiIL4lPMBXSN8OP",
  "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]: [-0.0181, 0.915, 0.8513, -0.7864, 0.0067, -0.0517, 0.9998, 0.5346, 1.8759, 0.606, 0.9623, -0.2592, -0.0948, 0.0613]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1803 left_yaw=-0.0083 left_pitch=-0.2784 left_roll=-0.0355 left_gripper=0.9998 right_x=0.37 right_y=0.2759 right_z=0.0749 right_yaw=0.8059 right_pitch=0.2642 right_roll=-0.0121 right_gripper=0.0613\nstate[joint_eff]: [-0.1983, -1.5385, 6.6803, 1.4872, -0.0562, -0.022, -0.0073, -0.2256, -9.1145, 6.4615, 1.7118, -0.0659, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230ac7123ddbd87de71e5f7f89d1479da47020f2687de0a6aa2e2ac2885f22ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a806ff6b6cbd1ab0b1590270bb2ddf9123a58c1af1d58e2df0c550905c6e6208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4799b72c759cd974250ac5390d747aef30a416864a0c0f4640cdb42b25610a13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 7.252 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9073, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5323, 1.8145, 0.625, 0.8642, -0.2619, -0.0856, 0.9953]\nstate[eef_state]: left_x=0.2695 left_y=-0.0025 left_z=0.1821 left_yaw=-0.0081 left_pitch=-0.2716 left_roll=-0.0359 left_gripper=0.9998 right_x=0.3704 right_y=0.2754 right_z=0.0864 right_yaw=0.7997 right_pitch=0.2474 right_roll=0.0026 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.9214, 6.9812, 1.4676, -0.0171, -0.0708, -0.0171, 0.4171, -7.5556, 7.0632, 2.1612, 0.1294, 0.0806, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9119, 0.8513, -0.7868, 0.0067, -0.0521, 0.9997, 0.5346, 2.1891, 0.6113, 1.2423, -0.2592, -0.0948, 0.0526]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9997 right_x=0.37 right_y=0.2759 right_z=0.0026 right_yaw=0.804 right_pitch=0.2373 right_roll=-0.0044 right_gripper=0.0526\nstate[joint_eff]: [-0.1162, -1.7162, 6.735, 1.4286, -0.0269, -0.0415, -0.0122, 0.0205, -10.5504, 2.8239, 1.5995, -0.0562, -0.0757, 1.326]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.915, 0.8513, -0.7864, 0.0067, -0.0517, 0.9998, 0.5346, 1.8759, 0.606, 0.9623, -0.2592, -0.0948, 0.0613]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1803 left_yaw=-0.0083 left_pitch=-0.2784 left_roll=-0.0355 left_gripper=0.9998 right_x=0.37 right_y=0.2759 right_z=0.0749 right_yaw=0.8059 right_pitch=0.2642 right_roll=-0.0121 right_gripper=0.0613\nstate[joint_eff]: [-0.1983, -1.5385, 6.6803, 1.4872, -0.0562, -0.022, -0.0073, -0.2256, -9.1145, 6.4615, 1.7118, -0.0659, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230ac7123ddbd87de71e5f7f89d1479da47020f2687de0a6aa2e2ac2885f22ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a806ff6b6cbd1ab0b1590270bb2ddf9123a58c1af1d58e2df0c550905c6e6208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4799b72c759cd974250ac5390d747aef30a416864a0c0f4640cdb42b25610a13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVpeMAQwNFiOpHi9vUrbTc6ontgorEteD5omTpNTqkVC4rPg5v8iTQHWU53HW_TS5t4Ii1e-34GjEfcEiCOarAAwkrMuEsksrJrdaNkaS5J-qE2APGNi_fjhSkbGQ1cHHGkvJYhEMHE45cosi_7U3XdBBfKE3Kztd-jEmbn_P4o8R7PZhXhYOE2PJXLDt8xG2baqIobAIDo3AIWuLYBpvzRsauuKyUdxrs8QGfT-1mGjiPr_QOyOYCWSPaVXZ1MWhdAAJ9_WoUAEI3TtiWWrD7Vwao3tAwyOeTNrnFEub4_h8hFiqGRzOmqz2LCjEQYbsp7aP5iIHHGMn-J8abXHtCMRlAD-4Ldopo22f-Z6iAdMzbqaBWLNayPWKz-rJE8s0v2YZMq3kQdmvU18F48PMNUYJ3IQIC9MFIZicc5IKgULo4jEHpXUTjyYF7jAJNI8vzbiebjwoqxPNBZw3WuTXTEySnxQfb3LyAXa-TPugrxlyrG8MfTlWRl-823JrWp0KvxJC6v2PJvd9m0aMgfFjUTiJFOiRzTHWhd_xXBPAaYx0KSrOk6EsLT9B9wUz-iF2cIY9wUdWLlZVIeu0DpctJCsCh0sSE5gdK_XGfUzx7lxcqs3Q1z7QwlsgdopiXBs-XqdZvIJAlnT5jC_G3CqUnS3YfBs5fZnEb2ZASelDjMi15DiLwlsvSFFczvGLwU2cJMWOrsmmdYFwSCB0IqMiG5uHk-Q_mDZb6kPaS_TVU7pu4peahI8oJpAvK6tVx48xp4qPlSpMko5oIEK-shFZ56y0O7-40axuhDJvt4ylHYZuMDUOBUKjY728LwYFu6fHf_vw5jlk2d18Ecy6rzYxGdokG1lvmvQOFqjkZkSbWExE1aUsNiz7Nn2MhiWKvyiMoA4OrjS806IYdcJFFHQxuvCYyBIRAS0SOq6xbQLUCLAVv3x9IMMT-tYq41EJurbv-wScNG-pETtWJeDrUpcKJsIubXq7v5h4UHJ0WqMHHWFERIUalo8X4ag9qC7pIs1cLrNDn_ASrSHJC8mMV58Etww0W4PGWAmvZRDQVFMeJw4OTqKbxXP1_lfHMB8JLKgmMohFrs-IiVhTwBmTwha0Kfcwz_OomcwIbK7urJHUOqflx_x2GbIFOTKn3ME1YD68fA_U7_fMsZfSd4AN1obX4ItFMrFWEuiV2SQOCPuqEhrEBs7akMcwTIFWjypxIWK1qAyofFWOjLKchy3cpT9o1JfOXdRdDCDs8J1n9V3biSJkhuwNBph7vTXiN2G82tmGdt5-Ag8LLhyNe9UvpvirwLxy8zlHOKsUp4PesYwB9zNbfwu5fmEyXXxWk3ohgtEKEGcY83IITB3sLBS7COebBh5--l1odgjtrbZXi50xMXvsAgLLdCx5Z3mWJmiRyJnfxHXmMM4s2vAHdg1hiUHUnCW12QC_goLlz_zjbPDXxbvv3tFIUa3bsQgEK_9nYopBmptihsae54k16aYJo0Bknn-gNOw-6fjQevyloSDYg8d88ZEy-n1944P4257R1FaXk0yaEoz_knvoUYABG9xfz8-8UFtGek9gRuPkefjqnMdybat2lWcNct0QZZH5eACAs5njqSBlKl8YE6rxWNoX9u1UlmaWuVQaMs0oSzzefC5SYxiiJIRJNdj12Ver1eGZ4narkFu_DQt0MtvTZ6vwXhnIGRKDLj_r5qWjhL8nUtdCbc4w_Gb-PD2EmahY22vYCdRt_hXJKucqwmxKcu4-0oB1rfypgGxMePVPyshAEtv9HABLldfMzBNNDtLKW9cpltg6zVN7hmBlsTTau3qarv4VS2GcSKtACi4Qas-1gpZ7BMW6U4HtH0Mwvaa9Re974eHPr_63iS1XKLvlFdbXuiSEfD18kRhMXowuR3rhzvTiYG9jIHcMPbCctCpS692d30Yu5MoL76XTXRC3vBOKL6IcQDOxVDEh5MsJIZ1IrYxRr7XpZrID7vPMu7vyezakblpW0fqihHT3L7f4a24Clsk2JOgJkOvfATEV36yqEXG7oWDOrUmbMLp4mQ3rbC5_SNFDYQcblJUdhGvrzlvJtKR5aldlpXzDUd2CjsoiFImJs=",
  "id": "rs_0730ee0a5a705988016ab44566608487d089ca80453fc57eb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.2,\"right_yaw\":0.78,\"right_pitch\":0.0,\"right_gripper\":0.0},\"note\":\"The 5 mm grasp persisted through the lift and the pen visibly rose with the right gripper, confirming a secure pickup. I’m parking it high on the right side, still closed, to clear the center and cap for the left arm.\"}",
  "call_id": "call_u6JnV4dLvlEENHwRCrnPn08T",
  "id": "fc_0730ee0a5a705988016ab4456832cc87d0b2bc27c5445cfb99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u6JnV4dLvlEENHwRCrnPn08T",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9203, 0.8505, -0.7872, 0.0067, -0.0517, 0.9998, -0.0216, 1.0775, 0.7677, -0.3836, -0.6216, -0.4736, 0.0613]\nstate[eef_state]: left_x=0.2703 left_y=-0.0025 left_z=0.1785 left_yaw=-0.0082 left_pitch=-0.2853 left_roll=-0.0355 left_gripper=0.9998 right_x=0.3133 right_y=0.0997 right_z=0.1906 right_yaw=0.7332 right_pitch=0.0149 right_roll=-0.0201 right_gripper=0.0613\nstate[joint_eff]: [-0.0342, -2.1265, 6.7214, 1.4725, -0.0415, -0.0415, -0.0171, -0.4581, -4.5333, 9.4154, 1.4237, -0.3492, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0823737e299d0643cb626f9e364fd3b469057bb7dd5c50f0090382ef13a4c9f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fa6b012de79e87337264a462dd532e93c2fdfdd3b03aab383e6a0269c5f060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712cf893dce2b8ff9af15a883f878eb2fd306cb5cd8b7c7fda9713163e8db670",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 6.661 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9115, 0.8513, -0.7872, 0.0067, -0.0521, 0.9998, 0.5362, 2.17, 0.6086, 1.2129, -0.26, -0.0933, 0.9961]\nstate[eef_state]: left_x=0.2698 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9998 right_x=0.3685 right_y=0.276 right_z=0.0036 right_yaw=0.8045 right_pitch=0.2249 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.9761, 6.694, 1.4383, -0.0269, -0.0562, -0.0122, -0.5402, -7.3641, 3.494, 1.1258, -0.0806, 0.1001, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.915, 0.8513, -0.7864, 0.0067, -0.0517, 0.9998, 0.5346, 1.8759, 0.606, 0.9623, -0.2592, -0.0948, 0.0613]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1803 left_yaw=-0.0083 left_pitch=-0.2784 left_roll=-0.0355 left_gripper=0.9998 right_x=0.37 right_y=0.2759 right_z=0.0749 right_yaw=0.8059 right_pitch=0.2642 right_roll=-0.0121 right_gripper=0.0613\nstate[joint_eff]: [-0.1983, -1.5385, 6.6803, 1.4872, -0.0562, -0.022, -0.0073, -0.2256, -9.1145, 6.4615, 1.7118, -0.0659, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9203, 0.8505, -0.7872, 0.0067, -0.0517, 0.9998, -0.0216, 1.0775, 0.7677, -0.3836, -0.6216, -0.4736, 0.0613]\nstate[eef_state]: left_x=0.2703 left_y=-0.0025 left_z=0.1785 left_yaw=-0.0082 left_pitch=-0.2853 left_roll=-0.0355 left_gripper=0.9998 right_x=0.3133 right_y=0.0997 right_z=0.1906 right_yaw=0.7332 right_pitch=0.0149 right_roll=-0.0201 right_gripper=0.0613\nstate[joint_eff]: [-0.0342, -2.1265, 6.7214, 1.4725, -0.0415, -0.0415, -0.0171, -0.4581, -4.5333, 9.4154, 1.4237, -0.3492, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0823737e299d0643cb626f9e364fd3b469057bb7dd5c50f0090382ef13a4c9f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fa6b012de79e87337264a462dd532e93c2fdfdd3b03aab383e6a0269c5f060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712cf893dce2b8ff9af15a883f878eb2fd306cb5cd8b7c7fda9713163e8db670",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVxFxomItE4qUALPeIzz4-k3MVADMMkam14csNQ4QjRLFiw7byeYyYlSgyHTmZRNcJ11qNhJlkEEq9GS8PAyLlv7YRWb1YZPmQItIsflVTwc9QG8Uv4YI3k0uJJuTleakwiYbnglpflOJWTFX02-QoS4qJgAMccc2nXsYBUReiyi0lIFwp1557B7rXFE0rBwYnUScXjhbsDGNFbVWcl5PD9mZJcR-Rn-U7_KmwXXWEeFAJdWFvfeIxpHoHzm7oOdcc6svt_TNDvV_Ve_Dmqg9EvY9CWjhFixb6DcFNBCYTOnDDOJP9pt3Pci6jz0nEGXmLORgAAfgpQZRuXUzcCZ2pMXI6rE-cjXYtGJr0xRPoLeuXUVNtGN9OefRi6pmUQk8Ts4-UDYaNjCm1zwOGJLtiIdL9ue5QzgoyrEIOGMUg88_zftwhsV0WoK08U7-_vg2lkP5X7jH5DfL9mVDE6uJBwNOJ_UUEg0q1SZ5zKWj2JLRV0x4skXILEOG_zARINjQ_WdtcI05ej-r8eEUdNovqL0VuZCdqmEyttbNtQDfW6CQuM-QI8ws1lpnW48hDGE2215t5B4XRxD8VhQfSLA0DJoXJz4nhjw2HBRL1fT-8azS-RcOqmzImILd1ylrN6QgHf5dsQ4QdtTjtmuceey3ey29bvO7ItZ6dbkIvZrFgqKEMGDD0l_hcPCM4sRw9zeFpXfSTjis2SEWWTS07qJ147C-wNuNNtaoj2o3vM5af9HOyQyuUjZU6jWCyJgVRh8d4EGVZeVnifc2oGCUq3zk-Bz04BCvOR1EIGl4eZoMgdfIwWdALV7Jr2DzRabCr32KSNHzEMrSx06cJ-AcSjp9xLfAO-q_v4CeAGj6wTRwamElF3TT5FkZgQOpSfDZNPAD0t32SDrTjxjYJNY4euMa3S5C_c1RpZywjlDt7X98KgsVu4jz3leJbx8JmnuAThhsPuUZMBLs2j7Rh2SJB9koCXrYIPzNNpvN3QcxNCdJCQtbQQLBU214fM_-q1PXpZV-6oZetZS6hd4-DzvbrHwaW9edrRDsKuYwyvc3mvRjbjXkm0b3VHTvx9HbsCLcvUkwfNRgRGJcUpUdacW8yUxjRsk73rpaydqbet8RKIj7F9vlfUNKmsH_gGeB79R2dSE_WRZdpOY3vbc-g7lGAz77CCeLHE8geDjFHh8mdbqSQnkpdorJrbwzkQ2yazPh0xYFjw5RUp99HfwF69ZKxTGS-Nd56l8zBfMGaFOEGQpw0d2gmRo-o4W9LoiEpGtzrYtVsOKu6PH344zUKbrT92pKko8t6wWv-1U-4WfMRhTNvYhpuX2NIGIfTX7Kt-K9VZowr1oMg02WJcyShi4HiHd02UdUkXXGrglYi-1DeEAQua0PS5seKokiOYYcMSc6UveZuvVog9J4CGqWBxyhrMcfgln6rK_qMIpyZiy8m4NhruRVVtP5PpxLdK0Pgema4M9ipHjt8Uy5sE366OmGzGro6g18g3I6xobbN8pfZRmczCeDUYJoMTCf1oREIyT3SBVU-GwJe7cxuW-PJeHxjixSyjm3OAC4NUzmUcxIfEA-1dy0qD3-YjPklgMi_O983_EY_YzMN0yucYAuvDEGWibESJ9-Jw5Elx0FdLWHki0VFm01h4NdKMTipegpTd_BZhM0MDsLFvKovSoMvSQC2eK8DZAXt5-ece2e5VYhcGMExxr2iXIAueMXUDCXN6rRbpIdyYLKOUDyT9PI2pgpJO_z4-GO4Jpz9Ux9nipSMj7gi-b_jAR1JFWIIhiDLbcbhTrnJ530Ga3xn1VE78V2VHSW-Xe9WFpFohcy_qtcRlAohW3zWnqTH1aUlECK3M1pxnmM_3HapM3n7v_qLn9SzY2RXSFx2jMNRcggz8WR5yBUrpARyJI-wpUewyulxIdjSAfTq77A8ZNNwm4hIFXn4S1IfJO3bg2bd6Y5IHuWnifegiEOoCDVtDUh8tKs1ZVVlEIwr1i4PF-J6TeuJg4xNP0WV9JfBaQGaB6y0rUeVBHy3oMNJro83GmkplBIVOxug34zgrIHWPw24iFRPyQ0EBNJ5PWp9bEYrAbmDWFzCDEdbFyFjnUo2vnGLbOoIA7tpEjozHM7CXVThervGcLaKkk8cdj45yZ29vaEnUBtY3YgS0xL0NmCuMlenEF6sHrk85Hx0Otgowr3gqx7qJ9SAXJjEEiu9X_w2SONFfFlwU_3Iany1GqvNoCz5l7QakUCF0prCfQBLpyHQpM8sCKJIQy8h19YBWczyx30Hta-UP2ysmKYi8qBQyIFzJgsKc-qNAzBQg4yQpPpsNZbeNsKlsq6PxP6Gxqd5uWduOzbsyNm4jwvc-G4pcVTeCf13AfYeTR8nMWKW5Effc0YAE4FKZtxLW4sMg2UZV6u0OwUfTPXN2DJ6VpVHO-sxdFQbS-8bTENwq4YudOB2Rl8vclnT2wta2ixGq9yCwKRtBTaU7W2LBdljfIa1aEV2GlWmz8xkegaqGd2LcoY7GkMuPV_p22e4jHtY2Z5d38J8KXEcJEikbbHDbZmAuR9AcTPNbB77i4XAXK_rZLSUUhax0J_z0rtfg_KTDZZzJIsf2JzdCR2GaNRxeIxq-EBuHfY2vIwFl2A2xVZwE5RrTdVTRQ4u-F5kmpG5oNicvgXfxf1McEzCKGxoVrYJMXcEtV_8Bla57Xi0a8WXTvlfbqeg8lK8y58-jC-xQ_XhaLgnnzzce_RJ-MVTWdqgFhPqqfDBy7FILHTGKD6pvzUGW3iJ0oF1MVj3MrzKSjnVcwazkmuzv0dtiBYptymseYC83MO-EAhkRwPmpv-INM_BSExaJSxurL98ZOKbjqJwi8hx26Eg0OOQjTZtBtVR0zE34-IwBgbkopG73psxeHSfLZXqO6jG7N3lu_fOzR3D-1pjAw_Pq3AqJdkhIqGApMMpXCNa2IxqTk1a9mh5VLOWFInbXeqRejsRfwjxEWgHmU4AuBny9iAkya3Z9WmBW5cUY0uV2XMw8yJjcqHjDBUHdQpd5V__P0dyBnDWIR7Q00jzcAl3qcjiM864qYf2ouRWnle34bAZ6j-lf5Np7VN5Qv2zUCkS6fHAFS_1F-eglmUDz5s37xdudyJ4m1KChX8w-uzQ50D_IHHPpKku7z_wYh6k8Nf92796g3l_Xd9l0S4QmJXDkUkaQrq6iEs5BzkrKN8SxYK-BDYD1e-uYmtqgq4ahFaNrUbTKYEoQvnG-385IPyS4z2JLAKQWP8ZGQaAaKlFX3XgZx5WRF_jQeqiooAFCePtjUBpthdaCtQX76o4chA5IXq9Q4SKXBETnXESyJkLqNOshI_bnoS2ONaGABL_IYl7Bob1K_jDzZAIPF3ieRckr9wbYRHCprsbf3egTl2A9ICRvd1pBRfnjJdkAnbOuopNYmur-tIcZ4IBg-c5apaODPxt4JEuU5aW2p5X7QwgsLJmO0hEl3f7Bio8sm-5OQjvmFJmq7FznAINejP-xz-O5SmUBnNACnRiBR_338QQqyjahte0GUnxTmrTbOiJDPjUWsD5KGQcX0OtBEyoxyXa8Dv1xYfr1v_bNF4HSCHeNzwOKGbsRm_0g4KOJmUYVIVgNIrLf6jc3x7czPRYwYdlF4gMZUNY8UmJ_jDtz1EkWfQmy9c323tDfvVQzbNoU7mhFElAb_g5gwnP3A8_7aHBeVbUNoqlzI0DoSRBbfioqPZnUgjkhBZ6OsgLBD36aMoXWek3ONF49f4KPPyx58RTYQufTxnkBm9pdJwSDDVlpq-DMsH-yFeG4dMKeJXc00x2pErC-tA==",
