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=-0.0017 left_j1=0.0063 left_j2=0.009 left_j3=-0.0357 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0109 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0147 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 1.1009, 6.4342, 2.2979, -0.0415, 0.1587, -0.0415, -0.4581, 0.7179, 6.4615, 2.1074, 0.0757, 0.0317, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbf5b9522cd504d701a2aedbe4da8a049222d07a62bff0b38867ff31b15a0d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b6eca1226ed033cc7699feafb398baeb18b8b3ce4b750b85d84d5c7240aa95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e803bcdfa5ea06af3c35370a067f4590b3ace0a2926740141c42633a58ebdfb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_088de939523e46cd016a7d0036faa0819a9406f83152b346e4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQBNqTp2djW4onVxyFkyx4r4_Yca7vDWbAahca1oqfWEHOF_nRK91t14ggoJHI6sRiqDz0AtdW-38fltXWLvFjGyDidrf1LNqpVhYElzMolT78y3Sq-h0rxAv_sq_jW5ThBdc1TqDyJ8YJIOgswktKw6kNnV_VsNF3GssLsI3sQH8xvsoiV2DorkgF9IX7dUBXllbcmlZ8zPANXOBCocbpmkxu4gCSDjmT4gTjaDDb5QhnUeU4ODa_JhpEjM7bvpermi8vD7kX-DTQce-mY1cIiPzVc9FGItX5w-rMANMalZ7kd1YyEcYDdlyJY2ypZR3rYIUT9yozT3sH79Ku6mHAF9B4c7ODZm56b0jMFxwWxpHlQM72LtS8Xzwyda64pwGcbYYYgVATWs1Tboas0iaHnl0uUxX3QiPSh9xv8I9kpfpa7EOSGVD-LFeybIAuQgLjVtuaL--nGjKoZTy2Ec3n7bph76em3o8Y3tZd1u8pNvx1CF6XD-o_oXxDp-PYeBt2I1E59IFoPFeFPzGlOGz01v9YVkVGnaUFWOVbues8pU4BtFchJ5r69sFIQpz3hiJGj9dXgwAtwU2Yn7hdKim6LhQjY6bK7HCu_PhCraMxSqHfrJLM8lYBZ6PxF5pH7WErU5bg6FR5GTGh2WaYNT0P4bl4GYcJLZnv3CJmMA1vw64FLZ9kt14bSGsH0LRH23vETei3sQCYpP0JDHspXIujEvKMehspcHIEZoZ8VR1k0V_u7qDI4p3vQK7kfCUb05w8JkGdMef8I_FzvW0gBc0NNFVduYmJDS1zjjNorwYPrWQHGm8VrWPKhwlPQmYY1HBqoi6cFgzpdlmNKEqb-EoCXKLpktPklWeUOispChz5gUqkgo_rRonuEhowx8GjaLoFuGOlCYRi02cxl0LQ-OmPFAwpXZ2n_TkrXdxjAVm1hsrBFvp5oIlfCoRvbCMjEJhTYp6_w_scOMxxwO2zjZcv9FmjIoRYbA2tP_A1wE9MX1TLv3n3CyxZAuvASO3GM-e8uyyaF1ZZEXonImQF9AKuGQ_3C2sWXPKoaHQzGoyChnu8y3Ljs9lsIoZX9YOM-a_uA5BKd7xvexG8uuiWaeSq0uSbQZgD5a1257xfcnAt7X5B3_DvV2mEyNPlYJiHttEVGpJOzifhJN8y98Jy4QohxKa85n0dE-Nv3FDJ7yeUUvCSoARlFO6IjQ-nHDcVzHgAJ6J6HDnw1kDxJaWEFVjEKTawXoiT7FapcwgUZWbeuIyzei6w_NybVaaIQXqwNPOCjAC7RXs_Cgn08KAUBTGjwtNiIDbcW0Yp8ycEWSptAi6bLoXCd_RyoyGyOdQVRbJOZTp_q17H5UcL7NgUyhYzmyAge8wnHp4OwWc4qGKcYbQFR6FTHgHkuq-xNLA5F9vor0nXWD6NRuBIQMPccqnArDzDfzMUTcBRAcyi-eiIehv3Si46XadsrgXlMl2Upxnj9H",
  "id": "rs_088de939523e46cd016a7d0044d044819a91271eb617b8bae5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.9,\"left_j1\":1.8,\"left_j2\":1.5,\"left_j3\":-0.8,\"left_j5\":-0.9,\"left_gripper\":1.0},\"note\":\"The blue left block is around pixel (85,149), substantially forward-right of the left base; I am bringing the left gripper into a high hover toward it, with wrist roll compensating the base yaw so the jaws remain square to the block.\"}",
  "call_id": "call_OzCQuLQebAGvsFH2gGOD7RBU",
  "id": "fc_088de939523e46cd016a7d0048d960819aa295628856eea8d2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OzCQuLQebAGvsFH2gGOD7RBU",
  "output": "executing move_joints over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8883 left_j1=1.7794 left_j2=1.4582 left_j3=-0.7765 left_j4=0.0025 left_j5=-0.8738 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0154 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.7316, 9.0598, 0.8864, -0.0562, 0.0562, -0.0366, -0.1846, 1.5521, 7.2, 1.9658, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa44258455495d0c18460ed0207a92c49a1900144cb034c67032054ec9a63ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd42091f7148dfa08258ec4be6f10d1a47433ab7ba66d212c6dc6217a91c89e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e714b1c127f3a050e1b0a2404ffcf01bd395952d7ace1de3bddacd61c6c3fc01",
      "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=-0.0017 left_j1=0.0063 left_j2=0.009 left_j3=-0.0357 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0109 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0147 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 1.1009, 6.4342, 2.2979, -0.0415, 0.1587, -0.0415, -0.4581, 0.7179, 6.4615, 2.1074, 0.0757, 0.0317, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQBkvkoHeamMLPbkcnTbbrbdoO2PwEiTlRPOQPCYksPpfBG4ZlHmAlXl6d_KaoxJj6Chv3Ln-ULe2GNBgPfrHnE0PNEyYdjevPQUYzRc3ZJGGLrvBIeOTQbQWZVsy1b3rTeBNA9z3McMrXladToew74uFVE1FtFtbFgEjAqNOegoCUQEjJCIiOGMMgK4Bfugsu6D32aYaDdyeiPhjEpjsQNjTVLG6MHewHAGLZTg9czG0xA8hD_70ZFvGpXslwV-Ux5e6z-Kxjl0Ic5pDxpeA7_WHmSJbLNcSg3WVd1k7mRDoD3ags73fidkeCL7G2p470hASBtqnufKhPXZEfidgtubJgk1SburZkSyFZ6LZ-xK4HK7paSekI-izJFjTL8cTT6gDPh8d4vHKGH9TSRE8k0MAAOcKHnGI9--IN1lE34iFk8PU9dYITdNeEGVdNbqZ_k3NWP9MOZuGeinCsJHCZ_8-4I3S8o82RJPPfQ1CMTlxJrTuCy4OaZJX6S78ZJ9ys6b-fmAMKF3crep8nSQS4x8SyFruYehBmDIZIsvbi-NE1LR6U5fYDsGu7BPNu3kERi8iqxb9JyqKjP66TS161pBKIIP7JK91a7pqDAQX2fGZmQ0SOnH-ZqANDcGBIghE1g0F_6gE4ghSRMC5T_nfaJtUTt5yeR55kRyHjWmid0Ad7zAU5fU49olGHc5-Z5ovNpKRCKYgxeArbHqVSnTgVL_WhplvcnjxL_irmlw8an1CwO2hNxQQL5d21AvpoT1dWnjEepkQ4a9EZM4eB_zSB6KeyKZ829uJA-Hs5NmfY7bBrL2sPCf1zxHfDX4gYTZG3-ZWp_dcvwXS7AKEbBH7VEcTB-A8f1GnyGnzqFB7BYDg_adj2qiKf9zmzzFZzC2LLEbLIX7TwtLHIJvaHItidJ11ccpsKlX3M0QZwMfL3IgMjMpwPSvKsDpRzuyDDS6AAmc-MuwmLAAj6cqVuPOoHoImJMtY6y2Q3hxegDzNtor1acsqkpN4u0k-yu7pv_GAf2ICY4iy7cKCU5y33xImitzgll71dQILJbC6BYtm6GwT9fV79MBhTbMbS6LJE-5A-Ro8txJTAYQLYrJX7DUF7GzNPETUX0pZlTWbrTup61ikyZGl6tDM4-jP1tN8mwCJvRun61dVEfgVkwTKMPcW3ueNSKk8BanhKQZsVoTbRU9J5_5noafcb35SI_RREte1-TQ3nF5eFwy6ERD8KDq-hC-iS0vn9IP6t2Mvax9XMdsdZDFULU4Rp778XAzeQ74lh3KGvLODI3mq-1PaugP4thd5SG4TZLWOwd86pA7Wp1f6VSH2jJ--qdcEW502A1b9K30agh8V-K3hySRZqWI92MoeJpUmqL7GxWxW--eP8-H6gr7z_w0eZCO8CpPGn_DxGI3vH8qzUvWZURqEevjbBrizFGdcpzEBIziqt_z0ZGYD2c--HuDPqDdixPVei5I-rQesz68EByR0iEvSK1vcJwyy-zC4ARluwXy5VuQU-Hslv0Sr0dhj63IawJuyV6EEt1bftGmRs_vokGLIDv5qO1Z0B838lPi2I6eCG3E0WE0XGmw8WNotaw0E8NEoVEAmavL_Y9TPUSwWpH6rcyG72OYqMMnbOvco1IbqgpQt7cz8xjFna840Bta5wAGHSZit9XiphD3_tyjdOh5g4eX1_JTlcX-bIJOPXWaQQKcf2PxtF58xZXwf5YErLyS43CDO_XIt8Hms8x11O01xgOCLfc7Aj01QcbjeraP-PKr5gdtBECKQxGcgGUMVYtjBtiwoPfPiuvz0mqNVxofkF8byKM_0Yh0vSCm5p6i84B-tQ4q7cLoCCj6vojcd-zxmc68_3glBXntskk40VIBOYw_GFAbHoVJo9kScDK-dASxrCk1vxl9ajZQlIpvz0x6zuisEhLNf5zbMQ1Kv18NvX9C6FLvb1Cv9rdE6eyxfpfFULctV0C43ZNOotCr3qeSpYm83MEAQcREvSG_ywl_6bYFbf__yk8tJpMH6SxafADNy_oTO4z9dUcX-3bJNLa8RtUyZX6jn-ZMKNRATKxgsVX8v_HVYgjRZUYXvzuwe-BE6QD99KL1QvNZ6F5nbiES55wD8DDolKCG_HZRKXL3yc_-G9M1NQjvb-wMoUlRU73PcYmryIe-8MTQZhW397_YQbmA3OKWa0Gu8RSA_4KA2pZ8BdtGgaDzuliFF-7kP7RKw8Bg3SkxNqboDbdHmFHhSBeztupM1hfwwO6lEzPUhdE3hN7V0Ts4ssT2yq7vK4-BVIp8-UnXZBC1uh-9RrO5pOdRKZS_gfsTUpPk1mjdP4Tk2yI3vrAbBhuFLDlafXMY4Sj0qnGu3gQ3dsU1WZbNgPABdW_6k8cZkqCG2aHC8K-2MFTQD8a2QdAbVabQkFSfgNjOh3vOGUFMuqox23GFl-dmsNGXiEDcz1tsM5U0soa8ga7JSNzrn1C_pOiC1kI7YxDV2L3Vaz8znOu0yxMLOOkVexLqYBixNjsnbCVM9Ot-6jJo_u0UjCqyuYazAnMExUVYechUa3nnv56fW_ByFGsI_sDY1FbfUaWt9Aq3twbiYQkEiOvyAF1xgkAz5hFDc-E72JHfBlqrfDmrV118lrzDg9wXiAimNM25EaJbPz9rWcc1lfhfD7UXiGeaHN6JmIgAngm4rGyDfYFm6VFV47A3QgpgMba_jP-dBMxmpK6bgRLYXACJ_V-W8vAZtmdSlxFnJ2M3SwoPd4tTp1zEYkQKlwOZulq5RS6YuoMh5GeFe9ZG5ibPFUPInnld1iOCXCLdlQr-XrNm96GRVQFz1SER9Ar0rwtcPYsKELElbOvt2w7LBoHOSXjbD4KUswu9stqbAAqv6YzF7YzWcjUIb1koB9MwjD7Ie6--6yJcZ_1iCT4ZVU_GvwnQRtXBuKzp00-FTm0KjX08uFVtU4KiKZBPqjTXQDI5gj-c4kVx5NVHH06HXXkD5lX7Bgn7OjRbI6-ZEcSO6jW8EU0CfWvzO88B0HzFv24fpOln4FStlQnlL39cokz3aNCEPADb_46qjmmXEBAmECWKVJm_IeRx6YWO8m0qQlvn_yP1vb8CyOFtpuhM6kBupC4v7jVcCVcwNYxQUvUhV9lcgj09ha2qnoKjuAKUMJRqPaeweAjI_tMyP-1h5FO9wob8WUwU6PvT1ebm38EYUL6-Paf8-U9iLgQvWijhE9iEFZUd-_MG2zMgCtYkYG-s85ywiM9GF0OXTtlHr2RM1V_qh8i4gBtMtZH2K6dB3LIxltju3XzItmVjbzT8Mu2IFI1dR-GmcJzNuIjDfp4vMcnMquVkFcs9QQefrEVhFMqJGJ9WsWXEEgA0cS-Zq5xV0Tr8aHAbkzsFKO22cwLVQj6JNCY0lRTJFNpgqC6T06D8WATmMpwG-g6OWH9ScELHFbX8kztwT6mgDuRI7QNTU7bORxKT3HCtvTMBmZeBwOKKGSbW9H79jd_N5jjWH1NwRHdgeYsHGwUqjY7nfM3_owG462rG7VwxXzitWPZFeD0tIJuM7vHce8sFK3B2OUVqppVflmP2SY9UDzgM3em4TOV1B5-2b2FyfnPS81lxKENX8rCbDQZBf1ABHdKdRw==",
  "id": "rs_088de939523e46cd016a7d0050f6b0819a880ab80e9880df1d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQBk8Z_U5HEAmBPn0Vd3c_Uax6hQZQ21zmcAeXmVRbtvMFGP_yjUgEKA_bN6Ufufsf7K_F98zlisF_1o_RHY_J_ZJHyAWgrY0zPd4jMzQCOYhDyXElt1LxnQAIn3NTFJN6OB-EiNvlZoql8Lf-lAC1Vi6gk7MrEQcH5Yd8Yttqw_DW4KzedcGpj7hPg5dQwSYVjEGZ_da8-C9RbG9AMhpdwN1gvYz8PmbN0hDcLorK7rjS75EAF1eWR6l2jMDyxNpg1vd4WQsp_7O0dPJXjpLC9dbZpNHWVzlUB-D0uDhP8q6HgET_WHlLVmDlsOZSdz7OCxwOoJQZR04PmbDMGeOTIkkRQ4JULWS3bcnFNmaiFWNexDWCIDHCTQG7iyIvHo4oogGzgJjxUWItQTpAfs-SavBYaENIE-OlQv1vxv_MM_oHuJPYWJwish0GTQSTZU8Nkca41uDg2oPma942TaXE3gZp7-Z8Lh2ljhYuZdFCnE5i5LJzIBFXdXpHRql87j1aMjF1V26tuQasSAMLGwJkQSPabxP8zHyqJ06n8Isa09-U1LPT99oaF5y2sKxX9dbWhKkJzpL1K8icyF4B4AGFzv7gQW3zYjHcDsmuG97kDuIrJ1_ggu3YaFtMAghvC_TJMbMM_ww6CcbbVSXDOxIZFkFpq5PWzw7QCMkH-alW5w1Xse2IeTJPydnnWJiI0w5l6cKN2suouGuZe40bZ_IbRC7cHUCeB6O-ReMmnpx25y46QlO3xanuE3U8tuTJMXlzuCP3eDolqtryHPi59fcvqVEOTHtn_PvdRXR8LTpykpxdVYjmRRD7v2D9PI6jW68Df-Mb-k7WUWRZczVp_TOaqrCZdi65HYPP42PjR6-9AsH_5YsupbdQU0vuu26NB8N_iJ5mcfLhuf5neIy9YSt7qHUyXp7z--kxF8LD0iacolFsR6Gj1JBbfVYz44NzMVaT5ptUDz_5sVaN_3X6_C-eO-J-bbs6GAdpRiaEYVecjxqOrg4Jwp0i2aD5DNDOJAEzKwXUEc9R6VYSVQrmAitQJ_S9ce-udl7J7HN7cO8JB5nRMJn2ILVSgAtFNQkaNT-XgCsPRmF_bLWaMWwFktY8yWgx7aIHwbjocwA7l1lnUZQCf0wxGzIO05oD0vjrXZa2Wf_FQxYzY6dPcTsiYp5TLUiNZSMIAGwm28V1TIJFM2I10zAsO6TrzqqIDLd5M9aZieOBU0cqR5ds8vNq6StTViSao2F_qtz9WDT093NSoN76cQGoYISCf5k1gWhWUxoW3Idp3w4NKyjxBulILhxaoJcGHxSAd2iXnrFkF_IKobMpm2g4UO6DG13mH4SxCYLB1w58_5Ug8Xi-Hih4_VNI1cqaWreOx6wo3Q5TAKjx2G6H_1bmFOlaPng8zOAHbKOTCUtW1Hbx7VD8i0Ys5GJqnWW9AgFWeRpn7EtDwpswwEAL7u8JZWUr5-Uhdq3tkxzxUp9gRjjdMbq29Z_fZ6IxQ-11HQ5QkFOZqr2Fy8N27ohjIRgc7RPsi8L2kLN3xrlC495L2hOZ0D6CzXx21_83r9e9NLfBLXDNU502voGdgNlXOjbvoYY7mScsptvSlnLTCEHAen6YUtlrC9WfgvxKZABRGfGewGP_lhaPMZoCdqlhKEKXc83QCm79G_AtdHvA6LFYEKiZpqpI6dmbgzuk9ysWebzrT0522RqsuZsuPzh9C05ihRSWyHP5iHAK95GGIweSJdthKRluq5UdRVOwN1TR7vUQtXJ16opAND4pdpSEEGS6pq6lNdKU24NLiULJTchHzlWdZ6lQSS7l9dTfC-xuRRhZxN5wcfkMGk046n-HFfC1VjlnGZvExseevGZXW0aAMZT94UlSSRf_yThLSi8yRezi9DWaEegFHZ03Jgm2CPycJOq4qw-kAr9f7PFY4ud4sG8XwyJDCtwho1T3zoTw==",
  "id": "rs_088de939523e46cd016a7d00601b44819aba3897fa084fb641",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.95,\"left_j1\":1.62,\"left_j2\":1.28,\"left_j3\":-0.75,\"left_j5\":-0.95},\"note\":\"The wrist camera sees the red block straight ahead but not the blue one, which likely sits at or just behind the near grasp point. I am retracting the gripper radially by about 4 cm and refining its bearing so the blue block should re-enter view before any descent.\"}",
  "call_id": "call_I9yztXXM5YnakJIjG6nD65K7",
  "id": "fc_088de939523e46cd016a7d00625100819a887bae17a6bbd397",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I9yztXXM5YnakJIjG6nD65K7",
  "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=-0.9367 left_j1=1.668 left_j2=1.293 left_j3=-0.7746 left_j4=0.0032 left_j5=-0.9325 left_gripper=0.9997 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0299 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -9.1419, 7.4188, 1.5458, -0.0611, 0.0513, -0.0073, -0.0615, 2.1675, 6.9949, 1.8974, 0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568fb374698f39a6da5a3f4b703583c0d44f2ee3884c38b86ffd292bd01edecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8836d5419885ebdbeff72315cad35b682ec78b5445137a97f0f14308eebba9ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f7792abaa865c5b8d22c70d4819d54394a08e59ec4189219e61241be64076d",
      "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=-0.8883 left_j1=1.7794 left_j2=1.4582 left_j3=-0.7765 left_j4=0.0025 left_j5=-0.8738 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0154 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.7316, 9.0598, 0.8864, -0.0562, 0.0562, -0.0366, -0.1846, 1.5521, 7.2, 1.9658, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQBv2Q9iV0Kmlta-uZEVUNCMpAYwP4j5-diIOhtZ9B_Hw9zblFbs3blqcmrtsltpyhAsITTpCReSzGObGBN_jp9gzfuMmyGy2uMRYjttBhfq4bayCD5xjvhBW_bUbZqNWiwk4bj3bLhT6cRaHQXtU8WcO8P2501i3YFDy9OkGXOXJfmg1IktoN9JoqvRlL2Dh3RtwutIPG5W7Ua4pcUs4BeLZP9gJiZxZdTELyF0yk_byBwmy2s4dTRYmrWcZlJVs0hxzf4XpZHHdCTDTNwPa2mYtzV_UarUSQUYquyR5hsoKbjAToifq7bJs6KTJpVPQ6FU1IvqQj0Kk0IhfePOoVBTIAF-sUB7Hfq6AGMDASzNJxzdgFFpOA35Eqe4XZIdnhWJfPnl65YoFHOpjwu1dhBY0DM_e1pmIcXWJFaYeS1mkcW951UUrncCV3_Pb1YduOmJv19MVVJBgLD1pV3EK6aji9vs0uAK9dI3LjO_Knw1jm_1DGjZ6rPf5zPT0C9AyFcFA43MpbAM_5xC9C13Vu03iRQWJjHwva9jJbBWn535c-0D2wpWnJsZ3yqODUXhG0nvJwbjN4ZUNcu6zFzGgNRFm62fityi3jl1wY9Fk2YgvnUJftPvYzHjdyY6LVwDk9dvDTn8MPLqOsp7yRXh4NWxXoCvRAnF_z_ZmghS3uxrNnIduZFc54ny1I5MhLzDHKAFm8u8t6g7pDxxs56Nith6AI8CajhQY-BQJG8ay0XqdRovOPJ4xpm21yen9myYxmN8RFVUoX02fQJjCBCkmHVz4UR0es09Ev3yq1zubE9PrBBobnY-GMqxl8SP2zCV8KadcW6qoVEx2Pf8P1ZqWi47z7dPiuzHWPIxq84b3b6NkGxI3_NE7NY4O8O-YPa4vVZnzg9ouNzZYVqT5dqMBnajhrCeQGXJWY9q4hw2cL4ardff4sgHln5lbf7qjMQ4z1lTB0X0Vi7MeiDCAUUAPfl8wKYEgutgLfzwpmvhBmcTb_tgQ2seehgBqRAcrfCOQrgd0Hl2B4_L1tYchdxpdVUP0VkBCuJZ7lsl0-hxSgTXiKH4dCSw4a01U3MyMq0gYrfvHcv5913zb-YgPd1OkhuWUp_qV3-6A_90b6Id7S6FzQ4gqBLTCdh13Lyy3UvDypWLtHS6oxURFs1lX_KU9WRCA9Hm5_eeoEOORhSViQrlIlJXR0Uv7jNeaLBliEcDYz5Y5A-Dw9lto9jdm-Ow428pPJ4dMGFqVXxqtUVJo8IKYfFtRXZE-W1NHUeLNR0_ieD88crECD1F8EFshqXYSxJ1y32iTi4xwkhylGBHA0N0iiI7l-PmhucJpaexAl8CR_3mpefLR6Ac-M1udyf2FguKUHnbUL9tnhezdHxEzNp-NwLD2A_WISpn9SJf4AYHPHo6wLFrr0nZb5916GMXhlXB1xgnxWB_yzx6FzvDHXTNECsJ_noo-OMqFYdo9k-lvdysQACj8GvdukhnPsTfKoZFI5bBMqf9r2AvC6Dv7iEEUPGRpUiNTaXvXQoxbu1C_82i9L-pk_ZxpAOMfjwaaWO2HQtZLB9U_9gYga6IYomPtBO_cqdZEiET_a6_bvFLExxLL28hTGGe1EA46Kaa_uXJ-1fYRH0CI-2XIuKWsSmWdABIJYqjn6dogVjHi9Zz22CamNcclZwX6V0p1b0pPMTYkGoWTUOfXDjPp7QJut7RZlAozV42Uy73fQ4qV6n_kJVPbUYyRhn2Y_1iYqeh-eRLLb7IxtdasB2tYosjkY0lZOkQWF5T2rtRWpF423N5ynXMXXtsUzIBd9YDxYqFdyAmOio5sPvRa_2BgKiV8cVVJ524YWgQ5HYpOG-Pe4eLXTdRBKtho748JNcqo6Zq5CGTBiBmVrQlDjd4ecys2gf3jVXoCUgZ_iL0sLrv2VR9adZq7G6HOzr3lj3FmcgZcKEHkg2UuQHxfIMlE5urZGsYf4bMwqt2p7zzz-XJjr56tWDigxTWwm8cBtVrvfaaxpoPmSb1Xrsof1zuB7G5I2oaTjfYi78W6FqqiGDnhF9CkcRZ3mnLWO4CRllwSQsL4763jvA_HwgbbodasGpBkOcfPx8Im9624rb9EFEvAam8TmGHxNsuA3PtoRozdqVXIbtodvkn44cvbH1ey24BE73dKQPFxTHyDBIZcwNZDnlWSobZ0ygi-FSRYm1UkWtfyZbigAK5tqOz6yKMtwMtr3Acv80cywaVdAqwduIR4RMlVyAHY7MSZZXIBXiW2cpOG8UZ1kwg9tTUVB4ndXrOG0EckyoadCskhj3bV_dwxS1Tp2q5SFA7zz8zIibkOW_W7yICs-ysNMQQSCFKZ4w4ybbRSU6Tomq1fdltjEjT72WOoDX_lBYEeKm0KGRkGszI7Ex6Y0xla4CDQvrAWmGk2cZyQrQSru-8vez4NvIWl0GJ_WXIG1obVX-5nL0hxgI-t7PC4lPT920tswpDXyls0JHgy-mLtve_aeiRZ4l1qVN_MU9Q_7MGo4tjJxgTT9E-C93yZO6RqF8A_8VhZ3v0my_KjPSUJxr5lAN9dT0YYiv_Xk-ECUC0WlNIvJ-ptudj1lwDKErD03lFtm6tauaUBzeWZ2uNo0-NeSlmGWxQQhyQEQeSSOqP0CNlX9zqAQwGQFeVuq682R2DC7BSFIzr6yd7lOtDCosEQIERADlysvRStPjJfBu3MDsoiSLyIUEfYAGmTZc1uO9L5SxnngJeHXDJdfow3YrYe2wyoOsNVOLDDidbmEqUkJqluk3K7alfQqZwog==",
  "id": "rs_088de939523e46cd016a7d0065ca28819a9dc5849d78dc5f12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.98,\"left_j1\":1.5,\"left_j2\":1.12,\"left_j3\":-0.77,\"left_j5\":-0.98},\"note\":\"The blue block is still hidden under the left wrist in the overhead view and has not appeared in the wrist camera after the first small retreat. I am retracting another roughly 4 cm while maintaining height and squaring the wrist, to get a clear visual approach rather than closing blindly.\"}",
  "call_id": "call_wN4wzXAnsbxn46yhgawN7zfy",
  "id": "fc_088de939523e46cd016a7d006d7e50819aa4d6c2526e02f3ea",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wN4wzXAnsbxn46yhgawN7zfy",
  "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=-0.9695 left_j1=1.5414 left_j2=1.1324 left_j3=-0.7666 left_j4=0.0032 left_j5=-0.9676 left_gripper=0.9998 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0299 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -8.0479, 7.8838, 1.4188, -0.0708, -0.0904, -0.0073, -0.1162, 2.0444, 6.9949, 1.8779, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499f4afba77f5371a5e6e3569642e8f237d6c992c40b548e1b91a9a2e7b8efa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ddbe653a6607f071805d93e628288bb87c51aa8167db289fb13f04804bcdd9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b01f23cbab1f22f8e7a94197f8b8dbd2119c6b0ecba162b98d35709fe0f3d62",
      "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=-0.9367 left_j1=1.668 left_j2=1.293 left_j3=-0.7746 left_j4=0.0032 left_j5=-0.9325 left_gripper=0.9997 right_j0=0.0048 right_j1=0.0124 right_j2=0.0071 right_j3=-0.0299 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -9.1419, 7.4188, 1.5458, -0.0611, 0.0513, -0.0073, -0.0615, 2.1675, 6.9949, 1.8974, 0.0024, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQB4oO4cB1H2vHA0ypVbHYcqKYQ3sQJzaA5jNEGmb8dQpPcR6k0TLfLwV8UoR0Ju--W8XZrYDN9tVJ3XquRxEpWWPOvYfhQ97aM2qOLcH9tQiVUHfpzxzeZE5peKlehSnCuZo7VACfrzX4eDQqwTjumrZ8hL5PkgAuaOXLJ2sN6KQ0_UX6y5sVbuPPoxdQ64sSVv6_XU5Z3sxDYf7etQyvoEApTU6-78_P1nbUB8oY-82pNMsoaZc4KHs1Qhny3IvhuHDf4aBRB3Y-yRdbbzoykyqJzx_YSJAtR0k884HXTR4vMLYz3oYeRlkwUNR5qg3mHeMEaOrWQKGw9MK2Xedm2Ya3KQ7OWIyyYKxk_9Pi23MM3hgSbPuLSvAhrPSsqThY-s1Y8JJK38CxsPGOywwNtpvh2lpgNjE8-cZQobvrZpwUYEJfIo-zuX_UfdXWn8Sm4V1-CZa7MoGPLUefuzoxqBR_z7aNJ7t21KINBPafjVEqu2d8PWXqXUXsI12qWx1MrN416PJgmOXXIXGrLhwBy8NOIBHk-jEG_RjPIv70jpy7DtUZGkPvsXo5ZJVUkf919WKqIYklLL4jcLNAPGxqMWBeV23ESdunYEarAYjS7yux96LOJ_UF6SzR8dLr1k5NZqeUQJX9RjJ9O9RR55o0xpZksdwaCJt9zTK745Rwb0cPAb7UNMqSVpISXsM0pQ8F_n9jKvL2O3PxsP7GCG6IcsOKDjKYv9LfHwxbImmTjwkdTNrzmFn_y_8uvJ5XXCsMS4kZ237h4f_w8uBbIIt9RvYZRY2owVjhbYKyQBfpxJV_vgweDPifeobxUKgQxPBBldRgHZLDw2ENzv-NlQ5hFrvTtkTosVPswSmiIABuw035_x5y3gGgCdMUs89uWw7LzKjfNfmmW7tHWVD8xYi1PnX_VBDo0gZvb8pJS5ahVkhkmZ9rEgSPM_jg7Cc2ecPbYOxSQI6PkPcwfb3CnyoxiHz5Fy3Nj76J2UxAnyuGEe1SvExgYMBNqcEJSwOP-q8pCw9_NsdQoZ63VX-GQRxfgQvvj16lDTFh4NJ85JPtGeXLeyBJ2IdIk_sbl1TxRmFOiINOYBkWeR5L_C88rcqKTJAOh0uHK-Yf6MvM4OX4b1nWSpxb6yskdi3-reMC5kbHbooz4v5OJwHbP8UaQOZ3JBTnWHNiWwy6S7EJRi2EH7a6ZsnXgie6Ih-3XilWCiBd-6RkISTKsYcDmolE_0tqVYGlgee02Jx4QTfOIo8aLrD3XYUEhzbplUIGr9iqh-hcuUkLWtMVUinxiRUBSkszcdXfs62Iel7W_vAs1rdzvNvTkRW-bfM26o3-tJXJ9HY8qO1BsbAN-5tF0BUP9-QNLpPEzuGx3FTKdAKRGTjgnnV5OiIkYPKPB4W1wArjdpy_HLq4iUoLfw3ZEj0yfxePUDHn9ax8oAgWis7-6BShiQgcWm3b7qicT557j183M8N3buczUU4PIoICiOvTKinjdQF43ePXT14Dd_fmsubIqutRYxOvf7Dhjp0hgW1I841xAP3JeqSbcOX7c6P8GwTlK4_pOMFIsHajK87Ceto7YCAn_f7ExXf24bHLZ1yfvL2OPCn-lBo9QupR4CFFTnTtq-Gm9Zo_oII3xqnAWzEDsi-brUPe2YooSBFDhvBCINW7UEZNI37RMBNkezY1Isbx2TZSqZVuKSOPiopySq6ojznl1c8P5hrLj1B4iRkGkmUU1U0EWV70tra04c4lPSxUAE-5aS4w-vfobdd5kx4qG0P_SpgET1MgPSKZyi4Q6RKlDhbIhzIzSv_JvWU3SX3_EnmnwbYUx4blX3eXqX-TWEBBvSy1Th5Jyuv1HMHyZUfYm6WowllCYuAyEMyCQSj3xz5gnEnFHFSmxIWUBRJdiKe86PwK-7BcmPq2XpgFrDWufmCK03WsL60oIe67pM0_It7BRiNPcKPlu6V8UryUyJ5bs=",
  "id": "rs_088de939523e46cd016a7d00711f68819abbeeaad7c61ab0af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.75,\"left_j5\":-0.75},\"note\":\"With the arm now retracted, the overhead view shows the grasp point about 15–20 pixels to the right of the blue block's recorded location, so the previous bearing estimate was too far right. I am yawing the arm left by a modest amount and matching wrist roll to bring the jaw gap onto the blue block's column.\"}",
  "call_id": "call_jzijWd3Ori0ZpGWP6uhVvl00",
  "id": "fc_088de939523e46cd016a7d007733ac819ab11174523eb00ba3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jzijWd3Ori0ZpGWP6uhVvl00",
  "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=-0.7624 left_j1=1.5429 left_j2=1.1133 left_j3=-0.775 left_j4=0.0032 left_j5=-0.8276 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0303 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -6.8171, 8.0342, 1.0525, -0.0073, 0.2466, -0.0171, -0.1299, 1.6205, 6.9812, 1.9316, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc83595ac6036050cdb6e5fc94e1c5429106e4755fad7b7b7d611f41f58122fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6afbf15705c03523ce97402244f7979a18116a84ef6fab7135e933921f4344e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a327964a5f9a57caae00702f93510a862ce3bf4b81118313decd2dd3b16f44",
