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=-0.0021 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0219 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0254 right_j4=-0.0051 right_j5=-0.0147 right_gripper=0.9994\nstate[joint_eff]: [0.1299, 0.8957, 5.9556, 2.2002, 0.022, 0.1978, -0.1441, -0.0889, 1.4291, 6.3658, 2.1221, -0.022, 0.0904, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74ea4c5e9be38b706bd20f285a016ed89ca2e661a8871eda37195f180fd8f275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc03d13c8823e65373cd70ccfa5211054dee7ddecc58f47143668e390c704aff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037b5d82c120d400a9eca40602751b29eda690f27c25729c85ab7a37708dc3dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_0270c36bcb04f20a016a7fb32fa3448199b2101b2008aedfff",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7NIZEMtL1VGGFErBtDtw7KENZu2fmosNAy_Ndnog5Y3Ns2U66WhLl1DjuvTKs157hdh8CjDmJzROezDZ2DGNohdocoqw-mvxCGI2Gu3M8htvhKprzHnkaON24UGalCRbMcVX8FnhCeB4zYJzn0OrXoHV8zLP5dWpYWLvdL3XOWEi6QkE79umgrBqG-Cl674qZDta_c0fMOfHsmVOamtmjdMD4JlOrymFzc2DCnXJu6grBdUlJ3seevS-wWCOY16o-mMn_musa-dBGGDXJ5V8_Z1nm6Lpa0quDR9-u6a-TPvkCucmY_CCSefOcjIGv5c5dYpy09kIX5YcVrFvz8CnvaF-mnZdH9c4QBe6o9jFdQHJCqOawB9w2AXS3aCPIcguAci3XP7u18WNYYyTy57SlQJpEr_rhqkfj997O1SoGpp1AM3LpF_2nUsLffyiFxSqnvZe4zEzlAyHZziAgx0xPRR_Kw_r7UOr8jnPcRdpLxArJ2EyUEyPbeicF-ZbZ3YE68trAyA9VEmdVQnY9OSFT2GsSj1uUZdBrkV6hiJ3dlfyhWoeIBgzJLkM7hdYw0pVxZSwd-5_3kE4kiuRuPh3HyZ8HbMXnRH2J_nRDdK1zwxK7NqdzH0mPoVUYg10uZ0QkDZ5Dj8XYBin-cyL-OSeNsriEl97DPA_wrGHxXPVgZB8Fwn1q2AnIexcPhAr8G-cpl_Yf_NQ626vF7-rEW2JxLkDFetJXJnLw23hH2v5KEpMgjy9DvxMCjtvw0hTXmNpstOvZGTJ4k0KUP85p-b7m2oJgMPNdOQICELAczEYkkP8e4WDPLyoVn6OOuFpWK0vwNicRk-31BWUVk44g86e84dBUC9NC7fsZDCHeO4K-VVoSkp9wk1ANB4_XeJQzj4EL8IOAQWrlrLshhk4sN-Rr4eDK-9LWG09FiOTkplNJHKty8VZfvUzkYT-CZpKJ9D-yk2-IEm3eRiaLUZjtP08TzyTNsVQmPUxHXrhdQq79qMHdcjo7HOff59qyx7XRr211xentlNwfUL4c1S5rxCbwU4sL-osCSq-d-MZcKl7VtUFoLSPl2n6B-aER3gKumWKIc7vNd_3cU3urlYmtpJfoHS105j9SZbkWW0Z39bP287k1_F2hzdERjTOCnug9Er5IfSZMsXFYvziebLwMJOzUwwR07IJmcw8VlGsBP2-F6yvSmp754okNlThbw5VTKPzU7gM0M30X1oiXiOMHLGPaJmbyDkcH0SeT5pgSE8Al52mvZshWyFu6bQktsmmQjhN55WrZ8PBSOTSREjRsyJ98HI0xnBwpEBx5RLYnW7c0-YcyJdamODXNIyOdwsu9mf6aahfSeHgSYmsDZuKfCNGNvfOOneLOXPjOTOslk2csPeiec93rjZR1UDlluY211iGau5Au0672xLIQJI6NSDNmT0fIJRJCR-szR5VjANhKfEEEUUHjVAyXviTc0dVXqxaXaQMnxZDZ07aEXRu1e8IQk-2bU2tXpE3wbcqdodmk51OXK50MIVFSIxe1HRDEu6TiwPLI2eVvf7j70SCkioE7yiLgyW1EN7005aIUviGpGpdRrz9QhW3nu24SqfwjCIkoq_rJZwkOtbbDCqbQiER-hSCF9We3z5OR3tgpfPvZJLNSdYFvE1Gs0I1Xh9_C_uU1o1jfRjz0R-piFJVElAvQTbwEemCGv4TYPh5srGlUY6qW69S-CkJ-_Dnt_MXQuwBVAe6HuruoN4Yc-wo5sBdkPzJxzk6g3vb2ATYW5XZul-rmDkNMBKyRYUGleSl9ZD0PBAgYcSVwd4ucAE-6jhQzQewgOykEezd5uQ36qvnGo9Orl9LqDNlvkTgNuhNstILgrFAmDaf7rs5ZGH8kX-HMQs4gKIF9evGOn0sA5zlM6PtIXFbUnlwNkTo4EH64Qnge4zuw6NGFRWryA80sYwX0mwRaftqEI9P_vEgxE3p__OMc2Gd13enANBP-sfszLi0tDWKNQtmQM3jCY5npb7jMYlOEASwlat6dOpQ0knoPdtctQ6VkITuWyTlu3D3caviY93_PFOgRDNLYvz7udM_1ghZqZoxI7e4kcVozma1VOK_YnrhuH7GqUOvAjFGNZVj4jCQDJ4k7-0j8thHwZH9ZDrz4MibfOXOwgDZoRdDG-7FyIqJ2WGAZ5MbATKqsEQqMbjkJi1qBRx6BvZaaqTMbd3iIGtKUe-uZeiov4REPD9dff1os3Jgt1jMSro39LK_F7yGEFNE0o_knBtzbhAXzSUxl9SzIZuVpMXSuHGKxvDl_2xIa9I8r5eaeMKw1GgER0sdWfDCLFnzWxtwL2bUtIUHszfKr8p-vENCNKPbqz8v4aa321t0UyH0ZBwhR8XP5wahzIgz2fZQtN-WaF9Ns-i9jnkbyJ1l3f2aICiMKSJanzBGAR0cA2kPQqTbBqGzZIqx40tXXOEcTx0SepUk2Gaur_xbytDC1szKgzyMvvqDdP--l2C699ln8u3xl9-czNYf31WGJ5QXTi2HtEXVeuE0xQYp0ImEoyxD752bfaztBUSd-4oBnx6tYI2KSXn-eQ4eN9FSPptYQ29k-FYrgPsbiAOCeOnfGBdkIT2Zt78lZCB1AVAlB8IMVIY2DbqQ72sNLORMYHUzjOuC-iKXG-Cb0EiZn4lvQfai8wy_3nSTKgoaARb1zzB4ybOLAe1Ksa0Uu4iuqbZC8_i3tqeaRpclqtbyMG6jenuZm7sd1_wQPeq1bgVvjgX_087Cp5ysOHxFUAH-4vuT0-eOEKGURTLnNIKXrBXhp__jUTnODMH3uI=",
  "id": "rs_0270c36bcb04f20a016a7fb33b7a048199b08c523bcf87ade0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.63,\"left_j1\":2.04,\"left_j2\":2.09,\"left_j3\":-1.62,\"left_j5\":-0.63,\"left_gripper\":1.0},\"note\":\"The blue left block is near the center-left and the red right block is about 20 cm to its right; I’ll bring the left gripper into a high, downward-looking approach above the blue block while keeping the right arm parked.\"}",
  "call_id": "call_9wjLOGhO7Hh2m1MJWV5JpJUt",
  "id": "fc_0270c36bcb04f20a016a7fb34613548199925e756345836957",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9wjLOGhO7Hh2m1MJWV5JpJUt",
  "output": "executing move_joints over 34 steps (3.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6273 left_j1=2.0434 left_j2=2.0628 left_j3=-1.5913 left_j4=-0.0067 left_j5=-0.6254 left_gripper=0.9987 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.009 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -10.1949, 7.7607, 0.1636, -0.0806, -0.0024, -0.149, -0.1709, 1.812, 6.9675, 1.9414, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593b6d8fa23a4a5c02f445876202b4f06eabf8da53ca7375736093cefcfa3ed1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47722ed387bb8dffdef3b901548ac51fabcbc458907870d3b8aef1851d556235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c32e02911588c8840a7381cbed21fc126dc7b3348f2a215abdfe9de1ab14802",
      "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=-0.0021 left_j1=0.0093 left_j2=0.0147 left_j3=-0.0319 left_j4=-0.0071 left_j5=-0.0219 left_gripper=0.9988 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0254 right_j4=-0.0051 right_j5=-0.0147 right_gripper=0.9994\nstate[joint_eff]: [0.1299, 0.8957, 5.9556, 2.2002, 0.022, 0.1978, -0.1441, -0.0889, 1.4291, 6.3658, 2.1221, -0.022, 0.0904, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb352786c81998c9363a691092e8c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7NltZvzh9_yib5m6cbeadRvkZR0-xIfbBOZBgTSMd2S4fRDmJ2bVG8dv-h2uyEDTYEb6kfcbFuzxZ7s9aduA6vnf1OtMWVpoKhZT8edHogyHFOyFO4uRbehKDNwbXXFNNg0Es08sANsv6S-MMdfMbiDcq_TA0f5QUFUqsmkFh0cQjDw8FGLcVXHPWt4yYiqkBHjZmnVzlavasu48KQgUjMSg-A3HO3otUuLcB5AOhJbborUx936RNXKdNcOf46AWfCfX1No2Hgynk08-IDoEb7EBVSXGrd35Dp6ur5TEF6lN2M3B0NwQKRPKRYra-gcDbbSwDW4pXUhyzZuv8RZhcNKGCfgAHKYfQpSqGb5wxHXxlGELwZRIZOyDPWNreyKB2Ix7dRSSrub2kcI1raDmwcuRPczxUvrZfOIkUbO6s8ckxn6L5nnjHMuDFYscrZJd_Pzt2O06T5DqhBj_Gzccr1KdGhZQJdyuVWtAyoUHU7P4SGMgRmfA7oxL1fEuPAKF7ithf0hf6fC_unhFAPzDX7OiZjESnf3u146fsa89Gc_8EOoDHw3Rq5rH10VavKn-7CC61pRT36TfQN2PfhgByUC2l_cgDs95MVnNMSd1PQ8D71eAyoT3vlNU3qR1q3jCes6XRg-zUAPAdHGQ8V4lRrZCNm-5OjHXeLKgLbj50_owh6OmBuHcH6jU2SYvk4GI_u-Q0F306UOnDTueoIPTjgcVR4GVTawbFQyTZ9F61xmwP24oeWxSmObiE65yNoEqBoyP9Xjfi3vh8-Vv_VW11QKO5nX6Lybawfa3y86LErpnNQYJXBLVgPPQiSLuiAvRJYFuzhqqrHcrnSK3kgrNtk6bsI9ak8yyp70w1POX1AtKCE6FsOiwS9Uf2FjafOJXbB8MvK1bxWmvj2nEL4RA-W2-cbUKElWY4XCsIVXzMK2zVJZoSYpWCtMVtdavL4M3bPQ6W7smP6Ias0kvqMepYofeByIap2KiPX1kqYKYdy4jxhxuERgPEZzR4UwXdbZzsjha9GkuyiwVba-xOIoooGqZMWli54t_xQ8m-JiOYMSp9BOAGY_LYil7lC_PTdvRy6T0wOCpO0VqzCBFkUSqpkr5NplIzH-iFdfPWGaJpUZjCKuYyhBxLn0vKYGI0G4B_wg1rEVweQvaIPQXkgxFcqUlI-L0PgNx4lSyTH9LuPflrSiNoDnAiNW8MrEuGh0mw7BFoGLxhBEyT4Dhb5IRY8BWUlIxCRrdpZ3qJnNT5ST4LU-_WIqkZ97q4wu6BU4KIjAC7zvtTiHf7KTMHwCLnYaFq76UBLzJ3M9vSWGnwUMMbLM-HUFJPDpF4vlMCchagvocYFwXwzV2u9qwyMxGy53xPN4XTmrZsF5ud5B-GhIM-eBs0MehcImGF_C7ozh4HGWhbvTud68O2OpX21Du-jGtB1qXNugTn_ktPKgjoA0Too1TgS51QOolgVwzA__Ywae2C5y14_2syFxToRRaqMOV61JqmO4ZkQuF6Fzm-2eU0kmck1BnRAVILD_GNFRzs39hFjtARf9c1iiMWzCo7PrAye9mVO9e5uzgFkkTF-1PPgMZL9iverYVXHlJ4tfzIE3I22I8qCFM4nqOjCz6sQkkKmAHJyIpY0FkRCxEC9WcikHkd-apweIHsZcyQuNWBAdGlPg-i_zSxFRb5a4L1e-dNLjbYQ9_J24S7297QkJH84fohA3i8OCsftejsW3BGSKo-vjEinZsko-SOnJkWDhEyIh3ugdbkeiIoupiwnWOoIrRoP3mRCxDVVqsvmiJuG_VMSpiPh4CWhRS97vJ2fz0DUnmY_GaC2sNLd5CfthBY25iXhw7-X9q1BfGLmNDtR4pMCH1XnKVDqLYz-yzAz5me_Xof97DXpza7hKNF3qJUx7CPJDpFly4lhTWiGS3GGwK_-KaXXBrAD9aS6Z7PNsm3o5Qj62EJI0OS4_gcJSYMHBn-glx251w4inc13mTDfsRksoDdDCssXCmsNiOfjyeMSyTZeFY8BthRrU1zwcw8QckE818KEqLi5JTJ3Iu7ZJYUMOUs8KlvMg4nZLTfBW_N37nPK9JTIk3-0XyDaN6m7rXlaqshMkpn1cTJqOxFNOC6dXRnnbMEwRPfBcTHBBFLkOOESf0sWNoCRZNLyl6BbrY5a8DvCUr1FxuuPQhKrMHyH2jlTSCV8ybJBBMOc8RcDXP24Tbg80a2nLOP4NWtI=",
  "id": "rs_0270c36bcb04f20a016a7fb35e3db48199b160b30572f9dab6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.80,\"left_j2\":1.73,\"left_j3\":-1.50},\"note\":\"The blue block is laterally centered in the left wrist view, but the top view shows the fingertips still several centimetres beyond it. I’ll retract radially while holding the same safe height to bring the open jaws over the block.\"}",
  "call_id": "call_WWoePMs1pKtTbf6SQQH1ShZa",
  "id": "fc_0270c36bcb04f20a016a7fb3640dc081999fe7ee915654601e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WWoePMs1pKtTbf6SQQH1ShZa",
  "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=-0.627 left_j1=1.8324 left_j2=1.7309 left_j3=-1.5032 left_j4=-0.0067 left_j5=-0.6292 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -11.1111, 5.4769, 0.2613, -0.0757, 0.022, -0.0171, -0.1709, 1.7983, 6.9812, 1.9121, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e342ddcd1c45c89c3bc262dac92b87a590fb67c7e5cb74121ad761a8fadd6707",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88060f4c9deeabcf3e790d2a744353242fb2af4785d9cda08226110053bd407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389c66cd66268c2443a1a316ed95fd599a1fed9b08f6e8a7606e9018bae8190b",
      "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=-0.6273 left_j1=2.0434 left_j2=2.0628 left_j3=-1.5913 left_j4=-0.0067 left_j5=-0.6254 left_gripper=0.9987 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.009 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -10.1949, 7.7607, 0.1636, -0.0806, -0.0024, -0.149, -0.1709, 1.812, 6.9675, 1.9414, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7N4K1gv0UOhxDtoutgoH1j7YIKtU9dAKtvH0amf1oMbocKjDLpvBJkTgi9Dtf_kyo1fmcvHqyfX1VFeewupnSRx6qMMVcC3OYYu1hndvNWBglCZ1wl0mOfjRNU7G1gQ64kNilZ7bnE5oyl2So7L2fyI7-R79Y9pdAeiuodyk8tOGdP56xKwTH-ff9h_tWSDTD9Hz9cTfh6CP139gtmZRdJqhz9xXuZSs57I2bmB5l-GSzNs77yTndEODO7atpIgdzAXknH3O8wA4PpKhf7mYV1bzCYWHLXn-7ir9NifSztrvHWH8XOF9YZGu0Le1f7zlkx5HYaXFcFHxM3FZo5fUGQFUYVXKlD0ViOinsHU35tumUr0v4dMm9HAW1nsS05YpMcZJJ3s2C-2limsFNs24TverFt2jm3IW64z7lO06JPiBi4vHN0SXDkvXuvobJCi8kYeo0_Iak0GWl3f5ycs-fGNbacptNleW_zZheUdCnt1i0Xz5586FctG-6JEqHgQb6GPJ3YKJd_-LnlgCtAh7oqBPKQno9EZ5A779_rXrkBF-CnjJnjlXwbj_NZLFezU-8TUZdr70T5zAAkjDxaEWnS2oWLImV8gvyc4DmmVYhGOE-uYNNP51iruJaTvRohwhuXlvfgtTSiXBlhsDR8ZZKX_GT1y0Aaj5-DNzj8vuwN3RuIedN5P8XiFhSujsEaesoLFzoyePJDc0rQxRcujXynrJl3k5F5U4zfOm3lNV6PWe3d4XqYlMf0uRkNJaGr-xQ9W4ZnCs2wti0i1ex8nEHSFp1bSdAOFPnUviXwIc1aBFLrIC8c5yh4IC3qFN7l-AQFcX2VuqVyWYYHf9YCMKSGlHXkhee-NQFuLJ8SLaAJN0lalCKBfVSdPvLII47GxbIaebM8dJHpsUeMeLAsdKsUDeY7XDckVpap_rjP1Xs9ICYWMs3XyO0w_K68WmDlyIvZISGcbG6AS6LAVASZzu40OwgrpW6kUYo3uBKnjBmCuj1VappR2ckbAwPZceTvULVqxtZxK2CzpqctZ753ikBHUcz146AGK3io3icMxZd0dhNdAqhhz9a2kYvqvm-XQwJDrCxQIoQ-Is-FiSA80eIWKRhccEJdIxrdz07l5UrR3r5-G3jxsf9ilSxaNGzBqBzR-y3u-JCsgSwPX8CLbQ4hV-M4vh3hLnB8ScTKoFSvFcb4RtiBTrffm-2AMObgmbR_gcfqQ1PyxjqJbgfah4N4YXxGKf_0WkkENonJQB0CR6QefTW-tU9W1wT7BlewruziyBEDLnAXy8mFc1B9vJhsfoY5gl9dHJkGRPHFER2IsbDxe6dRNA0utGnz9S8NlpFhiqMr6k5o-Pmaa1PnJkPJaN8u73mm4eeiB40eBLzif23G-cBhrnNEZNNIGy7CrfVtBqlpN-YlLk3ib4rBY8bdX2ibTr7TkPIKNV5icT6CBN854Z2qFV6UQnCI1R9cd9FVZ0ELmhp-YyIFPd4wD33UJAwcJeq9tJp47VZyshyslwcMIRv_byxqJ-8koJcshnSd886MRTGPrSKd5Vkgaz4mvEBQpgIzpLYOViYxyEbPcveseeCP3ozzgnnI4GpP2t0rcEjTjW67ez7WTiI8i9MkIdOCo4UHFP58rnz-wrmqV4nH2l1ULydeNx4Z7C2K9nLisKSbLVX_m3Ro0JBYL7PlAudKm36WmcdMWNPecErUKL8-Qhgl7030iEHY-kD3SW76Jv1ah4QaUz-mj_4Q9Wr4iHC7YlwqfIjQQZ7n2R0QwaFD5JbT5FO9_B6sucPGgzbkIywHHtVIKhwjNrYp10BFmXqaMYKfeHRgiakPe4C7jOpiyaDqKr2WaSoVJu6mO8pMRjKpV_Bo9cVUwtJnZ9thJGkFDgts_AlEtDK7ADebDA0w_642TWLflWN1n2lqxi41pm0a06l19VKYoJnrazzoXNc4CSoLGQGEIRJSpo__YRvUB5X_3rCEJHraVor-CsnuksOJExAJWeTqjGBBi5sUOiY5Wc-uqC4c23UMIweagrI2X5Gk0dTcRH89waG9H_wgpg1nueQBuH7i_-EWQk0F4dIw_il3wLoDIdTVvZbFS3uhaaF4bqObT0w5urlyd9_j_sUqZkCGzdPPnJ0GM8QOJDjDw70vjVHr9ZyAjOcXW6mF1lRNDYc9oIR-m2YJO-jfhT9ikSyIUy-K04wzG8r-LnQn8Ysv0AzWy_uXRryAKA4sOO1DcJblzlO7fez1CkoXQkJs82gEAP4GwirebWAdJOyzrRresMQZwzqohBCLylf1CrCcsWMRm582QuB07eJXF3QP8qMgsTpyHPdfAB_H3D3HeEgA7SKde80typpqMtspLX_4O4hk9_LylCwMjw-Gj-Sert74l9y1ZdOhu5N9F2xfYXrOrBNtNjdQsDwMH1EPQSltSYPWLx9UiLVPelvT3Vphq0eNodW2Mnown12Cl9MOe6JoS4a3EmgHtu945Bnlj3PLZVuB4Eb_HpHKuDTY1HGD8TlvTUQa9Bz0Iccapo8OUmeqjM2TVR9g9JYw16SSvDgkxTYWzXRgzAcPHfdOwRpi1cbXn5jUgNqvWfG1aMnlcLxewYLI3-j2l8_8SpN64S_Do9NhJMGIjRlYJxt_T_XvIbeXJRhzORXcPFgxUev5selBZuf4zFPS067p9yU6lzpN3ppzLmmNVZuyIGkQG9K5BcR-w0XlGo0dwviGDHFzxP3gg0UTY5zi_wglQyXcvoittzBH_6-xhFu5-umAS3wuzr84ZgBQ6asNdDg6cf7KTFeqjuYts8JHduydpN0JNB4khXdUPf9i-orFqHBEraPaVWjAEszPNco5TokEye9bq-fLbBZ-0FldiQ9dC86VGzqP_DqxlMYiIiNIvIfm7Z91KK-2utaQvCXbma6UokoJRHBkXSrmcKsuZdh5QrDo8Z3H16pxxiaItj8LcJRbx",
  "id": "rs_0270c36bcb04f20a016a7fb36e36a08199872170d6047aa85b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.7,\"left_j2\":1.57,\"left_j3\":-1.45},\"note\":\"After the retraction, the overhead view shows the open fingertip gap only about 3–4 cm beyond the blue block while lateral alignment remains good. I’ll make one smaller inward correction before descending.\"}",
  "call_id": "call_1IBASZYXrUcSAiNJjpvuapdI",
  "id": "fc_0270c36bcb04f20a016a7fb377654881999ff6337eb09b1fe7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1IBASZYXrUcSAiNJjpvuapdI",
  "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=-0.627 left_j1=1.729 left_j2=1.5726 left_j3=-1.4605 left_j4=-0.0067 left_j5=-0.6296 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.4154, 5.4359, 0.2466, -0.0806, -0.0366, -0.0073, -0.1573, 1.6342, 6.9812, 1.8681, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedc270eedc3afd5e976d48c670c241b640bf92ea62c0b9989b0c0d260c22f96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5432f5d9597bd5ca0e42c010589280ab9a9984f0cbce074c3aa4a1cfc09c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c797963aceebeff9e93176c4e09d16cacf71a51fc1c8d77efaa2966551599e",
      "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=-0.627 left_j1=1.8324 left_j2=1.7309 left_j3=-1.5032 left_j4=-0.0067 left_j5=-0.6292 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -11.1111, 5.4769, 0.2613, -0.0757, 0.022, -0.0171, -0.1709, 1.7983, 6.9812, 1.9121, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7OOhGw-fLC0hEkTqUqdrtEG_l_FphYIu6T8i0Dpr0D29926cEnTYsvmTyrArugXRJVL0Uu6oTFo8sdBvtv0zDiRIS6v8iZMfIRW80H6U9aGdf219zcN6diXegxx510cMdFG1_woh0EutHPtxfhWoZ9agiJzbpuG78yLqZ_aWdrnddY5OZGya5E1ODMUekthk-5nQSxYbqvUKIMNE0tpBQX1Xizvrv5CEKV-o-4GMPHZuCx7RbdhLIOstStuuU59WcOMdVx03grmg_Kk0qUb4v0x7_DCXII7MyajwSZVKHMrhor23CltPOiGnDTw8JmenlAS0zn6lTcWv_s-mlvfjLQsrBkYRM82gRpz10FvGsrRpts-H9B-P1t_xrqnTIypze_e6KQN__vJJmxtUrnXfkofXGWpk5_7Dy8pZTe0J4GoIPkhbgDhOSxYXxj77zmoLS1ilp6YmRAdQtiFTy2UZqU6NcYE0TpQ8MagM4ISTp0r0mSu5GE0WDaNUpMvWpyOpSct6gig_SbWu5Gyal7BqrNMxP-2YV8EJbS-FiHe58_bsoXHIlV_lcbP0XUw1jff5UlTJyCaUI4Ur38hL8mmU2JF5M2OFMmhZhA3DRig1JDhEXxQyFnBIYtprXyW0Wtn2zi6qrI4FbH3jd3ulXqFeK-PAk2vy-9FktpsZ1Lir3ye2cUQv1e1SeoXIv5ZZUzOuj6lBdbCSQXtexXFObNXOCK8exNPB9PJARlRBHmfU-TRf_1zDD55vRMnXkMksNxNQab2rl6akJ0o-DR5GozI-WlfHb8DX5DcKIl8oD8ncfsu1IhIFe9aJgovBeF4w2NIykd_VG6dWRTtN-1Y7S9zpr_qMpYd_WDW6uHBjMGSS2F4v0QPnI2r1lbF1AbPfaYM69rGJeEBBDfhL6XVctc1wzyqlAYIfZQtmzRa96hMmqhhjSwFktcWymBDJId9UV_qGPDONWEmTS6BB_9z54sgejQxoxApYIBXpOW2qkVhRT6SutWt62nU9_u42fe-vL9HdfuXd22Hl4O5dtFYswmHSX02I92zX9BJorK5g8nvkLRkWCCz87qAGR7maRnA0Mi4WEFseTRXz3-lNXlDjfZB6R6OAbUuivaGr2iGpUdtOn8aSB7abfR73NDdLMGsfNe80b7LUrPWBjsath6cYmWKGPNGETP8CL4g6D61OorMybzVOqf9Blv4QgApXrJKhDuMe7T3Sul1ptIJ2ZD0kAOjNSoLrTIDagafhT_xGStyBoegmx9Wwx58Dj9NRdMxpbhbk5_rx3jDcvs8zwuviPPFs2UGRWzcus3FjPWYLkW1ayCjyGw6b3g_HG_C9nz3-An2ZCSB75BPXkNQBK3YxjgWsTh9qlUKjqncS0pc4G5FlEI1NG0pI6KkLESddNKjXTzx_XGpAvecKGegYqijizqK8at8_uQKsElMgoJQFDsEyg7Ya5ztcZocyTyDRXb-SVkdX5m-NakphqXAxndJ8lb2Ga4gqtSGVOETMmg6eId4f0ybXd6Eeo8oCoIaasb9BwmGrKG14fdRemNi8Ob-40fShWoBiUqnyEm4rL4ubQ-OUOHoCaFW-FqDrja7lfYAl8bnhZu5n-TNERbyihaJBragNgHfZzUkKpIP_U78e1t0WvWGqrum1vptJxHrMQfB0bxEopWzvPplX320r2eEpOp0tsSP8CB1y7Z2QaMwqE1Ja-sFf7MVKKHssE3n4dgaYEdNvSn9xQExkPyRQj7RBu8-Auf8YXx0gFfAMBQ8dfRs7ArFxykeUQBVtjFDRtESwPgTsibKofdTmhYG72jedQYJjidLdj-gXUhXCAuvLuJAau2G7CZSrSzK2MtCouGi_FJ5xQ9dH3KacQaajNXXOd9a3G5dLjk6Kp54tTkFquAThoRIbmJfdof_O1gE7dfk5XEXzBSQLdyJlzXpTFWe_bVqUsOfq8S20j8ySBZ-r7iCqmPpRf4GxHHFHJMnWgSN3G2xIRv0AB42n-tmtrdbFylgQiNiPyemVfgyFqfj9-9hCCi9Kh95l7eVJ8Jt5s6i2PHdW7qSve10MEIB-88MI5NLcCIdQswsEGOYHKWXyiHboIK2AgfIkMs2K6kzh6JmKEIOPZSvklNlfQ2ROpB0p4zEGzpOHV9xsBjqM7oT4uUgGenA8ohpBLDP9i2DDWF_0w0ivVIq61f2cbkFyJgCAfnTmw4uT1ACZG3t9tsYdoF6GPTCR9EujWrJ3n6C1mzYK4NcBGeC3SoCCuDOnt1-ndduvNcQqjONibbJRNfmPI4-BLfWvWhJGIbFCBRdWGyBC7GLpZ1HVEhtqWUZ2I_60JFKdvGpXarSmTWKfL4tnv2pI7qnyv_rgzRAZ5YzvcBkkqh-kURJxnVE8wupCTI3dTSVhCz-SCz_uFmTOYYnmoGJS59jTIzp6PI0EmLJ6SSwyZOsdt6ksIk28rs11LfKGZTzIpXHVUaAZfvirQvm1C7-pHDTrmGWwS0UUqbB1A-LKqG5HXxiZkrhFTT6OTtLhNtLER9dOiP2TodtHb_OBUkvF2XCgwhehTvvCNRDN5kkLZvu6puHQ4MJVYyRRfSlaEgSPQCZ_hMXP9W3UhrRoO-rCHfvZ3tAhCRbXdUIH9HCWHLtly4N8kk20XUub0zgsEFOWW3n8zAyFe3wrdKOAn3LsygM54LxwhXOv_27V-OfH3Kklw-vNQVxKdwDfkxSefuyBj0-k8SKDVjj72jqEIoD2pxlLzuwLlvmIDpN_TDkpcgQ_FcAlzhw6PlhDmaRp0XdYRRCUP7REZJ5IB7xJ6vpvIncobFReRcInFzZ-KDKxLBKia_rSAY85hxmCy4Gk4Ywd4kF7nnWNX1TSQlN2W7VGNxyYQHzhvTrSZ0c07X5JUjI6U39IuzFz3Pcy3UHW-VMrUnmQk6nz2wta0KGzgl9p1f5IRuIvIg7qVpOJZQlv4kCXErOdBxBfK97aSUQE0rdiMo6xNG7UbEmdlhorA8-N95DTMg_GbShOonWaFPbhLIDe2vt87Rr1L02yejAyP_hPjQUfdt--yEkhQ_lYW-8eLhA2aBy38i1bqi_vNa177hIIiLiHX-PRO4Oj4f9DHXHEG-Bt8xykIIhQWksfWmWz25embaacoeEZ1GKAnZyAFCvaNgGltrRYvgxXuZ8LKQaJz1BhyffTJ0DPVsrhuiKgr3YmUZ37XiyFqoxt9_gVxfR1OFG4iWPuMLmGEy884V21d298vJJhw4-_SKG4ype11KXqgtWZB338dOtzFVF4jGJCyd_y_9vEoXX2sy8FLdGf5lchtWdd5RirlpEJ0B-kXU5HiFTt3lhb5E3HlwXQVVJVeFco-KWvmbWEdKcp1N6RCKRvhK3inSLEcPFCjAQ75pcB3I=",
  "id": "rs_0270c36bcb04f20a016a7fb37eaa6c8199a7f8e988ed84562c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7OONB9NQOeCEVYTe_VzPy1tmGhUt3qtcyP80ukTgVP4R6GzxfNFTmbhZsb76NsIZTVAF-7IRFoB9YEegbc1GnIUSBIuDqqLJfO2bWgZYjbRlPyiyG5chVhQ13fv83MXodTbIi7kIx0Hf3eg-eYrSt-sBCp-rG6XddpDiOpWkcFa0auzvJKOEYDxGL0wtyISS-FxOuFw8BrcyuvRlotMwJanzej9OiIt3wkezuWD54tF0gUCcg4SECcsmP5UsL1HgE3ibnPCcPNxCvY_aj28mSvsHAfM7K6nLe9gApA4oF0bpruxvK0YztWg7YYcp3Aik-vtB6xYBLZPvQwrYY3X5d2webkg5gdnmt5II5ABDclhHRqqc8gr0pK1idovBqjbQc8YS0NgDbPxLgPquwQvR96YImwVkZpw_GULbLfAoXmb7UiUPYnJBQS6WpLF0H0FA3LEBUtx_znjpEz_0H9l6WH7igKiU51tiTQr7dX31E4_42ISqL8nHvPPaWarfRn_DcWWIP2xsPeLAWNOexyOE2ay2hOKB1ZhopkDtBx_Zd6MW4KASdMK2SfHKpgHtpQNQ4Ri9AqcqKSqN6adI6Jo6iqqHteMSzTg2uGnNAls223Sb8gUlpQqLxo08WnaCP0UfdiZ8N9xS4Vt3bwXaXSRedaIIvP9jvWTqx1e4HJ3V3JGjh_DsRsdb_fCpClFHbSt2uOgHbOfG9PnJUr933QHhfPaSTOAjY_ef9_Ovgt4ljdbli9yA13b1Pz8SkezTx6madL0oD8gMBzpDsOgRf-wcPVsMOjct_yFA1zRd9WlW4AX98Kijmu8wPWW-NRA14yh3EAPKCXuvU6YWxHxKx3wJhtl9KubVGxAgA-m1V4G_NTcn7xd5JBaXBDhfHoL3DFxtr0-iEEmWIObcy1K8GZAhH46OWrA_CRKziHDXUZkk9S-iIvhJ09l7T0cCLiisk2BlXxVwK5-yJRPGv1qLNXK28ZJHaNQDkJ296dXkoS9UH5AB0Sgr4rTeXX3wuNBKCM7IY0-HiI8JTYYE5s-rBnsoW1KB6avmuLrYyDLsnpKMGHpEhAIp9uExxJhupmQ-TR71QSxCDyYeCAnFjYKcTHARLi8etANH98zJMyn67WEG3x4EyH5yFY5EC2IwT_efof1SJFjFkYnikLYfpz17eD17E_UUgKVOBPCk7FdWglMhZtUEyObYKqNrEurEvADurJJ3-cfmk4snVA9Wl6THm_03AbOdgPvHQ4dUNbcVTB-hQ1GZ4YpyuxY5rPTo2REYGVfpltDcSJ_vONBAMc-89VwH61eAUWywPhvcKd7LTYQPPLFpTg=",
  "id": "rs_0270c36bcb04f20a016a7fb38af38481999ef3bd5f3cf952e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.8,\"left_j2\":1.33,\"left_j3\":-1.1},\"note\":\"The overhead view now places the open jaw gap directly over the blue block. I’ll descend most of the remaining distance while preserving the same horizontal grasp point, stopping above the tabletop for another visual and effort check.\"}",
  "call_id": "call_EUv8Cc6mLPYRjibOdE78VZkj",
  "id": "fc_0270c36bcb04f20a016a7fb38cd08c8199a59fed99f55fe928",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EUv8Cc6mLPYRjibOdE78VZkj",
  "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=-0.6266 left_j1=1.7973 left_j2=1.3346 left_j3=-1.1286 left_j4=-0.0067 left_j5=-0.6296 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -7.7607, 5.4085, 0.3346, -0.0073, -0.0708, -0.0122, -0.0205, 1.6205, 7.1043, 1.9365, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:842ef8c561744219882900a63f09e4568ac3b2c462b4c84d53d4720195d7817b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25a247ba9fd095221601f30c981f8c6607824f48121601017d151cf2a7c85189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14db8622f13c116b06ac50de14b738bddf7570c2d2a801dd278d9f2a73834ed5",
      "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=-0.627 left_j1=1.729 left_j2=1.5726 left_j3=-1.4605 left_j4=-0.0067 left_j5=-0.6296 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.4154, 5.4359, 0.2466, -0.0806, -0.0366, -0.0073, -0.1573, 1.6342, 6.9812, 1.8681, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7OjLaaXHCUqehThXh300VitD3R6X5pLjcE2n1ylA4bAq4JOmpulT0ayzdfgUMEhzdzj6SY07FhiC-s4szcnxY1nwYRWgGZNUlehcUL_5AbzGhM6zhXg9I3o24Z76VfZUM2snP4ZZl-c0z3RxnzaJXQxsCpFvzzXz1rsp7xT8cZoc0ezvgz4MJSwe79Uja_5iw_b46CgsT_R-PtK-tDM91RT8O-TXprvvrP5ka43O1FuK_DOlYYr_fuJ2fl3Bwuy-z_3hjYDsQmTfXXqwsHx5p73SPOX4qjnL7Fyw1fqirMtjzNX8hcEOlzfcpec8VZeILqVBO7JJxZ-D6e8yAuNkbFDPJOD53kUxb2y2ua7N77x-09BwlTNPHXBFTez3dI0mxFx2zW8Yw9v8ZPFM61A4ymp0WmFjRlSsfOF2hVrOGJwTWKQCLr2CCHqH2Uwpb2WAeIJa66zaMnuyLQ1LKpnxOKmcfA5JTN6JbNu3Kx9xAMwaBJ67x5KEv9q1UpkM2ULaUnZUqA3ozVO4Yj1cFauYXwCYJb7wB1VSU7-7M5d2O9-opFDCreyaREMs7fJKatkROnsBnaPJ1QSiR3KjU9aM93nxUE13hJkw7GZ4etRpbzoy7hbMI94gE899PCRBvPXavJRUMoXZp5Xn2Vfze1gu9bPv6C0CRAOvl29wr8ockcdbpE4tXjhU4A406RiL5CCNljl-40qs2YnQJc2vwnGs0phTaDUB1rNuUe0fA0sk58MVy_nwJHhgYApj_Hupw8pLcAFB9kVTjkPK1pMH2YHFVbBDiXxu7JooZR9SXH3ytPPXOpVZBw2sxrQraSzkYpCFxk2Uj28q7Io1qRi2miutw9648ATOFNn_vScwfbFZiaQIyEFWZJOyIW84APyTujDofOW07oSaQPu7n-r6dHs4aCuxlD5-3CmdD9WDV9uA5Rha4urK21_gm2hgSa9ut-DoH0tVO8CMkjbfcokfhQDlo12kSsxQCLKioUsntsAHq15ShSlZ33xqUS01hx4pEMbCqKsCX42_uLPiYolP32vFVX6P-l_fpsUjiYHFYkjrokldZnH56ahqKTvIMjL8oVKd0PR-rxIEhqprs1AiCeirm9-i_jWJ5vm96JkOEFzPN0vXdL7-vJMMcTYGg_D50S38BmRFpWFs4APF75Na3Qx6r82GzYT9te6uYqMk0Kb4PvLQyeL1xgBmBCG_lPuivfIub3WHPbIdeZnFX_b04KdxEli6XQbtuqz4zpurPn4Cek-1j2OTFBfnkAKeHxnrr9lcZwWiK__gNhXC2Te4uuyfV9hkuxIVYjqTmA14h9kzkcG7VX-X48yWb-QlmzOy-OZJXrPXJi2UHls50HM_-wXdusZ8wb--qjleXb1VW15y8AeNNzWM9yvTmx_3DjRYtVp4ElTUcisWSJPa41PiOQvobuSQq_4KADmzWGYa9vpuPRqgNz6evZMD-k7ToM-55lbh0yl77n78AqtuxFC9_iF-DTrsUtPRuPJM-d6PwC0EOoNbS30iaZPiy84Rjh1SaR3Wc9aEbgyUkaknbSyNSA_LHnCZmRNzFOeA3CaVZIlGdChSIPwgbDN2YC-Wvz9HEWFFAH3l5BVENvsilTB0fUTz44mm6GfYh0eDcPkxDh5cYDFoa7XilXAi7cfeCdIZxUmVQ4jnRxIRDHlqneMx6o6aOHSyun_hB9oO6nXACZglMrCnWdA26Q3wUeODjk5rJynHsxRE4hvhvcaAQ00LcrU-FFKbpVGSk8wbZpngbjIEXMbTaRR3cr23p8kCa3xgL29RIiLOtDctzVU36axIyp_pAkrmTlKV80uYOqVBb9doPU9CR39_wudqBIoEbAtRfDTMpUkwGcy3LvgHfBTUK9ZLn65W9eC1qmstin1rOdgHSPb6ZsJ1OkgFGpUdSCfs6NgKYkkYPNfyLP5r0QPP7B1AH_3bDlqAC1CY_0xvBWPy7gy4p7otbAYizI175y9aKUiWq4cfUDMcyXAaZwNaehg5XA4-uMgw_avDKb0yKSVxwW8psYb9F5ipxDGygwjOZxs14aNuySBSMfyckCxAEx5FdA_PsJtAjWWd1nFopjno0X4q6Hc43CPVdATesr39K0t6fx07ez4Ahxu3VdjTL-4DJ8V_chTN5VPrReF5GdVwVFRCs1TD4phcD-6S01ZrHtr_LzCDCTBZlq1RkFP8KRirlMe5XWGs3ggVtx6gxMwQr-hGy921qEx1Nx81jYHdGrIuaii1qgluJZifJuf6O36Zg6G7ZlEN5iVk-tdQxjR__0K1bD4TKI-IxhPLU6Mwo3W0P7aUMVzq5JtBoo4Ny4y6hEW2UgKdje6yaB5x2wKRIcPO3WqHPcBqQjqC5JOv9MgiTGeJmOBSeVwM27B4bW3Tz-n6P491jyTKWlhLtPBN2avS_r7Yp1AgEe-k-DMhqkoDfVgTD44hksPdLJIZdlNGPHBTx2geb6edVX6ecGRgCLFdnZLv0qritN9riBGzYjJrYnm293zeSS2TFTq0US3bS9xUjvDzojp98cxPyW7gUeGlwhJBZqnNRGbfYhwZweWG2k4WvM3kvR7PKcCUnn5LpnHm1W0dL0DuXaW63B6oVHADb8qn17gEdoNh_tgFgFumLGxSP8Aok2ZNNLcIPxXbE0h4xDmWX0tmxkE8mCJ41d2hKhRg3dqCklbE6H7vgdtWrw1zz5cszvvKl2LSfT0rbfqRmGZSC3E-A77IegbiX6yPkpM4PmRyAk8wVkr0U84xgbNvjs59WECDY7RX30OdBGzNhAYbVnUC7Mbnq2AQ42MVlMSUNR4Bdi5yhzhz6dRjcqHYS4u9WdUbLR__quVJno8vcR-Bw_rkwOk6RiC6v_aStCzYHhVHDKLZ-qPZY0nrV7Ws7HeNL0vw0CGpEXMZTG_EkKmT-dwgimkdXQBzhuVdpyWP8QOLrjTOzLsCtPkLi-bNaFvCOcVIMnW0K8BVrqnlI3mFFDaiAVednMV5MZ5HWwkiYYYS1-FfTQCzsa5oo3U94XsFmRo0Y8sPLkXAdqPoWPSR3FMhGsknGUGssmqb-iXpHErJCNxu6HgjEVasfIovGG9xot0mVxdc_APZgXgxrPA2Kz4Kkl12ktGfMJyxAJ3D3apeGEOiMP5VkAU73sLANZ-6qAlok_BdbEbUGq4nEMj1EYQKN-0PrWKsO8ji5D_EuDAgfY8lZavXmAF6nNGjmzL7xFii3lqv9vK1XvaI1EVDgx_0XJZyloIHAVpUzwspRUGTEScl7RBvAgfn9J4VQOrA2xfdcakruu71exA5iHEcdIvrf4hCd2VWanJZ6EnF7eXgkFjw39lDKM4ukeAs1h_BuK-BObraFg8Jcu_2F7CDt1UMpWhp7WUlDxengzPgs6suZKCWtsRKjeTAZZ_54M6DYIzy2DJHDKmncYkptFa9INzex5hc2BLePDDj_li072Ragc09kH3qYCbH6rIzmrNwxrZaQbswragke3PKF6kdpc75Nt7uuIhkqvlB8MHVvtvgakBzUh5pKhK20trR-xxz_gN-KQni69VuD8x6pLfY-wGlVFJSqDAjAnNMtIQEXqZ9WJGf27jsMPxlksDtSyWtPvgzyuPtTY5M1zpPxrrtdGVsA1jQ1BktgALc30Bmymn58dapIIxdipN1URjWCY9Lbdgm-6w35n4odFz78auaTpIPZ61skbXhArUn9Df8UUefkGjMT_HJSWNM0rbwYfLLHXgWY6gZHyXKHn4Ql9A927x14rUgMSCzncA--wkUYAFqbS2SqqIRMD7vV5j-HYw3mPYU6TJnn-wn6JU1lRNSYIO5-ubjypi8eRlJ7_Fhx1zrtRzcVY3O56beQgXGlXB2IyFkxe8CX5eElKWfaPbLFECtzgBRcl0CXB6J-2gaDJkfYk_ux_iFNt4-2FX5ri0xvnm1JrlvlfDje85kJ-PLzUc4BxLQLpD7pfawkkF9k3I6-v2dGRBxSnPi6Qu",
  "id": "rs_0270c36bcb04f20a016a7fb39197c481999bd4663fc1ae7ff3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7OjjIWbBhoSM98BsWkuPqnDpa4ZO_lO-IPHl_uTTpGql0AI5FmrYayt4gVe0sA6ZgGqbXI7PGotQ5f-IqFJCBNzT05cUPABd7bKnprr0g6apZf8EsZG91GJDUq-vmSv6-y8MkID_IVRCPMv9FkbbNM_KhkWY7e3V-uuxNTCj0kCxBBFC1pgLM16fV39zesVXpvHEO1eCqH6QkWYt05RAaAfHYXPzyGu6NIoy5doMkemjIA0C5vSwcaMQKVO_Qdn-ctqHHbLZQdSvBVFdIki1EcsTqpwqXCXUamuwMFonYUigD-8GQJOnTOZ-yyrXJaHq7aOHRxZEz4YudKYj3nCE_M4bSIs0h-6QFpCPpjf8aaYHlfBOny4055w1fhDPOj6vUGwaMl02uqNuJfPPi2jhFT-9TGW7Yyhxf62g7PopVKgkKJb-7w2cEbKxdOf87zFgooZucvhHYk_7hcIvdYgA0RPLTGNBQoQRNNbXMkGdv_XTSdhILjPheNXzP-o1FLcOhCyXwpMNi1aaI7Wn7TrqVdne3lp0jY-6whZO75TetICNxeD8XkqXJ1TIBxLs7fDaSVLw6h44T4eFqDs2GuX-vUUzjV1GbhcC5lOuSQnylYJoTqJ59MyIkJDmiVuuEdtHbh_CzESRJWSkwbDEszyYmisVmC7R_ePZBJoB9ta4RB_TKJBOnMmEW12QHrd8pBlL-nCyiON1ifg99ebUQmfVM1ECbNTHJ3IvrHgMbKqywx46AcKfDh2QJV0kK5B-PmPGnKtO7_LsyWDc8zTmy6oV6AoORrlimy6fa7MAqxi-1sgERYt8ObSOAoT2ZMEbHknajrYAr6ttay1f_A9hWorY_wyBsIepY3BC1ACY6EdeMDnc8r4ksUwKCJA29IWTDAd-8LyDWRxhKafJ4SX-nO8hMeb9tCledT38izei09QauwO8xDAJKMDY9_O_iJIzQT5DYq2ECjuaTd65qp4mZ4UZD1C6RW_bxXSB1RJsMidajeh0Y8MU_px3HczvtmRDCIKk3wdOy0KDJNb5NSz4RY80-kouEoKRUmau88to6-Xjov2W2C_86b9ImrHZ2DKrUtKXiz_DZXyLp75epnVxFahBT71nbia8jnHOlHRbYFkxuz5G9TKSVnrkYVvrSgWmgYZlcahFTDp1Sh7GDcMqcCXgVrlBSecmH2tTH9Pu_o35ZAQsdIpXy9Dg139d0QXrfLreOAFHsjpdbd2pF4xRVKJKMEGr9ARHwVNGja-O9lElLIYATnFmQQbYRyHGJ9h0BYqRyvH8ZZDa7vMx6pHoQeZW3F489TYwOA2jbEYjMEO8kbUaCoDoVJgsSOu4xCfcPee_460dlEIzBUPZeLbwBQ0SP0GHsUc7-B9XLYYebnZKzEFTvs=",
  "id": "rs_0270c36bcb04f20a016a7fb3a0e3448199899288f3e09d1d1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.73},\"note\":\"At this lower height the wrist view reveals the blue cube is well to the right of the jaw center, despite the overhead occlusion. I’ll yaw the arm slightly farther right by about 3 cm and use the resulting image shift to refine lateral alignment.\"}",
  "call_id": "call_SOwjcmaFB25JTJI0QrU6g3AS",
  "id": "fc_0270c36bcb04f20a016a7fb3a21c0481999054364751637ee7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SOwjcmaFB25JTJI0QrU6g3AS",
  "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=-0.7017 left_j1=1.7992 left_j2=1.3331 left_j3=-1.1252 left_j4=-0.0071 left_j5=-0.63 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0284 right_j4=-0.0093 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -8.5265, 5.7368, 0.2173, -0.1441, -0.022, -0.0122, -0.1573, 1.6479, 7.159, 1.8681, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c8a0597412d381c05838524229dc74455f27662da0a1c3e273f0ddf665b83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf3e689f26b2f39a9e2a0d350463f73397846b0bd6a3bd10fd70ce949067a53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727b4225e2db26cfb986e64bd12dc1d5f452ca83754d47e5582f7e4d71e44125",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6266 left_j1=1.7973 left_j2=1.3346 left_j3=-1.1286 left_j4=-0.0067 left_j5=-0.6296 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -7.7607, 5.4085, 0.3346, -0.0073, -0.0708, -0.0122, -0.0205, 1.6205, 7.1043, 1.9365, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7OwKnQ6Cjeak17FMEZWlKOL5FWKpel7q7gzfkeWIa2PC4HGgmciq_-SnTR4Vk5mhLFYbOxlv6a2XqlvyQx0vLKo2yFUWFIT4aPYeg_cZzz3GF97fg6TE-4PwGcgC4C8QhZxIcHsHAw9dWYqPwdcSOSieRZgD7yXzN-hZijIw73IAuXPhlbwWFzJ1fAutwL86SDtlZj21x9SUX9esLN1s1zW1NQHs-gJUbzILrYtWsNLdP-H6dhORvtPDeJEc4aqDXYkSo72xdt4nxeSoLy183RSh07LewKRxhSkQX26xyoFdX8b-55-dqybrN5CCXLomt6t-s3QvO7Ilefj0U9koludmafZszoiv30DhFznJXoIOmbuZhitGxBDwFgfvJ7XXuXLtntSs7jDxTPAlE1XSrfMBidyst1V-CdkiVqJmL39kZsXIjULY0X1yvUpvbOdiw_lgDJygG9KIb0b1OV0MdaqeQF1BqT7fjmpHoldMQMWPOiUdmdfxqdunaOOwVRhG_2TH_BLnmViIYn5_NTqRFyovbFaV8sObOYDBOO4uxKiPYphwNY8FbKVF9pU1YG-m_5AWdvXrgwZkMg9pDJ43ZLJP9KlhH3lUyxugPIqYrkKVi9UILEVPdbDwtRqJVP6pWhrdE_rrS8y9PzYYdKnPLiVJnE4kvZI5vHld_CJO3ZjfSfiiwTtJtoR7SchO_8zd4GiUQPtNsFLnxSp9wX7iO3mpUqsFAH6WU17NrU4yvkNLOvy3OqwCg8CSSmM4H70yDZnWKtSEE-JWbI85o3SJmVF_CamttMtiiVsfmQUL7C2LogjbBn27oM8tT1bt84DqA_JXxjzSJegeSUAc5GH8vJcrJmTfBuXZpBXMUgwT2arbgXobZDu0PEqzG7QhwvVyBqkAuCYCwJzz1K39eEsP2byHh3hZ_rHWt9l7FYxjL_tuI8wvY0rQIL_9Eyh8F-_HooEogRvLLhcvg2jycQZt0PEsZuwrR6meAAH6XHoTFTg7sRUcPcGa53XVyQd5-1jYzZLgSQUyIytmc66SCPyZNEqtKIgiyWj-NZtfCTnzEEziIDEmKKcTwHbsIjlITXZBjcB6Hmf_a-f1Qo6-oNbUuKAog0pbyhYMnVSI0sIvwgAxalTwbMuBtrX09WULwBYV9Mg8PNa-dko1j7-_nteeNyAtNTTkpLvCKV-iVNia0zMGWapfJkLN_pd8oqJF9aMqcn0BUXOquq4siYPLu7PGSYG3_Kf_82VQDw-e0tWSpzBPl_P_4lxeNlq85QdTuDVAJ3rC59WjsklNMYmP3_rnam5LGvChDAsbeRHJqVx4hxR2dytZsSBJ-Aw_h0jS0PMLaoJD8CdlaA-NqvvvgsJ2Vf__eUXlOs24o81LHwnw5uQs2g6-Bkank5rGX3B05Sd6s3rS5Jcq5WR6v1LeRtgDVEs2_tf4VjzMTMNe4PXx3jpJ9p-nrowHvRm0O21JjKZIybWlnuYumLFTriI3AQaA-pOYTBQnUz02iKtU9r8mqfmGtmGutma5f8PaUOxmUoCCr5m3Gf_UEI9IOXKa_nNuKmdGO8zUxq3rVSHIsJXMGgjuBvu7Ed0qV76QF0QH8hfaC4EJiOh1J0aWXdoNP71LWP3eJnz7fvCPHHtoLPhOgHaSmPcgWJqNeXqo90jTiQdJWqkWohYpug60O-pMg_1te5ssWetj0cXKYs8zrhzZ9Yq8wdvyG7uMSG7EdDlpSOdN8Ye3djpSZ797cstxOyUVDMB5beihlT88WsT-bzWKC_QY9ERlQ59HHloro82ve6RExZwBufVmxIBZUjLzdydJ6Cswk9ryY4niUvtXxC0ej-zLndGcK4WtNEAgdGca__niRQ1xRiAWaULrFwP7obDiyARaP85fnbPfuCqz61lRMCfp7Qr4vWpku0KuyMPKgWvwoeMj9rOWgEuEeU-V8oDS02ul17sLzOg3HEBa8DFhbdUh6zl9fttaaJPzWnjLfI2ffzAO6Nw7Jcl2s-6yc8qzUI6VQDPVY5UGi2oIQI_NW94RtZsvKj57V9G6JnsTfIO7XPA6jIUyOkWTDbM8dYN3WHHz33rW8rWV5NICcSNAjmpVieMSM0AuewWPBtbQ48PGXcTR4deV2x12YqXjGHkxgJmdDDPJfaFFc8BY4fDW8glAAAwIKfM46kkPTydeMitK28r6kJo2kyWm-sG0y35H2U-fD9yEE3bXqxYHRy9mdJh29ENfYX6j3Y09y1FHB14eyhAh5YxrHLpPYiwSIFGvtEVyglw6kRzt8-UxAlGFzi2dA3IfnPm8QZj_JVb2f1myyBsLTPOT__IjsDZ-28F3HMay3MzrjhN_5CKvHnbDhQBI0HjAxWotPiatgjJ8Ibo7ESvxZSRAudIce9GcHTN_PwJpEK-Nkbh5KpBig1lvra57RsQ1J-aSoT4fQe6PbqvniZT95rSwy0Ah00sf-GQdbx7ePc0MX4hLKsDr0PtKureAXfGci-_KJPZmNTWemu0SU2AukYsW129LNfdJ5Pe2uMWzZbAaK2NqTi2ODZH139xgBm4I_9iwoKRTrdPdx1ARF3SNcqmgOfFGH1xxt7ITSZP5_aKzNAAjDZck-X_025MXsexxQJOW33wlnudoV0DXYf_5I_ELDFDVyAGGNdFoEbyEQJGzTPErzg5ZUgATtMvUbL03f-E8xy6muI5aHOiafmJ0nnWzJBvtyN5frYVqnduQxcwI7f0f-639_Mk3ozvHVRs2VJaMOghhbNUhEiOhTX6z2lxn6o9qvpQiKu_FX8p_4sQDtf0vfRLv6XMnTFlNyq4kH5MgP9_XLNYVRDM7XBgadcP1HPrBGJY7flxq-dxpJJE7wbm46rPMk-qrU5j1B_T7rB_hA408Z0DdeFaSCcwrvQVNmwMDFslM0t9TK2HsGjByarvuHG_8414GefJmg0Ug9GjUykemdGnM8nPTJ0aDjuCa6z48pDTBqIy7BbitYL0ogqtCDQ2mMkYGxnHP-g=",
  "id": "rs_0270c36bcb04f20a016a7fb3a692c48199989c4ce486833058",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.9,\"left_j5\":-0.9},\"note\":\"The test yaw shifted the cube left in the wrist image as expected, confirming the correction direction; the remaining offset corresponds to roughly another 5 cm. I’ll continue that lateral move and match wrist roll to base yaw so the jaws stay square to the cube.\"}",
  "call_id": "call_pUFTbZUz8OdypRWfHOgG1mj0",
  "id": "fc_0270c36bcb04f20a016a7fb3ae546c8199aeb919e0ca4f9436",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pUFTbZUz8OdypRWfHOgG1mj0",
  "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=-0.9005 left_j1=1.7992 left_j2=1.3331 left_j3=-1.1278 left_j4=-0.0067 left_j5=-0.8707 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.3761, 5.6, 0.2466, -0.022, -0.2076, -0.0122, -0.0752, 1.6889, 7.1863, 1.8828, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d986a098b43a90ec93804f1ae54dd80e838797c5a3eba6a279e0b3ca69dea5e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f6bc3ba530e3b9f23a2f6a40b726769a209147e358a6b3d77beaf7ebfcf253",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d82d6dc6b7749dc86478723f8abd4be70774a2ec97fd61b122ae5b1ba0f5f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7017 left_j1=1.7992 left_j2=1.3331 left_j3=-1.1252 left_j4=-0.0071 left_j5=-0.63 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0284 right_j4=-0.0093 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -8.5265, 5.7368, 0.2173, -0.1441, -0.022, -0.0122, -0.1573, 1.6479, 7.159, 1.8681, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7PAcLouo5Pzc8Neldpb7BTpGNVBzAHz5cxf2JQPvxErTXh9BJl6_ahwZ2rQUkzew2ZGrPNK7SFrd0rzM2EHcPXcW1rSy6q0vsrGUq-WXmChpqomL2p6UAagSF9pjXYWZuFKcrp0ZasrzSdLkX23nCArFdf5bfgZ4ypqnDSI8zH0tu58-naL-88tndvgWmCriHgwalEPObkSkTUbPK3inynitc2BNdd_LGsXYGeokpxg6I_J-7jxoiInWQ1AwdJQscGwMaPfMNxXE2heoi92LmQhJIQJklV9O6BWvQ_1q5Sjo8OKDKONvgEFCMqzF-TQvfIyl6qmD1SDD3R_6cqTYDMqrgH7YMWhsfdDgBdJdGMVocdwPimvS2azKiQgVZsm-aabzq73wd0CW--6A8Z9rzLgZK_vgYk_DFFywWHif1uH9NvTRIApImwue_uFjm_K-ErmVHr8TCTYBFqIett_3kycInmH8HZWL5HkkRL2P4xUZR73lSGHJqyHZNsjf1-amOVNHBb9cv4y8685wK1wJMMrMV3wqwthgXw4zvexGh1i--e8HP7KYHslno6c2bRoAQz1ilFffPCpjMc5E1tv-n08OYD2RA4_B_jM2qQoh42XqdetL1DAo1XbE_KwhvVSZB1lyE90qWvn2Y6kmOWZWxyv1fDkm2pWXf7zyZqoy-pmGPi8qTFNY3VL4qvMsztjhSoKLsXJkkObYb1cg1tuTiOujuCcaxfad2dxMgI-0bSrFe4OMHXji4vFzldGfypfVIKOSFUDkj32T_t87_nIYA1sTOVdeliwvkq1aZjvFfuIW7nxz-BLax6bFnDWnh_u_v5vbeztFaS4Nq2QTSpTmQVganrAQmslEw9kgPkPr-YqppOKJtUPhD5xwP9XaekN8jj0nJjhVrsH4wTYtNKwnkoxkELtoF1s6vnfrf2yP76sm9O26pGAuvKXY81B3qRlxtVKxKSYv3I1lrgk2sIlQmskPNWVNuKLnrsLNfRMNUZrgVTMCMAKSRUnXUR2bLo28-xHTlQkKJ_WUIKbbWGO5itt6qQFg0Xp_47RwnWovqmSH5NmKH9uhfyB5BWfa23-2TUuAn26KmX3-YYFGjXBGUzlhHsVC2sVeaeMdcwJBRcZuGLo0uRQdi3H7yr25Oe4wT1Bv0v77Ra5ppH-squgQMhWDrvoEqUSnu4mpZ4ksxyMMRR04gV0yIioDjzQQMTmG3AFmRMnbvybgpngPwlAvim67aMB6T-B5Us_MNuGQdnwUviRLElgbebD_2i3euQLozuMV9jCHtE2I4Nmy6GM70T27T45nLQb72BoyvU9ew5unyxzdEKkj3d8Lv-o5KOQec2OBajbaWd1smWNdcX-xfN3u3k4HM2fa4Qbnj9kFgBwUnN2ZGMSwodwMxIv1GLQAZsVzKZhzvw30pUdA3lhPI88BI7JPmr51m2VoZ65_1tdivqSs_t_Ju8OvPu8Tt6wr1vif2tIYfx6lFhwkgY4sESysKkBjgENC-SO5JUoWpcS_N9d0xJnydZDtnc2ExJC3xQAH4nks6cnIb-LQPe8IvYPRBSuKZ7RXL2QU51IK7XjDI3aj6LE4Z9f_PZlL8xibjl5WOfEIa1fu5lXK97NZrTnWCCXMfvgbaWvmrPct-4aNTxtmQNhlJyMLslelKvfKO8-wUq9Qu56vc1uT5FGkUheXAVARwwO7wEjNxCxYUziKP1xlHXfZWpiseX5VCE_n_mEiw2fUq9s9tjbKvFRQo6nctjQLAvUtx9uaLnuSuMGIdjHy6bRHETm8DqbH9PQAs9kIHKA6CtpkR0eEnbWG1ht4DEg9gk1Y6EsQwb_LDvBU1NlxYagUIGCx5TO_GrC8XCYzDpZJnxQIr7X5G0WAOPEyTWS54Fo9eX1CTvP3xezMZ4qOsiGN6Z9mD5NnyiwDwQaeSbzPqUdrfu2wptGyX9t9AF8gs3OqnclJfjq1gfgdbAHugviB7JxFqvFgM2af_e68ro8khN7Jf3sPGzKmXov-bJmKFQstW3HDzJHEm6FdoY0dh5NdzSvVKb1B5hICnqn49sBlOq934tBNuem0UK6dNS_q4tkrlDdZ_LiJWRKQAadc28rDWgOiVL22BLpcW7AbLwXDXSljCDcrxWVoyHduOOwu8IIzrRQi1hCe2P1Yuq-FRym1jJUJbD7LGOH-hMA71Ml6OIJh6atosr54jRt-iW38rK91LnfERUMOcDluiFb9FxLhbWEMyopcek79HotLHu4c_p3ceDT_3rraUILs-2zW2wYPTdZLg4tnSNYUGZ1v92-PmCGidl5X2slBwjcyeIkg3bKsK-ml7Tc69QnuF2J1bAddM5uSFnCe7jHysyhVM2qK4Cpiv_uxPBoyIyE8myTjHvkLMQ-qnguINeePQs9_y65y8pWamAcubDZis5dkX519sdn6WeT1MaaCwdusHcNzprbXi8Urw7AMXRW8Z_ZtiCMHCMfIowJbu1993o9E1eVHTXnm3cGKwtRi718PJuPD3wjyua0gcOoJ7kiou6RQ7AWa-44iRr_opHHf3nq5ayTyPgSDp1JWJjVGnGZUdvvRAjIkk5aRbBEqZoz3h0PQwWvMv-a0NyMMq0K350fRXLK8Or1VQhvwhDNRN92IWFu-_VA8FRiD3hh0O5UysEMBOmTQeVPW6LCj56AvzTd_dJxuodwwaSaULCzai47czO_jvDxNvKTz45tCi98Kg==",
  "id": "rs_0270c36bcb04f20a016a7fb3b660888199b0f9d09adf638de0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.88,\"left_j2\":1.24,\"left_j3\":-0.94},\"note\":\"The blue cube has disappeared beneath the gripper in both views and the overhead silhouette is centered on its last known position, indicating good horizontal alignment rather than a miss. I’ll lower about 4 cm toward grasp height and watch for table contact before closing.\"}",
  "call_id": "call_M7v3SduouQYvT7qixulLcs1c",
  "id": "fc_0270c36bcb04f20a016a7fb3be507c81998dc2d348c81004c1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M7v3SduouQYvT7qixulLcs1c",
  "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=-0.8993 left_j1=1.8732 left_j2=1.2419 left_j3=-0.9688 left_j4=-0.0071 left_j5=-0.8829 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -7.9248, 5.3128, 0.3443, -0.0562, 0.0952, -0.0122, -0.0205, 1.6342, 6.9675, 1.873, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7565cf92a169706813fcc900bfc1754e4c92029bd998d0889201bcdd925ef23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc73e82c73decdc7df05abd2565dc248a5fb3f53a5cf81c46606a7bedc6541dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f9a76c18aaa6dfa337209afd228e8e19f4dfd7fd6e3b71f5e8273a5dd5c229",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9005 left_j1=1.7992 left_j2=1.3331 left_j3=-1.1278 left_j4=-0.0067 left_j5=-0.8707 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.3761, 5.6, 0.2466, -0.022, -0.2076, -0.0122, -0.0752, 1.6889, 7.1863, 1.8828, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7PYaoctHE9_c1I6pa1_zfdx4O1dDYkbE_ViJo8ybjuQXy97Y41HIYwWgoVEElN-4oL8JuGTLR_TgJeM3eydrl56SN5Vv5xtc-QelloDUFw4u66buiqVm49dPaBI_3vbCEm-mCLmTO6qUCt0l-vMuZdIYRHdO13ZjeeZd4tBwrpanyJTB_m9ELWF3ToRTH4vn7G62TnG77kp6IvFS5I174gCewdoOFOrELwa2cU_bW5_598jlghSXgVzPf-MO3JV7EcqPaLDdY5aRIj-d7h0IHjAr3o7zcdjkROSJRKWFgHBOGbCALwHczEd2dliYGQUkuIbiarelYzk8PDzQo6AbcSa8vKQ2bMI_EUG55TM2z56l1hj45H1cwSNMwtewybq6qIUFjx6AP_XmvcsrLuUmLKIjJhwgjs3hF_sME1H557ThKRue_vn0I2jDFiLNGZI3aL7oOMn17fBXGMKUrB0HxaTAb0jJ3FaJrLuXOJ95uR7GwxWZdv3gpUiXE33gcSWZFXX7sBvuT6DsxVunhLLr4E7qDgi-N0Zosq4kkREmpwehEkcW7i10hbkcIG5Jwz_oSWarAkCdFmxTriJuSOOsTzkAPsY_1ytUOm0Udso5Yy7-Y4f3xivvGdpxYTFTZzRGWl-8vrNWSuFwkOAEkay_Ae2z4kDdS1A4SqyqeqsT9rwbtt6QpfmXL1FCvBG9igqgpfsol_95-QENTi9mk1WZARLQ7lnN_Y-VrlfsgvpB36wsLcgB1YZJ12CEX4m7pQSWYyiZdvOPOayDoAZp2BBfray-A9DIPJo-XghVzAr9LdJnkMctnPtCA8fs5qsDG4I7vX5q6q6vbrsQPNCCDJC33-5MzfnExywyp3Haze7ciHda4qSYXpY2ch2yLVF8NAp57472hMj6U1AqbUj3AOW_4OGGXThzB3QaDZKWjIvGYp_VKKWGQG1x1dYZulwiBgJ2f3S4yLwfr1wUBHXFNiHimZ60lOSa4p_bgb0IEaSscPL7h0X-_2Xk5SHXNXevdInEfgbpDepbqbVFMsBYHre8IjiUpCqAeM-DRQsiG00z45brHWUaDnI7X7VQ5LJQPBd_cE9ptJSLOjBuA-ZTWK7hV2kXYUiyNblfVNrjsi0S2AyOTOMtWyA67xU4X7d1nGz50jQrfW3RdCr59WnAf7lw__EgdXrKA-xeoleUn_--mKkViG3SjQFAsSvJPtnjemkULItYXOyRUBIaYufnuu7KDJlKmedRh52RjMU921sBsyHB2Gc3YFALcC6HAAZpRBTTvDLoHkl46IzECLOa-U1nN04ZGixkUTeqhXuIsdAQEQ4cFNJCcn8w4LMMiCW5Ivm38DGVaPrtj7ta0llbTSM228-gfbfild_DrGXr0DJGNc74200SqphBzmTlsi1oe21VLzia3NjRtJcXwQP_kNWh4iu90T2CoV6jI7p-mfrwbe-BOFxBw_OHLrzKwgzUbNat9ijByUST-NEcUN8BZWM4Qd6pTcKKPEWAivS83mEURXCPLoDxfYrDKXMwO3WUnytA-RzRaIpHnRUMKsErGBMumbLf279el0ZSyedXOpyVqUAe4wXZc_CyeEuUGzMo0CyZJc4AF-09oNKktv3bL3Fc9Z38ts-ZFRbIHJeqP5nRQUdGpvJhc-vVFSA1JMYs3pjxQFCdBDy5wKBam4LBTY9cou7drgyR-UixmRZKG4QD1MIWVXiqnyKhZZKFf9pcVGYoLjzQuk8nV3WNCOpU35DtLewNM3dFqywMFC0OG8DO9eZ2KKveQ5o1KynkC_vHIjiOXe3PVIE07rlw6Uj_Aq190ynOxoCA95cG_zeTn76KeHzBPO2QCArp1T8UIMiEj3yR3t2XjkE3okL8-bu6JqZeItDh3DlqRGFQPICMiKmYZ8WzfcY81XYxaUkBiwvIbROqtURTVfBE3R5Cb_Zue7iR08ipfKXLozFf3gE8YeqpVyP8yIW1rfBKd9HwSHGrMmyMY-SjKspaOeDa_jEN85hxrYJNBomH5Shz94SFL6C2dIordF6Fl6VVBNUhyVHj9ZlzCCbLOX97bmIEyWrqvDL4FYIJHUe7SO72vmwe-5XVKVwsVMb0hw6Bvhjzem740mkjeUWz1zninl2L9wUgWHnysQbnsxAEEBaQavSenI5tWOH9-_cexVbj7_b1ZHrhScXmAHWAdxURQa7Eq2szvmFOtb6SYRPySU6LqyvACjxZZEem0IpZg0SrXDFB0i3For5hH0fJchjIb1iJuPcVbb8yC_gduwIwn_aXqoiPDRKXfB6MgY=",
  "id": "rs_0270c36bcb04f20a016a7fb3c58d7c8199914b8be58b683811",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.94,\"left_j2\":1.18,\"left_j3\":-0.81},\"note\":\"A dark blue blur now appears exactly at the wrist camera’s grasp point near the bottom center, so the cube is between the open fingers. I’ll descend the final roughly 3 cm to seat the fingertips on the tabletop before closing.\"}",
  "call_id": "call_n4olBjV4TwgkysJ3fQa1MQHN",
  "id": "fc_0270c36bcb04f20a016a7fb3d141948199b6a4e7e1a502eeac",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n4olBjV4TwgkysJ3fQa1MQHN",
  "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=-0.8993 left_j1=1.9247 left_j2=1.1946 left_j3=-0.8394 left_j4=0.0002 left_j5=-0.8879 left_gripper=0.9985 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -7.6376, 3.9863, 0.5495, -0.1245, -0.022, -0.0171, -0.1436, 1.6342, 6.9812, 1.9023, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccaef40fe5d051903aa4eff9c6f49b18bce7e95ba94a4b174bcd08c9b07a0bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14885f699de52ce0148df966847592b4418c6f94c6c0665535f153de70154ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec4de1d0a8e7e6d796d85a585633c7ffd4c7223c95124f0ae7b15c152c1b040",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8993 left_j1=1.8732 left_j2=1.2419 left_j3=-0.9688 left_j4=-0.0071 left_j5=-0.8829 left_gripper=0.9986 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -7.9248, 5.3128, 0.3443, -0.0562, 0.0952, -0.0122, -0.0205, 1.6342, 6.9675, 1.873, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7PeBCEbqGh0fqT7qlBbe-qYrHnhi6diUVZDbP62Ru_Kle5YHRteoHXitVvDZ3-JUbpWOjyjOs5VBqCN3EcgR7rahEoRZ3AN1A-uFSiWKc4oek8GG5-iVR-UdXuSTJixI8TyxOFBhoC3meKNKxl90VUgqXxtvpR-RieulvAuByof-vntx2vP9WF2dnnpg1LWdClWCMb_zJ7peNpmYcf4APhaETa6j7vWtS6ymYEiPi_Jq7TGwaN4F59Rwt4AXdS2-49rymiUa7ISBx9UGmKihpk6ZdHyS6gN4KfsoO205AHxfC52X2Aw993PaRvPMqRZtstS1_jtO45Zp9tvU9uOFAa-lSFYaev5W04FdTL5kn1QWHxR6jDodLNywuUVGMIJIe5sD5aq6Gn2wvTaQYYuBc2IwUKZAqT6qCykMb0e12ybhI-mHEVA1e5IOs-9bVYy91MHbuiytJEDvXXG7izMo1gjUTCGp_UzkNPElsIBRHKUB734KBsz7GCGN99oB7bTq_OzFz5PsbD1GDBUxM7DSI05UXGiL0C9-qEjVJLzaFC0nG2EJR_i4oNouzSFaxvsy6MCjNAwO8jHfF0KsO5-Z95d9npoU9uqxdkMPHjAGJghwjRDrrYxqa26SIvzEV-hgS-KoUlUSzIwKmXg3aIsxlkEx--iUj5VNyCmLynGttmjefSYJn1sdXGBCNvaPS5hPN2gD0gX942mGUVSEC7kla_M69hADm__J0UrFgSnmJ-FFDWtPPj-jUbXa6XvGeWKw05UWtLuk1lWlX5mgfBGrri3lcbJC8XuI5Bn2_bXw8-Sldjkp2vGlzERmFuC35IHr1dp9UijK9LUQU9-HsUPFwC92yckOM-6qmiX_vK86CiGZQynjMiGIl82NhcF1Cfnpp1MbOWfB_Ujy-JoVdNMjGeJepWI1-9GaqxnM6-T7O1CAJ_UQunGiQQjyR9UrKevUgq4eFG20d1wfOIutVuS10_yFU5Pp7ypBv2KUADA9QHLGtISl_WvZl_ALeRk2v2PMN1YnbrQ4jiaKFMhKycgE3Dp9XkiuWS_aTJBxxnuyIJaH__szqFa-UQxKpvIv5JAFkuMGoZvFDQ5hSt6SlmsetCQDA81V03n2PJwydHGF0uZzd4ht-1mtI4Gwf2Z0RielvqRK6ocovjlZaQWHfgFpJOkACDtaRkEEOJ1cYxKzZ9LSUsaiq4oIZEsuSyidP7U5FdxsEArEsWzWEJ7MeMB9dgqc2MJ3r4Smui_HpL1YH8X0a1CR4bLBuUupBIEqTqfb9sWrExX2dTZyIWZ0rtSetg0_S_f5mQQImpPcXYuqhDb_yayKunNwHKezSf9VfDGKLzlQsVD10jDfSp7YN1EsAJlPj8py6E0PXsYu0hMdvGVhbJLa4q3uMHs0QKpAGVXOnVcJtk9suUQSr-9OrrrU3qi80fnvU-1zuWmbdFjBfSy4jPlIDgv4kxdjEyl3RycYYjogOejlKE-VwGujirc0lP1ojFW9dF7wVHBl-AB4e1DM7VTuc014VEnMzH5P3SefcJ_LZ2IHeREAg7RNX4YSeU2r5pttGhPyCYYM5Ogu6uyxp4=",
  "id": "rs_0270c36bcb04f20a016a7fb3db3f28819991a85d4f139da932",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The fingers have reached the table-height pose with the cube centered between their inner edges, and the shoulder stopped slightly short while its gravity load relaxed, consistent with light contact. I’ll fully close now and verify the residual opening confirms a solid cube grasp.\"}",
  "call_id": "call_vZztAjJGVRG8r77JMQLMjvPV",
  "id": "fc_0270c36bcb04f20a016a7fb3dcd0d081999ebe15360232ad63",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vZztAjJGVRG8r77JMQLMjvPV",
  "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=-0.8993 left_j1=1.9247 left_j2=1.1927 left_j3=-0.8371 left_j4=0.0006 left_j5=-0.8909 left_gripper=0.0128 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -9.0462, 5.2991, 0.2955, -0.0562, 0.0317, 1.1355, -0.1846, 1.7026, 7.0496, 1.8877, -0.0611, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a25fe8bf4e7f95c6c5838c7a557420831a841527d2851c3782544f6db45685c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ad1fe10b4e6ec13d054589f66246881a711cac5a696dc62385cfbd4d9a4399",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8a5daafab3a69254d592634a9ed013b1232303175281eb7b4459f0859b8ec7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8993 left_j1=1.9247 left_j2=1.1946 left_j3=-0.8394 left_j4=0.0002 left_j5=-0.8879 left_gripper=0.9985 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -7.6376, 3.9863, 0.5495, -0.1245, -0.022, -0.0171, -0.1436, 1.6342, 6.9812, 1.9023, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7PtJvY2n5e1eBNArM4c51dOozNEZUaBHOSUizNYBiBaulfq8UOj3khsZuZ135UvT6xh14bHUSUj65fUtsWa3DXVSsBYLk_549cFn9govGA9ZkgXfZRWu-fZuvVvIUQptkz9D2d4313QLuvgXXwVO_0XNyOv2o1kBwrEpTLeKak5I4FORfILUbYJwmZnlnSxPgEHqcOMlHB39VSVaQ00ZsQdgr_GU48q0bFz_LrXgk6BmUkKI1fI9IUynBGxNH_cEWLgEZNk5ZzcLE57U6WZEAHY-2iP1KYxngWWQSeCsgtdJdUUJhixYGDQfAWatNxXK5Shjy2hG5X-hL7XD-1TMOFZjXUUqt--Jcl0yCAM4BNguinuAmG4QbVG5AoqkfrgiQJNg2XTgbuJrOSnGL83jABrEpf_L4Pz_otwIySkajZQmOfHU-93xgqQtQyAszBZi1vbcYlf1H-fwtWj6VK6RoBtJawUXevK82uqH5T7-xjtbSK9MutH3bfp05rt_J7mus3-ZCV_b2DA9lxHnbXIMkNrhZYhovlKgq2aseTfdbBvWW9ipBOWFpkKFQ0Jd7YOp-pnCgLVmybNcjNocgwDBQ3KDSY4znjee6xzdaC3UThA5O3ipE7bFsAnnCnAN-n3WZGli4KYDzUTLDvE8lcytdX196U8N_RFefZLo8tjrIO74e7Hnh2N7NN4Rjo8Kpheg3vrS7vcrSJkTw6JayEa-jxApAOLJn9QB3H8BQ3gib4m4BEohZZfKT55n-Sc7cm1C8gRm-Ge9sH7DME5QNByL6O4zyvlJicXSjLse5NNYWQ19cTcSn0FWS7oBxVjM1FRnqIkVdfYDCXOqblT7jYVRKfdKlyTF_UA1sdOfGmVdP2EI1NopDe6FgNqmdBs4ZMhLoZBbbWvlEjfyu-AVkLCHSVEVAg3HRkDi1Z5vKI7XZGHqLX4E488mf4iHbeqaLW270Pf9rJumcfjCROoIGEa1O5X_yZHJh3hLWhYASJoxtsgQtRZBuoo8Nko2KHwBIXHokLGX6NWBh1aKc0ToSh_-jM34Uqlb6vc6Q0fHO4UblFlgOzW1Xtm8jcy938zE1Nx5hMqwSQvXBfqwHmQOykT1F1_EM0eZKNGndDyKCDI5RNvNZtoqjGlylITWelZQ4OOKXPJeKrK3OFmKHiGH6fpJ3HeaSC7wJiAAYbaUS8wrXuPHulE0gX1pvyh38wWqxX2EzQd0tjfOqj1F1dvoCp7wCT6LZI7rjbLxBNLMYMySptjOn59qoAvlJx84huBpUxBbTPwt5qCvx5aTkD0TeJqEydXl-zeoub-l8LXkV_5YY48k9GQGhdM3quMYP6OgJoLsDt4jLxs4C5HLAyzIhjroTC4B1j_Mob0dFYCkHBE_4R0gh01UPZWKJpTvMk0B2Aa1LfBAPVFLgddXn30IznVbFfghzAmgAIZs5Uqiy73w3uG5XIK-ohwPCTBm-BmC6XhHTlOLD0qNTYZv7bJWbClVacTOAHIyh6NL5h3pgyCrr4yCBiFfulfera_2ZdtUDLrcuDS5VUOfUNTMMJbGbZ26dA5TZfXxRNfqluItAs5s4mtlZw8o2SqgUJ2xoXO-oGJlfd9YFp0v34Ld5QVFGFtL_gcfKVz9-VZTi7Ba-COvoevYqahL93z69mVFXpUbys3UvjGq6UdBlQqmj3Z4KmrbREYGlMBvY0GUfugMTfj4l6AaGdx_1xZKjRALvNWsrYp556P_8mTU1Hfw5uVTvHFlJFwTEfZbVfhiJ0t0I1md6KZhdAYnGOs0o95Zip5aNdiLBgJIr03dgwpW0OmydAyWFb2c5f_guOk5F02kgqIWW331qphev19aTWSfogj32_TTAtlo8KSgkjtPZwpK658PFvPsn46afI5rf1uYiMm0aZ-xiREeNzz-3I03Um3Wq9AF51FVyFYjOEFt7N9Qk94VPHLr2gCi800d28I86bltkFSu96Gpl3-mlpkq7IMmTOWnciCU5bWhVnHpOSsdygWIBFypKRGa6TS2mttca1mQ1TbCVFOexc_Cl_81byc_EdUmtKVeJrR_dF84SSqyKnr9rNE593AMjDBjBukeGSCGHyM4n8q1C4DZDdktSwK0-lhQIwMXeWtWUUVOxDFnA3-w9lrX-cocmkpIK0BSH38OYqKJhOFzR0VBJBw3cKvNSGJ-AoHCQv68IN3BP94dfdHuAbh1eHepikn3Q42RjXdRHzui8DKvTZ7DU8fqjditxSeJK1PIyKcMYQENWERBnlXetUlWFxlkuNohG2gwddbb9Jzdq3Xp-DDzQ8GiJ_Sd-vdD9LC9mpPkEK7s_SYaFPdu6trSooCHxKRXEMKzhzK8Rz5C5n46oZuqjeoDAKa2BSgPQTrfyD6mBU54tVZRPesbwdBjpa5SBy9D8wkQQUf64lZ13Q6ZBqe4Ki8Cl8PP1khqJe0vEF1r0eIj5sBp8WxWNL3pcYK00LeHLIfQr3vu6ElywF2RdDkHosmvseCylIAld6y0c_ltjNZJfzl93QXtMAih6aVh3N-5alL59mHGCtRx1VBIy03Qx4t6arZsJfZWOOaeT8k0jFAhTMcpj3C2rwjsIJE9R53I5zvlkoQV87NiNCIZWdRnXAkfG1zl7mYzOJm",
  "id": "rs_0270c36bcb04f20a016a7fb3e41f648199a0fdcaf162455b46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.8,\"left_j2\":1.33,\"left_j3\":-1.1},\"note\":\"The close produced high gripper effort but only a 0.013 residual, far thinner than the block, so this may be an empty or shallow edge pinch rather than a reliable grasp. I’ll lift a few centimetres to reveal whether the blue block actually comes up before attempting transport.\"}",
  "call_id": "call_vTdXzmoXRgxdmu2CjtM38Qme",
  "id": "fc_0270c36bcb04f20a016a7fb3eb446c81999cc34ebbe7dca132",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vTdXzmoXRgxdmu2CjtM38Qme",
