adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 100 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper. Each arm has its own base frame: +x points forward out of the base\n(the direction the folded gripper points at all-zero joints), +y left, +z up;\nhow the two bases are mounted relative to each other depends on the rig.\nJoint guide (positive direction, identical for both arms):\n- left_j0 / right_j0: base yaw about the vertical axis; positive swings the\n  arm counterclockwise seen from above (a forward-pointing gripper moves\n  toward +y).\n- left_j1 / right_j1: shoulder pitch; 0 points the upper arm horizontally\n  backward and is the lower hard stop (it cannot go negative), positive\n  raises it (about 1.57 is straight up, about 3.14 is horizontal forward).\n- left_j2 / right_j2: elbow; 0 is fully folded with the forearm doubled back\n  against the upper arm and is the lower hard stop, positive opens it.\n- left_j3 / right_j3: wrist pitch, axis parallel to the elbow; positive tilts\n  the gripper up.\n- left_j4 / right_j4: wrist yaw; positive swings the gripper toward the arm's\n  right seen from above (opposite sign sense of j0).\n- left_j5 / right_j5: wrist roll about the gripper's pointing axis; positive\n  turns clockwise when viewed from behind the gripper looking out along the\n  fingers.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAt all-zero joints the arm rests folded low with the gripper pointing\nforward. While the arm is folded, a single joint's effect on the gripper\nposition can be counterintuitive; move deliberately and re-check the\nobservation after each motion. The joint values above are positions as shown\nin the observation; when actions are per-step changes (delta mode), the same\nsign conventions apply to each change.\n\n# Rig facts (YAM rigs)\n\nMeasured and derived facts about these rigs, shared across all rig dirs\n(the rigs are built identically, up to per-rig calibration offsets noted\nwhere measured). Kinematic constants come from forward kinematics on the\ni2rt YAM model that drives the robot (i2rt 1.1.2,\n`robot_models/arm/yam/yam.urdf`); workspace dimensions (camera height,\nbase spacing, table plane) were measured at rig-2.\n\n## Kinematics (per arm)\n\n- Upper arm (shoulder pitch to elbow): 0.264 m. Forearm (elbow to wrist\n  pitch): 0.245 m.\n- Shoulder pitch axis sits 0.114 m above the arm's mounting plane.\n- Wrist pitch axis to fingertip midpoint: 0.101 m (gripper flange to\n  fingertip: 0.057 m, stock linear gripper). Contact happens at the\n  fingertips, and this offset rotates with wrist pitch.\n- Gripper stroke is ~9.5 cm jaw-to-jaw fully open, and gripper commands/\n  readings are the normalized fraction of that: residual × 9.5 cm ≈\n  grasped thickness (e.g. a reading of 0.04 ≈ 4 mm — a thin handle), and\n  anything wider than ~9 cm cannot be grasped across.\n- Gripper yaw follows j0: the direction the jaws close along rotates\n  with the base joint, and is compensable with wrist roll.\n- Episodes start with both arms folded near all-zero joints and grippers\n  fully open (reading ≈ 1.0).\n\n## Cameras\n\n- `top` is a fixed overhead camera. `left` and `right` are wrist cameras\n  mounted on the rolling gripper body of the same-named arm, tilted\n  forward of the finger axis; the mounting is identical on both arms, so\n  the wrist-image facts below apply to either.\n- Overhead frame orientation: arm-forward = image-up, arm-right =\n  image-right. Both arm bases sit near the bottom edge of the frame; a\n  folded gripper shows as a dark blob near the bottom-left/bottom-right\n  corner.\n- Top-camera scale at table level is roughly 2–3 px/cm and differs per\n  rig (≈3.1 measured at rig-2; rig-1 runs consistently measure\n  ≈2.2–2.7) — never trust a remembered number. Scale grows with height:\n  an object h metres above the table reads larger by H/(H − h) with\n  camera height H ≈ 0.72 m, so a gripper carrying at 10 cm reads ~15%\n  larger than it will at table level, and things shrink slightly as you\n  lower them.\n- In each wrist image the grasp point (where the jaws meet) projects at\n  (x≈115, y≈200) in the 224-px frame, just off the bottom edge —\n  independent of wrist roll, but NOT of pitch: pitched 60–70° forward it\n  shifts up to y≈150–190. The camera looks beyond the fingertips, so\n  anything at or nearer than the grasp point is out of frame, and the\n  dark wedge at the bottom-centre of the frame is the jaws themselves,\n  not the object. A held object is never visible in its own wrist\n  camera. To re-calibrate at the current pitch: briefly close the empty\n  gripper and watch where the jaws converge.\n- At wrist roll = 0: image-right = the arm's right (−y in arm\n  coordinates, reached with negative j0), image-down = radially inward\n  toward the arm's base. Rolling the wrist rotates the scene in the\n  image, but the jaws always close along image-x.\n- Wrist-cam scale varies strongly with height and pose: measured values\n  within ~10 cm of the table ranged from ~3 to ~12 px/cm across runs, so\n  never trust a remembered scale — close to the table the 224-px frame\n  may span only a few tens of centimetres, and a hand-sized object can\n  fill it. A pure j0 nudge shifts the scene laterally by r·Δj0 metres,\n  which calibrates this view in a single call.\n- The wrist image's vertical axis conflates radial distance and height:\n  a 3 cm radial move and a 1.4 cm descent shift features by a similar\n  number of pixels, and radial (depth) distance cannot be eyeballed from\n  the top-down wrist view.\n\n## Workspace geometry\n\n- Arm bases are 0.584 m (23 in) apart, mounted parallel (facing the same\n  way).\n- Table plane: the tabletop coincides with the arm mounting plane — true\n  fingertip z = 0 at table contact (verified by replaying contact poses\n  through the framework's grasp-site forward kinematics).\n- With the gripper pointing straight down, reach caps at ~0.51 m wrist\n  radius; pitching the gripper 30–45° forward buys another 10–20 cm.\n\n## Controller behavior\n\n- Position moves undershoot: a `move_joints` call tracks only partway to\n  the target and stalls near contact (gravity-loaded j1/j3 sag 0.05–0.1\n  rad). Re-issue the same target, or command slightly beyond it, to\n  converge. Undershoot grows when carrying a load — expect lifts with an\n  object in the gripper to need more re-issues or stronger targets.\n- Larger commands are clamped by a per-step delta limit\n  (`delta_clamped` in the move result) and each call reports only a few\n  steps. Nothing is broken — re-issue, or command 0.1–0.2 rad beyond the\n  goal.\n- Position error that stops shrinking while descending usually means the\n  fingers or object reached the table. When joint effort is available\n  (below), prefer it over this heuristic.\n\n## Joint effort (when `report_joint_eff` is enabled)\n\n- Contact vs. sag on descents: gravity assists a downward j1 move, so j1\n  falling short during a descent means contact, not controller sag. The\n  effort reading distinguishes how hard you are contacting: on a light\n  touch j1 simply stops tracking while its effort stays negative (still\n  holding the arm against gravity); if effort flips positive, the arm is\n  actively pressing into the surface — back off.\n- After a full close, the gripper residual settles at the grasped\n  object's thickness in gripper units, and gripper effort reads high\n  (≈1.0–2.0) around an object versus low (≈0.1) when empty. A partial\n  close gives an ambiguous readback for thin objects.\n- A grasped object touching down reads as stopped descent plus rising\n  effort on the wrist joints.\n# Rig formulas (YAM rigs)\n\nPlanar arm kinematics in the radial–vertical (r, z) plane, from the i2rt\nURDF constants: upper arm L1 = 0.264 m, forearm L2 = 0.245 m,\nwrist-to-fingertip L3 = 0.101 m, shoulder pitch axis L0 = 0.114 m above\nthe mounting plane (= table level).\n\n- Angles: A = π − j1 (upper arm), B = j2 − j1 (forearm), C = B + j3\n  (fingertip axis; gripper-down is C = −π/2).\n- Forward: fingertip ≈ (0, L0) + L1·(cos A, sin A) + L2·(cos B, sin B)\n  + L3·(cos C, sin C).\n- Inverse (target radius r, height z, approach angle C): let\n  P = (r, z) − L3·(cos C, sin C) − (0, L0) and d = |P|; then\n  A = atan2(P_z, P_r) + acos((d² + L1² − L2²) / (2·L1·d)) and\n  B = atan2(P_z − L1·sin A, P_r − L1·cos A); recover j1 = π − A,\n  j2 = B + j1, j3 = C − B. This is the elbow-up branch — the one the\n  arms use in practice. Check reachability d ≤ L1 + L2 = 0.509 first.\n- Accuracy: in the gripper-down working envelope (r ≈ 0.3–0.5 m) the\n  approximation reads ~3–4 cm short in r and ~7–10 cm high in z. The\n  bias varies per arm but is nearly constant for a given arm, so\n  relative moves and the local Jacobian are accurate — and both the\n  forward and inverse solutions inherit the bias, so measure your arm's\n  z offset with one closed-gripper table touch and correct all absolute\n  heights by it. Outside that envelope (arm folded) the approximation\n  degrades sharply.\n# Rig advice (YAM rigs)\n\nWorking practice distilled from episode hindsight on these rigs.\n\n## Calibrate before you commit\n\n- Overhead scale: calibrate px/cm in your first few calls, before\n  planning any layout, from a known gripper move observed in the top\n  frame — compute the travelled distance from joint readback, not the\n  commanded target (controller undershoot otherwise skews the scale\n  low). A grasped object of known size also works.\n- Height: before the first grasp, close the empty gripper and descend\n  until joint effort shows table contact (j1 stops tracking while its\n  holding torque relaxes), then record what the planar FK reads at that\n  pose — that offset is your arm's z bias. A 2 cm height error is the\n  difference between grasping a 4 cm object and closing on air.\n- Depth: do an early calibrated test move (translate a known 3 cm,\n  measure the pixel shift in the wrist view) — first radial estimates\n  are otherwise off by 5–10 cm.\n- Prefer solving the planar IK for a target and issuing j1/j2/j3\n  together over nudging single joints — it converges in far fewer\n  calls.\n\n## Keep the target in view\n\n- A target vanishing mid-approach is ambiguous: still ahead beyond the\n  frame, or already at/behind the grasp point. Never close or keep\n  advancing on a target you can't see — retract 3–5 cm to re-acquire it,\n  and close only when it shows between the two jaw silhouettes. Blind\n  closes at a computed position usually miss and shove the object\n  5–9 cm, forcing a re-find.\n- Never read depth from image-y alone: descend in 1–2 cm steps, keeping\n  the target column-aligned with the jaw gap (x≈115), and re-check\n  between steps.\n\n## Grasping\n\n- Roll the wrist until the target's long axis looks vertical in the\n  wrist image to align a grasp across it — and since gripper yaw follows\n  j0, setting wrist roll ≈ j0 keeps the jaws square to a world-aligned\n  target from any bearing.\n- For thin objects lying on a surface, lower the open gripper until\n  joint effort confirms fingertip–table contact, then close — closing at\n  an unverified height is the main cause of angled, slip-prone grasps.\n- Verify every grasp with a full close and check the residual against\n  the expected thickness of the part you meant to grip; never test a\n  grasp with a partial close. A residual several times too large with\n  high effort means you clamped something bulky or at an angle, and it\n  will slip during transport — regrasp. A near-zero residual (≈0.01) on\n  a rigid object is the opposite failure: a shallow edge pinch that will\n  slip — regrasp deeper so more material sits between the jaws.\n- Failed close attempts drag the object. After any failed grasp, re-find\n  the object's actual position in the overhead frame before retrying —\n  don't assume it is where it was.\n\n## Transport and placement\n\n- A carried object hangs and pivots below the grasp point, and wrist\n  roll shifts where its center sits relative to the gripper — adjust\n  roll after grasping so the load hangs where you want it before\n  transporting. An object picked at one bearing and placed at another\n  lands rotated by (j0 at place − j0 at pick) unless you re-match roll.\n- When grasping near an object's end, the object extends well beyond the\n  grasp point. Plan the release around where the object's extent will\n  land, not where the gripper is, and verify placement in the overhead\n  frame after release before declaring the task done.\n- Time the release off joint effort: a grasped object touching down\n  reads as stopped descent plus rising wrist effort.\n\n## Planning the episode\n\n- Before moving anything, choose where the goal arrangement will be\n  built: keep it inside both arms' reach overlap — nearer the bases — so\n  no object needs a cross-arm handoff; a handoff costs ~10 calls. Budget\n  ~6–10 move calls per verified pick-and-place when planning against a\n  call limit.\n- The idle arm's wrist camera is a genuinely useful second viewpoint —\n  fly it in for close-ups the overhead view can't resolve. The only\n  hazard is shared space, and it cuts both ways: the classic collision\n  is the working arm swinging into an idle arm left hovering over the\n  table after its last use. Before sweeping one arm across the\n  workspace, park the other near its own base (j1 ≈ 0.6, j2 ≈ 1.2,\n  j3 ≈ −0.6), then bring it back out when you need the viewpoint again.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0017 left_j1=0.0067 left_j2=0.0086 left_j3=-0.036 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0116 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [0.0752, 1.0872, 6.2974, 2.21, -0.0366, 0.1783, -0.0464, -0.1573, 0.7863, 6.3932, 2.1026, 0.0855, 0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4aee45859aa14f0bcc315aeac3e9ada13515f6bc6092b14af6d6a050c378d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa68c868458b89f5bed0dff5a448903a3585889cb381e1bd8793808a9118ed0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44ecdbf135cd116967a3ec643ac682fd5da5c5db4889bd415ddf080a1f7cc26",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_01eaf3bfca25f624016a7e0088fa6881999b5e559d810824e6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCXFF1ruVV4e9XjsbCFLM9_aFQOwFF71ZdSX8Sz-lfkh_I88tDT7GvMBH3_aQNaLCcByAM1F6pkajDvWLLhUIUgOYX8v6iowTdvI5wXWZSQxd66pT6HL3bv0VKzZa-Yky9C9eDI5uGsKnFO3Xna0DEzn5leYoizWjSv1L4KMiRpyx0OypnxBj3u20akSloVM8aa0Pqt3UXcpZ3nacYBtnR2_9HorSJeTbqFcDv_wLb9bAdq9Hbqu4jJsX-oLKm8aFZdLas7hCp0WfudQswlLBQVloWCkSb2k4cFsl2qiP-9IcK9rwYA-hlvHyE0isgdk9pHN1mGZD70pdZXNwix21tqdJj2I0TCNHWbpybDiYiD4-MWg1x3XvtTw2_-O9PTTq8-qduYDIcCAM-oqMSygqSHavIyIl9Lko617j_1g8fs7toh4Q8mdyjLLcpJg0GqsOCbFQOhAkMoMT2zauL9dYfnvBOaQeVfbfVrJGqrdRTT_78ZNvV4cLdhK5K31jjbyUmLWS2zOl5p4_tKZ6SqhHs9TONCN7OobEip9jv8vxABy_06hw5TxspQTlxoLTdBO-lkaETLMG7H_-lUBUcv172UGSpSmD_0WVMPJn3m0h0ojyKEWl4wBXeLyhEPA1piiro8iJqOyGY2WmfKgWZfLp8Y-t7tutzsrET1aAVxUeS3RSzB89MZYxk5hhAB5i2xt9E8NnOvp0RNF7n2ImfETa-uQBebbF5NZ5FdeYAtvjVR6V7qouMyy5HrKuuFKGDoTVO1UksPlFtj0200ID5rBbutcO0NqTID16E0DitBTuKnC5CAYWqSSMLJI1Stx0ZJQz7KFJ0SLPFW5BBGT1_yJSjNWc4Npn52OQq10H_jt-eaneUj1HDLEgs-4GQ8eyMyvt8d34DA4F_91YsHOE-JE7eyO9nSiqUdHjUJMDGTZw55ZOdjzEmeKYfNbRO6NeI6CjAcf4pGCRyOq06L-gv7bqx2AJY_5KcAKLp2BXLBpszlejxXsM9oCplK0mKF_PUfqYeEilgd7qJ4B3FidRC6gfi9Emb5QXXkORR4wwpQif3iOwSXSAmP6k8vvU7P5ud1vHrvgj-fmn4Pd9dKrYnwsa0EU1KZuLk0JwdKugwKt8fgXtlR-_yAynbS9QL7Ryozv6UTbew1GJvPeHAJsFsdCd2Y3_ZhJ8Nco2k32v58O5zmnQrVAVTNxolLRlmzc_rbI8zrCsutb7Ya7S56cJpkFzoCbxiTh5gwkPO4TYp7liEHT16ZgsfpCuHrIdP0BEOuhC8leR84BfJnLBeyrYIdPJ9iNKmLDwJ5toUwFOKY5AfTSNrIaiN8X3xJe8eR2Xux08vblz4M9C_BRGwMOvMYzRWnVU4GkkGUWogy7NXaQ4hKtuA=",
  "id": "rs_01eaf3bfca25f624016a7e009392208199bbbae2fa7e162a87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.76,\"left_j1\":1.87,\"left_j2\":1.39,\"left_j3\":-1.08,\"left_j4\":0.0,\"left_j5\":-0.76,\"left_gripper\":1.0},\"note\":\"The blue left block is near the left arm and the red block is farther right at the same depth. I’m moving the left arm to a high, open-gripper hover above the blue block, with wrist roll compensating for the base yaw.\"}",
  "call_id": "call_idTsp304f21ZKRY2SXIf5hah",
  "id": "fc_01eaf3bfca25f624016a7e009595ec8199b23ae8ce386598db",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_idTsp304f21ZKRY2SXIf5hah",
  "output": "executing move_joints over 30 steps (3.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.749 left_j1=1.8496 left_j2=1.3537 left_j3=-1.0428 left_j4=0.0036 left_j5=-0.7357 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -8.8821, 7.665, 0.2076, -0.0464, -0.0952, -0.0415, -0.3214, 1.5795, 7.2957, 1.9756, -0.0562, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeaf65917af0eef6288958122705698b9509c1d098e6137eac0809492a8a02a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d4ad68bf180c21fc2228493e4f574012ef797056193f9c72b7901d1eae215e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81efdfbe87d82ae2ca517102f3051680ea961546f4c0f3010ad4b1c538dd2be7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0017 left_j1=0.0067 left_j2=0.0086 left_j3=-0.036 left_j4=-0.0006 left_j5=-0.0223 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0101 right_j2=0.0071 right_j3=-0.025 right_j4=-0.0116 right_j5=-0.0082 right_gripper=0.9993\nstate[joint_eff]: [0.0752, 1.0872, 6.2974, 2.21, -0.0366, 0.1783, -0.0464, -0.1573, 0.7863, 6.3932, 2.1026, 0.0855, 0.0317, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCmR2NAqciNvbj5S9RL_WNoaLCd6lGj3PRB4tZ3jS7tdALXiWbwcQbFAeRO7nrF7HpdiNYuzH79T_7w3Ru1KH3J5kAWyjwDb2mqRV1msQ_fvmcwlqq8a-Ly79k2sTcxJw7rpi4QhvmHM3iVKWyrqblNopbu1NKpidAFl-7zwG4hu26CgnmjLzKr5ab56LykXrLHh29RnSXnCdKs_ZwRc6rx8f1anXDPqaaKOn174WDdfi-WvdPJY4sB8z0BUif5GvtzhE-5UVuVwG0_WlbPHnoDpym2OsMn4Ynz7qWdo-nzUVqnTaDB3E4yi8bPicNFlyxElmWHkJYfr6pR6h-sWnQh4hvZ6TaaYshxeQRW02oaRPj6MeI_0YwpWZgB_SrhXHY6r-895JfAHHgGg_M76oJ1hhk9T3WYvmEHKufD1nEQlpgqCZb-hBVKCb0Qvz7ykcSm6vLtdukeyFTOeQr3uIAdYZgCyiOkTPN10gO79Prww0nVkPqKhGR-VwDMO8To8BpysVQSlP5qh80HL3RBFOqytFCsACzsPKOpc5Sl78AeHgTV0VMsYzEPhgdWgPm63oBOoKurAtzw1Y0LGZEPE1qQM67sWDJkg68wNoi9jswHvsRHCFi6PpyxNCtEAZUJWDPqGuX_v05SW_2Z2KJcVAxJl2PqszhSpZ7kr74vUeGh9PlktUO1HvZbXOMq_W7datRpkthUoQxzEsDyOsUh2Sh8H8qMsxjwlkvBwZFpojiuYGNwEhgfzJcO6QjDpbZhLYjPE6tiFh9wAcwjCwlrEMekz4UwFFWNrWcAQPvHSSXBM868YJ0CxBzHPEhYV8jvYsFbFvIEfJQms7iDj5Lm4wOTlYkgjloOWd6QfxlqJehjsdscKk01YJaZEQoPisIZtll7rQ0aYOhSxhQouEeamI2LZ-mkXNkx8NGLgI2EVXSGCbIKKyZASotlRGfpI1hWmwkF9cXr4CtWh2HQUtQ3Q-32W0V6xr_KT8g6mZJWIYiYa0z8Z94_9uwEajKSXEPK-nCXz5027BKpabJwFXnRcwwqw5e_tXE5AVWQO7-YwGJtlUQFjB79JWbso1ob3kOrgMVCS0kWTwGv6DVLuro_AT28jW0fBjovjb1kB6mR3KvPl3lLKOiu79YWFZ0qtvjRqD8jg4mSAqHUdRX7k9HvyF6x9Hqt3IKo0pDyk3XDZlDTpQaHiySNwAP_F35FVI0OOWM5jGLq5DACDftetTrw69SooyFD3YV_-O3FzbyAhB-ULgR0mzg3GCryzAMKDpRJmV1OD8UEizkhJFBNavOlJcS4mfz9M61k-DiWNJcbqgDlN_YI_q1dd7j2klYLMd3hJ2dLSLYt7F8CIgu5Wx4MAd3IQWB4YJdBJnDuxmDXB40h5zdUJR4_99RcRT9MBuT5zxoHlTM1q6YHUuE0_t-mN89pR8-maKOK3tJCpequHlYBNHMvpGPvfVHRlEi-ZaT1uysDJBATN_xll1ZZO9GFWlGYbxa6TfwNQNJKgTy9hwbB2ZqKoVNF8ImqoEAkV684v_vLIRPA5Wb8T6-REnv51UuSdC_HWZFicqm1Gf-4eRvnqHl-9LHWTYGfUC0JtqrtUaeF6Ak9ltQlRmaOIUe9Hic319OFYSWHjD6LWQexaRK6mxZZ0ev8uLhtJWjMILiXlu4QbzwSjGWe4i1Q-079EtB8iWXzXgV6k-dAUEk-FisTiKcjpsTXAV40rC8rabBC1ucBDvNnUKnXJyVxNwUcZxMhScBA7DFeFBt6Ogo6nDinbomYwNzAGRWzFGUUlXkT0dE74mXptkG3PLzI7T7Gk4UAobRjfkYgG_OF4mP_z4JZkv9asVYKFo_3M288I_7QrSH26tCjt2DOdBESDCIyc8P8blyhaWZnZ0UswZaSljYoSwcMh_YlnZgdqd-AB5CblhKChzdeimFOaQOzhsANIzAz1PQ9g1LqfdJ1pPCBVJE-N1jR0OnCFBfH7CZAAMoQrO7mr-fenuzYADxo7aXx_9ooKaBSyfMFZc3T9G-24ElhxuG2z8zLyZO6kb6jE2TuweQszFeooJJTp-SFmfkK9SGrhyt_BYVn5h8f0tfPbyX4oyf_P73196fmmyQd_je5FodtKkIuRytqBFHebsx9MXeSTbzJ2v7LLkuQNYRzAAcIhvN-HjXR-bulc6k_KgSeu8yIde-dsjbR7Y3TZh5qAIR5pi0Twac2q6obKnM3ctasULB7hqlUAE5WMdVSZi4NSeBCWHXqCxnl9kLdgVaYcatuxsoSKCxYVn3hsISg8Fk53MkQ3oS0ljWPat-AQtxu8__Xk8BZ4-JYWO4gY-28YgXujBdboCDXncNGQF8U9HqGy4OWOP37A8wvL7r3BEBd_wIW8gMTMhdIEvohXPi0SD6oy5suP9lsu7uprlLS37XiVREOZZbLcU4YyJnvYUHKP6stTIKeP8s_mqGbXytY5IS4_MJV14YvCcMBHh6UR0HKfDdSUZVqAtyQXESrTgyIfEQc2k8tTKwLkS7_0T2sXFptn-b2vOiGns9IcCZmTL430V9-baP4pVJC6zGk7BdTf7_0qKlcXmsxRrazMtynEEQ3kfDHiBTJZ4wUjcTJ8SENtXfRKfOqGEIQg8uMcXpYQsW3LZ0t_HGv6sHOBnN3SoMy_6JZPEbnetlzrfX92rfQ_rJ2udKpdiT-fMWospCbs8EaWSqS2pItJbusE58K9J1kr0WLB_zRlVZiJrc_yG9OnNcRSgOfmW2-gbz-EGnl92Pqu8rg-pGo1ymLhR4Jpj4n2AcKwusxLqBIxyJ1iJ79ODt5bcvMTgezgSBmx0WGvCnW7o-W4qohQXq-oHNVLyKf0L6ftU1Msf3EsMASJLj0fD3oJgiSrrLujiTO_sdR4Lj7UD0KGVsDaWXz94_bphtjEcH0PO3GWyGwg9aQDF-xPzA8cEd4UjvJZlfTHVEEkxke_2TKqZCm15nMDjRhWnNrS34vKOExGTUDYX9qsr6j52t4IdvDJXbab-Nv9Np2_Fng86vA6-BRKvN-aUpShT3JEehIb-BHFuGK2y7zNj7_fwoHHSc3sIZr9pTcoLUCZlothkYwEZRo-osQeHuy55fuA72domhj8kdwSEn4mtxqRX5WhbDSI44MY8J94WZ2BA0XGi8hRJIGUzFr1Fe69oqZxG2lHcTNFgvsv00C4v6jSltRPbCIYqqIh9xmTNNmEOQnRMnpQMN6HG79VRS3YkjoperaEhnF30dnr1EdOBgRejpimNQH8OxVG31A8PSfXLto",
  "id": "rs_01eaf3bfca25f624016a7e009b79ec8199a90a46871522f083",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.65,\"left_j5\":-0.65},\"note\":\"The blue block is clearly visible in the left wrist camera but sits about 32 pixels left of the jaw centerline. I’m making a small yaw-and-roll-compensated lateral correction to bring it toward the center before descending.\"}",
  "call_id": "call_n7RISBnFkvepvoj8rphG9wXH",
  "id": "fc_01eaf3bfca25f624016a7e00a56ca48199a8302daa6c8e2d79",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n7RISBnFkvepvoj8rphG9wXH",
  "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=-0.7116 left_j1=1.874 left_j2=1.3602 left_j3=-1.0595 left_j4=0.0139 left_j5=-0.7113 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.6479, -10.9607, 5.1077, 0.4029, -0.1392, 0.0952, -0.0171, -0.1709, 1.6205, 6.9812, 1.9121, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df816e906173c1c2efbd45d0dae6d3ed4cf60358af48c6e428db5276d920995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c7e6310a52687c2030b1401a3cc9c176bada421948c33ac788bcd4dfa5c95b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c692cddc50720cf868e89b73dd95cd8bc1e1f20d2b909ed2556ad312cd42e097",
      "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=-0.749 left_j1=1.8496 left_j2=1.3537 left_j3=-1.0428 left_j4=0.0036 left_j5=-0.7357 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0284 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -8.8821, 7.665, 0.2076, -0.0464, -0.0952, -0.0415, -0.3214, 1.5795, 7.2957, 1.9756, -0.0562, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCrXWl9p8MO0V_ih8mfwWYZDEUiEbBgF-qU_2BWdDsZnS2aMTjzY0wgeNbxOBEUVWwqONc1Ynpn57k_IaJsZXIK0PW3ygJG2Ygu1tanh7tDwbHWY4ffr2kq-YB7OxsOoRIKlhpcImqUw8LcAN2Fu7RAAD41CavFdE5lTeRLTNLE5KqXyDTuBPHIcRzgMm9lYDzZaPn0aopWTinN-Mx1WGWNnUT9IqnOYyk46lsA4u_F1V5OLg_We6q2wS1byMy97RYbQbgzJbimcblanxxGk8SdRjZLyG-5QD1glXDPyhF02bZpukUUCvmaSVAf0j7YgalmvvpkRzzJw15Z5Vpjh9507DFGl2KVtuYyQoUfmWbs01Xnn55GHeuAw-CggTNJEDtqzJ_cISmtttZHzwSrsgttO2gqDtpj8i1EDso7zTkU7WB5_YOSeaK252FJ7Zwygcf99FWB40gMqr12xT2GZ9pJRDiYgvWJtK_d0sBag2DhGp7jE869KCje19nJ9PfHkJ8vmm2_XDe6Ma83voNxmwnMK8l0YjQBij5te3p4GJjhkOPO88UFTysyrAE0UbjHB83sY4v5COprVCHxo5YKXNFsqAN5ZyCrfArpOc_qbmMqjvPFypq2Tfeo27B5h6pAS3nmoBeISiUWrUGtDjByQRnnuy3KckgkVd0MEIax5XhOrcCJLt3AOkjUJNzXrwNgXU6jw0CP8dOfBK4ZUEe10JebF7p5B0DcvYQfdeffSyzJyi2fRpwEVIaPziz7JZ4Ki57bJnKi4EiAYFWCX5igfrFHwPiRoEiQo4H6LmUd2_eGE86pJsqluZWM0GS0jvIOn8Drd-b2BAOJvO30__BYCrW8-PLuzOzuBCxWhuDhRAjm9Tf5tJgYDKrvFFE_IlVjRRhvgsMzqzAolix8DjAUEwVJLzY29-drSklPf2BAw5cGvp_16aP4DSgiXe8mXtMk5BqIewJTdfsjZCRIbtwfj08GcVm9Q-0XbKNKAP2VQPbRnZiogms3G7Iq74oS1VXowBAsojS0dq4ALP1yFq3_vrd67OorMZLDZHY9mvfReFebXgIZfD00acAu7kY34URrBICh-v03BwxugtnCV4plC1Cc6OxzPg5cI23ebqgRzUT-_JUA1s7Ct2SSrlpE36l03JXpcq65Jsn2CRbir3gRjgTLqLAgfMQTSjA00CsvPoXtXYejV_yclU0C4VC7ZXbZ77MN9F6BSYZy0GchCzrZPhp9JTAxjdOg2TUu7rrulcM-TLg_nmJLnNuhkTqXoCsYrbvVqraIfjLyuqkk4-mnIPtBKYTDJ_x6TKA9z8Lq5KDkpAYIADkHsP7Ndhh6y3TUTEl54h-QXhGYEuzUjY5atVlL1A==",
  "id": "rs_01eaf3bfca25f624016a7e00a7ede48199b3f3550929b93e1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.81,\"left_j5\":-0.81},\"note\":\"That test established the camera direction: increasing base yaw moved the block farther left in the wrist image. I’m reversing by about twice the measured nudge to place the block near the jaw centerline.\"}",
  "call_id": "call_18lk3bqYwsJiUIdNECbtwN6F",
  "id": "fc_01eaf3bfca25f624016a7e00a990dc8199b1283ca46ecc7663",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_18lk3bqYwsJiUIdNECbtwN6F",
  "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=-0.7254 left_j1=1.8755 left_j2=1.356 left_j3=-1.0542 left_j4=-0.001 left_j5=-0.7334 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.3726, -8.6359, 5.9692, 0.1685, -0.0073, -0.0904, -0.0171, -0.1709, 1.7436, 7.1726, 1.873, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee5c7579ccfc769fe0ac606c5e5eefd4890d27e451afbd24658b061a7e8ec99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ca1ce3f132841545dd800f6f3278450cea1d2823e8dd57f6799acdb09736c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cadf2b2100ad84392484b7c5356cdd65c4cd4af00805a473b1ca7f73413e619",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7116 left_j1=1.874 left_j2=1.3602 left_j3=-1.0595 left_j4=0.0139 left_j5=-0.7113 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0292 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.6479, -10.9607, 5.1077, 0.4029, -0.1392, 0.0952, -0.0171, -0.1709, 1.6205, 6.9812, 1.9121, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgCwkFfzjVi_HdWv7UTlcJ_NA3tw9hcUzVm5kXnaN_pxmHIr7FOGNyj0Lfb17UrBN3RiyURMS1RcQiBDyISinvu9wAk08AKf0NrUFg8eeZDT3GXvIkEhsIifqFfG2n0-maLjSKze_jpdD0dCuL6hrbtD7x8hs7Tx3k5yAXRscgEKW2MvT_s2Sxe2UEdospia-xqb8EzxVllT_PSU6fkz7sw69PyXJfbMaHfTJRO1DbBtkVuhcys2CVdNJE2yv4aGIliik1E9Ri9Zt7Ua0bI3JzQFzEfM4laPt5RXhIwtLjbhDkflXb3koL97nRKB_pUP6uwXUC8mbdhMGMS3tUxbi_D594JB5m6sZxAeYC0OSXEBGNuhRpGlYVcDafMYV3QtkXOsxR8miygC4OkeAsc5InWIp5UR1CmLUliu4Gd6U0bgMYzEdmrwzJ6dRsYawtjZHgGzaYjOvvwIr7E3Opm2tu29eHBOXlBccKX_CEtvmoH0VuugcTuNmD2UXPpyKp9r5SAxrzVI0mDhRE70kgtmWBhiV5zsgC9YGM6-NYR84Q_VyynzQacdcUYNJFR1a8nO1pksrzHRLkmGCgcIJnMG_iiEd5HbDOOk5LKZUwzvyz62_L-pnwtsxqgmBD4FjUFtx_jjk7sSFdSCXEj6akucR7Qyy6CIBDMhf3ARkh3VxRXXlJ5P5Gn1OhbKqE6MmpLxOm0gRdxyCNftWbRaYNoZ83w8J1XyfkYfZXsHFODSuNVdbqKT_Ss7yxm75Ytm6hzsNjqAYihKkY87CFZ4r9Ain6t5osxxUc0-b22gUtMQVRebVBRygp1nP21L1pGnx7EA6IYM5A0eMnKWGkznykvfEOevir5uZU4ZYsf3hhpCzm7vghy8F8_5lrDgP-xlOlSf-U-8dAHm44Pqn4bS42axa5N3cNp6XXsBYu5Unlfrv8fvUda075XtOA3Bv9zrjmYd0FWovaEvmjT1JQUYwVFlKgPq7VYMiDLk6dJR2AvN35pAEYGMFJhJTDSa0kZbsg3TJXgEDFou-gKPT7Cw6sYyo9r6Q-lctc8vltDf_1NbIVuFXxGzPsXF6EL4RGP1BGLZpd4FN0oOwLEFd-jBO_yFXoD7x4ETOP2E9FMl0XOnFCySo62uI3igCF-h08R_tJwI0mWrxvOJQ_8WSldpaQjoLOsizQPYJGjXipv4ho6TRkRMX-0=",
  "id": "rs_01eaf3bfca25f624016a7e00ad69008199ae0b8e1ad8393561",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.77,\"left_j5\":-0.77},\"note\":\"The reversed correction brought the block from the far left to about x=88, confirming we are converging. I’m applying a much smaller correction to bring its center to the jaw axis near x=115.\"}",
  "call_id": "call_02eKByOxpRwl0gmhHC8h9pXC",
  "id": "fc_01eaf3bfca25f624016a7e00aedd708199b03baca98b892010",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_02eKByOxpRwl0gmhHC8h9pXC",
  "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=-0.8089 left_j1=1.8755 left_j2=1.356 left_j3=-1.0584 left_j4=0.0257 left_j5=-0.8055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.1009, 5.9009, 0.2613, -0.1392, -0.0757, -0.0171, -0.212, 1.6068, 7.1179, 1.8926, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60b10ba3b05c888aa41af8a34f5354049f37279f86e9e630b0d88ef1978e1bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1990d2c5a2d018bc9ffdd4cb2d2082401fdf3a8f0fc48f8236f5d1aec661bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba6d389000d25a3952e07bca38f63f09d7fb42bc1ef5f009fe61e5f82393817",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7254 left_j1=1.8755 left_j2=1.356 left_j3=-1.0542 left_j4=-0.001 left_j5=-0.7334 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.3726, -8.6359, 5.9692, 0.1685, -0.0073, -0.0904, -0.0171, -0.1709, 1.7436, 7.1726, 1.873, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgC5CW1nO3VBMJWK11XmPIuMqNzGSMSp1Apjkw1zNGEpFIpWDCJDYP8mV45HPR7WimxvOYLvDFXxlz--oRE3GXB6N4ZSuWLKeQF-96Vbu2q_DLKz_xhFu9Z0OMwhW6MIwXbrnEpZGAUgZbOWPeFc2XvglGqGfI0jTAYV70_IQKnwYOMDAO1KyPOGHJsahK8s2hjKK6IFV53yHiscJqluHx2NfCM9Mc35cYnFEawjOaD9JuQgB7JdZ3fAvD_s3hE9Rq3qHxodGz6c6x4yXNRaCOUqMEvpNXFW4ibVGXmjZ4bV6lMJPCnz-DuXXUWz21UxfM0-e2l4ZFoixE4CAtAIJkWmtK0oWohL_z3v77R2v5XO9b6I02lRXkKia0_eDHwG4xZyaqqfTsmbOzOxrA3fAJGg_yAr67mpmcSjgILmbFYGg2W0IwUtP-KpVdX103FlwQKD-J72Wtaes4CGYVIRXftemC3hTl3QdeoCk-Us5x2ZhgU1UJ1xbOCgo9WuMVkIWbXjJOWrnRmMp8wPM_rYSGUll9fzwN9Fty5rELVwBSlOBhyFCzlN2SZnXKNW9GcjLoLYjHBJi9dzAXFJOSVLO_8UPECygiWakEkmrjF7nFH-BESwr9_s3e9bRthbC3DJeIXZ30t9DM0TzQsUKOBKvGsxC8azLAtljgqKTjMP32N_U65vyNczdL4-Fpcw3pYMTjmTX1rvjze7ps4NeDYmdobbVO8is8AY5Mr85AaMIRc8wjSd_JpqM_Lvp7X8nidyRruklQkzFIGFv8QvYavsWtrQpUPpRpFr9nKfnlKchIX3h-OpBK4v2_FBxkbmf1q4z3WGdwZ-Sao8GpWE40ncBmdWq2uF8y7Of5Aqx4ecYTvKSr7XDYPv8myGGLS3YtveNtE29qh1Vv6K-CS6UtahH-IEfJ3WIv56QOf36Z5EviUnyWaKpNABsdgx8zcAF4smR1HLowwJ-fkSs49rjdkkWPABJhNaVk4InIIcT_gGS2r_DuW9dl1HHhZ8FnUQSzCWj66xGwrIcuWV66O4eUmjen7mVrpa9h89mzQ49PftT6OshJkHf2x2u83MC2Sietfsk8ApntCqpt3wW5bRP84OJzzLjisXSOjAwVHAKZro3YNB9097z5t2ZXUVynViRuJTy39st7DnOqkEVWoLM3pVAW4_aVhI9TQZIjM_ArPy7RpoIf4nkAQ9A6Ot76uHBmDMibM26BL8SuNSZTKB_jLup9KDjcmvAwuRUlIzJfPL5hU_ou3ywgxNNccq3M8-mQhUEk1T_XJAasQ9MSBqi9c1uJboyc6xGcDT2Df8yNkMPtkAvBr71m60lFs0gS5wlRTWaVbpFnzHb_Y_AuZF5_uYMn2UNc17duBzAwdnDCT_CbTbXWDLT8JYdskTBPYB2xnAr7fY2AGcoCXoXKQPWCNxd9-7qYzbbkv-pn7-MyKHQTormZNX6OxQl1dfzVL9NTwtaHEMxSyAOkWWuBrI1qreIIUCK-jlz0wIoPVBX5FPOjk2UUbsl_bQnRTi-zZv_W1MHmj_S6TAAiOuXClw87-sHAxyppK9uLT4tZusMF1OpA_NxOUAEwJq-V80MDFDI7u1MsNiObEm-uD33HdA4hpviC9A1DmollqNhNzsdEqVvCYh9SiBiw1LCuXdGXPttEY0ux9Ht-6SvDekanhGwf2c8izeeZ32GLPYNiwfuyRU9EmfRcYj2H1ZdjNL9qwOqvuSAyU9kYbblt79tn633IUAhl4wQMqonyPops0VTr20EYK2y3j2A2WfDRD6scPsNPo23fQ74mLI4hPtZ6l7TDVNxd5bo98DGtMvHhjifrqXArW8tSqCP6zUG49sw_LkY4YN-Nlm4HD0QFScHvMeD-4S5-reHmUagIZwd-C_d9rN8ewYI0zig70kwfQPxBONZdmtcAOe8SkuTnkwn2fxWZFmyjEewTAFvaGCUqKAHKdtCETzEjfDzbqaSAqpWn1LB2aZPmqG48AeCnE8dZiQQugToZTvjpbJ5mp0mdll7P4H-cvunvIEMzj5T6eQi6w4yhidwZg_t8U_O77gwzJe-rG_vZpWrdSL9Ey-Xz6yNMJCuk08HI0fIHV6VsdavHi8pHC9LCzkNdyvARTHtX_2y9MI2mwlj4XwTn6rAyEMHMsyPw02V7M5U8T0KsgjBMibeUA3MFrN_VTS7mJ01kjO8j3excj0g8B7vaNne0hZkxsP09_-HYsp_ApJUuIK7paolMnvzbjNTl1_ndiJLHcrvIjz0kKzMwiOUNNH9isKTapkUvna_txAxyZi4Owx7niNzw_6HhR5cwzgoNJu7LNONYMX26jsmLbl2zyI4181kjpnjLT_eYj8CkGAjoC_syi6nlDKq-ZFokmZWrs4F6FYYliJHbptjg==",
  "id": "rs_01eaf3bfca25f624016a7e00b3462c8199a8f40da899856e9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.73,\"left_j5\":-0.73},\"note\":\"The arm overshot the small command, and the block is now only partly visible at the upper-left edge; overhead also shows the gripper displaced to the right of it. I’m returning yaw and roll to the previously observed near-aligned pose before making any descent.\"}",
  "call_id": "call_e9Dlk6Pdc6MdJWYqh7C42uEd",
  "id": "fc_01eaf3bfca25f624016a7e00b86f2c8199a749723b91e3d487",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e9Dlk6Pdc6MdJWYqh7C42uEd",
  "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=-0.7506 left_j1=1.8755 left_j2=1.3556 left_j3=-1.0607 left_j4=0.0189 left_j5=-0.7666 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.9915, -9.0462, 5.6, 0.2711, -0.0366, 0.2271, -0.0171, -0.0752, 1.6068, 6.9812, 1.9072, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea206ab2125a137d5746379113e071e568516e7aa2e0d037ec2c24fd183a7d96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac1c6754dd73bac47a096d3d7c2b2b9fddf32b19b503f3383686e3e0f1e5eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4adaeb60e743c7f49674a56e6820b26f2b59ac0bac5390d2e84f5749b96e29",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8089 left_j1=1.8755 left_j2=1.356 left_j3=-1.0584 left_j4=0.0257 left_j5=-0.8055 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.1009, 5.9009, 0.2613, -0.1392, -0.0757, -0.0171, -0.212, 1.6068, 7.1179, 1.8926, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDFqnnYzK1EFoqx_XxrQj7ZysmG5OYV2WgQgzDSriqGwSWgWRYbYACu8xakhOyiKQdfvKF4rrVQib937t_bI31JXuVN32tZuXOjfVPpVd0zF7KBLnqG4gC4Az-2b1i8-d9L251hwkJ6Y3yHf5itOttZF209rRO2AHAC380wSPSg8lTUCo7cfh7NinYrMKxSj6Ws2xoFZxeroHzoNiN6r5gLDGSJdksqb-4oI8qHt9V16FC1tjRg7_Y8iN8igDyMrZGbf79kF72Wf7wJ2xXCHKiMdcNEc1xnjieP_rE8mWbv8knEFNadJjmSXgoBZNmnTwM5aixxjKwapa18yrwioWWXiErlc-xOfeygRw9iJmjr3_bMzSXDlgXuj18FH3KoL_btq2v91vnZl2P_fscVhLc8Lp8JLbCCsj_Cjtq1gATh_doEkJMuZozj2za6KTpPfaf3P-Rumkpq9-771q8RxML1QPhgK107wei_yzr7UUe3dvA3ljel7eWy4G72OODaBX-cWTycknbzmpLAiNn0CDEHQ6rF0lMDuAOrVlT_H50Q_s7g4WPHAYc2DpNs9H8canlWyyWe9OEZqnmfquIbHHNGGhXUEKVl1F9P47zPkLJsFvwlnbkHB1Rib81TfcLy-tqj5xhbp9Jd-s_dZPmeoySf27RpBYDnUduZ6Z5l469xc5VviW7u6C5TGlKcZF2MwQIhmNBMmDj2bBqbuWjSBQJKeFVO7rkk8XoW0oBXNEaTrZf_H1PT2x02WZW4toM_6CT5kGH4J4yqx5xbE3IKWzD-VjTTBWvwRhFkoNfHscnd-SeAZvhaYfM-WiJmxsb11RJywi9rbZJKU8gx10oR0SOOo39ED3H3ro6yA4yT4qvoSjdXMdp0f9HkXxd3g_o9h6vS3_3Gwwu6zs622wTDTC2wbtjL80GLGRjH8uFCAHMHNHl5nxjvdNVvqajdHDYO48wvjdrP6_ttycXDLnU_eIJxfFyf_mmWKH0FSdF9PdKAWCdaf3lnwhTAWjCTApEgzetCwqZuwo7GS-eP38w9OvG4cxrrb17r-Fn--uei7iBbgIk26egbEfbwVh14l_49ORSTqeO01AsoYt_YMOE7kQGC6BINzll_GVGteh-qKRYTvA62gFJ49EqnUI9cb_Ec5je5ewns2ah8mi-7My-KE5G7z3uNAt6xiBJC0VRxc_A_JITCLPE7Gv9tGIKKM7vnU26R5akz7g1SoimAX6y0bgWz1zP5O629WolgYDJMpgaZEniOP5E3nvJf6oAHmR_bx3Y8x0KYg7l1kp0oCdbY6m5BJocAxbr_zpDVi9ZPB0mQY4EtTUFd1xfgDgD1ndVmH8KikU0crc8QP9Gm6XFcKIRvFHySc0ijMQtbAtz7S30rSLmj-QmZJvCs_fhcZ4h6fXhmin_TswGYNha5fxVvVBDvjbiidP0arVZnIelISFzIoZK7gHGp9T_H9Qzi30D1nIN7OLCvfxGtSina9O7GlowXC5QK_8dnSqiSamiESM_3jIlNIXR3U7J2i6Z5zkU-rP7oSSfmKi6i4F4eqpdswKgfH2zpSshIZLIbe6X5GyvZXeax6kKWSaypNuRy8gW_t6EAT21YVy8uaYnCRYBFmF_hoRoz8ShDQ48I1No_mjkaK6HpZ6sCTiDsOLSaubx4gUyGV34bBdM19r_KCa9-F233GvQU65qGoRqtxd5nsAUe3QCSqSanRpL34DdFlOKnbDjVzUsr2YYCQ96LERvnTVt9LYST0P4GsnKL9NRDmILIfq-WrUYAeDG7wMu4o2Oj-M9qcDM5FnWtqTKOj_TNn3Njxwu6h0qjWM74enuaFyQAqDXeG1Yg9SxFYoSkxYVHLLCMnwUj2SJc7mH_EsEwXiBf7JGXXQCTCnMSqJLJsWXc_OcbWnPixjsOgu4VTlAQJOT5Fz7kxdziMBbFcXxOOz21n8Y30ylK-aQt3Z8_nlbIO__BMDS01z550i9tjWXrLYPCZiY_0562Axzvnti_w-tDdPEF1nztaWkahTkEuYKKVmVYVXEIawtuxa1nh1yM-1y3w5BiRZIt3aJtt3X1dDQ3J3hAOc9jYe7lwlvhwrfpNSoxpqglnERr3tDn09OyztHze1nv-GdQJy9PoPpuCsSMjjX40A_3bSZLXhkZvi1LU8-42wQevPMiQ7T8eXfau-74m9dHYQl24ww0CE3MJpUCUWtEE8t5QklGfoKOS0ytos8rYuhH8pEdvlYQ9dgXCDdiUh5ARSBZDxVX9bk4RVQggyzEKl692fh90c79cQtqRuw=",
  "id": "rs_01eaf3bfca25f624016a7e00bd083c8199a8b24bcfe0c2af13",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.75,\"left_j1\":2.02,\"left_j2\":1.60,\"left_j3\":-1.16,\"left_j5\":-0.75},\"note\":\"Overhead shows the gripper centered laterally but still roughly 4–5 cm behind the blue block, which is why it remains high in the wrist view. I’m extending radially forward at the same safe hover height to bring the block down toward the jaw tips.\"}",
  "call_id": "call_1N1Ztkz7UIsLB0DudFUGdJb2",
  "id": "fc_01eaf3bfca25f624016a7e00c39cb08199b42b253e3f415486",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1N1Ztkz7UIsLB0DudFUGdJb2",
  "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=-0.7521 left_j1=2.0033 left_j2=1.5581 left_j3=-1.1366 left_j4=0.0265 left_j5=-0.7567 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0311 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -9.347, 7.4188, 0.1099, -0.1099, 0.0269, -0.0073, -0.212, 1.9077, 6.9812, 1.9316, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02159260a3fe11d3e5eeed5f5a39228c03a3191527534a022f3165dcd3e402af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a345b340725f3bcd4d88736a09fa8280e24a5355331880059f8ec91caf09c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffc90c6292b38ab9cfbae2fafa19756d05784a566e3fa3a2a3252f9b51b34db",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7506 left_j1=1.8755 left_j2=1.3556 left_j3=-1.0607 left_j4=0.0189 left_j5=-0.7666 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0296 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.9915, -9.0462, 5.6, 0.2711, -0.0366, 0.2271, -0.0171, -0.0752, 1.6068, 6.9812, 1.9072, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDNTub_Ua5CBkZkauMrqQRLksUDEPUddDp6KzH0Ly8iFyqT3QplpdScta2nIjFLZXXRL6AsTk5CbOG9l0m80O750-MTQVdBmzFbxMDpgPEiCp1oWrzJTHRrqa5_Aln4M6_dY6mI7USnZyxn3yOJi4QnSnv1gCSYX0plyTBXm8xh7vuib6fi9-PvyVqtaWHC2VZK6mP78DC2BctAJ2TVehQoED3YmQFMgWUQdb5NrGX0B60OX5HE7s1TybXRm3I4oEp4AjccFxDbOEDNeSTy9NP6Aio76Huw7YBWrsKW1DVQ01PrSXc6cKXFm-3zsWYNs8lVX4SoYZRjj16nRcIA89JN1xxf3KJSLmdhK8vroeW-mJiQ8FchWJCHPVeTt8xs9oDjE4Mxqd4gXgV8MQCsTnQMe2_RC6JshCQ514A8b8z7CM33coTktKSUnkpCTG3mEBXQ9GPdYeHEzjp3aBnh6rwgODM4_KL2afB6q20DtG5GnLTrnbTo4g2gB_Lmsp5ee_fsOwdOIY3gt87TjNSPgqH_i1wt27Fag27L-f5OFF2nZnR41dZyrSWK-tcqHGW4K11qh-goF3MirWZCWF7OynxyIOFyfJ-rI8m18oOINthq2kqCoFz_lc6XBIvRtV-krwhITJGh8GrEkludeer2r6H3udYJcxUmHGz6ohpHMj7NFUQ1SR6ph5X3hEXEZrEqAFWfMTlrp-QbB-oQM9V9-fUJj5alEn_OTCFp7G-RScMzwT5fuVl8QgRgp4CKVQrj3dQS30wADjoKE1eVTPB_nA81cy9wGM_HO3Nn1TetwtBZ6T329V6RKFxuDO_qJyCeMqCWdkWv8cfOC5voOVblNnhfD7VhZgb15pUm99evpM2loXxgVx4evwGshFkGJW6Ju6J5fSZLnZJ113hlQKUX3ucoAZOsC9Ec_N6B-xD2e9vum6b1YMQQ7XmG1OxA-sQF_OFtIyY5d7j1gxuXpjVDyno5ClIdq7xmusUjJ5Q3GbnAYs0Wu9R22n4mhgiFhcQnFFLGGpGGRSwhu_qcn2f57_-MNKcY1-TcmNvo_DiNrAuLmWiMx6FXEobpA89DJmE-wLIBkhoyZ31HqZiYO-3w9N4c1ggRagYzs8Euf2Mgde4OW0dgFiWcbEk5HLe59gFb9-Snk3tl114w9uPvPC_PD-bWxx1WnBcQRIRvs-1wpGmvhORuB6OlB_mfvWP5LBlpe79t6If4WPf8uVXumogFGO3wWS2HEngS28f1JzcS4QGBVfGiMqsN6TtGQ1eDEBZyJ2QSyYEJvhbOPQL0fKdH9ZMbetjvmLktDQZ-XO7QPkagEiJCTG37dGqSMo2lVlUARXhaXO94hVIJuf9rIv5LZk5L52Wz2UdT8hf6XTMzPdgZ67BFRE-qI6MAUaU_FKIcR8t7I6mwbimhsw3HeGIQ6HdKa493g8_WqeyuoU0XTKnftdCRKy27BhfJeCivAzScA3-W5ZqxctmS-aPwljgt0XiPGC_oeVlaMwiMIy6gsPik2NQv-E3hfTZecfsWAxKHMvgaAPYYvSa7uux63Lg3KB73_4RMA-UB75Y0JxTDOryXVDW9IqZLR_njYZwIoLqVaZ5-HdhqDWbC_FYY4N085lqwWQlDoL73cwacEcOCBR4L6h-h1_JkWuTYolNFWjjELwTwsMKEzB4Ke2kUGOnnkiMS6AoVMIAjHAvCESgo0Ufo_rJ8QviiolVYI_bm003vzeisQna4uHGA6RbfCJLhxcWi8YJQHtE5XrBhqgu6l2JP0BlXsR-P8W7HrqG90w0YKQ68Fqjh4RYj7IazmgPwHT5FJlZigqDaNdSfSE5yJ-WqToaxB0xJsovkVeObmVVGV08aWFsMi0Xt0bWaxjWD0rELq_4wEYKvh_ZZG8a-Ri_kgmOsY3BvIkAlwXWS_livSj6I2clfg6Wdz4LNI01awTsN1QqAmK8NGouEM4_DcTCr4X80V1vhUfNlQTy79NMB-kYTp-3VdAKvDuhVb5gK5ReA9M8FKlx5W49UsHYP8NasQc8=",
  "id": "rs_01eaf3bfca25f624016a7e00c67bc88199b39b0a0020ed8097",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.2,\"left_j2\":1.88,\"left_j3\":-1.25},\"note\":\"The first 5 cm extension moved the blue block substantially downward in the wrist view while keeping it visible and laterally close. It is still well above the jaw tips, so I’m extending another roughly 4 cm at the same hover height.\"}",
  "call_id": "call_Xxc7vAkE6n70L2UsCFv4LaXc",
  "id": "fc_01eaf3bfca25f624016a7e00cc98208199a04f2bdb992986aa",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xxc7vAkE6n70L2UsCFv4LaXc",
  "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=-0.7517 left_j1=2.1818 left_j2=1.8397 left_j3=-1.2377 left_j4=0.0296 left_j5=-0.7605 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0341 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -10.5641, 7.6239, 0.1245, -0.0024, -0.0024, -0.0171, -0.1436, 1.6479, 6.9675, 1.9512, -0.0659, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2eca872251aacf332dbd5858f6233fa7167f785d1c3f27137534fa0d96845bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8ad94258401aae6cb6b3fec6a61605a2dc4f00bd4ac79b80a919b9c174de0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b578ad5ae0e63cf1996f925342488b4bf51cbb369a9b490f94f67d143eb72186",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7521 left_j1=2.0033 left_j2=1.5581 left_j3=-1.1366 left_j4=0.0265 left_j5=-0.7567 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0311 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -9.347, 7.4188, 0.1099, -0.1099, 0.0269, -0.0073, -0.212, 1.9077, 6.9812, 1.9316, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDW3yYyHhN4uxd7JpAe2SPjRzyGQKvOVjFq6M7hGtr6F6NK8KoK2qbxtnKaSl4lHSDbmfmKD6YG4K9MT865dhaToDEWTq-Gb_XqoQv5c_T16Z0iQSjeB4ul7mcDmdfYsz-XSztVd0c9Txy9QBTjY28Kjn0RXPZrGF_nPOHGDONMb0WZOJcoxmVYLBjUwM8HtODpo3xbpraWZeFs77lfsldf8LRfS8iPSniH5mhkYN-97fa3Bk4xcImMTO_4MH_827lBDFcEvNwL6zOeaOrixxWmyjTCf3DQnzueqoKB5v-0wzNN_SKwA3-KAjT-M1rSsDj4U1dy9iCunxQ4Kf0l_iYxZelLSwasL1CVT1D3rfJ2Z_96B8HgA5y-7YnuD3nnZSAN75vmKF34vru8Lcq8_znzLfMLtXv1-_UmyBaWvyL3zXuPfJhTcsvrLKIAvP1BmFJ8k_UNn8R9Uzem0eK8MM715PsXfY3F_N98yfc5mvqz0UbpawM-Q6Ma9GCFVUXCjiskwMY8N4bq57PvT5uoW6AkEGYMiJ5l1rI8bJdy0PP8T7KX58gz-Pu4XcOzeuhcRY8JAFmmtZW2ETxvVvROULUtpNBKA2NrCPPKSdjv8WL6OvV1zlgpKS_CVlH_Dl-Fagl6R4exuO5Hvaz4K2hwL3lA_uG-ucp3diOTfixr4iqxDWoBa41PtuWMAMi4Tj3OV2J_Ur3TseUL41ponlYVs16EOgSM3MoBDYVk8XDV-0wyIhaLrKMAgr6v2glzBYDRoqJX3K0M4YwzYRjehF_HxgqnI5sQQhtdGwvSgyxJrmjpaBseLxQ2D7-b-nJ4aESDpq4EddK8t79-fPcCBhtBa1RQitIy-_PimOcAOA6cWFCz995q4WSO7N1ieivjLVWLxlBnXSx8noPd5-5iO8tn9QeF7ZlLRx6C0el-ytnoHmPmtkoEymi4lPEdVGKli14eyHTKK2qOTB3AclAlSWFClYDElRjNuwPcVsWUla7fun87MGjkUW_Uqj56d8at0bRsI8hUimjm0fvDeO8D_1k2Iv4RyVE-yTDykiD5lANiG3-ga3cC1s3RgJw16aGeHtLzeF3cjLkaJcF2VQUtOBCZc20ZP0Vz_YJ8iS_W8hTnRYFJlxTXKIbqFu-8T7ZjV1nQcDx1Pvc1-fc9Zqx-5-wGlMaen8XUkern3wxoIMsseKTe--YDShJOlu_V-wW7H8d9AQ221SDsp777r1C-Zu6ZZNGNoV0bWpkGd_x9Dvn9A2gIDpca_eG7flQc1c3etKBxlr4AZI5WjHGYl4T_paGVjiIq7scDICjCtL-YAmXrhdXMr3xrGNsYEjS-YPdd9IwNldb7HTQHVWryrBrbpjzCqdr8k_coehiEj5b8wiOlS3nfmmjKfubSYYtD8xbGgb3Efw_RSZvqbBGhUO-6luX4e5M1__Zt02JDWF8IznqGLVGA8wUFQiykEN1AxgHRNSAO_WK4XraoV_18ZdGj4RahTgggCH4Ob2EvS7Bs9ANtQ7gc75hDr1Db29Hwy-k_dujP9oGRTk4zWGGzJE_LaXUTqGhOmsX5gTJKf1ubneT46-0_S8cijMj4tkQrOGLEFNpD2dU_wWxoR5iWuL6pRsgM41ombtQvGOV9lQsiPPjV_7vGUKbgaB9eqLFX_TX2hIHJFr2rvu6rv7CbYgfIhDOcSr6b8X6pjRQkUueyrj0hzE2_6d16kJmBPTD1SeMHfN3ftSnADGovN2c4noB8UxjwR5aREZrp22WIx3DKrvSjcYUKWgS7q6qTwsQZspDaEiphq1YQnnDoYi6HUxowyMRf3QwpQPooaSBcY9zZwb9MQJyUBTocaqg86-pD-ClRAt_CItIX",
  "id": "rs_01eaf3bfca25f624016a7e00d04454819980aa827f0d6e244f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.55,\"left_j5\":-0.55},\"note\":\"With the farther reach, overhead now clearly shows the gripper centered between the two blocks rather than over the blue one; both blocks appear on opposite sides in the wrist view. I’m yawing the arm left by about the measured 8–9 cm lateral offset, keeping roll matched.\"}",