      "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=-0.9695 left_j1=1.5414 left_j2=1.1324 left_j3=-0.7666 left_j4=0.0032 left_j5=-0.9676 left_gripper=0.9998 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0299 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -8.0479, 7.8838, 1.4188, -0.0708, -0.0904, -0.0073, -0.1162, 2.0444, 6.9949, 1.8779, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQB_TW8pTzqr_h1n_DvlxxghLbT4oarFWWPvbAaEOXwpkXjAFUgNaKL2n6UrgVP5aH2lpL-lSAmitu1bPFPbPWzIwtGMLlLBLfvlWFSKYXL86xE6Z5YU1o_qH8p5rY9JQZRW8ezCERd5HUKrX5mA-QcHRBmXMU0QYd1MoOUIJ-NnWtvzdb3DtlKPKxgCTYMAhquwYL0F03QzuLwqEdwm7kqS9voYpekR-uh_K-2KYEmgts9CK3vH3q_FoAC3EPu0XdaNdcXx3f54CFBjhFW6nz_eh1kBt7LT7cx__qyO5tG47g5Ogh-KABXUSBXaDQi7QuNttBkXMdOXm3a7ghXJ6EalXaob_J6EHZIECh6cMzaazGfxXfqJK8BfnEAlERgWp5h4foi-ST98nBRPVy4D73tbe6NFv1oWPVuZMU0XjOQwoco5K3PYcY-fOhB2j9Hjw01Zkscmj1vfgumBFQZeV8_l4DPPViNY5aYqFY1p-DnX-sJythGNKN1Jwuo2eZO8LZP-4EPIbtuoy8zf9tmg6QwVCFigE6XPq17q80v19i0NacVxU0FO0EU25_AhL89N6dTz73N3cdeMf9Hn8Goux9v12p-Kl1-OpUzajbGjSMLDfYjnNSk0olIsDaDlmfgczbepT4_OOB88Zqv1AfVKtwM3pxEA4_wo_MlonWHQsEPK41z1IrSfp84bd46806ElFwis0mzvnUf86SvHhGGHokbTSZOGOtz18PSTHzcWqvJ0ZTEvSjjFWZ99F1VIByGI_h-PQbbVDJ7WHXsQrCKKSuDshcDPvalD3GXrRJnXEATYSbX3hkc4IYQXTLltg7Iqq02PkoI9zqfPY3UGc0f-MyPfYWT1Rpcsna3ilPUx8lk8kpC19dAEphLZVnAn5olvQUlCf2F78jkiZlA2SvyR94RWtHaguKIZVAPa-8mSxxF18gmrJIHumPKff1j2H9rT6m5-o_1WjOeh6p3_XaYdMMFEmjyndYzFTHn84JLd-dc49_CzSHYx07sgNE-hTubdgvXOv8McbtqWjpSLYbnflaXqX-XdQCltxQDSB2iOEQaSOh_IYIq8ilLM6tgwbgoNu3kwZAXEkvVgDR_f6zs1lKipeurS6f1-dgd-5U0hoaEEm4TRlpwGERtfbXUq45ZabiSe_oBP43_L_EZAFVfyGT7uOOXtIbT_SW5ILaNNDrStdFSoMR502Qp6QJbSwOGkxqhyrqRdyV7uyDenKkhwyj45pYFnpVKLkNDGAdRstccWcy651JsSAQcGE1c3aflWo4M8o_YSW3FH_FOgl9m_gmVnN047VOTLDEbSQ2ije1h1WfvcpY1BGlZ3l4bviGAiyCq9v00LPxQ6Y1GEGALTC6sHRhgJsSSXz5xZ8-XEBV4z9QlwoRnqpGFDt5QAtyU_wzymdYrdMabAqaFeyoVuuT6Xx8OzoozejpuY9--6IhJNnjSKb5BGOehlXELtAqUlnhsrpUyOEFtejEtXgB4WjSvkx1MV2AKOUSyDRjLN6qluRx5XSlDUztisM7Uq2hiffk0RIKDta6KB-XjzWs7NkYNQy90880MPPMOVeIpYNRb3PR8=",
  "id": "rs_088de939523e46cd016a7d007a8b1c819aaafcc2c760dce138",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.55,\"left_j5\":-0.55},\"note\":\"The blue block is now clearly visible in the left wrist camera at x≈71 while the jaw gap is centered near x≈115; the last 0.21-rad yaw shifted scene features about 43 pixels. I am applying another similar leftward yaw so the blue block aligns with the jaw centerline.\"}",
  "call_id": "call_odmFGDx7sRaekoEg1OeXScmM",
  "id": "fc_088de939523e46cd016a7d007d89d4819a9041762048e7d41b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_odmFGDx7sRaekoEg1OeXScmM",
  "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=-0.5636 left_j1=1.5436 left_j2=1.1122 left_j3=-0.7818 left_j4=0.0059 left_j5=-0.6235 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.033 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.2256, -6.735, 6.3521, 0.9744, -0.0171, 0.2125, -0.0073, -0.0889, 1.6068, 6.9949, 1.9463, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cecc39e836bd6e829995b209de868de141ecbb4bb01126104fef507328a626f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfc1c518fcef2127d825f986480825a1dcbe7aeaf0e2c6b53ea5ca3833701df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040f387172bdda6ced6e3d4bd65eca2567dc7c984466fd9a361381ee28b7d731",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7624 left_j1=1.5429 left_j2=1.1133 left_j3=-0.775 left_j4=0.0032 left_j5=-0.8276 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0303 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -6.8171, 8.0342, 1.0525, -0.0073, 0.2466, -0.0171, -0.1299, 1.6205, 6.9812, 1.9316, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQCIuOKK_ULJrzCURPfdXioOhiSRDbdpGlWHakzvLUWaA3oaRyaugxsvYQuZWZPLKH0oZJPaWsQRWLOyKnnbYXia2Unn7SU5E6ND7yLkJBb6rMNTp_9_OcRSotK_F9cfclY3QUkr-HCO9HRTPbu-Kke0tv50d0jsCCfMAn3fTucd2rLtuj7XP-SiLkDBDlkAZnE7ekATwmQElrrabfua5uNb2yMUdqaEVtPC3SD-yAFJgVMY2Jwqt-v-YZ5NhiyJCRP5ti4itIupe6PPHVtdCc4crHc24OAtEoA5Fu1hGHR8XmQ4yiHarLySa6iZHl7PPLvD4ESPW-saeJAd4-cbFjSlWgueppg6V36bG1z3jXkVuZ2HKMZVxNtlBwMy29AfRPzH5EbzYvOEAD_mOVm-aQWUUoyx7goSyNMRHoAAdIXJjvw2Y9ZjDRKh3VundHHc6l9hykESQv-HNT4Uvb6tVRt5VBMPtwWfsJVZHhYzj1ixNr7X93c8ZReKdL-8nffiTsgF8w--Pju85_e1Xawh6_TFy1LbtnqiMrBktYLQQfUrbO3osAxGjNl7TQOuuco-rD31nqngGTA09qulpRXHKCt555qP88MAwXf21BXJHlX9Ov9IwiDEWgN-fuciuPvHK9OJ0d7hzjcsLYsEXqbhiWdlVR7tdXoX7eMmgHl4B2eeocLBqMMVgGbAF1zke5UIF3WjqjMK0J2Z7bD2kyH4am-LpomsxB_keerJmoTyZwbaPpas3bE-iDwpGtubHdHgwCCIVfoov_TyiTeDxKWNsN1lV4lXOnfZIVufgPOrKFsoJaY3puT_N8r14z5Zu0_pud8OnU3__RLB4grY14zjKG135LDeS56hv6rAPxcXH7l_P4-MBQjWG-tKI1_LajkEYb1V9Qohpqbwkx5g62pWSLSl6CxhUCMujSGPci1leep7CdVt5tpK0WLOi-aCBbhRloqF5T4bswCYAjHm7FKEuHbc_sen-fdsJ1dpxyd7KO5H3ivj4iYBWQxwvIr4CyV92-rU-FFAUh_f1zxiAzRMNHKUJwczWFw3kuzrIuS4p1guYW8qM47CA63VnRvIeUfvnNgILf_faT5PABDN1eaGLbo_pWhiTiCOR1RfYFwaMiVBKfV724ab16u9K9E_k2JEgjQ4eGNpV2Xz2TufTljjfiFVwGUp8nbXxBosmiaupLb6gAsBsUHAL1NQTxkDKKZvbCB_j2TUQi3T-BXeMRgfbZFfPxuQMWpAZV0YniAygGy2dGbWb1SSeo6emcaRbmpcS2TC2fH0JoSjzF0qlZn3B-3Jw2dDcPSmgromvUG3yCf5RLwMmyArCVl34xNobK-wppf8xPRm2woq-RpHcNghFBu9P6Wl69qTpkkIzQzo2DUVe2Kf4tvmp_uR0X53O53PsUcehHv7evqap9FNk3Rjf9yPiM3Mrb7r1Gp07Gf8FKz1C_p91sM2ZjmisMHx-ex-yy1H_nVG8jDs7dwJaz9cNeNaDAVtc2C1LbPZMIaYzL8LfqDWirFYR4AS2_t-NMi3dhgp9IPUw8nUT0y6reRXtYhd9zhVbCAkh4tVhNaYfpioK8ioBG2e5_0PekUPGXUwho-ZZQ6JIa23_Xpyn-RTmJ6tJgqT5GwaKUx-xokwURcKuKxanjtnjLX9WjRVGFFD6CAdZ7PLCJLbBOrHWJ1lRU-_oKlswA0ThxnBQbx0icwT1xMaGxG47UYFKGq37Te7fXLTKy2brANdYjc9j_UWACTi-XPa8aW-wn1xcsJ1yB3vsChPJ9tl_NPAnflMckaHr7asjVhb3Djp6oypJpX8eUxwwL1IwucAiP3FqSaFHNGB8CVi7lV0YI-gZWgpfyfC6X88qgZU3rxS2P5eZelb6zx1EmwL3Oyi03Fwv-ncu8MsdzqMs08NGC9FOlB0UP3UvAgj4TIzAipsIQNOVlTK1Sh18K9IULBxmZGwPYz_YMZcRYg=",
  "id": "rs_088de939523e46cd016a7d00811f4c819aa82c75d2e4015231",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.69,\"left_j2\":1.27,\"left_j3\":-0.79},\"note\":\"The blue block is now centered precisely between the jaws in the wrist image, at y≈95 and still well ahead of the grasp point near the bottom. I am advancing about 4 cm radially at the same height and pitch, keeping it centered while bringing it closer.\"}",
  "call_id": "call_auWFg1TO3YGssxAQVIA2e4iM",
  "id": "fc_088de939523e46cd016a7d008716e4819ab2392639cd1f1467",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_auWFg1TO3YGssxAQVIA2e4iM",
  "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=-0.5621 left_j1=1.6745 left_j2=1.2289 left_j3=-0.7975 left_j4=0.0063 left_j5=-0.6151 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.036 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.4308, 8.5128, 0.7692, -0.0073, 0.0562, -0.0122, -0.0889, 1.6205, 6.9949, 1.9463, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4e43a11cc23c41f439c8092b40f1118b12c90a0fd69f0350d735dfe43aa1af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:768451c5fee37dc6217c9f8b70f7792b00caaa96d9c5cb9b57cad6b890078365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764fd9caeaa341bbeeaeb30477ac0de88504cd1473adc4baf90f29f5770a18cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5636 left_j1=1.5436 left_j2=1.1122 left_j3=-0.7818 left_j4=0.0059 left_j5=-0.6235 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.033 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.2256, -6.735, 6.3521, 0.9744, -0.0171, 0.2125, -0.0073, -0.0889, 1.6068, 6.9949, 1.9463, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQCSkTi0OSx8QLwEK--fVuTQqu4-JltIxXoi51jzG8wSdKTmcQoinZlywAQ9rqpch9MSFn13NEh_w8VfDSjf71nraYD9P8Oo0r-kwxmN6_deKYM-qTaytSnNUHFQU60Sv2ulQgCXhBtepC7sPumasKTDIDngbLeyBGR1sPLNk92PhrMHyOnokbFzbr_1n0jixg6VyKLOtyWF1-LYwcA_7gyUMo63Bvr9HsMiaQYbF4ioGfoJnqqHEnsK_HrPHqC7fgDOfgr-zcXXS5R-5XTgppGPROjAr3FqNnMv4mQTzG7Ch88YxlCYJfK_zrtLhGV9DCWnUgf4Iqy4u4geZRuCBpudjtw36ZzH5IXdZDSioufqN3h2FB0Q7p3rBLIRYqxD0bc0_-wUKRwE2GqV88ioGSooYWbGwA92k0ZOyQm7iNNvafgZAKpHJZbgyZkNRA8x66CycfzxjEXjgmvgRTGEd96UFp6Xljjfw6UCAvMAC61vcj5HG6Aul__DD9AhW1Rhx_eltHjpih_gpl0b1z7MPt8Y0uCZUUtSOxIG7UsaDahcjiCFBg6IdorwHKcJnrAVxmQn8QSP4hrbMiI-Q58yiMRnGRZ91ZupNIkYLNBprcctPflxyUjW_CW2vA523DfDnbb8yYgnL_B84gusufA-vuWnnQ2J_KOHdS7NemnTRrBEKIMsz456miEqgBLXxx6f7fI4BH91Zsxdy5tbUE_banzIlWlb0D8m8DPWsNRLOdwuYDOorpgVpLPlp4V9ySmqWG3hOonU8Rzq7dpmOTtiqlA8cJnwJz2vmluii-eVbaobFpSFS6W-_xVXBJWwwCNfOfPw5-YJ8MKI4kVld_YDy7F_8QPIZ_8QqLLzCHx8BXIKPjt0CL4y4N5w52u351GwfIQOgdB60iSBNaWGDXtxkP7in_cu5wr6PveD67i58bE5sJ_iEXR7dYeAotMMTxNQZc_5QP6D5bDuhNA-vpQ4-ET6KpwDiy2Vf7j_rm_HNbFEwcUmx3upxU8UZzyLCKA6Z2sIw4510mdNaordU8uvHH4aqIppWAj9gqKaYJ9SMQ5GrPW29ZqMNj2k6U4YUstDuPna_-hnzbQQbKrcIT5jZNvqOqU3-HL8uqjS4bVbttS0xHXfdxfvtCNmm8hq5GQSaRxaEQ0HU-r9qZRadJ-PVBtzndp-9kpUN5TnwMH-3F0plm1gjSU_8A9CQSMnUMK_54Ku1_sGS2RgxY99iII4If5xFpWrnjz-E2kZEJtuzwskmHaN1Uu-41YG5mBJZxe9Tw0ZM6FnUM62Vyl4hYL28VyDpSPoAzggtP5EXJD1YdS2Zcuq0a3BNP_G9gHiEE_p3DUbXEWGiGLkVcwJTbd9-6FAr2XAgGAvKwpgvPRaWdfoLPKQgWZ4lmUum4D7bOsrZF48d8-d0GMsIlsph8Zdau1YNt2eOwgWji51Nn9hR3Gay3PA-I1nEZZP8xdYPxalpCL2uqE2x6m2EfElRgatdO6G2uYqZuq75oHgC_onGa5aN48NC5ddf6YsImRKNq7WUmBmQ8sp7ru53Iu5J7w-vPltm7CIwIRzaotrXliBFd09wrmjWfmBACFLjjb6P6sqe3kbz5cCWH3rM41inIyT3LlKcC_ApRVl122fm1aNZ8Uc63PuZn9R7HBsmoQeVzgeIvE4SCr4DlDPqCWMUyVzenyIs036YbCRXW-d-YqZp4Zn3P-jBvQfQDQp0lMXMoPYrQ6B1v5AUQXWYF6iyZ2vqshzRYsUbGxo00xTM0WMmOUKFPcfQ5Q51048k_aT31yzYfKZG8YIOgmu69sG226ZGIEDNoZwob6TxGFw8N5_pxULlDc=",
  "id": "rs_088de939523e46cd016a7d008bc09c819a8700d8317489c241",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.85,\"left_j2\":1.44,\"left_j3\":-0.84},\"note\":\"The blue block remained centered and moved from y≈95 to y≈122 after the 4 cm advance, giving a local depth calibration of roughly 7 pixels/cm. I am advancing another 5 cm toward y≈155–160, still stopping short of the near grasp zone for a visual re-check.\"}",
  "call_id": "call_DBXjJWUXwp4wbjuYDIIWO4J2",
  "id": "fc_088de939523e46cd016a7d0090cc84819abc48667fe8c7efe1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DBXjJWUXwp4wbjuYDIIWO4J2",
  "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=-0.5629 left_j1=1.8359 left_j2=1.3979 left_j3=-0.8421 left_j4=0.0063 left_j5=-0.6254 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0471 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -9.2103, 8.4034, 0.8718, -0.0024, 0.0611, -0.0073, -0.0205, 1.6615, 7.2, 2.0537, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aa073fa427dcadc16e7428044b220dac04c3654479bc756aa1a3be44d0cf033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea27515d2e84cad21fa59ac578e3926605aa08e6da2bc30f6685258c11b40d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea7acc880f3b5698e2b048621f2e5be9e261ababa51e1d4ec20d6435fbbf785",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5621 left_j1=1.6745 left_j2=1.2289 left_j3=-0.7975 left_j4=0.0063 left_j5=-0.6151 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.036 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.4308, 8.5128, 0.7692, -0.0073, 0.0562, -0.0122, -0.0889, 1.6205, 6.9949, 1.9463, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQCcnhfYOHndRGmji7lc8DvizFIsbeIUotIdWF_pTRVnaEYr8sOVzifmv11cYcxqQypF1Q1EeoTUvykyGZtDUMHM0hcm3BZyHfY788UzPLw8CCsDQNOXG74aokgeR_ZqOnFesHjBfw-XYYMAHfaUZVKyQ7i0T1g9DEs0oG3CEyoS4s8-6E5E7WDBqQX8AUYg7r_eEAszPEz6LRYf8eKC7xA_h71D9NYabXm2STemycr0ztL_Cx98VPokTa5mz8Tub_Q4AhdfxiVMjxI_IJugSQGCGdn2IWVG7nhPWpYiuNdeSSYpbCNdcEkqr7fU0bDtq4l2bjOzYZ3Aig48AsjDkcZAr5LZXC-IYgdWAdCwAGF1IdjDzetc2ajU9sNOys3VDsrlmTUzk7fxsty0Nm4f-ZbSoSSSy9ddUseUeDPN_9wZiKnpSITJ21hbG9ou7G76MnEENSwklojsoz2nqFLaHDUeBCDOSz-f72lpVHpZVFFZRAV3puzp0wfXg46DQHGOiH_V8DqhLyerE-QodHxRCrE11J_AoglVN09hwvXYxsH6Irx0yr7iDsanoleeSLLzrv7vvdLcVmp-xYLcL8dD2W5-RQwQHFeVYLm1Sre6SutvTB4TlzlWzT7HMooOveB-TP7DHfKWTqSbBQrt7fL9GtnV3b06PpQigpAyhsLpUOzejIZZoTEpojM1VnwU3rnhX0qSfAVi6lh9zB0__pmD-ubF2COxUuEU2vBrm-muF78vKCLWvfYCzw2h4H-5RO4iMwx3hOHsXJSd508HHDAaTvE5xW2xcnrSO2PlX-GdYZtoD-m3B-q44Ja1wrrN7Djrn6J-VEdX2q5cV5GXFADf7mUQpo9lgvctylShXZLZts1RjooEpVB35daDyG2oiu05tsaVBrooZ_y_xm_lym_4VInIN0XIJTbjjrTBnYg_ABhMjatKByYeQ6-uC1UfaseA0o3gsGlGkm-svUhOPcY6WT6lo3lGf2oYTREZlmePCmYq8sHNlp2MzMHNy2iCctWooLtd1IDZY52ax3ZW5YYKh23rZ4GexkZqg-Ij4z9_IIBM1fFKQtjcN-MJ3G0agpRYREWcjzK6xoHSlqvtsbFb7bF06h0_fqBcB24agaxc3bEyzN5Zu8AvTuLpYcUrcav9WdmTdtvQONUS9G5xdPaAzjfHb8WKtZox3eAPQMuEM9r9INvkOoq0wEJxFLZ6bSx9MjZ73A6yU-AsR1Bu8ZSTkTKzVb1p81ig9StiTcqjxqz-7Xxxzq_bb_iQolPjfTCNv2cRairvZCjPEW12ZEDRBu-JSUUeSZQRUYrvN5X5VuhyW4LgFPXIK8cBRz-vdkYP8jS3_Xznlha3DCBByUrZhm4VQnKiziGMSFqvpaTvovR9UtT8WzC0y68QO6N1SAVx2-DL1genL2FLLb5sMpUmMfdAhmZh-ySWC9UwA56w3_1vhNdHnxnjK6bFSLEs-241AbFoc5Y1oKygTb-ihWtEMrrhC5OfL9WL_5PEy6SeQ25CWZflH_YlQ6eVZdQF7_LZxHOTLXI00r8MBy_R7bmcs596Z_JL9xsjzGIKKTO-TBWa8r_7dNeZrGMBgBaXpvRyxmo74bQDmTCf4tzURn7KQ6gmkDjLBiHczEALFXLjo8AJvnCrR27jF9Z7e5CdMjNES5h7YGGCDYGTsYtlPOhIPfSv6fsci1ub-QT0djbgV3h3BT45Gkr6hDKrR3_D1ZjZyvWQu8Ql70AfewwezPg9pv-SG2yN0GNxfHw9to0fktGFgDYFrijFHE8kgFeqSTvqg0uB3zN8_m3IgVHzIbVU2S0zBr_JwwR9Hl7FMaY0UoHZPk83GT_z_tm6719Va9jI-Bj2hEGfjYDUKS16CRKn0UDYYX3Gc3cy6PID3kuFUI_xfYMyTNYlaSVpfeyt8RQ-3t3EF_c1j-xEFe4A5M79xa1c1l8TfNXdwboBxdAVtNkibxlY2wOmLFOHSRTCAiw6OlXFhCl1-YvsUEfmjbhNAMzr5siX1Zd4h8YeZL6cf205ZnrxiiGqowBZr9j764ALds7V",
  "id": "rs_088de939523e46cd016a7d0094a5b0819ab362c757b0fecd0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.52,\"left_j1\":1.94,\"left_j2\":1.54,\"left_j3\":-0.88,\"left_j5\":-0.52},\"note\":\"The block is now at y≈153, slightly left of the jaw center, and still visibly clear of the near finger tips. I am correcting the small lateral error and advancing about 3 cm so it approaches y≈175 without disappearing behind the jaws.\"}",
  "call_id": "call_aIgnPbFMmeN6b05JljzxTazP",
  "id": "fc_088de939523e46cd016a7d009a3ec0819a83164e25535c31d4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aIgnPbFMmeN6b05JljzxTazP",
  "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=-0.5312 left_j1=1.924 left_j2=1.5002 left_j3=-0.886 left_j4=0.0067 left_j5=-0.5755 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0494 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.6479, 8.1436, 0.8376, -0.0513, 0.1734, -0.0073, 0.0068, 1.6068, 7.3641, 1.8974, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717284b2cbbffcd98671eabf850df6fa0b06869479ec929fe0a91ee1ff3890df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6883f6a471b53a7dbf92e55a524946231e18e9c4e1c05df4a64dd1e7b8c97193",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b471859076a6e4e04016dd8f3a430c3e4516c86a0f57ecca52d9d782e3f4ccbd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5629 left_j1=1.8359 left_j2=1.3979 left_j3=-0.8421 left_j4=0.0063 left_j5=-0.6254 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0471 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -9.2103, 8.4034, 0.8718, -0.0024, 0.0611, -0.0073, -0.0205, 1.6615, 7.2, 2.0537, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQCmCgOQMDJ5wlEE9Q95TUFL77UAueDEaLDzm44-AiiiPV3qrscZhBwQih0tp9o4sSS2TZMLqUO18Y8__zCqdT9o34UPNZ-QSKst3vFrHHuHXzhyOJCQftiLqQpqQVZBhmVPJkpVz3_6v5dZXD3N8cY9frmQPFP2Z1bVJaxH0DHnfsbSHB-XvJWjK-pTARMNQaFi_vAka1Sf8JqZY370MCYHpvQEe-TbLGyAw72gnHmqAgZtDBf8TFNDb1GX4zJ6eB0kMuJ8lAxM1KgFvh9mWl4SW7zW0HtYF1tjFKSblsVgx4NzoLqG30MZL8XG1wUXUlpb8KTipTNhohA93rlImrk2I-tCkZSYB_ssjnUyFdf9u5Dh3WFdmSrRzAcwwhyiZJMv7Q29t2YWR7ACjgDzSPyl_4RD0fNmNjo44Pt_4MjdlF3LRLcIHenKWZayQAuu7Q57JxKckfNfUCUIVd2C4D_-xdEEN4W6-wPT-T2RnPUDiAv3at-NAimghcZZ_YnAU2SIgP5YQvhh3DKnP-RYWpK0xpxQweOGIUx-U91frEf_QUyKsSUErjHWYOY_aTCMuAXAUDVm6-nO0-vNv0e9Dc0PENPGtYxi0OF2rmLrUCfirb5leUbvumNB0G8V3-8d_-SprKKv7dM-tNFpuAfWP12UqTyrc3k35Bm0RjpM-0Z9V0GbbiScliWnGPdpGay0l-ae3vW5xROi_g8DLxtf9EWca2vut2ofqydV22r-03L7t828sqdHz3_rT2h8Nr_hLu-zJBJqakOsmB9NkNr2x5Kqjz28N1DPndnXZQNIInvNs1dMm0kh6d1DyMCp6YVL0bgWFdYXplGRG1jwGBXBIF1zaGXGpj7C2drbhSjDdvJps9cuiTLSoc2tjXixyfoLwD34ixghH-8O1JYJEPeqh3hGqtXxN8MF_haXNAFE3Nm10UZold_D3pcup9bW5869U-sHAnYs8W0zagagX7V7NLact9pmX6arzi-4GgZiDE3P93EmVgXitPd9RVQfGdtKI39qCA70n7kwc4J0Vsz0VnZdPCefCXtRFvV9xGtwJnGHWx8C5c7oX61t-HkbS5aRtOEW2-9MUFl83tLIc28WNxMkOq1WAw28kWqPk5xsPtwmg13xdXGC4MMNqLfJdB3bcPSVMpSh2QvhFr2ufYZZzkl4zyDzjRHDG9iqYLIfOuwb1SipAr9b-HmmAMaG7Jq2jOdrt3cvM9siynUIZMRE-pTJTmoq7mW2YWhFijxPElYhVtLE36m-IRjPgpYNO16D6-UYglPzXpxyseWJWFVpPR4un1iG2Img514d_3LIqlUYfl7XqRB6XPfRnV-_PZwR0odF4q4onLyovBPjAUZRaFX6j_UM0w-sZUFKw54kvzEmdFvFwm0TH-A7GJwWrgLu1GpN7Ku4BCV1-1M70tI9Z4Wxhrx7zabxvSyiiG5afYbIqFViRblikm38fUOvu2qK1-ai6yhyDkzKGpQ81qQ1VwMVoZ-kezIzZiIhhTydNwRfZuc91HxBRzZxP_PK2RwY6EPx-W6olmWU-aL5sSzVC6NRoVRU1jtHxRcxOAS8-NF_PKOCEmIxdBnV2VAfNzPKm197VC8FCmLzY-jlTROE2CAGj3s_ir1whvSU7REQI5sK2UPET63JTY4ODUzVnW5UHoMncPsQvYJMaSEK7h1CfcAerUwxK1SITFg17s9s4NjTIf0cliHpBhKFzxRnpfRbexyRedyLcF9LWeWHpTXjh9W4TE7yfiQvW61yJpFOXWPeq2qgZVkqu0mxwIRqzmC5loie1QHXbpffQn6I026sidq2LmbDZab88KUOGK3opm5ApqdPXv3gIpcrb5PT_v2l7WJWhawMQu-KO9DbYK4uAh-doifSpI_gjImNSapjpa1N1xrJcLbdLDuIk426_R6Qfi6Sl6IbIedIJmbxw_6nCrsYmE5enHz4Ifz4Rcc2x5e1lQWFUAN1EOnSQres4pDvadj-V1e8ZV_m9fVT2wtAy_a1iYwRgUSV1eYkR9AYj9qu1i6cIwL06apAewm6c6Chpt2UH2K_ylHpHbkIHyFd610_yYhqih4JqDI0NP9kgM3upZFeFvsrDDVi_pLNkgx74jBp6Bnaj8Q0ZagR2vSNvFwi1kXNt41MdGGc8bw4SStvnKIydHzVdqRVbjtmB4dYE3QnHM7NvpWE5EYOHcynQVN7wTYliJpB9qdJUwsQNjFNa-A=",
  "id": "rs_088de939523e46cd016a7d009e0b3c819a9017c2a77d598180",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.47,\"left_j1\":1.96,\"left_j2\":1.55,\"left_j3\":-0.9,\"left_j5\":-0.47},\"note\":\"The blue block is now at y≈181 between the open fingers but about 14 pixels left of center. I am making a small lateral correction and only about 1 cm more forward motion to center it at the calibrated grasp depth before descending.\"}",
  "call_id": "call_rqxB59RSwpkIq5XJ2IDh9Phr",
  "id": "fc_088de939523e46cd016a7d00a44bb4819aa9e546dbea7d607a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rqxB59RSwpkIq5XJ2IDh9Phr",
  "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=-0.4988 left_j1=1.9434 left_j2=1.5158 left_j3=-0.9005 left_j4=0.0105 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0517 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [1.5658, -8.4171, 9.306, 0.862, -0.0317, 0.1343, -0.0073, -0.0752, 1.7162, 7.2, 1.956, -0.0513, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2e53df1e0d3397eff9eaacdcb652b53a202c570a1da7dde5ad2dbbead76a24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04208b4131d095bbdbe8bee048e3ea748ae8888f32932bbeb135c8a0c392e79a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d37f3fde860547860ffec6654d72e9442fe55870cca268a4f5fb04708e7651bc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5312 left_j1=1.924 left_j2=1.5002 left_j3=-0.886 left_j4=0.0067 left_j5=-0.5755 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0494 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.6479, 8.1436, 0.8376, -0.0513, 0.1734, -0.0073, 0.0068, 1.6068, 7.3641, 1.8974, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQCxc8uhLdKDHg-uMzlzqST3m62HrFiIT-0PN5R7QwBExwwX-A_wpNKOMGdYvrUs_2y56ikblkcuMxzVJ4GE0cCtaIc6XKk1684kzrvVbu2a50aeJlCI1f3nxfY6pxV30JXdIjXxWvNXG6ffEVxd5BNIX4JvFHx7hss87fwaTy8kWnPovSaus5z8ni7wcQPy0HT3oejac4tkLiUKMimFfiKnipjpQYlumvuL0qAFeIk8vuvWrp5oDX0_lupRK8CL7DbSpxQeRAxsK4Cq7kI15oN-ncU9gIfHOufMQj8Ly-uNXO5HYT0uuobEgLKKvCICpEMGxh_VVC-ttNcOrXLTcChsQFptTg_9riotelgEJ-SJw1cO4eRDDGeJ9_RkRKsuWGiF7SsNmwgcBKAIw3yXg58_Xv7GgsZ_HytNqtuM22fpPHtovB_bYyhgnNtB4Xo1Js_jdhOxzUdkd7JEhKcGR4Xg7oFuWyGtk2pMKCRM_SXyE8NRs-3giZNBBYQY7fjx6FElAH2T4fyBbNdX5djxfIi1JMB-JxCzyGFdqT4S4QNO9Ln6O7PP8sw8QzOw0qasnCUz2M0O1ieu_OYdGUVQIYVid63XgjPNsDDEWCh4is2i1kfwa81BgHOI7ZPrpZaWfQwEMH9jzqwGPFJp5WXXAVilJUlq9kq5Xg8bulmmfeqJsT1icSMilrIzOder6cR0DdoH9mowD7KTpTIbFp2s4kjXhsccI0ky5B8M80Bd1xGHTgVWjrQAq4z7iOR6OkK_EAMJFkC2ZFY5Phqh4BW74SJOZDepjdmduO16ybxxzuoyIKqQq_DNffxhrRhBbUNFlFeSRsJ3YYgj2TCKk1_pSOj8-0Fx1C9Jz334a24VXiqHzWyPmt2qxgudMOzcWWe83Yx3gluyT72AGzJV7OV9Ki8I-AhKMTkq-NOzpGiil05EFTZTJmT-2ktux25Qz9Ktlsdx8jUmim2nbECaXb2voHjwpPfhYn9DMFprJNy9rTWBbquXPo4oYKd0h9VgK_5REg0pjbVBDb-m9WbW_NYtu2bSVNw5MYwimQN5VmZbZE_H3vWzotJwqTcansZyDWwKGxmpqBB6yzxb58_2aYAi4yTRdTKDEU3QZnpFuPx_2a_wkP_SH1C2EamG6PgOtVKPl5nYqPRqx89T2pVhyFHivwP85Yb0BXw8gdU7nuWEJ9rMD06uHhBVu8wXsh6csneBQ-kAygQffMRjPcSDyDXY0RGxIcAMxBO5VvI1ofqGvax-LF4-lnZlKNI90lZg2EXO7L-jjab37yvcJjAnMCm2sxFsvDoR5kzPK6fyr0DtOKk-iVKnjrHRkou7fPXjW-ue0v3XZTrP3KJy6HIs9cD6ovpAHrGhNwJeV2ZO71t-A3fehitT-R-C7kgfq9EW2hAvdtklYeyL5WfCJXA5cROqNidMTeMMZqOLox5G8wJy6q79llofr4Cm2PNALoJ_4chURWws9wqpWBgq1iy7tlRaRIJhgOsbYzEQcoTXF9wyLMUKxqW-047wwV6TK1vjIfYFj8f6-1Tld3qN4ZPQV-XvIDzxonutG1YVdpXzTsa2Mt7WfNn2jGHMBJXcFZ9HAHDHFtDQfIRaoey_GcsOxTb5IgnSAJG8MTvXdVcqoEseFTSB-DSrDANJdu97IH8GVN27kIjmENam5gA6qfpqQWz7Axw1IDS3aBTTwssrd4b1r0-B8AsZUF_gW2Zme0Umtn5PF_4KsN5tENwwmGGTCTNxMBJ0pmYDhUr2k--hVIGrovmVt1gN1eC2yOAzZiI_AmJVbp4DiOfvzklJ6tB6xfQ6yPh4d6N_ENOWwnHFpxFZY7zXkv_5x4vppWSmjG9yh_C4o8mSot460n4RvGKiIF57It2hBdWot3cROx8XTH66ZZLPDBa70dnYzVN7utc1X2QRy_qoEDZTtnH8ifxkdmUXyeK4juGlHG52VwJ_M02mTAFWu3RNNi1weC0qQcjUQN_ASJeQX-ohqOvGhAzmI6URLkiW_fb_hInjXBTmiA0Rla6sQV8fzYQ3NoiljpkgYTjain01uu-5Hc4cpPuhWmQrr0PVCBASmp74l1E1F4wCSjNmTtIfPtES6e8pTOJ7dBXpeO8bfiIvi-65G0tx8ortsrtTmkDFeA9QLD2AK5AWPMeO9fW_0bhJa9CwZho3royQtnObdLRnUGhfFEB1yFbQit9jbT79tXF-JRII90ZQnil_79g=",
