adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": "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 100 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\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.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.\n\n# Rig facts (YAM rigs)\n\nMeasured and derived facts about these rigs, shared across all rig dirs\n(the rigs are built identically, up to per-rig calibration offsets noted\nwhere measured). Kinematic constants come from forward kinematics on the\ni2rt YAM model that drives the robot (i2rt 1.1.2,\n`robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height,\nbase spacing, table plane) were measured at rig-2.\n\n## Kinematics (per arm)\n\n- Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist\n  pitch): 0.245 m.\n- Shoulder pitch axis sits 0.114 m above the arm's mounting plane.\n- Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to\n  fingertip: 0.057 m, stock linear gripper). Contact happens at the\n  fingertips, and this offset rotates with wrist pitch.\n- Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/\n  readings are the normalized fraction of that: residual × 9.5 cm ≈\n  grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and\n  anything wider than ~9 cm cannot be grasped across.\n- Gripper yaw follows j0: the direction the jaws close along rotates\n  with the base joint, and is compensable with wrist roll.\n- Episodes start with both arms folded near all-zero joints and grippers\n  fully open (reading ≈ 1.0).\n\n## Cameras\n\n- `top` is a fixed overhead camera. `left` and `right` are wrist cameras\n  mounted on the rolling gripper body of the same-named arm, tilted\n  forward of the finger axis; the mounting is identical on both arms, so\n  the wrist-image facts below apply to either.\n- Overhead frame orientation: arm-forward = image-up, arm-right =\n  image-right. Both arm bases sit near the bottom edge of the frame; a\n  folded gripper shows as a dark blob near the bottom-left/bottom-right\n  corner.\n- Top-camera scale at table level is roughly 2–3 px/cm and differs per\n  rig (≈3.1 measured at rig-2; rig-1 runs consistently measure\n  ≈2.2–2.7) — never trust a remembered number. Scale grows with height:\n  an object h metres above the table reads larger by H/(H − h) with\n  camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15%\n  larger than it will at table level, and things shrink slightly as you\n  lower them.\n- In each wrist image the grasp point (where the jaws meet) projects at\n  (x≈115, y≈200) in the 224-px frame, just off the bottom edge —\n  independent of wrist roll, but NOT of pitch: pitched 60–70° forward it\n  shifts up to y≈150–190. The camera looks beyond the fingertips, so\n  anything at or nearer than the grasp point is out of frame, and the\n  dark wedge at the bottom-centre of the frame is the jaws themselves,\n  not the object. A held object is never visible in its own wrist\n  camera. To re-calibrate at the current pitch: briefly close the empty\n  gripper and watch where the jaws converge.\n- At wrist roll = 0: image-right = the arm's right (−y in arm\n  coordinates, reached with negative j0), image-down = radially inward\n  toward the arm's base. Rolling the wrist rotates the scene in the\n  image, but the jaws always close along image-x.\n- Wrist-cam scale varies strongly with height and pose: measured values\n  within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so\n  never trust a remembered scale — close to the table the 224-px frame\n  may span only a few tens of centimetres, and a hand-sized object can\n  fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres,\n  which calibrates this view in a single call.\n- The wrist image's vertical axis conflates radial distance and height:\n  a 3 cm radial move and a 1.4 cm descent shift features by a similar\n  number of pixels, and radial (depth) distance cannot be eyeballed from\n  the top-down wrist view.\n\n## Workspace geometry\n\n- Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same\n  way).\n- Table plane: the tabletop coincides with the arm mounting plane — true\n  fingertip z = 0 at table contact (verified by replaying contact poses\n  through the framework's grasp-site forward kinematics).\n- With the gripper pointing straight down, reach caps at ~0.51 m wrist\n  radius; pitching the gripper 30–45° forward buys another 10–20 cm.\n\n## Controller behavior\n\n- Position moves undershoot: a `move_joints` call tracks only partway to\n  the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1\n  rad). Re-issue the same target, or command slightly beyond it, to\n  converge. Undershoot grows when carrying a load — expect lifts with an\n  object in the gripper to need more re-issues or stronger targets.\n- Larger commands are clamped by a per-step delta limit\n  (`delta_clamped` in the move result) and each call reports only a few\n  steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the\n  goal.\n- Position error that stops shrinking while descending usually means the\n  fingers or object reached the table. When joint effort is available\n  (below), prefer it over this heuristic.\n\n## Joint effort (when `report_joint_eff` is enabled)\n\n- Contact vs. sag on descents: gravity assists a downward j1 move, so j1\n  falling short during a descent means contact, not controller sag. The\n  effort reading distinguishes how hard you are contacting: on a light\n  touch j1 simply stops tracking while its effort stays negative (still\n  holding the arm against gravity); if effort flips positive, the arm is\n  actively pressing into the surface — back off.\n- After a full close, the gripper residual settles at the grasped\n  object's thickness in gripper units, and gripper effort reads high\n  (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial\n  close gives an ambiguous readback for thin objects.\n- A grasped object touching down reads as stopped descent plus rising\n  effort on the wrist joints.\n# Rig formulas (YAM rigs)\n\nPlanar arm kinematics in the radial–vertical (r, z) plane, from the i2rt\nURDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m,\nwrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above\nthe mounting plane (= table level).\n\n- Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3\n  (fingertip axis; gripper-down is C = −π/2).\n- Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B)\n  + L3·(cos C, sin C).\n- Inverse (target radius r, height z, approach angle C): let\n  P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then\n  A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and\n  B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A,\n  j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the\n  arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first.\n- Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the\n  approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The\n  bias varies per arm but is nearly constant for a given arm, so\n  relative moves and the local Jacobian are accurate — and both the\n  forward and inverse solutions inherit the bias, so measure your arm's\n  z offset with one closed-gripper table touch and correct all absolute\n  heights by it. Outside that envelope (arm folded) the approximation\n  degrades sharply.\n# Rig advice (YAM rigs)\n\nWorking practice distilled from episode hindsight on these rigs.\n\n## Calibrate before you commit\n\n- Overhead scale: calibrate px/cm in your first few calls, before\n  planning any layout, from a known gripper move observed in the top\n  frame — compute the travelled distance from joint readback, not the\n  commanded target (controller undershoot otherwise skews the scale\n  low). A grasped object of known size also works.\n- Height: before the first grasp, close the empty gripper and descend\n  until joint effort shows table contact (j1 stops tracking while its\n  holding torque relaxes), then record what the planar FK reads at that\n  pose — that offset is your arm's z bias. A 2 cm height error is the\n  difference between grasping a 4 cm object and closing on air.\n- Depth: do an early calibrated test move (translate a known 3 cm,\n  measure the pixel shift in the wrist view) — first radial estimates\n  are otherwise off by 5–10 cm.\n- Prefer solving the planar IK for a target and issuing j1/j2/j3\n  together over nudging single joints — it converges in far fewer\n  calls.\n\n## Keep the target in view\n\n- A target vanishing mid-approach is ambiguous: still ahead beyond the\n  frame, or already at/behind the grasp point. Never close or keep\n  advancing on a target you can't see — retract 3–5 cm to re-acquire it,\n  and close only when it shows between the two jaw silhouettes. Blind\n  closes at a computed position usually miss and shove the object\n  5–9 cm, forcing a re-find.\n- Never read depth from image-y alone: descend in 1–2 cm steps, keeping\n  the target column-aligned with the jaw gap (x≈115), and re-check\n  between steps.\n\n## Grasping\n\n- Roll the wrist until the target's long axis looks vertical in the\n  wrist image to align a grasp across it — and since gripper yaw follows\n  j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned\n  target from any bearing.\n- For thin objects lying on a surface, lower the open gripper until\n  joint effort confirms fingertip–table contact, then close — closing at\n  an unverified height is the main cause of angled, slip-prone grasps.\n- Verify every grasp with a full close and check the residual against\n  the expected thickness of the part you meant to grip; never test a\n  grasp with a partial close. A residual several times too large with\n  high effort means you clamped something bulky or at an angle, and it\n  will slip during transport — regrasp. A near-zero residual (≈0.01) on\n  a rigid object is the opposite failure: a shallow edge pinch that will\n  slip — regrasp deeper so more material sits between the jaws.\n- Failed close attempts drag the object. After any failed grasp, re-find\n  the object's actual position in the overhead frame before retrying —\n  don't assume it is where it was.\n\n## Transport and placement\n\n- A carried object hangs and pivots below the grasp point, and wrist\n  roll shifts where its center sits relative to the gripper — adjust\n  roll after grasping so the load hangs where you want it before\n  transporting. An object picked at one bearing and placed at another\n  lands rotated by (j0 at place − j0 at pick) unless you re-match roll.\n- When grasping near an object's end, the object extends well beyond the\n  grasp point. Plan the release around where the object's extent will\n  land, not where the gripper is, and verify placement in the overhead\n  frame after release before declaring the task done.\n- Time the release off joint effort: a grasped object touching down\n  reads as stopped descent plus rising wrist effort.\n\n## Planning the episode\n\n- Before moving anything, choose where the goal arrangement will be\n  built: keep it inside both arms' reach overlap — nearer the bases — so\n  no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget\n  ~6–10 move calls per verified pick-and-place when planning against a\n  call limit.\n- The idle arm's wrist camera is a genuinely useful second viewpoint —\n  fly it in for close-ups the overhead view can't resolve. The only\n  hazard is shared space, and it cuts both ways: the classic collision\n  is the working arm swinging into an idle arm left hovering over the\n  table after its last use. Before sweeping one arm across the\n  workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2,\n  j3 ≈ −0.6), then bring it back out when you need the viewpoint again.\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.",
  "role": "system"
}

{
  "content": "Goal: Place the left block on top of the right block",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=0.0032 left_j5=-0.0212 left_gripper=0.9993 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0086 right_j5=0.0059 right_gripper=0.9995\nstate[joint_eff]: [0.4581, 0.8684, 5.9009, 2.2051, -0.0659, 0.1783, -0.0855, -0.294, 1.5932, 6.5573, 2.2589, 0.0366, -0.1148, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de77e56e6431e1bbcdee91358b6db984fe814001fbad8c713920213d1ed48cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32293f51769260f1b9f698e5d05899048fa1f2af0a0338cadfe848cd74e10927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:909225bed69826c11f751375532975fd843cc9a586b3f32b072f0f47f8019800",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_09dc31d5032af043016a7dfccd8bc4819ab4cb42b09d6e9f17",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffzdkQ12CimcgI6qkIDJESWo3hUa8iBg7SLmJ_OUMCQA11N2rIVKqBXhLoP04Ai37-rRO-2XhTyDz3pKXYhc6lhHSeBWjOEKhgbcaygAibwRK7xe-PUZ8BuzijFZ2UcF92XvbSK56n3Df2wkvU55gjrEawATjSJMGxw8pjvqZarhGRql7-iYRlhx4zHyQZpdasqVDDzfXs0LCF_R56GYzWJy5juRdQJee3ONXQkv7MZEPriJdRM8lQabgRJWvKkYU-PoCl5vqB2aqizZ-H_Ibm426jFfJXH15-65d7ymwBkbfBRmvKI0So2EsFkiW0nq8WeysmNnv4HpfWky7vRQPS-IjqM0jXhYmFd8LPb1jm0QlZaycNPpLZ3SlUcsK-jjLH3qV1oBA3yGDvEpa7Elj8sCbwKuN5O6C1xY-iz_qCHKGE3LVVaA5zW2ZSBumNyfln2XxTgki0SVUjO5RtAobYQCNiaJEbtxEiMnjeokYPXb_0122KYbqR4k3m9Psq3CFkJtJlmgszYTJyqdIchVIQ9BoCaYONHExwl7kHmY_63g3tn7f1WpsZpCwrds8VB35EbUkXc2L4v28Bo1ckmfcW9L7dThUDyl2CmEkodpfoDzRCmheM8ORLYTOT8Oox5OY2TaLFnR-A7x9wKsv2sSBxKclSGK5NaKbIpJ2Gs0qAESNRwk2ULuh9Y_pR_bIt7nhzy8DYwaK_DZ1v_a_3Xj0FEAaF-45lRC4qfBZtFRBh72nvf84Apy_ynOo9u0o2n4Bw2ec7CbfdJErtlurfL9n697qafQpCtZYrk0nI0NVYX-9XK6u5so-IhtVlSBBVMYFhb6Z9lc07ZzKeRQ8gLAlmUF5mLtMQ_qB_2DmcRxwVDI_4xusGqQ8B1vxwvpxNd33rU8Um2lafxGhyoyPzc7GV4or76zHPeBc58Bk9a_jy1Ai3TBDLIHgPcsLGxaP_OAmnrSlyUyjTbqkUBiWbdNBsd5i2krn952tity0DmfNC6qcakbO3LIUH1m71tFxSZYeRgPhcg6ajZk3y6tHG6Yc7utj8F7DUeRxjYfYqx12tGZKFxpR1QmpKwku5Uvt6jmKV-cCMFTsopUDCixJJml6c7_4agjoWMK108LXL4OkstajcvoSPqLen4VcuNx9whXVlfKZ8Y0iw_04JIX19rW59Axp7HLTgyKXMnIWSQXHUmEGRWYC9k6M2CNKPgDD3MYjvU2cGuJDkAPBTrUpy5Ac2vL8HkHaBh9TMmRfPMy1pu7DimdvABMZEh7crd1RoohkaarHlDzPaV6Xt8Vw6gvheQdHRI8khRAqjVRhUkBjBXFfHjOJHc40b2EdhMDC4JA1K2e0f4lDQ6s7hQEqs3iTzYZU3ts3NFCDWwiUIZdWaQ7rk96PoJs9QdzcPgSoBFylsAdeVmMQ1ODSMhFCFUTYhL_F4gXIkDW0is7ntMjy8GB0cO44zguAqMugTPEDl5Sv2b6q2AGxsMVBYTCGg3YWngbdGgdpF74heUFXkD7pfFot8zr_5I_t_vRIyj64rIx4xuQYrw7X1Z58K8shLZHL_BDNeVptHXPHhWMi6-ry1zAQATz0uy5dO1AwyYvtKKyMm3eXkIaeIBYnWvU3AXrTXDJwBmb1dZjWbRtHJa-hoouWF6uQRmTosaVyNmJZWjE_aXCPUl9r88UFOEYZDksgOqWBedwbzRjl-zn1ihPdrh6U65zy-K1tkQMUrYjfut3LlaJlhNLCXsVNTsxF3jY8TSt8iw7n3hyfoq4YYimodX2Iq7r31NG-VenSKZRojRNzCwfPaGm2qAVuQNj4ISAsZM-Pk5DMTZQFaA72XcQlOuFkfAFWEWtwSh5RGnSkFYawlb7tBrzLy3-7LwA2fDTs5K5b5AA-7t1gwfpNXlWds1M8pkCwul2696Knf8P2FjDae_NFFVFiZDohhEMRLJvalYR2Fu8tBQqZ8KV4YeaBZsIlvQsOk-uUNVYNxVYc2VhbahQoskW_J-klffAP65B-R54UwY8vP3VERtpqkwaGdetdCrwg7ZzdJ6_4dHzclQwiILOPqyghOQGVzq5T-GskHf1npjwiPsk1XtsUYXbutrKfcBqLlIkDvzkymIFlBTEOAvNe3ZPiRgvOzE_P-QcVOHjTQ==",
  "id": "rs_09dc31d5032af043016a7dfcd7311c819a8b4ad5c000620394",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":1.25,\"right_j1\":2.4,\"right_j2\":2.44,\"right_j3\":-1.61,\"right_j4\":0.0,\"right_j5\":1.25,\"right_gripper\":1.0},\"note\":\"The blue left block is around (92,115) and the red right block around (144,116) in the overhead view. I’m bringing the right arm above the blue block because that arm can then retreat inward to stack it on the red block.\"}",
  "call_id": "call_oYagwkLBAFe1nEcY5cMYbJie",
  "id": "fc_09dc31d5032af043016a7dfcdbfd80819aac8c4bfbf7a39dd8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oYagwkLBAFe1nEcY5cMYbJie",
  "output": "executing move_joints over 39 steps (3.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.041 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9989 right_j0=1.2495 right_j1=2.4016 right_j2=2.4207 right_j3=-1.5814 right_j4=-0.0055 right_j5=1.224 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, 1.6615, 6.9675, 1.9512, -0.0757, -0.0611, -0.0611, -0.1846, -13.2581, 7.2547, 0.1343, 0.022, 0.1245, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b43a80ae7128a71ba5b2d362b67172ce6d81c1d596eab4badb5082e75db079c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb86ccf181c1809e33ff192e8a547a3efc358b851229f0c2725202460785c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87f6ee9626a367b9ba4b3240f6390f88a2d272d3b370131522ee80fb65e88de",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0059 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=0.0032 left_j5=-0.0212 left_gripper=0.9993 right_j0=0.0025 right_j1=0.0025 right_j2=0.0074 right_j3=-0.041 right_j4=-0.0086 right_j5=0.0059 right_gripper=0.9995\nstate[joint_eff]: [0.4581, 0.8684, 5.9009, 2.2051, -0.0659, 0.1783, -0.0855, -0.294, 1.5932, 6.5573, 2.2589, 0.0366, -0.1148, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffz6bsc3xeXk8YNNRQSyhYutJAD8szYYz3yqLmucUBaSrdBe09pO_C1sDVAT4zVqtAZqXPPTS510AF-IzcynPWwlHOCKq5FEE-WQssieS_XDBE_rVH22zO4uPA5qFUqjDa2ftGl-OPMlrwesxpM_QvFEuSfQ1WC1FKQiylEf-TDHZymufKtzPfVlN9M5z8em_r6cLhKDTLT-BU-fLKdf7Myzb7U-A2x6OUgD7h4f66tM1fBzXzBzTDJy0CjZs4weA9QYeM2xrq0yOyoA1YCwhqMbls7VM3cftATRtrPZrlH3if839c0rr_X8kylWNvUNHs6WOo1T_yG3jTVt_wstDgQnUe4Dn9gjDLAnYQn-oW3PvL_GWXDwsuurJbYytp46CJuxdwVRRNo_ffmXsg4qF1cf2tyS4WXAvUIGHCgdzWk6VMBUbE68SiT95OlmNmk_efzC_P1lDpJE2n6Rbw22xqufr1dYf4jlY004qpn43IMjdQHO4WZ3xzgWlp7egiyWfkfx3W5TZ2WJQ4_9tCameTxAnyuH1uEqVrYRB55hO7pixm_DwUFbJEywSwndSJDRQYMivOvTzJh_vSy-jr3AS96hDQXHhgd4O_7hnBEbgqYIjY436zXRI5d6VqNifbse7HOd9-K_P5NJVCWU4Hfd1cfJlNOMQtTS3Sr2SJrhE5EqVx7VlVnfSRysKEfWZB6SBzsiS36z0HaoZUlZoKJ0sb3rYQNmuUv4XoTqO55i954XKBKrG5dawNuyCg4DRdwjBXWfmiUyKeKO1Eqh-cUbPVsWLSjQbg2jn5BzwqMhl9tDDDoN6qKPGhR2aZEQX8mYL0x3vO8UFwq6Etz7OLg65Nj5_Rj9419ohruK3aTki_R-CY6Yq8621peQXmaADTjTM7Nifr5k0afCDccHBRoj3PVt6yYGBwELU6ITaK-Vky-vehGDLr6fw0nHsMv_A-v8_sxF__us91S37y7E6AC-ydZyBdGSN5NJqXgkcXqOUauP74riBicfP6BCGDN6HgdJPk1dxTEl6uX7RsvS16cAP2wQ8kujWg7I1D7iJgkITqIcS6qevcbuSG5yZodCXPnwX3XMdNWCSSnqNgkuWRH0wywW1ghYwE9CASCNKHUH0GMwSGflTv-nFz1g26pfj2MsvY2ceO6vNK4jPAAPhi5IiXpOM6F9zedkbBoVtuffQXC1Iwls3I3mV1xbfT2_AsbdvuoSlccKEQLEZCtp5bpJkS7PHat6ZWg4V7EEyP0Nu3dYYZfZMojPbZZDVuhSvLRQ7PXAOlrKiP43cQRoraX2NWMYRZxdk_rN3_918bo1nChAenKE-fpgdCduUgBYcqW1Rou5WrXUPZqT-d4zJqhSYAjD8lI0TMLOH0gDaFh1wFVgTdFkHVzZ20chyIH2hVyACjhjkU-O6kNp1XlKbLsbUXFzeej7yqt0-kiOoeReg8Fbv21vSHjhNUDXnNnWrcb8R--HnDvnxk1Nd1faEL8KGPFNynqvEFWuv6JDot_JXeqKaezxiGNVWX3VHLXekBTq2VgPmn2VcpY2FT_14kNayPobwun54VP9EhdUd2E-fzrsLdYNShxHV8BAuhEnGTeeFmhGIwcLMkf0NvGU2g4hfv2QTbi_YwHrp5GR2eklHNQAkKnR6l8caYNsp89Te8Jw03Sl1YyYjkRW2jba74b9oG4P72_HX4NBOurSbO4LULDSI1yZCcVr3CJ5OR-TyDX9r7pG1I7Zzcywmhs3i-JrNa180cAQDtuinFhwYiYZeCooN5Kv9_FqkQld8SCNSZXMtw8_ust-tSauqEbeGs6fEmeSSKdqPdXHS2cq1Z6rEdah52WB3beVOiTy1R_ABQDzv1h8CZBZxYeUOqF1oTGI_TVQ_IS1luu0iNtS7WkOkp4jUh2r6DSSdQwMQJ3sDYqWr__WAZpMZ_uPKP4qzE4qeJ0tEDZKsGAiS-U035P0BeEZfm30HVDp92Mox2ALXY500Ntteve01pj77IfY2avO9zmoYlJe4RRbR3GwvgSjlhZXNl07NVrLRluYHK_y5fyNhvzfZQJ_iS0pCr-l4XICprLMypZ9JA230FdhzRF1TJtrvWybTXkK686geXKBNJzv4k-4DjGv3dj6wTOgL5bXttUNyBsQM07vzSErI08yzhPuzwfLN1HQ6B8isbCncyGX6-qtRggSnRmxF-BZ8H3iA_zgEUe74HIZ3OFj1Z6kbt9RH8sYMav4nxq1rWRWQF21DHiFrW5hTYkaFwCmb53zTPKnq2hwWgrCGh8qi8hLQLiPjVmkSKD4H1Lx5hacHgBMuoT6MjftQuDhkuoABO3A0yH9shacKDF6f3vaT4n-gzk9f7MTU-m-vHpcylRt1cGhqzt0WYDfMg7aD-KIUNEMvDHd1Xf3z17gUoDM-g2dlMvycQCFgN70iDpvUqz9z8Tx65AEM0zB8z8k_bRv6WAz-AZGD4dEoyMHkP2q6WSI3yRsVcwtOjHhceiy36BCDwlV4XaVVyyL-3og5WkNias00tIIhOJkyLCUFOimIfKUDCtdxsVT-lclXu3MELTodYVE8-PABZbo7FyLek7IUb-ker_KzzRpDLAZDuidPdI5gpnT72ZbD-DvIGZSOxqJvecTr9_1p8RUtS_r1k40KahhRhTtuOXyjcy7uudUBJnZpGJvjKlJiDPzuhXm3iSsX408J0AFo5UU2t2YncsVBX7l2CSWHJLU59CZr7vo2dzewJ6Ik5wqqWLbsLXUUexthtorMjkXKFMf845d69vm4QK_tIcinoaw1mqEAnGn0GFsP9P-0OJPdRTz6x9i4yw_PVdMotm3crgc9oHYGihlYPGcm8_uKM3DyrlvECqOH-U-g68OKGBLuD90py0ptYEKRF-FnXof4_vUlg6dMLLQbDs-SpGA8t0o1D1pU6jfAUUSP7r0_dvTT0cl4ENJpfG99W91Zi8cC2fabOIipSRGlglrPs5hjAz-ZdrrRoI0b_fbIHjBQDcxsJPnA_9JJM9T-KOstmjRNAmeWXKf6xW7A8ZEIQW3sJv48ktXx87KPGbXcnvnIaVXlRxua7qc--Xr44ea3YXFe0uqQioFEtbn2uyZzLR0CG7GE7UP3nkJRC3TLMUP3ndePWtfXw3zgquskVOjVO084U3vLXA2L4Adx3RlvBLxYU2KnamjeT3IyPV2YhQHXYroAtw26-B2Nf_kxSO-hnuFwu_tcWluxmlFs-dCE_2umOgRPiNOV2zHcNnDBaXadyAGAhsonCXw9fZWBeD7O7xyoSJi5zm3gfiP5ZOLyDPglpeZpU9kQHvZYQ7YO0SWQs5bv9SIW8c4kvK0EZSwLJxhvMujyjKu4bPv8fP3t3TbjJITJ-hBs5IyZs-CDDAbex4wg5hrw7Jx4I8TMl0JGcp5X9dDmEEINsQTYU1BQO1E8kFwVP_mZ_BM1Wk_5gF7hO0S1qGLztpGNZqeWvJGmEZjgGTROXgA3uinbjXMOLU8dUO97frX4Khzqa-FpArSeLbRjCsyRimJ6d3tyaU1H-4xlGpOTL5jgu9Fd599WzRZbiRE8nF_kpzUaFFGfILu8gEXDoZhaJa_bc01BR7Iz-iW9TrmAQXKnDPGCBkbiMbefSy2iZusTfQMowJhWMiUPF8YhCnbKAHU67h5Ad5X3Wz5nOU1yaPCx2uBQHfCglRtBWtr0HrgZPTgLZTl7OsTRVqcgpZ6fX4qOpAnDYfAgull4P9461M3X6LGIAyeE7W4xDmGkU3QltqowSOHaGgJS4M=",
  "id": "rs_09dc31d5032af043016a7dfce61594819a991124174b8e16bf",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffz6fYbaD_zOS78LYXlX73OYzsX-FdoWF0o8Ph0h8-LD4Y2zH-7sPhhngRRd6VKDbS9aYc6JobMXcFID4FYhv7-z1KE0QTjqvjgzdMcaxYF7bLFP4O_e6QxffrifNxSPMEyvyOeEonOHHzoL3D-aDw5itE7VwfITInKw9IzYBKPy98K1XJbrBnuyE-3Akj4u4niNoiE2rCqvq74VAra8nKf5AOagD8vr6tCOi9bys2bghsEvFUDU4vgFSk6j7kk5ZeHGF3kkdqRvGQTTGFHBISF5T7VDGWBBQEw00Yj3SJyr9YeK4DfqSht3Dy3cLtYC9deOF-g7u8DV2YoqQ84CL20XOm89YALOta_ueVAgD5b2wS2qH2uaiVilRNX8KF1YD9aUxVOQyRr0wJsxzpbqD1ZisL09iObCdnhS9bYjNUEwmwa6q9uPxX8ioy_Dv3UJdWElPWXio3MThoCCv74HHhdvHvXpsJWH_DD99Hs8XsNs0PMyLUSHvTXNV1hr2HIRXChRwERP-Mn7WvwRxISzi17Id1btMYYtjki3YeDN4MApV0YfMubVlRLj7v0_rAAb1BLz1BAeKNHxqfmzgQ-nDbwi_p4fuLPTz5EeUMilkeuhuEraB_wUyRkKj3styC3wKjXJa8W5n5fXnRyTW-xI_0vj9gouxBP4QBI0SYp-Aix7TphwlIkGRsXSnA_res-_1gakIwlYFvcc0F43S0FCCEdkWmEOYQmMJQOsSGJSmt_zdhX-DMKF-A_NsJQZCL9KzBlp4pf7FKFlDwnstI3UpDDZCWO3ERVKunqKf3IAdE8v_CyOsRChG3CAtYT8ajyy8SoX96WHmcrOyDmq4aRKe9XCD-DRvaAIfNeCvzORtioWx_9-g_j1HKjYGwJDFq6UzA3oIgZaMprrFLoYEXT7XElHveNjXEO4jPvQPYHuA-FE53i-R22FJyrSUvlPZF27zq6NY_O97U06KtMazaRK3AJANDOUsFzUxf1N4Fuzkd33OPjJV9lHLgYEPfYZ1vIKdzFbK75bGdNDrf7JM_z_27zxxLl9dgklvdZVRcgLWa9MXWFY7ydNS4MEGYVwtg_H8jtTnJ56yyjeZnGqzDRABWlCAq2xj87aN-gsI6WHhVrlr7wep9Dg_9BImI56YOPlrNSpSTBpv0JepaHHXMcx1pokoq2ylGOaBbNkDIh-s3s158w4sMn3lXlpfB9e7sYeM5XfATC0chZch79x4lpCtXYS7LZqroFsYg3VrUHwnuCNZztnXBnk1KCtupIPpPklUtwWdvP2ZwSR19tYWTy4vus7EqaPcUDkOtARbpfa9jRysA8w01SoZyQ6LrB2wKk0xOJPm4F9TMtE_hGNbDrn-t6F6vwxc4mEO134rLtW6lcUc5DrPe78ZcJx8UrDBslAzjaNMfd-kYclmZF_vFtMUXLFTjGVIFInWfZbi9-AXH6ierVnB7S-8l6xoQmgYrQKtSKuZF2TVI06xDVkYnVFioG2p2ywMckgNPaknJX17dtIp_dusdjnHXXia5-BfNiWeSzQ4WDb-V1cdVC3pDH69t-JftFsA-uDeg8LpyCRzpR3xBdZia6obPsz3p8_UJmtCGGliPo_EgQsZVJA01MCaMEQuZ6dwgXhqhObxKHhJqDLuGz7yCMxTbDH_8ez8GmodS7Z64Pfo4AMDS5kynQ0QJF79BjiKIJxUKrk3qBNEdgPYQuE3F6ybOQNPxzePEwBxeYiYwwjdYZKs3-3_dLwtYcmWhhC2tE7JdAc_-Ae7xnGszcqnHBTr4UIEngU9SSHTTEuhQE6l_xbfa6tez1uKOFJX6DN5Tb1o6-B-r4BFAJLLga90JFSNnF9pUiKU6z_9k70upoQgj61y9QFQYp-rtRYH3F-2cyKwvzIRauLlPwGtUP6Uxs0k87jeF0oyexcw0dLw7j2BWtPurA4nt7w2WmidIK9WCYwD0-h6HtheP5XjQ1nBsLIzGwgnw_iAw5lK6Lo8vciOdIjAr7_0BjrpUdag_FKY_P6EYC4ra95g9hOERPbvkXwoognHs-9McbequUl1RFRgTXrnhG8sYFfhiUO_QsTaAurt4qoDSiK_um3JBq9yGHOVvH5jvvAU_o-twihUVTG2LwPytoBgPVVDQgOFX5Tphw8dRAqS_bzmjW7ydtYeSM9mGUG8zsAssX2rCkb0KvKB23JoK6MI-ksQH-YyMNArLPRGAqqJxn8mgRllYNy9yX1Xe2JujKVSal_R9-aeU81QszXT4c86v3HdyGAjldRg3p3FiWBDsjtuQcqsz8_PAHSi4wrRWoF8_nrlld5JxubseqikCnIGKefCKGXLxrni2ywGj6jVsvNMACExkHBxI1MTaO1ydJIju-LjZdBE1vxO_uHoeoSt9-rQvfD_sk6Ay2wGN6gB-_bZFuU-2k2xzyeX6PTT3JVx9NFuwF9rsqUJuDS5blhExqHuhXz7XUwbqVOS10OH36yITt_Fuo1UzISaGXT1AIXG2jPnzXg",
  "id": "rs_09dc31d5032af043016a7dfcf1c684819ab8acddcebd3e88b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":1.29,\"right_j1\":2.25,\"right_j2\":2.16,\"right_j3\":-1.48,\"right_j5\":1.29},\"note\":\"The blue block appears at the very bottom of the right wrist view, around x=98, while the grasp point is near x=115 and slightly higher. I’m retracting about 3 cm to bring the block clearly ahead of the fingertips and making a small yaw correction to center it.\"}",
  "call_id": "call_aKdn7dxh8jz32q9YswNzdZOC",
  "id": "fc_09dc31d5032af043016a7dfcf8dc50819a8b5f3d72d436cd53",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aKdn7dxh8jz32q9YswNzdZOC",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0475 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2858 right_j1=2.2925 right_j2=2.1639 right_j3=-1.4853 right_j4=-0.0051 right_j5=1.269 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, 1.6205, 7.0085, 2.0, -0.0317, -0.0415, -0.0171, 0.3214, -15.8017, 5.2444, 0.2369, -0.0415, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bbb23f5f622e1bff668487506ca39b639d19a10d7745b143ffcde7bcae41af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66dfb3966b1c394066e44c74770338aad534e57d10e798b0c64daa3a7e885590",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea43f9fd54b8388bbcf0f3a19c4396e061ce9b056db12e717f8e11484270527",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.041 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9989 right_j0=1.2495 right_j1=2.4016 right_j2=2.4207 right_j3=-1.5814 right_j4=-0.0055 right_j5=1.224 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, 1.6615, 6.9675, 1.9512, -0.0757, -0.0611, -0.0611, -0.1846, -13.2581, 7.2547, 0.1343, 0.022, 0.1245, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff0GJqh2vww1g2hVOrBDizbAvxYMQa1W8lgfPd0OmzLvCIt3TYOcA_Kjn89c8HZjgzM92mSgADJro09MxxA22GXfwsamcj7ONd2yncldJ5GSPHxALf3XaWsVsrFGz5h09SEuOHYxtTCQQNMgY4MdosLOq0tlieJQfVNjlXdfjTIBtRt-pi_8KuJpXEpDr2t9OpOyPN26euimkMLW__l4HZF3AVNHQurEBgD_RMpS1M3bsbsT75_KybRu2c94ob_y97RUja9X0yIop6W0W525sqW5he1p-BVxVHLLczSDszXoImQmJf-nFafpUvoWB7I8RFfNwZm0sg69LKJzeX3jMIrLURA4OTZFqNc6O2F2KJwAIwbap9ltsgzhegot3NhmLyksoSWjccuxFHbIICAQ4q4oOASoGX64F_F3NPga-9TCzkK63VhAVddXZEq8uvb7xfkkW0SA6WMlcPY-DqPmVraIutS5RP_8pcyDITbCmocC4lhGVKrwvCkcM53_HxIe7R4CiqgpUs4qQV5L5xLjtSGyMxvV4jcJahVlNCMv-zuIP0l9I2TtjNdLLC2Gn84Yd0U4ebztaB0--kauqCFQD1VcrSLs-1bSnnahfSfqeUxdzlK-4j-z8Y57iTf52FQS7XAtSJDqM7PVyKF5hPyFLyGB3SydWo2TtoZCJU-Q2W7rOWZ8LQnWmivz98z4Stgor5ZOKzZuqMmY58pA1kAcbfL9IKwgnIL123jmPXrfM950yDmX7w3Wt1c1fd2sJEgykJhFgcTp76yC4mwDHWLtGldMXXR9APWNXXOJ2bPMwTOhszaPl8Tb1EqaVM0NrLyv4bY6UIhZq3viwFml2X3PgMh5CUyduib8_7mtX-C91Si4W4FacuLC2uc5NMrhm6zYQdA47zfvQUNTKZeo7_OtHPGgRtoiwLoUz6QMlYX8TaD9hyeCZwd-jlPgK0e5bOGDvUhVHSMeTWMtEUGCKqUsaHYKV8iisCEBpP4eT-oMZ7rbb0ZNzEHFF1rfxhkiD05e5uJxkAG-oCqvRL1FwaHr_uToGcI_YQpIxT7-_yBKN8J0LtXqIuKDer4al_3XhhetLg4zcGZYpe0YVErRq-9p27P7gDXxn9RgCI9tQrBSEgWOlwy4AHVRdCqQzOkJa3tbIKlsN6AjAUDu0gflRiz99aExvWQ9Mp2oIrh5OqKSSxfaNilbAI0Q8VUaKn9h9Chwtuo6SWhF_u8Xb1MrGm-FIQsmHADI7MUTPiEDbwZYqCsmsvLv8ApAQ1dKLyjOq1zuLJ3xjIzyZKgSLWMM3plfYNXuzkWlrWHEUmsD18OfmRvn_gOhQN8BhZYgUzCsB2mmSeZVKJTfSCbvuXGiIZDh7mBoeqJ3P25ZBFmt7irxNZZTx90XaV_syByAxq7BhdayjfKmZvLmrMGEhl6YfgOIkzAIlX52gM7FSHmaZfsdWvjiPeOuY8ReDT7wA7YUbDrqMLK9R0bzc7KnhyW2FQjCan5-n_MJiCQvmJJ6b--fk6HiNIM6epN7rS5y19J3FN5mX7hH5B5TYyPp2NVnNFTcmadAtaclXT_Pc0tc0MnMlMTGDp4MxySkFCLwJ_f9ow2slP1aFs9Ebsx7fgtkyc3KcniWllJa-gyZ8ECOKDfgHWUX9WNMbEJL32PfgUV6JbcCRYyCH-8zNnc62_QMQ1NGgJeinleqYYnQ3cu_rHG2fHXXDo_5UYdJsOHA9V4aIBOQeN1sFxCzlCHyHD5P12ZGlS7zPtg9q3z71W-eI4u61OWE5a9ZqoMokDgmIXdftP7cfG1Ja28cvZ8HcckHnaw3hYU9TxLQMbCygRLc_ebXug1M-GFB3pdtY5kg36STgRT8p-OFAezknTzhLtdMRG3wVpf5WZBbn57xr97KGizv_JbTV2MAAjp62nfw_T9ytvL-X5gdTPMB8zogZXBreQJNGOBz1ZGEw42AXhrWBng87KV2A88lCdLmPBS53vS5xIOpBUEmZFDgGk6M2LkGqXwq_7eK8E5h9f-ZSgCVdgUWO5KglCDWpL_FYw6-BiVBB3ATSOQU6RvVoLTSCXV_S9QUmHkOpnjdwN5OgUjRSY7DmzqyLK-gyDFArDepS-jRAb-am2WA48JMttLjhRH9q2tQhlzFfma4sXWGH2-lz-G8zz1r-TvcWQjuGX0BHfN13dw3M64bubWXn3Whv5oYmeumDJ30sMVM1UqD6F9A1LByP_Uk4O5Os1rv1TtCWVSbkKgrpoYKz1rywxo4MhrJh566G-sJBiPwm0AUM54ymsJi3Ci8UgcwJO6j-Y1PxJGB8dWANgsqbGiu3D4eB5Hw_SS4nuIrqFhDiVd6cgFjX6ihyDw01A8AauGeYfZUdIiX5UfAqe_M",
  "id": "rs_09dc31d5032af043016a7dfcffd26c819ab4db9ce32db67e47",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":1.205},\"note\":\"The yaw test moved the block leftward in the wrist image—from about x=98 to x=82—so the sign is now calibrated. I’m reversing by roughly twice that small angle to place the block under the center of the jaw gap.\"}",
  "call_id": "call_wzz3u7gDclXSRVVrkWRpBHvr",
  "id": "fc_09dc31d5032af043016a7dfd04feac819ab125fe46b3c145ee",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wzz3u7gDclXSRVVrkWRpBHvr",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2301 right_j1=2.2925 right_j2=2.1639 right_j3=-1.4857 right_j4=-0.0124 right_j5=1.272 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, 1.6615, 7.0085, 1.917, -0.022, -0.0366, -0.0073, -0.5538, -12.3966, 5.5726, 0.2027, 0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5995c8c65f1425f3ffc121163e603ca20ff624b5ce7c959792a69b1ae894c3c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f46a27024b638a283a1c13eda41cf5770f913f757aa26932696e800c99304b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e44df7ac140779ecf074b3c71b5a624dae23cb798a900335be66f87ef0dc0b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0475 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2858 right_j1=2.2925 right_j2=2.1639 right_j3=-1.4853 right_j4=-0.0051 right_j5=1.269 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, 1.6205, 7.0085, 2.0, -0.0317, -0.0415, -0.0171, 0.3214, -15.8017, 5.2444, 0.2369, -0.0415, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff0RntMhv8Lc2jtYiueLtLF8rYta1Gs3CuT2chHTzPrt0e1-RDXijeEAFhsTQPgLm3nUnx05dCeM-jXScjLiE4_RItTpCaSWfM6nCkK7iNh_l1FK3wdloydpIuOV3ScCdP_VUpuRcDd2BY8fsmgOMxqm_lJUnfa0trF7KPsg7c2PGeluUV6r0jfYkZ_asTNQcqQTgpCmnjbKtZEHHSjE1d90HHWiwGS81_bmS0Qn6bdS_RsGptLxgKOXDnCzULkfquSEy3dwk_taEJwJ5OboKXENCiymk1VfWr7q_-e_UEdaq7gcDqLoR3-9WEkvDHyrEltv8VhHI7lmTrFhs9aJXOpgLTjJ9xrn-B5FRnRbbyw24TBms-rcaVV47JW0wbK_0QPTjTdcjusTD0W6muDzFr1-dogbjbPSRprbR8_B9-iW4Mk0JIzN4q383RoIFC-QatJO2HW7bZZQGZVWiebTvdY5bAi_eIKZ-xFIseZcNA2QvIHEIhi9Di7T1Rq7qPwlXgihYpdXXLsflnLfGrIgbwnhSxbKmV1XqcjBhHXMEQBEswdaOfvvQZR_J1yW9thMbLQqG955tPrb_wb1ir_aNUepzWc6MzSQHJwvLauRbPwRG1jT1exu8Ov6gEd6Y3vafkWYlfsqmmIozdoMz1E6S1kVUMnrmSC6LdaF7qvVuLM4tv8f2HQYBdRgPtITtfJPD-b2wynrehBfp67P6_Q-k8c_y46j9yuj0d9tBQL5dHZTCid3NYiYT4nuoCN-mdKHPg4RVVcyV3KbTeHCc1VHdaK5ofeZl05GMr94S3i4mYJVIq0lpZJ3nMDPbGcw1Im1Dj4tBbWMNStlBrBmELMwAPpxPdA68hk2zib_vcU9aD8vAukjLR-wOm8sfrkCvapHWF3o8CYTb66eZjrvXgJ5gOsxhZ9KQDZ6HYUcfbTX_EgXoq9CBxTFr7oIdw2FRU8eW_-ruzIlLLRK90FjMpU0ma-AGVk_XYwUVAfbrlRRmLEGWZmPKmIiR-RWvJEIvIHWzWSe6_KHQdeXCguKjMuFmmjiT59x0LYJF85LknKU4dpykjIq-iSbf0I30I59kleSr5Xi3Kbw-YG2wMalU1oZDuP1yBLqQYefU80GNZbOf-0_c9rjA5ashlcureVQZLaSoZnAQJ-1v2XG38tPkzmER6XWevaXqJSHY-D3JdXFsxQ08WPNTGNC-qIn2hyBOkad4y99PjpKXQ2PImSsWJKFStg6Hy0x6az8YFKFqMJGq3eOWJXGQ7bsgXW5g4cQ6LoBoV5fbu8uwdbz_Vb2Wyk5c1ZCJIZVA23fCH0sKKmw0ehDFOHzrZhoGwzLebGtpVAnhyG8lxg3e1-R-fi8QFHVWScXnKiJ8hXMk0JkHJ8tX2NHTBcnjoqDHQwrq9TjW0GpN7Ci74YfpFlT61v4S_R_JpWK-ktB5a8n7oOExM88dP52sYmfuDmH6FZkc7dtDxlBIuEGJgPrkSSmUMdKwBlpUf5NFvIBeYZTVrTWFc9kds8D7zdFPfTT5tKW0W5fsDgGQO5M4ETvzD_SeCCftt7CgK2r8wotREWH03XyaSHkCtxUVFTJEmJo34ge1Y6m1daV82lxQxbyM_EbGu63sXjy9YEZ057bpqSurccbJVlWvCPzp1OWOVhn4-3267zVRyxJS-mspR7e42ait2RcWZ9QNf2Ca3T-FV5smi2A0EFZEyegmLkd5esnqjgj7mzavJr6ek3kwQglnSkJV4QgcKlgjsVQayuUUcOdtmhErBu4kmPBPe069oV1VCuN2-6BYxxjnM6nm8kYpo2iZjxHXul2WA6CaoII5sPWfttXnFnAtfErw63T6XjQGomOx3L-RpkGl2iusv34Am_ZpSHbGwSyTr3W-NPliwQqMZIHvF9Gjq_kxnqNr0gDBNptHpv-58FYhzBBJkjenCDiShtrrOt3iNkV37OjESwydY0W867W5LVnQg9r0EWSCpUoIj2L0KDiiCcCH_kXmCtX5rHp3YQt3lDQFlp058FXIOD3vbl8IhnDnlPraxtY-ue_2ZRltE-Jy0TVKR5TKxNWVcnT_ET5DtvpTKpXGPIeuSeRkYjt_f5Sd-Ldb5F05vTMGDwVY9xvOiaf1yPP5C27LgA6m38_4nz9e38d5070eITMMhoeDQJnghbtQ7GkrZmCB55bDc5MU8AvfkI6NSstGnHuk7lsSfoNhFo6WI82_H1ileP_IVH0kqZmtZbjQHivgyU7BX0tHR9-DDVEVYBjG-_N214TW3zfT3kx_gpYZdC-CftI9QtLZFB1lotOjNBhG30dXRBN-TfhB1fuGwLxmjQw2Z9zKEBeN-2agM8kYLGF_CswI3jS7LLjus357Dp_nekA6P3zcGXRz9ZUuw8VZXWgl0gTx7yqAeHMMZlTiiiHijFgtI-YbSvXRYDnn8eD--IK6lCAzfLW4naxMNNkD5MHdLGbtMFCciWYIrx8f8ZTMIDDKlxXgY8KdrJsxgefnMsdWBgKt8XqN2lDjfu1Eo3sV4wqFtu7h2E16fpT46AQt3hsE90rIvOe5GMKlyub2Hj7pzlhxYmVoE7IBsEz5D7md9NekCDRbcn4-hIXeK8oWEWwY4FZFCahvR1sh03A-owqLw9tDMxJ",
  "id": "rs_09dc31d5032af043016a7dfd080bdc819ab2f15a433f583eae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.24,\"right_j2\":2.2,\"right_j3\":-1.53},\"note\":\"Lateral alignment is now good—the blue block is centered at the bottom of the wrist view—but it is still too close to the image edge to judge safely. I’m lifting the grasp point about 3 cm at the same radius to bring the block into clear view before descending.\"}",
  "call_id": "call_cRhWiIrEQnwxYCYBuz7gbjXG",
  "id": "fc_09dc31d5032af043016a7dfd10c98c819a90a3d13f0c313881",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cRhWiIrEQnwxYCYBuz7gbjXG",
  "output": "executing move_joints over 1 steps (0.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.2906 right_j2=2.183 right_j3=-1.5192 right_j4=-0.0158 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, 1.6205, 7.0769, 1.8828, -0.0562, -0.0513, -0.0122, -0.1846, -16.4034, 6.8855, 0.0513, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88733e5fb28e5281a37b2f168dc5d4f9efe07644ad6466d37024dbac24bc3b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab596e386eac04f39390060f4cae6823a8092e9c5d7f053421b376d419204b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc1ecaf6b6207b21e43e72dcd2ce31ccc6fab89f8f6b62d0a7b9326ecc0cd00",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2301 right_j1=2.2925 right_j2=2.1639 right_j3=-1.4857 right_j4=-0.0124 right_j5=1.272 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, 1.6615, 7.0085, 1.917, -0.022, -0.0366, -0.0073, -0.5538, -12.3966, 5.5726, 0.2027, 0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff0bjtZvvsGzdh6WRezxrUxHynb1U0j9SIwW8KwOEKvY0jXYvgjidOfHHWwdDAAlRE6o_I8jnwcOs3nwpZjiImCXKEU82GmGrUFSSwDQwXZVvnTkO4l9FIZ54hxV-e_y3tR1EAEJz05bh9ccSpzTEwyF_J3aCuz-14975T3TMIEvufXI5j29xKHDDto8dNmHboagXLl-j_5Oh87vJ1zBEWiFxH3kTH9toe5a-oLfKPnHOXXhlcZozeNvagom7B7ZYmLsFDBq-DHgFSqaRSs0MswCuNWX23gm_BhBoJpbwWAvYwShX1HRj3LbIwqntQZyAYK_2UwvVJ4rFwyO1-9EtegvdxkTh_jQUROfJXaZJJXNvaWX8JtRdfKvhc4sE1vHePr_Ium7-BBw7l6cpUbKtK4CqP1AFzoRgSmHcxYfLzSeuFqqPRyNk-oL3viLRG573pWzkdfVQKy9ThuH-QrH9gGYhUsdLQCL4DNiKQoti5gRcerdMlU99CLbLPUm67KhFAHaImTUq5-Uh4jeamjJQwZvKTd8tpLh_j6gYM2MtupiiLy-Oh9uR_aQtzexvbMtDq7257zDvE8_9zv0MrgRyu0Gpo_coQ2wRssTeuzJztdAwG7_1kIts7u9f4tKC_CJmJl2hCN_5yWDgF3ww79iaQ9bKsj8sNhp8oi_z5vHuy2lwJuvOHeLWyolv4QvHtq5mcsGOBzYrYRjSwGTBDfN7wbAa9KyEKQKNfoUbGiWLH0TpU2saSrbkztTl52gz-gEg1Vjj8Bg04CixoBKFiVJ5vvbD3aIt5mVnBhPPerIBfbeOVOXxmXyL0hLK2WGndrG_6Yrr6_jIa42Mlk4FrMcLO8iCnnepZCvGUhfjdOROo4twliG1Sf9uV4xeCvacRZlJz78vvtUjT1wyncyi4hM9_NXWc1i0rJobIHwHUTUB0hMqntZ5t0A8u_bANIUcQD1oz9aydFHF1WJIaaYqHO19B_J8CGAcuBJ6bZnLEUZaH8uOAIDkVg5bZym2-TQFUMfg8mjJLh439shvsY6D5-5PzKjwDVzmn05A7mr23e5FzwXGk-fhcWBOy723vQhVAowmdub_Z7nj77bKLeFajNuQkPivevVoRI63P1f1BeLWJiDrnVAZduk_mhYll7ZbHJ3WeZsRB_V6FU7_k6sgSQQmkAlN_FJ8HRuvl70Y8y-mcGKSpiDuJbcLG8RBU2z-7Kp4LLjNmuExAncV4HLtQqgYc6U_Cadveig0k0U2b68-4CTycCPTYyT7GORZlXCk8mjHoqfKRVK7Z42bT4HvVdw-Qnvi_jkPmlGKh_7iYTeXfJZIMChMooliaF8VmDSwFtzfEdgSiFfBXsOkyHv9bm9s3mgvvVyNLPRW0OmDLgwZsxZof7dkaM-uBHuEReP1rGuIRQmfxRy2NOdP5OihwPXZsbDhv5y9rlijVdTVo6OC51T_edMqt67kCNfelNe5rxc6Udth9PMJKnglqFWahBkCjQ-Qhx4RR-oYaDXkTazMwLuCmky3ms3qAPHdMwFy1JRHzEqwQTaDvLmxi97L9Qy8oSTh75E0AhUs9U_D97ruB9XQjC7LcsodWnzZn4sU39Lib2KeZgeZl1gVBagCtQXfcyrVOSqK2Un4cSVzRSvHdQmnfaDroRFxa3C2MCG_3LYnpclkTfwXhAOorUJ5uTlwFsaVF2qJiW7s-WGTi0JpLOh7j4=",
  "id": "rs_09dc31d5032af043016a7dfd14ab08819aaed2929f8911efd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.03,\"right_j2\":1.89,\"right_j3\":-1.43},\"note\":\"The block is still hidden at or below the fingertip edge, so I will not close or advance blindly. I’m retracting another roughly 5 cm while lifting slightly, which should make the target reappear ahead of the jaws.\"}",
  "call_id": "call_HRoqZVTJOzKwhidP2fjCpkGV",
  "id": "fc_09dc31d5032af043016a7dfd197110819a8adf8803b6457577",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HRoqZVTJOzKwhidP2fjCpkGV",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0586 right_j2=1.8923 right_j3=-1.4403 right_j4=-0.0162 right_j5=1.272 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, 1.7573, 7.159, 1.9267, -0.0366, -0.0513, -0.0122, -0.1026, -12.3145, 5.6547, 0.3053, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c062e2c5193f80f6827a1cd645afc6c8a1ecd0be5edf8f902c41e56158c5945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42779f437c99da4ea433bbc3604d6889feac93efa574e66500d5b841cafe1924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36e7ce293425a5a61ae941ef966a6db4f52670c787ccee114be782b9b92c560",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.2906 right_j2=2.183 right_j3=-1.5192 right_j4=-0.0158 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, 1.6205, 7.0769, 1.8828, -0.0562, -0.0513, -0.0122, -0.1846, -16.4034, 6.8855, 0.0513, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09dc31d5032af043016a7dfd2097a8819ab0900cd6d0aa5c11",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff0zhcQz3WuWAX8_hd9Cce1x55scTZL351dlIEhCVoQS-cHisi9FEz_LGVWgU7h7e-Y9Nn_FmRrlS6w0N4ufx5Ch2TCBcwR4TeWh7oxhOG1syQ-vYXs9DX4zbK1VLWKtH_e5MSibDP_4ZbNaPfS65gDYmxkA6fSNvEz1cqMul_8QZrSet-R5B24bTP9Wu4OUGJm1M6Tl5b8gCZmo47pi4pilgUWuZL3ajQCw2yi6eMjWdBWamwR1ovGvaOwFZBakrbbw3zU2yaycmvcMM81rm-a2s4dKRbmIRolJKEGMtrpU1yC0eeBuIJfVaJpLsVTzQFEEeB4i5ISYBLqRxsfjPeR9Dztvf-j3cidkz_yCm0pbl6rCjXwh1-hN0JK1n3qD5gXj3HHVWNQByzKzE-e4ah_7FCAmdiCmKy5QL3JwOlxWY27L42p_wtqe9mjdDngvDiJHjND6KRiu8iPN76rU-mvL_ANSN5sohZo5H_nzSUwp9pjq3gXIxp3ylPBVBnRk2u_-gW9F-6hujWMBG4bWeufaFI-kD-PZ-1olmk_Raenq_zHAiCMDIQryu-Zhq8ReLJcgMBrtOA9zuP7kPgXQCKMlPAsR4QYc-3Gld2vWVuagz0AI4V8R-bNx-HFlwRhHVGcbJP1MEAz3wp2qR0NBuXDA4tolUY-W_xQ9vip4nKPoXjgHp4MV676U7k1SKybNjBRRrlTHIa_r8gst-_VMud8q--UXpL5-ru_TXyZ0_0I1PVvV5BbBGyD871fgzfa7K43yLeYnw4PWKWAss2Cj3ZgLXlU4b2-7czyFvafXJkgv14ZoGNr1WySWWriBBiZIPWtKXDkkk_pEJIVkXKuhAD80VdUWDjbL4sOCwIXYkDxW1KzjPLkXldvEOG71lHRvPp2gMdwNCE4iSK4t6eW0obQESQH3n3-57sIn-7nDiuwklVVzmGDTnK3e388nIC6DwIy9GDGcSJVHVkobhNUYKqyaxqSJDJAQ6EPmDKgke_HHPR6Tx_TpIFZERi5-3DbAMvnNBhbPH-pOPW1CwhEcWKiSrU3T3GeQIXgX0eweTz1k5FdZoORgplcdugYUV3ywAkWoJ5gNItKkzx6uZgm7ikRsE5aLhYCXVatQp7okckEjp1491O2j2XHSE4_SLdARVy4-UBmFgcMBrsi6JRSVSmv5YGkw8f4B0ArV8S19xCaOSyggyR-28_f1Kub3Yt5jApnwDbs1w2fBxP8n4DPKULCfZVWF8ZTWwZ5R2HvOWwARrqnwad9SRT2-DTUr5n3AAAyKm89q__RScQXEAHjA1sbtixgrKFl5sP3yPzFlNC0954uPqRj9HUjLPgMWheqW6pJ4sY_OWQubJ0TG_fhcpJ7iU92sS9PmzyuSNsErJ9NR_ee5D_gBJFRCYtZqPU3WJwRjB74ybh4wV7Pm86OXt2RwqU8VwrRelbqQq_eUIlCQ6rH34L6OxQOg_qpVqmLPAjQb9wyIzj-rcN-5IgRkOS6SvIHGB_ODSQdvMcVpzqsJCkbkcAX_bVMXk9FILkYvMepz6LIJTPZ5PMu7a28Eld35FICgHMlh0vRcpqB8FNnHmjnOyy06rnKikILOgNKN1MMl1HxYCkUiAkQfhNJA-wbSuD4ITX7OFlwNwgSJlHMk435uohr_ruPIfLhb7o0L1_leplo64hKhpPMzxBrd5BLZiKShdlEYJahAvXR3vMsO40OUwRs1tV8Z0IojS-_2leTH5lkvxpRhHrGxVXMmLQBCSFDZAS5CVO1bu-9uZNnnqM9rzwvUw1zcCHLDJBk2DduvhXNXZl6RsU61Csw-97Y3DZBBPzHSlWFq9zOcY44r3pmHOh-qhbBR-RSS5t1pap3LD5xfuXokNZOZXTYbveXm7XvnDqCW54s0J-wbhROTpIBbu3b80NPjvfgd1-j34fKWh3XxRghKkDyicDcC-6XZqNs6imRF0gZxa1SMDZ9n3-woqtdaBPpktVkfiPTXP2FKNemp363xRXMbK5JodHQobuGW5cVgc450Wlhckl2v0dLRPIwJDdcF3_vE_JCY73mR-0Yb_vLU1cJMIiottphEpyBXYM0lgIL_yY60s8AlikgsynaFXxdYUekuQMUzXEO2yC1ZmNTiPdBZq3Y0SWeyniMhSiAJ6SwTVFOU9D5PE-KY8M6mX-30vSKszfmD920c7dwGSgftzQAf0MFW9dyl8AfaRH2lS5nbvCXLuxGkWxMKBtQg2IKy1OH9IAmloYiXiNjPjjNLIIlVLJPox-TII29DbvubHglMyGotcY5jOVEr2KW36ed3RcdI8xjKGhpZR2xC_LEKF-JvDS_LTzbmKEvJQBlS0lpgs3w8B3eexXk6TeqBoMmCNYSqzkj-uQ2-BccMJAJStXw8_zBNw5Q3V34m6WEwlpgOKrVkVvSSKoBf86Orr63RgfFS1xUGKq9Dxb-_N2T_AUDIzOHobU4TRiNqj20GE8uqeWNPVd4Vy88YaDhcpNUCrFmoCIlPU80YA07vqcSD6JMITjF5Fp8zGsr76RnYDydmod_ZQubMT5R0akKeBuCPL72Vwt7BqMX_4Bw2wESouPoLJgQcWM_X_RFYxlDOepkPkfYWtxcj5h0vW0w6mt-iZN97ay-I1fmnnURPS9mg6qOJSTU9M8x9dDKKbzuEVJ7jFYVhCJaZwHzdmpRXbYHClQS92af2FrQq8Wv0tFtpB-z4Rf2anwsP-3mqnDcwGc8NAj__j0pelHO84jE4QrTeWt2E36FEoLPYl_fOa33ghdMMZsnkP0MPT_kcRwb7zHKiHOnV82Hq-dj7lvMwXR47X57f_h9yi9sj3iw2RhEmfZ-sD64QcHIKXtKpwXzSkhrkxcpn8U9c0a8aOjYT4rVsY3wuYTLyjp4pKwhfZ4NwIYAJQ17cssuPAN7T4izNzF_eAiksxP7tX_N7QkVFBo-6ql8ZzOTEXqZwquflsVtbkybJQD9dWE-hHyeQzgu2TjkU9TvysbNya3s=",
  "id": "rs_09dc31d5032af043016a7dfd2a7fdc819a8342c19f0d58d5cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.065,\"right_j2\":1.82,\"right_j3\":-1.325},\"note\":\"The overhead view shows the right fingertips directly over the partially occluded blue block, while the arm model indicates the fingertips are still several centimeters above it. I’m making a controlled ~2 cm vertical descent at the same planar location and will watch both the wrist view and joint effort.\"}",
  "call_id": "call_3vzMpHd9QInEfpCE2pnwmWuo",
  "id": "fc_09dc31d5032af043016a7dfd3200c4819aa14833fd20eff335",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3vzMpHd9QInEfpCE2pnwmWuo",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0579 right_j2=1.8198 right_j3=-1.354 right_j4=-0.0162 right_j5=1.272 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, 1.812, 6.9949, 1.8974, -0.0366, -0.022, -0.0122, -0.0068, -10.1402, 5.6684, 0.4225, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81fb4f04737aa71018c2e917529dfac362f786952d32eda1dc907eeb3f9a6457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0568590bdf0cd95db161571f74e376f1e4d4df6ec27a9e4a55e21922bfd9e8d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee6852884a8d24f69ef20c4230f7b6fbcfea278de8c0f94a5eabc1ab0e42515",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0586 right_j2=1.8923 right_j3=-1.4403 right_j4=-0.0162 right_j5=1.272 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, 1.7573, 7.159, 1.9267, -0.0366, -0.0513, -0.0122, -0.1026, -12.3145, 5.6547, 0.3053, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff088MCLZVgiUZ1nOBhyFDq4By51YHkrz5CFwlx-RD7fEOzjM146BlTCQeTZ34MCqlONZcR1RqDKizctFkFfndU82Y2wh9tKlXRIcDaxUL88tGsNZ0XsfCXswaX_1seiHsoBRGlcNV2oOI1EunF4FTzOXBzPTj66bpbYSRPCtXpeQMTBXUGeHolKFm_WwIjZ8vPLBBm6D7cvUwhrWk4WvYLoyRGG4qJIodwllP2DJqISSa-DpZODnr1LuVmFT7fYDOY1hj7oZbwDpSyjzs8f4FIK3HGxYUgrMN5X4aPvBV6gRdfIRXw84F3aaZs8Ehk3R_FWdYoSgYSJ7RxeDIDYXmuUfpEeoZmBV7yxYvIjWZ5AlpVpQiTsHtA0-MZNTvmkr9PT4qrnCg4KXgyiXyREmykCqN4PUynQnaYNh-1sqJL01z7oic7i5rhQGhZSF8OUq832dEKTN8nYtQU5a7MFCP0k7kLyCSwUn-GkFvz87Sxb737OTkh5xzo8sW8KSvNtcTGrB7uYDcYTb7dAhdkqcnG-tqtYX6CLg5EH5SC046OxV2Eh9t7VbWWl1SgiVsAUimsFDjHMVeG4lu8iEgX5MlgxEIBYTq49liTBOBNX0fuWFNT74YzBYDTsr2l25oiGQZFp7rxSJsqrfmZsmJKkjmBIU-qnsqgzlOywFzAecYZSt76l8BnnmcH8mxXAEh-6GqVQFtIyDbUh7Bqg2Xkjo29Pg9hgddLDbcvIBvrvULW8BJjRVbRgz34NMyBrfgYMWLig5Ieh8XKk7IFfGiiwghLbwVX5EQ3u92WEnLTg-PjhGlYI6a02afBeW49Hxz5wILxtWhhSXl3uFfbDLqxPRFkPd8wpJE3X7dhlcYL25dlhkqh069xw_TrjaRnZLucIGm6MymiVVxokvHuVlMWOSX0Y3zIXE2KGHhPOicN55agJVsz6H6dR8Y9spM4TqKhfXe7Yc5AeKWfvAkHl5WGy-ZQ7tJS7Y2QjrLwakqsyCpEt8tEoH9dF6buCsWj-Y7cV9AYYjbOt0LLBvR07gJDY7vDfR4f8l9OCfRL8bpfWZ7litDIuDqkvX2oXIGbpyspvKREHZVeCTNhOFMSHQzpriRvScKpjYP7oGIV8DgEwrfwkx5Oi6nIkOnjso9INvodDGX8I7uTG_BWrd-mHRw-Vmyw59DSENn7Qvy-F2SEOS-9P14IQzXFWHrr772Vxo9Q34UfbjGyFb1u2KIGYcMNw4YmfcnU7aURBx_Rd2DRn2vQSPgTPf2PUil6XQndA2Xl7TUHdzuS9iajBUVoPgTHXNWS4W8beK37J9_7bR6wYyUqdOeIQGwTIS_jREOHJrsLfkmrZVkj7zInr_yR8Ruv-CnAlS7BYSpG_ESilG-6n4w-fnUI_UvDjebaqEFMVYh2ISwrSyNFU-PKz6Xj81Jp1bu_1CrBL6K7VE-4CCohMa-cWtKjGUaKc1D4GjGdD3nwaTHnQ-MhVCYrD9oaJj5GUsuehqg==",
  "id": "rs_09dc31d5032af043016a7dfd362e08819a9fd44e8d7784a22a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.08,\"right_j2\":1.77,\"right_j3\":-1.26},\"note\":\"The first descent tracked normally and effort did not show contact; the block remains directly under the fingertips in the overhead view. I’m descending another ~2 cm, still keeping the same radius and vertical gripper orientation.\"}",
  "call_id": "call_Td5kHPMkFmwAWpwCdh4ErAYt",
  "id": "fc_09dc31d5032af043016a7dfd3b370c819a9c5b72f545b7bc08",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Td5kHPMkFmwAWpwCdh4ErAYt",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0663 right_j2=1.776 right_j3=-1.2896 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, 1.7709, 7.0632, 1.8681, -0.0708, -0.0513, -0.0122, -0.0752, -9.7299, 5.9282, 0.3736, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa001e69482c1b900c0fb5900a6def807f3d297a23642f48e3b33bdf7dded3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b017f642edce14e4d0b3d1b95aabbae84b56150fc33827bec92516237afb6d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a399887ad32d28698d4e51342152d8812fd6a8ecc43da31781bc3a50471109",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0579 right_j2=1.8198 right_j3=-1.354 right_j4=-0.0162 right_j5=1.272 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, 1.812, 6.9949, 1.8974, -0.0366, -0.022, -0.0122, -0.0068, -10.1402, 5.6684, 0.4225, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff1DKLrkmuOXXmBNPaIhcrlhvOV6dyqc6BeAItuy_JyZrT9db1sqFQM96upy87s-WPTT44bF1WMPfzFKOChvf7nihLU9swjvBRanuATfm_8cur2dbPkoSpxUU9fP3iCJjus63yaQyitkH1YkV3JSuRnfd1B2HOuJzZjZAApD0rwv9x2FqFx_kH4oPrujrX_9koZ-K9Wrt4aZ2neJ7CzGyeQ0-_6NnTPGxUCv0gqjrqmqeDmmNT5S5mFg2-MFKcgn5_CsS4Rj7wdd_79KwhvXuuydKQU5PN-zALJJ7Sgj66yooxuYQIP-dWs06__fs0R6FOtwULKByExVq0y8sbOhlAIvBP7f53wflF3pIUGdUrioj2qP4Eae9Ky91HPKgEtYzlaaUdF8I3dBaLvVniILUx1VCP5t1bwnSS42HsgIbLom7zooJCdH8AfcD-Nva-FIGh32wWKmrwpYMY0495mT_JAkDQu9s_Miz9Ux3GFp7TiSucllaODe13yo7gZjEs-BqHnTGCupro9TYWcVpre3U6PJZTkmJ7SpIrn8IXI_Q2grIU5lpgUzKZfljDzqpzhJOcZ2aUXSPF5bmSz3jpfmw2BYKnwzUysuo8zdz_5s3bgCymxomiJY15p9y5nPhvtXJpUEqksjK5mKcMdiJpW_H99Dqsh2xwRbMnPKgZI95HHzK_uEJGGijD0VlhOrniSdjBBrjDuek87wnVgq3vCmr2XYpn62BHkW5gy9-bu_xVsymwlb1I77txVEORP2V0vQFFX_0LrGJCPsStsX2148mdPPUE3EdX6J2clfiWzjEXsDMwoQ7Uwoek5Mi6hb-4VrnVebw0J-MM-ljphr1WKKJnZu5sdsJCuy5LL5KNsWrjeiKLD--clrhaz6wwNf2z5yJMxgxxqpkQNucXm4dpSrHmdcOTsugbxYpUs2egYQPSY_WOvOftgh4nMcBIEqQ4Lmh0L1RdHumBqfmL863W2XfTlQ1m-C9oaSBBMSi-sE3iGuxFrWYloqb3-5PRTXrOfRsSFcHoQn5_XiTQV1-vVbO2VhnPqe4sToj6D68mNslUCSbhNWbhRZABsx1FPO3YBEMpSwvt_Bdmb_KYxMfaSwbycB_uRwFHJuCsrBbYVv5zwVTR1ATGWn5Xq332dSne6EehHoz2P9QMq5FL8x_YYuq7RiEPvgCEWhi-XBuWtSJkGODFAPjDyaeJ_asw4ePosmWhpfFeAf5rrbRpgEz6MbqQhorkDPzbnSeIDhGkoDxC5qz1DwPjrHq3J8AqG-5giBEkO-4KCALLZCgUdovnvRXFRXLXvAo8G4ew7FBKoYUqtVxEx-xpYcl0dLJQ84kI3Dm5OhsZ-962QzCNMmJBCiVAmww4Q_a246yj04PIe8Knxsw_o07dRfi-XvqiT5pNOsNHYK",
  "id": "rs_09dc31d5032af043016a7dfd3e57a4819aaae77d95f8717c9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.11,\"right_j2\":1.715,\"right_j3\":-1.175},\"note\":\"The second descent also shows no contact or lateral disturbance, so there is still clearance above the tabletop. I’m lowering about 2–3 cm more toward the block’s grasp height, with the gripper fully open.\"}",
  "call_id": "call_QE2ZLn6hvOtRKNgMvJ9HYqIl",
  "id": "fc_09dc31d5032af043016a7dfd417ab4819aa687e5149d890e31",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QE2ZLn6hvOtRKNgMvJ9HYqIl",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0995 right_j2=1.7195 right_j3=-1.2045 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, 1.6342, 7.2, 1.8779, -0.0513, -0.0317, -0.0073, -0.0479, -10.6872, 5.559, 0.4274, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4066491b80af5595cf5e33ecde501e1162d3e8be240c3fc714565ca2fe019a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39542155600a72555a2742f32fd36c7991096fd7930a743c3379853373f6b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98bb39e4963fc88bc6a5d06ec32dbfed6692a44ee84cd7e3c274478222156084",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0663 right_j2=1.776 right_j3=-1.2896 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, 1.7709, 7.0632, 1.8681, -0.0708, -0.0513, -0.0122, -0.0752, -9.7299, 5.9282, 0.3736, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff1KAL45aTqklwYCTFcB4GVjxB40qqQPYvqRoyw-QLl53TV0Bv4-CG-W66OB5p7R1I9sKk4ajW04XPneKHzbwqjD1IUZNLnmWVdVr6vAGeImEpzkcxz2LLAxrNGpmVCayrVOptooX3zRyxcdI4ynrVchHPhPPFX-VZdiCF_8Gzrhzv6hify9vm0SCHu7VQP6vBfby65Dr24y_iw4YJmm0xxi6xxWPsKxwYaMElyr_JN5Y620noak4avbrs31YDjGJ2xaCcoAeiEuoUgsnGKOd7qUsDbABqOjapuO5yopcwA4F-EdHX6s4gVCMpLlaGAVl4BQjYOzk5wty8TLRMCkNMNFS6bC0mFnm76AwlnAMgegP_qHoyeieQAa_vdRJvoYeMUxVbmomOngDKAVYdmKUjj6J1ZvtYy-cfy7KbJK-g0PNXQV5tzyxkCqkRyE0uxnnlhPcitJxz2ZpVviZX32XmjJdEefensqlMdfq9pN-r20GIelfEIzmgDNe4aGFymLKIYJOd-aOP8y46P9evH_EHOOykZQyuUaqzr8O30AYdRwg0P6LwSA4Wv4zyk3jqLBj5IVwk4kG11Eq1ZyonUU1eUlrGHXFxZ7JLnEto1wF9jPR2u2iTvQr2sDdAgD1y1h03TgyPPr1J5KqJ1VumavLXGbkkeLpGqxhF6W5jpy0eAVJ2VLfr_iGPDL9J-ocEAqpmvpJc0bBkYlgMOF99sq3IfKBwkCxy8MVxxMqMahWtJvu9psZceH9Zc2Y1NCLxf4A005tqZqY7oy4TZ8J7-7TspBH8gPomNvYtw1xryMCg15fP087sjpV7ErcurDEVb7uzEvG23318-JHQw2t5g9kcn8-4juU7zKotuYLoZ7r5oQs7ygEIwstIqMhWgpGg8jo-7-pokThevL4i2-tQNtcUUtAxlYmep6JY86Squzvcr6E91sbP3_mYniaA5qbmWnAjzCrW-WORdgSJJzQExuWj8C3xN6lw1bG1ePCz3sXaWyq9aBemQ8VfT2ueFtC256y4GEHkuSEVsXBAS7OGMt8Dz9f7ZAioxeVVOT9dudr-XkKGNA_CqIWbTLUqOdreRkSXPQDXzl_dZMVig_BiupXCPva65G3Fh2Jvp2Bwi1_fiVqJcT3-2cPSsc5U4dKeuKk9iBlk3_JXXKhSQlUq_nQIZ85n0PQtq7TpxdQ6PNmqyvyAlY0L5yj3OtJF9DMGK_nwa_EJBtDQgM6SJn8mR2gBUr2tkfKLxNWKzG09QmzJrnlX1feNv4eUxQuZqd6ZoCi1aawchkR0tu-cBWDW-3QuaU-0xQ8pYPxEz4PGUhSrI1grq179QHqC_WyCji6ewTMqm23IoYoNnCUY9BYDnRpvZ5bIbk6Mf9-Py6nZLbnnON05uIlQ1C925Nqzg5Hug7aSY5vtaaH1stNln8NnH5Mgsdrz7DSsbRXiNZ2_ZXtgy-sRQVaPETJ5qWWyTKcdFKiRAAs3kHxDy-XDpiGnCd4yEBldUEEZevM9dYFD9QHKAVetgiTVDzp-ELmjO4GwiIlN_AezeLTDJ8ObQ79UTHS6yyHxcv5zfobe3GRI7iGqBJb8t0A8RWl1qJmQFRVEm_0Y-YnjxqWoPRbTRFFZv-gH-Evnus6O2afESUKBw1FtElRMM=",
  "id": "rs_09dc31d5032af043016a7dfd44c40c819aae532e464b8d9404",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.15,\"right_j2\":1.675,\"right_j3\":-1.09},\"note\":\"Effort remains in the free-space baseline and the fingers have not reached the table. I’m continuing with another ~3 cm descent; this should bring the open fingertips near the surface so the block can be enclosed deeply rather than pinched at its top edge.\"}",
  "call_id": "call_CsM0A91fcUDSplIHHYH77y6o",
  "id": "fc_09dc31d5032af043016a7dfd494a94819a9363e927feb14ad2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CsM0A91fcUDSplIHHYH77y6o",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1376 right_j2=1.6814 right_j3=-1.1183 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, 1.7573, 7.0085, 1.8681, -0.0366, -0.0366, -0.0122, 0.0068, -10.6325, 5.3675, 0.4078, -0.0366, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06abb9ec907192ffd70a1c3aaf4199b5905d0aae310f978b8c361c10f005fb32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc70a8255bdf1b3de3eee32036ad8c852a0da647ff227b260f4d67acf8c3fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdddacc1ca91936a49c545ea6291075e1b5c2f26995ed8b1dd8f890212a6c16",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.0995 right_j2=1.7195 right_j3=-1.2045 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, 1.6342, 7.2, 1.8779, -0.0513, -0.0317, -0.0073, -0.0479, -10.6872, 5.559, 0.4274, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff1TMW0SlB2a1FmOnbx07BHP5vTHNMrP__uI_SnXejIclwVUCRTWQMZUvwML0D2N7t07wsskSXteN5n1uqK-JdHWLofxfXyEukgpsWoEocr-zC5VXjZdOapEw_LdcyryfG3cYBmyTAvBWG5-PwegBb-O9oUpE3B9YzE24k4kT59r1avC0NfnWA0vmdAVpWz26saQWkvXTNRp9vuI_L3AZ0bE1HLVRnFVtGKpBZ5-uocG8MeJPDXNPisl_dcVeLOGuuGgHfjymxwuu2oG7LUL2MXXmF9W2d8nM0hgMqhCpkX77SLSChLp3e4EcwbaHkbR6oz1uCVMN_GRlRe-qvQEAItlzxH8Gz1GVJT4pQVgnVbsgtOcn9LEKn1eNpOrfPxV8Yewq_lalpqJkO5wcAOxPhQ35QbrsFemczz1N30pf06vk0_udsYg781jQrlFRe-QZX33nVHp_qsC1CHp19pozSB3N8UTQVj9ytnKuTEwfkgyC3xja5EKPS9DsixCk3i5fweBe7FtcbLXFYD6FLPz2B-3mFX4tvXMtpqW2VkPLU79AbDEhQF2ajiztA8fVxe5bMEIDj_GMJWgPwsp8mL_wP6BCj3RQ7pUpPrUNYIEVflKi3QqZUgWiPvPZv-QgXkDy7J3hoJEw1L07Qoxz49IcYbEOoBUZXU0hoyQdhMUnqDptXEiZ9VS4Dm4fFGkmLL70EiLI9__QRABclKtplu-IEeeUHcu0u9knFlRaZuMbaFBESHI4T6EYkFoKYoK6sgAj_-7L3Rl1-F-ST1qgSHk_cpE97oJzS5IgwhR1mCjJ9mQvViJ7zFNhRcf6J3fDAgWs9mv30BazCcnQvE7hE8SoqWOJqFXyHLLJ9s4WaxhvpRDQfppPZal3JIx1pRS_FhqjcSXwukulBKXQBS8Q-E8hjjpSSlv-dCOTY_60vJf7NWGJgIMRdE_9FEhjFrO1iEC04VKO1J1WQUHF8sOi-SCaSIKHdGP8Iy8z58ma2SOE_xJff5pzQp5j35R_pX75H67VSDVWuX0PyAb5Pj_Sn0kESDBThiv_FcNwi3I3_NY1nPv7oFkpet28qP1ciLpcYIU0My2vqIOPQiQcySR9fMc2ypKN18Fva0hmVWASkaM-NUO5Bu4NRb1t6piY4u8wAkl30HMfTqb2PaTBx40I6t44MaFe2EiLHJgCM-pH664OuWPNL1Dn3PaF_9wEoB-UynX8_NLPQChHl2PEKXxjptZUWVca97cmVGNk_a1HEIheuFrHmosI7fLThbEN_cfdHAY6m0p1XH7JLy5hIBrBnqsZra5ZFLL6CD1bsKArxNQZLTrwWCLrul0QMvLWwd6FLeOKZQNUiHxUpwpBNAKCVfkU-56wTSzDg0B9OVh0hEda549oBJiwWp_LnMlcAi8jgz2TppbdTI3W21xtgXqIGfy0MNLdBujmpE89NjjzB5xeXjyFlIgfDYf7IB8cpl0L7lRkL-628WbklzRkdCZ6zer5bDey5U40wQww_FjULdtWEcpHPJl3Lqa12eEAPbo3R4kRXKszWyCrASgIcNe02OSGcZ-m185a0mBpe0W-21ud3exdbnzUuuRLWx9jfXfWKAqIsdN8CdPEEG1bS4kLPKpuqPhrMfrfk83rNewSIFhgMpLXUqFvaNWloSl93O9jHrASKVSAU8aHU1_keWrDd53Rpwc3R7UQma-ZrqCQHTYGE4obrjWd262dH8mNpbKRPtBerJzsboBzDwmUVmI7uxOTdBUyqFBvleY5s7G7IQLlW7xK9S-mJlwg56wvjEu2kU2iyC09ppiIA_psNtvLhG4eAsrosnO9iyMAvgHWr7NWbVlmr1q9zFd7sPPMFtRtXMEs5SasbA6i66-4GbnjTrcIeplgM_5CDTmq-i8r-E63_D4TTS4cAQDYx77W6Klo1A6f759U_jDvlO-tr6PIkqFuOZT42IERbIrpDN72-MFeODXlsQ=",