  "id": "rs_0730ee0a5a705988016ab4456bed4487d09395c753fe977b21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.21,\"left_z\":0.12,\"left_yaw\":-1.3,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The pen is now safely parked high on the right, and the short black cap is isolated left of center with its long axis nearly lateral. I’m moving the left gripper above the cap with its jaw-closing direction perpendicular to that axis.\"}",
  "call_id": "call_RwcKPeMwLWsjMzBPKqppByfg",
  "id": "fc_0730ee0a5a705988016ab44570d30887d0ac7a759eb6fdd17d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RwcKPeMwLWsjMzBPKqppByfg",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.1501, 1.7603, 0.8532, 0.1303, 0.9604, 0.524, 0.9998, -0.0238, 1.0801, 0.7647, -0.408, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3647 left_y=-0.1979 left_z=0.0953 left_yaw=-1.1869 left_pitch=0.1541 left_roll=-0.1319 left_gripper=0.9998 right_x=0.3096 right_y=0.0995 right_z=0.1848 right_yaw=0.7382 right_pitch=-0.0056 right_roll=-0.0061 right_gripper=0.0613\nstate[joint_eff]: [-0.253, -9.3607, 7.6923, 1.6093, 0.6129, 0.1538, -0.0366, 0.0068, -3.3983, 7.0769, 1.6972, -0.2564, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ddaef2ac3d19d6163eb3308b0db20c46f97067969e851d6be035f8422f28f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b76a2f5e49999d32e798a2e0a5b082f8326da640559bbf896ccb8ffc237a3aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ced4ec1f0c353d634d638d388cdb237954f2d1092ad80f8e6b77fccb626e5c",
      "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 · 3.778 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9119, 0.8513, -0.7868, 0.0067, -0.0521, 0.9997, 0.5346, 2.1891, 0.6113, 1.2423, -0.2592, -0.0948, 0.0526]\nstate[eef_state]: left_x=0.2699 left_y=-0.0025 left_z=0.181 left_yaw=-0.0081 left_pitch=-0.2758 left_roll=-0.0358 left_gripper=0.9997 right_x=0.37 right_y=0.2759 right_z=0.0026 right_yaw=0.804 right_pitch=0.2373 right_roll=-0.0044 right_gripper=0.0526\nstate[joint_eff]: [-0.1162, -1.7162, 6.735, 1.4286, -0.0269, -0.0415, -0.0122, 0.0205, -10.5504, 2.8239, 1.5995, -0.0562, -0.0757, 1.326]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9203, 0.8505, -0.7872, 0.0067, -0.0517, 0.9998, -0.0216, 1.0775, 0.7677, -0.3836, -0.6216, -0.4736, 0.0613]\nstate[eef_state]: left_x=0.2703 left_y=-0.0025 left_z=0.1785 left_yaw=-0.0082 left_pitch=-0.2853 left_roll=-0.0355 left_gripper=0.9998 right_x=0.3133 right_y=0.0997 right_z=0.1906 right_yaw=0.7332 right_pitch=0.0149 right_roll=-0.0201 right_gripper=0.0613\nstate[joint_eff]: [-0.0342, -2.1265, 6.7214, 1.4725, -0.0415, -0.0415, -0.0171, -0.4581, -4.5333, 9.4154, 1.4237, -0.3492, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1501, 1.7603, 0.8532, 0.1303, 0.9604, 0.524, 0.9998, -0.0238, 1.0801, 0.7647, -0.408, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3647 left_y=-0.1979 left_z=0.0953 left_yaw=-1.1869 left_pitch=0.1541 left_roll=-0.1319 left_gripper=0.9998 right_x=0.3096 right_y=0.0995 right_z=0.1848 right_yaw=0.7382 right_pitch=-0.0056 right_roll=-0.0061 right_gripper=0.0613\nstate[joint_eff]: [-0.253, -9.3607, 7.6923, 1.6093, 0.6129, 0.1538, -0.0366, 0.0068, -3.3983, 7.0769, 1.6972, -0.2564, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ddaef2ac3d19d6163eb3308b0db20c46f97067969e851d6be035f8422f28f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b76a2f5e49999d32e798a2e0a5b082f8326da640559bbf896ccb8ffc237a3aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ced4ec1f0c353d634d638d388cdb237954f2d1092ad80f8e6b77fccb626e5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEV6-4Jzwbk6B2WYaSjNLZNtYoB8Q8W2fgnklY2TnDPHT_80rZ-I5UMzhuWYHF4_IHj4VrgAWXnTj5baON5sBAS0Vo1NpZrQx-XrBNxk6LIvs2n-8Lp_5fhzlHj97YIq1xfAA6Kkly1RdAtFDo84WnQcrReoWjPza5cuRDNp9S5DYoM6gSjUpA4JHTzgvnE6oA2g34B8_HgjKmdrpQBaO9yIfMqxp0A4cduD2fh404wK5DT8Xk135l785PYSbkEXcpVui0wo6_kV7CXVCIARjMTVnPIRO4OVwDHjCDZ73jR8BCUjcKaihy9JVuIYYpxLU5EJ7Ma5FJsxDJpOyJPvLzom3D6mzcRFM2NevaLG3axtm9Db2SWsmLkA4KmxpH0hQExLCjysOhgqowITo4I9XyI6TOtHezIVK07S3t93LgcP5Fa1DBAC9UNDJuWvhb2M18bYwsFsGFlYfisLNBM00P8z74vaNtRML5QgjliO1dpLuAJY0jl470sB9GrCSKbWsfz-Y5l_OI8-ikiqnmqiMxXPEoY5UXAi0vCsNw82tdLqpBmD4gQKJEMaLwIPVVxAkMYUEImuNDsUCrI2G07ahPQp0EWxR17XrPHhqSNj015yNuaOMpe7vRLlu0hhjZi1oglsi9vKXIGGru62UDd38DfJ3nfdtvLxTpYQJbTcwQniMBvbDqhnU0kEPD405sCPS8lw872SsheMtMYYyttPF3bdEbPtvzJULTYhBe7UfVHZGDviR2NRwwpx_HkEhE_srqc9atOwOy7_m69BczV0bmp292zS-ReBruSrWbEM_t7_u7k1raeFZp2v1Gnhn2wiJpTNOeztD8mnsOxxuRnww3mu-O0XKf0H4UxB1kEfaV8D2R1wnDqz98pHnXccNFixmrM-6KyBCMgsWtJsKuatlLbzusxqNeTG9yiJ61uJY8Zcput4uZQl1xr-ViW0b4CcbZ_LCywGvk9Nj-VVWdHzmH-u7KhORl0ELtZzy3YU9LFcSorrFdNpOnjM1JaNaejNpHsH2euQTkYmC6ppAYfhY_N00zE0BPe0Bel9Y8tzVWxk4VUtKoSOZ1JMqedaltwiwO20dbNST-eH0BBoD10ffcR3_vBn3AK91CtqjFUT_R4Zesme8_NuYEcW95rqMmgCufOjiYoJpygu4edFZIcv_LODMxJ2KSuNreZ83nwUp-ojEQWEesO_NguSSgT6G2-nxjAzHP97BEwKiJqLcBLsWBC-wY8SXkR0BaPv1N2M6kuicm4nPxPoUtwOSd2DByAq8bpQD6YqnDyu18MIN2sbEG4_p9Wkw1pKPqN7TyQM9_iW5VKgAoyw69QZHQu8hEAhF-rVUWQjNbXUZwRZdoA2OKmndtp8cM2bMqkFmb_7Wt74J7pKhw4GaXCsuuw8ZJiIbQfSMUssm0s2qRjwSx606KmiGfyZzzpoPBV5ysaa_Oijy-raghynIvVtjpVDeKqmJx2cwWCfrU-PCJsXBAaqDZk-cCamOQfxs8cxxXQWc7mJPTJTa1RPch0reuV4O8Z_20QBkXepq9xj0jIEsXN4oMQPv-mXSZg7PNRXMJpx8DAquFfXP2O5O37LJDYDzU2wO6o6Kala5Xwb2-QeYRtNdxAdX7y3Kvwu2R_zvKGgLTsBdibT75f7I56Oz6Q9PuQ-uKdZSBvapbn7-Fjc2j7mZaTzmBZ_LmwfU9hAIQU3WmC9MIf46907xjn0dPE9vkAUHlxHC62QqsppayPJfPifhyBWOKg8U-AJfGc0BpHRit_1zRHC2PWjdGy860Daf7lxW4sqMoUhsGc68Oy92g1oZlJViOzc24HRm0A7wJlsYxmEBkk5B33XzcsAI17tQ6cMmQgstFSnWLuQsgG9gXPOF2BvRhrAeYGUGT95jg3tr8XRAW4bWW_hmi8WKqCIUeuPV_tqbDxvhkn9e9DKr7UyYdxVCY-EXKK4Zq3pCMB6s9dffGjH7oRSyePx2eV7ZibRz2mUKhUUBQeRxsMkMNYXmkrYB9kCASJtkkwDnmJvlK2HmdRfdI6sBxQ4PilYr2dHUu9w5Ai3TxCAUAPnMecFPWen-B4RZVJ_MFXsqat_1fCkouTaDn-GE6Oo0zgTphVwSPFmKqTYa44TVEEXUr_TW5g_nlKClv766GlqNsvZuZcOxV2tasp9b9rg13kW0P7bdavrfcKs6EV8OZRVEQ_UDc3vAPN2kM7D7ApCb3m0m2jVHMUbfXDaDF6kSXJ5kMXFGS6893dDB-q7GEd1K0bpzHZ6eQjiVWvMcqulpluAp5HFXwXyySA4dSL8EWA5XWoqCgfNqhHS5bnoT6_twb5mBzd5aB3eO1AjzWeXKpkyzdgqEo-hCiHweWNWtdO7HQTuHT15KmJv-ueuKqQHAXh6k3GQ2lFLb_xsw2-Z9D53gZwmhrsNyc039BQT01KfqiFBwlAVPsSo8-Aa7NkUCdyqavrN2Nbf_MsjgfDDeH-xQlACs4kUYU1wa9MN9JcERZwXRWZqyQUkZ6Zu8szDl4TNLMAT3RIcdrk967xcDmT0lCWXFbCaiusUQqexzAct4JWuqD2GHfUM5qwSytPfZpVhuCj4kFlX-Pwr-ZrU-CA5yRRoq5Vc2U7v0aXD4K5tx_Bk2LkuAQ4MEiC_UYDwfi8_i91jWl-yWyJRuczHo6cN9NU2t6ThnC-elfb9_UOlAm1eBUSCwGUs-h-oykBWGOroZ8aztFVBjUcoxtgLxhYNw_8OUY0t5J1B2fTPDv5Tx6apnoC9gjKFSQFWCBrZye9Bzz8Z1F7aRT71MxwNrQwrVn2874DvORl2bGxJGzBHBxIdvwe990iDgn8QdmUcFbx8aURAW4sNQrUBvLsrb4zxz3-0d9etJVftol_K0Y-3AwKQvhgRu-cEf5mDuNjDAK7HNPAZMgyrPkZphCIM3kup-04_R2mIcDBfZXmOF0ZX8VHB1L_PTDwHaFnQJZDnE-BUoIY5vxunneWgLXJk1-WEN9qSFsIlftiESPEzx9zAOdVji6cEycpXo-k9zd0bs98C8ulDpQGUtex-05NWjP82nJIYsfA1NslvaE55k4HiXMD452pCFKXNrffgQm-0MiEJkZzmnoIbbRDeRfdf7iAbh7DOr10Td6TGtGT95O4TY5HyK5dm7vSxzaH-D2jUpnLrk71ZhnCJnxHl1AS52WD-RSIfz-lJPufUsiKWLO-GEZNejqXaAgozZWQQqDNWspB4FRWnjPje0DXidvQXhNPlbrZ7HGDOk9JlOT_om5LA0n-XTvj5SfYbOrCp6vdh9x-ChBPKXkazVOiaYkMKwQkHSU2AybIMg8uodCEBvMp-DZQa18KfwVDNo6joB0mjTkvQLrJVkt5u9JlzqeQPr4K8NOozvOURDBYCX-d8sc2v19OfaOZ5kEh1LFeEJXUMplpDhFL-SMNeAMFoEcPuoLMCR8qtLVO-T45FLhEsaYYEKoNdwttEhGQmMhH3Yx6zQe9bryPorg==",
  "id": "rs_0730ee0a5a705988016ab44575e0bc87d082b45ed54ff1ce12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.2,\"left_z\":0.095},\"note\":\"The cap is now lengthwise between the left jaws and partly at the fingertip row, but its center is about 2 cm left of the jaw column. I’m making a small forward correction at the current yaw to center the cap before descending.\"}",
  "call_id": "call_lv5AaBTexicwkLsr18YPMtTg",
  "id": "fc_0730ee0a5a705988016ab445797c6087d0a3cec2194720b193",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lv5AaBTexicwkLsr18YPMtTg",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1532, 1.7954, 0.8818, 0.1314, 0.9955, 0.5415, 0.9998, -0.0238, 1.0801, 0.7647, -0.4107, -0.625, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3673 left_y=-0.203 left_z=0.095 left_yaw=-1.2217 left_pitch=0.174 left_roll=-0.1327 left_gripper=0.9998 right_x=0.3092 right_y=0.0996 right_z=0.1844 right_yaw=0.7385 right_pitch=-0.0074 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [0.1983, -6.9949, 8.4581, 1.3504, 0.3101, -0.0171, -0.0171, -0.1709, -3.0974, 6.8308, 1.5165, -0.2906, -0.0415, 1.0281]\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:0550f516ff6f5bf7072b1c786b72f85ecd503a0cf1f68e98ae27822b002c7d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341838ff8703cecdededc2d0e99d07addfdce0485f84d409963f520c0737b783",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb90c6bdf09b440556ad00f049347c5c10a5548d00273a4c14e532dbe39e2e4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.607 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.915, 0.8513, -0.7864, 0.0067, -0.0517, 0.9998, 0.5346, 1.8759, 0.606, 0.9623, -0.2592, -0.0948, 0.0613]\nstate[eef_state]: left_x=0.2702 left_y=-0.0025 left_z=0.1803 left_yaw=-0.0083 left_pitch=-0.2784 left_roll=-0.0355 left_gripper=0.9998 right_x=0.37 right_y=0.2759 right_z=0.0749 right_yaw=0.8059 right_pitch=0.2642 right_roll=-0.0121 right_gripper=0.0613\nstate[joint_eff]: [-0.1983, -1.5385, 6.6803, 1.4872, -0.0562, -0.022, -0.0073, -0.2256, -9.1145, 6.4615, 1.7118, -0.0659, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1501, 1.7603, 0.8532, 0.1303, 0.9604, 0.524, 0.9998, -0.0238, 1.0801, 0.7647, -0.408, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3647 left_y=-0.1979 left_z=0.0953 left_yaw=-1.1869 left_pitch=0.1541 left_roll=-0.1319 left_gripper=0.9998 