  "id": "rs_088de939523e46cd016a7d00a8eb18819ab6ac051c066a227b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.98,\"left_j2\":1.47,\"left_j3\":-0.82},\"note\":\"The blue block is centered at x≈110 and y≈194, directly in the open jaw gap at the near grasp point. I am beginning a cautious 2 cm vertical descent while preserving radius and gripper pitch, then I will check contact and alignment before closing.\"}",
  "call_id": "call_0KhmpBBCbCnuFaWHPNZCNi4N",
  "id": "fc_088de939523e46cd016a7d00b07bd0819a83cae8585895f0c1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0KhmpBBCbCnuFaWHPNZCNi4N",
  "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=-0.4808 left_j1=1.9575 left_j2=1.491 left_j3=-0.8696 left_j4=0.0067 left_j5=-0.5064 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -8.2803, 5.6547, 0.8327, 0.0317, -0.1197, -0.0122, -0.0205, 1.6068, 7.1863, 1.9756, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a882991b506f8ffd328139169bb831f3762e9b9377e1361be0152ac2f5366e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9b81b7bfea78575fec87788f78a1e77f55b7b18c85192351c5ae30f715bd5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8685390c84abf80d2a6ac06b930d51d22fc65033bc7fe34d5d701b1c1e6ccb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4988 left_j1=1.9434 left_j2=1.5158 left_j3=-0.9005 left_j4=0.0105 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0517 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [1.5658, -8.4171, 9.306, 0.862, -0.0317, 0.1343, -0.0073, -0.0752, 1.7162, 7.2, 1.956, -0.0513, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQC2A0s5z9V9Z-tGpOLoyIBKgu-GgXIail0y_f9KEBs7d0m9VEomIS0PNeORs_ZkcUWYId5kOIyE1j_b_OUUnlcY55IYiPM-mWXGG7PFMu-q7Sq2tMCqNhO6iimHkOtqLP7Glg-Ks9wfAQS14OMcLgClklW5-zetf8Vnovn8CxebPTMvVZ-RHGZva_joTX_0xO2xUZacQRqMDL80XJyGaXHWgbRALj4VVAkAONIg337lelGHSBd0TL7xRyvt1GePNebRbfLRHBC6Z2XmZSR1JGjVFt3OegdXY6lPXlH6ODyW_PP0X2PujXPuVAAkh-6UeX25tT5N67uK9oddPwOyTEOwfnq0q9Onw3PKggx7ks2LWWzWhNHUv1_66S1pNSegehEPkT43I5k5jFA7lb8Td60OxfrvyL3_iXB_Bovl9Xk2X6rznYBMjOZFykavBPRImO0xtQ57roV6G9BEMOc4uvwP-Rw1IuRyjwNZ-oc4Dbo3CfLM_nKG2ugn-Oc_9_Ud9E1O3aTC400BlsSvMsnIGnxqDx1DoNyI84NEr-1Yjc7fUXTP6VcL6F_vWKeVYOGRtMcRCRNEk7AU5uwBzeEmxdQ1o1WmzuOcFfm30L-_OFKb9reMso-_pAHKOr9OAm13ztOVBt6zmI1OoM4ugBU7-_3rcJn-KcuyBm9WnDAZhJJkyN_P-KO_KvgqkKZ5QHcSON7aYiMetsTkYPaxiPJpNKzu-uZT1DhiA0wfpc3Zj1f073nqO6EasThV-3Rmoon0iFZVOYryeypTKuB0RIdirn2Ezmc8Ek9XF0tfQAR-1Tt-qv4Psz127OkVqEGxE6V-BDRwtt0maxxNVxDwYR66CgzQ7Ao28-XEqLnUd85D6MRSgkeFTkQQlUhhv8ldA5jI578Cs2f8b6bs_EUi0dOz7lsdAiRHK30HNgWRX80e7xlS6vVX76NGi_JYsRCLVfYx7Q2iLVETDbukMygwiU3YIWrhoT1A_I1T6Kuo3tqvhHJSkKLVp1BRayctiB4cwwpaWvxfRmKUfZ9rohRACA5gq7OEKVqptivGok-3b8MYKQ8-Ivi8dSlMR8NMB099DOYbrf_IIuTMmyaFg4AqTIgeCkr-OY8aJsqGEw0Yw95YzUqHVeP0VusPQ6wkVV7eJLT-cc65f0DKVc9zMGhXJGkKzOfx4QwmbKVl-Zcln19xRm0As6M671EB6GvxKW682S2FuAeKm8euPtzjdhDDtUahZjJvHGf_OFwP6bTxUz9M0lhcoc0=",
  "id": "rs_088de939523e46cd016a7d00b3d30c819ab736751ef6cf0588",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.98,\"left_j2\":1.47,\"left_j3\":-0.82},\"note\":\"The block remains centered between the jaws and has shifted slightly downward/larger during the descent; no contact signature is evident yet, and the joints undershot the requested pose. I am reissuing the same shallow descent target to converge before going any lower.\"}",
  "call_id": "call_7BIhEUHlHRlLZbeoRDEXHOtJ",
  "id": "fc_088de939523e46cd016a7d00b51e60819ab180b2368e000426",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7BIhEUHlHRlLZbeoRDEXHOtJ",
  "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=-0.5022 left_j1=1.9789 left_j2=1.4677 left_j3=-0.8413 left_j4=0.0067 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -10.0718, 6.2701, 0.862, 0.0024, -0.0366, -0.0073, -0.0889, 1.6205, 6.9949, 1.9414, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70479caece797c4232555f55db6f73e4bf39067786e618d0c199497e0c16a653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb73c596834a6445156807850d9b58da1aa66f0a15610e284a89bc4f45759dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2237f24f7d4d40898d7599871f5538d899fbe1c11fc372070f464dcc4408344a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4808 left_j1=1.9575 left_j2=1.491 left_j3=-0.8696 left_j4=0.0067 left_j5=-0.5064 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -8.2803, 5.6547, 0.8327, 0.0317, -0.1197, -0.0122, -0.0205, 1.6068, 7.1863, 1.9756, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQDCncjF0wP9jrKLyfk2XdoPXAL6tPmOI2KwvR-wrkXm145BNyPH4KhXw-PUMTqGB20VMVxROxCAo25Ljk0tI1M28GmvfQpRHqU2KXX5UAc8sD4sFfO3HStlZz5osIkugezZ9UZ5bD8Xz4132bbst0sN-2BymBLaziHhUCCGWwnybDGemJH-FANNgrfMXmG7cBcUOEFa0X_sSAtXq1wYgT9m82I3Pk2CQEfx7tinptufUolbdxUWdVKYOtdhZDmstfE-pMG9e73epbxMcgMryINBDvxnKR-sbIohKV2xEWryTRlQsNN92eGutUhI7f4tTHhIoIaAvkECvUDVkWhKOQ6evE79pu9kb7gRB1K9_Cm7JZ-7o8KymtIlVbctYpHlJN5p-DTDvHkrCuLjqShXqnkLiPYnMiJAysOPUwcN6vSOOs9DKAWO6j3KFT4sFVZVYRXBmoeqdGzUYHcwGVXr22OhCJQdtX1N69iX6X50afGoaL_3iTx28g-AKtS0jdmbJbGQdWt4XJK8D8d2lZlgz3VGJWCmHtpeOqt0alxKiUylf6c6MVmB7Xgm7DYJO9Dy_MZ6floMjnaMwGojADqMlov5JTXZThmBgMW8NpeKvB110DF3EBxwLmZk0r_W0Z7FRL1IxrgM39FJbeXt0ZUf5_VjIzzNV3g5QYCKmVuHmydXycgOqhod42xxdo4KBrOARCYBBJWockccEV_PS6r2C5A-8M_W5UO0N4eobIHgDotWCOPrijrwpjj-Pm9-VaUngt0IOF6uvJ8WNrfhbgveM4ItCoi-p-Hvz9Sglt5mtckWw8CtnTfsi2hyD92m_xTOYo6PJ0i1cT2KOgl-l65dYjdrFEZHhB9cs8CXxcgkk0vnhqny2olbAzKwJoct4q34dr2FMKQc9mlTf-1_CNJA4Xz5EqniWY7QpLVVl5ifYFfAKocXxVYRQ0KgtOWjnQXk2MOD9eRL4G-2bIwPzc_m4GjXFZKJEIIOoU5aVzlbY36Jh2QAgN6mEzWXMEyH61nAd9nOeDRjqaMnZ_SCufmFOInu2N77jro2eIUfSm9jnNVjd5SqqmvZUGo2TlN13fd6MgbjGT3pwoB1AWNbVxxqASFnd0IQXXgmIjIwT72MjmPnUIT0D3_7T71Z8U6J4ePDVMkU6QtXncVMJcLSiRovCfrNSvp-Y7upL4zDvw7Q2cPtMk4B7bWaivMbVvGmhnGeNKyut98Z3WM1rQTh7cXWDxWqFzWVx9_L1MI9Gs-uND12O4ExOB-ukOBQ96VBCf3PFsoktafzsPr5G7FMjcFaIGPuAzFZmcjn1MKoW98qoTenG4oaCzRXl7xfeYvT-w5LgX7dE4glE9OpghJFJ_9BezYPpB-d6f6T0-7l-0bL3RtXGzmjP4xYfl1tzwh2CL8anOXknvD5kl-wDuStUabSKbj98a9a0IdxrC2-ttSY2l_-6tRYkTH1Ljss1_lQhdskjEeo4KTppDStIVMy7Kcau5SZfQnkU3PI-8tDnisWN2zcCWuTRD8fwqGJjMWQyKdeFmm-LhDNR2yLzTfkawHnfKWEkPfHFPWWP5x17fYJ1FBfH8aD4Djv8fU7IlA-rRD2h9xDNMZ-jhjtfapQ70WKir2BTZ6pWOgLvBqKrbS2g5NUNb0Wv9TrzpDwyDasvuq-oHNduxRnnzXcm1f5i0fKbz4j-fOnl5jvN9QdOHrru4pE9ikxiPRUgPrRg2jFcmXtOlJgE8vy_DPC-Lqj8OR3fcTM0Zt7NbJJBHewv4f0P0QDF25ZUme46G79FLcwTHTBMPmwIb_sQvVMbq66qXucfoGaXkdvtDzQCdKAPVRoiXwX3let2raYJGs20PO9Uw23lkFa",
  "id": "rs_088de939523e46cd016a7d00bc03f0819a82b16348367f21b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.02,\"left_j2\":1.43,\"left_j3\":-0.76},\"note\":\"The gripper has reached the first descent pose with the block still square and centered; the fingertip height is estimated a few centimeters above the tabletop and no positive contact effort is present. I am descending another roughly 2 cm toward a light fingertip-table contact.\"}",
  "call_id": "call_W6hIgS3VnHLEI5p9VgJysOOM",
  "id": "fc_088de939523e46cd016a7d00c0a03c819ab1ab56020334e215",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W6hIgS3VnHLEI5p9VgJysOOM",
  "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=-0.49 left_j1=1.9884 left_j2=1.4502 left_j3=-0.8066 left_j4=0.0063 left_j5=-0.5205 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.841, -8.2667, 5.1487, 0.7741, -0.0024, -0.0073, -0.0073, -0.0342, 1.6068, 7.1863, 1.9219, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f962bca455ef9d36c85ba1f6a9d66e495046a4ae4671d40d7f0f2e35606b5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ea1b973c6d32369c77b00a13cd8677a903a817d31fb6ff804da4be54d02287",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cbb63ddf351fa881569c45b76e5f89521eb85936df941e3c5e9132b0bc4efce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5022 left_j1=1.9789 left_j2=1.4677 left_j3=-0.8413 left_j4=0.0067 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -10.0718, 6.2701, 0.862, 0.0024, -0.0366, -0.0073, -0.0889, 1.6205, 6.9949, 1.9414, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQDHYF5BDrY5_e6bDRFWWksXX23vhXugtveKQxMRLjWII5Cnpp4gi-zwvuhKwdmybAhYsnm1MSnRXUUM2wMsspUKEPT0FIgmciqOmgqacyDhVGMa21lk5Z417bSGTMnXPVe3s81uZfFUGDweC7UcIrZ2o0q-WIcvd5cXQp7vv-cK2a5wJPTCN20DQUs7PcadmnZgZ7AqYLZNuEmpgtt8Z6Y3fFg9PN3mO5ko5b4SwpQkf-kenlv-ssvFuE6uiE5hKrR9hFobN9nsf1GKKjQAPEKQRLxA3R1M1stZczneya7Fy2FMqcIiVvTuxV_w6aAUX3IrAYq8peRwXxL550I4405s_U7NjkfKa4lKfwwbGRLJ-BA_0effDpBuT1aVTKe318sLJ64Q5Nf3SeAaVcDLocywgTi018mbSIN274-DlQ87-SZZP4P_UIDM0Yk02zfdWvXXSwlGftKTtvEKXDMVyCyhMULFJkG5w-wiR-7CVqJpt_fBlmUxRDAMRz48Vlb4pLZ97XsfXwJJ9PT-0690DbfpovhJ2goVgpj3oTWxJ9Cnh_3TJX92wOSbCuPTOuVex_lfrekAtKmdIlw0p4HstXVyhKY9fisqJvDejh5yqztfjFsRC1A4MtyQcDXjzaVFQXst2r94MGyRirOLAFS7dipnTUL_bTFkPiCltUd16ItZu1Y3wGaHqyvPdsM4Ew6iyOlKlts0CKyBkJGb7b4M37UZ9ubDlnaJF26Vm4fVkG_YxgWw7ywW_RCe1DCZv0S8fWQBTnOnZECzRk82wVqLTflJrMYdSmrgWy_APXQcbM-dasMdlC1lr3ilv6BLBOGzp1Xp2qDui7GnKVIkeYCY-sIbFKg6xy5UUp_1qjmu1batgAxiqSwZ0tMP01gNOdgUPLz_Lolnvvqla5D5QSvhyUroaJ7L-FBBfl2aB2ahQ6TOLNQVuv6aFElN_cHNbVjpDV7kS0ylQqhjb9-aTghGxfUPwjAtAnMpbMym_66ps4A_xvw=",
  "id": "rs_088de939523e46cd016a7d00c60a58819aa57cf94bd0370a6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.02,\"left_j2\":1.43,\"left_j3\":-0.76},\"note\":\"The controller stopped partway to the second descent target, while the block remains centered and the effort still looks like free-space support rather than table contact. I am reissuing the same target to complete this small descent.\"}",
  "call_id": "call_MdYo6i4W51AfIuvDJNRgNXXf",
  "id": "fc_088de939523e46cd016a7d00c64a98819aa9deb6606ef906a1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MdYo6i4W51AfIuvDJNRgNXXf",
  "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=-0.5041 left_j1=2.0182 left_j2=1.4273 left_j3=-0.7765 left_j4=0.0063 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -10.0444, 6.0376, 0.8083, -0.0415, -0.0415, -0.0073, -0.0889, 1.6068, 7.2684, 1.9219, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b667c06c7ccec2ec96ce4864c831e2b7d22a1387104b7df70a3ffa2751e6e5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8890c58a26704a1289a62e8a095ea56db9ad027b7acd459e353be2d8d07d4dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:189bec7e7c0e29bdf08fe42d2762383d1ce9733e3e52bc7d37039afd207de480",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.49 left_j1=1.9884 left_j2=1.4502 left_j3=-0.8066 left_j4=0.0063 left_j5=-0.5205 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.841, -8.2667, 5.1487, 0.7741, -0.0024, -0.0073, -0.0073, -0.0342, 1.6068, 7.1863, 1.9219, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQDe2QCdO_o3h1QzT6V2BSFPC2inBz-s_71kRMIn-EuMF14Md4L-wy2nO41mLtQEQ1Xn_jjo4Sd-b1OT_blLzc_oYQ6chl3uU3aZ9IfMeVNMtd_nttjqDcA7WQj3wUK3iKRnQSmd3SS4qk0v3c8_to7AHlj9b4OlcUch9PQcs4EPuNt8lfKsAjcNpWRyapomkl_kkz9rV1YKgcCeUhX8U55Z_D3h6D9w0Ev0u88ZSKypQshRo1Gz8fPA_bGaF-UqROfZNVnPhTP_q3jsV3pYwsqcopqr51tILFBEY6UTFd_ZULD2zC2Xb786om_enTNCV0lgHMqsknseUR9F6wyJ2zLKK1zzByiA_M1QGZJwPU6MDFxHybyydxdv6K36MLhscgsCx0AiSnlq-SOnbAaDeez25ZMRRZntA_IoJJ1ehDAQ-qFKafZTV9t_gWADaXWwv3_O4MLL8JLUz346r2Pmlt00QFPjbIwB1m4Am4VCSb-DCJCoj45hR07-g6tWLlhlp1kdOv2y9JYDjVUNjPEw5kUj0ds99LYT8UjUq_3aWRqqd5CBlnGBkPrmZCX4yiLkbE7sFlRvsPniTnGYeX5u-2KRBErYE3CbVUHY1mZToZan_ZT85mskiIT9fccnJ1k6mUftFQq4nh2_XuyUG9S2PjXEKcafeAkn47rgjEpe6z60NZ9Na890vDj89R7yMmrixTWG9pILjezJ1Q-ak94bfF9dzxuihFAYuPvVNY_BwUFREYIL7Uy2I5WD7zchIRJGB8lAMSk4soqA4bP4EO41ZQJc6nslqJ3AGziDZxd48_Z228GfVtFvs6TmscfDiN6k374szhA6YV4KLeWMYnrPB6mmbdA2KTreS4Lf3Bs2bfmDLCpjYSrpPzQhUPFWjQHFIBla9_JMoJDyw0HiRXGJc8RxspHDSsdbh6uyzMiOKdm6s45irUnD3shL_7h6EkcLDp3YH7DFMwHSdZenlJcQNlkqknuM5cSaykaTwxp_ax8YCcb7k_nAvlVdlnS0qRzrtr4tar-pNjuxQsXzN4B2O2MKGHw0VnH8XQyysZrwu264EIIQyS9jgR16_rZNcpZWrQZRM-vIkxlQ8H2NIenTAzKK_TZjc7R4lYvS2H1jRGqKq1-Kk0SbQasFDAVjyGqMYilsGtNwsi4PzLmN_TQ98PWtCXhYvdK4I657njNsuzQZ8pGAWFtlw81dBRS-Vi1ev9J7t7n1hckoJcWDfgSrfvGAHlyLnQHjH8AJ3tz6gKjaG_mLnXMlKRBem677Gmc4_GJb1W19n513rgvDoy6hxqttE-rY9gDY0zbhyZRZdG8CoCXevskiYU9bqO3sCTwfzpzakx6ds-dbvCyTIwYl2Bo_5g3obilGS8i0rf6-sbJbe9ArTYHGg7QJQCEx-QHn_G2Xi2p20DbATuTfX_lJL9153qzzhB6PCvWL4boOzBLNj1PDzJOhXLGjO43V3ivYyR0PyoMgnLL5EXS9esJlyt2Ls_zE0gDNznVU8dBVWDfQBcWa6K8j90auGsUOvDAUakG-f50bwhLacQlliqXuvgVfmMw66i0VHefWe2knJFCvwlPAM9TZXp6V95TuqFPJR19Ma2hdEA3UarE6K3yR9l8J-8fJxsFYTbDebQFocdvcEy8MnrtJHBvnBRc2ErRpGAyBf6WBa3ph5MB4b8Bl1hTnOzH3zyhsTKuKsg3JDAgRpW_sv--SKvI1UC8hbba1-OLkEY1t02cbaXEftliVMOgEenswrTgY-9pAuLoRRpGrwjii2tmcdgESMJR1c6sX5ezU8wNHNRBc6AugZ3_rnqGkAudjS_OFy3-7q3cHFnYMzTE=",
  "id": "rs_088de939523e46cd016a7d00cdfbf0819a856ff4572d116dd6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.05,\"left_j2\":1.4,\"left_j3\":-0.72},\"note\":\"The second descent completed cleanly, with the block still centered and the FK estimate placing the fingertips only a few centimeters above the table. I am lowering another cautious 1.5 cm, watching for the characteristic stopped descent or rising effort that marks fingertip contact.\"}",
  "call_id": "call_XZKPOEEOF15ewurZA5XuDJuP",
  "id": "fc_088de939523e46cd016a7d00d9bce0819ab3cbac9ca691832e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XZKPOEEOF15ewurZA5XuDJuP",
  "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=-0.4946 left_j1=2.0182 left_j2=1.4277 left_j3=-0.7769 left_j4=0.0063 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -10.3726, 5.9966, 0.7839, -0.0611, -0.0757, -0.0073, -0.3077, 1.6068, 6.9949, 1.8584, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce8d3def0596a30c5fe769385d09e5a65c78d201a9bbb6390b288e855670221b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aefc09635de2611ebd5dbbce863d1af484b8fe7aba4613bdd887a67333a9528c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1b57193943056c6787fd1a42d4cc9e83933b3b1fa8136e0a9326349c2dcb00",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5041 left_j1=2.0182 left_j2=1.4273 left_j3=-0.7765 left_j4=0.0063 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -10.0444, 6.0376, 0.8083, -0.0415, -0.0415, -0.0073, -0.0889, 1.6068, 7.2684, 1.9219, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQDkvuYehKZxCk2Nr_bryPRA9FkM457XWeRf_ZlTTxAITuYWBxS1HT_aIAzA4BQUhZk9ExngQirIaE_CZ-uPdiV255Cq3livsB4-ReC8PgOvUThESH6Ic-Ods0K5wZQyw5MuXOFQQltldFQ7UjdXA2DKEpKThMb-XlZqCguqtV1NjmGgDo1ucmqU3ztR0T0qHSGYsOa2pbV7Weu3mHWxFtLvJZxUKYpcpjUhoIb0rvI6mtTIZr0hJTw9uRx7rTjEYhz_pYTXLhWvPuHfZS-TC7RiWevwulZcvdKK3P6BVtQ8pHITV0DzV4yX6uqzz5G-QImMUYxQ20ypCuB5G69d_JGZtv23_L-9qwQvarah8Afg4MDnPU7pPzi9YBW6v1GMPv0QxSGe7hWcDsRKEzcM-yyJuAXHKnbcDoF51t5nREcm5s8YWIWq5HSduQOki48YMIhrmEanwqpJ5W3ru_ihWIOicLsLWQ7LRm7f7OCQYpM4xXSLmfXHR73yM60--m_uHjpEFQ7x7yjn_56G0ylL_Lxg_jZbt3yvxfUGGMfzESOtaSMvlYx90mYykpREPxuLCFrHiusWZ882nKgDKz-cn7N7FXCAui3OxGlx2YdJjDrs79tqEcbHLXeNXyJJ1YPxXsyaujJ9NbiUAf40xxEtu8A8Xsm6UQnNoiFwjNcAUUJON0FltJaDMUQJPSiqSTtbIenplufdBXjgq8wL96mJdTMyFZI-NoFVv2JwhGESDZjjLdzbZAOkQSeusPWgfcBdUVi4sQzEhDN0dcGspYHO_Cm3QcC1qa6BlvmCJbcenrRgY4Mdf9f6fbfH8ovwiE79Nu1vUS7CLnsZBeRhp5PSXvLhK9poLwVFxTDuCAaIRErxdJXsujUm_0OloUOWWL4twoAIwXnAksVyB5IO75bHOUNdJ8b0ChxLijNqIHx4ukECuSh-a2lW__FvmkjAdQODW1gK6Ar0Q7qw1wbY1fR2_7HExWUop2HDjRQy_KZSAdkka7XXKg7mfeG1NEIe4AHv-oPbZgX_RXmkHt-ZMYwfZo5_V_H8r0xEh2k20BsN2xZeFe1ircQYPRhjb5CbknnFbS_m0OL4pRchTFo_rRDN3KVaBWXzGXd64G59X5AvmTJE-eKZNgl6uu5WG9IIH76bKCosO9AP9jbr2fPz5l1ZAFei-kjX7UqwLTMFrYwBsOgrQ8wYOE6VO_iqMv4A3I0RxmNbFa_8G6snjL4__SOqAGSkzk4X-noS0W_K4P8TLNWaCvoH9pdHFqIupHVF68bFPzU6qv50tjqeJa_NbFzAZcc06JfThGJVnyKkMXqE_MrOMhIhUsXeTH-i5zOt-zvAtFUTnwiSPF2sRXusCY6eEofkf3IYOYSro6UuHcGkI-ijiiCDvdxcEc4OsTsdT6WC7wrIXFXIQF10oTbO3u0Xh1qLM_eXNv4jsTUcQCX9KFSswjY=",
  "id": "rs_088de939523e46cd016a7d00e1325c819aa7495956d995e34d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The commanded downward move did not advance at all—j1 remained at 2.018 despite gravity assisting the descent—while effort stayed negative, indicating a light fingertip/table stop rather than active pressing. The blue block is centered between the jaws, so I am fully closing to grasp it and will verify the residual thickness.\"}",
  "call_id": "call_uUs97Z0ectbE0cYq4btmSQWq",
  "id": "fc_088de939523e46cd016a7d00e2da18819aa5c02c4ada5e5d51",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uUs97Z0ectbE0cYq4btmSQWq",
  "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=-0.4973 left_j1=2.0441 left_j2=1.4082 left_j3=-0.7807 left_j4=0.0063 left_j5=-0.5232 left_gripper=0.4501 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -12.4103, 7.2, 0.569, -0.0317, -0.0171, 1.0281, -0.0205, 1.6068, 7.0632, 1.9072, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd012f33bd3faf6222f3da0f3c7c77070be68c61a792a7d69344c3071f036c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a90d586e957d37462ece9a25d633b426f838f36d6362fd103fe163997fbe92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51d2857a9913003d3d8a67e9d1a76178bf085b681434aed2c748e90c00dd9976",
      "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=-0.4946 left_j1=2.0182 left_j2=1.4277 left_j3=-0.7769 left_j4=0.0063 left_j5=-0.5209 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -10.3726, 5.9966, 0.7839, -0.0611, -0.0757, -0.0073, -0.3077, 1.6068, 6.9949, 1.8584, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQDvjI56MR4s71a7R7YbUlBN8nYBZhKVe1enPcP-JBxxDe9nO9UEuzRC0rKM2YqJ3Wn0GvmfmLtS7P7jtGNca4VEJlFgUtPFFlPeZJ0x-GfDDIfnzDBAjluj1WWRZHpyFQO5BnpY6uT2eyq13kWONRQa1FSKVSnocTt8FWxpt2LmXyCfFj2LCG4v7cn38bZ6D1hEVODWxiJ6h-vDMpzVZsa3LOLXEqGoSMHIg7UziBk55G_kUJVCob5ffQXBd3BZ8L7CQgZAueZ5UO8uA3TI6XjEHKXDYJfiFD9UAL1Kzw7IHtGq0lTk_VjIQzuiGufUTxBYQ2wwBbsZjQuoceyLBRp8V8Q64q3w4QCJNtpCP6FZFh2DiuQ-VFObljW4V_23ld80oOkNixYzGgWZ9KYtZ6-rXLMo8vyzqCN-GIJbcgqbwumJOMcafsbzseB79sRutAUICoHdvoOjFFeYPNryZ88tEAfgEZfNKDCnBTzEPgFkW08ZsVez5Dd_yIhrJa0cgpA2UZt9tHRP567BFOjrct9x79BGLvEPp9ea6ZuxZvjy8xCOLu8snpee4DezaoSe_zznf3GLVnkM4PD5C-XFvUhW1YjYyKYJ6wcqmq8RLNgJ6sexTOpupyusb1x6aty3dWUpNcVt-_7xEzBsExfqL284r_sAc_gK4C6oBQuR_rzNzaDRPDlRwrWdvRsiQHaH7Ru9pj3sxw3LCYQdwEm_pXJ3cgPP3UzrfYYNW4Fu_5sUa6JwxVWsCQKwEmY9rA4KxsWv6CPvqIR9X710SGDUaVFFt_h09zzQ0_dSiS1jNButeQf2YftoIT2BxynRzyjtJSlkeTfF1zYMcA6L-52KiZU_6g00nP_rmNmYmMY1aRR-RsQ1L1mjQR2wrQrAZ08VwBx3VI7bvCxsSCd74lXayFn5fYsKhurm_NGg44Rfu1oyjen_mPDNdNhxvU-y174ZDCgJ-uMwP1pcNGpkqECbYpx9kXmbt8wj0GyFInHDi-2wKeCG34jULp7JrWlqebzeTBscjnTENVeuGlKv11JjL5fYGY_0NH0F5fYhMzXHyJxSdPcMx-TRAy83WM9byfvk82m0fTY7fVvLK0JpX1aDdz-5_9Ui2kqtntLuLHXd-Ana4C8aiMfuRtAO3Wxr5m9JPKXDUutQZSHbZeqcmwjnD8yhpgFzywGAhfasoJ_QCUrpTV5EWKyPt0tb-EVUQCliIIMbfSP5F5tezI-dh9bgeWVJ4OADVR_-oKXbOTbnrIKUVnocmcQooe6XddeD-N4xk6ZN0qVzvULezUvttWtpPgmNiI0B0kSVupcVXb5omR-TnQmzfl1KpEQkxLNMtapUghMFcUP3yWCtGcP4DphycvGCPgwDZHmAX6d1XEPVXBnHPuXjgb4u_JeZMqJqiQGOi7IRVjxLVIhoex8JYi5QnLcKm3sIU1REJ0MZdeesZ-NTHorsiCeDBi7HQAAfqp-boWSBPMOp88O9hNYfU1puuwhD8ZmGAKYDBblfH0D_uRb2zNaSvMGnHnG-vCexfOZQ4e8mjQ9pD_3emBwDQebVVpZ33M8MD8zoRoXestSHLR92dRJwaA37uRgNq5mOxiV3btv1vVPT5JgjkIyTh9X-6jEehM9mjC-gkn1ewyt_QE1U_plgUIqz4PA7xKu6vzkPXlA6uJmPC12uCTWw5HhouRbfvG7lZvHegV60NSZBW4PMcHPzczrTDfxm91KLhvpmtbGrpDKQwIyBPTuvlGvJ1yg2drJsKxCm4KJTE-7b6y0yxMsU6_x0mMHGBIiED_WPt407nr8m4xZbQbWup-KJUNDXKAU-yue4BDqZ-Bs619WsjUng0TgWsEOTRO2x97Xo6ZgYestDi12WtnoTko9xeImwJqU6drwO-fNLedMC4R-32CWlX6QFQ7aLEI5d0HKWtxCNkEes6a29009lDaB0ujZwyOTb42Xou8Jow6UYo1ErVuwZb0loHRqp1vBtECN0Uy6hm1JhAiz7mRApQVw5rZShRg==",