  "call_id": "call_CXhhLKhtZFwPCd7CZNr7RCiM",
  "id": "fc_01eaf3bfca25f624016a7e00d47c8c8199a37536f1263331a6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CXhhLKhtZFwPCd7CZNr7RCiM",
  "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=-0.5617 left_j1=2.191 left_j2=1.8439 left_j3=-1.2442 left_j4=0.0322 left_j5=-0.6231 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0471 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.935, -12.1231, 5.3538, 0.3004, 0.0513, 0.188, -0.0073, -0.1709, 1.6342, 7.2684, 2.0195, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8d05fa4cdec85674b668eadf10a91b786db15d5386cef3541a34daaad98b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b065ae006149de5e343045455d376e3157acc6d85562b4fcd5a35e5d0a7f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e31a267d47c0ab7a99ce77612caa2ddab0d945f73cbbce814463d3e1b3fdad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.7517 left_j1=2.1818 left_j2=1.8397 left_j3=-1.2377 left_j4=0.0296 left_j5=-0.7605 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0341 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -10.5641, 7.6239, 0.1245, -0.0024, -0.0024, -0.0171, -0.1436, 1.6479, 6.9675, 1.9512, -0.0659, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDgDBXx4tGByriaCNn6S0hyYN2pKzcQQ03pfAh22XvbcTJlbEzmPe4oFPA9CTDs5Ev-HAL4jqTWuiACJD7IILpAtT2vqA_Qsv5xibovK_sbwAx32WNC9aGdo_njrN_X1XjsoFAS6wZ3DQ7XS3oqB8qNOXxxOBVdbQAq4JWGv3lFkB9cTMvI_q2W25y3jt6wwFb61M1FZKOjfXN-4lgArV-yPZK_rFWQqNeTZ9-t8B1ilqJAQ4hNmV5F-vtvnyRQGOz2qLhGzeXqmoiasWsPw8GZTS65cdAJCxTjQiAPEY4HsiGPdCoO126-bp-RalujBpQZ4mmtHgnBL-YYny96O5cMx4JQCc_zgUaElnfYw8QALu5YCpM1i4WRLAPETa9xT8yUWhXke00nHA8PASG4wTklVAgJMFGdrRjJUVORn_II12U0kOCtTpf31DLndKFA39jkGa1gsdaeJth-ZwKHesIJYe8IIA2O7RCwnR_BLsRO__IqUXXqPZHpFNpDnVbtIVGF_YDvqaUPP5V0wIvUmGW0Hc8ADE1tzsKHeb2qxi1CWU7agENa4gTxqUQyrj5E9Wqf4Gq-IMpR2PGsgCQP7c7H2iPdoLpTzmQkKtQaXpGBimKhKY_6vMQDfhI2xvoX3awxCgMUsonFvsKzM-_80z-EpujbJkCdP7CvonUaY4_2ju1aE5ADw-bAa7Lurl4fJCM6zt5cmcep15nuOFNlQQEzmso5RzDWOtGnhRwNtYzRxR502C4C9Js_VojX4840G3P9ODpJwN1ePDCSMXLbkJmFaBXGp6E7X6cFOMAoIhY_j8sAy4Kf-pecrZhWBCbJ6qL_Uh3gPr1Pg9UfWX-xkq4Nhz_3LAWno62--Sa63weN-NGioKRfzi8yvH2LApZj3_6npDWm7V34bQR3mHm3GOZqdUNd5qBGsqzwKj0_MUNG_MEp82K6NU1k4Tvy1Fx6EFDgx5EixSS8rkZvuoxCw0aNu28XGDghMj-n5VyI8LeeB3qcm8ZfBup44pEEN6yl5NQDUUTOeNf5N5wKRmgTqZfl9YcHIHWaf0DIfS6pzAEYFwubEO4nT1oPpzWtF2aiz9XKufiUJjaiFk-fu1BjHGyYLHPuugKFe_yOmwTrowHsZCpavOhBUa2nFbEMbo9hrXxe7g99HUS1h5nO2OLGlHc0Ya16h3VO2zh_-cjUGGgyF3I911_bVdVg0CLVkYW8gSwfH5aHxtew5V6cfiEK8SR2p__A66ijLJsAWKYkVuNuFv4JUCA1Sogs8WbhpAHiMmnqFoiQL0FqBB7GMmDfTVBCs4FVENrT_7rRyWyenGZ71kwHPOn2rJCtIulvQUo7bwg_12hp89_gGD6UXYqhv6aifdrRUk9lTPj9LT9LbAmktXr3X4ytMHhw6hKYGW5OBXEP35XNwLHMW4-3JodmE9HKMSCXSyVBMJnLBy5JQk7jIs6M8RZ-isGsnWY7SIqrh5spxNNQ0cEJhWmSIGpRKAB0FQ35WFjmYITW8iKZYmhWeM6VeGuibHsHkhNj7dl326VLAgCwYOkX6ZzvKEjnMOJ6HDM2toXLJzeIZh4V69Zza00SyCPewvngOSSSuNrxwyek4X5gyVDTibLJ_2Idpad1Bv5rAfCRFXuc3lMIYE-wKpI8aMEY6GzAQh2B0ReI1bGjN_dFv-jng8nvjTF1z1ECRkUh90vB4Kxfk5NvMdJSXI1sYFiIcHznCnxY-HOJHBttwRuM2_yVNsTWOa_a0pVimhR97Jj5SV8wjEPc39erEaOzlGfiSua6SmerOXFqmbed664fuZfUdawy058TZ3IXlzlYqvkvA8DRY5P_-C1IQAVJsy12ZjV0cfPSQMKI5Wq6xfUp1hxSPt4LZ34DQJKg5cSmLBGCk3-qYaqcJJVJqh2gN0jRpqmo6qApDnv5VELwJtQdjx1AGji-BxsDJGkMKoYlhnk3SWwwVvh_OM8gMKy06vE6EnFJ-69iKSxzQVlJ_EZzwksU37OmRigZZ3jOVj7XqrUdCuVzZgiq_eaqod_iT-QDOe6y7NU3sibJhbRoDpS2IU_BQ87fAaXcKBO5_sZOAVAVwTcO-y2j8WE8eLZLtA_zhGprXi9rkzWxbstlqvHqY5YREQFBRpHuK1xohDKsvNBPlFKi_dtqmv4LT9xZq2_M-9DDlLLCYuhfVlUCGU4NsgVSkHk_vRgzUaXY57OhhD-4FnwWVGYEsfm8qRMG5sYNwnEbf7IWTAEJlVMr5QIItZOYCUlJbtAyY9vFdrCDrlnmPQouR17Nfetm7y45CepEIh42srBYzk9I5IG6aN6WrugM4_b_LlzV9HmepDSF2fdq5mqBFps2LU6IGAHW0mL-8f4MvouoUgfeolkFM6xhS3Cj2tnsFuSQ1QkNVfaJsXtSws2YKnMlSBtutLNWeiL3ugOO_zZNDgwYTM9uDx22jfSrpZfsGgQ3ptTDvhzOgb0g3GV37M3soEg0u_jQv0EuOSrk6WeFex5MICVsJKgp9xbvdDKFyy9AHOeotEXlRWFuFroD15FrGzKXj4gXMvTbUZBeHI6WmOl6tU8eunaFHi96ntf9dkozXilN3Vs29_OqvHjHPIkJVy24m2QXOnrF6DU7R_Iy_F0rT7wAVY6ZRAT5YP6o6PO7jWMFssXFGTC8JMIaREK1kKg_JtL44RLECIkzJmTVeCQ5t2ko0JOm5B05WC6RlU4RB1WBLK9l-mxeEl248PFM5Sh5V5mxSenymkrmjjT6rNuW8Y4y",
  "id": "rs_01eaf3bfca25f624016a7e00d7cca081998c0cbb6468a9dc67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.51},\"note\":\"The blue block is now close to the fingertips in depth but remains about 49 pixels left of the wrist jaw axis. I’m making a small pure-yaw calibration nudge, leaving wrist roll fixed, so the lateral image response is unambiguous.\"}",
  "call_id": "call_f5mTymeGblrwyWZG09JLZEIH",
  "id": "fc_01eaf3bfca25f624016a7e00defe7c8199bfbec194386c13ff",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f5mTymeGblrwyWZG09JLZEIH",
  "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=-0.5526 left_j1=2.191 left_j2=1.8435 left_j3=-1.2449 left_j4=0.0296 left_j5=-0.5716 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -12.4923, 5.3812, 0.3101, -0.0562, 0.1978, -0.0073, -0.1162, 1.6068, 6.9949, 2.0049, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a17ebd5bc2915e429e0bb226261b3013f2fa071bab4539d767939353d5f66c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a58fbac820c88637c0d32014d1d33af543d4b9ea8e2a7bdd35ee7ae08d07e30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:007f389a75439949c17abb8634974eba612311b71e11a52c91544c03f7975ee6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5617 left_j1=2.191 left_j2=1.8439 left_j3=-1.2442 left_j4=0.0322 left_j5=-0.6231 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0471 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.935, -12.1231, 5.3538, 0.3004, 0.0513, 0.188, -0.0073, -0.1709, 1.6342, 7.2684, 2.0195, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDmomAqpnERXHawtSgcMn0LjDcmXwn_XErcYht0FErJCZXvmTKKwAgpKv0RlwoTXsiVZPUZYWFttNvrTE0kBr5ohrcH-UJpJE1bGCnABzNduR_ZhjK_O07S4LSiwfgiBWTi02LZ1ioyL4dWZobL5lrSIO3p7kLJyGlJICheHwg66RtsX8tWBrsFvhWsYkISyWJqj7DmMui--ZmARmN9d2G9CkzI-f2WvQCSB7Z11wiKmFmk79PSOCKkUX8Nv9NSakHMTgLSZrBqpUl0d9niYB6BEQLxvihyNnFMOV_PdzajvtGHqrLBw0ixbsP-VXCnBmlOsi7NbL40HlGOv1E0CZX7YKwa69EZOzzLlDGvyYFW70qDC8TV76YZRMUTS6yfCq2kDRM31nnYMrvfFnZ2x8PweAmvspMNkRtMByGQ5qvVHHLJaK-5fwYtrjU0ehC0nGPgVL9Dbx9tt-uqYPSPZ1S-Vs9uWzgeq6x-zdiSPW4XS4KfA_pI11UkGvT71yz8Yvnu2sFktjeIoc7fT_7iaCL2x5jRk1pIwUTFN2KqzwPpnExsA1gsi2NgHzJofNX26qs_4WIoqieYPzJ1kJKT3IH_B_GRwpX7S78sKyH60F2Rg2TC_TvBekJb6hV0LbocPCu6Ba063XMdXC2KjqrNgqwOs9x6OuHYCdJMvv7plkramHVOZEX3x872KZpfdTk9bqs0Ct-zUjNy_tG-yRW6CeK8-ri9qTs7ytHU2QzhPrAMoB_AAtZNZfZQ3aISghjOkd5NMEoueDZoCWAs3GWpGr7HZD7ndf5eMB7IIvZwQSN2A2DRMINkrKlFjBwGilZ23H-w7LdJ6ii4yXap5HYLCQ9bckwosm2zod5mx1M3uWO5BUhkM0secyZyjDr9kjxDkxEDum9d2sxvAQmG2X182yRhsVeRxe0dIAV_p_Oz2QDW6cxomuUDuIM_imQtzlDIxcEiBbvPosYoN3W6RlVUlDAYtZmrWrW_9vDv4c-pi4Vtnrfsne-Hs-8H3Z09R_K6z-ZKRdQXjegNrIazqZEgbEeU137xYISdBFUusPO1qGX2s3arI9PSDiiT4QTQzkKVRzRecptflGZoq1Lq7AZGqIe7LL65gBkh171xldxp7QI9VzymKGwYbJxBZ2WElaIWRtpy2pIkMz0PNZZi5sS9Y7hVSg5cuXTJXgZaXeETNzrsFvsEbYRPRaMXbddJgF4A4Gn0vXYP8oQJaxpBHe_3km2mPVpjmsEBKffbIwHuLhDjhmU3nlmn2dRo_V8407FQLu69_ebMkWdjwYetB4hJ3gXIgTmObH5RoWjOP8SpTZzfYKGl0vBe7vM9uq-FYu-osTHhNP25-Pj0vnUi1qkYEcRb7w5LKrbKM6Ine5ABwsJWUzLKNrnL6FptrHnKP5YtzUieQNAPgQOUKa0bx6-EenABiAndwCALtME3fEH3CybAytDqVtnTH2rnk8GpYiHyROfAQWtdKoo17q_qnK54I4nozG9w19ctmKVHBccbdwUNUYF0odXnmA4zNb1WdQ3vMnludkFfU5dnDY2tAbDUtNoGmcmFNhPbmYRoq0ut9fxoUaYKBf9HBsANyz3y-J3YJAJnUdxzBPcf_tvbFkTbVnEIBxR73aUOyeROmFJ9gJexx54AMF0A7MBh1l7OQJoKp3nGkaaSE70DyEgrBiOKOQnophM6gE75RXfQKJODNB2UoOgbWSJD3xeKdFaDpSXFhRfY",
  "id": "rs_01eaf3bfca25f624016a7e00e268b08199a8b59de4b7e4c2af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.55,\"left_j5\":-0.55},\"note\":\"The prior yaw/roll motion was still settling; the latest view has the blue block at x≈82 and directly in front of the open jaws. I’m holding both yaw and roll at the same value for one cycle so the image stabilizes before the final lateral correction.\"}",
  "call_id": "call_BbBx4pcFLnNMQy1zdQUWVEVk",
  "id": "fc_01eaf3bfca25f624016a7e00e4d2848199a6a63455f67fab1f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BbBx4pcFLnNMQy1zdQUWVEVk",
  "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=-0.5098 left_j1=2.191 left_j2=1.8435 left_j3=-1.2453 left_j4=0.0296 left_j5=-0.6178 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0517 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -11.5077, 5.7094, 0.2027, 0.022, -0.1148, -0.0073, -0.1436, 1.9214, 7.2957, 1.9463, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac50e6624aefbaf179bf4a2587ae22d4bad585fa65ba6f6bf30669288b7bfa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13756e91b51dea3f18040ede8a5b93649bda010c13c65148d6873eb4b811ca7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8acb9241af5d2d397c02d7c677b445e63bd6428a4bfa50d6df8abde67f4b3ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5526 left_j1=2.191 left_j2=1.8435 left_j3=-1.2449 left_j4=0.0296 left_j5=-0.5716 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0475 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -12.4923, 5.3812, 0.3101, -0.0562, 0.1978, -0.0073, -0.1162, 1.6068, 6.9949, 2.0049, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgDtt3WyH_gHZCoLDGDAC-1ZfgUsTHp-bCwNw6oWc4wCPz_hzbqDqbf7mZanOq4J-aj8XyE1ZLYhFojmRMGUEqJv9RqYk5DqW1TPz-Sal4CSv-yUXdRdcuvts0U6D9t-wgjAQDjsRfay3KU8ebdsJro5BXvd2VjEtcZg1QRudMPHw4y0QtA13M_tF-81n8ArFsiucyijGdcVWP0e3mZREWGbgqojDlyogHPC9VbxWGWvpiiuEQvfBHaURoAH-sdZPSCvQ1EcA5_nyalxQBfXgYmO4DR1Dt5ul0mDcthIaYnIVRGNP3J7SKpGV590Wza0FAMDTxkB0Ctzm-Xw9TW-YFXJCG08MaheXFOh9LApCx8aqH7jLwZBqKb1dVoKMvjszoZJqFP-1V5rtaQkLKJCwY-41SXZMjfNgNjzvWyR26cUHjiFL0a2qW4Q2_wJB3PRmAXEx5D0nQN3mkVIHcWI9oxL_JFQo1DI9bYdCAsvLa4ZoPHqO-tpOUrzDAL6Nzhxo4k2yBVj_rkG2vTHc3ZZX1bwO649270NRc5JInmOiUFefPfrwKPWC1xcFnIjxIcelN3w7PIwjzVdMGNJWprNI9CjWL0fbw8YEzQOD5cLo74cdqOvl9N1xmL18igBN0fgTeLjFptD4OmUTj_jvowqKl3EnE5g9oulN5XxVlcb9rRcX6UPTlthUPS9d58fvCY75AURc5bgCBhkjLWDIjac8tmPfzYAUvasElWijhuJZdqW7S_qV4QaHzg1b2azy62rtwSSL8VJyCaeD8vf8WpDxjX_DbSsXhmeeu9KkD59gPVqSduN7UZdVQClVf2snPeDWRhh83ZwVbPFjxgsQbAlV_e5QnKHoDewQSDlAwUOxWrI70df3FrTnSJO7sRnA5hlvGOF37lsfUqfHR4zCRE4s0gtytw0VEm9Lvgk562S7MzotNp90WJilHNJAxWw0tcMnrk3SoEgRK3fTcyfgyl8oMizBf_5eKb5bRbH7MJNOvyAaDLjWAYTAZ-69jR90ZRUaPtKINOKNlALZSHVY5nyejyPXnSNJwNYHGeQKHnctgv1WQI3aQ9m-O14b2_QFv5rw7gzy56b0c8EmAQdVuu03JLu_ymSdqnAVYgFl0C8QrxcQzZMelYI44EtJkwPf5asG5QfNDLyGxajmtfaaPpeoliJQLXvt4EpAU4BPGc9oJyS-0XIRQQGzgCzvuX51PqnzNUzAS-LnwnD1yMjS-Sx5F0sEt4yXmzf5Xrnch3Ifz7nrGsrEbtJy9eXA2CruwGKV1TpNbkVULCnF7nlKWEjS1rEzURehWT81LEV_ch3Jkef3kogoLplNM6qFDvKGp19aRTX8L8VLSYQXAo3EfKvQuwUxQHC5XufaTHLnb4B7roMUmoVHJmRgh7iJ8Cu4xNsIcPSupDilJRG-gHYL16oblQwwUcdJPZxTjcx8cnD16I0vCHIMxiajaDQP_7LHco6Mkil8vUDUjAaNTS4e8F4nz0KGCfO0I26tl5hKWtsDWGr5sYnTMWief7iqVd8VioblV--",
  "id": "rs_01eaf3bfca25f624016a7e00e8d34881999e141d0a3b46bb99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.5,\"left_j5\":-0.5},\"note\":\"The settling motion brought the block to x≈98, only about 17 pixels left of center, while overhead remains nearly centered. I’m bringing yaw and roll together at −0.50 to finish the small lateral alignment and remove the residual roll mismatch.\"}",
  "call_id": "call_svY6pD5EIZ5lcMjcQTOpRF1G",
  "id": "fc_01eaf3bfca25f624016a7e00ec14e08199bb0d3919f3f1210a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_svY6pD5EIZ5lcMjcQTOpRF1G",
  "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=-0.5312 left_j1=2.191 left_j2=1.8435 left_j3=-1.2526 left_j4=0.0334 left_j5=-0.5472 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.4427, -11.7538, 5.6547, 0.2808, -0.0317, 0.1245, -0.0171, -0.0752, 1.6205, 7.0359, 1.873, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e823c9d9f5b62e98d7670a808611f11a5291c179fdb2fe2e3fd4f93aa25fc0f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe1d29894a514b743506a3f1c2ec2fcc4cabc2d62b4e14e64db8951efb4f890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b6abb7a1731259600dbd34cff4f7895b535e0ab0aa88c769169b4928b1b84ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5098 left_j1=2.191 left_j2=1.8435 left_j3=-1.2453 left_j4=0.0296 left_j5=-0.6178 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0517 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -11.5077, 5.7094, 0.2027, 0.022, -0.1148, -0.0073, -0.1436, 1.9214, 7.2957, 1.9463, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgD2rVtUYL8om91M4zHzPe7Fcmimc8sR7ucxCEbzasgU3GuI8S4W87O5-cCgDsu4tVUYQzTRY90bXBgp-PtD7kjyEj9vS6IjUn0AOymHJfUxYL4CRPQ72v78vbDY3qKsuuc-PIg0O-77XqLTfCODbBttXi05rkdT1OUkXALFuRGvl6OASeUQKlHEf2Qh5AyAfegM8cIYIE6PisyOyEYqLoOIw3D71h3Tzej3r0JnGEkjXSpGvf_ezx6NKlvsPn_BnkrabU9BXGiRi7zJMi6gBVNrRthce1QYbZ3fIg0gcRvbUfFQ5hzzTcOQ9vcQkTcTTcbhzoMkkkDV7_QvqFzapEo_WZe9uMws0ICEmBzAJ3rQvXQPrL9txzgiTBNdww6yyHR9Ldtp-EqQY3az-BCY311CcrRaDGvWU804Hq60lO0tMxYjgd7pjUa-PvI1Mb6Y8JE5oJZ90xQRpBfuEgAUu20-mgxpbSyKDibDBnDxeG7hd8dP-Kxv_se_PRRC4i_W3hs8XNpx4un1k8m0KUM7qgHrDVKFegvDwY898Pb887C0M9yPhswt58M0Hb0JOl7NYkiRyMxcaGxtGwlZ5sjMkTP-Zrag-XuYgYg6c6M9hPee7BpMrJDBK-b91YsCXpXJHzaBSy6LE-QiJ0j5Yt2Y-FLYm7G0yqnoC2HaTsCVQJonrJsoi-UijjFlPIyICS-aVO1AGU9sKWZ3i-OMY_TKn3W0cmcSMn0hahoWz1a9sVHkLaHx_-1uRyEeeK4aRx1VKLfXmEYDxAEa54nayzOHCqn52lva8PtvwgxsrBNYO1SDb36Akm6Tq6-TyGmVhyQOIKLdwjpz9ZxXumey1Oe86sGsH_yWyLJvR9Abe3dsPt-kSvPzI5q9oGOAYL9uGSee5aB-9H_8yT2cS490GWPS9VgnLokg0BXs03zijCUvJENIvy2PmzJvuU2xP0s3IPjaKMKNhwlVNdCvGcCPnfdI0A8nCrqa_ClaFRhy3IK0-aqMKWhtN_Ea6nE4RP_u5NuRLOP-EVda_tg3x7NKGIf1N2evXRl-9ucOzcrFxSJbidm9-fTUB09Z3DPhVoKGD9DNB46yajnVRPv-L0RwHLohrFs_TFhLfTcybpG791TjKdBRdXil8iKL_wwe2OJqV4lpBY6_0R4L2wUh0gyQT_-rArptNnaoDonwdjCrwVPMfsslhgscOr2O6BLibIehMFHsIsQs-lQgYIPMRXCsP_a7--1majFH1CNI16Dmp1wGspPo7WCSww1oFLizMqXGbWziDsgdbKN20s4BVQdZSBXOymGkyO2LBk7Mm43xk9b4IzmI4Hu7bfmbQaws3W3TKvjTLSGO_WT83V0VXH5poi7Me9NTbTaalBbkU9i2uYgFD_Lq5p8Rc-H9jv1Bw29eonhki-mJIMzVeU-oPWKCeyzraS7s7bXOM9N2qAn25yXqk0phRQH5Jv-5j8cTfn8A5RoZTCGYYGI6KPzXSPhnLRQMxBgTgvjiJME2ch94bSfcbxyJA7Z2-knJxqe8patfIb57B1K0vSuGgRddXqYqviEruGLHUbnIavBXy8g7yDNS-JGInsjglLHjJCaQVfpGldo1SsjllY-3biEzAlN6xDoEv2QCgFuqpSuP91jTt2Fya_zr6Ea1FaBeQ6lpNhk_ZcS7RwuD7o0K2zovlvbFBPYJf8TPWeRE46F-R1sHCJS0OJvbj1xWkA-z6qvaoSgaHV2qXHUPQX39Cc6U6E4MaxdbUWE0Kj-rD6go3NP4wqu7z9J4cebt3YDXghJIXIqodu8osTUxwgnMHi7x4SagFxCwiL6xnlQ8QpbbA5DETFZSfi4XSm1QMYcaGPzU-Zm0_jp49fmX72LY8X_p24Bj9uuRwnr9x7mdMATMwbZqYxPAFYD7cIaCDIXzngX8vzkXDF7M2EMwdFjIGWVBCcM-gmY3odV5eGdzdC_mVSsdw02ZMwqkmLC_Brk6b3zM7jz4Iv5eQynSFQt-Jf4xF82yp6fxO8WaoHujvjErvXUo-0zhzTXjDkMSPjFJgUZ2OACcNTwKBA1H0dZuTDeoovTxHjow_fQ3JzyABYazzj1WwLzxYY_SNT35bfKxpVICSHrqvIO7BHV2",
  "id": "rs_01eaf3bfca25f624016a7e00ef7e088199a7db7e56863abb2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.23,\"left_j2\":1.81,\"left_j3\":-1.15},\"note\":\"The blue block is now centered at x≈105 and its near face sits just above the jaw tips, so lateral and depth alignment are good. I’m descending about 3 cm with coordinated shoulder, elbow, and wrist motion while keeping the gripper open.\"}",
  "call_id": "call_t6grKiTcVn3y7AOtH1aLhh2j",
  "id": "fc_01eaf3bfca25f624016a7e00f4b2388199a194ed00d96e1824",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t6grKiTcVn3y7AOtH1aLhh2j",
  "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=-0.511 left_j1=2.1971 left_j2=1.8271 left_j3=-1.2171 left_j4=0.0299 left_j5=-0.5373 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.2513, -9.306, 4.9162, 0.4762, 0.0611, 0.0904, -0.0073, -0.0068, 1.6068, 7.0085, 1.9756, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1955ea218d235680c262afdd4a03d39304a74c7bd83586a4c88a30deaea3ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98adc4af3a104b00e6849253f6c9f5b2c397b2188864b4068b1c6765c4cf2e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df59736c95b3753510f7abd12e10da5abb3ffc09ad06df3cb652f0e58c134095",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5312 left_j1=2.191 left_j2=1.8435 left_j3=-1.2526 left_j4=0.0334 left_j5=-0.5472 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0521 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.4427, -11.7538, 5.6547, 0.2808, -0.0317, 0.1245, -0.0171, -0.0752, 1.6205, 7.0359, 1.873, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgD5RalJtGTe9dG2ALu2Ru-PMuSs0Reac6oXKxwiWNCdNmz0CcRqCGCvwJBi4n9nOZUyD0tinyzexUk9wprtUDSMZE45BlbEW3xB3OrydYl6CIqjV2WKH6qQNFjtm96NsRn_4U_YaEbWeSStSjoS5WjU5iXDm1nKyYWQaXEiO85lKIEzenhmMzv4qJG820B4KcH1-DEi4iVVUCROMxMdYin1JQ1whScc7oKS8mVZyLVaJLysj6IB-6CS1tSbZrpWKdPw6Ii2M6CUmP5mDA8H57GuCG70uWaKFxJczqDzRDVcTPXRSTR1c8P9jUI0JhM9r6pWCxiiyW1-wPHuKHs4pjtQYh0lwqeDSKoCmI2B1t1KcxODyniR3zrlhfRvCOgwEYVV1WTLFkQzXX-ixUtu7Q7yBKPx9_ufetFpki6EFTTtMJ2y9u_9cBFKYwu8NDhSuNBSd8Ij1ZJAz2TiujKZZfh0_-drSYyUQbDZDjls83WZqKb9VlIJy_GOMcxFTjRP44bq5VKj0XUP6wdTiaalkgqiEqUIe7whE6vX54SyYou6J9UtqPcFWaKuB5tF9Ef_lihCPybG5_php0g40TKT5DDZ6AmnX9edeFkVY96lqLjZ2c-0ImL7OxzZz2Cey1MBW9niLx3wKCtvO66QmHc8Svyt4Sdou5PhEa1AtsYcCkNcGpCxP0W_ACd4e3LC_tpMyFQ2QQxZXleJ69jhtOYZkL_D8avL_slEIQZ55cVawSD7oWKPyEuro8xBW8R7Zu5rhoWXldCi42HXNCk0lbUSJjuKvnt_aaM3Sc4HHUB0dsy_3HdK81WsEEYwFZ9rwHLMtMP_9zDZUBz7p0jX76oJpryRGr03osczEpezx55xV27ooJ5NgkAR7T_LJ4CUqymG6jO_q-D2nY6TtAuKCU2k_reGQ0LC7_h5vJAKhKfjva8OzaSj7j5W4ffvBp7oofTr3Sp9wG1V1HUVY5M-t3AVQZ4V07UfMAgf0u3sJ5yCEMb9MmwkybRSnU0_vnOd_P7MNV8lILVrxy3SiwruziOpumPERd-eGkT7YRgmO7bM0ZsTPTnNOFaHBS3LafzI7_I2xRLTD78upEaG07-k_AMUgmERPEm5f63B0io_1HQ_xxUqfdOqXIjDo3h0wRSiLQSM3U7994Fc0Or76kXltJcJyLuRD623h-E5zP9rrRyQW9NPlPrisR5AH22NOGCWukeHYfocRWzrSVzAXUQKBx421lLH_4ijmGBXBMbOQJp-B0nCFO-eFi4Mkew4YqNCIyemZa-k3-NO9GIcXDT4LGsWff4M-brYNvCdA95_kzZNiFIrVXGkqZVZuTW1nizRhzB6N84ZRYsxJmuj_smbVRCRFI8p1Q==",
  "id": "rs_01eaf3bfca25f624016a7e00f7763c81999d5ccff25757157b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.23,\"left_j2\":1.81,\"left_j3\":-1.15},\"note\":\"The descent moved the block lower and larger in view; its front face is now at the jaw convergence region, but the joints only partially reached the commanded pose. I’m reissuing the same gentle descent target to converge without advancing laterally.\"}",
  "call_id": "call_RALZ1tWUN1YpovHD7UR3eFeZ",
  "id": "fc_01eaf3bfca25f624016a7e00f829608199910c79b9124cd08e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RALZ1tWUN1YpovHD7UR3eFeZ",
  "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=-0.5259 left_j1=2.2265 left_j2=1.808 left_j3=-1.1694 left_j4=0.0296 left_j5=-0.5491 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.0188, -11.5077, 5.8051, 0.4469, -0.0415, 0.0757, -0.0122, -0.1709, 1.7846, 7.0085, 1.9121, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4177ac53e4620fd380c77a750ac8ccea9124a46c5ed8af7b9a20cdc48b1546d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6fd103b244795a13c1d9c0a3036fe6eb2f78877324f7c3b1f563401bbc0dd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f246a11a12d04caa0948720543f37c17d49c3546d2cf686e25a13b91ddb42bbc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.511 left_j1=2.1971 left_j2=1.8271 left_j3=-1.2171 left_j4=0.0299 left_j5=-0.5373 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-1.2513, -9.306, 4.9162, 0.4762, 0.0611, 0.0904, -0.0073, -0.0068, 1.6068, 7.0085, 1.9756, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgEETHh7BoA2IJI5NLaLhrQF2x2hW5qgBH4WThdqPqg1uF7t0TlZ-TT_TNLk-JJ0MDd2ztrI69sHcEhtSGc7Iztrp6vM9u2Z5W9tX14_p--n4A8L_ijTG41NKUvOwB4bBksaB2sclEi5yDDm5UXkExkQBUCdqJjE2vUcTiyzKkk2_ctpHvGWvkbmwAY0WdS5MgWq56qgCVAhZf0xKm-UG7zOB4fCZy-VmfF5GhuKw1rNhvSfHhEKkB-RXdt4DFcbva6wsGKd4XwpjuhSRFhqJ3ValoHn7f2nOByPw_qQwkFdv8FzzQDsa_3jh4tVFJaBcWme7RG7Vk04L3s2UW_5lqdIoBozuw8bitAb572ZSkVUob582_Zx9Bz1zMPJ19JKORz8CZDRKTdGWl-K8I5yvFtCH_Sk4sWq1FjJnckGlspbzEPrnyzauSXV3pw_UAWACLu8vp4rUO_sZQaO9Y8G845Y7ZR5LZFrpkac2HlvlmJLnNodpzeDYt40flJ3-tN2PWwIZuVSdc6hqyk3bkVSRH1L-Mf7D5PViAWDRLXR27xXbkkneyjmq36Syj7OKG46Djc6u8zBy86bn2QHSyLlj6iHfiMPgY1QYBHvTgJAau_LNVTkjZnMrfIF7MVB5zOswRVBzAH42A191EnJKJ1SUn4YxvXpv8ifPJJZ3BfbKzpEk7olOcgXCNOTY41qg2OU4nPRCUZdwJkBLqPCCIB_QwIfg5Wb7A6p9uRp63uoGTZFJYH7p06f9zwRwe4ZpdWuM6qaG5Ca2jE755klOhtUXF8OYM4KZKoRyrHJvVI2U3AUkHR9xOzvU-nd5p2QSyayqUbJmQBQRk3rdcjuxLIXzL98eh6zmNvbcCzhCvdpACIugydXaVptYxUBxQkeDKiyAAaGhw494w5a_jrvNdr4NBwxpql4fKkHbjG-KqJjcA1pViHpr-1PxbDbXJa_jLzdResNNnq7qWd-SX-pAXsb3Bu9IsxQufxn0wCx0QNnZ0wfn-2cyyn-IANTST38j0UUXaOFlp3wjcFrUAnEBI1lpI-KVgfqzrgKFMtRK1MC0v9si_T2nFoAP1_E1z0EAo5bmFBYodUP3KEITLThV8z3mwmTaJu9MVBfw6zUTWU76pKcEOsCY6BgsB-YnZ2lGCa57tZsgn5bSIKxnnlj-Wassovp03DOVQ4YZJEqT9Zx7iRMl-AFqcDAtYwR9a5HqSOTKMfo4E8cMqYSPtDmQb1lez1xu0Yf_OjajbpmvWK-PfWP2rBCUjsiMmBt3J82_O33zhW0OrorHcLf8M9DKCvdMEU7JmbLC9xwnlsx4O5YhaK7_Cjp7jkLq3OCA7tx0pJ5gFRkzO3BLRlYuLOiy6x61wYMqLXDYDvcmFcZvTvdLfOEeQ4rxC3Hv1SvNo2YcC4qoZAxDcUWiE6Yq_dK8iWHSxK-zI6uDD1PHW4flZlKjaJiE51PJWGyaSSuCfzRZRN9QJjKQylr2AGIPDrcYe4iWSytRVoKIig7AXhjJULZED-N3jH_8I4sKpDSI6foYP91kh7o8H3AgW4imm4b9F1IzgYETENoHiZueuD8_lufu5eCW-eqYaBQwsfSSy6xaSNZ-q_BlDyVrdgzGKdzqpgTRIO4A1zYHduAK8yXfNVUfkrlrsYTgJE-aOWgcOoO193kjMDI-UdJBNHPB2pObZ8-4Hu8IxHngzjywBsSc0jSlV561rC8SsmLNSbYU7BMIgKE_4k47dzi3XNEwpEfw9ucPnN4XbetPtOjXBzH4EVlIGi7RCaGtVsAxC-4PVd2REVwiGMITeLRH7KRzVOz9X-30ZLWuIVdk2MIQgkeaHepY5l5XykmXflxzfp40IMZb6vKAeqgjS5wboXWDEHQPqEB6FOIuRdP-sIFAiHYkCaU28LK-wNHzQoHocMggQPzy6wu-FY2iGbdXkoBul92REI-l1BqEfFpjgs462EgOQpPaDhFHxTTDBBbK2xz0h26Ppz3KJm1Rg2B2Z25ATpu40FW6RN7pA==",
  "id": "rs_01eaf3bfca25f624016a7e00fe55ac8199a70db07b6fcbc5f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.27,\"left_j2\":1.77,\"left_j3\":-1.08},\"note\":\"The blue block now lies squarely between the open jaws and remains centered, but there is no contact indication yet. I’m lowering another roughly 2 cm toward a fingertip-level grasp, watching for tracking stall or effort rise.\"}",
  "call_id": "call_JML2TBHzvFD1OWhzrGuWGBGh",
  "id": "fc_01eaf3bfca25f624016a7e0102c59c8199acd68f6a43859980",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JML2TBHzvFD1OWhzrGuWGBGh",
  "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=-0.5163 left_j1=2.2311 left_j2=1.7878 left_j3=-1.1347 left_j4=0.0299 left_j5=-0.5499 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.8547, -9.1009, 5.2581, 0.4811, 0.0024, -0.0122, -0.0171, -0.1573, 1.6342, 6.9949, 1.9463, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f086a614c1093789b6d20d3506b9ca4abe88297def5c87667e98eabbbe9fc90d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:035a845af7d530a000624dcedad2882e6973d9a71d26dac3bae5a302b5a6271e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b180aa24cf24bbf5d731a5a08cde4a5e49951225e91e78ce43b35b3c26faf5ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5259 left_j1=2.2265 left_j2=1.808 left_j3=-1.1694 left_j4=0.0296 left_j5=-0.5491 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0547 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [1.0188, -11.5077, 5.8051, 0.4469, -0.0415, 0.0757, -0.0122, -0.1709, 1.7846, 7.0085, 1.9121, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgEIwYOVJDA4TI9aZUbJPCLz_J2gqBl3TkPnI6_JvqqB4y4FzoxJ-YOgPuv506tp9cmfSJUVu0tgDeLnMakmdzaPaLyqPAl3ucjfRb4ED1E4EduPqgYTFYG01bPUkT14zuv09ZMYczL2KxtDRqL6MQBqb6LvpGls-RTuluPlidmOvlLwcOjjSWJwHaXQGhiH_BRIZ2WluLZDtTMcYmbk7dkVkjDBkRonLKXcs9L6YIJnZaDI-YxCN9iRE7wilIy9GyrrdjuIfCrDz9GBbtJEsKrb4w8ChzB4xUIngJ2YBew-qnJlN01-MAUUov7Vz0XRpX7bralvSIpwF-7qQj8qE4-_5Nzadwssr1GYh31d-1PqTgnuAV84qsA6_Otli2OX-TQkZPQf-euXoVRX1y7kwyoUDtAt-4CcPxZlSowXj6s1MAwAlKHOrnA5ESyisAO1aMV0cnglKZb2NVbag8h6Pda3kkl6anyr9YMaUv9ZNc-DWfXw5xPijvufQCpOtlzBcpom7F4zMwp3VbJR4aTgvBE7SGJF0XMZo6Uk1AIKINrfLBfLLTbiKLFTNFDyhAzyL-OB6XcfU7lbnvIELB0sr7f5FlcO9b0ez7O2-W0UMi9kxf3PhowsncUGm9YR0frNEbIy6O4JNWZAQ1_T38J5eIVsQlqvxz1Pi7pbkwZ7nFdfVAesL9ta_bMVik048eyW19qQvOPwU9mOZ5VleyYrgOs3r593yVej5gnu2LU3HAV9FEGtxKZyfipS0F9QIx_UgFLy5xU9sHcEui05QBwx3xM9wTnarBSuDZHwwRunxzN-dUs8iFH960qM6xQ8-OJ_u0oNCUBifcUW38RD65BJcN_JH6_3_eE3gTpAwgnRza4YxnruW11i8MRzFWUAFxUTQQpK8kWhVp8jaJkn2OSzsIEWvHwZ2QaxoJgmqIU35VPnjkn3mL5I7z1ijtrgNYfpYDZKsxrth-dpK3_W7IBERfDk7OUl4NI_AwD1TpQThwucwZBQR-MKoyy43UzXL-TEi0cuwK5q6EYxjar6Mj2ZGbiL0khF3ayuxoElMIne4cZcKLbf4NQpmuVxsk51Uve0m65Few-SLayaOGQjAyhuZN3NlL9l7oklcNKfPr-4OxpT1gLGSz2Y5zY5k8WYLlqp7pCnNfzGkpV0rbp4rbtZcRCGGuUACETXFwW3vEJ1-v8TM7v7RjlmvXzfIpYqmx8I4xs_VPdACncYxNkve2ncW4xjcaCJ3DEO54yYQWS6DUipXgVUIyuDWk2nQrAr4NM-uA21_7Ayg5xc3EqgAxLtHUDM3Q==",
  "id": "rs_01eaf3bfca25f624016a7e0105cb388199b0201fe0c9b4f6d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The downward command stalled at the shoulder and its gravity effort relaxed while the block stayed centered between the jaws, consistent with light fingertip/table contact. I’m fully closing the gripper now to secure the blue block and will verify the residual opening.\"}",
  "call_id": "call_Dn8kGUHuFc1SPu0FIfnmn7hm",
  "id": "fc_01eaf3bfca25f624016a7e0107381881998410ff9616565ea1",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dn8kGUHuFc1SPu0FIfnmn7hm",
  "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=-0.5217 left_j1=2.2684 left_j2=1.7687 left_j3=-1.1381 left_j4=0.0299 left_j5=-0.5499 left_gripper=0.019 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -15.0496, 7.0222, 0.1538, -0.0024, -0.0073, 0.8523, -0.1846, 1.9214, 7.159, 1.9219, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c095ed01e02873909ed7e7cd6d11e8a43a845230380de6bb22152501f4c9a8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c3be5601a8b739abf1621838f5ac47513923b00f51def7de50b05b46f60684",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81aa56c49871934d4e3b36890aaff93c4eb1915d5da261698fdc4cdbd39d6f5e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

no new messages

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5163 left_j1=2.2311 left_j2=1.7878 left_j3=-1.1347 left_j4=0.0299 left_j5=-0.5499 left_gripper=0.9997 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.8547, -9.1009, 5.2581, 0.4811, 0.0024, -0.0122, -0.0171, -0.1573, 1.6342, 6.9949, 1.9463, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgGKGgVJ50q-zqmKaGKEIifitYluY9ZRm7Ohpn1Pl_Eyt2IrIFYHI-kz1-lxtEcg3M_kxVZYVpHGbLGC6_F651ItJYHuya0NdU-bAY_2apmz_nDim0nTbJg-VrwhNWF_TD5IfzuH-n2TH464jmBGWP0JqsQr_prMBxJ2qSQAFXlfwQk7Q_2ED6YCgxqel0n_EI2qXhs7bRnlJ0OXmFHxcRMxK60zRSNg2HL8sLShMURh8qGyQUf2izbQppNLRjZ-6v-TaK29dgWj9ACj5Ytf56V9PRJAzrcbb4sC3iecNQ1yhctC9ujFT2op_6ltKMsJOzYSpmfALmY4ZW4PR2fVbg5j0QC4YHQZ0D_3U5je81EsT5yzSr5mMbMMm2A2CMcf8QnhYUlp0tX3Ujs7JnCJNqFlnK11s724D2nRHN-P0jB6kcg8UKEFRmwC569D6N5HJTC_PyKFThp8ouE9DtXj8tjgoainvqM3wKphnIrw5G2d5LbpTCkMPG1kTzUSmRDtDIzvvRFohBIEwP-sasK9hiZ4of3dKKx-3JBfrfN5TfCLzgkAKsB2ZmjnkYNzLMyaceI2JZ7uaoPtJTdqjxsMYQE6coNtikOBF250b-gDAcpg30M0pjDFZOwKTXhnVRM8faCHhR8qHZJxrfiseR_fRauvHeEKXaTUs0ASLtN6RQmk0fDpCbSh845h0HCmaR9gP4nbnblePPRLn7SvezCCj6N5n9FBirz4-fAYcN7HIzALXj4eCX14yAI4HKi2ovJwCFAt5cdXAqR2KXIDlddR_PXa3-YOy3eaBcuAWjqA2Ikct0NfYHCMvtxxH4AC503Nd6pzZ4KJkteXle22IUiypYojNlKYhAvBl5PSbVwgwJgXjno5_E9heGgoTlKwhO5rAwNVekJ1TCxbSZD_ZNtKPhEEOkErkN8_INygV5EN9f_1MYleoaW7AP6C3nDjjK4fpwBEq4-SCMIAYjUCNT27cP2SOXuKwhtJ9F50BHGi66tAIR2qNxbK596_nnbPGLcHGgh5pyDE8H7bin5k2V_zBK8GUoLBuUda6dcpDYTAIshZYUFn0kE1Tr-uuQAyilgMM88TWk_BejaBobPw6TTN_P4rmkcPkLe1KL_Rxab1FZ7OIZ_2-_L8Oak8Wy5ZkkivLW9EjoHY2OGMew8NL2-CbF8AGvKue4OqQIBgLc0KosuUBQHspXK1lgaUHWt8amXM5MNKaXIhnwebWYC1mdGNuyeweJwWxeKqY-m8KDi1qQ1KdLkAxdoF2sNO1LePa7FNMJiFZY34FrZzJfuPbIErXbTl6Xc22xjBe7sBEj-SN14yXsj8cIIvRy5hxyS2DvE5dwxPzL6o4vyJOaoVH3UqyUvkjFqZdqR0Hv3vr4v41SVPHvY4GtGsITobZosrBs2GZNYDF1jncRjURHxcC9hD385dusN7LSqdeWz-uP7moz2FYU0xkycV_zg8WAGX_2z9l-5KRS-T9MUz0qMEh_c9U1KcFBxxxXjQcF7ws4ajLa-CC7BKT1fYTeusMWWWCJGK52w8Zk_B--A2WzCPN2ef_3S5UdsLGcA92cqnQPpSgVAIlsW5scvzybljGMYE6e59dK17SSrj-gmWafSkEQxBw3J99rwuT45XQ2cuxrWb-oq6cKpuYuUX2wcqFOqSNz_4ux5hs3wYBttG0wiaD-V-wJyqmTxKClmnVb_XIa8vMdyWsey2obZZB1ZgSPWbLZKAA9OflfJQJ76s7UCY4iZGcM3kixqcPUPT0wnua6oERMRWKlODjP6Ht4whRo7BkqeQSgQPEMqNp-rTdD8-OAXUWi_AnSdZAWbIkf9rb6HnzsHdpS5fGj1ekUcQ0wbLNpvwpoA0tLUii_0CyOhHbDYkkLIOhttZpUnt4flfk_SMVEzBRkM=",
  "id": "rs_01eaf3bfca25f624016a7e0184dd2081998c121b7c84f47f1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.2,\"left_j2\":1.88,\"left_j3\":-1.25},\"note\":\"The full close produced a nonzero residual (0.019) and high gripper effort, indicating something is held, though the pinch is thin. I’m making a short vertical lift to verify that the blue block leaves the table before transporting it.\"}",
  "call_id": "call_FVlRaXBy7YHF399QX8ROe4AC",
  "id": "fc_01eaf3bfca25f624016a7e01890f348199a34a28064d16b384",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FVlRaXBy7YHF399QX8ROe4AC",
  "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=-0.522 left_j1=2.2669 left_j2=1.8149 left_j3=-1.195 left_j4=0.0296 left_j5=-0.5503 left_gripper=0.0216 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -16.9641, 8.5812, 0.3297, -0.0269, -0.0269, 1.0281, -0.0889, 1.6068, 7.0222, 1.873, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3e564f0ff80e5ff1706ad4b84721ae974cc79d2f2f66bc65b7c35a16d14611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9aa58d29b0881e3a6efcecb8aae15cf02503ca35bfd4ac01691d3c0e3e5cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3002b6f9a4ff88570dec6e6f5ba9b4f8cbfdef2ea535711367fa25cb40613bf1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.5217 left_j1=2.2684 left_j2=1.7687 left_j3=-1.1381 left_j4=0.0299 left_j5=-0.5499 left_gripper=0.019 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -15.0496, 7.0222, 0.1538, -0.0024, -0.0073, 0.8523, -0.1846, 1.9214, 7.159, 1.9219, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgGNDL8GkcqUL0JKX9uTVyav5GAEj_8wiK2N-LYROIfdAWJ7rnDJzyxCEiEaNhhuCyHpoVT0oizLxwvxET0-rzKQQhGSucutRMdWtjIqduXFfDMo_fYelzfYOcq3dKW1b9ggfTugqElEzOo5UTQDnZXVE_8JScqUUu6rY6T3MfqBDlnIZG4PLKVfPL01sHMkl11Ld-CYUGO4eEMzzBSaZzwUMf5vqoOwEjO-vK2DCiOsnq6r07EQ3z60QE46aRqtqFidO_Kvq3h6y4ohLB2wGcrvjk3rfXFqFi_cTvoynJBqdOQTazVAokFUg6yVgChhhELUwSw0Agjf2xdMbiSZT1s76qn2ouoN406iEhznLa6-JgqfKf31mOPwJsX9q8ZnX7flxDMwsB1T-MOwwxRYWqP5rinm2nPc_dE--6WbrdVOj_QDibpMwqRBkcD0Ulw-y7O9uTxRaCnLY9OjUSInxI-oZdpG0zjtFZBcjNxE6SsYCadpP4cXR9Jp15cjR7LEBsGDDDMjjsPZ20hfiWpaqG6N2dSekEpsGbsIqhlFECPwkDJ8HTPUGI1X2FuVZVm3-sCLnRSlRdFVujwrMTh9oEk5hguQjCVAfIX8ZwGsnxrVRKobq2HKbtmjm8hLlFY3u5ykFRU-BVlBIouc7C4BMwThxjdhAAZVBk4Mt9rHmKjc-9P0R1UJGr5JbuTcjcllAF_ejLCgu_5VcGVBkQ0MO9LBN1wFjKjbZAeKMdWcjauWuvsXAozeqVJnspWRNR2YifUXdbwDMNvuwxO0WIj5ddgtzGCLnNo-mXTtOijeeUSdutzP1JpVMrYy_TRNz8s2iyFRJBak8hqfifM6N23r9BSesq1wBQLFGMGh4sS6URR-UMOuAF1ZXJ1Dui4yoY3ssGofYptpOmOpcJG-Nm9F7KrPC_Pyk3lOc7TzP3KYh1Z6l_mypT0BNeFWmW3jKgtTqUdTtp_diqFk2AIqqPd_CPRgHJQyMVHlCjaNgm5EQotGkNWvnzDzRPEakMFAtd2mKv5ifSfTYK9aCuLtAg3us_aLttIAoFHMczswxE80lSP7J0M9Zk6sf1hUha863WjnrZ31gpDfb3XLkBIuFlDrcxpj7pzyM0h3rSUjCAxcWxq1ddateB-SYr97cs2ks4G1F7dM0FFsWj0LaTl_ClxpXo0EjCdqyi77zx9DxH5qrmlySJmTFa5tXUuD4IViw50Zp-Lr",
  "id": "rs_01eaf3bfca25f624016a7e018bc7008199bc298332867e9aa8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.2,\"left_j2\":1.88,\"left_j3\":-1.25},\"note\":\"The gripper residual remains stable and effort increased under load, while the first lift only partially tracked. I’m reissuing the lift target to gain clear table clearance before moving sideways.\"}",
  "call_id": "call_w43gYS8SCK78N3Zi3ElwNUVI",
  "id": "fc_01eaf3bfca25f624016a7e018cc8108199b0c645ce6aec9b2c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w43gYS8SCK78N3Zi3ElwNUVI",
  "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=-0.522 left_j1=2.2234 left_j2=1.8626 left_j3=-1.2457 left_j4=0.0296 left_j5=-0.5499 left_gripper=0.0216 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.8598, 7.2, 0.1929, -0.0415, -0.0806, 1.0281, -0.0615, 1.6205, 7.1453, 1.9365, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a4c25a3e971e5b96e276784d0372ad2a515531e755dae721059a252997a94e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33aeff00928c9be230d25fe212f77764004c127bbfbdda21ce845ab3f5ee335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d375bfb2cb6f8f1de5e4163228e297863d97b1e0a68f231d3caa241db154b85c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.2669 left_j2=1.8149 left_j3=-1.195 left_j4=0.0296 left_j5=-0.5503 left_gripper=0.0216 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -16.9641, 8.5812, 0.3297, -0.0269, -0.0269, 1.0281, -0.0889, 1.6068, 7.0222, 1.873, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgGacHFxDW1SClkVQeqsG66ZjkUqOCyy8a17-189MIPe0Iqf7ZTcMfMWjoE0Aj2OlGjwzbh-xz9Jj0iBLGTLn6AT4PzciBbehPQH0l_bdtCnLeeK3W9sd9urep-mccS1RRmcMIz55oPQeEPFXxlI7vnfkWJzrgnbwwlXMONv1VutyqqIlj3KZ6jmEnrsXjNDPlIsdnWmFzFt5VFAKr1O4m8gRZbqK7TwUaAJ0DZiZQOL8GicDSRiO4pBNamTRRLXUn9dcQP40KBodTE129_3LbJEGwOpVnmF8voa25ZplM040MG33mhWmJk5u4oq5Be572d_VRB-8qjUJSDLnuGDOqiueMnDuue4qStzAAthBAfGTZ04oxj2fLEDhW74hR5dxnuchzl6jzBIC7admRUNJZ9eyldKSPTSnNlBNGWM0OztJ7nmEyqnRuvsLCvZrd2-cZJeEY51rk56NxXZOxqMNwKwxP1-dEafcLkHlIQTkN7BJ_hSkb9wLSQaAgSRSQZ3clAK7uXWbCotShL9pvol7WZ5AYwGOZxHQHc1dWmT1rJMZN1DN-7KTLvmUlj24X2z-xwiYUgrJLRD-D53TsEvHJoMWVe8kDaVWZR7eSHBAqWsUdOcobrF-Kh6IxCKQ88ShQUiEj5dgfgduabDaRbUg3aEMRjzpq36oq4sGXjJhGvc_2ofyRcMIANnHDPp23eIJG3IYjC_7lqCkw2GXf7Jje-Cem63zbZcdbqs7gIUNj_gJ5w2veijwoxLoN5dmVlj4_GWxVpdDpg95NJ57e3CHvGaw5L5-yolMGv_js1Xbz6bf-Ihoallx9-V_DrrkhXs66oyuTf__o_y8AOnnas4zI4z7PkFfBXM9eHviW1nL3rzE1a-i4qAAHyFX1baFFvuu4Lio_nR3FoEwI4aB6HNZMXyVR-zv7ydpI0EvVGMmmnezi1jM5H02IhAm3nbTn93QnnWUO9Vm63rUCHBGWNNtnUdIioM8xQ7pNmVkVxuy8Mv-IhmnX6P_PyTQ5ULEjk3-O7utuU7olK3XNYEkz9qodwCt2hwnFdBTAIhNXgwTbDG3_1MCTn-plfLI6ZZVVwFV6ApDl9TTaTwEL4kMvKQFBkxkaUi9Dyj76qmflXRkSVvXqm5XkWSMQy9GB7le-N870SlqsXcZVwSBxxsINuAfTXPIo4gY46aVyaFXuubCNFG7_7tQRNuIU51NYexsCALFxBCKPgeQCtw4fgYZoGKX0ta1WvNf2Er95hU_90RhQx3HY7i2Y71JgcjYGcMt_nH2nvwu-E9t8vGDsPsXbk18AGZkmr6EwufAzYKuP4lxapWLHLnSlEKuhnpWFBsxuSAhgjUDzcfrh4Qx86wYo-9t0MXT0BMWmzzxZpumtWvyZtFR69pgq0paQdtZcPpZTfH9ytsmFegJOudXeIYk0T1yYKKag9ibIpQW4Cp-81QrwBzw8pxdPkHYxpAaSDNUrae6lZgwGy1riMMhqmam0lEZC6hKpfhtsE5aFNECMopu1TWMcZcCCqJEFtaYVuPIH5xTXssRWrwqKULLAtbfGS44drxb6FvrzycYRn3TFAB1b11ZGH6JU0BsA9tjy89NUbQnyPnwg9pQCO9EU-9VZa_w5V-oSv-0odKKw2VzX_LpGTcx3olwdw-xaru2XcUPqP1MCPQABOl56aiY4WWAR9I0BO3FuH_AlfzTN8AZVZ_57ixbcolVnRhIOXDn8zFxq8111h-PLoQmJK2QR0AZvyNMEjFe8ttTiEUA1ROBnqclHEH-UTdzw8BFbQsn9lGEkrdr35E-uWo5RDqAvo2MNbOOjELwi4GnJN3paveVASUKuIZghn8za-DUWOCA6TnC_J-3nbH3fhfbUjjQLk4tZxtuK0Ih1ZmRqFtQiCFFU_jzXX6UQyQ2XLB8UutiLNgTnF_5kuWjvphGXBpvd4NK4HbiCV1PM8bgnUDziiynEpnM1ULNvIPuNdqMtaviomDDGO5qFf2GrAS2F9GuHJGspu-e9ePLPu2VtQpUWq0gi3tbh--3PAsqZgmoh_BTWgDEyqS29lKM9VuuMxd0YjyZXBomLWE2hCoMgNRVADyzPKOeodHoA8VdQwe5rqcWprhGIN7v4XP6N1_EkDdrTzP33uZCX61-AlQADOVA_yH1d7gabJRWONLWbWY1UkE0gnzST_RrsxS03KyL9KF_YjOsRhSuRFRnqmYEcnLp1qgqtrgmFt05oVUmCbk4k4soyS2xHi3RCIg_00zKvEYHN5NwjruDqKZNWfqBX0hEbKh0IWXh_C2WO9ow-Ry4nGX1OhoNTd8SKwZ486aPWUzeJBAtxvJ_VeCJumwdfmOL5znxKpL4Ty2igbNcJ54qCUKkLowYJUfMj5GkSlu9CD-SGqyPFuzgMK_HUcpbhBNX-1a98udExEAX-TQyjvjtcOXdQTEYunPgl0G8guzu8j5tGcUrItYvFVGOMzE7t_3bsHRkxPqhc79swbCg5Qx-7BuLLFI3ZLQ0jEUTYkjrbvXuOXE38vrpRgaXat9S48t7XBnSJwCopp_ZEOEyLUPb8BU2xi59KUtK7yd3ZqBa4DxP1AE5fIq_AEjz-s231aEvqUecC5KMi7IqtF870z2Cvz35OCJ-IZpvXEBjP779QJXHBjNhC0-0qoYJ5_BJ7hcdLjQ-3_pC4zp14tpdjYRmzgxGQGq1uUKL91zSm75ucU44erZoFgAxPlPJwpS4cVKcaU8ziP4EIpGv3ADHXGurU6Cj8ZQu21Ch3xIJYMPo3Ls3MUYngHX3dvDsoZ4mzvpTtJ5aAv79wJ2I1d9JOgW8D6jjpfGR6AGm5IgdBoy9mLYGtrZ2baTgwPEmQS_wEF_VmnapdBCrohIOAwCKknXRHbXuaGhfFgI6RslsvkGAlIrDKbZmxCPw34ZMWLoTSo1w92s2siJx-wrKAMWQKJVvt7ASeMSiU-I9ecWSwU9cP8A1_WS6s3XzMayFBFGS4mHufjCC7w_611fZ1SiimrllMxLe2RteHpa7oatpp2p2Hb-WAqiq74Pk8kUq_h1Liai0zJH_K56m9Dd3sh8mo2WYggxZq6PGBN5Qxb26jyI6oyI0evOyuuF41Sq-ekcxPeSbxnnHjicZ69LuJGXbhbvsXMj1JkKszKWE00fcLZM89SihhQmfSuy_jljZ5dBD1R9cYReAM7-NuNu1kVb6ZTre6McuK6OmOpG76Jy1a_QwZxjSfqyZ6b3NdZB7OFzzaS2kDE_S5MlIgT71Pjx0wpLOBl7x1wl6vY7BeY0eZlUq-TKRWYF_KsbBfI4P0BJEYr2t3LD6ZB05eUX0fupsTan05L10_OZkQOdHJJ4QWYHZBER8mMjKd3eqGaNSIuPQZQRw49JKVkbRoXY_pyIGJqwlDCUM2-bRO372UcjeV7Jk1yLMUbyllN4xoiKvWl7EhD0VGeA7vJ9MeCqvAd_Mph9RIqCNt0GIJ95FoikAs6400-HymeEUaBXFcOiMrKxwTCKNtlzlIk9Lus8lik7rT8m34jyQfJ3Ec_Jj5T77QZxIt2aC2bb63eQ1i66s54gLRNgoaY81LwwVr0ySDUDCNjlLPEboIZ_F6Terl8fIbA6Q9y1hlVZdo4urAvmajpHQlSgBvpHyytdP_jsEeGXx20HK13-4eZ9_5A1k5VNZxzV9MbSb8mX08wdpNWCl_ZM6tfID3DD83OD3g8EQJlWI6o_Iebjwj1N1gS054exH-oz62kc9yycXz_OyJi0gS-g0lMdQNXTiElRd-yRw2LxP-F-Ug6t-U18iXCx2fksPAGF5TdU2kyyJhtHLbosQ2C4ODMfEwb-4vKWeH9jO6Yc1koVjNGlVraBTn8Ntld0te02HvA2KOdvpufpdbkGZ7FGPm30zpLJIGwv4iyL8tes18REo33CBU7Xf9MCeM8niMDYoU814hKxD0Tx7dSIu7AcYH-mmTWhmVsHxExUulOdEc5lu2BfWZD1n5nHrmpIM5updKWQpRA0SjJP2ATLC_jK05_VYkwqWIYCOyXStdaVeldXbgSlxHoUyKmei9DTA4ktDnQA2h8VhwCyUEsdT5pgBBeKvkyid4i3OVmraF3sgBv2CrZy_bjBdOJL9lz43C7sBP5aQ1-7l8Q73-x83BqJnJlwOosWFQFDbFOwUMWWLdlrck53LMxJvnlg8-2PuYlDOUnnJIrwazvaZ7bwGw==",
  "id": "rs_01eaf3bfca25f624016a7e018f020481999591b1aaf5c818b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The blue block remains visible at the bottom of the left wrist view after the lift, so the near-zero residual was a shallow edge pinch rather than a secure grasp. I’m reopening the jaws while holding position so I can regrasp it more deeply.\"}",
  "call_id": "call_CUKxZzoM3giwEtwQrqnyQB2z",
  "id": "fc_01eaf3bfca25f624016a7e019921c88199a15abaf20b9c5720",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CUKxZzoM3giwEtwQrqnyQB2z",
  "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=-0.522 left_j1=2.2234 left_j2=1.8614 left_j3=-1.2457 left_j4=0.0296 left_j5=-0.5579 left_gripper=0.9955 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -11.9863, 5.7368, 0.1685, -0.022, 0.0171, -0.1294, -0.0479, 1.6205, 7.159, 1.9609, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fef4cf105cd0ce719deee7674dcec358aac99ea7d8172a4f67704777a26ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f197adad6a70dc6fae825bfee4a0d8f5b9fe458dea60002f35fc0759ec96baae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a6bc61c2cd35d0cb75f28e26e6ca1709c005549bacd892c9c8785e10f34222",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.2234 left_j2=1.8626 left_j3=-1.2457 left_j4=0.0296 left_j5=-0.5499 left_gripper=0.0216 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.8598, 7.2, 0.1929, -0.0415, -0.0806, 1.0281, -0.0615, 1.6205, 7.1453, 1.9365, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgGiscXp2U2Bff-R0Dr6xiKkabeNzYkeRbKmJowcHb7KR8yjTvWQvJnbcoTVKbSPW3Ds-pbmYoZnRsXrajRDO2-LOhGL2Wcwya67vT68WDdRiU7QJu1bbmUGo3xmx6byLsqEBDrnYgwpL4f6Z_KC9_sqnI7o12-nLaEcKz8HnIstlJxdMc9JdGCTqhiPWE7ipiMklhgHeFga3S3stOo0R_Asl2eyvXLzbUZkXIF_TgD2VrGNeUGh-G5zWgOo5nsuE_UjGUN97pYwPt_oiecNGK1nsvgMlxqg7DLd42HKptHKowrroZD2RGDMsShLw75a_47WvGy2wqSAfD-foAOID7DbBTPJM5992jixFYxUx9cDE2YB-n80m86mK9AztGDb5mMmWkWJKxdU3HrmHTo4N0Dqo_xTxd3l8vHS2jw-RlQ7EiFv7ais-CHukicw5EnUkEWjAgEhesD9tYlJrEs7ckiJWwrHLOxaI9V_lTjcl96ANXCvoy9NatDCdWlm3GUN7RYyaTb0nsvJdrCsCWFbK5eM5F4LwWKVYjRQIRGMzK2rPaWFQHb80G6M203oxBC1vtoZ1Wcq1YZypg99SKQJbQ6DfkaLY7ahJB6TkUNFNac_Fr9W8JrbBODvQ9rpkXKRkPwqXuZBqHO459sI0GKB7Gzjutg_mhLbJd_UrgQrOSTD5p2bnvejGM85FnJHhlMmtvfJFyY-PXA7tOW5tGSE5csorsVttM4Ari_nRtxWdvKzudgKdzgDbGJqRRKlKfSLQHUgrrpaBzEork0horIxT3vNHN7O7Ntpbp7uCY6ZMOifVUKv9SK8eh70tjJMsoCuOLH5fyp4GCedfXdTvSHt37lZud5evkb7xFG7wopf5ZJAM_22G9M8jqgWFhB3o7Xe9qXa5uDvpd1dHOs7z1K2zUJ9zc4ngkuoMGeAKe44xDH-ilHlBqghLwB02ZvnWmotfyDEy2mRwMImlEP06ikauZZ2KSdUWrUKGySMCm9_9g8ysqCvNxiUxIax2Xxs2R7tURiVslXmTP45PSwsRIs_GfCoLMfNGdslZkRTqIl2b0HauHju72lX-cHTX_CoTsrHZtMuqGTLQi2lgLOKBJcZ2fkuXNDX_1BPZTtVkRA1xFt1Aps2hZSuCsznjNbC942IUzhrWqYekH7pJ9ACgKFQGd8PkBJtFIhaEOQXBla-0CicXi7rBaW7ulcs2ltZgyG10ObowUDEGES6AxyL0GVVD5KmnfJY2Fbm_pTdxhPKgxYXUbsE8zGBdvS3Z1xnqPvYnV5BffcArS8nJmqV-JS13GDF8qrrb-CQ-haCN9D65eDA0bI_D0CW9CVhNhaU6YIR2GjPWecY7ulX9MIyrdTs_1vKYLyYUhvzGFnXDLp0J2gLTmM2wPdAXFQZqAR27fzpp_sYoTKtwdEo1ubqPOqKcST8eW_7t0TJs4HFism2739q8tvE9DmzIvKiXiTcpgBdcBW7PCq805Bluf0vSuBGGyzpkzmZ0Wapca8im2Cj91mxd_BD8riwHilkOIEEVbOcuX3Cawt4y36PJKyJLnkXoR-acvnNUieiWjApaIx1QOipaI9Q_021a9Zszb9_BNyTbGYC-8wMK_ggAEZUmYZAouTRFbBWUm9tZyGx49aVLyCHYG0W0zQzL6fn1LfkDwq43jIzyoTgLTwbtM2sHt8h8jrLYqud2zgc7Bvu0kDUwdfoRxIn4Ze8odBm0ELRnUAxJoE9lVanBDJLllLoqgSkbFb_NQ==",
  "id": "rs_01eaf3bfca25f624016a7e019d575081998ca460fa26275ddb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.3,\"left_j2\":1.84,\"left_j3\":-1.11},\"note\":\"With the jaws open, the blue block is centered between them at x≈105 and just beyond the grasp point. I’m descending back to table level while extending about 1 cm forward so more of the block sits between the fingers before closure.\"}",
  "call_id": "call_pZXJ9IuaboEY6UnWr62D90Mr",
  "id": "fc_01eaf3bfca25f624016a7e01a16418819982b53f63e2b7ff63",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pZXJ9IuaboEY6UnWr62D90Mr",
  "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=-0.522 left_j1=2.2662 left_j2=1.8523 left_j3=-1.1751 left_j4=0.0296 left_j5=-0.5652 left_gripper=0.996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -10.6735, 5.1487, 0.3785, 0.0024, 0.0562, 0.0513, -0.1709, 1.894, 7.0222, 1.917, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0a05813c30d8a2465e046246763fda7023c9e75f4e314e733d35d021c13019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c719e327f2109a447371174894d361211e584f87106297a0bd72ec879a7697e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68d50ebe0ea25d5f6ae0bd65059889392de50c9eac377fea3253c07d42fef77",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.2234 left_j2=1.8614 left_j3=-1.2457 left_j4=0.0296 left_j5=-0.5579 left_gripper=0.9955 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -11.9863, 5.7368, 0.1685, -0.022, 0.0171, -0.1294, -0.0479, 1.6205, 7.159, 1.9609, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgGmPITJhw5KxK3Wq0wWKxKmCidDnUyHeuMZRVtVgmrdPOIKBL8ZQt7tk0int1M9y0OpRWbIHlYS2_-MHvgpu4-mZy2Dd1B0-IwA4dqy43EiuptcxEo7-EoTLgNRonmR3gq_K7zIRZQH4URitdIPNMXSot1YMrQxfFRqshFFLzxDGue0MIOxrNC09tPq1FmK1MJWfdoi6BAmTqQkV5Y2Cm5MOUAY68TXDiyLVxoBrzvJmBX9NyfjO07imsIuHrgTReeWZ1Ss8LYLYj7xQOjfRlA5w720Ai5HsonxW50bN7Cqs-vXhM3f_L59-q29a8Oe1nDNcjHuYVN767scJIo4LavnTHRJCFnnExsNdYgNWBjZLoUpPYQ_iyw2q1VaF-OYcAwFICkXkjYwk7o4sYOvu64UuvNQDWcZgrJaI9k9GR83Hx-MLj-wxM72Xer26Ope00R6__PElV03rnUiKoYhdeYJFQCvFpaLJaLYbirfutCZC5ytEl0llZ2F8rk0ixipuOGUELvWTzxrPO_0IR7jTd_jJVqJeQ7FOR9wtfoNcgN_nLHtwIfkaMiG4ze4pZ0hwZvil51FMj3Q1laZBVl-tARSE6qu7K5I9fTLYYPtcbFqEAuAW478oLlrJ-25XG83fOBGrKoCk_zn0y1eQWg6AB72rZtgmHR6fsKohbC2bXju9kls04FJPDxuu2fpEa-mg58L65RG8wjGNH-MojtZkPeIwNXb4YK58hWPJhNC94Sak76Pd_9ZREowRKJUnqvzHbLLyFs-1USy8VpI1Ema7RQ1TllSpFbYjjEz2zOXegOMQD9ES2qx1PSGad_IokstMhnbWy4sFKPkgIjBb4utpeUYw35ztnCd_Fk_hmzIpZNf9niigLcbCAsYdYD3PYkVCk4tMQ_q_PoYrMC4BrJBZIA14gAwVWbqH8X82H6mtNjlAEM3rpWPflLTHMNRfCNsBvydUrQ44tISXmIyDm88Wfp-WRREkCHZ01_xkdtsG5vN_xviSTCOHtoxD7DJ1PKe41_9alMUOoxd6o6pDSzLmoabeO1aSTX_0_4HgkgIfTzwe09-4aLokzVKackoEPSgRRmil5LiJGfR-C_OH-MVr4yDDttJ3TmNQnvbfhhj3S8erBZXcimpzw2PTidJmUF2mryz",