right_x=0.3096 right_y=0.0995 right_z=0.1848 right_yaw=0.7382 right_pitch=-0.0056 right_roll=-0.0061 right_gripper=0.0613\nstate[joint_eff]: [-0.253, -9.3607, 7.6923, 1.6093, 0.6129, 0.1538, -0.0366, 0.0068, -3.3983, 7.0769, 1.6972, -0.2564, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1532, 1.7954, 0.8818, 0.1314, 0.9955, 0.5415, 0.9998, -0.0238, 1.0801, 0.7647, -0.4107, -0.625, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3673 left_y=-0.203 left_z=0.095 left_yaw=-1.2217 left_pitch=0.174 left_roll=-0.1327 left_gripper=0.9998 right_x=0.3092 right_y=0.0996 right_z=0.1844 right_yaw=0.7385 right_pitch=-0.0074 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [0.1983, -6.9949, 8.4581, 1.3504, 0.3101, -0.0171, -0.0171, -0.1709, -3.0974, 6.8308, 1.5165, -0.2906, -0.0415, 1.0281]\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,$blob:0550f516ff6f5bf7072b1c786b72f85ecd503a0cf1f68e98ae27822b002c7d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341838ff8703cecdededc2d0e99d07addfdce0485f84d409963f520c0737b783",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb90c6bdf09b440556ad00f049347c5c10a5548d00273a4c14e532dbe39e2e4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV-yT5YZYHJ-vWe49RkxT49TGOxriQ__Ew4Mh_QnUpsYgo4TNf-8_ahi8n04ljUSzYzETYvKf8S236K0Hk8RXUQYVN4Dtx70x5nx6dLy1iGjHr6LzhDp5Bp8_-bpMh5zER3ZMWzbwc8xcWDRFwEpGtXh1woVF6D11v7hnkiPV5fHBBHa_9EiBchSfx28UzbvS2L_0_VK6qYzZIR83GHeR6ifKNlRhkK9J92U371xu5Jxh2e2a5kCdYrywrBIngAISiUTfJpHoQCt_2p5oDQKQRzPcluXKOpRPP5W20Vykd__8ZQDmdG2Xkq56s9WQ5YHi-T-BxYsbJPXuNPGUoSG5JHPxz8svhm9Z-DHcAjNiOY1hVXBd4YKfapTGwa3W4bLUy_rzZ9i3CrlQgPfHT6dvBKiiXRONadS-ySbg-m8_hvKiqm5hVrrvDPAsgofiH_7KISeTI1nYjq4Ry4iJOdeDZTxo69RVFB-h4gJ-hTmGugi6Lt8DuUbFoqdpnecXV3eLtmKv5edGdaVubIPFLe-zycBCzK2xbYe70_v6DGHhEdYNPKyy3v5X2HCyr95WZgsj1YqBi-vvLxNtQby4w_-8a9RT3z7j_6s-Rgh6esOV9xave7nOIKXtqw-jm1O31FUFuZnKD7b4JHXf5YRoGZLyMSEHm6hxy-l69osAk4hT2EjUnOZ0iuDErrA4BjBftVVb-HN9325GySKnjbjO8Rvh4CXW8lPaYSqvK9dPqq8G4u2Y6ZbFqHsS-5WHiWtR7l1cU7U2UdYSCFJzDT-QTQQq-ZRKi-HZw1dVwdBwlInxesMIIl6n_cQSrTjBmDTIctJ4Ia2sp9VGFYKoTobqxJDVPY3yugrp2GxsyWMtwHDtNdOLK2vbpB4WDrnifWx7SxwiBfD0nieNLqXcQRnPdpXMKambj7E1yI4neoudsZpZoEsQgn85XvtFtrVyJavuGgKCSPy85BVDQCLBRV7eDXjfOHKqDsO_S56VZKnmdBhZX9n3hQlLDXWmGqYwiKPFIIfitnuHOu2G9q5z7mu6AjvNi6y4lmqliGgVRBZzDEoaP1ssTtq6L5vYbMNzDpuBOqlsuGtJz-U1RtoHLBh3psP48BchqOm6t8ivcMcs9kpnC8H0IKvdOcfg58_2Yp_9CkaBId6nVfhHcbcbyZbCGcHA4D72WvgW6Qz354VlIOX4y_ymroFFbDmYJmFjWeZY1xRJ7cxeF6BVhLvFDLiNg-LYXgxPZvPCuOjem_cbgunxrCUxw5_Wt63H7s2rD7gEXCivkR5UxXMHu0n4QxfKMvSkHgoB1qtTycaJ-z0CBLFhz2n3sDaP0n_7vl778_a2h0VNVzGqo0j2VSb_s2GJ3glPK0xMPdJnOz3Ce00dvtXcXBSPYHGW2mYKQx-_sLAEz7VJSpZ_lqCZukIrGbn-kx_uPXBW885TMhcuZvnzj2nDoHnUSHZspdqzdDzec4sDJuk-8bn_Yt9KFZXU9YBI5-AWmzG1lBHl_W4Z_zmOozXNZGmtzzxn0Dj-bjGa8d6w__mJB4XSsTjn1hpD3LbNCd8oP85Hv8QPBuORQo5DUWI3IOGtvd-tAPF4C_PTMhZr4rwg1z2OwTylp5VGPsX02AGj5C1AKnyZTQZxh1nv0lAeDzAe4N-oa2xL2SbKaOMPzfaVSOetfCSFeT6XnmVlmm-EURuZjyDH4fyxHqS6B2oI8Y7dAm_1JqRYQoAknYlLxtvwoeOUdrnVIxPAcVrawlzK313eGNuaSCo1GSmHDUvESOnDF87TX_P83DWBvY3OXk94wq9GU1qrKphUEKHrti9G7Zf-ol_2HRfrDknaAsLWjziLBWtizhh53cRuEE3sAYzWeS4v_JG7AA9ToXAPb8Fcwizw==",
  "id": "rs_0730ee0a5a705988016ab4457bb2cc87d0966f0a6ce2bb1391",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.18},\"note\":\"The small correction shifted the cap farther left in the wrist view, showing that decreasing base-y was the wrong lateral direction at this yaw. I’m reversing only that component by about 2 cm to bring the cap onto the jaw centerline empirically.\"}",
  "call_id": "call_Tr2J6y6tLGadEuu0xs4VluJP",
  "id": "fc_0730ee0a5a705988016ab4457d5f2887d0924c1a8853de594e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tr2J6y6tLGadEuu0xs4VluJP",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1513, 1.8095, 0.8894, 0.0975, 0.9497, 0.5247, 0.9998, -0.0238, 1.0801, 0.7647, -0.4114, -0.6247, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3706 left_y=-0.1982 left_z=0.0833 left_yaw=-1.1761 left_pitch=0.1241 left_roll=-0.1669 left_gripper=0.9998 right_x=0.3091 right_y=0.0996 right_z=0.1842 right_yaw=0.7384 right_pitch=-0.0081 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -8.1162, 7.9658, 1.4969, 0.4274, -0.0171, -0.0171, -0.0615, -3.1521, 6.8718, 1.4725, -0.232, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a825bf9ce31aab0b840deaa829c32280ab1e2aed0ee8f9c596643a4bad55aeb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd70bae77865b57c0bf5dcf4c42c57e273503cdbc0575ea27d92d03ba9fc2eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a024f435414b4a467e395a0643224962b355801e51cbf78142b42b63479b5dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.016 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 0.9203, 0.8505, -0.7872, 0.0067, -0.0517, 0.9998, -0.0216, 1.0775, 0.7677, -0.3836, -0.6216, -0.4736, 0.0613]\nstate[eef_state]: left_x=0.2703 left_y=-0.0025 left_z=0.1785 left_yaw=-0.0082 left_pitch=-0.2853 left_roll=-0.0355 left_gripper=0.9998 right_x=0.3133 right_y=0.0997 right_z=0.1906 right_yaw=0.7332 right_pitch=0.0149 right_roll=-0.0201 right_gripper=0.0613\nstate[joint_eff]: [-0.0342, -2.1265, 6.7214, 1.4725, -0.0415, -0.0415, -0.0171, -0.4581, -4.5333, 9.4154, 1.4237, -0.3492, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1532, 1.7954, 0.8818, 0.1314, 0.9955, 0.5415, 0.9998, -0.0238, 1.0801, 0.7647, -0.4107, -0.625, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3673 left_y=-0.203 left_z=0.095 left_yaw=-1.2217 left_pitch=0.174 left_roll=-0.1327 left_gripper=0.9998 right_x=0.3092 right_y=0.0996 right_z=0.1844 right_yaw=0.7385 right_pitch=-0.0074 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [0.1983, -6.9949, 8.4581, 1.3504, 0.3101, -0.0171, -0.0171, -0.1709, -3.0974, 6.8308, 1.5165, -0.2906, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1513, 1.8095, 0.8894, 0.0975, 0.9497, 0.5247, 0.9998, -0.0238, 1.0801, 0.7647, -0.4114, -0.6247, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3706 left_y=-0.1982 left_z=0.0833 left_yaw=-1.1761 left_pitch=0.1241 left_roll=-0.1669 left_gripper=0.9998 right_x=0.3091 right_y=0.0996 right_z=0.1842 right_yaw=0.7384 right_pitch=-0.0081 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -8.1162, 7.9658, 1.4969, 0.4274, -0.0171, -0.0171, -0.0615, -3.1521, 6.8718, 1.4725, -0.232, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a825bf9ce31aab0b840deaa829c32280ab1e2aed0ee8f9c596643a4bad55aeb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd70bae77865b57c0bf5dcf4c42c57e273503cdbc0575ea27d92d03ba9fc2eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a024f435414b4a467e395a0643224962b355801e51cbf78142b42b63479b5dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWBoUN3c6NA2mJSLdSEKl6AllibRuvhBh-3MOX98n5zLNV6__9xvMr0AzhbwndmrI2mJAUmR4c735IxO5b391h8pQVexsAmbNXZnP1QTmqgH_7qUrdH9nbkHgH6n1bbD05ranlw5qCTN-Y91xgHHb7dwEtyCRj17jmzAhqdcRQ189TNYJpEcA_prBnQNlT50X5kVHhAHpnIN1xtIoTkI9YTYSrOVM6cf-GnLCbGDY2crf3-SIJdYl_53yFt9zSlDPCh14YKZo0jSvPbpRNt9dLlC-NY2Ihv6bkD5O0Rt03pWHSYyi2pjazR0yBra3vAx-OBOE4H0T9ZjcQeX4iLsjxwlTcnLcXfZKHhWCJDkaR5szVNrYbzSpFm8MoVKAD9MIT2yi09oB24SS1d15RIjViOUEULdHUTkLwELanOL6lxu_zRumxggVw1FxB5pGRUflqScUo_YhoT-0xEeHHCrMDUc8ZxQ0F0HzTd_88TSgG9TIyJqyT7_UXyUF-U6X_qsLCl5ajXAoxO2TXkCH5hHNAYJ9upUr8JqxbzYTY2hJLc9PvVk2MRNysbsAc5ZOpRX3tJYZyhFv9sKAqW_ZjN1Yh8ThPMC1Y-esTsOr3vVxHm6HrwbqaWJXMhG3f6SIbV49Ng5WsukDfocCpGBfGhB2RmQzyxlBOnE57KNPWdDvxFZgrEAKXGP6ZFljDA5_eVaIUq6vpJIaV-Mp1OxRSrDZ3XKwtJVkazA0y6ohntr2DDvYUkrIrTLXztO-44ROXgqonOxEQhB16f8lTLTqN_XHKxPR2KnA6tUDUawvSCA-QLu7UfTJC22NC8uzjzyRChT7qVawSnYJiOytQSmrJCMoD9pY34PGd9BbnKdDbQE3HnyVh4w4ScD5cUg9eND8e1ten4TgXBWaQx8AVtdQCpn6B3WaISkLprWcD8m88SoBi0UXNgCAXadRzkkopjEjh1WJmLKgqIlq6i1rvPZK7hPDF5qaPjEYt2jQAwFwuYWiqxw81MTpb0DPN7-sIgajiuF99oyxervQ5G18Pz11jCSqyqar00S6BGRAXRoV372WrR0smxkR-8qGjiXRR2uqiguH3v0QDSaYFfZzhuR88X8kikMBOH78nW_kwhBrW-7CXP4UJv8n_tX2DqSYjT6388jd1rykQpVRPveMeEAMXDe4JMD3aE0iOQOqXNZO6mzQCswmTxL4fAeHXfTrKg2QO77PqPBPYfBndwsCCe2T4JK-QK_XkT9IomnGsyoO0CREJ92EEN1pM1MJSK374bx6CrI8y6pHVL8Wdu__6DQuStzCIFOmPh7_XrsvSckyh631VLlwu642yCLiRJFqhcWSOLhPfMVFLph1Rum79jahP9xPtF332P8L6hvKvhspZAA-4TH9L-OEKHsvYb_go-1qztgMGXfALAI7Nqicz_47wlWDvEluRASLr25PlTjDEMdKFrhieqmdmqdZr5teBFwfvLzG10FzcHlrGEJqmpxvpMTSb6elTFQj5WQcxJZ5QNDKYGUkQluX8TvU0TKQ02m5NTO0tYhCsj-RlTVigvr96kmODYZa9CBK9Iw9ITP8GjgvbGBtI=",
  "id": "rs_0730ee0a5a705988016ab4457ff5c887d08c79f1b172074b57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.16,\"left_z\":0.1},\"note\":\"Increasing base-y moved the cap in the correct image direction, but the arm only tracked about 5 mm of the requested change. I’m continuing that same lateral correction while holding a safe approach height.\"}",
  "call_id": "call_7NNfFXF635B9dHZ3eLosEuqT",
  "id": "fc_0730ee0a5a705988016ab44580521c87d0b816b29f03412b8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7NNfFXF635B9dHZ3eLosEuqT",
  "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]: [-0.1513, 1.8095, 0.8906, 0.0967, 0.9497, 0.5247, 0.9997, -0.0238, 1.0801, 0.7643, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3708 left_y=-0.1982 left_z=0.0836 left_yaw=-1.1761 left_pitch=0.1243 left_roll=-0.1666 left_gripper=0.9997 right_x=0.309 right_y=0.0996 right_z=0.1841 right_yaw=0.7387 right_pitch=-0.0082 right_roll=-0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.0615, -8.212, 7.8838, 1.4628, 0.4469, -0.0122, -0.0171, -0.0205, -3.1932, 6.9675, 1.4823, -0.2906, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06089b0a45f63244b8dc870cc57f985ae7ec0bba5587219920dd6122e58ee5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1802881269ba29ccf421cafdb3e3fde67e080fd15169fb21951cab368ad78749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7a2e9c4d5d8edb2f337c6be3cfeb40ea8dd91a3821c157c6b346c01640c263",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.004 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1501, 1.7603, 0.8532, 0.1303, 0.9604, 0.524, 0.9998, -0.0238, 1.0801, 0.7647, -0.408, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3647 left_y=-0.1979 left_z=0.0953 left_yaw=-1.1869 left_pitch=0.1541 left_roll=-0.1319 left_gripper=0.9998 right_x=0.3096 right_y=0.0995 right_z=0.1848 right_yaw=0.7382 right_pitch=-0.0056 right_roll=-0.0061 right_gripper=0.0613\nstate[joint_eff]: [-0.253, -9.3607, 7.6923, 1.6093, 0.6129, 0.1538, -0.0366, 0.0068, -3.3983, 7.0769, 1.6972, -0.2564, 0.0562, 1.033]",
      "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]: [-0.1513, 1.8095, 0.8894, 0.0975, 0.9497, 0.5247, 0.9998, -0.0238, 1.0801, 0.7647, -0.4114, -0.6247, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3706 left_y=-0.1982 left_z=0.0833 left_yaw=-1.1761 left_pitch=0.1241 left_roll=-0.1669 left_gripper=0.9998 right_x=0.3091 right_y=0.0996 right_z=0.1842 right_yaw=0.7384 right_pitch=-0.0081 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -8.1162, 7.9658, 1.4969, 0.4274, -0.0171, -0.0171, -0.0615, -3.1521, 6.8718, 1.4725, -0.232, -0.0317, 1.0281]",