  "id": "rs_088de939523e46cd016a7d00e72cc8819a946f52b4caa4ef81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.9,\"left_j2\":1.58,\"left_j3\":-1.09,\"left_gripper\":0.0},\"note\":\"The gripper stopped at residual 0.45 (about 4.3 cm) with high effort, matching the cube's width and confirming a solid grasp. Using this contact pose as the height calibration, I am lifting the cube about 8 cm vertically while maintaining radius and grip.\"}",
  "call_id": "call_aQYGDna1av6SOiKxfI9JMeec",
  "id": "fc_088de939523e46cd016a7d00edf708819aa2abe97a4240aad5",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aQYGDna1av6SOiKxfI9JMeec",
  "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=-0.4976 left_j1=1.945 left_j2=1.5417 left_j3=-1.0264 left_j4=0.0067 left_j5=-0.524 left_gripper=0.45 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -11.7949, 8.253, 0.5836, -0.0269, -0.0708, 1.033, -0.0342, 1.6752, 7.0085, 1.873, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7550dfc57fa7851e79d12f5d80db6ed906068cb4a1e2bc1e51b9dc846950dfb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc179e38947de4eb265e337a07ab4b80be32e17c787266ae23e9e64d4a7f32d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc03aa22c2c296d9e04fbb42c2f1453b52a6fa35e7ec16cd67894a2ee61ea19",
      "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=-0.4973 left_j1=2.0441 left_j2=1.4082 left_j3=-0.7807 left_j4=0.0063 left_j5=-0.5232 left_gripper=0.4501 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -12.4103, 7.2, 0.569, -0.0317, -0.0171, 1.0281, -0.0205, 1.6068, 7.0632, 1.9072, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQD1IU3bOyM6b7TgmwzQNJYA-HxvSea3h5XrTy9X_J4MMT6huK49_kSEpmu5ODjPzYvUrMcMfZUBdz8AgvlmuHadvWQLH2j8FqKLRO0SJ3fmvy_BSuN9qeXYg6a2FQ45DAvOcrFqmyJwqS2mNQJj_oQRW20YvNtx7BZUyoBA3wWLRJxdbIAfAnbcOscKZT94623OaiPLOXBsy0mOXdm_7CZk8UNy8YJKC2-8juob5ZksCReeeKtJ6lReAXyEdOowH3UnHFTocTq8w1rbacpNsvdozIknx_K8g5g6yf_BgdhptD-z19Y2GaA2XCJIek6OUE57HLx4_ytHq4Jmmhw7-fSgPqQecWJeUa1p1J7dxMTzi15hmezn1LbUp9NtiiNZh5qju_IQXyli4P4_RgzLPMrG6LU1u7so3EsTa9Cmyl7iuc7f9EX5L5H1FlFI-3m5BjaBWFXeINyVdJFfyrCSZNxlmCARKBGCA1uWNv14_M1KMcVlSaa6lC8y5KWp2ODTwJcBFAnWc1o4je3N32amBKROiwYgShVyeI0cVkoejr9_xlpHRaSYKX3ApHQec66iLO5z9uzUSApB2l2hPr7f1ZXu6zCtP6hSqtWlF43uG3W4AipVCTp1Q6zjphpmEFII6WLus7he1enGuuMP6a6evKrq6MxKFInYdMrd2QImWMehC3fNqtQ5jyxS95HcTHxRqz0Ek9fgeR3fcmNJ-M2aLTes1ffU29H7kVY2_Ogd5KGh9VUg1UiE85YcQ-t-ZgzbgoUEPCqX_qt327YZPZLqlVtMXMBZXbFgvUmSj1ds_bokmYw5y6YVdqnpmjQyM7VJ_HXd8MWlba9XTSsbiVAzXvxLWG6jdAUzmN8Pkp2V1miwAj14Vy31eBDJGHvAXsvY17sL2ytJWm4qKMowBzXUxy0RaF1L16dXTTzWb0Uwn-JcaG3SgiZn9GGhDyG3leQyNG8dEACz4uJhtOJg_iiUqnVKikXubF05WxWIcnyjcw2YGm3EfAx2nlOU1cPqOCW2vFl8b2tx7XNfDdHL2bJI81pzEPQvWJovuZt8Diu9kBSPV-XbNnNyo58OFtzSUV6ArNiahGqHPewIxkjNOAT6J8xtDg==",
  "id": "rs_088de939523e46cd016a7d00f2b68c819ab570e3d9c6ec905d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.9,\"left_j2\":1.58,\"left_j3\":-1.09,\"left_gripper\":0.0},\"note\":\"The blue cube has lifted visibly and the gripper residual remains 0.45, so the grasp is holding; the loaded arm undershot the intended lift by roughly 2 cm. I am reissuing the same lift target to reach safe transport clearance.\"}",
  "call_id": "call_BHmZpe23MnrnM4s9IY31YcJC",
  "id": "fc_088de939523e46cd016a7d00f3f13c819aaa586b7171af5d8d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BHmZpe23MnrnM4s9IY31YcJC",
  "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=-0.4976 left_j1=1.9156 left_j2=1.5631 left_j3=-1.0828 left_j4=0.0063 left_j5=-0.5236 left_gripper=0.45 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -11.0427, 7.3094, 0.4811, -0.0317, -0.0366, 1.033, -0.2393, 1.6068, 7.0359, 1.8926, -0.0415, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db0c0e30de8794d329fb5bb6f1b846940908865795c43bfdb7792eb62d3c519",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bddd0216e1340fad922ea2862421bd67b0c45312c6a977b0b742f8ab3b006344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f97cc02b451ca23cbc5cb6c19b22b39741a9989576700fdf463980a76d0f13",
      "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=-0.4976 left_j1=1.945 left_j2=1.5417 left_j3=-1.0264 left_j4=0.0067 left_j5=-0.524 left_gripper=0.45 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -11.7949, 8.253, 0.5836, -0.0269, -0.0708, 1.033, -0.0342, 1.6752, 7.0085, 1.873, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_088de939523e46cd016a7d00f740a8819aacdf0decf62c8326",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQEMKhVaklSEFW2c8rbFL95QP9cLEKKY8CAIavYJhIR3soa3rl7QS5r81aZJdkiJMVeH5hwxDfsq733ZNKzfurNOiWcIRrnxF7-DaXtcoMj0MflpHwDF4ZgjJzrbYQAWGRur7pEJ1IR5OxqzU1h4ggkjYxZ4L0zqOrBEKs2AWEHadg7VBFJKtCZmbM4kGN4q6IZ3Sk__aUd0x3CyyCM7ky6bH6T8fSnpOn13Z9ZE4iksuVTr1EjPM9ERV5ph8_5vQG6E8fqnlTSrMlXtvGBrsMZPlooSb9mKw-6BTEsp2pYpSFgem29xyrjRdhBbvdFut-TXYThh75pmZKEToihxKjl8jEHH3WSy3bE9nkoBftc8_DIay6Ecz2ZtI6FrY2LItXqRuDkk_m229lFSc7WRJwHT1DiTvHZDYMwJsxvY9o4Tw2s6JA4meVxOySfyb8HjFZC3dZLy55ZTTig3OieQv3soDEoDTiT6W1v1FNFARzC5PyMx0YB-NClj6e-htovJYNH_hUWbNeR2hK6BY9U8ggUuErkQlNlB8hLTlaWYiyC84NEiCVzudMBO3w9Hd--XAFWbGlssxriZSNgDnyZxGtay7eRN7v5SwwP0gzICf7UlW590iUdap0J5wJw8kISOvcd9u6F15NBUbq3vO9z1NLYBMwMNpJrg12v_BhcPha2R9fCd2PFFCCUT0gqoC1ajuMufFufIFJs1YVEQQMBBlXCtkCStsc1wN3TZzVh6S41Td0_pkc1GYV2MmARdarvIMDImTvOG-R59al7vqxbQZL11O_pdB92vO5xbeQuGq219bsyR_f1OdjJ-U8fhamrCjYZ_x0Dxt5gb2raIBpBddIOje_7J6_L0oNR9dADab6jf6XjkqisRg1xzjWwYMZiiimTko0TbbpjethURAo80dmWoFMVwEoQVDCby_jZEZoA3b_21yz8-ks9wDhWSjC3lGv-7zq_rFo_EqnYiJXvL8T21gi_gcOH-w8JYcwIdqBqj3-cU4p94j-gC5Ubtm2wpvf_t1DR3I_VuQaf1O9sVF3I43RcsrpDYiToRQYfzjv79tx2jqfeMObevHD10D0tV_jF8cE6vqhT8PfefMfcgfriQLhbQ4rfH4ctIvxxv2XyqLAqsD0ANPkJWppxkbRqJ8oHTgXIJhYK0Y5Mz_62105B0VZ4_zqjaXKngJorjznMPLGaRQ9YebR_NzoB-Q7fGh_KYVIMYZTYi3-dTc6bHUZ47BoENF8V-La8YunIwPDSUu6Yuig1ml-vsRpBe7PA-PLL9X4Ex0bfsDOHosQyXT-caLjeYCCd-h7ampOAdMX8zAkkGq3sWVYNXlxFYi9GK12tlXGq-RPOO5awwe1YyOB6OVFVWeoe-PafLCVijE5aoGC_SFP1gYfUcPVjOxH_dmAAVrWiZxECWoOkiRuYZY3I1ToTGTz6C45xrJaFJ_9n5uDpxcSV3slnhzelZJjBxs-p6rE9tXglgErGxOa1GQjeh_43J-EyM35_F4Uafm97kMribzqlDLt0k7YLhExr4WoOrQ5LNWVXXBaZy8Go9lYiKo5hgJsDcSRamCZrXYGVC7cXPX8UGj7ICMXY1pAL_O3Szn-ral4wtYh6MmEykQUW8B9wZeFTj5tf4zZQY4hBFTSeOak0y5W7ukIsVdvS18-X77kA3zw99VPnJhhTyZ5_zo9iG0P_8t7ebFK5a40PzyXXK308SPjnf694D9D_hYbRjJnmK0LzuJ8_0E_LMkW7NtBhoU7pSmAiOCrMaXJfbxzuMStL4lcLha5H2IXvmfno_ac2tMoeWHy2nNbVxgktfFduZwZm22qrYFg1Q_KVj7DjrVkxWE7O-7E_fjHZ6R9dqSUeh8j6UYz8yn-HJSc094HhsFTImtx4vgE-pN5Cv7xzcEgAAA1eNdLqXWwA1NcACe4ZlIZ04y5KIwgl7vSXM1EtEUG4QpZLxff3ifq81TdeUhN5J76PfrCvbVXZH1AL1RE-i8b30ZJyTvjsSOJmqOcEt-4v7amsii-WQIhIJAvIrItg9Hie-HQcp3V0CoGEhgfUM3suvw9r0SWVc9VlKSAvgJf0Rv0Nu0UdwV0S0XgpTy0OCZ30HoGhU9oGIv4N0F_i81RWe3HuXcsaKIf5bctxisQr2brL9frb7vdjMbd0LQwjjcVOh8kd_0IxYpTUCcGD29EQR-HeR17nq8b99miPn1Xz3aW8m6Z-2HHBVQhp9wQz5JI5n5M0m3gW4IdDD1cPHBELUDqCucnNFScVGd7kJtLcTHyhfjzJf5R2tsbGmKr79yuzRjM5jmpDxdmvP8Hgpc-lcwqcN5Nf63Sa3M28uW1zSrCohpDRRrmETSrznC-Lee1Qa0aQd_Axkqu7mOXu4tgctkgbaLovfA9ix7cp3Q8Eb20l5Xerd2KTByyHzfNLkorQ73YyJlwVmF16XqM2Dv-DhSOa7wdqHG4Q2SkTNw-_ZfFhp0CPjDRLqQUqiROAxjqj4ZpM651vBmldhXEfO5CiALsNeZuTrHTnM1viaZKV-PaFH1RAs2lutfRRp9kfwyvnh1fMXP66i4bWUFhqS7EKjBdhgqX-O2wAHkeQeIDhofgxBobKZt3-S2rGIkNdpNPUi3hNz_NlHDakwzArtmU9fpkFvGCrugFaLe30Ni5o4sEbME071o5eIAtchbC3BCom3TKY0_9m-znETMFjsIgboOpX6439OnuurY91fdneEB5Lt3PFJx2EnOfh724tdnGL35npPYXZeluep3UMJ33zz8FGKH3qltfozNoeNGBG_HRH0relzvB2A7Spoq69bMfA3tS4hRvKURVxZ",
  "id": "rs_088de939523e46cd016a7d01026b4c819aadca125d71ccfa73",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.85,\"left_j5\":-0.85},\"note\":\"The cube is securely lifted at transport height. The red target lies mostly to the right of the pickup site, so I am first rotating the arm toward the red block's estimated bearing while matching wrist roll to keep the carried cube square.\"}",
  "call_id": "call_vayxrs8edh8eZddzriVeC3gq",
  "id": "fc_088de939523e46cd016a7d010b81ec819a8d9ff2e4d2b3ddc2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vayxrs8edh8eZddzriVeC3gq",
  "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=-0.8288 left_j1=1.9156 left_j2=1.5623 left_j3=-1.0843 left_j4=0.0067 left_j5=-0.7868 left_gripper=0.453 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -9.7846, 6.065, 0.5348, -0.0562, -0.0464, 0.9988, -0.1846, 1.6068, 6.9949, 1.8877, -0.0317, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0067633f998ac1030c4b1424a9d4d05c0d0ad3ec1ce761a201fa22cc5f3ef856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8c22ca84dee84b092d65df5da33d8cae5e3c6682f7f87228138a21815c6a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9cb016bfc67f98ca863a9bd2dba003f9f173b34c8a4c105f061d0fb49ac14c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4976 left_j1=1.9156 left_j2=1.5631 left_j3=-1.0828 left_j4=0.0063 left_j5=-0.5236 left_gripper=0.45 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -11.0427, 7.3094, 0.4811, -0.0317, -0.0366, 1.033, -0.2393, 1.6068, 7.0359, 1.8926, -0.0415, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQEX8XBQudzo0p__trCwgJt6Cktszil2G5mQfUMz0FdoYbsbUfepAR9P5L-rxGnIYQvpIVAP1hmbHMi9hTY3CIjQS6I5q-iVPq3OYkTZjbhRlu5d5vL89Ho4KzJFdOl01Bu4wUkT-q8bx7wUmhbtr97xdxgyAXI4TYB-1to9bYf7b-kmnK3vDOkACmP8_mOvJK3kfup0VIhDeB0x5dAYzkpwJxrI-xvhcA6Gj4qogz09cD0zMUkB_xsWUk9aoleBXB4pw0EUXP-ziqURk6PUivTzAnHr_Hhm29DpJuJ791JKcMIekAeEcyc5IREw_B03N_m5XowYnqKYurnZvi6k0Ye1SUMFSMFUYHtHQNGSJppsEQrOnkeakQyWbucTrkl8epocIAhn4SXvblduA-orX1kPvTK7vRvJ8Xb3x2Z1bnGJaHnW-gj0RVVgkv-GOQA_eEtU33yZe08HHq1rXMxTi-cs7HinFJeJ20Sjg4Tf8QwMriQKWwQUx5v1nA3knObgS-dyZT9asT3_veZynNl0gDgAvZxCXpY7g3Fr9e_X-8K4g8hioDOCFjxhFwsyvguFZAeJdNmMzEOw1GRJdHk8N6lTnaaRSvXneF6Cna85y1Mgabph6_7iN-NOcJWz56CswOHwyn6RZ9ptdvBlf6VORuXaXT07eoCRoXDhReorhp4ryz4CZKdVIs4kwUGUrJ_wohtLxYlHkCAmWxzc6gUMJ_cq_9uMK9GOHzo0Seq6RvxbaPhBfmJqA7GYw63ucJ-PqzS62j9cOjGNFyrZgnII58cZzUDqQqbCyYfvb-9GsjilGK63YbwDhR7P_HaiSMoSNUpgj8Nxh1XW4iw2RpTJ1EHl5fcg061OiJK3AEOcnDJtIbG7kKbJoO5-dV35xe-vQuJZpMeJuXS6nTDfpMPxfnbLXopeE9_jnJ90FeyNO6ONipEmwcVXMV2wchMI4ONctjFX1w43w3koych64g5AmpnT39v6ODmZhwqlWoSwcS7ksVI-fVMHnIVpyLENpLGc82HXSFR9R1FgLK8VvGsGMp5_ESeoSj0sEWylDGfoOjV5vY80QQVV2i8SgjaKsgGTb_HX6Vnl0exmDRM275UEJ7toS4f8zNR0OeuYnu9Cd6AXCGqKrI4R6ueWkr42a2TiYuhmQ9_7sp3HOaLQuy2QXnRkb_BL0WliVivDP-B0EB3gGoeXFaynrpEAy38KZuViWZyhrV4eEzqowClEHXd822LLWSzUtMxblbv4yh0o-e9qTiIF-14VWdmC38BR4LMldwBCP0Mgmzcr3qWhqTEPS5io2JCJ-fLVGfeToiR7OVI_sAxqAEZ8GmAUEc_lGPFb6xIARd-qYmb7QeHf18ygfEAXeuoMqzqeWmdbZtxeLsIz1din39dqyzc1jGczSIG5leNmNVuqoIBewuDuColCzVkJClE-6_zAX1PtbirNuZAtdvmM31JncS6xtMG3Hnrymse9Ljvu1CHlbpVC56lKwzQYqykXu2E88Ug4yUqI3DiNWh79UDVAXStGFw6MfapmYzrsGWby1RIzzIAbYFaA2enCJARLI83ZAEaZmKPBcXR-rCw0w8bBCqebMwjTgd9NkCgyqFh95qFKUnO6QTMIlUbm-nQMsPi3_dRYMLcZE-AkJuiQSm3uNFtrN8gW6eyoBaHZLD0XxQ5WC0xOwg2nMmjjOHHVU3k6jO6oZA6MuX62KF2AGKx3YpV9rdFvkkTCqeunyOQULXg2OY2pCCAztABM47SXhYzMUFLLZ7cgv1mCtfydFBATRk9OQqFMIhAqfrXze_4KGhJEdSa6oYClItQYHdOC6gnZ0936RjBCzfcupEcLwJByyhgZnkikbOXkkK_8b59b5e-BV-QrKcNLoFPokgX__vSs6ye0928dM4q7Urk1EP0fm44WzRL1GGHbxX3eOU9RbsOI_-ma7zZLsgJGJxDeuOb4xTpXrwjd8fPiKXRqaaIFvQObvvsjavKsqFX7VqZHljF_qxAqvMBkJo1DKw==",
  "id": "rs_088de939523e46cd016a7d0110a33c819a8fb3607183620d66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.03,\"left_j5\":-1.03},\"note\":\"After the first swing, the red block is clearly visible in the wrist camera at x≈202, far to the right of the centered jaw gap. I am yawing another 0.2 rad to the right and matching wrist roll; based on the earlier lateral calibration this should shift the red block substantially toward center without changing height or radius.\"}",
  "call_id": "call_jvTdLzd1w1Uwkh5aoEYOGbXj",
  "id": "fc_088de939523e46cd016a7d01156a28819aa0d10e7cbe31e6cb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jvTdLzd1w1Uwkh5aoEYOGbXj",
  "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=-1.018 left_j1=1.9156 left_j2=1.5623 left_j3=-1.0836 left_j4=0.0074 left_j5=-0.9665 left_gripper=0.4535 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [1.0462, -9.5932, 5.9556, 0.5495, -0.0708, -0.105, 1.033, -0.0342, 1.8393, 7.2137, 1.873, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9772d2e67dac1fdba69d5164e77c4d3aea74de6e3cd3b4ae8ab2fe7d3112ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4878ab9ebdbc1ec9c57162dd21eb7068da6e9af1b9ef0becd60868c46950552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127ead5c1ea0f4aa363064d7c914124b2db1d30cf2571583cc7aa85f26cbbbb6",
      "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=-0.8288 left_j1=1.9156 left_j2=1.5623 left_j3=-1.0843 left_j4=0.0067 left_j5=-0.7868 left_gripper=0.453 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -9.7846, 6.065, 0.5348, -0.0562, -0.0464, 0.9988, -0.1846, 1.6068, 6.9949, 1.8877, -0.0317, -0.0806, -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": [],
  "encrypted_content": "gAAAAABqfQElRbCMODM1pvaKlOoUni1Dp16S1oWo8zKhRO0HeTCDyv-fO13quc8dE2K4sZKnAVVWRaEjY1TJML6cil1zWnZVmPt9W9rz2CIeRIDSdIpebw0V7nFrtrZq-8HEmEMgZXTAp2eQr6ze2Umkm8ypdrGyyAp3vFW0i8rGhdn7Lt-W0FbOopnSfAD2iYyp4QMRIe9J2k106BRQ4ruKCtTqOvjmbkKekTnnSGXbzolzV0hYcncrKou1jJfCs1OLvTJjOKE6RWUuaSgsQIHPqHU-vqXQ53aIfvJRNEdSCNLyBJVw20zTPLX4GisYQAh3ilS_-_NhYu8mJF2JJYx2mams7t9CSK1B8s2GIDq6cTLxjuhOxX-Yx2e2fGmZukhD_wpxKS1PiTXy4JiaHTCRFeA4tl05YypgFOMkESl2W-0wcoqDIJ66nsw_nKcy7_M-EkciJ7ke3MQIrP0EpHMoj7tghhT3qdwbMzT-sYfSycbADnfEjBtdi3xbDRoo6czvSQqurOMebXh2imC0Wkvd_AbwecboEN185WsUtciWvxHppFUnw9Sy-6DCPiI4r3pZhSuvsJnTIf5C8NA3kffI2dGEJALQpNH3io1HRf3YEj52gAG1__5I2eRPrbgB45ZRVHNYhALzLE5jMVK8QuEMBxnClHPdVISC7-ssqiORHbPpVABWmCJVj3Pv80mNFr_3_9zGprleBGlZABTHIqUU2xab14AxoBuT_Ht4zxTQgD3fh5U3XSByqzHCY5s_kd17NzGiZFQG4i3EgKyax2diq_6u6vzjE8SpzjZK2yxwSmwXCo5WHm9LzUdqQcRF5f7am5277TpzK4y2Wgeiv91wmdr4FDi-MfxWCkbjy_yBzpqs0nfuBNy5hJp6pqTDCM5kBGKylQJMVKj8cvUnZsAWoa8B0w-fItySBRyKoY-NVoPW78vQxdln23QJx_b4c5pjsFp3YtrhQg4IpgESmOcRMB1Fp7TqyfTwBj1h7bhY9Hkpb5H931rBYeAZ4au6ptgy11sBhGdGsTyhBXHU8MptTX7xXb8fAnuAErEHlGj9zY2bBiqx_IL3QLgBB22wHQ_9fTOPsCHDodz0BQGGrkbQbo6gsvYHLJv00Hsy_HpqkpaKDbh1W-_JyFMYAKuuW8RYJgqhbQgH2wm0bhQTsBKneSZrnrVBsh3RQs4EupypvR7LeL0kCnuhuqZ_UfRhsHiRfs8ETWvMqrv65zpF4GxoE-BjPxEglgOqUPfCmaRpkw9a1Or5brhlmEpSvm5VIE3Xp20OZzSZsqL-dsRPMz6LRbllaF2_IIQ_2YXb-T0fAPCYNPgKlIoDInzEPY6n8NeuJ92fU8fZmrNpxIub4ZxAtZcvoG52yDx-sPgh2CUGDzHft7wPiX7LoK3azZDuNbhkArtuotQZ_rFlxdrTHt7cexIsHhN6MU_XZgWC6noHFyGZ-Uoxs1reKjRZhfJphW-gMF1MEqQY_Eaeb5ulO_ky4K3opU7VcK2YggrF_Fpe1MZ0yzZ9vvhFO5X9aksMg1Wm0RbVcFb9uDqPYcDLoKrCZL5JgxbKJZl_1ydEJP7ctw7vVSDDbEaY61UjWAk9zQjHXbhj6tlJeuDOfUYF5jHSB8RWDMGbD18K3MAgM-fN9ZOXzfRIB6YvkhFbfsRmH_-F7NduDq5gf87Zuc3B9dz6yrC6imnB8bJ7q1j2nSC-3Wie4MaRDSd7eo6gtGaOT_7eEf8hfNRlMFvQVUIIJleYbol0193vPQgn2HQ22tIn0-rRWOxVT9LjtRJNNi77xYcny3nQ9iM8lH1CHcWmJd2lywyluCeq-VEvfWfX6Kz18TGV8N88WrNJdmGsyhUAhTAwrw6RGYuLmDXeDBBQiv8J0YxahJWje6O8z0_4IJMMgfOzvYLJqDZ85-HLedo06L_im8GSCiqHc97cTfyBpe1m8knk6y29fGhfyNOg_jhLMlJ6TF7GySMeFd6GsD5_H_rB5G7OL5Q3rmAtJUANBH0qG2VChPRck8_P0ilz-M0nuggzvRNpjb4CoKs0ttIv2t3hpF0nLCIr-GG6M-crnyzHfqD5dq4k8uzTLYiWgIFGFq_OXwx-QlcDaxx0UBSHHfCTTm3M0iIuJn_LfhhkyTwLAh-jENPwzg5XnpUcTManNEoRI6phbCydyvb0_YY-M-sbAO5lKZuSnFPXOBFVq4gVqgy0MIn9EWe-gi0FapX3qZyP2qPilXf3KMCc7lUki4_suAiJpsqcT4yr-ildUS7O_sV3CA8TCk4nDz640WhUKTHy2a_v59jWeH96NZjTukYZVrXub4DUzzu0PghFXAcx0jqNadxn7UWt8UMJyNjQbMNyExA98jbEUVI1llIMxFjXWJssPnkZpcjpQz_2VowhuaZgyJYOZPHc-V6pMeG4_-PsqbHumCL9jMXldPyIAHU-Pn-SrWn0zEbllOxkNTyC8mmOBzk652TG6NQAcnGxQkwGKN0BnLyM8fJrjacTx4K3sAxcyirz9LGv1wx75Z6ZT6cm50JUdu_HPcUc6RxHlK8Io8vHliY7gE2iZeBXnS8WR3aNOq-dsigwQ5yAu_D2YI6wwL3Sv_zP4rNh-YZ0n7sJHsiD8iFe3-tAJTWfcCKfIhoPGeLq4Bz4VFSA5IUSYXALu4Sr4BzrXIwRFLp3DbyVpHU9pchQbqVUSyp77z0fnodKvgZ_G3KvEAuvyVnA1q-HdV5Mhd_9tu6Wh0MFdCX7_fST3OAfapADYz5y8aiCD-PoS6RqMphj-rB7a45GMCf0VH51H0dNWoCfygXpXQQrp966h0LDZjpMN4TgkZkfNyi-7kfGgELp0DS3hY6B6hwZ-De56jFeE5hlqnWlY_p95Fg3KI4uDUJc8e1-R6HACin8hFANIBwYGUF7OjT6ZoaZvfpG1F_avfmqVnu2SVvWD1Jp1QdoM5Gp_EuaxQ96S1NoxvR2cw0MH92_aNljS2cftZk-ShHvwAKJ6vaPyN3l7KC0GsvPOLffEz9oYu4vv9WXjq171R23Xl8n3kZlQoe_95aMUQrhJAzX5eDmtvw-Cud2TB1DsC3Zd8KzX7yuvdkacvtYJH7miQC2qPwJb6Q2B9--A-b3Kfe1-xlEJoBdZyehWJhehvClvDtE0u7idp6FPYp7BCVO3MZ3A5QyBf6LqtGC6aGTQvaNp6Q80kbXQ-Hq7fXojOYHNjVM92KrpJIJTu17gSzBLIvJosMwrrHEpqY0bJIJN0G_S5oOiBAP3Vm05L0Gm64XW-44KGFocI7tb8LVjjrhTLnwMLDlT24s2EmwkAwedCh8k6XmNIG1Dtq8sya7qB9lzXJLsiUBNag1keGLGbrR0RbFZBXtd1ihQyxzbTISpQHKs3VMkISFE0cDR5E=",
  "id": "rs_088de939523e46cd016a7d01198bf8819a8e53ace7273fea9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.17,\"left_j2\":1.95,\"left_j3\":-1.22,\"left_gripper\":0.0},\"note\":\"The overhead view now shows the carried blue cube about 16 pixels left and 19 pixels behind the red block, while the red is occluded by the wrist in its camera. At this bearing, extending roughly 7 cm should move the cube mostly right and forward toward the red target, so I am making that high transport translation before re-checking.\"}",
  "call_id": "call_sC3RzdYhUqVKerPXQWkwZDdq",
  "id": "fc_088de939523e46cd016a7d0123fc9c819a81412354a26035b0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sC3RzdYhUqVKerPXQWkwZDdq",
  "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=-1.0229 left_j1=2.1513 left_j2=1.9053 left_j3=-1.2079 left_j4=0.0101 left_j5=-0.9913 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.2393, -10.7282, 8.2256, 0.3785, -0.0073, 0.2369, 1.0281, -0.0615, 1.6068, 7.3504, 1.8974, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce029dcb60d3669d7505322bfb1156fbe82cde6cf3040ba78d76280c12d1ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1c92a16736f6c60cb77bb8ded26d011c1cd988bcca61da53a29b2694178c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983dd771c039150efb962cb89a6176a260099d8c4040b8a7e18e68e76cd7fff8",