  "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=-0.8993 left_j1=1.8294 left_j2=1.3113 left_j3=-1.0904 left_j4=0.0006 left_j5=-0.8913 left_gripper=0.0128 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -10.5778, 7.3094, 0.2466, -0.0659, -0.0464, 1.0183, -0.1709, 1.6342, 7.0496, 1.9023, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856e46b298c972c49578eb84cb65f5912901fa0e6330ad63395c9560c074334f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661acf2d0592a51b72dad5ad440cec5b09e2b48ab1d22b3a30ba810c0fa3ea3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006268650560ffeca175a75fc582ca093cdbe35238b6b1d802194bb89ac15c57",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8993 left_j1=1.9247 left_j2=1.1927 left_j3=-0.8371 left_j4=0.0006 left_j5=-0.8909 left_gripper=0.0128 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.009 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -9.0462, 5.2991, 0.2955, -0.0562, 0.0317, 1.1355, -0.1846, 1.7026, 7.0496, 1.8877, -0.0611, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7QLhuI4N3PbemX7i1HLm5gAv3tsM660HWeTRk044FxhvIXACmPI2eN5oBcu82J99MNoYakNKnorujKuCnUeLLcdrqLeGBCucGgHqUwvxFdJUBP0yKoU1b_ftOwrryXf9nwaby8BTQdvvDfUtm010BeQTtgNLK9Cx7MCBH59WIpuTEaG3sUqxEq2rBaaEbHJHbtEAx7gsNfuRa3uzRRVRkAqayIi4DoS59aQTSBnzUPTePntDlNaJ7WHX05MqxrzUqrHbnk1g8lempeJp1X-l07kKTVLa40HLmqxuF1JIYv_7rq8GWSxDD2-INTojDlPr3IHqUQlU9ZNsynA8Eqtex4MZjChMws8_DOoyta_L8mcq5Ponf_FK4YhTdGH6-GikuRR1Pr5aF0zla1JQK5CCfWKxLy6ZOKcrBPq0URM-j_7ixSm1_Qk6mstuogg9ADPdKvOm_dZUenCAILagLi1BNQi2VOQZWBbBhSSu-7kPuYL60DIKmcCcz73INxV9QpwvosDKRXqI86JDVzPlfb622uLaX88c3hGNk_-ucWRYDDhH_Qtxmks8l8mpAhuoTMgaoZV8rLX2w0zJLVLT5C-mPg343b0tSfrM8tSdY0ybBp8V6O9Aafj83q6MnmzC2TV-Vjvy0pXj3a5jSbKRCgTYejgpYxOEsbYVZMf8aTgcBq5aOniiOZqZ0E7CeXDfPxaGWNK-7XPb-6a-xtEEQtznpTHkFdZ0QJuD_NSDsOAS0Xaoo-bGOsV5rn9k48WksCRxGieyhUyn7EYxxz4z10EuvFQZOdkWG-eFZ03S9mWtCjlZ1NxvAwqpads6Q7tMV3npk9WWwrPFKMpNbhHcwf6eBacHR9_pl4eUEvB09vWeL9PkL4pKj3meKZKswXiZip8U33c5VOLGdH9zQr8KP3boHmeFe97u_uADDpmJMz6SYNxsViFdkqChg_GHu5kJTCWamgGd3xONmYqJjt0QEc5lTzgMl1cRsmm0lU3OD4TifL0GW6Ppjr6raH_RhoCmPxwc99D3dpxXNwHUnR3xHktkcM0bQS6AXX0gQpKzWrB5wpTcMWmZiQ-S0gOOk9UHTxS8czwCv2ILQnRbBe_kWYUFkZq1C9iJI_fvXroHJDKQBfaB3tYtgL61oP1fF_cIruNWGnEqmZOYqFsYaFvjuQGjc2-wGkWU_eZ1elqD4gobUW30fvX0tWn58D9c0OiXxexyZukJbt6NpDxzSisM7pZigy6fy8De81CWFSfL_irpHhOT24p3wNwIzmjFrld4udfYZjfhgtBlLtl78rAEP0C1fpSv6FPaO3QR60uh5xQ0buysbjv4mKnd4Lf1ZojuiGnvuODE4Z3QdPZsGexwhSZ2jh8c93Nm-bVSV9dufZhSSJxbO41Wv5TfHqolMTXZpAwi0QcdFAULn4e3F136aDHjHAv7RIkzxezhg7qQxa9FlYwdM-LKLjYA-B__SXK97qS-NOcrvqYE3Kyb1C57FCMTYN8ae-M9ZkQeL7MrvEPNhmV1XFu893hpOk27bro_2mfr0KLkFjNjEtOd6w0qHM6UXJf0buWftHRopafm3jQbYvmbwOm30mklPQ5OlIANxdoSyjU-MzhUkI-Nup7XBFzmqsQgaLzerzN0S5yyGh_WWq86Kt0suEoMow24XZM0Bm4O8Tk75sva_otHx79JsDZLnXpkuE-GdptUxaiSn_Baeo_qTDvkW42ynqkHDKUOOc5EHumNfOd7YT54xiyuawBUBHwUJqxu_mQwQTXOLDlWhAT4zQ809Bya2hbHxpDFZa8QNzXFvt2p3OGQSjm-8UMrV3cPVrkNqwrU6H2n8J4fIACfCQoXR5_cHOUPQoV8KB3e0EXPpnCYXdK7vVqX4G0ATW313QUFNkc_1dh0GpUXaULeSL0uW1SpnLjHIdwbLXQoLz_mlIk8b98R6O49UymYNJI5BmnJfGUcrf22tEBKnuznTgYBMgAetX3A7omPqPlH2RMl_XEX98wB5Y-LxoUxRC70kEQ1EaEqQCqBhHFroKu0rjWaZxUlM8J4iGOI7w5EPJ_qXc6JN9RzJHWyzSKylacv_ymXTbN40_7VhGoLK-p4sm1nfVUG0xX6xJyLFZXOwUauwOkAyyDB0P1sxPgfMyBcvYzYT0UXXoFXR70DgWuA7E86rw3RJ0TWD-f8iAVPaZvmwcKkMgNwrYYxJfYJbizh1efI4DEblhnl9_lZX_peTDu8L8YL3heESBpIePpwXQG0uBUNlI-YQxJO-5imz5viyWOWbibpbYc7OSbVJZ1KEA1wOZfNVJRHIIvaoAefZ6FxbQP8BVBVlGDIY5erFxPotUr89DSF-7UtRAMuih4wPLjz2sQRUJ6bw3vGe_qFLM-h97DPvq7biCb0YMYQhusdSE-pXVgwzQorT1wcfC0e_gxBACxuvtcg090YWj5ZBGpa2CRvZJUD6f8JrSM4rdtA2D3shBIkDVw5TdDYxLgOLd5s84MQFeUQVzbK4r41ZEdl6L17it1ikd9wgLxTr8IMOL2ALvYXEpYAe1GA9uJKUW1ZDQYl-6xxHRiL4WndpGDyVfqGYR-QMHBhxoB1bdHxb02_-tGNqA8AoHgA0H_cqIwjFqPW4zB036R6-q0ac_VPfJ_wt4AwdqaF6Z2BghpTWnofRP56-DCYYEoZ_1PWeO1DGBcKW9xfIToS1iEMRvNjlG81sKR8yxtcrYVzcXlIMgO5etiGnPeE7Yo63i3_tDHKi98y90FMcxdQ5O3xqkf3sCgLxo5ok2JCoIemveELNgw06iNfjNCH3kjN6Lph0yNgWVoMQeL_jkDYilB0Z9QBbSVqYsbQX1VmgrlMlAq18MAszAWjlv3W47eu0-ndzcCzzwzpNkJVbdhjf1NFq72_gSHSYzRy6zE7dWbxgv24okuGWF299K_12k4cjX1Zs3181MNV-KTXCAeNEfNlvitnIIq1topAXMj8mizlFcNNMI5BuOeyTe7d0oGt2K4uegYfh1wl_hBVZW_RIju9aSfe0CCeV6gf5HLtUnylZbXHe1EVA2UP_u7i2Q_G9s2impEhj3XkG4TiHNC4E6SdWFR1YyFJ6XZVe9RqcklBYYaoDLG-GCnpEaS9XoBnz0jV2t_G8JRvX-hKFrcsznSMOcPOhAq0P1AH-yuzIwsv5FXZpjB_cqnxSv9ZjQUnTqN5GS9iuVzhX3i5TMtV6ccWM4MNFZZ7ZaI_Xf9zJrTTvChmm-YFVNuBA6PijIKJZrP_TrLd_Qn2N7149NT2imaytq62d_uarrgh2f-LfuO4XSJRiZ8QvAcZx8m7VrYtRHtfvBq6sf_Nc8aPKV8o03SCSC5yeLdSpHmjg8ZZxdwH6u4wlKoAC2L3mIDbz2GJgNjVz065t-6wsB_AI3OvdvcHkPTkSpOfPuwuElZ2HSwjXSuZaFjP3kGtly39EoMJSWl4feSgWHMVtQmexbxXyUiKidSkLnNYFxA3mC513TeUuELsV-PYbxPjMFizXkk9_3YcHCZiwCZr7bpqJWLCGwhXmkIMssqdx7_aNE8tQU1yk-_XNX-Q8DSamFzAK_PgAX8IEFXJAINz1j9fDXZOZJ3nbShj-qyXLm3Kf6Z9yoEUrBYIfQ-CnfD_jSe_COt8ZfjoUwzVFzFpPX5uxHQophyzDlITrsq9MOcUEE2to2UsquLl1VMDz_iHd4sdGKdAQqun4-Yr1cgMguS-5DcGEJt1-PIxsuNU9U5ZrDl4qBJLeESnF4FpnRP1qJPXvGyDVnBEYVJX7ZFAxQe5PL7d1j4PbAL-BUjCTxMJdFySdTIMe2R4G5tBOkAYUmjEfa3cyaWOChNFa5smPsLHR-dwviQ2KHigbk5TbtIqGjvpJNRJrrnntDYEy4UuvIgumRy2lmvnXni7PAB9Uzy8cyARKLIG7ou-qP5xlSs3BBr22guDFKP7NVBiFwBvBmevTvRecnLQ2tiRkKHBHaeX7w5IOaBTozAbsPQALYuWp0_3znL7xFHpw==",
  "id": "rs_0270c36bcb04f20a016a7fb3f3331c819983f0a71dbd76b43c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7QLgmjbUkN4jzhMwFyzsNHmwa8jW3IojnteEwpGDKB3aADdwqcgxAeA1FuICLMtOvWpriIx1Jk3o0fE2gyRhckCX2utncAq4IsqOnUVBjiRs8HYsEBuvNW7A4v3zSxe9cT0BQ-kYSu417kQ5TE0CtqPPBhAiZa2j0Gswa_-lXqNfGPhO6n-ZXbw3ehCw-dx6f_0YFjbUi23cHKPuPvUgdpW8c86sE_SMwzmNquwQeH6W514fNPzJ6suVrnVtY6lH8TDq7i7jUyZscVaKa8u71eLeRagdBFs4-YHFIR-A3SHSjxYRp19QtPM3zs3hPN054wgQXzFi7kHl0vfxlLuThe0J4ro6VauuOU03zKfiWNXf-mjwJcSNroFhmTWUC4gz6oYPoleOpH0WAgrOfr9-HRWYzuWPqjl-W6QvaR3_jVw6JCDX-VmV8-rhWgUQ9tYPYhzkuzDwXSGC_C4g2YUVjgnqLdP6TCQfaFj5Hdt1l8SPX4S_2MfdYSjX676T8FIWO2XHGmjKcexFCiMjn6v-cEeD--uXIIFHWEk1N084DRXTNstI0g1YI51IloTxbeDmgcwv89-blk-wHVyw0MoveXhUVS2EhUy3H5X0ec0eXpdK91Lp-Dnb29CCBCE7hK9AQHlnh6cbvMU_TsWxurXWUgSsC09TYXX9JOoM8hjvF2QTNlxkd6_j3mXUtORhegZN60Pkba62pwnTBi36FOgTsSsFteDjoQLB-s3Yun2SlcGlpVl7XhkJxMWtBrHnEFDzQ1Fp7VnnJhx0TBKrjmkVEbp-_ATksPW6mZ4g-pQ91vZQcpo4KEDBv19395Jo9x6vlrL-Z6y7jt6EhxyRax9ulZlZJQF2vkx3X8DwovYo75S_S9GBUTJVaz1VRDsO_d8-EpgxhVo8SAFPNMF2iY7Lj78aIIAukzXsrKNJTbvDRdnaVwCBEy_ZOr6wkANKzhKCBTwcLSER7wFXozfao2MiC6hRBcH_VFWYiwy6Br2m1-SdCT-D5vHMEu9dqI6fGd65CgJ_8xKKhMWSefXAK0EjSv3Oim-_o8s5LYAELAwA0FNqr_OWi9Q0u25vPIHzm4bUfzBrUumDWCLZdz9yEQ1cQwVI87BTpo0jh8IlZ80dNIFnF2WaX0MfYZ3ukv4y8LqJ8vmd_NkwHEXrogpuyf6JwAqvPxoEUkjhe6GpuaIr3lfx5IOrAq1H-w7Fzocds17uv6TWxjOb8HPn5KGhk8vTNxfuZdyv6YNMIl-EtyS6-ni42zqqIdzdkh09vOwOXnOORL5ih9YGrMy0zmHi751NScjqkpTv8bnR40NNJR_1X5JBrjQw6NAwSProDubTzp6OZIzIngdGsJirjpX6KDmun7GDcs0qjavwaIevAlFE7NKN2Fhdvc-2H5JUnbKyhXfeZ1q_KcYXFmq0th-kr8lPN3ytYgsn7UbWa6bDxRdz078-krgrZUkbEsTQ2EFcf_1iYAunwENV4oGqNMyPrO8W1teIatORCRy689Nf8GkGBzQGBhAHK4vPSI9cjQwxjmFAqYauEHe6UjsUf5BtMdiFMexLfuHBDkw0dVELlbx2l1iHAezGfBlhsYK0dVLzCAb1iEbW2M4HykS5Nquq-0lE7FSceglKfkwkKpyTRvpvnami6tVUcDqNsIvhks7fC1PzVU8XxVlMwaKwVS11dsKkeqoC0MkYIWLEgiSiHeXPh4Y9EV-k5AY2xH4VFCenclrYRcaJDwYPLPxtU_p3knyb48jYu6iG8aUe_jTi6Du5_fg9vsTA7buiOyTUhc7kyZTMcKNncTZTFGe8xKoO9y3BQHN9naGPXfsfI_NBQBTyEZR9xwgYdu5uyyYxEZm1M7qKmi-qc83J4GmYYk-iZUOUEoki2MKTpAn4LH4om9fFfM_FXV-XEonI6nNEo2CmdhPQPJkr80GFHLqeSlSMc0GVRUQPISuXPsucBzEiYQHVBd4gAxgbaP-58eG2MPHf7kRTQuDSl08UWVlpCHmQ6cCp_LDNaIAUN1JO42Ywcb8IkDQ2o9LQ3pkFZhk3A0YSWH0YcmKdj7iMEaWV86nvvCjXtd0Ekpiwq75bEtXEbzeYZg38aSnbFJIdxlmUhnaoWX78yib_FUZdKcGwyT1uhd6YyuY9IdwZJsPqX_EMJvyBIH9sU17rGuvU42FS81Wp8U4g4vxPmRLyETRxIy9qkOcpoY2sHFqr9RKxv9YnjEKcZdixl7lK0CNN3j64kmafzNvW7iSrROqPKD2MANFMPakDGo8he2XXv-jwjmYB8P9tDvwOEfwu1XIyuHYFbbHeJ0p5unoJ9NhihUaLnqBLCipoXmgfTQzGxdPfrJ8kZRqsnP7bdE=",
  "id": "rs_0270c36bcb04f20a016a7fb40146148199953d5bd2fb9f9bd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.7},\"note\":\"The blue block is still fully occluded from overhead after the lift, so its motion cannot yet be verified. I’ll shift the raised gripper about 5 cm left to uncover the pickup location; this will show whether the block stayed behind or is traveling with the hand.\"}",
  "call_id": "call_9UkmFiZiF37TDIdfHNeQKw6k",
  "id": "fc_0270c36bcb04f20a016a7fb407e394819984ebb6319c64b134",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9UkmFiZiF37TDIdfHNeQKw6k",
  "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=-0.7166 left_j1=1.8286 left_j2=1.3128 left_j3=-1.0935 left_j4=0.0002 left_j5=-0.8909 left_gripper=0.0131 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -8.4581, 5.3812, 0.2271, -0.0611, -0.0659, 0.906, -0.1299, 1.6205, 7.1726, 1.8584, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23623e02d4ec117f7d8eb37129ee0d6ee89e445d18c7a74d2045aae42c3c3ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd2541d1341ce435e3e8a5df610a9bf7dc6b2a347330934d765193c8938ef2e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fcf1ef3b8434abc3844bc2d486a1dc0991630a01b666fc837164f7789f328aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8993 left_j1=1.8294 left_j2=1.3113 left_j3=-1.0904 left_j4=0.0006 left_j5=-0.8913 left_gripper=0.0128 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -10.5778, 7.3094, 0.2466, -0.0659, -0.0464, 1.0183, -0.1709, 1.6342, 7.0496, 1.9023, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb412359481999a7f5f187a622d2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The shifted wrist view now clearly shows the blue block still on the table at the upper right, confirming the near-zero close was empty. I’ll reopen the gripper before re-centering on the block using this close-range view.\"}",
  "call_id": "call_P8ii6h5kgVgE6mF3bdUsYa5z",
  "id": "fc_0270c36bcb04f20a016a7fb422400c8199ba255fa432dbca18",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P8ii6h5kgVgE6mF3bdUsYa5z",
  "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=-0.7162 left_j1=1.8286 left_j2=1.3128 left_j3=-1.0962 left_j4=-0.0025 left_j5=-0.8913 left_gripper=0.995 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0093 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.3761, 5.6547, 0.1832, 0.0073, -0.0806, -0.1245, -0.1709, 1.6342, 7.2684, 1.9072, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a0fa5a4471b403664ebb53d44db0c8e86ffc5091e73137c65765529236a45a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1789108441ae360e66dc5a2870adff7462ebccdabb73af826e54cdcea6fbaf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797c2574f624d1be030c6e291b5d43087b613d545b1d3b231335211f26399126",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7166 left_j1=1.8286 left_j2=1.3128 left_j3=-1.0935 left_j4=0.0002 left_j5=-0.8909 left_gripper=0.0131 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0093 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -8.4581, 5.3812, 0.2271, -0.0611, -0.0659, 0.906, -0.1299, 1.6205, 7.1726, 1.8584, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_0270c36bcb04f20a016a7fb429b6748199a54b6298cfe8cdbc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Q8sd653Cod1wcZR9hTGN2wzeSA0j2Ies3OBloAeZqYtpJ3ZTsaT7MRVqfcmYGui57hAqGLqtEhwz_MDpJEurCTlkFowkfmdIEsQefrft3m_2XnpxyuOUreSK2N3PLXXEuMGlKnElTaOCT0xCFPzUfok7icZRrYqGa9kIXrHiIVbWCtpc6iID24gtfIE8vqJ4Z4J7biBDglLxe16Pz0bj921NpQ03UqkSDLTru9qTAGXp_PFe1IQQZnlR7bdGFiS6HjwJqiC1nTxczBYXVDbzsVO7RNLQ7mUKQP2GPOD9Ab8W4ouENowSMO_S8j96YzvLCQ4v5dJZlaS8-xMcslKq8-3T4RvQKjNtp4ViI_qbMOtY-CqIDoRGKBP_zmjh7rTYim2LLHNKt0poILQ67LPjCHELkuG20I7Lb0-0YW-TYE7nAEYNQ-fD6Z2XL66jbENLntRtmA8jvNl2mHyYG128AEkUUiuT6FlB_r0oqschf-bi71HeFRroFclpZzt5sdBzF-yXOA0ja2M1cGz2IKG6IP1Lxz6YFznpnjw9UO0sT3sd9T4aHg_ZZhT5YccTyAg5mvLZVOTBANV3wc8Zj-9Gwhmxulbm43M4gxOMTYqnf_6q_UdQ1SM1429JWsFrXHJ2vSDgccEm3MRfczyZ5lrUf5zUkGGSkjsmqSRoAEXASnnoBEoe3MeaglmyKoXIrEcJEiLLVth9lIyxEqKU9kolRNqbZeBfoH5N9_rw-G3T5F2Di1WlMvore0g7AVFmHNCk1vL7nY_F4oLf83YZ1iJ4StTM4X8kze5A1qLFYNTo4C6eGKJUQDyHM8WdnlbfcLBnVMUtO_wsV5jPSvLWfrpjR49_ovnPWyAthsP-LrXXnldBtbTa9n0Aizr5BuphhPqMh5zNFY_uDXD6Fn2b-YCAiyTXzopQJcsjkQJxECQO1XrGg94WDLeqc2eQrd3Ls8XbJJ1nJeBZJrwvDFuRSVETP8sVZ-vvNOOxqYez8X4gIzypWM6y015Z5c4x7v5pIxP09oKs-Q3Sl8plkILam5EJnUMKH9Gl3AemzVI5RyuD5U5nl3f3FySoeeyIIZjgqa_-qp-qGA6AFY9f2xuhNDzAqGdPxEqVFxDSSj1B6gS3nf7wOZ5NTnb34lbK7F3o8B4YKCVX_lxwaRpYVSinMQvSTphZp70UOqzgl2GzqNNQ17437H8_nlEgZsCx_TDxUdTnxigB5fFH3_nqxhTEr0PZITgaAn9A8x2UrQ1TtXHxK96HbNty_sQZMu-PY0BfaYXWGY9U-aNkXxoopmqVMP7nHN3oD6O80Q3su353ofC3sI4WqYooa40nHIc2Q1B11vu0AfwkndqS-97eaUf5sc8G-x7pfO19pVhbet7dgh9GMfI_ATf1m8lzWgUAxdw8TZZ9hD6zY3yy23ZnRgoe1AWe3Fh38xm5ZqL_eb84BT4FabgXbebbpLDGAL_sHjP-zDpkX6gaJ8V2KJrGVsP_jE42LyD_u36lOxMEhF2bOBxJ4nyni1pMovOyLoWjMsHRqNm72NvAYEI-lp5jt0ScubSrosII9nnb1jXpsChGUaHIxn0EDFecm2khMcD_jKZuRLMCdl_HGSIvPz2FMe1CUold7vGvF0M_onwI4Tj2vn0EOOpHZdZTReXPcx-BgOEkKesci8",
  "id": "rs_0270c36bcb04f20a016a7fb43783f88199af796ce431c99857",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.9,\"left_j1\":2.02,\"left_j2\":1.73,\"left_j3\":-1.28,\"left_j5\":-0.9},\"note\":\"With the gripper open, the wrist camera shows the block above-right of the jaw gap: the lateral bearing is near the earlier −0.9 yaw, but the block is substantially farther forward than the grasp point. I’ll return to that bearing and extend roughly 7 cm while lifting slightly, then recheck rather than descending blindly.\"}",
  "call_id": "call_2tjDgOCOm6FODjxsYW05NsXD",
  "id": "fc_0270c36bcb04f20a016a7fb43aa0d481998d000b8ff176ee80",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2tjDgOCOm6FODjxsYW05NsXD",
  "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=-0.8944 left_j1=2.0132 left_j2=1.7012 left_j3=-1.2625 left_j4=-0.0021 left_j5=-0.9092 left_gripper=0.9963 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0158 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -9.5111, 7.8974, 0.1587, -0.0464, 0.0464, 0.1343, -0.0889, 1.8256, 6.9675, 1.8681, 0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e8b164a813cbe73f85ceb6dda76a6f968ab851b262105cf5a1fce4abb670c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb9447aa4d3ff44d98a7d96d1ff475529672a6cf3d7bc3fda480791686288a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cecac465093affd00e351e5af898957045057863d41b0b926ecf025631872ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7162 left_j1=1.8286 left_j2=1.3128 left_j3=-1.0962 left_j4=-0.0025 left_j5=-0.8913 left_gripper=0.995 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0093 right_j5=-0.0151 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.3761, 5.6547, 0.1832, 0.0073, -0.0806, -0.1245, -0.1709, 1.6342, 7.2684, 1.9072, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7RJb9m_G2vPi6tE5A7qMyw3JJ-MCnzkdSD0leUD0iWsJW_GQLC689-FXiUIqQgByLOUWoXURORa98Df7eoMLti83UVX2qpQfE6bepxTtSCFctIoX3lwcX4QlPIw6UXncn_udZSV2C12HreTQw0C0huH4Dflod0jUSp6ZSNKLaPGva8wbwLXebEkn4ih6QBt6Am1HleUC_BrGXUBOu-MfA8miGoc9Z6jkX26bkJRvIa7l-Cwo37iLEz20xQV1n5aXSG2gxg0u85C_LgzQJx7_FLhk6X5EbZTh6ugWuOuNOUiToH3gS87lE1FsQ83eGhCddDsFwh6X1CwDNMneIy4LMugjvP4q5nV-0z4DavB1XwprYntgEui0k0czbMkz2lXj2F-UnTB7DB3ImH65yfiPHL-tp9vDG6_hV2C_NolOvQeoRtkFS2DbzZJh8R2JGTfoHIWTvOd17mnZzvEk_Ncc3d3abSg5JJ-V9h2fYJu4wRvy90wYBBO2xIUs7LQDYssn498YV01srrcqQWGEDt58b5CTlqKQH6bGop3Jl6couZ_TKLEhHCwn0Cfki-af83mWiH9tFRCcZdpLzHHCXgt1XvKhr3ibQGZbQE9mDZZFgkEFCVCU43-FQQyBDERUQ48QXE4sFLc01Uy9bUmSXX2ExOEeLNviAbFkk2OnhySx3Y1APTrwh1Gdyd8x45mNDSVA5c5SUV0iqkxqVOQLZKwEN0JTuiYilKisfJh2E7ac4hGjDEnHJAlvp5Ze4pWmtRpdiCHLZT6Ky-ZFJQl9xseTii54hAZ-Mt1hQEJQWasoxJWhv8QASTAKVFbMtct4PruqgiEPHJUL9vXGIZCHgjVA2x0bC0LP7ClEaKpYTI4ulm8-QVpoRS2m6H-7aD7doGDwb9JRje1P0WXh_TMtwXTIXd5USjWQmP8xOj6vOCmpdD3UKOwma8PGS43r77EG71w_EydWG-hK4K3iPCfvs7fRh7moga63oB_gujmVxYnrBvyy-6wFOugAqSvxfzys8RAJN5G3kwA0X5ICCRA51zQZxsvaPZV9_Z_aYzNZNI25FQY4mEk9BaxWOJuR7dKINEp9WpPCoQSjScqKuFNoxVtnIwACniSB3IaQgOybNuVGR2TFfaDJGhaQaT3zl-f-6odJkuuwgfvlADk5e1b8TR3s5kc9XxMCu9Nobw_L6Ta9Y6lfEGTXUe70oh80ot0OXpE8VQY_srjsy_DvSCQIB_u8hpuWt_s71qlBdy4Id1j0d_lsnykHkcx2EpT5tJd0aQ-10LUA3w13KgW_VQMWAnmZE7UptSvywzHeiLjpdcgOurf6tKZy-x4-Z85-7qf9fIymOTeP3cBxlAYmm5qTm_e8PMs76T5ZKxnR6XaVtOL091NGuG0OV9nzy6yTLiyIuFDGUACazDyBU2A5fA9gVIovdRfe9IYdTqrpD_zoYYddma1EH_DcXe3o2i1hVd8MVHSHooQQ8ugdc0hvih-ItP4XrvSXnrabTbec29c6Tj50R01TFukEU7lgJtyxIWzAbCnScWOeB_jF3CJAPRVMntriKp5glz95I8YubtNXD-bxVLveT_10DK6UppBthj2EbDj6-AlYFCZuZ3fgowHvSwvLhEsaJ8Hqqbv5vA_NcqerWFMWbetNBHO0X1fSSOdRiL7TumonS-GSZLVMUvsoEQnB1GKCwyimwdN8NiTySguMzzWYSm0p4kcAsb8TnOhTT0NoMvKUPhu_t_5z3QemcziehJEILXGiQAZPVVsCkJLMz5E1UOpwzzSzzOJmEL9ueke-6b9wv4sV7f-DuZJs1PQgocYzBihGajxEAb_o-Z0TAS9-fgSWm0BCr3bQC2-ag3P3HNc0kXRvozuxp--RqPjEgliJzL2MNzhRIVAdTEt86ehgKKfXI6F0rwGkCmB51M0G-2xMgW4HV-oeP4aPfK-6T9x7wMem_WcVmXhZ-Pr9z4KJxSYj4iPWn8efZY6jKWOV6HMuzOYh8VNALig8YPDxUXufJkG-sTMwP-AnQqzYChXaAJ9niVfT8exX9PuZNBxFCi-Rjdl9wOd3Y_S2-jStuoSpyzvNF-ojk6ayBQQ6N78CJ3qbKR-neDgNxxDyO-9wqJP0LnMrgFfjPvex5iWTPwCBsJ3beCIX60CnpKEQhcvm3uob07TI_qxTHf-Np3lxeIhaqAiPkpjmTIggPvYS0NcHOiWabmEsn39qDMw2HKTuvEB2L_NJypwmaNlOZ8KqYEJ3P0jm5B9oAVs9FR2dSJMerrrYMfJ7AdSANmylMoL-C2NBaSBcb5JEhA8TN2FZNGu-d-4gOGgTe18qFaTXdreA_zDNqO-OM6VEHSL6oo39MEpFns0S05PhzhuJsbLDJOm0Z408rvAq5R7BH5KJgQOccD2xiVk9t8lK1J5qaMrVwOBtfWJcJqtJhd49w2ofLm9dUB78KtsqTuO6B5Vib90Obz_PBFSGjBQBsg5C62b3d9yDtnuTDAI0o-txhGqPZ0bk9gV9Ip2TR0Gxt3VjOLNPwPEuMnXvyOSgSaT0aBs_EBOSLiaw6ItKjcrSEwmS1qQOCXHIjL2vGYrn5bR31NT3w==",
  "id": "rs_0270c36bcb04f20a016a7fb440faac8199bc161568143dd9a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.79},\"note\":\"After extending, the blue block is fully visible but sits left of the jaw center, while its forward distance is now clearly measurable. I’ll make a small base-yaw calibration toward the block without changing wrist roll, aiming to shift it rightward in the image.\"}",
  "call_id": "call_7WZtbgvDChutC0Q2vJHBJebd",
  "id": "fc_0270c36bcb04f20a016a7fb4475ab48199a07261b1e4484c9d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7WZtbgvDChutC0Q2vJHBJebd",
  "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=-0.8139 left_j1=2.0136 left_j2=1.7065 left_j3=-1.2678 left_j4=0.0002 left_j5=-0.91 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -10.3863, 5.2855, 0.3248, -0.0317, -0.0513, -0.0024, -0.1299, 1.7709, 7.159, 1.8779, 0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f28334a60464cab7ce94f26d69c3503cdf2e5b5f4005001cae4b17614f1bbd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3074f518e99d65752c7eae0b30a36419456b1bc73bf67489ed62409f1a1becba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433e7eeb43ee3bc4e02dae71c8be16d84d2fb8a5d7fbbe225bea09605a644a32",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8944 left_j1=2.0132 left_j2=1.7012 left_j3=-1.2625 left_j4=-0.0021 left_j5=-0.9092 left_gripper=0.9963 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0158 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -9.5111, 7.8974, 0.1587, -0.0464, 0.0464, 0.1343, -0.0889, 1.8256, 6.9675, 1.8681, 0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7ROhDmrSMYb8SBhnXY01s2MpBxjrIiABnZfmYBFmpqDFD4Q5-OX8xvmmNSevP_50zrxro3DE1LjpzMfj7O6mNj-YDMpDPRBvKEpQg1Q0Y_fuT111GMN2hnxXNVQDJlt1V7dq1SRZOxzPsrrE3fSUbGOROzCEGtIwgk9Q_ucNqSDlXisKEJ0YwDBAWu4csEz85FqTtHxsNhcnvrdcZgJILdY1H6Qak-Uav8M3gJrXV3WxIsexKruK2htNcQENjcBzaMSsbja_g88k_5skmt72lKGpoFKZFJsbRoaSNJ8WO8_xNkgSVyAqsK7Oz2BLW6xSKh5k3x2hDGOXNS3wBH9FiDJZlVvfbh-6ZBA-HtMGY5cPDa7BCbimqMuNElNhWY3ZxHwzsi1jutyKssesV8mUc4R0yumJ_VmhSFpsnm0wjR6FbKzrYygckVSfBVJxagFi8_yjxZKJ3QuarEYeXuQ6X86jO9iig_JWaDX_eZczx826NDGm6dG_vcLdgpG1DZLi75kfbyNluWOI-oJGMjbBm7Zoa3upiSnT02headr_lPcnS9mu-vYrGZGL8Q-qEtzRsUdisJ0IW6I2Bv9hBf_00guFn6SXcvn4N-3e-UQTpy7QnDjctbKHJGWz33FfCgd_9BllqP35hveYnLGtrubS6CGtH3TkUfufUUAklf9CvUxTPWIOL-BPIV3ku2ZQFKshjukfMY1-7M3mRMP0XeWFoY-xdrovrajcUdA8XbCyCmQU9P83Dlgaevokog3kmZu7HzzT-J-dp6ttjJVHm58c9uA2OjnzFUOEoiH8BGU6ponC1794U6cIqC8zp_uP6W9RadJz0-FVKzZ7hBWPLtpZGwHkUXYom2bloJHvlV-5Fj1ObtRYra5pLWPdBkAEnc8i5_lk5mvbJ8oWEANeqIDIq4yUotC6dE1l1TEtZ8e48xuQ7ju8BKsgaRNx0KEF5kiYxeWHlTJN7UmuVTL89bIrfdgaYAEjke3Oynp1eStHpTjLMSZ6fTPgCbR-2GDR-LVyG1shqFEI7elAV9hh8OYY1-dZr6DNYaN_Z2Yz8x-g6IHU3MQ64hgDcf6jwKc6N19gTvmLxPw7PvC1_crcVAt7Nask12pfMj7aDXWd8KlHyn_o9pSqffWsmTHNHrFTjnOnjm3KLRCzvPQbW-7OXOcDmFA4daWSraxfEAK_ohvE3tEAJ256CaST84yfxIHFOMgAfyQ5dPjp2Zdb-xy_F2ycXYGasaeGTRWs2mmWoShNUVTGiRcnQBalTxNWQWL7b_hUWG_8sotTpY-wjzW1LggcyWaugx4DAJlpKO1N4UPRxqqLn_SPQL3ciWfuRpg0KX8HYVHh1YzTQ6HtvqbnvYejd_DsL8YXzXOYNbTvmXcLZ8cvHY=",
  "id": "rs_0270c36bcb04f20a016a7fb44b49808199bd9f97d0fdb47ee0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.67},\"note\":\"The yaw test moved the block right by about 23 pixels, confirming the mapping and scale; it remains roughly 40 pixels left of the jaw center. I’ll apply the proportional remaining yaw correction while holding height and reach fixed.\"}",
  "call_id": "call_ZJSITWplm3kiqnGbUZNdHt1X",
  "id": "fc_0270c36bcb04f20a016a7fb44cc1508199894e4d35ba4f9228",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZJSITWplm3kiqnGbUZNdHt1X",
  "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=-0.6937 left_j1=2.0136 left_j2=1.7054 left_j3=-1.2682 left_j4=0.0002 left_j5=-0.91 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.212, -10.2906, 6.0239, 0.3199, -0.0562, -0.0317, -0.0171, -0.0342, 1.6205, 7.1453, 1.9072, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039114eb77b8bdf73dd5733d899564948c678bcab64d49f24d19b8e99d002197",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b559e8f5b4a2c889319a4d1487b34d1a326cb7bb6dd921df33a9184961c6790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b688f4ac08fe5e7ad8363304beb2fc1c11f525b0740855f63fecc8eb039a323",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8139 left_j1=2.0136 left_j2=1.7065 left_j3=-1.2678 left_j4=0.0002 left_j5=-0.91 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0277 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -10.3863, 5.2855, 0.3248, -0.0317, -0.0513, -0.0024, -0.1299, 1.7709, 7.159, 1.8779, 0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb45005ac8199bab08821bee61253",
  "summary": [],
  "type": "reasoning"
}

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  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb45cf6948199bdc6cd21f4445daf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.09,\"left_j2\":1.61,\"left_j3\":-1.09},\"note\":\"The block is now centered laterally at x≈108 versus the jaw center x≈115, and remains about 9 cm above the projected grasp point in the wrist view. I’ll descend about 5 cm at the same horizontal position, then use the new view to separate height from any remaining depth error.\"}",
  "call_id": "call_sBOrxiu1LW4OhbgIeTIy1q9r",
  "id": "fc_0270c36bcb04f20a016a7fb461ce948199b595a1c36fce41f1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sBOrxiu1LW4OhbgIeTIy1q9r",
  "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=-0.696 left_j1=2.0911 left_j2=1.6138 left_j3=-1.1198 left_j4=-0.0025 left_j5=-0.91 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -10.6051, 5.3675, 0.3443, -0.0122, -0.0269, -0.0171, -0.1299, 1.7573, 6.9812, 1.9023, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0027f3ed0ad8d3f218d48b06692d62eed56e1dd245eaa6556c1792872f08836d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d964ec50964d8f03bb6693285d18c046e372130360df7ac94f178af07241ff3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:771ae0c959e434efa3f08afba5d59229441ca8e87414868409876cfd574f0496",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6937 left_j1=2.0136 left_j2=1.7054 left_j3=-1.2682 left_j4=0.0002 left_j5=-0.91 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.212, -10.2906, 6.0239, 0.3199, -0.0562, -0.0317, -0.0171, -0.0342, 1.6205, 7.1453, 1.9072, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb467aebc81998feb54fe5cadf505",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.17,\"left_j2\":1.55,\"left_j3\":-0.95},\"note\":\"The descent moved the block straight down in the wrist view without disturbing lateral centering; its face now sits between the jaws and the gripper is about 4 cm above table contact. I’ll lower that final increment so the fingers reach the tabletop alongside the block.\"}",
  "call_id": "call_gwWebMNbKtZgE9RJ1DQoBsMo",
  "id": "fc_0270c36bcb04f20a016a7fb4769d6c8199afaadda17c322d15",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gwWebMNbKtZgE9RJ1DQoBsMo",
  "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=-0.696 left_j1=2.1593 left_j2=1.5608 left_j3=-0.9794 left_j4=0.0006 left_j5=-0.9138 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0166 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -10.2769, 4.6701, 0.4908, -0.0317, -0.0073, -0.0122, -0.0342, 1.6205, 6.9812, 1.8828, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79a4d098efeef2a7eafe5ca26558fcd04dcd756f4f3e4d843ead1bdb545a598d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7c293d6d96f64851472b8e83242665418591822426d3482c56105b5ee26c80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd8321ed4ac8e00aa711eb98d65db7247f97b40748df7b028ccffc88587bf3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.696 left_j1=2.0911 left_j2=1.6138 left_j3=-1.1198 left_j4=-0.0025 left_j5=-0.91 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -10.6051, 5.3675, 0.3443, -0.0122, -0.0269, -0.0171, -0.1299, 1.7573, 6.9812, 1.9023, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7SF11UWo1UYW8NLu_1HmE1fphsWMMWQ5Jp5Ko8xMxA1kUlAPuhGCFKfnCImsfBnSYsRF9ZzGc0G-T9OjsAul6jBMTHyIfqekucExflhz6_G15Q3jI1tZRqWzvTwQmW5NFtkxy84GZ65fWRqV2Ki4tSjMVTdlUEreuEGHZRGAOZI377NTUCHnvoj473R026hyCaPCHlNZS1y4l4ZbucYvf7vF-9PrxK7BDf1mJhfdz6wb3vk-arGvt-lI04ZPpkUCDHHYW9QialHJRDnyzP2ZPhL1u6YUat6EN2ijmN0aPpnQ5iZOdg1j5MXmtIg1LpIU-r9KIwf11ENbKp_LUEiFxczCPbHM-tDvdKQYJHWwiJJ_9TIejrxauohUirwhkvgFR7C_OqWK8IIlTVJKtOJ5FTppM5iRtbAKWuDHJh6WC2C_7KPmc24xVBTFLarYhauIwNkPsLFxpzpoES0oqX4azBlQWES-JnRtMTkCci5_o7Fv5h9MQLhun-KHwlpbbM4TimZttCRZF3Qey6jIP_cWHem_Vnwc1vtYcF0QeTP4qVFZkW1p_r2ZMlJ2-xV4UYYvBZDNlnh_D4xktoMp_wAIefjhp1Lyor6L5v76YwKw2s_c1LXkqnEW8OBWfONJyGCDvoUfFqlq-NtMW95ZexJIrGxzyV4V5TxGbX0iffLtylu8004bms0KWQt4aA5u6uwVIHWI2MGU2_VCfWrPzlpMOE4K2lLqF3txDm8LAB8WnCnE_LpFBcWCjeWR-QLAyDgfkaPL36GVZH9VedxRE4bYpY3HgM9eXyGNv6E0u1_foIg_igFa9HY5CFM5-AYUvXhXgDDY8fzsHME8HR8tX5zugI9CcxHT05tX3BnGNT-RLncEIkQGUgEwbwF6NEBgtxQqJaX0BXHgu9DdQbmCkM8bIwElvsgUOvIcWKjRmlBJeXctOUAt9W4Kx8VG_Host5HM77TPg-oWPoZ2bHwIBAyg4E1KZsfSPRG8xKRUEeXk_w1P1_1ERhCvX5HiqF3vZi_NPhBITacB1pSBHlkoHTUCeE6DiKrY0anG0HSlBOGIs32XJ6ssw6ijYfV-2_7tRSf1AqUr1MNoxVuMatA08BARAUtNwZEo8I7D5jPq_wRKhjDoHNdiv0ZEWDW28xmRQ4YW1ayPY6qOt6s7t8m9UZdREWUddSBzfhO7Gl5Sy0GpCGll2SBivy-FLgTUYdY6nckJGbp0qN7yeU7sp_5Ckc9zDujp2ksRBhHbA6Z1KIqVikk9Bp6EVkNPT2_fsvjGRkRVl5TmOBe8O3SFWPNC9iibsm-sce_YgzDe4NC-ef-7C0m_7eQHcnAAD9EWu9uXuNGlUrjMbzjeQmoFHpzgT7pr-CSChlYP0dGMU2aYc9P7UOFSzU3Ius31DxDqyZfy3SE7eQjKkVHnBPll8NTvvJ1GvssydA_zknMplwbdisrTNwcEjM7fB_2gVrK8DlH02yhqfN-_59jcJrbo3lH84vRnAfg4dbY1hwXkelvtiG5IdQu0Q_Vz-_u0zoGH4Qquvu4Jh4HRJegw-paD5qz9Calt7nOaAE-qFNOeuDYcUQXY6YP3c-hh04Qp6G-YdOv-P_FgCk0VK66gaRi74lEer8pAMaH3EOA4EwmKw5S-ntkJKOm8rXi_utbkPlVUuw3bErkXtxDbvKcGfMrVDAIMU844BKOKRrNznpKVRWF6hsegeE0ySrlD3fPIij12fNDlWSG3I43MatysaiSEG1pXuak-XfTWp8G3HtaHQqYXC7EZV8U1lPxdcbPi_w04Bs7QcCKY9VMaJvV8k79dpCMaHp5B0_Sh1IT0xi09YuwRXhQxuu2fzbuOuWmIDofGjqa7kgHMVwIA-1vEdMAbXNudVy3RSIjp3PhKWOhjBqQ282ojPwhU7TB3KI5MOImtrt9PMSEryUf-l_eAInPGKbyV1gn8Di6ln4Ij_loXNJmNmqqz5X8NnJsFp1VkF44FsoLohfwawBiUSnHr01Ne1catdsPh417gP0A30Ha4DvuzTgbvXeu2nTtokRbSQxlI7yfXj4oUtDDIQ9D4E5NOY9cMJdimLTC3R5RldZFMKuCSx6itxWtrJN9VCReoRhJzHteR7EUK0HiNYZKTiqMvQD0VYPGgX3bSztSC39C0L4vvUZIZq3hXPcfs76LM3YgxWMGrFYuoDoX04H2UQSICXehjq0n8rcl7aqHf1CTboh7HCkYIqvfbxo4W4qccvvFDjsHvIfUAOI54tH_2douhAIo5_dYGuwQ2RdbLPVQtGXJ1AzLcZQZzgLEM11Lu83USFiOxJH4kpeE9wSY4dmOqgTH6ZUuq1DgaOIEvj-NTvaY8zE1MC4wHZjyYV1WFuOD1QJPF1GJ7ZYbmAsaQwXywHhq5rp3FIQRiI1f3uJOhftlEm07S8-gOnUartsb_PFh44gMPSG8RO8hFLahzjyuGaoMVqPWX5G8kbP0Oonc3xS7JHybGChtOAal9YEdk76EXK4p1x7jNXud",
  "id": "rs_0270c36bcb04f20a016a7fb47c53f881999ef411415e82fb0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The block’s decorated top is now centered at the grasp point and both jaws visibly flank its left and right sides. Rather than press farther into the table, I’ll close fully in this verified alignment and check for the expected several-centimetre residual.\"}",
  "call_id": "call_6bK7SHGKNQ1lR4tXpJXGjC0m",
  "id": "fc_0270c36bcb04f20a016a7fb48380e48199a354a3ccc128cd83",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6bK7SHGKNQ1lR4tXpJXGjC0m",
  "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=-0.696 left_j1=2.1593 left_j2=1.5593 left_j3=-0.981 left_j4=0.0006 left_j5=-0.9169 left_gripper=0.4475 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0166 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -11.1795, 5.559, 0.2711, -0.0269, -0.0269, 1.0281, -0.0615, 1.6205, 6.9812, 1.9072, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cbf87567dd351f2aac707622c36812591deebcd13ae1a70faae8f2f62cf9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afa389ad2780c8fcbe6e130c3940bff64bcc89937546d9f21c63561421dedb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be85d362659f5ff1d5669115e43ab22018a7afd09281317411e2b469e8e3d97",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.696 left_j1=2.1593 left_j2=1.5608 left_j3=-0.9794 left_j4=0.0006 left_j5=-0.9138 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0166 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -10.2769, 4.6701, 0.4908, -0.0317, -0.0073, -0.0122, -0.0342, 1.6205, 6.9812, 1.8828, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7SPdMsicbjrMaxZ4xR-BmDNjJQznNs3ZjJLtmDfZUaQlzSl4mPv85ZswdFCpQngkdT79DlWT-M0xGwaazEzdC0ta_eX-2DNEkm1C1hkfSSV7XDre5IxMFZaUDx6-rcV02Js9kc_0GIls9LwXkv3hVNayuiqiMyR2KdNU51hgyQ7vLlwv3_vuu72V1T2VkhBh3c5mAHh7mkqSqT2NcBNRnX38ItQbeBG2y3s6euAXgfKLE33lpuo-F13nscmDUr4tU016sq6qepdfcL4gWTipy14ZQfftC80Caxa2_SdiYWavwFrD8klJkzqBbYeM8BZ_mYXtMGjHxUaS0Deck7LS8x5Sop-hvkqS0KavULfmvy2ua12hfLtZUeawrwanSR6vVvsCgIhOXPZrCpz208NJo0g_GyXBV0IvEyUFLpRFriHy5mQ2TI1Wj-pcqDr8jw0a8S_4DoUZerktZfKDzqXo3b_xhc-LA8TbI5dTkRCHtZrgzIeCV1UIA2KJ3YqbBVA_OJUJ_y07mlnZOVEfwIvevUV8fI3La1MUVeb1UAHcKwInHHDIK90T13Fprm9q2ysMgO4V_ZmL76SKU5pJH3dSPd3IQAGXtassawD_44tbPaMJqQ2ODQFknnDpqes-cyy0ZTymr3e9mJwoS9-nbrTqYrsbDxDJm2cQgdl9tcdXFmODV5t6dAWHtgMExOu8k3w_ssJn0GbhRvY8fXu_Ya53O-UOJJHbXDGwGJSDG9VvLfrDp6b6wn_FVnAT_sGzy8qv-PxBoIh6sxNq0W9Rj8qBvzAdkercctXF1Lg63Qkgw-5FsNyht4Dkj8_tDa-MCosiD-6-yqYSrliO3h9N9ZFJiuWi63sMlGZY5MY9moj_wI36Uzw8zkVHlPdNKch4wWv0EZeqws1Ty5QRGUXqm1JoaeYMXRdc13pjplyV8F4mIL7yGJ03h-GkoAPAMV9Z3weEIGwpqrwsWoIxkkaQly-0REs9wd0YiDmZIVUpoJ4e1_T6pIhg7rlamAYwUXZEaUCyqnLmae0o04vpY30GTr44sIIQWIqklTHb6IrhQPFQ6_wVai5qQo6d5IG2ObZqC-Iax5cmdIkVW6AtchpTy7no9wly5AbUSPSzKkilngYIoKd1ZEagmK7_DuJtl7Hcy1Mb2bRgQcJ-J72V3rWgwbM6MxBk4tIKHv86KkNR0B7DOPx-P3VhJ0iOOpxvOdw58VDTzDz-Eho1Lc-o3ipIgetZmyr2gIokuZvVveVdkq3YjLpyxBbgXA_JZ2cMJmCbKcMWd4o8plp6D0GyzQnN9Sg-gOO0BChjGtZXFPY_-viMO492rKRl0fhpwbgKsneCs8bpcaAms9Gt6gGF4h8G8rIaYl93qJhDTCA1AkGyEdHfqlzXwpUisOWD9mdyyylf3zeywp3RavWhJM-XRYfJWS93pHW8q2ONMkwUHkCnGR00RtCV84QZST7CkS2-gW1u3q2k5uU0hRoL41ZxJPy3L8s5zrr89CbG_rFDDGKIWzfaxCcTxg2YqAqk1L79mJnqyg_WCE_1dDTJt_ip-4QUa015vJpM2Ce8tQzYmRwpRt58cTJ5y2aRNha3Jn6My1VjJBcEWGC5XNrKI0G62dvHsNAgNaTfRDhAD3mf-Dv6msk0KeLA0f8t0r1E8cykFtt7Yi5T87NCJjjw22DLJkLHa4mh5cpmA9gHuKqLfv89a5Ljc20drLZvWAxWyq3w7hzMkiTaUdb7hIXmk61ZbyfS6DwIOU1s7Lcx2cNWL36OUIO1jg7kvoKFLBXOrXfH0mBNtBj8HPifFtoc1uOvozKwoU_BXRDE_7CxyeqPb2a_-wGH9WeYU6GtC3ESCEqa-1okZgq_jWMtiobK1Pdbxy4ZuQlh4aNszW0vc0ajKCKNgB983OfSPCyclh1Gi-B5rgh4eYs35GJWOrJyU-7QK6z5nwC8fKYvw==",
  "id": "rs_0270c36bcb04f20a016a7fb4894bc08199bf7c7744af6d2fe3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.99,\"left_j2\":1.77,\"left_j3\":-1.35},\"note\":\"The gripper stopped at a 0.448 residual (about 4.3 cm) with high effort, exactly matching a solid side grasp on the block. I’ll lift it roughly 10 cm clear of the table before translating toward the red block.\"}",
  "call_id": "call_pcInFc3bQdThm55CbaF9ayZy",
  "id": "fc_0270c36bcb04f20a016a7fb48dde388199b7323c655f7c9885",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pcInFc3bQdThm55CbaF9ayZy",
  "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=-0.6964 left_j1=2.0277 left_j2=1.7508 left_j3=-1.3407 left_j4=0.0006 left_j5=-0.9173 left_gripper=0.4475 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -13.4496, 7.3094, 0.0855, -0.0513, -0.0122, 1.0379, -0.0205, 1.6205, 6.9675, 1.9023, -0.0317, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:352f3a9b49f508ef2ec0decc39fd3e2df3641a35690a64c8571a364898e08574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6de708c4b07f58c08152742ecf79751dd6b674155d3e0f245a91c24b4c12682",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca444d8b34229c8d86a53996602316a268d988765ce46e503b986f9874bdcddc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.696 left_j1=2.1593 left_j2=1.5593 left_j3=-0.981 left_j4=0.0006 left_j5=-0.9169 left_gripper=0.4475 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0166 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -11.1795, 5.559, 0.2711, -0.0269, -0.0269, 1.0281, -0.0615, 1.6205, 6.9812, 1.9072, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb4971d5c8199a2f2f45a8d9c2888",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0270c36bcb04f20a016a7fb4a4328c8199a51e79a77ae6c296",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.93,\"left_j1\":2.35,\"left_j2\":2.35,\"left_j3\":-1.57,\"left_j5\":-0.93},\"note\":\"The lifted block is secure and the red target is about 10–12 cm farther forward and roughly 15–20 cm to the arm’s right. I’ll move most of that distance at clearance height, matching wrist roll to yaw so the carried block remains square, then refine from overhead.\"}",
  "call_id": "call_crZGG7RZaBvwJOXrvv6JmGvs",
  "id": "fc_0270c36bcb04f20a016a7fb4abdc6081998a909bcde67d2906",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_crZGG7RZaBvwJOXrvv6JmGvs",
  "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=-0.9241 left_j1=2.344 left_j2=2.3211 left_j3=-1.5593 left_j4=0.001 left_j5=-0.9401 left_gripper=0.4524 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.0137, 7.8701, 0.1978, -0.0366, 0.0366, 1.033, -0.1983, 1.6342, 6.9675, 1.917, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384991174922002d427d7c54b1f7a4e37f161e24f4a3363d7f45e94780bac276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbca106f725b4146dc0dff7134425c9e8f9c519efc5e157942ed1bc07ca12b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35025a70a7d840bd0a2aa4a1f1ed47c5a388b767693915118fc37f341d0da621",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6964 left_j1=2.0277 left_j2=1.7508 left_j3=-1.3407 left_j4=0.0006 left_j5=-0.9173 left_gripper=0.4475 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -13.4496, 7.3094, 0.0855, -0.0513, -0.0122, 1.0379, -0.0205, 1.6205, 6.9675, 1.9023, -0.0317, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb4b32b3c8199ac7ee1345ce42e57",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7TBMekyqm8t1gI0gJKcrvbvFFxTbAz31KxRBiik6Nvt3WAsc_62AwnOd2AhSac4fYFXQnK_Wy87HyB3MMoysXkLVSKFI_Okv5M0WsIwah_WsM-JvuYUgyEA01qpzX-D-cKLezEwlcDDG9fyifvQQh2RcXU0J3wguuuLHOCeikefsbJZVCoXfTz1wanGE26t4otpk5_aFEoaaP-AGJsJTC7ACctg5LPxydeQRjJ3626Fdvi6OKvALn57qbpcmaNmBJSoC5NggnY1XpHF2kvu2CErnkOIHiCPtt7HC6HA_AI1t7ZqMLKhqsjt4kMcIgqymVYvhsuqp9MUFsff-RQneTIM8KJFq0-yaLaEwNGO-QD4WuwPiKc_1GVaUuEiKCCkV-SlmAz0aQodw3t9wZg8AjvwO1eCaPq7EJPtvGPMhNIv2OEO4L4-fkUlqbk8wuFqrTMH_teTZpQtnwO1xH7enQT-94xMyibbbI6etvqNb6bYkuK1ZfCjlPnCtN7cJbUgwzES7ZO9t6Akp0srGvldO0aAjKPuuMulF5D2khwY2cbpJMZEKejhR4cMLkrlHlf5XD72608YdA7CtrCykf1N68sEoYHdQcpMtsBFY9IUBeMBHatq2MVgO9YYJT1FXVn3McHufBvctk-poT7DgzHkHOMRaGcF1txNcIbdmVAGPArMQBq0JW45vuC0dXQYWIZd0Qnv1TQUeV_qsl2HZ7iq5x3w_RfTp-aFBGjYTp4_5qK3sd1KsqESuRlpQsyUBZUBMHWH_T6i3MgrN-XIm9Z6LeAKM8_shP2BvQOFDIHxeIW39_uyVLW2Hv6PJ4JfvlYRkcFiYo_Z3ixERr-ZGmw0bpDlZfayTOLnp4UdDAn6HKBhZSQZ6eFj3CdH9belyC5vq9qK-iWkR-9KDDRsvUxtvKz2ZZ7r0nzaYYqTxntGcVXRJ8tuuZWSH8P4PCplb5oS5ScllnkI17hLH2ZRj2U6uf718RckjYEhxQdyDXzcNH45efKryJnnkoA5VPXUfaGQ1ls4nwywffNhsAv7VV74sKNTWtfAxRz3ykNJMykHgEDXbsdHrwq4ACusRmIho2Oz-qDrq0yippLC-FTrNxVklk_vB7XzllVrtIJOnMFyc7XYrAt9oTuWL-jF1wGaz2tBMnQ73RPeftaj8LoE8t9mjekQr4kQjViQNl0vTL4uzai0xXaYt7kXuAVIwsN73ZcQZNVl-3_lsIq3pW_Ogjrr5hDx_b_p5sQgHXUqNtipbamEcL91Q_XyWl0AsYmD9cBkFSoPbztEwhEU8Folg3r-7MApvzcytV4xB2zaxF1P50lr8kSOEP5xXyulsk-RmvY3XbKCpsIhtJqHzksZOpvMZq7HhnHTnwzHOVdsIE9je7ze1Qw=",
  "id": "rs_0270c36bcb04f20a016a7fb4bf837481998398bb45b708f387",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.99},\"note\":\"The overhead view places the carried block very near the red block, but the wrist view shows the red top still to the right of the jaw axis. I’ll make a small rightward yaw correction at the current clearance height and calibrate the remaining offset before lowering.\"}",
  "call_id": "call_evqfpTw1H9Y8ytmefg0Yjxnt",
  "id": "fc_0270c36bcb04f20a016a7fb4c059a88199a2ee22608b636ce5",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_evqfpTw1H9Y8ytmefg0Yjxnt",
  "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=-0.9623 left_j1=2.3554 left_j2=2.323 left_j3=-1.5677 left_j4=-0.0017 left_j5=-0.9436 left_gripper=0.4524 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-1.0325, -13.6684, 5.3675, 0.2857, 0.0122, -0.0073, 1.033, -0.1436, 1.6615, 7.159, 1.9414, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d95afc4aac5ef98ed2b3df546ba6eaefcbbeb3d6549e29e10d029d99237381",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad74e791a4b5a803104f20c50cefa2e1cb9491f12d3773acc23b3977af42ef22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b984c09c1f083790633c895cc96e9c850f7cc7c755b35cd05a3b557028119a",
      "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=-0.9241 left_j1=2.344 left_j2=2.3211 left_j3=-1.5593 left_j4=0.001 left_j5=-0.9401 left_gripper=0.4524 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.0137, 7.8701, 0.1978, -0.0366, 0.0366, 1.033, -0.1983, 1.6342, 6.9675, 1.917, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7TQqycFxnSV_djSrUCEkLyOHb7M2uIQ2nslBBffWL2DXL4Z6lerCrXs-UGBwbM_SmnELnfu2yDbAp6U_yFC9ihTR5V8Dzbf14RSewM2NEg8b0Tzp7qiHQ3qtmYdlQBwvh8uswdTGs75cLfzVuL-6M-CbwWtEqaaIG1ykZuHgFS_s2z8jMlBkH0n3unD2ht2aiD4wFLE5TU9NlKHyIvghS0sqMGxcfpLeS6ecFDSexMnes9YQoKR9kp7UzJdA2C_O3IopSkPVRdHlChpgsTYrdJkILUE5qTGfLQcm_qH789kezsaxaoY-XG2qX7mXxVLQcHqD3BSp_5wjKE9aPrdIen_bSgPIefqLX7BQs-h0b5et1mVx8iCENtO1wybxbOzdwG8GhDcqhS-3wom8dkTbQmuh7DCoBu8HRujId8F0yt1z3BAIkJbO9oBmpMrRvTC9TTGNlDmWm6Ph4qs6oHf1-6C1Xu4vjC77TAGKFRiadbnaS_m7YVZLG1Z9yV5lTS3V9InHnw6tK4pxG1ESwoL1IwZEWZfTAdOFA1SMT_DZI8wxGABV8RVf_gkQa4Nci6qAPnOKyYJAHbIHSr8Nir4H55Cs8vPl-vNVwALW_hDlTdatfMuojWUdRXbQ0VNDlU-mHArMQ3NLTP-CHi-C9-ddgmwvhrsVrzGzZl8pWU2jXih3SpH_wHOyXRxEg-oRMOpgvEnfYNXJ0xueFqsoUHDqxj-PEFLsp8hjFfXK8iHC0ZL2FG14Nx4Bp1PDwdBK7_QKutPrVaSS9C7NLymr5dq7frXe6HkKVPhi1Z3i2M8TMCkgAxJfxtUUPv89kfNOBxWOFAA6YfMDIFa3DfTxqwTRD8C1JoBGzHFV6RTOJgSuSRAES2GQFlmOcOJwXTyvN8XIiKQeg4tqwswZPW4qT2hIyGWRCjMFULCN2XSHkYgNedRm6pdTLJNakPDKseskFGm4hAFkKYr6e-nVQEuJm5rEoAZEg9SaKX2htpofxyaxJ7ikQQVw3nLzZgQduSD-c0--0-jHW8aZ4uHxcMLCk0kxTCFbtKZBO0HRhdrn0rcEJpQX9xes3p0qUd_MNUOzYA_mzAO3LVHLaipkEqYdCdTs86AFCpvhKF1tqv9TRORVtXLprKOSP9SCByj90W5aoG-n-UlEqNfFI5iPbwgbbbS13CwuV61q6ERZlC2uaJ5lBBugCuNW9SFtMkzfNS_EoTMlDGg8GOQxB3lXbA0fUQWqvfIDuH9-W4ZH1IF5qXSS_NIpK8oLZO20F6tEcDJkOmkSL6Q2En9XqIIqrOcPishvMmNql_WswvKIvL0VSuYCmZSNSKAzmm4yOU0zyJYesqMQ-PetFIfXGppSdOp4PzcovpUDDgk2fStiYsU2tr5Cci0AKCJV6Qz3WdyZEpVXDC7qGd7By29cFlezn51Eg8acxPEE0PIwJV7N7pCevUcqmf9IJhtqEjrpiUoQEUXatrPxEBdPY5CV4U3bbrR6kl6W8U10QzNO0M5Al7_AukOSEkW9fjZg6xM11no3fWXfdbnery5z-Dwv7g_PI_WQl96QQoQ1Ehcm-7In6G_Rt0F8eptstLD-N7GqwvGCHghdTBIlDZ8lqU-stXn1xFHD05AMscmXj_-eUqPHRsf1gs4L5eeLGoPiPxoTB_Lf1DwH2mCrEAjN3W-LemGHVuDdjx5CW21YluxjgUUT2KjJ3Q9Zttp8lNO4uuDx4pUYDLk3L4mAMLdVnxILxl2ZfMiFpGi61I_mYh2pZYfTglOAe-qs5Cs8mWwKeLqr2_06wIHowKripcaGqMF5j-BflpHkBArMXnL0mjnNsXFu5oISJwDZe3E2pfajeHo2mzpgDiOPxUSc3JQTNU3XvuHblMR3iEtoqOC83s6r7dwbNdyEVt2--YgU-m4f-XFJwSwNsj85SDRl86pLNxGxI3ntC6dWi0Q7dtra7NInfBwIbcR7lM4WOutJ5z3QY0WiLz0W3tR83qdCWIPS3AQ3c9brntweWme_FkbX7EF7a_VUDa6IEPQYGZoCJl5pAh4TCyQam264-V1dXlDnpgK-Ms5f8D4QzAZiRBz0UGI5iMVaWkHnfWnc4dPXIBXo5icmvraz00RO_Z6tGdTpTjFYSdO_4njDTcmsWz_FLMwSe_MN6bFupAxmI9ZJtWgPxKLPXag9eO4_QbiPI0x7OylnRxTrJDJ47UydaTJa2PEiY3VyyJHB6G9bINFg4401yqHLNg2V8m8zFbjpkAF1pzHsFDISeyw980JsN8izjat3WOC2TKr9bqpkXXcmHk6Ch4BWdrZ0XmPx0AR6YGZEhkx6YS9_Zv-qtnPSevHcmn1pKSflQEi55z9bBsnyax58CsgDqO_uu4_dnJYIcU-EdCwyXDe_joNQk7WOYBX4f43gdKzzohMXr1jGipcSYHb_YhDKgLbILnlAl95Y1mB__NogzD8owrzgSiWJcmRoIPnzluLuLxnP6aibBPt6EfE8ak5UKt0x_1AxfJb-oMBsh-eREP66XEd_E7mGQvHjfUXqcBKL1OGP5YRl0AeSPHuXUh4n_1ktnYY7tbhyzl17BYXE7lCXfzxf6cDrJpHB370tHqCrMXQjS3zsVGcbBIJWVtid8vVCG9agvQE3Ufk65hWlXiT4XUA3v0R3jCGoxEtSv8cBeAmBtueyxAwRzDb3udJfYEp5cDdzBCnjd_qkWSYpTP8Nr-m4YCcQhQ0Tu8nQ2uBY98QmApipXOJhdj8qt6x5hmsEHThuHIpcS4A6S3FLSWRBKA5R8K5vINbzlm9cNN1Cn1lB7mHDx8sOWdpRhvdR94QRHi9gyf-RdQVtzIWB-09DbuqYCVVeJMVk9pMWLC-8H8D26gpSbc4L3XZD-odoGf7G8PRwIZBVcqxp8P7UdrIDqNsLOhnMQpEcpN6OYQmbLiHyEpjHlvkzScmyFgc4afi3-Xg9EDUQZNUiuORK6os0y5O-1Qiv4O5xtZekB1zHn2hmN0TiT6krIsa7fCL06sEsUvRidtmK0M4r7_tg-IbrtcFoc2MCM-2EQ198cOz2gPFZv_U8ZFA2grgrdraRidH_0ApMDuSaWM5ygPLb3AXXiSS5_Ij_WGc59PE74W1PI5une4rC91dIluosNaOD7X5SY5QuhpfzDpJ0FTDseg0MieNJHZkWx7C1OvBmHBuxr5HFM3gMcsd5G14qaYgiigpftRg73O7PD2hB-mJxzrcUKHjxyHMMdCYyIvoOFJ4hRCIPiQA7kWEC2U=",
  "id": "rs_0270c36bcb04f20a016a7fb4c43a888199926db91545da31de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.35,\"left_j2\":2.18,\"left_j3\":-1.4},\"note\":\"The overhead view now shows the gripper’s centerline directly over the red block in both x and y; the wrist offset is perspective from the carried block sitting below the camera. I’ll descend about 3 cm vertically, stopping before release to check for the carried block touching the red top.\"}",
  "call_id": "call_N6QybDWJkjNZ1VpNkhafeSNl",
  "id": "fc_0270c36bcb04f20a016a7fb4ceaf588199a7da9b10aa569954",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N6QybDWJkjNZ1VpNkhafeSNl",
  "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=2.3669 left_j2=2.1822 left_j3=-1.4292 left_j4=0.0002 left_j5=-0.9432 left_gripper=0.4531 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0292 right_j4=-0.0166 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -14.188, 5.7778, 0.3492, -0.0513, -0.0073, 1.0379, -0.1983, 1.6205, 7.0222, 1.8926, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d19ad48ae3e0a09e0029d11857e9435150f4c2210a7d2719c58bd672750fa9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1748262854257f566a2760b3131250f1160ce70a41fe0360a74f57b6383c0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87bfecc1d7b23bc232cbd777f5a2c2f9aed5388113df63a8577f1ee51d995e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 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=2.3554 left_j2=2.323 left_j3=-1.5677 left_j4=-0.0017 left_j5=-0.9436 left_gripper=0.4524 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.028 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-1.0325, -13.6684, 5.3675, 0.2857, 0.0122, -0.0073, 1.033, -0.1436, 1.6615, 7.159, 1.9414, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Ta1mQE8zPGh7zFkOREYsHySWZVEb7MvRjwf5i4u3vQVyBl7L0XlgfpBL7Bv0ddY9amJMl9nY4zgwvPsWQ-wMmnvmVt40EfY8zuGC9q3PWbgqx5lELQ7rGIF2ZUoRf-LlEiVJB5Mb1Mwbjf_61tlSmaiUmI-Qwm2r7gW4AM0R-os0sINskHeZ-QYgUt2I_rxPToxX0l5LM9e32Y0Oj3TlsscQaYUsh6ZRt4gRmcUWfd7xUL4lChGb2hyYzU-gObbnssHcfuduXRs89r_KYDmDxCDUkgH2h4dtq7evBLbuj6DNRRPNqm3NS5KE0sY8QOHtnuXV4_sIsbr354kbBV_uGHlPM7JJh90vSaNeCl3NCVwGYdb-IQxBT0CCaQHXvmblEjKnUkY8GNSOm088AclI7OmJlsZs_62oZTeR0e0YHJv_Zdt3fUtGunUIK62UMUMGezyHUqXGzy0qhUaaYOZO2jDxd2JPpRx1jgBaRtue_GayNu4kPd9bLzwZpWnqNiUuZXFz_YbWvR9kO2EsIJTESnYI6h9VIGwT7PpGtH_ESj1pZDDUPh1cniMrpeMT9QnrMQmMS_UgT-jl2-AzbMsJrjXn8duifo-dEG6SmZorZnkYwPth2Yl21iIhp_-YJdutfDGnNpNxQ8x8aNUTW9SSccU3cMh5mX9x_zhrQrV7RggOC7KMpNLzA37akjzWJ0rt2Ipmz3-7Pd-EabSjKgLh87ut8hHVIguBFQChoBTrvzjTWycfQGWzU8iIapUggcVzDjc-K1hZ97IwwLzJ9X0rIelwOazB3wfwwaKe9w_Qw0xqdDNPZUGz45oIFQvBwOlVoARMw5664kGoRUamEdkreKPgUcC76aW3DGPyLSurfzDPRfDqiVPuI43g3RceiHT3V3ijdTen73VrWYd64EPPNFZ7fqErJz92rnY4-mVIKGvMbNO1PongwUUu_W_nhCWfI6cAeQdzjjFItzhv4vhg6ywHtksOFAz8fCRRLqa2fP9yGxWEhJOcUS1F3evxTNL7lA0TTX1fDXQaWhnfbU284rXy6JfCZhp05wrj67_NV01Qll0FOO3NTNcxyW2iCvN5wf5t9LkAI1fpN9e3yS82tHNKpdzOFOb26PCt1hWtwgDGeR7IBnyNmpmOPk3Yi4CQkyMGWlP8RAIVTRDyylgzPSibpUuFlQ3TvwOjBrNc8MD9374qK4k98FSzO9IJSQqmtjaVfU10CXTGj78297bMSz3B4gdZQCZk8QfhZK67uQT3UvzC34S5JEttUsO1kJ0_Ow8NXlIFjyFAnvmkOIfclP_4coN8EpgbsiyfWOjzNIDKof4PhX-3s_lzJbOa0a7v3fTi-TaENtdwMKxQnvD506O6-r3mHOnV-vtaKd3L_IgO1y25qIDPcxXrHzNWLomFVVBNDpL9PS9zoSBdhS8E8rKG7PpcjxDsyNDEo3CPqBterqvNWsmrc1rVKZqzP7tMbdCREbJEyE4CjCiK6JxustgMJ5BOSgi8XujjPCWqxJqhjRWYFE7NHRcnZXtO1pK829i3djBRp306lLvz4-CRvTNOd3FcpzR_pgJqLJLB2hgPndotCXH2UN9jGA19xA3MX65mqB1lVFcl87Gbi40VdNnFwrKnQqG_Gvc9s8VThZ8ivTxP6vPLo3fWqtMB-WIMRnB51RH-kweWjSeXoX9E8c_Kmmvcygo-WqClPzUvnEKBaaQz7_j2omoGQptsMuF5tQsbdAnL9JigFQ3eGJDbU7IgmtoxpexP16pHWNzvpOYQOXFWeh8gT6fwzPPO28Q-LWw_vRpR8ScVe3Gs5R7qoq956dLegcyCeU3ENLycV8LFB5-nIl2yCatYe-k_V85yf4RByypFcfJEZD7KBskHFN-9KZdIRHZDT1YtfGTuaMhheRaWIFLf9dVQyGPaSek6gkXSMvecU8YyIP-d-u3zTRm94Q85EAZzw-BDind7TCJqCyH968M5YC1NFaPsdO7tOBiIQgI0uCgDwcXft98OtDfcRtlcwvdqu98Xk1eHXnfSaQWtGO8Zx44OJZdXVuRJi2G70zG0UOhx2yrYZi7-4FZ5hkQI1HiMzupOaLZNOpkGbuT3rK4Gf0laJhSxM1Qg_om_vrdP525zAUnddX55m1VO1KNLtA8Ac2WaN2YT7U0jL75bGOI2NXnsdEFFtpTH0DRRT5wttPbeW_4NJPyUMh_qXcobos3lGe0PI71-GQqtDGvN0xip9yX9cNadF5kjSkcFIwLZQs2nROdwdi4PQf-Useie82XrjWYkCsvZc2UuOduUS8Nl9viyy7kQH4Zk_nkQLy-WYHW7MhyMUjnjEPsBGkk6pW1ApCmXg_uKLDRfxQsiVu4in_Gg2TOinVY56a-MYCwo1z8q_Ah9BJ6iWzGT3LpQwmHI16-axnhNig0BU=",
  "id": "rs_0270c36bcb04f20a016a7fb4d350fc81999872721f01b8d829",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"At this pose the estimated grasp height is about 7 cm above the table, placing the bottom of the 4–5 cm held block at the red block’s top; wrist effort also rose slightly while the red top became fully occluded. I’ll open the gripper to set the blue block down on the aligned red block.\"}",
  "call_id": "call_pXSfnefbG5flm7d1Kt7zCuTT",
  "id": "fc_0270c36bcb04f20a016a7fb4d86a10819981ce0d512e01893e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pXSfnefbG5flm7d1Kt7zCuTT",
  "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=-0.9634 left_j1=2.3669 left_j2=2.1788 left_j3=-1.4281 left_j4=0.0006 left_j5=-0.9478 left_gripper=0.9952 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0288 right_j4=-0.0166 right_j5=-0.0158 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -12.588, 5.8872, 0.1343, -0.022, 0.0513, 0.0415, -0.1846, 1.6479, 7.0085, 1.8486, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94890c001d3ffe8ca9078efddcc2407ce8f8df8cb881ee9553fc30fd1b14004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b48d40f2c1e9619b7caaa8b75f99dc5e9d2c0e121c14e6a5b6c600b8727ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26f1fa180b19ceceee57b61ad8a4c47164aed2bd78c02523e4d2524022e49b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 99 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=2.3669 left_j2=2.1822 left_j3=-1.4292 left_j4=0.0002 left_j5=-0.9432 left_gripper=0.4531 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0292 right_j4=-0.0166 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -14.188, 5.7778, 0.3492, -0.0513, -0.0073, 1.0379, -0.1983, 1.6205, 7.0222, 1.8926, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Tu2Txusb8p98huX9bbF2X83elrj8NJbjIWPRalaPb9PEib1dAOe51qk9e7CdxVF6cEZONqI-agvCrGkCEt2Pr60-nnxpbr0ffOFts1xyBoGZbYFxxU5nVx2cGvWgLDh35tOYHbDjWf1ByAfLsfQROilZ4dox6OBUMSSfV3s_IiALKI-pFESVlYMBYuiw9EOG8Nfxin9fcYI_yvyQG2Qtp6daIGF_J8_1162UiBZWhJ293ybiDJlNGNnF6yASupr48soyvqhu0_TwhkGK8Kjc0m5KZVC692F-P36ubF9Kn6fpXwzeJXLWV6SRhNAj01OEQT536uDLLMxCzxLfLgVck0VrMW7KDC1NNizHK3yYHzUfvJ3FKqPVZaJ68CMUUKrjaUvomlNwkn0x-ZzPRYkjiHlen1XwmJMPD9e877Qki3JsDyzr9p5Fiu9zvijdaRtZg3h9wtas7kRGXA5cUdkYEFc2G_P0wF-ldavkrHX6PiD1p3-gyql0jfSxteymDXj8M1WJji4X0ktXmTXPQMJNZaVfi1XZYc71etbg_ZWNxoOc-vbx6QH3y0gaj9gdyCjLKv1qzJ8VF7ENYSmqybGmNbc159LgtvS8XP60hMwDJVNrkzumashNW_an4degKZYp8eCshNCwBPR5YR77UEfaQ537zCNc953ciuisoqc9tnAqXFnaICGOboVd2N1eIrbvAB5HYp92nFxKtOGXZmFYxoAYw0ix-cFnXtd5iPbvx_uo6P1u7pEnNgtfjeU6o53JDvwmOt2ZRNE0SA7SqQfFZpUU6REiBTBvqTEMGoF0nbfn4LVHE9bj_dbik1mm2j6KrcaixQH6faXmifBk4X-Alcfdyotr_Ez5BC8VtL3tOT8qMht6O8bzepWx54ol4HGcEjHERgI-xLRv7wutMgVgFmPoj5OXFBgN4VKui7Q4cRzUc-16mZty-2SX1QTCMLsl427zI3SBvNA8UAzq32Xw90_vsKFqfXTjMr473iSD0qkLR4uTYydxqFKDfzItgq1Omg0-YURdFqrsf0VYXe5ysLB1Pk2KQW5mcTTU8y2-ZfKyFTvIJO_UZaXavmzpskbvmjaD7hLYYERE4kXjyG6gdkRMsAkoyJFcx6iHBV7_s-Iir5ApXWvNG7jSVVY5j-bGPKf7z2gggV3iNWubsace-b3J5o-m71MG8PzhR4SjtRReBNl4iOt2ee4LltRMICu7QCm7FMsKE3aIIOHIwkdgQJx1Te4Pam4JLAg7pCcnc7-zx8_b0pl9MnyUlHW7UOucsWfGLmHCyqVfzB_Sc7G4fE9pzB1ccHpKZbACZjcMH-fTg5Ms8HLBW5wUfOX_V8PXF-7rJTLp_DrlIYiSZUU5WFEMTVE6g0yVi9FiIaPyI_d9hoRVaWLAfHxgJHe1j_qYOsKmCSKlOxAST1ykk_AbaMh-LNlnMCMS48hL0T-0S8yfuDH0_5TFXxBH6JNAhfIJnbYlHEWoc1r_KmnUn8eBOL3q4pfaMG1uTFq5KuyipgCbNJ223HpTeGKLF0Xhx3CmMpyPmmHTIUcrBAxD5cBPfGvlHGfTX424O4tfJV8pFIf_Z-PkfaDP-bP_o3mzHj4TJNdXB97i0FfkeKA7XCVsN6ciPk6-vfcf0_UXlzXu7L2LqwAU9K3DgaQni-XSTnMlUwz6FgAbfKWzfAocRR4pT9kGKfcXz0JbIxBLZpZ4rRtXFu82EpJxLe7dAsStzu4CT-4pDX6yT7kVhy4jqPNWjVuDwCDPajOBBEGvkiuFBIMnWoTwCW0sF4PCERgTlYOOzuNzZFTaJHlOMLxczhzNmyp9PyI2UwyZnQY3wwXxx_PtWTBU86F3Swa9PzWFFO5EyJNtdcgQl7KkvfXtYbW9DzxcJRpyfaaL9LsEg4H9pIbpx4zLfDkzQa9SEe7ot--k70hD0oAgzUQwr0QXSZVFvdzVbm0vems1eesBS4dTjOI0SWeSa197_AJL298WTQ_mg9gEhi4wpRJag0VFtGz3Zrlw48ZpSO3XfmToNL96t4kADZ0W7PxngHNGlWiVXxCjYrMpRqhEE83rzLJJyuim7eUmJ7g0PY9HIlkjapuA1GaFoDkWoYU10yXuktfdK-GGyvYUoT_LFcH1vhucGrfiqLaJM0oub3ZgEBv_qEpyCkaVpzz2XcF2yg1kfc9vPBoG_sd50Obj1QAQMKHmt0aXacYhOkonXTu5732hb_3vW1U4n8THUmKgqawENbsz5R19nGI8YDcDl8b4PCAKkL_7mMZAlR5hdNpDMh-6WF8mjroa-2vVaDC-9z8TNGXDRfq_HM-pBSxu9k2FLyDmtMJ48zUqryiPfl4agvaWIUBoimuQ4=",
  "id": "rs_0270c36bcb04f20a016a7fb4e68f008199a6a584d195d73bad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.34,\"left_j2\":2.49,\"left_j3\":-1.72},\"note\":\"After release, the blue block is visibly tilted below-left of the red face rather than seated flat on top, so the first placement did not hold. I’ll lift the open gripper clear to expose both blocks, then regrasp the blue block from its new location.\"}",
  "call_id": "call_HyxZQGwFQcTqNXQb7ryhshhD",
  "id": "fc_0270c36bcb04f20a016a7fb4eceae4819989da69ed763d9184",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HyxZQGwFQcTqNXQb7ryhshhD",