      "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]: [-0.1513, 1.8095, 0.8906, 0.0967, 0.9497, 0.5247, 0.9997, -0.0238, 1.0801, 0.7643, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3708 left_y=-0.1982 left_z=0.0836 left_yaw=-1.1761 left_pitch=0.1243 left_roll=-0.1666 left_gripper=0.9997 right_x=0.309 right_y=0.0996 right_z=0.1841 right_yaw=0.7387 right_pitch=-0.0082 right_roll=-0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.0615, -8.212, 7.8838, 1.4628, 0.4469, -0.0122, -0.0171, -0.0205, -3.1932, 6.9675, 1.4823, -0.2906, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06089b0a45f63244b8dc870cc57f985ae7ec0bba5587219920dd6122e58ee5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1802881269ba29ccf421cafdb3e3fde67e080fd15169fb21951cab368ad78749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7a2e9c4d5d8edb2f337c6be3cfeb40ea8dd91a3821c157c6b346c01640c263",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWF1Xc5v7eEW2RetTGvpYXhj1400jiUqL4l8EP3GIB6ufopgWhSzZg2bqOt30b_AX5lVxwfizBttY92bk5IZj68HYWK7UVUZuV54iA9MTFL4P6cmSc98lQun62ps1z4cvKk8Qz3olkAa1db3Bm9dEDROXT1iFKbiqNcDCVCjWMF9HvbOC6Ld1v7vhEG89jjZzcof9xQK0Ra16y0ZKCAypeUboUpuLGupC0fXcwqemG1rfnUa1tuylNk7ndHyt11-MEwZohNe8-rXKvy0u-PU5mplqvhR11aKzeL3Bc-93dwpXw4UfdT68CIykE66utmDZYKofyRpR6zM3p3oY3RuKLieLxTSrYQ_-V5Ni5VyyQLoOANIaRG5J6QC-_6d-5iOaTFeZiYzuVPsJna2od7u8rZJF7AOX96CW_F3W5vdb-6OPmAAulR0B2-GFlLNbtfQdAaLIBDX8TvsSWBgHgrRQ_uTwBDou9TF_vWKUIkchBAdh5Uye0ELlm6MXdDuyEhqS6kuyF8Vuk_vatY1L_cxZ_cqOyyvO7G5q8TWck6fONCHAE8c3QT5lhW_7K2kAyNaHI8rGnCQtO27qiIw8q8FBJCCWZbNmjzamZoL6LAY9CTcdq_lg0S61Fdt58W4HGC1e1K1BmkVgy64YAA7GAV_SkSe-H8P89_K0wPpTpTVWLL67CL4pjOle4rm1lPf1oRa_P4K2zOhxZsouTCR9mcTSC-4WefKewZYbppkSFY7C7MPHM2mCIvQooi8UtB-TsUZpu03mhVZPtk_up2nhCQ45mRQRQlZZ4W9XgqtY-i-5FCM7EqRGDE12x3ODomfs0vUwWV3-q6dsuTNt3CgN1_MmgU6me4HG1mIQQTsq4mG4r4O7OW49OdbKzOou3SGn94wO_SNGrrq2Cjn09NQSTu4b9zWCleS1h4eYx5gC9Q6aOHiBRwn-0Fkn9sarco_DpxGGqY3eHYt5YSW8TwI_JyP6Tinz96P66YTJVWaG6J0rLBOxUT8MLHFm-TOJaMDhCHrEV7-9pA99CtGA97GSLtUpfySxIJNdTquQeouaidDgsVclyeFWGE9p5mRYU33yvUZMnXbaGhvoECpIA4UMhCsBgg7KS27tRlEOHZQZGfLMydRlvU8aOHOj8nPs5ioU_X6ynrzZJQXcoBBSzao2Eu1VP7Y1_FjmUHSoPI6IrC308AS4Tr_5DLEcoYB0jAeNc8ymtUtxoT7gvm_H8CoNAdgztY9UGeUdkRHF9se7yKLRMPGLxfh9bYjF7mcn22Jf3Ir84NBHQHRJoq0S-SdNCY_--sxNCzDbHYNetEPEGq66uWB02r8nfey80QyP41dwyoQklnuFJTFbDNtU66dq_UPb5v5h6fOkwTeqMXOPhpmofaCguGhHl6UjsVUer7FHhapsV4ISYv-24wOGUoSQ9ccyW5pilyFtVlnuhNzWlToX2toj2MBfnUQsyBkpYtZnsdcOax4TcWrxjRwkR9r6nSXpB3zBa-NmbA7CpGBZuFmuoXbXhjoFqaeky86c5N34bL4FYjNdJs6BW7LL0SgfZJ8YQCbriwdQzcTs8sJQOkoLn4PH4jSAlVCUnF2KzWj1rhen81C-t28wRRHX1tYVUDZH4lYLGy51wSBUZ9U6jYSNtj5fgBt2j3b92LPPy0Ldvp8xy1u3eplYelr2g5iWuTig4A0zTLW_IAk4GyaFXmszN3UN4DgC47EG6VQlg-cLdTZGhBhReYSrnFt8ZwV6R20_m_YkP0VCPkLlr5KeG8sxsk4Co=",
  "id": "rs_0730ee0a5a705988016ab4458297f087d09f795fce33a1bac0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0,\"left_pitch\":0.3},\"note\":\"The left arm has stopped tracking further lateral motion at this wrist orientation, but the cap remains fully inside the 9.5 cm jaw span and is aligned perpendicular to closure. I’m descending to table level with forward pitch so the fingers surround it before closing.\"}",
  "call_id": "call_kVZxwtUQiQYDbIjKfQBYGrWR",
  "id": "fc_0730ee0a5a705988016ab44583bb7487d097b6759343809e66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kVZxwtUQiQYDbIjKfQBYGrWR",
  "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]: [-0.1234, 2.0857, 0.7822, 0.4702, 1.1053, 0.4778, 0.9981, -0.0238, 1.0821, 0.7643, -0.4129, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3513 left_y=-0.199 left_z=0.0109 left_yaw=-1.2172 left_pitch=0.2135 left_roll=-0.2769 left_gripper=0.9981 right_x=0.309 right_y=0.0996 right_z=0.1833 right_yaw=0.7383 right_pitch=-0.0109 right_roll=-0.001 right_gripper=0.0613\nstate[joint_eff]: [-0.4171, -2.906, 0.335, -2.0928, -1.707, -1.5751, -0.1734, -0.1436, -2.8923, 6.8855, 1.5507, -0.2711, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42db28df889b6be98d0e289fe1b20ac6cdd1722be1eb97bb4e939c6bba454502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f220b5f388acf55ba194bf0cdca73845f5dcde7aa36c2bb558a40d3cacbbcbf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd1a6cc52fe3f59dbcfa0e1f4b58592c50b45f99586bc94b672aa74d08ec726",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.452 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1532, 1.7954, 0.8818, 0.1314, 0.9955, 0.5415, 0.9998, -0.0238, 1.0801, 0.7647, -0.4107, -0.625, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3673 left_y=-0.203 left_z=0.095 left_yaw=-1.2217 left_pitch=0.174 left_roll=-0.1327 left_gripper=0.9998 right_x=0.3092 right_y=0.0996 right_z=0.1844 right_yaw=0.7385 right_pitch=-0.0074 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [0.1983, -6.9949, 8.4581, 1.3504, 0.3101, -0.0171, -0.0171, -0.1709, -3.0974, 6.8308, 1.5165, -0.2906, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1513, 1.8095, 0.8906, 0.0967, 0.9497, 0.5247, 0.9997, -0.0238, 1.0801, 0.7643, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3708 left_y=-0.1982 left_z=0.0836 left_yaw=-1.1761 left_pitch=0.1243 left_roll=-0.1666 left_gripper=0.9997 right_x=0.309 right_y=0.0996 right_z=0.1841 right_yaw=0.7387 right_pitch=-0.0082 right_roll=-0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.0615, -8.212, 7.8838, 1.4628, 0.4469, -0.0122, -0.0171, -0.0205, -3.1932, 6.9675, 1.4823, -0.2906, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1234, 2.0857, 0.7822, 0.4702, 1.1053, 0.4778, 0.9981, -0.0238, 1.0821, 0.7643, -0.4129, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3513 left_y=-0.199 left_z=0.0109 left_yaw=-1.2172 left_pitch=0.2135 left_roll=-0.2769 left_gripper=0.9981 right_x=0.309 right_y=0.0996 right_z=0.1833 right_yaw=0.7383 right_pitch=-0.0109 right_roll=-0.001 right_gripper=0.0613\nstate[joint_eff]: [-0.4171, -2.906, 0.335, -2.0928, -1.707, -1.5751, -0.1734, -0.1436, -2.8923, 6.8855, 1.5507, -0.2711, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42db28df889b6be98d0e289fe1b20ac6cdd1722be1eb97bb4e939c6bba454502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f220b5f388acf55ba194bf0cdca73845f5dcde7aa36c2bb558a40d3cacbbcbf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd1a6cc52fe3f59dbcfa0e1f4b58592c50b45f99586bc94b672aa74d08ec726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWIiNS3UTQ_GSyRrzO_QQEWTuDkW8cLuP6YH_He259Ss1jBc2samIXU3W4njOAPLEuITulX7oMFKeoCLwQ8uVMz87etKFZ1fAUuzJlBKOU4KV8NMO5qTYtHJX5yy5TDDZCXInmVcnidpMYiIUstZBW6Yw1dUOEVNGssP93inxPOrURVwTlqP0YHOr7-bzJzzkSFEctywa608UqfUFyyEtfyN7q3EIjxhsoH_QBFuborM-IV7RUutuDaoZZKeHttPhl79_z1COlLCKuofbmc2PUk3odaMw5BEpR1a_K2Ba2TSkpyRwWil3FxdWrXXDmygimvDHxeR09w_iP4pycW4kMMHAojHIlGvh4LQ_EVBM-drKcD5Ivem1M6vjDrGsm9zdSUGuo5KjzskxzOgyIn8WlRPfjhl6ah8kT4FyRxeEqWglcM1exKj2NfR2rUaIJvITFoC0W5YqmrFDBjOEj75hbvu0zjkOgiW_PUnNnzIbVNhs7ajI-Z7Dt4uupBU7-Sbl2PzFbYlQWLcJ9EenB8MtJ_XZrHosocuzkbgyz2Mwi9m8AMvp-FHLh4k3CXortFvoem2FYN-xNmGU-KGYRgiFzKlNUBwKie9Hw94pec1MRL6BPMb009epMb1Cs8txmnoYvFOrcv_IdSkCOLXJU_oKS6tUJePHWZ4ESaMpq6EI_5dwXFerc1T0fGmnIudPzvxxiTTTNFQ42dr5pDMFzWOU5-8X2g9kk8SCcMMlAIAIaINdk5-C9wOGGuPPzV0mrZcHewXf_ywse9kA8uM-rlleTgtKQ4nuM1oW4wN89A8jJmIWunZYHKhJWdnybi6xWTubP9Id7XsOP-bUDfqA9hdJ0r-yLiHlzmNvTwphZ2a3ywIVuQO6pZyaH5LaqCE1cAAo17mbySGnw24HG3QDUrGzfM4_DClt-gSo5tRSLorRSutPuG8iUdnD-w0dig8Bm55aOuklSQSbnm55QzuDVN6-4fro_HV9-AwZYuNsnrxcT_CWkJouxVGBbqCYclEi5tk676elVUQ0go7c3WLGt_O4SIEVLQx8c_g25fWreBnFuOBlxVP2XYBCkbw-aDEtMz3Xcz2FxT21iQOk6Yf6XP1-sr9ZaDDyRNMo6RLDFM06sQQVig-F12IqhOw79tPFnbrSJG3EdL08qNNw9dusbw_aeSpTfkADUXKp8n-O1BCSlu57ztSgftqfT6cBTio2T0te0vyEM61EqBcIsxXguvwtRobNYxakLHCF6xhCel6o6mXsmredT4spH6mFwnaMb7hIWkKrhLlxJsRMmLI9Vkb6h_bI8DgCBj0ex55DPbRjRKrdK8MK2HXrKbG_Fp1a9JZSMrkm_gCB7UOhpP74K8mLhL1nyoYdVSvMfRVDzEeZ2uivShIw7FMJUOLRn9bdwME_SSuthtEIKPg9thkqgnbJZ0coByYx95Rv4g__vgegv-REI=",
  "id": "rs_0730ee0a5a705988016ab44587301887d0a59d587bb1c1ad22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left grasp point reached 1.1 cm above the table; the cap is visible lengthwise at the lower jaw gap and remains within both fingers despite the lateral offset. I’m closing now to capture the cap.\"}",
  "call_id": "call_J9ty2GZ41ymxRwnH4NBRxEYL",
  "id": "fc_0730ee0a5a705988016ab44587d1c087d0a2d2f7f199514086",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J9ty2GZ41ymxRwnH4NBRxEYL",
  "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]: [-0.123, 2.0979, 0.7799, 0.4877, 1.1072, 0.4728, 0.0092, -0.0238, 1.084, 0.7639, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.351 left_y=-0.199 left_z=0.0081 left_yaw=-1.2159 left_pitch=0.2154 left_roll=-0.2795 left_gripper=0.0092 right_x=0.3091 right_y=0.0996 right_z=0.1827 right_yaw=0.7388 right_pitch=-0.0118 right_roll=-0.0001 right_gripper=0.0613\nstate[joint_eff]: [-0.2256, -10.0444, 4.1778, 1.0085, 0.2857, 0.0269, 0.5055, -0.0889, -3.3709, 6.8581, 1.4774, -0.2466, -0.0611, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5565128715dfc7c89c138c8f9a8b408b3984dc29dc1e8cfec6764b21f2e9ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934315a5ef06dc854beb0348195aad5c14d51abf8cb3f53b1c9b29ac07d8842c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acd43f676d70b49fff4dcea4b8a651688eaac5805d405fd80e08462828ac30e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 7.725 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1513, 1.8095, 0.8894, 0.0975, 0.9497, 0.5247, 0.9998, -0.0238, 1.0801, 0.7647, -0.4114, -0.6247, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3706 left_y=-0.1982 left_z=0.0833 left_yaw=-1.1761 left_pitch=0.1241 left_roll=-0.1669 left_gripper=0.9998 right_x=0.3091 right_y=0.0996 right_z=0.1842 right_yaw=0.7384 right_pitch=-0.0081 right_roll=-0.004 right_gripper=0.0613\nstate[joint_eff]: [-0.212, -8.1162, 7.9658, 1.4969, 0.4274, -0.0171, -0.0171, -0.0615, -3.1521, 6.8718, 1.4725, -0.232, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1234, 2.0857, 0.7822, 0.4702, 1.1053, 0.4778, 0.9981, -0.0238, 1.0821, 0.7643, -0.4129, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3513 left_y=-0.199 left_z=0.0109 left_yaw=-1.2172 left_pitch=0.2135 left_roll=-0.2769 left_gripper=0.9981 right_x=0.309 right_y=0.0996 right_z=0.1833 right_yaw=0.7383 right_pitch=-0.0109 right_roll=-0.001 right_gripper=0.0613\nstate[joint_eff]: [-0.4171, -2.906, 0.335, -2.0928, -1.707, -1.5751, -0.1734, -0.1436, -2.8923, 6.8855, 1.5507, -0.2711, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.123, 2.0979, 0.7799, 0.4877, 1.1072, 0.4728, 0.0092, -0.0238, 1.084, 0.7639, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.351 left_y=-0.199 left_z=0.0081 left_yaw=-1.2159 left_pitch=0.2154 left_roll=-0.2795 left_gripper=0.0092 right_x=0.3091 right_y=0.0996 right_z=0.1827 right_yaw=0.7388 right_pitch=-0.0118 right_roll=-0.0001 right_gripper=0.0613\nstate[joint_eff]: [-0.2256, -10.0444, 4.1778, 1.0085, 0.2857, 0.0269, 0.5055, -0.0889, -3.3709, 6.8581, 