  "id": "rs_01eaf3bfca25f624016a7e01a42fb081998e723f6de8cbd715",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.3,\"left_j2\":1.84,\"left_j3\":-1.11},\"note\":\"The block has moved mostly below the wrist frame, indicating it is now deeper between the fingers; the shoulder again stopped short with relaxed gravity effort, suggesting fingertip contact. I’m reissuing the same pose once to settle at light contact before closing.\"}",
  "call_id": "call_uUdCRJdn63yDMFlUUM4O3ist",
  "id": "fc_01eaf3bfca25f624016a7e01a4d6888199b14306cbdfbaf230",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uUdCRJdn63yDMFlUUM4O3ist",
  "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=-0.522 left_j1=2.3024 left_j2=1.8359 left_j3=-1.1355 left_j4=0.0296 left_j5=-0.5659 left_gripper=0.9961 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.6427, 5.8872, 0.4908, -0.0317, -0.0513, -0.0073, -0.0205, 1.812, 6.9949, 1.917, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd44b83917e7ac7d1591434177c4ee71269d212872c42e50db984477f94467b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08dbfd6a2cdf98b5c1f75c129dac0ea9797a3ba79e91db023db699d628334a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b06d6d9ee9c845869021d51cd046e9911d4ef1dd28229021ae95fb37f3eb6c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.2662 left_j2=1.8523 left_j3=-1.1751 left_j4=0.0296 left_j5=-0.5652 left_gripper=0.996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -10.6735, 5.1487, 0.3785, 0.0024, 0.0562, 0.0513, -0.1709, 1.894, 7.0222, 1.917, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgGp7x1dm54FMbS2uFg5la3icryfUokMTw2aXWkHxzB_E_QDToPBnYsDMhqqPLo2JzvlyGmFM5QHALrkHOB90SPuZP50PYU7SHBNCIDjfV6LfNm2RwsbSFEVlIufUrdcdSm0ppUr_P5meFMXanYU9APhJn3PQShhXOVMA9OjtbiiIrYadOVaFPN4H5s_2wfUeagIpPiHYZwTrnrcMQ1PBlX5_iaVJ-4PIVng9rQYrnOlGnDBnmZqJpzNYH8L535Me1GaCiYvFyN8G7qa05GUpzIWFK28HVeAsVn_GDhu-CHxhD_MP0XEe9YhMzhgmlXhFARXRaibfu1JoTqB4InLSUT3jhdgvW3Tu55yv7CLq_muIn1_z6IrAgpYtGa8JP1XpmTbiwXESb5fFjE2_Vhua8bMdmcHZBHbMKm-esQtsUc81nlZQ4ifH-aAWKbuGzVtUE2JS3SY3KXIOslfLu_FFdezinkHcNt9FLtgO9KlKkmys4RaQAPKAWSYVI4FLmX5kMv60whdsCiEN1BbtctW9RBDkyRjlKu6S_daQG3gdXocSQRnYz8lEUgLM-p93nIEIklM0ZYo5rwDsVCOUS6RjX6-unAbqbusrfIzm5CmpU0LbdvvfuCsxuG7rnuO3SAOOo2FzYjTzoxQVVz6V461h0ZRHXDeYEfhiG2GJUYjzSJ_n74xeMEzjO0YO-c4VExb-NC9CwnPx9bBrJFkw2pMnXhqvxbPEHM7nJ84eEh9m9ueN_Ct0r-VFMlGrtyIOXZuFYmuR6Gh-n4K2d15e_y7WWYrjRkvOi1oFO1JXKvV8V5aKb_yFZtrY6bQO2CrQe-c0uv3hh0rM0RyhrcRg6CsWhJ3LMBk44pNBr5rLS3LVIzqzclkQCp1YmU06wHKk4quN2Q8MUXn7e-OXd094HGs8RJrZQqnkLcKTeRYfihi885VWzpWcWU7NYPwTMXChFdnkqKG69nr1kbQsIIy-g7LC8Ycqbo7Dgje5PUiSycxwAE2QLkKu8j0c5gDEniAmAi-l1iv4rUNPgoNyIvG4JT6RmbBT47UBpt83tDYZkmT_MCHw9Y=",
  "id": "rs_01eaf3bfca25f624016a7e01a7b2488199896bc663d4c1c837",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The block is now fully below the wrist camera at the grasp point while the overhead view shows the fingers centered over it. I’m closing fully for a deeper side grasp and will compare the residual with the previous shallow pinch.\"}",
  "call_id": "call_iXIqfe37OMkb5D9x7MjQGq0q",
  "id": "fc_01eaf3bfca25f624016a7e01a814a08199834a4322581938db",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iXIqfe37OMkb5D9x7MjQGq0q",
  "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=-0.522 left_j1=2.3024 left_j2=1.8359 left_j3=-1.1393 left_j4=0.0296 left_j5=-0.5686 left_gripper=0.0201 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.2872, 5.5453, 0.3004, -0.0073, -0.0024, 0.8278, -0.1709, 1.6752, 6.9949, 1.9023, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e9f11df7ad587b8f0c9f4809643eeeaf0b098c942f5dd9febfd76d636dd176",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8c14307454e7cd944f55d4c2d686543feacbe085e3c92b05ceb0b61da668c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654558c062ce2fec3ea5498b0518c4487b2df956cea183c088a3adf2c53e7bb6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.3024 left_j2=1.8359 left_j3=-1.1355 left_j4=0.0296 left_j5=-0.5659 left_gripper=0.9961 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.6427, 5.8872, 0.4908, -0.0317, -0.0513, -0.0073, -0.0205, 1.812, 6.9949, 1.917, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgG0kIsrxi4DbOWMDsmNk8pW8wfSrCpY0iH9v39P00ERI9PaYr92c_gTidBT1C4Y50I7A6ucVH5eVZZQLj1l-0jtbA7GdBnkiiqiu1vrh9TmrCjn9ZXbw9nPhs11lAs0jhx4W6oci0yg-sppTaZzSpcv12qonbXXuhUDB3gzDmW4GjWm0Xa2tGS9SxetrPCLGpYNyAhD3pdgs5BPHyZOI1l6Gmof_vR49jgD8pY0hY-qT_s3hifVudSJuvjdIrHpGDUAAubM2gQZ55cLyYZGwA0KA0K8HAHdnuHPexX0HPIFuBW-dxYbhfe_we3lIQAOuA7nI1j977rAV5khL23CPzOVOARY_XoksEgkwSSszFU1TVQwkw5QSiMV664FGIsGDwCjYuDQXNW0n7X4wkh7yMnVKjcAYaQ0v2IYQM_xX_sN5H4iZPF2Ab6R8H2WAsPSa1FHwNPSmWTsT1ntux3FJdF5UXpTkAilwuyThilgQeD93Mt709xlYcIRpdznX7s6V9dycuUHQB8s9VB09FaVYsPqbSPiaogfv7iqxUtLsrLPZVfJBWAvCGlfz5Bi7D8KZczBaCWeh3xDVRgG_N2uWufod6_hHTsx_14pgZo7qUr88CeB0PFYBcls_-MWcBb-XKppIUNMesmK9kY82FhB6evCrNDEcX1NWl8XeNQo0h33DFu8QapOq0I7hcE1TUNXAaip6_0DAxC4B1ZBChyzeGxBoRBQACdFkOPJOLJwsTTlOpEMVTlP6Fh33mXRxm6xWPnrwtZTfPrgcg1K-Qxo8XlV9wDTskZC6J4fksKqbG6GxI8PNoazsVQL5NvA5X9Um0MHGBD-Qg6NxCB9CWZWQy6Rn8RsaKGNu4TCMm1R_IIdOhsQ_VA3Y9nwHWi11Iw3EnHZyFdNcTypHGZ3Gjg17jmYAY0zwSbm4ATIbJB6zC9bbmvI1W0Ek_0Zr1-QOvoFRSJZE5qsuEfFLCQfcYJ8ruGf9HrU1aPbyRl7sBHyg0HrH7GQGMLD7MJyQt3T7xsfVQF5V0JYn_9t40PXE52OjchieoG7x7e7MsvJEH9lJzqp92mBpWzG2OOMRUaG76ISLocM2946flh0nkGLwH8x8fbIT9p5pzB5AfHuWSeoZH6-Zi2fNNb3jvAWzk5vnSGsKvP4GGDoRPAMGBj2vfG9OgSK2Aw7adR4X71xWCbpM7RAOutvM_Sruz9xmZOggQUjSFbFWGoCCWHlRFUWUjTQkipnlkZAfaTai5WEiR910yx4NSgmUN2tklc3zmAIHQmaBTbg77rGPq79e1mrASYD_nXdMYuxhLmdO7yieu3edx48DuJPg-ImnFjDqEJpMbWcxnxKcoUM01zhFxtOrXQzXJtrT-oxVkxFDkQvs5v4bmKgZLILOFFarcUe-x5fXVtdGDJWLbyOZIwx6gCL2PY6O27wKwr4FRMce7WXNnlvURo3Hx_jFSz0s4mgvCEtHldSmVFIJLn0xY3k69LBhJWqe-d3N0r3S92oGjaDTRyG_cIC1O0B3BS41kueiOoQohcaHM7j18BXUtKStms26kX3Vc3vA1Rhku9HyjEIL3_NKF9EYAGne3DDczYenX_kq0I1UMZKPb0p2z2hGLLy2UttVw7LrrhpCIIBIQfB8_qQZbwWf4clnB8FWqitAmspNSvwoyr3qDtzUtCrgQW726xGDLuCqGGM57Wvzev1Sgb7QkvjyLFPHgM3WQzeJ0vtmxXGVJ_WNpNk1pWNZ_VIpo-tR4e8dYMAITkCzTh6r_F1Iypiegp6Fd6qHJg5tzn6J5mnHc3UJw3oFBU5g1yj0O9z9yuLbaAQD0kxIdxGf7YkqAxk3Vvz3GrvBfZ7hLMWWTpc5PTcW9vt6xSMOv03NoF-QFCyxlGSRqbVOwkaJq4FIKL-gG2ZoN4FcqaQledVm7PgOxkiKC331LgZH84z6bSs_MqwyqNJ4Oiotjguopu7O_hG0A58hXQWkVIEQwbsjT9XZDh0ZhxOmKgp12S2k2d5QOkV6Q==",
  "id": "rs_01eaf3bfca25f624016a7e01aefc3881999adf150ed0441b0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.22,\"left_j2\":1.95,\"left_j3\":-1.31},\"note\":\"The second close again leaves about 0.020 opening with strong gripper effort; because the block itself is thin, this may be its true thickness rather than an empty close. I’m lifting higher while maintaining the deeper grasp to verify by observing whether the table location clears.\"}",
  "call_id": "call_jZXQz0amj8cezjQkRWPeCIBi",
  "id": "fc_01eaf3bfca25f624016a7e01b2e4d8819994707b2888c46de0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jZXQz0amj8cezjQkRWPeCIBi",
  "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=-0.522 left_j1=2.2848 left_j2=1.9076 left_j3=-1.2461 left_j4=0.0299 left_j5=-0.5694 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -16.4034, 8.0342, 0.1197, 0.0122, -0.0269, 1.0232, -0.212, 1.7162, 6.9949, 1.873, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d33b86dd30bfb2ae558fccc337f36cb224c44ca84ae90dbf02957cd3ed591c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3589e3b538c1b48d1a472b4b7c9bfed318b318e0d4cbdebe1dd516c55fdcda6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0df3c0d2f3874b518aae6471d6133265fb0724f0f59be1d56fd06be35fc6fa0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.3024 left_j2=1.8359 left_j3=-1.1393 left_j4=0.0296 left_j5=-0.5686 left_gripper=0.0201 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.2872, 5.5453, 0.3004, -0.0073, -0.0024, 0.8278, -0.1709, 1.6752, 6.9949, 1.9023, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgG8e4TICws5tzBYdN1oBy0OiCTetr55XJTpKRuSorNmFPOOohDcohmrDw7iaKYXh_WC8NDPbbjUI_-eKI5h1KrWuCbuUe5sR2Us8PVaIoNQ4wW5we3XS_mkxqs5MMpE2zkAIWlN65FSR7NjJIHAeZH3No1f1zvOdyUFV0mtJh5Jbp33RV-J7fKpQCOlniWd67uFocH7EXkL46rQSDHjZmy44j_VtFWDDNA52RnKb9ndusRysip9L7cT9YgWsZSML5dbtS5ZocucLtiWz-hqwmHMKuV94GcZo9HCzCkBd5qjtnL-58gNUm95QkkyzrZNT9AA3n_6a0-t-A3cB8-N9YGwjC6QrP5to6s6N1D6lFPTxW31lZ4thXtue7cfDsbkIzlXFfxobuQ0VlXs2MAu5atibDEyviWtug52vWWp3OrsSVkRjmw2s9BwtNgUAnZVEou_HBRJMcX9yooXXBtAKAuw2iSZA9qv8IDMKA5zLEnZAHGPrCtq30xWyh2ibGiqhNj6xf1cj7-GcRJvSDmPpWcQ4Xl1QQMdhw0C3nsvv5_brXMkbcsYv6A_OoeYhbM-JNKh4iyWqNEO6iP61KqyIpU4A1w0IJQ9R4CwzeMLuaHH3tq7KLxCyNik1YkRQSnG96hK8ZmQejVMtuHuh7Wv0IWcnL2vBfjg4eINM8QXs-wtvbBe8k773riCeuFZcPasxcmQLo_bv1b3vXBm62a35fDqF2EnAJ-zyOFvCc4hrLElZui3nicxmzk8N3j02zQOy2ow1EwTRHhUfBEMfEVM6gT-8OZtt5t6uelndTFq3OxRX1oS2UlZ4ErfBvv1d6Ukiu0a_vLegmO-6PqrbSfxuPkR5gzXLUmwB5vMD_7bXzSIzubmV9bySbpp0okbSZTtpxZ_FNVQri6mmkFFxJ2Cv3jk3CY3mxrDqwVoO6OlC1eN3mj3UkPJ-B8czKCvPbUJcEsvTc7VFOn4PeuYx3OOgChR2Zp1lihsy7PQ34cDA0kYkQEcHV4C9aigya3SXiJW1UJcIfLgPOnUHY85Wko8ufxBJi9HvSogX5D2OwslEe_zO5YXr6_6w2koaVjrStveo9HA9Ci7yvpVq-R85e7wp6Us2ajPoSlcFfp5mpueWRGC_U6fKrrqyKptU7xO1gWIVH6npAcm3H_9H83oLcKyN8plzvHwg0xsjDoMkX8_5JkKgL7v761Pfdsg-Ncicpel98MDEeJ50m1m8NxVxlLS5pN_KPutx373gJow1zHRTsSo5MqpHRm7PMSia0oWtq1xSvdLbdef0ek8SZ43zipiWjQ5t4Cg445p9jqH-hZeM4wljmuW8xS68NBEIEBTkKqPTe5q7ciRWA1WoGk2UX7dbXQcMjcgkcZJPf4Vr0gv60jxQTAf9IqkAFmdI_yGshE3va2nm-hXTyM5YpceAoCL4ivzkwubXVi0nQwqRN6XJbE8YH8RIBgOY5ZDu2RfJuOHRkwHsbAna5OnIw0OBFCcF5JkRSNWn-bUPrIlbrRzQ0zUdElYAaYpVy45PuJC8-wHqDksfr5voSdVG9ajbVxlb8ihTRB52DkT3Th-JlYaTQjNPfwrsHXCWIG1EqSw4QHLjXMF3IwpwJ-VicO7PhO7F9rQufQzFpKvejL679_CXRyp1aHv7P0AZ4VTOyVp0PxhXWqVDYBzFMvws1enJCudh-xTkfurLbFR5-w5MKcfB6a0X7cz9ULOI7VHdw7vkCPyxuPkyuNt-GUJEiTDZpYmkdi3xm0Tzflki_LOMtkodvy8GRn0XS4WLaEFShE5fNsAO7DXw8fnpSqPKSqaZr_pOVcwA7o_xCxfHOPdyNGlDQj0eLLGCLgoFpYLmivUpv-Frr6DnWVVK2A1n4CmfJUtY-6xNWlJRqdObwuCcp2E4IXQNrcSemMG6BOSFz5-ZDUM5NU3ggP92Wks8qkrkPbQ9RYOq3ztUXoHRyXh2gkDI1jaJqn0MlclYvBeHhZKYeKR_fZ3sAbUFnCHu3Q0Al73pwuEMJ6hUk41fVn4qy_HVSIgyROD0iqVk_YEsjKBVOyWkVdjUzYwMmanSsRV_rEfAoLFflZpME7cb4Gq1pkl8hdyE_v4kMBqND6fDxdoGobR6WiSemn9vp8RlBps9dsTW6aiXt3siwwiD6NEy_7b24Pe-IeBnGv5bBvlFAwAvg5ySpoLCGJzA36DSPg5mLCgs7ok2uBebx-28JEJmOfUvNxQMTQ7dmy8re-6C6EVtKAjpEU-_hEMeCIqdoV2olOjwMoZfu9YWpCWjQA-gZteNIyk1TXJk2nCRdRezu_B7ixbMnrsESdQ9Xe1oRYOYu0OulQKtw==",
  "id": "rs_01eaf3bfca25f624016a7e01b5b7908199a5540f89abb0a741",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The blue block is still visible in the wrist view after lifting, confirming the second close was empty; it now appears about 28 pixels left of the jaw axis. I’m reopening before correcting this remaining lateral offset.\"}",
  "call_id": "call_LOHsvX0H7ovv9kjQINYRLWIG",
  "id": "fc_01eaf3bfca25f624016a7e01bb12f4819994081012980c80d3",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LOHsvX0H7ovv9kjQINYRLWIG",
  "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=-0.522 left_j1=2.2841 left_j2=1.9102 left_j3=-1.2598 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.995 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -12.2872, 5.3949, 0.2857, 0.0024, 0.0269, -0.105, -0.1846, 1.6068, 7.159, 1.9365, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b26a57d89c3295999a0d55f798c85eb031430c13bb362b74f1394d0dbad4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10abd7ff7333e78ae3b845a01c7666bf0cfe387e4a6648e89dab898daf13f7b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1438534627bb63d0d1b30a7e67a024a33aa910065cbc3ce0ef85a35512b9fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.2848 left_j2=1.9076 left_j3=-1.2461 left_j4=0.0299 left_j5=-0.5694 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -16.4034, 8.0342, 0.1197, 0.0122, -0.0269, 1.0232, -0.212, 1.7162, 6.9949, 1.873, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgHJA9mGJnD7cAy54DZPUxAH8L03obzYoTu8ghqevB6haaPvBoNhv9bvDmoGdCoQ30lUWW5zh8Y-af_63xB2oHWa-ico0WKWZKbEDNYwrpqI9S5k0AI5MbJ9Un3fJvsYdP_0v_BJ6ho1vsxKP0Wcf8HTNxq_vsnHpB9eplGr07os-jcOY0Ov_VY3UsIHylY4QJwAuXu9Ydz_MSNLWw7DMC4pTxQT2M3Rs9Rkb9jYq0KJsIVO80iyPLvwj3aLD-EYEVXIBxAABS5yjBa9L6jLsmwbzublMfJtE-vYyEqr3NLkDBA-MIBjUOIe98hY89PW_q9tFPq7BXbQHVnH0NnfsfZlhSXVMp7hpOdrbYWO2TbIdFTVHdrQTvFDUzqCwhpC4YMvZzBBOYbal7AM_QpHX7_o1znJU4wLs5ZNrcvdMR3Dm0G8AcD3hCA0c6TRa5sUJl7hTkA5UDhNDNECy-bqhtotfzdUvT549ZYX4gxMBg70AFv4-hgl8jFUEg5rCW5oEBBtAwaA5nBE26dpOoj-wzqoDJDLniAFY8K4Lc9_cthS4O2A8r01gZLl7yDi1cYh1WjJzQ7TRuijpPV2Lz_JiWDiywLkXBDUyzDbkqhv1dATLTB91--1BDa2TpWVvaLcQvf31rGjUTJD85XZ_jZqbLZr89_ISbRur5O2XzEl9Mzyi8eisHLLzWOBVkHyezzzwpDsnTUFk0iZKgBCpxlps-mjL-VAu3auy8sSpyhz5sUaI3NiWxc7VKQbUexueis4PIRU_-Cc5Kjd9YdyxCf0Rz_ZlDzaS5H1Vljs-5XFCqK5Y8afj_N2b_j7k29J0hL4Qg6pEBIqIq9zzdsc09aYDyuavBSlox9fb-EmceQHGCcRGdtwnbNsiDPrvCXIAqJkvjGMmlSp_tlQ0kIGpbxj3TcUxTtPztF2sNCajMzr3UbUgqSvLXKkL2NjhCaSv1p5_MgwOY8pBLAiiQqmZdm7rPXEQZmI4gBxLsR4i90PoJ65b7k_BGUGrnW9D9oIozVtib3bZujrvvK05XI_dExcYQnuCHmQZ6ILgEVGalYXSf_ceZFSPh3Vf9j8DCWbTXyBkPzT0gFoeSmNTN1vUl6T6lxi6XsvVDgAmGl1flgDZ55rLDdncCnmMhGZLZnKhrpQ-Gc32Kx2A9Ff8gRbFsFPg3iVeQvtefgW1AOSZpqOT-pFTzcog1TW7NrNERpt3V43YpNPS0m0bM7CmkuwMppQjjCX9T7OXkyb9hQmSCY6jYW5GKauDhQWgLm8XQ4jatkyfdGBL90Tdq47pdFFADWrus5BGSDblMuOkylX49RXRnCjjQazWG5oxTMQ3azCE9EmdZhkEcX6Kceg4d7uQyhUvLQ-4hEkCZnvhpTObRI08mCvNsw14As3bnB2wsjt_fRtc0RZcoiMXIbXqSaUIppYM2cyU76vdf3ow5Sxi3zr36MwQTBt-7ThU9SqWxRB7-Ik2Zw92inxJ03YzmnbiWOgYx_6st6Y8-fRBxTA-9KTc1YkUyB5-lUiTfrAI-tQMD8HYzzdwBbHnIqq8ZtoWMiGfjtKTaxv90cRYQLJQZsJ0q8ckEBaoyrvZ5Qlo-u5nxkGxG8WOMskJLibwrmlgFvTA1hQhgEWcC2tULigfPaUUydABpyRcdKIVKEE5aDlWW2rBS_8jdBlZ5D9mAbAUY_TNjibU7VDNWvJmDkXHRrzDh4vgbdor3HjV71ajVfxuLVRmCP1VidRcie24udDMF6FLEEqmxNz_YHmxD32LKY3ffuHF-YX8vsJSSywq8Oe4MEA6pGtk5wLl-5OW8rCRBLzebIM9j_2afomEF-yXDypRuiRT6krpUkjOjMe2vPRDXXLu3tSN8HJMGqbNziJVut5Rcu2VAsAq0EPxoDziv1au-TuewpUtvUPS31a-eGVY0jLHkVLbt4_0ZXzqMJgiel-bI5jCZMH2FfGYk23yzfUHQblJgWmniNGnE1IVlG149Uoh_VaH8rm554j7ntjd45eQ_A-3TlkXmbPZ4PGQu-SzbM7m3BXJNKejCAXvKH7A1venh2ZQchxm_7uTKJ95W30CHY5sO9L8cdKG2bSC-d7NMkxel_baI_ivvO_Tt3N_SD7PtnNQ9f73wmB4_mYmFEyx13GkpK6FUnVpkZw0tVeA32ksiZRDYOjtyJ4JevqWgMeoZllpOO4q6b-TN57PAkwQ-6iE3S03jK5KLW0BdUCalOsVtdOLeWG6uBGfa3o7ONNyQ9aBK3eFOZRwp7GPTQ4HQjd4yexulhkphXZy4C-epoWoxFXNb2aBdE29faYe8yhCcUORfDNW4VfyBFYW9gevQZXmq4zaJ3rx39wsZ9ns8cGcOBwFF27WHOOpAT3q4u3EEWNhOWntGhu3MkbTxZNLmdTxCymYqqMCGVZ6XYzLHgUOvKsOnC-Oj12yFs8pWDBxHXFuvvzcvQppojm6aHadPfwJsp9aLmubyK-Aip7PnjKnfAA-H0pJmOw3W0OzDIY7q8e_zVkb24-j94PcsfUb6mIyGt1vv8no5k6ZbU3InrBAGqbkrYCCLke19AD2w3vXMAPFBFmGtyhLbXydzLFVx8OUg4ZPTa-dZdBbRMtfDknQkpH3RK_pMvppoM2orbF-kUnBVpLQw6SaxMnosYgJ1j3mol1ZcoLK2bOdX6z0AEUI-CuEN5FdehOyw6-23N-QlExi1DNz7LIAllpdo26iKDY4yhh78u-jD7Yw2GJnCrB5y1cseXJsfSc1e5qqR9Bxl-CwRe6um7M26sPPlaQPFwqhB5BEIeL5MjfVW_pcA5GW6F6F6AN_dIYWRvLq2RLx7_vC7RVm1grTvRvusQWyhUOkukcqn-PB1PqNExKt-7OYmdzoWyuHjSy2KAoqbpSYZaVcB-ijJTL3XqaDYKpF_Y2BA==",
  "id": "rs_01eaf3bfca25f624016a7e01c063248199b27e2e2af87af6a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.47},\"note\":\"With the gripper open, the thin printed block is clearly visible between the jaws but centered at x≈93 rather than x≈115. I’m applying a calibrated 2 cm leftward gripper shift via base yaw so the block moves onto the jaw centerline.\"}",
  "call_id": "call_3GiR4egp7NPPtMvvQKMXjqIR",
  "id": "fc_01eaf3bfca25f624016a7e01c7af1c8199a935747686242fab",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3GiR4egp7NPPtMvvQKMXjqIR",
  "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=-0.522 left_j1=2.2841 left_j2=1.9102 left_j3=-1.2598 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -12.1231, 5.4085, 0.3297, -0.0317, -0.0171, -0.0513, -0.0342, 1.6205, 6.9949, 1.9414, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f0b0766c101a9c72ec57b2b236a57c530ef148adc7af05c66041664e9be9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437a820e818dddc80786020dc9e1c86e78b36f385ef183cebeb26549826e52d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9c825a1259b830fbd5912fe1f483d396923f5961e79a2d65b70b35c21404f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.2841 left_j2=1.9102 left_j3=-1.2598 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.995 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -12.2872, 5.3949, 0.2857, 0.0024, 0.0269, -0.105, -0.1846, 1.6068, 7.159, 1.9365, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgHOvVQ_AcM7zO_enZx0H9l_wUbwRsTLZ6fK-X_h3swx22QNa4xprUq-YdF1DmTXsuQ1PUdHiPS82RMr2AxlQI1ofdCbO36pFDXRhriKt_kJ4nNj1tvwKDA5ber5MZ5KFkNcnzKe7QSot7St5pwfZGyZ45HNrhKa9wqdM4PX6TSrJKIjL5nJl4vI41L2Sta0m10HvdnAMb2v_iP0DeDNrpNHaAQI40RvIVGfK1rtKvaOXFK__iHwLa3DRsZWF741zwKCjHvBBYZXc0mlInAkd2W5qY7wZfu-FMdVYwTWVaztinPizS2IWUDs3-VkoYamdUnh4pCsQxzRVi2_FtGs6woCUwFRy8LCeeGKOHqLqfpOVRb8aKU2rgXCGexAPMuaKAt0H1k2tszZND71ENGHKKLeZ-YLvivQw7XZBaXgBP6x7y9HaljzrO_bZA4frbq9UdGU1wJTPvGNlVyMnYQndD9cPWXNTU8nxr6Fx50pcLYJozC3PL7Pr3U6_VKg8NNEXw-PdwhC5YIYZjePGW3RlNaFeIA3aLJx7S33zfpjKf2xAkAhI1MvL_abO1JnPuoIrb97yEHepm-Al1aYXmkFseWPwqG0qH9KA-Dsq3E90DP60U9DW4fNkD4YmlEg9Ol77aAu1enXzQKoZ3-n09cN88mqmc5M__uUFykyPZIL23CGUbRa4Afl_iZli6p5Vk7HNNKKzGKb2S5qE5kUyKheuwhvP17_a1wgafR30k-YXe0TDWREzaevA3-a7XzonCBgWEdXTBEpG1mPbe50FBmSDWWedV5v-i29e6nkxKPCPKX_sp1UlXpMA4YHmPFZgT9p7csloNQGTIP2LrD_OIYkp3UQywDu0tTDAwi21TFIax9pwzZ83J6HwduJATjqJd9BJLkqe2rzVMKIm4TkurAof2A4kvrydqpdoYdLINETtS2YVAlhBL9VcJ-dMyz8MCrjViBGeNXdPlDdGd4MKesyC6nf4cWmIY3RoqcNoxqW2T9KHTjBrniGVYH-dtsHN4kzFt5N3d2LsXJlQXWN-YnPjdEHwA==",
  "id": "rs_01eaf3bfca25f624016a7e01cd40cc81999765346c4e4e121d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.47,\"left_j5\":-0.57},\"note\":\"The first one-step yaw command did not yet change the measured joint or image. I’m reissuing the same small correction, explicitly holding wrist roll fixed.\"}",
  "call_id": "call_T6q12B4yrfqwIYDNAcBD1ZsL",
  "id": "fc_01eaf3bfca25f624016a7e01cdb3b88199b8dea276868d1116",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T6q12B4yrfqwIYDNAcBD1ZsL",
  "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=-0.4706 left_j1=2.2841 left_j2=1.9102 left_j3=-1.261 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -12.3419, 5.6, 0.1197, -0.0171, -0.0317, 0.0904, -0.1846, 1.7299, 6.9949, 1.917, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c463eefa9e54beea8e76d70904e8414ee994e9b5e84f116095c16f072c66b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a6074b6499511afceda559829fb8d529239e95636e0e5cfa76733512e1b1a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e674aa2675c98d1684bfadb1d0d7216c2280c82cad7015714b8d2478006f475",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.522 left_j1=2.2841 left_j2=1.9102 left_j3=-1.2598 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.9996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -12.1231, 5.4085, 0.3297, -0.0317, -0.0171, -0.0513, -0.0342, 1.6205, 6.9949, 1.9414, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgHbmwRytvUu9OKohE9VOig4IYDCmy-FaltCCYeVV6PLzs2KUDBIkTAGo0T9eCa1sYGmRwRkjqd3FP0beT42SFCBCzynFEPEu1BajgCVlPvKYA_NqF87a7TKRFcJvbwZQpIABl_j67nYuufBsLlwfXyklRBaMxuONPia0BXmd-PGzAizHhp9vUll_w10HDfQ7kwONHBcDNcBLIdSd9VPiXdWhiKKPcJyVynal7iSP8CMvWbM5s42ziIJPRuL9ncmofUpjwFdEAAtILPO87sbp0_PzUxVnXtYPH54YyRNmWRImWxMHovjeZ2iz6q510N_Ch8zV9d6qe3u8-x2PsVVa85N7IxPKqIzzGBwnvrqmRuDXdygqa2npa4DVnqLj5SmIoVvAWW6qezdfUVT6tdZTbGYpZ_xWt41rdLBseUThuxHOsqt17AqgqOenhwdG4s4bwFN_r3811trDYE5e-4HgDe0Mg6O-ZZOhq5eiO7e9hCt56heNo8N-MqpsVpJlPqQ6GeRwpYoBKaIAM1qVZSL5XaeZa7HUPE16iIdzlwhogGzmIkqhIzQ7QsxOZhJJKfmaCwE1u9tKObbQL8FcN412y1-5BmCs5WUHO4F1dIe1rJv0rzl8U83Zso0FCDu7_H1u4WLAC_MXqwktlch-tmyc5yGJxwZg2_ECT0ubs_oaWn7wiOaKep3Px_X8QUzJlkMJLAOGlZsU_tp7ZKO8t8bNlC92o28B7JKbdKAzv9TjFCLEkIHjKWgha86cB3eW-YnYxis_9o_8K4KTg7_i1rgyL7QE044nWNQ_boWTszwB7bniC5vkSqEgRUUXNXIt-K5ZMIgSDXn-UQ_BRA9iBj-HvtvlJx-eHIZcP-_52QekpKsi5KiNOjOArFMF1iw8CI8e2xi-DdM1HgnXkFD6OBwB3Kv0k2_cOnf7n7CrfXkgxJgucLBqYpChxovTp9_pDFQ2Z8hlJbFRglkLrows1YbisDnphCdWnXb3vbswxhR4pYn-2kV4Hndsm5CJgjxpAVo7-Dp6oYfHDfXHZQuOxVYkeh1Om3gd92lFysfhEFpE_-B2vCLC3eEa0YZHMj2penzhiHpIsrorqcFN1V-HpWn6L2eTkPpMDcgXba0jyWCnV3gy-l0CrKwGcOZsvz2N14jbIlkED0dV2ZtA39ehwww5wlyVEuf5GaXC6ne8alqEM5wtiByf-6CidWlt1k9QMWQRPNN51trhb-FQi5eC5BSMZXmBhUht3kMw5D0KZucCDexI1WgeJ-aGlkzJTErCxLIMDvBAjXFjqW3YgAgW4Foe65rV-KxOSaMqPxa23MvWqhgHyT6P4t6DuctrZm72QNgJuAlczor17T2AN5YsgeFvIqYWsbcrKnhdf7x3O09q4Ue3jwGctno2JHb7h3KyMHuAz-S-XwJtGBn5bWJydhEJ2t01HndoYhYvIG0pHaEmfq6PaOT1Jq2RpyEU8DLTU8aGvSn0EkwkLuQ2g2ZekghESg2dKNPzJfRFVaMR8iIajRldT1lS_IMJ4TztiBTwuooKX1jfMH5Ggdva0aLlVqljOylRoAgcXwLakZroL22nRY1zTUbRunN925nJeMLSiK6kIO6MrcxJsoYCMlu8ILlkwiEs57L5mF6cxyRnw2rn1mgTm-32ppEpyJbrqDy3CYIWD5VFL3fnbb_MYJxq7E8LPC4A-zeb0qpafLwHCVbG0w21rmGFJ1JPDZrENPuJBExfXlB80-WsEj71a1vzQVf9KHrYyRNZSdcCPvph7Qaw12CIviWcsF6-oKpta_Ze--elHraJia8TmcMu162w5Ns6Ipm5z-6CsR4z6ANlyePX6IVG6hFo591W2wDwXz8xpOWy1DZS-Cza82DxCw-9uHZA0z7_PW8Wy_MpETfzVVCl30piZu_8d7MKTQ9C4B-DkSvbCoklee3FaWFdDBu1AoFqLS6UXDdhSioD-YXRvoIA60j4YeTUuEwXNH6w45c655uqpXhUZN14_9qYbUXRo2_oq0enUMrvMlpgMmCRmb_61RuLQIyoewC3VkVAZZqDsAXwC3RHbA741aUJmPXYusKsaZleqQDAUcmqO5-iLu8C5pd8_6JcRTF7tO_7KtBz8bInbuGEk19jehnCrcMpnm7aettmVxfL8DAvq9Bm4Sy6GEOk7TpmHNmkMQ_D7Mrb7cW5Ono9IbKpk8HqNDgoaQ_Qcl9XHjhjCCtar6GATvMAT8h2AwHH_QdduuNBkKkmq5FhHcGeawZqIRusRgBjaN-qPC1IOXqimkOIyu0tcR5bF8H3AwyTSrbgqmSGZZ0v1Q-vmIegRyTbyFPEfaPAnmaXAduqELBE_qVYq7i54uaqNhMApRF1U-cgCJ9tsNI1B1vv03lq1qAJfOlN5gcYGDcwmMf2M7veyy4RWd0xouJI4ERa5OsvZ4RKagkUsPwFG5OOWtkw-VQnpDP3yuIH0pyXWDKZWyBa512w36c7Nxv2EwFYHz3ZZIJPYA91Ls6G4WqpefR",
  "id": "rs_01eaf3bfca25f624016a7e01d07eb08199996c6ed52964b13a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.32,\"left_j2\":1.82,\"left_j3\":-1.07},\"note\":\"The yaw correction moved the block to x≈108, essentially centered between the fingers. I’m now descending about 3 cm at fixed radius so the open fingertips reach the tabletop around the thin block.\"}",
  "call_id": "call_vZbjGWEa2X6pmKElOsDJ6V3R",
  "id": "fc_01eaf3bfca25f624016a7e01d944408199beb8028b026a6890",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vZbjGWEa2X6pmKElOsDJ6V3R",
  "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=-0.4706 left_j1=2.3035 left_j2=1.8278 left_j3=-1.1301 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.9967 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -10.8786, 5.7231, 0.4518, 0.0269, -0.0757, 0.0659, -0.335, 1.6068, 7.2137, 1.9463, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910b16adb5e5043d5d3f73d5002d43e92e85df0ff8e15ff359be2d9f2bf4433f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b832f8b3f10268e75de2f07d7c9be089721bd5ba2c5751858d00e60bf4943ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b08dec1d24a904ec8dcdb3601bf9854b969a1bc6b0219e53d4788f9b087d50",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=2.2841 left_j2=1.9102 left_j3=-1.261 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.996 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -12.3419, 5.6, 0.1197, -0.0171, -0.0317, 0.0904, -0.1846, 1.7299, 6.9949, 1.917, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgHexJMyeKBfeNcSshb1xPKSB08Z5bp3jULE4YgV_IEcrDoFa1CNyE9WTUA1kNPhpDP-we3O5ytVOfCOAMOmAqtI5dQGWz8LauJw5I80WRdgLfWk0TRd10ocoHRmiR_2Oh1Rld3PPjQ7nOod17SrS1kwA5F4LoX1yhqOvYBMKvmomntV269E3E0oWjM0E1_p3OcPoGrCPTuL5QNVdPlkX0wlPKQA8rLJ62M_Nd-wOKpyTV4ZUHQZ61fVKG0EyLnV5BZSmFwxjN9J5zWI-0Foo6Gm1pbjT09Cr387Zc4C7GvX5ha0QfjrqHdrbkO8rxnskILhbeCWmsUqz0dVbiTJMBRNPnY8BXW5VK9f8vRL1SvSbL4_qKq59igoYI1IXnOItfYhbKfjqjKisJLd2MYYIwMd5RBnLdHxD-4qgdrG4wM1mGjGV8MaGLfoKWrAT3fS8mMPseevYcFU2B8yeqJiWVffTG9CJMfT3_Lw0Shk8N9DD7DzQXgu70cjw3af1HPT0h290JMY8ju57k5-F67y0ZmlfswMU4AEslFVzN4PuZ-HO8jopkftBwgnmI0dljaiCQNmzil_WFtv2ChOFhqdCcwdSmpQZWUuJEIpOnu4oTzn_rtEbci74BcNjFjYVSoEVMFRLh3TmCqqGjX0HxKKNJzQvmR6913W1cu0isgUEiBR90WcO7XiapEtEQjJ_45UxqyIeM11KYikVZC2rAKWABbETTBy0qbu74kiL32xP0HrRZSYj5O-Mo4MsAAe50N3T2AAjXHhLPF-2iW0ZK9i-IU2oBRz_lHTaGHbfl7BboNhHtCR-CmeegTeM_anv1jTkmWiuEkbt1LCyhm005vlhOzqx1HIEMT_k1JGMWnS4MpNhB4XyBs8bUAAUjvvlwTWXi_Caqa4fMkmp0GWNDOWVGdgTukY2D71OnY2lR-ZkQJwT2J0Q0wo0ZbmlFR_IWILyLnkZF71kkEnCMV0lSmFJlGAvra_RN8jdQDZ5uPws2XR0INKqCWhux3tQZBFcH7YncZ2hEPaky597YkMgEf9skEhlB5h0ayZxU_cSEcF62LlZneg1vlXVRoh47EsuNr9rND6",
  "id": "rs_01eaf3bfca25f624016a7e01dd33c88199b2043d578dd4078d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The centered block has passed below the wrist view, and the shoulder stopped short with relaxed gravity effort, indicating light table contact at the intended location. I’m closing fully now from this accurately centered pose.\"}",
  "call_id": "call_LmbBnkzBq9Z677C8G3uN6Ynz",
  "id": "fc_01eaf3bfca25f624016a7e01ddd9888199a237292da76d671d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LmbBnkzBq9Z677C8G3uN6Ynz",
  "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=-0.4706 left_j1=2.3081 left_j2=1.8244 left_j3=-1.1217 left_j4=0.0296 left_j5=-0.5758 left_gripper=0.0214 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -12.6154, 5.8188, 0.1538, 0.0024, 0.0024, 0.9597, -0.1709, 1.6068, 7.1043, 1.8681, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b8d7c7e7faaa303a7a1cd16d2ae027cd19bab27c24a8220dfbcdaafa3019f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370d0ea06e431edc04091d0bf9aca74d92cb6dd1e8b692c69f87c90e2f5a0ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5dd6e9c87b3597d465d45b02d83ddad2def520668e3183bf8ee66b10b2f118",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=2.3035 left_j2=1.8278 left_j3=-1.1301 left_j4=0.0296 left_j5=-0.5728 left_gripper=0.9967 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -10.8786, 5.7231, 0.4518, 0.0269, -0.0757, 0.0659, -0.335, 1.6068, 7.2137, 1.9463, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgHnrFSKBlPaP47ntRYH3OnvJi4OCJUm2QccHsuDai_q1DJihqk6K1Yex27p87TPgQ4IX49DDZL3OI6iAcSX2MuY_tlLgRmr-lweWKK6b4HyWHT7G5tJXEkO2PnQ1PsMR2o-FRsqbggNGZ7LI9STU6tIedsZbWBzMgumMu6tqpCAQTCgWiwpGHhnTOFdcsKTx1avCPK_ZZDUOrWHA9Sb3VUvJ4nWFdRNGMI4UWL52Dd4mH-ZwvtYHtg7rm22KrzupYp4fU7gnMDoc_lNiv10zIKWitmkcnQjm_2JOWZ5STGg-QrCheDMwz3Ng_9qZ6XZB-UYuUzO4EFL6tUrln9775RKbIJZdMx7g9a2DnIF_3N7MsDKjzi4vpZGw8NcLz7hSGRGAlLIKRwBSgCMuEUrfGzdY_xMFhAkbCn85Jbw7jYCGeDx53hO1O26-RcBPSJYKMhiwPqcebh6BMqffQkNZWzyjiR2PG3Hilmasmop3r8Iibhso6BYsvfHBfWU4-dde-2PoAUxpZ5lnxpF0WdoDWuHTDx068hwvPRaIMYOfbX9obWE1ufXcIjmroElmm2Dnp9KTSCVD1R6HrU_JSN0ai0ihruZ-Z_-R4HqzCC1BspW_7L2gzut4bOMr7At4dgq8JwKqUd8ZXAIg20_OABKV6cMsBeuwWKrRg2Tp0MuPn7PeEB-DaB-Oj9wUuRGILWvcsBgSfrOdkzOgjH3YCILfyHcHjNkgiCXaork_Y_pZsoBEGnzprHFpI0rBSPRT2mh1Qyq-qImd_YjnR0SU0b-Lqu42lNBJU-PMCmZH4-QDJge4tUlhBQUWAqJAK1M9k0eF4ZVK6PO0aAPH3lKcuoqEERi0lQom85nt1G2uC2su5x_DSkQcnNi4NERPOpLBufrI8p2O6LNgJ-XSHGCfdFXBi0y-ag7AjkotRKSZ6qsZ-4Ib_tCpI-Q1qNU4nRUjjzTZqjlI79Tab8EttJiEnkeJI4OC4WSJoNc86koU1BogCPLxV_JDijVE_hpGBnEZ6FahI1C-bqBOtAfFvjAu3UTqo8DnCwG9A1wvVvoN_RDKZnhH5jR0hQ1ezpaU1NIeZka8d3daWajYnE_WfhfA-L92JSVJms_h_Mo8_3Wiy16JF3r1EdQE_PDw1yCsuhs_G_BkhHPWnuhopfvLlggB72cfefxPMfTa2BZfE3Jcpt4r3oTi6nQTqVPXOR4C2BiK1hxlALZ-zgK9y4koM6nK10kMU8XyyRGdj-5lOILug4Y2S2Pr7yt9CcEaflBq5z1hGLYVAA11OM6P_at8fXAuxqtSVHY07peM0h9i6Xe5lMsF3_-YflgnBL-G9L8ehHYQWlAZQCRQQc5p79DHzUCDlnIc3CUJfwHVhTTcbrGPstpEgbAmywtlMjFCZLOp4JEa9rWRXku",
  "id": "rs_01eaf3bfca25f624016a7e01e391948199ae630788ad0247e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.24,\"left_j2\":1.91,\"left_j3\":-1.24},\"note\":\"The close again reads about 0.021 with high effort, but unlike the failed attempts the block is no longer visible in the wrist view immediately after closure. I’m lifting about 5 cm to verify a secure pickup before moving toward the red block.\"}",
  "call_id": "call_QBMMW40ZVEkARNLzW7RkcWtJ",
  "id": "fc_01eaf3bfca25f624016a7e01e61db081999c79e45b3ff1a6e0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QBMMW40ZVEkARNLzW7RkcWtJ",
  "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=-0.4706 left_j1=2.3058 left_j2=1.858 left_j3=-1.1782 left_j4=0.0296 left_j5=-0.5762 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -17.2786, 8.4718, 0.3297, -0.0317, -0.0317, 1.0281, -0.1573, 1.7846, 7.2137, 1.8926, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0263168b1cc0f3e48461fd908ebff2b151ba0d47811e380e475f3f64401e3f04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4122e024fedb083995dadd2e24fa0256c23332ffa64c3937c84c7b1cdfb9439b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5047e2bed3d35f1f027ace0d31c5014ffd866a0089ca227a4c9d0d5b1317d91a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=2.3081 left_j2=1.8244 left_j3=-1.1217 left_j4=0.0296 left_j5=-0.5758 left_gripper=0.0214 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -12.6154, 5.8188, 0.1538, 0.0024, 0.0024, 0.9597, -0.1709, 1.6068, 7.1043, 1.8681, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgH1E0-ME1XMDKlgR3KXlth-qWKYe4-oPhRZHa8C_OftsFh5F1MCl0UH2oUz2_Vhs8Qf4bTO24fPaGiX4iwIvi3Sq8yepJnBmAe3Kv9vQ4Axqe9HkivOg946ZQqnYKbFZqkGwd8fIYWY_Y3EyIN0u2iAev1IoKoTjKcDB0H_WPqkxmRHwjpc6ozfDBkgcbJ_6rDhEDB0Um-B8UZywYojMjBcHLK_JXVYK4M-U878WC56FnSc9IGnStXBk5YHtOlmvFNZJydkneQ_dsBg8PSdLpk7CypyehtZ1TQ8U7KNTQLp8isp7LaOuIHxJx3eZAGLFizXsr0pp-R1-5wsiwarOdGb0UuacLAfP_tuAsDMR1puh9LNRQuSYwgn3Jj-H12pWgJnGr2A4vv-3donMTP0_cxbzhyHDCpxuOfxYiCxOxeI8CBuY0Q-nYMBd2wphoEz817C4dPYIhWljGYvKymcQ_gdmKY3F3Ebp57RitiCHdgPI5enKwAiDy8-EqMrp8VlCDCe4BHv7V4wZDIsVgSet0cOdYDU7vnhMdk5Xg3gK6vfC0VUHFWkVpILuZuNc4KlOBtugSfOV29UsUZbusC1oCaPWPqb8Xwk20oxJO3m26Gvq1_GLQud1UAGEztiHmkbxI6_Yr5Z6OeNO3uctDP8nuEPef14GOFS4Plh1wurh1K6h4e0LeY9i2oS5343NJpoviC05TDyeMaRmkT1c0GYhwE0gDzenZWrVXhB0EKK4keobE5RK_Ji6AR2SsYWa4-jYSa83VrPLS8nfg2zsRESSqlkf5S0eeTwVYOwl4SaKiH4Koax8V_iDmfTRPagDq3IF98pel1u-6WBAFgEDJmZxgmEyWsfspOc_YQ1VuL2j7M1rNAfec9FkTYECqzjnA1GdGomY8oyaYHm-9q1qXGm_miDr0lwsoTN05W5zYRC6fucl56-ZyA74s_UDJQU5ZkzYxliRVwRgJgAzVqPu_pfBvr8yxnYR1Mw-4mFSC1iz5BClrZwdn0qRTNZaXomIMzAY1-ruZET73a2UCjKJ6d5KFpjM0uNGW3WpsEadMuJodEmdI7W0YSOc1IJDfVYNZpKwwJN5BrbhrPa4j56AKJa1DxaqW_fdWUeGWiT6fWVPMDWVAX2FvoQ0h6r06JGrj8NYSiL-VckCPF1J5OUmWe1SQ8pLwfWxemOMuYd7goEqsveh-Uer1qXxIaNUXbVof_tUhLCPlNcuH4rsXdrHQTJvO5BYyfbCLPEcBCG-ZuEnT01FfXDSPYiQkdEhRBgbBlPBjA0eV3Y10O7n6htignLCT8qMzclCPxpiXMyyBddQ_6pLPNvQFunxb32RakCZLm7FKccScuXaeiKM0KdBIEqqaemjvPXVCowG_zxFtdxmopIjLSpIYZrNIqiGxPWWi7Pq8Uqa3hPdISkzS-Mb5YsE9FqLknvTnXTNLcClVfZsG8FcOs2dIOT3pBEec82VwfvDFn8l7dsa28X6mhfK-hwqOD0cpasPqYaJm5n7xIKnMqKICyhs78_grAEcH1SGwHxxQitNmrKs_CrUu4HDSmnlemOX7rqibWIrF-dGEGrpj7YJ3d6QLzC50LQgz3MDZsTaFWBtAoHA95zFFN0hNWK3ksExTX8Ybal6jNcL_ENTDXHcs3oVKqUzgGsQ1ObALn0KlEgJiAqmgJbiIykKHP5-nzo1WRHHSfPTWQDlYgk3mJNOE1S2lP2qZdrViO_lud4AOA3lo2Fa6hTL1s50vaMJWJByyOVYjYXXBNe9540hnshOJohK2UZSKyKOkeyN9UlHtGsJqBW_Np5004IQsiXdKpSy_gEJlN0S6osxUCRTXBAXsqUVTjghTi4bDCNb6hdDef6JUFRAzx-JYzv31ZPXUot6o4uCHO6w3ZWXgwM6FvgBrY1AMLTQawiy9L6qmskR1h36d3nr6zKdFluwnRNRGTI7jmqx-SeHIa3XDzpcnfwnlEjG6C9n4cHag-vjv2lRmdGR4wtR0aFLdRcAErBME9Fi0DGqY3z64JJbpVSB2wlx7u3En2qE7pynRN2-w4TuPEnbK1qIk8pU4w8Etuh7hheff0lGwJHPHAYS_mHFf-Vpg9MljpgMKbFqpek_dKPNJjIxpNa5eKMYemRusGNo5ME7nM8uYKeIqdBrTn5Xgvj4lFIw7fv1JHa2MELZak-5qW7vi0j5cgtoCfF7SHI0JKrqtmIgFWdTpgU7DEPBEvuUwyQY-DUXfX9OQEU6zcqAmz6-9s8U72OOzwsmtdhUxe2lLbd-sajz_jJO-H1iv3l68pqPb0mOay2Csz_ILQ-fdumdun4Q2u2GWw2jCSXG5sqnC6qNCI6EdLYXq9Ce7ZUZ4NVuYTWyR9dHWVltqy9eaP1dS104ofFfX5f5wtb9XmbaApcAUV0TvZH1UsMbFhtRhxqMEL5MVjgL6x0G7c7SLxh4PHTMMaeS8JMlzPQ9BOdZzQ_2z8nQllUbFagplTDNrTtUEZqbHb0wr516zqB2nVWG1Eh5LGfuivfmVOqng4qgQ9WwXtTOrYKLR7HPhiLsG7f28L_O2GG6D4-AyBM92Cah2MNgMNMTygeq9tt357dZAwTwmJhYNy7IVtD_AUeNu47BkpDJ0sJGEWMSdniW93uNh9w74cdE47gXjhlL6t5IFckoXC-HuWrfw0UE8WZ8Awnvj2fw82rif_O4giB3aX1Fyk3ZdKCfqHVhz3wwbB_RXIbsNYMt2zS9hmj_BA9YQnRotFXr0-h44YK_B689RwWk-WhFr6C5hhvmJsJXYTHYb0HrBjPs1qXDGStbontGCQpyXhB1sZkhfR7iQOtGQN2VAKuB4KjeKPl7AH7Q1klcl4-QTS4q3cNc94KnzrEXfxwFBGOrAQmP9KW-9vttPjk5SfviFGwYVrX8kvUEgmv5BanN_MhYd2fSrsl8vXBUa4z9Bbxn3rPHNppNLyUGU4FYtU151HJTc2URnIBrPH8TXwpd_WRS2UHNcdczQBHKPjfzBQlzkn_BgF1HgHK7cqHKbXDF9HF4gw1Sm2cOg7Nzk1DSIGdW5SFF2_NjSsSB5xiCdklj3Mv8vw8qJggu3AWtBRkKLcgMqcotaBOEZth_1LFDi83n761B8V2_wrh1_FeZwFx76j4a8YKziG_x9tJQck1rRljRHGXMzJEjfinGi7owLFloBmJBhwyPdxl1h4LQiF5iU_SC-9Kl64wp57FjIYK1emCROamN1yuioOp2yMHgfC7dpWRDz2-ls6bxRtNTXCxse_D1w1GSo3YwoVgC_wDTqsAsWIuQssVPcUj8nTTVB23AxMhucMmcNbc1KQB2xur9SrGHUmysmnwd5K6fw_Gzni_3I3h_UvoZGJw6g0adz9ZRmQd37yITrFSSIOZwE0SGi2esoif6uzCLKfDgXtG2EF-GcMRetC2vYSpXaC32sklvOcamYEe4-697LzYrX_vWBqAERNw40oqkrIFqDGyw0gjrj8dmyHnLDW6mIce5gxvk1NdvxNnJ8ab_RL9PzzNiUxHcydJQ4ONOzThK9cILtz7bIu6WXJNqwBZuLXrJy2L5y6Gn4ZJDD415uMKk2JDA1t-b_AuyrzfBNa7gvfPjOIoEeQYBqIqQXsrwBPSTGcu3HiiSZXS-FMhw_AR0gIYQ9yfLmlxpu1tAhPtgtToG_1q0zn4uv5LHbb3AI4KrrELWpavB1wod-eQHycIawGbdJbx5sicuqTE7jtI",
  "id": "rs_01eaf3bfca25f624016a7e01e9cc6c81999d63e31a5c56e080",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgH1FAjeE0XYu0KkttmbdbBrdWHrFa6JTeoiT0Q3XTwBml639rfyvQwjWOpqfEZIl71CnBkysJWwcvqL5F5soFf8k1qJPBS0emT0QXkSBxFSjc6ftE08PM0kdKTPoVY9KDhhkcISeG6LXw9chwxwDx6AzWspVmu-uDyw02eDlTSs02sXF5BOTllatTXnOqUJ0oXRsMLSgG5YUaWVALRLV69uXkZknzBye043pDoDKYlTRrlg7aDK1AYH_3PDic2DhvLM7wDEEqT-k1cA3mRZgpCGwAf0h8H472UdR_VZhcSi8HUThjDtPMChj02Hk7TlOC-LuWO3rapO6jQL_7AxAgGJG3g1zngMJ7oXvgFOtOROMpo5PNJ4SPFUugaFYb88FG1CiumfUk0qMzMVshTW8KCJn5GAwpQnoY1xIfTaLBqrL2plZxlBSpKaXfPxokNf7PjNKiDIKts1CrAXK5s3ApUONc2X0mdFFDRm4WYFhfVQXL9fh1bI06teHYks2li1QLm1XTVWAI3NluOOdQ--I8Qj30iSVE0XJ-QKOft9zUK5JExyaEq5GfkBMflW2AQr08T15KtFNDD5NA_wCzkUMToy4pSYQcfmhJAUlNUmt4I7tumn5LpVbri1IX_1AGonRZ8mLaYD73Jhsim_239z8FLrH7vVJULsn5O9yM4Ec5cKIDdWyCmMW3fQXpcV7Z71WUxX9a9hQn-yztdK9aSbL__wAXffxaexkCd-B7gtBRVvmBlEdBM9a9LstpBUYzQja8kHcfSd05FgjsEwrEHQ2HYDUn5deDcVg8NKiCXqOriMfren6P9J3OlLHaSurIzWMxblvwvKjJwECZsKl4fiaVI7JQGdSALXYH-9rFzQVhBknxE4a4OwpYCGNSNgpjO57YFivc06RHj7I_JA_IQT3uTaCPyQ-uroQpDI0KxIazgN1yDGDaHlg3Xdcax6SAFjBGh35EtbthM1l-lYA9-wBihDAvrmc94EV-NMaBzNuqPAHr-Vq_M5A1vKbcdhcjoarabY0uF6PJDT6viDS0Zumb3x-rmLaYBGtRsvdNJx1ddhAOs=",
  "id": "rs_01eaf3bfca25f624016a7e01f387488199b9af862ee89b7fa2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.9},\"note\":\"The block remains out of the wrist view and gripper effort stays high under the lift, but overhead occlusion makes pickup ambiguous. I’m beginning the high lateral transport toward the red block; whether the blue block moves with the gripper will provide a clear verification.\"}",
  "call_id": "call_nIAOWdstUFn8HzxTMXClnZJQ",
  "id": "fc_01eaf3bfca25f624016a7e01f44c1481998ef5f852d4e0f514",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nIAOWdstUFn8HzxTMXClnZJQ",
  "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=-0.8761 left_j1=2.3024 left_j2=1.8572 left_j3=-1.1961 left_j4=0.0299 left_j5=-0.577 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -12.1504, 5.5863, 0.3492, 0.0122, 0.0024, 1.0281, -0.1573, 1.7573, 7.0085, 1.8877, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f27f5f2113fa0555b3f5904418550a27cadd4567ce7062853c97dbb0a77e80f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d8cc5f0245b742020b1712a3a944326d3aee84a97084a0dda318bbe79e22d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e5270b772f5f311739e603f2d3145d9a0234825dd1682dc5b4b0e59f53c032",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4706 left_j1=2.3058 left_j2=1.858 left_j3=-1.1782 left_j4=0.0296 left_j5=-0.5762 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -17.2786, 8.4718, 0.3297, -0.0317, -0.0317, 1.0281, -0.1573, 1.7846, 7.2137, 1.8926, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgH8sdKyeuiAD1qnKgKxDqiOpTSO4UcGWjCpNrT6Qo-Hwt4b7FwUZKHDR8KsQlk9gc5skRSqCgL24obClh5yQN-YUu6ARVwqDtHZ4omUbXfaBQ7EEiGmyfDaHLn9hznLZ376GjbWd3DS4OOS9jYAcG1ozpAisiLiGzVib8_KIIpI2oZAYhOMgbC-pjww7KZq99SfT0cVkC7ZDNGfd_gPWejdPPNnybR02nEc8T0n_SYDbXNtKjv9eeWoZt8McWNN4Simuq1r2DHd-rkIEffrDhEsfLGIORpLjEBdaOnsXRzET-IzSiUyF9Nxhhz24JLaHilq-yEdgqlfJc_Tiaj_NuwGnA52i6HWUISXE8qUeGXwCAzD0-ES4VC1Gl-BS4iXupGvLmP3i06T_Qkx3xdBLj-JpDP8uBXJjcXvOhokouwZqgJqYIb2clUJ01Twf2rEq2d6rkTMLwb5TIZj1li37E9EacMHL9WXY7xT8nslnvPUaOxsp5GYi3Yk9Jqc2bVfd9NruFVIh4e4r1d24yh56BLD7zKThDXyV8qsJN1rS0Wc_1DQ2I7vaCP6F7Qpl0Y-lCBD3NTIfrA1iYCVLbVFa3sbBZvSYoxhmEfwsuxRQyv6fruWIYOCTryjtxtEZ3R-vLhvN9I7UIPYM76bpHFO1Hsg0SmVfyir-YyKgumR3zJoKW4cryQ5iuFm3DLITpS_XJ4apa61nKY8aMekgFJt4CU0eETBjTogPYlw0emrGt8IKfP5f5UMfOhA4XRZfCwRO9-BChBu2YBkCR01IfkDgv0jfVxIjggVU8wxAockyAR2PGu7tsoktSZUQ456UdHRIjNngMrWN6KgrRf6UqOyOjD-EzMbKC_gHoQHOB5RhNBqjKa03YdXkoASEGeqsrB5dMLbV8DyWymqmZSuYsA6jbDeuhgV60vqpHFhs8FMVdut4Dz0oXD1g5IUN3cvH8C_RSu7Og6ws4_L2drMvH6t3ghv63R7Zy-hvbJqhQnjccNauxaAiWy89pGoz5HXE3mjyr_I46nasoMv9_HCn9IpLnhbraq0KyYFK2BdJhnzV0Len3Xw_er_dFX2ICgGnSOmXnr1mkO4gwTmL5WgsQyKABUbSSsBVjskQ7Ib4sBNgZv4gs2fsAVKn-XJlQvzRMcUm7QTYTNFdyuOmPklen3bKtxlt8WK213CzE9EIA-LQe52M9UPdNQVHdBfvWnEim6fafh-f58QgoCRQYDN7iTU3J1SSQbMAxEJ8H8aZZr60VFAvYwY6OzPpdoM1mtGJO7pm3LxzwVxlD8rdmGtHLlyGtA6dMGcFBjsgwd9i0oVAVqgYzUYNRstA_mGc93kGLKsZ4JZuJDKW2asGhr1OH9omtofioXujg_eJ-5jsdDI6L95uDPOfPf_6rMmldVW6oFBSZboFT8J-YrjfqoWBBuq1ewpa44RvAxGoaR58BCHbcPIZtK4xyX9HeICzhsuggTjZtyB8S0WwAtNVkYurj1jHJUfcccfweKtwasgKBtLiu1-11XLI-BYjM9damIc99YAxgDyPxm5PvURgCS1D04QhfbC_tuabBTdJYOlp3na7cd2u8RJQ2HL2FmheCD79uOUK94nwCh0-G86_zq-golAIzztc_8l89Z5sU2rVA7UolHrLEl2n6Yn9wuYr-erl_c5wOWOYO20-LPbdPq_CK4_ZjQtJyirPMpsryAlJRw4wafAXf6qr06f9yFy6ABL8tPdLuRil675j5Q-IFw_guLD1Pq7vIcwq-7rya_TZj2mWJBR8xtkL-LMyZLeTlvV5Yh9o0sUw0GC4HwMogZ_Ueww3VZ6vSp-Ta5TIqTHs5wYJHjqb1wjFsIF9_ET-xCU7Fg8EzEWcolPZJXjeMklbPDmaQ6YUxEPCU07kf38QNYYKRAUQ8vrw_rOU0vF1i-siYCMaWcS6X_0W7CxvK6ab-AWxbIfnzH6apTsA6otykcwRMag4kcyLu0q6sgApw14ZuNKUnQPJJKU230BhHfcRdPzTXj3Qa_p1MLl769g1qKt9W-tW6IBKSsvSj4y-92HK3fgeog6x95uIHtZDAPGSEaS-wnLew==",
  "id": "rs_01eaf3bfca25f624016a7e01f78c308199a4fbf7ad4d4ed3f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.98},\"note\":\"The overhead view now shows the blue block moved with the arm, confirming a secure pickup. The gripper is about 4 cm left of the red block and the red target appears at the right edge of the wrist view, so I’m making a small further rightward yaw correction.\"}",
  "call_id": "call_ubJR20t1FIznkcCph7IGsh5e",
  "id": "fc_01eaf3bfca25f624016a7e01faa85081998a84f55bdfb4d41e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ubJR20t1FIznkcCph7IGsh5e",
  "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=-0.9253 left_j1=2.3024 left_j2=1.8572 left_j3=-1.1965 left_j4=0.0269 left_j5=-0.5816 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.8376, -12.4103, 5.6684, 0.2173, 0.0415, 0.0024, 1.0232, -0.1436, 1.6205, 7.1316, 1.8779, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7c1dc96511404d7d550c13fbdc1f9a353dd9326b5b35e562d8f01fff9a32c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f322eb073e44b5095f879af8fe8361a1f4ede5eed418aee90b12a98f8c57be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7650aac38b134faac08024564115473dee3f2af56a967055823e4ab4d457b5e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.8761 left_j1=2.3024 left_j2=1.8572 left_j3=-1.1961 left_j4=0.0299 left_j5=-0.577 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -12.1504, 5.5863, 0.3492, 0.0122, 0.0024, 1.0281, -0.1573, 1.7573, 7.0085, 1.8877, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgICRm12UiphYkl-iPogT3iXz0mV1K15zbEb-pEe5IBYucOtiPtG-M-DyCnlPx_h4S8T9nXwUNpLNzDExbYfMuf3yErAQiqbzx3mgb8I1h5rBsM6SgNwtP2E_Gu0iWIpxZlQPT-mbb6IHPaQ-e1l9XuJkT58fPbUasOW9NCazaLJLLzFPiSQdW3mbd2o8BKOQerUdVEQzVoaR1TkuAjVJ_UXuBZwiE9UTYs3W0IQg-_W9T1Uzi2xKT7F4P4vz-MMfSI37QO21y0dqUWbGEb9gxTLt4ZXD3SlCgHdL6VJN7rUSF5bdesZcazhtIm5n45u3mg0gj8V2hOUgyuTejdvBykp2dUAOmzOOp6aV63ajHb7jichHqZOPhsjBsCw_-BOOrDvtOFOfMtPPtfeITkC5v5j6eFbnxt-vMv4nckVv_SyLyE2DqT5DVAlNsNBsL0fX7J-pIS-qc2K0BQNlwf23BkzAk7ISgY6u9bPS2hm_lfjy52SC94g6VLSbTne9Mp2tdSmbj0NQZ1MDRFyleW2XmBEfQz2wRkUQcupoAf_kWOPXhJxN5SM-pL9fS3uSYAIM1fRuUmghh76gkGDxF0HBAkhLVM4ixBYRy6Jf3qE1I43Bam_HwFtoW4gVngVaG_GgUpSvQN_8HhXbx_ZXlh2f8lSjUHdaVXznCu7Cu6wzjBKe3fzXgQ4PBW4qt18cexs2c7S9E2TDhh3aoKf0Go8j5LjQ7iPsshtAR3UqLEmCcxLU4eZeU77fq1hxwmdtt8G9cIiv7qB43s0aT4yIjF2Hrt8RE5nPukXXxfEmvgJa_da-LUBu7rKU0HE8DSWyM8Bc237schDGXwWz-U9d4jr6MOgOBNbPlB4-RfezVXWw5PZtuWTLqqd7elD0NU_KVlhIr08oS7UbvbiEBPW04656wOrk1qwtizM82Vut5ld2AInQ8yc1tvu4SDZi5dYDnPlLbd5P6S0IGW2-ycOe-RCgLTRrqc53zOzHaiFcCPRz8SGoHucQgL_Bkk2y_7ihoGIWYSVQvYBq2NMGeLvQ3t9sBXihiBsGxBiCQh-ULsx29JIQ_AntT25kM06vTXgrp7_GMgA18mkCd71plaIl6GO6-xw26p6v-KIbA_sSUFuxlLUzrA9xOMOd-uto2eYDzHbhLAohfZFuArnBSE3H4Myq3DYo1IE7kI8jnwi_zyyDFYypt6B7jD1xAaO9OILwkwN02B-jzgzKkcxP4hCgnLVlRXvsCoe6PTeIAT_VJC4LcTUjUdMy5VUAd3QojT-QWuSRSvMPYwN_9ixpcbYeg5IjiINziUtAUNpDl6dBV0g7fzcDNl5XjI8827gxloLSpisYy_hc6syaK_rBNx804V42Cln2x7mKJ5pqoYabEqiO0XMxmnhz0HjXuiFG_NoOFWBDUWE9aZ5AVJY98MWof_p_tDU0HeHR5dp6I7uElzXQoPt_V4EK9KuG_8Nc7OqZ5xa1AmwKYrLZbLpUg3FPy1tlgRTbUfJPzp5Y8cwHnx3KQj209CmfYivh85Lk8bsoeGQ6Do3NPGmsY6TZIaJw0PBP7pVzTIMXofp5jFp1i31I838l1T3t5tcaE3wH1QkuuMapUOWw4yDMdirEdUiv6h2LVV4q7oLEnCbMPm0YfHe9IqLcYhuZws-GsK85lyUoD2XYHb-nD6QFAJFHrMo-COrcEbi0v6xtBss7GP3eXRsg0IUvOduTI51Zhxxeg4j6FunmsTVREVvfszVz1PjXoJPFi0oB_VPtrLnwzuS9-Xjrn2OpsFLxidZ_XRoL9UykkwXejkX",
  "id": "rs_01eaf3bfca25f624016a7e01fdf7dc8199a4f8563c72e0aabb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.03},\"note\":\"The first correction brought the red block fully into view but its center is still around x≈186, about 70 pixels right of the jaw axis. Using that measured response, I’m applying another small rightward yaw correction to center it.\"}",
  "call_id": "call_NYbxFkx0MgdVipkjavdm1mnM",
  "id": "fc_01eaf3bfca25f624016a7e0201fae88199a9f70fd9dddb9056",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NYbxFkx0MgdVipkjavdm1mnM",
  "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=-0.9962 left_j1=2.3024 left_j2=1.8565 left_j3=-1.1999 left_j4=0.0269 left_j5=-0.5884 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.0308, -12.3966, 5.7094, 0.1392, -0.0024, 0.0366, 1.0281, -0.0479, 1.6068, 6.9812, 1.873, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ead527ddb9c295e8ffbb95ad74e9b203b82165ce1def092eca74cd51ec00243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff302ca736d3fec655d2f604b299835015aed424285a7e967891ca690f2be411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0184cb60e870276fe349408116d8e67cfcc3b474d07a0d7b5a8c959a5fd74494",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9253 left_j1=2.3024 left_j2=1.8572 left_j3=-1.1965 left_j4=0.0269 left_j5=-0.5816 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.8376, -12.4103, 5.6684, 0.2173, 0.0415, 0.0024, 1.0232, -0.1436, 1.6205, 7.1316, 1.8779, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgIHM450P27m4Zjy7UkFRZXofkRZ7grONt7cu4Y0OnnO5YClOL-_ihFBS9yCLti3s7deZmVQzuumnz6GAcJJdiFtWvnfJWylNbgp7wtEMXhcXH5LKeso-hO2Q2-lhGhUIQWLebpGv6cLM7jZTGzzW3MESXtOVsSJ05DeJFo9nqZHs8QRTJxZlPEXoKSYt8NacYF5WHkS2mSDHTxJWbwghAYBLMmqVvnvZXy5WWTxcId02N1R1RGgrL-_W6NClmf56TNJoI34E3UiMbhh4mbw3t5J4LviD1P0nOrCsFvhJtLvZvbah1nn-YRfpSaR8shf0WeHj33Ta2te5aE3CY_BFE1G0kCBOJMNlG_oAkimWoCtpDREYMPJYhIfQOjjzju-0xGMPbpVlaBzB5FejKPvANV12d5nC_pH3c_64a5MnXxPtfF6Qm6OoVVNk09FC6vot1udDve_RTq1KYBmczL5iJ0kFAEdG_Uy75bOp1pwrzr6r6-H5xW8i-C_M4M2hMlA_a9EGLWCl5ueuRmIpAXST2JkmsKZsYiY3aPis6BrDTCcUv5yY2BMjkRzEndyRXqzjS2hcweKxMlSMNK0Q8gd0NmEB3oAsLcXh6siDs3X7AlHKG5T2x6CQmWUdvb7-W1pGORHciM2vARKHfmhwTQhViC6HgVXxA0wYujv5xzVGxq9MQYpMUINcy-zJK9K4IMLF4x8tjhz6ZQzPRS9596uQmrGCoJHNLpN6Y1C-J02I5Xs467ngl9JfmWPs8yVU2tS0xZjsbbAiJckKWj1iirIT7grNiT8i6fE6M18-CN-OyhUWKblvT6UwjVALkndwtSPRo0faBYKRnk5b79PRh6WiSMHWwzt0HUpJ1bjggO_HvpqULUixLk08Aoe3LM65-13B64QlVLK7hFzecAw2k1PDqg0RTr0XToMqv-OXDtRX13tCaBZ5e8GgYxjYuxY3iEF-SucKfC_MNYg8kRvBdEygsz69muLMBdRayoqyF-ZVugwumdJNzxwRW92Ovp90subnLbQsGPnIROEECMVSkSlOJWutvw13hVX_56-7jlZVbPnK2PBa7dWcD4QyUcV30H2QP_AP4BmkegUWsgkS9I--sernuW-yTGEOcd4sSCroPq8XQW0WyoSyJjVJHelOyZXGFn3xfnOp6KMwYFZuFHt84dPTaEmmytRjhAoovTL3e9-seQ-LcZB2afCGZNCjpsNiub2DNAvvKklaxoI2pdu0d0M5bpBHzbpxQN51I-5XyuMQNs=",