      "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=-1.018 left_j1=1.9156 left_j2=1.5623 left_j3=-1.0836 left_j4=0.0074 left_j5=-0.9665 left_gripper=0.4535 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [1.0462, -9.5932, 5.9556, 0.5495, -0.0708, -0.105, 1.033, -0.0342, 1.8393, 7.2137, 1.873, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQFAoVxI2blnKiBDnkdX7LP6oSbfc7mDQKWVLsRz0TrgpUp3sB29XyEFqXY8xDQqX8-uU6yQxS6ZC8ezz0OZBopIejGaApY0yt_vkIR2B_aq6_Jt0y7NdW3DB9AUoFI7G2ixalbCJT6j5nm9DN442x9wzMwlQ1j1lr8n57OQ-7Yh-LFFGC-wg0C-BiQJCYKqHjd2ORv-K8Fnfe21zeUbJCOsf4-9yyo3MMGstWjmALms3JtvdIJD8S93JOiCtx3zKLRc_K4g6NWVZd-5MwynA2NutlIFhtDxSMmrQaKWUq9JEnBOaKL-1rOPgW4znP34c1F08BqxyRNC5K9v-pcA_2WgAxyXZlS8oOp7RYBrkYBk0dHbjplDdoNG6jbZKXrFGvpOtrdSgKBMECWx36YKwOuYnc00L7ZTsX5eCzhBKqdJBINg3ECNaofeKLNFHPae0oM26ZU2hRDygMnxPQU1VEWZA9CuNeV6JBXehgtiI-i0NYQ4xm0dgVWTns3D1S0oajvUGeBC9O1MCqXTWGq5j9GkAdkj1iPypsD3CyNv9unyIOUsEpsgY8VYmLk3093l_201kKmXlUfQ2_wkEPZB574dGekFv0RcFkPxOhGR78ewFEs_XjVgrh3h_hv0teHPNNftasuI1TiHdIA9BRrH6N5ZaXvMBfiC8K1xXUfsetxl7gLr0qkHBbEJZ1j0tg2uw--z8aV2t9Da_2u4NgMjQg0ZRMdiCo8UkgiDbtn9b2ImRKuvhU4HIUBxa1YlQQ1k9_msZhOQjfrshmiYsdqomY2e7eSc_TDvOQihVMeG8Sl4zPJN3KiBkGAEvKjM4mzotfPX0K5jEPCqVewFVUPFSnDWf_rZmHtt8wkFUUQTea0ReaDMLloB1dNyUdqCaExqaNGhWKr3IBmPHFgMUgPQK4HZXXQ2gsXt-0pdpyib7nPqMK5HjuQqCmkP6xIsLp7GCeo-Ao1TdcOUu1E-j4MbWmtFnanibITwDI35iC9ZGHBWZ7ow9PEF0zkCsWNTNASAJk2REN1VrqW3ouUteFhj2XMNA2N6T6SGl64XnGlkKV1508bfb0zVKUQP7YvVEdZ1BN886biWkaSY43rQ6Nv-PPkd8hqbKkL7a6BXZczXzYk0NOhd4Zmwcis2uGEoAV8mcmuzJIFiasLECmFlHWYdzZ-QNXVMh4ira19dHtTl099GZDgEfA50C-vV4myrdpCuybE3WMBpAZgLBHv-oyJ7ffd6_4dQrrNU5oKSwbmq-Ay86oDcXtOC3sly3dUnTbyc4Ir3oPB8sLY_Zlz_JcVMSsMIioNHAlFqDCWUashJwLCiVcRtfhuodF0KJP2koB9XYIE3hnKFijOLDVWZ6YE1fGF_dUskXqPnoZYzSEdIaYihkE5rbfcMUWPkGfDEh7dvDcbyzdEnHTA56-6rsQqiPKyonC2O2HEAgclt9ZrK2a3DlTt76jcD9bt3Bbjw0F8xEXqneqZiEVuJ57OYtjNrwGRYnRs0aqyNuF-tDEKhxvUGcc2Vtmksw9-06IZv-cYNulEUMZ2UHtzZaHSow3vaPQNcQCP7jdNfsgECVuVcqBfKF7dR5WeXZ0lWgOieZsuhT_qjUzqO-eAcshhHnjeTs9x17fvEStn8Ow4q2ZexAxxRgoN935DSdutANx4XvMs0FUCnMCYAtF-DbCdKN_1ASYQx0sKl4XfGeaqeFeiXqOBVNHPONv6T9T6rWwfoXjuSE6ZOZTlSEED9UB-0r9kP6pZFMdYxzP3rA5M3FuGVs17-wmUrdVpUEFEqXEJ6BZVJX259DSTD4krEhnuJd8DPi_eRHBlNtpRwmJL-XiYh2BY8AT_x6vUtvxcC7-r4X_GiuNilDwZRp4lYhLVcqYYy0mm-uAxhLCIs3rhjfR-gfVcrwFYqiC-cZgweKLR20zB-uVRQ1jPrXCjEUaxbeDpwhe61QMSV-7YN3M8TH9TVas8PAXLqt7Kc9k7SyxK7RiHp3B7FYaJBuMW-lA-CHLcvvVx23lYhHkdm7RIXgr0XzclV18C2snMViRydvd73dEWMVJd1a6agvkA0tFVjGPhSVhW9SIKDypwusWqQvH0RrwpJC_5oL6ewRsMD1hg4DJ9KjOuveBFQCtuBjyXi6PSSQC4FGj4Gn4jnPX54McjWFRXG4VwGm6TRsG1D4YehZy8ShvK0UwhvX5B-pl_MVrBknwbJJ59LYEDXVO6IQwBnl34coQ9Qbmp15vEOGwuR6RFixKwhAiRoEXqrjS8O_mscCqJCWts_2VC1k_m-MTFpncLieCm-w82TmJfYTbUTA050INw_VUIMmns2oZZnZAz-TcM-8jolGKbjba_3i6-LUC72O09G07W7HENXVuO15bnUSNv6XA-y18xqotUH4eBa2CRHDEEb4i0FGWKDn6puOVXLCol-n1XwWfu_o4LQzr6YA58IXTaQfagMjtop9S2oSmotquu3UVLa3NG2QgNtvBqFmpaF4aA-o-6tuVl1kKlhCfHc4aLX5dbK8H6ZYDDTQ-cLVHbuTB9s43dFihrpwi3LJ3t6iXxGKR9lKZSOeBD0Dg1ijqW8nCE44DW8lIWzp5AQRHX9LpGT1g_8OvL5kpEBMArVZkGxw9WZzmOusVx5oCvjRDuJlhX_F8BxqxQtxKshmf1GdRbc8nLlUObl8ZRsmXtKoeB6LLFOkUzfbPN_D_1C4ohbiZpuEdJGQoKb0d3EGobJkTv35g__eCFrmB_EcboJm3F5NcRjZLHCxAjOclGwvEvxjuq0DwnV15_WpArjjViijvdk787WRmY8b42SJWlxLcCOIRiOpOvB8ZPbmSVZjN_BGid4YEJnHbgE9ZhIpXvYtgFwve5gSzukzWGXzCQCzwCGwkjMeKHL-XDd_cHN69Ah189zz1nxNKhl8xzNAWFBKi1HasgSyQf5Dvfsl7YAXJdXqjZRUXBr409Ix3OpJhyL2i9ps3WGODxFdNXj68-gJj_hOidSh2gwMrprvhEaqu0w8va-LB3iVK_9UFlbKAEaxrnBqpnmpQMC7hVK7dg66OtNhWqbjyMsrQH0ka6zGEtfl0rbPulzngfwnVqcIND9nwE2iwO6WtPH-WUzpc4FB5157S8tHPZwH-bqc0A_KwtSXbPujmE-SRagOV_wFCqaEn6aIuMYCtVlTCk_bXxP7Y-Z-vO8-zGTH61amtBuZ3sTp4RpNaplE6AoaXYrdpIGI_OflxXZFzCvUJAobX715HcktAruaHUQOz3B3-DeH1PijPhsE0CymcXLHfyil_2I0GCC19ae5UwaECm777OIGREQMwcC7rGw8W534erVMyyujVCZBPea02MlQxNkpVhg8oVpX43aOrfm8kBKpoSiJ4O80BDP-Cxbr0Rdhrre0mlW42MJWcBcGdExysRi4NcaFjYTsFLXKR1woCoHISRYWDnueBAUNXptkplqdXNv72lUvO-ZNr64PWU_ptgzafI5tvLPMWuaqpkU2WfD4wlY-G65yjyMYFUAXyuUp3ggUh0Bkwztiw8BGmkntwaNnkDYPGcXPjWiwSLTf7nKOzYFiMwiIo4Y148RvlHeqkb4Pu-08u545Q51Po2CNzxaQFQBw5FYixbipfNEcwkxVNt6DOSEJ0xq2pq2Mn3pMm8QKjNpQFcmlq-AqPL1wgjvC-8LcQS2LZIrHE25uBucb22TQAkUz6z-M4c9gp-c1BL56qtcASIWfJp_U6X9QaOvrdOUNW5-XRNoRLPHiYC8jd4V_q6WecEwxXnnvr__P7aud2Aoev-zSCHQrnIl85lmogW5_OT6xWv-UhDdYHyakFK4wgm6A7fTwrgJmquv1YdmCdvZm8fSREDGk5b-LHeXZg8UW6kJ2hdV2iNeLuQXqV123afOBYa2rth-JPKvx0c=",
  "id": "rs_088de939523e46cd016a7d01281a10819a8d73183f6ad6a899",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQFAp2hgj5nmK1gADBqJNQ60AQhfiSx2HK0Oy7pGVVQvbVgRL-8KLaDzwGlb6OFaDMuIi5fErWC8mvanKBzevEDujHzxI2NNrzjdliDc6aCI9kMLZJxuNCoDoV1QXtnN8mqZJvnDxS7OhmXdB_emrTbCE-8s7RH2vAXzvo_f9erwBDlM93H6aFdhULmuz79gjRvK2_1kcvxINf8YNtxgCAXjPt6v8xiYvNNsUK_zA1ILcSSY1gY4btaJwKRNe6lgFi2EZ46djX6_YiI4k2QBrNJRU18OfZ9lpfdXEx7lBhDerYl7NH9xHDpod8d1M72rF3NRXRNqeDgNHYj8eA00oc18oM4lYsu0gK1SYBa8_0QxkAogvbPWfHR-kIfhP2S0-gpfl9bpSjBUPRhW83qQ8kpc39ualvOl32ZtWzyOhJDd7XgVy9rX9jCp8Oxy5o7cestjOkyN0kc7VKPc8Slz4P5hZw6uZkOvHH9MuHvRtBUSSmwjMa8HVhLEFxL97_6HuFlKOI_ICt2C33_ZWSdDRUNUsJchIOv0PPRp2T5y0tcPUjJeSYOth-LNLevn6Cw1Lir5oPZYWPZ19QISXNn81e3LgS4W9Q3nbeMEV1EqZm7lN8EcTaOdDqVnyN1ikCUx8sy8tNkdFN-o5_urTy0ZSmu3laa7Z3LaDQ1sEKWjqR1ToOHoxW4UaRidG33bjT-tx2Wj9qWJjAnb8dnPqqu6bGJ_380Vcm4QvAtZDIfaXf92Q4W5lw6ObPV2bjUiiKiaw91d1HQldwaY06l31ALJeXv2_cI5VYzPPiV5p-B8YB76yZv_wlSCHRFbZ2gs-UcwDjhwImYOuwjdjHBvki6iDlxsekJYUr0qkPPnLk5YBPK4NyTnDUWcRM51BkBHMdOhSo3Y-gZcdOz7IOx_7odOc8l0F0j4pHHiqSb9yQpKbWsyQ4OIz0nTCzBYdTRr4LIVlaFieyO6uenFmq80P_7VdAsYwlTKVJRZeTmZgCEl95PxRQe0zegohUOgWc2ZeCQUVHJt-BAZBh9f6NgJBTNsFKDCKxZ_H25zrutAANIUvnUKNOHsjJMutzQ16scFh0et_GMHUi3BuwxEBxqa9wNgLe8L0i2Is4WfxFrIubMA1XuReuRIz-oAQA-leszoSILanXOPiWGFgvVnRX1_4oyTovU3Vbyho8yKWuLBO55TQ_T05DvLIeQRk82NlVbG3XbXZTVXVYakja0_Ida3tBfsFjYtM1SViqa3oqWqZs1Hc9C41R8Fgd9aGJtiekXccCY8T_ZQfGInyDbZSliQyAHhS_dV6nJ6jxERRlsvTUuNk0WmlK1yjssYHLHjjjrf4LsPznBngvYxJU22C1lOjJ6cgJD0is3lmG1bJO79FUHdq-jRKE7nZuv4CSE22oO3iwwXybSDhXVCYBauVzAKR4ebJ0j42vnGoBerNwohnDkleeNZ6nNjW1T1-GFZlEch36irdP5q28CBHS4mi0Rjufbor3gUc2Dyay1YVo0d-awtyUkKfoDKRVPAmZhjNvtTyGK4V_QsLYK7l8x7FXOf4S56kkDusSrWFJh6kZYOBdwcZt4r0cZ5vN1BiTmxbbLZgggDUJAtJcsKs9M8oZaDR21khbRPu4FKw2r7VyCo3rAfnCHr7ykTNbdNZo4E5v2o1NTYr2fv8N6wmvqah1G9AA3VlxxgWAkLhmasfmxda3cgGxHaj9AM0AVKjvAgett4VV5RtVQpP6gXXPJx0rJ5ZOQXpi5BkoQBKhoacigyjfGMoClt48antwv_OLqPbMjQ8kXSQpbcsad1eWD00xEzHh2yNowy-jviYigw0diOlg0rHrvsJZi71D9iieNtZI6nYFniGtjf2xaucmVYWL3q299q94UNcuGGd-H2HJiV-f2sfZHkKyCHhYZDTJchiBB31TFDN7AGflJ-AfiNTd1jlqMHgdTtCPm0VuC6c_JKV4ww4WoLn_FV4bGZZJNXFXnPnZ8Bp79GHwdLJ6tpfzSCU2bZCfpFr9TrSTG3x9SiXGQFK4iY_Cz25nIZaXf6fCAE9dKBvlPrQxhvFQWtWMMu_ukxGvpwGIZ8-v7l-dQ9kBZWbK1bCs_XawIPBRggcuKdrVzFB1U6wL2rQpZXWp88M6BUvgI7C_V_E09mqB6q29tRdMMUjnau0vB3UdOOvvOQ2vnqRIz09swTCINBOYnw63t-GNlLN5j6P2wsbjtANA4unM9FAl8SHMd943lIIEz9j0aNQ5XlBlV8qsEJSujH3AXwjumZ50VvfakrNqMNuFiTNkv-dJ24wTqraz38wu6TXFzdif_nsLjzU1USOj9div4BHnEZwSbcwc2WkGT7guYU0k40QcT_S-zWh1sJzO7I2WLnPVo68ZkJbllSBtM_TsW13tzahTr3XMxqmyFNPv4n6BajmFdmPnrjPan5SB9hYDkwSM5fZu8bHFrYMMTT5AYW4VQZeEhauW5-lqqBrStE3kH2IEiQEU_GA06SaFU3DcEMRu09jC_LMKUHOQ-8Tl7UOY4WcW8BcXkPEeEYsPd6GbizfaxshvujQ7AFbB3RaWTJsELmb46D5Whr01ynWwu7pMTacA4Ck0R6Humpw3hDgFQB5WRrajIdxmbAvd3ISZobtCyfEjSkxPkWC3cZSikWWZlPLSIQ8MKC6-x_qJeGOefoXZFrXYdEofnGTJvk4saVDWIlDtheXq8l7LFofDfe4RdSHTNQXqoRwcliBERk2b_gzzjKvoep-Ewsm9gclwFM73iCglNt2WosujuKPjqbmB6vsynbglly2JNlGnq54p7gkRQDaLVL3o9YOAu57pUel9-G6p-XD9BFC3NF0-l8JsjDiltSnP1UyqBCzFuoz-8Y6c603DrO2pR3HWDjbF99mpPpUoDd7FlXlptl1HufG5sczflVmYZxObkLG2Mqcbo2y-V4JgNL43zSPrgO0tvustQb-_eWPSJrVV37r9ngozKTzipqxKXzgThWsyfLk2-L2bvOF4u5pYLadGHHipBgCzetsrDvLYGoxcFidtlFhvWPrLgvc0Male69tiOtBwkXCIz92-egEAAFVu8o-sPz_6TF-UMi0QwSeEFp0ri_hsGv4X3774IV4L1u6ges_MVuv8G7h0HfWCzRiKszq2cILsjC-P8JBa7VvcPVYl8rb7j9zr8MK9gCgQ_0J6fVL7k21OEA87lWDh20XBYwQ7zLihlEj7yx0rQKpZjkt1h7YS5OOuB4IAPfWOpadMlo6pUaY-N7EzRQqq3Nb0E7wKgJGxp-1Bbuh2kCFZbHTwlV8gelWCjyqdU6mLS6o0idt_8J_xIewd9NkOXSrtJUdcDvmBVjper5XHs9FB4ZqWjI-pjYXyHiKfi7iyAJdsmyDPPxbA0=",
  "id": "rs_088de939523e46cd016a7d01324ef8819a86b249f9506db3ed",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQFA1GxlCT2lYLcmwiOrlpp__bNF4Vrhuee-tkU3AN4D0ljgkjegTBcNTG50Mi5cJcPuqyqWBrvQfHAHMgEZjbakqfyM5lzB9uDjF3S-wL8xjjHb8dBEzY1IiLMnf5FUyDjYjBinHHJ2XheRrkQx62sCjiI1CQgWHALc9vy7cWnQZrU-ovcTLRMf5S7DlWFYnngxvOtB2LRqNELzBCfmmJ2SJjelP3_ov2g_SmZ_f62pgjdUSZyFv1GpoPJTYUZCTpDPhQP-OnNwADgiYKrZFkqiuNP116fZSYP4523cEVx1ZkTwK8dHl3UMQeG-b7kp9sJbIpST6L6rmFe5NZwTIPnMOzz3EJFRkRzBaZ39GrAHU2hyxIIcUWe0qdmSmEjZqp7xGAbyYFqS8eSqsAlLgMxptbgl-YNKQEDTzhuilovoDLySIX38NDguTx7NRPD9RVit5Km7SPnmGeMTBWRfMH8oivOwtelhUAQG1SzL8y5q8B18J0yIgaINgSbyDUSCfVjg35t77G9q2TsQZ9D6ua2n8FRK5fADTYazNxaSdSseBf326p1gfqj2txVPX33ysmwRYxZtQdMJGA2mbVmh2S2XmfeNqQ7DCONTrU4VIDPKPTjNGvUmKixaRpBIWvEbLjFNrIY3KZbYjnbjOPRAY6Ozp-YsevyBxaEHO42cRUSOydKmZgF_WVUK3gDkv_oOPVedNXKhn9OlOelS-WO_PHsO89WELOQtRGjKQdyT7k4sF5CmH9aZMdw9q8Lz63Zt5z8Bl7hXl-vTHm_UKVFlL9OhG2OpIbREthS3SOZd_RMdouuWJ1umXUnqm3sMjTndSCFV8YQKTXChBY1xJc0E8Q2h24AQ17wt0r9sEhiRDnSMCkVnUzVcprrn-VUXYv23JBM5oIK1bHkNv0rMUq3RRKWMKhLKKtnwAyAHJNEc3caFKW6OM2JiTFlI680zSoliUwPT-QuufsXj54jZWkFurXKY3Sm_PwjXEJKXASXlnqm6y822Iz_sQePXBv_OcaYGMWoSi4mOeoBtB8OibSd8JOKHikNoDwkpu4YEsq2rVXI-ILc7CR_Zmvw1JeSyT76kKymo",
  "id": "rs_088de939523e46cd016a7d013e21ac819aa556fa5a61df687e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.37,\"left_j2\":2.27,\"left_j3\":-1.36,\"left_gripper\":0.0},\"note\":\"The red block has reappeared centered laterally at the very top of the wrist image, confirming the bearing is correct but it is still farther forward than the grasp point. I am extending another 5 cm at transport height, remaining within the near-vertical reach envelope, to calibrate how quickly it approaches in image depth.\"}",
  "call_id": "call_Rr9L1Na7KNTJa6smBWt9cJuW",
  "id": "fc_088de939523e46cd016a7d013f182c819a930fea16678178b7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rr9L1Na7KNTJa6smBWt9cJuW",
  "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=-1.0229 left_j1=2.3516 left_j2=2.2234 left_j3=-1.3388 left_j4=0.0105 left_j5=-0.9958 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -12.1778, 8.0068, 0.2906, -0.022, -0.0024, 1.033, -0.1436, 1.6752, 7.0222, 1.9072, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e18d33d6244a80e242c665962ce746693c44adf87d46b19adb53f82af436e23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91851d8dcf1b05c2fff105befc3eec60cdb4df7a40922a9f1f4c20f7ef26c36f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9137a09d010c4e5dccaa84b571b9953a1e6aa0e855bb6aa463bd4e6b535704",
      "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=-1.0229 left_j1=2.1513 left_j2=1.9053 left_j3=-1.2079 left_j4=0.0101 left_j5=-0.9913 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [0.2393, -10.7282, 8.2256, 0.3785, -0.0073, 0.2369, 1.0281, -0.0615, 1.6068, 7.3504, 1.8974, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQFPs_y0kZ9FqcD-pUMfWXG-1ld-onwYwEg76LfWuzrqtXfgu-bqgAYisiklk_Y2jgZG49Jr1LFQnRL9hDNgsRNZJKA-eDohR0mKy4BBWT0rTeeMYND3A2VvPGi51oDB_zWgWJvuGJIGjpJ-QHOP1RbketRkDnMz3uWjlVeikaAbN2tx3CkfCk1FMOm-rn_BR2NQMnUG9ZQlLvbuDU5Oll0AUdI36dSqhgZ-i9y3xhHbjtn-MPq_y4t22_QpG-6K32AXmofvyOg8dBjeJw_Og_8qL3xFg2aBUBAbMT5BmFMQZecxorqNzNL9T8QwgCI_TtGXUUrEKtGz4NbKa8TP6p2pAi_GsMBFJZyiEvbeuBeM8wdSjoi3mcjDHRLbqre-EsODZPwSNnv6oftptJ3DPPgFso76wlSKtBgoiOZLNjanEzZOQ-aZPRAK_4jWbeGpfnoxJJx87oPLWg5L8y5Um9MXvR5PU0woLqIyWjXOHwf4YZhPf_HyEJKTjzDE5hK2E_D7MI9MmWlkXiEf87ZqijEmHmZ0BR_zJjTaULEDeN5wKaJQGQSYUkEdbEBWoh-t0A4-mq3WzIY_7_JbkdM6cOXpeD9w89lDY2JEBmJs_w9p4HxyYwKkQ-D-WYwxRkXTFRgN_yhW2qbyQWG_WQJOH5hmAnIq36Qk2_8JHNuzigLhhowV1kkN-7_kfS09q5966J_5UPcH_iVot_8yrZDA6hitRM7vjFca57-voM1saiVqKKx9aMORc3BYmufz6lb0FKQ4Guv1YdFlV9epUMmylssgJ3-3B4IDHKSnjEpXOCMZhVv8Pxud1qZh40OBahu8bfzI3hR_8-7bmAImNozK5y_KT2sBCZsxtrYmIRpd_PIHJuiop6sJXrSX9uCAN686-5xJa6t_VGkmxUz2gyPSiWBuvtYhxfT6NVTf47DZju1KsJqaa8m4vUqD_fD9b_QTk2_cYdsPdg0dErr0AmvXZ0D0D0Pzitv8QBhrs1L2E-S5uRD3_EbRlrDD-0xyQPk4j_xj2pVoiFNREam7qtHmiS1HNvl5m950dRrIvpffIkK6AhTG9uoYM86Rh7H4QsrK2hkjoQ4XxBT225A_SQ70HuPxd9Js0vBEVdaaTEZh0IujeQ8Gd4njUm-94Lrj1MNULhve8SQHSVivvzOISjTqwPAgHrnLgMHkXkiWtyTCfIv9pSc12lm-QdeIK9ah_DDspINbZZZRcWNMXPZmuHhmLYvikJhmn23e8cBdiTA8j-cggNPCPlxzAc8q8TxuQP39eSDejFypTlbh9wcpENVw6vnsa267wJLcD0pRF0sQy4ewVRQo5HU_nkprWlf7YB7F92_yj1wuFGa5vaLGaIw-8nSQAP81VG0-KOAeA7nBjG3BvQuMpwmLSxlq-zWEE2lkwEf3B7k2ommxpOZQPtKGCe2ptBAORsNc8e1B_hje0a6tGGeD5c87TbawNjEqwDNsP5h1hpaas1yIielFBZbdVX3GQybQDGykXdAReRnyLHlRCYUrLinI4P8V9UJI26PDVdey3XW3qsgwsAD7RD5oXT61Kq1uP4CseVIaFvz_bLY6c5tfTgYDosp6CzI1xduDk9FasqQWdUV4tQoM-qmNjxOqEy-krW9c95lhC7Qj4Z0PU_3HgYEHdkKp4pLwkpYzSugi7MvfOviVuCAU0Z6k2e7MJnv9HwE9oZ4Mi-AKFakkez2eVouKOd-kVa0elZX4YSR6hqphKAOLZxMYPRfn17uDtHJhmjj1t7RwHhIs5cZumt-2sEbX90mLakd6ImhpqSNhgx1ig9hnG4gsUO2tP7RedQlXc6fwmFgVPJ-H8m5cSj4D_SGvUdgjItkFUjM27svJPPJuvrldSLe2JzXAekLXEiDfqEaSSdXybxpb3jQTmyftHDFQoGzgdTGvG0ECs5_KF8R9RlcPhxVMqvdGsA7QY-ldPBn-9osJLfH0T4rGr6iGsCy8le0Op0FQ8dFogDBlyA_7jQ0Oo0aCoh3kk6qr5jmG8fRzNiEZNTRGdFDWd3fNAR3z7-vkhU0j00UT2XZAFxbYVRrBAxjgAhwjNb0wWo0fSAnOKB1wBd-I_v_wa_CxubWLHus6cW8iEsUGE8UfG8COxrD06VOg5QcXIeKkTTj_5wTgBHAVQTD058mde00Lk4N6V1Xe8E9h4xKNma0XmTUSunXtrReU-DG5zbdwB-64ClgB-IfCfNQex9pQ-oDq49fIxvfmfI5t1OxJ6-6ywmM83yA6UH0gX56w4X_ufSSI6Htoi__I_y5GtxJm7xBoBpkESFWCRuHNa2VNryJwvhmgD8oWIEWwPOsKdc0cVeCJVWqPXdEP-jdz_WkzZJtSpuTvSh687vmbnc5-DSJm0OrHEqqPa0ugPv8b1BUnfUdnbgdLw3jWNxSFleyE8qbP0jWnrlmZyd7DcENoO29u0LOzqZ_Xcs_gkjbSFO5QuxFz8C6o0_iZRWS4kgD81HtcCn1HzdzkLHFRAQ787sngjo4ecbifVekX0LoBjEXvRqzBsrgNOVya1kmHEjBP-sTTm1lGp2gcLcc38XedmDFsFPVVg0JhCqWvId-QRcv8IudCGsoLQL9AnIyFra8PevpvFNxvbcobCxwoAg9bzPyeSvqF5ys_GVrGIJBm_Qf9vIPGUnxO-iCTnfsZ98v0yy8V_sA2S7YoDkhGLrvHMvMpl6AF5tBtBn3a8xH4PUTrD6HWfjCJl3KhVvXpTctSdB7u7qRapmBTqlAls5gVpjYe5gjHEEM5qkFsZN6zgu4eN9GhDkSy_MYTX4lpN4PYBwuNOzlz1Al2flPcDX5Y_rM9Km735IDobp5zI5q83HofP9dE1Q40-5pSDvJSmo070ZxRqr1IeZrACnZOUJ7SX37frDQLrnjQJ65yehO0ZJoxRXnxtkNfcXMGAfsisxxChPt3pqmpZcXTpWxtLTGHDy4HaojJNZ1Q06krTaoVGotoyYy-AnqfZh3r1qWlhsQGoWUT8fzImyUThtyyc6_aQqZIPIw15LNW_PTfG4_vUsYoa7JEeUXqXNfy9XM2nIZxPBSgs1jcUQkpzN8cfZAi-y8G3Rn52srxnUpGoGks1DK7c2MdOZKEJNqAMQKY_3i5-NI=",
  "id": "rs_088de939523e46cd016a7d0143ae98819ab299c4ef05f28b18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.92,\"left_j5\":-0.92},\"note\":\"After the 5 cm extension, the target shifted only about 16 pixels downward and is now left of the wrist center at x≈96; the overhead view likewise shows the carried cube slightly right of the red block. I am yawing 0.1 rad left with matched wrist roll to restore lateral alignment while also moving the grasp point slightly forward.\"}",
  "call_id": "call_nkceLwsamtltWmvSwOb9O8Sg",
  "id": "fc_088de939523e46cd016a7d014d281c819aabe87a6506817991",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nkceLwsamtltWmvSwOb9O8Sg",
  "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=-0.992 left_j1=2.3657 left_j2=2.2326 left_j3=-1.3472 left_j4=0.0231 left_j5=-0.9657 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [3.9726, -14.2291, 5.5179, 0.5104, -0.2173, 0.0122, 1.0281, -0.0205, 1.6068, 6.9949, 1.9414, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e41e0a05822e7651a690a84e0b07930ba508a0b7e564aef533c24969fb56c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810b0b5fc6d2fe92c9d176d6e9f29da8442431b4045e4e87437e681634b24d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb43489ced9623fb4256a6371cea15f184cc3aac348a1bf0c3f38642bf14197",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0229 left_j1=2.3516 left_j2=2.2234 left_j3=-1.3388 left_j4=0.0105 left_j5=-0.9958 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -12.1778, 8.0068, 0.2906, -0.022, -0.0024, 1.033, -0.1436, 1.6752, 7.0222, 1.9072, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQFYBp4-V8DuO6anLIVrRcXKeJMQctv9FMDnQ4uuVDPXkipojE3wfYdrqgPCjAhFySzJTVrEn0FDARQah1Q5qZcMagtfecHNCkp_B19qRj0SAX5b-hQYUaKK6uq1PI_orW_2Xa2RJh-jq84JHY9bxB0FTBjRH6UBHxpppwu-U0V-hPC31K9T-yeRYIjwhBN7KrFRsttJJa5X2km-LRTKcCpnhZI4n0OqUT5YVlaVRap12J0i9EdngSspdrduZyTV9DLuc-MJqgmkQ2lspF5fYZliS5ACAV_c8UXPXbl9750mn0SaSQ-Imqlzuqzv54nQMnibnAzSM4ClLksmuxgY6nicRQiECPhyTjb2kJHmPYie-1FqlhEBK1Ao90ZZYyhTpEjpV2Yq0EvQPxiZmAvmAKHDplRj6ZTZrcPrh_9x1ouW3VBQ4uasHPmF5jKhzxrN9AsJh7HO-W9cAzZKA3ENSxG85dCcZEqq0rH2oJ07X6tsvD48smfr4tREZXM79LgXt9M2yclkyEeTJKK7PN3OfRmcyVgl3f0mbb0r0ALKFVFyhA0wMv3B9KliNa_qFlpcPJBNiSQszxS7XfrwcakNsHJbEzcQnda_uiCXTI413vvoCXkxWxr6skkY2mxgo6BrorzF2PBTozRywxfpdnvfJ5Tlv2qXgtAmfCMS-8i-ZM91a0sgENJGRK5dYOEaiuQ7LGQukiV0UpiULVhIDCdZG6HlIaU-QrdvpvihK_YNtN73-DMTjItc9VPXU805t1IvZgyUj-mdPzNshpf8sjic0RysZYDHrxOAkkgYFzXc5i-jB29KFkbIaVfkBT7ol2l79fFL1bNhtGR0gldsoVvj2JxiRg1wwLq_YNsL4P4I-KCxY52KJdgSmrKCXHYcIkRQMwYM7tWNbU8KenT7cqyud8Z-Io0-l358dy3ZU8BRTRZoUsKVmS7Ds9PTISAMO6ChEdReTXIjuDsdbs629yBpaHw6nInw_umDDV3VMeF0C6kcIeZCR7yGpj_wdk_QK6roNoggog1Qy5OSgamNODHuD8fCt7VSJieXmXsXAxQQTEexU4EztO9huK3S3FfdTMTo4j2VM-kbAB_bEJ73Y-CPSM4GUX3ttuE4_X6ZdCJm1anWANsrwl0BSUgmBDxC42ixIBRQ21aUF6lWOYFKezEiGrbJO14noDSjmRH6DPSldeNdN4VQZTl2L4NsvvuER1AOLXt65mv-HWOpLD2oiiTaQKA-vebXMd8DTnxEaGkrQe01vYkgDU8_gzLHLivZRBZn90o0wyj4E9O1JYsSNO-IZl5yU_pUlENSAEzXGJB6Jsvex_TnaK3qwDkgpTmVCdFcXCIZXgDG3ASfOBkHpmhAowJvOKYBpxIi9ynJBSIXyweP8gCy3DMc2Z_nr2SnODEIW8YSgMEEVVu3qzX2AlQm0sSTu1I7n4cHb_5ziMsokLDWJnHTGfmQJ5uLWiQfFJ0GvE4LWd4pul7YjZQdJM0nz0Llh88cj3RMe8xyFLbBTFQbkZbhcbZQKEBdpcOCEd1dBi2p8pjrhicIX4ljSX9rjV5Ng9zgWxbu8Il3YLrcRaWQerU6kARbPCYhdSCpAzGSoRe7izQly_GtmGgg4dMR8OGIIDpe0DG_A77vN4PWqnBEz4WMqpI_AuR8y_RYE6bs8dSO67hw3WjRZ4H4vXvRJDX96taIvS4SUTlJ9ZQkkNssREKNv-4f8IVUS-S8qezGXY9S4YIsDHA71wiVMWKmBnAJDZc6O70BP7Y3U9iEseHLC3ksg_sCt47fy6DjantDYOo4s7ac7I0hiAicrJQmQ5nEBdZXAF5Ba8cGbf1-C8RVSeENhlkH9ERYKZ3mp9HPZCb1",
  "id": "rs_088de939523e46cd016a7d0150d7e0819a9011670333d5038f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.1,\"left_j5\":-1.1},\"note\":\"The small positive yaw moved the red block farther left in the wrist image (from x≈96 to x≈88), so the local lateral response here is opposite my overhead estimate. I am using the measured wrist response and yawing about 0.1 rad right to bring the red block onto the jaw centerline.\"}",
  "call_id": "call_gOHPONMRa83Zcz9KvNVLhFNY",
  "id": "fc_088de939523e46cd016a7d015673a0819a95e4c8bd808dd101",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gOHPONMRa83Zcz9KvNVLhFNY",
  "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=-1.058 left_j1=2.3661 left_j2=2.2242 left_j3=-1.3453 left_j4=0.0082 left_j5=-1.0405 left_gripper=0.4564 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -13.1487, 6.5709, 0.4664, 0.0513, -0.1001, 0.7937, -0.0615, 1.6068, 7.2, 1.8828, -0.0708, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22cf221b097f2975012d17e93c0b9d4662b9d0db6f7077bccd6e325f970f4f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ff6c9f27fdfc4cef2bdd258bae1f6e78ecb1142e2012330799cbf5383ffac2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2909b4958d59d90d38173f208809d27a87cb3ef2a9b912cf5051fd241dc0902",
      "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=-0.992 left_j1=2.3657 left_j2=2.2326 left_j3=-1.3472 left_j4=0.0231 left_j5=-0.9657 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [3.9726, -14.2291, 5.5179, 0.5104, -0.2173, 0.0122, 1.0281, -0.0205, 1.6068, 6.9949, 1.9414, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQFd39lUHRrKdFOGw3DDhTiXyJs37EevxaCRYvcecvA3rkcXSrQ5lZ_xuSAADsWSFTn8lpl-xDOy1skeAQN8oqfmEWg8Jzg3qa2SJFDxY8bYBEU-R4YePF59_Xh-F-dd9kQi85jjdaM-prgXN-h7cP36vSyyLaqPdWiyOJtyF7SApbX14mTx0xlScbSkSJErmUH6hSiom54uceLKi5FulUFH0JnXYJwHNBcxgORGEytRdY1PKd5y9iBUCEjfZmaM5DwQ3kMWxhlrTOgXNCwm95T5ykFanbp4N4seUvH_HmRF58iAWq8SDTUuERh65zUolA0KBio1cpvWo3PsGQWeDwnNcoh7klQCByo5McsEQdp6VdIJpEH2qslUnDxL2IdqH5Plh-o8ZbTu5knfnrydLfDIiZYQgYhjk1uiwKW-E2N6QcyVF-zwcW1EAtXyhka26sFnnQ1vjntFtc40KBcyDBqYJuckRIuptOooc06D6KRXuoDIlHD4FRXS2_zktsMgtr3iJYL9-nW8IuSsUkevetSr2Q4or4t_tUTx9jAiPrQvbvEipojB5P5wlaYakIhY2vtDTaM_TWxIRQi2KJgNz0DLFUCzYc-Tz_9DNcIpHUI_hFuBAwkzN7WpmC_pF8_TFMdRjaqXx4G4su-iWm2ks-UhE5_jahhBxcEo6QT3KhEKayQGsQ1KM-w3TA69HCTQjGb3WDKRmsxC7Z3c8drr9_RgR69gmKHF2Dhue3Z4cBlXSaD1cz50FLJ5oKIuc9Cn4QFmoR69vNc10qcSD5VDQyBdLxejk4q_RMjCuJdcPrJ5o5pbviuTWBcUkrr54AydDJ8aireF_fXjJ0xO3Ga5HD4b0fImhodkNwSrPpFt7-4kBWDmcK2wroL-rHWLHK3e1sHkFgAVPRoeHB2VPf4_ZhHXngLVD9PGct7limx8XeuTQkRtt1bCIs1kaata-uOR8zKgoBRniBimTt23TEOnzd9q2DeF7hGi3yjyu71qSyy5qVvx3IogITyKd584QEvBak_krIC5vC_HAvbZALHaCfGwzg==",
  "id": "rs_088de939523e46cd016a7d015b92ec819aafa80f3a78b78cdf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.13,\"left_j5\":-1.13},\"note\":\"The measured correction worked: the red block moved from x≈88 to x≈101 while remaining clearly ahead of the jaws. I am applying the remaining small rightward yaw to center it at x≈115 before continuing the depth approach.\"}",
  "call_id": "call_2pr4Djj4TEPHBMF6q34fJd15",
  "id": "fc_088de939523e46cd016a7d015c4a5c819abfc30977e4374422",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2pr4Djj4TEPHBMF6q34fJd15",
  "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=-1.1091 left_j1=2.3661 left_j2=2.2242 left_j3=-1.3464 left_j4=0.0216 left_j5=-1.1088 left_gripper=0.4566 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-1.4974, -13.135, 5.8051, 0.4615, -0.1636, -0.0904, 0.823, -0.1436, 1.6342, 7.1863, 1.9121, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45cd174de1876037c2ddc582eb2cb52cdd7e0fbe9120d75b263af718763c5cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4bc45fbb9d212e77e40f199c0a5cde225950f1c4240f47c33ae538cad053c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b348f82730f658e55ec73174b120450638a63c3326ff7a6499ce0b8e88e2d6e",
