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=-0.001 left_j1=0.0067 left_j2=0.0086 left_j3=-0.036 left_j4=-0.0002 left_j5=-0.0223 left_gripper=0.9998 right_j0=0.0044 right_j1=0.0101 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0082 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, 1.0872, 6.2974, 2.21, -0.0708, 0.1538, -0.0415, -0.4718, 0.9641, 6.4068, 2.1514, 0.0513, 0.1441, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e97ea45184b7de0813fdbf1536d048aa82b790b2f464b984b9eff6f124cdb83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d381f15ffc43afec8fad5d5dd17e3bb396228e1ae30a6655e8ef3a55a1190f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd63c1553994297ed5ed97014ae051acae8c859015611f1dfe0e5d4d93c511b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_032133f959d38e29016a7ded1549c0819a94276ac1cf211775",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe0nkFtECdLS-EeNKam1mcjLFDeqkJ6Zu3ue4t0GUDGPLOonKBxTV-RN_emILN6nbpSNAgbXGuxm3c2GTzdWUjoWpFiBHB5HvIxe4Spnxe2wHkI6So8Cl0rSxOPqomY_SUxPL-gPrMgtVHJNL6xyedxM6Yvh4Se5PNpu16EUucKmN0z2zZtC0KFo8q1vtPTL1LEzgi43IcD6o8U0lQs5OvTlVLlYxt---aKkIavlUN9u1Rku_bUhBsX1QtqrCB7LCuDeWk7VYMe8tdF-CIsvm7Lcaq7hPGxUeXWu5f2PYMARrZiJcNla1TsleqN6WN75cmG06nu4VwWWDBwWkzlDRnqffggkjW-cVcZCKbU-xlOl9vDdi11I8q8PHaRVT2rJwwI1pOZ2lLBSshsmATqvbm72lvnCEHFlKwpMMyAUyiheGs826NpTmw6qbJ1q89xXWirysPU0dLOR7t7Qwc33wU-5jwgvY6v_G4EDRNn-9d2ae-pUZqlIYXBM_ZLT4qxoi_cpQK3EqUOUlDK5SAM88Qily2NgyXjIgTn4_a-5rU4ljTuDOrHgWopakocFfs8x6My55eUJzvkBRHQX97HSAYiYhB1dl97-pWxhyNVOxRF3vr-nPEVt_JajJRtDmXKuBYb0RHMV0qEJ2eYkypkNCZlR9lxJFmKjSert6Tcfo4-vLyLzsQvc1GW0Sl-s1WH9NLq0ySH0p9qV1-HgAbuAs07y-iBSKIJQ-IRvnRmK78h3IUxQdGzdxBRo_GA7V1kcn36g-_ZLY3F5oVw3GXkIJpRVQIcjWCVhn0OTXs0gGhr3kyHEmtgnU-3jkZ5awjjKp5ulcavngio7cq-ZRt6ZNjOU6bl8xxCxz1nwFqeqeHbk_v6jsXQstFdA7mo2bcnCueI1jB3mGga9lysGn-YPMl8VhRj8KAhXuru17KnlXncZrnGT6drqJuc1xqtJ6hh-QEWxEF2QEronAz42ZL0Z73suzXhOUzd4tB592b14FtR74KbaFROJPLc_XaYj0vc7Tn_xhVsCKisRKbRMmK4T86WQDDmc7MM_CALz9aQ7_lEM0E5YPeKdJFmMhKhAf85Ej5aQBxgJatGPBdAcS-qaPFNNtX1IS-sUsUDuXOreoZJJGMZrjogSozldHu78jH8nrqlufaozI7ewQQp3AwyOniZwrZFSRPGYXHl8lUj5evPlK7TRXulmSz0fWXO3b7IAQAK78vRFvY_mHPqXxw3iMckNoTSe-pA23OCJhAuoh1LAMGJs5uU5j-3DLGUWYpYm2zRtTxiSXvLKjAKKsEvHdIoP0n6S1L-RvQn5FK_pWu9YzRKzWaq8OHuaSCic_N9fGoxc00nc7K8pYC8zQ565IColgJjo7tT_oV-vZ-gHc_P2j7s8FYSRDzdZLAOxVcasiUKeZZMhiuPY4v0X-mv_O4WH3kQTsGErd6GT9_uJ3V1MFBALa0-BYY1vT9EEfvWNOJSKDrtk5teVk_mDCHVbK5xPuqjHb9QOaBe_UXqRfe-Jmdykepc3RFxAjdfGR4ESbRc6hdENI7O_sUYUyrfrlMJWX8e6FC0fbpHyiYxQLJHkl4XkPyom8CY3kk0dgcx-y85k0qXAxT8HI1P3nQw8V2LW-dMITKJrpMj-wLn1Ei1k50os2nElcMK-ejtvXpONeqklKHy1aNn4lOy5N9LRyJGvgPLUrydxYkRxo5p8iqVREtTJ6jLmGnkEii0UA5Bc_e9lP5-y2vOQ7RCRbL1C8zAIq5h-w6Cr_myJ-U7GRaAg_DpDxcdTFKPkI3fUPXCgyMf5srDilshIttbmoJYdn8791EtvGZPdd3Mp-crPbGvp8o9l1OcOJEYq4DzpGVCGKuRmyCp7QYH8YT9qn1sYPHGnMpYkUOJYPedYWvjwKhJuWFK6dTiRWt2qcwrToorTnSKN8OPMisETbYUG-3VnBdfiRywcUWSkoZhrZyUp27oyZJJogxMKzHUp7vqB0LflPf6EYqWKiNx_atEKyHYbOB16H0NuO_HLOqqYaWe8SrW-5FOJamRH6sBNCfUfEcqILOlw6FDVxrBtY0v-1Og2K773ngatoD77BveMxzMTT81PWem7eUCqo1bBqQ8zyoZZKRAFkk7Z-C_TuwkZnHx4cFbE1u0aH4iP5gtvyH7luhvuIcjQ9CkOtj3kvMSMNAOgjuHAPZ1LrbuYz7DzauAyCHXa-INxZT32TGZ0mWn0w8WP4-I1BLqykNjfUoO_2Om_iNRU5emZO8kwLwqQg1A1SNfXg2Un6MICFLxhsnnUrMJhZAokd3AOmIw6pFBDmMAWoKeGof876YgfiVYj7INiHC-oxUp7tOrN_ux5qCiDhMRK82iv4AiSo3QA-BKWHEFthYXawTnj1Vnvo5AZ1oP_gHKlHDHbwlxY4Xu9I_9j7QRXkol5Nadj02RZ6Mb70Kx7opYcgvrt_YIDu3U3iJigSzYCAN2LtIxghQ6C8O31j5D5q6wG9e3aeWDPqfZkDbmgvKhYhOTm2lQAl_OwZ6TCbkFYh3PbHd50ExAe8IOYxK3uuwv9D3XIqr48wYSvyEoUcp9RFJYkoqUzK2r9lofUiaLn-JaMTZJobqBJzPPvAYAmnE9PvXEy7k7SzACplz-_jLiXzUZBOQ0z2--8BHFFMU34-3rfVuhOHOozscy2kMN9ODDuDVTrzsIrz3Rmu6HHrf2x9eUhx6TyzEE0m5c_RaesSQgpvjGvmuDrnoh7tJGcdmv_aOYmAmQV7UeOxdhrXchiqeGo3z7dAFrtWM6BUsddY7ZK4MANBGvFSRZb5RWQsfgZL8hVGHFMWzhRN_NrleKVqxpvLQkizhdXJqytiIOYPnIQiTEA8cI1Dg4NEfwprwGy1jWHnyyXRLyhRJh7gn8Ohuc1QFDaTejT5zdloGNy6G2JviA0puOleeJrvWscP0o=",
  "id": "rs_032133f959d38e29016a7ded1e9dcc819a92cc580f93bf0899",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.75,\"left_j1\":1.7,\"left_j2\":1.5,\"left_j3\":-1.2,\"left_j5\":-0.75,\"left_gripper\":1.0},\"note\":\"The blue left block is near the center-left and the red right block is center-right; I’ll unfold the left arm toward the blue block while staying well above the table.\"}",
  "call_id": "call_iv3mXUtp25VNOClhqcH1I0dg",
  "id": "fc_032133f959d38e29016a7ded267e38819aa82412ee3838f8a2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iv3mXUtp25VNOClhqcH1I0dg",
  "output": "executing move_joints over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.738 left_j1=1.6794 left_j2=1.4605 left_j3=-1.1526 left_j4=0.0032 left_j5=-0.7261 left_gripper=0.9998 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -7.6103, 8.1162, 0.3492, -0.0415, -0.0269, -0.0366, 0.0068, 1.4838, 6.9949, 1.9365, -0.0659, -0.022, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804551e6c39f044a2608cdb63a7740ea4d314e10be6f90df86c4aa7c98f9d766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c27c3e78edb0a0b56de6cb79bd67437b679c5285a86dbc651a174b491b3876a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98832aa4756ca5c4a6851619730a4ac19f4cb76499caed5b654a7f47e1dd3c7",
      "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=-0.001 left_j1=0.0067 left_j2=0.0086 left_j3=-0.036 left_j4=-0.0002 left_j5=-0.0223 left_gripper=0.9998 right_j0=0.0044 right_j1=0.0101 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0082 right_j5=-0.0181 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, 1.0872, 6.2974, 2.21, -0.0708, 0.1538, -0.0415, -0.4718, 0.9641, 6.4068, 2.1514, 0.0513, 0.1441, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1CoWK-fmuVZ36RB-TfX2rJX86v5H8NjAkRvtPn2Ly-f_NHoT4XP2ZetmUq1ppLy5tbP0SBfEKcLmHp0lANDFYgG3reE0oRFWspJiGnTRP6Gp18FChlf-ULr64A44FgwM9Owv4YQP60oWXKUwf-TSkS0YdXiJRKLGR9X0GIgs2cnR0Np9LMEA2y8u1FoD6bwHvcBFLmHgpVVIGAXEJZKbJMiuEus73rl0RjuakheGZpvb9S6Hbw-EJRVkSJZm1IcseqVKsR_YgDJsXEA0RyLMX6chGjLQuitVWDLM03DW9DOKzZdzBup1V964UGFfHsFSXqYeo3MIJoAjBoSbOaMxZDP2isJBCvlaKTFDb4V3k9rEdazac2_dwrSDiLG2KzoaD_pv-HSoVO4l4ewh8A7GzIJjWk-6JXgQcThRY10FHxzy_xdie91SmMV5x4xbJhqY5uHh4WoHwTIwhQ2qWSqjThnAp-r1xPkY6FdDhUOYAdRTdLsNS4JcC8MgC1ZACcxXYZJUzP1Z9PKbK_xRq06STtdxiR7FSrP-gSAG-lJJ1smtrhXeSzVr866uKKiymasxhtsv7iaFnCROAyTD9zbHkuQObOMwxNceCmAXdlx6MsMhqDmg-B_bieQY9ssSfVHD6jGkkxPZ712OfaNWF9GzwdJo2U__vmcaZckKYR3PW4DIoL1GKGbBj2UdhMVHzEHF20b18odVUUB54lHhfA5RFS-7d8o04qfjhp3DO63hb1hv5C6-e7jIdJK_vuuhQhynqR_rY6SI-nPXiqvadqXs9-KxT28jSKEMqzv09lFQdF60So6nXfjJBQuHaNdTqoMXgsd5L6OgzN01QTlzI0ylZEoh1AjMQwbFM4yXqahxSUU-RM8uRsIwJG8_4KBUDrs4aUp-cpuLM1hHBW5FvFUz6V8KO9YQp-t84sMP9x4RUaXALAEIesK3RgJgdYgtfHpYDom3-BB3UVsX0rzFUopzk9EVzRtNfHWHCwL2wEwuaNW3We9b5mQ5YUp7S8PJEQsIOvHAHmVE7xFnfkr09BwVmnHy_rDf9V_ghN7AsOLZihzTPUixgg0XmZIZWPE7icbrem6V1yNatuQn5icC0re-alL21z5wBBiPjUC2VecXnfLlKerevurkciFcZrQV78kEJgpWmCl9m4HYKuzu8uYfc4uh6AXxnV3hH_IDeDMYr-fGg42otSYuHG6KVRCjK5GKb-Pfbel0vTJr99q6TMsm72AUQPsWx8DYjxen5Tof8too0iPz7rXebPZnjN4NLS8eOGBpot02V2CSnBOWqU3bzPEkfybO0o4DXfDP0ape1PB05B8gSmy65KNbxKbeVkaXl22Ecso6ISD6O17y1UWGPRH1c270kz5qEcb-3_G5n2S5fe-R-vxzd3xwbuMKxglpUboWtGQaqwntV9jTgdJjk8wTpmhkNZAWWpqTrJFk8T6_sABKqWW-NYbzQyGWWuMOcVifaFOrLluJALGEYIiByiNsdaVPABVlZ7W1dD0X02XSmfhBudrkLRkCaOZqfaw9v-2K4mEg8a7Tq4jQhnzdZHangg2LYeQ5ZstkNGW47xobNg-xvqe26aDyQABx_oGcB8GrrymduTiej86AGrtnydhr09XEx2Iv_qHT7LhznzGMJ5pe9htRhxcQv71P9vXD4Ill-2rkZL1cU_cD1TbiGlcD1_PBmROb9AZ8fLcxlr4dnaz5gNa7wWow1AJavlhWsE9EuZWGFvqkKC-4qaDVkZH0YzUyt4x1LO6buGKpK2buQeTw2dC_zK-AH8t3UlPx3lxQmy-PVg8NsU7AOt6G9i96l-rUgEhv1nLUDnDaXSGHRi4LttaOYM8_6jg8RMLcLt3-54RD6aI3wv6uRmPYXEGMj1idDEZnxR6jX1TdJ4YzQYzn7ALM6GmBJs_GY_VcTdW8cx6lAwJUNKQAZTwWlEwnn4KEki2r-Gp6fmuJGU5_g-qKMCCcRT8R8kfoyKwzrELtPNWpGUSjDc5OcQ2PLHFHPeDENrXuqT8CnMtp5qwY-GFjXK_x0W0jhK1yaRm1sYDJzMXCJyISROMHasRIk1ENEG3ygXxlOceDy0CFJVU7U0sxmVmqbkZKUOxiF6P1ay0PRW2Ype9Uvtc2fxbThoDP-S_eszS4I-GPfkL0_nB57c-m0OK9tsRpzXOsHKBevX15Y5UCYgKVOiMqVfVGpA0gcpM7Irr8VUjgIbebY4JOyrHY0HWp3254b0NZoy78JKa_BgafYTg9q6PSxGOrpnCJRfPV3cV6WVVVoOJO_BfJFRCzPLa-c6rgb5xlEFv0bgpPf9uUsouGrmSxloB-Hclti0aa-KMmrRp_Ad7jBJdwM8ZwGPUdHfM5U0pmxxnC9Xpk4EvuCv1fWe_3Zb3CwbH8uJw2D_A6LIAPGnnuEPDCQdo-u3QVZWOIRvlKVzI0mVNVhI0_12JOfAvtSaozEKD-HOXr9prx3mzwd_-MMTB5kKhxCE0PZSPZYOjRgKouJPQkCxhmhNnwDUpmrnteZS51mujhjcgeaaI-SgIcppT-O5T17F_NwYCK9nVr_dVFheWF59gfWnQNNEjbL9OWMvPweEFh-Z-ToqhSbQ1AK9tfW_pEuABfHpHuSsDqgiiVfEf2cawkx5n2jbA4r8SMr16Da8s6NlnTocOxQelnYVQPNStJOsCwUpOszFuKQscUEasbKACEmikQmwr2YZgOMqsVcj6aHdVDfaUDecYXxkUh_DLtwC9OBlHCkIeKAoBSdoQmtqtu3_vZU8jjpn4JMp3pztmKLLy5B0T-jgAF9BmCwqsE_tZ1z9SIJEzpm_k_PRFSF8-B9Q4xvmqh3H6iekWzworTGEL_t_1upDOpf9e790HT3Tg1f6PLeGd-xriVEzeubB1u_apkMBtTEshQWlEfkAyN57XXgy9ye18uPzyzcuyXCc-Kch3KsLtnzYOj0La-sx9Zq0N2zxWzM3MK3KiL6dQU0Bc__mpsdakI41F1BqV26c1BIBWPeb_PWzzQeb7_2KXHYpXkZJ7899RBzi1zrdVWjAE4J4IfL47OEdXFzRSPdiASdFS5j_IWBfXeRwqN4-ixn35TN9O47Ajh3_uwC5JtEqjpAcxu5mxBh0sfG-xDHavmQgIU7h5-3hAFtwax_zsfJA_zi6m3hJyZbLqeT1CJHRfu-yJqNnO7pRuFnVFwjC1fy-F5Gx4NhBznAuIGgOnIeL0CqMO62fqspgXJy4hYBr23tx8Jal_OTned_fFTAaK5kwxgECsxZTfF4cUHktl08b2dSCV6SsVlWK95kX-uwDuob90wsmqlnD4kaQaD8mzeLUAdKemvf1wQUPONlni5DugfslruaTOWeCjA0vd_f6z3vnq3_WnTYl3czDHmTBk8nqlLrebTZwuqE3XzfURKd5HvXKeF-7UDhsPRdML4utvcO75KSpyQFb5N2vMHf8aJ9hHCCU1SrBwnn1O0ucsW8TpwqSDron8B7Ht9nrPS5qpLW50sgphWUMiGi-7kSjIAWkV7i9BkxTCCqLc3GncpNXxCKbeaWCKJOp_bgP4yZNipHgn_9xlFAqGA4=",
  "id": "rs_032133f959d38e29016a7ded2c4f0c819a9b2bcd6004c63dd8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1CXgIL8KyHHMBJHoqzNbjcLQNHH6l-uvdJV8TmoDRhmpKuy7Aohc1PLEXWJ9tihN8fsJ5R9c9vkiz3jiXErx0TC4RrsjmsV3yqRCk_jcdp-8lzcI_dbBE6IZaeVByCpmPIMfpCWGutHx2zl4rMJfb1piU1M2Eo6eSGqhj0oM5h3i0gdQPCtYU_eNsMPRvRGvxjiaqwpxfSV9JAVTTLNa-G3bTP-K094p046BB8EbExoY3_Xc0ZnZnmwel91wgAZzUr0CSDg-ZZopkHL1_dzg85VNC_eyrGt42C363sq7n9rDKxBBZ9DQZsjmBn0_EWP4c3FFt-SK4G4upACpkhUDPPLfTFg-UjdDTx48FZj1A6ZLccuWOHDj41zvEiZuQ8d6Ivdw13JIts8ctMC6ORZQeEraRx18glnsbWyZ6xgzJH8Vw58Yv2g5Uf0ZHv-A2mzbYGLu57sjsen3I5zjQ2R1fuf3wppym7TeG6Pjc24HA1eL9-DnVyy6mflMIwLAuXOQfvI2LQUVEf2yr9REd7D9bogyAe64LWdiaNHPjnqBGDjgON-TonhCUa9I6DtSnqcfxtxFniDDKifmARfFQXQqbd3O0XynDAXMK_SHJWs0nMeSZpx2Gu64dN7iLDKShoKEt6i5w3VfHRsKG5i4HRLskjBE-v5MIetfWmOMdUEnw7_UhmbeFVpxNW4K4oSUNpclq55TSNtnFEblQi_yuqJiVMQQG3QriV_udQJLnKQukTU65p-I6kFH0oeuVsBK-k--3O2UvGneTjGcrt9ugHE33zDR79pDj6YuNlFst2VFafNcdudTzJRwu1hb6iJ-2YRCL_4ejxsa6qzAiCL20Ju4Uv5UmKmtVCLm9u5Y50DywVinJWCFfOkZr1eZbaZQ_ms6_mmL3Zjw7mkvSzCvN4FBI10Nom8MOuqSiVwsRikZ59SloJx8vlmqkZqob1qjgF71BzJvn0f7AK3nhMD5aFCXfwPC4s1q0YGF85XSyyfy-pU-rsNimMc6H7FRUBXT2hs85-qmnK_ABFGLuT20TgyvVJhKJLg7fel_0Os-MWp6UZVsYwRFJC8kTGJUjWdyi6NJOtlSgFxSBHHfdTiUUttxs_p2PqZUbpNjDA8CjY3jAcdgd5tQlZKXPdBtznPfIWUtDDJFRsRucjvq-Vi3V_mS-pT326abqx2-vMoL5UnwWwqDXsVSeAYUQM_KIcoc9sbWhNbYcng5qGeoBXr89Q7g5j7APuTWhMIVBNPAo7oRdR55cHQlYXS9bKrGKZaum9sfPX6WJEt8QuptURxZYu9s_YJYclwSrI39LwVdoQPyPH_yImcl3waFNjPeMcx3SOcddxC3b85ZRvl3913CwETMXkLl1SN8fFkcpWm_ml9e0pLo8oIld06dyGGlRV7M-zpoFgPJtybbObF0mGSX4Ljil7hFvf88U69ErGqAYcq187B4eXrUKKk35Lx5JqvokawNZuAyvzR84GPeSPEE1KsIX6fYeh2qMxJLS2nLsKgObHd-6IYiCuZS1ONJP5ZPnd12oK19UrHIhiJos6RT9sift1TxHlM1WwquQk9WaWD0gagk47eEoN4_BvpLXv2k9_4LqnuKECNiAf2qKgEk3eFyaUgwIINJDq_qQe4FXsUpkcRTyYVMFWJjH3FiJu15BPnZ4i0uvEiRIepIj0Ap8Z5fD9lNcfxJN5r-bB8wv0a5P59Eg0qA3EKHpd0H19cNyWIyg2UhKnVIbj8wx18arj10G9CCsIKToIFQ2D-9-sElT1I_s2rqF7kqMCIDu5-G5DLNQAC3oBKPlamGrNVPiXaH_snNgtKSFmwV--ht0LC7KuN0XmW-_7Jqpy4zcWNUsz_uuH27M8NiRY5GBVDRVZOEUPvl_irA2TE09mZ9JZW-xdz6CvGMyL9OKMWk1fgx3hew8LAlciSBLSdO68uqOCYY2j9pspl06D6zT87OqPlx-NqOAtlO_rETMlhJaJzR6_-mHR7AkaA-pGGOX1Es9MQYlISRU8lvqPwLlU2tCTGiSxBV3RvRrDOdduCvhQeLD0DQSRPkn5w_Qb7nH-3xZmJZ0VuaEMZt40fz_72LhsZ6Zom6Xb-ulIDGiZy5tkeRlXba53gqLecRPUa4-Lu3dncaTPL-gpBR-BjynKITuxbVG0kcxvJbrPe9AML8OUolyun4H-U1p2Ed9XEjLXdsJiy7I2OI8kegTXjhdJYGAQWY7mYny1oKaQEWpmeTdF_7lCXlLui2pRQ8-w0lJ2itB-R4XT_yu0CM2LjOPySbUmh8fdeJdFeFQlk7boYpAKCKfzo6YNOnDuNG5gIiMmLl1BdxyzurdFscOCqC-e_Y5NYywnE5EzEctK_J30_0jO3D-Cney1vUhvFCyvSs7lnWihZ2MiiG0lVj7OodJS-_EZNmy7JBTTmdnZDyDQfawAr-Ad4BigY3HWq1CqWRLaA8JUCiG-QtA7UuPLvfyr4BqaffkDSLfvOijWZ6FttP0Yt6sAgk46-m33YJv5oSXVbRFNvE7NqAK-z7eNSEDkBSNus7r25PeWeROsh8Bc3S2LvNusfTZbA46PukO519UkmKvBLqrXxfcIe61VxlH4AWbfg9wDvGwH_QyfgZA5SASp-X8WUFYBkk_nEhlBOMJ7OKfCyKxWTSMXzorKBAKjhdSKp3Pm2i2SexnZW6Lhjqk2ydxJJic20ZYD9sc8-wdtME6l0H-LvorTXtAoWiwoUCe8R7CaAiG7R2mMVygNM1WMNgn4YX-z_-ZsSl58Cqezk8DeEpdmZ-681pJJzRgpjwWej8f0w8R6CcwVV1OwW3jduH5rnKenyJ8slnT831wd5iBkf4LZklazvnSZ45ya22jLfV-CqawVtT0sdHkuEcbI6ZKlf0ghMYjCxpbO2XzhnJgcra6wmh2hQZEot1slBjShmlnPZYWLYzavAIRshKEC2ojoyoe2tBLfANBXD0iKuA2JgeL0qfw9Uoa_7PZAuaRAM5epfM69xNSOqKtSGM9XWYOjhuq1VP_dKeTbELI7j9yvRpZralnci0CeFoci-sMYmvp4heicHNvMarvly0F8VOdZxKGF4RG7nsHdz4B_BDoFL0lJhji_6pOQBWFbSSV6gTWEaHzh6EV3fRRZUelcr7ubV3jYTqxUPOLVCqUH-tV4oxYCL0XE-TpwjZndpeXviqNj6DNQGGXVdvhM_9kUMcgDTfFUChmOn3j7Zjx9DhJm_j9C6mmX7JUoDcT6qgHwM-JhVF5qnWTPPi6H_JNWRBwTsENF",
  "id": "rs_032133f959d38e29016a7ded360004819aa75a05879564e858",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1C8Bm2EIgpMLOsdEuqgfAfhhg9Ajl0jdaGNWh5RQgvg_wibXHvFv9DXUAsqYtyUXfK7c-cLUW2tKM4uyksAP4O5nXwlKS5ilSzX_3OlIGFGHeuAmtVl_PfpWLQk5xuoE-hqsXowv_Sgw2YbTHnV5mFw_OCjuha8KWJPIMK46xM8eRFJLOl-KypFddJEp1JA3aqjXeyW92i3Hr7_8BlikOK5O2ENyYjQ2uh_T3N0MJVaeZqYGn9nSrK3lYioyd4C6-dK1EohYfs__0KTCd9a0BRN1xQXcBe0SvJibw_Pr2nCZePlPDcNc-fCEiL-A0lUVHgks6MijLak53bkUsMftEJS67RrK3hc2XxPairbFYNANrwpvmR76JXOAca1vV2GbAskE5EjvqxCiVYLddAjEoqHC-E0IUK0WFAryewewBZxgcnx7ryienSRSUCRNetNF1umNUZrP7YnstEwO1Kj6ezSUZNFVO4jfi1Lqrd3FGs-0XdvpAeUjLSHbUrwOZGOIAUe8wXtWZ8S2mJ9XNtQMu1Zg-MkejmgPRA8YXHeVDmOvFYHdWj8tclBS7fBEFXHaYd54oEVZGlu4SKP5DnIU8Atj7WF8BsqutI_X6salmI8zcA8Jm97n2JLdWP_TGaFxkuhaC5H3sMBhz3VOzXXM0LsWOV8iBjkgHPxbRCn0X2FlYfZxW06TIplZGJ8-8UQAspCOOtpFIdBjEopyD8i-yeA55VdvJiCrbqYu07DGxmOwSjp5K_U85_KeP4OWK1H1GqPYY9-z5Ntf2qr-yt8FsQGKm5-_N48AUgXopik8aGJc1nfKEw_lPh2p8JQJg5bNMYNR-91qVhAd7efgcdThtltyDHsFAImPb9laSY6mAai3thQk21ktHbkoVHILyGS6LbSrW7nDHntQK4xUPo58anLj5MttrfBTB8FfktE8_q9z6HDl8WY9_PDR63dQElEGuA",
  "id": "rs_032133f959d38e29016a7ded404f00819a982e772e9fce431f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.65,\"left_j1\":1.79,\"left_j2\":1.59,\"left_j3\":-1.23,\"left_j5\":-0.65},\"note\":\"The left wrist camera sees the blue block above-left of the jaw center, so I’ll advance a few centimeters and shift slightly left while preserving a world-aligned grasp.\"}",
  "call_id": "call_JY5o9l5w5H6zY1JUVDpPGpJw",
  "id": "fc_032133f959d38e29016a7ded408bfc819a9ef514ac1cae3612",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JY5o9l5w5H6zY1JUVDpPGpJw",
  "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=-0.6674 left_j1=1.7718 left_j2=1.5543 left_j3=-1.2182 left_j4=0.0078 left_j5=-0.6956 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.0205, 7.9248, 0.4322, 0.0122, 0.1929, -0.0171, -0.1709, 1.6068, 6.9812, 1.9365, 0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430a43823e46e7e17f63e5b9f80179beb75da2f0e795e91e62fdca4e872a2343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac8a5ee402deef74d4c6da5b6fc9a68d0e5242c21fae279d71e2fbf422b5078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a2957c8f41b307885e4a2f3774cabb45516d8276e26bed80a67959c6765c1a",
      "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=-0.738 left_j1=1.6794 left_j2=1.4605 left_j3=-1.1526 left_j4=0.0032 left_j5=-0.7261 left_gripper=0.9998 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -7.6103, 8.1162, 0.3492, -0.0415, -0.0269, -0.0366, 0.0068, 1.4838, 6.9949, 1.9365, -0.0659, -0.022, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1NXvCSIL77oft60379LlG6WDP5ej74McQeN6TRDVm9RRtKCheR_xQ8uWh18LGPraLinZeeuOO43tEMqWdFUxfAPmhY1FsAX1syhAksKr4pfPORtHgjkML2RqM5g_HqIksSu-1lPcNVCFVzPzOUlr7P9Dnlitjov98YP2MLSu8TE4a0CUZrYT_MNHrWbNIEK2dsMmylddcwof2XlnOAA9j4o6BEMpTLIHRENZSwivASjTRnaxi_ItalBZVWmTrJCpFnm5XbB7myM_7eIrIHUeFvrY963ud0NLcze-bxfThRhtfxgu60C4AIz2i6WfW5ppuOQKyNfL5xkAxMrwa-2h-lHhjcplNLnPVUPw1hi6bvYQw8rtB2Ap_QHuWh823C61NHj_HsqlW-683IIoHa1XQW1zW7JpJmh-YayHZTRadLtu25Pzx5AUy_gFPul5QHWv3bHdDT47xtmbSha589FRNj2FRE9S0Ng1-r98eKRrwdBDO7U6VUvmACELqNQEfWVXWJ1a8NrPCZ0awz7ltaoDPalErQmDz9hFSCLmLc9HElczp7B-64C6gGL_P5JzQGP4_DS1qlkP7lNuKPSo182aSZGqYl7qL5K_cYsiZztdymuphQfMzP0y1OdBNkVD4r215zFfUUPsvepo8wKYlODL8MiKKkXZzJ7YEfTqVzMFlKzrzekNTU7z-PT7P-oqn8vh78LkhFnyn1-dHcLYND56UmXBjz82CB66lLjrWz4VRAcgjKZv2-Ki1b0sms0cOoQNoF7wgUe0OXL9t_JaFh0bCw-zrfw4vRLxw4Nh1i02gyyZlRjdPibvvQUjjnJz7a8qEZSKXd0rkT6to_38kOfM38zJLm0lWGhRZA7xP-DwYubLGOC5kozGtKkSQlMOm-nncvvRhF1x3gwMcQi4sTdHZgwv-ydn9Wrg9ZeUMYD4BUdcKcCH1F-pMy00pv2rEOS81kHe0a_t_h8B3GyTjh-YzqdmvBr4ZvXhptKZcibOwrjbXKpc-6RHGb_Yb5-c6_2IjVyD1URmj3AFhmPHWpbmXx9RdG0y-Z9Uk8Xpm1Zk_3-SY7HdCSc9Uhg_nxqsHKsoeOn5ZoyZ2p7HY2BqzsjSv6yKlKu5rZHXd0Lxo8yqsfgs-jZZxJUHPKmXXEHa6h5Xr-Q_zTMnU_OWhcJ3-T6Se60laIj_B8lzyaTCIQhsaP0SdSXnsmq6W6JAVcm4vOVMb-GQj7dSM3NI0MJaE6ymJJI81xjNY9-FXKDwOR2o-ujwfLvRx1Y5djWTAv4px3Ec_3ZO9hLJlSCaHgge9E7ysAi_2QSclIcx4U9NeP5qfW_gy1lfm-qdSvZ7-F4d_l7bes6gn5lrCKFrHsMf2pnNpZriJ489Sa4PebOqNevbBH6oaoMhiXIW0GzDn8qehinQl3EEF2Dy0DNOLN8L4m1SESTxuuOOaVCt201ikn35u4Yub5IIa31hG_Q-tVO8ye5MsV-vBVclhN1WWbwYAESgu7ZHgjMeBsBGou7nTARxg56lp8C88DfoaA_uyK7QNSmVtAmadKn8AyRizqCu3agdTUNRSd4OyNdT4Rh3YxROLAmouTOszgOhLqKAFS9s56vsmnO0ge3cryUpSpQD4B9016HsBGMNdK117yzooGZGghvR4B-wrXc8M0_xmSn4SCIeLMExNtNYgWYPEPoXZLMxMIexOS-b1-IO1yxXymal2-NX_NiOBYBz6kH11eXzGz4fLTJulbPaoOXJiN1RFrrr4cqCpW_G4lAWE41B-TcZak0Ix-RjWafJac18qmOCjBMYfGj5ahRQ_y-IW3zruElGqaSUa22-b8xLAJAcrZC6o9SmpYendD-UrDPW_2I4sC-GW3_Jw3A6cbS3eGNexRPUkSwbimmsOtyoGE1JxX53uCUgL9f3VN7-nvN1lnt8KrjX2vF-eFRu0DpMdgHtAgG53xL2wtaVuB-ylXWqmNTnA27sPO578kxLswRKDu8ePtwaA-DyyrvS8YilRGY9RiVWZAT3idT1jmcgOEIJy-dsFmWvV8wqaTcKvM5mlNKoExxkBFIDeXLF5o40DM5PH-ReOi7Iob7HSsVSqVf97cUsP1fg10iYWkihC4g7gcLT0_YEkF2XLEsxoN5fxH5OILCeqPDDlbOqHWIEiCM9aJQyBhdjqCP-kwlB2dkji6Oi6mKaghRknaXyV60TJykmoGIAaRx_Oc0rthhCByjgc784x-_ONVro1-m9G8bxS4fohE6_nKyWN0OgZ4zfLHdHrtQIv71DimAZ0LoLMTx9dh4VK9xiE=",
  "id": "rs_032133f959d38e29016a7ded43ba24819ab4bc3e20c33014da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.57,\"left_j1\":2.0,\"left_j2\":1.86,\"left_j3\":-1.3,\"left_j5\":-0.57},\"note\":\"The first correction moved the blue block closer to the jaw center and rightward as expected. I’ll continue outward by roughly six centimeters and make one more small lateral correction.\"}",
  "call_id": "call_GmO87DujdND1tsKouPr62Ahl",
  "id": "fc_032133f959d38e29016a7ded4c7184819a93488047dd72fe1c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GmO87DujdND1tsKouPr62Ahl",
  "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=-0.5777 left_j1=1.9846 left_j2=1.8175 left_j3=-1.29 left_j4=0.0078 left_j5=-0.6125 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0322 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.3897, -9.9487, 7.9248, 0.3834, -0.0073, 0.188, -0.0073, 0.0068, 1.6205, 7.0085, 1.9609, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e368711547cf615d16e98c03867dce2486522068dd29f7feee977d8444b1f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bca09d719529d226fa4b6d941934fa91f996d332e046f2681d8be62c99f35f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb31fc2b965c66aedca2931a5bdf4a7a65d1a25b96498ceb6c9bc3a82c7e3a0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6674 left_j1=1.7718 left_j2=1.5543 left_j3=-1.2182 left_j4=0.0078 left_j5=-0.6956 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.0205, 7.9248, 0.4322, 0.0122, 0.1929, -0.0171, -0.1709, 1.6068, 6.9812, 1.9365, 0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1XwRNYY9A-cXLGXbURBll4sc5aO3L3oMKllbeqof3Zzd6K7UhimBlNCW1vM8sYoZ3DGp03EA7m0Ymm_HlGxvunx-SQk9RAd-S8N19USvh2xEHXeQm_3eZ4cVmoe2ymZyr-sq4JO8_MASXZo7-gYRjt7FOl6WsVyllh8ZLA0VkYHu3nTp5kOEyXl3eOtQfnsZk12jqTLxL2oDCfC0NOczoqbVrg2k9Rj_NyiPY2JsZAI3kkH1tBpxWy6X4FyXR5uvBB1FHcqUQ8-dmJHKdcm7lkWSqz1W5ZKAn0f2zz3KagGlt7mJQI1ISqCXZFWFZfvqoi0yx9XfkCEjwH_KXA03YfVZXjUb89A0DOHxlr2yACxyz5lgwdxbdrpuFJFTmfQDUdhM2WGTjQGkQ03g_wsKQylrLrWZbmbNPXScZ1KQxyYHwLz5GMY9V1F9LTsGszrmRaIfnhXbbKzVz7xm_H8ETQv0gYuR4EjcJqyaRvSew3-jKJsLDG0GPDtn1aBTcbpa-d96QIrg8YT9p-kIhMF7ARXezQTyJoetd3SK28HE5XNTr8N3ouxig87K-VlGdGne-Emes4FKa-in58t-dkTpaWtWM0kvl-dfP0jJiJDYlJTS61Fak5f8G8Ty5QeTQEM_ZK26cSh5OeWEgxBh-ibrnNpoYcIMm--UN_ZMw1c9HRj6U9H7evXk5rzIePJ0JOcM8WnZIPfgzejpMh-2EOvzbYzRLOqFF4UON5Pi5LMp00vOVagrwD4An5T1fjRlUBBXH6Gdq-Pa9AJYvNBtbdTmNJYaQgw10JOhGGskTnond4HPsIzMf4mej3q9QXSoj79gYu-A3cYGd7FMSSFKejiCVno4dIIpVHmX3qkKvfhxD3Nhguhlvt3CItbmTURGEL-TnUskRymbhSZH13aOxfgBUu_Nt4DQP4-8KiGVv1dO4CAQ2cIvx8YiogRHtBsAJ7i5gPUrddPiqXLcZKHpdK6hYq-SMd01QYpIPvsZOW-l_8OcWlBI1RVJgV99_dUuL35H91WPClu9OmP2HbMoK8d3btYqojOpA7KVbiaJ4_daw9TLRVGwV3xhBQlOqTS6IHV8a43NPkM-oyBtxPKEdWUqQOvvephwygaUWizMFJbcHr9Z6NMcMIvF96bZRHV9IPw2lbzHjki316vwJyK8oOHjn2Fnv7plAuPTDB7z_WlYT1eUUbYR80eXtIfFZ4dEwPe-3TyjSxWh6WnrgFVHimy3OEWnlKi6pIdwvUFvMxzjo3qO_dKVkjr77I-bbi0bUbtYHdAb4AVZXnyr4hTbvBF3bLvEx5aeR8LsWZEROgr_7MvreSdD9EbVU_pa0XNtS8FshsKq5EexDvdW3kQMJBqFrO3jGJCTghqZmI3tGdK2agaBhu9vMy86WUxOfGt4Syi91hRt6ZjwoINTg2FzsJixM9QcLPyBmkcQbzNMVAStVtGa1JRx5Ac3ezNyxAilaEONMECWP6BLEWgylB8JAdqifrNtRycXDypGc4F4w5KuOexihlXaKJOVPoYCcQSG4i0droFYKxBzIXYrE0jYQ1okU31B2nxeAU_u1iWcECmTBMl7c=",
  "id": "rs_032133f959d38e29016a7ded507d94819a83aad9eb1860ae88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.52,\"left_j1\":2.15,\"left_j2\":2.07,\"left_j3\":-1.37,\"left_j5\":-0.52},\"note\":\"The blue block is now centered in depth much more closely but remains about four centimeters ahead and slightly left. I’ll make that final horizontal approach while keeping the gripper high.\"}",
  "call_id": "call_SFhMWShkBu2EwY1nOqvLgg5E",
  "id": "fc_032133f959d38e29016a7ded5595f8819ab68218b279a494fe",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SFhMWShkBu2EwY1nOqvLgg5E",
  "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=-0.527 left_j1=2.1349 left_j2=2.0281 left_j3=-1.3594 left_j4=0.0074 left_j5=-0.5598 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0341 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.6632, -10.7556, 7.9385, 0.3053, 0.0317, 0.3248, -0.0122, -0.0615, 1.7299, 7.1453, 1.9023, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ab08e20caa8e6f1d91071807b808036950a4966f55f89d62a20cf3ae36f570",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a36d2771beb0b4556ee55d5378789971db700e99a21d82d3b4462723f170c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0346c33641905577849440122787a3e835dc5d4f83a9a8b1312d72824474fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5777 left_j1=1.9846 left_j2=1.8175 left_j3=-1.29 left_j4=0.0078 left_j5=-0.6125 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0322 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.3897, -9.9487, 7.9248, 0.3834, -0.0073, 0.188, -0.0073, 0.0068, 1.6205, 7.0085, 1.9609, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1gNUucGPARvDp5Ig_pYYhy6fldsTtZqUGdaN6UCXzFtvDPVj5OvNyDMc82IjMpbx06kIa1vOoCQDU_Ckx8iORoc-Aj0Sl1TW0sopA0mA90-xI4CFshIUMj6ZG89YZFYyWnZiZI8XxxMZbW4PHj1OHiFCOObYLMhxgFgNWiSoBQWcu23ibs5wobNQpAWd15CSRtiEO52AabNIxeCllOza9SBcshU-WDHXPewu69iefoUuWDYz7SZcsjG0Ef74QYOGWcKIz_s5qc33X3Mku85mV7Ts984EFdfZ0ApqKM41UyAV4VXKF7_j0TOCa45pOh2Rvu1yJgFtquoxI0hsstjrRapNUiz6FJ-vh-hwA8Bnuz3XwAC_VbD4GUGFfIZeBZ6KUlXCz3mArZVCNXGXvb3X3g5qORl3M4SiqVS6-jmPVTSSfiqs3RbVXO5_JU5Rc-dR_wHC9G-OJiIYn0Y3T9PhxrKiG7c4TJPpgnwDX4zPyyxWW9ufS5e7ID8NxZIIzqKA6re5tavjg2Ah7u09MpDlwm7_ER9SL9AgkGAXtKClDKfdhdUpwpjDhlewFfAT82uEFH5Mpsc_QcqUIgtWT3H5DwfNUQwiIkjS6jnS5Z35-h0brsft6DbcyoQE2e9JRUuN59fDXNJ0kh22M9Ww0uI0wQodn1qB9CxSE5MxGBBRXU2OK6F-3dFCBIp0JwsBGljRacINWWS411pk3F7Wi9g3eiyQzJm7NHGMjxN55CD5LVnMR2WzcZKUxpcu65Vs3N60EI4Jf3Uw7oI9vKQ8Apw4Hid6w7O7yqaHThCRZC6axz0RJzOQukWO7VA5piv2HWvX86coC6vcfKHD7QsvOJ3EKLieBJDA6gyvSPyHATy8CRvaBi_x8-bLVaYMq3QALviBnByQNipTCAXpR91CcS8oVXg8RESagLzRb3ou0lx7Y4FKdpiQs5XaUjMH2V6q0JWUh8Z2wY0fynZyWa9W8qPI7U4IcwzUnA78f5s8tY1gJzH9GUQDlQuPFpi33oMZVWUqsDGQB7zWbEW90AnzcXH2N0rCY4k8VNqJsZIlJJ-0hVWTlfXwzTkiLN42EG17oazGzo1NI60eb_gAymggIVUmgG9ckAU4gbBBxZU8tZ05nee2VB9-jMfAE2qvcuqXc-7vAQILheIQ4paWpdHwQbH6bc4hOvZR8B33BnhHLZL40Twp-TrbGW1vBslwqlR9HNEYKv59xuX8Lnj_DeONcnB8k8f10RuVEjOI3YTPMphradx_k48bK7ga_elddUTLvSgSmm9EJKrG8I7CUKhZQ7Ze0r76w1KelIIJMe6Z0UnelvMyvvIC-kjGjjnVeNqoK6RYkCo_wTOm2qMe8EXNWtXOXgWw2NMDv6iKQkrx_OV-jDaP-ZNp_5ir0Nmmc5mM7JAiRiysMRZ1SQ7kuBNgBjyeQk21jhfewoPUGKsiWUiaOC2Jqyw25TZfwZPPC8_mVZPwewkcsv_HiyF9uK0qkzkQoF8QXAMAymI1opaAx4RxQrPvIAPbyL1ZuhRzGrBeDYcF-lfmfWM4ju7KNAsgVMSIdrfFYi1_K31hMv0mnBkQPtj_GmvHi0B4vMOJ6pZSM91GTBqM9786FdE4KBid2FxVSV3WMlm4sZouWdgIek6oLsJuKjFrsMqbOTDuM_shbZN3K_PZK-RJahE5a15TMeU4xoUHTft83NMI7qOqm_2RfbVjJk_ftBQhlODef8d_TZEbW0-xAMzjFXFqg1kZEnTu34yZK8P8c9Dzub9rP5o8C5rJhc3VvQeSDAZRumA57quu-L0niTl9bDEra9hn6jUQqt4kYfXS2qs9TOjn-SyJruEYct6Mrb9Sg1hg1s2PhT_V9IRlT9N0Xg_SIx9g7au1ctxN6swV3O8-xd-CA-XyCuvoGroHgtg495L2n2QnR_9AxM",
  "id": "rs_032133f959d38e29016a7ded58d484819a9f5f0221cb772064",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.46,\"left_j1\":2.27,\"left_j2\":2.25,\"left_j3\":-1.45,\"left_j5\":-0.46},\"note\":\"The block is still visibly ahead and left of the grasp point, though close. I’ll advance about three more centimeters and center it laterally before descending.\"}",
  "call_id": "call_nZk9i7sbcwzM0Viy8C2760JW",
  "id": "fc_032133f959d38e29016a7ded5efd60819abfd996d490e3c2c8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nZk9i7sbcwzM0Viy8C2760JW",
  "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=-0.4694 left_j1=2.2536 left_j2=2.2097 left_j3=-1.4292 left_j4=0.0071 left_j5=-0.5018 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0471 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.294, -11.2205, 8.253, 0.2955, -0.0415, 0.188, -0.0073, -0.0479, 1.5932, 7.0222, 2.0147, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03afe5127776db3b3412f47628dbb6e4b362f8782f7b5cae9cb8675b82597fed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca1ae4721f0dbb70d6688e80f3ea429a6758407995aea464dcbfb09c379b406",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab1ec50d77150f8578c084f96837423ee6452624f75bd474199feb5f43603f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.527 left_j1=2.1349 left_j2=2.0281 left_j3=-1.3594 left_j4=0.0074 left_j5=-0.5598 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0341 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.6632, -10.7556, 7.9385, 0.3053, 0.0317, 0.3248, -0.0122, -0.0615, 1.7299, 7.1453, 1.9023, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1qqy2La7z9jDUCxCvcnkJPZ-IJJ-_NFint6ZmjLQ1mjk2E7kGSU9ob_hmopmm8VmpMIl8EdWH0xzLOTRk2Gp-LNXcbviyc-eK8JrH10fOLlTY5ZAR3w84R0qx_nQKrhnW_tsR2rXOE-eoRkfpM13I8rUhMzeDGqohMzIdPOj_vuh49dSlFUsyX6pXzw9LlVqAXz8W5tUUGNhZQ8C64eF-ZT-S0xgJgD9NO5EXEJiv8Wsab-vi44tZHvOPaN8ETsBl1C4A_DFGyXigrNaCJxQEOrGZv-WQwDbt0GPZJUeMtpL3Y4tGNJJsFMxGoj-TuA0Lu2WYDgEFJpjt6AhiJD5T8kOE9EjFhN4B_PyTRoRT6mRvYJZTGI_y8KxO9Eyn3dMFqrP-FrJINQmm8JYwEt9Y1uWz0Tc0X0kR5ol5F0Vq7Y7XSg56u4wwd_SudpyO_GeNJNiaelY3tp5P2OIFr2hHch9gK-B6847pOChsb-O4XP3s8sRFxtYVm-aDJgRNyR7JZEP05NOAiZEWgwyN5PRNoVXZadQcu-mrc0waNYgQv9sksEO3VIGp9TxJSbJpdoPMHVegq80sZG6lpa2bHXJi4UpX_9NLCJL7V3LPLTIhNIqxnCx1T5yvw_fDYezrWNKaNO-o4hJthnGBAnHF_UG0tiWFUfsK8e1OvW9dKuqUxNHWKDIldXuVjkl64qlZe1T2xk9VPOM6Md71zZWYlm9O_mADJAONZ9sKbWDCUwWZtxKQVDU8hZPKp9J0RU6mgk9rQAijGaZNZ_6diHmOhGGHudnSNnWrXPi9CyQ9tBFxF4oazjOfF_eSRxR83-Sx-kkd8v8NWTuo8s_25FHCRXT-PH_z5lAKZZcDJyv-SAJQsu1rge_B8CmGLeLP8MssdrrhoMI8qFyUMCV5sPPz7TGgNig9XghoB1C3BPKwvdbb7wOgp5h_J678WH-dhUk7XzmjTYOWjzahwjeC15lNOPkt8iqBT9pi5-t-4aSFB3TyhCX5P55B_aPbSk8YiDsrODDEtQXblfzrdc2AGhE4cKSlFuFmuEK13gc1cmpSBHaksL32Ur3Atowr205v9Zi1a9IlOm8gbr9Zyp1ID19mA3v0hNpVwEBE_2W0bVOhgMVB88bnnX5Ln0aEa4s1pcEOJH9PDDDvI3rqr0AKvyuc-Vseh1gJgVLx2qQPIoyHpP5D4v6tlGFBoxM1FyZK4wGUEFTJb4a-fDGWqE714t78mSfG1aOXU3wa53adkguYSSn6LvWCWoFAGwZx0DD-H3YCJEmjA1E6BTsH4DBNSpOjSdJB9XioHF6ninAvq1niuf7jed_Zpm3T1kYuXz09s8aMW_CF1k9gAJSXm5ERe0Mll7OoTCgI6rk8P8V-M3zLXqUWpqfsyJkejr5zKszCMxuupLPpJI03Kddv2pDwPkUb7PR9VYYMgeNGqW2gvggNAXXBL2R1S5VVkqBhtAPRks441d8XDq--g0xRKDbcgTKRA29oCXxkwpPrdbvTCrCO0ChC7ixtVRqzNCu2FIoyoWZqtvvanKI2es4Fo6yJKK9e9UjZNweOu42jMk_-I28roKhbCZ1AX52pAE3wQaRW2oXuH489TSxjVxbdfw59BsWTVQSU7pkzAIz1za99sEDnufgdvDkL35pCbs1bk1uRVOVH5ih65Ijy6t-2zYVAIKrGo5H3MxTXanGQsiQ-z89rOjjXirA3jjoFotWcJ82-2KknRsD5z2zXlt2jjpK0Za3iGBF97SCEV5kFvof9mscgq3wJEATwNpobtwkeW6_jaJu981YB6fM_eZCfX3QSMyodhLeNETDxOMBN80g7Ge64z11Da-WbCz0qkBceg4NPy8ac6SWSyB4Z6ecxIxTxKUgqAqfOwTj5lu8LbOxxD9Ht9R1mqAvIBXwz2VSFjI8atyx6wiee-8aEDZp_EeYjp3gfEAS9YgqapWaeFv9hIKkGIfpYjse5K3H9Z5boCIpzdxfkl_7CpVMRnqiQ4q0tpw8I0xAVsHvQ4OcrUvj_tTVUm3WJ0EmbaURH28D_7LU725WRbyjczAZJmDZNjseTI-GQxOvNc8Q3_F-7fW75w2F8L9sHfjB2CvSLcd6E27TIKVG_1d9EL95Y51IC3YVRrxRkqfef7W2uksiZ5a7byqv26tvoc05mbSh9LVMsf0l0a1w-ddNKmSynBPKQJYqubiEYGIxfiMGj0604mLGKrKBvTLcstsMDdtm-HHGKurHmsM2lWdIUDne_WxPKct0zs8y_h7S-YS9n-SWuh8fWApG67efvkZ7LMovQCnht8thJ3mPWqhbHLksFDCRlR6gxAyDb58DEiUhtxx4p13VvJiKt8W6hyK8E=",
  "id": "rs_032133f959d38e29016a7ded637870819a90da1d9ad58a7821",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.35,\"left_j5\":-0.35},\"note\":\"Depth is now suitable for a vertical approach, but the block center remains about one block-width left of the jaw center. I’ll correct only the lateral alignment before lowering.\"}",
  "call_id": "call_bcwr0whQWGvYXAwVNhEQgdBy",
  "id": "fc_032133f959d38e29016a7ded690378819aae5b15b767c3bfd1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bcwr0whQWGvYXAwVNhEQgdBy",
  "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=-0.3836 left_j1=2.2669 left_j2=2.2173 left_j3=-1.4467 left_j4=0.0109 left_j5=-0.4107 left_gripper=0.9998 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0486 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -13.3128, 5.094, 0.5885, -0.0366, 0.2027, -0.0122, -0.1846, 1.6068, 7.1863, 1.9121, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e118a3631d2a5f5ca0a66313acd39466b7612271fd43eaf32b243e1469035a98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e3ceca95c383d139d503c696beeaba6a07003591213e2ce56fb62640400e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725489cf59b966ff7aa427a516d1bf45052afd43a8bcda0f695c71f981739a73",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4694 left_j1=2.2536 left_j2=2.2097 left_j3=-1.4292 left_j4=0.0071 left_j5=-0.5018 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0471 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.294, -11.2205, 8.253, 0.2955, -0.0415, 0.188, -0.0073, -0.0479, 1.5932, 7.0222, 2.0147, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe1zzdMmIB0wJinytkTpBDPYChh-YHumjCzW9cB45KdW8WrD8UBYfFxaytPQIhSwnLbQ1TTcl_owHyTVytnLV3_qX_JpWtVWyU7CxS6mc0cKOtnbblH4VPby1z_syCdqOi2nvR0JNZdmyezZewlX9wGpD454ZVoIatqa7hThp-4eUWBgsnD4WNVsLnqynYjGKj7tenO6nvXE_F8ana1GLdqwhgD57ZA3RFBYkf_Msy9HqkmvrjwQx5IMX4NgcKgCnmA4uBMcqL8gPCknjozNiPErvsRTj9pNV-vCdypzNQpqdi0URU1r-nXlTaLINbcoTP-PxUZ24EOswpJbfMX8bad9EgETp0F6KaNVEXoEEQAHogGJUb631801Zg_5L-1N4KTggWCv2HCufuUtFv_uyGeGNppKgsQPFZyc6ct6RLIv2pmA0UkiYprQBcC8Kie9uS7i5GNVKSx4DYiHKg7bw-1wO1k-zjYJfhIk-yGBlo5YpA0JC6ooDZCXT62lnjE0zcPEpcbGJ_NwiPWLYzRe4HcFUwB5J3fw1mX1DXH0PuJmz5mDDtR1gh13pFMu3tvGDYdhDkcKP_nR_0mM2Jj2h8NO9EpkkYsHBU2vrKsf2gxshdRz8oYza1bIltKMXaU1tQ0An_OEfRK-v8N-WNlZfx8jiJEWi98SeYpZvic5fwnbyIE8x2qfQfPWOvTky3EstjsY4jvdy_Iy-_1GOq9kLrP-jF94kmQygxhytAfB-VR4J2gp5t7VXejJCVb-71nx2Px2_O3GhOEEp-PEkyzkGiez7vAD3bc4p3HTbGMQ823fBUgx4NW1bYa1m3dM6XUcFPwbuBJNpeAZYjRIr_nyVziGBwYHvhAYVt_KMFfRrOx_MyfgzH7ZJ-gbNegoAq8syzcIv_D3RB2YsaR2JhMGaSDUkHLTi2PlXxQVDiEQE6tnNDNB6yCu7KyhBD3TK55UdLVXzVCm_qTO2qdk7OoVOQF-7u3eNBJG38nB_TtFom9yVpSkMp1NhXpLGPogyo-1QWkgrXkZI2DSpUGO7Gg0eN3wJXUR9iKihEwEW8OJ-BCaY-3tva6Jz_RVUwZlNE3t6WuVmv1IFncTM7epalzXn0y3pYQ5GYKGPJHiMNZOqaCwTDXn-oh2t6NMh_1sjQ8tKYgQdsptEmDEJTQ94bQZC-yfW_K3BbahZ-WKGGMfdxgt2C1mpu53McWmSAQ47giqvetBjhV3me1j3IyCV_Zriur_neXYufv-TvV1G9S2swcAmvu7SnLb7Bw41Ij3xqCiGGaAm_KMTfOqFjUj69xbeNq2bWUF5djk2a6C0Kaa3NIs_XvTY3udMlMZbDAREOCT3m7p586Vq8YUWg2-JkUDIV1WmfOlNqPARWo1CDWKlFhZqM2Prst3REBzxVrlOZ8quwjr25IKEJh-BY21YQHQbXtW54MWVlbc8mAZbuDxqa46xAX5gqGxsEMWwpfnL2luGRc4xw55cB4mJZFtrdqBQyDm40rKtc6pjVCAerzZH6mDqFbtz1cdN18maWQVDQojNHfdDRK4VN_hhcAYj9s0JO09x1DMNuRXP20FVVxI_MsORNfXT399zWU6gjsS8M76jea5MDCEhxoW3Rptmd9kEwFdRW9o_gvd1upJ8lx7gZdTEKVm3vHmL3TyQVlKiIkOWCTVRFKsg5ogQix0cwj1ESlj1BeGfaduixrbhZgvG6Z3QSa7bBGBVWUs_slZ5mVzavLWavT36U8Ats9WrObAauZd8fXrkLqDIc6fiBl4Xj6YwUPd2QZbGoT__SX_CLjnLavvgJYFyI0ddLyPuDU9oaPt19-GmKwxvi0tfINInAbaFPFTHb9X4OceDnGemi_GEREUS8f5f-3prfFUoj6idWF307LZD4qNilbbf7Yh6iBUulo9r4MEkEjQpvzJNeaNwd2uDH-zJB4AMdOCJy7oA_kxKT8pyzdWKT6JVPrFCDZLBZjij_7TluVs8ENvKWKGhA6X",
  "id": "rs_032133f959d38e29016a7ded6c9f54819abffaa7112bf1cf58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.28,\"left_j2\":2.14,\"left_j3\":-1.36},\"note\":\"The blue block is centered between the open jaws and just ahead of the fingertip line. I’ll begin a controlled two-centimeter descent while holding horizontal alignment.\"}",
  "call_id": "call_dHINuzIT28R2HhPLTql53UtO",
  "id": "fc_032133f959d38e29016a7ded728efc819abf79f9a92ee7fa2e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dHINuzIT28R2HhPLTql53UtO",
  "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=-0.3645 left_j1=2.265 left_j2=2.17 left_j3=-1.4097 left_j4=0.0055 left_j5=-0.3927 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0517 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-1.1145, -11.0154, 5.3812, 0.5104, 0.0464, -0.0708, -0.0171, -0.1026, 1.6068, 6.9949, 1.9951, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc65369295918965c93fba5f1ded37a81b6927014279e79d2eb9ab8d7e469770",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129352a807e274c0ea6cc2e4e0d92cfa487c845a4771c2ad81e34edcd20e9fef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89db4d5483b09170f69ad343bcf9a7fea18d45890bca701141e6165da69ebf2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3836 left_j1=2.2669 left_j2=2.2173 left_j3=-1.4467 left_j4=0.0109 left_j5=-0.4107 left_gripper=0.9998 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0486 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -13.3128, 5.094, 0.5885, -0.0366, 0.2027, -0.0122, -0.1846, 1.6068, 7.1863, 1.9121, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe17SltXo9k6oM4bxFybMuvBXrODvOdI6MExmcxjaRl1HN_jyQfIZ-T1NIorD3QGbISV83BdVVufLZJAFmNUuoYVbYrz89ofpyY6Av71AGj0PQyMwGmIHdsttG4bcweWUgV_cOF8DlYTGb99VIhbf1sNIQMAC_NPZMnb3KfCJW9YHnsrOLT7QNBfIuMBaThQeQ8s4hP0JVfPwnPaAy4lh-Qnthhhi9mfjnug2WrEzcqAHYs725V3hBJ99X25Vm6iUYYA92Zm4WQ_rPDfWeMKdnWhTq_XOxGPe7utsiWLizdfVDCzf9LLXyykysCBkj2NEY0-b62sKWIw2ufXOxd7aebn_i3mhsRCuJa19VSwvNO9MeOCHfDFpNyCPp_HEfFMBMSmihA0s0oRoJa0G2ftxokYaZg7vvfwwqr9vFCr5h3m4jhJ_gCR7krbp8jz0rlie2Zeu8VMS3qtwnDNum8hPYW6lP5wjjeu5HC0d2Zf_CN5kJ9cC8NjTpicw6KBXHgEYmYJk3WIx-tIHURnHxgix7xMegkTG1p9TpAemnFp0vUkkdLjJYjh4OsGcyvmv3y8kCc3N7RH_tTkHSNmX405xg7xEeXirHWig3eqQUlTDbO4wHbHZuWPqtygmmFWuZAzhLYP5mb3fsiOqkDUPhHx4iWkJT9Rekz1vVCUpAJy0DVdk6wGRkCHXCepK4pfXlKVUkZnSc6qH9fVvolonCq_DgfNKA7_W4y2AjRAkjZiaQHSFxfOzs5tuev1Z66aM9MS3IWM1zvXdWXmgu5d_oCFQdk_nt8BQZnl-5WFVgXSrye66faSo0KAr_-f46MUtBafOxkcRV0ANhhfqBryAWPVIJqe4RFGncXL7i2ORXXl5wplhg1pzn4rkUyLmC5bBQqGO4x4_zq9g33GDgPuYkU3BBvZImsc0WsrvYOFJROFAAmreBQomnq6_-NXL3a197D0PayCrAO4m-4-UjnpwKjeaHMuddhd6ujX79qmMdDRbZVwTuzDMmqwNjpKyLpl9V2eguf4B6B70uzIkPf-uPYi04sD_8dYTqpHuoSANDVMG7pcw_dmY2wL_4BzIhVZFVkOW5P99k-wBJLnF7sujuBILlJ6HcqUgxgFQrdMn4QPMluCh9-YNiItLveBtmcG8DPlQhNh9tMnA5GAfKz7jVjkJsev5PYLP9-WWTRwBx93t8CRo-FOydsvJ-FcPcBiY5-koibDjhmKSZ4bS_pAXZU52Lop9Kt1HjUYly9N-Rg-uRvTCBZ2Ch8IhgA6d3lMHJcFQTikdgWrPkT4WGdnzU2m9BjIgGuPjCM3vNUFfnVVKPKY1Pi8Kvq5SpyNmYFO3juqHeR2afwujKrMsTGJIEf5WOs3W8zScktSYsRkFTlasdFTqPAfs1L0MdimEEIkLt2PDAeUvGROhDK8l3Vg1x1lq6o9PNQHqXIAq20pvsMa4iAinGlsw9G8Wjb2RMRAtMEwxpwq5s7jSf-q98_4Aok-JcghZctG17X-LB05kL2Pgpion1Ibw7V9PWyACVHYGZck1mOynpMidIRMQ0ZrnYJRscrs1LdFfmqI9iOGFS1zOdPn7S--nO1SMn_dAG8hHl9oMbKaUr3RWdomBWmXt2HvQvFD9aTQKJsVCmpdSNAP-rOxqU-o55c2jPtuJ5pviSY4G97B",
  "id": "rs_032133f959d38e29016a7ded75a93c819aaef485fd4ea728f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.29,\"left_j2\":2.1,\"left_j3\":-1.32},\"note\":\"The block remains centered and now fills the gap more strongly, indicating a clean vertical approach. I’ll descend another two centimeters and watch for contact or any alignment change.\"}",
  "call_id": "call_2jkRukSxBTE5LfKbXhApq0zm",
  "id": "fc_032133f959d38e29016a7ded7a4bb0819a816031dcdb4bb2bd",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2jkRukSxBTE5LfKbXhApq0zm",
  "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=-0.3794 left_j1=2.2845 left_j2=2.1201 left_j3=-1.3544 left_j4=0.0071 left_j5=-0.408 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [1.1009, -12.1368, 5.2171, 0.5201, -0.0708, 0.1099, -0.0122, -0.0752, 1.812, 7.0632, 1.9707, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8e76d661b632417da8f8d2cd25052cf6e4ec6c3188e0010c387b1548c94741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cad164ef62db3fd17dd0d1727b8199072eac7e2f0d3f94e39f290263f09ca5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e945cc0cd41f35de713625f43134660a50dea8d2826f59b41a893fc5f97287",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3645 left_j1=2.265 left_j2=2.17 left_j3=-1.4097 left_j4=0.0055 left_j5=-0.3927 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0517 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-1.1145, -11.0154, 5.3812, 0.5104, 0.0464, -0.0708, -0.0171, -0.1026, 1.6068, 6.9949, 1.9951, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2Fx88ovBAgfp6Fxdb77DPK0qFoBqQk0qhB6HQhB5BxnKTTgyz64viOs3YuPeVD5md0cbFqMhjgj-jEpm9g5UVeXWoMwSCQnJPnqkuKyLFKVDH8ik9c2kB5sxx-n0dDYQ935Icg9YDZbos6Bq53ZezfAak3dC9DuUucArEJnpwi2ZR634YgIQNUG8z3yPi4Y5QkHr_t-o9KdFrJJmtF8D6Jn1i6Col2dM9lhnPKc-VOTUzguQb_S85yr2IwOmDVWXlybSAimEIvai-XyZM6UDmdI9fhOH8BFGYqWIi7EeaJZ-tXGurUiNgmktknJYkqWMnfIBYa64sNnizGGha0SdLl4p9O0ypshdS7KQjXZRUYHL78nrqTLLoFXqdguSimIDFS0HTLyoW4iNeoO09XeLApMHvLmq_4YXXZdpbYshhBivNfgavdJoDH8O0eKXPo2BomyM0sMGUKcbo4vwWoZuYk0j9KYiWXlxO8fWdrW0E-DVTjsQAeFDcV6y9fKQUGngh1Q8oROgaav_d7FfEK22KsSwhr-s2rGdVT166fnvr40U7KI_L3e7H9x9tfR85yxl8iDSbeih6Sf9c6NBvhuCPvgblkzclh-7JUQB2oEvq3rbKHHNF_SouUMS9-_mGwYibL31NVGF9hntimOWfg7zjBEkBbv9cLQkA3XYxKM6Hi45OKVDN33JEvGsD4tkaqjGdoXTuNu51vf-gs5vWb92n0r8tMBkQg-WrQduiSFj3J8mu4qd-kHudDAilYnoQitVHUV0Gm4__a5-gcTju30nAkHFENNMR82EMg-xOxwC9X7zNM6FrfaIMjsqWEnu7wOp5TVFJNMW4MDliu2ivrPc7WLwQ1DQtdtXrHsOwUCY6wo1cG2WBzk2VDQtkO9RqYl9Iz0x5VVBw_O-GFk4QtOEUk9P766otJ3jGxYcPORAQcHFYO9IGBD-xFrqsnaxrA4R-meSYuRzRJmeO8_xmzUCgkyKjZXACUk8Tah3H6DZypYwHMaM0oN0j3aVWD6opyF3xy2_Ms3C3t5FhuCQ6wjVS_P46SJB-Sc-cP3vFQ5K9SGn94SVirx___L3Ni4Gl3w8upeyjr6G1RziGr5HJG1rQjLKRvJKlEawxx09LSMZRvW-vyY88-We3YaYVM8EDTsZdE_8Tb254CMX_ucFofOu-VA-ehw9Pm5g9rOALKVt9VVH1SbN76pfbkkCHMUmERO2n8XxWyJCdn5jDr3yhNDVScfjzPFteNezoSapVUUPpvxOIP_6QUUeZITSJAZ_VQNLiTwBYq2TGoR6xcDCXEf2IghJGfsPx7E6QKm2fQAvlhum2UskZfzwbXQX44FnV-U_GM6uWuAI2xYddN3y_AbCoWi9th56AElETgdJfYoRsmsJaGXgI4eHcpqEcmfbATwlnVM45ksWFDgDD6v4_EJC1ueBQSUUdnrNTXtWLXdqFJbPMmAfxubQc54PtPwnDepF9-rRs8sCPKEXYCN8Rwrxys8coSGor8brQinI-oZmleSevYYMkayCf4K30dkcVddWJlspxq40_tBWA2sZZLBbdFcsYM7mtAwo_Zl6tc34Mtp29RgTmUSJlTw1O15V40VaxC8n1rIevdtVqUKOpuDdxsRg==",
  "id": "rs_032133f959d38e29016a7ded7e0d8c819ab95fb160b458bea4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.32,\"left_j2\":2.07,\"left_j3\":-1.28},\"note\":\"The blue block is still squarely between the fingers and is now very near the grasp point. I’ll lower one final small increment toward fingertip/table contact before closing.\"}",
  "call_id": "call_ptqakQheDhcHK0HJlydA36xW",
  "id": "fc_032133f959d38e29016a7ded822840819aaee303a892d54a3b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ptqakQheDhcHK0HJlydA36xW",
  "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=-0.3702 left_j1=2.2883 left_j2=2.0857 left_j3=-1.3167 left_j4=0.0071 left_j5=-0.4091 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.7726, -10.2496, 5.0667, 0.6032, -0.0366, -0.0366, -0.0073, -0.0205, 1.6068, 7.0085, 1.9219, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a587f6d96d9fab811f294bd92cb779f31e384138acaba305606245043e654e16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9a2db0a89ed2bb0254d64e5a84f50081b1c3cb41773f2f0381abd9dd6f03a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3a4ba872c76214bf64b9a671a959647b3ff8b9b80853eec7a90fe37fdea0a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3794 left_j1=2.2845 left_j2=2.1201 left_j3=-1.3544 left_j4=0.0071 left_j5=-0.408 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [1.1009, -12.1368, 5.2171, 0.5201, -0.0708, 0.1099, -0.0122, -0.0752, 1.812, 7.0632, 1.9707, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2IFn6vEUg-HZEgngNwqmz-6ECPoTN7xmIhiKniSWmHzvoMqI4WHJUlKqvaMqPiLmJSuJI66CW9ZjLqd7Bb7E7HarhNNOLwTC2tkEiPvbesKpDjGM7VWmh4dlpWUSjZbgg-h0YKMogLtjdSTM3zTJvybot7xfe5lmxn3j6hiEf5K_bwHKDrEt4s8HJuqRsbkuk5r44BCGY7PaTadXqs61NdJETNqQ0qriEyDCnM21UTA7Yxfh0GJsiE2ck8NVFvTXtbyMILSQWSm6GnI_DAnjz0QQbHzxV7o8zgZn4-2BI2_j875Krkd68PiBNE9E9QJCS6dzuvpo4myVLJWQhbYB7is8LWpXhN8V-YJAHrSNPLqFLBg75lwm5neVVnIoOMqj2_0_gBj0QyG4o4djZj6e6Lj03hdXXOb_YGAY7wFQiUHWVwezGHegDK6TCBsgTYFNYPul_auEAamU39uKVoSKD5ok1sJMG9MI3dwwucOBErFEeXvXC1iaP8seM92XF8ohi05-HyQYQYCzJAt3GE22ajaXIpEwUHNgDxhpIIXB1JEiW4-5uokrfwsREoe4TvjZID5LiAJnJRb4y-f6gviFTiuqz_-YslHha15bOKuOrVvX_dsVUPQjGPdJK5frRvYPPQihl5bW6q-L7jd8HbPEYyS7wFQKDFD36hmALflCjrhh91odWpieAL5ZOc-wMjkH3up21XY_UM3Da7np9NIP_8fwpMIvf07h4uk0qSOim_6NIpQprX_mZBozscgAB2AWwqZVBNJuYt7T-k817gFctd1fLKn7qYM-1Z6IJSdBl-ffYmII1BfCyjExc1iLau04sIeEj34QcMpCw3vkiM05D_siBPJSC2BXrYaO4Mn93Y9i3ovHTzvL1-Hy_Ry3RH5q1brADaV_GUNjCRS3YbnXTwd_bUte2FdMN0fp1v1kSwzif7jPHIdgKFtGYa3YsOQ_dXaSbAkT9OMtKCYmy1dFdKkGJ_djRz2CHpFT7fLD6SMQIkksWxWUAwsX8b3nHyVFzPJlhdo7V73miOdE4WbrC2yZDlak0-J-ymF23SLs_nim0weK4VyWqGQOZzZd9jOzdMujkTIW5D3Exu4_PtZ6D6wg==",
  "id": "rs_032133f959d38e29016a7ded869194819aad932610470c2abc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The blue block is deeply seated between the jaws at the bottom of the wrist view with symmetric finger clearance. I’ll close fully now and verify the grasp from the gripper residual and effort.\"}",
  "call_id": "call_0WQ2MdMeZ7U4XboSETeZGZlp",
  "id": "fc_032133f959d38e29016a7ded870b44819aa66f8191fbed9104",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0WQ2MdMeZ7U4XboSETeZGZlp",