  "id": "rs_09dc31d5032af043016a7dfd4c71a4819aacf55086b8c8c288",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.18,\"right_j2\":1.65,\"right_j3\":-1.04},\"note\":\"The blue block is now visible immediately beside the fingertip area in the overhead image, and the modeled height is near the block’s lower half. I’m making one final ~2 cm descent toward fingertip–table contact before closing.\"}",
  "call_id": "call_5iFwWkTF0e7oWZZl8p64Pnlv",
  "id": "fc_09dc31d5032af043016a7dfd51c274819a8ab3c569ad30aa56",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5iFwWkTF0e7oWZZl8p64Pnlv",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1559 right_j2=1.6615 right_j3=-1.0691 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, 1.8256, 7.0359, 1.8877, -0.0415, -0.0269, -0.0122, -0.0205, -9.6615, 5.2034, 0.3541, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2dcb52add11b2cbd3325669d71bda3ce77d9a52fc3783f749f1c2982195039",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f8643172902cfa439f2f973a66674fd0bb4800c47dfc3b813d9c56263712a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a0931cce39bbb4b1cfebb33a494034ab68085c0cdf7bcc2708dc2a01db90fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1376 right_j2=1.6814 right_j3=-1.1183 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, 1.7573, 7.0085, 1.8681, -0.0366, -0.0366, -0.0122, 0.0068, -10.6325, 5.3675, 0.4078, -0.0366, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff1WkepVwpWZxpaenhezp508B-1pA5ExtchoENaKCW-KG1aCnKb8WBxRFUQVYkKqzFwPfDsuCCq4kf8SQTnrD_pWXrDQ-_O9MFCCcVlUoblYO6Fnc_PNcfeb8byDP0vJG31iGMSwi6wxS52KEUcSd8LGGuwCAdZGs2FotXfPrV7k0Fvj4avrk6rLXIL5HYnOn3qJjrUlV7PDLzqZMzlFQyaV_IZFp3Dizhvc_y9iiCBbFeKoLJGl6EoaKj0xNK5Qok5P_8KpwD55ByUa9l6l-2OYQNr5grE-d8knT0tWqfuptL5Kzhn4p_qEaQ6ETUv7iniWfkBEPt4AlkYK84uoyRjWngeuIASBMcgBSinIhmBz7EAICZhUf1-7hSFi7u7ZQw7JuzSdMAnBd2-hJ03ibjkvV_A4ioQjc56E8C4_n-Xgl4Px7qn8xIijoSgNfV2tVs-WZzRLnJY6jVgmfqMhMj_BbrTTnHAKmzsEjeca38J4WqrIYknR-pzjFpXMnAGmStE5xM-VU5w0_ChLSe0TRCoGLvC1UkdTMtvCEb3BaTKcKKPLDleEfAibdQ3Jd2DSiKBNSX13KBWUTMn76EIe7bykXli2cakU8nUnwFGzgKXnfkq6sBGg5Z9PPwOIYJvtN-4-TdmSubhLocZwt9SVGtp7khMIk9kRr1zRCM9fxoms0844XiGOnZ7qGYcssQM8uz_ODOuVd4OeUhqalX5H5GmgiFdXTqAaOe1Yao24u0xVQmehEeMH15EWHXQScChpSulzgT1wa34f1h5_2_Wwnz5Va0jj4LRm8UcdlYf7FUKI56YgZOK7R1ZwaoyRuZSkDwiQSNW2_k-xaFqNoEunGPHqtPH6Fg2M9pltrNz9VA0Kv6nlm-uUHDL_iMIAbm-5z8mj1GC4L5dD6k0VvEykpc9G6jbjTkU7tIls2QFnULtN3KIPXxFH6O2HUhmgB9azEXNH0IpBr2brumJZCfit3Arb5h2BFFfnIJLtPtGoV8MC9U5ECFTumhY2JKLLC4q3N6K5Oa0JIgo9-iXV2IjB3KNrSz71WVBFV6hZp2LGRfeRTpLZqdLg603Y0qr0aAFb5DPE2I5TXFLAOFT6x3Bz0gq50db2xu-Nz0uvAY9efyer7Lp3SiROOiDyIuw9y9pYmh49G00CoKnDd86qvtedfE3QoTiah0pSqqf5E6-JOFBl3wtODnI9gZ--Xr3znnJdnkNlW3W13zU7dyWAuYEEeaV4J_Vd4XGaOvbRMxLiaK5OtF6yIHLHDlI0dzNYhuPmtF3sp1Zi4js8_HC_AFk3JKAyxcqrdh0bFrUlnBk75CNUZp-vrE750HVqnCkaYYYzEecfVuvJrnfKVxYghhmqgM58h-Uc7tScGIYR0KTSGI3VCOVD8HY_nKvIsQL4cSmkMp3gaC-XiTN2JYVHwaFgkPcapQ==",
  "id": "rs_09dc31d5032af043016a7dfd543e04819aae4f4dc75ec14b0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The fingertips are now at the block’s lower half with the block centered under the gripper, and there is no sign of a hard press. I’m fully closing to capture the blue block and will verify the residual opening and effort.\"}",
  "call_id": "call_jhTGo724Eh75cOevGybWqUDO",
  "id": "fc_09dc31d5032af043016a7dfd557b60819aa9021e5883725678",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jhTGo724Eh75cOevGybWqUDO",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1773 right_j2=1.6558 right_j3=-1.0695 right_j4=-0.0204 right_j5=1.2716 right_gripper=0.0085\nstate[joint_eff]: [-0.0752, 1.8393, 7.0085, 1.8779, -0.0562, -0.0415, -0.0122, -0.1573, -13.1624, 6.147, 0.2906, 0.0122, -0.0366, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d779023ad8f35080c1775938c722a0c56ff75f99fd1056af6d17bd238f224959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217c687c5d1934a5faf756830f6d8053c968789a788763e7aa51d171ba5f1a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f054136d7172ccc91a47ca3b5ffd6e4266e4d6a717e577f9ec3249e4e396224b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1559 right_j2=1.6615 right_j3=-1.0691 right_j4=-0.0162 right_j5=1.2724 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, 1.8256, 7.0359, 1.8877, -0.0415, -0.0269, -0.0122, -0.0205, -9.6615, 5.2034, 0.3541, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff1jeVMzDzkJavVcoi-cGjG2Q_ODqCgBitWB78Z0YbDQkm6gB592eFLO-RuhFTmOFizphKg5GZ8yrr3FBjAn6raHl7NeSqvLNl4cqD7aYvwod-ANPoAq8urDbyPmo4bzWc-KGVKYYhDcKQryY88qWHV_oTgMbvNJ7p7lTp5kAvOExghZVaFDEsD9Yty52S3WQwEremdMn65yoLDNeg4cVe7wlxhNvOtJn0SAGRtrMvxb7HEZApGXWeDQxEHe79hcDiY5SryJ43aaXb1hAz6Z6N9boXIKIaU1aL2Dc-2gUGKjlb8CdI1BRdm1PEZlTPoPH4plzgSIFulH1m2J-LM1JK2kCX7QzC_yrF6uSUJzPBWZ0TCk-9uGncPBEfWPgwanK1GOVRxjAgzLqfFQTbOahqqZLVzlekX7KLpEQtSJSpeq6cHbHVmEMK15nvKKFUGc74B4uctJsEH-7buexWKEq0bUfqm6NchxQ30My85vcMNIRxXW4UitYWdLFwETocShXeT_AJrmqTcekegVssHi5y3XICHBy0HaiSW8ProSRQcnjg7St21uFkQrFNLtXT4my_6v1om9A1NW5t4adIpq-uicLCXa7-53pBc9QN4NWarq2Oa3bAXLoCF4X3L81oWL36HnOA8xF40e6-vufY2yOR9TIwhvOBSKJBm5KeleSgUfDJ0UjdCOPoWftgKh5MLpCZLaQMsp7_0SbSiVFMY2og5jxNga_gQwiuT8qgpz7gu9OV4aOJdi_jGjNMjw1N2qj3XNAYUw_VI7ZHwaNv5IDY3A2ETS_IK-3eO36QmPOew-DtVr1luzTWj5oJsuMDeHe-weEMlqehD9bnq_Vczyjw7b_eXjxL_XFLFWSinlgHcIRjED_0WPyD8vrXwkeNuCzbH5Tun2kmhIxFIiGrUQpT1rDiL_1jqHFo_MV6nqomJyo0BNCOWOLLjSG5VmUpxz2HSJU3JwXTTuhvQN93z-HKz5dMH7SRmNAAtY8sGT6t6coFAuEI7UjdDH-gRu_a2tlgzd_92S37CIiGb4GWKkF6KlvI8yw2j-0M-kvnQfna_3emoy7zY0OtmYGGlHpiAEheGd_x_HLfeAcRFLzsF_RMOCLcIkXw-IU0h1WRfd4sKi09yGV_LAGB0BmTkKZI8RliWcd5LjEqc_uq07V2MH9vPNVlyLakZz5E8VGtr4SqU9jgIyjJs8zapAlfXwc15wgI2rhrBydYmnCEtA6lJ5xmvLX1SvE92oF262Xq-9NAK3cbXDcEZcQBHru0IMbfHoCQirvUFxELbwd7cCta-QrNMzhrjeBrUhurFIDVwt-IDjjT662XQHSPLOjeFS-DDkatCnjE4OznN_sN8X-poL85AMo1irlAjUNqPbFAo60l_3jPJQKWJNy61jhdkn7bYvInJi6gnJHABGKf-OtoI8vbxqoRnOAgFbob9uYRyHAKYkeVW7RVJ1x_Qn8yEgfFNQW8jNaOx8t-5bDP_Xv1QlchKNDiIpLFhZrJjiMyS0GXY13CLNdHTEWYInwRJXaEzDMsKL0GAoe5g_XamNzVdv5jrXe6CI5vAKQ9LgWws6d-DpnKLtMf7nkpNYgHrffzNjtjfYIlxyHmF51zkuRfNQRcVRNWOWMtFHY5tv0W828_khbg_M5UHkP2P3M4ANSMfnC1gGU3VnIC23i4tCdClgx2r40CteDP8tnbVh0N2TvAaGzvsXh7Gt6c9NWg_zFIR1VLvCa4omMrhnNRFU9CKpAX13EpgKt3mw9afFtEqYcqfeyVIxh-8fHPh7eN1D7pQPUOVGdLiZI7JWzwj5IAM8f3YOCpqHwS1gAJsM0PS7nK7uNaHhYQO7s3IOh5V6vicJtxIZQqXzl64CGpRHLj-yxHe26Z8CIY5VrM7I-WroxFM1Ztdh4_Rhh9khy1qqDXTygDTZN4pSUBP9JjEiHhSi2i4THFN7qTUM7jTOewsj-Q2zg2Y-rSw4mkxDbhX7KxLmp7XW8d_JG-uz3ZYyCOLiVZHob96k3tufI0cvbxVd_QsF-jdwsbLm7WwBuer19tGC5dATTwbbUCzotCg3CcBFackkJB22yuSrnD8FGrbgOH0KbqlNP-vfRfFA2hGriIfHPvGEeWDmmRfIG3jdcHqfYzHTYFiEjt67KR4NZdjxUrVEHEUZPVQaDjOxJp0PYn2XZMTEuEmt-33HgpI66ZmrG8Zh2VCEj7sKm3nnV95akQjVEv6xuiM-c0iBpBLw5Cs31bzb3A945M5p7ue8wrnLzY-SMg5iC7WDXREuW_rr4rSH573M__EMPaWsqHKqdkvhrbChmYZ1UUeNDhAKmJEGtiUUH68fwo6J8BB13znqFgMp4CXUkoFToWqMnUcOvZVFLNtRou4QIiAlW8MCu_4X2HGFbC6uaz0sSCMpMNXWXyvxAc5NQSAMTi0VMuErLQMIviy3fJsgWFInuLkgDx50ovjf-Z5BhZ0iLKP_RWDZ5dFLlR5TlzI3ZJQy4mXo0sbrBg-Whuz64g4F1epojBwWtsrU85a_nciozW_YcznJdIdHI-slMs2qZQr3hUtxRQ-w_f9JIq2DmEok9J4bXuyYeK3mBU-_3uRxk7EXrc4pitYsVjqy5v4ezN6H0Ihp3ngh1BfS8RkrGpyWliy_KBONtb8FthELiGRtlcEcB0g2sZfSyQJ6lsy2lWwCBex6t0G703FEW5KYQkPtZgDqkr8T0PCJGP3dXPO5opAPGKbAbRIMrzeM_d9Qf0Cy_XesV1LZ6802cupstatI0bS9bi2WZIhpow-x45YEpKEXYm1-2lQT82y-zTmVb83f84UPdgCM1kVarNpQyjAuzEy_x-zcKigWoZ4gAFlItBeu7UPk8LoPKBgqPD_MoGzn61fiNyVBeuZCCTyik-DH_1Ce6j7pRjtqzAjpDv_FFjj-TnGNLKFZqCzb8L_uhrUw-NJzm4qqqZ21w5uZiGgzaxkExd27n6R_dLGyLrsbbMwNKO4Arrj0Z8JmWsBj12whPCWVVsS4PDyVF9haSCw2tJN4AsiW6s2I9uGVvkpjfyfs3ilLIdUkRIDpSyD_u-MVA8wp-rFCDZ69otZMMPMoCWt07TjseKmP7OfC6N6nTdGKdxKlmXlBbbGk6cPlbMdEyheKlto3I8aCSYZ_0DqOAe0nW0C7iama3-MzzoIr1Umhjj3BIkSi4snMVgpCPkGtCejb4_heqb79DUdDxArt0nF8wwuPunpUUvlicn03d2NIuAWFCJP0kWfDC_zrJpKN1z5pt9MDKNVkB9eRtDgwofwKhGRe-xwoZb7byYiZM0j9oFL0BqlPIfDXhIRtGHrC83mOWqCvZvO9VlbI0W1lyu-PSPXXP9OWDyaBYx8blwa_B7s9rkD-veFk3SyNSg_wNSJCiV7G8zowAVjsKd5I6qVs2Q82AxZzMRc948yVQMiFhAkE44MzQI1tRBO_L5Lwnv_SeNYcGkReiwgGHfozq1ygucsM-XeUlv7ijVmb7SPRnaKn5CxV8BBzfoPmjsGCkGYWMrS8Sa8cn6f2ERmkY3Jc7Pdvr-iSE4Ky_EBU-5NXSZj7M-TRy0CZ_wemlo83EFggrGnrcJ3QHkTC5NmM5N08-MtK3a6bJSAUQtTVdmuR6O2QlBqSh44=",
  "id": "rs_09dc31d5032af043016a7dfd58f51c819a86c0f261f85a3d7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper closed nearly to zero with only modest effort, indicating an empty close rather than a secure grasp; the blue block is still visible above the fingertip line. I’m reopening before correcting the gripper forward toward the block.\"}",
  "call_id": "call_XgfCiufxNstBGITE87Tb88Xb",
  "id": "fc_09dc31d5032af043016a7dfd6291c0819a948c4c31affd4010",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XgfCiufxNstBGITE87Tb88Xb",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1773 right_j2=1.6558 right_j3=-1.0695 right_j4=-0.0238 right_j5=1.2675 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, 1.894, 7.0085, 1.9023, -0.0513, -0.0562, -0.0122, -0.1983, -11.2068, 5.5179, 0.2418, 0.0073, 0.0024, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a16cf2ae0a6cef6b2de76c0064d1e8d5ab53f036219304aa48ffd6bae1076d95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a512815cfd5c18cf951c93290a65242eef41c60ddabdaee8f62e63a8b14cdd85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4985c9138575cf988e58199da1672c15311b47a7b5c5e81191d8df326d0724a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1773 right_j2=1.6558 right_j3=-1.0695 right_j4=-0.0204 right_j5=1.2716 right_gripper=0.0085\nstate[joint_eff]: [-0.0752, 1.8393, 7.0085, 1.8779, -0.0562, -0.0415, -0.0122, -0.1573, -13.1624, 6.147, 0.2906, 0.0122, -0.0366, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff1ti0GyCEXXSag11Q-9nCUMEoe7EOogQCh9apsnXR4MixcosCTESeUy1B04XPOKWSlhOH7skGEZOETrfVSfwLqhJ0mFU5BDlApsvevU7BdrxXdAPsvNt5FUp6PvWfZZt3o4gr8I_YrxAhSek9L1PPTFER5blsv7YMEya1RsAXPAevoVZp0UJzkNp-7mpu0TfiTQtx0L3EFcMrtkFz-rdWve2AlKZTkKcNIcmSes0bqLRUKswrjVz3Nx6IjD6mylyBekjdx8URl09uvtmnuVzbXBjFA3Q_tuVw4_qFMQqLLYKISrGpq6CJCL8HHhs48L11u-VZ9wd5CLvebiggaTeFr_LrDL7pU4MlNF61goTdE60zQHF5-hr4ri8Hz08ANkkygw6Ur1k97NBR-jVJHxiLs7e7ucUcRUE1Nhf3D-a6Qr1iVR63b0g3P8ErcacrPq7e_ZNp-FwTeYyYvdLs5eGRclEDN5X4cN4gu-QZ9MVMRsdTyQvayP9Y42o7_5tsHnLlP7h4VqIw0KYd8yEU2umhRjQhN4tjiZ_-_Q46BhmbiKZsFbs6gTmjlArKCMBJqASPalGPFXHjqiv0PELuTqYYTtYAcTZ_qmlPko6xyljTLnczfVI2INFZ3JxSscrk87gu_Q1J8ZjqOWfAnzR5NPdznaKED1i8kJ3dQ43HXSWQc6ijORJi9BiWjPLF4MUu61YPmiFfX0VJ8goKwwUwKSuPwsjf2FYhc6-wIT1F-be3YfE3Q42D1eY2aEjQ5X9Ah931H43WKgWhegl0qi6z_dmdz7WHBOwlCn9650cd7ZRt2ApecIvtd0pRjdEoGWT7Ii_iO8sjG9QNqcyMhiPtyvkHGSGzmCimGshoYpLGKB3LSU1F0s3pOoS9uVjO0wOymMF-VGgkOfBrI5V0Msdsk1sZjzk6d2dbLqYdeaTgIE5eEpextyYmMOK1pi3OLSgxnjhwZi1jSV7xor8qenYoAQYp4Iv7KpeAE-PNBwdzC7hCqeeq5NaQLjMNvqX7pStl6YwigfYKgm5CZiOklueXW4Nl_QOJ3r0jyGkibA_hWC4fWbAnBrbDIhRJhYpDdZO_DwIzETxp3S1NWVy08FtS82se71wH_Ufh4EKUR5zz7CXDd3Z8iaJ1IZ-2eXkYrs2CD-Wb7ql7HENQZO7nNRqhT48avo2B8MwCWvgpuA-SnucMMSJOpLeMwDro2zXz_RquaRjuzh_Nru6gkF-aVQetJmV853fJd_aoe6USBqSqzk8NrcgIFjidKTdGsGJWa7A76Mvgm-DWZbtOQO19heDF8ODp8NlgKFFWtennI7hGtrXjnLUjIrDuoQ2r8kIzStvmcV0qbmoGHLpisTn_8XYNhOnaBss0WI98xAaG6XeNn7jmJBjMzOigSfAbpgkCdUM3xQOYtJ0-9ctLZ0P7xcTdidyVOG71l-xO9xwDiqcUIBhtioHPWi5BBj6vvExvdy1yQUp6tAMuqHVcjE4Lpgq6TigwJMrx7OAvMHcRt80LTxWw-KSOTiG_VWhGh4deSx2IdXKBaH433ojibTKTrLodTeyjRcd1G1nhO_pleXKVpukf9LgNeH7KNv8NkoV-BCIA8yZnKhv4QESAml7P-E5Fd7BITqhBuccAB2chbXDP7mPMgkeg_EGJi6iuQatUmqo_cbxeHu214FEaWpYHFEIRtSDO8yAYL4zuqXBYThpIzAXK_QZLfrDOwggP-FYx6EzzqkW_FAE2NH5BjRE37b5QsNzqoqpjfF6-hMZxAN9C68z-AhXbJbMVbbfQgJpjHKKrPXV_Msv5td-7CmmJf-Ts3iCD_gbE13Et_tWRdqtR7VWbXTY6s=",
  "id": "rs_09dc31d5032af043016a7dfd66fd80819ab0c007fc67da5dec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.235,\"right_j2\":1.985,\"right_j3\":-1.32},\"note\":\"With the jaws open, the block remains ahead of the fingertip contact line; the previous inward retraction was therefore the wrong radial correction. I’m lifting for clearance and extending about 4 cm forward so the block can re-enter the wrist view without being pushed.\"}",
  "call_id": "call_J8YEmH9CVo270gM7GVS5G6f8",
  "id": "fc_09dc31d5032af043016a7dfd6bbe0c819ab43b7f6bbe4c5532",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J8YEmH9CVo270gM7GVS5G6f8",
  "output": "executing move_joints over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0032 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.2204 right_j2=1.961 right_j3=-1.2915 right_j4=-0.0235 right_j5=1.2648 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, 1.6479, 7.0085, 1.8681, -0.0611, -0.0464, -0.0122, -0.0205, -10.3316, 7.1453, 0.1832, -0.0904, -0.0073, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9d37a0387f3bf037d7c2188f3ec7bb2b5944c52ac1955dafd1843255e6d72f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588d70280ba151ad9f2a4fdd0b0e4b72cf88fd965beef1402d2beffc7159f1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4719c2b0af1029618d4b8dfc13c85c448f58d4cea355a402f6d4dc1205d1f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.1773 right_j2=1.6558 right_j3=-1.0695 right_j4=-0.0238 right_j5=1.2675 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, 1.894, 7.0085, 1.9023, -0.0513, -0.0562, -0.0122, -0.1983, -11.2068, 5.5179, 0.2418, 0.0073, 0.0024, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09dc31d5032af043016a7dfd7027b8819aa30ec751e5192896",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff1_Ylrz1s0cUdTOYwp2M6ohOVEXV8CXkwf_Ap7bPtM2DK53hpPUqyS6JiabW7P5UZp8eKlgHPTP_8sT2KiQYczgYPqpd3oh9Ln9GViCs9xYY0W7z-dbYur14tLdC-wyj6Ja4Cyf7rPAaQGE4oOYC-N9x2cRjyzZFsPSfeTIK9WvGhms6Dc9mQSo5Cg0pRYlg-9bhmVKAqUS3JRTy6S2Py1yVegqPE12yK4JbsxAq1HOiBRCpuQiZniD8k9sniJ_LHac7Ypvzejkh2PotwIH6ZmGTzvneH_tDvTxoLdoydYh8ZSkS_OLGq_9vCmiz97NhFKcx52xrhN7y50iZT1yjOcrzE3YSwP5qDYJpUktrk31EhS1pEsG6w1YlPTULjUlm0nl6yNhO8_rjzYG_G-48U801VT0N8Es6ouvxvgqZPZ0ZJGS0Pv6b_XmmYcuLpRgk3aO9fA98Z_8RGLswG5hu0_Me_vRza_78ZAsXxkhW8eMdg9GV6ipmEA73EQO-vyIGiIuBlHKmIRWS2SEiddxoAhUg8JsdG9Va8mPkMdz9F71j5iPUY2r4IgWVxNRBt2Ysd7CMmUMt6CS32JmZ4eNowWj5fB5MpJx7Xp2xIIvB-fhssL0EXWUKFIUa8HCXj69SiXGqt8hQLIwJthXJq631A8DZIo6INReG_dtpOaTW9_zaLMag_7XHgqgWjC0sUijo-S-vtdWULc-yd2ELX2cbX4h2x6RMKbAk6I5WxYLjgDema0eclSRkqTLYGwA8eX1S8HVqRI5jR6PgWSvLZvE36c-VyjRu75Jll5aFGCaSsAhgoOZO01NWxVcEwD8LJIpUOAMmrWy71sngneAp80uAEj9BjyMAPg2SwM6gdfzrVsuz0NZlKZre7LMHpssGEbxdbXc2QpSBLqQcK05jnj8mgJvF-0S4wrwbSToatlBHvQrL38J0XFEo0I_o7kczR7MFsSDBeIOCTvqkGPq2LnI5785R1x9HunDm0mzYC-_YKTTHiztB7Pgj43RKcrUQHQqTHx_rlK0CsAU3bSM_fzDSV6AbhcJe8tdmWmz7M6yv690Tovzg5xfuR3_-zplb2JOQ-HiFymjB3bC2Mi97tJ_bQWHmuQIaBRAeEevgFOkNu2BETnEXoPJuEw9Ffsn_klxWclUH4-yxOwaFFBt2nrYzvOkMHEq-nIANGT5ZnbS6DbJS1T0UrtfXpY6LPZtrZzJvA2J0Tto3HA5kKAdLpQBw9TyxpZ2XcJDJVIyKV4t_b4z37CQttgOK4TNep40LfJLDVFPzH83zJ7efJ6WrZ-mxUmhZifnWvUCwjuTzlrEWUlsCURJPqnkCNktPTaKsflgsah8EDBYGjM72uCSJaD2y2u6U9Ojh23MD-dKOLCyIMNvwMptt6uEE-16ZxoKLUrruLB_pyXdXnhM1aktwmZm8sc64YdkiV0X8oMoPC5dOgKY3r3TPWOHvQKRN6ddUrQ-6jT9pfWwPIfcoz7b_bDQSMNggkw-PvtMj-JESDwcKDlWZygoot-byc2-hFq5GW450IhyJRB--1WQb8kpx_odzIEC2YvPnk2IGuNUk3a0SOE0dRdjScFIxpCG0LrPaZNvBpPDVvBfm6X2DYKvBbFQMtI7prZFUJ6RNtR455-GS2o_kax_QDLiz1SdhvUHgPboV16lLbPRoyvn0YvGSsi79Zq_-r3KBDHBV5RHJeVVsuPenlziVQl16nEbKSavAZ8_dvup",
  "id": "rs_09dc31d5032af043016a7dfd79b3e8819aa3fa5557c6df7a35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.6,\"right_j2\":1.28,\"right_j3\":-1.25},\"note\":\"The overhead geometry now makes the error clear: the fingertips are near x≈25 while the blue block is near x≈92, so the arm is roughly 15–17 cm too far outward; the blue seen at the wrist edge was the jaw, not the block. I’m lifting and retracting to a radius of about 24 cm while preserving the well-matched bearing.\"}",
  "call_id": "call_p3VyhqN7mgSM7xJf2GcKctVE",
  "id": "fc_09dc31d5032af043016a7dfd7d4520819ab446744f468b7e2f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p3VyhqN7mgSM7xJf2GcKctVE",
  "output": "executing move_joints over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0139 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0032 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=1.626 right_j2=1.2903 right_j3=-1.2537 right_j4=-0.0235 right_j5=1.2648 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, 2.0034, 7.1453, 1.9463, -0.0513, -0.0317, -0.0122, -0.0342, -7.4598, 6.4342, 0.5543, -0.0366, -0.0464, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4749bc6bafe6a4699f500ef81e5e91723ffbb7416465183912a981e65d3f78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084fdab13264826d72479b8c9a9293bc67aa3c105c49cd32f903daab40b41932",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:018c3ad8e9018157be00e728c2318778c91c0a032f6fa4209fd5a9be4974fea6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.012 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0032 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=2.2204 right_j2=1.961 right_j3=-1.2915 right_j4=-0.0235 right_j5=1.2648 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, 1.6479, 7.0085, 1.8681, -0.0611, -0.0464, -0.0122, -0.0205, -10.3316, 7.1453, 0.1832, -0.0904, -0.0073, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff2RaJbSigk7plMFcvrvb_C57IMiYv7ZI7VuefbJeFZdK2QH91Jw5Lq4wSpSJNNLbTokKMQedejKy_DCYn--lFc0AdlFngoGuLEWMTiDAStXlUYJvTgSyqOLoa34Lb3oVkt3pELoCWPmGW0nW9uRkatedm1qr71Y77T9JiaqbRi266yZVLCFcXlFLPMFmVumYPOfAx5dgAOQuTak8-9ojZEEFKqUZ36MG-KYJ2wiNmZoR_bctUA40LxOXCvIdEKRPeZbM9mwO2uAd-ZJ9BAlfEtIqPUOy9Aa2lCW4w_SmV--Ka90ngW_6C1t3B0tGntixJZij3lQyHwAmfo4w0UGiCQrg1AO98NuMlrejZnRQecX7ad8uhD6yXn7IQOxg0Y_Dev56jdkfi1EGspGOPQbXrd1WSldMhkLf6CQpdB8VKJNE9qelLtJObc0GPutueHA2ABf4VnOmDvl8-34EaWWhKZsSYYUogdZmB6fUDX_XgR9SWs4AXxmMm6loQlNg_QWvDQzZgLPr9t7LSrzQZ0oU2ZfdXp4wRDzPg-lj79Jnf-cEvuHQmVl8TNFgV-KlAj5Rifu_gAMHjxWCRnaLZfMTu52RxEhE4F0mnT6n2qEkOURnWt1bvHX0eF75qEzbKrwxYkTy99ShnKRHM63_026fuLg838OJWqJer7q-UpbMLRPG1Pd3VpxCehsZRLSd4sMms6HWiazp_AOQGJdSe4roG8QV60P71dIBDadF3jDRXeDYw0PPNQi5wnzEESz1VIM0j2eLwokflDLeEzyKRZ-uU3c3JKvKw9iVHoo9nNyjBVannF8XRXYJYnYZHXA9N4h3IXcjglLKtJaGkvy1sMKsqEtu3niM1rMI3ZZU0zdGGOxgDCrRbULx9R2D8VmdwL4lQYvqEgj83ViW0QL4IlMtnQzbp79llrJWHm9l0_nfBdm2QuKXIR2FZNZLPi0ofNjHToDINHix7S3ziCX_C2PH4r_9k-dQSYnje7Sl2D-ZGcB2bpvkrrW-B_Pb-8oAb28nXQwUpn_-jbbdxfRbanKWt3CU0xoIo-T9czlSYQhLGjb-wm1_R0p__kKt3lopI0G0fZv5BFkqg6383xnjbh5b_Zl4-ChOHkCy9OrUBPX4y9qMgXyoocLAFjgBaorDwtrPaOKqWu1EofcPDuT3gPNIQMGcz5y9eT_YZUtq1aQ8FrTA3HV7FaDSrwWf0aT2hUTdeojflfwG-CC3ipyOreRV2wkX0zNj6AAznDG35wzBvxG_GMhXzEatuXBDYszuUf0QaoAPcY1LtSSDAh9PghebU4ncMDwQrnGD-eYZ51itR21uW-oMPN_98S5Jgpd2_Ir2aOfIr4Rn6b8VmIwlsRmPeTApJhsyqfLoaJpOu7GxrBblOsXs6LI3euyz0zL9T26JnIL_aIQgtsT6oWetz9zy0bSF2PsR3anDOWMDijmzCFInPocoRKxpTTOuMFn8jollEDouxbwurZQBjF0S9T0d6yO7ERo5llLDp--DsZFrx6O5MKVYIQ4X2V5CoMV5ETGNvpJdboGLaoPOh_A4EJeEZ0FzzBc5bZIAllK3eiIe1GWwGPWTQ3MSBP_T_fQ3R0OSWLmnCXhATzu9ZWn5L6Q5rL6BDgjlnLHGYfuvEJ7TDKF0SXGAMdJfzWvxo6ZKt4fRVP8mEfnFQzu8RRZNlMKr_KeJTpvlc4_VhcFRSYYJDd_cdJIMWj7WwnucIhUMqBsDriMClkK1NZ2A3TAHvv5zU9IEgyI3a61HgZiwGxe9bUGmB9qd5F_IJZBA-bKdn89UG2yWdtGLvwgbYuIAe0RyJql7lxWAUgOe-Vn2N3htZblVu4Zn868U-fWYsNRVKjnskPmc2bgBCis8Ue_f1rBSzCw5tBnUOy6gUkcTHcExPupeTDDX8TSqCHMBbCDQi1s1L5M_uFafq947xpEU_o1xpRLVcpNuoRCg_sdZQAZDunPc2yXMiBcUbBXmL8Nv3fLythS_q6TTcBhsXLOUHNpKER0kIDOGkeWJ1n2hwwgg2Lj4oEmnvZjWhcNM5xq6HAOu3T3q2ckvQlKAS8LYnS1L_FmKZWaZii0yT34Rh-P5QW6DqQWiheRb9nEJhb0tMJmHMR36B9Kp7bzbc7CV9lvLESXiVFZCoOpLYxYsz4cBIvczUwrRPtlvohwcry7gR7qZ0BMqvDMnvQptxSONCGqwNTjNkjjIjLNa7buvs0s2lcJGsQNBgWghbJZggWsy82hHETgY1YOZRVAVE0PlAVFd66Kb0kGTZpUA2KaDA26QLRnbuyLPfVqUcMIBuOUDY_kYrHSKOxMzSZLDyDXc2M04zFbWG9yxOeaX8yvq5-Kwbeph1I4t_qTZLl124ESTJyETt-WxWtqRZB1_GH_Nf81GvK4HOgNeJ5kna27oNQSWiO_T3wKw12xRCqWvNBBn7bNp5NEhCvjbl00Gqrs6b6xLxO4rBRLZ5gbLl6AXSHkq42GzlSA8azStUoKjgL0j23MbKi9KqD1-gG5nxU1RC6bSS4MniiytAKbNNPI0f1A-0fLOmbx06LMRBqVP0SBMKDgUXcxbkZiYfoOx5nfJZdaNIbQ3DCQIjDax5uxKXpVMf9gsmaKBZe_POrthDrAWswXhxnZIS65zr_zrGzJWDxNaEAlNyaTu5CEudZrwWsEagyR93c-hmTdrD_VzUfEGeqwKG7CH-WDzG2xwCoYgC4ZyWtf-ogMCiNRvKAepfcryTxcffRZdjvaNY2lq_FdY9oUQC7b8WhhCOf0mtxC-5c8f7LTVLbNq6uc_nVEMeKk2erswThxfJvlDSAkjhzjDSa7v9Z8eAEpw-RfMXSy6xeseDHLmg6Dqu2d7ZwXXpsjr2gJP0ZC07m7gPHRRxLEQ5B5qz9-RlGuHmg-bfC7ty7t1SvAjWNwZvQdQqVrhcgndMS4vJwA5t3oYxQkACzfWDbqYQknMx9ojvjNn0QjK82ncT9_onSPkH9qKHxhhCXsgRV603Q8TFSjX50V75cuInEvS8x-mCIjzQ2GvIRGkC9cx7cqBw==",
  "id": "rs_09dc31d5032af043016a7dfd8522dc819aa35f5906916bc41f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":1.13,\"right_j1\":1.82,\"right_j2\":1.535,\"right_j3\":-1.285,\"right_j5\":1.13},\"note\":\"The retraction exposed both blocks and puts the gripper around (109,128), with the blue block around (92,112). From the measured overhead displacement, the target is about 6 cm farther out and 0.10 rad clockwise in bearing, so I’m making that planar correction at the same safe height.\"}",
  "call_id": "call_YvxPwta0E7wo0soiaF0vz0hx",
  "id": "fc_09dc31d5032af043016a7dfd8f8ae0819ab497c2aa0e4482ab",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YvxPwta0E7wo0soiaF0vz0hx",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.1358 right_j1=1.8095 right_j2=1.5097 right_j3=-1.2835 right_j4=-0.0235 right_j5=1.1557 right_gripper=0.9967\nstate[joint_eff]: [-0.212, 1.5521, 7.0085, 1.9072, -0.0317, -0.0415, -0.0122, -0.1846, -8.1709, 7.0222, 0.149, -0.0464, -0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0df7f18af7593ce3ba35bed273a0bb43515670755aae9055a5b2eba2fb5e55d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed78a65cab27ff74be08f28adfd77de6a613267f7977e8f1b08fba9ecbe8e9ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38bec75f1a6e6b4e05ebbacd5abe926fb42475c9ce413a309ee5722aa689cf9d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0139 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0032 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.2304 right_j1=1.626 right_j2=1.2903 right_j3=-1.2537 right_j4=-0.0235 right_j5=1.2648 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, 2.0034, 7.1453, 1.9463, -0.0513, -0.0317, -0.0122, -0.0342, -7.4598, 6.4342, 0.5543, -0.0366, -0.0464, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff2eWaLHD1pdqZFqLp_K1OCyhkL9xJJhxoB7io_qxgzMXWUCbqvMIcc4V6COI3gaEJ7DJ2i2SUJoDHWP62CBLwdJ8HMtsmBM5dT9WeyD3z83SecE1WgFePFkhaSqBW2RRZiSw6_Q0XInMV6UodSJpKXEhZOxMNK-dp-01GQhoa0sIPQJxRyJjeZVmJK_FQLCv2SaWCMYY80Bf5popHtf4Pv-u6JwuXEmQeuHYWzs4jo_68fowFu6x-lxbGHwJpmzoE4ThhLg5tWlzDMIHUvx0lXjZ2F5L-R2lsm3oXrL92qUhL116JYvx7p2RItL9GAY40vcmb6vD-rMsi9p1t15D6wcOVRxHzNGNqQE_KkDBMvoBxSlfBI2bhaxAPqSIggFz54XLuYNbAoQJkokcdj8NqN8cnRtBH4xFzVCysVu48M5jNDGWQeGR0kwSj1ylk5MtTfaYH-Zg0ZmBLdI0bbaocjiNmUCEJZIhXFOikItRHOCi7OCtHq3gZcCgjhIm2-XkzoCZ95egiYZZWqNU2pKZpLLzzW8KILaseJxA2CM3qxBgvvPVthsX983i5HNwqfw2bwm9Lfw6V8q4uqf2UAd5BuRpexKb_bXxyDjA4YMtJsmpYSeJzcQrcAD70GU2fCOJkULhdtm3QC6dGlgvYJCf5zMs3TpbQnjyiltk1OdUaaZks2gu3HYVEIXiaaJtH4ou-bdS-B0S9oh2ef7GCEDcjpF9gMAGM3ryB_ocNPEiPmxj1yO2VBeCbaLKmcX9oX3eb7Mt2ae2ypNL1i5CD8nbA9AeE851vDsH2KjWDgV_9Acx_25M3gdgum0Yo2iMNw7RYzArSX5SVE9PnUxD15PcgrqnMqy98OpAJzU2Cp2C05Rpti_4RXnqcLyDhnW1cDkAYT0J-BOA8FRRGjsFhWKxff5ufqnb638KhsIQhuthdF3hTwzSIKQm9xtKoF4d1gMpHA5Gf7_rERUMTPMwBzVg85aMu4Xfi0QuhTukRjyOu6d7uV7q3x4lVf1iLLGe6QSRHvlm769FnwbSFxN9_QVuU4JQPWtJg6MEKDR_63MRh9bmbzA1vPyP8D6H2GrR9Tbr40h3vLWFYJJvvnltaHQ2tPLGhUYVPBWDNzOtzixJqkLo6cbYIhSAY2HTUsS2pymBZDowx15eZSfeU2ACOvzpisBhwJnxHQJEyu4-66F7dD75p212iQ6uxjVxf_cHMewPC2XaEoBsgw0DVEGFBaMwDLY-SVFkWgxTg-vw8mc57r4j7N-BMBlxqOokEl5fo9xImC5wk0sqCF8sArHUVh0jmRHhB5WvY0E7qjwm8uSI0Kl20gpmov3wxgi_13y01mv6iLHAJ033S7SLrEAl0dE8F2tNvPwgRkjQ6c4KyD7pPX3xqZ3nPUzfkqhiL3IE3TOraeB8AwPmTXlr0L5J0ClhyVztWwg74AGPO78ujLz421Ig-ruUILZohOaHppvF4IbAXWJ-j7hdSnpv3EFndZqPQ1KZvx8aWK7jMQK4PXAMZQTPui-sXB7j2PKLoD-z4wxErSEOAgdGiws02RAieVgjVat9rtfu0I09BG2bQia5PqucHbq3SsQXsmgB43iLs4o60bfIpR1Dnb7U9MYvlUrXiRGW-DNnP6gjoH8P30L9PDwHm9lUZieouzf3IFcqcmrNk_20Aw8RpGtkRp2Ai58w47IzvCN641WFylJHX_PeZeFvAxnZWQThll2vw394vLq11lBDrIxrV2ckw0zWqRFn-BnTMcZQ5cSSDBKzE597tEgnEZGi5xHA_9pRawJ7y2CCKop32x8TjGMOEL_5xECeJaraiAROrPBPBj9NddyIfxxOlqGddpEj6VSXMQG9ND1YtddLElqkfLkaAOpVBMnvNbdmQWbR_MZgzqWoSY91Rfew6tIxv-ETNBdJhFAxg--nvyZHLaipczIdS6BZ7j_r4GWb2wcjWOqGUxr_f_zs0vzBHpfU5P6OyUwOPbOZ38TcwCONF2s4gW_2nlJiCrIOKLhsjbkqKdUuK-c5RPaYO9ki8l-92dsf1MkGLEhMroPyxilCN25oI8jgqBA2BinzpysQl8wHY_ckCqAeAFWtNyrbaUrQnBRER72f6mnMuov-snF24E8j1H_JGlZ0XXYVbJ-IwlPYWsXbLublOCKZ_z36T6B46yAU5ISFfRJJlth0PR8okL9MAUjW8z_eWoILbRX3uxKHmOkKAbv16crztvTXmWUSn0y3j43lUS1ZN84gGHOZwzqiaCVw-2yovZPoUQPUovstfcn4mEOceMjDqwJsm486jRgwKQ0r4n4z8qtTRhBwft2IdqOQDnGpVb-KObLaPXI2Fm3DeI9l3PWNUiG4s0eY5RmkfINAXFJj9YOAR2jhGEFe1Ks_wEqk5I7YfHfkAlftXV1WcTl8FcYph-FvsymgGSGgtcQ-4wURv3IY1Cidt-gyp7zlcEkSoElqpcVnnooB7Izdws0x088K59O6n2ZpfmZG252a-zaEEu2rpphvoJcPyn5Jtvd9BNKpSiINip88ErBf6F1RHsKA4tiKLs=",
  "id": "rs_09dc31d5032af043016a7dfd95dfcc819a8a214f325c3793a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.86,\"right_j2\":1.455,\"right_j3\":-1.17},\"note\":\"The corrected gripper now fully occludes the blue block from above, indicating good planar overlap; the wrist view shows only the table just beyond the fingertips. I’m descending about 3 cm at this fixed position to bring the block into the jaw depth gradually.\"}",
  "call_id": "call_iKyC9OgmZ7nDpNCXRkgldLrs",
  "id": "fc_09dc31d5032af043016a7dfd9d429c819ab554036011c947de",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iKyC9OgmZ7nDpNCXRkgldLrs",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.8553 right_j2=1.4601 right_j3=-1.1992 right_j4=-0.0238 right_j5=1.1431 right_gripper=0.9967\nstate[joint_eff]: [-0.0479, 1.7846, 6.9949, 1.8974, -0.0366, -0.0513, -0.0122, 0.1026, -8.5812, 5.3949, 0.3541, -0.0269, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42f38702319cf41fb5c4a86c7fd8c39700cfee676929cfa45148ec6d31513cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717495177bae3ef3f8d8b1e8866cc0ac93d390bd1f5e40a66d6238ca0cf07ce3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5514e70fe3983192515ca8a4b789477a2cb357b3616c4db5e09024d03cb31714",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.1358 right_j1=1.8095 right_j2=1.5097 right_j3=-1.2835 right_j4=-0.0235 right_j5=1.1557 right_gripper=0.9967\nstate[joint_eff]: [-0.212, 1.5521, 7.0085, 1.9072, -0.0317, -0.0415, -0.0122, -0.1846, -8.1709, 7.0222, 0.149, -0.0464, -0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff2k-Awh_U6r7qlsgimeTkqP6A0KbUrzAPMPlBTP0v_bftKuNPOwS35-MWWEAc2-hiSvOuKyC8_yA5ZFstT0y-GdqQGbV-_hB0UrsJrQuckxb4sKnBIt18qL4G99HX2RJFNoK2CPnIPjDEFTag4m572oczfWa-_kqk3pF3kf5tBLB9wV9vDamAW-Zwnx-qTCG33XVh_mBtqBNf2UJ6ONglwgDbrmECxHIK0baU5gZogUvq6cv_ZBHKIDbglNJWU2iY6qypUehJ6Snn61Co7CVuqNx0coZWJPXyLzm1S9yZgPT613vjaml2HpZ-IHolCsyANGBxuksY0NVKcOTKFhtRMdgJoLCgdtrcaZa5ZM_zVecepU6LQdj2jYusqW2CK06DUnVZk0MUITwzfq5np5CV7bctoMEH-qRD_brm844RCtZSorcvXfHGze8EDfWV1W4MS6IjQ7is3X0Of4--j3687PO2cdeFJBlGYmQvZ2tR3GQHB8--EvKgDAjd4sl3s6y3xBgXns5Y8lrKaDoEiMVv-KobdUQUmoJA0pwx9OHdsIevHSd5rje8DeXqXoiUX2AttGEijUGiXs7f1LBeF0WdvR_lGkMrmhXXssxtK_6L9Nin_SWsdm6WeQtAI4xYVO_P3tW6zEelY9mcTGsdS7m_96Tbfp2c0qWon5OBJehWp4A6IqOGlBceKka-m26-r1Rk3T0Utju82prT6nEhBpo4BAx8hqDtlsPPjHaoACWSPfVsEDvt6AlHyfvioMLcYGBT4mcv-rrz933j_37ix766m3Rv98clmmNX-9g1bewR8fpNzgdXwehnWNdhFZ_pqBW-1zNy68wTUJdpxBLOhiajYhVpn6eM8fB6rRQNfrlR8VivPODYhLqvkYDGOkWC9l8NcKXCVjkOpFaqisr8trHuo-0U39ly2I4M6UGkfCNd-tWl8u4kEyBAMgo0QNjiwcmSG441ecQmYlrVs-QyCYXTGhW1Xs7vTCm_Gc0U8f4A_h6x3dEndseWr1FQSmizJl3i7qU3pmChTgd9bNAG944GJ217qPAScT7BCJzc7MwxG1ZdyYUGk0qbERi-4uCfv64EGT0KsdjcfL-XyG2Ny1fSxtJO1gq3W9ze4YnHPYS3WuV2mOnr6cOAAOskVYDYddwMpx4AY9rz6kF101VtvQzji12paLhOVKSeZLl6U5nH5P3zg2rcv0tvcWDRXhEbyS-Sll43AmC_2fYFg_qct37rSvgQ==",
  "id": "rs_09dc31d5032af043016a7dfda0e088819a99420c4e65578fc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.91,\"right_j2\":1.39,\"right_j3\":-1.05},\"note\":\"The first descent remains free of contact and the block stays fully covered by the gripper in the overhead view, so the planar alignment is stable. I’m lowering another ~3 cm toward the lower half of the cube.\"}",
  "call_id": "call_EvE6Hil1CacrrCWLqq3zEFUy",
  "id": "fc_09dc31d5032af043016a7dfda2b5ec819ab9cf52d622f280f4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EvE6Hil1CacrrCWLqq3zEFUy",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.9076 right_j2=1.3941 right_j3=-1.0798 right_j4=-0.0235 right_j5=1.1427 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, 1.812, 7.1316, 1.9316, -0.0757, -0.0562, -0.0122, -0.0752, -8.8684, 5.2308, 0.442, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5010f34309e6d8507cecae758aa9850d46b7fcb07df830cc72a7ce9be854a778",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:250ed4bb06c305a3456b8fee3f9c2c8c7671882db3d08fed5d7b1447b6a8589a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23308473e5be43f0f23c238411263710b2f1c5f45ddd3e2b5bbb2f9782f46ddd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.8553 right_j2=1.4601 right_j3=-1.1992 right_j4=-0.0238 right_j5=1.1431 right_gripper=0.9967\nstate[joint_eff]: [-0.0479, 1.7846, 6.9949, 1.8974, -0.0366, -0.0513, -0.0122, 0.1026, -8.5812, 5.3949, 0.3541, -0.0269, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff2rSJWwvRkvEIuyYQN7J0kuRaIEpALoXhHXiEF8WDJRxSrExtHcaLVRgJic4kE82TKdF9yF92PdTmH9JqcVsotEzKBHTpLEn_lTKGwJiUmeuGRLznZa1NYD4NY6JocH2uhhziAOkYatuVWa-V1ajuqM84UfZktNRw6WEm0oAU_mX-dguWm9rnpKRwfeyzMLP-ZVxnrtVkMgdQRZPpXIRl0XKiRgjwIMofAoy4Bu9EjqW3wJ9Zud3YCpbnnCghOvq23mkHTo1-TdsLDnKtrs6NAAHXY208Gaa3EJ7sShTQ1GXO2GYQOZiB0DECWgikeimYs7PZ1rQxc23vQqjJd5JVlQ_mmY4QO_1x7o3vi5t_9RsFqlM1GCCeZld2jajgbO9LCS179zl9wIsdzRUOjTVxPQ_TcJQxDwg8AzszCvLeL_8JPCDsiYX8h6sEaVUnxzwv-jGdaeaaSQSZrk6z7ds7qVXewWEIUEjZwN9EfLLkcTIl9ScxtVTyh3fxcVYdJ-4j_0JS2BGhQSDiXhbh-MwrzyBk6gnuVfh_GN2VPIpbogE6Q-IWxuLG2v6A7-hyrrNuGcNxiafwgsQdYSqNG2WwEZrg-quyyVD-wcl-9FV2RbVwWC_R4p6RaJfb8ZMpeVxc-zz0Y9KT-jse_pumoPTGYm_gpdg8o_o6zgCNDoijFpT-FHBAKE5m22QOkRbmk02JaFsTQfFvqfnT9Qef1P8O39epNOOTc6K8HNF9Yv_X_5DWMABh8N3c-oX8Q4PwHF5BJRWn9DKdt0NLVuIEgb_KmmnhLAoi2lRQqnxiXTN-6S3WUIVtGyHk9MRCSXbpcMlGT9HuU1Lh-2nVELC3tsV79Xbtd6pDhXmXr203Ajc5HbaHQcRxWMxNmvdcqB2320fGvoPaOagSMpV8PypW1zWNg94XwxN-LgMTiiG7i1sfJ7g9319QgcDfj3kvcuHiK_kVM9ARXe240kGBWhIFsLEcDr1S9kme4j2FYYeb_ITKh1xLVXKrG-LXI6F7YsTUeKGJDEtbTWdbRUjOxYvmsApq1bxSj1RyFrGqp2ahcXjbEx7c4qmBYatAS8pw6A4mfv5rmKS2k3svRDxuPnkV4dqv9risrqpE7eT68lS5xzOIlFSIGnTbbJo6xWFlL5rewn73AhczTnplljoQpU8cN7vUY2qd2OEU1AdSYTpy9J_jPT1A4pIW8b54PEI6SKedDZBL9wR8j6h3acyjjGZkcDCWNWyNs9vDH_qz9uPNujIIn2G6Yo7WfoGbG5lNX9ps416ddOs65i60DqK9bh20shXlKOOzlo0blfs1MQdArJVnpmgjHKekyrGaJPK5CR45ovCX5XBLa-TvfhMKEfd-0MjFapAUJEflW-cOWP0CYTnX2SxpxlfIvIvR-7fsqL3JVn3EkD2G4hGdlX1FYv19PYiJhLm-BHg5_1c6fbqsD62Cu0M6JOyT4a1nZaBCAKOlv1hYgu",
  "id": "rs_09dc31d5032af043016a7dfda7309c819a9cff46b73a9008c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.97,\"right_j2\":1.335,\"right_j3\":-0.935},\"note\":\"The arm is still tracking freely, with no effort rise or block motion. I’m descending about 3 cm more; this should bring the fingertips very near the tabletop and place the cube deeply between the jaws.\"}",
  "call_id": "call_FUBGuaoK4wIRJNkjHtPeJD1j",
  "id": "fc_09dc31d5032af043016a7dfdaa00dc819a92008cf67541f668",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FUBGuaoK4wIRJNkjHtPeJD1j",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.9732 right_j2=1.3392 right_j3=-0.9642 right_j4=-0.0235 right_j5=1.1427 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, 1.7983, 6.9949, 1.9316, -0.0464, -0.0611, -0.0122, -0.1436, -9.6615, 5.135, 0.4029, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfafba28aefad4bd4c888a6594e5fb2fb52cc1ff7f07b308a9ff21b35d7dc4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6370191b1bf71ccd9609681b370b52383ed2024896d98df76f786a099b513bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abe5ba3293a427a1df6067820e6e8d1907ae161746c3c19fb31137520fd51f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.9076 right_j2=1.3941 right_j3=-1.0798 right_j4=-0.0235 right_j5=1.1427 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, 1.812, 7.1316, 1.9316, -0.0757, -0.0562, -0.0122, -0.0752, -8.8684, 5.2308, 0.442, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff20twAoOT1zf1utpyTIfeStYKhgvH-kguHi-zKsgz1UySHQmdsc2aH4Py_rVZtHNvp0jUPSELtTABYHXMoK0ZKK3Ih97mf51vSxOXtACpe7gZdzNy2Z8zsvpOQgrRiZVjLWG5h00DJXi5fjCx28qeSObu4KgvyiihT4MNMy85jtZWhLK3cs6KaGiq8oJGqqNqCBVzlGHXSan5gL1WthtENWgudaTwElcccfUpj4LMiW8m38F1WxmXEpqkNQ5MFp_QYrGpeGaiZQFNzma-stYPtUv9iJNT1EWAP7kxcRnIxykvUmQJSUgiswHBwKqSVhocSiRBnF9Vd-2igA2HBS_dVspTSxRIe4eMgBUMhJx4yXs66JHCZ7bfeINyZd6emq16LWPq7lC3TNGzIQi86WHBFx18Yi0u7y7bW8uSKsHHHr42-7DXi3OG1FjguBIfyiJ14cxrwf7f2vBsH4dHhtEgzG2Fb7owczdx3lo7NTvsn6LUspwphQ-HmvZ3WPa63cipPLQCuvMH-zottOXHd7eko3VXNmxhdYOpCoLdYKBiuBUoJEfhb3s2xUr8zEPnWfRcEXzE6iiqV6-R5bQLQezA3vb37WcxzoT-_aCGZSnhQxUfxED4DN5hrJx_tr0MrvuKufijectq2bZgkseunidjvBC3HXdTZQW8-AbtgYIG2TU_1TLMxIz6PEaQdeGTMth08vDK5vuAe16zT7bSBpMwohv7Dm0FuKu4HqqTQvF5Ehv8dPJNlVEfYNBQ96_R8GquRZTRZzH8Qp6AggiwJgY3bo1paUEhZ-FARCva5Td_6QfqUQe_NpsxZm6VP5fdzIrgQc2-m_yna7MI19-EDst6Mthb8g2P0mEsk0noWMlwQjYIplFuoVpQzkIum8GRz9qS4EibAgOZHwfRjy5KJupoyxvv6NNz6uFSS730KxVcdPRezARK-DJDrophbYQ5Jy7CMCKwNTNVwxqgfwLhI1ZcSde3nfZBlF047DsLqrFQMWtKdfEpbn36SMAJiq6Uml8AK3-FtWppTzVscQ8x-IzNkr0oJl9hRIMhDwp-0gDg_U1X-hvg1OrcsjyXr4zo1ETpM-yZOk02ksQtD8BVlLblmq9tRPl6hjWNAAAItVER7TvS7M6Pn9tTXm-puV8d6V33dspWnT_bUq3WNsKLeveBJduiBSAcQSTKGQlfNHyBbUWXhnu7o0uJNCEcMQJ5lG3JA4zy76vnERLtyj4CrJHl7R58kDpEV7cKE5IN--mfuime1Gg8QbcDYziCgomaGX2Os5adcXA42OlL0VXp3yZa9HvbQ6k9CswIgx9ITJbHpiZgFGyJrSSvLNuYE8Obslc0Axts2MVp16Wm8rL0ueqVsPVFnedNDQDn4TLuPwVyXBwC76Zb3FnlUcQF6EJVkCle9W8Ky6aQNR77hdhNkfwjUlhdiyoXeHf3yk4v_s9_HBngCfU0czSwAghSIe7AY51JZnA-L6DxSNhPgthorzWKneJDGqjl2ZNA0tWzr9YGrwm1OFTMunk-63YFBky8sm7b3E9WYtLTpih-cwPO4Wcsmnd6XZ3uU__Lz5x3FMmAtLxe3jgtxlMikxX7p9e-CjVOds9w4UNNlVSckUXVqYAS7s-bE8uEJLRfOpe48XkGcXvnjEIaWmaJ4orVv1U_rQgIm4QArK4w-dFSgc149nqqxVKNEbPj3eWmc9s_nf7DqCGOFKpWGO3RRnU0EQzab2uxIwARVQOd-kGxekddgSuuChWS6xPvlHJ1oiS1h1UqfPJoMBu4Q_0Z_n0JRHJE6wtbBdXBlX8nfcTk4uy2WXWpGXJ5DWgjYqXXkuO_-adJMqXjWqUNRsk60De6kbaUquSGsNXFCD5BD2SUz0j9X_-OiFPsqnFb1QsaRkGCfOQcmpXIYxyiRAioxPWSuY4HgK-mP8KHZSViF5k2nilzUywyg1ut5ufIv9if7btSYjGr9BeoHZ3Z8JQrwMKp_RTvMESPa9dXg_HpIxdVhjVQcz-OW7NWj-vHZ99xLV5bnKzGCp3O5prgaSUT36p4hL7VqBb2MS8gIb-zZaW_9ZRYbCFBk7CJPGltcX6JHgy1PCWYjMt5Yqr1sn6tymfkXZ_RQww2sQGxxLjq9UQKHZCEkabs2hl8UiMBYbb7vZ2uxT34IRscP1PObt4N-WGAeDS7objGbzIsqVbrHNogI4d0MwRzrOwheTaMmvd6tb8YlHvG-HOjUFxz-CCMhCHAv-njHjxXtlhZ1gt8yPehqQsCSzjoCeqkThP41Im2iVevQhLfI3-3H7K-5qyE-mubDK6yPsD8ZIMaU7ANE3-a8NdocrekX3bdpzB3Y0EYUUyklNHxYf1LYyKS5-Fesj9KO9NGFL-hv2iHLcW7-yQFzu4x8LPkmdZd5JKm9ldBCOR28P6reWHzwHSNS-NCzd_DQ9cqUS-5Gh6JeSSgskAAlQ5i1Oq-E3TotJP-cRuzKD9ZEscsN5_NXv2Bh7r4iYEvqxIWixwZx_2ilPiKEW6uDH32nFArWeli9cMwFN494gSYsZ1MsH9lffdELeuRRv4VSuKPjSIo6Qn-IjMszRWUSl4gpsIyD3I0c9-KwYMrpR8Z0xxUx0knrgfNHJhpuJQ-_dSmmJwy2m",
  "id": "rs_09dc31d5032af043016a7dfdad63a4819ab418bacde8827f9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.07,\"right_j2\":1.76,\"right_j3\":-1.26},\"note\":\"At this lower height the overhead view reveals the blue cube about 3 cm forward of the jaw contact area, while lateral alignment is close. I’m lifting for clearance and extending roughly 6 cm forward before the next descent, avoiding a low sweep that could push the cube.\"}",
  "call_id": "call_BN9Y7wyQaOe28JNIvvCWv7CW",
  "id": "fc_09dc31d5032af043016a7dfdb34db8819a81e7071360de8d32",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BN9Y7wyQaOe28JNIvvCWv7CW",
  "output": "executing move_joints over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=2.0556 right_j2=1.7329 right_j3=-1.2304 right_j4=-0.0235 right_j5=1.1397 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, 2.0855, 6.9949, 1.9267, -0.0415, -0.0415, -0.0122, -0.0615, -9.1145, 6.8991, 0.1832, -0.0513, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a520d587d9b2574718ec22e059dd6f7564bdfe91ad288263dbcfa05e50adbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32704c6773591468b9fc886585a31de494b0b80a2c16b91417bb390fc5ccaec2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32aee0579812a5bbb9e386254f645a9222f9a3b2cdfdf81591c65299501a7d96",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.9732 right_j2=1.3392 right_j3=-0.9642 right_j4=-0.0235 right_j5=1.1427 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, 1.7983, 6.9949, 1.9316, -0.0464, -0.0611, -0.0122, -0.1436, -9.6615, 5.135, 0.4029, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff29F6yzimZSVxXa3t6dY5jRMQ1doqa_A5Fl0zwJRRcFqkpz7Y3bqvOP62WEDFQ9r3GpQ-CLgxSnoqbkoCHsz-bmOKlJt9D2TZNXhDfq0rN4e3hfaodffvmH_NKJzVavpoemjS5xRWenB3jVuXgDBV-HHTtQgdmgzt0O_NZi4PEUU8wBqaXjX9tGCH92LqmJbXjSgYKqM_VwO9_8RuAAL7R3L2AosDSNLutG4AABpYpDhN9sUrnYMSRze3QEvlPpdHQk9RuF9bG09Pu1HDH8LMfebEzmA5JsrD-vvB_Uu1UKMaaeG4fN7XSBVokDFrqCToNwCl2dOHQ59Ay4lMW0LFJ-YZzDwyu-3AC6RJEcSHzPFOi54MlO2ci_eCxeIPNm2lSZn_oN5tj7Zz1HQhyUV---eoOh0ezbT9dawigElEFzld5iS7JmRg_hNJxjNAdIggAhaBsfhA3Wp9b55lBCP-RlTuigwFAc-IMB7iDJrcAhCqkf82AiZEzFvLP8tfev2CjsosjWgFBAZcw8UqMRz5z9QQiDyp8AjIpfRp5fVv9CIz1BDPuyG1v5HUdeekehsqpthGw4kC7OoablWHCpbvA8nwghw1JT6LzoBfR9Pkuxx8P-lgmQWfwWcg65j0gfWXxUs0cLV_jf7jeLP2DD-o8GEqInFYlD5sG5OuaXvad3JHfnTMLdqDiV0KU36i7PXPp1XTS15W7DsDeN-LI-s42WrEX3Dnrguck3l-Wb0dikAkwFxorFvHl6wCe_mYral7A8emEz_88wsDbLgx2iR0B6cmkTyVDs2DYshsahpXCf3PxFvbohPnpGE2Qmt6qd3VmP7y_l1y4FQr_nRHh68ldHXkLNQqRhEZwWq2uTbp7IFkZIDwkVMA9gM7f7Ul7-N4hH37tZDDM5ZoB8sJUoCJ-3TOQRfBw8BWACb7KqyHDafJHZknvLo6HEuQ66Um1Fiv5Pg_ogeacrgyPy7lOQywsCYzdNsdT5_55IaOVLYl-cI8elhpeuS_NEHRUvxahw6wpiyTzkch_IThTeRnlb8ext236G1OPf3tjUv6BD3PUM_DTDS5eeynRj4l6eXSyju3ao9Ol6tBE0FFy_fBv5uRLTzMhuH4EpU6rbpYbE4y0OmJsnBmc9tLzpOViWjjJXlJtOMmvrkLzLBohqmKJn-BC00UTMw2hipoMmO1fHF1xkUgzQT_AxJJlVvMfIhkc42_vMLcdpGnFNtU1-romZkVYiPpRnYwlBvlo2yujzMRCUIeuhxpNLPYLeLiGBtl5Va5DDTqHNdPCnOlEKJKGzicPKG5eyGiV_a0unZ4tGHfv9_YUuSIlbPSdXTcqQ9sjjsxDptimj8meLAwlfPyJIhNEME6FFvRLlCAsV4rsf35gWKWDpNPTOWEpyiBSgFHG-pbB141SFBUid1iEm0kRWgIlWp_wnFGn8m2XI31uM05ohmCfshd73TbVidQ3QcVEKbBO_ilIopnRFpe1HLM0f-KTLTPTZ-p6OWOHwz7Inhc0EnqFn9oOT7iV5-x43X16IfcZyMxzib9YkeNFKZCyllX7ivtJRfmm46in4kseCBku4FU_dbqXSEozZ4YUB1htBekX6ezX-q4f0wA9hKfJAmNsQEFtxwSs6P0pbzH-jNdV1Aim3UzhiEs7S1yw4HrCZ__ccVR70gX8HEH2MY-qH4Cb5uTyIZUQKoa84LuCxcc69nxwDWYFEV4EAd8KWDGSAh-x91g4ULEbmezjSCB0nBBzO_XGYMFHNEubt55mRcqpoISwRayyeyFLZxvK0q5-1NbEd8z_wf08mGZeY9-6hqT9Zj8R9dpHbSCS3peQRFIT8OGqZq3oCy89xggGhFiOOZ2MuI4eORgr1oSxStzwbnICRYD_W3-xR7MjrZfXmyVTxSUA=",
  "id": "rs_09dc31d5032af043016a7dfdb8568c819aaf03b598e78fbb0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.105,\"right_j2\":1.685,\"right_j3\":-1.15},\"note\":\"After the forward correction, the gripper now occludes the blue block again and the wrist view shows only the surface beyond the fingertips, consistent with the cube being at the near grasp point. I’m descending about 3 cm at this new planar position.\"}",
  "call_id": "call_b1uPG9juoUz92hgyCKdRhHbt",
  "id": "fc_09dc31d5032af043016a7dfdbc4090819a8d5b3c7d537e9fb5",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b1uPG9juoUz92hgyCKdRhHbt",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.132 right_j1=2.0911 right_j2=1.6939 right_j3=-1.1793 right_j4=-0.0235 right_j5=1.1397 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, 1.7026, 7.2, 1.8877, -0.0708, -0.022, -0.0122, -0.0205, -10.2632, 5.3675, 0.3443, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f94ba3db5a7f4d03983c3cbef1712887a6e3883b362158876166c8d2b4b237d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98894fbee2a268a70bab0238c1714d88e61be4ba7ec84848c5389437af09426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01db9c871dc57e106b71e8a0fa0ec275755291267d3e037c369c86693583dfb1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=2.0556 right_j2=1.7329 right_j3=-1.2304 right_j4=-0.0235 right_j5=1.1397 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, 2.0855, 6.9949, 1.9267, -0.0415, -0.0415, -0.0122, -0.0615, -9.1145, 6.8991, 0.1832, -0.0513, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff3Gnh-K1oyg63r9wc72ry0NHjcfAFP8k5VS2k_HLjFTi9V91W0sThCrG2MM9nL1AGJcqNl85ocPj22g1kiGV4l2A1Qu4YBQbfozloMoS5OJ0z97UAXrv8NgvUqCTULJgGs-GG9aWl_PUjduy974rEsCBKgWTs9ms7qmhFAsiiaLnbAdG_KpBg-gOlf2I7oUWnBsBCXsSENaC-EqK-sYFtQ25pSNzttc2HTZsA4zTzYxbQlyrTEA9iwFpvst6RRJ1qxQckSyeQr5XmyzQ-6OxDoduohKqM9hPZgGai_2Yo0vH4IF4a2-uDhScYVtEA5QMuBwDO29thHEbrtkIyZ1--y0s2VZW3eW-sdeFvg-mub8-0DzAvVaBOqPnbNGm3dbpqe4Esqu_jVhA9oN0S9Pea0AXj-FsTLmFunDjXRnZ4P84Mw6A3xeaAlhwhvCHE8hUMgo070cTN3vQFlrGcbDJmeiCBN6cgsoLuvZJDjXthSRxvj1OyFixMzuOPfaRfaFNPJT2C_EDFlSenbB_RxbNRgxJJDopek8ikf3qqZQfL1uLoAR3RHxsbaZn7RwYDy-gGk4ozfzj2JwlO2ZpyhfnIr_GzkmZ8l-pgqY4Ldt7Ea5AzGqG-ZIGsXjV0Q513r2lWEIr_A0lOS2dWfQws244qRueM_-7Chapw7K1hWLjGtsRamtwDiIlqiJTSW-MbsRGqoC5TAG6TTFoGDkMcE5UYSEpN6dBQJvBUSvT5alDUIyRoPcUtpvCqqhwz1hZIAYkxi13SYasXocXWvPB-YX2WYUebDjqumtfa1VjILvy5EhU7n0T7TpSiAYlbSBQAS5e_iKZ5CRC0XbRacSL7OX9WAqwR2Vf40xWSKrjbUzgGCRxGh_NvCTvKTPrZBmGzF4DXY-km8Wbswo0szqzVvQa6FNNmEqKusDpuwW4FdkWgbQ6tHCOhJ5OU3Y4nN9osNEtFadqkDkL2W4gI3_Qh5kHrt9YPjtDMagWM92JOcNpBAJkEV8rIoxdVYPZ9QmEE9ilOJhSKyTwL6gVs1NAXn5Hrv0ipOYVp0hk7jM2eItB6exSPphEFhb5kkcrng5puHGlLY6ti8hyGCyn3VL31fbMxzSYdy8Exl8KsUKFWV7pmcyKJF8903u4m1p0S7bt-6U4bro9w9k7X6tHPpUFjuWdKSTDJFpf1w3yZVLuWIK06mDCfw89vJd0yqzo_-U_yKB32u-x4yejCasrUCprsyf0nqgm15R8dAHFGOWSTP40kI5IU3v89fnzSeBccmLEJ2imhznGWT1bbZ6SdNSsNd4OUYPVgzghVdBW1viJaqHldDqKLE0i25BAvyt18zByOtPcIp2V8legn3EWKQHmoDXUecBuQ==",
  "id": "rs_09dc31d5032af043016a7dfdbfec14819ab2d1b9f822a90cb4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.165,\"right_j2\":1.64,\"right_j3\":-1.05},\"note\":\"The descent remains contact-free and the cube has not been displaced in the overhead view. I’m lowering the final ~3 cm toward the previously established tabletop-calibrated height, then I will close and verify a nonzero cube-width residual.\"}",
  "call_id": "call_RPtmPM74ewQsjU5M8jpO3KLq",
  "id": "fc_09dc31d5032af043016a7dfdc45478819ab9215d20a02b9f6a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RPtmPM74ewQsjU5M8jpO3KLq",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.132 right_j1=2.1532 right_j2=1.6478 right_j3=-1.0798 right_j4=-0.0238 right_j5=1.1397 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, 1.7983, 7.0496, 1.9267, -0.0366, -0.0024, -0.0122, -0.1573, -10.5778, 5.1214, 0.398, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7bacc6ab63406e080b81533e218d48f285bc83c82583def4711c2bd49d25ca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f111570516e36f52891b4d45b56fb18c9fb36238762ccc6d937db1cfd50a1f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22930da118e5f0a111f2df9738868b837d176211a08b4fdc45ce43295da65dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0483 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.132 right_j1=2.0911 right_j2=1.6939 right_j3=-1.1793 right_j4=-0.0235 right_j5=1.1397 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, 1.7026, 7.2, 1.8877, -0.0708, -0.022, -0.0122, -0.0205, -10.2632, 5.3675, 0.3443, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff3LKnhYF1Bda6Lcwy7fQFZwtv4GXnc5s8U0K9QtYuybm-oBz4ScTVyjVMsLSIAiQin2MR7vKnA4ec9owcTZzXnGnHaWZ_OafdrLU0AYrubvrClyf_jY293ND0_qV40d33fBeveBKdpDL4Sz4ZtxX5RM9XZ2O9_563dfSgNkEbyhIXGAVzvNWPCGapIZa0AsaJ6PC9P9EjVmNCPetJhMR1ITx5Zv7kETtMXDqC9_NoCyejYZtGiSiPjAWmQJ3VctgG9PUk8GlHOZ88oKyCuySUahvH6TspkoCTM8i0OH4rDVvV9QPRlxqJjdYK7622kQ-Z6BEPCB5P3naV-mUE900VVgudJTeqRYixjKB2wcFYmgLBq3TZtoRpxVmEiFVqUIgyk_x4o3hv4VFLQsrteBQWLi5u6qP2Q2P3qm3jTTB0esXwVfd3LzEAPFfJKRAbY9kpykI9Io2_dpfKYxGRgxzNXe_Hxues7XExG27VTNjEQ4YlEhrsr667Yrnh9mUtL-7B9NZ4q5_-fLk7Wb-9VxabUJHDJJIyZdKT6D9BOg4_CTq_rGXzAt4_0amfcQJB6I1-aLqeR62k729YOEW89pZ65xfslWnwQtk9FXtsWF452xlWY5IlfajZalhZl4VUy8GfR6Qw1g2ystj6blabNOWHxLvMPQMEYjte6H1BU04zBNZ1JWRbUMIBGynZfuVThjGAQWbC4_a025nQrrOaEGv9j4tApDOONOBiXQxj2s2gzOojoS2QXw1H77IlCm1qHFGnnZaKsmB5r8O_wc_nXPNjIm4UqCB8F1ZztuR28UYcrM1k5753-Mr1m2xUb_UmiBZQsyIe_ClZKkluE4JrWomxvEvavuOl2e44kof2Z13hQ7nq-xk0Fm3Sh3A0HEdLPGL0shDjtgYZAVnx78Twb8S8Xo6YGlOOnlQZp74URoGOoH0L53IPCezOSDyoY0bcBgArkeMUaqvKY2RUWn3alXz1DHeZcH9_jKjT2ekT02dsiQ7_McphgjQrML6oPg42mx6v6yhg204Uxwa1qVxCQhcqwIvOR3mSwgCW03sdYJfIJwpBb6-lKYjGYpeqLUpUxTRV25NACH-WorjytgdV3g4YXoIVACM7uZ5wjFbJ8jkytk2a6V0BuboH5Nh38HtR9TWk1Uq9V61Cw7CHY3FwXxvkjuCj6dl7f1esl9OheG4ILYT5_xj312CTg9Q0Kb07b5AZoMj8w3F6rkrE0CkNLEJduvRQ==",
  "id": "rs_09dc31d5032af043016a7dfdc96800819a9cfe5a6caec877ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The cube has finally appeared in the right wrist view as the dark centered object around (112,188), directly between the open jaws near their convergence point. I’m fully closing now and will require a substantial residual opening consistent with the cube’s width.\"}",
  "call_id": "call_6qa9MGj76v8Dfnya1Fpr276L",
  "id": "fc_09dc31d5032af043016a7dfdca5d54819ab2126c68944e287f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6qa9MGj76v8Dfnya1Fpr276L",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=2.1643 right_j2=1.6432 right_j3=-1.0748 right_j4=-0.0238 right_j5=1.1358 right_gripper=0.009\nstate[joint_eff]: [-0.1436, 1.812, 7.1316, 1.9121, -0.0317, -0.0757, -0.0073, -0.0615, -12.0274, 6.0923, 0.1392, -0.0415, 0.0269, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19cc4d4b3ad61bc0b532a77397c73cb1c11e1cb20c2c74a67d9209511c285c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aad35f1ee583c24a3c0f95bbaf083042eb87a7dd70b889e9dadcd6fde4ee15d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c220f84e7597b75a3508b0b1a4b96c8e741e1c726ec59adeace4a1c409ef60",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0189 left_gripper=0.9988 right_j0=1.132 right_j1=2.1532 right_j2=1.6478 right_j3=-1.0798 right_j4=-0.0238 right_j5=1.1397 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, 1.7983, 7.0496, 1.9267, -0.0366, -0.0024, -0.0122, -0.1573, -10.5778, 5.1214, 0.398, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff3TAY5z84ZzEsbvWxl1RysOaIAOJLvoGD99TU0lJkvxpeW58Ea0bjrrhf4w1jVwJmVsw4qd7CtFhXKMLLebvb8j0GFC81jWTZn9GCsJH7GkSdtxk5-1aBfbgFZrKbluU64xslDYw_hCfQkb8ZiLJIHFByZ64E0Dr1L2CY6dCCftnFv8mS1xgz7f59CsrsMFtG8zDIycXASM_h3zZKYEXNuUf-5PGe1YNTLmDWZb-Ah6D-iLuCSDoGBwALU1aQlBrOBSC1SYwJEKOvn0vEUqp7PZOduZG3oU1Ga7wT_WqJlhRWnLdek59VP8IM57HwuPtAT2ydJNygIzVAHq8GA66GexNyDAZor3CU27IK4j6QexlDj7DdAKRa-8ua_sota1B1f_Z6RbNjrgnzxil8n2jS6gk6aNlmgnIWVila8Se_XDJ0Rq7dTe-98c0fO0lsmsMCtXKiw2Q7JQLh8S9laIJtsSHAJTFbE91Iwe2kV5RJRLx5hn7tlRPl6CQjyb0E9l_gUGBRpBtaA5t4XF-H1Yruxle3QJy7qcCpm4DZ-avKA8x-02ntLk56NUBuC7gx0cctO5AxCliIXetwZ_aPdmz5XzM-KM5sjB654NsVULn81KN_9I8hk_Wh9X4yfiCjMALdDwQ3MG7Ip2QEdWMJTtMrkiIcfccE25fPCiwbqvJ4iqiYN42Wc36sDE9U-LgHGfh2GlgmoP1gxzUB6FvrCuhoXkrXpN1wE8tsRh-9ScvOmDNukQ9zusQYTzwlI2VT0kzUL8YpTpov-Geeiu2Ohdh28pdTLh_cCWHGoW54Q2Z9pdZjHKuaUXSORK_mdH2XNrrkYQ26LKaQwExjBNYpV52CQp4s6L_ZkLL_nOLRtWn1W5Ujhp3R2pVPtsHNR2eWSHnRfymYxUB0uJ46QdKk3vfUz-7NVwsshy_ZsnvwwBuDUW0ILZ0_neuQfe_lH_m9Ro72ZPDFKoLadztZ9-GzuZa3jrfMUb_D_SWd08ibe5Y2ouQpgRuHUEoLswsU-vkFOUSqhE2h48S6AdDgsadhAFu7AS42UXzPr_z-bf0UMW9lqD-gFRrrduyXHFOKQqlhXtaSYMXJfSIB_zrQEom03y5u2DzRMIItjsw7HV5JQUAgQQACqHnbdShVMLPapi17zJXIHs1kPJrZ5z2IVrO0Gp_2wLjLgENxkFghqYuuPFQ47JXcmlMg9JE8AnNk46HY0HLvYWPmSkErqTaHqJvO4wuzWursuaEYcgPrCoyOUo53VFwXYAqk-c-CGVRo5Fi9oIsz8z5ThtU8UIwLlSIVdCIb7IzBYXbu4-mgvkGnSRPJHqETiVfWchvChX3vsAKr4X5QKskJ0h_AMme1D2B9-cdsr_qltaxb590rUgdrqO9lZCP0PmUu88FIGosCrxqxuxA9H8x2aNfT2bHbEpIXe7Tooy3eQPZcuGM1aCqoAEpfjrOjpAzlorZH_KK86QpY5OAWFijZaXsxmbhhYsm4PXOG1Vc7oop2Hj8aJrrHKNSB2eNmp7k-rWEtSX5ITKciDVXwVTzXkLH80UKohrL18Ed6F89wNusuAKJ3cxLyP4oBkKBW9-0CJvA1_v7_iAm2JqrAaG0yuFQZLTUS1glwSf932d8hVV_Mitey_RrmT-OBqJowu_gLrnHKaHLVtnS_GaPzGo9opWEd6Vl8HDCCxGNMhf4qlNpYyCxAjqsC2llSoLS86OTZamK0LKKLhBG_0atOYMbRssw2qi6-BxgZi4fZn93gvTsnHnaFgfnOnpgiIrWBzh1GJZtb7n-nDj2ZFjQCOIZNcP2fVmeYb2EQYF3otT0rLHQdocN0Z03bILaOvYvLWSyVYDX_gDLjWj5I3pRCzQ",
  "id": "rs_09dc31d5032af043016a7dfdce035c819a81d5d88f07616272",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.02,\"right_j2\":2.02,\"right_j3\":-1.57},\"note\":\"The close again went essentially to zero with low gripper effort, so the centered dark spot was only a shadow, not the cube. I’m lifting straight up to clear the overhead view and reveal the blocks’ actual positions before another attempt.\"}",
  "call_id": "call_YATz0huhuwT93sJd7F1ny19T",
  "id": "fc_09dc31d5032af043016a7dfdd1f808819a9412c9502258d739",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YATz0huhuwT93sJd7F1ny19T",
  "output": "executing move_joints over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=2.0495 right_j2=1.9991 right_j3=-1.5555 right_j4=-0.0238 right_j5=1.1324 right_gripper=0.011\nstate[joint_eff]: [-0.0342, 1.6342, 7.0085, 1.9316, -0.0269, -0.0757, -0.0073, -0.1709, -12.4786, 7.5829, 0.188, -0.0611, -0.0171, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f21ea5760280d99a6cd0e6251a6205b34abae43eac098218b6848cb27948ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240eb17bc2d368417304829227a047c5dfe9e1552e5650b16c8c4a4fb3e63b21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4d38fd1cc412790100ebca5a92f678eeb547a0a3898b4e4dddf012c8c84dc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=2.1643 right_j2=1.6432 right_j3=-1.0748 right_j4=-0.0238 right_j5=1.1358 right_gripper=0.009\nstate[joint_eff]: [-0.1436, 1.812, 7.1316, 1.9121, -0.0317, -0.0757, -0.0073, -0.0615, -12.0274, 6.0923, 0.1392, -0.0415, 0.0269, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff3drcjS44Y-0dfcmsQXZ7JejdR-_Flap0mjo4X2kk5RciY-Pz7RgP9jgKfLDbw4sU54gSmdJZMD0QQOcTLqfbDragE7sGWX74L-IvDWKV-hxgWU3yY2MIFTSlPzq5ceyA4JASt5tHqimD5DwjcYimMYn8yOwAtEaU4sZHyTVK3W3NZ-o_F1HpgJ05e1uSMugr9epkMJz22GEv637_4W5t2dhrQk7rFgLJG7Kqz4qzfEewuF89oRPD9GFKHPIrRFmygTf9zf75KeBDAogTvp10wdHvFo7Towbm5bo-PyTC09Ga4aXhpIITEsNtnfLerMWgfc1-JyJorZv0FPdMmwQ7EpWNtaXJ0qAIwhog9obWuLvGSb_2BUUjasqewM7_tqWrb-HGoEHh_nAAH8TUXh_JO6O8ydDCGXJktGZzson5Y-tyFvkocMVcIlFk5EhSgLntIyBv0FEcP6RM-7Y-0GY6pjU4sXMYnPspVMM5VVjrZFtUDJMVch13Y-AJJNtUmsSccBHU2KOIbVAmazLU2ms6paftisSkLBQ67Bi3uS64JiNzhZulCQ6DEMSGicSBpndW6m-YAbE3TytA6ZvXEztWokb6YfuRdvhNfMGarLXbcL6MfYXJlq6mJuOxWxHCMohI0IghAATZiYiTFgGJjFi-J1eCFVFitIm7TLPXV_rmyy97ZOwba5YiPzLjmCP6WmbpA_TIugeHxDvsU6zw08Hx7lXMGJZ3qUClp1CTOV5m6D8-faHeidiebsFrJ6tVQfA_kZ8gzJW2ecl5ZSidEBCmvyrvxNwgYSJGJkqt8zN027NdMOEkxn4SXORIOuqS8Yu5CQTo9zb1S6WUY_E92X0FPahOLGZCUw5c4VFk_vAZrli6rUoL7cd1JStX7cWr-3SFtcv2TIZZ-TL0kmaM0Q3hk8URvKjcNZtKsbXXm2Qo18Yh-dRpcCBK86WSLwCLmb73f1PAXe27eZP9rOYUkrqFfkz9K70OjahlGgMoDTmR2kYCaNkoduO0d_jaDJIOf_w87si6Lk5xpU2hy_BpDTsFSz2_A20WQOx1lEcBbj6LaFJCoNmMECMYAlAFRn7cHWbthsNnOuSekcZaQK7KkchXn9aocBOwKefIB2npN31soGrD06iOi0AA42fXV6i9phKDUyDlw-J3QZAfvbQnnVFqM01uwOvPlBht_oMBaAHI-A9PZimS_nWCTN9Dn50HiMSl1Abcm5h-FGHEnUs8L0UfxZZhOW0d68UQeR_udKA2OTEDFNJ5tVn_w2kNcSKqepn4SdGfXKweC5LdaS4991Y5EFcwAdCNBaE_EmvKdQJlEiXF6srSkC0jKXls48FgW-Hwv6qajk2x57sKcL7Jup6YYs-m7Vn4akWMQpV23AiW4WZOFthnwUXbis3uzKtot2PMWfBmEnBWuldGYlN1-Fn1I82R9u3vws2PHe4X_VGBNMEIc=",
  "id": "rs_09dc31d5032af043016a7dfddbea00819aab70c25028828a26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.4,\"right_j2\":1.31,\"right_j3\":-1.48},\"note\":\"The vertical lift still leaves the long forearm blocking both cubes in the overhead image. I’m retracting the raised arm close to its base so the tabletop target locations become visible and can be measured directly.\"}",
  "call_id": "call_mMArVTXAuSYKKrn7w3k9VYuY",
  "id": "fc_09dc31d5032af043016a7dfddc60b4819a99a6437621003362",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mMArVTXAuSYKKrn7w3k9VYuY",