      "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=-1.058 left_j1=2.3661 left_j2=2.2242 left_j3=-1.3453 left_j4=0.0082 left_j5=-1.0405 left_gripper=0.4564 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -13.1487, 6.5709, 0.4664, 0.0513, -0.1001, 0.7937, -0.0615, 1.6068, 7.2, 1.8828, -0.0708, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQFpSGKsdcofOImIoXKVFYLX_HAWQUqn8R1hCgGXL1PmO1iwioNCZ4JO-Ab4JhT53kzngFHGnH9Fw5GKhKZWmKg_MMjmMJrkceLSu0EgTd_pPVUv2nSvCPHfNdeuLrSV1tkqFi2BMfiqMekysnj5pv2x395jPahV0zTA4bJ5e02ixiNdsEYul0hINwgqbMKS5Iejz85_W2nEazZptMEbnGktlhhF2cZI7Djl5WbHOUL1XuzzrHzmifJ28aB94eQ-E9znGHwZMqoLevaiKq8Fm4AdVQZE9hrTFOLEfkRb_QzyZ6lEGDGaBQK0mu6Yf2XJ7NHOd2ey8bWzTa5m3_QikCoQNcJUmRLUwTWcNJUAX-4zhdBH46w-F25Tpyc5CaIkglKBOwi_wx7pK-Pwj4OY-qkCeMai3G5nAfenytAaG0YBH_N9FMxNbYJtOfQAhOcXHYtA0lK8dPuUOyJAARekMckJWv2gdP2foAzMLeS9eAcGrryXe62WycQcoMOgGhV7lKt-7XjeSFif2y-l_Nf5xdPHx9utSoNs-09n_BZrfLN7jyaXkkqyESr3DTnLNA5Ls9ZMVWk246o0O90_gnD7Qa-X8deFbxlMd6KsgG4d0_lxDWNX__LD3TnoUMxaIxRuBzfP_Mwqb1QauZ5Y4im0LwTEfLip3p105XqwdkUmKa5iB3L-6Y2n-mBzsueuaq1wwimNKCYnOM2CxfVQvUZ35GiBl0uYH5W6ry0g_bvlnxmofn-_R3gVODhC-xhz85ZCEkjTNvS2a3r0PmiaA57WETLCo9OJt6kKOpD6X5eCmJObv3dq02BYUe8wX4gfpAwOPkwQf7qUs-CilYfTrwyir4X8FYfAnwokM0umL9QZJvTB_-LG_NkWjFrK58qS4T1GQdP5oA_dpoGVgZ2cNBC86ZaAWoonk6AWGJGgF22hsL-GeVb9YKL1pvFLBJ2Z5Lqf4X_xLV9Wiuv6XMDTev4KrHcjdtSIEayw_-LyJu64PIrTOnPq0Algt0fqRr2bLzWjddbpBJbdejOg41mSuQ_oiiKUY39JltpfNvJMwEeSRJibT2PkKUjgvdPNnPjFDIbab5dUh43iE9ku68sfes0S_r6660xVA5kR_h9Rqq28XngFWd12LcWK7Dq-NvdWrWPHNaOkmLkwYYdZw7BCg4EEM0_IWQeMt24JJoxj_qvNw-uN_xeLZjSprnnCcD-QZska01D373gzDR4eO9ze2lofrRhEJbwvRkD_MWLBTHu6cMzaiJPJmWZ3GdWR-TIaoPDXxt3xANeD7wYrF0Yv3sfpFtV8VE147iRWSEXmhVRf-WQQ7RbvJJmQgnL1vW8T6W171vhwW8LGmZSh-78qoJ8lrpH5I8NF4qEyRFBUanfobi2cVoxIkag1P3WJ0MJUOfEsNb9mnnByoBqr4GUsZTwJUhsHYT_mqehOpxkjcsj2s0dO7H3bTdew0MO56srHzNGcfxeCEmP2GTaZk8dm0Qv9nvNAo0_c7Ltom0CRbMIvtqxVEKmL7laNv4JiKKkTSBJfdGceMyY-lJMXC2MdlsY0vVAy3FiQhlIhSfymyVE-6-KPA8LcM9k8kUFDb0ENems9FoLMfeDU60unwdYcDiBlrWXrUBaOcLfO9a15DluFMOfT3LbwDPIVqsujIWX6tNKo6FJLU2EvvYg6epY5hFTKtyfcw2hNMbw7Y8F1kWuUxah1IZMUOYfEiLs5aw_BUa2Fg4jT6p3iZDk42oLuL440Tbyc329Eg4Ft86dUkRf-MWGPafrL5XSxdtRi1nd_X5R3RqyX0p2v1HL2jsJLhl_rdusXhoXT437_hj0uiHJA7AWVLL8IWAst28379zA8WXIVt1O_niKksLR0629xXr3m2Q9xcp1sTAVfSHVfvNhQ8Ed2FGPxN6mCYUbZFC4O3Y2Yx9-IZ2ROHjMX50ShDSajCQjh05atM7CBXJyxKCtnuq2VaCd68ep065HZyCNYITzgzEu29nfyEpBEI80nvjLSrwWtfzR9eFl_bwQ-UUy24v6_oj1BQvZ8ywV-dwb854LPcFOT9LBG_5VrEEiJMzsdXzsxaqmKakgpTJDaWElEy-mr_6tt8q-U4Z0KmQhzBGDuqUlECmj8z0e5InCXJpjj6M1VNHgozFsBEQrh0Ed2CJJrLgnLskoinv9xv2Hdp6m-oZaXfU7Jkj3FLpkdF_s05oUxwkIKdeqfzsoAjl-JrTxHAR3LrpSK8LMHe8jCgZjVtp-lNxohgWq0YAKD6NqykBLMsMBU0TUZUWUTvFURj7DREhzkJL7-sVyI68qDEhggAQ280QbsG4e08xAJV2OZND4VSqP6s1kYcHEk8f2mvsLubO5zGCalq9sGXUDiFcAFXHguWQuM571aqlJTnGHE0qseXLk1lkScnfLil5BiNGU8u4lJhpyW9DLaRW6OtfQ6GB7NsbdAzw6M-Hqov9X4MPJzLbTK9DaouVGqDH49RPPb1K05kxgcQRDHV_pFVx0BxdeDR5Mre3deOiwF3jcp5lDVZiNYdZIIn7baVeaIExKV200qRmDe-ZvXc3M2patzyMdE4AJtbMASN5ZoyvKloH3oKVTD-XxjnqzdI7XJTcntZnaw5K8Ml7Ll3_rZFCFN5eypQWljd7EFzCo6lo2COCTYiCdI64xGdTIjn6eYGZJl_CJ2eibEw_Y5AFm1mn06HUygIV8hV36KZHnJwE_u7tjtgg==",
  "id": "rs_088de939523e46cd016a7d015febc0819aa217f213bd9ec58c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.62,\"left_j2\":2.69,\"left_j3\":-1.56,\"left_gripper\":0.0},\"note\":\"The red block was centered laterally but slipped just beyond the top edge because the yaw correction also moved the grasp point slightly backward. I am extending about 4 cm, still at transport height and within reach, to bring the centered target back into view from the top edge.\"}",
  "call_id": "call_efsRz98aYlOwxqoDv7BEPAoW",
  "id": "fc_088de939523e46cd016a7d016834ac819ab6ebdf2cc905dbbd",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_efsRz98aYlOwxqoDv7BEPAoW",
  "output": "executing move_joints over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1072 left_j1=2.6011 left_j2=2.6465 left_j3=-1.5349 left_j4=0.028 left_j5=-1.124 left_gripper=0.4548 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -12.8342, 8.4991, 0.2369, -0.0904, 0.1294, 1.0281, -0.0889, 1.7162, 7.3504, 1.873, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed43f9915218be69124191b1f901f1ef6474f486f567b93db9f235ebe37a4a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea691860ce7294c52fe883af80c6848906689cdc69aa4ba209b8a84d89b7fbba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2030cef87a15f8c709817cb8eea6ab69add57260820594163b0eec23e4e40f4",
      "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=-1.1091 left_j1=2.3661 left_j2=2.2242 left_j3=-1.3464 left_j4=0.0216 left_j5=-1.1088 left_gripper=0.4566 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-1.4974, -13.135, 5.8051, 0.4615, -0.1636, -0.0904, 0.823, -0.1436, 1.6342, 7.1863, 1.9121, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQGDM1my6ul__cfzdnl5e6PdKSZ2-8YmeHRV49r6OqKV09lVwDRBFZRYQ7GSIJS8BjQpvpLl_7UwWqiK6PqyFd5EN0QaTgeJUInMsKe5xBMKflHKcGIm_7c4XzuMXWyH-T1GQQSz8iT4c_gDuTrNj0DFJsAdQXR0SM7JcM6kPDX9YuAW46kFDGrpyH-MheIcYHFmfJACtR3LAJOYZwZjcQBabCydKfXWbrj_l7DX5Q_wXXWzJLFUWBH1UTAuo2fOqKjAYcRe_ToTLuDS-p-ETEw-6EUwZ0YaPKJ39_gdg3B2pyBIobHboG7gKeUZgvUW2ScXWY-g_vd2iL3_3Dm9F9JurjUmPitSW3gawqXg7X3ZAgDZOTAGA12UFmjyyuE6lhL7cyk8rRMXG3Po2jRKUV6LQgWXryccz47y8wjT4f1kXLqQbEr6YBO7zXf0NaF3T3D0CbQwn3bTgoN3L4aEXGdJj4WohBIPqsRFQgkX-Bw4zCBvEpNWHIM4fikuRpOuX6Tb3PcdMJOb-LufZG6rEGqlYem-Pef4fMx6QNLSdrvV2hj2sbBqlT4sxOtZJ6oMsbj_4RmyEFsKNCAqB5OK0CCQfGscJmUWiXlJT2vFZn93w2Que0Ni2JE7sKbQI_sT7KYxLKi7lDsHzPU24-xdm-82k-c6qRBVmOF2_dKSiQ0jEpbwrAbaZzxKtG4M-HeRjakvcl_DP870bgvt17-n83L1z-vs1SOtruBuVGPxFFNAISWmXidKffOW6Z8XTIWliE3gscCpUmJVcPEd3WfhWT-yKZHnBNYmiKbyTGq3gqo8M9i-aer7xAc_cAxxh7NvYz8KnfzD0MDRkTXfEQLSS1zD-w1mJZrK2jwyvv2VR-_8ifhC9j9TruEF7LojErrL2uTisUSuD_DcbasgnYlQRva89p-R4xREbSXI31Ewdlaqu5Vov81PyWbvEr0AwLrquPsqLFcDtqIzE8e4GEZqo-1mO493kWh1adv8zQa__L0qmIVqE_UkFNf3CIGBlBnDPM1X6O0O2S1vR5mN8DztP5J07chRYE4asD1KFRVZGDN7kJmcU7go9Ujt5dYkAWfF3ao2quhbaVLC4sojpp-NH7AqxZj4vYZoVjkV_rQb-QorcRs6q3cRHZ3PldsgKg8ef7-34AkhhTSS3LlY6QMWsTvyJs3yBa__ULaZiXIIix92YmdgQVxpQkjs0ilNGNWGoOlmqyXUtY3LCKKUy_zYBBzRlbWYQquP8k1mbn_dfUef6odyht52f_QBRv8PWw9GmTYR0fpPIVk8jVJHxgAOJf2_U6Cc1wyh8wPYCa9DFQ-S3K9HY_JON_9hJl-Dk4dHDZSvkMbLmYyB3kmlENgtkpvhkHm274_u00TC0CQA2Qv7pUaGLB8mW0FkeeCp-BUIxxJbiOfhNsiWbl6BoDLyea0cHS8qUjKF-CdvVyvC2at-SNl6Q-AOXtV6HpARKdygQM-KHnP67OtXco1mH2FL8cEauoaL9Uc3yfnpfB2vWrOOoD-GJC_3RWTmWz7-c6FZkRYTaJIFbhGCIzzDqw7rZcKYv_B9N8JAHBUF1L2ddoy90kTwL9q70hFF1qeXnVwAIL8a_qI_Z_gWzFq-j6vAtpS9id_b5DreiAWlcrjHG_UwDrEV95yQcY7xHVkbRPcMKqlPMrjVMZaBwh4dZ03noNTee94_P_mfaaOiX4N-wNy9ank8vEOllFJV62qzKc6cYYgkBlAe2b8O2gQVtlcI-J8bmcmVhzRhWO5lNIi3d6KDcA0zYWRi09-ClS5AQ-X3kr6TlxsxO2XiRfPaXMc2qO1KZGHoqM4eGKNC-CrBuXR1UQkx0yAr4FLpKG6AwmuGbR2z-Da3P3E1ZZ8_qOjU4LTef9RdgUhDgUqsatuf-nCiw3T6GL7oHFi5CwTG20EaHMLmKJbTXSq0OrZ9f7ZodGXzXnjJIl40le2uivlc7K_PL4mugBYPSogwy8qw6dRMZ1XP29bqTsMy0PJH56WpDtHgSnPEI60TB-VcFQU0kRfqOeFHi9m-2y59pNH6ByDuYGC1ZPQqBZtzPhsXEj9ZVEntnFExopHFaqAhdpiveRFL8T_hZ3y3G1BneSwvRVn1Ec0mc8la6nj_u0HCMjUwSrg9DOaezKV-99UEIgDPoqn1HRMfMJO4MWk6x0AFOan3hdMoOYyv86c1b8GhLFmY7lH8Kp1_8z-oDPz0jM-AAoiyHikkX9EceC8zBNhJfSN7mLrbse1ihZUQQ4Kgj5Aexlk5DqyaRqGIkzye6FiDHq6TyCzC7_6HC3KCmNhTHcdx9rfagwuGoj2x9TJo1PHaO6IJ7bgRDlRQK_pUVGmOG_TnP3y1p60T_hsVVcCz7ZA5y0Co-Py0T87PY0U5DYDdgMV8II90M0ozM3vUBtO0wQw7u2xyyLN6w_j1Z91s3LniD-8nFylEIAAyU_sGIX4pFC77M1oK92PYi_1DzijbWbMKTzrDhr6-8x6C-mSThSlxMplesvcqQBr-iiSgDPfi-Bkj9RsQU9P52iWz9isOF2pO8TTN-g_-vAPeeruL8ZhdQIn9L8eVnhZlRw8-XKgFWXuFSyF40pkVKjBvIscq02uq5Q_wkMF-W6IIsvpsY3yLhkHiETzn8LXlaDBGsv7oWcsJ0W2hbbJ7Etb6w0p_4q-xGd6pteZ_dLaW-catt18l6_PEB5wo2pX8nv_hsPnCbGAOeBRBfMN-6SLBrHsILNM1ss6b4QdNp4qrFnfPmVDKIwiCLQagoH0nJSOmiI-5uPZY58QhZQQh4ThokvBHyuh51-bTM1W-1_lDVGbsZudwVIMG7AThsEobYrnAj-O0ner6-uaZQXysGNM58KRi56Zmi9ahwwlOFtlni8j8XAsQodVsFjHP4ox5A4_8VcCHkwitpAg9tabagEWGraJb1fF49iFliMNecUVVobyOa_F8rjNmZLW6Z6va7kqZT23Xi8E1y6wcACyReOka-dnQOrlSgpyovZhgYlvuc0KT-ASHsIytEwm6t1y6Fst3GX9ydW3_2n4K5NVWShTSLvVVbuzyELl69VO5AU9PJME7tE69OGhOfGe1uzaJ_ziB-k50b3B7HAxl31yDAznbWv3k23mlbJ3c4reqf2eVYAaqHP4zQ46ugiTBJWAlYn3GhpshJV0OkJ-blOPcr46S3CZWCyWfje7CpSwNYeojSHWglKfOAO20pG3kxu-JT5EcCPWhWrcVl6IdcLg7DmoHUwfU3kGn2yuDeuWFpSSogozhesmvbUtJZZDbnUDJ3niNnrnnpW35LyCF2u4dT78Ns8Jq5ehydGyqyUWknWEfEgIvGyZhuZQB-fpwlCvgY6KcrAsvz3J4iJ7eJWtyPLTutqczS7O-CvKo5_jj9RyqlcaMl9xZ8zrZNn4pVyqD8SkJG-EdZ6rTe41hEB2QgB0iEVQL-wr8qKFCf7Xbj6CKiT2XcfY9VE15FWQ4MHdh2240IEWvqjypzT_rZ73ujtUPd53-CrLKUVMU9ZTOsXx4qD_d4apza6yZKmWQxbkFxsWVVD5hluuxAGtF1lJaZHyVPb7cL41ZwQdrYQaLdVF70seo4D1mMoQKdNGBTV1USDLS-X6mC41hAiKwzYTDXwJytHNO1vYXjFEn1HWxJYgQmCrl2N6TGr2jo35uiHIEegxy0jCO7P0I_w7PJoRes35u3Ofhv3_lByZ5qIhvO-wrkEkG4_YunxeXv6wGkHV7mqgF5gvhqrJBMtGeVUIhQXrNg-lCZVymnh65ZraZ7ElfTYDOXZaV7w1SMzTwTjdpQ_rilQsci5WCjzc4P7F6dS0Wj3VssMMVcjuAjprb006k6A3gFGrhlMGY0UPKZQEd_yp2e424TNSuL-2FQiswo1bTDaVDHOdlLDjW7e21keAxcjjIM64Y_zs1",
  "id": "rs_088de939523e46cd016a7d016dd8f8819a8538e2a191ae14b5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQGDU5D4O7JyP-67t_L8l0bNbSMtZv6a_M8cVyaRFuCPX4YdfiGkQ43lfADk62_F39PqWy0Hr6DedoJu62fRmiTFHvU9k5QAf_7nSEOA_5H15eHZu9_Rq9CPqMl6Y_etGpvCM0E4aI_LOWRpqhyC7h4j-n6NZ99K4xdBX1bQrVPk9CVMAa996CfSzjIJkUeGVMNFOVZ-qWutdnjUSOvLdhv24Vr_Lsfkj_zWShIuiCgndZiMLIW36kZ3fCaveu23Lf-dQXlxQVbpvBBZO_HEJMmQu0cNzHabxlyyoUK76qOo_nFNv5ARVV95Y7C5rQSjC1qdt7sB69KPTAsyiF7xu2RKKsDGyfsHElwmhXsB13Rh33k2HQMxQSQzZN0QtP-jW7G2gQKLBt0pLsk6VPJ2rvDo5_6QnX8q__ffXJvMhlSIyASUTKkFS_jdQlNSW7eJkOzUQKWsumVew4kNSh43zdomLKno9d4dlaabYz6U8Pkaesj5WHyT9h81H1CfP6zmSaCSXfLpgbFQjCt9IYMSOfbSeQLmHGUGd-bW3Gi88oQb_ugKtJC3YZPxldtanUSNixDVdiRvZSMrSQUdj2u_Rg1LH3RRV-esOdh4BFELvWbbISjS4Vgy1Tt4ZCwdSto7nKuwpPi99PEeE5UwhWgFD8ngUnQAisxsoVBLj5syjJQY4jj_n3rQmCqQrJtVGJ8d_ubunWOqQvBzNoDdUbHuR-TwNWhc-ey8ocqxO4zzIkMYTk3Jmwmph5gcCeCYP2gu3cu9y3-2mXzfiAgglZVISan5TEprm5NDN2L0CbbxdpWCaxyLy3yiZ-zqBzPav9PV-RHoKW9hk8MjpW7tyZqHACsdK_mFvlA6vFJMz0vQv4AeK9x5QaMFsVyNA1PaTKmrHjb8wYTnHt9UfpF3TM1Lv2prhHGYV5oj8urolNyktFSuTHE8oRRi5c0RUVKJKRh91kns2uZ8xMG6J8IBefyL4VNHimTK0Suk45_aNbXRbBkRsk_2X2pOQItsUhHCl2Hwfe9LW1KRGyiV0BfsAeOCJc_y5NucU8J1bo1bGag640uny5Y5tLRrR9lZTejddfEOmrflkIn0W6KS8IKBtzcnyb6ipCEQta5-fnvdXKkxAbTZ6Hnsj-WN3QxljROK4OHBq53XUpehyAwrGBnenneDE3XNSEMSUfu4Qh7QtuahzpvwV2rWfpAV-EC4H7ETwGDAhoNnsPHbO4x-xKe8bc7i8titm-2kb18k160sJwMoyV104p8DnWi6QoTWqAfhahCy73pJ9bV2R7y7VRfdFPcQ3cJ76ZbYvHFAbT49sCIJca-dzywGpPVIwNfs8OAa7lDDHT4fBSlucPhFegg_R7wn3T4U_NOp7gu-zIm2P78UMPHnzS4gt5LtsE8ZJAXS8j-fJrFbskYiMX60gne15chSDHSbe6Q3jxK2VNT20S9IvYy-LcQO4A2Jc1nUUsIURw21YFr1aMxSdSnHUNAL47VaSdpvNcRiKu9UiVKuLP-YwSeaadcXQQD3hnkgIV_dEkbXqfpDCAE64sp3X2SOHNhMcPqJFkkpvolLHih9vGh4eZoO7M2U_NUI9RlUUVDUyrhWlQyIvpEXdko3F0l7XPJSC775hoFGxfXVwlYxsn-Hr2dNQFgBCTObep6RQxSdp6rgcyFbcOcNREzRCk4Lwz5eL9Bwub8QWj4J0vW_ai-sokHjUzBbOO9XYCkBSRpr_Tk8gAN6tOyzeb7bljYhcyb4nxW8Rp-T9rc9yW462FRkQCzzD9Gpw2rNUf6mI4JS-MzoN01eKfCYUZC0o-bZrwMd75WfSbg0xGA1qKWBoV8mfO7iqSIEhtQDXWGm2P1LUhGnaPo9E7j3s693n0qSOTP6aXkJjZjA_oszk6oIEiN51cxzuuJctrm_APx2q6KvCZcsj771WtYmkG5Bktgl_kDhmSXBNT2xNgtY4KIZeQogfupF_FqZ6qWZloY-j1kB5LUXFuTcpbB-V2ptDSx-0gdfNE2luluUjbHgqCUNsFPLyvhH35TQNxiLzL91SM1vUfIbw6v_km--a9ZKu9HkCou1NpEdzA0doF7txbUScbqLyGpW2OP-GcXs5dZc5IgkKdsZsm-MaCeqWEIi61RZin_JH6R8uag7vbTqDZRVyK6YmKzH8TavwCLQjyXC0O6Br3n2jHZGL30pmqrL1hSV7oRgY3KQDRSeOkpUnXThZSjD9M4kvXWBb5Gr_3J_GCtfooR3yhMGE5dK8xDeY9HAXqWMztgJJE8ku6HoFWNhsRBfmPtALJ_PZu0G97umO5hgPFPvn1kNxrRre2GxVn9csMuoliWeRa2Fz7tPsTqx6aZd0sBvuCSQSExzVS2vUltmx7G_vqyy0Ce_Tn-UfaRv1hbdXi2M0vqRmS8D12T93TUh_qZWFRtFgEznW3tfZo0Q06XQDfOZitU_OHLgmWcvAgnW2APNQjBVTVG9ldBI1H2wfV1-ajF6pQ6nuVKN3u5xury7-cZPANWLr7mkYaBAlnmgGPIgYNYY5-_PqD94Ow760cRv3GHYZRiUDPhc1Brgh0D6aEl4vS8RgAcJgQvgmjjTK63TNWcy6xZv5ZmSiYqZAI5y1r-ZalwvgW9jM7dzLnpm--GvEU5yOTL_6EV1TYCDrJANfMysrTo0NA6q8KRyEAU_1TxHJsbi-GhdDidWfJndFcYb",
  "id": "rs_088de939523e46cd016a7d01799920819aa21a7d4f43c6a071",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.33,\"left_j2\":2.15,\"left_j3\":-1.31,\"left_gripper\":0.0},\"note\":\"The extension did not reacquire the red block, and the overhead view shows the gripper has passed beyond it; the target is now behind/left of the grasp point. I am retracting about 5 cm at the same height to reverse the mistaken depth move and recover the red block visually before proceeding.\"}",
  "call_id": "call_1qqVSjVQabGPnJtPKBAPZYnA",
  "id": "fc_088de939523e46cd016a7d01807c44819aaef178a838075c89",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1qqVSjVQabGPnJtPKBAPZYnA",
  "output": "executing move_joints over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1072 left_j1=2.3795 left_j2=2.1708 left_j3=-1.343 left_j4=0.0288 left_j5=-1.1244 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -16.0068, 5.8188, 0.6276, -0.0464, -0.0611, 1.033, -0.1436, 1.7436, 7.2821, 1.9072, -0.0366, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33b9c576c394f0044a304d3bd4dd4ff34abdf7a39763695928244e38ec2463d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367a3cbf8e933b280a226acc960a746d6baf7a3c9a7f62731df5cd33ea9d3747",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b188dd6f065bf37802efa85a48831cec91f2303a420d28ea67bb1d38fbd79577",
      "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=-1.1072 left_j1=2.6011 left_j2=2.6465 left_j3=-1.5349 left_j4=0.028 left_j5=-1.124 left_gripper=0.4548 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -12.8342, 8.4991, 0.2369, -0.0904, 0.1294, 1.0281, -0.0889, 1.7162, 7.3504, 1.873, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_088de939523e46cd016a7d018721c4819abff4153dbe18884c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.86,\"left_j1\":2.18,\"left_j2\":1.82,\"left_j3\":-1.2,\"left_j5\":-0.86,\"left_gripper\":0.0},\"note\":\"From the clearer overhead view, the grasp point is about 23 pixels right and 19 pixels beyond the red block. A combined 5 cm radial retreat and 0.25-rad leftward yaw should move it left and forward onto the target while preserving height, so I am making that corrected transport move.\"}",
  "call_id": "call_gPK9Jn7zNhI2NqHzoLGxcRMx",
  "id": "fc_088de939523e46cd016a7d01909b68819a970713d86d4b7876",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gPK9Jn7zNhI2NqHzoLGxcRMx",
  "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=-0.8635 left_j1=2.2402 left_j2=1.8336 left_j3=-1.2224 left_j4=0.0288 left_j5=-0.9188 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -15.3094, 6.0376, 0.4518, -0.0171, 0.1343, 1.033, -0.0342, 1.5932, 6.9949, 1.9512, -0.022, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ca1cebe1e7400754068a7c29e4c424e3d6f93aaf345ce85bae190e96dcd054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fb8fa475c71f584d0452a8962acbeb5ecde7888c7d8d0366da43f57b892614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a85e24f167982562d5826da289f4438f9c18df5b95b9586970c7a3ce9fb8d48",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1072 left_j1=2.3795 left_j2=2.1708 left_j3=-1.343 left_j4=0.0288 left_j5=-1.1244 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -16.0068, 5.8188, 0.6276, -0.0464, -0.0611, 1.033, -0.1436, 1.7436, 7.2821, 1.9072, -0.0366, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_088de939523e46cd016a7d0194a100819a968086ce1d2cc8c5",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_088de939523e46cd016a7d019f60d8819a97c56f0573e7175f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.71,\"left_j5\":-0.71,\"left_gripper\":0.0},\"note\":\"The red block is now reacquired at the upper-right edge of the wrist image; it is still far right of the jaw centerline. I am making a measured 0.15-rad leftward yaw, with matched roll, to shift the target left in the wrist view and calibrate the final lateral alignment before any descent.\"}",
  "call_id": "call_1Fy6PTWevFPTUCChaQpUVVow",
  "id": "fc_088de939523e46cd016a7d01a92608819a9c12505e403b3f65",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Fy6PTWevFPTUCChaQpUVVow",
  "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=-0.7136 left_j1=2.2292 left_j2=1.8248 left_j3=-1.2182 left_j4=0.0288 left_j5=-0.7696 left_gripper=0.4535 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.8547, -11.0564, 6.2974, 0.1099, -0.0122, 0.2564, 1.033, -0.0205, 1.6068, 7.0085, 1.9512, -0.0269, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c0f1a652374bcfb7fa3911da82c7f09cd3f044b04daa724a8f800f05f6f06e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89721ec70331489056727b94ffe4a5d215f4fdfb9b1d6a19e5380e5169df2abf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c7c6ea940c1991fdb89ad18abb03df29710d803f0f8f4d74cc36af61ac62a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8635 left_j1=2.2402 left_j2=1.8336 left_j3=-1.2224 left_j4=0.0288 left_j5=-0.9188 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -15.3094, 6.0376, 0.4518, -0.0171, 0.1343, 1.033, -0.0342, 1.5932, 6.9949, 1.9512, -0.022, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQG9PpfYgvdiCHhG2vFwyOqROkXHjo8aGpR95wwcOJF1PJ4LVpNghoya-G-jA_zFTRXPn3jqZDL47jbXAeAFh088rXmxRrhpsf2ute3elSEZpYl7wnTPfKAoLD1DHWpIkokKIBFpqlVa1UqgkalV_t2MC1Bfd1v4e4E1vSlVzYvGHufyVXSqE2Js1xI7Q4p4U6Tvs1ed7xrnL0bTrVrZ0Sk_fZyDf6k4wD0guV45b35xSu0RnEQ_cPtPpmpw0HWtwwd-hk2JpY9NPXpcCSrhMrlgNcDuXuA38DLrhuo44_b3szrcJO0g1x0H4sX5Iq1DKR6ynk6uXkMhRSSEFArfo72ZNOi7r4OjLnULYMnziyTzMpuVUHyxSDJNi-FuVXDUHRkWnVQPzME0hpLXfuD51b0KoC_d_6xAeM9UDM7yfbmQcU4xBNJ0rPbzglbS-e0M423It1F7ELKf8-UUPkbThMRpAJu2AurLxfh0KLWL0qDWPVrYvu6wGlPblXUn7-qp6ZbGdipLzwzB3gXMqYSrdfvE6m5KFLAa7rtlkJlzn4L9RRAsj7OPI5b3hnIG4jnARFCK3gDGLekuT1gZCoOB_HDD7i8aMd3C0CzqVdKDfUDQSsP7-wsPCc9f7F_I00Ol-U4R_ashc5-8bXvbQZ3s8QpBBAOP41Mr6lPyZOWYvT04eOWdE7nXXfg-cnz6yDbDcNUB4TAOiGyjzvj6WcQCSyK-ZWGMGl8jLW2Pom8_UBjEIS2l2nl2pqVP5AqGnLOOidUpmppCgLdoPecUZ0fvaWHl5OjGDIY_9xp09rdShGQGAO3oPGZ88PoJiMPwgO14jTrzzv_XuEmLCoeU7sKR-Hja8JezYnFtcUVZ-TOCztPKY3C0yOZP8aSm_b0rPBmjp9j7pKDcTZ2TyW3MOq6k9yeBqN20s_tJ2IQWIK3NwZNw_0rm9LYsO5ncyWpiO8fIiuWko2xxvEfGWSeddOdYRbtwpRd1W77mvjlqhDdOYQcew0ykjuZ9-3D536B02LPrEfa0mMJ2K-ogMAgkYM23EQyOjku9m3UYQzrLxjhgrFQKxmZu8MWdvJl_tPNYMUUr1tRTDGBAzqHVXO0nVnvCEgRfL1QP_OEaaE6_hrQolaz5lhaSm9pZ1ClmJX8dkjS4DBzQ8d4A_1LT_fR6Ssc57OgcR_dwBxVB3cgE8ju9YAu9QH30FsKyODccfdrJhSR7cNI6N7Ep_PQL8uc7zNo1SmwCfN2usL4_FAwxam_TO0xHqcGmZPCxqkXbVflDK9zPtEw5OQ2QZG2WFjq0S4ZqJs1isjXFeiPtEjPYH5pTNeOpnemiBhGQj4FkmRXd_Y4QY3gCIIc2-Crs39I0j3C7_UW7iOjFV1YRKINpfPAwNqcvB5QbvB6rviwEoKFDluPQZVUEwsLclN3SoXV5ykoEz5EscaP1ajBciuwQ0kHAH2-zFyl9Zi0G6s-tuIGA1Pz80dewOepmWwYoSQpOQachqr2NMEwglmMZh_crZwj_S2Sr64imQiTintr0bv8s6F0dS_rPMzVU5-XQ8mEEs0YFn4U3rakKMOvTksVh5tJwer_gipNgmg8Jdn-1ku6iD_sGlHkHv0Ms8d6b4eCbfKftzPndJCr1JykNMa6o1hREVOMiFVyJuKMFRLGjrPlTGsKS7FiLIe0pmRd2y-9ethfQ9ifDooPQlytyQrxsRn0TkSdX8Zvhp_RsN16-zb_Hz7VUlCPLJ7uDCwncj4ZQrPq8OFSYLrX0ZZMp-VSWSACty1D1hGuO0OE_BRKG4thmQD-x4-NVHYdicgV9OYhzwTZtfxxlFKwRh5RdD1XQyVcXE8-z0Xq8UcuQ_tlfcNu1957WtPSxZz7zpd2sn-04aaxkCtYHhL3xd43rFTwjb1LjbJXzCgS5EudA_yBxx-GYVGMRmUjgq5HzLI1fMeSot05b6sICTK6g0nY_cNcpBKG0rHvYWA9uAp_xyZkGFALkQSa84LmAT7h_8RQMzxUZ8r2lK6uMV1liTI2uLA1Afeb5rrTZMEGuwAcM2YAf3b9o2a_tA13ZkuuW5My3wm_baAMbs04wBb2NT1uyEiN8GbUX_mYxOmk8_ip_elx9B4i8PPBAwjH5S5w33BHnhCgO3jZ4bYNbvZ_6-MiAFSbwpfcn9ThvRgX-OEB6Ls_yZezz-rxlWMau2-uGFLl84UTVCOpln8CO41iusHRLrWxXRvezHdUwBf_497FoIx216bjK3lPrg5YzFdBT7u6LxHAPj_UFSmaS9Dj1CKtpCeExHW_VIlanv3mKbCXRcA5lnXEqkuecBWcg-7-QxOoyrIM1bpDvN7Lx_yIwZFnR3w8tUQUDyks_9pYWontjGEFNCdMX95p0BaGoG7ZhdRNwEIdQdX4_MvyGY_nDuKtvZygaaU79WJqvfeF1fjD6DG-ZKFsx124qTE6TkCw9YWwYnfBc3kmsgr3i7qHFjvmVPzC-Ay9JQ0EnH4zVgmgMftl8NHdw0GgRbCcWD3IrXTR4ubR7lzMOjFf7WaTM_8jqPOtXSIcXhMU41nJ403OTTeidG_rSaBKt-l2zqkOKjHfivCU4Y9eXO3puwTOnzlvVnMUWeaSRZFyBR7IhwTGGQCo-4oCPQD22ob4jOuQ4R5ngOpLheGl21_xThdPjo3npQ_ZptXOle1l3adjPAcP--bBJtSq_TlQXETQRLzJFs_8Q_1eUts_qTC5_FqxEDuTaNx_w_mge_rN5u_6jYCwvW8odvJC2CqAdMM-v0JeypXpQsN7bLb0_OvkLEhA-CVzPitAgqkXvvQiOBDpi4D2EU96mGUwPIJ_sSnGWz4ADsoMJfjMkaP4l62_MpS-N_AzXXFkfx8JLyPvaccJq6nTl80SIxBY6MeyrFpfBz7oBMxzI0vti7XEY9Hr5wIArD0ZCfBo6Msdvr4ndFCzUhSTVkwshEc_9zDDH_9ih894gSvqXD7pmhbMuqDCSWtXyThG_mtE3xmuVXtIBGMtdLEfZ91vQHDMD1Ox--rLyNCEv1rfE7H0Aj1PlkzA8djzkruPAF-Hj84CQsoigf-8ZcmBBH0nmOvIrC9zyBc74evON_NwgUo3mVAdlVNx1F9jofvPre_yL7HUVG5CgO4gUVIj3GRJeTYy_QqpVT6-bwZKKVSQ29Ls4reCdlZBADkHpxpyZxv7BbaT2YWj8NXY=",