  "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=-0.3759 left_j1=2.3123 left_j2=2.0731 left_j3=-1.3201 left_j4=0.0071 left_j5=-0.4114 left_gripper=0.0147 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -14.6393, 6.9265, 0.3639, 0.0024, -0.0171, 0.696, -0.0615, 1.6068, 7.0496, 1.8828, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d48339d9fe18c80c73d255cc51a1bd02fbede518826c6cad647f7d9ef174136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f57f2ec220c73675a26d83dc6b58134a02081d0cc2ed053361b9112f5516b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d033a8a55d0236de100780af3c1f8e1f63b9af49787eb32f025723ba8474f3d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3702 left_j1=2.2883 left_j2=2.0857 left_j3=-1.3167 left_j4=0.0071 left_j5=-0.4091 left_gripper=0.9997 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.7726, -10.2496, 5.0667, 0.6032, -0.0366, -0.0366, -0.0073, -0.0205, 1.6068, 7.0085, 1.9219, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2QwHcRAaB_YcctCtp8nor2D30givUxRSelyeDXXFqmGaUNENqGtB2TUR7AzQ8FDknX_nJfk-IdcGWuCsFDLn94eZ-xlT1J27tnvpfDXZQGyRpeoLFqb-en25vv_jZqenhfcuuyJJZFw5yll_PI6TClcZWo5oqHFAGFC167kMImVNC0jQkfeP_h-ahmRAk9X9PO-X8-S6HsOF4euPaJSIiOGJOfgrYJtykt6BVd9AdShrjFRvQYOHMACQ7MNAvSrPr9Q6EImSMTB5rcERoIVtNM4fsVjbbs_fnIgt-IIJTnk8aHjA23oP64-cS_gt-SGL6dEPatwMcuYSc-_7s73xOGXErFRzKf3ltSz2ebdluXPBJtYM-QHlWdgFtC6UYlvgq3ReVlbskOAirm1ezyBMNkeU94Uo9_iNBkO6PJZ_DxBGIIQKTDimJhaqS6_iZ5mnXYbFYIrflQj7seY6ZB-favFmePceQxy4AclZYL20SySUya1fJXl6bXCwqXT2hrh94TTrqhPrDFLzN570z2GbjH25iguKbRRF_-vLCep8Iu9v3E5QDZH5787DjRedEM5PiL48v7aUWXx03pwJKzBWJ63_2s-UczR_4LfgVe3cATC6X4bzV5ea7pvzDsVklGFzGm4l2g_fnqdqoVBCPEcR65QhBPPFNCD6II5GstckxwCpAkFcGvfMJCtkQ1idDSmP12ho-U7RJ0OedlH2WGFx5psFGRTIVf-lAzjuIT6NIRW6BWj49b7Ia2e3Kt8hMEg9cjeAKi9zDVr1YfN0UE-hKeyh2fEhl1hwvuqUUFtSf3RDyBXCJuW5FGF_nmGrNcL8YC87C-csJU3SHv7XcjJGa_AY-FFsXJe-v47ZqvTIRVcYvQ-Xz_TdqOj6T6c4YZStHMgFIbkDBhh7CqvDEY42chcJi7eslmoRf7uZQOC6R0iJmLVeJqWVjCt3qB3qI8wjQ1SLth96W0jvT9SmyLGnSgoZ_mTAGEfqJm5dMC-4KwlzOBRtKuNK7SIPZNcYWvLSBH6ioHYQNrUxv4unQLYzD63gEQadNWgR5jFJPZXpa53Z5nYjdhD2hcvODRK0mWWKNBxCy8i29Q8a-ka872D-X-tpJpPYOCVZ7Ks0LZDB6ZsWQq4HOu1An7IlqjyogRe8PiRTDR_T1DQaCCPa-1pEN_2YbfIqjWszgpNsTwgcF2FvRDfY2AjdBugwdHxT1nP3SWRg7OzH1RukhUs1WMoBxuBsEXCf7Il91p2mnd-A-vJIz7gtfqvmc3Tux8rNk_ZP3HH49hfCCVQVHPGahYhZ9xIBeVedDqfKPxOQOUicm8lO6wwVIR8xnZC1gKBX_4ijxoTC-Z1kjxJ9e_E5JdTKE0jJT-L2rbP9Qh7scGhqy8qAEH3SSolzqMvSZedvcdrOpV_zN6yNZpy_aL054lDiJlmV_Vy7raizoFSd_cCzPREmEOP7qWRZGeuYb6U-gduqQKPhyt1QgnwPuogyGoyjEXVYuo64RiKke4bD4sb5SOpmGcWgBOMRFKAgvm92AhGly_pcIqy-NXH4wtLwH2sS92dB818Jmt3F3newPoD_2r0yds_DJ0wArHuVju9H1IGLc422WcPctfatRWcnpcoyrStOxDLr3dKpWoKoxQnymojvYk6XqbQWr-vXuCGQN54-OR7wX9s6NxzD1PA0lfyUmoYqZXK9fkWxz6V6jB3QpcCxMRMtUtwAxM-ZtSH7I3yQ3f-6UehEJ-T0bNL4Y7GmisZTx6NnhLNw28-iHVnIs20jlxvVCe27mSL-azg8VTbg3cD7MgXtAiFczulZgIn2iIlXOD6gxMd_yodgFh3WQeEtvrECvu0YE3VVl3keVSw8wacbryIHrWatp7ijUXZl3kY7hBTleQlNJlISp9aY9vhSQbPziGQL2wJVvma7c5MC2JNzRYl1SXPFmQVqaHsVy_A64NHiuO1w_6popyWGQA5MXnowQUj0eBuwg0eZQubu1l4DD-LkVmGbn5K4aogAeaTtbC4AkrsBd_v1smJirn2yZCnA3YloVA7uYT9lgld6Oc",
  "id": "rs_032133f959d38e29016a7ded8c0488819a863af1ec1fe9eb26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_j1\":2.28,\"left_j2\":2.16,\"left_j3\":-1.4},\"note\":\"The near-zero residual shows the close missed or only skimmed an edge, and the wrist view shows the block displaced to the lower-right. I’ll reopen and lift about two centimeters to re-acquire its actual position safely.\"}",
  "call_id": "call_GlodVwVLXz7BvWXPx8OFCd7t",
  "id": "fc_032133f959d38e29016a7ded8f6d40819a96e13fe4ab3a6b68",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GlodVwVLXz7BvWXPx8OFCd7t",
  "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=-0.3763 left_j1=2.3123 left_j2=2.1273 left_j3=-1.3907 left_j4=0.0071 left_j5=-0.4156 left_gripper=0.9948 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -15.2547, 8.4444, 0.2857, -0.0317, -0.0024, -0.1148, 0.0205, 1.7436, 7.3231, 1.917, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e75817465f9ac1ab449c7c908abec8604f414bc355f4691210857c4a9b5913c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08fe780513ab996b648d7cb0927446102e666d82fcf60e13a1a5d2f356f6576",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c54f092e521488c2b742b831b0b00bd276a1ba4c1bf30275b3cb6b2ce35ad2c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3759 left_j1=2.3123 left_j2=2.0731 left_j3=-1.3201 left_j4=0.0071 left_j5=-0.4114 left_gripper=0.0147 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -14.6393, 6.9265, 0.3639, 0.0024, -0.0171, 0.696, -0.0615, 1.6068, 7.0496, 1.8828, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2ZM1Rge6z9KkyftcHUitJvGCFLKzfC0SpUqDCzDaJOWpOcK3Tn6tWTQXJntVwImWOQQR_QTr0b_r477vpgCDTknWX2TCXjipSscunDQZtGpwo0iyC9b9urKbqY-PSLnxinrhHqa6SQvkhGqaUBiedofMzR6sTHV-9-krub-kNaaJkfMf-a2HsLOo-zLuws5-JnoUyDkhbG0olSq_zd2t5-_1Ffrcb-hgn067wCm8cuUZJMeQGx7Hpv8e4sKWNLXE7OE0y-oxGRed91ibdmIKrrfsMw0cpxa0eI7ldoDjWbbCog_4FWURVCcMmA-O9iJGCo_1KX9_dCbvfCGVtGDdvk_QbVf-CiBq_Qy5TESVPQLP6ZyjJvDDeFyD6fuQtsHs2m5cdD6RLr3iGyibpyUrWRo9Bbb74AJm7Di6kJ4SlqN6sr_Tk0-I0k2CgSiM961Czf0S6STAZA1JcyouM2Rb335DNupEzqWjRKej011t1TxVmDO_CmPU_IzXc7bgwE2tDO--iZFBSJi9XPgXqBLe8fzolhUMzsJVNSNGjxcHFKsLnpErVfd-MFuggMX4Bn1LjIbni_kOcazpppvA6SFmP1Ain8qWVXM5UjLHgrMxaY0VDP_WUpK1QVCRvvkOAc7tDDhE07PI4DpLGkZHz2qyMIIY4YuYAynhIfwWnb7Plfzkgy_G2NhENC1vvO7gcKtEp-QNdOtxn9qyDNHJp24CuC1txU7_WpA-O3j1bLe9X-T7kYj2uw9ZyBSdoV-4EydGk42z4tNlFY4p7HQt1wISSvTU0baLf7WWeyxEIINV0siWKv1K1H6E3uP9awRzFO1ofifJSDOgZbvlSRNQC6ZTWTa2IGR8eJ37DhDCtGcrvLA8d46-WfKL7I7wnDd_LFwWtLAQ3VSazU9ou1BKTh9n95IbybP-TA7WOkKH0iDUmfOAXydJClNb1g3IInKj8lwKsA4n3HU0k7mVqkPPh68EQhEV0_74j3JOzKZ3wCyZvALOD_nKb9CqoERxKsQnRbdJm5zU6AaIpxQQr0ahOK4p7mrkfOMLX9n2FqZZM3woCnPaUwZZPZ3J8fD6mlkrbCEb98Tt8IIGCsVTc0F9ZxYMNwO5s9e2bSfCh8xEMQgpbO-57YySRMiJp-rxVCGGHu13H2jH6M-p7CqVIWtKHmv4tH3DU6eJeRXb3_JH_LvFuCf9biHSaA44l2-hdZ7Cdj4rz9t5C6IYHnsnyqjgbPkakTJXOftWAK_hniu5xxxKu77TH27K_ER2dxV_vD0Dwkdyy9jUqw5xSN3oJKu877YtI4YOm5DUtcMzEXxn-vvj0tzuHt3xDn5CWe5Wu_ldUKt5oavDcXZ7JFGzhZ9NdT-LX6qtkOpQjyo2NTIo22wv2KAdQx3WGMQ7rd05zQ-RpzEhsLtqQP4jpkg1H16f8-VSI_YWdRuNp2zSY-Vv-jEiOr5cQL2p-XDklJGkJtNyX5BTo9_dxzTBzB2d0-ot1X3OU80aNHahTX8d_8F9BSIf27fRQY-Wu2Xy-91mMAVTlY2jQVFWpGY-DknGWTB1RcGDpjyTUOEaR9TIE0zpf2LWTO5Xx2y6Pm-HkKbrRbfO440zu5IyQI8HGojFqOTo1i2vWG9PmhYcZAeFvS-U-0ygG1cMCeXH_LsQSO5QFpAUVXPmjZ-gJ5dyYn1o577wP9oni5-uTPWUY-ALnfgroLOC94KyPZtWnSfrY5vtiXgonWErnfXHObXO9_ZLILHXirnLLA-98vLp-rYyizblFA_IZaOUgbS6h9KUrUeOBRwqQG5cuH0GFFyulWUv2MdzWaAZnXONOqrhsrlASdlhymfJ9nwXxm6rUfhQte_tLKxmqPw8GZbDg724dKrEp06qtu9v9hQBY3EPBmRJLfHANvtoUI40Grq_gtcpp92j3JgY5RBntReJHvbbMJNf-itl0HL6llY7MwkIwHKcwpsIL4OD3o1gh8ZaoIezcXmTobJVtPevlo6qONtzGHM8HOeyFOnFiGuP4vZc0CosR6acRaV9qPTG2AR1byxge45xHeNzV73djtJm-q25EjKjqFV6acJbc512BHarDwej5qlUJwj3wHnn778HydhIfJpWsS1csyMRyMZHmNN-OOP7kguF-O1APw0w==",
  "id": "rs_032133f959d38e29016a7ded93624c819a920b7152cbdedafe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.58,\"left_j5\":-0.58},\"note\":\"With the jaws open again, the displaced block is clearly visible about two centimeters to the right of the jaw center. I’ll shift the gripper right to re-center it, keeping the current safe height.\"}",
  "call_id": "call_SBreUYncX4qUUiefLD2dnsfV",
  "id": "fc_032133f959d38e29016a7ded984d14819a895c9872e618e553",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SBreUYncX4qUUiefLD2dnsfV",
  "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=-0.5667 left_j1=2.3123 left_j2=2.1296 left_j3=-1.3972 left_j4=0.0055 left_j5=-0.5327 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [1.935, -12.4103, 5.4906, 0.3541, -0.0464, -0.0562, 0.0562, -0.1983, 1.7162, 7.0085, 1.9072, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60837ab76778747f8e7c310ff44e032c9042a4f159067aad94a1eb0c77b4c94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca55b522630d8275a5a0d04067361de7c14c4cbd75dcbe4f013a67abcb49bd6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f5cc89f4ac56d3172d183b767afd4cb955f3bbea4e7864efeef759c80ab021",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3763 left_j1=2.3123 left_j2=2.1273 left_j3=-1.3907 left_j4=0.0071 left_j5=-0.4156 left_gripper=0.9948 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -15.2547, 8.4444, 0.2857, -0.0317, -0.0024, -0.1148, 0.0205, 1.7436, 7.3231, 1.917, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2dsWcBf2MgTaJgVBaw0Kj1TGrFKuxVGKqpGHS8_gBhgoOc2xLLXzhyjztEXQuq-pq17KdL1GL81NDh1F8q8rHLwYTKatlTsTIFmBcC-s0oWjjBd0NbObse2bwkgK-Ebykxp6p3pklXlrESBDfejy8co0qSYYD88Pzxj3Vtw51PI0E2aYNR3PkojkR9p2b_S72oK4ccac3S3hIRCpKfPOSoALgOKnKk2R18aDsIEMYbSUvczY2CbmNcmq4XLgpCzkLamnyB1X_yTR8LG8Gm1Vv6g5lkid8FK-spDG0lClsyymkIZfXniAegOqBB-eOB2uQrib-zzXwDNlnQ-FEDzUgpRG55OC3UpJgswK924XopJPQEI27M3tSZUoyQO2iGDvCUCrTIPzMDl41dh4dH8P6HBwf3-yj2xmX8O3Z66reTIppZTDud1COVcblhGb8hSkuacNuJO5nGI2BGcWxP3oPmjX4jUIeLSB_dxf4DqzH-18UzZTh0hgoydbz9u7FEUNWiRj9_Zcx9-mOowroBbm8hnNxIrkHD9Gi2u3Mw3j_nbE0IlP_1czQfb0aqtLUPafCw6AuF3I4qmlP4GlU79W-uU0ah-0iXy_HHUaCnKzYiYhk-sN8N7z1JF8h295DWRfIHQ5kR-kF6wkdMxjvhaIcxSakGuLn7Cz_3rJe9WnS5Bjp-WMi4cn9NDwFlzgfQ-nAt60HyECErVG9howEt7pmWX1FqNm7GA4BR80nNAH6njis02xh81B47bvJGNylkosPwd66OP0Bd0sRzpD19kGqrJ6tsw237geNsIQmU1nPJiz4tvgjs85Uac4MPyjGE9X2jnC6FYfygC9_1p12fntAxsMnxf6i-ysLLIVtKW5cdssgAQLj5S0g2HG6rULWVxGNryMoTUnQ0Tir3YnE4GyBt7ouYSo3OB5I7mez28VPFn-8BWD9kCKJLKWv_nyvgRSIHSQ-mk77CbokMQ_zCmaJKcHzwYfAgYuXCfTAOLcoU9GFmY5wRLQkC_zg1nsVHvm5N77h-EMdPumfQU3iwoiOfi2p_Udbwsa6wY6EuTdmQLyh8mBjjJ1DaCmFYVztiBFScwBBmYhx5Lw8IhNjimehyTB0_HgdBXlC6brS_-nFxUWNSrysB7V3bgDAaOrB_e_HS",
  "id": "rs_032133f959d38e29016a7ded9afc80819a988b72ee3d47c6de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.48,\"left_j5\":-0.48},\"note\":\"That correction overshot slightly: the block is now left of center but remains at the correct depth. I’ll split the difference with a small yaw adjustment to place it exactly between the jaws.\"}",
  "call_id": "call_fevoKoBoZKYfCp2WWdFwBiv9",
  "id": "fc_032133f959d38e29016a7ded9c1384819a9a4e00f188346f2f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fevoKoBoZKYfCp2WWdFwBiv9",
  "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=-0.5434 left_j1=2.3123 left_j2=2.1292 left_j3=-1.3998 left_j4=0.0158 left_j5=-0.5377 left_gripper=0.9955 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [3.1385, -12.6427, 5.8735, 0.2466, -0.1197, 0.2613, -0.0073, -0.0205, 1.7299, 7.0085, 1.917, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0fedda671b06e10459e1a674eee9efa00ec4a35c1b8d5b147edf505e8ff7e55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d513bb2a1f3e5eaa444bf746ebc45ed9cbe07d5e86ac9a54397d0c0945141112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb16b413d7c40b1f2a02c8d93d512a33b84abd31e9a7d2f19d400facc03d27e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5667 left_j1=2.3123 left_j2=2.1296 left_j3=-1.3972 left_j4=0.0055 left_j5=-0.5327 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [1.935, -12.4103, 5.4906, 0.3541, -0.0464, -0.0562, 0.0562, -0.1983, 1.7162, 7.0085, 1.9072, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2ips6HlptYPrZKsWrp7Eqmkh9ojv623sXil7w9HWveKZhl_SnzVqXiuIRZmw18iB8xRE0BRpQjhybfA0xz98_gfVC-jvAKkiLELrwP-75AyOsOIyNWa8v6-mPYXW_2cDKfDnp4rsLN49x-RYkxJWoBGtUAoc4aJW5fke0BgYSBkXP-tyEShFUd4VUiNpUrU-Si8MQysTC62vTTUnoYlmqpdzRsktTRSAuv2eJS1bGQcz5qcyO9ZdiBYtzdNFz7oDiEDleIwRCEEnIN8zhJF4NE4JLi7WL4Zp31Ip8qhiY5XeGNYnaOdU2pnyUBOnpoNVLTz1yo-9Bg5hf9LJBn400hCXGcl9svxU-gVhD4Pxb_i6PTH4KpFcbwWL9bYOC1vYJxClinn27sljk5Fqwa9zeCd38Ku7KDeMHLmH2yQiT8xKiifZn_yQkZjEiaCKdi6TLxPNAAwv5wtYXAJWy870vcj_NIZtug2lMFk7TzMqUfguhIl3fLogNiB9PpbmbhA3tztIlJBIFgGJQYnH8Pp-jH-At5--BUY3RPLhVyzRNxE8dNyGwkCYbWgI9yQAi_TuuLVKHVZX9VEfMyh5NPZhsRsQvr94kDCzTo3FjXpaWH7CJ49FWSVf1jwtIz5y0BpsAYrSSgAfe_OgCSLNjLnpC70-l6QKPL43mKx0gITVOjmKWclbqxDjQFoVN_CSdX86-NceHo8Zq1yhE5NX4L8Hb7WPgltxg06BfUPJzNsqBXl61F6T5Ys3-wGo45_76jIvOhlD_QvfRcrDfHJhjAlP5j0H3be80rSWvfeT8jGH5aOoh4Q_HFdTxKPxsadmck4btKH32jvZ5I-V7RyUuprLHRlfDVU7kNOrvOZOO_kpOaXTHPO4r_qMEfcpJgcdJaRc7F7XqAiuczhw6Kd3_g3u9MZKLHsPE-aYPAgGLDucPDx8fy7OiyAa5ZJMlXlVOI2m-9I9ERmErYcqve61n0zemAOmnPNU92xaC0nRlu32GXStU9eL15GixcFxayfmcNEP0kNm_03xrg0WeIapoOgnzmFUOROC3mvWAvs59YFtaeVvE6Islq6jFrEmNwvIiW81FI5sBMwzTu_Ao40-qJfa5ecLvLyte7As00B4ZoREqlMDJnJFfI1b83YhPq62fB4me_TuKPOclS2vPc_q8Bb3oc7aR0PmW0lxxJkwV-FnuxEiO7krQ0NCMcXf_eYbwWmRH7reJorAzytlMVHiD9-0sSj7I_VHAbof2ggKHLl4nj6dJ4iyp4dIWqRqzo4O0lpLo5TlhR_wQ3pqG5oIALnYyZfK7l9ir2Fvr5XbsuDxdOvtd7wOfDGj5k-c1UBx2ij9R8lMcDW6E45J9qoHjRC0Y9vFRKdwrUh1LU4TAftTeYryV_HK2TCtlHsa0n2jXxRJlWvYUIwmdW5yWelcWKENK4Xx4OzYylcLxE2pje1xKDbKAGVasywqCeuzF6iLWcMU0bpK01-PCAcs_jvwLTRGX6xMJUIpJn99lFao3xbNEtoJPGAJA0QCoN61PkrJjVrQ5p-VEGBxf2oeWPq-EyhjGKxNvzREmMcDytcFSrQiqOKYmVXsYURv_p34r6sM7zhuHluGLavk0NUFDLK_L9Mg2ZbA==",
  "id": "rs_032133f959d38e29016a7ded9e9398819a898ae7e072ccfb8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.44,\"left_j5\":-0.44},\"note\":\"The previous command was heavily undershot, and the block remains left of the jaw center. I’ll re-issue the small rightward image correction and let the yaw converge.\"}",
  "call_id": "call_Fqbeu7JrEW9pbFGGIZETEoXX",
  "id": "fc_032133f959d38e29016a7deda0ed0c819ab6912a2eccb7ffe9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fqbeu7JrEW9pbFGGIZETEoXX",
  "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=-0.4683 left_j1=2.3123 left_j2=2.1292 left_j3=-1.4021 left_j4=0.012 left_j5=-0.4786 left_gripper=0.9954 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [1.7846, -12.5607, 5.6821, 0.3101, 0.0073, 0.1441, -0.0171, -0.0479, 1.6068, 7.0085, 1.8974, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687aa4c86ec79afe4b7873b1fbf68a5dae58f0f2970863c5c7ecb1664de60830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa2ed41c795b761ddb4f1859ccfa23eeb3bc2327cd8dabc99ff9f7c7a6c30f81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1257f3d27fd8d5f911b60d608964fbed1781c37d506d6b27f88ca34fb4a6a69",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5434 left_j1=2.3123 left_j2=2.1292 left_j3=-1.3998 left_j4=0.0158 left_j5=-0.5377 left_gripper=0.9955 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [3.1385, -12.6427, 5.8735, 0.2466, -0.1197, 0.2613, -0.0073, -0.0205, 1.7299, 7.0085, 1.917, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2pFlM3rk-pg_is-ykUd4-ATfNogSjrIDwe8kK6lo_RmA9VbQeneiv-L8lINirFUfqM5mVsdCbDlEzr5L1qFX1vfhAk_1nYqrP5JJgIE6VL8kV4XK3fPyDVUdx3CkDWpypWMXJB6Sztus5zCVkROhwR6tqayanASI-1QPxB67wSzxHLv6zEufdjHTdqGkIPmzl7p2_J2bWexj9m8sJ3xPFBiibJZr47mc3jqcJ02KuUdWYP0PA6OQgbp_0gc9zj7XPPMVuHBkTjkBb2McFsGbj1-j2BXDnLf3r71XYygz8XsmQ8ilKWPrdkel--gteDfl5Egae3i47pV2zfWhIulJ_pCt7sRm9Nran4qUwtHGjQet_MKCSP_NxIkVIzU8phpPd7gZ_76A2V5wNiWUj0bC1qOxrxuZRo7OoDHAo6n92CwD1lugwGeZOJEP4RNT6mYNmphCCmIeV-3Gee7w4JOoguLc8BbYicaOOmcIOEMZHghx17ttaNZ6QbuuOP2RXRqbBfpOyGbli3QbkycFM3LZNJqarVvW3crAQYpASfL0ouYECk3z5_YijhRGcwsRgvUSy1Gc2ymzPOsfFw11_Lxo9jg86agnU1Kutg2KYCgMjYKDYmX7eqbBFInlMAfMh_pEEWaidTO1HAHiWQxoMKFRSpIwsQj9HC4QXkPgBzbMlhF5ljL_-9eNB3EA1iuk9hIWXxELQZ1QBQBLALR4fqWbwqX01cl-qLe7kBU8jCuMR4s82O3cLmTLIdrYNN6kN4KDHIU5mwpdbnSLmwc4aMHHKal9nQf3-2ihmDiP7e69cIL-hkrInR85oJzcg-DBjycwUKOaAzALrldZGh98X8oJuzmmRFR0TkUe6Eln51qw1gUIhcdB6-Cly5dEhZEdogfnMuL60jDBb7ube7bIgFH7eeN7dXcVt5daJjv5VExrgteuhpOBCs8tvcfRcb9XR6_Q6PfZp_uOFtAevOsl96HoJ9tM2RPj83mGQYCtFG_W387DfcPoweZAXhaw92Di058FsYyNq_y7MjMX42N3Tj5Q5_FzesICZveVPntLuR6h0u5Zxz8lURtCGkz_s1HKNBlF9Z9gqtib43uHAzhIMzDhqbnh6_NkOlxeEcnHfR1HlYoo044hmnMNGFsDaF80maz6dfne3IrBAn3B3nK8kc_dcSlZFp44TGvQ9FC6jAQ7MnP-Ta-PbhZ2c8_CmOxDQMrEaO2_cynSR8XFYj7R5kIaSdkd1u1n-RM2L8ZMtyxQEs89ZqqsRCDfoY6YWib9nhk8_QEDoM-imEPfCQ53zSHCBGtVGEfvCbZGymPOV1-2JPidP4fKr1L64Q8uPSJqBDo91s6l1jub5V_pRJDqEgz2IoMPpr5CMy3pIxAkMggc9tG_Schdfzw5OzpqAzSE0yIDYFGXjPEvVQIV1uCvJopu3BLEkk4IdyfEeRUEmwrmEoa6B7IUDNdxrN4VLTIAIdfq-Un7RDUeWmDpPSZuH649OzXp28iSWi2b1YUSv65m065-nC3IcK9BV85m7x7rGkKif7EO8rtVklCzuRUON7vIwHgxGq0onayQQpI_UzXUkzBCl2F1hTBCzOta62m1Wo9EEe1giG_xGjdIW0PiCyHhXx1IOrPRf94UxmUlMMr_tSDPl9vxflns3NjaOVV275Jc3EisuAkHfonc-xfXQNKlavC4ueX_LKf90Zpwjq9-FcZzdbpbvKvAFD71fj_VofC3LhVdqoX_DSCZqvtkSbLVDDGQnqZGJbgHNcgvit39fjKLlbi6xWv4CKvJ82ZZ-k_Vu5ko7m6g6tO7VqObGWmRVWcFZY7YoCwvgSojiM9btHtv6yuyBB2TS21-rklisNgUaJjCS-SuzNcudK2AjjdQq_DfSH7NDgWIDgsQcFIbuwwmaluaVJm4LnXeDnaUVHRP9Tlf6WOjnQoHpB1WAZmPGIIg1gEZSlr397hHfhN22BytQ=",
  "id": "rs_032133f959d38e29016a7deda3af34819ab65886d6f720839a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.33,\"left_j2\":2.09,\"left_j3\":-1.35},\"note\":\"The block is now centered in the open gap and very close to the fingertips. I’ll lower just about one centimeter to ensure a deep side grasp without sweeping it laterally.\"}",
  "call_id": "call_OQnlRvhaGn76XhSk5edfdZzH",
  "id": "fc_032133f959d38e29016a7deda89044819ab8fed5638e47841d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OQnlRvhaGn76XhSk5edfdZzH",
  "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=-0.4385 left_j1=2.3123 left_j2=2.1292 left_j3=-1.4021 left_j4=0.0113 left_j5=-0.4603 left_gripper=0.9955 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -12.6291, 5.7231, 0.2369, 0.0024, 0.1441, -0.0122, -0.0889, 1.6068, 6.9949, 1.8828, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc212cada1790c5c36709ee580ee1bade924e2b572b4968ffd2af0b6c3a84d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9790dc9facf987f3076a22b93fe460853ff30a0dc34b2e6419a72dad9e7769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52bcef5cd6d18aec10b04b3773ccbd6266a1257948fd4cc171443fb6fd6e1368",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4683 left_j1=2.3123 left_j2=2.1292 left_j3=-1.4021 left_j4=0.012 left_j5=-0.4786 left_gripper=0.9954 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [1.7846, -12.5607, 5.6821, 0.3101, 0.0073, 0.1441, -0.0171, -0.0479, 1.6068, 7.0085, 1.8974, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe2tO2JdRKXxTVzpPiKuq95CeOkOsK-DXeDw2IhmuISbNxeIHBmjEcpQSOLRJ0VPpkL_GOWICHyX3fdrd7qrPL8hqLob9EQlk0MoLYg-KJlEGqbojqrrD2jukSI7-84qS4DNdxWDcQlsB_FEv_U0sBJD3aBRyaVAV1lMyRadrKU6K-kCzDNJPxd0pSAMDZ0AkbPKSQSuJx9DTGdadh_gteIZrFj_LUh5fvFrrX5Qq530plyPvFpk8YXcyBkoCWcXhaoX88XD-FlQDZFcZt79_hSjvRKNZnDoMfExdUFQtAMH9bhVe1bd-aJ9cMPakAvY_Y71nN7z8V9xMWPe5qLsE8VhksxP1DYkLzVfIYeWac3qifgVzEf3Aq9XQc9Pij7vqUF-cGVcH1RBt61OrCxr_CxmehDtW7SnuRq0gAtnou5V3yIohdFzHgHag0J3QgkpoDj04b5NlILLq4-2Q35PhmFQsm0O0h_OwwU2ayX8PGBcNzK1xv-EqX1I0iUMBEuQPnnXgf34tfqa9B17Hv5HY73jaC3f9OY5ah2ArE4gm-Cf0dhxHrNJd0ozDjFKEBJNr4psKdWGVq2vUaO_YEII6gX6I6d3xGMB6T1FGj0AnF2cI-JICgiiyzdAMGNp1HDBJnZ9h_gzTHjRKLnlPimokgxLf_e4YJqneW-vg5IHb_6AYHpTofQydZ8Aar9gx2CVEtAxr0RNWd3FJHSJyVQPw6zroQaJECHAl2L_lNRpc3a4H32wGfJwHE60JdUB7G250_vFdSDXNI9BZaggWeDikkKoFbz149gKHi3TGXWCng1GA4HTlgIVdfSYkEUxS_mR3sH9DNZg6MTeoDNLu7aD22RoKCejdlDb0A0vT7Do7Y7k0wTjGeTcNWTbVv7X1tuIBuxVa-T7NsezCP168Kj7CYbBrWiLdfbKjcGfTpoPsWZgTH9AAH_KSLfK9XA22gkGdMibSEr0QUa0wBcb9PRLsY1AbbWmS8E3SgbeU6ywox769FqXCxFo9NXpkinpQGD6dUO1EZzsnCO7alY00SaaC0hDfcL3nB4W_lMy_L2JlSSWJ490YFpA1M-X95-8typUA0zuDJ4V4hgoQUUabSMSfPw6gOjn2yuL1xu1HetMcIPIXBFJauLvZlwmzm40DvG9CdR6aupeXm786A2FEB28VeviReJOHL3QusohN41XsgWyKyc=",
  "id": "rs_032133f959d38e29016a7dedaaef9c819a82fd967debd10529",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The second setup has the blue block centered and deeply inserted between both fingers with no visible side bias. I’ll close fully again and check for a substantial nonzero residual indicating a secure side grasp.\"}",
  "call_id": "call_DZ2FRAwKEQBjGD5ofs18t2if",
  "id": "fc_032133f959d38e29016a7dedabfa18819a99870046a290859f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DZ2FRAwKEQBjGD5ofs18t2if",
  "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=-0.4377 left_j1=2.3192 left_j2=2.1036 left_j3=-1.4021 left_j4=0.0078 left_j5=-0.4686 left_gripper=0.0148 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -13.1897, 7.6923, 0.2125, 0.0024, 0.0513, 0.6569, -0.0615, 1.5932, 7.1863, 1.9463, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c89629e1025b54b8b53c72c65c99b0569794a8598b27ec003800fa4e2a970e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c5e26adf14b9345d6ea44ea3a6ab6bba0fe56a6c2aa0fb41e6e62912d08abe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12d853732e85c71a5dd0ba7bb6fb7e8d9a20c590eeab1f07a36964327b99e1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4385 left_j1=2.3123 left_j2=2.1292 left_j3=-1.4021 left_j4=0.0113 left_j5=-0.4603 left_gripper=0.9955 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -12.6291, 5.7231, 0.2369, 0.0024, 0.1441, -0.0122, -0.0889, 1.6068, 6.9949, 1.8828, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe22tHAGqw7AS6mlQM_DfBwJv49Azb91Xy6slGKRzkT8UQbvxJtiCibj6pf2xYBj1sxEOLvd4kw2M6lJeSxOujyr3aRtZLRIwUmn1uF3FOgEAVoW9KMmUnXhskgZNPDR1y2YqXyvRwD9faJShF2eBek_wXLj1zBSf6QBZ2cINaX0DMwKSAuA9rF_IWp2vUU4Ra_xamVAjlix6eu9FNP9dxn7oZLRMJHgAct7sJp8_Ep_efSvTfCZszp1MuS2QlD2TjBSPXQM1uqr_15iOLrnFrlk1tdyDpbalPdOpmUJ72jn3ZJQt2KY2tsFnYhaWxM3wItWFxm4sPfSmxmlK8Y7wVXsS77411ghgvRyjR0QxsxNLL6xdGiPdLOur0oPFnjXR8y4jKrKW-wjgLFLdh0ZfLz-ngNb1eTTMBz865R8Be5tD47EZrp3__4RG-KGhvN_ZMJi5pu_HgLHZRbcZKa-BEf0wVxsXoISTjD4kqFLKdQm7BXbB-JrcT0qHyT95f73W80Q9WuB96QrwW4xKIvai7jTws_KbV69Q7yzuNlunuFZx4kPnkYf78sqtrJUah3T6ziqwWM99xAmDJwJ9KRMcEJ8KuEECx2xhUYjODyepM7-QpI7SLdpcrOH3_FLoyI9QkLDaLM8rozWTUytR7cnxWuvWVgK7-GweEGvkYAUSGnnF-oiTwkeqUelJl8DTBqsMV7F8ZwMRq8H9-OJvTnol3_3J4XmGFQwQgAm6bsmLXLr9FMY_Cu2WI9j6_Q9ztn8UceFTGKZJEXOX2i-cv1Cte83bBxgILWnx6S7SyAbRNptXMGqMHgBDhpz7V5muGh43jeJA3azKUXso4BqijoliYuXLkk2aABIEA1BpgO-6VjPAQSwaFiL4-ghqmWN9KHwTjpchC437WWmSZwu7PLTlCIeR45J0DwBc46gi1sWtXy23GPDK_8IrmZPfnC-PvTTARc5mt-3M1m6E3-ZAYtvNQ1lKbg4vIqMpqw7q6IIZBI7ASs8q0Ry9S2Y0fswb-dlorxnv-3I6-p6shpFsEVV-WwCVyTud6FfOtG5X08eKjkYi5CciHHeXMWTZTgpiuezIark8oBLLIcp8kXQ5Z7LCQN0wssU9MYGlpwpgkI0skpGm163NFGZVEXaT03Bw-O1vxzSW6Elek0eKA7nYdS1bpZUqpQD5vt-NhpTCmbsiYKzoDB9AQudIkq0Cr06mVTGLpPpx46TpIYv8IHD_pbcqCTQn5MsWndKZaNGGMEzfbo7zFrvFNPADfz1O7cXFYMjIAF8qT-zSKDKIAw3tAz0idRPSF3hx0w1m-x7bH5HYTgrB8sX95OcZASqzFkaCqdW-g7rhikVT36oMbu_4Jq9V3AihDRLlZdmltWfiU1C6jTA-yQYk6P5Bbw081M4NegvgetRqupHUNUHkVHCGJrnPC7cxWhfQ3E6bBnOh0InR4hztczeKEnLorIKzpktqyjZNNg9zSCY0qbC-w8C1WlU_j3Vszipi4GkUPj1v-h8znAEjoRTPX9MfAWvvHTkcDSE8GADy_VVSJrLkoUiBqVLnJbT32Gt_bOfjZg3rbFEIhCXgHM-CDns3xt63IlNrRiUq80y1h4w5Vfj9zidjCcKrzPTzyYFvTMqM2MKP_MVnC5vingacPh6StgYGECOlDteFi_IrpZDcIvkmic4gtYj8dgLDaiDcnei3FQfRdZdi8oyk2tADjjxbAz-hOXJGPjjii_TZXYUvaOBjv_3yZ_oUSOYDRmaDNVXdTyHSehSLGkDpEWNZFSDl9JAG8BM7sJUschqJfOuLop28jxLjMebnNg71ISSoEANWVoMcuq5jAgoLZmn_8xd7rUpkq-pN1w_F-jLOoFdy_52dnSoVOrxsdwx1LyqR2Pij0wbg4xUqPFlFN0IgYn-_n66Yktv0zATxVp40xLBzkTVJ2RXXPr8IPE0ahJoXrmB3pvevEL6HugGiG3Cq0EDPPD1gJ6yZh4aEhJZyEgRDuwFy8D7EojgPO3zrbYEPSdAcgGYszsjEgrOR5mh1ujpXC5iut23mPdL3Zh3UlDuOuUd1WY3j1C0iZloG5yamKy8pOOyv38gTHTXJMmKFbKiV6aKtQxqTNBQZDdjJ7OMFEoxCsXu8wZRFWVxuGxYZCqSZhPmli8EnftiyMKeQkUpvzo-GR8hUmB9RoZSqoMSTYGVPd95icNiBafjfhuwnkKd4G6buJd-2nyzyxM=",
  "id": "rs_032133f959d38e29016a7dedaf5968819a9aced689c81c4c2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_j1\":2.35,\"left_j2\":2.04,\"left_j3\":-1.31},\"note\":\"The second near-zero residual confirms the alignment is good but the fingers are still above the block’s graspable sides. I’ll reopen and descend roughly two to three centimeters more, using the table/contact response rather than the image alone.\"}",
  "call_id": "call_3keadCmKfAYW7LsTF6LH1a4U",
  "id": "fc_032133f959d38e29016a7dedb53190819ab36e71d1c7418759",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3keadCmKfAYW7LsTF6LH1a4U",
  "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=-0.4377 left_j1=2.3371 left_j2=2.0487 left_j3=-1.3285 left_j4=0.0078 left_j5=-0.4721 left_gripper=0.995 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -11.2889, 5.1214, 0.3199, 0.0171, -0.0073, -0.1245, -0.1573, 1.5932, 7.1453, 1.917, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32efbc438cabbd84ad6ac1c05e0bfc6377e7d151886d847c1a060c5345372d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a5e4111dcc505a61131692e72ff2b111eb3851db3fbffde6870786efd183d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2176898f070179f3812c6155fe5ceee674dd0349549d709723e622996f42d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4377 left_j1=2.3192 left_j2=2.1036 left_j3=-1.4021 left_j4=0.0078 left_j5=-0.4686 left_gripper=0.0148 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -13.1897, 7.6923, 0.2125, 0.0024, 0.0513, 0.6569, -0.0615, 1.5932, 7.1863, 1.9463, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe29MnS0w5cvrg0Az1vVkHTxA2rleGNAsQo6zZSMddCiwp2w1N2dKI-oubC4T5nfoW5cKMsKdi9elfATbEvqVC8H6wlFRF-q8-rN3FWQvJ_EGmYbwx8At2MujrDpF1jqcdfJboKwg5Xq6v6RrGVSkN1yBrJz6tRmXALEL4YP_fpgy-8asxCCEahv5vgbP9AdHWkW-P093MgEFXLqxmJfcRX49_58vwPGebE7Sd1RwxN2tqgE85J06XdW4U1j-gb_JVhzbiVAZlGGKq9OU_Ve-A9ZTD9hdBjBA4-wuGp6lWZj5D3rfos1tw6Lf7IAQkT2ra2J6ivJEwqLl9xu3DqbClS2jyxt0eeqECtaxAd4Qj4P8k6YyrN5Wf2hUW81_8IMaiEnr0l3WMK5GaEH9WjidTcqJRp0KS9bOdTSHEHoKBx_PJih9x-i3gd98V2aHKmTuOOIEJj-k-ncDIvI2TUwzzjM4omFkDySyJ7HrM5graLCO71QGV5yeh6KnyvDPiJh7PV2cFBHHd6v_9ZvaMePBltT5tl8v6ttWub1UeoEFWKlZTeZN8-86e-ncwcU3D_jMPqTVK-8c7RywNsb700WZxclt23W4hT_WqKonpu-ZOhp07dyMOAcweZXUeGRpaqeb8ALFOlGcs7iZztjF5bFWrAZU1yBmKkFBLBK4ZI-auYCsDpCZMqHOvNgmHtW7wo_SpWpbHwiO7Y_PaxSb_URrmbIiz-E2JbBgPMiPd5iwFyyF2qQYzg2701KsW6Z_Ak_4BZOndFDYBcvalZp_zRqQz2cMHL7Qnwcp8zftxc1sVaMHFSmUcnLRtobYqfDyP2OvdSaQo6iDD_WIwA-cIkLMDSF2lPMl_glYJe43Vq26Z3j91SKS5Y-jQJ8JnntjSw5zpwUtbZE9ik3APlrjJzXbQEhw3oum_ToPOL45xgAd7xsf4TYLIi8Y7D9y86XFy_MqeOGzQNPjt0vGcYQYHv32Y1ebTOwt5w_gk2m2Q8C-FNHglHXXiMinLayiPJt9RwyTVIJ5-KLBSAci5fOd1JjSNjcZFl_mUi21Nx1SCU03_sQUB4dIEg06uoqeaRgA8Ao1xxnnzBsLZ5hnJ7jTeIzIhLMeS62YLBJPVk3MaiLbkDZVqpJpCkBwL8GGaui7dRGtwxFhBJk_-gF82gsAN22j4000JZRlu6hP2oXfJzxqu2m-mz7LrY4SKKUQb4528keYxTVgJSgwjYGgEk63lI3Mz2hfzZnR3vQKb_kwY1blm2jB7v0zqhiQmsFQfkRxejqsylqYQ950mDRLjcO6aQoZG0ewQcjoccng6l2Gw2_IFxOmcfF1PvDzdfV0XqBGZNCarVDY2N05jZMoHG4mZIZI1xtR1yGNjIYyz3YZEoDfjz_PyaIBVmV8kscTLWFky3vT9-5L20S90VgDBdKM-p_HEJWQA==",
  "id": "rs_032133f959d38e29016a7dedb9384c819aa0d04c3c716d06a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The deeper approach is now at a nominal height consistent with fingertip/table level, and the open jaws visibly flank the block. I’ll close fully here to capture its sides.\"}",
  "call_id": "call_dWDYqoT6vWaxYSaeRgqrs2Uz",
  "id": "fc_032133f959d38e29016a7dedbbd2bc819a8c5f8ab971d4af59",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dWDYqoT6vWaxYSaeRgqrs2Uz",
  "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=-0.4377 left_j1=2.3379 left_j2=2.0434 left_j3=-1.3235 left_j4=0.0071 left_j5=-0.4755 left_gripper=0.0137 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -12.8205, 6.065, 0.1294, -0.022, -0.0024, 0.9792, -0.1026, 1.6068, 7.1863, 1.9072, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3159223f6ef478aff142262e66572a366b34e26dcdce0d26025d248f8160a48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6723c5492bb8f7f6a8f21ea5b19fb0d20e5eac9be881406d2cc768c98b714f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15337e8355b916801d9f000c7aec5c06173f264e006de5377735484d51c7869",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4377 left_j1=2.3371 left_j2=2.0487 left_j3=-1.3285 left_j4=0.0078 left_j5=-0.4721 left_gripper=0.995 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -11.2889, 5.1214, 0.3199, 0.0171, -0.0073, -0.1245, -0.1573, 1.5932, 7.1453, 1.917, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe3FETgzsM8rB8DceRidV_kHKySi_o2zQwTnTqAFv2gRKOiMIXnylQtfMdCVcWaKYyeLEPk424rp6zadWQ_kT-SAySXsSmappwNhTOvzbUJdwvURx43Ab37k-qPbXSEIrwoYdPk7mv0Sf_Ln4nmJgz-IecnazM0N4rnACmGNR7gl3cLCbZTRQeank7Gk1n42qHUBkl84IWdmTJTiSB2wz-cUpD0bZ7jNxIof5kmrhEM1qIAF9TytIrBsKBNyEgwS2EgfWkqvEZVsYYVWDhOivthbX4dFi3eE5Vm6x6_2RHl3e1_5Ck0bCpFdnHkcWcvhMZ2DaDoAQ2WskYXMI-fZ4cQfOyrYBTwM5DNBQ7Dfi3wkfrCZY7VxR8WiikvqzAtntlErLjEfoRMdwunF22SWhdOoq_Tc4t0Spwfb967IdFCNiFTo5DlB7gF5PDmxAGTdmnWn3Evtliigcs7GHdN3uWHlmptv4PC5aLuZY7u96UhdIBsB4q8x9AWMOMsaUi6qQRV6vw-R84dLSq1u-Hwj28sIkZskgnZdURyvsSPxWpfCs_n9y_azZ1lh2sMZLmhXyYU6O-1B2LMLRHrMa3GWwAoYcDujjC_dieWI46SxG0EH0O6RHBaj1_Y3ZDRFGUPsXGtoxYyQy276quTL1A4Sj-HhPWqanPzxKhGSvGOEuTvOugv3WduBSH6cZ8A4j6G4FH_VsbXILQ-hh0E7QJbwoFwwTdnzuEieCy78doQ0GItByxtDS4tsKxKV_D1LzxmYqQJuxhox3gc7r7bCxwyjt0BxSV8QM_zBtLswM-AToGCAz5J1_pD2lBk1bqqb9ONKoIsgdGkDCzSBW6e6ry8b4sVEQIHynHFPHSqqkeipR-krqVI-UBqMDVp2Tigz0RrMgEkorllKQL29le3muZdprvslMccs9OZtavjLT2Cebh04tuRB4RkIiavn34x4AYjpWXJNCOJ89L8sAh2pzrA2LUq6-r8EONkBOPlYBLwZTYHk6iMzM61pwFJPLpjRerjAYe7NY0P6E0ba8TqH46EyEAS1ZrwgsrSgrXr9vD4jK98O0iHPkyAmbjTnalTKYeh3AM3wB1svg56YZG-SGm16QsgqxwiYJTSkGzfRB3d0K_fogjkzAsJJHs-7_uh-giP24RhXn2-Wzr7qlsR-ZIoZFd5INzCNCjtKZJnX80FDIf6qQBrp8M7IVLvzQ4u9fyoxGLxtYbsY_tSfIPnpMZgCgXqNjIGh5IprIiSDMdUxZD4-335svZd9G3VlbQ87eozZ5WjzreCdE-j5bxZQaO34SSUKYK6i-I4EqqFwvPCkCwCStkbMVuA2dy5Uy0Aimg0Fg7V_FcCE3OZdDsUN7fnGicTSRFrRUSEk9n5NdwF6g6f6I4Od9nYVYnMfC5ZKNlTYjThS8uuXeYoyrP-w6kAmZW_259USgQPrTIHViodr_ckbpXp3SvuStMLBf0Qv5Ys9RRwzK5vi2iuq-ExbWp63JP5gX9wXD_3kq99x-LPXIurFAOf2lL8xFpFSt07n0Ij504EsJj_5rKGCkIxiL5rph2jIjf6IL_eML_96XEMRyJzgd8zOo4l-8L24ZEfJ57-sC8OojAAqT825VO5OgJLFaZo9IEVKP1baMuAZ9fwNy1e9z8dC-bVngW4aT6LZi-YCo45s2qQMMd3xO7vI1Jk4j5a2n6V17h8ZMt7QjsNTUUhPuMD8uinYBOby_kObPUg-TBrhLHPhQFmaxLgAprSWtnqFnzzWmn33_ZNkHT8wfCtQGiIIIy4c9c3BLMdPhnAJ9DsGGNPCC7X1K9tTrQgnbkd_-ikxRoDKHIH0HG3CDWNL3xNyloJu1Hwy2JS4CPzidxjybOuTRR6xk1GLdkmIaNA0Sa0ldnp8LVEtLI0C7rNTroZ8VzJY8rl62kMBmWAlxZlC664mQRiZxtTs06hqo0hKaRtYB0HOv7dk3YiUih6d5CUB0RQeJM_W1jhVl0oFrJ_owm1JUbfZMxyvvIWobZG-vvIX6w8Oh6CSE4BY2Depm3H8YlTx63MsNAEWkakSu2KVP66VErYU0y9C_LpycZZmJZ5shHaqVv4SyyPLNE17UXJiHhogPzKquJmJCbQRvx7O",
  "id": "rs_032133f959d38e29016a7dedbfbb1c819a9dbeff4748c245b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_j1\":2.32,\"left_j2\":2.11,\"left_j3\":-1.4},\"note\":\"At table height the close again landed just left of the block, now clearly visible beside the closed jaw. I’ll reopen and lift slightly before making a finer lateral correction, avoiding another sideways push at surface level.\"}",
  "call_id": "call_S5tepNPZOKGYOChDPG0IuDKr",
  "id": "fc_032133f959d38e29016a7dedc39510819aa14248c7e4b9f05a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S5tepNPZOKGYOChDPG0IuDKr",
  "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=-0.4374 left_j1=2.3379 left_j2=2.0789 left_j3=-1.393 left_j4=0.0074 left_j5=-0.4797 left_gripper=0.9951 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -13.9692, 8.1983, 0.1245, 0.0024, -0.0171, -0.1392, -0.0889, 1.6615, 7.0222, 1.9658, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c62ea09b9b0c4f746838b4b5acedd0dce8d38a393a984bf7b3e8499d74f002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad7dcd0dd444e561a3e2aa9129f22d152ff07332cc78a9a79b138577fe62292",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3936ad5f80e1d7dadb1029c39df27434f2a322211be94367e5ba860837a810",
      "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=-0.4377 left_j1=2.3379 left_j2=2.0434 left_j3=-1.3235 left_j4=0.0071 left_j5=-0.4755 left_gripper=0.0137 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -12.8205, 6.065, 0.1294, -0.022, -0.0024, 0.9792, -0.1026, 1.6068, 7.1863, 1.9072, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe3KMBNXEea-Vp1TAtFsM6rdGGb0BmCDOSD6XGRKxOn9W4omsM7mxb-tg3huROOKTgPhD3plu7TwjhDUVjcH4F_sNWiCfV9E7QjzZ8XrmK9RsB_-V0IlxQ_Yy__19jr-T7qetJh9U9FUlKesRTyNIuzBM87TrQ0b6cOSbYrCm3YSEw6VCKnEJKc5uoV_PqHx1b9p-xrGqbQStpxhJK-TXf-fUalgecFm6StBFxWUIgzu3akQw7H9PllMd2009lRKak-7NOycu49_LcKn2PFt86CP2vpG6m1F-5yZFZlqalL1snvUtqITPOzXykEFHRGBRXFqLsMKbiHMPVx2A3h6pt70QGbfKEriNYImBtt2CE467M89R3MX_WfW8t98fWSwiVQmjx18qPZu1zQm1_s3AYE1EOxfq7qbURF_Soam1f10wvPlLjX5GovUF-tWJKwAoEuq7D8ikQWjSH2lpai69oCaenKEYfCcS6aPffq1mJjkdB23Cegs5SDeM1UfvKGJZBG4_-4B5n6bwPvU6zGNe2aKvnfPsDq2hgqKCCNocPSfgvmAVcLZFK2FGxXevpssPqHxATTZRiw-HzrONU8tBtkjZX2S-xWLgRw7jxrnK3wQ13xujejk3ywsMRz8HsI0qjr61YWOjTYRw_PN9H3d92v-i4HRdHjVCmaJeZc8Q5bf5N3BDjupqZenEjJmyiTiW-BrqXJOPTYJXrhkroZ_Vobcb4P9kk4lCPFqtCoO4pSRr7omsqtHkePcDJIGZjagrvwFWZ3gwpPQfjUbWAQ7zrEsCfcu1pPoTSC-PCpSECnGqTonEJo0y1x5m8WftVFmGSZV3USCc2_oL-pBmox-L2Thgn3-EEj7ygYDSY20UXAaM6o24BPpF9ZdRyjveu47_cqsv43eZQT0r8NjpoB7TQXMYsEzdEC5BIGsJwDPk7eRROzr7cwm_tOL_GRFK2GOkI0Dlkx4mXXmflurNfzjMO7KtltFbrJixzcwbnAHrGpcGCHUMU2It7DIIH3C5wuuHcKWt5uf4bBItSIfej18AWueI3FtGSnE6jyhZ1sTK2zr6G_p7ZJe303VK4V4bw20vkp3DJzty-n6T5Hzj_cLOKp5r937AF1dhVbo7c0GKbcyG4B0qa10e7k3qmpRD9A3F4vK_oI9mELwpT6y8rNV9ynDKjNV1ALA_FADyhZY5LzuG4gOQpjquJAORe5seubrmEBR",
  "id": "rs_032133f959d38e29016a7dedc7c524819aa07cdba901c4fdb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.5,\"left_j5\":-0.5},\"note\":\"With the jaws reopened and slightly raised, the block sits about one centimeter right of the gap center. I’ll move the gripper right by a very small yaw correction while preserving its grasp orientation.\"}",
  "call_id": "call_xGiug6p7pFCHkjTTxfC6uRaB",
  "id": "fc_032133f959d38e29016a7dedc90858819a8697605cd7abc812",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xGiug6p7pFCHkjTTxfC6uRaB",
  "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=-0.4374 left_j1=2.3379 left_j2=2.085 left_j3=-1.4017 left_j4=0.0071 left_j5=-0.4797 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -14.1607, 7.7607, 0.1001, -0.0464, -0.0073, -0.0415, -0.1983, 1.5932, 7.0906, 1.9121, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6daa5f601260a19dd11d7fa2d126cf4f7e438fda7bdae18559c2232dccef37e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383b8d9903752f9dcff633935f3352af3495ddbac5b8c11700184ed1fc77ae24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4eb34918d5c1d8ca7fd012a3c316aa42be9ca56e099f4660a31bf0b119be69",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4374 left_j1=2.3379 left_j2=2.0789 left_j3=-1.393 left_j4=0.0074 left_j5=-0.4797 left_gripper=0.9951 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -13.9692, 8.1983, 0.1245, 0.0024, -0.0171, -0.1392, -0.0889, 1.6615, 7.0222, 1.9658, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe3N5EIsuxMMh7HAfrBJFZUKuOP1cmT2Sycg1f8diyLf6UrfD3Ug2rr8W4xUgGfM4w_3rNh_sTSl7a0EfAF4NPMy_65OsC7LsHqOougrj2UPgIwbOWvb-gzzQG7GFX_5DOl7wTHzgSZWe4LMpu7UVVll0DIDAh2MJ8Htgu_IC0R1lTDsdZleJvWThxFSNFu5a9ZiWPYc_qBcSsC2zTc2UAH4yZfDJQEuM_m8Qr_HFuJfgZ6FYaJwgIuxY5Dg_53T13JfLfkAL6Ao1961rUxghWpnvnAVQ5rDDs62KLLnbx2OAcF0g2rPT5lqNiwOvcKPGq_JI4Q34KV5VQUd6sKj_pnd3fhuahWY_5Qu0XLcNdWH8yV3wt-tvZv1YUimGIpi1qA0lCtXZD0EHhPLdIQD9E6i_dQ7tLg-4YwvKdvrG1t36PglsRObgpg6qkcNv-zPKv6D79E7GkpkcYMe5QaAYM3N4iGu013QUmeCbKoQ6q67QDWA2dRJlR3TT9yukXp6Rl6_CZB2yNiB-NfSbF3zLTBliWd2RArbqcsWb7_BIO6JWocfrbx9G8GcldpBOXv4kFdaWE-aY3WcS_C81XzsMUGmEA4siVAHLheT9_atKxNlnlO5hAn6C9AaZbhK6qNcAenB-tuwU52gG-1hFpGcHPy74tXz-t4zKQRig0F7iAbT5ILSvjJ_5EyfQYX6RSr6Z67QcJSJ5wekbSeEa3dDEU038WkNpcNKRS-C1vsw7zpLAAaPJc-KVA_OFEZNPpecxUwC1G73G7y6r_njZXz_ID8BoRM_9iEIRTyftFRYZm00ON6lqr7aVbftttSG5a8M8-DHQy-iSStbHi5BRcWKhObwzSpU6UeQ1Blk3r80QIALOsLSIk9WOtKeEy0HVsM2Xqz-ox-Sn6Q9F91lf-Gj5oe_TxzpbXWLuSUG6I9I7EouDIReDq02mtl__Sc_9eaq69zgz-gQiwrZwlXG65jRft_hKOuqviUEv8foJBIeJjeSdRM=",
  "id": "rs_032133f959d38e29016a7dedcb8bc8819aba6754f8e8f73fb2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.5,\"left_j5\":-0.5},\"note\":\"The one-step move was consumed by residual pitch convergence and did not change yaw. I’ll re-issue the same small lateral target so the gripper actually shifts right.\"}",
  "call_id": "call_NDJgE4RXAZH1UJea0pWakfuN",
  "id": "fc_032133f959d38e29016a7dedcbe39c819a892e80e2e57258cb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NDJgE4RXAZH1UJea0pWakfuN",
  "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=-0.5007 left_j1=2.3379 left_j2=2.083 left_j3=-1.3991 left_j4=0.0071 left_j5=-0.498 left_gripper=0.996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -12.6154, 5.2581, 0.1392, -0.0269, -0.0269, 0.0855, -0.1846, 1.5932, 7.0085, 1.8974, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9aff6997b8fe282747ff72a5052308dbf33185a49cc8a07cda31ca272a891ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0675753343e86efbca5fc3f15dc6535a16b0b82d1232bdda9937269abb24545a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54aefcec94de23a75cd6ef6b66501bfcacb8985fbee673317dbf67f98cf7e5ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4374 left_j1=2.3379 left_j2=2.085 left_j3=-1.4017 left_j4=0.0071 left_j5=-0.4797 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -14.1607, 7.7607, 0.1001, -0.0464, -0.0073, -0.0415, -0.1983, 1.5932, 7.0906, 1.9121, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe3Sqw9I_wNUb97Uop3dL67-a-HHIXbjIwQyb4wquge80cK7xbFpXRQRvZsfPkb8qE1mW6Nskn3t17vAZwtTGlsCzoGwD_VXnNqZ3mDgrCFPCQ3r_20Ge5pdEX1-yLdDAr3-y4u6iDbmk4YhDZpESlqna-gjP-rf21O8rC0I7uxwIQbozboW4NN1NxK1C_Bgw-WJSCJPrtouoPjPrNltI6i3T-gzcYTBX-9he2GuUoAiJ_uxvjx3dTn7X-SU5UfA4B7V69PrzWnjj7UX3YVDGmyT_HwrWab38d7jJeYlluqlHKw-lP7hRrkTWilz8gRWD8rYP6oVLVmpW1KKsJ-8JozHwsTYGhrHOXCJYzFksMfkPEsgjEL0CZxtZhZSs7arRHBMGWKVDG-ENqqIqmevHyd75TCSjuSAzl3_VnnQPLuUSnMWOM9ghiDFeEdGur09Cw2bzcA5Mfpgs8p_dpheeGQP2J_MHG0mvSJ_jW9cIz02mTNMoihB3_uJpZiENJoge4k9nUBdNgjB_2a6POh6MBeD0NyIxXVnS2xOm90SQsL-9dGNbkHigyrZtoZDpBFGMEXCa1luKfOPQaEXKuf1ivITY0nnCpZ42DpV2VEzrkDa5CQo26rsQ0vxH6MDH5aWpOBEAAfnD3sVH3xOkLqpZDFakLVl7-l1MO9qDkRMd_GZJkSyAIbupurWsLlIQ1cCMnJPc9U2-aI9iSOKTT_gj5rLG_PPa9ZiiB83NOg1gkB5VvxYz_IXoQnfPf6xP-OOd_qH5H2DKXDa3CdYGCQL0KS7VOX54JQfPrdr9PRNYgEyWZq48hm3NEaKrloSAyv2v44kamawNfqPprMkaJ8e7UNgyZnP8qlYajO-Px7OT8nbN3dABK6Gbb6yy4D2PWO8xz-oxYmxxWLi5--MMZDXpb1livs7vYOl2UiP52PS9wlQV2JFprmY7BxJXXrFRJQNA5DGeKhIwFHVDLtp4YW_zF1CzVIUKxW0_a9tPY-j1yM328cYB1w97eVPkN3O9yLBg-i4n5tJG4_zchDzHMfDTMhrH7Wy-asUkBekgta_raDMq26epzRXkhnQvfoPB0dnj-MQ633xuWFGLYHtsDdqnkwS_XkFT_sjtP450fDArIYlP8ai73c5YdvcxETzTUQwz8vbOkqPlT9R1r-7aLhK7rY1PJxaQmHC5tOqFMBxEbv5clhgrExuz3gA6EpeeT_YQDqxyvHm6cPz4cARVhbsu0K6qWZS1ryjl5M9uTrXBuynQ5UXHZ85BBbYQugcFMkD6TFxyVnMUrcr1vbFnxLJPw1N1jNR0STJx_FdKgLt304BZbntfSqXiw_afdt2kebu3Riap-p1Pu4irPpN0edfY64faw==",
  "id": "rs_032133f959d38e29016a7dedcf1d5c819ab3e8b04d44705077",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.35,\"left_j2\":2.04,\"left_j3\":-1.31},\"note\":\"The block is now exactly centered between the open fingers. I’ll descend the final centimeter at this fixed lateral alignment to put the fingers alongside the block rather than above it.\"}",
  "call_id": "call_osxVuXECmEWQHqzUZPxu8Kxv",
  "id": "fc_032133f959d38e29016a7dedd19808819a9fd8a7f758a63a31",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_osxVuXECmEWQHqzUZPxu8Kxv",
  "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=-0.5003 left_j1=2.3379 left_j2=2.0609 left_j3=-1.3655 left_j4=0.0071 left_j5=-0.498 left_gripper=0.9967 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -11.6444, 5.0393, 0.2613, -0.0269, -0.0269, 0.0611, -0.1436, 1.6205, 7.0085, 1.9316, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ba94780dac56d9948fc2b42105f704b5218f6833c717ba0e31340668795e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5022adb181bf324ac397aa95482385e7d5f9a4faae2274d8c0f39360bad3bf03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d6292e8d799c97d627c97a2b943ee2e4ab7a8671d6958f48f785f75746356f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5007 left_j1=2.3379 left_j2=2.083 left_j3=-1.3991 left_j4=0.0071 left_j5=-0.498 left_gripper=0.996 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -12.6154, 5.2581, 0.1392, -0.0269, -0.0269, 0.0855, -0.1846, 1.5932, 7.0085, 1.8974, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe3a39QIuRG8Et6TAODkNuUpOj7wjW5ZoAcA5SK0ma9kPASfookTXTX1bussUJiryiNQmoWY7A3lblPTbhddH98K8CO_C8z2tdFb_NPTfvXdNIMsLIAZA-tu1isD5FS_s0xL2w8jaxWPWkVMEVk7Vxy6EZPxYX5yC1D2f5PtSpF_Sg6L926qmafXmJMgVdgc3mQTGCXOfbrfIIxcpHgsowrbgVuCtasuzQdlWyxttcCuhZ2zyZ9j_kNUdOVJOjLlpJIXeuzGo11CWwf-YDuqTzyxqPYc6NkzTZBVCTQ8yhiGtDFvVOY16LVwvNcGH0o3xQWDbvQYdhhRXEJe9gWT6DDDTwTouXPDtTfn0R8pRPKexwQvkQmFMQzZpm--slE1FDzSVYdS-QZlasCAtZ6lwiseCCbb3r7OBg9fIpvj8DlgoUTOs9IJfYk8CtopT3Xkduoz2wgT4AW4VcCuSNMAQ-EHclLJj07egmpN-8i4oxurM1dRV8kbY0qxIXZOGmmHB9CAWRHEu-P1TRq7JpQADHsGusVlylDwbB1n3GA7SY9_IIFt18DS2z6_j8oenTx23hRNf7sNlUrjjIwUdjLhAN9i30L2DmNM9DKBDgSx2NTduasW5AsfeR7CUI3tYx-CTCkyVVLZVmIUXjjo0Il3UYiF5jy8itr_ooAZZ1euQi59JoiFIwY_u3CjGdxt7gBOJ8VRyLKmYs-9SnY8R9pYu_TKkiTiGJpJ0--SD5M7-H_HGUOyvJU0TQOxmtBqs5aFGl0zSknhozWBc_8QudJdGJWA_fm2K-pI-VJtgIvceWLVz9feJwHASr0ZdmQpw1wDycBD_R23kKuIxZTJTjqEQtoanTF6Nig_6KKeYXKodeOJeAZnHtvUN4pOuNRDuiMP3LHCIVOzaB3QaIvHulcKXxhfMQso4Ogp6n8DlqbCd8i4o4w6_Us-_txioLVredDc9mZJg9vnS5K4RYn44QLM6vc8AvSHam6vOplCAk4ngiAO9CfoEPCsQwtDnuAs4okYNEPyKZuqgNuV7naPUTkFxIqnvi3JFvXsDuDan7iqTSv8dJ6cxoKAys5igUAe-eFoVqFZAOlMP5g5e0WpWFIKGHvsK4cI1V8tKHiijsG-HIDlBalStJoQ-6XaLBU98bCzVOcr33pfBiSjzWcVkXlgzGNbYC05FlJcNp_-H6ag8MaXCLO4ERXBJ2cDNvHaQ5PvMbMnRkTp5XMjmtYCoTAUPYo5sRNUZF91FXa-rufWjElZOK5Yd8iKhZgnQyx7bgrcYEjce0C9hkqwrTv_oE-W7fpIKfXk3d9_SsNO0FDwn4V13eKKaWkbnJi_sR1m5RT8UQEtwPqRyOa6svchb7Xl4MYQ2NdKWCAUcTOw7xePPfIlQYExLSQt6QAnWx6p9AuoUpC_0wPL9Lm2GCWxbXCYFaC9crMOSaqkAp09YrcnB-I7mVFI-ZbB_q47pjjiksf-d2LAfBx1A0cNYx0XwbAvxpi9D0KNpdFHoIhcQ_6gErnDhq1Cf0g7-9Y7FvqDGk6RXJN2iGo9FzxUJhB0P9kxHoh9TqYjpUjZcaWb_pHJulF0LYLy20kaV7WFqPwbIvf64yPhRPbehzbaGwnHwsR__I5QIg3mG8mOBsP7qa6AoFGU3IA3jxip-4ON4oCBLL1zQvQL6nXs5MCTvMC2m7wObpyTig==",
  "id": "rs_032133f959d38e29016a7dedd413c0819a93e63afb67947d4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.36,\"left_j2\":2.03,\"left_j3\":-1.32},\"note\":\"The descent was only partially tracked and the block remains centered, so I’ll re-issue the low approach target to reach fingertip/table height before closing.\"}",
  "call_id": "call_8EdWOsqj1nXRS81EuzpgJkBe",
  "id": "fc_032133f959d38e29016a7dedd9a4e0819a8d78dcb87de3f98a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8EdWOsqj1nXRS81EuzpgJkBe",
  "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=-0.5003 left_j1=2.3489 left_j2=2.0434 left_j3=-1.3262 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9967 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -12.3556, 5.4496, 0.2808, -0.0659, -0.0562, 0.0659, -0.0752, 1.6068, 7.0085, 1.9121, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30d9f6301d60d32e7600f60a19c46067086ac5080b0144d99af9a101084e0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a3f2db26d5c5b917b008a2e615831ecb27c0ea12dc52c3621605bb572c8bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f20a0bbe07ca656aae1751d724bed9e7efbc8460ab73c143aaa415acd86c8d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5003 left_j1=2.3379 left_j2=2.0609 left_j3=-1.3655 left_j4=0.0071 left_j5=-0.498 left_gripper=0.9967 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -11.6444, 5.0393, 0.2613, -0.0269, -0.0269, 0.0611, -0.1436, 1.6205, 7.0085, 1.9316, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe3eKcfqvA2gPAHh0wx2y9-EULWcnpmprOKS7D0Ky4ntKKAtfJVxGLdMcjALldU2ZHaVqn36OA6oD8nTlPEEtIJFNGODLtaDTR28eoTBnZHPcZgmd6OgzGNHAAnT5RsHTuA3kgQ76x9sBpus3gPnu1MxcJjWrMWg_oDHd06PrtBKBdLvuCvVz-Kq4G9a3fvld9A6NDeYF-qNGQMrcYJ2CePkI732ijygVr2fFUKNRMSmfediUgwLDY_4FFEZIS8aroT8AbQ-UDvddcMndJCbSQasDiV7b4cYdZ8rA6pewDGZiEpb7_e3UflgkoYdasEUumUkigLlZo-z02YD1znDyVN4FVRd4OWUCl_n81q5sZIrLYGdrkwDSfmVsY1sCSodebRbKTYD0RhxYFIHIkyrJIMafYmS1n17nNcNpROGGmICHT8_DPAr5lA1pAe7W3BTMDEpkyYVNqJKSo3gAd2Kff_sxArYhhmV49TeDhtQh3ffJpDa0cMNQoJjSBMRC7x5QNJ-owdy9M8Gb_OkpiOqfA73qVsYJu8Ybfeebz7oZDlZf_Ekh8dyDT9vyqx19ms_kljX5yZEe4o87fKXdpUAZRMWZZVeEqTfS9-pTmZIojW-EzjbSUON-yrUZz3v3mVZMBnVS86djvRq492PES38ruOnt5-JxOb5tVLaXlWcIaq7jlJHaFkJgVqM52sK6nZN8Uoz_ph1_fTyvc_OwhQ8sKb4y1s3fQSfK_6Izozr_JjlgB-NjKFOEHURf0yYlsgicCgoTsrBdrxG9KbxYMKJ2E5qGGLNjIt4NKPsSI9a2yJ1KlW8peBRxRjw5mcFyn2IaMYFxATwB8jRfvMU8GIaPM-1NwUHxV3mVV_S7anVBRZowFeGmhQGH1XdSdmN-LcRwPw7mpLh7Ba732mlLoK8aRcmtwy6vsYdYWx4TKiyfsNU1ky3-kud_8t25FOjPDKYG5E9j_TS3iYnw3I9vIfQ10hEiQ0-33FHzkxV01xqhBlqA_U=",
  "id": "rs_032133f959d38e29016a7deddca488819aa3efa3ea4bfc9fbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper has now reached the deeper target with the block centered and both fingers visibly extending alongside it. I’ll close fully and verify that the residual now matches the block’s width.\"}",
  "call_id": "call_fx8Gg6QntRaFHAafdUPauuF5",
  "id": "fc_032133f959d38e29016a7deddcf66c819aa2d4133a3bf1ee37",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fx8Gg6QntRaFHAafdUPauuF5",