  "id": "rs_01eaf3bfca25f624016a7e02044a988199820a122f437f213f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.98},\"note\":\"The red block crossed slightly past center and now sits around x≈101 in the wrist view. I’m backing off yaw by only about 0.016 rad to place its center on the jaw axis.\"}",
  "call_id": "call_3T8MglQGuWKqLVsDm4Aoy551",
  "id": "fc_01eaf3bfca25f624016a7e02064d188199b3a2476e425593df",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3T8MglQGuWKqLVsDm4Aoy551",
  "output": "executing move_joints over 1 steps (0.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0313 left_j1=2.3024 left_j2=1.8565 left_j3=-1.1999 left_j4=0.0292 left_j5=-0.5915 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -12.3966, 5.5863, 0.149, -0.0806, 0.0464, 1.0281, -0.1299, 1.7983, 6.9812, 1.8974, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c63a3f49233a93c5b93ab4ffe267b1909a75e44a093a8eaa487dcc01f67aef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3dc645c1f1f3f9e933a2c1d9b155608d1061733bdd6ce045b1cdb1ec8dd79b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d83efea8c6b2c809ff4ef402c0e12a27c4b6319dd96b292c0deaacb63ba9416",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9962 left_j1=2.3024 left_j2=1.8565 left_j3=-1.1999 left_j4=0.0269 left_j5=-0.5884 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-2.0308, -12.3966, 5.7094, 0.1392, -0.0024, 0.0366, 1.0281, -0.0479, 1.6068, 6.9812, 1.873, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgILzxGNBk8D-4jjV2llo1tGRbTFKtuCuw1OaffdQrIry51Py85vyVpgkQh15Avv813QzVhCv5shE5FXi5tyM-PXoVYH_d6zjBErSMfYMeyz_cdSGfK1rjLP6E1DOYFrn21gQXysphElBuXgwfrlOTFLv0q91huTbldJvntV7t_PrCo2ZwgILqEBR34P9QlnBqet6P6bXECM6QsLsH1yxbSSC3oTJKOsV4mKaIv-patmXRwyJgRha1n4KsUzADbLAvrZiQW58f23bM7_OuYtzsr3lQCoZaV1O9gxTy9_3D3Ejt8UgVl5fUanvX1c06zUXrnyGtwt_3NEbISA0gFkiLlUHCJS6YQDfqjNle-Hg-j6ruPqCGjA1To-sFRukfRYJJC31JW53raptqUK1WOFOu90b5NgJ_ZNR9VG29EJ6hFKDukxotc8APdY85nvrOQKtIGp8T9b83v373IP9L5dvCq6Ky_HVqxTtKM6R-sz2-fhUMlu2_R1sB-B3IvUmzeUwa3-54y7PB_tv_wLTj4n8x7Kx8iVE_wyGr_-s2RGGoBB3x_2-nwwGMdTPF6ngjHVTMD1MDgYESHkikbc96cUeUi6GwiZsNJpn6rvYs5F0JdMUV1XlbdBR1AQ44U8ORDbzqPD92I4bfgJ_T9tE8WxlXiFASC2z0iClpYbs7aoRim0wIij0_e0zHavyCWpwOVkiKRmQSWkS1ilWVm7PKvizYveiHSTL9914gEXu93rZ4-mwI9_g2313O2wzlUh2IFNF_hcHFf0QCGBEufVtn35xvGOjFEqdqoq936dbjw8ftdO6B0MH24g6MGsEQWlCCAGg_DiZzmTqQsoxE53jF3PxNvd5bwxpJkcywUGpFJXlMVjhBjKf4aUg9J3zo3RlZ70bzRNpGkAgJurCS_PtseBT-Bw5XmidF2OhR2UhYUKi6Z_27qx4-SoQddnApJZI4Xjm_jwEH5BzldJP-fzlG41Cdvp2ySqWv24xhGjCtAIMJ1OOVs3aurR_w0mw8EdxBkZhXxTzIgoZL_65jfX_FBCRiLqvvyXKkXakO7wCmDBv1us5j_RBhUA0BTx4I3JyCrGT7eCrV3iwBzOw5llnl0Aa0NFOX1E5CtQSuzO9s38MCKJv32IB5VdxyLd9YXrDpEwPqKWVleJrATfUbiSS2uzHAeEY4s3uxLYAbjKxU-Pmtsyuug3GfNfUGtA9Apttz3RTCI-8bvSlAdGb9GRjpzEVjAJfl5DXFnXppsGntDygP6cbvQUjjJp7eSgCyVmmaek2NqUVnSKG3PLQXCeQXBt7xUIpnHDijvUnHGZ2IdCkNyawD7JuOKspTPd-1JxG7rjHDCV",
  "id": "rs_01eaf3bfca25f624016a7e0209a3308199b2f3bfc56800c0df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.98},\"note\":\"The measured yaw continued settling past the requested point to −1.031, pushing the red block out of view to the left. I’m holding the intended −0.98 target again so the controller can settle at the centered pose.\"}",
  "call_id": "call_dwN9tY9GWWXXhiJaWxiJe5wy",
  "id": "fc_01eaf3bfca25f624016a7e020a39a481998cca2f5fa5dca019",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dwN9tY9GWWXXhiJaWxiJe5wy",
  "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=-0.981 left_j1=2.3024 left_j2=1.8565 left_j3=-1.1995 left_j4=0.0292 left_j5=-0.5915 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -12.4103, 5.5316, 0.1197, -0.0366, -0.0415, 1.0281, 0.0205, 1.6615, 6.9812, 1.8779, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d29fe4e0c18f6485d02a059b339b7786557d4ff8032ee086115b2d846d5ecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f552a70f0b07abdb03752174f0c90b20293dcc2e8f524c8230b007375e52bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f23a4693c03cef80190e702690f9ce982c3ba4f3fb95360c0a96d667f5a9861",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0313 left_j1=2.3024 left_j2=1.8565 left_j3=-1.1999 left_j4=0.0292 left_j5=-0.5915 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -12.3966, 5.5863, 0.149, -0.0806, 0.0464, 1.0281, -0.1299, 1.7983, 6.9812, 1.8974, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgIb7Yj0g5F78Z_NWqag1ptbbwdMaUYWHM61Q802KO3ZOI3UflVq0np711bx7fyDGBQWAard255mA0zTXjfbzbc5JFELVHRqXqMeGh8kUpbE74bRPJYwcgqzRMu96F-BmNVYxVMQO5VhYd2LSzaeScRfVE2aOvpC8yNlu_mWlM90MNrjH57Er3Y6APmgUX3n6YeJdlumFsmXT9AbLTeP4iRNiaMBA--7Rn_Vw1zA7CMi-8sp_wWHJfN23vpEHIW0-FEZ4sqOXwgA0vXslLAqZYi-YJjTYsZqSpBgqHAgPO8WuEkKq4kpJakRb8RueUOWILk6I2MEvePLZk9Vr4tuoACa316Z2VdjRknazgd3whOIO3JODdoGMNX6CBdC1W26HYYH1ZYX1aOQ40X329FU44ybJhgRkLc8GOYAHrFpIMhlM-_cDiKA-XaG_l1_GQv3Xd6O7T8yg3UYn_zwhPOLYvKli1zbTgdQGaSnkSi01ZzKcfCsadT61qEYuajUb3-piZ5-DNPti_qJOxIJFAJ3BB5aUKKwkq5sbyEq5easPa84PuqkVJ2nIjgYsDSCbz0A1jaCxzBWBLW0mrvYIrP3dIFV52EvLG1k2cfh0rLtxTdTiaGTVOGc_dfpF1lbx5TqcQRsabM8XYmB2Qij6_dIGzjw90Rco9hR1V4AcYKdknBxoOR9bENPvMmxwIc-SYxLaJU27vEd2SMRRvENcEjEtXWOeDt3NIrszmYDIalFcqiND3Arai1yPdx3chK-qUA9sPS2UxIhJMVCOhruQJviQ7QdbBxlPAZsKgK1YYsj5G7WvWX7OD0F1eKhyGAJCtMEHfgyJVUWeo4qXudincsgNXlBVSn7ItkYxtEw0r9hSESZV5rx1LawZ1lIOU1OpXGsCE24BusYUv5Fqj3xF2hBdNfzMC4LVrYU8rYEkIMo-HOkgvD-iaqTqqXNyg1d2U4yVqtWSkKv1jaPYEZBLaF3T_uM6ehvY1EbjUCIKdk889q0t1DwPJ2DrIh6YV_aAN1Lfft6j-lOhiWPCtSFtV5QKC04Fsk64uRd5NN8uDTiGGZDnSYJi0FEcyotquR2BCWBhX_yKha70gjxviw3jnZyi7wB0jBsUNtsLcG8nFGW-HZsAkL2DSDYd-D-3eWhxhoiHlPlmnvRzo2okBrUywTdEt1-sEEiSxDyHD2ysZGKc8ab5xmnu2C-Bhyh-dum7ioqVauZASIDAcxMtvcaaeQM-IbeE9rQwVbQ34wbrHcS2phjWwkB4RasarzR10D1udTUo3aHMTuPMSrIE7MhkdRGQlTAj5NXFtznOT4dVCR0ENGR-BaVaZjnS1KXXZVkWRcZD0jXSiow0g_rZb12OB_BpQvAK9iuN6nktleogA4Z9NiMGRNKS-6imif-CwCRl8ALzXgk3qnR-bYbYx9TkPbqw4gMjxXzEJbKDFCKOCh9_SehNkNkKLGiyxbNKN36nDaxe_eiPLq55eqdt96CqrI5IG2aylOvgohiSGfi9FKO2MLte9tXdiej_0Z6OTQoDo5h5NHDO99HesuzdUUzGK48HhxrOL3YtcZH2S0d58gh-3UK42BXqEmoCErNJpfPw6V-Q7jHOKX3ZQDMLrnfEdVQvBpdJ2utFWujJhdj2T55P-HCTUprTMwYk5Mh5sKg__sorK0ffXklSthj59-ddCisB2aqg-RJ4uKP_oYU22K5JzmAlsPXrL0icLmui3DnMAtBzuj-Q9aZloOkFbXdHz6wSRNpDBBtepmEarhRLCY3yIH3kCwd5OYwU2qLtD_bglyOpU_CV7AwhJ9xApJ8L3LP3V5se3Awv29ljzbICUcGjjItbosCyS-YV9b1Q0Sf9J6C8N3Ppogt9BHqNULBTPPxf1YFtn8ID_sM4_4lIIimRN1tHqphR9kLAB6FkU6jdCa8az-9ygCSDUPruhpIYQ3t_tna23V6mAUkNbHrMAIHVfjTrRjHePNDyvdOpr30Ds--vB2YAUei73-0-yVbm2akO0tereInbCZj5mN0IZD4yyvXWTAxvy-iuSDXgCCIqt1_bieYSIxso_QSpwQouDQ77o5C6R9SzNWIDKIDtq9MsgXygJ0VWPcXfSQUr78w9fuwVV686B0Lik--dURa6p9YWhPXl_orEpiZL-AAQGA97GIYSfWdreFKw3anI9OFzPmp1B9Rt6Va8rY3D4PskeFvu6VNQJxDn3caQ26WSEnf0SKwZONSbQL1utTNmjL9bI5wiBDX2w4TTvF4PZh0Jzs2w5tCOZLQJy85Y_CybUf1G8aXJnTMjKC0iF5kCX-e3jKrFhpcATofQUTI8YNoF2D04ObjSBjV7x9OGY3LXM5QryTRfQgbxnTKsBH71k8yc6o6jUXpK-B4qTzrpCXT7LbXybUhe8mTLV9sc7GxjfV8wyRMJZGSjXvb4NuZPz9MXOnW_SNORAa4fGlTHjlOtW56PqJiITigq891cvgOIXIX87uTmwcZMYa0PlPHmREbBLqgHnm_mSYjFLE-h0Q2qv821m2USb01RTKmmJgTXjmSheUhnuK9l2G1Web2RL1AHcTQ361_MFu5yrsZgGSq6cTQcOwLAZeQ6uBDQA5T1xFlHpzPUcQqQy6zOD7IpaOtK3XKf0hOZzR9WE8krkdzq8bmZ6T_B5JNYVcxfeALbXSMpA0dlIuwerPXnIsylQv9LrVdEgVedssyGFViAMcTDAHlTfgDeNHlGK3scMMOcQ9kGoJ6nJPl1f45Kk4MxKcxY8OVZCNPonnPrQ5WnmI996Pe38p1oeBSXXDl-yKLPwCwirmGfcKkENAEO0Hc4_TPFbPXMG9YwCHE7WKAmNEuyuSopPBGSYwMbSdpwIK-gemT9Yd2FaBcdcddZFCsoAvFv3_i_Tixtfjrqbexrz64oP--x_iH2HBAR-WmLFxjvGlCrVaiwf1LFKjVqA3LAtPxJ2mUTSzjda244eeHrnzZwEiyxesIRIKe5Dz2FrWXXFdH3iLNjdHbTBVzlNI4wCOIMjp1vdr-vRG_WIT33w3XDZvgJhBAzgq5bPZ0IYTPKkRaS4saqQ2_sbt3wPZro60SlwaeQkSfoeGKncqnUnwbZrczMvBrJSqrNCAJ6u-NNQEzhx88_iyKWG4932kTMHdUNnDbQcxKq5V4Z4b4sOlqM3ea5JX-qX0j0WXndnzuVdm7lQDDAiVs-_iM8NNSWVMW6y0wIae06chKcGB-PqNDwxfYaS618Q_LRMFptxY9lbgL_NRQISPlcAf3XmTYeLc8Fbl36xlyE5nACCqghL_lDy1eRZlHavNynE-l9aVyiNQTsfvDwrfBO1Zr1mSAnNL_X_Cjqc5q_EESwDvS9qjUUG1sOHLyiN6c4osrbA49j5EapEma4sfL9h6kdhP6FxtW3hgpwkV1",
  "id": "rs_01eaf3bfca25f624016a7e020d90c88199afd17219a5390e04",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgIbcLUozyP0UMCAsLuSZ1ZEFHhNW8Aqoc7R34x0geb5gNGfLAt9kQgm6Qcjnn2SOOngHkw49VeUzJ9B2kPCNQ9EwPc0gEEGw4uP0tw8aujWUNUWD4mMzq1DK0_w7mXUEsnfd3JoRzCX-KqQMXEau8Xm0aLdU1YQi9WdOCr96-lZ-rM1Ts9mE76db2jpJJSAWRn001-skvPoxtiMRIEsZ3UU6KKWy61_bJ5JQnesff1ULUUfXQQpw16LQG5miaPQvfOQVzWZ9J1CFvxoDzxtb2RkMv_vHC1hOjeaZAW4r3gb7exnXnlfS2-GEvaF0WIMNXgzfuNUdRy1simXbLItS6eD_Jv5aEHQppDZQtF7EaaqkOvae6v5gFw0Rjtxe43_5PrnKGrLLmL5Wkq15bxBJz78KzMyBIQUG8uBGtJp_5nFKGnk8g2yVZqTkxIHB7Q50l00gmaSh1IYDlWKXRtA_O1WGwabIoA145Nu6jcx_mhnYPkr2R7X9PDYsCkjogyAXYjZoaiOx3TMuxnosB6sIABVPIJgqVDf1l8sv3B033jRR5VUB0w5MgF7JZ4Io05zKZ0EN2Fdoz0KdIZiSuD8dcWRtW9kWQTNXW09pbVYo60wtfJyoL3-PyOutwIlCSfudZhHUNmY16sliyUrH43xdoezIDwcBl1FKD4WbKEPWgseV4IGfbOKTtUWkJ1Hk8KuZ3ifUCS3TJ7mN3vhgm7SRVg9miBkWvF51sQlBMjYy9c6tDe467dehMFqARaq0Z9KEDjuBqjJ2Vu7mvryxKvE9YL2ebmatlWSf_ituzFo-ZUbz-kh0XZFlkS5e3O7KuLSZ2Iujzyi7t_laYeeFD62EEw9N4JVs6CXDB0XgDsoeVkVccNy-vt4Pw9J69Q3pL3OdoZnQ-_3cVjrx2pNeRcqxUOtEsVW2ZszW9HrtecN8DUAtXseDnmqQoxvl8E0ogEzZtfollgJ8iQ7YadVE6-eefGQjJYsS6H06rQe_KVvsCn_rOWL3RrRdPBZ4tvrps07tunWGxguLBj-IUNe6MWvV2ArWzMF9SjxLy4o1ycHz71jkfrZFfoDa5g4dK8PO0nTq7l0S_roRW5rzAOPNHuNylDHPr499RJ5qWTHVxGrZN3sZl0_f793yLlS3Ic8ME9XOVemf3E73XhFO0uF8OX4MSD_H3Hd4xm06qOqufdPFQRHrg0JUpoEkKzK9Qa5YcHWBuj6",
  "id": "rs_01eaf3bfca25f624016a7e02170ab8819994e671eaec697581",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.3,\"left_j2\":2.01,\"left_j3\":-1.28},\"note\":\"At the settled yaw, overhead shows the carried block nearly over the red block, but the red target sits high in the wrist view, indicating the grasp point is still slightly behind it. I’m extending about 2 cm while lifting a few centimeters to bring the target toward the jaw axis without scraping the stack.\"}",
  "call_id": "call_MuYH9zERPobfjwlC8cWrq609",
  "id": "fc_01eaf3bfca25f624016a7e0218973c81998c104523de56c924",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MuYH9zERPobfjwlC8cWrq609",
  "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=-0.981 left_j1=2.3066 left_j2=1.9644 left_j3=-1.264 left_j4=0.0296 left_j5=-0.5961 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -13.094, 7.1043, 0.2711, -0.0122, 0.0024, 1.0232, -0.1846, 1.5932, 7.0085, 1.8388, -0.0611, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a33c2b0c2a0096b3b8eace6fe2db67c621aff086bb2ce08489093af28a05a14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7357d19a632c0aca43b8edf48e35d95b35b4f6a5180800a9619066087734b321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8797d41550fa458830dfd18b270b4ec4fa3f237beac53025cd1dfdaccec7da",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.981 left_j1=2.3024 left_j2=1.8565 left_j3=-1.1995 left_j4=0.0292 left_j5=-0.5915 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -12.4103, 5.5316, 0.1197, -0.0366, -0.0415, 1.0281, 0.0205, 1.6615, 6.9812, 1.8779, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgIlJbGeGCjoMznxC-nD346dtzepmIZAIQYi5q7rV1Qtp-KNVmXF1-kHRFwPyRBE0DxwGQUno1YfPz3Ma3qYSb1yFrkIor6WoYZdZXcMPWX21-07HD1_1KA13wb2WjHeVIYGTJkXufsjGTWxL38TDqqRgj3kDQIrw6qFyhL_xyvIiPvE-D52-3uvZC1JIxzNETDIBiALPcx9qvsEASHtUEQky05LN018Jh8RF5ScgQ_Wr_btnKPuflPF1ZntwDcOKu5gAisVtISXgFjM937I5zKUEMtyVbRH5dadt78Rq33cl4yJ2yMo25K3Q5pRTkVjxFH4NBRghcP_KhR__kbSaf4hXvqhCYb4xFliPaNtWnn8ed7dzzF-It0-NPyfV3EtKGEQbh56Y74tcxvMmB_obOtl_BXPz1xZ6U0UexVNlgwjbE7oJXZQYwO9KAYXNE_uvPZQP8wfC1ye19RrcLlBB61uBmzemZdnADCHeGHXT_2QzZXYSrrTlMj-xO4tQ-o4DlFWS_h4CwfRCxVYDU2-3z5aaEVx6jRN7sw5lzrc18M1WGoo-_qZOZgUkaKjKa_dla9EqHrdsIbnGC7BWqR1Q2RKXasRn9n-bEWYS4BiwwKM7YKUo-xKahOp40hxrcUvdffpDw0R9WD2jVz6uFbmF2kdxMDvdIdAWXUVPIm2HUTfTRMsJFLXFjjWtjT94hoAu3aaxUPW7XHueB1TX6vsZQ7ONCQiRVaA4nxN4o-RkmggQupv5JsXnZ9sCUqBkx9p8Hd3IB7uqL9juk7LYOJ98Cp4Jsp8f5MWV8CfB3q76ycS8Ne7kt7eYy15aiCLYRdtvkFxMDaancXJJMxt2f_I3RPMoCIWvXp899nVzKUz1k6ndhxn-eGbRpKEIjTJKe9jzMERuv3uGvk2nBQ_r1IlSMRce-OvmCwmMQpIM8-UaowPIqZNw421QooAMvs73eX9LxTjlIp4eGLFZhyn_QzbxLwazoGata7ixrjDJWOCwWAEKQuCjacZ_k1SxsBDP8JqjAFypNqkiFSzqELQOZ-q5McdPj6w-2CULzb9HQBRjmRqDJHPCOSY7W4M_hg5iHR08sV2dQ4tUsw7J_ME60yFg5FcCb7IwwEe1OGOSrYJwwEj68g7-le51iryzwBEuKDHAffFdI0mGPALy5KJH2GKVLIVdrzyxAYBt6rvUj4bpeHc96oCNnGjB7xulurc-LBgSiqcF3H5CzfvSmGLS1irx3k0xCLPsRRp46izcRqh2Ny2OhqiySMG8lYDd4o7YHb97FF2A6pVJPNuaayDKwJROGaPuhSFS1oiIX6_UZiQdA6o488_0s3xx29C7b4T5egwehEeGu4412LtNSxbdMc8RqYyPJeBFaiRRYs1B93ub5Ke4t7ErBTVcVUfHZbtwmOqm0Y5UedanJ7POeVyHCSFEVf0ehCWWO5rZmRNDokqZ3xBBDUDkgfYur43X1ra8Um35nblLwuuvTm-aZbrjD6xlUUSQFKaSzAMWIHss9Rx-lwhYTIs4K5xYsivBfwJcl8JJqXyTCBRLsurA67Xv93II7VgyqM6Hvv_CGa71V4nVTGIGY2FFckm7FdNSHJHLVWHdVCcgGuOcPA-eC-p9F-JWCll2SyQzeAefUYUJZGg2zRF6V3R--wKSlGdssS72YGzTmRwcYf5K3rkrfD3X0nmioupXTzhh-Z_75QQI9n5cbTGoleJPXsnJIuxWqoszKBQouXCl7RxiFCIyAhpN-xBtDj5jPSNb5_NrUsJKyH9NddFQBOJ-67KJ3bTzR4npqNjkdSQ-8SUmUPIrFKPwPWaKAhPl6y8ZQsGbN7Xfy53A-lMKahWrjxmKg8m_vKY94TMzeEnWeex_dyH0E3Ju6-cRPBBee1-QKVhfB2n4aKD0XBbGuGTgpj9hoipuuAjTzV3VKWx_dGuBV2nbLkkMamc0NAkU01Q-mMw7-ZP4RWVOMQ1eOxUTr8GzgQjl7oEt1-jw-TiLVrqXDvbkMuHMO_eJjQTrtWJ50YoLA0okDh7V1DPyDTq_tTNR239mBi-dZebF9MepGsgl8uWsA3zMlOm6ljWg9CULHAZ4lua-R3untmKY6NW7bVudX2SQ9mFlqgyzS95FvZvHgX7x011YvAyVToYLfQJtNRLcs8et2Ug9XfO0pH4lR7SwN8LoJnQGptBJ6_5gIFCI4dxtfKuEZwERc0RZZf5LHVslWcBYPnBtCM4Rkw=",
  "id": "rs_01eaf3bfca25f624016a7e021d98748199a7507538595017f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.38,\"left_j2\":2.16,\"left_j3\":-1.35},\"note\":\"The controlled extension moved the red block downward in the wrist view while keeping it visible, confirming the depth direction. It remains well above the grasp point, so I’m extending another roughly 2 cm at the raised height.\"}",
  "call_id": "call_k9JvhvuU7opV944BKxeULLqK",
  "id": "fc_01eaf3bfca25f624016a7e0223e2d4819986db56b1faf4e110",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k9JvhvuU7opV944BKxeULLqK",
  "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=-0.981 left_j1=2.3688 left_j2=2.1151 left_j3=-1.3422 left_j4=0.0296 left_j5=-0.6033 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -12.3419, 8.3624, 0.1832, 0.0073, 0.0073, 1.0232, -0.0752, 1.6068, 6.9949, 1.9072, -0.0757, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914ae4b8ce4ab068e408d17d990b6bc446e8ba05d9fafd8ae3272414f3c655f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fde7909e4f341271b5d95f019220d218315a8c447c78b47d98f662873a8d2e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c83566d7c359dac6e4916a06d7c43c93d3f03ec4f27ff2f4d48e58caa07947",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.981 left_j1=2.3066 left_j2=1.9644 left_j3=-1.264 left_j4=0.0296 left_j5=-0.5961 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -13.094, 7.1043, 0.2711, -0.0122, 0.0024, 1.0232, -0.1846, 1.5932, 7.0085, 1.8388, -0.0611, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgI06OPuc2gviQr9FPuRVPGoPcdCiCLW1uBP1bl-QF21LZDXYK2Fp7Aar5ZTwmXGm0PoLsWB1UJtyavsyshXxYVS49vfRXjDVzD8IFNUeJXxqdNuairGkh5atn5DTd6Qiz22nKe6FzPVagy7bpyftGL5LnhBVL0l5nX2FF3XvlRFral3wqbFH6JXXltf9EpL9KCmbFKhUBVDrQJUHosu0roaP3Or79wxWVoW43WXk73y_vn9AIMpkRc8FvLdJMZliwDz_R1pI9KxiV5lqY-iUm0ZquVvwaZgvm6g4MdYE3uLqM65aHT_6wlANS-G-MmmgeemF6Ql-7ZhbxK-xx8H50ySn0Di3YRe8KDd5lC67ZcTq2CfzOJeGcyRjiAzMr_-N8Y2jGv8Wsy_99TfMHylJsVR-hhGo4AwygnZYAqgUw6dOlhHTADEBh8m2MmAjc-yS-Mx3WXbdwjLhoY-SKq2q_qR40yqtNfPmJGSuXaar7onzd0Ssd8iZOkF80ugEyHvLZCPLS6s7HZ0s6SPumUaVQbI_kTotBRKiuJkzD3RGqRnh1P-k3UaCCTc4srcTwJA6xKg1MdQlxSaPVSMK3xHXJAsgt_GOugiGnSPRWb2cBoSZSZ3BaalUlw7bGerAnjBNEaow1hq8Mopy0hCtuSPKEMRbWa4KRihUjWe_VB73PGxW9IUC1bQ72kGkfhGJLtfKQ5kII09oQXhW7Oh7NIyaUIY3Jb9by4R9QMsrYTi-SXzIWntBveoxYTlYyLQArz6qaVrm-CQ9ZvR6gw8VGSoZKqXGt_kkfjH552c6_pL0402mfpJ68hPJl3IblokD6sGwo4RVgnUD8jxrzNJuOjlUQlfUz8PunXGn-GAupIAaJSg_5gH5mSziSniZgFu89tL77-US59BEohd09b_ihd53KB7KNk7STdhb1wLiBQI7sJrwkdvsrhQZrb4TnUP8UDJCO_gyQlmufjAsTSI-PDVPMJUcoHpXJaOFXsaC0e0NDFGbakwpfNhE3dICb_eZGCj1Pqbi0x0BLm9B0LVWDoQ-h4IsiedOan6ZMQ_xoaprPbXj0SyNluGkRskvMWVebcxXAdje5YkzmopuvqDHEgDEKkikzNC8J8jkwEZLkDnwUCNAYCjp3AY4-xecJR0lSRQp1TFrU1UPRjZjjDfd0c_uAlBI6ZfhppkLFut4J5P8Zy3p79Q-2WWuPNhPv3hOfwMhbuJiFxO0eKh_Pm9iGuNjpMe3QfZgeLWnmZvZ6nU9IHXGNwpGbnm6m6hhBUfjlZteM7de2SoAVFfhO5gvaicHJdM39GWH34Bv5uNycOlbCTJOD6BRM0C87RTyLUUXQDdCFF-dmz4ZlGCdrT6iROi3pYJ4QkQaXs9eDr_XghEgEH3OtFc5JS26cKX6YS5HJD-bdlfiTntKWs97wSWVQS2_E3qUo4oNL4BXMAdDJn4zxQmaaYMiVDxJZ-e8kl4x8kCzCzMGxhwq55cZDDJA1QJ4i0JfCZjcKlb3d7YWbzyEa5s9JM3qMFvAoY2kum2TTGUmQb8utknqqHUnfxkOYH2zG7Mt35u_rO83HKaPKUb-Wh3kQ7iItr4AeMa6T77YljIv3d65-F-0qXTsHaHbq5G-jjthiJ02S8eN-0gv7AwFQ5he6MKpjxx3W4QBEo5G3A6Q_Rgog513aFzTHMmDnAP11BAw7DY1rod4eqmJVPdv5ohqM6FEyW7BlQ3figdVRmhTAJas-raOKdjgRE3maD2KmzER3SvlYVljDb7YuYgJP8XuFurggypeiFBMPh1PninMq9iLpq1Dj9pr6uJ96rG81zcgApaXrfHLbXCG9e56f7ludtOgG2uW_u20J1pfr2sJGzPl1m01_uhzxWM2rXtgLvo9g6E7nhFbpLBQIso3y01SWFbJ0ayzgixFvTcVeqlkY4SsBrQJVegiwkFXCtrbqoCERjt4lXu7bTaF6Oha_oJLMcEVwC-U6ZNbnwdsofOzoVRGJuimCp4ZE9IGhfLMV1wRiwNh7BoIiDegYRXEzc451_sxMU3SC8Zfg8YW0_4I5-I_5EP778fNUNE6om9gaBdcn_Qj48XYvoYZzLCnWkVIY2ZyxKS5alzEt2r-3e2JSNJOO1fxdplIDXIBdGvx3qW-Uajltrt3F19iRkqTx6-i5xfq5Fa75Tn75ny8lurL-G5Bgew1OJZHRNlPzdxwzke-WJzq2laeHAnzJpv1C33L5I7kG7HuiHGz0QDq7WUoUioFeEcyX1PNW2k4NQtlm4AABYa1C7czBvJWdHjXrB-x9ysn2fMyIeAGuEJSeycviA5urucsjQDgKyxqMfv66PwtD319s_Wj1zNY7UlV237c8ZmWHamNwtkshTP-i5nv2afudjlK-DRZ80VMRGCJASxbLoSNLoAwVrF6R8nDvEcECxc55Sn9xMnkhPwo3iZqZtwqO0QyKQdeh99KVCp-yp3cjERkb6ubsXwDofRAQej6o8euy09HqmmbYKqp9IxLltw59dpZIQAflIP0AmmYV1wOTP-0xkL10_QglYJy8FpbhXasLJz0DcAmsONw7nd2Y4iZsYPhYsonajxQdcwtyjUiiGiDdPKcHP7yWAfRNPi5Fn6Y9l0xpWs1l38_ZuTUmFRbIdC4Mjv2ncDnLjgj0aFUQmRWCGPCmjl2-dIq9piXXksoUzGk1WfO_jOP1xKqPQ8yhEeapYJP8X4dT18DKx-01hepiMV6QOqPwgPGKSDiIBUBF8H5iKkaiLXpoFnXgfLbto5K42hUrPhFGMxSr4jfzYoiTNaJ9pf11MuhmeKCvtT0o36_x7GxLBLhOOT85w67_MALuELZlA6NdlcNayCnpwC7xZRVNdyAUQHRwyR9RSYqZsFI7gkqxUQeUum2qk2NmFQqGwPG6It2abdpAYJOHlXRNdZGgb1ULIFSru5Je9kl6307mc1zbAr93reXNdfheIv39cUQOzl-jL1iSH1npZOAXCO5WQJUIQATco8a8UUdIsH0OEbNWKZLfeTJn6kYo55LkxzNRx9UsMEOLrPvQFlawI96ZO-ox4BpMhxp8XpKBXbSEtd3doGDjiA8NKdyEkgqIwvyEkESwQ_4K1Ur9kDT_tfhcad1zvH8S8tooW_lOkwexDWV8XBhn5Dz-dsqefTMNWjeKlXD1P_u1x1fwrlBmT9ijmzELcyyn3SBOP5oUSEjBs8CAlWFcmVD4lS2LPhXMLlOdnaQzV51wYRFDC1PJjryHuD_YSYo5hAXpOEdJCwimhx6dK509V-YHrr-4eP0BKs7znn4LY1s_MQiGfSPeuRthvnB7eD2TBrAq1U68sz01Ys2zYi1c3ozrDA2Do8PdMKuPYa0GQriRZPe6aUqPv00exYeeB3jiDNTjTcEp-8ApMeZUKlppxUEkovU21kUKCrb_1cgWuu-B_WdBQEkaLEmZncCflVe6o286_rSPTn4AYUwt6yyqvaIcl7RDz-2N6UcLEIxLnvCrbVxcy8gQxPeYhlEIFrR-hHdIF-wRejtX0bzT2Yr8HcMC5q",
  "id": "rs_01eaf3bfca25f624016a7e022969ac8199837b9702d99b5b72",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgI0-TaMdRWicM-d87JtDXwj02bn-HDu4RHzbMJyV3tuSwccNTerwQCem2sHnpgzJoLEu21SwteC7oaWgaZXsotT582-GBO8wXUVK-3dOpI5lqTPvgOOivBHj8wmqGXjF0EWNU5LirzyCBM7rmxKFdHJOwVwM2ZYm3TgwfM47ypGAQCS_LTPSWzz--CnDYtRt2IJLbksRk7A98Lss5okH2T8CaiLY_ebOOtS8bsvaE9EbXzMBsD37xYxtWcTMsxqdSqtz8W5eq_xUHPGIz2EcHe4ryWWR7Tl6lgI5fPQYP8EzZRr1ePWc33qYugtXdjFpWFC5_D4_xuVC9Z4GXiEV_9HjNWWhHhS3ZSlsOrX8FQHbmmDRiESrxMlv5rzDsOPGy0vuiCv_oFFyi_PntTWzmORSwbZ7q07GCP8mC8U0xeAGqkiGV0jFlHRfiW7XYyKpocgtTPqgFOws_ugoGm5dTDM-n8-gvAUmrsihDgtQlxJ-wOJXnH97L9PM1IVc5gsU2jmjwpbfApo4b93X81fCIfm0y5V1XxNR5of7Pdf3MmyON3ZMrZebloAABg3gniNLKIYsZcYDK4jXO7yTAI_QWAitY8eKcPU_jxGCnhOA9uOaKcSzqF96d8k7S-rC1yjNisa0Yn7ThXXvbnRJaa4E4Vr6mRzQjWpWFY3rC-o4VED8EuF7R6qg1hzcVZpMJWOJUhQ5UOSsnmKzjFx91_3FmWGL9zXQKgfn7sMxt3HohrL-ZRarbLzYsmES4s6mE7EncdhvYH9n2aDoF2GyoFJQLKSIW_i9S-pXzu7LmDBlQGV5An4tJtgnmpJsLb3kk16hIQHxcoBvnDmRbjEg4QAZgk65sC6MLgz_PTi0Y2RgSBqbpNW95wQO34MejiFwVTtfQ64TRV2DcRZ9EFr3pjyDFIf77Qgd_AraqZGMiY9r0-9JTDHvEdRuYkw3ynnAx1vtkWrSICj9ILlHNN-Ug7hWWY8qEALnznN8aSpGx4HgvfJbW9-tg-Hb2olyaxsmec6ec0CTZRTw-cnt8mGcAbVzX6i81C8sQVk3oxzcvPpVp3PUh3Jzvyo19RG9OdlXuDONMYSN9mcMYmfhoFNbSW4T-SCN3mzx253HhooCrD3GovOqMPnZUAt08N09FOHFxoDlmy5N_96cD1T_3BWK02mLsAfm6J6XLRajDGy7M1O0BDit4X45izBwR1kHUb-NzxSfd8dmsGytEcpP4pAgluzgkarISIT7fc2uC8qIHR9DpvFYKI4W9Gh9D2gIX-k9hh58Z5EaNU3zumqAhIPqoXK74IUIg==",
  "id": "rs_01eaf3bfca25f624016a7e0230d42c81999332f134c58fa711",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.59,\"left_j2\":2.55,\"left_j3\":-1.53},\"note\":\"The target remains high in the wrist view because this arm’s gripper-down kinematics run several centimeters short in radius; the current model radius is only about 0.42 m versus the red block’s estimated 0.43 m actual radius. I’m extending another 4 cm in the model, still at the raised transport height, to compensate for that known bias.\"}",
  "call_id": "call_akZe0bvQh3ohb2e81EtzzL95",
  "id": "fc_01eaf3bfca25f624016a7e02325ff08199a0a9a72b51cfe9c0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_akZe0bvQh3ohb2e81EtzzL95",
  "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=-0.981 left_j1=2.5713 left_j2=2.508 left_j3=-1.5101 left_j4=0.0299 left_j5=-0.6144 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -12.9846, 7.8017, 0.0855, 0.0317, 0.0757, 1.0379, -0.1846, 1.6342, 7.1453, 1.9316, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa52a98749d2c88bafc9bde2712f22df10789ac35ef7ce4f9e6df926d334d95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a366c9f895c3ddb51c00461573f00644450563c528dd7ef1dc680b326863f5df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2067884ceeea66dd0bbf09932391e0f42fbf008e32a69c65d38ca3120bfefa6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.981 left_j1=2.3688 left_j2=2.1151 left_j3=-1.3422 left_j4=0.0296 left_j5=-0.6033 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -12.3419, 8.3624, 0.1832, 0.0073, 0.0073, 1.0232, -0.0752, 1.6068, 6.9949, 1.9072, -0.0757, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgJCgEXrukIlm3LSaTfleXsdlfYstdXEc4uawWunKUhnZqUC1G9xVY05exHXdaRgAhTzGCQgk5aS_KPdNAQwjgSUV3cXY4DTZ6NkpiROXL_IAQXutmpFsvOI6AG3ztZ0BIoy9Lk7YbUQA6cgQiGg8LUV2CQho7SRVW87B0NfbvdAuAJ2rF3Fh2DiDzBUnVGE2jE4qWdTjWt1abf4n7crlE2GrDf6kXX6qBwt8olXIS1-kP7UINVF-DNWGB622l52NlMI5IG_lbkzBYpWYCq8XUBj5vFvbp_E7Z34q-8z7XkrC7EGF_YYceM8QK6zb85JWHfoyGQg76syicbAD8svfqhSxACIaxBZDsM1FnrHJaGKEMcr_dpc4EFg1VwbkzgQQTymlvJTA3NzohMJlot96NE6VVmvPRxZvg0MV9PkXbTtWiT-7sE6vO1I90wfMT8MShchl2IoO--WMVuhsqqQTqblhajyzU6iSol3amG9diJrdW7zVJdPMMtVuUtjcoYzwaqt_gkG4tpIvfgLRJNqL0EgEZo2TnhCSig0G261EbHFJUCh1SG-U-y28KlxSiy97l5I9oAqIXAxgiSIq8RDIVoC3OJE2OSvpwqNvZQK-42T-948-2n1JZsVyjsbED3U5Y-BOsPouK4ga85gmX8NbjYA_MBDcEUznLAqPwjEh014Ak8MuaD8-mCWGOjgK18yyvyl2-vvLq7l_lmReotKbDHCqzarOmg-Z5hDlMYvzuxnq8j675Hb69IrqeBfsQpsc9ztKfGIF9r2tIu_dSsms8c9bDww0YARZpNeGN9Ua2l6zIRuXmwl5PrS3IxLz8pqIdGjLaI9NgRzMedOZOTFscioDdLrd5Ld8Izbu4GoEW9WQCF413qrfhJfRve1X9Aw9BqGpXzeFwFya433tSG1SAHUwbdX37bG35K-8OrZHppiS3zuoACaRPETe7QHDNIyL62wOKnIDuDmqs70kWCZRw8IOw5R9rVV4oJaMsYDQfw5FDv7LWmrqFPHeYjsMON6VLCHwpV0RKq2M9S0Mrx3mb5NsO-Iz4kAnm6bmL-MyM2ARfytYMF6vphs0V1gcDVpDG0etQBerX0TzCqkv847Bm0Qjiag8b362Z2KJOUSe5sZnqp4hT5JM4Pt044V9hOX3MO73KSVSjqb4mJ6xCjYSq0H_9GbTMl6y2wthGUIzokgRwBb-kKPZfdrRUvPND_NoY5vxtJCfloJuHCKASa26jFsM2-lFKkke_rWnDBke2lQzyN72zuqDn1wzkQkBxGrAa6P0OLbKQPKf5d-HQrdnEIkS-HJFhU2HArdfkY_wv678ibJQkPVrcyIiIE1CTB1cmRk7Z9sYED8I79y-F0_Yek9hgswTwqVVigszwssQ_QUe1Tsc_F4h3cekTDIYatYrri8Tmy-igXtka1YU1eC5LiKGycib1W-eL21Nd-RXzy7xJ01dzShZtalGhWbt-T1aLEvMebmWaN0WsCaSmwFXE8Zb62yd88snRqChgWNs4Eee2HWvwOGjRRTap-N70HESPIrovtCd-hxtyXJbMz01fRy-m31s50uQZmebDuGcrhJsig0z7Gi-JYjUVcxBrDWCl4SA7IQgrjyA97JS74gIcTUy7YhqeZ5kk5HdbXEda1z8I6CBN75W9kT9NZuNLbJFr4l51SY-D-6CX1JS3iKaYv56e3j9Vl9KO4gSdV--7d38JRLxVZT_BalzjNnql0rHNAwLXZQKThdgABUcUZcfOYHb7f4FYQkMN681bQ49Q04Jqf2GQUKV7In40YoS6aPc0ZFUbkscNR4AXGryj64vrN8fD01aNaT3QvICxc7Hcg5BNulND-X6ChfDEwy4aONVmd2KT0mY7N9YMPJc6dw-UOjewclTYJSx6McAzrrdXVOjC70g3rKs547psLQARZoeVKFzp8n8a6hCDukpvVGptolzemnK6jXCDUPzH53jqQZqFhX5eEYdNUvbZE7AfNu7ucRHoQ3yTpiuXqWQ8qrwaCiuiyhrmSTumBDhfrXGNBaLTnCgzL_cICDYDXNFdDWz_1eBNIqdmwhkec1aVUrtV8NxEVUPhpDJUIBZxtupxQ0sFbi5h-51lc8mwHh3oINfvnBfQiLvP6HDfeJ1P2FfMG2rSuxJbeftC-TcB2I_26mdxOue1rh13EREuYT887RfuSqO-lhMEbdOEDPRVpzD7LB4ZILBSGpRG1KL49V4aVhzKTBJ60n4d5Pu2Zl0HRSHwRAPMSkEzAxaDgEj7Ksx7vgyYZ0nSYFl1-YLIZh93ZLGTwNfIfgvmhiU2V8ocmBp0ccxkvvIVDkeBOcnGNvxMn4p4wwG5nJ5DIlIENtJ1vMK7ItPky73x2letqnT9bJPxLB",
  "id": "rs_01eaf3bfca25f624016a7e023887508199aa4c580f32e06184",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.63,\"left_j2\":2.45,\"left_j3\":-1.39},\"note\":\"The radial correction moved the red block much closer, from y≈47 to y≈94, while maintaining the load. The arm is now near the needed radius, so I’m descending about 4 cm; at this close range that should bring the red top toward the grasp point without further radial extension.\"}",
  "call_id": "call_2nSfs262wtOzSeQsGWYeHnsb",
  "id": "fc_01eaf3bfca25f624016a7e0240fadc8199a8cc6625f1f651ec",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2nSfs262wtOzSeQsGWYeHnsb",
  "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=-0.981 left_j1=2.5839 left_j2=2.4805 left_j3=-1.4757 left_j4=0.0299 left_j5=-0.6182 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -11.0564, 4.9573, 0.398, -0.0073, 0.0122, 1.0281, -0.0205, 1.7983, 7.0222, 1.9267, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6cdc32fd75c68faa05b72d8d1c296083afc46f481f7487daa8a23f0bb45cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ee405f71d9d858cde2198911be9bc4b4f943fa1e7518435c7ddea94b10a339",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77401fff97322a75d5bbc0754824a0f6a3e621efe4e8a5245328c81f1dfb3ad2",
      "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=-0.981 left_j1=2.5713 left_j2=2.508 left_j3=-1.5101 left_j4=0.0299 left_j5=-0.6144 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -12.9846, 7.8017, 0.0855, 0.0317, 0.0757, 1.0379, -0.1846, 1.6342, 7.1453, 1.9316, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgJHMR8lckGiTTNyNNvRS7FvDTVk7SlwwTUFW5vZVj9gzh1ByaOOt6ehivLBFqfkOmzvbsnaH-f1cfmLCu3VZG1SGnNASXm_ump_aYYZ04-TFS-jvnQXkX4dP7f7NsWwsAE9Yk_Fi9d3wdixdlWdVpAvxtya-4wCSp37g3lDldgxfYek9uhbnHGU5tLRMK28sqhVSUL2oVXswHMu5d4C_VCv9wr1Ks5N9Ofr9SYr055gkwPpIlizfW5vt4m2RuktUJSgrfSuXaBnvIWBjvHdva5bJk4FdJzwMKfnRTTChiwjv2hz0aTrdIOF9qGm3RkJjBq1dzWyx5pw8xCJCRsEOsOPS-OTlciIuyY3YIECwlA2e-jE3_PokaIpNlMVmyw-eS1vyXgtL0WP_3AdyBA11UuZn2rpQt4zIfkEz0gNpQcdQijxrFPlf7XFd4TD50qvF8N71VS1XRxnQTtrGr6mHlnyJ4Am0o-_yPPL58WrS8L8N5Ay_JrDP5nWpGn8kBzQz8iLcQsZccFvem6yIqn3vfcWaO45bkLXP9MXdYkaDurJboEEOJO4q2tHrqS2Wdk-jU--Dgsl-Q3t2gpO_mCdenXx3D7h2_j2sDSluCzi7nlxxzz3eeBk_2Z0VMzMfUYAhQhm9dHkLck9fk6Tqqs-3d9JdB4m5k6D0j_Em9u8tVCVYV8P1FFNeYxf5FVEAL6zGDH2qF95IvgWrrtdNmzicmOlImO-JaeDLcZY1yBnyXs9Ere2Fa7BflaRBTtF1WllP0VcvYSOlbfYs4kkn024e37mXF-GpSpdpsQO7Y1dUQGGhtCgb14jPFS4OM488yawjWyGMr_X4CoKVwulwEEBinq_AnJ1maxZvGUGgY7SgAFQmKzVFQv1KS0lET2yMBxMOqS9n2_fhL-dVd85wV4rBRWkOvmEuSYK_qTR7UlVqS7e_LKtUiNoTsYSBr2DsQvKUD4YfO7ej9phbJWSmHcyDDMOtYx7K3EeORyznt6dc-brd4ZOWcxodbVf0aAM1AFZXZk8",
  "id": "rs_01eaf3bfca25f624016a7e0245e4c08199bbad9a3a95396551",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.63,\"left_j2\":2.45,\"left_j3\":-1.39},\"note\":\"The first descent tracked only partway and moved the target slightly downward with no contact spike. I’m reissuing the same coordinated descent target to reach the planned 4 cm lower pose.\"}",
  "call_id": "call_VVAY5vjXQa6HKpa051m711Pu",
  "id": "fc_01eaf3bfca25f624016a7e02463084819990ca4dc2d3772f4c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VVAY5vjXQa6HKpa051m711Pu",
  "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=-0.981 left_j1=2.6389 left_j2=2.4454 left_j3=-1.4086 left_j4=0.0296 left_j5=-0.6186 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -15.2274, 6.2974, 0.4371, -0.0366, -0.0366, 1.0281, -0.0615, 1.6889, 7.2, 1.8828, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38f813508f924fb3a2ca211b77cc1e1f6600dd9d8a4b9be1e3fae1af19ac82f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8dd11baf06c94d65f8e3d5e51dcbe0f7121a283fc4e70a8aa6ab616d8d77b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ea0887676625b79773a43aad5a0f2b280077138d13858904f29a7f38d34965",
      "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=-0.981 left_j1=2.5839 left_j2=2.4805 left_j3=-1.4757 left_j4=0.0299 left_j5=-0.6182 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -11.0564, 4.9573, 0.398, -0.0073, 0.0122, 1.0281, -0.0205, 1.7983, 7.0222, 1.9267, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgJNzez8AVL37bqdLGHBpcwLCw-hd4L8gPQZQPxNfgrpV8dBWgMS5T7r9W2LMeEf6sdCEPogRFS6BK6CqmHgLYYNtkWQ6CuJdSXfFXm7R9pbXIlkipZAmKhdjxF9uXKdHKd8LwQh8HDs5eghFhA-THa8YZ9v3UjVTds4Aum2HMg8oi8yfunC86VtIg7N9vXYUyn5TOcrVb2Y43jMa96rmOGeVJT25uomJyLO0ZPUa5IyI-GqqFv4rTDtbVvcEwxh6tfXO_OMV9Y4R5nI0R604MxWXFITRHTQ1rkiQIV1AOoigit6685UNd8FTpJaPbIe-S4869Ox9Hjt_UtJ6wAnmM7PpCos43alRTMcwO-uhJAMXMTkQ4IPprol_CklszIcs_ywRnrWklVjGltu3seQg7DA_gBSajQqNRd6ShnDGcjuU11kaxATBCZ9lHrM-U5QIjdkvJ1651ipTO5HizLUoeiztxsySUT863Dw4nmz-7vmifeVPlT849czOSTRutVl4WRBa8dEicrsMlw3yy2NBVikXabWYPsMGFNmFNbGS2Ge_JRZGzAsOZXkwvISNK710ZnqenNBOq-x6cJaLbndI_luRY5D96FKiDrBW2su9uIcgW4tJQoUMvemGzd0HeFLdhOPVaVxI1mzhi-bK_sioTdF3ZoOlLRhB8CqMy_pMdk6C0ulNSrZtIfMnL8g-JVhakBiZXit0MBCjFarLtWMKImTkWsPKkfxxci0CT34ZBlkzZP8pwAzI3KfFuMrnKJutXY-EPRWL2MoVKVl7DUybYe57OQ1ZXXaNl6coVACo_PJ_bD0JBwoVgtjzaXFnkELz0m166t4X5K94d_8VBrNZMaCAqUQehUTo-qbMhK5Z7qAz2DQGjHTIDpgGHdxjh9zn3aOWT-PMrrl24l_afixiDzbNXX-83dhYQKWlFirFvx9IKpHoVUz2llvvIRKB-sMH5iCa9_XtOQj15WCnUGKuZkv37QOFTXfEuAgC9heK8ZbPsPccbFCztye53bCnlPTdJIPP06SqmSUORWgtLhd8J8vtibTlCDEYHE0OZnnj1C7KpQG0dZlcCq5YvfpdT8KmoLGQqiQrDCrjkVncuG6hXjvC5D2kKJXNrajwyXiet5OS21rqBceGp9RclghmT8N_n_aVdD10HYn8gi2gO8W0CcJG9SGJX8daV6P4d1bR6n-ElVqOEQM9s9RxqLEBC2K4ywg044pXZnZGUb1do_wg_1E3wLyZJe-a4Rmpem15fcW1EodwaTEo03OnYL8H4ROctQhi459iRybDBOxPkxqFlOdbpzrorS54mnwfIDS5HjNRBlZIQhNIfRqoVFqk5bzp1j7RSas7XsFgplhNrJBzAKhEr5QOQeICJMkGtTCUAZOJqraE7UKVcKhKNbpszRRNcrt6Ju3k5v5qkx8U47XPvkcUdDpiSHyeqdM9rcQ9dwOlPEs_fpXMpcjTHpCXc9fSbckT0nQwssz9Vy1z-vtLyw_cYvNUz2KFdkiX3PbF-bzeCcvGdXzrqrqZB0M2nBymdyW7d1Lx4QJh-FIx_D-9Q1vGuMgLUl3DgQ0J0Ua-7Lx5cA=",
  "id": "rs_01eaf3bfca25f624016a7e024950148199967b794a15f50b29",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.92},\"note\":\"After the descent, the red block is close in depth but its center is around x≈42, about 70 pixels left of the jaw axis. Based on the calibrated yaw response, I’m shifting the gripper left by about 0.06 rad so the target moves right into alignment.\"}",
  "call_id": "call_bptYEiX0yRHDQlITGt1mBLeO",
  "id": "fc_01eaf3bfca25f624016a7e024c03f88199a9cd8799abf6fa04",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bptYEiX0yRHDQlITGt1mBLeO",
  "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=-0.981 left_j1=2.6392 left_j2=2.4454 left_j3=-1.409 left_j4=0.0296 left_j5=-0.6182 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -15.2274, 5.9829, 0.3541, -0.0122, -0.022, 1.0232, -0.0479, 1.7983, 7.0496, 1.9414, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9af3520271859994cf73790cdbe42dd07f760c0e3b05dad90155d9dbdafe264",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3fe57616f1b347204c2ff50c6916f09708f3487be1a3b5f98182e268e78d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bd1ab2e210183f94c10eb294949a33c9748fc2ee9f78ab2d96487fc478c386",
      "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=-0.981 left_j1=2.6389 left_j2=2.4454 left_j3=-1.4086 left_j4=0.0296 left_j5=-0.6186 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -15.2274, 6.2974, 0.4371, -0.0366, -0.0366, 1.0281, -0.0615, 1.6889, 7.2, 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": "gAAAAABqfgJQGRe7R9iJbPLJWSXc-ObwI-El559yvXa4bsVXNEbQYquE7rwPSV_ESexTJzy7XXkYaUxv5N9YR8CBdT4M-uBqDQ4sMg-oeju4WKfPazsky4Km1ZpuNvOBMFkUtCMgzhJhnTxNL-UOCUatvhVeywGP1F2PfcF-uKpFSDMApmWG3c3FU-_OJWqyYmC0CxAME0Eoko2Wj2hRTDS8FlatLhu6agCEVLYP3E3dwh18H61nP9ZjKAzoaH7e1Ya2pSuV5GUJaZiySVn2ZGMDyzIACzdiu9QtfSuAJc-6y95NJQpNABbw0d7F7wLR09EyElpyxfgg7MFtZx4YD9oP_lAaFKpeD8ICdZbpG3ucesWFwVcYHlb5TEbic86qwOtG6ihPlt1n5jfKJNnRugFVfJ_PljpSHSmshy00rbHhBzrv1DDMOX07aML5gwf0aZWdj0PWVwB4F6g2WpK7cmi3HuMNAyPiPK1lEhy9vJu-zCvkejrtxoeGXa_6a-0Zej5PpIPfEgg7gLhpLLS2ZWOAszowsrrc8fh9F5ToI7urS-JlTm4byn-GWdir3Acf7bgjQrPN7niSRcc8P7ntBmz7Zr7HILTbzg40PTDVnwgYMB6AGNMQhpcKXglEy76kpd_vbJUEk3CYNPI1ag9OEu36bshDAFdHNw1jKcwq8lv7wEIkIAqeWFt8wLTww-QSK-ZGY-tz_3A1INKTTODxT1KdpmnsXYKthoZnzElQgoHmUAbwl2QES83UoD0_YSTTxhEZlZOs3cT5sO1B8-ShItwTz_EdmcxINdciftxkYrNbbaIpOpdG7I7ajVlG33XncgBQFNgqdUAm2e26Aa31cpYL5r1zW8ivFHn2iQLMNYDK4Sa1fyO1RdPgeNgCcEsOqf_JlknSOCxh2SIyu91JANdFnRdntnTrRiloYAWG4iNdqchGLt97mjh8AgKaZgjBq7ZxXEcV-SmZ",
  "id": "rs_01eaf3bfca25f624016a7e024ef1e48199bff14dad414bc1de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.92},\"note\":\"The one-step correction has not yet changed the measured yaw or image. I’m reissuing the same small lateral adjustment while holding the low placement height.\"}",
  "call_id": "call_wwFSLXwrMWSKqOLRvEYkklHi",
  "id": "fc_01eaf3bfca25f624016a7e024f06a88199926822f32fc6ff8b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wwFSLXwrMWSKqOLRvEYkklHi",
  "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=-0.9211 left_j1=2.6392 left_j2=2.4454 left_j3=-1.4094 left_j4=0.0296 left_j5=-0.6186 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -14.3248, 5.641, 0.188, -0.0317, -0.0611, 1.0281, -0.1436, 1.5932, 7.3368, 1.9121, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b858f145991c15315310849b90d74f6550a570602e625f4ca25e92a7b918832a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d890d7f02d07877e36cd50edf4c9aa749032881461d08be61f313fa1a14d979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4947c66bba74c66a0f302c4f6518ad6c4c84d5486a2506a7fdeae3dfaf7ebc5f",
      "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=-0.981 left_j1=2.6392 left_j2=2.4454 left_j3=-1.409 left_j4=0.0296 left_j5=-0.6182 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -15.2274, 5.9829, 0.3541, -0.0122, -0.022, 1.0232, -0.0479, 1.7983, 7.0496, 1.9414, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgJWd4BHDuGDPdxVM1Ip1x9nGfSA47-rT4kevV9YmWVhaC8pNqG_0oQ4wrZJDYcQK3CD3HxfBJXERzbVlIfJSPYF4NQ6ViYI5oe8OH2XI-6FjZmlB7YWPkKqsc267bJiQMN9oQWBMEat9CBWaRuuxg5-c9Kqi57IhIoezpF4CmAynhcgxgkSCl3MhfFs2VxhVecYLkxC-VZIihpHi5J5ZJjrBVGiOC5dsx83Cn_ZyLTjLQT1eakD3_1eRrteLGc1JXt43PbRH0DKAb1BWm2YPLbkANQcuaQYTCkSrlVGABgCTnbFOHaDCYCdNqMB0gsObz2QmF4WbXlwlkKUJ02N2nB8ZxFh3lEwUhVvJ8OIoXUij5qrfFj1Z63xEYQEuTMTDNLXBmC2ASMwURK-oGe0b_RbQvzN2k1UfdooJCHgBYkYCC26Lp9lhU9yoSiGjHf31MNnu4zK-js38H3-qWkzAQlldh9XGa6yDn7SRO_WRX8pre98_Sf5jXRvHv8DpD8zoMRLQI8TKqZCJmUgtjoijSpD81bbPtS-Pm2IHu6w1t0K4zbFsnzZ_YcCuMo5oTN89Qx6Lku4Rd4piwipiSVaF21behUOEQLQqJduh80YqTgDbzree2Lcb0VgXqzoU4Btjq3VXGQeelOSrabjIFH92hHHkdhmcYqxkWrQ4S2uxqQTFD7POkg3nx6ZUD8kPULmjkgRSkf-GU383ZOVeTpQaNOkUtcNyWxaFRpPw9ZG4ouwvRhbFf7KA0E_dUtOgWy3pjkXXjYYb1D1GjN8OLBbqQDQ1ifnzaNDlGwI5f-nBEhE8lqb2ZuWAAlyFDGDQrca2rkXFMK2DaqPUafLzEbmU62WVjl0D9fW2pYlYUKPf2INNcaBoJZdeISf283O459454KsuuTX5LQH8ZoG8uJK5vxudB9en-FYtSRzaaHjP8bsxP0mE6QM6fPvBVd__zc41xoyeeKaWEfmsNdd0Ht6FGgT60Xp4x1uxW-AGYR-aD7gYOtevf_LiZpBb_GZbJILh5QjIZRQ_AGdv4-J4JSkABO1ALTFINYloB49XkqSo-uyCpNF3WnBIUG_I7P42Po6IObLs2QOXeZz3GzeuSFhabTINZtYF4Lpt6AcANvfZhJmtjGt3DwJGoH-I8s4oc-DMeGQi_emRkMmSA37n-fcvYlvuNton-gMGNzFPub6ytF27y6ICfmkNGHLoLZnjyEEapE_xIqVwpglJ90zjX79N7NQSYUDwGBDTPlwQbAUV43OyyRbgM6RkQnsGZc-G3BLyul8dd-UCHAbd2ZEaBrPi208DwyAluC5iMj7C4v1T4tAo1K86F4jDdJkdtliKT3fXjByapZ_0OUyeJAvDbsojCOggnfS6T67DmU-eQI_ZVxrDW_3XuLpNhPDU5ooRUVjAcH4R8R_cJVN7FgVYG51W185VC0wqMSPdeKflmDjEWbsTEcPVX_Co0Im711rWh97jlzULfjlAkAfT_j6vqXVeNo9fQ==",
  "id": "rs_01eaf3bfca25f624016a7e0252f60481999b7f75d74e143740",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.82},\"note\":\"The 0.06-rad yaw change shifted the target only about 8 pixels at this close pose, so the local response is smaller than it was at hover. I’m applying a further measured leftward shift to bring the red block from the image edge toward the jaw center.\"}",
  "call_id": "call_WTqOs0DTvDF9c3JKYQN5T691",
  "id": "fc_01eaf3bfca25f624016a7e025529288199a0c252914c556578",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WTqOs0DTvDF9c3JKYQN5T691",
  "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=-0.8902 left_j1=2.6392 left_j2=2.4451 left_j3=-1.4086 left_j4=0.038 left_j5=-0.6182 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [3.9726, -14.4068, 5.7915, 0.2271, -0.1148, -0.0269, 1.0232, -0.0342, 1.6068, 7.2, 1.9072, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafdd33a96553a435803db02519ccc48b3a7903942c9e3e03e20ca0a2f6bb076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce49569e1ffafd84edb154544b255e292a3b4bbecbb41019790b57493c45cc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e52cd96e48fabbc4ae6e1e929d93a2cb6a8d639949c377cbd69d4ef1e700ec5",
      "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=-0.9211 left_j1=2.6392 left_j2=2.4454 left_j3=-1.4094 left_j4=0.0296 left_j5=-0.6186 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -14.3248, 5.641, 0.188, -0.0317, -0.0611, 1.0281, -0.1436, 1.5932, 7.3368, 1.9121, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgJiuTkD27vGSP1GeHFHtKAk3BNCtZxk187yb9OZlDUXtC7pMWDngnbJ4pKbI1dUvIYgYr9HS247NZiIHeUprZFduJdgK5LxIxXtZAcjBUetBkASa0ZdE5J0qs5tEs-9GqN9a2LQJvP1Uwcv25_uIXU7Pv7C__8wxgelxAeTzxJgbMejWa4j6MN4NJmKY1mIhQAJ60TqdG4T5269PpGUeGZn5_SHi8-ZPNCaXJzomlehUq0F4zarTqX4FOGmAjxDsnl7lQ9weOIMNDxzyY2SSAWl29KeCAoLkbhk8exF09FmnZ0yKMWKmetDk-Uy4EMihERCtf8DDaYpXqeuQgScufqa71ELAG7ojWnglOvgiSeIPoai9LQ7PjXQ0pdDNIk2VMW8rh32_T2qbtKff5ek63792XWOlMzVT2wSADZnbM34tUDJTHClHRYRO0Uw-HoFNKQwmo-2gWBpz6Sf5zkT9jBxJEq80khP1gR6e4ZpjYbOjabcP9CSGmDlJjgXQZpR_9mL7CPmP-bbWW08-27qRw0lX66aQOX2h_EB9RS3P5FPXtKiWc-GM4qHCSXyP2UczeBghrTRIZbfFoKNKqW5V6s5KP6VxWR80iLRtuVT8PLesILiM1Xtse_KtO4CABIun0nSdIJkEdDRE7ZplTt4EFp2IeveXegH8IhaXXmX7c-m-RQtGatHE1EOIQHCJijtxa6EwcD75ayMG8KtqYjR6-71PayW0iv-Ps_Z7oqGXCO1W61Ayed35rkQY3ctj5G2FwISMb_VXbzDwOJwXD0q8MqFLusH8uHWr2M8npeb0E-ESboKRg3FOrtoCHXT-6ACuNXbpwd90-3iJo7Xq4fuPABvT1kcmt6dfcEqA9GmGGDhS_CbCNdpGHYHePuemMf6KhoPvmyVe5JQUFw-H5T9lBnWddYd4gu6QAsp1gTD9gXU0YjN3RzdDs1KfcZiLr53Rrpl7F8nkvn6Emgs0j1zoHRlW7PJzCfGZsCzo-CA-303JbSgHPiDOwJDcFuwdy0y6f8ber5ExF9ZZUqTRliqE8wdx3VSQ8Cm7zkuuUDCji-nypXrITevdOhzHd-8MmbTtaw4Uh_3Qt1gCZA3DFhF36f-FoOhHJejXLGkfTyMr_4WTOS6Ns5Y_JcxGiifZTSzgYc1IkGTy_ZUKF1f4Wu_fNQ8CnrpdelTiJxJtBZ0U1uO8tFAtU8FuzVMwuz99KwASPyK1b4Lrk4WPWGEi76iAKopSObdwMCJRqFGp_fydJpc_jiQxhw2zdOJJVe0_0ojfGyCf0E56gvRzRkq8CF1IrfJq-BVAQV_7zITOEr8n5l8SkyvTYk9RSviJqNZi-76oFr27u9D2rz6LcNVsayYBVtSGRgkxQBlK3KTMoVfHuDG6r_fvZVadp3CL6daRYg5hNko1LK8FQJoEgiD8xUutbB8DEiJK5VXI_h2TBZGJj4dznv4IX4-UY9KmwO2HCbb4OGSkI8NluzKe_CCEpSR17G0Yd9vFpOZQu1EN_OXu558gKTa19TRC4DzEk1pcyyxsCKZvqky4HVfyL33-5_HsZlq-HevMSr99zt1QJkBkG5In9nKgcN4m36hl4BdE_l_DCpS3jhM6z1_7tBLtrir3OHQbom_XKO4PuCd3O3IaGAIEuimmC0DCXbuTPe4cpTn4yH-y7NPOQxuOC04iK77pdrpQtU6Serl3XkImwd9dNuMOPdTbr17pYi28Vt_XdIh8eQLp7uDUJ5ohqU03VRkK7n8TCGJVtwZZ5Jiop6wnXkkVsj9jnF2wRJizsIvRb-Gj2vurBuopdlJaouJZkRSEu6KWU4Qoca1JiqqxbAV3nTID74eSQPNU-0jaVUuMzrf_a2s3h99p-ioeMOgduFxFTwkTerSlgOCN3tCoXCL4kCUoGmjTbGwds70JLOFSKkjgpQiQK79BVV-MwwRcGKxPeMOMLFbOoNIp4XCfgdbYpEII1StkQ7gommzY9hHTUXQIeaYisJVHLspoxW4o4GjMbs9zoOD_0uFbu-q7PxE9pRVdl-qlYzAPT9K2Odpcn3j5tFExo_3bOwG-XTZcl272hkgiK2DqoLd7zqlXubqTUhRSliQCCo_5ej0DmnSJgll_rjdik2-V-IYWKi2dV1K4a4Dvd_z4Ox6OFTZ58phE85qhZ6BJZQ4qK0QPJAU3r9dmWESpHA047mvOarxyL_T2u_hnVGJL3MqHfmI_HIrAkF6a2T6acjgHnRRsiV5s3YZylNaWk-x0CccJb1RCvLomE2G0VeuPax69Lyr0BAVnud8CY3fVcDM_YCUDhOceyIwfBem6Q4ULPNsxzjIwmpu-TL9d9mwuBsjdvAnfYGO0Cnn8ajdnMzmq9YKxRhGhyo7gue7ITlkDYe6vjvWt_H_LJLJrwQEYseAdhN747P2N8OL8ib4GHnwhOfOcvH8JBbPvvgsypVARwYMI3Y4ibi38zDMTeAlAJKxBx0PEQUtD1_YZG3RZQa_Wsvl6_xl7RJuDTs4hQEXhqSxzCpfgqB9T3Ez6Kgdc7eTBkE5uCAlnJ63PihuiRIUPz8jH4jJm7rZyEpEKF--0cZ625hFUehjGzoYC-EDnNaXVpmDdxlkkmmo302aouFlp5M3W9UrmzqIk1sSS44on6CrpLMduTpItnIsPCUuGze4THVGZGi6Nbjyw0sZ-P3cSIXjSFm4sr2FBatZbo75XNXJxTthnRQB85lym6oDqXqmF1t0TgKRtblh6R7IljGsrVzv-QfYUZD1MdhFClBpCIOO989px5urG0peBV9_C2_mWsKqQmEOS7XRxWum5-zfZvby-TO9DnhNyLHQYfNYgKqVnNJWPQXzN0XYEbJMMvknM5yoNh3kne51H3NyDu78Zm__aWElLzI_gHIFJE7S0jJcv06T8FxDNBwozYcQigtnqFy9X0Tk_4nXFdcfsYJLhIqVisybQjWkEd-2NBmhMvjjsRLVIVZCjxI7uyFpseSzRgPUsidqcZB25xY46VYZ3ZWLAgpEb2PtenFO332XyHJtEO-lIpRXYVpeH1hvmmpZwFbQrNPZRs7eOykZcJ5AvrxTVuvg2gwzZ-90XYlrwmuuwY-J9EaahQ4SoL5SUCZko-IobHLh4fv05jHIyOJv0We-xVqdnWhuI4dyBGVLOLNzqxO0u_zq1vzimoFgC6rPyTSVylXM9Y3Mc4KKjGqlpkIxJNdp5RGEI23smWQQJMD5eIhkhfSApmLfF9SIXovDubYBrVEOEWzZojVFDhP9aQQaodTauszCyGIEN8fDR3yjtWaKeuNCy1xPBO88MOq9Gk4D6xXytTRqMmj0SaoYAaDOSV6BBMkI1bryaOvEc3mSZYcFGxp-gdG_xsfnYKxpr9udgga-R1TVSBVU8kYuZY58fyNtvi6Q1qg5zZVmtHbph_W6JxtXQK5kmuYPB3MlKPxGZDUa5CkL2qD_8RHUhHnwKKsWUnnWHrg1Y_j5wW7zQw-P6Syvq3BU0cd5p1eLi9Y4um5FzFAdfa57Eznt4__0oCWQEvTRBeZHSxd1jf1XiJPiKgEDDxL6GkKc252pawL8ADEfSls4hSScTmrwc1WWkNDGe9yXXcC4eFtwqHDttEOjLpN_fXf4cXbUyvj9NbP-QF5i2VEWPUV-TXvCmzZ9ipIw5jDxBq7zyvLORK2ETIG7xoK7CsxvquKMIwZ4AYryH5hej6CTcZ0J8BdWJ4mDli21iELw_bqjs-k9npzqxx1JYyEVfE1phz0kyi7O8PR1woEk58coHUw=",
  "id": "rs_01eaf3bfca25f624016a7e0258026c8199acb538531c8b3677",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.0},\"note\":\"At this low pose the local yaw response is now clear: increasing yaw moved the target farther left, opposite the earlier hover estimate because the rolled wrist mixes image axes. I’m reversing by about 0.11 rad, which should move the red block close to the jaw centerline.\"}",
  "call_id": "call_DeYDFI2dPNeDtegUBwVJfXMv",
  "id": "fc_01eaf3bfca25f624016a7e026141888199b7c65e7ce0bdac3f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DeYDFI2dPNeDtegUBwVJfXMv",
  "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=2.6392 left_j2=2.4435 left_j3=-1.4136 left_j4=0.0219 left_j5=-0.6231 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-6.7214, -14.2701, 5.8188, 0.2564, 0.1538, 0.0611, 1.0379, -0.0615, 1.9214, 7.0222, 1.9414, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3f518e056baa0a6d9921c154beb7d7bed6abedaa2ff0f417943f2894288550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be198531b5abc57649673b37421f1ae3f8ae924ffa498864c0b2653ffdf9f7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f3d13207a08771ac9f62b51ffd9382b308635370762a67ce92a6088de86af5",