  "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=-0.9642 left_j1=2.3714 left_j2=2.4741 left_j3=-1.7058 left_j4=0.0006 left_j5=-0.9504 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0315 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -15.1316, 6.4889, 0.0513, -0.0562, -0.0073, 0.1148, -0.0068, 1.6342, 6.9675, 1.9121, -0.0024, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2152840a2aae06add871b62321e65a1d8716ba65323fb8fa2666485538ece2a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43deddc8df8a4455a27890cf59b2de716d52c2b30b760132ec8618da88b0f710",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c1c2073ef93f524a2d106ccef3e0158a784524405940730b8779611244f0b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9634 left_j1=2.3669 left_j2=2.1788 left_j3=-1.4281 left_j4=0.0006 left_j5=-0.9478 left_gripper=0.9952 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0288 right_j4=-0.0166 right_j5=-0.0158 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -12.588, 5.8872, 0.1343, -0.022, 0.0513, 0.0415, -0.1846, 1.6479, 7.0085, 1.8486, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7T9Lsbx4KOVUPz7TzWn9UKsCXG9V4X5ah6MdrsYuaT1SPvykB-GpQPD8mtZDoPTaqSsO-eAjbXLuklVA_p4YJFrwzKCct55922GfpZ-N6Lv__TFZX4u1akeLJ637hI9bdSbhUzL77Hg0Zv3oXI7XEMAZrYY3b1no2eySPuOqaViepFzHIHSkFF7ACN8FPYHifThTZlci3LvhiX0jBxxFq6my8752AxOZZhS8WWV-x3p4YYAkzjrhNvHU1rEAu_HwmJt0uZEFCwXl46W-01qCy_rk0wIYN3DxlIXqezaF3zAdnDa0CZ9GgtEiP-wmHcyWu6qqy_yDg367QRUX3LKbmRZp2P0E4GJ3aW7PY4HNA9P9aaFKQyxYTWU-xjPa0wxgHRFaH_NqJSvAe57iXamDlLTOlp-iGiLOMzHpViTODb8YvdtzMnmFoaVQwOW4HvDz6K-oyFuK_EE3_uTfiMW-elqZxYgkEBIRoPqCxow9bqamXric2rVriUgr_4emJEP8sZ4ew6R5oN_1MPcjnLr_fP8oN0PXj9XSx-dXXN-dvis5VWeh6-G05E217UhWhjDz7mxOV4FYOJ7NSO67hx0_3vpgKDlaBfmKhXZw0WAyh4zVRzPoN3wYRtsp7-YJ1PrSqZCs30Jk89l64zqEDSiBXkOGIE6iwkQkKYyq7l3UvJkcS6l2VizcUdJptAkcdxOcle3E3WEG-9RmvCP8a60-LkVIysqACnw97v5jKqRp8HOUJ_NQvK9E2LBlh18xU7V3txoFIsP-q5nBaaITDsZ4F-wVIkrFbRPLUQH1BOk7nQQq1vP_-DQbN-8b95N25zLf32SsQcf23bc6JYKmvVIjzVkneUWvY8fgGXdUSYdl8eiw1cG_KQIIUqMiWqxX2styBbUnbkiH1961UyAamoGiEHYqCsa0vVgFb9M-YBP-1P9ZTAh0JRp96Y81E_n2ktlqs52Bg5WEKxWBKPXf7SC_nqeyDsP2gdm3H9B5YzzHVwLt8ivUbwJRoErQCLBXI0kjRHg1nL-Dw1iDp5F2DiofGxxCYuA2QOEmDSZWDIHYDySgBxOD6hVZKeSrnkJMRcx8zmHb1V98_4kBSjZ_XNmeaZbEz0fNTY5Fq_etspOpdD1kUcMytej95sxsnRmEnHb0vNYJvBAv3ER31CrpxMdEDXfAYpIQvaTAGpusrwsqaUNxujMhgvzVGHmSzcAYnxwiybsHelDFzlinNPv-_OC-jF07DU4oxQQCEotyk1SN2SF7nvjzGYayxemhpBzwkSSvbmXH25l1CpW1rgVSny3glJ10LfSlMBu2yIu5j0-a5jp6u35tBZq-Q9eys2kk8fVMbk_5q11qOEWB_cxmL5GfRmNWeZb1xhuHZwuLrA2vGwxQ34T7ANthnkfvJil-zPNadb5R_s3WYh4zthnD7Nh8y6zjtADa1SGzZ9Rz1m28y6-qAQCZGslCk_FOOwxROeCZSzLyn4ym4UGPcicqF0YPDH1paDElKg90PEecYP0BJ32dcpgfQWGdvaNmgUKGTatOA-MI3KujT81lBX1rOuqckWdxxbiPqdlA6850UOAKrQ80ytXYcF_RtIdbVVQocKawoZogIv2LHnrOV-uJ32iFt-iX94TbIuSpLuMFLt1A5ShUOtcOIiMzSb0O6zuXGdzH7rZXVxD1hETOqQkQzwwxWCen-HVkpT97gQbC18KZGqtJ1ssLl8tv2umInHDTrQwklaS9oG1OkznYzx2r2ljoF2dTG4HoRHzjnczWHTWC-NPVafNM7GnZe_7gWYAOTqcfji3KTy2wxkeE2lorQti06oSro2lFayT65HkxY4ME-Q6CXinIjj8fKP_J5Uw6gm1pHTzZ5md2VFNjMibxp_2Gh8C2E4xUwW4VTRMHeFc3T8WHODAGkn2Hz2EBzh3U47jVNRkU-aHKhgJ5jZNoHrqHrkZJcSJ9KIO_UoqCH-d1-Spe7-olJxDifMlSfQUGj-rpCuZOhIxW-saDxXvK72bBPHxSoHu03dMcRASgozwE5_ghsrntpsCVkoYy9J2TXk9WGMythPNgGTlBqKLE7Duf9xRB8tNPsfeA_wzHtiRc-KhBZoJk5fCBOJkO0lKltk0nROxyuoy0iSZ-CErYNVFH7wHvVSKlWSOUStIfBaSitboeDx2TY9MUMrirE5--e-aJUHjsxpovWNtgkO13ki7TaHd7ilq3nr_mn4533ISjRgCVxfBueBTRPJGaxpbrzdGhRJTfCqMuhZ6f0Ul0AHSu4s5rrZqrXA2fczG6mIYxaj6X1R4aPZSplvwSRZY5oohEygDY2lXxwFKhO6p94GCpuKdiFA-rvCtCfsFJLUvdivjv4AaganG8Pq2Q0NGZu22yByHYyazvakgNHzeC3QcsqgjF_k0LrZ_ZkKOkuuSTc9Q1nVtIlshLkI-wT4E_dYg2wH0hQGrlgwGBKsZyN7QNImYhz9LKMsWmRzm6AkQ6aRwcL7ovcaUkjpN9yctFokvtwuF4BwS8aJ0VfN3zXO9W1BGUhxP59-jT-6W7zwRcrzp1S4KP6XzaRCW2IaVZ0rmz_E97v6BWcYItY1SxInwysZDCGjWGkRMzfoOkt2Y-3T5a-Sc5ItjD0cdG8U4_WIuQvDHkbxECZsHleU-EJMNKqy7CeZUaG-TA_kirMVm1-brbZQ=",
  "id": "rs_0270c36bcb04f20a016a7fb4f253848199a8ff77418118b27e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.91,\"left_j1\":1.88,\"left_j2\":1.69,\"left_j3\":-1.39,\"left_j5\":-0.91},\"note\":\"With the gripper clear, the blue block is on the tabletop about 11 cm inward and slightly left of the red block, rotated roughly 45 degrees. I’ll move above its new center at safe height before descending for a second, better-controlled grasp.\"}",
  "call_id": "call_3x0xl59ZkVJx1xOJJyA0bipF",
  "id": "fc_0270c36bcb04f20a016a7fb4fafff08199909edd3c6e5bf21b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3x0xl59ZkVJx1xOJJyA0bipF",
  "output": "executing move_joints over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9161 left_j1=1.9255 left_j2=1.7111 left_j3=-1.4151 left_j4=0.0002 left_j5=-0.9207 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0357 right_j4=-0.0162 right_j5=-0.0177 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -11.8359, 5.8188, 0.486, -0.022, 0.1099, -0.0024, -0.0889, 1.9214, 7.159, 1.9707, -0.022, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b0b92f77b3308c435362afea730563d53274cf5640edcb1eab365a9efba605",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29b51400a31962191d4dbd1726b8b8836a3c0f1fc117b4fcc16184db4b4eca9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d52a7111a899e4f0dfeed87e96606bd4a1bc8035b36db666c61fc1b87c4ce3a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 107 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=2.3714 left_j2=2.4741 left_j3=-1.7058 left_j4=0.0006 left_j5=-0.9504 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0315 right_j4=-0.0162 right_j5=-0.0154 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -15.1316, 6.4889, 0.0513, -0.0562, -0.0073, 0.1148, -0.0068, 1.6342, 6.9675, 1.9121, -0.0024, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7URG-14bO09nYs_pW3N9wxJpZFGHALLHB-hkKYAJJTHQWA6aH-mTQkTj6RZlUozFxDhOgVPD5_RSRuDwq2UDAzcaxCknKLSzsE1kB_2f1mIrAhE5RpAbHhsxmvDDszj72l53KXEVHcv-DFwDtvm5t-RCQEkuOtICY5eKu_1H2GWBnOb6dUIUxbROzSdZ6wLDzO3T0WECV9lLcRfaU5MLbj2ux8G6zJtBrySZ2zdRktUsJ8R4wSfzJvcPqA_AhfMcWVIUd4DE3oXzmg-80Iw8YQF3i59ohnJPx964yF8u4QN4TTHQr5GJCh89cQOWMnykGS7ULLs5E3c0C1Aj0JyKJALKnxGeycuSLhEFflrX5Bdj08-9QHCGpq6_azZot9Zh5b3Bp2ktNNMZT0Krkw2Ea3HJrdGIBcHu8i2hjY9kdHxBLVj4_fdoRqjDDObOwQ_2QzxljrAaE_b9IMVs5nRPnY8qHaiG7DYHpNpBK--hT_wYa2Iu6DZqdUCl0Ep3me4H0VmaBrb_Simq3za9YSt3w6n8u24qvrA3hWhj7lqz0Xj1aFHE3Me-HGHtGvg1Z6VREF2hVg7CIesOBsNYbeYyBFGAe4p6EB_feaIS2GF735gTBPKvDjwlzwG0Ze-5F2YVJU8rxHJfi4RKq1VMbTp08eNYZ8umiSzJfRnoxfeKkqiv78SP6nSIaSUYcllrHdeW26D9yfJKDKqVTBCtLK-iEVDKMspV6q_jasGkiCgxJa58duxsshtVpW2cjc_kt_9bZRj1zf_N19ejwR8BCRwA7PKK2n6nWFN6UfszWv-HH8eZEG1Lw_T91yLFF7P9TWJLDRcYC8IzX28M0ImcxOfQZxeg1jqXh3K1aYCacBTZPIguJXcOqtgTXk4kgjZlHNHbgH0Of9JwJDLi3nMMVFHOdfn4JJ7LgfLqaLTnyapf1fMHIo71dV2VCKW2UDSnU7BxgSz3XXalGiL9JA8W-QrwEU3L_u4s4t6yAMqriBqHvBpOXsbNYenoNWDN8rmG_UX_MRdIHpdcD-olTOkRZv5LV35VsPtfPePh-gbYKFq-0ck_EC7meV1gZmxZ-L5uR22UqZ2kv-NFc1gdKHWzYXnk4TVKLmKw2ajDhHOVrQAVdPwALcYdyQasgv9o4WkdegZd4o_wvKAt7s6EFyz734inWzqMGKhdLXFYAneqYQXjJ_tiUfxv06MBQx9FRPaYMY5UOtjtV0jyd1ZUdu-d0-RSEp3vJgVwXVHhixMkr0nsBKGVwq82bb5ocvs9HojFRwaftZ9T29-jAGdZD0mxikdnQRKCsWPDXWxw_jUI1ajmBBp0wLySlZL2hS_HcBlhXBYDKAyALYTVBmtmGpJvcL4P2cpR5J8qor_V0j5sveCNU8Y0INlScDjV4dX4kf2MDzl8jVOziBJS38rT1rDlR6Qbh5s3ZU_jm0gbSpJhysyqwWwZCyqRVgmtEbKMjjULS-9FqfchvwLoD5xSiCKPEDKlw2w4EEy2IWgpmEXDmR4gLRVfjws0P6jVQjN2d6X-qs3qiphlza0fsnZtF0WRSvEF-zLATFEyMFs9UzOhceNUScZdb4GO6yvfKh5FWOq--P7w1PSEXWMV_R4eMjH3cu1dIKMWKTAmDUDbeTAvb_t6rla7FH1z3IUCUbT8FXGuzMKq0VxyELHcDH_dd11o9Hgf6Gp7FmS_4tgKqsvo185fsRj72H3cPnxQYHpJs02HeOeQfKrVA4LoSZcu1j3W95Tiw2uBqrnnmaosflPB3PlWfdN5ycfpfgw8ZviNoj9PkCghh-ulUMx2GzP7uru2xlWwpYE8mZtnLXYkS5h8c1gMpDhqZDkp3oHknA3lja07ItUrTfR_IRfXFwtzd5MBuCmGvY-YV3p8n4t1uH9LcLItG-6w_YaD9bLyGjXzPiPBFUP0RBQbY5FV6jJid7J6OlA8R_aHTNuJZzp4RuXmKhU1F6gsZgdbn4oH18Q0moHTqKvgEOrYiKuUMJkOiRQo1KFmya0A4lCiKtLYlEEl-kdCXtDaEOBlyTENH2WsWVeBB1j46GeHsz6Pb5H1XKXwgHdhZqQg_TSUoxeaIIJxW2PqeA0OeXWgOuHgICFMNiHo-WShPkvNsspfTCYffSM8BLKmGaOcvm-HXRmmmF4RLItm0-5fIAo1o7ymkP7K0XnSdp7BTHYkRH3rVhNLcfoGkqWS4X1LKF8AMC765v1vGJGLz1T7jvcGPwUR8DRuNNnZ1ElJcn2m32nubHO90y1i8pCRcb96igIjIbnz0yWpBTUYzumBm1PG0HXp7s_Cn3__V6u3ILuPf02QXklyibRgWddPg1_UXnpjTkzxCAlpTz0QsUd9_IHFvQgEQxxHkqQHjSfMqzVfWn9sR1nO1JSXmlE5yqCYWCksuN9FD6vMScMzTiL1Ry3QZ3ma8W6CX-pUzgJJl6MO0_vxqoxqiZCGnJwSSmhgYwInx_vRs3reSSdza-aowZvIQtXs3BH72Mj2MPOISI8o-YvvvNFkMJAJP0hrNzhv5FzY5byQnmB6-RfSv9Ad1Yks2BzYaKG35GLTJ0NSaZSN2ifKx1n2S_tuazQgY1DqYv1Ry5fVZHBPkk3fdvQTXEYnGQVzG74V0rBRFrogWpwlLthVErkXO974tt-R27u8teklL-jGS0mLUFFEjoO__G7nuSExKjp3Li_MGMC6_urdrmboULOYWrrMkolLI_YvLFtgpLKkzC0iZn0-mz1T-cYzIT2vACW3LFyVbeI5qiK6Kf1o125ewEX6qRYD5TQ66UR2a8_I03z5l6QqQH9BruVbxE8UzAtofVcfoYh8eyJKQ_lk7QjZ2LbdIdX71TgN65O7ax33YSAjwN4gSHvLpReYi_itOaz4RfuMNmCKawYbbSBxpjyIvUxkusoMtHRx_jvpNtNXfaIb5prYXL--DYzIgKW18w8WYCKUioLVppH",
  "id": "rs_0270c36bcb04f20a016a7fb504d9348199b5ad6588cb3a0748",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.01,\"left_j2\":1.49,\"left_j3\":-1.05},\"note\":\"The blue block is nearly under the gripper in the overhead view but still high in the wrist image because the hand is about 12 cm above the table. I’ll descend roughly 8 cm at fixed horizontal position, then refine the visible jaw-to-block alignment near grasp height.\"}",
  "call_id": "call_UVZHsEpGoI7tbU6VHHSBoBTx",
  "id": "fc_0270c36bcb04f20a016a7fb50eeb0c819986d13018e731d9e7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UVZHsEpGoI7tbU6VHHSBoBTx",
  "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=-0.9146 left_j1=2.0045 left_j2=1.5021 left_j3=-1.1236 left_j4=0.0002 left_j5=-0.9211 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0357 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -9.4564, 5.7368, 0.2662, -0.0024, -0.022, -0.0122, -0.0205, 1.6889, 7.0906, 1.9267, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e418f5b4fd9299f16c9182c8aa4182ce3a35b6d3991f7941c8fde925d648762c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baed877fe2892c284f7dc9cbc48025ee66d44273ba8741ab840968ea3a72e24f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32aa252991844c68e47e32bce19ab80c73d283d7df63f25c4f1070205182c765",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9161 left_j1=1.9255 left_j2=1.7111 left_j3=-1.4151 left_j4=0.0002 left_j5=-0.9207 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0357 right_j4=-0.0162 right_j5=-0.0177 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -11.8359, 5.8188, 0.486, -0.022, 0.1099, -0.0024, -0.0889, 1.9214, 7.159, 1.9707, -0.022, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0270c36bcb04f20a016a7fb5166f1c8199b4170fb723e56a05",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7UorDR1KduXqFL5QSPiYkw5mSzTD0k9erX-r8xxO1FN1u5jcHln5bNTYwY4VDRGj5JXgYme0JGOBVfDxfIqhx1kz9v1b0Y_QfAqVLIM5T9DSW3TQrRCiTV0c7XS2ekelVcLxf8nJKLFgrNFGdpmJn0gsBlaVCf88mZ6ZVrcWkdbKpXBhEnnfAGHSFlSA9ySEat1lHUTa5SZE36CEmNfbVu0Y87-p0pcZ4mZZ-6ju144C735YGnQoZTuzwP8RO946cr0MLeykGfylcYKlwzCyLyr2OtisR5dcHgpG0u3N6GGLKrZ4LwEc_E7-plzKQXjHTKCWKnZB7xKOVpqpSMglrwlMWvGdRBgvS6ohDJFbuXHVbcNOx7HG8QVKdj9FxG22U1WDwXV0uYRqthiO2Ka03fyQAcytAGXL435mAZD0ZVG_N5KAVf3RX6j94ZZcMQRX5CqI2D2eMwa86bepHQS4vng90wnDYwOIagBP-r8ZvBegOo8AxpLpPyWLZhw0zwZA5jkljxIZTQiRJ-PFL_8xA7McdHFW9gYpWQaqzoJ9L8pRJYlCDkliWmV0JbGZv2SthyeaQgcOnGlCnGEqIT1RtweTlW4c7a82yrlmcCeMeHKovlyZYehgE8O4b2_sK1UtGL9Cfreu-8b_IcLEEyoJpJ2CfBrHoVPRaQA3jpp61oKyC8RK4PbfRxd3rl7mcEHQH0CkB5UyitIJoJhdybFyZrxtrV1tEjJDr0Jr1lrLWDPzIQkO7wuSsmM9bUq2FBwuuyijlF7OXftc2tcKhLpUu0X1dpt9KIgTuWNiCWHmccrG4ZPT_yeGOi8Thug0-xW8cBh6YSeKkG7e1kzKK54EMUlqfYTFzICQE7fY-6BrJDJE2OFT1SapIyMZZxe9Fuh63o9nefD4fo5VW0atqDUh7Qz4vUfCp8G3S15aYSlOCDgcksjLFmvni26XDXtOkuY3ovWoTd6WRs9IPGUk8A20omvUae3bNxwMqrUiD1ulvTDewDOpSW46WBd5UHb0fMZJ4X01btLlTfIvnxR7eWmpD9FMd80RsUXYleCMp70RZIHhcs48TpCHLPUW0-ipfHfhW6Dcan2QIqd7vh-vzTp65qZUMP-4QFA-4FEdE76qzXp8uw1fp6ByQRFRQM0p54jGVitTpBUx1Px9ZfNT5h_Xk0vedMOH4C8DdJLIn1L-WGS5Jgi7jOLsFKALPw_c9JFhJUdgqLvI6bIP5fNohRb-V4GCB6yfJH9KLodXU82__Bs_YAm6U35AY8y6UICSfxCPvIZzn69PJXp32P1tz9GgdKTfbq7lTKO4QKmm1EsmFkGbCukj7p8hHTD6F7PfbqhI1qd",
  "id": "rs_0270c36bcb04f20a016a7fb526c06c8199a9fa98f2a224be3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.12},\"note\":\"Near grasp height, the blue block is clearly about 6 cm to the right of the jaw center; the earlier yaw calibration predicts a 0.2 rad rightward swing will center it. I’ll apply that lateral correction while maintaining height and reach.\"}",
  "call_id": "call_HYvkGQg3sFqulOUJxbJxWqOK",
  "id": "fc_0270c36bcb04f20a016a7fb52765788199b514c3aeccec8201",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HYvkGQg3sFqulOUJxbJxWqOK",
  "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=-1.108 left_j1=2.009 left_j2=1.4902 left_j3=-1.1149 left_j4=0.0006 left_j5=-0.9245 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.036 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [1.1829, -10.3316, 6.4752, 0.0952, -0.1001, -0.0024, -0.0122, -0.1162, 1.6068, 7.0222, 1.8877, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066a0b266fb02657ba1e3240939ace3dd3c40291cb0a4e12372ff6f6ac097fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446c2fedce1fd133a0fe955bc4104b0b25f4976c127515d3b1e95f4a3d0c954f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96bd1e2638a6cec3f899e33f524354b5ed8636805f2492c5c81825a4b414bf7f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 115 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=2.0045 left_j2=1.5021 left_j3=-1.1236 left_j4=0.0002 left_j5=-0.9211 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0357 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -9.4564, 5.7368, 0.2662, -0.0024, -0.022, -0.0122, -0.0205, 1.6889, 7.0906, 1.9267, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_j0\":-0.98},\"note\":\"The 0.2 rad yaw was too large: the block left the upper-left of the wrist frame and the overhead grasp point moved several centimetres right of it. I’ll reverse about two-thirds of that correction to put the fingertip center back over the block before any further descent.\"}",
  "call_id": "call_6blmImCQI0a97bIlkTOj5J6G",
  "id": "fc_0270c36bcb04f20a016a7fb54e2d2c81998cd6aef6b964e6c0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6blmImCQI0a97bIlkTOj5J6G",
  "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=-1.0065 left_j1=2.0087 left_j2=1.4899 left_j3=-1.1141 left_j4=0.0124 left_j5=-0.9241 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0444 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -10.0718, 5.4906, 0.1978, -0.1001, -0.0317, -0.0122, -0.2667, 1.6205, 7.2684, 1.9902, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a21ef49273df1014ad47b23a9771e2ed0e0beda807c8c20aa49fb4a73f71bdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd126ae2f8807c90574013472c81d3f5ac5f09e97d514f922ed7ce48543c3c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:882582d0eb291402282e8f6cd3e09e7fff3e5686acde5029c0c453d8e70376e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.108 left_j1=2.009 left_j2=1.4902 left_j3=-1.1149 left_j4=0.0006 left_j5=-0.9245 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.036 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [1.1829, -10.3316, 6.4752, 0.0952, -0.1001, -0.0024, -0.0122, -0.1162, 1.6068, 7.0222, 1.8877, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7VaTj4lxu0ghUeHF2xdx5EDghh9Nqb1tCuKIWfWnaT-MpVVH0fmhO4CfF-jIB4k-30fe2RQGHANREcuIiPvQ3nZGwXIsgPhGBR0UNT4-z46uHkzy8daSiGH6hapfn4VEclwnB0DthRh0JeHi1znm-72LFD9aPJDh_y7O9kaGAo2KGSaC2B7i4FceQGs3aKaa_hbOBv07VCyge4h2ymHDH7ipkzhWPRSITzfplMZp3E9qfnYMh5S9oTqz6oS3UzVtn-GeZ0NM-S40_CvPdzJSD6C7biFpTUVSS7HtMnvmNKm1FXf8N5uv22daorOiHUBNT_46zoECWtNRzquiAREUKy1FMmbNVMqMMPHgul1p27dr4N7R2xu09mDydJkoKTgEo9UpFQetgt5nE0Y4OCyaZkVLnXoyQEEHaP9wef8xU3yVaErxeB9AcoPuFSwNH39hAH93SGawGWYVWyMKa_UaPwFptqKcc_fDaeIa3HgQXAA0LjN2xg8iaxuia7IHOJ22hVxz1IrMPkqrl6v40cHctxcsf4z9rIj39t2CfCceSbyvijun4Xqe3eMyVJvr0xA7VSC4f9JSdjujlR8ISSAoiA6aQfmRhEXzHg1q12DU1epWYTwCylFoZusZLFhWputOStjYttJ8IZL0rUAQg8xJjomkxUTIfuq6ow9x-I9pJWNiG3ua3CVEJNe7gMWPudGDQCTcEmgDLUfS0I8PA6EjVKmbJ5yau9I-iK74KI8sN1_7nalruhVpt9HGscckd2pw4rEYatmzaWtr0s0KZPb_zZ3XnT9e1_h98Jtuoend8aJaxG8cVnkQNUWpRdHOlGnw14UJv0XMqZnAcFlvAlW4WAp9mMduuI42qqzrVWR7M_nesOZx-yzofRDFavEVb_1_sXkZ3UaXYQiDHFADnEdjJ6Q5E5VLXVvs2FoZgXZrZcXFiCAYTRRImqZDhGmvKuCw6o3g9cj5t1v3znrJjDjj05J_EcVWhvhUnoWNl30uFGC_4ad3tONhwBPJxvEkV6fqoynUSoMwAnsql_guIoX0dMGcvlHHqIHn3WYVyPgH23F9GYXNwdsh2kWRTqTsbsT0XmF9F9o9fbsPbmkTa3qXEKNcSwSVk5A3NXJW0duy-5HXEOlWm23dKG4PWWpVnI5WO8xEWEgXScin8P0rsuyf4HZ586x-nBt2Mx9QNksks1N9USLsB6PPezBlPvnvSeWQLfuBkv-zK3WJvsm4lYt6rfYwN_MNPk11mUTnVIPFOPVvygIGyTSSLyorx_qI0fYLnwxEf_hsuYitmISUQuFaW0VBTQ0Hn7fT_BHFua9xU3VmaWs0BQsDHeBfPjMrlswil7YaavVTUqcdRccff2PV98Ct_OzD-qjfl8ulJvdnvgZ3UifrbnRK16jWvQJ2CHv7Ku_tAIm35DYUYYab2r73nK0sIt_ORikEik0qLWgTwJxeuL3jx1yfPFhoI7bBrkHIdORBoIXDxpQV157EM-TnMb7bTcS3bJMLLmPdw_zjYLKNAWFod66AEM2-7wjSgukQVdQThaZuRuMVQZ99y8hiSPN-zry8BnREuTQNpSStl4aZH8Fc1e2BfOZ2paAyI4pc2yxERwdYee9JxfauLp7ZTZQddECtvif_qdLQ1JaRMsUHJDO4StZTCuEVUY0yV1JliqhAppcqxDK5SZhyYqNQJMKF0C_LQFbagVqUs5IaKIMp5BRxhVR2--AE2xD-DZW3nBpnrw8nFKqihnTOWcGtElMnYW8TxJQ4Velx-F421AqOOU-argagqedDjHOu8FB1Jk0Au8dD-i4YGedu1M4aRKYhhjcjZY8hHVD5RmarIE1HlkH-v6LrbqFktuSwwxCbprJnWw7fjL_wLb8ci6rqm0o98EM3LL3aJtu9yuxEqiKGQr5NwNpiKN_9DJNhJS5eGJzpkoV5tJZwhI_UfipLztkds4QYSbx2-5iq7cC1C5s1DaO-uzfirCL7EdQwfFvvWv9PGUqK4JRiOvHpzt_gt0zpLdv9Hjd2oGnyV4kbJbWTSTLXcalOvEq4kXUyK12jIJogeGpwxNhg04CPD98bGG1yyuj-2UkrtcRtQI81W7v5T-23HLfIkRe8cYd2dF_yt1ON4l0wAfrOsBt88tZCfs1U3EXifeo_ouevVXwxc8XzMzKhxWTjb9Z6zAdY4JUyhBqmV9Xl63OqRo3JNMyK04Z14zIyofXHSWvr5wn-7-yFVmQnfFgOA8V2ps0tl4Zy2FJiMgqccBlxuWSDd2yaqD7qKrbwor37w4h6Nt-jFvaNeqB_IvFCVmos9mYlDnxd8YN31qjFnPBxGHDwFsbOXdgEjEZgoAelu9NMNuOhz-zYyJyxNHgsb4d1MjJAoFy6m-BpoY2vcFfuKiOPzlB2QHe7ilG-44QnFKnrBtkK4SOHsmCunJmRG97QIIClfqny-Xa445BRZzStPeacUJlYPzjM7ml8rohmecCzMbWsbSAojBu3BfdT-bmyiUdMNq9Oj3GFQpqqNWWWFJyYB_kJBb6aknuklWmFdRxi6T2n5hMvNbx4EcoRlf5NhE53u9gQQx61cXeLfSNUwm8VbdKZIClJySav77dQx4VS5qYO5lsD8kEFgIckcDbSJqT08K1FW9dOFHkLcU2wG8UR4E4pBAj03WUjsnblp545jM5iqGsUxRzBC5tbtu_YjQms-9em5YEvB-VgYKk6TR2ffYCZ3IAqDru8rNvh71uT-ux1MQ-z-tPehyOAJIurdjQE7GuS7NvcjGOmyVjr93MDH3tLP3jLKZMkfreP6V5bPVHJ2xJ6-E=",
  "id": "rs_0270c36bcb04f20a016a7fb551b568819988728c4c29002e72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.92,\"left_j2\":1.37,\"left_j3\":-1.02},\"note\":\"The overhead fingertips are now nearly centered laterally, but their grasp point is about 2 cm forward of the blue block. I’ll retract that small radial distance at the same height and use the wrist image shift to confirm the block enters the jaw gap.\"}",
  "call_id": "call_dvo2VRILtpp861ZscekeQx7n",
  "id": "fc_0270c36bcb04f20a016a7fb55961c08199b601113053f7aa8f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dvo2VRILtpp861ZscekeQx7n",
  "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=-0.9905 left_j1=1.9724 left_j2=1.4078 left_j3=-1.0565 left_j4=0.0013 left_j5=-0.9237 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0483 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.9641, -12.5744, 5.8051, 0.5934, 0.1245, -0.0366, -0.0122, -0.1162, 1.6205, 7.0222, 1.9805, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0e906de9c5b552d725c85cd5239380cc114a637c55771a2ee3285f99be5b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f40154731f63a0c67c4070ea2c5fa2a3aeb4edf45b12b3571746de852a71470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2de3916eeed3e456f817545760d54e837288e282d0bf754fb7a80259e6c62e",
      "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=-1.0065 left_j1=2.0087 left_j2=1.4899 left_j3=-1.1141 left_j4=0.0124 left_j5=-0.9241 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0444 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -10.0718, 5.4906, 0.1978, -0.1001, -0.0317, -0.0122, -0.2667, 1.6205, 7.2684, 1.9902, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7VnQonO20rmzDAvnAdptF7kl8x8wPQ3HEthnRusnCIX0aUwm4hUm5RXxiTSRJOBxmhrDN8PH3SI4Aqjh79BiHUBIN8M8DJsQCtksHcsC-AaJmydCoc9qjdXqqV8FNaglySGbggwpvV9KWqS_T4xrdxOaAoV39g_CVgiYmh7_IvFeB90Xjl34rMuEmqdwxksN_BJUby-aCL4qs86Fisb20e6Xbamh2sNUHgQ-MKGLXiKCJeq7gsTeGDju2a1VUTe5VK5Sv9OeWjPs15jzlpOtTJb7WJH9RdACx0Zw1IW0wAFIezZRY9pfJINrARTMT7afJ6G8xsyV8EvMgYFUDN1EmPcPUhuHsxLbpEZJpkPHg9zBUAIE5k3AjYamJT6wgZrDPbtX470oD0iDWiKT_rNULoX8MPR6xsneNhUcyVhB3Sf8X8vH3TRrzQjN06vPASTD-h9aBci7OQrbkbf_0G-BVQ60df_1KzEqQZcQicScafhFZxeq73wyWbjwHmcYh2vJJfE12X-ERKhEmDTEsqjlm9IpysTkMLtu3KCVE3oiYsDSm_LVgQGDnWpsfN3QD1XRZC0lkG7hNEpDCrFfMjvl7kAmjqOIMEud9NHLZCul5yU08uugcbZWLGTcoyK987LO0pFt1YRaFKaxwDuJRJ5Qpw_NXxswHLFUMO2ZgAJWQp9nweGPNIJNqrXyTEHecy2YOKMjQ6QVWJa_TKjINd3fkSbnZYFwWPBwj2leDb25K8NZFnkNEr1PaeAmIgcOfnzdW69z0u2Tsn3E9FTA_D7IGxwIlXaR9Wo2WAhkPbAc5Yst9VPcIWCOaMQ3iGGQicxc9sbhttAYw-sgZzWcG38RborT1dB7CfK8EVpAHoY8VzXTb-awtS2YhwI5kArHGvsEk8xz2LPqKFYPKpFNTw0Oeeib0lV6ofgXE8EC7PSMtWVWfxEMkbB6bSbHr0m3yke6o_ERUuO1UC0Z_rTnW9t4pCftE6dQTXSdadMYOnr73ao9Zkp_eJytpF_xnkYTAmxuWseeGUNK1OAdMrY0HwbR_6sIhaxsLoJwJmaQGBknRGZa2y4URtqp2vziOMQW59nnzNp-9YIAXil8ha4n-uPvWj_NoH9lC-9DnHtX96h4FywhCHw9U750Q0_UEXqGdVkCbkC3NIYB3uhh-VsxU6alp0VjgekyYx8k543FX_23IPCae4Tkyb3JjLI7p6kU2XLVxh1PgK937ptBloL-WPxOgl3cHIzyiNIkHjwOid4fz8pfT-6pBf-oUmf7R2BwAq_nsPIGtBZcxN-zMXnt9YEbK3Shsi0USl_vaLvhyicUTbIuaJf_a8KoKwB_mMIxpTWnEhbxKVSGqICvt4R2uwPAHOaP2JUlsgZA4z3Adys3cQqZ4r42tTP-yyJn_I2GyePZyjcIfLia_cvm9dRpXxOKTdoHTBqACAL4ZbXAJ2T0DNsbTVf9G0R9FA42hXc1Q4YgMisLSTrertZ7PYu9ikWBQS9Lvgzcl8fZviy6PlOY-4svCTckj_d6cBmfwX2PxfYqtBr0vwEltxq0wdSmxMyEn3aw28AdaILvWRqov9npUZzYiqymre2df9BoA8vnNugscmOZr1HNCYqYGXlrCZtNOVHW6MezlRBkFXiupwos7Zln2KJRJtbiuYdHkSO6QkNT-CxdjR65r_2Hmprc8F4WcUVPckFqL3ZsKBH9ttlo7pzuFCzVQ_vf_c2yOUm28HvX8Tu2yYkCq0HK1zKK9GrOXn5XSp_eqo528ZehwNzqrULnnGkNB3nb2VRlsxmj6Ncsw9wQusBecd-43eoBQ3nLX5CikV82mNu-cMUA0hAixllWUU_xYGCaZUVyWS25Bxxx8bx0DZXOFW0MuTG12Dixv4nonSDHV_bA19fEw1t9Bugt7PeSb2ZpvLyzjiSsEkYebD33exd1DPyiyQQ9R8xOrRpxNE9zzqTdAN4B0p61AyszfIVPnFWNnZf577LT6-MDkFLTvEEisikRWRwQc02KEhIBi4l446JTyi_BSZQAUfsFjGa2_I9641_i1o6lvtmFuYBdX2e_0lkAOkDMcfYrKNgXjklytWDGZYcK6I5Su7BOG95i4GdE_UPLSN8I-3mkCLrpRoWfRRyCYUZmokivfZZQF1fHIPBrYeD3Jc9t_jTu84tgfpAjA9jXwBxv9bJjVpwVMQ51LIHmFmiCUUSV70otUBRbiwAR6BgE8sJfcK3tH_YndtkFGMrjrfy8S3CTW4ONwsumoHNRWG_BwPLualhv6pbZtQX66TDJEFEWrh1eyc=",
  "id": "rs_0270c36bcb04f20a016a7fb55f003c81999e0443c517e28283",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.04,\"left_j2\":1.52,\"left_j3\":-1.05},\"note\":\"The 2 cm inward test shifted the block about 48 pixels right with almost no vertical change, cleanly calibrating radial motion in this rolled camera view. I’ll extend about 2.7 cm to bring the block’s center from x≈178 to the x≈115 jaw center while holding height.\"}",
  "call_id": "call_4V386w9XCsW2R3liAIzsZAGh",
  "id": "fc_0270c36bcb04f20a016a7fb56577d8819995ab84973973a0c6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4V386w9XCsW2R3liAIzsZAGh",
  "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=-1.0016 left_j1=2.0079 left_j2=1.4536 left_j3=-1.0691 left_j4=0.0124 left_j5=-0.9287 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0502 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.7043, -9.5658, 7.1043, 0.2271, -0.1685, 0.0073, -0.0122, -0.2256, 1.6342, 6.9812, 1.8926, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7475eeae565364587c2d57bdeef6b0345024a52a95632d4a5387ccfa1c252629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab848620458d3d49a306a438467cd1b34341d472385fb170674305f69d5eff4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e88bd2c67beccb5a078099fe4ece6ff85e841d45afa9fa52485d45cb8bbc86",
      "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=-0.9905 left_j1=1.9724 left_j2=1.4078 left_j3=-1.0565 left_j4=0.0013 left_j5=-0.9237 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0483 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.9641, -12.5744, 5.8051, 0.5934, 0.1245, -0.0366, -0.0122, -0.1162, 1.6205, 7.0222, 1.9805, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7VwINmh2shUXhTTGvbX6J7pMQPIBx0m0Ao6L6zXj6iB0Ly29d0AdTgHw5JGaff_2211uxiF22PRsjuL818KjZh_fRocHRhrizAzXOjRmDItc7Gtj7-WzSXftGSFrXYDb9jNT--dUye7WhbY2eBuXwYkdPD7n8eTHOj3XOzX3712fodWCzt7beu8ZLvzVKmqiLIRg83U-EO_6EGYpLkCDh4pzCPoWWbiIZu33Qn_Zc_MhCdIJt5RO7AgWzAfqQj-We9labJ-J9nNIuJr5Vei-FaLGQoJx6I2MStrTbuYYQgN6yxYdNCMYn69P1oEYx5mywD88FxoZ1ttD-yE_BEvU8S-UDCU_I99SbachP6So59Zge_fu7lLh8uXfsR0HmpWlwU9jf1OM4wr6uVTT0R-0TN4rN2awvnZn2_QrIdkwscvGygc_sasHXdQ8lHZLsANF2SgiVE48nf-08l5JIE-gOz4DP6OzW33Pz0PENbY2hpkQXNzU7fegheEFTEDbjE4RIuaP9ytDiIrrKV-bmJqso7f5FJh4HiUv2QtXgsYUhMeqimp0aAUeNbZ0HLnrNGMP7NnLPVsF-be25XBcMwTRYzMT9Lqq9G2rL8WZSyctTLznjabBzwUht01FExFxPkUkpnUeXPMwDB0ApeXVMtbn_y6OJqHkzH-Q68UutCrETOrhfdOY4lfjBtwWlqwvOFM5T8xKYc7g35p0zu_mZt54w7_jyuKN9i0LVaeyAUdQ3CVmPRNz2uSTdrQsgci91z0YX_snlHGlApGfgTUoRVRdeLA6qPnA1hylUgvTitTBfr8CVjKNrOeOnxOVynRQgaED1Uqz9sXJxHjB4PBA2CxyitBz1OzK75rVVFXvOA1S5Lncl6vCL5ritJ-K9prOZHzpQDFqzH1z1eWdQpG7CyeBBf_KYc5VOUeCPNgRAen5eqI_AOIFhbEx-hLappPa1WC-v1CsPy5y2ZMS8dBiOyFKta3xiG6GIIgQ4i3opMo0HTM8GD_JIwaPNSwMfTAZZUEMRhpETE-9DNwvsvIxN7M6SnXPV_P9ERYxpYUj14R4jdQEeAt55Ve9VPAEzLx6DvgOmWT9mgDwIj0PaBxJGzMJGJ_8BYZCn4fQfLwpVZHfaFSHCZzdGGVuUQbPOGY9UZGnoRIClFL9q3i3VejZRjnzte_EtIUnFoP1EPiGwSAoLv0nkqtoI9bbYHiadOfBMiFRRsMbdBXfWK_O23DREYML-aW7j4X9elZmy8mXOEcNqy3-dzc08YCDPwEnJ1pWBI-2yjXnlmnd4YNYnNik5isY95Tm5idoVK7JV1oMccNTKUVNis8796kxVUe3RIDqXNNVWQ1xuVwLgWe7BsZe5DMJN1t4wbA9TZDrUM9qrPshZbshm5C1xdFdZE64AG2vtKyHILGSPVV41BxLgprDyLSuZ4DgRo_BtKJTJAwVdYx7O18TRr1HA2qhIHio9Thd-oF9x2DPsT-40hwtrIkSPOwwgL-SA==",
  "id": "rs_0270c36bcb04f20a016a7fb56bbd748199be3b81267052d6c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.04,\"left_j2\":1.52,\"left_j3\":-1.05},\"note\":\"The controller completed only about one-third of the planned extension, and the block shifted left from x≈178 to x≈145 exactly as expected. I’ll reissue the same horizontal target to finish the remaining centering motion.\"}",
  "call_id": "call_LyK37QjOtTZdZDgcUn7mCOP4",
  "id": "fc_0270c36bcb04f20a016a7fb56e96d08199b04599024604e28e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LyK37QjOtTZdZDgcUn7mCOP4",
  "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=-0.9936 left_j1=2.0415 left_j2=1.5009 left_j3=-1.0508 left_j4=0.0124 left_j5=-0.9287 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.8821, -10.5094, 7.2137, 0.2808, -0.0464, -0.0611, -0.0122, -0.1162, 1.6479, 7.159, 1.8926, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ab5b055f2cf499f5829736eb35a15f00e0b1b3e7943f5bff6509b5d369316b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30d19024bffcab2ac85858a0a6bbe77ba8d0a1f421edc2748fb555a3dd1e7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d7194154d5bf1b73d624b5a3f795d3a4b797b297d1fb19418197926597e171",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0016 left_j1=2.0079 left_j2=1.4536 left_j3=-1.0691 left_j4=0.0124 left_j5=-0.9287 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0502 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.7043, -9.5658, 7.1043, 0.2271, -0.1685, 0.0073, -0.0122, -0.2256, 1.6342, 6.9812, 1.8926, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7WCtzb0kzu49DIMgTa-tkwzA3cu1klifM-pND_t0irvd1SuRTWMBHwXIM3JFzWORUcPKfsf88ZJR8viySVzeK2Ay7KI1UIxaS7N7uGWq94Z2WopVUXyCyhvSOJ8tYKFFqb1DaoZiAardp2Y5Au4XdPwkH98X9JpxVbU6Zk1Gx60z9-muUnlyxreo2Z_sOF84xVg86E2loXv_sNrf6x2XmaMwmCSyygUgXD-p_RGnCC48V4t_nF5-ZK__AS4jvMYdF3wzUM9_zCYcyk41mOoMvUIZ7Y8DzhRluKcZZHeuqA7YmmO-O0_InIUH5aP_AA3WNceMJAbTeX8oORcxkJdUo8z77-fCfuGA-c1t6AupSrhEwWLzqhcm9KtqTGPnYiibLPIKqdCpcsoYfNkxi-_egGFRAR4k8WMw6l2V2SzkblyWVBIyH7G8WFEzYWyXl2buFEVGMftaruQELXf4EDXvxmi0HLEofFbn4YU95Pxnl0BKeBBsrPCTmiURmcIIArvJXuysDcaine3P1gpaKHjJoH6mals-8zOuJnQEQ1UdMMTq92gB5Rs_HT52g3Dz8aG3890nrkpO7IwRGhZv7WOFXxL_jiF5dFiC6fY2e0zB_mINBPP_XfdDtNaicK_MvaiZH1TxxsuJnFCdl1KlyBUvIzuJBfeFHk-RcrWd89vPS4_akclFRxKu7lyuMYxI2T0F-B_VIxKbt5fUzCOjZr9p-iJ_N1cU1EISVsALnGbcCqZIdf7jMObKbYWRO2No6K07kr-fpyRvBT-zkm8Xj1Eho4r54LxWnveRVMGZeTZRcf_E56EaHC3orE2f6YW1kr_2fdpPfRBeRTnzgqbk2bnVOZlswlEu6ldrEC7N-duP7SlxvqZYTTR03KgudsuSygLRZlOcbOLaMGkiPmj5mnXr-_gr8hvLuvQuaNBhdgXrt0N_7uCS5nSSvLzJ8gQ9eYxqsxhcJZSdS1SNkiqjIhcjvBdJOtxEf3l47ZIzL2AfKx49oPd_fwz9ZJkgqhVnRYRsjaTxLKnaT1-LNM-vnpY7LujJqPc8EzM8zjsZDiio8t-4LPYdDtrhec1ZPLKqZyrwC56FcNzZaCTzf-3rB7Y2XHURNcNquOpWeCuV1lDUl6lmctIUGakdpWlpty-IVn9O1cyfqZVgdo2ROoN_ycv4XLvcGhIeMwqSYxbiMn_-97F4dKdP6f6zBABHejp5Hf0_QZGVGKnEgiUkaqJ4lvSdOYw-_kDX0utt9E3dXcs0_dTMZtX27fzq7gX2ujIZa4SyjU_pTxRxrX2Kdr-NDoZjXlBDtPSoDzXA9w0OCuJOA3XyyzgkfxQLVz04EEO_XSmaj8RBV8qgNO3n41HyM7sjp-L7YqGqHNWm1Uv4Wz_U0VCUyoe1-MLDFVaGmbNs6SadnLQPzjZo63BtlZhQ96-HVR4VeiwEstch4HG2Tlw82rliHNx01cSRfQqouFxT7eteaBBpDpN2ax336lMS0z5CiThJE9R_hVsCIuI3CPpmX_q1iNPjDy8Qcx52594BVg7rWg-48mOIx8h4n6lBtR-RV5IwWTxB52esZjMlrCvyLP0N3THxA_VtZvDtIxYGBRqlslnUy2mrOYKs1BAuUR99inGVZOh35aRfKknsCN7zBZYCLlZ0RYPC3_Bh4FXXbe6oD06c73mTzdr4LnxXSuRLYciHaUrhR9n0wMPbsdaFkFwhsKFuaZjRrAfdiUnyO__o5o22Ki2eahmkWfMsN-y-6ZkoHOMwNTXduSo3EbxnaVV-OPE_mQrUdN7Tj-emCC1iL5r-9cjC-L7pbS12o4_9p6xEp7Wv2u6ob3tXoosMAQCT4irbH0xu9NMw44qDyO_WYpC6vNBVKekjplUhLMlBp4Y-DdQwk0XLgkpdEy8v-mEPGrsn4NdAK9gkM-Mg734CB3qoPM6i0w7uN5TRbdJKo7SM9rmFKWgSSrvq2BszoypnRLeTL1NDStj_NTelwGO13ZJyZJVPB8e6P9wCxnXknhidgFISd1sFKVmghsKGqGoqYzcZjLj0ynxHZxLQWjyCZwR_D1Tr_VKWNJglR920bnQqWMmjamhcsIeT7RZ4uLlFBcDHhAt-Xz6nx6Xb3SxMt2NJoHF08cnb5rifcdet57z9Ivtpw6Q_2QF9cjuwx3HILamFbZvJOk4Iir5tXsrwFCtRhgR_E6VlceID-qrIELlNNC_M1B24WPgl6VO6JpzgkLMgDieYoVSO5K-8Nr9D8D2dN0ox75VAfy7Lpxx07Ik4b1rtt03qSHYoQAQJ1O7xIf_0wPJU_OYXT2hiFJaIaxeBxC0yqIqdIxVGy5QeqqNyCLHx_zOOiuOcKdfcapp8AZaNiWBOm3xdVanqcyglU0ABc9R-CXqBLBtnRotjvRweKdyp_87Cto1chS0DdyZd4vyeexr6JwcuvWqQNQH6FAo-ivAR1Lpwgo0rckJATLquch2Hpt-OQkAg-v0-Q7dWXwpw3JFytUH-IHNYll_2dJqeYoWK-wy3y8h-S9rA1goOFWLjQCqqa7WUSD4N4tWa5vPC-F0lPLC2_1u-38XeqDlm3uMrR-dlFthzbxYcWEA-KDIqNPEmH_hd5FUiL_BkqYWik6slTEAefAU0OTAlyVg-25BoHDfjt2qvgVzPMVsRjHivuu0oxOodNRxli9fWWj9X6XPKLgOIxJE83x4EgFto_aEQS-RbGRkuFkTerJaOfy3UzCy8b46ta-k0-e9tqnNpkaqM76EevibA6m6xdUtoLSutkUpjEuVkItRrFgNWKlONlhAV7XgfBkkaMWQcGYj6Pqj2TMcgLV5Og-j3NybBxGQs5WbGavfyopkYa129LL7ye8k-P3cy2F9FawXIoj-TO8ye_u0nEgiVs6Ntv4DJnsoUUdmzjHQ9RtHxEFSwOL2ij_ROUIk8xIMIqUQmpvcyiktzeAmVKMk96x0JMjrOG7EERErDgtwq5A8Yjb8gZXP4CPVWp8R0afMcTgGbfbGK3mtTaaxDNO5hfogQJ7QH1hTK8mdPQLO8th9K7MM61aAMbkotkXpc6YMk6MRF7-L-5jx1y147P6Ej80jL0baQO7GTxwLgnRsQhIphtZGHom9hZoR5Su91fhJrzH3SdMqvVpRvgZsXuMmJB8lM4U1WOLM8KxLtDV7XSJwE7gIuPuoupoFmLqCvJaoJUSiET6qsCxcHkGaBJafLTDzEiYAVldb82QQcrx20U9WOq8_iC4MQaDW1o85Wd4E5C6tS8kYOl2TSG_WuKWv7RbAlzCiSIwjeBcqbV0QR_70YYg7nstAC_A1Vp6HvuwMOiqt2kRjtex3X0_m6XQ-oBy1K5e4ru6avMQY2Sb0skgBYChtGUO3s9Pv_wWlmr3FoeSKbq8AQtX74FVApD6q2NJd-iBq2BnK0p_V45623Q3Qn7tkYfYEEoSvxkvrkcPRLF8PAC4JUUcuWLdnyXrss2FwB_5T",
  "id": "rs_0270c36bcb04f20a016a7fb571d2a08199ae676fe3fe773f9f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7WCF5SO5Pgen5rFj7fVuhqb7T9B0piqY3W8GwvO46oPG9S1DgYjvTC9mwTVKslkC1l8Nr3aWpYMyys_sNYUlxfJEmvrOWa7kRYa9oWLlrwL5CW_dcrim9Kt6uvcQsDm6q-tI3GOymqR5gaAcTfgNGy0B7EX8IgFWH0gGx0aOTs0oCSfabFbVH2o4ybqQK9BxpaKvnsRo3ZLopxrP3GwwhLpVa8hZqNgENS42vzYBulSl_OtXxsoOaCm6BHGRJA8u0v3EtvWRNOabM0c8KBtjo-TcgVLibzUissWIJOEnwTeM7UPAy3sL6aD2BRVjoU0hTaxkd-pqz2Lgy0MVbB7XasBxXlFGOP3m92i-mNlrtaDJkMTsPmUhghCOVAiDBt6aa3LiqLz-0qjGx0mLXCvBo_i2FHQHPCEP_9rQH5ca_C2LEtmTu4cFCMLD9tAkfDBCM2W8Pt9MNBwYp3CqEzvaavJOoy_9zuFaxmWTJEs73075VUfMBQF-m7KhRGRPM1yVY0S9_TuB9w84UEWLt-l5f3m1ZF4R3AC3JI4uywMgTj3wHsvdTG3pRT705Na88Pz8E6ykwWnaxtwVy7LYsKY0R8DptWAME4Z2p2BfQ7PHwNJJR-ZEFopUX4O1rBlzTJnXxJ06kFAd0AGfx3V6M9tO_-MLK2QtARj3otRepDBVdjPYFtqNTuuaJP-JrlMG6BprLwn6J2jARCz4srsV7F3SkX5FeAtShn1QFmmqOLeR9EpinKexV8No7ldDc88LadL208VnxGhtamS0ULspOxdaSR4J_964jr0-Hrcejc5UkzUIV8GaAr5Oj2N-VCqvv7L0VXiZe-vUNiGqSGBwJOoQLrjAsCsoEK8yqPF04A_lpMXW8yQMMOKADmKU0lW-J4QPnj-WkTE49OfpRH4XNbecwnZNZKmOJw5mP10qHoR42adzfD2QB_x6Lqca0J3wIchpskdmiyYes0f7ohTnRzK_Hz7B4_brp2IES13BkScCdBBhZgb40VtZBL-IJxvEdIhdE92ErihDSY-UuXmF8zbv2PS-B4KSgf6gmgmPj4diz_QJHrqWqiPNCgcPJaQP7g42L73q21mH4E6xIYlLRehdrDMnoVEh1jn2aOV82nE-c7MdgnCGJvKUpi0EUIWcteN2HuXoQncPYdy4VtTooKQyW-bBBowIQ1yVIj3wxrdHncXd4mOJqfVv4AlNRR_w5WMwsDhSDmPzvsyfIzBHeFD8XRjPqfzgw0V1MZ6eHOTh7v_Po8-qx3_xtVZ0FFxS1vbcb5E6j_FYptDiViVN6ZUMc2C5U0mqeTd8Nako8oEkRAFNWDkozR2Wy0Ge-y5-m2O_mNs9KmE8VGJ9Dap2OF4DKBOh0KJezrFYsEwSJt_ToXmEecAGx_i2tZtxMIW02HUaN7Yok-n1FCr08_DC_rnJFsnljDGlcuFmkfhbr-gdn7NrHHAayO6Lv20sMKuTIPgvgn4QUY6I5PllFPoJ5bOLwEBvRs422VmHDQNQaYIoDmEJmBVY-KRo26Ioa-O1ruQCWgHJGq7W-OrzfuM9s04byQqX_t5cAy4Eir1nxaUH7LYv8lhdxsAJvy7GHYRX2sEO1QEDaPd_Hfdc511-JvSkIRZ17aEX7DsoL0CmF8sDoa9Qj3EmYvjHggRIX0Bi6ugHY5u6H5PyvcCp7lqAI_P_PHqAzXvHL9RmvCySeh4CKKYLRYd4mmfUJ2NYYRccapKMJRAYmaSsG9_5W_LmCjsxrEVa15_D3Yzj05x2QINUlL9n68m7XIVkrQh5YxtAK2NyuDZX6Jq2vWQ1f2p8oo_UTeS_LxmCOwOIUJboc4BSHMO47g=",
  "id": "rs_0270c36bcb04f20a016a7fb57cf71c81999bdd2b1ec7ca10e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.94,\"left_j1\":2.09,\"left_j2\":1.58,\"left_j3\":-1.06},\"note\":\"The block is now laterally near center at x≈129, but its face remains above the jaw convergence point. The calibrated local Jacobian indicates a coupled 1.7 cm extension and 0.05 rad left yaw should keep x centered while moving it about halfway down into the gap, so I’ll take that conservative half-step.\"}",
  "call_id": "call_AC2vSdLgWPdATD7cMDelnjIo",
  "id": "fc_0270c36bcb04f20a016a7fb580b0988199950c756596a275dd",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AC2vSdLgWPdATD7cMDelnjIo",
  "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=-0.9775 left_j1=2.0686 left_j2=1.5414 left_j3=-1.071 left_j4=0.017 left_j5=-0.9329 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [1.7709, -9.935, 7.2684, 0.2515, -0.0562, 0.0024, -0.0122, -0.0342, 1.7573, 7.1726, 1.9414, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b259a3d895e0e29c1d07f29f5dfdfafef3f13eafdaf8fedaf4edbf9679cf3750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a140053fb15320a91970327446099f6d5b39ceeb24e0ea44d1fde4bd0625a3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc6b10cd05626f0bb7465a136de0e0988d53e81a7a33f052625ccae90ab9a09",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9936 left_j1=2.0415 left_j2=1.5009 left_j3=-1.0508 left_j4=0.0124 left_j5=-0.9287 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.8821, -10.5094, 7.2137, 0.2808, -0.0464, -0.0611, -0.0122, -0.1162, 1.6479, 7.159, 1.8926, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7WQWaRcPaw3a30TJnUTFCyB8iq1DtttdwwEvZucbKp2YD9NNyL83pvAzEGrG8XgqZABd5aAh2lHC0dOuG6oLZenrNb2JGQmMxIqHUkdhv6sLGvI0PMKEeqtLjVyjj7nTqjncQnH-82nV6HGtIT6LX-6lw3OcsW7a_XavPAnSSiMvDXnQrBdhfs5sKR7A6wVq1ddTO4ZhI3NV35leC6GxgsZHxuWrJWQto9-Ufn4-SKAzJG4sYtWB9nqHUrkljZCpGqleuN5RERd0In0IN9k23vl-wSFed59LpJ9EFxg7PIUE5RMnoeylAt26KNMEtlpAVL-tskCu-9C_4utcp80jHrJ6XCXHT4Xz9JYClkzM5296lIvFE9RsnEvxHDwxlxUXsVeMvPcpVaPtqRYBltg9ZHlMooEmSSH85Yd_1jpcRO0PZd1VLqENg0vd5NGLifWNOgjFZwvItAaue44Y8UuP9QCaVXeYp71ToWXz83AxlRhmGuys8hRQ6PlcD8MUwoU0-gX944th7b9EghnOTMitMQsmOLGGWIUj4z48fIaJdsDuULw5G6HLn6aL9SzIFj0d9-7JkINPJqYS1ynkz52F6u0DMGRMBZSZ3WxWwI0hSPGbbNadVhSQ1PzfXYWJmmWGerb1Nu9SwGCmLyS8kDDwkE8fxp_bJZEiNEwM3mugD_vKi3ZllYyxR5d5vgNi61Zv9UekpOyaQ45yvDV_RVr3Ahs3W1L5vYd7Jj0HO4idgxEvDilh48xMTBY4NYiCaoMVuNNjBoOKgaeJPMsFrHZaBEOLaP_u2myO6QWoyfXi898HSVULahPyuErrY3HY0auOj9WvzdxL9sIjJCR-hjGGrrb7KW5lkbnqOemyr4zTkbfgeW2FiEsOD7RjVaYaifC9OPEjA-WqNef2bvD5O1R_tmLdAQP8FAEdIWVwayQQw0bk9urSO58Ygg1qhfI0uRw4qCPm9psPQDwD0kZOnaXgRsdzI3-8sC-rwRs8vF5BmN7AtIOgXdBBoegZkWZ7CCJY2IkyYDQn6gEWBK_FzANSRvQnz54cDLCTJCsCZ2pQS_BZbbMzrtObphH6qmQ5YmuQmIyEtIMbQf3DAij005GQXfe7s_HSLXqUhPxTlpsdKg2IQMzSO3UbE_mDdE5LdcPZKo_B_nVW7hHVem-HXqtDPHpfd-4p17d4EXJdktKCaE7pzMqRRQfxLtgWKPBbORD7QE7mhXVfAgYq6svb6j-OEhzR9GaeiFOcVaiAR6aHYJxiwoKPy4vw8fdij4_RTaEK31OCJHlo9d-68xYEoQfoapXETAWtpTPl-DS5IoIitsGT047bnrM3jnuNEQoTxX7KTDiu6ySSQzFDLOGtQHgtj0dq7g_dKD9DBF3UbzJy-r_8EWeowMQsXiFLHSWIQTwIep5MG4lTesKHiqTvMdRraSM1jQOid_470gSV3xxucTDD8XHqT58MntaJppG1pCBcK7T43YQixpxLM4tpAoVariB9OkQktqECjWRJOssPUXTBZXxY08VSpUTSbkXHdT8hKfcFYgs90dzwTzUTsiFVJpWEnWwI3lfvRoMf1KGR2OXyou6MnlGdzsvmKM4hrIomOouYdacUNhDZISFlZ4ZKH2vNTFJUIqSwCjKW8EujF48f8FTFygvtGEfQ65hTCOiCtPOXzw_AG5sLl1XPBG0iwft6A==",
  "id": "rs_0270c36bcb04f20a016a7fb58b31f48199a1aea19a6b7e3fef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.94,\"left_j1\":2.09,\"left_j2\":1.58,\"left_j3\":-1.06},\"note\":\"The controller executed only part of the coupled move; the block stayed centered and shifted downward slightly, confirming the direction. I’ll reissue the same target to complete this first half of the approach into the jaw gap.\"}",
  "call_id": "call_LT2HzrVlg1fUJ5BaYthx5bzx",
  "id": "fc_0270c36bcb04f20a016a7fb58f2b548199903900ffd3c479c4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LT2HzrVlg1fUJ5BaYthx5bzx",
  "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=-0.939 left_j1=2.0899 left_j2=1.5578 left_j3=-1.0615 left_j4=0.0158 left_j5=-0.9356 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.054 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -10.7419, 7.2821, 0.2613, -0.0757, 0.0171, -0.0122, 0.0068, 1.9897, 6.9812, 1.9316, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70848f19e21e9de607523d005c64433587c77c14ee6447213c9b4c00b7286ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98e13f385662853dda271aaaea3e74b3e202594cdb3ee6c309fafa1cf7503a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebefd4a47e9bc64c0c16a5a6c2fb2452f5a7d2f1eaa1adab5713648fe76ce8e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9775 left_j1=2.0686 left_j2=1.5414 left_j3=-1.071 left_j4=0.017 left_j5=-0.9329 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0509 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [1.7709, -9.935, 7.2684, 0.2515, -0.0562, 0.0024, -0.0122, -0.0342, 1.7573, 7.1726, 1.9414, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7WYj1gOMlEGYErxF_3HMGyki1bMJlYv9gx9v_X643SmDRUuJ4FYdzd7OGxuSg07wX74MbpYyByKGM763UyyOpO_Ta1jMZycTcp1xkYDIt2mYeTQc8kFsgYFiFCk1iqNylYg7j-vKLe0zmkc0cFC6F8n26ZDoGIQPEv6UAF9nxf-EVb6GnqOEv3zvjS0ZGJAuCARKxX3oDTbafv08B-0Rs36mlbqtpTLLrc9XtdCgcpkmmH0dpht17eGhWmqil_9beCe_U33Auq9uO2ZsN7TfmCpnJ8xtXKxW1_TRlXexknRZOwzAQYEfYxaV7Bn-lmLUkrXOaZJtr1bTi7IBHZJD8PSp0SjBOTfPmmpzW8Hs0e3hEFMDmrP0MZL6oEr5-WIo2HxQGuk_XS66_Gs5934YwQEkoy0a9rmOQvvE_WIqWBA8zq9fDq-EgDEfz79SqT4UmWqfxn1fR_oV7WAg4QL6tdDP5hJ_tpe4ZWBTNOiD44Bpn_AVp2MycX1PdeERkK3V7ScKRSreQoDnAAvBLsTk1u6iaRwG7ELsscc2Xi5gcH_slKQpDHfVRcpGfgQ0HON19iiSgpqV6pqUmMstS9hPJzATkyUGOpf9RE5QAK_NNkpyK-AMq1sr7e7R1dL0gCIdW6-_hOzaCKuZxuRKtI6GPuUn630d76RvA86R1Rjq4tVlhcC-IDTLyYoXyya2KgSRTCBNbOpoXziWCbWpZ6_U0kXR_L-zkW7TyqShiAg3fWsV0Owh_d7_E8WrbzKzFAk25EMFgZSawkoyi5wqM86BXzBFpBynsDfoM33MC25udT7hdOWWeKxQsPSPZacmjwQHaaYNAq_JKyLNxM0C8OxLB1pVX8K_Xnk--QrtslJ7etEgTZrqbr-qVd_fkRfsaLpl59qeYUkqfF1VzqvLEyIROxcbMw_guynZUI2RJn8vCCZ36-a-cLI07SotLd1_Wp_jkqsFkxGfqM8aSqS7V_KX2ratpHKbwMwthBPI2Xx_LSsF4QxwH8qhU3azL-qVjOy9s9yXGJmkRdSwuwuxKTHseCHfkVoxlEDEFU9XJh_R_CUg16wrB41zc-peH8BjZeeDr1kfaL425GaNGjyIk0vlBVFaSgTO4H8XxxAFuyHkwS_coExZDdXJIcGXRheQr8XQ03njR5fTUxGrd-f03tQ5IJT1CweDjdVj3HtEUDHpdJ1GsbE4UsQ47W5FBXqyYSglVsiNRlAejBcsFpDSt4sQOiEyYzMiQe39OD47XMcLdXzIY-_rzCHiEQxywcN_kOc0yqm_syMQ3EvznxUvH1yxZD1wdaqxk3bhoJ9Hcj6TjS8uUeMPmGFpkExBcY54gRR2a3T3_gehJDmqguSADzqLMfyM35CsJfJW0FDOXsI_kaTcjCzkNeYPosFUIbSLG1mJydFhV3QnihjjKaaREYb34Ulfxf8tuz5jYHtgwvml2to_jaDLpJGnECujH2Cwhv2g7L2dsZ9ITUz_bQjcaJ06dAqeohgn_g6FwtwRxlH_NhXKDza4clmVA4PuSXq4K65utW89rlf_EKOTB2Cwxx0bt5Fqa1h53HqvyJ78f9Gn20dtZ1D6vbzvfTKaQG_ogMRSLV8A-fSmXFPmGC8yDQzXWwDR_QD7jteHb3Dfzwiy48tgcg1ATLG5S0_Q_j2OnP_zIAupOScQp7s0KCC9tNO0kHZRShMLrsmRbbHPe61RBYIr28=",
  "id": "rs_0270c36bcb04f20a016a7fb59350288199b9f5b798c834f830",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.89,\"left_j1\":2.15,\"left_j2\":1.68,\"left_j3\":-1.1},\"note\":\"The completed half-step brought the block to y≈145 while preserving x≈129, now visibly between the open jaws. I’ll apply the second coupled half-step to move its center near the jaw convergence point around y≈190.\"}",
  "call_id": "call_f6UmI4mBOM8IaP1uAoWar4Mw",
  "id": "fc_0270c36bcb04f20a016a7fb596af2481999406c04ff251c00a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f6UmI4mBOM8IaP1uAoWar4Mw",
  "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=-0.9222 left_j1=2.1277 left_j2=1.6253 left_j3=-1.0992 left_j4=0.0196 left_j5=-0.9413 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0547 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [1.7162, -10.7009, 7.159, 0.1685, -0.0708, 0.0562, -0.0122, -0.1709, 1.7436, 7.1043, 1.8828, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f4e7de2771c332c2449debddba562b18309f0e30b98700f9c8c3b736df2c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1845376188cbf1993d05f94a839ea7a9b859a893f1e6b88245a8f93c23b2fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:436de96039775fd2e962c1081938550875affed211b8db54d573ffb31b20bd54",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.939 left_j1=2.0899 left_j2=1.5578 left_j3=-1.0615 left_j4=0.0158 left_j5=-0.9356 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.054 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -10.7419, 7.2821, 0.2613, -0.0757, 0.0171, -0.0122, 0.0068, 1.9897, 6.9812, 1.9316, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7WekVrQuAsi1dj6ti1-uWR2MrYKCymXT73OL1NLqOgHjgvgqDwcZnVoeNo9YTe4Si-toh55d4Bwi7ge_Q1rbMZf2t_Ao8B6jtY-ak9N3aiIOiRZgRGzvsNyKFqXWJauyrd3C6ZRZskIXgouqarbWH7HrA7uTaIhDXV3HLdq4RerC-xaOWVhk6c3HvuidnODnen8DqUjeaaFhtWVG7zf6bLbXkND9C5Y8OMErJgFjoMPPTpbFyBiwe7Wl5SaFnZIWp4bXpz_dmROBAeY0gvNMMZJJdrV_FQyBcAa7Zog0GYC_rxTXjNbjHkN_38ZF16bs11WW-a1SmTfQqjRAdrR5vS9ulypsAAjQVj5eQOAgeGpcIuxzLyzwmFPmixEj0cwIrFZZpf9Vn1Rh5qnjp0JnBU-lGKAe6NjjW5MJb1CJj6lV64vxA8qCnvXpJYEK_tuKj0qC3Cto1qLdl_29W1nDfkX-V2ojoGpSR2sfo7zFlsOPIr3TD51SZZmaa3eSpuYxuO-MYFQnkGEVN1e9IZu-fL9wIXKZ13k9U_S9iGKT-0fENtMivlYT9fuWAYTovhXRDchankh-5E_g0kfkkoOdk0wyFzUeBCJcaiUL8GCrCLgEBjbHdY8aU0_vyehwZFCh_BMPwI7CnqeWFOyRx3J9IxTqYohdhvNDxT8i9v7hEq7PpkSJCAs7QFlPGT4-v5qjhdoZQoMbrF5pHLsM57aJR-WwJcgNubD1qp46WdBd5jJ6o8K9v66wr0XiEPt4WucSO29qdXSulzkKPl5E9t22a-QZQwPJCSHcywwjVVCFBKbtygDMzu2LHIZ3XdRVvY_Qzn_J37N3ilpYyw7MjmIOedX_8n6qs851TMYNE0jR2wnNRZWuKbqTn1Ay2gPlsFBgwc8yNyb3gIALEckYpUEl6eLAL1UnAMQR3uCp2zarOimf0Yagr4hxtCv71sfSvxWzhu9RVUos-alSPMfHjI2LLC2wz5mW8vYKl5z_xbrb992ojx5h5fUjMeULAk-f1eVd_qRktdDnGRRqyK2Sv4fKIM7U_xWYY-mgykrEltbCM9pGvcmNmv35FPrPk_QrP4dnru-52oSFCZP8UVSkCOIjs_JWIzqemhe_z--FG4_bUoQ6avTk3YEw9IZlp_mOcsetfUqLidYGR5vHel2-8_kztQLYL3_Z7-ds3cq50m2wz4q2rkcpPQjnRcSH56IMmTyJQuZwAeWXO4AoqMQ6cE5mqYplmTfa2nGh1VP0Puv2LFOBRQ2ngF-XVzwnlB4PIiF_0KC67sZUVku4CHH5tPsuPxTw7BzXa5xhN5a_zJk5CXIwP3aZEjBcUexn2HsTDezYgkYnN_kAq7gLfNZS2INeblgzm7vk1L2dQklrRoSjfJtlhVARc0_QXXJlg2GTV5aWM2CfnQoBdg3QCB1HhRXNLPoCepbHy8rAUp5J99C6FKagiJicFPdRmnZhOAZy17kk4xUmGzZey0nPFp48vq9IaMFAQ==",
  "id": "rs_0270c36bcb04f20a016a7fb59b30a081999b7e057b8cc6595e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.89,\"left_j1\":2.15,\"left_j2\":1.68,\"left_j3\":-1.1},\"note\":\"Only a small fraction of the second coupled move executed and the block remains centered at about y≈146. I’ll reissue the same target so it settles deeper between the jaws before closing.\"}",
  "call_id": "call_oLJimeJoTRCLMOr3QxOunqBX",
  "id": "fc_0270c36bcb04f20a016a7fb59d48a88199aab0a8be9a18e168",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oLJimeJoTRCLMOr3QxOunqBX",
  "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=-0.8886 left_j1=2.1529 left_j2=1.6608 left_j3=-1.0992 left_j4=0.0162 left_j5=-0.9428 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0582 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -11.5897, 7.2684, 0.2515, -0.0562, -0.0073, -0.0122, -0.1162, 1.853, 7.0222, 1.9414, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6212911c001208bc3395f483a9316c4452d0c5bdfe67a52c6a2f143d075162ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952d4f130721c49a0ab51d0a33297563b474f72ceda7e31addd94cdb5cb1f122",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4557d382d72817b93a4580a3f6ee8116350ba619ab2599eba8334408f73bdb76",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9222 left_j1=2.1277 left_j2=1.6253 left_j3=-1.0992 left_j4=0.0196 left_j5=-0.9413 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0547 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [1.7162, -10.7009, 7.159, 0.1685, -0.0708, 0.0562, -0.0122, -0.1709, 1.7436, 7.1043, 1.8828, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7WltBjTQ1GZ5ELitRCbJXLIUZmfdEd5zGCbH46nuc0xTAQlfWRJPlF-5Kd6MUWmXw2AzZvtgML8FAC1iCnRGvAElJ4AmLtyPqbnlXS8wPe1AGwrO_wwC4Xy5Lu2tIomgxzdhaZ2Eg-Inok75xNpXsBv2ZB_WH97xhQxTUyEqRwhNZUuW9_7sRNTITowLo1wZR97epdfl5S_R52vXlLo2vbe7H7OVqaE5Cb65dEZuSjRP_VnQPpV-Hk6oSVXpbeJd4Azt_nlPBU6JcYL7bAhdNrphaKSw9DZ0OpUdmobyWjHePms6ojhUfvZq57d9yLUxkooSA9KkvJS318ggQEHVG9vztyuS71bCjBgTcsmdSvt5Xh7B7WuMkZXdU6Np7pSjfW-jeBfZ4rIJwYZGatCuEGcuSv1EJQ8gkfYlKXIxXz1sIocYoMfjNK2_ODyyPTFofjmSGlGTCx1YpSJRGze_iorVynPw0nTsxSsw952f-2Q8qXB4IKzgDV9l42mpKXiW5Sk4jI6cRUBOJ9GhpmMwZaxUWT7mROaZOpDc_KgKCkb9TpRHmUTGKfLxvrwofu_ONocw-x8pSNySVSSEHhhv517sU_RccpdJ1lfIrb_FaSLYsBF0Ol9xeUnCu23PnHU-mkRoPdVmQxJ7BHJZ60TAfWptA06dApzVwZzZXWYrf5tV5OO-JzrOoqOl8DoveAmE4_nvDXVOWm6g2ZxEFYfJRquF0I2HxcecxuWYLksIm2MI0rdjE6SVdfJHjGZa3JQtjrrXR1j-4fYOkYJ3PLjatU1Hu4QkPJiPLaGEUjli5TLtq79ia4bsANYB3uL5VoBGMLCj64sMI2TCodGC4UTitrLh6tfnhCTNs78vB9DRhzCKkrXGPf5fDrAv2Lj2_-qqzPnqSbPdMMKcooowGkefJkw17iJOHYQzj1B4kSwc2Nr0Y7aulsxWZailcaBMyucZga5viH5SOXomef1hSAPv0nAs3NdNt2lge9l2OS7gE12jg-GE_-UJNsI1omRNgfFQ6gmpbXZQScu0UwM4iXkIFmBY10hsxUgvpK69NLz1-CSdMmfd1zkEzaUagHFwlmGJ7IJNPqkqp-OGc9tHiThxxMRYLFYILGu801_FOOjhVNplIL7LojmDrQh2cu7jWO4zC244Y5fW9OhrGJu1VAqHCAm5SDCzo90oAdqvxpJvwTiEGEuJDWJzDV_8sNcTB-nUjk5A2MoGqOyc2j4oiDDo3eyn3b5XFxwXStyi5i2gBKx-FABlnqDH-9VOlFSAZFD48hwQKdbdWAQ5uVUhFxDbsCQXJkFYUrWyUKWJ55qgqGsmBM9DikpV_AjXgHVEPvVo4ppe32RHAZ059GO3jTA11RqWUt6aho9woc3SFAFoGU-DnfqxzdMmUaYMFMh40QOzZpG_5X9LZs1liXwePFK0gqQ9eJTUGKf9HpGQRo2GFANFZEm74diitAsXMGRnvfCAT6Fu46OrqZvfhOd3ayXbv7TtokwZBzIQxcqtJXQqn6tqCMtHeUVG8oBgpnRJOUhqW2EDidFRPXs6NIlYEYutfB6PpeHZuMwZQS8XV7ZXFDYVh5TkogVV60SJRzRP6fur3o5JDjkvRk5o7YnAEnMgmpjEXvPZxZBX6-PsRdMXKAhRKi1WEHjNxSmewKWkx060n9x9HDR4NaAhFg8btYCdGcRtQ==",
  "id": "rs_0270c36bcb04f20a016a7fb5a10bfc81999150ac8a67b7ffe5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The blue block is now centered at x≈133, y≈189 directly between the two jaw tips at grasp height. I’ll close fully and verify a block-width residual before lifting.\"}",
  "call_id": "call_S31nJtb5a2H7h6v4Ll1gX9gQ",
  "id": "fc_0270c36bcb04f20a016a7fb5a3d9e4819999f4f5fe9ee658f3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S31nJtb5a2H7h6v4Ll1gX9gQ",
  "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=-0.8886 left_j1=2.1529 left_j2=1.6608 left_j3=-1.1 left_j4=0.0166 left_j5=-0.9474 left_gripper=0.61 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0586 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -11.0974, 5.8325, 0.1978, -0.0611, 0.022, 1.033, -0.0205, 1.6205, 6.9949, 1.8632, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fae74013fc46f63806453d26435b4928195a1a251ef0168cb3f3558d1321ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb0c38dd7ae7fef45ae6707cbb28a59a599533db87574955a6021f844dbbc42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7379fe912ef4a7e5b92daa14aa5c490dea6d8c057b10067b6fb0fb501f0a6a24",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8886 left_j1=2.1529 left_j2=1.6608 left_j3=-1.0992 left_j4=0.0162 left_j5=-0.9428 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0582 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -11.5897, 7.2684, 0.2515, -0.0562, -0.0073, -0.0122, -0.1162, 1.853, 7.0222, 1.9414, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7W1ntk5vE7oqMfbAkndM-7p_eGCmqPvzMGGsLAZO28r0BpUbrD1TkgoDh_TomiopL2EtTtVx7IUyxhDLzTrdCwkr4ly6W8iBppOxHNzTn9GbLaWtcoze8IS6ouHM7IIlo9OPfSgpxkS3sjjwspigOZ-eL3ZYOCQko1-wxRENERw1j_tAnWWFPGNk4Ulxe1Oo698dl-OfkdhAGLH5IK7E7p-wpHAxk9L6aSL26XELjwXmVaSSnkj0-Q9pst1aQIb5UHUxebgVuKYMYD49NaMUtw0ZcYDEIemzII0hEcNOLN2iINJ5T0DZtMm4_nsd8iCsi-QDYcy7KiU_zh6RPsBnIsDr6OQjuEoXcSLA2E8JEsYgaq8tvHanc3AOnK_cZLOMPmXA5-KZfSteX6p_ooquwyanbyVinCryYXi8z4Y4RG090fMrbZ0EOaSkZ892nTYltHxAwt9ZpEqO0-8Jke436O_bI2xBksaIHzlXpTIaGuGzCtxUCQJkx7d1oCD32NTSnWVMCaJw16nprY7MhLQtNrWXwCoauWUtLmwiPQ-HrLSflsqVCFjVRqTi8-IM8Sk9udMcxmydkPJ006IHCqvHykPhUHugnCPCTDiXlZJcicso77TDqipsAeO0K4XzHW4pC6IfXUViEZ-JUcjXBTPXJxGOd4WR2iEkel1kc6maBI_qo_o0tboVZo9I_d1ahDAlnW9GZ7kXGuyMPEUIZZPahEd-jZsoulqKyb1ft-EjB6XACIyODmjLj4QH1T0r1q8BG7VQrEMoUMJBKCIZhv9172qjFkvigc86FUr1FBO4F5c8mdqMfJASpMtywgozMggqtVb8SGfb1aEY3qIBimO1IXZgcRIMUlqDanB3d4hO37YEG6XSAVcuimwNFZZ40bJcuSdc7X8cjJrepScoArvlFCW_S5CIrO2s0LN3uTaGsoaXgkJgxkGpFIfGC4jMRaw96H_d15P7zXgyh-F7PTEdt1w7fjYOzCli0X_YQrQTrI8XX-7aWst6ncKfwMBR1USGDo6iXhhjysX5jMM_MrbPepZi9VBpoS0GjkPNnyOSnHfSqoxBTd0xG334xo_3aYWSvUAgvUZ_BpGAVUQ5f2FHVL-4vzVnIf35SkQ9huji4M8syfbc_ASA0TlfYwDcndqfFdL5FrS5v9wUmBkvClbsDaXedqXAKoHail3YJZsVfmlXmzQrUIIFefZyoxmqlH30I6u3Q_APRUKHmTEADjNmfYExpQ9oVoArK8vCMK3ujtJRvV_R1plsDYMcfjZbWoCB3x4YQy-iP947SHLLo7uCxv9wChPvEuTp9HNJkKGFG5tqJU61GnBoHEsx_AtQPYDo2uLfcqkxEElWwq9iTWxLa1wOM6LN33ZdgAVaFt830Mzfk2d80knFlc10TKsicaX1-8eIuXN7Le6lsOhQkEiH2a1A9ZoeWM4nyGysvzG8O12PW6x3jzCIcE56r5-cbd9jODm6uQDsm-uHwH_2HP1b7p0mHA-Ebdk0b8mMPIQutGaSxZLQ0G3K9OPVThoBh0vVzavHFRH9pVYgFIwS8ZqrKUBGnPA2cNDb_AcKhyswp0DYpA_JQxA9gxjO2ylreM0yYh-ciE7hgdarEbnZa_kbvV38NurGnOyh0r95_s72_QIdDp4Q8UifPJwgFs5BwojC4LWsw1DknZLn98_MHhYVx2_ljCSAaUZY3ixi0fbT0aVxgKJV4RFagOYro5n3U-V86jkYAa0pd4y1BFW3F4JlT_MqvztY--_aGJtsac-iMDNnX0ysD8p9J7_nn6ZNY0ipxFDTARMSTVBLDfwfYUnbMwMkbcgCG_0lPJ7g8_VjYQ-0NwRFX2-14khYtwz9btaZAZ-wn9z3lEEGpN9Jcy8mCx9wxSWUG0FqoDk2rQ0_Kp42bSEatlq7dGa-NyP2XsOiy7PixlyOwd-z65zypXCwtXGz_dRDOx-9jVOkmyYP97WbZGxkB9DUH2xUxatyS8he_5dc5l75Xd0o95QUEFjaKiilYgIdK1GhLSM6lyGaMJpQOiEhw333P3oOpTckNhFiR2OWEd7MdK_SKKkq_8EPDNvz9sVRDm4lRw-gHZDBwPImDI2pFUj312LJCpF-R__htn6HAc_v_lq8VJwVP20MisOTP5J4M0xm4p4I2w3evGGTXEXGvmllSwhwurMI-ilNR5zL3VSB7W4FbnV_VtzqgtYYbo2TAKD75Qd4YSJVjGwSXnuY65caXtImZIf0LYOHJyLfJdyQw7MRWvEDJRoOZ7iDQ0hq-1ub0fm4N9eV_KWOOMoQmr504LTvsPjK6AmeqZusWsVvXQDfceRocrzCSTEvphjxfTALoKoWf6oMmJnD7HZCf45by9_vl-L5cmzJnECcCRr95dN7GMgl5fZk3ZruxPVuJ3Uh5zpnPDie-jqDlUumlke1ySTszB15Ufrp9eIk-uxx0iQdQy2M1jtqDrzoGba4H7hvBrKEae8Qd5CHg0i6rkgEjg6IAosXTMSwjeCT8FGzXksXtvYgEFhdYo-OR6wQgxNhOf7Wo-CiCN427LAqM-HfxqZnXBZ6CDUXryG6jiwv7ynSugfDrdQZD08QMbqEHKquRgwMsJLgLFQcGTGFatbCeRf-f-vKqouzuM7TTs6jeBpbGz9RH0_c2BXS6cuqKKMAu816LQGnTCBJGQ_-ilI0lcM_P6bFlLHhS0gekMFEOd1FWz-aZca-5F-iG7YLofM4wNR-70GnVivYP3jsP3ZKwfNQFqOOqZSIhDy0CERN2ifM2NuCLa712p91_UVMCJTeocuncj1BuFkEHQpqBO684aoJRbKEZryQI5Z7mnAsiYoSeQkDI08TO4k4727HfSys7WudaDQM9shcBvFCwq_mvkkcoEPyX_fgkLSfFc-iqfFf3vmbzZEA6843CkdUxbaBhpzgBTibo6tuY6IdKKGNPhKdDfUJFmvtapLvG1QL3bvhXWTEIk9r7pTFG2sB_fLYnE9w8na0aK9j85ElF39X93w9YVNIVWGBy_oRVrV7HaS4DBVMCHEkkCrP6o48KahRiJxSdA5HHQs_kauAFqwpWkaLKboQbjhfmfB6y40AvuOEgQgp2MVHVz1qOwz5QtQmJmK2fzyanYCdGH90XP40FpbjHB5znuXd0W2L36InHSpmZJH0k7ywolZaTde-LLmDMDjLMLN1w7Wn36WMQ2pXzVLIvpNjURw4osgpp93Fe7wEcCRjWKPEJPqdEbgPieARcE8W5xtGUguoOd0NTyUgYbquaVYNMo27qXCniY5rcWhPRjem_Wlme3qcg==",