  "output": "executing move_joints over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0181 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.4284 right_j2=1.3254 right_j3=-1.4868 right_j4=-0.0235 right_j5=1.1324 right_gripper=0.0125\nstate[joint_eff]: [-0.212, 1.935, 6.9949, 1.8974, -0.0708, -0.0464, -0.0122, -0.1983, -5.4359, 6.2701, 0.6081, -0.0122, -0.0415, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ae6085d3290c5d496cf7a4c070921f070253db514f1cbb6c902a525230f5d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac87f440a3b0ea22adadb200767a8e994d1d2cd51b095d5eff64710f73c58fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a69c511998b7fc221c2647f14db13939e43e5af2d30d5afb0d51b2e844e4b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0158 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=2.0495 right_j2=1.9991 right_j3=-1.5555 right_j4=-0.0238 right_j5=1.1324 right_gripper=0.011\nstate[joint_eff]: [-0.0342, 1.6342, 7.0085, 1.9316, -0.0269, -0.0757, -0.0073, -0.1709, -12.4786, 7.5829, 0.188, -0.0611, -0.0171, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff3sYAf9VkXxWEYO7LniRgBqNcNQEupurJkntG_wHHsAqkbuA_bcgQFuc0F962MLxagRQ6AfPli6cbigZ1fJ5rhKR89EIpMoAmGTjibWoHPqJ8i1z2m7ZDqgbUpo1NSGLRfuuj7ovav3p2ho5CD-R_U-lpNUpb5G8Ox-dv7hb2cNo_x1vYo_qOLR1TMJkn50oNO1FQ1CtWaTs3S1I0xCmPls2SB1gUXR2cpPEuofppB8gqBHWuiUvTytG-HpVQesOPFI4oM3-zr_M_tBmrDFGI9kV-nykAdM2jPTxcQwxTCAs0v-l4zqffatFVs0L4VjWjomMY4JCP6UTe4ChIZ89Ybb8GoJtRMFZV41Ssci3ceOlJaSyZUcazKVUYNPySwtiLvifUxT--E-ZK2Kv951b0KIcBaefittcN5C-sHxtx99olG9PkRaLyWQLXYaXf8tSM6Q3AF0im160uhPIFmQ100mKzsEHsNzQ9B4xwbQbgIaZqNIW1OE6M7ixw8gp_uA3aIhD_qcfSjgb304Vjbbx5z6Qy3fXpQCLO06UIXj3T-A8h1M4VlM7j8h4P1Uo35-tY2vkil-tmPWsOzolwbl8Hq8AYwfJk49oBbqMiCoqoZfajLjG8Q-D5uMdTVJhh5sWBXTsCEKHf1MrsA1KyoRfCZD3KB9rDi5ZJza68xkY7BxiiALBPvktnTqTGYSymqapVJo75YHkLr0MO7AhODKMZjPSGUJOWykkXTt6OBDcADUScobyWLYn16IZqcABMhkr831N-WBA9yU_6aqsdAcKCM32x4VGz4eVBQZae9TF7iG7vnTRbzjmdUWHIr_VmUlhqQZLw6s4zG9T-FEXbfCLHL_L60-hdQC-WD4hiDWLlFpt9SYi5gIroxgow1XuMrzGs6jJ2jAgOFAMVB2bvpw4ZHNbc1S4VViwGv9fHE1xpaeh1QQjVwf7jqS_XLA_NubbgkuDhfJWTlrywvq-gMaOH61k1Yev-QLZUIHvAcyy82wIc_XuECc3g-gIHMiRl4Aas_B8SD7eRalKHupgSulj89W49tFSqnLlSQcJUj0HeJZh0B3h08aMXKQ3KzPPaiOJhtlqK0ey6dshA0lxtUPuusRNHSPPQ7Y4gEqPLsRW5zG7WUBYfWu5lvjWKyXc719dpdaKNDj_pP9QDEfKZx1_8YQcZc3iZToAPIDXfJ7l82nKJUuS_spiDzrKLs-Or2H7CIMVyFln7jzQI0rv6-1eauK1t89R8eCg9YSzT1nj8cc5LdlZVKs095ttRDvTf-fQcB2gvfkEp8k7gnu7uKvOMM-3qDtYDZqIqjmSD-hGMdgGTF_zx3quVNRjdvN8N62KL9vdLZun1HLwoTyHWDap4RoMV_jU1tKEnSh5jwUpV19NybwgPJaMXIvbvc5fBP7W7ErkDT0g_hY6j1tgfu0p0SK4xHxqos9HFq4aG-sQEfwHMVWwbczM7Aii1ikKGkUQQu1UxzOgBLBVIKTZIt1yzrI6ASLu7kdbi4fPXzVowvtLDUN2Nf2xCvceNDAgC9ZDddYXduwAgEDbeqxG4m__Erjlj2naOsWA1OtFp0sycZtmQRzQQTllr6o24123L3yoUJQKJjkryQ_31hEUhyESxZdORMdzt9MnIskUo9icggxn3AR157VTNYytBJF7oW-23hNJFf_LaALMS238TXucxSPJ6EaO3Tothv6LGEAX70cd0e-xDWdC_Qt8egryGLQtdc6vYWtsNtyQFxAnUfOlG2v3kaMrYFw7ZipWEBY7tMjN2i8IofKfmdB7HSuQ0SQGYC_2rTUI0YzzTN-RPAb-CXBxlxVKU7d9bmevAiOFJ8EpLs0EoeHL3cVQ0NX-95RSc6lHryFN_ZIEr6osUkDk54QLbnwuc4YNx7X20FOqDD6-kESuWyzHAjJgvY7Y5UK7HSKi4BuidRpxoybFJBnEfgIGjprhHaAD5ollp5hJMYDy9CivRwRg-ruC-hVCKbShlO257l29TPApgUjPoGdnPilNPea9Ny8sBnxThxnD6K84oJYcA3-6KlsBIzKr268-GIlUmxtKf0-at7yFO2pdnn9aQ7pu0Yjr630SWOdEYu22MzlZ7bn88Tr_3N9w70J5BR5489qjJFZGRDXNAzYw0Hgyyj9B1dqFKipJViElXUkYr0M9vebuspH8EdFiz4KUIpRfY6pr2Vhg_W-Vj-8GlSn_Kp5J4xXt6jpxzR3hrxEZBc69HjrIaEZG2fbU-IrCUz6IVGMVi3lXUiiSm90ndoadJ2dfPFQBmVASrhrw1kjmmrKW05UFUnG5vX7GHb-9w9ueWk3GZGOpf4U9bQlwwSOyK4zgDqFPHgtDomz-XefYz43XeMQNuYnlE7Fmf1eaqXORmURdD_OoIkw1FbKBuBT1ioj1IFDjnsr7yzcvcVhpF4oQ6AniarnVhJg5PMqmufByaFcnvDuzuG75WADRARtjAVyGvct8hjqQjQBAyPQ2NAWXDrindf5-r7TbCn8qJqQMC9-MbFPFYVjmb8yLvijWtPUxrdv9WQ4gzFnXrnExAp-4KFwsnMeKuzJSE7DapJOaIy1BNjRAHzesdgEegZM-uDL0QfWUx21VZln4ESkex0Wo1vl4xQgIMVU5DJYGOhbuceS-tVut7T41d1I5Gh619-LGrOA58glJAeBctI_mes-XQenC3Y54SxJ4osxFJEYyUnUvrs7mcBOPnBwWev38vorFLerJgUo5TXPhf4JSeGgx4zKSj0bcCkSb2v0jO5dcjF6uj6l-9bY3Z2eDAh6xv3wUbDfjWiDZzIE7dWQsES1Xy_FqzSO_VIAxpgx5EubemTcTNHqP4-MYzpMOcd4JCAoVICFZUKii5sTA_2pkV6ilOppCDo46Kcy28fwM7nqHLOZx7IgEBKGb4Xol-gOis5dPnypae4HyXrL-qVpNaYVzp6uIIdHpTElbeyHpDNv0kxrp-Tobu2vZ6AszuJrOBdsDnFl8sxqWL07RwuJN8SnolLW7ZTDqCVXulOz5KgYhrPaxq3PxsYWVe2DM5HS5cgh1r1rHIw8T8i66lWYh2DXE7BWQyHv63kni3VZKqkCID8YZ-gO9nNKnI0pHdOQmhKocaGnKQ7WYArvTmuGjDo=",
  "id": "rs_09dc31d5032af043016a7dfde20b68819ab1e05ed873766a6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.0,\"right_j1\":0.6,\"right_j2\":1.2,\"right_j3\":-0.6,\"right_j5\":0.0,\"right_gripper\":1.0},\"note\":\"With the right arm retracted, the blue cube is clearly visible near (91,115); it is actually much closer to the left arm and has been difficult for the right wrist to approach without occlusion. I’m parking the right arm at its base and switching to the left arm, which has a short, unobstructed pick-and-place path to both cubes.\"}",
  "call_id": "call_fvSSrGDsKtWtDiVfsGFeYu54",
  "id": "fc_09dc31d5032af043016a7dfdeb2398819a871cf2d838f317e5",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fvSSrGDsKtWtDiVfsGFeYu54",
  "output": "executing move_joints over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0216 left_j2=0.0151 left_j3=-0.049 left_j4=0.004 left_j5=-0.0193 left_gripper=0.9988 right_j0=0.0166 right_j1=0.6186 right_j2=1.2049 right_j3=-0.6861 right_j4=-0.0303 right_j5=0.0662 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, 1.812, 7.0085, 1.9072, 0.0024, -0.0415, -0.0122, 0.4991, 1.935, 4.8752, 2.3028, 0.0171, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c548dc6e2fe191fa8f0b0e21163f02fdc641e8c4fe98ceba939cb6c69551913e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6323d8b3a84fba8ba67bdadd83550bc0ef0a2a7b87c54345ca773539ad3315a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1286d38ee94c3ad5cba9cd5988d804623aef76bf88a0309df41d1c4655d9b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0181 left_j2=0.0151 left_j3=-0.0486 left_j4=0.0036 left_j5=-0.0193 left_gripper=0.9988 right_j0=1.132 right_j1=1.4284 right_j2=1.3254 right_j3=-1.4868 right_j4=-0.0235 right_j5=1.1324 right_gripper=0.0125\nstate[joint_eff]: [-0.212, 1.935, 6.9949, 1.8974, -0.0708, -0.0464, -0.0122, -0.1983, -5.4359, 6.2701, 0.6081, -0.0122, -0.0415, 0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff38Po6qpT8g_aYA4AfXiAXxey7351kV479avXQAICJpBD5R2paGeTlKYPw4BeqAwtO4zrCMAmdpXaHIoWZe5oNJYixoHmljUusDETpgT3Bk0JCl_rVEZJ5WWRFMX__qsiSNHKhpQXAKHIEFBdyJiCa6RPVypHlWvSJKTfdAtgi5HfQsIKkHw61t3tyWRXFAr_qiTsdzDMlN7uDg71IOLly2x3u79zQ5jN_8KBl_3LmGzJA4JVoh78ceMSZQb4ngYRdMcptd6WRndjBzeXzawmg8VenXg68JK6bIpB4_VqEA7_Nw48MH3jEnUAkYVCkbayeTHZegAsXvomodtCPOa_2qAzkGv1q6UgbKjQxk8SBRzXsgRBlxRY2LSqEwAJ1JW4orL4JyYa3bG_5p2W49SNPVm1E2ztQoxS4Hkwph3W4n6SmFg3qAF2nLT_kV-e30UbNxPmuf0HFK-8Zun-IsgxgrRw-JL5ycfPg6gJ9j66tXEhKUz124C5dNHELoZizCKJzTT0_k0SNVMNgAo8F8VnTdoQJS8B0GbYlTXeSnD_5Xj3po-RxDQi8l2hhxJZSczD94jr-Rb7IRPNqTWtFJ2Oz_FLNAub52KEm4k_6pwGRfM35lJpT8SloMDG698CTEjB9w1L2IBeBfys7fV-cOlSj7GeBWwCxdruQE_MlqcdqdTqoRTJiyEa5B9IwQ7qVQ7IM0vVpVJ6lwgnYI3KMTBO2XMDHavTrPzpTA_BdSSpG81zIXM98z6uQcEb_NkWoKyrHKt8DjF3n4fuCWBeB-IwRc3J5Dc2eRItoM4KGxqHbBL7DukVIoNKkIKu0Jj9JlCA5bQFo9cf9uqVaEUaydSclORbq5-g6cihruhzzUGGwYtklP4wDD2YUMYrFpdnrbTBn14TT2Yyri87C8NUWTxcfflQUeWb_DRMwvMe6ESYshtiEgjVjzhdFR03hKahvkEabJ5mlenmiym1RmSlF3_kxIpKxKLul5EE5Pjfp5i969k-XzyeMzWpT2OfNY6gDD3thZt1drBid9EjxvAVZj2jwFj8eAO86tmeY5fvdjo5V0mZMAlqO5juFBvhY3xXmxr5q0jHHcE46idofI04MuUfkyfm12FXsJ94Mf-68_YbOjsvcbZaGZh2yB_NUS3DUqntAtL-DbiJQJqttESI4-aX9jDoV2557yMnIRnSXqD05a_bfQ_C0NwLj3QblqLq83qIgPa549i3wQY59GbfNm9SdQ6Vzf7mMkmKMJqcZVFQgBDfF8QciGgW7_nabUtjbFAkExlV0xGq7hYl9jwBtMloczJmqOG26ZQyrOdNPJzUEkdfmLzibblHFFVT6gQNDWlHs67ZZ8dmfO4MP3Y0XMWwKndvNtecvHpk5kF30HGtf0j0Ct-koJ51UmPjfSxWq1oF6Hspz1n0xhD22mGgajdELAJdJMt4VIsNZ1wnDN51-x1z_nPhcXSYbI2FwoUSswksrCSbYHAiKwgGGJ-sWvza4_p8RzoovezXks_pI_SCu0k8m9v_-ooj11w4DgntPLb1Re1NiiuyN5NERI8eA88N59dxCnC7bIDr_ugXag9u8lBHNfoE5hjVzdXlnqgNja4eoazK0GC8_K_Y5YonutOi-1DM--gIPT5nUTftZosmjXwHhzfW904w9s-ZfWPtMtCRET",
  "id": "rs_09dc31d5032af043016a7dfdf6ce8c819a8d39c848d6af4f80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.31,\"left_j1\":1.71,\"left_j2\":1.4,\"left_j3\":-1.26,\"left_j5\":-1.31,\"left_gripper\":1.0},\"note\":\"Both cubes are now unobstructed: blue at about (92,115) and red at (144,115). I’m bringing the left arm to a high approach over the blue cube at an estimated 27 cm radius and −1.31 rad bearing, with the wrist rolled to keep the jaws square to the cubes.\"}",
  "call_id": "call_Gk8r9spgN4Xi2GhvDLs4jYXI",
  "id": "fc_09dc31d5032af043016a7dfdfa56ec819a943dcad084042657",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gk8r9spgN4Xi2GhvDLs4jYXI",
  "output": "executing move_joints over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2888 left_j1=1.6993 left_j2=1.3624 left_j3=-1.2087 left_j4=0.0013 left_j5=-1.2594 left_gripper=0.9989 right_j0=0.0158 right_j1=0.6228 right_j2=1.2045 right_j3=-0.7078 right_j4=-0.0311 right_j5=0.0444 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -8.5128, 7.665, 0.0659, -0.0415, -0.0904, -0.1294, -0.2256, 1.347, 5.5179, 2.0928, 0.022, 0.1929, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d370c7a95ad6206f3bf28232cd33999a43079ac05fc1d38622334659b9e9a79f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b57211eb2fc176bd2d62d07d7da70d1fc6e89ef28c38e94fd1ca62c00446984",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c857cd952f141cd71252235c041715322ff561d8b54a1f3adec15927bdfad9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.0216 left_j2=0.0151 left_j3=-0.049 left_j4=0.004 left_j5=-0.0193 left_gripper=0.9988 right_j0=0.0166 right_j1=0.6186 right_j2=1.2049 right_j3=-0.6861 right_j4=-0.0303 right_j5=0.0662 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, 1.812, 7.0085, 1.9072, 0.0024, -0.0415, -0.0122, 0.4991, 1.935, 4.8752, 2.3028, 0.0171, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff4KzIXC2egczpxdp1hV7HOsV2TEClYONyP4s_w85JLL4wUj2jrehKj7WC0XRlG8QvLT2a5VFHQbXOHrRb2RNAy2_gp4GY6uid6gRtbrVyANAi25_iWiyQG94EfgrhTUkSUXQpj-OeoT8f1YqvDtukFEVNiEQeUqJjBp1LEJPS4icHM1TIC5T7PyRAEV5cEzXjhM-AvadYhu9jAFOEozQTCl8ht7M7Mv2O-s41GBNnKv26QzXDgaC1DpMf6NEMSJqEHMQWGyse930TqLtcyV5xwWyZ8GkMRQTxhoBG4gK6KB0DZU9c7Cg93k7WyApqbEwSBQn-sMhrR0OlQj_MFn64i7SENJuNpxlwqx6P_FXNaZXVVBrvRb53WraismE5fbza1jWksZkfJpomx-TYfzXlfrp3pQfujPkAJxaT6uKdUXZ2aqH6k90Hxx2YCrgfEMN7p2CLo-w-Hn8qdpbyWXWdbDaX7XAMlIDv3ngbsGhTA7puM5YLF4SInz_BIyxOBbvm1v9ni7mK7j5RcGObMhpdjjBttATP3Puij-o26x5XdRT_cgexidtnWkQquF9bQP8l68dzQPMOz430jj9jFwm9O6YF6MAOZ5ZAawGkaP29HYH2oXOKYNlhA4bBvvmjh3q9uT8jjPBjk0U08MM4THBuEDHC0sIciK1mfY9KTF-EUCgLMzRQwxtPUfANQyAwSO_QTG26POAo_yZb9atNCklZ_AIH3vh192_wKjdaR7ERo64gD824PlRzgnSHO6ub6n5oEteQ0-dhqyg1aluzN2VX3fOGzeU6Hyq2oS9bGXrzUuwJ8wxmwovrCyNOw0tar5UlkMDjCU6hdGMl2qHMqV1FbRAP05Jp2SIQ2sze78hj8RtZDpyxmCQxnwErCEX4VQJV-QWHz-cobjtiQXR3ax2QDrMqnmOkJuzHMFtBMi22obT5zojeR-oUudV9S-XmqyqhxHKPzpS04gkefHneVZrymiNIbkf1ddKAwlVmuBbvF8Ls1-qOwyF_rGeulDkZIyRSO_w32SjMjCVU_Nm71iG3WkxGdbbsxNJiQLkhbtHVT6EefFdU7kPocp_JDEN0RhkUzQVmZE7aUh7SEqo7cMrj3s6rt2QzE_B8BZF9b3Qh-XP7xVw6F7QBNKVjCAqeJTQx-Ar9MiNx0iK5GugSn7AR-pFGn0guo09tfyD9KjsX_Q9ylNiiAd5Rlj289ufhgNrvNU_hISv0aEbf7BtSCf5HnqMyMaaHTG1H8bW4h6txsUeoWDDNhI0JI39x6A1OS7PKRh5e50EsSKvSnZ87K_N7xiRrran_HNY9Jxe62WHd2Krr_WYN6Ec6F8debT7xZMRzPKdwqhe4JEdXUXE11UQJfm8hYATFjDCOvBLsDwMWOJhSzsLe3VSpG8cUjQ9zDTmy0sHwCXzHYgys0bfZe5_vg-Ociy3asPDjJy9zzH5ohZ7y4HQ-QT-4uB02Ao-tLKMuj-dGq-sySi7-9Lt2LjnI6Glbs1-MPYJ17NekEVc9Ereolwk3C0_GkMeBrJBSa0_gNt4t-4DV_Pn72u9SFwTWkO6xM9t_JP9WuwyrW5u8gJtrnx5nbZnGA_puoEd_hRyhVle7g4r97-TeMPja7oQ10VbfSlboC30ITVcUvMp5A2B-a83lG-9AJ8UjVTwyL1P_zKwYsgnxG5Q3UD14uqJ58TNHIXNLhU1ewaoyCIpKFALszq_4Ks-D3ZeixyAVRynJVa4IMU3wFht320efic2wYEYX6MibhtUVUIrVLzn5nLAxWE7t3lq8B7g6THzFivwdbfIkuhxjWTeKUDI3vcpC0Epnnq0ROMRpjyiA1QkhmwEjBcV0AV2PQiBDO5bwRLQ7yZrUEup7k6M_-iD6GfbEtyQBxrzeJ9PjF1uenk9Sok0ANFVl_v7_rskmLIUDB1Gc-1nciT73cs6yvin85PNDQDZ7qpy2TRe6ozDerCkusCfjPYVq2ZfU_VoAxWVArQsj9FDmrStVDx2xuz8KXVCp8Mzruuz_sTHLZuRmfeulc2t9l3FnWWC8QLGsq-8UNdiv7io8yRlDh_j9K7_DpGF8OyVGNM5-s9uHZ72-jDRwCkbzLX-W8_HuQdJfsMzrnJRwBwdQSP65qXMsN_puA6qeDt0AloTqabHLcY7Rd7Pu1cfNuje_Xt0Bl8IWxu2Sf59oaHA3T_vxr_EXCfjrIxtpYxZcpjqb4DsJ7As4LYufqL-71Vg5wl1iZkHHmDWUqPrRhNp_CxyJKKbZFaosK-ymtpaIRoF3gmUPvI1EaZcCrURDSgN4zkRjN29Qk_nMSeJZrCqPgohkF5GD2leCGamx7E3iRnmAinkN2Fv7w3tEc6xLUF1I0lSjz4n8pJwlcJ6elAR74ZxVs91TLQWwmpqf8Bw7-XwabDWUvyUOKhwy8dJ1w3nm6tOiX8NFHz-Oa_LDQxXXHQjvbxYsD9F_-rZEfqILQA3uk6vW3U6H0wonZaTYgCkPMdZMAUQycx0idnWem8WTv3vuHBfkMGRPQAslGu63RcMUF0QaEZVZyVbP0irCM=",
  "id": "rs_09dc31d5032af043016a7dfe008d50819aa88050d38dfda38a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.21,\"left_j1\":1.63,\"left_j2\":1.29,\"left_j3\":-1.23,\"left_j5\":-1.21},\"note\":\"The high approach places the left grasp point very close to the blue cube; overhead geometry shows it about 2 cm too far outward and roughly 0.08 rad clockwise in bearing. I’m applying that small planar correction while maintaining height.\"}",
  "call_id": "call_HicGCYITUdXsmV9qnjJb4Z2O",
  "id": "fc_09dc31d5032af043016a7dfe092134819abb5e75941c4899dc",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HicGCYITUdXsmV9qnjJb4Z2O",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2594 left_j1=1.6836 left_j2=1.317 left_j3=-1.2209 left_j4=0.0147 left_j5=-1.2625 left_gripper=0.9988 right_j0=0.0158 right_j1=0.6228 right_j2=1.2045 right_j3=-0.7101 right_j4=-0.0311 right_j5=0.0425 right_gripper=0.9987\nstate[joint_eff]: [1.0051, -9.8256, 5.9966, 0.3932, -0.1294, 0.0317, -0.0171, -0.0068, 1.7026, 5.2034, 1.9609, -0.0122, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86feea49a915b67588d1993e0017f4e9ea28b37749df9e706aa98f904b892413",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b59b4b28126d62d69c1ac9eb4fcdb2bf10089e0605d292b2b247fda225d877b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4160079d0f912874f00edad2e63aa3b7821368bc27d182de93ad8c07aed1e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2888 left_j1=1.6993 left_j2=1.3624 left_j3=-1.2087 left_j4=0.0013 left_j5=-1.2594 left_gripper=0.9989 right_j0=0.0158 right_j1=0.6228 right_j2=1.2045 right_j3=-0.7078 right_j4=-0.0311 right_j5=0.0444 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -8.5128, 7.665, 0.0659, -0.0415, -0.0904, -0.1294, -0.2256, 1.347, 5.5179, 2.0928, 0.022, 0.1929, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff4RfzP7eBsaV7i76bMbuZbK4AeWoEBx7xw3gYi4w_rvjppIzbEBg1YvV1J7SUsJoNFdVnw4iW9ORfhvM_cF1rt8UIR5pZ1akBL9PUOdwOZdXNgev2E_lVw4K3QmS-RndRxjsEgAR2EM2OEDIFL-XNUjy8bhODrx4JmjB4YgiSTsSvya_jqD0BCaQ6qeuVsgS5FGZjDzfJQ7x79SHoDwiqv_D-u0HbBsg7SCmUFUHGxvHMmd5O369rAox6SqbZ6gTi6luHlUXBIIlAav4a4J6B4HNv6Hjx6DOiVIll__Edh0N-Q9lISf0pnazVTm4rpuDfAsIGTES0SDOxj0mjvrbv1cTvU5qROI37VaQTDTyc_cLwsxl0UYPQE4K3IcBPHfknFxxyQQe-XSPjjbof777WiWgIZdt7O4DmWDvkf5vWnsAwncP2eK21F4NFHc6U5qV1ksfuUoMwez0Fuw6YtcBPH6rpQdo79MVSK1CPdglB62RffKiOojgKcRo1BqNey0tJapLYmCW6QhGOK8zdLWxD5ebrUO_HbcyZvKI1ndBcDSI0hYsVBzuPybRVTq-JQ_si1pMFC6JktuElloZ87ephT_w9XCrPefyy5VOgWDn6yJ_exkN8Z9VKygW3Qo8DAKfKrTQlskt4mApWNlpeIMVlRuRIaCDvnujmxCbwa3cP47D5yfTPAIi-y8dDFMcCm7UvcmxLSpJO2l3OW3l3XYokKnQeA7TFg0GtfBltuuam5-EsKX2AlcT02ZdJLo8bNooUnrVz0vCASxtUjqK2sCGTP3sCN6-453vq0sofOefxdSZdFyyJPgwrizDHs6KS1bvcBKN9wjhsmz8EIQ1Rev1caHaD7LXjSAQZ08x8onDo0nW4-kWgpchDB0UvCAywv40B_1q6VivZXWlJN6A8ZLuLUfCaPSHs1_JUbkPuY_r8GNgFDJ146OXD1QKtWszY6U6DuXR2xPcUioEZNVSTL0t2H9WdscSWWbBNBXanIbpmjUUIe03a-9ZJuN3BG3sbIYRLwWfs6lre9MaFhFCDgjdr2Z5OGN1-CFdrKc6qu7Ldmznt1JwvgWeNxOQa0j0dGrbLw-1zuJJpjxlUxgYVg4ZCjsTEykvQzY4QJpRqdqFUN1ZjzfvmnSjj4Gu_UIqKwkD76hhh4wSu6mKyZf3TrueTzJIjP9hkiiNfSlcdbj9pWsjKPl54GkAJyE-MLKdxmFOua0qUNZFhVWp8yXw0Zq6Enq5LQLwL9DDzRSxzoeLyWZ2c5SVpOKQ4N_wl4DWtSb4BBDdD8M2hFkRTUTt4RcWuuxB3QZCiB1P7VI1LX4a9vCAFQJsxHMSlFMdMemVaGNBTiorYA5JiRi6r18y3rLwuE-j_xC0wRnvpE7zKwnoIsLBTZ-drHsyTxOpa-05iABI0zAWCgzQsXsAVvBbEovF9rT4XkXJOtluU4OldvDMz4qhWspVwzICe84sXMn-kGIeZJM0v7mj5GdkpIEx577eyX-Ug==",
  "id": "rs_09dc31d5032af043016a7dfe0d5b30819a894f26f8ca79355a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.735,\"left_j2\":1.205,\"left_j3\":-1.045},\"note\":\"The blue cube is tucked immediately under the left gripper in the overhead view, and the wrist camera shows no object beyond the fingertips, indicating near-field alignment. I’m descending about 4 cm at this fixed planar position to bring the cube into the jaw depth.\"}",
  "call_id": "call_T2PwCXXeDc2ZD94g4SwnHy78",
  "id": "fc_09dc31d5032af043016a7dfe0ff42c819a821fbc6ee657153e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T2PwCXXeDc2ZD94g4SwnHy78",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2598 left_j1=1.7271 left_j2=1.2251 left_j3=-1.1084 left_j4=0.0154 left_j5=-1.2503 left_gripper=0.9988 right_j0=0.0158 right_j1=0.6235 right_j2=1.2045 right_j3=-0.7269 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2803, -8.8274, 5.8872, 0.0513, -0.0562, -0.0659, -0.0122, -0.0615, 1.7436, 5.2171, 2.1026, -0.0415, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335022476ffeb009911e5fe4207ffc443a72006ca6303844395b0ae157feb698",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963bc1f93cedefdd7e3bae62a5bac52a6817c6b91fd32c8b559485cbc2a4327a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f6cc890f4edb2b7743ba0a335d70827a12e2fea97ab78589fca9ee8f2fafaa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2594 left_j1=1.6836 left_j2=1.317 left_j3=-1.2209 left_j4=0.0147 left_j5=-1.2625 left_gripper=0.9988 right_j0=0.0158 right_j1=0.6228 right_j2=1.2045 right_j3=-0.7101 right_j4=-0.0311 right_j5=0.0425 right_gripper=0.9987\nstate[joint_eff]: [1.0051, -9.8256, 5.9966, 0.3932, -0.1294, 0.0317, -0.0171, -0.0068, 1.7026, 5.2034, 1.9609, -0.0122, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff4eEiI6ucs4KNhSu3FC_glQRQBQIfMXzOUEUH9e2EWenf_34SE5OpZZS17OtJhr9a4KTyz3pF8JDQbqHbJGQuOP_YGmJwXYt8nT8OYLSLOAkXvCAvDUhm1RSipOUzl81GIMq-iisXmZp6fMz5b93S-JoRk2m3vb3PjftPnWCZ8mNvRRmHhrK0q8j98TjEAU0J_vTYUsPan3wVkS_LlyyO_hMzCxZrGGDc6TJzi0IOHpI-QngOujxU-KCBqC5SnkU3dJTYVAmbGWtDK6PW0DvmTQfRJqLGNDUi3iKRTTnd-rJBZndXljo7Klfs61xN7ddjDnlE4XyuJX5O4v70EBgq_AVec65hgj3Dca6cbjSXBi2ua_G75Pu6-_RCoj1pi9YxcnHzthKZEJrCxKArfwg0xUNP1B5kdEOo5jRk6IR3s-1mpvpAVZkouBAvCZeLqaEPi5JIJLLk2qx-Wip2fbucqywMJySwHo_sFzwRqPJ6dYS6WO6vj3mjFVD4-GaAESQwklDWnhLTRk7eGSDwVYfXaaQ7HbdyhXTPC7FY7bsuootCaNT6S7qWGHZzkae_9hspf_ll92T44XJAos_8lXoCrlGkMLX_IFhfp0QZfNIz9UfqsK1qBDKoj30vAn8dDUcNrTMsgbTcapizOaDLWq2hy5PNtYUm9W6cLEjUvuDyO0CKFDbbiIuwoam5A6a_mbIYIhS5To1v-u38BLHIAOTcIyb-SyKx3UXRv5Kbo5MeiC5Fwj3n04mCaXAVBbBS-wu4Gbkna8Gh1_QBbN2GmDKj4ThExVcGQ-tiWrdNZpIUwm5PbdOLA4hz8jc5GNJrkqhj1Ax51gjJjL7hgdHyWAWNzdXonOk7Bl3ePHw58xnc6JCEdfb0C8Z9M9hE3JvtgjUs2snQnwt_GR9mvaUuipvFTqS87M5Nkebr5rAoVzZPo08r9cP_WBxxf-TF3fKQ5Rz33rkyjtSkkdMTem20bh8zy07YHLU-gx9eCTewJ2a9jDO29jY3_HeSn9fdtMUDezUtBVGGEo1-rFLKZz3FgHvhfmAXFlpTl9kVwpaX2ZxYs2h-4vwMhG-Ts9g9faSqN90UFbF0F7IxKwgiv9Opl040tqMT34n-6oEryF2NPMnfiry_vLtyNhE8aiGeyMxnl_j2uOyBH4BtphgPFC15HONn4jrjIWREcLBxtmM4weSxh-RUuugByxuAXwlevh6iALhMouj8ZjhnNVs_o9awmolHx4uK3A-VSm8TQfwnHYzcnd74NEF5gB4hrrp6Vrgo5hIO-6Q3oX__LoK7AEKCou6IcNIWCjxAyX2DxKaQp1N400LCH7rG4_co94s9zc09qA5YNmkXCDXZQEu8gv1ueACV3BdVNlt2ER2brP6sJIYzWd30ALy2FV-69XVcmER48cnl7goJsrVA0NTu4gjF3vfypgutxmBcrfbvfYmB0UVrM7zoe3jJecxNxdido__uDXcWPUXR8jMJ8yaZQHW54VJUY-UGm7feG_m6V-uaeijBjQC89WUG4BfwHXEodMVkO0HRF3_48J_eBucelTkDWmfEspX9mYTVvX6et0mo_ImuQGrKdEi0RwfTA1nBXP8Y9xq3LoaqR3iQ54KNzBn_ZtM7nzkjq1MdayBRmZ2CgFeJPJRWOoYGoFpF_yeLgJ0gK4HggMJWPvUHmhlXa15tEEtgc1OrU6xVneB3_GOmqXPI0jAkxueVcnXFPt0wA9xMW8RyUGYw6pNCY6E9WX-Gi-ZM7w4CElNx2m34k4cSuY3GNzC8uwv_pG_0PBY40SsfDpZeGscooaIhqJzIL7K2eojSAec2jV6VZ0ADJ61jxG3vWPzrspaV6qiWfZT2LKApOPk08hEXcLt_IOnOW8JuQR3ZgOPQjvzqvOelUDz1hxFcVGk95vyeAeQdFqJBHnWg_4w43g2oCE2YudtVxRQxZ_4lk9vrCjGe1b82yJs91_LGLewh9F2mAlJnM8WwwrmAh0y1Vr_nNxB_yfYNdHS_AC_mFBwh1EJnEid7b9LEIZCrMdoV-qgJa1kA2FHw7HLlpJxbnhE1khZ-jXcmmVY95lwlR5bPOVIoCoGBq0quV_xZi0KNm-0X4NxGDuEOLYD92vrSIa03Jfpdz5ora0dyxJqTdW6ljumJTyGQIk8W8jvWLC4SPtLGZ6vnj1vsYHy1s73RMjOl6G0hDLQ-mTgiDbjljquvwgs0ksZSupm9BNZAtpYo0bpEHYwneRKpoVV16k8tfb6ucYC_Ucjqh8k70yM9XzSBwZodiVLF13Q5WSNlZcTN9mOXP0f_AKlXWRMSd2n_ZTWRbx6DFXNRtjNLSLk1v53yeH-PQb1DtEqTMI1nXhU7-bKKO05dOUuD-sfLz6ANkYZt9u2eBvcYh_ec3be-IIK2f44Zhz_Q5ljWHYsVVX5q1IZM1MzBd4zENrmanxiGsVWcBZK4OO2Ib5MPt-MkjNHVg3uDwDNERd1zO2YEmy4T4sc9xQwa1AhK8cle7sQXkqT6M8sOSfImNtkRaIPomn-Kmo2r5IycwXqwIk_krhXZdcgzg_LSjnQEaXnErgjvxqveFbbVkhyL-YCrxSRAHSnRs2KGSXc_C4Ox0TDjhNuV-BYZM1Y_N5snrLgk2OUasYgTC9NjId0HGYSskc055QApCXj6tDRi5ZfPZeLvWnb3v27VPzkWIwwuyHaNSZLsWLad63x54NrvP4jPs8Uh5s8aiV9tP15uebYCW7xQ7uw7naLCvDMNusgnFvphGdP2wAKps_8t8HqI6_pGhEdAr2fGtUcJb-buIvhkbwM6-eutFyePG3YRPueJkvxk0waJTTOIvQxGcXcH4ur-knPuGG7QD5Ohev7PM8HDb2yNRW8YJ2AKzmsob6uevmDybfyDFVPlDSatr6DQagjuBO_KK_SoxgTNIgA7IEt07j756JuXfYu390DTRw7E_Jo3aYtBbSUkdkWtgrQ3Hxy_d0ZXhiYg1MvxJGrexJLDkfyPGTvQXiJGLaZogMiZT1GpOqsdik",
  "id": "rs_09dc31d5032af043016a7dfe14db98819a943bc9d26f139e36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.83,\"left_j2\":1.13,\"left_j3\":-0.87},\"note\":\"The blue cube remains stationary and immediately adjacent to the fingertip footprint, while the arm is still several centimeters above the calibrated table level. I’m lowering to the deep-grasp height; this should seat the open fingertips near the tabletop before closing.\"}",
  "call_id": "call_no3TCx2a1ZNpGLLgygIThDWV",
  "id": "fc_09dc31d5032af043016a7dfe1d09d4819ab6140ab543fb25cd",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_no3TCx2a1ZNpGLLgygIThDWV",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.261 left_j1=1.8244 left_j2=1.1427 left_j3=-0.9333 left_j4=0.0151 left_j5=-1.2568 left_gripper=0.9988 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7387 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -8.4991, 5.1487, 0.2613, -0.0269, 0.0513, -0.0122, -0.1573, 1.6205, 5.3949, 2.0293, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dea8e689564ac2b2a2f3df1021d4e7ac5acfa26ae30d494c07f0d72db1bd5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565079379d80efc1ffd931a42874eec186b20dd7f62405a4120b8da47ae64ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c992ea0d163a5a5f6409fd34b5426d4a318613d2a762f694895a98902aa40fdd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2598 left_j1=1.7271 left_j2=1.2251 left_j3=-1.1084 left_j4=0.0154 left_j5=-1.2503 left_gripper=0.9988 right_j0=0.0158 right_j1=0.6235 right_j2=1.2045 right_j3=-0.7269 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2803, -8.8274, 5.8872, 0.0513, -0.0562, -0.0659, -0.0122, -0.0615, 1.7436, 5.2171, 2.1026, -0.0415, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff4kfU1Nneez_mgwgz94rn8gX1jZL-bT1STmlUt7ivba2naJG-wuGs0fohkSxg7upyJgnWYhLuPt9ySaH8dJCm8-CxfhvKW1nW0485NPiJg3NlWn6zIsiEIDCi4aA4x6IVeKodPAHQ0mdpn2BAtCG811ivp_1PV9IN_VdSEOsfASYFiAdRIrUFIbtLl2xiEt56ZZhuu4WxLCC7svbIUQIS5dGF0TxrG4UHHEpoiFgWP1H3CQ0NhnjpI2Qag1ttkDNRyNLR8VC0qntAJUXSDho7HasPsl2YWaDJD2VfKwO8z2bnhOSucBfniejOVwVRkBGWK0SVoyYYbSmWRSTzaLdrTpn4EGoh6sFZYjga0761_bjD9zXqoP1z_aEMewd3cp_yALQ19mcWGL15ciPeuIsxY0oq1Ghpl_4VnNttfn26bW0HX6HAAFx6ghRPHg1h6LxStQ8xbG3_9OPDJ0A54wmD-lefl2fIRYFFI2xl27UyqAzwwiAICKkpmVjr_e43DPFc0XYR_aRvSHvNcSaFGZcLVc9EYzS_jiytzkxRuKhDxgjYdibbAB4swdfiS9x1WH72Pxqgx9GzKugay4akaHdV3nb4FKY_RWFw6vsQqnHnkjGxAQxBOwAdV6KPdKxwDPnuvN2lrWVc1Nre8Q7O2CHvFbS1u8RaVzFOo7Df36CtsPz45pKT8BDq17uP0_iVUIkOy1u1uukeGeSSseLD3jhnGVdjnoaJWQnjgmtxD_KsmUhwn7pvGOt8Jm7pO-rLJS8B7AclOd2HRs13L9WwBUd0rRcOc_8ptOh5xE8bv3CpiZR50dGFVdw7zMWCyECyYhLzqMUhxZK0BIp9oH2VpTXdKbcKE8nG8FoK4ni1-Sirsrqg9DLygK3ldxL5m22YYy64r04G31L4ArwavJC4iKFJ5Pyp6CGTDHNPjbt0f5Vl0gnmot9JNLkFZT8_BTPgOfq9ZB-a-KCcN1sr78bOJta_Prj6p5Po07Qobz6b9rD6ZU8twyJ6fdr5zWKSyVmS2ThABVWg1oM_AzFnMZIiG7neZwxvS6F0eppEcrb_4okp0e58srHlpDovVYdpcN9hR-WnfjWf3q5DROO7rWnTH9Wvis7D8bWxMi-dQ9sHhpecvSLIAqxkcfbh5OBjTbiDFc0fVBuQbFezEWZVdAwbWbN5gkea7isblwFOh7BWUCgztjuUfCWKxYuoj7l6iy-n6JKpGhHfBgxrcM-egsD1guRB9XgCeMpeKSLPMuUcXxR0n9Wkv2Fgc9KXNOWA5QLcLjIFbVjSB5MriDqaXKkp4XXwOQZSNJoW85ds074IYO0-rEYR5pBDpNnWSpKfmbJsxeKQ7_FU1vYzwj8bCA8t33ksiECxgem-ceRRv-vIFTkOQffT-DAE1O2epn4avF4P0aanwrKR4wK5u9ZJsrTbIVFmcufdWb-X4hKCaMl8ZsWYlBvwW66A-Dl258pDzh9qRTafZfbayIcOwP2XGCOBktigO5TCbCZbqtGh8u6SrSuJnx_oWKbpEj20UGxsV8r5jrc8AY2euUUd2vo0FfH-RuQR6sx9kmqlGSFTWtHMT1S49CLRHZ8QZh0es_qjuPod2FsYGNf3O1xR6gj_qGVtlzZdS6snZjyDQ5d1CSv2cXky29b07fRJZkuwdQ-YBblKhsFPUr",
  "id": "rs_09dc31d5032af043016a7dfe20c988819a8661dd68c31736f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the deep height, a cube-sized dark shape is now centered around (117,171) between the left jaws in the wrist view, and the blue cube remains undisturbed overhead. I’m fully closing and will verify that the gripper stops at the cube’s width rather than near zero.\"}",
  "call_id": "call_Z74Y47nNMQtfONhCh4o3Z9Jg",
  "id": "fc_09dc31d5032af043016a7dfe2245e8819ab85850acdbace2d1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z74Y47nNMQtfONhCh4o3Z9Jg",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.261 left_j1=1.8423 left_j2=1.1301 left_j3=-0.9234 left_j4=0.0151 left_j5=-1.2568 left_gripper=0.0095 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7464 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -9.7026, 6.0923, 0.0562, -0.0024, -0.0122, 0.6716, -0.1846, 1.6889, 5.2308, 1.9902, -0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25a4e8808c15298a122b924c8bc6f9c95b108ab5c86ad98b7db95ff2481f4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75284f935cd31aa0b1dd924d594e75dfbd3a206546986eab39ca5c494f304d9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252fb54e820f8fb9b60dfb51b26bccf4469cc530909231275017113557db0a15",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.261 left_j1=1.8244 left_j2=1.1427 left_j3=-0.9333 left_j4=0.0151 left_j5=-1.2568 left_gripper=0.9988 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7387 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -8.4991, 5.1487, 0.2613, -0.0269, 0.0513, -0.0122, -0.1573, 1.6205, 5.3949, 2.0293, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff40NCc1Bs27-uiHcW5PX6PO7hKU7U0_akNQfgHBSR-6oTXsTg7ktP_h03RYWkflnePmhc5WBxYsQsC1B1E6SO4lvMwHr1CI7i6SFr9K-9MSyH6TIMPTtb1zg5F6uKln6uNb6ZoDYdbc0jaeo859i1YaYMT-VVoOdDYSWWoX9oIvvl8c2BnbIGVJQc1pXaplQt2sNkZguSYjEtmaYlJ8iyjvMgr90-8dYQIMnqBKkLYYBI7PhAZTOHw1c59MBSUrA6IbL046YyFNxnNBOHN0dx28N1f_zOOMhUoCF9OS_l29q6PvfJy4njQNZK7C-RWLtZ3zeENKMkOvXrpqOJeis3VJjZh9nS1DQ8R1dauA_wJof_TDLGIK-SZJ29_hGCDlLauYoxv0K_nnzKlZJVsGrztEbei1qLi2Rx74K6rgzTe2aMlTZWYLmJwrrQZ5gPiC9_DXy-04Agu0PAFOLfjsU2SshgILBjAMwmXhNImC2zPUYdokuNtfIK0ODlgMj55TQ4C7oaRE6lcQhOAcnndA2s5SGCTyW8t73WlAU8ippXHX4Vw4pPryE3o78ijO4T1lMiwG7GTIbnUTr34ekNEjB-9Nd2YJQauUmYhn9vnSyWY2eAyGAhRwgkP386YEkTY35W8oVocxt4VkUhwjKQAyT7yETiErVB8mJ7j3CJ_WSKBVfY4DVCzwKwU4HW6nX_O7GL0c6rXp_IvB6quO109Z_IuzFEsnpRPMh1sTiC2GAOeSFus_MlmzGlHzqJreW1OcKXS09Mv9i8GIxO3yzaOU_M8P1ctmPmqeoSFF2zXm4wbSRtKl3YVTP7u5wCxo3xZuLXJTwFVdp4fvjAu_Xb3zAFRgPwf_REnSRf9892ewSM6x8ZAThEtBT3hQ0GKlTWc6r0OKb4GHkp18yosolxvA3M-yUDiQB_Jj3mKsHBYI0gXY1J4NkX1mnmWg_KI4RuNKxUihPiHjbxpsk-u1L8xMpBu5FT-ceCWxwbL-YlOsx17k2HWX9hg7KSHuQwclGknbaOiIDIVWYhnjT-uENE4-LG5-ZpUuPAYkY2FcEqh09-y7SQfkTTrNN9OX4D0myIPClmnqLidAIPg3s_yKya3IN-MBDtC9Gc9BG8oVlal4885GuCZkd8AnzWDPDjT2H5uSxgSMhQMv5YGmJpl9sfvV8Bc3xM0fxRXg51CaaKmbAYyrBH8ZFqTU-UcUD9jwnfKd3hSlc92QggjpMg8OViSbXmVWsvDPhomY35taBcv1lPyYtOOezgkUi9sjdXmZtqcYgPZKLL6bi5tiu5oo5c3yytpxnHf6wPLrfj3xC-4jRgQuTQ5Q6z6Oq5E9wqCvBNYTKX2ji6NPxexXsxgPyCoC6kYnlNk3PBDxDp8tIR9CceLXztZ79LDdn1ssxvxTNsQZXBfKFBrKRovBJjrdMj9Rywj2VohUv_4K49ZkescOhLVuERu9i2SIx3GNEpep7ikfiQQdjOZtfwLyM5QR9mRsaP0BX-O_JIvwNWyjNvkaLwO7i5EoMMgc2Gx_oo9RMps92IAUVM1b-dV5s933MbC2hL1oZNqw033RaT10XKJ89PqmUcLEHe2fmQhDHdXdlw2-0GaLx8cFkTVnM5ewIGiKWNOdBp4pMoOmo6i0B_eZ8BTuH9O-DMdQlW5uXCDpHuk4dXuguCDtCK5f_zua4Fk_wChk-zH7hQdlMS_Doxi-68zvh6s2Zhs-nQ4o2NKeQn9Kx8EfrMjoxaEgA5EzkL9XnZ4FSmwcq95nZut3FdNQkuB2o1gquVdtfP78tyfbx-c03RV5NZ8w5r9HK01t0HGm6jlWsRhCB5LpbNuihAXglxge6zdIBhyFuMmMknrW4bZeWoJmlpqmWpGMW4H-zZl0Upy6KuzOB9PH1qiAoLPleFKqlZWpOxrKYZHaOsaVz2JeZhzwfKigKQb-FOHJLBJM8qld0zyRAfnfpAsMFCjRM-jqb1975-wPydldfShFpDkW4nXJvJAnUV65pXto772-aEgqpI8Hmq7qVrcSo3bgFGTdNlepqcsAseHjrEqWCnl7Z8bUPF7rivs_ElRtZPTrdfzhECqb1Yeie3YIHoB7ZlvDVd94Hk1affUYvwN3f3_0abSo2m7nbDfH_FX3-dX_e3mGRXOLBk-VaZxXuUODrYDT6FYw3s5GDU88oMJ-vlDuWcDeWLD9VglPIUe6Ml6H23m9D95V3N8K3SpwQWxJPGo1wzZTAEEXlbMM1XnnDFihxvq8gYmAUajvBQQIju8QbYgNVJFMF2vc0ujKvysZorjozwW1neSxRV5nCFv7cfdSphkBNAVM8SLgeOJ_WLdYA_ysostCTwdigp6eYabbEMHvKiV7oER1Iws4IZIp70IsOvk3-LWc1PpSebjoIxMWLcYEk09f29fxdyuTXtkEWM6okUEDgF7-jpGvkoqXYvsDZkYoXuDuAk3tiGcxOkZ94Bvr2lwDojilwafxXKYu4-1v1nqZgpj0BYwsjwfMUUvw7e1gueP-Rs3Xprxu-0aIlJIMysR9Cpp7ILdWfv7ixl9JMw78UiXGDXUr5c-xDFS-Fh8eHA04hesfvkh4V599Wimpd5YCNNw6avv9PgPCK7bQyFdU3D_7b9CxYlwn2G9Xs2VSf8K6gtu-mt7QP1qR6lewWYAVmH_H6QecoOy4GxDlQQlwHDI2Zn6faQlOojrzeIf64mmGjHtZOAhOBK_U7sAlag==",
  "id": "rs_09dc31d5032af043016a7dfe2769bc819a94cf97d390d8dd55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.2,\"left_j1\":1.475,\"left_j2\":1.075,\"left_j3\":-1.17,\"left_j5\":-1.2,\"left_gripper\":1.0},\"note\":\"The residual is again near zero, confirming a miss. The unobstructed overhead frame now shows the actual grasp point around (123,140), while the blue cube is at (92,115); relative to the left base this means the arm is about 5 cm too far outward, so I’m reopening, lifting, and retracting to a 20 cm radius.\"}",
  "call_id": "call_1KcjiUfyTGMvRCDWv2WdO7uU",
  "id": "fc_09dc31d5032af043016a7dfe308354819a9575d1b8eb4a5915",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1KcjiUfyTGMvRCDWv2WdO7uU",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.206 left_j1=1.5024 left_j2=1.0855 left_j3=-1.1286 left_j4=0.0154 left_j5=-1.2106 left_gripper=0.9947 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7616 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.4581, -6.3658, 5.0393, 0.1734, -0.0171, 0.0464, -0.0024, -0.335, 1.6615, 5.4085, 2.0293, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dc47ace550b5953b98a64332fd03716beea666b98c93f610d8507746dfd19d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7438130fed0e4752c93abe00cbf68ef16bbf79aea93bd038cb5f7f60ba974c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c016685465072464677e8b637ed75f63f1c3549b26283c7a352b90510f0990f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.261 left_j1=1.8423 left_j2=1.1301 left_j3=-0.9234 left_j4=0.0151 left_j5=-1.2568 left_gripper=0.0095 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7464 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -9.7026, 6.0923, 0.0562, -0.0024, -0.0122, 0.6716, -0.1846, 1.6889, 5.2308, 1.9902, -0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff5H3XVjPlys7bjkqDfCxGlOciRb0dyBEMz8UKaOPF1PJxjZPWfeLFvyeIENj5QId_wIVm8waFm7PDyteO3NZ9iEI9_6Ulkn2Mu_34UaJPtJHGpUPESSsDXrsD4L721hp9T2xVJXJdxtHt0sZHiB8rHziH71k-DUrcw_irJLmcaKOaK7y_MG5kt955mHQTytdfVugkSjQFmHgvY5Z9znvjSudosDU7X5Ka2OketL_eun3HR5drg5El6hanX9fl7X2Ud-_poIBmiWmzGwRFF9G1tPTXuzkihDisq8oylOcbDJMWUSCXiw8-U4KCtM53ZucR14eZh5zjDCx_uwRRn2k-4gtD4p_vaxAVGVva7k5JaT0ffNcbekP2zUZzKmJ-bOZbnRlq8pXiH7cb7pYcGU9Jylb28zGXp9UdS-x0jCL8V7v9HqelVpJ8NKCn_23psbVuKmfdEwjgV-UzxeHefDiynuV1zQoccp-iKwwsCMCE56d67JsjHVVaUwiicH-aO7SaEDMquMoUNfMehzWOLmNdF3Ii5N6_qbb8h0PUtrDA3bE5yrkVXTeLio9eWzf_GywovPTuzk3mWd3sY1graCVFs-sUjo0Skjk8wBC29KuJE0WrmFdUqRStIjWJOED9fPXvUXuSFWVT_axUX8gTgvObaffez-JyQLqNNj5uZb5DRB5If1A0vq_ajatp--ZNAVz4JJRC9iKFouiVPCUS0Skd4X32ieGMcwL8rlC4y9BD7XM5lNJS7q_qyO-rLxGhkzh4tgO7U_x8qL0xuBtmbY4BaLX9P12vfqpRyFyUUKwRO7kxY7kX7eD4FADk_haMI_CemLo7ojT1h9FFjNWkQz0ZBoPRxfNjUB1gIp9vuaz10C-PRvgzJTOXulHqDuquCsfQ5k402-Fuj3-I6hA-bIIuX0Rvw3Ml8dozQp1N6wny1_ta4YU4nbTIq7h3QxBCXAmZeGUSurj6Nf_2KBP8m4Fv6_sR7fcas5vvaKD7Ncn2CedEVq5WZMQaOWwRub3_6T_24tnezjFAthGudD1dfovLamKG_SV4EcIAYYYQrjnD3wDPY9W6YqQWHtx7YD18k3slk4CiJSeoh-H9puNdRUem0HhjZE4BT6FdNfIriQn7n039HQEWxW04NkLiZyutTNLG2E46fbKCosT_R3W8vDvZR2OVS6gGVQyR8ggywkvAiIQe12CTKvifAcQUqK7TEojXnwf4vCXKefQo5bExAR-f3JyiK2PVYMmYV-Ti4_R7iC-wPNF0X5PVZVxqt9lOGzy6TH0fhP2v1D4w2MSOz9ql2SdkJ423A0UOH20rYfCMitFMqFBG_b7-4hrRr2ntVnFjYk_Dc7GD40gkX20pLdPLiscTwrJoeSA_2ntUR200OS1ZB9AXBjE_kfsJpgyU1JSuLy7Q4ZrDvk_UtQNIUj3uT2OTElxYfqEmTzrB-AO4zp6CKAO2IcIFlsBbVKJZEW7xdQo8tQAjF8x-cvD_Rd5oz4RTvPRLMf9p-fLdh1G0nHngAPVaKAfn6exumr8c-Zgc7osrkQkFGeUvwP3t_unSK-Xnz7SGSA2KsoA-GZ_373FgYNAwXyE0blnjIjasD3YktyinFR1-R6owgoFc0V7ki9J5t3I0iM0vbpoHmSxOOaqGfm5K6pj4_zlRL1opio2rbPkJVBbYz4LiK2XcoAsb_BcBCULRfm2x-lmKLFrZSDwTigPYkgsCTAa3GpC3U-3nPPIQtlIt3T--WJ7p4kFaPZs9SnYhLUreTt6mlCugo1Fs48txefhlG1NCW2f4lsT2A9-6RkpMNHdvMzYoQhrTeU_SUIBu9HF64KFrNPHJaP3eiPyT3Q2QoiiYEIClCUITHdfEiGYz3ldhbCqT2d1lJZvumKxGwJhO0yePV8SC_XyKy2KoSU2vaKXI5R8UpirCfaBlKrMYTnvBPVi9b5VzeCVEiqr21jSCNyqeHlNzZd4O0R5lZAWWU7uDzUdi_GO6yGu2dGAAuf50NONmplwcM4qtcO_5rGsUDbUpjQ-Jout4zdpTuDnGhbLFuzE_69YoH076ci_ghnKcapHB1SBYFzzYtxK1z8JTT3nZQyk3jVEMOElVUVjJ_a6gybRRv6cJ4CdCrTqOsAP3Nhwn9mMzBb-If5PPCYxJczbjSjsyvvkjhOaJ0of1PbFIpZ9EjqIu3Sc2_9jHceOjtj-eR2_KEQ8iLiXyHXsoAwOo0pDgTb66DEXRI5E7HgRkfUzsJH6x3uy44p0x27siivYupkCR4eTCmi27icH9cKX-GZbWCwVvx_ICX0w2J6mX5iI963GrXLXkC26ANAX2LAh8PDrPM6Td66b67CBZOO8vBmMYGfmIoeN5flTItwPxX5in2vD7AZ1KBOHgXIr9A-nVTcRYVaxsYco2wj6vSQQisYi2F_Re7EC-2RlHQTIp4dDgirGIVXg29H72RUaxJeJT_rHj9cFzvER6FdarTqLAe8Ppowqb0defPnC2_UxOQrRoci52myNLPcLm87xUVk1iK9MFO8bRM-Hd9VTshSI9SCeZJWI-vpQ7j70XeITmj9HtxqsetqHpRfXFrdoQMXV8uvLrlR1k3ek2_4Ut3-k-ba9JJm5t1vJV0TJNGT7I0G4HExrKHzaWHDK4XEXermDvZz5zhdkDGFWFzrEEbMj8og5VKwHYASbNxBHEpDoCojrVegiV6oC-x-28jbX8ElESHtrL1fzyWRG1xuik0hgrBvwD93hwO4rWsbgc5vYH7xb7mmq5YnQHBFFW-8yFdcfOyouuGUT_FbwUcCJeZpBA3P_K70STSjK2ZxKQjgnOxR42IPNeOR398WypDojczxvLOzvvHbQaQV_Gw4V6qxa_ML7lgO5itxWWwbd-CSwUrIsYKMH8yq0__2PbG0aRqDActjlGomanzbS6m0zDTaz4PNh1Kww7pHUNee-Xwj24EY41-fA4ZAqpMvqaGYyh9qYOWRkWz12Xx0UGI9cy7aCQgmu76Is0NApI2ZTz36a2rU9vmLSKCSWLT_Bidmvp313JWCHgghjlZutFpoP2dpHLSTtd8yc554lVRnbb0x6HU2Epvi3HZnz3LsPiSeM03elRbnTHe83tuZMwk9snv_ayxTBwoGzxAzNPru97rM7J7OJnRcHbA7IYytasdIt3iXfaA-HCJHMM2uimnS2qiQhE1m66n0yRzHjB6osFY-3cRFfFy-9HAD_hpaJdn3E5HyX5Fgvd-bG71BAibPlAPffl6IUANoRaYsTc-TvgFQXHPh0mB6zBDEJeB9sKj5CiLYxJcqWoLoTx1vIFaZvJzYesjAikqQv6ulrsWYT_goHAdyIMUSUNt9hvKl8h2cBCf0nwOaiIWK-RcoLcINWTToPa4Av6x1jmfemqgUbbyi2vbUy5rS8yC9KeGbFtP8UG_IUxyMcGFHZak05oKVm7sM4fXewtfQR-sDQkqo-dppYo3lNOpnygC4wvMZslB3G6GOX07W8HSA-4a5l3cjsN676DIjf3hRAbk=",
  "id": "rs_09dc31d5032af043016a7dfe39a610819a98c34ff454d31b1c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff5HqKXTui4VzWgRaOSUJUCgUCA7ImSLh9_DP3Yepk-FFaa3woEyoJKMh91eje9C24FPFHQVkXT2GhsOqeryfWfXMIjRlBiGFcScC7brXgcxVAPjTnXn4FAWpRWij0qPoZp6dr0PG9wK3NgBH5RSyxAiPzznL9mCnsipX_65wHksG54PXNMLpxZkjvFz2T24nuysdqQQoHZ0KQw0Xbs-1KH9-D5OflmGd7jdYCXI5p-9RnTpwHTxZSm87OLyrwADE3jXs7ajr3zfYAPJoYPTGuhmLCHd4LtMiCItF8RYSeHthtNBfMtrjTunuVGuRon8S80johlwaH-dn2YyVCbame1k12EjcfKhtTFuM5M5ygZ0tDlE_wF3TyOOHPRacE1DzpH4HagOeBKnB_93aTI_DivIhyjaVAlbi_ebPSdeUvKEPqaBzmTnn21Y9pdD03uuip1FP5hfucs5LdduMmsV6KSWteAmHSrkOkZPuehBJH2-HIP3OFSD4iCMXUljlFhFdzmvxRhQpNFeH565JlMH3AgNoF-hKi8dmAg12-ju9knEaJQjUz5PrnfEBMcKjH4m6qAKTfsZXD61lMoVwXh608_bOuUgDLfq6Zx7x6qPu60_WvWxg3458__e_ctEwMYbgHPvBYI8-ge__UomOaIV2q1Eig9yQ-NDaISm-d-BHU9qK3m4izeIjusSTGXG9fdr7cey04aDgjcueXHesAQcGnQM2zCL0vICKOVzS1tLJu_sPkJNMOZi6v0vEzISHTWkeEGWD5Xt90IL__IC2T5-dYwUcWRxj_mVjDae7uZ5A1m6f1UnyYhpphp9qxzVp0Sg_IteegNkwLWu1xu-fhWmcq92W55OlqOTVhV-9Bkmsw4woM4VK2dDWqFgzk12W5A3vdOybzoBKvep6CIjJvSBimIQS-l1zPWsghwYXKvr67nmEPKH0IFDKs35--7HeA8mfil6",
  "id": "rs_09dc31d5032af043016a7dfe456f44819a9d6c62dc86cf76eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.59,\"left_j2\":0.995,\"left_j3\":-0.98},\"note\":\"After the correction, the gripper footprint sits directly below the blue cube with the bearing matched; the cube is no longer far to one side. I’m descending about 4 cm at this corrected 21 cm radius to see whether it enters the jaw gap.\"}",
  "call_id": "call_pTNRJawPM1UQ6yG6ybj3L7dR",
  "id": "fc_09dc31d5032af043016a7dfe45bd10819a9b997eb30ff2391d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pTNRJawPM1UQ6yG6ybj3L7dR",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2045 left_j1=1.5841 left_j2=1.0107 left_j3=-1.0359 left_j4=0.0154 left_j5=-1.2091 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7692 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -7.6239, 6.0103, 0.149, -0.0366, -0.0317, 0.1099, -0.2667, 1.6479, 5.2034, 2.0049, 0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d7d070b8b3dde4b5a414e88920b5bfa39cd30433f2da65f8d6e6aaef4b1444a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092b78893751cb38fcfa137e00db51c1b4eb2e9f31d17496394afe7457dc4943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1043953e20b574acc4aa0fe37cc3ddc6abdf69e18c87b93b1b26ecb16dd691",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.206 left_j1=1.5024 left_j2=1.0855 left_j3=-1.1286 left_j4=0.0154 left_j5=-1.2106 left_gripper=0.9947 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7616 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.4581, -6.3658, 5.0393, 0.1734, -0.0171, 0.0464, -0.0024, -0.335, 1.6615, 5.4085, 2.0293, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff5P2F66gWXxF-INmHqq89TUeLsZptyzhSTWR2IhX0UKhcQvk-pmSGJG893piKgamVr-en0PD1eN9wgWzBgVJcHlmME9kty2fNTwnrj7vWdPLCi-tiwzQeW08CYBQtSs2T8zKro947ANUhIye8kzFikLNNeSpyd_QwkylQgTxGmFFmQYSO7FOXnsej6xNZtOT3FueEDv8Yj8ouvnNdsov9hPzZ0ZTueePrbXlucSZDRaVE4odFfCWpp6v9F193WxKC3onSXnasvqp40QFRrF72Zy7tm67gWxJeb1PEAUWCewN-K1AFUVt9FDaZw3CRN2golFmjgFbplAV2NnXmbgusMNprcLtrsLR6qUq0LdG4oqC2Pmnmvwzp3Rz5XDnQp-4KjXqwGnnwQZJ9hyGN1KZYBBwNwfyTN7QdJVKVTnuAn-7DjqOzFKDFa_7Y7lzyBQPkcla9PH-ID_Fyiof6n0JvDaqbVmrTAar4U-QF8JazngHW9rNJFOt91ik6tTPRvH7fXuq3E1n2f5Wdg4IAT2WmT53kcf3iVGla9_K9PJlekvcMD85fz0RXao18vxqi04zcSgmtUX5DOlDc3rp-6Iby5m1mEPpsGir3hL3Fwt8HxCrA2Xj7boz9XNESe2aoLyLepRd_r8D87l4cJWz4Bhbsw3SbXfACqH5vf7nJnE_5IGzXXdL4U_WZT1Peaj9dqi52WB0yf_dFCnCqoPdZzwb7MfDkcLExDsVOAZQzDPr-1motoU9AYmDGap23Atio2LcbrTcsBDAxOvQxlNYSOMbtVn6fY4QMhPfIoCaRVE3lwQMHCTu0WG7weMB63bg4iulzjQW_AhE0x16fjCzPl-kqAzenEuxiQr-m47t_LkwQic7lVWobVjl7fAKU2p4CyhVUvJMMfPwFWJjn1S7A4Wa8dkbdyLLEv0wYa61Bu7-LF5Ozb522IeRficCv5Pun0AdfLQHoQ-lPfHSH13OTnN9FEfCDDhAyKN3b3Pk2KiJn6wsaBUB1rLtRv01sRJTLO0FafEvqRVhGxGtjwWFLcJIHuhMWEiTGw0EAwDkf4JgiHvc_JempekPjuC45_KSdI3TzNAw3_BUJbuBV2qtStpIcdjPCP8FDEv2gZfyOHYPjemQUU1zfQFh1fEOjOpjsDb58vgl558Yd9nZKfe3zsuhtezCCT2hJXh1hMnSzpPRoVHukhggtpUE9iubz5NTJDfwj4C2YcFpnDuWYUmhfxmdadsOAeryeV0zJHdzh13livDnwN1RNS4QUjZ0OV3q-LXWAspOKIEoJdY5yBKBNd7QUYg5yMtTlKyCSnoYOJRk8bgU3fhfJ1JX25_AAfHT6fY-Sexb5ps2rD1kT6EimqKvwxg0vOARN3XuHVVcGHjZOcdGYuHj96sluKJ_vryQLd_BP29xJ54VM43mgUZWhnhUGzb70qU-xO4D5a57f-8WzR_rRQY4q-E-IY_JgPgYtmma6B5x3sBGfVgATl4mTqSJL7DPYTtfAkGKDIyrIlC28SkKskCqHJ-IRe5mxjjQLgFBO9UO_jbliWbZ352-PrcbuMIob4TWopjsw_tstIyv66hDTx9BaMmiX4G7caqXeNscY97ay--Z9Z1L1-1WQmK-PJuwFjH4-a1A76Fx8kY3DqB7Sh0LUIABUno-UHSBi8vksFSCo3Mds6h5FlsyuhIM6kFPuHrZLhk5R_3wzK4u9PmT8rncobuSmF5MraiuAK-_fYbuKR9PmfA1uOkm1W6Lo0-NdXNkoW5-0mvafed5gJRHM7tpJ5dyjm-QSZz0Db7HNwJTxI-4FHQZ_h9rfTtb4YZ8-kA66By3CkF2YQfuLxzLfs=",
  "id": "rs_09dc31d5032af043016a7dfe49c214819aa6824c1d1f826ed4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.645,\"left_j2\":1.2,\"left_j3\":-1.12},\"note\":\"At the lower view, the jaw tips are still about 2–3 cm behind the blue cube along the forward direction, though lateral alignment is excellent. I’m lifting slightly and extending that small amount so the grasp point—not the camera housing—reaches the cube.\"}",
  "call_id": "call_z1ZklxkibIWAf52mD41lUuXK",
  "id": "fc_09dc31d5032af043016a7dfe4e1b3c819ab70be4e75cccea27",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z1ZklxkibIWAf52mD41lUuXK",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2045 left_j1=1.6348 left_j2=1.1641 left_j3=-1.0901 left_j4=0.0154 left_j5=-1.2121 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7872 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -5.8051, 7.2274, 0.1099, -0.0366, -0.022, -0.0024, -0.0342, 1.6479, 5.3949, 2.0635, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18550f86f810aee5d9c9ea481edcc66dd7f31a5c391ddde69625febb453d88f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05201e04f82e8d94dcf029c71ea8f8f9f65e0a86fb39184579b7905ce4ab76a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d080c64399a6f5494a444207f46cad5284989f4e3c25bb17a892f20b97bd44",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2045 left_j1=1.5841 left_j2=1.0107 left_j3=-1.0359 left_j4=0.0154 left_j5=-1.2091 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7692 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -7.6239, 6.0103, 0.149, -0.0366, -0.0317, 0.1099, -0.2667, 1.6479, 5.2034, 2.0049, 0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff5rNah4BTAzbKi20-S4HBRi1DR83eoujWbvYRQ0UOMb0QH7uz21GccTH0Nrm8zo-rvAfYoYjv-piAiwNYDbphs50yHYOFnwX_-wwS7qNEu04RHlB7zsagV1WIp3vp-NOtRwGjbSHoSrsjvHJPNRP7AkidApmebzATodintKqX4PyaLxSCMIs95gORXy3wxA5bCto5VPK57AU--2jggQZ_gfE_oB2g7VA6Wek4gCrieCwzl_3W_M81MEvxpXS-yhrEuxRSK3NOkllm-NCCmlLCr6fANUlX9Mwyhm3l0r70zuRSLO9rsU-nLHnL7YvLGU3B-dOF46Oxe2T15yvGqg7ywjLN4Yv4AGUz9QdzN58p2IFfst32DjXofJhL8pITE5e5x9XPfFaCbH9oYQfjGuY483w0IP0EQ76K3UOkkfam54P3mW-XBfsOtuZTRfdZ0qz0V-Xfx-nJYUjc4db_XPUu4FghrzZQ7RgjNNVfJwtPETogF3ecJm9dqIkdWcCku6_4fhy_tzO96fP8NXsVXBNyi4n1xUYqnRII22QthV6hw9yARqbzxhpTIyodzpjJDCZZYHbRk_ypEkRFqhQi_-ReBwLEr38juBLYOLVSqIdWSDDMml1bIPir5dvWNVWq54chH-F7qhuJvnXsp8ARUUmLPzx1pFXMjRosZtYc22JgkQxfZadkJ3Z7sSTPcG1ZQkY29BkKwimRArz5xZbQRzqg1IUSUtKPT55hp29Q9xY55w2SY6cQmLhWHWu_9nEhCzLBO0-8AiZMq9Et6hTIyfOr0KtBNhk45yRIpY1EkPyjkVU_fKx2Y8jNfQFcKtH2MZIE2LYXvwaFp9kF6SDayvFCPw1z376B_lsOPJcLDL0cAEN0HGAWWPa0HpIFaXPj_Ilhkwfantvr2DRR9JVoItpCSrBx79B0BwgThLfxFqqjSveBVi2469D5eyeIwRCLM1HWNZPq4Xbr9KAI2G-gu95PTt75ShNTZ-1r4zlP91kZHCd2sOWv7q4ZVFlVHr-rGAOu5vp-gZkxy4uyjxET2i70Df_T3qR0wf3vJvwLgVnCje5zd-hBB5O3I7o4UoCwQ858SpO8nwJjlzugzjzxRdjsHzs5kDBc1D8xxn_UMFub_A1Jfc9HA-BddMN4YifoUQDPpcLNJ2MC_OtnyAHioFnHlgLIzA2cZrAVvNoM2Utqq4ykhl-pZ6owgoR9Gv5eAYwFaMxNU8PyOJvh-XrZOmZv8hrYw9czl301J2RAY1xTa3-PqSbDjpfymaQDr6T-qdGPa-dW9oMDLRszuwizkDU1NV7f0XwlADEU14nkixgsnmk4QE854ZeqDtOGDt1XCTaBexKJdLqNgBWhaeCuOZiFkg7LYmtloD6BRi6U8W7w2ndfMuzrlP4BGc8lKrqSyQcIoZ-tY_LiLLCL0CwnNlMAVgc8p1fdfnfsb-ot_BVNnP5PGd77GnZtYRUBxslXsjiHLkSTO-L-iB3K9Y_KahI2I2SU6P1nbnGmKYno71i1G3ixstOjZnhsLzfDZKDnuxR9_hMQgfV1LSvcLEMlFTDDPJHZCFOrtEmzZc2fiFtnhQaEhcpZ3GdQAtM73cRrBYPveFb4mFRVK9Qo0RNi1o9QAuB-QnnrzE63BnZOsxCQnWO3IQBvb9dgpxqbXL6ipRD19xa6Nq-Cg6UD7jx3_WX7JG4TYOn2oihT5AlFoB9rY_doR2tlnc_wTqIoQxXYP3QrFxwAfyGeFGth9ZLF-d92cBmF1HBzFJ80Lti1hdJDU6L_xF-vVLRGFEJiFeHWzFHjrF8cQc17WN-HrgsZYjl4QziVAcNHBL1NyPTsmXJFhC_v8BQUtVoXOQvXDPG5WmLE9fGHqWe19XBLagujUxVbTmuJLVuVvSNAx-eR7iDRxC-Ged3_6TWMQtVWnKzZ1lJK7yfkvmziDM-jQtRQxyi1nQbvCrXx2gXycB3H3cpGBONY2D5lZASK9cXvDSpticsNUFhOtzuNN66diW4OP4q5NUhY5u2Cxlje-dVaJnrAqjAdDpcZk5mBDVIPFzqXeg8oGuYUJsTVJAMQQ1eDAam70GyhnbcxSkuoPBASFaDMI9MysmkTYMBtRq6Vr-5WBwZPeefXeW-kLj0z4bGyyUiWj9yoAOGIHXndInJlGqjry_2meejaHwaQ77EO0bX29o7qa-aLz96W1_4ElB8pjQ5YxHaRMJcLH8Beae9mt7TcSWmXSR9TZcCkNMF8fBU6GOM4coi027vNVPMsN-vujJBXZtyt-JCkBAcbgD-VpvzZwbPbl78kIsT4O3KrOVLVc6lojVbXFZfpihqJZM1O_1apq5lt7pwgEGfVP273jg4fNmUiuvvIXNKeFmn7KlGmPVSakWPEdnAzwtH08kzkZdYxRDSol6zv_OSnuRmQnNrHlWEkq3I0NSnBDXHg9sAiGB-nt_ZEgBfPvO057aFM0LVPpGycKRYxuM0DIV_Z0NoZieBGMEdpUM98MVXByF3JqYLfqtQtPj6PbIoa-pjMkJ7rNdF0mcBoC2aFO_4f_DgOi86F70UVRDirWR6w8lZZ0zRkvOvAMfqAxf_fL4CPHYBZTA0JnLwSeKPwYx6z4ZDKoCLF6rKZmzQIzMfxTyP1KBaoNOIoFHGaUeR4zvIFUjipizQ1Hrdax-aywIWBsETtQypjM5B0TKxbrj6aIPw9pGIPXzMAZHQz_ZtdtipRfcWJM3_h9m-ygxupBs124fjMKn_xVmaKcfMnqKNzYTzXjGKVMWv6Dp-7Y5JPFgctQo6f6UToBGSPLJIWwD6eOr4sH6Fs0Cyu940BHkglvZQlApaNgFI15IQD1mezmYgQtRhkMwruCiIJWzXt4BVaTLooxcrA3UkTPBRdyVtw3D8TJhuFLASn0Jyv_bno48hsfj7ZgIWVon1sJEH9rdJqUw-rxKlKKtNhyDz-nEwW3eC4gJ04uqtWWZM9JV2lVunc2EO8zDBZ3BW7bY-d5GiYNMSw-3JEbdoRfh1kK_MHvdmTw4YS9Sd6_6uzhy4TW1f4hNIZhRSEzPCWP-KWnkgpYHZLGXY1xJK_RiJqkqANuS674OC-Ydrp9Fa-Z0yQaqygZ2TIUAXWA2r7TgPQu_uwwGa4Eh30IosDog5B3YDq-vkxk_XmCE9B11-1x601uKypKVhxro-A==",
  "id": "rs_09dc31d5032af043016a7dfe51ad7c819a9b4893702b18db03",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff5rd94aFRodNMrSA9ysk3iRcWBczcPlRFYPXQjccP8s4ZtzEeACpwIznXSnEr7ZR61ESDxWzSEIhh8oFYv6amrWNd3w6CddsM3rAP7CcN5PCHOIFxfhNsBD7YMeWxkgZd1Gojo6XaIZzL1zHz29LKHxI8gbgJkIC4KJ3MHG2jKlWjBBv9ohvXc8DMMJZMO0kAzcOY-VrxEqLnQrTXa7aQmq2SaScR2BOv40SY4nR5hrmGExKkk6AoqrSK5Snidsp2iKOzEk4kGf4pJUE2EZPUD0xKv9jc-a8Yx3rS57cufyi0paOHMxQsayTdhkbKhLeAs73N7xf5hKxDl-Az4NiXAFvi6z0j8bP4iojaJK0bp2PYOINf5EoTF5SSDumAN8hzNtqWBpt6xlcSszxgF-dY0fSJZA_KqXyBC08nkYI2sMseGAu0--HawrYyeHgAOYtOraEmo70gyRSpTEbPPj9-CiJp4bFQF6vNtFexPvZNyNHTk0LF4d2Tp1Sz-9kBohFTzPHfAyiEf2okGcAUiZZTqPTq_AUgM9t2EjevOr6EPZ71N_TlXh5KlSfY-PG_MaFyiVBpw8lyjnm3xfbUUc46eXalQyscY24R-yefLPtsUTbasJFpZKUMu9hmQ7npvjccnzHPePtJrwWWvEJlVTG9v0ROEP1WOHMkyEJe9-ilhrojPW-bcXbhQgSXV1x1mvKbtQQOwCF782sCj4NstYdEzNUbGtvjstHJNp2nGyd7Zy6bG2hKpbFn4nfbEuZUP2MSkX6uHNyPTtl390NCYhZDXFPFaLP5bQQ-fehbh1-BdHuddCZJR-TnpBQTBoHRlSsgY1Oiz_hfu6XYyUY07VFbxMxvsCnsThCy8UHnLQIjdx28CiQPv7pMH1K8JweVMGeRjLr1RF2FNyF-aKi1_vi7bix16aXBmz4ZGbEh7w5Gy5CgmUPpEkdtoz7aTlBKJDitX0rjPyc2Y_y3ul3gLhUWQ4XtMSpZ6hXFd5ZG3x1T-2oBnNyK3Zf3roLYZntXAMODKwhgJn62FqS7fFSoML-r88pCCP7sc80IWs0pU9PjgrCYnmbDSVq5xBfJ6dK_SiXGZTPnHihBUwn_gAuMZ82jL6k8SEThCU35akWr3XKSHNokGBb1JcoriT21Cgw5H-nYYNogkfzsgdd5LLVKEXycWzZDMXS5-PPKfV5bYwIdLGOk9PcwqLC1DjYhWI9dv2L9EwLAJkZnFw76Fl0WoX_MUVcO9GYnqjL4l-DEpvfe7LHAtMOSZdDd9xQrlXEsP69C93P7HFzofYuCsZmsSHzrMfP04LOFMDvaIIv-1YBDaTc5Bj56ZDpxebdwwi11iKiUmjgmFbpITgiiVcy4lNF8wwjTFAvS1EbrbzmAPnn5tSunKMKKk8ccX0OuSwWyjuSaAy_seImX35VhjeFNqKiEPZiKEHF4hqmlN-Mt2J5jjS6KbyVYq3MVno17F-C1I4LPzWPZ17rdu2z391YQ1l5WjKIw==",
  "id": "rs_09dc31d5032af043016a7dfe5e1e6c819ab0fdc4333ce829b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.06,\"left_j1\":1.61,\"left_j2\":1.155,\"left_j3\":-1.12,\"left_j5\":-1.06},\"note\":\"The finger axis now points toward the cube, but the estimated contact point is still slightly right and behind it. I’m rotating the approach about 0.15 rad toward image-left/forward while retracting about 1 cm, which should translate the grasp point onto the cube without a large sweep.\"}",
  "call_id": "call_uRAk19hNvDHrpCfMijkfld1i",
  "id": "fc_09dc31d5032af043016a7dfe676690819a92015d5cc6dbba33",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uRAk19hNvDHrpCfMijkfld1i",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0794 left_j1=1.6367 left_j2=1.1622 left_j3=-1.1156 left_j4=0.0212 left_j5=-1.1252 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7929 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.759, -8.8957, 5.1897, 0.2613, -0.0904, 0.1685, -0.0122, -0.0342, 1.812, 5.2171, 1.9414, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf298efcc6b559ff3cc4f51a336dac45dc9ab9f3f8422b89ff32ec9b76194c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e8d7ba74fcd374aaf2b4acf9d00d2a0b9e3c05f2b3e16e75928e126ac86fb34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0fc2d27bfac19128a76e90fd0cdf494e4af0a13e194d009b7b467437f9c929",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.2045 left_j1=1.6348 left_j2=1.1641 left_j3=-1.0901 left_j4=0.0154 left_j5=-1.2121 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6239 right_j2=1.2045 right_j3=-0.7872 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -5.8051, 7.2274, 0.1099, -0.0366, -0.022, -0.0024, -0.0342, 1.6479, 5.3949, 2.0635, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff54xzQ-JipmM1-_azfbZB2y0FgSNao4qgjbJqyMWWulh5gVdUc-1oDNBevvR99Qdbr3gMZQ8XCTrEhrv4uMz6HO9OFRQqN9HuN5St_He9ZAr-HERxxLZz7ffp27YE4zCOrqOfrw6wxN7TRgEsg-YWUtEs2k-wV3_BFKJeMsXit-uwk3jIfxvohq77p01qrgR4nKH5k2EXR2md_6sPXN0B-v2fcAMEg5omtQhCfUVLduWcDajfBpb1rnn791-cwTI5oBGa3RLzbv-df7OtI-YxDeLFiO5s3LKq78bGuHjHKV0iQdEtXKonR6GbRReH7VPDBQQO1VWcg7-TkJ34qlqMqBae-ymI6WvF-aTzPqJlbBkIbtuCfQE-FJUdF-TQyFLPi57Rq1-q6zbzuIUa4dClbmk75aO8eeSy4icurM74RDg2Q9a5YPBOJLwTXX5QNzAonzEgnuG3k29gF2AWEAog9dkzKTOpBsFj5-epTYCPSj6VpGPXv82rQPKSaR-zJJyMtD5mOWnC1zzwz6AwsngWoWVaCjATaPFMWqVETUrqEhsJlrvOp89DB4Qy6omxKaj2Uz5WIZ23HQrKY2b3hSU6f5w0RJaE7DIdnP-OiJqPrpIBLhaJYFUGWHsPsl75CDYWqe5IEpTB6ypOrBAiYt5XCABUczLQ0INtfbaloHmLFEwqrapKEHyEE_wstCOy2ll7RT6PbK4C37Vj_LP48dee6ekBe8aI1H7hHnrwb_vje6ghCFW0Rytc4BDXC39U5rYv5N7kpa4TOl2t18XwVIYtUs9ioi-jKJDAv-MaL_PrrOX4lObb68VjptPneRiCNHbdW5cHV8TyhNEf6h8P1yYSavC0JioqxFB7ztHM1GXkjY7ExL9CXawGxzH2YgvfQZ9Mh9k2cuo5l-Q7eo0Rvhc-uuQID02oSt9GtZjDDNeBsmiwDAIk8W-W8hA_K3p096OyaZaW007rDGBmbH3fl25NIRrn38Ee2oMLH3YXXi6E0twuhIBgUi0EwB6tvw1qRPgB_KCf2sjxKWugdM5ZuZ0AP8UZ0U4AC8awS_K_-7WChty_fdLwbIEQFT0kj7rbmm3-jJVV-oKLb-uallRlO7J2V8I7IkF5VgiqoC44ez3-Ik20HiqqS0PcYsl5XZC6dj1MC8YmbAlkC7DAM63pmvJdhjTpXsZEQJYW0jgygSohT4SZFpRxHFkQQiYRZ3CquKRUHmTIyoRFc1kUM2lXmb2P5hJ2TTOtWCbBArPAUPITOUxQRuzvpq6zYOR1Rk2lEAnrQiYJiNlOek3laJSRQvOPKxCSMy2_WVWhQ5SFI0EQ0IznzuBRrFXSgH1n4sJnIeNylkREKF7N-TdhRfAVfGD-hUaEF6eSn1eW6N8OIIPnWxO9EI9Pk97MfVwzwIL_BI1-YMZ0qDkHAPhxP7SayDi82yLLmrCRt0fVObnu-zRWgk0rc=",
  "id": "rs_09dc31d5032af043016a7dfe6fb3c8819abd1cc3a69b8de76b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.695,\"left_j2\":1.06,\"left_j3\":-0.94},\"note\":\"The blue cube is now completely occluded by the left gripper while the red cube remains visible, a much stronger sign of planar overlap than in the prior attempts. I’m descending about 3–4 cm at this corrected pose toward a deep grasp.\"}",
  "call_id": "call_iCgo4dKNdlYTDUkAqvsK6YO2",
  "id": "fc_09dc31d5032af043016a7dfe758b60819a9718bd80bea43588",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iCgo4dKNdlYTDUkAqvsK6YO2",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0782 left_j1=1.6878 left_j2=1.0786 left_j3=-1.0061 left_j4=0.0177 left_j5=-1.1076 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8009 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -7.788, 5.6547, 0.3053, -0.0024, -0.2027, -0.0122, -0.1846, 1.6479, 5.2308, 1.9756, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd8a9af01ec8d1c49f29cab1ab9a54f1c0decaa92b7002a028a9c26d6ab53fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d4cba0b74f0368b6e8c176e46f0b45d9f7609b75ad927e1009f8cb57d5ebb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e3195358a999ff3dd0b6bec07416ccbbd53e91fc11bc9665fac520ab3d7236",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0794 left_j1=1.6367 left_j2=1.1622 left_j3=-1.1156 left_j4=0.0212 left_j5=-1.1252 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.7929 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.759, -8.8957, 5.1897, 0.2613, -0.0904, 0.1685, -0.0122, -0.0342, 1.812, 5.2171, 1.9414, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff5-nLLPikdtt2pg6quRVkYu0w7ELoP4jpB_oYe8b6Wow3DIGJXIiXfPqjLTwQbnFXVktq02Nf6VQwkg1VWuzfMLnXpoKmLLW90ZghBCu48ukjEBa6ouENj1zRlT3S_wJEhcYLvbLciU_4730RrTDggi_n1VgmMAynv0qyCpcG-TK50ba6fXR6BPcuT-WOYlblSEeOaBJMdDMLsRuWkrfPjv8GvTTF3sCAttlQtg4t_l0fQ_L28bOx83QtMOx9-gZCnpbrE2r_TOYnm2qPLhpHQ-zAHA10lOjdxQU-6ovr2tt9MQjY6TWoQMURtEgxCpFBWqZj8AHYbRZfh7r6zfOA5L0FOtZehOOHFGbUTaY-rY8CzhDThOPrCCsad6Fg7W51aH-jThFoZCYOFUQovktRlryRrlLbPfZYvLRnYa5Ip1Th4b8p5pOwMf_yI0vHVbQZnWHjNoETctz7F1VtcKxk9-W0rIzx9Tq45zAh-fUIlEREx_Lj7XYemb_1UFORKIlwiyZ4HVbKpzLvP2fzGUtEscE2n-eQQMUDNRrSUBR4ZUouJjtSGBE2r1X5ZrcZrmomMY7lUta3K-LWOeP1qtzcAiTUrh02IAydULtgfzFazoqUVa_aUNhGRPqEzG8R6piQR50YGdOH3kHsw8Z6MDndi1DEpn9tUzy_HVcwV71VnUsPmnq0lTrbyiHao3s_Ar-DxFnpXBl-AvF1E0aSs0kHQLDQag-2RNfLnP2ihcquguOTZq7TLKjI4keYqCp43D05r7LMSpXX47zRSskEJswfk9rXcLJPLYniEki3ovtTxAefafUNg_AVaJ8JDxIP4LiK8CWZ5nYq5l9aVG356kIti3f62LSTN6se3A352L2K2uaE191hTK2--bQaJetRd1QYrZzv8J5vl5Ro8U8HGDYqj2ivgmJy2syG18up9K-5QMSgsegzoMcyC1P6G5vA70efwjPioId_vpfkqIdEBynZqfw4jXgedQmKhn_i4vjqtdxB3rylYl9Rp3GhA8pLpiOYpzflcVjefyj5i6o8WRABsfAX08J0RmRKHkH9Xd_1CKPNbTrZH5VmY5ixMw5UzGLB0F6pZXj8KOpCMJIOQV0Fsj15L3_QVMdBa84S82YfwklI-S4mSceGx6Ct71G_OjldLiEdhhj3V0fnc5S61DtqZnI7RrhwVc1ZLunOpmX6h7qVQSMEhg84RI3mO6uzR65gWABoEmevmQjePORSHAy_TXca28oiAd13gZTcirqj82Ilvuu0pqHi1PSsTR8RjWU2ofo_tWWqy30YclnXOA2hgJmGDyne9pXqrLIeIpFomp64l5agF2Qyx-qGFABVugcbNPUMTd586Yg-yQ0ZRxCHdzt5AVXL-e0NJ00dm4GJP7qcfFev4T6LoAoS6FOex7855RTuqQRAFzi6qnUxOluF79fA==",
  "id": "rs_09dc31d5032af043016a7dfe7a9d70819aa064512ea4fcc005",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.76,\"left_j2\":1.01,\"left_j3\":-0.82},\"note\":\"Only a thin sliver of blue is visible at the gripper edge after the descent, with no cube displacement or contact effort. I’m lowering the final ~3 cm to put the fingertips at tabletop depth before closing.\"}",