      "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=-0.8902 left_j1=2.6392 left_j2=2.4451 left_j3=-1.4086 left_j4=0.038 left_j5=-0.6182 left_gripper=0.0217 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0551 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [3.9726, -14.4068, 5.7915, 0.2271, -0.1148, -0.0269, 1.0232, -0.0342, 1.6068, 7.2, 1.9072, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgJotbcxvhTQ_mutXmzJKYTyX_mlaihX3rjYRzyllXb7BES8nX_X3Zfopl5Ghgp8m_S8jZLJMH4VT_wemI2lEhWWxDSjfAncC44r8TfLUxnyJ-Lg-eUYgMidP_Z2d45P3vJrkxUJvLuVgRhs2EG-OjBAVAYbXKMJFR2zCjxvY8DkRzfZ75MFUHFzpuxoGLpKvjoKOVlco1AYIO_Pn6hqorIiQNC7bqv8zugTPTzbcwfYDHJLpE7V2t4yQr4Ki_SXhwUowrebdMQ59kYZ8PtV6ZvI_3L7et4Q4-YOgg4rIS5fg4a-nzubQrKaQAd0rv8rNxI1E3QmTmceHqdOKzH7smur5vfOjeZmb1iBAgxhJoeuRj1CRNkF1OcuQCYjnZGmmATrMutnXeWQFWCnZHH3u9yZZD3TKmUpHHKYb9_-WJN3RX6sQzmIWSZZJp3WX3Kr17loSEqBiDTWd2xyQHZZbqjVDiav21Slal_KcMPTMbw79QWUUlFOxi87jnc-MyH3SW4KzRKf4QrDFqs0VmzGv9PZGUDv6QI8kmtBpqR0G3NUid81DeH9FPcLmkbN8o3XsCi3gbZ_jpBNPJnYUuOUoginuIvm8-41IoETLvIdpexD6JOi64C52y6davPf-FBkELDt1Sh0Xm3_NgaJao8vCnBULQ1w-uZf3UBDgdgHNqmE3NmmRrGrUO7bqnDmjVUxrE4GxnFUFKFCr_i_ZXKooqOMNa_JbddxdRjUIb5QcjGEkb-pFp421Sly21TF23-_hcbmoUJSKE0cGS2pdoFAkjP-oW-xw1TaC7Q2qC5qlwan1q_Fi90IeYE-mWJF8OejHdw2Ed3troYfVC0-rkSZq2Db44KIwGx9wGycPiJPKrt4pDXH1J5xdGGDfv4DZ_dIO_cPOGfnJ8Y02LtLx-TXxjIBloTNbvJWGkDDqIUk8wWMRPvQXpvg35ft8SHJe35tzNDdiiAdJ8Lbc4hVOF-m4psK9yO7f45lixetTcQFm1RsWVpcNbBYkcbUbGipa6CqZImMndCx5uwle_qQpCgAowdLReaJ0Sc_oREt3peEm2m0f9IDPsOVhGpQYCd-ymi1CjivHxUbu5TW1CbaN5J3EiBzrzR0qJI2xYPho-eIyocmZTk=",
  "id": "rs_01eaf3bfca25f624016a7e02657b40819995cff94ae0603571",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.0},\"note\":\"The joint continued settling toward the previous −0.82 command instead of the new target, so the image moved farther left as expected from that delayed motion. I’m reissuing −1.00 and waiting for the measured yaw to actually reverse.\"}",
  "call_id": "call_ZvuUvaXKkBfantIGVLuG6Fw0",
  "id": "fc_01eaf3bfca25f624016a7e02661e4081998a3bdbcc0573c880",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZvuUvaXKkBfantIGVLuG6Fw0",
  "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=-0.9813 left_j1=2.6396 left_j2=2.4435 left_j3=-1.417 left_j4=0.0349 left_j5=-0.6258 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-1.3197, -14.2974, 5.8051, 0.2271, 0.0171, -0.0073, 1.0281, -0.0752, 1.6068, 6.9949, 1.9267, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225602810197a4604a13a2b5950b8d8316b314e54c2eb7077e5fc9d650c5f030",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748aec6bef2f8d4206ccb97e306268cf567936335984e49d5ecf327cf288f789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d49d111d83560dc4709641f429fdf1a500162d50aa7e7607f444da8eb7f86e",
      "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=-0.8738 left_j1=2.6392 left_j2=2.4435 left_j3=-1.4136 left_j4=0.0219 left_j5=-0.6231 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-6.7214, -14.2701, 5.8188, 0.2564, 0.1538, 0.0611, 1.0379, -0.0615, 1.9214, 7.0222, 1.9414, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01eaf3bfca25f624016a7e0269fa1c81998bea5ffed9ddef1b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_01eaf3bfca25f624016a7e02786d908199a12ce9817bc5b06f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-1.05,\"left_j1\":2.38,\"left_j2\":2.16,\"left_j3\":-1.35},\"note\":\"The overhead view now resolves the geometry: the gripper is around (150,128) while the red block peeks out near (141,154), so the prior approach overextended by roughly 6–7 cm. I’m lifting and retracting to about 0.43 m radius while setting the destination bearing near −1.05, which should place the grasp point directly above the red block.\"}",
  "call_id": "call_hCluWTV5kgSFiA2HCTQq7xoi",
  "id": "fc_01eaf3bfca25f624016a7e027dcd148199a0af191660b6ce31",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hCluWTV5kgSFiA2HCTQq7xoi",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0412 left_j1=2.4493 left_j2=2.1738 left_j3=-1.367 left_j4=0.0299 left_j5=-0.6258 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -16.5402, 5.9692, 0.4029, 0.0513, -0.0415, 1.0281, -0.1846, 1.7573, 7.0085, 1.8926, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99606b83591e9bae6704896039a995e62abe12e8aa8c6ce4db6f2311eaf8f801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b47a49c8381837b5098ed16051f75c3f9b8b8f50365d807e4dbd09dd06650066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c55c10ed4daf6edd0cf621e9ab7747f30167f5630d7aaa91cc7bc29638b1d04",
      "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=-0.9813 left_j1=2.6396 left_j2=2.4435 left_j3=-1.417 left_j4=0.0349 left_j5=-0.6258 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0559 right_j4=-0.012 right_j5=-0.009 right_gripper=0.9992\nstate[joint_eff]: [-1.3197, -14.2974, 5.8051, 0.2271, 0.0171, -0.0073, 1.0281, -0.0752, 1.6068, 6.9949, 1.9267, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01eaf3bfca25f624016a7e028196188199b2f70644cef8a4bd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgKRwzz5UVu-ii-0vnHn4aAQilOfsIvLXXLuUd_yJlQWDVvj4LzbL-qsbwB5hQg3nafIg5x2P0k_pcb83rcoKcSpAOLJFEIomX0WFUyUPkwMgntFkk-soBcdmWVCn26NovBieWEhLW0zMbUzA9S2X7A7tcniSLSCoPeEeoC-hQ_jMgfeNFyup6PqIIKEfoJTrQKjTCVwxXbNSzXo5c-0VnuQM7HCXJjXD66cSz64KNQW2Y6c-Ux90Q1EpV--4KoTEByuqjKVrC2iNZbSM9KzLN0IH8TUpobnqEI12TIpUcEmHvTOVp005Lwi8c1yay6G8tVnNDzdN_VLitKPvmit0bwR0dXJsWjuq3G0Aq-9_H4g3f_yrqK77bvFzl6_6Kk_ldFFiyoqzsfzIObYcqsV6pzN2fvXcTlKvOMxtre-a7cRqXSGutVSbQXxExLqmMepfq-6B4yahUR3fddcygq7q6RSOtR4v_R6M1CFJfv3qRRcz2hAogcEhOfvTAQ95Tp7HQtOCHzOR3oRclnvgi_YME1QztcEcejF0Bw9etNUj0RWPlQ_qqzntbGG11CmyG4zZGAnNE9GPtUlKfA-xTelo0NgkrJO3ZrX9kEf_MF_FVH7L-qAaxLtWQf8D5hVoFLUT76FFAabq_iVkSwi5BqNgRpC2EXhmNPNGK7-3p7XFclgM8qSkgt2lXi7ljS6ng94VxUkinnW3xG0nulmDfY_BO2K4sAaeGaa8yKzdc7C5bs7NwQ8XwS5ushJXa-VQS6XsHIMvd4p1MsvuybkD6mQk5znSTezicULEhVkyzHUIXGc40pmg71QoEuM94Nprdb3E1RP6Lj7J2d9GLis0-4zAxeavKnifZhCiHlhRkf4dmhxWD6rjpWNPk9B21LhW5e7YiKqTRHo2tcQXGIlnZzf9x8kTh2W7HbRWeeccjxzGs1WrI-AYjcnzcF3iykT7GDks7Uh-q4lUk_MUdooQDjECjuSDuT9Jv6LI5FCmak_8UhlCe9y5SmDs5fYtl5v5KWzvBDh2wWl64RZwC5NZ8Mh8Xngp0_OMNqjeZL2XztkCtVWz2dV0m67pxzUgVm-h0ILO6ZBkmpDXLF8yO2Z8FpUCBp6uG4doXlSJqXTJ5Id9OINpO1dF-X1Huk_rfVuQnkDgpnzyeSAS5hJwA0EbzuR9sVjjU-uLiaFA-veNh80DRe9F23ZWlV6XSa_Z2IUFA2v3tZs7h2KqSx0x_WUIs_JhISwZUV_Zh4XvUl6QLaGXcNwOn-jRRgQR_ZBauWCPmqW5LbC_meBZ1djIGn4j7ZEve_x3jqCNHQndmkXbsPiqOnEUf3WcJlqUR36HbMOdmfcJ1oiAab_YeJ91DMwWeilEy6vumPxnuDOctnKKmUYXFVDdA59TbZPRDKktX2LHFO-OpEMKuYRjtHyL7gP2BWUfiG-FAuAB7wZwz6LYhfqkD8o60Af2sQoADoo2KqS7UhFkvclpDg-YUr9L3QQLXeJqmv2Rf_6jLRB7s4FTkjVApyVRIYhpPbzksRkXHYdazkf0-AzI_KFjAYvVlppmgosHTaPT91ut7vsmK8xuMncELMSsjk=",
  "id": "rs_01eaf3bfca25f624016a7e028cb9808199b3c2aeb91c61fb26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.45,\"left_j2\":2.07,\"left_j3\":-1.19},\"note\":\"At the retracted pose, forward kinematics corrected by the known 3–4 cm radial bias place the grasp point at approximately (141,153), matching the red block’s original center, and the target is no longer visible because it is at the fingertips. I’m lowering about 2.5 cm for gentle block-on-block contact while keeping this horizontal alignment fixed.\"}",
  "call_id": "call_lzorKVPirJM8ymesf88hpkEL",
  "id": "fc_01eaf3bfca25f624016a7e028f4504819993fa8c670849f1c2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lzorKVPirJM8ymesf88hpkEL",
  "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=-1.0481 left_j1=2.4302 left_j2=2.0865 left_j3=-1.2621 left_j4=0.0303 left_j5=-0.6258 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -12.3009, 5.7504, 0.4274, -0.0122, -0.0171, 1.0281, -0.1709, 1.7846, 7.0085, 1.9463, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885a704133366e83f457d70116ae5456680a8f655f675fa074e4ae2b19f68303",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a88121c6f4590b3800a9d5d7a2ab2f442e8d5e9d52981872f78f7ce9b60f10c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d634f8d7f028d70ba9a815e0e84f56a28902489c3ed63a94f5969b576b5c570e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 183 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0412 left_j1=2.4493 left_j2=2.1738 left_j3=-1.367 left_j4=0.0299 left_j5=-0.6258 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -16.5402, 5.9692, 0.4029, 0.0513, -0.0415, 1.0281, -0.1846, 1.7573, 7.0085, 1.8926, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgKhH7gtHTmFc_LwLNX7Y1AGsa8B7SNY1IS6FUFbI6GZ8zU6QBaYGsd07Sx__y2Fj7YCkXoQLu6qqyCQ8_-QW_g0Zk9dnZBMAHAr9tH0O5C7mNLs6BdXINHHlczI5AtZ3eXu9E3cwEpVP4BJAf0QEA1FfmkWewrRzToPYcV_qAfSxId7Wf4A7H04-UDf_iDDLQhD5a-CGfYanID0HTDOkUKpE7lKOe3vW1mYzMy7d-zuDXsrG6yr-MYo_OTNEYtcJnv2AeQC7S57iF1LWC5UvSAhsrMzRaoqVLPHZY5pOieuHf2ko-TIUqIXRGuAAQ-PP9rG1YATTuG9M67LY5xcaCFNqMAonc-FHecNDz_FSM6dimJf1W3nGc2pQUU-oXxNLOsxFDIevchqiNyJWcB_5be5clnlhKUt69OmtZ8qz-Fvzxr74NEv2HKldV5ZbKktYxJ8MMiMH2gak893rbbcZWsDqY-uVQd79VnzRupEKME5eQ8jsvEN6LskoH3g-IL3p58H5wogECa1p3LHXGsvf_VddocF_C31FOPytLBU8kTHFY_29-brzNMX2qv6NkZfmRxXTNOx1i89ECBD2TGZWKLlnKVIGzHgWNJxXHvrtjuYMZ_ktPrSm653JPAZyxEpNuq6D354vxfxVStEq8CuhKEzBHIizr121cnQaeFXnxz0ZpWGt3qe8xHjhDn0nWik3qqfK5-xH3eWqeK4FkTqOZZIVeQzoYIHvS-7_imifmQqzBvrCYRwhA0fi6DKz3oH92YSKHXPq4xxLJ-DjnQwaPYM18Vij0eQpnKQtZBG3X3871vfUzoquutdxfqBMTsvrYmp-iGfsj-1EjGSA0jikmIf_kF93hIJwUYs39tqtFj39XiKCn6FnkOnMc0flUrArIj8H3icbYf5Koyr22Q-WDg7o9c4xUjVlrugO1w0FSYRx1UA1mnRjHgR7T1hT_7blYZrs4D4fl-j51GjlseFDt6gfnoKyQAuAOr_LsCmYPFoH7xRRmp7mVgQqfcOxPCDDuTgI6pTFRhddbP_0zeymAC8E1GE5qRP3qzNzT47InTz1hpvYrxS_iki2MGYH5ucwsOWcdFzGJQDtrOi5bmJmpLIwTguRTcy9sNBf6b-t2xEStjw_v-kIwlbIyX6-gmUWbf_XAbGep6D0X5onb33ADgMVtgesY_rdcFKppAu2k487-TNcYCyKrYHLn0gcpx3myxOX9WFKXT_D2KCXAdGNS8I2eQqV-zTQSx67Im8Yae8CqPhzM13mNUkFS2hvvW2oRcOfLhJj_Tu_c9alLGh6eY-WpvzeLHcnMY8oelxNPS8m5L4rPjcCQj-dVt5G5Jx1EcEFbtqRF89MRl6wrASQf2SvX1nRjRm8ExTy5nc9vQh-dgVcnZm3m7S6ZsSeyaZcB1KQiF2w4tbHN2d5GNHCPam9xniRQ_5Rl_82ZbCVQiiVWV7kRpUKOo2l65T72QysC85a4MAijgNRV6t9P6Upthncu0mNfxRuurFe_glYWuvOrJQYdoUQz6GbuKYOqc9BKWl2W7MXCQbkxA98PHkMtv9K_m13ZjoNa0C5xUToVEsHMisyZDmxHZyxCUeiS1jF3A1jLje9naNSZjMTxTZzvRlyBEJR5aQ941sO9ffvou3fBfvVZaKGpB8gqKH_DyLQlRNlDS5M5oNdYqdmhMoWWGRmgBt-fxadNPrb-A4fHoPaSYCAX7fwAcqLgOFCVUEC9klA2dYKtoLgWlCymQZAPb29p0QSI6rwa676vw_QNmeQPP03KdmsaRJ5koNSpT1GLJ7xrsfeboB70V9JhX-nHz4G3MzcF86V8x-ndtSR6UsKNWTXLOKAplhQoF-QLiejH8jR44jZ5NOkgy97VsUTyqi2bl2qfu6b2IGEKhqx_5ZD2Oz574Nj9Z5MKj_1GAom__xJFE5r-YOpBBGii0L_KajsJv88mnQcc0bniS3nyLmk1jGqB9jJjvmqk_0hXskB_VucFJ9ujwPPnMXrFVdO_9ctLVBUOy54N9dZev_wToU01DUaRXyz4e5wLMiyHDyEe4LnCLHCCvy2pwaBIBvt8x7c_yTKFOjSprDeP1nTf4VR5_oVF-T63_de9YYgW6-5zQMF6uA_Lv1_XpIDwa1ejfEduv8xU_RXY6q4OUzDWA_2E_K0T6BvIQARoifi_bEWkNUmMLmhi9ekpm4Ed2ll_F2ehWE6lVD2KlAx8UV-nwNblEdBAxNSrl83FhwQijfqlyM9GAkvA_Gm6BNwiuZ6Qr78g8SaauCZVHQSSvMQMI_7hgOyZfOi4tNHJGl_1pbbLNfG4JVKjAOcJMttsR657Fqv4zFFN36IQxrZ9XzTNiCckxmn2AoLnoGzGQ1lQEHawq5fS57_pIQzn47oT7iUMVSzRlJ1-qQf3R4P2b6hJnHyMcyoDM_uaeUcQl2QmzlKSiaC4btc1ferOFW7hUKJdzMMH1E1p5-QN-JN0zuzaCs1j1q_V4rXnVaYUEjMuHExLQPP80OondkN_zIjmrSxMxvxJCYKZSPjErWOsAVSZwkcNsFjvbWikmHIgxKNoYjtwoc3Q62BDrH0s2KmHBBr12_yCOIb0Nec0kFGQtdfy456T5ENSCCB-duG_q_2YXkTtOPqzC4YzOR8nWTDyba-0NrZUbHO__1nU_DHtomI8Csh95sSQDo4Q9XSzO_dt2nbIWQE2qh6Yxq8bGLKiNdyCglggg9dl77lH3KTk2jAi1PDmAnAo1b12oAID49lyGMWfJzXEHwSazz1tTLfPa30E3NTR-5ajtHPBoMZFAK3O_T9qCwpjwSWpCKAxQ1-Dwmo3XiLEYRc1x3psdQjLreDyiWQZ8_dvIc_tmWp_oxqbc0Jxu2TkypIIBsmpzDYWVy4WaT7_saHZ6-R_kgu18PvOJhXGHpBDEkLUv_Ig5sdYPYf13ZUsTd5MFTWnHhd2SpL_u7OBjquK1WyRZNaaBMyy6jQa-jYmt5krBjNdxVVCZh0hUn8BS90GxAs5l9eD2ERCwH-wOZhhoT9WSDw4LlQN38WULRGW_21Nyw3ny6pcKzyyBf03L9786iKIYiowYjHxCS",
  "id": "rs_01eaf3bfca25f624016a7e0294864081999ef36113a8a7a41c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.7,\"right_j1\":1.49,\"right_j2\":1.37,\"right_j3\":-1.18,\"right_j5\":0.7,\"right_gripper\":1.0},\"note\":\"The overhead view is still partially occluded by the left arm, so the exact red-block offset remains ambiguous even though the carried block is safe. I’m bringing the right wrist camera to a high, collision-free viewpoint above the lower-right side to obtain an independent close-up of the target and left gripper.\"}",
  "call_id": "call_E3fzuGEvpQtQc0TukMUB4Yap",
  "id": "fc_01eaf3bfca25f624016a7e02a031048199beb79c31bdd09520",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E3fzuGEvpQtQc0TukMUB4Yap",
  "output": "executing move_joints over 24 steps (2.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9634 left_j1=2.4481 left_j2=2.0693 left_j3=-1.2675 left_j4=0.0299 left_j5=-0.6289 left_gripper=0.0231 right_j0=0.6468 right_j1=1.4044 right_j2=1.3373 right_j3=-1.359 right_j4=0.0589 right_j5=0.6926 right_gripper=0.999\nstate[joint_eff]: [-6.6256, -14.694, 6.9402, 0.1636, -0.0317, 0.0024, 0.9109, 3.9453, 1.0462, 7.0906, 3.0696, -0.8864, -0.3736, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f671d89efd0539372defc020d339eb3568f7c988b56817edd8dbf0b685a0c33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816d80c949905de2f0d83176c45eebdfefcbaed257180a6c222ab8e421cdc9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490cd53790eb67a718977771df6251fc78e34b9eab5cbb51a3fe38eddf0a56a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 188 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-1.0481 left_j1=2.4302 left_j2=2.0865 left_j3=-1.2621 left_j4=0.0303 left_j5=-0.6258 left_gripper=0.0218 right_j0=-0.0002 right_j1=0.0113 right_j2=0.0071 right_j3=-0.0555 right_j4=-0.012 right_j5=-0.0086 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -12.3009, 5.7504, 0.4274, -0.0122, -0.0171, 1.0281, -0.1709, 1.7846, 7.0085, 1.9463, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgKpT3fQmN52gjEazt26oFbIq24MbmpxHcdGzolkuBApKgkgDaduSx8r2RYf5k1sWmE8nmQjbrj2M4bck8tMcUKl14-3rf91-dJD58TGISY0gkT0GFCQqW1blf70hFyhp5liWbFSOAdBrB33QxmxEAgtBgSfmzPTWD1-XLbaCD7F60s6Sqd6t69vhrBTku6-h9v4asw3TitDckvNQgI9yat_LL9gylAi1TiR1CGc5cg8wOoR0HGIEO2Ir_sh1dOCUGT2bi23kw2W8ztXj9reQwOf-6Htuan0AKqJRMGjAk69cc6Wa_83tcTwoRllQAbtKxUGrbCdBeFhjO9Bw9qpCsgi0G9v7gcN5G_Xb2zJho2Y6vB92O3IWOIDIKA74qSC0IpIrIL6qT3OJa0n1bB1oCjUQShLWig5m3jjufQp8-L4QbwowObTH5p1rJKqB8gnF2XEFPHYX5vAGgaFmzbLQjXwwfAj3IiyI-BMV8YGndrb-8i0MCwxaE0QJNPHehrel1z8H2wWdekVYEDtFwQg1QEzkpfDU8qXnGhoursA_WZUfP7J_J94DvFp0As3gjddYEWSSTePf0fDuhX0jN_gfHeLANHZ3zyC1tvpjQA9iYntqC8jVrZWf6So7CHtX4QRtdr1J8D8jGpWQzRtLKguRmEiMTiYazRnsRggRG2rvozZyt1fpVmYMqZbek50h-LFpLbYScBVX-5L-Nnhc9sY6Z7Hz8p1E08wUrRON_SzacXDjk9peId_iWwwtQdI503FDfQFrS8P5g8wRb2cfG-BTKhms-Yvbk0bjaCFFZaYFr5WVkPoydd7N_PJje1zwDTC3HyMNuueQmqIg1Gab34BAdzBxxmKBDERoN4IHX5KdL5enIEqFXHaO4rnGH5joI-qNZxL2pEgt755uwZKTjKl81xXe4e6BFBQ0TKl36cwVPZzVtH9ZarMvO_lU1JlCnoK9u98sB3nF8Bnvklf5BRYKSO8GPZjcQjeSVpJM4Q8Syq2UN41GlF67vSigkNth_xq-JDpZ7nIuJarCuz2O5d2vBLP3hB6vcIrpLgjh2bdjLgDC3MPkqZ9JMhije_tRIOXdBuzMLZQQOXc5EmilyM581wx40roj17jRTm1SVC6uRoUZZEYVTbaPlQ5qTHDUxD6L2bI_xsikf_aK3QUFJ3T7sVmY4oyKuSAgBvPILnDsSGEEzCisYNRCQrsXi6g3CfL3y3DgaZPtQmkUR8ohwbz13ulDhy4SVBa_dv5g1U9aUIL9SGMKcuOd5Xt5rsVLNorrO3Z5vBGuInpf6-7NlW_Kpftz7zY0Y9bqGbPhty1TKTuE04RBoRHJhmsiaZQASpwttYmR0xKtmA7Eh-kXtCVEVbwNnei6ufi5lfhM4XbSW3rqjA037p1qYpQ6M6IALCCIbszSPepo60q6XFO1qChodONP3g9uXtiVG04QVcGQG88r2Xj_szZGuJJRHB66GcPEEECUjM6LpO9LHyp5XWOyIeqfA==",
  "id": "rs_01eaf3bfca25f624016a7e02a5c0d481999d048a2274324e8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.0,\"right_j1\":0.6,\"right_j2\":1.2,\"right_j3\":-0.6,\"right_j4\":0.0,\"right_j5\":0.0},\"note\":\"The right-arm viewpoint is too close to the left arm and does not reveal the blocks, so it is not useful and creates shared-space risk. I’m immediately parking the right arm near its own base before continuing with the left arm.\"}",
  "call_id": "call_umE2et7i0BrNY0dzYoGwMTPq",
  "id": "fc_01eaf3bfca25f624016a7e02a7a00c81998e537911c0100f5a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_umE2et7i0BrNY0dzYoGwMTPq",
  "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=-0.963 left_j1=2.4481 left_j2=2.0678 left_j3=-1.269 left_j4=0.0299 left_j5=-0.6292 left_gripper=0.0237 right_j0=0.0139 right_j1=0.6189 right_j2=1.1984 right_j3=-0.7044 right_j4=0.0044 right_j5=0.054 right_gripper=0.999\nstate[joint_eff]: [-0.212, -13.3812, 5.7094, 0.1832, -0.0073, -0.0171, 0.9011, -0.0615, 2.6462, 5.4632, 2.3077, -0.0757, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce06d844754085f9c948c49a865e8bf8e53c9a03ae8045b19ad0b960b3c4d1f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d6134a926d9a0046b2861a83136dc7b776707233636674e0a6049bf994409b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095b4753796e6bf719f2c190c55bc117059b7e16f93f6e889966c12e1ab9a393",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 192 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9634 left_j1=2.4481 left_j2=2.0693 left_j3=-1.2675 left_j4=0.0299 left_j5=-0.6289 left_gripper=0.0231 right_j0=0.6468 right_j1=1.4044 right_j2=1.3373 right_j3=-1.359 right_j4=0.0589 right_j5=0.6926 right_gripper=0.999\nstate[joint_eff]: [-6.6256, -14.694, 6.9402, 0.1636, -0.0317, 0.0024, 0.9109, 3.9453, 1.0462, 7.0906, 3.0696, -0.8864, -0.3736, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgK6tBbhi22tc6W7Wh1dbvwddrzayGvZPFF0VBg3yX8Xz4Di8aeXrgq--wg9pMD3l3X5HtIclSXw-ZjAIqhLYkRSYdPPbxfdQ7bpXTkw2Vulr4oKgJ58PkprRJ5OmTsrisxFVLKLHPOue1k7BnclF7xozf1ebh0_VTvbsYru_B_MXBjLP01qDuZJv0kBdlRCxAhZJcteBq1aqJ42d4MDcP38V070fo7wCgLEEfzfjhsW3kpy1OROG7V-_5S2Pwe5ertifCMIljGRTvAd-90IuLT2WU6Hfhh6LvoSViDyFZJWHbEQ7ElEwnQVk9k_imiRqEt2xfnQM4qSXpX8f-nbOMumO5ysDfb8Fid81kLBl_fip53DoRWsQ_Lq4aCVeape4TU3IGfMuI0nfr7SNMhiMZW25yLRCQpfDE0hYvy9V8jXmxwryj1C2o56RYRi62Bhv2g30UaTUlMQJFbLjERm3m4YvJ9WqhDl38jrJbYi0p-IJseYotmmTmck9_WRy2taf2_rM1aanyrVhZPgnHJm5V798KpCvK86HRxFQt3H1Rxy-0Lhtw2Fv-7psNM3JpJXIWUbkXXBb3iItqT62y76-UztKRWmgM4kRmj7IjrnOxbJkEvXaGTMomHpsMzUUuVrXZ1sHEJ05Q1i0I8-KX6ZK8fgKgzl2Y8WvzKub4wxjU_A1wkvnYpUwmaG6ZoknSWA6oZ2I9QEjxgcXGXO2xb24DHVY6jl1Qm_l5lYinACkP59k6W3gT4FMmxVWZ65BKh1TsgoVlxsxWZ2svWIgcARunb5FQO0y7alFg1hp2NqiGqpnTog8FGpvT50gkI93vRyKJrAyD_zo3O_jufF4EiV0BOFEgL-JYMlYY3b5Vwo6vLdhT6eQIyT2pO-Sj2EUnd6oupowrB95IqsgZCpzW6MA23zW0AVfoVwOdmJKFHaB-ol3HT36_7LWLrWlWaIt4W2APMbdxre3DMervynePPzsDXj7a1ALRSI38cjSeMOO6DHj2S7BBw-4jmtgM4G5wh0r-bIC3isymkbO2n_R-ZkAJsZXZBqfWtQDUhC6Y8YIrtePzb39MNPy_QxiBhQ4Ew_AMowf0yUsQRaRI0B_ITOdbGpiEwdr2Qj-iLgPs8I-S_Qabws98Tub_EPflI4R535fsBVgDLQBQjuH76hj3guIqG8o6s1Qar1e-GPmP5sE_2YwxCfVr-yF-AOvbpLa7lH_2ulJhQEjah2ZC1vDPHKw0QKIm0MhrFU3tp0FAiPCmULX3L4nTGlerDwsI6P4K2iUw0ULFQIyoCoyo-rgERo9MBoHICqDYJOn6aKX2dKJCW__C6GUJ84-Ig0UKGlY3NRCvb2UH-SRavXICqeXcf8iiE5eT_VyhZPfuWs8xj2vDs326w2-rczOiLcii42hLok6kyuTr2_mv55xoIRhQjM0ozaFyvv3XNpJ4CaX_N8ELnFIfIT-7-ySGgo6gTsylBN75d0SXW_2VPSL_YKbYCJq--S4dwq5uM5uwaSphXOxZjk-gAh95HMy3jGUtJ0JAuPitYDUmG0GwJGZEDVD8S7qMG8T4yWgYfvq_YW27pvH2Mv-jpaMxpjEk9jqeW4sRTAv7K_EHgsmurfEL57wlYrBcYgfVVsH4DBRx7okphbLquSoyZS-r5C6Brd3hi8lAWnxLexO2aPZ8LsvkRE1PviffKdMvTB2AyijjH4Mbjsv2ozcHw3BppfomIrRzxMKq83MFOG47d60tRWFeCJVaNvHaWebnWwue3znk1mMHfIIUoJpl5C1mKAN5e3qZOPP6otCl84GPWQx7llGJ5cNAgAJ5a-6wFst3LJz8jcCnlbQJMDosJwiZUVM_qVm_eO0gLe2djO-YYehb84N3W4p9oKTfGeLTWE1kdWabV4Fzl8nTw_1d8lKzitbRXA2Qlwws5YCVSWM_sgk-opJ7tQ2toNVi7LJ4Gd0umKcvDErDqjqp8vK447D60tTjFw1yUPZFJHGLI420_ukRnZXr7KrDnFEqaKOPuBidhLsvheHP9RWKAleB-qwddFmptfsiOl2cDau3vFysIdRb3PX7hFsySDjMJmEEG_q9TWeQDF4THiETuLUOHzFIPj5FKyS_Yv8M35SrtTBKR3VtKzfi9Zq4WTNmA0AiLhoCV6znMVt02aSp3sH2eagkLXJ9uyxSuV3rLI-7_YklnXTkOyHFPp8J_UV19a_bP1fzWXxiJ7PPnOvHciQUA9kBV9fL7tA3hZpFOPKfhObX8rs4e3kjSw2a7Hhpf-s6KBoI_iVqe0fipCBxh7zk6JrnGDaINsQcJKlg-zXRsHiw2KVSdhC_ZB1Q4BYUAZJaqMLdYmiMpoHJu91rEPLY6-I8xl0GkJWugPvhsp2eJSZm95ol8G-QO8B0TZVFV6u6FnrNdlIc-QqC0kNIMxc2vJIXo7fiewHn7DqIbPTtKdcwqit-Xwyc7eZ2ks1YiFll_czbmWIZYDde9m0FW0fk-lhguqXCmMHH8D3ySd3IKQRVjVsZkxXEq5qGs5JVpShj4wCQ6PPDw38qN8PlWgFzNL5e5hO0OBgC27Up0goPg4TqESrX36SA4pyWjrO4NKqYhz5wMzSkCrSGeyDCyGG0n_y7m8HSubL6NVkapjLdIie0Qq2Ymp1MaOkjYZUcY40wia-3Cn4nZwqZuT0VO6Vzmy5wr27-ICX6ykX-7lS1a0I8hZOpI6TJL0Mo_pmDQDFxXOMiFHXxPzz3QCsbghmOM2H7vBq8fxOdY5IuBJoOuD0jpTuLm5L_FrldjRg-RsSYdvCHG0Dn5GMsXtpvNSNsqK4heJnjlpXNVYRsv7yjMrvHiL72P3bQtUSVga_JeETgGnihK_IbuGUsa75X8peHv9wtZVoJi6BiOkcLuztytk3du2K6BOYxTN0wZVHQeRRx9N_YO7o_rm4tzmxFH9aDpJqO-YDDaJdsi2ru66rnkpgPHwEeaXIFHAeyNTGUnZ_0iL0GtWBoZr2jBs6gw6WYnEWS8if4V09TuueA5L6P4dwMTciiVVgTw4XxEPdYHRpfjBVoBZFji9RgckxbBnENiYthnp9q3-PKIAoZqJEur27Z1le1zQmQRFdvGmPGr_QSSanqw33QM8nVyOYhKjar3wzm9Znuq4-wP_5i3yK7cdzUGNeflCHgWC1nxW7l7gHjpanrczPAeJDN5XGWFN23q6v-wxZQXzQ_aCNa5dhYhaEUXRvyemO-TaA0RTtfPDMJLehYsKPtuJZVrbuBDodquybA4njZbMaW1RBmB2P4yN-0bjK2mrwLExCx0ctL30gjjX8z3BoEgSGLDxt1eLzLJFyYwxF86Za34N4i_F1O5DyAiObiftJ0UQbCEbXXO1DQ==",
  "id": "rs_01eaf3bfca25f624016a7e02ac763c8199898c47daef2359b8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgK6URCYr8yxO8eZjhElADhQGiyZeVSflyrAFhCEqw6XlL8aI4tCY0gEvI3YQ3MoxYM5a27DmXoQ931ZQz92b2LdlFUhaNb4cvvwqarohcT0j2kZWeJ9ARjC8qG3KQwXPzaa_Gl9hrCTVkwzr2lu0Ef3pFlXdUf2vswbYC2D5bDLzwWrrDy3MWZ3yyQHf1XNobUNXVzvpylpbMfkmEbPHNjg_DBtKG0NGjcZRXIBnvOVLs0XByRaKx3Klvsua0rXuxY3ebSR5xjYzTMqSgkBoRqhgJnR_VEQX-QN6MKCvYmn3ckQwPHmx8b3BGPPq9rV9c6kNlU1NoanCqc-k_xz5AJkyyqbuS98kSy_zYtuipNvr2IT3ghprnBwScxAzFowfu2XfwZMx2WulAwfWNLxi-eZvm7H5BPnv_VwHoPJjyeTdtVWB1XMyuizceNiPAJqLiNVOgBMYePF_g9Fb323cb2eYeZf-Jwh5bc2QQo-Az7Nekw4FtbjQFvBmDG3kUbO45SoMNDt3BHjcXoXBOH04adHCrKQmXuPPtRvq28dKgRLRrYVRW71knYwHHav9RAVDzmTaOeeEzqlQRhbH7Jq0paQ_Hx4mf9LvkpAVAZdZSbHH5l9CtTFtJ2hOffn38FyK-mk9jLlgaSDXffKAfjGI5B1uN9goq4kmXYPqchvQgaP28jfwkW0n8ie64VzybMf6v6yAXuO4Gpf0umMZSlMhFRgUGabHNQKspvALGaW0Yxk6Z6vnhbnW2eAVs9EspLk93jcHL9P_wcX4AXZNgRnRmfFUeHuu7aKPSJ8YkUDf0ND7NTUpv_CSVQT1fGa5sJgPCRijI18ukzgEivWWWvQL6OzmRo0jPnluQ80QGIgPlI9wXDVRRlFNcCctCpJt7xML808a6KhWvFvo2QfzmAwuAk4Md_mc5ZjDsU4Ralwp3dQ_qE6kzM69ZaztB7GrO1yNQs1Q1PsTJ5Qh_IgkQYokgGggMmCzlADmqRILkXFnLae4XwjgNcvOmbZyJwcSphJXlzI",
  "id": "rs_01eaf3bfca25f624016a7e02b7f2748199b76b33f79dc96db5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.43,\"left_j2\":2.0,\"left_j3\":-1.14},\"note\":\"With the right arm parked, the overhead view shows the red block partially occluded directly beneath the left gripper, and the wrist camera no longer sees it, indicating close horizontal alignment. The current corrected height is only about 1 cm above table level, so I’m lowering one final centimeter to establish gentle contact before release.\"}",
  "call_id": "call_cQ8Y8S2sE3h00C6EknTU6kGm",
  "id": "fc_01eaf3bfca25f624016a7e02b8a314819983ca1992bf1a90e9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cQ8Y8S2sE3h00C6EknTU6kGm",
  "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=-0.963 left_j1=2.429 left_j2=2.0262 left_j3=-1.2221 left_j4=0.0299 left_j5=-0.6292 left_gripper=0.0266 right_j0=0.012 right_j1=0.614 right_j2=1.1957 right_j3=-0.6991 right_j4=-0.0006 right_j5=0.0299 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -12.9026, 4.1641, 0.7985, -0.0513, -0.0513, 0.6911, 0.1026, 2.3179, 5.559, 2.1807, 0.0513, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c99c20d8a9421a5640fe871be96f2378b800a11a127163e608fd0fe3c6136e96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4307489bfa6b0e48a6f245f86688291b7528f606833003316863244ce06b17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728ced3a680dceeb35a602211d9348f12b6421ea72e369dd7e6db3d7aa833b1b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 196 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.963 left_j1=2.4481 left_j2=2.0678 left_j3=-1.269 left_j4=0.0299 left_j5=-0.6292 left_gripper=0.0237 right_j0=0.0139 right_j1=0.6189 right_j2=1.1984 right_j3=-0.7044 right_j4=0.0044 right_j5=0.054 right_gripper=0.999\nstate[joint_eff]: [-0.212, -13.3812, 5.7094, 0.1832, -0.0073, -0.0171, 0.9011, -0.0615, 2.6462, 5.4632, 2.3077, -0.0757, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgK_UQAbZ6t_NfKIVfPHb_2EUauKtkaM0m8FizjilDpskMTPo2xEBb-A2Ohg3ItUxEwWdPmqGErzFD9PUA4aAYqzDn9Suae1FohlKCbosSagAgure2Sh6e9GySQTDQMrvQLpx0JvND9rrGLerscENGzaUTZHH3nomTbqQl54ieQOKc0D82TgptX10H_6a6I4_Kb_3AC8V7BnBmxZdglHCOr6vduZeIlAqJuOW3yT8vomPoNF6sEaEyAzOH9K9Pdf-eK6mW2kaV6dpWGOtlYaxw5OhT8DLw6YokaU5gOnn1z6wcEHcmQi_hR8WIg-FBEA5vw_hz_1zvgA_2Vhm-NQT2x8nUTkAmbS-nNnUkmAljM4kwJ5hYKXcibdl158YxK8QlkWisDtjucnKWcF_WZLhDvbixxjHcGevBSNBpuWAhB0dtUbVTKQq-2-u5twZ7aA_s6mNwzEa1QowfMPjKDTwB2MemwouAKHCfQKqAe6Re9KfC6myWjwUf3kNMsiQzVIIAZd_lq0m69Ba82vhgDTtdpxLwNU1cTbBNmIospt4VDqvSFG0DK6XsXxbg1jJSclvoYyuzdP9M5--3tpZF_Pi8HiejOQLJx97XJ3CKy-7XK-bAaVIM5al8YuGMXgJvOFCur3OidrQMXQAu-5GvYaiyjlxAc5d8AlOOmTx4zuLpDbl3LUYFLcmsftU-h-qZE9Z7sypiSMLyG-SdlYb5242ez4jSm3NGjNMQVRWCsEyxI5sgFF7yikwXx0Dh3PdrDkNU8gjnr-i9qrW47Jq94QEMlXkdWyvKgcSftoF2E7eNgQ3yF_CXkBVKN0wQ4WNrXepiplcpWThID0dyvajWW-IEYTBCRwoioJ_Rp0GUsQqMP90-nLau5VrJAg0cgkJGBRpFe89iY1jl46oED3RNk33kl1M9kqqV_fc-Sj4JAGqJUZ24ya4lAnTsQaoQ4SKu4j_IZbDcaIQQY-0DvRQRnBfpdsx_O4MVR7q3ijtq9NLab-e4_H8WA0qIZL1uUnPX1lO9A-uYGtOsWBqc5FT80--IvOl6LnI1T3cUB4gzPC6oE8lGg=",
  "id": "rs_01eaf3bfca25f624016a7e02bd07e48199bb6a4bdb86bdc94e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The final descent raised wrist-pitch effort sharply and slightly opened the loaded gripper residual, consistent with the carried blue block touching down on the red block. I’m opening the gripper fully to release it while holding the placement pose.\"}",
  "call_id": "call_rvNDELPyVes6OBj62A2cKx2m",
  "id": "fc_01eaf3bfca25f624016a7e02bda3b08199a4c57ec782fbee1c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rvNDELPyVes6OBj62A2cKx2m",
  "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=-0.9604 left_j1=2.4237 left_j2=2.0232 left_j3=-1.2366 left_j4=0.0303 left_j5=-0.6331 left_gripper=0.995 right_j0=0.012 right_j1=0.6189 right_j2=1.1957 right_j3=-0.7074 right_j4=-0.0013 right_j5=0.0254 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -12.8342, 5.8051, 0.3394, -0.0073, 0.0122, -0.149, -0.0205, 1.2513, 5.3128, 2.0147, -0.0757, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77fcbcc9af9d85514b1fba84102f8c1171de0e862a480f0a2c8ff13f6fadcadc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b022e4d2a9a085e8e491cb067b2f5e9f8410ffefe7ff490a79c506eb1fecf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c1723a4d601950591e9392eff256c9b7a272fed28188a6304384dc7de5b3ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 201 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.963 left_j1=2.429 left_j2=2.0262 left_j3=-1.2221 left_j4=0.0299 left_j5=-0.6292 left_gripper=0.0266 right_j0=0.012 right_j1=0.614 right_j2=1.1957 right_j3=-0.6991 right_j4=-0.0006 right_j5=0.0299 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -12.9026, 4.1641, 0.7985, -0.0513, -0.0513, 0.6911, 0.1026, 2.3179, 5.559, 2.1807, 0.0513, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgLH1AbIFgu9RP84fr3WP2BNhgG79UEjQCyifX2i3uPNXDosXxXZjMb7EYSer_4DavHqnjP_EcEedqEAJgj3H2bHjSDIrDwyXmrW0dgsyTAbPfwaQgJkjRXOCuWGK230iuz45ld8VND0oot3HDJg7GOQ-xtRA3kl73jLUxfS4WP-CB982xyzEYymMnHqqiDrMcVxjjwudtTr92qrfOZkc6MTJcPIo9MnxLXNl4iH4QYLl-xAxHCiXh3a9fzRlVRAQmgknEkgYpSybTw3B5AnA6MIP2OfRAGE5JhMxZu1pWEFGwPJW9QB266sD_AHbE3Qo-zy-eGVNusdB2D28CJAeasjk-L43JyeyILswYlJTtwvi1vT1qzeDBKto5tZfUtC5tGy7D8snUDPQcbgjbXbsLDDakJYhYjxb_XCMbQi27lwvAza-12dXP0nOJ-0JzQIM5_8FTDQP2rUHl2RFTA0B-bAKv7ljJMv8W8IHmJ1fOlqKezJiQm617ko4fUpnHuZ3-2wKIkkBgqMH7qHdCCRG2p5Pb2vROvjvFEnV_e-buePyddWyc6xSzK82B8WYOvAozLnH20aHQKxGKFwKKwRnOoSLVV4-tHZEtL1KEnnD6zmuRKXTHWrSQRwynRCh18kUX5cM3zJFWPLZvJxthCnShEGVKatLWv2fJ5mkYxk99BnEPWfMUwpt4znQhpXsZ2PhPCNI3P0Hljtt0T47BxpfpW2eXXzFNVr4ylplnjC1iLCo42_Y7eBxU_T9dFjE19vvB8MTFJMVlz8EY3GpEoD8c8Its5tEmqnP7QWkMhI0EwXdP1XH2O8hJIITiRv2hXhSTII_H_iR4cuwHAOgBagnkI5ygFnxnqLmeyG9MXNFsFLYI__l6-mRb4sos79lVZoZv4jPpxTgVLkw_kOYO0kypBaZeMz_J4CkfW31IHyMBY9uY7q7LicxEseYkEmi_TzfFEctHdPnDMNoR8Q4Z53KnZoqrolRvZqXc3LpRHX9hFJSuU2L7Hc989-sVIWbx54yoT5mgnfxq59gqmU44SUkJBf-4xY-RBhMA2RrFnuIVSxu-hioIQGZF1NDwLRRwv9sefcQvV-f7YN6AIwabRVjbu5o0P7i5Q2uXg3SLXCJoV55FSxNNJcXCViQJkQzR3-fOYPvru2oqNqLyp11R-RFKFu_ax5u4IF1T34mYlo4wPsusDzHeph9-qRZw95NsdN95Rmu7HWFB6vJ_PgGHbIWFF_JBaxRaGpxvwRVqwj87ZqQmHay-qFE8Xioa_Ogh3an2pkVaLPGwoXEiK_iUOL8yAiZQpZlL0lGHRK4tzFq9W1p-5zB4NzfUnrTJrOeKG703X-SGYcsYp9EpmJvshlRdJiOg==",
  "id": "rs_01eaf3bfca25f624016a7e02c24914819989b542bc35da055b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.14,\"left_j2\":1.91,\"left_j3\":-1.34},\"note\":\"The gripper opened fully and its effort dropped, indicating the block was released. I’m lifting and retracting the left gripper to uncover the result in the overhead camera without disturbing the stack.\"}",
  "call_id": "call_iEy0ww1IOkt2BnWeb6aZ24BF",
  "id": "fc_01eaf3bfca25f624016a7e02c64a1881998497fe51353d4655",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iEy0ww1IOkt2BnWeb6aZ24BF",
  "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=-0.9604 left_j1=2.1918 left_j2=1.9221 left_j3=-1.3083 left_j4=0.0296 left_j5=-0.6334 left_gripper=0.996 right_j0=0.012 right_j1=0.6189 right_j2=1.1957 right_j3=-0.7113 right_j4=-0.0013 right_j5=0.025 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -12.8752, 5.1214, 0.3346, 0.0464, -0.0122, 0.0952, -0.0615, 1.6615, 5.2444, 1.9853, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb640011adcf1f1e00e25dc5da712a6305715c9d939a4e2a3f625b82a2948da4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b3d2f4eaecc4c387e2805f77b2bedee4c7e10a7cdf880bb7aa6da18600fbe78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a859fb41eaefab9cd745aacf53e1c63b648ce3be788a999957668bc062e73fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 205 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9604 left_j1=2.4237 left_j2=2.0232 left_j3=-1.2366 left_j4=0.0303 left_j5=-0.6331 left_gripper=0.995 right_j0=0.012 right_j1=0.6189 right_j2=1.1957 right_j3=-0.7074 right_j4=-0.0013 right_j5=0.0254 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -12.8342, 5.8051, 0.3394, -0.0073, 0.0122, -0.149, -0.0205, 1.2513, 5.3128, 2.0147, -0.0757, 0.0317, -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": "gAAAAABqfgLMRt5HTsWE4MKWmNb8hDvD9wOfHco-wiUx-1W007Tk69WLTy-CYHeJdRNuj5UyZcyb87OukaxEYIZE268IyxNBgh5yo-nv1MBo4Uzr9o46xf1MKS5mmcyl2G9UJkpQN6oKclCPBmk8xJUuo9mTEn-Qjd7XLHJ193yWTjkdSzdTz4sy6gxiu1vsbBPHeapCYRZxRfOsWy34SICwf0ED_iPA5SjJIgoBK_itFKbPf62zEeZLAkQGWnSpoNG1UaC-YLV_D99GLQmkdX0gM3aZKO_jFf9sO1pVp0UmpeK_sQjRVmofMMyzaLr3vI1LLIgCZmkqDeZUvdFpSiIUPoW5-h2ANcQJrzGezJjPQJbotOH8ndQy9Zj2uDlQUU96jSS1Z8bYke5QdmTjQ-KD1Vb4rtzNJPhVRmXJP-RCW_AdKLKsp5UdDHXY0L9gWcv6KYgVY3cVMFduCsY6VcM-iSzI5JJCf0GNMFOoy2sAugiQF1hQdcqtxM2Km4YrnM9PX8UK1KjnCES_DCDMkIhecRrMTYNXWPH6rUEYCPgk90w_t7SP6NQB0we_kgx8qz2yBI6MSSfmWULRmiOKh-wvM0LO3rWjIgAt_bvOBJkHwCWd9ExveWNSpKfDCdmK_XiKUbY42vxrz4ndJPR5j1V89k6uW0h9ye9deTqHOvF0VOGal7HjklEWmjF4g0Lgx1p_0HlV_6_5RSSCjNxjTRe4Cb0vlgBmRgeFbk1FP-1u9lb20CJZd1jivKUSdPh62Gc0_xIZYbXJypOW8pD2K80qTEJp1rFbDlOUEDhIJFu-gaAOb2IITWDtmRZUqtE__fECNXzwsmM2sD2cSbgDc9E_k3Vk5lI1xuUW9V4q62PuDuJN1T2iRM8vMztTT1KczF-hzy8GB6osohRtDpDNECAsNrnwGSbNWAhdcLV-QnKHWxY-iQLh5Qdmk2xpZNVCEao9tVtxMarnj9zjPz3VJGPVGmTjCvnQQx92LJpsJFHo7P7MwVNzLzbs7PlA-DCLjuUkJ1qLNWSvd3mskFIruU7AhYnlrTa92pAGG3y6drb_oj0r6w17VLeEljNg0AZO1dPRX3u28w2YH5kh_cAllY94dzqIs8NBopKfcXRoytev17IdiKLq-RBak8b87XwPwa-FwAvNpKqngIKawOE1LqOVVbVYUE9VKzsDNJMhDnh49SU_b1yC0DFmdRD6YaUOhjp6u88BHkbzFXK5GIj6XzQsHTZXYQ7aqA==",
  "id": "rs_01eaf3bfca25f624016a7e02ca54dc8199ab019157f95ffdd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.4},\"note\":\"The first lift cleared contact but the arm still occludes the placement area in the overhead view. I’m sweeping the elevated, empty gripper back toward the left side so the stacked blocks become fully visible.\"}",
  "call_id": "call_gFGyBaavYZoFalytMqHtaCyX",
  "id": "fc_01eaf3bfca25f624016a7e02cb8ed88199aba114f969cf22ad",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4255 left_j1=2.1929 left_j2=1.9125 left_j3=-1.3025 left_j4=0.0292 left_j5=-0.6334 left_gripper=0.996 right_j0=0.012 right_j1=0.6189 right_j2=1.1954 right_j3=-0.7288 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [0.1162, -11.8769, 6.4479, 0.1783, -0.0171, -0.0464, -0.0024, 0.0068, 1.6342, 5.2581, 2.1074, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ca5aec5c3907887275e023cd5779055218b0d795c659134a69748c7deae202",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3799fcd29c388c3f5d41a1c8d79c4350078eeb7fa55446e5706c035c6ad51408",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d1fd5762515cd370f32cf05093e7f6286740ca2964d2e513205b5be2a4daad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 209 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.9604 left_j1=2.1918 left_j2=1.9221 left_j3=-1.3083 left_j4=0.0296 left_j5=-0.6334 left_gripper=0.996 right_j0=0.012 right_j1=0.6189 right_j2=1.1957 right_j3=-0.7113 right_j4=-0.0013 right_j5=0.025 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -12.8752, 5.1214, 0.3346, 0.0464, -0.0122, 0.0952, -0.0615, 1.6615, 5.2444, 1.9853, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgLd7owm5FL3p3V4NGC_MMyOd_-Cgah6pHV6Dz-eI5fNPLZAEgZ2LcZi-XJmEUTCcozaQu1bLwFoVSN5Xl3-xd5l9YfeuHESalusFw0njgtw7SpDt1Ki1tISg1ppBkwxcZHMODQLyI3vvjLGeuVkj84c-uz429c5F8Xd1sBT2ewOagZ6csjkGHj62jDujSPu1YHO_jDmiv7d56_-y7KIM-FYsiWOZrbijiwIGu5XW-Qklic0vLjeG0DAB8_3NEJh8aoU_A8HBKgTtmXcZyyVgHveeDWHhXN89JNCl206AtkB59mzln5Fxu0wYEIfSIelXn5FQu7eS2pteDRdbnVxICy_5hsMbT9vmbl0jDIqi5spk2h6JNpib0I0cwyqV2dhz8L5LwSwdecKNEhI2oC6jJsYfXe6q6xkkt3dFdXCWoELyDh9JVzpgO2KkmD4A1oLi4YGaQhkuASBCRiuvwX5l1_V5X1xIeSgqYKDbDRkep4eQH4PT3rmREQUrfiy-iRWRYpvQlW41uK8zMiFSWDTw1QAhQGbQ9uocyyjlT8fhg6Va0n-88cFrFc2xNc-w5Pwwowtnfo1VehvXpGilcS9zpD_9ZH8EtroInPFe_ckontBF1-vBgHH8vM4JO-cSLOKzpVb06h56PK9iglc1Fe5BFU32ByqlyIkC7J5FFj2Hk1vOV3XMLszvyMjq2iw3tZ1IJaCquer2a81mnQVHJCThxa4ad06RRoU1K7sOo3bK7jFhqZY86XKUDkxcYMN7IJUDStFc61qW3qHeu-J5yYC6mKhLypngIRoNisiumLmF9N6Fc_r3R4wFXiPf48j4TMMiwz_6ohOj4TnWv1rsMmp5TFzjpKPC2Pk9t4uKkA9qc4ELFo5p0Ph-0PXeqfGSaBzgB20BbPdfQB0Ze9l1YW3fTOEWpekKZIWFnEsAwxLCVk73d1LSdFEs5lI-cu7A9I8cgCUdj1aSha3AMK2sgys9Jukco7ErzkUfu-FaFPs0-jSGX9oJI_8D9MIYWFyj0aFOemjaUgwKVdlJEHkcHylYYL7X_goGQ3zlSrpJOApkweFzyKXoGodTvb3J1qjUED5P8wikntV7dFgpoafzifJ3VHmli2qd2MVYucEbv6XVVUSX5lsleqUYLuu5Cbsg1_OAI66ZNtwx9sJnSQ5tba1c3mHNzMTqeMJ1EyNkdOtQZaZhw-A0UJ6XTVpe52ZzSgOe8r74b0RmnaLXa1Zl1QG_xognilZ8f14sHYeYywvlAg134bH-Pa-C2nb9tDgbroHZ7-9Z4xwYeX2Loa5skrjmYzCLl4Bl3s8myDMZi6gERx6mS1XwfbIM7rw-KKg-4U00sQXgKUYHyty9yBZtaLzxAmhUfm1OtJbcfOY7bSuX6CbknEm-iw0cSLbkSmLUZcdLEmhxqxBJ-fpmsYW6sSn0qyX7xoBDUYiHguIpxIK86T8YU9CnW401kaxjPbr_iFYZu1R4dgTiRYNdFURMKnqkABdmfzV-XEOtENXXmn8fkRWOZkFQtuQDoziDAgN1w56DGZiwlcEyZ4s1XYu09n2EbdkkbyQggqpNpjVJaiWPPRh1RgXS1t5fuvp0CuuPda0yzRCRjoeYymKaTCCFCWzzjcqro2TFHTWnDxWXo1aNOdbDqEZVqtpYVsO1nCtl8ZLhvINpFBZljjy3PRCue6OL9XA6dIzWDahYuc8iPTuD56BtkMHKdXYz5KClt7ht81roK-H0hFUYm0RCwZB2PruZuPHGgo5wOILqV-BXCGXAAn9d6xxntJuBIGOTsaoI2Bill2EHD9ES1TyTog91d4M1zSbEXSxdxN0cINacU12MeS6Ce56_eVky3pN02q_QGuupyXCwvBK-dVMRqNMGgx6mZJ5v9fz9EQMm_706-3tYweNDIKG7bZWxkcLiO0K8KHTnLaip8kqe-2ZmrhXMLMHHa9BKnmpkEJtys99HA2lNH3s4uZ2i9o6WJ9SkHyCsGGCAZA6MXjiHV-4-f6VZAo8nrEcUevKn0XvDGCyzM6CTdc2hRtIvAZTjDxuRS_B1iJAlB8uSMiibesszIdzCfTCkn5Zi43Ik3r3M6ln79mnayZIZAjdvvcp5QQTGjsZAwBt8IPPDSLxhbqBss5niBknw_rERmLMBuRCeNloFpNqfyNRxg9G3Z8HTZ5MTLjsKEFwY8XsUb-EX1bNrEioO-_7bqDI-ILsx5BGkncUfWUAi3Wq5DBwgXWjkZTT5uHJsL6IohfcEtOSkzmCsYuvILILs6EblX6haXJ12J-9u_OPwsE1aJ4QgmgcS705y7V4vezc1oyrObwH82IKirwgWwXgdpo2DcIh-tdpqAY6tZ97I9T8E1_ZFhUdcJAUZwFHUK1ThCoHy510JV3n9JayLoJVBQfCXRhAS6cFY37tXitrPgIZXx9a55_rLp8PQLyS2YORl4gOl4rKMG4AihpM6aTDq9dxyFIE9N4ilsC33AxuJeN1QVkwDhblSiC97uHiiN6Snay2DjJobr9LdjiAD9fNEfj0iBw2gaPfhxqwmeGXjBwDydElhz5Dw1i4XNwwblG7UMikdaFAhVokpguiGG0q0B7jflWxw27NQViUZVgg7VWJ9b8ntCWrFnkFcgWxjAQ1VZ8MZW-0X6CkZAqC1kSc9baHNjJYh8cbOOw3LWqD9QLQ1k0YgmX7MtPWmCKoUq8T3nQz-ppInIOpMuuf943cN2b4ESFj_gel3I30tSCCisWpOW22-54NKJOPiVBXcnAcTksonUlr4aHKze_TSL52LU9lIZRJNSrlfm06MgInE_NIPFDaxHccJIPeQLeocNV5xC6zYlOaFNnenzs4_G5RN92eaeDHNcBHNa8t6OA72Ek_dQ7P4rMk_-zH6xOwjw-0mf5x09Vxu9E6n_rxhkYDR4Y_g3G2Snkgt3kYdBD4GDttJ0P_rmL-IWiEXJQH11qCmZ7TM7xXAsqQT0sV71RptAusJJhtcR05kbdRX_eGQYnN0T20XdRIm7O-7iZAPRcXzPrAsWTkmiQyN7SLwHr00ObPs7gh-J4ExYSjLJkcqZfDHCautp4EmQ2mmDw8LDGql8tHD-Q58Whsg9Ivig2ZEerYd_Mf2Us3rE6dSYYlOvd22VWOybYOtapNUHcp-Hm5nMeO_Oi4JGbsMQY1inhFYou38Tq-cmB6o_3wPwFlvDJqHIx0XoGYtntIPbmJxN7HK5kYgajNVt9XZtv6NaqfSh686StADxoHV-5fG9On2L954UWygCqhg0bh8XSPLXUU8jFdxC-2pKnUU6AIhqiSxy5qNg==",
  "id": "rs_01eaf3bfca25f624016a7e02cfa47c8199ab3f2b57fc3a6d24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.3,\"left_j2\":1.78,\"left_j3\":-1.06},\"note\":\"With the arm clear, verification shows the blocks are separate: the earlier residual was an empty-gripper offset, not a pickup. The blue block is now clearly centered at x≈110 and y≈194 between the open jaws, so I’m descending straight down at this verified alignment for a proper side grasp.\"}",
  "call_id": "call_WLrEM8sMSwfpAjt3Z8X5qAaS",
  "id": "fc_01eaf3bfca25f624016a7e02dbce708199ac3a59b67ae24d3a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WLrEM8sMSwfpAjt3Z8X5qAaS",
  "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=-0.4278 left_j1=2.286 left_j2=1.7912 left_j3=-1.1297 left_j4=0.0296 left_j5=-0.6334 left_gripper=0.9961 right_j0=0.012 right_j1=0.6189 right_j2=1.1954 right_j3=-0.7387 right_j4=-0.0013 right_j5=0.025 right_gripper=0.999\nstate[joint_eff]: [0.0615, -12.3282, 6.1333, 0.3199, 0.0317, -0.0122, -0.0073, -0.0342, 1.6342, 5.4359, 2.0195, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8da071e13a960e729293716d9ae1cbfd5bc224917c0d1d0818e83f21e63e78c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2828310142c3d2762aece0c5dd319891ef8f6fbf435d79e5f4be2708f3f2aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ee6726a2032c13e48878f358935325f37c3d74a4c7e484d9c16bce42c97d4b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 213 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4255 left_j1=2.1929 left_j2=1.9125 left_j3=-1.3025 left_j4=0.0292 left_j5=-0.6334 left_gripper=0.996 right_j0=0.012 right_j1=0.6189 right_j2=1.1954 right_j3=-0.7288 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [0.1162, -11.8769, 6.4479, 0.1783, -0.0171, -0.0464, -0.0024, 0.0068, 1.6342, 5.2581, 2.1074, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgLmoV64J3na1b7ZMnfmazD7mg_LCvyGqfdAjzFu_WaOU-wcgXIswP1-32NDKUxRKx4GNKnPnplu-GManGppHl1CFhIK3gjhzZgGLbp1WYu2jOx1uBY-cc666PUrLwJH17eDxDGV9SVgLsM0PrNjPmdSUG6I4Y_PcRmdTsJMz6BBvpQl4qfQHSwHos9ilzOsyLpk3JXw03OiVYrNCT1c7xkDSie6ENv4UJDzREzGM5NzEFO21Q5Op-zUWzczQvRph30wwr2hEBf-pVy7RZUewccug3PfxPQxHqOIiU_8twBi2OR649u425N43hForf5q4KUAVkpjPk31vmr6yqulf157yfBynRhwBPgIOPTqZh-ZNkZHdZ8yaoxet4xVy69TinndIyV8AUdE1Q4QDVFKiVKWCNtq_iRus-a-HatQQreXGx-4Dpx8So0bW28p9-0cHMhr_Xj8oRmiOz9zPSPnQjE8ulDmk1hxsaRthJOW1kk-6UpJCpI1wR44OaXQeRVR840BtEztV5lKgaI6LbNQ-epklFgYC1eic9R1YOTzREPS1HQ2Kf6BEn3bp_5J934ODJT5fQq2_esROfa-2_eWNhSA_e573VhmlyxLYJoEoynZ-JsvZxmqxGq32pURvRM3I17z76DmvuBA1iCyOJJ0s_Q2Q-qN9ggvNdKPheJBPpt_H9vrmbMA50YGJSabaFxJ8I44ItiaAxp6QudBBTZxpVqaMehjAMqaNPc3Sh1_jr7BKpTneCF9i6OQIw_9-knTe3OkavBWILy48IHVRNCvjTbzZ0stiNFVyjbY_gacpWPjlTgJOLFz76OsDr7o4oOWPD8stwVioBBBWNTKuOH7sp3cUZOt4Gm3aBzXaTqF1pD6Ed-7-X2Fxp5SdVqvPBRJVC1xQ4VCh4kflFxZVPZ0gtWm-QGPxSRx97WbLbXxvDX2aPlHxSwn2n6XjYuhzAp2zhIBeVTbUZv-BMEEAQpbcPiRspn1g_SCJjBNeUtwM2bQ221BibNIAxX4lKxAhXc_Wmg1uzy3DW2-qRJfqJyEBv4hwawxj6QLPBF9k6utfgSVgSQ=",
  "id": "rs_01eaf3bfca25f624016a7e02e3e9bc8199b4457a8cfaca89b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The blue block stayed centered through descent and is now mostly below the camera at the jaw tips; the shoulder stopped just short of target with normal contact behavior. I’m closing fully and will require a much larger residual than the previous empty value to accept the grasp.\"}",
  "call_id": "call_RiR71WyGmQIaXhPXhSHXavOR",
  "id": "fc_01eaf3bfca25f624016a7e02e4714c81999b99de54ca820cdc",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RiR71WyGmQIaXhPXhSHXavOR",
  "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=-0.4248 left_j1=2.2913 left_j2=1.7855 left_j3=-1.1213 left_j4=0.0441 left_j5=-0.6365 left_gripper=0.0206 right_j0=0.012 right_j1=0.6189 right_j2=1.1927 right_j3=-0.7593 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -12.5333, 5.9556, 0.1099, -0.1538, 0.0317, 0.989, 0.0342, 1.6205, 5.5179, 2.0879, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d125524574b12d86d0ae5a4634dad5b969db441387fccca0799b5b55666e36a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80271115ae6ff1f428473b9a09d88c27df2c6d0a3f2dc2e9eb189ada656e329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b209df2e23d714d215d239bacaf5f6dc498bda3a4cd3ec79f904e7d65672ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 217 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4278 left_j1=2.286 left_j2=1.7912 left_j3=-1.1297 left_j4=0.0296 left_j5=-0.6334 left_gripper=0.9961 right_j0=0.012 right_j1=0.6189 right_j2=1.1954 right_j3=-0.7387 right_j4=-0.0013 right_j5=0.025 right_gripper=0.999\nstate[joint_eff]: [0.0615, -12.3282, 6.1333, 0.3199, 0.0317, -0.0122, -0.0073, -0.0342, 1.6342, 5.4359, 2.0195, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgLxuA5Ylcb5zD_t-Rjz8V3AUkkibyNCWtrne4vVYCmf8ovWPazzgQLMPprQP_wnPIM2Ht7vuRmBCV--POq0Pgg4VYmF9W0FvpT40hu8Ix9qRurRZR6sTEZrXWKgFKGV0cwEdID-sYGsFxOuJ8QVXHXgUqsuKxLckqMybim1Alr6F8BD100H57EdWe3QSdpZG-W9JqG_XzBSPMjEXhTwLFtIPByclYIAwB63hm5d-RfCE-SXhIzEPcejJySCIt5ymrOSqMjUQWdEjPU8dQUeAe2_vT2-HCkt4d39GjigOanaC_6yr8pKMeRG7FnZyVNNtT7mQzX_HDkNR10Rt9IGHC1qw6EbnsbrFLZVo_UMf7ysk6hUB-0B-Wr3TheM97lGQagraPVsKB3-RUYjf-VHpstoaHa8B7h5pIFvk9zSMb-hKrmZi3Es6XJQnioGUKjLWOHKjS_0ZwvJ1aiZSpTXxIfcsuMzGe0FHyVInwvDpLEDGeNkZJ-SadWHWBAAd9AIBzt8B_EvIxtn1G5HMtJNyKsHCBgVmcXi6k3t9ZLu3DOMZIpiQeafSMfg5ZXwzL7jrNYDaSL8LHZiVMHpuDwe-wzn0sEE1K3gP2w45AKQJMh79QVcj9cnVC8I7yVl7NiVgXIGdZuh58zuS1f4oqLnYvP4r-3EMHobJEK--P7CxW9WUb0-QwTlKD8C26prE2cwOMtv28-li6Cut8VcAhoBQlQMcH8EclUpu0YlmlRaa2jAguEcb2Vr-J1dO3eCxNGaIo7IL9ErkgUu8snG4IE0RKnbAPeBFI44yEYipbpTYoo2LP-pUnsvcsj-VMigZ3u2OFd2kOqy0UEbZ9yOhPtyd1EZg50xNfIJxJvoGSlDQbH9E0_sv2EQTcQOv7C-eSG4VJvuhSlELJ3HYymzUJ6l_aDnIpzRqPkHp17WuXnnbEMJxKrPloPFcCcmI3kppEPnqlrQ1NMdBQnPOubnWmXUXPxT_dxCHKdndDW2AivTPexpB6x0u9Teh9depKFKeokEZ-_xH00sxy2XpakVizCbzGVA_dWre9oZO6Jj1wDJw6D0FQoYk_NQ8mS-Sm-nWqcSckr535E_72yXjcMVJCplM2vXBZEc1LOaYx2u58MIYHWXmwdyRDm9Oyjv2Das6a5OcqZqm3puDyDBIaNGBde29i9vrR5w6go3PcCHJdjDV1OU6TpTRKt2YntAn3xti1y-yJDt-6WWGmsi7sWWbw_CeWc369fiauI-PVyU9iQUz66nErPREq61cXVFAmnCSuwkkA-2R-jWmQMdGazsKUPdCVbgOA571xmhleRArP3LDLfVOO47GQkjf2ijaM36NHYxLWylSkC86ZFmIw0Y34Q5GCGZAogdaWN76HZQ-vhBIKuT5MKbthu0uPXlsU-M-wHDuxAVmZsY4VSLp5-rtjoLe65NLNwBcb9KGgZRTZpu87fLcmqr8_3yJIzUGVbPup6u8B4c-eTpydXvxfxvCnCNCedVM5XG_lBjHsRufWOLhsUfWkU-jJOkaxRIB6g6F8vPB11X3VMUR73k_jw_hCKX5E2WP-L8VRXVdVXjECku6GWrLSn4VdnaQW8eKsRo4EDHhCBnZm5EduurPhiCG0YP169Kw4QrZpY0pXQ98GPFT0yvLX10uX_wyt1xaWDtXoBM4mslqj9X76-y8PWBm7qEJD52-w==",