  "id": "rs_088de939523e46cd016a7d01aea078819a93e3d773d3d2533f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQG9ZtgQN1KSnOGwcMqr8YCZFgey8CHqfAlOM48afIhLlh2wgm2QL178rfSCXuhzoOZMvBmAgixnEPaMKEi2ze-DbyH8lgbzUTWql-6VDW0CeQk1-QRzxVX3-T7MHQ-k-k86Zf04pw4mAYL5YEW8cqyR9ufKF4SVGX1NyYuCfPfuQx81NOLJ46zKWwCC5mgRzOhyaZHZdsxd92X3zgAcX3j0vyU-IVEOWiEE8K5O61L8QsqbGPPvp0Q4YyRIJFQCIfyCR5p-x3MAFReVp4aaMXZ2QJAxSg-n4-xGLEOhJKMGwmIxhwiCyqgWRqKgQIuD-WYyhhW11gTU6pC88NQhK_UtebKHHcMeS0uYZjBoPaAItuB3Iehpvt9lkHU_TVok-034kDNCYstlwWK9wQVQgvLKAoHbl7JQHu_P_CeUxLTv3j6y_YCWsGoBmkaxWlYL1q-8piG77eXcDgxhuY698SisHTMjxPawsjNTsbWeWYkmHmUyuuzWngG58uj196ZMGXp6oj_yeoeMVlRHhtxlFKrqaD_VEbsQAVe8HV2zKUjF0jJpcUscIz8joQyje2ei0oLeNdNblkgGflC2G1Jg9cByaOThG5juOzxwxXEhmLlrYCvicrdQC8e4WTr2IwxE1TEMeR1TFEnJ7jtVOsvH7MwfKVwdoEk2SReEE_h2dXtO1GDj2GzAKVr1Pka2ytHxFNtsooQrS9jap2nPQZScc3C94lNQBjWib51tjdXNC_WU4ewH-m_ALdaiyleiVKUIih4atpPilvpUXJUlY6uCRxHFCRn436hAH-siTDqehyifZLvykkrioa6vYttJvcE3UqAbIuldIg_5PeiV7bT_Vly0jd8UMs7iZpN46XWzsHwFvIO7W9wtcFBnrD9_prKAjTszuTyjAjnQws0HmUnCsd-BZf_k3BIUF3IOk8K7-K8iJRNyxzq_UOJpvnSIzyfYQnAIw3S1f5_anbAIJLB1jAzZV0bkAhtgz0UCv-QtepdvIyBFUDuxxlbJ4Z344Q2A-P5kMAwuMcf4L8Pnf76awa0uScHCsw9znO8meGsc3LzGzQ4PzXWxRCjEVwzc1NOtBtLfW6EgA3KT4g1rdwAIUns6Q5WbffxqFNZNJvnPI8MHtxTyhN3_nojclqoiLeJ910YDZN04C8uZzegGptGu6FIuog==",
  "id": "rs_088de939523e46cd016a7d01ba32c0819a8f03a349fb0590a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.8,\"left_j1\":2.54,\"left_j2\":2.58,\"left_j3\":-1.24,\"left_j5\":-0.8,\"left_gripper\":0.0},\"note\":\"The overhead view is now unobstructed: the carried blue cube is about 32 pixels left and 22 pixels behind the red cube. This requires roughly 11–13 cm of outward-right motion near the left arm's reach limit, so I am extending to about 0.50 m while pitching the wrist modestly forward and lifting to maintain safe clearance.\"}",
  "call_id": "call_GXz94xosUt9hp154PfWRIqt0",
  "id": "fc_088de939523e46cd016a7d01bbd4f0819abe46f8cd066c7e8f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GXz94xosUt9hp154PfWRIqt0",
  "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=-0.7952 left_j1=2.5259 left_j2=2.534 left_j3=-1.2659 left_j4=0.0292 left_j5=-0.812 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -13.2991, 8.6632, 1.0916, -0.0415, 0.0513, 1.033, -0.0752, 1.5932, 7.0496, 1.9023, -0.0415, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03d2d546736238a8faed1006e549a8277d7fbb548b38f7e0dd40a7931d7fbf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98321341e11ad290d70f603f1f6863907ad9f23e3bfc1af94f4c4c746fa6554",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9575f65e0a1d72765236968c9788cfc64b591d1f45a76ca513ae61de9494ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7136 left_j1=2.2292 left_j2=1.8248 left_j3=-1.2182 left_j4=0.0288 left_j5=-0.7696 left_gripper=0.4535 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.8547, -11.0564, 6.2974, 0.1099, -0.0122, 0.2564, 1.033, -0.0205, 1.6068, 7.0085, 1.9512, -0.0269, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQHK2qGZOVbIPd4CquxsKGzMedAoCAyxPJndMnCg1GUi6FGJy4B66NLjYuxyuw8JaE1i4VFVRyQmuervOR0r52KfO62Qxnnb5QJALYXKEoKHTvqgmoaKK-15Xp3oXFa-y3TuO-40i5dnwecP_DCi7qd6f8hmA0rOrswUh2lVx_5HykOby5QwJBV0P7ebuSwLmqkaitjak6JlZ5_TYX5CbNSKQBFW5QoqLIyfLqtyN3Z7n4G3M4IRV7cysgewhDHP9o8L7jmusx8-U0OexNNYsH0knWBYG3CtxexQ72uXkjUVVGRKpiexDciKGSWqg0QYpWmaLNPCfzlnRI1Jazjh_JvBAEZgdAaQME2ko07TR43LGjnGe8zLbhoWErOiYMJ2pZBGlSy7UDsav9pQLi_tlan7jR4ACBGfI_8k8sNSBsAL9ckZVEimVy4_aMaa5wqJkzNgojSZLRvpd6NN1BO01_pZdoUiuC-ZrhSBYiVjubViZ0N-9GZA--JnlmdWuCdeOcvqQGJOByxEoYrwl6WGd5yltPrBqPZT341hP52VUe0efxcilhzUkxgNcrENC7PPVDj3bjuntjwnbeuVzQoYGDnjeLyy-G-Rj7pFKm6_QyjIWMdZh5UixB-WgOFt3_Yx_FgfjWyojMNmjEVvnTf7HNuz1qxCXL0bm6UHwekxxBTcafvfsToODAxOWHuA6VBx4BIwQxZHId7kg3iNDx90HJxWtx_msBX3Cam1wUeylIrj_tH4scGaZz9F-liC2Xd7wmNlu-0D2spuiYGryVh7yh4XcYbGeKm-d3prx9QYOI08eJ3SFIpEcyJ3lwjpoNP_TW8w9HIsRTEPo_obYQ4d-9PS0dq_R9NyVCHoCSD21Q1zwOQOot0B3ufyQICWWZpivmi0CPeGIR6RQoqYNokDyY0oTqhF-KkH2z-mKqfQiIJH_sHj7UtSXPT_J2K7TDJKgLJzOCjOVEnI0s2mP-RQRwk5a0lI-BhICt5bDdIxwf5FD7qu8kp4U4TDkWfmJ8BqfKGlUbL25rFB4l-gcQnzNahR9_L6Q7z9jcPaV3oFmq0cCoKBCgfhbTeubTOjYzCRWbKkATNUreL2AK5b3qQDujzsEc-b48FL81KecVWMg0DGnYcLXo_QkEJzBhcth0a60rhvVkZ2Hnk_wXMNt8bzr0id_sTBpFFEKnF4j3BLb44rYAROXs85Mn6l7r3dTS60Z6uPW8cYfuTMK-DIaUdG6W87Bmh_8QAbFU3Ens4QBtN0oZqKnUsp07kSjyQZF8GTFIBh65XaIl3T9lEmrSq956VUGFFU1aVcgJT2o9tulppEbH5rLnIXhBFhe_Lp1o-h1oXKpo85GEOvJtElTFVUQdcaH4OIeqA2U5iUV0rdPAUX7As_TeuJjIV0NMCpzKHBwCyXNaIbs95uOEJ7AP3t8OulLjCTdJ5hyXZ8SCcglBgXw4_o-r4jNNYJhiyu_x-eSt2RP3rj1LtiEmFtpZjsgTpcKnHIT3nmzCIEsuDh3VjnQ8dxyvcfDr_AccrfqQVHnDWRWOSp-T2N051m78feKnVJi6ZBq1IIjbuHjlQ9qLePi-3nvjzN_cntznnf2LXDUQBgzBLWZUiZyWJj1kYhoVJMP4L-FUZp9Gnk5x33voquKYnNOfm4JHIr6mRHJbVarAwHPRuP01fDGO8XEJbsn8QXf96XNjc_H-735JJNGUTt5XMBL6lSVFcM3Eu5efPXkFUrnbPCSmUX52kgM2madw5eUrSK3ZYwp4-RJG5kLLB7f4Zmu2hu31j0NFkT4LNujdsXKPYzEik1EdQAq4wtBQkJVSzcnsEV-1lCOnej441qKafl6OXt9RP2U4VlEVpttQJxyAR7zU1m_Cfignqi0YuIjkO4swns5vEi5bdv-emWYS1CpqgJc4oUf-N8FviBRoRrxzA1I1pWTSjoYF2qq6Tiqd-STA_TSFBoNogbEblS6RzTyhFHFjagUC1_sNzEfxNlo6ikt79YmiD-aQVmlI-lILu0KG5LOCtIzRDAGthUGP4GvrK2oLdqGVXL-UeW_sITjlXf5TJ_JL8Co_a8xTrIMTvPliPUmwCQufL-mNyNC-IUaiKG1xKyGFE6UEdIG-rLTnPM2o4VkFwnInTeFmPLhN9h37wTYHXfnwa_cKLF-Dt0f_qlkgzYkTbOo5eFeQ-nZzoRfJwRauqCXbIZ6G0gCUde7y-6IwpzPdbJ8u_vqfYz2hcfXs9FGR78OjjvQlmT_9hhSN0vFaHfmWUyn4ZE78ULWi23Ar_lhNEdwPLPR2ZEaFqJSwRshicHsjsDwp1hYcAaXOtjWCMxOYdWkz3N5h9HJN8N0BzzPi7FYwCdAagKLYCLxfBzYp1jDlTprJs1ozFFsAp-Fhgg1kh7AXkw-g==",
  "id": "rs_088de939523e46cd016a7d01c20994819a83315a496914c5a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.86,\"left_j1\":2.63,\"left_j2\":2.76,\"left_j3\":-1.33,\"left_j5\":-0.86,\"left_gripper\":0.0},\"note\":\"The red cube is now clearly between the jaws in the wrist view at about (96,170), close to the grasp depth but 19 pixels left of center. I am applying a small rightward yaw and about 2 cm more extension to center it near (115,190) while keeping the carried cube lifted.\"}",
  "call_id": "call_7edzqTKj9S1LeXKKmfy0sAtd",
  "id": "fc_088de939523e46cd016a7d01c7a2fc819a9f56a6bffc3cbc0c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7edzqTKj9S1LeXKKmfy0sAtd",
  "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=-0.8536 left_j1=2.6186 left_j2=2.7098 left_j3=-1.3361 left_j4=0.0296 left_j5=-0.8627 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -13.559, 8.9778, 0.9792, 0.0269, 0.0464, 1.033, -0.0615, 1.9214, 7.2684, 1.9121, -0.0757, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a589545723ceb9597019f253e1318600c7499429d57750fdc2b457c864768501",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d0978fe40b0859e2dc0aac329e0fc55e2e0262eb56b1c67925897b8584eb02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1ea24c0d7cdd7f26d1a98fcca569e79d28c3ce1b286a7393c85dc1b0724634",
      "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=-0.7952 left_j1=2.5259 left_j2=2.534 left_j3=-1.2659 left_j4=0.0292 left_j5=-0.812 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -13.2991, 8.6632, 1.0916, -0.0415, 0.0513, 1.033, -0.0752, 1.5932, 7.0496, 1.9023, -0.0415, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQHRXaOAZRKPOKobu7p3fsN_3I6hIprkcTiExFGkuNI8C0yPLew7XutVU_Wc43dEGGFmVurU7is2PCSZfYW63mdT7gsaWpAsqp6Zfj3YjFcTAb9Nva193Jnf3RL5TsfV-_i-GQ0ccq_xjG6GRJLK7zKIGhaWqzOLwq8OveO7UCf1hzZNLQN27dvw3KCte5jxq_M7C04ewvSM33H3R2gsIc-c1LAaq5IxIdp-wBvPFh6jvRMhlfZHrW3409iUCIA5ISjTi5qws6lojCvAik9oQS4sCgLGhp5t_wMv_Xsh5XQkiVytlTSLbU7msW1kas1PgLNirzyObNg2DHQEgydZP3nf4rI5wiDRGqnJm70vCj2XUkASm1qz1A9hQNbA6izjj7cvZp31ah7cE5uyFUZM-E1nADpLwVflxoG1ssmPkhDGyORjJZ_DKod95lyzPidmGVxz9hDv8YhAVG539PI6RvLvh9-kvOGnbIcsSLYtJEd36eOVJ6na6ClroQpHOmoyERw0sEAzs6smcdhnMoqN-oE62uiRZa3LlZ459EZZI6PHCm0tAPsAK0ImrkS31KPorcLnKmEK8TKU6oQc43jeSKVy316zONykoHF7DEyevT_gnKhNXB_CsZ4-AtbNOtBHhvnqA_1vwRKH4QkrZ0u5dMwwLPyK5X4eCbgi5wlN2VcBXsqrfx8Ldu8YbeosxSn4rm7XN-w4yeuKqcLKfPuJmM1xDACjkPGLwJA-jYJIP7n7HHaGsoRfSeBgIqUoYyhDV-RTTf6YpP8I9xLEIsZfJtxzx5uwHSOnDrTeHmcBbvGqiG3ZbZZzG8uk-avMydqfspOTI8wbcetgIaanIfcdTOJW0qXBUd-O2DdLZDif3fxeFRtW8eIgz6rZ420AtC1MTvgRLQhesW8a16OuqJNPfQzRdmSQrioOphqawhX-7_httj8Gz6ADL-ePAotxEe5vfrGUsy-E-8p-kxCRNFCDGrOgd8FIBCjWgg3z7kOosp59nSEkwBFt2GhStAhad2YAuCdrklT9cfkLcX0bnai-NvunhHQpnTSSa1h7OsdBcgWjsCvdOX81vt7lpXsx4dxUwYFsdLXM-gxooGb5aCcSF38uKmIrY_VxRD1aOGXZn0JKZlQtE88cqrfQGE8o94dXlbtsRt3eTsczfQRYih55BoYC8sX_3Lbt2u2CPA9QKUYLlC_7dr56hpKU2l451vvbSFgNk2k3Uq2HMYGpaCFTGIQFfOhNndbNIKHHlGiyk2pwPkGzpMmgRBXS1Y5c-7B7-E2IsNVOzVeTrTrELLnwIxKEDtrzJouwPdEkQPHTslTMJ8w9B1cT9F3YSq0xT_7ikFgKeDHcdysdpcJ_Rn-dzotcNljVaDjDRTMBsYz06ag6OobziErwNOkmQ9oBHHo87wdfNVmuh1THfmUivLLXTbBn1Q0FBjcNOvVix-FS7IHJLfcRRkmXB38OFMGEwJjop0K4ArwQl0iJFITxOx-hEcVNuFXA_kIUxXbuUG_YxL4zLss=",
  "id": "rs_088de939523e46cd016a7d01ccffcc819a8fad65ccdebe0241",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.74,\"left_j5\":-0.74,\"left_gripper\":0.0},\"note\":\"At this forward-pitched pose the local yaw response is reversed from the earlier calibration: the negative yaw shifted the red cube farther left, from x≈96 to x≈76. I am correcting with about 0.11 rad of positive yaw, which should place the cube near the x≈115 jaw center while leaving height and reach unchanged.\"}",
  "call_id": "call_JvgGgD8EcJu1xG2mryu3G8Sk",
  "id": "fc_088de939523e46cd016a7d01cf8c98819a8eb65e88f582f86f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JvgGgD8EcJu1xG2mryu3G8Sk",
  "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=-0.741 left_j1=2.624 left_j2=2.7121 left_j3=-1.3495 left_j4=0.0288 left_j5=-0.7856 left_gripper=0.4535 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-1.1145, -14.8991, 5.6821, 0.9402, -0.0073, 0.1929, 1.033, -0.1436, 1.6752, 7.1453, 1.917, -0.0513, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32180ac811ae8e04ab9a3ab90cd42a0fbbe41819082dabd3a34f9d426dedc7f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969bd44c0543086799e87199020cff77cdab32f64021b2dd2c733776bc635d17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356c1dea571df1108ee402fa85d03ac4903363305ec1d38ca1c2444ed43ba930",
      "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=-0.8536 left_j1=2.6186 left_j2=2.7098 left_j3=-1.3361 left_j4=0.0296 left_j5=-0.8627 left_gripper=0.4534 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -13.559, 8.9778, 0.9792, 0.0269, 0.0464, 1.033, -0.0615, 1.9214, 7.2684, 1.9121, -0.0757, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQHdtiyXqzkQmAm5J378kn6g9SSnX4NmJLddZP5DhfFGXjkDAR7JrJyz-CjKz1qahnb_q2NMfImQJa0ytynY_pybqJCTxg8LN5wchAxeyJhq6Mc4MJNokqMXfEyTB3sCYpr2SD6HHxi06XNGxFcAP9u0X-pI1F3CMREKOya2n2jA5wBmWY3WOgS-pgeLgm0wv9wBEXf8Q-1Ps1iWd5y0IK4ilLyHwDXAVwNo55W07Qa4U_mB5UFmKJ6CQJPIdOccINfTE9QUuEtQV0gYHpX-F9nKS_sjUe2TXJp6Xe5olCDYL1ehf1keWFydynZ4Qear65zoLHFghFEoo_GSBtJFl_Q_ihdLztaiExmbvSEq5vTDwBL35ecdSZuqLtjKO5nVFkW8PI2NpoiWHTonOH52l8NfjWOZqJ0-cmSvHtA5OSWjMRoVfKf1ycvoYu77cm1texEF7hOJUtE7JP07VoVOlzM3IR5fYvoUlGovOr1Rvq-iDuXh2zcQO3UZ2PDbBtaI66Kkhz9zwuLqMyZjx9qRFY8I0sGl02VE5SymkPRAOEtH_ExhpmZ6NTdSSJgc8zVtaq5Z5S1Q5-u9igc7lnKcOqNXNgBTQyaF4W6D8rZhY_gHOM_8_jvCM63ePdskwra6C2bZJKV3PxrdvjmGAvpFKfm3auobNeYSWqPyxOL0F01HvQENc9pVmVi0DXV9--MfiiLKEqf4EnzP9WrWijANK0CLnnYtBLlBqswC9raEOVhvD8Bf0HRTYLx840uUrzsKEr6jfjxMVxrirG2JzWZAsc6ciTdGRoRdbtUsU16udQ8LNvjcRVH-A3g9MoB4Zo8y3RHd5FaGzUckiUlPpxFz9DUAnG_ofhlwOJiRUjpyd4InpTWpClpD02qtKfC0fdJvRy4il3e9AoobfQ22XwGSgVEpJxD6ENnuJdJiLLd-cgzUxVtcdTcsdnnfUNZBdK5lXQ_xRii0_kZmvhvBqZqRkuY3Vru5naoisUm56xZuGaT8hvOAXNl5uXzZvR4Gk1X8TcaMkSd5hdtSWrOY5lxnL13G73ZlWAIEl2FzeH_YoISQYqghjJQjiTjZjERhmBkCEdchcnb4tcR3SmqhrP0Quwf8YduKBCj6q4bQDap4uALniZjwWVS60OAmsvsg0x2i7dFE5Sord4ki7wInIuXUjMwxImkyGAw6RZU9qAg_MUD5TMOxVOsvtIjmW4XQyOnDN6h2IKCDumoOJjptf9vw6wpkytOeZcMW8KzTwJ5ocND0M4p8LHBXCTJzFdUNndnnrDAV-z6StYSKm-pTDL9p4sn1I3J9WEnxeZhZ89KkpdqpNLrcZI5yAHSLvv3Bslz1OTOkvUhb19F-QeeGgYSibDRdRT26fAAdAqCB5b4COlIM8cU6he4d-1GE175H5BRwW7HhZ1Qag5VuD80cfyF1ZhoLE-_H9jzgUbrWO4HUtwiswFhR6cThbc5Vix8wuuaxQeH1Wo2CjJ9xvei1YELMhvYh0D8tNlj7cMSCvwGOTmS7tFwDKPJEi6lJsP6LmHif1JSm1f4-lJWP482sVcIxzoZ7LbMjeYEJeaWfR3yzLQvz1FdlHgw2MgTZhEk_HRhY9f47cID3V4AtZlXRGkxczMJ9j5_PMTAkVi_41JGVfUvz-8HRw82mujEn7HU47ssDLaTH1XKCogVddtSOT1CeU3CLRlTVrk0WGk-5RkEndOimrb4TfNr5VGxQ1gPsgjRU8-wP9NmOrhucsNb0WSgle8WW7wcswocF7kXj70jmOqNjEa-Jcm0Jot2tAMg07uukWsr1vh9vC2nbZttRIac77cRZLwT6SjADTqyOhy127BQCwYpSgOzSB2EuaW0QmQARxvVjO9xstzXogB1p45Pw3lAcsTWas86_HQXMLCjtWTr22SKKY-J0yI4nLxS4kq6SYzHiV3bY3vzFHxER5OqBYIrBLAA-TPVtPSBbeaglWOQVP0xCMWp_5SCxL2O4u_1iCMOvMfqieETG_pHUGRCSvU0dGM7QgdezPST_cPTW9tGtR5f6XpRbc4YhOnIEXknI8fw3xYEpAfJg-QFnqtVfGiK809nC5isDBntShvO-lFetCXuPBTaDhKjHcl7efxLD8siPqKrsanks-zE-UJ6tiiYixFX9RhNMWDX7q6dBY8h8jW-nJ2s2T4HljNp_SGGrU-oWgpcb-iDoM6T35W8Kk33_Dm3jMKFc7sdcB_QWWrJ6CPfDYl0KoMNjemIJpBHOrEz5RVxv7GE82lDFVRdG1hQaRK9wa4Ko0BIaGSDbgFtffzJXGnVaM-eauie0tpY47vJawFM34eIm0RQzkYaNd7UMT5voDvGQFKhY8MN921OKsHuifHQdZITy7mZRiHUv_FofhNEiu_iCKQzaa3B78d-y7ItIte6_EzlZiujZFkea3aoEPuPLtKxCKHCH0clkb0ZGrJtmOIL4lFLZHamrsJIYLlJkh56IY7RTGr1N7ku0bKVsaP54Oclw0Tzw5NZ_BxSi5PFErdIZGZ-M4IaNp6V2Gzi1FQCy7bSq6SY4knBP7K9p7foCvifPEZMXXKMwzXJWlni6ep_IXA86MPm3A3SJFCx-PQJMKVyNMPk0hJEpD4Tmzn-w48PCNQ95YeQd-VO9WeChlDa4rgaRqnOm46uzWw7q7fAZio1V8InEpuDuZTo=",
  "id": "rs_088de939523e46cd016a7d01d397fc819a96ef9813ae2278c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.62,\"left_j2\":2.62,\"left_j3\":-1.26,\"left_gripper\":0.0},\"note\":\"The red cube is now centered between the jaw silhouettes at the near grasp point, and the overhead view shows the carried blue cube directly above it. The calibrated fingertip height is about 6–7 cm above the table, so I am descending approximately 2 cm toward the red cube's top while preserving radius and pitch.\"}",
  "call_id": "call_pqSZXrP70iM8MMjIfnVWBjlu",
  "id": "fc_088de939523e46cd016a7d01db697c819a92c147ca7fe37519",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pqSZXrP70iM8MMjIfnVWBjlu",
  "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=-0.7418 left_j1=2.624 left_j2=2.6301 left_j3=-1.293 left_j4=0.0292 left_j5=-0.786 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -15.0085, 5.7231, 1.0232, -0.0464, -0.0659, 1.0281, -0.1436, 1.6068, 7.241, 1.9121, -0.0806, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f75497bac33c90bc7c5d982ee9416a8f6af02637369bc62663bc09af22e4ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b61557533e6c96421c328d2f4eb720e8e3d71c0a295e28531d53e2dc12fee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fc77f0a3faae70c986e7a9b601e96b0d8a5afa25954e8a05cf6a90f0aa298b",
      "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=-0.741 left_j1=2.624 left_j2=2.7121 left_j3=-1.3495 left_j4=0.0288 left_j5=-0.7856 left_gripper=0.4535 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-1.1145, -14.8991, 5.6821, 0.9402, -0.0073, 0.1929, 1.033, -0.1436, 1.6752, 7.1453, 1.917, -0.0513, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQHmE0LswDmV7377NM3b3lL6hdMDRfv036sp-SkfqSTP7iIstqP-TmNXJHeSGpvu1CxzVvIB3x_wfRDwsJ6GP8NOjWMpvYjLJNdssbdDM3kmRMZ3dDK3SiZfQMWVisD469y8Nz59r_l5i4kF1qsjz2mJwSVU3myvUH-PTEzf_RN5UTb7DqE7YmOE_Egc45g4Z08SHQc42Z3Mxrum36iELgkTrIWwSYWdWFApDHqC9X8mVnAl-xvvvH01UYA8ctlmkpeM8__00cYctU0ubJO3mpoCQ8QJFNxb9bbi5TtNBlaDvDkVwW5D5boq1enfeiyOw9fu9I_HZpDcfRg7TsIiVWBmXQ-R24zsKH9Jleo8Bo8Rs1LQBRRrsv20bhOScc0VNULOZ4arjfEcDKOuW3Zlb2jEISHh5roUIBXS4vKhfcxUdrAUDHZW2ZSTMGFda26eIqUK6xi0elxkHsR5Pi0K_ASaOA11mX532rVll19Yvvn-kO5vT7b6PM6v3dfeHVkb4skdpPQx_ha9E29ObQQFcojO7acZsKGCdG_ZRWmHXCd2jBJ-V0rqaSvNO-8dnuTKd0MZYlOmmiBNLozIt_tx9Lm78XB4Uh_XCU0dcSp-W_3c0s5Jo_4VDHLaeleHsHfmW7Rrhg2cALsGkUs2y-mbzcGt4U88oKw-v18Sm4wwESUkwR7L1teMclDPpai4Z0pRWF49SBbvOS1rG7WbiPCcc4UiqkZaotAIJ5mx708Eu6Cz2ivPPmaIHka1ZHgBpomguScd6-xru1IlHYb_j371B2_Jm5IWqoKIeV2snuHh9Xjj_QM9AUi8ZzCgGgOdN-AuMc5TlOMOzUMsZ1DldYrstg5lrHeXUGKnLKnP2C3c5JnEEKhkHDZs3wwKt-c6qEeZ3ejXhzpI7D3TrbEhh6K9qRYJ5LqXarKqqGaR_PtG1cQQr07XBTIYcGioZC66V392Y8ToFqUXZ-FfMdn3my9RsstMmKG75K7k0KczvWpOc6niTw5wd4xEmYreO-SdlL9TgaJI0nJcT8s3tUP0BI4gcX1bDKm1EBxrF86LlrUXPo3TcLI9_qiAEDZNyMpxSxlBjfntyB3l0IjnsL7iXss6WUvJAA9B6B-4q_ldd3MPcWSFw-k6V3rgiufhC7nzTttk5Q2Qe0YaotXA2k7zPcAZoAuD-oD20nftrqiKEZs2hykfb_pH8QZxy_OsTcus3zq5yfevURsqcgcLePc9xdqjnZgAzR9g8FXH5ixyWx3y2OCwnn2MtI3O9eZFS4jw55C-4JiPoo-dzjrefovHcQzNQFSxQGND32gk16HXG_-HWakzAqcYcVg-9cNWzUy3tLmRgXVlmpgB3oHOlVSTsvFd1QJkBtpSFIsVROuw2LxX42Fa1LbNCajOCk_Wizb6hFPn4o_kfe35hBNcbiKuNvAAW2uGhbx76Am6PWRGoFkBlBJhXBUC8yOEVkI9iOSgx9Cm3NAIQz5PxcEFS64P6s9YbzsVircGEKGmfavGty_SP727qn6dEqze0xf0sGvYpdCsqPXQXm5YZcxu_8M7eHN4KCm6A5pe0zInn5fAvcOr5rCb6-jX4s3wiWpbaegkmYLVG-RnNxRJg_uxkK1_bvhCSD_OCDmIN3sajuBWUGHtQ592RmGd5WEGyqpg6KYgsfxX5qpC2qwVz9dIpncl3SpMzSZqDrmIUcm_2aTKRXyl8hnRPZkF_WdHUYAjm-YVLME5q8ek35KqYASmgKKjMCv5-Pk5H7QfDH0HR4Gq01QrG9xBgeL_UJeY71obOH52ciYiqhXaoJkx7IEnAwuYSx1GzI-a1Bc0g6icY29x-wLYzMM7pJOYOxLP3FOEDhHcJkmzie6_PfS_oXCFZNAb7crGTEV6tGiGPHdiExWwTx3_O06I9L-mbDkrzs5oIPzNoxe740YNJt5iZ9QBCZ1bRe_ZJcJekzMwVRcIW90llrciUnxGlTDu40nrF6d0G25Bi1d-YPt0XIcFzyXd6UpwNTklQhuEU8jKsYBR_a624RFI65T_OGqLd59mNdoO0oyvJpuov8EW",
  "id": "rs_088de939523e46cd016a7d01df1de8819a95d93b8df9128e3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.62,\"left_j2\":2.585,\"left_j3\":-1.255,\"left_gripper\":0.0},\"note\":\"The 2 cm descent completed with the target still centered; the calibrated fingertip height is now about 4.5 cm, essentially level with the top of the red cube, and wrist effort has begun to rise slightly. I am lowering only another 7–8 mm to seek a gentle cube-on-cube touchdown without pressing.\"}",
  "call_id": "call_PcISiY48wKzc5FYHtjBJ5VwQ",
  "id": "fc_088de939523e46cd016a7d01e4ab14819aa52c302a9523d28c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PcISiY48wKzc5FYHtjBJ5VwQ",
  "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=-0.7418 left_j1=2.624 left_j2=2.5912 left_j3=-1.2743 left_j4=0.0292 left_j5=-0.7895 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -14.8444, 5.9282, 0.9597, -0.0415, -0.0269, 1.033, -0.1299, 1.6068, 7.0085, 1.9121, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e78c4983ee2129c575e718a67e41884e544baeef816219b4f8ad033284f2c2f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:658adb26168bb360979d5ceeb95ddbb2fec2dddd3bff7f583b64c0beb6275df5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40a63e885cdc6e31ba2097b9238605e144bb1943ef03e153286f70c779592de",
      "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=-0.7418 left_j1=2.624 left_j2=2.6301 left_j3=-1.293 left_j4=0.0292 left_j5=-0.786 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -15.0085, 5.7231, 1.0232, -0.0464, -0.0659, 1.0281, -0.1436, 1.6068, 7.241, 1.9121, -0.0806, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQHvuxk3HiqwhTgUABSJWaSyZiTiA-bKoOGe6IbaGqcgl00w6fR7aCe52MB8hD3oYJZMi7noSLR8mxwVCFRFqSdzW3bVChnTuL8W5_e5-nJXoTo54FylMqcf4KJ59yiHPKoKpFQgURgNS4UK_u_D9DWBzo3V8vETqiWZYXvpO21frNTuc1bp0VNsF_TyOJE6g4My34Hqbo9FNZguxcSoq1GBDJixfhewQUQ6Xs0xoV9C9k7I04QO1uBxhgMAEIQwq-O_YpbZaXkp-ixgL1ekcau1zUzMmvhl6YaC-tQeplf5NySfp1vwnw0nQWT0c8cdaWkU_6lvFxY-mMJYWQL9-bb6FjWmDWAkaBxur0jBv097mQrcoFsqB_Qgj5h24MGR2WlJPxaHyP20iBtGZcEs-reYxwGpyBCHmJP6JSRJUQAr5YeweiFQ4gqnOy5nWoa1vaM1sa7Ma84VvuXHgUY9ny3I4fblbDMOhQmASgwgyko4HoTlGIvN4vms686LCoK-Jm-GOi_Yh0oGuBreCfky7V05zv8JSOdIONr3vrI67aqmlP4KZ502FJ6-utxbTuzVFudC3to1iGxkiBl61v0laXpiHmeZYwiddJ2dxgnvqv12M0ZvY8OujaI220xL01w1ld5WFfjBkrObJjXEpjR8uVf43Hd8evvSFJe1Kxw1ZtI7Lt49T7GKb_FzF4GaM4UTAGkVHWeprODNTmni8FgDNM3jMClH8_VHqKzUL4YgoSWSzGnsZ9nJ9Cf-R4e7JgHIjNCUl-eEPZU3BjZL77keySIUWKrC0HTsyRr1bFVpfNTOK_sxtm-fEifluAZw1DjikTK-V2hQuhUvHPNsoHJPIZ_71ReYoa3pQH2zyZVnMXKCqMiw9T1KWhti-FLAWWbitiYn6TvauksoLYZAJYjofz3vJnN70emqk8BOboxBJ4hNM8XfjxoPZ22MUk9nIif_NuC3nznBxEb6asFtyZ9qXR3lgv0iLmv9kl04hOxCQ2AcCLYUv3yA4exWI0SAcH7kKoGjOsX9ABkO_sEC7fQCRNf6WTImxoAWNWJrNu_5zfuir3lEwWUrob4kbRIOnGO4CRdxxc1_wUdMgGmA1VaUv291Xt7rW9io6AuDKO-Rl2z67NDQr2Ek2c8bifRjhSWgPSkK1nK7eZpEdkxIzNOOr4QKvNu0smz3RWdCCRtEF1smG8i0WAOsMdeTNIfsDBXwjSUNXBb0Iw30ZB0Xd1X0U8PYnCzWu7Wj0Eb1mehZ-zRjKhEUwJL-Gmim4AAygXuzAbY1LEr_pufgCPbCIkXqBPWpwLKKpPOKd7ObsiZlkHEQuW7zTIbXGReRI-_V1_TEdeprlLUXHKCHBV6uZn9RhXFLsMA8kIGX3G12C2TdnxRLPhSuqfTaNfbRbfnQQxPBF3HDJERVMFk1ptevc1xJ5bpeU_aIsZ1v-FLI7_lO6aZT8FUsgw0LQtVAShKBWNQS9rWtbrsSLmW___tRahJ_8LLlKsbkDJV5t9xED_M5OgZ3pDNY9rZnWLVJZQDGqHtQkwQsWAROPrgUVsoNj4OvhYWtMFNtqiOkIc44GCX-sPV0kb7dE4agT1lwG1qZTeHYzSMg4NEs4b9_MC9IdUeKtCxUtZGI6_ETRSl0_2zm1wslGNdNZHCpskqVgexDMH99p2stl6LcfXKL_mtkD3GH6rwymfKQUXo2KvuqNPbsvZa8DqmOmerF945yuce43dtgvZt5N85qLPVhOEfJUzyWS_EAMKuPX9UGRBHnsPLkcL9NZArSAfgoiervV4NGmfmmupkB",