  "call_id": "call_5eWQxjAOLeChya2y8ixFjWM1",
  "id": "fc_09dc31d5032af043016a7dfe7d2efc819aae4c03f937d9b902",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5eWQxjAOLeChya2y8ixFjWM1",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.7454 left_j2=1.026 left_j3=-0.8803 left_j4=0.0181 left_j5=-1.1225 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.812 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -7.159, 4.7111, 0.2662, -0.0171, 0.1294, -0.0122, -0.1573, 1.9077, 5.2034, 2.044, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a447ec96c7fc4da66ad76d819f87508e4c03a1d0307cc1eb204937cbab3cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555693b89787b0dbc5e40ed12c06c0e4dc837d63ba7d1c903b41cf81a30c988f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d026af7aa7405c779a81703875fd4cbabe74b4840685e03fd5c4281a41281d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0782 left_j1=1.6878 left_j2=1.0786 left_j3=-1.0061 left_j4=0.0177 left_j5=-1.1076 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8009 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -7.788, 5.6547, 0.3053, -0.0024, -0.2027, -0.0122, -0.1846, 1.6479, 5.2308, 1.9756, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff6DviK6mvWMDd_0op1EgeYEU8zos1yhGWksFCnuoZ7F32Ig2K4L1n2a9ej3BVLHV-FjBZo7s6StgdzSChFoiZHje0UHSk0fhiLJhEjNdGpHlGJ03VSjk5gbrifoV90Tf53r5py6A_thhbvcDy61_S19A3IgksnfSH0xxkRwgzEZSROCe58Mf_mZZOoMrkEmtCPZyAECjSghJjANtI1KzUznWf_tTjpN1lfeEC6qlU5xnC_KC_eDaPSd8ab5ZenkoNMduv5b_UfCA-2PDYKT5Nh8_UNPexNIcL4Qz-qFpnk3G0Km3TD8YWwPUi3fk_QjQWUjxKd9m10YFjwPwf-u3xzkAg2cNutgAYfj31Fr9bV2kULj9RrjJuhU2SeTSSgD6tEx4pnTy7SpZxpWXhTT27MZAMiGSYlAq_YAO6V-BxcMhv6LQWwGDh2IN_Kk-hVSr-iJR1xwAtItxkZL2TXwsBoo7p6xuML2mOFdT_n4ScNL9JSGG85r0PCAEpElSBUF9lbohbP780FPlh-BXuEtpG0j1UvgXalZLHHeIeTCECnwOEdn0EucpvzQlApqq_9lj0kY-gEtxJ1H2PKBlqc67yLyudvl1gcfaP5_pJoKsNfNNOqYYnacrfjb3mwxpEr-4Wv8Npa2Nh5oukKYMurC5ITPxqv1-b2EPuRCQx5n4Tg-Z79_mKCiTLzSUkTrEHQ2A3OtzElfpdZ0RGttPQxdRpzZ-N1dg9x5s5sefc_4aq7kUoZYkuMyPZpl6-3Y7HS2APB2Fl0jEvDk9grDO2-cOB9ogaOGHNqpdDAz4Kzce9N2LNbPQQo1Wo8gK4GPTB_w0oeyozepObASEz0U4_J7dNDoJBotw60kR1Oe4yeen-AQs0tmB7K16W_lK58_QSaQANphpuLX-oPRuOMARyu6_pIzhNHuKMrfNFi9Y0AC1eNQb_J6oc0Jq7ubPUS9932grl9C8pDax_zVXRemk8ooLIiyFQySrWeZIwp3y3w6Ihbkmm6Atcuf-2T9QXuB_yvwswO15uKbDIKYLNzGXL2nCRnn4952yP4zLJrgS6y6vhlVxW9kh0AUmfuwKT0Lg6bFTsCrVwAQzo9NwWVgKSyweqqyU6heKkHrLT0fh5avrnBkczc3y0wLS4e7Lfj0dhC5W6yIoBkQ9dfZjiVrmZo8Rvqz8rBxetx7a-4QIfkqQvgOIoPJYp7WOAamD2m9Ah8dJUGyEOvTPv5o3AyjYvFwletQQw==",
  "id": "rs_09dc31d5032af043016a7dfe80fd60819ab40c007efa4952aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At tabletop depth, the blue cube is mostly enclosed by the gripper overhead and a cube-sized dark form is centered at (113,191) right at the jaw convergence in the wrist view. I’m closing fully now; a successful grasp should leave a large residual corresponding to the cube’s several-centimeter width.\"}",
  "call_id": "call_GHe7b5Nx9cXqmr5Fu1xTIW0T",
  "id": "fc_09dc31d5032af043016a7dfe820ae8819a9fad96c55ec983c3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GHe7b5Nx9cXqmr5Fu1xTIW0T",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.771 left_j2=1.0126 left_j3=-0.8753 left_j4=0.0185 left_j5=-1.124 left_gripper=0.0087 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8299 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -9.4701, 6.0786, 0.1392, -0.0171, -0.0122, 0.6471, -0.0889, 1.6615, 5.2171, 2.083, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4366bb62faf20892c4e6fce8bea92be3ef5385f2ed13841645ee5d7d23ccf557",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b250b7ea2edd5dcc76ad6fa79224772dfb29361150835aecc433d294dd191d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb327467275051a7a3a89fc175d6de4e50d5cd78b321b452d1881111a36a2993",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.7454 left_j2=1.026 left_j3=-0.8803 left_j4=0.0181 left_j5=-1.1225 left_gripper=0.9959 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.812 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -7.159, 4.7111, 0.2662, -0.0171, 0.1294, -0.0122, -0.1573, 1.9077, 5.2034, 2.044, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff6Tlwljtxj3Gqi3JyqFZ46rpIjlOlVvjf_0LdRTAcRvLgPw6s_Z4EDdX1CDIz6VuEsHoXcJ9xEvVyU6Gc0uKeqlyk8mU8oGXE3V7g02rncQMSczCO8M0JXRF0JWnalTPq1HAUR6zxIyPEYVEkauae5XDUWedGI-G8hQi073biNfJxEoB9R69bAwTvMzgqXBkoKE8x86UpH0yS4K0jtRCP5Plr2VLBX0SxK3O-AbrkD-f8fXHIVC5iNy3Kf6Hvgs6evCgieFEsz5oF-ZZ9HKRYYzJLdMa0U2pie6Sc5s2uVHo2S6mWXKibLUu06SP6flW6OgJ1AEkux3nDyN-CfmPDaezmd1FRFaT_KRgflBcT7NT7wYORLrFk2m9hT-ArTuOwA4sSayqXCV7BnYRKKveJiwHe3T76cU2auKoTOhDEIeAt6goAYb_VIvIslGdP0OhxX6AmMW7WKgVqQExYVEPC16PjN9DW0tSvgyn6953L7djLs7AMR_EbcWa8S9_qsWbNwr2hk3nD8UbP_yoqide4_wiD6uu1_Axxx2dbF8aDhwYCLh4pxwfQC-H829Ou3KNS_0mtMeYrRXc87Sezek-nAp0LavR5TVAxf2ln2sxi03cmalXUkxmDSIyUoEpNgW-q8dcpzCMpmMdbR5b_8THn6JPJI6EOLCt-KRtXUZSpa-ck9KRKOxJ6FaeUosd5h1Ps7w710llrtkT01CoqYC6U18sMzUW5aJxWCK1aS_azOH2dBljXCNMr16q8JJiPe4bP14sHjZJ8a4Sdl8FiCnLdNnw1tmXWvzNSH-lr2PSjZUk-B8SGrZDmf-HdRvV8XWpR7TDIXqXGEInRBcGdnSu40DrhA7NDSd9bWEQj0uuqWXh9GmCQyfxi9vsKWqFo12IObiew8iSmDlN2nmp8eWQZXQ4W6YxlqO5E-tqyWCRKPRnReT0yg5lpCv-8WOPLPT73ndPoy9eIP1NQv56JzGj1wGHWBjT4kDslCgpp09bmbin-bwUEMAJlMdyqHhvrH_RmxCLE20RoMEr4qxWX1D_gCcUp5c93bQ-E4JU4M6ZuQ-Fy4CDyZH68-bKuruaGcS6mX8fPpqu2vYaO6zfbIVBeXAZQqpiL93CBgb0WBO6n-U5VIos4KW8zOZN0BqCe3Js53p5-vnoMtd0nupOSpThyXnD3dDElE7dpPj5SKclJiB0GID7yReSjheUgr71X2xULI_4OB8KgF_WW5Tv3Fff3_0RESElPuA7VYlexek7nhWEuFkXfSa9qKBbMyPW8AFKNAvjUKy4kC_nfA2C5-CQ90IBvvjkx3U3teE6Em6nSWbEzMT_obuU-DbHhNuDBonmG800XqHre-9BYwd4SEEODZOT7CqKmR26uv-QuuhlrEso7o7d-3GpfYf__TwB3MWzTiE-4Apcy_pFDAI6AaYEQHKuIzP30coI6IGcbNLad4WtR0Bawqa3yl5h4onbYKlB1hRQX7C8MUvVzBv3ciZIRzzD9Vi9tj06ugvQzh1GRjaTuhpCyRWMVR4CfpsgiBGFgIrO7Ee_4hNV9QV3ZKBP_xZeb-RaT7Xd900s40tIscpLiJGdeQDz1X7Wmzu1VSHFnY4E-rvmmcGSdUCHk5u4rdhI-oRzX2UpKUjJFvgOK1fAiQGTl9KdOnZpwm0zZtx7zPnMmUuvg-ePCEyrq7hKTi_qGbKgrpr3JbJE1l8tyWvM2TzZtAGaIoJbKeN8at1_rGBEZzSl7UstEjkNumk4u7kM7u4B97QoTetJWDhkHbnBInXGjYYdUWuq5TTjJlc94add32HFI-VofckDzDEfqhdzyW9BUlD9ayGAqxVWfGam_ROZ2nzCL1ELmU261mmGvbWCZgaM8oIeFG-tlwNjODMpaeRLhYlXP0FXzthCxsLjE5YmNtNK0b8qZd_hMgEOBcgLZ202FEJBIWe8szSzcVBiEMq349m5K5Pzmn_1UNVhc0WM8LEJXQy7k8p7u7sqxXzQKOzsjZcRhUXjCNdjM7VqRqfcCfybLfsTOBpjY5xseNFlom7m83PJ8G4U_D8so2sADgtr8BDgfSz6k55Bt6I_m47yLWwgSKEFbWT-zYZbtg2I5Y26fm5rCG9Ao6zYvlbUJZpquIMf7wZXabdteAhAUTl4mBE3CtZyCC8mSWvhyeVHuzH4hgqBOO3G7KLn0JOt8wWgXyOB3MreErDWbWpt7otmiePSDhvIn_5Gah2F4Iz1dFAa-CLAyvCBK7SCCJptpgHGW6M0CTgD6syrfRZLE1MKt7sMt7SEyzW9gUlZ0pXk7qnC2tG7UbF1DTfMfbi3Y-QMNRGaSvdmWo9SmhS5psFFVUIfJ195mOyU7Q0cOdtFdl8Ig3mJg_crC_0irdzvnqoDFFs-gzOCwrNI5-8hS7MjwPdzzpfkNfPiAXW5T-LKe3XT3DV4RGrPmg1WErsIvCKL5bZE8uw_fl-LfIpi3zHWbZFCOLnmSCcQWRKjrNqqn83Z43l4aSV5BgBAKXoG5lTbrcMVH-nlj6nVB6GOD9RYm4LKMvCOT07MCzc3DRBDZuBdKPJ1WLJrPmmQbuw-sAOd0FRMyWFaUqCla-bnExQsP7wiwz5eBHh4VIQ3VJUczBibeNno3iFcK3D8cIsljhHtez8ODh92xn6rleXVKJ4aBLMDpcVYZszN2BV2i1UPX08DrODIh0Lm0WQgZzeGB2aOUHX6rC08rqxpRw1JpVVqUd5yscqUAZ7TbLce_z7eG1ts690n8q-v_sXjc8apbwUOjAMsabZ-m-X6e9K6r8ASSujWOPFTZxygjsRW-WPRVqbCZCMzKOFMZOl04BO82-SpNuiz9euS98yIx0jh5BHCJS9nz-nE5suMjNfCopYJ6N7_8RzXI3Y17k1bHJJRcXhCJvV05F767oAEdEou_GDBMitBFC86a4pX9tqd72KiiAtQ0ZVvU4t9nwftWj6MT5-KkQ63_kphtRKQ9QLmA0W1eFtVzxKrkcbgWk7GhM09laqdTJIEY2D4yyCQqpQPrVjfnnxtRa4auGrvrm6Wi95wyzGm7zSopIWQbT8N9v-xoRxqNS6J2fwXwmJukGEojyUkdDOaSWZh2gwWx2JkgbW5_8LoOORaJ9j698pp5hM1wqQNjn-FDPKCbLcFw_VTYVTht5OhMRFp6exfQS3nodYVFMC3NqvXpO4uHLeYin4MtPvJ8fQ1shIlOnCBsdkqr20MisvHVCQWpp2cH8ivb8yibDHNLtNChh_Wf0yq_qcbZplYCIFCHeugbNXUe3DzciTplBFjfr-TmFaIkdNEkI4er6lU3RooxKP1xtgPdoi1VtT2mJkLWFcoiGODELcLktB_k52JApoB0gnJJBKS3uLDNHnweun98uM9a-waOrXFYLA82D-jERjWoCQ2ci2BSavcJrVqbf_JYPpL_rTGw==",
  "id": "rs_09dc31d5032af043016a7dfe8754d0819ab41f056de788ff80",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff6Tc6T52dffCRSYi6LWL4OVnVrVFu5vqD9G4kobuTDYcn66v1pwZhPfLGTkNUNTvqSJ5hoUr7GZ3ySJCuiu9rj8afpYUs2INbayV3y3pBwDWqMs1z3KhU3iT4T6bOvy_SurtDckhKuoQR50qBICbrAX-edjA2wBFdwVyE8Nh7Di-XZXkQ9vWFnv0nKGLOgvul3UczXRHtYD1PSxn3eo_jRN0oXlJO6M5Imo9SBrJQxaVEo725dX4Vl1EPNgHpjq5BAh1-cqPyGxRJ52iETbetjir5qGo3KorZmDNXDZVMCGQP9zxrxlXhvuFqxyTU4dhSVmqcux5a4OMbUS-zKhtnnsKVwpyaUkCGGxo4oTLmESZI2ymO4SY2hhbnw-5b2kK2-qNsu5kN7VsCGyR_Wyk67KZLLG_IhJJK9n0jtSoOuBzSEnSYJqUDU2_FaYwm3fHXcWm7l-nVr9v4DWRXuOrsDEPLhKXjpGZsMAEOv9ao2VWK4BDo0WfAV-SuvdGiNMoqQpe3r7vrHfLmGZOp4UoKnIAmnghHZ_BJiKICmFZNngMdVMwdT7WURkT8IHEoMKI2YD4GcKmo4MoEDV52ywiU9DJsz6VjP1oCD2-98vRPFpkIoJCDL7EgHXuEmtgmbzY6cEfsTEtpD6R9vqdIH4O4ecZemI-5sKNICEsXZdDHc0A5l1aO_ooLVs6zbmTMEiWgxgozlU7ZFvrebDUctUse4YuO0ILtZaXl5L4tJFN-UJhPV7xN6ZYA7DdA3dODXZ4bxHEWnzvcbbIpxfeQT5L6kWBwQi7cx9IruiIwwP1cKU1HBGkhQEasMezEW61FAXBXbY6OEcorIVhX678VRlA3ludZqPtR1oKLpQXZ20sJFTp8RMiERnJWCeJ23KKZv_aHfV6wbK_NN6-2sUn_FH1ScPBBEIYntcJq6uqCYwMLDyluzWDsjrfLj8XgwdE1u6JZIHAEa8Avr4jn8xBl08JQaMy7K8qtT5Q8vWTNbjsnXs391igxF4lzHj_7LWRUm9dMi8GqUPf1hgD_FhAj_k10Q4TfHMhbLkGVHI89Yi2J4dIuTrCYbUaklzU8KW24D-GGpp",
  "id": "rs_09dc31d5032af043016a7dfe915b0c819abcca82467f7c9e60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.03,\"left_j1\":1.7,\"left_j2\":1.17,\"left_j3\":-1.04,\"left_j5\":-1.03,\"left_gripper\":1.0},\"note\":\"The close was still empty, but the overhead view shows the closed fingertip point only about 1–2 cm behind the cube—much closer than before. I’m reopening, lifting, and shifting the grasp point slightly forward and left with a 0.05 rad bearing correction rather than making another large move.\"}",
  "call_id": "call_UmC1uEnnP0OqEAUMXU2WRprY",
  "id": "fc_09dc31d5032af043016a7dfe9256d8819a82c2796ed4d4ce46",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UmC1uEnnP0OqEAUMXU2WRprY",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0359 left_j1=1.7302 left_j2=1.1408 left_j3=-1.0267 left_j4=0.0189 left_j5=-1.0554 left_gripper=0.995 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8433 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.6496, -9.6205, 7.5419, 0.1685, 0.0269, 0.1245, -0.1441, -0.1573, 1.7983, 5.2855, 2.0733, -0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4aeb8881cd716c707b86829f55464ddf9a816d9a2a80842dc8a7a3098c33eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff272b4e8b2b126e146f7b006186a61d287175a0b39030fe5fe95557e90247ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f3441a60f08b994ef23e3581c61b36f62b518725213b41b54fe88be04a94a22",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0779 left_j1=1.771 left_j2=1.0126 left_j3=-0.8753 left_j4=0.0185 left_j5=-1.124 left_gripper=0.0087 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8299 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -9.4701, 6.0786, 0.1392, -0.0171, -0.0122, 0.6471, -0.0889, 1.6615, 5.2171, 2.083, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff6cB359c9I5VJEQStxUiTE0Ye8L7JKrDgAYPATvDqiSPaSYQse4nAiKeGnw8PPKftde97hrvtE6lfdbR9oeAKX3-VtxJykIKptRcByuIM5ansa8uuMrt3_AQFFpLgTM7yDaMZ6mb6EzGho-h62UhrnpcXpk88bv7c21OLzvXr_M0pdvHWO33hH-PxCami40fWFSwnFnAagKOaeEssGxyBdnGE0bTakZBN75LC6uXli8yiUyq-Ypcdv68la17_Vb3YVp5nCtsUy9GLY5yvnN5stAGekXG9J4TggE_szHHRhIdOkGaBl1ZRm_Qwqcz-2prvmBCfBywEZtILMzhKyWCIMzp8Fp0dxUgeT4R89twc4zzPwk4il6GFvfSMgWelopSeWDuhF-A6-54Em8t3_NHdv-GKKWZcoMGDaRliR2g7z04Y1iUvr7wd_vokrTyiVq2mtaB4iIQCYRDbfRsx2LmeB9TBpHGT-8YQrTcQ3fkbCYQAsrGr6CWPAifaDO6UCm1s6hG5HVbCiZqGWUd0cLGsgeScAGJwttCyAvQyKBZDVoLNyeIr2bJDG4-8DBDYMMOg2L8XbCldm4berQCFs9N0jNvQvAF--JNx5Yhbc450xvu67u80G3EjAweqID6HArx57gvG0izJT71_mTbojHx8CuzzlQxStCLC3M-6dYSbCQ4L2X29brlIO2kwYlxzJHlzCd9pHgeOULH8ziVNnpLU9eG_3wfdCyKgwfO9j1rE33A-UciBEDXGLRHNz0KSxsikXKevGmMc_U5nz4_UfduZRyJ2emzIkVDz8ISj62owCt-wXa0gKBopH75WcUWjRYWYYVhlViIxmwZ4GVikB7B4zZUSBMkKkqfRAyLl15-Opw6V_eNYZi77N-7-czWsD89nFYcMmfsNRh2LyHMuDMh7UvCIftEdo2mnGU726RCBpP60tn6dfFjg9tK4v7O7paHktL4ySm9tXB6xA6n3sogOtGjLM38uYLQDiV4YrOtXhogWOnotGggGpwWUhNbi7XbA5bW7IuR37yLtVzj_EDsG0lmMq6M0D95pSaZXvplAA_px5u9Ko-wahAPYBPNA8Kc12SjORUrBGRk6d6-0wXgZL6w-rPZX1NrDqoL1HP5o2U2RyRfdoJSajYfsrxy7FZ_FR7RzjDjghhax5-XPN9vgMA3K59ZzwQ1xML0AiHhZ2itYUhKmF9dn586JViVB792LyEHmuw_hjKV7Kb-jCo6BNsNCIANPu9jWul5FqflqwfM3u5JAl16cK9MgLlGTnexkT7ugsBHGafoE2kDvsOhSoQJuGkQ0QLeoMY2XSm9YSvEk0e0Rpr1IirbqoDZjMhWB_sJ1gOpyQXdlCV9Q2d9SBijDQIMHg0aecRk4soBkxfWagnNk1KeAAaLMhHDGh0geA2G5uLcBXDXGYRuU4mjyWPSJByNbmbuJ_oJy1u2gkA-oHbJUvuQvnl1Lr1_wUn7Ezt",
  "id": "rs_09dc31d5032af043016a7dfe972a24819a9698cc76b696435a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.8,\"left_j2\":1.06,\"left_j3\":-0.83},\"note\":\"The small correction now hides the blue cube completely behind the open gripper while leaving the red cube visible, indicating the contact point is finally centered over it. I’m descending the remaining ~3 cm to the tabletop grasp depth.\"}",
  "call_id": "call_cpDKVg8w4Qk2o72tK3QJojFS",
  "id": "fc_09dc31d5032af043016a7dfe9b2634819aad94b5d6a53e30d4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cpDKVg8w4Qk2o72tK3QJojFS",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0344 left_j1=1.8004 left_j2=1.0695 left_j3=-0.8936 left_j4=0.0185 left_j5=-1.0473 left_gripper=0.9965 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8555 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -8.2393, 5.2718, 0.3004, -0.0611, -0.1343, 0.149, -0.0205, 1.7846, 5.2444, 2.0391, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad297a8cb9e668f3b2b58ee1594115080b20c3860578e92c8d61d657670a5c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ae90b481f9395b26bafab15bdc584ddfd1e1629b34ebab400376eff485b727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f98a7bcaf5ce3bbf2f501c10983550ac363ed5c1749ffae52889543ccb9e79",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 161 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0359 left_j1=1.7302 left_j2=1.1408 left_j3=-1.0267 left_j4=0.0189 left_j5=-1.0554 left_gripper=0.995 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8433 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.6496, -9.6205, 7.5419, 0.1685, 0.0269, 0.1245, -0.1441, -0.1573, 1.7983, 5.2855, 2.0733, -0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff6hPOWdc9PqJY-E_BE8Ab7Eptcti7YEiqDiaMXC9NgDe8y3cb-wIuSxuI1Afyf1bRWaKLAVq2aAbH1TTSbkLu510eaWXv6G-cfXO3JzegPXC-247vevFI9q6bzIE9YUcZVjj6XoDI2PNeIkiJz4eXxEOUeeTdOcK8UogwAChiqOPix11NjpJKtDjeD-HMMRIGva9pF7eKCRT9gg-w-AI0NdCK9HOWqAnRvayC4SwZmGbq7QPPynq3SUPxUn2OgrTSvdYJDctn9tCbob3CAWWyR2d4RY7TuOjpwShqgNkbahyc6sUx8Zm9h3Q4ulgFLPdS8a4WGFDxsk9kMLG49teEKfDgNm7mP_7oL0kP22wP5WSnNgjLDGNToBu1RnLW_kDHX_vY-QcCmoFaoM-a4_gT3DMLEngVIFoWgxcvZ3TdnHJT8l69GRQ3MfKIwwsnKtu2ZIq75S4YhapytrREzC7QUEoFfp-ilcktGS3dwg6qeecH27S8kZ1qYT0MnidxUuS7DEtFyDJEZIJ0r2ZscYHujMxb1si23l0Ms7c95QX_d_OfKk_GqhJQJzMEsoh8qxyLkCkD6UneLMbB7WNAprtdjF_Q_IGPbJbBt_Si4HzTk4rxdiJpO04qWM2RGEwChIJz2NUlUv_56ZnqPMktN_A5QHV-CH0I4mHCtOkiUzxDBt9g6bevs-zXR5kXmxv5DpHvYBF3e0W1FcJMOt__1-P5JTvrnoh_r8NMF2e_NHwwD8DYgq0MJPvTw8NdupE-VGioGfv7W67-dng6X7_MSC5oiLQ5NHb106-0GLX6Vw6ac9AjMMmXblDxG6qu48CUGREDeIbLe9HhZpfPMjRRXrl7GzjkVm1tspCi8og2IXkojBh0grvSu-Glby5mscAPeNenK_wYfcjcnyjrI4-qCtINfnqxDjb_r-3n2BmCTkUnefXp3-wr3mKhRA-sZYKqnXPvPqCjahJWBmb9KsE57x3OvDDkclrGESZEFR3DetS1qrM_va7X71ZHzA6BcbQBuyHnqLqEpvlygjU6UwC-rgPf6Wyj8fvP_evLfBnqxHCiQUPXgUqY-HsU85YYnXbZpyLZRCA8FFBXNb2nVF7Lv1lxD9HzO7_85Ln9C65qujzgjrTqvXHvZQMtfAWDy96bl-Nqj1wObyOC2QqjRewVbN-KxM_S7VzqcWKzYUFbPHRvhTGZDCC1jCtc7k3HMf8S7eGIkBrtrUKOu4RSPhmORhyK8Zf_wytIskpp3YiHrRL8mNwVe7beOzoXqiraO0H70O5MNc-6HinVEuJLdsqNZ7UuczKA==",
  "id": "rs_09dc31d5032af043016a7dfe9ee8ec819aa45f7a5880a3fa9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low pose the cube’s blue top is visible between the gripper sides overhead, and a centered block-shaped shadow appears between the wrist-view jaws. I’m closing for another verification; success requires the jaws to stop well above zero.\"}",
  "call_id": "call_yOZyo1mrB89XMK0AsrJcjw42",
  "id": "fc_09dc31d5032af043016a7dfea06218819ab5e4ccdd971e898b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yOZyo1mrB89XMK0AsrJcjw42",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0344 left_j1=1.8084 left_j2=1.0599 left_j3=-0.886 left_j4=0.0185 left_j5=-1.0466 left_gripper=0.0087 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8635 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -8.3624, 5.7504, 0.1197, -0.0024, 0.0024, 0.6374, -0.2256, 1.6615, 5.2171, 1.9609, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aded0d1ba49f07d506d6858f6149cb420d9d4b1007891d5983b9c4e7a5846d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71869a4b6be1d7c05d44fefa2c8de652a5eac1ab553a2885d9c3f039637e6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad6908a25e4afc0e54dc4edb76ca9afe76c8b731ad2e5977b4b536863fc7580",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 165 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0344 left_j1=1.8004 left_j2=1.0695 left_j3=-0.8936 left_j4=0.0185 left_j5=-1.0473 left_gripper=0.9965 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8555 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -8.2393, 5.2718, 0.3004, -0.0611, -0.1343, 0.149, -0.0205, 1.7846, 5.2444, 2.0391, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff63VsEl1pf-5_n_de5oRr13x3QkTYdqxP2ArKHvtnGD1umOoRsuMjO9hzROLizdR5e1zT7LVH282VLyONFBkZKdkSslGVE-HK3adcgZ8ozT9Xz-Jrlw95o-SVaYjQ-BBRpkRaUGDn5Dh7i_dFMlCCQp6L0SbYVCGdp4q8LBLz54AeLBbtG2NY-HGJpiGh5RB42Q2eZjxxdkZZJDehCahvcxaoMDaZqygcfGccE89VxLSItnz8Wg8lMvSkMgyySwNyJi4mYf5VAij4Rqmj6J52JawuDi2n0KQmg0kkWUeXNHKpxuUoyf6t2CzuWLPoDGEIWg8I9evuOilJNt_y-fpMHF8klbso6xRupSJk6JH8jiBJhzNqI3bO6PGsxAavswN0HA4-wRskDTx9Jdhnm2E3622-0OqpijYeymmFxWIjYnDyrQU04ztwx6kcGMnrsNgQJpvlWtwF7SnN_GTMft59yo0r5lxUKllB3ZbP6ZOvZq7VaJXgCxI6Bz1Ys5kd4lM6jFHAYsneqe2m0VBu6Fi_go0gud2LY77a8XP-EnQyOxWNhMvCzbed_thzdrmICQ9farlhvBkUhbJJmw2rKM9MrTY7K9cdG5YTu_AxIz9A5g1LvcqMQ0uXLAEseco-xq2ChRTxQJu5eZltRAZbZPptxZ61Yo0djMctg686yUzp40niFZotNYkALuNe8rksuaOhpVqabl3LWKqRovNwJw7NjLDkoCQvK8IMvycnoCsDy7R8-sTQAGGKudnLMj696G6aoeCThiSVNmKc8L417AzjNF4MXxH8uPufYIpFCfYa09sAbMAXe-2AV0uvrNOyZZ03bho-oB5zhisZM--dPtEJfa7WwE42y6C7Cdn_4nvBLlk7Kxo1V1x7Xo9kFlRu6WMPMMrTY64I6i9emXkW2a6F1sV146Pc7epfMD_hzIzfmn1ULa43LyWdC6bTD-TP6M9LCFmqWGDOoHcm2y29d3ImXGQMVnOW2AW0swy0EgiqB5LO3mTZhBwRPfI5rAqyxBA_HPmaaWUBT-4L7pQHZhhM5VeqjiQYMTlLw8gKBYmRM5srlS14Dw0Lup_Yb7R-q-a7ighrz8ur95t1xYWl5Kp7agFnp4x80HCyXWyKhaUaSxk8ATh5PUl1Bi4Rh9sKNpKBtaaC3hStk-gof1SDmCGmvEkWLVGzcN53MgtuB0J8FVIqSDZdzK12yqxBk9OylEzaTpQv5iPfikBgnlwixs5tFpzlcG_b6GZL5Fm9D5FfcBvSj3zPih8FynOwZMngcx2LnvUI3UcMYjoWA6K-jD1_t7iHfmJL6kSKU-iVpJy_HW6fDN5gA9MXzjl_-0ZyaujeXx8mKXa3KzpY1KSCPUajVmvEait5Vw5UwSubR2YDgrMzzcqSQB6pld1AsVUNiUWIj5gbPsIM07MzbyM0ZdpEnveNPqpAAtlsR7sJg9lcYqzoQTJX_SAviNEivvSUPLlXWQsbR0jGy5f1IXriTHjvC-IV9m7JpPE1EFCgG6JPUwCVtZd-FrA7aZ3aFCSv6Xf5ifkh6AxRaTuB2AlD7OlgXJSQ7WeH7cq5w4XzoMobejshFlrvDEso8qKQDu1IUFFi1SqrpeTHmKx9xV882pVK9sCrDglV2xFxLHDuUbhGw2HgTZuBytWkmOkEz1VHgq9F67JC-6RAF_-Cb84F-y9EIj1Hie9TonLhouLNg9x-r3-hAp7XpZDuTSyIiz9s03jPXx4wCPCvofl76m40C1SZtHOOQPfkXEVzGIuNAUlxW6wtAKmTXXilmXVzjbFkKLO02axYXbkjM3HG-SiwR7phcou556dVUt6jsGdc9ltz_jEF-jOkdAuWEB2vlEqTQxM7T1SG2QqC-CdclV1LhaUjGMUJm1PZ1bTLBtp3v8564unfj3EFeIhJGu-yfMYJycpNNG9E5R1lnPnIoW90U5ykOx3nXem4FybLIFNIZ-HkvPGAWZb_84LarUknDqtWmvRkZdt9YlbrIwcGuN7TQwgBxtQjQjwYdNucWbr1I9DkrPMUzlalJFtrmpV-oVVXCW3Tn2eunUj24UPm9xonZ7zJ6gAAt406gu0RJGRiSMGNKXGLh4VtJdPKE525vO3PZrCjbYf4byhgTJh2az8dOnAXheGVixT_dbb0iD8zeZflP50heqVQ50ed5eHkjwbnXMNrA9TZpbFcEQGissfqCMQR-CbFe9-tMXDKRFnRLCK1S5_Zhqsmn-AzTC7NaEK6uc4AqOWJTUWvyx4EeJq17WyYAQDkE2SS-xz0nGKK3Ubn4aouHmX7f285EQG-XgEB4SWdPz7Bay74Cl0c25S8i639XJVh7ogdHnv6KOTn0QaD3Jsu5lqWDRclyIVbynFkBjL2xlaVQln-16Fk6BfqVxhgVtTDh9DqlqsX6Bd18GPtM9N2Ry47eZE_hC9U9ADdmwU94Qtg1EXdKNhFpm38hHXntUsN7Wdrku5whWrt74dkZYMS22b-KyfnB9ZFjbGmvJpC4Bh1tXi5vpWNz9ayulkajX_xqJbIMDHR6ppEvIeYSw5ixxx6VOEKVvitSBUT5Q2Oy_WVFCUtERxHHA4wCzeJILJcxNmAHsbeKhQ1HnOgGYV2Qywnu6oGwhFnXD43ZT-s8tubYGiro0nM2Q6g73JZA6FdDAePvaBxskgHZQzBJ7NfOqb7jmWiZ4q1lXgqVJflg2ImtqCaXAI-BaUX5gZ2sCaR--mauzomzDFWyYVdg3Gi6w9YVHyg1xnMgQzfKmIHJmQsQxGVdtNErZ92oUjtlPkmiIAiBo6_T76x7HHJ-Z7ItVwFn5h4G-Lv6LPik7KC4bYRuQzapvPRsXtqtFspFZjMFmGvBSUHQpeW9Wp6WFtrygyO44aQU1SnJqdoNV1cx1GiJxW6vu0w-gztM2rkoSpG9PEGEGwxxOxLyIldhVt06f4Py_Ut8HG6QShFdB4IwaacJCLzWR1EqCPfi4OvLVj9UWvHnlLcHd2ODd6PwYssnJhn3G50jMgRkIGPa8XiTCYHRokj8UH9Qneh9pt3vftYMA5F3AxWH-zffQXSFGOEDHX6aqA54GhXP1fl7CzdZawzFhlf0vRmrZKQ4sUoeHLqR1-r9konEKTcOlEJobIMQmP1wTW42vo9v72XDHSQ3Q2XFU8R02qVLMoQ6Vot2H6rIJOW8KYYrZQQyefXUJN1VDnUuO9DrvwjE9PERhqlFyIIKKrEmeE6jEmO9qS4fyCjQcNL2uw4cLDP8Q8Jn0mz_MzH1TGXyGyih4jpdaP-rzOu-Aoo8XUIp-dCHXv-y0MJDr2o6dgKwV3-Bt1AohVnDSBDbC3JirXoEjzc4gG00rjwR7BPBWl2Zbqcgm4mHmY8ZKQ56r3QQ930TPA3uZgdV8YDvzBp2iDxyXy1rGVbVpY2uglQLmpS-3958nvsPu4Kju_R9FIPbYwl8c_XhYLSgCYAdkW4OpJdHuSYMkeDZ_58f1BiUhbTjmFADozzt3-2Z2i7rgvWpCyMk1UVjVnHygtWANcoB7MwStUu2m-8SjlDVxOoapVup8Ln12CuPt40D7lrm5kaY1uVkJ6YN8tn9eJ0dLEYnnJ3QAzfLKdMgpYVQMZkxQxFInzdW9JaV0XrJLlmtL1vZYCOCH7JLbCa_pmL7Ly8MR8Fa6fAvq3FKVvHe2XsvH0lPZ32ShOUAR2rQpvJzruDCqvBF77BaNvL65kwe0yi61rN6nwTCPbw7MimmWs4wRRMsFPQPD5bMQoQ==",
  "id": "rs_09dc31d5032af043016a7dfea4e1c8819ab068e2407c9533fc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff63fLzaJxMj6L0EkPaHcC0jUqFMM3yLXxgsB5rQNjUECqe4WNquP8MC8ng3G9ex5GVR-r1L2MxetqIp3oVTsit5iCtIHCmx6eIkc8HWhmDe10pzxAU2NF1NrNhuxsbLnVexHmctCKmY45JNOLKU9MogJPhIbOI-8N5sEmhUgAGkWkq0wO_IywFrTzC4EIaOQejXRdKBfC_CkYVFtMzJfIePOU5Q-GeSdULWXnjGk0rD2-cmwNqUUUv7UQzsACs46hTWop12DCXENAK4UDdWNrIw67LCOaLoL-cwwImcNZSyULFDtfvEtfAKYBSmTXGU2dZNkYTbhFInYvQCEVH2f0U228Zx2t_KycwcTfOv5JztLnQMGM61GrwY2x5J_lxPt1FskWNZ2Bv1Eg59O60eMVJmd4iNwD6zv8bBOrJI6--XRjssno68M2RvpLMhRrlwXdfZ-pGBg390U_79UaRvZURZrnFItLl0BJ-LW1B6k6czNWKz1cNEm667Xj0H2VxXoTL7aokmqFWfjKYSDJ3ie2DQzHUv2j46ZqxK9AtWxKt5nI8-srGDAKL13r1hJW8PuoPj8zQJ5bKClLG5AUGHrkf15RLHR0JyEJKkxFLjIzXveNjnau8mN2ArgGPrdM1QxKVEatTqzpKiS1EmS73fO8dtfS4ZchOhFjPjzgllZyfn6q1nrEPFGzjJm2h45QcMpAr00NIBb0jeL0acBXiLDgdtKBFkdPJadJNuiapye1lO4mPIEKPqYmm6rIiiw_1NzzW1vkA9kYOntwO3ykvcNR1pyoDkLHf0bFTGhei0QQ-7GBBpcvqNHZFMs23HFvdvW4LdmAaR09zWK7EXKfGiH3QH9EZsnuyAn0f0vOC9Q9a3PjqKx6YWKo95c6ce724LTTsIn0QNEHyyvc_sno0LD1ziTDmxNY4IzUygPMKTquvmpiy6OYD8oqBLVce5XKIQ7lTUaw0Q-UvOujMQlgTir0VsrPsR8mzZlJcAMOlUxoejo5bJ-T89-lrf1TWD3qex2WBhLNoKP9dyCwZMDKDc9QjfI49IfClNFNs5KBiqI59fmQbbtpd2qvkNW4ryI2MPdudojbSBWn7UJ2zWOg_9rVl7KKGKYCvqI5vkt74PNGMz6NvuwS2uKXi7wWr6XRt1EwqY-L7BSQxfoxiZJIetnlj2SXsDuhfiUdIL3xgUcwDU_z6dUyR4UaGpCH_hJocjbvBrC_xLo2d3CONvtLARaqyjSI-6tbrj7aJqe2Bko416fRjUScm-SoVwB9B-aXKX9sdA6SoIixkzcygy-H-BGnX0hmEa23FX2JCrfuVqCMpd-Xl75h27NqmfI-pJIuK8xC7mswqYC-ikpJaedBTwefSC3Z1XiNWfIn2wocJ7x-busttsY1Io8tREIhAmpmgu3YJ3I9SCURd5lZF0Od-U08R0ZCGBbd8iRR59nU1qcaPF3dRYgu7MhFOnCAtyLoIhNP0glXK0gZqri69WG2ILVUBL7UBF7OfYwJ-xlJ8lEHpW2UM=",
  "id": "rs_09dc31d5032af043016a7dfeb17a98819a993025594f60da2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.89,\"left_j1\":1.7,\"left_j2\":1.26,\"left_j3\":-1.13,\"left_j5\":-0.89,\"left_gripper\":1.0},\"note\":\"The closed overhead frame shows the blue cube still several centimeters forward of the actual jaw convergence, despite good side-to-side alignment. I’m reopening and lifting, then translating the grasp point about 4 cm straight toward image-up using a coordinated +0.14 rad yaw and +2 cm radius change.\"}",
  "call_id": "call_TyIUcYYjk0tPklGQ14Fae3Gl",
  "id": "fc_09dc31d5032af043016a7dfeb58e3c819ab0901f8342619369",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TyIUcYYjk0tPklGQ14Fae3Gl",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8989 left_j1=1.7313 left_j2=1.2316 left_j3=-1.1076 left_j4=0.0193 left_j5=-0.9257 left_gripper=0.9945 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8814 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.3487, -10.0308, 7.4735, 0.2125, -0.0415, 0.1587, -0.022, -0.0615, 1.6615, 5.2034, 2.0391, -0.0122, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abcfd12640d3ee547d0ce694a3d5225ae862ec2f0f75f518e5d324af2bef09bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8dceb762be8195c7eef03b134484d86b26de2603c5a121f42ff5538d2b29bfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec55cb6db4e64d3405efca03f9af72059bf5955e9f735897d108a165f76e4b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 169 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0344 left_j1=1.8084 left_j2=1.0599 left_j3=-0.886 left_j4=0.0185 left_j5=-1.0466 left_gripper=0.0087 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8635 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -8.3624, 5.7504, 0.1197, -0.0024, 0.0024, 0.6374, -0.2256, 1.6615, 5.2171, 1.9609, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff6--DDP2MzojX23aIag0ROpotTxnvMve-A2YtZDdmMIFtcc530wdG6ZV23fp38T6WEwYIASCCq8oau2JJxe6_idgRHQqaCgRMIbLsVu2RH1mi8om0eLj4sbuWW9dRAtL4g13OU3Q_4nn6PavIjzKTeR_uQavkTCRKT-NwPU44j7EMu8oSdJPuOdsxkkzq5rEGABqzIYHLHyZHDYRvVmJNnRR00Zk0v3ZhhhT8Fn_SiK2B9hrFsectBiZV_8-ivQq5dsLc0uOBYAk5ll_S4ib7vlhYX6Ccpl4cZkDz6xSk-zBLm9hCNm_8H5MAEEDSr3nDI4w3xmuJjQahOB0m2X-EnXfMBVZPz7NXn2AgY8objTUjWIKtDlzBx-IgplX5ZVqMyuPLGlYSR6FGKvuDGZJrZeuriykaR2v67Gh6bJdV-Ypm6TeBXrJpOHemFuTTMVRuQQOUx8O-6_tGJUmJFZMWvLr0FDWJt3dWrzmqxPZzU8L5s5umsZjAsBZUpFQeT6PlsQ4SrnRFLGRxwDtJxfDLqz8E0U6x2IHeaPSF11IRucjFn8c6EcJMKc2KIJVIMIEQQ5BF-8TKePSbMDnZvh6oBDJzcQVwfy-DXjeFa_ZokxD1aqQf5LyLj7p4A_w8KtjGcwYMPX7rt20MBcMz5f2e5XS8aaCcjJVA_I1_Ndo6Y0YxU5i4wT7whZ1bu6EHd_3Z8ThUqW_d6qVY3wE6Q-7mGKQwvrez8-MI0BAY87HuYPrT1os6PLFPbwfOJl-JI_7a0IyJ4C5SrzJoJ0mbZFfU9xBWIKuAVpO_6_-AISVT0AgVOsoCipFsPWVA91iA5hAPWRRvDvbFZ1yh34ejmwuLD9h1l2ZELf77MsU58CBhYQIzefDY6N1h5j4evcQ15AqAlPZ26ulmtZejY-c7VQ2EYU_82TBzHJpQnVERSruq-wVgqTHO23Tg7KS3XPHy03IPOIIyviPwbSkigehWK1z8uEnAV-xHHHM3gourbTKLyXh43QF3uNEBLS0xTqLXf9yYUNmz4ZeG_HBfqDLnWWOMP8v01vAjb4oVh-UDQNBKw6vrFvj0FAR4yinPEcHRrJpP1zce2wztL6Gn4a1vjPz8QkfNBMuIzOhysAw6nWHtI5ZbR8_YNZ11yc-0XL4p9YlOHqqD_jBj--ExKkeUzegzO-IW0drZH21QQXRadEk4zihnN2GTdr0BQ44j-X3GlLqC0NpxKPNTq7li485x80LWJb01lrEIfwvSLbrEgpm6VJZZkA9uauTmVsjNet2HxfK4uGty32nQA2m5aLsd0RqmT1C6quqjZUDeJfOypGuSJZvAbb2RcNbmqWPwEFOMGQnpUB_T_24os0sYNOHPJ2ptLPI_dR9g1Lozlo76I9qinJFKANy7iqpiPnBZDnfGUY140ZbFRJ-_yeZnBNvUfEf9w-QwvDXrreKbOZ5HKM6_vdnEK_hcsP1f3cZ6dpio4Ktbsv9Q2XOLA-QSMTh6Ar87-ZetmoPtMMGCop5jz9726WOpM=",
  "id": "rs_09dc31d5032af043016a7dfeb9f004819abf97c799bde13dda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.82,\"left_j2\":1.11,\"left_j3\":-0.865},\"note\":\"The coordinated forward shift now fully hides the blue cube beneath the open gripper while the red cube remains clear. I’m descending to the calibrated tabletop grasp height at this new alignment.\"}",
  "call_id": "call_Kx2fqX4RSUZJZRGrmSmHDA6s",
  "id": "fc_09dc31d5032af043016a7dfebce960819a88f90b123801ba09",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kx2fqX4RSUZJZRGrmSmHDA6s",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.897 left_j1=1.8233 left_j2=1.1213 left_j3=-0.9417 left_j4=0.0189 left_j5=-0.9165 left_gripper=0.9958 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8902 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -9.1009, 5.3128, 0.359, 0.0073, -0.1441, 0.1294, -0.0752, 1.6752, 5.2034, 1.9658, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f03015f79d6dbebf47f7297ba8c586bc4c533116eb514545e9a394c9059e83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5caf3d7357734b1f98bedde73c5a79113b657d20b12ee2b70ca00c54833438cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb37d3c8105a686958e7b691b68e500baed9432c299e40a3abdcacb3dfecf2e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 174 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8989 left_j1=1.7313 left_j2=1.2316 left_j3=-1.1076 left_j4=0.0193 left_j5=-0.9257 left_gripper=0.9945 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8814 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.3487, -10.0308, 7.4735, 0.2125, -0.0415, 0.1587, -0.022, -0.0615, 1.6615, 5.2034, 2.0391, -0.0122, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff7EOWdc0j8tYF1nFjgJMYC_F7mzOq3HzLrxUr8feUMb_eHoS6KS2B_5Tvom8bHEZQH2VfE4eSqz5v5-nsX9ZR0lKRhzS5F-lyhxNFz9_TnEsNoNisCxzixVqMPQpg_aTSLXA_HH-NdPIpGiWt1DafPEGjHzMUady0m8r6vlVp-GZZmcFc-RNhJul3ddvvm0Br3x1CAuLEZ1QijBVdWZXGFdfcd8idSpqTe1s-RURM89Xh2NIsIxtrXjc97PUrLCkXOuusxrtsFMQemHRNLfmPUTsA9lrFggz1UfGl1o-W5I-Dnw6YaTa2IDMLqP_AdeN6oPn5Q9hdhQ-j0zOlYQpmKPiEDLjSl0SREK_i1o4pK3X5ZQAoT_p7M1GxpR4VEDCdUx7fhrc1QHT1mUY6VzTvQGppUndRCkWQ60cx6LHsTlv_kIt2h1QaKAJ3ibp_zRbRx14ipNkyfJwLhp1tt5Ez38YZi4JnlV3xvQZa3D6SVGcmGnTA0QHXZzfMOGl80zAnYG30UApJggJKW3s9Lu8ROgJAFMCZRzz4TwKFhBlo5VU1vxCNgxL_wrVYYzZyYVLb0btMm7GD5EzaClNTHY6uChXI7fi_vKo_hiVBInd7f2qXOQCFTWSMLnLU6y8bdVRsVX1qi-ZhgTwcg39i1DE86xLyzpO8YwBSebor1CRaP-MJTbGxgza0TgWu5NbEMYORut9TglmvDou18XZ9hQyiinjuN6aUN6EmPRdPx1BL8kbMMwKLiEDNH2ngVCS877pdZr4nrxxqZSxj8s-GQYe9_bV3hvI9jRl7MzGyM7ND58wxcgdv_Ezjz1ORlowufXStRuVNyGYD4uq_iL0qecuIaFl7DevlJCFMqvc2Uz0cDoOOG2GvhGx3mKiIggmn-Uwk35m7iAyKq7hxOdZTLufh3JW004HvcMAKdbvANZmDwp_XUybInfdJ0iO_7WUme4SEiq9686-t8LVsJ2gsSuVSFIAOCM_NNX5KBxvURzrGO5x8hdOTrxhNtRb-uWvlSLaJF1qZAIwKfq6B-rs4ggryH7XbT33hPxsXfaI5eU3zqYdAM=",
  "id": "rs_09dc31d5032af043016a7dfec1bb4c819a9b11f00a29b741d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At tabletop depth the blue cube remains fully occluded and a centered object-sized shadow is now at the jaw convergence in the left wrist view. I’m closing and checking for the expected cube-width residual.\"}",
  "call_id": "call_a6nGqLBejabXnAzG1162FuOf",
  "id": "fc_09dc31d5032af043016a7dfec23874819aa5ad7d794cf3961a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a6nGqLBejabXnAzG1162FuOf",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.897 left_j1=1.8343 left_j2=1.1103 left_j3=-0.9356 left_j4=0.0185 left_j5=-0.9199 left_gripper=0.009 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.9035 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -9.0051, 5.9556, 0.0659, -0.0464, 0.0073, 0.6667, -0.0205, 1.7709, 5.2034, 1.9805, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614d3058eb7d483e36874a3bc2567f81fc44ee597c3395b8bf74f722384a3b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbeeea689da6460bfef88d5c08fe92cbb20f759491ae8fb47139a647911f15fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf76da9a9c3a771a5965ace0a2610b0d39ff940d264190f6111cd8f0831cd71",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 178 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.897 left_j1=1.8233 left_j2=1.1213 left_j3=-0.9417 left_j4=0.0189 left_j5=-0.9165 left_gripper=0.9958 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.8902 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -9.1009, 5.3128, 0.359, 0.0073, -0.1441, 0.1294, -0.0752, 1.6752, 5.2034, 1.9658, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff7PFizt8eL9Q5rRD0zIIbU-kCq9jA83veM4NEQ860JEz9vy0ZedcSgF-zjneMoLO5KogY_xzkOUIs1jZ0ZNp0kvIA0okEvjzUhz7_J1z71zUHD05rLfgqkbi8kcrzTCvYIzRYI9DA_KaCoVxF7BXuno-13z-ajRwGZjPpadScnSo3SOHCBxuV0XeBZ_d6YMObiIWffRK7NQFrxILoMYBPn0o928tSz3UEe_L9G40brpZkR3hRQW1okCrQT1kxQ9F6uAqihppUFHAxOhhVnR5nVVYz_HM9pi0kb1VOPT5TzlPt4pVLX_M2xHS0r2EmKWRfUSC7LqOx0yfxY0JfwMlNxQgHZiOwnhvJEKYhomYLZ5Kdu2kSljuBvPaekPZ5mxiWiz231XbcLfI4I2N4gubuEbhG3v8LvP_LuvJuhSYwfspSEOMZ4idPo9_Mhxn7O9UXmpXQlwEluxennQ1kY3DI3UuxOp9GhkCtH6pq5dTCexsehFMpRWiwOBKfoS4PU3ZhufK6lrzz8MEZcxDTt_m2tMt_FSUp2J7RfG1sA22GYqwHaCGJew4tdAkKzl-5PvF0UfZYm2xszmz_CLkrUnKy3jFpMEsP9naigWL67z0RBBXR6lz3DDxom7HQHZKv5wL9fviAzXaUzABHLbVN4hDaa0QSq3dfexdIFl-ARqF_l3DqjIO8DejoECMVs8je6XskFFUmIcAxqqE_TCXABnoqC_yqDPyNZapvZ-jdTo4akZmpoQwU3_2wpdwsGVJJJv2l0izkrCNkdQNJvqw4fNxgNuPmEweGnYP1tuK7EO-1JRwKtTFemT0n20c_7-YVX4y9Ks2XQs5bHG9cCX_cTfYDCUy0KIUBnlEqPkp0oMNpuxuhTgdw8Yxo3jpJLi6K0msPzKC7_03MUU8H6KcnRCOQdRHBYB6iCx4R0e0td3ere3Q1U_F5kEu_OC_MrViTvRxsInXEi7iaW6B4lDNOiuKWSD1U8adJ3RlNu2VjbrjXtTrz4WSkexQkjGxgEIHsRrswXmD9UCgKwSamqDhYhgOGSr6MjffUVJXeiD92p2lpU6kQ-SPZcGXtLe0l8g48GzS-PlBTIRoCazLiLMGg423BkXjX48TYQXpCZvh3zJ-ZqyuAnM4krHdkutqcVA47LzXdNRSR4NsC7AJcPX9lFWSYFoPDSImsp6Dq7rkWAcmJKQSFU9cGklrGve2NqVHOaRbT8x5URXXbQw-uT7lzNI2gQfWphIelQ6cqAeFrKN6_aBF9AYahvi56xu8ge3q8vthsxiublBH8nePtEUEu2w3CkLXBkJyi31a5HZiBg5hWIJMVoTi1OXdlDvpEY-bwkmA2K3d8bTNlTC6Nw63ylpH9kXBp6b2foGyB4Anj4TBnEjlF9J67Lx9qwR8GdwY0_2xoAQz0oNKSBS7q3VbFtOjxTl_ZP1kg_WGyZdPM9j3e1YoFc4u3QY_zfyEa8nM_Mz6V91Dv0Vi9kfwg0l0Y89lOFoPTzOZbGSvF6PBZdb0Yerr9a3VjYAS7wW3tWD13oipq41qHrRVDoXx6-HxfAvMebhJvgCDLZE_YVokWe5HEdnB7ufqCXrOoLnEOAVbx3PqBIAqLrBDIP2yPRC7psQ6AXi2F_1NrNNS62-whoGTBIZpwnl3yYmtn4mB7xlzapCYBi9sPMyPMyod-LvT5TU5AkUY5Hqsld4v9JRWXKYUSHq8pH2oUg4HY0JzFh5DlyppuX0hl9aQEcc_wgG83eLqfkNcY_vWa2NL4MD7FFHC5L8PUf-UeJ0Rgq6jJs-y9dMghSAhI8x66DYdB2ctqfcbBoJQnzu6x0pmftszLyOLwXjjtB_lzIj9CxBL0JMXbhaAQcOoiN6579g3tiwZWCTeNCnEN4agD5tRyFskn--3BGRAoOhUEWK_CPJZe-pQD4K-zMhZ9v02sXSBF8mc9Tr8Ixr3XLxOvBEI5e1q6AK2KcKR52MnU_G_DIDekfjaEiUjKaapFOg309FSYtFICrN3--OxeW4zkG_owTZMbMcxPoUKFG4n0EqAQaUTWUZ6j8IKkLTl5bVZTV88zbS_b1wGUSX0Q==",
  "id": "rs_09dc31d5032af043016a7dfec91e9c819a924e83711601bd86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":0.0,\"left_j1\":1.08,\"left_j2\":1.1,\"left_j3\":-1.58,\"left_j5\":0.0,\"left_gripper\":1.0},\"note\":\"The gripper again closed empty, so overhead occlusion alone is not enough to locate the jaw contact point. I’m moving the left arm high and back to its base to reveal the blue cube’s actual position and check whether prior attempts displaced it.\"}",
  "call_id": "call_kFDp98K0MIXF26A629bqQcfK",
  "id": "fc_09dc31d5032af043016a7dfece3398819ab032e46a54ed2acb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kFDp98K0MIXF26A629bqQcfK",
  "output": "executing move_joints over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0227 left_j1=1.103 left_j2=1.103 left_j3=-1.5238 left_j4=0.0212 left_j5=-0.0841 left_gripper=0.9969 right_j0=0.0158 right_j1=0.6258 right_j2=1.2045 right_j3=-0.9184 right_j4=-0.0319 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -1.7436, 5.4906, 0.3736, 0.0317, 0.1441, -0.1148, -0.212, 2.0581, 5.1897, 2.0342, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ff9eb7b2b850872ff7630c24ae6c6fd561e007b63d2da55765cc9c04d8b28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58cc5d9b476c1a0304861133716ef2183f79799779a1e2dc72a0f5bc79d8acc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120143dca0eb465a18d54ef645f080cd8c932ba585edb6252063e8237b45ab57",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 182 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.897 left_j1=1.8343 left_j2=1.1103 left_j3=-0.9356 left_j4=0.0185 left_j5=-0.9199 left_gripper=0.009 right_j0=0.0158 right_j1=0.6254 right_j2=1.2045 right_j3=-0.9035 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -9.0051, 5.9556, 0.0659, -0.0464, 0.0073, 0.6667, -0.0205, 1.7709, 5.2034, 1.9805, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff7fCHRvkDEXFLTE41lzZAlKR_Gkp90YVc750H90NHcFq1JchRReAnJi2e6W_0hOsLxEkOxUApsjTTV7tzUfeRnN_lPAK6AwuB35i3xdSFLhDYUEDfiU0aZuV0SGMhY91ZLOEpP52g0uLXHFen9slBMmcwUKSd8numtiCLV3IiUulXXpTSVh5D3AB8ieSU8lli3VXPJjK5f4egHGkYCabzXRTS1dyUALtV2QV7gylPAl_EcbjaRp1JJIyA77l8BEht0iX9Lg_9rFfsLraZzRrNT6uDt1lZtvPM1Y0QNCoHiAEXTL_wB1_M4t7WqZPHTpEHj6TRmza9xN9TdvM_qYjdC1M3syv7Q6No4gmawvNmaXaTw0B3I3hdf0yr4c76iABIKWS4kAQvMI32thwvfU_WEF6ITgIpMWmJvi67pkpvD7VKhecc0pzGRFydfnYeU_9jlSG3xgAeDXWfX5LFJwflhoO3wOJmKIEbg5qlefZFs-MugYn545sWi4t-nZF53XA4HuCgUySQAZrhHUDSOR4R7YGNMlGoMqohnBwlNTE8EHuiNUGcMO9mHdf5Of3zlfBasHVyAegQJnW-RCR277emyOOQz1EdtpjnojhFxeonSQAgLb5JgF54_kOGHR4b435yTaK0Ga8UyzB4hQQ3L-XswszWYJmM2rWl8Vw6LHP-4AhONpLBMgq9cMf3fy9LlCn-Brgkaq-8I0QPSJnvGk6sp_AO8_1ESv0mbhAfS0al-S9stRpAX5tKqKF_lUlh0RYr-j2jcGI7_6HlMlij15IrIfYuf3DAg99dbtbkGZeN2YrZj3oqyQ13x6GWkEJZy2OGuAwr4keQP12-DEFwatR_tW_pSvbKanT1CHiLkafTu-f1-d0WwJEVFHJqSJJ0qkpqohNBzQg2npP4ikpF_6BoNRhP2i6osm7EKeygjm6QYPKZR1qOUA4GjOM2ddUC0e-Lsmeohnqs8N6RG3aw_Txuc5gkAMhX14teYmHumCgOz9Z1EeeF3ee-m5_ze2Qo8Bw-EEFV1i8GPxm3e7MWgChXRZ8VEZBHSqHckIe8ctaAGzIGILwvXBtbVBGUnkiaRLTakISc4TgY0NFq9LcDD2xChk8XcW-FWrvJBB_8ERD9W05xlKlzMbTpF80juJdhmpnLK7COfw6YzhNV49FTAGLOQINieQcAHgV-wkTk5BR9l_OD1c50RTcqKeHqM2hIr5uyis1g-cgYP-dIQzqqhGL44wIU_ur3vZnexlemI2i58j9vp5c_R1GlUKpUKfTS39a96XLB_0jCoSzC6LhiRBloVViH0il7F3KITy9Kw8-bw39yH5Oixyc0IoXzc5x1SCOzTw2vfZzyisIne83nEkgEHKEyJLajw5nm4y2x6HVf2FvIAWLqgF3JCnOPcgvgsafa2Mg-IZs2wQrWU9Xqqb7QOQwVVHJ86TpStAlt1hP0Nmq0xLG1TSFnl_SPVirow6kfD5b-EOg5VKfRb0Lgd0AnVJcw3MHvcEvPlLHu7JU2rdoYDsPZ2wR9eH4J7FXKvuWpLdO0oHlBRlkpAXumSC-mS8x5DaCQqG6g6XFkxHLuUxzkamjYgDtlOn-FQ-2dIi5cKSKmMYS09-_EoBKfiKTEN-g-A_jrZvcbdizHcrKBn85IqHM8zt7OmmnhcAbIcnAN4SJnCHpyQi2AtaFB4evkbZBgSzqbPSKwqCDMNlHyjbbQXwNsZ-GXE44vs6BZxRjjXSmFca6pUzdcoTq7atMlWFaxEidRAGyn9fIJpWKHw0lk2Hi3xLIGTC2fvoPTb9D2MkHq2nvMGpoP2lyg_6h0lQRjTL41P7z5p_35qIfyK3xFdvzctsCXv1P_CXnbIR2GZMYtwM3ZAhAo5T1zsHHy04vwryCTSQ70pkcA1Wkcir4Ehz8Pl8KfHX7TXAD4YrTcvfZop0xvDvp989VSCpkcQw_x0_3zERvSFqlw55YxK5uLuexunr91k7LcMvqna9gvZ8V9OGTLqusuTlHRXnudllkXmsqye9Kjw10rApjO4hr928WVZ6KQPpLxnTE-MBq1OgVJW7nli1pR2Ccodw7bN_jAwEo2L-5FFTqso_ndM-7CM22IA-_p0WMJB1IWlvZqxoH1pxLOZ6tkg1ND45uISZiM-sbcr5ZKo4eHE0VY_OwPD3iF2HXZqIdAme4Vj5pSiJihDZR9juaU5kV9U4G9VDGgNUeDO88Cwo7Y-AdeR0YLFpPNmWP-mIFLw_rN0vBwNT10ZStbbwaB_ygfkk4TfaMTOS7LDnLA8pj72g_oDTaLcCS3dtg4cwEeAyBc0F7KBRQ-UJ3eQIpc_OQmHcSy_2MzMyqKR3RQvMRlZukaJyVkLzyMZuwhZkocct0b7FpIn2pn55G98aHs2jbuFJI2-6Ls0XYckjzgIDtC9h3_PlJHUw24cB1EFh1PIkNJvMy8sh1ZpW2VP5z8FRYvSps8wqF5p_1zbAlJrrZZ53O28GFiih0YXBD2e7oC0Bt2tpeBvsRidIhB3RB-MQyFgVCO6bVg==",
  "id": "rs_09dc31d5032af043016a7dfed35f14819a9a4e2915f0de1758",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.86,\"left_j1\":1.965,\"left_j2\":1.73,\"left_j3\":-1.335,\"left_j5\":-0.86},\"note\":\"With the arm cleared, the blue cube is confirmed unmoved at (92,116). Using the visible left gripper at a known 13 cm radius calibrates the left shoulder near (−5,200) and the target at about 34 cm radius, −0.86 rad—our prior approaches were roughly 9 cm too short—so I’m moving to that corrected high pose.\"}",
  "call_id": "call_jgAv0vv4aK9Tz699VOqJXObF",
  "id": "fc_09dc31d5032af043016a7dfedb6ec8819a8714dae614969148",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jgAv0vv4aK9Tz699VOqJXObF",
  "output": "executing move_joints over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.833 left_j1=1.9545 left_j2=1.6951 left_j3=-1.3621 left_j4=0.0238 left_j5=-0.8009 left_gripper=0.9974 right_j0=0.0158 right_j1=0.63 right_j2=1.2045 right_j3=-0.9409 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -10.988, 7.4598, 0.1099, -0.0904, -0.0366, 0.0366, -0.335, 1.3197, 5.2034, 2.0488, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69f4c328fa24f63b66a8b594fd4ddc84b7b86bc99b4236d7af4b188369a6c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb2d4d3f4de03c0496cba4ec4c4129e4813918bb71b50ee376b3441b9dfc9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dbe52b8baf90bd4df4d0e15990f3cfc5947e1869e96f3a109214bb8be7855ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 186 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0227 left_j1=1.103 left_j2=1.103 left_j3=-1.5238 left_j4=0.0212 left_j5=-0.0841 left_gripper=0.9969 right_j0=0.0158 right_j1=0.6258 right_j2=1.2045 right_j3=-0.9184 right_j4=-0.0319 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -1.7436, 5.4906, 0.3736, 0.0317, 0.1441, -0.1148, -0.212, 2.0581, 5.1897, 2.0342, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff7x4KoJoBHWzP8KthFTW9HX2pWtJTaAfpyDYKkQHHaMYGmLHhCpOP9wEJNjB1eumSr2Z0QhL9h6QJxU5iMtjmnJG0VXmtVqNoPrCyBzgylOut0W5c9NlRhGwJPYrWifrua35xpxBWh6_Ae3QD-tyaSp-qM_5uO6uCa9t0OsadeCI9bGMjHK24m52CvjklpemaGCkCQlGMTvGiKLvqoX0RqyJgryxaHDKzKAbzaux2BYNUhk0kOpwkEFydnHCUy4DA9QJyj6fbmIBA82FAd6tbrGGKFB9AsK9_lkPRXy7c_O0ElnBg8VQ0s-_L6_7OA1I8d2hotoEoK07JoUFxRs4H-FpiX2NppSaMDEQt-xO2gk-_raE4IFHMi1quzu2TWvK71aOYgIdDjZF944kH9ivKrNwVb5yjnpEiQ9XKs5kz0VMCkIGpFpAYQHat3yhUzkHqV_CepV29Q1Fxi4FPW3wAauxzzm6vC9NYvNOkKHjTRFcB9h-8_YUMHGUJk3chEpT69XaP-AfpiYRi8PpfI6BSadhwCbE-eS-yVHpXcI5b9IbSz-VYd3VXscVVXru9qQb9eiuj34gN0wtbgc1BFpbOcXbDe_hk0LGRzLCI7rbTI8UwNNPMDQJQjm-4GL2PiR3zZjjJuW-zLnhoYY3a9ujhru7CX5q9xbS_2OfVYZDQAz3JNmsy9seI5YVlq1P3ikcT6DO3Ise-WLVBDE38P7Wmxm0N2XE30krBsAvgRAAphRvp1lwz__XTtkM0fzUq3QAUuFX2VKlyi3e9tLat-tvxxiyrB2eUstclcSSxQS6yidmx1U6JQun-nLacuDcOCgmGVUjdfxTFhjlGjQ76gzUm2UO7UPao_K0YjzgAcDjz1ffyCLbbh5CT0dr3OcP_p2tnkhGpnQxmRF7kRWXxuXIYG4bsrQgG1IfOjRAnR3RMacvKpnvTL7H8VVUivbRturvJrHTcSwAjNr84azfv3v2L9Z798Y1pvOHF15dg8xxXXGoo3PcCHwg92G-5BK8qVSkC16LaZVjmBCMjNnXKVWBzDrxpeQ0u0oInOGawyv_coG8B9I6xPmnDEcwQfkbces6BxdR-WvWthLnMfFyH09pQK3G5xgxBkLZLGap9jEjP6r3eBbfDtE01eJh9a2YgCSk0gX-cNrGE1lRFROk1-Ft97N-X9d5Nu2PXmUkF0Vi1kae9wcXqR9GMa_pc1H19-8XelZXlu7hGUKAUjtXG0Jqe6slzZzwnu7GHm-sCeXXwCeyXdgf5rErk6axrCPKX957Wc-cNs0AzquAD7ebwxA63Q0CpHe93EyrH-rs7GndnrFGEcJUIlPbtPqMfMFOtxRjkaQrOzMgaboSPn_39r3aJ4NXpi3zZY_-NChY5yNckacYrLvVDPPxJxKy8dONdStu3CX6kBHAxNns_ZIuszvGgqmd-42opy2RZ31s-_m1rR3jpoDMACu5-6Orh1MMP2tFZ50UJgTGPbn1LOkk3RxtYx3h8bbKKF_fgOlqlqRXm5sqoqjdzXMUPDBXvuUPrDDD3B3oYB4UZzKjRB3dnuy-fK_sCWljT9gsSWLBoeDu4cP6pdYSwdzywJP3WjHbd-AXTtDSl3bXl6nQ25Yg9SaHYCmbWDHl9aMcl_mwo6rVSMCQLEABTmjmGng_Ew33fa5tX2RP6nh2OwZq_AiaqVqHbzoCQyR_3-ZjcH87PnDqA3fLmBoYhiHE1BeMtLN05VGB0wH64b6enF1L4h3xnk3PBnw6Ob9cUp0ikOXBFIb1W_Rj1O5KKArBdy67VODN1FKqSJFCVSZWJy6Bydu9-ZFADY0esE45j98B1Abc-Bs6Zv68JR1gzxE1GuD6-8ZHShQRYZQqKtSCFRbuC5s13lpiuJpvpWon9Z63aN4CZ02bop6xBExHUTm1JkSMYt0RRjk8FW2uNmQiUcy6zNN7f3UhbNJw4_0FlHi-ELkQxQasWNkrlVBARZQi_AjWVOjYraKmFFSgSYbXKZ05vWk0q09Kbt01cdb4XZqQ1HpZFoH1Ks2ns_xODLkU9kjHbfrcX0G09VHWu5bAqM2O_tL7nIeReDukqPcDh1w2dABp0i0_VNi7LmcEQFbnjBCVxRttGL4szibqaSC2ONbMMLCSn0GVqtixYeCY0VgTSrsPTxS1lbs1sIvYjKDoZWz7eM5Bq3bMiUG9wr8zJbpzaafjlYr1hOjbDtUpH071t21sKShj4jYYP0SIjhX8h0k93ebitBhnlmta89EdmY_id1t3h1h-InAcjLI_hJPPtuYjCm67owr-mX6Sshck_o3FAR07k6zl8LhyG3EVCGYuNsg3iXBZCOoj0_Ri1FeJvU6m5ICI-1_Iet3FmYh-v5AD9I8_wVO07BVscVN6cqfU7nZ2fQdW1hh6xhBYph4fGb-Be4PsU7U1Y20p-Ff_TGtlkICDPWbKiMDfjNrKZxNs-m57a4S83iHUgaOPM5BQDJ-vjnNyCdl-WomM4VWz9krPHIJER64off7FXlqA2u1fLtmLxLgrKeV-5fyrEMrqn5LU4AEopRjrRg2kDrCScDy94KDiv4mArmMlKvKGdfJx-qFor8gcxNMxap3fFXrKmYogP3NZuaEnQCDNiFUDPG-T5owxokYVVvVh-93p5Z0ieEUgCqVsbbMnhnCIIS4R_NWDzjZrG1Df57M_xKFcAO_toF2gJUciVaXX3U1R5H6STuOEEOQCzlk6tTMpwrMWpamGKYi52rJGJOJSeCi8eE2aG9V6Fh99zwWIg5wqC84aHTgmmNLfY4RlTCvlZCM3oynheMR0_cZUx_h_HKcjtqbMEpBewDeGMJ7S-o1_MusN5m_4hgBqImJuWIFq8aadZcb1zd3GVN9ln2ls0AVeEuWvPcsIejiexZHbg0zHuEEgbimrvYKAUbyrdZpH7AcT0W3LofRSN9n2HFnJdBGZtBS_-skHtmC-pdH0NxiKyBRi8kDJWdRIYFXKvfkXf85IZi_mxjMBwZ6sTDBQVS24dOByL-4RZhRLHyUQOzOravrnxlxSzqBqHBNxYlPzp9-VTL9mcT4I7a5PcTu6bYZnqGgPNK2ilemihYQ6nmgmMzlmhXeVxSueXKvFkvdWYwm1mfl-j8zKaEV7NHTFC2FqkHsjT_Abun6cCf3SJqUrNpoTaSSX93kpIYxsjQLbfCn5NTol2f1dGs97SeFhHdJHuacEwbiLWJXBwb-hIyZdoSJdgwQACdx6LtOkXFLMFSQehyxqiSLEOXI-G2qL2ikyM1nRl9ymw13Md0CBAKPoyzm9CXHcQgibG6ry5sJsYkIGMGWjLQ1hUBDo4J1JP595AVHwsCexxVixfhYpWxeFQwmieoBeKPWib6k1nI6NxI6Edo9GfNMOVI5ymFkeX9jTd4YWFpE3QTf7qR834NywCH6k16qV2c6T9VLJuWnzPuBqczkhN4iX6A50-0T-dwVj5cf17l35919WMIVDFZ0xDr59raIxS4NXxDVYEJs4m04FmRpEhRuKg6aiBvU296JRvpprahHhDSgjd4xbWU84RACiWsxDuHbPaescg==",
  "id": "rs_09dc31d5032af043016a7dfee2954c819aa08075b3e7492d55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.88,\"left_j1\":1.965,\"left_j2\":1.6,\"left_j3\":-1.21,\"left_j5\":-0.88},\"note\":\"The corrected pose finally gives a clear wrist view of the blue cube, large and ahead near x≈92, while the jaw center is x≈115. I’m descending about 3 cm and nudging yaw negative by 0.05 rad to shift the cube rightward toward the jaw center.\"}",
  "call_id": "call_Qy8QC1HrUvEm7HftS35i81CF",
  "id": "fc_09dc31d5032af043016a7dfeedb888819aa004f427f7610166",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qy8QC1HrUvEm7HftS35i81CF",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8696 left_j1=1.9789 left_j2=1.6135 left_j3=-1.2648 left_j4=0.0223 left_j5=-0.8661 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6304 right_j2=1.2045 right_j3=-0.9493 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.8957, -10.5504, 6.106, 0.3053, -0.0073, -0.1636, -0.0122, -0.0752, 1.7162, 5.2034, 1.9853, -0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038465aa9907a7d5f524a0a41fa86eae3abd4de7a13336485d49687525d4405c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8491ba5678f1f03158c5865d4467b0d11e9ab776bbd95cdce179d98b267a9387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8076fd9192b7c8d88c9c01633659b272227f4cb6969753ee7ab075b05f31cba3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 190 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.833 left_j1=1.9545 left_j2=1.6951 left_j3=-1.3621 left_j4=0.0238 left_j5=-0.8009 left_gripper=0.9974 right_j0=0.0158 right_j1=0.63 right_j2=1.2045 right_j3=-0.9409 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -10.988, 7.4598, 0.1099, -0.0904, -0.0366, 0.0366, -0.335, 1.3197, 5.2034, 2.0488, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff7_0lFpyKpcGMSh-LAAKHhkI3ZBvAqnCWfZEA6YPxHMyCJQkSve6LycfS0SHV_4K6lUSZvH9BpClZFPAzPGmzoxYzpRnvGJvFo0WtaJRGEnEaYMiJY_l2ebCpA2VIzoAImMedcgyEY4PCp2Z22MzTRWg1T6-RxuSAXNLqf6q8ohZmzBbXmSpnmcZgLwnuif07IVdQDYBeOIHYU3PEQLSTOkwuynlTsaD8l7I108ehYIID_DDxDKE-BOQBl2gJRtgbeBnHGCqkZM_XsnZIgo1ZLcRZlIII-FefuHoHdYssoE0XzoGp8LXincr3ltwfNol9t5Lpdvrdtv3XlIZ6Y_uPRLVgji934QCDOU_FBlGbNh5fi49T1EqaVnhTZFYjrbVarZ-w1uIkL1v-a4GR8iSN7CWTH4uGgmPhtaWffb579a01pS9IwbpOpaWdtXMnKbPxFWjSj4evXMXCjnH94Nf9JXTqP4moqviD4Yjdo-6vMC6M7s1OlxB2MifkzWMHjgNbLk1iy-cZJ1IoPCI9bCsjBHyzSqaiXfS0LNMfkp3EO84zT8aQ1KUOuXMcBJZ_E51cEtf3vPymZ_rhmeRIZoAjnnjHX70BTC7GOWlezgAqp82EllcJsozeeWZbA8guZlmArKbLsX7Hcdog6SNbKfXG1Z9fZq59tqraLX0aFpmlahyEokqVqV2Zp3SipsVl90x3inJuxbd2XNIwJWIjapA_G-X3lGEzduE0HKIXe9_baEWUWteuIOXInQa0inOA4JlAKNAg6YJS1n3bVN9Vtz4I-oru2QkaIRmzNK7vVxtvRUppZ8Q3YbUsOYDPS744BVjhUt3g1t_bWZs0t0AXnkY1P7wkOI9qXKaAmrAoi80my_0lVdSAyXdmZp_ubRtgx3wsf21_kxoyCTwEaJFDM_aqNW8YWggSz237rALYFQHHRf8pX3P6WTjxJscIbK0diHxtTdnvRoUfQFk3o6RiwhW16eZWGk1-zAxh0raaLefrZI-oFRpzokYkV_4r6FpwPtWBtqWRt1UpNqob5W0CSRhURzk84ZEtc5dHN140Wv3yJAMeJfwOkU-i6ofYpBDwqAr4byClftrm4iG4NtnNjdqCq7tefMzyViNSih0CuD1k9bLYV_DSlaWstfpmfrB5wiaLtqmH10LCeAPv_VkZkI7jydkJkHTwodY-0O5S_qwyTDTpe_p8TPZOR6t_WBvAtiKR8MHBi7qaF2BkegPFUCR25prMYALtksRZ1w5zxPHRx6JIAA2DS_yVvwzGTFo4X969vemyMDsBjrw5GXSRTqYkQZiiUieCpTgvfjhmxmy1llIcEisdyqIF1VgZkgic882bOdTGzGKTqEAD1XLUuTGEqA63k--maibtwTdmNq5aXjLZU8KQ9N3O-YV0rByT-_FzoXkgvc4hdgszOCENGTjvfYjPN_IeigOP5_CtF0Vm1IPc2BhN1ack1XqT5VLoOQBUxY2mk0sHV5dakV3zblBLYPXERkMldOwTCDe3E6KDBPOGTWBlsfWcWAzOMFFTilyvnHhijtzcNEmyloGstVEs87-lVsg4DZa8DW8GEFp74dYn5x_APEe_7WtP-38QOhz_QjiKekYuy0xwnlkMWg6ozCsc3kyK6_HddNHJpVWU9VW0TKCoA8FGnYWsc0C42uoGF8q3QYWBPmJhMzopiFhRO7XjLHwGiyWX2YtEKFK6ta4vzLrh2eWviiJ6UPpufkVNuZ78yWmV7xk5X1R5thv2rscnwDQuBP57aENuqN5I4yDxuYkrXY7M8gS3M0-JXp3mKuHPJPbV7o-TIvPIQN88uP6Ziz-oUne5llwZMLC3MMtQYF14hJXBgRyBkg26rbL37z3H5qn5h2GyCqOsCErbb2--F7ZFW3vIOLEYWzygs8DMV90yiF3ZmDUk7xhqcZys6H1bLelK94oZPHkNrgsSZwR06FlHk7uMfJyrO-P2pOKptMrngPkk6Yaxyo5LgkVoWiR9i3mrBD8cqhAGc2-JFAXbQChh1TfyTmIhHEMIFW5M0z7CabXO4NHAHJ6JtClgS2i4T3DSwEjSYYYRS6Ni53IvurZGUVUkq7laNBw-XZpeZbzHNT9ec44_0kQwOxTurK3GlD4uMydGDoZa5GHOtTAp9PgsM6Wu5Z5iUVBfFdLzyH_YhIsR8OGd1KZfYCx9K4nW-G0gHBKPylwfuFC3XzHnaVaYAa41M4pJGFoMd90IKWoYPqVM4Rly5VpGVbdqNOtRi5ujMdM5KZsaWojPxvGxfdlw3NGYMRK74mjXPml-p64yIwXGWsmD-j65f8v3E4O_1vb7ThJMaNmq69domMNR0x2dBm8PKOtnTZZUceKh9TiHNRlar9acIu2yd534l9RfMU-z6FB-hCmaOOKzomF3AePEcwzbCbAPCh2-960TaOJ_A6fxS_KEg8UupHhbgfdEP09942fmrkOApCuFOC1yIUdukhMY10okzqXnXir-1Pwv0GtcqcLLbWS2FzuT0ABXACkWoLNDwW9ETXnK5SplQMMoRTtwvEnQyBwGNmIXpkZA7SHF-zrg5zJ68iEsAQlLuepdjrwECUHy4vF-VHu5_Dax7oist_c3csq5w4LPUigWKNq_iSBMYcFaP2VcV8WbdEpOtSM41cBA9d_GA3f31nCIm8tqvs6nWqbNqpncB8mAxBKJoOJ9BQ4R3vqe1aE51WWKB7ByfLWnuwQlj56v6wvt8R6QKn8NJo31PKJqKtk1qgr5mkIRoQqMTJUr2LBY5kix_tFZQiRYDST-HHLVqD67dsK1lcqDqPrksFVXg=",
  "id": "rs_09dc31d5032af043016a7dfef4bf98819aaac476eca5a69c42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.77,\"left_j1\":2.15,\"left_j2\":1.885,\"left_j3\":-1.31,\"left_j5\":-0.77},\"note\":\"The test showed the yaw sign was opposite: the cube shifted slightly left, and it also moved toward the top edge, indicating it is still several centimeters ahead of the grasp point. I’m advancing about 5 cm radially and correcting yaw +0.10 rad to bring the cube down and right in the wrist view.\"}",
  "call_id": "call_got6EOTGTCw9lV2RrwQlIQxF",
  "id": "fc_09dc31d5032af043016a7dfefdd7bc819a8419e820c9a28e5c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_got6EOTGTCw9lV2RrwQlIQxF",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7769 left_j1=2.1483 left_j2=1.8423 left_j3=-1.3079 left_j4=0.0261 left_j5=-0.8097 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6319 right_j2=1.2045 right_j3=-0.9684 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.2393, -11.8085, 7.9795, 0.1197, -0.0415, 0.1392, -0.0122, -0.2393, 1.5385, 5.3265, 2.0244, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd71994121c41e9290a8d7504dff4b660f7244a6966ed5af755d7514d97ab61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc481c38001cfa957d7d9e3c75046bf198df9ec26a97c5017aeb9ab7342ac9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f3f17be72be2dad9c24819ba7496b58e55935b6efe9542c34af146e00471e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 194 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8696 left_j1=1.9789 left_j2=1.6135 left_j3=-1.2648 left_j4=0.0223 left_j5=-0.8661 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6304 right_j2=1.2045 right_j3=-0.9493 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.8957, -10.5504, 6.106, 0.3053, -0.0073, -0.1636, -0.0122, -0.0752, 1.7162, 5.2034, 1.9853, -0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff8JVb8x7CeCYv-OssDmjYGF5RWbXNpONAVkGt4vtc5fqH89hViBdjodm2-RR3WzRd6xhnvWu0FLZaEfsV_CJi-gYvR1G4AC5pvC-LBK9Wf_09LGwvpbtfzTBg-uj9pi9aowAg1SgH0IZlr4a_UT6VUF1GGm1pYlEvSIf5Tkm7oqiJYStHjIEQgfAmo5oAIQkiLTjSMTzP0qR0Q9jqFJ5Xeg3pu8SXWW3rHchWAdBDKaOph65xNJHywGKwgGLmoAFrEtQsBUFIm0c7eYM5TTns4Pg6JawbytsSqNYL71rQURru6Wc25VnWwT3vavNpJ1ThhBtRzULPuvcyv5gW0ptPGrX7fXeSdcfIWPGS9K8qJFvAht0O12Hd8Nt8y3czEsa7psv6jdFx2jBZ2J8MiR_L-T6o3P8gqNDVxLHcAlJ97v53GRiPMuZz8pLevGjd1LBWuyx63ZxPyA4XuXkA6ODuVi8EcCqFFKJ3yhVqJdloMqn8zhtZxbfdJz5aTYH3SVM71kcm2rkGOH7dHx_4NhdyIAun06joGgmN41a-5JP9TlCZAcAFH8pMaOvMIt_ae7_3cCRAQGfpNNU7YSKkVy1EkzzJAPnWf2KVy4g2yOy614g_9LZER2G40am-2yyxLvnkTdp83m9LxrpmQ_BoSmJ-eIg1gVVFUsLkd0n4i_CE5Ul99uP57y4S217_JVkccorWhFoqVS_o6s9eXOxzc-XoD0fKvlXGAbXG-FEHnoAYMaT-gJ5ojc6nmsAnE9Qkur3ejZjF6BJSKbaaCMOhjBn7SnWkbJlGu3evFUpIfIGtXnFjMnrYqzM0KqMMYfpnA7z6gEJ1m16ThPGJ4VE0K69vxObh6tGMhFQhh1UAuyco30GenbaugR55RthHrgL5oUSWVjrDE89jUota95ZY6WZSkRslPnYwZh6ThZMwvHDwZRLvbijzjsA3VloGh66CReUS-utc-xpvJ4lH1SyTgQRVVv2IAgCm4nxpb-xkDbfBh9ed3T7blSaAxIKfta7CvP6cOpV8qeM9T7wyg25bNW6-Sb_eWRWvyIYwSEhv7CF7uWxW7d60y7PzvdwCe7oHRPpHD09xgWoIawGFzZYbP0FB-4pgsrUOHBQzt8ZP1HHXGsW_4JA3SSe_mGfwui02vvHLtflGyil2HXMs9BWdMJyN-8joytL4FpgbTIwPxGgrOqnjWFb4RE78I3z4T1VmG2uYZD76AoHPnR70ClOxFpPImHYtKdbxhAs_4iTY6vf-54aQV84WB-31iBAGJaGhE5q9ua3g8nRetHhT6jlwO4URGVp5YChg6h-lflvmOfZA6ef8vJsD9eERwtDqWiBNNuoTkg93A2xIE2MwnbhsPrivA7eHqxnYFp4LZ2KIz3d2KWfg3BRLDH82XizFnmhUUjwr0eQ56OhP3NUe-ojazG7yK-p5uZ8CZ-qoNV1o_2vN8nKpfc2h5zjCdoQpbqU7dtsQXPdKY8ad9C8jZ333FIZk2BFRSgtzYFfh3FcIqfdbKLR3R5mUfwPw_DJxSfWVZ01uYCpAdiU6uvp8jNpDZz4nSWUWppGg3BndpHps4OePtw8RO79pifHN6nNapVKxxWdY0vTo13q7vhaezXjHnftLeylGLcQ3Ry6P6ODNVo3yuRtBoh4ZR5Oiy-g2yagRbOxtfuSMW3yT8zCSVoIjlb4liv-5_urS8fem5Q1MtMmjobo_i0TIVgssVIyjrm291T5vkQ1EIP-5c6US87aSackB2QHn2EGys-5REau2N13ZN2UubHNGAVMtYbI56mhvJxPVfV",
  "id": "rs_09dc31d5032af043016a7dff018c60819aa1eebacf8d04b77a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.95},\"note\":\"The 5 cm advance successfully brought the blue cube well into view at about (61,89); this also clearly calibrates yaw, since +0.09 rad shifted it 29 px left. I’m changing yaw by about −0.17 rad, without rolling the wrist, to center the cube near x=115.\"}",
  "call_id": "call_KwJYcQ0Acve1hMae3AOm2f0p",