  "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=-0.5003 left_j1=2.3493 left_j2=2.038 left_j3=-1.3273 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.0144 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -12.8342, 6.0513, 0.1685, -0.0317, -0.0415, 1.2723, -0.1846, 1.6205, 7.0222, 1.9121, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0283f711346ff8d8e03166459223d571f10edb15809417e87cb4f74b0569b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335b2dc0bac462bbb7bbfe315d699bbd0bbbd96eddcf03df6ae449161d192316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a819a412cf1c59c3a0bb0af8b10b79883d57e80e3a668ba9347c00a572cffd8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5003 left_j1=2.3489 left_j2=2.0434 left_j3=-1.3262 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9967 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -12.3556, 5.4496, 0.2808, -0.0659, -0.0562, 0.0659, -0.0752, 1.6068, 7.0085, 1.9121, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_032133f959d38e29016a7dede1e880819a94a60e598faa5a96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.3,\"left_j2\":2.16,\"left_j3\":-1.45},\"note\":\"The residual is still very small, but gripper effort is high enough that this may be a thin or shallow pinch. I’ll perform a short vertical test lift and use the overhead view to determine whether the blue block moves with the gripper.\"}",
  "call_id": "call_HqfUPCTodIhn6vwDG08rML3h",
  "id": "fc_032133f959d38e29016a7dede654a4819a8ec1d834d5e38daf",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HqfUPCTodIhn6vwDG08rML3h",
  "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=-0.5003 left_j1=2.3489 left_j2=2.0872 left_j3=-1.3857 left_j4=0.0074 left_j5=-0.4988 left_gripper=0.0155 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -16.4444, 9.0735, 0.2466, -0.0513, -0.0415, 1.0281, -0.0068, 1.7162, 6.9949, 1.8388, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f57767980daa027ed13431e28e73bfe27753c758467a061e9ac7e7d82ace202",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f97e28e9b2010f3ac9f5a86f2e5f14510f0dad04f5c718ed9ac53c2c27185e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:643ad4fff780c4cd01aeba915168111e73803e9add8ef43532730a31c833faec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5003 left_j1=2.3493 left_j2=2.038 left_j3=-1.3273 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.0144 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -12.8342, 6.0513, 0.1685, -0.0317, -0.0415, 1.2723, -0.1846, 1.6205, 7.0222, 1.9121, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
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  "id": "rs_032133f959d38e29016a7dededd1b0819a9cfc693048c8ed06",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4CaAbA-dE_-YcmJfSFBBE51nj49jVmXeOArQnNHqSGMSUlXIwGI_MlketbsXQ5pcRQ6prtqDvIOfaLBY-phqEl8C4jm0A2ui1oGKgp8_rQMAayMwz_riTUOzT2Ees-O11T8nnzYcwZckZ55G97FbmDDO4qhg-C9xdP0m6ym2rt60e8KW5nXY5sXstB72tdXR_F4HRvkZsfzla58pPBtTsJY7oGT56HK8UaxR6s4uf8bEpMMPi_D8qzqFlvOVa6lJ3z7CNj3QxEW-1RurspcELzaX8_OkHygvp35dkWZw7Drj6ixLg6_qluCV6KTP2vrxIhMgUZUom_7QAh48HFV_UWgs4-Onvtq6y5K1qWcswtcGQVeFdZZ55EsmbXR7QzfhTBA8fEqRMMB_v5t6Sy9cmf9u50LnpRghm4HlD370F1om-pUhTn4K6W2oeDMzLI0qpkW8yLMmjLG_aHjdOkXmiJmIsJbU-gkeNrn9dd1JNGjz8VjPNVJSbRn8ZuCm2DMKZXL-LcwYamgcXsaNNSKrJYrxf-pnob5z6xVgZWc6TQsor3lfqSpee8gcvW3qeYhyJRS-D7NcUpHxCS3LIPwbZujdHZeQSUBXFCfiTAPWzm271FdWE3pE21dTL6f9xVh5G7xceOtZx4XRa5JJianGrl21uMfTjQjM5e-q0A0CW5rXVlIPec_1iNPGVC90Z9M0cIWJpBQ0SQn9sr1USHBrsPwqWosYpcIA0tvGLJzuheC-iyoXr0M_D7dxmW8159AJY_CdnEE5rFJH6BBkr2a1-sApTKx0AHrxja-QF2wpbu5B085kgQRh90YmHJ5eXhZ0NWoLzXVRVwGCXPh7Q_FYSDYClphBAl7N1yg4pS7TP6QMzfD6Ix_I5Xo5XoM6cd1LmAF34c7AnlZuFZkqiiyRPXoUf9if8vaUXdlKSWa83FD59uxwI_jxovVubnqm1li9EcjkZUFIlgFkR7cV1my5fpogO0utQuD28DeIjYwT0FGV10DluPiW_PEWqOpy7pS4ARswxKpCAEVMdilaHoghanWS6M5PSuuGY7BjZmtwvCEGCHzNGlTRyWw8vem9Uj_MFqoox9vYYDrEaQIWjUjjAxlqIaSzs7pf6s6FNwFlvxoXyfH2iRCKBt-QPc37AjH--P0Dt6-c30r5mMF_X_KgPI5jCCl5cBwKEf2TZMaowD60LzFY4P_ueeQ4tqF1TWgUkSz6TYEIi0PmsWYCJog330ajBROeBrzL_t-aUOW5ouvoHCRxEdbc0Sms_DOGGqyTNB1akKCIKLRSNXDzWyQaU8Ttbjzcu3i8GGw41SwftdbuosFrIJ1GyCs6brw--BzYqT2WAq580M7QdsKn8tRMCumg7fbAGtmHHes7Ixcydfm6rpD3HSq8TOu0NBKYF5eyR4p6EnIcbkpuD338ZyYV2eGEwnhYRz8-07KUnYqn8ugs4HvehQNsy6HiUvbSTLoPVWtnVEj_9c9PUvCZzz6AtAlc3p7mIVXY9NHrW-IXuEiZW6CtFQ8WFE2_Bq9jDWBWm_PK07sORvv1N1DdFvSWYxu_h6Kx5XnBOw9p5sZVc50IlvOT6jP4UPhSJtDEu7b8ZhyNzloPDJsy7zJO3l55pQRYUKJvfv3uaKgb3QbXGgqJyMPQYhMIc8xEnM4z7QQU6KcYqcEhAj_ILNWgvTsuvZEyeLS1Yr2GjbmFMlOTjQTiI3KipOv1XKw4A9qdWO9-SxmNYI8Z1XhmPvaRlsuc7qdmN1f_NDJegMRLw0OvzFTcDzMiFcKlk_19fgaK0jYOcwGSOg-_YHtY-bJpXquWm4F6_J4DUVsjBqhppcGIHE3mKnpdPv7YP-z-hLHl6f_7VUhbDTRafdskiv9r2b2mv1460Et8VdOufHbX6Tk5BwbMIiwHfcoGBqg48iS-MijOTBZLgumF-O_ToWFgZeSnPJJFzrKHwURRc8q9PL6nqgQOZ8DtguN5mv-3pfC9kDD87_kWf8TwuzncRnsmjwNORDSDo5WvDkXSwwqDEOP7R4oKkWmNOsnaSLkYvCeY6YBb_aYcAMkbyNFLjAJzyiwe6ib0pDoynDy7YN4nw_fpiKdtQaGbaq6vno6sWHFjE06HtyennXJ_9k1xykneE3Sr3yxfS5KmZA3PM3y0sFydzok7NA6Pm7mcenobLG3GgpW2m3AQWgvpLAWmmkWr2RM_FWJLwu4blkKcPbjyHrccD4r2biEdKWbDUH9Vv8p3nrEXX0kfa644MWMzdHGGLQx8yQg1BFdY3FcdyD7v9MVirNfg2p-6kqyVw_UKd7rk_SiNN_crC_bqAaEs5MZEjHvXOdCiaG2pGHi78O1JrePntocNByJt9RpqrOqGxAeTPgEtSp2chNEZQq0P0Tao3AS1q75yV1Ko0U_UZeWhRYjrxK2rK2upqxurSjTVd8lzcEbC8HcvR2jbFqx8JhzbYnXx4rXik7mPqdsazWQxsi9cRh1Os-DSvmPZ06jKrIBEhGUUnU10PrRRwhnYXNjQUVQCOqTfcpvUjSNTL3qkfzuser0L68ymHP64tjNq9QIpCHVXHF7Mj8CK1c5HcWRvkv4A_lSuhqr9EhqjZijoQTmfOF8ZgKfLsZbC9umabL8W7RxlwX2KRmKU4GWaiCkUaeXn4YDN2V9KsFf4Ub5-qOAC72dFhMQengEaqq_4rpvOBS2vUWAD0Gt8_wwy_RLPSSU-GBPZ0VJr90-wUnYAb6zNZOEAJDNYG4nasO6nwEGtC5zE70KU6_dLRlx1LQ1wdOyiDYFKgp7J2nJ4zQAyfZRHnJR_cg1FIQCjSp0wYBNExEiEJdVmGEjCwLhLp1aub-srMFwgSl3cahWFaa-7VgdsyEEYJHldl7_dOkV2mW5HlPj0SNmdQzgN-zeVdybiP92J-Jfg==",
  "id": "rs_032133f959d38e29016a7dedf95e20819a94de10d7966d55ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_j1\":2.05,\"left_j2\":1.87,\"left_j3\":-1.35},\"note\":\"The overhead view reveals the key issue: the gripper is several centimeters farther forward than the blue block, so the block at the wrist image’s bottom was actually inward of the grasp point. I’ll reopen, lift, and retract about six centimeters to put the grasp point over the block.\"}",
  "call_id": "call_ZRq6DbQ9dm0dEpULi5T6p8P2",
  "id": "fc_032133f959d38e29016a7dee009eac819aaa6a97d529029942",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZRq6DbQ9dm0dEpULi5T6p8P2",
  "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=-0.5003 left_j1=2.0968 left_j2=1.8793 left_j3=-1.356 left_j4=0.0074 left_j5=-0.4992 left_gripper=0.9946 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -13.6957, 5.7504, 0.3541, -0.0269, -0.0073, -0.105, -0.1573, 1.7573, 7.0085, 1.917, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad501cb84ee37b96a861b99d81cb59e31ce5a3b2576cfa02405e1d5c90d096e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd695586dff3ac58c996d0967ce4c2cbe60fdb6f94ce8d9325fda449288a4362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8bd0ee34157b455e24dcbf4d499be2a6379c169430c633d278758d3711bc593",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5003 left_j1=2.3489 left_j2=2.0872 left_j3=-1.3857 left_j4=0.0074 left_j5=-0.4988 left_gripper=0.0155 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -16.4444, 9.0735, 0.2466, -0.0513, -0.0415, 1.0281, -0.0068, 1.7162, 6.9949, 1.8388, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4Q9TkJe_L64VoIOHdwvkuh-Tzyx45V8AANQyrjInyB8hL6gE-RgQdhPDeNb1pVdxdv_MkoqSvLeHa9fCq0FjVBWBWB7QwCmkksmfIrF46pemgc3xH6e0cBtFbzFOHIJtZ6MLtbQaesBDC58gOsAbjlgWBkPAMhY8fhFKlMoutVAX0d6zx6uu-ormyx7ejkdSAElZOEKdBZuuPn-_Hm8w31ZZLYSyQhhoClGSV_tpcqm__Paiexnm4q_bBQCouwlgQFjLErEXxxJvE9AeTwl7qmrvStrdOuwkNCDMxTl0GjwZ9mkYh9lO8JWUgxfZFRvjd9D6jm8Xmf3ZRo_vEtM3X9Zk3VUwK2qwGmUtykISyMajIP4MDvmEuDUcDXRALOGaVamfp3kUVuUceeTdHv6rADXFbTbwVnkhlaOpLKQHAw1t65qQt-ZrPVLih0zVtgfq7Aa6KRMnHP01l5I01Wokx16nVM82FppLysE-33c0zbUejBKxbyAH_w1xsGgKKVT7ZO1sH7rMdIaieN-XR0nrA9H4XEKHp2Msn_iLBS70VTw41nYMS9fO9YMMpbgmmShz5xIsQZ8rKsvMYTD6NFGP1X4zHisbn5ezeJDDi1oNyCaWybZxQDJTxq8-6vXmrKWbtvysvogAzjPXVnD80Uz--JfdrBB8HUaZudJycXLppEjWwyrysCY8PUk_MKUk8Y1oEnPzItY98irOZFT-85Cl94x86dsn2BAw52L9AmM-O4z_2WSnDbewVR2tYO8Ql65-D5JZXIXYaGDtOhBeFxhxcmAblLsFw2zOJJrReNCREJ_E_CizXcSc5i3gkb3Lv9MUxU9UopXvOaloDHm65xMtq1joLIETZtHhLMILeisj2M6lyhhJqjcaqSU1eWWECvqWmvu0gDL20yY1wHn78hTKoYoHLVROFgo_mqh0llj_iyBqLtQ4sr0MN59y3AEx2ZbjNXZLkBVdfkeV8gIgs1to-GGcLUacMvS4cEimX73ssvDvX_bFxxhVHl6PZgp5SwGbWKw-FALi0pcTyCsDkgfZdwk8ltj0K3X3_6HPRuf8pPdAu_j3GhMU36VLwtOzh3qTdvdUqWhObHnlXsMrvsj6rmLbiiNI_duPfbYblGgBk4EGXkjOIJUIBe6sHxGdKbkkfGZL1-hoyvbz93PhV1ShS3MgemrWFki4odmvNdbPchhjNfKI-hHgCEl2kObkC2C8vbJ4WbvK3UO8-7BIUuFEH-CrkxbNGUDXc-CqrQsD-vDZxI0tcEO7mTCkTnA6CiLIbyaY5QRykwfOV2f8xCMbLwgs2jfYC9FWL4lx4rxY_0s87mnkIID8QYH9s77kRqVRFGaE7jRx4lm7pIMdG-jortNvXQZVmFE62DI9hWF2-TUuzFpS_hE5h5cHUsn3kPAfArs55ePP2xsYhTA9kY8poEP3OHeZV_DNwzdZddf2MGuaAkeVnhkgK_5a_EBxHA-nx2tq1nERJWbAC6WIOtjRcUNimFdPhVlaCztyz7Iz-3yFdWvhET8-JfkWBJQBWwrNWnDCgwLozpJ3CNB7O6ayUS6wcSo1y8KFO4dwNAOyt53nCU1k1RG4Zfna_ZO0f-MTKe1ccroVMSFtIg-rQ5nsyOw7zaVVkDgIe2oJMZcglHQlZj5EIKFWTigIoUOFenoFxTxB31uu3GWvBoxaIU3jj9v4OhXB1GgJ8uUWAXvZZEdGgnLoboJ9TG3dly6bOmOBFyGv8xaePoe29VrjlutfOeEvjuphjhQ-iYI7fh9jWo7-3-SO65IYWr59nVtyvmzRofy7PsVaOHr90LuAWPKWd5Y01mjOlJnWv8IRGMMW_RFVVN_P6lVRYmdSAH-B5gwYioIr-GKMMmVPeXZoXJ0xUnkwgPsCk8FH2Y76EsmgcHc63zJGvWfCjUOTTwPniWt8UUkZ_2iNsEQOqd78xt1XcbxAEmwZzSEnwjeNa59Ht3M8Um3ODFIWYuw7NN2wq1uEcrv8g4WSt8_Eimj-75721wUeA7ikdr-E9dvUI7566MloDd8FOJCV1WO36FAHkFA2CarFdjcjJ2pmBbH-KLgxoD6BUinJusWBnr1lKtx0zodHfu4E4NU1VmqtFIA3tDcB5CFB9xXMGgavuLVjwnR6W2V4G9PCEj6tc00Ji7owp8439J7tW2LaC_qYy8sqBANCfwT3JBcz7edJa5nmzFr2BqulHU6K_xBE446Nwdrk_5t9mcoSHtscPowBuL6AERu_SQGF54YYjrN7vJeSxuk-OGkgP4pRukUexcYX0teF8V6fk=",
  "id": "rs_032133f959d38e29016a7dee04c774819a8f9802984304057e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.13,\"left_j2\":1.84,\"left_j3\":-1.28},\"note\":\"After retracting, the blue block is now squarely centered between both open jaw silhouettes at mid-image—the correct grasp depth. I’ll descend about two centimeters vertically while holding this horizontal position.\"}",
  "call_id": "call_ElGYUv9ZC06wZmilqGvRfhtd",
  "id": "fc_032133f959d38e29016a7dee0f3ac8819a84c982c1a42fd0b6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ElGYUv9ZC06wZmilqGvRfhtd",
  "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=-0.5007 left_j1=2.093 left_j2=1.858 left_j3=-1.3266 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -8.4855, 5.094, 0.4518, -0.022, -0.0415, 0.0464, -0.0615, 1.6068, 7.0085, 1.8926, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555528ba3cd8932eb1f090fbf07f63df939fd943cf4663638d470e03c33c6c49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bca47fe0eb38692287ce5b1bf93ebe43e015032038c047575922f4fe1e93192",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591e3516df4fa25a755a0014c00a7e627bd255ebba1326f85c86887079a52127",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5003 left_j1=2.0968 left_j2=1.8793 left_j3=-1.356 left_j4=0.0074 left_j5=-0.4992 left_gripper=0.9946 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -13.6957, 5.7504, 0.3541, -0.0269, -0.0073, -0.105, -0.1573, 1.7573, 7.0085, 1.917, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4UNCM1rtxNztN7GZ6gwje8NZc0-B62rmxoeYk3fBgl_UgJ21BUf73Bj3mPUzIiOBkuuSJqRT5_jqGXkFHU6K9AQ8SeZvg4KdkoPwSNZek8HNTgKoKl-vzIOOoFkMT76hX2O9YgeW1Fbj0hcL-1Lx3pOo2wCm-wdGKTUAOE73T6P6CufKRxwtSjH1ZcRS51-DGRKq3xEM_k9tLz7lEFMY8HlzfV2TLEKon7n7B8o8c--XyJhOCDgX7kYz6mMpkaZhz8hxQ4o7pJ3CzMSP2TicNvV0TkOvch9rXkQKt5k4RXeODlpP96treqoe3QAmdIqtoe25r2IWyWCjScZf_eNDQPvndc6HUDh7z61iRwAT3sD4iPOUiwK6-uT9quN37XejLw5IdyM2vJawuFfeLbwqzny_iM3E0EU5gIuWPdnhZ03bugECTL8KNFa0IWA42iu2sqLtY8O4ElxXdCtWf_Pt5sk0b-rr15FvscX3pFnxfhEuXqatYgVPxuzj5CdbyL3-H5yle8aPy10FowgYF-XpP1yttscbhrlWalwmO9fW1U_ndHpwturwnyRpaTUF1AxCLQRF00HK-4nZ5R5GgKTLN3iBWAuUdhf7LYV8DoJY33TiL0dSV9sCpuRvdB6k9L-1Q6_2Wk9AXa36mEhWPPzghAOvLfYMKYVHt0vfvv_ZfcxoMwC5SfajZy1pR-agbDYGWc45moRE_COxB7rLu4J1iz9Qm-IMdt8sxVSprc5LmOOHWMKTUHIhMhTzla2rssLagNr8l4eiwPtTgHt5c0ygtRuiTaDWtvKUt9aPeSTEU6tIlzoi0sPygtWvWTdAs-7UzIf2-hw6zD0MVqMSssSnyHW4iJczZOBlC6pf_B5QwwbxzALxhvIkHP-0Zt3ZpgFEMHteO5CgjEHBjdQuT5Ygs8EhfZvH4_nPae3_ernOQkJWYgsVjgd3n-RXdcOKk6W_x9twMrx6aZ8GhEVikDeWlI9gKMRJ0cy0jHExLVE0l4fJ9PU8ChBCBKg_VqzbzvBa3t",
  "id": "rs_032133f959d38e29016a7dee138740819ab2d087f07f44b5a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.13,\"left_j2\":1.84,\"left_j3\":-1.28},\"note\":\"The first descent command only partially tracked, and the block remains centered with ample clearance. I’ll re-issue the same vertical target to complete the two-centimeter drop.\"}",
  "call_id": "call_3055Ae1WsaN98SEvohyMRGE7",
  "id": "fc_032133f959d38e29016a7dee139cc4819a9ca1eddb3db8a33f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3055Ae1WsaN98SEvohyMRGE7",
  "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=-0.5007 left_j1=2.133 left_j2=1.8416 left_j3=-1.293 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -11.3983, 5.5453, 0.3883, -0.0659, -0.0366, 0.0757, -0.1026, 1.6068, 7.0085, 1.8926, -0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a91a5edfde4a351788054e2a7c4747a5bcb3c5c10782c7d2114c5acdddd09566",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f477cd82763c211376b0ab7143c974857832530af51f2c135f1ee5b0acc76ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb5e73ccb130db4d0903bcd910e7c9ac040badee61c6ab26f895f7458df9332",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5007 left_j1=2.093 left_j2=1.858 left_j3=-1.3266 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -8.4855, 5.094, 0.4518, -0.022, -0.0415, 0.0464, -0.0615, 1.6068, 7.0085, 1.8926, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4benodpvnqxnt5uvRJJXavk2UQ_bhLtWAzTo9PFyv8R-E81WmcSEta_OEfZ5DJg3-5WDZZ1AxJlcwT3zRG9L6MYZYCth1x3CjyS960yjQcx624UCYzcAy69WEFVhJLowbR8-8AZEZhBgAECKeQJp5Nzy-SytNsTEeTlP1Pxj5kXwKmdlg8MY-W9kIRgyDOta4MyJJGER4o_nBhLsbM1MOrJwT9brv525sqraqXATbLT8cz0ns89Bbgyst0pB_ZydmlgVAlz31zabr22yhDDSWrU4vSlBfjDj_jd5l66T5rx_UonbbIivCBxxozzbtm6g-GP09iYiM5ffsDi5tLXXpwmoEcumPNkUJwnJygYEi4Hu_hzSinYo94uz8LoLr_f_Qr2r6y6k09KpNub2SNVHmznz-fdfUi2w0GLjmlxFXxgBZ2NuQSHXGXNfQLTt1q_pOl2JeX0jeB41lyp-cuCeb2e5VsSbMmCBgmBPaDEroxX0r36EFiWe_lPmNYlK_SnOnXFGPMGnYBg0zS3w0r0HFHcm1sJ4L3v3wJQP07SyS4gYoOBsG8elt2S9GJ0aVlk4nWdblgZ6puTNBLG_r72KPwh6-tInrZXPxRFGW7gUDsc1tA3-1lijD07cZbY9Uy4_spail4kZKTFTCnnJag8dbE1vs7WuwidD0RsCNS5ismsyU8BjJXuWfTYyB2YwVizqV_kNDf127UY_UxIZFiL5Ji3FMU7ZrdgMs6kNs6_IKfHBJW5RsPo7QapXXhDJnSn7_vxkoVjgWnGg6ViqvPGYwH4Q79sxNkmJwhM1jmUiRQYjukcDS5B35B9B4SNE5xCE7LzW-TR-VmkhuZb6D1sfT5YQ724ijB1AKxzlwo-slmZNKOk5LC2Shf3ZcLC7ILxAc9yrExOypeulzcBfujWVCv8UbWRXiBRPAjh6qX05eGMYGrUO2Ijd5WJXsxMhhNUimN7ULQ1gZ0glRoLRYEUWiYQUd7XHAIVNKdD8kyw9Nj7Ck7k4whPDAmRPm45BnV5VO4phkCZuG9sc9sUDoSEIqRvHH-CEWJelGFz6M78hEwjWGzxX8YZi9OYZ3D0b5PHisk",
  "id": "rs_032133f959d38e29016a7dee16730c819abae2962a080ba147",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.15,\"left_j2\":1.78,\"left_j3\":-1.21},\"note\":\"The completed descent enlarged the block in view without changing its alignment. I’ll lower another two centimeters toward the top surface, still preserving the centered grasp depth.\"}",
  "call_id": "call_iczuvSRKQe7CKiZcsE3udc64",
  "id": "fc_032133f959d38e29016a7dee1718e4819ab38635f34717a8c7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iczuvSRKQe7CKiZcsE3udc64",
  "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=-0.5007 left_j1=2.1338 left_j2=1.8057 left_j3=-1.2541 left_j4=0.0071 left_j5=-0.498 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -10.0308, 5.5179, 0.3004, -0.0171, -0.0366, -0.0073, -0.0205, 1.5932, 7.0359, 1.8974, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c65f9d9042649a4c3192d064a68cd286a0e8674675639746a24ad1765ed89b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd90baa6b3722c325a44e4dee9eb573cce1efb5f4719b4950c9278c339320c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7355ee08f268100d52116a3d20f18fcd06129d8981e2738ab83af1f5d7f6f157",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5007 left_j1=2.133 left_j2=1.8416 left_j3=-1.293 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -11.3983, 5.5453, 0.3883, -0.0659, -0.0366, 0.0757, -0.1026, 1.6068, 7.0085, 1.8926, -0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4ef6aDHznAxzKct7q52EGkTzgTJMoFvj6ONz1eazOw-Ca2yQoOZzJX9DaHgvOa2Peu8XxMfiA6H-iw5Slp76aBGWWQZ5J2IQXORw99RoWf12sYsi2mgnpXeZw-Ekt_TnfZHVvZw7dvmTsXuPG2_DkVTagcoiKm5DuOfIz6I5ue_znQqK5R9lsYQ8sxy5DvB59POHUdA-6AvInem12mNMx-vgWOGd_k9eXb0bvr7ygXGrWa3AL_NI5aBAqLsOR6xwhuqcm2pE6utM9ia_9b7a_YsHHceibA3ZnnlD-ZfGnopyeETaJvzP3yFIFe5BN-e073QINdDRv0L0VmYKGhONKoqEmJVoDWiRB-NpOXZR5Z5_COhJEpAJ8D0AeaXYQ5A5yjsfXJHFR5zSnXQrMkBJcg6CSe9td6xoHGzzV8OEjSeRo4xHRIF3BcdRrCqgKKEysVPuYXq7l0lMWYaOdIVLuZJr5m-SRSSo0YsILaLKSB0NiRzEHjHAQ1sgyIZo7lZzhjfDp4c8A5IYJaVisaSyU1jpBqvoF5WMXvGKlKu08S_iUH8UBZdIFO1zHbGn0gxLP1OBKuA0IrnivmMj5FYL4cxIntqW0ErG_yrYVqW2vZDzP58uKe_4dVMzKZQCqabXRWnOsvLsnYy5vBDM4-Q80reJFpNvI8F66aiWYX_5FP9ZmzLBWPLosaLYJb33gFIzbf3_2yJuZdmmbbJh3Vzizoic3YplT0J7uhq-yxnDNDpmzUUsHFfLapUg1Jc4TpPhXwlOlDyr_QBFHL-YEp1otoGVHVYIRMsaLxDLgldqL_pHUjlsXoAG1M4pQOuIdkvkZAWRXyfYkiYNwyrwVlXlj5BmExINCCOpIum8wI-bxFeqVhdEQeBz9AQbrmZhWrk_88H-21dwjf671q2QsKaP9j6pGxBce8sEOQJ4mmhlBhbDQnmcKdiJjluLM5ZKuKDaK_",
  "id": "rs_032133f959d38e29016a7dee1d9140819aa9c8ce8e00cc7ef1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.15,\"left_j2\":1.78,\"left_j3\":-1.21},\"note\":\"The arm again stopped partway to the requested height while the block stayed centered. I’ll re-issue the same target to finish this controlled descent.\"}",
  "call_id": "call_PmYP64zUqPxn1OGxKs9srnXL",
  "id": "fc_032133f959d38e29016a7dee1dc0d8819a90300de492d474da",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PmYP64zUqPxn1OGxKs9srnXL",
  "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=-0.5003 left_j1=2.1506 left_j2=1.7752 left_j3=-1.2217 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -11.494, 6.0376, 0.3346, -0.0659, -0.0757, -0.0073, -0.0889, 1.812, 7.2, 1.9316, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b6a22c219cd7fca87117382d767c391ef5f0e43d12568c5d92c8b4b611a64e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a4eb4fe2053db990f0c93ca7e80fb6d5406436b55fd4c139e606f048cb5ed65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94dc54d6688af3e0e6cce5e1284729cd822e42c5d1a07eb78fb332f208a03f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5007 left_j1=2.1338 left_j2=1.8057 left_j3=-1.2541 left_j4=0.0071 left_j5=-0.498 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -10.0308, 5.5179, 0.3004, -0.0171, -0.0366, -0.0073, -0.0205, 1.5932, 7.0359, 1.8974, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4nOiYHB0UwdJK3D5Gw-HU6azHBpJhTzkTMAfAk5M45gtaeW0AveMA_3KuP6i4BAstpG4_DD_SzHlO80cClK4XGl-cI3KlIoiQ8IDbENbNiITXeocmhsesIXaQj-MT2-mrtw8LkoVDmdxDMmvcbzZ66V26ehgaKAQ3K3ERnUrjEb1keoPZRDDkDT28c1M3g30o8gOW7cNPkaJLEk5X1NtAOyJmgNJdbDmsi0QSDj3uiJGd5GOw83Af08gxtxAJsLZ9ERvGeDzbTByXsYlUi-Mw5xYabYZRxqXRN0S9pZX4-KRrsR_0NccjB6ILMf4I23B26jGWK0j95xFNx0iJnysZIBT8PII73uBCe4d1dEEnrW2-ofHhl4SBQgsTkFHDadMXifrOf5elSyIwAD2EI3tzjDYnwM7che-nQT6tLeFcX2rjvhMdXVifGQQnFIOxyjqh6JriLDnu3ypVTbFn4Q-v463HufkRO4Xno4etsgCexXEvn1F5u9EE7fJqrDFOd3Iae5KXygXxYksnV4is5AeZXoZ5kSZ7lNcwda1yCSD0hufvWenjvRU1N2ODT0JrZVaCuBEySoBiaU6neJ-LlxbUXWkwq6Mcb72Uup2Nt7dG-7dUTY9SCw_3WzMAptmZ6M_XjABWlZvZ22abdCRCMZiWCWKuVYZDQ6-45D9lDmBpGYYWksVgEPlphO_kPhBBRcM_J-9CoXRKHkucCq5SBqUqyu6MuUyoZtVHBlCoVy81U6IiwrUEx2hYvWhbWN6WGsB2nYskfTDcntW6gA_Q9i5KlMajtwU8i3qx4evXvgaLnZDDJkQcPVcIWA7-HEfXx46BHxRMlm09qFpaX5aNzZx7phjixXdUYbwjBFzAu3A9wwwMnFDBQBjSEesPpdTWdMI8mueqQAEpmZxPOKjCI_6CMRnHPK9tgUAhoiNNSfl4TSTm1PstVwkkX3riSoMh9Y5iXpCimxzxGy7vCxHWq0yW0J7nJhmDSt8pD1U7ox4GVD2aqlHGgRm2KHch5abZANPX0oV99UsDcDfebdk8mwzzUifh7WPvh0yJS-p5j9DG0UBGwfTYGEQv9ZtUIhYM3iyPbiPwdK7oz1TMlfIAT3irT6qsCuM0cWPmvfT5CnBUu9sle1zs56MEXQec2Bcc078Y0wNGSozxClxndNGSDESdxCkjh5XClpFyYdjwkXh0YRB2Gi2uPPvntysQgtaaLd4vEPftvWysRLIK_qnPy1-ozDop7Vto8BJLXqkWjulLjuk_EUOdVUHe-O1SrWhRIs91fNK2IQykpXbBjX9o3UnR71VQqRCbQQKP7pZE4r3SBFB22XxilKji56wu5WbnSdbduEhFGZFSys5y0Im0CiPFheuscdgQ5YzYJEMyTBz2BFUatYxE6GOMA9p2uaGNf7pnEkxqgSZwQye4LVb_hkvnosbSW_fcyevmqmBENl6EAGStg_JMNlrvuUfFk7S5M_qYo_eyMLgWK4kjHVeAmssCJoXRrGhdQDCxv-gQkbKBKiNvhcsRwAGt16K85E78SGem1eo-Uj3WBFnQFT8pKC0gx2w1_gh8eeU0u4hKJMjj4AxDui42-eY4u7C2Cgt5xcA9sTkOAynV-6GKJTfAbDaeXqnmDVtVFqke8cGg_i1-8Eb5rJVH3oFhAAVQNVttq406VrabAYkmlk-jVYDhDZNMR49fDRQg1bWOuYCi_GPaCEcQtlCmo7-M1ANRGDkpljLDWMg5EXcnIQVU6CJzm4TNQv0yFT2cnaDeyTaN0h23slehlY5kggqG55OB-iEuDiaxuJ_EZqQPwdjg8YpK3LCXV44P-l_CA0wOTSanuoE3Vi1DeQH-aGGpiDkvnnoJ_2oatTZFre4Nkd3834gEfyx2s3g==",
  "id": "rs_032133f959d38e29016a7dee21c298819ab01134e4926d821e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.18,\"left_j2\":1.75,\"left_j3\":-1.17},\"note\":\"The block is now near the fingertip line and still centered. I’ll make one final one-to-two-centimeter descent to bring the fingers alongside its lower sides before closing.\"}",
  "call_id": "call_pksN4hDDs1DzDESIlGDj6nAm",
  "id": "fc_032133f959d38e29016a7dee26bfac819aa5e2b774a8ce16e1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pksN4hDDs1DzDESIlGDj6nAm",
  "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=-0.5003 left_j1=2.1506 left_j2=1.7752 left_j3=-1.2217 left_j4=0.0074 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -11.3436, 6.0239, 0.3394, -0.0171, -0.0317, -0.0122, -0.0342, 1.6068, 7.0085, 1.9023, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bf7fe87ddeb693170598ab044e5288512a1bc87b70bcf82118f24e41764359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625b9b6c0662c2337f79113654a2d02888e9a69f7316b70eb75f2e20c454e613",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9942f2268cef3e9f4fe3aef9365b38be75796558929e60776ba4e244e2d36ba",
      "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=-0.5003 left_j1=2.1506 left_j2=1.7752 left_j3=-1.2217 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -11.494, 6.0376, 0.3346, -0.0659, -0.0757, -0.0073, -0.0889, 1.812, 7.2, 1.9316, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4qHPYauEEqy3fApq6HOAadxwjAfIveA7RU9NTxrfMEF38chuRz_jQE-NoHKoGiLUKiRuNkGlB7_DeevEVQdbRUzK8bt5IzOd3cuUCtedxT3M5BCnf_YTV_1GpU4d7aaxv2C89V4E42cBWJNhgavsGguleXaun1ck_sgd__RGaVwZbSEub9tJMrPXWrUNK_g4pDuk-W8AhJsX3xUnwwxOfZ2rJXObXEJ5inFpoHWCbzrz1pVc-uBlS6chuJVlUWo-5OwHA_5lS8JWuAAFV7B5ZHJ4g-6DQI37vpx3pZJWt9wUgvJzxOyDhLf0DUvF4dh7g99oaHHis-RFD2sdmGGZeWY81KFhxQvhhRll7LJxwJxc0W5zmqzTqkcg7ER_CRSeDWtv0oRYIkVGu5Q5tkIZzFZeTk29pJiAoBkqOqm7ARS3DkCd7ZqPhbAhjFpK-_IJoRaC8Z8PM7CglnP4AVAFpdNVgKy_AJoTXByruVN-EMeTWLq6tpiTbQDwpXmjDRaJgUgeEuIQJrARJ2xA07bMqqIqcC9H6xcZ2dXfndqayED7bst4A0rko4HMQXl7jmCod8VHNpCZoUEGyLXIiu6oGYLRWePPoxRVMdEHi3iRZaN5kNr9n7x-tztIIFdCRS0aEWYldukDnxmO1yrxI5sFQyBoSZUpabxNIMOLOriI272TTCVkSYsz_kF58VMcI1N0K9kqUOjmnQtl4B5fUAKKenDzeXT1ytuk8kHHFgYpvqJwjEIRoxNWK2nPpTzzanqGzYoFbOtXSUN3lnma4U7xCZ39GnDzraCUDRSaloSBw0lCugcTC6HAKXR6Dy92rSGWO1l7RLKhyuRcgr0KnRc7GmrViEDkkXV4TOBnqNdr-u1n-uTYJnJ5uT3QOAfQCoKtfnYENp3W8i3H6tJRHZU_gC8AdidCdBaCw0yv1Dycl86E-JZ9JC5qeKjRFfWe6F1Az0",
  "id": "rs_032133f959d38e29016a7dee292170819a909dd7d72709dbef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.18,\"left_j2\":1.75,\"left_j3\":-1.17},\"note\":\"The previous one-step command produced no pitch motion, so the arm has not yet lowered. I’ll re-issue the same final descent target.\"}",
  "call_id": "call_4NuiMdnDLSNbnZAYiqYhh2P4",
  "id": "fc_032133f959d38e29016a7dee294f6c819a90ccbb4d2a5fc00b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4NuiMdnDLSNbnZAYiqYhh2P4",
  "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=-0.5007 left_j1=2.17 left_j2=1.7519 left_j3=-1.1809 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -10.5504, 5.4632, 0.2955, -0.0464, -0.0513, -0.0122, -0.0342, 1.5932, 7.1043, 1.8877, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7d2e87f6314b89cb951152252817a7670ec078da9bf3a5e1aa29927d9f93dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ae311999cf8a371c1dc6da3839682fc576d1e41adb416bcc34db37984c4dec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77fb451279d4369e8a26bc5382dada8cada994f597a5a81fd9264269ce9c85f",
      "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=-0.5003 left_j1=2.1506 left_j2=1.7752 left_j3=-1.2217 left_j4=0.0074 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -11.3436, 6.0239, 0.3394, -0.0171, -0.0317, -0.0122, -0.0342, 1.6068, 7.0085, 1.9023, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4wC5L0sYVQQm-nyjkJczn6gBJhnFlLTUTV5NQPf3x34Ny2hs67eTKDgQBw7J7rTWwpLFg0-v071-4Wlqn2VkShONy2L3TNavQIlZFXT791U-A66KvhJT63rpEl1DPqKvN7Snj3IZ4v9ZTMQDmruae7dmE0zp8oOh8xE9Pcg4Lz2TuTRjZFG5wm00qAuQl1cidvqBC_OL4O107g91LlVm5djbDO-SkwU3LyYZnj7I5EpTu026GUdlShHpOL7B_ZYuZ4UI9MRCPbAZRRVUDSkjGrjGBp4xN9zcsSAIwFS753A4xRzWmDqhO4lNHz3M58EZOv9Rwr-fCxjjYSrCQu1szZFJKAf2Flt5JtuC8EqzLQgzFZV2UHDaa40UiPMzK6Had9xKeZeanAtr8EsiBoJ6lRZQ6xb3wKCgB7hTo-WWhEWMH5TesM73RQh9DcqeEQEuFDv-i-bzNl6sY34Qvc68xGJZpsvti_ccvPRIIQsH4CbMrGS3LK-rLImhYX6BSJAMeJ99VwHgOOsxWIh0rX6q6na7F7YztHF5rOJwI89iqI2IRZJe_5J_b1Yxrz-qdqYXv2buLDZnNWm9YKgFe4SWs1AnqanFxeAxJxWCgeX9Andmjw7Opf_38bjFlueHL5yu1SxrsO2MG0CqAblZ95JyzqPq7jnjQpHE13n6Ph8Gv2XDl-224HCMQVC3BBRVfkVQMpovNeHR_4gat09NlEehJd8H2dtQgBpCOY4NY066zqyMbigjs005y-l-JqWvvfePDg9C2N-o382K9dBFxl4sctwZftpfmQAQgUGp7R5ayt8WbpMtTMGJvZK6fiCOqNJaZySkVVdZGo3sSd7Pc9zbLhfc_UoYuJ20hq-SwCRJ_AxTuW7w0s8_kRZKHh6nHA7LSATYtKCJ-rhaeQECr38BaD4nIGl-m-qjX1SQFP9S3XgStzRbOtlBs_S7rK_9gathCqXR0cr18AGWbaNVu5pGUIQWHMQ2FZJKNv0fYNygkUJfKGOGADrON5w48xSbeF3CpXGAAbKd3VXinKgVSb363d3efnViC1GAUO6IZhZZP-7lZV28Xvj7kOllOYCtmqztU4iqDIqyJwSixmH51cZ0MsfEqWGQwNglxWMcgi5QvptyUP7euFupUK7CVjDq1BnTQFMgKfD9vRO3zybJGOZtWvoDZgLo9XsKUle_qX9dNmeSJrG4R1l8l8T89YWpENKkUbtBubAzGmBUjmyd10QkQxWej5rOl7Owom8UXSmrJi0EZl9oFsq0LphyHXdCF0yLy9CkfSfrVvFv56ERZG5nZ3Qxcs8f34oEvrfSrE20bpjYKaGdil6CNVaF4Il5Erq5-ln_gbcO6gBbBGKZMnrk9sK3qNuQul10K3njBCttAfLghcAbjpCCypMcjdEJkGCz3-yrm60eZH81c1JdmDukDDbd1tYDFhrHLn7Is-F4dylwcaVbtICxntr7_Hmk_DwCoBKqsLKFdAxnrRzu4qm_MFXuJ0n6Wh5ug5emCi8Kdy6ZSFZhdDyqcCTc0e_F7fSv_4Y_NOoXZGs93BM0GNpxkXLrpKjqq-yh6mj_LDpmOykZ51Kaudnuik5RPEVgGZ6zmQI7rlO7zFN-MFx0aPGSQgjER_EbmYhoijG0mJyWDlu_9CDsvlENGGRzMjCtF0cqceP1O73ilGk5WqrqR9w21ltAyvkjjLsULhdS2XD7cdbv4=",
  "id": "rs_032133f959d38e29016a7dee2c89e4819abbd22e9712c846d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The final descent completed with the block still centered between the two fingers; its downward shift in the wrist view is consistent with reduced height. I’ll close fully and verify the grasp by residual and a short lift.\"}",
  "call_id": "call_z2vp9Asvjn2dsqXYYHJlV9Fh",
  "id": "fc_032133f959d38e29016a7dee2f6ebc819a86f706a07b03cff0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z2vp9Asvjn2dsqXYYHJlV9Fh",
  "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=-0.5003 left_j1=2.17 left_j2=1.7519 left_j3=-1.1847 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.0141 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -11.4803, 5.641, 0.2711, -0.0317, -0.0269, 1.2821, -0.1162, 1.6068, 7.0222, 1.9023, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb72afad5b2deaa07ceed1ddc831a9459d32a2c5d2c75a45fa97fefeaed4cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155e1b81c7e947b24e33e2ed3249dbdff141b3ba8d74bd21bac53360f785d5c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67885c3167107ae428b60dce03fce4180c9e9c8905c9e9675c8180de126998c",
      "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=-0.5007 left_j1=2.17 left_j2=1.7519 left_j3=-1.1809 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9954 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -10.5504, 5.4632, 0.2955, -0.0464, -0.0513, -0.0122, -0.0342, 1.5932, 7.1043, 1.8877, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe4-9TagbB-ISVw54jevecEvphdBWTRu8fYhajujxdAy9Z2sRpvMTPOvBbN5ckBH1-oShd5AfMvCrZeRz6RsV_q-j31pM_Tt6PsKRJTUWWI4uQt6P-IMcPLb1-3o7ztpy4DfDur1o71QirUl4aRSoUJaO-5uAWwmKc6lVYyRdlphI_dy8QGezZqTZZkLWChqFd5TtxnU1VbVA3kc8rTtltBemtpV4UJgtZeHgUDFZYV0EmLxk5I7gIXJj_okhqk2d5evE-3RWuHukm3aGStE2gcx7jn-heNlgBKowT568sH3rLhGEYUqwdcBkljt2iMpL64BNfh2D3vH7rETkf5bdqxmtt3kJ8AHeLcWa99odS_Qb9D59qwoRPNoZoLxWRzf3PWTRHMxKEnGuR6XSpmQPdP0nWfMwvLIY1p_jMJhUTRPER4pzXvMQaa1AUZ0x6qWJe2tptzKXSfb2G0-qFQRPesOyP7vgcAusmj7GCZTNtTyMSkqucQrQ5dAcrj7Q_lkDvKsUY2EvCcwFweaX50Y5gkJe_oLFGbbeGou7jOcE0zEtHWT8hZC8BBgytBTwyQB4a57MadcoEKiHNAmO5yOTgGiHfeSU0-HW-tPkeJL3Vor1zIehLNT9Eaz7ksF5aLxtN0jFCOUvmn8VT_EDbUYDey6wm-uOCZh6yhMbxQaqdsBzbf4lJc7PQDFEB2oKsyCZnsjoHDS9BvV2Un9FFbQSvlmxHp5-RlLP_BuTv_5-6zunNP-ShnTl3Da1FTT-NKwfd7uGc7MdtVAjFVwBNantZeWC2I_Y05XXGJQmoDsoflwC_6oUeT7RtDuvYo3kVfg5pSabYYLt_kysH_NnG34aPO7OT9JfbJJ8Nx8fxscnKwMuWv1slzwd8m83y6jSkF-kcoXt_5Y6f42lpTtwpHTCO3NepWPaePqHOKzE_B2E564GKqhjmhTuJyjNOZevGnMv-5pMEb50--9QHJtJe1XRwO77fPh83fcfXGJadDJMzwhjCwxUSXy7bYjyz9kDMB4OOkVuCfRj-GjHTFZEkOF5SUaHNIjOxHnptHOa3Lt8mp1p2d3e4aGRdldv1op13YDaVOJVTfmyyx7jE3G4oK6xwqObRH5GEc9E4UkozE2UUvUJdJ-yYePB4Y6P6S7KBlF_An2Nw4bXeJ-TmfkhWQOxSdhNN__CNVUQlis-Uo0M69EqjNHQnaxsDTe4c33qSR7PIkF6y7TckmzklQnc1ZSk8IxTDbKExhOB6Dicnq6ZzZJSzk1V_1hlyKh3B2-Eq-V_Ru5r9KwSqsTpjoEN6qqcQSBMA118qzl98vFnF2tkVLb9jTtDc2vJgd1iMYjjIS0wOQX5GemxvZbc1rSz9aWsBhfM057u2sDkOPlxirVzBl4LU8gbJBKWDnzcqjU5skao8Y4gZBFJF8ad_-LtT8QtW51LrtBU89WBFmYTXQ83rPm_k7JpiCqBT8gOvbuXFnWWImiwynOkWZqlPDNjHQSL6Eu3f21X9cFNDf0fxNDRMOdqg7dWwiqjyiCESMHoR70w7n8ivAGnqIq4nBrLFmAwl7Dl9aLris5XjlcT1BRvRueFx5UQCI7DtPIY-wCfwDarUIq8j7dMwxoGpzHl9Zjyl0EdzBdr234T4K5YeoLKuVqb2LJh-fDVT6Ea_P6Xp_IiyHlJc3gLGBpDAaK4XTptI59lKUJ5IGjbExYzGfhOV-ES5wmTuDdGOY-C_m7Dxy56cAQkBoUY0TEQDxfnCCd4nhP-PrazAq8oV4vqAanKwrPX2g1MC53SHj-gZpBnixo_l8ICdtU101vnp_x-f-iJIXDZTbgQR7DIKSdfOjlXdO1Q2AA18LJ8foTi9WTmCDQc8II5CmRycCuqRU3cefgddk7-MLpSMRKWHbnr55R0Qt9z3f3qgYrvseeKDtPgGs5UOG0Sy5DR-5zGCUCeoqGAdpBSaYaXNNNaQce9NgIOW4qMteFL5GP-sGCztkBqyN728ItwZGGKq5YNoCqogc9NXlWEYkJ0kHU6ntZCR4wCLnTLROWJlYxdQVvJC7nhgm4PdiI6fqFhl2cc21-EbvFzX7gbC9JujaZJg_G9ljmcuDnOHlu-X32N3QC9DdS3EJ1W8vOLU7XTh62UX5PPb1pRE5SQ1a1LVf0KINzzhZC-GzuSQw85-M_LFHa3CtvT9WNc2mCHKYc9gqEtIpb3EQzGIB37D6a8aoZFlCUxNpYnrutaR5LRta22oT7fOGLOVaxhmZdW_Wqyaxvmf6q0Ik-d4nWy5wXb4YG7UKV7d1E1YS3ejcRIGk_o3eUty5HBVxlqLN3PFl5Exw4mmQFiRbZt0Oeactp0YoBpyw-uoPUkZEJnq-5mby4vlfcB5kyvVleuTVB",
  "id": "rs_032133f959d38e29016a7dee33637c819aa6d837dda18d3ade",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_j1\":1.95,\"left_j2\":1.58,\"left_j3\":-1.2},\"note\":\"The close was empty again, and the overhead view now clearly shows the fingertips still several centimeters forward of the blue block. I’ll reopen, lift slightly, and retract about five centimeters so the fingertip midpoint—not just the camera view—is directly over the block.\"}",
  "call_id": "call_nSfCQYXcadBTJv4mqa2DeXKr",
  "id": "fc_032133f959d38e29016a7dee3d13a8819a85357094af97dada",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nSfCQYXcadBTJv4mqa2DeXKr",
  "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=-0.5003 left_j1=1.9945 left_j2=1.5879 left_j3=-1.1912 left_j4=0.0071 left_j5=-0.498 left_gripper=0.9947 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -12.9026, 5.9692, 0.1929, -0.0122, -0.0708, -0.1197, -0.0752, 1.812, 7.0906, 1.956, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:100be6fa45f43d5b69f2e423dcde89f847cf6339c6d5f1c69558371be4ec987b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:018f43aedc94ad26c2dfa20997193db26b7d457359fafb302f63824d692fc713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7d59dcbb539b63ff29b1fbfba3082cdb7eef16480828105761b6b1240b301c",
      "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=-0.5003 left_j1=2.17 left_j2=1.7519 left_j3=-1.1847 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.0141 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -11.4803, 5.641, 0.2711, -0.0317, -0.0269, 1.2821, -0.1162, 1.6068, 7.0222, 1.9023, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5G-aBdXf4oH7d1S16c8DwjNQl8ZzJvyaANww5Fu8DDF9FeBIp9U-Bo5JaJjgWAszevQvo3eByui-OJGvW6_Q57mULr31UsjQIbDq694em_0v09B10FkWiG5xiBezLVg-1dzqMcaWfpSLPqvXaYC4vWmRsk1VheDvvfWjWEk_TfseNtrgnpY6in3-o1509ebzXavfRB2VRMCzbvEhLOHIa-mw4jNVukwRO3E0bwuH2BopUA5mRGp_lvXxXIRGOyu2FHOcLwQgSoT4ju0D3jgPfepTbWGYZY0YJ2pYLKqRx-j3Ww8KBtiimmT7eC_3NsbXh07xuhrzsk2AhcSlROWxaIfDZ5bBGTIcqExDLmnCkEzuMkXxvqJQE5DNz6-zebB62t7LvFAI2fvYqNFf19glPeQYrxbCots81GQRH7Y9zrtJb_bINmQn8khHNybzUNuboIt3MTFL9JctYCGM68qCGgVXrlwDwAAnBQ5-NMxm2Fo8X5jNReszbUWq2iwGHuYkRmsgZSi_sLDDjvpuEjFtP1m-4EMwUDbNiV6FEaZjUFzGh8ny2tQpFY3762S68i7KU8Bmw78SS2_s8ytGJbvLvkyE3Ucaqb3WL05bTUqydsrE8Tvp8CpHAckvxsMN1n44zPRtzqd4DtobjkvasAuoD3_vGiNZklGJIDGRQ8xsUE3yCT4tyRP57uv64_HBi8dz2Q7Iath307hQY4HMUde7rV-YmxSq0yX0u1LmTgfAU9zh1ALKbPlEVzV--CJlCkaKyJBfZ_Xd7Bq1HgWWAD12mSdUlVRDkyXp4vn88j2FDMAtSN4d3KfZdRRD-mr7u4Vzyy8HEiuSaLC4qxKtm2iQ-iI3cWeq33jV4ecNwX11atMmw-2SP349INHuEUeKki6Berq_p0I5zR8d9nABUqrXJyw5FgCaGtot8AwrV5M2YJfHtj4pIVgsGYSzMcTe6A5PW9AkLCdB5XTmemEZL6QLddocLX7kAabV-Z1kPLT4p3Ye1e4hFj4UlwbAaMxfgY3r2almWWbT6EB7TfHiHa_5YSgL3DjtjaR_E6pMqqP6Vju79SxVn6JpOAFHG9pzaHYtNbCMZndWRXQIJWtifinTNTg7XkUsqXDAZ0yjGNMYBirHF1bK8HACPXfsSY9kpzv1wazXWjIzUfnytDHW6seKt4wPZHdrjxJLztG1B-FOcyAyxSX5c19rBql5TwQZrgkUUIE0TL7ljTXX8AjGy6qdn8dH1LKgxEfnNiErTQlnDiECrI0ytikhHc9Uc3_AktfLHVn4hsP8szVS2RKNXagL1e84KjuAfJNPHdUrAyBcHhEHiSPV56Vz4exGUXiJXLQwBEbaW5fQ5uXliDAVKYWveCkncn9pj-mBWJB1beZmUm4Si32SnDmx7bt3UcTV9XwsaGPFPnfoLgbytwi5T0Z6fdxQF2OZBHawlptmiSH0gXjJvT01OJmRHFxeeFJDaAetiCdMnBSNw4GkDqwedDlPYJxbSoKssuU9fKp9f08LOA2vfRjJ-aUURxoYWTNqiyX776UkKb4p1eeqDpZl44lTUI0N-W2VaoZJVzueswzpnHuV-em06aZvKb1RTDDy1944JeugcRxZ0kBkYjg0Dp2gZqHkLdMd3LyIoV4bDdZMC-Y7HEOr6GY0Fl03SDved1ZW3HstWRLGBXtigu1IsmSIPYZ9eyIVbUDeZ4lXYuw3snKwc7GeCoV25X8wRGplU1gQWromcoi7HDc9D8YIZOat5W8AmeHzHCxrA2TQfTA79nMdJdO97fLdRalXukmNz2VEEn00H7vD_NOAZz15eH5JYA_96guE5TGZNA3MPkk0n1a17QGwgR6CftZRKUS81pA5BDOimbtcsl-bP2okNmcah3wOyiSgxM6kARtPBD527RxX5Rz0vloyRY4ivmgUDugXdfWOecCXRuJ9FlDfc2UTonXNiAdxd8h2A1i0iU5xC2hfjRBdcl-HGk_RwdePO3oV7JPrlBiReGo5LBiA7AI-tw3SPYEOmzW7NjVeh89tdvlLOmVSpiLFpKBqr9Fl2luPIMJ8Zfuo-xawcH4VcR3oF_9OQelhAQs901PBWohHC5atOIMAGFcWS_UlmzYI5w6MOjoTqrGxb_RXeBiWEllx142sOEur20iHT_NqiZmGErOB0eTwTPofLdQvCtFrIV2WFp77VlOAzBBHe2VEMNyaW9Eg==",
  "id": "rs_032133f959d38e29016a7dee41c7a4819aba21d15a5285a687",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.56,\"left_j5\":-0.56},\"note\":\"The overhead view now puts the gripper at the correct front–back location, while the wrist view shows the blue block slightly right of the jaw gap. I’ll make a small rightward lateral correction before descending.\"}",
  "call_id": "call_vJHFJtQwC6mEGZ5j5WT00APb",
  "id": "fc_032133f959d38e29016a7dee45af6c819ab08d10ea590d2fd2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vJHFJtQwC6mEGZ5j5WT00APb",
  "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=-0.5007 left_j1=1.9762 left_j2=1.5826 left_j3=-1.1988 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -12.1231, 5.4359, 0.1783, -0.0366, -0.0708, -0.0415, -0.0752, 1.6068, 6.9949, 1.9365, -0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92516054af464fbeb96149d891beb70b7682cb097d96ed7fdfb4c07cebeb5b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95183f1ac65311a5f0da3243f6a293d93bffe6fdaaae9a0f83c43d76414cf920",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eb5faca98983700112a301655ec139881fe7d27cad8df538b26ae2b742c774",
      "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=-0.5003 left_j1=1.9945 left_j2=1.5879 left_j3=-1.1912 left_j4=0.0071 left_j5=-0.498 left_gripper=0.9947 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -12.9026, 5.9692, 0.1929, -0.0122, -0.0708, -0.1197, -0.0752, 1.812, 7.0906, 1.956, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5KXzHF4dDO5OPNkBYNfSaRKdAnsl7CAwvORUxbPumWc97tKdP2BmJG9u6rLEPTAhLcnAH4toEv5nLPXQ6pagxkl7BEx3oZATM6JAVtJibaN23OU7mAetjayI2anA9ySUDjBTic5KASOyI2Dw04_h0dgyM2eXxwO_uPqGBbk-QO6AVFwRVzFqvckkbSSQCU6atCaaSJDneT0rGam8NvBEqQspTkuSEQCFPVPJwjnirZP17aZSBamFvQPj64-XLzU4GZYA-UlOi5rJlHUJiIhd9RZytq3z0j977rWABGplRZR6AhsV_6diT8rUOyMJQ07rXRLR3R8FlJ_MZHtqPTXIy3h3V6ELZ-op7nvS7BflYfdKZ4d-c8W-0_rZC0ohfP8XbYrdTnzLg5k72oRaUlejQjzt5stvEvXa8ueekkCHIXJyXN_HjENndyxqcW24kMpcn6-UN3c3_1PKxwgjDrndmixwAiYwV1_5-uJycvwVtZEP234t77ZDO0OisQZv4-t5ggDdh0G6f6Gsrl3-7rjkCCZOT_keLqSYRyX5E-JEqycusOu4cBu3Qi7EHm8q3YIZYQ93T0LpuX2tIRqYHvpAFsvs_Ah9hakxkxOTgM9GzGQRKFNRbK4GGiwu-n437q7dmAY2cT5l68mIcjiS95kEr4N64Z25Pcxsds-tLu7LRcgL16-mVVTP9b49CUXewavFOnNVax31xn2IagiYDecHFpEsQGIvlvWMtE_52cdNcNsFcmhj3OeS5Ix1P-2-hkJbb9IBY6sdoBVpOJZahXd0e8TkyPS3014hO-OV9IYc9Lj1UW0PeuXr2NiCTqyDmMvHCo4rJ8cs_iI-LeAjzRiTlMzdqkYQ7JHDCSYRvbDA862REvwXTsS_DhybjB1Xq17VX3E_7ottXyRKvP1XfQeFrZTdf91Zaej14SaaguLXKVZY2QRu5FBQhNNvq6Z7_Q4MwQ",
  "id": "rs_032133f959d38e29016a7dee4815dc819abe80e2ded8c52821",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.56,\"left_j5\":-0.56},\"note\":\"The one-step move did not yet alter yaw, so the block remains right of the gap center. I’ll re-issue the same fine lateral correction.\"}",
  "call_id": "call_E61aU7Rj8De5aZLRRHWFRNYv",
  "id": "fc_032133f959d38e29016a7dee484484819ab2b33ec7d6f4ad7c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E61aU7Rj8De5aZLRRHWFRNYv",
  "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=-0.5613 left_j1=1.9888 left_j2=1.5826 left_j3=-1.1954 left_j4=0.0071 left_j5=-0.5507 left_gripper=0.9954 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.1026, -9.6068, 6.0513, 0.2564, -0.0269, -0.1685, 0.0611, -0.1573, 1.8393, 7.0222, 1.9121, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7c75583ba85bab07d156058a85149de627e8eac16712caffa869d948fc4b09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bee71fdcbc0538b2028c02aef9fada4d4b3872ce370f7076c14571bf65902f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446bf68ed9782c5a14a913aa28f786cc10599427d05e5cdddf97e5ba808ff3e1",
      "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=-0.5007 left_j1=1.9762 left_j2=1.5826 left_j3=-1.1988 left_j4=0.0071 left_j5=-0.4984 left_gripper=0.9997 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -12.1231, 5.4359, 0.1783, -0.0366, -0.0708, -0.0415, -0.0752, 1.6068, 6.9949, 1.9365, -0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5NSRZxE_WL1Yk1OKLx6jH_82CmYwH5gaXdIjO4qRUdoAUKRqUVQdgLPpASiSHDwc9M_j1PkZS_-yH94wWfSeGcEui0Bhj0KBS9E88Q0eNPK7eLl89hwbCoBA62HLocWD36UQaFI_bpYOSB4XVMhvY8ChsGNTDGXi_3oUCNLuc6iwmn4FLhaxYff5OqMXCqA8gvbQBCPLcpt3ZwTjIIVwGtuwBZzHILigjIMdKo2o0sCjEw4WWsvwwbrPB1mXd285pv8r03mIR1b7GuEsmdiIhnNxFs1wtuNUFePUkstju50jBH93YLyv-xFE3ZP0JeV7DmDVV7hF1IcUw5QOs9MaqK3Q_04wk3zpKRjMxP_Z-Prl7nMWACPX8KLdgdslMmiFFajV1P7NpZsB7U6OUfU0kB7JdFVVYAYVUIZl6HEmLNVXAxVu1LbBuyRwGjOEYUiJ5S9N1DFjD8p508MXkbZFGi_bhTfEfo9FXy3XGSYMNJbkdY4pXYAPK4fjtzVmYbFXaz8ihe7ftjmxj7601hnYo8SvVbhPreOySg69l-JR0K-57J0A4iNtseRN3zL967Du8J2bt6qpimzRXSfaToRYdhCPt-a6ddyEPPF2mvyAOeTmTxERFd4Pwre3HmNb9B-7frrqfWhoQdcwkFz5n9anTKkUnYima9_ZKNjysd8SNo1tU-wNrChnLFDrsCbeylYcLJ5bSsjg-01QwoM7Lz8ux6jHj2SJcQBkDCD3K68QasAZIBnnIoaCjsP7InvTdJ3VAtHxZAn65fe8HN1zKk7QiwYG7hILhhwr51FR7jKXDDmp3bPByFZMvT6MY5buQypTaSApYDepLkpFav9tR96OedwOYiyStHzaWc_FC_SECd41b6ayqpG5lJT13NRaeEY836TZv_UQUZ9-iG_L5lkmbkYnDnhh1jkT2LIWfOfqExj_xhe8CDKEzjxBQyAATOjlUtxBBSAll1J24BSh-73y3RhcRQvkLN2CABtfB6qgdyhPUUiRyQiv0SBkO88_sjWgh3LGAk1IlPoZhWPRNOlNxsOLxyZwk2rrso1qQeBtJVaBAVV_5U3d44Sl1123fd37F2",
  "id": "rs_032133f959d38e29016a7dee4bdbc4819a9bd61ff82612189a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.58,\"left_j5\":-0.58},\"note\":\"The block shifted close to the jaw center and is now only a few pixels right. I’ll apply one last tiny correction to center it before the vertical approach.\"}",
  "call_id": "call_2RE7baKa15pHM8AqNjb8nd8Z",
  "id": "fc_032133f959d38e29016a7dee4c9b00819ab9d9ab75ba4c8b01",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2RE7baKa15pHM8AqNjb8nd8Z",
  "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=-0.5613 left_j1=1.9888 left_j2=1.5826 left_j3=-1.1961 left_j4=0.0071 left_j5=-0.5507 left_gripper=0.9991 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -11.0017, 5.6274, 0.149, -0.0122, -0.1197, -0.0708, 0.0342, 1.6068, 6.9949, 1.9365, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d27085719ea6036691eb5b84502420ad81d21b3d769aef40768dd27fedee445",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45be0b2910bbf597990d28103fe450f13727095f44224d49fb7d6bda264d70be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb0161b50ac256dca18763a422af66b28551aa24ed19bace9816a039c5b4045",
      "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=-0.5613 left_j1=1.9888 left_j2=1.5826 left_j3=-1.1954 left_j4=0.0071 left_j5=-0.5507 left_gripper=0.9954 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.1026, -9.6068, 6.0513, 0.2564, -0.0269, -0.1685, 0.0611, -0.1573, 1.8393, 7.0222, 1.9121, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5X5LMcTRJ3DtgEMpk3nHbJm3x-SqsWWuRF53ZigFKup3-1S5yngDkOmeVAqRK7s8zQcxdFdqZ6uMTr-yVh_0RAV4176gVJ106C3562WC8dzjRYC6XoFEQDh0gXjLVm0QbFC6hBU_T3O53JAgOrVOLISFR3xLl8DVt8tQzxasyLwFfEXpyGxSFM-UIKnQfSbEo5qEV903IPC85Q6VIeC0NnbzNmXI38TyFycStC4fn4oe8Fu5zp9mnSCylKXdBKvHZmGkEbrhaezFAyLoQHjtfKuiJiwCxJ_JJoYpQwagYnJzOA08OpuUkYe5sFb7JjSbLoPVMwKzNRSSEmHv9a0QHrTvFk8CKjHNmYlqQl0QOY83RV7a1pfqz04KhbMDl9bZSRHfuceZm1wpc5nXzvM3rEbzRgofSshJaWJ6eNk9gy75fV0ceqabUIUyo8SUXq-jlJky5bw7mL0tY9fzI9zTE6xWh_jiprwhvSmwR9iGIw0qey90UbFqGgRfbQyTzWHF3XTPhnsvVngUn6jcpfIUlAZOzQEggfwviW_XVGVj3Ik8JC0gfYd1D3RTJo67NBzAT5e_XLSk6VMmIGxNtMIOcoKJSEWePMjuOAaH8x4rD92Q4Te1O52bDUgLoVhP1TZtNVv-KfdQQZ9XwN9ZauGnmeJxWa5h3ofG34HlZLlNt70odELgHL1haw73EGybnK2WlFB6d-9nrcmY1p36PHEVVu9oSwGHojnEBSBf6U4WlQMx2kZlZ6l_bKGQUXxAKNf8CKocY6VgikR0IS50A0Q1pzH9ncz-ARQyokNGRw6bj60NQpWFfOkM7Cz7pHLx5C2exs_wigSCLIA4NRLvclyprDwHUoyeYcNtolGcT_i2Sc29gNQqUYzg95H6_p-A2Fva2VWetrp17fFyEE4yCxr12T8-lqb1-a7-Ko1KZrJaqQ5t5m8WW6WlJuftxKLOtcSzvcRSCePjYTFEb1csa7Z9o4E49CROg1Nh2GO851UbY7d__XmsHC8DQi0ZN2KpUEcsDI2FLavrhZMFQ1iZb36AIRoYHq4_EqJN2ZmCLXXKea1G37bawaIHPg4_Dr8NBpQaAZ2SAsc6FQCdieSLhlKVymBhwFBfl0TLDz5KDguRlcx19gXC7Mh1tHUAdjSA5x72hmLndtp0oJTB9YvKp5IY05R5CsslW3tR4nRDTT4Mv4d5xQ4PsnQ-jRq_i4mr0WYhdbBU2Z_Rp2Kpw8Lnh3i79n_lKospQzD-DYMXTGfQSvhq3x05uJFlItM3eKlFK7uvNNmWmB4VxmiOhaqpKvFzsWQQ-CEFS7-dOBHuA6nnqEiAbhnw_GQY9QMG3sFP3ZsMdIoks4Nhs0f7v1BuyHyarKmV9ez48yExhl-aXVHubQ07tOkoQZY3GqznL9k-_0Hkj9fRTfnYYe8HY_RIKnVYoVYU27ZkOypqWDcGWLc1RcdG13IjG_MV6BowWpefPKE7dzWsel-U0UexE9KQL7vB4F1-hMD9NgbepW2EvDlMhUghK9s55Osl4p2n-L68vC8N60l0SnzZtQh7BwfM9BSnXjRNxcWeFtvV0WQZ12XgK-vboZL-mmzfAvnGIpuFoOUbSIOdg_i1i_cdkCiN4_zYx9aQTl_e8YJJllt1faPVYCdOUze_V_MnJ4J_rlDFHJbGKk-tISw0t8vOlq8iILwesGRR7X5CDvZeT5Bs59lWFHbmuupmfkkHXkStvjfyJ7AibiVoTciVve8JSHDj6tFjVdgeq_aT5xa0SjH9C3v1S0aH4BlvFVnSs3s7_XDd7MXthJQYIiJpfRjI7jqkrnCacy9v_jirZUDjdshAxNy77vru5A7cYhbBL7Cic6UeCUFT-rnjHHu6BeQ4bbMrrYu9641A3ceF_LGIB0LaVkj0YsGNGpiaqEJIDGsngxFenFyDc0",
  "id": "rs_032133f959d38e29016a7dee514200819a9d7e6b6018abf92a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.59,\"left_j5\":-0.59,\"left_j1\":2.02,\"left_j2\":1.55,\"left_j3\":-1.13},\"note\":\"The gripper is now directly over the blue block in the overhead view, with the block nearly centered in the wrist gap. I’ll descend about two centimeters while completing the tiny lateral correction.\"}",
  "call_id": "call_5nOALmQA63pIQaLhGeVjbpOJ",