1.4774, -0.2466, -0.0611, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5565128715dfc7c89c138c8f9a8b408b3984dc29dc1e8cfec6764b21f2e9ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934315a5ef06dc854beb0348195aad5c14d51abf8cb3f53b1c9b29ac07d8842c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acd43f676d70b49fff4dcea4b8a651688eaac5805d405fd80e08462828ac30e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWNMrb5_JUZaDBcQ0RX9KAr3E1BRoUi1mEyUBG0dxZlkYk62krmzwpUpJ7X_VkUroc1DJ7QkHrUpYAq24Z6K8K3ua0KzJ6_ECO9ot3AgWRgk6df6C4rx2eqKuffzbKXqPO1PA62mHrD6AQsikcCBgthCFE9UfdL5Y0hoB2djuVYA2PfF-Oqdygt7cDsFHFhYUgEfoWBzVWkfjhOPLPc226nBe1KMpbeDlWyg3FxRAI2KEMV90d7CUtN9a_b9Su1sgx8u_fPnOBLRXNuvkF1WNa5uyaI1UP-1ARQg7ldenX7PhiD7lMRoEwxxKOM-1KkSA9NhdmH_9BVKXLquMzXfRUapYLgO5-pcVEy3R2i_hB0kKfbZggXjKmxlh-klhGjxbSGD8ddX7pJ5P76RpvlZBDhqqKhgxhfPuQhPk5iUXqepwaCurOJab7Sx44wRwZPjy9duuisOK76ReJT9Fe_KKy1HU7iIPw5jb_phg_JWkImL-R8YtHr7_nkCxkAEFX0-60eGOGus-tZxrieQyqel9UXraUrv24ZGbwKDmXs_rNBkTVJVZ8H8zTbK7d0BA26Eb_YgqXKDYgt2kO5GMbkZv2yiJYkB4SgzVZntGWi_X5fHKzQIKq-SSi123kEbN5C76dadDQ_D_fsMJ24pdHNNq5rII2LshiqUcaxqp1DRqbjQPMaKuXFGP80YKF_piVvuLwJHJN5wbmYb3KywV0u1JcSinMiF5DTrOBBTe_tooAUikzlGZz7FGXEVuY6ZQDniGxRUztxVUfg9mmqn4ULFFdYDNxZ9cZv_2NJszrrwExJ5SghJSV6l1yCl2I42Do0O9WAoUPQU0CAmOhwJUoDEM4qGXmdqGEPfNmpTDbhLeWjMmuL2wYp_vlYlgnZ5LxXs8yRe3lV1JKTE5HvBGN5V9I7W8jNCBdycVe-QWnZwBkYLthDsEwmi9r2u5upBKuuUuxehQvOQSKF8AzkSPZkGOnvzevMn1gVW39OIooF_xHJZ76ZNJGmQl5bn_7QL5j90s0MuW8GjduFnh3SBqJT90ND20RjSTqkCaw8O3_64w9iahOHQV4ah1viKXiuBG50YiePsYUCyuLS_Bm86mtzE54j2LgE3r0MN2gnD9God_JcBdNBVgSeVGIP5zHniN5o8b8Hxi7XjFf0OlARxUJYHuNzDQUplZTh7AjBHl1Zq7hpOKeIL7Alsaf8EVdacnYBz-rTuWzypl1ZFDCb4XJ8Xuw4PQbkxlYiyQ087_W_m5-mMRgPTPkR60iP5w0THV5_ZI-LQMShZYYojSvyiRDHy_Jr3PMguw1UWJibuYkbDForB3N5zZwA1QKhSJWSZtdALPKyr2dwDDyr0u5CB5xQAQDZ-Ky3Sn57G1uQH1iUp1BLnC3oa2IbnYjhqVcKaLqBNopfQa0uqGeQh9vvV8SFzuDlVfzJCcU8aguOdHW_DkOyeHG5KdYvhZpR8F9G88jqk24Cei6wLUtbia8gRAZcXne3vChPvXyf5Ye1j7nngDVre8-m81Cb_YzcTanai-KI3cSmURg2mo2UBKwfvr8J57h3sF1O115dSqqbL1ePinbt8lzfIVWtBqWr5g9PUgfN1geCHgR-Ry0LNGZJdW-uyNNH1ubCeRN-ro7CujdCFu5NIPXpWvl58OFMGWE2BuVhvsHOi1cT8iEQ58vQad2lLbMWXb8cwLcXGBS85aloIjFsTdZ4fY_QOwqTw9V6XbCoEw1LOb05Vt1XhKVqFq4rXtpewlsjA2fR7NWJ4ilDqDBJKiXnUcKmWSeEpGg1dGYhwng7Vh8aPBCj_NTkmhvsaDWkoP21CO7guCRv5N_tW6ATScYf6VUF7MLgspYrS6MX-GJys_1XRiPLHLdhIlCp8-L9Z9rzUsLTViQIa8ODk4tiG2bk86kih__0cSLY5Qz3R3wsdMSEpCWCrz9irpbx3jzE-Y5sQghZCRDk0lnBSlrVw8RF4vT2MAIPdVKyNvGh91A3QjxaCstOY3MUNF8wqiT0l3UGgxivITGW__1s7CS8Gqg=",
  "id": "rs_0730ee0a5a705988016ab4458b1ad887d080944c6f28fba1be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_yaw\":-0.7,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The cap close settled at 0.009, so it was empty; the table-level wrist view showed the cap about 4 cm left of center, too far for a reliable close. I’m reopening, lifting, and reducing yaw to a more trackable orientation before one carefully centered retry.\"}",
  "call_id": "call_LAsoObOfm8clO8QWyp9cBkKh",
  "id": "fc_0730ee0a5a705988016ab4458c5a6487d0a342478f8772703b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LAsoObOfm8clO8QWyp9cBkKh",
  "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]: [-0.2962, 1.7401, 0.4377, 0.9024, 0.5987, -0.0746, 0.9952, -0.0238, 1.0859, 0.7635, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3416 left_y=-0.2046 left_z=0.068 left_yaw=-0.7772 left_pitch=0.2232 left_roll=-0.2874 left_gripper=0.9952 right_x=0.3093 right_y=0.0996 right_z=0.1821 right_yaw=0.7388 right_pitch=-0.0132 right_roll=0.0012 right_gripper=0.0613\nstate[joint_eff]: [-0.294, -7.2274, 4.2872, 1.9121, 0.0269, -0.0366, -0.1343, -0.0342, -2.9744, 6.9265, 1.5116, -0.2466, -0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970148f659a40fec381c6550115f7defb6cda81699f457444f194095049435ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514d43ca7754496e3bdffc4883f2cb0117133824d304ac15b54c2ed8a7cdbb71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8de6371aacb0e330b5cdfe69813778c1e9e37a4a26ca6234e203c70f9e3a715",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 5.17 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1513, 1.8095, 0.8906, 0.0967, 0.9497, 0.5247, 0.9997, -0.0238, 1.0801, 0.7643, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3708 left_y=-0.1982 left_z=0.0836 left_yaw=-1.1761 left_pitch=0.1243 left_roll=-0.1666 left_gripper=0.9997 right_x=0.309 right_y=0.0996 right_z=0.1841 right_yaw=0.7387 right_pitch=-0.0082 right_roll=-0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.0615, -8.212, 7.8838, 1.4628, 0.4469, -0.0122, -0.0171, -0.0205, -3.1932, 6.9675, 1.4823, -0.2906, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.123, 2.0979, 0.7799, 0.4877, 1.1072, 0.4728, 0.0092, -0.0238, 1.084, 0.7639, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.351 left_y=-0.199 left_z=0.0081 left_yaw=-1.2159 left_pitch=0.2154 left_roll=-0.2795 left_gripper=0.0092 right_x=0.3091 right_y=0.0996 right_z=0.1827 right_yaw=0.7388 right_pitch=-0.0118 right_roll=-0.0001 right_gripper=0.0613\nstate[joint_eff]: [-0.2256, -10.0444, 4.1778, 1.0085, 0.2857, 0.0269, 0.5055, -0.0889, -3.3709, 6.8581, 1.4774, -0.2466, -0.0611, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2962, 1.7401, 0.4377, 0.9024, 0.5987, -0.0746, 0.9952, -0.0238, 1.0859, 0.7635, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3416 left_y=-0.2046 left_z=0.068 left_yaw=-0.7772 left_pitch=0.2232 left_roll=-0.2874 left_gripper=0.9952 right_x=0.3093 right_y=0.0996 right_z=0.1821 right_yaw=0.7388 right_pitch=-0.0132 right_roll=0.0012 right_gripper=0.0613\nstate[joint_eff]: [-0.294, -7.2274, 4.2872, 1.9121, 0.0269, -0.0366, -0.1343, -0.0342, -2.9744, 6.9265, 1.5116, -0.2466, -0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970148f659a40fec381c6550115f7defb6cda81699f457444f194095049435ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514d43ca7754496e3bdffc4883f2cb0117133824d304ac15b54c2ed8a7cdbb71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8de6371aacb0e330b5cdfe69813778c1e9e37a4a26ca6234e203c70f9e3a715",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWV0y1nK4E3vj9Vk0Z6INVr7REOVUy8sF-015XWad0sB-YXRFqUqwdnUziwSsg-dfOE7G3r2GTOpBpDRSu6yLSoiJuWy-L4l7xfrZSnfVXnPU6rYVhcHSCIflPB9oj2JvSHdVZ42Fw0--Q-I4FEc9wM7KZVwwo_yHAJhIJmxg4-o8p4L73d32cpJFuFknbJwP3n69HwjrbAL9xJkfGUOMfryNRzGu1FPr_E2rXjPS5vpcQVsN2Y5ei07ChKg8hw10J0NU48mnBfmLKTMrijs7wyzdC9w5y37N-w02o7l2MWQ8wd2DMutm1Qv4G8z9NF8OhyyItnq4dhADdxabwjbXPtRnuirvB3By6TWU80NpqeDZAkoX4U08SA-prUvO7dflvT86ucF5OfeHmbyd2NGa-gO6K_SecjNjZBDycVZ9u-pUTVngei53gbwQfOW9aesOS9ZHZTeLLplLNJu5E-mZQWoQNENBQxfpiyqclouB_JgnIaWJtUNqFJ_D0LaIDjvp8Tmv4Iuux_LSahIc1bmNRwTOH6qfQQgwWcR509H3S9pAxpPfyzzkAE3bGhZWK4QBrDhHIVJvyOpoVOd5VSxEd-N0Cj4iMMez0ZINUHIfz31Vz28TD3pzB1BRhZWBLlffGfsyHm9m5X9SNVEjOwdR_tQ8zUomQTPffkTPaTEB2-zQZPho18_daFBO1jphc9pvxxLBQSynpwBhurGjVZL_OEbJj3WnMHTnYDTCm2Yhk3G6EwKUU6ZZ9K8HCafvSlVO2o6sztcrk0p1osSYLcxvQaFIZahuyS5xMowIz2PFnXE636tW92pB8_yu-F1kBomBvlg1QM2jLzYo5d8t0i-BOslNJ_jHjaAdnp8po9Iwz0kHgQQcboxUIVQm5Pibn6ez21sXqxRuIATrwZw57CxTlFVueakRF1DOSHX1FXZyZ7apLXgxIuJ5NsDkJPleQ4dUejLhcqGaEbMES7u6S_Nzfyz53lLi9NZfeRBdpNOA9CE3r20etabKjmbjt41nBluxoY9EMIA-ZpbX6x1LpZW7-cxDJBfkHbORfqlqJ1x7hux4xo3isr0FGUT3bpx10m2i0tMGbMsWqJUf9DFVyCYUXAIikb7KF9_Moce1jc7eQ2I8ot4NjtszF1LbFxQjmLpq5xY9wyACKlfCw5J2o-Ybn1drkVmstfshBSqDM_3TKZk5Ha3-X4xiUGMScarPymgckOyyhF1s8lfgZ2G5OLK_FFarPmKoq_HUBlYPxlr1s2q5TYnWaomVW06O60MFQj8dv_SjgnTBx2AYOvUrtaxO-kL177QtBHllvMTIewDlyRuEdKakQJsu5SvsgvGbig4rP3FNlPftJjJFrqtG2RaGDm9M8FbepHWawprynproWNOV82TnJD9mDXoSV4Ri4vUFfvsBqiSpFZfYM8aS9ZWZyDh9wMgpnlKl8Q_ixQRyVXLF8DyB8kLWcyIm3h-vZSO_l0Jn90AF0ptU-IHVhgbrcS2qJJsMzLSyXPcJwH-TDzBVc2ngqaNqYLRUpAMyBZ3TDxouJmTJ4RBY92Q40G5_pjmlPoMl3pK2zxdWqcMITiXyERcQP9PVUReT-5dSGlUolYxvX_adWeSIF95mZ9npRtAqYZ_zVdnpeg5LHFf-ihuRV_O8wSTcOwiGxi7Q4ZZ8bTkR28V_-qhuOcoBicZMtcnLZss9mjbnzEEpaZk99BDkqB5_DEPSoC57N3dlVKf0v_fD5Xx8vnKtDWPRTAQ7M5OmGVWnClVpovO4zFU8oqzwoqyRU5Lt1t-yXe5EQnarxb0idfkNEpIr6-TMl15fWLr-KBgecJD47JZ0pDtKnUN3PNRZD5nnwUXdbKsX1N0LcPjdPvYsncsj095QjBoDgf15IlgGInF1ZKamKCmfVBTiXYiA7doI-ZBSRXZ8LM39RjVBs_cNPHB8CPuZunrIHvx4RG4ehvJ-dWfvxYlx9w9YzPHjugtE58EomZNsNot0N7B2ai7iKrEWPlQSfV9eSZ3o44UNuG3WKN37cnCCjPP6iCQWYMZBHSqsf7ymYaVtJPb_hqL1Q4YYkhz4yLuJW1UkHhzPM4Zrd_7B4Z8guFhQiFMkNZ1n-d1h1YFblVK4keVIVI6MnK4b6xR-Fp5q1Mk7L4T1i1NQZK0x3h_MsM_FkiksDbJOmY1cW2NPJClc-sgW1LsvHAhNNly7O2phMeIRZviO52lo5-foWRhkkSQFl81SOFFOLHpKlT4gWl4GuUb3VieZ4_4V0dVG6HllSyo6uXjERpjVULZsWZaGc00EoczAC7S8FMdoaE4-U1W3PqZ95Apjzyup5ca52zKCIQr87kJO19Muz7jmdCs-C0gTW7LG8w47NqLGMCakZk68e1SYgHF-xrM8bkZyHqSF_CcryKiUzoV64CwrQsYBo78ja2hrNilYRxsHUc_i1Dqem3bV0yNhg-RVtPYLCZdjBbJlmAEI7DgNpjKE3i2OBiZcDP_zjzEV3wxlmFOjeQ3zzTA2e0ZWXN-gVBebuRtdlQ6OmE_vc_7C4mXreTaqo2-Pn7lGR2UXqGinW2tkXLmAulHbOOABs4uFIAVMQl_bpacvY8ADj9A5sUq56hy-tziEMmV5vIsAFKKKQF1e_XjdQaWkuIYa3d8NmKGuPtZnwMpvk5AhmMndTeoSsKwL-Y6iK6FHKz0XXKaa_xSLsRpX3TIOUEHoYkj9of0zto-bTvlA==",
  "id": "rs_0730ee0a5a705988016ab445923c2087d084a1d37458164762",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.2,\"left_z\":0.1,\"left_yaw\":-0.7,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"With the arm lifted, the overhead view now reveals the cap just behind the left fingertips, explaining why it vanished from the forward-looking wrist camera. I’m retracting the grasp point about 2–3 cm toward the base so the cap will sit ahead of and centered under the jaws.\"}",
  "call_id": "call_hYpJEPzSNj13kuuuQ5l7vWJ5",
  "id": "fc_0730ee0a5a705988016ab44594fb9887d0ba9702241e97e7ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hYpJEPzSNj13kuuuQ5l7vWJ5",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3424, 1.5444, 0.3531, 0.8425, 0.5045, -0.1287, 0.9986, -0.0238, 1.0882, 0.7635, -0.411, -0.6254, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3219 left_y=-0.2016 left_z=0.094 left_yaw=-0.7193 left_pitch=0.2474 left_roll=-0.2856 left_gripper=0.9986 right_x=0.3095 right_y=0.0997 right_z=0.1816 right_yaw=0.7391 right_pitch=-0.0141 right_roll=0.0024 right_gripper=0.0613\nstate[joint_eff]: [-0.2393, -5.053, 5.1761, 1.6874, -0.0464, 0.0269, -0.1538, -0.0479, -3.0838, 6.9128, 1.5214, -0.2564, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4195b7eb2db68b7065e89069452bb9b9e38fe7c35d4e77ec723138f9fe7bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aae01c78f46ffbdbd4942080e9cb95f155aa04ae81d873fc4d6794b3b77e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd7ba1097c61088dc833f3872b1796a36901093db7f9723e1fa3ee4488f0ca6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 23.93 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1234, 2.0857, 0.7822, 0.4702, 1.1053, 0.4778, 0.9981, -0.0238, 1.0821, 0.7643, -0.4129, -0.6247, -0.4831, 0.0613]\nstate[eef_state]: left_x=0.3513 left_y=-0.199 left_z=0.0109 left_yaw=-1.2172 left_pitch=0.2135 left_roll=-0.2769 left_gripper=0.9981 right_x=0.309 right_y=0.0996 right_z=0.1833 right_yaw=0.7383 right_pitch=-0.0109 right_roll=-0.001 right_gripper=0.0613\nstate[joint_eff]: [-0.4171, -2.906, 0.335, -2.0928, -1.707, -1.5751, -0.1734, -0.1436, -2.8923, 6.8855, 1.5507, -0.2711, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2962, 1.7401, 