  "id": "fc_09dc31d5032af043016a7dff073b38819a90639e409444eda8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KwJYcQ0Acve1hMae3AOm2f0p",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9077 left_j1=2.1548 left_j2=1.8473 left_j3=-1.3197 left_j4=0.02 left_j5=-0.8093 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6346 right_j2=1.2045 right_j3=-0.971 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -11.7402, 5.2444, 0.2857, -0.0415, -0.0024, -0.0122, -0.1983, 1.9214, 5.2718, 1.8437, -0.0562, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6122769e5d109c2c9ab550b6736401ab26ac1a5b2159a95cbf69bd7ad460e918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88f531a02f39737543cd3912256ee3ad41b4f2c6175f9ab34aff357c8f041a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fc52d55c62ef3d01513d21166f02f66e0cbd6f45e87c78c47a2fea49dfeda6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 198 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7769 left_j1=2.1483 left_j2=1.8423 left_j3=-1.3079 left_j4=0.0261 left_j5=-0.8097 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6319 right_j2=1.2045 right_j3=-0.9684 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.2393, -11.8085, 7.9795, 0.1197, -0.0415, 0.1392, -0.0122, -0.2393, 1.5385, 5.3265, 2.0244, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff8YQFGWAex-LF0CEqcS1a6wJi65PKOo5a1r3GiMWkQdys9lNwBdlxw6ERjQemv5HH2uDIadRvjz9SWeUspFu1AJpi2cGVQYfLcqZz_bMA22gsV4BomxI8aYikKscFupVD51PPvXU_xMgZBDZV5WyuNUeoIXkHs02rRWdagA1-Daj02ogqQMkJCxYDun_NmDLPtCV_fMx_h0WkXExjOMAd7kXszJjmgf5PAwlG6lgKSd8uamrrNV5RDApIfFWEn2S5PSwyfQE6zwAZn-X152yfBmBFgHgYprtm_DFUfWW1Pg9xDZygeIr6EG2agOQstf1jnT-7gZSeFfDNJ0FVt4Yzci3X-VRIbqbnsUWaGBq_NG5zQIQSaLsnnVCpnlspiolLI2ovnWCtMNKRiNmz1jbn82cjXrc8yLeqLWUCuraJb1LErZ_VMjK-CORhAa2vSrZXvQTOth-9SHeG--LgJsoBfoumEXUEGELZV2mm0IzwA-7EXFT4Bd_FAIV4wmE4aJlIJPNqCI9oRLMo7dATIyh9YL36DXHOQUGnZ_rajlD1-fLfqS_oNgAcmz4sL64HwzX_RyMvAWqVi4jI5K_4ybShK-Cp4k90dG42b16bvMIKC-SuHn-tctf0GaiH5FlFu8sa_2ZK1GiiEgSl4r5srN3C2rI-QFXDVJiIZfC6eLL_XVCo7XCuvF4GJQqrG64aMb2QYaskz472uTvdxKEWfzvVKgFTf8FB_peL9QtTbFsE0AG_zUFPdnoDKOVyKP3_D2UtiA_Rzy4bj-pBaW1nCJxIX7hbPGA3RkZoHUksX55vC5MyLXb4oJpU0OX5FmD8Czo0cB1utK9tFfYzDrvA5GBxJonLqsWXr_9CuUXBVAhp_0nt6VIjIB_SeEmLBVjuoIeeKsQ6l04wQWTncXTuHIykg49L-Z1qP-0uKk6Zpm6A_aIyn9G0wg744wlxtMoJ8tmZK28bMG_kRMxOXiX2A7z6DEzJ7W0rYCJx2ElIYzfr75qkto_3iWDUa9sxxi4Q4eVAubujTE6KKx-fKPzzIReIAyAO82S3IAfwJCDwFlituwRU7I910qxLRefZwTYHtUSoQ835ExEgnR194vafeiyFoFC-84Y9zDQO6a1LB5gD-obF9GOOS9Oe9wgULCsVILwc-VDW0dcINbHk44EYeJuBZGEz1QtjB_U8OpZwc7v4tJAagnUpICuhp19ibrozdC8SqK_I-7ctFOSd4l2mgbVttMXg7HpJIKn8PqNWYosqJO-dNXcvblwv-7BKqx9EFV8fT6nsbXGnlnncUCPf6q5xX-aUeq6rTGjLkm0K_ayEwDT6xD4ZRV6093lE5SFCxUBjagPZG2VGq_Dhspnm_S8f5TvXavjc20HfaMWBmakcmx1EBwHKKl1HglVu3yFX5xGxc2jmpDlMuAbHVUKxC50z7w93EASZH-W2HXeY_z4FTkPpfTeCG35iyQaMsKlDrsUPbJNDS3sT7Sh6ZmJvpLQSXVaNL9POpbwwVIlkf-jdV4PooEJP1A3r8EDB51jirgG3ksISrtzE8YRp2RvWsrGpbV7jBaz1P89QhEhH02IM4RdAB_7sWx28MjTwYKfxIhYDahC_aHMlBUEgNbXOGPxEHZ9r_1wBHXr2Kve_nJU8Je102MA8ZiuWcYALkjWP40mf5J8cdZeMO0cfr6KnOrFuaXn0afxFOyt9Z4cQzeq-qAYZjAV9_qXV0neDNeqgxXSiNYN3ZS_UUzF05XiCS0a22sBb25HtwBhkBdRWl1LScIMxo6U3NHkkQkwHGNmsSY3BBNzfsU7bgRtJ-5zdla6r3jXvGxwonC1cbACUs2eWtXL1moI4zq7DC6u_5N1VrNJ6KSi2sjAngpxUgBhcovnFwYhSeRRwkripVPv9mO_41x7ia6VAlGnInU7Ns6E2BO-ZGYEEyii5w0mw3Fj2kh_CZmbRR6XvK7cE8kZ38UraCHMnTjYPuF-s-6in4Cpr9JjGpC0jeupZ0NrGlhOUe1VVhT3Lpryet15n7nd3XBNo5XZ4y5Y5gMtLcEn21mz-rSFeNxWztaNw7YmQrP2uPqg-IBqKeNKYGeU9pg08jTm4EA36_UH6YHeBUMQ3R_-I45EfB0lREViMmlJmw2YQc_4p1UsPDiaVdw1C4VTnm5hmOSbFfR5VL7VJJfFpVICcAuFRmEI-ISNBP7yDkQXGeDTljMxm7TOcBZ7LIZ6FP5LRRQS1Pw8eNTxPQs5aNXLvMP2BTsp_uDk3mEJU1o8-rM4ZVuQoczZhgUOn9ptGaXNhuMSG9w4Fu9D8Ko8KTpgecmEMUpuJiKjPrPlCPPbKLjG17FPdPsN2FmWpYFVpMsAUZdVU6lvjsMjYEbK6qdd4CwFFEZYasJSv1Qjt5rRQDEacro5hf3vrYUw-DX7KrO7ZNbOa8Z21AXZ4QrjAaOlEc66Umm-8H11Oo8skqGuN8AgGsw71wyhPLqIb1oQOSgUa23R3fDQnw0YxvnF6iklnG2m5W1XSdeXphIkr7-ZFLkKYdh6fHUUlinmsSXTvUd3qck_4doNl3OErxpOu1dG2pApNKzoYyqPNerOx_x7lr4xKNmZmO9_3RObwj3bZrNRw4q5qadNPQ4wxu8fQT0JVLHCn7epRPgnEpQ6SjaNpdcQHGaBND4DkkMk_M8UKOkLxdC76K5DAkaUeltj5SnNUn_CXW-H7773zwmrcTnWkb06P7R-mq7yw_eYE61-Y9d_Bwh1Ed8NUdiAtSp1ZtVoG2vRSsspQ7hr8bqKHeQviL_7KKxilNNjzo_TSRwUOU_S8YtXlWOX0YL2VAC4bUVI660BVk4Bap7_2xMb3yNGf6EGjDYOJFIBcdFDR98Wm7Uf2AdDUKyUx4tei12rcwi2UufYSjOFfU6AcO8My1GiD5eyg-QfYUKEuUxs0z-VOLKW5n9wDrharJ_cx4Iawpx7vT4vej15fMua3vsCiYZYpvyLf21fOO6cGbyWyNHEh__-zjqtCbTM9PcYiq7FzGq1XXYfMN21VDR3eokK-BgdtGGSYNvEIEuZyVsvDrISKHLd7iQKH-2Zrwc3W_wZAcnow1jrE4ozrjYMzvzQIaCDPJi_kvBN8FQJ04MZzS0_L55UFq5cj3VBRrhZkwGhl_6URrC8NvKZAJikhaPR0JzH2mVqFHgbWhMBEUtjIChmem5rTJG6ApKy-ui6daS2pge_4nFkLaYcy7lRDL3sJiw_PEb6oO_DtawNhyfv872LgJkhcp9GODCMSDpyklnLQz1NfelEeVS0gPJ2--sYLQETVcvivVEEoHDB5r-EwDLXkbkf-wAXZTq_NGjhM5Z_i1q36iVKux2CrdCcWHk65UHnxndExXDy5PQoOqZgG7aV_B_6ja2mJfttAJAK11UqZpxylf7b5hfX1sY_n7YH6RMgHVp8JNoUwdPs6B-42TGJkTKDAOBE-00o9GxnLRX5qS5YJhtgaqMHfS-NoabZB53C3ugY77-tg==",
  "id": "rs_09dc31d5032af043016a7dff0b32e8819ab69dffb0134f78d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.85,\"left_j1\":2.04,\"left_j2\":1.67,\"left_j3\":-1.2},\"note\":\"The wrist image became nonlinear during the yaw sweep, but the overhead view now directly shows the gripper just right and slightly beyond the blue cube. Using the calibrated left-base geometry, I’m setting the target bearing to −0.85 rad and retracting about 3 cm while keeping height.\"}",
  "call_id": "call_bZ2Rl7cKcInPnfoK90Wr81BO",
  "id": "fc_09dc31d5032af043016a7dff15e794819abbb67b060986f9a0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bZ2Rl7cKcInPnfoK90Wr81BO",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8661 left_j1=2.0964 left_j2=1.6897 left_j3=-1.2465 left_j4=0.0353 left_j5=-0.8112 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6353 right_j2=1.2045 right_j3=-0.973 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.6769, -14.7897, 6.2291, 0.6227, -0.0904, 0.0073, -0.0122, -0.1299, 2.1402, 5.2034, 1.8681, 0.0024, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716729b23543334943d43e13784b3dd76baccf27ba505feb209de886f96fe7f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebafdcce238c55fd3dbde29ae7f5f633f4b0e4371346a7a1d4d0e6fb432b85b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b739c4f9424d6c7442dee9798d8a41026c081540e10c86d0adf356a6e45f57",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 202 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9077 left_j1=2.1548 left_j2=1.8473 left_j3=-1.3197 left_j4=0.02 left_j5=-0.8093 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6346 right_j2=1.2045 right_j3=-0.971 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -11.7402, 5.2444, 0.2857, -0.0415, -0.0024, -0.0122, -0.1983, 1.9214, 5.2718, 1.8437, -0.0562, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff8iV0cHy061DE8oky1f_MdKepNH7UrBFn9tDsD7bDsd3fVr1lyuIVHV66e9UU7auE0cteGrNE0MpNN_wHghLw-rfBHTcYEpRQY2qHq0PCe55i9iD3QRlRGqMTH2ZbKysXocfxGsjHjZHuEgS195A6FfrOX3_GYI8kuLwpBAoscbgroLAvrl8I6gEn78TnwLZDLF0GVAK84hW_-SGfFqYs_vePkSQK1pNoJjdE0e_or0dGWA7tMlT_BqdWHPXfs9y60-JBQHKv-8bCo17aTqT51g-GcpWvFAsckYnehIFi0NdidKaKdUsgiv_xjJJIbC7dmDDlFVZus4lpWG52vybBJIiwq_ROvhGKFiZ9l4UC8lSIofVWA5vM1clrzmFM7_bcvWzV6jcyAj9vL05m6kG92N88A2QDsEcNzPJ5BTbKXGFKueBCpzMj9Y26s2F5LFHALfB-_dvQhQa6eXqXUM7yQY5jh8RcKOYzs7ioBZPnVqsba5qT0M_SI3D2TZRTn6jUK1AzxU3RbcJxRQHAiuLIve-9yKl9tgReH_9jF4_W-a1M2M26ho75HgbfbmtJ1Z9JC21qE_iaQQw78wo3RX_DrwkIBAu1qWIxkekkq1YiRAyOu6SbvQ7JbxrGaAGP6ZxWboD_m4AvwCCbjaXK3D2nP-m-B3eGepdmo6tKGkEm1zkgOrat7vxVyD2gaEvbub26Env8pCvPFtQDtOUvJPcax7kfGuqKvWAltcvzD4sxfkSatyHnLc04Z5pa9HbothXArU8KtV4ptQxRVrlixL4o7hPD3PoGrt3Nd5-E1SBawsXnfPyWsg8T0GfroxzqRkjjvvLmDdYFJACc5pseYyNEJOJKIYfEdugfd9kuxGUw-amOehcpmOEMgBJgAOknApAVlRxdIVPIcRdA1hADDqnHfNr221tj2NEr56muDz6tsd6fuhyKVDvpWg7IZ1Uh7WB0kZvt4KVzXUgQZzzUJyGFJCe1FKr6GgGHPswrIDRSGAPELNnLKZmakbMSbyDjG7wCdjx5TN0C43R_laJ8QEDPs7SVsTShWecGNvBtVdvUuxtPHUSuCoo_KnFi3NjFHuhfzcd2AH2QTACNd_bXEnl5QVtIK-oKLio51Jq71IFY0MQL1yWWeBj1iprQlZckTEWvxfFJDGYiBmEg4DlCiSHadBD2D5qtYaK7mVYXSnNbDrEeIwET096TwEuH6zI6aBzrD1gjHvLbEiHkvYgZEdOyo1SEwPqddeq9_GeXP89rDKJB4-82jcbYdRUV6yUkbkq5WAixSAZmlmPdpiw88ykkdnszw191ugwtEzC-nxovlsalFd9vTRiMmBYU7MNUxaOfo0E3TCm2N1T4sSRjSfqTKjL6uTA4qV1uEeGQ8tlHTXOrkR8_36ry99MC9DXFyfuZzibAOxHYbsuxDCtx8_MGHtKVBhYzcXD-q7nbibmxHrLqFuYmo0I0en_fgq1UXeSjOnoTXMdcR-S178Pwl_LRzvi4B58QbcmORnvIwcTahBrb2HvGj9AblaCfaX2IzceuToyDAU9sB6GwcDfJqT1itfuNbgSsIV0qIMhjqIHLZ8bRnfVrweACVk4V2u22qWK5yp6ho751PNQfxIxRi0oUPL8w-QL2rcPyCwktvdQ8RI6slbGflTrHwcDXvY9FeVfrbpjQY0xVoPPCUehfQbKq5eUW8VV86-mj9zQgFGGSYxAjKVeBbIWy1gU6xJoTdB6pcCCuQ29fe_aylHnaervsdSU70cyBo8DKiXOrX5_UBOFnvl8lfsDgTl6FxGV-WATh2lnKUq2TjMzaLu1IX2D6cZNQ==",
  "id": "rs_09dc31d5032af043016a7dff1d894c819a84a7af87329be0aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.8},\"note\":\"The cube remains at the far left edge of the wrist view after the combined correction, so I’m isolating the remaining lateral calibration. I’ll nudge only base yaw +0.05–0.07 rad at fixed height and radius and observe the pixel shift before committing further.\"}",
  "call_id": "call_be2ExKoFBOIHYnobOWvP9blx",
  "id": "fc_09dc31d5032af043016a7dff213348819a8cc98369f3910a9c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_be2ExKoFBOIHYnobOWvP9blx",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8326 left_j1=2.0804 left_j2=1.6737 left_j3=-1.2308 left_j4=0.0319 left_j5=-0.8116 left_gripper=0.9974 right_j0=0.0158 right_j1=0.635 right_j2=1.2045 right_j3=-0.9752 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [1.6615, -9.4974, 6.8581, 0.0855, 0.0122, -0.0122, -0.0122, -0.1709, 1.6342, 5.559, 1.8388, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b90c01561ce63bb4ab9f47ac732de49b75346c5aa7fabb9096110cc6d30abf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:362b90198903b2f91313ea55d5fc12e1b37f1889e71480dc4d2996c9df4a0ced",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df971da31a3f91e738bec4a6c428394434c86f353bca9db6ce43d7266db3c4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 206 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8661 left_j1=2.0964 left_j2=1.6897 left_j3=-1.2465 left_j4=0.0353 left_j5=-0.8112 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6353 right_j2=1.2045 right_j3=-0.973 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.6769, -14.7897, 6.2291, 0.6227, -0.0904, 0.0073, -0.0122, -0.1299, 2.1402, 5.2034, 1.8681, 0.0024, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff8qmWhSJfR-1k7G7TMhkMt2q3J9t50SCNUutRp7dGl7lBOZL3PBJCXWQBzQ81TWTmA8bIvLVPuJlKgyE4ypw53mVBdrDyKYvkAjYeicN1DY7sbDbwOEhJt3d3DnGKhKPBo-ywKKDnogZwuJoyYdTxJbd7eDtB1gQjHyxjk6UGRnUEdM3yZ0GZicW_V8-c2Csz20FXQKsimrCykhs77Y9YDgknHE13LH7pXq5wmKrR1XGVIkNZ3uQpVCSaaBYuIyI1dxN2CfqWgg9-lxx2OaCYio3crTOiWeYOTjd_-r4HrWQimjUYnebJK82F0JmfAJz0M1dbxCJ8GrIJtYji4id1uTUMYDm2Giw0iDFhJ8IA1k-fc8WRkcHTakh8ETDIKm0CneK2Jqr3Bg7y7PFUQ1lUQVpw67RlFSyIVr4Kjd70g84dowspru71gZrOO4ErlBsn_GA8QRzkKM_9JvdmILgRemCwRP5VTctriI1W35T46qvXCkQOC9HvR-VOlEW-osQRSrwtXIUwyRED85hLAyOdElLc3FBDSUDn8Suz5XIbST-bxW8IjM61EaJp34gGomnoDOAPzmSel0j-nsAad3xe516AZmORt73nOYX6lCpBTwzpVkRaSHsFcemf6fyGho5B_p96ES_uavGDdyj7pZ1nfP9ftz52UX7_brOXJw6wDXxe01GM1lJ5bAKofBUf03LdYATK_TxPpBBJNBJ_8XW_20FUYb03GBG9zrTJESG0UeQ4uTRlwN2NBpK26uG-0Eqh80XF3dbqWW8CVQpDgf_E7Zx5UEX-9SFu7Uc3l9-G9JFtfY71bOoo7y6H-aWH1DMdmN15CvRlE-Y3HvGvRhCSRFxBfUPuLQcIdeZU-fQXNK0EDLJprtXOAy8n_CGuOljxpA7gaAbS5E1bA147WUNZS4H6AWkX7h2BF4QgzN1S8pOOBcpMBSMcq7V6x8tOsBlxQ6vP-ftTkYOxyO1qPSvfnxjbel0iZ96N5dCBCptW_QKHcgo0-yprT9flFfiuYRZQQICBghfc7HXwbLABVWC8g6_P5HqRyOvNDvTaBNdptNTHabVvdNorRh3_rUNB4UENTQWR3n1SmyZmBzS9fhWR13EpkGkkQmZ_lvcFSrxmsg7G1gqdOhILq9eYRy23AaHzzE0hmkL4ODbM-wV0olanQriqfGKQ4YXSET9t-e0ZfwCvQ00DTjMWdi_1AkjAaWvE08yBKZsilVQNJcHGQEis83SCA31qQWbIlJYKVRimHlFJba0LMG5cdFs4HhHPoZ8L2H-sVYjmQm6TrP2XbzGEpnHx4Mpx9MJ_QKGONOZhBSx0el6JCR0oFKcMjHLYFS1QTq2Rshtk0KRN9WEqFuO0OmnpEm_j-IdxPFQRuGvv0TGG-22ckBGBkFDVBUewmDlzOT83KSDCEGwLT8MlIbpDE-fE9_g9Nvz72KhMGAO0d2imS8VvM11GRFmoYR-2O6yo3PhE3YGxL-_e0Ajdydun7eWVC60pVTXX73_EEyfDDLOFlQXV_mXW40RyBEO13b9iF5zdu5rMAnytia9Unq4kYQc-ffmR9_Dq-zCbQ7Dkg7iwzAAJLhSqlzq_Y15iTxiO6YOsN1Pm-d2YxeYTDbp4MqtdYenSBFDZZW_9PyaNTZOjWIbhbxOwFJ3GnXMNAc5ndm8T1K6pKI9f5383HT-QhiEY8XpMqUsVkg8KK8myRiD-FP5SgZ4np7Dx0KDB09WLZlFIoxNUgT3wv-9_lhKuqqGo44SxktgbQr7lwkhgL9Zc2XES_BHuB7s8yyVzgGDdEeQWLDE9RnCew2vO9a1DltQyqwuw50jzZphO428Dm79j2CijgSIHUMjAIUk2IKxoYTZhSe-fSHeht-stzb_kYfqySqIh55rWgHWbacnLeKgaa2JK2wd7kU5R7Amgj6ZQPiJSfDyNmnivQOiscshqKK8bDxplNkOOSFaE4kkYGuwg9vhv8Q3kkDXT6JJA_96niQTe_8s56kOVCkdvWiXvLShxdr3oiEG8o5BAe1d2ahJWpKzEiBCwmgvvSee3H8_LP1_lq6rNu4IvW0ZCEziw1q2aeo0NmUPbBUdkBoin6DV1usvDVTM5velaR44RL4-VaMx0hdVrIfNFzmhbViNEFoXrUxGYcQc0_CdnHEDI6SJGPrGOMOp7sL9_oMxeYxnkXDctKKEPJt9yfVgorKITfL3vfTjfyl-pZkAvpukOql2r7aaGxq_JnWASyAQA3vXfPE",
  "id": "rs_09dc31d5032af043016a7dff24746c819a819058a5ea9cc7c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j5\":-0.5},\"note\":\"The isolated yaw mainly changed depth, leaving the cube far left; the target-to-grasp vector is diagonally up-left. Because the cube is square, I can use wrist roll to rotate that vector toward the jaw center, so I’m testing a +0.31 rad roll without translating the gripper.\"}",
  "call_id": "call_21WSKi3GDxHfrosrM2tVjEfe",
  "id": "fc_09dc31d5032af043016a7dff299560819ab403d8faae8d1b9b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_21WSKi3GDxHfrosrM2tVjEfe",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8326 left_j1=2.0872 left_j2=1.6733 left_j3=-1.2385 left_j4=0.0376 left_j5=-0.5919 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6357 right_j2=1.2045 right_j3=-0.9779 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -11.1932, 5.5726, 0.2027, -0.0562, 0.2564, -0.0122, -0.0889, 1.6342, 5.4085, 1.9121, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d84742ca34926d37359fae914fda6b92307c9c508e8fa146bb9135993019fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f095118c8fd25969ecd970418a059e0c94e00d69297c67e128552ebbbafec4ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1213eb07dbd2b9b80d09cd3080c7ff8312a60aa870c4e9a63b2e0142e13f62",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 210 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8326 left_j1=2.0804 left_j2=1.6737 left_j3=-1.2308 left_j4=0.0319 left_j5=-0.8116 left_gripper=0.9974 right_j0=0.0158 right_j1=0.635 right_j2=1.2045 right_j3=-0.9752 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [1.6615, -9.4974, 6.8581, 0.0855, 0.0122, -0.0122, -0.0122, -0.1709, 1.6342, 5.559, 1.8388, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff8xNGzFo1IpLHRgrA4HMfN1VwAvm286vZygPAJ9p3ms8lWWza89_F8ED4CGQ3IT9rHQUOB8QxpVyTMU6bLnLv4koiz_oDEEklgMW6_I8Mp2wiR3YRjr2vpdLNJHTFuVgdNQr5Xov050fHtKXHIOiBEZdxLO4A9WfAVc7T85uCB8O0a70LlbEEZwYRW8MIRYHZC_mjsJYO4lJacebQlMcdjPUjIAXRQrRx_Itu9tW0KmrcU4sK78hjRqdckXhx4gL5nw0WI1OEaKceNKC2ve37LoofwGulk_W_wOG5ZNCvqdo8dXJky9qgweNYnA9quOP_PMlur491MNNokXU3TNJlqXhZ4XpdcqjQeW2_fLHXG-XERoLZq3Wg-Ytlo21-9HeQEtrVpPlBzY918m0mmYj3V6hfCJNVrj_E7yTCZ5kz0wWHGhfhh-LSnDPKCeqeXjFyWK16Xgpx1SRhbsMt4YfAuZQRXSQ36wrp_2we5V_LUmrkqx2IwZepW5ROQ1wY7caHoH3qCYMRcuXAJ_yuRcZFtv8DXQdgwBZYaD4v0dbeMIO1ydqGVKgZAervOVzG_aNo91K7IKIxuq-xi7cgiGY3PkNUShPI99iRgC7uJiQL_plOIffUDMorgkGNFSGLwNZvWi1V_g8uul2r0atYM0d9diGDl2HtFM8Roj014wuU2SmIEef4_ydgZqsnAYRNxLzX3TvG_FVIncPHQwrJL5T84YIqqOFVDQffx2LDbHD2Nzq_pZ6pzGfAb0oNMu7Q2OSyBh6G8RaWTapCDFwqc8cOCvkpxfRL93gRVCHSO-l4MAxx_Gff6s2J85l9QepuZmDews7XZp0YvnNdUds1H0iflAzfMNjY7OAcO9Yd5DX93zBex_146THfLP9DV4Q4rrdvJ0zTqkaySUrIwcay5cWfFhAM_b2ar7bkfr1w4v5310ijSHp5nWTmyXqvRw4vb9pvauyxM4y4DvijGpbLbv2LG0JDjtyY72uxtmS0JgMzKNLLjjQFivgP5mjkiAzwInAGHs6ikmY8onQdOzuT5N3y6dYjVgvDJ9xGcT3sxtgdG2aehEUf1Bhffq45N-yOq4yF3tJ7J410hXU0KqwAta7Olph5roubX9geiSC8MhF9hFEXmcwqJ-3-KeLI4n3_8IjUKybgze9FZcXdGFWQj7wufVoBJUN-i75WPfxkE0udIvfZq-wB2WaE8gxnX7IbB-gHxjDutcUCODd0sBLQZkFiZBOrK32R_aPalajnSHG8FaTK3uzN1AaWtAT7cN6lttfBtgWN2VpZYY0ul7IN706QmOT9vmATZceWocWrK6IE-A1PLG0N1L6IlUrUMHinLS-zMP2bvfqK69ffhKff1egHieafhGCePCoVed1HMExnYPrsmVPmFLaFsx_352QvCwuMINpUPQOsyGE4dh_jyIqgCLXel1knhUAV1qNn92_2tRncJpmfgjI3yEbCbfjai17fwc",
  "id": "rs_09dc31d5032af043016a7dff2d8d98819a91242af861b9f0fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j5\":-1.2},\"note\":\"The positive roll rotated the cube farther toward the upper-left, so the sign is calibrated. I’m rolling the opposite way by about 0.6 rad to rotate the target vector toward the vertical centerline of the jaws.\"}",
  "call_id": "call_cytvnUj7Mwc72WCwmmITtVOe",
  "id": "fc_09dc31d5032af043016a7dff304bbc819a892c38b9bc1d13cc",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cytvnUj7Mwc72WCwmmITtVOe",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.0872 left_j2=1.6733 left_j3=-1.2404 left_j4=0.0376 left_j5=-1.1233 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6357 right_j2=1.2045 right_j3=-0.9783 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2667, -10.7829, 5.5316, 0.1392, -0.0122, -0.0513, -0.0122, -0.0205, 1.5795, 5.2034, 1.8486, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31711c0ec2afc216f7f0b20cae665e29c1445de1d2e3d64f575b55f4e56ca65b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6fa689a5df06a241b43f5913f7fd497831494df35e69451ceff11ead71f4215",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fea5e64d45ad0f0d6e63e7a43850b681ee9455f43a424fac213bdee2019952e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 214 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8326 left_j1=2.0872 left_j2=1.6733 left_j3=-1.2385 left_j4=0.0376 left_j5=-0.5919 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6357 right_j2=1.2045 right_j3=-0.9779 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -11.1932, 5.5726, 0.2027, -0.0562, 0.2564, -0.0122, -0.0889, 1.6342, 5.4085, 1.9121, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff83SyVO2B6rXGunsw4Rz2wUZZck1aL8s12d3yWC4CKCzvkRQKVPhGArg4ib_SHW8Vj0zAALWQEt3BcMO-mdJCa8FaP2cRQev_ZDFwkmFO2J7VjdyNlJdk_qQP_9cUP6BegdyjSuT4X-A_WV-aE7nbHqbWJtiGfGFwOvJuXZpWu-WzOYSHx9zhxJ15m98HQsY56XaG-obO_-NGbUM3NhqFXcUqKYdvCCm6r-qpTTdQTbygOnldGs7THEBMhJP08ZRNy0fJ9zuIZFlpRMGKcTvCxPHcfmDNFJ7IWrXq2QqpKBpIdJAWPa6zLzg6WDFg9CAjFNw-p-3zreIHmKwDcUIeFZatpGJtQIfReTmKoed3T-4C8w-6v6HnAyBhB6lAGWGQbp00pD9TV0wUVQ8YZg7Ls2mu0DrAkoBdRcV7IK-he8tlmx_G_XVw8kDElyBFD_UgOEsjSuckJOst458NyKZPqCIRHPMGX31DlwAkGh-MV66Yo6KwDzbQX1y6OBObVzD8HTUJqpWwbn9ptCBeK8SZOkw9bdoynrGbHK-YeiGI-6qhPrHuVOnE9mVOd-Aq_S-IwHEnl_pkdUZKW2LRL43E7NgyuLpuzjRXtaLQN5cvMgVqg2RQ1j4W4rwyzUsnaMe3hee0ecSaYQwO5h-AgPANDr6XcdimvZdTy09l2Dwy0I92kK219erMAeSSWI57zJ5h5CiwX7fWwW2lMM4WGBpo_CvI90-NIJMPwHJFMAk59OO3Ofo5j_oSxGtzGytERXYldIRtjO8pE63etwLyWXC_PJKHhXMTxgvZC3DgvSdMTBTBXjREJuMdWFolTzBBIQgCmV-IwvK7tto7zWijrXNdwn4oQoTztH-lgM04gBw9_RBw8_fSbZeRipr-asS8nIVfarLcaG-hvnmgb-h0FF94L8pyFj6wvP4MpPjkbsIjQJzHMTo7N4gwLf9rA-_JcmAMkTAPJrInjSXhhpPKP727pcD_VXe_IMSc0EEXCdQYyJ8_Ok75zP9iYcMjGQ020bqPT7zzZh7sGP_kluRxn_b8TO2dZruzS2LZCcGDl7CxtNmpjqVbMhOjMlOeBGGmkz1V1B2coNMBDRPwApCTU0jBy_cw==",
  "id": "rs_09dc31d5032af043016a7dff34ec08819a910841fcf19a58e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j5\":-1.65},\"note\":\"The opposite roll worked: the cube center moved from roughly x=15 to x=66 while the gripper stayed fixed. I’m continuing another ~0.5 rad in the same direction to bring the cube onto the x≈115 jaw centerline.\"}",
  "call_id": "call_T83mnJg4maniA5XAEDZ4TwqM",
  "id": "fc_09dc31d5032af043016a7dff36e884819ab98bd526165e2193",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T83mnJg4maniA5XAEDZ4TwqM",
  "output": "executing move_joints over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.0872 left_j2=1.6733 left_j3=-1.2362 left_j4=0.0376 left_j5=-1.5703 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6357 right_j2=1.2045 right_j3=-0.9783 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -10.6462, 5.6137, 0.0855, 0.0024, -0.1441, -0.0122, -0.1573, 1.5658, 5.2034, 1.8486, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67cd113de9307ae2c95936b9939c06760bccef07a6a830025f9536574bc2f76b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9cf5866270d8d24895282e4c14f88df0063c9024ea8b9ed52b19de127a2cdb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a850f68c93dc9a34c0ce21bf5fbfa29e0737c45658895b8f13932f85e1f38b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 218 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.0872 left_j2=1.6733 left_j3=-1.2404 left_j4=0.0376 left_j5=-1.1233 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6357 right_j2=1.2045 right_j3=-0.9783 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2667, -10.7829, 5.5316, 0.1392, -0.0122, -0.0513, -0.0122, -0.0205, 1.5795, 5.2034, 1.8486, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff9HUmKSlNIdbxyQxbJWUmbfnBeThNtuRCLbpgy_1z1u77s6g8A3PzR4aCNUKsHaE8omnt03atysXCIdwMytFT5g5Md9MJ7snP6e2YsKEU3gBU3mpYQvMlU9f6-n8i-nJOeZzYqxuD3xotqSzuxjYS-TkpLVGKrywDMEyerlfrzKA2UcULZ2Au45L9nkPhx261t_PvDeAlZ1Jik1YvOlLDhxnUH1OTuZOEIMF7Q9CYaVkdx2EV48BYIoeVvbAjb0ivgccXUJCEvefoBRUd2N2oj0l2TB89UwggWah_nyZXDl-DyG2gGssPbIP0qzwO5eoAzSUHCz48AXD9n5aPbCxUx3MjerGioiXaBAYhj_8ZmfIu19Qho5Na4QIuJKd8GKD3A9WXWUGzFx3eMPjRNBukHVlWjtcqHs-9I_8gHKniIvvZcJ3XAsPx3dAtxS1k1H4r0SgGjBDhBa26BItyPGedHv07TqE1XyDnm0MoukKN10H6gE-V6GegBWjxurY1BcgYKdnqV_D5HEDSK1f7BLaWcRpmkl_eNPyVwh1-7_FDWVtgdRIkLYk0y7vEyQBKAETXP6cJxneOfZ7n_Onk4PwEiEOjr4xNru7Mc-XfPpbN-bIQeRDinKsLrgb-ohMk1SAgUA_K2gksoF-lzxlK_OVCFiAWjJ1AUkUv5hddMSPkkMC6CSdOzRMDgNJAOT62kMG1ltp2BG0nqVWAVIiDfYQj9oxmk-lALqO4B68eCxYkeK0ZDvORuxeXz4SmjOEZUDS5qfDpDKu4n1a47jFRvPKPkrleFTRtbyrT8aCk9EpKrasU7ex4hdZBHixXXVU-j2qD67SXABwXq4Ez8NFgqOBWCc71xdoMtJLTf4VbD3g3ejK6wWo8nP2UAhmZOVdCnl-2iYxbifhN7IN11d36nTrRpxHM0lIoCxN-oTx8D4NwGYdIvhsenAcbyeBH6rqk2X2vszqdhtrUmpMGSvfyj8P_ayLiWdjf-RXBQYWlldb6USpYikxZb9BEFZAOwHqjkfSJm0G2cNhNOJbsHg2Vzc0pY71tNb4XmYcxRdbnuQKGp8c0UEwnVDDLvV5tFIuZrW89p-bvJtb7FX0QXipxGmyOP5Edw-XvYe42wu4lOqN1InfFJTqR440NCYQzmQz4pXN5ofxv8JhNklsXlpV7cAqITnvYlqsddiU5f1I9SRhqy1gVo-sikfYQc-fwjFaSelf4e-yngnpNYWLbca8IEyGDsArBYwju-8SSXMdJx4K2TUp2ZY6dbgbmbk2hVtZDWHOlSVmxFdamaL3hTP38KMyuDqBDnO7zn1ReH7w3Kxs-qNj1kPcT4YwjtSkYz2hxiDQw1gGPr96s_FOPoobuZESAL497_3wXcQri7XHA7kOn-odGbPY3k3ZjaeMAh_HaT5WLgZGwySv_9PEPIkXFUlDI8FEx0ha7uNGWgBt-FjhiB0n6Rnamxa696HrZlwFg9mFjyafiIadxIfXka5xjNO9ZBTYe8jRYgNI78j1s83uSNpvffHzceUFVoW4XaQRe2ydxCGJ5lZY6B7ZVCuuIvI2titYWiigJL2EEZFSx8_egdIXnh6WMjyBzh76HU0ksMnM3dRBgHRsLLKwZFXLlK0YDil7kMyDZfDclV_MCZCHZzAHkwiFU7cRhefxY4V7P4jXpTzFHE1ZQnluZn2PkWqVJLRUCTZnARFBdPPSeYvBQ8j239y3UVi1kJp-d884gDgPhMU5EHN8rCGuLHR3dqOnbwetoEbw858DEMwx97cj18cDp_2cIrw94H9ss-i75h0oXNAYWhRuUv-aguCI6Fs0dpxbw4x3wjulDQvCzigZeRB5U_L4HS0DOusiI3wtezLJeNu4YWv1er6pFIvyuxqoORWTponAlXl9CsOUWQhK927C4DF4io-63G_KvPTVRTCLozAusLPmvo3r2XpKztnYNrj-fqu66bbmWJpe4cY62ekQmvFI04_PxbZaimgQyzOYVSHAg2RliQo7QF6mlVcnvS2oV9Wlxmbz4yCuzxMaWiccDWCBD4gf_s62_qi5b7C6VVINURQ_V2pkmcBiZ_dtL0Uhg_tH-MK7YaKB9RGppftLi_etvdCzZMZ2x6hAB2lyivYPAbcfF_II6dKJU2xdEXctaFJgcnEye4-hpG07FNxAFXoPc3bgfFlkvK6p5f7UVZAEItnkOustvJmKNd-OZGJUlFwdxtWQX8qmOVjmxOpYF4=",
  "id": "rs_09dc31d5032af043016a7dff3eed48819aa26d7a513900d538",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.235,\"left_j2\":1.985,\"left_j3\":-1.32},\"note\":\"The cube is now precisely centered laterally at x≈115 but remains far ahead near y≈15. I’m advancing the gripper about 5 cm at constant height; the earlier depth test showed that outward motion brings the cube downward toward the jaw convergence.\"}",
  "call_id": "call_D9k631OMPMZPNNSPrVtRjcwb",
  "id": "fc_09dc31d5032af043016a7dff45012c819aa3f3a32fb66f7821",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D9k631OMPMZPNNSPrVtRjcwb",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.2288 left_j2=1.9358 left_j3=-1.3037 left_j4=0.0383 left_j5=-1.5867 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6369 right_j2=1.2045 right_j3=-0.9897 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -11.8769, 8.212, 0.0171, -0.0659, 0.1148, -0.0122, -0.1573, 1.5385, 5.2718, 1.9707, -0.0073, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761e14fee8585bd8c1915e99345ae92d6a6bf0ed96677c160da523b5d7c1772d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e466e45e4964dbef1df6897ca3e8f38702bf3b2f73b9efaa2ce70f3ad81e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05291595f9109a3a5004a213ede0fdb22914dee6b607e4c01f4c70f2b0d3062",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 222 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.0872 left_j2=1.6733 left_j3=-1.2362 left_j4=0.0376 left_j5=-1.5703 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6357 right_j2=1.2045 right_j3=-0.9783 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -10.6462, 5.6137, 0.0855, 0.0024, -0.1441, -0.0122, -0.1573, 1.5658, 5.2034, 1.8486, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff9atiQr4OB0zSLf2PwCmVsfO8NQNVdShm25Nhy8ACTpseK3Ckt_Y9m124iqTHGceeA-Q-WcOZxLHN6J9oWYpCUh9512sVOYehKmhlOo1hwDc9kBikv_89bU_UkfaL5p-jd1-liQI_PruSHjhp5AzwQLzRJ--7MJ71wjZx_wGQahmm6GLHGmpbnwspslt06f6QWLe4pmJvhA7kx-f72FK7fRqHhMYMxvK8-P4QJQImq3gmpW9y8SxjP53H7ano9XEl_V2kCF8Yb9gyqAlAasZW5QJGQLJatYGDGmroSxetrCV1AeuP3-ZzCadfVyLsgSJLzfzCeyzmsrtKNgnF3opCk6wwd76b16wNqAyUFwCWjfDBrtaEbngf_5S5Ce6281NB55AhqmRIDaw4jpL7zUlQr5ACEhFGhrGr7RiIf9Kd5_osEHixiKunRg4EuGVkHHRux-ZLKVLh8FZ-HLb1Q9COaZMUcXRypnOfvwVlXqK-f79D60R2FWe4ri7c2TRQjwz_GBJ-1a1VHwyBLirv_xkq9MrRDAoTvSHKWsGSJsJYXYjU3gRLl5V3oZHQxLfFCpUEdjcsKkH_ivM8Q5j4liOhfAIhTeV9lfJB2vZPYbL1_cBWiprsDYdysUuc7j5JTnsiDmZKDrGpHbvDg-sjLdKi93NcLh0XYki570XJiUsu7ueNIpLffuAWBTYhdE0g1NKqa5YIPFC0tOiv2YlFpMBf8x1HZXxGoq7jTmfaThJrJSH52ha2DfCAdXQ6un07glphWAVWqwIBKEuUb755Atqmhm06RgXZvT3qcaUpgHbkFrl-NmHWciridHkveijzjboC6ugIJLkXY3hXznd7kWVag4EnZPL2s_9I3QVKOTi67g9XEsYdETO5QqwivFZXvfUqt0IGrmA9Z6Ici_s4gurPDpz79LzwoHo7uuBJuI0MJ7uhw3q3mT5xnpLij7ob8J-9L67ek3s3007EOuDpmlQa3ThRQ27QzgRbl22nDoija0PDrS73l0OHnu5KlgLgQg0ubBsA3Z03hheqa6FJp_-SnP5ZhYqsAflGoGfVyWruRnZOKq0na8qj0rMlrexOdOqPgmRLHJOOk_ra8HsgCrRQ6UnCp5dEaMjt8NVMpflOqLNb3DC0dwHL3E4BpuUNHXlsalNP-WkKquXteMU-xiCLvZT0WhTcmnr-NPy8zu62Tl32oNI6GEfKTeSSP4qknPx4ajVcSlCNAcudEpgckJVxSPh7w-tHR0-osDgTjz5tBAMxgT2zPtdhxQjOoAJwi92K5uYKMONGnlYMf4F4Fu5r4UnJqwksrxoRat6QZB4GH2NzogZU9HyyAOhmiRxf2ZIkTNRvZ4HfbOXEmje_JCNhgvoAfIXsEilv8uzqX8SVIGUm9tUHM_xAAGF6imOvRO2TwF4j98bkn8OQSntPfzpKtfaQe3wXQxFxFvSm9zb0ddjgI9Rin1eEJkSkZ98ccpPV19Q8rFu4Xs7uM3bEaer5dOG55NBABz5si7ls6beVEcp6edWn5O5jYgIhr0orXup9LQzKeyqMbd7Q-jtE1gyAU-JyZ8QkJqP9BRn2cIvJ4T4hBM_1xZE94iLvBRpFqUD0d3rA8GFISHvy3sKiHE7Pkb7ErhMSxxkjFKQg-_fcYLJJX8AXyDJMiTXp_uDQqUhJtEEODRgRXJP-tsKINNaXAug2SMCFBBS-AWeKt3ey8I9TDAKISceuIY4zWbO8bwM1HFX3yX9CizGnQD22QTLVIzd9KVRxksnJ7dO0LLE9m56nVN1RsEGPg9144Rshl5arINPvMYuf2iZ34UahXTPRDBaZvI73568j-QNuW1CAk8IvhO98juWpKDVeJi6E-PcjDUJcDYXkG-HS3Kl4sWzs13taMZ__kajtmMmJybCDOuPVqsWIR7cj3eIlKeOhQ9LuqANR7Vzfo7WkQURLVpNnQO-tb5oP-JDwTNlVd_0c_44IVJMjRpe4IXpG-obpXqtsd1USaOGq2YG4gGdpGYhwvbNwJcW5CWilQSATfXcNicQ2UkgufZ7ZmUjTEFdlE9h1IZ60NPSBOR69bBj7BthzsOtBZyx8sG8oryzErMMbyXwiLh_4-Udpn3dTQ82ccxC02Sn8uQgHuz8cCC90t49dkZXMnXFqCiLje3YcoUWO_2KqKrA76POa7beBtPCS3ApQI17xpZlukR2rW3HVfQRq5QlO-cSRQNWg9gp5lMe2Ul2uvAYgPSp29iY_lnrss0_D7x4-jFkoSADOhvGGK7YmO_M2VlrdBEsIE8g_KPmEiJLtO59IKfo3PiQJ1dRMDOqTmHggRqDIwHLvShVlZ74RCIAhPnijXqglXOVb8OxQONK8R6e6zRnej7aGG27xHtF0HdqHNs2l036qv8DkddGOAlohHBnTbNh7s1KkDkZwKePTXbk1KfFffreEr5zVfjn2WiMU5XUca-GFRGI6SY7Xce_yk4K2s1TEZTVVC4mJHOOvLz8gXpRV4u-zt0A_S0-UyqlWuUfPeDkol8Zc7wDq48CJbaaTPoxcJsBlKMzD5VIrqdKk8-4DT5lfyQkYSX0jLyhu0STFV_XTQqe3TuDWs8AR3QeTrk4ZHW-T_eZgHJJuyg3QOSlNlvpnzJ1Gz1KiFOaHNls2umkBNTGXLQ9AXVAShsZB5Z9KQBirs27TdHApyhlOse4nWQRuBm2Peib_TbMKmr8lVSOTNOpX_iHBjsu99hwj4Zs50M4LEO19GiWlAydg74j5wnyRfJwZFSzbyDAZiBHuTo-PUpkG2lIOh_SAvZBMMs1c1A9NxQZEH5wjmnImZC6k1CIhv8XnVzXvLEJhkiAj-jQYzwCcmOLJZKM8WWX8CqhxeKxoRsA3_ir5F-uWs5gHwpDcXVgFTHTt6nYzr0twpEB-RKQUZuUjLfekM3hlI7sIC1edq8_YhbFF-SQlaEPYq1_UwdM8pMFih6Ix7vwsxEOWyNB27mb4IJLR3udFyq6TVnoajSl5ccW4n0eDtOkDQk57UCtYd88mpGh-5ZO0UBRmP7SyyQGAjlh7GNdRhMXrFzJAnThD8ogf25vYn0k6sUm1MWeIrXM0KqMTL97BB0UEwutmpIU9mDwTupsmFgcKk7azHdUUx9zCZFDoj-G6XskD3yHzRdczYkDiy9G1b-KKpv00PHt5yzsWmmVkWx6lDmLfoops3B1Zb4PW7HQBudiZj4VCP5mv2Ap8CG3xfdipHSURzYqs3wGvrkydMCTbmKRcahWMZdjBPatsbr3PSrcZOYv6lkE2Zed4Kb6D5po2AciZjgDvBwIIbnQ2eNLPDw1ZIt7cv-EvLtAhvWR-e7XQe_jL4ljLXuuTY-ieG8r6gXaza90UacOHA-_TX9PLF4xLOj5j5SNj_6Fnxz4MSLgOmy7ZcAmaffaxBukP9StjmwReyrmGRgOajTjFoUDM7PxRW713kPcXq7ETAdnu0bbfmuwp07Vvo-VAfvAiaY0hVpdjXmcErm1Me3dQz-nJZSfPb4054GlZpGTOS07kJoySlbDeI3PMGgRnZdyajHdb0surutDHiTlxqsG1TX-QJ3HqEUgEiLM4S7GtM0U0EMUNBRoVdOVFzRcox-WawCOf5bo9y3o0Kq_oRMIpICFIvWQMqZrBYamNI=",
  "id": "rs_09dc31d5032af043016a7dff4b261c819aa592b8013d3f6b1a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff9aSXpKo3T1EtWnEoam2urOEgHJkXtqO7MxUjuL4E-OeOkdoZfHkH5PIeQ7ldnIGQr1Hm3QNfYHnlN_vNbpc3rh6DBgvjGl5clZpJ69m5tPvTqJYdvIGrKpojrYXZKHgdvhS5hFTPxkLXT-XjYztgJyjWQDXBrhb3UrM6YU7erGkfI7yuoY4zzMUujn2LrS-KHC-RcaP3snKcgjJ1kvitgPVAP2V4yhU_VMCpR-txy64l0eIJunnZF4LXio_guzM1g0K5NcnYMrZvtyr0FFEyrcFmHcZhz8DW7BGre1iRKViDom9yMQpGbyP6xEyGsHLsVpkdFZjc0bKGEfR274LvCKUmUhv0zAPy6JnEPq7o5iDgb4CfD_w1ENOnm5LclSYTez-aHe0B6SqRYN5FU9eKLW0yAPp9ci4mZJNkPKMdhfW45T0I5oJ2EIwUwzgWVPuimN5kMBmx2PWN6SO_P7509TfXql_RnaKhqbF2pedmQS0d3DaZljsP7A4GVUgVVYdpLo9rg0lVyDf_-JpbMTNinbdXQKoTFK7V3F12YxUQkmsPCe1VCkwREP-CQLlJnhydYHpfKR2M6hcdIUOkU0mw6XmNWw_drU9kYi0KnX2NDDoECus5gJcFrVwH4H4dwyg-X5Dxm-3RL8puA7pDAPlJV7buvH6nueybOAkvjSQawU3_9_9qurj7j_GjEQ-IB2do2WinkWCiytcSfvbN6yHcjumXeV8fvke0LST4mMeJJurPqCxTg72nAXk2vXrQwsEwCSMCJlzevy-qvaCgz_6eIbP-nYIPok6db-soQWmYiI1buQYyXA85gp1eTPw10268lXcCvgC05q8iE3c4Rio6a-1gYUaGbDa1e2yfBTWrBNu8QNgmE3DNa2B_JTO5S8Szlny0BLb16pTZm4Mq5PstdZ3SH_F1jI1U5KF7g-P27JhhCeNiKUUZm_Se40KK-kn7aJ",
  "id": "rs_09dc31d5032af043016a7dff570000819ab1f839796a7e834d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.97,\"left_j2\":1.825,\"left_j3\":-1.425},\"note\":\"The outward test moved the blue cube about 80 px left but hardly changed its depth, revealing that radial motion maps mainly laterally at this wrist roll. I’m returning to the prior radius that centered blue and lifting about 6 cm; height is the remaining controlled direction to bring the tabletop cube downward in the wrist view.\"}",
  "call_id": "call_gygljfajIoqYBjoRRQccB8Zl",
  "id": "fc_09dc31d5032af043016a7dff577e74819a8ac92480fb376bc8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gygljfajIoqYBjoRRQccB8Zl",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.0182 left_j2=1.8427 left_j3=-1.3804 left_j4=0.038 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6373 right_j2=1.2045 right_j3=-1.0008 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -11.412, 4.5607, 0.3053, -0.0171, -0.0415, -0.0122, -0.0889, 1.9214, 5.1897, 1.9365, -0.0708, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0289b9d7e855102917a52dcf915f9152c9fb43821376af04e77ba816df9ef38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ba291d10d96748fdd7f30aa0423c86b4bb1dd361233b4df399c19f1c8ba08a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a8a1bdd8a5baceba0ae8815ee986117f7876a8218330db0badafc4eeb2fe88",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 226 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.2288 left_j2=1.9358 left_j3=-1.3037 left_j4=0.0383 left_j5=-1.5867 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6369 right_j2=1.2045 right_j3=-0.9897 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, -11.8769, 8.212, 0.0171, -0.0659, 0.1148, -0.0122, -0.1573, 1.5385, 5.2718, 1.9707, -0.0073, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff9m4xbRwkgy0HSfUijU5MAHrtYvcewQUHO0GQofEW8qah9JvNoozIufVAPg-ADjIjGXMlgTHCnL4nt4x5SL3xuN3s5gKxrWB001sivys-Q5q06Vp1N1L_7YlOTyv5vtGNyGcz4ttWvZ65-sDuQgu8GERDcmNsUkKwbjG6Pr5_xjU4E5-vbavxwGlvmaFbPv7PDnSP8yOpimSwRdahTkvYjwNd_HQKpB5zjl7ZOY5Sz8mRdFm9Ujjjml5AV4Jd0em2M0xrgu-_ag6JWRV9hKzkySPjrGuLcU-7I6RjbhF0pF8wXTdGv5FOdUH_r3HHBVUViiIrC8dqfKdWx8UVqnqW8uud46hpNUMYzEC7nxdukWEyu0-dlc4_M773LRUejp3K2vH1ex_B5xwVEM_8GfsjpJFWmBJlS6xGju9cTA-uj1s7AmLjCxME-6SDTT5vDW-3qf4YFqqYKUyo9fDHB-hvaB_6O8DCZyX4Qn0WPsmTNzOI5uD7xghjWsMmtyOjY8VGmuz-OfIUg3JsENkVIx-h1sCJcCOyC77dimrFYLGQvhLvNehjVOtFSN0iAnSYtQ07JQrP7TLTahwY7rzCXxQ0bl61x9VKTLx6vNDaXZSEf8NdqDKDey5upUFZ66b5vUp04kV7WRQ5mFdKOg6TOm4B3X1SOn7P0rcjEmP0FA2qDir6D0VoW2sjUviyNQYwLwzHFifJ1qY6F3mnsIcJ85aPgKNthmaotmQjoxBwJsYRJSNLNiRSVmLUk5Cp2nVaB9ZJiru8gJx-pryO23-5ijqY5ziYeBkxW0iwIVyFlfGdeR3uRpyWgydqy1JMm_6g58OeamWMvV5q9hzPGD9CYawQ6IT96UwOygo9hpbj6tIIUKhUodchlSYK-3KfKsUKgbsfAHPG4bOZDZuRkh6EYquX5t5U-C1U04fdIVR9EotJECgZv2n5oumI0gMAvbGIJ9W8uO7nWAIOoDZ359QuOpCGq6lOzFlrB3mV98-7y-6ym9KzcVB9cwrMXACVDVpKhYBwMqENJWV24bRezQHk_PEv4QFMX2V0LX7TAdoWy5sZ0pY4mSmAyqUf58Q6eIK4R8INnEEjeh4TD7CsQeqybIvPe4uxue6SJmt32cnLEYq7dzCOxZtk3e1Ye_jXYwvXo-XBAqZ4kgCAb9-o04s72mSDpIIa8FOVNcllCJ6UC0Kde1e64Lru4PhcsKrBHcHI6hIcqmS3G0eCGH8VBQg7JtGTtSQmrUjToE9xUb7s41jxYXdz8Q3xq-vrYOqBlH0Io6RlKhXwpTH9XXFl6CG1H1TNaev1t4e1DmPqEcwaJkHL5utQDFjAp12MVhuScLK6H2bjvt5Dg_WZGnxPWSjJn15yvIHcvx5JqwEYezVdYxGFVfVNJwMRdGQ2A3KfxF0qnKZQNHI3YLWl__Gl9XQsWIyTKFfSLe4RhdjyCp4ISiItyg0Kzqdh0UfiL0HWbH0ie92y4ZjPe5Ou3YuzudL4cXrEbmUdBNYI3UX9xvNhmY89SkOqtC9etnU3mgNtYr-CWkmsYR_MTsk9fP7lU-cEezmh6cYV3w6V9QL3io0QJZsBPftFgQEAUt33nx56cEKAuw8GDBHVrA_xGSxnJtpvswelRHSvbBdwSQJ9GkZslUYHhJzWaX6JBrdznMmv65P3uzji5Us41Xo3c9waSU4HDL3uW0fdrWYKMUDgmIDp40vVpxJpwO0lVwtoW5HN256ia_nw1DfLcCqTU0jUd1h3gJyZEb1vWvqNOpstvyMmLJ7ds_p0YtDG3q7XzW-JqJoLVyjEXB6gqtVxKsfuLVlBoAd7MwbiadY2iDXJVCcdh2kOMrJLePY-6aZtmdPIZmN3VIhhlFBrayh5lrpnRFLqURq2baoW96KGsp_vUrhHeR8hVPFziJbCMVXMd8x17MuQajnFnnAdFiYxPUUxAcT9pbqvdtN1IGPbkpKKYpHtXRi5mC0yPnw5xV28Nasn1fFetqoKHW2BRlfeBvBHBBsaLNO3TS88EMhTgEYU7enky6WLBkOK_9V70Gs7nce0-ZTebSrRs9SJys6g3MGOkoTmo4wqCxFJX5sTJ2x4D41_CmX6ONuIe5BXyOawwjso78gZt5Vu1CO5qJTVSqpsAD4MWIJs9d3B_CeIwrc76P1CxHFcd7KnjcczcfOBZ5lP_iBYbsr91yWsANrNqg2LzgSNXhp5yrExsH3TZVjoeEjHf0OqWD1IRFS8TxKVzXdcitr-NnE3njWKmPboph1XuvxRG1N1xnOWYvZETJWEw0fGv3ZqYm7VyVzWFeBlivJAUpepD-5290j7oLWYMLNMTZeg5nBn1a3j7bFeBjcZ7qD1BDUHdro9k=",
  "id": "rs_09dc31d5032af043016a7dff5d2b40819aa9bb05ea76581e72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.71},\"note\":\"Returning inward re-centered the blue cube at x≈112, while the lift confirmed height has almost no effect on image-y at this pitch. The remaining depth direction is tangential base yaw; the earlier isolated test showed positive yaw moves the cube downward, so I’m applying a cautious +0.12 rad step.\"}",
  "call_id": "call_dYCvFVkmjI82Q5ZHFJa2pjcg",
  "id": "fc_09dc31d5032af043016a7dff6484f4819ab09d1fbc2a029b24",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dYCvFVkmjI82Q5ZHFJa2pjcg",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7856 left_j1=1.9873 left_j2=1.8313 left_j3=-1.3991 left_j4=0.0463 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6365 right_j2=1.2045 right_j3=-1.0061 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [2.9197, -8.2803, 7.1863, 0.3346, -0.0659, -0.0464, -0.0122, -0.0068, 1.812, 5.2034, 2.0244, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d771c793e34c69d627408056970553b5be9b1540e310974de570ba35868df19d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea84a1cdd7a21e1620ec4a063cd2c53ba564d26db5515672367d71966f10979b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba7aa6ce06474c99f5f7b816670cfaa04a5fd795de4c0a8dcc39d9f937a3ed16",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 231 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8318 left_j1=2.0182 left_j2=1.8427 left_j3=-1.3804 left_j4=0.038 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6373 right_j2=1.2045 right_j3=-1.0008 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -11.412, 4.5607, 0.3053, -0.0171, -0.0415, -0.0122, -0.0889, 1.9214, 5.1897, 1.9365, -0.0708, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff9qBuuwfxCI7c7x8hJgRBCRQfO2nEvfHhtXHFs2F0zwW8FyOTMfjqfAXAPh3O6eJzKaHl1n5f_AZVnIL-qWMYZqbAtURM6CM6LGO1mofWttfppllyDCqbShwZL7v4vqI3EsFEx5ZaF_cZXUlftuHOL_pQSNqIfw2Rj4e4Ax1HOxY5A9bSmFz7BbckX7e_dZDZ6L2vi9HaG-01UsjrxsA4HokQSg7dfJhwEBHVHxU4mB2Ds8u-_MQE1LPpZvlzKW8KfvEJIPlWFPbAN2n2_0hMrq3DDhZtuvBtnFf8TnjLrV_jNZrEF08cLI9PytwDQ_9d7v1j0hFAmYpEg8t6NINODdDxD4sDaW8ljj9XhqxKeMxUtPJppZQqJmjW6SV7wQf-fz9ie4eoWDAegW_DJUM73V_9R8CrrXTYKPT5NFsNssMSNjlksl5vt2cRumNLt8GYQPbdGgEzJPlKT1n311IQW6k15ZqTW0RSEJW1-3F9g31GkED7zXHIEjCQSbfcLS2ivGqLbcyIkWYlR4LhzizarR0MUeBPZMCerpCFnyNUyga1j8URS3Ei_5Jf7GBHi5suHM9MxOnLmVz_v4SM-r5yEcgUj62Zt349hfoXPFg1xyc9K2RCx2glSYGRBNmF0zqG2ukdpM8-VCKGloIh0M0gTL1ZGO5-VmIQ-FAjSq-SbqpK_FGGPVJUk1eZkOaAvcY9iO-fde8wdRvV1C1loByv03y3Rd5E27G4d1LWer0DBR0Xvaqxkmt3_fE07-9zp0amfFX6sV4iLxwC-UplI5QTuJlWvSPOJyhbNpJvBAhcOFVDqR3vy9uHyFwH4SnhXpfMH6PB8fImh4v18J9sPy6ybpPz8QTTleeujCuwYDrzOSXrAd-QKZLsCM_D4sOYqCPoITqiFZdS6Z89sXrz0aT2VjTVz9sAHEtrUQ5Wi_YgFvXCRI35TbLDvn7Ih35lYc2Y_ZokOpybeVHyXGrpBKgbUZhyGvsSOYDwc-L3wwb7edOjD1g69h0Jadm83wiclkfY-8vlicJ6mA9rJ7zCoEGdv4Ijf-qJkWZ9EssnYiLOCg8Cs_0SgW5lUSrSZrDU157OT1j235INGQHQwL-J7vAbjoskIv-xi6k5vLiCP22WRVyi6slRp0o4-eGy_fo33gxlVnTrT3IBVLpqEgCBGdQZNAVkJjJxz0WhDhfIDUNFCYRwQMjuoMdBbVRPQ2zTMAD0GCXgf7JZFjGR6X5jVZ_3R45LoPSYgcjfCexbhRpWtBMJeQq9oCnC7FvEMAz0iU1F53fUZHIDGxCSsRDgUQwPQ-nus7sihYmcVI20k-_2dvQ5c=",
  "id": "rs_09dc31d5032af043016a7dff67ac2c819a9173545a73af83ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.58},\"note\":\"The +0.046 rad achieved exactly the desired effect: blue stayed centered and moved about 19 px downward. At roughly 410 px/rad, another +0.20 rad should bring it about 80 px closer while keeping the approach controlled.\"}",
  "call_id": "call_QXhcWJONuL06Avo0J8rq8F6C",
  "id": "fc_09dc31d5032af043016a7dff695378819ab36d5f5c10533e0f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QXhcWJONuL06Avo0J8rq8F6C",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6125 left_j1=2.0277 left_j2=1.8305 left_j3=-1.3842 left_j4=0.0448 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6376 right_j2=1.2045 right_j3=-1.0164 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.253, -13.5179, 5.7504, 0.0659, -0.0269, -0.0073, -0.0171, -0.0205, 1.5111, 5.3812, 1.9609, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e71889ff3a0b4d52f4ef0828b61e06430506b4ade3bd344395990f59d73d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325a47392b6c6bf1b928e1365851087d9102258265d97adb2541c73121e512da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ba1e4ee2df6702941dbc2330b606b45095e4039fc72a95a6f96d9ef4351b80",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 235 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7856 left_j1=1.9873 left_j2=1.8313 left_j3=-1.3991 left_j4=0.0463 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6365 right_j2=1.2045 right_j3=-1.0061 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [2.9197, -8.2803, 7.1863, 0.3346, -0.0659, -0.0464, -0.0122, -0.0068, 1.812, 5.2034, 2.0244, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff9vuCfeoRpoQ51y7p_nv_pEw3Vn5EEi6QSIy_H-LhSyKLNvnV4x6TH_ry55rkIDxpkFflOxZ2C-Od09IVEGyGjWn7ht6ZvMS_kd-USMQCHptXpVgnRLu8ElEJBLFaodtTIAsvrrCDOM-NdnYXP2BuUZhWsChjgv10A8_7_AsR0scVja3MMo57fXRkDOHwgfky6tATRlI_oL7Xs36yQUd3jy_OmNGgZqVrM14_e0fstmM8f8_wTB8abD0vv0zr35LhIqaGA5MqpOs1f9HYi7OsrSgdDSz4xQunDBCqaaZOWmNLXeiMd8bQ8ZnfyILqhpYEepADkAgqZr1FjxiYWblYBl_-ytuLPmpReKT4MrDvy9aeKJzoAxMnrh16aHGBqZqwjkhS7RY9ky3ZohCs1OnlwDTNWPlpfr0qhjQmBTsDEh4bax3eirI4Nx-_NJOXRmi1CxdNou0CKcLeThE67hI-vYYix8FNwYxS8DyEdfyFxwwc-7fnFKaPbByTDIlTWRTki1vEFkjKC1ImR4ywx7NpLWJc6FNjTsvmDEi7AwnvFUswbTEVonv9oGv98KPFg3isB73q0EB6rj60lpO2_GeOdBOEWdYXRX2v7ZApC5C2uCaKrAsvkvmi8kE1aNwLDmHtbnVp7jxQiXffWNJGwXJp4YnZFuFpQhv5NwKPnkNkFjfjXD2iHMT8HyUyYEgaonaEFMsUTvb435gZloDkv1m9_puoUMzWZJXFMUUGu98VoRtxD2lsoZ3RlWq7wraS0YAiiqyCxwVYTyDpTYHuu5klrlFNWBrJEpKHm-xfCQECgCHqp8vsrvxmUi8uPIZcBvz6vWYQUWERiUOAZLfloTvi89WvGENWoP4MT3iiSGkTwmUoZ2tpHbcNKe3O3bf5qL6kwaN56Tw7Rm1SXtcajW0aHKeewn70YNpUKjrCTNsJaulwtsyZOK5B4-oUPJeymz6wO82bc6Q85SY3Xsza0dBuII9NMMrMaEo_3f1tbgw1hUZvRNVHKMlcyq-CRR0-K0MRrqYlIltozHIMxM_MVEbP3okVyls-r1qz216IRMWmXN-KD3fzDNGJ6pGxYSIt58fIDLehunKjDnULliTS--hOxTS7SpD6uRu40nbmbnWNWdGZAN9pJTLYYR7lQpuAuG5fgCfwlPKxmEpVbOMyvJeOeElyWgExWKDAmlNa7thY7yyEA=",
  "id": "rs_09dc31d5032af043016a7dff6ca0f0819a8edf093cbdc07ddc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.45},\"note\":\"The blue cube moved to about (113,102) and remains precisely centered between the jaws. I’m applying the remaining ~0.16 rad yaw to bring it near y=170, just ahead of the grasp point for a safe vertical descent.\"}",
  "call_id": "call_6BK1lePcZF5qqpJ28pnJ5YfI",
  "id": "fc_09dc31d5032af043016a7dff6de660819a9c92bdb8aaf405a4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6BK1lePcZF5qqpJ28pnJ5YfI",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4866 left_j1=2.0281 left_j2=1.8305 left_j3=-1.38 left_j4=0.0456 left_j5=-1.5867 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6388 right_j2=1.2045 right_j3=-1.0229 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2667, -10.3043, 5.7231, 0.1978, 0.0073, -0.0611, -0.0122, -0.1436, 1.7846, 5.3402, 1.8926, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8a9d2de3a4400ab813f59afe369add23a0fcf97cb58ed84a56534443466466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd6968e05f721d4058796549bd00a0535c3655771c1b194557b15aa9edca5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab6d5a3421b6c4a438a4b07c5080f8a511d4917d9218ab4a3dd60eb2f49d060",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 239 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6125 left_j1=2.0277 left_j2=1.8305 left_j3=-1.3842 left_j4=0.0448 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6376 right_j2=1.2045 right_j3=-1.0164 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.253, -13.5179, 5.7504, 0.0659, -0.0269, -0.0073, -0.0171, -0.0205, 1.5111, 5.3812, 1.9609, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff922udF58p1ccd4TGHZGascwoaYr1q548StzS6jdcwQhZo1oaLlV1X6B2SQmkAgsD59I5nJT9ozTasZ8kNAzZQXV0hvuVsimgED7bMful8Je5HGXQyrM71-3hAH5sLl-uJCHjxPMuM3bYWHdDBzXeCyuC4kqe1mntT8aGdks3p4dKTPq9oTUoWH2mB2DCCQUbRmVVAfwG54zoC2D_P4NrWybs6GZcjRD5UgEDIWcf2M9cArBiRieWvLtDp0-1k9uDhch5oynkDpTLdLYViMFojSEw0mRY-HCSBCANfBEntPMAjMwJf0eC7jWCgcKAu16nbGs5zxg6Zx36kJSWT0KBJCk699f1pRKkQWTPDwrT4m6yDN0b3BgZXBWvo9A7u4nejRfiVAPu7dmUJjspHW4DIufToGAHTa5f_yvjvaJkMCogB3GPNmOZeJiYTj4n1w9aQ06JTz2UqUMt1RSGgGjBtZC5kRVQZp1cOAypIpMPIclYxNznZQtiBiL3kk70mnWJ4hrsljushGnfunQAGEg06luhVh0DaLlvB2R7Y_0vaUOgV7hwfAkI9cY5XKAuZI37_TfxMDQx2hDluU8DZpi3TgEySEVTKUIiZjv-1r8T7TePU-7S-n9Edbib4zXtrr5ODZ-9FtSwXIDS5d9Kze69RaQcNy6NY1vkAsCkA0CJSFzijCuNB0CGkPl_Zpddp7m5q5Nzm4U6ivDmUrieCtw1av1pk1AlSCxqo4fc7lmQwiLd8kAhy7ft7eGbE2zbujbGrFINE540YxXgQ8TSd89w6ZZQSbafsGucOVkAuQ5szrx1_7J9vRftYAOSlA7aF6ib4HKsEYOPoE4detlaFPtPyf7P0b2tOJW3KNFYukdkTUhlTlKX82h067ZAgKGf1CMTurGVRnuFdmsmhGf3vHghdIvGnhqXq3neq0uLoZJG-cDoACiT6uxQMqbEJX9FMAy7LgEKzMLuyONNknfNrtCSzZUWoikNANOinBulafMd9Cpr_mF3pDFYPuTWM9w8_koQshitlx1v4EtBrQUERGoxgkwtKhj4-wrZQPWwnQKFd_o0HK4oH5E8_0ZsGviFzSr1_hQ82_6ACTzR8JyR0p3uDM89FnDybSUICN7hijYmCKcAUHYghMUFXaN8bltXbkrsmHWqgKrDHPt2JAgqdbssRe-dR7a7Wds6Mcq5OpXGi91mV-ligDX1wfbizNRDSoFW7RR3puQcizZzIbhfubNaXfDf3j4KvzKYIS5gWYZOopx1IYEp99iru0lGbw6bhRvSViAcYkMmNkdfb1WQ0FOfR9zLp9TqXTsNrFchIUNK8OloQUhal1nYEl4jS7E_zepkns9WnC0SEWyp-Na1hn8j6_YVM_dPlR2BatWShDl6e6O3KC77794a6cYoAuw54iUAK_aSegrWjOvOxGpeu91AM0HK_dNG9B8DGyHp-lAkKf9Yda3XhJ7m68HXueUlFn48iSv841mG2i5k-47rmjKbxnlYojwBI-uXbo0htOmukFSIyd_WaENhK8HOt9jI2l5SGA2pnL7lClYgxJniru_8ZkW8xiJIQjhxRdSoJ1y9BtEXxzeJvjTjO9F_xsrgLHSwoyMxq9zAN2zUPVosdtsUopvI-I1Eqo2M1-LpLU_SIXInrXzyNPAHrdg8uptqjzcxoMF2p8COX39uhauJOJs1AufQ==",
  "id": "rs_09dc31d5032af043016a7dff70e418819a8a27827f0ca01109",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.065,\"left_j2\":1.705,\"left_j3\":-1.215},\"note\":\"The cube is now centered at roughly (110,146), safely between the open jaws and ahead of their convergence. The gripper is still about 8 cm above the cube, so I’m making a 4 cm vertical descent while holding the well-calibrated planar pose.\"}",
  "call_id": "call_i7uPZi6diwFUp0EjZPhNt3eY",
  "id": "fc_09dc31d5032af043016a7dff74b664819abde05dbfdd894eb1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i7uPZi6diwFUp0EjZPhNt3eY",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4828 left_j1=2.0552 left_j2=1.726 left_j3=-1.2755 left_j4=0.0422 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6395 right_j2=1.2045 right_j3=-1.0248 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -10.8103, 5.8598, 0.359, 0.0269, -0.0122, -0.0122, -0.0205, 2.0855, 5.2034, 1.8339, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec61c6b7beb0cf1928b4af6de2d3e081ecdd4f50028728c6a334ac584f20a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d8485542c9af7a3a89e8ff3a7bbe1e1959e91f04c09a526fa26b1a56a2ab72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:403934d5b54f903b511f5180dfcdd1d0f5089838dacd299efe1f87a841575076",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 243 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4866 left_j1=2.0281 left_j2=1.8305 left_j3=-1.38 left_j4=0.0456 left_j5=-1.5867 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6388 right_j2=1.2045 right_j3=-1.0229 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2667, -10.3043, 5.7231, 0.1978, 0.0073, -0.0611, -0.0122, -0.1436, 1.7846, 5.3402, 1.8926, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff984lOImf1AKrhB5fpVMoKYf9ePmARZiZH4nr54fSQjjtlx-zZXC47mG6wFvMekBafLnNAZPws-uf1wxsmG1OrbH8mo8vSbdixBfehVvZ4I1BEnPBThlZdugtlVcfXdJ5mYA8U4H3VxhJbRLSjFpQBYprdR9TCtH2lTCdla7_3AF9DxboNGag8SjQYzX4zuj4Q3WDQkSr9dCE1Z33ZAWefeKGtTHv3CcrEK_y6IaQL6v8Mg-VBxGcuR_HS0H5L1DmOtmoPH8Hdms65R_ja5Q-idakv4Ifv6KNw7bIOdZ20WwMoSluj2W-IaYgICKDSL_PlU7tU7M0h2jcnc_kNziDPBc9xJ4K4UFDIEuD0uc3qeVNA-Qdwx-1ikB5_ptKomxLJxeUkiuACbTWftPEOfvzBAYTr6Bnm9Jzthh968sHwuVIdFcB5nJRwZmRz6P8gKmSILE_ntfQ3E3ghRBnKQW07EHo1PVifwDyUN-CcqLP9L77xE_uI1O_PGrLE_Y2ZZ900T_eQYlczlkW_Iv2WG1IBHFtfg5jzgB0a9kD2mkEzmxdOYRruV_nP-0IzRWQhTCCqvhYON48oczZ0KzEx1gKGepaLK3LJ7zIjdNHWhn6KND1GdTmvHE8zyUINro8Ibpreev8mmvWNDI5_LIdBgcZ4PE1yZfYqcVaKoOZ_FNnmLOS2aytS9SfgxZLyF2wnx7fV_HSVm6mK4q5hhmUzCmplVgCH7au_H006zfglbP4CWzY9jAPTf3Fx1dtpoo9902Xkj8r7TpXoihkElb5wNaVhUbn0V8qCmeI2QSfTqbP6b6tgpsRH11xhw1-jqLAVh1_trgcV65-FBYH4ky9HF950Av95CGrK6FoEc-WLHd3e7qdhdPSKecizc55mIEMQQPMWgBXo9sSgCEEn60tfBKWrXXwD2vedW0GSySFxVHCOaoMnkwE6iGUlD_SfVWynaVXlqahZ83SM4Y27H5DZqCYMdYJZcz0-jiFmgtnvEI4YNX9EXoaPPUqG5lXBrQiTQaCb1KfXTFhf830pHa_6muKzbpkZhnWW6faaVu6MwerwLUx6-YZtyeSVi-b50oJ5p0xsYjMpjGHi-K3wLtx7u5TcYR_WQ_NpBYUuXQ2w3KUr-l_PLoeTcyATBfzPetHM5Exmed7fBfneY4od_KfGLkq4bhlJxgvpez2A10WMZs2kw8XcbcXH0DhKHxz1FstBemLD01Lf72FWonSHXPKBAv1LbRoekMrdyYRnWOMjxFWSpV6Yo4kT_YAB7MaiHwOkeGy6MVkqiBogSJgb4KPJBv2PoGa9pYRk4dEXRuFYNLlb7Wp8AMCzCjHN4wEd7S3EwPNCQ_jO9D9jSj2f5sDBGYHU-tFUtcfFXZS4M4YW0nMOGQp8lYKxGYFybiXToP0NROSmPIC-xOxLPUTT8BCL1TRSnkBdQ_I5S97u9tExzjqEEDvBkxZNjX6-adUYMQm7pEtii",
  "id": "rs_09dc31d5032af043016a7dff788208819aa4e8efd87e0aeec0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.13,\"left_j2\":1.63,\"left_j3\":-1.07},\"note\":\"The first vertical descent kept perfect lateral alignment and moved the cube to about y=166, directly between the jaw silhouettes. I’m lowering the remaining ~4 cm toward tabletop depth, which should place the cube at the grasp point around y=185–195.\"}",
  "call_id": "call_B98gsk73VDQZfMMXy9IvOQtR",
  "id": "fc_09dc31d5032af043016a7dff7b1680819aa05c43904ebe7c94",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B98gsk73VDQZfMMXy9IvOQtR",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4866 left_j1=2.1166 left_j2=1.6451 left_j3=-1.1217 left_j4=0.0444 left_j5=-1.5867 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6407 right_j2=1.2045 right_j3=-1.0355 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2803, -10.7145, 5.1897, 0.2857, -0.0562, -0.0513, -0.0122, -0.0752, 1.5658, 5.2034, 1.9316, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efeaafb197d3c582fdfa377a19f8ce29cd32b1cb66eb574d13bd6b56b51427ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3673dedfd8b99733e95f623a24855543f1d261aa1d0dcc2474803e340b2cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8703c2148dcfb604eba78d766ebaadfa1fcd7729792a4f497b043076324e95",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 247 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4828 left_j1=2.0552 left_j2=1.726 left_j3=-1.2755 left_j4=0.0422 left_j5=-1.5864 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6395 right_j2=1.2045 right_j3=-1.0248 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -10.8103, 5.8598, 0.359, 0.0269, -0.0122, -0.0122, -0.0205, 2.0855, 5.2034, 1.8339, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff-C4V0xfFu1n3UhQD0pPoXknf8NccrsnPOaL28Boz7Y0AND0v2Ig3CmBO0a6nwjG6nJMU5m7Nm5GztlhiRfJj9cHnPbIglOpjn7FghyNEbCzbW2N-UNhnt8Ey6RvLHou4KMO_IvUpudu9t--S001GdJzxidjqunUCW_HNV3l-p6tnDB6vLpdWlaIE3a1KY1W3-QSGXK61L3STi42C8F-lHTGEJrx4N5qnanAJN8t9SfAFxUTp-K0DzlG7jXHF9654Rl0heM6tve-7qOxu2m7_5YX27VOODEDKbY8WjSVpnfxiCadsfHM9drQ491pUw3ijW6agxNNGDENa4ejxAiTJ2yMW6AsQ3qHrr8RFrfPiDCWIUwKnXQB6f35ZoX-YMs7IyoXd-zooP9zKd-394BloqResSgNMhS5yRWrq21r66uw6mZKTDgbtRsVJQjrgujF8bTHs9GujZS61mbLdcLH36VLAxvtAq9NW-uZBCZad2J4NaQ7sHEnlfUdtccJgjV_9s4ijKq_0ehGsZ-QBMWqfxXccDdpmyQYmUCEMxHGf5Oj_yW6A9D1yYV0fsojr7rspId_8sWQLfhSxZZCp28nFsUi-VV5HJbDrJYdxHJSqpK2IrVv_h7AxxC6JospfBxG-ucLgQemjlyWhRVyf1iSTm6AF-RLMbyzJVZaUJYfHK8lZ0X0ptgWdTn-3ACqMjdMJVbnzG1Y93eHumMNBsP3n_HkJhozzEgF6POZq3j4uzkLWIbzLqhO_nBjeyRxcopZYCCkS3c9fAmEXyhjH_neh8VW-iboUmYjzDsEumlKe9WgHBrcSp8W0p--ui6a-XDupJWTK1q47FosADnW5Poi_dFsF5B8ufiNsIEZLbWktW6QG9r2th6tifMNRhWxpYuiprFV67-reM2Czw1s6XR6UXTTf1z4XB6pPGRDl_iZQpWQwID4JiO1beswVve-MMs158AiwkPt6aq2O1M74XJMknNQqv7kKlcYkm7kt7K343161UDvzP4tABgih-Y-v864AE5cSRB0Dr8v5bXZF3PPAUoKWGaWIuKB-PDNT61gZZ6GJY4q1EdPgDOdRWyisqXRDVYcYaSmLvSGBLLYBY60-I97g==",
  "id": "rs_09dc31d5032af043016a7dff804498819aa47ed9650e134650",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The blue cube now fills the lower center of the wrist view at x≈110 and is visibly between both jaw silhouettes at their convergence, unlike the earlier shadow-only closes. I’m fully closing and will verify a substantial residual opening and high grip effort.\"}",
  "call_id": "call_TJ6d8m6cYWA9uwvFgCUNxtSM",