  "id": "fc_032133f959d38e29016a7dee56977c819a88c823927a557ebd",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5nOALmQA63pIQaLhGeVjbpOJ",
  "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=-0.5838 left_j1=1.9915 left_j2=1.5642 left_j3=-1.1656 left_j4=0.0071 left_j5=-0.5777 left_gripper=0.9984 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.5949, -7.9795, 5.4359, 0.2564, -0.0073, -0.1978, -0.0757, -0.1983, 1.6479, 7.1179, 1.8974, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aecffa8f3b942feb4b259fbe7f6136d45a6592efcfdace7589fa1c93cc423f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33613275c33997b6a4a9f3648e4c73855ae9ff61d469c7ed7ce2f272f4f0d03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6421d9035f8274ea89c43e6f925b7554e2d418777a8ac8d4c75779d7cd25c204",
      "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=-0.5613 left_j1=1.9888 left_j2=1.5826 left_j3=-1.1961 left_j4=0.0071 left_j5=-0.5507 left_gripper=0.9991 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -11.0017, 5.6274, 0.149, -0.0122, -0.1197, -0.0708, 0.0342, 1.6068, 6.9949, 1.9365, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5a0LAUGF_Upl-dp8Ixq70_ZGXsJVr2txG7mTVXbmH4PNHJDVe7l72NpY9G6g5Fjz0RE30N--CxMCSLKjpyykAgVuEPjWAVvDjFHrA3N2V8xvFw9pkOJ4eVazOmyX2FzAm4Xt6uNSbNhAhnDuTimIKFli5hRDDBQjiz-erDqz4nwY_1e2J_9TEyOZwqEyg0Aai-8XYggyjVJzv1AAkNHmWMixRsdkh7vKtMg_wKXwvNW8B0yRgR7HxT_rxRrfI_FR70PY-eSXqd9UsCbQ7jSUWlKfptuakGSoD6TNC2X4W55v-FzVSeK5wPFTmkrgUvpDAlX3tZqlHxr5b-R_UVUrKzHjcKtIqy6mV4zWE-HC5hcZgiTilcL_9BQYvzg0rOthtNH4uOYrZDqOxYC7etE_cPWj3pnociiDN1HX8VuXvSR1MLm6gRDz-ylJZp1klf33AWxgqHIcxM9_I6zBmD_LiIMbdtkWxQvantMmHQyZrbbh-V01SNDRRZf40q-YM8lMe670e-UozRnjQCRoZAuVpc2VrbFo0d8d16QrR0piYmUz6e7Hy6oMGf0QkZoJPkDLZryC60pz-jNJdMwea0fHhHY2PewpxvymOZdSFyA2Keo23E28aPhuThlzrS5EKjodtEvpoUbGEi1Hx72i_sqWMR6Hnap4edBnFyLk85LG0yu3AXCiRyR54hy4bMrRV8UI-s3ctaUnb382kKCO6cCme3hVVAXw1e43dcNEayr5gVkuiSgVIjFobknkwvgLYvQbe_XhEXJdYU1BPepOKF2bWhln2TyL81FhBrJphaz6g9VovWhpM05vRbDlTo_pPa-OCMnVnjp6mu0yTJHmSvfv2ZFQkkyBxc2YgZ4dIp6YAwC4hJ6yeb7fr5qVqrClRAMbdRq3W3ysQ6NJBAFFwWTIRjNGHRvaA0d0AO0EdbdNVGt-ZKyeXJMC4R-Pu6O4RYjfK6yKYZHLGltB-dvwzF8nGT2sar0rJF--j7_6_nCpN1ykI4v2PIlv_8dllLJWosUrgvukLZml3zWtUPis7J7pt8nA==",
  "id": "rs_032133f959d38e29016a7dee594ff4819a871e4cdfdf5907c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.02,\"left_j2\":1.55,\"left_j3\":-1.13},\"note\":\"The block is now exactly centered between the jaws and directly beneath the gripper overhead. I’ll finish the current descent target before making the final approach to table height.\"}",
  "call_id": "call_FDFrpLQbAiQgwXEMNEHGDotD",
  "id": "fc_032133f959d38e29016a7dee59d1f8819aa5bf334fae1c139b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FDFrpLQbAiQgwXEMNEHGDotD",
  "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=-0.5877 left_j1=2.0109 left_j2=1.5497 left_j3=-1.1385 left_j4=0.0071 left_j5=-0.5919 left_gripper=0.9984 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -9.5248, 5.5863, 0.2613, -0.0073, -0.0464, -0.0855, -0.1436, 1.6752, 7.0632, 1.8877, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bb62a5f2f8efd29924db7a3be1abbb07628f2024a7f86284f1abe56efb8902",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bef3921faefc52b3148b03954f86c3dc9ebe54fca018f54b67dd25dd7c0df74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71b31beeb6cf27bb170af090fc2e9794df97b2900752de175366eb4448ac036",
      "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=-0.5838 left_j1=1.9915 left_j2=1.5642 left_j3=-1.1656 left_j4=0.0071 left_j5=-0.5777 left_gripper=0.9984 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.5949, -7.9795, 5.4359, 0.2564, -0.0073, -0.1978, -0.0757, -0.1983, 1.6479, 7.1179, 1.8974, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5fHp1W08ljptjws5U1s7wUiaeEzqrSxKkOXNlp05-YZGqQt4F6WEUMUJf_EBwSJDtZHc82Zw1RJ64UF11OKi9dM61nhtNFlyhVLrCgY8_iBLAAshoqm7Mmb10TIjDrjj7HD0s15FAgGlnMJpi5-Q1omE_L-zgmvywO-9paeZF124szmRV4J-N-CaWioKoLn0P1KoctN7mauKzSLPXPCSqLfHGMYlmKanOZEX5oZZP4u2kkRUQadIMCKPYVg5fBL_KQtzD6g230LZneNf9UdHxbDi7L2tvvMsBU2HtMAagE7isLQLkzjhZg9ikEshE0TUQy8SWkLgtTN0TjHPUXD4y_8NHRzTrctOgEfqXzs2rmpDloEnMJEqT6u65hrYHAdBwGHpy3vgRz99X-zRy62bpy-jiDArtTGdu293APtnYvhKUtbNSC6sLKnmhVR4dxbUXJSBUixIDt4wlKfBuruqnoj_O1IqUPJXF3Oz2PrKQ0Zl8BhKn5eqUWo3SDSBcSbdtPW76eKcnGfswP3qzK_MbPGGgET00c4K7kwpuEEgo1jjclq_9b4d8wsEAOkxGEjZkxAlfq6TQFg1pokVomtWOBEToV07e3S2k53wXbu8bbkIur_e2GkUaAbCALF7LY_ibk3o1YxouU_gUwSj0SC6QCmoM4sIx1mtowLV-w5_hQo0KgHRJbNQpBxrNNQtKYfjruZI9CP1-vAMA-NftzhakKTUf4qa-q8UhMOsG4_BaB9tcEJ2_c7ph_zrqBsB9tSBFiVx9BTOLK4qiBwCf_S0DblUoT5qhvQnGZ7v2sG00Bep-blLLNa-gAUogederbPC1FiP2VEstERhR6FYUzY1jut3865oXC6_Qb-NTFy-0EQuptog1LhWbwTN-gT_2078vYDP2yuGs1goTMIc88k2LETOygmclw5bAdmIUseggODHEtVGyOuaJU4VxQN1lSCmq3Idj_sh8LD54qUOG7BdUaMMYloBhBNnf2odJ5OWMFV7fv4iIxVFoYmx6MIlbuMbaXgvYDq_UsNV02Zue_RwVXdSmyOjimDCGIBkizZUeLvTc=",
  "id": "rs_032133f959d38e29016a7dee5cb674819a9dc571a48c44a75c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.06,\"left_j2\":1.51,\"left_j3\":-1.05},\"note\":\"The first descent is complete and the block remains centered, now larger and closer in the wrist view. I’ll lower the final two centimeters so the fingers reach down along its sides.\"}",
  "call_id": "call_q081f7Or6yRfb2MbIhBxDOOy",
  "id": "fc_032133f959d38e29016a7dee5d2d8c819a82de19d530249d63",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q081f7Or6yRfb2MbIhBxDOOy",
  "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=-0.5873 left_j1=2.0228 left_j2=1.5311 left_j3=-1.1011 left_j4=0.0071 left_j5=-0.5922 left_gripper=0.9984 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -7.8838, 4.8068, 0.3736, -0.0073, -0.0171, -0.0171, -0.0479, 1.6752, 7.0085, 1.8974, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710c4f8b2f0a84e6373af6d28e12d63bfa8421a10e22321782ba7d37020621f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d196ea2bb637896a03ee2db9d3f2546d9fde75187bb66a413e42e9cbb48acaf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b787ad44c400fef832083c2b1ecd274cccc8005fa8fa442529b9779d398222e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 162 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5877 left_j1=2.0109 left_j2=1.5497 left_j3=-1.1385 left_j4=0.0071 left_j5=-0.5919 left_gripper=0.9984 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -9.5248, 5.5863, 0.2613, -0.0073, -0.0464, -0.0855, -0.1436, 1.6752, 7.0632, 1.8877, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5ljlmRWeCQweS0sn3OzTsvp4qlxf1Z-hMtg23s7Wka9LmLBnEV1y1XyLaR1XhguA-Y3tDPlNbYz85YDrsKi1OEGTpfSRKopYWdPpN2q3FhwHmLT3q9yCdnVamtjpMoLiYzBrG2DrFqDHij-rjQQA7Cr0Zs85nLK2_FCClweP_By12ZYcr2HdvsNSs8nu9Sfsu3huG1qFUim6sTxP9M6eO4nqMNayxhFWgLWMG0E3zY1RykAuZ8J9JffB67Su1UbsW1JxMj1uVvDpnFYf4FIt8RxEhDkdWcLm9u7yNcqaB7Vf--KwWg4yV687TXrRw0mcjeBgeYIkO3SR7T3WuGfAcR7cjyGRQswJcHHiM6syrMR7rQUc3UN9P3fYOrfOckn8egWCO7GJNTG0TKJnjSldgUCFxnzv6URtn_COepisTg7eiPE8CtU5HNCT9IRCWmVar_a72JhUQ6AQMily3xq8YdG1gojXt6ozZU-tDTUVU8k9xhV9z2fXuicmfbz38NQkrLz04pbtErartXiwQa6KK5dDjCr2VxBHbYkDTeBZDzU6rK8gXVRr9GZzqOm2VEwS6KXldzbd1Jn9fLypMc4yoO0NHf5-UhzFbUG9bsIO4oiOhtDPi1Mr3mCBGKj1BEjXifXbVfqC-YFgV-S_l2yQJfjEubw86QM5lEGbUahya3eIB3DSfxJZjEWX0_OQOxdt8qW7XJSDKcPvcqo1BmZcMBNwS-9tcNZQKOsfJbwGE0bGFcZRL3jIG4_OKIfZ3SQiIOsbyD9CEMpqfz4INQBMMgh5dRtK6uCPtXcyHzK4cHHHmhEOH8I8sZd8pv5Y6RIFwdzE6Ig9WofJfleMz2Fm9taz_zD-PrH9YcqQFkCbkcuPT4IwXImvaM-8T3ZqPvBB3KaRQythtxO1j3XPTlRMRcs6wfMI4NhX7k5yzJaL2sc7KO5vy0wJVSjlquqKpJ2uyVhWqqhrJI1t6pSGnfKdv0RQ==",
  "id": "rs_032133f959d38e29016a7dee617560819aae3b508312e53e81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.06,\"left_j2\":1.51,\"left_j3\":-1.05},\"note\":\"The arm stopped halfway through the final descent while alignment remained excellent. I’ll re-issue the same target to reach the intended low grasp height.\"}",
  "call_id": "call_hlUsBrdkNXNYhSsFBAarhlfJ",
  "id": "fc_032133f959d38e29016a7dee61d0cc819aaea1462919c54af2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hlUsBrdkNXNYhSsFBAarhlfJ",
  "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=-0.5873 left_j1=2.0632 left_j2=1.5059 left_j3=-1.0595 left_j4=0.0071 left_j5=-0.5922 left_gripper=0.9983 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -10.7829, 6.0923, 0.2906, 0.0073, -0.0513, -0.0171, -0.0479, 1.6205, 7.0906, 1.8681, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67551a9b9bb4ce8cd4fedaf2f78e04ae4fdf4c50a3dc989dc1746d1d136ca8bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40cf8df6adb8748089e51a8cfa17a31ae143457a9f098ae7966108eb6326583e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36c26535311a2b6dfa0106cbebb21de685105b5a68283e09a7d8be36c45730e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 166 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5873 left_j1=2.0228 left_j2=1.5311 left_j3=-1.1011 left_j4=0.0071 left_j5=-0.5922 left_gripper=0.9984 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -7.8838, 4.8068, 0.3736, -0.0073, -0.0171, -0.0171, -0.0479, 1.6752, 7.0085, 1.8974, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5obzuOwk3uYOrVT4i1eRZUz9hvrWRuQYLRRvqv34_1Ho89vY3PvQcCZqQD158AxZm6zf3DUz7ZgnSVuXY2waJbQsx_wSEpEvNEYMsgIn46k2-osuAgAWgIzxrR5B3bKgxDatKaH8aMuLLJZuS_YOd-48ljvA-ByKxn5g_oUKLimEprauAUZ9zOfy8DGxZEejuJjwYtpGNvA99rYYkG-3MGICDwVlIDpWh-hnif6FBecACYN8wU4Mbuxq3aFZ41B_Q0uDszwww79NUdSrSNKNENylirMqrEtj-7iaFrnphJH1C0GCFbdhAslFznrmHLhR4XNQfz_jYm-NwB8Z8c8xHMQp1LtC20JL5L5K4Vsj6bzqK5UIjmbm0Bmob_UQ_9zvMSwzqSHbFg82lxC-P3jJt2U2AzDpU_9CbHnF5AT2bRoKwjSsOTJad5QOflpKfqq7Yo4WyF4d9Ysvm_YlkKmbCvR0iDPTHumHa-z_eJRWlF8vWeBRBjTM0Y0LpTl9R2AYvYL_AxgSjuwkypGaGBSodWFGpaTBn9BqBCHhGtgVcgTypd1sQh7q9hkfrhO5-1tfBtFXe8CaUdx3Tbq6g_OH-QtnuV7KhcWtTwUtOTt4QUzx3NCgJQ5EjLwGHIxQw_pP1l0dwrORi-8HQYUeyugoarq_XMv9vJE8RJ-9_qiLhXqW4P7Np-SS9ytZiH52vCY86i8S-EWBIw1eaf-GYcmtdIfH9i4b9OuQ74VixmPZAjDrvfY3qh19miLVRCeKg35WAMp_5Sajx4_k_s3ochZcW6Q_v1qqvOTHfxNAn1lOSs3TOGx9NN3_W83LOb7FNxa3KjPxelNsWy1QIegpiYJ3-YsKALsxqV99wGaOa2wL4hGG4P6xfgO_AiWKxY8XIHhIQfp0l1sscWMkO891-YzkFyTgQ8gVlv0qxQFBUXRSLpUEcMi09LUy0h-oyOJVa36tTGczb9okpSBSl1wPzQkmDc80bl4HdXxdRPKhjcmv21SDuZNJ1nCN1XcQIk85jKplxsMXlCNJ7Kjoj7KC1krghH0xOiGLv072GlZpmRoq3PiMGCKMj4DNBWHpAWuDHbgMWV",
  "id": "rs_032133f959d38e29016a7dee66d7d0819abea880ea49bd323a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper has reached the low target with the block centered and its side faces filling the space between the fingers. I’ll close fully now; this setup aligns both horizontal position and fingertip depth.\"}",
  "call_id": "call_eQstVTbXZCGV0rnjwk1klr34",
  "id": "fc_032133f959d38e29016a7dee677edc819aae18f47820d16a59",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eQstVTbXZCGV0rnjwk1klr34",
  "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=-0.5873 left_j1=2.0632 left_j2=1.5059 left_j3=-1.0599 left_j4=0.0071 left_j5=-0.593 left_gripper=0.4525 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -10.5094, 5.4906, 0.1734, -0.0659, -0.0562, 1.033, -0.0068, 1.6068, 7.0085, 1.873, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1510a7eb5339a902fafc33665f8b301fe86b0e204616381a21bace41c56466ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49093c32c1ebcc1a2b505ee083970bba7d24f62f3bd2fc12d28b9a7fa6c6c31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e73e310e5b154cb0efc094107c8da48d07a6e88c97e4c31a2110790bb90db2c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 170 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5873 left_j1=2.0632 left_j2=1.5059 left_j3=-1.0595 left_j4=0.0071 left_j5=-0.5922 left_gripper=0.9983 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -10.7829, 6.0923, 0.2906, 0.0073, -0.0513, -0.0171, -0.0479, 1.6205, 7.0906, 1.8681, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5x5d8IwOENIuJj3LMI8nNvPk4AohTY2CltN5Uk0Fja1kzIIpYMCzzAS68ffQMQxqwqoWBLPtz46ToFhAPxlI_Mc6xBM4ShAaEwXZTfCAvLXVcX0KsNHLHn3zIaACy5vD2aETv_22A2HShaZvFm0yP-tR9dY2YVjG71mjL-vhA7yDatXyGmXWRISRT5di59mQJIZo6N-yRurCYpN__9PQCBP3KLf_-g4j1NXI8qg86lc7xMcQqUsN09HNL_W-5UNuUhR519jZxJBNhBzS9OadWeauxeUEm_1jimjMWiaeyFFcBxl1whXA173blbbaNCcFX4o7tx2pShFxytcQbvTly_ry5v8pQY_9fSrf9xfJsdMVMGvDKMtv3GHDUQelbhZFcmT4Jz_ZMaevpv9zqXvAzhwCXK0usXr-sAAEIIJ8-ED0HRLaN49jpMTbiv6HpP0GRRNix0DQc_Wnd6lNmvE_0sxomC1aWuru4isoKSXOJk_LXVQCwTXSeF2yFSfxUOlP0b38xwLonZ_KkNGxTGEthFBn8qqzFXQkYOZOTv2CaP95aXARApQ-95flrtrra6AykZRu9-Ds2oTplUOrlITRK7G4PZaTciecOxjRG4zTaG7JeTdnFf4z3bxFV5yVqXY2X6WQhjQnlppWlSeQLQrnbeDMi--DEmqMHuwAI6JkJvIzDqbn9NUBEV3PjW_n6616mCPrlFtEOgEan9nYbBs2zPhy1vT1AfE6l1Gc9RO8gAtULFVIq64WpT2LgEMXzmbAMrAgV-ffSQcxLDsGZ0zh0JYc0E1ceIPDkxGk1fxmi8TqCAu8fx6r--NYHzYqtx4eiYXGatfovgXhHBdLQhi0PpmERCN0dgSnw4QWAsepH-QoWprQI7JuEZYyjJQKlyktSlJKc3ktacqoVqdesFPIiO6UoE7RTw5KqT4_03imI1FBCDkU2z7iGHdmH-CLfkVwTlrZiEGVwJqADmOkrhh9CWGxIyW3rV_L3lfFCsFUquto9Hh5LbMvQyJe4ZsGdEGZl8JrOfCyOhXMsQkq0CkOTp-QPooKeafopZ1ZAGLyaSiFArDTCms_PeCvyeYwRjdfMpscAeObrLs4M5Dx3aXj9qRthV13M2NEbEmQKO9prAnEo8thJeQJBrhkfgJXyczgiUJ15yVDGgHPS172KGAPCATYQWh81uDheumFcQGZU7zbxVG2vu1x-byUP72lFyb_KTKDVJftVZML8wKTMqierG6rJjaOOCJ8fRNYAG9NFevQHQ8PEX-BMhrRfa9igtAHOqK9-G5-7sAww5fK3WUOwoZhVPIS2uRoaFHdq7avm2Qp2Gpurn97vr9dPW2Gbv60p-JLVI3UcQj1PO-wFu9SHJKtksf8wCAwL9g44021OL_WYP-E1Yi5wUFDBlGSi9NyKfbO3mcW8D1Cp-rVpDlaxG1eaK4A18hWlaUEjSnrJZBxpm8HTGkcfCZ8wvtoIFs9xx-CrKjaLMQgt1IKOFvApY1F8etnRnBcY40pDZpO9AMQAASsBb9lf296DDBtR0_Vm4kkthFh5nxmfCo3P5IvJJ6N6t2zJ3egUTpMzKpQbvglyv_pYZ22jlUfTPeGNEI1NwsTamikDD6MvJSMVs2GxtGBZe35LmExSszqisg2s7Af1ywRhLHs74tBdRXgD05EMmBRIVpOFi3zm2xFc4SOjM8y5JE18LqKZ2Em5g68XFDYL51EJriFdFfRD3tVe7EWJgimBUrKnvijA51fzXZhIn8oIZ5sFFgubdWOAD-qkioe-TGxJZOAL3m1VNyxikQZcyz1jPHC0V7vLGXJj8cYjVgJcJT_jXTaW-opn4n4pRa4rGBbXj8vEFqiDtvN7JhFyUQ7DAD520uKz8_DlqUoJA2ApyQWD4R3Lhpo3iswYKEo1Du1rfDpht3YSsaSliEzG9AP7A3ywvx4a7sOe0iiBNrjao3dyej4M0avwcxtpPUK4td8Mv8FloCrJ1T5ZWGrV-JEkNv3tP-I1_Hvc2twVkM5WxZNlxc3TXei2nURsXgAibapj-F2qjCQyF-tn6xc4I6BLlqcE4VLBJpMeyiaZR5-VupL_iAg0zo29hTFvcIaA=",
  "id": "rs_032133f959d38e29016a7dee6b4d98819a8213aaee2722ae4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.95,\"left_j2\":1.68,\"left_j3\":-1.32},\"note\":\"The gripper stopped at a 0.45 residual with high effort, matching the blue block’s roughly four-centimeter width—a secure grasp. I’ll lift it about eight centimeters before moving laterally toward the red block.\"}",
  "call_id": "call_vp6rFFiMog0f9KBdhf4i3n2b",
  "id": "fc_032133f959d38e29016a7dee709c30819a95665db8583609fd",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vp6rFFiMog0f9KBdhf4i3n2b",
  "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=-0.5873 left_j1=1.998 left_j2=1.6451 left_j3=-1.2617 left_j4=0.0074 left_j5=-0.5961 left_gripper=0.4573 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -12.6701, 7.4735, 0.1783, -0.0269, -0.0122, 0.9548, -0.0615, 1.7709, 6.9949, 1.8877, -0.0366, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5a58d21421338acd79adf0fb890ede3779ad7078cea093fd3f170c2dc6f37a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5f55761241e66a37f3099f7413fe5e17428ba8fa9339fa215f9bcb65a5e454",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca06a4a5777303b1e1ec8383cae77ec1507ba9a1ab0a78a65b29335f1507b8e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 174 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5873 left_j1=2.0632 left_j2=1.5059 left_j3=-1.0599 left_j4=0.0071 left_j5=-0.593 left_gripper=0.4525 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -10.5094, 5.4906, 0.1734, -0.0659, -0.0562, 1.033, -0.0068, 1.6068, 7.0085, 1.873, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe5519hp20mqLP3LhUmCNb-5U5WwrbeZvArNO_JPYMmC0H-vMgAsUvSNqEP1Rb6BAy4Siaq8qGffFJA_erdn4odlcewboXC3pt-_oSFQmzxHqSyGXwG_WKGDsk252xJ6ea0QnzaGkpEHL92wkHzIh7WIv7fI8faTOjr3MT1ua3tXAItyt3Z85dLumNB96q3M3R2j-47FU_2IuCNY6bp2M5t05n5DqFpVpz-wBk5ZghnUzGdQJbJw8_o_yNrbxGHJtxuiX_JLM9-lGEYBJwa72TtbbNAo5VZ_PAb4XJQZKyGrUjV_0jA2d_THBJfCrJzXu5mK2aapJZy318PjIn_fKbW_Boi08UyDAc4TvLCk95V4CbCsgbcOzaHt_SG3eJLD62CnIkUFVjkDeeV6D0AjvL3Qi6dIhEzkoqgkrGRCA789kM1IYcsgQ-KBSI22MVaAfydoBtM1rdMJnDfDlDlSVuDdkBgrcdacwGLkaYpW26-1bxajjhUCbhqgn3v7bAOUTYQVN2zgdbeqscM83BcuSccGSukX8BzT-d95KrXoigt6lLeMDieal00at-uNOvsChgv9BC1UDdxadHns19T-PGj3MqxZopBKwYZ2jFictgioOABGhm-g6exw9Cdm1-zt_l85RiXm86hd25C6WJTnBKkNBJW42E9_Y2z5XPGP70HjVn5Dte3MTvOv3YZAGzoM3fugNGwylBa1B-2bNsXZgYBVmUUSL8O3xc1tzt2gpBOzxp9SyQNA5OQVGFqSj22eiYmzu7-ez8VMI-wyXN8It1dGtRPk8jwHU15dlQ52A5CgikeoQDI6INrV_KNmBYirEvLqdb0ghbvrPdQtchXqVi7dIo4cH6YtttqAjv2zgk5iQLU4FrX0ICqcbd8GLyuVGisyfxpBbgNkiklkja2yNu61idJSR2GyEMdtg4JNxMzNZCGtQ_1cNuBraiYt74lmTiHhAsHjlwqyOXO0oEl10Jy2bhF0wyMQnxQ_wllRRxcK3y-sfL6fuWeZX3AR63d2qx1ThwGA1XCiR4gzBd1joES1wVJLJyf57SO1F-IaytACYGA=",
  "id": "rs_032133f959d38e29016a7dee7404cc819a802e79230faed363",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.95,\"left_j2\":1.68,\"left_j3\":-1.32},\"note\":\"The blue block rose with the gripper and remains securely clamped. I’ll finish converging to the lift pose before sweeping toward the red block.\"}",
  "call_id": "call_IcYKUDOopdQ8KNKMPvMSVnZN",
  "id": "fc_032133f959d38e29016a7dee776dec819a8a47efe9f4b4bd40",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IcYKUDOopdQ8KNKMPvMSVnZN",
  "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=-0.5873 left_j1=1.9652 left_j2=1.6634 left_j3=-1.3056 left_j4=0.0071 left_j5=-0.5957 left_gripper=0.4572 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -11.1111, 6.9675, 0.0562, -0.0513, -0.0415, 1.0232, -0.1299, 1.6068, 7.0085, 1.8877, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184bfcbd56e1c7cc07e424004b6b2ceec61147d6a45149f35c1d0f27385d35bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687f1974cd6082b3911dbe3b783d60cd847c8cd3e5d34c736e09bc707cb4ac47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea824939c599f0537e2725b616d84e545d29bbe48b45e72e9766b54d476a383d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 178 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5873 left_j1=1.998 left_j2=1.6451 left_j3=-1.2617 left_j4=0.0074 left_j5=-0.5961 left_gripper=0.4573 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -12.6701, 7.4735, 0.1783, -0.0269, -0.0122, 0.9548, -0.0615, 1.7709, 6.9949, 1.8877, -0.0366, -0.0513, -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": "gAAAAABqfe6HUnuDEbyDVi5u2hegOqIPLNvThj8jERuI2-Kg3hcFIr-8lNI7VsVLIiqlgy-8RIaJpF6BTkTtMipL0vJ_Av5ppkRFpshLf4Vv7m3hUvv-euQ1d16Tq7IQ4sRlGmzmV5jKRBh9TW9N6aSugV8K3WC5Oij4lkg9h7M6eLL3izqRlmcj-bVkRBpYYhzRZlA3bnAR6Sf6tdIH7U_PgMBGkZH56YXSom_wQ27scZcwJSVgaM98VLEavw3CMwjkXFXn1yWC2BemVhXDp-5atbR34-jABk07teIeoYKswF905ajn6_N6QtMN99U0LrkkafcJOqbkvs8HHiV7m49AfDVw_pTHSxroQtuwS2oApz3DbqpEo2DXu4Sf68Yn8J-BOr2Hy7IslExL6bHayHzUBDiVpqWJcy5dZ112YCrPK7v5V8VZ9dj3myXovKBgVEwJPSisVCL4tEnIkkUNeaXS2mOSOej7e0XpcHky_Ewm4bzTjZ5M_j0BPJoaNbHc2HEqqhjC-NOT3LnKB5LPsBJUWRRh6d5nCihunychRiEFz1q2Xm3zJ1wmqZWdC94V6sO31aDvMJxUzSrA0otlgttwsr-qgU7FWmQK5zVAFTXRkuN3yWnvXq_7zSoJGDbbkpTcdeZPreMfenV0seGEzL_63ydzeRVcgO9WtD7Ea_O9KtXvrgle_7MwUIBpETz8zRmQ7MzqAnf2phMEkwLouCt95LIPC_7V4lrlweZOZmUbQbcx-YmFXnGeUogRoXxQspgNbYwDWipVoa6rrOb9mCxyup_d_oS2hLZF2RIrzCg-ik62MqnRj4whXgXWhevGb6OXU-Z-2ExR9d1DcML8QyT-wdLe5iAZ5QWi8gDJgMTvcqZ3CfBkab-Gpt3Qzbgf-Kwl7PwQwT73s4cTo2jeb0FpQXRkevqki4U9H4XdUSKGW2PV-Njt6ardXeNEGouFMO3xY60nMtpQwc3EQTmDhAkyR6ofHVQAShTg8eHWreM8Nx1mw89H5CFdUocnlYjod605QJqozFvHlWsL6-9-NrG5omb_Dvsg79hvwMrmnIXFPWg9Zf2NULRrCd8Hgsh0HEbvvvTH17Dk4FeDJT_lEbp6dPbLrvXe_GlOZHWbc_NtnkWXRqPeflLRH4Tx0JMR8tVGNlzIEu8Jld841SZHSvql9xePwoLx6Jf45I7lonSSwmOhCngZaVhiEHi8HXKGxTQVzTfhtmGmQiza-j-KDIMnQmQO2cgIepNpbpgZ7BgMyOGRVwtqC077Ss3MqAXAo8DEhBff2W-3FqcI2RP6MEVNTlc_zKMYH7arVTUUPnlASTW4ElbU9r3hJq6aZ_NSCGcNI0XplopF0V_XKFO07hGwRsy07yT2FhN6dRvt9ue5cIZkCoDA1mBuwbTEn2If7RbLgJ6JTV58ONRDfAWXRwb-JSDpeKJ4aYINoDSB8fI_-urHTWWLVltuXBUeJTZuExuIA5L36vd-5AmdlXmXKZ1L1_qUde1fSPXPGb2bOjpCN8s5hnSeOBo20mvgGdyRQYCX2f8lbE1rSnfOTov5uiecEaHkKoCI2oD_u8lux6BEEruMq72uyuLXnp2FHodej4bUqGRN-rg0T2OlK2gsKFdVKUX08MU8IGSU5kVC3N9HLdTYp7vg2dpHAwOhmVFlYR7nqIuVAKlP0yt4MzLCNkpnXekjCfQDngxBdBncnv7RSawk4tC3valsgkJM1xR4yipHrkiF9I9aDDJ_rusUY-ku7YE8O_CN4M62qkWTZooYbL4FSGZjmEUMfD_wAJBKXPMkrp8W40nMse1AiTbMavTmC60YO81Zu29uo7uocJrzg01IEM61x3jdDHSHpSfVesLJKuyDYRiEDTmq_-pGJkYIcXHCJgI5ojeh0UB3ErIyQxL9_YWNW0m566jk_8ODoGxR6YTrqVPrJgfCr_JOnnL4r-jeTWi32MEAA8CgdqpIFlyWNIjPgCDfZGFU62TPs8-uqn7Kw7T6hNgYsKWybdaLnfnh1gKDY8t63KjAXWqNNehsmG222tXqEc8jmDOK0NSVn14hkAJHx9N-T9xsnVMMQW332_eES-VLgwtlZrgYONNzEUqvL5sqBJs1CsVOKckSSnA6ILvI4wX8nBY6gQLif9OBtp99-MmmDQy-SYA0qAvJGeZa_TwViTnO7OEQefUsGpTPTuA3nG2RuvXs2d_gJnSAZzCiyioGLkSf8NxLXqKdwkn7srMGD5hGi91AXPBOnzlkfMU8EFNoVewDMgk5-Z15Iuhk_ky0GivIvImUZ3vrSahq8C_GX8_dWa5Ny4wO2_47hwyvBJynMYj3HgmP-9772OmsgjrypZt80T-2keXXpPZr3IHpWYHlpEraIHSleb0JAEzPbfOzifzdTv68oRxoK2jVjuSqO0Lv8CiP-btk9-n-QdCgmtjCVCWwY1e9IB2A3r_jN_2lds2qpS0sF9HITiCNgcR8nJnshU7FZ4BlQh-PM1jRioo3tgIg70SqoG_pq-hO1Muco8_PTH6q-bEy6oBPM-3yQd8nzy3WMQz9XYBmFGhSULSP68olWXvV7wGGnu_zYvSEEDwyLcPHeUz7ih3zlsUkXsg1KYGeN2nWch9cLSy94kcYQwi2cP-YtucL2iRvK2LbOqZq41aabWkUr6HPQnG7oS7G7jD2v3GccUwLgnBaaH-PsWPZugT_pKCRcNrXIY0bTY0CQAAUwakTzKNngDnwnDVDIt918Miwgd4KblxgFF9Z75QYVxosgosdvZ_n",
  "id": "rs_032133f959d38e29016a7dee7ab898819a855bb4350c571d45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.95,\"left_j1\":2.3,\"left_j2\":2.25,\"left_j3\":-1.2,\"left_j5\":-0.95},\"note\":\"The lifted blue block is stable. I’ll move it rightward toward the red block at a high, slightly angled approach pose, adjusting wrist roll with yaw so the block keeps its world orientation.\"}",
  "call_id": "call_GFqymClL9yL1Yrwi1TNgAjFy",
  "id": "fc_032133f959d38e29016a7dee857588819aac7b4e91d1591e61",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GFqymClL9yL1Yrwi1TNgAjFy",
  "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=-0.9333 left_j1=2.2848 left_j2=2.2024 left_j3=-1.2369 left_j4=0.0074 left_j5=-0.9184 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -12.2188, 8.3487, 0.8571, -0.0024, 0.0415, 1.033, -0.1299, 1.5932, 7.0085, 1.9219, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc9cf3af4f825bef613367916602e95fce4a1e5a8cd26c9686e75e8bb0085e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63b3403a32f8f9974566b82773fe7141e86cd37e74fd27d98eb6f6d9e2a1bfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd8a411fdbf22e46f9804bee280c56d25b8fbf8d8306603d8f77e5664a66619",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 182 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5873 left_j1=1.9652 left_j2=1.6634 left_j3=-1.3056 left_j4=0.0071 left_j5=-0.5957 left_gripper=0.4572 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -11.1111, 6.9675, 0.0562, -0.0513, -0.0415, 1.0232, -0.1299, 1.6068, 7.0085, 1.8877, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe6X5IC_W5dtgi1DZ862mFSuSbvxwnm-wyfRy9c_siR_8z-fNE7l3-F0oGu_1RzbOLC_QezxB2skt318ICY35vJjDbphinmyvmMGjJZYz7-ESDTk4Z3e-Zt6ZCvn1ZAnsTM3iJsKXmb28JOyp4AG06mjPkrxaAUeStz6avd3ULGSJ-xEH0vVXPwmSnI0GeUOGJXBQWJ1IHobHS1L77ZMf5XfHoEMt0aAhWkHdklLBOXLs91s4pFKovr_nDb4_yp1ABycMrU1Wldo_2W8JbQCnaRgIo0BSNIXTZ1wIormaKk0bxGzeA4xXmNJaG-9GRj9LrN466Y3YnqCjpm-yQAv0I1as7pbGsDsuNgzNyNF_vjGo55Zwm_QHcQ1_ny_71k6d15CwKEYH4ajUS_XooFga34qUIlM5G9wP0pbEjPlB804IrHmo-UEtoNqPi7U9w_Ac_e--j95eESxIUUiJ5xYUJcardSAhwT3HDct83CzeieiNPOKPXWgp1yAr96X4d0IzGFvoyzLIo3KyMp4DW9YYN5EzXbSgNwaRPex1UFZvQ5bBnAgJF3EftFKdlXYmdz1uhjd8X_sWCqTnO-0wuWygs8rLfkMLOLXW3lUe1OLapxYEQN0Gm4b1O7xcFchmrl0k6kpk-IXrwIVU5mZXxaJphnP1J9eIc_6jBfzRnd4q-NsOwdNpQ06k_UaxzFwvoqy7nlDLns7E93puXKhLaDpe-UfBrxDAcaQ37CcewOQf0iE636reK7n9gRE5WFkD897mrwGop7-u5DgVWfDtQjhC4fxZSVumPgPCNn5K8C-Zy909sC4BP2BkVY6Q20aZ7UmQ_YY3G9pK6sMpO1rbKLQeV65wVu8K-fzWq8nz6BNbom_HLr-H8XN5yZ7OpL8JE1Hh-C_7BdQUlEw1vP-bmLaOtgPbXD4aNZs1fNt38VcdoeMcvb4DjtV_5TY-aJ3cuKxfzhlq0Y0UZVLjDNhkKg1eWj1I7TPPR_wnX5_1ToPj5iYHK6tmCxRLKmdcM00_bPFWZGq8LxC_vq7ypl8mmNxTs5qxW3TGVPYCpMJr-Um9tTLX4akTD_dJvmFA0HniVAAzPGxD0CoUINHCHmcZWdXDtlxARpAkDLKFfhcQRFb2PrjCCnwHFqOAv_wFnemcDMWgAex9qf_HckEyN6BvWnhwgsDxDdGLFJcxQ7_3sdgOYO9L7cYSAduKXfHTbvqFHDfuHto43QsW6qGoTKo5UzWVTVxoPgSrlwKquFaWUn5H1AWSJxCkY2w0MHgHrHPG-co4_KF7KQheMV353ukqgyoVAFXqddkmDxrqTSdvLf3RLAQtIwtOJlQ8l_eaue2FKq-HUg5aH3XqF7JsyL9ax7DgPql6e0njXPpIfQzCHsgyMD_bwBn6LwZEFfZS2Js3wCpRvclbqcmZbSRAMISGHQvM-jYaL9ItVY7WjQ-HBcoV8PE0hlvhy4xMjtdJW5uSCFzaC3XUptBtuld4GkthvMhzCK_Oc5QxHuwge-IHVaF2UPphjCsTs22QiVIub39fh8QOil6QN68EhuZpsdX4Gl9ND9ylMP2yBbNpzhMOQFjIB4iWB2x2-1FMCNEbm5oNfo23Oo_K8QNFhGNBJFOQVrCpXS8ABBvvp85nLWsygcNU-LD7b10Ie0lSAwvbRdazcQhRyUGWBwuQRxvRmjuvy5DHFisKeXRZvM7izS8Rqz7jaogZJYxSyC2Te0KhpqIliQJTRebr2UOHXPnHwq-3zPGlvrB6XF34vWQ3cNy-sr-LIOdpL_5veYOQ67fAEc_xoUWVgZsAitBPENS8VAX6ArRZ2UsYLXIVh6wlydeQcpQYpLAHm0mNfEMPueSXD_7zfoCmXN4zBekKeEniIvOr7cfZNeuL66j950TTv6CXnTkH5tIcdk8rt8rY44lkIBaCmJem68dj53WpsO9Rc8Vtm3ofTmHdNrSkSzwblNx-mca1BDs2T5jMHyKP35Nn1Kzn0oGWrZ8EQjicqJy2WeJIonQ_Oa4L18oh81vIh2emWulkxPVvl9JNEyLMuAznJJug4aZbz7PYo_5z-FMBB_F-oKShU5MglkO8co8fbMA3zTbWV_YxncxSYr5rWRKuX6RczkCRJo3dSAuXOnQLDbKindRl2bgfZRLUpiSYEfo2gUJeGsC9_7HCH9BapyFyVXI_HLhJb1CsPW2VTbdp1YLT6E9fgv7Xkw-BKO1ht_46We1JT6TqF-Ft0JUem36k6UvyVEXIiEkck2tvrRLsmT-R9hVHMe0brxJHBW0Nmix-XvPOmAS-5B_lAMHRN91jUjdwLxb7WJh5fgrG9zGyR4TzFihYClTsDCdWhxZnix4ZauL40n881PZXuPDlrKuE_hClvXGHTMUU31zmnA9eULue7uc4-SF9o5B1txIo_NrytdLeg1ExxNigNTcf2C60ltsD6sz1oDOYnvFUvN01hEx7k_sIbH_s01sLBdX6jI1dIzklf0bdLMPwl3eqFGudMr3m27fgNmttekM5QEXXdQnSaCkKFo0UBB3cVINBTNNkh9RPct9nAdP-FK9s1fnBJc-mQbYS67nLQxJDV-HvMK9yJhaif1F4YX5jLSaVHSamV6s_nBIbkKP4Wl0qkM4PlBFIjFFrO8RqQEaoBl2RS6tdqEfrFBhDvgv6Xlu2okF777vzCGutOYP0ZHb4l9hduEUA0TkSSuThXdPN4SflvJS3rAq9EJfShRgLK4O17X3Z5UVKkQBM1DBSB9pIQBu72UiXRE21kFdiljCNn_Pj6bQhOuRb7-o9SgSJNelmK9Jfu98c0vmHCkV5HS3Kja-Z6o8SeB0Pmd6lu_AOcjI3Hinooj2c_bjHD_2YRmR-VdH52e7cPLmG7QfL8lvJcbnvglvbZrDI4Exbq8F29lwodB6Qp03q84ttArxLwf3-8ZyBF2PrKLUFwt_cTQYmewso5hz_Vitczw2otEi4-XjRwsxENhUYLJNEDFwWNmh2feH7MmcbB1b-fNBlrDjG5vwrgUNyF-XFoc2WyjBb8fofBzBTCANTELsnv0aLErhsgPdfhGcpYyMC_oYR4F7N81MWM0gWuFNB386M_U85Y9iruA2vyoLOlGiJhhOgn102yuYV0VuEBTx2Hl4igB24KN-4kQj43zQLULlFAf0APxj_UblIm3VxSdT2A==",
  "id": "rs_032133f959d38e29016a7dee89f544819a894bc9607d929603",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe6XIbrNZJLql6p6FhH28DHb-jdgRCp38VuzPLnzIC7EmXuLHyGGS7DvOG6jjWDgSyiL8T_txGnDyGBggg5iTOszwCosHrZyb4BPKSec_dLBW36D8HjEck8zxkTCZQNlZ0GS6T0ElwAQRpicgedfXjMYokv4m1ZU8GrqKVv0FCxDCa4ahKpiX-NzzuD6IKcc6Tky-sWmx-VbaE5iulzh2PPu0_6CBQdsopqmaM6NxnoGcXvSeibSYnE98YpT0FZMIVtZLkkmYRHfTgV2v5nhwvAfkFah1P0Yuk24jG13dm1G84gGUJvxczhl3zilTwkFjAyLrC14BJ1qy7EXaZuXjn_A414laLAgIjhVkswAxmrB9jpLPv_vshUObBamDfXKWzwo0kMrISr4SwsRxy-t_4bbgogfFJNxUsOEu7qHKm0rYO_GiUAKDEaZHoOZWtPVPjIpJO75Y6rHabhqF-o6__TyYQ9urOWCYEWMrKOb8m5Fn-EmpY020Qycv8mqZRMwE8mGZ5oG0nVHRC0o--Aza09koMz2-tNAx2XpzMfXVhKBDJiCwyUGQMFsSL4vQVUm7ehg0GybZgP4gmBec0rDQ3mfqu_-YsVRUMpht3Kxr1ZbPQqOioIQ8_7mW5qwbRDKypri3zSRuxZAM-ibZr4e9QFvR3m-NdQ9aSYZ5VA4gSmKrmXCeZSHQNRAqczbs2hUnFWVRmcAQOr76mQdrYYoyMYKTL02coid_AtcBA3OZgZffbbyXyfX9qrkUppeHKIs6yvKqeNR9SLfhBpvEshuTPjRmYTVg4u-8BbsSL9CIjiIVKjBmhTtFuMJ_NmFxd4f6fzop1rFt-_3u9e64o0BqeZnSa5SjtZ1SShmW5kpCNUhZku4roCYSwsOtwz1yLC_zeA_W9Lxxo5DYYAyvqgtt_fSOZSZ5832KYd4BmPO7tqFxMv1AGxgpnDGWas5lN_X3m9TDOQ14yE_tscHJG6HzkGuYuKxkfLnyXhFXjLCdIGc_PyzLfCrUed1T571mIZck4O8AnU-Z0OFVCZcmAjyiFUQygC9PAcyoM9BWWCVWa417y9SxfGVKUjPZiFv8KHCHOy9",
  "id": "rs_032133f959d38e29016a7dee941174819a9c2e69c7974b4871",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.2,\"left_j2\":2.06,\"left_j3\":-1.18},\"note\":\"The transfer reached the red block with good lateral alignment, but the overhead view shows the held blue block a few centimeters forward of the red center. I’ll retract inward about two centimeters while maintaining height.\"}",
  "call_id": "call_H7UOvCmp3kG6p1B0eqr0RQap",
  "id": "fc_032133f959d38e29016a7dee94acf0819a8b2bed66ebf5212c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H7UOvCmp3kG6p1B0eqr0RQap",
  "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=-0.9398 left_j1=2.2532 left_j2=2.0777 left_j3=-1.1927 left_j4=0.0074 left_j5=-0.9394 left_gripper=0.4586 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -16.7043, 6.5162, 0.7839, -0.0317, 0.1636, 1.0379, -0.0342, 1.6615, 6.9949, 1.9365, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb7692914df9eb69c83d2a1ee375225d6ecc49dcd2cd692cecbe6550e3e767e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c1938378ed9d2dada04df23aeb3c1d20525ca1bd63478148eaf427bf58972c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d086e719376c66a186669048c1f4306e065437abbea0cb9585b37afa31ea413b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 186 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9333 left_j1=2.2848 left_j2=2.2024 left_j3=-1.2369 left_j4=0.0074 left_j5=-0.9184 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -12.2188, 8.3487, 0.8571, -0.0024, 0.0415, 1.033, -0.1299, 1.5932, 7.0085, 1.9219, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe6dksb2Us2TT1eeRunxzxher204WNXTr4nQTAabp4E1MT5kFmITiqWEZ7ikR8OMYbJiCX2JHiNvU-O0nvt3LL3vgx8TaJhwq0axZC-sgGhITTVO3h4yR_gEXPjybl64t878-qABx-HRg0uRvPGMuaDmlcy6aPFGSsNJ0J7BpR_0uFQZUCT8tcXpZOvuUuBleoTODOnoJ6VBSORC_e4PitTWGXfS3gNXe5zCehpq8z1bA9ukHC_jHv7673_iJ63LjveAH6wiTJFCbQoWriHnNdCIYUKKrUjt72VxTyn515dx_O7RMHadEECHvBtRpT9Nn4UT1dMp_HgzlVzg9-Jv1rWBCOi6Vm1N_QS6FhJ0gP1kf_0yt3EPkmgJyfGy6xxAyS79D-mCeR9A-XdCPG1bZE_y-HA4X89Tj2h51oyeuo6bYzLUlHXcpHSFWVvfTPJk-v55WHtbmW6gx8gMxzZ5WOsnE1PdZbL4jgSTRD1WeK7x0w64J7eIIy36r0tdgOU-9b49Pr3S4w4RKQovX6szlfKoY23G0WpJR3ZYYNaCmvVXaV3Enzh0svkAEPzJ8mg3Sp5OBQV7nL7kZJfsTCaTYuiRWyH5wnXxWXaqrmMSwUIADjBDfcJ5i985gs4FSJa1MRY2Ba982QTaue5kH4nrqIFTj8XpfK5JwB6pK0pHxlJqtsg8j8SlLmw6V_u_n1XWR6D0lW08ZL427EvAjP9v1wCTK78iPIAFa7zmLDkU5ofLW4XHN5jAZufoiBuGVsZ9BZ7Z1dh-BrLeqyB5olvkLonkDpS3HcdLAL6ETAXVCyHfkDB4b0Fl_JSb3XT2_dO3RsEVxhXF1swH7OKKdyTvzzVDrrcTgr0xM_5QYBydpslNQl_JE5CgwjyF0UFAtwUWzjRivtZNjVZ-LQ2c5WCPKpt-6N4dgdymoCnmrJrbEh8ac4gA_EAsWyqx4JtWu_4P31WL6XCWeoD1W67vRa4Db4buZunwnv8rhJgMdu4YdIfjt5a7L0fzJHAVuJpQMnnDjpEStn7Luj5xyDgws7mYk0JrfIAa6KmyJ1h-5VIWYkWmHearhaP_ng4qtro2EMnbnt9iWHsQufeh_qqWzD2aZvGBOXURVqZQ4Qea8PMHUasVhUxXumiKUgG3ROVyARn7XUzZoxiDoGfn774fLEZOG7Y0-nwj9wTQJBWWPy-wJ7-TVFhG-OXwJBoeex3hihgtrQg2dkpzDQ3J2Za41KxjQkCinAmc-kiyELWzsZ7ImuTDXRkl6yjV4Eds8WAK7Uz2svxsUv23HGKLKO6qDF91yded47QeOmbt8FREN5_8RmOeIyE6bTIO0PlWScgLSXhL8dd1d-luZu4UPTLXu4q_BXPACvj_b99OWO2RUJowiVvD8c8abUnuHM7-cLZz4yp7nAfp3qd5psCzWtXOqMFNVeqBYrklN-yqwsdVlVsIF5h9wSuqdnt1VRZjSMX-g7x0d1iTqffIlJ404e-_oXQF5jje07CFhDygy8ofMpqZhbhwt7Q4AlmuMlbJD5iitUbJuWBc1fYZJcYkdQHPqXuNQFTykbvySJN12kQDA3TpqEnSIwl_IEQ8RpeFxZ8lWDT59-R0nWlSedHlowhNLsrjZl8bNYLrG7OWXU_qm4Xcxv_9IVy_coDNfkuNTSTg3u4oSDsA2ojCs2MqBQNuTiBg6SR-YJn8MIw0dSYt1uYJlIOiycMsWgKGY0TCSqBe1o7S9UIlGdq4CeLPTeuY9jF2oOmob3YvZsxiC1FGLVfAjb46-g3hTCqu8tRcTYKMDJg0bEYnznHmXNuXWOxav82Fq5_lHkof36t6eS1YRA8DhG_gdorzWhRw0dQ_1sRD-wYmAEdhYSSZINpQsJuvuv-p7OHitccPQFZktRkh7fhKiYT6mprdtLjs-s4EFL8tKPc1SNsa76Usum2pF_byt2ApDSZvb-nF4HbpzbC08XlWvDLmqRI=",
  "id": "rs_032133f959d38e29016a7dee9899c8819abe8550016b1ef099",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.12,\"left_j2\":1.93,\"left_j3\":-1.13},\"note\":\"The arm only retracted about one centimeter, and the held blue block remains visibly forward of the red block by roughly one block-quarter. I’ll continue inward another three centimeters at the same safe height.\"}",
  "call_id": "call_Rw0mI1tW1lTw3R8umR1TiuWt",
  "id": "fc_032133f959d38e29016a7dee9c5e14819ab1f8dfeebfcd258e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rw0mI1tW1lTw3R8umR1TiuWt",
  "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=-0.9352 left_j1=2.188 left_j2=1.9411 left_j3=-1.1545 left_j4=0.0071 left_j5=-0.9405 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -16.212, 6.9812, 0.862, -0.0171, -0.0073, 1.0281, -0.0479, 1.6068, 7.2, 1.8828, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87cac06683a03dc2a7a525aa5a0b84fc5649c8841ac1eb074f378576f5c6df3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0e147eb94ab238451fc6359ff49ab63ec8b4668a697bea370af489653581f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac1693423b26f57408eb21e3cdffb549190bff4b92ccb35557c34bb5aaac808",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 191 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9398 left_j1=2.2532 left_j2=2.0777 left_j3=-1.1927 left_j4=0.0074 left_j5=-0.9394 left_gripper=0.4586 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -16.7043, 6.5162, 0.7839, -0.0317, 0.1636, 1.0379, -0.0342, 1.6615, 6.9949, 1.9365, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe6tlsjqXlKDupSl8tG_kPnNw3qBpsuj_zNnFvuYl0zU2MqiOqC8zSx53zFxdv9nIlBqqtnjWjUn_YHOtxRqerAumwk-J380uSx6agLj4D0uzJbG9SGAUjP9thkNvFtHr7I6PwxH9vSIbyqXFfvukXevQAplL6B9dr172JySObATl_etK8UXDWqkSusohFb16972Xffq7U0sHyhfR4C0iEx5Yjix1v35Tmq36NvEIsNFLknZQUOVmEvG8Ag-V8lsRptFGhiI4Ji0jwUfaOPNc9hnKJ-n0742tMuG7WYFkLm5N4bpj2xJqnCLdxQHHCP5cMQCX1odDuFiu4rjl8Ig4ZzXxmpGDK9SgTOMBkrWkzhkJeONcajmaGbr9mmah_jntJ0zp-4OObH6F_r_lk55EzN_Xoen28msl1jCsvdN3IKZwOyWXePS1zJUbV7-bEr6oSVWmgLi3jHDGFtenRtNfan5qCogjnURzsA-Mm9M3T0qw2Dm0hA8bGRonyq8xNMkGMaPCgsQa3lXPFmiUU3Ax8h4B3_QWK42ifFCmIdpKTL-w8er6j-8gkn8wyNhvH4wO1f4K0WkvuxxqBJbLrNTDsYr8hviSNy2oN8wV2sfBMFx9Ay480LW76IyFVy63NAAAYAgBy38HoeMw2OCoC63pqzqRCfRzqQo-dpr15e4JagmLX1nNcppdiSXnilGDDvF4yginxWbFM6nWAlriqOrETeeBnOaPTB4dyfs4mZx7uxJ8TcKX83mkUg1hsn2fjh7mkkO5P93tI654nqdryym7aGYuF3G9CenrtEP99TBe4hS5bPimZ2EBWPtt7Qmz7dYWzeaABp4lhxQHgURiTyhX3aopDnF_Wb9prZFP2NK9kqy_Ta00j9IfjTtCESJ0NQqxZUFQ0kc5AN04JizrbzDN5TagQUz1Klv4QnIjwy7I1BPgRYJ-83u4fKb86M0Q10tJYhVZXOLqrdUmSBKJLQjvLG8CBoMdO9vpLs_cxV0yAzOOFB76mhKA2L2dj25vKsD09DH-3nFr-yQRIaLYuwVEcBIUks7B9z5bNaQ7gDDE1KryGMJmhscWCoI8AdCQ0WZN2IsvT0k8Xhsi4a4BY0-CkmTWxag-zSPj0-CJJwUHtQCF33CUtaB7DbrMvSwHDGdso97R1uKIMK3ta-CFbKrTWZLdjZ0n2WsA8hCil8-s8KG03b4GKLrALbc9oOxcuWs3FS8yUmqSurYv8tDgXDiGrebWkYp6m587DOambzPYOj-MBzag7h-jod-6ypmPvETFLmxa9dbdkTmcU3vph29PrvtLd9ywnOOgwJ8b38HMCQlmW5_bun9IWSRQAbG0E9hqrWK2e1gygAQqj1QYCr7y0sEiGfn5gtsllC4TCJcQieYcMc_lAtxYeiPIGT6LLHcsLJfPAWNN5GHCwwJVjcO3Ipy3oX6XZMWZFnvnhUZEt_lbRAfQwjQygplmmEsDtH0wGoV22cXtPIgR3XCZPO9Jc71QCXU2J67M8gAiHZ6OvlLYy3Mjo2CwKQIp-BWl0vcccqWPMSkVpFHxA029b_EYqYOZ1SMVxxi2Byje9Du1YS_u6AZHweVmmRBnpcH79ca9OToHS4-twSvaR57kCrNdrjk95Vm9zcIltE1N6UwwvaNOpGTP7_P7Ngspzu6c2Urqa-jf9cLhMlhrenVw_szr4y2RLfgp-VwcOsA8agj5Xn8iRjimOX6WOkiRpMQClntayTnpRtazsGcyZ5s4VpRI6gwd3xw8DN8VFvMSY2sQgCb2ni5Hf4WOp6QPYhjZS9skYLAKaf-M-AO6EmsMx18vm2Th18mIVRAi0ijf_fHAVzIniS94QRYGhkF4yVM8ENu4_-90lN9p5mgNo8ar31QRaeAxbKuJr07g0tYHC80a2aTqv2vwA-cZu6Wb_wDiimnpniCnVFDyEqy-4kXb4srKDkH-FFiQm3Eyf27hBrD0CuTnw9b_-BmkIsvn_LpK3-fx8IZSS2n7TYeWjU-zDM2d3ARsxGER2fj9tEX4yv7VhJW244vnViotqntBFjxbQ1UYGxD3KUwIBKx4FMxWv9Ga5XuWBW74Nshnr7eHwm6o0vfEEsGq5fGx1Qo_EVBd69wWLejbLIttAMycuJeDi2zT6eqjGrOjZhj8Ud51YbIvu9vuE4TarjG-W8i60cLH78Kd65JjwNrqsAz7G3DlAt4lxRqX6baj9chm-MF_DoKad0rOdg5hw2q8MMb6skpAPqDoDTsjXXZ7jYoglLmcqARkujIY-QBqhxrFBRiPpW41gIxvdLhvCGjtuVCSR7MwxykrZS9pC4lrcAAkSgrUSR5j_ukWKE7b9CCywkeT6mjLdJE0eiWxfkiNRSya8lBFXnujm9mtCb6a0WCmEdalf5aTIc4aJTQ1BvYeiugyWSGpnzxgrnEEtsCQFDERuXV9ndoLrzscgyKTz-VOq887BlzzefRXMNxK_UySCcYgvHZesgCPDqHW_50YzDFJ9FoC3rT9pCSfNUIL0c-srrqvqh8WmYkdiwiNarrov8xQvZqbDURD0N7WAwWbS-gChVlBB-2mb9vfB_0djIaGtPr87dhi4xLox2vrP-5HOqZybtts0QyHhI2wAwrAfVO7LLNN4r0tcAs3lXdZLqv1jR5tXQAbwPYKT89EpChFSxMoh0QLixxAk19iJBfrB1vXE1870vrJzxhystGfO6LJisNx6lLFNYGVn-6ODTPcyN-kEWqKJ4lkWkiAbK-bRp8xdFPUnY2WSd7pLQ1O2shYsCzHUoL9QHb7DngCODdGnmTAWcyAPLqg_e6HpYxRiqQRE7-FWlt46BQs8UvGeoz5aHOLmBgXe5REHcJi_Y21Q4P4ouZA9a8kINwoKNWTiimdoZiYIsqc0yE_kK3Qt_G3rJh0YJ9JTeuvWwwCNbZp8vH9-TJn_AYUV9TE_-GAXUhgJ1zL1MJKiqgbzqNxdsdTV4zOP8awHz1Mj1TkGcZmQ0HlkFwZaeesZoOiNOWfMS8OBA73OsWB6rSNrurcuuFH0D2GO64lfue1_s-Om8EXljQL_sn1QmjLAvMwfvpXx6lscNHPxD7v5nl6xtf3sUA1vHdnmE3GYORFztTYeR-ItWtdeQIOox866xMdRQpSwvOlmmfZLrl_Z4mCNtSqpsHha-II7c8Sxhxng==",
  "id": "rs_032133f959d38e29016a7deea0fc4c819a945a595e990adc37",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe6t086-m3P8t1rQLct18VR0pv8sIFF5S1Uli4LoH0Gk3zeh6jtmApEIt334Z5M9sxoiXbEIKK41OP6TjctihGdlqf_RLplVqJZzBfPNn3D-9PX2xTqqZatcMki0LkmeyF2j8xWyddPp2Mwxu82BI8ZH5t4sTjkGPWPnBHgNjwUQKHNT89AyqE_cvsUd1FVtVm0j4gAtqmLarlJbzBHENC-UOCGMrraJu6GVZh11aYaV2l0TxGvr0vSAsF08NapRSHOzAEFLuoVHs8EX9G7bh5F52e6dCoQZ1B36zGa9KZMd7lvpfDUyqiCZjVpYf9mqBRrw8WB5ipbRaBFBUjAUGjH7cmpVpmuVeMaGAtsttrmOKuTj1jT673WrM4kommqj4bQmJpArCHlOL-vA21UD2XBoFj5MhOtcJU2NH0wDLG6td9NmS8OzUlVxOoTLKXa-coWhDY3NOidDzLD9mfSfSJdp1XbELDuyUtFWuVr3Z2uzalbZ-tnK3Ww7iBIu7tAUJ1pIb7HvrV4Ut5f3_WV7qYnLnL4wT31PmKZcdEBQMppyqrKyw-GYdLLqHBt-UJGKYOMgVhjBpDzVak8Fv8y4waEtGh3vBkBW267ee0sL-GfAQaeO93wwpBo1l1nvTKEHIrRrS1FR9-_R6Jn-UEPt-GfhmgQpn3jUQsf8yWsQOxiPidRcB5kL_93fHhA7YxDoelGK1-4pLDprkBP1fFl0YgqwXLoVSS3kKog6wxPEwD-lvjfUCsWCL-exIoB54wn_EoFhMsYwlPjlzSgFfl4FlEq2fi1bdwd0BJGsfNr24bAYy5ZSjEHbF2I5-or_LWvgkyE9qR7Zr9kkv1UQDAF1aahAooYXuypebHq5fUpaFJO99Zy1DLRiWCsKayLXAGepcufqJin4amawjveKzy3d3eq-uvN4-p82GALiRpF0uJvYAt8r07rpSjaAbT34lgqhseaiZJqo7iz7RY_hShU5nVAmckC5k5KQ6B9oh4c6wAyq4phYRGPSD5MiM9fwCZLIudhEVpUEI6Wv_650mE0yGVCgiBJCoiZ9m9B-_omZ3n-o84c=",
  "id": "rs_032133f959d38e29016a7deeabd58c819aa54823d3a38d865e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.23,\"left_j2\":2.01,\"left_j3\":-1.18},\"note\":\"The latest overhead view shows the blue block has moved just past the red center toward the bases. I’ll correct outward by about one centimeter, splitting the last two positions before lowering.\"}",
  "call_id": "call_TAjWoN6eq1GA791iWL26uoix",
  "id": "fc_032133f959d38e29016a7deeac6b68819a8603899d89c74e91",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TAjWoN6eq1GA791iWL26uoix",
  "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=-0.936 left_j1=2.1933 left_j2=1.9724 left_j3=-1.1694 left_j4=0.0074 left_j5=-0.9436 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -10.3453, 7.9111, 0.4518, -0.022, -0.0073, 1.0281, 0.0068, 1.7436, 7.1043, 1.8779, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ce4283d77095e1504f595fe6f2f1ec8ac4b2004f70ab18c6e21374758783b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ccf848f45a0e2d0bf4ddd2d2be2a5a9c3f6ee139adcd660eee04762033e5a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a0dcbdecd01be1c1cbe682fadd147eb13a873a42e434cfd897eace629c41a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 195 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9352 left_j1=2.188 left_j2=1.9411 left_j3=-1.1545 left_j4=0.0071 left_j5=-0.9405 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -16.212, 6.9812, 0.862, -0.0171, -0.0073, 1.0281, -0.0479, 1.6068, 7.2, 1.8828, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe60RUi6PkhlpyTOESwJrFNAbNvBL-uNzJHepaG-0KuhiHLNmtf52W5EK_L6mN8hFRmSJiZQ9ZGu6uN7qkErHDwvGngCDg4PpG82uVC_NenPREY0jckv7YxcYZqiWaJVmFV2I_Gp1jS6dXTftN-zViBNl_LP8K2wuGrPGdpc4yfTE9V2NGtY_Y2ojkEjJoE_b7fk_bACl3VumQ4OMODNO8iniJ6vy0GD-FavJlkBcgGJODJsQtewBOeas_PRLQ_Eqjz5AVhWRWstQGfbL__icXSyRvmGZK0dZaLem3JA63wXq1WV3CIoceF1p6feS6JQ-q6884PRF9M9QJinVaQgZA55Gg5ZoulVX6bPH2L84d5llbQdMVH5cpax--ss-y0IWYJoiPtOE4nnYKLZNh3H8e8vCezp3jqr81gpp8PI1zsx7eKKnECAJBCN7FB_IxQQLssFiuY_KTAPU_PGopYJ3JzWDjPOt-WPvR6NaOIWWXXiEGN1l9ApsZnb89_T5lBk_vE1UYVTqnl57nrY3oJ6A-vVPv0KT4SMxpJLmjYj34C82jfKTNzfJNlfk05cgqolnBGn4SK6xYd-y67eg8c2gYWfCOMkcNpNlO_9-wTGAYmU1PFgQKA3LLR8dKHl_vXcPtXQnRQsKuwwR3ldobap28W1Cxkhe68F1xzE0TUb_WCYL3-TMV0H8t1IEd60yjKmywSTS94g7PV4qFzvWOrFDo15NyK_pEM9T3fZ_Qvrr5mhmtsqR2u08j_LIyfUWhKli8Jd1sxlRpiRRxNCyI17AQzHCm3sfJ4SpVrd11Z-Nq74niqsQHlbldzJ1YAhmJnqobBQkTQVFdBzziqNNIiNyzETh2zHXHTA4XO1J9w8f-u4BhiQjD7_h_Ltt7lx0kMwhI3cQQTCuaiG-kZgnFddBLub0xb9CQ-Br7AhmNZJY5Xs8YGnptcxFKnfKM37HNUhmR4ManIGBiha9kJvIMZrz4qQKd73iscEXsp69YZetkch6par9kOXkYYNESYAS4cZwvMbpGb72pUlftJq-3WIzuUl0lZYdJbtw7gq5CnDeovFYpoLMBcKFx68Kqrcch79eucaPVM6bf894Q-pxRkeVWNh782ooAp45OjQ-p_XP_qgv45LeD0BsYrVt1YmY-66W9UWoKybduq2k6tFS2IjF6CMmho5i4KBqacrOaFg8g0pmU_782LB0Cf5c4fgN8pRBRa6AfIrEYh77Sw7I9s8eskj0PJkwCwVufOKnBSfJf6lYGRZwBzlp5lLlEtOG6o5N3MXse0zuwDlda3YUxhG4f_IApX1XbuKtPyUAk9vjaAX6EuoxOT-4XuCtxWHLse18Mk4Z6O4AoLB4AvYwZdtkCsxOj82uyxk5FPQo5GNqhO51SIOSbcHFR1Geiqx1dI3OW91NfBG6eX9urGDMPrCetHMrCboh_I1maOqElwv7_Kv4um5t4Y6jMtbUh3bQm282TrnUkIC554ftellinmN027yb3eU_twU_v-XoAdvWPn69Z6waByxurEmppWRdpMl31PQoKqemGaLFfKSJY1ethPBpL9alBckllIkywj276Hqtb_IGiqxzheH_7N9fBW9Ep9SAjSEtxBpmze2Nc4m_oUE2krjDsILCGAi9X3WjnB2taTdRtXb_09sllh475BNeHlTuCKGBG2vnsqDPJCTQOxAdZ6zZAmYR-LfS9-tYJ1qUGQIkvguxg1cxlUML5NWtbKmhMhMKlyhdpsLB3ge7kGBRZ2_Y2u2Pt3p7R4-5-Rc44sJadoEu-JwIywX-TG2w5fC9L-lJuLHJn4WiucOygzGAvDHEyzj5fqi0C01NMUMM2A=",
  "id": "rs_032133f959d38e29016a7deeaf9f04819abe9f96105016f437",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.23,\"left_j2\":1.91,\"left_j3\":-1.08},\"note\":\"The red block is centered in the wrist view and the overhead silhouettes now overlap in plan. I’ll descend about two to three centimeters toward the red block’s top while watching for load/contact changes.\"}",
  "call_id": "call_jkYRiZrflLS1CnSbOlPB34xy",
  "id": "fc_032133f959d38e29016a7deeb35010819a9ea126555135da62",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jkYRiZrflLS1CnSbOlPB34xy",
  "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=-0.936 left_j1=2.2234 left_j2=1.9419 left_j3=-1.129 left_j4=0.0071 left_j5=-0.9436 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -11.8222, 5.4769, 0.5934, -0.0269, -0.0415, 1.0281, -0.1436, 1.8667, 7.1726, 1.9267, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022d4f0b3fdcf4ece208fc18bcdec44c9117cb7f2d1b79ef51264b56baa0952b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75c896e07bc3160c2c717906516d28f26656c66696171351aa0792740607c52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01757f631065690daf8e933011825bcf7d1a352d25864471e88b940bcc44d86",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 200 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.936 left_j1=2.1933 left_j2=1.9724 left_j3=-1.1694 left_j4=0.0074 left_j5=-0.9436 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -10.3453, 7.9111, 0.4518, -0.022, -0.0073, 1.0281, 0.0068, 1.7436, 7.1043, 1.8779, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe65Rquqb5oa4GnRsfjyfypyMJw7XCOGWhieWabI83CExJwQyrd80u06_y3hQlh-HYTzN0pSpKgfZ_MwK8W7yN_9fnfBI0ADWmjSOzEW-MzdIXoTemb-2ENUqs7H5kk8rNz-EpNt87Z8ixAtXOBfhC0gUv7v0YAgwlN_fUv5cJN4128kl0SNZlXf7M6DV1raP_X0qQsWwODAHP0G4DF96-ais5YMkvfpGmbSu12KLdRJTgsOQArNv8I_z253cbH6PCYMl19KX-ye5J3yJjyBhDfl7G7noMbYXl27yoBZhfBuYFOYpr73bXMvV8OIM6s21XuATBPC1kc89idupYG87GFwZjhSZAriHoOrFzVLBE3VhWNb17MycM6C5n5Em2Jp_5abG2RWMRrVhlzNP7BcMhA6ht9HVRruUb_kJZHn2csZaqcte-y12q-nNb5gYDBu4ziyTx8bkfEoN4m9uBT12Grn8yR9l7hYFnsUD3xfHEEg6tFS2Zirp_Yz1GM4ztG2viDyczEKv96ZbHPUDO590MqdnN5HDJfi9t5K-QIIVs7z8onngk8TaWbjQLSym1XkhN2mZuDhJaVpKaiQqxda-y40jdmZzKlUOFAnGDn-Gt7NY0gEDPgJPxVRXQSN28lkNDrVPH-C7LR6NfYqTtaEiGl1vzgO0fSxdeeCQbJNvk7IWTXrsqOkxOggEoBDJH9aiPn0nRZxlSQdCXxi_Oxg_G5u7IDBq_ImNFJImy00GP_WNz6PE6Bp5pzYRpPBl8ndd6WF7Sa0cp75SyPjuA0ggMvrMkIAPiwCo-7tHTqN8dqJcP1RaGaT9bO7vTql0flydErCi3jO97-pDBJysVc5qfitTuvhsH62yI6wetpVNmgCC8440YPD49TBxaA8HhBmBKN9yAq25yyTPxon26YnVo4oUTojpAHU1_gmNWcCyx7t8EJXf06YaHw3Ktxuuu7zFLOQ673JaxsoHwdZ9XyhNMkT37I9GA928065_iyU_OdEjx0ILO8ZVOkkpsE_hln2vzrQ-UZG2xAZ8NsbGk60R0qFtA==",
  "id": "rs_032133f959d38e29016a7deeb82154819aadff564038b85dac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.23,\"left_j2\":1.91,\"left_j3\":-1.08},\"note\":\"The descent was only partly tracked and no contact spike is present; the red block remains centered. I’ll finish converging to the same placement height.\"}",