0.4377, 0.9024, 0.5987, -0.0746, 0.9952, -0.0238, 1.0859, 0.7635, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3416 left_y=-0.2046 left_z=0.068 left_yaw=-0.7772 left_pitch=0.2232 left_roll=-0.2874 left_gripper=0.9952 right_x=0.3093 right_y=0.0996 right_z=0.1821 right_yaw=0.7388 right_pitch=-0.0132 right_roll=0.0012 right_gripper=0.0613\nstate[joint_eff]: [-0.294, -7.2274, 4.2872, 1.9121, 0.0269, -0.0366, -0.1343, -0.0342, -2.9744, 6.9265, 1.5116, -0.2466, -0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3424, 1.5444, 0.3531, 0.8425, 0.5045, -0.1287, 0.9986, -0.0238, 1.0882, 0.7635, -0.411, -0.6254, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3219 left_y=-0.2016 left_z=0.094 left_yaw=-0.7193 left_pitch=0.2474 left_roll=-0.2856 left_gripper=0.9986 right_x=0.3095 right_y=0.0997 right_z=0.1816 right_yaw=0.7391 right_pitch=-0.0141 right_roll=0.0024 right_gripper=0.0613\nstate[joint_eff]: [-0.2393, -5.053, 5.1761, 1.6874, -0.0464, 0.0269, -0.1538, -0.0479, -3.0838, 6.9128, 1.5214, -0.2564, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4195b7eb2db68b7065e89069452bb9b9e38fe7c35d4e77ec723138f9fe7bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aae01c78f46ffbdbd4942080e9cb95f155aa04ae81d873fc4d6794b3b77e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd7ba1097c61088dc833f3872b1796a36901093db7f9723e1fa3ee4488f0ca6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWbg0ggGiphppqcyPQzL0S0IHyJ3MD525JrCO4qFX7NKrfdbbcKEX5dJDu9F0RbhAj4Rrfud-Ry70gwRCZkxiKVSpmPxwsnYHiy0kOQXN_ooVP3OXeGwqgee7h-38J9Oja71rSWYlomCe_9f2gG8rsc8F2RaNdunwAufx-6elKnaeHA_Lncz0HVjYDdy7gpkMBUW_BWGZftYkEs69-Y_P3ESpLB_u0Y40Os-8DU7o8oD728rzh9OqVw0KO9Y_2sCtv4fbWsbvBZuBw5465bGCLPKaoKAUuvYO9JXaI-eN95K3egYyS88MNHt2BZMBopjHqgkRE2YkWRGGdXpMgfk-kp3NKnniEWrE5EEkL-vAA5Bfg_thxVdp7Eo5jbRBPp1f-zWGrUUyFHmpHXXp2fBNbOrnNFtNRDS7J5wu4joLjfe05UrX6k09_dY2_N7yXe7Dw8D0OYU0WYl9jR7_4KEDJ1UIrr9s-nfDgzskq_5VAlF45RHIo96DV52LnIl6aIp-U2K-rt_d6hJvdO5Ox1FFVKNm9yOdW2teuYTiady_wmlwpCBpHnRfIQ2eX4bidBciPL6qqfoyxMdPcNlCUjwTnnIjYMj8wtj4OcmwdLhhsPIpjYRRVHIFbgnj1M-zy_xpAiiBVMlZa15WMSmLq0Zc5-zURefM5OLrcOVMmNCxApD8QHPDLEWotq8-CzLHO5HbXXeOv2NlxSghF-fVSRu0lsx7j9G-_IBVPj2sxUbA6tKIG19k92qfh9wS43d2RA9ibFHyi_Q7DbOMe5J6DYf0Dsk7kJyjzAJZfAH55upwnYc8Vnw5F9bxTljo9V-ix51TSZ4DloaBz_-mM_-J3H16vNAdTA9DZgbu2oAk3KX6aayZFaJyRxVGBCYM2sFlIAUjGPqSRZF5qDSYZjjLr1viOHXql2G8Q9As-rYT45SSRbAteFHkyT7QhwdbabTtptG7SDATCM37R2UzsaT9sHPtg2l1I_ETHXph_PZiZYO6ODblwZQUBOKHq6Kf8tG3oStNMA1q3rXbe31tFdup9HdZRUXm2eNl-ftFQ8Dv1FDLOwaPBzOuD_kWXLCcSiHjILLSPnji2nOKh_57fPlee-EGPGj22yfjiYgrCHz4rATQuA8_Grgf6pmo5PQEYEyTmCQje3Aoyix4ycsub2bNCcsnJXbiTqPs-7vIO5PN60kSe3Ao2hm1K4kdusKIobBYlivrmJGuUVj-sz1wpCZNHvs10iUdFfK77RVlf-5rjPt86E-MJD2nSspF2m6oe78oMyKeCQMNENXtEDoZd_izqJ3JnhCPNAGFy6ZI6ooByZAIag9BR14D2OZ3m6EajB0vKfHaYlSfja_jVUcQXc6nntZ9CSNCF-IKvxfBjoAMP4o38Gj6g1vFkhdz1oSFYBK-NvcN2xy2onF7I5EXro5fjrsKUDOMLosmVW6UhBmyUTZF3N1eVdWRvFKTSSK_VV0_4NchigFFRVQLkwDzvO9H26lDdsBKnBWO7Qy-OnA9RWX_bYXYfYpkuISvgutzlAiiDCTba_Nsme4ZCGK6lPbis205TByZ8ujC-gwqvubh1gyCiArS04bncvesIfL3DSZ4yZxW8mxqGhQ-t3gPRwE5GNdGEfQwWqqlZG7WSmOJb-pcO2HxxgqDhu5n36Bznpx3-QMAuJJ-U2VMMTRWTlM8a5Gis_KOyApCiZS-tJAVVu0Inj6-4efRRQADWBAkytpG5f0-7KxzIRXqvO9AKhPE6uhbsb0GSZlJOeXKtInFz-HbOzaccrKg8PQP_DQ5JwILGdTKXXBjCoo0Qe_AbLPRqT6ls41Xdt_gJTKD6QaJff1mm5dJsEnJS-pFkSsG329B8IhazNNsE2nsCFgYGDBlZ4bEdk-TMuRfXyhUCuoCBZ7r1FrYZt9LNKBXIYPOqOyKSKoE03nI8yWsdYxERSRvT-2MiOTGSzLYWI73Lkkgd4Z-AweC6KFUg_GC0d2qvnPoWmu8haTyfz3n3w854z6eMyHH4X4pIrtg8cpXq0Pu5vBIxmgirQHHknB82E2SAO3hT8zXrkjTWzPUls-_JAfDVrn7HhFUtcthqpa_GZ_q3gVyx1KoohOklk0gJw8UqkhiyQfAYalub148rT6oFuQ_9PNM4PzYUNG6RayYTZCvdlZZpcrW0ltOUiWKlL-OBnXAAKAB7QPZXlbNRJMxHSoOUAG7D7UFXxaGhef5XAfhF_0l6xL5DnicdytF9rQnP9oAGH7DgCNVwzjLdkXo1sFloSDXv1dE4svwQmBDrcFxhdd-HbevuPrn4vHQKYxM2Z7dJY9zq-J9O9MEy2xWQ9Cyc4xCbOE97Zi_wNJl2b0NOG527jSolm70eDGj94NoHOSx-96kCpGHUQge4TLc5kNPqoGHJZB5dbWyWJ3kktXDrewajawbGc1OTF92XQG5Ax3a-RvNZaEER2n2WMYOsal3GAx8NyD_HPGKQN6QqB-j-8KX8jUk_iwUCqEFtsx5VqZdfJFL-H3XnoHUs7MftPre-rf81ODClhQI1aossKCmYU_uIU4nq-cJM0GL8xsm8j1MU5D0vBOk9vA0m4C-5SdM41yHKuxbejziITSjOm9P9OsLNJtNzQik7eR_ueDSH51ZXXm7Yt2HPsaBxsEb3YXSNqqtqQcpjnwzlAG9AnkCzPI1qZVpU=",
  "id": "rs_0730ee0a5a705988016ab44597a50087d09ed46830ebc822a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.23,\"left_z\":0.1,\"left_yaw\":-0.7,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The cap is still absent from the forward wrist view and appears just down-right of the left fingertips overhead, so it remains slightly behind and to the arm’s right. I’m retracting another 3 cm and shifting rightward to put the grasp point directly over it.\"}",
  "call_id": "call_59ex5lHKn5D4HPrmvAuqTzih",
  "id": "fc_0730ee0a5a705988016ab4459a46b887d09bc9184cc713011e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_59ex5lHKn5D4HPrmvAuqTzih",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5179, 1.4727, 0.2935, 0.8242, 0.3744, -0.1783, 0.9986, -0.0238, 1.0878, 0.7628, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2854 left_y=-0.2328 left_z=0.0899 left_yaw=-0.7558 left_pitch=0.2206 left_roll=-0.2915 left_gripper=0.9986 right_x=0.3093 right_y=0.0996 right_z=0.1813 right_yaw=0.7388 right_pitch=-0.0148 right_roll=0.0028 right_gripper=0.0613\nstate[joint_eff]: [1.1692, -5.9966, 5.4906, 1.9316, -0.1783, -0.0952, -0.1587, -0.0752, -3.1111, 6.9128, 1.5018, -0.2613, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf66f047662fcd585f787157ebe4f702888fbf9b8ddd931604f9d1ebc8c3dde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dfcf4c48b5649373f0b58c9327a9a028073af9a1ed5c5751bb01cd7cbdc4203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc609eff2cecc5badcf37f70fd121b9362bdc601e62cb93bd98ccfe231c178a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.896 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.123, 2.0979, 0.7799, 0.4877, 1.1072, 0.4728, 0.0092, -0.0238, 1.084, 0.7639, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.351 left_y=-0.199 left_z=0.0081 left_yaw=-1.2159 left_pitch=0.2154 left_roll=-0.2795 left_gripper=0.0092 right_x=0.3091 right_y=0.0996 right_z=0.1827 right_yaw=0.7388 right_pitch=-0.0118 right_roll=-0.0001 right_gripper=0.0613\nstate[joint_eff]: [-0.2256, -10.0444, 4.1778, 1.0085, 0.2857, 0.0269, 0.5055, -0.0889, -3.3709, 6.8581, 1.4774, -0.2466, -0.0611, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3424, 1.5444, 0.3531, 0.8425, 0.5045, -0.1287, 0.9986, -0.0238, 1.0882, 0.7635, -0.411, -0.6254, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3219 left_y=-0.2016 left_z=0.094 left_yaw=-0.7193 left_pitch=0.2474 left_roll=-0.2856 left_gripper=0.9986 right_x=0.3095 right_y=0.0997 right_z=0.1816 right_yaw=0.7391 right_pitch=-0.0141 right_roll=0.0024 right_gripper=0.0613\nstate[joint_eff]: [-0.2393, -5.053, 5.1761, 1.6874, -0.0464, 0.0269, -0.1538, -0.0479, -3.0838, 6.9128, 1.5214, -0.2564, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5179, 1.4727, 0.2935, 0.8242, 0.3744, -0.1783, 0.9986, -0.0238, 1.0878, 0.7628, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2854 left_y=-0.2328 left_z=0.0899 left_yaw=-0.7558 left_pitch=0.2206 left_roll=-0.2915 left_gripper=0.9986 right_x=0.3093 right_y=0.0996 right_z=0.1813 right_yaw=0.7388 right_pitch=-0.0148 right_roll=0.0028 right_gripper=0.0613\nstate[joint_eff]: [1.1692, -5.9966, 5.4906, 1.9316, -0.1783, -0.0952, -0.1587, -0.0752, -3.1111, 6.9128, 1.5018, -0.2613, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf66f047662fcd585f787157ebe4f702888fbf9b8ddd931604f9d1ebc8c3dde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dfcf4c48b5649373f0b58c9327a9a028073af9a1ed5c5751bb01cd7cbdc4203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc609eff2cecc5badcf37f70fd121b9362bdc601e62cb93bd98ccfe231c178a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWzGFMeeWulFFpz_TIpq1jkbIPw4qmHoU4oaJInsM-oMGLLtLgXBM9_ViNvVFXSsscqLRn1ObtJwriN7Y4IMyGUM3QhBm1A9RePXsvpbpNWw4r-cigSmHLTl600iACodNpXUfVEVhDsTrDVQJqNxntsdvQAoq0QR-GYRe_WOC4vcvB1_fsjMXzyWCl6hd9iPDpc-4Sy34PaqqTsE5Bk4YUmoGhSbvCoORggbsXtJVc3mt8GyRagV3c-vgjUAEw2iX5QWBYrgEC3hT9aqP5edplj1Ivc42wjHz_8nKzJbvxARhtRsJK2yEEhSOkPVtmq6nrZTShOpi2WgahpkbWnO54fYsC-544hLoi_3YiSBXbSR96WkT1_trDfNBz1MGOAGqVtVahde561e2Hexp0-jfJQDljpHeendmZvEDHT1XShTdNHwFMEkGl8SjVQIP8zzlyhOsddN15tdzfyA6KFLU9TZxGAG8ZlUD47ch-7ZQMuE9DRxrXZg00JbIk5WnLPNrsxj2_qQQRv5RNTd4JoF9hxcsd9nYiHqblTCNy76Gt9UTZn3Ep4KrrGJjXow2OsdTR_WeZYW0KxzyxwyQo9EE3Zye3eQFDOWQWuSDSGcw-tnoztmQ1b88jiZCXT09VHPkxR8fehjLw24GWrRTTrorfGZCRZwpWliPfe_L6XC4eYHKbSl7JPtdgypl-jIuo4AnYDhGNaX8i8Jg3YSd-zPmNjXrPMPCQubwwnQY7LWrJY-s3NvzXgRCz4doED7bCPuVN3XBE97uNq6Y8ha4nCX0VrMtuocL5wViFw-1pABwnKD_75feB8JXoT83nyBPAvTxyo9AdEW9ZLBGyc4hhlyvsntNJCghEtQn6Y3_djKxsYY60IZ2VMd7atRQk13zFIwt_1bUEGlgk1D-wK6U2u4gZxIo6aj0o8uCL8enl6aW0DlmeNrFOLaNTmLxmKXGjaktBi45tJICkdFDY2YujUlSh8dHOIEivAnhhi11Q9MuiPDy2EiC-jSWq46dCYiusg_N35_a_bHwg1v1ogj-Dqa1OPhPGNCDjMIeN7IJ0rKOEoZPk_07zvnrNBz4WkXCDt7HjxWs-g7rBikQI3vLQpmvtBu6AB8MmMHEylNqdHkIxW1Yy-17sxW--fM0B9Fhxy0r-f8N3ur75Wr5GxE86XNDthEiG71Xowqz4aysYVf_yz-4g9UzaiDfDv11XUvBvJdjhoob3QVrLiqNy-ILk_g2hUXWIoHfT1I_KtQfY6M2jBpIJ9bFkMZ4psbt63eBGxxx9GMkVTxwgNYp4xI5dPcy9_1xtP-kluzS_6a4830EMmrpnoJG5ZL2uWCwxJiwKzJ37aPCTbjVObvORSB7tJU-73j2I5tAXmqSyX0SJ2onskWXyeuEox6TQuory15w2MaETfvJAGc9AAtRcHI-sx2EMiBDMwATWVG01zJdyrvPvOFFtM01FAksyPC42_t27gb4ROMyq7epc-UsVDBUsdFUBP4UosabznAk_k7PFbh6Mu1DSgCZtcbnFr1RZXH3IktxxkfiruMa4_Xe3tWaAJCf5upMAKRNdnpDEg5JccNCDG7gFEFq4xCuW3hUzarOr8u7EGZaJu6yWHH9of6Qxw-z0AjhG3ZeWf4Fvqv8pbodTue8NaZo8ZC7nsrW-Xs9Ks-mXsMzHhxY5b3vNkHdCTgviOGfXDB1-cT6vGMjSc4hXMmkr77i5iR4PE8Mpldort3MbvhhAABPhyvChAuGQF1Idlr1F_Nc_k69kdQVlKZMMUy12cbOIHmVfdut_RrgSYf6zvRMS-ULD0_nXS5hqBS6NM0hKiPQx2p6XufRh2pqYTfNTE3XXb6Hu1nLZ8c94kq6zfSffEMojin7_eAb5Qd8CsYqlnYBxyrPeM5L0gpbS1mqzHzmbHZNmfMRBKnTHtbpAerEPL4XLggRTyttDooCT5JszF3REVxZDEtBuleVMf6iW6uLUkT0Y6bl5Ew2AlDG1h9O06F0K4j2a4JLkvU0bSHnByudt-hY0KTWQjqkD3DwgCKz20o255Kv-72aOzM-h7ncfF9YUQL_8qrEY80YL2D-laTKjCqDw4QRAxCYbnBFgyARw3C4XnHP-nwSFMxZV6EC0rGC9-gvoKGzQ18dX-Mbb3RbboSpAZcf0tuDqXDTUlhyghNP7MOkfNzU8KZqt4rYpELOhWHnVWnweCgroEn0qggsZO5_qNNz6X18HsGnSQ1w_5AV91AjRF1LXEDXTVhoYmcNuhRcAYgHKJR0mVZPcztIZNm9rLrCwmgERuSNGKS7kO4KOULBqWT-MmKQeE4J2SnsE61a-mwZQ23vwHNI3EyGbib1aWZxtXmYCICS8=",
  "id": "rs_0730ee0a5a705988016ab4459ec9ec87d0ba64c617fcb6ca7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"The overhead view now places the cap directly within the left fingertip footprint; its absence from the wrist camera is expected because anything at the grasp point falls below that camera’s frame. I’m descending vertically at this corrected overhead alignment for the cap retry.\"}",
  "call_id": "call_5OoQBKGMB1Yb0z9wjh8WJfcn",
  "id": "fc_0730ee0a5a705988016ab445b2970087d0beb35506787916fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5OoQBKGMB1Yb0z9wjh8WJfcn",