  "id": "rs_01eaf3bfca25f624016a7e02ecf31481998b493c7489545248",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j1\":2.25,\"left_j2\":1.83,\"left_j3\":-1.15,\"left_gripper\":1.0},\"note\":\"The residual is again the empty value, and overhead now reveals the fingertips about 4 cm left of the blue block despite the misleading close-range wrist projection. I’m reopening and lifting slightly before making a top-camera-calibrated rightward correction.\"}",
  "call_id": "call_oDxST0GckJaz8cfy3CLV1fLI",
  "id": "fc_01eaf3bfca25f624016a7e02f0229c8199a02f0fe6a8d8b0bb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oDxST0GckJaz8cfy3CLV1fLI",
  "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=-0.4248 left_j1=2.291 left_j2=1.8034 left_j3=-1.1465 left_j4=0.0452 left_j5=-0.6456 left_gripper=0.9945 right_j0=0.012 right_j1=0.6193 right_j2=1.1927 right_j3=-0.7681 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -15.3915, 7.9932, 0.0806, -0.0024, 0.1343, -0.0415, 0.0205, 1.6889, 5.4906, 1.9707, -0.0562, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e228b066d7bdc0bcc412057de2fe7093b5f286802d738d5b3672e9f613d564a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0bbfd3e81e2ff9240907c569a38265b44736ce68ae7c9eaccf415a89f669275",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b4768331399107c83360cf75ec986232b2c512ca6ba5052851babe3ccd3e93",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 221 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4248 left_j1=2.2913 left_j2=1.7855 left_j3=-1.1213 left_j4=0.0441 left_j5=-0.6365 left_gripper=0.0206 right_j0=0.012 right_j1=0.6189 right_j2=1.1927 right_j3=-0.7593 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -12.5333, 5.9556, 0.1099, -0.1538, 0.0317, 0.989, 0.0342, 1.6205, 5.5179, 2.0879, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgL2Gdx70x9sdJkcFZoaQxs0-4q0xnRW3FJd0BI_0J7fREIEMEqIIfkr-qKvF2fZcv7kQ1CbR7pwXqJKqdZV8g5yF5q8LpyXYSp_vOLaCvm3v1_K8n5uSDhLtzUqryoZaylVHZsboNMA8wV5c8i8qrV3HBNWHW5F9V_uoeMJj2fKRqiotzosQ9GXLm-vyB4jp3uc2zO-2ctmr11uEUJzARGEPE4IS-gQmjYh-dGmoGB5n3xZ5R-_z6_KQjW0Zy1ZyDZ_6BSeZMgPIJzdOvFAdfJgaKD8FwLIlRigRpXtzekVA6o0sotzip0CoVDKLbq5cFLs4RCzmG8RtZ1WFl7vDVx9W1vGGATd8rLEpBcGPoEHfsJcZbOn9YVfl2XWT8bIhwm_KijrQuPlDu9mMs_4p8uvTJq9GuBWClmuQ5D-msEmvKO2TxKZZLKxSvCqT9nhr0EGkCxZ3pXVXDbjbp29t_Qjm__N3dtQoIuLEeOhiN64JRPzTLcGW2jMLbsAgbFddUnoo9pV9DpRQzgl0UmnvpSgEMdEovvaCzv4Y0R0YwaiZDCRPL-BwnO-srEhXX-u9pvJoRFbQe1brLmA_IxVJRlhbOwysNtOILOSeP56KhDt61JwyjGzvVCnZqotkKEcpyO__jb9j-8Y7eyU6gRaoqbUO5He9oHGXUWR3bv3xbspDI-cpij0eGkI8AiES6RURDBVCqqc85QHC70qb-le6lbl3hJxRT31ATKjoJ3rPK0BDFdOpEH_PWxXQe7Ch6gwNkfnrJbK0MiQ8knuyVI_35vdWApun44Vz5JrKu49tlyx3e-bq1otvWJHx-b5OdHovmTS_Xs0qPnpoRoo9vgKOPluXCFjNtg1DgU_oU42ZNR25RfPX6FMyRMrJtcV2K6BiYN_gU9hPLLIN6Q8H9yF6Aypv6eo1eH1R3d7exi9Qjyi2q4jP4s6KYFUNh3X1B6oDEmC30OOgBJbpCrupkQpAunNY5oOLhUfBsRJ7IR00IF7-WZdccmQbEYbsYfqstPep33JIaynhwJU7PY2WPnyuXGLhYMTVf6XH6HDB4yJ5jk3FpT64A-b8JReno5Wgz139BZWsX0R_V3X4VnfFMl2MJhih5uVwgttqmVdgiZ_Noy3RLzIyNO4X9OLjkObgtWx8YBMkMi2mm2ZrZDB3JtAHiIb0cWBHQrXiRE8ncrYD5dfPuZ3y4YBa_daH1OSno6WQOcEwazvwHCPJvpMufprfz82Mtsmkg2ruN-ZIbRq6dTtZBU=",
  "id": "rs_01eaf3bfca25f624016a7e02f44118819982a85f1318d21a12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.48},\"note\":\"After lifting, overhead shows the open fingertips only about 2 cm left of the blue block. I’m yawing right by roughly 0.05 rad to put the physical jaw center—not just the camera projection—over the block.\"}",
  "call_id": "call_91IKCC0FTNi3XeqagnkIF9kP",
  "id": "fc_01eaf3bfca25f624016a7e02f58bcc8199add06e7d27db3598",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_91IKCC0FTNi3XeqagnkIF9kP",
  "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=-0.4248 left_j1=2.291 left_j2=1.8057 left_j3=-1.1473 left_j4=0.0452 left_j5=-0.6445 left_gripper=0.9996 right_j0=0.012 right_j1=0.6193 right_j2=1.1927 right_j3=-0.7685 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -15.5829, 7.4188, 0.0904, -0.0464, 0.0171, -0.0513, -0.0889, 1.6205, 5.2444, 1.9609, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eedb2a1964d6249161a564c41f08259c5906ec8166a766e7ebd4c514c2925b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b295401b550ae19b7d27436eee055a9b821684058337dc16083c64fc33dbe9d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae97cbba851531cbb57f84f92b60fcf36c1159e27fe927467f9ae6ed90f202be",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 225 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4248 left_j1=2.291 left_j2=1.8034 left_j3=-1.1465 left_j4=0.0452 left_j5=-0.6456 left_gripper=0.9945 right_j0=0.012 right_j1=0.6193 right_j2=1.1927 right_j3=-0.7681 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -15.3915, 7.9932, 0.0806, -0.0024, 0.1343, -0.0415, 0.0205, 1.6889, 5.4906, 1.9707, -0.0562, -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": "gAAAAABqfgL8f3rWZQvfgbocRBSrWd5ckSX_zyX-wXU7I1UTmiko-1cYxH8AzcvFLHHCbXX1H7dPdSqUXk1u3FjFACXbT2snMUCp4v7gzCiSNDoLu_YJLDmRLUEV8gUFeYSNbtYpNqaex2xXJrpUPx8k4RSt5lmc1PTvRN4oxp157PIw_YZKvn7_dnEnQrqZ5kpdCRmTZqUPGxLC3sGDt__cCPZ6AOcjl7DPZUNYByFvzqUBvz-Bu2bnLcwhTn4armogWINTN03dvOeLOUS8Rnm_1e7NTdC4I4OVexZIUG-bz7UAsKcW8f2IamGldBcEExR9iTAaxUvkB2xiYi29z08T648pBpO1As6qAZcgahNeZXIHQYU6MnepomH53lvEujRcM3o2JpiCUs_XEe0TKNjZsPLCu3Zo4qnyn4BguEC-6vdBHJRBSV5iY0ajAgehD4dsu6GXsQFg57hOBK5-Xoh6NhcgLAjYjbugqDgBWjgISHhJaLNaGTBgkrFVSvV1cKWRkL2K2AwoTu1fArjDk37U32tHyVjPzASK1WPylt45TkJ9XHxbx_mu53Sp9hsgoNLy1_na17K-WxuRvv0i-EG3XNYS6lDFl1IBxgYI6A9b26NhXAnkLnAslHMBF18ZrEGDxOE5siKujrRQ4zd9NR6dxs2-jnN9mX6pwp5VHT7CWiQxMqfRXeQDiYcIm2cXOa4GFJ1yvIJWrBU6-Z5opd_BqntL5iclTlvscDqA7tE5OooBbDJzb2KE1uROWrwEzaNe4PweQbera1k6ehlVda6F9kNbMS7d-ZvX0ZnvKPiBA1rQ1O37zePR3bEGUznTDfn_O0mhOm8mL7BrA7IlTATh8dCe5VuBy8pAYedyIhLEp0idSd4Pyemt2i1Kt-fmef2YMwt4tpuinV7zJt6dqP2iIH6r-ed6XU061RjXUx3cu6dhHqbSBGYswoew-xZqlzDg_ORaFfSz",
  "id": "rs_01eaf3bfca25f624016a7e02fb04108199b5a3b9d2c65100b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":-0.48},\"note\":\"The one-step yaw command has not yet changed the measured joint or overhead alignment. I’m reissuing the same 0.05-rad correction and waiting for it to track.\"}",
  "call_id": "call_zGCk8d901aP4b0vE5iN2MM1e",
  "id": "fc_01eaf3bfca25f624016a7e02fb27b88199ab497ece4cfb9e54",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zGCk8d901aP4b0vE5iN2MM1e",
  "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=-0.4808 left_j1=2.291 left_j2=1.8046 left_j3=-1.1469 left_j4=0.0521 left_j5=-0.6521 left_gripper=0.9953 right_j0=0.012 right_j1=0.6193 right_j2=1.1927 right_j3=-0.783 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -12.0684, 5.4632, 0.1245, -0.0708, 0.0024, 0.0757, -0.0889, 1.6615, 5.4359, 2.0098, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04382f7ab28a77b345ce56446f523d4962065c59d1398bb3a6942a458c9107f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d688580379d6be372e11f64e2549eac2b1ced75dbcdec703cddd7acf82c5277",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce6c63f716244fd0cb023fd171c5d408c52cd507fbaf5934450b6410992a6bd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 229 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4248 left_j1=2.291 left_j2=1.8057 left_j3=-1.1473 left_j4=0.0452 left_j5=-0.6445 left_gripper=0.9996 right_j0=0.012 right_j1=0.6193 right_j2=1.1927 right_j3=-0.7685 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -15.5829, 7.4188, 0.0904, -0.0464, 0.0171, -0.0513, -0.0889, 1.6205, 5.2444, 1.9609, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgMCKT-jLPlizjhQPE-RYrFOG4qnpxLDOy5GiNCUJaA28C2DELg7gsbCQIWvOuSGceWuRqz4BZADQ87veBLLTPHBwGsNhZHBJOUPVwN42YMKSdAM2i_E9P70ULmsCMPxhg_FpF4_-3RwKj-5xaQrABxLqj09oTObRKb05FY4JzU6Su84As8sA3iPvzj5PV6uGWTJ0zAmCUa1_9NAt52L69Zg14jOTKSDsQIKgyZaNIVQMOJUdKYCteqYbU1JQRsOzWnZHahLKX3FlY7BEtATZp5aEQ6T96tDuD6KQ96nHytUBtlvId3g5ScKOG17YlGhi0vDbYq9BON9c5IhLx9cr8NpcbJjzYSsBJtkHac7Ik34aZURVNOBcul1PxcBRNAigyMVpxyCUpRungBtI5EzrsEjfN0py7U3RrBlxZvZI8CNKQvzJg8FwPGgw1KmBcB_9MwQ2chBDVdulAMgvHdtu3x-LyXH4mhxqq7R2iB9CNkwlJeNEERh9m-Ih80KfQodQ0B5TGg5T6ELrUyUBaTCRkqEhG_C4V6a87h1ck0FCAgGHS33szFXiNgwZVRpBhTkQA4tSbxxv2XZFMGuTZCvh3Ta0XLj-TBdZ3P88VcezCMavudRpFhH5Iz8RHIq_rZcaftsgcjDQ1yoRHmhM_Og-NnOUJnbJdQGAcQJQN9cg5A-n3lO7WaQ6-_jVWwn_1sN3duMWzDuPWQ2yRgScSIIHozIH4lgCSyh8Idtu32Xy09AoTpxvCqBHoryb_kuCB1avl-0G9VWZkc3zGha6lsvmohD_TLvnPpa9Gi0TMyMm9oIGy8EDKe-nKuXAl7TDvILhajPbaPnO212mve0ezFpRO6Qc47Vchd7VYZi6jybDUnGda34cXDxyW1x3ZjvDoGoUQy8YsXwiRDnF8bQztL0b6hL75kLmd_QMyDMA769ouWNDqmXoz56R--DMtn3-ee_K165rf71gYjybNT4VZ8buGHLTBoeWGZYUbheBTEWq1K8siWp-rOqV42--Ly2VNL9OWt_Tbhn1xS2DqDcNnVDdWmE3bvKINobBlFufOOqchN461z61h4NA-6wMbil-3ww78cL1UANt_DUs9rQoU0kd4IWkf9hpjkEY3HD0Aff338wuidMrYpmAJXtSAooG4jgXiFg8Q4FqRcEyi4twmi93JGw2lLikuLileXLBV_65cL2PKHgPNE3rqAxem7Zcs6PrBgOj1QIuIk-5WCzsE-YtEUdexYizIbeWxUVKl-PQxZMgzZ7_CmmkOShOcgQqtJEuWRLYhJ89lH9jQo-LamQHF6D1ETERhlAzUnL8WePj7iP1vasv-hzwvKJKpEUryslMiG-2KOOyJ0I44fmdBMOe2AJnN1UJLgXcKbeY2qX5_tlekEA7Od_069NFjf3RrnTRRNmS5OnUXEHsL6vqksiHj6-q08PH23Vevc36fOfEsWg77YB1zcggI_fZ_wyUY9Y654e",
  "id": "rs_01eaf3bfca25f624016a7e02fdcf1c8199963a42a1a6a845cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The tracked yaw correction now places the physical jaws directly over the blue block in the overhead view, and the fingertips are already at the prior near-table height. I’m closing fully from this corrected physical alignment.\"}",
  "call_id": "call_wCriZqM7jnKIx9IEW9VS33AM",
  "id": "fc_01eaf3bfca25f624016a7e0300ea0081998ff325612b080424",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wCriZqM7jnKIx9IEW9VS33AM",
  "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=-0.4808 left_j1=2.291 left_j2=1.8042 left_j3=-1.1465 left_j4=0.0528 left_j5=-0.6548 left_gripper=0.0201 right_j0=0.012 right_j1=0.6189 right_j2=1.1927 right_j3=-0.7975 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -12.3145, 5.5179, 0.1636, 0.022, 0.0073, 0.8474, 0.0068, 1.853, 5.2308, 2.0537, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7178407e09c3eb19b2f9043f4368357a29b30ea0672023276664512906b50401",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1ed1d7259076affdd080bb560627a1a76dee0b8513cc2b181f4928d66f4e40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374ce8a3a3ddb68fdc429dd21b3a1304f47c710b74ad3b0b72f13f4dcc7b9181",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 233 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4808 left_j1=2.291 left_j2=1.8046 left_j3=-1.1469 left_j4=0.0521 left_j5=-0.6521 left_gripper=0.9953 right_j0=0.012 right_j1=0.6193 right_j2=1.1927 right_j3=-0.783 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -12.0684, 5.4632, 0.1245, -0.0708, 0.0024, 0.0757, -0.0889, 1.6615, 5.4359, 2.0098, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgMKVE-DuORS8C6oEyBml26ahsrfjuoOnRtIUTovHqkI5NvOWKPB5q4MI9mXzUoccJV-33BOyFZFlQSi5gs_pKePosO9_kSvWcfaLRB7FueggDE9eieOVYqLQx4SGkFzza67LMBsh_KvrYm8aZUjtHpLsC0nrZuILoGZBAzSLeZJ__LpEyuQ7cM43ND5GJCXRXVrzKCHDZoxAPThXbEZ0NnlvSsEsoy6odSm17OTkE_lb9WkYbkiLNdLUXubEmxNIExD4MuQ_NEIReur6_I9kx2Kt3Kp-GMkJCpNEFDo4aAst_MX_F59oC42y-8Z8wUvRmROt_EOEEZ1yjZbZAPIUNCVawSzmhXt8kma5bEd4E31l6_LTkhjpi42O2MJ4otW4Jkq9Wga7OcKbxokPLdY2hgvzchpNg-XiXDXcbC1rmFU1A4eyOKeld6nxdbO_s-zwjw3rNsnyZ7lBRDfiZ4LkPVQYyTthakV-LB5KSPpkurmWnqQhlGLxDR1qE_CSqRz1CAiO1-JTo30lIWgx6h2NWf4bnvwoW1ZSnflDcm3tUtLkNzbPPy67zsQjrahq7jqudbX_yCEEr7vRFlEtS19-DNn5rfLJLFZE7_YjbnWu88rKDW5qsvtUd8NRh6q1n8JMyCuZGge-bfAq2SEDAok4hGUXHkH-nUsr3S8OxwBPtuQ2AomkpVM690sbmxnBTV52h18dObeelKBfyMzk9uQl1iUq3UEjgCfNoJ92AKfQLTvQMHrtgM7lb0TjGYqSmRedMnsEy5Pv1RPawTO44qiXACgFsJzaX6YGldA4zr0QyMn0uiKJZBisMwuya1o6VvbnqUyllUctQKnrHNOakgBqeLwWu4WOoD2KS5cbWSapN_pqt2a4cFgXKmTkqRec4UUPspbpVTIYNxu6Dh8Gq_HNLcWYptfcrlRhOUdFJmZF1SL2N_Q9CKbXv-ai5fp9mOKYNSgmDEBjgeLBdSXWee_5VdRsHtNvzXodfB7tpREKzqUrK2DCzh23HD1RsiQQ74-Wt0AGB7G9c2CwvyvIjnXvLh4-75op9LQVefr8hg9oJEvFhdtOFXsnAqmumaLGtIL6FD0IDLzhZF7FF5m8MJWandu7nhbWQrmoVzRmXjYMrFXUTimlrCnJJp2RVUcpTp66NemUzW7ePlHCa4hJBZYSPmpcL0fAfNj1H-w_5GMlBP5TDxx-QMKxW7nHsXZRBJg9dJHPJ8rvK3QqHiqCG5K-t8qWeca2kODu6Z8u66_Eo7c8ceukJwRSJ50lpoAhNk3P152pSpBhaay2fneV0-2WUjUSTO29R4NINNY9BwvIkoZPAktNDcktAf2FUB160_XB9qGIMCnRNfrZUHjwkaoXYm9-V-P3CjBQVo9Ir4uHn_cbSIJoW4NGBgNKjFd_o2J0B87rsYLhbQNK7Jb-aWzq9S-qWX-_NbjZdvNPufOzBWRxOLAeDm7W4-k9fFWutz7_PPMwp-V9fctZfnDMSx7jg3HaIlKaOv9HtwSngmtEC7lIkk8C0LTLlrOGu6xBFXqmzV43Y9V9-1dxcE_I9k5XN4i5drWSIASwR8225xUxtpoRK3s3ughug01qap44cOtgOzvnEEaLpNB9NO2z-SBYVGLNz_EFtIN55TRvqFxZC5LrDmuYWUT5ta8AAWyKjkc_5GNwdoAUAoTvUzQl0T6IHOem-sg9WTbtRMRvpkG5ytaEYfxSDKe1gkJrcXthETajBItbMCEknTRd7f-gyXAUFdOTg==",
  "id": "rs_01eaf3bfca25f624016a7e030523ac8199a843b61921605cb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_j0\":0.0,\"left_j1\":0.6,\"left_j2\":1.2,\"left_j3\":-0.6,\"left_j4\":0.0,\"left_j5\":0.0,\"left_gripper\":1.0},\"note\":\"The close again missed and the blue block remains on the table; the left gripper’s physical closure center shifts left under load, making this approach unreliable. I’m parking the left arm and switching to the right arm, which has a clear path to both blocks from the opposite side.\"}",
  "call_id": "call_RDQRlagXhSE5FmqAIxuEmlt5",
  "id": "fc_01eaf3bfca25f624016a7e030848248199a4f7ebdb38d89fe5",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RDQRlagXhSE5FmqAIxuEmlt5",
  "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=-0.0074 left_j1=0.6182 left_j2=1.2076 left_j3=-0.6487 left_j4=0.0029 left_j5=-0.046 left_gripper=0.9976 right_j0=0.012 right_j1=0.6189 right_j2=1.1927 right_j3=-0.8192 right_j4=-0.0017 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [0.3487, 2.7692, 5.2171, 2.2784, -0.0904, 0.2466, -0.1587, 0.0479, 1.7573, 5.2308, 2.0977, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5552b95b40515a38a9c6eb54004634b20410422521da67733400025542c3a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bfa30653df2d2ee683f2ee37f44ad2ab33e13458a849571519426c8bfd22899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4097380cb9d38b9d2600a1f918e6ef6738037d0ca5033dcb041624035cbf8107",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 237 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.4808 left_j1=2.291 left_j2=1.8042 left_j3=-1.1465 left_j4=0.0528 left_j5=-0.6548 left_gripper=0.0201 right_j0=0.012 right_j1=0.6189 right_j2=1.1927 right_j3=-0.7975 right_j4=-0.0013 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -12.3145, 5.5179, 0.1636, 0.022, 0.0073, 0.8474, 0.0068, 1.853, 5.2308, 2.0537, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgMUqUAvtwVwp9K2PLbFvnGiCKCZntyED7e88XFwkSSLtXpT9blBlrxWnq1c0ZONP7RddzopteVqlNBoV2ea1PkqSdgYzgvGJ0vfP6xnW4b2CGRy8IzLWnI0wctSVpmPZLgxelNWp1UB4kzKl_g1P50gfySvtm_7F2hcyiqWoEfeikcra501PQsWZ-zUK6N__Ifx1YeQKUI1qktPlvm0zY0-ShsfjCzh1clyMw1EZ4wLjCICXvd3zujgws-dvIXoWib5wBhMl8Lo8M64aitqeBtUAxQOw04s7LvlX06Baw2RteRrLOhm2y0BnNG_QZKnWJpaHKT7NWZhpZqpOmLPXHvZxXou69OF4BjqqOZHIcXZGhcGnIavkU0-wHNb55CHQPqt68RdSVembvODquk1zR688xUbxLo5SqKCJWXhpBqxRCCBOnRCdmi3LVH2C6ITHaBqfovhyNybnvNY2qk_9ZE8Wq5XcaDtLk15PdBOgpwHb1wJbYywkpxTJG4YvZG6tk3yUefUDY2OXNa_g8FFZ_-49rv0GWNXvLJWP4UUmdnOTbuxeGyGreb9SQ2DO7evqFjoZW0UcLzpp4-gCf6fpvE6fvmn6GNZiDyTOynWa8Y06c824cRjBv06V424uz9BPRdwKkPW4McxFgt07Nfkn7O2HswK9mhbE8xz71jszJxwPZYaKjjYkzur71k-16AwD1dUgG01clrMCoylSwI5vrX2T9s6v3OYIezkRooinL7OUrCsAFo5CaL0ahk9FQPKI36YqxGLwuawSODhV1nSLa5sGO8AhfmB9fdGyQG-yGG2Lv8Zb-cO5D3rkPqZwOOYMZwMWGrw1yAluQKlRpPU4heXUzFu8IcDybrnTft2Gg3pwuXIw91ajtTCuYh8NObgIMojJwEIMG1p0ZgEsusxlSVff-aoHhKsgygnjVozRHqNiHSSl2XJE0Lxjt9gyGPTMdRHvdpUbJtQwcFwmLVfL4XomboKBbaCSZFrmXp0uKYqJc1fiIar-25fAjswWH8tzyksmXehAAGhAYNoMxjL2ApmBU_Fq5wZ7X6B80OLtFkIUia6G5qY9htuDuWSVMPOSXxVMzMo3BF2DgVyiazb4WMgO54h7IduvcIgLZBqP3itZmTUid3k-g05Q_HcjxM1sb63uHbI5q9nnDDsncoRp1m2U4hqx3IwfNnLd0_PqvopzCTVIxyWlvBT5AHZB-dCEZ4b6DTMjn7HYBtorXZ0VXsJPvu9ktGUPYe1-XmcSzsy2zvUHdnLGvgs19FEsF2JLqepX10A6AXly_HA5DYp7rGny8VCn9OHKB787D53xcLZYxpJ9pXFza74b7v0e-2i4IbHM2MS_-OY28hSRLm6G8zZg1HKe6_5kIok_5ZYo4YUrgifiN_2NzX_yQnvoTy3AgnxLv2rPrLvANVrUH8_FPQA8w==",
  "id": "rs_01eaf3bfca25f624016a7e030ed4ec819984ec20b41b95d66b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":1.06,\"right_j1\":2.42,\"right_j2\":2.26,\"right_j3\":-1.42,\"right_j5\":1.06,\"right_gripper\":1.0},\"note\":\"Both blocks are now unobstructed: blue near (88,155) and red near (123,132). I’m moving the open right gripper to a short-biased hover over the blue block at the corresponding bearing, with roll matched to yaw.\"}",
  "call_id": "call_3bVzW2NyQ0t6Zce5YKOzrUa5",
  "id": "fc_01eaf3bfca25f624016a7e031262f48199b34d2361320d234b",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3bVzW2NyQ0t6Zce5YKOzrUa5",
  "output": "executing move_joints over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6689 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.9988 right_j0=1.0477 right_j1=2.3955 right_j2=2.2238 right_j3=-1.3911 right_j4=-0.0082 right_j5=1.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, 1.5248, 5.641, 2.0635, -0.0269, -0.0073, 0.1099, 0.1162, -13.0256, 8.3624, -0.0366, 0.0513, 0.2222, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc459fa16ac59f567829be63a91f682177eb0777e0fb74e2700ac4c6d6c15ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d282dfd9868c00509cb9e633a082c2aadf8b33b945e14bb50141e7bebf32b641",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0571c4bd609c0697a40f9c9bf1af765d5874178ec39624daa0f5659cafe089",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 241 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0074 left_j1=0.6182 left_j2=1.2076 left_j3=-0.6487 left_j4=0.0029 left_j5=-0.046 left_gripper=0.9976 right_j0=0.012 right_j1=0.6189 right_j2=1.1927 right_j3=-0.8192 right_j4=-0.0017 right_j5=0.0246 right_gripper=0.999\nstate[joint_eff]: [0.3487, 2.7692, 5.2171, 2.2784, -0.0904, 0.2466, -0.1587, 0.0479, 1.7573, 5.2308, 2.0977, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgMe5rlGw6b_EBNN42AbaSqWBz3kicAiv8V-YuMNSN8nAlAd31UHeq93gIJECCxCP7nTeT__inDUsAq85F0GHHxcrod-OC3WhiyqldaVRIz9xO26rFt2e2AXZUFni11657u7ZrnR6QB4lxDLyq8thbVfAlwd-NgQ6qCI1rymlWooOgx8duQihHaKpqmaJFYub97QhW1QH0H3heKORWgepAhcFUryaRSzjdJDG07YmvHAWdSvancnt4hLA1ppJcqmPnl8yFCCdX69661XaFbIG_191IbbGfJgtP-Ee-1yWQAhl7hM-wmm4sfyxY5glbHKmHFu5Q2muYlCuevIEH9m8hTtXequHG7J3t3VArnDvvytFZwSi2YHgs9NdTM0bJ52s8T9R1XG-QTIjH8C3uADvO-fRjjmRqzt0ohZ0NGiOKTr1rAp3Lsa9RnKoFYQ7rEquIIPBK-C52MZMo02B_mp_gJoWFHgi3PvQpqYlHed5EqeSgN3BzbBPi4APAVjl1ZznZBw9qdUzxld9jMWOi3mGPZO-llYN1rA3kC-dj1ZQ70X2iGeiFl2Gt3X7WVhrFJLR7gSAcXLt3_F2TJ9pOeBFkL2cV0ZwC6BmXM_HioFj6AbqujJ-z2rfALb0x7OB7Jfqp35fRoyZi4uNUxV_i88cT-uC8NGbaCeDXyA5Wu_ecqI593_9v3-1PnE-n7pKb1MEi5eeOgePkuPu_qUcjRv6r3ob-ssfnHQHf-tErBKYH4AlQbkZRlxdnr97YIODYdCVjEIPlxvj_l3Vx2xNNuJTt8NZ8Uoq3GxXhhGDovlWWZLOnSUrOB-jCCehTBy8L2932hWCScCSRTt9GUNc44zwXyAyjF1Buh09XO4h4IOqtNU5kfg6M3iFffEeCHAatmVqzc1nT1KjluH4mKXb9SeeuQQG4FayiYXHKokFhQKzpUgTAeP250V4C7_qnvOS4BASbzK6BRo_jhsaRH8RgqubyOAB29zybYSo75SfGReUh84zMFY0auydhRCuTm2eIPa7F-i7WbQaSnFloRSor8gaxYv9yTdC4C9bjamWIZaWmoNcyHXU0HJpZrgoiZmvL_Hfsk0LsboNztTgOgIxkmEYi3vfaVZ4uGpmkMlzPtqHZg9bWB4xkEuS1MD6bo1AXcLsdn7Ji3iC7tUcXTFuPsOjP5uUmnoNGnzwS6iKLb7JJV-whastkg5DKoJRWZg-w01ILG6fuJ_agcctJQTtr8_V96coSUlqf8VKonH5u86N7iWXD1gXfrQEopffy2kOE0CkT8fR3YnN7NUtp0Mm541S2R4zNKgaMFYwuM0Tmb67LLtpTr_F8NSCsI9mSmEaXi_8Ip4rUef7cF5n1FH6NI8kj1X8qv9LuVp92HMY0xPeYsyzkwal7O_eSUX43xJzXzK5Nz8h2CQFl0bXjwgFOvqHkp3eju9KcOsyh0jqv0HQpXoJD8KyfxPwhJle9M8AbEG8uDMYiaSRvGDM93OKHE2ST2yEQow3EUOiAGPvcG25-ClficXJHqIgoOFzifb1mWXHSSiKZ725QIVeJGrGrp3N42CTdjbAtazxK6H_TxF4PC8YNdwSKXL-XJvAEw5gOXl9tkLHHjJPnE8crRB-uqHN3Dw3yJDbR9bylpuqbm_xCMZxo7L3pTZ3vCmq2klIgnRVOMIPWYWhfsjdVRXj7lZsZuBOqYIybDWLfSRAt3Bqz8KBh0=",
  "id": "rs_01eaf3bfca25f624016a7e03189528819999940735863def3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.47,\"right_j2\":2.11,\"right_j3\":-1.21},\"note\":\"The right wrist view has the blue block centered almost exactly at x≈113, confirming excellent lateral alignment; it is high in the image because the gripper is still elevated. I’m descending about 6 cm at fixed radius to bring the block between the fingertips.\"}",
  "call_id": "call_37cNWiRLN31oU6RYm8UepH5j",
  "id": "fc_01eaf3bfca25f624016a7e031d06a48199b3ebbd5b7bd2cebb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_37cNWiRLN31oU6RYm8UepH5j",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6724 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.9989 right_j0=1.0534 right_j1=2.4428 right_j2=2.1284 right_j3=-1.2907 right_j4=-0.0086 right_j5=1.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, 2.0581, 5.3675, 1.9805, -0.0513, -0.0806, -0.0024, -0.5538, -12.0, 5.8325, 0.3297, 0.0024, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09021e0bbe1d7c814ffd23043923fbaec4e21aa9ff1cf298dc462450646a0725",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0212983763a058bddfcd3e2957dc44b28885448aac4abb734c5c200d0dea971a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22df133590151547dadeec9fb0247eaef970b70815365cebb6ce1c300fbc170a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 245 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6689 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.9988 right_j0=1.0477 right_j1=2.3955 right_j2=2.2238 right_j3=-1.3911 right_j4=-0.0082 right_j5=1.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, 1.5248, 5.641, 2.0635, -0.0269, -0.0073, 0.1099, 0.1162, -13.0256, 8.3624, -0.0366, 0.0513, 0.2222, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgMmZWDrJXVZx4zOyC-5EaQqMY8lsoOnG76pEK5ZCDljORPcu6WTZlarI1G8TkY556E_fUanIhIkrgVEmBh1HpmPXcTCAWu0Zkyx04rHsLuoMMMwU-_-J1yyHJvWHR175DwY5QUYfg6H-JW22eYNEkYFoHk7PmKzN3W2Wun1QjKhUjD0Rekm7Zg9I_qlJv51QsB565mD3AFEanyGRskZpW6Q4EYxnJ5jnQ9Awy0-M6nEPGvKeAAE9lAumLmBzJmwjjuvDWp2gLUlPYjM9LRTUsGqGxKA8NA_88gAkAYS5NKSmdMV1Vl3pO_zO2Ue_hotBAybXQpBmmBIUSvvkHOqFtLOrCVEefgjGgEex0uqfkOv87FnpwATAnS74c3fBW0raX0fxNEIWA9hSxgmXpu_QAhyB1vFMq5gX2OSwF_ztE4HlYexecPWTP3dp6WiN0vPR5h0LajjqNN00zTuPgVPX9zaRn5PWHIEETWSWksoY0L-_nyY9H3UeqGZ9ud3ULgNFtFvK-P9wUSGZBp7KlH0W2fzf6qK_BLezNS_40N8kCmg4Q0DrWKlwQNzAqIwwGn7stLmV7AbUqREGwT5k297_zVu367kJqKlUv65QoJnUbPGavdxrQVGhWyxrBXvDPtCxVYtAgp8PE-lsBtsE1QrXRASZENO4u5Gj9MWAE_i8gKWemGujcPQ-ZvyoHj9cqPgH1uqiXLB-CmlfYtZgcE2mBTn6KPi7AHkPJpg22YTtZnHu2i9VS3CwYKYlmXSX0Gu8kZFES_ZVxuIcJys1sSsweX9JOlFQaz8i40MAwqpJx2N3jAkLAq6dr3crShIrLsejdFDyBiAmZrn7gwfTMpV8zL667n4Dm9VhWfRiZ3lxRP6j9gigRRqyMUKVKYsqKC8Lo8HapWM0O7NCeKh3oq6xSqrAVWoE0NhBkYycBC0vto30ZlVQzW90kt2J7C9foFoJ5l1xVKZVrim1sJW39CFaj-KcVNYS7IeuwuzHnvTgHjf7HufDgAEeHj9P3MqZq-uyVbCC2m3eIsVblM72QKk2sQFddkREXDrnM0ty_UraW3qA5YWsqbG4hZvi1Js2N1loMHFqOOBShBGELSSHRADriy8RoMGYBvq_vNrvqjfCa-nRZo6FbAQ0WrfRwK90Vy6Up2LnEtPI-R5WNf8Ck2QpB52jAEXduM3SdNWJ_8xXRFRgnu0IeXuHdJl1Y5AEEV5IW_Q03s6jmsSYQyNMLuMV3U2riWYu9fKeUkQ1Sj8Rax1B0kmIP-E3T4zIig8dB-jgRzSgmS-9cSib9Ixz7yhDmiWwZVqtpJAe53n6fIfrnUIbVYk3Wmzl7uZThveVy9wXHjAUnITK7OwSY2AipM9D3s-f0tveYIntgTnoQSK-39E6B82COP8O4y7Ls6oNwA9FUHjmL9Dw7lVBNuasTWqqy-UCMnRp28SPx909fVnxEY8V-bdwUQ2eZ1tFvTcv74CoA6dnIlljAr0RG_BGyJD1tsAV2N37Yv36Fp3RCSvKluSL221xUji9McnSmW_VLib--CK9y1ii_fflPAAJXOl7QUgzWU8EknfqOzSzAHO1_iGJ1CrA3uW5jQRTXtvfkc7nU4_Yn5pkzMDkMtf5cZEjm36Y50-LwcwP6tDZoDilONMAPabiAoRTBFgqLhEk7xXz6BLm3bhK1KYM-bac28OO-4qoCcgkRBqvYp9-zntlNl65YI=",
  "id": "rs_01eaf3bfca25f624016a7e032070548199bd9933544761b5d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.6,\"right_j2\":2.41,\"right_j3\":-1.37},\"note\":\"The descent brought the blue block to the top edge but not yet into the jaw gap, while overhead shows it occluded just ahead of the gripper. I’m extending about 3 cm and maintaining the low approach height to bring it down toward the grasp point.\"}",
  "call_id": "call_1jcQC3eZAPJk4Korraq6WCCw",
  "id": "fc_01eaf3bfca25f624016a7e0324a42c8199af833deb7649c3b9",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1jcQC3eZAPJk4Korraq6WCCw",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0498 left_gripper=0.9989 right_j0=1.0534 right_j1=2.5721 right_j2=2.3699 right_j3=-1.3651 right_j4=-0.0128 right_j5=1.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2803, 1.6752, 5.5453, 1.8974, -0.0366, -0.0659, -0.0122, -0.3487, -12.4376, 8.5265, 0.2222, -0.022, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d176592b4d3129c9af1095f6c61f26173a5e525136e4bf06148a90836dc0f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ae48b93a9a25d841ce89d1c3b5c686a8cce239de5c8a8aa3a4691507f3b108",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1412e7a2a5d43713ff4b84ff31dcad2795a8b7b8a0f0e59137c74055d9afa48d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 249 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6724 left_j4=-0.0002 left_j5=-0.0494 left_gripper=0.9989 right_j0=1.0534 right_j1=2.4428 right_j2=2.1284 right_j3=-1.2907 right_j4=-0.0086 right_j5=1.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, 2.0581, 5.3675, 1.9805, -0.0513, -0.0806, -0.0024, -0.5538, -12.0, 5.8325, 0.3297, 0.0024, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgMvXUdMeqqgeqWDfEhwDFhXvdKnXaq1FtDd0Cf_M9FD5F8dAkrCmq1lW63Gajo9SRR3ujqGwounbIuJgaXtmx7auGKrZkug0H4b_ydsV9ZmKkZugzfsL5AKICceseHRSyr-mZIoekOIfFo4H3kIiQpUaoMQ3YkdamWlZ1pgEjTFofZjUtzEOD7TQDpJo6AJC3XB8rBIn1urqx-newF1_51Ty32uAMFUhOIA4vE96izoapEvSmTgfvZWRsFSzqsJHIl5Gf3t1vgZIisdAL9L9uTOu5GqQDErFj86zZ_vu-LXMOOStxdzRsXG7eDaDjYkdG1VGSm9i8z7YpCUcqERet90dH5jZw4qFcCmxZ2jbg0NsKYKEisBakBIDvp41oFUGOY51cJdjAFSBz3GtDQtqRdYJm4Vhw8d6ONvVh8g9uRUteucMDoUDxkD8u-MaJCZ8iYKffGBE9a_Te2nRDosjSQaPq-QWxFnorxfT0mGZNd4DzUotFMotFtSFe4ypg9c9-kbIAU3aexzPo5ZHte-CYtnWTiSXtsPcgu-6pwgSi6xyLwSTxkbb0oU0wvJZ0FvYWrOmb9Auit1fKtbBP76S249hgsu5c2kVptgcDEJHAqhKe6WeSVFLbRKWXzRep49nueMykq3NXv9iQocNNTaKFVXN3xmBEaMrI5bE3cR27_Sp70ozR7kZPxbNK0jKZDUSdlHOY84Z4UJpiPde-KT3pB2wDdnhldKyWCbjBnr7hh4O6QepRzTPhnQ1yj48kjy1B_mjqfhtX07oSWT36_bUEMMzjqAPhj1_UDL_gv4EgJACA1YIFA5nMAPhr50vOHw5Yta0wbAxcDyrcwt3V6YuOAB06_WmF7-Fmh2YLWlLx5BiVCZfC-JUkzL6zdQs-go0i57o4Zl39ghRIr2qCGEZHeTYREfG1jhChYECsAlPP-c4yrXOO1SiuVSCJtVHxWmd1-4dmrz7MsNQD2qCwgRVgxsoSA_c1fpYYU_6_aJalWQd5gjUk3CwEB6aiv3if8Kb6kjlcv3NwXVajbku2aR90_iLN34BmAc8cY5m1osVcbgrwNVd9B6M7esrMAKOG5YEoQHm8seeLvbHTtDb70HDxiUR-wrVQhnMpmrzZpbwxdlnKJuk_-XXH7PCx5NgMspTkMG_ThNx65dFW3mta6imFp_Iksrxr7I_h-zYl83s4PAXvB6c98mDu5xjYd0ATEmw8nfyveNA6txwioNnzWP2mbiGupXbYk926TbRV37SXztWLgt92-_PgpN0kOnP7KpkcHgUwOhHIYfnvG3xVSaLOLeajuQbQK4ww6jPGD5OIiINtk1bqZ-UCNOqT-ZUBlsz-aa84nzOdC_5-QcfM18b-1XmYF7zoskB7MOKpVywYB0IhdCHv-4y0UoiDY8iHObBkCjPqcA2EsBvCAbtGPkziGwFXgO-sAVOXrDK0veWGCVJmdnLr7r2idQTRevYpghzd1GoEervGmUj3R16rGjdOdCcA4kRq1mvCtv4lF4wmbIuSgX9i2NzUFLtmYbev4gQS8W-scP4xV5osr3cKo0n3_AHoWgZAqnP6VBa5qMVi1GAcgK3fsqNl9nCdfAjww93U-MkiZSCuMsqvdauOEc5WTD3MVHzS1UGYhRf5c25q3tCZb2EB0qI_7ND2Gu4M95ACRe",
  "id": "rs_01eaf3bfca25f624016a7e032a633c8199a7c340945ecc8425",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.96},\"note\":\"The extension brought the blue block close, but it now appears about 55 pixels right of the jaw axis; overhead likewise shows the right gripper slightly left of it. I’m yawing the right arm about 0.09 rad toward image-right to center the block physically.\"}",
  "call_id": "call_u85WfKMzuWb6ZW9eVt2UQyN4",
  "id": "fc_01eaf3bfca25f624016a7e032db3f0819985982d75501fe563",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u85WfKMzuWb6ZW9eVt2UQyN4",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0498 left_gripper=0.9989 right_j0=1.0275 right_j1=2.5904 right_j2=2.3741 right_j3=-1.3792 right_j4=-0.0204 right_j5=0.9981 right_gripper=0.999\nstate[joint_eff]: [-0.212, 1.8667, 5.1897, 1.9023, -0.0806, -0.0659, -0.0122, -3.8222, -15.5556, 5.3675, 0.4567, 0.0366, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81068cd966a095e0ab046d5307dded3910d06b1339da1d1d3e13dbd2c37c046",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:662f8f0aa48923425ba2a21f57eeb8eb09c416aa1cb89f02bc0924e6c59ae53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669c0da766d0b27909c33d02d92e54cbbe3c725ce46e069c6aacfc9e46be63a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 253 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0498 left_gripper=0.9989 right_j0=1.0534 right_j1=2.5721 right_j2=2.3699 right_j3=-1.3651 right_j4=-0.0128 right_j5=1.0023 right_gripper=0.999\nstate[joint_eff]: [-0.2803, 1.6752, 5.5453, 1.8974, -0.0366, -0.0659, -0.0122, -0.3487, -12.4376, 8.5265, 0.2222, -0.022, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgM3PuY37zDkVKfEw_Mpk2RXLlwzz1ybBktrFORk72WmrS5jDc8qVS4jRchxoizlR_q0_WTPfoP3ZAH-Blx_I7kOCi0f1Os_sNnStpXGPjbSI-_kcwCkyNS7jD-ezMxZ8_M5Av69e2ixG2VGGkDVSARKbZnqjAISYuWrnd-CcCmS0cLKygnL2GNOj8Pp-fbN3vrMs7OoJIaEj2da1-mx0kpkNT3T3RZWLguEEh5r5XbHxz_wjTO0F9h-s7YW2tmGhpJmi1KeVjdqYxpJ8vl35lI-wzTe_qScWFoZ8HfeuHr5aSTFhp6MwOhWQn5x_zHTAzxOxhZ2RhRosOiu-wO9byxD61hStdAEDOzaQChitFzRXLvVwWTP3GJa2XY3M0HYXYulRlU6HmQcsDgLHWKG9-WaT-Lqx71-VlFKDFFL-zkBbhz8faJiZem9RcUWSfYae7fCjjXuhwclXEMnKE-CGeQYA9K1FyUeyryDJ5Ray8h-pYT52-ClCU6WXWWruji6nxm6SZFZR-fyRgitPAGGsVUDbk19C-RswPsDK6QcvFcUT5KjXu5baPXkpEo_ZBrZCStJGmH3zWLN36EguzYCLNZmetfKGnJRFuvJXXwFMafE0W2GNXVqZczoBxMjBrqJ2XAh7sBu2Iq7kwBrUBmD6f4xsSvipLDVgvgIhjlJuucTQYCPbaYQ5q85RIQzEjGiIPHFRZKBtsvULE3iB90bQ2_fABO2RjR0WL0AAnhxeJVv4dW6jbpNkjKZyl119oea7z4jImlXAvYza7azYEvnFCFE3uGeF0jwFmerAXusrqNdSVxy9JsiLhrMk2P2viqlSfxw3GiCraMMj3PtDSZ3z-TDdZyJ6Stdtn09NImFpZjbCUBl0rvDWwCzrojZMfSa1sQmYrmOZJBnXHrwgeDl2Q9pJbNjIkVfc9eoNFR__E4H16UDVnmLc6MO1J8zBHJqU6o1QwaRECZt2tWGucZ5Y4dVD-KYtveL2wbCcKR1WfvGGiGVv75JNgsY_3MpDIaBl0GaC_jLol-j-Wg5_Bdiysl_LqzJAzdk4-gBQrUAYqlVbCSWduagDGfC9qWkLtQnaB0tV2QK0n51V0RztLAhBz-YpuX08rGI48T_N7xPG-KGZshCxRCBrB_xoHuJSM9o30llPZ9vGstC-G53k-qLzvRogphg43XA1MJL_c2utfgDd5o_4Umz5QNcloXP8etS00OEfhOOOamae3c_kjA7wa4uNenVcVhYvvAx_1uIfeuS9spUELUfcA-2KsObDaO8tqabmAuWjjfnCtp9w5S4q6ByffCSt0EMts46q9WNVVpBoi5XLxk2P0az82x9R5Nfn8uGUM9e0L4VSFUifK1DJECNM51Wp91ESWFJBGpFvSBNsQq1MSPq9d8gry5CYgFU3K5Zvb3cBBDLbquVfERGE1Tcw3K2BWP6S3xznZv0u4Er3GYIvhXZXfEGusI4gjY3C5BqJRHZ17TNdTnVDqe9lgNdaA9_Y1CYnFRFPOwXiVyN3DI163DbE47zmDbcVg8J6yreEK2jPzGZYoPKIu-yaTX_xrxapTWP83uRzssN9vxiKdzCjIP71QXac3ZB-qVMXpmr8jyQK_VLkyT0s2sxH5jbz0OM2E9Y_kaSVlSPZTt-R8PyPjTJ6a_9HF6-EUpAMVXX7kk7fOLp5Z03YwQvlIFR8VS2culpiCRYaVVWYsk6-bdIM4CS5Ia-AsS1rxE4Wz71xKjTG3_XhxbMWgGy1E6JRVsOeowumZ1Yd7Te0DCNda9rE5nDAM4R3pu68CJ-WWBqjAFNzFlTGDjsEj0ZYb6X1Q==",
  "id": "rs_01eaf3bfca25f624016a7e0331db30819994a84eb7de94cb08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.85},\"note\":\"The first yaw correction only partially tracked and the blue block remains far right of the jaw center. I’m continuing the same physically verified rightward correction so the fingertip center moves onto the block.\"}",
  "call_id": "call_dMJN3cA8GaOWDjazhfL4Lov6",
  "id": "fc_01eaf3bfca25f624016a7e03371e6481999339e7638d597fb2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dMJN3cA8GaOWDjazhfL4Lov6",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6769 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.9035 right_j1=2.5904 right_j2=2.3737 right_j3=-1.3903 right_j4=-0.028 right_j5=0.9913 right_gripper=0.999\nstate[joint_eff]: [-0.212, 1.7162, 5.2444, 1.8584, -0.0366, -0.0464, -0.0122, -2.2769, -14.1744, 5.6821, 0.3297, 0.0171, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b4437dfc0b3f22c19969b329ffb0212b4b0789e6034b08fe9493e78c240e01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1829c344ee7cf21b2495dee9592575ffdb2b543e9c02e1cf114d46b668945aa3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eb33d10fb2bdd4f1a31ea966fcee25c475da1f201d2f6764637579759cca40",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 257 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6765 left_j4=-0.0006 left_j5=-0.0498 left_gripper=0.9989 right_j0=1.0275 right_j1=2.5904 right_j2=2.3741 right_j3=-1.3792 right_j4=-0.0204 right_j5=0.9981 right_gripper=0.999\nstate[joint_eff]: [-0.212, 1.8667, 5.1897, 1.9023, -0.0806, -0.0659, -0.0122, -3.8222, -15.5556, 5.3675, 0.4567, 0.0366, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgM_W9msvVjYr01aNdVcM71xGPkLxMXAw3jby697GJzAeu1hina-hF2grPbhRk--QC9g2-V8Y17X97dxKgS3PeH3l-Ta2SA4Xc_v_7dr-p3V4LA2qu0W3AzvJbASgHPwGVQaOgn3jzDmejg4ZP17UKVFb96T-iLQHkPWTFf68Fcygu_z0XkrqPdkHoqkOktV1SNk7MtRdWUpam6v8d2L3lWupCLGcr6ucV2hl9rt3mpIYlzKm5aLjVj2I7Efu2V3ZydfdvzthSgo6meN5Jz1DDlqqFih3qP4wW_AJMdp_9EXewC8X_mjK-S8gmPcoGcR1bkBvoCPQQWkbkOLH4QSTqBMfLWjfD7-vq4QW1cOr0wiJw_enexeo8hYUj7bmFtZoXEpLyHTSUZyHJOZfBJ84viynAJylYq35DBTGAmNemcqZ0sD5yXu5oglXA7AECH4bJGJCtqX-LNSWnaqX5NtCTzCPAQv1_xdgHeiRwbPcdohZtqhh7Gx2DQryGl0fRbhURMcE12etoU9vpI6eiqJRjnR2Q-z7h4Flmz6Bl1HBnK0QVahMp_maXXKd7aM0Gaszk828neOFs8xLha0zL6oLMCdbL3eAynCVZC-TDX5s2C3FHYeAH7Wwu9W1JdWHBMz5QXyyjlS9Kn9th5lYld3BbftgEATLa8aDWYa7PDg8ZGNJLUm5tR03Mb1PvSDkYQpzwGJB3wCS7BBpVFWZnBRuRy_ZqPntuy22yT0v3hZvx4i2Clp6l1MLoFoUGlhVCyBLqHMLHtljOxFFvXTIM64WRYjtj8kwuzip-A5OH7TNTVRQx9FBYT1-FWGAFuBijiOo4fqdr2XcANiGtRYayt3u7csEOIRISbOdOHPCaD9v2A8PuypvvqG3XL7eT8EOoiRHetVPpnQo8OqXwXIOZVjx9atWLiZCefMFEABFUAslKQivYIrCSFYdNYg9Rk4rBHsZUYzJoX2GJ71xTr7OQCgQ7G9Gp3aWSsVLG92aPcDcdIXwgGGygtC7gIytlP9PR6oE1q1Yec0kHj4jbdPRilqN6H6qKrKxotGOm7_eWfzCPU6E-QTn07bMpmsO83jmLrBeG3JcqRpTTzllCSV9jHTkzbI4gSJrUfawg8_nMYx-F1mh9IkgGjd-XSnrxlzAFj8BQTCGoHdBxjTLz3mBxKqQA9Uo9kVJ-3iH800i1lp7dyjB2UVJom7z0wMKBfez9k2S8zacTkmuSEtaKgGF-68QJcHBF_-vZJ0FOwZ9YFPcwTU3jhMx_fO9f1Ao3mbBe8ZfEUovRBrzJHG4sjA3Ova9UyHvdXCzmfgSNA-6k-MQlpbHqKUQvjyAts5xAwSxJ4oy-JyyObKaxy9NiizotnprcQy9P93jYfeq6q-tMlIdmgM8Ggfgi0Duu6AkUTaq_Fk4IKik4YNUs-CfYtXu0v8qfNSKqOPrsAQqi6Eo4uKs_fYAX-s6yLnZJnZnAy_CSpSw5q50c7U20BvWuTFC54hKE98v9xi1aAl8iz4FxMcs_ZNfaOeI-1wmknE7RimDz40NFoiLgIhCYlR5N46ei8f8tiV3UDPvp7T2gLNWOm7S513qHafH-7jw5MAECH_wmQbWyH1D0ezmlKmIdas6I39fcax_UfJvBcBy7WUStY25L7Ah3rYvPCDg1aAzXghy00KcGclBIQoxrCPJZ_3WHK7xgWfIVywmfTX3y5zkTr-rVOYPTTAEtAZD3lp8gIN7KrGYHS3ZKAtOnqDe9cmAI_IEtnC8kdMUyXyWopkieQdQbF3H9ZsdKkzjKpwi7t2ZC7zYvvU",
  "id": "rs_01eaf3bfca25f624016a7e0339ae5481998339f9b02f8f41a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.6,\"right_j2\":2.31,\"right_j3\":-1.28},\"note\":\"The blue block is now centered at x≈110 between the right jaws and close to the grasp point. I’m lowering the final centimeter at fixed radius to seat the fingertips on the table around it.\"}",
  "call_id": "call_Betff8Z4uvrOtUd8bF6EF1XY",
  "id": "fc_01eaf3bfca25f624016a7e033dc1988199b8051b6c696d064f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Betff8Z4uvrOtUd8bF6EF1XY",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.87 right_j1=2.59 right_j2=2.3337 right_j3=-1.3403 right_j4=-0.0261 right_j5=0.9913 right_gripper=0.999\nstate[joint_eff]: [-0.3624, 1.7573, 5.2034, 1.9951, -0.0659, -0.0659, -0.0122, 1.812, -13.3949, 5.7368, 0.2173, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e36fb76599613cd75344ef24b866d04e413a469437537779172368dbba8c08c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b47115e37b0e10f56209b1417a7158cf62eda611c6b0d8f40104373342fcb86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208fc67512630c716fd244ec13e7f1b4c56dc7c7a4eeb8d95fb4eb7852e6968c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 261 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6769 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.9035 right_j1=2.5904 right_j2=2.3737 right_j3=-1.3903 right_j4=-0.028 right_j5=0.9913 right_gripper=0.999\nstate[joint_eff]: [-0.212, 1.7162, 5.2444, 1.8584, -0.0366, -0.0464, -0.0122, -2.2769, -14.1744, 5.6821, 0.3297, 0.0171, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgNDATiKzQPFlQbeEeOg4yMVQDUQEdWoGm3uqdMhPUPZppQjM6bg4wvhC9z4pbotA_r2xz8HCxIa0US5fQ8M-uoaGw0wqkLC14xsuqe3m_eS-PkiC5-TcmoQFccuHB3g9P2_KGKXqHO2kex1LnIJnWoyXMI5iK-3PdvFpViVB_rb-8ZclQa-SCefZLWJEdTF2V_pQjnXmcawlCSqYV9Zd5m5WimTfD_Ml_3D8S6eyJrZuWs2yWNKvLI61O0VkQ3kowKPkIilPoEybl6YcoSt2_6ms2e5ghcm-usD1xKjo9CStth4_SsDFXg4abvmMQKD-ku8S40XZprYr5soBPw_pcji6D9akhZKe5CsI68nRR9hiYcZKgZSd1z28skvcorsZqeJiqkCcYyrQQStqJl0X1i102vantWTM4ayvHlTTKAxcPRgnUO-fpomFnmcmuP6LyujfmyjDbpffDc-e3g86nK7xKiEcQxqd3pWWYPRzlXZ6SU7OjUGAO-7wKBUdgw2ZUtB_ULCAiCL_zl3GdslEXM7ydYV0RHZyRKR3BLESq2rJw4jjhfYha-_K107XIz8TVPc9Ryb3OytJCcQ-QWtPJqU8rVPSypXtWxGhjBV8DG_Ng-uwCDg4D7mz5X5r_0WCranU6jVsJDX8HIrhgbnXLAKnPm1wBMgu_V8G7fdt1-AjGh_X4UULzj1dli8tB7GFzQIjeVyCSN7fxaQdGbZveuTWzwbHOClAPxOG4tvpycdqzDiTFgFKh0X0NSjn_a0lgPjVmnElg4Lqqkf6uUJlhquYyy-Te26mOdfw1gaimBPwmYQgTkB6eWfl4JwW2PurperRZGdHDyZVjvyfd4EbWGWhD8P9prWTVR-sxbcCM83niuuen7AKIfkNKfSY67giOhlfSPzUJA3VusxjdQwMdwRhJblG_cyXk0hX9sH2caX2flqeWbcb9DA4R5ayksx5FWIH_ip8ktOrDNZuoYGMAMEutQ6cL2IeEBB8I6Fo7LBOCq_3TwXPV_dGSsTWhmDeB77",
  "id": "rs_01eaf3bfca25f624016a7e0341dc6c8199aee3d97a11a6a6ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The final descent places the blue block squarely between both fingertips, with its sides spanning the jaw gap at the grasp point. I’m closing fully now; this centered side grasp should leave a substantial residual rather than the empty 0.02 reading.\"}",
  "call_id": "call_c4Xwg0E7xnBUwqkH143uog6R",
  "id": "fc_01eaf3bfca25f624016a7e03428c8c8199b2fc5961eed0b099",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c4Xwg0E7xnBUwqkH143uog6R",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.2011 left_j3=-0.6922 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.8703 right_j1=2.5919 right_j2=2.3222 right_j3=-1.3319 right_j4=-0.0387 right_j5=0.9844 right_gripper=0.4439\nstate[joint_eff]: [-0.1299, 1.6068, 5.2855, 2.0586, -0.0659, -0.0366, -0.0122, -0.1983, -14.4205, 6.8171, 0.105, 0.0415, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d625c9537309200ee1de095f1611ec12a6b68582664226ea4f38fb9d53334b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c6635a177cf4ebb6af84b5539b8436e8b7ecbeffdd850aa1f4209269cd28ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9115c852ce7e7b4fc2d3b6a35c889c3aed1d5f34ffa003b51facaba6147ac8b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 265 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6201 left_j2=1.2018 left_j3=-0.6765 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.87 right_j1=2.59 right_j2=2.3337 right_j3=-1.3403 right_j4=-0.0261 right_j5=0.9913 right_gripper=0.999\nstate[joint_eff]: [-0.3624, 1.7573, 5.2034, 1.9951, -0.0659, -0.0659, -0.0122, 1.812, -13.3949, 5.7368, 0.2173, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgNPvJ1rb_cU-lu5rfLUhsMo622kNtpUUdwM86aas_WV4f5KrADzFXTKOLv5icby57xczqVw7OfNT06ZbG7zV9ElYqxLSemDvfZ9w-WMl-cGP6bKlj6UPu0CaGoSuaLZFf7vOz6I6AIFuC8DQUdo1dI6ZNyckkznyLYCau-KOczQ8e5fPCLgIOg9DMXq2jS54gAz9r4UCAyavyfQ-QuhmlONnhdznnkO0ukS4nBmQTisxsJy7RcwFiVFEZPEIa9zFZ2aP4JqzqH2DdQtEqq3Cqvbo_QopRut0lWBdvHEQySrbmBwLVCKXRt2mCEaOWyzsgirqbglBYUp93duLp1TADrCqe_HARKYGhjSR-ixX23ZYOMYZqt7W2piQCKkesk5XP-IdqfiGmD_qpChaoR713w3ckDXbdrwRuPBfJmiCyx06mNwqCfyPY7ouNFWFMBaPwZOMgHKDMKUEBar3i_bRwMhEy_jyA7R-4QUx0-Rb-oclQBWDDefYg9whqG0_cR-RqkuOcM9vtd4gAu0ZBnmbL4x8OUV1zziaTLsvblxmFTkusKUWIzGK7y9s2iO_yHNlnp0Jk8rTa629T8QgC3Bj_MHKvTZojKoPtugohIprNnhP-ngrUGkA6v-ewU5JwFXIk8649G2x6d7iHIgqulb6ztmxqMxV3Hh_I7AYl5F1c7QjPcdndppd3ISP9K4PKzFeLBC01RTvEJMdpMhwjk1f3vbPcZi1oLUp82VXpFLhgPTeFXGYCiNgejdISur9x1hf4GBsRtWtKG_IuSN0TgTmLmgZK0wHwxn-IS5qCQXsii0HFcifflW7YrzmeDGCRpX246F1YVwT96mrD0WO8KS7WhYZ4bbBU7vl9vhM0JYmzRKKn8gKXKLTtQjbSIuocColmb2HR8pAxbKF95Bh6KJggNf213Ul0Lym9Egydx23LWncKLu3dvQ4BRO4tK6Y6NDvvq3-mq-q-kSkp1zawHAyBmtHQaRFT7FzR9sO9h-74J3ymwcdnuvdrtI63-icX3zZsF_VcVFWErfxXiLTclTuKISmqz4X0EfMDUl_-Ug3aYzXFQ0nDt1YrsARRAaWjfR093s83S3wyFj3EguJ3ypONIAl1sYoe2NI0Pdaqs2z4VjdE3m8mGizWgCbr-7rclU-zKNKvzSewPH2uRrKpPCYxeisyWbLHe5booI_d3Rz-q9xyC5-JeejkFJtWaM_owSK4495-ca1oW-6dES6PNLvNlrGcBL4PZJchqc8PPRcuIjVM9oyJGejonUfii82t-D5ITgN9kWoC7oMPg1Zl7Zi-CjBdrDRXhRGpPQB8WTYsMuZ36Aoke14_pL007n_THPrjIQ-ChsDQgnsaVPDCLK8wYVK3I9Q5uXBrwOJegcmRL_UFU_EEzcUvxQVAD2wfK-ZM6GGDXBCjmggxPwhPjdkL9-YBVaiuC-3X71LesBpXCsjcGUFU-GtYrzbRNl6KW8dLuJyCLu9Y4n7AIMFAJFtZg9r5825pdAJ8gzFTVPozG6iIbWUNsNVTfSvWYJ3ynL0Xpg2nPj2-jJMUQDsxiVDq_A8CnMLrVqBXKi84remlz4di9gzTDCSTWqR3eKB8pyigtfMie8H_jSJGZcun_Gq82fNLzH93D1Gej1nlleEW1QBL7P_bAQeBxFYFFmZ2aGHm8b8EtIaj-ey20zJGUQyqDXZw==",
  "id": "rs_01eaf3bfca25f624016a7e03494ffc8199864d22bfa0eec798",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.74,\"right_j1\":2.13,\"right_j2\":1.77,\"right_j3\":-1.21},\"note\":\"This grasp is secure: the right gripper residual is 0.444 with high effort, matching the block’s full width. I’m lifting and retracting toward the red block’s current position near (123,132), using its shorter radius and bearing.\"}",
  "call_id": "call_HvWWhkChwXsT08mFLcOXqZPF",
  "id": "fc_01eaf3bfca25f624016a7e034e738881998bdfe4c839427e2c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HvWWhkChwXsT08mFLcOXqZPF",