  "id": "fc_09dc31d5032af043016a7dff8104e4819a87b3451ad03d2f48",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TJ6d8m6cYWA9uwvFgCUNxtSM",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.487 left_j1=2.1433 left_j2=1.6302 left_j3=-1.1114 left_j4=0.0448 left_j5=-1.5864 left_gripper=0.0086 right_j0=0.0158 right_j1=0.6415 right_j2=1.2045 right_j3=-1.0458 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -13.1487, 6.8444, 0.105, -0.0024, -0.0122, 0.6276, -0.1709, 1.5658, 5.2991, 1.8681, -0.0171, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:658487a49ac1636607804209d72b8f2bbcd621e37f62bbafa74531c668750987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0fd0f4edfaa1ef35f7716ddcc3d23d833ef8fb7de0213eb19e422c916c3b974",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df51fb4bfc2d398129cb7c53e365e6899374cf875089d59b244730f0c4568de",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 251 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4866 left_j1=2.1166 left_j2=1.6451 left_j3=-1.1217 left_j4=0.0444 left_j5=-1.5867 left_gripper=0.9974 right_j0=0.0158 right_j1=0.6407 right_j2=1.2045 right_j3=-1.0355 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2803, -10.7145, 5.1897, 0.2857, -0.0562, -0.0513, -0.0122, -0.0752, 1.5658, 5.2034, 1.9316, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff-OVSFq4LpvPx9uafgSbbyuA-APrnYPPaPpkFn_8Y25L9No-ycqPiFnPupDAv9s5XFkTfuGbqoL2BQwg1_x5cRN3CNnuHruh8FATnJP1gOifjQd8gARC70YnkbopBKKIqjQgeaZdm-ESKI6zEUYCOxYleGXCbOYK_h2Mgl2Gi7GWQJ_5ap39vO_acACGT7fcWQNK-w1QoVIZTw885hc5zAF7l5zFteNqE7huxcRON7Pah2GMw46DNRLB0XyUnuoaEbVKvg-UsJb2-aBx_v8Lbk0glPuEC24TTzYHo950Ze_-MC8BTOgLMiVArqH1OWaZGsABEnYdrD-ReG0OMEk7ijd2N3MG3mMx9J-SjbOuVGbD5sc5bwkOHZ6OkQfZNXx3wU4vZcwOKsDzR9DwSBdD_vg7STLL7pbsgz_wc1dw3uo8U9--GFTz9GSNDGHC98Fo_vX4f5Uz3l3E20xJUJCu6HgRKXb_3-SZ6ZtGe5e4Wz_VTe6t1DYF_XNmvT1ij-ufnk6wuHUsc_M8VmDjCTGwYsTdRhJ55vmzS0E_Ypz4CgUImUycfY-Crh0uIVk5w0BUsU8oJwTELrA97hqc9xHF2bCsgAXfpTkNnrbnCS0A-m1aKMPwzq6l4Jztq33z_ZwJGznQVR5goUKv6mbGVDAFdeMlacX_-UrdIzhj3BQ8wGqvnrEPjMHvhiEzZUvp7tDDzcGWTHxb78VrLZwcVv4zBlATqrbvMg-ExXJo-ZN5Squ5CGpUOWw-n0Bcz_TMppDOP1n293LvEHl1vulnCSl6XkccgJfJwLKjV8c1hIUXQNbIAxxbLc17cFUYAX93Pbqos7gs2Qq0mWSim6ijnysaXfB5BZCf-N1TlCcnvgehBb5irV_yokFNzazmj6JwGdSROP4GoiCD2m3VE3xQwbVODzRTS0U4MGXARPRLP0pfllq3GA09XOzZuxo91ujpbpL64DrjLSiGsx22mthhx-sCyew24q_B6p78DVaj87ojlzFwXgWux6yJcfQhr0xjjb3K9_MceQzcZVkrwgd3SfvnQ0Gj5GwN9vWVsOU0WoPkaOoxb4Q2OwAmTJVKhs3ggKFwNMFIHyup5iUl-m9eKGfU-w0HbLdePZdiiPeXmJFjKXpKe0Co1nJ3k3F-yYFd4xVB7Zy8JhSFGwQl0355lcdoLLNlNP7RiFMtPZWGMYBRsNNHBE21viMq96VqzpiXMmyRywoVAnqrU_oyZPzAemXVrImCE-W21EKl_Ii--62mThOFFzCqkCh3TepCFrNmgx7oJ1S77eZ_zWejyys1Y3pzNTdHzyYFbF8Kn1uul07KjBVENRhiE-LysGpPbzpuj5OosVDYo2TJpcaIvbFphUgXTw1opkglDXQ-93ZDfGWrObTLSfZPk3LGha9tuvmKPEq8zlZ9M4EnvV40hJktNPUzHTJBQ1iv3MODR773DQdBvXU19TJDaXhS9cgJP9rnNs1Ok2uNbVjKaEadO_poHdlwfg6pgMhAh3qrUrsCXxbKFYxxkBZR_moP7DDRCYxmAPwzk21i9HvGoVVNXxcACA6y-3z4CMKa2DRQe7x_YwDRk5T9esax_-0ru3r4PG9TO8wQnhIUnXj2JZpHxjQ89yMsgs9ZUAY1Iwyb422taR10Or6NXQBTnMAUCotDQleN0otSqeaZ93d6ygUV4ABDYKmlTU5xwx3sOejt96kVr3np_MOFrYy4XUaOp7fVXZWe8ZgYL2mRD-_0vyGZPpdc3JeKvY7DvF62fRLc7z-ofsT-maQqP7hqg7lvdTLXGxDBDycZOx64zrhS_J1h550UKCKPyxv6adqIe-q0FhqzUD7vRQtchTA6PqG9OCHOG-iPUe7TYtqplI7So4eneo5zFzFe1dcBw21eGSufNtwOxgkqy9tyGconVP-RjqZjVVh9b4v4N3BSawX5Nc3RBXFtGOxCyIC1Cnn0zbPdx3zb2JzWYd9Lg73FbwY9L1rAAbsRI0C9VjXByBBV4nzNAnlSWS4nKXTYlhUKWauLoL0pQOL9kT1-Dg31OjzKG8-DpYFmZTadPb-CqASxA0F6ajukKzZ8Pr7WezK4J8y1iM5BdEq6Bmps4oJN-_xbaH1_ygXF61RpAcAuc8bAAvqXJlTRQRl1KXrdR7XlovULHJE9DYo6sOJ4KmDSyQ50robClvL3nD4X0hCjj8nZMJu55RpRaDzUDA-RDek1_RhYcE67dRw0TyM7GcvJzZXEaFr6pLcwViWuSrZvkiMa4RW-Ll7LGKeHNHvbFt1TqHwR2UcjMcRwXbjQIciewlNLN41NtILpERPz6FNqYToC-zgyU9XQSFnKNC7zQeofLM1uxp8W4WO-rRSRVBS4WmRm9WKFuLMdqW6UqwWq76zpH9tdprfbWsgFWYUgKXk9mDNr1R9SVFW3A8f7ttxxH_t-nxY3hbG9VX_QD0SEmxrDgpdNhwB-cWvi2bQzNCgCSDBxVz2QRmgzvkwrGxBpsDbP2QNSOo9sR0_vbpd0unANzkM0nDTEKDIkM5XEKr49J7Ub86xKkxrCm8f2GrGRpCXZzneCDwNG9aTYQxlUJmg3bIL_pC9muoqu8eEg7RY9DSzRG9Cj1UFvh-e-d5H8TXmiqVxBbKAFWaWZ0BMB0jHBwjb-YR_a-dvvHN9QGkyKSIP_QIL-S6HbF3XJ15ccnOOcAhuyVXJoB8OFoZbaODPyzjT9ab4TlQ4Ok52xjf56Ckx58ls4Z3TO6rz1Op9GwJ-pU1ZHDV6vsiWwsjq7vPHU4ntiVNZ-xFijcritUnUQ0cc9HIFvcRPxFutZNpUjwe3u5OI1ML7xXgMrVW8E3-CgXAMJaJ-_pbg7z_p5sDeo07gOsMrbzPrCyZmBsLATlxBITGvdWQkrpBm3O3KDitkCRcCE1uW2Q96ujgZKBNopE9NNJExtgD8t1Yb9npDwObwfcTvJnrEQAT_FbIL7wK0uWM-6oSPHpQHOR9PrKZ_611jM_Edx0b1DBCHCoB60TtfQuGxufDajliHTcERuGRoCYtB9jFIGnpySKqLxB1c2gVsZhQhL7CGboYGddzjv1JkbFHN_ZMrVBZLweCvDYopJKKU6kLXMaYUBVVqrhj0vNogftompfv-Ov9ttlbKAU-DTFHj_DGqcP_pzAAmeWVooDpti7NvdwC7n9_rTnyiUwkYGr3Z1rNB5N1dzOs=",
  "id": "rs_09dc31d5032af043016a7dff846208819abad0fa581732fdec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.54,\"left_j1\":2.105,\"left_j2\":1.675,\"left_j3\":-1.145,\"left_gripper\":1.0},\"note\":\"The jaws still reached near zero because the cube had slipped just below the grasp point at y≈204 rather than sitting between the fingertip contacts. I’m reopening, lifting about 2 cm, and backing yaw off by 0.05 rad to move the cube roughly 20 px upward into the jaw contact zone.\"}",
  "call_id": "call_Icym46N6oQVK7DJWY47BKuNh",
  "id": "fc_09dc31d5032af043016a7dff8ccda0819ab1e491f08bc25625",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Icym46N6oQVK7DJWY47BKuNh",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5335 left_j1=2.1433 left_j2=1.6485 left_j3=-1.1336 left_j4=0.0448 left_j5=-1.5871 left_gripper=0.9956 right_j0=0.0158 right_j1=0.6415 right_j2=1.2045 right_j3=-1.0599 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.6769, -14.2838, 8.0615, 0.0611, -0.0122, -0.0464, -0.1441, -0.2256, 1.7709, 5.2444, 1.9609, -0.022, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753e74ebfb123fb83aab2f4c21a28e8f6a064bb8b614a246640e1617de87c173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1544b3b3a0a8e85c462b342af19711ca79a8402106c15a0fd9dc38c14207d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0ee6b86c29031570d214a33779402551292801bfbdcbffb2bb29ab2bcb37c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 255 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.487 left_j1=2.1433 left_j2=1.6302 left_j3=-1.1114 left_j4=0.0448 left_j5=-1.5864 left_gripper=0.0086 right_j0=0.0158 right_j1=0.6415 right_j2=1.2045 right_j3=-1.0458 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -13.1487, 6.8444, 0.105, -0.0024, -0.0122, 0.6276, -0.1709, 1.5658, 5.2991, 1.8681, -0.0171, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff-Xeagp6TFPLZP6YAH7uF4uEubdYrDu9nti_GzUJzIH5YFS_lTZIm4qgYJw_mEPwLbRiD0_kW08KVCcgnBYQHaIOndEa1a_kLBVRmY4F10aVEk_-hrYP_tEwt9wLa2VF9RWnUyDlCLLyXqO-Lhnnvbb1QIYJlkr0raAzvqdQoDBTi_ncbH1bE5FB4Pr361bkq6ygyuflctqIgDWADvm0CvaxpkKuritThxNAon1oxdj1BxYr6j82n_b0RH2UbiZBtLdr7ow0tc-8wA1hIKQwdWDIw5eeZpb1YcmBgwKBeQ1jzaBWuwf8Tz49f7G_zXUXSbHVjypXn1xhiqL04z-IouPnm-_fFxD5HswtH3coT1XIq_1cIuaQDdHHxK5kKZid0oTMpBQ_aoFmJf814eMC6SfSCCNnWORCSpTDIabWVRRyT5Akh47blFcFIFMlkl9MCPV4DtSUv-ZpPL-1V6olmg1Hv7NxYr_P9HPzklfKSeBvB59GICkl0ry-b6tMqTy-4yrA-gsuFjg_d0knobtjjoZ25CRDtf2mhGX_ogoOnaQRNHTAOBIRXcvQsixY2Fg55Kd9URM1aZaZzd7eZW5Fs-wN-h4Gc_mzaWosNS-9xyS5Y4LkjJWdpLPqGMhxLNOupPnU4IZKoY1kMD3aCgmUanfoNbRryDYgMjvxwVTm9_nyCzWkbFJOe9ZOcbSgtKHHmw0miLy6MOpwnD1dtC_ENHPN_crAFdYr4ILAhZjdeim6jFZPDAovkz-tvhhizopG1bB-KKsTUHeEZw48Q-EybgZuwyRWLziKrBjSs2qHbtvjP0yC6kUmyOtb5YtZWj80SyVUT9vCir3nJppLCjNyMiCNHVKyEZE67_KR6x3ZX1Zbg8AGZ12A2B4fjZrfHFSLI9LX54ILT96pul0aq4RN7_Go4Q6JD_dhJAWFBj6YcowpoiRKGqM42iImxipu96tvWoBlqvOdNf5Aji6CDcwux8LuLBUhP5N-QbjW01Abee_glbQcIekj9qq2zwAzcRlec57jQk_WRw5QmyRlWh_lI0-UR9sJ1F4ih3dN4brT1atBPwIQv2jS_26goNB3Cnm3txU_5p6DPUdx6RlnGYLIbrZiEc--K1oGNppoFe0rJvcyQg9phvVyStJMwX_6F6eSg_QAXQuQ1pq3B3j3SVHZ8S0SZVl0a0GRgQcsVsYm5ZM3WOpy5QzzVwzwbFEyU8bZurIXAChPhLf4ECid1VWYNzfjEVWZZLjXK2RwIwrLllVZJyBmde4gfNWlTIpYaD58z8chwJBWGhZLAOxpFENAn39693xaYsMXXe7VB70ch8gI605j-HbCpbonjPPPbTWG4240sPbYsx3RdgPaTqOVoYYc-vF8kUnfeyl8e-oy0fuIbncXYaeUOa_5PjS7cTcCZxYxo-XzLAiR9fhXTINQApBnPNPf51i1Nst2O69g4o8cUjMZdPjvPibvzwLF_Gamfhdos4NRk3TaCgh8zRDPg8mFA==",
  "id": "rs_09dc31d5032af043016a7dff9135d4819aabbefcfd71f4d3dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The correction worked: the blue block’s white-and-blue body is now clearly visible between both jaw fingers in the lower center of the wrist image, not below them. I’m closing again; even though this block is thin, the residual should now be measurably above an empty close with strong grip effort.\"}",
  "call_id": "call_NsJcJTbNds4bKNikg5maGjcg",
  "id": "fc_09dc31d5032af043016a7dff96df70819abd6aa463e1a8a649",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NsJcJTbNds4bKNikg5maGjcg",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5369 left_j1=2.1433 left_j2=1.6512 left_j3=-1.137 left_j4=0.0448 left_j5=-1.5898 left_gripper=0.0087 right_j0=0.0158 right_j1=0.6415 right_j2=1.2045 right_j3=-1.0752 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -11.1932, 5.3128, 0.2369, -0.0269, 0.0122, 0.6178, -0.0752, 1.5795, 5.1761, 1.8974, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65de04240a2605eabfa88627995a2c02f4c3e9115aea5f579ca61b38fab57fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8709991e2b371b46e1ca670bb95ed3a2bd8231a3b14a28fe0506c0928cf7ef95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1a98658ee686c07200c5a07bdc5a3c68a7d61a84df43868d6cbf279fa83a10",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 259 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5335 left_j1=2.1433 left_j2=1.6485 left_j3=-1.1336 left_j4=0.0448 left_j5=-1.5871 left_gripper=0.9956 right_j0=0.0158 right_j1=0.6415 right_j2=1.2045 right_j3=-1.0599 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.6769, -14.2838, 8.0615, 0.0611, -0.0122, -0.0464, -0.1441, -0.2256, 1.7709, 5.2444, 1.9609, -0.022, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff-ld-GjLtpv3C4JxDRiJNSpKJbpE1Iq5o7WcTk7ChFS_8qEyiIsyV0LMO46_KwLNsz5q_hfFCva3NgpU9jlIWXrc5DmFCsfa90tUcjv2W1gDmAxHWqGOu8LYPFSBESPtAm2oJd1qxRAginBk0ScRBRSwTPfebcPgDAONkULfdLReAmQ8JRAy26ZU-6Ij_QUKHMbEdKFx5_3PZgBjX-wcYgRCux4Qt5pHQAFao_iR6yi-JTmITc_Jeo7k6RRXmPiWr0aPq-Q0OI2dRWkPID7rO5XMDOybAaCWglYt61IzTDbgLYBVsVB8m5UdWscRLrrvfO_5X9mGvDjquvjNlzTfF8pD-x-94P7rESlBnl0mZF99x6OE4GzS_1Pt4SIphTtFMjcVkNfGrbuWrrBtBzKOsKwXvy2qFKIBgtNmPWBtzsvuGnNLadT8BMNBdgJwdYn8GiQu0Q6Mbv2vLsS5uRreSfboWx0tJvak7eP35-uXhqryTzYwqOHwr9PSST0U0o9X-TTsLTBB0PcbqwUh2yxqz3jFSRazFdzClE5ptzz-cgGXkf6z061tQU9FnFRHHLyZlIE7XK1YTqEV0a87kSKEagqpoDjcv9FiQBYEJ-L0zt_6kPOsJtKAPxf2GFBCFa0KQjTaq-P7dqRCzt97EckVNU1LsHjkNB1U0P6Hu965sQ3EvCpvU2Ej_S39c4olWghJJhiG-cS55FavvqL3CwL1LgSUNZa-dHUmcY2m5aicKwHm36i_03kzaP3_Bqz81Dmpe9moFg299ZJ4OB5_YeRbba9xxCF3MRtt1Lfpf1Mv9p-qagipq5mFv3_WU52mfUMdNtpFm_uo0VeZnoPtsno6c1Bt_qOuWv5U0yUFhq7ihabemBJqsuWZ15jBipy0NF3kVjJjCHlG5Ti6A9WQeB1Ar93aM0HfnrwCr_sn584yL3I3NiFtSRaqqaSRD5eBt8F2cTnBShKFHALIs8BFuaDKYtJqH0Q71olZUdqwUCFmTHNNAmEBMoc4mS0WmW3KmE0GFbYH87kCJG1At3tIoGLeVZTLHG-wxdrQwS30z96NkGeO3vePDGPlDdCt-8i0IXwxicdR-fuNLOqjk534X96ztaXw06IA-1Poi7VAqVyvNfW9FA7Y1dqefWqEF0SFnHOoN3xUZfIPsCH-PO_vLGQN45ZGiaIqumrWsnORMXE4feiihLOXuymn6_3TdN26tlUOs1rV6wr5y04XEZ9EQfyTdMW0GG3MJfrpNLAlogldZZj3YYMoDIOzKMeyPBcpdnprkhHG_JRSxLtK5WjZK3a8Nvk41zygtLHWcKIUOVVzSM6SjJ0CoujROEq3fAht9_X9riuuYZUKf-qPOB3_Fux9XxYKnvDUv-4EkGhiVqamZjJgVkzwxymd2HToSBTswx4bI7YJEK_blsUvjNg2k0wBsYQNiAC6CMi0GfjND3NCSKMBD4PHzFprGusrXml9QUc4h6K0ysN4LH0G2TW58VxPUkEdOfocKUqZQZyT3LCbuxfFvE-o3msjbzoQUR9ROO6-iHgDu38PyByY-3fTJv4VF1eJ3zaOveo88NKtTIX7bkD0z1ivqMZXW9wu-cYsMU-ul4-p0JLkSiOhehJwui9LuD3hDA1i1iVd6utZXop0bAdT11qeohINPAvn2lmkTvEMljbo78t-ahv27Xshmhrx25GQJWBN484DLM9IZYwvIw726iTgfpY5JugtbRa74sBilfQ5pW_JzRFr-PBV97Y7ozVUrCHrpefxr1hKf7cZCS588kD0kab-z1z2SEf_70Il43Xa4nGh5FOoKC35O5_jsEQKy02Wg6I_BwIDaYxcKT8OPfqZ-YIsLNHQcN35ZXU5lqYQnFDgpQtHbnxBa_UvJ43xeguo_Yf6SLpuFrqCxDH0VKTA6xP8Xv8ce5oxbM2w5W2XUnaZSWPpGCvdmSgYUcO5TYhMrHlX4gtJxNlWujdXt2E9YStFUBlnTlwwVqsKiO4HRPQn9Qji5J4pHd_hvqMbmT1UD5881vmpIeTJQEhqbXmqlC9JI5nRQZFMD-rHTmBlJsymMSQ_MJqeWmx7L7gbZUsN3dkFaHxEiNJfrOm-LNJ4C1CZb9SUeGMaGGNLYiI9Yq9dIP44bDlvkd77i8nPuc-Apy78oT31CsDSNODVoC9nXmtMnpgcF88DktHaaIvWGr1cZrvTm-nDvKAwn-FEPxECOBUECJrAAj5fN74z-6WdFw71NsE_0UqvJ6MhPXK",
  "id": "rs_09dc31d5032af043016a7dff9bfce8819aa91c798cd3f68750",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.02,\"left_j2\":1.81,\"left_j3\":-1.36},\"note\":\"The close still reads near zero, but the block is an upright thin tile and the wrist image now shows its white body directly behind the closed fingertips with elevated grip effort. I’m making a cautious 5–8 cm lift to verify whether the block rises with the gripper; I will abort and regrasp if it stays on the table.\"}",
  "call_id": "call_I1NwYAqVMtukJaY6gI9KFIPW",
  "id": "fc_09dc31d5032af043016a7dffa4014c819a900bc9a1094d6692",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I1NwYAqVMtukJaY6gI9KFIPW",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5373 left_j1=2.085 left_j2=1.7733 left_j3=-1.2888 left_j4=0.0448 left_j5=-1.5906 left_gripper=0.0108 right_j0=0.0158 right_j1=0.6418 right_j2=1.2045 right_j3=-1.0824 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -14.065, 7.706, -0.0171, 0.0171, -0.0317, 0.2076, -0.212, 1.853, 5.3402, 1.8535, -0.022, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a057f82467c3eaa87958bd7d9e09382530ef10302ced22bd5af6c5615ec3dc4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1e5e10717b18633dc7aba304f4533c6008bd33ab711fa9d328d688df898411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a067e9495b7e63875bdaa848b813128d54bb72afd109f4199806e0339e28196b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 263 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5369 left_j1=2.1433 left_j2=1.6512 left_j3=-1.137 left_j4=0.0448 left_j5=-1.5898 left_gripper=0.0087 right_j0=0.0158 right_j1=0.6415 right_j2=1.2045 right_j3=-1.0752 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -11.1932, 5.3128, 0.2369, -0.0269, 0.0122, 0.6178, -0.0752, 1.5795, 5.1761, 1.8974, -0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff-y_wTUpIkP39BbtookFt9-KbIv4wOoffCVCqDPrF-uK2RiFUTzmR_12SG1-9Mrbmnihox9MjV1N-Qr8H1XvYpTRSK60gVk4B2yQDaTZD2__yfkhMktA-5rNbmpJov_pNdPIGaJjqatSD0Z6ZnJ-m3NSB7hhj52GFIcV6mDs5y0XW4oLdVWO97_YOCPigja9ev-tL_RzKbm3baXg6B_QTAH13DLRAKp4Fck2KnNNsokCd0_R7N8kv-N__zjatzVOYqs-eMTVzE4nn66SK0uXI7Oyq8VGAbfm5JBlcjUx-nNMfHmpJes0hnWjTT-EBr8b0aTeqy52DNNmdfPdvGI-nRNgHdI1OoU5Jc-G0Gcki0Vbg_uy21_7yRGFj1tM1cChyuAfmS25O655FCmhjzBZvSuxskRmIDrkhBcYC5HX8lL0IU6BQC4gOieDMH44qKm3a4ns85RRk_1sOaJiKIuVC_gF2gM_jXoykn3gHaQX-7CPcg_DEczw3pAFWpFfpag3wgVxayYuLpelkyOmst4H99VFNZR-mCEjo8RXsh9vFiz5NvtB5bnGgo0atD5pUeCoLHsNQ5_jF9cG0BR4D5MhBLuA-SuYlFMAFBkQIXj9W98gOVzh09tdKnBc_PUkiwnyroJ0i1xZGPwkthlperH_4-0E3ZUIypv4m1kLHO6wthQEmpI08ZyTGm9_1l2PWqtPaD1CWEwosYhyZKKIb0ago3NEtv86xg6nDOIxPdCHljgg1J0AFcqJl6CmoIfdmQt76nAzCedda14EqZGl6HZTsHBGMipO7ko-AN1Uncz7T6E1DMBd_cYZ-YV9BPiWWwz4qKM1Zy-XrTpQyuPSXjaM5GSWQ1TkxuqG4-OGXE1YD3BU81f0vSOwvKkSVZGEFrym5lynJvZw4iPl22z3l3xBumGdvQTKcKnBNsKbsJ_hTm92kPCxWtN7qxaS41-8kqhFQyvUltDrmKwOlZeRXxWm1jxLXAQQSLoyO34tRm3s5imaDVepKHW-8p2QEBvij75dB8QgOSYpMrEkH3Gl7WLPSpMZjJnMuV5VXRz1oqwR_hUlbaoo8j8gSte20M9Oo0EFq15AS5fF-ccmQQtVOWqgpxGwjk61k7ck01Unw4sU9CTNmMIcJSbFucanbBM7VuFRW122NzDLfd--4pKzcU7kXDu5XwLRc1wkZRm_HQuugJYD5hSzCftC7eJvp1FDwGgQGTS_uM_XMIKWTPD2G01KZQtQ-AUEIuMYH622LgykNYyu-kE_xF16AR13nBVs_XK7obK095YKWvRQHNhJxFGtaqFS34VBzKOaByzTtqW8aBCGLdI0Cc3auToqHlHmo1gdIBSlhyef3rX1aPn9ft1OBnFi3RRH0beLjXOoHcD_D8VFz7aKzhSUGlHBgccD-7GU5WOAkxYkaGzhNFKbbU8yQWsuoDnHuN6a_vkQAF4_Ww8iQuXuLZL2hbQh4nwlGQb7ln_l9RTBPBbbJX40yilL97Mk3uF3GBuukg1aKRSTQbj9QCLCntJZ1nnt9JCTBjVHc-6z6ud2JW22c6kmqlwgGzeHselIOnNYnoWyjTRnlyMmPq6B6wdl1D1QpfDSHbC9vYONDdQQq_fKouGdYEWDozrRhK4kSPW28e3dTeDbdRXUmzhjU_cLV3Ty9OK3oC4TD-0XlTgRKnPpvHMgtQNMALIEzR-255U6qSEJBWCt-remPpWCYOFv9bJ4zuuD5jDXqcH34xkl7hV5k8MwqQCSL1tQDn2_W-Rsm4_HnbHgunn0n6DGi3Q7wJ_Fc6Q3BabXmtvGbfhxnZndGZPYwoso7CeczekvcL_2Iv32CaT-Xv-MXLvgBCP1p8ulKYU8MYh7MX7oWJnBX61WTxcP9rFKG6mM_VRWTKM0f6f0O_p8HB-I6RAzdEHiZ1dK_Q9O1TcqGj1dRQMfIVLnBKAFXcK2Fw60DRyi129sMBdtlYVE3RvQJBHbd4ivJO_bkiK1KfcrYeNnFo7NQTmTONcijejCsJ8a5wfAgjmZGD746gLCX9Qe50ZGXJr_Pw6KgGiCPYUDcAByrs2VTiWH4jrhFrlw-ArnuMO4bYJ2uatObx0yWCl4QFFda4Tgp7L0BOSJRUOeVgvQHowRsmny-r9sc29nyfybeBK5dvRNkViKX8orctKgx-giDg6xM9scn1GswBiVTbca0m-k2t4KDBc6CQ9s074LoZlLVdt1822bp2NtkhsFBLWiYozYM2RQB1T5ZdDU5HMTioqsTVnVxg0iLbs2iDcPewnInjgmrKDihFW3lcoL5dWoGYoM_ZDEJIvq_bxP4QA6A2_pkCZCKvLzTQqpAcr6RadGkZee16H0tZ_X_QDvFd1avSzg1Mrd4uGEvEI5XJOGvekSXBtxUErnx0mlrYn_3rtCtz0QvEexTC4JiJkTgX84B2w_s7oT_XH1O-T7AtKyab1Sb3cB5er-6fIkfHx6DW-AuJWLAbVdHRmrU1PJalZ1XhPtkL62_DWGu8W_efN1Qj2gc7VULEHvfDgETHVBBbC_5mnQiw89bfrQOllGlZbtES0sK9YCAkMZC0HpD6PrIKGTuxkCQ8zIvDo-FI7tre7ircVF0gA45hKEUyhwaA8jDUscKcol_0_5g5tekGMCuEjo3l0bHcroA0q2nojWdnqQh1-KBidb_c28p_O3W9LQgj1UI4NvZawH_2Tc7Bs7hsQuT9HVrZ7KR6D73uHVfPxV0065cFFMwkXqkLHAqkitVArPto_u3K-yNN8OTdMRJCRophatgbF6gaqmpxLYGFx0ULjLVPo0VuhbgbNzeYRdBIQdrwmPoI8zvPkLhhJKC_qBf2PWVS3K_biI9B01B_wtg_bwCa43Bb7ZW8mhfAaQ_du046BgTDGlAAFcNQq9NbVkHW9llg_5f-Bi756L5k8zTCeNnHmTxhM6WlGT6bMClEPEoXlAxeG1E4a-iBRyhb9Q78WqTkYawYN2tivgzWhV3JYk1VjI8wVuZO260tNJ7UejYg6JnCMLwkhyKmbCfsqLO0N2aaQnGoiJdFbm8T8GvTwNJ3YkKrSDaYVcxVlf8xmqqFH1j34Tf5NX2HXAq_DLVVZfLLpVlvbOMyopgK4K56famloH0g5Jk-Di2UAmPPcw-N-1OFvstj6Xc2ZImydr1ipCWKXWRMrajrfYuhkTn2cxc94gA2zHpQXi9mwczcNl89OXwmYJFajmgpgCAP9NeLkSPAkgPQw6GnuufZ-T6VMpC_KBJY3_mA41gVrmw0M3ZUh1lLxeTnDP7e2O4qiiduKiC-dRWhPUV3nRsoilEZCncHlo9aOu6fIn7cwOYv5oLC52EynQ-iWDXV9hY71hVovVN6RpD5bEEYLMKImwSCPztqL30DQRLDuWWG2GQ7fUtqgPX0XzB160AM2NvjCxiTY79B_kfFPyVcnZQ==",
  "id": "rs_09dc31d5032af043016a7dffa9d6d8819a991a846f6d389646",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.52,\"left_j1\":2.13,\"left_j2\":1.63,\"left_j3\":-1.07,\"left_gripper\":1.0},\"note\":\"The overhead view confirms the blue tile stayed on the table, so that was an empty edge close. I’m reopening and returning to tabletop depth with yaw midway between the y=185 and y=204 observations, aiming the tile’s center at the actual fingertip contact line rather than merely in the camera gap.\"}",
  "call_id": "call_J3Hi0x1x0u4tqtXSMvTdcMlK",
  "id": "fc_09dc31d5032af043016a7dffb0eedc819abf55037d9bd946e5",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J3Hi0x1x0u4tqtXSMvTdcMlK",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5259 left_j1=2.1254 left_j2=1.6413 left_j3=-1.0977 left_j4=0.0452 left_j5=-1.594 left_gripper=0.9956 right_j0=0.0158 right_j1=0.6441 right_j2=1.2045 right_j3=-1.0977 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.3214, -10.2906, 5.2034, 0.3394, 0.0269, 0.0122, -0.1441, -0.0752, 1.388, 5.2855, 1.8828, -0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19aa93892c2fcf2da05b04f00c0d39271d1f12f104bae496f5fab919f6ebb66a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20370dbfc99c63846bba2f5f49de11a9d49e4265c9f1e36a529d70417b6cfaa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b16e681fe1d3216c379029814e604fbce74750acd18ed404900b1b189ce531",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 267 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5373 left_j1=2.085 left_j2=1.7733 left_j3=-1.2888 left_j4=0.0448 left_j5=-1.5906 left_gripper=0.0108 right_j0=0.0158 right_j1=0.6418 right_j2=1.2045 right_j3=-1.0824 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -14.065, 7.706, -0.0171, 0.0171, -0.0317, 0.2076, -0.212, 1.853, 5.3402, 1.8535, -0.022, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff-9zHij5aEiUfttjMkGtQ_kI3L9ubZk9cI4emeQlqpyTMG2H352GK_fcDwnp7zTu1zt9-Q6IpEfuyCG4o8AXpMKTqyrtlJk9kKT7KDgHtGo38xSOAKiGd2TUFBXRI_xqQ3qCxmcZYcUVYrjUDVkd6S0LAzHtdoG2JBpmZBexbUJgWiW77Nh9YBn8okUYKpPWe8fjLukplONeTKgt7IFOJGDI0km0njSXwGFDq13qVw6Uawua3ofV7pit_1Z-Lf9EnAnQe8sanz0D4-VLSnu_ubbYck5iTFS4Pq6_q8sjypjJFCmNbVZVM6zC8ipqqYroQm8iwBlqXqMYWcUPNrkg174XOfP41T2G1kuWUGtCEPPeMyWJ2TyGiK5q3Nanoua5PtiFMj9DlMB_XSNZ4oxQ_rFRmr1oLIMH66KARIMGjRgGkc5P7iH2DZXb2V6hGfSy_NdOicwYtLHECw7kV3GDENLwvyghoUmbOKQK8Qiq0UlKEQHdXWKyI3-g93epP9bsO1xOXeZ9W5tSwbkW2kZ2R1cI8DJJPSQbLQixeAbZwsnW_B39PSya8-pVLEfc5gKV6TIqOdhwn44DYnNyUDykwpYSzFHAXz8bcm6i3R0RoeJw8sbKc25NyhRIpoSTfByyVJ4emPiIOaExvk7OfgVCjz6eLk0z80gKlNUGVg0CJLrw5jneZWkf-IlSyLARq00qgxWdqx1B1JU0k6RfcraVeX9qUZul2Xscg9owuTMFTt9deADCwtTdTiCtyulbwQqDCa38fbEJAcxxwL5Q3HLgTdBID8TeC9DPhYI6HJe9PuExDfoEsh-slF333bxC42FB_0lLtl-yIPtbkdR73r5fy2ZFKcfFd_x8a1dkLD0IKMNGwy-IHG9otPL1Zl6fBbHXqYda7Vvw8X9vf3jarcugObUCrDpEMRbl-JkdR4ickeDBs9WDbkmndF0a9ZRt853C_VqEkaNUxvOyTKbmyl-hWmTGmutxE0klrW_hPAqCwKGuIgfu7Tz04OefrK-VIAfQhOJqmTi2TEC5Pree5k4SduTM7JrRXCI8fc_nxYhy-eI4sEQxPjwpuVui6lb5AcQHEHop_Uhn-Daey5gg1fb2NHCjpkHhE9IULXhlEAhC5RMNv5urSjx7-r5DkFPBSbeTX-ViuO92vSi-K1CaGeVZqZ5gk7nCUvYwlRbpx7d1faZBRVkBTx6aqJdxf3HuMej1c2rd1SkeGo6GQhs2gkyZr--eh_AZlCB91G9A4Nx8IUAjcVmyxDSTTTDGSA__YcsFW3Z",
  "id": "rs_09dc31d5032af043016a7dffba339c819abcda7465d0901e41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The blue tile is now squarely between both visible jaw fingers at y≈190, with its full broad face centered rather than just an edge. I’m closing at this calibrated contact line and will immediately verify by both residual and a lift if needed.\"}",
  "call_id": "call_9isdXKKXcjy3V3bHjOutVHVk",
  "id": "fc_09dc31d5032af043016a7dffbc4bbc819a909f5dd6cc29b62a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9isdXKKXcjy3V3bHjOutVHVk",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5259 left_j1=2.1315 left_j2=1.6341 left_j3=-1.0924 left_j4=0.0452 left_j5=-1.5944 left_gripper=0.009 right_j0=0.0158 right_j1=0.6441 right_j2=1.2045 right_j3=-1.1049 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0342, -11.6855, 6.147, 0.2271, -0.0024, -0.0171, 0.6618, -0.0205, 1.5658, 5.1624, 1.7949, -0.0513, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3622ebf4bd347b3da3ff7c11fef15d56f07516ec7b3b937e17958c7a7b28c73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c7cfc29b8b3c1917b7d24d2005c3df87ecbe8681345477832af0c2d40a8677",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a234085c5a0d5fc633e1a9e3f6b04361830516c13e52aefb54e3c4ac5cc89b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 271 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5259 left_j1=2.1254 left_j2=1.6413 left_j3=-1.0977 left_j4=0.0452 left_j5=-1.594 left_gripper=0.9956 right_j0=0.0158 right_j1=0.6441 right_j2=1.2045 right_j3=-1.0977 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.3214, -10.2906, 5.2034, 0.3394, 0.0269, 0.0122, -0.1441, -0.0752, 1.388, 5.2855, 1.8828, -0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff_YTPFlwyk77FOkQ6T4ZYrrjIF9EmG4j_Uf23Nsu_2Cd05UXNH70-jZNBZA-z-cldQlxqfD-UgKEBy8pt-cTj0p-OdWuS6jr_LkJCawmjSF160m3jUW0OeMbZFZncSmcmtL-9pxbOZLP4W7mpLY6k25iCPz1oEX3HQBuWJQbHwLFuOEzJUisEqYPt-W5JqCf1KgPKNf7u8zZrRZWK9LnUtMUwfeMzvWOv1MR9zR2Ogco3oBaXo0pjgnIzjr27BuWxtNEhKWPwQyz1dYTr6Tc_QnO5O880_DmoapLJeGsJo5HcZEVL8VbV-wuWaH0stWdE4KC2i3d5GL_Zlg3tCdsUdISnBCnfcUDD1qtbaPfseqM8MnhbBW5EjOFtbSillzfUfxio3W3-KNIxKxa_geSxtUrKg-CLv2uFrkNmvVs20qKuXRBjzt80do6gRq_d62zw7rNERvM3JMgGi1yCfzFMDU1uK81o3BfrHRZfX8yUSPPJP5MNLgcgPItHsdCSdtIH8mHWlTfjjvaG8HaUDf7Vw4rpddg2ZiEqMVh8FkUKdBQubPcpLEIhrGhHMv0ooU_Fs6eU1mKz45SFAyXdqS-yF0codRF3-AaTvbEwShZx3yEPQ4cbHO5EJBJWZFKpGLyU3wTsXAXAiwXAJv8vLYTXr6jR8M1NhGentudqRW60ED4HzwHeYhp8ArDP0WgNVulnu52Z0qOl3X22MTTt37Q96yHSdCdJvoZN1--4uRw80hFnGPA7NohpZLmDXUh_aJNx8hIjriFmotslZ3S_VSjvM6oNIoA4P4JSLKYQ52kitdGzSJK70jL0LbzPnJEEoRdAcoxxXnTkF8_T9zs7sky-vc2w47Lnlp5qd9sYiGCauSXsR6qyKEr0DT3ZRtcyvnzk52kRNjnv2I-wp13XuLUIeRprHYYclcYiX3a-WS55VsHtkDsd5XGVprdmsmTyxUrnG-LGMobD42p4NsNhoBPiYBwS63tfPIra_xO8fzGvnPRrCupfUQWkgHjey9xpzylOjHmJuqTZnlVRJydUlTjYTdFHt8iWuALf3yvXWdg2Av0AMKMC19o2tbrjFPh6iAMUxpAHPX0dgOXrM1hemnem8hZEvGR8-kVK2SK5Rzx21YRCrs_u18JEX9vKxsUxo4aFoZ0vgFN2JMT3J9NIz0IovMK-0SP-nqVm2FAFEhT6AX8KxXYQ2k5_2UTZLjUhCF7K1DOojYcMLKWETSKG9ZBM8YKYUdKeKkMwR1xWrLAdm0x5GrvXlUoLVkS64BYyUPDw2Aja71wDyFTQErE53N3IRhVPW1807UxRE5pmKgwPrcDYK4piiwsINOUKB2jXMNLBidEsnIP1NPVhE1aaX_PiSV_D66bN_x22XOHwvpsdVr0UocVenDcxP-oSAtjXQfVqkII01EbNxQMIiCMcoLTMHynvI3rC-P-ync9ZLcXsyrnRwAqZ4I_zwluJYXPtnkG17JNVF-W38rpUiiZXO8Fzz9SizM3mGRfKUwIaI9pCXrT5K5Ik_MNFC7MQMQk-GpuNCa8WG-9WyYxZrNIIHLaZvfH4DAwTE4kxm63WxDdq5M-qg_MwdbkgBcfERB11GSx9POvoLzm8DRCcv3BAJ5cmLLNw-i8A7wno2YtVDWts0q1L0m4OuxqW4dHpZNrNDLdbmNQQ9GArxy7mpkeiAkenF4WJ2G_uJEtt_WNoaWv2aZOzvykEMyyW52DS983PoE4g8tFc1xSfuu10SKV4IYI5mqi3gDfBP-nqF7tMHHNegGRu4S1IDj95Yc2R6L_cJ6yOv9R6RKgaDe-AJIojZ75qRfJ_0mRJnGJ1hplvD1PjAK2c2eihkRf58Wcm_wVVaGfXWafhEfHGxMluJNgDvuu6EdJ09-tZ9GwefYn6DWlK6MzfiCiyoPCo-omlqLf5YEvq7uSk9C85PrXPMzWGbxFnWLnXANL06OgeL0WJHPpA-p8O4_FNaKXSVmzQX-DBEAuGg3LdDqb69G5nDE_01XZzw2J8O5_AMEFvN8GTpoEh93tveR6QQqAsQltSG4LQMt-LvvzUk7O9RFgcfqtk0QSzBUHtMZ55x3VzM0H-ZyRlBk3j6SYWS09ey_AG9FndBohWUe9xiiuljpcmsaLfLBhrYPrPS9hUsnAcV5PDh5fwxC0tnKgD6lojGKL9p_C-gX_y5UUnlF8U7aYjH2vzuZla50wgylyu0YAMcGJcvS6hYtmdQoRkpm7IkfMJVVRoQR-Gsq3CTwhQgDrVVLz_zBDDruYv1FHSuOS8QU--G3HDLgdl6T4AK7zpa4IjHDTFqdUCevq-AoqBUHaz3MxzqI2JHBiDDHJTEA79GpQWyiZ-9vsRdVIQoQjqwC5mlom7CENgin4aT2OsWrrkIN8HFOtKmYYQf2bymVsy26byMsVuGktmTW6Tw7gd_7IK3E_MXvDaZTbG82Ew-ELHBwADT1UFsbuXYWzmZLgddzlxqI0Q1723OKLgrc5kYJrtn_zinkPOetLEPBqxLgTdrgoS7mJIlGBC4keUczVxU2ysbqP1_21V4pLyxVA3b5-0byucrjLkv6u-aSPoQUgZ49jGvwT6wTuas3eNbDvIidtIgPLvy8taKNxUqzq3iUW175O8fkdlx8vgWkTK2ZxCTRTUnYGp4vIyg9q-belhXNB--JJREZMg4lr7rphC9oGd-PHS01sYm8sB7QeHm2jOXpRq1lXRyZAkZHQJ7zslHS1Rr6DgqELIIOWJWhev0T8b0wNEKzSVS9KMjNfBubY3o1FiVAGlZSWDp1NNcp2nyvvJ_-6EKrEgJJ1mYHWc-niazY6kIv198BMQVk1gF-J8EVqivtCUvFfg==",
  "id": "rs_09dc31d5032af043016a7dffcdef94819a8a7ea879dd3bf7d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.67,\"left_j1\":2.09,\"left_j2\":1.69,\"left_j3\":-1.18,\"left_gripper\":1.0},\"note\":\"The unobstructed overhead frame finally exposes the exact miss: the closed fingertip point is around (84,109), while the blue tile center is around (97,121)—about 13 px right and down. I’m reopening, lifting slightly, and yawing −0.14 rad, which moves the grasp point along that right/down tangent.\"}",
  "call_id": "call_tapEGvt61zrPUgIizePZ2Wqa",
  "id": "fc_09dc31d5032af043016a7dffd6b7c0819a846dd2ca5d56cc65",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tapEGvt61zrPUgIizePZ2Wqa",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6605 left_j1=2.1311 left_j2=1.6672 left_j3=-1.166 left_j4=0.0448 left_j5=-1.5967 left_gripper=0.995 right_j0=0.0158 right_j1=0.6441 right_j2=1.2045 right_j3=-1.1057 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -14.3111, 7.6103, 0.1294, 0.022, -0.0171, -0.0952, -0.0068, 1.7026, 5.1624, 1.7314, -0.0464, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5734e9ca2a68a0c83cd99c387b1b89e214d373be1dc9acbe22443bfad3d4ce50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67228f0c339c6ba7acecf12f7c3751d61f8f0446042fbe36c6223ce4d6e93b98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574c0ff359e8b82539e38094a82dd31bfe59d4bd4c18aff4a43ce7d6e14dff73",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 275 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5259 left_j1=2.1315 left_j2=1.6341 left_j3=-1.0924 left_j4=0.0452 left_j5=-1.5944 left_gripper=0.009 right_j0=0.0158 right_j1=0.6441 right_j2=1.2045 right_j3=-1.1049 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.0342, -11.6855, 6.147, 0.2271, -0.0024, -0.0171, 0.6618, -0.0205, 1.5658, 5.1624, 1.7949, -0.0513, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff_gZFeL1CywIevPV3JlVpyboC7l1lq3kHgetspUMc4DrBrZW04cuOeeEwGMJsvRRt4LTOreesO015-B9N5iMmV1_VOZdwa2J1q-i593o3xXtUqGsyC8j13pMROc-YvVJ98fxxF6f9o_fRquoDpWSFMPHCRdXzlyxF4ZUbjCTP6AkIhITJT_FXYE0US7iHjRA-kMIGMNFvm6l0ABMzYzxcZV6VR2JumsTCfJFA0SFn34k9KWL6F3dabrHNmmFINEmLS56GUgP2TJGdAxYqiY-y_qusSB259Au0DGc5SHXBPkuZOx_PLF_4w7RgB6BbjwWrAsyCjjI9KQhuxZQnwpY8yOf2S8fPq-mCVNpG4VXF627JTjVPahktF8I4Qi9jDbTMnzfn_QJ5b_qJ4oXiuXFrHuQ454PwW6KIeIZ0vQFybxfJdd1TLbSh6B-B-DmM0nZws6odxATLWVMxQGSa8yrx1gItPPH14Qgros92qEAiTvdwW9traZL-097bin6ZRuhW-DCDQU0reWXS21mdP_aund9VSZ7Jbq0wALsx96TCpkoL7b46CFtoGBtp8FDb8jSC3xBLufoGYQzWB8WCQgpoDy6ti68PaGsTOH_xJtABlKCM2geNvOxdpOJOCgnUVMH0FBoW1kesSyUNEQdJ3CxIxUIyKd-zVAbSLAOApOBYykqBlvXm6F_1xfHYB8w6j4NkIpfkK-eN4KZNy8jDgDtyFAedBbUBjY2NYkXXVr-pGJTcO7gqmk6WQZQIL-OgolVNdEPyp8HD7_wtq_Cno7R03CGDlmAb_5R8sLxH9L3nQyii675S15remW4hQleyIOV26NzWPi3ffDaLcP-J8YFoQTwhWf6TNHLnlk9jRMVc7ubtzAq2tI5EcNhjoUwdqIAPlXgllkmpjRJ3ibz69O1gZe09Zj3ViJPYvngf-4O8XUs2q_-mai0IJKL6Doy-Hef5Yj4QjSxK2EcTtJDDxayFiUun5-uosXQC3o6CXqPG7vz8U4qa8ycvsxAb2cAKVH0vXj1Yg8x4v1u76rVv6rVfzdssLOublDd8sBjHIxEKYFN08Gyvw3f-VN4OVBlApsqf0Em0jSiuY0_j5yRiT6yh7rtGAs6zhYqt7PEY5H66SpXpTSjhs84V-72pxSWj-1EVIKxfaY19axcbt6oBHaIHyoGE0Mr_PZbz_mxQIGBhQTSjWhDwmmkDgAommR_nHCi02xU8wMnF3ahwQdg5wWKbfNLhduN5uub_nPKTlQw3kyBJSa_433JpfY3lUCR54vcQf_ZmHl6OHkvy91xX-LqVW0Rzc4pZjuCg2sTZKTzQqhHERQY3g9FVrN8JSVnsFJT5EUlxVHYs8xjLv33rlnJDm0TJNFMyMOm2ew7V_hSvKKzxT8SqXV2zwN-m4GumEJwON5oLaSGukMpurxvo1JUBG-I5KkTEYQhsZ4Jo2_KshWShC2jYroPkCnvduaZQUDuUbi63KBMzxgGGwLlYJj3usIrs9BdpkXBgWu4mhef-2NyyQg8rTLzIE29uXhUZD6ZjGTMCXbJQgzlMBJzPz3ZYXis958_J9USnpmlYJNFdneBlI=",
  "id": "rs_09dc31d5032af043016a7dffdd5800819ab5ad3ca7b3d60302",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The overhead correction is now exact, and the left wrist view shows the blue tile’s full face centered deeply between the two open jaw fingers. I’m closing at this pose; this should finally produce a clear nonzero residual because the tile is visibly inside the physical finger span.\"}",
  "call_id": "call_O5aXp3vf2QsKwCKjwWfmlqLy",
  "id": "fc_09dc31d5032af043016a7dffdeed14819a8c03243d100d59c0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O5aXp3vf2QsKwCKjwWfmlqLy",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6624 left_j1=2.1296 left_j2=1.6741 left_j3=-1.1812 left_j4=0.0444 left_j5=-1.5963 left_gripper=0.0085 right_j0=0.0158 right_j1=0.6449 right_j2=1.2045 right_j3=-1.1202 right_j4=-0.0307 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -10.8923, 5.2171, 0.3346, -0.0122, -0.0073, 0.5885, -0.1573, 2.0855, 5.2308, 1.8291, -0.0269, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 470):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0ccf3b604b07d7def6bc6c8ca7834594f25ab6921e1d72b765ecf7a4254c08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 470):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd0b217b29655ae24815a51abb19c33966167f08fd0712ca317cb2088c23310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 470):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66eb3f74469eb318a3a5741054e6d4b220adf11e818d428bc9349fe5a50f597",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 279 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6605 left_j1=2.1311 left_j2=1.6672 left_j3=-1.166 left_j4=0.0448 left_j5=-1.5967 left_gripper=0.995 right_j0=0.0158 right_j1=0.6441 right_j2=1.2045 right_j3=-1.1057 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -14.3111, 7.6103, 0.1294, 0.022, -0.0171, -0.0952, -0.0068, 1.7026, 5.1624, 1.7314, -0.0464, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff_sc0cLBAh6Bc44KZyzNygpnekHXpQ9T3LCDYwIh68t5XRcbz5XveVmCuAIephNSldPH1Tg9OWf57p7zBPrwmRtUpkLdL4EbNymrKc3kxZV-21ZvAJ5Tp42fucKjsCIaHxbkAbVpJQ3SnK7Z8b1fxXFp7nC3N2YpudsUcherd6djc8qvEiDjaKf4xdfRf0f-h4PxfabPeghy9RAVQNouVW1tZfHukByPH7Kg9z61JwRVAbxwUq8axDU8L-oMAINbNLn06ZGMEvIxMnpC_jeZf1hVgyY5yDmiqH7cWnQ8uLWWbawfc3GD8QK9WaAAcy91gAqZ908U75LuXcA7SnOuus72LVP_WcEozDLRvZrggpHSSWyQOzs-HnP1wrGli9qyO3DzpH9G8e3szS5YWRRH0JUH3emxoRmvRioRdkeC2ixnEScv2Nt_-vByQzQg70IPIa8i2F87mxoRZirUwtXkuCnG76r3b7VIHTk9YWBm2FFbGFHSRn5nlYuUrkKIl5UbtwCRAlCvu_qIOnIQEEzYGNaTjEuEMTNC3AZSxwLhdIpgHrH-bE8cM3NV4bmE3JeagHHj7FLWgbgv57T8MJRkjkQm3sOYSIh4R0WZB8kGG04zKQKJsTaUhMMHKrncwhtNsM12ZrKBmoSVXui2GS1hAyurpIrI5uFHziEmAzagssrn_subOBwOp0gNPE0llVjEO71lUkGQDYXrHfCRNnjeFl_0RLbbOQGVR_LZg6vNgSzwq3bxkBTtee3DWkQyZrLaDlFbxUew2TkNmCpVoZX2ZDuCTJamw5MQb63mo9j71WGSeiGumwJJ6jtLZfBcIqw4Pq_FWPf3Fp6tHINqIm3THAesRy4ZXFb6146pvqDX83jzCQEfIMQYO28I7AqgrpyTgetoTqpKizaiKXiGac_1lQodU4-hEcDPDto-IEpKtAgYdmeUKZ_MzjjE6p3JC4MFQUELtEdDST40eQMAf__l4p13sCJ_kVmikyvseL2vN7R9xirwjAgR_9IEg5-liCgUwxRGicAjMJC5A_rkGvvgiyWEQDpe_EdHj5j0tJcjpOW0Qv0WRurAmVSd4PtQQHvEoP5Jd1RTxfonEs_hGGD1KR_h7Qk_gikopflZNEbWr5JFE0H0eiUpUKBcXKe5fkGIFIDLWlsrUCVy9v10-Yr1eJALGxHUADsSRf92bvIMM-2ZEWsRKGoEwHG-MxQOr7cY3mxM-Uljbm3aDfgkQNKuz21_23VpSHELL-Fv-DDbzZ_9IWMLRvB9CYCbZWd-4LkgPoivjAxx91xN2S93yBjPM-tsfYeTBkY_JcDEYI3nePmOtQg_Hekcigwhl3yYJVfLLs6UBME9mqfWEXsnQRvDwkQlU-x1EAvHNcG6FYtZtfnCYj1yqXskQ9-kro4bYgrLLTtPfrAfU91sFBlSGL_-45BcapAuE7IgETiRpa4I3D7jNWNt9d5gu1gAKUaacdw4-oQl0RXgjy_VncVnrya-EHEtymcTik7nCImoETOJkMwaSluWdzLQa5zeVY2paPPnVT6HgzHEMIWA6F0BDJ3yVQ7kem7184bwGi-TL_dHswsTzrAhwYDjadcnde0PX3yU30N9e6kqmNuv-bbk8pKzT5OEtqZ3iIzXwYgHP2XXUvmLZORDcBOOwsKgs3Tdoxo20wUqg4mPrErAkaNcA-4evVkBnDMQHVVl44vM3WgrLJYFToal8U0LTkcRriF-RMzRfxu3vdqsnhF-yR9mC4e77lnE0wZdVSwx5Gmbt7HnvAPBfeqiuC4G-hcEHtN3isAlnVewKeb3KHRAEiFcA4os_bANKdT467YPWW3Ge9ZxAKyp3y_lHoB64EODokbylx6YExVb8Q_SSDa6Xyst0mMGvbD_Q==",
  "id": "rs_09dc31d5032af043016a7dffe80080819a97f69f1d5ed11722",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.98,\"left_j2\":1.82,\"left_j3\":-1.42},\"note\":\"Although the residual is still small, the overhead image now shows the blue tile displaced and angled directly under the closed fingertips, suggesting the thin tile may be pinched despite its tiny thickness. I’m lifting straight up to verify whether it travels with the gripper.\"}",
  "call_id": "call_WvZ2DhuEQQyJFvRcwseaxRiu",
  "id": "fc_09dc31d5032af043016a7dffeb317c819ab0ed4e1ff3ca6e5f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WvZ2DhuEQQyJFvRcwseaxRiu",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6636 left_j1=2.0468 left_j2=1.7805 left_j3=-1.3422 left_j4=0.0452 left_j5=-1.5974 left_gripper=0.0108 right_j0=0.0158 right_j1=0.6453 right_j2=1.2045 right_j3=-1.1316 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.0615, -13.4359, 8.1299, -0.0464, -0.0024, -0.0611, 0.2222, -0.0889, 1.6752, 5.1487, 1.8291, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 474):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6afdf48d62db7030a95d030f8d007cb4708720585677123236d3d342ab6a91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 474):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c754da973ce4b76f3817d89695922808292ba407ca99563cc50b57a760dd7621",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 474):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e797e4087d01d1e36b92def41354cd1f74bb2a4e5e2c89c9ba1d34e129a0a5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 283 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6624 left_j1=2.1296 left_j2=1.6741 left_j3=-1.1812 left_j4=0.0444 left_j5=-1.5963 left_gripper=0.0085 right_j0=0.0158 right_j1=0.6449 right_j2=1.2045 right_j3=-1.1202 right_j4=-0.0307 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -10.8923, 5.2171, 0.3346, -0.0122, -0.0073, 0.5885, -0.1573, 2.0855, 5.2308, 1.8291, -0.0269, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff_2kKB8BGovQB3eGh0--KX0IqTxG6IFzm1WS0hffKKnJM5YAGx2x0ygS9Scc5oowRxKafPQ2RBVWBimmctklt9Zckow7nsoWet5yEqvcdG__SuEJVa07LbMxD4NYtPdnZh-o8R0DFggymEKE2d8t8GCmHFTvn38_rTkA9A-2d9tm3iFaS67qAsjp2fB4g9yWxSFcKMOuXRG6p4KHIA72c44eB8bqlMUF_moDiMMu3oGSaJKeG7puZI8dVDxcbHTp3TvPU0Lh6FbLA_Wq2Ow-Qg9pjyFpfodcrEA07O6qw-MC33imIYvsZcyCIoxwCaAf3YfZUYKbj0ahiHWSEkB_X9sgKNOG2yFfFX9SyAYWBEZFnCd0Bc1e9emR63xLyoC0Zm6fiZveqEKwahZw2BVBwn4vJdPRJ6PDa8PokeofyRFBhcMH-49pxtXNsnZ8xKiRKl_ApX6h4rya9Wg8_v0mMX6NrHJVY9hVJ92cQOng411JAI_lpu3FJ5M6OK_-P-7Mdp2UvZh4QND20j_HMDqg1rQLtM44EyG-xbrdSwuUIDF9agJ3Oc2t-jk2awwAOxpUqiI99kqf1mi6V-KDwA1fUefriH8n0zo11FVnDqiIxmz3DRXB6ZiVURP7RaK-LjYMlS9c9cvWsvm0P0__V2-sV5P5JjwUBen4SsTKyfa3_Z9x7nCPUjZ3qp4ATLe8gbTYcFQAjYx55G9In5N0FPM-z6Htyn6S5Rams3fOyO5W2qx4R2i8ffh3bqqvO375abd2RMeSCvloGiMb-eYSS4ygpNZAHY4mm_Mk1OJgeqgmtibr4gnfLNyb6yN7-wkLcA79Q95edmMa0cFp0EDlcIUbVGwZvWVTAdvXfDWMjTsJtaz1mYxnuHVOG5rHy2rPMKBTtWWx12Jsr8TX5KJ9CI0lTbC1cjHB08eHrYCCuVKLA6gVE35VE6yQamhQyVD0T1wNqdAf7O5p2WkiSF98K3EfCmuoIwlHmaHgHES2MgWJlfSXs6Vu9DY6IbfW6CSCLui7mu098eMmht5sEPkNTiE722UoVSW2NYLXLUcpDtTod04o5UvxjwMStPoceyvXFjGGYW2bh7j7i_rPcPd7jEzKQ_D4S-2teugiZF0JLCyxgXayEQ52XRfCP6AUhLiXmiwT5PxHKkWyCmgqXF7-NNZwrSnOSf_4sDH0bj14N1WcfTJRDNW5CTIk05CgkEBgzmSgrMlvQVOtqpP47_a_nM0G9XtkAbbB-v42fnDaoM1KB6NrBjXqNYvgEM5LnvHo9tldmAz0yPVd0gub56u5WP1sN-Yc8mGtJcIi9IgUKAgE3KT553cjk_tmIG7NyNIfu4oyxaSbEX44p91JLMLA-HILJyPkLuK9C7XvpIe7vkj_mLnWcB5vB_u4NzhpQmigbkGVS-MZ7y--2WAHq9_oNJ8ElmX7Z0kZofo3FBnufqDfsGi-KHtdY40ZIavTUYROgbuMTjTK9HP0gTAlNznPopS2bZvBpjmHguESQoTG9dsESOZknNW3kNIgW-5wHdc8D5wtQ1kHT6Fdxf_X_Jz1ymWaczh4-k_Ze60DbGllboBjsDuvSYtLcKZOQATS0r6zfE8lcxrzlRg00ewjcqaSpyNMBKUCBRXfP3R3z6yRzl5iiHZ7qcnByRVdtkNsJhVdIM8VEu0kyTOjB--AzDnthl4XayPLHKyEitDsv5yhxnnuCi3ZjLQHJJjyqyEPSgjK2k7LuLKAr6knMGNpCz5n5FRVIwepxuQb_1eP6P2PGSEoocJcpm98VuQDGwIe4jgzGk3OSnK86xwYqTHAj59VzyCcchcX_gkG-H3eBYypW01g7xu8kj-_GUwn82juXTzGePg-6I7g_zgCkH9VF1AmRRm5BQE5hXxuWbFqdSEHdoYxApGIuTNspz4uWEQihgT0HaKh_m9_AwHZulTzHT9tdQRSf1X4zDdWdnS-AhBArxf9UHZeBn0fT-gBr8tu6uwmx9oB8ZS8hWHiM4QzUdeu7KXv4ptdxjIqYVJnIVp8Gw1LPQaMxbvX3yq60o-KJQLpAQaKpQhf5r_4KJSgG_8iAoAj4uQmhA9amD3EOsk0ikbYTtVP-7QegWuOQ_l4lEARzUfum1E6udVFMW7EKHAS4r69HRV-o6ye6UTnxbWDPcrHF3DWFN3HVHaQSr8iuhAooNOJK-O3AX55hAgOZDVZlxOr4dtBJWIP6bw6VKw-kGofJB8tNhFki5wnfQzq5BmTVcHoeboBj3h_3Etne9N0q1awbkWbraLRw_LM0cshJM5UspebJS2Vr8fIqlSw--iC-maVlrALv9LHpr7MiQcfHfvHdGHVQ==",
  "id": "rs_09dc31d5032af043016a7dffeee3d4819a9d363f8f4f890390",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.46,\"left_gripper\":1.0},\"note\":\"The lift confirmed the blue tile stayed on the table; the prior close was about 4 cm too high, pinching above its sides. I’m reopening and using the calibrated +yaw direction to bring the tile from y≈80 down toward the jaw center before a genuinely table-level descent.\"}",
  "call_id": "call_SB1mibyaESKYnXwrr1cQC20G",
  "id": "fc_09dc31d5032af043016a7dfff4b96c819a8044109d98bf1d7d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SB1mibyaESKYnXwrr1cQC20G",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4728 left_j1=2.0644 left_j2=1.7798 left_j3=-1.3392 left_j4=0.0448 left_j5=-1.5974 left_gripper=0.9945 right_j0=0.0158 right_j1=0.646 right_j2=1.2045 right_j3=-1.1465 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.4718, -11.8769, 5.6957, 0.1294, -0.0024, -0.0171, -0.0415, -0.0752, 1.5248, 5.2991, 1.8877, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab4591de7776607e808a6dac60a4a6d3d9e211c8ea56b693081f4fe1c7c2167",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cee554fc94a9e921b9edb1203f9cd4eecfca3951b90aac7cb69debbb66a8416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03cb48273c083ce61de0003ff655031719ca4f8d546e1a8cceed7422c1751938",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 287 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6636 left_j1=2.0468 left_j2=1.7805 left_j3=-1.3422 left_j4=0.0452 left_j5=-1.5974 left_gripper=0.0108 right_j0=0.0158 right_j1=0.6453 right_j2=1.2045 right_j3=-1.1316 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.0615, -13.4359, 8.1299, -0.0464, -0.0024, -0.0611, 0.2222, -0.0889, 1.6752, 5.1487, 1.8291, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqff__pdcc1GAtt31qhOHXz82wXR_gRxtPF3mFA1nyZjxe5QtUM1jvp7cwPiPw3N2u_IF576sNpCB-l4o9nkEFEAFDd8XrvNna3Pu_h8ualYwQdsFOBSqMvdIec9Kf_lrnnOsb4P1Sm84DgBRbr9Q6aju2PJTsU0OihqX4zh55nbrAMV6YTdQ_mwCM9hPpsyQehrnZpc3zc_yn0DjtOVki71mHRjcoL8BtH5Pa9TouS4pKYUHzWAtWxlAbLjX1tTy7F3hQJQpJP09o06C4Ld2hOB5Obkd_BPOGDdiXgK1fBwboqs_uwja7o3DnZmh2BMCLX41ZHCQPNre_6XtX46MFuSQ_PhVOUZHfX_zu3MMOFK45QiZBqs4fkXi_EiHj4n_jSWaCMlghfKv8_K8QsNQaxoGkDp6PNenUdV00R1TnvDtgBU-SDRQyTcAfzkkEI5q7ewsoSUYfwJ_9m_fkfUo60ctRzF5YWqnaDbRZ9Zwizf5f1w-NNv-bLLoPjb_3TFOb_C89PoY2ccdV2ihjgeHMkBu1cIjOXu8ldMFIZURCtbjUVbedUQ1IOl0ziph5pgwJ4GpIjjnbGk8iUfcwIayVQ6obI7ZmvUCjhxilSQiOnxshiPyJyCMShRNWxy1E2Py3Uz9TDC0NoGVix0kCYComRoj7uLUKijdJfH3WzBBSNNr64EkwgYXNyl3uFRTCzXrF8MaE7eBoU1pRmkTGL8o5Y7jkOLG6L-TzqXw2FrfTIP89FNiF9D2X8QDdbHrVnwAdXU1w3QLBJ33vcP_UBhf-NpEDUgmEvjFVoLb0csuAUMQGygnRAkQ_ltU6C1Hrka8CSlzJ75HIseCeVY2u2DH2KOhuTI9QEl1xyS6EWVyb3VJGeodbP_dMMLu_ahIssqkUFgqK5OLp9r5g82scr4-OSRoCUh_Tv7A7dOF_wiHdhanMImKwJaxexelVeD_M8FWwxG6RybUVl7AWUHY_A6xBygxbIl-mFd4afpZbNubeLmrSgwPYJetpGL0rbiwiich5_AwSRAFBFdHp4PDmQ5GZ5Qxlo49qEOulpsVwJ3t8vFGNAoG-DJW5VuJp7zGPPGbpAwOPIoNqYEK1vT6QGU4xLEE1ddqHkt-N_7hyHvqFjSNj7EsxAA3XmX9WFe6fKvRDTQkjRcp1rkT6riTTLd9J33Ihn-NXXOg8LnQSNIHpRLpfjwdZBUG7qfaOvS9KZT3NC0O3rW_xBv_WVaL3t9S8tF6zL9PQDD8W61M6jwkTk_gg3HVzTWJpD1JY8ntz-wi3_GAbZUCMwhw7fm4AbznEyCYIkaPEQGfLueGUEkZdQS4XZ_vM5Mcn-rvBs0ptzbQHFjFVq2Sa8zIkG3H6y7-dkytoclhQkkzh0fQq-0AVyDHMyi_HHricJoqPTCmQ_aaleRi6",
  "id": "rs_09dc31d5032af043016a7dfffadd10819a87b8499895cb56d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.105,\"left_j2\":1.675,\"left_j3\":-1.145},\"note\":\"The yaw correction puts the blue tile centered at about (109,166) between the open jaws. I’m descending the first ~4 cm toward the table while holding this planar alignment; the object should approach the fingertip contact line.\"}",
  "call_id": "call_S8RWqkA1iw1iXZzkl1nHsJYk",
  "id": "fc_09dc31d5032af043016a7dfffda01c819a971dcd7c301d8f62",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S8RWqkA1iw1iXZzkl1nHsJYk",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=2.1025 left_j2=1.6859 left_j3=-1.1992 left_j4=0.0448 left_j5=-1.5974 left_gripper=0.9958 right_j0=0.0158 right_j1=0.646 right_j2=1.2045 right_j3=-1.1503 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2803, -11.0017, 5.5863, 0.315, -0.0366, -0.0415, 0.1197, -0.1573, 1.7436, 5.2991, 1.746, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58059f2b8c2c5a703ff43b6bfdf457d41ced48918af6d4f3941e45c1a3954b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47e219b7f12c9de4a3343d67e4c96e62805588857b1f0f2261a97039f0a1bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29389ed8c5e897e7146eeb52d2ea6a64d00083ba03b01528f599c69e881d8468",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 291 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4728 left_j1=2.0644 left_j2=1.7798 left_j3=-1.3392 left_j4=0.0448 left_j5=-1.5974 left_gripper=0.9945 right_j0=0.0158 right_j1=0.646 right_j2=1.2045 right_j3=-1.1465 right_j4=-0.0315 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.4718, -11.8769, 5.6957, 0.1294, -0.0024, -0.0171, -0.0415, -0.0752, 1.5248, 5.2991, 1.8877, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgAIzy9XzfUnTHjXhLXQbMkM4QL6LSjdzZufrcnkcJjmvF1W_AKoh_efvYje9VWmh40JJkvOpywf7kgoBxhS-Uwh7E-E4pMkoZ3L_78bES0piuTWRrRDJzYD1wxoiASonHNWVcXkPGp0A4Q6131unVcqCqEtztrm-sIlsn1k4bGPi_THd1FgrNT-Rzuqi4nje8EO1Qes_XsxxThz86-PrP3sG5Ls3cUCmrcmoyQNHRfjR4QQP6Tjt0b1jzeKJVTtSvFZRjHTAdfE43vu1Bu_P4Zty1E88qBaG_TyjSuIm6eFQHnhKI0eFv0yfy9mFYX85ybcOtmvDE9Z78qYFor3Db_0g2TWc9w0KoKn6Ne9yxQGfS33pSbyeFQHMfbOxcMa8zQB45VqpRL8eqbHFX5fDskG2TKuHkOIEMld58zBymr9T_UBbefr0dK7x-kopNbZv0jXpTMxgCJNxGX_s4cj1TLhJLbQOpmHth4lnAdbCdP6iErDMj780SrGG6hyNglIaQEbfDeD_dK-BDzUtz33t74i5iVlmmaACuSSXkk9mWN_aubU3P68P0-TiRzWd35_6ozJvmyjAl3a_yNSo3SBGDNBixs7cAw_VB6J5TDiOO7Zrt8q5IZrby4_-LlDBKAJMBAzp0m0CpQvANFMEdYfl9Yzz6kHUU63H-9I5n5HlaumVrLuMG2PzLPiUb3yjItyxOUG3wIxKteFcxlKUuv53G985Brmlint2Y3PuFiT5A0UktpNFu7DfOv6npqSa25vCDzoWHwCiPgkILDheAlvxvqF1zlhqPojbLpzhdPOCiNjkuiTNbRl6kgOcClUHRiQKWcFWpJyA3yqgmFjygYUXuUbPzfrYINSKLs5W13cCdp8m4HquwXYcksX5U1zmYgYJM4ZIqWNyKCT0INZb-cz1eiBRxlmCGrz1UWuhNjHiF7KdSF3q25fSgXh00n-odkrumTu8o0jtmO0zWV8sB2ZxqUNQWGKxMHXgBos6o7IMLDABEGJw-NVGoiaXjm-TtJQeUhf28ONEq-Vg_DF3O1ggj4gRm7689ZTwUyyGFZj53BDeexfs8Igr_nxT0C2jCqidWSvB9jWW77vcBRY-rHNORn_SGkrfhk_hMijTvJ7giaRKQ2MvYSnN-9rFy-wTFFttgusx0VGoDUMI0mmCTK6OSIje6OT8VFzVHayZ3WOvBuWGrozbDk-TmUjkeJnZ9ZzM5OwW6Rl9MhidyD5d8EaQVWjVqCQfesv_37PrgwQCtCQqAeKLFsNJ6v0kX4lmVZXOM1lkDV004_-VSBdwHGeXgUwlrrFuc5IUz71-O1z-_4qRELZR9S5eb6cwTVWpOIFuLZuwvnpgzPH6K61b0Pi7ucvJ8OE2ZtcVd4PSEXv-5Tv2akuKYupTWjRRexQ6Gru_4-6STqJ7Ig3g_ZgM1h7JqmNrdiJHmXXhpdn89UwNge4kaFHYNFV9faToa7gzeWESmtNFODuGgwxUT5-EjKyPdr8iH2Qz3Oo-tJVN9pGP8VPS0u-Uf33gdhM-QixX70JvLoocKwaz4uhKTWTLeite2xE-iOf9qJ5jWKKtyJFf42yo2jhPoB6G-HxPvcVDvk9pzd5BAKuqXejSIMJN4WgrHNVsA==",
  "id": "rs_09dc31d5032af043016a7e000158d0819a946d5a08442795fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.53,\"left_j1\":2.19,\"left_j2\":1.59,\"left_j3\":-0.97},\"note\":\"The first descent brought the tile to the bottom edge, so I’m backing yaw off by about 0.06 rad to keep it in the contact zone while lowering the remaining ~5 cm to fingertip–table depth. This deeper pose should let the jaws clamp the tile’s sides rather than close above it.\"}",
  "call_id": "call_Ovq5gIzlCXjlVCqXJZ8qxSef",
  "id": "fc_09dc31d5032af043016a7e0006e238819a936cb7a2b8544b6d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ovq5gIzlCXjlVCqXJZ8qxSef",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.183 left_j2=1.6028 left_j3=-1.0294 left_j4=0.0444 left_j5=-1.5997 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2045 right_j3=-1.1542 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -10.7009, 4.6838, 0.4078, 0.0513, 0.1832, -0.0024, -0.1846, 1.6205, 5.2444, 1.7607, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 492):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cffc2e18bb11dd8d49c107c69df70d4b86d6314c53a611087885ed859f5f00c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 492):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a685d6e32dba13d6bc3b3404dc94af133908655f776c3016894e8416003dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 492):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808e201c333891b2172b2ec4dfd509b30e2f5ca564ba74dfaedf8b3a55b66767",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 295 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4717 left_j1=2.1025 left_j2=1.6859 left_j3=-1.1992 left_j4=0.0448 left_j5=-1.5974 left_gripper=0.9958 right_j0=0.0158 right_j1=0.646 right_j2=1.2045 right_j3=-1.1503 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2803, -11.0017, 5.5863, 0.315, -0.0366, -0.0415, 0.1197, -0.1573, 1.7436, 5.2991, 1.746, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgAQT8WH5k2RLpIfrhp6S5msFt2GNFudkSpETGRNnf6RYb-71Dz2LHLoAX2jopXZYTkTOzYgCJ0v5xSZYggAofsmIrZL52dq87ZsI8ZIl7QyP6R4tSJr1qfeLjaJuMUJw15XNeX9wPabR5io3g3ccim941Oe9jyUyzLgQM0ZXdx8mFOta-UFpi3dH_3Dgw_YA9yKfXMpgQusF7bx1L6Us7CnhPJum_epohWiVrwEbxxDxnS4SFfGkmoMBo4XyJUN1fNQjhuhtnwITgTYW_wgI0_SUX_KVTnJKPFii7lGd1t0LOkjxB6FzQo1zPefxun5zVQhN2-P6LXmKHPfZ4HDIU5s8_jcAGwULwH-vOG4Pu8vzmf1lbE9tJ2rc0yIxJibEHELQYaLBJ6Id7uwnORdhZoPKFg4pPxoGWocANejLcl8hpsv-sD7R9IuDWmTHOhm8MGYLvAK8hn2UaVxIGl3ogwX3B07ld6mBc7ymlbg38P3eQdhAe8GhKliGcuO7A053cgEaJjyrA5I1kBGvoFx4E3RkLypDcbnkgXuoU_lN75iQT7C8l6j2W4-bAyixmzT-VbGHIuUe6K2ltIc8hS2AmlPg_c4IoX_WimA0YdNrlpz2K2UBfUv0XCutj0Swu2U8D5U88ywzs-4Rh9tLANdQsBMm9jSoKGDNdeXfg5prnLtBH_OwRsOHWvc8cjdL8DsoihdN0kqJkYQD17AMIiLhdgcnvzvipSl99BZqayhiMIOQMXDlhJwQ_SDKVFhsUCCAKZqNJhnL-dJzvkkZOaiYsoVHK4olRhdkx55XXhDb_8Sw0HRbBMsa7G80QUXkGT_IZL05EFqOYG37O7j0rs9HucBb-8jdXmDguvW2F82h_kYbvNtjGK4fP8l-L9UbNxVi9jJTyH9XclhgJoHOjNgh97zzZVHi2P3Vhvb51nTQgG47o0LpU-W6Z--rltreof-Zjj2elehRCl71OjjJiszp4IW7aVHRJpNMjoXyE_SKu6lSiHn7PG2QVtPXy6bWvlwf42e0E1s4YIAf6loEa3a_CqvZwEb2-w_PTN4AwCiFe3PtYYXqmLP60olhQpNUals6bLu2LSHQmr6qr618FyjS_4bGVgCmznEFtIzyqrJ9HquOVq_pNpLm-T2ztu9STESnefj3IKeo6MJ3AKKGA1gFEtTF2wPDurK1E66q6GGfVxuPqUN7OsH8Qv76-V0rWHVR_fNXDhqQjRaJ67bfORgLw46ezRlJuifOm0j51oCPFTfMwrfZ8Q7QyCzO5UmcZNgcYNDHOEFSsiy8j7SmOeBcpjYkQ44vIYD4cOxEPCFR0FksvscIkrQ6qrsGqzjhj583LDKxvoz_KIrO9_yHFC102jH8xrsZbRU8tcZmwo6KwexhZcQ3R7-TSyjj-l4UemwWs9eayWfHoZk95SkSZMbNOmKMu4rWEAuOqkEVoRHWj5Fw3j8MYkZ07FdzzOivcpP0iqVOrsq_B5Su_t2SLdqlOch6zmN297sEEqbShSyF-YyfmNPPrdNNi3t_I2c3Lm4LEne-VwvIPnXovE3kfs_02qv1EMKdFDr4TcF1pIhAdq49StmrwTQ5GJH2MxTmFR-wfogesaW8zb6p2FZIl_Jo2LY5GLlS8vO_il3dNyxvVBffsXGjlFBxvfsEeEejNAtErFD",
  "id": "rs_09dc31d5032af043016a7e000c8a70819a84ae7970e3c189b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.57},\"note\":\"The fingertips are now at the calibrated table height, but the tile has slipped just below the wrist frame. I’m making a very small −0.05 rad yaw correction at this height to bring it back about 20 px into the jaw contact zone without a large sweep.\"}",
  "call_id": "call_Ppo6vtvuOJCW8CIRcnOOiA8t",
  "id": "fc_09dc31d5032af043016a7e000f37e0819aaa5605b3db9d5b4f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ppo6vtvuOJCW8CIRcnOOiA8t",
  "output": "executing move_joints over 1 steps (0.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1826 left_j2=1.6005 left_j3=-0.9863 left_j4=0.0448 left_j5=-1.5978 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2018 right_j3=-1.1576 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -10.4274, 4.8889, 0.4469, -0.0513, -0.0122, 0.0024, 0.0068, 1.7573, 5.3675, 1.873, -0.0757, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 493):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74aca6ef65cac5f803935403f932d06f8c93e5b2364031f824d3ebe401c32d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 493):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129a8cf779bf3b4f1314b24f70c2e360168a9cc73c77f3196585b2a885475c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 493):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288d2d95584a6166294b6d097aeded45de813d65214009d57082558c3bd81f30",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 299 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.183 left_j2=1.6028 left_j3=-1.0294 left_j4=0.0444 left_j5=-1.5997 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2045 right_j3=-1.1542 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -10.7009, 4.6838, 0.4078, 0.0513, 0.1832, -0.0024, -0.1846, 1.6205, 5.2444, 1.7607, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgAVeZ4JW3t8nBVCN67JUBId5cMyxZ9uURnpqI3ikAEAbWhze5xaUWtfX2LtYmVRJ7rixflWwUCPwq44KfdsXzos6NOmDqHRj8TVZl2JP0ol_bIscEDU_KRKQ5AMkvmIhkDBdzXUCHCBGgadgtbduFmcJSWWhA_51WSrEfNLtXNJvWGr45uPJCnlQjLR1yzOa8GwkniCXW4kg9UT6FLVAs3bwYrF5-ZRNZyzDfG4PiSjuEH26ZDef1qpnwZQ0-Ue6EjmKvq_TLOy_CZbvT1zNbX1W8Qpgcn5Ge9pUONwRcwGnxEavAlK2CeJceGW073Qa6FbwmlhDzMeOEYGgW60oYp02xSetrjEEU1L9amMRvvA_40KSgN6ZN1cyHzTumwsndmU64qOOyLKj1sVKcN6EWr0YSrogx-zsWPITEi9FdEUS4tKLkBVeuQPGbBydEj8tvQHwvx6su4JYvuJkCtnLfRF8jxrvUBnbf3GkHggxw66VlMBddyIjwCL0nfl3c_pBxtA7dsB6E75lzCPeubyubCsUbcLMhkc2M4jCirA2P8BYrBgNkidKfcXNGcZ9YB9mCWNn-5Go6NcvaJ6C_e6nU4QlXj5DnrvVe5HiBlEiGaqC1BDwJV9no95kben2ea771m6ZcVNFE_KTGLCxEXVJ9-lUo-xGW2JkmIMWV0xEKoGB0WAcTJReCVdgCSgso8wTNhDzZ9hHphJbpe40X5Czcj5TzpOCwmJRIjFG683J18RXl735qJ1tWVRjPQ_v5WKLO40yb_vF-Orf0NGhwRgSYaJiiQmYvG_-VSc-ibjXo7vlTHe1tqFsKSFKVneuMikgo3gkJ1wSypEO9ffXSx3m_Cr_w8oFk2o_bB4KAQthAt6yqE3fAvgaB70p5sWDMTKVt8Lxhz6TY6Xwt2WNp0LUNB9gfOcDlHufgc-OBwoceT1hxwJRHko4MuPVQ_tjyfNsTtnFISHGJ9ReaaqgzmhF7vby0XhFKJRCVtJepL-S5Qi-ORXpVU8ZQE0o-zfozi1ZyQkU1uM6ILWmDqAy0zj41n62rNPWqWN9El6vMANQ8WTgQnEgmV8yMZ7mI3q9D1eJNjofwxhuZJVYy6VgEC5VnGsaxQ4GKgpnaO40T4aEnO-zhAom38DfP45Aq04APSszDleeFPrTjz007cJjvkqdc6QcPA0a0LkG27yGu74UUUn4WDDbFgDHrR8kIpBJzjkIx1oBfzguT3I2tPpz4txE-NbKivwGmYbnTFnaK3col0n4k4sM4kf0oahUX8h-nIlxZM0Z4HE8TrxQOnCvi75ww8luprQ7dpmeAhaosKtZNnz0kHevR7E0s_L3hbid3B70B0D",
  "id": "rs_09dc31d5032af043016a7e0012ee00819aac7d251938d0a95b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.62},\"note\":\"The controller barely changed yaw on the first nudge and the tile remains just out of frame, with no visible displacement overhead. I’m reissuing a slightly stronger −0.09 rad target to achieve the intended ~2 cm tangential correction.\"}",
  "call_id": "call_9p1smrbjTFQJL1QdEfVPXh8a",
  "id": "fc_09dc31d5032af043016a7e00138be0819ab4fc8e8737f5f196",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9p1smrbjTFQJL1QdEfVPXh8a",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5827 left_j1=2.1826 left_j2=1.6012 left_j3=-0.9985 left_j4=0.038 left_j5=-1.5986 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2018 right_j3=-1.1576 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-2.2496, -11.3573, 5.5316, 0.3541, 0.0366, -0.0366, -0.0122, -0.0342, 1.5795, 5.1624, 1.7118, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 495):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0193affaa5b9b34a5a721bd1ce9d38748ce7659e11e7eda7209386976e7c0c72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 495):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81fc76f54a9277db7ceccdbb9346911f5d81062beec1fcdfe4f25cb1c46549de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 495):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ac5a95b1a6a7d56d6146c78ba46fb67026df318e437681fb3adc6eaf4cb3fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 303 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5282 left_j1=2.1826 left_j2=1.6005 left_j3=-0.9863 left_j4=0.0448 left_j5=-1.5978 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2018 right_j3=-1.1576 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -10.4274, 4.8889, 0.4469, -0.0513, -0.0122, 0.0024, 0.0068, 1.7573, 5.3675, 1.873, -0.0757, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgAcBzQINHJEqaQGNU2zYJshINHA-pz9_2hn5nKZEvYOEJdV2PjmFy5-ntFl6khhlT446iaxilI3pPbcnZxJQpMTBpsdiDR04E0wMAdhZ4xJOIwskh5vk_R3m54V_F08tpcHoDGyLeHxA59-9hnzI-as1fWQl89Oyf6qo0XDdOe22FQmH-jCIDsJ2fl38bV3-3ikLPey97dW3bDta8aU28-fkdLv7AZ4llqRxyeCVtzbcCoqeNsUPYy7oPrhsdulUe8quyfN3WkIuoKcikHONPIBPcC7tSz4ckThg3PS-abx3hz0aWrPhfVGXrHuC1fEESoYFIx-3rsdt2XEh198LAbRH-Mhs1WnQ7YeBqBuaRbkwvNhUlG6ro2rXXvtqN8fO12m9483eqYkQ9ShHeNVx7uBMHQtcd676w8lGepCNWJKSDqf0GTVpBjNaJ-7gTWqfjCsOdZPEbvu0fyr5zpiVf9KXuy3LqlDzvxMHoc_Yraq_PyVkrLZhHyNmhrJQSnjftDEP2jCj6JwovhaDATF_zbsJNqKndR1SJlzzcC2dH9fd1mL94FsjA3dCCltpT0bt-7V0UJ3r_ir-sCzyfMsy0yq9JwsIggbuvnO83FtUJgTx1CS8Cdmgo3XS9FNqlOHBVn84yhnPlpyKD-GbUlHXgpPMsO1YD6S5z9YcUt0Urpns6JAZQfcOlgdCqVBwTf-rpQLSKu2sEff-buxmsNb0sbSOSllfEvzKVq5SWhF-Xd97dAR7ryYroHzIX5T6L1ypUqKqmaC1hmpFn7sGDnZUlW7QXo5kC9Lp3hGoecrsgS-3j1e_UAHH8A55NQVavIcGzUq_651lh4IFqYuc0n42c70fchUSws72uzfg3gvNNefzc2fV3vLRj--JoY9tUKrrduc7bFjHbFV7s4zdq0aA5A4c9AOhUuGoFxTmZ0EqFvz21AyEn5WzS_PDKyzM8jH8hsD95ZIDwjyf22v_bsECs8WhVgjCpnvsPtTfMUkilqmi5CPNwwu_ijoZjukDiMesDDrhptAUU_qGce8PiT4xmVyV-3s4ri2RjvpVMsiRrZfTa200ClXY3hMwbHTWWP8qOSLh06rES2dWghyEy7wnqLlkX6_YqiY1nitBRuS4ufCzQ7xd3PO1rrAtVnhIwbJfwlLLavkIJCWTwZyf4AQ6ZWOeHXwXKbNJPxJpng85tLUs8mwyLxFiTbpGZRelVk3BZO-3KZQ-uKWzBT1AhsLZFSkVuU_1HDN_G2pv7hZPsb2MHtHQTFaMfYsQDQHtGMfuOHwurzKY_7hIqmwJUlTpEDyfCgjyouvjC1W-7BYkjhNCl8ljoD65FVkRCtKvFnQLrlm",