  "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]: [-0.5411, 1.4536, 0.2848, 0.8257, 0.2985, -0.2016, 0.9985, -0.0238, 1.0885, 0.7628, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2883 left_y=-0.2297 left_z=0.092 left_yaw=-0.7016 left_pitch=0.2236 left_roll=-0.2853 left_gripper=0.9985 right_x=0.3093 right_y=0.0996 right_z=0.181 right_yaw=0.7388 right_pitch=-0.0157 right_roll=0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.1026, -5.6821, 5.3675, 1.9316, 0.0122, -0.0806, -0.022, -0.212, -3.1795, 6.8444, 1.5018, -0.2857, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4159ce7df629329f214079707ce978a33f2def2b7774e5695393922f7c119d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc7eb56f158bfe56c62583a6444b3e4d75db04029defa5d43d7fbbbb6b1b5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41e730c1fb37a6bcd82bb71f802866faedd672e14bb4a68c6983bfae73f4182",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.186 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2962, 1.7401, 0.4377, 0.9024, 0.5987, -0.0746, 0.9952, -0.0238, 1.0859, 0.7635, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3416 left_y=-0.2046 left_z=0.068 left_yaw=-0.7772 left_pitch=0.2232 left_roll=-0.2874 left_gripper=0.9952 right_x=0.3093 right_y=0.0996 right_z=0.1821 right_yaw=0.7388 right_pitch=-0.0132 right_roll=0.0012 right_gripper=0.0613\nstate[joint_eff]: [-0.294, -7.2274, 4.2872, 1.9121, 0.0269, -0.0366, -0.1343, -0.0342, -2.9744, 6.9265, 1.5116, -0.2466, -0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5179, 1.4727, 0.2935, 0.8242, 0.3744, -0.1783, 0.9986, -0.0238, 1.0878, 0.7628, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2854 left_y=-0.2328 left_z=0.0899 left_yaw=-0.7558 left_pitch=0.2206 left_roll=-0.2915 left_gripper=0.9986 right_x=0.3093 right_y=0.0996 right_z=0.1813 right_yaw=0.7388 right_pitch=-0.0148 right_roll=0.0028 right_gripper=0.0613\nstate[joint_eff]: [1.1692, -5.9966, 5.4906, 1.9316, -0.1783, -0.0952, -0.1587, -0.0752, -3.1111, 6.9128, 1.5018, -0.2613, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5411, 1.4536, 0.2848, 0.8257, 0.2985, -0.2016, 0.9985, -0.0238, 1.0885, 0.7628, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2883 left_y=-0.2297 left_z=0.092 left_yaw=-0.7016 left_pitch=0.2236 left_roll=-0.2853 left_gripper=0.9985 right_x=0.3093 right_y=0.0996 right_z=0.181 right_yaw=0.7388 right_pitch=-0.0157 right_roll=0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.1026, -5.6821, 5.3675, 1.9316, 0.0122, -0.0806, -0.022, -0.212, -3.1795, 6.8444, 1.5018, -0.2857, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4159ce7df629329f214079707ce978a33f2def2b7774e5695393922f7c119d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc7eb56f158bfe56c62583a6444b3e4d75db04029defa5d43d7fbbbb6b1b5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41e730c1fb37a6bcd82bb71f802866faedd672e14bb4a68c6983bfae73f4182",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEW2CGM0uiZwrhFc3E5tJ8Q1os94k-974q-HmcEDoHGYbMpWjmpXBTFkfTGP8nWymJWHhmp3dy96U88f4OEM-Mto34lg9XvexlGxNpoxTPClqkZb8Lr0rDd6K_04OLCty5CmWGBMOmZBaZIZ9Q-vEfZSgDVu9lcz2_oxdOx6eFkz9YwHB1kxj0iWdUmh84xbzMb1aYaM4gsF6ETm9VQxRr9LXIPd5oIlRHg3Dpc3O7VEQZ_wV_tCTY7V_wr7VTkqyVvXUVXHKqzUSZfHrkWVVGEgAfXlRHxZW2tjw49yydn4wGJuC4HZCkjEoX20CntaWzu9zwP8qV0SwwXz28ku3Kl-fkM1yH4rYA9jpPKGitaHb2EF-sPBR7hrWoHcPFiYNuesCcL7NmgucwmiMY2JyXkg-KD-tsCeY9rpshWjE70AzbVf9pIDkaoUFjZxBEuce-wdclyJ4hQZZuLaokM74pJaNV9YjiyvvUsAOWx2UHVfLUOETZtRIJalENSgMj0t2Eg9Darag57IvSfUTYcCzp6N8CNk8wIpyy5bDdkZ88eR5v6UBm0CUUuk9clE-d5BTT1qNKFR6sjnIonC8BqMvT8IQST9hK0MVU9Lmsy4sYGRiMuB0q3Ccag4hag6oNr7H6csdQZ0ROB8DnJdEotkqLHpqpfeINm0QT7Asq-KfVQANt6Hq1Haolqrp_89lWaIvVnBnG8-GxiFwNM6M_AcJbjUDboXggLgGMjFqQo70vKeKmqoM52-AUezl5TNDZbmn8Y8W0gNHuLzCbLAQhgUe3r7c0sZ4lw6vZ8GxDtQdKr9ZWdAC9UkKFJ-vwiCKUn6dGil4yuFb17rSKAV1T0LZkUp5-lmhF03WQTtZCSKhIROvGGWLG2VeQrkZ_fktRwMxMqGoK6NPcOLSQuntYoWabXHUCnDuOCUlIBjjFzeixyiC25PYmI1hcOlv-Cnb4pR6pRhTqF_ghZAKRuUDsClSyzNJasCnPaPDwYb1DxgFR6gE3vNLHJPwig5GwBJS4B-3nIq3cY4leWB96kVPgJjYhT0lrP7InBo4kj3oVKoZUKY_o0gJ5uBQe74NolYevI2wh2GplGAPj-yKTKd2wLLLlwuEiq0t_BJSO3GsGWS8S-OtNLdOi-VqlcyMowZQkkxEVKDWkIG-Zed-vwfalVR1o7drcmeR-RhCVzC1dijOG4gsGbcwFl4F1c98deM1sRSPwL2g7c4hW_2ENGFolUxc08pCs2dlCRL2FIRp_F8JQZ86g9EciuXW3P_A0esPrlPDk_xpO3bw-12aMyDY6s3XrQ-35aWD419ZdtYLK7xIw3wnTUFPoN2KsdcTfjQuHkfZscWnJwQjcFNzLzlAKAEOvo3a_Nr4yEvH9f0jyOJbF3lbxocgNXgymT-VF0QmRb0xs0NcermAFUWxLJ_an1Rx5ikRCbeN1iIbi0I4BRpb6Imi3gbJNR4h7kkIXvuBuWL0cXQ86971-uDZQEf5_m5duxTd8MgBclAS0lDceMymDpVE_azcQfQIvUPbrsd5QLEkQngyBRAH4SzAXZSx3zYBqQA7IFR93wgrnWDYWqc_TKMn54=",
  "id": "rs_0730ee0a5a705988016ab445b53f0487d0a06f22057a33ff3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0,\"left_pitch\":0.5},\"note\":\"The pure z command was not tracked, indicating this yaw/roll configuration is at a low-reach singularity despite the modest radius. I’m pitching the left tool forward while repeating the descent, the same method that restored table reach for the right arm.\"}",
  "call_id": "call_x5C0GL5NWEO8Sxgm9Yyy4qE7",
  "id": "fc_0730ee0a5a705988016ab445b6192887d0b5ac223b707a9df2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x5C0GL5NWEO8Sxgm9Yyy4qE7",
  "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]: [-0.5213, 1.9915, 0.2962, 1.4498, 0.3183, -0.2283, 0.9985, -0.0238, 1.0931, 0.7589, -0.4133, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3106 left_y=-0.238 left_z=0.0449 left_yaw=-0.6892 left_pitch=0.3169 left_roll=-0.3009 left_gripper=0.9985 right_x=0.3088 right_y=0.0996 right_z=0.1779 right_yaw=0.7389 right_pitch=-0.0228 right_roll=0.0104 right_gripper=0.0613\nstate[joint_eff]: [0.0889, -6.8855, 4.0957, 2.1856, 0.1734, -0.1001, -0.022, -0.0479, -3.6171, 7.1179, 1.4823, -0.2613, -0.0317, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1973125f43b997c9d4fe4ec8e703c2ba93127d7154f322932ccb6bc2b5580a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d609928ffdfb2017dcfed2617599920a66bacae55b15cae7e77029f54f30fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c8adc60b5ac28105cb63fd1c82714e20a0cc49447736bbde13349719475e1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.411 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3424, 1.5444, 0.3531, 0.8425, 0.5045, -0.1287, 0.9986, -0.0238, 1.0882, 0.7635, -0.411, -0.6254, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3219 left_y=-0.2016 left_z=0.094 left_yaw=-0.7193 left_pitch=0.2474 left_roll=-0.2856 left_gripper=0.9986 right_x=0.3095 right_y=0.0997 right_z=0.1816 right_yaw=0.7391 right_pitch=-0.0141 right_roll=0.0024 right_gripper=0.0613\nstate[joint_eff]: [-0.2393, -5.053, 5.1761, 1.6874, -0.0464, 0.0269, -0.1538, -0.0479, -3.0838, 6.9128, 1.5214, -0.2564, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5411, 1.4536, 0.2848, 0.8257, 0.2985, -0.2016, 0.9985, -0.0238, 1.0885, 0.7628, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2883 left_y=-0.2297 left_z=0.092 left_yaw=-0.7016 left_pitch=0.2236 left_roll=-0.2853 left_gripper=0.9985 right_x=0.3093 right_y=0.0996 right_z=0.181 right_yaw=0.7388 right_pitch=-0.0157 right_roll=0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.1026, -5.6821, 5.3675, 1.9316, 0.0122, -0.0806, -0.022, -0.212, -3.1795, 6.8444, 1.5018, -0.2857, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5213, 1.9915, 0.2962, 1.4498, 0.3183, -0.2283, 0.9985, -0.0238, 1.0931, 0.7589, -0.4133, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3106 left_y=-0.238 left_z=0.0449 left_yaw=-0.6892 left_pitch=0.3169 left_roll=-0.3009 left_gripper=0.9985 right_x=0.3088 right_y=0.0996 right_z=0.1779 right_yaw=0.7389 right_pitch=-0.0228 right_roll=0.0104 right_gripper=0.0613\nstate[joint_eff]: [0.0889, -6.8855, 4.0957, 2.1856, 0.1734, -0.1001, -0.022, -0.0479, -3.6171, 7.1179, 1.4823, -0.2613, -0.0317, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1973125f43b997c9d4fe4ec8e703c2ba93127d7154f322932ccb6bc2b5580a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d609928ffdfb2017dcfed2617599920a66bacae55b15cae7e77029f54f30fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c8adc60b5ac28105cb63fd1c82714e20a0cc49447736bbde13349719475e1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEW7n7TR_jCLN_BXf3K6Hh18LECnP-dz3tkOMmEU0q5Shw9Zcphsmzyrz44FYHstZHRynJJ7lyHRxd-JRljpyDrQuRCLgiZv6rLpsstj8cMyGXc2bgbckpadS0EtLGl9bzTNGXF7oibGp4J2d0c8euuvxLsx3Bugp6fGlMZ29x5tkSVOj9s-Wd2bKHiGGz_zeWa047qpCuAYAP2LVA4mSPGe5k-_XXWCo6PjBDcI1ELmnlb_K6ddsY0zrNVwE0_ml_IcfA89Jrcts9tPVBg5ONWE-pRGxNrgyKheV4FqkJZOHGAHHGKlIdVOm0_IE_R8flDoiOl9Llb-yYfXxkG2SerOT0SQQge3-XtBF8gUnVosY5CiYMO77RHxq8TolI-1EdGqVUxtXbxqGTYEttez5cH9T-w2iTUVcg1sRA94xWxgSMGGgee-yZsMqZO3_LXa5BC48ISB6nVdibQWo-lq7PYIaYIKrPP2L-R0_GlOBGnIQK-qhRDRwuupeSqwsAMewYW21r2D5LrTkrxOFOaFx2DyFXNpnyYCeLLwW2jICkVPCgVbA83SKS8FjtQjWSd951EsijEwLIWIoLRJT0_qOXlyYT7MFTDu6c3VDq12bI9L1f4rNNG4NXFdZweFX-sigRUyoJ7PbxdhVtTHCdFEsSrYt2l_9bF5l6AQdhVubzrhD5wJ8expfo1b2w66NP6R2us10HLvVnjhSsd9zBSv3chgNBfiGTf_1LiPcOXFQgtPJ_5ee-ts6H-1gGJPO_GhgkgobWoklgg12bKcS_pRah76pcWYwf29Rpwyn0uLa29x2XuDgFV1doM_BtIimj4hOi0XNrgZRPMapTx0h-gXwUYILoD9VwtVFT8PG_lEGSl1HOzO6D0gTULw3jstjshbxyAoSDwD34uivo__4LhOm6NUFhT6dtijZFeZ6xVx_A_v0AEvxDmJMkHlrzyTk4M0GR6OCkKsJvCfBPfqOolxw1k_bxbHgPStw8eLJS8G1R-gqff1wUqd6Fero-MxCqx8C1Oe0ZjwsJHZGfNKj4Ez8jw8vptBIPxQJO1b48zKkGXcWseYc92qs0zCgtGgvjUUc0jWuaNRvIoUi9y8T7Yw3L_p_zV6pApOnAwNDROMMm4YT7rBZ5DSeiWmTqMDHHMWqLwNenrTz--oQFWPzNFKKP-i6V7gpjjqA4q0bVQFPVGBePbaCHGGiroNtK4-_bXEnGr35838gMRX-vHIbOTiC1gUH79Q5D9Yy3HHug2yTLG1NbntBDwQ-1_FeRPDwk6x5S1RvreGvdSwR8cZ2_CQMdVlq5fHaVrDdq2nET2pWYA-SL-Yp_ij1q2W7ii2hSNO8Ej91I09wrJSNlfBaAA9JEtWW4XFEdEpWV-NXV1CEXFfBeNpa6GXXbVoRool7_UCWoHLcl7BJj1-QZLb8Zet0ujLOVY2ZN8j2TYpCQeTZbrICq45oBd7pkxas60FMtC_d19fbF6DLDI0-DKeTF5JBlqN70nao_AGHTuuNZGQqIenHJ6XC0CQ3ueFKriMZweNxxLdPqWCuAMSNPm43fpAlISfQXbnHyVcvrSkPv9aCq2GbbRavDdATY0EadpQSo6SOOATRcO7XumsRhGfqK578S1oL8ggR7nuNkNU8-sO3jD5KSXNpK4WhG5_UrKX3kNQAHDhe9FFE94iyMwAjDHTDX7dJDWJUzTwDbo6r1C5k0-8ysw=",
  "id": "rs_0730ee0a5a705988016ab445b90f5c87d0b195941704b9276e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0,\"left_pitch\":0.5},\"note\":\"Forward pitch lowered the left grasp point to 4.5 cm and the right wrist view shows the left fingers arriving beside the cap. I’m continuing the same vertical-pitched descent to table level without adding lateral motion.\"}",
  "call_id": "call_seQy7T3fgZbW6HglkmSJz7rF",
  "id": "fc_0730ee0a5a705988016ab445ba29e487d087f865dffaf51e02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_seQy7T3fgZbW6HglkmSJz7rF",