  "id": "rs_0270c36bcb04f20a016a7fb5a9c53081998b520063e9619056",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The close caught the cube across its diagonal at a 0.61 residual, much wider than the prior secure 0.45 side grasp and therefore less stable for stacking. I’ll reopen, rotate the wrist to align the jaws with the cube’s sides, and regrasp at the same centered location.\"}",
  "call_id": "call_fMKk1v3ymesY6NqJzci4B4ds",
  "id": "fc_0270c36bcb04f20a016a7fb5b3b68c81998e897f49b2637e2d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fMKk1v3ymesY6NqJzci4B4ds",
  "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=-0.8886 left_j1=2.1529 left_j2=1.6608 left_j3=-1.0996 left_j4=0.0166 left_j5=-0.9478 left_gripper=0.6086 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0582 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -11.3026, 5.5726, 0.2711, -0.022, -0.0708, 1.0232, -0.0342, 1.9077, 6.9949, 1.917, -0.0513, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b3edb4f5eed2448057e77fb8b0e300455859b5043b6c55c17f0803e4324cf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9aad646374fcfbed6de4027903ae41c521824d8f0512c095e29395c28f151d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898ebdbd3a0e22e44b297ef9983820095a930bb6a6d0aa85d7bc76dda940f9a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 159 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8886 left_j1=2.1529 left_j2=1.6608 left_j3=-1.1 left_j4=0.0166 left_j5=-0.9474 left_gripper=0.61 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0586 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -11.0974, 5.8325, 0.1978, -0.0611, 0.022, 1.033, -0.0205, 1.6205, 6.9949, 1.8632, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7XEbOCu2uBTIgxoaCc6neUOFdNXu58d5P6ki-yw6EwmYpSnSHDkISMjtnS8zkasZ2lFd6aRujM1HyjfAUQd8gu1s2B4p9LPZGTfIwrDleDmdCefV2WSyc8Vi_6VifOS1pcHjqMR5auudyawCyzyPbwFThzoI965cjG6VRFdnRLqcClcTv76oIfUjpDfZWQ8KfBLrkcU8pcvzL2_LxYeudcvOWt83onaufBjGdqbyAUangtAj6NVAFePJmruuymFGcPDC0CuMoLeSW1xNy_KVquCttlh4GFX5Y7IBnfW5QuZa7H49_1ogx7VF09G4NoE0kRLf99QbbQyEOrKgx2H6qhfsFQzjZtxvkTVJQlYeNMOVB5ih_swba92z8ljtawoyXs3qZAa9Q6gu3O5L9Gr0xtIDGkylw21TT5modC96Z84GvceRSjAFUfpEXujlhhXz2MYN93l_H5Q6R2r17UqNKKpcFfBiOebDJS_MVL-07NAJZgN13eBcpQBOi2aPl1aLO3jw6JbXhH3TNtFc0DcRBhmVaPv-nFEqUX--wfan6VhSc2U0jwFfr9Ik5Dde4Sdb0V9O2x5s0gXKjjEUyTNMhkP9pvbNtMplJk803pabONVINZ4wNipCuQpMkcIQZEBVjpA7WoH41I5SQALpRnen7NmwiF9Ae6YeQMWHkLdUkyU-26LxFIa1sdnmucOXXZ_XLfEjDJPTbCveQRwjAWQGN1A_9ih944PSB5uPe8KoYbLtybf26_-k4X1g9bBdN_kq0ykt241eK8fN_cK_wxnRRWMFsnEO7kyJK-twrl7iIHRuSLY-tHKyaAaxqOW9EhkCdW_uwy2DSmvMPMTFUXJhp4aiGeDnQtm8hsjMxhgpQ7kfgTY6087emC2cH82R75mQh6G2q6cGqYE_SDSrkWSBYNAIVNWmcaE9FQzbkSnBHdCQSLeDh3-Lq28J4HgilzbkziLLxyRFFp7x8qm2A17tNOJnsvtMXAlw8YaOfGNGz2ICvhXKE4s61P54Er2FKq69GvleBNeb9CD845_4D4lQrmVp5mXdpYWbkXFuldACk9KFqdwNOfRJNEUSn8PUJjtK4pGMhJBJ205taXQ_RhyIW7ih1TCLJQpSJ9ba3E_yLC1mUpvbRZfaC_4DJmeG1U5cQq47yP98fotCM3kSJtHfvaJZbnky3UnGr1Ksjj5uKh06QsCzXiV29202lpeoHWfOD0AyBMmapKrZ3vV9tQAbxPWTOg9-oxMzqdufyjgXkye1q2n4Wkk9s_9aJlva0SRU4gbRNbJULxQNvBuNlkWb0_h0PcXhDdQyvt_PN_FBVoKfxNZe_YLDtVqsJT5wjjEPppcM8rzvtf2TY-Pr9z41dAzDwg12NRAGCWQbE6nOlajUngqZFBBFggG4_yNqfD9C2u5kFLhirwaoF7eXEGydVy-cxKYjkyY2d0kJJ2gk4IuOOj_sfoN9HMGm-s_8PnuNEHu",
  "id": "rs_0270c36bcb04f20a016a7fb5c222188199a3aeff3bdb5e7705",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The first open command was fully delta-clamped and the gripper remained at 0.61, still holding the diagonal pinch. I’ll reissue the open target until the cube is released before rotating.\"}",
  "call_id": "call_qYqX4R51F1WbrQeAYmqmVLdr",
  "id": "fc_0270c36bcb04f20a016a7fb5c30a948199b142a7474e0d6821",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qYqX4R51F1WbrQeAYmqmVLdr",
  "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=-0.8883 left_j1=2.1529 left_j2=1.6608 left_j3=-1.0996 left_j4=0.0166 left_j5=-0.9504 left_gripper=0.795 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0586 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -11.2752, 5.6274, 0.2271, 0.0073, -0.0366, -0.1832, -0.2256, 1.6479, 6.9812, 1.9267, -0.0171, -0.0366, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e80855486ce5795281dfeb969b6d9eee101122610d470359b0a376b8c3d24fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a4440a7eaaec7fd9a8b6abb6c9767ab030fa1a98a7d2171d83dcc66c459baf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c795b19c0fba8f56a7c9752898aafaf92d93ddab72f405daff8c07f0623a165",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 163 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8886 left_j1=2.1529 left_j2=1.6608 left_j3=-1.0996 left_j4=0.0166 left_j5=-0.9478 left_gripper=0.6086 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0582 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -11.3026, 5.5726, 0.2711, -0.022, -0.0708, 1.0232, -0.0342, 1.9077, 6.9949, 1.917, -0.0513, -0.0757, -0.0171]\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": "gAAAAABqf7XIdoy6AumfBWZnlat5ey9qE65BoKWfI9nsPM6RCofZunX59HbKOhCi5AW4CpjcNbGEh-0w0D74kZ2dTzEdH-L2BRE58tE3SPg6V0ZgqbPxAo-c-c-ztjC41PzlIpRaL4sZ67qemT-c8SUSNQRewjhRBtLIftg_omG1awb7nQ0qJoJy3B9c3zXvmowDxq8tZ5XSUn9vdDvlbyET_J9Wec4c8J4YQ3gCbrQHl7GHM3tnh2WL95v-gpUsPnTQ9sREMtmx6y0sFLt2uwcUYnitBRpKnlFyq3zyZjSB87b3MazC-2_O_xvwmL74D-KbLzf7xPF7jovivHvAkpAX1iQ6IQxcK589M99GH1e2GIhRb9e8fVzSB3KdO9CAvjKK6UuPaMPy1ldh_BNTdNypl1wlN57YEQaD8Fi_hqXZMM-V1-mVI5Cc_mAjlItfYO95SqwHlhjl5Ma9D4D96r4ywtUo6MvWU7wGg66CMQvecN-xGVeFjKebyZNrbAAyUdw7Xw0InQS4ZQtPwAXL6ftaXb7Zaqk5OiyjuNgdG0PjOwwuPY67i_j2K6u4ezlpSU7JWSKtg0HXoGKU4XrVQh6jlgp_FUtHSwq8dXdbneVqjyHDay-RWSigLKFsqjU22Sv9sbGraPbuugtQfJzI8xKqD5ZuJNKylM7Z0wSMAQPnAMnBbtUP2drWnGKoJ0fuMuyO-qFTNGOYdzacWsrfzYZoce798p1B5ysLvbNWD6IEOSmWlus8c_0L2XHr5cWW164A99W4uWZPHomkbtoZQrdnmoGTEj_C_EjTRs0j9djIQ36nNjvpAIHID1UrVnb_567EyW3onWQ_aXqwMknHQ-JeELi1CDBz68BcOuyJLWukUTE7Zll95P3P5wKT5Ba6NFag331iBH8jpeFge4obLdUXVb4GMvumig60Rd7dRsHy4tV6z7Rbw0bFlPlCprvO8ic8jTTc0QNjE9eW2cwyJJkb_5zzP_7Jlxlw-UupT3YEYytnEpobufhuD98jJlJ-vCfXQAOjvAItvN-gfMOryNdhFBGEKC13uhCV_iR-be8DG7B9PXS_s5WxHgexzE347Jy9g49qnRGbrVXiWFh3kNZA2iz-FKfHSIsSdJAANJu98puHc6ZU4EASoNa0_ckjm2f47ak1xDBJvYjfR4XsMv7-zJ1ZMfY7mAClwlfUPCVU0CQPUE8p_iYmT8Vg84uiy-xkhTTYofOhPnFJvYyXdqOe8gUDyyazfhkMRnP4CnuAhkVjV6OPo-XE1CUxmZRZ_Yeywbe2eJeM",
  "id": "rs_0270c36bcb04f20a016a7fb5c666188199b2bc436446369275",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gripper has opened to 0.80 and the cube is released but still close to the fingertips. I’ll finish opening fully to create clearance for the wrist rotation.\"}",
  "call_id": "call_JKc6Bz6HbrDxTXFWqAP60Sku",
  "id": "fc_0270c36bcb04f20a016a7fb5c6eed081999736fa38ba3396b0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JKc6Bz6HbrDxTXFWqAP60Sku",
  "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=-0.8883 left_j1=2.1529 left_j2=1.6608 left_j3=-1.1 left_j4=0.0166 left_j5=-0.9512 left_gripper=0.9963 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0586 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -11.3026, 5.7641, 0.2027, -0.0024, -0.0415, -0.0317, -0.1846, 1.6205, 7.0222, 1.8632, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443b91d3ed24b0ba1ec38e4e4769369e1105d1ab59004a3caba1a0e499b88e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db15a7f3d63fb6bb8fe30678a93a539199e2fa993471a3b659c249d1310f206b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ea76a8f4d062e0246829ce72f4933362c6ed5ead4889d0c0d86daaa51a999a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 167 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.1529 left_j2=1.6608 left_j3=-1.0996 left_j4=0.0166 left_j5=-0.9504 left_gripper=0.795 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0586 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -11.2752, 5.6274, 0.2271, 0.0073, -0.0366, -0.1832, -0.2256, 1.6479, 6.9812, 1.9267, -0.0171, -0.0366, -0.0171]\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": "gAAAAABqf7XT20u6KcL3Ca5smkEBxL-jomX4dKsvgmDbKHHf87o-lJOw_m2DPuiYkG5oj62r-F27jf3OrUTp5v8zIlBGUnrYT7EQWitFlODoZRj0-N0F8oAgNBCwwXK38vp5BwPAIii2D_QiIckmBUSwJna16j_iW5qRoQPtM4DcDBcrP8m2E2Io0cGtFg8Ru0_f8zLPceXcOpZ1BuvgBwRK0fMg-MC9N7kOb7j1tuLwD54LXjzqu93jwA_3QuVVswbsnLdN1EJee73Em4wfYxAyBmQzhS4VN-LwMtXBzQm5ePuDrjZT2KUL_wCRxV_hwLPA7-2jv0TYuuQg3YCm5p3wDMRsDHdaTucDR4lBJzeEUqoVPYI9NlVPt0O9i_iB-nRTJj606BB5ST4Hts5dIvEFwlrPAaAlBgns8ZO2ESsfePPZ4G_p0uStFCC6h1Xmjw41VkZODKMBZBd35Owlo0sZMWJ_0umytleyKxmITeM7BktOC-FCPdWoytH55mxd-QLv4QR6U_hle7A9kOnhNqOXBOOx5IS3Lok8oqRE6STSZqYKSGXSCYDOVInCKfznLsjAea694ntN2idiiDWmeGsHluQTc-2bBvujeSOaPXGpJjNf7bguCA0g_bTEcqEBVktZYyaP-DpM-FOuiRTHOXrLhgzaWZR9xnRMew9MT5reKMrU0pD8DcyZHcpBe1XJoNHkF6RN9xN-3GQGoDuaDDismSYyFQnxYtY2ZEhrqP26hk7qo-fZb0JgLuI6Zn0iGTXcrdtkhGkGY7Wo9arBzMobSoOW0i8FSh9i-E4G34SP54l_GZ5tIqUYc0IRGp3uwY_LHAllFVphpxpoBcZBWOo0L1lVbOhGl7PVGLUZA-JEpeNun_NMSVcWRQH1tpX1ofRQbsRESgSLUHwwYuBaV47m-ASx06tnXHM8BtY4MxeFoeF9GLfjK3TUv-ZHp-3RSbpxfCuEplAuOERnwnCXCdvdW0ZIbSdemNzVrVdvTnhLtlmMerh90nUSxNfu0k8LwcYjO_BRX7cLXCjVqsDLAWqFnEu7ax9bjlGspoUTQo50ceu7UUcj6Zr3ueMkDFm6c8dyifJWgsQmQgDx993cFozlNjh6o5k4jlRSKC2t4yqOUKzvt5ehXbKF8S3UE089HSY8bMsoVj3dseiriydkNciM2rWIwjSNf0xt84jwe5cYVqGWKpYTRZ9yKXWc-fJVQ9PL3aZpW5ECeEuXxTg7MWrUorNRcc_DopHVf8y_qWt_QwZIjPi2def-uamMTxeHxv1KJ-FurtDH08s9S_czSlY3813faFJiKrOAauZq1ay3KjfV01SSDX61tjllH4N26QenZI7wswRCm_af_Vkf2a-F5_sSrXZJEwajXyTv9QcNJPDRQFFjvNDnKWhuq6gwvrAtpck1W1d-5mid-r9HG9ukNkglRKWothEOaCAuviy-X8sNBpscMRo6ek0qyFEibZKYyHWbXpg_4PrMdmqof2e5KU5A1fi7OU28t2R7nfKgZIh2SifKUZ15WvnO8qiHSji_3Z8RJFJyOFL2kOgRKyo439U0NHFxADccU78JptqLSsc6Amc9jfMyQvso79QeszJdTRpPI0E32cGm0Tggf7c7k7FjGKW-PzijIj92BOlrq6ufKBw4uu7dzLJHwL0jrrtvPmBy16WNv_BIyMo7ZW-dh4THv8fi7G0FDa2uc18dxlXIfTppxIHw9-BuNewWzy7WIwv1UHb4fnhP-2zPuY-QeM0BH7KTCqly9a9OHe6Wh6zNTZCvlbOpSBlgVtrQquT0tTDc_LxJtBK532ZF5YwDRNXTZWPse9kL2XIYzjNdKzdt3glMEtUW8M1lTj5vla-34gnUOp3Sk8kSnn03qtPUAjYKEf_pnUQH-FBI0kxyxTH9WFekZt-CuHIZVAcqXcQ2SGMD4i8rZswviQWxBDHYOCFkJRBAhRihZJBxZLK079QHh9Wor7-M-wdXv7DIEhuofBPv0pXC0Y-rN9wloCEJmdsukjtl9x2OJaPldMDHACHYL_iwcgcFe8YfLYM5hrXQL_2R5ez5tYZfyTWY2r_lEYHDHCuIs-46uUrnX-isRHfmJuDYj86DIHAUw1YWiM9VRsuAzu3Hq6U5eF2iOnDgyel3VEvxyp1nmQuMnrDdJEqOlADbdQhLKGKgIiOH_jedejiOUKW-JyFeFuhydnE6nyILfFEN9aDC02FerRu8eG-RvU5i-1C7bUy-luofTozcSZoSKzjE2sWRzsJGbkESZP4dEZBueeCxL8IPVoCd6KUW0-6To27RsF2479jysTdSQEtuU_LvBYOR0_IGkuaHwpVtbXVx3iugqt5yPgQPvGoUkyNGvEsMNRnbBLJ1LgAp5VLSH-VY-fj0A81WgWHqJ0UPx9do8JF6fJZfpmSneYMt_yXM3GKBKiHYqNlAZiRqK04UPpv-Kg71BXuFVU37ZBTljcympw==",
  "id": "rs_0270c36bcb04f20a016a7fb5cac6008199937cf4d28df234e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.07,\"left_j2\":1.73,\"left_j3\":-1.22},\"note\":\"The cube is released and remains centered between the open jaws. I’ll lift about 4 cm so the fingers can rotate safely above it without sweeping its corners.\"}",
  "call_id": "call_lb0mTeqFVIDrxBvqxTfNx5RC",
  "id": "fc_0270c36bcb04f20a016a7fb5d234908199a1647fddf114c581",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lb0mTeqFVIDrxBvqxTfNx5RC",
  "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=-0.8883 left_j1=2.1475 left_j2=1.6886 left_j3=-1.1519 left_j4=0.0162 left_j5=-0.9508 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0593 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -16.7726, 8.0342, 0.1587, -0.0415, -0.0317, 0.0659, -0.1299, 1.6205, 6.9812, 1.873, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff2581837de0984eb2dfee973333fba8435a166c36cb1994e54a5549506058f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf421e9243d19edf7bd70f4c997ca73de71457aec623a345f5854b6dcb00ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31cb1adaed37b588656ca55d2219bf39bd2436690e62d9425b4837341739354",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 171 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.1529 left_j2=1.6608 left_j3=-1.1 left_j4=0.0166 left_j5=-0.9512 left_gripper=0.9963 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0586 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -11.3026, 5.7641, 0.2027, -0.0024, -0.0415, -0.0317, -0.1846, 1.6205, 7.0222, 1.8632, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7XXCHTFJfI6sD2yEde02kk783gLm46X_OV0YbsWVPLUQN0MCmjrqGHBmoyrFnpkyvzUxsQtg_Lxb49E6ej1sEutFCfSQ1vBpLhFgMhK2r_i6dyHvC3q4vcOzMM1OjY49Y-fYP6Y8ZmXSFnNhBaVcHLbPA1vNpwzycG7voZAMNslbCgXjWIll81jsisu4QWM0bd7UPu53xK8VUSq8Xv6eSHeiB30qd6Ty8r4MRJ7xIwpgqnTGmU0FTARXL0WVj3yFUUm516rqJqSKw_bjUythnJzjPP2dEikw3zcIFjo8tB1hEVv2Gby2MpUpZP8T7eRQD_JT_WBGeLHICfQeS4IT8XozTJ2BzGTuyTeTiRIMieA_44fmwNGRZH8kQ2YU2vY9cDFIepIaAF158q2zIGf9W45-Kvv93aV8NOR12_1DlWrHtSV7rO90WFk1Dj7Mii0Z71GSSS3fejMFwoIbFkQm58FihaGzxx7fY_dzuxQtx1HDkQxOCSnO-cCh995Hlu_NFmIpoa-JUqfLu0GpU2ZHrbDy1DHXGI41LC65z0p6xifanc_HNjz5VLhHoj6ARL7-wPE60Ah0UT4Ew6mBv0Y-RPMfBxi4H0YIOOkdli4NVVx1VCiF7yBb0rGD00BeE3hEtkohOEYdn2PsC15eRnomwqLYbP9VDvwmcP12WTZLdKR1WUyRdQeX2ZinkH_zr58SoNo0Gg2yAHeBzUEAhhVh3g7J5CeyUtNJReXFxY-OtKs7cbBXdD0xucGWAELbVhktsuDJ6Ltp1y9Z7DCK-H1pm3sb4gsrosjVUyu63EieFgbEsXutvKSbnuqKJT1TL_i0GxdQDs0H3yX5YMZUDwwjFsfiIKkdK2UYaRDC5xf9AN9wsFuFZIQEDAaxIQYtaQDRCiyHxWpR1G3W_kmVP1D4hLTNJZKabjYn1MXxd3buaxdA3hWAgK9_ekEMjWBS4u_D1qrxQfizaoYpbJJpD4H-IvNBb0w7SLoQ6nosaJXR55anvBsO0kyHdkN3IMX4sGXxF16KwVBt4EZjf3EoVqpNiBbh2bbZUf_dIU9tRH2hfUpPVoSl5JVxysy3YgzFwmAp6wIAgSCNAOB-3MiPbDGlq8gXJjIdCSTxF3EASCsGI-WZfdIOhg5IMWs7NN2JPvevEFKXa7NwUhlInNCvzKyOAMM_0FUdgDysPfpPhX_g11HYthYDx-jjViiMPxaypPcr3Adp43dDHR8YMdaIz5msGSxx9bFb0iwJc4vfTv-fxuiR3zMR9Y_vL0uHi0AEznztkUOcJz6I9XPDtVhksEuImU1fZLeVzsVKs_TKRU1GHRMqD_XV4BdzwoID6vipxamYvcQ5vL0YdpngVCWEtLDlhd-9w==",
  "id": "rs_0270c36bcb04f20a016a7fb5d5b7dc8199a3d5fea99f50c5cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.07,\"left_j2\":1.73,\"left_j3\":-1.22},\"note\":\"The lift was only partially executed and the cube remains close to the jaw tips. I’ll complete the same lift target before rolling the wrist.\"}",
  "call_id": "call_lOyE40HMks8ziMmlQqdIQNv1",
  "id": "fc_0270c36bcb04f20a016a7fb5d66e248199829a15689be55377",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lOyE40HMks8ziMmlQqdIQNv1",
  "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=-0.8883 left_j1=2.101 left_j2=1.7111 left_j3=-1.2121 left_j4=0.0162 left_j5=-0.9508 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0647 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -13.4359, 7.1316, 0.1099, -0.0317, -0.022, -0.0073, -0.1846, 1.6205, 6.9812, 2.0049, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf2645fc2cf727df613c139b7bcfce917b05626007a1d34fa96852b81bc3311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa52f8077842aa4b7e499f918b9be9aa8195b9374b0e821007278fd38d051f59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4401cf9feec2990ff8a2b7d04247fad23f6e5f819ff6f46e44f66f89a39edf8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 175 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.1475 left_j2=1.6886 left_j3=-1.1519 left_j4=0.0162 left_j5=-0.9508 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0593 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -16.7726, 8.0342, 0.1587, -0.0415, -0.0317, 0.0659, -0.1299, 1.6205, 6.9812, 1.873, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Xbu9QBLN8wbV5ZnyVgUkGT2vWTzvqUh3_wvhBo2TDXN36yVfRDvkaCeF3MIoni1rieKKQCxBTtZFJiCjgsIaMwiv91RxxDsJYVS5vWd8p4ct1XyGFQdeMi1Wboo3GDfcuRc2kvziwWlceOowdOculUDcWf79GrCfEeiOysfr2gOtB9hZbFaHr7Vivml6b3Nd8LgT-caMvJhQOshZPYldzM5w4jFaHD8jlYPgwthtJPrAy8Kip8GuhtMOegBz_3ZOGKqFWoymC5HtfB9eP-UTkpKqv9dy46tkGyHL5TcW4wA1bPcIkxnuGXMJ0BVEGzBeEh3FOLeq3LdHohGLjhFUOvgw43EJ2dTvJl-SmDbqVWO0xk1Mo-VFUAj6OhR-GdFg2w5CkF7kuYgPQLlx5aEdEhGQs5fWLqhHbmCGRPvTRnA0WXy_Q-gfqHuQGla8I0x78Lyy7CD_o9pjPQd1vww_Qp5Tu42WRjKM2swdWoAOGeGh2eVzM4lGMzsj65UdVnZipGoAU94eyz8n2BCJhGoKFjPAVvttp-1XuipxUApONO18jCVw4XVNOed2Xjs9yHFfAG6vbMKAUZ1Jize15MeO_tebFtC3AUHZHBiD_wGj_5HjCP6DV6Hdw9jbYFauUoorFklfI6nElOtVDiyHpsJLUZ5v0_6VoJCqtpHakNWMleT1xjv0T5XsFGhiIURZYxkdKMlez7eRydbjDvD3ZchW2NcLgIJDILRY1LgzprEJHR4kc9cPqTuhXoaJW109Mwxw_-4sW82Tdz5EsV4dGmwgHBZZHK-XZk731nNUZZwMMe312Wzrj7QuSvt44mDYJ2MQ4GOhIf0O9ve7XjAnSKoArv49J8l19EnBYZ9McuJM_6HnzNb7WuJdaQphuOWrxz0VqW507qhI_dmxEUQ6fnv0whVY4isIVwlR1zTm78_G8UR6acCIaeedGeUyhkpV9OLY8IwkGcrMObByKVSizYY0xy-W1PCYTStBfgvBH91GI7JAPOiQiRLz6B9SRyTn5o_6lptez6KFpU5cjaAdlkXu4Y6JuXN0StdW0bxbcq8wLcH3ICiwJRNzSqtg69QnEWt8rg80wyn-kfEay4trK8YQN3Y2F-nH_P36ZaAZHC25P-twoM5X4b0luyMjbHuQyizGfOQLdRP9MAxIfUMJUASqnwENXJrFCMVHvrSf2rMpWOMhcLevNBGfJ7V8Q3a6ZJRWxkeH5uhzjfsy0UrlAfRvNCxsJirASikqPAGBFbeXssb3Y=",
  "id": "rs_0270c36bcb04f20a016a7fb5da2940819992e44d2397a8b7e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j5\":-0.17},\"note\":\"The jaws are now about 4 cm above the cube with ample rotational clearance. I’ll roll the wrist by roughly 45 degrees so the cube’s faces, rather than its diagonal corners, align with the closing direction.\"}",
  "call_id": "call_7PbvKDPGq17ZubTCWuAFyZPt",
  "id": "fc_0270c36bcb04f20a016a7fb5da938c8199ad140fc18fe99e87",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7PbvKDPGq17ZubTCWuAFyZPt",
  "output": "executing move_joints over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.101 left_j2=1.7107 left_j3=-1.2278 left_j4=0.017 left_j5=-0.2604 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -11.0017, 5.8872, 0.3199, -0.0073, 0.2418, -0.0122, -0.0342, 1.7436, 6.9812, 1.8584, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb74d7954492ad7912c9a1fa082cfbab9674e4c33c75b8485a1233541db3ca44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838de01d45f73d525399bbe5631b322e3fbbde982bee2e9b82480da0e5cad061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1e9999b619214e1f7f5f381b843a814c00edf3aee109162141a5d0fa97762a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 179 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.101 left_j2=1.7111 left_j3=-1.2121 left_j4=0.0162 left_j5=-0.9508 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0647 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -13.4359, 7.1316, 0.1099, -0.0317, -0.022, -0.0073, -0.1846, 1.6205, 6.9812, 2.0049, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Xi4vhuH2R9cR5ByhN8gwW_4Xsanm223TBJq4Sfz5oQbujGcS4rx-PjEP_Ycgb0YOmD1dWZdLCb3Pg2moxElo3EFBZ-WAVe-fItp6VzNDZHhuToZkSAazoEKx2p0Bs70adVDRSzqYUWlPi7ta_8p6Ark-P96XMGtbcumENnqUakOINzTWoq0_7XpC_7Uzz-hlKDOjgsP01RHWqZZ4-UkrIxKkUOa2qIRSBvORhlYaRazY7_I8BAEEIiThidpffwwkDoX_sznUw750uOSJY9P7s7_znEtmUhH1IBh6j8kpEHhcFCvHYDhO1ABOKKKk2aj8wJMExMv21wU7zkI2HYk-3_HgXwjkO5GU6BGOpqXAaw5hSfOhF1NAYab7ceKNQAMSVZ0TwrjMRZAjwCNt22VQT0_ViiZD8pEb27ZwPdY4XaywNXUxqRRAy5mqLem4XZ_RV2VLmq1cQKx1ELlrXreg_oVFC58jjac8JRb4d2asYj_Dujez28geL6kCTw_Zih19pikmdEy3v5RfrGKSZ08O4jZUM1Vn-NoLEpCfIlj8f3zZv-pFpG0KGPpr92Ec_SprrlAKmN1pq_VmVyW_C5s1xXqPRR1vPtfrMrtgIWeihriE43ybWKjFhfdehTlCJoLtum8Yci_I-8_tufOdbltxV-pyy3cuC7cXUfRjmZJuJlPHRWxiiRvf1kNAv6tmnCFjw0h1JHMbz99QUqxb-GQ3ajK0aw2huGRsLEK8f89Jur47aZ8J-RV7uNc9PAPH_YrHmFxaHKIFmBBdxeNCEIylAxphod5suYgIvNm92TQUE1Xskt8hbi3CBAyaNL369H-1g0UCEl1ENbW3pTc-GJmYEVfTBie-DCzswSzkKpJZcQGa6giCtJ_0AOPvB2Qu_TccPrmnFzAJGPW9uWmQNCyzuTfgINp-q8m-fWG8Z60NbF_d9Eb7aogrEqOYl5meFFHdN3DtqR_yG9qzEvvdGNz6MQuFrKfz3BO1MTb__MV2_9f5QDNS_tbbiudYTPmxzwHQgB1om0_Jt5cuy7miAQrk-kVrOKel8KOPoB1ajyQM4kX4gi6Mb-ktQAwNVj_xZtirsyt8oBPzcb7_qGv2Gc-JNPm5M432fKJVF7qg5RZE1g_jDE28U8My_gS7RzH__vHut8fGKSuZLwvoBGDmfEH1Sj2C61SBVL1q2m9_0FCeqdsQxlkAMd4etZ4h-BEOO6wcIxH5omBoULwFkPt0NTwdzJZv6--Dd-zIdrQT0KVGmzvJWqRRbWaKVlkemugIoqolj71rYG2tPU4UJGCQz-y_yVpIRdwet6piQCcvihml4caesSZtkWxSRqsrlNqKa9JdGm31awYLGjdBXxOaguvi-XRQlRIGDDwi_qv9yJSHzou9bZSUW1pB4aW8Qr4Uo0BkD9ZcmuPp1gHDJP_igiGBWnJPtGAivjaRhsE_kXCKgzIVcGlhCKKf_ZbfXaNZ8bm7EPX3LAgW3y7O3OlwIjs8K2jxcWua6X9Qt3G48EWyWKDbfG0h_iXxpoCWIqe8rHA8N0",
  "id": "rs_0270c36bcb04f20a016a7fb5def5dc819995b42e21480cc4a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.15,\"left_j2\":1.66,\"left_j3\":-1.1},\"note\":\"The wrist rotation made the cube’s face edges horizontal and vertical while keeping its center on x≈115, so the jaws are now aligned for a side grasp. I’ll descend back to the verified grasp height without changing horizontal position.\"}",
  "call_id": "call_r3KQfRClTIxOWgHT5CTDEzB5",
  "id": "fc_0270c36bcb04f20a016a7fb5e08624819990ee1cde17280dc1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r3KQfRClTIxOWgHT5CTDEzB5",
  "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=-0.8883 left_j1=2.1288 left_j2=1.6741 left_j3=-1.1625 left_j4=0.0162 left_j5=-0.244 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -10.0991, 5.2444, 0.3541, -0.0366, -0.1294, -0.0122, -0.0479, 1.6205, 6.9812, 1.8877, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd707a6ce6cc1af22c2c7ca0ee827fefe455488fdf64a11db6cf36466eff03b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e5dee3f31d237a407849c26b58d228511f412284e17b3d579abe0a50925f35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e9754d1cf554a55299418ee68941cd76665afb03b01cde3008f20ef84ef562",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 183 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.101 left_j2=1.7107 left_j3=-1.2278 left_j4=0.017 left_j5=-0.2604 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -11.0017, 5.8872, 0.3199, -0.0073, 0.2418, -0.0122, -0.0342, 1.7436, 6.9812, 1.8584, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7XlU3LEjfdlMBaTbD48qoDL4mWXOiiLuZroatV74vL0r4dhmT7SM1ZFkA7yIB6eG7Y1BhjnbndOxZtPNgH1q-q8SIWZ64K9vTB9eDRneArcLIDRQOWWpSq8UNJYwOL2IL8IBWrx0CABYiLZEcUGWnLv8Vtyh5brWj8MsDfGwCYY3Qve4nXN12oGJIOofcUARk4ap0dncOqsZdIhfVTN1MUyYO5hiU2GdAVEeKMMuiyX0P7b-0skuALsZRc67weZRxbn0EBoSnbgwrMQtz7uzpylzUFQ2ijQ3FN1MSv0bNTeUqOKiZmO-Y86HPuain4huCvFBND9TGR9HO6GLjpDc0QaCyaD5zzbdfdi5W2kEiaW4jP-fzjNeV2X3syHwMWsOO7DksyeTZgxX5yTICCE5blwdcz46CZ3LLon0l1XOgvQXkTBCLSAdIvUDUYfSwoDYJw0t-vaWyJXD4gwFbOJsFJIO1ZvFDoIFXGkEvQg8tcTt-chhhK91lFX2cinV5Gho0dzKzjV7uuSSt2CGbgPD2FAh9Zs8kJanbdqDV3mD1xA50iuom5CIaJPuUCyIIh681uxVsLgwIoDEtV6gDFMNnYGkxDgSSeqKLhKHyIYI_SqPUpfAbgUpja39OdfoNkuK1wiZGsbo8fwvYzTncIqnuI88CaEsmUvnMsBFf2j8kgQOAqf1yFLRTBhcV6xiANTZPGh-y7xYiAWZM_RuT4uPjX2dvklDbP9-GLW0tVSxU07FVZUdiN1jmLE3jwrY82IHTN4FPKii2WIO2XN0TnGPHKFr91EpXXcfen3svQAKLscwPq86iZnslreFm-04PvzpT8-0ykDKrW6sUapU-RgOkKjkxRhE1WcFe-6doqnxolrO_QoAGiN6hzj8mDwnf0ylESL-pGB6kQWrmdxJoRetprdOh81a891I90KpR6tylnjxRo8_4IAlrlkzV5xxQJB7Poqm3K0MKGGP4ujhLgSfFh2Pa8T87mJkyEnUFFU1IlQQSiPBiYVQ4TitQuF1Hlp6611rvEP9Fl6GITxz7TOaXUEJUYneyuIvIlVbeON36P9glbKHALgmrxDuiVzcffDJhIdLNr7NHZjoUJiUZuc3CyhNDPWmRuD2PNwQLSmUPK_dT6flO78DyaUFrBkcqfHB1AKjvEVh_jyFh73v7O38gZVeen9KvAdF_WG61HJZ2PHw0XNZQ6MUtcDV2il0kdsQZdQexhSRn-duypvptN71a09p-eFASBataOCWEGi2LYCTPi-7IbqWp0OhkTDwy9xUiKU",
  "id": "rs_0270c36bcb04f20a016a7fb5e3d2908199be96bc7a67abaa1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.15,\"left_j2\":1.66,\"left_j3\":-1.1},\"note\":\"The first descent step brought the aligned cube deeper between the jaws but stopped short of the verified low pose. I’ll settle to the same target once more before closing.\"}",
  "call_id": "call_Ie57QcdobLRJQ6cEM9GhHdDm",
  "id": "fc_0270c36bcb04f20a016a7fb5e41ca88199afd1858f0577aabb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ie57QcdobLRJQ6cEM9GhHdDm",
  "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=-0.8883 left_j1=2.1582 left_j2=1.6592 left_j3=-1.1202 left_j4=0.0162 left_j5=-0.2623 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -12.0274, 5.6, 0.3687, -0.0513, -0.0562, -0.0122, -0.1846, 1.9214, 6.9812, 1.8632, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b22336e7a1de5da89623d5da27cddc6511e4afe029adf9d5d7b7728f3cda6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7e8b5fcc571370c78779656fac8db10dca42b7fbfd2f69d0fdc312570ac960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c1131328a4d1ca38ff517d8850402f74bd10c82c2534c3a36a926f7d193de0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 187 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.1288 left_j2=1.6741 left_j3=-1.1625 left_j4=0.0162 left_j5=-0.244 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -10.0991, 5.2444, 0.3541, -0.0366, -0.1294, -0.0122, -0.0479, 1.6205, 6.9812, 1.8877, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7XoyoDl-hQTEOtN7NtQYn-jXchmkFEq0PVTZBg42s0vjRlYdRMPURB1YZKhcyK-VUQM_3ajhrvOdyBJkYRDElvR4HNSOUeV1tocHKC0gQ7ommoYUMM2npWUjl8V6rcy9bJpRmXVnO90ULuqmY3GDFnHFBn0erXGqsbKBDSppNaNZ4uBbd2_Y91kMGkoYg5UGKFuSPAHUpGGMfKtDxWzPKcwlbmq2--i1DhMSX3hNwegah4hAJAdgBMnqFkcbTwCZezwKjy7V2EUsX0bC-RDtUyS8sy2bs8DsgD82P3PIxMdMA5UzEhYx9CU3m_9kSAoaSv63u_-OGpIlxDlVF5JWGumj0_LDiue9ywzYpbja7ezRqD7rL2AXKY2JjONUgA0BLPP7zR-a73cDsZm9YakkHD_I4QlawUlP1g3udIiTiYVm8zxctkZgY_8hQcYBOcgqpd4RwsNY2GzlSvfY0957mRBXEnL6wbxW6gmsfyB4O4tIgTN-2XUTJj4LpM8322hqjj70HTPYzJuSGr3ppwqBGFqQkWq_jibHIyoegIAVo81UbS14qHYS1Fq2Xvx39Ui1d8V3dLgNtgDIC3b4rR4qmYZWCM-NvJVIx2kie2qGHhs7Wk9IqrsLZkpJguJNt4aG4ILxJFgk5T_RHRvgpiZfHzQ26TMnjXJZVK6n7MDtccoQuJmiCveWIMzDwWkvFSZfauslMSjJRgx8UV5ge1tMPefx-E8YqjMSYlXXUfynG1EQuhHfCj-5z8ixwImj226nDYrvpFS-zPT4AFZr_KTh3YE-95Jd9rwTeySCHsIfOfgfHkS1OrntFQACLfOHp3PxewmBvQaA2oGOVkpewtpnpyNEmbdcAbhchQljRC0mrRj7YsKQmaLZsCs2anHMc-cPn8AZHkEhyaSkaH3RTKam32K3SBugXeFg2nzTcj_HoUGe1aCfd09tGFsBvRui71h5UMVSFmHIyLynj47grU07vGnpfvO77Xw-Fbs8ZA176uGbiRTD-pYTvv-lWxGmqdcQfxpqfscRev8jtOELYSYuRCZFTwUmO98sCuYEWVgGr3aOqELO-k0dic4kjUEGsmvHwYvBjekqKBK7CeZ7mweqThsgsJLyGuKNVnNR2F3KCcmxlqfuetG3YkM8Yli5vWc-Wij3rDzR__zKVApTkzJ2jvRvgJF24NdDZxeJmBrFyYSE3TSABLRjN_BmYNIBznpcLtjh2Z4IUhiv6wmkR2r9_yTTg==",
  "id": "rs_0270c36bcb04f20a016a7fb5e6f8488199ae5311b4538d5560",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cube’s center is now at y≈184 with its flat sides parallel to the jaws, matching the successful side-grasp geometry. I’ll close fully and confirm the residual returns to about the cube’s 4–5 cm width.\"}",
  "call_id": "call_vchjAygMckbrZz8ATpIRvXDy",
  "id": "fc_0270c36bcb04f20a016a7fb5e73b1881998583ec0cc5fc81b6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vchjAygMckbrZz8ATpIRvXDy",
  "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=-0.8886 left_j1=2.1582 left_j2=1.6592 left_j3=-1.1221 left_j4=0.0162 left_j5=-0.2695 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -11.2342, 5.5316, 0.1636, -0.0269, 0.0171, 1.033, -0.1846, 1.6479, 6.9812, 1.917, -0.0122, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47643a00d5364fef98c0c0125dae2fcb877628f10fbbcbdd6aaf783c5d69d18d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2eb7116f7cbc22b4605de0d77b52be722db92e505320464cc6228cfbb8f4a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b659cbd9b3925548f436fc844013f9abb0a6a2fe58e972b0e918ce02f1101d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 191 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=2.1582 left_j2=1.6592 left_j3=-1.1202 left_j4=0.0162 left_j5=-0.2623 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -12.0274, 5.6, 0.3687, -0.0513, -0.0562, -0.0122, -0.1846, 1.9214, 6.9812, 1.8632, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7X2mrK61I1JKxoacC3WLqWli4pczORyPomgBZoyiFTV6YEtZP2pRhJPffwWljqr-qtbUmmMe1vozHUemoaPZZL3oekKJfUSV7bnwS0pfOPaBHTkUNpqeXLc_JiuzMO6gxbj7S58G_QQTlO0NZMWbLYTPrKRevRbKoPxM2VLvrAIrFx_4MCXudijLsjae7pFv-VvIFPl0gEzUhmNPeih5NTtMPFd_DaxqYIOnYKraRtzOElm4YaZ7Di6vUzFtjUnjqnkXfHVdHvCmznhsff87h1BLsuWGnDGcBcvoUTfXCM-aKS11B3xlgezSSfg_jhRCH8MDFEg2vDS1Vu1sQjjslAVkN_v3Sqgeppbsr3uUisQu6rrX8IMuEygyRDbiRPv0PVbjwuojIN_SnmZFAERWtgtjHpwn78ah4vudqKhoxL9_38FOOlfQfHxbuoh2s21C20GCQnPhODmQhnRRcqXW6pU39OFQvr0f0YchYrURB-0K2hSfmgCkImzpLX0kXTor1k2aYTrXC5hWQ-lgLhVGl5ERc2MGM7yxgFowuGZHC4gNoPAhhiKme0CRlR_FF9cChYHjSDCJ_SPZ_WCn6Dr3mYYj4-EfUljJDkcggZHbhLVei-Qnsax2fjzlZIZ2_Xar1CAB6GYVNglFEwFvk8ojPsiwhn5RUq-_NjoxM1m3yEiQvLOErVrtQF4nm-78g6ZpZ6k1_6Ezu2XAmtLe2SVfTcwMgRFoQ-EmVIGD9OqjS9V97-1piW0dx56-Etqa52oq80fvz6TqV-u0m_IzVYAotICXSs64SqnoH_hayHR7mzkWmcIWEb1370z15GPJb8_2qr-EQmePPE7xvWFLegk0ak83jEYTbYS6R3z_hqes38RzJulPExVLo7hpJYSaLgFjIOhhhZw6Mv0U-Rdr7tUYdWUAiz5FI_YcNw96h6mlKQ08M6icHuI88DCsf9mhxhYl6rXw6Nza21n8gMtTnPE4p03bIjZoZ6rb6Sd0QVaV4bSJIW9bxN1WF3B7ziEPFfFVU_YR3r-xCXZgFqJWU6cpb5RMj9MA64CM9kuEh0JDoDpHuLzKJl2Y_N2jGOOJWQT9nljiElJVvs0T44_jGFKM9XgI58txXUed_JUXpFwQta_LhUHyNIf7uY6bhtlxAC74sTqzordvAAkqm6VTGMi8z3aXl-Bas-jpVK54ThOdjHFgoIl2EpPYXZvs9-2wRCrO4BnETpU2dpnN9ZZaJOPLzGH5PRY6e_bd5Y6bGx2_0tlNjIuzSPWjIh7rjkqFjVWVQD90YJebAsaHmMwQuTaoUhQc1FJ7myF6BPSLSnz5xusrBT0hQm0w6eX8ex6xfXTTRqJUtgnAn7FyD4YGqLjoSH9YzLzziHvYoeiiTEQ-_TMbgPfpCmoHPFM3HcyNJTtJnGV4b17t90VE37bjmiewhKmb3r3PMoOKEUqjI3mSpTEnMv5tmB8VqkDgCZ48WdTZodt1HJIFFEglrdhO3YAJKE5ik7gOAPbLXw3gaS12QdBU0I07YxWGJJE2Am_PFTLKR8RbZf5pe6tf2obQigaXEyPTRqOe5oCK_LamhFTUvEXUn7z5j0Y1TzNMescJJs4JAN4vqU1ah3f-gaCGDKVISI-uR06tcB3kvpxb-Nsod8__5y_wnpk4zyTHmpirSNgNaOHZMMSl-Pg47_qulw_lBM8bHF-Xw3aSO91BjUMMDAHsQ2C5TaQNKpb_s20lMem5wiaBc44JqdPLfFdPjVEqmS1Wop7DVZ5vXLXO1TKYu2Wg6K9gLnyIbZ_Sm4W90ck8YoNJu5rCtp3cZbUdAMRp6b6t7V_1wJ3XBbe5Cjs-KUMWjFDK9LDbcq6H7QwBgkrBVgopLjPA6hxZ5Jexmf9ANz5oAb6jEwTIUflONomU-XiBg8Z71n82TDRf1V9QXXd6J82W8zAyTQ9zxHdLyFfTNLVGGI0tl2pvNpJVwYb5nJJeKof1rXQscy92cAW7OlBTnlswlHdcYJxNxrzpxwINMl2KgiF_nyp1ZMbAC4CC6Ar_I4u2jvtwCYffoZoKSo_kW6-U2Ch60Bk3OWhaA-sqztzb_VjYlogj7mdbQ9sm5E4ervo1Nb42WaM_jbqXj4IdNoFGzCsXyOBbhkT8xE-SQXdVtarusUD5Es8Od45ZFX7acuSOAhxrZjirJdDCQ49BvFC6RSYAWlLtFxfXj-mpHVcJaBkcT9NvdqQTLKRbB6w4NuwBzgQOZPUwCJ1YkOz6HxWPJUBzM1TqzBE74VdVXFz_5Uvm7T5a0pHZxhGocH-b7Pzvi22yuILdPaTn3-JjOEP8Ct0AU4QXoC8WhNvBRxex9-kFjU7hMitfW2afQxqYfv5ZvizZHrLwlzoq8TG08f8bffm5f7_efuZXd3eUb6-527kTjPXRijPKqI3_oVaEMi-LBM-LSAWbHdU5qrnGy3NAMMnXCJiylfOis1GYQBLUhs4y4I0jNJOuyddRN1F7eB3ixakFALWKK_tcP0e42-eu6RT_YdnqEYJCyeahiUkMAhA4AEqoIKvAgQN5VkNw5Ycx23-2orK9X4_fHEkcp2avY3HNaXicxD-bRhVUkuaPl3m4yxoX9zw5CEHaNN1WjMsb8OE8MZsZgaweta-0s5f0fEYTdyF7osThg9o9hyEdNEBbRxjIMIS8VmNzSe46q9uJibPc34tSpjoqpqsyfgCMl3SzJ7Y_aSWDLoq3strWGKUnOtIIc0jcRuM4U399Kz0T_sPtbu-MIEa6e15TnGDsOvM5foxxB4jNvkGXfNEOYZuFB5-21r6bJ81KuEKYgh8Sp8DeHpQeE8xjrQYjtW9M3XDh33qH-chijvW1ZwGrDsWh_7UeBsgt9E-uD7S5oVjk63uWidos9Tl-8IHkAFgeiFmxkJ7t-yc3OPzw6eEjkgfw9CqgPQxPxiVekm-_SJUwh4wE9SLIaq2X0S1jicZdkWAmh4NxnmKXKK3zLRm3oWkkoTsqKxTs7YSyLrOs_8=",
  "id": "rs_0270c36bcb04f20a016a7fb5ed5b288199ae7f749ed3536d30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.02,\"left_j2\":1.89,\"left_j3\":-1.44},\"note\":\"The regrasp stopped at 0.447 with high effort, matching the secure side grasp from the first pickup. I’ll lift the cube about 10 cm before rotating and transporting it to the red block.\"}",
  "call_id": "call_XnnCSBTZdKC4J32bnDuipfsO",
  "id": "fc_0270c36bcb04f20a016a7fb5f502308199b331f893449e3037",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XnnCSBTZdKC4J32bnDuipfsO",
  "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=-0.8886 left_j1=2.0804 left_j2=1.8503 left_j3=-1.3876 left_j4=0.0166 left_j5=-0.2779 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -14.0239, 8.0615, 0.1587, -0.0024, 0.022, 1.0183, -0.0342, 1.6205, 7.1726, 1.8681, -0.0171, -0.0855, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a6f172f1734c89785c5a4718898fd931b2d1e00cde233a07e8a82c3c6ec388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6feaa82c957034956feda8351596d124d0410702a2173106303a0f1c68e74ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a79c5717972b72a1b93adb8b664ee5159d0796e70d5b96dfb8b1491fb21bb7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 195 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8886 left_j1=2.1582 left_j2=1.6592 left_j3=-1.1221 left_j4=0.0162 left_j5=-0.2695 left_gripper=0.4467 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -11.2342, 5.5316, 0.1636, -0.0269, 0.0171, 1.033, -0.1846, 1.6479, 6.9812, 1.917, -0.0122, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7YA0qcQsX1V1NSOJDaEnQLbDJGZlIDAcTZGwsBXzke5Z9K5xRqTWFVQCto1X9XXKg5ZHOwz2pkczgqRZmhHHealCni6sDRh2aPXcVOrn_8B4IkymV7Yf9bRwdkzqorcf11rHXvomXx2kIN0oG6Yp03pGM4D-xjhOhk33X69q420zk2kgjNlinYwCFrqAeyaH4O5HKTH3yVb3bT9Pvmervz_5i4GjeUGpQMPkBgg1uRafPQH2z8VUPzZOVJYI-P5hy5wfghZSJGlNUZMwKXuO6rHrB9hREo7FoAJsdKk4Mxx5PfwdMUrAY2fpW6OrXBDJ5X6evTnoOo3NTH_5wAICl3WZ0Z71W8GW3SAC-24_5SFVItQl2jF6FWSEcFeDVHJ9DOhTIAQHMUoW7hMmW1ZzAC14dVXaWmw-RLa6g_s48LvsJSjJKVPNFQBPYuDB_Kym5wtAO-xgcNQNg1knq5ILQpE_l35t-YbeUaUeZHiQwD6W2eQq_p_9WRJKdkq-pyfeJIC2XEPzB2Y_w6WD9qqAgo1qg0WxITxWsgEtRJMyN0X-60IeHc36_ixKE8I1EsEV-xbV0XxaSsagqeAq52x9zOG3EJwC2WCeGAktfNUtb7NevGAsU-ecdOktfbJo7JSlBWS8C7vlV1P2yI4JoThWDTliwDdYVk-ld6YxYELpypgJzfLICZLXEuMUzTczeOBBMn2zhNP3g8_OCS9i1GNwIy5ZNMyJcorubb4PZ9tPYru2cL_bIaRkr4Gqy3ErDSSTHdBGRnYLGhd_iKggJHmlFRndcSb9jjPIdl7mOWKRa5s9ttBYsvW-AjP_KeUHfpfOIw41tkbtmH_-F5Vywvf-yozy-X22xOHDFE_4ff0Eb3t0wfTTf-FJp7rWTca2wttu43HOyKj0-aFVIX71ZPflugUmBhoPUBUseqjl0ZrZEagm2Sf2MpkYXthrxM-poZxZXdbpwV-nsFGZuwm5o4sBq50G9MDVen79Xo-bV8MOFVrTTjMWPKsIxio_8UpDvNCIwPNGAUd3EEWkeDhkIGG5Ocvhyw24WJ-bzTQ--3J0lrmPDpD82ob9NeOm8gaYnb_vlU4yqxDN8cMujxhUf4N5zBob_2f6t4wsDXho04ZqlJUwSKKEZkvafcxDIshWFhimZ0G4gqQiberuI6wvJ6lRY5cpUbHLnQIbXcFqA6atNMfm_enVNkqK-0NNoizyp1gmCJA75nXJ_zMZV8VpND0DWqVp86Nsw7M_jqrWgRwwXJIpt7mRtMSKWn4fvGpuUuB0h6sP-0lp2Sq6AupVPeumpPsrvGV0w-Cm7-92xVP2K1fselxM3J7YrIlKjnQkRB_3yvF2yrAm_t591JDh4qscO8cB9HWrNL0jZGL-B_TLKW5L7HBVBt1BTrDh031eqV4LKzf1iI4bv2Jmfi9I39yA472P3_6neBpX8ClDtobGrJKUwDyxzQYWQBsa8ApsS5VFkLt9uWdFC1o1JolHswtU7FpaqXsvoJbEGPCMnfE5XAjAETZDmhIqt1GiS-wQMVfU3N1Bsmo8kJICEMREFSk0xAH02Lzyu05-t0juULWoHlZK-BVIUUIalulElMR4oCuP0m2UThtXPSMsbAoVk02JurRWTCWKY-_T41URPRW6Av0oPdlCrZmSOqPwyvshfWigs9Abpdv5iuF9QaEi8NjnS7amCMKJEl9IgIVI94xnotCfWu3kYDcDwBITgPonN4NVbaUDqmZDKGWz3ysXBaFH8vQVka17Kg0LpRibN5aEOQSdKLj9vNQUymM0xWULlYFPfJWVYwtT8ziJwKvuCuArPrF1Yz6AZditSdiwzaqZ806DAzHIWcvhqckl_ZGT5IeOEUzOnQBdGkLXIDeDFr0zmtUFZuOqqAon8Y3mmcovyrKG_InuQNcq1QfEzdikGbpxY8EDIpKj6kao56N5i27L2JXIKJShxZOGm9NuM9VMMDzkTZ9fXp08XPSP0d1OEhOfrkzqLduXpDhLPjjFK0MP8EC32Galsm_pVS3xNIYH0tOqf4=",
  "id": "rs_0270c36bcb04f20a016a7fb5fba37081999f92f84d815f42c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j5\":0.51},\"note\":\"The cube is now about 10 cm above the table and remains secure. Since it was picked from a 45-degree diamond orientation, I’ll roll the held cube by 45 degrees so its faces align with the square red block for a stable stack.\"}",
  "call_id": "call_XhOMLesvhXkMzQCoQRSWnXca",
  "id": "fc_0270c36bcb04f20a016a7fb5ff2b148199b421c91676b0eef3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XhOMLesvhXkMzQCoQRSWnXca",
  "output": "executing move_joints over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8879 left_j1=2.0865 left_j2=1.8507 left_j3=-1.4109 left_j4=0.0162 left_j5=0.4168 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -11.3026, 5.7368, 0.3199, -0.0269, 0.232, 1.033, -0.0889, 1.6205, 6.9949, 1.8779, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e3e7d8bc9d62ad7a0f9433b68efe20761c2e8ebbbf40b473d8f89241369552",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e05d3e721cfaf923731f19fff7f6be3b53044ca68d02d4dc0423d831011b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2da266306c09d5529ea0f5b9d7664bf1fad1e81c407ca60ee0cadd6a5fc11de5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 199 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8886 left_j1=2.0804 left_j2=1.8503 left_j3=-1.3876 left_j4=0.0166 left_j5=-0.2779 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -14.0239, 8.0615, 0.1587, -0.0024, 0.022, 1.0183, -0.0342, 1.6205, 7.1726, 1.8681, -0.0171, -0.0855, -0.0171]\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": "gAAAAABqf7YSCa5aOOSJmh1EVv-i5Gmp98DlW9_7YTAMuGJBicGCnASLv2-vYD7XpfzjjtNXxlkuFV7AvR3Qb3oC7a7nKKFhT0v3ulrlTqpRaZ5bpU2i6BOKzfDN19eHpE8cypgmJc7EYmohIQnStF9obLyd_PkG15nRcVrGfbH8bZSkvhIlYZUtQAoNwZ_PeeOTKhBBdjxGQX8U8-2dEoR0H8ao9T5xthLwWQMtH5nr1MMW6pYNveLD7chUfz28Dv2cjNK79lra6Vx0cwKSjpdCLnpmAoZLMu8j21BSZ6FMR-Tuuexxg2RcZI1kzLhTUzigDltGfg9asiPp-ulB0qYBekowYwMSCsVB_k11RPI9MLCw9MY_MKu05GqTvpIEGu9hwlQ78nOCcO0kCl_NNJS4CuRI4T6qBEpRT2XURizrh_4qjeFulAcJDCLm2ZL1ze5iGlHTbD8EbFCqOlVEWVLeOmxEfYqdnYeqspG90axzbnWIhQpMxQNoglg7UZD38z6cH6tn84yI9JeTs2_tvJn4dbLEenntuvSVn5DjNQw3Xkv_fjBfxHwRahHWRek9mi3Cengxx4c7lOJvzBqlgmP6SXW1leEO1Kfb0eMNyc5O-8W54RmODXm00wqi9Y0gOItzCAfJXNJ8_rn_t2YcOfMkXJ4wIXgLcQZDmClTuIkQDbNI9m2G1ZlO-Wm0ol7HTTmOaVDGCFWfnom6e6SVMSqlgNKXSjhTtlBDW3R9OIgxOYkyrBV05-dmVqLxZAXOXgMiWPXpvM4NcBSlqokk-PrLVfghcCa7CE8FZGftufMF9pUg3MBmp-xnOkoAT1gKz8Ez5uJ3MP4m-q-Hg7T-p7BgTMcW1r2afnC2qnrX5Kjk4QrNoyGFeHVObMNDv5hmb-g0IZhfq_ahrBpGDzscrvKgCFxE9mXKBqfsX5IMnHcEqyYa2oBDwUD6BCrC8nyx-PvmDGRt2e4mEFoBtiHn4EuoNlASUf7ee1pDI3RKqQSfG7T6D_AHEYW2uiQvbrWS3AkXaMhyrBhjt4xMhiT4uD1QpvuXB9MlzMzkfUzyYSwqG9KxZ2yCjSvygVptYsurfCXz1UJkou2ZrUSeyy_GhTEMpChg4wTxe5GoqPq52IVQ5KYfxgcO97dz6UED9vq5rQahDj8gvrLLEiv-jsSjukIstNGZvdYxJTQ7-2O8ER5lhOKOuoP8TFHu2OjptI1zA1kQEiippGrYLiYC12T2mbfVW3H10uhRyTeGW3Cky9GTHlck4rzCY540gdt9aCioBa2rL1M6GYCx9DuKgEHfzjQWFD1jm-ZmPk7cT_w-LllTOwORwmUlcsDEiGKhH53HDlMsZjF48--6vkzTFa7QxjPRmuGkj5xXWKuawrG1lTtvlCV8M04oV7A3vNX1xRq3fNAO_JKw20jhik46PvjlC4GEiYoUa_TjDsrC0qk_eSslarcrM6YCnO6zwUD14aAXUcGEWFs8N4nlvAKJHnyQML7cYHh3djxrQtnJeyMieFfKQhJlUDoyGAlW-ko89vKmu5Fqwt9S0YVemaYFHykrIh7Kjcn0zQkljdxPelYXQZmxyu7960GtBXNzVtzAlgjLJsDZCCDgyD58a7w60Uisx4FDipaa0XnAq-DYfJlYS8PL9DB_Rf0iYjnF8S6Ewvg7MnCxevSrvv8pmTtI3-rhFr7VAnD8bhbwPIePKsL-5HXWUgViVYgLhTdaSrrVC2KFt_3atmN3j6Q4vTj48fDMJu-dtaZb-HIc_XyPSS3sMIgUfqpGsjPFNvLm6LcCtdIlJfw5hJLiMYUJtmPlSOrLDXO_zZ05lt4RXzll9ydtol6byAtomUsUZHB0hN3fC3KpHSVtj-BcYMzCErksDVbsQb8f9BeYIDvxnWVZoCIs_Cy5969rIyezPnMU2INU8b3vgRI2IsJA8yRkzbIPsgj1zVHUO0Eg0D5xFNyqoWhQqUaVvdP-dyWu3GZphKIfU0KlgMdjvQQan5qxcrw9BBOQRsZ_ZpYsQ-CZHWatXgbMDfSM-S7HCi7AWc_CT2O-w85hSCCir4s3NAtUKI6JymXmts9P1uaRH7ttatCgG6LbEDHFswhcuOgbLe2NUvQsod4ZJJ3LFydLfNV4Wip1azxjIM5sYto27mIbBy1fNWTf76iRV8P0dufXL7GNmtpSkTIeEtPMW26GxpsH1n8o4GA0b6M12k8-Z9JxcFeuD0wxmNyQfx7F0uzX-nYAoi5LfiEU3Y4ACQlbNLy5jcjq_f1YFdFcCjyqKwIDnSGTkD6wv3NX8-pMDPPl7HdbIR2tirUxwsBkXmNGb5nZrZa9FeL71OMSy0pomBBqA7bI6hDdwswwfyR8tUIIFfljg0E3bxkxNt2HWjL9HbJYjq44e2IBWeSIdjAbEXfN4cy1RF7f1I7uarw_-5F2k3xx25q89bieJQTkykGfY5mijylWFeGr7hffRuoeFKYncyqWBqCmAdvd4eR2yZzTWcxDqRy0QVIMWunf5kT8H655-3ohuqJOiScaM2C1AYpMYcuHVsl7doTLV6eRjbrHS3LlHht0B7Q9OYBt-FgbcCUA7ppjo220BINzhzdJ9-tdRBDHqABC6rGDU6344G4pmF-I4_WbGi-SQN3E4aUHgbVuIzAy7T1hY785_d_AYn8GuIMIjUd_QiUPpAAaw-Z63rWbWV4QxsSuzOppmLVrHSsTvuCqP5Pvx04lBERJ4wsQvjvi_3aHx0D2IutLzBIwQFwi21WTTLaL8TZ0Q5Qc9IkJ1lCoAROTNLtdam3U0MW1myaAGt707_X2fT0NGMqx8rfxDMyjuQyrSlKLkduabxqG9mTwnPOFe3MhAtl6v9Yv-Cfo-6Cm1ftgtZVc-a8u1DcUA5x8z5W64KA2BCrvjkyqbjF1iGnLKVD9Ec_PubLPnCaOrNtvPNfADknvBfEngA7MEZJeBfhC9zNV70ICwcwrdyXeIh34HX7-rqhszKt6ajO8fXFAmaw2iqi8iY9k9UEryRVD08PIkQiJi3kLPqLffPkwxT8Hxi1TSxwjnp03v7xyWKCV0Ysp5qLLf9L-izANekrQ2y9iMi3HUDm7iKwE",
  "id": "rs_0270c36bcb04f20a016a7fb605f3748199973a990130eb1ba9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.96,\"left_j1\":2.34,\"left_j2\":2.37,\"left_j3\":-1.6,\"left_j5\":0.35},\"note\":\"The red block’s center is about 7 cm farther forward and 8 cm to the right of the lifted cube. I’ll translate to the previously calibrated high pose above the red block, compensating wrist roll for the small yaw change so the cube stays square.\"}",
  "call_id": "call_RSYgL7hpNXU4HLf7jRPDGByG",
  "id": "fc_0270c36bcb04f20a016a7fb6105d948199a68368e8e6500c5f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RSYgL7hpNXU4HLf7jRPDGByG",
  "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=-0.9504 left_j1=2.3337 left_j2=2.3257 left_j3=-1.5944 left_j4=0.0158 left_j5=0.3504 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -12.1778, 7.7607, 0.1929, -0.0366, 0.105, 1.0281, -0.0889, 1.6205, 7.1726, 1.8632, -0.0659, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6bed89bfd2b230ecc3d0557d60a92314544b78ef3edd6b6fd9205c494a94e08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c8cb416d95990f24370798a160d8013aae8a9047e169a5af247a268ec5665e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b467e03d23dc37303923e11c2e331c67225406929cca7d094da003b9d5af7b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 203 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8879 left_j1=2.0865 left_j2=1.8507 left_j3=-1.4109 left_j4=0.0162 left_j5=0.4168 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -11.3026, 5.7368, 0.3199, -0.0269, 0.232, 1.033, -0.0889, 1.6205, 6.9949, 1.8779, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Yij8iWRJLgvWipETmT6PSgISDR15QYX98F7_q6S57c1XkrqkejdzXLGBu4VWfHpA77G3kejRa6QYggWIlSQzfs3xOdlF6O9FTyTviQjL35TTYMzdoi9pPKjs63XGnM4zxvcToFs_e9maD5m-ShxSH-rICcU7uGPK7pTvzKTmnb4gCXxPZMuupCEHoOt8uG_LN6frbqeL28I9M8I5ZQq--s1HUPDR2wWsF8QIhv8mRLUYs7C112iL8l1awfJzbN900wm-AdXblQHhY_qpxLs8LlOkmA4tg7yzvIENQoqB-6nEj1wzmbsG91IuJzWTiFeOzLZHhuCxg64eF_2WBFspK21Z0egOzx-It0P11OLDfhIrjR0teDpooWTXG-VuPTOvM3VA9bS3FPaz1JvPIwd8C7SMqBUyOUNtFGrjfcILjma0R5UbAtlq-1SpNnMGVDuZjv4YDFEki76sofFDRWJgSY8bTm8rhaSRWSalCZOLCnjFxyWzQmVw_5ZrsnpfsqhKZFRaPGZlRXOiMOIIN4pZ6Fi1N8rsWgNuCl9snUHQpbdCLh8jH8NX0qtWzcx-cjRoER78MZUG7fWQoASxt1Ml8TLbLdGC97njpQXbXmplA9Aa4LM96G9gRnPR0KedLgrF5WuE-EEHy5PWpctMS2M6_ioLXUDCGLPDXOp6mMlUCdhiI6kEcKZY8TTPxp8-3OW6hob0Q4zQD7GHIdsV6Vsj5CafTQC_ZAXkCrXEtsfu-x-Pt9qjM4uQre5S3EuU9p8qo5TTi03Jng3hn9m-5olqOGlsGeSnMRQ3YTrqNRBMEbPzsZtW0Ci_DkAKlx9RxQ_5VV63b-0J__67BazNBh17ZJAlNsnjj1KcUzdN7-9HD-imFkgLb2qMSDgy9akV-B0AnZ_fm4GvM3HdR-bbRnWBI5AP_n2qHqsFyk9xTUxtHXfxE0EGs8k2kK9nN-KTeJrwS92d0l2zLhgoYre0GPcOURLZ1rsNu9Sx-gP_buDzr56W5Ragv7gF5CwJ8OX5UK7mprb8ez1Et8JKXgitY98NcM-znnQkSV1OwpQ_wzxw_L3nztqWH4xPyf1gw00lWJd1pw5ELn5JGLbG0KVjc3gImOPR5oq6e97nE8zlOzDDyRfQUM5R08AGQSobRsYC7PZqrrnyaxeFWXijunH4NJISm_ir5Xt8A9PJa_kYRupQRkgT0LtApviInZ8d3bmuNUoVVUOfn4iN1S8tq_lwNw9uHcd5eM8-HkOXeqY66AiUtcR7TFnV48W2NRHJEP8u3549CVxDx75Wcv-sEQDmWedrZmICStyh9LJSDBp07DfG3A1RSUfG3pwlFhwn6WlvJf-A20IXCzi5SOJmVAWya2WPHJTcl48g-vwijIVUxyXA8lvLvu7y2ZZ28YyHPzkxp9umYrWSsWuhRF_80o1i812-h9gM9lbd3_EHxEBFytFskHWWifKOzAbPY34z0MoUKndeSLVIGWjGFv3eCiwGoJ0E6_UcJjWM4p2z-OYtuDqFoYz8S-mCmD6meEfzcI_CBJOVUdJSkvswGm_RNx7AKLtfshWkS4w980fSNoww3XBRquIoXOZPEAVmaDvTWeoG-zs9R4pQHBDlXw9kc3_-FANypN3Mf9AKurS_VGmFZtGfRHOg7kZsPWTR6IirhiqgoshyeGgzBplI7QLR_FQIt52E9oJqE2kluuJEeu-o74XWpsv_aPJXE40EjBrO3YLuTx4gB0SazVNIPnR6ZMvYFj_d96x6sZnPgEG_LbbW1RIvFx-evzlq5a0rZm6S2oj7gjKI9_uknxUOEJLOEFpWJt8n1NSkBXrqjYEM5U86TZKDdVvxw4xh5KBHwPPE_AlIElLG7EtCumCExLk452IcGpkSZLMh8jfZVxWSHYfbjtti4v-OEmd5E4Lf5BlUlkoSkNEusA82Bns8cOHgCbpDFj14EVc2w5gk7GFiUs_TVlyW3iJvgcgU-rUJISaiz4b98BGvsV9GelWEUk-D5L7NDv1NjGfMVCBWKS9_JYTp2vBKgfhufmSLk9swfriEd4ay91XBu-yKRn2WIYzhrGuJF8Ac8Yu3J98TegJo1godq7gcXMtMO6__KB0sf5Y7-Vyo9O1d_iVX3bNdkZsgyZsHvswuHQB1acEh6T1KFgnYsb32m8kfL_6vv19enITiS2GUL4SzBvkRU6joW0BzfRhs89Tp1F6rSxS-zlKhRZKRumGNp2flAG8CVpitC-M2JczhLkd49O5XlsHsD2OBXEwRCI0Uy5qqVfPxXazAZMGBAPhBi2xsHnWN5nJVBWbbO62ZM2STGLdHHOhvaZqc5fawZ9KToYf5JsM2kG9gVHh2HXLoOcH8z2lIyG4C_R2q0S-s3dc63Kbzijn1XqaFoWTdfhECoZI8ur8SQ1ESYbfbuHoESJX0-bToj4tAzdNJNXHmdOgSPrpeKQW80-JSsywIVOzG2WwGTYlCW5u77T1c2K9GOyuWtw0G2lCLrRpJpqyN0fhn3vZu1gRzyg-Ym5AhZx9RHUQQwFU7ymdUarIL7W8Fpy7wH70GPMqVRl9xYxXcJ7Lq-oXH_AIEDzvWK8A5HuaQ0zy1iYtShymfm1kC7gL91enz-ssxzliT9n5ylNrzNIq9J5oLzV8alhdgyPFCt63L51mXeM7uf9JDuX1YYm0wlc1b3WpLTpfflf1YTHjonVeWLjM1pjYlIlS8HaDeOlhjefCQDQJZ8PiBelZLz0hSeCejlkej08roqhg3BxayT8-clsEMZlsiK1f86Y9ElWMPmZePEzeEsAXLg7jd7kYK4M9U-1Zck154BPA7VarM_bvEx-G2x361uxo2cPpPowvYdsiaAZq_EQgZpIfd9rjk_TFJbyOTaUNaGBb0x8FEH65z8OYzQUkHcP9KzNQcNOcqb_CcXFMQWygkIJs1uEDC_vy5tKfgnQmcDyUUHx7brZu0RJWBOxUtyXCHF5a_RNRmuJ4Ey5QdyrKmOgikYwQB78WXDpmrriwMp1uEBXpJUBXDkoo26I--G4Kpz_tifDXRwG0cvh78xwPuS5XvxDhmQIW77bnWmJSpxqwau2yHJbjGb4siuOvsRnTqTgRm0NV4wTqNJo62zZbkUcoNhmQ7PzCw5prwKF8_tejX-u-HNwOpM2zKxz-nEctw--X50iZWGytZVA6b--UJjt9RXcmsJuujcG4pzOyYL0ztrGPDcKl-6c8Rtk9pAmR9EfujxGRbHuhdr76zi2SR9Gpd87Aha7CeYJaEQVzaHiQwG5fSLbqxBu8UaxqeYgMmwir4k9FkaUK5llxZRKT5_RKkFpS3qeK2Boeo2UNRhQp_7d8vi9aWs-ZC8m763vkdkXI90gK16sq_gBXFL0ohIZTCnH4UjwQmE=",
  "id": "rs_0270c36bcb04f20a016a7fb6167cc48199a16c5ab6621e88d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.33,\"left_j2\":2.19,\"left_j3\":-1.43},\"note\":\"The overhead view places the carried cube directly above the red block, while the wrist view shows the red top upper-left due to the height and camera roll. I’ll descend about 3 cm at fixed x–y and measure how the target converges toward the held cube before the final contact.\"}",
  "call_id": "call_BtevM7hkFSK2lqo2c8VWCa6T",
  "id": "fc_0270c36bcb04f20a016a7fb620ad708199b767895fd003342a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BtevM7hkFSK2lqo2c8VWCa6T",
  "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=-0.9531 left_j1=2.3379 left_j2=2.2051 left_j3=-1.5063 left_j4=0.0154 left_j5=0.3435 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -13.3949, 6.3385, 0.398, -0.0415, 0.0513, 1.0281, -0.0615, 1.6205, 6.9812, 1.9023, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9242b20508a25750559d91dd31dd2ea29b8c8da10c6faad454378afc96399c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3199d16754973f3addb705b05c3759dd7667d8fa9e0bfaf1b00561eda8258491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cc33229c19f2ee6dab2d0694291164e66ffa371e12c321ea5fb97ffbf99c2e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 207 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9504 left_j1=2.3337 left_j2=2.3257 left_j3=-1.5944 left_j4=0.0158 left_j5=0.3504 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -12.1778, 7.7607, 0.1929, -0.0366, 0.105, 1.0281, -0.0889, 1.6205, 7.1726, 1.8632, -0.0659, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Y4WsBDus0ZcnA5qhxn5p1egp0LAiY6xDvOuKBriyoQ25gFW-dAz7Nm13XF1IBXYKXq-9DZqkIsmZj3cx0kAQS4bX3hX01jbiTn4_c8Y0-ChOtKvMUO3XQsH45JM2c5buskfGu9jzJMZGwmnuHW7l3M47sY6E7d8SxP8u4kY7po5iN_RSnXq9SKSlBtN4p2zzWlabYNP1ssfe2HTnFoaZ7Vz_wOTTbRwbWz2NQjvJWE2w_yauUh3nqdWeHhTGy2-oQnyfzl0N_w48WKadCowMdH30L8MM-o1TykyvUjTUpH7zQuscmUUeo-iOdHnB07nu87vW5JNHEG8XuVWTemj2v442BSQb4X9mfsUlvhSI2CncdNqGllTCLsawwzDFmBDTziv4SblWnmZwqVYCKgOHTDn7tkINoEaDXeyfd1tAIeQqnaHtyORWCg8URHg6Qkgq5J2Pq-RV2a1xewg2dEl8oXUOIV1M3Uu45vlmnJ-yDHiqRwRGlpAFnuGgE_bDxKDHdBpqloWlurZ59dGc9MYfUbwTEjrWYitzoZp79f8J9-u4xPa0iqkuBjtGmiuWBGPM9tU2KgedyQn-ywVfnRp1XhW_1QCkJ6XgF-agotagKolQGSogOAb37nVPmfzQ7EYTv1wfsjk_9Pdgf__3GCBeXd_NAej-PCvXeQl3GpxNbdvCqUzNGUi9LJXIbEAQ2X7AAK6zdlMOymLv6_rzWaAvDoGNDz7rx7BSq_OetKniobVOqaxcTzJHPk8LrFqPBv9ZBdZi8T6SE2BBjP1pBsfKfdhKv_8rHvIbPpaJ83NwnfkngC_Jj_Bg4Vx9Toe9tDLYrg06tpK3_JPG1LcUfAaFfe9WgxY5_ZZcIoap1alWarwEWNtzSZ_B6hzTEjAjZAR7E6Kh2_-bX_3KwHvtLWhxDThXEPHTXHpbusrVxAyZ3y4QzLYICRMoFK9xv4lqASRiYPIEvL2O6WK-zZDHc875THmZtRk3-5ootjpkawjgNpH8XrWcJGgVt2pAfnaneABL1EpbWFhDn0M5uUD5nyaLxcBoha87uN5ebixfL5qsJOUHSSy3EnGkH_dWtnxVK3x69HQG_lJ59KGMvwdMoCT1iR84wAU3acz0ifeUO70UK8C9zm0KpiUPHIYBNjV8NaXLe0EccvGWzwfD_a0TRkqd2V9dqL-apF4d9kYbN0e7ATrVNlH8ShIzfdpwlouGQ6tQZYzIOh7NHiEakIPQxkRYZ-0rD3v32JzJgctGVJ0gKFjdOUCP4ROr_I5PzXRmvMnuESAkabATKlmg5TxFqpYo_F7x7w0NAai0Qp3pqAJYWiRKIBUTdBKRLzx_rIA6jINgKnpNCi52esh5yzkcsYySsymVrHahUTOJM3IOCfQANtdcfh4stNWKsFUg639JRnJamxJnDgBAhwTsXWcsZiMu1vzNqEC-3RIGIhY4V3FZSGYiPvzGWuGtqjluJ8UlccmpDe2YywohTs34z_eQDEopc3gn2lDhkMqqquieYZ70qwNw99ix7GmD_2FgxhqPK38uIV9WxPaaZp8F7bvw0-Pj0LVOQvcy3VQcEUOsamZJExTxfvYzA6pLOFFl0D7qXkUZaBtLHak1BMlztGc3LYDepsAPm3Ufee4nyqx5stRV5ffp3LDjLDP4SzAtGKzCg_FT17OBGkaaqUfXot9M8dftmeTI4RINSDC0lCJkl0NZncI2OsHYn-kkGOeD1k9IBZRLvejSSKq2rUcAEgZNJqpM-qN2NDnLVxLIpcOl1VvrYCbu2rw_mZhmj95W5i7GEXsfjY5XXxdQ6CgD_Jm6CJgWx7ZAXilfaeDbKXzNUR82-NOYzR6DiIKnh8Lst0p0RB14DcAq1VKmQdCEa5Amm1bnYxE7rUP6ANPoIbl8YDCHl4Co4N6f_BAg-4Zwx_zLjP23qXYMmqpvd7om0y7DLV78Lw_4mIY9gMsHJCokU2tEa9Qd6DqpsG9lCzfUifURoxx0GJnxYCVhNAeX-BYuB7FbVWR2wdHweAzyY_a_WpHlrR7d89HmWR_zYPqefCAXtdFUwV-tnw0TeSeCmlLBJcDRBbXYIjuwanMF3rOKgs9-FXVfa9hd0lLEK2u6NGGo1GfoFKU6b8Jw9QfjyDzq3RFuqMphInxI5Sa_WkfwC8_S10p3CaoZJhrUXdwoYLNPiKrIKU7jeW53b_LnEE2UfjL-8k81EzyFu59qDek_F1lbSsB5iev53hQu4q1OS5Cdls4LhRWLMl-iBygAtHEUEP2Tcg3gfip3iJ37jXIEl8miQPV8AtIK3J6JZAeJMT797saBwXj9a8m7HIGUBsuQ6qymVVoTFPck28A2al2DBhuTN8j2ZqyHtskN28KyBqzGvD2fISdh5m7o658K9mEWH-TNO1O7NB_G_yr7QR-XPqTSd8gseflx5v4Ri2Hs9VM54NREA6lxAP3muhmY0VXpcMA5hlMHXQ8_x2xVYhx6LWg1WXqwN8MzkCF-0egS2up7ZJRCMBiuNhwa8WKcomAyyPO9uoraHEjSyEM3JB2rQwgzORBgcKcB_3QQ670bM3RKyZf2ZZX9POkRIOIHJbkmBGv4TxOapI6i0fAVFGfgi3m4s7GpZl5RYxgeSm6FC3ZFHGj19AXcJaZXdwjTRcGcH_NGPBUVGm5MZclPvegWquVjRJAec2WEU_3HLVCp_tPPBYQW1brwKra-PKKCZXBdOd9RhTvlFYhHFx1yyyN2gr0ozLDFX_5c3JCTuzcSD_eMm2TpTw125ia_LCoSwuTAokpGiLYbgrgdLtkuFA9AdUgD40hu3LFd7nyw1ZXPKkic7l3P3p7KWYqCDc7lMJqmhSsSbHYwemlmO3v4RrLQw6rHjgOQOTHKCOPB3uQEX8FYl7SU-TaOwPGI-7scsO6R0sthGSZ8OjB46Wbmq-tA7PnT3SlP9kwO_UOPoX6Ctg7piTFnRrqLEvrUdzLv9HZp4kBMGAp3yoMpLZzt4oPoPX85eIO07mYlNsEUuLgf5bvTLqXU2fSrc8EQLgNGxyqEfrXrK10FmRfuB6gUOk2_v7xj7gam5v14QN7w-aqKzfOxhvGtTik4rHxj9-agPU4Ora6Rs2Nabvrja4SC6ndNn4nU3yWWj91Edcg4Y9cRojZLToIBdahJWUUmIktdJ5Oxjc_CtHYMiOwcTDuhPzyrqUh1eX0EWtbOuJNhElDZaxMWt8U8YwJ0qeDmWa-wXCVKOPYId9PYdm8Bfzh_dOLfEmZR-aVUp4QjD7LXg7N2cdZbOCJ8okD9GWyaEhXLJ_XYvAXLFPN8hi4qhdRfuECxJ4ze_ohbFHrXxEV4zxizN_mo0gCCEICUdyOeToykOoXvgbpqpgvC74ykGatfHEoz3Ta09a5DCoAWF6b2LG4HuS0oSRcH89vKW4WLLRgmq1pIxj2mbNm8boYTt1D_1iUoOxiY8g7ZMg3H3-ipFTVIzrZfjU1-AgjPJyO7brcCE8v7F45Lv1G7hG51NceX8QTkV2SUhYQEmRqix2u6cwYt4fX65rqnsvL749bgbgQjtvA2tLNv6uWE7B498MP3rHQ_wGgAQaacLajVYKy9Zr2pfduAH33mqLlvXGRPr3Q7teCVx5TsJiQxu3XVPgFWdIUZ2_PW8zOcQHoidmy8vbmkdOXMVHjbCe0Z7G-Alb00-Tc_N7G83F4khlEd1LYOj-NUMewe0UBOCIIg6kpozNvacvxKSH_h7EbiG75hyRwplPM7-owlWEMw-HXrWYPDBQKHqnSl_zQrVXiam7n-9M0f1fe8argUS_",