  "id": "rs_09dc31d5032af043016a7e0018519c819a8abd9cc519ef7d70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.68},\"note\":\"The stronger yaw brought the blue tile back into view at the lower center-left, now at the correct table depth. I’m continuing only another ~0.06 rad to move its body fully into the fingertip contact zone while keeping it between the jaws.\"}",
  "call_id": "call_4NRKNZcaZNDIMPzVXV5yDsHD",
  "id": "fc_09dc31d5032af043016a7e001aaf80819ab4cb212f7560204e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4NRKNZcaZNDIMPzVXV5yDsHD",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6399 left_j1=2.1826 left_j2=1.6012 left_j3=-0.9981 left_j4=0.0376 left_j5=-1.602 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2007 right_j3=-1.158 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-2.2906, -11.4803, 5.4496, 0.2613, -0.0317, 0.0073, -0.0122, -0.0205, 1.5932, 5.2444, 1.7216, -0.0366, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 497):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85532629263de88552ae791f0dc1179304a9e25aceafa744de1c85e72370a06b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 497):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa33cb33e3f4e9ee69cd347a5b2bbe248c39bbcb17f396d5f76a70201f86071",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 497):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c18b5f7693f13d2d3a576c6f5f4836d8b3b8834b762da0e204578b7eb42714b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 307 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5827 left_j1=2.1826 left_j2=1.6012 left_j3=-0.9985 left_j4=0.038 left_j5=-1.5986 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2018 right_j3=-1.1576 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-2.2496, -11.3573, 5.5316, 0.3541, 0.0366, -0.0366, -0.0122, -0.0342, 1.5795, 5.1624, 1.7118, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgAkZw4IWa1SP7fgw5_D_wVV-7wjA3Q4R0QIWNUj0i_rp1ozAdKlk_EeaCqaMjXvKe1rXwVHcqg_046qyJkIBmNeisJTRPwcK5BZ5DWRXRX1pc8bwVBQAzcsA1LIstVrleo5M-yVWovgG_O0rm2VCk_zeRCvIC6WgBvVM6qt0MquYbbRzRxGhjK8YBysxPr2RnDL-qrmPxmZ-auinCVz5piBBGgZGlf5nBjwh9q3FggBW7fp4B754yZZ5fdJhSCwpvGkZdAeSVLHEnBtQhITOsh_KJ2rJJ-6mElkv5rysNXcs2fs6sgH9Ps61_09CvPFf1yrVH-2AJIfaOJitvxGA57jrEftEF8T77DRT6CPThNvkOOH-DBD-iUTYxQxKj9YYCmvDVUPA284cuS3NcmeJVwNAOs9XqL3HCQYwRwMhB2F-5nQyia5uY9JRanPyA3ordD3O6XooMNaMLes97cymBojD3Znm5Wgy27L-Mo6dsnb0yaZHHmgCxE6fbGg1rd8DL3BUhhI7mzmhHuT2JeGg9TO5tqkWIMTl-necL9pBTgLCk2Y2xM84Id0n6yXYp8eosbptYuSP2JIRZGR2pFQcJX4tE02mzrKTka4JUW0_EUNKCMlqV594yA7W65TXebL6Whfu92I8u_JKKZj61TfWWXiMlPsIOcgspcAE9nqbuUtvJ_xxacNMW3-v3j8uq-q3ycdp4JVRFKxU9DrvGK04FF57Z99Fkgj9jR2JYxQijvS_EU6cnwHH_3reecd2RpRe3IAu9NosEuqqganm-RATkJCDUQllTZ1PVsao1Vwv6Pj9TiU1y7pqYAC0_IHv0jghnK2bSx_Ju7lmbfkw52dKtHpynuRUVSXYCcFU_JE82gPVYNhTUhFiwGk1Ewb7Z9_0rqRkDwmwE7e_oCzkU6EL0OM6sHLkgELQDHlILlsvz-BVrkOdNbYhF87vjqf4Y37anN_4s7Fxx1OI2ksYGizHDNLT_bFRcQ4NJCIFk1ijbg0CmQvyY4d1UB0YTuW2aP523rcg6NCxtzAtjYJSZQd4fcCRjU9EDIQQQ6vS4uRRCsCdlWg5bxB_sOeHQ8_c498L-Oaqzxx1NwnldB5qU15CUh1C1Lj1u0Ink0679VH94gewQivP0FSjIbWN7KkcbwLsGAccGPbGKJrAOgELYfFPBpIrIbSIBWBAWdHlUYK0R-6dSkgpe6hIt8IBXlS7vJUw_uJNf0A3dPHbEMQZFFmj2F7kYJVtw6Y7uVAqTyzKcYm2GR1Mi8cwbEu0A2F_a-AoVIh",
  "id": "rs_09dc31d5032af043016a7e001e8154819ab79e7761dfba1b76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At verified table height, the tile’s full face is now deeply inside the physical jaw span, extending through the lower center rather than merely appearing beyond the tips. I’m closing with the fingers seated at table level, which should capture the tile along its side thickness.\"}",
  "call_id": "call_faU8yUBgy8GVHFh2ddEbJffT",
  "id": "fc_09dc31d5032af043016a7e00202670819a94fffe9c36b428c3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_faU8yUBgy8GVHFh2ddEbJffT",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6388 left_j1=2.1826 left_j2=1.6012 left_j3=-0.9977 left_j4=0.0414 left_j5=-1.6016 left_gripper=0.4452 right_j0=0.0158 right_j1=0.646 right_j2=1.2003 right_j3=-1.1664 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -11.4803, 5.6547, 0.232, -0.0269, -0.022, 1.033, -0.0068, 1.5932, 5.2034, 1.7656, -0.022, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 507):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56717f8083dd9c86a86b7fbaa983e7df797f3d8b0e12b4ec038f00a101652c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 507):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836e46a0c65ae34c6b4820ed66557716d685b4f666c70a7e64244e48f504486d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 507):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ce3b7993a896cb05535f41ad1f180e88806f191a7b1ecb9f68ad1e95e90ad5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 311 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6399 left_j1=2.1826 left_j2=1.6012 left_j3=-0.9981 left_j4=0.0376 left_j5=-1.602 left_gripper=0.9959 right_j0=0.0158 right_j1=0.646 right_j2=1.2007 right_j3=-1.158 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-2.2906, -11.4803, 5.4496, 0.2613, -0.0317, 0.0073, -0.0122, -0.0205, 1.5932, 5.2444, 1.7216, -0.0366, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgAqX9oyEuDhfU1GqnbxN2fdSTUiR73KdSjrlRsxZmLtwFdIJXKH3f0GynI0PpaqTdElpr4wbfazJmaawkiBnH0fJDG2GGELr6uiN8wU1oNG-tZaX23hTvFN1Qv7ZSoJRZU0FIPKyr5G-we70BZZHxfQFaby9G6Uxxe5ik4ke9qJGoWwUsWiSYZqfwZfkGKeTP0N_KV18u5b_ZbH1rHsV_7itxvrdim2EcPLAUGJyFWqcm3xVXI_-Xt_LGsJGvimhnyT4dyj7gLCilrCXXp0o61Nm5dhsNmC3knPM9KNAijOhiJLeYqpFYO9Oew9mrZ3WQ1-5SlTq6Efl7hp4VDUjnsnQcAEJrxsIdg6TpuENboPpTyGjR9a1HDTJSAanZ-A-zOkYlSJOo7WXNzJrq2HYlaNwiuNVq1rNozuRZ8nJV_Yy9YuxmbDF5vH8dq4YAfrDnDEgNchrgAhGCbEDLyI6d-ou6OWENgFz1MpJ8KKqVX4BetqLWFWrV8Qfn7VQ0SoC3LYDmFyanyFI_RkTKu-Pb0RPw8LLY1M3MfQJezj6dE-jG6TNe26TGQvEghIFPAr9qGEJDLRd06qTTl0h7-sDNSaCnpNcWJC6LOJq_HWYIQG_wHwQsu7mx01VW7PDFuuJFf8Ezl2hK3Cju4azgxtC1xXWDnLcMGbqnzfMDBrT-zhLuCoOirUwUu6ZQEC_fm9cTNZd00Nhb5HkZa1pqMa7G_9ln4QbYTGcUpFXN7PbmcAX1CT2EmRhlJXBoDJiVluPFuhny57BU6pnU_56uoq9WSxQ80R9YgyRHWIx4bwr_ryaXxInjaeaywFrlVATV2BXHBqcwJ720t19W11-N9sE43EBeQEHG-GP3hBvhHaX3pBGJKNwZc0AABGSuiJaupdskvWzN8IllQOwF1n2e8xZ7q2L7p3tjWsTDpbzpR92QTGw2-f79a-34pGvuYp7N-XAc_b-XR_QKwAj2w4WTqbILDEelr_PYJ4uxhr1JkNT3SQj57x9VTAGG_98PlSjGybV_-A4NJWmGyl8nMgLBYkOdOpFtN_dDyxlYUEHOfT61ACCIQv_HWnwc4qvBMjpBIrGdLSmgvU3dl8h2Haoy6QvB6lPTaLrWiZrTmwhSyaiCmLi0_8NxenbWV7ou6Vd8kVI_lDXAK_T1T0KNWTczhDoUOHabbGpZ_fngBYDLarZz7LT7oMmOvH4KidtBlAWxn6444fJ8Ij1hmFw4lSNK1b5k1CI7CaKUfFCKaKWD-X1IcgWptfQrWUq0OLuOyt_afaqqnUPrxdvN3q5r7-wZE95PQhsMBh7uilOPvIovrp2ORcnqqmqQ8Jrzt4_SApmIgv1osXgmW9cG4t5QxVMjzzajZeOJQKbuMg0AxRhQaO_5n2FNvt3tTHWuKwDNn052tj1x8MvFcWYMZkTUH18gtexSBCXvZOjQLpZoPRUCnIsoLDBSvszfR0I6K2i5p_XyxkqV45Ao7e7xrzmjXCSpfsWdc82teqs0phFZCfBepI9tgZy7BLW_Ph8EVZH2OdAGYZZRk672GCIRHM7i3JZifU6LXWHw==",
  "id": "rs_09dc31d5032af043016a7e0026d1a4819ab7feac5c510eb152",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.0,\"left_j2\":1.79,\"left_j3\":-1.35},\"note\":\"This is a verified grasp: the gripper stopped at 0.445 (about 4.2 cm) with effort 1.03, and the blue tile disappeared from its table location. I’m lifting it about 10 cm before translating toward the red block.\"}",
  "call_id": "call_pF5o8CeBJlQTX6l4ywfWs9DF",
  "id": "fc_09dc31d5032af043016a7e00294958819abffa4021eb08b4d2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pF5o8CeBJlQTX6l4ywfWs9DF",
  "output": "executing move_joints over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6392 left_j1=2.0453 left_j2=1.7592 left_j3=-1.2785 left_j4=0.0418 left_j5=-1.6024 left_gripper=0.4452 right_j0=0.0158 right_j1=0.6464 right_j2=1.1999 right_j3=-1.1797 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -12.6838, 7.2684, 0.2076, -0.0024, -0.0708, 1.0281, -0.0615, 1.9487, 5.3675, 1.8828, -0.0464, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 513):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8c024196aa6cde57c51b0c8b39715cae2d0207fba6e0bd24e5474c88507d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 513):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ee8f89db7a2ee3978d86ee6e8b622ca1482a14c00fec09b95dc57e8864d4c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 513):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70d27bc6003de780b3bd0dcc2016dc96575772c6674046c969881fb27151d34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 315 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6388 left_j1=2.1826 left_j2=1.6012 left_j3=-0.9977 left_j4=0.0414 left_j5=-1.6016 left_gripper=0.4452 right_j0=0.0158 right_j1=0.646 right_j2=1.2003 right_j3=-1.1664 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -11.4803, 5.6547, 0.232, -0.0269, -0.022, 1.033, -0.0068, 1.5932, 5.2034, 1.7656, -0.022, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgA-WIkK9DGCOvE1JYz0XOlSi_AeYRl_SS2m5vZ4i349eBliwdUcgJgTJ0zHcib3DLX1STD8hetgUAlJQOpkaMJhsnxDlRsfA4G5AHHCfFz4zxiO0zS3d2JH3hwTmD5DfLgbFTwj9Rqt9y33TppsTfyJ0iSmENK7ZNKBxYRTEGGhezcYHQ7Tk53dkZXEwQ-vQS7O5uZIBfvqQX7WZ1Ag-r7bhBBtq-dvXFtBlftoz8FdrpPuDyYAIAd9uZOmaCrOtwyRkj51R_3jFIraSssw_8QNpRzMrfRDIQpOz595VfZgvCq1xDHK-nB4Z-DxJoHsQHn4xvovs-LyZsO0aeVl0CU8IsL0ymd3ojgSYNdOD1AlNIwe2owNPoJ3cFY6mlujQWp1LfJDhZ3tNyayGQ0SLqQg9X-BGHGqEOMXnp6Ci4p51MSojE1F78dxZAP6Qtq-RaL-8Bi5acgcQq10VA3ZG20mEHoVgqWFO0qjcp45ddq8tulI1O6bSC7_Ni3goVFRAxYOFUEL_29U4WleHxzMTbuS7l4cIDenVf-M1fya9onA3QixyZuyVxijSfXlC_OuH4xEiFjtVIcuYmUYfV0XaRlfa8-hV0OveR0nV-YVXQof_fzMadhXBQsOhl3FUPXHGlJQtIHO-n_s-yKMMmxA6QJIzKjp06ljvd_DHs6eADOwmZdRzHSsDsE4D_HjL2NK8plvTPrkj7h5uhn4R0d4L4mwPiLx5U_i1cgNCFAB0yALau1IopdiShskMaA8ksZYCklwWiZoSI9zcfjNEBXZkF_Op-4AQgdTCTgk_lLRzuvo1o2CjE5GQGrmDAf-G1c-w6-p-KHOLeldQbjEGV1KhJbHT1Jw4aP7FUQXgTiVPq0XJi-AzfN62t3NetES9IiE1H03lQqaTnUqv2QdbVEqLKoqSdVgv0iQZidJ2zCAOLQ7Awr9rjW-hYjHrb_JZt6KIqN-NUgxLaZFejV291zgJl6I8H8Sq6CIIYyLzna-RJ9DC1QfE2K81y2-NW9NdEm6QRn52odNTZgWM5DeNCEEpxiFmRo5uF91XfeR6PbTrMyht-Osn8GMECvwceqXCPeYFPcOhp24HoJqUDcNzaFtGJAjrpB0PEoL0ierPlemtOwr8_NlRMoS2FQkcI5iaCF9r49nSpJUHIC342WJD-mUEo4gxA_rDl8uTrBM2KxDzFOCd3O0kiEdDN0L-jEeNlSzJ64Ti01BKUeDvvQqE7Q8UdF3dC7oNV7OImyC3Z8xhV_qgL9F4DWSet_W8-eFPx9mZR6ahS6Qne-KnVNgIh4zF0m2Ie-luVflgcn05S7QAeztQo9cKja4UnddcXH514Eq6AG3vhY_Ctmf-5lHQlZPTYe515Z5u4MluErkJDMSy5pvSlpvAolNeIeL5dGH-khc1xUDdplRtxkzzmHZZe4ShjFRp-ridm6Z4OBOMuIHpuyzzX-L0X0DQGUkd7f8pJAkBVC61lQR2vtbZ-vIJ4LTL-Ek_ge836fx8uOr-g2Z03pCbQKO8DwqOTGuOVF7n0wY1vnHBQiFeYdXUT7ppXBfGKzTshM9CLxgWOujQolqmGmiUd1dp_pgVCoRKtwZ7p7IiakS2t50yuJJldsCGHuBE4BzhA0cnTmmPkvruU__A_CPc9E1XhMeZw_D6VdC1dabkZ9nCGA1p7vz5OcT9cx3hjCkd7PjFlryGKJWA4CnBHavV82j2mDn9AnJv8IjoikSrbRA191plsyaQImsFnildFn6-VOZFA_6U7i3kVHftjtfqyLmiCvwa6lYZG5tLO45zS8HhAEtB_9EfURIKeRgC4KJpTq5WIV3ZGIuj2OwanahxhTSKYrkdv9ZJ-OCPjtRZeAyFdd-sSt7GgNEgcsETSD-utS-1igUaG32r_Ev18Dci6mNvuNPu0cxdomms66kwlN6USi86oBenP8TACpj0k_p26C_7iwZk2zQHt0rM7oUR7WxfgJIBML4mpgsJU1-0YQJaiFpnw2k-pudqSVi6WjLEd2VShyC4FvYqFBP5skKQcbaMlMR3GvMnj-s06xPQowFAxSazU9gNAKmHFl3pM-ObRKRJ31miA5i2Sz1BVTWF3W0OEaTM15TUP4TrQUOJemtyn40LILoY8AD1K_P8t6TP-VpB51aZTz9b7zRH-fxUd3iHCOW49eTgQAUrYHwKCQPwyKnp6ynDXNClNf_tbX0sgrsjd5ewv9gPeJfmOHRSkZghBBNt9LIJ-kSr-MQIEg2aMXfE1KahRtyGu6CHyWHiEkW80cZkaPcnfh97iNYqKBMQzcGQUD4Q4nQQAh0uhYPpJc2eGEcUCC5gyOeue70cuDnQp2vNvvAdC3LPhta1tIOLIjY8MKNTwDZMSOBwbxUJchp0X3af9C5kO2b2Z4EuYdgu6Z9ZIlTwvNGTgk7paoScJV3XJC3FXKAqfsEB4LzYyGhORG8qWEl5E2HxtANuUTZ7837Zmck7abJrHxi7nbwJNOGbSl8wie_da6X8BaD1oPIE-Zg8MA6Czd6sp3HGah-6PHrXJ8uVOQKSG9PWn-_CgoasxXpMGSjk8Ij1k2ts2JVp9h0nIZY_aZIHyAcrc9B-84U2UibYtz7MuhdtrvnYM7zTHxDq2DJjoYDYPCQIlWkLGHNSwuRQtktrVYi9GCqBkqE3ZEpFTBURtNFIgsFQOh5Ci8CN6_vUb1rF0-i2crD4oUFU4-FzMZp8IJUhaPwdSz1TM-5T35xiBEQWpFsuNW_dA_mjMgJYYY2fI1cJV0YH4gKE0CJ7CEZK6eCccGKP9nxzBNFqrQD31cwaIoEDuVJpoQE3V2t9F_bvs6J5R-T50B6LRVTYbu_f2IIBZ3KvXar-1_8JjxySrvgYR-vY_7GnU2OvX_YazfHpQI2L7hbdIrXN1Ep4YHpR98vOC-wzKwiJllHy9YX8UI3MfsYqP1G1gxK5s0y8qeItqPuIT3FptmnDe1N47h50YhgIJqb5qBBh7gcMIpupgC4Ta7lpN76M0phChlfSr41UWQnOfd29s4IsE1TgtpYAo4m4_RwYpzqnaTKdSbptStORMHdMDyvqUj5BUcKYpFkij1zlRG6zxsA9_zIea0eWNo3yfLEP6HvmPwcgipxvZ2g0EWgVlXKeg3ZT0CWev_NweDtltI0mWaPBm8tYws8VjS9Qbduir_DXTjBPySDWFcDYE6MhXPycOnplCD5EPmtNeZmZUuXXpd45WY5-LumZi6r4ngiZTGYmDb_qBQZ42n4FWc6zkkaVu1RHWcVcRqdZZiqr-5iQHswqhatfu14Wvs8gH9B3nBRl9NyQR7brlX2SFg=",
  "id": "rs_09dc31d5032af043016a7e002ec620819aad3efc27998a8b11",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgA-24qGthHfeCD3_-OiFPGCSL1e1LdWSfFlb7ZEp7t0VIWIKm3ZIy7fgXM7L9AquBbz0e0ZLNBIE8aSaU0PWMGHXkGvFl9oWqv6xwaoUIolUxN17BFsSMl6f-VAQVIA-Zktw_rPeBhejPIdMBNe0P8Jb-ANqnnT-XYYcR27b97wfwpRcctFcgT3jIfER7KVUn8WVzFbAoSpeHYHo6YlDfaNKgFwNcXTHKgE-VaB-bAKnFAFOYQLVyHIy8L0d8ZISKc7or0ImN6jaU2hXZpVW-aDCdlJ-XDzPOHDJUozYUZrLuFZlyUc82Ev36pRYXwKrTT6x4XKf8Zz33Nqty_4fn9x93TAqCsjeRJuaE-SAomNt4yPj5HTDdxe0wGQ_n1_nt-jmMND1fo0jBnqRSC38kTIq9-U__ySCo6mXXMbdvaZl0xrF6iulwhNVPkycxiz7PyAKGhf-9OQmelpqmkUfw-fj3vZcWM-cFsV2kWuM77xwKdI_QSfF1cpsMnVLF1LJ7-1O1MccYAngGlLozJbCthy-UcOLcs6pUlAR5zZZ5dAhzxCJwOr0N08E85fXkeCq62Pith0vhIg3YDznWLzn5FtezhKrhv52x27Uo4KKx1CC9dYCtSqLy02aAwv4b0WfcVbczujY20H63VneMJdk42twiPZmdwYKr08WsbL5TO9INJl9QG-v2qvOpv_8RKFYyHpBlW8JxL5gO9kttnhDlhdDbsYQxofYYWSMF-Mbhaggqs1g7XeH2slf7MYGP1vi2L1zZvqmexgCRSSFkTcZKUJ5ouTnEyA0hrp-A-XCjjAifutqC7kAnP5Jg8P1RhThSWQlysQ3eFhOYchok7Fwjc_FH3_3743KkLSpNOOaLFEcWBEy3Tv1LE5n0dqjLUqC1926KbOQVivtzZHtzHGVV7zx06slnVUjx8_p_tY7hY-8M2L9NWE1TbX9g8vGb3z4M2HNcwjhsD6ouW_bbJvsicnIEA6tKWyVpfxJ6Yd1iFPkPpzvnNtf5nv9P3K8ZaRKqXeXIDNEtTmToX9IPkjTek37gjT_ubk7Me7-gsXAigRWKi6LtEvYiiV1CayMb0BV-eRVSWT3Ijqlf0-tOjzayg1bWugtY0f8mAjil5twa49Mz_KWAIwOvQdd77Td0b7gQd2HnPGz8110Hy4tzw7gNABMqPLTg-8FxDEgQGRmO8YsznRWozpLAq4a0KL3mJiFbJ4wi2pHffPCJKu1IrjaG65MIiERk9RogvTJn-NUCLNw2mrCGr7e5oeuslwhxoHBHNB0QMje6bA-VSn9wulsd6kakXkAF8427BmRQhZCK_6r7vyYTaqJ3EiTaqHdxx3SfBa0ncd30vVklBxRkEXratf4t6HK2jiSAi2i-PoGvFUh1pmrauAZgyrpg_S6nobra2n-wbbtH_FUqY5byj26HyYLvPC6TGm_48Qk5lNa3kIU8rI4DNnAO8eZp6-a684o8zXnB2zO1ryjbx0wPZiVlglyuk0XJQ_HuGFlbMBNN_bre7z26ZIeSoVtgh-44UVnKIV9UQf6FejXizjI7eIiOHPWXUod0emzQSWKJ67pPvvmwPKOTgLPtbfcdb0Gkhamb7X5ROJq1IZHqnhw4scKeIsAH-g2XvjCn5Pqu5yR3fz-AsRJ9QM1cat6Xy6aS4N5szv63pvOhtEpcbJJfh6wq-ZGXD2VEjwg7xxLkcAxFi5Nj6CR57HyTb7tUs_7wqun2mVA8jZ1LYq8iZRRi0TV58_4OmppTi6PSD8f-Nk-4-QDJnUjCohZ5lhmqhWK7d_qj9g",
  "id": "rs_09dc31d5032af043016a7e003984a8819a8320c61269fd4d57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.93,\"left_j1\":2.35,\"left_j2\":2.35,\"left_j3\":-1.57,\"left_j5\":-1.89},\"note\":\"The lifted blue block is around (95,118) and the red block around (144,116), requiring about 13 cm of image-right translation. I’m moving the held block to a high pose over the red block with a coordinated yaw/radius change, while matching wrist-roll change to preserve its orientation.\"}",
  "call_id": "call_yxIISS4j3xHVqbOGfepT1Y5Q",
  "id": "fc_09dc31d5032af043016a7e003d05dc819aa283308146a07af4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yxIISS4j3xHVqbOGfepT1Y5Q",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9146 left_j1=2.3478 left_j2=2.3085 left_j3=-1.5341 left_j4=0.0414 left_j5=-1.8545 left_gripper=0.4452 right_j0=0.0158 right_j1=0.6472 right_j2=1.1999 right_j3=-1.1954 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.5265, -13.1077, 7.8154, -0.0171, -0.0415, -0.1099, 1.0281, -0.3214, 1.5658, 5.1214, 1.7851, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 523):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f45255e9f7480c793bed171326b7556c1eabd0277a5ed84be384237263e67f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 523):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7e9d03158f4a7d322033695d10a7067f3639e430b7630cea826696297fe9ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 523):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cadbd73172b2e4e259c74512286dd3331891b2aea2d8a3187c9abafb0b68f20",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 319 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6392 left_j1=2.0453 left_j2=1.7592 left_j3=-1.2785 left_j4=0.0418 left_j5=-1.6024 left_gripper=0.4452 right_j0=0.0158 right_j1=0.6464 right_j2=1.1999 right_j3=-1.1797 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -12.6838, 7.2684, 0.2076, -0.0024, -0.0708, 1.0281, -0.0615, 1.9487, 5.3675, 1.8828, -0.0464, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgBQEj1YZYwu_gmPk1uWKBK9EOMd0KdhPO4JUQRu3Hi8RNxWDZFayHU6eSq2dYURMG0dvc1xGP9nvipM66PI0XKJzVUednU1L6yQ1xjRl7CVVdr0A0w2mat3XY-86KsADPDiO1ot3WadeBHp7QpVMQkqAvYrMrXan_5scCCSSyCuH0qhCocx43PP1Z0zptH-3cJJGdfrDKer0utL4BzgV5V15Jsk9DtlWkGo4wrGcNZ0FCN6zL1RUdscfzGS7sECyb9c9lwY7tycoXvEmp1GEQ7Jk8DGtk1Pd89a6EGNraluDlOveRlGpH1fu7jB70RAasZIFvpNpuCO4VsPZXost9UU9cRyhZ0mShrfO6tOpFSZh2JAlZOX7PpNrIEd4cq95BVb91-A1E0ZnfW3es1KMG6vF8_Eeu0Mrt2eEr2wglHhnCpPGfvtFHzfiWy139Iq_BswynmkgwvDxYV4iQYwWIPULqBUWyi8btrXPR3h6BiPD3kkVUNs97FbkQy9jEqcxIrF2NOOUma_1sKZUx286H2G3dhyXGKC12L7fYIuf-GI7H_qRrJ8z9LnBLfr4dj4_DNTWuCikZ4OKA6JYAHijlXcA8ajPEdNTsVXFZgtHySnn4Y8D3QxUUSAaA8xZNtIgj-b4r7jHxg8lH3KRKC5XDAniGxh6gt0PdBOEe-r6SGH3Vfia7IQhDD0HMbQbDMLg0ltopLWAnzDTd4ZvBSjlJBxW-cpqWeUprugPZwx2P8pu_yPzjWr5MuDWqTpUJg-9q28jxLPoWiDQCJD2Hlji1PqzOoo7-SZ-22iZHDPrT6cuw2x_bgQeq2jXFnxEuOsfYt_szKhvP-0R-i0m86O7QVWH-YidYuMk-qmHRADQq4sVeNZ3qx-5b8F9WIuHsuxaSn7h66G6Lq6JfO4d6FmcSqZE5sDsu3hApXVgSj8tfJ80t9k0lErz9PntapCVfSlhSQVzICqKRrE2-KK0p1outfFK-iwLZfZUw7mqpWZccxPZik6DX8lVmqd-zOZIURByRIOunj7pJAj8U4BxAai9zGsyrVMh3sX3jCuXIFyw8kEJfPrWqb19C1ibTHRP1EXEMWsFh6utKZISfbfXTP0s5WnAhReKwsI4uRNXbQ5s9W3C65kJVF7n5e2rRYKqjP_kAjpvYZS3M3xkIDOrtOaJ0m5Uw01bWRdAV5MI8rjcfmD5WXerprwv87d3ZqN6DByoNMpqZDBZPEPQ4bdM5_P5zU2zP5SIz4kH1iWPr-PMm4P3EeQilz63udQtVZH3_ptqoPdXtaOZO3ZArO7mkHGIP6aPSDhBqqppsPEq9V927ivHkfJL6_ueYWghbNIUklTKryRG6WYWiI5vWylbzqJiZZkrhl8MM39WkJohlKFJSkbjNzuQ6p2RNheiFrkQrw2wzjg9qqMO51VLsJRpr3AOj7Xs0o6pZekKsfZ0_m9Wj8nIWKBQBz_9Da5DL6C1p-Er2q0FfLiaWa9mlSw4CljZQiDhbFoK9q-cFDs9_lYMFNjoBpzVc453CKiBFIyrt92vLdoK8vR5L3IWDaOgh3UwXGwQKTqMjwgQ0EduclBeLAw-N_fpvbMoAscSc-NUbSmN5244kDqFG9RmqsN4eGMR6p6njAF0mtscJ0TJRl8c1Hb2a-ShbQ52FaxMyr1RA8VVBRQMUeyQBRVy6Usz06nGtiU7ivW0IoiWiUmrtMbHno75ZZgLp7XMeFXL24Qof5OO4yGYd5ycwdRZkd-zeysRIzpf2h6yZgZ9MqrXQO8JF1QCV3T9PnzD6fhUxWwO1el3Xp8c0E4UfNu51H9kex-A0hH6Zykwv31B77dbrBtuHORuX9l0r3K8vXu_sl6nzR_JtrO8YTqUFYmuUV1u261yJhstyEowEZzaqiapvUcM84Zh30tb7eV2Rv9gfMTSWQvhVm4PFmwjEJmYoSyoQh5Xy17M9DP7D9Kplpgs4zmELkgN8V5kwuB467IaPbfAssWp0f5EU0P3-DUnIEVdx6N_cXDA3y7xdlJSoQZBnr4FtYIeHIzz4ECnzCHg6jL-sjjo2Rs3qzQxsoAeSUXgMgT9dVgz7nCykNeMrAC5vkes_uSua_ccpl1ZejF-o0D3esxhID_l6EXE9ohNi-xD_toVswDc7z7bAceNo12lyiwpovrjDmJ4pg_CNDhDlS-xLaSjQkv0HMWs3RzyhUa8hrUIuujTcllS7uXztvSLbrggmqksn5Fk3NVvzhFCwj-tK8Zp68acpDOrNx2-vYwhM2pwwxlegJcIHtvx0E-6ST57ZSZcNiiUb8AmXiJPRYX7guaTphLzQULf4L6mKMhnBX4dlwuK-DUVw9FYH3Ge38Vi9SAU-N1tCZPNbqqHpeVIAwhsqxcq44D1umN3OzQFgHQWLXLNtncTcf0CtypLmvnrhgx0_SLBqCoWym85s-YYZeS_0cRTVsoD33ffTC5vDKdlRpoXS0EKq8wQ_5mBgw6d8HQXMq3AfGOo8ZBBUk6OvhPlXFWUzFJmGo-vqVyFD5NCcCNdp9vXN7PJnI-2Nrf-Krp5RZocu_tp6IcNKLAwhi8_wL6ohGAQO5c-buhs5O8X9CyLEc9eVm1RLRI9Du2UnrD52zqWzgTu3VzaBMen9vejl0aZQXdtxFmFIqCNNcdC1f_BCW452OTjl9I6tGUN9xmTN8DXR48Kc2FOmf-1q4T8BPd9BEPNL--Ro1OYuPLy5ueRmYJJPxX2aKjMyKVp4jFHseMkmt13OOZc9cio0AdLTEmnzrIY-69q29g0nWDOh0vKfrNdJCrwHbQ9XKd4OzDOSRTD7SxtXB1xNdD35DNYiYseu1nyPwHSIo38BateLINsu8WsTcympr_aEmrYSdWR5K81l19RwgrDIQDfndrYXF8izrF0vMVV21WyyWWHrrGQYheyYl04QNbQpqh0-iZB_8TlatMOQwExlVC8SLbQQElqXP4snhGZtKOKyFmPsE8WDugkOnzj_S43RgVkc8frFl4mN3fQmVFnnKESEGaTaZEwih1OMpAlKEHNDa3L61__uHNblpcVbNqVq21Ny1pv0V8FMUiYIVA-vF1yxx3pXOQY8eKtbrmYE1v14gm_nU4Wxzxnc_7WGdLU5vUWeRD28E1G5K_5nE7mEfKq5NcIpQ0hjvFJkZUP8RbnDP5CzkOubziIICddmc097g5dQ1jqHCO34I1k8OBbTgdlTjPK5R2QcEZG7sBFfpSO4xdpo_WIaeMEK4FwMSVyCAKZvZPfhiQL5Om6rHJyMIPu3dyZZi2gC-7HY_-m-4yvyctdgQGow==",
  "id": "rs_09dc31d5032af043016a7e0042a474819a8ff06194767733fd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgBQydMEysnXVzFD90xsxBBZUZGC0CkOJa6-E3058YTy0Ms-tK94FU83yYxdh2J1-A5cLJQjLDznsdlIEG4of37Elx97PMchcHrn8ggHcC_dTPc4BUoUbyx3BjyomUF-c1BkubBDcyo-5u-di-yas6tWO0BYeRsBFo8H13T7TY9L6Mpi8cKK7n72qExZr6vBogBVg9CNaC8cT4fIqplSlVhXRjWvH1FSelFdnEiDfWsMqZvYsOfY94KOOCgIk5Do9t8LY6JHZrMOeEcLpE0dq01sBKlMCYyP_1pwtQ0ON-4x6nCALgQSq82UEhgH2L67fy1W2j1XSK8XR8myMmkmUzQHgT-rTSWq-e0BupozDU90ccHamg3L5sYGeJXsp043244v1RhC4tsbwYMrBeeo5NauOhAO9PLezLOfYoZ-ayQymeAOYThD3UlgVd-uDrgqOkmHd1df9j1EPoFUNKJedhjNZ6fiOscjoAHAM7xbCjfa1JjyVKdXBrhSYzifW6EyrEQITNyUaiy4puqKA9jBEhhEop0qOB-vaCWzFppOq-Zct9EOcIKb92Ba4T5NmXPvmKf0oAPerl-ZkGXME5aarjlaIymahhm9F2Ftq9gTY5VRHtBKVPyliGHSqn7uiUB6Jn0oWBuhKplM-b8ChGNKSvZMLLGeO4re-n1b5O0-zzsWSQLlo9sGKw2fvpkYZFrR_1jhChIKs_iTylPrBI8k0izfdqk6RdOmmAcDlI8yWkCcqDPxQrno6gL2DryIWz_-wPAG4mPo0D_if5YmtLyY0t4sIdSG3R_IogMRtOB-PTU0FtYmEqvSQlEk9uue7aqTRMvlL8yBzW3g0-rjcoxMbuW4eyq0z_cXNqWuwKyNXEJQmwKbbRHtAy2stiYqgy6ixlJ1dG-30rEipwv3soFVF8thTvcLE3w5fGEzTSwIeQrIhH-AQlEYMgL5TNecH0YOtIkcjzhvA8hvGpLkP5LJmJjiTMOBxgcJbbdUwphn9bpfc-SybdYnqgJ42uI27IKSfgDDTNRll2ojlvMe63RqRSSEOS-vFW9qAl70Bz_KGWcAdZqDLogHcoxTQoZZ6UstiInFZD6PUC9yJ8ajSGuCQn5Cj6kVmLpezum7WcJGFv985cc8Fh8zB4I-yBEMVIJBE-7qaCTGJbj-2cuRClGXftAsSETh9-OhECYaC5rjPzdOLEa9Hl1r4GQkCmJw_9g-ublQWn6Ming5S7azQ2lBCgZ9BuvTpP4GwqLiIQiV20YlSUR0wwxSs23VQKvzkrl0I7t7KT6tdbuUBgQzyAQ5bqzD2wglBHTSUs9u-XP-rDX-ChLmhcAb6bbhvnrVf1tcEEsWTT1sJ0F3VT44J_VzmdfAuQY8Dt9Wi6YYbY4OU43zv67LueX2-zSPDd0dWy2l5OQBp09zbCjiUoEZnveyVmTvnz6ZI7afKN5JXhu6rTJsId7ft09W6cexi-S23znRbko0B7gRPSUmjjc7iWUAmRolmxB1gaZcbGu3Cgu-CXzBeKuopwRbmg_FwSHN36KOBAL5",
  "id": "rs_09dc31d5032af043016a7e004d2630819a8cf695c49ac6ef67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.97,\"left_j1\":2.55,\"left_j2\":2.71,\"left_j3\":-1.73,\"left_j5\":-1.93},\"note\":\"The transport moved the held blue block close to the red target, but overhead shows it still about 5–6 cm left and slightly behind. I’m making a modest outward and clockwise correction at the same safe height to center the load over the red block.\"}",
  "call_id": "call_7W84bK8JnYOzET4Xrl951QKL",
  "id": "fc_09dc31d5032af043016a7e004f1d10819a87b1963718679815",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7W84bK8JnYOzET4Xrl951QKL",
  "output": "executing move_joints over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9596 left_j1=2.5431 left_j2=2.6675 left_j3=-1.6909 left_j4=0.0418 left_j5=-1.9129 left_gripper=0.4482 right_j0=0.0158 right_j1=0.6472 right_j2=1.1999 right_j3=-1.2034 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.8821, -13.1214, 7.7607, 0.0757, 0.0122, -0.188, 1.033, -0.0068, 1.6068, 5.2444, 1.7167, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 530):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5223a38df02acd9e4a1a272a6b2b28ff0b4bd3cd8c8f63d9cf356b8c5b49cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 530):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c037d9b1abe25a25a2bd547171b4a984cbe400ded49d441b30e6b6afc3e9ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 530):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa13576714c9ee45674a539090917423c17cc6a8016aa0c24cc667484c6dae2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 324 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9146 left_j1=2.3478 left_j2=2.3085 left_j3=-1.5341 left_j4=0.0414 left_j5=-1.8545 left_gripper=0.4452 right_j0=0.0158 right_j1=0.6472 right_j2=1.1999 right_j3=-1.1954 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.5265, -13.1077, 7.8154, -0.0171, -0.0415, -0.1099, 1.0281, -0.3214, 1.5658, 5.1214, 1.7851, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgBgmVyb-JYm8V9Jv67IA_ndtoAvHJVgnSZr8S-kob8T2FvjKNYK75f_TZt1L2u6TBG40740F6fe44sMFJaBHWkLYKSVoOMQkBMggmQT8Z-VxbCwQwDePIDVAajpMshuc-A-8Z3ASYjiXPJ5LN-fGvEmG0jp1yxTmguw-vThc-E9WtX1dy5QBrV3VV0QCpjTbYXbIoenjFCXI-bouaLHxCdQEDlZ-9OmsfqMKtChgGEd4ToTh-z0fLp0aI6zFjCRHizJCzL-udDtMe6FGqpD1eDvKN-c5uim2_jM9DIaeahrLUaiaESoo8-ex0XIrtLPB9oBGzYqS8txL1Rfrw8NgawsbbBZ5rtv6rh5Ix1IH9fHJIFv23DqIkneNzDlaw0-1fOxjlqvDJTr-HWeDcvhWRSF0jSpLBmIRN-MBlkYve27S3J86PDdi1vl30kO4GuEaLhOD28stMB9IcI2nQoCwJ5sHqoNzXj46gEj6JNLRn5v07StsKnX1tgxfTLfqwxY_HMAVLsjKegThKwPhQlaDfrhswP2A0hEVXpJQsvwHTD4QBTtVAXRC_fWevabsdCeCPKoQrTh85VtzbMI9Xp19n-UD8weNnvXu0YVqHfRXfKBt0cMIuu03JZfGpzRCSyCSW8jP4ApmdjV74rDpQjlkwwV0OWr3yOCuwlHgx1p3V2x615e8cCAFVooqh0d3sapK1gaAR3oSdZSrUS8LkMBRKiRtJ7pDT65rOCjK1yt5y5YdS8FJjL7lOIu4pR79KMX8tlLljMyNrXlaKfDdP9x9qbnj363FtbV4yLxaWL341O8be0KGFceEuo0Kzyg5pz5Y8VL-WuR6aTdVXwLP02ohw2TfOBZgwLKzkYn06hRING3B8x9FZGsvyfFKxXOw9aYWLvD2Y90MjtxwoJG_r6Tqjh1oTjzfbGttMGd99-sxxD9vpU7kOLNMb-oAypaIGGibEc-G4ds3nes9eH4KU-ijYtQASiLnZXRfUvnON9SBaTRrTeG5Jz6rD8KRjYUFIdsNWK6Qbob-aO8DcKC4ixImzkEYKaO_9dfvbHeV5-dBwuraf0k49Ci2uzRwjttCRTI2Gy_3nIhw4fR9EfeGpCLyBlhqg6nfAH0BztzDu7rLHsG0QAlfAv4jgptq1y7aHMhvNEu9gWtQxfGqtYrxhSB4ov5eF1S9W5KPNrXhjqh5FQEch2B9goNBZFyEuzRMluP1CrmYXQ--rCJ9dkv3ZhH7KPukAFD36zoZLNWuYFhi27rrKbEibdihTqP-60xUQvQGhNXM-0CviLHQsoNiLvo5Da8i0PBt1KCMlrxVUOg1T3JdVXemIjzdcPz2Pl7TcFPswHhIxW-G0bHESuKoan7i0dv99mFwQgcZe-N4RdiCGg9wlx9Ij0qfh6IedrCoIarvQ06tUJuWZxgFRQacFt4aQwyvtX5ceCPup09ZRZeMCtem9mUejV12RpEXwDwEBFxzVO36-ON_CRx4hj4RYE3si2hYJq_Q05nToRb-20uXC84iPttXzoKf5aO1UMI_g2GjSGi4f65Rs3tKFY-eyA028P0x0d-sEhqZOXwLc8WJjVCm202R5LWppBntDLel2-Dynk3xvIzAJS7c-wfN9l2xFlwJ-RPR9SRJL27WMBuC6gJTkmpGcjKpVY8SDz33st19EEe7Yd_1OCWmNpVwWmGWyPa_jAEZmzS41t3x7huJEmEv1qWwraAP0TVSX_EWTxd6uRb__BvlV4A6edXSBbM44iXnpnsLI3ia87gzoq9jEj39XsyK572JE6OocrBuztQurxOcca8mz0tvr-4bqDDNlMFUW9-_QSr7hjnZl2WvJ0DGajftmKQU4-vS9oCiSEEicP2_mQmYoQM_a8oX9vnwenLwZ3VRjlagCy_a2KreK-Qu6IWLH-sU-8NDTYWKHgyLFpQRa9QXLoZDjo3qMt4I-QO1uyfRPzcqWJlEFrrVHoiRAUTnSaU0uViRn9m9GuIKzUVuF1So4d4fryDVisWJFX1aUbO38KTCEgYArWfZMsD5nFK4kYP9v_Wg-oEVyrW8xt1t5smreeUaFd4vWzDKHzO2NbyUu6H6d1L8FPaTi3-0Nscut_ttiaxn_e4TEW5QdZkBikjOcsdlZEAVC9TZncKG8Y0MRwz03Aw5cVGf05G41AiybwFL3h3kVMYqcBiGlcQlZRA7lUMux_pAIWc1vUeru13Qn5ffd6MgJnIAqv00lS93z34MtBR0VSytZqiOeeviN6SUmFWHVGk76ddZUMTFQwiUiC38BvtLM9WoCHGhJs_hqMPz7-ptpC7J7QKiywmKsTowFMJ6rtP9AdqsqohhkRrQYfmOgYRsK2Terdu5iM6SwFajlUeEnhacobun1kn59pXqBYJ-3aWOFys6Qh91Jw7CyDPVMRiFB0WJvchEduU1a6eSkrW3ISPERiGjH_IZbDzEumE5CXQXZLmyDGj7jj6WqrdPr6sYmFccsnNl6hv_tE9sWB93mvg6eK-j_cdUGn1ZSJDa0IIW1xb6dkyIQsRHsRIRWTkRDA14kPI4-xnrQJW6XrTqy7-2qy2xrdkI1nZ3br4QyVH9FYEsoSAoA971o4Mzy_ZQQIsH0jm6tD9-NsCZ66VSlRMqmiMGMKPR5NOCs_Cy6cns8eOvxitTnOCcKAc1B4mDnWVM-LDK7e0ZZh134-MhPLG8x7DWpp7p7Q59ye1GPiSfXMknAG5-ygiAYS3-DSCA9CZIKWcNy8JInFtUZ8i4C1wql19GveLxMWUuGL_Jo2JZArLdjDIX4LAxRr75tdRfHAQI5_A0z0=",
  "id": "rs_09dc31d5032af043016a7e0055c1d4819ab9c7fc7e9a2c2127",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.675,\"left_j2\":2.75,\"left_j3\":-1.645},\"note\":\"The held blue block is now nearly centered over red—about 1 cm left and 2 cm behind in the overhead view. I’m extending roughly 2 cm while descending about 4 cm, aiming to bring the blue block gently onto the red block’s top surface.\"}",
  "call_id": "call_d8fVnJj8FaqCxSEhisd5sQPt",
  "id": "fc_09dc31d5032af043016a7e005f1aa4819a9adba9e2d6440f48",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d8fVnJj8FaqCxSEhisd5sQPt",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9623 left_j1=2.6488 left_j2=2.7285 left_j3=-1.6737 left_j4=0.0414 left_j5=-1.916 left_gripper=0.4482 right_j0=0.0158 right_j1=0.6472 right_j2=1.1999 right_j3=-1.2053 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.3761, -14.188, 7.3915, 0.1978, 0.0024, -0.0073, 1.0281, -0.1846, 1.6342, 5.2991, 1.7021, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 533):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060e492a46de0341b481c13b1546fb64a2a4e91dc5488d2781cf294cddae29fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 533):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a3f28af33b3d55bb51a2d228fddee7b64478c6a704b1a14e878053349e0a515",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 533):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41032b60778d090c172800a3f03a6846a589e4c338982ef873420a1e413a44f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 329 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9596 left_j1=2.5431 left_j2=2.6675 left_j3=-1.6909 left_j4=0.0418 left_j5=-1.9129 left_gripper=0.4482 right_j0=0.0158 right_j1=0.6472 right_j2=1.1999 right_j3=-1.2034 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [-0.8821, -13.1214, 7.7607, 0.0757, 0.0122, -0.188, 1.033, -0.0068, 1.6068, 5.2444, 1.7167, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgBoYottkshxRCyGtbl3FTf7-sbqnuESWsyZX3cS9QbBwVQUUivvcU5_c48Pq5Gppk9ggpXc3YzptpppNnBybBfvlt5q5PUbB8weXbAa56MLWg_l1XH3XGR56H51_cDi_Yb6S7UGaX-VHFrylttKQTe8_rZYm8jw8OiJkgGfvIO6ZvwpgMnCejK6RfNOj_ccCGh4QyRLvCpOCc_0tU0z4DhWT8iNxeLdMlwArZZx9hUQV8fEWhOzpryWAHM9XDVeAtRy1NzZkkTuuWkQWlPt4cF5G6HAeqc5-cIePAgbEGgx4-gPK7CWb8AdKXYlm1Y6pac_3CYX4B51lUF3MnDbvKctHH_2-nuw6XD0DumKkHTS-wYQz8kCfWO1D0l0cJoxrQPpHDNqWz2V8kTBLRrchdolgc4zApY1io9Vuw7p5v-H83MfbBst8pGZcVGEdsvfx9c1P-bXJHqJXLoktnF6aoZ0B258EwPQa3Ej5UueybrbS7CfT8mTvoGXCGnBvhw_tyO5gtQHc8AGUM6-Hg5-IbznsBRj0sm5BRHWHYe1jwbhsH3BZzHlPsFandfw_Kw0IjnmEHzyNlr1UXUL9oddlPVdN-Zu-WPqEkvBuBXB03gINm1lr2AmbHOMl-MnyUr9U9OibjrrWXXU58tT0wdHxDFYn1eAyUS2bWMk7pba2hdXGuN1F5TdeKWYv0ZlA9czG_E1Vh_4eI6YefSVpaRZbUT9WveJj0aQlVW01bsOZWevzVhLLAxnxSPosRxLdASAbQ1_5rWbNktLtooDRKB7gXnqBY4EcSCmQXvTX_xlSoCIN9HjNoNhTQmrTUXoEzgRC3IPIobeHKuJExczvViZBusXwWhdcM0bNS9zjz9qAwnp3opOGnpV7d5WGdh8xcFhlFPDQsB27XaJTDzSThvana6x1oDZdL_EKcltbhvAt7gwFtcG2ZhVHHW_OtTd95uN4NgCmlBn41nip-hTVAJzZD1-PTOKhCJYUNCBeBC1dzlGgZemHfBOBzPay4NsaXTxSmXf8F2CEGpC5JxD0uwRAJraXp4OJQQK4sjqgbFYdZ8HW05IHrUZky0Jg4MRKG08bIli58i9yfUlZWJ8j_Uihen2CoEU0C_fCIpmNDRTUEaLBGZU7sAAnCuzwRuHTDaJ46mpfBChrtwlITps_R-dVKVr5JEVkD8xUHGS_7wDnbXygKxxEQAtsc9atEFO177s6g4z6Xbc9g856tMyDBJBwL8CgrSXLBh4nvyVS05bZcbkXVg91n--uJb0UzDgy46eRG3K9BbMv8sXCkxfRmU6gkR76f3qefhU3dzBkOk3K5CyjAVcOYzYMdaUOR_Dq-ZmQnGQi16Ekky_WtsLzIDCydVHOcEtREokLfU9D31A0K-52JBNwzXGjNDlL8GSn4R70uuHzLMscRqE7-QfgL5_VBpa3azFTUfMFPHbj_uTCVfakh_dgeWX_sdeoNT1Pv-yQ1q47U9XHgG4mi-YU3BuOOmXiJodd6B0mnwQLpEoRAUqsO-bVlRf73GOnGAXwiKUI8djIhbT4_6QlGV7GPidq5tEEk84ztIYUyvW3N5B3GVvMrIodo2q6R5G9f7iwS_R9cIJEvMUqzYxkNbmrO9iYAWW_01KCtDbn4Gz9uMT6qdnjWncZ_4JqevfaGNc08KK-hHQSopXTUppZv0xrcDbAFdgTMG9kPZ2wpuFNCL5jh04OVzikwwAb9UIzYolt0BeII4OGfApKLo484q3tjWUkiXHIZbZFiRVxHfK0MXq-q14r9ZNxSqvFQgVvut8fK9WDj-PX3Y1GeyRdDG8B6neVUPAwEmLDtmBWUCik2ItgIDw2LvmL9QH7nXBuzQLT6PpBivE1d_qVk5Ow2gJhmoByFItL6QDd0QtluWtFXWYdhKX_jU=",
  "id": "rs_09dc31d5032af043016a7e00630d88819a98022fbba40d2f0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.625,\"left_j2\":2.595,\"left_j3\":-1.54},\"note\":\"The first descent keeps the red block centered beneath the held load, and grip residual remains secure; there is no clear contact rise yet. I’m lowering another ~2 cm to seat the blue block on the red top, watching for stopped motion or increased wrist effort.\"}",
  "call_id": "call_ZuilP4QTgg4G2ZeFP8f7tpHU",
  "id": "fc_09dc31d5032af043016a7e00673c00819aa49fad564a5d5b23",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZuilP4QTgg4G2ZeFP8f7tpHU",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9627 left_j1=2.6568 left_j2=2.6266 left_j3=-1.5925 left_j4=0.0414 left_j5=-1.916 left_gripper=0.4495 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2171 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -16.5128, 4.3419, 0.4078, -0.0317, -0.0366, 1.0281, -0.0342, 2.0718, 5.4359, 1.7411, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 536):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a50683f416fc0908ba0e1c9a6e986a4e1b9c302d01e414bf741e4d9848a954",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 536):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:928db5a14a86956c2cd02e96088018451899f9237d7e3775e58ef74bb01255ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 536):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc899f5fc935a7c2b964096a4866f9bb1093b878eac3313aeb2feadbdc41133",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 333 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9623 left_j1=2.6488 left_j2=2.7285 left_j3=-1.6737 left_j4=0.0414 left_j5=-1.916 left_gripper=0.4482 right_j0=0.0158 right_j1=0.6472 right_j2=1.1999 right_j3=-1.2053 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.3761, -14.188, 7.3915, 0.1978, 0.0024, -0.0073, 1.0281, -0.1846, 1.6342, 5.2991, 1.7021, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgByxXdRamKd1hRfYA0t2Ra59lTPpQv2M2qnp1MdEOR7gFWq3uMcKb6S2KtVOTVJ5K4ILUkCfTsCS5jFNFce5zFJisIeR6NHhxDpWf2MxdcA2SJbGGDdFTYGb3Qju6i8l5ruORledrjUvGVPQxazIGrE4jV4w2CjogvabTc_eh_BKonRn6oTF-ZF8-3FqUYtTpShYWRRCdU6SYEKNHFVFxPDnnDQDFsxeRA-F9qLEJdLe_mmFVkE1nlgNbPyymkZoha35ah8PirflAO_96EyXGBcqIbZjXX1b4zE1mF7Yk379CPApHLhqH-JYDUEoIk8vP0hL0Tdfj9FX3zWdOS3E3ONq3iCVDWTjxpYEfAQWEUkZwiQLiK7OIwzaXG2HpYo2Rnclt6ZlpqLGXhfRh2xjlT3L-ZzXpUbN67HWwBaq1_TLXigAK-3BOlOR4G-HwcAb1dTFtbLz0fBsyJ9kE8Sd9RxxewflcouDrbc_sziVBLvM4eqkhWLjvRt43qL5VZ_lJ4xuXiD3_sCwIMwxVF80Gp8ESmZhikp_VjBGlDr5eo73Z1WUObOVsDqE22OG5m2DQKjW485Ty2vbLcnCqo4TMQNL0hwkz4H2YBa6Fbh-_-6DZ61ba9tNmMKlzq5jsAyHoxjeF5tSn4Vgw56RyPDueG5c00jpkCf48zh0NAVgJZ5n--yXeYG0TaOndU0LZJL68ImXhA4FdGz0NO9e_HCcSbbzt-fSdTqbUNyhAP0SEXh2qbmgBHHHkZ06Y6I9imVi1nJfkAx8-HyU4bEKStsoskqbpLkdfF8zBZFu8T64Vkbu5iox9pVjGGITyYupFyicSZVqYrj37KqDb1mxgZwYJS6PwFSm_Jk9sTnWaB84IUYQe5p-cdiQLFW0ikhG6oUmR9lJOsoAWPw8a5mrc4fscM6iUNTo6qigEvmB0Wkt6mymAWcr4H-hvnI0OzYmc0zuqiBx5x-lf6pCQ8Uf6SZVBzreLZEKHRFTzxJtIy19xxy_yWCA5NV_pXg7_nmXqA5i2_jwYHE9XQaZ0-9KH6XFr_YpID9oGSCgepemW6piYFZNjtXRV30-ehuf-N5Q3ROd-ib6wUHByaEwpCmNmskvs58hDD4mQw1iCaWgXMj4qUnWpCwmGIFJURaQBjVXy4YO-ewXfH9ufeL_ItdMDRLk9V5A-79nRh-SqSR6jngQjbwc6aHhuC_x3uPRUktKtTulG6YTRP2lpm7TDvwhUsITRK_f1H6j8WMvkIysAVLttdI2CiJjuGHFJfLOc_sR_pFooyJgk1cig5XuARSynJlJmTtHlNO6p3xbREhHkJgL7I-SJs96Y7KPOvroCYn8khMtJRI36pdaw1tI5teWITOusTfps78E38Y5x-SHeUcfPVDUZmA0iIYfU4rTBdMvJe1I5eGcpSR9dYNtrtTCudx6vbyKcMeMEGE-tIbTIqvNoyB34xba5Sxxy3MDYFM7s-aq3XMBielo-0onF0dbvNR-LaLMLXoDlLOOsL_Yanf3cfdBsMRYUTd80H715JfY470RyU7z-B6WpxRhD2pLlNZQ8r34IRCVxVSdzyUTx8gyVaKPvu6KlxmXJqEnffzpDpSN_Kf3YoC16DVA6_uQu6rsAo4341bLZOFGX8TbAeQbGtui8FOF_ARTr2vb9C_QabcIuQAU1DFUibYDWXDSTaivrYnivHFmYcdTtEKiy9-ynAM5wVBgqkt-D6K12WyzzlP97zNikYdDgs63_QyQiFofcoNFhqs3gLlgng48Ke92KrYSsIGWvnF-oYrzcy2wipzfx19siNdNTtYI02p95Ctiv917mtgxbxdGaaQYYxu8dMTsB0Z5zSN6osNaBw9MBKRt_tWLOItNjzliX4TbBH-2ctrHtolR3UJpbfFlOKfpBBmFpzq3vD6038qrfX9feEKRMP3yYEYebUViwvx-Mk5fLv_GAjBottHg4ab3MVKgufJ7kpP43cVORWs-ZwGwlvkihpdrNCVhJvOiZvmMR6hp_Jq8Q==",
  "id": "rs_09dc31d5032af043016a7e006bfc40819abbbc3edd2921222f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The second descent did not track downward—j1 stayed above its target while effort magnitude rose—indicating the held blue block has contacted the red block. I’m opening the gripper to release it in this seated, centered position.\"}",
  "call_id": "call_8VOroxNMHuH0RuzERaQV8ZaY",
  "id": "fc_09dc31d5032af043016a7e0070a6e4819a939b759cfab64611",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8VOroxNMHuH0RuzERaQV8ZaY",
  "output": "executing move_joints over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9638 left_j1=2.6511 left_j2=2.6209 left_j3=-1.6073 left_j4=0.0444 left_j5=-1.9121 left_gripper=0.9953 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2331 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -13.8462, 6.2974, 0.315, -0.0366, -0.0708, -0.1294, -0.0205, 1.853, 5.135, 1.8242, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 542):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a650e9e5cc4e77195453ad8e791275a916b31af9371cfe8367a97f1f56fd3d76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 542):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d489b441abb41d8c8944ca5d76c80274188aa535b5aeab1d03c7263b6ddfaed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 542):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982e1096e34637d5b7c490793d293b6ea6ff15b2ec9d6c3e61f1e3640a0b3100",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 337 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9627 left_j1=2.6568 left_j2=2.6266 left_j3=-1.5925 left_j4=0.0414 left_j5=-1.916 left_gripper=0.4495 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2171 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -16.5128, 4.3419, 0.4078, -0.0317, -0.0366, 1.0281, -0.0342, 2.0718, 5.4359, 1.7411, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCA_8JhEfVWm9m8jeoWwT4n1OndW-pxwNo3IIRq6LL1txEUblMJiPPuhbFfC-ttF0domQf-OXsfc4rgctBksMqh3snmArYQTjnIRLD-V_jj8P76JWtPVGWTMJ4ZaaxyFSP_B16qycZTct8KXW0gxBWgN7p1s60T_JHKYJH0KJuRNDedcH6zR4CrUuWf0VSSiUWioNr6VAcRlIakMvmRuZXui6TzN6r7VafQTV5l1nTuvHdBmd4Hr77050wj-xsr1iZ6HeUTi3Vs0MyxWTrOphO_MjIL3zDylJQROPUT5rEeWMK10fIslCOiGaZcV9vwovs7wI0kzRoHnOV4Wfx4601NGQQwwrJ-f99ZUEXDOWBZkO8fqrhCX3y1KwSOaZJbjtMe4bB1AXupq5z6nkiFCn1D5kh4wGR1BT75b-Icih2MUVd-AIyubu38S8IocNLctIozsHBRHgWUtV2PFHWmZm7mxn-zvrJK5gphNOsWnl5IIQjDgjezchhBvD2CKngSTFKM-wCjk2IArjqM2DXY2BzFyas6IcpInyRm-BTWd0TLDwIvzWveKqrAPeSwvYcImacqGltrrr22xzurFD3sOBnz3lW7imWfNQq4icGHcuG8YyzoBSBnROAyOxbgqXqx5VHEkbfn7SzojucBqy9fAIGwnvcCWNErjzJJGX3eyIt9uEUG4_sJIFJprqthepg9EeAgEtBGDsYdyr2tGUAUyFcT6QYFJ8UbDqmIvvDElE6h37D7Qv4X_v_uxikVp0RzRbqmB3CrJrpNCZBqi7Fkv3CqvSL7HdNFXk9w02e4tTxM3te3M1n32m-0dYtLyDLTBhHUJCplikIhZC-rFfU0XCf0xo05haxndqBkhe1Pkisk4JUY9wB3fbnFBZkHl2V5rRd2E14sg09AjFlLB9NSPePmjLWwcn_I7_LMeJopf9ZZpGVqQvp3erNIlDnc6yTcXnUlBOrLaaQzldUuSjpdmF6ongDrB5s4AiA1H7Rrgd7XdlYPAJTy6UO4-D7tLMf0UNVlIHFQeiyvZuop2MJozVrEI2wXcsix6mmEbzAP4xhlkOUR9PMkSpYMsMKBPbJHnnULNSduseL9-u2enrmBzS5E5bgyMrndCAD59TLHMzcyrejqF8eQuX5nbnEqgr6CuOU8Omc0V1Ap-7Cro3eMtXJPf7cwHcIamY82mQ68144fSyZAi-FJjcGpJ3yIFFyZbCC2_3qzdkyaEiUdOjryDA1iyewOeL3t_QK9QWSHu9fuhrhfmMCRvJOPQDHFDkFL6f6Rsy8aNvc7ijVTlcVqgggiilAZVrdGjZaRl-EaPgjEyU6N7m1SMRFxqVVcEU8xhZ8LlP5EjR5-ekQAL2qp3eXw1FCAlDYAhCe7J5OFM2_xYLamViGbbQGq2pkBOxDXSQCDfryWL-ua40b9FpeVwCOEMmwsCkTzJdMvMY1SFLGTOQGQdjUFKYmGPlqtvTL7J1ObvWIOx9GTepxYGc3_wlj51v8u4AlP6GODquI6_cbeYWCjV_EPvzUD38UzAtW-NhfFABFY14dJpYN-5U-uV50TZtdOO2OUhGFbFTCIQ5Ty4qZCHVy5eNrmInlcHXUrpJTDuWjp9IU9Qk9zPdgyHldNOFIcgV3sxhr0eJwaPMIr0TGwHtHlrVn9lpbWmPQ7Lqf9zLcgSSasqjkvZ_a5rEh1FgNtmX8fUNubEs7JbP7C-ZMHl4tWQSUu_LlLcMa3s2v5USLfX1ya5t6M79WyRI8vGZ3D39q-3bdpg9o7GO1nwMR4tn232fBvJgEZdlQtWmlmKhLvY47HzFHpsIplvQDiXJodBysyRCz8opPI4lNwWxVa2cMEYDfcqlxOV8FU2knGDwh0lIRH78aY50PJGcq4w-f8Hfh4IH0jEzFdYhQCBHtozTEtZj8i3wTYhPnWCohMrrc1ZT_LtBNz-TnD6W7LMq_A_wOo9-Mboj20w0P8_3hu-UpSt7Zp6tYGZlfOTf2bMocex_H218EQJoLRQcvjGQ5rXAgDjmqFlwsW3kmarBUMgZ7TqAgjvadvnMAh-QcHjMXVIzd39M4lmD0yD1SIjEZsFWuC9ICuK-qoJ1qr8tLdpyzGOHgdC1SmIv0WyCILC8UTRTT0UMPzv_zuiUApuD3QNRcw0SHgyiOAqJ3QuiSP0_s-AL0U-xC2eY0NsNi3qoFH-Sre6IRVhQAktuI9maB0LqxLcKkF2fJRbgM_MqBdSRNPHSgADcXylTO4efwc_z7EGDQ_QiFe79P4n27cbGKfhxZ3Ekgw6A3lCnvV0rPlwSa6sle4nhTxeqAcrz7mLuJ2t_uHwyAhxTaZdWj5uFQiDaxPhQnw7EHlWB3waAtEN2FHyWw0F-pb1-djWbpaVo2pAIMzjJgowDq0X7akTKpsxol8xt4vtOL06cysP7Tp_HV-BJ1wHq3_w8clUqKTUNGlUwxpgcdQDGNwJiAkJwRHWlgDM1ISv_-u9Rpsf2Pb7Bmj3-s4aNrI0Nw3Lg0uhVjNumnm7Jmipb-M1eiFuqKgfiQi2Eo8vkpixk_h_STHOLVRCplbY_59xVihsQT2X6BoeGeunmbxhyG3-8jPr4uoRm5HsA5Wx0tcZ254drdcSH7dZb5ur7gcLYvpdfG4qlOpk3ixByDWun4L8B59WFhntjcLSKEydPMfavCF6ifFDvBvQ340OiDYaZWzndx_9pjexFujsjGItn5bvmQVvZ_Tc3URBwFnIf35bwFeV9aEzqjDeT5aYRePAA4njag7tB30eZIbCEuYOWob_nu-OZeFYjjOVqxI4tw9-h_bq7TPkMv06n65dCxrAjc7UIEh7JWIXODdm32fpi9FJSWXf5EeFgGg959IPXJgimWtKMgRSULVqTA0XcS87F_e3-chYwLefXH5KorpFTPTuvp28Q==",
  "id": "rs_09dc31d5032af043016a7e0075be78819ab6ecc6b71ce82a74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.47,\"left_j2\":2.27,\"left_j3\":-1.37},\"note\":\"The release revealed the blue block landed beside the red block rather than on top, so the prior overhead occlusion hid a placement offset. The blue block is now at about (65,190) in the wrist view; I’m retracting roughly 3 cm at table height, using the calibrated radial mapping to shift it right toward the x=115 jaw center.\"}",
  "call_id": "call_RBFZoRRRQzM0QRZw7FQAFZuf",
  "id": "fc_09dc31d5032af043016a7e007eb56c819ab8755ee97a45c4bb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RBFZoRRRQzM0QRZw7FQAFZuf",
  "output": "executing move_joints over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9642 left_j1=2.4886 left_j2=2.3062 left_j3=-1.3899 left_j4=0.0448 left_j5=-1.9087 left_gripper=0.9965 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2407 right_j4=-0.0303 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2393, -14.3111, 4.4376, 0.0464, 0.0073, -0.0952, 0.1148, -0.0752, 2.1265, 5.3812, 1.6679, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 548):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6ed09294b6f8116c7b5e24120dbf14f20737d8440c7853f6c0552b44ba2b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 548):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b793c932c3745649c7ad3dda674a8575a8be04dd714f4379671f6c5a783e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 548):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6884edfdf2ddf6c87622df154bf98e084149ad1885827d0a3b2d6ebda1791c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 341 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9638 left_j1=2.6511 left_j2=2.6209 left_j3=-1.6073 left_j4=0.0444 left_j5=-1.9121 left_gripper=0.9953 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2331 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -13.8462, 6.2974, 0.315, -0.0366, -0.0708, -0.1294, -0.0205, 1.853, 5.135, 1.8242, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCI8dgq_Xf06cUfw5narv0fRGAPt7MH8gF1r1VyUzZeOhKAUUq8Px44w2sccUVoNZRl5VELOTngF6M5Qazgo-kqJwdFV4hqeRHLfNVXtMWnfrwSRfrTYMeT611HM0K9tt9HddOEhAvet5ntvgSE78owjk0KvJ68_1vAZTX-Do_RV43amMFuOtB3YAi7gk76yXp8BDclUZanhj02PBQ1wDtCuIIMddht6vbNwP-boXV3t1DHNcXOJYNB3_vyZXVwIPuoTCG-rDMPl2uIrpUIEV_bz22A91gtE6qlstBRSWKE2Cfgzyn7LpRjLfLhzrZxiFF5JoloFl1fPJdC_d_J90w5WMG9LRsXmUAsGYiV0Yjg3SE3rwbh3aoOe4649Uy7xn5PteBSpQaWVlbqZ-fiWrdibQ7634UApEIE_4KV9PUtxZkoIFRMXcvU7lh4ApfJWHpe2u7RaE-e3ACvVA1S1SE2L0WMOcEe6VCX5nqf-2B8QBjgYXU4mgkLuhDIhMyj9oFm4OJ2IaIGYapyToRsqxONnTS8xDxWxO8WPnONXxJxKM2U-Hs8s7Jj9BuLHLwnw3k_mydnoD59KrkmZguANUC0XkXnPaRSuO0ew0sVN1UqdEnSL95qrrsO6zxVSDjI9ivnftInYZZ5qWOh5dGhrISWlFv4bTIatrfHMpETpjj72gRdU87Hb9LdJP8wIaoJkVCLRS3_NvBQihgvVSq9zkm3xV16pxDPMWSqgVVR9Ezlz10PesPb1vw5YAFYF996caQRXPrj089nFRK-zwbyOLJjZhZ9OY0Hx6lQEsX5991esjw5wonjxDajzAssBfIWAG6se115o0syJ8_X5VY5sXDxo_vpUs0WMig1_S0QfDGXi8MHbks9JKYsNh1Ukv3M4RQpY4a6JGvAqwBjezIuMMCqCXSZX0fouW6HlkUJrQXPui-alOmUk073XOgpLNNxeac7kp3wwIfBbBkCC52jXx3GmrDk1wUGMWFIErRYYPYh8y56145iqtYsp5NwinVJfar8VJ4qjFF_UmeqvZcvMPfTPGrOPkst_LG9Walj6VcQTdyvC_Gxo4iy2oXQiVH3sZCaShfvfhcsKRz36uaSY5PwavdMsAexHykJ6BBWhomuFYrMBErRqsu_rjA4dytamp8Wjgt2b71yXvLdoI9bUN-Qw3FAKFiXiMMheQNJJnsFolledI7PwSPgf3D-jU3v7UZktqcgGK8Jg97gSlIjJDy83-MKshyUi0Vci_ohABPYn_mAuPqRQs0nNCtcihOq-0RKaIz2w4gb_v95gqlGiVcgy27D-fqRONwuwIUQJuLPjdTowMSJhmyFOy88AXjn0YGLUQNQMkqBx-XkiFwWttDaCDr4nAA-DcFd8h9cDn96mbrnuW0woMEKNhefqckriK4t0uwyLR6clboGtAjYufQZhQyH7nAJoFDi0YRzyCQlkvNQB6PDHo0B4v7oJbDhUztGe4ewkD7EW60tr_aWSGPxCD4n_8xdmB3PBolO-rv1168Dldg-ZJgXqRkqcONXKQmB1Cl9KyCr0eH_o7vnzcYM-UTP5hpo81Ua2mfuhZGdniBzPtQl4kk8x3SRxIGWSoSJz9aoToRFvKBwnVJ7w3LzEoBgiNpc-7xcAufZgtZ0eurRodKNP1hr8wDPb6bKZR4Ha6WXXUZQVQtEEPXSKbg_IxfaYlsjxDp6bPviGnTv0Hxem4GhOBhnlkJNZMEYEo-UHWFVhqAtK9x8GHR_5uDdtbdVUleCdyaD2iyouD_l718=",
  "id": "rs_09dc31d5032af043016a7e008332ac819abe64c423fa889f33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.25,\"left_j2\":1.88,\"left_j3\":-1.2},\"note\":\"The 3 cm retraction shifted the blue block only about 7 px right, leaving its center near x=72. I’m retracting another ~5 cm to reproduce the previously successful table-level alignment near x=85–90 inside the jaw span.\"}",
  "call_id": "call_ZwFVlDoglBUY96RU3VCikyUk",
  "id": "fc_09dc31d5032af043016a7e00873e94819a96c43cdbf89cedac",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZwFVlDoglBUY96RU3VCikyUk",
  "output": "executing move_joints over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9642 left_j1=2.3257 left_j2=1.9022 left_j3=-1.2186 left_j4=0.0448 left_j5=-1.9087 left_gripper=0.9966 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2549 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.253, -18.1402, 5.7778, 0.2808, -0.0024, -0.0171, -0.0024, -0.0068, 1.6889, 5.3675, 1.8193, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 555):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d21c0e4f0283a48772998389283c99aee8e8a51da6b139bc5e919dc74d5573bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 555):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1441d05e3d29d3fdadfdd92d18b9a7b3f2f025fdc382b49d4d00beb257a9dd43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 555):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c37dd7ac9f8632c69b21c02e33a5ee61472f86a0e1e1c87a24b54c600e87611f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 345 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9642 left_j1=2.4886 left_j2=2.3062 left_j3=-1.3899 left_j4=0.0448 left_j5=-1.9087 left_gripper=0.9965 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2407 right_j4=-0.0303 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [0.2393, -14.3111, 4.4376, 0.0464, 0.0073, -0.0952, 0.1148, -0.0752, 2.1265, 5.3812, 1.6679, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCOcI7nBguBzfHcflWpuNGeObAtbv-Oki5racb52Ouoij5xQci6lrWvpkpZqxj8Xze98DgGnIYNpC79ssJL_Vz11WrV6-HDXPaVKKun4sikUd1jbtt_sPAbUTBNmdJjgG_Csr3_OyYr9KSbsZ3qknydRW9tGdpAIxVg8zSIgGb2UzhS22_OSTS0OXmTkkr8EoEnRZ2YoVfjsdufb5lwLoYHZ8Klh3f_tcXRoKHXIhgHY-KZcE-_yBdMD1_Mz9gKWBMFDFSZtZip3UbQTf0jT-JgI3eTC-prYf5_jkJh4HPwX9n-ujfhZmBWQJhqMd7Kh8eAi3hdu-lF_QrXGAH_AZfEu1VJVcNp-0rEvHI3T6YoGlTxNv0um8ynpnUZPkg3oIJAnVF1t7ADEsWE1I4ESSfDkFFFXYs8XDN3mk6xxSHyKjhExfZ5bDWrwztBecGiyS9BoCQSKY5eBOk3ULnPMNdy-T9AE2NfWzbHv6ksYr41fkILtdkMIZm6ZVHMNIVZGUOSI-t7FbYAiHdwD6wW7AAeqn5IWlb8Exa3Bdm00ChANpI-3RQBRkWgSTjvPZB3efgcYRZISr9phaJZjKETSn01Qe60sEN_QBLNcG0hVQfQIwJUE8APuejTYfARClzk01DOdLzsFtvuroxUgvZ1dQRTcc7dOM7FAAyjrnzTpUnvNAEPKM-YiTklxEtur59BsS1VQnKrviXgTOSpKX6vPbeUi5lEpzR8lzsjep8E5kFh7VTcWg0wLAEm7RoA02YXCY4aqczuEjsonT15cGCx2Mf7W4Ob8U62DCrNyvw-s0yoRGd03Uzc7VefdbInvHJqsY4A6DGJmLwJ-P4xRkYRaxe5CgTbRBy0KDyZmhZ_YRR4Cr7yy5Mfh621t4TOc_2XwyglgIqQCjvWYeO6G9WeSDBmC6wzpKknNWi-MRtM9o-MpnKZAPQ8La7efLy12uueDssntF75XZ_EIKe-IoyTdt4JJvptuGZbWktUDAaluWeqxsw=",
  "id": "rs_09dc31d5032af043016a7e008bf9ac819a967d333dde6c92ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The additional retraction puts the blue block squarely at x≈113, y≈195, filling the gap between both fingertips at table depth. I’m closing now; this matches the pose that previously produced the verified 0.445 residual.\"}",
  "call_id": "call_NBPAdMwjGaMgX6ORjDeER5lB",
  "id": "fc_09dc31d5032af043016a7e008d1610819aab3bd7277644d32b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NBPAdMwjGaMgX6ORjDeER5lB",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9646 left_j1=2.3203 left_j2=1.8866 left_j3=-1.2072 left_j4=0.0448 left_j5=-1.9083 left_gripper=0.009 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2625 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -12.1094, 6.8444, 0.0415, -0.0269, 0.0073, 0.6129, -0.0479, 1.6615, 5.2171, 1.6777, -0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 565):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444af3e3918f4dbf70ff9f528f197975380503f99739f8b70f526919e6e63d71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 565):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ec57ee580a81e553c5745dcaaf6536ba77729931021510a6ed57249abf6789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 565):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd75b054f4e6e5fa2f15d33b4517079c341f5ee35b217298166e3f384534e469",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 349 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9642 left_j1=2.3257 left_j2=1.9022 left_j3=-1.2186 left_j4=0.0448 left_j5=-1.9087 left_gripper=0.9966 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2549 right_j4=-0.0311 right_j5=0.0402 right_gripper=0.9987\nstate[joint_eff]: [0.253, -18.1402, 5.7778, 0.2808, -0.0024, -0.0171, -0.0024, -0.0068, 1.6889, 5.3675, 1.8193, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCcx-u9Z9aMl4b-Q--TOEeYR8cyUMGDkV30SF-eVcX_ijB69xwukHN0WNVvWrZAoiNN9MBhid3DEDkzXMHSmjs_7_ZPKbsuLKz5YoVy5mRIv5e7GPty2KKKQIlfhpGOpnV7kR7ZzTJ7Z0mmAnP-TDazZzYdsO-DMpRQ3WGDu1ybzG4FRyrHUhtrlptuRZCl7HX7rISZn6K6MjBlQ1agloFHCk7R5S0AooDDVUt5VxoAAinN1_ELENo7JXKJ1ONNZDGfmg9OqlxKKQa9d5SeCyPFAt-j-4atBvIO3rMMx8vorHKj7doLb8cSdkQnDGq4GDzPZm503NtRluzbgXwFhrnOjjUHRVYx-s7pYLfwa5YxKheGA53_-35ZOlF50DCKqku8rMhV12dARH_AkNeApiWgmPCI38YmRaMiMR8VrBMJ94GHkFPEUucfHG2dMn6JFZK34-i1cc6vVHOb4GnmGfb9nnnHfs01vMLmajICdHZDZXL5qYdm9siGwcsgoomu4pBQ0W88pCRWodYqXSBr717Vjj8DNFDCLKgEE_97ORXgxR0s7L3Lb30UEc0WHSIg05dgvShAA7yqNJofIZ8I1FhE7pekzWiv3y31y_hOldvyTM7_UfHXMcez6b2kILfSba7hS11S5vIovGePEwJtAWrinurVUKz9x0e5NxOsZ5HURnOZeAOWuF4TLWN-TypswrzGBDX3-4hLOZpqbyPALv7YUQBXCl_gswnL-Dc0KBiKOi4Er7uTbzztCewdJ8BHBTCXRIUbsJc5XzHhzevi9UB49yUFDzBomAX97YmnuQ5YkmLqCHno5FLeTKO7Iicik9a-9op39cdlvh_2RElOYJ0MQ0XW2gSy55v72kSQgQD7zqaPV_IWUKKQycW84egTlOIJnz5hXT_5yatTh-NPrjugqmSl02m5eG1kgHHKJ2zbZo2y8k-H4PKfgwv9u4ssxY0bKFyum0B9GyLlN1-rSWdc5ALPp5E9gs72J1H3lspmhNXtTd8z0bnuhFVpbXYm6uhYB_3nxtOezZwndIQ0UMVR0IidwULeeR95496SdxcGUwyEu3DHm2puldaRtHQlwXDgxw0FNK07VHQ95ONA77pt3JStIunCNliSYV-7m1ddRsNwngK4yRgaxDxUkg8DRQQgR3sxE-iLCfmjGkLRZ00r4jBYKRiZLs-ns5Q1Qsjc87_1sTg2pKGXuvcY6YYbYsSm999pJpixQCuiwi-3IVlXFSdr3YnXwmdCGjhYAtdtUiEQqRU4BmJcGXqW7kh1npz7WTw1mkgzTTRCwT45j-B8h1a4ZwmQnzfuWQJxfEhO2QDpxbYsF43HgsJr_F21R3qNgUB_RMN6lX2TrPISSgtxxDNiRbMkyyOprdgKbwInfRyJLNz7cW6qji2unCdBiMjurDsZ-yR6yRFy3HsVLKbTJ4-C-1yv4uTAmVf3G1hgxZSB_pXkN9o1dAd6aN9cPzbiawBV2nGstzBDD06l2-a1G4D2xtPCbAsYCj_PWSkywu1XbKnxF6k0JYNaDyQ1Ol-LiiigjIwvbvdO8B1DmQAFcwVUykZAGuV-TIHIhG1s4Eni4vsLlQRyYAA-HOajD540MGLkA7HW40uwD0xvk7Elbv-DQ8NC5zfwWFGTGXz9jsJP6TeCNf-NN7UaUgAe-S_oEs26DIsoLhNS1MUoudk2fT3KWPjVCKIxauFQcvar7aKEu6gD2Q50zOjEc_dbM1WnjlLzB5IeZZiQVTGc4g4-r1x_VLEOW_8E3A1sST4aRJbz6XbsL752Jtj4AYbFjPkpvKTSV7ygOUJs6JjFn6JtjlNtdI6oOdH5gCpbj3ZVnpPZBu_t-w800MwNC7_qoprX1hzRnYyqNNkXMUArLbnlWzmSB0PaNCMuffL3Yk-IDVu0NZhhwyAUlTQHm8Qybt96R8FNnDVovnxbdlOQVVQn9Mu1r0xYtYj7DfZZ4Tzqh04DMVOr-FFDkmQpoi71-NtTu5JE5Xrf1gsgxryewK4TOBvIuxW5hwmSaZUUtBZuQ5IuW8FnCEivbwD8p2BRrQexyHdbLKr7WXdLdPEyMJL7JS7sBThzZ49Tq1fPOzm0EXSuNgSWGKfFvsf87R0BwqN_d1GxtMr2vCjmvGVgaP-wUYksLZDnThC7vMVZJ-b4p-iYSinr7AAG_Kf_RA4iudTpEak9lcZGqg_voF1O7g_6-rgrLIXfkQ24ccBIxZs7XJhRgpmOKFj1Q-9G1tGunF-i-ZsTRZNQIuk57mPda6h5nIABBaxknJhC8GuiZaTY2u5RbL_1_pFgnN2QmuL5R559KBIw92a6F6FUY7FvN_pcysi82d0MvPhMH_STVdP6uaYulAZHnEZkhuc_PiFT16H9wOEwJT3Vyjc9PBtx9Khue46y714WWjxlBpblexIMDMUSkbl9fF_iA1F2C-oXR1f5W7iso3CcfgamF65pUezWMN5mMBgq6CdYHJ2FEwGkLhRJ2JMZ43MbwrCH4h8G93tQBNkZqJi4XQVB-lyfat9Ws8pSKwJMraks4yQjFldpqTCppkdCn5kK388YnU6H9WmHS8P0ito4Mf_JWWKd0d7rCv9KFpVZoCFSUbmEHuiPwSt4rL2c8clbpOPDea4ZnsJydvNa1Rc6XFqtHiUPLRq1wYnMhJeZUxePnWsJ5x3jod-XSwLZY3Xp1Fck_88ZJTGI",
  "id": "rs_09dc31d5032af043016a7e0091dd04819a928a876a13ab4a60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":0.0,\"left_j1\":0.8,\"left_j2\":1.2,\"left_j3\":-0.6,\"left_j5\":0.0,\"left_gripper\":1.0},\"note\":\"The blue block was pushed to about (99,140) and the close was empty. Rather than continue with the left wrist’s extreme roll geometry, I’m parking it and switching to the right arm; the blue block is now close to the right arm with a short path to the red block.\"}",
  "call_id": "call_cGIF4RPYaSy6CPnUHgVkog7T",
  "id": "fc_09dc31d5032af043016a7e0099b90c819a9a3fb49fe89cae89",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cGIF4RPYaSy6CPnUHgVkog7T",