  "call_id": "call_j2cay5AlQsDSLQ0pK8vQOuIt",
  "id": "fc_032133f959d38e29016a7deeb855a0819abcd10bcca7618809",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j2cay5AlQsDSLQ0pK8vQOuIt",
  "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=-0.936 left_j1=2.2246 left_j2=1.9217 left_j3=-1.1023 left_j4=0.0074 left_j5=-0.944 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -11.8496, 5.094, 0.7839, -0.0073, -0.0171, 1.0281, -0.1983, 1.6068, 7.1863, 1.8926, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e196e5ce2102eb5eac621f5673437f89239364d093df08610d0131eb9fdd593",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4366db61bec2c744f9c58cf944ea3ed0fe18b2419f3c2a433ce0c7a1ab8b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c89a655c26dba5a2a2930a316adc39f55f408f023ca79a71fa196c083c413f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 204 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.936 left_j1=2.2234 left_j2=1.9419 left_j3=-1.129 left_j4=0.0071 left_j5=-0.9436 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -11.8222, 5.4769, 0.5934, -0.0269, -0.0415, 1.0281, -0.1436, 1.8667, 7.1726, 1.9267, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe6_VWUoD18KCPEV05Vb_6pRFmrpmmSIX1ILpKwI2CE3mmTK3raklao77tc1yO2MQrTKnMqi0oIsrUBWYxzEuzo9EOvgytrpBEcRjcqASgv2JQh83dldKhPmP7oiwho1FzMoWx8VQFjG3Nu_IgPlsJHlGZEx9XyLf9xtfFWYc4mvaMaeJnczRRV3LZGot4WtIGBiM9N9TtqnkfbaJU1es8U6oAsmCJ84mCt-GpyY9KyjUN9ouAPEe8dcx14WqH7LRtlbG4DSQUOu6OOoOqCwv2tyMZI4KHIZeTFjU6CZTv5EO45zQQSehMurNEShUaRDMCSrbP4J1N67dRle7XOsJyBYmaXBe4d9fYG3wiw6kmXVT_FHrEUtvdyC6hZqXD0dbo3RjTesS-eDt8CTh3qxEq_UZ83Ov6XYkZqmVPgvsyPBXyDSZvYqatxDAkfsnOY78tvF-tMpoqzrnogU1Ut644cWBf19I3REbheZfsT68HJG2zBgkelZGi616xECq2zBbVlcClEBzr4OcUt2nXWfhY9LKwN3yUE0QHWf64p2V2J9BOzQV8KhkKIPYATTHaHi5oxHq56YpzcQcHaePziMusXFm6dkqgf4yv28iHJ7NKCdsX0PFjVED2hwvP0HrsqYE38V4xxF01IGAZDzMSt-cfc9i5-Nly_5WbSl87xK-KTSM_tmujVyYttth6jMC3haMUWDp914B8BH-OdgUrReCGWocsIiNN5ElkULGsI7kKeVdb2qGBuRJZH7vemlUJg4UpfnoAk1k9cPDbLOC-v-EtY6stvNfS418mzX3MZ38PRmM67c-kU5kSgv6hvymv0VoHPqdyKCWJceRG4TYpZONHcGRq7y7civrb5z62W3oil4IsOMNKkIkxkxy-TNm67AHLrTnzWUJZ3g3BxR2WZf3Ec-rUFEkiZOA6mpz2qtmptr336DAc9GnsuqRdbKfjtfAwxDYrbkCND96M_l3UkX108_T9JJZpqPJKgEPSWMFEO5wT_waMXB3dBMKq4DT-OErrNRtz73MwL4V7yQf2aUMsqtj-u_LMOHKhkaMdzzlp8ghIYLzK2JVJRPNdps8Rrfui9cQrb1NXwJCSOqQnVCCKj-9kW54ttmVKSBElRn9LaaY7Z4udoqSkwOF3sa9ZxHbOjbJFOwpE7JUa53uzXgkrCb2iaCqs7apX84HFjLlvYviM35Uo3qioxLLwkqoQKVDvdBfOjqmJwHAz_S4rzOFGhItQ2n5dRLJHgUSCZ-j7nB3NYJ2T1izWkJYWTIdRxfXGnYqzoVdOrJR_9yjgRvvq9wLNQD7C-b_TKLb415Qdjc37z-FrWMAQpzKPv--bSMoUNnAfznhq3yc1BLxGpS5U4mdqtn8gakfc-mW7r3-1b21oYIW_WFp7gHGKbWUzM8rpuEp1eSpQ6B8jt48s8fzQrsjlaFQ4GOC9uy7m1_Mk77snBx78LEOK7Tgt5fUVLaEwTv0H7CIYOfRZ-O-xS84eC3veDD4yxOwuk4eSZL6RHADwkTHlUvYk0fKLhrO9yNqSUqdkU-HmzjyTwbGK9LypLPv9PH1Paa78aEMSa4b_7pmQFbbuT_34cBbE19T7F4MekyP7rf1z6d0R7Jm3eqL0wBFuasOlRKexMZjsg9sPMxHmt8g4gwQRsvBmPa92BvNSPGVJRpZNLtMyKuLFTcd6ICMU5u0Vn9Wy0hFavYeeFmjdu-aevdVy8mLaKoybpCwf3D",
  "id": "rs_032133f959d38e29016a7deebaf224819a894c8499c9029c94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"Wrist effort rose steadily as the descent stopped near the commanded height, indicating the held blue block has touched down on the red block. I’ll open the gripper to release it, then lift away to inspect the stack.\"}",
  "call_id": "call_JGwmrmJRUPT1H6BGqAutp79S",
  "id": "fc_032133f959d38e29016a7deebdeb08819a82ecd40cc6eb5d5d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JGwmrmJRUPT1H6BGqAutp79S",
  "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=-0.936 left_j1=2.2246 left_j2=1.9217 left_j3=-1.1053 left_j4=0.0071 left_j5=-0.9485 left_gripper=0.9949 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -12.1915, 5.9966, 0.569, -0.0122, 0.0464, -0.0757, -0.0205, 1.5932, 7.0085, 1.8974, -0.0024, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e765bcfa15d10400c016da77ccf6eaf9afefc688903bd3819931c8d58b9433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820c4af053e668430000c512ec175ab09da6d1ecf1b2c7523d48d823d6b8bac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505c6ba9944ac65075385f5d05a16476a0e2381ab4c155e709ef6f62a1f063bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 208 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.936 left_j1=2.2246 left_j2=1.9217 left_j3=-1.1023 left_j4=0.0074 left_j5=-0.944 left_gripper=0.4586 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -11.8496, 5.094, 0.7839, -0.0073, -0.0171, 1.0281, -0.1983, 1.6068, 7.1863, 1.8926, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe7FtBbvyzoGHIibkg66e7uwGXpYJ7MASt9sS-5VXaZBvfG-8j_FnWqXcj0sTYVx7tQVEADJMCN1cGyAeyoboiBwlEi_pelmMRksz_83k8yQK1cXnsiPR1UJHtcxs6rvp07FxdMB-AUeYOLtV2j98BdjFG3U_MMOOZVlzT76oR4-bJP9Zn3zGTp6Z5bJzxD_JvnQ5kXmyoVIVVUp_nGgXOy9iTqVB6UsPkrqP6SH9xanIUfy_vdXNE0bfhImUWIVx0MZMWnm_xowEw1qKci5r2enxA1Pg9b5LuRtC5vU2u3e-7g86bZ_akv6Cm1A412jXWx6ZN6lXKI6oTNXH7VsG_rYzmIYgbPAGb8cmnxwidRmqybfq16QY7iMllYLWhOK6yFw33ZzziZMfiNMd3u8eEjLDbvsVUvuL5lXrKjn1S-PTkOyI3dLRRwn3KiXOBiPEOqs5-cuZcIHy-hGqZdvNA5Pcx4VayWJwqvDsrFLTiLnSdrjzMn40vooprFJ5CVSv9Mm_xf9IOc41EAl1hNvTXlORqrA-zGRBHo0rEDzUJ3H4G8bP-XAXcOG0IFrAUNjiS76Uypxo1bTvhb4QWn32nQ1DXUsNf7p7aaYqqZyYujbI28su4PfaSph1dAPAYusuQABMJXdTrHsFf7_9-33es8oPpB6yzGiLn06qG6nwOixz8CB_S_Fp0Mb11UEbbPk36G-2GxyNJm8dKg4aDnVJx5RBZvp607jrQl8hFbJs6GPCFrNA97z35wqzikFsEAhMck-woxlMR8boo1UTNC5OYeXSw4JQ-vSc05esXE33JxMNKwnINQyxSMDSFWGeNRNQi1UkOk3vXBmgrJ0KRKItHDeRSqFV7fsJKCWo04buZ2b_3vJkyq4w4v-ULgV_T-beOQy9CRGvLffST3ERde7OTsLBdB2hvVfpu18RyqCyU4kbPi4byQmceLesb2GZNXci8jUPPLUY_TV06LEZhjrjy2cMGyew0mp8QwESaJuBJpK6Nd6iYKhKWZEJgCfuoy20EzauvHOh5kWiDp3brTbgUdBmXU9SwSRcC_SUwxhubcocdTEcK-m2DhBWeXNbuFeYcjCAqqL--qruosG8ic0cLzyWkYIN39fyAw1JzCyf7z7S21fmbu1rPRerF2Bt-j_utO9nfG04gCd5ovxT282EhY7kEu2o2kkWmQ34rrabLuvWMyj2koUVckhcNOnAsWjiLr4mYAzQPt77GhPSG5Nl0t1kJNLBslPJrifYxNkVf3TX22onX0zkq8w9JoaYmt-DCvW4-RVJx86qMNaeWFUfxe08EmqFSiCqwZNDbz1b4FaMWvdMA1lDJq9wBvzOfge10mEwOHT0GHRoK7Xx1zuheCJjrVF9ihLyb5QGySBysqM72rMtFs3vnRAS8XOxBmpw8fDU-4mBlCvBN00B7YRvaofjvk0tr8XLOQdPjoKhIzxrxrE-PsJSmvGQOV98ZLgD-6e",
  "id": "rs_032133f959d38e29016a7deec13f34819aa6c2888e5e45c234",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.9,\"left_j2\":1.7,\"left_j3\":-1.3},\"note\":\"The block has been released, but the close view is ambiguous because the open fingers and arm occlude the result. I’ll lift and retract straight away from the placement area to inspect the two blocks clearly from overhead.\"}",
  "call_id": "call_YLlYWLopMNSsMbCmy6ObTZYe",
  "id": "fc_032133f959d38e29016a7deec3e7d8819aa734e7654df122ec",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YLlYWLopMNSsMbCmy6ObTZYe",
  "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=-0.936 left_j1=1.9388 left_j2=1.7142 left_j3=-1.2526 left_j4=0.0071 left_j5=-0.9478 left_gripper=0.996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -10.6598, 5.8872, 0.569, -0.0024, -0.0659, 0.1001, -0.1436, 1.7846, 6.9949, 1.8681, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ffc6c8b31158788872870943d1c8f5c70c21e99591bf9a73a12646a128e62e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631b71d67533653ae9e02b40dcf0816773be8a710017407f4839b1b1deb324db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f6e1dc697c29d0cec52a6b505a1158a42049900a14a88b17984a5e99ee7cc0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 212 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.936 left_j1=2.2246 left_j2=1.9217 left_j3=-1.1053 left_j4=0.0071 left_j5=-0.9485 left_gripper=0.9949 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -12.1915, 5.9966, 0.569, -0.0122, 0.0464, -0.0757, -0.0205, 1.5932, 7.0085, 1.8974, -0.0024, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe7MqQi2USS30j3Yox1as2S3qXlSGZ3VmX5sdheDKMUrgirq0VFqHAbS-x-F2f8I6XMPZZ7ixWeA5Gd44FLyaKDMikvYPeXXAU0wXZJPYE48ICFoHtuc4OEEKBvDibU6R_eRdz3x8cg8KjkDoD6TboqBHm3umm_KGDLtipe0Jnqf_759Pej9jihU9jpajkh1WFDCZsxWtrLtVVd81EJee6sDoxaFPfRFILQEarfUuW3JfGd6t-N_AzG-pYWuP8N6X-hpD6g_CdD6QN1BjI4VifmJlSJNO-Who1kTRt_uapTnMIM-YHKxg3bcOpsH2rnAqDW2Hi-eFxB3QoUPGFSGSAVqOPdWavbp-KCY_r0H-_lEGqSnyYbpH-utNJV-rrwGc8wiXN2agaV3n-Siz5BozZn42kr7ZdcF6JpTsjLukJyWYB7H-kwAXeh3_Boglv4aJL342m5mrMwjAiyrCJjHawJHDjn29aI5gI0s6aTzXwl7cmyalMhotxCKP-FX29t9eLmPLf9BYTgR_CT2LJsK4rR5tuJ_lkCnFy4ifPe5VyDUnRPf99JqHzsejezJySSC9KOLEeyq62EEVUPsiPS0yaPEAp0r-gYR54Q98YkX8becFP5d_S9xp1K9XWYndJSe0VkEOiA9lRbL9tJWmM2vNL8s2GyAvXMs_3MeoiMadTYxZVChzmRYGF9Q8e7Icj77EDKoLjz8K_VEPe-3bS2guOgZQd1YLpvU1wxBf22KnsYceH372b_CDYblDb142-2OIktddJ88Bg0Aq8WmeDDZiWzRujXBW_Nx12xrlyXjquuhVkuGefSzDzGIu-C8UixCel_dTcCNT-Pk0J5RkWHfSkP4Stkl7PaTf-CFHrCYo1Q-jaKIbmtc1HUrvUTBDtSJk0ZDnRThNqZbs9cvzOTdNwGP0n16qh3wmoOjVfntWWcrP8tV4JbmVYJNE0nf_AcJ56JRXyIkhTUsQlDjfQkoDE9qev7Rgor9vrDMxpEhDhcLsTjW7Tj8k3xqjsQXEvTJP8a7rhWGJFHyKyVwd14uyBgINlsqyPA2b_VZPABmgjfs61Kz7TO6TPtseCDGvkN0UuCJr7nGVC2mr1IscQcW_aj6drQyjSZoB9hnf1xDGGl5GHEY6ynHPiRPoKmtDq_uIoEANk4Q6mty-cmw--FySOLcaEp_-I3BsihZKIL0z9IySL4W5gzSfCjy94L8DPdf2hJkAo8BEokG7JQXzv96d-uUiA3QqDyZySsoMjSio3go-qEdxE5rb7DhNdB8MU1JeGnix7dPxly79bH5r4l5kuf-TFKJGw3rBX1CIuODpjm0hwa0NCM45pgX1HPjnMUS_q9u3NNy8zeyrrcix_ZlZ-hh-YHSwJkCaYQiLmtV-aJJa7PRkatpDM_IjIUos2seXxwF6k8-sxpLW-Mxmys8kRX66CZ4d1LGeP7d-LVYuHbuP4agfH5z_beLIfvzTm4-6DXURSqQilJnenfXXeHxmHcNJ4nRHl1kdi9KW4q3JfUuZSSMReRuH7taoA0tYMfwMFtB",
  "id": "rs_032133f959d38e29016a7deec87520819a8edd35d9f7c8ec00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.6,\"left_j1\":1.3,\"left_j2\":1.2,\"left_j3\":-0.8,\"left_j5\":-0.6},\"note\":\"The lifted view shows the blue block landed beside the red block rather than on it, so the placement failed. I’ll park the left arm farther back to reveal both blocks’ new positions before attempting a corrected pick-and-place.\"}",
  "call_id": "call_26i7GVfOWME5tC1af0u0XCGk",
  "id": "fc_032133f959d38e29016a7deeca69e8819a85c04e82622b8fd4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_26i7GVfOWME5tC1af0u0XCGk",
  "output": "executing move_joints over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6121 left_j1=1.3354 left_j2=1.2148 left_j3=-0.8639 left_j4=0.0074 left_j5=-0.6502 left_gripper=0.9961 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0566 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -5.9145, 6.8171, 1.7118, -0.0366, 0.2027, -0.0024, -0.1026, 1.7299, 6.9949, 1.8828, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ad7c9ab349f4db3702f0d7edb69aed965c08f0137e06282660cdd387498342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a9d0e792ad65bca01ba10063f6f62b1fb2c6ffc0ed7514033947bbb886ed94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a92a392d7c05d1a0849fa01f17b5056b1712087b6ebd7c7221e0756789af29",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 216 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.936 left_j1=1.9388 left_j2=1.7142 left_j3=-1.2526 left_j4=0.0071 left_j5=-0.9478 left_gripper=0.996 right_j0=0.0044 right_j1=0.012 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -10.6598, 5.8872, 0.569, -0.0024, -0.0659, 0.1001, -0.1436, 1.7846, 6.9949, 1.8681, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe7XzOi3VjnY9cBtarKI-_Ad8kaD5IXrEnCq_5OCHx1aTVpJDJQDPfSrQ7kGZMPB0_vfq2_7W-ttBAV89cIgxKzzfrPrjrN5NI9u95A70zSYU5hasE6OTLTqnYqurfhNdY4uqYx5344IrxbTP81K64M7oTzK7ljd4nmN0rrVFkfXVBeXOWt5Zhe-thAM0QZlGsuCulKEdFG3YL7b8-MWEQn6eJufATB1Uc1ljnPF4dJ3r8qyI6oObGIr2T345-zm9u_mg4qYpBB2B9ZuvI9Z-sv00s7Nn8ZBIdmbFLf83yfWJyyfTi9GRt0qyeSM_t_4El9UND2UEhH0VA0l7nw7clAbihcQcfvHe7Sae9TXAq-WKPu68yfzjh44k8GQTf6iR0EfWnA2jEKJQygTuuCQJ6iIVOSaKPRkdGaccUhER5z3VPR9pTh4kyQKjF3sB0AZui2OTdJqMPQ_kWnO7W34LivmO_6UAfZ02ERmVskbVYnInoRXwTJxAbWjlX6ra6gQbZxo0SNrYQQhbNG0JJz2luEK64LpvxJ5Rqf4huGOYhcJVHHoNmE43a5tQGbFr4syLDHodl56g5G_Y6ZNPhmXOmJhPw85VKL2PByjFF9_lqNudxel5R3WVTLalRjY3MKHp1F1AbZQ3H4H3ENodoTqus33EWNFrMdKn-YpmuMf39Ow8jUwizuNTvHs76S9GDe5E8nYiLjWawKahR279uLfqpWRDv7DT15-fGkTcqH4EoNu0LAdxbE-MgQ7ifU2_eg5T4TV-KplGkV4fyRBoP8UMjRllt7V8M0G-c9c9mVXALaSyOh3ctPN_nJj_SWtFn2HUfExnuFhiZuTLeFkxEki3CcGenUKZ4OdM4kRGf1RYTKCPPmmm0uhFZmu9UMNoNWowsTD3CTJxMUhHt9QAclySucPX80tIX5tWhN3O3gWKTtImgXtlo8VxWmz8opo-03QZBIuzuJ7BasMB3C47QY8SPX9T5wFDz5dTnNHTeTCzOBTOlb0Gv88qrhzYyinq9fPMYkxcE7PEPN8QwDyySObOkX-4IC_Z0R9toF7iIKJ1C0Vd_-_1zG0q8tEwqz1A5ZCQvFBEjNxz1HeIaEkRAFmvSLfjN2tmm9Oy3YMUIClTYavTFwnzXHSktcFcPwwsHbkwEnH9jSa9oi9dK0FT5z4V0FzTJ_UM6-8XnS3KV6wH4HVY4FJkgNjeOBYNOvlKnvLBiGex-tZDj3OvAZaPBgaalD0TiQdFrHt9RA09HGHQr5eQLe6IMXRlcqink7FRrqu1OrT08oxuCctFmooXP08LOYuGf3xOW_NW9mF4Kd0nRGWS-8UYfLSIu58gFwytERGpZ_lxmu1e-Rzv7oDKR0Wy2GK1DBIPeFKo-9-yUC7oZQip0CixCrn-MEklZAhyNouQ0viokBX5tDxB65tzIKaMazbwqPgcaBpJalWGRs5-jZ3d1SxUOWDjA21zI8aRGUC6B2MJgWr7B43kSszABax1IgWM6PoHtoEx-ETU7PDFuZlPjlL3mtHA7lZKVzwiZZClZwsDZbLWXqrBhK2rxfheF5csj7RrN0-sEqUFMiFZqP2uUkI36vxwPab9XE0beZktEN4LQctILWZgIM5DMFGd7kf2tsN_hVU3AnWrIwa0E-pq2B-ZMwCR00tYqXkyRDBtN21CZ4UvbctfafDBkfkLISzj5oECV3N4e0HAPCxg-tXvpSgP7vaAvNISvFMWvdXDLg5c4e0elgKbW_YSojgbdCPm-gBOvlaMD_ELlqJlHbVKCVy3-8UNBzY7nksN7OxSmM8uZkRf0jgi7W3CTtLDErP58-oaOrjiLzGFfSUFPZ22aEXOj49TcI70PyE7UPALMnH6VVyTLRMrMtcjWwiQvKeww9HhqCyHoqiVwrE1XV9-oeGLF0gYHXYwCf4MAXPam1CKTxErShFjSPLosAxRTCjr51LuiIQXumlvPRCpbTiEXT6Q_nEjsDvd6oZFhRf5nQRDcRiLS4rW6vhw2tBVdXg5TXFaTwhuYf7lw2KEAdnrvcpx_xe9lG_rtJK04wEiXa6PBgFCTtc2K8jO9EQxw0W0ghnoEMwe9HihuJtX-xmRaleqSfsZM1Bt-ZLi6N5rx0jiJSF3VQlW1B3XUYPw5In5S5UZgGfUMaBcrGfgRMzHK991IfmxVtyDCD6Che8pnSc2-pACtaLgIm13vzp5dUOWlKIjuxWCdAacXLL62knUXA5AS543viWgwJQv3p0Xm1RPsLrIrLWbjVRquPxt2AvHM6j0YWz-dasrP6zAAVSapQ=",
  "id": "rs_032133f959d38e29016a7deece9ef8819ab935066b99deb0f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.88,\"left_j1\":2.12,\"left_j2\":1.98,\"left_j3\":-1.08,\"left_j5\":-0.88,\"left_gripper\":1.0},\"note\":\"With the arm parked, the blue block is visible upright just below-left of the red block. I’ll bring the open left gripper to a high approach over the blue block’s new position.\"}",
  "call_id": "call_mR4XerIw5KO2Vrh5b3t9iUlZ",
  "id": "fc_032133f959d38e29016a7deed63328819a9fdcf6bb0fc6ce86",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mR4XerIw5KO2Vrh5b3t9iUlZ",
  "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=-0.8715 left_j1=2.0975 left_j2=1.9347 left_j3=-1.074 left_j4=0.0074 left_j5=-0.8665 left_gripper=0.9994 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0681 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -11.5214, 8.6359, 0.7937, 0.0073, -0.149, -0.0562, 0.0068, 1.5658, 7.1316, 2.0049, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42de782aebe9801f859268805fc512b47cd2983a8f43daa645448c566b47aa0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177aef2b7eb315858c5ddc9b0a804df953332f02ae6b5d35804f5bb07ebebec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a46898f93e8c605cb7bbfd252178591b29d803b5aeaebec8a51cc5e7c5c07f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 220 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.6121 left_j1=1.3354 left_j2=1.2148 left_j3=-0.8639 left_j4=0.0074 left_j5=-0.6502 left_gripper=0.9961 right_j0=0.0048 right_j1=0.012 right_j2=0.0071 right_j3=-0.0566 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -5.9145, 6.8171, 1.7118, -0.0366, 0.2027, -0.0024, -0.1026, 1.7299, 6.9949, 1.8828, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe7dtskgMqiNGtHdrZKt77KHTjm4jhOJjcih8n76wMoSl3MXyq_MRp59YQJ6-7nZ_WkRnKC-E0T6JR0qzs7nOoMYfIx3gtQ0-kQIR7STPYFr9QVi54Z1P6wInh19HKofqYpScsmXcbhbgVFDAg-2ticiINpU3QJHlEbgy-VpYeyI13Su5uGO3d2AocIndcsF3zoCrf2R7Abs6rn4QGYNZAeD47wY5_9EFhrXY3l0s4HvKMiHnyfOrWViLeBcrXXn7ZtZmDYoEKT7LcJ7bFC3KhR_p4WB-HORbUFtBQE0H3aaoDb5ciIW3f1DS69duRg8ck5HxMRh_HtF6nH5eayqNPhwI3WGZCEINX2qGoDKIAe9VOqr3oMMxB-4iuQPGRYGLSOuBDDXOYfM_ToAoHkqAbZrX5q7qlA3EnskIUio25hg3_12-1y1jn8dJtaq5EkSBrappQesRiHnSOFa0ZZ_B2qONRjhtbRbGlAFoICk2IXfsVGsjx68SLtBkhq_9UIbJdz-DvR-KF4UsyCGHGgT3dwqAhCwStfz0_H5aGygPK1VFExtaoTGhnMY7h7kca6VVFBIJ_sx1D59xYS4_rzOlTf1_TlAdBDrC4ANjZyXLt2zZcBFiI9wQgDAskV68VwQgkb05L8HdchGqYgoRSRyQl7PckqhS79JBDq4P4nM5Vy3l1_4nsdhXEC3BtQVPp19BlPSrGem2_RB9sRtoJ4DBHCLrZ-gNWEBhbxYCfe4K_KDKeOED6oIeODR65kykxziqP2IhKduls4y3L0efUYDO4_izZr8N9QXGOaRg7Flc0zYybFFGH4vS0MTgJpj5hyFXDdOgisPO9eQCwzG290cc_Jyecxr_FADZy_lGhmCJawuTTe-ydnWCQ89xqkqJgKKKc55SOy0asju71HXd4sKZM1xePpUYibpejE8LVPPlcqnWi-hJ1bgmxe9g7W93fbRAtUsaq9Z17z4IYfW9A_y5nmKzxWZs2cc-eGhOHUnrItIJDId1fCQfS6mxeudu5Ngi2qBSOnib4C6yZnOvTXno20a0Qbn9nT-4TWlYhBljfy0RP_Sp2Lqa6fK0RQ8JV9fwx_F7MasmRMoE6ckSEh7fGaVioHDWQg3G2wUXCFZel68VZAThGRWJ3OF4qxuIEMTktHrTZGctGaOmcF63W39qD_xfGsiSqcAFuKwQQs9y7d8OWdTbajjrkHqy79U_8iCBQhT3TCgkgl065pXTs04F7OGB7Ds0tdrfutBYcvPVImJCD_pTkREaZxkNNdGdskyFRIQ_6IIK0kEXs1x2PzBHmwEfEJPihn00MMWgRGQ-GcVxsYpjqvjkzxzqpoIz5tiVPK9",
  "id": "rs_032133f959d38e29016a7deedab5f0819aa84ebc017e119bc7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.79,\"left_j5\":-0.79},\"note\":\"The high approach sees the blue block near the fingertip depth but about two centimeters left of the jaw center. I’ll shift the gripper left to center it laterally.\"}",
  "call_id": "call_F1eazFuP41H31SY4uudza9S1",
  "id": "fc_032133f959d38e29016a7deedc189c819a8ed58f154070d854",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F1eazFuP41H31SY4uudza9S1",
  "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=-0.8494 left_j1=2.1239 left_j2=1.9434 left_j3=-1.0809 left_j4=0.0151 left_j5=-0.8448 left_gripper=0.9996 right_j0=0.0048 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [2.8513, -13.9009, 5.7368, 0.9109, -0.1294, 0.1294, 0.0122, -0.0342, 1.8256, 7.1726, 1.8926, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdced29120411ba64c2691b8c3fe0a2627dbc9dd6403582457758c58a5dbd94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d83880bf8e0eaf67bd1b0ad2d5ffc311d91c7b046c85151cb0947f47a637e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8886b33f1b39aa2608f796194d06af0152cecebeea934e233d7266003ba5ef6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 224 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8715 left_j1=2.0975 left_j2=1.9347 left_j3=-1.074 left_j4=0.0074 left_j5=-0.8665 left_gripper=0.9994 right_j0=0.0044 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0681 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -11.5214, 8.6359, 0.7937, 0.0073, -0.149, -0.0562, 0.0068, 1.5658, 7.1316, 2.0049, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe7le4h13mxLJJT45NbEC4A5J_E4BBwmFc3Vdsg4A8g9H9FSj8HInC4c_6fhJ7WDTjQKq40MYwIQiqYf5TjnD6L5VMUtYF1B_wMX0p-a9hHf9g_68_pUfCP9VqVjd6bUIOkddGnQGOBsH9x4ECyKIv5d499gygTfzu6d_ibLZrs1Apc2q1PYM_iQ_MUjUJ7w36ZqBoiAbgiRiyYAEFgdILX4i1TzMA4whdHtF8XSn19dawsNv0UIprQ__fUcLw7jN4b_TQKeJEKaxmNtblhlZyNEP9bxxjbJekq6vgcBdSXkXxdFeQuypyS1gx4-MiQn8pJE9uJA3ZKmWKXOVhln1oHaNEz7xxFtQ1hJhnEeZkYn8-ovjyhqYweHX3lnMnY50ZvntFBEAhkUkKN318DJ_bTEDqtg2_LUQUUlO8sw9w8FoTbtl3zW7ybWenNqfG_EyLGaIbI7JpsTJmnlzzFte9BDz1H4Xxy6KaVvKtNVDPukn3y-jprl_gUwR6t_P8Xa41uNjY9JfV5nR7wDwGhEefJPUZzHbhDJtdhyvOwODwtApEAdGeWWLhbg6XoT8VWanOqr3_wDlN1gSFSaswr_KRutg_PAhA93BAaEbNihAnHpJtnDx_fYZLi9cHAkkGbmu6Uf2sdb6tk5YD65J81bQxvZEbPFwg1-fQoOkjirMzgtwVCSg0P37PaevX32d_don315Q5TWZyXJFyEByPBa1NiFyTgHtQD7L56G9NFkc_Vu4QeAeo3sGwUTheFiB9lQ-1RASdQwgVumkDLcEnvnvHdUCS9_ATlhc-2LRlkdaLBD45ED4yZ8fLyvrfY1e8qFY7aHO7xyExhgQBqLGaezDToPR8SLPmvCd8ewUNGtrslM9-562XtbBrbJ1FSvjmsDLMD0WzKS5X4QNj5Egux5SIGMm_UcRcpE_qwVdbQRQDp71CZV-1O2OuNTUs9V49JW7JiddjTcogKtNHpcx-WjiDczhy4vf1zh9czJUBTCl2zlB1roTscsFWl9apNSGzc8QvIhpvHNNpe4w2HvBDYbuEk-27JSVWoDMvw_9Jr6sxPKctuZgiY9Wj3ZUnxJO24IXxJKVrVvf6dhfTwqu-7ntga8US-AyubJagB2X6eDJ4JR9Qmgz63fvnFd1LHajR1sqiC4B4f2xKbx8HLHBj-6wjF30_AKQW-McxCE2yfYMqAwOkF3IgyEnplcvVxqIQdJ9sAuM9pdJCyxpggyL1HQHQRj6-D57zj6CKDCg35Syd6Hj6TEjb55nE2oSf8DljeLxkPRsjPLCodA2zwmsRVPEk0endrezqc-bbBxk-g8iiZjkaTEDe3rED8y7ifC0ISWsEDI",
  "id": "rs_032133f959d38e29016a7deee234c0819ab1ca011d79f9a0f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.98,\"left_j5\":-0.98},\"note\":\"The small yaw moved the blue block farther left in the wrist image, so the local direction is opposite my initial assumption at this bearing. I’ll reverse with a measured rightward gripper shift to bring the block to center.\"}",
  "call_id": "call_ObPrAXxiIQ031kAL0NWnsEKW",
  "id": "fc_032133f959d38e29016a7deee3e190819a8eb75069884a5768",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ObPrAXxiIQ031kAL0NWnsEKW",
  "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=-0.9432 left_j1=2.1242 left_j2=1.9381 left_j3=-1.0813 left_j4=0.0074 left_j5=-0.9195 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -11.8222, 6.6393, 0.8571, -0.0464, -0.0611, -0.0073, -0.1846, 1.6752, 6.9949, 1.8632, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2093ee49539b5cd745b24aceb4b7aa8d503023377ce2a59141194b2d693c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36031e5fe8c537e27b254981138efde13f4ca537cd28a7d995ff7224c86d8bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15bae04b1b1a7de15e27c8d39714ef03525ecd0a6288779f734ab1931e2ff86",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 228 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8494 left_j1=2.1239 left_j2=1.9434 left_j3=-1.0809 left_j4=0.0151 left_j5=-0.8448 left_gripper=0.9996 right_j0=0.0048 right_j1=0.0128 right_j2=0.0071 right_j3=-0.0696 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [2.8513, -13.9009, 5.7368, 0.9109, -0.1294, 0.1294, 0.0122, -0.0342, 1.8256, 7.1726, 1.8926, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe7sHoGO6Zqo8hRRfMkiJ7xW3E68raMZHlcJTjSD1jvi1ulfn0AWVu0QWYD83FGn24BkPI9EE3JaZCqCmIWSRYuAXx_tFgUykRDyiFWxNGQ2QJPfO60YPmbFhZT_n4SE1AWWVc2QE3MWPll8xHxOsuqwX-ESFrNyJEuGKxbOFPRlO_RWBDUkHYyKmVtGDx7U0gTxnkr-tRZMUdRh6-t_JLsZtkoKRTrUBxSuJtjEsEnZKyrjC8spTRjsV6_99hOqwdOAiNSkxXJGET-EtivXH87HHdFJYR9IXAJt4xej282cu66pdPYAus20YC3fN6aEVKmt-lDw7MT8CxKMRZ1LstB_4KHCnvhE8BB-Nd8EqdaGpg6qDFs3OwGOKbqZ9Qb9RMuQXCkOrgadiB_ovsd6D_RmGdTBPIVeOEYKnYvzEHqrrdY-xPVTKDpCcDrN7yf-bxI2Fxe68lVbRL8GfHzosd19BDSE_K2ea5IsiHEpMjRrPG5npa9aPGTvleAWRjQFkcZ5OZ6-mGNYxrQhfF-IlMWSVKK3lGLoVOuZfSbGiWnjrB2jvD9YW5cm2XOr2UdGV3Xh_LDHM9x7_T6I-s44SiFyW1Ye-a1J0U703fDzI8yV5v7TBHzt1TLr0sLX-5yZ34RKUAAFfwqvIQXQ5_8oAH_MaK5JD6ld0wi7GUsKru8VRsqoKNqbk8lyKLwebhpjzPVpOT1iQfqsdPfKhXH4f73kIzktsEVaJSBcO8YaJ79Of0nc_ulMO1ogzLxY6OSYmzMURkixKMHVDWDX-PLSMZpxXt0F7Nd3150-7Hn3VxOUL_e5Fk25fuVrRUSyic6py6pTKJ_i1FXgsLhETLP0xVdlHzJ4CTOZphSaaSE58Ze_hW90pJ0CPlai7fw7wlmavb-fQ0-jc6bTRv8hhvqcaCd5CAXBSFVjNlgkqBfHff9gdtWCl2u_pw5zcZI1E-kiW9rLmrBABpIXdxnphAb-I_k1BxUrrmxomax5I9Bo0IO84MJJiT4tyd9UquQu0LtJQ6fjOetZIg1Emh2TV0IKESNbqQ9ybsua_EeS_RcMptXQaIWcLvGk108T_ucpvcci4hm2pK-CPC3XWZeMRbhTWvqxE5f3Q68P9aYyfbfCWGybDn0FBK1pp5-u_lQL35daTZpIEYgytEM12fvShrMvZdXFXfVhDcVuvojN3o6Gy-xyGgFDPuW3e16KITBrB4g02XMDrIuCvMG63iNkpdP-Kq3GtAiOePYHMmoLexouFolYyjBIgwIj2UTX1c7c0Hn5IO5obKyUBc3H2CeBn9Du8hbQHqw7qGilGot1CQyr3SEw0LT3nZGCJQ0hs8fsFRSvyufi3iUAVW8_vFLcrpGOiDl8cQGO0IkqkLpAGulCEWIX75Qlb9xsUyqzZoPGfqKfxY58s9zPY7PTh7nQ9VUnU9-duyVkH3pG0RVhvcess2ybVqCEyifzHg1Cq6xvc-OR5Scd7L4MYZlJpZzq8-5GmHxgTZx3iODrW6RkxNplbXAIvhd_nHX2Owdedu8QWoSYOXBveMFf1nmiu3ZSzgI_NpdTREb79RSd0X4StTuuDKCEB2dyA1f_O2q4O2opzppxg-SAT00hF00gab4baRDow3nF7Oiy-BrV5wuEPWOE8bwV6KRrEDjOX_1XLWqDN5X2gFUoSXrZRRV22nEORgzvH-eOCdE_6RdatDGH55dEhyuVwWvAMbm1DLfYUQGFBTLlBquEQan8dSdwWZzPNy9mJj_bqNG_HDMLPvG_UnhDDiQDcBKt_roqznGZshBt-D6IEkilSeqsAgydG7zLzvjwbdpLwji9PDvQASZkRjyRZSAL8-c=",
  "id": "rs_032133f959d38e29016a7deee7d784819aa775cb89646ed638",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.87},\"note\":\"Wrist roll changes are rotating the camera view and obscuring the lateral effect; the overhead view shows the gripper about three centimeters right of the blue block. I’ll adjust only base yaw leftward while holding roll fixed.\"}",
  "call_id": "call_obdFqzXksvZFGfGrkhzhvISS",
  "id": "fc_032133f959d38e29016a7deeeaef88819a94033e0ba00f80ae",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_obdFqzXksvZFGfGrkhzhvISS",
  "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=-0.9413 left_j1=2.1246 left_j2=1.9381 left_j3=-1.0851 left_j4=0.0292 left_j5=-0.9531 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [3.4256, -11.7265, 6.2291, 0.8571, -0.2466, 0.1392, -0.0073, -0.1436, 1.6068, 7.3231, 1.8632, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3593a6cd561c83239372703094938215ac7b943dcb1848765f6c7ac635da823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d832590762fddcc0c4e8491a1ab5132d54f4bb170510ada7afdaff1cc1e9a82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033910230921dab95c9c3d7d4f43c5c18a338ada8309fc24eb2189929952620d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 232 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9432 left_j1=2.1242 left_j2=1.9381 left_j3=-1.0813 left_j4=0.0074 left_j5=-0.9195 left_gripper=0.9996 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -11.8222, 6.6393, 0.8571, -0.0464, -0.0611, -0.0073, -0.1846, 1.6752, 6.9949, 1.8632, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe7yN4EVJ7Dqo5k8uPLpYsF1IBOnI46pKVwrP0XlRmbKVfVOi3VzsGO-ugDUOMzbDF1kJsVLpiA9YSsBB-yRmsCDic36z4yAAarsyMm7JjUZnYE92ZbfU3eMVhoqRhkIR_hazRkUlyJV3XzlZtnG-Jc9cmYikCyNHMv83JzLaCds1IHDVQo0mbhZhd528Rrv9OTmgXYrnWbT8Vj18DnkyVegU9YTcJy-GryHEaoexRKJ5I0vPRuVF7gX_vCbT7qtG54o2VAD63xlkXgbBO2MRpgvMzezLo2zor3rjobot40L_tIkfyXvl-O_AQ9wvoQx8XSFGhxUcCBEn6hUbczTZKRldOv6gWoHlkWgavw08aM4OOJ4fFdFb_7jNwgU-Bly7TMc7AdDqyajAj_Fve3PFNCyDUUpqivzG3oa1Q4NySP1KZQUCPVzykeqhsqTRxGifP9eQX3J4zFf61JwOBs190zD8LjUCCKg9UtkCRwF6i5T7Ruw-uMjS3xCxQzl_fL03JbJnQVRNEq4aHDH-zMh1Cv56KCW8Z4-DwGLLMMeb9Z6f_8TlfF33OGdeTSmiy2hF0an_4f3eybUsT1hjcez3WMNK5xHTmESvIndZhJ3f8fG5PvMKCisWD1VeGLyxFcmtG5ljVKxNrOyP6c0Qef7RUArkKcak-iursVjKs9TbnNzTag03MizFS8YP8EMML4ksWowBPvVfj9_VEdD6NdOm_OcWHab7lYTfI0heidJQWmg-2a2Ote9xP8c-nzw8cLe3IO-ttBhZibUGyOpw0Ajc10fDnq_mxu8pSOmhJ-MDxa78uSmjqZOps_tVNjPOiCN7lVFR817fzpjvvUK92iUc-Vdwkh_LaaBlGWixPnw-XWbQ7-8zipDtUBgtsbK4ATQsM5_bkfqvZSvBwZz4udG9ZA5XnB6_7Y3MiugwJLiDYH74Nz8u3S6v1HLFn3P3xSX_WtSiHe7Xfp2rjOs74m9AfbVPhvnT_N-ERQKK78AY0zuGUJ7xQWOKMNQRR-rGXyovMSYgdIGQ7cd4IyTYRcuc7DRBkkv5IZQlGfEX-8_Yzj7CQ3aP_TUWhf6qaNsObYr-HWkonES7RaYWGc_4o8-LGxwfEepo2YKCDGpxVNmBLEw40m-WHjsRbu0XjjaDmGrFbZOcCRP2vno1WASDKLptBw1skpwpuWmwKpRTHCdzGjUzc3qzRXG44gCsoJBwhh2ZJUPPt32zjziWaaCwX_7kuWJpRTSkV7q7ZVkMIFbNRJB5V0=",
  "id": "rs_032133f959d38e29016a7deeef0ddc819a99767475d736e8bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.8,\"left_j5\":-0.95},\"note\":\"The yaw still barely moved because the controller was finishing prior wrist motion, and overhead alignment is unchanged. I’ll command a clearer leftward yaw target while explicitly holding wrist roll fixed.\"}",
  "call_id": "call_6pytYFjvdyAhM2JkZqU4N5wN",
  "id": "fc_032133f959d38e29016a7deef122b0819a87409d5abe2d8396",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6pytYFjvdyAhM2JkZqU4N5wN",
  "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=-0.836 left_j1=2.1246 left_j2=1.9377 left_j3=-1.0878 left_j4=0.0299 left_j5=-0.944 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [1.2923, -11.5897, 6.2291, 0.8913, -0.0269, -0.105, -0.0171, -0.1162, 1.8393, 6.9949, 1.8926, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:414b7153b87c8d0a248008a5612bccfc1a6b944869bf1849b75aef00e5fd8f61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d33ee54b6cf22d11da7e58814f02e94f0d931583a2cc53884f984244c4f9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88eb5c99106b592a6229bc4c3aaeeb2aa8f366daec4c72f2271b569962fbe3a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 236 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9413 left_j1=2.1246 left_j2=1.9381 left_j3=-1.0851 left_j4=0.0292 left_j5=-0.9531 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [3.4256, -11.7265, 6.2291, 0.8571, -0.2466, 0.1392, -0.0073, -0.1436, 1.6068, 7.3231, 1.8632, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe78r9zXiF6us1Qh-dfrQyEpdyFnquEJOoh0Jkyy7zAb9K2WoHieHsf39NeGir-_lK-eeaL0ssBNKHzZz0dI-AeFvE8fyviC7M5qrkpfZs1IgM7uOOxqp6_KkAYXgynkctTGpLUdPylGh0mVfy6BSi-B-dH9gcDuYYHp9MBvmBTPUXWa8AkLvn4ELyaCBr6KBgDxgpU3SpvLLNprHmOFNkvJplYNoJIP33JtcV-ERNTh1JuZWFRmSC0NhX3uRAI1rUXesJcVTRLDuE_03SUrD5YSf_NfwEzeK84-H97BBKbWQBwX6SjPxkzN-38yvIinOTSL8u6EE8aV-lsHXqw2EDMwb3MhHE6fSbcBn4auIARRxN8eYx66v0dIK_z_iwX9WJQKsFa0ufx9v-eRCfKMJ5i_4TdTIwMFC5zWu1uByTQf0qwHtIHvKvLOxloWSDYt9r2mG5FostJJBYtPtvpyD6kxT5VGebj7G-ZsW698rxbF2McoOYeWEZFDwLW8l2g2VWThabfzSFLdPG6rjVWBy1Qc_7WrKDw_pprrLHrb5KpIEoMNjNGU9yY4Wp8qxokT_GtHaTwAbMqg9Bw0KACG92Gq7s_z6zZ5Q3XwnwI2w4Mld82qFK2vXDGrylK_BCyyIr06WtrDxqwdS1FE6nMG_sGqhax9ifR7DNmPw16scysU7iCYKhiz6O4-6EtM8Pk2PubZ5BZdezYOrg5iowAMF93tGmItYb2W_fOH7xFYJQdigwZVZMG1OB-QRFu_IN5_bhEqcLug8eLfrvzkIp7sSvfblqXy6a88YHQBb7vsfZdfsvDH5lO0fEYEZEkpy6qKcDZQLjK3rNI8LCYqkTGb38kYtebtzkRqB4bkSdXl11L0QSQkQt9xV-egxEdKKUAPU4RE-4ZOUYgPYrFOclAEq9ZEgRV3eu0nCu9caOLHCZGOtjd5kGb_rgTLVUWD_F8WmvrDNw_Ai0YFePLPLa7zFjV5N4XADXixzAHhmIZDzzkpE6zx02ZWh0FAEtboyNdKJWRknV9YmpzXtk4nvbyZTTbJ1CLNge_Upws_P5iGdu3k5VA0qw3pLpf7Ch9A3UKxC0R4n-iP9O8OhQPKTtzwcV9yvsVfoXGaV58psmPDIATJ-1tmCTXrJCAo6lHIQ0Z5wskIklJ005rVv5fsu4BK2fvsbScvzKrf39ibZcugOjh-qu1QDGyV5KoylslfdDfdC4G6E-dda9LCr7LyDQIXr3jgXKD6xVgUFWi1nlDYQsa5M1YmTkZY7EVtUKpIBfTu37d9MbbAnz5Cq8_fHjF-1KL9rmzV-q8q32MJzYf0rAwSenhXTAVhBoUDYU7TSvJc8cnaKoIbVh5XGjJrPD082KgST4WH0wNC-D0Gi28KjjZe9XhTW5hF_0NQUfQI9F3S5Z6hFuczapEkzy9dFKNyno9mBzmuyp9m9vVB792htPjrKEgRjoh1H9D27qbwkUzb_Z8hejFmcN4s4lePo367xCJSUkwtLmRsIYwS-b2SJWm1npApH7wZfGVJRUvC_WOOH58XrCZq7PF3eJt9lfvo9DFJgE04illg1u3uUEWDL4EbaHi_3ImdNYG_ahxvUo39OFW_pwfLP1uSI0ufnkKf0VYDQBLSunXptwMT_BTSm72H8f8fdsnWfnPVH4zj59cwtzY7s750UJHQeU_FTt3Z8TCyXobrZsGiukX6WJ1VnjxFeNAx_5NVGkuAVc6XPxodUXCuXRpIxm5DAxV1UY0XraPmfkyMcsXW6UWq_7hsb0I7vHtg9vC-ZiJI02OtnUKpSsaXCk5HXZwoA45UtNsbXOsFN7fYTU3hex1YS-_NyvWPpEwyXztJFDiFLjt3-NahRcNYh1Q3oF2R7nOVSyWYsXbF_mLvCkvSPHQDSct3BrpZAo-5A54rX7KKorJnyD2EzrpCei_Ih_9fcCJlMyV6O9615AEWeeucsacXaK5HwqJOJBgzvSkvNOja9eKYrn7IgWgb31p1nkuE0R_RU9mCmNRyTT7Ont_Sg49rjzHUdrUKZoqDEDyZLobaRd8DaPUh3qSS",
  "id": "rs_032133f959d38e29016a7deef4d878819a8681577e291411c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.0,\"left_j2\":1.73,\"left_j3\":-1.02},\"note\":\"Base yaw now places the gripper laterally over the blue block. Overhead, the fingertips are still several centimeters forward of it, so I’ll retract inward about four centimeters at the same height.\"}",
  "call_id": "call_SVRXVBUmdG7mEwxqUNFEDKsx",
  "id": "fc_032133f959d38e29016a7deefb8604819a83ee5f27ee2159d8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SVRXVBUmdG7mEwxqUNFEDKsx",
  "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=-0.8429 left_j1=2.0628 left_j2=1.7416 left_j3=-1.0405 left_j4=0.0303 left_j5=-0.9485 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.4308, -15.2684, 7.0496, 0.8767, -0.0171, 0.0073, -0.0171, -0.0752, 1.6479, 7.0085, 1.8828, -0.022, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cbafe6c291ee24d428e214f1bebe5dd7b976941069691db1a22910944115cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28e3e9965a275fa59d17a2f01721eba24ba3cd807ffd23620bc2447b5aad9bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8f6ca9dfa0ca54b1b122f938c0ca13f49baf0a81664e2b58cecaa32a4b2b4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 240 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.836 left_j1=2.1246 left_j2=1.9377 left_j3=-1.0878 left_j4=0.0299 left_j5=-0.944 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [1.2923, -11.5897, 6.2291, 0.8913, -0.0269, -0.105, -0.0171, -0.1162, 1.8393, 6.9949, 1.8926, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe8HeRzQgCnH3a85ppzAhY7bBT8Bot4zkVg4vsolnC_QdwEb-XjxXhVXZENeyalwItacHIYicIczrRdY9feYJY4wcbVCDIlTR5LIZ2ZcR4CGn8izBcndMx1q6whReZDUD37A3-XbT2BYooBGcOSab_xuHjF54PT0AaOmwHduO34FeGFeXRix__GKvLJkl34qQZgQNtytZqcI0fUGIijJTGbA9rULZP84zWiyM9WNTje8L6j9bdQxxeegwF3bNP89JKmcFRWXqrhF-3eeXPGSfGOnsFRwmRn6VmsSPg8ZsqGyBsQ0pjVrIZhl-w5YmCVe_t07LDoYTQKxv3vWj8TQStAOqtHlauI_b2e37o0FxP3OyYAY-GG_TG35TrZCcEOPd3ugjfEwk6Wwha4WMQ30z2C62uvkmTQYlITQxOXWPgBx1TEqy-LZAs8rBsR-2pQdBY_Ro_bJ2WgJTngwh_rzJOShPGY-PwMe_GgYa8THTLGVE3DK8cqO7IwuPjEYm7GQi7PgldnE1LARahnssENqemmW5MjCxo6Gj6l-k_vERBGZZncbEoIb_IhzbJ3bw21nqyaGzQa5JpZ0XTas22IFTLKCyY4hiPs3pqt5Jn-c8k_MZUkkxTNie5YyaxEi9eEyr9XWDMT64oQ1iFbbnf9u1R-Mjw9zONoiduA05O777LPXcnJjYkmUUrzJYQxM5G8ZlWYHAZJPAFFQvE3ZHJeMrgsk5Gwr6dR1o3YK9uACSm2iGY7Q9sP6MvkuyZxej2dqwbvYDjzN_tMLOyGQNltgTSzGwC6ZgXIVfAAElaLma6Q9gy7OOEM6IjlKdFhihgvl0hMHOEBi4jXiuwcHQp-17YQKe0XqbFHoQzTQCZ1Hk5dlwCgO-5ib8E08sYNBg2BfhyCLyBLYs-cdlTpgq_cJuXyPpci2n-EByAsxBxtDsnhEnAi5MbiZ_F529wrpwL7YxNKKKKRBK3rX7dHYigXLwYiJ_c-H9cqKPgQ0tU7duyRbzE3swJswBUK8AtUoPIjvoPUGVFK414Q6SPMt3zZcz8TBmYHr2Xi7Txz-12nQ1_iv8KXPS4DEC5YfHvSyFGCTvngSzvMTMKrWUByA2sp2dP2GiK71cBC-iq6MvH_ABUoI_LthMHysGEsmhmtYuP5qYNMXCaF7lHKH2GTocLjUq4h8jsFz0iBa9J3r3ryjtrSJ8_Z3G3dN1nDBsZPSzQucG9CjN4O-qO8JEXflHZdy8I4h9gj-vxIvBRekWPMwUon740AuNFI7Vr55G11GI9MYvm8h81KDIVlx6aUlZ6_wqDUgco0StSFmdCsYyzAB4pnKhS4Aquvy7zUJpPGUSAjjVrZi3WCkup4Y_ZNfskGX70jkQ24tqN5M3ERiqvDsUTmeQoave8uVupz16yOeAlWVgJMIFeyUPPbdJ9DLcIrqtjUCuR2bZB66Au7paMmIcVzQ9Sp2TebsPjonFvta7YhE_eyb2vzj5kMPNEtutIxTOZa4hgNfsgXG6itzqormTG60V9qSu35BlveWB0eW8OCCsYBadOPcT_gis7-Dii3KgEeaisR-5b2b4gYhstnUMaH1wt2WDT8vQMZr_5UyoeKUl4uQwvpkokMe7eX3z1H2I4osJrf87nQ9yd-Sym0wn0XMgKcuuzH173v9FkmYJHHDs-II--vQdMrGEYhIESW6Ts6MNrluWurlAsxOhN_rrLhLLErUlqCIHEZKvlswn0r0VUKZOCgcSragrwh2xqzTEHPmOM-jAjigy_uDfK9C7amg1_rMGE0o4EQcj8ViUoi7d2cbr9xQur4GOWfEBkgdcpXNqA==",
  "id": "rs_032133f959d38e29016a7deeffb674819aa9b0b20442d96220",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.09,\"left_j2\":1.69,\"left_j3\":-0.96},\"note\":\"The retract put the blue block centered at the correct mid-image grasp depth, just as in the successful first pickup. I’ll descend about two centimeters while holding the current horizontal alignment.\"}",
  "call_id": "call_POrx4ZbWZSQaqD0hjOZ5Kyyr",
  "id": "fc_032133f959d38e29016a7def05cbe0819a8f666f63951b0c35",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_POrx4ZbWZSQaqD0hjOZ5Kyyr",
  "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=-0.8379 left_j1=2.0468 left_j2=1.7111 left_j3=-1.0042 left_j4=0.0299 left_j5=-0.9508 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.7179, -8.1436, 5.2991, 0.7937, 0.0269, 0.0024, -0.0171, -0.0752, 1.6205, 7.0085, 1.8974, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923666c3760f8d81a8edf81be835981a86660c12259f8a9ca00c1f5669c9b536",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538685374786c5e5f18561576bc1f9e79393bcc876e1287a5127ba3f9ccb9e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a27107a6eec083894dc03328f297e018813fee66b8f5bf6f48ea6e8998ec6e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 244 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8429 left_j1=2.0628 left_j2=1.7416 left_j3=-1.0405 left_j4=0.0303 left_j5=-0.9485 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.4308, -15.2684, 7.0496, 0.8767, -0.0171, 0.0073, -0.0171, -0.0752, 1.6479, 7.0085, 1.8828, -0.022, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe8LFFlYuYz8Rr9cRqczFpFbTDIi2P-g1x2OCMlhC0q8nrQtgYr3PGzYuLOHj4Byio1RVYDzv99ExnEp70rv4bmReRSwblKtjNxItgEtSyNZfAuHgbL8r7wvfKLOyuquBnHtjJEndw_e6rXhmkRb-8iPdut1eH1LSspVWagOO0YKDfthwHAs8EdIbPlm7amaVsu0OcI7R-gYK35SJ8KqWbT8HXT0i9Yo-hwSsVpuQeqygJQ6oIioquBZYApdrz2beEd0aive_8PaegEWvmGCpugYKYY8AVq0MTLeBMfoO2dDXDqaDXIBVqpd5bG1SeV3Bqbr5XzVokqUb9ogzC45GhsWtP5ovGha4YbBBlxGSJq6VdttTylri-PpQwjOQbscH4fVivJCNtrTz8nO0msmZbdaa94BlB_j2qpN-boRbn9vhRc6tkbjrVzuQ1jMt51spiKB9WpQC8fQysApZtsQbbc2whHGJS2g4VY5PM8S96KesOYebhKnZEy2kr4zp9fexZxtwDYldodLEO0ZtfITZmdzVPDQd6Ddh61qi73i_8VdaU1k4GGT-PZ8NmS3gF69GBYpo69nj3aKsrBrJN-Xo6cmLXw2uwpd18eBxAjzKc-JxdqYIjfRr5MOhE8E9fpSH1WXu-uFhjdpSJb0m-pTCCVW-lPcxiC6T40OfEp0tvkGmdIPLHpg64z2COL1g19ZzsyeyK9qE9SPWz1lUuxaZaiWkNUx5wJ3Xs0JH2syszEY9N96bA7pHDjDirdumgo70n77GMIzkG1v7zU9QmCc3WgCpHlCjtw5jHTlHUp2WENbJYv_VAnc88IPkIRJA8I5_70rIoYxzN2qy7sEBtzPAyHIZtDTgNVK36iTima4vTg4jf17hGwbWf-8ALDFv6JAaG4NWhWIMioSdD3cvJQK4fH5D2DBws4sPtVaAQQsMZcmEVsDkwPeOAyoJIZHQNDxexff",
  "id": "rs_032133f959d38e29016a7def0915c4819aa0f3c9fd1377bf51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.09,\"left_j2\":1.69,\"left_j3\":-0.96},\"note\":\"The descent only partially tracked and the blue block remains centered between the jaw silhouettes. I’ll re-issue the same target to complete this step.\"}",
  "call_id": "call_QkfV1ibcVfXuKtYcuhnz84Dq",
  "id": "fc_032133f959d38e29016a7def0a2d90819a819651ecc787f33f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QkfV1ibcVfXuKtYcuhnz84Dq",
  "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=-0.8379 left_j1=2.0914 left_j2=1.6836 left_j3=-0.9787 left_j4=0.0296 left_j5=-0.9508 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -11.4256, 6.612, 0.779, -0.0562, -0.022, -0.0122, -0.1709, 1.7162, 7.0359, 1.8584, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a509f58b0a1a5dbe86b2445395e230c0a72db9c3f71927f1ed1f8d23dccffbb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:572817d81ebf9a8fad0474a30771cec6def231acdaecd7019c3b25816a910050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000d702ba7a91487bac312d8ff25a507083e4c3c47275e4436d76424cc2d543b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 248 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.0468 left_j2=1.7111 left_j3=-1.0042 left_j4=0.0299 left_j5=-0.9508 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.7179, -8.1436, 5.2991, 0.7937, 0.0269, 0.0024, -0.0171, -0.0752, 1.6205, 7.0085, 1.8974, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe8Qg5ceCIw0PtePPI0dga8gJFevf1zqiMlGrM9nVbBUx5yG40pYKaUXqBJboFUIpzdGz9ZSYPZwxRwOKZOADV-21peN7sipEJzKqcOBsjYOU2eop59Jc0yEaXphE8i0f0c9LOukiEAyuN6AR5EyofU38AK3HH2TTdZOI0K1j6jXXX-0Xu5gcN0eqLshsoxE-6oAOSjwc93CARZqHBU4FfFk74eJ7ocZE8cftDiGClXJr2GXgEt5h9xaQ-lJzOL5E8zdn9Th0OR06xNqyyUR9I-JHQIgz7d9Rd99VXT7F1fL7hWP3Uq4NIVt__eoxNG3lZ30TDPSWoskI-LfZhFqu2tLCYwpGW4X8MxRUpTwdvFY3LpKuMOcp452eabTIoGMicejppqZ00ih1l38YM9PmCOwWxSNHOCBvEGeYpRlVSmCnKK1EJ9byO2pTZXTfOxh86Jyw_8GlQL1JXt9ng8UhVk8-HVpAUm8ZafdRFrpCxSAT-9kOHHsknlA9rh1hZmbiK6rZVaNxe5ZLgQq4Zws34gRvv7ajS5KwKxF4xrQh0l-yo1N9esYK5bspprCSph0lSlLaA6CQm3LK0El2T_co6tIEZHm-kq9UpryPE2HK6p-WX7Hoe40rpEFFWO2QChXaZ7fG024WPQ7KXHKAzfQ0xu9ICSS0WaNVdAXEpH9Zx8oKFaDxMGhBxMqZ6DcMQ_IfOYkqNIA2T26YIrrVynv-auTyLmxppIcIhk4TDamjeOc0TDpkzp7biKN20flnpAX7DNC5C6niPVSYumXnC1sINycK1vnLrFu6IStHvaBMmsTefZLVF6gdBufHJaaPjY2xJjLZ2SngELXChtckmxpFYUREFnux2RkigCz1RHx7byF0f7lU7LiJ04SV-WQF9l0ekuC3sLYXe6QUxzgZ3YutGTe5EayTCdEgrFbLfM9RaUjQOUX42HPzpn9N1pOpIGlc3o5gWGvMFSO4aI3ACp8LELco-F3ul7w177932u5WHJ9hYtUE9FlIBUKU5CH9TZH-NwO0WZwEfoiPrlb3kxCzbReybKH08EYqgra0UOiyQX0aVMDSLT68QH43YeW0EbeSRUoA-RTZEHpIx6J2fw_GvePwy-U_J5UqftpAZuoxjiLi5mtg3rt4wg1cCphm8hd4lHw93knEF68YkVP-1kBngt3FA06OIEW8uR1ZJrzuvEnWLG3yaJpfV1VKCiZ_La0Hv_BQI4q_DNnvQRVj5MUzfdOfw0P_Bq4HxuYpNRQeEf7V0caUgFPz4NJmDNML3tuVRzPTScGUzjoGlRZsDvEOanzG_duMpf8dUQeUkEdajbpUoytP32N_cGVSyC99sMmyZtoIk3cpjGwWnNaqA7kJ0wBoV8ZbnPw3crHsqUqUVP6iko7mAqqHB4scxddxwhoBPmTd3EpvMujmw3NnJwvBKistA==",
  "id": "rs_032133f959d38e29016a7def0c98ac819ab8347585b7b34256",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.13,\"left_j2\":1.64,\"left_j3\":-0.9},\"note\":\"The blue block is now close to the fingertip line and still centered. I’ll descend the final two centimeters so the fingers reach its side faces at table height.\"}",
  "call_id": "call_L8MXZ5eJOH3T0EhTXfPwvEbV",
  "id": "fc_032133f959d38e29016a7def0f4f58819ab38b73acfde17d9b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L8MXZ5eJOH3T0EhTXfPwvEbV",
  "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=-0.8379 left_j1=2.0945 left_j2=1.6604 left_j3=-0.9451 left_j4=0.0299 left_j5=-0.9508 left_gripper=0.9997 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -8.759, 5.559, 0.696, -0.022, -0.0171, -0.0171, -0.0342, 1.6889, 7.1863, 1.8877, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca24a0757d54b8a9833adca9a9d63bbb28b507194bca56b3a7552cf84657e7ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07b4e7aa58002e0e1e29d1974633764851ef8013c85be787b4a168c4a6b9922",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc6dd6f5b35422828e04a671f753080c73114f8be465a4535780b1443e23369f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 252 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.0914 left_j2=1.6836 left_j3=-0.9787 left_j4=0.0296 left_j5=-0.9508 left_gripper=0.9997 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -11.4256, 6.612, 0.779, -0.0562, -0.022, -0.0122, -0.1709, 1.7162, 7.0359, 1.8584, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe8YsJQ5InP1IJzVituu89mSEGNAm16yOn0IxSE78lYx8oHoMz0tUdEbMZfdaYqhKHOdS45F8HmG9xU330_PpV7myVNzdb_Qnt1W01OCLE3HbiMSXaBGy9NM7re4NXjfVeoWRR8MtooUIyNFANa32R_Re0yeYxnDXIVQ1ot89monILtCFl1juo7PG922T32HwMEiaz4fHUpDYs3ou9HCTCHjcqaKBbu8gyFJ4KO6LIRBvlxW6hrl-San4MKXo-ZxoEkof2pBzs5KN6wDrItY_7uTVkZOyej6XMl5uLdX_pNXD87T965M7o3Z3Qga6P8JrWgdKV16rWcPOcvyUXNEutBcKwZ_QXXE88iWuaJUCJuOPSiLSlO4tIik2i1hiJVdhujjByh1qZJ4NWm5v1YkS-OzBAvhs0TsbtyQI_tt2EHkdXb8AX5fKslvMiiaZMfMpkzyQvrgQ7bwIRppWjkVebl5KSgrg2NUAIhBTcSyTabQly16uamywjiYlIfpNj6F3zN0Che98AaJMLLdIdVEeJ4R5ImeMx55Or6CaFlW-v7lawAQzYU6eJmOVuw2BGrnOYkY4xTiLJCo5PbNREt6mA2pt498UR9Gw3c4tRkfwPBZng7QWFG2rzx94UQrkAGfxkC6ltuH6mol5fuLe82fKv51r8wLJ24QAdJSJ8ugTzHaqwwAvOeIRXjz8XnVFu6gpcl_cKBwMZDORZY9j8JchfZTJ493sQ5jVva-YzLJZ1rirmo-vW7oOR-BRGEqBOrlyRdThTgL-dTLnBbunpEyeZtyyRXlILnJrd1dV_fege_nZ3jxTf202Wxv2ceig2_5K72eWGtsSPlQlb7s5wgSLwqmZsnno3eg8po3rbnmso_gc8LTyHoZ6V67M7ZFlBjqhYGG6Ziakb-9MCFUWEh8u9mAHymLSUeYR54kdCMNysGNFoiJ_UPx2-bwWZswWqzomeB1",
  "id": "rs_032133f959d38e29016a7def170af8819a92277286e665a9b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.13,\"left_j2\":1.64,\"left_j3\":-0.9},\"note\":\"The final descent again stopped halfway while the blue block stayed centered. I’ll re-issue the target to reach the same low height used for the successful grasp.\"}",
  "call_id": "call_Fji5HBPiwuFnhagjFhoi3cCp",
  "id": "fc_032133f959d38e29016a7def1729a8819aae845353c145dfc7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fji5HBPiwuFnhagjFhoi3cCp",
  "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=-0.8379 left_j1=2.122 left_j2=1.6428 left_j3=-0.9115 left_j4=0.0299 left_j5=-0.9516 left_gripper=0.9996 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -10.8376, 5.9829, 0.6862, -0.0122, -0.0659, -0.0122, -0.0342, 1.6479, 7.241, 1.8632, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a135b1cd16d5ae938c7680f0c7cf94f165d62200be5781658059d96607e6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b62c8b309213d41b85b136b160a4e9ae79ec2539b5f5db1878f3e9e81b01240",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea3c534ed55fd9a2b3ea5e7ae71610a9630e612efe44fec214e0ec22f5b1bf4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 256 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.0945 left_j2=1.6604 left_j3=-0.9451 left_j4=0.0299 left_j5=-0.9508 left_gripper=0.9997 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -8.759, 5.559, 0.696, -0.022, -0.0171, -0.0171, -0.0342, 1.6889, 7.1863, 1.8877, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe8bFWZwL9ZUlTyoz4CTAUkTjz90NV4NV8lFrz_-m1x3lmcF6oP5covN9EFhC3HMHoRCnJJx1HKYnWVpcVqoi22APy_rdUI3hl4zu-37aLhM9Zsxwo5d5BW8-TqMaH3JYHFBdFnhKW_Fg86Dkr3tDSnD1rin6fMp11iLCQTw01XJKejB31VrKn208N309JbLipsu6UqFHTKlenh0QYeZ1727qxrCUUc7unkBURQFx6xKTIuyPpO4mCmXwcl2H2Jfuc1DoeLbo1fzAtHi7fW_Q4ND2A5hGeArap2RckZ0yS4vTH5YoJgX-X52jGDNObV4CELKntSZC1j0ku5SZp3lN9r6ZYct8fUrsULKm64yvALXEawsuVwr_YYuuwkRLji0lWnd0Y9zXFW6miYrvjot6bdrrDTKLfC8BnMDeunicwpB8G_ia7KgSf_Z7-ubTllzecprU1BFSPjh9nZtjVQNHRKjW6JADUHDpDWJv_X15HavLVADFhhnWxsgCWvWaKzgUgtWy_6B-TbZNjo9JCHezxvyK-mHSXcFB63t1VT6BxK42AyGOTYaCXb_7cj8-AfwA2EBA9YNI0qGgOqeeZyuIK9wrv6ROaBPOvh9yQy5ThEKYiTWqUQS8zjXu44YBQXZT_QqUwpcRskmSYxYANFIP2KzftTsLzhw3cS2maEJf01QTqOCCaeJO7tnWq1oJAA55UICt0WR1lk5R89U3K2PLUnsV-B6qsTNKKZUptTIW2hbxOXNEuEkr84FIQHnCev2RDE_qIPepNk_zIxOpxsw4f-uF8a9ZYc3fsQavfiyz9YWOJYWJmCJyHPJ1v3NlVKMfSzBBR-pTR_rWiDRLPDQcYWG6qDNInvK7od9g-PZYjpiDTbseU4f-uYEaYNtjN0hq6172PqN-GKU9kCpbznk6B_-Oo_e_fzpcyshtKwnMEHGAIYnuYVJ2XoJpfcK1y8uQ58qtoG-KR6-xKX2v6HywGZ5K4rll78fQdJQRRsCZAVD4I8=",