  "id": "rs_0270c36bcb04f20a016a7fb62836088199a4cb6c92bb2670d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.32,\"left_j2\":2.09,\"left_j3\":-1.34},\"note\":\"The small descent changed the red side-label projection but the overhead silhouettes remain concentrically aligned; the visible label itself is offset because the held cube occludes the red top. The cube’s bottom is now only about 2 cm above the red top, so I’ll lower that final gap and check wrist effort for contact before releasing.\"}",
  "call_id": "call_EHDNZzvR9m9vMFcmK4Co64OW",
  "id": "fc_0270c36bcb04f20a016a7fb6355f748199935979a162e00f42",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EHDNZzvR9m9vMFcmK4Co64OW",
  "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=-0.9524 left_j1=2.3493 left_j2=2.1052 left_j3=-1.3952 left_j4=0.0154 left_j5=0.3428 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -15.0085, 6.1744, 0.3053, -0.0708, -0.0171, 1.033, -0.1983, 1.6205, 7.1726, 1.9121, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0cc5802871753d69d7af7baba7e9b6528ec0503e366d7724a25d1c3ff6a88c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4391aec6d5b24c3c2ba9aa7d08943a19529d112b3743ed3d34112622d1e81305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0000855346c78d3849e46c7bbf8e3b2a6125d257ddbaf99114d9b6e932f362",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 211 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9531 left_j1=2.3379 left_j2=2.2051 left_j3=-1.5063 left_j4=0.0154 left_j5=0.3435 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -13.3949, 6.3385, 0.398, -0.0415, 0.0513, 1.0281, -0.0615, 1.6205, 6.9812, 1.9023, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7ZMurFIJyu2IZSKbuAw8XsZA1OJKl8NOCSPPj6Y29m7KzanxqHDIYCnXePLdZpIZoDmNuppz_yjt_lhzMUidNn5t6f8Jdx-pHngalqilx725NWZaPvB2nTFelgqfsn9N45jQSWuadAbTCThT6zKkZBmbnfPWGlwEa8AJinIhEdn6fAZ0UIXWFzed6FwtAn4LbxvnVVsxtYPIU3UGdDBdQWs1WrBlKjqoAP6TFi9CgUZ9dbFTIP6NiRf7YN5p66WYt5NjOl4NMQgHAaqKGi3QUvbTgQVNMEh2woSlP9ptdCgWkpYkLdqYCv9UgHIQ1Nae8b-FQ3xD6Z4n8abJdZ4qmXMIUTQNAd2ZgHnJedWcb1eV3Y2jlY8bAoWav3t9uMYeZ0XMmtkdKQiC5qt-f7mjDoU0epMnE945Cl43uC_36cU_HF6fWIFhXmMMs0U0A7omeHotBrTyZlec4rPrb67SWxUo4PdNuZzuoTH4ccs0pE5ZAEsYcMCt4q0peKJUT_iFkE88vBGeWZRZPBhPmabJ6fUhXKlj0T-FIK8cBA8YxAri5ZI8ULM_tHJlByQN6oED-vZYl8oSOWgPI3JOqsV97-cdB5LrLoM3Jt_9weZNiyZtZp4h-UBHZZp7_aguBP0vRxsn8OScWF36PNYKOWHVbABejnQy30aP8MEcT800QvMecqVNByk7_vvyJKHTueUfqCH9KnQ6tcufvrI6y9K1itderS47Nns1HOG7V_osbpoKY23reKVNq2lq1j28OShPjSlBcfDCt_Ax5ErafZmBE4ye75kaQHH0v0pwWctV7n7KoX0n0UiP4ggN2P0nYmVyGRq4mlv9DJfQmckTDwe7mGkpIDBN7G1KYFdv1mb6pBhnjoaMShZAsrlvXBK5cmtrlKiyfQH6tg7Mcbiy6YCLVa7rrqDTe-cJRqLKktf_t52ZMXxKm-bZRuKa1kn5t0ZmZZHf3P1gsOfDkordWa_gVZzWCZ_YrIutrJ1WTPoE_wHdLwcz0rI15Grc8aL1pvRQmy7MdZ12klmaboqv9sSlSCBncDnERApKqJsh8ddxD0TvwYPJqrbTsEzWoEQ5LeUBdbqCqUHRjSxrxJ39NulPwZdLOyQIn8qSpd6048HclfGu_3l-h3nH1IQT99k9LaM0I1tnOhRtooYeQoAoxxe3XKn7KY5hXJlBQjGC0_CaRnBCILZ95mg96CLoRBd7FnbSI-6DfGncWOj2ElimMVinaM9_V8dYDdBRX3ISoXq__qVZfyPrMW0Cg6znXTeyC2nxJK8rG517HTt5prskxcKl3034113yPFhVfzf2LETKWxbw0L7RcuZQscjqlDwVtkwRrNwoDkONxuvFDoq7fVqOVpQ36nf5wvNkyHlcKMN5QCPbai_tWxb1eMgKZyDq9IQOHvxs5jUYZ8IkbgSJVNA0Bd8NoonuEIIhvAL0aM4M28tyG8Ejq4s3HxVta953YQUD2jiEUkYTKrrzGCiLC85lViCjtLACmna1REaLy1E1i81zhKTNvvcHp8LkCrI9Kd1RBUKZyJOicJkkV-4Hm9L84Rs2HTOAOZvLxmaWMsU52_81SjA5unYOtYVedA4rlzU2mZV5lqns9Okz31OE_DERu--dVsbThZKEfuOnVRuMWEwQf39LFut-_YvmbuZxKY0wiKG5WBKY9uWJy76V4DHD0IOGVDQcoMX5x8Hu-tXxW54803SoVaNGYqw0TLZiI9v-SvjBcK5sJ3TQyb0y8mNMy6Lh3Mj9hm667x6y3KCCnAnsydUgyLVSqZJF8cbD3IE5cPH8dPq87sqv9nD_IcVyha0NSlOOl-zMBAyf8nWQ7YJHppbhaIOPnGf0WblXUrJvx4OpMjSL6LxeS6bSkrrc6Zovo6DXhwcQReYj1EIJYjRjJnIkO9V51SyzOrrfr3Cuv4f2VvodiyEngltvZDVna8j8H3KETVtZL6Ki9fuz8I2-8nv50OBw_W1GUnF_QYUdIY1x_iTPgeHRIz0SeHGa_79CijrQ0kJQBsoLIdJEk1t9PP6d-rgIVN_MeTn7M6AiCMXFpBhqrZFjcaV-Cg7tjjgocUwUl3S5frPTcasLMJTRTYMlZp7hef2lH_mYNlfxPUSJXq7Jr8wnuQAX0iLakMOcuuQG8GymUrQnbYyzAwMAXCaWBteAHghdtaLd22xh98aDSZs8RcgbBxtkDE9Fk2N-Un04ZKuUnUHsjjBpto3NryB8E1kAq1bFyLqPtbKmrntLKogrKhjWpY5jIfqXe3zIWezo4VyOdenCIfgdyRBm7aU7fJlpuknUad1q3GIWaAUbrS5W2KT0DTvVIbel-ubljy3UujFD_3d8t_zXsxkoENvrdWHIcxg-6q8QG4LkUWUPMK1U-HaKApDUB2LWrnvMEYrGsHPkrYZtJIXsT2CX_nSA6A1l1B83KRJgI_brMbXNbPP5GiJ_fFnZ_F8jRKM9cYL2t6hwTEINO29xn3WY8xwhSJbbsCqFGONJiUZTf-TSwol7AYvqy7bVu49XdhgbMqLpI8U0iyC6tvVf_jgb99e-iWKYW_BCyU5ie5ljX-T1Fb_HE8SmRBSLnc6z2AwmRqXxhBuDa6HQt9yaP-wIYzQeD3UNCejmGzw37yZnSFhKKDvx9ix9VlQEKOiHPvzMPI4IuJ6OxdBNz-ZBiXVj2GB_5vBK-O7WhteMtD4GyJXkTlGO1YApzDQD6jJ15x-W7y2fEq85VBFlClwYPMlEwWBbGEDsZ-Q-1DsKcvsFLConSP1-Ykp_5YLQbLT4Yk8urUeIYxDebaGuvk2hgyG4-WRxHinM3rgJ1Qdm-1iJF_wTJWysPZUUOypFV99mF1byXmxT7o52QQHRktOcEC6W4XOJn20D8LJeDGXAbrdwicqkfRWNpg4wCpJr9V2n4PlRMlYiePLwFLgLAxuB02kuQniH_Y-ZxYkm8iMDJc7PZO1vtmLFxE4YCKdylnwccKoctyrsrjoifwGQXSUFwj4eqZAy8tET3CVfDLkWfe1pSTJWwKaOQOUnczV833czQQNTmpDYWeLOCQAe-n6Pp1OYrotmlUMYMsALbzlRdi0AOW1uX8iMrY3UUj5mOikQQP0XFHuTB2FLy8Mz0Sh3vRb0f8bw75owOnz2R6bJ33XpxpE-DVUAG6hau5dFtB9aKT0d2qYZGqeWxopTl2XB-MF-W4ve3hNfIhJrdlIxhLMSuon2XhJmle-a9nBJJmXIQvb0evTjoCgXeF3MSlaVfMo_RgPOMbWSKMtJ8SiXQ1LUfO0DDptyU3C9k8jhXiUpV6rnCDmLeFMMqadoIE3g_3ODlYThDRpXHKCKk8Yu658hL4e",
  "id": "rs_0270c36bcb04f20a016a7fb64122088199afceda8a2c644374",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.0,\"left_j1\":2.21,\"left_j2\":1.88,\"left_j3\":-1.24,\"left_j5\":0.29},\"note\":\"The newly exposed overhead corners show the blue cube’s center about 2 cm left and 3 cm forward of the red block; that offset explains the earlier unstable placement. With no contact signature yet, I’ll make the corresponding small right-and-inward correction at constant height, preserving cube orientation.\"}",
  "call_id": "call_GljPhi2h3atlCLhkgwAkGPsm",
  "id": "fc_0270c36bcb04f20a016a7fb64a50f08199bf3ab63d06e181f9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GljPhi2h3atlCLhkgwAkGPsm",
  "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=-0.9913 left_j1=2.2959 left_j2=1.8957 left_j3=-1.2835 left_j4=0.0158 left_j5=0.3061 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -18.1538, 6.0923, 0.398, -0.0171, -0.1245, 1.0281, -0.2256, 1.6205, 6.9949, 1.8584, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c836ab549c317b43f59b7102b385c9b24c76ee318aa142d8084b885aefc121d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d406ef794adcdd119685c822adac1a4336c85c4e096c4861ee30a43df8ff793c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7062a22d3cb9c595c64d6537a3a1bcd8296a702bacf1dc1d8bf11b2b29c465",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 215 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9524 left_j1=2.3493 left_j2=2.1052 left_j3=-1.3952 left_j4=0.0154 left_j5=0.3428 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -15.0085, 6.1744, 0.3053, -0.0708, -0.0171, 1.033, -0.1983, 1.6205, 7.1726, 1.9121, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7ZZ8rsm-3_-hWkwQLB2z0jz099OK8cy66yyHziPUHZVscKB_k9q1xLpzdR9Mii8ANOhurkYHHnBlssMUb-iWDyYJItlmQnQiSsakIgijWN_CsLicspr7iy4yaRNfFXwdS1N2BUO_M3uYWSjAbGYw_Uiz4LMetxFzgOS_sZ7GoutzP4Os41DisQWk07qttxtgHCnvcrh9av136HcHkGPFjY2iFR6XkLeMiBTue4fhtciWkpJcsOi9CLBphs9BIGxmFb80QUZHyH1XuQ46TFfdKLwdgHtbtjYu8dzTQPPZ6-vDhjkCcA3cn2urHIXG_BGhsKIk0q43YpbVjDqZ5ksUVK906rnmGX5369tyfbAcQD06iXd3qdKHJ-wFjUeV1tvBjfw7qEwQSl6t6jYW4UW5GmfIwy2QzlyKFKQaOGZm-XPEqeHuRjELKDr5MAXd7Ta0ka21xd2hXeXuQQXZwra9NJpHZfAz0gmfbUPfZAgYabkYyEEluXDcl7MVHsjaGzZBrhTJ0lNZmzp8AAEJSw-IrFja-VZz2dnFepaYjkU6cwfJsuDQZSMC4aITy8ek_LZQhSv9wSwQ3VctZ8yQ-qcQt9_pdmTxVuU5qEDqA_4IWxWgglhQ_8P9A6REReRbEgULio1fGtSty5e0A0GhHjo8ut8eHICJhHeMLrPmd6JtzCAid8zF8rDRZ9pkBZFn1MJG1vhhS-N7X6jYA8OAjVRgJ1VhhbnuFjthRCzsPl-T10OUx4VlVQRYhTUlyytXmgyLWTST3NW1RXWJbmk8NvuZIXqs9qq3EXWSmrPYa6wtZd0MGZE_-brlrXemPumAeHsefAf7dm0J_0VqiecKasQEiGYXqvDoCkxF_UkrdK0RLbzOluJiwvqx-ZSLBBqknJwIpVp9Kk0WcYgcuzLAjFyw9-clfsSel6arOCfGuqyY3nrSBtRGBQkLnNv6qJ-Ib1EWrUbo88_uPsHrYFmfpLbSEWSc0OGyd_cBrwV3pA2SRbDH1EyZqYDisG0XtbqCvimVp_G6Y3QOw4Llx3hRMCGPhtlorFnK_w2xvEtRHcDLEcgb5P9gDlVNbxUBaIoMe-fj9WPUIzI8kleWvlwxzky2aLrw4hBTgtAdDsTn--SVRjJk-479NE6ZQ_dhafEamqJExeJ5aK9Z4XunaPBW_G9nMJ_vCRVB8bg9Kv0hwiyYyoXIzmoxEejWXgeGCGgUYGhOua8fxdElAp3FEfh7AfWy8brsLIHo_JlWoUTnKFmaqCB6M_jM7Z-ZHUGjbT9wjLtT3mYm1E3_1KD0MsWXsJKpFPQ4K2S21_aV8F823s74__yXsoMIoihxEabXk3PXlk_N-EVDSY5Ky_n40OBcVSvVPZf-qwKqcbeftEvmXrrtDy-bdq2v9W70s-1TXfoHjTQudtmagfPZZy2f2Beq0J6X1jVR36h0O_9ISv8TMi8nKDvqZ05tAp2JS-mTnzB-jvrYx_2bgA7mrjqvi9-ohSeiFZZ4wuxmvEI_-TmIK39JfkXdlfESZ_MkFekIdvPynuVd40X4tPwE-gcd6Zl23JjR3W5BtYohxzzN1K997Er4zr6tinMcIY3I_If1rdfHaioxhQKKvTZ5RdRpYNQlzEMjPkEhjmN9x3NfGU0l6DPW_ZkGWV2NYqA2bEeaQAzgPbjNZcWidSliKgkacV-4iwASs6mR-audsq1pxCxDIb5Qmu90nDFXqbr4S5d2m0t2fCJ39SfSw_OBYtdomNIoHg6gOnH0z0W4AksTKlALYfWSUCDWc-w3uqfivPxlxVRXrCkeSGoU8u0y9-KfUT2X9RzEWfmal8yhHWBMQM8uGAm-uVvJuZ722ZUQKeX6lJST6E5xZW97cjz3Kuue2xQ4RUoCPQ83xuudcG4aTMp-iyeYzzcNKQXtKeDiaE3OnAOrimr1nYYvkILuKkQMr85mGOqj7tiDrTn-7mubnIVU52WSR8ZQviLx3si_4bMG5zXuGjnDRuNL4XMlksO0P8YAXjMOYGRBwgfTILzv454IqmtSN7XiY6a4YDBYibzvSAxK-UczjbBEh688lBljD0a0KYzbSDFpg3foyXO6ke0wuTIRyV70TMroKmv4b9BB7c-GWz-yLm2fOyuAbMCiOe1MGZaMqLEkjKjPdmcp5vLj4u1dC_3mpyGHsO23Qcn35hSblQlRAOjThAyjRl8D1_KP6H64spFHAmvDlScu5TubDNRALajrmDaSR2gFMarQFDxAZoKNFtEsrTkwuSWvh0kfdNFLNivQWJsev1nnEZ4wiAd_96CKfQ0uat0b9CUlyfkOeHYvHs2L94_87e0O_GIM-5c4AJEDOnU0LA7T7KRxbxNkQ3eIecpu_xh8LVruszsbWoAz0ASy88SwcUuL5OSZOuEukZkHLo5WLS5Vzt0JP85_JrzWECPpixUReat37K-8VpERWZ4zTqXq9xPy5Hm1VEVDYg91_eaxc1nubAnc6Jwv0zNBSgStEUJ2QHvV8gaO274dVgBmu3qYiZu_7JF0xO5-gTZRWNgBuJpsg0OStiuAAbH3xXhVXr09zjsASVNAhaSCB_1wKvk54rRIHJpKrowieK-YUT2ZdihKW6FsggmUe2h1ypT1Lni8VvNt17i0uP91trZe2L02kMke5BDD84dATolZfQrqsZ898AsmAd58qKrJayfoVxO7YsMaQE1umrhen8IRLU0WTvI9nkLkyyIea_SC9dL1UfCi0WJEQGcHqKzjhsJe4YBR2iq06yC8hEqg5Kd-c-6GBDZtlP96xvhibJikwOTfxhUoN70C2oyeayN2qg1n_R65ySY1AW0xRNUKnlK5vtn29snPLWDRje69Sw3E4dqt0avSyBIVzq7X081TIuAp7c6QZ1AzEr-3FjuT-B8EUoGK8Sh7sHnpNaO2bItGnBEbAWbUNOfj3LFJ0FYfDBe-ajqjajzxybPZiAXnD9cPblZtBHajutubEag0KFl5DnVziWcBBIaaxajQL4N68UZEOFF6FnK5vezA6TDW5C1zeEypIOf9Tq0340kK6KeuyO_TUvUS5Po2iUMWINKJvjW1iaQ-v7uYnqdSOivuzRGTzZX-CQT6h6h1vyZwlgKGw==",
  "id": "rs_0270c36bcb04f20a016a7fb64f173081998bc87bddd0c414d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"After the correction, the red block is completely hidden directly beneath the centered blue cube in both views, and the carried cube has settled to the expected contact height. I’ll release it now while the faces are square and concentric, then lift away to verify the stack.\"}",
  "call_id": "call_cAxliVdpxjqa90EJC1SPRv80",
  "id": "fc_0270c36bcb04f20a016a7fb65791f48199acaba0b2fb3321df",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cAxliVdpxjqa90EJC1SPRv80",
  "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=-0.9951 left_j1=2.3035 left_j2=1.8828 left_j3=-1.2781 left_j4=0.0154 left_j5=0.2981 left_gripper=0.9959 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -12.9436, 6.4752, -0.0073, 0.022, 0.0513, -0.1441, -0.1709, 1.6205, 7.2137, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0f72c4a8fda16891b1316c1f3c10f8272df75db38e19154bc6e55cdf4135d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb041bc8cf6af7630351c042e624e6edcba534a7cea07cec68b0a8c4a75877b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33dc7a9808b169ec712ed4e8e010d7d96ea1008c5a228dd16d0c4007b40f9580",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 219 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9913 left_j1=2.2959 left_j2=1.8957 left_j3=-1.2835 left_j4=0.0158 left_j5=0.3061 left_gripper=0.4516 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -18.1538, 6.0923, 0.398, -0.0171, -0.1245, 1.0281, -0.2256, 1.6205, 6.9949, 1.8584, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7ZgU20HqAHQrDosIIpTjQrn7XsfLI1HiYkiQjahpejpG3D3XC4PpJx_0cs_58s5orlvHEvqjssiqKDYZqs3W13gLyXnDr90hR0rfkWTWmtJrSo2ahX3W0bePI-J9CCJnP-0ztCSftY1EoBVIdhOk0RG4zzJKEOZPWAMXQIuZR1dDIXjnf3e1UO_RGuY3BzA2k3uFFO9OxYf0--BiNILcGZIw306s-BDC9UWkKn8CO3gQz34sE64-5vCLv4VxxlOBpvNtTsJs-oAGckJ9QMKgVdSWhVpdjvniMhWoccBmIu_AUP2d1qzVWL4g_gMSDeNed1a0IQ4S3B3PO5_ewu9-pHTHLtnvJDtvCeamyzs6TTY4VNicd1ZAsZ6jkBWxmSqVTJR7iNbWdQSf7_qs8cIOo55pFNyEmkosrA-4EZBfLhqAWUPq2QLNottiAgKXGFFGRWl4goSmCot6R2KivsJbtmpuuJ86VFMJP705Jz9yiKCsWDFLMkrpx0C3yd04wToPx7avz_7WaN4OM_wIXYABXjmLbTjLaWq_pUgRBRPUxRQ4-gO5k0TVZTcOfeQVu6gWxTAewJLsw-pVtW1gbpDa1mxkkGibgvWoJsY_aWNUJ5Uq7yHk4GI5GEm_-_hXj77yNfFN2cLlWvIsNPIaDztsBbEaia4_FyAyV_qbMdNXY4TZXk6iH_PeYJGN1nNcc8RwfskYoMLGW0XyLz5HbIaiqslW91TLZJMrb4TN0YfdJKQkGQ5CfNsDuaydrhIvUnmjXDvICQYEpWnqSxW9fltqULymfs-W8R8YC7Ae296QzKxDFkUSp-V9L7PmQ-Tcvkyl5jMCRZDhb4KHFgE3A-X4XoXAFsfss2qU8sbQPbcCvha0NEAnyApIpT9qLu-vILWdUz_Xj9vXcNo0Gssj8bme2kZMqkcsBbPTdpXPO4bwXdIew1I8IzvUquSbEtCzqetxi2-2j-cVmodcVz5B9A_wv-w87mLJu7Pyl_1_37n1QqkEEfIXQ_CIXcTkk_LqbxkC-YUPog-uc14FmXtVu19_PBT9HWuybXb-EDkXPTHUICEnEWFstycGNDgHsxKdSIjTi4dBPPfKCn3CCrOY10sqPdgvK-AvDeZmfK_VMmZMUG-N13h92h-5rAc8HY4aoiuFmT3kI_Dqg7GC1dTs7UE3l4d8UORRUHo7NZq0EPB_5K8fwrwWklIJ99dnj_Vall_rh41LMOB2DKTUkHHmUi84kel-Eli40xL7FA4Dxj6Wo-zDWcr3mCJJJbf5OvxHIJVJTqN82ZDk7qaRr6cL3bhey2Wp_Ikr5FnBycy5uHPoOZZfbN82_nJFCMKDtshrKKfGJcvXvqHccUoZVIBcaEXmf_gUdwYWCAPofHS2CfJ_gwgub5T-nfQzQt6_mpX7MyBWV1DSJXdwJ7MVQRTcFdk7XUdcJdgvj-nzf9_nJPRfR4WK9Qr0eyKBZgDzO2rHHfe-3OJzPTTT80yyjn_nTI7g0k59PhTVIxvc7q6A9CfKNhsDdQSf3FUYcgOoN08eXFKB3xQW_B29azZff08ne_5RSv52u09G8q2VjrWbenWhWWixD-Q5vfV-3rGWObxomfiHwmLIGQdp-KclyRUpPAHVqeWAEW6N51UMMc4k0CphrBcfNoks3yBp628TBlDMf0kEcOUqShVnSX2omVDHFFrZqdLEmxYZGXcf81f50-wDvofkX043cQs_dZJxZF8KonOgfSs3Z68rNfz4z7xgITByeH7C_wmgXahE5yIylute6wLhtMbL8z5eZCopgP0y5yRWO7oYp-YWKf9MrZ6JBrEClNarOl0vkebwVmtJr1jGHJLIhkjhZ731oQ3s9V5whKnA-eo",
  "id": "rs_0270c36bcb04f20a016a7fb65be57c8199bc3abd15088a4521",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.15,\"left_j2\":2.09,\"left_j3\":-1.51},\"note\":\"The released blue cube appears tilted in the wrist view rather than level, so I won’t assume success. I’ll lift the open gripper straight up to reveal whether it is stably resting on the red block or has tipped off.\"}",
  "call_id": "call_2bHedebWonXduGU8IM14gBnq",
  "id": "fc_0270c36bcb04f20a016a7fb65f2bbc8199bc999d64984ebb40",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2bHedebWonXduGU8IM14gBnq",
  "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=-0.9955 left_j1=2.2311 left_j2=2.0457 left_j3=-1.4422 left_j4=0.0158 left_j5=0.2939 left_gripper=0.997 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -15.788, 7.6786, 0.105, -0.0073, 0.0073, 0.1001, -0.2256, 1.6479, 7.1179, 1.917, 0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b523653e616cc063049b87c6e034ecf6a1a94e6b10878d5686296051090446d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d73e4c5c2bbadbfeccd5bc5de615deaf4c882e9e154f94df55bd501bdd6ade",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1488ebe4f434e88e623b35fae8fb30bc005ef51002143965f51c13541110d63d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 223 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9951 left_j1=2.3035 left_j2=1.8828 left_j3=-1.2781 left_j4=0.0154 left_j5=0.2981 left_gripper=0.9959 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -12.9436, 6.4752, -0.0073, 0.022, 0.0513, -0.1441, -0.1709, 1.6205, 7.2137, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7Zs1L03we4n6mFFd8yw-0c3F6TJ6W2Ccjlv6b-IMHrO7OzFdoAB_np7OQ0ouG9lYyXxO5dlTFA83eJoocmkCeILLE3L55pjFo-oKvjgJRKFEjQE1vSx_XNgmj4THYbnBh49wsnGVY6h5cuRFyvhrvyFECN0cI6jnfHfZJTnKZr4shY6lcZNxznlSLaMygoNfzFETs5uPxvwNKMeSm2950jDcuUjn055e5hE16mE_qVOXEpIP3ziXPVfwN_ATjecbXo2lwWdaXHhJhATFpjFwNP1HpHmjRU4We3aejlo567ztwg-bN8GgbcHPxlZNsZvsKGvAc8JSj8I64V2U0X8-iMxnS3XUBpekb5bqLfXM3042J91tzioOUZ1wIpoRJfQSKCPDIGtHOElg_ULMye6C22TnbmDyWT36XT7bm5WJY6NKHbRfpaXHuYq2LQDi5165F4cMpU8CRYIjuzXtybMzi1FQg7J75Tj0_tyMRS8KbPwsUKtGrVsuyjcCK1iWlxosnQ2aeWDOL7decuNKi6_zPNQXJzdfsZwpQvACoaKpeDhklR5yrYb9NvZRDzssFVsrQF9UUXIoe_u7Cb1GEERzhzPK082GNUURTyodlPEm9qVKjG4RkiO05gg8ypb0EusMiimzT5A-SoQITh-135K9JwplmEQx1AMlKsjReBaU7rppXqhK9fXIulBA3mboImkawMFZ5SxOPM3at7XO2ngW0xouBZm54TdaD4e3XuZk4deXNoXG6YodWrYumFtYVwGguXqrQiWxX_KBQRzSh_KKD0YnjpjCjxui6Y32xqfSb6TYy7TnJGj8fTsbggNdonCsxA2uRvuxBclzO9WRTFDyFYgOsXi8mWqHAQTNBKj38oq_o1n3cY1MzDmVsQz4zgA_xj50Vd7DcFFcwzHKtsnLBpRcLgJ1Rhzhtg26mwzzbw4P__TzhU1o-ee9w9Mm_roSd6RtGcBDLpWunve63aEr6pP9xS0DNF70i6eUhPZdrEtmZCkWgnN3_zpAE6QJx50oyQXMwWG-Vne4BcyzhSuhHWP3oA8nIio4ajWq18tLPnOKcyVQOEiQAmDgXuE9_e8zcS96RcBUbmxblPeVxINOh5yc18sciMjHsK--GjFC2_VSw5ib1atjk-Ol80VbBMQ_oLq2qfRXvZ9RilCGHmHSg-W6t_sHkcvZHcNJYkrenrNoExykRurBpdPZTDfypVckCJKKEDwgBvfl-0kptjgAi5F-whaEIqpxbCQdHfLyPuHT8Uy4Pjid5G4Qo6Adw04vqBKbQx-R94YJAwMCNZKsQFhXEcNimxNb6yw2AAj4Z-0v-XqkhtlMBGRn9UA31XDYfE5QnBAOB4M57L5AbfXxM3fgaduty8tHDpLtpbvSEAuzDc5mstmm5rUK-aW8vVD4hMJhsZiPbRBqYC4lFtwklqw-sVd5Xxqk49bKPd9xghyKDtR8VyQnrWpbO6_xUwiW2CfAJUGrwtwF9X4UOqTBbqZR9k3eXseogWGa6MsSknAyPx8NRVbI7CRKheZ_NZBOJM32KKENabHu_gokCnA7WYaesrcGg8yW5bEYcjJYVTVFRbu0sTf6nDc5Ht6s9avfQfNQY-dqs1zdnqbGYeqEQnrc5TnszLdgd-3ZFOdHNDegJZSH9TJ5Ocir0l0RjOappLbcbk3sANEyLTBJ-pUpqRlWRTabq20B1giPPHRlk_O7mVyovkDOcNEwSESedK5U1G6izBK-IJ6PkZhWgQO1qQmadA7nllcny22ONwZYZG8Ib6tHDUsHZQLCrhtiHmxLSU01hbiC6bbGw_zdVz8gXeE68CwhUBmF1Aa34s10taP_LEhEbwmLXVBDIrmsovnXOxJQjM5-J-J5uGipaED24YRGLqrt6O5jrXbooPb3J3qgypw5uolhySRehBSM99wj4oz_8-dyk3gzRGR3wcnxGpwwwzPoo4zmyqWeqaSuba-tTKAcAcHZ1F78-Z-_40JfTgV8MOxwRR6LWzpvXPR5IjYdcPSA1DTyzynxM92RbUGP1_V-IGYEJg6TxFQjUwjCuNdM3iIOrmigUeGq6fUe7RN3CHB83OkLq8bUIY17hp149sRaSnNazM1iP-rsRMn1nEMXwKdUnoJiOVdLtB-u1gC8g_0iceJnlrcv_8Da_o4aTADZQKJBr9ghyWYCf47fQP-vEHX05oiyqXNpVTqvzmASaDzBr5FC3Z3BHgg1SUxrWwffANwg8mcyqCPhJCRJhz3-39XZJ4-w0O9RrR_Y-zP_qCFDbaJnC4QjSSLcfTRSolduh0VSul9vp89eaAxGmzY5KdonmQgHJQaqET0b1OtKO-7EAdeqUv03h_tmtitJPt2a5FPmDxPjcd5VW3BUeWJlQ0FO4uRRonXp2qb6NBtX7v24n_nl4Cwrwh9t_f7_f1MQLgfL0qve39IQf6DpZOs1BNXoz3Bmx11hoDr4ZKn7xvAR3F0nXnig_-0aagKX-SRkM1gVKkBCwm-6dpeCAKQntziy5n2wjdtAiwSxDN8ftl-D3N9jcS-QWxgVKDobi26_GzFYXJhLdjZX_JrP4NA",
  "id": "rs_0270c36bcb04f20a016a7fb66437cc8199a1b8b9e11266998b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.6,\"left_j1\":1.73,\"left_j2\":1.5,\"left_j3\":-1.35},\"note\":\"The lift confirms the blue cube tipped back onto the tabletop and the red block is separate above-left in the wrist view. I’ll move the open gripper well inward and left to uncover both blocks in the fixed overhead camera before planning the next pickup.\"}",
  "call_id": "call_BFcYgw3QNvKhXxSvRNONYw8l",
  "id": "fc_0270c36bcb04f20a016a7fb66a9d9081999a06b2ca98663802",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BFcYgw3QNvKhXxSvRNONYw8l",
  "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=-0.617 left_j1=1.776 left_j2=1.5215 left_j3=-1.3621 left_j4=0.0147 left_j5=0.2901 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -10.4274, 6.147, 0.5446, 0.0073, -0.0122, -0.0024, -0.0889, 1.935, 7.241, 1.9072, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8d1bdb4099ebebb33bb6406156ba235cecda71a5431b5b774e4c8ab8a0d0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cca1f7fdd6ef06c4495cd521e74509b9b7b1439a506b09b1245068eaa253b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7722762f777db03bc471305acecd355ded18f967c76a49c780f4520c3f35797a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 227 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9955 left_j1=2.2311 left_j2=2.0457 left_j3=-1.4422 left_j4=0.0158 left_j5=0.2939 left_gripper=0.997 right_j0=-0.0002 right_j1=0.0025 right_j2=0.0074 right_j3=-0.0654 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -15.788, 7.6786, 0.105, -0.0073, 0.0073, 0.1001, -0.2256, 1.6479, 7.1179, 1.917, 0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7aQH6zf3aikhgFeLbK33JHcCmxBMQ15tXXNeMzoDVR-Dw6iN-cDzYLFzhpVnX3axe6r_zRgIjgpsg_HTgXph8K9VBr1Li1zOlHUAv7FANyZf5hwAiTihe6Kdnh3sJb0NhZQaFqOKpBq6n3otbO8q1HhzoBH7NiVmhYTLdB3okfvZ381Wchp7BFR7P6-nQe1rc6jw-xbbiCk8SC8UjF7t5YszUr55vAZwe8d4VZNtGPyACO3KrkNaU3nJeK-Cv6U0iJdhMsc--cL7aI5LDCLlYbuQiexQXbnIDvg9sU_Yu8vxPqtP8kmUdwCM0y9TSPgiunaY71JxTXtwi4yxC-w880RUyxvyN6p2gmjR2qXRwtNS34S50q02lCPj7wxtoH2AnPaIITp7329PRdyBnv-uZAM7qJLV94UUPsShUouN2hbXx06g-Usn_RaVkoGrAkH6tUH1XhhZfWxsL4nROENlHZmUfZkmjQT9lKoVJ_oPXu2vZXJ2xBQoByNOmK0d6cVpJAQC428_N6GD2oiKLZ-m2BYw8YwDyXSpxq48i9W0Noc5Xa4pbMHf3Iax8OURp5z357txXCRbzkzGkB4U3yOqmcxUGmxU3VgNeuRdBEJRg9YdtQjxVXaCBVXuz0bSSpxB3R-Qswj5PwA67Wb723JV7spACgI8EL_Zlw0ix4UNnuwJt9hOmK5G5kop2k1ugeqEN2JzGXz3vqBDWu6v5AkR7Zg2sIHxKtkQe98ciZ0tp4apL_YhnRrFtvrUQOd8IV50tKiL4QGH19XMKmOXOFdxZgy5YAulIPQNtxhACJRcf1FkOBy30MudfUkgHH0lxTDO59Z8_8GBX44Onv5YVATb2aHRzDJRuLuM9pvNvqmxJDCFZWhRDd1oMxyOr4Lplnkbs-DGAgzztzajNX4nLKZGigSbDcU7sruD91FKxzZWg9EsEgHB8vDKDPxOqHnNqNkqmQlEbH6v0-DV_bflGYXvijfwh9GRUiPwsNx1qNZ_pX46Bk1QXNRvMy2UQC6HVpgadDmEu81zJ46AYu1iZqQDirdSgMtaT3FYXiriL0HasL0cmdxXJmQse5lpHBzuGC1pueEz1y4JGa0hVBRtfFJSqJfoPD4kyTP6bnUFkqZnRVV8p9X4iaBHwSuceEBul4_042rwnjSNXUHlInYDJrxTp0akigR4PgndzZXiDm5DJqnyyCySlyJEbzXhC2zbFNru92ofwEM-Z1P7cerxsVU8WYUzKZeJvZsNGCOlAE0qWJjrBkaiusoU5EapgpDkCj78O2_46exyn1hF6fpz9WVWH9apxXUbLApJblb4avZLg84UidKPDEoVKNH8_S6fMoKQGiHMMxlsq4LymUjBDHLHtFfRgGc4ufO9k6PNvCCf4RZjCX3gaCmV3oX48VpfuQKoiP4P85yeSPZZlDg5bAp0Vy-OsVjHSuROM5XQshdx3AxpRycAQcNLWv0YoeqzEaXvAJJ75psC8RFBm-dbg5O4tzaP7NFTmZlDRm3Baw4MS6s8NGlg-z1v_oLO_iBCh_2F6uT4hMgAIPV4ewzNx-xjLo19MLN5RbU9ekyE45sJ3eDmfUlAjvq-x6IuKomiTCRhpXsAvQQlE3TcCNc6fkUuAizYrnbEouGb1mTTgtd8hwdIsA6HIdL3XN4sDVTBT3Mb1f_9RTJGMK18aFigBFgVt22etSQHT2PqaxDveAkVms3GABhVeHS2U_HZ2yArBl6LTjvalI3WQ7pxEHuagMeo2s3tk_gxKyawnUpdAU8uCQGz8ASY_L81XBKi2aE00BUI7HQHOGrZxyNnob5OB7xKQHUKUcqamSv2_wYdF9QNQ4eOrask6MKx6tmo_G59_Im6U-fTJhGIrVUs3FWC9KDi2I7M3uXIsjp0WlAy3ZHkTPovtKHnpvj5ssmVZU8334y4tW90SZKBb8zf8I3BSnMcfOm8ARUqm7E25uYcI2xsOOi7waYp911jn6aRrWxXZDp_PeryG8UhURJ-ZMhW3xP1z3PdQLHNBrsrgszTJa-4gO3lbrVSBWQd0_FBypAoEbCNyXl9nuKr122GoDXNMnWYLmuCmNEvI5nIyXJE7TnEEaroLdVCRvge1Wmb5dB2arQ_bk6-PK9_L4YTuSPGqASXkJRvKvfLrd_XJV1xWuz0hw8iaq8iOw4kARk5p_yUQXbJu4tLneaHKPS1Dw-Nys3Y5lmO7Pq_yYy_tYm7tOyYguGzUxynQ47aw5AIKiMh-moDvRZXMZoMsxfdVf9Zpeq4Z9AZaNnuN14zBcx4UIgNMA6IPp4owjzlHo0vutOoOiSVXQ7PinH5muFNGr8PhMMa72UqN5N65gGs12-d4ht0kjdh4McMXbHLHHHjfJrZcs_9IaJXbB3LvaNkG_xYgR0IUPHhtgTb87Ujmb9NhjX09u6vamu8jaA1--6BZcr7QduJX1Gea5MY3IT8p-sLNyvuPSjnrBZAZ99j95SJ-JJ3epB7ka6zumMk7BELcAEnOuYidL2mrsYAPSnn9AF60IKR0MPoi8LpRSLA9YzDaGwD0_I8Q4hy6PofCUdmnmNPd8P7D9KBTWmDFozOuVIGAEgq1pDspuykvxALahotZvedLSQqVk_EL4TNhK9VN3j-OklQg5HsKmdUuzExgDKkwZN6z2Ot2Yz19b9gVdy41IK56Ci9naQX2jEMidJmZA6L1KEd7kPJGKwdx6x-JX_VB_TwbwoA-MnnDjqCP21JzKkTVZRzKD26ZM8XsIoh30-wiJpjykOzlm-1iRt7SlGLv7f3v21Z5q-5Ae9S6QsNybhRJLecUv_s1czjxTzMhk6papbuahKMhsCppGm9itJGIzlSeo_iR8VfsniXxKMmIo2N5aPSPKo3vHf7FbqR1Y3pSWqeCZeE7R0OH7mhUHdZB9sJBCA5vOlgm6A8H3irf1UbwDM_FpM-uo1WXgbyNVrIJP9yb1N8Ru4zE5bVRQ8VD5AaVjIT0Zs_UEXG4jqDgnNBeoAfnBalMwxghNriow_yji8LEMbR6v2BRnOJVeCPAiNVV18P0aPBIWdMjAUtLbUbkkJYuFtAqDCv3Rqy9lybMgSExf4B3vh6G1pekSmr2nMNceiXyxidviIqrYja5lv1XDid4GQFHCeJA6VxRd_Y2Yv2nPo5OIqxJ5MIljLrTHePY5txpLSN7GGIpwI6ZDPtpDsT5dS08jhFQN7gji5G6LTgF4YYtBhInk3TWg_maLOuSa-WGZ-tpjJXr-ok7tN_h47zrq_BeGgyTcvndYNOAS5CpZ6LMkQ8yORADtGl389nfPWrkTJKlnK84rd5Xcel2HxzD_yF9I0Zg7NzpCzVqsl6kVnecL66cqgpiSCswbvDqrlT0RP1X0xHCYNp8gVvKu1mqHmV777q8b6ZiytBgsoea6saoVXIrPECqGfzXygUF8TP4kXCWL-sZyt1AGWwC3oe44bj1oKv9zki5AWev9t5kQEK9XRzDrSVyqw6Py6cXTEH1hedCJo_mgxtlra_xbjUqBHFXXx-fzaJWl6g-FXT47vCmnbDwgnJUPDHoNxqFxqSLOJdCDXuyIkILFSaDyTxNhCmddMZigwV13gcU5IR-HZMh6TjAH7x_raWJp5O-BRV-5XwBLRBcBVjOz1lL07icUhWUoKlGpz8Pc1k-BumVDypS8clIVOH9gDL8T5I8kn2YKbUJlEHB5RjjNBHHZ0-2Fu07Z2K1BhpdmHTQD0grZ1SjBK_NCAJAAYz1O0mh7HIpWfucG7mXe8qYO7j6_MmkJwtVa_FcAaur1pD09mSnIy3b-OgkKN8qMIDL6hy-UEIQ==",
  "id": "rs_0270c36bcb04f20a016a7fb6722e908199979c5da8b359b553",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7aQLColqkpeDIvrW64bK8Uz8Ye50vK2ov07YWAgt4oU8OMwaJ9Yb2cm48Y3vMbXHd8kj4nuRtNr8pDFUheOHvytAlcDO0gUvZT3_xms5c0AB1Ahc-Nxs95j3wSUJtiyFRrWpUw-jJc9tES4OU52bfyub7SSEvyp88CAVR9UXRxFAX8v5YFI4e3gEGOEsoooKszKzKcc3phq9sr6cGUvFu82YNpFXyQT5_WTrJ6Px9L-ZSG7uQrM6vRp8hnXaHTka2fuWB4gpq1zRgxHVceHJISpiGfgdK47fHC7HjfB3ItsZU9HN71dlc8_5DzfKrGCKjICww7fYkY5HDiF9ldOVH3vogfv_zaam219nB5akLGiCDXT1FfRwpB7UwV-FnjkeZPe3yG3TQ2fOVC5xpmDf70y4aVCTxoM7UXDcIhTBGUUyZOPH0GyywPOn3JmWvQHYvs8saZ-ZCa7kMIgu6O754lT838-f19q_vEggZNTNyeLBF31bQF_Vz7euZRAVZsJqs_-7g2699HYa4mbcJZUttnb2TdNZST2D9-jIopmjBcHaXXcm4FmKmBWTqTmfhwkMh-FVavJio9qnGgtefXAaq0oasRAjkarnoU4tVWFFyTlLaNjoiHlMcVXSIm5LAYrzsLEmYF5f8YSo-tiOzDzBzglqBh4bYruR0OQhKUdeiMenM3iaclZYPG3gIHZuvwXrR5_QQzITpTZHB3Ps0DOsuqySF6tVfIl2q5-JXQhBvY9RosxSttwdRZPki-KHjorW2N8eIrdJCB_ekSffDwyKNVsL4dha4WI6VUWbu0AbE2e03SIjkDcaKZFadjQFgyXEI9oICdT53qolbdxPHy5LCWi8R6jBHbhpny3Df-okPsChCuz0na4in_fT21tjoh1skZjsT_HkGclij6dyoIw_tunK_f5qrL74tx0nkwWjjWe9ZwlC2p1u3MfBipI_tCuUD9SHcAeSiq1cdJHmGTqx_Zoo55vy47pXqc3AV3SD4FyJtDiMVUnZkrxb0MXxVDeB60_M-3faS1mZ5fehHB659vcHQtylAduzDiNDTkEIGJEc-IisBOXRytHbKdJ3TrCxoc_EX686ycJ-P9PtyMxtQgLQp68FOoTyT65jhrc_YQMjck0ngD8UqUxSi5mFyy3cgk4eahe5qGQtpkpkGbGaimLyuQyLFH1HxSwSuVie8bXKoLvriDjclvcGQHflRW9MPr6RhRq9FBF6yVNUNd7hjpGrqeWHjmYy0iQIBNVz9n30Py5XJ31IXIXOIrKxqC7z_bPbxdVl3t3fPLBABZrfvmRKQeSf1s9cJVZtWYmC-CbFlEj0PqJDVnPrFDVwfbc-Fv62Kh5gFIuIqRm97J1OydDp8DzJ8KYc6jZawX6Ays_t5-Fvia3-g8CoQLV6131vzs2KRETtySyX5heOMNlm-dE1Y0zVrAwn_F3ZkHiQg8_PWE=",
  "id": "rs_0270c36bcb04f20a016a7fb68b97608199b926e77e8f4b3f49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.02,\"left_j1\":2.04,\"left_j2\":1.88,\"left_j3\":-1.41,\"left_j5\":0.0},\"note\":\"The overhead view now clearly locates the blue cube at about (131,147), roughly 4–5 cm inward-left of the red cube at (145,118). I’ll bring the left gripper to a high pose above the blue cube with neutral roll, then use the wrist view for precise centering and side alignment.\"}",
  "call_id": "call_bg2gaXm2pRfjlkSO8LnFvuJL",
  "id": "fc_0270c36bcb04f20a016a7fb68d960c8199857142b4e4c249b3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bg2gaXm2pRfjlkSO8LnFvuJL",
  "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=-0.9916 left_j1=2.0266 left_j2=1.8431 left_j3=-1.4151 left_j4=0.0162 left_j5=0.0406 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -9.7709, 7.4598, 0.2613, -0.0464, 0.0366, -0.0073, -0.0889, 1.6205, 6.9949, 1.917, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dca07499a8689151c69980790c66d0fe016fed026055530c7b1258fb15d030f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b10739c7f6597b48430ec4c4c46d508889dcf5b09dec8c41f2ccceb5a4c972d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603b15ddecfa5ee2ee64d81e02c9dd66dcd0724de6bc49e6ec04d5847a23d28d",
      "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=-0.617 left_j1=1.776 left_j2=1.5215 left_j3=-1.3621 left_j4=0.0147 left_j5=0.2901 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -10.4274, 6.147, 0.5446, 0.0073, -0.0122, -0.0024, -0.0889, 1.935, 7.241, 1.9072, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7aXl_5ef65XW5EcoHLhvaaPILdaY8hpIvz29TKW9I7EFOPYFjL_9Hu-OfjWdj2JKfBwPp9t08tbfROzSyYjev_TtnuU9Z_lHmNLH1cA7IG1l35ox7Wrgt5nRxyThAp-mBwz2S0Dnh91KMMztxr-A1LD7UgMnPFSx-N2vXoihCeqPTz1ZqDWBkP6-8uPpfQyXTmkuUkCH9Esq0fANYFW3Ci9HjHlpjA_1AeYco5H5vXSNp-lG76ukHa7Mk979x9FOF9maoyAvUaKsXrhUpmIfDWHQJXCQ0OyX84LIVu97Z9afvN30twsb6OVVshZpT9JUL911qV-aE22JKHguPtld01dIzmLUb65awQfBgxk0aEUBefiuW0KvPkWG068j7CMGrtiLLMbdWNkBtawtw8gI2uyixRKzaHP_y9ik6z9qKNf0jqIbyfc2VCfSYph2U743NZ8BpSgSBQuRRSynBo3KApcGjYnkBx4_A731DLAeEOkwHfwZHIPQq5U6WPkUSxjza7jTKdFxiTDp2MslIN2OgSWNFSbW_CR3jtL2aWxE1uSDsxJ-EOTwKHdsoaI2-J76q0UVyN7h5V2oYJX4EgD8H82O3g6MR8B0t9sqWKVimxZS8TDNlrFGgtiI9a_Hb1cTSXMtg1XzuPN5roWM3LfNoOssisegGPDif9Db8Rw6pazAvoQh1YXlWcZmZYsaF-QznYCmM6Gbpm6eZrIuHHzicUv7QyXEbhuFHl8lMfpL9Q7oiJy8PALIzWzVFUNM7SutI5wZe4bAFD_cEyK70BLyWxr9U9GWdG-4WY5pUzWfPgOHYfgk9hQTkJHqIaFB-gNWeSQbUsqoHSrHT3iL_9e1onKSwnLIWqt1e_ar4g2ApQImP0oNid2oqlyuqRiouZLb_kXGGghIBaxJdONMd9qxirh91M1vRoSs7L1u-j-hGtU0IYQhYCOREbTQWY13FEwuRfEmdhSRRgoDLkG5EtXevkc6QLxjS4GWkbWc4k8_y540FwY-hqrizWD2W6LENz-HUaL-v0_brVIZfLdoGE0mtSf7K7t_pyu0iE0CUN8jnm51N8NErb0TlOVVJCp2t4cNW0LttE6ZA-9qHoJnGamrXrbQJ-nRvXa5WL5tpH1pZ72ccrDUrGzeY890JiLaL10ytb9y-bZu0GeF32kSl9w8isT_OeLHFZZOaaepvJBaTbh7sAaKovJenO4rWY8FiE7g_6r3p5ddaXYwarQcVEFK8TNDX0eDFmV6-hufaW4OWEiKBQIvSIAGauaB7jO0X_A7LNMZQqSAV4Y3PJ8yh1oSuZLiFHd74I6sbD6As9vhJM2LA2pkdN3OEGrDOZD_n1gz__CLTVqGVdrF8kL8BgyoQG2Ag7EoRLm8qnwvVjvE5dyvIqh7z9o5EMtfStj-h1OHYO7fiuTpKH9pBBC-1T-QMYIU6Tz4GFmZtVNL5bLy9DobF4Lp0xjophpfsxTsgLkJV5JHNk0DojPx_I-ziroMh4Wmswdso5kIf0QFaW2OzJXP_zf4wnopwLz5Y86O1VKgIPdhBvSZw9H6C0WTy1hs7xVlDjfOI15aA8mPwLgIKRzY-LIsI6XiZXwBAapjGw7ozWU2c-_BN6wFr-cQ_BzGVwkxucUa5I5AO6xftotgMtFUQPksIDdqu96ZzvM9zqLykYrNCbu0DE-Kf-pAo2Jf7e6OOeJ8_6cJ6Y7vzPttkrxsdPWL9BXD50SSxzy8hE6DvGo",
  "id": "rs_0270c36bcb04f20a016a7fb69207e4819993e2a6e100eb7061",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.12,\"left_j2\":1.64,\"left_j3\":-1.09},\"note\":\"The blue cube is fully visible near x≈131 in the wrist view and the gripper is about 12 cm above the table. I’ll descend roughly 8 cm at fixed horizontal position to bring the cube between the jaw tips, then correct any low-height offset.\"}",
  "call_id": "call_cNq03oJ6iy3pBxAk9dLTi5a2",
  "id": "fc_0270c36bcb04f20a016a7fb695e0c481998e74f5f4dbb0980a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cNq03oJ6iy3pBxAk9dLTi5a2",
  "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=-0.9905 left_j1=2.1117 left_j2=1.6539 left_j3=-1.1622 left_j4=0.0158 left_j5=0.0288 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.441, 5.7778, 0.3346, -0.0171, 0.0757, -0.0122, -0.0342, 1.6479, 7.0632, 1.9023, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00bb84f9ded23f5bf29770f6a1d76cb99d4b9e26acb46703c7e09cad0c0647f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d261fe56366ed15b78c080ec30283d0aa6cff31e02ed5f274d93822533b763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9235f2c157943371c13548721a679bdb6c07e9e99c67ac5b54c44258e0bea0a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 236 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9916 left_j1=2.0266 left_j2=1.8431 left_j3=-1.4151 left_j4=0.0162 left_j5=0.0406 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -9.7709, 7.4598, 0.2613, -0.0464, 0.0366, -0.0073, -0.0889, 1.6205, 6.9949, 1.917, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7apymiZUDUeI8AMPV8XyUWlSlDeZMfMYw6a99w3XJVfEVR_GMDqepr_Jhx0tByx7x9hanhXCqKyoL7aumWSCyLcEy2gq4nOydxCWxadLVJ20YEWBqnQ8Lu0vsnwnvyDcRLvZPoHNfVrTYQ4BwsnvxCmNMSsu_J6gp5y4jPcSZamoMSHVQ8UDhgqHEVvD-e74F-B9q1zcx8IE9KCJBXS7k980xONlwUezct2pQoI0jjGo7Zow8MECNdZqCBrcqFkrFQoZqoqJaU-AHa51XCQ6PWi_tnFTXEvCCVocBJKhsxbophZdA4hwliItnBxlPi3QW1H8fcyBu7q9Sn8jcjii47LWQ2W7_Mg5ZGtzSB0ZBXig28vAQIZMCQOQrh2aPosF6HDTNB2bLY7Cjh3NqhJWtDeqo0forNewyl_pA1bGFexZESnf-g8pfkdqxKqRMKj3BYVwwH1I2an2Wh0aS9J-2uT0jQ9oVtejsxdfOx6i0Q46H-i8i4gJwz_HMzAn8B9gkiOciunI8XNnAeXIJ97L8c1NaRF8KzRm_a5SacwcAdhvNO0E8lJXw7lceZvampnOi5Vmw_YxrdYHyll5S6Or5k1dDn3etX9puRFHU6VfBNcVzSRDfmNVwTTHlBK4WVZ5ZKvJ-vgmk_rSSfXcAtkfIQsAObczVSLr4mnxAyUJdb7YW5oYUkNO5ypgHbjHWDdwp7-LaJvC7ZeSrpIjXYz5ChadfWhLiBYrNTK856IgPDUOKFsvhq_Ah0tfOVQ_-kjyGRc_kTafzYYhbk-Trtb1pEtnEe7HLFOEgHlYwNdF2ZG0UECOrWInVcTgoH7JCwi6k77QS9fEitlLNa1YrHujNjjDk98Ge_AUaXqpw96Uw93zVp_LocPWxJSbs9Zmmcy_i9s9hroWQchSP_9SCjXioqJP6U7bdkG3XZyhwin1NNVzSIcD0f7CwuIunmwwmMD2gSFUDHJn5nu-n-0IwAiW_FQLuSEXQSkpj7Dvii4X1SuLIdJsMPx_3kmQZFBldkUNX40GwGaXDXhbLKH4anDVETevJrFC5fetI3JDNARrE6HxBxdThUub2l5MzgrzIWZxLkyyCtYLkdTP-ebh4yFoyV0HQ0nwGvyov6ZOS3WvPEmZsnO3tswQr8SobUH9lL40LLMlktmJjNd-58pfAq6LeRI22ox-N56RVTRmp668KoisxJcZP7fupNAEzPFgYL8JOz1DsS3tcy_JpQpta796e2pAmJqGFvEBEdR0uo2BzKdqZDdb-Gd6tNrehs6JRtQgYhOrfO6laL-zDCmCnjrZpb63iqssC3OFzQZBrIfUCrk4utyVang-d_BI5aI-bsrfbQDaTc2jkPgr8jCYCeFUnbBlrWqLcvtHLKSbnIfX_K-AvfZkXlAPSC09jUQVYFG1b1KjnPRwQ13YFum8lYvboqYmT-0wscmBus984ROsUqQQmBhWOArusZ5Cdx5kZFifkC6yDT-MpfLNzj0aXvG7dxqyCENk3TCtDHnt6NQtJwa28PCQ_bCtyD4wf7Ts6fMdcsdQC9Xq3GTvAFz2C2g2Q1vtD3esrrrR8U5FH9TYfHTxqaihb2eEnDaG9PORtvPp5_sUq_vEPsZ5vuHP7EQ3BVbmHldKzRXUovP8SVo1XnxtASzbpwPJxg6k74zm5if21TfKwvdeo8N7mg3rlT272hPYNy3r6UPJvFe57t3Ih5a_-Myg1lAe8Rduso6uxptXUOxTCZp-KsRKO4b_KG6fyhERacclr_1HgLFicdaCl6wUK3CLKOj_m6JwtYLguX8EmLu4uCxHRw4PjUZTzlETkaHZFwZrbG886pEZtKs7bByJ5wHaWppvs-MVFx4guBbm3LpQBkW7aHKVmxBxeQzxzlnACee7MXc5T-b7cHHV-3dhmwKQb2Mr4UArlsy0UE5i2HXisz1Dd6u6jkMxFTZmRPUwy2LcLNb12jbRsb3St5X50lFhCje92pbBolOBLUoOL0j1dstlInNenGdOSsjKFOlY58BBYNt54GnCP9_x-ggik7mWnhmOGqrAZxSSeNk7pGU-snvpkK9npYZLlxubceCHkLl64GmLMG2_I7ez3p4kkY6sEccmeWuPg2TqKYGTyWYE6JrdfiLmlGHGbNm-uomq16X30NQJYWKzKvp1XYVQRJxL6Fy-5r53iqevrLhVEOQ_ctJhqze6tBb7lZmF_HfeTm2Mz2JQfKjy6sQRm_XQzCgil4xWXvQGAunBFjkTg-pmAg1ra81Wt1PqYz_6gxClNE2kzVplLdbBZ17PbxyyodLQdB9Ku_nZyshOLRAivSL2kVA9kJs181Jr64WpQPO4h4mWHGXA1npapVvsMPIO_xootSdR7-o9QobmPR-_TlI68xysdSCEHBZBnqkS33uDXRSdorSom6OBn7DYkc5ov0LKr85RwEZV0NqBEDFYL0wroaekJt4N3Y_iT_lChqI0XA2ufAl4I_mLDsSOpHj_srIp-wVVm9V1563TPAqDHrJf3XMXzEJ4zlyE8ePj3uK4AajtXUkKjTYERYdIYZcVs_R6wymrINHDQgvbFrxGTmQ3WdI_KjTEb2W-SmuJrvpQ8vmeCDHkAlCXt5_EOjzcrOyuJspfdCI0NsdedwjbShax6cnnvipE8TxQXtzrUkjvd8N-nZMEG1VuLVqKfCMVoVE206vzgcow3D9LJqoOqM99Nh-M7VXlpimXFTPm-ZcLO6mLhUQUDJ3_rF3n8z3OYNaCQHToYwqiXRxeByfpiynhMksQkUFcl92chFEWk13D_F5I9J4m2BxE69xgV2fk0YYMAKtukKChru9GVuyUcJiaUJJCDPl_tr-LvKEw0--V-j_wan4FzDJLZ42LtZHWWrmdGdi3Ldy1Yl-OC8O_bwUEa_NtfNYx66IXWFDFVyhTZH4XLxKhYdCNRDfkPDH9LYzQ3BK56-0mpxLvczAx8v8C2HNiVNhBh9xJbwwrQvagnkkHH9_zh2jUQCZvNs3v7jEowLLWodFtGYZ0GMk2Q4_xewBrKSbllJLSn4xsPfuhCLqRAxPMFPRlJTDO3kqOSVuTwo_OUNnI7TY5YYf2VytufhhdKddTh1wZJwwEkdpyA0ASS1rcKMUvyLqxIFybUnpkuUvx3xCz9nGVgNL0oriakgSSacFAnPDOUyK7jZa0vT_CZJCkp4WUXDahBZPp3KiQEPrN2ns8K8Hu_F_KECTLZ2Uv7SodYaLAnERlN2pbg==",
  "id": "rs_0270c36bcb04f20a016a7fb69bb9048199a23b15dc5c0f1c5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.05,\"left_j2\":1.71,\"left_j3\":-1.23},\"note\":\"At low height the cube is centered, but its face edges are rotated about 17 degrees relative to the jaws. I’ll lift about 3 cm to create finger clearance before making that small roll correction.\"}",
  "call_id": "call_RQ3oTMDN5aa7NyGwgnlAnK8n",
  "id": "fc_0270c36bcb04f20a016a7fb6a7d4b48199aa9caf7dd0dc2d74",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RQ3oTMDN5aa7NyGwgnlAnK8n",
  "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=-0.9905 left_j1=2.125 left_j2=1.668 left_j3=-1.1683 left_j4=0.0154 left_j5=0.028 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -16.7453, 8.0342, 0.2857, -0.0122, -0.0659, -0.0122, -0.0889, 1.6479, 7.3094, 1.8486, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df3a43755dd387e90521de8f0a5bc7dd585fe63eb7333c672d22fce409ad14c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1141b4e8c14aeb4e451594f30a5c9c1b321ecba1e9b8248974c9682db2d037f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9127c1c67be171da59faeaf9816445a67b30024eb6134505131cd352658d3ade",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 240 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9905 left_j1=2.1117 left_j2=1.6539 left_j3=-1.1622 left_j4=0.0158 left_j5=0.0288 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.441, 5.7778, 0.3346, -0.0171, 0.0757, -0.0122, -0.0342, 1.6479, 7.0632, 1.9023, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7atLBFt14ZhLuTSgiSoRFsgytrY-IABPcJFf4C5Q-SL0wgmDTVmgm34TmAZaVVW3-LYsu4UPlds_GqFc2qkSKbcMJPr9RWDKMrzDoPN69dUMotymPNYySi2gKC0Ww2cUlrkIFNAkW3yGz716P8SdIq5Tw6RR9j_lMb5BHJ8El1QjFR02z8rU9pQ0FOpEGV8HUEjunGV5J7n5UDwIo5q9_dRqc1EOlCfpWeGOz-aW42t3oNTW__Lk3ikU8jM8lsRCCFbRgyWVGhOseE7lbOHAaIBzxXG4bMWElFRQ98Y3lYUkc483g-4ueK8EBf6XoZN6SWBh3dNtAjg1Xg_GeCbfobmZ-OOskEaoxgmf49UmDIji7wrv0HcLA_JNJpujHv_CU-bvq6LWqWq59JkvhHbqMuPxIBe1daWjkIekUDVfKgPcPgjvYcx1RYa5BUgNGpU1FAnnHzY709fPY4F5yFnQkwNesVCNxm2SaWz8_qmipFl1HO8RKPs-nTilIx2kdE8kKgt5wJpUyoJH4qxL7IGQsG0Q3Ikm1ZtsO2usW6nYbPOLJUX3qznogxoj1FJMVPxt43b89QNnBcDdjTi16dvHaZva_kUnRSCOGZgCGZ_n02y6x3HVIeClNlHbWGkgOcsbcteUiAScZVi_60cu0ZpPbfOeVnfAh1k1_FBlaTX2MDAf__iZasMXx8zp7UxtSkbXa70QvAedwwm-hDRuQifxWz_6Zem78dwbLUVBiM0QMWX15MM-W1rCn86Bg3xPafc5tXpadPPl8iJHD0hEc9FwkaGLqVZubmQ2nEAFXCEeANILoB7dwrvIhJvQxVZTmhrEtFXuG04KKABu_56J42-8oCxFDAJa5zl42mKzOFCQawo4uYGj1Y_S8eCAAhPsUOvMHgoZlXddMqOBz_9gN_JDBJs3Jx_of2ZD0zmgb6e2QfPIfV9MmrkaYOTzOVzO4QvgLDTe-RyQNHwzgu64MEimBkHgVpN82_RuqjP0OymRIua-J02B0tJSjz80J2DddJPt6AwQMRy0V4hQOo5YdnFLvkCTfp-DbkkfdwpT2Ay1adiIX7-iWipwemzQspkLdaItAViDduGv0RtD2W_NGeX7YxQiaw7Jfi22Iq-5OG6di4mTQLA6PItRD8NeM5POtmTrXyXcUD8lSmFS2Kqu-XthoXT7z6Q9pWf5wISeLRhM6ukJfPYwM5x1eh3uc8R0_rncOLSTQUUg4YiSKcpUkLgPVl8Mu_xHQ8_e6uxRnh7ali7304=",
  "id": "rs_0270c36bcb04f20a016a7fb6ab172c8199a096313265a4b847",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j5\":0.33},\"note\":\"The cube has moved slightly away from the fingertips and remains centered. I’ll roll the wrist about 17 degrees so the jaw closing direction is parallel to the cube’s flat sides.\"}",
  "call_id": "call_JZMuyW8o96KrnWVIbvj97pa4",
  "id": "fc_0270c36bcb04f20a016a7fb6ac029481998ddc146ff16ccf92",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JZMuyW8o96KrnWVIbvj97pa4",
  "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=-0.9905 left_j1=2.1307 left_j2=1.6669 left_j3=-1.1919 left_j4=0.0162 left_j5=0.244 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -11.3846, 5.5863, 0.3932, -0.0122, 0.2418, -0.0171, -0.1436, 1.6479, 7.0085, 1.8926, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be414ce348353760e7bc4a7eaaceff0bd51e1658e6282d3fe0cb40d0231acd02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0ef1eeaa68dd7b361147132cdd30e3bd2df740af9dd7c105dcdee0f5faa2bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e61535ff13f68bb4a35c18b4a5796084289519b5db76514cf8e25a98d3ea35",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 244 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9905 left_j1=2.125 left_j2=1.668 left_j3=-1.1683 left_j4=0.0154 left_j5=0.028 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -16.7453, 8.0342, 0.2857, -0.0122, -0.0659, -0.0122, -0.0889, 1.6479, 7.3094, 1.8486, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7a1VDPYQsXSE9utbp4jtCAbCSZZ9pwzRHf__fcXG9ekCG_HQJHkb_q3lo-7nwr7jtl-JSS1QfhwcjOAhg5X3R98GGbNiJ7D0E7CFvUDHBwfQaICw5qQtUqu3apDpkseutmPpAFCGW4nx281vMhktX6SVhkvHngFcJvGoTOuWwOwiAGYRYUreyFgNpnz8LeNH1_ZoAutBE3iiEnIppcTKcz8F6R5u4nTj7mI4A-r2e3FiuhMNFKw3Fnj8ZxZ6g6PLPNB_Aht1fbCYm0mgnQ_PyWPRAQvxDaOlrQ_yTyLTae-vdVqIrStOKJRaDSZ_jJDc7fpmncLfA0_Le5JOIF5vJ-K3orlVYWdCLGz71qVqXQdEwje8e7O0kK0rQf_W4ct0OrI2yD7kOFzsuhUWPkqIuGW644gq4ClE4h2H_8KObVKRGFbV7FVa5ewJe7pUEdghA1k1_LVQjfjyiV_4Pj5S6Wqt61_wUcV3nkihW9T19c9RgC_XR8DSmuzXSqlvF8FScmEPESLvHte9pt9bB1gaH4hFdjSCA3LZQHR1aL3fK2Oxvf56FtQsaRt0jIPqEIoiTnJuLAI3fkK8s4LONiTAPCY2_jJF-ggQTxEtq6m-eT-aomsJRUTIEDNbSK75NJV3D3pGf1pWj2YLKx1nTioYHysNc9fuhQiVMxtP7n5XppKx__OoByI4lh_dX2wJwuF2bYCjfbRit76M8Dq-WTHduOGjXfNYV0DHWX7Lp00xgcv_VRDTno7sFTo9rLPWPBMIwPoL5n0yW19spIhxmbNAwAdabij-iTSXEyDdmUYeLR59eBs-OwaEVgqbnskqIFuUGljQNuMy5RQkr4RmjLDZW-t_gkaEiaB23vdhZaJ4v5F2fnMW2ozMnlwGbyFkG__OGsLn0liQNi-cZox7Ln0Gfkr69LhDfEFDmTDpI5rzL-q-go_8dlOq-qxXUwsFx1FWwY6HNuz04fqKgrUmzJoMYSIjJ7DYhS21MT82IGCk8iilFb1jW5RblPeMGVKjc2v-4O4gW0ddOVJ3WCLmUPo8rMBumilFNNocneTDYfxZXd9Dt3SM7M4yGMcKwZ2IsUlKafBGp6a5Ui1W_ukoJgBxT6_ceFkG_smRyQsCGowbG2FAoZHlhUXh_0eI5BkOE-V-EcAL5ExgTnXdqmxg9I6IwMLzU2mJscE7Nfd3Cwes6pp69OVaHL2lHlupLLnJsNbkfRUARyFQnPYdaEIWhvDU2POpBVIrdCobnsk_HEUAw9WOdQSvdJVT8zioovz2qkIZjCopSxz-7abw4_-OFMa--nv3RwPRC5rtO1xuOVOVGFn1LQlunI7w5CgpNAkiRp8bAIpHRiEb2d2mXi4juhLIw6RqUUgKvHBhW8R7hwVKXVc_Jl3NWICZEDXpiKNtbfxAvh51KHk-GaCltPbbRHp42doqvyGMz2c4adJZpVk-RThzgMlx7hxTw1EF9GYYDDRFGCkrm9XOSoJyzw7BgjQKixlDJd7dOO3dlQep_nEjeZuBr493xOBy4U0x1qYGOS18yegaOj2dw68P5_trnJRlW-YDY5LN411KYQPRccnPPMGUqefqvv7u4tbLAUEdWMWrXPe",
  "id": "rs_0270c36bcb04f20a016a7fb6b250308199aede759d49fe471a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j5\":-0.54},\"note\":\"The positive roll moved the cube farther toward a 45-degree diamond, so that sign was wrong. I’ll rotate the opposite way by about 45 degrees from the current view, which should make the face edges horizontal and vertical.\"}",
  "call_id": "call_yJP6oH7RakfPqkEEeOUFalcT",
  "id": "fc_0270c36bcb04f20a016a7fb6b471888199951dfcdd785cdf6b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yJP6oH7RakfPqkEEeOUFalcT",
  "output": "executing move_joints over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9905 left_j1=2.1307 left_j2=1.6669 left_j3=-1.1923 left_j4=0.0158 left_j5=-0.4648 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -10.8103, 5.6547, 0.0757, -0.0171, -0.0952, -0.0122, -0.1846, 1.6068, 7.3231, 1.9072, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857931a4b1bb297f153c5c82a89fdd3e60798e8b849f88e0baf479e44a49d930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a44d8c1090c5de681daeb854306b6fd3db21ad24c3e1bcaaa9d0184626d6674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871901f58a97d10ac8fbc4ce917b1a5d718e7f76a1868a6f5a5ade5a3cd28bae",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 248 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9905 left_j1=2.1307 left_j2=1.6669 left_j3=-1.1919 left_j4=0.0162 left_j5=0.244 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -11.3846, 5.5863, 0.3932, -0.0122, 0.2418, -0.0171, -0.1436, 1.6479, 7.0085, 1.8926, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7bAC5uQr_3XXhgXg_I-vKynio-Ig3zSbIZEBGv0eGuVzmHJk6Z0Y4RnSCuKQFCqy_dks6DWV2I_czxO3OW9gYhfRTdXmQ5j4vp-Agv5-ckcaehYD-5PwtYg2Z788Xa1fSz_3Xr_WazReEuYfxjBK4ICr_ue-WLc6mWJrPg8IamVnlWm9X3Sv-6De9gegH4HjqsGuWPZcFPOQcXzYCV7DQqDOjKTFfBniNVPCsE1Ta4J1fIwXWzEBWsP4Hp13U0I8F2S7DYR3mYjorN8ypEjZdiwZfx6FOYeproQhY0wTNfqKhT_S2r_VhZtECsM07NJw5EMZOnviFNp6HpoaAvEC2GQSNqDUqD7VCvOHUGP7LoDAnQdmXWPIpHYm-jKmToI86nvXwHmQbqyPzFKSE4EuxTuAhkWMlb2hNXm5Rdg3aflDqbGTVWd82GV5kmQ3JU5JKstUJy0j8J4e4c5IfKfR5ct94qk40t2f9pM4AXSBeo_4yyOSOASBkCPyM5OOIZkD-I42YrAGHvkNYQtTt-P3mWc8EAAP3qYeK8FI99ZipwvqyisSPXA984R-zNGAWgR2dVQG_v3ZF53Bo03szeYXqjpsIIhBnBCa_9UCFojB_Wj4wKQbE-pUdC5CnPbsh8mIogSb35D-a4k91ejPV-bW8YmrZtqpi1ngxSVKigA9UUUnkW5hmEQk0ss1L3KsjJ1fexUVSH7T2aWmWsBLtbMxp5jbD04wfg6VLhn_zm-_mm0QHqJ58vPZfEST_FLn-41OUD6SSKe8ANu6Sui2aDouKA-1_TrvFMgqwAkW-4gl1YIrAp3caXDfP4ApmFEXuAVUXOKIi1Phu2D7kqoJvxmH96K_-YTKvqsomdGq7zvef9Fn_C0oCxfcXkw7fOn44EokXGbPBlDNlAn8bxeoQoBZZlT-t0X51No4PWtj_mez5NMI6GkbPZ6qSobWJ2vPSU1dbxa-OndxrfSExzmVcVX8keCG4c9jqfN2tIasY7XnxjUDh1th3Rf803VZJ5TF5hl-7szg9x2zxBgwSiNphQ1EbRVR9ynsx1jE21PwiMLEA-lzx1s9qOSioQGcWpIr8PB7zOBXfUP6LSWpAKz5T6Pcp9ZbKWWl377cm_JokFGHLgxpzdHqwBzWwfDadiTexcmutrZP56ILpRsEvjc5QP36S-fBsQKZ-oBPWBZbc8hxdpcYvey9b3_kr7subZi29ZqUMx0EUIh2b8rx0JUSWN6lSUN8hwN40KEIDbWmCTqwDwirdj5RtT1OilT3Xdkun5-XxoEAVu6ijLqRIemlxnNLIuflssY_VLV97zn0ItXK67xlhrzpYUkkTNJqS015_CWNhEoD6iKHWQAECoHNyvTmDl8eVcQJX5D0U7TN-KwsZ8R0pAXZK3Eo1fZJfoDbKMtYSpbxyVLkYd2MkoMN5Em1NmdkOCjMNnlh-5ryJX67SgXoRKtwZnaRdLFMyx7qPhuUEdCKDbCqRaO8sNws6IwsLsSMDAYKfe1uPoGFBEduEgPk0j-BWaLrWvY9XgPsWCusUbM6FgAPvkoOpmT6MSkcpwXpND54A3la5gTlInpjunoPle3GW-tM9z2KKjLjNLoCWhvnh6avPJt-8KNMpTkBGwsmjO9eGMkVmRLfGOa0_6cWL5M60xpDSwS3lN-PL--Qnkn2q8w30PesggjHaHqfcfyBZoui2yRP_zjcZxdkbl15EsijCZeHMiAbZiDuXBSbkXeWwhU-FyPEnN-DHb0N8HNGvJXv9hmv3y6FI6oYaxCBnWwOTMzA4VigxrU9kWm7SJO2vDZpG1U-8rPGRHPGyhel9Vs8MdNSgN0jkZE4bac_kW-2HAHHQGp4xeRrHkOIkCGuIKtQIESyAPnvxxYrKUbTQ==",
  "id": "rs_0270c36bcb04f20a016a7fb6b9adf08199a32b7c84e540c4cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.14,\"left_j2\":1.58,\"left_j3\":-1.01},\"note\":\"The opposite roll worked: the cube’s face is now square to the jaws and centered near x≈130. I’ll descend the remaining 2–3 cm to bring it to the jaw tips for a side grasp.\"}",
  "call_id": "call_s5krcvrIvQJ23ifkWMBhMIjQ",
  "id": "fc_0270c36bcb04f20a016a7fb6bf51c48199b122b1eb6322045a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s5krcvrIvQJ23ifkWMBhMIjQ",
  "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=-0.9905 left_j1=2.1422 left_j2=1.5936 left_j3=-1.0855 left_j4=0.0162 left_j5=-0.4896 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -11.0564, 5.641, 0.4274, -0.022, 0.1587, -0.0122, -0.1846, 1.7846, 7.0769, 1.8779, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b0407e25e1ab8db74f10e9148c64915da283c7f587a2189cae0f734b800524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aff2550bb2d9108b582525ca3e5cf8ee0ebf5a35ee2d00413a6fe949f3a8883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93440636894550d501cfba32da1dad8c5c03b0a439cf70acd438f2013da7e8c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 252 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9905 left_j1=2.1307 left_j2=1.6669 left_j3=-1.1923 left_j4=0.0158 left_j5=-0.4648 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -10.8103, 5.6547, 0.0757, -0.0171, -0.0952, -0.0122, -0.1846, 1.6068, 7.3231, 1.9072, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7bMhg0ivQgIzWsGP0WFmJXQ287VyXuJ5jbcONeEfMG6hVachhjobAEAwFCTwtD-BCY81Z6qDVOuw9wr3BBjs18j6l5A3T0IK_Rat6Irn0XRxCgwSaSCAHqrpA1dOlzYy9Y9ROz4RE_SxkfnlnaOAqU2OdgxUVl-GMkTtKUHdM5kz-klDJGJEhc5bAY-EtkS4F7TY8n4_bgCt4cFoWInwvQV9aKmByQp6YHbDK-pV9ULlMdgYDTfmaXCj9hKqSqLi5fibot7O-44q5hp8ebUbewBQf3RImd21YVJir0b3PEWDvOw_HTOkbh2Zhayp0OYI6CMhixDnCcu2UzjeGzMXUAA2fmV0PLmoYBVsjtFOZCpzaFq1v-T7awjwjvdiDH-gAjg-g44ceqfwwigpXFfddTVJTxoNyyFjpfGluzQPKUv4r-1ackm8qO0x30ymotTt3eU9zOLKW-Jx0Kh6-Y7nzFiP1SniN5zOfAU8aUrFVdzl4YBEujo_gXYjxT9OPbGEzZzChDlVzboOoHzrwVywSjlAYKww3ZbwKTpU4ruGs7h2VHu-HbkjYTjFlTGcQSH5sq4xnYJ81OOKnFIWDDoFE-UKkGwplaW2dnxxsAgLpNuYIXjK9_FHVbFxMJDlekYYcAT3jaYCdpJ2FOTvikJzN2dEWnVkotVFtnWdsEBxyozzJSROKtaeDS0CMoehgsXvd-sG3KeTWw64zR2xV2Ft-DZZQ6OZOrGvTIexKNeL8e2cQQHazA6XOL_dGUs6CRbuVmjFc4xyHm3MfRuNonWILYFGZ7v85HvNDwPxNf0nMhc-HSuuHjGiqvFfcHFxexf30Wc5Z1l7QRXzlW474Oqxq2qTINk8kvOlhlt_bj8KClNTcAj4nshQiRGE8jeqQftvaNUdZrsvikm6nV95wkMNoIcqolEAWdyISzzvnfk9ovNdgNQAIcWINTkZy9r7mQxsXeASPRso8iNK6uS9M6pyytP8FAzdv3QfAKmZnOJK6o89QOg-FAyBLR58jCZnEh9jaNqBaVXPezCeUEIN4C3GkYA8OCtwZLzRh-rgf8plVrnhMPuqrjkI7ipNy0AmmumqJrjqkbBl0ppCmdqJuachsvBSPm28-ZGLZcN02ptwESZeEYhUTBlyWBGo4FK57-BuIK8PH4TjjDpj3dL4WFYwigZUKzaffnQi5XUgBv700R-MP4BbFYSCJu2C3ZTLzL-Wc6AowRoOmDdE4u9Onqax2Svn59ARiEfUn1_-oJmF9rOIEDflvWSQnCt7IQ_Goz4Wq5SJ1C-c70kwWD0t-7qTw2ABN71DO-Qv-f6lLYq3JY3hh43QxLAz7vTXcyCfDz8ZUOwBjxT1OCdwCBoetdt_cimVnyxyyVbIkbJ7bVDgcj7V5ADJeCmIsevTUPU5V-iCD12w-2KxQjzKMMSsBbbgaDXMfmp1DClJwSOKp3c1Z-o9Dx6OPnJcbbhGEhn7iOmMwhRN340LwPGsDIoWHDJGLqDUmWkRZPokpQAz7078gRpAZwTyPYsSdNFqQ0fZnzlAsxm4hf_0AsglHhvG2CTzpvvawSCiP-4U8Uavvaaq-p4JzPI5u3Q94BHsPYxLHYyBEWz6jwAxJMFnRKpXG9hegPFFwQQvItoByj1xfKQoNCsh7SB2cWJkY3ZEJaAbmECupydJimvZfbwp-NV_u8z2LCedXIZZEDrUqtHamyMVtXd7yUh5cqBzC14Y2VD-sLhonTeb05-mYhjAWFqoF9kbXJQUt2PN2i8QSrbNW1W1btQj1uJOP2aiydUQm6l95VF6IBDa3jynpxfSDWT_meiraFZI1WO-hhrLUoZ3Dd3jpVKhy_MV8QVGopyu8_l3UK0ilycl2zB2Orzuw8TWbuP-kRrVJyWm2kc59e49UgDrn29WzlU_RUg2RxP7yS9uYVUbYBy_x1vKfI14ZXj6OyAQOKL0TTc4cQdssMmp50Nqz__Pq3RIwKkXysmloMm3yoU0nRvFxoCFFJaTXxYnLOPaxdCh8xnHAp5xCaTiRNNHd-Zms9OWfl9kzyz7rVLuDivJk9wWMFuWce5QT7TFtfCpqi_HNggMpZPWdzT23SKJbjixqVz2JhGx1Yl3xEX8SLu9LAJ8UAprWgUfzVVUPKZulUBJz9TA6kgtL7DSI-MzKZHAmHoUgbCGjIVXIQW1ypwfedZjfs8joPJQ3HQYPws5E-Vlg==",
  "id": "rs_0270c36bcb04f20a016a7fb6c581508199ba8a5dcc5460d0bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.04},\"note\":\"Near grasp height the cube is deep enough between the jaws but projects about 6 cm to the right of center. I’ll make a small 1.7 cm rightward yaw test to shift it left in the wrist image, then scale the remaining correction.\"}",
  "call_id": "call_y95OsOiYBY238fZhRfou66jx",
  "id": "fc_0270c36bcb04f20a016a7fb6ca79808199b804320bb5ded172",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y95OsOiYBY238fZhRfou66jx",
  "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=-0.9905 left_j1=2.1483 left_j2=1.581 left_j3=-1.0306 left_j4=0.0162 left_j5=-0.4789 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -11.8085, 5.3675, 0.4029, -0.0562, 0.0904, -0.0122, -0.1026, 1.894, 7.2137, 1.8877, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b83e4c04fa508b3fe66e876d73cdfa45b849a71fdefa8f85fe404b9ba3e09ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdba0563f1b51286936a5ee2395421dcb6d192e1f41ff1f10581b7e3bdbbbd70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c8b7ca83ff20e28e1481fc1a01f915cd8d8a1fc27940d0dddfb642b9898676",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 256 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9905 left_j1=2.1422 left_j2=1.5936 left_j3=-1.0855 left_j4=0.0162 left_j5=-0.4896 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -11.0564, 5.641, 0.4274, -0.022, 0.1587, -0.0122, -0.1846, 1.7846, 7.0769, 1.8779, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7bR8qmLq871nOCZMevoY7k0uXL4D4rSWioQpPI6C7CmJ8URNPvIQWhusN2jYon8dpTWM8a-8yRgSDG5myuqCgrWTt7XeE9eVXxIWMUV7d0yf2Y5SgYVj-OWxqyZ8TUEq5QBVCL-noRQZZj_Z4uH1GrvcBarMZki1c7VixQhnrZkeVHv92eTwDEmujE6gLOBzBLLwWldE56vK6KqPHwhWtJOQm1IxW2IllpJ4GsE6dEx07SS-XGOJJ8qZOt7Rz0T7pXSGGO0CyLb7eDKrUDQFh9qdDvfO5hJhpONFopdefPHWOfodcnKEgpKsZFrKw8TIP7iVNLhSnlM-3QBMd9PDTULusyCJU8vwYctZyeVz3EXxMouR0r_t6ba7-mhJKt7xErLQrKqms48lLENxEDOO3fWCETlVPEnUoUeWw3dwHkWypT1mbsNsKQYPh4Psvwhyy6n4d70Y8pNwYIdC-DUqPtuflJ1_wCfo95mZqknX-hUtTnWagsyI844eQEWUAvpts73PzzModDsmhpRFNELR-bhQn2zHsUzLId5MYSI_3h6xzK6sNvJAErurSVosobK59MbDGo6vcrsMgBCmQXdk1j7dOAmho6jOlCMhC_Bts8icwVjof7uR636eGkZFJ2DJqqAe-STp0Db9D_teT1WdA-QSXJdj--PZ886fAGr2j8p73Q5V0liGYem0YvK9fQWh9ihev670G3pxVrWWAXUGfq0gQesc12sbPsDjOUPiSKWLvJhnd5d4xObU2SXwgYuhffg_yxkbaGICrqArnP4A8d2iC3woD1AfK2vUKaTjfauKMSfb7_93Yz558lXXnGXMVm-_KLX_x43OKanorBxJCaiohBXMBZMjwvfZXybtxv0ECtMq-vB2BkMqCXhhvdrz_4voMeWSFgTVGywVh6fsq8wFk47NilrpE4trKeIEU8ozRK3jIVoz3N37aTT_TksApgLaW46apK9w8xHEZJ2z7epuo3wYPX3lCEtPxkDabuVPUbcGFY99DoO4XhV5d5CW0bs1XTWkmyZ-ik93AnfunsG_fpnb9-Sni-cWWttpfCKpJHzK23qGB7qxQvRd_Nm9He-EEnQ4J8I-ZqwxE8yX8k6q5Tv70d3MbWAJvbDPA8q_s5axKw0znAwJ8S8BAgCy8REbzoTXy-c7zfclRd5hSqQldfXkyXGEuRHbJLISLKv0uJYssvvaTj6jU8qlSnGX5O9OXGHYOB0emJVnz6G8HM9zDbpK8hihqXIXsEate7KuT1qyvwd5WMLBoZ4dgVeLIYsWBleHirCFTpqLL_3wSBqKlmHTnwz1vvve6fXYqc8qxw7H239aB2hulAJsWhtH2Jz",