  "output": "executing move_joints over 31 steps (3.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0143 left_j1=0.8204 left_j2=1.2057 left_j3=-0.6563 left_j4=0.0414 left_j5=-0.0925 left_gripper=0.9979 right_j0=0.0158 right_j1=0.6506 right_j2=1.1988 right_j3=-1.2812 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -0.294, 6.2427, 2.4737, 0.0073, 0.2564, -0.1099, -0.0068, 1.7162, 5.053, 1.7753, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 596):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfafa871112181647a0e9a6a9be787f93dc9579bc2a0104d0e2181d0c56fcb81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 596):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57d7ee3c953d34138bf0f141bb46360d80072722a5a79927a919e0f07dffcb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 596):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4733bf4f87718d0dc289c5d3a78a780c1513a18282a9af3c42d3555623293c01",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 353 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9646 left_j1=2.3203 left_j2=1.8866 left_j3=-1.2072 left_j4=0.0448 left_j5=-1.9083 left_gripper=0.009 right_j0=0.0158 right_j1=0.6472 right_j2=1.1988 right_j3=-1.2625 right_j4=-0.0311 right_j5=0.0406 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -12.1094, 6.8444, 0.0415, -0.0269, 0.0073, 0.6129, -0.0479, 1.6615, 5.2171, 1.6777, -0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCno_HHgjVn9X5FirOW945dCl2FhwSKzdpoKBhCgP1D_CsPgVyJRa9R75CB3ZqakgrfpYfXo5g30awaZ2p-6OAN1OOk3nGKTOlTf0nsTtKqnI_6I5uiheL_Uf6Qg23j8NaOgrtHfYUPhgUK-6abpbUWExAyjdfZm5kMBoVSeExNBeO7foSsRQ7G1HKL05W7Wni14uTNA0Vl079vocGX-mS4Lt3g0tY3FHYp9943DIJrNLh2NQiJBvxz_ViNtO3s52-9MP2jy8IfZkjZg5ckiNlbI8MFdbU9oy6AublIk1grpQlOF9Lpw3SSYHGNgHcwbdt9XX9EFNt1S6TTrMGUNygsznyEAo941laJyggwzzGwp1kmhKrgGZfMvEmZktXJeX7l67b4srVQuA6UbbqcNNn9EKN25H47nBnoFGtKtbWYaTCS74ROjVNB4itQEQSZH5MtsFApHp590IjDh1AMXm20gXAdATLmE3gMpaBXRPoICgrXpJPzGv8Bj8j-FXpRNRa3w2WGnLj1G0s60pjQB4sWTG6P6zb-MJ72KUCjb7LE1r4hX87069nudgU4pSq-Vwe5ne8lVHsA4WsWiYR_RWtzf9N22Ypk5uXkbw4rPIHzxGF_YDpoG7QViYQJhU7SEvUHnfAKF6bnX3PagrGTCmMWcTXplxBgs_dUNvYeL9bXS32PBnTwvIMfi7nTRcmNKWCMJ72zueF_4DXVozVYMyu4mIF_2jvfsNG1_1QLvBQWwyydrHzyrM-oyWf90Jp5BT9f94Kp-ZkURXJwfjPoxuz-rz-j1gQ5uoTLcJOuL97TLVXJll386IiG-3k_hZXP0iiDIwYny0PDeVSHQr-7ttNuRBDZ0j715ib4vYnjSXed4ZQdEmZ2pZNV_AEeHwBzo0n3rYQt3TLCqTtn-qDKuQF0qrHQx5_d5hjR0hpWtewwt7wjbwU3dkqiZmNeIHpJe4N3_NEGmSe1uKfEe_4XLDMUvc6hFJWg5jgR6s-YOUQkRv4TKDL-JYSjSkfBXpnNQvALKa3ZfoD_cRNk7iOEx2Or20A195gmgjh_TCQS_nlNu3Xpaf0Y40UyhmBI-pgXck9Vfx7ttgHtp4sK8IMgkBmPgEL_thUMXZzHHNkOtpVlx8ytYh1W-iP_XqX66zZbmj6BPhipVA76hXJtujhebqLGKi0vPNc8qT3QdMF_6GCjFO1C_pVDszKMtbhGjaS4nBc_4rPLWR3xQ_d62riiTnv0kU49Af5WFd6_OAuaKfSxdEISHXUYxOFasCev_O-Qvd9EjyOT_idNQwwNh8_YhhDVZs7Bi6sg0fwT6uyQ1BJtMjG4H3_UDPrh9X1jKgj-4Ud45rLJMuvcLXRSnJ5vVBEumkJUnPYvTrF4LM8oFXzrjUfrP84Maw2TK59oFcsxropEr90dPCoWJ72dfWLMcUIoWJXMX5vg8XYrMYRTE0lRnWfBzMvaCcQ8OudMUr2Zrmy_x0XZTD8QE8jnHJ8AGYM-PoLxOIw054UwwG6nAA51GEDSEMYz4hMu7DsZn6-e8CQh0oxZIULF_a7bLR2F74H1oGOsjVDIkmfqbzGd7OmpS-sd6bcdmAGr3iswPSCdldFggj1VpU7HXCVaNGgj1R1Y5B6eNle1Pe15SvzQ60QitNK0ZkjzS58vRhws2aCR75zKj87F3in9tIKlQg66RGrzlZaWxoHLsZ6o7ag0qcSck4id5peAj0pJgzCQ75IsQVvZGCzZx85i-Fxeo1CvCtKtp316WdVf1WfFoAKrE20hmU0=",
  "id": "rs_09dc31d5032af043016a7e00a1e700819ab2779835b9da6119",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":1.07,\"right_j1\":1.75,\"right_j2\":1.45,\"right_j3\":-1.27,\"right_j5\":1.07,\"right_gripper\":1.0},\"note\":\"With the left arm parked, the blue block is clearly at about (138,150) and the red at (147,113). I’m bringing the right arm to a high 28 cm-radius approach over blue, with wrist roll matched to yaw for a square grasp.\"}",
  "call_id": "call_dE7Y1pw8YG02IIDU5VuDgb2Y",
  "id": "fc_09dc31d5032af043016a7e00a5e978819aacf62f02c6a54de9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dE7Y1pw8YG02IIDU5VuDgb2Y",
  "output": "executing move_joints over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.8261 left_j2=1.2018 left_j3=-0.6697 left_j4=0.0406 left_j5=-0.0982 left_gripper=0.998 right_j0=1.0462 right_j1=1.7329 right_j2=1.4242 right_j3=-1.2751 right_j4=-0.0315 right_j5=0.9897 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -0.6632, 6.4342, 1.9756, -0.0269, 0.0024, 0.0073, 0.1573, -8.2803, 7.8838, 0.2466, 0.0073, 0.2906, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 614):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c553acb72dd19b674d152752b9cfed9219ed148c26da845cc35150548889ff5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 614):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac203e73404c0bf73397d3296e6a17473361372db2d85f8935c5ca4c4f3d15e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 614):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e430cb11ef2bb7cec7ae580327ff9aa4f22f525dde8fe42d26e36dff5bffb6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 357 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0143 left_j1=0.8204 left_j2=1.2057 left_j3=-0.6563 left_j4=0.0414 left_j5=-0.0925 left_gripper=0.9979 right_j0=0.0158 right_j1=0.6506 right_j2=1.1988 right_j3=-1.2812 right_j4=-0.0315 right_j5=0.0406 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -0.294, 6.2427, 2.4737, 0.0073, 0.2564, -0.1099, -0.0068, 1.7162, 5.053, 1.7753, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgC186kR5JUyVPYnxBHsJaIo6UQndTHpu3YksnvNidnHw6yb7gqYgECBz19FFqgzvZX1B6u0kupCtvfm9Q-aJBcAy_F__2NAmtvK2lntUigRHl-BsmMpecUyyD_ORo8AMlUaxB2iZD4H1kEBjHJzncBWIBf5Mf0lH0wjv5KMg92be3sCbQ_g-4Q8xiGwpm2Spk5ktOJJXaiwnLayl5EUlB2iltPueK_dG_m4we5tQD0Vtg_bMhUaldELhWh2EnqJUPqIVy7YNsT64tB9I----AFY3EHzl7RcPGbB0Ke0q0s1Oq6OoiI8dquT3jeP26-H_4ZwcHCQ4H19C57cXYfhJMs5snRET12OTyygTIKTHNGpSEys2f30F8jLlG2Dhk5Rkcn6qpO4fvqDJZZrUNQrqfoBKR46gtn4XQWfxWxSaEqYruJlckDocCDMH5AS4ZwuwKF2a0vUtwLgSHgRrFYNeIwrJNQouaxjlYKfILTOiq0saaQgDILt8EQa96aWO7adxGWUGva1lwjjmNVlvOUcF-ARouLlaK0SyiRQpQLYZTfROglfg2DxYK6jtETwyqxZmVCenNAsE0vB62v0Omy33175nP6qN-9vH96WupcATaZnY5ROB3uXRCqEBH6JS0JZwohrnXL-Eh5EjWggRrWWBcfhjGXRNaUrZPgApwb3uTd1bv1HoVERyG2S9OAZGsidN_iBS9P5SUtlVp4CVIrh637zN-aRLqRA8zuGIyD1D1X2OQvlLGJb1WYTX8XWehbu6aFg8Gzjw5-7jQf9QQR5LmBLSbWrpwdbK_nDXHAFk_sIPBJxhfFUSEegX9Ovb9_jpt4mNeW4KF4nzW7qRGnsaEfnsFrsSOUi6bQpIcmF30q878bJsvbgFHU0NEtL-6sksZiBnnm6sKD5iJUaGLOSOUieZuZiryPhvRZZO4xWVwcpGoJ_cZtrTdh49EW1u6sdYBKJbNVrPlInZ5WkdPC6HospQ8mhHe4gOuaLXVYpD6k9suNOGfsACJ1UgkDmIhxlzqO4On4GZKLQLFdTbAzU4a7IHgX1cmqQ2HBVtyHRGn2qeG2l82GpTSDPyAIBln8Mr83HoFwqEu-9KY7aemIk-sTa54WhrKhlpvrN-uz0T8sDjkILG86AqEe9LziaAV6I9igBb12goTIVQ9OwuLanA3ND_LkBNvKAz_W9Qlr6Uw0SkbOW2n8pT5XSgpBC-wX76kfy55wbyWhNWuq2zAdzfa6It7FslxxLlI5ZCVt5wMDPUkySGu0ydbldyDxLcei3Obsf2au8Ld_p53ajz71Qvu2cO313BJCpuoAy0V7rrZetwee2C7OUIBnPu87WiiV661gRHd_ttL34v4BKe6kfYaei3ouYDcBa4AHuldZbAb9adTkXK81ehzflhf0xy55bxtHdOsWcFyItA_nRKP0U8o31yVRjeGYGYtMjXn7uQjLsabRaF8rd3pGYuaSOiHnskj38n7N6fub93o7XFMIW6--LI0B7N3t2F0NvhaUa_5AoAxbkRx8t4pvRzrSoS0twg5Ja7OyaWFihKZZ0W4zZvCrw4MmK3Us4t9ugXSzhi8SlIZTy2xLh6h1cpcS0PhQQ8s1jgNMrCUp2GXBEgPLWMOJPKp54yeaeyAdhRgzBZiiclF6IsMAbj2IP-nnHCn_fraQVdbJGSCeUlCGAiNff3dKlZ4IkAq2F8A_ccf4UX5Iy-QGOjjFNIZRO7uCuQIdvPC-FKGvVxHGi4jMbb-DI7z3_qozJsC--rbkNF3zbxSzFKhA5xlbvGM2I5M2d9uLi6lXabtV5QVV5hTz5YnwOFMUSNGXJSNRpeOjTv5auJ79q0wRgjN7pe4w4z5m2-WZj24KjWQZNE6wu6EOYT4-YUtX3UEg2QYQp7NAQItd19s5dzesQd-MbY7OQT2XxaYpuZpjHf5OT0XZHLlh6LLpUy2d2CpuaWBsEgEgoRWTSx1DvuulrYCWnvmamseKhynDc-X5SIkUbhGEWnLftSs2JJj8jrUWsKv_tZznD-nzdGwCaKvcmKcVAyQp8ZHD6OqiBbnhimZ5R7AyFhdkJhqi0boO4FA==",
  "id": "rs_09dc31d5032af043016a7e00ac44e0819ab8781bd94ec42d05",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":1.17},\"note\":\"The right wrist now sees the blue block clearly at about (162,65), ahead and to the right of the jaw center. On this camera, positive base yaw previously shifted targets left, so I’m testing a +0.12 rad yaw nudge to center it laterally before descending.\"}",
  "call_id": "call_jvCFhRryNrtUAJYiBE5xOmlS",
  "id": "fc_09dc31d5032af043016a7e00b15e60819a953fce6c17b005fc",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jvCFhRryNrtUAJYiBE5xOmlS",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8272 left_j2=1.2018 left_j3=-0.6704 left_j4=0.041 left_j5=-0.0982 left_gripper=0.9981 right_j0=1.1179 right_j1=1.7615 right_j2=1.4273 right_j3=-1.28 right_j4=-0.0277 right_j5=1.021 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -0.1846, 6.1333, 1.8584, -0.0366, -0.0464, -0.0122, 1.3197, -10.2359, 5.5316, 0.1832, -0.0611, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 616):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7834751fe1bf5b01247f5c44e0a7e03eb10349253b47f54223009566757ab15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 616):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646b409e3cd47d16da801cd937cd59cb230825a2e95b166b4bedc610e34e5580",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 616):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3386bf178de61621ad382daad0eb570f933160cebef5fe2ec4f7c43667f1c778",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 361 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0113 left_j1=0.8261 left_j2=1.2018 left_j3=-0.6697 left_j4=0.0406 left_j5=-0.0982 left_gripper=0.998 right_j0=1.0462 right_j1=1.7329 right_j2=1.4242 right_j3=-1.2751 right_j4=-0.0315 right_j5=0.9897 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -0.6632, 6.4342, 1.9756, -0.0269, 0.0024, 0.0073, 0.1573, -8.2803, 7.8838, 0.2466, 0.0073, 0.2906, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgC8gCeiQAUnc5XbqtHaDuBmO4uukXfdp7m9rvlHnmks7Y3fahZUJWaSdn-eUtdeX1KEIvujv5HYj3Eaksf3EkwTHFArxgDGxBTryWFInds9pq5q8NCyg-VohHHEvBpI1Noeok1aPPgpYBPw35QgzwNGOtiOsUuYl-SPmGmN_jxvglyxDJXRP8-CwTuaoZAmcfiyS6A7miN3oEKi_LPN-vKFKlQHJSKchBui5htlvv9Y9_Vou3bRHzOJlOunAjrZzeSayro-ansPESYcgSjXwbGFb76mIjU7zqBlrH6szKQ8bF2BWxK0J1qas4ehmWdpaNP28Wj_H4os015QfVW5T7uWgo5YVd4V9uNWk31cKlNtMiXNak3CMgNu6YvF2BJ2RWMME5irdrhQA0nUYP-O53jF92HK-rSk9uTxoK_xCOYfKe-BtZGRw0tgGtosZXxm6KMdBDsLVgZnMX8RNRa0S7a3Fwq_2eA3wBAEGMhiMM8bgOY6bYj4-Q0SK1iSrOvXqH9Uw58w4maprNXux4tnVfV-FDe1C4XdQwHcfnTMUrMZ3evsVYTzPm1TmgEADgP_vUEjHHW-wW2ciLcigkAWD4QLgd2Hy-V8YVXYhvs5MQpYX2BwapWlhVenz5Mi_uIeN9ytIPg5IkSduyYR-tTaZOCUXherN16ksEv6imiW8qeyh1w4nm3riM1fj-EHD1Tga8TGuLJKBwXQsmq_8GURF1S4tdYYMzhNRd34SXRJOIESH4wf6BDYoaqRyY6odXoFyph2Stc-LtIhvhFntWU6WYFEe4nC01t7dm39LC_A4eZZjuZgBeGIGJkar_sXk-GzCgZPVcJyCZEfMCf3C87uGVWyzV_boEvvSJPwikv6Q1BUVrE2hN7ZucC2yA9tapU2wSGxbXHupXLiHi3EqYXSCWvaSTMxsg2XZLQyCQ_EFlR6y9_Ovc9_Dk3IExNHgG8MmHJVzS2R-jeanmiVwB-aeyg2zdfRZf1UASCb70Fb5tncN_7NdnPi29F4m5SHvjPNQ-EUrDuHCbbvj5d9ir_SJgIBpAwY9RI2CdHjfdrHb65OeXgsH-M302mRYbJORPHh8xuelY_NQniPZBXiI0y9CCbobtbWdsS7MI5ZDtiyLchmurjnU5npzyVMFS9MY5wZuYFnYLTjQH2HxYhQJnIYtXMzmeUv99S2XYS74lm5XjXG5RpBc4IPoJ0olretVFE2MOHrbqZ_ZX326eACu4A8DxKjTJ107BRyHcTQ79ME3BoRMRXUPdUfGi3RBfEjyN9rHvyvBkwRwLqTomVk8H3cXkxTtBT-fYuyubWoBci6S1N286NaDt3TeZXZM9n-BOGzpqWhddXV4Fqw5CIpW8IZfLSBa56slp_L2aDbwrgYaBApeJAyQi3yNF7o8II9LRIjHJQAkCnuYhsfgCmRkUASBOW3rQ==",
  "id": "rs_09dc31d5032af043016a7e00b9a4c4819a98b0ed61d886d41b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.86},\"note\":\"The yaw test moved the blue block 18 px farther right, so the sign is opposite here: +0.072 rad produces +18 px. I’m reversing by about 0.26 rad to bring the block from x≈180 to the x≈115 centerline.\"}",
  "call_id": "call_z2u9dSqNfeQQdNic2z3sw7Ie",
  "id": "fc_09dc31d5032af043016a7e00bac474819a8c0d9e6e94212cb4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z2u9dSqNfeQQdNic2z3sw7Ie",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8322 left_j2=1.2018 left_j3=-0.6773 left_j4=0.041 left_j5=-0.102 left_gripper=0.9981 right_j0=0.8745 right_j1=1.7599 right_j2=1.4273 right_j3=-1.285 right_j4=-0.0307 right_j5=1.0031 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -0.7453, 6.1333, 1.9365, 0.0024, -0.0415, -0.0171, -0.3897, -7.9385, 5.6274, 0.2515, -0.0073, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 621):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb162ddad506de60cbf3f014e8a9effbf617184d3b21fd87f90f86259b6bf653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 621):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4233550a4f493452e6f8c661c0c21bd3ec6d5d2ed333c2afa89f04f3f9095ee5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 621):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6a55598b1027e20c5dcd2347fa19b49aa51810e1d90018d3e208656b41eee2f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 365 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8272 left_j2=1.2018 left_j3=-0.6704 left_j4=0.041 left_j5=-0.0982 left_gripper=0.9981 right_j0=1.1179 right_j1=1.7615 right_j2=1.4273 right_j3=-1.28 right_j4=-0.0277 right_j5=1.021 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -0.1846, 6.1333, 1.8584, -0.0366, -0.0464, -0.0122, 1.3197, -10.2359, 5.5316, 0.1832, -0.0611, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDDaVGe1cPZfHph0YUuwmGyk2CJoXDsdc3hb3y-I1G2Z9_c1Go1JZSyoW0X6Q2MvcMixhq-beaoA6q-xUc2dthLd8qLR51I8ZNLlfLMtZY-bp1riepN1N-tHwJszhstHKamuT1XKf4UHooyNbhjnz-WrVcFn57rp2LGzGP9j2EYYi6LaWPcYYWRmDnAhG1M0okwedT0JcoUe7ebHVLGj47A6gY-YFr8O8qGoT4OVYMoYLCvAI2--raThFaqp0n4CSr0bFBM8EIYxt-O4mXwAurpLNpOBGHZpRlxhTPhUH4z2X2xjC92Gb6Saqz_d2EArVD5aszV21El6i5liEyvIbBOqKLlRmrgFVbx3iq1-J41PQ2utW5tE627nTkg2BSRmS0CyFvD_Gls2jcWr_h1hVyH95vmrNsJEf3ebevOWw3lh8UGyqWgiBoLaG_AvwXSL29SwnadUhqlfXnKysieRuyNWBwOYIR7HOag7-NT5dTctVu497Br4dLN_aLVlRvinECRp3Log8bqVMzAvd7ZxWvb5FwtGdUGIwDETFtPKSBfXS9zTi0jU2bFw8FsUwaySyx8xdg9DOGIT4sXXJa9xEqhvFKe_ulTtg41MMAKYKgqiTNXLBvekFYtv3mxIxVSSp2uTiP-jYYOcNX0LO4aXXxUDV6RmDHpewqytZ2LxeITwC1CYIpycGo71KkXfcxIPcLm2qAsT5s-64z34405f77jK13KpAn9MDs-wvCOgPrLfYrBznpSR_I2Pg575qsjR5uj-ChCz4rX-GHcZQpfFulpNF6IbjcICjqL_exn-RFX-kA01ZGgGUGkcjwVXtfAdtaJ7WOPFfFvbmnXpMeT24YcS4o4ddD5cfV1MWMJtqkb9nH2i95WUv3APhf0phSEXkYrx5Oz9Br9oxcBm6eWlzQvbsw2wmH6p1_77z3BYDflY8mkn7gpmhsqqhnXLX-oD0ZGjgXnz0U0ZR4m4u6efBljsDpij7Fc5uTno4UsnvDTdcbk9XKCedd_MLtaWPgnGYAZxZreWYXwrdxSxxCe2Qwnz_zKtKuV8Jyy_tDwO5Up9t7z5n3a58qx_1KmSrs-pEh0WgTyQya1PlwHoEU4GkprznQKieFl5j1LGjeAtXuVedoY94xzntStEzIQhAjeub1e1W1PcOYl4NOzozOhhpMmMbS4tIltUhfRoS6draOel5Kvb1V5MTUU6arC7-8WRcwPDnYrzSF5ps7Y9LksGEIuMxvhHItwmYqWoiQE9cW3hc2OB8fp2doWvqR4vlT4bBh_WPTQZZHjAsiHPBy1sqBLN71UkjN4STXUosHlQwH52DBTs4JeqhCSeA5HnUb1NrW774v8Cgcpx_PpRp74YRMw7TJ_bEOqLW0MltHAM5QrjljyujBnUGZusRWAVcjfgCZn1K0APKK6v1j_HE30ELUP0YviQqx2waNpjjazibLYpFmzJeTVd0WdEwxd3EAPw9enQ_EZ4e4uzajqvc80VgQXbTyic1mdDLWEjkpvvweNe6mmGB_0vf68_lBRVgnXgmDM2pqndeYUou5PtQBaBTbybw0ISYq-8gaOPNasP5t5p5lmfCAb0lZ-KqYqxeMR-JiFSXnFdveog_W3PyysOxBenXzsRuF2_dDaeOroyM_ABw16-WaLqxHN1XZvtsZZQYIfw5ktcor3Kcz83jeIu0wEkGD6Mpj88vUuJZNezCXPckL2QvhaI_UoASo4Cr5C_FSbitalCDCT86dElDHQH1SjPTjAsbo1UCS_0YhDcctdqTAwvtMIEsclKeJN6zGIYy-dgE8YdVtF__YrSvVy1rGHog==",
  "id": "rs_09dc31d5032af043016a7e00be9a2c819aa70e4d9fc084d4f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.81,\"right_j2\":1.305,\"right_j3\":-1.065},\"note\":\"The blue block is now centered at about (115,135) between the right jaws. I’m descending the first ~4 cm at this fixed planar pose, keeping the block centered as it approaches the fingertip contact zone.\"}",
  "call_id": "call_UzEA5WxYo9lCqgSwmnitg0Xl",
  "id": "fc_09dc31d5032af043016a7e00c2384c819aaf71b59707432775",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UzEA5WxYo9lCqgSwmnitg0Xl",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8345 left_j2=1.2018 left_j3=-0.6777 left_j4=0.041 left_j5=-0.1024 left_gripper=0.9981 right_j0=0.8742 right_j1=1.8034 right_j2=1.3167 right_j3=-1.1339 right_j4=-0.0315 right_j5=1.0027 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -0.4718, 6.2154, 1.8877, -0.0269, -0.0024, -0.0171, -0.0889, -8.1983, 5.7094, 0.3101, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 625):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7013ff8909b8363c3919b850ff7f245fac8d44146d3278ba06e728235ebaa037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 625):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2567310e18bc4d09e0c7675f1549a6654fac86a08b0667a4fcd6843edbff8f07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 625):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61615b6de1acd0ceefed0882e428377ffc0cdac3362b82d6445db3a6a5456689",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 369 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8322 left_j2=1.2018 left_j3=-0.6773 left_j4=0.041 left_j5=-0.102 left_gripper=0.9981 right_j0=0.8745 right_j1=1.7599 right_j2=1.4273 right_j3=-1.285 right_j4=-0.0307 right_j5=1.0031 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -0.7453, 6.1333, 1.9365, 0.0024, -0.0415, -0.0171, -0.3897, -7.9385, 5.6274, 0.2515, -0.0073, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDKjvUaFk2g8oMjrjPx0AgXxkrk8tQ1w5ks8Ln-naGjFjOnf4S0LmGRzDN7YrOeAtDmP3KAcgkSY5PtQ_xPydiIlZ4nKHlkSUj9pqJ2oU2RlfymBqsPftjAVEQIETeUJy-cHbO8Wjajf7-eaCJGR6d_11OPgF0cyOmY23jc-2wtq2GHjeZYMDNVOV5q6g3u_9gr0068I1fWkIQ2xZbv65CRkwXSzrjT7R92UivZJXXuWjGI-eHayh2ykbKrwFxDxCQR2htxkK3jvFq9z9BVyiBJlool1gwcMpWYM1lc_XZxB2uFYmsJS85iXh1jxU8zG1Mn43IOWvG2AZavRloCN77DUMUrRdbZNm-SR8E6ms0gia3okNxDjKYRBM5Pma2z-1Q-_YIzwDBklZYS3aOp27fkoA5Bl2td7HXM2IuGAEwlXbUeC0LvAYj-oEPQjAK_kLlIljgl8jlg_sJJpzhOZUBrR1SRmYm8eUeqSUiyjQKn3ciMAb9swhC6ypXzJPagF1sVQl7h1_r6zOff1ykkJLc4W3JjSl63T1lDecTOWUwGlccpfHRT9TcCC6qhzlJ4SxumGqISOD5MuVOtwzFWfiDTEOxUXgUN_ite7qpfPxgrVuY7A8W3NT2coa6DO6n6B0bBnQdwccheGWeI_rIFR3xP71BL2gYJD5TQYr_y7PjHFMepBHPqCQ4bx87jYS8sZuhHATtREER_WZZ37O0Nk2Hr2QvHuv-uuVwUzY9cflFkAs_93_4nwI1nImhocxm4tui-ypvvpH_xjKsqR8xuQJrIzEQrAW9eVUHT3hiC0KXOUzm6_Iv1WcVMoP0Dtvn7Htk67aR6rW9tMj4SOId0Vj2aXBP_QnuIffP_97WnQ6VcA1cXMvITT5ph3rONI0H8sNX5lwU_9t-q31FsLzIsFP1nkW8CAQZJfhqXsrMqKZ9n0iPLbiNIiTfobXCuG3jmw8OvBNkPHXDgy_Ue-fhyUBSlyR8wXekw3hMXYf72_4YDYBm9TZ3vRruTui1R-jQ75HW0xy0IyWoo7Jmxj3ElBR7RDtaqE5o2qRGXNn0sTolD-VXWF0OwMRPeJjXUakQmczPAcrKVwDoo9PnN2Yh1XM288m2Qa_4NmHBZ359edGg2yhMAi92tYfZruinQzPuCxrA_M5eSjXd334Mar5LrYCajAsD5RyU6r8t0hWi2EUFNZmuN6TxJEXQX2JiLC7P8-iG5T4wwBqxxsar2_uiro9nXo_9-HdcTuMs-mQmLe0cs6gudqp1UXEfiwYdeLYQ2X07EBdSMsDbi1wDH6Az79uMw0d_LGM8Tc63CNrNjVKQeu2IFa54XJjGrRlA8xAg1qrP2w7CqpoPQfFf1bYkbQfCQvyPeScjDyKg0AwnwWV4eE-UWlXVHbRLTt0L7wRS3thZgFg9WrwPGmpCPskRdody6xTATt-J9m710kl64NZ71AVYqB7KA4Q7Q3IgWSQwiRY6v",
  "id": "rs_09dc31d5032af043016a7e00c59058819ab85468dc6a7c713a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.92,\"right_j2\":1.24,\"right_j3\":-0.89},\"note\":\"The block stayed centered and moved to y≈159 after the first descent. I’m lowering the remaining ~4–5 cm toward table depth; this should put its full body between the fingers for a deep side grasp.\"}",
  "call_id": "call_NqGvBYIxfgZHUmAAbDHglW4c",
  "id": "fc_09dc31d5032af043016a7e00c90140819abfb508037d7c6dda",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NqGvBYIxfgZHUmAAbDHglW4c",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0105 left_j1=0.8402 left_j2=1.2018 left_j3=-0.6796 left_j4=0.0406 left_j5=-0.1051 left_gripper=0.9981 right_j0=0.8753 right_j1=1.8732 right_j2=1.2766 right_j3=-1.0222 right_j4=-0.0261 right_j5=1.0035 right_gripper=0.9988\nstate[joint_eff]: [0.0479, -0.3897, 6.0923, 2.044, -0.0366, -0.0513, -0.0171, -0.1846, -4.9299, 2.5504, 1.4676, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 629):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0b82e4635a347fc8781e0aaad3aead1684338024c8aa2a152c0789f28be47c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 629):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1542d7dbf2c98b9a341f3a8d09c5c979d826553aef239ebcdabc1bc923ea0e95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 629):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30b262f762ccddf688b7085e2c5178c2729438599666fbaa5cf36544c4fa653",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 373 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8345 left_j2=1.2018 left_j3=-0.6777 left_j4=0.041 left_j5=-0.1024 left_gripper=0.9981 right_j0=0.8742 right_j1=1.8034 right_j2=1.3167 right_j3=-1.1339 right_j4=-0.0315 right_j5=1.0027 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -0.4718, 6.2154, 1.8877, -0.0269, -0.0024, -0.0171, -0.0889, -8.1983, 5.7094, 0.3101, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDOBGzPmOWAeCCiHwB_bfGwP7SG5VPTTYmjMvUZ3J3ikMGRUNeDQdNtvEPdUs6Sw-X7hy2CbjADIo1skkhB7VqnR8fAlBtPdz8kb4mGPWD2D_Ftpr4acpe7syFnMOwF8-15iJGLQiNcCTsMURXYr9Ng0zuPdPbcqrgZ-41junQLejStSaxKZNyrSdcPWonH2nwAA9y40s9B6UCBBcMh1mvB32-KAI66_F-9AgacyaLjMFXkyUULh8GiLEbv4A5qZBesN6RGejYrlRwqohPP6_XHk_D0dd3QmTYB4HFx33ErzX8ce3hFkAon1emgwcMI7EPrDTjLIJ4ET4o2rjMnrPNvDS0L7t3qAtK7PylXXVOxQWTl4qDCtPV1HWQjgzpX4LgIfftyLUwJsCqpNi_R5_pYajkozWhC-W8VITbvdtbrmnbkPMtflFAliB8fc_kqtv20ZhIU886Xp-gF8mwilWJXqa2NjPvKe7mIkFKoMcvvZDt3Tf6jSRI_m7I9UhAAq-81vsBT1vme_dm5nWTJ1mbLU3bo7ZRXcGocTgCFNpmMvSGe5tSTkare2m7hqKrYR6RATyq-eN6Onifzg2fbxMrMB7bwZ_q8jtFoxNlJsovzx22FDLm11W7Rm0d1g9RgJhcR9j0yszL55thAza7IhoRMKbhR_FcYGgwtPkA2CJ762hrJ5R7KJPd7A3q-zagvRenUwJJB0AdnvG7aPF9Pnb5e2EWblfvNQ7DQyS2hbmdt004FJjkWBcFvBPeRPVtt5GTznaTTZGRae0GWSZSnYbj6B76E2CVEYanBYIec54c8tvyZJdNDnfbL16doZCvRf5lkt7v0L6xhgECJ-EYrHfrArAynsC57fGsp08mqowKbinH264L_3nntWmr_hial-eWJ88wuhyoczSw4Ud3CV9805_J6Me8YcgaW8Hv8ooRhSM0zPcsEKhwJF9DDClKJCthnrbB3OpG_T2ZsPiNO7xn8-lq1I_krNYokF91Nu8vttn-H_JFszQC6z6llSASsYewSVCQC3RHJ7VJF0JqiuOWOR-gAktc05S1smkPQakvG4OBa0rH1V-U1JL5XA4AvAl-U7apNphH5wH3m9UjyR1YfVg==",
  "id": "rs_09dc31d5032af043016a7e00cca6bc819abb15346cefbf696c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The blue block now fills the lower center of the right wrist view, visibly enclosed between both fingers at table depth; wrist effort also rose as the descent stopped. I’m closing fully to grasp its sides and will verify a large residual opening.\"}",
  "call_id": "call_713vPLjcCwlsdJ8tQlZ18RWY",
  "id": "fc_09dc31d5032af043016a7e00cd90ac819a9e9e8b6555d88af1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_713vPLjcCwlsdJ8tQlZ18RWY",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8455 left_j2=1.2018 left_j3=-0.6952 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.8749 right_j1=1.8641 right_j2=1.2797 right_j3=-1.0534 right_j4=-0.0322 right_j5=1.0027 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -0.4444, 6.188, 2.0879, -0.0122, -0.0415, -0.0171, -0.3077, -7.8017, 5.6, 0.3541, 0.0855, 0.0024, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 639):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9131951322d1bdfcb6266f2a3e113e8a7b56e7399d43f4a8c61768edf454260",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 639):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7aeffb6703d89328adbcf317e630f77e86529dee90490453a56c10fed43f4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 639):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5090a3726b23d1b0703548b3bc90ec43d059ecdca0529b7f460b90880391179",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 377 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0105 left_j1=0.8402 left_j2=1.2018 left_j3=-0.6796 left_j4=0.0406 left_j5=-0.1051 left_gripper=0.9981 right_j0=0.8753 right_j1=1.8732 right_j2=1.2766 right_j3=-1.0222 right_j4=-0.0261 right_j5=1.0035 right_gripper=0.9988\nstate[joint_eff]: [0.0479, -0.3897, 6.0923, 2.044, -0.0366, -0.0513, -0.0171, -0.1846, -4.9299, 2.5504, 1.4676, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDdzDDc5CUK-QYRyqUKxOB_Q0Z2ZXDnZ1wpd5IZ3uC60wvTGi0oblnYvf2pZL3Q_yRsTSMPOlHED11Ut_LmGd0jpvT5Q6LV1TcSxaP1NFmkUGWwkcd5yOMNFgMMUWkRB8qdvyrBtJb8aeVTFjUT3NEw_bt0NNmkaa2hdw2gCGMNeDXNotNZJY_pXSx2Y4eNEVh2aFyH6dwFYw7FKL-FWy8hXCErRVxApAI_EQ5tQy_DRmdkZdA-Nrhx6thsOkXXDiXDoYoqLP64eZFVr21K47iUhTGM2EhIXE5QXcZUtFDl96dBtjtzb2PISZK0Kjgu71BqcUDa77RQPuCFqxM56LjKdwUXo5xyjZiYwKEPV8sbUj1Y9jl-PWF4g8XOgDkwqINqVkP7PrPXIqFMCwflLu569dWdOPxq_AudC0naBVCS_YXrNOP-S8LMc8IgpsB7yNICdVaqWT-wsewyibWrpd7unDh389rV7KpxWK0k0TqoCbMABswKD0Wb_JluvC9tmhqJcQTefkjrNWXKLyo6FS1Zk7YMHQTzPdAfM9iv5fTELgRJI9eHTjRu0WY3smp4f3rGJrBPCiYksFpEAk9bRX7XSUyhiy1L39PN1DiCOVNlmmSV4_svlUVe5X17s1_khhm5o_aibusFA_NgCimPFFRkWVEoLDcWKYjpPVvG-T1jriq2avBWVyvpW0nxbgreFNz_KtibgMsJkDV2nr3SifdZC7MhPxf9OShm3Vu9fqHHhc7WAo5yNwYtpPZCxX3Bbuc7cDSmROgWPIjV_4pMUuY7oZBHXfGxGVy9a-98I_tDiM73wEhBfYd0rxB6e8ZR1hHLHeCw98c7n3FDm5fjVVwRyogrudiBMOqshAwrNbzesQZXpa-WjeF0PJWYG5tnjEYub-G5x7lm8KHd-KYbQXqCQZE9d8KTeIAHb6t415hG3ZyAmg8Si0Mj1Is4QJUGOiro0wGBQK6n3cG78tP-zIra9GjlUus3X_Jpqy9OlgTjawRJxTCIb7Li6TNs9wJALEWJN9sh__2k5lGiIYqu2KiWBb7RfIJvlbMy7Qa4pr-9JWv_bI3RlWcv10E__PCWAjoFE0azPZZ3ayfa6TxYMmq8BJT2x09HhIkdLvuGrRkmIDFQExOYiGmXvLOuDXTPADg9N4DvC-5TEWuNybN4QYy-kv-0kG9iaAKy8Nlv6iKcoJCj1VHiYzAv_p5GuQa_7m4DS9NYVKjg5j2xsXZjIjXuCSMNPVwzXC7yfZnBUoNgil9nv0e5HKzlwFo7jeRQxSV6Xb4Irfq2e7yfZ5zfwBlehJjwFU-6RA_6VhtcuZCu4jNIUv33JkEcgPekSNp0-ozV03onY2z8hHh8D-T4-G_x42danN0t8xAApGfL2EPBABvDc1jYEoyIR9N05KMtPeSfjIc7ZvXQaGaoyfyYy4RTlThkR0Kxvs1de9qVGe6ht107wcrnA8Uivz2vdAFUonKdCCW7dctpsn0TiGEgTHwgRMMVaye4ogfyvxyk-LaBrrgHDsYN5FDBNxZNdTEuEBYZJgCXgNCDMMflUuxbj6ZLzSH_GddcHoXQio15_V_UiDoptPGMmDWBC8cRYZMy4jddL4uPvTBp-EnQaiAMiRiMxa4tZJpUHbwTm3CQh-zTuDhk_XyErNIhRbPUwPhIz8r_Uh5355Zdt9VxvC3M1iQ4bJv_7lK_IqBZnIfXRmeWP76iFTPq3hoQ9303XTAyFEOr-bVhUa-7IoGQyrKREeSDYv6OIPqtzfqwdaUjvx1PPQiNWif0WSSMjR2z_9afsLe1y0xIM1VeHW3SPBXs_hGF24WHcpcKCzIBbXoEOMzXBZTr19V9mNVVpBT1QOSL_bDQQyniRwBEGG_Ykq4umlTOM2pbh3cHWkTYVUj75UN4ZZ9zF9Q8vhr2FPapevuO4GOak4ekCuj6PAYeFhyo6fmBthiytMs6Y_pQqc9naSMR-nF1ltb0oT-VMo0SisWdkpt85sJbplodNMoinRcne1JC2D2uWVcsB1S4N3kqiGA4tgkLRonfjX7TmHxgwrRThomztH0QHAAcqMFYjq4SrNAV2DbpV-QzXdFyRUIzdriSfLmsl6S19YL4PUjdHVZ9WPUgq4CV8FSzWbEdiedSs1CNHxegSbZwSRun_FIZJGBn09fUjhrsSusV5YBkIYAm0Qdc_312iVH0A2xRyXtX79UoJ8Y-FuxQiIUeUe9BEA3i-FoDWl-2jWPnBZxKQcYK-NyoF8hV8Bm_QRmmpuUTJhzQhWX4OiRRMoSbS-BEWrKQooSpq--yKkfzv0SLQ5WoiTZS3kNUoyrEd4UKMAHuEPGNQ4OWjGRCaMZyJsO7uviRm9OhwOsE4j6HaBWoJy17W-h6coabIdxlJMC_g3ovzmhQpYiJkeAQb92DBZM3j7DMKE2D2a_3T1T9DUkZ5nfKnJQlJRze0KRgifpk6ocIPQ_PnmG4lAIHsEkx4C3RNzroNinZ5MffCGHWvQv9jSWYKQaAKXGVcS-hfKtXgl2ZoV94ZPoP4rinTr-CIKDiOCogA3V8Kep7P-mS-Bzb-eQSdyx1D3xjPpXCveTC5EqcMwnZfJg9UfP577pYoBTVJ-2980TlVko8JAmymUAFKfVrCN_bBMnv6JAo7gWEuSsLAts7PuOCn_EnG_kPEL9L3BXvFyUmakQp4Qx3_ebeUJ5qfyKWodqlejefMhM6SAaiwfDlJ99ubqaFcDB02WV1YHHyuod1IQdJaPdhZLOFUokgaU5s9n1udGH82au5a7th26QBLz9Zu_Ms1uAkn9tzqiUdBQ6MAe_qmqNUM68YRq8aTm90hxi13uHpuovRGytaVT_60PT-FiDHY5K0OLrd9c5GmME36vr8tKPktWzg0cITwrPzRxi3M1ofSqMSQHEK3q9q4qTWXfCnP0v1W3fLQ5UC2GVV1fyRx0lB5BTQcEYsZQ2MiBa080WQaAKhUD78pI3ywHduFMlDmaD_YwMXb1fG0OlbGDvDQGs7xWyK378t6jhjeJi0fcD1qugVWQGRCEAgp4K0bBVgmWET4AfTEWs33G2cc2yPURGpd_Km7latBycmTywCNNY7c3vIKzTZfHySyTqVzB-s-mFzsDP4Mt4T0P_tldzTCp3MCgu-ZR0-0TV-",
  "id": "rs_09dc31d5032af043016a7e00d3a490819a9f4c24f04b6b2807",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.93,\"right_j2\":1.37,\"right_j3\":-1.01,\"right_gripper\":1.0},\"note\":\"The close was empty; the block remained just ahead of the fingertip contacts even though it was centered. I’m reopening and advancing the right grasp point about 3 cm at the same table-level height so the block sits deeper between the fingers.\"}",
  "call_id": "call_xFbxHAOHTbulOttKmEjnCyI2",
  "id": "fc_09dc31d5032af043016a7e00db1484819a8c0817f4bc5c1c8f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xFbxHAOHTbulOttKmEjnCyI2",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8513 left_j2=1.2018 left_j3=-0.7109 left_j4=0.041 left_j5=-0.1055 left_gripper=0.9981 right_j0=0.8749 right_j1=1.9133 right_j2=1.3422 right_j3=-1.0431 right_j4=-0.0311 right_j5=0.9932 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.0598, 6.1197, 1.9951, -0.0464, -0.0855, -0.0073, -0.3487, -7.5692, 7.6786, 0.5788, -0.0415, 0.0952, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 649):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3019fae1509988b40a10fe104e7561ff3324017ebfbe29ba11c32440eed16686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 649):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73b7189e61ecb503224c8c32a571a3a82440f24b46019b4168d45cccbd45230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 649):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ca1a31ff9bb1521b83a56bffdc95f6e120ff290baa6691c7479f795dcbee5f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 381 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8455 left_j2=1.2018 left_j3=-0.6952 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.8749 right_j1=1.8641 right_j2=1.2797 right_j3=-1.0534 right_j4=-0.0322 right_j5=1.0027 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -0.4444, 6.188, 2.0879, -0.0122, -0.0415, -0.0171, -0.3077, -7.8017, 5.6, 0.3541, 0.0855, 0.0024, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDnPPJ8PpP0CAkDnAE6MLPyMKCMh6zOIf0CtPjt24HriAZasiDjI3_-8MhwEozDKgydNr8BE_ymKcaL_uObUPveXfimqguEoElY1yFuwrnj-n-Ne7LkMbkN23fzU2zd1IOv6tAaS1O6ZM6JRc3h8yCbOTyA54KzCaI5KHkoi_6GkLDuLycT0n8hQEnk8ZuP6au2GG0sQUv_qdMEE9bfeKsfUoiSF8ImK9cyTVvh6NjLgK9muiHpqUIM3EmPIMjzY2GKCiveEk7lqezpOvY72IFMMNkn-2O7Pf9L7hZmngvcmTE16qqICDdLEoph9VVkXzHAbRTOn94lsagkcxCDWRzuEvkIcLLR1ZPGP4RgWhv7nNjWX-FLm_Hgg7uxi59FrWHNEv_uLCIU_OCGch2Rm7eH-PLQQjuZ8Lg0mvnP-InwmaE61_n5ny5LQeB-yXrbPwplvGf0uLXARWI3UPJ84EDz9GKjiM7H5klioHV-GAtm0IzURYzeEIVrXcgSZx-Zi7etuxvncJR_FWfGm6xW5ZiAzEnFEro065AsyQLdKZ9FcZyWzopzmcw3J_yoi9uthXfCqsYxgLQgLN0NtWM6EhCUjjH-O0JkS5kQPRDy9IppmNHRgu2LRkZN_obYcMoB19nTgQcEH5mbyOJqAFelLzC5nWBlIbjk4IFJ8WXPdFkfRW8qa2DOZcxMqCkHsD4KRmH55Hrl_HxE1kjjT-gHnTADmeh2gW8QhPasH9ZhT-OjPm5mCWXzH8xpFCVsIZEbsoFwQMs3vkE55N0_Ian_eRgUnXQsfEk0DLPrvkimzJ2Z3TcRNtBKp5PLUcb33rTC1VXQiNsqIl_eFVZauin3nL5PYD8rnrfyJyJaNvhmO-V-vStnK1-lNsO5BgwQnI-9NhMrj2eteCFYS2axeEdnfroLBy9wdMpKaBiIf3rLmIpaiIMqLF4utrIqI7GnxkQjadi6fFRdPTzGuaZO4zplXMq0PKJRF0HSh4MRYqRAS7VgjImf6yoJ2oW-klMy2eWP2XDcUJRXGPdO3FuwqeL0bSfqI0_MACvMnpd9EfrhWPYtOZbn9flu5VQKwFHjyo05dxMmzJDYdSJApom2NNTC3Qr1BQMmeHrUfMmH0hcB4UwhK3cSi9LUmgIqEXsEb5fiWORqwse-icXW0EYsRX7ny1zl1F4Luch1tcZVfIHZTfziODOcVmfL66U17nsQxfOC86p70R1JdsGcmkUdcMa6NwB9ICp0uNPs-CaU4AkiMcI_HUiCopyrdmm5JBOfnBLeAUCXvttNsNd5OC_WFNI5ShYZmABSpNHfjEfNvU1Ql1VwUysT5DeDjPyhjuEjtVHMalETKO6_xBhFkqs18VzGxM4zyVFRp3EbulRa2MR2JczHxvU2VtDizTzIf1OPSeo2EzqyqH3H_grXXf5QrEtsjtbuMzfrYpcfyx6RtTaR9ARtPQ4N1b2f6GnasS5ifbdT_mKiu4yXg0pZZ74hudBt7xJOXm_Jtu0Y6Sp-qBW9aCsT0L_TiuwrFDlEdUi7smzthoVpxYq5TN3ZQGem9CDtNd-06dmiBBOryH9NtqO-U6SdvjjbLPTapEUyr3VJAMrzpSfGku1-q1nFfUuS2lPm3zscSJduYBATJJ9Yy4XZq_nIvJU=",
  "id": "rs_09dc31d5032af043016a7e00e2ea20819ab171cc8d1fa68910",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.55,\"right_j1\":1.86,\"right_j2\":1.455,\"right_j3\":-1.17},\"note\":\"The 3 cm advance moved the blue block strongly to the right edge, confirming radial motion is lateral in this rolled view. I’m lifting for clearance and yawing negative to bring the block back toward the x=115 jaw center before the final table-level approach.\"}",
  "call_id": "call_jC47uWw3uWE3DPIOQlTXhGpb",
  "id": "fc_09dc31d5032af043016a7e00e5b6e4819abc2b0cd702658af5",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jC47uWw3uWE3DPIOQlTXhGpb",
  "output": "executing move_joints over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8532 left_j2=1.2018 left_j3=-0.7181 left_j4=0.0414 left_j5=-0.1051 left_gripper=0.998 right_j0=0.5697 right_j1=1.9022 right_j2=1.4235 right_j3=-1.1538 right_j4=-0.0345 right_j5=0.9867 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -0.5812, 6.1607, 1.9267, -0.0317, -0.0855, -0.0171, -0.2256, -11.8222, 7.8427, 0.2027, -0.0464, 0.0513, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 655):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b3679d69b87768c2e7bb45feff2b178b3f8447c27d61ad031a4fffbede3527",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 655):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e083995f466debcbe71718a2c28ddce133fd74b49853f27e706910cab97c92a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 655):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60d5ea828ed68ea5aa446875f261fac72dca0dc68a9171dd69b7a7451f14373",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 385 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8513 left_j2=1.2018 left_j3=-0.7109 left_j4=0.041 left_j5=-0.1055 left_gripper=0.9981 right_j0=0.8749 right_j1=1.9133 right_j2=1.3422 right_j3=-1.0431 right_j4=-0.0311 right_j5=0.9932 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.0598, 6.1197, 1.9951, -0.0464, -0.0855, -0.0073, -0.3487, -7.5692, 7.6786, 0.5788, -0.0415, 0.0952, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDwiPNvzqIrjmzPAeCAr9NEMKzJfbeK74KrhiifHlnMCFVmin6rRIGTIcDBeztxh-omrZVXbRJEHR8fiXDme7vUX9KLdSjWxXkt5hejpyHEURYzNFDK2OOdckHxIq7VomPKeODCSbVU24tbyaKtdSAPd-I3U_dZaJtsHcU3omcNowzG8AIyznOYyA1Xuo3Pzf0pH1cQTifbG3HA53UkmlOXETobT6MjnJZg_yWu3Jvi_oPFuHqA5rW5z-RMfhnkqpuxyD_tg0rf__e97c5eVLigx5ZBw5aceTFxC7cHPCW6SNgoY0UkLXHGtmg1eZeKIZX5WSypRfA8gEohNcNwwmk4Rn56Gk5Y6IFVMlFd6gxUhom1v89qO8olpmbptrrLaAR8U9OSub0jL30d8bfMnWRZAjUlCnM1Q1F7GJChqPyaqxXBBii4TkCeH5lvgwdSeACyTIkVpdLnlUh96DpZB16_kYYZpySSlSzkQkPrxBZNWGTV18xoemi6Yb9dG2Q_Y8TMgJQqxMsPOTp3k-kqh2QTPNngbgG_xF7tjRmZTzNZtGLOPUH1-f0xTGLsIfOJb_wO570opD7jNv298wb5ShMbMT0yne6FQwc3Q3MnymNReV2JAMyHZ15FVeH3wT13JGafhuUCJ49lk5T5EFrQYsbbFTAXJpHFr3zry1KMKq8u7oCypGH1dts6wM1JhNSo83y_piPWdPzInAEKnScb-ta0epQuV3LvWTq0__orkbkYuLeb3LNxDsxKK_FREL__aSy3HM3nTe5BJfJ1k5xChlYLfk8zYU2b_FPomnmPh2dSltHg2nvPLwFtwAeuvcNoNJI6UMv3BYPCGoXgnhT2ADzRXDqkSwQ_ISldv5bUw6UC4xf83qhK-qRZ9LvM7peuq95t-YkekONN2gyXS8tciMm5pULFBrJka-cijfPETX-04nzi3gWZ323OTyNc79eZFX2cYr9B_FEsuaG9C8s8t8ECgVfV8ZzKpfldPDQL_sirwha3One51sMI4Tp5h88gsX2jPsenDCUxutxr6e87mJdR03xwfuPoSkjsrdhx78gTX3Rl7X5d2tz7ktN8Ic9CSnaHjDQ9IkmlsiNqdU20yJDeLQl6Hg8fqUQK1rOLtERDLQQTIMdxamNkP-nrv7tJLVZOSJhngEKdFwRNalhWMq3D3I1IYzLbxgBgzxdUHtiClfi2TpmKNeidtCPPxJzT0zDacy4oB-31mIVrua8CxS4FFHZrWYQk_M-dg1gs80U3xZckBg-c3DMHv8pA9GDxdKRy-EZ9eSVQNaYXm6EMoDaX4JteChNb57pPhTDD0PqOaepxdLoAB_qjAAIHEU6omxcpnDZkpc3gGKRXP-QmhOW8SFGPEPUh0qhlHox7MBWKnjlB1xscnDFPezQxmods0HAtB_sVeavW7Oy99VKGAS-j2K1FGA0mb3r3LCGJE1GAGi9gVGkGMRjMMO3Hr2foOqpSsq7UGhZ33ZcAEpu5SCORJxtw03JotJz51snpp5yea-0mOu2lUM7mHAxIQBvIc-YaCBMIkfCnkADR9P91hU88TsUGC8xkkOQ-KE-HuVf8sQfwDIOTFNUlml14qGbEZzEbwiEbbqOdnu8FU7Czsg2ymceVMj8uVb9B7KaTYt5Nu7zGqVr1btNkcCP_X9HSQlF2j6rS_Kloo9uTYPaXZNEuWlYui5yPSGOrdlDbHnelWTpud7bKNFnTH5BVFbUO03fEBUG6UaVJWog_5mi-DN_rybt5n5d3LADSMbilhsE-oB3o_-cjC2I6S3SaLITW79AfoaGlKnB-vH8TihuqnIRizy_wXGTXzbvGZuB0S8vBa2fgGGBcsYJcFj59ip03KlFDjQ4ek7XmWidsXlcssTGub3OZwqV5zXOfyJqnU2hpOKrTCAz2RJgSUJaRTKmqAaOROpTASJ--NWLMDU11EAq1b6d1dPjzYG5uHhkm97wNcEb6AKNnBUi8rl8fT9rsO8nRFM_hrbvU8BPC-45BqK8n7pFPanXDGPakXu9Dx3eewPHf4TfaJD4By2JDO_hS8l6fjhMKdG_o8jsQCeylA1PEMlcfDhvLhMGPrOfPTthYuVekYxdPbW0UYMmBXOY30KmA7eNx8fFYlYC3hUSmZpE_bEEbfxDA2PXj4BV9bdLgFBqGV9ycbVjJH5p4sq6owwi9jc5CRrPnn-_Tewz8kGVsLHB3Lw4XHG0HR3ouDzES6-xT2MT04cB7BgAKQLOZFbbvZ_hW93q1-KDB1wWGyuQsklunflbjb5xwlxL9TPI5qTY8mpmF_6xLRH5-4OaiBajldn7dIV7uh-KuWyVAFpntVg==",
  "id": "rs_09dc31d5032af043016a7e00ea23f8819abbf1036e8583faa1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.98,\"right_j2\":1.33,\"right_j3\":-0.93},\"note\":\"The lift-and-yaw correction places the blue block perfectly centered at about (111,192), with the red target visible above it. The fingertips are still several centimeters high, so I’m descending to table level while holding the calibrated planar alignment.\"}",
  "call_id": "call_XUDchrZOmNmADsoytDUecIKu",
  "id": "fc_09dc31d5032af043016a7e00ef6710819a8df35e182d9c860a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XUDchrZOmNmADsoytDUecIKu",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8589 left_j2=1.2018 left_j3=-0.7231 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.5694 right_j1=1.9778 right_j2=1.338 right_j3=-1.0004 right_j4=-0.0349 right_j5=0.9836 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -0.6906, 6.2154, 1.917, -0.0513, -0.022, -0.0122, 0.1026, -10.0034, 5.8462, 0.3639, -0.0317, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 659):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94eb1f1d06fc671cc38b8d23b49ed61b5df838ce82ac14bc9d82623be9fce17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 659):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580f97eacf4ccf3078aee63fa68c59f1d9af991f6ba2ad06a4ec731c5079cafc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 659):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df95dae3cc3a0fd831f1ea7005a9236053b5b7e7b3e811e6710723912e97dd68",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 389 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8532 left_j2=1.2018 left_j3=-0.7181 left_j4=0.0414 left_j5=-0.1051 left_gripper=0.998 right_j0=0.5697 right_j1=1.9022 right_j2=1.4235 right_j3=-1.1538 right_j4=-0.0345 right_j5=0.9867 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -0.5812, 6.1607, 1.9267, -0.0317, -0.0855, -0.0171, -0.2256, -11.8222, 7.8427, 0.2027, -0.0464, 0.0513, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgD2ZvoB0elRK9syT2CmUc3XE-QE59xqiXIGi8bChtKC7pv4IkQBGwZK1nH3RKRnGJawjnmgk2rR3WN4ME0jvUUpkcvh9MygPRDKRhzDHk1uSZBZrZh4PZYgAh1Si9woxTBykVXkc0YMBau14aXVipnBOZUeeaqUk6kHdj1nRe2Q7ZT-kWO7mknPPZee_dT4_h7vMWcm8jox_xhqZ38s4sqvIt0ZPSe7vhJQ7QzQVt4rwKQ95YhOd37ssInyJqdF5sEBTutjd3HFZxBYWH0KT9muoRJT6rWk4UVeGS93yFbtx3VPcBkKYupROjKi_0_-JuA9oXwjVJULrsW3MfNpG0cCfm4JYEegOnOqhivrCRkH16hQhTFfyoN4FZhFIImT1i9Asbe1-Whtw8q_-Kws_XVpSA_xGREgwI0T9WUUvOiBJvFjs3Tk0TAiIvR7Q9uifyolhIJPN9LA_D1Gdpeic0sE9tELlPoJeMTHANslOtJR4ASzChEbiGOvON5YwFa27wuw_1kh0AdyrvmEebZWrDY-wGb7vfyUxBwvCXvR6KmW2XLJ0BA5rk4Qtx2pASk3-1n4luUJJ7BdNqZSgag0gnuZeh3GKCqIT5eRPuw_Y7ZiMMA7LdSvFTqawFk4MQQTFQDOireTxCT0uJr1etW-WO3_zkeQOqTzDySWRE4ENvTusadk-q1iP3pNVEhzDIzmOxQnlEu0FGzkJT4nzPrQBrfBsP8do7zbqAaMlB0YdqrRtgSqd0mSM5rNJNg_lD3Xe_ceQJeFC0vMJE9yTadKHXKtmT1UbxIMLA3bgDQKI3s455EMNYpRgxBe5tuZEIh8_p5DX87nO80w0H3AapepooeDrc_JZRLL1ovAinWVuCH5zRa8KJwJ-dwQMSREjTPblgtXpHFJmVZEo7OeEFq7vyGLpRWyJSc6SuLgOaHrztbSaX_1inxC15zQEyt7xRin4Bb9L75wyo1yJ9yZFkYxr0WiDICJInei2CkZzMScScTrNdR7yDvVXc7C1xBm9ksP7EVdfNynT6ghbZ-LNuNmbBKhqu-wRwoG_EwNuXvM4EU4UcIB4IodLQ-m_O-_L9bop5GjTEpOh6BFh12Gpb2vo45m-8srz3WjOp5Cq4uj2idHRC5OXwIFC5WSHHlPiJJP785_IV0Y7RdTBUo5eVwlRjsTkGxgXyAq_Vbijl1OiwleXhoCm_ZCCZXAIEnUIuYkeslP2XJ-cKNCLG3AuApbZnjkkmggvNd6tOJNPahCO6FRPx0xs59E4NpXvHVVZeKDw9D5oaYaRLtr6uTeHTPyi6PBVE_VglqCS1bscbXPZU4IOSTZA1n2WOYT38Rgx93vv7R2i4z0oYIaSXT0p6EPzDI0sq0BY1ZV8NBCLOf3fCxKgaMNyJUREUR0aMZLisbJE7-57irJAuz-Zu1v9JxOFx7tR5-WJj19XaVP9TyjJcaW8qBJLLFAYFe_XRXVgG6ai_givHL5jNQvzzlvfH20ZsPBMNxwZYA4bKo-dAQUyMPKCEQ=",
  "id": "rs_09dc31d5032af043016a7e00f373fc819a8f25dc1c91f6cabf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.67},\"note\":\"At table height the blue block slipped just below the wrist frame; the prior yaw calibration showed negative yaw moved it downward. I’m nudging yaw +0.10 rad to bring blue back upward into the fingertip contact zone.\"}",
  "call_id": "call_bush4ouOgBLFlfuindPhNHz8",
  "id": "fc_09dc31d5032af043016a7e00f52d30819ab9fae2adb4a1ee26",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bush4ouOgBLFlfuindPhNHz8",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8604 left_j2=1.2018 left_j3=-0.73 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.6155 right_j1=1.9896 right_j2=1.3293 right_j3=-0.9718 right_j4=-0.0299 right_j5=0.9836 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -0.5265, 6.147, 1.8926, -0.0171, -0.0415, -0.0073, 1.5248, -10.5504, 5.9145, 0.0366, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 661):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c43c43bbf97f8105082db4c80d2ca50857a15f773fed5792c766c35aa7d5af2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 661):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33906f45b36d2f1b527ae423112486079acc14bd374af5b31f81c4763c918cab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 661):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ca6a937aaa5c70bd90e7ac99f50b335af477a622e0060b5dc755077c3edf75",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 393 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8589 left_j2=1.2018 left_j3=-0.7231 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.5694 right_j1=1.9778 right_j2=1.338 right_j3=-1.0004 right_j4=-0.0349 right_j5=0.9836 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -0.6906, 6.2154, 1.917, -0.0513, -0.022, -0.0122, 0.1026, -10.0034, 5.8462, 0.3639, -0.0317, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgD-l-gyOVfFfqjpwSiGVUrYZ2ELJ_1XQRiKvEZHZrkqMCgkZvfjl_eBRsVoItho4A_HyBePbOZnse7WqquSU0X5RNRRgJX-WGSKJTFPgQlbsYTiPrL9HycJjIjsWNlk9I914v6veD-K4xoQnSbX29u2ZfVmLHjvG-hg_MHjJ8D51Ng0j2BM9EuoErMy8WFMQBrdaNneYalqic3mR8-cvz5VMvpmQoKqDkYkCdpjc-5sA6GlkD4wf3TnjmTIVzeyvwAIJ1NLn5KVw-OT47B5TQl1yiKojtE77KuRLsIf4pEd6lPWQ-PB6rPHX9NgnNIHvIuH_z6fshc0-Ly9hGoCGOOvm-fLDaXp0OP-CeTl9d9JDjMIHR76EIB-_WPLp1cmYCrIncba3F5xpVzWxUZ756ZK76677P6NIbkYvqHJl2aT3MhHVszNokPUvTcRlunQcFPj0PxBAEmFM9fiF71DAU70c_N2WgL81dRyAZSRKIivxnhg7HZNFSUhO7bUYmhW0eH2stHtXiEwifZJQKTkunJDfztoO5dqEyrAfeN4uPUHobWMq-wtHS7PYHbGLOKitd3mu4WUOj5vUSfJ0r9k_Fh5rdnmrAnof9VUlIWhsLf-JmynBJcCHII7MIRbMaToWD1MCd2no6k9pjmzBpHNIBnxfcok_igdN8LnjEGYWgiMWtk9n7p16iJTYn8_wCa_p3ySz1nzyr_R6RW_X1PRBrT0tfuR5boywyB9YAkpfD5Zh0ijxV-rzF3GeZRQhoiiEVKhqZg8FbPTMfP6xVwy71e_PNXyTrP-xnTPSOJr4F5E6b6vzP2PGOr75rfKhhWJJ-vhht2QkTWRHkYvaGFpb7rTGUJfxnzAQCZQPHyr3VndguJ6tCJDYKvfvBpQED_HEeYXgXkW4O3eu4w5inBxCcwFE28xLKzjReryMUoJ_irZS9VTIfMX4pEVk-X6QfV8U9ECoFeqCLNhj88oqPgRrqZa9H_7XHipfXFvu12aWTY9_Z-jMmEHP7fllcrB2WPM0pAmz23wQOcGpziBiPwbbM6MQUK37mg3GIAN6auEGPOvezt0acsAnOQP7mWOitJkbiWFz8YFgKeNMQjXFdaiVJP2t9XJsO5cm8xvz_TTkORyLyxXMubdFA6SIdWjPMewN68cV-yc1IWnBxnQLD8VJgHXK-Ibx8GhNi-z9jVabE59RSkKTxucovo-znIn7sp98KgYxkPO77L2o1RDADV_gSboFi7-OKz84576j4ffnE_HMs1sNJQMk0_K7WRXnAXMDekZJuvhhIT-8BKV8xU_9flMcS4NLkAPFtwrtf-rDy8sfaoHS6Z87BrIaKi6Wssi4WNS3PoQw23Y1Wu8qDYgyglR3PdYd2JHYLSshtAaYEWffLNdvgnMeLM7yp6J7c7f6LcYJsorbbRper3n98F77l3sNWaU59jcZPMv8OASvYP4HLLJ1MmMBexe5Ga9BU-RdVZFOcdAVRSaexJhi9olDijx0oMA5oI_3o5VCCTsuy3EPoHa4Q6PC2_5yaazWeCZ0LPTSVpM5EBbGaZj0PAa_qbPMqXElzG5BuAfX2rEx3TIZ3MfLSRRN1MoF-tIMmRHDuncfGvERvurjjZ6FS3XF7pjui2Xv9ld3ylXasIoGmUk1hJHKlSRitCL4BsV2OoJc9W86XfRMLq1O2j5l3E3gNvkxD34GqL4U1mlaJocLlfha2aVeXaaaOm1UAJxpcs3Qb0WLpKH-GbXqIOONa0GeIY2DlMijeYZYb2d6ceh2QulAj9vOmiXCUIhfMR01-EDdHb37AteK620jedXQV2oX1Bx8EOHOzA12pn4t4BC075vID9yrl-TgFHnBbwl42zvNUVN8ESZ9ge7NJphejr9MDYurRxGeFAXRrE4whwxmx8S0zH7l3trAFBy93_6XrVfRqMBagIc320AgtzoBEzxNBHOaV0iM9GlnjMHxdNB8gP1xhGNBOimlwVyLlWOD5GFn5yO86Mx--5dzO-aqY6T20OPuAJh_BYIRQQ3VK6L1uVtiaq6OYckPigw-mFICVUUcqGvpZnTC6rAkGHqyo2yYfUsvPfJYKnD06owAHWXKQprAvILZQcieGA9_Iqco1OFZ-Rl",
  "id": "rs_09dc31d5032af043016a7e00f9f064819a943809cd3fa161b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.535,\"right_j2\":1.08,\"right_j3\":-1.12},\"note\":\"The wrist view shows I am over the red block, while the overhead view places blue about 9 cm inward (image-down) at the same x. I’m lifting and retracting the right arm by roughly 8 cm to move the gripper from red onto the blue block.\"}",
  "call_id": "call_h6at27ysZgGXchLdZf5acRBO",
  "id": "fc_09dc31d5032af043016a7e00fd6528819ab576fdc3da64daf3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h6at27ysZgGXchLdZf5acRBO",
  "output": "executing move_joints over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8665 left_j2=1.2018 left_j3=-0.7418 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.6147 right_j1=1.5692 right_j2=1.0927 right_j3=-1.0943 right_j4=-0.0349 right_j5=0.9836 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -0.9778, 6.106, 1.9707, -0.0415, -0.0757, -0.0073, 0.0479, -6.9812, 5.5179, 0.3834, 0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 669):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00053c908589fb7399580e1dffdd7aa991d6f8cb9c5b69b50b8f814a35529e50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 669):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9150d72dbf0344a5d1c83f61433ad1fb4006b774432608a2578de4e002ff8ace",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 669):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b822661ee89b824d1c26d092755d6650914669af28fef2ec92102f6c6bf287",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 397 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8604 left_j2=1.2018 left_j3=-0.73 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.6155 right_j1=1.9896 right_j2=1.3293 right_j3=-0.9718 right_j4=-0.0299 right_j5=0.9836 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -0.5265, 6.147, 1.8926, -0.0171, -0.0415, -0.0073, 1.5248, -10.5504, 5.9145, 0.0366, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgEJqw7-eyfsmljn7NMQ5rilEzpVP6pLSMesJzI5l8HR1a7cLLz8BZLgiqm_Hrxx-xtZtbBl7yKWhO-4su_vcQoE7ilGVf9ZpfkruE6vGF7coyqgU_mSDOSXS-s0AuQxSo8CwvpFwQSOf0VdK8nHRSveo0FYdFfNfYH2veKiZOhZv61dE5QR9-0P9gg2pbH0_T2zDVx3t3OKba72npUOXEa88DNa-PHYVzdB-VsGStALFTrQrAhQMEdfV2qmUCgcFULV2xyhhF5AYrsQmeVTTtTn9u0ZZKB3Cns59uWuQJtqoA1w7mNcQ_fj8AqUFAEnObhrEvwZ0PnekNcF-u2rR-4Acusa6FcxYmiNpfEpg9iV_RaCPxSQ6A7nwtwgNAbh3AAJXvfa4Havvs05UQ1kfdS07ZGcmLobtbavhSA77fVPwP9EsYAg5pPmyyN_hI2p2y-j2M-l8Zcx_eUS2t1vvkz2ducO119tv86t182YFYMm77nfcj3VPr0ln8_tA2J_oJIGXb42QuOEAfS-3hOJ4YOgVQzo0LxlEddJ1S_56efcmmkFoft5SFEYr2xAFaSfqfw6fj0pFNgd8KYp2zZLWHfkSJK-mmCSJ9uWqRzTv6gaMARm-HXHF_zJSpmDoiHs0ywXC2kx2HybgyaAIGbfFdSq06AwOS49cGFis_d36ajJyhYy9avIsiki2t9XNNE5seoodMc7EDP7FisLrF52ebst1U7LogE1GuefvwZ0q97GUfdCwwALMW9je2und6M08KUwDmz-PjGzcWf6Eh2oGLI88GVYK2Wgb6GbLxYnKLSZO88wwPeF_DC5PzMpZ7mzW4pKR_PvgjfI1Zdpeuaf6Whitf5IW7EuEEso_-YU-DyybnqGrV4UNqPefD0BAX42QkC0oMgMWe3XNoVtuWLHIwMGjiUVpeYGZsWvqDtgNrPfif6yvvkgdZAGzVbHN9Ocs2R5jSnmqVU6rmBajNiVUX5jSejHJFlXKfkC2J4_mrSRFbh0FBj7oBSWnIW-4-ti9KglX3qkMIGROrl33IKjfDVMV6uMbQXDt4mjI8ElPHmBpk5nE0hQNIKDbgUo4Bt9DzVgqjCcaSKe04tvaQ60Bl_Swj892eeBU2H3au3Vg_D5cLQCgmAv3Y45F4caE8UuObG0bqxPX6nqZ7Qc8SwfAhH3P702vvMiE34rIhaCalO_oDG8-3avazSuh7M4I4R2INqmD6kYFYV9ga2OTay2uBUTJlZZ_vn1S1u0BY-IXF6PNgbq3RRb2M5OfIwu764zRgD8Rf9cFnp484UwjYDiK4pbp1fXRCWh_v2D_WV7aOIK3ya906X4KIPv6fH2NfeR7YIp7CdhOyc9tBOklJ-2vyl8c7O6fpyeWlCjpucaQetEl70eGXyTHa4UlMTMV8qNnWWGi1oooFZqO1EdNHkBRhXqMY3AeBjg0griKoliLTfMjYtfrXIiXxWRS-7EQr4xYhRCQUSkGde_6P2gwtBKLTd15JiqJONWVbmVYEaC_sUHfdFlwPHP3JvxW81iMYS_GykkFyB22O3JFJlZ7ppRYYjxJvQhg5kHLSldIR018MKu0Hoy0FBiHmL2QgwC8LdmyU8UdkO4rLFfu7AvRODNW97tUmbm_A1zwE9LwEqfZC8zGkSAaLVq71qzmKUyAscV6msdhtyLHmA-YMsHu8WsRpnWzJCMqn3JQDZCBqN9P6zwQTpmWPQmZ2nyfP7eFyqip9WsZRBM8XbagJjaug6vGii6MgBWPPvZw960ay9mMYpzqdWNk3XF6u06gkZYtq9__97s",
  "id": "rs_09dc31d5032af043016a7e01018998819aa4df649d7d3c0c70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.63,\"right_j2\":0.96,\"right_j3\":-0.9},\"note\":\"The retraction worked: blue is now centered around (103,175) between the right jaws, with red safely above-left. I’m descending about 4 cm toward table depth, expecting blue to settle near the fingertip contact line.\"}",
  "call_id": "call_DF3qlVmv7YjTdoth8WKVkupv",
  "id": "fc_09dc31d5032af043016a7e0105e608819a88300296c1a44f4a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DF3qlVmv7YjTdoth8WKVkupv",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8734 left_j2=1.2015 left_j3=-0.7559 left_j4=0.041 left_j5=-0.1055 left_gripper=0.9981 right_j0=0.6136 right_j1=1.6165 right_j2=0.9852 right_j3=-0.971 right_j4=-0.0456 right_j5=0.9798 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -0.8821, 6.1607, 2.0049, -0.0317, -0.0659, -0.0073, -0.1299, -5.053, 3.7675, 0.6032, 0.1294, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 673):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea16e10f68b07ba22dfe4af0dc5b345fe0926517e5457287421dfb57ef6319df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 673):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5619341466ce6489622e0c9a1a18163d7f967a782cea9df115830c71e171b2fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 673):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0540cd4837de84a00ab760e80c7cea2df2966e87e09ee7b3934c4e036471b98b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 401 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0109 left_j1=0.8665 left_j2=1.2018 left_j3=-0.7418 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.6147 right_j1=1.5692 right_j2=1.0927 right_j3=-1.0943 right_j4=-0.0349 right_j5=0.9836 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -0.9778, 6.106, 1.9707, -0.0415, -0.0757, -0.0073, 0.0479, -6.9812, 5.5179, 0.3834, 0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgEUh0CAKFHK3Rv1WmhWadJL3zKbpMUWIOMhrBwpUHrtAEJ8IMbcqTgd3XxnzX2qKKinZaZ5BXrKIaS2VH3AfSONHUOazlrDMfhMp4_VfDjMlCZCa57yOLt4JS8SpvBH1SE3nv-Zp2BuLEKvzdtzPOfKsmXOBd8-xIaRuVta7z8ogDr2fTEDCQHgJI75JlJJ_bhWtScXGt4TBUVuY5HhevHlcpgmwC5jSkDPsXuermnfNVGc8mWQNvxCvEUKK_Vir7gi02sjsOhTC83Ype-ZW4fLfzko5O7Xqda1Xx823iOJluF1oSncUNApBuQAVpAuORImOVOBLJZVkEpbEtkCUcSqAj_8ZL26Q1X3VYeOawMvdHhwjTVNCPRPUqKgeTV-c4wt8URARWYDUYPqox7c9kAFkIMnfkYw7zyjn4jerMpcy6x_q-fMyovP1hYcgfBq-CdgPn854wc4GxHFH7H1LvgEnv-i5JinISfW3rT7d0iYV_XxXuA-gGGXWeXmYREE7xWykOkSTKnKaNkMOMMlkNiC8DE-j4dAg1FNCneVJkkJ-TI61J3hu4z7KOZ2TUGBOMk669PEJn9JY563hf0V__3gEUiL5Tj2qwX0xgOhEA6aAkKAOHrDtilgQY5m3IepAbqxcvpgIonnidKXW2cCmLbQjVVTPyKXOnnPNdj99OMhsZgFA6rn-Xb8zUYZa0tGzvR-ge1g2psH4t3Bw02ifNZxLUN518bZmA8u0rYfOfZlcrwQVjE2UzUr52-66ofphszdmJDLPCla7ECjAuKAgtN-CM5sE5I1PWXkysDW-d7aPNTtEYdtgQ6gfeLsUUpWUUPpTBPCq1QKfYysIRIy97Bp3XZ86R30HtkQKz2EHBSAdDekyyWq7QWTEZVEFjvrikXqwhxoX9nv_p2_kqBk9vE25n1YlthIrjKJ_CADewNnpGmbWlaGIbHJVZDQEG2ZBjFjuA2x4y313otCMSFvH80c3Cj6qy9eSvh6d68_7IMftj-XfLaD8g0o4GnDZaJo8ToJdswPu0eO_NMU5baPr2mvXD0tu9ndJotRVqvrrn15u2skIYNH5fBkH4O0uWp68W87b1ietY_Px9XWR5l6NMpH_zmR8CEVFk4k2RUXmi5cOipXMFCka4XX7oAN9DXl83FwrrW8kDt9_BuQBq_BNEkMXLAtv6qSODGqft34wECGXZs0StY7Jbp1amObw8-CuUmyZPhynA2MjoUDu4PMfp6KRSAGMBPkyJiHMGd9aB-vOYm4LSfRBVz2Z-EYFKl6WfpVRXy18sXkDGTkCrO-q8Oo0Pc5Ewpr8Zd0z9aoO3wCXmVX2kfHd7u0b2ZUFPsgmOUf3Oj3CcHvhSzBqjP8-0I-lq9voLi-ynThGGcJD9Psz91k3AeRNLBMq3u9rzCMYOxRLGKs9RQGQIunP2aKLiNL7Vdc_1pxj7COG8BZkMS7IK8djbY0wP6Yi6wDmSLiu29xuZ9Ef5gVw76Ovf-zrJNw3iEzkRjV6QNw0XHT0ioBT9NHyJ9xCdmfoH8S8-wOf26mMe2rQfpL6huOJPTTeVrhHwFgNiZv6ds6NpB2tgJqM1DUc-t9YYQkahvi6C7aNsdwJ5_7SqjZjWVY-pVloqq-DuolBuMQg9wgXya1QAey0IoJmBViwutK5C8FWGCLj2oz-8BOleWYGIuOj6VvTrPDkAxANcVI1G3Ss-e1reoFu1lPcMDeQD7JEw8pU2HF_2LVUL3o5aSvUROYMaHGEpmP-u_Vo5teodtQDnitPZGnLiNHJWCtUk_dcuVvw94DnnpehvKN944UBrLQxiZpnamYa1S2E-5JLO3Ha632UbP1b1f6O-8HxFaFWVS4u2lioxSDW2pjASUMIEGGfEm1Zmkcy9xjTrwLGZh2CfNEEciN0Qu51lFb2RHmAlgXfo_FNIhe290NfYrVPEchQ-i6iSc_o3IchRFTcXiHNzXSllUPLBxA2chTlhcDFf5eMd1OOAuDjGGVOVf9axg5H7LtqhHYW4TWSL63j7RAKmh8PEjmKM65R5ZRbPcE-gA7KgSc7lMAhaL3YCLskg1aiPm4S1XcEiy_hNbTu7MS2NLl_xHYyrn_ZzcXOT8YTZWsD3yhGIH3vOpqro5ONkTvvB_47N8oY2XirdUC-TzvQJX79KqbQj_PAZf_pZxL1A2uf86lLJncbs0yloUYsfKsPYqjl_kO5KE_8aQiiXqWftropvggn__5vXcAHLuUtvluQCYeSn9cSqE-hk6e_YbZ3cgwz0U788F1-i4cesrSxeyznsHERaN2LBC3q5LEvUg13_qfhl9l",
  "id": "rs_09dc31d5032af043016a7e010d8d14819a966d39ca8283fa88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j5\":0.4},\"note\":\"The descent put blue at the correct depth but toward the left jaw, around x≈54. Since the gripper is directly over it in the overhead view, I’m rotating wrist roll negative by about 0.6 rad to bring the block toward the jaw center without translating it across the table.\"}",
  "call_id": "call_l8wQKgZWTxUNNZINPsmmSeoC",
  "id": "fc_09dc31d5032af043016a7e01124db0819a8d46022317774386",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l8wQKgZWTxUNNZINPsmmSeoC",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0105 left_j1=0.8745 left_j2=1.2015 left_j3=-0.7643 left_j4=0.041 left_j5=-0.1051 left_gripper=0.998 right_j0=0.6128 right_j1=1.6157 right_j2=0.9802 right_j3=-0.9657 right_j4=-0.0574 right_j5=0.4709 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -0.9231, 6.2701, 1.9219, -0.0317, -0.0757, -0.0171, -0.1162, -6.3521, 5.7504, 0.1636, 0.0659, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 683):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22eb7ba4b9ad48db6a7b16646e90d27c7825e32170dccccdaad3518047a2013f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 683):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97304f35d5262d8cfff6ddb4f9d574058226a795740a89ddccf9b7505666de4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 683):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c0f4b6b44af63abb4676a404a9d81eb75176fb95d6fe58fd3d8d10cbc7e11b",
      "type": "input_image"
    }
  ],
  "role": "user"
}