  "output": "executing move_joints over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1992 left_j3=-0.7021 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.7498 right_j1=2.1746 right_j2=1.7897 right_j3=-1.2251 right_j4=-0.0425 right_j5=0.984 right_gripper=0.4482\nstate[joint_eff]: [-0.0479, 1.6479, 5.3949, 1.9756, -0.0317, -0.0708, -0.0122, -0.6906, -13.3265, 5.9556, 0.525, -0.022, 0.0317, 0.7741]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4cef424b71c57eee1b9fff2efefa937b1ea775c7625b608e70d2028dfc7e956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aad1155d44efb34720f8743a3c1fc48df6a98f414bcf7f6547a685852feb9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b0e1f2f510654eb822a6a40d4f9525209f1bf3e4e406366fa663c02c768633",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 269 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.2011 left_j3=-0.6922 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.8703 right_j1=2.5919 right_j2=2.3222 right_j3=-1.3319 right_j4=-0.0387 right_j5=0.9844 right_gripper=0.4439\nstate[joint_eff]: [-0.1299, 1.6068, 5.2855, 2.0586, -0.0659, -0.0366, -0.0122, -0.1983, -14.4205, 6.8171, 0.105, 0.0415, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgNaJGEnQBgMQW06VYH9Y7trG073APW_x2oq79hyKCnEcF7epcTea7Qj67XTmM7xLgf5wqdH6cXBf3X05iD-zeO75VHXFo096D2HrG6Jd2cQPl-F7N-ehzJdQRbvQHP09v7cSiRjH3eidGgJtgen2zCFXaV025dWRQ4b90FqN0zTWez-URSRhbEkwxKe2lFkMsd_jbpRMBIDySKS12TXaKzywENtw3d0tryCWYkkEd1sN88BBN97Zn_LTsi-JY-MCjYNcg5F6XoGKbD7EHlFhod7CqFSX56DFpgl8qXa3rrxq1dAx0HAm56d3iDo2HEEJUYLrsBj5FlRgfG8pM8kJ6QpK1TsIhxPNobkl0079rZqfx7dtqy69VNY87zfE-jxpMMNGxNSazFvgNhsN-8X7DzMgq6LiSk143bfGE2EAhZIRaLnhXynQhtKRKfrs3nkmWwP6Wz-dA40jP03roWnc1f8SRUzcHQT6khP4jCxtftdrQEAKjbAbN9QEp7-HAeA8uCZE9ZOjndyFLAcKxWtGf2qjpeqOSt8B9oraJDwqpKV_FI-CQXbTHER99gs7ixPHPldYfTiqdHnlQe9SU_8Nh0wkqM62Nye7PN2nDXIFeE18LNA7gUeBn5MDSVdRTLxv8-0nJhUQDUDOpXYpRJKTKIQk6kd2cmX2deDEfZ3n3HjzdB2Dusx4mdCHkvQOEG_WwABLU__WLaAs9zR0JXp1zTm-9mmjWVzfqsQ_gDG_TkRpzRNOHIsr4U5k4xRfspQV55cTxwDAFMQpzOKgm_nvSyb-nBvlX_yj6ff8opIP5rgAm9GCyOc9wR49iMl5t7iUoXQMTdh42DtvhF2-xVhz7g8w6c-S4iCcFoyY5hquZCmFqqLlsFdQZka2S759I7VTPiDrs7YUB9RtK0ahATW7tH9j6HMoTtQA_JmYFO3x_LTLgRBDQ5Oki7phvJgvyNiiz2TDHnQhje37ZYNDPwWah4ZQMaDJ8tTnU8WUabNcG77FrI4Z67Gkt_YkNmRA6h8nLBvUDE8BQLqDYaeISLYG0ZaAmHncQrC9v8JZ54EGB4IrJswvvR-4LzcVGmD7z8GZukXqsV5ThBneIi8IFou5llYXYfIm3xM-cgzZ6JGowThZNJ6RZqRY6xiOw5ocwvBdRmcHUUTnCIN9fPbp4COJZMemo0xMg2r184k5OKY4yXEFHN0-tJ0n3yT2RhxTiDCpo5Vf4pamDTvpPZDw7myJeBWEG5JPpSKp7usxfawKC8wDq_r6NeBbSti_bIi4FuuIBgEb4rhhsIMNa2N595BBVQG6-p0dn0kAmtBGsDIIf-oBn4JX8EcgkQprA8NDOhosLP40TRAw-2xqW4431C3ng_n3xABx_-_Uegcm1eGVL6UDuCZ0oyjo0nh946uVYz7KTkpHibB6HZCtN_hzCu4_lzXyo76moIjlXNjx-sBfjXq8vWUw9FLHeARUzJCTz5xrc4n-fRKeyKWaK3tMTDCZzY3HAlCn-JUyOjxyrR7nEQoWUIz_hS-e7lSZnjwjRl1YjzcS76sqYUZa66m3pbAqOvLJNKPjEng2DhulCHEmU5IO_XOJjBW9AJQ6O_E7DIaXpXk0_EMpmLI6X4NOHVuVqt52s8YrALZpfVP5qzkzbQIlkk2CApv3YjpEQwWv0j6wWML99lBar1M33zVbUiYODHh4ODTbzDdzPehPM4CFF-ukUK9vfvR11EJ_RPYBcsnqKPeiojzJ6l9aDY_cWvftQkO-zXXe91V0kJIHiPVQXrGHfx2rz9fdFIfHIMAeUXcGzD-mBLO5u4OvrZJDR4vy9-aYGBrJyzy5BtmpJzNw3qEpBt-B4d0u7FArjtzgMDGvsjXMxC6fSD_u38AdSpqhQUECGS794sHESaML4CbUyDOUsLAKj5M8S4zBILI94BwthzT7z-7shQWCNz9N2g33DmuLr12BhdNvhr2GJzdt5DrlB01XATZ7GM2fJ7hL0RRnS3iwfa2pxdWaq9_XyH3D28kSAHFPpID-QNF_YkVNs1UppAiNcrg8cxEXhB9FRDC8XHn1CCXLH1dFBbByuWdzOvKTV06M4yIN-sj5XWJvymoX4PWmt_GtLY3QWs_kpBin4uHRdqATkrPmKBAGcPrifAZ_Mp1ZRHjN5N4bBE2ecso0muJkdKGqMzymo6mYwq-aEZ1QhDYwDrY4zJp9gyhNJ_3kWRRZXBwlsqLzsulFNLnpjUT9Zf67hWnXnZK-u_CzewDMzABMz_iL629mZkucKQkZVX5gEgnJev7X0s8kQi0IVrpnjvtGGM0JA8vSEfQGH7phT445dsB1VQNAuZwNxKNCeSlMB_Xq-GQZgbToh0M3QJZjvj1WDU5dpgNkofSP-XxrNfqnc304mXKFmQPR0ajq7YjPf14rZuDJzgV59zVkqzO0LeFo06cEixveLsetLEj4nZo5mX6yH6FZML3yZJKKQ-6GesCJvBarCCyvHK73FI_B9Q3PzwCc6RRgysHbgshs0mKxG84KbupHQ6RTqjSKQ==",
  "id": "rs_01eaf3bfca25f624016a7e0352cd7481998be578b58da2f69f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.2,\"right_j2\":1.7,\"right_j3\":-1.07},\"note\":\"The carried blue block remains secure, and the red block appears centered at the top of the right wrist image, so horizontal alignment is good. I’m descending about 3 cm at fixed radius toward block-on-block contact.\"}",
  "call_id": "call_gvOhGyKkYT0CyYpujJ57gXKR",
  "id": "fc_01eaf3bfca25f624016a7e035945208199ae660385ea520e3d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gvOhGyKkYT0CyYpujJ57gXKR",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7036 left_j4=-0.0006 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.746 right_j1=2.1841 right_j2=1.7119 right_j3=-1.1305 right_j4=-0.0429 right_j5=0.984 right_gripper=0.4503\nstate[joint_eff]: [-0.212, 1.6752, 5.4906, 1.9707, -0.0562, -0.0708, -0.0122, 0.0615, -10.9744, 5.8462, 0.4225, -0.0708, 0.0122, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac332c887d3c0f418669d9d5b34f930bae3f4ac92e730394f8e4c306efb7515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fb45ccd8e12e4d6b26618216eea44379dcace14af1fb8381236fe2c4df2ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200b3da8535b6e0df9f1ebde14f4dedffdf5685255b02b9db3a5ba3514d18fd6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 273 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1992 left_j3=-0.7021 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.7498 right_j1=2.1746 right_j2=1.7897 right_j3=-1.2251 right_j4=-0.0425 right_j5=0.984 right_gripper=0.4482\nstate[joint_eff]: [-0.0479, 1.6479, 5.3949, 1.9756, -0.0317, -0.0708, -0.0122, -0.6906, -13.3265, 5.9556, 0.525, -0.022, 0.0317, 0.7741]\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": "gAAAAABqfgNsOg9zK11UHG0FnaP_F74H9Qlhoa4qX6ZCYctfrHGhwIhiiX9148nDSFV-IvVOXaORSCYNj2-Xcz2xxHgYdkI59QuBIEjfPkewbjcgvOu2vtXha21z7uyxWSN0vxeEPOJwg2vYa7amw5vnjGSvHVy1NZArKWEOQWlg3Gdns3poZtaQ5U-BtqFxUUAZEkZqAreugpf9vntL36Ktcj0qZIaD11FOlTz7gtz96Sp7UJhP_IXb7r9BHTnElkhPaG_IjzYdk845PiOqYSw3kZNIvUGIJob-WVPO-QMpzruVUkmDdGBXlJbudKwLevLSCsPTWfTEvvBXdGNfWS_3gwbZAJPT_bkyWJZNRow6yUzhfHVjfI57bXPCphZlv3IC7CIcZEmxtKk-j3QeH2vSuqYYeYGxEuN4kI4rqqDtDrJpou58Vokgscx0kUBoIAiMUf_dpHKfZ7NsLClQKF2tvv61l5D_9r_sbNYUEzg17J8lGrbgl7j5fGPpISysKWEb7H7fMiLza4cZPmcMX18jSa9pGyHGwR2ZTLjV1I1LP43ucuOSxoPtlTIL17AcYMr9SomFI6ePZPDFYICknqr5IsWHP5wdqb5nD9-rCs4zOwbyGBteIyydd_nrSTrtVhdz-Uwmw9D6VCxTRQr_6SQpw9tTiniK_jrh5RrORLG-hR4Rbk3FmE-des78wFCV-0V4gM2-k2abeL_daMfQxuA_aniDALJurW989hfrvBRlqRYyXQQrjK7MI4PW6Ahf2GahMHbNX-kg5qGh42ukhz9TbXxmhL4TFSN0HHxc40oRMCEgvJo7va7CX9rY4NrFC_s2aP7fKQSnNj6UhvhIYeK3Rb01PhhjLNtuZWKDZZzDOJIaHnnGS595ezORqjJXeCjgPR3_JTq4yJGUrL8ojwOYUPHYIbkOWX2tV1y1ISpPFHTrIZcHvYRlgzRIfTNC9YyFjOBHm0F2MT6cCmEIXKw2iqxwKccLkVDvGH9H8G80Yv80PnodEl_AebvIZXykjGuldSWQKxWI2xXmen8PQbXaDJuYhqLETlXAY6FjYr1wjWO4s_areAftFTsrSTpDukocVi0LwPjQK28hUdPzZbojiFQfp_Z6txAXyo8Ndwi6ShfXm2rPG00kZexueX4H-fjmdFg0i_0qcILt1ut8p59wmjGi_HDv1kTeIsI5ZRCCVVKOZDcvd3ujoJCEAbAXybp_YR0e4EcCzI19B4lBr98iEfSyQRr_tXXnvfPGpUQfX25sPPJBwjsDhC8bW_B-1HQcvbFV7iGnj6dlzpB-zkQJ8awJld0me357srnwPMFiNobMSrcchmvrevZOz2WVRNOCLcx04Qi2DTi1nP5pD3mnU0I4WNmZxMHZt1PRm8DHB-gNljqnv2NNnlDHcpuDCAOtxbOVwWqWuRX_dNc2kOAS-Gvj2pizpUWHdZLH8XaWBBV_opOBeuGGeExRJBK365UaynCnQyrYv3KlfVHBxnzcIx1zeQI_b5bbVsyxOiN5Zu9c9LB8XUKpAc7cQNJBNyyi42b-U9vLdLYV-6lVjfTVv0Afm_DUIBElRHI2lpy8FBRzxSGTlk0xnte8we0idqpBckn7xLzpaF3rhcRSzxuL0AWr2nlJtuhCmv2DozHxhpc-li8FUOxr71OubFjQ5wOsVcoiagE3EWwFnTmKQmRYo7bQA8WUYOVtY-Out55VtwiaKQLyfejscOLKs2fGfedS8AGDbRP3Ly6bOegaV1TsDQl7f1OMf7q_4-Dx61_dLunyyMOkeb9r2RY0bb2MokK0hsHPX-_zkkyNmDFlJ5dk8qGhwBabgbPmJ3T58q1cmCxM1i-1P5pb5IbYu8BVpbts_wqUE0_Kb6-QNzUYS38isyc3oa2e2DrnmuZ_TiU1BnVr7TS2VrByb_UvjN_bzPxYUJADFA7qJbualvzlTyx8Bg_b7RUknqiMePufuCdn80wk9uVE6jKR2YcFoOgT55eCmp88mbj0i3J_oMuHBKW8LnXWbNWEmBhXMRaPk8IQxs5r8ONyen2E4Yts4JL-nigOaB9GykLKdWIdEVnqtlJCPqlzYHKI0NTW7zmkoJP_kj_wpYMU1RTsyLEyazDw6qx6FKM90L5V_fSm7RSednAb3f_0SKKRT4CD7NQPDiyX4s3MVDbCevRyE7c9Ds6PNaPz6PQp7uYmtZkiIYuYf3pWs6Q33o2fc2r_2GK1aqwLOmwllgclgqF9PbubAetZ7REaGJ9WQawsWnL2PgF_QHKEezAre15cSBgeYDwfBwYjyg1zjbWHLvUajD0joD88nSYYmE7_8HHDfEDnODfREPN8NXPKX6fDjVFJ9I9uL4TkUEyaIb8cvQR1hSGdZOjL8dAVKnZcDrNinSlfLOq1HV0s7uAikCCJhc5YXREqXDdTaZv9H6DLKqg8wjk1mliRgHga_RhId1CqBHM7j5Qcf2mqrsNXVpjFW9hMlVXYEoSkofraIIEJt7_hOU6dPMICJLI6l0DzOayMJWVreJsO04PfRRcNleKcyd9w8vuzPaCa1ebLO9dcKJc9O51D-smtmetDev112ArX6kqXON-hy5tIUX-ajDJramGuIZm4Rf7R4WbRi0ajoalDSgrXKzzAqC1lyibd7NUuzl2N7hzT9Yvmd8eyaHgBXwNg647Fxcl_Sbojt6Gr2IwRRhFdsSRfAXSb8apEtvJAnKXd4clJaMkhTTn7pUG-u9So6e2fS_N2rqWf9n30lalMwk1r-8zbg6c8z0Vr8OAiT7gcFT1zyeDwOws1FUoefuIBYsCsiUO94XM4ZmIU43g32vazyqKceLsbN2Fvcaba78bGDICbIxPrhO9JA9O1-IQLGgpaBSRUBuQoB6-J49aGWbLMviZnn67QSoh6p9JbLlayGzViMbyWx2tmZBuF_xH0karhxwaOaE19S3z9AT2FjUY9IKcxIT8u6pq9TPT58SEdTd27huDS8pa-hG_tJd-f7PPnAjDdmyOxOjYiMRyvsCDbhEW1x2xJdCXtvv6IEMllqCU-NqEmCdmee1fQ_7JsOe_bWeMP7sQNOx7auNvwyBReB0qt_XHYjpCwlFXOru0ZkA3ZzuA8IgoPedLj8jTgC2NpD0HMA04fDKjCSM7NbE4zlSGINywVMaQpP6mPeyYhoSp8KyAt628OG707CJ8zusH41KMkuuoSlztmuwBKbDP-WQsbqZMCvpeW0QqP3hKofKAiQEr5maqX1dHhG3tljyD5sItz0XWNFhxloVOcbD3m6DyEOxu4UuDwq9wFRGaY92XTUqkUUh03NKU_SViF_pJbnkHD50UrhBX3hVbwilL3Mp1aAyUrNR1rJtCXMGorRVqgbyHeAuAUX47pNY_70-gfG1NUCDA9ryCF5wfWzbhc8Xy9kp-ES4Ll6o_8sGlUiLJ4hzyvsfptUjNE7wQnyDVzU2iRgp99qFetp2H9vDcuFg8tZr594p1gouuAdd3dStbNDRLHVqtYsGAtP1VYT--50wGEJf0NqkkzFqx0qcHQaeory16s6ZpbKwjP",
  "id": "rs_01eaf3bfca25f624016a7e035dc70c8199971f4fb1fa79896b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.27,\"right_j2\":1.92,\"right_j3\":-1.22},\"note\":\"The red block is centered laterally but still visible ahead of the held blue block, so releasing now would place it short rather than on top. I’m lifting slightly and advancing about 3 cm to bring the red block beneath the carried block before the final descent.\"}",
  "call_id": "call_3iVt6RBOhTa3bDjLUD8LOp4P",
  "id": "fc_01eaf3bfca25f624016a7e03687fc881998f4621672f026cdb",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3iVt6RBOhTa3bDjLUD8LOp4P",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7212 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.746 right_j1=2.2524 right_j2=1.8774 right_j3=-1.2015 right_j4=-0.0425 right_j5=0.9829 right_gripper=0.4532\nstate[joint_eff]: [-0.1162, 1.8393, 5.2444, 2.0684, -0.0513, -0.0806, -0.0122, -0.1436, -10.7829, 7.6786, 0.2564, -0.0171, 0.0122, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff794ac93da34d8e10b802e7b89f83b4a2bf2d7d1fe990dfd00257931fa635eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a48edfe59338f8db25092cbbf47c8a49171264e4a0c06f90347ef5aa9f0828d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ad56aa64400ecdfd2007ba0d13d2a9d77f06245680e9d6bcfbf2190c49175a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 277 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7036 left_j4=-0.0006 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.746 right_j1=2.1841 right_j2=1.7119 right_j3=-1.1305 right_j4=-0.0429 right_j5=0.984 right_gripper=0.4503\nstate[joint_eff]: [-0.212, 1.6752, 5.4906, 1.9707, -0.0562, -0.0708, -0.0122, 0.0615, -10.9744, 5.8462, 0.4225, -0.0708, 0.0122, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgN1hpJv4gt3qjtlGJ3glIJ8GiGnztr-eP3UFEAssvtZ8a4lXWT-CqSxfbFXTM6ZjfsGM6DwKGWQD0J2QNMemVQUxvhHSQ7Xamc1he3Zy0v67gMiI46V9NCRNV03oRVVsaEM-Q_1du7HWKpiuTSa2nv8V7LDDgAeIZPshwl7Vxn3CJO3t8bZPG0FM836x5yhgNYae8xM8tVzSC_QC3aigmiemMFp17wkZDBC9cEqdDWnHcOlYrkeEBQm6R7DFn5t6_iQetBlJGVaKSuXvaWFjzkYGa1vhyy1Ahta37m2RkaCKurpdacPQJTmOnov_kVUdPoY38GpniZSnnha5MYdSStBFz4RQ10WjdpUH-6pnLmuUjutFj87E0wmm6v9Vu1CHza-DDe-CkZGmiQNb3lGnHLEg9F0P77h0gAqe1cNc1SurrbUvccrF6VAo6eGrJSDILg8cDKjJkwZKGzYOQQiaAA6ddKEAid_J_YSKaUuB6BouJBen3_QmnED6CurPHCODlnrZO70UciWYVbF7hyXBcTiHRuDYENKutP0tNrHl4poF1HuDyDuJDy3t7ous2wnHrRtVyiGH6rNwsbkpC_dcP0EdoGEzFP48PFHhr9qLtOOEZ6pjUIrd6JgOfnR0NFz2921XoGMONUPsolxGuEbLaMBkPD3WXFBTywNgDYGUpM-sXfprG1oiBWWqwaCgIl_L2mMsVUd3FUnzdvTQx3g4js_GvWzr1T1Z-cgFPJX9zCk6_iqCcNI_z5B6cJpLe16WW5fvkRsViB6QkV3kuR1tmjAvrzSeaBcc8iVtHh_OPaSUHVQu50Ywc9XjLnfobUcM9Eh6fuW5CCqIKNLmtLaAy0-4kFK1YYnbis2aBGNP6sJOqHDd-T3vY5cusIsYOTPjaQkwK6au-zxvx1Y6wZo1q3DCuOHnltIYqz-tMT3R8UcnfQlUjqa2znethmi0GIN3gYfENVwPi7tSJmQuQkJTFRLF49iKZJCflWOS19qC3BGusugpuxwyykU4Vsof2hN9dN1jXMvBRDjX4c4W8f7tQad352AaVFC-M8lLYnvlIovN0kOFufCJZ9a-nXQzUURXHUMxJF_U3Gd1WC-cGpmcuBKcpz_dwTfvlmBV1AW169yE8IZS997-IqKKrx8uY8xDWTUdac9lt5r5fG24R1O3XyM_mBRgGQ9Ldhy8w0D2Bu6dAWzLmFaFNU_K48cYdwzygkJ5fznkfrD1Hls3_nwZG_Y6dLS8rKy3D95N47SnJr2GDWzBda2CjGFENYgOTX0ueZCugVFOBSjOeXeYJ0b-p6YypSEM9vMVQ_Qa03565hNBXKHXc-YU4psNO30hdA-EEBm6j_6y24YZ0JSNDX0z7vyx7HCocnsf68o1f2_7c146fBG8_FrBS0ycepebmZnC9ygO6b7nj4dKePmz0CQaIGBKMG0Etibf9bKiP8UoLjaYSRBlaoGj8ZSweTwKEn5MCVNC49NwA6fEdUQP-oOKmPn-qQ1cT5LAqzC9wm2DXgDpTm5AXbIRAWm_t1qoQ9pqhwDyNZ3Q4JGd87y18P31noT2HgBSo_vuMqDlF-d-osw6OLe76WLsyMGBeiOlhL5_DEg",
  "id": "rs_01eaf3bfca25f624016a7e036f15a081998b6a1353d47a420e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.35,\"right_j2\":2.06,\"right_j3\":-1.28},\"note\":\"The 3 cm advance made the red block larger and moved it substantially downward toward the carried block, confirming the correct approach direction. I’m advancing another 2 cm at the same lifted height to bring their centers together.\"}",
  "call_id": "call_wjoQnPZ1H5XoEIIm94MHV7VV",
  "id": "fc_01eaf3bfca25f624016a7e0373ac588199bf9e556ed7ffb42f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wjoQnPZ1H5XoEIIm94MHV7VV",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7235 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.746 right_j1=2.3322 right_j2=2.0155 right_j3=-1.2713 right_j4=-0.0433 right_j5=0.9756 right_gripper=0.4556\nstate[joint_eff]: [-0.0752, 1.6752, 5.2581, 1.9414, -0.0415, -0.0513, -0.0122, 0.0479, -12.3692, 7.9385, 0.1392, -0.0171, 0.0366, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95621f52f142c9c5cb4f22aa34a5d61ce7421a85cd2df940220851aa45debf50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a30d78578028980ae2b373480908041f1eb3168215e55b01c5ff2d48a55334",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207b25c091f759ffd0f584bc0557f47e607ea2aa3c907c0bc8306e2b44d8e9ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 281 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7212 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.746 right_j1=2.2524 right_j2=1.8774 right_j3=-1.2015 right_j4=-0.0425 right_j5=0.9829 right_gripper=0.4532\nstate[joint_eff]: [-0.1162, 1.8393, 5.2444, 2.0684, -0.0513, -0.0806, -0.0122, -0.1436, -10.7829, 7.6786, 0.2564, -0.0171, 0.0122, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgN9JXg85uZHjYYI6Fhbcqk3MChVt0cT-ZSc_jwfZ1lf8BwsS84qZPw3Q5toISgaRIq1vblgvgViFQdgQou49oN1yVu9VWQSosURVFbkt3oNqs3iv51NP6_BbukfzfS-O6wYk8oZo-UEJbOD5Gol6MmW8R3MqOrh-_kgFupa-gSf2vs05Q8dFxYI_1kAFOEpV1WM-K_QbtKONIinM-aDUYEfczirxSSix35iCv4X4hMR1OqXNrsyHLpBTges3gbEUildopPDWsu6hDVkQb-0BvBvrW9U0LjsGwEB11080XB3CljvcIcUlFMIMsZ1h1DxJCeDhGlXHjUrgl8pdtQjINSeEx95QXp7NgMyKQZ8cfDok4O7f-GOlko6iiMHFDdcX6tGNAJpqJAh65Ub68eAXEvv4ZjXl084xyn-fkLnyYBZYll8qUVIQ8M0Qrx6puwhdbdfsxYA3gek1I8Q8Bt-Z107PUcvAHVOEJei3dX2DKzpUhqtEO0ol0InOv8WNfOCZlf8XefeZ3FNPW0uJfTJQUODcdWtNaQqIfMzVu2oMofm2QVWE_gfZRFWngnHt9MKqGDeEuJVLmcp1t90NYvor5Izk9cP7fmiwwvEIJ0-5xEf89aC4Vbeym5OSbCEpUlmcadkHsZ-9LzFhg5JCo7mGCby-J8uUJYF8s5hTNNL76uP_hz2qC-dcatVJ7PWFyeCwpNwQwl_IAAgCJWkKfc68U3PzW3ZlXeTHBHP7j1g13bd-2AU6yY7U4W-AXXQUtds9EgZK-r2cR1osN-DDfscf3eGJ8jwQdyp4pletgKK9AQcEEjf3iY6naYTuF1Mojz1aNKL0vueI9duIYxEPpUTMwO263nNnSXj3mYLUNHsIY0aryEaeap_rm0czavOJc5yKPjkzj2SL2gfY-GO1ohcm5odXVPwYMRnv79KXuGhtIjxiKvZ-Ww5xKEK0QRBQE3rCwr-lh407YsQfOkfFg3XFabSILxyy2jLAqAlHqfh4DJm3jYfSeiUVucC4V4Hrqu5HJoZaWKzXGn_ou0JR-YnAex77uTtBuXj5oOvU55PkF-9-865qItp4c9XO98U9lfoIqE7p-KIAQyMQGE3-WiLGoFJU49AnL43KJgmcADQwXAZoRTxkZwPPqVyaokLd5rYOiRfCQ_Blb1CKp0SxaydKvN0bLa2luvjMvD0AU_8cg2U6lgAOaJ7sW318XKEXtudQOUIyzeAcZh6eeXPTqKr-7H6DrfWJ1na6v4b3-xT_oxRIMzSLDgLg_3qIwFte3f3WOIZvvO-KEtX30Cw1M9sHIlskartkCEiCacolCNeaItupXUdS31EbLXkJd3L72KkvM2lBBCzdTeOfwguavlT0hLl_yn_ZLK2CnMZrdsgnEwB8pM2OyjrPw9mgoXnndzx_k0MWr-g8f5r2oynrCFk6_sni7NS5MqqGT2Wybq3QZJ8EcYkbiK3YuoTK0Sx7GCH1hLDFI0rLAo-1HuTtQJ_As-Bkw==",
  "id": "rs_01eaf3bfca25f624016a7e037926e08199886a060e00e9bcb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.68},\"note\":\"Depth is now nearly aligned—the red block’s near edge is only about 11 pixels above the carried block—but its center is roughly 3 cm to the right. I’m shifting the right gripper rightward with a small yaw decrease to center the two blocks laterally.\"}",
  "call_id": "call_FyPKQxylD9e6eFuZ2jWfjTbj",
  "id": "fc_01eaf3bfca25f624016a7e037c40e48199b12d8af980e27261",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FyPKQxylD9e6eFuZ2jWfjTbj",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7292 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.7254 right_j1=2.3436 right_j2=2.0212 right_j3=-1.2827 right_j4=-0.0471 right_j5=0.9722 right_gripper=0.4577\nstate[joint_eff]: [-0.3761, 1.8393, 5.3538, 1.9219, -0.0317, -0.022, -0.0122, -2.4821, -13.7504, 5.7368, 0.2857, -0.0122, 0.0513, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947f554b85b253968ab5323143bc77853c74338c218d5d955f652b673a034045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdbb65ff7f877dc9e9f8350856a919f8597ebad30b083614c0270d10f9d57041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac40e20b168c1d4c40ca4911f830cc66c840dca2738f3e0e22b55dfb78a303d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 285 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7235 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.746 right_j1=2.3322 right_j2=2.0155 right_j3=-1.2713 right_j4=-0.0433 right_j5=0.9756 right_gripper=0.4556\nstate[joint_eff]: [-0.0752, 1.6752, 5.2581, 1.9414, -0.0415, -0.0513, -0.0122, 0.0479, -12.3692, 7.9385, 0.1392, -0.0171, 0.0366, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgODmPJhCl3QE8t4KxdfZNIT7DCPXvJ2YCUk2BOaWJUbN48ZvtRYUiH1nfa9MDg5siNOc1P_FyWd4xvmtYfcBJ8zaj-d873-WOR0VQmZkSRANdB4m4X2Hgz2KU5LAB-R9rfdk8u60IYnh84TcdQYvliSFmUKtQBtiSW-Ln0VsVKVexaqCngdhT4AW0K8oP9TgQqBL_wdZqF6wh2dWfxMB7ly82PjnNL9ZGlYlMqe9Pci2j3BOOJuntTOI_qQMj67VR-M9SLBbqo4FKHb-q0WuL7dca6lp7YAG6GKRSwGF2rxIPFdFO1rVYV8CxEx6FaTyXddQpyCnjraLQF_z8chei7lasXrNCjcmegsH15j8Pml16czrPXJsBSS86YZfaffwctuHH5OYCpQ-rgbY5jQf6WgXl1yyQ9Rnv8cDZiUVYj3Hsq8WkVMmbsR1U0WaS20SKxbgsI7GxqK_YoIbnN18fPSvtsYIJb51tb4Y-LoEPca-y7BTjrdGJo5QTJ83q_GBaX9w3EzLa8GIZaFILhwBifi9YNTLq64-4b2V1Xt7XwA_eYzqfdjms-51ermReHrMyOroumnRUS6OwQkZcEnA7SqnFgcvbSZsSz8tfc8g7Pzbnsc55X5HoD1drDuLdden9FwLbeAmhsXmx1h2AQe1IlwtznKcN6oKFzObNSSu7PAPY2ZrmzIMtj0faicglcXY7pQlu92i2QQoUy_UZZb8LXatI0xrRF1GCKscOgsSHc2h71HQvOyyTndAKRofDk-mtfeEEf2tsjndlRbqF9dQZfsjTasvsRpiqpCg02Tmvw8xU8qxFB8OXUmNtg65fR1n3VliS1tI8fT1Ah8Tk4e2deT10n4x7E8EOjN4CnTKUuiTvjq691Yr6-nuy9bCOfbaSTjWQ4JwXfsMqJs1qhCs6AqxU1e5lHXFn97OeZXCLoPmC_IyTd9gzgC_Dz7-p1ce0SgItIazXgxrBSzmExrwCKuyoojhvHusadOe1EMOFbu2shOrIFR6JckHB7koiIVq4nmpyVfUcBXQWB7eVSXRIACrT8fa3MrR_EKpvqJRK-DCZHCIBoxP8hyNhLNnxCjvNKlOnages6HEEuk0tWxG8MkUKctqPJF9JwgxJJbx3-OA6TAryNxFjn-J8k4VkYC1rBD",
  "id": "rs_01eaf3bfca25f624016a7e0381cca08199aa57a2a4e335ae9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.58},\"note\":\"The first lateral correction only partially tracked and the red block remains about 3 cm right of the carried block. I’m continuing the same rightward shift while holding height and depth fixed.\"}",
  "call_id": "call_r0DPewH6ewfrDeXCA5mRKWKW",
  "id": "fc_01eaf3bfca25f624016a7e038290e48199a49b8d28ad32b6e8",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r0DPewH6ewfrDeXCA5mRKWKW",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.73 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6228 right_j1=2.3436 right_j2=2.0148 right_j3=-1.2926 right_j4=-0.0582 right_j5=0.9684 right_gripper=0.4591\nstate[joint_eff]: [-0.1299, 1.6342, 5.2308, 1.9023, -0.0171, -0.022, -0.0122, -1.3333, -12.8068, 6.2017, 0.3297, 0.0562, -0.0073, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f15c8e8e5d9850df2a79b3f042898f88973a5287d4ec73d66267d1e6685917f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0fdbce2e39487c5827874d863a60145abd235fd030bf6de1ed777a28b941eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:003528e3e37c5e18dd552d7a6a6a7bb58aaff107a10069d761de8243a75e3887",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 289 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.7292 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.7254 right_j1=2.3436 right_j2=2.0212 right_j3=-1.2827 right_j4=-0.0471 right_j5=0.9722 right_gripper=0.4577\nstate[joint_eff]: [-0.3761, 1.8393, 5.3538, 1.9219, -0.0317, -0.022, -0.0122, -2.4821, -13.7504, 5.7368, 0.2857, -0.0122, 0.0513, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgOKNoHblcHMLKkyqb_JVnoYYfqLkFBFTF31S0iYhu_97ZbFkGEwmckmU4gk8_kN7FmlxDMXKmoezClQLts26CwHbEsDR_tJdDskN0ADwFcOoXQJdpYjp0h4xSyG_FXTVLjaW3l-kqHpkBJ3yaAFg763acG5FIH9yapypjptGHXnNCTg5B3pGnoJj4sI8O1fp0zb_ujkH4lK5geFX7Ua1IsmQIp0VqhGWqhUpZgqLsuj2ejMy_7DfzNLtCiUc5GJX9pceTDblG3qY1K4xNFV2HqfFh_LgqTS-78G_Ekni4n8tCHcyj_A6-XgVI2vs6RxGrNje9Jeicobik5juDEpiI6Wp6pg3dowbPuQQjYUgH6INJOi-50iw2XzhULzah5ED34OH5GeLUsRGbNqaU798rxCsvWD0RG1fXaZanbV4dKyr5RqlD5xLG8ayYQG0NIpQPXREooiczqn8Cy8IILa3-0bTLUzR1ykaYnFH-Ho0RYdrGrykYWsdXvl9O2qsdVB_9X5zXUDDMwaZbzuBROEglklWZNERjNbqxDIY4VK-BzRcAyQn7sLchedABeeAusK7FFD77NVURLa17fklwBwVfWw7l1BN7qeg1oJqtLkahGUcYObvaI5Jg3yYPfyeavxuL4hEBP7kjvNA2WxEP_bvGelal5U8G5r1Mi2HRLsArECIHb39jOBmUZFuulyFgGfi4Xqyk8CmEmPLLyeOeMgrfppKkH63HT6n6S7hFHdjCsld251LyCM6FsFz2AEq4Cjl8J-72ETl7hchTYaNpN1Bi_3ICjPTXrziyXucj9Z9W4-qdvGf9RtykDGaDGluAhNM1HWxYEfW9apmbrc27Mx_pNt6zGCrM4WMO0eabAPfbs0kmNpm9zg0zSc-de3-Psca1wLPMElcCewP8PKj-D1PjD58fyuY79gPNRQp5jNe3Kx3jkQ93df2jARH81nm6QyneYdQnMmCuudvkI-I-FH0PFcs_Ifpy-MQwu-vtlflq32eZH486A3bOuO79PQyuCK3uLN1X9YaA-LN8zquX7KuQV7KLrQBRQiAR2abAfYyaEZNhzTogCkXAM7lxC8QsjJOEgK1016xhgy69fhVXHeOg1AlTcS8brn9QbeKnthjX-pNlqO6nixFMTmoNHdS2cV33SlllXyAlLgZkhW6USoplTemCZl2fxdHeJXJFU3saA--a8vWEwLsEdzAcUBHj2_FzsDCDnqDLKlJUpec5fUJ4UP9bEWCCWYx1L_K_HaOEk7K0BASihmF5-qKYQtuqwhm1-5Q5sER1hObgOE47NmUtdqpWeNpV-kHmiMZV2fA16FRfWsTrxTR131X5pGUgHrCze_",
  "id": "rs_01eaf3bfca25f624016a7e0387550881999cc3384076c8304b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The red and blue blocks are now centered on the same axis in the right wrist view, and their edges meet with the gripper load effort dropping sharply, indicating the blue block is supported on the red block. I’m opening the right gripper to release the blue block in place.\"}",
  "call_id": "call_65t7c91vx498PHsxlXAPqOxg",
  "id": "fc_01eaf3bfca25f624016a7e0388badc8199910f3cecf5205e0a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_65t7c91vx498PHsxlXAPqOxg",
  "output": "executing move_joints over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.73 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6281 right_j1=2.3436 right_j2=2.0148 right_j3=-1.3102 right_j4=-0.0612 right_j5=0.9535 right_gripper=0.9951\nstate[joint_eff]: [-0.1299, 1.7709, 5.2308, 1.8632, -0.0073, -0.0366, -0.0122, -0.6496, -12.6017, 5.7231, 0.3248, -0.0317, 0.1441, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6892ba5580873275176a0540d02e3ec335f873d0d600ecec8442caf7240bf02d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80d7ad2fb96ddf9bca1a7dce032408c764d5df23bae905dfaa07db2e0e753c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:640905c3afaf9ef02de63b0d37ab8110ad62879fbc809cca6fd15020307351cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 293 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.73 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6228 right_j1=2.3436 right_j2=2.0148 right_j3=-1.2926 right_j4=-0.0582 right_j5=0.9684 right_gripper=0.4591\nstate[joint_eff]: [-0.1299, 1.6342, 5.2308, 1.9023, -0.0171, -0.022, -0.0122, -1.3333, -12.8068, 6.2017, 0.3297, 0.0562, -0.0073, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgOQq1XN3jMvFDjjVjy3tRg7Nar0B-BlcjUiFOz8kXaBkREN_sRXpM0TsfVpOBJudc4sa-y_nXupKGrqgLDLKKb8tRaKuufNAoKWgv4Fxu0UDEAXCdNWECDZWY0d_nh3gBTM1y4FD9q58MrH0uHKBVZVHqrUj4DVUHiB4JVUuqG07lXy3LCsimEbvrVMMqiY16mthCEOJivhOSsH7iGvKeB4V5QcZFkZYsr42VsXyWX2LPRZSM8NSp8O3kqH1ouajqebshsPHh2ISnD3ZwGpV5YhigeH42HQfeUeaw7CH-MOk9mPM08mRCB_HXHuBokw9iOvuXhfnvnGSkPDozw2mXMCJQ18_qcU2zDzSOI_Jrv4Iq8OUBMZ3wT0G14TBqwl-y7TBbDKFg3twl0cljdESgm9AqZXRLgJI9VIgJcAzj5xCVm6MTAKJPLDaFQPRMom1B5-gfRH7tXhQChryFrCkOr9jJiTmY-doV4L4o6JZfdoMXJCARvwOUQJMeyNdko5Aq8fVBgjLd0FfSIXR4GlksrEngQWIrWqmJ1mANdsP_fzALQlavm2dXyTpv9EobBBmemoUkeuzC8e0SBn5PdKmLkr8S9a1PHF9mMDR5lbgGmX7bjSeQvO-02I_HG0hCL_1Q0J5Ft8Kx4ggG_Iv-7j4Cs4soIww5O22saq2CCJliNHqllNDK-XKc8mBuf8o_RFCMlzeEIN59YsJV_cR-1uB-S1_rgV6HcD4LZsR0swozdgJIvo3ukD0odzsgUJmOCx4IAKLswkoo0X2D-YHhXZvcaoy6AH-7GdS9ZovzADCZyB1cG3SglF-8kNjEsfSiq2G_g-YfddKWsjsE8HSYzlnQ3u8d-wPKWxeqqc1Ux2FHxAcy0Ix-cuHktvrIusSZSAzBLO-SxF3fWUEDNUpbUg0w-U0qjhtMdQpKm5HapRor3JqRznkrl-z7EXcvggOWqRrf4fQid_L2vpNsQZkT_g0UJ3JbcqkfqbvaAd5rdLcKR-06VHofZo7Kzy_Yl9qtTFw5__wyBj928xnnsQBOu14MLQa0MzKuAXGDX8X-uEUuCwA0__elcqJ7zySUGPcI_Gr87LzCVbUAnmkmvMxbIWUMcJwi6jqQsTi7r0DHGmCuqAdLUtnjNbBGV3P6l4ufiIkOFCfxIoYbFRMptogEDr48vv_zm6tAkMQvR5pvMnaXHoJ7OLbzVRKbUzr8Ee_4X5JxTyb9IZi0hTtkabXLhPGWX-NauTh29_Qxd55rnDtuj5mGtbD6HiCFLJHOBI4pvWRzaX5lxnVw-qzE9hCS8aumQWWz5xh_1daxMTQZtEDpcR9i6Adg4noif3CsKEXUruOOHKgQH24dLC7FxL3xWihrXExYdSpERcMSJB3VMqoXv3H7Y=",
  "id": "rs_01eaf3bfca25f624016a7e038c8b8c81998455fca4148acaca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.0,\"right_j1\":0.6,\"right_j2\":1.2,\"right_j3\":-0.6,\"right_j4\":0.0,\"right_j5\":0.0,\"right_gripper\":1.0},\"note\":\"The gripper is fully open and the blue block remains stationary below it, indicating a clean release. I’m parking the right arm to uncover the placement in the overhead camera for final verification.\"}",
  "call_id": "call_yk2MoUWsjnrUcCwmgCiWS1rp",
  "id": "fc_01eaf3bfca25f624016a7e038df634819996eb464511bb3458",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yk2MoUWsjnrUcCwmgCiWS1rp",
  "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=-0.0067 left_j1=0.6209 left_j2=1.198 left_j3=-0.7448 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.0074 right_j1=0.617 right_j2=1.2087 right_j3=-0.6537 right_j4=-0.0116 right_j5=0.0368 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, 1.812, 5.2444, 2.0879, -0.0317, -0.0562, -0.0122, -0.3077, 2.7556, 5.4496, 2.3663, 0.1148, -0.0513, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39df93adf1f6e7de272ce54287ba19a3283e5c5cd013322ddc478ffee464bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e72bd863287a7ad33138848f14cfa162f94cbc5751525f258f37057ab688a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f46e0edc3085ed9ab0b6c1ea49aa479d6e2ca59d284403dfef727dcf55cc8d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 297 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.1984 left_j3=-0.73 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6281 right_j1=2.3436 right_j2=2.0148 right_j3=-1.3102 right_j4=-0.0612 right_j5=0.9535 right_gripper=0.9951\nstate[joint_eff]: [-0.1299, 1.7709, 5.2308, 1.8632, -0.0073, -0.0366, -0.0122, -0.6496, -12.6017, 5.7231, 0.3248, -0.0317, 0.1441, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgObvS3zwoKEbvbFluskjTM4jhyJANz_ttFxNerjOw5BECl1-j4s_OECfKMHEg5wTkArI8k0nmc0k0_NYORmAGEWID19rFsGBiwRNHuD2aJMi9wSxrg3M8SIThIuVyJ5mRC83PEf4Tmd9C7__bWnj-QeRujdYMJspqmiPDVnhaqSq5H3YydVNYc-JTtW-zRMrs_D6sQpTsqT3mn7rX0vuM0Ls0mZBowtfi1phEEimNfnzNZgF497EJWOPa6Kv5SPYEER8PxBlMx89ym5Jt6SUXnh6l3-4BXl5AB1BgfPXythBG-QQB4WHzNcfMADjy733cNJDcHNsfwP5_IWmP9qvW0-rzJ_IBu8ZbuzZGhevOTRPN0aXOJSnG2GTvbIR3mf-WN1Z4AUAT3p49hJutWcDNLfzUlcaDMuf_NERJJTviTK_eKOhZlAcolEnCbMl1cBGssCTE9owTwME0EGhzQKNL7Iuv-ZfMUAx-J6fXh6hkGJIWgs0NsAIAaezkz34do1fTdpXTY1LvhEThOpJ0ANlX8jgCtnK_NmaHpv0zcVTyMamlKU37QEC_r0gvN_XkOkSHcYah05lr61AVP1JBuPreRE_q8oATDuupr1WQ4Mu_yGOsbjDZhl7REoCu731FV41dHCOxvmSgPGX3sd0cwIji9l3hhwXUGoRUpJ2M-RLhwtOugnBktC5MUwAZw3ynwn0HkUDamVIU1XxqZhTdeVxk8MAPgU3ZNR6ucoH8SvF9yT6SFsKEOrSxO9LdaDrn2Aw5VFP5cKXPY0_ewacuI6s2SrJSrNvuOgDU3SlI_sz5z4PxmTEFLyflP7Y4UmTurttmqKm71exWJbwC8kDjhLnd5Hor1CJfQZc8tBsg7NayLPkp-S9ajRU1ZGLeXvHj0E_t0in7IDOj7SfcXpQ54StLw_E0jzOlFEQe1hJRFki2V12utIgyphWKCL_jUHiGrpXqqAf6YvLjLNMMpCls4m5Jw68AZZag-Cmaz9OUDBCHXwC0ia1NZT_bG-V35CJYXW8q8ctzGxrrHaFuQiX6RjC3peJF6fuagOMp5wW43Qw9MrinDr7vD-6QtD9ob-my_Z5_luA7vPhavJETFyGHsiD-SKhHTyRSSIrZVOsbk5N01kCC-h4Cg6G3g_MT9dCHFP2ckTcAy-IVIjPp5_Zcx9BAcJprtjkfox2gg1iLVWTokJ6Fg70PnbQxJO_J_vwS38XdteNHnjgnzBpjy3QeuKeLlK5gyTGM0MCESUD7zOgS9ZClSUFUnZmErnReWc3Md1WTCSJPYI9nBH2dUIJSbZEMv3YNNHkMMvr5l1ZINr00XvTRxnxiQ3O-DSIl7afs-oGCrYyap17kjoch6q8RqhBPYGZzHLh_XnK5pZo7rzs5gmSS9lZjCkrfgjYfyHar12cOvuJOAYR8wFbTFwxUmQE5mD_QlIgTvZHDVL4lj7ssb0ceWfu2qcn7zmbwvbPcn5FlRh45CmvNielKkrmXpYEPQBgt8aBgHHqrM0RHPk1L6oxywFzp7ZEzGjruuXPSRgiuKCX5tcdspTfC41KIdd6Sii3qEIHvPvzAVIOr_sTfY-bpPjpgz60lHenVX6NCGo3yMSowGcLXzDImobbFZCQ7qEfegWQFZ3k0wuXMynZspt_Odg9OCdAFQZaFVmG_Y1-VEGf69Rt-MSY-RQu-3p5xKAl7_zKAU3i2b63aBBZlO7vef7Gx9g08OjGj0sa_H0rJJ2CnSqdDRIfPagPN8IsjB1uYxdrPPQZmS5STxDS_cprQzDflU9GAJrpVDEQNRp8bFT76iuwP85Nlok_o2gz0tJR-KcerSsPCBwZhv0aEoVt23r_OyrHAjMqzTnnqUpF910pY8U_HoW7gtKCBGCU2U5E0fxl3GlioTFt7aiczE0vCmBBkpZCX7WYYWqp_Wi4wh6HQM3SXTTFAJxqt1EgW8yOy3J3E772DWM9w8laeqAfLAnx6Aj4be4FLpJA-3ZvCjD-_DQ1HxwhgQqAxVoOaN5PENOoSalHFPf2BchexSVzJer_qryztdrKp-0FSAxKmJVd6f9dtrQYVHyIXnE0o_aZtffxCZazVK2E3hjxdTKr-9sUh99U_S2G01ZSwvZUif4RdbM1W8Nj6-gC2_nLcywpRg58jBsl3GymI_e_0-_V8w=",
  "id": "rs_01eaf3bfca25f624016a7e0394e7c4819980187be1d3229721",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.79,\"right_j1\":2.15,\"right_j2\":1.51,\"right_j3\":-0.94,\"right_j5\":0.79,\"right_gripper\":1.0},\"note\":\"Final overhead verification shows the blue block was released directly in front of the red block rather than on top; their centers differ by about 7 cm in depth. I’m returning the right gripper to a low, open approach over the blue block for a corrected pickup.\"}",
  "call_id": "call_RvEzSOZXDb5d5iZ2MqNK9ye5",
  "id": "fc_01eaf3bfca25f624016a7e0399fb00819992c2bd5b897118f7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RvEzSOZXDb5d5iZ2MqNK9ye5",
  "output": "executing move_joints over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6216 left_j2=1.198 left_j3=-0.7593 left_j4=-0.0006 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.7792 right_j1=2.1231 right_j2=1.4876 right_j3=-0.926 right_j4=-0.0174 right_j5=0.7494 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, 1.7162, 5.2444, 1.917, -0.0562, -0.0708, -0.0122, 0.1709, -9.1009, 5.5863, 0.5788, 0.2222, -0.0464, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b973a7220e1db2b907358351b828756b3c9d551cdd84a03b78c127a771fa780a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48c11f57147459302e702425feefee1f0f2b0f4c59c14e68eafd73f1ff8dbd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db4c024dbf7df6ee9be74cfe21f3683199147da50764c58219054c02ab4ecbc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 301 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6209 left_j2=1.198 left_j3=-0.7448 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.0074 right_j1=0.617 right_j2=1.2087 right_j3=-0.6537 right_j4=-0.0116 right_j5=0.0368 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, 1.812, 5.2444, 2.0879, -0.0317, -0.0562, -0.0122, -0.3077, 2.7556, 5.4496, 2.3663, 0.1148, -0.0513, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgOjOqsmPK908aqbTZJSNsVXrVmahdfrf2GQrCyhBZMY9pseHOkF5sEWT2DN0I7ZHKciZbREXwSkmDRJMykCJbroZOyTL4LbUgWl6IUDqzpB3c01H7M3kppCj31lB7w43cX_xwGBFCgLVJBtmlvxHPs0BDdpjAMYJSQrXj5UAejLqdq-Z9hIl0xoojST_2tjjLmxvuiunHg-3kfpDrnJP5vukwgo3C_DvKTCs-wA_oBcLKYXsGmD5UuJfv5Zs4J2uZICTngbFjWu1Gq6HlnfoWv60wnreqr_5MWisx1Afbuo3kYpEE4b-BDp_SHxy43zQgS1-TZyTfgdPRrh9FY5XWPzTLR-MCLjkvdqYKBZTb1oqhfqJB2nw82jB7c5DMOEgkvW4qAcNwhkLoRLaTy9vaxrkIMt3HcXZWqHg5-aDB-5xXgEdNkD1W7lS8rAp9Phkb7c3onIRBK21aCP8UEh3ntbFU_XpaB_xFcOfpW05r7zxv7jsqo1EgPmpCxct4PYkntpwUVbn67rNMpO9pj5Hte79-TsYgHmcICnHt4xXIluNI642aBsKvVCM0mvbD5JwiWvzIJKOOMxl5cHfLL97YPqOnHS7525-uI5ONoxENBQcXAO8SLjomh0Kajcxp-jiETgZVQgxjruRf2gRWcYVGHtbOGK2Hm3c8awMMEEC5HdQ1staz2AP9RYJSdH1jpkd01OgSwi4WSNu_gS4g3l0C8SMKkoUzVPHEX7Nh1eBnbdCPIHu2R-RNwR8BhZSPzXGV5TYAdZ2KbFvqmBxr8Uh6pOViSQ4mHvA5mBM6jnDWkt0OtzKLxDPoV4MPAuUfi92kQHJpd9-G0Z6m_diMMFYii_lFA_AnziTfHf7T9-TxW_u8XijZ_MmChRMCS1a0z6qR5foPb7zT_eAmvTGlzGIdp1IqpqnZxuvkTVAVxiq23a9GTnVWwY4pzZX_tfCCp_K8J_OZ283dEnqETdDyWDeZkhF_vSKjn3-nAys5g0b2LrK1X1gaXit59Wtrizr-aIc5gyQPgQfAsBWIQSe80NnC1bA3GUp5hthFGCGoVtOIBfn9Gl-2XaMikivAgP1g05YjNvu5pgb2vZwB1XZEYq5WqssYXjZodPgtFmed4CznC5qbcjYFwvFKU0SlDWCWYh0FutbJFQx99vy73GsxJ2CPUvFn7-RmLBMVyXEkTu62TWi58SJekTAG1x48Ay-RUZ3sovmgTN6M-K5TA1b0CAui9aJf2DnaA8WtMZnC4I_M0Hc_qHOtkWLXNSpVv08hr2lZpfr_yXgUtoGxgDvjHg89worA==",
  "id": "rs_01eaf3bfca25f624016a7e03a08604819981343ab0ea817ddd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.6},\"note\":\"The blue block is visible at the upper-right edge of the right wrist image, indicating the low approach is left of it. I’m applying the same rightward yaw correction that produced the successful earlier grasp.\"}",
  "call_id": "call_BRHKAvC336DXM0fAangcj6CR",
  "id": "fc_01eaf3bfca25f624016a7e03a2412481998bc4fd3ac55c09c0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BRHKAvC336DXM0fAangcj6CR",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.622 left_j2=1.1965 left_j3=-0.7712 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6418 right_j1=2.1284 right_j2=1.4944 right_j3=-0.939 right_j4=-0.0334 right_j5=0.7551 right_gripper=0.9986\nstate[joint_eff]: [-0.212, 1.6889, 5.3949, 2.0586, -0.0562, -0.0659, -0.0122, 0.0342, -11.2889, 4.8205, 0.3736, 0.1343, -0.1001, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d058a10e3abf3f81e20ec1c1bfc194235746da996772528a7ba673583fc6e84b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458fddbf9a66174c145d23569965edcc282badc1dd0391bd970e4418a16c631d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8a2848aa8f2c716c264cae8dc4e8ee82db47d80f69f6ea4415295a0f2d2878",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 305 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6216 left_j2=1.198 left_j3=-0.7593 left_j4=-0.0006 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.7792 right_j1=2.1231 right_j2=1.4876 right_j3=-0.926 right_j4=-0.0174 right_j5=0.7494 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, 1.7162, 5.2444, 1.917, -0.0562, -0.0708, -0.0122, 0.1709, -9.1009, 5.5863, 0.5788, 0.2222, -0.0464, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgOsvVP-s5fX0FfKzWvpGFALUrlMsTygeJUAb-XJW5G597R0yO4qtjNl9_ahEpO3tYFTJ_oZ9bhr3p4xIA3YDRwR5uCrtTBj1gn9Be9YW56pT2c4DLvkeokturFL8Ct7EK2DeE1GBmVfQ-E0-2uFfGbaQCGs-zv3c09PItZbSWha7Wy66lrlxQHcDMC0BGE4zXyR5FofWlaEvJZQ3poxkKolcc1DVsjv4S-BfTvwMw5uK57nu4_ZuoIrERPPzFLIJPyIf9WlF-kOqM_zaCvnQcyOl-h-UiuP4lsohkM5t_lhFPj0JMBgFGsbwbNWy2ppao-kIp7EZFZVHlMwfuFSrIbclT5-rQbfHXM-qgX7xunOwz1PwMtjMc5dekn5XogrUNsVnGCDAkCOSFUojlJP1BJNN7LITtoosAUbGfxV6bPLI2CIu2gPlCJzDF2a4u2iabh0bo64FXSm3xhCskQzI9Q4_Hfj_HCpH60NQtKvrq9JTX-DWwQUkMhsELkrOQHYo9qfEI6s7yZfPouwWHwAs8qdbz6I0ItQJ9-OAae4mgEg-K7L6x7GdlKMZh2uURlvqe3RxhLOTNQ-0r0OB1_YjxFRLD68JmoUbcz6_QFdHwmtckg0d-VzEwQXWSx9E6H1cPIp-L0HPZecXIig3RN-6gNUsSoxRsk4u5AaUn_krgAHqfPKfBwJifEIh5JdHNbNfJJ1SwacvLkem5_o3u9gWnFrONbzUvktfySt7OR8DScjyy-VTHyDIiBPSWbQaGjqlFIUx4S33CkB2S0WS2Ngi8rkeYM5aOs1XgMSjxjpmmLiLq_CVgnl63LjsIRwg7ylYE43DgI0klOJ_8m5KTv1ih22Mwm39AsbAw5ikHI4Rx3BISn9VVJm2e5WB1zsUfV8JxjWWZCbXYOCyDwcc2f-RxLEdDYdnPPG2_pmhEHQeLRuPHn1y3xcdFWhZm8_sx6pGIvDO-3ARZkESQ5oIXfWssPs5F2YMwrH_e33VUNEJciKIPmnAtgyhIl8V_iyeWaKNaWe3znZRk39_15N1CEAjweJwGVqI-ofRVL6892H6ICDIIa-t2TEgiqkgKh0gmTtWZ0-b9bbA0aMlAJ4pokuYd9W4ZjtsleGMuIr-mp4LAazJjgvwtp0qYcqrQV_Qfvv0Xu0-XdqViPfPbwQv8CbVbIMLQIAuRnrI7SUniVIpwkCbQG4UjoIqkmvGNmRrwp71Wa4oAROShIUaXFiJjToV0X2dWXhzhVd5Ae8hB1nV7BYDQTsNu9yorEPhEOqliXZ_ocl",
  "id": "rs_01eaf3bfca25f624016a7e03a7fe9081999a22f81cace150f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The correction brings the blue block squarely between the right fingertips, filling the center of the wrist view at table height. I’m closing fully for another verified wide side grasp.\"}",
  "call_id": "call_myGkf8EFbk7GeSVrNhhMcw1x",
  "id": "fc_01eaf3bfca25f624016a7e03a8689081998e473d395ade8bc2",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_myGkf8EFbk7GeSVrNhhMcw1x",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.622 left_j2=1.1965 left_j3=-0.7822 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6434 right_j1=2.1284 right_j2=1.494 right_j3=-0.9428 right_j4=-0.0345 right_j5=0.7486 right_gripper=0.0086\nstate[joint_eff]: [-0.1709, 1.6342, 5.2718, 2.0147, -0.0122, -0.0659, -0.0122, -0.3214, -10.8513, 5.7641, 0.3199, -0.0366, 0.0513, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f37cc0aad8b019218510921ec16dcecf3019371e3b9e8cb77789380584f3715c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f63e2f5641eab4863d0a2565b019014948b9a806c72d1feb2ef4447e070fc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d5413731140dd25b0d8c35d10eb33195f4336138f468ae54e9725389a047e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 309 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.622 left_j2=1.1965 left_j3=-0.7712 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6418 right_j1=2.1284 right_j2=1.4944 right_j3=-0.939 right_j4=-0.0334 right_j5=0.7551 right_gripper=0.9986\nstate[joint_eff]: [-0.212, 1.6889, 5.3949, 2.0586, -0.0562, -0.0659, -0.0122, 0.0342, -11.2889, 4.8205, 0.3736, 0.1343, -0.1001, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgO0tNzx9PEFu3rlIzquB4RMFxPmpCk1PAvZYqNlJds9r8nO46uyPD77jPLOK5Q46proOeztDY9gboZuMH1NZmXoSmLzemukaB6IO-p2Uk4T6hpfL2VlGeR5zTxADUIEkF5QMtl8aFe-kHUSBPPuPFoQ91lGUYqjKA-UbE4vr_We4bjlDurcPBTg54JKQ98lB2SlLc9Ev4Uei2svcDVJn8q1a_jFBIps1JpF_GZMhVSvXcZqjkRMN7DN9tPWfAxM49fuHgyn-T895-N1uYXD35nUV5nvCP-4xrnSte9RODBWsT1Rg7BHWfaV2xbArNMMZNYc4WTbcLPnyZN5v6LzhYjMO6-K0ey2XvkdHSnY09dwEFWX8oOuj7nVUwoqZZbu9MM6WJOhpSGEw0KV0QmKO0_uAYHR24nm5YaNZ1nc-zzZm_QaO5M1wfBRNnE-RUyZ3Qp0FJQL0o6NGO1RgZm5aPQvqe0yWnQ4vFzyPnVMWlCt9nQ6azxEFPZf_EOxqkJTpgNfO6_GA8nobjylhS5CTozwjUlmTahfoH5zzvS-zbjCznPDABVbduIItGvoWMDxvsW4WS6FznVvXEeY7Sg6ezUUwC--U9SkPbw1oZDWHlwVbAWGHj-bz_jCjxcBtbdVQKAQ60o4I-_RrTzZTViWVvpmnddIobwSoIf6RGD4flBL04XCYthIaw6L0UXhAZ2idaC9uVnfkyzZpUBGARyIJ4JKRfj9wUvDYhHm7hqMncZplQRaamTImNr4ZIvklkSBvrxy8dpPwqlhObtYTbX88tnlqY2n4zUY6PjJTwHt5BKt7oKRQIRZUhTRQkagN_M_VrA5LnwNtAlZJk0J1AOqUH8CehlKotC-Gey5QsJmQueI_YxNbU3DrmJsGb_hVGalO0mz1hrUajT_lMxgeyZeXn31mkJugQz6rOeop6UVOT6LIyExIepZblC7UM8KFndK_4QAiIe_GwcVdqzYh-VW4zvkIszM8m5a0wasZ3Qu1DTzM9O50wcjiy1yevJOwulqJMpU9WaBzcrlF7hOgRl2PGYw71dAOaghOsQlxYlIvtPc518kEhP4-1iwI5GRBqINWKYu6jfH5RQn5AS7L8q8padpHrS4LUDYSeNm6AKpJW4XctnKNGgEdn2Op9JxIaOZDk_MW-fQ5ykddrgnTWK_-EOHx8-E5FVnCuq_hyvP4flJYUu069pzG7v3IK-rYSAx7KUe2zZm7pELCO6XuA4hP3rV_L4WhTAst3aiDVmy3oroWmGc90kUIjkDwrYWxS4nKgEykwTF6pVQ2rKJjqvdLaSeX38UWHllNirwytg0CdoqVECoReaudlL77JCGZOKAQ7ye78qU8b7fBJ5Py_gjLrzrsIfeQVTrMVoqPzecy5zdaQUOKrsN74SxNCIJv1mpwnjFfDn-snVxgeHufIpeaLImPmWjr8n5s3Gg5X0xyQFzB9LEIld7eFxxuswGpaQTn-YGI9O-UN04AQs2AwPzGzsnX8MUgmS30GhnGUKAtaHvUmhsuSGBTtkWIYc18iBKlCvlQV-AUu832_P2kA-2STWAWmNuk9riJOrQmwYNAkFgUNw=",
  "id": "rs_01eaf3bfca25f624016a7e03b04c1c8199909a09c0ac880365",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.04,\"right_j2\":1.59,\"right_j3\":-1.12},\"note\":\"The blue piece is extremely thin in the closing direction, giving a 0.009 residual, but it is visibly centered in the closed jaws with elevated effort. I’m lifting 5 cm to verify it moves with the gripper before the corrected placement.\"}",
  "call_id": "call_0jOJOV0zEJorAoqK5XZkJsJ9",
  "id": "fc_01eaf3bfca25f624016a7e03b382bc8199864e835c0c4ca973",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0jOJOV0zEJorAoqK5XZkJsJ9",
  "output": "executing move_joints over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.622 left_j2=1.1965 left_j3=-0.7834 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6434 right_j1=2.0975 right_j2=1.5478 right_j3=-1.0538 right_j4=-0.0345 right_j5=0.7475 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, 1.7709, 5.2444, 1.873, -0.0562, -0.0366, -0.0122, -0.3077, -13.9556, 8.1436, 0.1538, -0.0366, -0.0024, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94a4a56f968082c8cbb6401008724abd5b0429dea922dd255e998676f1fd8849",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428ac673131955db70287b34f95b04e63f41b07c81176be3c0e2f3e3bcebd9c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601f0fce3bc7dbda3899fcbceebd600fa5cddfb2b8f6b35e4aef87c33432d2a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 313 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.622 left_j2=1.1965 left_j3=-0.7822 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6434 right_j1=2.1284 right_j2=1.494 right_j3=-0.9428 right_j4=-0.0345 right_j5=0.7486 right_gripper=0.0086\nstate[joint_eff]: [-0.1709, 1.6342, 5.2718, 2.0147, -0.0122, -0.0659, -0.0122, -0.3214, -10.8513, 5.7641, 0.3199, -0.0366, 0.0513, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgO8315cquLLFCQ_vI1JZoJby7ukCoJdDKiMjPEIgi3W9xwAo2te8kF-FCgt4XuvvBcq_fS5yA2kWZvWSX7fYrJHuMBOh2IX_ksyKxRx22UA1GmCg0H4Sry7QSfBwbEoMbVzuSwyLV5f9nK1nWVDx0uiuB_j6eqwmLbLImdXVok6YwAvBwPB3bveCE09RbO_MC0-OHJWPemTps0-Tk6T-4WayHOL1kwBRd3_w9xjRDLLBXfD5hDlJ4JTPIBvbF9bPi0OKhO1w4w0wGnKAghkCCmAxNcUfA7YhE54Jc-UjfDC2r6H3UHYY9z2DBw8q-_x_rhTGHRpq1nDPQxT6zr0kpNaAzJAQ2QDJz84D_KIo_zyTEm9DNFeXQL8wut-IGr2DomKnxdVHFdqfyf-nxN3gmr9rMV5I8m8THPkPrZmh5TwBR9_6iupF_hLyU1UMZyU7w314HAfsvh0YguDWQiQ6uEb11o-qCfTQFf2UWYV458tElCZkqmhKh2gggQEzp6qo1ZBHKnmpxMtYnTKJEAAlqjiXE0xqUVxDtiJ473-NasbT3Ae7VBB9h3MGcsZllEAlmKaPQ1f55PrERaiUaNICwiyRGG-qE8zXMRqajOZcns70MD646jMZJuuGFNrOiW-h5WnLFfRSaHsm5-60lrHBWJiqnRO7gxbIgaE4vAO7O5iOYvsAk3WjW_1hWGs2VwPnDvyG58_eY7mFGuaseXmvCbTTtM_-y70J2RLtTSmwdWJJ5aOaGempGSMjQp34Pn5g4HUZAZ7HLLPlSwIumquArS7rPtDLXrHLeCppiyS07laKyivRAjU7atlzpqiZX3evz4jZHmIN2le3XF351Ad8VO01AQnPyo2V7mSvLQ-Nx6JWvASCggjPjhi6lcGRGeUGt45WSEeBMAiP1MG1m3PJ_1JzBY90e0LZJDcMXw5JFFGQkAfmQqhfA3isZQ2D9GIHP81nY4JYddHa6IRi8bAGqVjnZBFjWJPu0bGp__tkg6zHBHn6ewqPJllqL9KR5LvHtGczZApWo0f6vOPyEXNwdbx8-ow03Nx3r_K64SgdAKGOicRTJK0y9o6Fw1eTqY8kxu28FWFBWPXl-4fjlpHgqLNyl_ZnI68E-_iLAZDrpgl9c4Er_a-zXnmiHOIdAWvoy4QKBfJEwdBlsy6dDfpxZMBfeTC0L8N8Wa6jcnEKiTnRqyOKPH4FcuWnBcEvB6dKWsfdSFYic6y98APShC6vIGKzNM8F2loMJWzvAjT-Q3acTZC9djHMh3Q1sEtsPfEr5uZtv89Jz4nbuISk9Ho7SITgosJbYGMVC13YcBY0X7XchRy8d5QdqWSGUdLXChx4bDlc3r5HIeN1Wod7fhjWF_ttcSuYhP87W_PTpSZ4pm3ptSerAFOMvfeChs1IMqMJ_EXq65KBA6EtIkdkWih5eXVd_r1ADyYyRm5_bBnrHHZKihgD-WNOMiyOMDlhEpg6752qMFO209hg7L6Psit6tdLs1Ko3_mj9_OqWGsu3QNXUtE3lMADW7vLbqZlv7zeyKhC18fZwkFMXK4HY0Ax_jTjBsXOdrYXb89jFlKTh--fakDWNjbKsBKHZbwDCwcDZQ14B12MN2CLablzzpHnOh3i1-KeaFcKXnZupKICAW_hMBSZDaLZD25v15YFWYxo2Y_zsosX-yAhQ8wrlvYLeRKctQ==",
  "id": "rs_01eaf3bfca25f624016a7e03b80c9c81998c365df16fd040c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.3,\"right_j2\":2.01,\"right_j3\":-1.28},\"note\":\"The lifted view confirms the blue piece moved securely with the jaws. Since the red block is directly ahead by about 7 cm at essentially the same bearing, I’m extending that measured distance while maintaining the lifted height.\"}",
  "call_id": "call_kA4yZ1iKA0QhFY0LPNgtZ44b",
  "id": "fc_01eaf3bfca25f624016a7e03bafb3081998454fcfd7acb8d9a",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kA4yZ1iKA0QhFY0LPNgtZ44b",
  "output": "executing move_joints over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6228 left_j2=1.1965 left_j3=-0.799 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6434 right_j1=2.281 right_j2=1.9629 right_j3=-1.2713 right_j4=-0.0349 right_j5=0.7399 right_gripper=0.0118\nstate[joint_eff]: [-0.1983, 1.6752, 5.3265, 2.0781, -0.0708, -0.0562, -0.0122, -0.1709, -11.2889, 8.1983, 0.3297, -0.0611, 0.0366, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486ef6dd33daa627927c822469e4178ed17c264a38bd1a588606ba7a452ba60b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1148e7f46f5378bff9a51153ff7bd55b97fef79bfea31db53c866dc541471d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca7271b99ac9c160adcb6c950fbd1ddeccad30bee8981b30db88ab20cc0f228",