  "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]: [-0.5049, 2.0903, 0.4145, 1.5532, 0.3214, -0.2436, 0.9985, -0.0238, 1.0931, 0.7589, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3434 left_y=-0.2494 left_z=0.0624 left_yaw=-0.6752 left_pitch=0.4357 left_roll=-0.2953 left_gripper=0.9985 right_x=0.3089 right_y=0.0996 right_z=0.1781 right_yaw=0.7389 right_pitch=-0.022 right_roll=0.0096 right_gripper=0.0613\nstate[joint_eff]: [-0.1162, -6.3658, 4.0957, 2.0586, 0.1734, 0.0464, -0.0171, -0.1026, -3.2479, 6.9402, 1.4823, -0.2857, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e1cbc9874b39867da956c76a2de141d12a4d744953cbc75aa9de0225dfc8fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0b94ddd01f45f727ed4ffc6d0f7282dfe81f8558d75a55f42a4617effdf3be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faafd014c2fc849f961239b67514c1d5f333e3de90e441bc83f8954cf94c2eef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.132 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5179, 1.4727, 0.2935, 0.8242, 0.3744, -0.1783, 0.9986, -0.0238, 1.0878, 0.7628, -0.4114, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2854 left_y=-0.2328 left_z=0.0899 left_yaw=-0.7558 left_pitch=0.2206 left_roll=-0.2915 left_gripper=0.9986 right_x=0.3093 right_y=0.0996 right_z=0.1813 right_yaw=0.7388 right_pitch=-0.0148 right_roll=0.0028 right_gripper=0.0613\nstate[joint_eff]: [1.1692, -5.9966, 5.4906, 1.9316, -0.1783, -0.0952, -0.1587, -0.0752, -3.1111, 6.9128, 1.5018, -0.2613, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5213, 1.9915, 0.2962, 1.4498, 0.3183, -0.2283, 0.9985, -0.0238, 1.0931, 0.7589, -0.4133, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3106 left_y=-0.238 left_z=0.0449 left_yaw=-0.6892 left_pitch=0.3169 left_roll=-0.3009 left_gripper=0.9985 right_x=0.3088 right_y=0.0996 right_z=0.1779 right_yaw=0.7389 right_pitch=-0.0228 right_roll=0.0104 right_gripper=0.0613\nstate[joint_eff]: [0.0889, -6.8855, 4.0957, 2.1856, 0.1734, -0.1001, -0.022, -0.0479, -3.6171, 7.1179, 1.4823, -0.2613, -0.0317, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5049, 2.0903, 0.4145, 1.5532, 0.3214, -0.2436, 0.9985, -0.0238, 1.0931, 0.7589, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3434 left_y=-0.2494 left_z=0.0624 left_yaw=-0.6752 left_pitch=0.4357 left_roll=-0.2953 left_gripper=0.9985 right_x=0.3089 right_y=0.0996 right_z=0.1781 right_yaw=0.7389 right_pitch=-0.022 right_roll=0.0096 right_gripper=0.0613\nstate[joint_eff]: [-0.1162, -6.3658, 4.0957, 2.0586, 0.1734, 0.0464, -0.0171, -0.1026, -3.2479, 6.9402, 1.4823, -0.2857, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e1cbc9874b39867da956c76a2de141d12a4d744953cbc75aa9de0225dfc8fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0b94ddd01f45f727ed4ffc6d0f7282dfe81f8558d75a55f42a4617effdf3be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faafd014c2fc849f961239b67514c1d5f333e3de90e441bc83f8954cf94c2eef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEW_2lABSCV1f5lfXsUKM-mgf2nP7_LV856ECS9oL--RD4lSXxzH-e5C3FwNhxGLVq7g4UdnsR12wKAHOMP7726tRtO0BLI7PuSdxRiNvSSoEB--hcNI6ilmNe1TieQcs0vjR0N6PIn9b4y_S2WaMCOaD_CinaUbGNzNqWpyHBYT2ergUsziQ3v8y9nRrmRHWateQ7pEt3j3JQM_9V_-zkuC9dQLsgt-tQuQvc5xpQnsi9KfhuBF6kPsgM6v0CMqL7fo8400Mod6HFackFaDCyzdytHHUeYejL1gXYhmezemPmMxLpsIR3UlFBBMdoo3bxc1fhraUf6vfCh0MyClBi-V0T3OjdpBS3fjsgbFimgiaNc5i9vFclIqK7wP_MNUPm3Zimlla6L0iLkOAKNRaTiDy-1UnFI7RvEkpz37dSdPgFStNfYuWgS1Bca9MzvSqRn7s3YAzsxqfboxSN-TOLpaU2FBjWBGPgGqB6CY7rDxUcoeRJbO9ntZDCs7o0NPUH58hH4UBwqDdQR703bDukA7ouYNHQ5Sc_Gy8vxqIcRztbY3CkuI26hVpwUokshsVp3LNHeHxlDF9fdWdTQZhi0kB0U00tgAJQHJ6VWSy71n3WauAFBtsu-DBGnLlUppZ0S6ez1tRk7ZcKQ3MXndsRaAkCKcmDbLIa8VLxHjYBDDbnIu4gFxCuISGXkGOG7ZjW8twZ7DEFgyWVhBX9QjI8vw1IUigwkHGbvzu8-8t_St4jTGcXH7ot_7RCrw0lL7jEBwtvIztp7lB_FvHamR7oHnFLbmTJYTzK-Rjdqniq7uyaev49aBoZXb7B3jF_iS6WsO0mWhS180adHr43rrxnVpE-A6KQqJFscJtzNSeqxdf5PWgYmhczKkwgdA43Y7mGX_cDXHQtddecxEcfQh8NUffETnXuSzvz3lEExe40Q4FBw_SO7TRfEQS1vJgejVFIPulrIeu4ezbiSQFpdJN4bS-LfHrmmmjd9kMiHpxIVnjx7pYmquAxb3lZ-4fsY9T-tYqZuDEYFjWm4Fy54zl60MQaXN0skhjtknWcX-1Pfek8N8NDH3jiLruvyKRaCKEtG_xt8zL5e7MtYp9cOtnpfqMLGSSiKayYGw4hvlGpVPuU2QvQix0k_1BKVTyZN9qunVRYG2YjKkmdHJH_UJ6tMAAWrSAD5Sg0shCX7VscCGiH_MF69ItgHYGaBwGdaegzBwIXBEk19y57N3W1UdWrSi3ve5KLVzQNGNUz_exzTb9Gnf8Vu8xrTE2PkouEEJFVK7WPswOFlaSDz5wszpzq6cQCcKY9M29aYzVUI4Okpg2PBtNO8jzN0m6i85SaMmU6rbG2h0Gwikk0RCypETvIdDBAS2kZO12PPsmcbdmZZfuB-lZd5ucANtDhgp-u7TTa54uDkpLEx76Gojy5tq7cISzAs3K2pCLtYJsDVeamAuaNUXNRfxgIo_JvMUxv08D5a7mNrBKQXkFgKo3LzuiqCah7O2R7PcMi7UKgMykUrk1QSMH-UctjXUs7cTSf2hfdsn0i0NMIQX-Vn-0FDz3DHcnA8I9O01DjiJYtDIbXtFeGfqFwihAiFrOW7-BzSKelWgkLX18zOtyH_9p1iZjtHTrUJmoCuQwDYpQbk7XEj6oRM=",
  "id": "rs_0730ee0a5a705988016ab445bd133887d09a829a140ad7f16b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_pitch\":0.3},\"note\":\"The second pitched descent drove the wrist toward its joint limit and raised it again, mirroring the earlier right-arm singularity. I’m backing off only the pitch to unlock the wrist; on this rig that also lowers the grasp point at the extreme pose.\"}",
  "call_id": "call_rKfl2GahdofXXk6cst5dJyxb",
  "id": "fc_0730ee0a5a705988016ab445bde2a087d0bb75fa2ddbf3bc6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rKfl2GahdofXXk6cst5dJyxb",
  "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]: [-0.5053, 1.9347, 0.4191, 1.2835, 0.3168, -0.2417, 0.9985, -0.0238, 1.0931, 0.7589, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3419 left_y=-0.2479 left_z=0.0629 left_yaw=-0.6652 left_pitch=0.3279 left_roll=-0.3118 left_gripper=0.9985 right_x=0.3089 right_y=0.0996 right_z=0.1781 right_yaw=0.7389 right_pitch=-0.022 right_roll=0.0096 right_gripper=0.0613\nstate[joint_eff]: [-0.3487, -8.8684, 5.094, 1.6972, 0.0171, 0.188, -0.0122, -0.1846, -3.2479, 6.9265, 1.4921, -0.2711, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5632369ea791024c9f3baad44aaa3710a09ef306223dec69aafcec67810158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e60c95caff6fd45a8ebcb88c8eb8fef303a72038dd59a692571294a437c6c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32cfaa5f3243146778ef2a288327afebb42ac4ae674b676cf8740c0762880c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 2.296 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 149 changed as sent

message 157 changed as sent

message 161 changed as sent

message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5411, 1.4536, 0.2848, 0.8257, 0.2985, -0.2016, 0.9985, -0.0238, 1.0885, 0.7628, -0.4118, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.2883 left_y=-0.2297 left_z=0.092 left_yaw=-0.7016 left_pitch=0.2236 left_roll=-0.2853 left_gripper=0.9985 right_x=0.3093 right_y=0.0996 right_z=0.181 right_yaw=0.7388 right_pitch=-0.0157 right_roll=0.0036 right_gripper=0.0613\nstate[joint_eff]: [-0.1026, -5.6821, 5.3675, 1.9316, 0.0122, -0.0806, -0.022, -0.212, -3.1795, 6.8444, 1.5018, -0.2857, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5049, 2.0903, 0.4145, 1.5532, 0.3214, -0.2436, 0.9985, -0.0238, 1.0931, 0.7589, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3434 left_y=-0.2494 left_z=0.0624 left_yaw=-0.6752 left_pitch=0.4357 left_roll=-0.2953 left_gripper=0.9985 right_x=0.3089 right_y=0.0996 right_z=0.1781 right_yaw=0.7389 right_pitch=-0.022 right_roll=0.0096 right_gripper=0.0613\nstate[joint_eff]: [-0.1162, -6.3658, 4.0957, 2.0586, 0.1734, 0.0464, -0.0171, -0.1026, -3.2479, 6.9402, 1.4823, -0.2857, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5053, 1.9347, 0.4191, 1.2835, 0.3168, -0.2417, 0.9985, -0.0238, 1.0931, 0.7589, -0.4122, -0.625, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.3419 left_y=-0.2479 left_z=0.0629 left_yaw=-0.6652 left_pitch=0.3279 left_roll=-0.3118 left_gripper=0.9985 right_x=0.3089 right_y=0.0996 right_z=0.1781 right_yaw=0.7389 right_pitch=-0.022 right_roll=0.0096 right_gripper=0.0613\nstate[joint_eff]: [-0.3487, -8.8684, 5.094, 1.6972, 0.0171, 0.188, -0.0122, -0.1846, -3.2479, 6.9265, 1.4921, -0.2711, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5632369ea791024c9f3baad44aaa3710a09ef306223dec69aafcec67810158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e60c95caff6fd45a8ebcb88c8eb8fef303a72038dd59a692571294a437c6c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32cfaa5f3243146778ef2a288327afebb42ac4ae674b676cf8740c0762880c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXC2dbUyED-qlmjrCYkeRrMfeCt9-4TLYHbYOfYwHNClX-8_5xpwVzP472v0-Q480xcHJrGtk4gC_gerlUwUuxWiH4xQFyphiYKrIZa1BCjkbREumReafF2_BxOowwVRJg70Jt0rfQsk536JbSm_JMDLoK5OX68_5SmJofrkF_5NvroLYhDJxO7z4lENauBt4YbNEbEU1b5NOGD5ka7wx0J52_5_VTCm5Cigax881tYScjU9yNqbQJdppzQFOPzQmQL2OeZe4TmpKIN20CDCav8FoePvJkloveps8Vam8xjZopX08Eoh944VfLX08jKCL_oMgfDThkhoqmigSeG9cbOm9EkwRI_4UYmRO0yBzi-AtXDw-OzsDfP5E1nwZa5kgqyDXU1qznZZWUAzVIoQx5dgaC_1DBMy0KqVXvAd49KSJKu2gM3oxCHZZToadpIkfLxQzAF-khT1VgbsYb6UYgDC8GV7Ox2zV8srxeElOyE7Ri4G4XqxEfjmzi_bLfPtNxcJs7xzeqkqtomX9-sle_WXYnARnfUcl4Prkpv5yI1RTEZzhUQ17jlRM7tr2iQMsy1BGm6VPbCnvTS3BiuVMI4Bbzwv_VNMhI42IY7MwxL-UIMqd79ajBALfbTeIHnChRwUFGvzIpoDLa6cTMMh6wjl6wi7sZU2RtuK24V0kL8Y1ZicRZmTCVh8WhkTsIhcIc8aXu1nKSWR1ryuOlKd7tF3YpUucNyXEnx1NjLfALyoYy3dBv641txsk51uQ06EB0UKDKUfCcOCQKQx3x7fJrHccbhFlTU5bPseFs42b3wwm7Q77bpiFDEdL_qzcG5gPAmcQ4iRzdnDzRLuPPZZ40__XshYXNe2PkbX-WI5UzC-KuHUySaY2iTsygJifzL_HLTCnwl2n2KNbKkl_apRLVEZbtBfWlbxv4fsi-6j7ou0xhpxzxuDiPaFlxhzLrq-XPTmgD4tFNlQZ54YAtuD-COGR_c65bo6Jpz9eF-mVxYHkzIRQnX4rxsagzN4xEJUlyuShYQAx2QvKFA--N0p08GxopdDNLEP9hB4dDqUn6nToUw7pcbZAOtkbj7Npk-MVXOETNBRZ5_wYWddnplsQBApLd6Mi8YFJKb_-FDtowXSM9r3X34cJWGwNA3ndPVKIeBENq8ZNQaaqdeeOk4FFQzFBDLVE-ffd9ZuGzrPZngAv0PyQtjotu1W-urbKWlev5mSvn41WQbS0OXwxG2R_mA4vs6VyP_1BurOqV5msL8010Ckt-flufZctrg-iS1l-UBrDVCol26KzrGDiGlh7fOkEtQMt85S0i_TCQw5z7xkOvlbD4CBTb02gJ1MPtmdoT4_9Sn8DonFZo8dA4Gsi_ICPERYYgRGVLB3EIWIzHw_JhgQ1QeW2wh07FBf1uHpXHZi5iENmScZyfxqWHKe_g71j_wsdNNxjJ1NiuBi6CJGBDfUJzV_jEOPXTotSFkWKGSUrNzkXOSxxC8tov64GyQjkN1ENbg65a2259JY9L3tJR7bzPZdTrw-6eIWx_d_8MBjcH1uDiwfVcc8r4sz-eD1n_kigB398eD9Nq78rUix5S5o8LLKecW37mAYggWjY_Sr1zxeITR3hmVPmvoQEdNsqne0YRSiyVxhXqR-ZOUpU2YMpFJkie7skk6PFeLJbzUpDptkUy7ZACo4W34UurjboecC5h4DuxIFD_0o92lMH5Kwl1QxDva0OzOWAXE2UDEhuom-ShnEqcY6s46qYMcIN1lwKNcLVwZrdVptTsexl9I2Bp8aiV6H94PEHZ7UV7BqYVYUiIFs7yqVJEaOOgIMg==",
  "id": "rs_0730ee0a5a705988016ab445c0de2887d09c7dacf95359295c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"The pitch-only backoff moved the wrist away from its joint limit while preserving the overhead alignment over the cap. I’m retrying a pure vertical descent now that the singular orientation has been cleared.\"}",
  "call_id": "call_xzeazhhc0cYwSYQlg1TnVEdl",
  "id": "fc_0730ee0a5a705988016ab445c1e78887d09425633531bf23e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xzeazhhc0cYwSYQlg1TnVEdl",
  "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]: [-0.506, 2.2314, 0.4587, 1.5848, 0.3122, -0.218, 0.998, -0.0238, 1.0977, 0.7574, -0.4145, -0.6254, -0.4835, 0.0613]\nstate[eef_state]: left_x=0.348 left_y=-0.2508 left_z=0.0242 left_yaw=-0.6776 left_pitch=0.375 left_roll=-0.2786 left_gripper=0.998 right_x=0.3086 right_y=0.0997 right_z=0.1758 right_yaw=0.7394 right_pitch=-0.0279 right_roll=0.0156 right_gripper=0.0613\nstate[joint_eff]: [0.1846, -5.1761, 2.2359, 1.5751, 0.0611, -0.5055, -0.0513, -0.3487, -3.453, 6.9675, 1.5116, -0.2711, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7aac09bd41431a6492e5222e33ce9c90750d3e2d3ead5becfef37da89beb20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f45d1c84e5737630b44ed410f1169d11e352ba7f9169bfbdbcb3803eae8f4f0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dffd9832a9f8e1f77a18052b5631d20fdda278485504aa7660ac8cca35b251c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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