  "id": "rs_088de939523e46cd016a7d01e9d0fc819aab41567e6052bc9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.635,\"left_j2\":2.588,\"left_j3\":-1.26,\"left_gripper\":0.0},\"note\":\"The fine descent reached its target with alignment unchanged, but the wrist effort did not rise conclusively; the height estimate is now about 3.4 cm above the table, near the likely red-cube top. I am commanding one final 5 mm descent and will use any position stall or effort change as the touchdown signal.\"}",
  "call_id": "call_QckkyGkp9ZWdNREVC0ZgGmPI",
  "id": "fc_088de939523e46cd016a7d01ed7810819ab2f8c885c821fb6e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QckkyGkp9ZWdNREVC0ZgGmPI",
  "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=-0.7418 left_j1=2.624 left_j2=2.5855 left_j3=-1.2705 left_j4=0.0292 left_j5=-0.7898 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -13.9145, 6.1744, 0.8376, -0.0562, -0.0073, 1.0281, -0.1983, 1.6342, 7.0085, 1.9121, -0.0757, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b355c6a21f096193bd9d6421ee4100988b2f1476a5010ec2ba218e5261aa91aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a54294e102bbb320c356da8ac52f84c92817f4b2fb08e3b6492fcda9dbf2221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e147272c9354698b69b3423d5cae515a1c9b6c57bd9b56ad9b1bd289e2f2262",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7418 left_j1=2.624 left_j2=2.5912 left_j3=-1.2743 left_j4=0.0292 left_j5=-0.7895 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -14.8444, 5.9282, 0.9597, -0.0415, -0.0269, 1.033, -0.1299, 1.6068, 7.0085, 1.9121, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQH2FrhZ2ilQgO7ScX4bsdGXrMJ10HbvtLF2BvK-TiwWbELYx0KXQQEZ5OrlwJuBG3FXlm5ZGiNimpZFpOo9FYb-vt3JsHWkZx66ETtYK3M3qaTxc9VrqdnQ_zKRAeAfs2itwQ7PamGsHgV8t3W2jKmAalRZp7FGazBZwpfDYuXKmSffO1QPcRJ-Q9E-C9_qh7StQkoYELq9M6hAbUYTosR3OZPIpE72lC1HhUTyUQSVNQoVQOTduHh8hWxzSRb3Sh0Sw2liu3-hhW6ch0T28k-_JR8uo6mYtxRiM9CS_dE0BOaZt67n0yw0GvqnValVf4iOg019fTPdUEm1MB30GjDoBrt2XvEJui0y_1vpwkx-8ANj8S8THn_6WIWIUAtdOHN7r2mVQ3IspaEE9sIIQeodiqwtFAgBvMJWzYHg53y0uy4x3kpYmOqc9nBkH5kYttMNCuutg-eD7W-qLH-yJjk7lvHkESUzv5-WUs9UNP0YB-G-0XljjcfDt58J5yw05gVW32gOD8KMUCAcIx7kGIrXAuNoPICuuUxN4a4_bY5LpStZcVVCQ8nOdyGfIWkAw-YL5UQOVbS4hdwpcGF9B5O6Q7cS2ZV3twjq5nlXKPhge3-87dKdlF5iWaHZnz5Wxl18NKZsMU3R8jlooOwUMnk74uHkzUdoNYqeK3s63UHOi3NlQmr7AcpUcpo42m6rvTpkcX64fm222uQvSILgRRLeWe-6cEg8a58o2D9r7ZIAR_re7qnmjSehENS_zrVhvGqrqzAzybWZo5TffLizH3aoRLcYhejwhh6QCYw6Hc9X-rS9_tRyr2QsFtiLtc_iKd5qJ-8P0mCf6uAlURQRRiklWpI81bojxvWvfTC7htW8eczE7wOgeSKxOLkDG4FajHdNAX9fm-ygYxWwgUkq0siALrKHM7MPmusRZ6W2gMFylV7keF8CGeBgoKKWzPQJeBOnTKj9rL85S2LXa89V0lNfhVH6OxCam7o0GOncR_fylexnZPz7OAWQzFhuh2I2rHyFt22qEgCGgIKflBqt8GBhKy39B7xA-TIj-HFlA2YIjrqDV3bldKTZoDbFTtX5eA5KR8Em3V13x-yImuGQg-NImNC3kY6Kfker5lO32lr1MtjWOabQDh5DET-leP7NoxsqduVxmWBI02TRN4EmUmvqnpDqxvbNBXDKok12fQmGuR_XY8vdfhaaw--4aRw2b2HqiKvtJLmk75NVkc0alCrlla-UexAyHuGVyW9IXBXmYnoASrpbxc6e9aBi0yBKIp7RWHdSefFqYlgrhKc0ulXqKIlMuvdP3BvEYHocX4kPqyKMufcEbwS1pEU9PCP1MyF5EVinLGibM1m5CMw-7smCxQ==",
  "id": "rs_088de939523e46cd016a7d01f3d56c819aa2ae4665baf37453",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The final descent stalled at j1=2.624 instead of the commanded 2.635 while the gravity-support effort relaxed, which is the expected light-contact signature at this pose. The blue cube is aligned over the red cube, so I am opening the gripper fully to release it onto the top surface.\"}",
  "call_id": "call_oChaF7aUv3sTH4l8MhdQzXlo",
  "id": "fc_088de939523e46cd016a7d01f5691c819a983a0d2fcc837019",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oChaF7aUv3sTH4l8MhdQzXlo",
  "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=-0.7418 left_j1=2.624 left_j2=2.5855 left_j3=-1.272 left_j4=0.0292 left_j5=-0.7933 left_gripper=0.5952 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -14.735, 6.0239, 0.8132, -0.0317, -0.0171, -0.1929, -0.2256, 1.6068, 7.1726, 1.9316, -0.0269, -0.0366, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65231e2760129fc0f98283d975166394204a01c20bb5fe02c8862bcd91e24967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0142ded8d48efef872668cfe43bcd28564176df625b2130debc01797fa21b035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f996705532033c68d1f6d509e27826b031aa2050d35e50f0a6a0d9e0acf15e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7418 left_j1=2.624 left_j2=2.5855 left_j3=-1.2705 left_j4=0.0292 left_j5=-0.7898 left_gripper=0.4534 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -13.9145, 6.1744, 0.8376, -0.0562, -0.0073, 1.0281, -0.1983, 1.6342, 7.0085, 1.9121, -0.0757, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQH71gTxGKZHX9igEDar-uVWcXjtlvcM7KcL8tvp5_B6lUYeyU08Ay4g0nhaz1fhZwpH4o1YaIHmX3e1xfbMw0j2cyDHhbNBp3Nh6HfRqy2X7HgBWsjneszKV7G5p8ONqLb_v2HmaOlADfyGRkm9OU2niRyMSScOUwLgrQocYIAbiNra1qZLuR7lqOshCjBc8FWLR2VHlderFofHvL_C0TLJUqkVc2M7CB9JDLkRdvYkuGyg3sKH78aexn-lIT2fkXnd2ZCEhOq3rJDa2BWbATdDGOAeXgVl5NCmL1K5BJPDIMkKffhbxqJdNqu-GaYS_dqZM_3tX0-RTspv3ezLJEt5wZYypghBzL2rpR72GTw_SoTHKBUg2Njr3ExCE0Z503Wml3yclrtFvYMnIR2155omymUlPipSapXRJ6hOkgMm3xl9KN385c719G0Wq5FUV97Cl7g0hoJqI9UWId_Qu1VvFJhnoah9hnePnNSWgzA3EDx5azRorILxdKn84RPPr3F2Z8J14SQ-hth_p9YBmcBEXfynMJVErdNSWgpC9CHsBldWoPD_6a0QRUsJROmAGCw2OREQTPviDJCKyPV1W8Fk_LWwnugnEjpbS5PU6Oz7ba75EoTD5aKuS2OtE7bYYL9M71u4k4X6J1sMLzKOZQGExKQr6DODKPZeJyNsfmEUVShY2PCXExIlJlYNqQEVKxp7KTWnvlnm1x_ag8dF3xz_Vf53c-bquUHp1pyJI2bIsiuQFTWK__oLbbeO4_07YaqwGmvC2mnZSjdu6Y0J9zCgh9PLzj1tSLK-WdonrYl3oVZkjAJzWkk7lmYEbGieLDN5wSpoD-myaLDOpTm_vvx9U5NHYMkUPbtFXt9USYZfEWZsRgzFrQGSL0eIxPS-t0lwMDPSnm0tRLGJjl6vyzZFFeZFptSgNkT9y4jvbjeXcnmXa_UHzE0gLkbEiX6rLTqcz_CJj6Y427I8SvVaL62afGp6AoIvznhKVrX4Zi9I7S_FGKgEFhUjTN5V_1obLrsGogtu6pWglNtN3KUbAOcL1qk5os-5FcJr5yFeTrn60y77Um4BjuUS-OKr4YJIFflUQb6sN5A058kIDEtwWxh9IvQfLtLbZyI0HqpGzNusRJV48m01Drow3y3HvGGWbzk-vhwc3tTIAbDo1dP6ujXt7fsvbzXuC9qIe6iO4YZzYZg=",
  "id": "rs_088de939523e46cd016a7d01f8e860819a89acf1e56a9e2fd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gripper has only opened to 0.60 because the per-step limiter clamped the release; the blue cube is visible centered between the separating jaws and has not shifted laterally. I am reissuing the full-open command to clear the cube completely.\"}",
  "call_id": "call_62eCRySU2wJbvUdDqIGcuceN",
  "id": "fc_088de939523e46cd016a7d01f9c008819abc7a82876c7603ba",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_62eCRySU2wJbvUdDqIGcuceN",
  "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=-0.7414 left_j1=2.624 left_j2=2.5855 left_j3=-1.2778 left_j4=0.0292 left_j5=-0.8047 left_gripper=0.9962 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -14.7487, 5.9829, 0.7937, -0.0464, 0.0415, -0.1343, -0.1573, 1.6615, 6.9812, 1.9219, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60169e9d39a88ec9e27c626b4a082deae6e02433729441bbfc46f433a167c36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105340c128ed057c5e5ef21782ab45a47fb324d77ecb52352265af9e8761541a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620e58fa278a3b935b6dda5ddee67dfab4ab280739536d388c072c67a9f767f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7418 left_j1=2.624 left_j2=2.5855 left_j3=-1.272 left_j4=0.0292 left_j5=-0.7933 left_gripper=0.5952 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0151 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -14.735, 6.0239, 0.8132, -0.0317, -0.0171, -0.1929, -0.2256, 1.6068, 7.1726, 1.9316, -0.0269, -0.0366, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQIF03ttit2KpTag_5DogHavb_KhoZDZFPLnuw9CIiqOou7bI-JACIv-iL5JrgBWT93l1ox38HMit3ipUF2Mr2ZR8EUfXSJhNGM8t0QFWJ0TfuiXmcotkFP7xNGAnGS6EIlgqP0MhJ5cuslZdJCwjXW_GolNFFYcLmEvNvrS7YhmcA9WR9zk7Z_01wC47h3rp6VGTN6ze2Z2liwfrYfs5XBbXomUWXB9s8chQolqSlvTtrLCQxwV8nH3qrjO3G2HmbTjUdNwlnaK9BogQIzyDNcR0V9bq3Jw7_KPPnzNXSShsw36DaO0O-NvEHfOU6Or723xLGMs-7kJUZ0SbUeIkPKSqJbyK43nee-lC64_DaVCcWieFXkMXcOfdOG77xvH4teZPW893Y47ZrEaVN5t5dw2HIdG9Qyuozd6K5ySxsk3sxb1rmyG6nHQ1B_0v3YSi2ar_4KjKP3vbt5kpUaVZTk9OOMLox9u7jj7-yi0L2gCQR5iCwdJjORPnheoLLVJegBqMfs_iEfWWtqeg1LaIUzaC399eIUVcuqu4462ZEi5FrhKVrGs-2JOT7fi2SX_5PrxdKMVa1acS2iL8G31PUbKb5bnrysIgIa-nus00NL-fAOnP-F18SNdvXxduO6LxtHghM_c98gTydW5astn9jQDJ3lOPtrEdjifm1y0B1Jh7RqlkTnM8X8UlxKJx4gWDNqhA9L3ONFLQ3rJmcxIVgl2CoRD7miIFkSEjiGW_Jbgf29E522qOyNmh54fCWeJcgzC2bjnmM8OgpHfqtq1w_4Epjqn5fzYqqI-CndhKW2sEgtOxHJDPyfRw804-7W_1QL6Eeychn8fqatRlLlYqG8HqTghDCFJ3xHtHE3951fmd0PKllRbazekIyTcmd_kyw_VGx3BIdf6OVoIucmNnbAHRguaZGvSdcKParcM-IP7Wpus5wRYg2siZpZo4fKaHkNV3fehIk7MMp-LoyBtn8cD38RVYCaNLcuixeEYjnTBXtZ_68qhPeLrslyVh0Bdoe-cH9lABbKq3KiuvX5FaX6p3bhai2zEJBC6xLna6IzbAds7x3ziIa0KGg3i_q8dlt7k-dnD9hdK-Wx6zpBxnCSSCyoWviNFh5hpgsWBOwl37Sb5YKNFx_L2Ybavcojpq2HhspXEFf3Ef9hFgmIS2kzkfWC7MDy1CXe6hxza1uUE2CVAJW-V03CjQ8mjqajZv6F7nR7onE8Oipmn2gAhoooiBkbDazGOiGl8AR2D0cGLuH85udcp6D6rmjrhqRpLD6szZj73QUaellx8sUyRDiFI1eJXyALSWsgg6Rt3ZQf2ZneCM7hwdzpaNe0gE-cyWCRLkL0c_Rbe7sTD1bYRy4ns-4xa1eIJ4VHZYD5TITPpG69-On6ElWNbplKXx-yN2Abea4lbdUusIk6DvdG1ONNJfLklOzCqfIQyGFkEaOmkl3SXI0x80GaHyLlARQTHlxTALgTVVUmF2QAv2TbV1Y5n9IIr_mwc-RV10HCiE0e0PkzuQms5c3wIZ6glCpcch8NeYBPqG7fOPD8fJcnS4-h0rMJ7O4aPU-BihQntUVUKy4ppMUYNKEq9wtvlySWItGhIBRJFdf1t7ATUaer-nK8Tdw-6y3zkvxPHvHMtL2YRbkMQNJq-hHvqLL-kq4ZoCmPchdrbuqn2jacCSbV2oLUFIiuiE4ZFGJmMNaouo4KiTges75DcacETHuqhwYFstHIYi_lZtxpfQYMSCENbPegxsU976w7ISJhJjwCTy77dhLhDdFWvTWptGyIgguZ3JvC4BucNoGhaMfwSzVBuvNU-xCjS_M6kz1LV9ak863a3tcJ-nkgwm-2BXXHwXbmwnNZhpr7UZ8rqfDhKkofk1kgdxCpTmThEoL-AxHvakHOQCTG5DwxdF_7VATXlIMe8nQmC",
  "id": "rs_088de939523e46cd016a7d01ff3274819a8fc81a9259562613",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.54,\"left_j2\":2.58,\"left_j3\":-1.24,\"left_gripper\":1.0},\"note\":\"The gripper is fully open, and the wrist view clearly shows a two-cube tower: the blue cube sits squarely on the red cube beneath it. I am lifting the empty gripper about 4–5 cm straight up to clear the stack before final visual verification.\"}",
  "call_id": "call_pGxjCLib1NW99fQUftVziGL2",
  "id": "fc_088de939523e46cd016a7d02031c70819aa08116c03255d3d6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pGxjCLib1NW99fQUftVziGL2",
  "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=-0.7418 left_j1=2.6179 left_j2=2.5809 left_j3=-1.2701 left_j4=0.0292 left_j5=-0.8097 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -20.7248, 5.9692, 1.0769, 0.022, 0.0073, -0.0464, -0.1299, 1.6068, 7.0085, 1.9072, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe53b7e0fb207ee96973a6890756fa023e21af8884eefcadbaef6a32be18bdb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72b44016c26e9af7e1324922e71ee7a15c0652d505c865446e768b72b79ce87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf32a174e78dbeea53912f1456c84f274f51e4299a251d794541d5c49ea04d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 154 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7414 left_j1=2.624 left_j2=2.5855 left_j3=-1.2778 left_j4=0.0292 left_j5=-0.8047 left_gripper=0.9962 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -14.7487, 5.9829, 0.7937, -0.0464, 0.0415, -0.1343, -0.1573, 1.6615, 6.9812, 1.9219, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQIVNHweD71K5JAQFUwmbVV2ZoZvDLG6iZrGY9oek0dnNuqspmtut9VWKCveHDp_tWkPl3CPvofquGx0IksZlO4CzKP9Bp_mJ23-tPCl4w1A_9sAZxGxmclDJuwWQ89HOsIKzgdimsdADgDQ6JocmTtHEwnrss5MEWsVsOwzhe75s1_2n8Z1vd-UG0gaGu4LWlEsT7LF3sMJLeq-EEjru9Mkd3wLDzm5-uORUIIsXjf29P-Yw_49iCZfhnArqOG3f4y83kgljFKeudE0zi4o0HGURnazqeWUPIWMrkiKzVNlJch-bpA1sEbF6-cuc9wYZFvrohBYQ-55a5-8ozbCrxwQ19zvqEBBaaWkW2DkRVd0-biEFNIofHygWRePtTkePX93aOAxyXPUhnNSeGK5Oq1CMsp6tvFrEdB02p2eVtxsizojqpiut34YOohENCizcGUsTVl9e502wYQ0hzC64bju3PIxEgJXEhW0n0aPeYm7eJ1IDDMZHCctCVW-qJuLv20-eSdf5jtDOcAiBWXSD8Xi_LIkblvWMW0dZl2O1avwE4pPqnv6fu75SLL10MCJiv3V0FvHYW2B509v5O4TXL5doUAQMjhn3fCzV4ewFNs1KNJdkYWbWyPiJA1K_W94Jvi1k1Q3uulxXnC4XVr8Q2JPrN7WpYxHrjapHD42VMp3_cnLYMqWn7jmEENd_wOA7SnQqQSoxpmvyuWOet8SboANaGrpXKQMi9i1rUqdKFy4rNgVCNnn6ijWJSywIHq4qR8wDVzDNHv-kAV59KDSe4s2Vpjwfsk8m9nTAuZH7jN3W1525rXNM7-LaUMM_x4iUfP1qDJ3KK5gKcQnG8o0Icd4A0-TLh7i-5VT2cZJV0PydG-3DAqeVf-XRJ63PqY4W2n6UauP_nhrzd-9utjz1RJ7fdmSewOisga8xYMRDtZFllOTcnIy77FsqxY7SBoe2EdMs4fBuZmJC6vfD4DKd0Yw3BpDpdNElb30FRVyVBuon5yCHdV4L64ddRejOvrRmc_kv8t8p1nlpZNyxkG7f8mRxhtdeVBnGJMeHymLNzMyaDxA32nsB1FzL3OpJUgupYnxCkgOPeEOmFUkcrLNrjEbwV0agORldNCMqWj4fyxLrA53ZrUiO8jOAEa9zoz74Bu8q2ggJqVmMLtxzVK8S0vM7iQ3x6F0yN6Qd7zC8dnXcsCZMUa-ak6x6TiPG6aPTIe_xI5cNaY5DVSg8gKXI0-wUdBqR82IhEtddLK7pom5NfASTQzgLz3DgiIhT-EvSwLpROSDJkH4VDT5b5KUUpmdOd1T4ECDZrpyCbEHdRJFENdqeZ6qBfhBSQ2BaE7agyUd6SajHR9mMnmaJWusDA7iwB2ktDCx3yYj5Zukc12yLzMLBsSY2EOHRSH1b26Dog7d6gI65b2CduuO8vDrUjlkVqcV_0xC9KlBRHFllzLlj1lO_muIPCYsmCX97dUTP4HcO70ANaYSUpicPah85-SuZlu8tu4ZXzN82OHl1IhZ2C4lU73u0_Soo-oT1XDxXDFnGJioGzVztyhHtlwegO4Twu0N6vokdR2L5AoxDWPDxBcDPH66XUSaHnbgL2u4bezZN1XD8en7A8joHl0zt5MuWUSSBvkEkYQK10b90OS_5Iodh4LeD9WzDtPNlaQrHVgVHGrLFcTCCYJDHdS7PmKQItsPUbgGSZK9x4utbXo709TQqru7PjXUpK1flmXddhZgoEUYXsF57uE4LJHwesGgnEaieopW1pWXd-arJ4aZPRQQNO0sJWKkHEjr90vHdQEcDGnfcGd_d4MwlhNGWQ2BrWPhHQWadTyk8QWvA-c4t95-EU7LJhOyE4Ku3SH1JaRNBUlztbWeVCwiO7wB6scLARCT6M5-hSvkf4w6y2HPGfM2iEbP9GqX1ES_SUjhzijPatDr29x0rlJs1oB_2EhfkVLlCppVxM5zy5Dz1lwJzew6N7S_eaNiHILoZjMTMCNjj8AvC4ARk0Ac0esJ87hdfk9pYUgJyLqEJiP2cAbDhWPQEKNee_R4G36KIcSDsWQQyw-NC0fkOw7Sk0L5efpqA6fGzk__fuocbMXhtaJL2CF4XAjR66FZNhZRTiif1FJ7qs8d1T4ElQr91wrgKmarhBe0ELOIouTBzxDUoSPKK9D5uaBg6fj-EybXGYNACyTw9slhCsEl3mmFI3EvaVtYHwWJjGl8asIJAdtxme-DiRQSKmM9N9NihzQoS_tGfmvrclK93jAMFUXJEchSTztJ4jygp8a2dWnSCD70TVF5lLGmmRD3Vth0i-4ZLTyZA0CFcc7FiytPqydu_M0oRoiAk52g1PQXGmm8HqZ-_mxGfrqStS2nijwLN_cp9Hryviam9XBHW37P21p-IXnprbRWyebKA_UzL0vgHkG5Gpf5k5iDdia_Wrh-M1awRLb_fUizHtS4u9wpFXpi6bifx3ui4qhtbZ1g4AwF3WHUzCQMnV2iL4oJTMB5fI7NF3uHnjeQi8oj9FsO2xYng-TRqc-FgPQlGsyM45uiHlV8_0Qaju_5N4pGPitrniaIXH8ZH4v0I-5oLwIoH-xz3naWI3tOug==",
  "id": "rs_088de939523e46cd016a7d020bb1bc819a84b1ab01df8dac13",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.4,\"left_j2\":2.13,\"left_j3\":-1.01,\"left_gripper\":1.0},\"note\":\"The near-singular extended pose barely lifted on the first command, though the released tower remains upright and unchanged. With the jaws fully open around it, I am retracting about 4 cm while maintaining fingertip height so the fingers move clear of the stack before lifting farther.\"}",
  "call_id": "call_2qij6u2KJ6uMOYOSMJIWib7C",
  "id": "fc_088de939523e46cd016a7d0213ed10819a979bfa3c10a8a041",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2qij6u2KJ6uMOYOSMJIWib7C",
  "output": "executing move_joints over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7414 left_j1=2.4569 left_j2=2.1487 left_j3=-1.0546 left_j4=0.0292 left_j5=-0.8116 left_gripper=0.9996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0151 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -17.2786, 6.065, 1.0134, -0.0122, -0.0073, -0.0464, 0.0068, 1.6205, 7.0222, 1.9072, -0.0269, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739ef6a98c043a28e1ac587d7f98afddba37fb5cc8ea841d8742e6f8f5a4157d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e292dc77c4cfd59a5acf44bfed30828f2833b88728fab0bd490bf06bda3cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7d471ac9b5a9168c8a883aede1a838baa483ac7ebc9ee3d3de440393a3a230",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 158 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7418 left_j1=2.6179 left_j2=2.5809 left_j3=-1.2701 left_j4=0.0292 left_j5=-0.8097 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -20.7248, 5.9692, 1.0769, 0.022, 0.0073, -0.0464, -0.1299, 1.6068, 7.0085, 1.9072, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfQIi2aQ0YmUaHfl7OfW6gLIh8-6mlhoH7L_SRSAbSDncZj-HUcBJGt20tIbB1Ik9SdwThta5sWav9-liyLGqwRK0-mxihtbOJ-V_HpM9JcBL1togZhCQaygAg4ucwEc1wuDZTgYnuct61azD5wZs1w3uwbdXaq3fVaz2MAJnBJ1tazdDbJVzXOSidpI_PncD5LTuM4hE1FjyQnW7832CXTYxPQdmHFWI30TNZaWmQXmOgGHP7MdpYfgTHcRYL_vZJnWBTrPFatty7t0Z2wo9SjYSs05nDV6zaVIzHpVpSK_OgzsbwOqDpzp7UehvS1qaVZxG_uQMmKH_HUfleymAtWJAS_fnLIKAjJFFMqTfLQuV2i51x7sCaarxMxb36q-lkRrQQUIuFhdR_xqmHVYwaGA5ScZR5XMNZ3GPfH8X1S-_VOyl-mzf_O7i3A8Ej35FPVgwDAmG0KFBiTQB_DqaCBzVBibAuKvUGwbZx5kpWJGzftbB8Ml7UlTRU353Kg08uK1I4ywTuRYNnIcCGw-76UYB4s80SdIjdwWQzyymJuVLaHDVlORQpO_72sCEK8ydc7keU6_9fa3mhC_S_gpE5lMGNWIX_WZxtWjG9E3jZ_pENqrZmW7BtLHaYPmdKEysoCyHgzEUexbn882Gp0cjwWNQtJMtFbJ0V2H8UgJBzmj4AVgTyQ75pr9Mq4aw7Z47o0j_eepcYcXCFcpjf1CXyZL4AkaGd5V00QeqmrLdF7aoOLkCo3FKI7OO7wClBhL5yIkxa3bb2wDcWuE0ge6tB0yC_XNSDgTp91SMV3D99XSlTDDg_cvuHy7-wC9p_UucuyfavtzQOqcgMQ6uJiecZqSDZ-UZOcrMr3z1W_W3KAcP-9Du668WUx_0WzDJVQRtQGnpc8Ikk7ShgoauQzZiwLo4E0lRIy6a0Scxi0eSlP0At1eGUghQ2EgoS_J50qfX-fCrW6wIf5y0F9AA6Rxy_0mIsWJFhVnos1O6ZLN7wbke2JGq5YUI7Y6pzFK6GI7YF5VlXyBkTXF8dCk_yrF19bPg_6DDrIBOZ7xqnKk97OGMOEXA3jdGQ57mW1nQY6miRAd8nBNVnLjHYJiiBrrhYmLMb7lOb1LbNBn17Twpf7RrlQRIjGGK-zDwE3R8Lk__F8LFb9WZQ8o-j3uy3DGqLBfCDt56XZHvham-swMvmVOEP3nht1NlnjHJOX0PK6Xswc5oM0GOUfRhtiVcZ_ET52SROy0WUJR4841iMw0EWXn0bezj74YmMuNo0fxSy-kEsYem-0neLUkTZJesZKPGAoYWYVly6qbzYkg5MQ72j3JNfnAQqxXiSAAwx_DcAdgOEExs8Z4SkjF5aN2VJaT4ObP_fCT6GDuFiDH4Ll11-FLvIQYeoMiXfWJ2I2Kqnzr_m4achoHXidW0-FpsQtYjSTcJzesD4pA1Mae1U5eW3cgxNDtu4CwHsoHwlN885JxKPOrLCp3seeRv8lETvRaz9o5XvNF-Fuit-fvvBAJ5jlWu6ALJ9oiJoW7Gr6pK2kHKaLJb5gpr4j26iVTU-DsYwNS3wZ4pN0-Vrjx7GyGtBUi0TeZX97sV5Ygy_YKa31cVW58BibmJ3uWn5-JeLAvOu4atIdvjE6zJoUGMvqwmvH-094Bek_KBcKc3OPsImG_px-yJliDHUVluMc5o2Nc6a3HAwlZnW_ofLTQIiDYgm41QyG_fOzcF2us1prYSAonZ4B5gDRn463sko2pFbm_D9ToLynYAVhiTLX2dfhoQYwBFlDyq8kbklggZfa6SiVYQSZUAMXWxkShd7WagSLUzIqHenumuYJ5RI73UA6GCCtu2ZUpMs64cTjpmPsIKG6has8N_A1IkStnvJDs7qUwJK4V9kQdkD5l3ubKtboRi0JOF2fqiOJqJwS0404HjCs1CpBdQ",
  "id": "rs_088de939523e46cd016a7d02190814819ab910b5af07b00452",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.31,\"left_j2\":2.18,\"left_j3\":-1.06,\"left_gripper\":1.0},\"note\":\"The gripper has retracted clear of the tower, which remains upright; the wrist close-up shows the blue cube's square top and vertical face without any tilt. Now out of the singular reach limit, I am lifting the empty gripper roughly 7 cm for a clearer verification view.\"}",
  "call_id": "call_Lf5ZMjEXar88HlkUslljha8U",
  "id": "fc_088de939523e46cd016a7d02208af4819a8b74c3f391a1fc4f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lf5ZMjEXar88HlkUslljha8U",
  "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=-0.7418 left_j1=2.3993 left_j2=2.1391 left_j3=-1.0565 left_j4=0.0292 left_j5=-0.812 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0154 right_j5=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -18.9607, 9.5795, 0.8376, -0.0171, -0.0611, -0.0464, -0.1436, 1.6068, 7.1726, 1.9316, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9f585895309f28aabc4b1864aa99c70d2ff2f88a73c37101d53adde1e140b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9c55f28c45a3f1ec99a5ce6e8134d5ee73783705243a875d4458c05340e6d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1e1b7973f2515201319bde52c7c52bedc9e20aa6d425a3d186b93aac6eafd7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}