  "id": "rs_0270c36bcb04f20a016a7fb6cf316481999352bb39701956c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.04},\"note\":\"The yaw test did not execute—the base joint stayed at −0.99 while the descent joints merely settled—so no mapping was obtained. I’ll reissue the same small yaw correction now that the other joints are stationary.\"}",
  "call_id": "call_AwCN5Rhz7Nktv0lUJQ5132oJ",
  "id": "fc_0270c36bcb04f20a016a7fb6d013448199a9cef9102e9987d1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AwCN5Rhz7Nktv0lUJQ5132oJ",
  "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=-1.0412 left_j1=2.1483 left_j2=1.581 left_j3=-1.0767 left_j4=0.0158 left_j5=-0.4877 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -11.6171, 6.3932, 0.0855, -0.0366, -0.0952, -0.0122, -0.0615, 1.6479, 7.0085, 1.873, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a739f50ad77b24d044b938103a0c7d4663a0c323932d8cdde69a99c2bdfe312e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bfde3bb6be68b9961dcf731fb33a4d4e3a56a8130c05a93c0e5e174669bfba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb331e3ecf6102d251fb21609499dfc05e330edde13fad85bc4f8ff0d89cc4f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 260 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9905 left_j1=2.1483 left_j2=1.581 left_j3=-1.0306 left_j4=0.0162 left_j5=-0.4789 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -11.8085, 5.3675, 0.4029, -0.0562, 0.0904, -0.0122, -0.1026, 1.894, 7.2137, 1.8877, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7bbioFjDmex44_73RsaqTizr-eMAOt7hjXUlndoelebsIEnDdemtclaZQIMdEL1Er31TIN_b6M_NfmY4URCNT0ITGIR0mYOVmK-_bXwlLJ6dtEl2gEbbqmbw6jLNjqsgptDl87uoITdgLzF-mqjNxOwlHOPdMmDI24aobbEbt0-uZnusFnNuS1D-QXLK_XSNOR_O14inAJDMGXJyUqrLvhNeOp030v1BiGiSKj6elS-ae4g5DunCq2jF__FjrpjCJORoev1FNR20VpZ8b_hVpnuPsOT2vRLGc9ButlsPjLP4PZ7N1MJRkmaoZrQGgiZtSlUyAvKACcA9IlwogI0n2vB1i109mfLpz4iBhSKCCfdBCHa8elQ_PnZDvJ1ZW_vvRnZmZdX9eTnfo0Hnn-uRoLTDlXYVyYhyBYptQceB3kLpuFZNOBLIE7K_pH5e_q3UKbbvj_AbVdoARZDI5HfDuGNsmzl_SiKykkvxtEVFcq6aIzeLQnMkUhd0-pibZPyT4irNBnt-eUOx6r-mgB_J-UCgz-ykEI5CzhWnD-P94JR4Cmu53CvQRVsGAOo5oEH4k1CErakfdaMQNfTOciOIAEU7VLo375WujVsube_ka4m9zttvjDL6IYwOo8se_5ho2UK35N46EaAcWVYK-Zfhnug70H1BKVo3GOxkGfP5f3ZIQEbMgW-X7b3k8zIZHFENIcY4rWG8OOW8v1vBLq6G5FJ3oy1gnpeyZRKm_q3JLJrY-1TNDie6NWReVFNaz47H6hZGLAVzW8C2fpYwGXrBNzPnnhG9mqVuLtrP0V7wdfBjkGyUI0Wnvdycb554qN0ZRdzppqGizKnprGXw0E_y6saLGJa5iNmaQNBbaW7oA0WpstOL8YdR876vlAfHMjxNkFxVotah8NY_UTeyi1QL430js1-iLuhcWVZ4KmXO4t49P6DVBLxxcAtw5nTfbUmdpUuYXIeiov_hbBKdmdjy1ixgM8_urtDVkUIEckAa8Od_XIOeWNk-j1NoVO1OoAreJ1zEVr_HOwUa7lLwSAR52oIios-9GZzUq1PtohDYEyHQA6UuRJolQ9WcnoFFQAi2eBYmpZc37g2LEH2Cz_wh-4cV72ekr79diiLW4TgLIEeuTZyUik8_ljO7sz_bj_24-bKvZGKFdphcKr-GQw2l-ncZSqXud2_GrELnwrhUg-vuBdP-YXwQoNOaUZUC0ntfipYnqfwaiMibTf_IeoEIrdzXLMVVOeMVFQZgjSoS5XvqngH_ENZ0-bEu0kBYj-9_lUseEMesDzek1qskAm9m70tfNmO0L3amUKuc6pJ_9ckg9S6dq-SrKIaijylkirfrWAM7bWqFQYKlCz6a6wApAkQFg4CcWlRHzQAWhMwouRm6hgnI_o4SVUx88sJ-FZr5jBjharnuJWTJj6Qc4FZYfsvbf4feaWqC1jHwwJVrpLzQlj_LKevptgOF45Tcad24zu0m28FZVr0FZ87GKx-6rmArJkWWb1Cefk7UUf3SelGsx1BoxXqizQ_6Z62NPkNLbRXnEfCDBcpWMtefNNIdm9jlzm2iT47x8ZDy-sGH-sTy82kmeQvnXW_dyI2ongDSS9cpi9hFyUNyyEd7mHRHmpZfyrrHZFqqHfKJjDqWHnzVBHOK_s4O72uzSD08rY7RCRpEaS-lCaNfqQzNiLcYH4Q46oqpw4s_ToOW9GhZ7ujRlgjrIcu5OZ8LdbHeKVtyXPrMGNbOXsmOLkPZkbA-cxnl4D6uIP6cn97VLfgxqrf5bzmq7COIQjOgqSJk1Qb4LExGIspXrDt7zqzvmRDFk5uzGKHCHDiWyZGCWyHCLgJF5mi8dcHm7CXo1g58utupWm8lXgcSILEu5bnCVnntWyo2sVJpwbv6Vz2s996JQTmwzNNTyyjgNrmtWcm9f5h_zFMISxrjLRPWZ4IMMrdNKEz3rwfedT7Z7r03SVbSmxRtqw=",
  "id": "rs_0270c36bcb04f20a016a7fb6d544d08199a756aff39d1e286c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.065},\"note\":\"The executed 0.05 rad yaw shifted the cube 48 pixels left, placing it near x≈137; only about 22 pixels remain. I’ll apply the proportional final yaw correction, with height already at the tabletop grasp pose.\"}",
  "call_id": "call_JwmI4lmpYefiijWtKOcqmi9T",
  "id": "fc_0270c36bcb04f20a016a7fb6d9d410819983f85ce138d27a38",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JwmI4lmpYefiijWtKOcqmi9T",
  "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=-1.0412 left_j1=2.1487 left_j2=1.581 left_j3=-1.0489 left_j4=0.0158 left_j5=-0.4873 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -11.2068, 5.4222, 0.3883, -0.0171, 0.0415, -0.0122, -0.1436, 1.6479, 7.0222, 1.8584, -0.0269, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026fc2d976a8f427f6bdfb333e7167f5949a63a230b375325d4212d7a0da1ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c27c7c2291323d04c7fce17fcecd902fc1bb2e16e1e2ba38204cf4293ab8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb8f986c90e538a0b6bb5f86c2a23c8ee1974a54bbf5242b28309b18db43997",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 264 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0412 left_j1=2.1483 left_j2=1.581 left_j3=-1.0767 left_j4=0.0158 left_j5=-0.4877 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -11.6171, 6.3932, 0.0855, -0.0366, -0.0952, -0.0122, -0.0615, 1.6479, 7.0085, 1.873, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7be-5TIDDEBeji-rMsH4iD1f0Z9jhAokBczGzZXIn9VafQaw9pWn5WU3mDKYedhjqjAqwM5alJqh0V9LHgScFOTtHwtst_2c7oVQnbWz6kBR-QJSRL9dKxnSrMsduT49T4fIH1ZECoDj0k1P99ksnIOYKic8ILLSZQp4NafHgAyhDaXGb_ApobbOBEFbhfx1ijQ1Zh8F9136sUWcy9MnxjK8gpO7ZeblnUA-MRUAy885TOn19F-UlyLEq6qUC4VtMYasEdZgoApd3qiljgOncA5oS7H-dqUI40iHsNJC_cr4BG9w54qanXsP5KbrRN9lOolzNPVi4XtVPA6JElXnHKhIR8QajLq3P8NwRKH_eneKMerygmLjGGJ3gP0oyT0EvV9LtSlHxvJ_vwOf5uba6gw4saYsmfI4G3YSBbeWVQocgM5iGsR9ROvK3-HTsNt58Nu9gxOLa23rVLmVDA9B8_BSbKDW27bgiWg6iqokdRlgCoOGOrPdbSy-cJ5uYmFLweWyMjACM4sfhuiJuotcdWXgyj5qiU3mY1ggFcsyUdVXlVFVYN2HFPZsiIt9BEPI1KHz_l0x2rDHRqyRGJ3_lmla5QjeEsFAf6eHmVB8XKVa8d31F7UubJzDtGRj_TrEnlojbE0HSX-8cWlQS_LEU5HhvGMwFZE1rx2EpbPTqUn8oc-yuNDCI8mV48y64otW1gjXkE821-nUKWq0fpSKON3KOyiX3lJGei4FwlASFetSg_GMN3wlvFWvceHbK100rAbIpDeHD811Wd5Mb5BVVv0CBSV2xO2nZCaMJZ_H1Xh51PAOkH5Q8Gqzs-riTU5QUIiwMJ2aO9yWvup7aR3MpMDAL-p4uOiywitKkgcADgbkLLleOiANVcaBU5tH4lgdCAkebEC8-d38LvchaPk5evQRnSW2mdPmR4uCnCOel4VpYyphEtBHI166dd8KsaKw9O7jvGXyxH5LEyY8BmesSWj02g-KSgNn19I5Z9LJkqFN3oisv7FQ36WeF6Ns3Sehh2H13B8afOsPWI71SziZPACn2fgVXEYMxHmAMQhocRmK6oiKFM424ZYqPETiGWWHHdjLqiwNCEkU6wKe7kQ8JExErEWa-TbXrWg0mwieMouctxB35I6t-2wydjIj7OlcgLQTQKH-P2b_Zg2552FE76s7NVCaUNStGHY2atAcbTUJ5zfbz_IWyUh8MBR1cRaqIVAuXHC3cqj6Cs1pue4i1UOcQ==",
  "id": "rs_0270c36bcb04f20a016a7fb6dd7b0c8199874f4296d8e76631",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.065},\"note\":\"Again the base yaw held while the wrist pitch settled, leaving the cube around x≈137. I’ll reissue the same tiny yaw target now that the pitch has stopped moving.\"}",
  "call_id": "call_MhCk8CZMZUvEW4esKpVK3eJ4",
  "id": "fc_0270c36bcb04f20a016a7fb6ddd08c819997c38fbd53890d20",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MhCk8CZMZUvEW4esKpVK3eJ4",
  "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=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0698 left_j4=0.0158 left_j5=-0.4873 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -10.947, 5.3949, 0.0366, -0.0562, -0.0073, -0.0122, -0.1846, 1.6479, 7.0085, 1.8584, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b347dd35fd262a0cf5b4da3cf566659e265b88a6e01a923dbc4b93be55ee616",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e1190296aca670478cabb755e7aaf310fb96d1b50af345201f595a2e6419a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcecd525107084e8621b8de4d4ff382eb9debd0adff0d270959b5b27bf6ca35d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 268 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0412 left_j1=2.1487 left_j2=1.581 left_j3=-1.0489 left_j4=0.0158 left_j5=-0.4873 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -11.2068, 5.4222, 0.3883, -0.0171, 0.0415, -0.0122, -0.1436, 1.6479, 7.0222, 1.8584, -0.0269, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7bjLCHh31_cJzthG2xq8CoLnLKUtOEjWLtK-sdUznUfi6gF1WLNq9tOQ8-pfXHoim4r36Bd2gywAexk2X6YReAxf0tSaDzH3IAFpajt9oGPd63VArO9PD49bZoCdpF9ZQQEGfBV2U_Sh5zJrKew8OTmJcXylsZCUbsqqA5ygnvwF2tuFBW70tj2F50O8rr7pNgUnjbbGvzMRTuIJVgZeUpMNJQ2lGQG4SN6dGuLqxusT0ovxuE3zWj7waxdk-6eFTVwaI_RtGBQimVI9eXwWiqBACnTOZRdyKyJU3j5JYOnzT36xz5fSHMwLnNDM7WPUAjQSb7kfoV00ymfSwnBjTxa1hy5chKzrqMy54u-mSHxoogZFMhQLrhWU7FphRyRYAfyFvNFGIsPeoX9JB1mHB1tolSrcJHrY67PQzpFCXHR2ZT0ddZX3Jg1_axzI7i10gH3l2T3xCXwQce_Gq9VzwhOKMFgTppnbUPJTin6eDp2cot5MYHrPuBvGAZUbkiMPEn7oQj88xRZV4tMRlqKIEWUNUmtztaTE1H7ew8NxoiTZ866laluGMCo32rYGrk4V9oX312-VzslDCrDhd1kCYwzbA5TG7aQozexmta9CYGA_x1WAReDVHbaPrInAP2wSnWkbwuOB8LyWJCDibfSw10nrmAkoY671b9f_k8wjQY1DMpb8ooVPn-77dmuePPzUWpT8S1PlrNbujxc3MUjibAiHKgx8AV-xMLqy_3VP3qNxu88eHsXWaImTQuZxE-cepQX3UrJFb1WNjkjx6j9qkUM_4oGRALVST3tZ1oOEs663ZHJS6OQpDLvA-m2wgZjzAw0u2Wzbfr7IBMksyZek7IGjHyKpL3pxawRgy5VjMUhChAS-UhoODipiJ5glHBYtwE8oqsPbtgpqBOOrfgv2mIjtUwsOon7VAzZoAwQ8ZuhytJYbn0fVkKHuvIdLF7Ukt22TJyNNof4NItHCvkSQ5SJ9wPU_zYXqze8d2R4ITXZwDynRslpy9h5AeJT1XC0mUmevge-TTrC6KtBOkhDJUu2L4AK65bWakk5Jm1ocVMdr4USQdGVIfbcjrUvyz9ABlRgGLYM_uJJehl9PzppWKTLwqUjlpbbioJleGSTPziI64BKn4tmPboN__M47Nb_6oh0Q63JqUUKlbcTIqMiSP5WFYJgt3hxtdcZ8Q4xFkOTMbq-n2igmG1fRe4xeIVWE207evlKvz91tksuuVMOsVof8na79RNxnm1rdwSC4-rhhHbAkvnE_WREJwF4iIPu7i81tvgHQsY2gg6gH-t7FhPoIrXV_u-NGEGFOgqk-4f2A12cA-UZp9soQ6rRS0lP7DzJPUPIO8-bbkbH3dGgV3yLAw==",
  "id": "rs_0270c36bcb04f20a016a7fb6e0fa6881999cf3b55b526ebb2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The final yaw centers the cube at x≈115 between the jaw silhouettes, with the fingers at table height and the cube faces aligned to the closing direction. I’ll close fully and verify the expected 0.45 residual.\"}",
  "call_id": "call_AgcYnZ3Q8M0BMJwJa89aDL7Y",
  "id": "fc_0270c36bcb04f20a016a7fb6e1ac9c819982e1cd79ea3947a9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AgcYnZ3Q8M0BMJwJa89aDL7Y",
  "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=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0687 left_j4=0.0162 left_j5=-0.495 left_gripper=0.0124 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -11.1248, 5.3812, 0.1685, -0.0464, 0.0611, 1.072, 0.0068, 1.812, 7.1316, 1.8779, -0.0073, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56779d362a3a94cdec995e8ced74a1a8c38900ed1f8f56878e6c825d0ed36a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032e497b451f68dfa0c42376bdf28373493a843b9aae306e54fd0132591f6f49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4478f0487b6bbd7ba4751b417d0407c0ed2d86131cec2096451d1a2e51245b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 272 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0698 left_j4=0.0158 left_j5=-0.4873 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -10.947, 5.3949, 0.0366, -0.0562, -0.0073, -0.0122, -0.1846, 1.6479, 7.0085, 1.8584, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7bxjYqTxsLumH9GP7ZVF2vQ6AyAc5MyW6rN9F1m5vD02FH40hAJrTGVy4NG9pMoa8yJHM-V2pLu5MSp5uObV0Bli2bXW5V_6WneQE4-3kg7yYuCVhP9dN9zJIUKHrb723bpCNLenVgG0BktmmdiRwV1HD-Jr2ksvGqyDpMUVj2wlJYKBIRxYTkMZDYaD4ATdohdRJ3n5CuHHG_fuy4Fpz6AISYNZrVns4Ipap6sgqfQrbA7iCIycsXVcrBj__9YRY2rud9SR1mF2wPuI4A1jdLOi9lNqO4CAQF-QfK9SleH6SyrZWdWbBMKbJx3tQlcLIZh_Z3faWoH8k9Emjxe8TTl9y4esdHfps_IU3l7xaldTYx8B5F7z4u5TbTdXfWv0KH1ocka55-YETq8s2aksQAGkv3h-25Q_0oqXE2I_lmI_qYo-GsZgXZKzc-t290OfpjAWDNiEaTVIGpfkN43KxxjD1iUcKTCLFvnUWgg1oos2QLw1leyQ9XgZI0mUnpKfVEevJI_D5FeD7JGcFFgCovci5lWKOjKQeMvH3kmBZCxly35L5mjjasxlKQpNminTfs0q-Zy9IYtzHxN4dYIEQDRkQAXMUma3zH9HJv8wdqsin0WBuzLij06JQeFWZ34uDbjesM-8G-IzWFDRkUhTW-7Y72mpTSJJpBLQndjyRitN6Ug4FHLLycO-GQJ-GMGDTkifjj8E3nyk3z6-dpHTfazq6DGYqgsvkj3kly879E5dfIO4snCyr7Sq5CRbav9XiZCZU09_fXkEyscCQTbqmzAkjF4gPmmRTIWI7sbxMl-zCIu9vWLqUPhiKFU_mkTMUgWXHM4l313P8W3cx6SpKAgQHXhm6qPZAiBkJVpI2imqL4AwFD7FNgkxEMAHJR9zGpieG-MA2cwJx3LP5TWIni6y5vgj08NIAX0lfHpPuMjIBIsKjlzpdogAsOilBkcha8eAVlWEKBpS4BSDw1i0YMPoNMlMXygLrE8un8_rOcB2kWwiNZtzSIaTZgQvlVW4HPL7slxPdOXsGfxRyB-cE_6FmQnxFux8Be2IpB4jYsW8NRSiGgYerR6VqNWA7CfGG9iIibUnrTPL0XQXgGIFOQ0YWb466L4VL_2t5jpy_QlLj8y7D0Xv7wuA6dS_Qn3oYTVtvBccJUyHLi2fX92FkV2Yk2_E34i1QMrJYxNfMWkBpPd-LEcxGrKshqXL7yd6hL1bVdskzKMr4efsBitqmx5_SdFTPu4NsZR5XVRC_CBf659Iv57nPbX4dLu-bvjd4k9-eMOp9I-_HjVZi9rL0qzhYdpxjxQPWknIjYfUTiaLwsVgS_jPTVFRLeEeYy_01p2_7UjAEWME9tWzQtpLY8l5UskV5Rdgi91x_LQaLwKyy6pEOWQS7dbZl91OxjY0tziZia22PpXJlJcEq-7bC2TpTDKFAxAg4xGUiACaA3-Y5SXd8HFMk6DtN0AtDqvkytyMSeEAfNZ5pzvBT1CX5MM1h3di_UC4FTvtHfiN8KaBu52SZ0Dm_8hZ_hhRvyYIlfr4HKBzSlghi97r04aANtfYTTElgENWB2IIBadT0D0oG1SC5SJ0V70wI9TcdXBavaTf9GH4s2p5jtQ_Ke5JJ2He1HT7enEXrJRNb4jJtZzfiF1yWlL-jffb1A1TOp84B-H6WAnE91barMUMSrNkMYXOFILJ5eHoY_4qOC448kAGsvGQ8AEmf71nUjXD6Dip1M3BjwByeNxL2D-_Lb8oVrVF6Ao1bogYEu4ZWTtCZAnfgBOsrhlAIBN3CSXauRL5ptDVpCMhXT0w5iRS1dtaNY26u00alVB7S_XSwbEa6kV9e9QF8ZsIREvTBbzC492fnTdg7a_c_DOqOslhH61SFlKO9rZHoJU-_KdgET4utMidR-OTXH07SdGnXUbqk50PjeZx81rk_apx2GWyTBk3BuD1195IEL6z8Q9UmkbxlLaM9o-hpytZdU7bHrCdqZsLoYBbzAFJorJng5LL1PzZrbXmGpgynzZR3JJpCZktPg0B6epWxw7WIeswlRU-eovpCoaEFzr3HgXPNL0zXumsqDgLagaFhGa1M4wUmV9EVAsp0NYtb1ekbayRyJC6dfiXvLnCu6pHDLSSoo_lDbsKKYatvtPtqfW6SckgylG331VuijPkIpKMvNw-WWsbS-cLC_4kL9Izy8dG9g6bfn9vG8U0nWYcako71BcP846e89sWFCPbGNKX6IEE4I473x-yFXIoPJitEtA3ShG9_yAqThtzw0QVEho3XP2V6k0uyboCWHpdQEjdjJOpjPCznDSJAlUWJvDbF8INRz1QXMVX4AsYyEh4AEYdqiSQlQwEHLAMMUI9WHYqWFtzdo95Mr6fU1CnT9Bbnz7bSAd9XbNJ2R2lazkyWNr6Rsc5atCbgYQu1LCZUOsFVIdSgvjRXpz4QmcjPbhF8j3WnDsqer1WHYBUpWcV-3_FK4KTUY-LVaYcEGaANIPtBo6cwlXOG5Wnjx6nEXxyuYlPHdXL7szVjxsi7Qoc0Zoxcqfm_dl841jW8AV3ZatA4_N9ITIr7gO5156e-q_o-6Od2j6r8qHgQiKVQDhE01OIro9HkBYJXJ_OVUI0ECwknH7w1OQH4uWwcOgyKDqtRx_WAVGczloUF8Xey9oBT4ejupHdAYmSgS6pbdJwYAHt8n1oUvjUBouMpjQEP4_w5QOuu20o3L-850t67FzeuATrhjxhJr4rjwngjSfs91QJguVZFb3o9Vlu56SfcZwCzsQx13820UfneFaNjLvCiaWfAQiME7uv7uLDDK_xwvQJJSLlj7bJ6nh-fHI",
  "id": "rs_0270c36bcb04f20a016a7fb6e8e3e48199ab08d6a9dda445cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The close returned a near-zero residual, so the fingers converged just behind the cube even though it was laterally centered; the cube is still ahead of the true grasp point. I’ll reopen, then use a coupled horizontal move to bring its face farther down in the wrist image without changing table height.\"}",
  "call_id": "call_Gm8KXSLSt9U7HV4T9fQKQ4VI",
  "id": "fc_0270c36bcb04f20a016a7fb6efd1b48199932d7db1fd59f670",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gm8KXSLSt9U7HV4T9fQKQ4VI",
  "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=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0687 left_j4=0.0162 left_j5=-0.4988 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.9607, 5.3812, 0.149, -0.0073, -0.022, -0.1148, -0.1846, 1.6479, 6.9949, 1.917, -0.0171, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade304fa9db4762fdc314f0f607fc7f9e21b83a2ae783ca4b9f5b45aaf300f04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c9f63c9fd28d5c7676e2e25d2dacba012274c62d0b5e9c665c587b8f3dfc7d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3597db333a7fc39e584ec328d32b23586541f3cd477d3335cf6d65f63ee26eff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 276 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0687 left_j4=0.0162 left_j5=-0.495 left_gripper=0.0124 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -11.1248, 5.3812, 0.1685, -0.0464, 0.0611, 1.072, 0.0068, 1.812, 7.1316, 1.8779, -0.0073, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7cFfgj7fSke_KKnmCYrNe1p0hzCivbWE7IxRCqyuZ-ANie5SjmK7GEwOpkEg7K2_FpMrXsl_V2aV8rGJLVj3ElGIs_tRgIXPBn8GBwYx8Z4ExTM3gsdpyB3UMa7j190w_2zjn2VPiksOzauIDg4_d72GLYTkXzKRU0Cn1QUkaK2ZYbgveOpgquqpeFS7A9c3GGXBTGWAjpnmZdiDjeVGXm4X2a1fld5f-G7RexuRR9GV3FUPg2T8TQdLwXUOLIO04_rO8-iFcIWj57SWya1Q-KIuBJkLRvQhyTz6gjKVAlYtfsKP9MuRYWkUqtwQupRklgN_uUDkWtNt-o_-EQmtM05giJLQzm58MWK3blPJ2GKBVTRCMLalLctiB5ZQIX_OwlSQjGhUd-6mAVQrsMOmtHJ25JlXOtwAAbYCVkTEJC3WaQTR7DxpZr61rdkNR4WcC6jgwPXT2IDwurZQkGoMqNx9MtBvey8b2VwFvB8-xqGvWbR2ZXKPDVBpElnxdIiFFKa_mVj0NaHD49fdi4Z8K0yzQFsI64oI3wIAg7o_FJ51Hsv8o8qwGcPuBQFKtcxcHaaP8tsPMPyF95D0A5ZkjDys_VYVBJ6WdDoMOd91F2Gso2FjenDmFM6K3ajF-V3RL1fsUJGF9ir9EX0APz_l2wDcf8Y9wouhV45B0SVTYa_F6GlgtY0_tDZVV9tlLTgES2NDO6fU5yC66LcThlAFGY1Rgz9uKpEZTiROYsTNQC58X2uHQTE-AAQt3MCoKFPRYczd1NKwsn5gdfFuvgdOhe4OvfKeB-prwUiLk9622O92GEgRHlqx5cm_FUDEHzvmjeURcaTW-EsRX7cCelK3aULJ4DtJexwxX5CU1id3Mr3dU60JSxlAbro42SxWnf1rkHQuerC0YZxfsjxQCiczkSX5m-r3VDx4D-rTb7-h7xQ2AFL62obFurywtACeAEfy5ExQxnBSGsAMWYGGmdYGuFq5eQ_-MJxZxNKIPAiqX36dmjiFb9yMJRqKyeOpwZlFygGeCZc-EtQrmruQy45LcsywtS9PgWufTHyA1NQyWw3FGwHFG7ZM226G-NqCMnQ8jHMkUTCSHGZ2clDJ-CJbO8_RwQrQZ690kAfFMF7rh0pJEPEO_8G5i-LNB_5qF9d-sf-wNEJ6JypqL2FnxLIVSRpn1raFTSRg1Pdq4efXTvAJI6qy8L1ySg29o1ji8rtldNkvTzhINIuuRnRqAnLkCdiPlnKO9pSX6f8ZXo38A4D1AthhqutfR12tCIiteGnfKNOLYiJw1tmXbv_ZQhwSsclgFmVV1xvhmXib78qEL0qevo_PHoiJ3SQfR666qRGseNEYFK0oR-ej9b0IWp_w56JfNj57OIY1Rl_VT3HYwYWOhdmHdN0U8oKlynrI36-BGDzKFd5ilKKT6N7A65gpOk772VmXsLIbSXok5fzwj7CpzD1yuSBJBX5CPtAZeoa9GgAS_Le8vkvziGwYTTNhv4IuOM_obV7HdH3Svw6PYQQ6XXNDK90GR_6Np7lK0bwF5Gg25LxYyDxNPGJ33Oz7e0QMzTqr2kLGbRl57FnIG4uQmsi3WeWGWMwlGuxOnyHM8eE2iosy1M1BoY34EQZFrplCSFZKk3rqk3Y2qx16L8o0m3my3FDruWrIGToZba09P7D4W2TWMN62ZfDkAlYKUY-VmrO-0s24yyd5AqSceQu7phVqRUFaYrP9R8_1KKqZ7XnoSD_7MPxVLwXQ2B27zv8XDsq-NlQRcJkqJ-N3GQhKuuevxqjkxcJrBdMrxEmqjXeLtukb65KVahs5JsYd8VFbA==",
  "id": "rs_0270c36bcb04f20a016a7fb6f728448199b0c060d37429ea62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.16,\"left_j2\":1.6,\"left_j3\":-1.01},\"note\":\"With the jaws open, the cube center is around (125,125) while the convergence point is near y≈190. I’ll extend the grasp point by a calibrated 1 cm at constant height to measure how radial motion shifts the cube in this rolled view.\"}",
  "call_id": "call_LhbYNAdzgwI7n6hWResmtS7X",
  "id": "fc_0270c36bcb04f20a016a7fb6ffe24481998c37ca6fd670e9ab",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LhbYNAdzgwI7n6hWResmtS7X",
  "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=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0691 left_j4=0.0158 left_j5=-0.4988 left_gripper=0.998 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -11.1385, 5.3949, 0.1245, -0.0562, -0.0317, -0.2222, -0.1436, 1.6752, 7.3368, 1.8779, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:913890b6451a9b0e0ee2aaea7096ddd5e5c0ee1a2f5051a593f952aa9e3ee7b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27de0fb9ab729791f6bdf8a1c50cf2af7fca4f1cedf2c4f7a5f2b1468e800adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c786cb699e7969fbd8318028b578dfd1ef363a2c78647a3e2ebb78c9f8720ebb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 280 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0687 left_j4=0.0162 left_j5=-0.4988 left_gripper=0.9953 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.9607, 5.3812, 0.149, -0.0073, -0.022, -0.1148, -0.1846, 1.6479, 6.9949, 1.917, -0.0171, -0.0464, -0.0171]\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": "gAAAAABqf7cIxvUNuN37avtfrvgJs4q8msj6g7gV_zUnID4wNDImVeNcuoCPdQlh2Z14qUS55j48Fnr7zVBJF-chsQteR4VWnUZJHMW_nup2WAqua_02pk1-0Hjl0YUDJ-8ig9VMC-9SMBYEYjwTGo4GszBnDeT1jEi7xQ6PgN5rIBzdK5L_VyeuP1bApSo8NmvOY9ENeG5WdTrXUy_MEQe5T8k0jh96rZVoMlda4xfQrkaBWosr7_FbLToVRx7Mh7NCzThcq-GYNqMhs-cVNWNZJp1PuMoFZrJLGX2q7vi0eFJz9vtO_20b66k3FyNVrCl_J34ZR9XkGUe46DQ1eotmm_M-clGrQaAx7O648_4PRr7IH2Ov8WUbcpgMNIlKtywWVRzXXtNaA8fDHgBk_WYJLRj3RQdqSwIl_PysGjyAKekWgKblIg97vy7SvxLp2kWrCtgfqAeJxtTnZyo6TOPbc5ocDlG--24cE0h2LaJ8OgjyF2vXYreiJXUmaJsES9AhRSun6dWXreglGzeLMu0fy11WmO-5A0bTckbyFBKOpEmA6COwG3At5_yqEjcP6Nf-TIgJFcWMa0uRXFsEfIwzBEY_m0l1sTN-3mwb5lwfgIIGRMepLMJt5IOuJeUp5Q9aJZZIbmDpRsyOxT-BCfQhtFYKWv3PWLs3pkJACbjaNIEX2BnEhynZ-rRhn-fH-_93CyoQnRBg2CJj7WauAUN8t9_RQbEC2SFpCJqeLbq8rdu_d-3fHuRY3qXyx664L5FuiAusnR0a1XizuR0pKj18iRG-z0l44Ikq30NyBar4sxLKMm_3L0W5WmxqCmOJiw2m6-f3kvXxj5g_JV0DI5vBRRKR_1Trg5IB8nsbiC2qV3Kvrv2B3cBZneT8gpg9seUUesrMNqYtgpc0P2Gm06c7y6QFQ5x26__a9qmYJETOiN6G4bIaCZbETaBxS2n20XWbDXIaC7cmsVFKSTmgVRKcL5DF7GW4SzcnPChnDPLgKli6KoP3bsSWcpFVBYJd3vZK3j28L_DKDKtF49iM5WXMSK5hC5qhLLjt4uJT8motb8hz6lopiLIASUydopZcXMNZ_PGveW5wc3DkYxyNXjfRsPpiGCF8vvGagJLKjb8G7ORhDPid1MWD3tcWOGj6V0PDu_GMxA2AiHaWFU8iXi76aBnnS8ULOFdZo1_32Tl3hplKrJ0YpjoE7pqtcbC0dZoB_9FLBkTy",
  "id": "rs_0270c36bcb04f20a016a7fb706f0cc81999c9414f83f370e34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.16,\"left_j2\":1.6,\"left_j3\":-1.01},\"note\":\"The 1 cm radial test did not execute because the controller held the existing contact-height pose. I’ll reissue the same small extension now that the gripper has finished opening.\"}",
  "call_id": "call_IQjrpurK0Dg60epjvfnngy0x",
  "id": "fc_0270c36bcb04f20a016a7fb707344c8199b18311f4cccf1b6c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IQjrpurK0Dg60epjvfnngy0x",
  "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=-1.0649 left_j1=2.1544 left_j2=1.581 left_j3=-1.0309 left_j4=0.0162 left_j5=-0.503 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -10.5504, 7.0222, 0.4322, -0.0024, 0.0317, 0.105, -0.1983, 1.9214, 6.9949, 1.8828, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710a5680a3b2afe3dc1f93b4b5de333a1de852496644b49b09fcbd52f1af83b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:222cc84fa03d1ff7a6e9754ce488c5242c83a432abc7c09b23c9ac45c9cdb50a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c5bf5dd120f8cd29eeee8c28c6891c00c65394527739d8aaece266ac2ee712",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 284 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0649 left_j1=2.1487 left_j2=1.581 left_j3=-1.0691 left_j4=0.0158 left_j5=-0.4988 left_gripper=0.998 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -11.1385, 5.3949, 0.1245, -0.0562, -0.0317, -0.2222, -0.1436, 1.6752, 7.3368, 1.8779, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7cfdzRscLZSpiuwOW-6DKG3Ee8wP0ub32yAHYnnaXkHY38CdmLhA1xrI3fMXUyz3rGEqxaH8wXCLkR9bfCjhvVchLIgSNGNlwLFUHb0YACUqVe1H3b3j5Vwclc6kekNVdM1xGRl_qdiEYoVLxAKkpdb-eKtKWiHQQmy0PdeuLIuBVqV6OATlcc_pVf2mLhIy1JnlGz4kbxR6p_9vHqakfEAjLU9VKcWnDXpDNgzY-dp0ocUR-bvWb9jzuAGiVVT7VqUQVIN0MuR_TfhdZsuxB9Y6pGm6-5yoDP-0weo7HebFeWHP7TBYqNtzvFUvrnP_UGDIUyw9i5-ZQHoUEKt6n5T5BAFWr8hZ7AlYUfkY8GDLSuBZ3UKlFxMuwhRml-7kojtXPdqKGUA_dKWRUpRyJTRdQ0CGPYTh66YY37HrhqY0UDVMviaka8wFBV-TirWGAXEO9bnOLZcwnjZq76NIuHJcpgM10IBzLMhyNUr2uo4WFcV8q0TluexpfwlLv-NREW10-1t9Kj3FKlmiW3rbqTDADPZPYo9KAJF_kV6xN4o8sk_iPJoVY_cno-TdcDc4tInmYvxRKAde1VQWL6ZFtnJbn8-839hxTd8Vwa4hSWBgYq8vcTTUYCoOiS6J_jCsCMnUCfhJ7evaT6oEFYjLL3TB9bXmy-jhwr7XpbnwkU7FnekMtA6qZHOWAECcj9ETf20vA2GMj8YAZctHxIL1s_vfxvSP_0wU-hZd61S7E5H7Tx2AEiSAzdfQKE-lb4OhYI0jDhp1tZb5JAwlb8TLqliWG41UX9ibznnYXxS6g7nz1t9Z76c2N-sF2OarTaWh7Wgh6izjF-rI7GQAJkhFaUg7r51qZjXacK4UvniMGx5A7_jYAc6gGuapAHJhEvTMYFz4kInNcSHqdBObkE6jKszOEAvi-i1YIH_FRaTiVTFlVAMHVV9sPuLsbvUFQTrY0cmrF_RIO7eHFhzATcJU1jy2HFllZSOgejaAHDInBkxNCFMlIb08JFp7z33W4l6sfhTtMs9XkaqhLQIF-lkRuzscWyXSfr7UFOWOSwSA4RIrb1lbv0JdhQzL7tgZeQmXZky9GpayvAhT_siKLe8z6z03Daqba-gpHzZ_XC2A8Z5thLcaEG__mSZyrOpnOQAoE9YJfvzBXJoErMcV1xg1P4O7Tgh7sNk2WNJlCCNd0rEMEIBi0-4cYzRvK7VhHwDTwhUUgET0Wd_UNffevBi_mN46wRg6PjM4pcI7jquBIDSMeZEZQDkzNdlpGOpoJ6DXZsP5Ou8-wz6Y6zwGFl-nWb-5TaFbsNOsd3MtSZ1vyKbciITtDd7npiDfAbaaBYH9XGtz633uxsRPrRbC69k7d0azyLFlZulqpvBRVQke2ghT8w8BLBKPNvxCxBjAdx2Xmk2fMI8Wz45i216PoS-dI-wveJeuwRDfzoZiZJ6vwSS9LDO4_TuOvMLhZDMMJXrQPVAq85t7aHJVVELI872xJFdHv-c_GpnjPeueUG9pC6RrJEUnnAGlfLQp9aOppylZUYauArMOKyKAP82O6XrOuLha9xfxfqasNgU1VWLWSinPFmlogQGt-N1PFtG_kQd_DYwJ4ZaK-RrqoqEiF5ioXDuDHivwt8_tsU7nDi7HsuP2d1LtsD2LMk66Ga7Y5NyMAUXFCnWsq_L54C9s3wmn1dxvgySJFkRSV_kjf-N7LpyWopsYDUGjaSmDd1uaic50RP9Cf1wCaCQNrxaitCdmstnlioObAoiu4F8v5Aj0jY9hdgsEiZdTEdwWckh1XdS5hjCM9HH3gZzyo1SWShdop0LngtlFCbM8jSVFaAdBQ9bwWe0nBAcljNhf_BEtmfGZ-hI3ZtDQKtDH2RQK2OOmW9Cse_mnWLz33-6acURl3LEX850qxIJR-wl34yLlziPKunGhqEjV4tXVFkP9uaXI_yT8ncKaiXdvk1xFGMnjO5jI1zDqtlZ6UVmfdKTPU1dqY5VfofuWtrovNE-U6obgLVp4SldtgF6tnzQhnLNdKFU50lw7nC_Tsr76pKefO0pIQQla9HzGh45xs5z4XKUn727nER2dI2k1a3f9BJ6QXg0XrW5H9z1-zcFhvnXPAjKuD1l6zxEC6ZIaMXeVXRc9sZC6-4Pxzczy5poc6o-BwMqZExYATtUfCjaDNnHlu72ZbjlUrfuRJbjRIjOXuLIMIwepkBxmNukMcIT1b_oGqB_Ll2wuwcoHT31l1ktMC-ZeWCMmIPmLaffOzLynxbAAstOgdtVjlaj_-5b8Azsw7zXowJAgLJHPRy9fbNyecZqc3SOsYYrxfrPr0Zje47jXw5E0bvfSGkn9HmDbBu0f39_FQcUhv2kTXVG9qc-rSjM4zZXVMI1JUjZDzNwsMulFyjKp_IMjzF3-4xh4rQPOKJUcA7iTk5o9peO3qXb8DTx8P65D2wbLcYlTQRCwt-cudugHvnb5uHVyl1DfoQ8SdATPww9vXSpWoj3cWnT2Q_iD-U46etN9IcpsSuzgR_uGWcKkVDlDvmfJzyFY8llSHOgY9SWeyj_sbD9qrxuQIlFhKt_GvSOgJVKUEJLvxb2v8FnEmqWIk06scHU__lrDcNmVe0_M4AInjeM1-6Q5ePA6DhrO3BzPoW0LA9lc32rs4cjd0mKxA-Ayv-UWeUXC3hIJ8c7hTYfCIG2q013eszYGmVx70YxNmw7Ux9FKJv8mVt_uV_xxSfDezWEK3D9czTkf45viFlmkst6RXlo0OeQk3Zv1QFme1RWPVH5td-ZMLURTP7mImexO8TfrgxO7Wp1Gr1pKTk6oWf4iGp4eLWizMa2E8MJT2oSRYrka86ld1egsbQQhRAPjM5Y8StdhvL4hmtWmVBp5kF5VX5T-zVkboGkoPrtVm_bs1_y25c78eJqm_t9b5bI9VbSbsH7bckXGzylMCpLSC8cuszwJCckIfGFgbdvKWYiAyhpM4kFewlpmnwh9SP6YdaCxAVDHfWZdGeNH3z2HZngc2bOWfY1iOCSX4KTpmFVSZwczHuOZQvjIC9aA6KF_y2F-mHN_MLfk7LrcQ5R945lrgGY6pT1TMWvnZzfBVEP9mC9LvITgJVxxoijIavsoHCcl2sFbfdXDskFEj2IVzdamlLYjZldiCgajuHRcqeqTpyU1FZoHwDkkzccMdIG-61qfwOj8Q7WnY8Ru9xIwTJrU9lAYpqgRnKZ-rcdjtXzfg-q0C0IsPQOhPHncwEcKl7Q5p6fnXYT0yum0lp-ivqn9yaDwIsvdVfXTWUnfRFL6fF5hJhHB5Iy6CqA8ICoc5wli6vIRXSf3eoXN19ypdJ5NZ8vqcVBDK3XPX5T2ho9Ou8Fje4xamVv7wbKfvf1G02HuiYe1jQJq8SjG4IfjKdcE2Lu03Es-HLR",
  "id": "rs_0270c36bcb04f20a016a7fb70be0548199b0898bc3f5706443",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7cf9dyzVpS76MMNJ9F2t5UzC1kuIYZ-KdXfNmnl6A9Lfmg8xyCx5cQp0-Cw6CiD8GGirPw8ztgWw52tjfVWzuKTogbSUMW2W9d6YsvvcyadqoVObG5P33a5G7ZhR_NhRgtPavqSgecb5oUJmrISbtEWkpRwk4Bu92QPe2RoIqHe-3h9vC9qRNIu4vpiGLIsV5vpiLctSSMlLsHQzw-VDD_b9pVNmBdPifx0tTKq7jGuo6ngshxpn-oKvslirSGVDZtC12s8h_9_39v3gmJxULps_MvG_51dWwh9v30hznJYdNaSHtKVxcXy83swzF4ZRRw1O9tufNmrcdoaf8sEs9gLDJiBL9ojSR1k8qGl4fTPelmttbTcCqu-gcyMXjgkBLRLFGodW2bHSKzYre7BDODtgMq-xLJSMxk7ExsaTiy2chcASdLXHJCD3ePxEdc-doP7hx69DyHl20yy-xLdbRwxr1c2xbxTo5GdSQNZI_RMM4WC7_d2Wmd10XFknOXfg9I2sfeZi5d-rqnfR_sCP8vQIyhJ6V0t_Jkypd5DDad--Bd3LRSrWqCY9EhZvnzQDN0kmTMO8h0hY1imZ_N7r1KmVIDOJ_Du7PIqR6MmSnraTcnscAYvtv6iSFkbpj8ZhL_SJfAIt-XRNnK2qjbVWuJ_ollmP8tYrZ4CUzFet0pTR-0LW77_IXD2-nkD3XuoBGx4hoJapRG4Zk0uajIVSI8zUl_i5wxloMXpQbNBGSUD2xwqAYzp7SpfhRSGGKPoU4dh7BsgxSzsTaViH1ShomtuSYZS0ZYDWiQCnJAtDltUeYg8mlB_M35pupCD7rDGUt6nT4kvYjRz6lvEMwPcHRk0KlTS_rJIZzmltXVGJ1U1KLE8Kungmyvn5FGajqb5XLx6AIOqsuSjzL-6kLiyycpaBjrxD7-izWV9rmrwh-WNNcfElOTqcLieQPRWFsZFrqrpGXtCpBym4tPsrorMBQOwmxKFeaBX9BoKvX8gZzNm-YldOVfuohvpExximWnrYOxcI5MIfGrt6Mv_OOwpmXFCT-bfTqCLTEQgMrIcjPXMHwBkSApcww9sFjIsA7NpYDF3cAsRkJ8esjG5j03nWyDN0N4Z-5Pb5E28UbFyVO5oT3RIpnWxiW8OtnXgWjcVbq8f2AgYoYBbzwwdNPdvWUogTmGVpgi_mhXKBh5q5hp-Rh-0GyH-6-L0NObOMSVA0rhClmb8QLXDEG3JvBTMZapJmT6P6vxPzfFmUlsjXeDXeQ4ifqIG6uc-JQ0Nb5QMR2myVbsMFJOzP4r3G_wmhA4zi-aCOobdjC6r569W5k1079jlH7DNbF6d5TJxjK2yz-nXCb-EfS1VgIlSxPBozOAYDcTQb6nYbE6rCko_9N1ZQTxQDLqKdUPOR6kF9oeFqrtc",
  "id": "rs_0270c36bcb04f20a016a7fb71cead8819990754fc3b6ff374f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.08,\"left_j1\":2.09,\"left_j2\":1.46,\"left_j3\":-0.95},\"note\":\"The executed 1 cm extension shifted the cube 16 pixels upward, so the needed direction is inward; combining that with a tiny rightward yaw will preserve x. I’ll take a conservative 2 cm inward half-step, predicted to move the cube about 27 pixels down into the jaw gap.\"}",
  "call_id": "call_uH8VKB6Ur1CiH1hAhXtVjgbz",
  "id": "fc_0270c36bcb04f20a016a7fb71e2b208199b6b97f57343cb79c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uH8VKB6Ur1CiH1hAhXtVjgbz",
  "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=-1.0695 left_j1=2.1284 left_j2=1.5017 left_j3=-0.9802 left_j4=0.0181 left_j5=-0.5026 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.8547, -13.2308, 5.3265, 0.5201, -0.3346, -0.022, 0.0562, -0.1709, 1.8256, 7.2137, 1.8486, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b41e0ce9d79ba29fb214b99e7ff16bea253623d8e956812a7f60e53b6c3483d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75630c9494a9cd90a78a1798cb14610ae03cd4d16c319a65b771ee0f5dd40dac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11224e29000a3e21dc4a6f14affef567f0e5824c1c0b89a7d9c886bbd1c9a566",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 288 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0649 left_j1=2.1544 left_j2=1.581 left_j3=-1.0309 left_j4=0.0162 left_j5=-0.503 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -10.5504, 7.0222, 0.4322, -0.0024, 0.0317, 0.105, -0.1983, 1.9214, 6.9949, 1.8828, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7csuAyv5_VxGB08glc-UnNSBXiNdEOIIUf8pozy0FGfOXRt1O4UXYTwnivEazWDqyE-BVbZ6CV3jHxxHl__wkX3OTc0HImbm_-OcmTX1rN5GtSFLR1mpvv2tidtZFd8Py3P45QW3vyWlrot0S1NGRq7aXievXTArN8yBCjglW248nQ5_m4SVCd2ZDOag6_BgPNLEPlemJjiDbOzN5_zFmGnwouZhJrbi-JZn8oMDaEkbkO_K84BiTQ8TEulUZPYAbllb2dPxqYyM6vQ6yTHOButm2AzxYDMtHo7cv68euyuEdjTHwqXZRiHsbLDHadds0KokW6XUdivpMct3NqxrPi8rALfY9KB5aq-d6keCNyEo1aIaXl9zrriKO4H9dTysswVGi_crNRJebQ6FEDkap6KFDtHguqBGiDPxbjt6UBzJw865MKxvdI5IAuLaoDK7DBOsDrJ61Hd26MuimzjgBHbGqLyge68EDbmmjQ041ZM6HZT0WTMnAp6s-oTanuchETBOWLgtsw_Ew6EzPkKzp1iUJNu4FrcDxndhmCBSMpAe-Wi7h-SNmlL6OqttRawEz-kOYCFZseJmqbWA-6sMsRKlnoNBhLNPuo7jAJpKxuaPu3rJ9xLxFLHoskYVDDcHSk2Ewt3wXNX4LD0P_xzouvR3gJIic8Pm-O3VU1A7ff19bDniX-K5cozFhLBnrGXoWM3UozgiuDtyvLhvxh22HNEieOK4-BCdfTNarDWIguQ6jFxt_rdPBgtarDi0zh3e-VokI6diRSdRuMgnkIn3YYUl-0IKbT9tUZXrxHn0rk6KhbHA1Pg8wBeyA6k0MBqvFP1C83qTvBhw5op5Q2TCNnYWgYlWTfb80TtuFr2R35OCw9gSGFIxeun3SlWqk6BrONpmypG_PMnzoVkprfYiCdg2mUadHsO02vKaApZhQ7PvIXcKiiEclqljupq4FMgSKhI2klBdWZIy4Ybg_5U5Fj99leXzZG9Ha0af7ctSAXOGhMG5SAdvPtCY86dchyNAeaiXCu_pkRCvWGBYYdXNyHkgcrX7VhBiILqH02TBc1JHQxmEGBBgmPU2ddxqkbfAVRQOpbrbux0byKwkF8o3PXwbaKv-V2Rs1lWeCVGFBFsNYT8_GEJzTP6nmNdgA2VIULJ13jCuXS2r1D7NIbs3emZOOGBjWI2nYYaHZ6a5n3zhkL8foWH-rof9kNuw_kwO6p7KfkgBhwT0LvYsTDjvztdLR4715APIG3JyS3UGWHokZXrIlpWpJFFYHfrb2WU2aKoo7c-cpMnU1J8AwlCygEvmcfenMdijiA7Mwnl_SL0PMW9mP7sa39bYVw3rzYjF-dyz2lfTFKzZ_E6fGiZlh6xV1H6K3KlggD1Rc5zpXZFmieyOH5D3iSyIUXHgfeFIEjNs5QWvnWDzHjqpu5LrAIDdZOCx4WU3Q1lYpwOR8IWXRdVLcZX0ZvEoJJb2fkBWGw0Wl-0osxKaoLwlGU9Sa_eov6eFjwod9BbwxDQUO3Qe7Tmbnyj0Ga7UXyWAkRPdOvDwIxc_CJuzI_aNz5Q_gZDHqgaeZCo2yqhQMURqqGrT4sRq91xM1WVz8E2uQSdkXyAfcbbp7IocWxTWZsSlyNP8Q==",
  "id": "rs_0270c36bcb04f20a016a7fb728581c8199962b53204e6d0793",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.08,\"left_j1\":2.09,\"left_j2\":1.46,\"left_j3\":-0.95},\"note\":\"The half-step is still in motion and the wrist frame is blurred, while the joints reached only about two-thirds of the planned inward translation. I’ll settle to the same target before judging the image shift.\"}",
  "call_id": "call_VqQkqpyBWUQThUrPPqkXEDb6",
  "id": "fc_0270c36bcb04f20a016a7fb72afedc8199b422ecba056f58f4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VqQkqpyBWUQThUrPPqkXEDb6",
  "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=-1.0767 left_j1=2.1094 left_j2=1.4712 left_j3=-0.9634 left_j4=0.0235 left_j5=-0.503 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.6222, -12.3009, 4.3829, 0.3053, -0.1245, -0.0366, 0.0562, 0.0615, 1.6479, 7.4872, 1.8584, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba0851acc9ac2bd597f7a9e029ba6af7a98d2740c50a56692275c576cf1e8f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe942e01b5d100405f0903af291895e63ee9071bc31190ea7856aa951a035cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7ae5a29362635b2b9619998ca89129830db1267d4ffddbc5423fd32e5c0e96",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 293 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0695 left_j1=2.1284 left_j2=1.5017 left_j3=-0.9802 left_j4=0.0181 left_j5=-0.5026 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.8547, -13.2308, 5.3265, 0.5201, -0.3346, -0.022, 0.0562, -0.1709, 1.8256, 7.2137, 1.8486, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7c9Y5CfiSfLxh9oPf33oybI1YicWgdZ3e5wRWX4YLOSSamp9EXT5r1s7DcFtSjKzASl7fmYi_Bh0nu7bIhugY_pFKw1CspAdAvd9lIqNWZVWitmc-eboDec7MAPpPS3Er2GdPVdl00dxtRGm4rJQI8yxFYhq1n6X9vUS9DoUAXLbUMPEI4qUVNn8vPVH9uq0LxKMya4kdSty3b4znC2lq6uPBSxoEnixIeu2r1nloCqEyeXBUCUhgtQmeC4IlVbr43ExWYzEP5bAeLTwwRpQ_mdEZxVqTXFCdM4Nd_B_pothZlDzJH-MnjzblBnXQwWRr7cIXlmeanUcYEtyUSrCZKGKx85pE0njnHTlNSVPpwvW8YvUTFijrt4UylRTleyfP-BCnXmxFn0PAw9wzjpZK5t0K2CNJ3dG10mK6Vk_bplbvYuU73tS-khbqI1UmQ0k08WVe3r2Gnh20dlKbiWM4FYEDlWf72-hyKt_PyfFxaLsFP0l4TgUzQEo7Fl0om2sOd_zi0Mux6i0M_0sfazFjLcbNb_IhfXX7by_cXkEzN3FmsAcqYAkFPHOC2bwnrIfu9RcfpGePMlW4fXciXVv6rDqOmUJPNwiSNVtNYGuZQxcU81iIpPw3XSfxcj8o9LNpYtBXSV7ypzFGRu8f6tOGTUgIOV86pZCMY-Nqa8C5G9bWcBM54mSMfZPTG95B45z-ffbhyeBIPgi1KBhuXPDjFpPSeqqysu0_xe-WuCYpWYybmzSvw4jWKreQ8UP7bdq3EOaqT6Kda0aoPgK9q4wlSulszHX8zlMVqMrQq-iZbXeF0UqdwABsZsjYDYZafillK4YxyJs3OHDBwPzM5xf5qaR-fK7stYviAlHqX5ky7Cv2mCTv4u8EBkAEzohUTMCbpfmpS-dc3QSVoQiQNOGqd10ws-j-CJpBzIr_SRiMlZsD2ADUBlJcAMe9JAeboYRMPpQ8JvqgR7i2NQ8tvppFE8mbDXVOLweQTyHhvOB_A-mJfXQDCXzxHIT7OILCBU5BPZPdkEcR8ANy-5Rw5mWPbKCkXS_kXPEBNx5Dk8D7TSRBeYvyoSkZy1IfDGyiGLTYhtp2k6WYSXDPVRjouxC8RyffZYxPkh6cRWPpPZbbIwO62x9IzxGGk1eW9xLJYex-3THTLYxJJluNziilndkA8xuEglAyfwBJHwHaYHdiQNw7r908NJtqToTRp4VozWssHtW22z9-JHMBdV-LLrGxEG6tc_FJ-iqqrzaKP0C21KjeeyvcOhawQQko1mGALc6xe1f9gcHLFoyS2TJt3f_85-5wstwpeKXpPpdiKEqNhwUEJgZSfc8gYemaRvjBMArRaPymD32ch7rYbnmiixoW6IFFaa-2_4rn28wbJT2Y7PuQ913S_b15s5_lbd5vQcd4PAvskI3w8MOk2lC1kEElMvrQ6uAtzYD3BOTSxcVsfHAdjzhNL3ShQVjQZc5LTHchJEUvBnWYNdqCOlNlxjhkm_FF4S6ck95yz7qAr3zeRUDTSkhVL1GLn5p2QolddulKaDOTKTiWG4QfwJ7aEvd6uwztUOMTYJcaAaUi0ri1HNVW1PQ-16hOzyhJ2pJSURhn0kBFBA6ciD4dJydxaMHTXFxMI07nqRzZXirJxFPk9iuVLWA0PKFJRU8cZOtVxJgpeYCB1pGSRXVurL3muz6vg3UsJkDWoCTzuTh5AlslndULAGQw-Ni0ykjerKqaJCpdB8R8J2oR-3qusgPNI4eWfrE3Nf1dmyinXQa4ifPlKjo3yU5-srLVv7h1VxsMtLhIqkg2hnDoY-pqoETQrEpeSGDX3oChNcgGDFHzmBzFUXdrx_Y99RHoblplXjww3FAYCIZ9zURfDhp8YfzDsf5XDvttkHbvPSgVQNe3Wv4VpdbxUmgot3ixcJaTjRpZmm_ZNBUfbJaigBjG-dzHb7DKEInGvIDiOwUo6-74JCA6IdtubxQXtBhL3CRFQybQN39rdzG-Kb5O8vbrayf_hJ1ZYE2yNxda9VZYp5ZDZpApJPK7sfQmiN_bZ8iySecnfZ9L37DaYef9A-fTaMYhXmXWyoq51foFJiGIxp_96fGPGQERBNPr74UMF7oDZT1UEUFDtej0t1Ro-b_4jOYyZdVeIo_RFL0ToS_Haf8_i8eK3OgJEpVQti5w_B2LhXBX2v6AuVnl7m1p5O3TWSwLplcPW9unoMipD0LMKqN3c5I_c3GLkt3bHXbGph-3XrqK9y1GHoc7_LNsL8XuMmlDxQEhyOtismXeSANHIuYcqVwf3lTXCwE2VuLbMB0YRVD8-lko-YKoNcAVbN8R3osqcvMOv5kMk6b8AKibZJtMIXR8eSqrs_KMxZZDQqxc__GwCk1S_4e0ooDHxh2jfFwhC3scQ6dVJnVAiquM1pL3IcjjRwCmq1tdJYoi6mE2h7TNLeig_OWGgdbvEbpqydy18DF9pFTLb0jrUAUJG1QFN_ZY7tGf4L4qMFpzd62vSK0sEUlbR217Shxu_EPrv1v15ARmGFasaQz0igmAmLG_g_WbMKuTDMLHIi9Os7dilUYJ3RQXCaRhVKmDEO_lONz9I9bWpgsfjkZS4jk3_DWkmb66DHWQ9Yf3O5Nr-QIRJSgi-kWgUB1P0zTPfOBG9uIeOPXyVVpY28TcFgRoF28-cma-tGde9LumjSeXewyCZsj6DpPP39ihbi8wTFXWftaSrWVSYdJoU3HbgsZd7owdRlmUhxjnW3AfutRCXvgD8_Jrc-r3VrWWOYrh3H5ErQfYjR2QsBzXvFDPBv5M7IvkQMNFmu3gl8sAYF1B_GTVid6EOvdGZ9MSryMTLDbyX221Qh2HwNf36ExZ-gFXez0sIiE_Utdjd66JTcwOjhLZBWUlZcmm_tZb1PhsPOdc29C22ntlCnw0ySitB3-MkCPwuAoh09TE33hCLCJ22_QAOlbkAP9qd3c6Vo1td0wfQEf4JScRYqL_BjJIvjfvqZdRRnG3Sq82_FZGXyCpODD8P2bzNsUCbjrdrFU3K-Vw1Ave2GC6auEIMbVCN3POocIHE0GpYVEdAFDQpePYFD9YsVfORg7Rz6QLAXYh3DM46RixPNXmajZJusE4ouxis7EwcBTsqy5Otb_J3w4ySaFsOdIftHkGRl3RvwxbTqVhiCzn-s1KxLGW4gYT6VR8AXtvD9JViVDQ_x0iOraJ1v8s0Ddvk8hRsOs3JTViaevJSnFUZMFYqgQXzYQj4XcESumoeaqbXNJPIoiD7gNiYjqomGavPq444p-J9cCTQ0W0LksDyn1M3gM1ifs-LCrnA3TrlUidmCbDpIDJGSCV7bU6B--Dmxjzo8lRcuKvOuUHVpHBAAW9lEn877YFQ0Cs2cxAYVL_8d9oEqgEwE2bnOOBd0bMfnmWPjq_Ekathez_u6BCU1cP2zUsvtxj2onjPMp6G59M520ladetN4bzeGnOOnk1CmyAI9488kKs2X29p0QyfxLWesrrShrQzZrL4nsgj9sSX-GFCtpddsPYTawrI85WXEc52XkJk-0FQOByInP-TXMU9b6znMHZkg_WJn5vQN2IqiqhYqN7rsSJ0yNjpxZr8LG9aRS6wOG8HDPW5tIvYVOndMnk5tQCvhTwUZTAzEGDdu26fOjEkdaLCNLxMo1weIjst3wIk0QtcomqCkZGT-KH1NYGUXvV0Z4StE0Gwf43r7S28=",
  "id": "rs_0270c36bcb04f20a016a7fb72eb7d8819987d3f8e18cb7ad18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.14,\"left_j2\":1.43,\"left_j3\":-0.86},\"note\":\"The cube remains centered laterally and the overhead fingertips appear directly above it, but the previous empty close suggests the finger tips were still too high to engage its sides. I’ll descend the last roughly 1–2 cm until the fingers seat on the tabletop, then close from verified contact.\"}",
  "call_id": "call_ewZJ3CoyJNo8S8RAzVbRzPwx",
  "id": "fc_0270c36bcb04f20a016a7fb73b1f548199a582a0c887283065",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ewZJ3CoyJNo8S8RAzVbRzPwx",
  "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=-1.076 left_j1=2.1082 left_j2=1.4628 left_j3=-0.9455 left_j4=0.0238 left_j5=-0.5034 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -8.1983, 2.7419, 1.0281, -0.0562, -0.0366, -0.0073, -0.0752, 1.6205, 7.1863, 1.9023, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92507c39a41ace69b573327f5aa825ebd2c9eb2de2ead5fb4667c8d73eec6471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e241d4c2cba0e19ff3fe09defff3f5c3680174d0cea41e9a6102cee1124a0d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4b25a2a8b4cfa685ae24d4c3e3ca0c1dea77935e5a3a8b930e801e4de2bc82",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 297 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0767 left_j1=2.1094 left_j2=1.4712 left_j3=-0.9634 left_j4=0.0235 left_j5=-0.503 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.6222, -12.3009, 4.3829, 0.3053, -0.1245, -0.0366, 0.0562, 0.0615, 1.6479, 7.4872, 1.8584, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7dCKKK8mWqRQVZnqXvrqkMOCJA-fXlrxoHbwtL-Z1zJotIZxnISQFg5n5ZZGSmBLFVRtdY39Y0kvsM__A3-Hx3Z3pq0-p8aTd-WIYNVyilGxmoW06Q_UN8j5gkmSLfrk5h6GAdl4hDD4faWD6Nlk8hpDxMahqF7zz5lxsudNABcUwvUaMWcbiEW5xnTLagltPFP9r6q1nPGWeke2oJk7T9wXb43v9p9--Lx4rfXAkGBjedZE_kuiZ-Pb_6qAmj3Wh7Nxia8ShHX7UjQ0W7MN4vvB7ijM0l7KBYO1CETcB9scGla1qWhgx4oJ11FNnbSqMUWtO2Ksj60emZ33wNqJsXVahcJz4sLGcR__k4YWf0cPrqThXyu5R-LCqdVmK7zwzx7EbDNbad722ZM0DtO_DW2yHDZ2qsuyjJJG9iKQOjmPr2oiA3MphMqIF0gaBMwuZ63Ecm_KV7RGvA5UYW1etY7tMGBUnLoL-Rxk5nN-uOtIhLcULuWTIy6joJmzr_xmMCmLOrn686zSfFxGSfoifWXFm_NKoOKhiElsjrIHJq4E73BiddCT2a6Y9IeHCipVoX2qF4UU2sheeho1G1VNFmSAYaGf0gjutMF_APHuqUQiO4EofOVI7axnpj0mh5VojXV1WWYSYeTYQFIicTNw4rpQm4roilRq5-37gQJQZ17d46imWyBsZksbmruIVMyVFraQM85K15NhXyTW-84jyMGEUpI9dENl5drHCTVLFKBw_c-vScKD1LxPoPk1PXmKfoTt9daU4LnmHVzxkalvlG-ybdc7emG2UDkFaeV3xJH_aOX_HjjEDGnRujrUy-lb93y54GuZBGqnptNp90NTr_A3dkzqlLzvYa5JI6FWyyHjD1wPuEmOIbqf9BNyWkRSmrKigrDol-1uC8QvaNKythPgRArBpCoFuvRIcQq4ZWsyS0E82eEnLM2jkxhFQ8fCjNBV0znhOBTapdESVsa84tzXf1yq6Udauqtl4ljE6AML4nfZu1A_571OMbcEZUvpmMam6XiWNx-nd6hwFXBWvzTWi4M4q18Onmr1ugouJF1EpymiYeqntgJiIEuXnPDcdMEsDdwHzQxHblKu6POt_P9XaAqANEYJsArZTpVnCIIgw-2ed3YeWtM-ggRkgWUmlCZNPSD74oStVuJImwoPS47RBpdo2ZholAFVuQ03WkheTgctwdTgqZCCfMck2T7LGDxK_Sy0bxbTSqOcoPf6B2dYH41QNANwxk4YWX6XTVKmOgcEOKLH384BLEqzOOgddroS0u-clHSGKIIqHg9lePkGhZXz88k81dFGVMOrLo8iYXIkgtl7pHFCL5thUQ9AZigFDHCEul7Ak6-ovhSNN1kB3f2hvshjEJGexOhvLRMCaIoarPfwm9kGPHHhWQVqAvQoqHdAqNMsFOFh7A6yj4y1iElxCYCG63KaCgaHNhlyUBQjQ1gs7dgR9rbKKIluv7bROofXYZCQ7yCproEdCIMIr5VSBcnPOk796eJcQHKIXHZ2G1dFlByqXd7y7B_qvUqK8ajxL_rowGPczKdXQiqdd3xdbXInWJRknUMTumNoYJFPBBG2A4GTtK6wLkkS6vF",
  "id": "rs_0270c36bcb04f20a016a7fb73f939881998ac35e4fb0977f4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped almost immediately while shoulder and elbow gravity loads relaxed sharply and wrist effort rose, confirming the fingertips reached the tabletop. The cube remains centered between the jaws, so I’ll close now from verified table contact.\"}",
  "call_id": "call_IMnixcyvcAnqPLDBZPJHMdtI",
  "id": "fc_0270c36bcb04f20a016a7fb7418a008199b019b578c3bfc1d6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IMnixcyvcAnqPLDBZPJHMdtI",
  "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=-1.076 left_j1=2.1056 left_j2=1.4639 left_j3=-0.9489 left_j4=0.0273 left_j5=-0.5034 left_gripper=0.0128 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -10.5231, 5.2308, 0.2857, -0.0659, -0.0317, 1.1209, -0.1709, 1.6342, 7.0359, 1.8926, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d59c864e90d9a815e4a6a26ed188762d2ef1708a44da729329f9595e5959df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b1a166a377c119d3b3dfab8cdc102ce9628f1def2e0527c5ab88cb7c41a690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a1543503b3cee53b9d4466bf795df307569cde59ec8d9b5fd525e1f4dd0b90",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 301 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.1082 left_j2=1.4628 left_j3=-0.9455 left_j4=0.0238 left_j5=-0.5034 left_gripper=0.9971 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -8.1983, 2.7419, 1.0281, -0.0562, -0.0366, -0.0073, -0.0752, 1.6205, 7.1863, 1.9023, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7dUS2kk8sp3wF699LdOF4hlSwJlGbh8Bp_TBbzEyZMnOXwFNUA3heUPIfkhGBJ6oygX6cBXzL_8q9bi2u3ROBpudqr8vEeB8MOJHvxbK3-LCpQnuNoAU9AbIV_AdykQUaMNGmeeJ5H96teRjvve5rIepEDuH2Wm0o1A3_woUH3mUFWHcOc0wGSu7kTPlBRsndpjvXX_37LqS2cjooC6_RXE13mVQB6pfK0mQY20fm0RyvK1kvJEeGCqjI_XWr83jq4qqWBXPe8fixo0WAblnGjn7SHbZ-d4Rn3TmRpIJUZHSQoDRreJeVfkMl9VOfEQKO6s5JBBftgXnrBnL1Tw9umKcfmI3EBf2wUZibQjdJ1UNhYalb25_Vu8-3pLdY_DzbIMbHaJ0KYctxJm0sjj8EpgbiUtxq_dNsfff4hk9tKxBMPutwJNp0stscpbuctDed8tkCo-uS1z0c8VR_5YPFSrTvpg4nlMCgmxD_uhcPq9cn9zRXB90UTOGeFkU370bH15Ju1tIMK2ZVu6--yiD65SwAeoQI8guI-R066nzOaJpAmflxm4VWEV0S9l95wl85jsr8CxidOi2Hdfm1fdu6v73ZaNes31G_XEETyqNAJy6ysdBbkBujPAzNMjj0U3y_dVjigLo_rqC4HkfE2NMFFl4GtW5-_doEjvkfwwweabkYATsYQSozD3hP-VkG2Ah-CXH734t85gxrn0suLwlh3FO4snGKPgiJRwkcS-y4vRsDwMW3NtxVIFhktum7K77mIBcFsKkhZDDp1_TNXB945PiUFmzA9Z9tHTFtnOTU7sgOXXM_hI-gTc1vvLV7uMKPZd3gUbNzaY4Lq_wV1z9c75vCfHe_E_souJvrtuv9oEspnaNV3ZQ45HguhA_IM7vt1h3fv24W1IohbnSsKuOb8VeoHjmGXPU7omsUPbhRb3azbG1Za2D5VDMzFDUW6UT1_Y1ZpfywTovCaxRoezGMuAmwCRRgqGTVWI_tp-FHuVvdN-AU2Dr9NOkFIt0iJbXAMeHp3oIEuRmDFd4fftAzZeys8b8v8gthLS_Mj3KcrOBZUJ9eZhQVYY9o4MeoH-nl6RX2zktD_MRLq6TwJaempzXnkP4R1afJ6TW3ocs3G2TOjOd48SM4aZkAMNOiuZ5tGzzfxFdlJkuH7NtiWcHA4_WpNmXvqip0VamajbWlawpoXMGsfUXpm1sflVSgiZot_S7gaM5qfnm9-OtC3pCATYFlV4sUfi7k106YdxfzMSDZuSj8k9kPdotFtC1FH8ruiwvQPysWXmbQZFtXjNBzyIUS708Hd1TA2zFo0dbdfj6z5WmFi0bVGPyfQhcvVmPDVhYE3Unyvn-fDUhAM_4aG01gRmisNxiPOfFq6FB4Trx-zNQCcQQ92w0BRatgsMgewG1MDxKA138Suoz6rR1MzN5oUjHNtCBLvOMita_hk26XmNtaIKlLaebVX5s2s1Y8fQLZQR-3myEkOzo1wEYG_MN7CDIU88D9FLHfSSc0JXoxxsd97VCC4tOLz61qLYAeFP6spzorvtPoeK-QD_TF9gbKc6zzcMGQb-gQLuEZLIZt6JDRxvX75fmjnu8CjatVIjrRy5WaJAE4lE5bhE5MD8BKQ3Nt8sAbK4Vn8klgzNSSN9OEFduhTh0sG3hhmDY3o2K_QoZTr00pYKoXpKsaEHHu4AjQvP3KDQtOZevcf8whbYSUDHl7tVgOqITky4QzoV0b3n1QLYA6WGCGv3aS_ceML79wggYo3VkmSA0cA2rnm2tOxukH9c_5Pd2lQuOeEC0aLsIwXSRygCODSKhsyy4DlZhohbX2wSh6M6dyrvTpmk5YppF7mJtAXOpLrWN0gMAiCLY0jOY9070_g38Kz2VLhvjxxJLD0nJEPCgm90N6ucs4dJNFqSqfARLdD1GtUfPoZFstu1BF-G-0eGAU_U90PBTXtPwo2wFZezQb_s_6uvad8-svO4jKkQIlZE2eZu-qwEMA4tvhtYIkfFf06hjdpHLL78wRQ2nsdWFfMFyqaQmisv40kSAIKaaGFBJc3mxPfpG0oWrVZ_pHLSJqY3b_g3jrqi87w-bsbSxRJNkvi_FjbErPYFNEaupzZUVjBg5VYtpJXICUsxPvXFcTI06-yt2876icDHcPeW7oInrXqIR_GUD4Dj9G0z4dWPcw7RU9DyGlL_bjAyesrn4cEd-q1QAF27Fg23VFPMSPmktZtQPEs57vk-_gW2Vqb2ep6zMFmlDkB8VbaImbq4keAwdIznzYk3HlLmasjDJKnBjGPHVRGt_Wk4p_a01jHFZhVqBFXoNT8PKGnTlA5ukLoKLAp5z1XIRqkt8r3SoEPM9OBIXWMEssrBA0gxVKwYIyCJZmoF7zGFTZMjh6XNYIsN7xsYOLcbcXKwYXl3qlZm2cDbfKwWCHZI8VTZroUXJuybdbXG3FABaV4qfR4dXAdnQaTHZ4I-q7TJHoq6tdOke1GsW5xkNsB2wxuC0NzHEOMLRGRQu1Ba2JVDyUu5q6UL9xxAQOTDeZ3FcEMkm6lbCW8FuogCS0ifLUmNrTp1igjFIjQtIziCOnDvRNi0mUqLZALNxZxnBuDtoaKHHqD0yKDhxjMjLyfiCOzp1X21WKehuBjuc29Koh0j6Cj28HIJGLEeY39jf4uMEkqlYQsRFedtaRRFX36MID2DhaUXXKaRUJsbmLfhKVwPWb-MvQGKlbSXdf99ZcmqzinIid8_sgTTE8rN2WgtkQIFnm1-PbJxrn_iVOwesQm9kFDOl7OG6CeDtcowhyz9cakGyi44AyPYPfPEER98UbpWp3afzQ2qoFnVn-03_4gE_EQ3K_ryL6zvniXjGkSgwVc9fTNgToyPq-Nx0DVcZGgWjUZIh2FEFxonKEC_6uM_k2O4PcUVbkdXdj_9Qfyb_dkKNQrL3H0Y11iT4EYyxLJll-9Mhh8G2TRAAktgDcwmbLSFJXh6ZgDR9EPkxWl8zAYwDiw6Cd2A7s6PLVPJWJWT0cc4ETK4dhkJiTpUWZEl28_hO5EcqEPt2EYo16sP9Mj-LIgYWQwAdY7k5X8mfF5oqRujLpnZbmc9UVbGhRNyImBfT_D3o31s8XQTimouTc4KxrvH3hun9zrFTY18hGgtB-3r4-TiVAElvkULnqNYOUYRsx1HOZUNLzrZhIeYCoylko3NVDap6lYtg_gPh3NF4x8LwzrgsHiKOADPVp7DVoGbwr5w6NxPGoKNgD40qEV5jKrHdoQl22DwTi7JyLiQ3is9Zqt_EeCO9hO2qe5cO9TwbVekdhPZuvyTS5sYHlFTYjbeyC16Z-xUiH-P50WJJ3VMMlD4h4hldDpDhTnzq_3XAPLta33F7XOu1pyWOCNJjCjrFi5lce9Mju_iQeU0_OCeR4Jo3YkU8OSppqyxIAATRaYaYPMQsQr904aG2Q5FA50u8Wcuh0TH-ByxDK5wRtc_aVJ4T8YvQfBq5caEsaeZmDihE_aI_aZ2sL0LVqNpCTkkk0AbtJRaz762LDPUJMLnuBwHyI4kOeXyDJyCuKA3RL-2mlKXLWfo0cqZYDuvdpLfEUuro7_F3hiQmYv3PT1R4IJOw03nLYtLhvoVj-bz8qjA8bko7Ew8mnKZCkNZF6Mq_D0vRdbIspff3vXFDwCYoDufV3ID2WqUZ9xosOtrw5HxgC88lMF6Fdkyq0G5KOWq7MP1Hc9l54Jf6t_MfUheEMxQrO-4wAJJRi6YZbqc-Hd30iZO03DKA6NgbL8rbQapTsEgqF2Uedl5ZXq5T3OdPcrSow3MY2AHqpxh8upABvYHDVvQniFio8As-sYFAUN4TnyQaS6_FgD_ZnM2mlEjhuL7RUURIWJ6PHEvckgudXYmC7C5mpcpRAtwFZDYssdRRVo=",
  "id": "rs_0270c36bcb04f20a016a7fb74823d8819987b1c401b245e9a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The near-zero residual again confirms an empty close; the blue area filling the wrist view is the cube’s printed face, not jaw contact. The overhead view shows the fingertip midpoint still about 2–3 cm forward of the cube, so I’ll reopen and correct that physical offset rather than relying on image y.\"}",
  "call_id": "call_1RkbB5xujNCkU65k7tbhcQlk",
  "id": "fc_0270c36bcb04f20a016a7fb752ef44819998c259c6fb5ede69",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1RkbB5xujNCkU65k7tbhcQlk",
  "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=-1.0752 left_j1=2.1056 left_j2=1.4639 left_j3=-0.9531 left_j4=0.0242 left_j5=-0.5034 left_gripper=0.9952 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -10.7282, 5.3402, 0.3053, 0.0122, -0.0464, -0.1245, -0.0479, 1.6752, 6.9949, 1.8779, 0.0024, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9c8f2b41aa7fc5bce0d75d3ae5226c2f3bcf1fcdd7f4b33574e1b5c96eb3f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b57b5efcbd30386fd4d17a81b7854c5a8f63b5bdc2e0b7ec814cc574224e950",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e098aa1932a8612a7a1b8c2f0c26d5a7c6b8c2905f253cff3c5900ec9433f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 305 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.1056 left_j2=1.4639 left_j3=-0.9489 left_j4=0.0273 left_j5=-0.5034 left_gripper=0.0128 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -10.5231, 5.2308, 0.2857, -0.0659, -0.0317, 1.1209, -0.1709, 1.6342, 7.0359, 1.8926, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7dgBKck9-0uNcu6LT_ueQn2ds3oVKx24T4jJkxaURXTyXu8vfBQScFlN2EX5G2_xpe_JoiCimgVehXwngwazWydnlPZUWyIU200kXpBq8xE3KzvwjhW4JNot_E8cFxOFnNaK8rocxx6dNqE3KYBpWfFyJ2ouQQjtkpXQeEZG4RqmQTNFrh66i2d9xdH_YMQqeZL3gS2uERh8h0kXsAkXzxU-l0i5iI9jnTYhgjqypqnTMOJgq7kUNJE5e6bZFxX57m-vqLJJtnmAQOKWSbdfXvt1vxY--IPoKr3CJ_wtvhC_E4dIYd46EYTyc91uWd5_nhleKVR93NC3EL61YsCtkYxvFYSvVa8FF_GV7uWTaz3bYL_ETe2-xLc74WVKWh-SrA2v4RCBNtUhH2Q2-18YzHgqlkLDQf08LNOa1eGZBpXeOh4CbeoZyELmP_6LX07SrnQyqhLzledlghaOEU7xh1FRucYjc67qK3BXGpuhvl-uoTtvZVftlfq5n9qnePCrkRgW93Uq82Ba22BXUL_ITtDhli-M9HS1qtyO-jOgRE1VtI0wjDLgZEtlmw-UEs_lwdOV4PrxOp1c0UNW9v-SxZ3hxKiPgpVpG17T5QNWFeAmtWl8drHCCfgiT-bwA6hwAj8-DJcrUA_9M1AiyKKfQCeGjNwoy66oLCzqQGayM7tzpv023Zcp3KWQDMJC0HeYRIE1R-0RAiRwusXR97fC11-5mHEfnaTpkiBFOtJxreGTkFu0JOOCpXfB8PoKnuHj_c9q-oCk3hYR6txqJPiOE9UiEWSdmO2iD__-5-Bv_TsYqmrZu42LY9Dj7FI99JbHVP5JjaCik3mFdkT9NzvZzCM4_NlWughWzwHzfrISbNzQnaqJ6gjh7yZhmaBJNAZCIkNCYP2yFVp1zGL7Va04Dpczn1-xE6ceNkkIW9A8iFokAhQ9XYpc_4GvU0o9PKMtiFk6dm92wVon1sjnpGdvSgpOT0juDrmjTE1LxZngXU7MUUIXdxXETvVbTP_Mnjj95Q1yrCXZX0KgQUbUkIR2qdySCnMMbObvDthRlTIe14bZxvC5lTdX6AOTRq9FNAoKO6BoFjDuObtAeM7l0wvuHWFeeLjrLXw9qVBBonS28HTe6rzrLXFrEQBhvkJ76WLl-qjdHoDYP8B7JM6NpM9MxhiPJe5f_T8KJgQ9OmFR3ADP2M6fHr30hoq3XjGSa9SKKvE-Lg-zLDmj2qtE79Ejhn51D0sCa0atRmz-YKfD1Q6hut7qHbgvcgYPhGUWVRDA-S4mdoqJAi6_nlQFp_heu5mTVSF5hemMPn1oGyoOL7yKWf6qYIK9F6k4oCgB1cBFEwAjCP5xU2OqktuBgsxJ_rsA4k-RpWr26VoCpraFQTbjWztyKDcg8Dq9u-dyKSImyz0XDx576J6WYFXpnyVyNz2TbFCtVQS7U61yPMe2snws2-QKAM_UZFEpKf_H2MolpxXDyRzfl9vwasYdz1vyVCzLJPwBKWunAH6cKmstFvy3b9yf27vQ8BaY_G9HrUDhZIgIrYuHoyA6A_b-2A57rz6vNjTM_w_18cySa7TYRoEWnx6pnAR2Dyi-XlK-9liPsGB8-GEeOj3sk1O_wnCs7sZzsOZNb5il4o0bMmOPJpE_N7L3Xk4ThU0rBxpdGLfJStuczUWpbp5gsK36ijS9jPRNKM8FT9G8Gp1iJwgiasyeNg8-2EtzaA9nv71GMIAbnCVb8rH5MC7wviucTAdmonQjZ8e3E-cGgL7cuZGuBuzUtqfMIPmEMsVJua8-54zK8TvDZmrog8BwyF0BRWYY-28Jw8gbFz-RZxBVLwFSD5SPZyyk5QYf_-gMVrMQYDrhBlzdxsFj4bAXNyeTYYaGxO3fsE14w1nP605XbmHgceIx2kpiamvBVR4OB4N_Ar9bisfqRbd_293Ml9oyh8wJ9DCohlmPan5lVKJ3JBp6ihUBIo=",
  "id": "rs_0270c36bcb04f20a016a7fb75a9ef08199bd5cc509f4229af1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.99,\"left_j2\":1.36,\"left_j3\":-0.94},\"note\":\"The gripper is open and the overhead geometry confirms the cube is inward of the fingertip midpoint. I’ll lift about 2 cm while retracting the grasp point 2.5 cm toward the base, avoiding a tabletop shove, then descend vertically at the corrected x–y.\"}",