  "id": "rs_032133f959d38e29016a7def1a783c819aa30402b4c9e12fed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper has reached the low grasp height with the blue block squarely centered between the fingers. I’ll close fully and verify the expected wide residual before lifting.\"}",
  "call_id": "call_ZUgzBNzilcT8WPRwsW6VDdyr",
  "id": "fc_032133f959d38e29016a7def1ad52c819a9549dbb9353b91aa",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZUgzBNzilcT8WPRwsW6VDdyr",
  "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=-0.8379 left_j1=2.122 left_j2=1.6413 left_j3=-0.9119 left_j4=0.0303 left_j5=-0.9588 left_gripper=0.014 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -11.453, 6.0376, 0.6227, -0.0269, 0.0611, 0.7155, 0.0068, 1.6068, 7.0085, 1.9219, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84c3bb3769c93a61697d43195e368986104a05ebcdd6e1f48462e63cac8def0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181962c0e8c7768a48442e6c51672d732e508256a627425588947665a227f41b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12df0dd8c52cbe344f4e73393d2de40b2cb6ad15d71282f939ecce2ccf849e16",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 260 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.122 left_j2=1.6428 left_j3=-0.9115 left_j4=0.0299 left_j5=-0.9516 left_gripper=0.9996 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -10.8376, 5.9829, 0.6862, -0.0122, -0.0659, -0.0122, -0.0342, 1.6479, 7.241, 1.8632, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe8kmE1G-OFqvvo9itrTva0c4PHecpf_ipcqI0VG6SI24SSm_d5x7YtNFw6X83DydaUQcGfIQGq-GPdAyGApPmzF8y_pOwGCKVtzis-pRE7bOl7MzGA8KYK5CrFW5Z9inF7hYExxzbckYbKEYPIFzD4PygzSVHIurwvy9O8l0WFsVu013oM7SZq0JS5Y9iQRTPET7KZ_gUrPqEMBoUBLrDl-TK-p8AK4tndDGA6k2WE2Z3cI6MvwjRK105of67_r6VjdCfo-dG1QfLQPN-X7sBNS2lQYdacN-bSW1UxeBzSD43Ar4btOgx-H1TcfJOX6lsVQxzvxCMd_yRF9zrgVuZvDt3Su8mSdUNBBwy4xB0dq-a2DGV4OkP43XLNLEqe2Dl3roxxjIMWSAHr7Gf4Swius6Aqzaxb0w1IyiO5zuLgRAbQFiLLG3cXA9W4--EDIR5jdK2t7cS-jtsUeJOGzlWt2z8ldvgY2ZIpu61jHxHkVk0XHPHCJlA7Uphtg3-BNJhFVAl9GhIxdWIFHyi26oA-Ny1EsiMoURcEez2iR7viPfhntT7MRc70H5cpye5d8R9nWVgwT3SD0-c858j9Jw4bf0n14WRvtiNd0qHP8CDUC_EGvBHRnCvQQwVQh44P1H3PS4IZWGbhFfyMZQYrdOyBzkydEOA4B2MkhhYazgy4ByPsdWHX_6CViz-xC-VKhtF1d99Lgo985Rc4hlVWdnJgKnR2gsG_mY9_37LeoCMQ2NB8GxZe85Do47QepVT7N6WECDiRKvmpbZ6mEZmUy5UYiotyQf0jblsiOHnhJK82t5oMkl2sjUdnqWg_h-U2z0EZ7LR6IasSNdKLxgR5bFqauLifv0iIqs4_Jl959IF_EAa0nieV7qpItStfhnksBd35m78j-9IsXGZc9bXhfrJ-MZSAmHq70p0kvhSGYF7tl0PkXA_pKpvGYEQA3Qp3kX-mzbN9U9_FatiSJFHOb2QK-C9xj1vN7U6SeM06RnBCYRFDBWopXYE0SGma6_-uR1H6Uy89bjZWZ1Kw_hWa6m-Cx-eHn1xAABMM7264rBx2bwNhHT4tdpg3Uv11Y81udahGIlUGePVwDmYrL1eMbA50NttdpJ1v3StBRulrl4ElRb3rfrrXlhz1h5c-aT5RwJLO41jlX7S1ysxhgvv8o4jfeQSHwIJ6KiyImj2jM38f3xqR23-bDCBG2AbXa_Qsz2HL502zZ40p_va4QSc6I2uBtpP_TWqGX3WSNtpD73bRhWlHOtX1JoPXYCJ5v3Vu4oH17-HVsSTH1XoShBxahDECc0eO-3BkB7YCtW-erDGjy0CUSqzT8Z7hcorIzCeZ-fGwZi23qOqm_m75zPl-F8JvxGUBGpqYsz14EQpXY8tb5rsQVNO97olTv6XTu84Wam_ARM0hmAyCWSEc9de8whIt5hcWGk5juR2v5IYxq7phlE9_hs_K5mdAFhHz6k8hRLwnhNP1eaxMETvDZnJean0YPZxxu0iWYKofDgyOE8HVrfySt8MEPI-YyGy78YbD75zTCNz3Ft3eo87dQAj42L9yP9uRVVt7CP2z1p6AbtZI5Lh-xxxRIYWRAkr9YnBBg7ImqijZozhUc4pgxdBiZugGosRNJ9Fg0qy0Wh6MCKtVJu_EGRp6y92i7OvaeS5fLHA9ko7ykBIYFXJsi4HcfAHEm2AJeEZKuBp0FyloxkQL4cDDVvcCsXEst2zk17LIly09iamhuomGVBnh97mln5XUGP8QZb1hKmAC_CNZt82ttu3dgITwl5tTAwDaQQHi1HSMN-tfZ_Ag_sESZs-EadNnVMwsqtnc1x_3-zanM1wjkpL-SrBfGXYf-oD9f_WzJQTEjpvpHZzQpmtIbFHAxfUxc7zW0H8Mq04jBPXOyN9wLNQJ5g0enoyDFzsrkRGBKai8EcnRgd7-zPErl0bKPVUMD0_FDrhm4hi8kBSVAl2q1pHc5g1v-iBo3chb81bSHj_amUZVTw1X6Izaci96wB1JCL4m-x-4A1cLFOAyyM5F5k4Up-Fypfs3rM29ilIhkB5p-Fb1WsOARES5wknLcJcf9lZlAmOPteTv5rCX7Izcfc26tpF5pXZz01ysXlmGp3HI9sVdFE_sod1xEl_BoNR9Cy5Gwy1rfrRcNSJlc73eaVfmtNY-kNXermQCwOB_uyGMNuNRZUFrGh26VKK2P_-zhTQ==",
  "id": "rs_032133f959d38e29016a7def1e12cc819abcab8e33e1ccac6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_j1\":1.95,\"left_j2\":1.53,\"left_j3\":-0.97},\"note\":\"The close missed because, at the final low height, the overhead view shows the fingertips still forward of the blue block. I’ll reopen, lift slightly, and retract inward another four centimeters before the next descent.\"}",
  "call_id": "call_kA66t8glO0CtZHFXNXftGEct",
  "id": "fc_032133f959d38e29016a7def22ff58819aa8faeb1bf6663cd1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kA66t8glO0CtZHFXNXftGEct",
  "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=-0.8379 left_j1=1.9938 left_j2=1.5368 left_j3=-0.9577 left_j4=0.0303 left_j5=-0.9634 left_gripper=0.9946 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -13.3265, 6.065, 0.4664, -0.0269, 0.0611, -0.0855, -0.0889, 1.8803, 7.1179, 1.8779, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b13511f4ad246424b06477ce4566e2d9bd515f7f2f422305b23126c977b8091e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e84e4b472aa0448224a2b556e81bd10480864ee17cf40d898ba9300da5608c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e152358ae35e971ab07af21b5d6a8951451c26467bcc5cab2f8b340b2a078699",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 264 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=2.122 left_j2=1.6413 left_j3=-0.9119 left_j4=0.0303 left_j5=-0.9588 left_gripper=0.014 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -11.453, 6.0376, 0.6227, -0.0269, 0.0611, 0.7155, 0.0068, 1.6068, 7.0085, 1.9219, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe8uehLm514jFKrPQ8oT6BpsIZZnfgIK4JmQueOSicR6jixAjHSk55m3kEjaxIKhnCdBdHowqn72oPSoTYPfGXoH_z4nBtz4VJJiiD7pkQ8OaZxT98hGPT3B2S7TKK83xR8DXvz4WyWdWgEZNFLnYKPElVkfRXgVAdPXSVB5pZtl3NzUFn7bIO3NTRF2DnPpqP6hd0putGEptRXU_5tJU8qTaM1I2i2_V3Jv14twjGGRluIfTqHL0TCgMlGTKWZvOa8CjEWQvN6oD1CnwViejN3MnEbRGhrXoikA4aBRtNXqxkQ03lz2r-QwEgOB4V7KkU-9OlHSOzNCan98HbREoCYZ2Y_ipQ45fB9ZgEfYgXN06ZiDpfcB8uJyevMEDwRHx5ixGrYklWixoItovWDtSouTdXszRLdUkg_YaatGyWHZv-X_bnDTEn1w0fVPNI7pIebyoP9CZPjfrO9fOzH5XFjl67Ph4Q1_d1GnDBlQDGw5_yawriAW5XFrnkT6Ha7b3-Bhw3N5FFbHg_r6syUgSLL-f6HIzPbUO_ekFpeX9yygAGfN2m5QqZPat7GO1BXuLtxKmdvvLFrbe3I3fY2_pEW7GK-CN24NgvQqdB03pv9Kx-eB9vfTAOph05osAYif9GXD95x_KXV26gKq5jtM4a1ScwGauUEn7ByUyJnzGEBqGIiRFUu0sVZMpxtwFBwu8bOG2M0CWH7LD6rP9ADEF0k137Uv8cJbWpMTqro5pK0Ha4UNpz_iRkSDH6Jd8fqv7OvaiYk1kkoxuC971JNmUDm18nMpNyQQbIyR4gHImVLnmxeBAvEZmTbkBdJ2OdPaVOyop81oCNMJIS9QlnCNahzaP7hVG9TMzfmuNQzyssHOetMeBGC-gZRVuNQtKWmzYCB6-8xlTkoD9wMzwW3UJr_B2WFHRUefjP-u52O0mINzE82Axhs8nYJAwfRgckr1v4S_YihqndBS7Z-DbEiLMFRqFu9OeiODtWA91qA0tN2qnasz9amQzACZ4cn0Ycyl411oiJcOfVcS03vRbYif4kwW3q_10eyWL73Ishof1N-mIlTSvHpsgHp4KM6wsKSTEVadWDHJBjWDaW-lL3x94vLWpw5b__gJP6kJJleIvEgbazCY1nYaPskD4m3t9rLRSdLCRaeeRFXI3YCquh9VqI_oCuvBzXTpSNMPNBSHfk7LpDjOZgTURyqk9_oHQdq1L2ab1Fr5QWeIqBqGyRHLdj_t_OKpLMD0FJ1JYcJCQQveHygloDIlE1S9p_CGN-AAz_mBCyhAUFTJdwhWtO1v-1bf-WiASMn5nDNMLv1f-qfDWKukeGEKsHiGD-ONdAfADInnkqiViigt0FbIwYlzUBVs3ArLclX96jTXAs-78WVQUReW489Nt4-e8JdtrudQ9i9roAH7-48EYOGjxnR_znmQ5iwM0I8AoJpXGcywjUkXmn8C-oolPOAqpkdik1Oa26R21ddbaPJ1yhEy_0mVO6BGdoUZB2Sa6dfQxVRHNwT7_FmiGv6_7kp5DESzh6l2-2XI_W9bHqO5Tad3eFxscBE4iIQVwZhN6PE_upGMctbwN-IYoiucEvA0wnQ9Tdq2PJB1zpXrcmDVCCkoUPb3ClUzaJwnlx6juz8VwM-tcgb1DA2grbLB1vbdtl4L5douCRcAClHDbBCZfx8DRRGDoqEM0L6ILc_1hBgvymH8blf2UGD14HQL8WMFAbuRUU_HtpeIc2qyhqFUvwUC59oNMNRta_Z2aLCTDC1fwNcAZri7wkVMvAUUGWTsub3zZ02Jr7Byx74IzJGxn9uc-xmgQDJ2sm8oMaAQT_RnqDLedRFeidrRPEV-2KwIWcvFCbT4ZEV2_qN3aHW2smo2oNoP1K20JdG-Bnf1Qq5rgrhaiPCSH37NzwXTGreYScdlqxcBeJrqORyFy016PP133oqS5GLh5-kOoAnjouw0v35eEGLLujRe3QkYgLMpGertkbY49BxSs263MuHZ-GOlhM-_zQrP7o7kjo-fMbKqcq8nxxcZQSI8HN3xLAFhBwqY3EBCaoH1_-AzNVmlbJ2ZXVcVqeLWO-GbMtXcpRqP7nmQFkxa5neVuptT9ToZ0DakguMd2LPBuM1AIRaHBmc846Sw4zlC888c9p80lAsmAhS9zVxZwhZBkHdD_J9Q1N4-Jw_jivNZjoP7EwUCPvwhWcZOHDYvBg==",
  "id": "rs_032133f959d38e29016a7def26d178819a84c2dfb505fb3d23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.93,\"left_j2\":1.43,\"left_j3\":-0.92},\"note\":\"The blue block is now centered at mid-image after the inward correction. I’ll combine a two-centimeter descent with a small further inward move so it stays at the grasp depth instead of sliding toward the image bottom.\"}",
  "call_id": "call_8Nq9qoUY97roABc8UXMdo6EF",
  "id": "fc_032133f959d38e29016a7def2d6a3c819a84e9fd574532a079",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Nq9qoUY97roABc8UXMdo6EF",
  "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=-0.8379 left_j1=1.9556 left_j2=1.467 left_j3=-0.9279 left_j4=0.0299 left_j5=-0.963 left_gripper=0.9957 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -11.5214, 5.9556, 0.7888, 0.0171, -0.0317, 0.0806, -0.0342, 1.6205, 7.1453, 1.8632, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873193295c80e869dad4a73038ba9041bfeabddc2b23e2f20e79e7ec0b5c75ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6432f17dd7e59c195aae88454dfeb137463bce0fdc84f7e01e26934c18bb626a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5dd2faf13bf6bfe5c1b4a767467430ab9b3b5cc70fbea781cad9cfcaa5bfbd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 268 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=1.9938 left_j2=1.5368 left_j3=-0.9577 left_j4=0.0303 left_j5=-0.9634 left_gripper=0.9946 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -13.3265, 6.065, 0.4664, -0.0269, 0.0611, -0.0855, -0.0889, 1.8803, 7.1179, 1.8779, -0.0415, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe83K04GQpNeuzK3RYRSVBl_hYzJSHugzBM00Nbo95XKOS3s7wIBySdXJmMqLm2utpD6V23lIr9FLHmik9IAyK9j_P0imcNxSXYmEXQ3GccNYt3Z2WRMaycHZxqRMOK714q0GcmORpXoR6Skn0u11p4ga7aapUkOihiKgMqVoZxgbBZQR8GuyWXKs6pkFLH8_P0b-jb29UrSkmp0KeyFqNtLt5Hm7UENPEqXVFZXe8UZcL7XOPIduIQ7cCWbTmRjjgSdzcbmBbyd1A6Nas4JTL3n46DerVxmGfBtJ5i94s0WKJxvjz-svZA4VUeXvxNHLocLYeOEJiAzQg8wGmA4TTanRix7BWH8QaFnXcpqvNhOKiOIZIt79dYAbQ_hgKDBkskFRW_Vhhzyd-i4goDjpLs-xKo7wpFJb4oB_K0G2Jz4sKP3blU_qtT-7sajqms7njd4N357L6ffZXfNJZgFMz6tGgU_xjMjbYBtnC0enAyfwuTRjKTV5bkCkir3ljqIUWa09m9W3SKPaDtE2VqOt2V67mSlZ0fAPz5YOKUbkqvOV98lfIEzwdZ-1PhLeqDkhxzyMCYkjlGX1W7gpqOjz-ZEuCMra5a31kWdfp62jogZm2sZDoI3-hczf0kZ-JdMlH9C9jPrPN-uw_ncXGPiJ3Z23prqvbM1cYaVRsJ6SO3Bnp-SCVHy6T06yS-QnB-BnQuVWAeBOlT8KUkUmVlbrNG-F5to4ZmX902JSnsTwcqf9pHfQZ3hMPr5CF3a76y-OQLldD36FlkwLpLSe6ZTibW5FKBnKlBJT_WO6EluN3IHaSizXrKRJM3GzP8h7Jcyie9huZFYOKjeTdTV9ScDhuUZnO7btq2mp3ntbFGUu58dXEnqPDymjeDniB3wQnzXZ8N-Qc9WO8YAN-IvBY8d9gUX-Yjzwp0EUAyx8C-2v2hEdZzkR8H6ShpCSk3ZHvcqyO-zulQEOmPS3W6B33r63fIR8fUzMQKjF8G5W9VzX8AaNQN_IuBDdaUQojJfw37JR_T12E2Ipjl1YUJBYCG6qcFUmlw-tgk5YtLBkkd2IkRHPmf0Rj9OMlZwSfxyUvk-xu6_nfQnW0V6v3he_o6HCA6uGpWL0Ok_WjBVJgL-MumyA77kQOCbv9lqBM6FDMPswIdeJNX0fh9mmAmfs-MefsdpBITN58rgJLODXRh82MzE_EdA8ADsk73_SqKgo3fSG3ryow7zw7ykIsCTinR0xZfis9f9MJkCjDDWRoUTOjhG2EhEuMyHQXBoFPoOdrcFGolF8a9rVbAR5VDeNZjhkSbu01QkPuaWRN_9SbHiRVndDaWwLaggLHSAcR3dAhegjhxlWoSwRFFrb9SSV6VARVb5f0sN59-Ch5jwQhxWH7iNz6GE8ZHkmVOW_Rbb8BWFw-vGzM8rV4iYjVuTCyM07Tc0fc_cJgwL7cHTP2YE_L__3bMADIbPFT0UhYND3ys_zmD047lLzidHaFnugoiTH3q-lO655vvEdBtfUVk6tNF0Lwe8TXvad8N46nBM1dHgVO6e3auk6V3yuVEhgtKqAaxISNtM4KTolx8JkuL-mPBg2akZh6Lv7fslYjAdAypG-wvEgLsDe07U-e9CvclGQJIqvGxTHz9ZWO6C5OPUpDWtDZs=",
  "id": "rs_032133f959d38e29016a7def32ef30819aabe348a22dfe0d14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":1.92,\"left_j2\":1.33,\"left_j3\":-0.82},\"note\":\"The combined inward-and-down move worked: the blue block stayed centered at mid-image while growing larger. I’ll repeat that coordinated motion to reach the low grasp height without losing depth alignment.\"}",
  "call_id": "call_ACmc4LEovtxbTFxXq46kIdUA",
  "id": "fc_032133f959d38e29016a7def3662cc819a83cfa80564d4e19d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ACmc4LEovtxbTFxXq46kIdUA",
  "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=-0.8379 left_j1=1.9469 left_j2=1.3476 left_j3=-0.857 left_j4=0.0299 left_j5=-0.9665 left_gripper=0.9955 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -11.9316, 6.1197, 0.6569, -0.0122, 0.0171, -0.0317, 0.0068, 1.6068, 6.9949, 1.8584, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d667a2a67ddcfd3e73abbe05fbc8297febb527cfdd34cf56d2c7db7396f484fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f1f313c917b4fc3e529ac89fc5732a908102c2f9a1498f4c5a64e46b8fa53c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08e2cbc5818d262f93f475b08141bb8fed8de70a510aaf6dd11e9aa2b7a270c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 272 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=1.9556 left_j2=1.467 left_j3=-0.9279 left_j4=0.0299 left_j5=-0.963 left_gripper=0.9957 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -11.5214, 5.9556, 0.7888, 0.0171, -0.0317, 0.0806, -0.0342, 1.6205, 7.1453, 1.8632, -0.0122, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe9Chd-KQGCluDKppEpjOs2WRXru-n1qTYJfyaXmjh0vVPuDgfCzNyGzslvnQoCBj_pNXZ8Z1DRTknwF6ozpaxoUXDwXRdf3CoRPTx5R9SbbVGde1wrDSVL16sr72qDhra6MTtL1DtEy6hLitMFjVdIBAU58ApbYTFmppebtTHHdxmZsqCo2kel952pJtRtEQOLTuIpl56Pb94clc3PiQfnQsG6jw5XNYmrh0CmdCvE1_6aMB6HQjOTDI6m2sBPuG0OmXQCwyMCLR9-E8VArL7Q8dQ9I6f8t7oovGC9l_Pk5zFGqAVjEaVhKvxUfY2wOH_QtUU2g7lgL6vgHMmCzQkD3125QCshyeneWt4ws11JFDC-0Mm98rCdROxPriThDoo-nOBy34L721_3SG7OSJoYBZM9NDZ5DNW5-fzPRorLGiit_mF5Zqr9JNBN2-xVdoFf9qZ5g89ZoEiTbuQ4kygjwm35VHNseQdzLwJHKBT9qNhbOoGSsLohXueFD-b5JeygM7WFwYthWAIPDtALiP6ZHxisFDhFGgJd_k9oPlMxC6gvj2q3BkRhTJJVtsqek2CtLR-HR72X7RNR6kYe9oSqe-dZ23ngxEye-c7m_rkWrftfoyEuOHsdWmQdktqp9P2PDev3YzEEMBBK4zhwpy7QXlaLv9A2TWRYDg69oPSHfEh8q6iuTTQ0_fUTdkKVCSR0zPnc701ov0BvaOSd6orQBt5N3QtJQZGMpAjcCuttHWn_9ah3EYpxeDAMu81Hh5DmguqxhdOsPoVweOcdtdR9y9htdl5PpxhaY2VVTL_yA9nRuBzvP-K4mn9Tv-_fzXGpA01TjAyjd36zIlzjLKMtm0F_nsiTw3XFryFTDY-6IGzk9V_tnBDcGboRXT8e_74LpOgPbyqtEzyuS3aO-nIXVDF_JWRNDyN0LeoJE1l5rWDvmzzLFvHmu4tTnv8RWHNBtFCCBCcXAUMkk4k0vG07LLW2sR-DlzUC4zLMTio3zdosVzLJT0i1skAxlE7dycNm5Hp0S6zv1Yx82ygf14kEsjzEWXIHRJ4ppWndRbcSbWewztJY6hxBTKK2aqw7xHumM7Ab-nis6xozZeSIugCjr1NIFFeHFZBvwojMvciHHofDPJ5imVJIpo_XTGItMR38N57MEgJ5vi9vWRvKaQXjbbFsd-yVUwBslsP7j6N_E3jt-0yt3DsbNOxR46aE4fjWuCqXZo8obU1u2kUVfJUBk9nlCWIMbihkUTedeYtpmwNv0rEvqqQUTnE8IRxC60dQ9JuKu-NfJjbhf27DH28Pvsr8-gfr7J4AGftDhTdXBfVeO9aM-r1qdzSujtyi5e5Mf99tef1hz-8WXHypFF8AgWhWiECtOwk6zrKqw6yQjg7Lr6QQhZeSGZl-sVBPjAo3w__Be1rx5HgpvxeeW2KOpzbWg84GWsGlT2bPUcx6ltoOSepqJtG8uIfRg6KvcZEQuXgNSGmZ8NshfPOcsF5_49IC34Vw9tm6o46S-8FIRcv8J9jpiPQjUNIcQ24CpaPLILlbwutMfoo7oCRwBN8g1k6STVIpQoE22gVocq5DJvmjDu2lZywmb5lNih31bg77kmMFlwc-4KscL2JLXyciVNc8nfyUOqTQqe09lg9pUn5heWUIHbltorHjS_IRO5QoEK4ZEmbuYBRX_ftEDAwrgPp0A5F3UfsusNDDgshECIQyguaHiHFJqX-iQV5hfugbgdnuXYE8-6Pwg-2-A_1xoXtZLFj7rsjd8HTGxSpIeZuZcqE9maFqt-8-fWUtmuKxFulD-WJuyapONfVBgRHctadvycbwHepz6lfYId_lzTmKuS5NMEJRsKccCRs8vTazypQS0fQLkM80zruyCtsI4AmPN2JfnQd-NxcUZ29loA-6JNX9UUW-FTt0zjADJsLzw8AaDPTO564QUyTKX6uZvk59_MubR9X8da2AE1i1xtViKmlMGcet-a3Tn2YWylC-R33VMbvfx97h3vIaF-BKYHL9yBStQ5cJAlkTS01woSyp3d7fAOfAIZbm4kKIdQjh-90mf9dZ7Gxpi6m2wkPQxkbEmk2jCnIDtKBrSexsPw9zepCegTzO0_1MlKrgOHlicGjlTIuQCma99fcVcOrusCZ81FNcRrQo5Rtg2SPIcgbVX1pj5IUG83OLNkfgIuBWuUo5b3WubojUng3MoHv9zjKOvBtlinenaEIsqnbkklfNWQZW3lmJdJVQi-9yIb0__hdByhQQXChgOUCKCVhCSFNPu2vqP4KM9uZxKyvFDSPjjgWOGJ6_qFBkF-MppqeqcRTjoSQvAB22nhFl_58HsnEERvb3PU9ST0j93VgljQLWv7DcFD-nSGdVu1Bp0hhLN9lTonbzVQ1gqu4jItMGb1VQBBFzFsDzHzgo3IZau2HXgBDpJdtVhvHFEsea1aWFY2pYIkhIQZwJ2CEd62VG66sfnAPW3cj1iqnctT7CJDhH0Um3GJmvUpJreTCXQNtmfdW2rW-k4Hy5u6ex_MTLkwGZGyo1cVE4bF2sBZkDuNv2d7HGG3yJkq6wP8h5RzcfbOxQnYXmyxBDCqKouibaIlgHdzROMxd7tVOnf82S3vaIBVC50i5-6o1QK2QyQKRO4RGHZdyaR37ArqtIyrkSdZK87kw87tVuwoya1eQeYz6eklVsv2drWhR2rl8SPQNDmuml0ulV49dbfxYcZ8TcBxA==",
  "id": "rs_032133f959d38e29016a7def3a61e4819aa3211ec6033293aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.92},\"note\":\"The inward motion changed the arm’s lateral position at this bearing, moving the gripper left of the block; the block is now at the wrist image’s right edge. I’ll correct only base yaw rightward at the current low height.\"}",
  "call_id": "call_HKynALGEKDUaNOiwcnjCNlOq",
  "id": "fc_032133f959d38e29016a7def411104819aa2555e73cd59305d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HKynALGEKDUaNOiwcnjCNlOq",
  "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=-0.8738 left_j1=1.9469 left_j2=1.3266 left_j3=-0.8486 left_j4=0.0269 left_j5=-0.9691 left_gripper=0.9955 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-1.7846, -9.5521, 7.4051, 0.4615, 0.022, -0.0073, -0.0171, -0.1983, 1.6205, 7.1863, 1.8681, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f100e68cfe2e236ddfc64ebe07d47a6de204226d164724e0da2e7a4c0a07ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c22687c211eeb533b2fb167d037d7b876ab98378a25614a63c20dbbd95982f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed5f3f34784a9196e81888405c2974a1084f60e9edea0ced7cc58ad0c0beb08",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 276 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8379 left_j1=1.9469 left_j2=1.3476 left_j3=-0.857 left_j4=0.0299 left_j5=-0.9665 left_gripper=0.9955 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -11.9316, 6.1197, 0.6569, -0.0122, 0.0171, -0.0317, 0.0068, 1.6068, 6.9949, 1.8584, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe9GfbuK6fmlZ3p52zyva9bwJPC7dkpdbj-XL1G3Se2crOeDf2jxOi0qnMyvJyggVPRkTSwhoOzst0uhhje4crYQXwQ20ogqVbxgQq1wxf_FzZH4gRelTvZosTNtJi4XfnKWjztNqgT1z2dcksdIn_Fp-TkFX23QEhNIi7ndm7bx2Vk0DvuxOqRkVBw36w86YjpmbEe2D1uNTdhInHqqyhWoCyjtMepvMVUXo3YlhLEnVhMlpO4s7dz7OAhmrWR3hGeBEquAkj-So0TO0dz7Z3tRURrEYT94W54oVNd30QVFNlTL42So4xWzxbVJHzQwOKulPlB7nqeyHMThBsJnslx8UhX8z0j-MWgyLFyZ9lGTMVboqBDzOZsf9WLsqhL3781OjHXY6MbuxfoYLGJd5ILsbhX_xZ_aUqmPQKE9ukulodVSNYYqTIvQJQlhnj0wEWNFaSA-joLAN43zPk9KKniQ7_z0DbpqphuicfqR6KjDPYZC287iKb2q6Pyiz5lSXhFauVqTLIcccQZyXfj1qsfdu03LQKF1ZD2MOE4T2trI-BHd44A4_5XgrPbXvYI7Ep2IE-u1m0umS3Y5CBJXhYSUr_JFZP0l3iMGHeEHqbG8Qf8-G2X2Eu-TNgfO4YLosNBgxgwBVBkSbpnRQOYJjUsF7KCcQ5jQbRV7eXh4iYhQ97I8-7ix8MQtjt6bP7-Mi50901PKeCD2gxrsu3Cdn3ExgSYIlvWhDN7IZehwlxlG1ocJU-bXmsIwtWPliDohfkwsEgGH6SRYWEZrYcZEFL_eBoRPTrJd58wKWY8CCOMDTyjHsxWp9crOkRGKbwrIjwDg65KY3SM8-x_bNaHKphXK6fpb07-bQhhNOay3MorlQQe7VfDNCQneJn1lAHkSpGpnFEq8U3XorAv4ANlIN235l3-H4BbMHueqpfT6Cymdq036g8GbXyB1-qomAXkosKrTBkqZOxFieilO4q0XADzVQzsgZculGw4KMQBy1YVC6SZWWJxCm7kiSVottnCGA1qlnr7RizLZnCFryk3NsYQ5rylIHDhtElz4826hOJb7soBHrC7QimPv6AOz1VvTDffM59BXfEu33w8AvMAY3aGvvYTFy05DNuPWNBl2EMCLz51W7XlNR7Rha5RBtQBxCS9Tam7Svlz60MAFEUkXEhnWYw==",
  "id": "rs_032133f959d38e29016a7def4445ac819aa174671d50570595",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.02,\"left_j5\":-0.97},\"note\":\"The first yaw correction moved the block left in the wrist image as expected but not enough. I’ll continue the same rightward gripper shift until the block returns between the jaws.\"}",
  "call_id": "call_yUISZObWdLAWKaTL2qF1nGpq",
  "id": "fc_032133f959d38e29016a7def455610819a8792f9102601e549",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yUISZObWdLAWKaTL2qF1nGpq",
  "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=-0.9909 left_j1=1.9469 left_j2=1.3262 left_j3=-0.8555 left_j4=0.0292 left_j5=-0.9699 left_gripper=0.9954 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -9.6615, 5.7231, 0.5201, -0.1294, -0.0122, -0.0171, -0.0752, 1.6479, 7.3915, 1.9316, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36fd4d0de42b16bc240434c8e1f525f0c0ff4d48495231c6bf071edc9ea77c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56ca3b5e82eb3d4b721af9b861d6023c2e9b56239c509c69802be04447a5fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c25148d7dca6ec7863146c63d6b574b199e11067f47ce94867a55d3fe9fb88f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 280 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8738 left_j1=1.9469 left_j2=1.3266 left_j3=-0.8486 left_j4=0.0269 left_j5=-0.9691 left_gripper=0.9955 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0086 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-1.7846, -9.5521, 7.4051, 0.4615, 0.022, -0.0073, -0.0171, -0.1983, 1.6205, 7.1863, 1.8681, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe9LsgYiKGr1i0O5dtWFdPCzPfRltPB6-LtfNG6Vy0p9nOboKmAPNdIJZ68t0HkHCSoCjO5e9zrT6l-31jDDyr2F81yFDIBafDTfs783nCCwAaC5KyvpydY4l0bRwgvpY732i93vSSb7le1jqgqpYd4toZVdoowlPquqj9zQU7K4dayIyUqxQPM0aFSHnpUmm-zxB_H2Nc6ZkQhyj1kvs3PDKDe-wPFaQMaxqrtsWVUm5jBYQRkGhk2CTNVlCTZqg4o2J2z9Ys4A2cnSf5AdtVO_aeorBz27i6EjQ83uzB-2jLkB0rzx2EWUmdoeKVMIYmLGQfVBcGp2uQFG6GT8qwTwNAluu14tLzmsocOmYO8oRzO_sEJ3dW4aRVcfNDa6Pdi1BkcOkbI4MYts9dhIX53lgnQj73Ojc1gDGzO4AQ3eoYtCu2p-X4rfoTpgIH2I7iSlFjSxczNv_4wnTijyWBHSzidetWedapyuFwLx8FqaJ3pJM1R7KrUBmkyFAFng0o-oZlN86Ry0HhZ_QQba-6OjnnX5roW6pfY4b9LviFY_zS-c2WMIpUvdRhR4hP8fOQ5KFnsUqgH3VdRP_P9jVgL75Tn1DkGU3UQAqagq7vizBNOloZKI56OPizQjyFqKacmjhQIhinhxCGHViSzIk9WPz-8Q_Wd8303qZDMYnjCVrpnh1augY7TaEgmpGn0T5uVrasajfrQdrPTl0JB9FfapKyBPX4AmyEpnb-AjIJXJcAGoxqSbCJzOYSq-80df3YDTtleFI6BylbD4iWyTW23G86DMq6nxc4-4beyw12k0qyFSzLW8HldN9V21bwKjQYCARO9qGeRG52L0tfwlgCHFcgg8o9txobIhZdZrAmrNdl-NHR3gCmIqaQ711WXGWP1yBOM9E3vR8AJB910_MKV3--8h3zJ6DwOHLTq57l4i_krQBwakZ9uG-WiryNL88ZnlXNGh-aoRCXp8deARSBzbp8Bs80JM1-dBfrv7S3PRtN5ZZ54UFHP1W7t5CnSylmjPkXD17EDssB5wOD-pg8eiyJtFZHk2-7eng8DQkor0V2MfslQ1PAM_H_2oEkThAO7zj_t9RKvv3tIEHoQHSKFNyPndSjNBqjQjcJ_YhqUvIMTZcWujUomSDBo8YrsbY6zK9dQErVR-0Nffe0APxA7Ad_uQ9Q0_xEU8I-DTCpFtsIsf3Qpb38fWFFmj8AVsk5An_msqs3GcZyGEDNW8TnE8ePImKWnaMy8y88uFdXrjeC1CNa7ivBeYgxpgwI1la1eN8Nkh1rEwS4ve0xk85dLgqw==",
  "id": "rs_032133f959d38e29016a7def48a358819abc39c0b380c41750",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.14,\"left_j5\":-0.97},\"note\":\"The blue block continues moving toward the jaw gap but is still well right in the close view. I’ll make one more measured yaw correction at fixed roll and height.\"}",
  "call_id": "call_GGszMygspPw4AAFtUzSRJr1J",
  "id": "fc_032133f959d38e29016a7def4a0d08819aa7601a879875043e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GGszMygspPw4AAFtUzSRJr1J",
  "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=-1.1114 left_j1=1.9469 left_j2=1.3262 left_j3=-0.8585 left_j4=0.0296 left_j5=-0.9699 left_gripper=0.9954 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -9.6479, 5.6684, 0.5299, -0.1001, -0.0366, -0.0073, -0.0068, 1.853, 7.0222, 1.8681, -0.0708, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee88a94d102fc0c7d915fb318cb671bf5a7d65bc32f6c867a17d36064ce47fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070db8bc37be99e7a66152b0a955f4c64377e81decc707fee13e460ccdb84f68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7219ffc80c67818abb35862307e17d567094e66e1bd42eeb49803ca5d490bc1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 284 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9909 left_j1=1.9469 left_j2=1.3262 left_j3=-0.8555 left_j4=0.0292 left_j5=-0.9699 left_gripper=0.9954 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0082 right_j5=-0.0193 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -9.6615, 5.7231, 0.5201, -0.1294, -0.0122, -0.0171, -0.0752, 1.6479, 7.3915, 1.9316, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe9YEl2TlcabboBkB9MGieiMyXkABck2N_g5YWeGGHq9x0jyt4n1vN_9RUinSkrPbRWtVtTJT-k2b9OlMsXX5VKnnZNr2stdEy0u5p5eQBxt8PdBeTOLOMJg_upAZVgYxXvbJzaVUa1EuIm0dfgacIo4-xJ0lkx_QYhddzCmMLiJHsvo6ckYsuHUOZ1wqoui4wFbHNNElRbW0Fl_X8oKm6FAlz7HRTNIkyrVcWI2oqMdzqqAVTUgPCKdZE9bGyBvizSKb41CUWBhVjmHFnl8bHmEcJPgWLEOMr0rA4YkUjnn5Eo9oZUEF4Gt6sxUjLjR0N4RWXzkxKnvvPZEtGQpHQF_e7lYE2d43ycC-5bV29VII9scRSX5BGOn2PRAo5bA3Xg0wvifob6tUw-aow4hK3ULuSfzI86RbRsXxToUTa_vIhg05Gs_Fqk36ntxn7Ab0RePn2nMUj7PqbXQCubd7QWkgVQ-YLrOVtVctzXubjmkQ9FHsvN5fTsOkbUTmmbNT5AgM9YCZR5vJhl1d1V14pQG_zlR5wnQSjCk_VfkWllsctbKoRiB8tbxSkzgoYXiaV0_2JHSaoRcJsfbOuAbrCvEx5guljG7jgmOeYd02cmLP4YGN8G1JGQGPXHemrJ6pMm7s2hM2FF-X_8yCv7UYNZ47FLGISfgAyit3eU52TmvN7XToqYoPjPvuyX_tjBu6baGaejZR4XVH3O2uICGqAijgmJYz1p6f1ePFpep3XmXwMhwN1rJ2DjBEGzJQn6KUBSBrpGVOoZvr_6Xe2D8iEcaHni8cl3KX9fOPpswVHbfVY2bwyLu4JC-5F8mjymlJGf3WBoovulIIYto8DQTgaT3z-lcCGOKtBP7umn5EipR1G0XPtrM_0uTobq4M73OazmZRrrJQJElxqdbnh3vyTs63Y7etuLfXscrkmEGGUD0rM2nCP5iqWXJcOE3_ZQoCBaZtWTpJNuFpMRuCf3hfgIVvuhgRaH7UN_yi30Qm_74DN0_cFhc8TO_scCUmLAjAoTqZZuM3ZYudmBmXT8AFK4tsfATGjjA_yh-cPyRvDob9AZx0P09wFsQYXavcGl3CexsaxJWoN1v1Ar8ZsciT4CTIwtHKlWDnknxJ3fxYb6bywRBSWjKUayg8K2rVv6HzuaqPQiNB8VM7nT3o_wgCrRDDKQ65916TVChywPtZUoDDBxh1KIEdKvTZTOohb18xiEnlvGvZB_PnJGuTMAKnqtKivn9BvVALUs59tBDe98Rha50mwlm54PFGT74eVtqyBu5TSjWLq3IKMrqi-nBcdak2ynYaZ5awsSK2tf2d0O9HYZZeaeJ3wOjvWEdpKIfWOUaGuTUdppEfC9y82eaoEOOvZGbgFP5UgFgADe-GNVSKYwIGEn6Ji9lVRhfSuVpcsozlH368PIe3CvUszwIbv52OOBQmddbV5oOCgEWsUZggzETJZd5PIN3RAG_tx1gkiF1jKnSuy80wRCPmYuiVne7IjJDJpqz5xzoPxtj0iqMOXhWmJJEEACzV2Tg9IaYJboMviqY-BUN161rstfPLZcsefMZuCzr1fIz10EmxwYSqVqpNO41D5_XgVSr9LeFpEOlUbGd5opBxz8xGMVybVwH1rX7slYOB23taU-_Jy62NUeEDWUb3w-nERTf0et_05prehHNcZHWcSWFdmSJlT6FiqkCglUGizlnyqTGPpuzlfholY1y9JWUg7j_Z1_iCG48IpBTWhBk9HZ6KG-0W1zMCR5Y0VZvMX29wdDriBN7NuaC4A7mTfKXncDmWep9lQBNq-hI_1KCE7H3PW26H9zFVHvWrza80H_z1CJVuTR6ZU7nt2hqkxUWurGSwpJTntNaj1UEaB58QNlQc8ygYzdLfTTWPH2sPsBRDks5q8As1CoKp7e-LnTx92eZ9Z6SgtZ7vSSJofMwmQq6WiQmDBdfUWcG_AOIoQlJq2BEihh-sQhAO8kCRHul_9wH4JCEDlcdm5p_5ZgpRq4VLLl8_Sd-INmlelVLzpQvTLU_B3XUeI_iaZHwjCa1sLBWYmKITsNtG7ZH0hu7i5538JgUHVTY40uwo2f_it3BVJl2tbCtVa9GmgXFIP87dgn8r3RHcp94SX3yRvpf3-GS1Qz6DYlWlf0lAXNcct9-1z5lkaTPR4QFL3eyRaZVtbDrsiYYxtZMjo0vt0oixIzomraok5s-qHH4ECCpASjR5dwKYPXbpO-HBRPIVJa3XRER1FhPOlUysDFTrHoqAUmZj4urlP3axEG2CtUu5Ayiomg1uipyxyxMp8N-GtcqcSRCG7QoH0zYIOdVHB5NkYsCNKAJvhVhIwNJYO0bqMt0kkszqzoqELFtCOqMR4o6MaeoBQqBRmKkk1trPTp89yxH_GSv_Wv64bBEeFuABDR9pvfo8C_222defN9IeeaS9WpjjRWzobDCeXUU6ESBxqX-5xuvuNl-lUTMLb9i8HLiIzjdRBYukK0YIxKobGMlIWWuxWl4QEAvVXy_Ncf01P9Cnp9BzbJjjBW8GEL_85ey5rVFrqmINpF9YlCg1LTzjb1vijy7cyG9vvaRm9N0u5U-i4eQ4H4_g8tT2tUL9ja-munblQ3sHj6KHL9peE2E9nW21Pi4cH2Nex99heOqO87gCBcm1T1XoYA6_jmiCkpDYmhIYRq6W1RL09xwKBF-N-D308Le848eiqZUM6jtNfaMjZdSVTbY_nFVl2sFPDRC7sxhfp7qOGcvwDhxW5fosIFvY4FDlC2XhW-qSPL4IW5dh9WbAPzGKJgTvH4gyo9YAg4jv7g40a4wQ7aAsNjff448UJpOs1JkBVRIqQEPcw3BqEEN05sfiY54msKuGcuTRZGwdXXVGF_hfF60t2crv9nMvnWrBEbpxyL9lEA8GGQ-av71wcOu0dZUxkXEn6e787FGGqe7WgZ1yV747Xc9hzqEopv6J_09ZStNWOlop2tXZAFtSDVduDFHypT5-V7jRkuyiKizpoL6tIULXHmLNtt5mJDa92822cxZ0RqHFutxWKQBYa7dbXtjG7MzJF_Hg8Wj2yIauIRqqMD6RMgdk_Mxsz72NOlOJ76ItpJ8UaEqX1s6N_vF2GauYmIwOTtLp-JHWZeCEA0cWTW6R4G3A_n2G1KJvL_j",
  "id": "rs_032133f959d38e29016a7def4d38c0819a9f247091f414ae00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.3,\"left_j1\":0.7,\"left_j2\":1.1,\"left_j3\":-0.5,\"left_j5\":-0.3,\"left_gripper\":1.0},\"note\":\"The left-arm approach has become poorly conditioned at this far lateral bearing, with small yaw changes causing large image shifts. I’ll park it clear and switch to the right arm, for which both adjacent blocks are close to the base and require only a short transfer.\"}",
  "call_id": "call_t14VLCBubFQ7jlqNpsFdMKwt",
  "id": "fc_032133f959d38e29016a7def5530bc819aa0f3c128591d8b02",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t14VLCBubFQ7jlqNpsFdMKwt",
  "output": "executing move_joints over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3157 left_j1=0.7277 left_j2=1.1046 left_j3=-0.5533 left_j4=0.0288 left_j5=-0.3607 left_gripper=0.9992 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -0.1573, 5.9692, 2.4054, -0.022, 0.2857, -0.0952, -0.0615, 1.8803, 7.0496, 1.917, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f26ca896fb47d5294c2beec7c764391753e7e1a50bb3ca09371e6654890c44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7feb4e89059e3920020a0d12ed70b7dce0901e53757edbb033d05971ee4ba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa4519f7e0a469fdae8cf1a4134e55f3e95697aa818c57bb56d60ae9e3895b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 288 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.1114 left_j1=1.9469 left_j2=1.3262 left_j3=-0.8585 left_j4=0.0296 left_j5=-0.9699 left_gripper=0.9954 right_j0=0.0048 right_j1=0.0132 right_j2=0.0071 right_j3=-0.0704 right_j4=-0.0086 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -9.6479, 5.6684, 0.5299, -0.1001, -0.0366, -0.0073, -0.0068, 1.853, 7.0222, 1.8681, -0.0708, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe9g7xbz9rl4wkCFwOXQ5TA1MkJv2HzeGW-xKyWch-5ioqLY2udQ2l9IgihtUKcrjIqNf4TSZHJoMfauTl853ZXY1fwLFOnb6tVKiN8kmPqxLfTaxIYrKIsLBYOT4PvtI26yP2YNDMuTvrEOYut5NfbLvl9G4e-F1lck_cwdy-TMo8VCmPa_gg1TThOQsylDCl0OE6WnKKIpW6bcryJ5Pmv6XJ6h7X2_z2Yu-0bwPVR920B-Uv_9Xo_9qu7oUHfW76yaLAop35Xs9eJPI2xTroq80GEdpGpaAg9BnuInk3WfKSBbN0tEmocRov0E7TCyfoYuv4JMnOQgSjtspHwCaKCf8H_kwTf6pFU9LdblfPwbIgwt_ju3e-AxQUi4HiPfVaSUqTBXAk4KpP30WgjDp6PD6RX_vO8WaNGb6crIo5D_df6mnvrjqaNsRJKtzDqRx4hzpp0V9QxAlFbQGKYtxQqCaU9FkqHu0QU-EbPpNrWC-rlNx869POITGH1aQkwII8st0Mo0cYGlJPbg2RXZj8YvX4byq14RdL5VpiX5cz6Y41EoCYJRVhalcjqNnNkyfSg8PArPh5XZZ2oTJCoOkweY-rb2dKDaUUN-aZVb8RLe1gIo9LwJKwDp7uGl9BKRKiJezYLBEK_OKXwQdc6dRjfzHQ372Ai65unLMk2-8eJF4H2iW3Zt4R7u-kCh1vS3ponvMUp4_wTzqLW1H4L-T3SFWGumH2jwfC3kE6QxpOOFjkE1ZhwMesg_2sbhvl-IWnlu5Zau-MaXZ7_eUiPU0RbzUx3VNQwBs40WeiIhwDu8c_YnofwOZE0CBLnI5sUr2lQ5gK9YlOohm-iqy8f8U1ruGe8MzkHiZsYTXe_nq2xlyAUQ2WrxwihYNw3afgXjFS3bHvpQ58AXL8wPbCJekSguCoeJ138DTsHn8kL4naC0yFJc8epDCd4VAVlqbPDpUDfAbH-iqxtZoFUy7-NJy57lSfnqbIJx003WL5pf8w3nx5yJZmH_n7rIK6re8SX7BE8fiiGHGaLc5okXTMMWazusltGAbpOszfDhTA1vFdvYeHzFCjxRX-fia23MT7vsBCLvyzV0D5sOtSnXaco0JHwdkQslXKPxbth2EvX2YBg64EsGOGdgRk7EUmLSHfJYmaGNk-4HB5m8lHVaNX6qGoAyijgndvBiDreWzkG8xmwxuLz2mT4e60PYaJQQEZKoXteCNyH7P4DAfdpWMVEAbVO7DR3QIekYXRYsKN34s1-SDUplIuTYjsZqgW4vtjtR6IWQ_xm-Fazk_5Ly9yJKxPKhKf5J3OkEB39f2410BcQE4Zn5bwWz4hzyg6ftQSAjsdWJH0lEHQOrxXckrdzilEEmpqaxzTmpkRopfYOZyB7rpBWKwE1F_76Dy3nXtFgDP7zdL8TNpZsYmzB69YsgDBteS-GQ-gp5Z9d1ptWiq_14L9bJZzv7ziE8Agp2n6KJYyCcUyCoyKoJsxmV1_PePaYcR15p0xaDl_gUHgAEAKZCbJl4KogK-ZvZl-7U7WDZopskv5v34wldcHKmxhfPTyCjYLiKms4HDlH7OAh7gmX3vM0=",
  "id": "rs_032133f959d38e29016a7def5bca3c819ab9e5bddfa96f86e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.95,\"right_j1\":1.75,\"right_j2\":1.45,\"right_j3\":-1.27,\"right_j5\":0.95,\"right_gripper\":1.0},\"note\":\"With the left arm clear, the blue block is upright just below the red block and lies only about thirty centimeters from the right base. I’ll unfold the right arm to a high approach over the blue block.\"}",
  "call_id": "call_LzEdFWTa74Qwtjpe7DcQHb7P",
  "id": "fc_032133f959d38e29016a7def5f2704819ab49872703bc8765b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LzEdFWTa74Qwtjpe7DcQHb7P",
  "output": "executing move_joints over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.7311 left_j2=1.1 left_j3=-0.564 left_j4=0.0284 left_j5=-0.3641 left_gripper=0.9996 right_j0=0.9382 right_j1=1.7344 right_j2=1.4094 right_j3=-1.2293 right_j4=-0.0082 right_j5=0.8963 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -0.0889, 6.4342, 2.0537, -0.0659, -0.022, 0.0317, 0.1299, -8.3487, 8.0205, 0.0562, -0.0269, 0.1734, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5903b80a9628223a02d1bdc2bb1d8184e4d83832f5b6195f445a64a30f630c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b460288071b69e249f0f5cdb3e7ac5be5a9185b1e9200abd3b6abe2299df20be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ec1cda3a11af0afa0123dc8bd071be2086956c62dce66d854e38727ebf8244",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 292 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3157 left_j1=0.7277 left_j2=1.1046 left_j3=-0.5533 left_j4=0.0288 left_j5=-0.3607 left_gripper=0.9992 right_j0=0.0044 right_j1=0.0132 right_j2=0.0071 right_j3=-0.07 right_j4=-0.0082 right_j5=-0.0196 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -0.1573, 5.9692, 2.4054, -0.022, 0.2857, -0.0952, -0.0615, 1.8803, 7.0496, 1.917, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe9tpBUfgcEX_alC3CG9xR7lr3OwBzpHA0LIE_DBN1F7FJ98urEe5jREqgVIv-BtHK2AT2N88jURGu_vIr-4f08T4HOz56H8BMF--Z_NsyK238tRePXJ4Yu6S70UCUH2Rawn8dD_R7iZUW8NuVQ49k50JxJ7Xk_ZAaW768M8dojXiUN3E7h7MEGfXdjMIjGpVNkNBoBjjaw5h_B_jSJL8lqf8bZs1Rd2n3dl_N-S0pjkiQ0q99Kymxf3j50tUdji7MW5xJw798yDBJC6cuuYGpIS5fiHdFXTYE6uWjkPG7NiVFDoqltBBNnOjshyZts8lBsABEFzmqu0ak8rcOwh_wzDBfD49lzkVJzV7rkOwg2yGCTtLtgiklFcpAehIpMzG7a3bAg6sYpRvqFdeQJsV74JtQhkmdbGyVDQbrhngtXzkCgtjxguLl1DGkC74q-s1mS0tGD545mGGz9ZRSSM0KmY2lmY2P-FNl15tMiV9z6JnWlvz9DPOnarv86xhDfAbCKOeEjGE2MWtxTCjX0BjkRVFycCTX8pDddezlC1AdwasppQyP_sV09q-EebJarKWXfT-_NeKcYliQg8gxr_BKLjz-41L7OgCg-QjRNeQij-Aa-oc5QRUQjIY5bj8pUPhXRNcJXWViicRSz_cNA7J9MIOpw5hRH_1pE56dK5QXPE_GEjWDY8ONbRgaFqc1hZg1miSIFQxg6RZcuHKyR-uriLBVskNdjuiSJUeZ4onpX--iGnCs3rdQSy51pofX1_FrXXDjih25FBrkZwe4QIpr9SNVobI8huljcl-t44DKFlR8nCwbLVmpNZsD0Kh8i8HzSpqWqQjdjlFlKo62lC2vS--cvs_N1Pt7Et5h3b-a-n2fzEvf7jsLGPSAtCPl_Pi8Udgc2sOGdXOi56CQzTDb32V9uV4SWEQDWC8J-wuEHG07ZDJ7wtEFRs-gIC8WRTzyhYlXFsEZ6bJ6uxf51PW8HSSnXPRQ4okeU8Z-olF8HAJxTJtQJtCpqAo5mU1BPvZsh1WKtOe0BSQCyn6cnzkFX-_MJvSPGpWcrlNxc95FeXaQRvTzkoSVHw-4AIm6AF4RToWXhXXujJSxMY-2hryegHFKJ1LFP0mZ2uckO2j3lUw8lYOUiIANAfFoCZzjWlifkWaVMSAcCq5OoJ9k7jbgdCd12kknkH_BTE0MaZz_DJgHSnklh19dBvgkYuN0zf3gZRp8lWv_O79wOEtb6rxHMrQ__C_LqspMGIPRlgybectua1-g_BhyWw52IlPRhdW1v_7IAo5GeDmNPNv1plu-fRZuTN0Z9wLF7C-tLFxZAkFsfcscN8w3SdaG62hg62rwaEftsKB-5o5uC5jbIlmUnk0EJwprWjDIgUN5DMwU7Fok6Toxes1d6OozdizHoZrPfh8AcS0RFMlEem8-QOGP6f8_8xRWcSufYC_hPSwqccQhl6SIbVoJJs18ImmZUIvTry3PsjxKavf1jlLUV4NsnjzEAYXi-ohj9GDUNIme68qb50tDMmy4QFBhXvBUzveikbTrdGcAYL5tUUDTwE8nvddfH7lsKJHsSjqtdt51AXeByD8AgvmIv7N3ek97ccBkLJgQSNGnrnCpDR5UhVQUA7nQcmPuKea_3U5aqtGxgz3NpaurtllS7pp2YnxihiuxsoXXrVIkA_nXgrlNZSJ9ogvUXJ_YMvved3aEKkakEImzJ3zZcFcDQ8uqcdyxFxftaFKuilY2WUOrR3VdFQ2m41J3i9RhyifBWrA-w_b0qp5Pk5nL3lKT-j5Gl4AYqH60WZKOoFviBIhH0Kvokfc1ZWPzl5i1qV9vdnC5zAWTSQMaF745BXWz_MIeCspGRPZ3l1PjkWZq4ivMnK4iGYP15DR6Z7AO1lfsbzPO8GtUdL8-_aUo1hCTGDS8fQDdOfXXE024nCl0GDkT_RttXVlHwwaMCyoC9sBFfPwdlo3uaKUlmehcimrI3zFIkoLkKU4w2l2hqiaxAVTo-dln9J6lbRLQ==",
  "id": "rs_032133f959d38e29016a7def668eb0819a93a36fe71c01faf0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":1.92,\"right_j2\":1.65,\"right_j3\":-1.29},\"note\":\"The right wrist camera sees the blue block near the top of frame, meaning it is still several centimeters ahead of the grasp point. I’ll advance outward about five centimeters while keeping the current bearing.\"}",
  "call_id": "call_TjO4rFKLaXlvN3hOZN0UWilP",
  "id": "fc_032133f959d38e29016a7def6c32f8819a9520eaa5fb43e0ce",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TjO4rFKLaXlvN3hOZN0UWilP",
  "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=-0.3145 left_j1=0.7322 left_j2=1.0992 left_j3=-0.5652 left_j4=0.0284 left_j5=-0.3645 left_gripper=0.9996 right_j0=0.9417 right_j1=1.9072 right_j2=1.6054 right_j3=-1.2884 right_j4=-0.0082 right_j5=0.8932 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, 0.1983, 6.147, 1.8926, -0.0659, -0.0611, -0.0073, -0.0889, -9.6205, 7.9111, 0.105, -0.0122, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b83e6636c108e2bb326c3c542277981b54d41024708c9a68ea7880c7ee3e73a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597926c60425ac24f031119d76f6d75c87fb8f423e5f5d15cd7d5f4872097124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71ccdeaec5572ae7e957c4f5e854d4903461fb60e74047389478932cfac3fc8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 296 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.7311 left_j2=1.1 left_j3=-0.564 left_j4=0.0284 left_j5=-0.3641 left_gripper=0.9996 right_j0=0.9382 right_j1=1.7344 right_j2=1.4094 right_j3=-1.2293 right_j4=-0.0082 right_j5=0.8963 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -0.0889, 6.4342, 2.0537, -0.0659, -0.022, 0.0317, 0.1299, -8.3487, 8.0205, 0.0562, -0.0269, 0.1734, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe93wYwDJrSuBf_8ttKVKU_zmpwgJdhnkSPyTKBKA3QCdVJg2UkHwhcnZh0E0MUubU0r4B1-ZjQ2ndw_vCYFITIRmcP37QStxd8Lxjs7uUC0UGdaeJaJzcdNpSGmESfoGt5TlZY5RAVMZ3DIZ1KZR7NfVRrxFArEMuHNkYZuGUrBvBRi8XjxbMlO5RQvIbKh2P6h9ps3ckngBh9eDFTtUjLmr0tYaceGY4-UFsJ5nDgVwgm176Lq3iqMr-jiBjLkh_BNlZWQszSYQ9_KGuVHqC_vg51wmy7Do13VE8VA9ny_wAm4BzomiZCI_Pz4IJB5tprFDcjojb0xltTV7OSh8_R8B9sxgGavl8LQ_2weG9i0RBF2hWLrs1GsNAkwBR74rJ8ZpQ6NtUGXQJfiyVGgV4aXWxgpXu2IomixdRTTrSwxMEgunfUKCn9HQKmADKMmCiapJSh-I4ESj2Mjzzl07nPsMTkB80fqmdB-WJAI36ZAsagNpag4fB8RQOcqVXmmeD6rWqvrzbcPTPxG3jbv004u_aqHqzAs9EQ2HA-9DFKepSks_uN1KYioE9rtWPOdffsUPtdrf32pK-uKCwAdgcumCbfN_2if4jSe4IgcqWTktb-FoCSxlfGamSUdKQMveoVtCi-vCr-Fv51st2qDKoCSdwi7JXZJOn3-BheKg7Cg3NgIKpyWsDmhddPshYtw0NssceEXr5AVsNHVMkApdSc-n2JNbtv9r_NLuzMgf1y7fylZw8fmBbC05yxJhL9Tw8e-12NKKm5C0wbPaVC7tl7cYIJuSQMi8fAiIsIXz0RU4G5UoRQZ4fzV_5OKnyISRqN5RiX4TTOYF3MAGXHgSBWN6ay7LkGflea6wiMo9r3CuHgO9gk6hKo2Lvnafp4EsqMlI_chrbRk0gvGo8VpagwRjvvjoUw0unY18LIQ0MiNe1Q4mfVIHqhJG7RFAZ-1A-yl_JpIvm7PFlThWMCtnLDqlVzwVjckViqr4YM7HjjcLeX9UN5uvAkbiNZgXCY89rVeJB1EzCGbWZH4_kTW9cmKVXaJkKSmNis6Ii8Fywjdk7kP-V5QHQOI0We9PavN482vmqbOz8sBXfjK6THckI4VrpfnJ4SjtAFw_mu-GhM932IC1n6Q97CDe63Q08K4j0RVdXqjda5dhnJdX_3zSvCq7Q0gZvkknYjg6D7-g8lDhW5mSCwmc2kZtQveeXV6I_ntKXWk4mX8n_wJP7D4wfXNAyx0jhr0SwdyzNERnjSXLm1n4H74j2ktEIyoLkDkLad6nvlolcIBvdSdbFL07azOhfpZ7I1cFydPt5soNQXdTLNto83686fYGFWLxcLsa5x4y1J0ZhIqEkL00-6aQgFlQB8EysM4hVR-i_s9K5CPg1KzxgYnOFkXwdb-_K0mCAOGSvSZ58bimIQNejnKJpICOgBXEHhXAwkpx-Lla1MNAw6qbB0R7YL1zfN9nW64aH2IfvohSsYQe_N4ZvGX8FNKzg6Tr-WoG9dq85jBe4TxkH9QJlh447nyKjSJ_bHLkEz3fmy8GTNSqIO9HkTUmp8DAhoYVsFOkz_PSDjlQFjyiFwsF2FJuX64PgmAGZfC3uipVpa4iYaLDkTMsdZQIl92cPsBvARu-dTqd8YtorcBLoBrxI0aL0trHw5HvaxN1GQECxIzmpJQT0K4yU8s8YlKdJMkHUaqSRT0tihT04yB_HS8LxAkc0dAdq8svys5gA2QNlBvJJARI6eL-dx9zkCxP9wHgfGUKyDIdOUkqlSpPPHLt1AaVnTFyS5zw61J6qFOL9Fzfm8ffYtTbgkgVc_QJg4OFivBHIAv9WLTEhT5FKonV1YYJ7-6Z0tcMA854ieN9_jArBDGXJZ_votGv866Ov_KRH902Qs_2nU14uN8Ucw_y5ATJ0JaW_171yTYAQ_d_9uNP_SDaF5ApSDArS7pRV-Hq3iWHAcgGRoqJ4UOm0fyln2NBr0C47ktN5qgXk2NZLRlM6zGNNhYTTY-U3__U4BDqcHXkvO1ZIjP4-D_07cDnvpqqXv_0bonuz8XgZ-ecEz8MrzRFrLfkkTbGHv0BqXblj05_TED54ntSjLm4xqPFgfQtK3V9nyD_D0tCGECYxm8qZ2vKCrIaf3ynJXVJFqINJzU9Hi3-RE09clwvkHB2XkXMz7pR7dKsx1uSfmfTITq3ZM8b4Z89-gtXe0h_zqFYryXEd4RjQB5xzM41aOqS_VMjp0j5aMYbKZ3q-kXxLI_H-YFT2Gsjo_6B1FG-gV4sUll-uaLjo4dNKRj1i4Ne-YGCgAuZ15t0VQumC2V5yMwdBE-R5ISpXfJ-TNlXD6C12pOpPkohKdzgn_SvKHG8we8TkDSYg3N8nLXKu1MIjVmdVt9I2zVhqckwUaAZ1a9MgobjTrnHeZrGrjSSRxE78OL7UPkeYAsdBBfuU7u7myAp8IvCNBGsio2YlcWPqszgIUnIVcUulPvl1IS8F7YsFLMxnhOV4pCF-Eh-cq9W12SfVYj52cyjv1AlR8YZeu5zqqpxen0zOTnLgFJkJeixoTqQJicpe6yAOPM1lQI",
  "id": "rs_032133f959d38e29016a7def6faf14819ab104819ee5aeb98b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.82,\"right_j1\":2.02,\"right_j2\":1.77,\"right_j3\":-1.34,\"right_j5\":0.82},\"note\":\"The block moved only slightly toward the fingertips; overhead also shows the gripper left of it. I’ll advance another three centimeters and shift the right gripper rightward to center the block.\"}",
  "call_id": "call_WiOGP2BQdMVwl05hPJptMisL",
  "id": "fc_032133f959d38e29016a7def763a6c819a91f93c725db98381",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WiOGP2BQdMVwl05hPJptMisL",
  "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=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.5678 left_j4=0.0288 left_j5=-0.3664 left_gripper=0.9996 right_j0=0.8501 right_j1=2.001 right_j2=1.7264 right_j3=-1.3334 right_j4=-0.0151 right_j5=0.8429 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 0.3077, 6.0786, 1.956, -0.0513, -0.0024, -0.0122, -0.3077, -9.6889, 7.788, 0.0904, 0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67273123affa474c124b3886437e8ba47cb3d366de1e6fb1789e56e9ef92831f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a586955f516c629a18cb7e69f3dce5b704cc7810949f9646b64ec7397fe109d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb91d5281cd6df1d7e89b79c53190fbdd6e2d79589a09e44641e9adcb88b080",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 300 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.7322 left_j2=1.0992 left_j3=-0.5652 left_j4=0.0284 left_j5=-0.3645 left_gripper=0.9996 right_j0=0.9417 right_j1=1.9072 right_j2=1.6054 right_j3=-1.2884 right_j4=-0.0082 right_j5=0.8932 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, 0.1983, 6.147, 1.8926, -0.0659, -0.0611, -0.0073, -0.0889, -9.6205, 7.9111, 0.105, -0.0122, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe9_sF1oNm6AohDMukO0GGHbm4q7XIGKfAljC4YZ6sO0e960R1qNRZqNuPvTvXUbox8EKPKqfpRvrqZlqb8GbOZe0P8dn5Dj3wLOjOZ4HvR6c4dNDtRS81XfVxeL3aRYPxJK0m8wkSC4bAaPKNl2g_jFafV070xz2R4i6AUgwiT6C-gTUb--fNpXT8pl1zagfnEDbiS4WpS_J4UEQ-u4V2aG_yLB0pkDtz8zlW8tGbV5SaW79JA2OAsEVGsBPzCOEmFxn_wk9qY-ik-OOBoNnyrGLE8imD0sqICf7icEcBHmTMVKacjHT2BN0c8ibLu8key6pObdf738YLJ2YQnkSXBPGb0a-9fdnyHEWHC8jf90_37VlvgWmA5F2aTM9TQ0vn00OyoAUDixjHttcN_80ZtcMY3Zwrf9gXa4xLz3fLBZV5-FwI5jjnJJ6VlDZN-4yXa-Ad9N-xZ8F1cqoqGCOHJ3GJy8jAfs7MPi9OzuyOdT7_7s_IPnHG_c6OsYoBHncCxJ5mnqIjFkA-22pkbAFGeL9m-8bHUljIaGGP9GS9GCoontFRUTlper0-HIQhOVa8FAk8PFjKMXHkD3Xw0f63DxL7ZCnrf0XB0EhfFSiVLScdOLU4UpUBiXrdUplBGkUIJfC3q11jpQ1dsMqVF1X0DF4uMGAKeiSQnkDUSDiLSGCSqJVK-4uaBIpdqDtdaZ-aBmCcccoAy9NOC81IMWjhaIS4WqGlrzcO--UBJYK6gsPp7x3JSXoA0yXXIA1Mn0GN5FNqQYfBT179anA9WDOvvu6vqafnYhU-YpMaQxi6kKOlfU2nG_VmvEy14JfSI6ZkR5HTbAX52AIaAxg_XftVs6hCmr5YBayTI94OUrajUBv18Rd3uApkfYqDNL-ZSVHnpSKrThaU0YHS-GNxHBDSASN9mOnkp1_vRTTOM1cmGut4NJ-Ewb0DNcHuVXw1ZzGWDt0Vzm7rQRt7YH2dNgVY__mCcltwz_Byy_GtY2BfDlIL2YGMDEC8-Pj2DVml76kpA0KJ-QR5Vnwzz4OYaZQ8uxKyXfRptoyPkfpLC7Mifky6TOF4chsp-WbmEYBD7SdLJYU_pxfqbyzm9QvHpavBdvg88PFoMpqreKq6fYeRoXAMG92p-aPE9nHbFJvzWXfD7qsMYHHU3-JCSdoufhfTli-Bsp0_oH1KFZLAhcV7axldIA9SYG5qhSkNv6nTe8LnIABHkDxvPwP4UCtNA1Znt18URDzuRRirRTf1RbGC02ptDh-3rbNOPR_aePAJq2aDio1bVZU3jqDOHTmXMCZggTmFY8_Co0n0DdpLxHRnVAmBfkAt0dKYsPUK1-gvg_oou5K6ugoQ4XULLPZAsqGGznmZa-fEErYLDIh8inEr-6x4irx4_xTjd7QNGP3O66ljFwK60h85YzI3DI0iLFIMYt9AhchjojKjUOUxyGxBZuk9QjGdaINXkoC92amEduae4YilWCNDszmnUJwAGHFM9LyrqmkoElUfPWwUiPoxh1JE3iNlet0POAsCpS3I8lXguIl5ectWDzfYkOUuxynUans9domaKytd4ZxYP0L7dZkXp_1XCZftOAaoTRKddr8c4NHRLXN6HtxIyrH6j_gJzLq7AEFSE6tOPPbyKA-Ad70SO3Xyg9i3yk83NehzNpe94roEHHH90fk5X2raM5o4wRYTs_KOr_axR2JjhngYwuJH5OcYnI81Jm3g0ocRyd9XIeup7_MmqIGnNlhRCh44u-G4iVnurGIBbG74tNAhanNOo_HxMxmqB-IoBH5lYQBQGvxjpglIJDjxVy2hoOs8SQf3IqGtecK5OlZgTI4yrmBI_MFivpSUS6NKvqo412rt7EX3Li2RGjess3gPm1VW0n5A==",
  "id": "rs_032133f959d38e29016a7def790cd8819a992b02d936182b5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.2,\"right_j2\":2.07,\"right_j3\":-1.47},\"note\":\"The blue block is now laterally under the gripper overhead and moved substantially down the wrist image. I’ll continue outward about five centimeters to bring it to the fingertip depth.\"}",
  "call_id": "call_vLhw9CBMxKRRv6uAiU51HrBH",
  "id": "fc_032133f959d38e29016a7def7e0b30819a8c127a5a5646fcb9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vLhw9CBMxKRRv6uAiU51HrBH",