  "call_id": "call_AyzPLSHpSDV7ClNMkJmBzT3Q",
  "id": "fc_0270c36bcb04f20a016a7fb75eb0c081998bb1c174cffe6c97",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AyzPLSHpSDV7ClNMkJmBzT3Q",
  "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=-1.076 left_j1=2.0483 left_j2=1.3933 left_j3=-0.9367 left_j4=0.0231 left_j5=-0.5026 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -12.2051, 5.641, 0.5446, -0.0122, -0.0171, 0.1148, -0.253, 1.8803, 7.5009, 1.9267, -0.0269, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe990cbce8d769640526b4549d13cd3d13fef89b190d9e55691a97d284bd145",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4602f834d8bbde933f45e786960753c9b80218a0f613f694e8a2cef7804171",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6f573255d20a8d78845236a9e89ed1bbb95948868a51f6683cf841179100aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 309 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0752 left_j1=2.1056 left_j2=1.4639 left_j3=-0.9531 left_j4=0.0242 left_j5=-0.5034 left_gripper=0.9952 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -10.7282, 5.3402, 0.3053, 0.0122, -0.0464, -0.1245, -0.0479, 1.6752, 6.9949, 1.8779, 0.0024, -0.0806, -0.0171]\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": "gAAAAABqf7dlrlm33lY0fkKiMKIBjJOc3Nv2O9ZVuMHr5WUYW0CKSKn9moV0_hZdzu-_sPtlzcYt5Mp8p1HxQExS0QsABQg_lN_Omkx14k4fUeqAWNjB7bd4_mHflr-4-mr2Lg6dlhzIvJSZ15yTbulYfpef6NjcdFjCP5PwTh6UZuZHw1pbVAsBo4ykF_BEXL11jWbKA-Q0-WetgLoE1BebkjyAS9zz_7PoFu6oGwcUK2QKoCuf5Ovrpw3WKBPsi9KufK3xDq-Jc7bNEeQmTNaBHoy5cK4BC4oFIiI57LiQwl6XGvP1HB8OsSorsct3G8-AtF0dgsH4F5X5MPoZ4GnnlshN_mLg4VyjYbSD7bQwejUDvlGylOiLOlxf5rUgBD8Pl8jWq4QuKocdY_J2l__yyJLtF7jpQz-dfwtDFNnm2KH5gj5vAF7G0JVkqX5sDATj2RhmHa7GgtJ2Tt1i1nCJe8GLBp_KHsgRbNb9Q-wIbU_pG-13yU6jCnZqcv91ldoJ9APv6oNozJ58R-da4Zn8k8tA8VoyJ54Q7k6f2dKLns0DIee-VPtGT8NipS77WLWLBf5gQpHCcIV_kByfFFNPbqzhDhfyumjhTBBSDDzzaJZZtbC5c-T8cdvzwbs0wPZJT0MjegyHobeI9dXR3DaYXWC-4lpgCnOieEIcfW3sL5bvCwx85H0u0KCWN0jsx65GzpqMa9TOp4KAmD1Q4p1YSHmF9-NgIArzOX9MBOTT8zV6iVDcQ-2mLLp6uG9vIV4MZKIYUDu6NKNImZA5mu1fZbsuIa_S29aSLMd8JweMVzt5jNwPdfWSs0-yJbpFwokH5XZ8sBACqFsVh2etjDiqdDe0Zsn0hCIoLIUe20Dj34hzqjy3yTtTpi-I5bIIwZ7h75948hFVyFhA_xhJGgeR5jL4oG3j7X4drnKR7LQmQc0G2gdsIlaiJCHSkpDgOtbmljoQ4MMcZB__qVvEOs_JttYo1TaCh5kHBd9HPUC117uwrAnUE75catfpLkwC49QC51oyKiT7TuXGUcWaes6siqvDHkHu1NrcMpFpcHE-Kvkc91_i1fyQ0TWHZB5Kjnexw74F-wWIbECva_05rRmz1txGgE0cA4iYVsrsQKr75WhfdpyuphtuupQKdPczNDBRKz-X_v4OSW7s04jCFCXVa8vlxNMmuWVV17VzA84oNyBKFIcGGxhl9Yvqh0P-g98xAnH_jBoOz3_QxmfYAsvHc6e5usfEmnGAsERnsucJa_PFGyt0WTdDHKIM_6IGVbItI2E1q_3UbwNSv00UBT8wpoDnu6fPZFMyJa2oyoJ7uj3jVFJmAHNvHy_QmsZex-Hh5wxYPfG1",
  "id": "rs_0270c36bcb04f20a016a7fb7638b3881999bf61830583dbc8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.99,\"left_j2\":1.36,\"left_j3\":-0.94},\"note\":\"The combined lift/retraction is still settling and the wrist image is motion-blurred, but the cube has begun moving toward the lower jaw gap. I’ll let the same target finish before descending.\"}",
  "call_id": "call_wrKPicSZ2tZt4uJFyI6lyASP",
  "id": "fc_0270c36bcb04f20a016a7fb7645a408199b63e8b591097fad2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wrKPicSZ2tZt4uJFyI6lyASP",
  "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=-1.076 left_j1=2.0174 left_j2=1.3636 left_j3=-0.9524 left_j4=0.0231 left_j5=-0.503 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -12.1641, 4.9436, 0.2906, 0.0122, 0.0073, 0.1148, -0.212, 1.6615, 6.9949, 1.8926, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2569d38a87c4999eab1b4035a0d63d46f81ae28a1623f8bf4841980ac8f775",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192e9c5bdbaa68eee8f237d66624e0d6591edac269137279cfd8b1b46298cc11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c663e245e85f973e24c601f002e2d7b9dd8fefbafa430f9405e75a8f0283b1b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 313 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.0483 left_j2=1.3933 left_j3=-0.9367 left_j4=0.0231 left_j5=-0.5026 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -12.2051, 5.641, 0.5446, -0.0122, -0.0171, 0.1148, -0.253, 1.8803, 7.5009, 1.9267, -0.0269, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7dwd8sXabfGWRKqK0GAkjbRCGLVcw31o7JtiJY_zKzvmlXVRIbXdhuMVYufIeaXwbIjw4cQPZ4vdpVf4RnpWU-aM9jsBk4l-_C3-R5ZeG7MhcvsJwTTl8uRAtEOG8aR4Lnwj1VweIksyNXP3DwBRHMfWcdnRkAMhzGXZde5rg_4fgEJqBxMQVA-R0XBohVHDvtm3_T71Zu6Y1YVpAa07QqkDLJ1U3BJB2lw6io6kWHOGR9txwwI2vvkgYm-AX3Ddsy2s6Hzlm9BLg1c5go1nE0_5SzJO2gZ_Swy8Lj1QH2xu_WATDKElGUQOCmavH0oTXIanj9LiqwooK08e0Ns4lybbsibgI-1_-Y_RNrzQR_q6UCXYPir28O3IZW4FPqeBV3luX0UHRGLsnbrlRzMselczrSjMyiQbQ-lgORudvoOHieUZNf4qwuoRq9IQ_A-2SBPcm8BPCo8iSCpFdENA1wRDmIo8nRcxnMw1MNpYIGeIg5SlnaPjxh5CyI0KRUCuwX2IA0KKmkKVwqXICSa67wrT7bjey-oxxokoRH3ObibySvefkwtt0atfkd5LyqOuB3aPYcaRNBjBoELmVEr2mYNqBKM6iqox8O98rYirjF1HuCQfPdiAOxtozq8AXYp0IsGQbGRV8lsNaWo6hcFAkGjWAhQV2CszaCSSEiHM6YkzajWOyKmRjaUwOoM9pYuGq_WIqEpnIKHnQen_IJOo3NZDnb_I5kZ_HVbrF5EIoCm8YG5GY6-ZmuXV5bcNMfF5OHP9ium3B_tIHmWKp3pnEVWq950l0SaomnHjgQ144S792HyE0q-oSxwMC_UjTFGy_vKLbB7wpvbnM-4K5K3GX-noCbUB5TAldfQ67xiNmeUhL7pGHNPvtA3Msfm0hbGFA12c7ktwHc1c5i4Id596UV29-TcjEEtOKhU9TWYzQ_21GOOCXzGoj3X1wHODywqTW-ceUeSdMKI82UGlI4uCGQejyPGUfaijypGScQtHcRerDIVsqRVoleD1bpNOSml08e0Xrx-lg-aMX2X-wxLAzzjM6aVy-KhsrAOOiuILELWMCSDP8qc8E8ROtay2Dpx3icMbunEeasRdCrFc8vXXEZI-Wdec8QKgMy9nm7rRfugoAtsOs_BIrXgptm8DGCNhhIRVdxw3kN-RxTAWSarZ-_FyOiZa0Q3NsZPMGIL5CXXaGsieCZRYVlb77lv8Puucf0ewZbm1aoitQle67pWTW--0AOggu4qRFgrIzTuL_FQ5GJ8wMzhihWVjat8FxYo-azDiGLVUaiyjxFN_x46yKzph-FUWJdGsvWgBlJhb0kX6geueq-tpM1Uwknal1SiUrToiEzuZZD4ovwx6kQLCk00jQpWp_WtN5PJFvizQRBmCpxhl4SnWtW2Vg0jXi-BylTPlAZ2tsm-ytS-jZci9TRetcYAa5QPbjQBOUymJrr-jwupAWEt9mtf0IFDYOoxVFkoyU60iFCA5A15nZFl4j13F-UQHuZLNYJrC7n4cjLur11zZRXlPAZmChWXnTXonu4Vq0HC27nSP_0XGOUPSxjJQcOXnPhaK1JaAAXGnm1SVb2_HPK5Xu7Lic_hYT3WrAVSBDyrKktJm6uYEnRPXCJQpXhkvZPW2MlGAZuWlWM9Mrpzy6eYs7uRogKlzsM6zX1rhjSg0je0mUUNusueWV8L79p2JWST979pOvV8dPGt2Il6xfPrhupvWcrD8BCllm_UAu7ccofb4coiXgjQeuUuTwYWqmnFE-14wpHWf3A-BtvxtfMCvuZAodUQvhGacolTIl4uAAW8ZukIJC2Qg4mtsK0BA9BL4mwP0vP5nDplQwz_LIyWgcC1V-S0A1DWKBsZcUd4wvkfPx1O7gSOW_g-xiiTcYy5jktx5JL6NKx6iIfteGhpWCtI6vMwqLoqaaLgt_ORtBuQUfqPwJATioRraGyRvsE0jf8zOADNNFCk6qhuEdrT_rkmNfHG8sR-QSqo9HzyREyzeeBSQAnKms9bfkdk2WuD9TEpe27eByXcnsszHFBWzY5TBrq-kSxfUQXDQ0HumdlnogcT8FLARRwUV_rrBDmQ4OQUQ-tmye3iHPtBP1uPdpz9Aqbue-nqB75OFflQqjp0QotLdna7SD8qBIZ6vFubw3-cEB8z_kCqmMzE_SKptx4xyVu7AE0bKhW5THsT5-QFCZzVD8IElLF0Y-fujXDC5Iodlew_jjK7sdxp55F6YMmmM-fWSAMFzqHVxK7pBQXkAHLtLeHo5Czb-6vHAAhSym5pMm888FI9p60-SIyqMTV9woe8w2W9GGUmT0pke1yvNAKi6ixqhnD6TPwLhhlBMyJYgzdJquf5jbBAMq-hI8RItJ7mAymmzD08cFfC5AXZsE9UNBFaTY4SA5Z67xJNf4Xl1-CTFP_fCm7MaNW7QeBcDz4n4pUgX19mxcZV-RGP_FEAAiwqR4njQuTbZX9ZS7F0EUKjTmtxdlEG5WF97te09_X19onqlZVtCMzZhnvgKE2ULGprG5BvgvvFGb4FE0mpUG2I3SpwBmAv98U08PQ67JPP6ULtYE1bWpfthVbj_qoioH9yR3eGPHgRd8EnkXNcczrvixjYp9o=",
  "id": "rs_0270c36bcb04f20a016a7fb767fd2c8199aa732fd3fdf3e1a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.06,\"left_j2\":1.48,\"left_j3\":-0.98},\"note\":\"Once settled, the cube sits upper-right of the jaw gap; the inward correction clearly moved away from it. I’ll reverse by extending 2.5 cm at the same lifted height, which should bring the cube lower-left toward the convergence point.\"}",
  "call_id": "call_oIC6aJEchEnBLwICwYIu5RQP",
  "id": "fc_0270c36bcb04f20a016a7fb76f2bb8819992bd02932ddd7d09",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oIC6aJEchEnBLwICwYIu5RQP",
  "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=-1.076 left_j1=2.0441 left_j2=1.4235 left_j3=-0.9836 left_j4=0.0235 left_j5=-0.5064 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -9.6205, 7.4872, 0.188, -0.0073, -0.0024, -0.0073, -0.0479, 1.9624, 6.9812, 1.9219, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77cc2c042d3a99f4c21fa27a2d19ce16d323e83881a73133deb76d665e761037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69fb83cca5d20912a7c48fe8030deaf9547e4fdb2570f4a1d123f4168232e72d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcdc58c37b0d66801a1d1fad7a64364585fdf155f8f5b3973aa70c40a8b88c69",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 317 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.0174 left_j2=1.3636 left_j3=-0.9524 left_j4=0.0231 left_j5=-0.503 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -12.1641, 4.9436, 0.2906, 0.0122, 0.0073, 0.1148, -0.212, 1.6615, 6.9949, 1.8926, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7d2pK6O45_xLUZudewvdNHrl6hL4MjhGN8XrJDoSY5ySVRpn9CxmxPRj-LkIHqWtGDa1HVmfFbY-3eD2mJyGMHeTTuBkTRliwhEJxIg_0qhq38EDodOlMmKJy4Ei5uIsEPUzHYfP9OmgY8kh-u-XnFAh1oB_yfk8Dl48xVey1BKXjHorgsAmdtgPCC46jf2PtlEDVmxPh_5wwYqgCI5TQlpbcsO6hDe38Btz_gcZVCr_BPo8bZ06EbvPJMgabe2J0vcZq1vGywcWJuHoGK58MRbZHkuuJPEMHjmr-0HDpwCCsculCDQkchHcjgrrayVKS4kTszbJ2eleASbCRZFTPGx-6o31ifvAaslxGa2bTYg7K0DTB3_FVYUQumNC1x-QulJfE32op2wpBVI7wP6_ysWM7GesSVDpHllm3wwjogS83YP4n8GsUq9uBrCVXXBzsl2hXHcYHb8tb2PxGSp_A0qhWdjb4yuf0lFWJfKKdXWtLuJC2JxNkw7S94wMXYQc0KpYJ9JG36D7f4x-cdxxewAt_eQD1aOYb3m5e7lxVAzQOxHtmoK49P38nl7G77YogL6Qp0HWk3lF1oodHFkNcfGJK-Hy7LL9EMxf2WsOLgR3sI7idVAjBmyNdjiRmdtUzKR9oQI-SrX199IlYgRk4fNcVFdT9kkSLDcEcmQDiFGU8t9Ncr7JH2Q3Xvz5_9M6vncp74vtrqjOFCAqQ6wWDBEMoJcpUBlkfjvK8yRTvnj3jmV9SCwvlERG8O_zBzYTWj539au3KYFdpeYo1I5CNXYL286IY40XXGiT1xKIdWM5wFkAOq_VCbYLo_NCzQxOlsNj4kyFA9leJ77s_s3aD6ewXR_7X3kpOzFYe73yKzfGrwh5i1vVigrbeBCCa-Gr70ptKHKXiELEcY9KTQFkSVnptFvlXWcAj7MoaWDxLoBy4b9kjEplqb0n1So8moJntWg5cpJeDyZvU1hwwVrLZo6eznGF18E54jxwvdf_y0Qqi6wYWM2SPFVV4aqwH2yQtYpBDxgfhbnY5HnCbSC7jFH2MFyrfcWLLT8ewEtEMFZWEplpyZI-ITAR8b2u9Tqmiou6Paj-0fm60yFr9z1vOjvw84ngOp2dD6tnNJIMk3d33zXNOykp7XxRfqyJnhRXyD9wm9lV6ucJZ-exPWO_Fn6GMqsLjfFz6DcPEFHYBGaswwfr-dKrBdb_P9SDpBuw9ZiGZOeAq9VLUAwOylKen6DtC7sXRvGdgV5XiRFosuOw0iQPGx-mqP4Ddmj_UwRZvXz06iAi2S1J9wIpyq_IzUSSMtXiObzzyCSmi9bG1u6utWxBHBsP4vVR8w_2ocEUJNS",
  "id": "rs_0270c36bcb04f20a016a7fb7744cc88199bf88ab64346f215e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.06,\"left_j2\":1.48,\"left_j3\":-0.98},\"note\":\"The partial extension moved the cube down-left as predicted, but the controller reached only about half the requested radial change. I’ll complete the same target to continue bringing it toward the open jaws.\"}",
  "call_id": "call_EHFn8vWjMy4otT35C3R4mF3G",
  "id": "fc_0270c36bcb04f20a016a7fb774e0e481998f933f60e38003a9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EHFn8vWjMy4otT35C3R4mF3G",
  "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=-1.076 left_j1=2.0583 left_j2=1.4631 left_j3=-0.9871 left_j4=0.0231 left_j5=-0.5064 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -10.3316, 6.7624, 0.3346, -0.0024, -0.0024, -0.0073, -0.1709, 1.6205, 7.241, 1.9463, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8cd497de0045e658117662cc4197472242dff5536952187aba1e97248abfd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dadbd10ff039e7e5008304008cfbb27cba45d3679c32f68d7f306dc4e922f1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67248498c3b86e87e3b6335ab3d2c7b6e58aff2c571b808268bf787de40199d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 321 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.0441 left_j2=1.4235 left_j3=-0.9836 left_j4=0.0235 left_j5=-0.5064 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -9.6205, 7.4872, 0.188, -0.0073, -0.0024, -0.0073, -0.0479, 1.9624, 6.9812, 1.9219, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7d-FGouExqvvItAC-Qnkd88KPnIkIVkBJHe_A8tdPT86tIcyyj75XrOkDiXmNhlAiyTaoTA7B-wRxp6Hm9dMQqKrPlWlqsHJ2cb_7-PQsVIB-h6abQvQskNko22UZ58bF6Nz7-b-20SVY_fcB22nHZZN2ZABcskXM2ZdHMl-mN11F3zsV0CgT-CZk5EISLzGpghRd9EgLYbbZ_oZsv0PcKXCXyPpYqCyURnBwDdo-3QnRtoN4VMvycQp0OtA123QpOqESNqemlUe61q2wniPikAFh_PHPbDPy4LVO2Zfs3K6orUraB5HP2UASR2R_xgE6GY1JiOW5TXWYlqp2lds3itTqlSUUH9jgpTRrXZyqfai5kdDf-bCb9iYFq6PRikFdmb_rGgZbAHWoiFdnSpbdWi5YDu0JBW4p2226MEfRQkJXjASCWCTBM8LWjEyro0rL67jwPPGX8RhD3Bl-hAdbF8R8mHgwvoGEO8YFL7z48wh8aUcJmzCYEFpiUKLIuFnj7EjAZoikMI0DkPwkvgQ2h78Fe6p74YuzBwW4fwPhbxWFnG0FgYdjhCenw4om4zUQdKSOL8PPfauHhYctOX6nk9d9wCtT6D761UtV6Tafhx-U3-dP_46gSwyeuoorsbcNkPWBIqZNniV5VxS2u03bRS9aH9iGJlJ1eo-JZmBUmxvytiX-mQgF-wh3-ESiWJNS634SUnXjlRpHsuIE-WPLOBy4RJvy3doH1thg8QDVpkh9N8fbcx6Tk4THu7xjb21OcNaqz8rY5ulqYu7ozo2uyHaKz59SWSWu5DJ01lACAol44-uDeJiwHWENnpLaTCv3s5OXV7wdERgna99Svw7Eb6B5hTZX92qiLtAcA_UlDRfUn8MHGRNMa_Pjy1zOIqDO4LZn-lyOItLQ2Gvf8lmLX67sIPTOWCAaKE2TPP66ydgA5mJnlcV6qqZRNEANRL5NH3PN2nfJz_aFj_NV9_j2AhavlAcVcXQO4ldam28v93kga0RnH3uaL1zkfxi8POHi46hOQ7FF4hKfSb7eNYc0jAQ6aUUBeuUdHDZ4e0uUFK1FdNLjxayZd5VoVwbOobjEAEIAJb3Dzrg9nfpSHNNZNKcBD_ySbXwFYW5UJjKS1Wp5XvkxTNVNNc-Og-K8Cv_44McjMXWW664v8JAASE5vntV_axIK72c_W-CYfTQdx1f9pB0Na0i_tNZKh2DldN-QfIEzuoqdXENJbaeTToj41ZCKSvQVNbvPtANulIZalNFTT8jbsXtlKVM3dsUuTgnH_iZM-tG298KcZ5Zw9szMPumG-3OajoOnmNg6A19j10NNuzxzO9I1h7pMUmvBfQTjzjy6PTdvqTvjof_Z_E7BqoOqxt_JMSaUIoZ2RVDpyMNbsHVNskbLH7ujuQikaC131RGNF_k_8twVMG4HSiyo60opDdnrKtDKjpoksXMtU82vM9vEVlar-U_DY52VnyElJxdJxJllWhDwdBud7e8KYTWSc2Hsyg0wwdMJlzfdspid8-gncl2kxXRv2wQ3hK-J_BVPrQBBH05XO9OJZbbqETbrn_7wIYai9uQYfgJxAVwHIE57rCzWxetAE68nLwNDbpfR3TPPFKX-VoZA0C-qRaG1cm1iJ4AfY1teJ6QrgluPQG8eWlTA1m_jgQRqSamC1TI_az2hlpIEvPS0RoL59Fua85qLZsCeyhNLTnXgVsOIaGviOH9S5dFvCvfdvm9-WsZVva2fxsqbt5fatWooG4h-UeN9kZDREK2CDtd3jtpnt3YG-9EDAVgtmnhjqIl0uSQqhDRntU4HPpq1Kuj4QxD9s13P4f697Z6EwUPd6XRC9th_y6tgniu7fGByo4zq0Z",
  "id": "rs_0270c36bcb04f20a016a7fb7794f4c81999f4ebdf9dfdd1a14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.15,\"left_j2\":1.62,\"left_j3\":-1.04},\"note\":\"At the completed extension the cube is centered in x but still above the jaw tips at y≈61; radial extension is now the clean approach direction. I’ll extend another 3 cm at the same height to move the cube farther down toward the grasp point.\"}",
  "call_id": "call_3An7OIQzXTuLGGwSLw1ZJws2",
  "id": "fc_0270c36bcb04f20a016a7fb77cdee88199b791dc1cd59cf79c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3An7OIQzXTuLGGwSLw1ZJws2",
  "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=-1.076 left_j1=2.1414 left_j2=1.5845 left_j3=-1.0321 left_j4=0.0235 left_j5=-0.514 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -11.3436, 6.9538, 0.232, 0.0171, 0.0806, -0.0122, -0.1983, 1.6068, 7.159, 1.8974, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db04f24ea0d8840c1b91e34c99702143f39a1b32dc63a4d4aac8fabff8671ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525818e7c82d2a7d8d4f614fb9f9a48038fcc65cae9fbb21cd3c090929ec7d06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b6d0262a856e1eaa89401736658070a263c6325969d925f3022deff1f33301",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 325 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.0583 left_j2=1.4631 left_j3=-0.9871 left_j4=0.0231 left_j5=-0.5064 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -10.3316, 6.7624, 0.3346, -0.0024, -0.0024, -0.0073, -0.1709, 1.6205, 7.241, 1.9463, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7eIf0ZbPC2lKnb97NV1fOUyrZF5rvLGxFgUu576uHbxhrwT6UBNziefWSHmtxyRNzZYKhydoWko_vwBM6VtFrvUYmaeWwBO2Ij0DfKz4kgWD6V_ExtQQ1VlEIJnQ9YlYNDP-X4Dnpva1wR5yJMz2MSd2F8w3qcc_wXPe3Eeq3W89eE_Mn2zDHRH_xiSwQrwIACeL7pkdXjMzBAhkyk2enTXULJyZPtIPaTyFgqDev-ywdCOlkjmYCSUBoX-7uTNpNKGVHtmlC-5HGM1T32Le1uzDi2ljwWzpI-6YvlJ9SbwBGBF14GOaBQTDYPMPuh9Ks2C39PbJ7ZqZ4S3OPylGNXEmRZ37PqNtahsOxwcZg4Q7Vpz_yWJ5R1WdmC-G-l1rdJlfXMmYR9-S-OgXRJtz9L78wyQ6dBDZ5Tl8LklrvGAjM1MLyOlUeqNe3INNNiPGNZGE8ozdREnXaMY1F5_RGsOjNWXVdPW3InY7Jm8yrb4NctEq2tV1-0ETGlIssrs4hzlHI5OR_cqq7gBNpTrB8188i83STUInIh2P4G1S-us--84xv499HABYjCNWYp6j7ti8e9iiq8zS_-_wFvOqrt6i0gaxZMaelFhOfhaEbHrhdWR9S9A4zx-pZm5NNliJRJwKw9RwYX8i4gYksluWcw-1qVyaa98ee7vFg4hYhGt-v2ouxgsY9ET6PKe7QrQFELealmT1Cf9yWuC1t3wtXvU15i9H8H12BPDcxDYJBwgAU5tMz6H5qcwqgCqENWfINMiy-LIKO-2T-0KqyEZWRM0oKF-WTTF3ryXTFY6blA4Vyu7u7U5DJbRTOBRODar2fPdvZqimQx0epdiyNEcOIXYyNrkvco5ht5sboVT7L_sgmTuoi_RxsE55MewMCCH8ggYWukQPhmt2zw5IdgIbxhnjPzGGiSmjVXiYzYwjVFoXrLbPM_1PMzMJSpYpOE-DwU8LMJW6LGroPJTsH86Gd8naozUTChvivcTXHSRn4B6TY4CvPw0zKbJBxD-NB22EsLas9FLv2RJNcho5QrOlUWTn09hLkrJgtC5j3P3LNsMIUj26aqqrpxwTIZR_NZy37z9hk_VM7N8zE3czHxk8GHPD-GGkoGvhNdPt9MQAEI6FfgzhwVHU9vmub9m0c87SRGNcHw-9_YjWaN8rydAllqxgaFL2BOgYpFwiv9fIViBqhkk1dPMylDw_NlRjJjrV1HmpdMSr91mR1S7TzAvrnx_PYtXlJrvotsn3hngNuopjTB3KNiROY3Mc2GEJCA2AkZM4GkkChkW7HZuuUwBjikeBpYLoD4fGh4Fbf9JhOVLxm_wllaDign2Wq2qzMQQrjLOR2VsBHBoQJd9Rparft4I-eOOKEG7mk5MW-oknn5O3-UCmEdYZes_Imv1qkQ3S0xn2qi0xWmh5wLzABmN42O9gVeD7YN1375jfPXfVeUBJluU2mgZcSrrz11AaY3X4RkusWL2vDu923ayyJ7caMFsccu7VlzaXC3_fktQaBc1Q6ThLVBQ3Y02335xhPlDziRk5rWVtHlRLPbiaqFohHMFk4FtjZSOU8JEdMaKKg8ZnoRkeNR6XKNes_lEnIMtObiYt-JC9qvVQvE8yqQDEqwFI7ab1qf79V71LcI7gHhW2QF9LfoGuzjtICNAvLYomsAp",
  "id": "rs_0270c36bcb04f20a016a7fb78344f481998d793f780e938cac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.2,\"left_j2\":1.68,\"left_j3\":-1.05},\"note\":\"The cube moved down to y≈112 and remains centered between the open jaws, confirming the approach. I’ll extend the final roughly 2 cm to place its face near the jaw convergence region before closing.\"}",
  "call_id": "call_UHINl6hoeaL3iCBNcNJJSlNf",
  "id": "fc_0270c36bcb04f20a016a7fb7876f348199ad6a146392073ad8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UHINl6hoeaL3iCBNcNJJSlNf",
  "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=-1.076 left_j1=2.1792 left_j2=1.6386 left_j3=-1.0611 left_j4=0.0235 left_j5=-0.5198 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -10.5504, 7.5145, 0.2613, -0.0073, 0.0611, -0.0171, -0.0342, 1.7846, 6.9812, 1.8828, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156c9b26cfcb7bcd58054d3f32f6969247990860df92da346801b7a6754ba488",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3d296f2c08b21cc920e87a814a1de816afef45d4cba51368052cde4013bea9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c9861efa6e68c234e8ab27701338cac68721bde8e9bb32a4be44ff0797cde7",
      "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=-1.076 left_j1=2.1414 left_j2=1.5845 left_j3=-1.0321 left_j4=0.0235 left_j5=-0.514 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -11.3436, 6.9538, 0.232, 0.0171, 0.0806, -0.0122, -0.1983, 1.6068, 7.159, 1.8974, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7eOF0PerZb8j5N42gc0b2usZwNmjsjUU_mm_odxvEjgRJp-TVt2_QzwV6hry3O8npsj0ns_3NRpSlrJWZzMty-39J3IW6oSBPBJThnAgh9xBUjpPoBAaQ_McsULLe1Q6okT4JXnEY8KEQrj5dfufZvKxe1i3BMTTJpw-xtSoEk_h9OXg1UNX-ziJwVAvxKp8NeaPaxEq53F39f_XjDS9qgNpHLj3gDyLp7BVSWroB1oMdYwfrf9pePAgcrOKaQ3V8SUxxJPkc1-DZ1Px9cSdEH0T5O3zJ5X4ku84VlfAKK7aUvc9232qj6T2Dqdnr0_qhrzOETN_e3Q6fc4KijcDnNfEVp7oRjpjkc4ftIO2wqjCEYMSuG_Ttl-gqXyP7-SA6Xh9m__DOU8btt6z2FoQ6QyXxzCGe2MaRaepByKQhXwsNMPPoRfS0KRGU2LCOV7b1BhjtrOJQkL7dYov89c0fdGanjOKMjt_0gcgzcnqjbKokBp6MH327CHoB0uQVmIcyG0bfj0sOKiHr-zeqnhwgdzf8gz3mF2Ssfs_kVu-difIvYKoMEPM688d9HyOkwpai8aJ9x76pYQlvRaluaoPgH1EFaVlhb9PGG1b9XE-Q3-fRHEcZaY_Xd1u5CuMbRFffpgyGFe3rFT5N6ywZQ8xoH4J0ezo0opv8TJ_ygc8exPuKE9FRV4Q19NUPTx8MGB0cNAlTrz-ABPDhTWNV6EcswmA8z6VGjK9gLJwebi3bdNI-cNf8ZQcEkaIMFJoMw6uC-0_mBkrB8VV7et-EQy3M4D7BOKZxK5BcqHNq6MyxDseGmcJHA0b7M8SPGtlfOgVmyorUZCijLvOYiXSOpPDHfT5I98ncsvzNn2143ZWUFW0W-ftbDh4mR9qv2a5e1iBTB0zh8yuSBSoGI37gM6ZXyqGhpFfYEdgqF0-sYNRyTeHBpilrh5MySE7z9JDuBkPjm0fFVFvjKH_lXtUshcjbsgmLe33NIQEOOtLW6Rh2C4cdsEcSoM2JxCPhzt9685qOY1BD4Iq6k5BGf6xjveMhscKRBiB0cIpmaSoK_f7lwmhssUsKJ3TSqI3XtVv90eZ70396zc8l7x4xos7nZVCztJGuhY_ZyOo31XOaN8hUxX5K_BF2l-1pZAueHtFOQhZBNLstM4XmgkNdS_aWbOosG9uNTwW4C0qJs47BaiJI1pgraiag_doXTkmZpgTIxt66XXotk1qKfL1zU9h3uAFmkK_XELp2r3rdymPHm_46Xe8Bf971p0WSPIOgnMLxE3zcRd59x3BXyRpTHXdsMSKYhb12pwZKrKzKgNqypx9cDYvSTyngYU8BX41WqgXQ2auJzdw_nbs6Hx0g8BVDIMzVJd_aorKUYgM8Ed1z71J791r3w=",
  "id": "rs_0270c36bcb04f20a016a7fb78bb6d88199af53b834be4eab48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.2,\"left_j2\":1.68,\"left_j3\":-1.05},\"note\":\"Only about half of the final extension executed, moving the cube slightly lower while preserving centering. I’ll reissue the same target to complete the last centimetre.\"}",
  "call_id": "call_bruB62vYyovYNG2rnEqwwWRa",
  "id": "fc_0270c36bcb04f20a016a7fb78d29248199bc442c9e5cb0a7ad",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bruB62vYyovYNG2rnEqwwWRa",
  "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=-1.076 left_j1=2.2051 left_j2=1.6588 left_j3=-1.0588 left_j4=0.0231 left_j5=-0.5224 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.0547, 7.1726, 0.3248, -0.0562, 0.0366, -0.0171, 0.0752, 1.894, 7.2, 1.917, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28300423fe009690e1a052a6b26dd8f0157b041f1c041ccbbe2b64ff20036d36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f87816f5c5a23b29865ad46dfe0c0ba0249329cdafba0c7ecd4beffd5c9297",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23a37b80db636aae8e307947cf9c9a92b5c83a145b8d9a7a9c689a42a37f771",
      "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=-1.076 left_j1=2.1792 left_j2=1.6386 left_j3=-1.0611 left_j4=0.0235 left_j5=-0.5198 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -10.5504, 7.5145, 0.2613, -0.0073, 0.0611, -0.0171, -0.0342, 1.7846, 6.9812, 1.8828, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7eTXhChS-dXLMoE_PR_NWpdlZ2S8EFEp7k9Xex28Hn8popot0R5RhLR6j6uUh2fkPB-5r_-xeYKEyfuTbXIfacUCUfqUaBIaa-S0AawxldUb1npXtF8rt7O9E9vDMa2YKo6jyrG13ONHtrFJ5fMzVu9bN4dTRyJVflfKaJbYaegyYmSztBwu_MpB2YJz-Bto0pLnUaZs9DazAYTwemwlwiyqKu6zvRqov7TZUu5fp6NnYHzhioA04E0S2q6K3knO886eypCA7BfPK5t-CONGUg0IWiwDSPYT-wRV6JBINgpXZRxABM9VNzKQ1mG754uBl5is3xhYdyfGUxUCjwBvWkmSvum44fPYEya51IutdTmS_L5QJHlFs8E1RahKGKQK148ocd8OYIqvOzpyDntCRUHN8oKm9OIHEBmd9ZoI9OR2JegC91lsh02BdswjZ-D4ozqzkrC5B8ianIPtPEHqvmFl0NQGOUUAWQclpJKGp34rWYveRP7H9t_uUmeopHTnKv7yJC3aU4a5jwgmJt3ge47CGsPxO8UQXDQz6e4Uo0AuMT5fMiRNI1ORlWRGsRtgHGUqZALtvjEhNyUQgRj1FSZiMAwzWM4ggCqh_xkQwmoGX6MR5pMbiyIhC7OPUlurLdRej_j3qqqHeek8OnYP5tcd0xN8fx57g5hMCB2Vd0aZknvpoI8DRKkJFQiH3e38ZXcc1SKj6Gs-woXJbabc2BNl5yJ0Nfby3140VQYeMPygEkZ5la-F4UytJtZgpuDxmfnH06UyQ_sJAZWvMd0MkZ-_CKqI4mIWNt83q_pYINfPF2Nb4HSuDo_XSY_8NJRLg2dBe5OkFEJcHaUvvbZe6udYa3QsU9c2PHNngMB4-tIpc8AI7bi81laixIl9hady8D3y_dSOn64Huhx6vIuCHV0mrNulj-a9I7SyZbVZZtI2bNPUELd0_LO-DDeOF9gJTpl5tCBkMoX0GJDGwtcJA1UuW4B1hl0eVQY6lvrEABSZCV1hjBPl27D73xZ-B5P6JFwmW84g0xdwKOb_q8PdH6iRrF_JzY2DiQrblsD-ioOHOYuB_X-CCLFb5Gspy2IoRhutTpD7RlWLaMa6KDdPwGoG912dfohAL7fzys24N6egYe5dU_Q5BQHApX7xS1A5bK7BBh5vkw_8aag2Mr36T_8D2eHMKz24Dkl3UWxi9PiMLcTrN6nPoxMaOa5xRbDCRVn07tA5INp1gR0awRydX8sGVistl4yl0SxMw3UKFC-_q0=",
  "id": "rs_0270c36bcb04f20a016a7fb791ce7c81998f489905f5bf0c23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cube is now centered near x≈104, y≈151 with both jaw tips visibly flanking its sides; unlike the empty closes, the radial approach has brought it into the actual fingertip gap. I’ll close fully and verify the residual.\"}",
  "call_id": "call_J0Lsl9MpFztxK3Y78KQ5AVnx",
  "id": "fc_0270c36bcb04f20a016a7fb79213548199af6d16c79ddfbf24",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J0Lsl9MpFztxK3Y78KQ5AVnx",
  "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=-1.076 left_j1=2.2051 left_j2=1.6585 left_j3=-1.0626 left_j4=0.0235 left_j5=-0.5251 left_gripper=0.0127 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -11.6171, 5.4906, 0.2369, -0.022, -0.0122, 1.1258, -0.1299, 1.6479, 7.0906, 1.8584, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b3a06d676b68714dba089266f52696a3842160abdf1aa12d7d36e242c7048a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52aad288b0a82f749a54994d7f9e28dbc3af6c80badac23ea50c8ae67276125",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e944782fb6dda025f192036ce0b389a92b07231d423691d03f76ef70e1820843",
      "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=-1.076 left_j1=2.2051 left_j2=1.6588 left_j3=-1.0588 left_j4=0.0231 left_j5=-0.5224 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.0547, 7.1726, 0.3248, -0.0562, 0.0366, -0.0171, 0.0752, 1.894, 7.2, 1.917, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7eglTQQXiicBN05EI7_UxqFXlAH2BLpVPMXZkyY2IyYXtUKocb26WdldKYYNebYhQBZ9N-uo4ZvmLiq2wiWFVd4SDcuLPwu5xngO6VYuCKK_8x-sgLFslxViA28fIHfj-HfHrewP5aGvgmUgxrBGzTBpzh-ayH5x0TUflzdRM79vmBc_EGLKmBj1zkJWAS2JQ3yIVq2ZsQViKTB5IkdnqGuRbZeMsOryD7IbikbBQZkxeTbmbZH87k-fbzZY09yXXQ90hAMaIgk5t-d04rRfQ6URPGrvK2aAYwTCql0XutpC8L6W79smUfVZS1sc1dTfYguGxpXPULBbE6mXtdKsyAeEZdihU2TJ2XnnU_r6GQXW8k0kd7RPbPAIBrig5M5DJxYhLw2nloItWW5Mv0RsRujdJFFMrckvjn-AVU2ME5mv-tBAQkK836901-aySljPu4fyUCn6-vYqeHOalIVsfgh9Ts6kodSR9ecFbxoiyOcz-PMAbjFpYFenR9s6FYWCd7VGB4wpqETfC-od6OmSikYuq47VCLwUAkNDuzgOEKDgGiU6qKUkHeYwm8xt6hbLw5p9uhaV06iC-XwPcQzJEOtTst7NFQNS-M4BZ2xErLfE3bEehInHJWxrl_QzENuqWA5mnpBSdFXLWDLqlzdTJHjoClQQGd-Ou3FVuq7MdlMiujHbBCZWddLZuYVdKDU0oBra1YTdYAXChRBgmph3C-ez4I7AhCV07LtMZgDPIrmOeKAVIpOYnPQjq1XV4-kgi8G0BDPJW1frBxIdfPRmmdUaMHs64EPTiB8sPwB5_kLagwQVWcfoeHcypgKeDtt9I7WqZhyGSYfGfhJX_Bw13_X5tHTLRt3Wgp-EpFyi7iv-HzruSyc3n06K518SNloVtxLhx2cydSXW3tUgMRRS6cIBadzc7DR5_ST73hXHaOczlYJJeEZxrhps1O7y7dQhV5Rpj14u-nLLmbxpSgJanBsI3E2tlyXvULXNOB4UD7GpM28xDrq0i_sW32l2U96yFTvTkV62MzmBXepqGije99wzUKRflBAjdbxZaZRyqUYhicrnguC2Kuu9moB7qOm7hFh2cdSktExYdDS1_ygX5IDb4wVXnVVRybQ5xf4HEFKEp7u2GY4CTDsxRRzBjtLB79zfCdlmje-Fee9RuLUcwB7gGUsShdUMPZ4GH1NMPAcbKISBMMwK6oBIyuXggu71v5oPv65cBwv6H-84zUnAUcrSZ_hZbu1JsuZXel2Fi-Fqj5HrwDyKuk15R8aoLB6EcQ_OdXnZAELxTkWeFRAoBvUbzq3nsIpqTWobYzdr3oiMzwTVSb9w3qIpw6MOKl85VixX0O4wREv_FqVBbRcV7dRSr79w2T21RmJ0ia2JYh_RGIA4FI1rf6LPEK5Q6MRlllkl9v8wi2gB0N6176q2GZlEmRKaHF3YyMfSwbQGt1cOzkUCCfj7XvMIjUtIKGN4luSuraGj9DNG38PuA_JMMB_NDAuszpcmn0Eg32UpwW4_QDRv18pyctwTlMLDNxriwfIcZ6GjsRJRAVUs0OMFT_F8DHTjnafSXARxH5eklkGOVv0m6I-jjc4LghETjvrbRiSKiv3WoHYpXRrkikzS765h3X3DQzYV0gjjhAQQkeidsBjhLKsPOkIPvc6RrAv_FWvBXrze0tLtCF2cjX895y16AY1a0y77-6uXxt-uQi3KAwXiCIC7hKeJAMMIz0GyYnxNuX-j_S--jpYTE1Bpj8J_kJkUqYksD9RrboCdY226bRGOIoNNHZvO1uXVXFHivcQbJxTpH4UNHwCtG6Jy40Sla45RoC23efKr16uPLyLEitvUpPBuy3pILcCkMntOQvp29N9C-PN1Z4SGItzEb097jtM79DrXOjFG3BCHfJsRXmb9vcfjq_hgRRYaaZO_alB9L805yFGOaOUH2-lv_Grht69hWYru3o-_P23SW1QP3oSSDf4hsYI2NGPYQwWY68rqa8-9Ub_VGbUurLYgOURiEMG24ln2FZ7TFNMDUpRact_3C8p44ocwCxVZ-cP80oMWew7Re6VOmO02027Npygh20oBij8BDRfo-XCFqATrZLAyZrz0QdYPRsRqeJFYgHbU1ECXkQd31bfF-KeL3VOY3JbXoPU-twqNNG3MC42DAU_aYjfXJuM2BVB_ILVWkwDr2LGZfo5zZ35iY402msDbNpL_21wyYNeo_71qsrp-kqoB-kggoLcZZxQfCL9nWZx33Dzm2Z_DyaPmMK1NKZbLQtbAs5LuvdytJIRyPt6xhcptUnNeZN0PlGcTITbaL7NetYHN-aeB-HTmCMOLEBvxIhv_drusx_vau4Ecytn74_XBogkMlUHFPZH52RIiqra-HjtF4GKKZZqSg_RLIIpoguZd5XKUc7DtHTPH7oZ_DWxJC6T7YaaKeU4ogNPEmmW_SVBQsy7g7vvkNOG8lZjNSxBSXiY8nbExenqdcvROIcxy_LNbs9pC8nbrtfWEoE8bnHDCg3wfr4S8bf3ll95S1NN0gN_U8medYWr044Dm2c68P050GFLSZp8wv6N6SPGG4GP_QIzh-77HN8osVshr45KF6_j-0rpR61eTKBtB74VhzfbyqPtLK_SqQyIFhjjzls4zf_BvwKqZREC1lekn68ez2WBkABOJQdm9chNdHYtYEQ8vqMN_XV1Nu6KinmZe0dih8eZMAoEj3lZGFVFpBSrS7EgihWvEXEKMCe9pwTSBpHwdgMHeqKBmt5lujHIffVjy-GCLMyPhJLbMuDW_dZXC-Q764-9qOizICcV43XYGgXtsilOVH4poYNOeNzKvRe4cW3Wjp90UPPjWSMYldncUwDkRL69k35IJzbx8pVr9fIgx-3IXaoj0o9_PcDhydFS-T76sIL4dvdyRZfqbe0TJyyMqm66gM6Rt-kgRd-bQjycqQKVgkMSMLtcbAVPYT3KBwG5pdzcxufXlF1VULXvGBs5fo_t4KiHS9wJiHec2wd8MlIqk_Ge5ubyXbArJdrgrYwCHrP2hBWwldkA1j6kpM1WKPrKni-chX45TA4_30Ze0LAsiBoJtZ5gyVHj31Ha6wblz5BZLPklYixfkc-Ihp299h4-oNJbs_JYnAjBwEBB06CH1upbLgcSJKGJ9iTpnX3l5Sq4cXVvBlKW4otPno1T1dcpTy3luRxCLOOdqPpcecJ_GwdPw04KMT5Kupy15QXZGBhCx-og292p4b7r1MkMhzKCyzNFW3VsgMYvPN41R-G8h73ToUk9qQd8Jx5ztKyqABPZXJqMlRh6cQXvEuG5Q1n1LkuXZPnTyedvKNWLKCzTkya44b2-I_Sb",
  "id": "rs_0270c36bcb04f20a016a7fb795e5e481999136e0b086d63df0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The residual is still near zero; the ribbed jaw interiors are visible around the cube face, but their fingertip contact line is closing below it. I’ll reopen and extend farther until the cube reaches the bottom convergence region rather than y≈151.\"}",
  "call_id": "call_x6FZwxamxgkFJ0UDX1b1p6Jx",
  "id": "fc_0270c36bcb04f20a016a7fb79e8ecc8199b38ff444092a80a7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x6FZwxamxgkFJ0UDX1b1p6Jx",
  "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=-1.076 left_j1=2.2051 left_j2=1.6581 left_j3=-1.063 left_j4=0.0231 left_j5=-0.5297 left_gripper=0.9951 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -11.5624, 5.5043, 0.1685, -0.0269, 0.022, -0.0904, -0.0889, 1.6342, 6.9949, 1.9023, -0.0464, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec55d56fce15136ea41de3f33644e1cf114cfbac83c8f682ba3089b77134c91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb4cd5de44613af034347185cf44899cbe09c8ce7aae29e059135e94ab87c08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb39952597cfeac272207e03a0acc4476706e25f0b8fb640168c7a7ae8f095ea",
      "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=-1.076 left_j1=2.2051 left_j2=1.6585 left_j3=-1.0626 left_j4=0.0235 left_j5=-0.5251 left_gripper=0.0127 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -11.6171, 5.4906, 0.2369, -0.022, -0.0122, 1.1258, -0.1299, 1.6479, 7.0906, 1.8584, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7ep_nmFkqLe3cOr6RAKHFMtmtLbp98eHNraCvXuKcK8OrYDUtPo41fgBuzEIf-6BsiZmq5pk-gkyi4_C-y-DV0e36W8sUfBKto0E2sfLCM4mfdqv6Yk8q4XxgwnuIyofcxH8lKMyFGdyL3NA2H5GbTQxr0k8dYEOidS21xiRWq0-YwVfiEKZOwThadmHCiLmjLrwoNn5h0ttONi8PPxE0Scy4Rq0GVV42xHJA6KhbfJJ1S49drlwNm9YMQltz87iyvzB-NfQTMazfqi4iz6xK8rs6kFcPLYtivHNNenDu4MEsYCTHX80qm3ZrG8uT0fCJn-MamR-MUH58sQc0QfMNLnYkgM-GQunaiPtLG-s5SsZTubCPdHNa2hV7ZbLr6MnDTKw6RVHvkv4Y9Dod_JAQ3azqiH_U77TD6aLsdCoZWac5BcLJ6QFLyrB1NmvQ6QPneBPpeo_CY5zznuvYLrY-9m5c51FLBz74ZYLGJSm5LeDYW53ORr5A6Z-AEStvKGjtp2MczxGcwORkQdYQWnRrvv4ryHTlsHn4X2jURia-gPpW4fy34efZSSIvMRixa1Y7z8Aw1H9_QWkxZJD-M5u8u8V4Hrj8NEWLuEqKsVxAIrtNYu7VFO5Ornac0pZ1-fDVNz-pKNIIFG_kvkelgb_afKH3aNmPSJqRcKkvwX8MJqmQhdG3bnUaN5liT_77qgSHmG9gQuD9UOsE9t9sWlu2BsRkW11Bbh3X8fkhNBZY0te7eCamhL4O0A-Jj12yt74oIpRBbhJXbXvmnKeFglgRZyqXuNnHvkT1iAS3krSvvJ9az7lHvt-zFVLBbW6GLgJYFBdDFKmhugit3JHyIv9quX0HolKEsVvjI7GaUsevJmectX3Ui0oppuTgAI9nla2grjQ1QGOMWuAEA_SS498HmfGUHCVfT2X-xHd7XVXb-D4TxXdi3RfpzsMF_BzloVDjmsFshfF9ZIpev7fi-7s6iOs21kACU9EMtFqAp5p1fdZEtG-hY3y8h8mSudP3Z6MV28lhzrj00ISeszbRMRrJTdhOId7TDY75Y8Np7hAdjvKPVPmrMnWpKz1KNryr6vg-32A1HUFcns_9jiDDAkLGb8kWKlSrJd9jy3PXdrEB4d36fZbBCVCK9RvNpR9m_DE6Dv9IoR01gUgxKnGO3qOTNBz9nY6nR7eOo-c73ezA6dkN0hOh7IB0wWbCznccto4JXc_3Wqzk_ayGfkTYO94wTR8PZhYuViiu1b94fK1xZfzm51HE-fqe1RJ5ESKeCmdi8plyzR8sK3veJno79cYPIVlVMc6g0AguBXueS_Iz7WjRjfFpne1tzeWeBkXUqq0JDj6u5E9LfuSbTNqH7aTp52C53OjkskeZkgJsDhz-CXWBRUIxr7CObph6xHza-XeASbjIc5SXwhsjabx2QLLQv_GFKMCT7jJjBHm8hJ_Wp_lDCTWCx2o5z8JK-DNDYjX0BG_f8aodOHcFub136ycxDHTi7EhcHnXt7sIwM2kef6vJa5DZxl4O2C-_q9azGC4mZL5hhyVRwnW9NS23whP1IW3gYPpIq3kf6Wma2smZSY-yeDOtugCPS-XvnjUXmzvOcFI1Zv8Mj_GMjB1_FsdqYuojViGc-aBVSh8hHxYHu3OzKAUO1czLKIYiYcxjKlgq2ImsGEc6nLCWmRpEP5M6VG29koOkkZMwoW-nrI5dJy0vTxoRGiMgqMR5N_Bd6By3HtlKYYYGOxekyvxSWkr9pqG7WjM3PakI7pSzjUX26SlqwXecB_wFDqsTnKdZ9KKJdQue6rjg7X5y0zWD3TlpxJO3aX04udx3qv0xj58vPnfaw=",
  "id": "rs_0270c36bcb04f20a016a7fb7a3af348199b0230da8cf82ba3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.29,\"left_j2\":1.8,\"left_j3\":-1.08},\"note\":\"With the jaws open, their black tips are clearly below the cube while its center remains around y≈145. I’ll extend another roughly 3 cm at the same table-contact height to bring the cube’s side down to the actual fingertip contact line.\"}",
  "call_id": "call_8sNM2LNyJ7rmhAsxXbfVeoQD",
  "id": "fc_0270c36bcb04f20a016a7fb7a7dc0c8199b4d39a0d14c00f86",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8sNM2LNyJ7rmhAsxXbfVeoQD",
  "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=-1.076 left_j1=2.2818 left_j2=1.766 left_j3=-1.0901 left_j4=0.0235 left_j5=-0.5335 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -12.7795, 7.1863, 0.232, -0.0562, -0.0415, 0.1197, -0.0342, 1.6342, 7.1726, 1.8926, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b85834c9ce094ac8d3a35b3ffd17a8ec718e8afca9ff95cf3515a482bd99cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0ed0eb3e04dcb769cfda0f583532ecd54e4ee6384bc6c1109caf9036d9fbc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034a7f94d89206656dc1e2f38210de42d28da1a70631437892fdb5a592f1fcb5",
      "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=-1.076 left_j1=2.2051 left_j2=1.6581 left_j3=-1.063 left_j4=0.0231 left_j5=-0.5297 left_gripper=0.9951 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -11.5624, 5.5043, 0.1685, -0.0269, 0.022, -0.0904, -0.0889, 1.6342, 6.9949, 1.9023, -0.0464, -0.0806, -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": "gAAAAABqf7eyCVZNVDCMCVSvXK9EX5I10B2erW96L6hX6wX1EKRDh6rWuu1qH_ETIykgzHdjybvjdGSwozah4BQssfXstoHzBRABfKWvxaWkD7qzGXlYF_zG8om5NRrm2iQsTF4uATgHeRaJsND3GCemU7SQkpjKFb3kGEDzPYHIPhXdGBNXpZH9SmlwljXOPjbBAEB__mGV7jekQJo_8ffWXbB8t-dxTRROWfhFC33MseKHzcuifmjMsaVhq0i68P2PKtR3gwSo1i-qVzCiUAe-izJNKXJZIdCOp5MwcIw4uYbrEcRXDmId2yYZph0_asqk2pPSMYD9iUfHBNtAFCWEuIIC2lTB0HqH4GAkQsK_X1WdeOMAyR8glrKLnJt1a6JzCpcxcAeR4bBlfIzRT-grtegYcmq6FZ1Qpw5EHI_keHHNuc_K3w_vg2-aHWJ5tCEpIFHLy47LzJdHat5Y3ZNfwGgPIKbFb91JUoUeux145Gs3MoQfHBsJJcmBBKWAFM3rkbEjmZyUfO-7j-f-E6aUvDI1UiNTGuHXjlW0mS0RIYv07hM3BeKbyi3NQZnu8Psi013AcLzJwDkBzFfhP6MtQ-IHbEfoKMhZtrJ8STXrbW5Q_Hpf2bgQeFD0DxpbL3h8FVp9BZe6SLOyzVYcuxfhc1Z-VQ92mlC4hR-1l46Qkl188oXhPKAUIfHToarIVPWEye_wvHyPvnPiKY17x5AsgLi0iyTSbtx4S7_8nNIw-vj7Ss2un4Rv_q5r7P-uWPKPjiL6HHU0iYsgHrxS_K2WZMMsCN6PWVh35ANpb-H5OECcof-ZcaJ4LDd15Sw0vgWUfxp-zBkRzM9I7KWvQYv9kIEPemwA5fEUmneOFZkmTCWmVgWFrT8sVigZgMAXnrDO0QmltUCGtrzbvEAsYrUQQcKc3bKtIRLvG2S5vei5pkwTsS_awKq-NSUVnrqtmdIWhfJPIoWc4_rXi6dHLKNQfjB276BTjkbvLBuQYqJ9SpirZW6V1OTJ5LH2Qq6o-oBMT7mbfBB-ELrzz2hHJP8ircttVy5NwhfDdhhvD9JgA8XHRyIGq-pGMx39RS6kVOLsUXtPpnbcFWT9rlGEvSjY25XCI8NJ9BI1hMuTJmQH8fQLYQ7RAhRxq2GNHwblbhJc2Zb5aLIbLKMJcHB7jZQjz5k_ev5ugrG0QzZBPg0zyi29wAC1q1cfPnUA58enblEr94-rW3O4Hm1Z3JnTYb_TO7I2IswVtRCur16WaPR90DG6vX-wvmPzSE4kd4F12yBOljuCZxQqmHj0cqV6sPq-UaQMHHik3W0AetzuD3602U_FHaBfVfA=",
  "id": "rs_0270c36bcb04f20a016a7fb7aec9c48199b7bbd0d49e31f87d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.29,\"left_j2\":1.8,\"left_j3\":-1.08},\"note\":\"The extension moved the cube sharply downward into the fingertip region; the frame is motion-blurred but the direction is now correct. I’ll settle at the same target before closing.\"}",
  "call_id": "call_OCSQW3zKRcqXY89zWJ8gaY6U",
  "id": "fc_0270c36bcb04f20a016a7fb7afeda88199aaddc9a9ed642127",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OCSQW3zKRcqXY89zWJ8gaY6U",
  "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=-1.076 left_j1=2.2898 left_j2=1.7767 left_j3=-1.0954 left_j4=0.0235 left_j5=-0.5331 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -12.2872, 7.3778, 0.3883, -0.0317, -0.0415, 0.1197, -0.0479, 1.8667, 7.3231, 1.9267, -0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6f5c6efb66d0d31b0d1bcc4d1c10dbdfc07c3d0af7fa11a1e66d568e33c627",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7ecfc757e013b36fb525239c98b30792b94ffca2e90ec7d341aaf0197f5267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc5c4c21d1e6c02103162719786e896d3049e38a44113fdee31690347e57fcf",
      "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=-1.076 left_j1=2.2818 left_j2=1.766 left_j3=-1.0901 left_j4=0.0235 left_j5=-0.5335 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -12.7795, 7.1863, 0.232, -0.0562, -0.0415, 0.1197, -0.0342, 1.6342, 7.1726, 1.8926, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7e4NVyRjosG0Sm1E6zdgWuH3Euq-knTrR1hznaLhgSU01a9m0OwHdt6u0zXS8aQ9z-P_sKTv-4JfLPSPvOMVKOfIKbvYMgFtnsz4IWpnJe58gkQ1gWJNkDaSQMIC1AGfzc8hb6SM6lk_w87et6_zP3zyxak_OYHRs0Ipepu8JOmZm9Irlr-rIeh68IK4vFDR8Sp3tJCaj-lJ7qmDOEnDsh_GseDou_nbTcVKBYU6mh5AQW1OZ80xeJaLq3L4Dl8nu9K4316N_wIWFUrnmj2r5PrVkoaqvngEFQmfe0hkL7Y0bjxnsusj2q-fdwOMs6cUlCouMOlRp4HEDdT0zN31GVeZnkOJFCH0neoPaOreeavs8rfcczTImzCsJMtaxJFqJ-KQr_zSRUFETW1B0jEXhbBXzBE9n0RJWqoc4WQCT_JrezdJut4WP24tk6co8jrntbuXFjElLmxbTkSzPOUF084n-6VvcHJ4snOWmY1jyOhwvpr3RQ9_Vr3VNRTTZqKMdZ-0hyK9djjopimWC2Xf3VfjL2kl9za2TyZ1UG-iWJV9qlOdSE8LW0TCQcocoe4z4Wi74RhNUSTkOSp4VXlYn5CsV6nn52C_hPOmcnrmx57UiWtpS7MsG19E6JSrAcD9nx1ssFlmyYbF8K-2BHEwbPVZCt9vSnE_LhqFfEJE3Fk7gEQihAx-d2GtJMEk4-dfWozECzs7m7LZGQVj1M4TgeFTvuA5RKSKa6QLnWmqSmbpLk73I1GisL3ixxmJ9S6ZY_GXFAXPjpY6IqZUDN97kD9HAr62scBwGAgO35TcCjmqV5pk9ma8PpSQ8Afa2QMhQF8tVfYbakY-gw1wPZ3TIbyrpq3U1fpWS-aRTP3LeVQPwR1w7XaF3_nvjoSUlHpbvk4wTMTd0XSSiDM0Mjktcgs7MEHFUp5YxdGSvgBEeRLV9B6tPsNp3S0khnInGC5-_SsVX6Du2jUnGu_ytWf5Xr9imOJkrss3uXSbUYz5O1ykV4PoKX40tvIpCZ65o-WfkXdPE7tgxI-8Mn0Wlxn6BkVmFIsVxMXOMMFXVJxqSTdr99sTJW3F8O3v7E9ak-beKdmocZpdtLERdICAYgi0F7P8H4NtwrX0ns8Xi54s4DFgkenhgPZrBSXhNtfIzWc5LT5_d3TIblDAtaqVfQOEk4xwg9hx85rmQx3WXEhY_8ymtkjzfeK0TOEiinjboy54moAoU4RjeVYOGXzPm0P7HFIPg1kkqAuBKIXdbhrOoonf7hrTZnSsDhJw3S1C9nylO8n7wXLTUdOERhgrAbUFDwg6Q==",
  "id": "rs_0270c36bcb04f20a016a7fb7b437748199a1f7b5053ac674cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The settled view now places the cube’s lower side exactly at the black fingertip contact line, with the open jaws flanking it. I’ll close fully at this deeper approach and check for the 0.45 block-width residual.\"}",
  "call_id": "call_bk5Xg43IQviKx9JEwAiazUYb",
  "id": "fc_0270c36bcb04f20a016a7fb7b57fbc8199b1041124c31bcc43",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bk5Xg43IQviKx9JEwAiazUYb",
  "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=-1.076 left_j1=2.2898 left_j2=1.7763 left_j3=-1.1 left_j4=0.0235 left_j5=-0.5438 left_gripper=0.0125 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -12.3009, 5.5179, 0.2759, -0.022, 0.0806, 1.116, -0.0752, 1.6479, 7.1863, 1.8926, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01dbfb0ee756ea3804a1fadc530c57d49d4465aa2844ca9f1b97260306e4585c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f17cb5d393aa6e06a858a249624cb6ef57196338481f83359179e58cced6c1c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8a70582db63112e60cf6d88266d548e989d44f424e91c60ada4664b7350eac",
      "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=-1.076 left_j1=2.2898 left_j2=1.7767 left_j3=-1.0954 left_j4=0.0235 left_j5=-0.5331 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -12.2872, 7.3778, 0.3883, -0.0317, -0.0415, 0.1197, -0.0479, 1.8667, 7.3231, 1.9267, -0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7fMaPPUYGQpaOlPDZfZZQGp544ED7oXs02XQms8q7ZRNUD0Ec7u6RFIkrLDJTtFrMxV7x7RgSlkyqM2rPW9lFXK8gjnTipWrtgw7BjVKQd5xZkGdco5e_lCq1d4ajoguLLiRruhDW6Xnxy10GQZf2WlUI83f_tb9X5Kf0CeE70a8WVaOuP84g3ic0N5uJ1EqhIYFoFLRSCwklR6G6BC3qtaiQojSNuRzuiO6XLPRtJ0hvATUcG8VCZPwOFpIabSlRBqQs6x-GQsx5XuIAvb8vNhld0QGiipePyW_yJrJKqCTFykv4YukTijHUzygXKcPLUCLhoOQASfDlzO9DVkkE78Q4eaUYCHKGK_oM6KW5ct9YMVCVGJHVEd9qeIRt30pQsico75j5fjThITd6bKghrL7WOxNrpj6VZiNP5g_jcGgOZhZEPfSDabAye-0fur2bnhDEFMY9yf_kUZXcPHh_bISbHJ2xRPsVmx9iOoikhD7yNe7K5R_TNjoP61cJsidydWBC2wmvkUJGz92IGxw3ipObzrlJ0c1wC-lS6wGxqIT1CvERff7qXcfSy25XbJmQAg8GSkZq6iwR0_6ImMF445p91KltLm_GNxA5RYl4knX5CkidWCQJOgOFoEaSgyjsncQvROGc--EKRV7e1lyqekWQT__QoPPz6V8Y3KZx9KXJwDyikTwGC7rmOICQUlSsXrq9wf0dTp11vq5oPF8TbtJsAeWEe7Wvzcm5WT1eYVGd9-RUTlVRUuwHzSBqoP36j-mweIOPv3EeZ6NS-0YhoLvD1M0YHq7Ra_793gHifHzXQS-7Z45YwFn-SVBk5NMqciKH_WaUp-5UF3G9AIMwPM_qJWy4AUdWhfyzp0jERKFrzz78Toa2tp3slvUY6KrKnpzBMi9ThATbxOk8i_UDj6NXAC-vHY7De3CYKEVjtPA_cMmdksdTCjOvkT4frNjkp3_S7-97iHVF0sdUofK_g0ZeDEUwvkgodwPO1H6tx52StYTbaC6J9kOr5M7RlWoK4gvWgFSKbv72wEPRMuaXpuNBu14EjyGZYjvDmSJXK6XvXK5sXxQr8PJfzWiblegPQXcWjoRrqDlxgHLgmqUYrIrbNzQv6eTWyWd7NSBHfPl9gs8yTf6xDieki4XQJo2MDmV1iRdg479COcRtjXqotEGjLrOJuJjAnVGzmqjIhVJ-MiEVpojxLC7mNixsjkFZ2mpGqsDxvurG8MkZVoPiN9VB0HmTO69xUSOMMEDtAHhKsbrtqM4pYUPxGNI9TOOWTm-RmxFV31Rnw17heUuTtopC4-9dJN6IQkCsOm9e5PX6-L7jTOA5fm8rdeCZ_JOMM8qSngfNwV6vT5uDUtyZZmb6mhl_MLy9BDRUwLT806Etrg3iVaRSmB3N4xjsKgisdcrf_F7pZdJMPpAIFNodA1oyBnwquy0IHNiz9TOdB5fDfphHMj0vSHaNXvRlhMTBXyKBYJqk_fRzX8Qk-9vjURB5KygRV7l7zluVbDQj4CceKKFXzMDROWa6T13IYFYnDtyt_tCRiEkaYjoTR6oQA5Q8i_GuUHjfegSYU-CSs3z14DfQd0cqj0rK93vFZoY0eadny2ezlc285N8u1zAmCKBLr1QVclTBa-1pL084yfuVhHZugiqhrrKJxYyt9HRdoYXjRG7R36vlRPKo8FRMfOUojwgFzX5Lr4Jo9VyjfF-oBEsqaitvhbYa4sXyLqKxSZJIBz-JXR0-t8ZZ3g6Jj4C_Z63Q91cJsG7uAsQ-AKw_Bn721CDQs2VJ-EFNGnMdhxtPfTrMTM91f1CjgyQzEaGGJrgkwxrGQW_LvtsdSQgSfohGczkx7odTJjxWLQC74gU7l2D8XI11mqTmMpseKReDV6EPFyckhSmXslic4kq_iuONK2Bt0YBDHbTdnObAWTCTPNAYdC3-JFWchku6603zBikd5rfEz2y2H37s-q-UGauXzFmnkx_Pz49PPhc0JTY4h_p0vHky4ATJ9fOV2l3hg730sUkkm89jR-SxTC4mIr0IgIJu3yzSQR-7W8LsQEK7Kvy-niF2DMmtYo7cld-ihcVgYzcki4GA7RIad0el8DAjVUFps4sdGQ7_CYymm6xuNGynYd9CxQIkhsGF6dIM-tL6G0_IWlPuUD_Kfv4mXj-nGkJMY47F-59ETywOtx_UDKQfyhZuBeDgCCOKkOURQ0mxBxUeNWLMKzTqReDnNfllfHARFRJJWiof61-O1eJSa46xfJcmyYejJoIJQk-l0Vl5cWfBuEutJK40BDIEcytzmwF8n-FjdecwiOxdQz0RZQzMqJYmZqBTRFxvbclqKadsdweLZ8-_bZ5_C8n8b3LguVKMmVM7F-FTYIspqmOVeyuscHEcbsxYnxTyW6TYLz6ziK2MnNlkMvkwNNwhuhf805wcwD8zWUrmy91yDGaKTOhg4av0rTQ1wts2wpi0WO_E05eHuyAMKu44Ec92tUV6ecjsV7nk8-2E8kHU-huquensYuzPSnTpBvmhrWwtA6-6AeRcZh-1dUpAPwQNv3FOJDdfbReWPga__b2MjN3cBiX85iXJ4bfCuubgu1IjQ_kiejtA-_G_cfMQhvkuiPP5CjfEN9vtMO2gyx0j7BO7K1-6NMq9GvJbeCwG8yjzTqCmP-PILrMWl4ofyojEocJwB7SWdQvlGp9Rttfu3J-QPVD_ZlFdIrTYXTYapMmzXVn2MShFr2GPrQ74rQronyWUkwqd48E7ljsRfUnHa4D11s1iL2l4E0pLXt0Dg_quD4VpOLDxwiQQCNkBqjJ5ajia73VjnvQDzR84ppIE6Ppg233fpT4gSbN61kim3cMHgFZ7WaXxbJ2bikMv81mEnp8cPD8FgbUXnBz5ggtR2NB-tsuPJ9YRs9MgmegiJughBdIinoY8hyN7hxByE19l7DXsf0QCnr-XwkUaQnoMLkdih8nplZ0zAD6mhTrde_BE1dFdJHVJZOhc6C7AyjX0-c-Auzahw2nact1zEQHSLogtPWTHUxK2U7AS0dvdO75NIDgR-SS_XNF6FosjT0TRLdRwlsT4tOpXfDHyIyE7MacP1Lb0nLfr0PbyGWznEzJRs4SbcyXJ1vdASxeHq_F_oK5bYaHTM7mnKYoQ9Mus2DuGFbR8ZYcudoL1ZxoSFi1J9QzEgqbeK4XJR-jBxqdlXXlKQ20zh4Td_dn738lkIm7AHLL3DBUyYNESFc0w9kl_zcFab_QGvtVEWX4slwXuvCnofFp3pmY3CSoj2V_IalNImvhQjgo1yNG3zf5QnchbhOwM4SOC8hxyZzD3KS7hf47Z1LiV0AoU1UkHOnr2yXpw07zGKrfTXHZkY7ljhZcvx5LwYIa1lep9YEX_d_ZfKai4Fls0bELr2RyieudbgDO8mhPuYRuiBdVC_vBKkQ79_uPIf5Z7k4tZg_TRJ7S2M0uAM5QP1FoTWEiHV_H-stuZOmz-f9aL4FqFUnXtmeD8pcsNquZDdV-iEkvJZei3NxOLb7QNFdE2X4EuLHZ-N-lC6J5xs4zjq3Y4Bo1x3Qsk2r5T98PILJkf7buleO4uZrns_mi5t6-C96oDsruk4UKH5T6ysOYY48h7fRtlth5-uUT0GJt5zxEQJ3gwNrbEVEisP7zh67VZhjalhJLvlQNriBhw8FCq3rofwl71dMeYxpJGeWrga_CDhovEzI6xI2nub5NZfTm7FRbw9lVrKRqTcsL3amvQ-T0cM-TJAjAsNVyOs9e6YFMvlINfIf5DPoecoTYaVAEyMpi7InbzIsguQgetaU4ejqvdCIqgz_sjqF4qN3cg1ZqUXC5ADEV8mvZe-iB3HaxNGPwviq8ZOjjOUR2ECGd8FDkUXlbm6B1o8H1gSuJtjznqFQ0FtjOGZxrwyUZ8KCV3TXC5f6-ZHjk69PU1bOZ3ahoopaQed5cKafQpU7U-cCS6tph4wfmgjUAVb_fCfeuwR2PxNxN-v-kN8WA4l56NPohcRdWT7kqub_kDVPo2QrZUzvQdHra9Cge3Ye54DcPF5jwgnuf_wFaL_y3OVvLk1DtXf0FN3lYA4C53VZXDFOTHD9657SQxA=",
  "id": "rs_0270c36bcb04f20a016a7fb7bae43c819990fc4c68509f4833",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7fMhSi6-oDF4SI_LFFVQN3PhB4DkpxzzVkZXupKTNKkjrNuqH77yxFIkTO3qZ38PM0chYwGNtOZVGCaXocGdKIJES6MUh5ZQNXBDJFeKCM8ojaw2riVpkNYNerdLcwTZyN20Htkhxg580ZIKSMpNIPEazRgDayeLSu4EoL-l22Oo1XnA7k6gnW2IjWsNhKpGeqK6VrbJS20Y81r1yMJmQifdB3Stan7FX9wd-H-l92-MNCGhXmKj9qJE_Rql-FJXQ-3qbXkcLmZf8SNPQrFYKl-5ozElPO7XsxNutxGcYOZ-pzkrNcT-SkYLkLe-18N_0Ehu7xdO5PWT76VAEOt8rH3H2w9mM9FSly96zZ-5qHjPdHUCGzA4aAWM4cP_CdQmWVX4EIlgSoll_xnEHgD1HpteBJg22EbJDP4yRsW3UE8_UzNDbiezG6a3yR21tvAtKyQbZCI0sY9Jgcm0nYMA7JE9n4MKft64sqN3GVz3ds0F0a6iqU61k7GQMtCG3k8p-Dy5BpCWR3r6k5_xGVLNd594HodXGHqnjOZAwNdIGsp0M6QpyaR9rpT2KlFUGSABoxiWZRgAom2E16Tou8fUtXoqn8IlXmHJ5QvWGZCmHlCzVRiWVC0-ekC2qWTZqoP1NaeJIWCV0Mr9zN_FyhyAJfaRPWNt9mzc65NRokjvaCc1xSwu3YcIYyUU5bVMrzzLL-XzCFwxZHC3jqvJbTD-e8ZlOHjr6iXBL79z9dGIeeIFOxFeUSGZC73WGUBown5mVk4VyDP8pjk2nWqXT2VBE-wK7Q4ikTHdjIM33nUccZ3qSnN5SnlyVi_YB6UPEOr_riRAhL6UWPw6mgOeD6eCVpBm1dj8M-vxCJ1r87i7rR0ZpfgyzY34RMjw4TtNsTLhuEo3ugfYOGv5CPCc6SUIwkf_jMu4Y1CreE7q0tHev4UuDt3RiUuN_sdfA0pjhwD7whiu9el7QAUVOZ0DGxYX8HqLV7FesKzyZlBOehPvfOwzNSXhsPq0gjBW8_tYPSnMn1lXCgvZ56ZCy6zhNm1rGO8-vm2epuRTXiDGsSGNIdHsv5NQsB5CrAi_qV4SOkMClsPFGiTdTGeW8707nzvBsRdUO4EuO5Uzo78YvrxlPzOqVr6UZ-xWHtNU2ZwCOxUwHPZyUTxabjaRDI94xvQ8INx5Aj3Og60i5SY5nhDcQ5wJ6YUH1X0Xr6lhFtua1hHIjfwqBgYtRZhcz115Ft1xS9ndpdW_uqH5FB9XcUoSoaMqRGE082TJ0_ZGj0JuLYSoneWr323CTpAR9jTgBD_mSfDKN5ThxCIBTZaVeh9a0xVSdTTrbSTaDbSw9pqbMJ1QBWH",
  "id": "rs_0270c36bcb04f20a016a7fb7c853508199922c1db977b7e178",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The cube still fills the wrist view after another empty close, so the jaws are closing behind its near face rather than around its sides. I’ll reopen and continue the confirmed outward approach until the cube passes the convergence point, then retract slightly if needed.\"}",
  "call_id": "call_p7teSRDclznFAC9ZrKsAdrN8",
  "id": "fc_0270c36bcb04f20a016a7fb7c94f608199bc741e8844e5baa9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p7teSRDclznFAC9ZrKsAdrN8",
  "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=-1.076 left_j1=2.2898 left_j2=1.7763 left_j3=-1.1034 left_j4=0.0235 left_j5=-0.5491 left_gripper=0.9955 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -12.2872, 5.4906, 0.2076, -0.0317, 0.0171, -0.1392, 0.0479, 1.7846, 7.1043, 1.8974, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d410630c88393d732735f99662e9aa1fb8014e6aed40350febbbd1481e3092",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b661bebcf09c9d38319267645e15577519aa65c8d6cafb117c7b8e9fabe8421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e15eece226f1036b211da4e1447b413a5e18cfb84b4e8e8edfa9d8949645de6",
      "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=-1.076 left_j1=2.2898 left_j2=1.7763 left_j3=-1.1 left_j4=0.0235 left_j5=-0.5438 left_gripper=0.0125 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -12.3009, 5.5179, 0.2759, -0.022, 0.0806, 1.116, -0.0752, 1.6479, 7.1863, 1.8926, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7fRUkQ_2aPSXCTzXUwWIGO0sQJjbhvMfIyZLElhBJ8hkOtwL_6Xuzwm1EQYjVlhsh2uJV8G9SSGhaWjw_59PQ8p61blbqvoBC5VFKNO_NPQKei9jJJk4LPGvQWGcmFRyc_rI63KyvGoPJqnGDCR__Skp43FZH3FJ9pK5FJOE23VmtM-Ex41ad6liwNrd9YZJcozQ77hgKsUWHrBuE4OR8-TK3a_Ufp6AOBeHDQXNzw_00d0yBDeoufamx88cCMsOsLnbs4OHGs1vz0V0kRz5JVY3RY62io81gD64NrSTUPWrwljJ5aBBLKTw5thRSO1SxRrKWTtQr5bN0AlLJ9NcqqhquxCI7dLD2Sgqvo6-82yhNO9ZdIJPccnfcH-SS8U_0UhPCVNBd3zb2Mnu513BTscHV2r4OqW3Jaf9yZCPk1zDP7rkEvQhIl9XDkVrttUKeeagzvgY9n0AI36sF6qvXKJ1PG1ETYRJZW2uyvQFQDE0Ipj1HKMEGO0uJ_Tp-h4L_M4IO6Eze8_hTOLeK3lVftV-MA_o26Aqh8VlBdYowMYsK08mx4AutZZPfnE2P-BU707klmNBFzcWyls1n3uh_PGbQQRk06U0C6puwRQ-b6iNTuSYu0TaYJ1BT7ibYbmUN3XNXK-ImOPJiBPIHbI55GgH85B_6qLqOvFsaA4-QNPMsJSgJ1MylcWUrjfyMbPVTYm3KIDCvsti8IvKPdGaEODpAKr4KaWNy7tde2BdHi4wRFt8Bwv0aKTPS_X5mS5YMeGT9bfLhuIoCB9BPK5U-Ja6pimL8PjgojOOuB4xIKRKnATCt4jnbTw60n992SkbXXJRErRbb0H65eNNvyeCUgw2r9sGTgT-yDChy4jvfnQ_xRtmP3tUget4v0zg6ogck91x1MqqSoagyUbt-aw5b6CvAHeoCxkqVQsOJN7pApSy1DUDAM8fbQuW3nVfL6Gy40SHqV0Ednlf3Md3m2HChNwkfDgw3rOTvdDpA7fGd8IPffd3sRTKusmoOASEIg4GhPqCQYbaLpgtixh5bcamRtCwB2i6RowVNrPIaZSZTMapFYJjLnSqxd3sgO2Zgo1KhfphKRZH423269K7U6BX_wENnrPC3bE-QC-QiylJLVudcfdc6uS6Mo_xUgo-Yg7ofp-nST57BLDrg0kroU9DdI3rDZDEpZS1qqGgcblPSePekE72Q_oZ7xABG981lw9PLEWNClULL0XI9duA4tPGQvbmGJuizP_XOzSu-5rRgPtHdMVTl_RcNYZkyLLdhb9hCi1-jnCix4RaTD_oKp7HU8ClQlp6eTZQD3Zhuzo5APOZU9QQipIrxwtSRrCLEcI_uvibluUb3oLw1fIJuFXZVTYu-FLG2-IYmnlsM5vjSxkTl1JE9_ikRvj1T_i0tyk5BdwBrfFzxBg-_a4RX9TsLasmA==",
  "id": "rs_0270c36bcb04f20a016a7fb7cf499881999b2aa6fe35a8f5b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.39,\"left_j2\":1.95,\"left_j3\":-1.14},\"note\":\"With the gripper open, the cube’s near corner now sits just above the black fingertip tips at the bottom of the frame. I’ll extend about 3 cm at constant low height to move the jaw contact line around that corner rather than behind it.\"}",
  "call_id": "call_KFYOiLO5SItw3pIkazWKJkNk",
  "id": "fc_0270c36bcb04f20a016a7fb7d01ab88199a7f937a30ef28905",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KFYOiLO5SItw3pIkazWKJkNk",
  "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=-1.076 left_j1=2.368 left_j2=1.9125 left_j3=-1.1484 left_j4=0.0303 left_j5=-0.5518 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -11.7265, 6.7077, 0.2808, -0.1734, 0.0269, 0.0904, -0.0342, 1.7436, 6.9949, 1.9316, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c66b94b126b2e0cc872883375a8b572fd8069058578c6cf4e49dd2b1361eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3ba061d4d382a133d63d3bb3a6ab550b86af02403bdd31eaf0f52731670343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 444):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ea611d0d8be88dd862c7896f38fc726eec81f9683c2f4d86943c4b0ad6e73e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 362 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.2898 left_j2=1.7763 left_j3=-1.1034 left_j4=0.0235 left_j5=-0.5491 left_gripper=0.9955 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -12.2872, 5.4906, 0.2076, -0.0317, 0.0171, -0.1392, 0.0479, 1.7846, 7.1043, 1.8974, -0.0317, -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": "gAAAAABqf7fVC08lYqpZpO626HX98RFzd9z7mY0WH-m-kKEwWrXuG4AHUR1A3hLwkfJ-kf8MBYJV4oP4fzhMc827WZIIEovBss5lPizkXF-9DlHsODkwX32GT4Etkia_KTwFyeiPuq6qx7pD3ruEGxh9zURc8bUyzBXn58aCcdCVnhqzvuPEufTB7gxNxsg7QVJqNgOGkBH1bVgUXWtPMlqsyHNGCKk-5D7gf7-PMxJikieXm62ZzXjFUNStE7KiPmRtV2x2B0t-3xOyUfW8jjtmWqhfR3jkqLbKzEWTYfnyrrCTjcvnLnMFfqXQ9YOIdPjvBhETTtK1tJyZDP5oItIQ8eBaLqmq9vPvhc1jvtDJOEDAW1CZRwqnpJbY6p8w5e9gSWhklhp7GN0-Yhgq0UzDr30ZAaC-ymwWSPciv708AylQwk1oIp9vAUgVmRykfvGaVSrIKlG0581918ckWL6HVzLHQIUCfxMihr1lBgykMH5979Wz1c4yU-BIcS_BciAZAUtHvHbfa61CKuMPqJ73Um0Qs1vUr2oQf2qW-fVyXvAKgq8Bw-EPHiQurM8B6PpxiZu1HTxvl0vihPnIszuHfGHx5yKjGLfWIro7MeWVGLsP-dZNCHd-_fKOWnVMu9hTK33q59nGySWRB05-L3D5ByL5Sepb_uvntswMjGZbkCny_t2YNwKA_p9EwQaq8YHAG7VtyHiQMcE5N0ATbFbaNw7VtfFKOdxiwWdoWoVn1Wx2auEhI0ybGNNvf2jPPlwkWv6eXhSpCtB1m4a02MaqfYrfn460yAIm2qVo2WiuNfIwejF6fNCcXT6b9bNflWNA3VamHYb4R6jhUJzFKiFzkLoi9PC0Ws5XUfjEN6q8Ft6BPlXPhsuhUZ-6lyDgTKALxqp5sKje6YF3iZIo8-x-8VkbLdVwpRBqaDTUYF9lIZcXzDCBrgY3TBLkyalzcjjPLJnua0lLJ5GtC3pv8THm5i9keOiDGZwVkTodlT6tXUxTrJ5zxzOM-fayrPVstPORxx45cULZkkeJNo06dfp9PKaHbvm0LWXiytnWHiaGyERn56JvUfsl2d7RV82PKqg9mDdfiMs8q1RawIPWwXw_rfEp57rORO_lW7LkrekJ-yXgidb6wHJHSvOP4Ncd2lsU04IZ3s38VIohWCYD7EAgCQWcdF2BSdustDiibiZCMGfbZHdpSZkGgboA1B6XpqjeIuKNxTZVkG5Nb7BTPk5SjqDTqEysq7no6aNoSGE7jJGZNboXBWnqycMvtmhtGQ_pby3zKANe",
  "id": "rs_0270c36bcb04f20a016a7fb7d3c5188199ae348d3a837ed9d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.39,\"left_j2\":1.95,\"left_j3\":-1.14},\"note\":\"The cube is moving down and out of the wrist frame during the extension, indicating the contact line is crossing its near edge. I’ll settle to the same target and re-check before closing.\"}",
  "call_id": "call_XmrokNjz7VhzakW7Vr23NTdG",
  "id": "fc_0270c36bcb04f20a016a7fb7d42348819990c1cb5f0556992e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XmrokNjz7VhzakW7Vr23NTdG",
  "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=-1.076 left_j1=2.376 left_j2=1.9263 left_j3=-1.1488 left_j4=0.0315 left_j5=-0.5514 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -11.8906, 7.5829, 0.3004, -0.1392, -0.0464, 0.0904, -0.0889, 1.6068, 6.9812, 1.8779, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834df83d3c5baf21b5be4b1b861e8ba541d9d23ea47595163d93eaf6e1631399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ed0424b57cd83d04ed43ace78402ab5a422f3253d8d836686d49e8f6d481fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305a2e35867b5780d9538f59420afb813e6e9e15a475405a5d727325d6f7331c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 366 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.368 left_j2=1.9125 left_j3=-1.1484 left_j4=0.0303 left_j5=-0.5518 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.017 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -11.7265, 6.7077, 0.2808, -0.1734, 0.0269, 0.0904, -0.0342, 1.7436, 6.9949, 1.9316, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7fcyDet3vcZuPjZh5d6tdlZFWX2SYR_3-z52fMzscELa5t47HxhZ7OuuzaDRLHm2nhH33EtYgtn8f1o17KmvCKczziMtJLCOKp2OWlUSI5K3inyNDYwTpZqChqDr5Fs_wUSuhtA8LyncrAxWLhl-dNUtNH9sljxcr92zSW5ABCfJI7eIWCIPQkp7sk3PXiMdGfp4O-je01AvV6gPg12o1flmQx8fuJo5IsWPc3Hg1LOlJC3Wo40YAXAqqf6_e91kpu6FPHFZuZEdrHmVuTlHRGMmGRpvHXFU6U7J33jPRCoBTDwTNPa9ay8X6SFdaFAsVJ99oSyXuPISoC8CvZQiFGQi1rbx70SnAlP1qbGOh4xnMNnisTNUSvOdBWz83S4_xDLkGdv5wUQsDwKbliZYik0NfbCZbsirXU6SjlY7gIhkr2i472ue10NaCoS0zvtiNLJSAu40S0usRjdtJUmXIXWkNs6Bh7DLmkK2QckDQJvGESZmZu2akvjuIbWHk2jwi8jgw62ALQyFPdz5yvl-Z4AHW26RHK3MyRZgkXH97AVIfx5FWPswI88e-Vqww7Xov421HKHSXDbcDOa7XaGUASRtWABJPl84w4M9DA85Z24up-4fcQlpwYWaf3bdKNIa405Uzeg-vzzmTCfuQJvIeUzOvLhcrPe4O8MzYN8SAWXiBm84BOxQJohC5d0Rnw0Vd-Is_TgywItkGfgW3hCT2jzpIYH7wVkagpzQUA4IEY0_W8as4wIakbMsGjOzvY6FZSUqEVbvggGhGmLlQpz1UAsZRDvfOMZcyszPELyPbKFWt1g4eUrYNzb6Hrlb6em158AJV-NiMdexnEF-pFFMiGh2JWrGcNRDBkpG8Bm9y2g4G2Sv0-agbcwWDCZv9f8y_p7xE8xoEwwwUQpFg9_H1NiZUa_7bYYyuUrlXn3oQcSBulCnsDIhTbgcpTYQNh2T6_tDbdA83mmrl9aTDoJt09pQ4eJwZCcUK6NCIvOGSeSQ5aQ5YGD-pjN6Acez7pNHkLFREvz-fWOqzqira_dG4rUfnykq7MJjdlArTEMfMJvGnBhPvUGLHpYic91EkOaQ8prC3F-MwVK3or3D2Qc176d_EtIteXiTreitniWdx3Qej5AulaWAiPYPr3X3H-Hep8jcyFnx7gH66QRJ4w7blyvWQzG7hDNSoBiT5dXXKjOodYRetlX7qCLFK2geRSBtG5SfZppdOURiuY7eLoV7Xu9vlL4L-eAhp6bxQ5AX3sNk-o_o2zn6EJYomCFYcjSNuptCK5EIjCO9BH6jwaqiFqsdNFdaYo0K2eokXSJs3nOR8aBvvBC_S-eyxGM-m-fQ55SvBffaMibwqc6yJy7rkrmC2JCID0DihvwdKfSzvkFaUIIwUeJmgtStLZgQq_474fRgvoG2LZ4FbRF_Clzj0nRDQb3yDNgKmLNaSOp9L0bf8H6zoF0elsVDg7IklCtmJWT1ifa4ZqGR7NEZzT4ucUbTd-DHxGVyeWqSEwSchOjH6yzvc-TNjtuthgsWURq6D9QRyn6GzoICEhsvk1noHjqNpTDuZpgVDlbWp6t_kyMprtFn7-6fcXrWl33xxthbV-mLhj4_52me53NAAhCbxUdF7GxyjmuEMthOx_zdGCS7hrI1PJ0g7pQPJhHBMF5N3HpKsrNyTqrIVMvhDKjVP0VKS68f7DpKluacH3cFBg8wagdGXxNPVOpYCIshxaORJ4Dy_Q8cjPZwEMFD1s7p1_J9M87KGz_azkXrJF22tzE7WDIWy9GX59EXmqfoFiwFaqZ",
  "id": "rs_0270c36bcb04f20a016a7fb7d762e0819992579a356c3d90a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.015},\"note\":\"At the settled deep approach, the cube is now at the left edge of the jaw gap while the right fingertip is visible, so depth is sufficient but lateral alignment drifted by about 5 cm. I’ll yaw the gripper left by a small calibrated amount to recenter the cube between the tips.\"}",
  "call_id": "call_uYQSUdk1IHTlrdEkLyA91FiK",
  "id": "fc_0270c36bcb04f20a016a7fb7da4c1881998838508f057d4c68",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uYQSUdk1IHTlrdEkLyA91FiK",
  "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=-1.076 left_j1=2.3764 left_j2=1.9263 left_j3=-1.1484 left_j4=0.0319 left_j5=-0.5518 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -11.8085, 7.7744, 0.2857, -0.0024, -0.0611, -0.0024, 0.0479, 1.6205, 7.159, 1.8926, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3552b525d0c16eb089d083e11ac2f46abc3f7c0929ee54e7754c24a153e284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8d45d4f70fc83d472c6d5d68babf6338bba6e52e36a032af25a5e3cce58afe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b1a23cde833f32247b82a226d650be4b7945b3f9f24dacf8d184c9b57caed2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 370 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.376 left_j2=1.9263 left_j3=-1.1488 left_j4=0.0315 left_j5=-0.5514 left_gripper=0.9964 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -11.8906, 7.5829, 0.3004, -0.1392, -0.0464, 0.0904, -0.0889, 1.6068, 6.9812, 1.8779, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7fi-rRcco7YMosgmA8MRnMT-eMl5eDTCwdAb0z8UXFV6zXrPLP1bZnMVO6g0dZQSq0qpDc4oufjaIpDu2xmWYEVikGgZJVzwC2az-7NOyVVzcZuq4_cDqLyA26AAAEKpv0BULDj1VQf0fJv1W2rsWwa5biK1exVEIOloMc9MhSD91uvsS3pNvgLQpNyNfJDdvmnSSAd25ERqorUsz4iUb5R-A8P4eIRuXm73CL87G7FMqdjtCHzjiosRCSDsBOixyvsoEyf6DsqZGd__HUoulQ2ltbELM6-hEYSVyqTHQIWRc4NBX3_zglpXI72_E-dhb60Bb_VGB4Cyzh72VT1gW4NPI5U7l89_lEyIEp4ngDYQy6qbGXaPflixU4fv3rZAZYUe_uWYVsTAcQwWfc5bD9lES_S1ozWmCucYTTR1ka1Je3IoGwFex-nbOEoYaM31yFLuQ_DnhSzSG27rK5uVWn-70iZL4HyyuqCuz_WIRVZo3cIz1LHEtVECY2Lvf7Chvgyl5m-w_VetBFop_bhK9hvYcvDxvXbDmf8_5lADJ4OpwvR2-PrMckITKjE9BWB-jx_hvL9qDOy2s5fQy-btXdVd0vXShogOelvnmJ_G71_9tDGZhE0khoUflfibFdyKBDDxSDIBC1vHCmTY0y2US6wMMqM25_My1a2nkUQcegRl4yrspdPxKGxgrxZYDxEurYcS8SYecWzHEysj6HVMBM-C3dFGxpplyH2CT948Rg4jcJSZrmDlY_HfsYwoPwScYoZmFl-FcEABITKIyK1VMuOiv_KC2hY0SwSjekj8q5MPYiq2l6lMjxKZMM1Sjvvn1BKVgL5i-wJ_8Cb7lmefzLBZjkAE1bHum8hcqs6Xb72M0N8MCPRGe_D-HcfYxa9TNrc-BREwRoZcAjAYXHRagNPDN-ddnomwuDiEgolBSsPdkLXaNFrHnZvfK-DlCfjJsyLxYAD6yYwAJfBwWEeqhUNkxvxfKYICtYi8iYLR-utEzeda6cFzWaglnz1fdfPzhECNQyCUuF-SF8fGod1KD3mtINbpWaa2E5jK0_qExiASjb3U2LTCaSU60b-t3-ovuHGU4PW2OmfqBNgHg0TPEuAMHY1MT2p1SzEaSogY0RULGwFnZlzAvpXcuepmEA8YTVQwInF0j0HYPxpoln9mLLGqvkPDqms_96iyO7_pZljpKaluxc90KPtW1OgLyBZjK7G",
  "id": "rs_0270c36bcb04f20a016a7fb7dfd498819980b27da1c0b33d30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.015},\"note\":\"The yaw did not execute on the first call because the extension joints were still settling. I’ll reissue the same small lateral correction now that the arm is stationary.\"}",
  "call_id": "call_2EazFhDuejUskywF9tNrBtmU",
  "id": "fc_0270c36bcb04f20a016a7fb7e00b988199a81d54d838201d6a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2EazFhDuejUskywF9tNrBtmU",
  "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=-1.0122 left_j1=2.3764 left_j2=1.9263 left_j3=-1.1522 left_j4=0.0345 left_j5=-0.5514 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -12.588, 5.5863, 0.2027, -0.0708, -0.0806, -0.0024, -0.0068, 1.7436, 6.9812, 1.8584, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 447):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4670355f7640d4b62b945f1347b90b046ece3f1c5e3569c0fc7b13b1d03395db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 447):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ffb7a6e7a5e4ee464fb62254552709c4f37e8ff7f3b8c4038e11f915131a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 447):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a9e5bd1d432a60f225cd3b2d083e87077cea16582ba9d30006e53f48764790",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 374 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.076 left_j1=2.3764 left_j2=1.9263 left_j3=-1.1484 left_j4=0.0319 left_j5=-0.5518 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -11.8085, 7.7744, 0.2857, -0.0024, -0.0611, -0.0024, 0.0479, 1.6205, 7.159, 1.8926, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7fr3yXF-3p9usH6puA_vVh73KYn3dEHDix4zIR6EuxcQuUBWTVVukH0-0TgO0phvqpdzebj5XhFv0iSijmPLXTGyK_sRIsXYGKjG71h7Tl8fYpz9EWZzAC2ASbipLZ6ahV9dAz8kjkV9n6TmcvstNpQgxC4wexfBuYYnqsIGnPphrIGLEK-D6cfTMAzK_IeklRUlvxVeGfr8IchO7TrJv5nrLjl-ds-js6MkeHx6CFvVmHlNzR1gDza4p08llyGdshsOicU0IPsVM2ojbW_9uGt6y3DxL_IuOoe70471G4cFJw0I2aqHOlq-KcY_XCLsCIXzvl4jG14eue-pUfdTdY0tbsyP884_jiaZqWAwsw4Mo6Mv-l5vOI3U9WqtWWDaQd823DZPQRdIzMQ1kUwbWJoA6gCXeMlAG_3BUa9S4ctIOwC1tvQa2dRJ4rNdXelAMfeFtdjdVPjrl2Xr3q_6uGSO7ba-2j8hT3v7Xb4LW0RBWOdJq6Qzaj-oisxcdShIHQQqTJ5WgKUtwQ-C57diV2NA6fqNTz2qFs9PfBWpkSZ4k2KzPyOhnWHCWyTvnZ6DyPuTuMu-GdOokbYzMp3Q61QaVaOrdYmyTYbmtbwwzdvx206AGssvH8gHBOGOouA6ffcsdwjMkycPDZJS3NpUIEMouR9rVTJONIxqAYlEk-zW9mds53oJPKIDsywBCMompUBIsG--pFDomT4pJlr3dmddbQZ5h3tfFGyX1TuX6FSCInbPwJLMEYfc0IoR5BEwhvUmJvNU9KDVtHTOxMkAD_MtggRfhZHCgwYXAa3uz58OlSPB6QuRYA-owvGfA4Yfi7jXr3AsE-OW8QJB_5l-9eSaBf2cM-qsvALvtnNEvyzTAWLdcydBSGBxfvQoDeO25mJytV7A8Nwzfo6TI_jlJyxP37f8zMdMXcbTE5vNvkYuV2gpsBmQHYzt7isLoaoTn1dCJ3uekF8R9Oce-LHL-1r5w7jFKAmxGvyJTDGQvIJFU6IsEBqW1awPLXDf4-642DYVOgc4Cpmmq3gE8IWu0z7vUaRAgPaQJQoMGR9fpjuQYbbbFrD3gBFfdnkhyJ8QFwb8lPNsIUlYQVXLBPewsRMp49qERhhwFWUQlJAwlYoQLsWL5nBF9eOZXwt_Ff4s5v9hp_MT7QXUfv2Y5VdYqWw7veY39ZfyqGIqeA7dV8wMCppf8JEOTGZuJHroUBgmP5Pk-Y9GbydbGQD5mKFL7INR7OvdVrM8tah9yg2GPDGPIEQgkhdBcmbtNxavbFJhOK-XgCGFkIQvH2C6YT2_YGSz9_ZgHr1JFa0zVIbh1yUgodlzqcHaXAIOjDHci_yC-MC7Cjwxvvvtdw2x-mepLVR1Mk3ki9VypxHw5DaKNpaEal01ovcYKtB40jdjM85vOc4a55HE1f77eIR5ScCxfF1k-R09xWhooI1DtYAV8eaBdUUl7-P6lEYw43EffhAFh364J3c4ZFuCWtKysrRTmowtIaHAlSmP1PCXhpcuNiBWy-vVxEcEnI8bC14NyD1WwvG0oaJmp7BJnj72Y9O9wGnlgFViXG6-XUYN2VgnDdCht1PpYA_VONgiHrLaE0XnmVkhC2cbZV0RqMv9qohRk5A_WFo7bVQaIKCE3cdoTrprMoDkKhD3OUXQuOrR3nZg9MXfDGWFe9Ob7d_Ismhb1VZfGSCkoSUM-R_BBTOjlI3uDTSJ2POe29Q6gBQqUGAMZklFGD3UTmur8440f1sS1hI2t3IDT0xt3K1JpN7QuPh-MYD5Gi9XSKMLXdeBArG2dJMpaZOcNuvPDEAvCoGGFK6hagNMdIe8MBJniHcsORELCHAc0xgwFUqs1hvgbl71X_H4KtajG5rDIO_oqdDswrEVzCW9MICSRM94vCHv0--b-kMmfuoy7SAZhIpeLsvemnp325-CzgIerRp9j2mKjQ3_nIe8FOpTSkuMyRbwwgTelFu-EcAdmXvcbmQ2mrSJlA8t-EzggqVvzSmKj7tfy5j3quonkZLw-nL813ev-qF55qCL01qleH4zRsCvJPJGF2kAmCpWPZ15a5EebCnOxn65Qh4XVxWCj-Z00h3j8dMdpQxp42_QCQWTp9aZIUqhhBB4ff80F8tf5mzYegbFSBY8PbVa6jq5guqOia0qIxNeCm9AR1ma2FTtKFBO4auBxVTzzYDc_EMCDRS7daLUFmiKNdR1no8AZwWAIz7NPrQMvG0-hHA8_I4iJLWx4MvwN1ZmhSnM6KT5O7ODIAQ9xIJySDKHuT_FF1omHlHF6Z0e2dp-KmNisAktGbX_lq3u1r18d1WeB3tI7UgheCC0GbZtzaBqOprkbKPykLJKu4Dv4MFkNjg4QoVMOy_N9JkSacTgBRt2fuOiILDm6QuQUKOZdG6XnFRH9mE8wgam0bKbcU0mrb6Yz8nn5R2RC35BbEv3Wd2ZmaCj1Se3wfmUAdJM0YuWPj6CWyGMJXH17H3KoEf24gOF-kU3wqv2o6X3KXl6R29Wdtv-pbToBcAbqEcOYpa5wA5A2skd99dByaty5SLLs1Tn0OTfaGqcbs-clzBHK4kbNYrK3FT0NPu2-k7wVMDjBD_nX_d-UZBktGKrhVmcwjntyO8yPtD0GOfG2tPfnB5NHxyqqVrJ2XnD1zLYU_Zw3m_QtDs_74Be2VPWtr4VX27S-Xr8c2-SxKc2xwwAOqgIzhzrW-N4F38xXyFk-yJGoeT3KuoFI60h3NbdBODQ1WSO-dJxBIHJM9IBvh1SnpZ31MypOLc9Gt82jaHXYyiD1HO2CHx9E3pi8Ccjhuov4KSDMrD0zwl1O0nWqr7efNntYWGWqb0Lmd-I4-QPB__ZctLygo0hwy4h4gFM5XB19AkwsxgRbjUNBKtkEviz3ozEmByXlbFXpl_1ZHJinbCO4AfCZSih9MjWagSabcjq19p94LchgMrW6jgGtnH",
  "id": "rs_0270c36bcb04f20a016a7fb7e418a881998c1c3acd93b25923",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The lateral correction brought the blue cube’s near edge to the bottom-center contact region between the black jaw silhouettes; the red cube is farther beyond it and not in the closing path. I’ll close now at this deepest, recentered approach and verify the residual.\"}",
  "call_id": "call_RpgiHpMnGbUFZVCXvDdhlkfI",
  "id": "fc_0270c36bcb04f20a016a7fb7ea148481999f74dd122f43be56",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RpgiHpMnGbUFZVCXvDdhlkfI",
  "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=-1.0111 left_j1=2.376 left_j2=1.9263 left_j3=-1.1515 left_j4=0.0387 left_j5=-0.5549 left_gripper=0.4561 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.9436, 5.8872, 0.1978, -0.0659, -0.0073, 1.0281, -0.0205, 1.7436, 6.9949, 1.8535, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 457):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5dd896efd8e03dbe29e6d3bd13a471eea026b2e527da62bbe2035bfc6872dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 457):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8690ee14d084cdb0f1ca2f3aa1847075543cbdf388691875ebd8706b74735252",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 457):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f631349a3a60bd70c37b840380d942fba5a6db985950ee75e323efb00a0688",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 378 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0122 left_j1=2.3764 left_j2=1.9263 left_j3=-1.1522 left_j4=0.0345 left_j5=-0.5514 left_gripper=0.9965 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -12.588, 5.5863, 0.2027, -0.0708, -0.0806, -0.0024, -0.0068, 1.7436, 6.9812, 1.8584, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7f1LVyCoP8nhG8qVwOSGR2J_23-azoRBF39-lLo6YQG5axcAwtK3W22Z0cbn2IHG2LXvATuVAoCkcZb1maGk0DWqAAuCilzwB7OhCMJu9E67bsXkGtEEl28vgNMI8F_x70T3UbB-T3R-P2pkL9N1tquX8Zmn7eZ4-JzGWAaFektwenOcf2Rhz6zfjC-cyE-sd0uHFgCZ6pEjz93cg0pTMpxmHZY3mZ5Bs3rtq7uB1jLT6tt_OfqjfMsloPj2GefG5uMgtUSD2bTxIqKJ2wMyS_a3UU_5OR2spgvOU8bHBf5X44OaPHEXu6CStwOBvXaGxNH-0enuI7fnC-dPr9HUbQY3zrUOfNGisSVt6U7c9YL4D7f3BweKJpA17jopJIpFdubXWy0gif3OYeV42U8zrFlwN34GANt_bSjYLjMHaLfNYBpKz28eaE7ps9ZOQVAHVSFUmxftBi05-io9ecYPnQpCL0FkltmJmCaQwXrzg-9Jw9SOl4jHDbGs3QlHgDJoPT_tYqy3JVhVKOV_DgJf4NVDX_LQ40UuZrd4yqAptDdznzeJpBDuqsTrkFSsGgFVJ-Tsdb3aI4qyy4xd_Uh0xaL_X9YJR715QHbm-CsYWUoi1Cd_6yDvceLKEF7mHzMfxNKotTgsBTAgRLgCTKvX2mZ6bsxlx4XfZC_asWTXe1VUzDUYmqt2MVmT27LHPJxtzLQhN76vuQA3wyF3-RlTlFtpvqYHFpHATGW-xZ92pX1EZkk3zH9hFH79D9OaXevZ3tuf1sk6Jgisa10p46d-1c80iZoN9X7i9kK_N-wZ5Wsa34RYgADdMM1xM962rfK5xrJo0bqIQErKFvM36fTkChYQDjoAHhj45GKro_M8SeamvvynzemmyVUp9j9hJJ2B0-DW-nP2TJxjplevYu2kXsK5o-M0aEVtzZY_tQzNTq-4fn1ni5mWutweDE2GCkTXMbZuw-yARSH6PF0LN1M11ubrgmEZc7NpBKJ9JsDgkng3ntDUT82ljVgUulg_eJ4vITWmIR8JDKFrMuoGncWVsBLz5eMXKwQ0FyxcEsDQ92FgjyCsrCEqDSAovaQMAD9CJq-3HBoKdvlq5NVp07rbasdUA4rNxY1gp4AsF85eTbmHNZreds-ti1j4imU5sfXdlhPyjZQ4R3f6znE7MxzqLzeFW0bmGVFno6gg-Cg21kDMNeGL2nryI26r6SWj3fKIIj0j4BJ5IZMte-uQFixm3x7WVPVVx1zyULiGks_KREZYzb_mlf-4u_NH6jjHgHRT4tkeJED_XVttTvLdR04aPaHK-lyQXOrCVqgtTsgX01KSZqR6efp_HN8bAY9MmK4Ow6fW1uu2Lywpz-MpbMQk5bAXwcz6C4psmPW0U_arp1LqczRcCKqXABDakYpPBvpPpPEzDujDhF1Lo6EKSGf8Ue1jI8ngd_Wt4tfpIS6Drcl5QYsAb_w5ZPyUWD-mAyOGYDwjcS_bq9GpUERq6YKGqeCePYftD_AFBjwnH9QJKdA2YVvVx1akCZAO7ehFZAgYkCeYKNu5OcOL54aStwDUOG1nGxPfkjZsvIZ1Pm_2da-6sW6vUudTezGi1vf2U_aEMcK-Ct7pUbW-wolOrOwqI4LS5eEH3-wiji59QCPAbcUP2UTOn0mN5WNv9kMTZWIcYkjtyz5nUCWhzqYP11BrFiawoUlOLMsnL0wmiM8CseS67TmmFZ85jIbYuT0t-1c7OSpFhEINEYdaGFbbQDmZwZZ3G76e5Ts4xAmm6WdU-AcMassk2ZqgvSxOtMv9WxFjXJK",
  "id": "rs_0270c36bcb04f20a016a7fb7efbdf08199bf29b23f7bba207d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.24,\"left_j2\":2.15,\"left_j3\":-1.49},\"note\":\"The gripper now stops at a 0.456 residual with high effort, confirming a secure side grasp on the blue cube. I’ll lift it about 10 cm straight up, leaving the red cube undisturbed below and beyond.\"}",
  "call_id": "call_Watp3RmyL9HJqSRZ8801a37E",
  "id": "fc_0270c36bcb04f20a016a7fb7f375788199a2642f912db613e7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Watp3RmyL9HJqSRZ8801a37E",
  "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=-1.0103 left_j1=2.3104 left_j2=2.109 left_j3=-1.4208 left_j4=0.0387 left_j5=-0.5552 left_gripper=0.4596 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -16.7863, 8.1983, 0.0904, 0.0122, -0.0415, 1.033, -0.0889, 1.8393, 6.9812, 1.8828, -0.0269, -0.0806, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 463):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3fb769c051064b6ca54521f88cc202fa45a4e13b8a60fbad186af1cacfdea4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 463):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793b893a9a450be9033d4e6d5a847b677f25eabfef1956abf892e39c99e0cc15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 463):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa7bfe32e95c10bfac4cfb08d32ff786d2c881c6daeec0ef1009952d2c83843",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 382 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0111 left_j1=2.376 left_j2=1.9263 left_j3=-1.1515 left_j4=0.0387 left_j5=-0.5549 left_gripper=0.4561 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.9436, 5.8872, 0.1978, -0.0659, -0.0073, 1.0281, -0.0205, 1.7436, 6.9949, 1.8535, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7gErcivBrFfNCr4UJch32Z0bQuwEkjddx1wHC_XcxJf8rwF1Hc8Ru12i6lUDufqJUfMhxmxwi-_P_VQFcAI9x-_fNQEemLbNTzaiED6D6OYfLmlH9IAxA81nXaw6ZcqjM4al9SfsTl9fqNUHZg2BiNwcHyv9ngGzi6smKfw9NvXO-uCmuARiPowOLQXcLBZjaieSVfwOQXg-qsMM-3jmWcJs3l5Z9cqq-Q-uQ4CpWqpVj4W5lmH3SB264oZmSk794LrYnWkLCqkkQsYqS-FYoxe_lGjUPadk6USPSc_QPpeIPpk08h7DHrcbSOY9bFsDULjGe5kMof2UP9JnTbztFlvEWiWdhfMzqF16aAV1i8zHoKPtHnJAOKiE7EOwmyinFVrUTOhJdDcOio-aXdMhSJuF43dm-ZZ_pRZvsfGVO7AvBydYuP7QcRQaewUSbxYl9mm6296lTn3GbDXCY17AV10UUx0BDFlX6PzWzype7M8xhLhSvfErMExDsUoghOMgTyJXWj70uB5lh_ypFCrqML7y9Iulap1g1NaIcFix5GMTJ3U5e6937sxFHLC5P_V5SFlxHuRnSJtfXldMaisVQKz2jNvjyVoifhZdo6h3boqM57PoB3j3sU1IUosnf_gI4omf9pTMOr_3o7Az-lyQ4B-ePO5Cu-sVJ9uMSPTEtONwJ2IzFsf7ytJmLq3PSJGco51RtOkECoFpBwmk1NofXQ9Au0t0-jZy7SNsyyGlSfh7BV3TPVDdrUjYGOYb1aY9kmIrtv0iRvKURE9WURru6N48IpWjO4mmbExP0-7onL3yGjj92j1zuJoz3qfWYctJwcqSm83sX5S9m16BvBnjuGQLlkg_wh6ErK8S_2rfucGD9LxaNW6_mX29Qx6L3D-lrJuKBoR2fy3KWYUnVcVXxeB29IrySVyVgGCwcBIpp-o8rzp2PvR6q6JU6i0K0c-IEjQx_mhEcjy_jvUUkZS-F5pZpBNBzjbutDAzCtGsxUGnaHr3IKQjDbxUEjekitqYPhGoMAOWb5PLtX627jWIjRCHrzspsJ9FTLzsUWwBPl-I1Ma4mdzZVaM1Gl7WfUpXbXyn3XJ27ixkXnYu83xsYIgvDM38WjcE3EEfC7jBc85K9ABH7yQE7Qhyi8KrHsz5qiGqcwSyai9Ah1t-2S7qbY-JNTcg9mrIvdbtNs4dPbJjWcBv3iuJY6NOWSDJTH-Fy_H9B13l8YDVpnh-PKYGhGPL3BakLK7xuiZev9eOI455psAxEhGaKUgQljHjkQi8o4tmFovfCvAKItMG9t_BjCOFGQEwdD35_fMrRED1K5u4YX8Hfj18hnq13MdYO0RCw19xrPfUuiGEbJ8hLIC33199RafW82c3ovxXOAM-gOWLixBba59OmJVWYymMwZbtNiGey_ORmnikbDMg9xESTr0PDq2bb6pV1-QSGWzCGBollDvI8jzBsvS8aqX9UnwRz_Qhxf8nCG9HPoUDhPqz__n7eAtkoytTIe_4b3gs7ElR2VsFFdyTuSO4_twCF_X8DRvMckn-i_-sb_QHib-glu4LPcXbUj8HQVRhBcnGVtfJ3YU0K_AW1GvZWCC-fvh6tesfr2IdiGw1GS0ETSp_2v-8FzNM8AA9vLoElN-FFsQ2fkTdHtd5_O1QzXVLbrp0fh3h0NPHnn6weV6ZTQvgwRgBqaMfkz7rPhl9IoQDjVb9OtmtNtp47lXCwSvpHKvtbF5F81r7OvpV3jOi2a6YNQVtQxPWTW8H0b79ZNOyUIHC7RG1NOG-0-Dck6Qu33Sy27K6T0adWxxNGKMG7yAEdrZRHh8_TNPsLrHn9SEVto_afjcGHw8DnwJuekVadwaQZjqDWbxvj2Kq5o42hHEGhXbnLU8052ovg13rIRtvT0jkIDVIwCYMjSATGutFOzYLBj0rBfn1bFTxHSK2ASaiDPYkNPVyHWAv3tNCAWvDR91numaWCaIaaBMWWtkZzv1s4zeUOwtxBQhiohiMAkGcZSY_hK0FEjmCiwqU2pT1my6ZJ-rGKw63B--LY0cDqZ4YDoejq6lxkT6f2DseKjW478JUCItk8KBOaa7KqUvsguUusoUYDJ9THH6bZmwbhDh58WuRGlcJpG644UMjlyzh9_Ri7tWwjNcMRQc3Lng1z5PMW3dLwo_Hp2VeHWf70wpouczJz_AN_-Az8b9eiOhWs4MPcubSZWmtbPgV2sGEduyzwl898kdUcZeqNWzmsJOZWv7GUqfa79VBO4szEhp1VxRV-exDzJi8RdbBLPyUQasFuYcxQUbe28-7e8I-Ylggd0oImj6CBHtNOh9T8Ri037FVnkrGRvw-Ma4FnxDZd6bRCfF9wq66AI1wfOING1f6SXZW9AAhl1dWGQVaowftgjVZGSzEEnfwyat2-UY09ffB6ktqpeFJVhc7BTXiBDxn7oFCFQQPqaPQ07NMLcej3oPvHDH9wN_QZeXzwFFTBByxBDGVVMYQb9YZ868dHok1hVBKxoiGgFD-2oWOHypJm7eVgIYXkVewKX7B5kiBWABufLDdChWRgdIKt4wn99fx2MX1K16iWwJruGXIo7qvY_vSrH9WpLGJM0V1GboY9JKvtwmpycG9zkjmsMQd_N1MMCM_TJnFQ-G_pmoNAH2hNA7n6GxCRmpZ6ts5hZFcdCdu9_TfElztd9fhqf5xv7PlQXuu_piMBtnHeuvjBKW-z-Q4s9iw4KYQPHEsCyWuzONen-mXlZbvaFr_ZI50SUUqBbh6ZlfMz-LJDw319p89WPnnPGYAjKja4LULE2cC9waGExNNFRvSoagpIpG2DyDcr5LO-UmboaD-GnOKV2KE5A_txlVGEGqiXbO5ojDbUZd9YJ7iZydsDGndRxuhIqFYVv3OxOwMyv2EBPjBmuf1icl98bri2IBdlknL_oIeO7-qsm-TrNNb98whlBVURaBMHs6dpoZ_oN0okGUDJyMQiGsFeFYB54dLpI2aA4BGEyWlxRJ8xmOqPNeu4Cgxj-_IHX1sfbyJX7V5AhLUElbKu02oeUXqBKrHa-RTV2Ytwj6T7cqRvkj9AUsfP9S59tJa_ryKxF5lbx5MHNQuk0UdQ77NdEvn6e9umOPcxaFVIlcoSMNjikITpbISi6zZOuO1dVBsAzhy6tW5CB87zfNA7HrPMQmzDJgg-2DakKYahQDiGXO12gHptMnkILRYC2cDKh6vBWc95e7GwUmeOP40Zjtt6eubnqDatUM2oDLPeoIieQ=",
  "id": "rs_0270c36bcb04f20a016a7fb7f7d4c88199a4d7fb4a5dea7061",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.26,\"left_j2\":2.31,\"left_j3\":-1.62},\"note\":\"The first lift raised the cube only about 7 cm because of controller clamping; the red cube is visible just beyond it in the wrist view. I’ll complete a few more centimetres of clearance before translating over the red top.\"}",
  "call_id": "call_nq924cd22l54N3kHyc0EsPsX",
  "id": "fc_0270c36bcb04f20a016a7fb802f4fc819992973eab7c5cd092",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nq924cd22l54N3kHyc0EsPsX",
  "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=-1.01 left_j1=2.2879 left_j2=2.2658 left_j3=-1.5803 left_j4=0.0391 left_j5=-0.5591 left_gripper=0.4596 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -14.4068, 7.0906, 0.3834, -0.0464, 0.022, 1.0281, -0.1983, 1.8256, 7.159, 1.917, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed823bcd92433f697a0f0d881c35c95bf78cb409b0ea92a232072119742cd16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7693acde6ba0e40a72cfdd8c17b65049899e25fadbaa7a5e0b8a329ba654cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647ade0906fd77b048caa85e7ce46258e99be56709e112a21eb0057ee23bf9c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 386 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0103 left_j1=2.3104 left_j2=2.109 left_j3=-1.4208 left_j4=0.0387 left_j5=-0.5552 left_gripper=0.4596 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -16.7863, 8.1983, 0.0904, 0.0122, -0.0415, 1.033, -0.0889, 1.8393, 6.9812, 1.8828, -0.0269, -0.0806, -0.0171]\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": "gAAAAABqf7gQz-z8yFWM_ELfCMYYV1ysarP9jaa4OF85L4--dEQuyLnw5K17rutWOjHORaXyp5a510sQCvFt9_YBMzxnVELvCHFs7JjZJCFcYvlx2j3mJq9SbFzbSgeHR7CjBrfY332vzuaGDxXOpZ-JvfecVabsRJLT18qUuSsRIbBAgqKuROrheCVwQXubX92GVrmQbUZMO6eUYoHsdNp_ROhBQywYaTNbXCEhTpwFOJEgpKfdPz82RDDxR27BYcD6Iwm0oTyHn3HUStoqwjjHXIMQ4bNDPYX4aF93-pViyAbEcrCaiUhrJ20xa-TgGVsQiCKdvH8rm46ZpWDz3DhrI1UjtwHqr9EeRG4dN7v7OQoGhT_oXUr2avJXA-6tFfQf7TvYoc53DJft3PWW_E78Gv-6UtnYkqsY9_lOo-Xj8LvKLbUDBX-eorTqM7cRxYnGHr_SD3HvHPD456munJCqXlqtaX8oH0WliYaoFDy1hwgkc7Jxf0RZjbcK1cOXgcugEK5j0jUw6H_j9YjzeXXwMV2-16Is89q8qHd_oyHhPKQjKL6kkS6uJKLwAv28l_ZGkWFlLSkXfgjxq9yPC3X6zXaBKcXQDQclHl-sI-cRfXXduTViaIkMoZgL73TK7YTaKtp7LDy42vTMkhpSOHHse1pTnRDsNOf_uH_KwYTrMT0LxcmPZyjzACLYu8XmY6fIovTNzbJOIDIIu6PxRYI07ImSNiV9BGhmCJb09ByprAOE6MILUwGILQynQEIRe8bOEjqcftUMp7drl3ySG7wKGd5GtnwunQJLJNvAXh87YV7K3xQu5nASC6SQCzn4HYPFrws1cDjxip_q5C68NO5yey2GzS-tYubBVvnrZB2dBLIH3fRzdE1CnhduHTmVXgqH1jhkJ2te2lDgkHzIDHhLgalvgvV6M-7dewDJPVhTd6q4EXEYpcqvvfWCfZv5DN8HSieIWMe5_bkn-X5LaniwSC0AIhZOWOR-U2Kf6ChniMb7PUTh_TXlratEHmuKWzmadxUcuVgINh2OfS9A9qbASEWNjNsy2hs_a11MV-G6rdrCHXJu_R0RQhRLg3C9kZJfamGHv707Ng4Hvv_2p5Yu0q8tpM9ojRigIXv5E6eGJm00xDpArkrYzCX0h6dqaDVGGiXiukQr8IsoJbDFSEEHooI6Di2XT3fASB1VfKr2eW_LiRGmhnai7KMCNXaaLDqADCy7s2JQQZsz0E3z6IYXrS_IsIhva69lEwK4jDEn_xObvFKwf9lLfND3It0BNDRzqRBSUe4v2qmECTWdTzMKnTDxQ_P21zB3vh7suTuC8BJJYO8eFgY35AaA9GRGP_Rc0UvZxTyPHK8J0umIZTZRKPnUW91jTpoIuekSgUiLxgb4aVrUaef4NYJ36I9lL_HmbTPFBP5TAARiaJGlHx0OTfGd19zcxq2QDroZnEd4VrlLw1bhMSbaKdril7CBiR9tE18tJHja-VrFVIPo7KjaPbxY4Bh967FFgUT6WjgEqH4qtqbqSS3RDsxvJNBcwsAdvwHQjCRMuNGz6xlvb5W2PhNoZxgfBOcRRmqdTQqTAD5HVnp829e8AxpJERcCMSs8O3YCswIL2fB7O7IJiYzXS7tzU3k_7X5xNiVeDFPLe_LcWcnqbSXArVjg26_QIWwIMmagWkSDTKyjQnBbJ1dCPN4JdJWpoIO4xzMiT161txE74lyOIc61Yk0pOib_GIzgeDz_kEQTBZiMM0WCZUgFpYkDnNbpKexaH6bWMmxSZ06IFvcF4YH1jtXPW8-lykd5zHy2GBOG3v09zKI3WwY-Y41TLllzFsIJ52HFz_ecJJTT_s4eX_p36cUfvdem_j64OOdtxCSoMWiAjHRSXCaMewXSJfL_OdHhtk2YvwHau9WCQKAdTczp9vjremWnfnHCWYsD9McG5NpiMJfnrRcNpIsZ_4OySBorBVyYTHrlJcXsLlWUtc2n0odMGMZAGc0Y-jGqu4tgEE88yN0N8uNT-GhRJnZ56DitUwoD-_Rx75flWTYDxv-ecWPFQWtqrhgsYJR8VUoUwWyQD0y2NK4AR-aBoSsLJIyxyyqxpvWee6wOkBesNkvQpMXdh_Rl3udNgOUo67zwtOiOnEf3E6UQYCe2ynWadeW-9FZHJctawxdk1e8C2u7kFYEMPJ_sUyKERvHpbHphzVrt_PYkUTRO_obk058igxHIINxGuwnx5FnkCTi9TPAho5buS_NDNrnIb2aRHVbAPc_gWbzEN0dLcNT9EzrhNv2dbgWTdpxPiuzPaQhjEE72aW6t0pB0OQZD6mU_gAKW2akvD8h4Iu5T9InWxD7VgGl3wxrLtotvL4YUuyIpTETKj1JGztW1BT9J8ir3r98DHLbnt7u3vbYCcpQhdwEvwFrFpHjffE_BS5FFfAqL_X0=",
  "id": "rs_0270c36bcb04f20a016a7fb80718c08199b2ff4929112778e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.43,\"left_j2\":2.52,\"left_j3\":-1.66},\"note\":\"At full clearance the red cube’s near edge is centered but about 8 cm above the held cube in the wrist projection. Based on the calibrated approach direction, I’ll extend about 3 cm toward it while maintaining height and lateral alignment.\"}",
  "call_id": "call_g4SUTkfcJoG8sTDZkopzPkmv",
  "id": "fc_0270c36bcb04f20a016a7fb80eae3c8199bc5cd815f53a18d6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g4SUTkfcJoG8sTDZkopzPkmv",
  "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=-1.01 left_j1=2.4355 left_j2=2.4744 left_j3=-1.6543 left_j4=0.0391 left_j5=-0.5602 left_gripper=0.4596 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -13.7368, 7.9521, 0.0904, -0.0269, -0.0415, 1.0281, 0.0342, 1.8393, 6.9812, 1.8877, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305df117c7e697d26665d80c75fb3bafd0cac0e143a97b5544de83d589b1f9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe33229b451f1082007a495ef403f430af69f655c829cce3fbd5dd56cafb808",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76920a53a7a8778a8fc5d11d9a623bf6c986226b686db79c785a8f5b9e4c47df",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 390 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.01 left_j1=2.2879 left_j2=2.2658 left_j3=-1.5803 left_j4=0.0391 left_j5=-0.5591 left_gripper=0.4596 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -14.4068, 7.0906, 0.3834, -0.0464, 0.022, 1.0281, -0.1983, 1.8256, 7.159, 1.917, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7gbWWGHg3QI52SpP9ZQJc4RBTABeIV7SYbgVir1dFD7w2lbzWnNwU7kdIN-uBC7GNbz8BCBpWtz5flUeekVi7Yvb4yEf_qeuTO1vYq0vhT-dQZUsYRaPR5BtMDw6ILh9KInjyFIqYNPy0ElBfgCxzlFj7DOcdmwzIcd8_SMsfXDmtPLXFeYFtJnj8A-9hhRCyEJcwfGaFE_BbVGXtcyTbfv0iMTwTR2kh7lkWV7D3_sxtxjk1qHmpZFTUnROCVejpEHV92UnWESq0LeZl1aFeBJLKIFzhsXEziNNdmKLLQVXeg0nMKrEZTOZmxoVWG9Rcw0UMySZMeQo5fG5BCMcbQfpFIJ3h6gz8LCcBpzesGucM8ftJGxKDNmXpihdmKqMhJyraKOiXERTyf0ptJAWfWridSKpFZlEF9X40uBQThcNywHFcZoedF3NsmXE7rj2L0qbTtyQxIhmWuqDejsyz1Ovg0BcDrqWF6pq_NqYK57BVuRhXaS1ggdFYMDzlNMkQy4LKVqhaM2k8PXS101O8FhAamTmfP7LD6UF_Rat3tVf6d_MYAFe5EWYEsRB6xxcg_IBabgDICNeechgx21dLzrB_gxPSDF1pH3AtzjSn19_VIO86EelwEiGT7mEnrunB4TJz5axXelerknZXhiWYP6eNhn5CiHIgiAcou1y8VDn8aHwEPZhssan9ccgbhzYb_NSfi_qaZGMTKcnm4fr7EWzdXGqQANZsKxZEADbrsIFraL9Sa01Cz7-eZyjHn9jakghHx_NgJ_L5XpUNrNmIr-neGTQclHp9KS5MyNdNKLmfPXBUnJPsun8r78zB6M6eCkE98w9ATo0npf2lIWClB7zxfrn47gq75YgGaknBFI8aieGg-7IuOCocg4srrCpzzvcJZz-HD-wvewO0tB3tZlrSuPlZN4uJ6w9gvAKwRfXv_8tlkdYzgxHLq-BFseJ4Jrs1Ojr0IRYPVpv-y6LwIdUaJl6sr6KmVuDhpb2BTqTWCZ-IYh94Imx33ISudQw9MgmpR-UJ9fY7dlAte2O2Sxm2vYBbsSgoDJU5tkBRG1CIrck2m1JuAmdx22mg2-pMtGesdCAnR75Y1tmAR7_vQRW0s8SxEPW5jZRuj7O8cZD7JoTpb2uWJMcrWuo2A3SGbGvpUatRPQ0WC-oT8GW17rtZ6IH2RzUHcJreabr41M7cHtcPutcTx8gRK_pKCZkHJVMvi1eMMLLqkIBIX7Dxy2-8_whWJmPfk_7d1kSdPXhaSrP0S5qvbUtI2oAV3yy7cuclEgE2wJGxfQWZ8wC3pKb6hAMzkxc3mmFnkHTzbA6wf_lUC-WSe1vV0EpAZAvttD76rB_LNvQIAzdOR7ALfDnlW9YvhX4oIWS4kyGzX8XOD4ff-ngJZrb-oJLKsX8epNMbf96wuvV9r5CD5S0a84vYcGoCbiaqULzTBUkJj_dx_LxGXKoPj2vjVMMNeDL_JU8Fn9Q2w61oRJZNPZ8g9XjvNe6McyIZ10_vxKnZxCrsUhqE7ncoDyohBoWeUQEBaHOuNLTgDzxJ4pip2h7p4oXdYunHiCeFyNSxz_1cUlcAPDe0Mq8BMfyo_nKN4sXmv103wlUlhcR8AMmsptS34MCOL-sH8ur7OXdaFHkLnlRTH4jcTMrDLNRSGikvEWRxU2Y3FWocvmllMiolhRpVjjORb00BIDhvryY4wDjoszzhGJjJ-gghOWOsw0yclOtG84qDU0DBsL7CFMo_xtpLv28nNf1MiSKgiFx4eLxLXbaJ5yVzMOck_KipliuaONGtopOz5opBhv-T2ZxnetaRJirr6h0BbqnbbNXI3_GqbY1ACGJNS_YaoTg8eTB--e_TSeDTeAQU_GIAsMoI84U7ZxOdSR8ZTfiRJYOCafQJ0HXkVcpZkDKPk7RTIxIAxdYguvykAnTaX2ZMdvt1vKE6aZ57ImvgqZDBXPWS9dK_4sI8dhi02Gt1pw3WO-mBkIKXVgupIJyjnu-Wl3GJkv40OijOYLKl_Euj_2twkAXV2YL8E=",
  "id": "rs_0270c36bcb04f20a016a7fb814b5608199881de5254b76191c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.42,\"left_j2\":2.33,\"left_j3\":-1.48},\"note\":\"The red top is now fully visible and centered exactly above the held blue cube in the wrist view, confirming horizontal alignment. I’ll descend about 3 cm, leaving roughly a centimetre for a final contact check.\"}",
  "call_id": "call_UL8yryoHuqOdcyuhcSJFFzuQ",
  "id": "fc_0270c36bcb04f20a016a7fb8199b308199a72407acb0ce9c40",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UL8yryoHuqOdcyuhcSJFFzuQ",
  "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=-1.01 left_j1=2.4344 left_j2=2.3497 left_j3=-1.5558 left_j4=0.0387 left_j5=-0.5667 left_gripper=0.4602 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -14.1607, 5.9419, 0.3687, -0.0073, 0.0366, 1.033, -0.1709, 1.6342, 7.1726, 1.9121, -0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 475):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd516f48b60338b62b532d6973bf2adc3f374621424bca2b6530c43de84a736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 475):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aba111b1e7bd6d4ecf6dfc2cba9bdd92e3a0a3526bc9bc39ffded57a2b6c938",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 475):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab685b2de9c698dae59c15b3c368045bc701b78aba3b7b8acae8d0585674cca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 394 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.01 left_j1=2.4355 left_j2=2.4744 left_j3=-1.6543 left_j4=0.0391 left_j5=-0.5602 left_gripper=0.4596 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -13.7368, 7.9521, 0.0904, -0.0269, -0.0415, 1.0281, 0.0342, 1.8393, 6.9812, 1.8877, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7gmLmTP6Q8cjZhZpDEcE5ou6zypkeSwxlCe_jWOoYYSY0jBSK-X1gMPT2QLhw-ZEByoS5B7EEBSvdjYbzLLonsG4uUqOqVcvkt7lDYY3ryD8IVruQX0dfpvL5MqxFxu2OI80eozqxmf4xms83GfIV5ewRy0Yq2ntHeXJIoaJmQ-yhbIM33fDxZ6Hrn-i73ZFc5bzPmEOdMrGB_Mvy-i7tZy70hAX79yuxlT8qBnfbykK5Kri8B3B9NdCw9OCRN4FPpZVqsxj54XBRX159WqNH0rikqCdN3wzFSHDa3TKmHGWfQiGTCWoKidPvBsHZw3VTPVl0VLdOYkGMcTUsIPQ0x3Yr5hb6mStXPPGOdCArjGT2XzKRTYlp2lIGBgWOSogxdouX0C3UiRGddU0r2oLLOWsQqnDZrV69_MHB4KaWpsdNj5ScYc8HRyZpqAkRieKgK8TGS4fxMzHdti76UsQQiWYJmpJB9YYV9sckKm_soZMvRstg1cb4Yebc669nVdaVF3uldD3p6r2V1k2SMfTg5P_qgmUTZCpSMZ4p1ZfeW0AgngKZTJry7yuvgvWbW6cez4EWxaE-0wYRlRiqmeYeMr9HClTt7Igy7LBbu0BuK2OjyzGpf-IqqYEdiKueJEi1auT_7cdiogs9eigACVVDo8UyV4KlvTQJ_XXKacXZ4xvTCrEJiwJx6gU0ifaDww0zV2vY6VY-H7HQhB4SOyOUtUbNtLM9M5CJyB7HKld42ViExRKhdMTVnPhQVMZeMB6EZ_SXykoYVhaMxYNnDSpoNQ-0Z1J0D02F5kqgmIzH0Abn4r_K6DnSJaSdIG7h_gy3R7oNM1wPVagZPKgJw5w9kOheqE9hh15ixpFawRzIXdV1qqe5WcIcLNR9AjBhN2-DUz5o1LeLG515fdSgxYKiEnQK3uTseBqOM8h7qc_Uj6sHGjx0mRQI8F_v_zLLhsg0e-mm6eW_M2PXRIQCQDzbsgEhe4Gpd5nfOPEuzhfM7HG8xsazAh-e8P2l5VCu-xsISg1y_Rv-ky-joTHKfyvr7zlN0LGyxZ-ae9_-chx_8J-m2dF_5-KGPzvkL9woQR0fLKfY_O9xvE7nzj9d6wHC_5UFT0YUz1BNrzZG5ZCDudgbxlsrAFcdCgCI8nYJ_6Z6xdJbUOWdjOu8L9f2-9nDCqlByH-lX3pb1qtRercfR-YqU3QiDPXOG5js9JR4AFX256265wnuHIoqBtEna7mZZe49RhYcQSbPZ51ZznPkbCpZ4TdYosGYdE19J_J7z3KSRcukxKQfvNBNblao6qhzvXZZEhaU6uwHtJkFG7q2FsqTdPgtOlb-2QIQzOmwDFp2uzOWeNUEfrm3adW2-0keOPdd7Kv1o3v0IHn8OoLL_rO1xw9SREoP01v4KWdvBrA1PMEeAixRl9Dfa8Q25Gbpo25C2FwTGxA_Rg73UnY9-xiVqAIPR5C05c3WNw5Ip9KTgcw6OK88j3d26yzGh5rn-t7ZF9OMXTM_-yXSm3Rld6MwsDNveRfbkCluQwRS56tKLuURDMSaKoo8MHXWW4EEAFib0s0Zj3GV_x33zMyXv1ObsBtsMNBv7H167_EsGwe2al8IyNOlm6UHr75zzjVt2PWqgNox3IPt3u4-r05MZZxqd7OnGD_aMEryvU9udvQwafztBySgXDeI5PF0IZIVCMoE7aMmU9tuEdmZYZKMkV9-6WWhbY1MwTSax6R97_cj93Pl3JrSzAoDtwHP5qxV5UxA==",
  "id": "rs_0270c36bcb04f20a016a7fb81f20fc819997c6d79ce9174eb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.41,\"left_j2\":2.25,\"left_j3\":-1.4},\"note\":\"The first descent preserved centering and leaves the blue cube’s bottom about 1–2 cm above the red top. I’ll lower that final gap and watch for the held cube settling before release.\"}",
  "call_id": "call_jYNQhr1JjWlaIIAOdZx8btBx",
  "id": "fc_0270c36bcb04f20a016a7fb825608481999a27f0a7f0d6f42f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jYNQhr1JjWlaIIAOdZx8btBx",
  "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=-1.01 left_j1=2.4439 left_j2=2.2612 left_j3=-1.449 left_j4=0.0387 left_j5=-0.5705 left_gripper=0.461 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -16.1436, 6.0786, 0.2662, -0.0171, -0.0269, 1.0281, -0.1436, 1.6205, 6.9812, 1.8974, -0.0171, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e617ecb7998d8fa4c78cc3c1274ebf874e9c1957d9517a652e8eae8de1e10085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113cc6f075ea7568a9093661790207cf9571b618a7b5a95f0d6524804c018f10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c352e4dc16039f8815ee09bc9382f706327f940d5abd3beb2f2cf60f6e80428",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 398 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.01 left_j1=2.4344 left_j2=2.3497 left_j3=-1.5558 left_j4=0.0387 left_j5=-0.5667 left_gripper=0.4602 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -14.1607, 5.9419, 0.3687, -0.0073, 0.0366, 1.033, -0.1709, 1.6342, 7.1726, 1.9121, -0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7gy1kld9SpwigqpxwW2Ir78jiUchqxf5x8lmr63ALMTYwa6W4EDhOgWGyKjI5TB-egz_N_bRXm4d1tAROt1M-OXbQmyXZU1-qVpMOAodATSnjMYyL-epSd0F-5wLZAJiXTWJy2GScgsLyrmI3bi0t32_qydOK0U2KijSRDwFUq1DdLdBAGMjADxg8b9nMIr_7lA2dBVV42jJwKpPCyH8821rxO3KFdXffv-eG3qhsQuKl9uurtIkhsUVQV7bIqUZkFWnh3B11L8GHw0fnokoj-iwBknHSatQ_bUaz7OXUwLBAzuy-hMUtaqQYBjfZrakgZwZeb24xGZ2f44Tuak9urFtFp4hf5-mHFYQKuNedjCqz4Nrx7vNevrhTJlctbU5EuJRuDWdar9Voko1APXOJQjztpgn03ekpGjlc58d0hCWPTlDXHdzw5OaWBzTqAD-LviJLMZGSkDIYOccv_5HWPCOe2w_oNaIv_sOyoKlL09zFka5Hpy3h9iOW4lcCFqPMg-Uy7mV3LI3vFNnn0Nj9eI3Wp84zgEv6X_ElVcrO1dTcYlwIC5O7CRJhJRcSRMPa2Ow7QJxGMbL779UwDQokSzFp3zLtegLGz5GJI5HCleZqQhWHN9wuBULddcg-BcucQWWbsyZFXlU49VYd6FtqS-Ifc2G5soKRTrfSF0KYdaa8t9nZvRwFstF0Pg1VJ-dqDnTv88FJOKpdO_BhbxLV_huh5bu_PMr6r2C6Skkw9KzweP2UMmB-uXYPJ0OTEbWP5jp-0ABWKM28eN8wuk77pfwS0fQ1MWlPRUOI9jHsNlRNnNX1v0BScUYKl-E03bHei839XiBd1SqooQ61ojAhYsfzIFdkIX1muoSP7bN6TAGsZW4l31J0G23MQQivFuV9gBPz0udsmLW6RSoytSNuimNnSoGv1X6uZxo8oSGyQDcDbTXKS9CXdCOoKHKwiFMV4Z5t2uyONFO3RQOg7PcIxheny8CQ6LntKtTgWb7aWt0zt8uI4_Posp6GWB1VyJy92epEOewG3Rqm9kiK2_e784noXE0HceyQDAywPspAivQFEg7C9CAffiCK-Z33hSbYurubaaQfXOsKvsPDryiYbS1Dx058-QVqw4Of9rCJEdPA9gXvlFtWCDa5tGV3mEAxAxK_rLL1CXAt-gpmEVKnhP3IqoFX1yzg9YlLHqSA-oik0al8IAUBJ9tFdn-oDWESARQdOWgZo1v1EEXVkE2YKgpVkN7Y1mM-LZZibPh4HfkmiItkMSvi1owauBEif5bXkLIEeJr86S1gwbVaHdfx0B5CU_7jTAJOZgLq58lJd9FB1hlJPrDqhvN-s0wItc_qxTLWn2xUEBGHMZFAv-H09mD79LwAizNQnryMWKF9vKpqOTWwK_tDR6r0Hc_NGNPlsYnJgV0fXuL5xr5gjN_aePHuoYpuxI2wyX8K_IT5kFyY3ghcpaDwKMoXxOrjNGDCYVMzGr2BEjODeAJXRfdu_chv0km1uOuIgXRxSdN5FvGoTrN9phkzlei5zwfb4OFOFBVjCKglbQZumaVj83lqaSzzmVUyCXxyyK_dw6jwo79Wg8gkQqHREQO6YWcumbg7ZdFavJlFjbMhvM69hbITFMC_kq4PxmxYng0HtZGDggLKLIVEO80oUlUfMNtYjCqxOaRhYlsArJKDja10k0B4MP0F0tcqMme-SaioIlAkd53vql_o_uHxMSd1mbwRO8L2sDsFgdxh9drBMmuY7fW7Sh0b1AO3JnpGGt9JBFaHf8ZSC2cgUNpL3V0onE41Mb4WPNBr8zACxBUsD6JSJOBeevbiODvNTmv7yakL3TEjSxCc2SByluzxe_iXi8Es3h4Ycr7ptDDC70oqORveUWm80JG5FiWfJCUQ6nPCadP9Ko9GErGNZVE-8n4tVymWqy8K_t8b6iKIK4-1lvm6AximOMf-g9EQ7bkkVeRWHSYIpZMjZJ8YRIAV3YpsIQFlxyWMFZrMga86rHclNw6MtCOEEOlR7Ilvx-rJeJzRajdFBjS0urROiU-azPwJHisRV71RU3ZifNrFkC70IebWTZoi08bVNuGwH52_ZfEpaFlPJTnCQ=",
  "id": "rs_0270c36bcb04f20a016a7fb82badd88199a33bdfc02c264128",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.42,\"left_j2\":2.18,\"left_j3\":-1.33},\"note\":\"The red and blue faces are now nearly touching in the wrist view, but the wrist effort has not yet risen enough to confirm support. I’ll descend one final centimetre to ensure the blue cube is seated on the red top before opening.\"}",
  "call_id": "call_Yvy9TOqniLKuFhUdOC5Z6heU",
  "id": "fc_0270c36bcb04f20a016a7fb83027c08199ab28d6d1b3b78271",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yvy9TOqniLKuFhUdOC5Z6heU",
  "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=-1.01 left_j1=2.4397 left_j2=2.2063 left_j3=-1.3846 left_j4=0.0383 left_j5=-0.5735 left_gripper=0.4621 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -14.9949, 5.5043, 0.3199, 0.0073, -0.0269, 0.8425, -0.0615, 1.6615, 7.0632, 1.873, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86fb734acfa89c93bd77e20bc0686446dc9cab25fb5a8acf7d9914c3739266b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da199c03f4721eb2cf46db8f957a2be3c049f9a164df036f9279a8fd3c6bb136",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9777adc16d7cf9f9ebd3ae2a7ea3b4d78bee9538f249ff587937f5e89150778d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 402 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.01 left_j1=2.4439 left_j2=2.2612 left_j3=-1.449 left_j4=0.0387 left_j5=-0.5705 left_gripper=0.461 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -16.1436, 6.0786, 0.2662, -0.0171, -0.0269, 1.0281, -0.1436, 1.6205, 6.9812, 1.8974, -0.0171, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7hDSN6BV2K7IUy7Ra_l3vf6IeHEBpE1EA1GCuo-zDRt9jPmjgXTJeV6_5lg51m3bomQClicxusMeksuKb0IE6kynBQo52wo-m1L4-xehraOJHGKjve3kD8Bm2BXOJhQgkuElIR5SXaSj42Z76kt5cyCygX_fVrJRMCbhza5pwDglRUAh39gWy3Fx0gZQGpq1bf8frtOV4GPTDaod3V2tUARLyk9RWauf8yVbxTaPzbn6GUw6uWYGhJQaSYt7E1EcOkX_bkBDT4Tt4k1A0Gq1tvTasPMiYXZB6xEnJezQE5vHx9Y2Obw-G3EkUg0WJF_xMG-XUYkH2vrWEniSF0cUzHtkbFkk5pjmu4NQqrX97e1DfiSZ5eSr20cJ2th1IBI60cUPVBTJx5qIWKUVBQUBI67GApIgRQc-NmpHOq_txggImQOfV6YSbC-kxwntzlfbp4y8vHIwlP4hzyhRFbeURfHlRGZcnM4-nYe4wowfbbLR63h42ueEcY237rhWi3sCrZp0R68L_i92ie-xF7DGN5BoefKfAz2vv52aeLSMvY0gktElBb3opkzTdnaXflQ2MYoQNT89HpO_kLfVwhfhpwS3i9ppc-AfRJE56y5hDfaUWgHFDbFLJwxRbI5NoNx4k0xNv1Smqkebv315wohD4F399r5fGTXLKeVz9JX1jdel5Z5kMVc4ZaqxMNbd9mrwAZ8FdyyWi-vyvqhtKC_w7DkzKWLoByYsqzareEXxeNZMETgYjEEF-su4vaPBD9ldoY-_DvHbdI99XjeTXuZH5xoKuX5H690iL0BWeHsrVI5H5NILGWn8p3C3gSwXs8ZSwksfLtPSE-8_6H3Z_YjEtNe4f3E11bGYhVBW2ZBr-ry6jZd-gETwwTsfrsO6XMYCJywHEUXIUpxI6WVndd48Wb9EYD3yrBRouHBNl-XGxuWUTaKTDJVpJK6djpE-GhJBLnhqv_aD0rruW4jYJSoZ5H53p7apHEKh3clXmAN_eIRENDk9qWbPfP0L9zQDSprjqxc56Cn-WJ5rCoADwlWS1-F44k7RuZ_gWQDUmnW4woSoQ-wLJaIRlbUQWPsecyzzd0HYDgqBriy3IaT6Cj1-1Z_YdTiP3Cd7wzkkereO0diMV4yMfn80clRNNwpztGJO9QxxyaHiVBW49XiL-oJ5dL8x0P3sUXwBvXUgAHelgxA-SX7h7edyKBkTM3yKqLP0tIYzK9MycGV-Vts7H91DodMIsSlXbErMjOF9iXh2zHvnOcrZpC_Kx3SsVrFmTaklvrL6H8KaguGRFJL2M6izQbOvLw8xlPi-eHqHk8ihXG1NSLj6HtbKk9YIowvYyxLrMMpRxMq_r2mEoOunb0L5Ld4H3kTOKJfI9Ynp-UIlpBcliWesjLgBtz2Edbll-UnWg5uktIQ6d48Si1AgZmBdFddJX6O-tqImmqAa2kOxzPmr2kzworxYTe9xgsC0fzCLi9xDn7olXRJbqXWqIr7uJIZ91h1WxkN9iEkpAzzuuq2F9kvYiTmvbBoggh2CT4Hex3NlIsySGtVFHfdGnWum7MItFJ4Oap9ZlHA1QbhFvP9YA32JEBO5YbwISV0eZ3_mKf0d6QKVVNfN-i0vozlmI1u_oPCdgL3cjIA05Kj0JYyUYFEDpSP6f4xEHfZR2vSP2JR2tqSRaztWpjVaCt8z6tcSXR95mtZmR5VbPkzojwVHbmMGyTghSplmtgcG4ww_RKp3Gp7tYKNVljoEHEpwyS0jg2uUd1q3zr15LGMu0I6xrezzMDMusIKX-LXBasnXqlNxzQduuBQ_oNHtZ801NN0esD4Yd_92m9znD5vyGJXonKPloI_Bood32yd7b3LzjhGy7ML-5ZYE7nJZB4Ruau6OALa3h6QjoRnx9nFIWcFXcmkfxOjziFl1xoXdzhJCmTdDmbpfUek8DdWNqti3o8o7Y-C1_mqIEGID_HxFZiQmVIJY6kxsa6lIF0l5biYI8b2YawhYV9GE1qShtuQFj4gOtREux38qCUefFSvNuzzVO2QVkXQd_nC0BSK2IFLZYNvhc1RT5-ZCzTPtmqfuz7j-842Kli7gq6meWBpvd3n_VgfRei-TUiLCPkhiYSX7c4KiCpql66huVgTApIouEvqELikRpF084sG9jF-R7hU5zWlVgpU7F7vT5ibpU1XkHC9x29oTxPPCz6iRGUndOw_jgOSFpr2yY1WPgedcvzcVDgkMzmPI82RqrplkgD8_zeVltVuUhG4gWt6jfk9TXuhY6EtxKacLQNY2NVevzyfxJKn2_-3Cc7a0mN-9d1DZG2xawuhFipWTUH4U_cXuRf27jy6ZmDzm0m2k4onvYqv1n5h9dlCG4uYOW7cCouI767BxlFVlxjkweSJ4k9VaIILuqMdTq08qP61_GcCIqO5rpfXI3dE-QFSrfSSgReXy2lxvtEJWcg_iDXkFaPo9jqTKjDkivxmcBzh3N-aCw73PbCR1ZuBBf-k0JZ7u_iIRbJ7E4UIdmijVuQ34gbHDdOlgpymfCtJcFJm1RFDbDkw2_CmZ4-MEUdcRCmRk-G8FpJwo3CDHukJN075F6MIWVCU06JP6W-TI0-kJza-iTq69xSRe_qCFNpZNfRNytIfJPH6U_5CdCqOMZgdIzBKfXgby_D6Ag97STPWlBFDONxfc2mJTOccm-lV559EhNACIn5H5bnOUB3XE01Zo-rFI56J5Afe1f0eFzRhYEMHydgiPrWg1v_cN-EbsPi11uXA7tRuqIzh7SQD1JTAzFwK98UXgTOfkMhz5b23dDogJKgsXJ5RqdyrfXIdk2neS_AZj7ANLa8WcprI2Lj-FuLyvxNNgp2yxILGocEBU1bB89PQt8ftsNTLwGO2GHQSemtPiNRuqliylL5FXGAVFj3mDVJMhB8iX5DjGDuvfmLvxEjRLMA_52Tl6lBDZEZT6Y42uWHcDG2GVRBElSzy-nasgexA3UkAuucmaLGb4Eghc94BJ_EGj7aGbUBtTEFiAFniiQaU4cSbKo-LEVehBZWP225uMlyRwl2LkNgJZ4hBgrvD8QxYbldxj8MeTfN6d31OtIbvl_FsUmwMw83jyT-6MFOBT0kGfz6ZvV_Bf9CAIhD6GZ2c7ya6jg3DZNJm2V_prQuy7rdRCAG4t4urW--k25xbLrB67B86GhBNsilc2uapL6eVLt-JTQ2VYli4zQfFjnLAxJ3gVXTHZmU60-POibkktt9vdxmpPY-9i5Usn3wAfjTQBeSCkHQ7er65LWWcCNO_yWqaerclICoPmS-aZN6TZZR6AntkF-6T99BzAS_2bPUYsTGljz6c2vNWaXJ-IChawofZCSLK4mSTsulhwQSrxuef_wegXqIDYqa7STDdWJ8DgUORWIzkrZDHvBfPyZcU3OVVnj1hEbYTTYgQSs7L-S-jxfjJ9T10-1Acy9BoUno1TAckF3aDmijsJRO1pPdomwwyLsBBuZSrp_lcppRs6XWhAPqJPDjhF-ejfr9TDbMwr-Itfo4Ao9YBEu2nVHAuG8KWBhzV7JmuQzcNgkT_Crcu6VVkZ-IeqQe8dnywJJeXPThFeumyDvPAYxgSm3t66-OYolJgQL82lARS6_F7czLJk6MND0IS-c4okCzh2Z0O-Y5B6IawrQUZtgGWptv39Ijx2cBf7QwITUX8F33kUGs-OHdIHh-7ZsKM6Mvb6ymcxj9dBjSCsrL2gFfQ3HVBCl5HBhPW4CPxefcYSu7qKaaOccBc839mNCvr-FtnZNJxFdHX__7KPgfHvRqiJjw2jxPQIRiKEF0Trsnc5YOL7w==",
  "id": "rs_0270c36bcb04f20a016a7fb8354c2c8199a222f6f934034747",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7hD9PsZ-wiecQvG3u0U4DUHUh2bGyMaAjMgeatAVlbFUelMlsSd3rbHz2xTzjXegcxNnuRRvLBUNq9kWlPmpGSrGUSX7B7OMxxlbP_hFayB1x-HiPwB9v6u2Aei5FuZ4MEvPmbf1vT7Y7IBp6L1UyAVlx381Vu6OT7rlgFkp5ODcHKQIL5wbnhqZ6_R65l6uSUHNajXXwDewjwc3zGQmIVzieZ8cc51KQjnVisFiFf0RDDOHl2GkPx1RTN_zxKBOSXtIGScMrfrZsrYZWBDcHVSws3_8XMPRFvyLxfoBjHfgTHDEdG8t5bFkWqL6mEO9mtxqthnuaSrCV66E9P-PVuvZSZDOTFA2-UHM5Eb3jX229LQi09RUDZX0ESepAd6FEfYmVXhsa0fnq-DDwfXQyR2moFYRc8q3MDwFc1NnCOQ5Az9In5THKxIJqyO-wBQHD0gQM0Qme0c72RVw8O6GE0HffXZI3GMI_MZ8P6Tfm4lk-gD9A9WgJtncz4C8-rhfvwWkS3EMjp3Nr-t5FjaY5epKMuG9KWMzXiB_3pW7HbV8voIN2xbgmCJLODH3mlID9AnNmHpyqPdj4VIz4uKZrMMf7BZeNq7Lng-ri5GA1Nf8LCjMsatZFtyXML9CU6_4X9XA-VikA-xfTP4Qu5LWtrjCSnu-5h7HyR5E2WtKHNpPBwae_xt46R9M75-h0x7eiMwIFOHTT56JEVMhhLmVJ3Gi8wykul-GuC0-AtgVVEBgvYDlkdhks3-dgjuorH06hze_NMX_w1vXTojq7NbgvkUL4RO-Ue9dKC3hz1X0Due3sgDzua5heh27ufVWSGNf94ifcvTURyYLHbeP4No-UqWEpcBadNmTUFHicTIoUx0qsnsJ_5yLitwPhkoHOLJjulEWGIYqhslB64apg3OUizQQIWO1KrBg216nmnfWB5V4Tg0pL33PEmVopEN1hwpMmQX2cz-WAxPKZwpgmr-BjDcQW2pL_daR_oSnBrBgKF0A5jMOL4f3TBQzwYw8gjd_ewNnnl263zvKuaSm23fwFMbjNL1gxFgiFU4mVILf4rXKWZgkv_5R51-lqp5doEPzt9roRIGaDG24nV9SAnefD-oWMnTeGpxkgU2-kVxBUy3pY9pT0-HH4RG3_o7xpaEpP45yL2womB09TZ7adbJUJlEyvQr8YPhvUNpgIm5aHwLF2zIwGBHC00BmyM2uDSPefYONBE_-oe1ZQLRf_aQcny7cQuDC-3V5D9LHb3MScTl-sAYsof8UMcfSFR1frGVUuUx6Dyyl2pD8IAKI__IN4grQJNN_i-0x7fdAHdkQaL8krxVCpqURF0YY8V2FTUAvumM_By-B8dBCLI0rnseCNs4VQZdboX_OZbfhgbk2vCOySPJhlzJDGt1DAmxi9gOkbDrxf6CKQqBVpLhHvzOGTnNjqUqfpkMdT6jAbpU1MtJMKZr8c7cALyuuouC5vMMoHlwOinVKLHcOlBezyH1ncrRZA==",
  "id": "rs_0270c36bcb04f20a016a7fb83f9d2881998200eb6e4f8a98c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.53,\"left_j2\":2.38,\"left_j3\":-1.42},\"note\":\"The repeated descents barely changed the visible separation, revealing the red cube is still several centimetres farther forward rather than simply below. I’ll extend 2 cm toward it at the current low height, keeping lateral centering fixed, and re-check before release.\"}",
  "call_id": "call_ye3edAmr5t2omnNFhPjMIXJz",
  "id": "fc_0270c36bcb04f20a016a7fb84142588199953531539fae924e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ye3edAmr5t2omnNFhPjMIXJz",
  "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=-1.01 left_j1=2.5198 left_j2=2.3409 left_j3=-1.4158 left_j4=0.0387 left_j5=-0.5777 left_gripper=0.464 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0166 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -13.4496, 7.4872, 0.2906, -0.0073, 0.0122, 0.1832, -0.1709, 1.6068, 6.9949, 1.9072, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4289fbbd06e3831c29f705e5d789f48d7abcfe5191c0b9d507a64ecaf3a8626c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f935c95767ed31a95a1723f7279a489d7d6e60746001b372dc97d6198c6259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 483):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7502e9eb284a1185d7f01347a8df007ef76f78530162271d081632823470425",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 406 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.01 left_j1=2.4397 left_j2=2.2063 left_j3=-1.3846 left_j4=0.0383 left_j5=-0.5735 left_gripper=0.4621 right_j0=-0.0002 right_j1=0.0044 right_j2=0.0078 right_j3=-0.0658 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -14.9949, 5.5043, 0.3199, 0.0073, -0.0269, 0.8425, -0.0615, 1.6615, 7.0632, 1.873, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqf7hPM_RqLj5nTbuzcjhejX6iIWpRfjxiR47gkdVXdSfUSeR-Cy_DafSfUu5Fd_2hImyAvCq1SWj0td_oDPCHjAwkxBJLheUvEMD9i36i0xs4yDtULT2Kew5TT6H399qauK9g9QFEgBddf4hrPOTdPT3LaySt8dG8kXiwXkFsGyN85rXUwN7LcPvwZ6lNwklH9hDxtW4BoaTXKDBfCklVwkC6pmMmMdCpgTR5gN1P5ple6SwaC6btq6ZiSp3OOHyTWqwCnwnaskBaa8OlOis8-Hfowzz0fPHev-X7UzOnKFqIZiEBYYYXzNdgciGBPgEquaa1U8io_HSAP2v3HaKHJwYAt2HCKok_ItGnzGsZJ44BQB2cY2VOTo2pnOjeth5YhanJmwqXcpKxJXrUx7xoOXbGvuDgcC4O5prVRb01Da9cUwCSUmoS1CBKoHDdfAoNOdQtkBScp0mBCNnebTOC8cc2pE7vjMSq_EwGUxCWcuiT5qBzB0Tt33bfJT2g5-J62_TR3uXnosnJQuMtP21VKX2LCy9gPzcJUlJO_9XhS2cAMZMMpT5dCvIyHkiUPHKKklmoOBqhmgYgmJPKEDUkZsF1WgX0R3QeEAyQKII_2ZXJJNVBX5MQL6dhG6GNkGJoKgr8i0zrEBLlVDZh-Dh_BuyYbIkqr71nOdxMJURH99ag5wcnVIvd2rcDXLhPyxtih1lUWotHYucCI9WRYOodTpFEjp3dScBigI0UAP20smugX32WbzT0_Ex3IY7XEHAjXmA4GfbWhb9x1CjSWobO_o7LswKHZWY3I1sJlgXZ47ycZxhMAp7BZMnigVUE38nZRPxqmr17FV1BlctGvml2C99njhGrG53NfN3DxWv4j2ibjOv91-GN4oUGdkyy-daWPSvnSY63hIxD246OYcJFB7pj2SWOaCxh3iaNLdU9K0QyjlOTG6BMUy1dZOV0H2MZC66EmF5WeHzCyqo8ChV0L5U2Zt-DWOsdAFQCIDmiHc7um4Rnyc-IR_FkfpLvIKyMoEe1TorQebpoq3wS5PwzsULR-6euuX8b0uaof6RLU3MXCcC4eeUZRRLFUtFtyxVgNAT_uD-f5ihNUhU60yY2L6ORFYL7vXe8brxNrkU5bM2BdL7LYjKEayPpyQMrEsztnqfv_7rF8GiJdJLcojXLrT7Jli_JTo-vgCo-6FdzZBxcVxCmDbJNhA4gr7Eer811Y4M5XIoF0U2e-K68ZE7-gUFGp9sHFv-EvdkoMK3CYk_itoROEPhY-CRozd6pIYW9QTJY1jMbYt135XMWQj-31NF5Fc9wNQrgm_1wZXnsZpu0J00TxtF_Em2aEhVnlULJWg3sAibZ5ga_P1dzSupeiAl0G2sXnshRzCh7NCqpowcyeIUq_8ldAz9rbEulLB1YulcWe8Wy3th71WXGePK221mpwQraGEY5Fy_lInMw5brbWBBufMxSZa9N1emZNUWbY06-0A_HIuVa3hcf0J1D1tEfzw9jBGbBuPGD4onYS1iZH2Xuae5weZwU7SNEyfGNzQnFwy2tS7J0HbwjIcVMMLPWfvoWBCE2JE478FXky5kDPXWCqwK_4xnMD_-QQ_ecwI9g5dkpXuiQPhm1FHr_sS-TcaRHFhBHP-umWgnCjQVeWsmBgNlhsYdPLJjjHb2LJNSoE9T2Mih8pObNJC_BlkuQGCWE-5jq5tDKiERghe3Sa5_5vFcXd1JQoYowtD3jK1c5X95F5GqXu2GmnSAy9NeIa7Qpc3ChBu0ol_-LuDI3o_nNbt-EQzMI4fW3BLOqKVvIr_w5N0dNjsbLQ5iintWNytCSbIMR8bg6qneJKQCA2TdYvvKs2O3yQznl5luRusp9AYNKx1dHRFf1ZzBgTlxSBAngikWncI8e3nQ3rZKt8btPoVZfWEY94Af8bnorW2J4RSG7BmLdnoDbt-8GJ7cZtxIHcP2H5MT2ayCr_Rw64N4CNDfBvYwLToRB-VfbIgzA3QKiVKiYHeHXc-EBv1MGG0oiprS3BiLTyK8u2xRWMnQuFUOZmiDnfrEXrPRaQ2zo7dPQu9DyEFv03Ts1X5jZIJx27MAcE2DFmZPT8dU5084rFqtJjV15oe9zAahFE0F5zXjMFsiIoL_Du7ss3wJUlathnx0_X-KvfgGx6d3xgBDfIFi2udkBRIHokYxJBsQGI1dilZOzjQqiUMHJwF8nZw5mdfQLGYNblnUnrtx_iQBwJ8qSUSCu5KTntju6bFCW9GU3Cl-m8eEH2Dzb6J7Zw0Gmz82-oY9f6fEJCPqL7WWIftAVshOsFMO_KCWgi1XRJt6Kt_vs54XbqQDZaBXLYpVDsD6LoPCeGSkGnZJSXMiS4lDGvsBerbclmdO302pg6MPC3W1LXB0TMJtABfzDvyAkuWoYelEPOfnslGRjI1J6xX-j0vjvKgALmNU0Y3me-zPJerhYqrxyxlZdg8jsltpA6HREgW37am72DAGp_b4sNy4wd14gifvjp3Q7gUgHAED3tuFG9gXWTXuNcFjb4HkFacSo94V6ZQvPKiUkxWtVCSK8CF5KGrd1Ti46R0m7bc7zJOpcQgErPBGv6KPiMT6Vbct8IA38CFauXlZCooz0xzKZ7RP8NQehjArncFTBNesCPCBRTc-6o3YqfFqiIS-m2LjBmJRowGABplUr4NOxe4BNCmlnK7ZbhbF1e_fWv7tZPX6iaVgdYoo02Mq1iABhrGdLFQoRSYH_7TeSe4Bymy_hbGGASTUcbmJeVySSwMOoHodjf71TJXsNMSufC7l_xwswSBSZ-1JRu1_2smdXPERxgI-XMDaLQtmsJg_7OO3sPU5DImdBay71Yur3KQ==",
  "id": "rs_0270c36bcb04f20a016a7fb8466b488199a65a25bdec6c6db6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.52,\"left_j2\":2.28,\"left_j3\":-1.34},\"note\":\"The outward correction brought the red face directly over the blue cube in the wrist view, with centers aligned and edges now touching in projection. I’ll descend about 1 cm at this corrected x–y to seat the blue cube onto the red top.\"}",
  "call_id": "call_k9oqUSEFKxokL5Znyn3iAl2p",
  "id": "fc_0270c36bcb04f20a016a7fb84daec48199a419ded9645dc76a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k9oqUSEFKxokL5Znyn3iAl2p",
  "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=-1.0103 left_j1=2.5187 left_j2=2.315 left_j3=-1.4059 left_j4=0.0395 left_j5=-0.5774 left_gripper=0.4654 right_j0=-0.0002 right_j1=0.0048 right_j2=0.0078 right_j3=-0.0662 right_j4=-0.0162 right_j5=-0.0181 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -13.8051, 4.3419, 0.7253, -0.0122, -0.0708, 0.1294, -0.0615, 1.7436, 6.9812, 1.8926, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 485):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc4afb5dbc400c46cb0e13b9dac8d7be852c03e9caefa1204efed4b74880857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 485):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc56cdc0589dbe4dad685dcd3da54e99c286489a1ba3d9fb555af2bee69785a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 485):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9dc8f50abf95ee498655d366e9bb4ff3fcac34043949dcf24908e2230ba7fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}