  "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=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.572 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8536 right_j1=2.1876 right_j2=2.0239 right_j3=-1.4631 right_j4=-0.0135 right_j5=0.8188 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, 0.1846, 6.0786, 1.9072, -0.0464, -0.0806, -0.0122, -0.5949, -11.3573, 7.8291, 0.1734, -0.0366, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e438ab3cac1014c57da0e97bcd9ca2f0fd3083aca7bac18bb99571e7ce0558a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbca589d7bc12b250827c19803e1846aaf4d62b42b1076691bda5cf4a8188545",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3728ff85adebd83ba03d7e79997c16d4c16ca5fbd6f24627ac1f380ce62c211c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 304 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.5678 left_j4=0.0288 left_j5=-0.3664 left_gripper=0.9996 right_j0=0.8501 right_j1=2.001 right_j2=1.7264 right_j3=-1.3334 right_j4=-0.0151 right_j5=0.8429 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 0.3077, 6.0786, 1.956, -0.0513, -0.0024, -0.0122, -0.3077, -9.6889, 7.788, 0.0904, 0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe-JpLb_bIIVEdFsGkeP0Zom69tebGn8KbWE8V8eXJXpntxh6zOMpu8Vib7Nl6OVVz8Lgc4l1XGVa8kuYbC3Lbu-gZ0BmBEeEIVVPb_4a5gBrCYN7hvkJ8oTiBaOwsb4AP9_V1zJBM_GnwfQB8r9HPeCHaFBoWiiiRJR9gLEf2xscNm0GoA67U0Y15A-4cpG0ghLX6FOLLRsY-JefQfDwveEFJH77AzVSA6WJvNaIN_Tt_dXdDER3TcCWtg-YwnxnhsxDZuP_LhxUOGBIbw24ra9QH_cCGdrGDffCfHHmhSYZO-flDp7pFdWMVe6P-EKyqV0AWYyNIc-_MLk9omNa3LwudhO4dQ9_rEUPxilYoEyE0HIAk3Z1m-TFrL3fKFTz6KV_yZLqIWz_Ix6_fJ7K3pu-Mrbwmb28OXXQliAJFph1vGnJ8-M6COfSM2HWdhcdIEyoG4Det1lPCQkKzWd09vPW0v6U-22y8VG_4aLKdQt1HNbSi0nG8qIlOTIhA92MKL4pGMphZUtWaWmVl0967fyqhVNxRPMElBeFbZrlDiE7H-owccnrAQknrCvS1LegWKQ0Q0DTSqW9tdxqw2JUwhllH9VY8wG2gsOWkloEoyqSpL73u03KSFkd8840RuIIDiRrIx2UJX7HR_9Jl1NbRV_joOmOOpdhOgx6xCEV3vh9YBfuieKIHi6GgU4-bwGPkmjH6sASpP9pnltjerXOTHEeeXXHi22ujIvPselLSvprFkOOmhaCE4ylz9JJTmIu8ao43HgXPPbfaGzwnEqfvUpdgivm8rPHvvKwUKiDs-iASkvG3MK46SXDKF3KFVNFRf_WLifKhnSHMq9RV0fJdh7Yp_Gb87_07-3QFCnteaZhdJrsZ4cu-dUbM7tAbEXVYPHJ051CzKsBjacznMI1jyKWaXM1c3V6B7sTFYA_JmALOVvhjEsg34lDVTuhS1k-iif4Rja6Aie9pNr21_VcVCRqRn1WYTLjzeRiaDrrMFlR1tpIuRY5jB1s8Ilo4N7lotQBwq2c-DI-n7_xVPAwf0LhBmf11Cwa5illnhiI9gI-hy2M1E2J2yJiuNWVREw0PIo91lCNooyekAKH3z2g9DIFVYl6LePFepWQ8oTz0CkLG9jsjzMeRZNXsHS8QEcomoD92yRpuSj4cPfeUuXwhY7stE7Cvhf3FPCnFBLI7X11hluqFROB4U4RJ9KlDwFkWczYfRvg89myBAmWkKN923t2ii6faU4E0wMVwb5Ketyx7amXLEXCtcJ1uNh-XYi304XWjOMIgZYQRgF_kTKow3tyN66Q7yPC5ynOYqrwsJAdOBfHBJ6QjLTz1lgqlwJJTgGxCxj7WfzmPeK_8PdQRAw1m00W-Weou6zJg_a7CSvx-DNjTPC8R1i_cj83URb0728hw4Yyi6THkOZ5A6kGkZGRKLYCzXsdeQasoHODGUXEnCEkbGZrXlG3VGXLLb1CoP6a8i1KdOZ9CKK3_P6OkUIEAJnRAUloj_HPpudG57QhYjENjOfDQZj6UN8ZC_VooVX0bRK-yjqAnHJolyV5A9pfw0h-PhIbRu6AFkH8sckeEhif1gwyH964cP1LE86rtJlO1_ztjYCLG9H2al4aR_jWXGMFkTrp90lX34lML39lHcC2oRFHwkYR8GSD9u1jEUhMwt0hOXejHYHnxxEf7ST-1-kR_JqaBYGGMe6Yf_-pB_6NvO98QBzF4ZChIH9x328EVR97TNFiUm4sh6CTD04VISV1pkdGy_phQtvFTM-1iA=",
  "id": "rs_032133f959d38e29016a7def822750819abdcff2a61a65e79c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.33,\"right_j2\":2.27,\"right_j3\":-1.57},\"note\":\"The blue block is now nearly centered laterally and midway toward the fingers. I’ll advance the final three centimeters to place it at the grasp depth while staying high.\"}",
  "call_id": "call_JsNSp5hRlDKyKvp1TYjoGkbA",
  "id": "fc_032133f959d38e29016a7def87b54c819a91acb7f854c49fcd",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JsNSp5hRlDKyKvp1TYjoGkbA",
  "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=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.5728 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8536 right_j1=2.3161 right_j2=2.2211 right_j3=-1.5627 right_j4=-0.0158 right_j5=0.8108 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, 0.4308, 6.188, 1.9365, -0.022, -0.0366, -0.0073, -0.2667, -12.2598, 8.0342, 0.1392, 0.0122, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ee62d6c242d1ca963c5210516aaeb448b9a6b6b0c296fd2310a76bf2611cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fbde869f25bb43b09739d34d622aae8f69109e818bb272e5c91b54e4f50a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3aecd2e679fa63779d106683e5eb34fac2b969a92d4527d06a2a8ea09071a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 308 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.572 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8536 right_j1=2.1876 right_j2=2.0239 right_j3=-1.4631 right_j4=-0.0135 right_j5=0.8188 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, 0.1846, 6.0786, 1.9072, -0.0464, -0.0806, -0.0122, -0.5949, -11.3573, 7.8291, 0.1734, -0.0366, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe-bKZFjw24ofdoOxW1WSZTjBy_mwYoAneD3Es_pnHsyyF5GolBJycPKFJ-PLenn_7rPRNRjxuv3jgBoCedrzeHzgvHtV3PgPa_i4Jrbe59LE5ri0p2r8Ua4-pCT4t8iXBehnNcabIhAyxlNCDUFN_lARhVKYjIz2yC_RKC3fzHdYkcQhe-AHUciy_RHbf-Uwx3RVCYRE4SLNlO8zQHuvQOz8jSZyWemPCDVhfmJbYobOuEHiXJ3uVuXttlrAfVh2f_7S3Xsg2aCKJNp2vQf4FZj94ApC9K8x2t71cp7IH1egWk0F_Us08C1NDXtvO_5m0vR_gSIowI-a3ITG3SvmwSk2My5OrrCUk1b7wz_JHcyOjUz7qKLq-cMCsxf_F9wizRbHzkHf5e7qt3yBWTHsWhCUFfz8RdvOpFiM1H4Ycbi6i7vik_MsNUJ0coW3CaIllcpFgm0LmtKTOGljhapfyc7FSW3elQsN_YwYEBGMIDJyiLrte43MTaRcmkYZY0jLd780T3esuf8FFcaN217AbZLpNj-cq-44SZ04Ae5peBbarTc2WnInLe-5ap6ehX5vVHFQP7z6iN8bd0ryb3buD9J9K3HkNq9OBDsN7BJoLGV9mOrA3xQcqWmRlUayB9f9XAsPRQW86yT5ffecVKIhVpFNWpBoo8SC2_3zy-C42xkNCvhe0M_l0jAiTSWK8IQCCIdJuk3MbH8eoYypEWdy2NKXUuaw2-lT5Mj3YMvxwSD_KEs5rTzm6Ewjz7Q_P_zEPWJl81pRh_bbddjWNTlwwS0gIPKI9QmiaFDN16Ly9Xuhce2x3Z_p2eESqUOiNvVRA_jBopoh7HUq7y-RObz116yWHIZ6ICuFef7KOIZQ2Eo267jovfjxav3HWpddbZetsam7-FtpMe7n-Zh69_Tzkn-R6ucvEDoFsP8bOHUuX1dpC9qp829OTSIXbpZKxBB5h480G7TR9biM4Dq1hgTzCQR7aJWqobeI8bs0wSqy2E-JWn10ipiPg2Nw-lwWyqd4F6aRc_6GzJJAEnCXAVq3b1M7Z4DyFGVigAp_iwnVtsXlzu4rNDRG1KC0XcWzDpmAFXDKmMmVTdYmqy-lL9mOsOHyselgUnhggMJ9GO-H0uPLYJCe4bOkPfC24v76Ldny0IFFy2ufIzCgmav6UupE0A8PZbGbO4ohZ2R7h0la53xKwDgqQTRnyvnBYoxp0-LYbP3bPiM48neIgM9no_u4N_ass6wh0vKIAdgGRE3z3o6WWUTWOTyWphIvsQlvYijH_K8iga-JveJv16FskFoDDrS2yHIZ96QfUTw6nHPj13fZ94BUoEskjHZHlYXyWE4nU2RYF7gj3HFGLdlBfMhiWLqQwBXfJtXXQOK30SjEAzRa-dUSromvp04x9BptorMz9qhB6uOclQ_XncjGi8Y19qTH4u-5GMEKTLctVIIRphWYPd8PpSHokUOMLAST6DZalmkLTpCmAfevwQW2rwBycXaJ9fY2qIOfwVLDeiIK1DTVjPwpVS8H2YB8oGwVNZSMP6OzmMjIS-2Qt_KKvsQHhFBo8UGtukCclavBFpdnvoYixTEUDZ5oy9GWRvVzGNhnS-9zJrT2KnazDsoAH4DZPXGQGQccwCQkVdnVgqEV6Hw3uC_D2j9u38msQHozZqw-_VepwsTDqOWs0rH4NI9sofRnec5PTjH_sF7EuupDavon7nUb08NHahWTF-JBrzOz7I5twolxEGACEiilwtKxKpkUQZt0Qod2bo0LOUdGTsin8kiutgoRxpF1LJWXwt4nC75lnonOHFqlFa8V-exDKgopWljEN-n4bY41B8_xS1DQqXT_fmrkomXbnvHkLp8y56g571nuFt4kkr2UZZcqxrcPnvUaPjlsEF1Vgw1va3kpL3BjWKgbeGJvE8uisVkdoBuPGbLQuWU3UskWfvY3EX__8vwpmfe9dThR1y_Xkygydz7kW2iLLGWSIW1cVjMqmPKsgugdt7ERkn4yKR3Omlhu0kh3DwTPv1KGZVZBAhGwYLL2ibpR6tOe_it0JeDG4VH6W2BicLwHz6xazLevC-FzCKtGoFH2Vh0oEbSCWc9_NPBw_B9q4gOqvhYIopyCcn2HuJ8W02eIsnFWHQyjtTZNJ-kAHPqtEsY9EHD2lyULeAaYbMCpC7_D2XwyZnsHhuMgvwfnbhLX_mLPmhIs6BRHK93nWjzFYrtPD1yyvs-bfuqdB6Vc8-n6hL7GBkwMoqw4m38_hhaiSatr2PO1JJ6mRyabDIgOb34Nh27xg0btWG_o7ieCvt2l4iOGKzUvuKRJm-1fOrrL_pvdy12xaxmV6VaJkcEXl56APSjG-ro_xxQlNr6DpU5AHCpfl8_wt7FfQJz5TXX_davwgkxuAcYOHbZaY0D3lwpFC1Nn5Uh14T9FdWs12SfycHt0yzdRpJY0cQMj_F7RIXrWKvDk9W2N3urLPx9hFYEa2S2asoY9EHzLfj8K8qy68GxF5F5Btmh3oIijgwiMecIYyRW321f-OCwPi9xHENOoQZBx2sP2R8lCpw5IlUOiNdnNKp1SZwgL_phfpQ5xqlQzsur-0ZESWfEqosnb6t6C1Isw_JAQqWZHPcqC_2DOz0_8AurU3meXtbCnHyCN_FUNCDnMHjZDnoXHga1aIxdNJsSpfp1x_MJD3qPbMWaLvSmlMJJKgUU1TLmOV7g1t-4C7w5MhXHIkJP7vYGwImVdAZcqgcOvaaExXr51ltyYt9n0aTKCMqhkShqVnGJqCf84Gc7npEWXwT1XBXY0iYuTKoo4lRlIFc_DHS5q1wp8dwyXdAi2LtXQd4csC0fHGehWzCwI_5HmSIho2HQlWaK0wIfaaeatVVaENwMbWfRD_mRDc7XIWoTONgElvBPvsaOe_s-JGAEeJ7ljJvUB-aGcw1uFYT0nLFZMDtBbsLNaw9ZHLshH-BIG47VC2hqgoyxc43QkSUo-7umGaz4AfzOqyUJjwOt_UWgLQSvRivPKBg9wgIzaojL9PEXCnxrRteW5mKpRUmgdtG4yce4m8oAbGIm9wOepSxZnldcpCl3ZII5GUCoQSILiafD5Cypq-DNeaJRpR6fMBMQOTKsDOZLtoMRTU1VCHJWRe34N4oKkjOhJHfexgHf3n9TJugj2uka4RkEs_mFZAtEX6oL1UdkMMplKwzpn7s56aISqFfaSqX3VWAjJxiINWTUTDxub0CnkDBoc_HTimgXlhenv6a16zzpmA7osNhhZDOmd0AMf-QM203YveZ3zdwOJJsTuveJ3wkojdQQqMuljc9U9nSjiYqI7CZNRgciCImvowqHKTlIPRiFBfu7R-BCYp1neOvWLbMt6n6m6EPUjYQ3I-hCnrG4nUnWxbivjqljNfhxgX63VTjCSDLpWFakBFcWC9PzQx3YxJMLyZS3UFGYe9A8BTE5n4PRMNoQMcFRn2LR9kGBkXmVGtXJjZQMELysK--ODzoXmhMrqrRN0i0jApZh-BwIMi-bZ1yUY5bFj5cKYufhpCqyFiLDbrel6O8s8IOkmZyXWvHwnA==",
  "id": "rs_032133f959d38e29016a7def8b132c819a98874885b354b8f5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe-b2nKnqN7tyPNy17F87sfR-TW52Zh9agT11Ms4zIA-8uj7Bd2oQ-xwcjACdRTpAWYI4nzpgkk_afOpgOkmL1YCoTG99MKVq_Slr95En8RoSzltF0_N5x0FQ0LC5FPHqkWjNAkM1BX7ozXYOJi_lUTYp7BTUUQlNcdf2wIucZNDg_xJrukW0q5qtNnj8BbPjub-MsSj2cRf8QYd8cmYV3YDXiivQ5ZgJrVqiNtIjIkdmgPE4ml4zTiC_1PMRIlXb977e0YS7AoliCXCOs2mTcdrDd2OU0kjHSk9Jb3MhDPxEuchs3KJISqxNR21LD0hlncVn74GXO9e0m-IiSIIya_XYMH2vTz6ew1fLw69sdAWtP0HFcWV6ASrxr5x3hz_CAQGo2zEjrg3G1h6FMh6wxREyH9MUqzDWNg6KbMOdpDIU9QI_hefhCXR-VrZNFidlWsDcOR-mW9egQGmas5KLe2W5p8yIcsPm9SJvEzqPuZaBuDX8h_ZN7eaHXap8_CzeTirxXDFjumoitfoFb4EW1uF7RDglXdWGImkfcXePplK01plQt0ehSs5G9ZljX9wjdsmTelV3yY5ubg86G996Yc3bMK1fia3N7IFUZb6oCoe1_2MSACHuLX-OesyCC4o-ojF6LelAkK_aPqPF1rvv7s2BsRmS4q-utORxuVxaYuVvrulaTOgtlcFHCKRMw-mTh-fjQlZ1hrX4eMr5fInKQFgaJd6GA_ORQO2hLqxUosZcskWA4pYWN_JilL81V7DX5eDqx2DYT3GOcxw73CsF9kf645JV9CpUXDjLVIvYnKWQZNMv_UDP-L_BDnTyCjKp9cYq3xUq2vJXMv3TukU2oQD5bO4e19K1E9GOrx27vwTwkdBL2wHbxi5rgy2J3vorHPV-X957zaWaLc5Cqm-ICeuAeOmDx1K0Y97nvNKxDRWaoj9wILMOMLpfQ_8gyskaIoCoRD-qbLGDL7el6_N5LH_Yd3S7vgJMXQ9B_PR3Rpp__7R4UQtM50NrqLHOaWjSZuGATYqgAzCxw2RWFQWgsC8zmFj3rRfH-roNZNEfNjEP5Tthw0pCFg1diDFbKAYsBwOFOlnRkbe5NzuCwdc53UFh4U460bGKExfTOZ-hmwFEBXh998vugOKjwQ_imjyMKnkH4SPHUnq4LbXVCJ4V0Wv8u8UuL16VUWqEI6YPV3C4WPO0ZRMBdTScFv1UPi143-DyhhKn-kzBVNPWWNmri8ZoH-stMbqVdlXwgujKapwNJWmVXRyWqTINxc1jnKf6_SkG5vzjY5kre3Sjs95TpzUzPhqtxzSYqaGoDXC_bNVIs_ZOs_HAqqoMzVZst28qYc98xLEEIon_XtPJXcSq0KR-F-bnpI5uA1HS8mIF42U9gN3KCtgssC7nQ64J3vFrQuh",
  "id": "rs_032133f959d38e29016a7def958688819a94a8fd5bd372bd60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.13,\"right_j2\":1.9,\"right_j3\":-1.41},\"note\":\"The overhead view shows the fingertips have gone forward of the blue block despite the wrist image changing little. I’ll retract inward about four centimeters to put the grasp point directly over it, keeping the good lateral alignment.\"}",
  "call_id": "call_yNcSoDooIDQYHKkZv21FnDCM",
  "id": "fc_032133f959d38e29016a7def98e698819aa6fc0fd2b3a1c2e4",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yNcSoDooIDQYHKkZv21FnDCM",
  "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=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.5724 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8536 right_j1=2.1769 right_j2=1.9141 right_j3=-1.441 right_j4=-0.0158 right_j5=0.8108 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, 0.1709, 6.106, 1.8779, -0.0171, -0.0855, -0.0073, -0.335, -13.7504, 5.8872, 0.2662, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28805c2b01bae4b5d8e5db28b83c730480af215d4e12f37c7ada5b658408bd2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52678a6dae16fd9355768050f8070fe082c864aad1fcde0e42e701b56e1f4f60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f562b35545b69c06beb7e4813f44a202bd372a587008bf9e4d864458c17f33",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 312 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.5728 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8536 right_j1=2.3161 right_j2=2.2211 right_j3=-1.5627 right_j4=-0.0158 right_j5=0.8108 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, 0.4308, 6.188, 1.9365, -0.022, -0.0366, -0.0073, -0.2667, -12.2598, 8.0342, 0.1392, 0.0122, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe-j3DnoMxx-faBCkJM3qD6cmaS48msVnbaoTmxkwQ1lDLPNZb10MUa26rvvrQ8rjVPfXcejEQYlXOJFe9K9jWNG6WHAEJt80QjUiCqcdlGL6VaVqI_fbTd-Tlh9EEC26NntNtVFT_i44T6GciJSIxivvcJUEfaMJDTJ3Q8YeHHZuZvf9dvOsdhkl9gRalHgbPNFLL6i-9olojLyrfL8sLu5vLVxsGMxJvg-TXYya2cA1s8qer5wVZaf6PyOVmJS16jgiWEKUwXM5Dcb8KZm3OK5EnWut3P6Qel_r8gby381E1dK1Sr8VK0Ud-zWCeDSqbDb3w4Mh4HcNo_K7fRl6UNVnQc47OswvYyfZ1vZ-3ikmNByYrM_SxgGRlaes9IX1CvyNqqJzogg5RYht9prUrB_YCsHekg6VURxO9VF-po0e7jl--HErW6akb4YCgf22-B2NPAtbAMnX0nPi98_E38akDVcq1VNbxqisjfjMjWYtRFFsqXMAxruyQEhWj14LbnSbeP2NtYNIB133OEEPBBviktQN6yMllRnbPci3ATx1SXXyZozvxYlKUQytyRTGkfyJrips0v-mtGT1x-Dmv8UxN8YtnbA54huJkPSurXKdmlq_v4gfCXJogL4qDtNhVc_fe5O13JUT-uPdpDZj4QWAsSObV_47BLuD-82WyeuRymYM5VgZGJcRCO2xD8kb1SHE5Bq7HmrAUIqjfBCQyg7Fkmfjsdvc6lRpKOliqR9OYqPSTUd8rT3gK2jxWTERzuUFgcWkSNDP_70R2QNvSaJwGSamIvJdbkGGeS0wAFEVt9XIphlgeVvSEHCSlARk-bcNPuGF7rCQnUUFRFvYloMUsT4K4VBDohVgfc1_n5VaSaLuqMp6Y5SvQOLol-JdiUhOnPrLJuxJ5ZH7pHXyo3KRcftuxOB892uFc7x_mO8n08BU5TLA4Ryr_WAIwrksNBxhj7wCblUqNKOKFle6wMdbJRaCtT6y8dYOKsRZpn-VR3PxRCGqMPcud0PjjF7HrV8906h8JKo-vzX3i4d3u0e8Om8__oZkYzq7xUFbFhBmMlGcJR8fv3Ar89-ZUv1jOIrYq5khHYmyehU6G8cCYwYiTrCo5rfhseKvxbKyiBk2MN8SJnU2WHg0DA1KkWnGtGTttIs9Yionn6Ax4jWKDSQPRWEHKXisO4H7wV2JEo2U4v431_4xiWznnK0d4bnqypuhFQXbGFNdhIqiU7dH1HFvkmV5uwWcAfuisJs9OrVDvZAGrUDTeMdHANzafySgQ-HV0YhN3ntiIozPKA5jDvQtSzqf7Bf2KBjdBbEYa9Aw80zPU3e7uB-3hVmkYELZzSAzBgvD5Zsnz3nTeJagOyFFmp6t7h8R4W3URiouiKvqMVEtdKP3x_xDIK-shWMm3x9ppo4mLQZlpDLfQTWSgYT-RzJKHFW3PqenmpE2swVw85q9DZDRD8FDBCU2nI0tDw7I0GgPW-FjXqC38K0HNmPGzmSVcdkirjULmuX90Kvvop9TGy3XCf-FzdamP8sMXKNDqYPcuXFjwMx4D74GPVayM6jtTfaqvIBJspJ8qtqp6CpOFWmwYjekcWPfwQXWBpCQoC8Lpw_8ACfSP3igvhO75HU1JaGeg9jfvOv1AEEPsqRmgRji4k7KSMe1pEyz9K1_oNMhkcyFdVPKuqcAVsl_y8k5FvBrg2sXe7dBFAS85QEHvZstEwriNHU9QLBnv0qxb0FCFIcvWraiY47gwbNAm3Ome-nTYByoEOWei-PDT0TerGdaij7S60bquOWRySjxmsT4L0UJflsL1eFJqD6xT05dbeMo3ugAJ9r3gn0iRrMJJuipCrnzCRW4V6GijNx1MY6KfQ_rfqC0RfbUSHpdw==",
  "id": "rs_032133f959d38e29016a7def9d2cf0819aa0a8aaeea551782f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.78,\"right_j1\":2.08,\"right_j2\":1.81,\"right_j3\":-1.43,\"right_j5\":0.78},\"note\":\"After retracting, overhead shows the gripper still about two centimeters left and forward of the blue block. I’ll shift it right and inward together by a small amount while keeping the jaws world-aligned.\"}",
  "call_id": "call_9ApgIOML00M1y9kHMMUHCJ49",
  "id": "fc_032133f959d38e29016a7defa1f388819aa7a241940dd74844",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9ApgIOML00M1y9kHMMUHCJ49",
  "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=-0.3141 left_j1=0.733 left_j2=1.0988 left_j3=-0.5728 left_j4=0.0284 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8272 right_j1=2.1277 right_j2=1.8347 right_j3=-1.4174 right_j4=-0.0208 right_j5=0.794 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, 0.3897, 6.0786, 1.8926, -0.0513, -0.0611, -0.0122, -2.4, -13.8188, 5.9966, 0.1538, 0.0464, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0903dadd07dc1d2ade3475f1cbc0eacf182a22a63b173a9d9d4f8f0be10645",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18a075702e487a29863aea2421b276fe518b12bbeedcc1fabefb9cf7de46f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9494af81add3670db4560fd870ef9ecba33d52076814c30376cfcbd60759f879",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 317 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0992 left_j3=-0.5724 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8536 right_j1=2.1769 right_j2=1.9141 right_j3=-1.441 right_j4=-0.0158 right_j5=0.8108 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, 0.1709, 6.106, 1.8779, -0.0171, -0.0855, -0.0073, -0.335, -13.7504, 5.8872, 0.2662, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe-nKILgE4t1-wNlpqiNXwBQT_yMtU7XovpqLfB-BpbFA5wGwRiWlFl0Vbp70YmOYhKcAYtu2nZyWGmR-rmh2rqs50M7tqTJHyss7XnGUj4ZMioDQbkgd1K_VNYkvxlOTNitCKLYkxmsv-C5Fs_sUOfs-xKxziWYmwgP3RLx2KPbAemXhMct5nzcuAGwWd0HTc1VQB87umauftvfCNdqKXcLsRMcOdENtt_nestppC6XHeAqtkdQGjghX-aZmXYZeaMakkUydqaVfX-NoNrQHJG9ZttmvaCT17jNPHPurZHS2l5h9DBMv3W84BPK28aDvEOgJ7--JUmloV5HGy5iwtw3QKHcJmHDG7_4zCL-U1shUW4XxNkjj9VkQjI9c8ZaoWFtmYAx7NlIL61imUIyLOSzV9c6GliV5Gu65Lzcl1ZPvdh5Qpj6QIaqPpsGXbLAcvZM2av_8hwGDkYYcxj0833Jq5rE3x34ut7fLoRypPbzwRFymU_1yRdTn6fk9CulCIQgqhqP1HQsgCxkVLEoY3_z7yfr7D9Sq_5BehpM3KjnKS1v4jNskUrpO4LiQrs6Y78iLZmxjdKC4RIIdql3oxkD2Q7H0I8us5u7KObV3xBl15adFawsy9q5me9cG4Vu-mLrKynMriqouQhrhP6k9FjcJnF_laf67Q_ZEuBEuzzHtF36fvIIjfvd2PovljsZ1X6CgrG7j7aK89i1dv8XXgsxcDM9MrJD_hxtYPeYnJ_Q2BmjtUK1osLmfIx1k3z5cgSOsq-UZdRlRHqqoW5CRih9dOG5XDz2Rq_YVHYqYiK_ynVugAQ2kvj_otgRTcPOdcwDx_HB75corSBHmqJ1EzqEp6nputT8Cx2p4__ci-V8Ob_e2tqOfdN6sTaU3tQstcu2VrLH924EGbf2FgprQwLhmiLMpxLnyixzcZlfDKrIiMBilSon4HVWjRyDi4uMCpIxZdSq4YlmdVLZJOBUOiO7ZDyNkXPHfG3kaf92fjLF9jXdghTx4ofn2PMem8ebXfoS0zhnKSdLeqLyAWu2NsNs4YtcDqCf1rpG19xP8olbko8qiZSF_oR3iZRv8njQwJJGo2d197aU2Ymop52rZ9H13YPuJHWTPVNH_iMhj86rNF_0hFdh2zWWTqrBmocH57C32OyiW5BVCwl-rs6_lZh9IDEI0amrHc8rMkALggrdArSZqMejaKMhLKLA9cmE6sd7olNGCg2Xv1KBodSxqEPDJ2fvjaMD0WaNoM3dltTYPUgeOXUcAAJLdOzhwDZvQBZEApBWBlkvI9XJirM2tIknrzESE3rY5fSBVIc4Tok0CI8JYT4oX6rBUDvWeQQPwwo22psGAJhR6Yj1BmoTItQ9m221ORaqh_fZkR-gK7jVOM95wvf9kYTqYcqsSipzIp4T",
  "id": "rs_032133f959d38e29016a7defa4e3fc819aaa9599a702a0609d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.78,\"right_j1\":2.08,\"right_j2\":1.81,\"right_j3\":-1.43,\"right_j5\":0.78},\"note\":\"The correction partially tracked and reduced the overhead gap to about one centimeter. I’ll re-issue it to center the fingertips directly over the blue block before descending.\"}",
  "call_id": "call_UGd7GuNgPwfeEuKDOrdmiXPw",
  "id": "fc_032133f959d38e29016a7defa68d34819a8c950ac576fca69d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UGd7GuNgPwfeEuKDOrdmiXPw",
  "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=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5724 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1151 right_j2=1.8057 right_j3=-1.4353 right_j4=-0.0158 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.253, 0.1709, 6.0786, 1.8681, -0.0562, -0.0415, -0.0073, -0.3214, -13.6684, 5.7504, -0.0317, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fc3ff6aee78f62da9b33015cab1863fe66a0bb316238282cf38462040db51f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a7176a59830414b6779cd2b40972691e4373d2643234d67174412ee0beace4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c78eacb5628713ecb9708125c2c64c2d3d4cc4870259dc3103294c36a5679e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 321 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3141 left_j1=0.733 left_j2=1.0988 left_j3=-0.5728 left_j4=0.0284 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.8272 right_j1=2.1277 right_j2=1.8347 right_j3=-1.4174 right_j4=-0.0208 right_j5=0.794 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, 0.3897, 6.0786, 1.8926, -0.0513, -0.0611, -0.0122, -2.4, -13.8188, 5.9966, 0.1538, 0.0464, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe-0zzr6e2II2zhfeiRJ5GeRMvUuKZfb0mB10wUcn8uadRBclXSrSt-o6a_vkJBuyGo81clPwEHiuYcqb0_Rn1hkLVE3j5Z9ozmES8UjraHFpn0QdI5U0d6GnO9bV6MLdTzPD-9fCTF7YS8vKIIgA1fKM78gmOR4ByNPnVXK7gVVPi-VDa8ATYyBh52mXAYl6_Rc1pgf5tCEUfGeIgX4h-8HU0KWLlzBCH4GJ6zAzJWhKfbmn-5KpmEfI-okofgDWKhYldShyYTN16WVuvGOj7CJoCBdNvzJD-VfSQhMJVHNiCH-OjOZnJEM45vu8KP5WjVGtwCsTbGHqvbSoxt21750_jCyoii3N7uXASx-nrU2aiz5UpeZ8I_lPIFzpPqDTQR2rGIMffbe7qqX_DDi1On0bCGngJOEE3RiTRtmFgAV-qlYj-POKFGs4K7NovldEoRpps7ev2ZWQbU29yU_tO8o684oMxWiLfZcfNGtV6RbxMWvpt-4EkoJp7Yf6yS42WjQSHTZ9NpSqCtTfc2PwC3aOhQHGWOWt4kHG6T-q-ZrX475ZJQ_jCdxlWIodGi3DkTDpQlrLrD6NP_HUavsUqBViDotF1AFuKp187A2-fk-sxuvCZIhqJGkg26PfDyfWPr4OzTUcGg2VuAWxC09DoKCPKH-30KIumPlRToBbX1VmXFjglnnKBTh3MP7NBQXtOxImjd8ltPN2_bJKvwuPmugPk31MTKywQA-vSWoEGzGRr5r57mV_9vNUTAZFTo9k1hyh__nNAEbvGtwK-jtGK3nqzHxeCrDr4o4DxR0NYdTFYbMnEVN0RL1jcnIutnYAll3jWS2IA4XGSPdSCkEU8HaZCFcOadolRY7slG7YKtFZyQiFpAIQsfvAg1odOfxfUuSxRKu2pIPe4_C2v0mt0wX9AY4B4H69NvfflwnFaXBgyBGlS3t3buxtB9EVK4ucD-vzIlbqeLHugigJaKd8_Kw3lz7Sn5GDjDSbJhlX6W1GYmK4OTYkKMgeiufezfU61VIEFS9_JaCwllxxCbBQDqHxchxwZGJ8-b8Rtm7sZ-zNnW1LQZfNvC5N8oLjIYYzJp7g37tPMOW0SUJLpRyHANH3EAkNF1nmQjoE5LhhbCVNRgY-a5HIq5uhkl0YefyxsRO9rF2wB-2LAQry_GdPzzXKayVp0bTWlA4hp5ZNHt6E0G7zOfCv_ShCY62yd3-hsHLfAfJ8rCW6E6jTICd53-32N6K7-GzTvMCrubAUAKkRHX2gHIXAR_RNjoO6QiMElfvsecPKVf_mLjAyZoUYphGDM8DCQbb2o-sDSA1TvzMK_cZ4HMyYjJshB6PDZbTg3IPS_HZ38JkdagDXxCgURQZUb1ljJnBrcb9xy3a7uWavQ0-v9xXQHjbFc5GZnYCwAe3n7MLzjcgFCBvq3EkSuNv-tQ-I82jsh3JAmH9ZLlV0H2L2q2_asWBQ3jejyVblGqmpJZZiLDV0mtV9baRSuFgS1X4IxgUBu1YM8QwCq5uexp9IfWWoDRrc5mupOwR7G1WgMlPdWmKE4NfyH0p4DCTxiMkyXeN3SC6pME4pAicLEOih6LAGVWqCCJV6ZKNXrruS6pSfVOfBtLV6_xo5AZM1r4QN5m8YWyVhHkzfx4Z92FIq-lzm6gGH6NG90Cg0UKtiTFSgAdho7Cg_3nNaSCGQaG7AnZ70U4FxYZ0UYiTn1r5QbCG2st2HUe4CAEHnqU9wI89KpZCq3yrVOk3lAROg6jjwh5mZcQ015Fc0iNmd9b5j6lgDz1geKkfh5rBfG09eb-bzyhuJ32uhr118OCsr3J5Sz655G28gua9Bg0oZz7a6cHY-Hzv2_qmOG7_SIxIY1PvQp_sRSkAPJEOR24lxv-dYNFBiitbTx4fxFgVWR526t7N4nKCpzwD3apIo0sHr52esR5N1DpZOAOh3BguhO1SFlVwZSivalSdUHGrzYuTaKBFD88h2-K7vDAVr5pWwr68bMJfuSgrN1kHDGluxvbVKRR8RI_Gop3LHJk91iQennKj-pXpprS49Jz_b8P2ecHm6pyEf7XcT_i9K0n1p5IySNCNC_qfQz8I7JWbyXYvXbuaVf-u0gcP8I5Fg21Vsd54v0KAxpfKhOocCpIw6Y6-Cvplrv2ArmqxThHVEGYcgY6TA7FNL6TlHa20WNo8yrFsviyw-rYkngvHZm592KH5WYDn15S-qEbSA1cfJ0w=",
  "id": "rs_032133f959d38e29016a7defabc518819a89feec93b545f27c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.14,\"right_j2\":1.75,\"right_j3\":-1.36},\"note\":\"The right wrist now shows the blue block centered squarely between the open jaws, and overhead alignment is good. I’ll descend about two centimeters while holding this horizontal pose.\"}",
  "call_id": "call_v7l0NabUgd1Zs69esQsXftki",
  "id": "fc_032133f959d38e29016a7defb22348819a86edfce1329d2da3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v7l0NabUgd1Zs69esQsXftki",
  "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=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5728 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1185 right_j2=1.7733 right_j3=-1.4014 right_j4=-0.0166 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, 0.2256, 6.0376, 1.917, -0.0562, -0.0611, -0.0122, -0.1162, -9.1966, 5.3402, 0.0171, 0.0073, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ec5e0a920eb71ed1eba8d2c15c1d3ff83d2f6b4753b93667d4b47da93f5953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a99ef11f0e7e017d79ca152ab76c6480e9791a144dfa333b39f1a1bc235b249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f00bb87355451b26ec4b32e6604b4071a79eee0cdf055a2b8aa9fb40f3b38d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 325 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5724 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1151 right_j2=1.8057 right_j3=-1.4353 right_j4=-0.0158 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.253, 0.1709, 6.0786, 1.8681, -0.0562, -0.0415, -0.0073, -0.3214, -13.6684, 5.7504, -0.0317, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe-5qmahyz5qqMcXoMBlYyu-abVurBZD_xuZHt-P6Wg0UVTBYIMQZAdFMuS2-Ql0LpFHMVnZ6VhvFZQNAkC30rKGUlpniKp_DtpBgIi97DM38XIPPwBPCZwXPG3yHI3jkMydoHN4NznFM-q9UZOwm8uZ1z9zQfPdnlph-haFNmRIbJswHj3zvE5NomoDZse6gCU_x8A46WBTyYY7Hy4f_wzMv_aS7Bupqsa2blDXXskgBx38gF4uW0OC7HGVe55D7bCulTaugDAMXzsrkQJfjp2aBOE_iu7OiEj6Y9HYR_8_cVAwihpjcAB5FynU6HXHfLMoFnPcZa8e9Pmiy0e5efidTxUj1ru9Hbik9cRQNmcPPUUrgXCb_6LnqK-gcGy8PVEMl5HNzhBdaM16MD6MLUOKfC0xIBpL7EF4ix8T3eJbU1JCf3VyfgGvnqbT86yt3ux9f6CWqP_PhMibfYRR-o1Oud-LXySes6LSMHL6TIx6uUkTXBgPuQsSlpRBRvh-mNz06HwecOk9lkPRSBxaOuXaF4LxUPoT0zvCIK14WCwWKMC_Ev74YdwMBOFaGjt3ZPLdgEnXvMBRZbpQAIHBSl5SBddSmymA_Ymu5ERI4a-H6pn29Gow_RXEYYT5yPizyF26cZr8G-90j5trLV2jua-gqOdy7sdaIVU5EsuZ9xYV359qOCmfoQAcv71HI9GxhMfAkUWWWmvLQQwdMo1gYvMPBpW8sI_Ilj5jmvtR2kAK8FK0yIpiykub0Ej_U1aPHKdOXIyg1zURknTJSMvsvdWSIg6CC1hJkSQN5pw1G_X3LbL--j7r4pBcLeKS-byQJ8dQ9tXiv6KyHhrGM0QLintP79piNFAvVOM_1FO0qZMqGKU2YF5Yax2r0ucgK8Qdswe_yNQv7-qE4b9c905uLfPnlZxP0gOto4DREe0yql4CywRDb0s2lYCm5oYxtv3H28yJLYw31nnZJDfdyXKVwbtY5Q==",
  "id": "rs_032133f959d38e29016a7defb7cb00819aad283ca681396ce7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.14,\"right_j2\":1.75,\"right_j3\":-1.36},\"note\":\"The first descent only partly tracked and the block remains centered with clear jaw clearance. I’ll finish converging to this height.\"}",
  "call_id": "call_rxzYIHqgeLhPbh65aNcVFVMx",
  "id": "fc_032133f959d38e29016a7defb82424819a8500d1dbb0ac079f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rxzYIHqgeLhPbh65aNcVFVMx",
  "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=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5869 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1338 right_j2=1.7451 right_j3=-1.375 right_j4=-0.0158 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, 0.1709, 6.0513, 2.0195, 0.0073, -0.0366, -0.0122, -0.0479, -10.4684, 6.2291, 0.0659, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a810bd1d36ff78e3286cc8f840102fe3a0075144150c3e77ce78fe350ae16f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a402be7bad2ea0166d1df70f762741efe23ded27dc966cf3c0d771a79c859a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03724355dfee8a055dce5562e39f57126d0415f053ccd5563da79016be5fe194",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 329 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5728 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1185 right_j2=1.7733 right_j3=-1.4014 right_j4=-0.0166 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, 0.2256, 6.0376, 1.917, -0.0562, -0.0611, -0.0122, -0.1162, -9.1966, 5.3402, 0.0171, 0.0073, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe--jfbiU1EmOjvK0GXJNLRq1NGl9CwHuU2zzbjCoKnogO2qtZAc28LdMsEdbMKb3swaaNruczT74OuBGqCfIOW2e6xEvbv7wG03HHtF46OxGz2UFICKn0gx_2yCpetc4msD0YfZH15oH1U5NLqTj4jSYnAVXmRcdNNoQdSbWEUDirW6883QXFTZYo71_r-8G3sDZCITgEcE8fPQYyNWtLHmb0Lmkdcxc6nkflgFDJEXx9Bw-G2AeqdOCgr5qcui_czGixKObwLO6MZW5fJvbJKiji1cKuSbqbZ63-drTvJCeJjAK7FAh-rMKlfT1wh5tWvmqAi0Dq02a3ZSW78L_pigfjOD_EMATqdqCuB3rSKKpXt_ddaLVsscn8ZHcTOqh2LOCNURr71Sfg80wket513myXtjrM9BtmSYsd5jDrZ5t6eNvDKgKI-5fmoyjhPgKbaDd_8xA0G27ef2bdHtfXqicJtFs-ybIY0qjpO5dCQDJEVefBGNNDA9s1W50U5Pa_9FdMA3peXlAHhX0C2iM1HoDgT-U68CMKLBJUnOaG_elqsi_kdCaqYZ7LzmLcmQ_yneTRs1ahna1HYE2djcksysrUTEqsHMjYoKa4Kt07AWTmM6r8h1GPhwBgj6Fc-XovKLLlkqnl4oXl2DlB0oNl5kBiJZinTKA69nHfzfFZDokZFxXEEBPtH9N5j_RqkiZHoyikaaS_Ux91yD-NRVusRN6w5jIsbNVoe6MVHZg5Qmg_EQZhowkuS2fea07b8J0kykYygzIj-awZjZP_6l5KWWZtToovGsiHAFX1OQJS3RzBQEQi1aFuOLrVws7yzPfsJnEBiHDijnZCHFN0uSViCJl5UlXbe-bJ9Gu2SVOV3uMEPKU-B87qUNBA7mJM2gkFYygYxlhRs0ueO0jbxukEi4gqJpymUa_6Y_znmT-gblWDo3fYC4KNGo1lXL2kg_3NremPUS9vGiovSynwMxwTN58yKv8PqwL4Q2RhCbT6iI5Zraq793EobufG3nvCqQ6AiNGRvW1mljuMCHG4R4mzybzQ==",
  "id": "rs_032133f959d38e29016a7defbb71fc819a90143aca09557bff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.18,\"right_j2\":1.72,\"right_j3\":-1.29},\"note\":\"At the completed intermediate height the blue block is larger and still centered. I’ll descend the final two centimeters so the fingers reach alongside its lower faces.\"}",
  "call_id": "call_TIdiSVcZWEsJSav0gqeY4raF",
  "id": "fc_032133f959d38e29016a7defbc0674819aaa2a4dd6128efdf8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TIdiSVcZWEsJSav0gqeY4raF",
  "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=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5907 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1448 right_j2=1.734 right_j3=-1.3464 right_j4=-0.0162 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 0.3214, 6.0513, 1.9902, -0.0415, -0.0611, -0.0122, -0.0479, -8.5538, 4.8205, 0.1148, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32d1e28651afbf972231e36e04c3a529592ce78dd8f14103d19f7487e8ef3847",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af2f7deee7d881a750a98ba582fb19c23bd01ef074449b3c2ed5779acb8d429",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e9e969c92a371b90c7c89be9daa0f815819ee17d1595953993b829bd8af922",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 333 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5869 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1338 right_j2=1.7451 right_j3=-1.375 right_j4=-0.0158 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, 0.1709, 6.0513, 2.0195, 0.0073, -0.0366, -0.0122, -0.0479, -10.4684, 6.2291, 0.0659, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_C7BrY03zLMu9OQ_7qG4S8pUHFkGIugmYRmbgY9EXC9YamYznvO4C5U4X0jGz5zBSgIr0VT7eU0PdvttFJUKhzE13ZgZ3Y9tpNSdmOBVlUYfwQQvxIC4NjPE26ayTbVrSp0DDD6M2XrLLhDXuGGcCwfpV5OegLVPo0457tpXK81dPbnu78ksNPIOfW5PA_vJRjlrCrpwIcpqSN0vUQ2xJWwTsw16VrUoD9Ih_JhinpON_8FJ77RB1MDa-ZPAWU79AoeWNKA-NdYCRfWYUtsbR7wH8fmEw8GScargCvsdJdpU1TAztO9XMgBRYkpOtE_S8ZnbwJVOFDIAkCCVUrSsTLuD0h1Ut1TPjnJju-49wbV2JI2ddHGQbXFmoqhwKA4m3aXn1_WMdDPIhyncKP74ZpMFgoMx6Jk4uBP5MZsPupPs-3NsVEbOXVhfanTpYt-v6gVPFT91Xm1f1IcQATUVbResTKamBDe_H87fmP0BQm3KzGRIivb57_T71oN9Qy_6zgdSqWsmYjCSyvG2S8zsrChBHO5bbThxddUHjRQ79EEanTOvdvieHlzMWFhau7guI4lzbFgUzoQoBgofLcjguG7lChfBPts6iC7Fow7d0P1-enK4PStckHA-WOG9l4-C_-3BcPjV9M2ge5bj4s8rK-zE9qd-qRdJGCig_X3OLHxM3cWJ6F7KNQEAOP68QednshA79jbJws-4hF54gHDQyA-EJ3-dihkVb1JZmS2ZuUezbPHInvaeZYDgWLdz13plDzIPaMAFwB1iyDBCA8M78yF19WKlzdxxKoUTKnYf1i7ZaLS4y3HmoLhmPkCnwEeq2QcfQgAsKW4OT-HX6xG1eoEFv0Ma_EJroPUw5xldZp8be3sGVBv1bz1p0xmrD2BcCBXkNtk-inYcK1Nlb4RCTs7MBuJzwDQ8H5uHIS043zIKkY9tQYQL8HT8wZamuZZIk1",
  "id": "rs_032133f959d38e29016a7defbfa768819a88757a1c162001f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.18,\"right_j2\":1.72,\"right_j3\":-1.29},\"note\":\"The final descent is only halfway complete; the block remains well centered between the jaws. I’ll re-issue the same low target.\"}",
  "call_id": "call_LjzSRh5jLmCyWO6K1N0JGRJm",
  "id": "fc_032133f959d38e29016a7defbfe61c819a9490863d29744165",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LjzSRh5jLmCyWO6K1N0JGRJm",
  "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=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.598 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1826 right_j2=1.718 right_j3=-1.3037 right_j4=-0.0162 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, 0.1573, 6.1333, 2.0391, -0.0073, -0.0269, -0.0073, -0.3214, -11.5077, 5.4222, 0.0366, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f3fd1fe5ab610d00294b450464dad2658e7511037ff735706eeeb45f080a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d066222fa540b51de32c9484c853a266f0a67f05012e4449da59004719f246ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e46ac65deaa01f43034ee9dfd01ea3dd11671ab999efc587b699733b8dd91c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 337 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.5907 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1448 right_j2=1.734 right_j3=-1.3464 right_j4=-0.0162 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, 0.3214, 6.0513, 1.9902, -0.0415, -0.0611, -0.0122, -0.0479, -8.5538, 4.8205, 0.1148, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_GeRJJVSq3OrNfNB-jcDp0PjVfCUbfBIVTMzWb9MH0vW87jgni5s234eT0OrBhFkUtj9yeNQ55zgOCRA13Wq1uYw18p6suedOX5Zh6lnR208zfLpb5G4IwtGZCXmCurypFl-2KnVVg_1e3PuroNCtnBE9-itrAefgxV_zVY9gJTrAOHAP7A_zzRg8aLfSSzA1-wHugGIojKXxzcIvadWovNZiMIwrfAVC0qdvPdGtmwps1ASrtJMa7ij9tTTYF6vyw-9_qa0JOeVrYzvDVJHxJc_2DZc2iAQGdd5ugxCL5R0ZeDE2lpGrK08vDwX6EFtCsAZGCDcD0_64QvLiyLSXtCMq8QKa6hwulTxeBTTBuUzsi7oqA1kwiD0XFSeT3XecNWkwm0k-Sm-yj1ixUrhzZHh4FvLunBtl5C_RPdeSjOYUUKf1AhVfvbITzT2VhZ4-IdmA0Eifq7JYRPqiY0lVfheOCNfyVgwN2JyHWVOcEUWrC4UYOX2qqkGk57X3zcN7K6kYCGEcIDHeUokW0otg79iCxk5UkfRpgp2kvQZ2oj5gp2bQufZJsX9xFVDW56meyOVsxKJ09etCohI8ycCwRWE6pzYMD5P5Ap-PDaUul9brB3h4PycArgOWN3rlBW8t31gkulWZPSq5CkZmvA3XjcKDrT91ny2lc9_MMOUCRL04wNfrdhWDCDsWNfRKHFxKFvKQly08U02DV-Gq1kkbOMIn1GnU1-_aBDxdKA8rK05f6K-k0LFUaPTEZ3wtnWUSelcx7iLg2kT3sRL2xJDhKYl8mhe2zvhzyzV5gibrO3eQoJReVywyiMQWrP-yQoBsucdvfXeVZU0U2EvWgIBuUbMAg1znkkrF5hRUfEpRv76MeWjg8EnTaKOUXFAF3548iBIYrE6AK7umawaQMsfUvsXG4_lrj0lSwaXX0miJ6Yk-GcONBkmGeW2agHlf_5g_VwT64Iz7vio9ug7nItjl4RTpSvDuPQjWZjyZHnmihjhsGAqw3WsVIyJpR9mginLR5mTgiMjuQzskS580W6UDTdaKxILSXEzJuBdkRsZnyRG11sesPoDCWq4_w_E5jtROcYRnDaCzP-iMRz6TdabfgQXrKOs2kz0fq173au18c4NR2BtQxTyll7uv-iwxXL4AGlNGg75z4K9QeJdMcxhXLWgC4EtITUx63WVLMDBuoRft6FJQpV8G1Ytf-JLVD67ID",
  "id": "rs_032133f959d38e29016a7defc45d90819aad3ed2b163bdc8d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The low target is reached: the blue block’s side faces are deep between the right fingers and its base is near the fingertip line. I’ll close fully and verify a wide residual.\"}",
  "call_id": "call_0Rjp9qsRGAw6t3GXLkl4qlrs",
  "id": "fc_032133f959d38e29016a7defc57e34819ab96d726a8efcd78a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0Rjp9qsRGAw6t3GXLkl4qlrs",
  "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=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.6094 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9997 right_j0=0.7815 right_j1=2.1792 right_j2=1.7187 right_j3=-1.338 right_j4=-0.0124 right_j5=0.7815 right_gripper=0.0202\nstate[joint_eff]: [-0.2256, 0.1573, 6.188, 2.0, -0.0366, -0.0659, -0.0073, -0.1026, -10.947, 5.2991, 0.188, -0.0708, -0.0366, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761edc6ecfc071fd5ca854244a3c83672fcc3853c69b234014d5105c346d9ea5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6934aad85cb93e0124759833fea8f5d11e5cfac457dd92d29f2cdcb70eda4644",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d9eed09dbf514133f4f99e7ca0a3f66cfa837e3550834c8f81af0d9e961156",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 341 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.598 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.1826 right_j2=1.718 right_j3=-1.3037 right_j4=-0.0162 right_j5=0.7811 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, 0.1573, 6.1333, 2.0391, -0.0073, -0.0269, -0.0073, -0.3214, -11.5077, 5.4222, 0.0366, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_QrTjnv-vkqTlK7xKfJCT2Co_8i4-FSSQRzbzuNHif1uLvZHGSM8UCsbauSMV8NcXX39z0PPj3HEv-vAPRF_xqNNaTzIBP1CmlfN6PZNCm_-83jTc6VZSu7AWRNSE_jnEAYsH2vNUw-LqFQw3x4DAZWKixiVxxuUFofIfI9crcHewt5w7IIP-4tL10v-NAgKdlehkxmfRUx3hAvxtm6-HqxfE_c-dpTHDOuWbvdsmnRV9Hmibv96d2RYdqcQJXUVaIbZdRMVmwDslgnZ3Upd4Hl5WRotgKk3NhX5rzprjcIOgqYnt3jch0ksqT0ISYdpXm4kCCj1lAmPRdyTteWzbipG3mgJC4j-MET1a5xeZFw2ylVcOkGbBMEXunpfleMkwqSllYcqK6lK_Tu4fcnHf0K8RPgrj9biG6rbjTqNe5DokA042HbiUx7PiS-q_PkDR4JwBb4RSA63vVukLmkdjMCA2Nseg2C7xaP2huJrZDziZzKc58tSOyM1xGQ4T96e6whsWmFlOZz893pXf_QkMcnTsLv-LVSfQlb6Gt1nR2gOY2zBeIZxct_Ew4cQ9raY77Pzg1Cd8zAEcU8tIxuuZGq1PnCNznx8C1YdT2rizGAN1cU7GI1pA3BXNLmXujaycyfhr6yAxP7um5E3P3uUJjKFgMNKD8VdEO2g8-A7Q_FxFiDdPtt9FNsk-SpLOBh_ETqXp6g2PtG5pr_NGF7MaMj0-bOYN7wJDC-4mod06W_H3ChE8Z83UwVoAwT3MWwGJYh2l3bkrJZ-ihmRHdvwZa-W0RQU7ovB4B-RrzkCo5UhlJvSYyLmAT0kfaMx8L4rRpvx2relXWAfEMUj0oN2r_zO5bqnJ_HSwIGodgS3ZYTFbCTc9lz0IGZ2lhPuoT4ZTabDS_Od3BgupUGF6Mmb6ZUbRpqsILMZWe9wU1W9n7xOH44wxc5ufs1bqH79nVriBhsLH-UGvAZGO-6szEsoZyDN31W_tMRkdKgCMu_rAf8UicRybyu9o9T6YpG0biGeo5cUYRD-KxnWk3Twm-F0-2y0OuGYTLWICjtN4M0fozP1wNcOQlfGnnuEeQeubEo5gADqMVDr37HlhTY9Jqz8_hFpZ1-cLh4lgR8BhbShed9uRFiWBJq_RqTBSTeR5ke9JURFB_ijZkmNEEYlCFCV7g2OFVYFEJqF6wwNzf75tNbk4va8CgAoJm9weIRXvWyOyDoO59TXU9SYtwOlmvF0EEYPXK8J4CthDYVt0BIa1pIo8Rd4e1b_mBQ1tAJd-EOrkLXtkADdmtIFwya0JHX2XTMPLi3hxh2NEhktMCPKSV9pF89BpRD6XHm38Q13i9h8NgCHF8MlYTU10GTpAogQCxFHjjFd6JoYA2jOpnJsuiNm3LS_H4P712KF0aVa7F1BmULh3fgDnkdxxtQwZZuf0Rp72Ba3dLh0PSC5ur45xStA4ttKu4ZDhlVraWUpSC9rQnf2AloLuUWzuLxnLWZfu7QyDfdsnghxVnMQPEvAog2o4lZrqYyCLoXng0clJpr2coIhlAfIspwJGV-kBpBQsVg-JGrsQon8OB_8RJnARLSJx_Wd17t2vl3S-FMrqAowPs8Vv49BtXqnMyFogKHAhR3KhoTfwAYx5ULb7p-sUwm5q18Gt-2j1EYD0Rh4YpmZqDSoJ57-6SZSONTrLr-r5f6Iaj_k8ROGpVX7dnbP3cu8y5eE9OXQ-hd-gbFu2AjUrQrEkObKtYnCm6aALinolTQHgty9p0vwqZ1uwDWM7-UTNGSCl_u0YLOirNyDHzVXPOxNUa7_UL31MuUq4ugSjqGXZPNPav7qPgzgAHC-OB_KhXBXyTpnUde_fEhwoya9cDDPUy5IVmd1JCj4sg_t5m4A==",
  "id": "rs_032133f959d38e29016a7defcac280819ab0f0c246ff381680",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_j1\":2.23,\"right_j2\":1.68,\"right_j3\":-1.25},\"note\":\"The near-zero residual and visible block show the fingers were still slightly above its graspable sides despite good alignment. I’ll reopen and descend another two centimeters at the same horizontal position to reach tabletop depth.\"}",
  "call_id": "call_oZqv4IX2ZGJtTLHHSsNGnCBk",
  "id": "fc_032133f959d38e29016a7defcee430819aacb0cde2f8d4c886",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oZqv4IX2ZGJtTLHHSsNGnCBk",
  "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=-0.3141 left_j1=0.733 left_j2=1.0981 left_j3=-0.6174 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.1883 right_j2=1.702 right_j3=-1.3045 right_j4=-0.0116 right_j5=0.7815 right_gripper=0.9951\nstate[joint_eff]: [-0.212, 0.1709, 6.106, 1.9902, -0.0171, -0.0073, -0.0171, -0.3761, -7.4325, 3.453, 0.3785, -0.0171, -0.0415, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471f10bc960301c0bf70796d7516ed78a35e35ccfd3aa82bf1ecee9b1b99a6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69e63b95ab9841b550163bbea6f4db11ac21b9c4734e59f96d01d6a418400a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbd067c874db68570a63fe23f2f4f70a6fe5c0a232200a7188e3605b0495283",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 345 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0988 left_j3=-0.6094 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9997 right_j0=0.7815 right_j1=2.1792 right_j2=1.7187 right_j3=-1.338 right_j4=-0.0124 right_j5=0.7815 right_gripper=0.0202\nstate[joint_eff]: [-0.2256, 0.1573, 6.188, 2.0, -0.0366, -0.0659, -0.0073, -0.1026, -10.947, 5.2991, 0.188, -0.0708, -0.0366, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_WxkDUY9umSlyc0rdnnG1gmyptDiPKlxLmgdAcqNqF8ryDFzZikArzof-qEHcumMR_T1V3pdQOusw1NFEyTuTxsOz7YqwwPh1t3YcELIGt7JCTAw_1lUpfezREjgbhB1MktTLX6Io1cGIQLQ85XWngCtEyjpanD7EjVoVokWhwd-CjxSj8byH7RPGojFYJkQJ3hODBBHaDh2ept2j-EfW0o5ya_J80fwr3fYb0L70JTSqnYsxdKKYKt_H-OJA_TDXTwOSvO6Ls-LW-s7W3Dfr84eqSRw0qkyQNiRvhGjA4vzopK1PVqLyuSjNUDtsCOI85iKKuS2QOba6J0my2XEwuyoTDbEC3CDuNJYg8C6_OCT5gh521HAmlP8b7am7iX1q5kmStVENkEeOoFG2WDSfe3E28oiWcwDGqt7IIeEWo-UKfjzx43sjrv_-L1QZCJRcYY7NnUr38Ahx2zKRaLABHh7PmYg5RdLJ3Ui9-it9wzm6RzAM1bHwMQI8lABdxHB9ypoydftapjWdMvFkM147f0gT2ke9fZviMu53nlY3z-3C_7Rlj-0AaDz6sgWc6VbmMd3UJQWlNwYimwsdfAjyU4GqW11CeF429n7YnEUSPc4Ea_TRraHwuqNLDefLRX8JfNFpa7mwtONftKjFOo8qc69akKNu8XZaoB0P6mH5gEXma5fXI-6PVgMHJt0E7ruM81UuQoDSmirpzC_wwWhSXtknCqiBPtGmC1EEuD8Yln-hfFfUiDgQzB_DreX7OmLFcWYmObWIBhY1FHASvrDhqUloiAWA9GLxZgWEXQts0ibxaqWyjVze4vm0Vf_V00VkHrRHLgquQnhqmsgSS6bhSjfvqdOH_fMVf9iD53K35LdRKSnRpuO5N-kLY5EZJI3Md6FeLybiO3UgBCywHLUXc2ATgTfomAHRd3ZS_7KeIRbSYk8mpSWtm0lwnDCosbs5j6CC5sJqhp3YHcZtwNXfdKivofyKR4OlfOhz0Foja4FSfodYw1sNHwhXvjah2Jz9tLl8dTwg0jjMsg2LGT_bSu1aHh1HyqYEqmu7nz8uqlZ1mXlUWoMVJ5Ty3GTKEHhTdEfOdMYYZmmq60EnTndMLD5L1bHhnMAC_WLaX5TwEIoQjjzxXglfdQSoKkQTbSMHH4PNM5uDlQ8c20bSsiJtG_kyI7wqV6-fSFqNWXRIuK2Y=",
  "id": "rs_032133f959d38e29016a7defd3d00c819a98b0e7b62dec5b98",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.23,\"right_j2\":1.68,\"right_j3\":-1.25},\"note\":\"The deeper command only partially tracked; the open fingers now reach lower alongside the cube and alignment remains close. I’ll finish converging to the tabletop-height target.\"}",
  "call_id": "call_qpNYycutXJiX1QbiCN28XGi5",
  "id": "fc_032133f959d38e29016a7defd4b6b4819a98f5c097fa0fd3f0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qpNYycutXJiX1QbiCN28XGi5",
  "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=-0.3145 left_j1=0.733 left_j2=1.0981 left_j3=-0.6174 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.1883 right_j2=1.7016 right_j3=-1.3037 right_j4=-0.0116 right_j5=0.7807 right_gripper=0.9988\nstate[joint_eff]: [-0.2393, 0.1573, 6.1197, 1.9316, -0.0073, -0.0562, -0.0171, -0.4991, -7.8291, 3.6855, 0.4029, -0.0855, -0.0122, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a69d5f17f647da5be073d6c21502bacd8889f2792bbeba97b808f1ee32a739",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a6e00c13131dcfc817f4be30b1d55f69b8737a125242fb2591501d2d043920",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0778073c6aea41829e344a7c6b9bea0f15524919d23a6b4a7c88410a7a4f98",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 349 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3141 left_j1=0.733 left_j2=1.0981 left_j3=-0.6174 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.1883 right_j2=1.702 right_j3=-1.3045 right_j4=-0.0116 right_j5=0.7815 right_gripper=0.9951\nstate[joint_eff]: [-0.212, 0.1709, 6.106, 1.9902, -0.0171, -0.0073, -0.0171, -0.3761, -7.4325, 3.453, 0.3785, -0.0171, -0.0415, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_aLxOmgSGu75heHEVsHAVVbDP_grvREO0ASL-uFcyOdzlMcQ-dz9T_fNJybEPdZVT1QGN0YqLqJX067PJNuz2x7xG5Anw4ucE3y6HckE8gvUXysr1l49fs2yYuM7U9RJU9FsMXTAH5_XWdgACP4ksErGuXRKHphFqSSbzVUb-IjWxm0fWnNEp32ISGJ_zfzG24CJwAJMcerz6-gdEu8bfrpi775biM7xPRP8-f_vYXxSjOj5mHDcf-eoi50cesohJ8VAsNX6BCCoroZcjLQv2hb8YmAlZGjmUdRhUXX84E_v9wNv9zRNteTD8QDLhTiiQdlp70dY105_gNaL-vKK7QUJ1O5p5_JaeTTwVbBgRtYUWGsvuurLgm49ns2lbWrHixd2K6LC-sLDBRTeXorJxXZ8BNSgtOHiHaaXeVGhp8RfpukjEaV5oHPkjhBGu84Xj34cyopuWs-XYU_SpEDceTmB4Rm4at94jAMWRQPWTHwhDzH-bgcTg7jkZEblOojB3jnWyz3q-md1sE8NnhSk_uAYIbqVki4Z34ykus4F7mNegO9Fq0GFhWagTeGvv3w3tvwyVIg2kgxfUaQ98gfVcTHhEiS7RE8rUm9vjBJ3WAddHo7UpEClqLoxZaA5Lf-1FEfTZCRixwopzPO5Q4kzeKbRH8OAJQNdiToJeGLduejyY1efHI3QqTx5wom67H80Vu2Q5x-JBJ8jVqr1pakpktTFYfCeDCKuok-WzB3ZBOSjzDJVwqsMpjiRLa2FxuMBmR3PyujuFRQnEy_39jMu8ggytJgL-myZpwfeBgd6MkXUjGqO20Cy_z8oDjYc3hw1LxsLrXyJ3F71482KUoMI0aeE7jNSWtpKzS7NwQ71oRk__Haxf1njaVPD6JDbrSFI6rtL5lBXmYcsWJzz4IjvaJD0pq_1fpQDTVXBn3pqGQnWlNnk30tTIYyXFrHuLrnviSn2QFFFeFozKnfsgj39o1Y8JeWi9TGb55qRrvfh7dkHnes2juKNoTmflUvcUNpW3d2dqu3k7th9bDS-o1aDp4RWH1_RjZwWu-O2zJhK5VlZksg32fau85dXVBFD6ZyOTo6zNrP4V0X6GvOnLiB3IysPfBhDkWeFN9sxbeKRXg969gQO08Y8OAIVYdwxWTcU_F2agxRGyfPknFah7aJLYpsr4-8guUiWrqFlRvA02RXS_iIQ-U_wYRtfl--aYFOJhbAqpg2UH-XQDX3R3r6-dF3qtrxz4X8xKYDEZEj3rYE_NNd0X-KvldekKvV-aiVheZ4bhogxVyKFFYALxcge9xnQ==",
  "id": "rs_032133f959d38e29016a7defd878b0819ab61b1cdbb91ec20b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The downward target stopped tracking while shoulder effort relaxed, indicating the fingertips have reached the table. The cube is still between the open jaws, so I’ll close fully at confirmed surface height.\"}",
  "call_id": "call_baZy6OrKkXWAvBKijH5Atu0Y",
  "id": "fc_032133f959d38e29016a7defd9837c819a9c7d352c48c55676",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_baZy6OrKkXWAvBKijH5Atu0Y",
  "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=-0.3145 left_j1=0.733 left_j2=1.0981 left_j3=-0.6247 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7837 right_j1=2.178 right_j2=1.702 right_j3=-1.3674 right_j4=-0.0044 right_j5=0.7811 right_gripper=0.0171\nstate[joint_eff]: [-0.1846, 0.3214, 6.065, 1.9023, -0.0317, -0.0513, -0.0073, 0.1573, -10.2769, 5.2855, 0.3883, -0.0073, 0.0073, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416260739422de191179e7022d12f1864d3fe181383cbdf0dae11c198cf22018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:626dd4059ab8f39b3adea4af365455a5aaa453ea99549624477a240f861824ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08bafffcd7e5f01626c0b64c8c9dff97f7cfa41b973f7bd18bbf2af7d5d8d56",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 353 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0981 left_j3=-0.6174 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.1883 right_j2=1.7016 right_j3=-1.3037 right_j4=-0.0116 right_j5=0.7807 right_gripper=0.9988\nstate[joint_eff]: [-0.2393, 0.1573, 6.1197, 1.9316, -0.0073, -0.0562, -0.0171, -0.4991, -7.8291, 3.6855, 0.4029, -0.0855, -0.0122, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_mhEj_I--NZ3WRKMEf-ZFVAoEdoK-1lrwrutCE_G26elALJPPtX2q1QhmEUNS4plqJ18an_0vGZEkNlAHAmlg5F9rraeeqBNu90n4slobCFvDPTDYPRCw5bz9n-LpCssrxJAy8vSSkae0BJghwVV-dPhquDWiL6lHMzWZN2kluBqfr7QgeDjTy4Sk4LtC6vc3T8xQTyQCSRfFfZ2iPUgsyG-Fd-LsI7kcED2tUbbkk_Y1-e7C8LkuGGF4Kjk4Jen3G0lKubMIlCfoFIboy4i0svZzMjfvv93BT9fXEwIC35WuQ12VgFILoyFMc-54rLjbb4ZQVYnEofqEIGmISs4jIIes4djqMkHWYbI3ozs0ECD8YReqb8S9ihNpquCoypFOdJRwaTWiDRdRCYWC-GgJXbfzCMyzhSGMCX3k0hD9zkfXl52KFbGnCvbCcC_g3-qg_2dUAdat1mYORktU2RRQDNM1RmQ1jG_HTNPRv0108OsLdF2lgdHs4wJlYOAtU0bDwBnTOylSGiNGBHMPqhYXGd_1wCzODkAsTSQuFpvrKgEG_xG5Jg3zqhfie2CQ3VKwobFSy3oGDAFwL6hlnJu3Ms5StwY6Gg5sl6kO7dlxfrcX_0HbSX2uvRQP94y_zCtiHmbhJtVu3zo9ytsiTHDSXGbvjOto3igT8EJBTpTlqdqakiEA41xCeexqRd_sjPexV3iv0Q1yJ0suDFEFPrlqqnjPyLhEbygqUsl0yb5QGNmqsKrW3Z_UPNc2hxtpz_-IkDRVjHI0VKNqTlmdHI1rp5LWGUXFfAu2di4YtYLb9ekLQlF_dfVoCgG1TVYo-aZbeBQfzwaZ8p3LrI6t0RDY-rfHhpHy-Dy7ijxRc7zjhk0k1ipMs1AFR-yOvkLsu9NNvXC1fx3Kf723Tfa7xHn6_izRKe9SyZS6_zssfhGc5h421g1379arxF0w7f6Pt7AtUvS2TMzBiDiwtYIICwyYSZIBE1UZv31Ldj1KZgZJXmNHDsGDVjvPeCYTqgxgbSyRMutoueAB5EtglRQMS0WbaoBt4qLM2HjMFX2z9SqIxH1ywOzLP1Vpsmcrf-Tfi8BgO2Gomab9GYq28bvd4KrbOPyqBBa97uKQvDThC8wKHe1d39jnws7oU89lbYZIQei_YSJ0zGJ7ApMO3Eb0nEkN3NAbVXVVnj6o2CL3vedQ95DiVIbEDczeEtm1_NYKck0asxH9LqHLcU_y71a-jBYznsx6dJ9n2r-KSLGqKCcBpnFflEk6fHl7FNBqi2WTDkRnU1PAq8rdO4syHKLxSj6F560WBMqW_kmadajzLFC4fntjWJQ1e8v8L8edQ2uROIqF8isYZlfapOh8ud8q2VnPmTOLIecnazFZtejp7vBGNQE9-FTcUkNVeRmWhsYruN9vzNVx4GVDQrTQusFfAhS5m0Y6nPWETlQusAQkeRk-G4mvaqTaZtGXMii31A54qjg3HRn6PCyA36vtJwzVHiHwoCY6TGuQTQytQyym7tAxszluflpB8Ymvc4ajbcH-gHGetGzP69CkHfZ3slGGq6jtlxktLloCrh0YG8wbEv6LgkSfzNhGXbmvDSB2lG0gLf1st5a-K32WX6ucF6ZWy1alPsomnPiSahHPuf04Y2zSpBxfItCe_gm3i2zL-WHhWnsSI0kAVZM5FV6V8Sti8dWTurHfuo3NX9yzqUUv8gLD65wm7CSg2AKLSAG_VcHrNex8gsezKEawqcqpDdR5S3QoZUrxTlOrS9K-mdeqjiJXnilPxtZ7oukfYjuThoegIFYg_jZEFrsrP5zlQtgpsrqS0OwBx_WpibmAV8sRpk0AaHXxkr8ydPkVY7zvnZ9dyuOsrrhTZfKXtLHBWsugbD9YLZlXVa_7xGaDkUh_bEE6cA5m3YdD_tDzwK59QVD4Ec95MmCcofx--zBtbd-gWFRhdI3iNhc3clzH85cWPzSTmctgLrsnV2Y5-cxKMsRPn3wgTFRK-s_OXR0N6yWoXF7jCB67ABvhWNaFt8033vv9JPoPuEhI9DKbqQH8pmzF5Y8ZutSDJu3BgxM11VgY3wG4B2sS9XqCLfYjYihel4uiDKQ28wm0PrGcmcGC5BSbkd2i0om3b-Wm8FpY4okRu-VninuJ4wx9pmoHcVhLHNRuS03B36gw-goWfjUdBb9wJFj6VDt_0bDnJvh4AdM3zGAd5X22dm6FF_me7qZgMQLa2_6CvMZDlob8SSeQ8dqcxA1cDc2tOJsH9WkZeObVpATo6iesRid0GdUAp9wihKjS-RJmtZbQ8CS35QroeWV7HSv3uCgoIoJw_3yUn_GSI5DLjiQ==",
  "id": "rs_032133f959d38e29016a7defddc69c819aac26668b6c7f20af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_j1\":2.22,\"right_j2\":1.86,\"right_j3\":-1.44},\"note\":\"The surface-height close was empty because the cube is still about two centimeters ahead of the fingertip midpoint in the wrist view. I’ll reopen, lift one centimeter, and advance outward to put the jaws around the cube rather than behind it.\"}",
  "call_id": "call_JqXT7F0u9waeLDIgwQ0q52NW",
  "id": "fc_032133f959d38e29016a7defe46bec819a8c026796867c8a98",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JqXT7F0u9waeLDIgwQ0q52NW",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.625 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.1948 right_j2=1.8297 right_j3=-1.4483 right_j4=-0.0078 right_j5=0.7654 right_gripper=0.9951\nstate[joint_eff]: [-0.3624, 0.2667, 6.188, 1.8779, -0.0024, -0.0757, -0.0122, -0.3214, -8.8821, 7.747, -0.1001, 0.0171, 0.0806, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c8a0c83411e23f3e1ed6f6d5f8bcc12cb54023f11a85f6b05095ec4dbcd273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70534122662609879da5d3a99a06cdfe4e76f9cabaf40cd026408cc7c3eb4809",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59c44988fecc1108bd824a2d5bc524ff7811d4adfd3ba3054442d9c164c4527",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 357 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0981 left_j3=-0.6247 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7837 right_j1=2.178 right_j2=1.702 right_j3=-1.3674 right_j4=-0.0044 right_j5=0.7811 right_gripper=0.0171\nstate[joint_eff]: [-0.1846, 0.3214, 6.065, 1.9023, -0.0317, -0.0513, -0.0073, 0.1573, -10.2769, 5.2855, 0.3883, -0.0073, 0.0073, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_vCKS4xuCfFgPtsEVDI-t4V0aPraLuHXS4XYW_Dg7AGeEbWi-REm2OQw-vweGFZsDRryetZt-r-LR3BE-cVTjvAnjiu6nIo8mM-2ljt4AX-4yVzpl5fxTZGcwEkZ-kPrxLWyKWVbBzzFEnSsjcUvC-p-YJxsI7Olzf2lBgwUm8cXieDaKAHKfYydp8VGxjqsnR5IBuhphfiBpHnWGteubWSAfVr1mznLb1V_bn0c__pFvxPzEyVC5eGfORm2DR7HdNMRiFGfBUTr6YvQZ2u-KTJRmnpIZU2amZdy57WlI7KUp0u8TmFjPU5nwfdfKwsAlsMpRSlqHarFuoDLvdb3x9VenIwuVZYUF9lqxv_NfnfsQs4F30aBeNpwgpADIlD2tJjpzFc-8WjjKC2eD9V6M2tMO6t7BlAjFhQ1VTfG_8mjPemunvyW0aGBGLAzG8zse0RiBUmuqewhOFO9f2yKEInmSHsJ0iHmAL5xIQ_71EMHN_gIS4QYEXOp8NlKOimj1s53kNKw98H4n2UBneOIdlJQlroEWE1FbSFQyQ3lrneMrCjRq3LyZPrXwPsTYqYYs37TlhL-LJlABjytlTR2kEeJwpUD91sA7VgmQg-Vc8ZnobSlrpPBPiCZT6rnWrWSGHchgEqvmILvw3tF8W8O9_2fMSZi8uu6JbHD72zqDavCiz6F-Ve2fUw3LXYhHyTU5f_LFBxT99C-PL-XwtUC6LnHXE8s6pKlvPmRHD7Q26RIlK3cCp7CA0633FXpMBszv3_QY-fImU65f16-IfIudvSq7j1mXzm5dR_w-b-CNN5QGLJkklRqjwX3H8Txf65P-s1WbL_he_4ytlvmdaAScxEPAd9eXfF6wA8LwPwUtIWMkwwMo5R-OZGjlyWqW44wETri_nUHSiE-xMI8wIoEOA7_0TdYG-Za9GdKfOHUanOUHrrzIrF93pjUyK-NxNFgyJ7gStMjN_M9117SkecO2L_Fewy777t8aD_cq1mPVapJJzzZ992zqFoD5nmeNosZ7Xk-nc2C4e-DTbZ6vr_yQoS_cFxaSegOmBj_eqv4Sim0-D3KW_8iv_xZzhxhQVvL5dZHIo7slOnib_lAARToEgR7lLNRTbGYfViFXNVBlZ31F6DfLq_hg5PW7zk-MWdbZNrryncj7gqZhEvDOOutjWVGnEkTsHvsXXDRiOL3RHt-S3ysdmCJJvY6cgCnBJ5A_9Lg_jhmnvARbA2MFgi2SXnM_bfuuM3bNaGHkKpcDdrXUUWqJiXKNW43uoDoSIV80NU9-5Vs7mIaSbrgy58LItEHjYM0C3LlCK4xndnbKDCvXuqoW_jyn6CxkklU7YR1i2ck39c1P_L7seCS-fcv7oIvp9gQMPhsNECQz2B2xRbw-8-JA7P8Utf__cXHBDeR2ZWR7Nr6GqBZNkkZz-8zCLT_ywi0jIKlBPeQdqIuXYXXxxMwC38EOYFp6sv8_T35JBEvM79qRnWeoKO2uNc3zZmg==",
  "id": "rs_032133f959d38e29016a7defe8a8dc819abda60dc9183b0b2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.26,\"right_j2\":1.83,\"right_j3\":-1.39},\"note\":\"The outward correction now places the cube centered between both open jaw silhouettes. I’ll descend the final centimeter at this fixed horizontal pose until table contact.\"}",
  "call_id": "call_hOWubLQCPV8gdpE7gHixin3q",
  "id": "fc_032133f959d38e29016a7defeb5ea4819a908b200680a1329a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hOWubLQCPV8gdpE7gHixin3q",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.625 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.2196 right_j2=1.8328 right_j3=-1.4368 right_j4=-0.0082 right_j5=0.7616 right_gripper=0.9959\nstate[joint_eff]: [-0.294, 0.1573, 6.0513, 1.9023, -0.0171, -0.0024, -0.0122, -0.1026, -8.841, 4.9983, 0.1099, -0.0366, 0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea64b3b24c1fd79a92963cf3374093fb98b41708ad2d0082c990e073cd90019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0134034eb518983852d5a7ebb38327c1bc949f9a910f7ddfb3f299957b0a78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb95924c449d9920049593a7b84c158abb2943e56f7b95e6b88dac0631d1967",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 361 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.625 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.1948 right_j2=1.8297 right_j3=-1.4483 right_j4=-0.0078 right_j5=0.7654 right_gripper=0.9951\nstate[joint_eff]: [-0.3624, 0.2667, 6.188, 1.8779, -0.0024, -0.0757, -0.0122, -0.3214, -8.8821, 7.747, -0.1001, 0.0171, 0.0806, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_1bWIRULp8n9-9nsqmqyLVY_1pfU62jE3Ipbo6gpPSkGb4LLcnvfbH-_0A58s-fb4v59jqcIzVZDp6lj3pW3ZSAOg5BzRAp12JkrmeouTYbFi7lYyhvYvs-lqMXMpX8Tbe2r-l5hWJznrDNbTzZMkVy7p9MSeR4gk8ND4erVvY_Ic0xyjjd61BmmmPifWtq5kCQ4tRf0XkHm7ZOKo5MOFw-b3iX_iDzsmtaM812blXxugyN3OHdJ6ax6YxEyNdW87vTv4Ad4yr2rG3rENLKfY0bEdBPJ2fPtOHiUNnyf1Zt6lTzERggMGT1nkn8AmnMej8C8wAZ6Xfc_Sjd03Yb5FqfCTv2nYncOiR0DYo7tBCrb-4uIM1olR_3z0D9tbhRhozh3pNQHnHUTfEcxSvV5-xSLrS3C6Jk_X-alY8zjJ9gEdDaN8GRqIMEzSU0Tg5qTeuakw_sayS12kkQdqV98Aj1rRl9ty8gkvXHh3MRC4UHasgdDgYSaj4BZdgw4-4_dXPrUUgJ7Q_YKByYuk_VZSm49QtijVEFocIGII-0YewpyuAAR4Bx_ZNFId3HeBCp1_Cu6e4uvdeL7DxlHVkpqfrRyhzaVwILKZq6zlf8uivvY7QuIzmj7f19djHMtrSM4vQsk2zKTAdJxXKBMG163WKstAb28GV3lRdTncO6zB1B3RLcpjOSzJIhCs5QLE6Kb9WLYqlRiDVm3IOI10MgTDcQmkeHlgdrJghuGbFQTssPHX38cUD0FkmrD13yG3JAqdh8tDvAi0XEUozdXL-Kq3Wtj_Ijbjj1k4ZAiXKUXUOrt9RWzLAG3CKbGwA-R3dOCrg7c71a3o4d_xd1HFtaXYUBa37SDJvWyByFQyhwMTqiszCse6pMQp_JPYrhn9mEFE4wmRZ2slvsW4iPkQJChj1mhbiTqaO2cuqo6vSCfYV_cJ5_hfwEVeAno4PaL5VUwAEHGmmcKaZIDjI5kSQAhb9Qvu786zJQGxhTDnh-uk9D18=",
  "id": "rs_032133f959d38e29016a7deff37824819a9c78610173e800fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.26,\"right_j2\":1.83,\"right_j3\":-1.39},\"note\":\"The final descent only partially tracked; the cube remains centered and has moved closer to the jaw tips. I’ll re-issue the same contact target.\"}",
  "call_id": "call_zsNTnIBKcN3zZaYenbbu0Y87",
  "id": "fc_032133f959d38e29016a7deff40b5c819ab3f3de821d4bc2c7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zsNTnIBKcN3zZaYenbbu0Y87",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.625 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.2623 right_j2=1.8252 right_j3=-1.4094 right_j4=-0.0082 right_j5=0.7586 right_gripper=0.9959\nstate[joint_eff]: [-0.294, 0.3487, 6.065, 1.8535, -0.0122, -0.0806, -0.0122, -0.294, -11.9863, 5.8872, -0.105, 0.022, 0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1649cf753eaeecfabddb5fbdae002bb86aedccf43d48c6dae7c4a87c27c2490a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe9e39082087d3c511716ec9e1c54ca32975d1c7cfe80ef418477dc2df3e8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a7680e86fb9dabd4e6778412d7e8c4e0eda789c85e2310cd41e8c05fd60bd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 365 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.625 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.2196 right_j2=1.8328 right_j3=-1.4368 right_j4=-0.0082 right_j5=0.7616 right_gripper=0.9959\nstate[joint_eff]: [-0.294, 0.1573, 6.0513, 1.9023, -0.0171, -0.0024, -0.0122, -0.1026, -8.841, 4.9983, 0.1099, -0.0366, 0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfe_62HZjf7y2Jj6xSZJJdI1RjT3_TYsXhn7cmgQJYZbkZA2Ez6YONnY8OY1-EfzLkRVR2WMPoE35R4Nt4kHqToswKpCQ4y1GoomKpclDXWwU89A8hzYey2gX8BQvZ8oz30SplRUpgOqGNaBQgiKztZTTsVgME8U5flqlD09-1SrQJJBqLM9wNB4TCtaIqu5RCUt1_N2-RtWtD_yh7t7dQ6YmUyxAPC6QO-t_eMQ8eQhrT3y3KiSCQi-SKKZ17ZHco5vgyJbeJaag6RRo4LvRIAay8T6mtv9r0yu3qzYPhK9QZ2XrhWdcKJc22CrCMopb1HNSm7-JgxaVjn5DY5yaPnZkrXV4376c7UuiNeFC_54OWi4Rc-hXCzwn9zsV1aNs6Sln-a76vOvDEfP6WmBhu4Se-tK9y65EYUElEwqw3L1TV1aWdVYk3S4LnlDYrLGP9STcQQAS9Wn70qQ3_S3-PEBAshAJw02kKeU5RC6KsUiYLwpAk8-HAjbjai0DMMcxW23nE34aIIQAwjzwL3iWe_luvAZ-T39duXki9xn9PKU_dQq7fcQCxVyx46zPJpLQQvbi663ODUGY2frty14XEBZ_DuPN8INlybhes_DTm3FOXgXipJGaCgTxW472m7YOWKZ4lhetwHpFfCEtVWMGP_wMMgvbcdtjpXoQFFn6LSY6RAvhNMk_wtcKZ81eEIUsgQB-nRJbLremdE6P0B9OMP1S0-VRZxColXq5fC8NGMn-wMHvRcoYak3OJC58fG3QwmrXANAYpeVZlNoKkURmVX1qC3LHpppHHpAASfMyOmn0Q7R1qpMyN3n74fibKtzMuFkvPU0iXSTJPnonwRA4TWAbn1d5-vO0EZsHBq5YpbhkBFtEacwa93uq0VZGo_oPILTL2VhdGUkBFA4N7W753awOSPaVi7Zxm9-1fZaN78qc3O5r4p9Sk6mK406rgfcKVNCNHskm3g7V_yDMoBK26D1ZyA==",
  "id": "rs_032133f959d38e29016a7deff9a0dc819a9c4ea8bee925435e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The cube is now deeply seated between the fingers at the confirmed low height, with its center aligned to the jaw gap. I’ll close fully and check for the expected block-width residual.\"}",
  "call_id": "call_GhYMjsJWNUvFRhLRxJAdb1jm",
  "id": "fc_032133f959d38e29016a7deff9de18819a92609071b9618572",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GhYMjsJWNUvFRhLRxJAdb1jm",
  "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=-0.3141 left_j1=0.733 left_j2=1.0973 left_j3=-0.6407 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.2612 right_j2=1.8252 right_j3=-1.462 right_j4=-0.001 right_j5=0.7582 right_gripper=0.0179\nstate[joint_eff]: [-0.1983, 0.1709, 6.2701, 2.0586, -0.0415, -0.0562, -0.0073, 0.0342, -11.5761, 5.2718, 0.2076, -0.1294, -0.022, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aceefa865e3fe329eb63c8577bf5c33a98b8fa750832e397000d60efde4ea988",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c033dd2d59772fa8469aca0ee7b4584af6c1a687cb3a39d97192d5d4d49218dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b706ab7723cbaeb26ec559a45491c12326e2044506b7abd72a5ce28755a92b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 369 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.625 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7834 right_j1=2.2623 right_j2=1.8252 right_j3=-1.4094 right_j4=-0.0082 right_j5=0.7586 right_gripper=0.9959\nstate[joint_eff]: [-0.294, 0.3487, 6.065, 1.8535, -0.0122, -0.0806, -0.0122, -0.294, -11.9863, 5.8872, -0.105, 0.022, 0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffACrlxKXK4tzIuCeLc0OosSVmDJe2Q9v7G2FzAyRPz6Cy8bgPVT1yALzh_KE7yfYLw3R8q4rYsoOP4E1ui1DgztjYA-IEqIuw2j7w1vGmiL8mp-VkyfU2RD35Ff_owXMic_insOlAL2Il_AG1G5qp0OhFAE8d2Pyn9qGm2dAAG7CQ5jeW9oZp0bjn_dPAGAz8OYwazroR9k9jwgJn3E4ug1uhk-6PgK_x_gA4bCaXs2Xh1-o7wNeQH-KF4buQCU0w1sZaBGbIXjOf5mEGh-krhfqrv9rdyvJVLXE8uDQTPlB6rwCGrK57-Csu09hnjjiSwCJCBLe7eqe8TZm4CZR6Lt6iZXU7W4lwKDvtVIhxH0itxtqDRhkQ1HuXT66jLxjudR04Uvs8ktv8Sjup0b9YcAmXdTQL9JzQ6JvKKS2suxi2X0fwoWPwqVBQWWYijKxOczE6FrZpUhml22fqjeurePE1FaHnra8JXhHO6fQoc3sHTq3HUpE3TbTLhBDHfznJY-GAevMl9OG88oIuED3zegvJGWY2DhYOay3ss07wvK9qPsxgWPWoU92ZlwY1guUng-wk9l_N6eh9jZzTjDiSAg7gIggZE8HTVe8671bBC8FNHFsPCMMiabpTCV0P4AKYhq9NNJu9Gf2lgymEYUaA3V3Tbkqevtit8Zf3iaz3YYtTVMbzYhOKT7ffx9gqhal6pjOvHfyJq6mT4jaJmwkuzmA3D2F_OVgqqgcInxzYkb5xxv3qUUYcXTG5Sl629hyFMWuCtrPJQbrKMs-uQySZhMsVCcbpG2KiZ9DH-eDWMNZfuezuj_LY7gplXdTh3egdx1VJ4594jPmsZjhFDV-_K725ORxuqTmgPUuT5llEo1taiXKCn_3BJi4h-ISjDBlkdM8nOb_CcfDMZHbaAcpY-3insOqRqkzCGlpB3jeR7vtrTsJmmfySl5JPJJRdok8FUWGNDLX3KWsj1DJ2lDbdBoNsx8qmqkM1j1iGT0oMwfBPzhnvtOOWUta1n027p67ypIg4aPKD2B2Hi14x6HPyPw_AALeVoLQhwl0l1hGpfS7y9gXsyuC9-6RC636nYuZGtn4YWyyx5FArZoxmlGYItHxK3gYJLZq4yUll9GlSdLAkaM_u1vc8rIghZnTT8mWcaJaji_OOS0kYIzDaFIg4pS243YKVGI9XTLvtpGGCfENy3-wFi-N1TeBRT3NyRcuZaW29Un4WNj15Iu_aCyJyhRpmMFDhemnhjSK-0lqFbRD_tKVz0ImRoSpdNGF8tJaG5tM5z3cpoAccc2-Ru--K8EyUs5xEteSh2T5sD7nrrJFkvljuQuZb6j_vIkhMFgkSA1w84YvgjBjEvBvMGUfIy6JO2sISgo_FaIHj7mnkadyC1VxKzdhEayY8oyH-zxv3JPKZtNOND-MM_9lveF8aouGne7EOT9t8HrsjpwkxVDTzOr2RApdDc3yH7WpPagsv3yO1EV0zYJ39H-H9MpT9m8l3vGOuZVvo2D70K0pJ-7r3Xu3Jn_8QGDDa5HpTb6SyDn9cIcu9HAfyLzB6O8osfRtNdQNTU_bdDWNqNipSTuIhF9zENlsqD4TzGFxsn56sbaT9ttRUhiPJSvQEIBXn4v9KOJTOk04zq9V6C8hmsHc8LxNMLhVLD5h4UFTw1zwBXFNZR13im8d5Fv8oI0do_d0kIExSws2OTNnvhVrRT21hQ2ZQaR--c6MdWlcjnxa6lrm4LpFOfsPUTyoiFvQ8jYICESXYE0c9ZUmzPu6BKMQh1gDjSXAAE5F5Ra1H6M0w1vSmYkPUJit2hqF9Qm-n-6eg==",
  "id": "rs_032133f959d38e29016a7deffd4f50819a9c23331b07b64c4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_j1\":2.32,\"right_j2\":2.02,\"right_j3\":-1.56},\"note\":\"The close is still just behind the cube; the wrist view shows its near face several centimeters ahead of the closed fingertips. I’ll reopen, lift slightly, and advance outward another three centimeters while preserving lateral alignment.\"}",
  "call_id": "call_miCwGmPH27jtpLDbABKF5V18",
  "id": "fc_032133f959d38e29016a7df0011bb0819a92d9ccf17c3925cb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_miCwGmPH27jtpLDbABKF5V18",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.651 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.3119 right_j2=1.9846 right_j3=-1.5654 right_j4=-0.0074 right_j5=0.7444 right_gripper=0.9952\nstate[joint_eff]: [-0.2803, 0.3487, 6.065, 2.0195, -0.0317, -0.0415, -0.0073, -0.3214, -11.0838, 8.1299, -0.2613, 0.0317, 0.1343, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1b23f6ace5ed3facc3bd57d450f496d0a0d8604a4d3a2389924c721aa47a8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c1232b1c7758d435316fbb3bf61ab19a7ade3287b331512e9ae5a7da1122f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1ededc9aad5aba7ef57f1c38c701526ce482c19ad01e02d151dcdbc03ba87b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 373 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3141 left_j1=0.733 left_j2=1.0973 left_j3=-0.6407 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.2612 right_j2=1.8252 right_j3=-1.462 right_j4=-0.001 right_j5=0.7582 right_gripper=0.0179\nstate[joint_eff]: [-0.1983, 0.1709, 6.2701, 2.0586, -0.0415, -0.0562, -0.0073, 0.0342, -11.5761, 5.2718, 0.2076, -0.1294, -0.022, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffAM6u8deRNZ2dZYp4TQ1f0rai-hiuJBEoYohY4RO5R-ZUVE-aQgFxxuLwxLgeNug7Gs8Nue0u9bok-fRwoOgMCB-MdG1PCEfiEVqYRiXiWxtjF-NNd4alFWti8W9zRL5q4r04noKeR8ttGYJUHp_zlWBLj7ST7pE2ookVGoRhojMAEIqVtNoiHlGXf2VG9l7PWOKGtEDan_GMRWP_nXPw29bvc4xfu-_ocUi2H92jHJx6uuRmmiBuQCTH1hzXnMPqMpKm9pffOYQSy1SJd3IV86h_1ZmejoINGbmQ4I469UTrFeL0OyjGqggdinb-aR1dOfHY0IRFQBiFGHUGvHUj_6Ig3gy1jBoWi9Lu-4Nsm8zHWv6fZ1gRJ8CnPsyXJJ7yizV-cQVKxDyQJQQrnQz-XPwT7B1zNU9_lToAX1vi5S4jvPg0_Y3SpVa77USEE3iC60PFicz0RXRbBE8aJpKg09WB4Z6WgDsC3gkiWzUt3s7kgD88vgEUb9mFiW9GvuZXPs3dM0zMu3Hjv5IelBICafjkqfjo5WT8pyF4SQyj1Mc4xBgyR6wi5zRAuYbalQXPD7_-X189zGuo6X2jCaP0W2U7KOmROLUmExM1KRuomlOa4U2GcWJtbMCX3MMQxG_sgwG3wLXyh69PHLa9bRcv2u3D6dqZa-8IkzbnfrNFS9lDmaIKKhYHZFZorLBo2fRfvegR-ajRY9XhkLFOLC8P_S8xcSRSXDW_2Zn6wdAyZKtGmwtz8STr3mmns-rJpLDWDZBk0JlWj_Tr22bnLCXy6UHw1hHtMBcQhBH3u9qrtYkL8-eCVPN0pPudaAFffrWHqIuLy6XomRQViBa6wEJ7nRNj2c52y0fpFtdgNZthtExv2C8fK4Y6LJiG1uD209dCYrFBn0IpTwJajVnDIWLQvRYbMz9UFFp_tXQuxSsKpc7ChPS7Slc5mpUz9EORttZj8nkUzKmndteW-olKUhtfcd63iI8L6LxQi8JxvpLqpPYT-vnCvLIEqE638jdG52C-xX336ULzKmN3Ii2vricKNpbWVpak3hQyvU8MkCCQUTp-40Nol5TyTJx1BqODNGPLmzToulCqI4hStowtg0vcU9xRTzC6JRzTVKR5aG8kKOGzZkEPAFQ-sJ3Ay5MdQx2R57qemHN_JxD9CYlKAOc8H0pAKDejs5I5cyI9MkX7j3KmmkJ72LSyNT1avxJZlLYp-N0KJFcDVhZJOIFZShuZ-IsFRxvjs6YykZLWYZo6DthRolL-OcYFQxRKlsK5kBeM8w5D7PfJf08qeyPDXBrStPZxydvLGByrIPy5nQebYnTHPW6FmhBY5oVcKmKrK3lI7PGeXjPq8eW1sG3z8KzB_YSdJ30YPxYXqlxr9yemoVl7EUQvOQG4JbLdTKiYWQHm8tVE3h3RkjJRwMPK1oImH-xB-ZAjfLhIjk9NZD-j9vF-ct9t3V1vN1IA6p1__LuPDxolAqLZifuXbLADG_ZuN-U6jidPf8S1-dzU0i0sHky-i8ylU4W42w9KMWs4yqo5jog38BXEBUBTbYnJVTfMz4lt6ELjfUSRRYt_Ny9NXznBpDOLiI7uhQ_KvnJ15uMlIKKMBDVg447uH-aY4CGYigwBqS1eGh1ft492MiDWEbO-LQRu7SMQ0pno1vRnc7tRKn2MEdw3etTv6UTYRSJPi_Cs6qK8VHhfn7eWhRcaMtOVDxqq-33sguf7VmX5fvADEQz2BGaRFu4NpMENat55391BMAnoC659ZgLTQrQgwXUKt-T2zi9kpyZPki_zvVJuz4_NRPSFgsYc4yceDZWSJDdqSTtpsr2M8Z32btJ5jmWKF_buSnKr9pck8nxCl7CmD5xJP2_QvdrNAm3OycF5_yPcSXD-A7W4xaSjidUud4icM5xB4E1N29caeWqe29ONIFlfRK_K_t2F9lC1gAUHVo6WfuPmfZ1Lq4OejYouCc11B52kmLsBXTmEBFmC3Zocbde4wcAXk2Ox7p9td2TPPpOq2jcH2Ix8VT6IL1EEVqfQVV0l0v5SSg--idZaY2OfrGWbfTTMghFCDJ2mAH7gOUOqTvh26lLi1-ZGInrNqJ5cwrqdL_3w0sXGSUffAP6hSVbo03QVqoVzFOvj_7Pzk9Sj9QIHzkps-29mgw8grMqiiklGjh3Tt1fNyoQITnW_YyJ3h5v6al9XFPTScuUjxzRVj55P6IXHNdxTokZioIU4aMg8OG6_rfeGkbYO5bA6efnxGSc1HyCtqzDA686qbeX8Qk88PC4LUqXsmnKdwTkc2Tee_T5dTU2HJqeqclqKy6twApmKQAJb-Wn-EcbtlqZGCCV-g9ofYZ4Qa7BWgnBmBk3THPSujUU7vwpAH5pNIS",
  "id": "rs_032133f959d38e29016a7df0057248819a8fc471fc39cd20a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.34,\"right_j2\":1.95,\"right_j3\":-1.51},\"note\":\"The added outward move places the cube fully between the open jaw silhouettes rather than ahead of them. I’ll lower the final centimeter to table contact at this corrected depth.\"}",
  "call_id": "call_VhFjZawof6wnCzI5F2D4Q8l2",
  "id": "fc_032133f959d38e29016a7df00b00e8819a8d439cb7ec067970",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VhFjZawof6wnCzI5F2D4Q8l2",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.651 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9997 right_j0=0.7826 right_j1=2.3135 right_j2=1.9903 right_j3=-1.5711 right_j4=-0.0078 right_j5=0.7437 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, 0.1983, 6.1197, 2.0098, -0.0464, -0.0366, -0.0122, 0.1299, -11.5897, 7.8974, -0.2613, 0.0024, 0.1587, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 457):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5737d813f4d05dc2ec707d8f54ed6e0f5a2f6618f794028f8a8b8f3d842cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 457):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb884c496d2e036eb63b88eb6770c3cac98d2c71577d2900d28f70bc9a4ee19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 457):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01de0c4aa35ecae8530bce49b10567250c1132786a1243f07f4525c14048249b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 377 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.651 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.3119 right_j2=1.9846 right_j3=-1.5654 right_j4=-0.0074 right_j5=0.7444 right_gripper=0.9952\nstate[joint_eff]: [-0.2803, 0.3487, 6.065, 2.0195, -0.0317, -0.0415, -0.0073, -0.3214, -11.0838, 8.1299, -0.2613, 0.0317, 0.1343, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffATvKlvj2pzIVIykWu8H4ZK4GNPcR2OHW4J6-Fzey_z915EiBy7xppwgBCj74CjJzwf2F-TVJThBgTqiQBdbPN7O_lNBQqx5oDKQ8kjVmZy8s0VfmxLURzKZvzrI5rwpMZQDnWnguQIQL7D5CM_AI_4lDb0V8AtnzKS9BWfGD64mndye50p5FpKt9sqEBiObaX8SkzOXQlMYYCRpBiP8-F3mF2AKhx91y0DxHcLTBX7Qh4pniwpmcyH-3q-kY6muS7ON5reTNVjhYohxMF5Mx3ErXrRiptgpQPyAfujmg-kr2SKDltSO_bBk7KqwTLAyQ257pT0J7A8Vjtyk3o0P4ygnLM6x42DRXcFQUA659VNrADykCC1E7G-6IwvkUhbYLLFamTcoZSt3N1rPsRKRt5LctNOK5ZD5KbwA7OoZtDVsk1eyN1LIujLWg93KZAhkCouD3iKyxsfBq-qtTd5knTNRin-QMPgv_TbiCTVSvmvr0fGGzPAUreya8ZQ1ulkQftw1wBmXDtKFr2avEddNSl_o5q-UebCgZd8Ab8W7Pau1nd6VCLiQxQZtPj81Md2yTGaotrkFhGde2pg9_5QzRR52LZa5RqQTCJHtn6chtPAbP6yHMAa_3w1_W4jRTt4sorv-bJuOPPqfBpk9yTfJrzdlrTQlbeo5Rlf9JXvNqw3EU3DCC2OUEKpAP-i8S84nvms8YyzvUivhw37bDEhEDeXzwE17l-yH27hza0LoJnbYw9GLx_71FAjdnmn6wpYIIc8g_K1IljOf-1_E3gN4JXfYey74j2khovYp-P7JPo_Jpj2HT9rt6lS7XTl53WUOxKRQLi6FJ7N8urQdLrpI-QXaLfroufspMK6-N0U25-O0tIVVEfSNYdoKjpfwUGTsPJTv15ifEXVLCynLAucTb108ZUrGe0lsLW0IksurvGybbF5DMUvQ1NmpSpQXKMDyV-h",
  "id": "rs_032133f959d38e29016a7df012c724819aa977bfb7f310bf52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.34,\"right_j2\":1.95,\"right_j3\":-1.51},\"note\":\"The one-step command did not change pitch, so the final descent has not occurred. I’ll re-issue the same contact target.\"}",
  "call_id": "call_HAT7qN72RcTF28O2KYXfGyjr",
  "id": "fc_032133f959d38e29016a7df012f478819aba8e26d034b2c036",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HAT7qN72RcTF28O2KYXfGyjr",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6666 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.3379 right_j2=1.948 right_j3=-1.5188 right_j4=-0.0082 right_j5=0.7361 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, 0.5402, 6.106, 2.0098, -0.0562, -0.0659, -0.0073, -0.2803, -11.5487, 5.2308, -0.3053, -0.0024, 0.0122, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5ea9885e70d4bd07e75da51dbcb98ed05c39f31547f41c75e70bc3549a62fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca76f57e5d912fe030e64120ed8a481e9fa1e6a49d6587a8ebe732f6b8a26fd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea97bcf31ab785f67fe286cae162811f394e46228bbf89a0a614a2860e214ced",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 381 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.651 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9997 right_j0=0.7826 right_j1=2.3135 right_j2=1.9903 right_j3=-1.5711 right_j4=-0.0078 right_j5=0.7437 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, 0.1983, 6.1197, 2.0098, -0.0464, -0.0366, -0.0122, 0.1299, -11.5897, 7.8974, -0.2613, 0.0024, 0.1587, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffAYuBhQIo6FUXKTT_cUm_Wp0G-JqzJgak6DtDBhI0nQ-xTzswufkIIkwr8o8mThYkdRdygWekFzjeoH8fh_b6Iu3EruckdqVw1y7GJ2xlg3epXXkCz1LS1ivzhRO5kUGLUpC84yTUw7RYiJqceVelLs0LvkUwffy3hINLjbq7gcHtVsvxz4cMsA2xBwIFu5o-PqJh2cbhNUrq1cA49mIw60oKRtub7ykTMAB7XF1Sur2tS5pSF0Mkv25NOW0XkRqmr6z4yr79sNVhdp9WH-TE-zq53xRL_A-c3nTXx_a7kjEN5EQoPX19t9AQ-IjdgV2_278wKESb-qbg-dtk90XNJIkgPpvfq9_Y0j1tcIB09II1k3THEVGIJLMqZ5Hvb9CsxmJ-ZkFdjm3p9mklAjnB8X2FsAbRN2QnlNnEfGmqYG1UaF7GPOipP4MTnib9uIIvdz4qdrpXc_50vRJA--ltg8bvf_97ooYfh-nMFoLJMV9pvu37BY-JwOAYHnwFAr5gYZTRJ4_jLWo8bngsjC-gW6h13HL1OQtbIAeVqLLPISHGAVqJfr5I6qvVjg4D-oKt5vDA_spc-CN2lHr2ahaTVoIkl1llfIawdE0ayuaPsFdxTzfVKTh6dxqXHpdPyvpiJHtDQFWMct_cnszo7bAsxmwJZsjiMivnqgCUzDK5ixsUmSVR7fMZxg9-iLJw5MVP4dhchKUc_-d0U0NvGJwLOht8cFSMcZ0cwgGkoVuVfHHa_TY3BRE0ntInWYy9H-Wdf0TTEodCwJMEtMQxuK0ELaZeW5Y1pSaXaN1T4af2ITF15KUSAL_zx-3Ye8k_HujBRh5W8qww5Vfqtd-Ksd0FCoqOo6eQ_5M2KSipoPC7RrKws5lMB6cp40JALy7i0qlJVrX6CXYPLxj8hVfuNPDFLhFhCtS0TRIsIBg68cV7luioa_zIkM5YcD_60Rn0kFxgJIwglBGp47b6sbAOPBZ5rm8A==",
  "id": "rs_032133f959d38e29016a7df016e030819aa0dc0674a758ea95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The corrected contact pose is now reached, with the cube centered and deep between both fingers. I’ll close fully and verify the grasp.\"}",
  "call_id": "call_Y6eyF8eA7JtzpHzTKmTC6hEl",
  "id": "fc_032133f959d38e29016a7df01745a4819aa8e873f5dadd797a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y6eyF8eA7JtzpHzTKmTC6hEl",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6704 left_j4=0.0296 left_j5=-0.3668 left_gripper=0.9997 right_j0=0.7826 right_j1=2.3379 right_j2=1.948 right_j3=-1.5185 right_j4=-0.0082 right_j5=0.7326 right_gripper=0.0187\nstate[joint_eff]: [-0.3624, 0.2803, 6.0513, 1.9023, -0.0317, -0.0464, -0.0073, -0.2256, -12.2325, 5.094, -0.2955, -0.0073, -0.022, 0.9304]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 468):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60108034c5c492ae4709159e61e105f42153a2d9c802ff704964aab34df8bf8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 468):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d85c3b313d48974815e7f9c85367dd5f3feeec4e5a6827593d6be661e59ebfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 468):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2774e3b91623f76efcf0fbf56dcafe56a0ab801545764d2dedd216f10f9e28d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 385 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6666 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.3379 right_j2=1.948 right_j3=-1.5188 right_j4=-0.0082 right_j5=0.7361 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, 0.5402, 6.106, 2.0098, -0.0562, -0.0659, -0.0073, -0.2803, -11.5487, 5.2308, -0.3053, -0.0024, 0.0122, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffAkOOkgjrDTBAQLHfZSeMzX3C6sjHMMkAK23KiyqKKCT4NVpG5XHIzRN-qp0Po16N6iJC2fEQ3P2vUBnYJwG7YQe2PIbU1QA4B8zh1hbuPsqnQ8GK5XV-Mbq-HjxAujz_j2bk71TcWqThiFlPXqmnpjg1R8L9juC8Q9c29V8Evp2pF6IxbP5xa7DtFYPJXT5PQ1tP3bQA9Vj-s7DuLwdYh7907iOyq8E6lkwuPYK1Fqr7YFbwOOOu6CYUbzNkznHAFjahTbxzlEDAA35XFWB0_1On8fhthMVviYraVy7yHzy2EN_xmqunPY59J9MtCwnKm2TYXjIqr5lCOihUYB3itcQrdI0y7lF6e2BGFQVaz6Mgf0WSDFLGvbeV2IdIXBZeNW-T3DAxR0z3Ie09hPo7kN71VxNe6ymXbOu1EJOJHoEJSHDatAleid3Sz84_9nkRK5N6sBH7LS2pRRj2aU5wN9apm4hFNVfjfRELLajEz6XUdtOkj6Sybl4DRtnhBqDgEyMjGwa3uUUT_bm_yrzSxyGJoX4gPqU1NslCloYMRL36buCaNNEZNmj1_Fo8Y6lG1s0Pvl3Kh_JVGhNMJcUZvF2pkOo9w6u8BzZ_Dtr646VkKmx015KGMyrJHixdqz7jEti2LntNcOX-fIHx0VNa7ZLquFIFWGq4U9lPgnSgK4l5XWUpFpSoS4xnnmxF-Ivoe7_j_TJG8vzapSEVQWkRAjnXwTUp8R4PPZpDE6QP6bn3MZR4KKtT1zmHJmKLlX0tZ1TqkZh7mqnLJ48jA2CMhH7pIgMjA7Hvx0mQkIBgcWYF0Pmka709T4_ubN7V1bLUHpx40LMbrM18ko2cwfhX2AGGdvrsNedeQgAV44wXgeE3wYvLDuJx8UMkxjjAEYPVOrS8m7DqYBHOF-9hmx7r4frDBQA_mndyA8WkUKcrv7KNtVG8xhCrZ77Q5AsZn0y5M9yI7gVuP6f4Qc8hGhchtg9WHQraoYQoj_NQ865JE1rSjkwiv-PMJTtN9vi41-FD0EGADLXBhaQ8u72Iy6koC94OGga_pkPdxKo8yG3fZyGEOCZAeS2Ejzlvd0YRbmaxXs08BfmUW0ed2lh5ZJ2LvNCAmMAUZM099N0F_YLUXx_uVDiZ-vLr3zt9ym0AstDmbMqK_AmStcSoII0P09gwUGpxDhZ8IVRVjKMIgl4DffiqwXgtg4b7uh11hg_4kku297F8pACMd33JLm2vNtxh5EpzaesFh43COhOn3ULJtjAr25rZzcaXzOgqWzPPp6jj9sjdqbRma6CB_MLww88Yh9TQpoT4wIVCCFqnBJdbF0Jwz966QfVpJKJPvqb_In85NECIapP1GW4iuEU1SGwEdLKzvFrtCkRVkgbpiSz4IYpt0V8MZLqxTUEuVMWSBll5Omj1-Z0nwK1TTb-NlYmsnvNMjX-OIzH_vEvJq01gKGA1YQIoUgRYTfN56UBZZE48joL-EfP21AmDxlhfZgeLLZsDGGMIeq4rt86Bhaqe9uB2CagJpd_yzTDjMYmuGLBnWNP_71X8_S4gymPvomjEjqJK9ebvLo2cIvPBT8u0dTPCJM9OyLmWuxFMut0PPxRxI6dJsupYB2wZC-ZrX0Ho3EAp_drUzB5xdvqXfYy9lhZtqs95sja227Rhj973Gv_YvEryZI_35Khu3xciHtkZFcUKl2D41pO38BLycORQY6WElcaqRVyl2KyEJfkaef1_ccJX9tQRarS3vwUL_4U22nC8pqx0MSHGmdqV-ApzXy0arGGGwbOxOqwjuu1oH5yoq8GgiLggGPhV-iXhzYcEGuyB0OeVQXhOod-ikj1pbiZRq-YSERgXnmOC1cYxNRB_FZkFA-SQLiIM_VbxOmRht87dVGksdRokm7RQ7sTsNG-v6pIR4hMjb091EpdS7k9sP_7QBU5oyAVcMG-BVlZUTYq2xActmqxVFjynSxsYQnS6sPnj6g5XVRPHCH_6p41i97Huwv6lOEP4jMgd3zfykGQQeL3LTSJkrp-pe0D060uZI6vMRwC0c3bbz6hw6rhl_bnK1Z-FfcnXSykLGUmY46Fh-dSJ7-JHjsEQXUn7g0m6czpdm5Sr-JiVHi7xxbyApa31n0NXoY4I2rtUV9qCMBnXWnC-8lG7s8dtBCN-paBWtC8mIq_ef0snGwjRsubpR8mX7Ifwl3kYC0tYu03aUIIizyio1uVER7bHuyM-0e7QEpJFxEz7UTAzs_Znkrab0ipOd2wAEbJO4oV91hhywEdOsfHqpSbU4t4EcTve7lLFBVDJMoYovQOkFXT349yri87lgG1_z68JjqOm8589uEugZOvj9ohy1nSODj9n6QZbRVkdD-R90pPpL5zo9-fDYpyF_n_11ViMV4TYT8IfCnro1WBFJKoG50HCOxHIY3IrjsBUoJTp0cwo9ZbRHI-v0biKStDissJi7nCsNRKRbpcERJRA1zhKiGzZyw2hBipjjrP1RjAQY_BJeYGXEHPEK9Gh_HB3XXOrOBSOxAeuVGcWVtvE7JSMOssG_6wmNTPbrDcaX6JmN4enS2fMXsiYSV03Km57eKdo8JZjlgDxJcxh_3M2zyNUyjmtJ_jzT-1NcTscGd379Q6GHyKoOsPi_DHyWbXxSe1ZfhHRvisgMqRmBYM2UbDJadFGhTtPj4snpTsfW6TM7tHI4YNBGgk409NbMDyKbfHvCSL4IZOubgPd6gtCIiRW-0kHHzH6m5TvY1JeB-ZlX0b3uE_9ALYTQrskeuTj89yGuGCoVQ3rx-CqYFVpKcXhtp2vvLIBTFxv8Ia6EssJCERoxQwp89TDdgWCDohEXgNauPnJPf4V0t-Mx6KAU9H94MorXlVoCpoCKSIg_ixdNhj7dBEv5-yavG",
  "id": "rs_032133f959d38e29016a7df01b02c8819ab149834186418d99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_j1\":2.43,\"right_j2\":2.22,\"right_j3\":-1.68},\"note\":\"The cube remains visible ahead of the closed fingertips, so the grasp point is still behind it despite table-height contact. I’ll reopen, lift slightly, and advance another three to four centimeters until the cube sits near the jaw convergence line.\"}",
  "call_id": "call_jMwOGHwCJguUUeZUyF3OsOPC",
  "id": "fc_032133f959d38e29016a7df0234fc0819aaed268b91ec6e040",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jMwOGHwCJguUUeZUyF3OsOPC",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6765 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.4168 right_j2=2.1857 right_j3=-1.6821 right_j4=-0.0082 right_j5=0.7208 right_gripper=0.9952\nstate[joint_eff]: [-0.212, 0.1709, 6.1197, 1.9463, -0.022, -0.0708, -0.0171, -0.212, -11.2479, 7.5556, -0.3101, -0.022, 0.0757, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 478):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5925c6c249d3323cd41c5f8d472932a7690209234366cca247856a8c11741394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 478):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa0c91e274363f89ede375953b426958e580aa66a71e94ca32a7e6d038e3350",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 478):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01241c011e23243bb36c8334c3b975fee9d89c82dbb57824dcf32cb5444d7259",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 389 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6704 left_j4=0.0296 left_j5=-0.3668 left_gripper=0.9997 right_j0=0.7826 right_j1=2.3379 right_j2=1.948 right_j3=-1.5185 right_j4=-0.0082 right_j5=0.7326 right_gripper=0.0187\nstate[joint_eff]: [-0.3624, 0.2803, 6.0513, 1.9023, -0.0317, -0.0464, -0.0073, -0.2256, -12.2325, 5.094, -0.2955, -0.0073, -0.022, 0.9304]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffA0xgBtXjHFiZhSl3dCTEeHNLXQBBtSHFB6DwjTkhQgyEV9wCJAXZi_hPbf2LgdaP_x2bSV2pQKMIvgbWkjH0TfdOh-JFBiZFpg6cMY4gzd5w39MBUIKuTZlXseURQavZ6P-N9DKbR28TWq83xBvnwmku5TEXGdd6ws6vkIjqLe1S1xuEnX-OriZ67mL4x_xbIT5W7wYTenWFc5OXOARa-kA25VrILZl2H6xU_DckxMPCTXjfzh2UVZ0FNZglyW5av1Lo4G2cCAKQkiS_Y9l_WpybY8j_OO7YYL92ROecubUXmjmVJefq3eu5OnA9916b08KUGcL4Z97Ky7SqpYFHeNu2NhsBCVRBm-AcgrGSvZGTmToNaAkZ4WZ0T02qeJgImv31aH9bqp3on-WfZPYDPknLENCChR448otUOcn22HhqHJsEnD0rOtKJBDTeTvd1cIurVRY4hKn8WeanQDdubTmUhYz-eaYUSAKO0u9Gx7JKDboGR4rxTiFXjSG9B4NyepcOGAuLi4PqLqNNr_QylifKphK6DZZVainjjKU-EKhKWgx49Ra6h86HI40MhxNr3vuU4FXQ5QFhjczabNXdtR_nnz6q5Zk3mKqUiR-r9XO4kZ5DrVg7jR-dhAUnRnOH76YopwuFrs_dY6kHEKpbtEIaQCw4HK6jTmgqGSZO3sxfSpAv8Ne9Dc7y_PRb5jbaHJZMMHkFr1xBshJsexNcl8ejKaR8hM0G9PMhkzAj0jB-AKMGo4FxAGWoICcArJoI8IU5tDb6sJAUpIwGw4n5_2Xh3GGs5E7yKfoBpGx0rzyDMUAr1QuIS0kPBVykWRJ5JuStMmHq7UirtA3BGekiLQW7B1nIxWztSVUSvIEfYEl6bDKMFQ9rnugSOtQ_TjRGJMOrBmCPnPDiV3MlfR5Zo-a036j0wVvkTArQqEsrs0rjkHi6iOm1fvVe4MOarSAVhENlRJKFGygNrjWjqdyA0IyBM77VZRUoFTpCAubjAmpzyzWLcfN8fzvzotKea3xkeM5cJRB3t9nXVQg1HXdG3vKit0Qiokdpw8xM9cVeEMxwPnSoBktnrFOdFRgVvXBEBhkxVBQL5iACw-rpuRhoPBSQ_vqQKi0Zl2fLbFsegQP9QCRuSLIeMIgpt390w8lD96wEx8mlRxGNuPRr1UimX4TepzWH6TatflUOp6HXFwxdEg89i9zJ-_RfkPOr_lDl5BSj1Mn6hb2RMnesXaaBCrJtJVQaYSawE1nn4cqo81-BUe4WLSX0pmJZ8B0jKPSAQapLvqPjlWRdALLoL_7yE2lNGM6WR6VPy_RfZnk2BTS8w2NLtCxaOcR5zQkvuom2OSPrs9SE6TLxRZn4yPhrm65oVlS4-TC9K8_lON89z0AcJq6qckDncCQUprkLv6qp-osZbp4gzS3m-lJT2lcYRalOyXuJx6U_VH8h7Vi-vAsnbxDKFrqI4PxK-PU0iCcGpiZ0cW2Gs3twp6CiWsu8eSvPztQwJ9EcLhW148in3Ql9uvpV4_NCfkNqAdxxIOsTTTYr-qSKzmz1PybBEKeOlNhWIK3cQO4Wf7dgTZfkuYh7_W-NpqQlDqhNmxi02F3Ms4GcGQczRz1gzDXpZV6FRTbXt5pW6foFSKKkjotdN9-2BVMEyXhfGl-NwieU_dBI2OciVtjd0ONF6e4gqLh2c1M0ahctkPfYRUqXMC4EG9MQvZYJeqsTYWv6qsxNz2n0HZI1SYPiB4OaZO7bPtLWhQ8hBTBSN6tOV4rTwLUDvKTpcg5oDpkrqlVxcK3sfzT99VGpuO8g1uIYFAgwYtT7t6Ywh7PQgqRUjdVqgzB6BM1hXqXm3i5JdpvP0BSPfjwWL-GlMkInBFoL48Uf3A0pkD1ZOBHnunDXt0qhOooM7UlFofOjhH9HmNmCrx4XobZhQSZYf_QEj__tIw0EnifXKxpe9rzdyJOxPF7dBPOxPX7cMFcJzFkGGYmVst7Zb_aBba50Mz10gE5guGh8UZ7fpm_E0CelR5kJsbXoB3_VR2L7mPJErym6O05oke9bvc7BPV8dbMu0R9QRLe6aXvoYdiXv6Q6rafg5C3jy6SmEmhyUTB9CUaIExyDBssNWSYjJ8vZprkzSaZRRjqQ3z3ouyXnTZ1YU4TKdS8npmXXsHNWTTK-BICohII-usZNvO-T4lkjhAESUiLuQZHh1mw2KbtqnZOES6e87GiBX6fT2Msh3011mi_Ko9y5tSHp_Hf_hbgx4H9ciJw7aHPudrxFAMxCdesUjzabI44D1tD2itRJ6PuwhscGq0lqz0lsUrMmW2NyDTjE8UTvFO-w8TAJCtYKzhkx8HLSAVInztzmDaPtvwNBo5ysyV6Z-yNi5fIJcKFTYoecjo7OmzW4uG6bMlpO52O6MB5KWMfdAjFeUTmz_nSfOTuK1y7RFy9fsl58TFiv8CI6cEkhxQxNLCKOkFzgq10zR9C88wmhsjktL8XZsoFw-3YQzxIPADEoyDA18VN",
  "id": "rs_032133f959d38e29016a7df02beaa0819a9d1a9dc25eab9c1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.7,\"right_j1\":2.1,\"right_j2\":1.75,\"right_j3\":-1.55,\"right_j5\":0.7},\"note\":\"The overhead view now makes the geometry unambiguous: the latest move took the gripper farther up-left, away from the cube. I’ll move inward toward the right base and slightly rightward, bringing the fingertip midpoint down-right onto the cube.\"}",
  "call_id": "call_XsLvd2evbIV2qQI6tzE8osNL",
  "id": "fc_032133f959d38e29016a7df0330948819ab943497fa21ea1ef",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XsLvd2evbIV2qQI6tzE8osNL",
  "output": "executing move_joints over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6773 left_j4=0.028 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7059 right_j1=2.1372 right_j2=1.7679 right_j3=-1.5742 right_j4=-0.0082 right_j5=0.7017 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, 0.1709, 6.0513, 1.8535, -0.0024, -0.0464, -0.0073, -0.5949, -12.0274, 5.5043, -0.1929, 0.0024, -0.0464, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 485):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699c5467222d9b9514d0ac2e8a4674c8c12eccaba4d41cace1edcf43c0ef8ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 485):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79252d990a714774da4d3a1ea1cf311827ecdf85a2c4d7ec11de8ad268a625f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 485):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df44141decce5d5e516d814246537ef687b5f3d1f24ae570f06a816a747dc923",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 393 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6765 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7826 right_j1=2.4168 right_j2=2.1857 right_j3=-1.6821 right_j4=-0.0082 right_j5=0.7208 right_gripper=0.9952\nstate[joint_eff]: [-0.212, 0.1709, 6.1197, 1.9463, -0.022, -0.0708, -0.0171, -0.212, -11.2479, 7.5556, -0.3101, -0.022, 0.0757, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffA9hgYWT60qHfTmxLIHF3fDOaCeEjQx1G9BV25V4UsTcYnAtxNsJ3PO-hcvFv-5amAARor1mUNanVKDm74z-T-svE6zkId5oy8BILUaoigq64paeADXNpsFFl_6i-D5EvDFGpAxu_yWYrz3CkUYP7Bgq7_YuHDxev9hUM4nYfUUm3Fff4UmL3rDG3TRZxENo3uH-M2RljHAcrnQm7liffmvtLSMYtkw_BIkNBmdkf_dUZPnditgb3ZTndXl7NUyGp7grBV_XX6iECaodmkGLCZ9mQWM2KboS2rqHm5VFwt6W47AiTqKchFouovifToTniNCArIXDJLzZ6-qAcf90Mxmd2InOJH7P9QMGbc917dPJ03MPLcIUaAr0ZxhfMOFdPgl6JcP-YcM-QRfbLBeQnOi7ixs5ek7JOMHq_byYX4MyPAtiokKthSjnpii58kJwwRUXEmzk2ZHrE3xH4oNYezZP0XrF6Il3jUztYvWpuHK6rgu-lOkrpILOw3ozZN7MTzKNITBoYAdVv6xp5Jjkq0lV4vzbmrHFBQslFk18rjzTSLNidEunnoJZuCBvEsuUsEfucs4tPQf_x7MJmvMU6qb0szpZZGVnYGOU1nd9yOTcHg45e_TOqkCr5Y7863X-5wqA_CNLoXeNnS9jNeDYQNQicNrEhsiUDfoD1bl2JECH0PeqxDL1JpGvZOKI4NcATra6Mb9DDuvTKLry1axPqc7Vj1SEANeM8p4SqVwimPukP0xFrtdNUxoqTgIumZpgwoiFs9UCswfNfJ4TpAGs0NVa2ekLMegcrRSgXIEG5IDtzmmc75JxkKsAY-3cEsLpNM99c5U35RIoSvoFErTV7v3bjl5sCp4O6wOv4uAWM32Vdyyl1yYJwXoE0m7yg-OwW-82I6mU7GPt7Ekx7G0KFFtxRqUixVpHdko1gYPCvN80TvudX2x88w43hBgW8s6mGFbTRTQJyCly5EnoBvczNihHXK-Wv6-qx7QsEopiRj8EPrs8hgf-z6094KI4_wbvINSD8A3GgzFwtOGfYZ0oMluR8YI6CVrNB3N9b05R9D8AcxMX2OMWSUjQGKbXxg0U_iPlWrjoPB6C7EJd55QIFr_tst3RjrylMBtr6LdejnZieu-YDX2lpHGZruLknmtuuqWcS8NofPQkMAJQEh2T-ywS3Rtt9kdu3VWiG8g5LxNkq6Ot4Cg9X4iYcKsju0M9wBQZI1PnVinDHYJ3CHAq-Xy4eqLURgjl9RZxKocwehKAQfWHAbWBP0-uZUMsCKjOhYRppsWmkoL1lltSnz2cCqcaVROgrne-cGo8RL1gnjcGrQAIlIsB58cS7Vx-is5PuznaivZuFIYWW3SMIMnKqVz8Hl9DD5e7imWXESlcs86X9VsacSyeUJAaqRQf4_wY25fTjKVVPtid9vvbZxuzCLpOymWC4SL21_npn2Pxifwdh64A8YNAyhJUbTNyIxbR2CQ9p_2oy32ZEH5cizUACxMFXmjUpxt0rEaMiucHcxGIzhKxd3fdKCdghclwkFwcsqUY2HGe1tlXwWipda_xFA2lBTjHLwvXfIbGXU1tL8mp1423ap-AZqaIKw_AkBDUEnl6CU8P0gCLZRSBS6_8owz4oMOx7AgFn1P7qN8v0oAN-9WH23303KBML9eiqjTqv9B9hSeOzA-m_G3l3rszIGqGRi2HDyw4n_mQdaYGKAnAtPdU-HdQYLeIDVdB96LsoaBCFM8KGB2BhdYJVfxkY3m4X3JXari68k2fsIUqFnCTi67GEHTvb8iKgDgVrMTMYTMACDTO4dVSoqU_E70enaqPoNEXUx4vgfzRNizxPzTC70USZ-8Yj2Vd1nzkYqjQF_uFQvgMVKsKn2Flq9qk4CF_uVbfq4gooAEMBRyaSNULC-aaBmEOXKR_sCgujn6FVZHitc7Kzt_Jw4xFUG6zuqy8z5f52e2UZxZiVzqre0t4oQ=",
  "id": "rs_032133f959d38e29016a7df036e854819aadf48a6a692c4aab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.68,\"right_j1\":2.08,\"right_j2\":1.68,\"right_j3\":-1.54,\"right_j5\":0.68},\"note\":\"The inward correction brought the open fingers almost around the blue block overhead, with the grasp point about one centimeter up-left of center. I’ll make a final small down-right correction before descending.\"}",
  "call_id": "call_7w58aOytKWAeP3JJnwljEdOF",
  "id": "fc_032133f959d38e29016a7df03ba428819ab31b2e31d65256be",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7w58aOytKWAeP3JJnwljEdOF",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6773 left_j4=0.0288 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.696 right_j1=2.1052 right_j2=1.7012 right_j3=-1.5455 right_j4=-0.0086 right_j5=0.6907 right_gripper=0.996\nstate[joint_eff]: [-0.3077, 0.4308, 6.0513, 1.8779, -0.0269, -0.0659, -0.0122, -1.1009, -12.0821, 5.4632, -0.3297, -0.0415, -0.0464, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 487):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0768812b895a955a04c6ff6d5e6f99da23d1556adb8596e4a4f90874744ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 487):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435f0aef71dd76cdd15137c2c66a0b8205ae2f28eb5eb90dfd76844f8ca46781",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 487):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08da632fcc8cec0d0e55db93079f6718e2e5bcb0270744f38470a64d1c6feef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 397 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6773 left_j4=0.028 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.7059 right_j1=2.1372 right_j2=1.7679 right_j3=-1.5742 right_j4=-0.0082 right_j5=0.7017 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, 0.1709, 6.0513, 1.8535, -0.0024, -0.0464, -0.0073, -0.5949, -12.0274, 5.5043, -0.1929, 0.0024, -0.0464, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqffBIgShHCQje-c8q-Ni-asjEPZf7QzsiGVSS7QmVwCKJFALWN3A4nXGzhcNPsOlsz5HsLNLUB757LUinryqA8hRPI2Gvq1dXBNtBUmMAKwboMboljVpLqivDQ9AYLK6Zo31vWfGO35voJGbpbk_aTMRHO6wnl0qmSS07EQuUc0xg5NGb9B8TZqzCG2CV1F-HOEELycqhAS8ZGsaoaaaH3IfEuEYGTxnPT4aGezZRh0dmhXGzcXBcmJNZ7eA9HK0d8Zo_r3r60i91W8jGnw7Jhf6Ew-b_c8exOY9_UemW9CY3Ks8TQMr4zTjG5rwB2gPHeBBw3T7ouwMxfQ6GeDL1F0aG8YWv2yE418YTl5vt9JEeYHTLuUdvKWRIptuM7KIjFn1YHitc-xrzAlkcyMK1zeyVbYRYSoiR4Ogv1rW-wqBSCtsjQRpJKuiXu_4xkg0TRHLsjxQY8HJff9D8yiFPGHsBfqPxUvHHLdVKOk9_BqvqJ4nA7-4MLJtRn2dPCKv-4IYLkmveL3VvtqVQa0adQeBz8omER95TCAKAb2eR9qo0Vb-w262K99QLidrXzI_sfJjDQQEJUEFUlxFWX4Z9UkzM3W7BeDKYkJnZfHBwlcxftg129pUxE4Bt6oGrdUa_1wYHPoMFLisAwUvBoCaeNTwSOoYZSZIWHClPB0n7yQL94YChc_7jjOSSu7wOfDkOb7UtpqvVN73X-k8KTzrzA-wH70a8a65sPLM0e8luo_llIqaeM0UWymjRbqhslenu6tQf06twINyx_JZTS65Y9R0O4svupQxZoZL5wtVejV-HDFdSDWhJxBoWkL3HghO065uR1p19NW3DOa4iM60EAbeBB1GH43QmaYaS6JHFb4FJArK96nmYyKRPCShzl6uUzgSlG4UWwD15WVEqmr6KdhF24CwsPp64i80oywrjyhqnn75cABiEwsfIkcFC_4sxyDRzT1BO6912EAxD07BqTzRRqkOQqokVqhk09EuaKBVw9t_sUZzX46S06W5emQt73GgMcjTkHPcSdfnpXIDHEiX5dYHtassX2OXc6oQb8DwQGttJG-spoF99nBbkRkSKM_kERfaBGfutpV0axlcWuIg9OpYYFRHXnMZL7-jUy07OlA0G-e67GbJunjIikanHwq2n3W6yCNVwfOjg-6sFe8a8-HOCfz0TSBwuB9ijqFjn1nONRBB8Jl9aNCm8-4USKSu0zXpZe0JHBx6-DChV00YcNTSJDveXpZgRCjTBr08loH-jJJgI2XpUbi_EVr5UMTF6hY9xQBHXERbWMmihiPeEIhJpyMt2UPpHmQmnRIkEXLdrnP3dR4dUIWS96hXdtAubUw9nphPFwlBvn2y69LnI8VFGHtJ2u0sXpmsChB3O6pqSAmJtivF3Ikil1Lbjnp3yKcSFLLyhro3H3rnFMwNAyVWfX6SaujS3hM8hg6A2D-7TcdVx8uGjQmToQr3RGTheZMzTpYmv1mthfYyLAa6xYJr6Xw5n8TlsBzFg65vOBz3VOiLkXaiqLM646Z0lM-K_TApP9dLAKfpbkPIiioCmgLIUQ2gfNaEPQCUFNsQoqAmepnYD5ZhejZAws-dqIm6LZPI25GisXrbyEc-9jqhNcLlWz6rpnb6_MbJEqYBQnhrobrrVFl1BVDZCRDl_-RoCCOo72rpNWjPXOps46HM7XxeRyokot-K-hQzXy1wkNAXJtgY4d2NVCRTgXflP-O495pwDXmfHD6kDMw4N2XZ4fvv9W3Hna0LVpMOtQoTKjXtC9oUw4NBXRISFlXJT0MYVJfAqua283rNz4ydYhBCx5uf9AaIlkbIzdCpiADXlxbsrLSB3eliKmjAl2uLeNMsNONZPl1YZJgMewApcoG1RUg==",
  "id": "rs_032133f959d38e29016a7df03fd0cc819a97b45a8eacc6552e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.14,\"right_j2\":1.66,\"right_j3\":-1.47},\"note\":\"Overhead now shows the blue cube centered between the open fingers. I’ll lower about two centimeters while preserving that horizontal alignment.\"}",
  "call_id": "call_rv3ylXpO3xdfdEoxnFpA9YQX",
  "id": "fc_032133f959d38e29016a7df044ca54819a9a6d3e5d1e780baf",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rv3ylXpO3xdfdEoxnFpA9YQX",
  "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=-0.3145 left_j1=0.733 left_j2=1.0973 left_j3=-0.6777 left_j4=0.0292 left_j5=-0.3668 left_gripper=0.9996 right_j0=0.6872 right_j1=2.1139 right_j2=1.6703 right_j3=-1.5196 right_j4=-0.0086 right_j5=0.6796 right_gripper=0.996\nstate[joint_eff]: [-0.1709, 0.1709, 6.0513, 1.9121, -0.0366, -0.0464, -0.0073, 0.6769, -8.4855, 4.5744, -0.3834, -0.0708, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9188eec535784a8c6633a2cc9895fb47c52b1aa011288178779115dc73cf23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca9a42255c796617abdd8d67c024dd6ef6a8f8a8b12757dba994bf61d57171c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e082709ca8e53ba00d962b0f7d2f927ecda1cd484de678533bb53770068c8a42",
      "type": "input_image"
    }
  ],
  "role": "user"
}