      "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=-0.0067 left_j1=0.622 left_j2=1.1965 left_j3=-0.7834 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6434 right_j1=2.0975 right_j2=1.5478 right_j3=-1.0538 right_j4=-0.0345 right_j5=0.7475 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, 1.7709, 5.2444, 1.873, -0.0562, -0.0366, -0.0122, -0.3077, -13.9556, 8.1436, 0.1538, -0.0366, -0.0024, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgPKpCh3hkI4-k-syOYBGnzslrdnPzFqyT6DvqROvzv_nhPxjmOzjqfySpX5_TQLtXSIJ4kF9gu8sq7H72BEOEukii0aGi4SRr1Rh4W-HGgE45W6p0IoHd-DMoOpW35yB36TENVgb-IQG5mCXrURM118qEvyWrMHtnbdyGa_SmXArKFoR_02s8568Sc5EHOK3e9_niJ_6EBxMW6scEPzje-EKo7FbLcCZ3hV7BWeTkBOFjqhignCiyDPi3U_9Zb1QQmp8CDstfM9TxwDX4s5MghdXhN-BIzeSLM_jWlTthcnpSU2ONMCDtfcL3Q_PdsGlX3bNghocWemzpQB7tVM3N__NaBplJT6ynsl7CRb3ngTydtfPHcI18qc0qGDZvfj82j1mGn3hO9ZcowABykYRnlVyyUFYeb4Y0BsY6dB8_x95r73dwORMq28h0EL95B7daL58Id7aOHWpLXYBIzZLL4NccdO19eKisXjX_03UPHFAzn19vPXC4B5uXATJwwzgecLbOFkma0rFEuZW4ldAvQMexRSlBERTCLfi9AN9nzKkzFev2cLxwu8NWdumq7jAydAr_8wO4SVgksAsutbTubSIYG2CMk4YK-4ndXJCisZJ18DQ-v5nOully2hST5ZB2RiX_AvtWAZSwTNSgjMf_UMOuMomYNPy-jPNdMIfC1wyKIhGgllodP_GYQuia0U_TMlFGEUKOOnpn9NbHH7oSFF51fl8HwSIHe6XZO3rjV12fXy87zOCjxyoiRKaVL_9ZUDDvVMYfiB_3o73zEXET55JBRBjNbgg_dFVKZw-WpnJgkoDg8gkF3l_PhE0c4ZI19EcMDTzslVbyphcsHHwhCLxlsXijViz7pX8wApPArhIuK_qUn_Z7IX_XnyksL9BjkwPFUk2t3pVllpFZ_lO4G0s8xeZDtXQnRd-A5FXoaxT36GbrfJlesfVyMwYJc8xMN20QXfai06Glkz-GRTt8Wv8mQfvSX35Hhm1yKbJG98aSkHXHZUkk28FK6IxbvIUdJcYvHYvz5orjEVFJbhKAJoqVoG6gxUPiAt8vqGtynS46gdHjLB6TAPhaQG3aHhgJQ4BOkfFsOXvRhinDCeW07lG3HWjgIp8OHta14KSErqEpYLqQQTFBylz5kRg6fPE2YDrGuVmXKDmVsOwt7o6P5M5QBfM7AxfDRMEBhT7kea3O6YQ0oVWIW4h29_x2zcw-ht-PY003_YQKokaYHYhE2aDtoAsJI4BSLVQnQCQvq9Y2l3YAATWB3R62W-w04SYsq-xfVM8mKWrkrVBDcWIJqNvSkxPw3wwTSWrW7wDNrlSadS-0IWL2zohvjL5k8GS4jsREA2fP3TAxkiAirB1kbc9LQroG0O64TZw151-MICRbETjoy5LVhojYWcQbBd0mvL1T4qkJLzNE652mYJyzkfSmfxJZvNbDJNaEq3OFcI9dYw9Zg_aqg37CXtJSDAwHhIC3hJaT_hyi7xuP4oanzkYRPQ7cVz2V6s-WrxwBHo1yX58fJhrOzzik6mr3hL6x8hndwR_bID7cV5VS-dx0hi9giw8UCLcho24ErTxG6_sSCtGtI5QfUKmqij6vLUbBCFTW3UCie8_atpK21ZEHr-DaixebABjpVm3ePPo8u8LY8pYqfG94xsmbCSF4EuL6fV5iXVBtUrGsguXp5zQIQ97xA_GELYxXnxzxdT4jZNCXvfMsAlgmqUA75wjpm0xj2LptI5EiKIaIYlbK0pAaYIayVL-CZIJOiki6vJ-1jepOU93fhb6cX-DV-9FA-8NeaRTqziuu0_Emn7uvMCNiTyFq1vuMs7y4N-rt8eKEwIDNZ7c0dSOAE4IFvrYVuzFA5Vbh7FdyiPVxFv3vTLNcCJDMU25zqk0HwsUgOZkAsOJt-_3Y-Hm_tKwnGVrcZe65UD-SWOdo4MqLrNfV78M19rOP6v_H6ef9TmP2X52OAg9K5FQY17_-1sFXI6QG1-ZFmBCXy8PDA5JESg0lTeJwktJWl7lJiFRoL7LDelxQ4Vffe1bL6n2vAzuMUkFAWyQOdJCqtWR-gZV145a0S6DHpeOkFJnUxQ6FXVNLP9YCr5L1OKzX80VwD7FRY8Bc-iZIwxim_Atzk26jdyEsL_wb19AIFAk7EgmBNEselGCjGw1ECUoJn7q8oBVeQC4YMe7Y4UBul2GZ9EdG43xcd1Rz9lea4V5azNbIfh_Jg-cQivHSKE2THmRLMVQaSIOLZ4hfu0DXaPs9nUITw3A43vsgwUMUyu82zmUg7ptNh2RudAcISLQBstx00chyJrNe_0cIEitczWqCN1RbTRQvEey5jAZBbf3TFkqLloM5ee744keFpzVOEjvJhog-JGHYhtH9W90ySzr8QI-BUiuXqt4ZIzq_mUcKOLtNN8EZRFYFjDkkIQDX2PwgKq_US4ehl0KGQqyaipE9uWO51wVwGCcg4Fyd5Sp5jYogvQQdzn4MM0e9iDqJdnoJ8mciVt2hKkP1TNo-6CAngFIZ3v1fsyG-CufA==",
  "id": "rs_01eaf3bfca25f624016a7e03c0ff688199942db3953fe44a35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.55,\"right_j1\":2.53,\"right_j2\":2.43,\"right_j3\":-1.47},\"note\":\"After the measured 7 cm move, the red block has entered the upper-right of the wrist view but is still beyond the carried blue piece. I’m extending another 5 cm and shifting slightly right so the red block moves down-left beneath the load.\"}",
  "call_id": "call_sIrOnNoiItgeXitSqnGXSBIJ",
  "id": "fc_01eaf3bfca25f624016a7e03c83e1081999c166d1f78f8fb29",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8085 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5621 right_j1=2.5095 right_j2=2.3814 right_j3=-1.4662 right_j4=-0.036 right_j5=0.7364 right_gripper=0.0132\nstate[joint_eff]: [-0.1983, 1.5521, 5.4359, 1.9902, -0.0757, -0.0562, -0.0122, -0.8274, -12.6291, 8.5265, 0.2564, -0.0317, -0.0024, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 475):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe655c3ef1fdcac4b4d1cd75cefc9d0147905dc8d464fab9cad9c9e8e7265bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 475):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85aef042fbf0ff00edb0c5ae20c06d7416a68221f4a0ea4896b7127c7200381e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 475):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236d3321fe068f8313f0a5e6fee0ab1a72456ef8dae4e9723dd21f77e8b7b8fe",
      "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=-0.0067 left_j1=0.6228 left_j2=1.1965 left_j3=-0.799 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.6434 right_j1=2.281 right_j2=1.9629 right_j3=-1.2713 right_j4=-0.0349 right_j5=0.7399 right_gripper=0.0118\nstate[joint_eff]: [-0.1983, 1.6752, 5.3265, 2.0781, -0.0708, -0.0562, -0.0122, -0.1709, -11.2889, 8.1983, 0.3297, -0.0611, 0.0366, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgPVfar39_SGmgUoy0HuASXAKOtTq9fYM5Ux359Knp0UsM191g4fW1dKBA_RzqjPcugatET8fLDzgqUKk71OmlbGJSJiM3RviozWG2mMFcEMB-mgtkL4rwThKt7KqnGBLWFoF4D0q1p2v-JLOxAiNMwWkLGbN_JGdOML7Akwoai8U3iJSu6a4I5VynT1lf7kRQWi5ZxcojO2fPMFCqzjsw5Atb4kEPuLvqd36ql-kLkzzdUeLmVeM4_YNXZKsjQJqYnySeRHpnR5zo0vcI_uiiQ0Nfmo9WxC_Zm3_MXQsV2DMBlTDR5BUplHSqT2Bo5BIFRPuDqAYDg9iioFBW5TZeT0dQq34PgHo4hV5WIxmBEAXAp8V6l8niilKnb5L5L1jge4huVZ0HoGTuVaRC0Rr6iL3noOVfJUO1W3cP2IA1jSdf-wStFOo1qYcDmDIE2GFC_bjPg1fmfkJm3H1axtcwmmdzxdzeQTxXc4xAAL-AmjWLf0wZpSiI8MhtvLN62NP06dpEu-G14sBtVdn0qrcGugDPefXtieamnB8x6w_KOjLOogb-javznk_0C_uWHie7bVicwUAROsfH2XVKG7KHL_t1dFChufg_zmQZycFDjL_8EBrsAhy4iXWqt8XjLZSku6MeFccdZD5nj4PcGdfC1gv7Pf1kBbGjcBpPU2S8jrqVlJ4EFFrOw_FaYkp-2PrvJbWjE-Pr7FQjEyYTeUGD0xUwbjwqKAVrpwLh-Me3LnXkJzQjnl3RF-6ln_Jyzvcj7NqBYu24czOyOi-5vLFic4ITrrd5WQk_1ImEh-KaqZByPJToYgkf9xYtlIFtgqyISIEfQeTN30JArGRcK7Nkq9hWuGUntia-wYME2GU6GLvGuWLp5d6z5cRVDbnnToSJ_hdg9KVgnXoymQSRjgR3h26Q0lw7OXAYC5EQ1YXfXvQBiRU9IKfs7eVWX9bUvNb2WXNIlO7iOQBSDPFwAChvDypNCT-t6U3P54ooaDFGrnh39cCmpNK4-NwvbXNoXrp0uK1VOZnP4eDCnbX6K0VM4PxB-F6h9tanDiH6j7KBWmE3fW2zCD9vl8zwNC_zScQr_z7Jp7cbUAuarWDwkWZv09wTpLyPrEkaCuv-pZwp8BnOrRzxE2cmC3PWSQoyeh6vGZdAPtweH_MuyVKVYFPeg2gyoGYcFwC5nXyOtTa8iJ8W60wqM__rx4ySUfu9lkxs5dFwZTBDd9yOWQSAJEJTdz4vNNx2-HxEFr2KzCnpJnDTZ1R0ZNpbmtVdtByRH6Hovcur5iLRE3m_54VTNBCYeKnSI0elqjQctmv4Y8N-PiYQOV3saVbyIiuEoaFbcBr-eMR4qSMcYFWwA67Xo8EFgJStkXq2rgE_uc-BmBn8ktnf5FRR4yM6qCZlWFpptBfVpKBUDwchptb0umQCNt1pJb5FYKNIefPRiGd11HX0c-MGYooaENamwMFMF43PWvoBnBHZvb6fpNEHSMcWAU_LK2OmTGaoGz0pCP4zbROC1iDX_RfKkOw_Mkb7LJnC6peYUSQ90C2W5OXgo7Yva9jkAspaJw9paPgL26i_TAZtbNbe6buz-NS99ZGe6CJbvkuVEC_fxXUOLUMpjBIxmW0B8YKKjz6fv5XbJUaELefIiu1DgIS3nMoafOI_bID9TnlekMyIg_mqowbTQ-e04Eo6WWQP5EjvR1NQGHz06vg3kD7-iG1bDTPVqHj5wQN2iWPcUGZXVTlqVXMWB-UVqCCrJQNQxGxdqZwt_s_dWT_QPIkjIBA2xxD9BjkUs85NLMRTD9R2Cr1RTYUnWfsSOCc2FTUPX4vl0XmsDCJ7fKfoCBw1ADVTjwbB1OfunzF00S5gNXnszVXH6ZAzpPhjk3bOvrG6dT0JQ7pGYJoc6GhywJO3o_hZi2rLu0X-TkvNXDUcHWFG3haJUHtzFVC3MK9z-kJ8vVJdLB_ttQwfF3itu5HUc-nzrLr854erS1A_c9CDpu0CzAewKXeXpv4P6rmVKjhDLTS8JWCDEwLcuPSsHu6nQfmOvBMVYYqREl5cSvls7pjyK8KdKMjoGCjSCVEU0f0vnWHjQKH27tpYKJAboD5EPAfICdGA8Zruqha0APYeYAOu-FtAwXpS9vwPrVmgdusL9m4y9q9vSv3rB2agXROeljDojh3SMIEX58Ro_1_O-JRieHuCg4T9oqIzIrjfSzzR0URrogalL01U6njkreLevIkDhzLeCYFAlS244NHTYbou54G_2uwEYZznC6yv-Qb9693gv3py79_XVtlBgWjlD91243_n26sdP39HUbK5Q8IhBz_I8bRdYhJKRT2PChV8xJJ07dtsuJn1wfVcSSgm9uEcGteH_vwNq9oRiQ_D9PvCDLKlT5RXVEXmo-5WnVM29duyZllo8wITnyT3e-otJp5-VfQ4rLfKvZbgpDCIg0DTbPetwZkgKCdUf29h12pXzpIIGlL15QtzTBvQd9l6-C9JFh2rlIUq4tsFHxAv9vzbEvIFUxHwbynX3UFyCq92JuNZFJhBG8ddouA8J2j4EP2u3HAJsMtCfeHJ5GfwyC5OA4h-j-xxoZw9muuMWiE13bKuXeAeGW4cNn5pXcKM8rDBVtg1VUZLg-750AnRdQ8o_4nX0k4pTOBrMMqFQ1fpsfUYLX8VRoS84A7YKc3APbBGedOer9F-sTLbfZCzEuEB3ECoTY5fnS6Zn_WCLXW6xpubAJko8uTSdxYY86sP9u0gGRaYVPv1hF23nfNu1hgzY_NZQ5WVt7eAeq723_rONVC0ILNOJL47CNJeuSlmRzdTRigMMRjtDUSj257Z-70XO0_a9RUPb8PMrFxwiilrPNgTLYkB9JYaL5GHlMW_cpWEtWRQAMcMYItufXozKaPrpwNuZDqg5JAeKFKmbQG9n_PDU--i7W1PTV7WQvgq9c3vmnwLXnSYAmWfki5JvS",
  "id": "rs_01eaf3bfca25f624016a7e03ccc3d881999e81627315803463",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.79,\"right_j2\":2.93,\"right_j3\":-1.71},\"note\":\"Overhead now clearly shows the red center still about 15 pixels forward of the carried blue center, even though they align laterally. I’m using the remaining reachable extension—about 3 cm—to reduce that depth offset before lowering.\"}",
  "call_id": "call_NXAwz4UVzoCJDf6YjkIWCsob",
  "id": "fc_01eaf3bfca25f624016a7e03d4738c819980923c23cd5c0ebf",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NXAwz4UVzoCJDf6YjkIWCsob",
  "output": "executing move_joints over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8268 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5655 right_j1=2.772 right_j2=2.8838 right_j3=-1.7042 right_j4=-0.0387 right_j5=0.7322 right_gripper=0.0141\nstate[joint_eff]: [-0.3761, 1.6205, 5.2171, 2.0977, -0.0122, -0.0513, -0.0122, -0.1846, -13.5863, 8.0068, 0.2564, -0.0073, -0.0171, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d188e260b1498086d64ba4da376b8daf96af05d6d21cac1e661892073fb7697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1088de103a643159d0d7de9d857d5de488fbc54746d1af1370832fc5feee3458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28291d1e64fabe28ced88d5bf297ac73a2b19d4f0314fbaf112468859acc730e",
      "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=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8085 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5621 right_j1=2.5095 right_j2=2.3814 right_j3=-1.4662 right_j4=-0.036 right_j5=0.7364 right_gripper=0.0132\nstate[joint_eff]: [-0.1983, 1.5521, 5.4359, 1.9902, -0.0757, -0.0562, -0.0122, -0.8274, -12.6291, 8.5265, 0.2564, -0.0317, -0.0024, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgPmzRUL0B8d11swaNkuCqkBcoJH8wiXeCHmtc4C5vAhW17kzUTBm4B8lDULj0Crx9oSPn9QcEOpksM-sN1ANHL5TjR22pLqD07YA9y71_7JZqaWROKrtQJbq_v3xlbOyHjBed9qTT4oEh9JhHFQW3KcxRIXHbEoXr1cwrmNtXFGxVXOmxR0zRv2pSNkf7Z7eiOXSka1UpX6fqhoy5eaNznpXx2lv_F-qFN3A-5dj2vfYcVAwcPlVI0ZdKDAGhov9_qV1SZVHEl-PpGH50P1dzDuFwcXYy29rvH-XNAEXAN-_pWFegAlgU2QNL_jy9ktmBEoeMpm8h39Uz7ACDHdNZ_xyCH0nIP7iFOSBdgyVafKiKREHILBH6iqdBeqvw-o4ruA6OeNXebMIGJRIt77xg4HRmOtnZ7ecY0xEcz8eD4y3a9bio35NhP3_BMecSXe01gxX4Vv2x_YEoQ4EYop0Z3n2S-hXCrcXA6dVgKSTqAD9BWjmywTkgZNLxw4L_p4OA9LErI2B0-5aC6Lw_ttxoaesfngYn2q1IPHb_AEApE7rddGhQ030vlA_UiA75YRXjAyYVD8xjmBvCPXRrYZKIVDlLhRiK5uPzwyl_JcI0xHb27jMEJKZe5zDpgssUEYuJ6g8OGtJBnhq70d1KRk_An5b-0W_J2cngi7ep0BCzwlvKSDn0Rlelf-y5KLpDIP3v2OddMcWJ7_SKNEwU7lQjbhwP1YsapxudJrkKB8n9vJ9QVFSK0rOFJSoX2zTYjIdqliaO8Ei3iWhaHrXe33gEKWBwPCVEk1J9Haw8OHS62VKyklk7C_Db2A7AU4BKPmQq3nxJaXe2Q4Kmd1guyFR6byN4a6eP0VGfz0nNp1AoTDDmddqyu4uW3uVmU7lui6SrdF6o_Ic1ZFkJYkXRNgWvvxAgfbvfp5qk89oQixGkNZKV79UuYJTF0QX1VxSXooouqnovD-7Dut-VxcTnyLFrZs7OTkytuzebDegMoBkT7mWgXf9QPgt_R6vUDlqb41SQmAFujKPFe5G292k77S8YAVx3R93c2DDXpz27XT1-7imR3LjYBsh0SVXFHHUDN7FuuLd8thO59CDwKAe1DJoesnQPtMV-tbF1tggndw8lknRRkWYy1mB-S3FRqrAYDxt8Q-IWnVCNzttXY5GLiATi7Tm1j5aqbzzwFCGi83OI7W0ynIdEYS0C3ITFvEpPDwRy9bExXi37JwHx7Rpf_BpUYY47lDPx2ARJPKFywhNrnbtfs0AwoP9mTZhWdhEJdWgU-rwF0Z5KfT-UPl2vl7JQPP_6ocNnFvPMvd7HGNRJcm3r9CQD6fb_wAO8-S9DuDh0LZoHY05pB4xXQmgAQnIt5H6JVMnYsaOWVlNdP4s6sxqPvyGxcEgZkKMbS9D84o2ybnj2PbkOPSDMQ2AtyncTBjNQvEsHuIPxaoeT7PdhedngJ7HVo9nGzZ0NiazB1YnOave6jS7GJCmploRfSYaVdhbgA9pO2F-_3fdybR5A0ZLbwKIO_ByRZnLVsdz40l2Xo-iOfpma0bbQp3WJjCwir2g3e8vNZg8cU5g0Bi3mK9S7I7f7erc5G4HEnoTxEwEzMf_yHh8Jw9Gh1iMsJcFy1rv3aNGYP2zRZDgd304892X4yNuqJ956mslP1C_nQEVn6M4B2_wnbqEhlEYUrwcRW4lYBWh0GmLWCJ0jpizOBYZ2JewIv6szgPPCYbvmmndt1D9pMIHXhtS2Z5_ij11HqqfBQtNMdIKK_UfCpa-OrhEV0dmNFBXHxRAKqr2BmdftKe84FYEYoLutBd4xaj3gkHZ1VkMWoQFXPrcOeHXp4_S-o2DSt52m_ZYs5PVq0QuWa7ZIVWQm4EWKbKw3nPsvHh0NTv-7Y9CEN2CZPemExbSjVZk9SsI-5rZoJ5Szu8sLePn7KEs-iLWI_74dzmcVvwYTZ2VLIGWsWws_86z4hmohdLcxpPY7BmZVE0QQT1v-tdFkQ2MBwzsCktFdNegLYVHeyCH7YS080G9XA9eDbaPA8l0ls2bBqe-1UULS98yls-7B0EEaveQ-vfUzYGkow1rbxRLzIzzFIeNREn7qiiKDYFbDqkXomisW0p8K9q7qrqBfcFSXq35CH1AmEkvwrzVw5ao4Jf3CT43QM7Gy_ZJS17DpWJGgeUbYQyNA2RRXBZBCfLRMDu_g833nX6P_xxnWaCJTAkPiOAlJEVAYdkJSqbyT7E8Rwn9bZZELUdGPVOW0MA2fmQx5IMx7JLkly2ns0895v8d_MOsXj-bvvFaN6EbV4oMLEPEMg8w1Mul4rrawG4lrzGIgPyzE0AGVYHwjRmQUqqfCISE7SAOyD-B9wAwmzch-ZTPw9SqDwWpN7Ag9w0UaLzS8hi_gv1cFrJaGMn5KSlIWD1tHClIqLTk_uvkT5NKzqbiW2bLFCHmz-Jd5Z4FvUV_IGe410jSsnoSvfqR6a1kMBsMMGc_rXIl7_Qxqe7t1cfdmbQQmD-0kAZZWMBhO52LtLVC3333L82aZ_Hu7vyQnsqpa4E05FdBCddCEW9Zt-2vOnBqZyc3ag1MFvqIbX6HuDJ6weQXZNCIwFRvEzG3CynePB4YSUqBYFjUBZ6stV417OK1-Tl5QSFXL201KXaVrVU_w3dOZGAZYmajj0euTdYYt_CfcpjrSGP0jpKp3vBBtinXoBD8PTT3LMQkGXuZI34hSXEVjQPaNgKEkESsIUEG1tKS9rjR_LzWtysllJ8-DXVexJm-XQxZ7ZditOfzYlPRmysqyrumLMFFOdkN4ce3cragqPH8qNBlGQFmXuSE7kPD20Rko4C1CQw8uWZAo5Bv0PV71Nuwp-Ta56_ULX7g_KRknjaE8cSYI-eW6w8sv2sgnKt7_9t",
  "id": "rs_01eaf3bfca25f624016a7e03d8b6308199a4ebc2996d76250c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.86,\"right_j2\":3.06,\"right_j3\":-1.5},\"note\":\"The vertical-gripper configuration has reached its radial limit while the red block remains several centimeters forward. I’m pitching the gripper about 17° forward at near-full extension, which adds roughly 3 cm of fingertip reach while keeping the held block controlled.\"}",
  "call_id": "call_dvVUHjkP4fby9EY0oU4mfFqO",
  "id": "fc_01eaf3bfca25f624016a7e03e1a95c81998ddde4f697f8b628",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dvVUHjkP4fby9EY0oU4mfFqO",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8352 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5655 right_j1=2.8403 right_j2=3.0219 right_j3=-1.5982 right_j4=-0.0391 right_j5=0.7288 right_gripper=0.0147\nstate[joint_eff]: [-0.1299, 1.6479, 5.3402, 1.9512, -0.0317, -0.0855, -0.0122, -0.1709, -13.5316, 7.6239, 0.8864, -0.0708, -0.0269, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f727cdca2ba7ea38a3321dce41684fae1eed8ffad44ca4f5cdc33831517051",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb75e9b7a3d84becdb1c1234819bf4a47bb4ee431dcd15481842788e77ecf7ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 488):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3b503b849342d0f9942462207fca45ce4b2298a1ae88b7d6a25dcddf205ff7",
      "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=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8268 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5655 right_j1=2.772 right_j2=2.8838 right_j3=-1.7042 right_j4=-0.0387 right_j5=0.7322 right_gripper=0.0141\nstate[joint_eff]: [-0.3761, 1.6205, 5.2171, 2.0977, -0.0122, -0.0513, -0.0122, -0.1846, -13.5863, 8.0068, 0.2564, -0.0073, -0.0171, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgP-mVOCgFWmjB-DGf-NTurjypZ28Y1_UPgOUDSR6PfKd1AHnOIxYZE4LP9V6t_m9h1XjEDCezZaNKPsQvxaj9aOuMnTpGVIXBK0Pz3CuTyVIzQdZT7M82QPbdPZmvw79ZjorYCaXU_M6Ueq5fMvIThec_Z0LIxrzmFYqojEEsBzS1AR8ZWhwFFPIPgKnxNq6nvvJeJB1dnQ9-v2fUG7Sk1Ch83QCZaOS0WByuYBsXRe9DrW57ZZa6Q9BjWWsrQSPI8yYKdUdN7UpqsYztNf8ClO0MRHfoc3HfABz3XKWvrZO0aqM5F6XimjwxxbaSkD9FoL785djyu0rT1vrS5W0c3IVvM2gEjGI9VngH9agM-g5ZL9ffvLbZSE-YVLdA6jG5O3w_m3roLntrLYo6X98eU2lJRUCfrHbOVUsAUXt2rH1Q6-z89nM1LZn6S6RaC2H8sp2gMEOp5XGKZJkA5sK4zkFCCzTLFAdMIeELWQrGjHlwezHXeVwm-t0OfPkPwDVcBh_fVN6B7OlFoffI4_VyNISxL_c0TAJQmfUyYo-Z3p3-J7DkWnkOCfrOg_pAiEKb0GLDokPX8edIZCqbLS0Nm6O_y9iFt796toFfixS_jzSGaOdIzS0KPiDXT5S9lPA5WIAZ8TJ3UALmkPJRquII96D7sMJcFaMTT51bT5asgam8p9j9blWqRGQ7MkB8ZDxMbmCauvrLUYxgvGZzkZepBXY1DzB7VKmsd9YxkRX_0n7nsomdf7S83ElAJf1V6_Cw4BcCf2_jH2ZYeqxMNT2AkTQQTJJzzzLJRFSXbii3pyupYsaq-IrHG4N4llqMZJWjlsAxIZRTJ6BI7ZIHxj_ni2a-N18NlyGNqYMGgtiqrHD1Cs2aT2jV_02BrSChCe0HuE0ijaZKk_1e-hXjjzoN7y0f7unMDXil1bwnpc0gxC26QL9z1Mv4xeiyaseSfPVzcTDxX2WVDWZzfK84iQtJKhpu5gcLk_HvrNSDeBYq5c_yzTUiPJBwyKxjuSq8iXTta_cNIP8nEMiiYmu-rodRRQte_-OYpcSI5LY4kx7LVtW8gxG3M3fE8IKm1syTMGUKyFBAchy3D6X0ROkGlv7NTPBhfzPRHh4lo4eQo0npCKI3c80B57QQW-Z_MLHVUDxPojug7y6Fih--4She3-SUrhUfcnVd5ACZEQJEC_YTyL90oRopsFXq7qeysBfC_T2-8VRUJ_AXtXE2T_oYAoDwQ85x4xQBu_T8Hu-9QPp2ukJDbmU2ssqzKfCSHrYcuiFVXIr9BsXqUgY4bw8zbV3N4_UxDZc6feFHJictWcL3lDGTf8abtjkwmgrdt_CLzyQcad3Y-C8nydG-Dewa6AVKrNCeQHjuVYV70ATkJeZ_e-8z5VueSTpPBTJmmHvchhSf_qdCDAuHWNDHaRUn0MHWbDDYWSO6SBW3k8Xsqq1JBBwh6pn25cUGdDE7jjw0uiY95gp9Gc7peCCCsWy2WTSzMCcHknBETgsl5oI2ir5YOT9RdOC1ipQPxzQQECI81hi5G12D0VPmCj0W1QoqpTHz_KIOi0OYTSCBikNlJPXyr2jQAarORs7kEgNk7-Ea8Qrh19EQPA8KqCmtXCf0TRdpxDa5MKhGHExMxsZw4zEX78OKR4T01m9VwGf-_M6d2o051Ugox9yWC-w9u2vDPEA_bCg8LZ9ylmhnnardy_VXLyrGo26ePIw3z7vcN3Y-daM1TAwqQXAwCIer3HYWT0w9HJ4i9zlh3fkxfMSDldSawpcLWGjiM7npo7xMYxwJMKsg3sIv5Xc1gVgppffUZRWHXlf5nIAJpIFatPBjrI0Kx5knMQDeafEenG0rw3m55tO7haihO9sh8g-Nvh38v624Thd7alf69K_NTRsDDb7CTld9VgA_FXXUcSiqxdrEqhNoO4wOD2_auBKDguHpE4pP07Lkt2vEDkkMV6ikvzQ3I21Ee1OrUJX26bNBWA-4liKaEmi19t5kts0vSbwZzBfV1Jt4sQ9pz-Yc9oQ9f9uOn_u74AICTTNO-ZLH6rKQtA_XRADiLctReISJnHA2x2awJxPNlk2btqcKybSPolKXjrfwhY6hec93H5IoxBA57hJZI_1L_ImtqMst5WfT7psq2uUX3wzVcxJv_2ye6zyvv6emHTGAO4Fnoj6o5qZwY5ER2jKEDvlMl0xYyjmcf89IKvMB9spLhKy4wxDsxEyBqvUO-yWNuToi6LTZTl8CBrgxc-MFl1dtf3jwMT8EEbDIyJ3mBSSzNN8TPuWjW6jmXqfFqwgJdgjKI0kZG8AiB2VQshOKwHzRq5Qxsx2kjJ_K0rkjEuoi_LL0LPXfDgh4xFg4WOSxE1cUHLBVFxn1m25XS8TkdRrSjJAKRY9xYApjTwfS_t-uOSEiSSPPCJu9Y-sBkMqDChvnVc4xBtq1hbYoIHvHQm92ynrH3AJWEwIt1IHTbtV445dYwQL15_6kxbEZbNfSj-lY_wH-Ips55Vj6-HZiSDDQ4OHfCcXyyrAxcmIhH1ei_rL_i-iHRTTfgIVS3CYjIm7KDuf31IeoqN5QUyppNGz65mxeQvBe7bp0HivJF5dib0LffCVBj4uEb0QO1INvxhhaoKCzn7dpXixp23Yc6UKIQpmGqgb1hxnsP07wTm1CoLm15f8HCfmDiPm6G78o5BOJMrdgWEn_lreAUtXRDyoH_PyxrhhfRe4P3b4nWSjtsoAYemD-rt1ftObVKcJoz51MsxT3_sisL43eOb0qcfB1f3yRjEGe0x_GN7AFJd5EF_4cUafcWM0HSHqIcqBnWvoS1so0I_-twA4qSKlZl2GSUg8kz6ZD7Vpv3T-fTJjtztEIX5aMudUqLZLWqKBNbuAd9gwnuGQ8AIMuLUlNX_lb_8lFDH62KXe9CQAKmwCnNrukBGyrXtkHvGMrO5tqzXJCRvOJCeEq5b3Ppuo1fVE_kqg3rvqm1aKYmhdpDlkH8mf2Hzm_gFFtxLqQvXA9QScEp2MKozQKRcSY8CPD5PKoMo-lIXRhVlTjyQDHAHjqJFJxujSImFflOdf2X3X3DqxYSVzFNQBsZltGXTeSXJlG66NZqEOWSfzjMOcLYH0cnS-wVfRgRG2jhwLXpFfJM5gcuQAGRYmx2_4cfBxYL1QLnRUqEgH9gnFgQJdhsD-lVYTN1usKN5lYhbv_MqgzxmjMqz-FrWWE3NUI0S67z0Dd48EfhFtdfer8cbyMDm3qRhsRNVdw25-rs42-n2JHWqiey316Qqjb5kwqqtU-dP3lL0e8Z6Tg_Up_JtEJbcmailJd1GEkRb9WD44t2OD0Yvce0JLSjouEFddKUUAcLQoi3gdGHvbQHhCyCrjkk2YjTW91kfJN52TpwBwa95OGqChEIUKW7g3kLUQrQ2PzCQrn_O2BmnEXJAWoaFQh8gAuQsftCGP2rIsB0-IZoZItwrCqFlRI-zc9bKMa3UbhONkRN-rsk-DisnehGMWH8tpqllxrwm8goowM6Je9DXQquC315pnA4sV71OehX67ZDAJ7WqW34JyJnSvHvfwZPwFAn2P_eEA-zG4Sw_aVEEuz3-y0dC9qO6g9eKKHTi_k0XuqS9S_6PVMsq4UZtx4sZgfUfrgwlUVs8e6XiKUKA5mFCJGH_4cOXCxJgZABsuZv7u5MNqDg_cpGST1TvVCDjWYpIHSq1k4yY-WXri7mnvViAT8BNO-HuSF-lnOFbD5IEsTZud0F2Ayr3J6-LSxIQ2M0OZg8XMT0YH2kZY9c5aJy0MgAbS7q_wsjKMdp_5NRt5KgrtEhLhAA1ge2Foq9t7m2OYWpqQTWDa98Rm8dCMsa_FZSIojbOsK5p1Zctt68ZKoB7o_95gU9MdJKz1g==",
  "id": "rs_01eaf3bfca25f624016a7e03e7e6f48199b6e537b6aea4b6fe",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgP-Ru_mfeXbLkvYfVu5tTf2OzukbDnu88zO3SrHVu_-PqqcPLJK1X5Y6lx-4wxsYVhkRwC9AVcypP1YV5ejRoMFQ_Za2uCDETO5jhjIo9yRHzWUhrTZIModiIZekt0Ek0wT27pb_mXjcQxLtEP4K3Q5I1Vk4iLu0BL7oaxPu54iLRA42tXmINij49CTstLfufEoSfzsjCcseZizHbzqPQ-kEOs5T09iDPKNNXQee6ahNfHAul9SVQ3gD1-K9Zq07sfrfmB46U1H50UCBgH2PiGLX9XKgOqUBiEsifiP5ec1q9Qb2mPyZ2i-vb7nE_TOx7uPkfqnG5HgTg_oF8Ujfx-EeX-SNaWb0Hxd6DExnXncMu3cU1Cny4adzo4UN3kmID9jhIAAN2f-B-8Gfy0XPkraC5ShyT5TMC3J7K4_sv2BZ4VxUOVmMkiFIeyk2Wck6dvT8hKMT21xBRLKd2T458yiCTRWIzHOzycmE-qThlJ7JYhJ39skgdSULrpZK94_RHDOvNyS71SIWxZdo1EJt0fvD4nM-uij5PYLLsEOOhe0ibHpxo2PeihS4ornFBPdHwhBo6wPnImU2APoycjtSpZaFh-IM-0V4b7WmYT7_iP_E7HX0X81xa8VztIFyX-6IiWz4sVfBcNJLQvDBTDbn__zDIBRT5TShTMfEaQqPDpmwUmWoyJfmwLIy2PjQhPw1uAE8U8WzDdUnmj7hvJAoDjkpEfDwlOCyTd5OuwCfQu-tcxdUufnK0XRSyT-kt_IoOvPYXw5HSv0axlNnTQeH-0hwlvEZqH6wzh-CJYd7gCI6MdiKxnovg9XE91EPEMxJ9YPOqwTNYYznOfTsabt8SISVmAa01R8lo12q-YKleUQBsMBXUtyS0KKmGqdfrJLFeksemIA6d6a9MNWlsiX4XDW3cNDV30g7P5ILklDORJlB6iszlHbmNC1IffU9M2QL355ZgMVj1uRse69wF-PwMaS-c5m0-7zolqwD-f-iO6tl-ztY7miTBo_G901RKeDU-Bwb7XBwXHNPg5Z6RqQCnVe6ySv0jf5I0BkP2KD7nW57BpZuiHNUg29TZhZCn_h-iPLO1nMGaYDtCkt3rrWh3PeOVlmteeRig6BZhr7fOlH0mktczoDjZshifsjtHo_labj4NGNC_3eNRbJAUY3JE87efexw53VoLvYuXvXc_MVjcGvNc65SjhLsAAUG1PmXw9jy3xeG9OaJEwY0voEyIJttiaALLxK58BaFUsth5VTewU89gprmy-4qI-JdO6Z_REte18j2IISneeZLru8BDgVNPAqaMUjI4Nat1VzATHp2G2ixFgEcBhK8c7IT6-R6zxn3VzadKjkXD0rQDAVw-lGV3MGQeLkioSXUpIhI1-nDHIVmwuSq_hiHbI0u-e-4uUBNmO8FYMRKUFBtCrLT98c4VlZ46sOZSc05FGXxVC8cfXaRReSb1F9cbATxUJXYvROJVTtTmS34kMV9EReTFMiewk0vxxrTM0omcUe81UqH9WfRXz4k3_pJ83tNc0XTAz1_YG1a_ta64jXEdX5WZBQLsZkUCvlvC1tZfEUXgKsfx4h1eFO44OY6Oq0OHyzjj-5c6yAtv9gh_u1tWB8ezfe19R4wfHALdRB4atlzNry9CAjC1cB48eUKbuoNwiEzRc1FA8n2PK-707K2szAJsTHtQdpg3gYUS9MCfR-gdKqARynIkRXnX2d8RS5N7C695rHnj09H0T8B50eVY_7BK7BOtoZxIPMNSRiaoQ9C6cd3Bb5er3pffNh6iyvSl6iXDjEObgTblJp0Gd1g2UTDcujf1_92A3X0NA4v0hbQr1OoI82FbIMUCeYmqtQ5OMse-H-bTZlojUWSOj1980V_HkjVXlYUD9Zp6l91ntsszJjOzFgjYej0Zb1gjY_-_izMwy2fEAfNSzCEAnku2fTfHo74xuyEyDd2pK-jC74ZB83ilTl0n6Cy07UhSRsDGJ3zyznokHjHcy2AJdyngFs_11G9TQRlrusDQ7GV2oHztE7VO0t4L8RXeeKXnib-emQYtrhS1pIXvT9MOMHnb5XeEfCCnAG-JIauNYVXKyD-dZ6Yfw1btsi8u1veFziFsrGyXUI9ETDhpx3UutHgb4gqrKEjj1ktk0g9hiL7huoWJRZ4C5jrMAzs-Z9JeGvMnJ0PIhUtmloC7cBiL1GBKelwmBu7lrYjR_QYOCZtHcBrE1HnQCNlk4fBCFtrELwMyTUKprXcReDcwoBAjOKnCaRQiTgd1CfbC0w2lCcC7hlo0wII3dzHQ8Ulou618qBRm82HNAAHN8dd3mcE9NcyVi509MDA9Dzx4zx7hW9NMW1qsI57qEn0yEUVtKhmOoCFZgxRCldJ2ohm-dhrQr3Qla24bD7-6WV7IQR2CnPGHL7MoEncA6xDC_tGU_HXEe0hmmGdKYzRZkyXlS3FWkDJMWt2kukXDIR4A8sk_5-eRGHI8duHLbup2Q7fd0nNa_x9Wcj_5N8lbbCCIWsFksoI4i3qAYYgmVo1MWhbBDAithbswSyJbEqLiuiLGIqikFIW8u6iixanXvlHiLFvHnNIihgLO_D3YOlByrGCdS7_6PAOVUJQHqSFwVHNBP4oWZfBJi4QOKbTEu1SSL2ywjZUFeFNIgzBix-N2GIk4nDRDgWSNy3ZYGJmbVEiVr4Kh4RQjQHRM1RuLyWB82gKCkZHlT9i1SMG94Ma04Aar2PfZ_5_nVq_jMFO6-uQHa-d0riktcwDmmDHTCgSFSUHP5y_Nw8cZ5RCvYe4u5mpn_NZyTKMWLdagz4r4YvPoh-_ngkXhQFdYRwsaTZtCnvl6bRQVq4xnlYerqhU0IxExoIR5EgsepmYOahirDVUaBEKTBFTMw3QwroZHZz3qWdZSC_dI3RLZ6U0xaoSYxcpu3W4MDiue61znTjDqJZWN7uCOjh3xLR_C_I8Q8aGGhhHaSkgH6kGcjXMZ8ioM8YUSD1ueC2uRmWd3-JHhJv6whkYVFWqTYyOy6yIOCzrB28c7KLgb1hJHTIV7aQHNOUhKIGcYt5hYSSSBx2MS5UGv0BuE3usg8Uve0VdMcV6GP6cvM-UT1zOwF8PTCzuKTpVfBeCyTkM2huwGHJzxIOYk2tKTch6_jyRjBBwhyY-3xTAJj-gDtXIkOOLPVu3ZAOIWJ-CnQwLxWIgzm_E5M-YBGrGiCPdxy5GGkizx2FhKyWBy6S5SxOmlXHnS_Aw5YNEGLzzaImGdnicY4=",
  "id": "rs_01eaf3bfca25f624016a7e03f4ba608199a80d108b6b9a3450",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j5\":-2.4},\"note\":\"The blue tile is grasped near an edge, so its center sits several centimeters behind the fingertip center; that offset matches the remaining gap to the red tile. I’m rotating the wrist 180° so the held tile’s center swings forward around the grasp point, potentially placing it directly over the red tile without requiring more arm reach.\"}",
  "call_id": "call_ZykI5p3c0pDrYgFBfb4g2Ujq",
  "id": "fc_01eaf3bfca25f624016a7e03fcc8dc819997d5c88d3cee3593",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZykI5p3c0pDrYgFBfb4g2Ujq",
  "output": "executing move_joints over 50 steps (5.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8505 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5655 right_j1=2.8487 right_j2=3.0219 right_j3=-1.5955 right_j4=-0.0387 right_j5=-2.1323 right_gripper=0.0154\nstate[joint_eff]: [-0.2256, 1.6205, 5.3128, 2.0244, -0.0757, -0.0366, -0.0122, -0.1846, -15.6376, 5.3949, 0.5348, -0.0952, -1.1502, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 538):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae745be748be68c414cb7e06e570520c4f764d18f6c6128bee103e0d7ea9f0de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 538):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f280cbee20accc485d2bb39e1ad6e0f63c0703686d2e043e264b6af543fd7e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 538):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104d5ec0f4cf688927e0c9f9cfff41409c72682dbe1776d7b552aac6af642d1a",
      "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=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8352 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5655 right_j1=2.8403 right_j2=3.0219 right_j3=-1.5982 right_j4=-0.0391 right_j5=0.7288 right_gripper=0.0147\nstate[joint_eff]: [-0.1299, 1.6479, 5.3402, 1.9512, -0.0317, -0.0855, -0.0122, -0.1709, -13.5316, 7.6239, 0.8864, -0.0708, -0.0269, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgQSaXfGd2V4ln3P-AspkQlF2yEwrlQK01yK2e6Wmra_PfmWmi7uDONUKZqk5VYyIQI2XjluAdY7RBJiY6qveg81yp2EJ-fayeDVxLzkSNWJv6OuZ-B030CQIPQqJkDwLbxEch-AF3ZX2_CQUGfKfzqjwFAzp4G0bFJfqlgPSH89DvzvTB8gMGpNy7D92caXLB0LSr3CAP4oDrNMlOqyByVu9yiTfQuUmRH41yiM3SUUNxRjH2MzoYo8i44abio8Pp-JJgoelVq7Irp5Co9oY5njmq56rniAUKRBKryOLN4M1EcJ0gyKj5xTxe9jQOANedDwaMv-19E2Rp4_p4FiX8AkXDJsCSWTiNpJVT3b4hTWUXETXT7VmgxEzeoH3foTXRlP2ZdTSvqGzye4boFtnPi0InJ-yZF81hTgkjYGrBk6ZzbTQYwwGKTWxBpNeb4ILS4l6gPGjkqOtoGMliTnD7u8xXYP59xf9lttwNyZ5Czhfu6jbiv8av40dYs4gzDcAf-JVJp20fIdnuczuBxlWuwFhaXzfgbjMBhJRvhPVpLdUucv3hPFwnEBHIGPagdcUDKBri6O-pQAWJagjyuruF4MZ8D4Rz9Ypsxzyjl6cd4mpG2Fwl2BxyN6nQLeFJm-RNBKLQzagrymbWu1SmJUgxRRWA0QqvlbvSA-79TEvRzzL3Zq0EV3gPhygXZJ3iRpMxlap7MrZ7lf0LnZfRP7oyBqBNbR4q4ALtqiMqhOx5HFbzIJHhVHwPy2iHqPdv1q2hptocOTo0HiE-N1uUpumtw1dl1nn-hnp1UyLMbpF-6oHXrVsYg6ENVM22z7h0vdmpvl9XfkI8tkY2PFIjdMo7Ux2GfuCwq6Thp-Hx9vCJw_8o60yasUFjRZefkyu2Y7pK_uEX6-sJiQPA1xV-6fvCam5DprJhn9mGBh7ESpHbrcecEE4IusgEdBgvDo4tFxRTHjpHdRDxZp2h62oRkkvFGSBC7J2hX4WedpB5kuvD6wfKT_mpgOMVpc7OBs3Sirhl-BcV2sW2B6SclRGuea2tpqmGIRNp7AY28CJx3BZYwLQFBAbwzybndeXl0ND_qDXF6o_FhD09jnXRjt7L1tG2TaffpVPpVY4by4-9wEepdN-Nih04hGyK3ZXYnk1M9Qrn6MjyEOy07tTKsufTDmyVw6nCUCVZRp1chzJiLveAFMwBL1UGxEPQGYhYaFSL61Ny0V3Mohyv22HRRu5lIJGX5PqmA_wZJ-_0jBsITVTKmfZIyiIH2ATvmx-V6vM_NzBkf99VQyZL923_HDQF8QelUZL5HF6eVDorFjv44qAp_ndE55pF6IlWYeUq9COg74Cj0i1awl7TnCVeuDUnqjuYcY4p0Q_mXvBx4I6IEKc1gdVVp7Q0u3KDWNzk2nQrRmIWSNhEpbLJiBln5P6tTFlifnjSVNhD82OY7lpyJCQ2pkgnGGG4E_dR5LC2PGTKdu4FFELRagLxnqKdtpemJjC0k-C5ThSoH_brxBEnzhZBfVk6JF5Rs79WFWOdr3ViOGpJozciHvklbQCW6v1mBsHcTrsYDJ58qhqh4oNOikDxH9o-CIdeK-2533WSTzdTn88IEonhPPVLu--Y4IlEaDwfmzwaBODiFx33qDMU-kPS_Ol_gjpYWn7h1gXYxOgFEXWAFcwxag4cvbTnAQQUi-M1R1oxTpLYEkpuwZ8eEBMixN2cjBMY_5hjgqYg60YliOyDpflMdQJxI3zBrWauVSLWyySxenpFE34vRlm1uwMl0g0FNChThEms4uUU76pTkLpIecm5A-6IWvbxsEMnZrp_1UfMWrUBvlC8BlMUkjCw0aFY36boxFRv1tuuq-JvferdwRLjPkf4F0XQAY0rK9wjS-bi0wOssbavm6xvAai-0euNBqtiVecF1AW_KlXZSYX1p1NIWN5Wn8tsMk1fE1NqWwjSRS133g23L9EmmaesjAWBhmcxaG7CFdlTlkZkQaRxEWmTRZWIC-Z7zd7ozlPWMBEQs-5T7JRs5lxIfHjbnNrNOTSgNa7B3F589-nec3GdTmotQcLQNHs68o2eUeNZVGO9m23Bk5LY1L5DUcqfiwaCdey3F2yD7JNKoo4lXsDO24oERIzi9Ngkd35hjolA4eJ-cV0ovajWPfCjXOFoukXkGY6CbYDl3H0cw_X5muj8hRWu354Td6cHhKSptvMz3jpzuakNZ1_BDFZNYP8hO510i1I-j2jFoyAKPGC0YjjsbBgT8QbYiASd4cmVcXyTtrtJQEjESaRX-_iw1eV243Y3cb5z3FcvbhN624VWjrkdM7lY0H5DYw73FhM4PhUnt1MlOSI0l30fG0e1PA7mq_fxSpxdtgsIJOFxARLEDNRmYS9vBY6dwewAtHpRYO8fTkvvzrk9oQRlE1wEqlqMn_EFlcO2ndfbDrXFuGlAy-DzWRz5mxYwvOt5KWgM4PGVskVe9pWKvN4Oa9E6BJg9tW3hnKm-gyNUCy4Sv0p2Lr17rKl8-FC1BeycEU3GlxXezcO3kjSiXn3e9-4NsfXJ8z4xtDflOuQLZmGQtUmmh8P0L-fRYD0ov_xmeFZA3tUzSBPH5ETA7YULrb_o4dtYTR0iYVMWFD1iPEpYT-Wolb7QH2K52IbrSd0c2VOnFRAC3Aq_bOls2XLWLsqM33LL3hz5s5ar3u8dZr7xfV8sspl87QjLDEpqkbldXSJOzg9Y0HdlwUkZQZg55sAIqrGcMLt4fJXVBF7-foBr0kgTY-HHNmQurz5pgE5zWDWh34pYctgmnyDgOGWCG0m6USVUxMaTuukWIBG-EEhU-pnL2u8OhkBit01f1LuWCp7czZmQPIMY8-DakYXLbGYo0RKnHf2iH8AsEBriK3InF8jgUkwcf5IN6zAlnXnUf-jK4hLVuLKnx73v5yJcULlY_8_BOYLCzxDQPflWbafrGEqUzgo_27uPs5Oz43gV_v6O61hdHiKHEJ15OzFQ6kS6o9PQfOHEKYAa_U6h65zPE-85RCy5PvQ7SOAvRI4DK0f6crOs0UXQ2bhxiyb54DjzPoU8ae3j56P6jX7MrJ7ty23hQgvqmhNGgX-YofHKtXkAuJrHibQpEqIETBh3PqO3rqXZG69KjFgNPQc71xCeMfVpB_qY-L8Z-xDyfcZhUTvRauG75zL1mC5PRG9fyNusVUV9GDV7mpxPI_7ddNt5tpDGNz-Bgiim4gU8HwecFBL51ItWAIICl2lKl8SSqx_qVEpiyd0lFy7X0UJBnsCLmXkmfDnDZ_e5toegwAoB4gc0iYrzsgiqypY-ElPucoqs3HuctTF_SKqO3Vc_HCLr_W6yBOlz5JL-n96oSp69p9fEa-IFsKsfowvueuTRsH5smzZ8JWK2we_rOt0BzRU2u8raHxZsvO",
  "id": "rs_01eaf3bfca25f624016a7e0405b69c81998f7ee4189bf70ad4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.52,\"right_j1\":2.76,\"right_j2\":2.76,\"right_j3\":-0.8},\"note\":\"The roll test confirms the tile is grasped near its center, so it cannot supply the missing reach. I’m using a 45° forward gripper pitch, which extends the fingertip radius to about 0.56 m, while slightly reducing yaw to preserve the current lateral alignment with the red tile.\"}",
  "call_id": "call_z1Yf9dRfw6KHWkfWrmMpze5c",
  "id": "fc_01eaf3bfca25f624016a7e041082608199beeac5305fc18da6",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z1Yf9dRfw6KHWkfWrmMpze5c",
  "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=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8612 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5285 right_j1=2.8315 right_j2=2.7647 right_j3=-0.9054 right_j4=-0.0387 right_j5=-2.1292 right_gripper=0.0154\nstate[joint_eff]: [-0.1983, 1.6205, 5.2308, 2.0195, -0.0269, -0.0562, -0.0122, -0.9231, -21.7915, 6.4479, 1.7949, -0.0708, -0.022, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 551):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd2465e98da8ee710466f21e4b50334a8812a9087d6db85111b4c44cf451459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 551):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a09d631cf4280a2868a72f68156ad1874a3d1a240e55b4e9ad470574f36e0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 551):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36d38930de3299c979135074c94bebab799b90c493e16ff949d30c0e4e176c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 338 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8505 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5655 right_j1=2.8487 right_j2=3.0219 right_j3=-1.5955 right_j4=-0.0387 right_j5=-2.1323 right_gripper=0.0154\nstate[joint_eff]: [-0.2256, 1.6205, 5.3128, 2.0244, -0.0757, -0.0366, -0.0122, -0.1846, -15.6376, 5.3949, 0.5348, -0.0952, -1.1502, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgQb1AofUdDMR1Jfn9oWvzKsxSpsUyzCFc-DsE_IIDRLDW468HmL-GeyojPoWiQxbOU0-8snvrAhwMFdTpRZ5DbjeANVkkSnoOyoSoK8edZEdYWXm2vgGioN_spONkkqzoF5T43LAGP9YRFT3Pw7Ee3xzXCTT7ou82stMRIev4KLRpzAcfPGBzMq7ZE13LYphzGTY9csdNiamVYOeGcGlrG3cPWBEOjX-wFzCLADS5EBpH99BGXpMEYq3Wa__gvnN7uBzESP8I-v-uLN798I37xfy0C9JThOwcaDoIWw8hszPeOHZ6bkPgX0ScjUqc2kF26Oew1xFfzy0BNEWl8BEya9wg2AkSwSssy-h-9euM6wzuiJRIDRbC_NYi2BtJJ9QW-JC7zxMzHs1kDldVFKMjG_CLZ2wAb09vC3jBXZgt03qd34TLtfceSeavqEBMzfiztw-ji5KR29xrBriSWl9pZdpTVZw9UAryVGhEisaTMNsDYsAVH86nqyzud5StNpdXfNIWuK1Ka9lKzJmtLqlQ5RJf1BFYSsDNdOUaFC_G6EqhEIKuFYjXyzFpIouRSYe3wmTvfJVFaye8tuDQDN1N0HHIq5mc6vo2FqRiKfp1cOlGIJQC7OxOHlkhkRvUA9tO3kH8y-JqzcCm6_Zv5HTAn0vi-iFwZYDzmlQrSbx0qfyok3WPydLEXRuTH_y02ndjlbb8Uq9k1ksjKod4_qtSFpCX1PxPG_Q9sqQ6HQPmEgI3dIrAXt_V8vI6IX5A8Y9ue5CB3hPDe2XCPwjQe9O1hBChBCLyyG1mOXeKxKhEzA33CxIsZJvAcKQvSPhm7DSQs-14duWyI6WUwNn_G_mCoSwgWu353yFarzWIkj-lXOlFyA9gLXg8EO1SkHMOnNOeDZE73PgVmQRL9Eu5rhd4hnBX1KjLrzxy0B9ySCPtV57lNeJPcngL8sIRRk4cO9BnOcbPq8jhgrcGEjoTUOzo5nzbVse7WXUM4naDyVZqLAbfh7jKcZbD8huUblRVXUrQ50QU1Qm6eyju0VssGB7fjF4LWH7d9L3ygIfrRFtFNrG1LMdQQTsOMYnS-yCz4LY6a-fsAepGWLGTS5Ekx-2u2S-oikhQeDrN2WiNZqK985Bv7tiQbBGcDn1KVKbE70QtWM7OPY7qzyJpPfo5PpawoACKkJzG4p9STFdVCH4N26hClmWWmzzA53qGyNC0rhCsl99iEQkqbID3YiPqOo95B7dNF_FlqLZm9mQrs2SDs2-LY0KTkB3JyZVGhsi-cU22YMLMw7xviyZKVfLWmBHkCKaUcrQ27Fv-oSzTo23MDC5FAaUI8Bdzl_4YXueMQvpiB9RAKGzdDxF4MgzM3IFZ3F2OcTvjsRiAPhmIM7R1exYBtrXveMntsbW9FzByqBHICmjcG0DNRIrJtYYwVYz8hgsJ-7IGkE84JHhJEZBZeuGPqR8gOpy3jZUH5QgHWVtYq7t4EebQZCK-25OAy45mWOBMe0YNgtiQJFxr73q_LlYibqsAuZxCy54OGw1KgV-mv_8ExYKgfNeS-MbvQZcmSyEtE94nWPV2HuZ-dcaXAR4GkJRDrphH8_eLaHaLJoxmM7Qxl4fVRuOdEOmkXO2WaAWG5mgtXoe0ih1t1Tm1c00IScimQVLNV5Y5hk5iH7jzUQp5QTs6n_OP8yyBd5EG0oZLRNhg3bujbAbjnZW-WSTSwBkJQtsoeOc2T2dO7a79U3kWqnpa2UsD6hegpMth6EWaS_mcjz20PZ1uPvJniJxlCVv0QUYIaQsmD0DVM1TBatk9VPJaXtB3x8htor111H8bl4icA40HYCWWIsQHySZccgErMf5ccxSCgzxBIgFn6_saVaw24U9b1UzWEAtidfA9V8f3vgKBwSwFGZxSR5asRwQe-rVRvQ-XvyUCP4BsEEq2eociAr4ZDWCvNJDT_0lUa9KNPbr3HrNCu6lVjH1XI=",
  "id": "rs_01eaf3bfca25f624016a7e04151c4c8199b2660149631777e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.18,\"right_j2\":2.2,\"right_j3\":-1.02},\"note\":\"The unchanged overhead position despite large joint changes, together with shoulder effort at −21.8 N·m, shows the held tile has been constrained against the tabletop. I’m lifting and retracting immediately to remove contact before making any further horizontal correction.\"}",
  "call_id": "call_AlyDxLCI1g7GXs53nxs1yKFa",
  "id": "fc_01eaf3bfca25f624016a7e04199f1081999a8850a224c79678",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AlyDxLCI1g7GXs53nxs1yKFa",
  "output": "executing move_joints over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.625 left_j2=1.1927 left_j3=-0.8791 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5289 right_j1=2.2417 right_j2=2.2147 right_j3=-1.0004 right_j4=-0.0387 right_j5=-2.1288 right_gripper=0.0155\nstate[joint_eff]: [-0.0752, 1.8803, 5.5179, 2.0977, -0.0366, -0.0562, -0.0122, -0.2667, -15.8564, 7.0769, 1.2674, 0.0024, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 562):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e58acbf1c4c35e29ff2b6a1bc0d0fdd651a4448612278bc4da1392ec545b7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 562):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc74cae350bcd268ab979c3ef2afdfead32f9bcad570ae7a4cf777d11b991fa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 562):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc975453b93fa97572b7b8c030a7014251625b896d4b11482d2dee2b4583a1a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 342 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6239 left_j2=1.1961 left_j3=-0.8612 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5285 right_j1=2.8315 right_j2=2.7647 right_j3=-0.9054 right_j4=-0.0387 right_j5=-2.1292 right_gripper=0.0154\nstate[joint_eff]: [-0.1983, 1.6205, 5.2308, 2.0195, -0.0269, -0.0562, -0.0122, -0.9231, -21.7915, 6.4479, 1.7949, -0.0708, -0.022, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgQlKB7Wh3oCqa5OIG8shikHxr02-7cu-sguFvu7OUR6foWqxJZqH865eY9mws_JtTdcf_O0fKtnh9FGyppXa02AAVi2gvsFatnr_sxkzisDlrnNSm9q2dCjk2fhpZ3-WKHCIdE1-dpP9_llIlhu5dHLsi0a8YQuGRwV9B7iCuKGuKL3UACtY0Z3MrQQOTxxg8SSUYYI7wKVL3ZqPCbZUHmiqqAsqCzFouszt8YE22YKrAvj0Ywg1iioOwHmSK20KSGWQnkvsVSRwuAB-yLB2AT39gbZB2uCNhOp5iNZVMw7GitmuKkeN8p5lCRtKRylrmsS7yMtWYz_4GuN-I2AhwUDvnAvbFAWSCelMzopnaSuvoG5w-w0aDSMU9QeLzxSK138wXVxDhIVN3fP8yYTizkXuvfQHKDMIX91slEmWixwaE4uAlxWsvDTA0_yYP02jFVWJhSL20a9rLq4zil3GBHmYhfZiTADq_r2n6bYRO_FCAwKGnARTE1x3TXzf1qBlwF-aPYeeSPMRvrDg_5Vsd94A_8U4d38VyYC-wrkSmkQpTEdw0qomsGOycyZxZxrK229DTl68wG6-Ll-aisaq0MLeqR7nJUmtbEKXJP4141ZScNrI4gpCPy6yycKUyukLwG52hxt2J0MS_nO8SNl1wVON0Ic87VSirycDOsOzA0l5Y0mJqCbsUxC5PlZ1DFwz_aChJnUUf47LDtQKE895F_RcVodsHvUWSAfh0N_QMTU5zcRqW37eOO1FSqvy8ElO5q8eDYnhBgg0HMUHLti2IHJfTEivQdVn7ZApecg5n3_VTc4eGNm17_XT1dzAVyka835vMPnTBNg9hc8076c0HpKtfWASs7J-ixUygh1d2YAn57QiRnEAEGX9CC2ycOGRprl5lzs5sQlYpjEdizzMEWDkt7D0pEmBwoBMqTk-Ydxhr0zdynH660KzoA3_oj59Fhmh07O3ObhYV4dgj9I_lVUQSfRVi9WoATM9rIIfUmizDc8lDM46ILFQLVdm5WONfFb5yMkwOfzzdTdt01v_BZ634vx9w3x6di7SavCYeXn4abIvex5865BgfMw8HDSVVlQFmSOLdDFqmu9MSw1vU9g1dzIskAy5iTcUFTHhhWE1If3D5XUXX33AvHpiR6ApWFngvPza4mOn14-bYIBKZaYIn80m-wM9pzn87xkuPUu6fbS859W-L9-6QUMiIh7VlfItf9JqJGO7Cj2MFzq9rG7GKh8K-0txhQEMSQTvhR-Kg7yj9gUx9tjKfWLFKYTqqo0BHlOrw06CLLjSxUSWWgi7oyevVvGw-wItqsAUzgqPHmwzftpthuoFXV8--4b6mY8oOf_oVcQwhu3VMMOww6WXlP2yLILrHXucdeZAPC9aW9Dig5poKbdzHj8t9bgC8jBvBtEFeFUjCKfRWsM5de2ppXoz-DI2pdU3ulP2XKgfeBLrFUNG-1TEwybcQ4KkJa3JH8wBcFQ5fNFyUYGf3XLusIaWmokDMucSvVhNY6Bevwm8FQdTC_0s5zEpu1tnVE7BE8svRza6ImA2OGVrD-KJFZilEP9m1iNvFPvWaECuBnGrjy1V8xK647caSzB5EKBxYUHSCTGGvq7j-zjg_UUuODQMTXMOx4Ca4_ovGtb0MuBTn8aRsnW7MHZLLkQnyqOxPhStB0TjbfzZedUjFuW8dIYcQL34dhcORg0Uw6yRCCLVn-1V5MFd340urpcsajV968_v_PMv0oe8pjINVjTWAcrkEWTlKNFnb7TYWw0v1R7eLyNdztLxpjQ3wlJHtS_BH2910fbPO-E_0OT6BHnKsRXjbNL27yg-I3D8Gw9PsOR0eKS50KfQOaR6LFhinFjZRtfsFYrSt_Z_LW7j7Kni8ifVGINPusxrx8IYpP5EBz0fkn3-Z7eCBnmS34rHMr6JlDP9cWGAzZQY2bn5Z3exKIgwclsQ3tiCenJejS-MJWTIKSFXDvJ44dghwCUYxU4SpdzO_2oWik37qJFL4JHuWnhQ0YkNr8y1qQjaosS8CdNUsgMMVWL9KkLotagH0n3hwrNpQ3R8ZYtnymq4gl0gZej62C8D0ojLWPSWuXV7SVn43EcTgp8Xvz8BZCG2hMeXyghVHX7cLDCJ5w-u4FUWQ5lnvlcawOyRqlBOZyyN9S638tQIvnEgp-gFmN6K8-c64RvP_cUEbUVpyLwG0NohHGTXI39l8yHuhMyZgVhLfOI1w7ILbKRTYEVP_C93D_sT5zzpwvSF9M56CSjy4PtFg==",
  "id": "rs_01eaf3bfca25f624016a7e041e511c819997783523f470209e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.55,\"right_j1\":2.15,\"right_j2\":1.51,\"right_j3\":-0.94,\"right_j5\":0.65,\"right_gripper\":1.0},\"note\":\"The high lift reveals the thin grasp slipped and the blue tile is back on the table. I’m returning to the proven low pickup geometry with wrist roll restored near the wide-grasp orientation, directly over the blue tile’s current location.\"}",
  "call_id": "call_QMEUtAArP8EmLmxiZQ8eBckC",
  "id": "fc_01eaf3bfca25f624016a7e0423b66881998b7bb2a14431128f",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QMEUtAArP8EmLmxiZQ8eBckC",
  "output": "executing move_joints over 45 steps (4.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6254 left_j2=1.1919 left_j3=-0.9028 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.551 right_j1=2.1517 right_j2=1.5314 right_j3=-0.9386 right_j4=-0.0311 right_j5=0.5625 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, 1.894, 5.4496, 2.083, -0.0269, -0.0415, -0.0122, 0.1162, -11.3162, 3.9043, 0.2955, -0.2173, 0.2662, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 607):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b94111863ed807c075d20988e377b15702ae5e2d9246a2ed3852a2860024bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 607):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb9913a7c6110c0a08811cecc7949c4dff8602368fad61f3d3e1a66c2a6d8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 607):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b127bc6142bc5b18a065c772c0db302578a2543039af003e60fedcd0cbf35d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 346 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.625 left_j2=1.1927 left_j3=-0.8791 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5289 right_j1=2.2417 right_j2=2.2147 right_j3=-1.0004 right_j4=-0.0387 right_j5=-2.1288 right_gripper=0.0155\nstate[joint_eff]: [-0.0752, 1.8803, 5.5179, 2.0977, -0.0366, -0.0562, -0.0122, -0.2667, -15.8564, 7.0769, 1.2674, 0.0024, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgQwDBIycwSK1z-1ra1s3QtRhwObY4KEDfoCpqm4kAWKfHMwujU0i77FSJcYdStc_fX-cI-kq9mArAMooUyO39yAVYmBKA5kqf8SToalFlJCpgCXU5gSMWVrKvAkLliYBuYnJpVCk17opqw9hd8UIHrXYUm3MLJdFOLIm-AbExuDncxqxCgL_nqXCMGxRlIvUnIY1WACDeH7cn-bLUbNfa8yLNdRycxzBmrfjECGhf_i-Uztv91AfHvUFxkv2BErPz3ZEhQl9cTOOYaqY4PLqxZfz7mkNyJVs3rHXFidBhXCT1DLL3uGsr39Z5nbjHsUoSrUvuN-OSrF6i6wFkBg39tJdcOAltbph4DS3vwihkOfQvNAVQm2VnMnP8cL2z8HrI-Xp2PtfzXRZ0seuYaV_MeZSKOniRjlYC9L-7mxClT6M-GTKXJaxJ0BUBo0gKg-8rFju6uuVPHOBao13WaqtZ-qOT3k0G2juHbwCWVmFpfuoWNx1eTRWkAqVoCu_58KoKMlwzxpRU_3B_M7FIhxXb_F4APK3TS74XiFUEZ75Mk0p0EPt5mtGWVr4qgnnH3wanU2rjiad3gmnaJrgdaue5FgXQtFu5WxZCGpKDH-A34DyGi_UE0SnWw4ExKTo5lhnLBQyuzF_cagQLebwGEewe7KO0uF51anlWs8ZrUkCi8eX3prFKrYj9J5rVzjLZTGKu9wLoHzSyJdVP8gP09anP3GfnsziFxj-A-EyMBmVHXR0lfidLHksRmOgzQ2r7-YhdgsA0_a5oBAlQlX3tvd2A3wYDT2jhn4Ku-32YKWWnmX9bw5cnPrcLF6QhwBolfxyXB_F72JPyKiwAHDk3fPofLeD3wcJDnbqGJfmz4lSF6_vYGKCQy3yNpIBURzEKgps2EuihWR-KndN2tlwkn8d3Nlovkf-Kuv1oVSMRBbSaVRIfxrQ3kotAUJ_EJ0hI-DsgphZRO7BXFdItgYdH34Xw3wr11rzz1ihzU3z_w4cswo60b_FibZea9E2n82ZfCqWjMFcYauCfTF7E64MGpHZzCEW6mm9UVIVLvCavJD5-1Sm2ZefYJOjjDLCbxgoBDbM38DtqOMbcTf8goE96AJK28GAnf7BaDFP24zdzH8EJdRb6uZpLkhGoGTA8OEXYPHXaROCNnc7wn7czK3qlrYIS1Bj0AnXs49dkvixgSM7BK_hk_4in0moJVVrrbNJQqMoSHCDQds3Y_csNLmikmfE_P3z7-jTPUmT5VAEkO3EWtdlWgH_MdjJnU7LO9LfPCqknRNnDG42Y7PQiO9f_XfSxcKZg==",
  "id": "rs_01eaf3bfca25f624016a7e042f0cd08199abe75fe217f573aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The blue tile is now deeply centered between both jaws with its broad face aligned across the closing direction. I’m closing fully and will only proceed if the residual confirms a wide grasp.\"}",
  "call_id": "call_CHP3cDGJAGHex3PhJLISCOax",
  "id": "fc_01eaf3bfca25f624016a7e042f6dc0819987d9ab340b192594",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CHP3cDGJAGHex3PhJLISCOax",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6254 left_j2=1.1919 left_j3=-0.9142 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5499 right_j1=2.1509 right_j2=1.5295 right_j3=-0.9501 right_j4=-0.0311 right_j5=0.5602 right_gripper=0.439\nstate[joint_eff]: [-0.1299, 2.0171, 5.4769, 1.9463, -0.0659, -0.0513, -0.0122, -0.1846, -11.0838, 5.5316, 0.3834, -0.0513, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 617):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5870a115abb0f07eac85745b5c31b1cd06f6e7f8090729ab6200c11e40c12305",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 617):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca99d75a36f39e3fc3d16843c19602c38ee78c6beabe1089d418b9c4a9b5f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 617):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ecf7181706abdca7253e0c3386821c62ee85db01f110de7b1359484a5715dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 350 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6254 left_j2=1.1919 left_j3=-0.9028 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.551 right_j1=2.1517 right_j2=1.5314 right_j3=-0.9386 right_j4=-0.0311 right_j5=0.5625 right_gripper=0.9987\nstate[joint_eff]: [-0.1709, 1.894, 5.4496, 2.083, -0.0269, -0.0415, -0.0122, 0.1162, -11.3162, 3.9043, 0.2955, -0.2173, 0.2662, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgQ6wljdTT2nwsL4w-GplQaDIMKxTTvmWLsWMwiqk9RCJhA4Z0Pyq3i5b3EjUZaSlq3X6Tsx_wYefRmsTVA2tK3nxJY5lmJwGOcAkJbgy-D_5YkisoQM6WoyzDaGSLF0LvJEMYnnJ0mCInpsuGO3o_TmDLBBtzOyqUlFqjUkinorKK0JSuMr71ioZoNSKsXG1I7qLTtVrSwJicdXnbAyX63F7XXopGWfyQ-LbE5WzwQ9heoZvI1T0m6-e8XD44tXS8tOk3xdtYhOFMBmrLgj2_-UDFia8lM-DYOeK1drn9KkacTYyPfEtJXAJ4UCM9mFLWJJ0mSr3Ze404bbZQJKDeK1DcnJxBIl1RXc4xwrj_26hI2c-pC4_mKhcEjsuyrbVZYtj2_gW3a4alurJ9IPSKqavoSu0wKUERolxM7RhgprxeHreVtOA0C-KghRwOWtEpX6hDTU3cIvwwYbaxiX1ByJmVsT7dTCzl1t26lqcuQCaDUeJFRgkjQtu586tNYfRR4JDdye8Bqim9DpwN95cx79mY29Xy5Mc2Mf81HZ0f-jim4gnSy0wO30h7AXJWabokpgK1BpG6crjfBH5yYciWYbyL1LDlsudNy-_KjiENVzfBs6IxsIYaXIGisSJJRiu0BzfN22p8KL3TlutZpcZPm1wx21qRnx4djsfhEZl8XerxopbN9aA3dYHoU48VlenKVZbvmWvmEQvxunT4G57J_Ah_U4gwR4Vi1rLUChE0xjnxwvbIRfOA0H0NUOEvcXMMzy10Mte4CfcAId94RfQKVwwFq4_OcsHNEh421d8-Die_TK8wl0PUVQOozobG_M-BxB-h4splXSvkxz6KvFFwIE_VRKv0N8ptoEqUxxS6OUURneUz2Dq8U3JiJ4r4Xw1S8kx6jh7ae2WGIcn37H8ztbAsaKrVcZwjEWixW6m2vsj2Sy340kbSeYPVlXbx64ePeIohw5arodOXfx7FD9A8MiZB_8f8Q_QDDvfNuRq3cZluZIywgOpGB2woNaOZooNU3cvJdskRmXmAfxY0jbZSoLqZcjE8R3SbC-q1Btw4eaoMIpsBDhpqZRAAvl3LY4YGEaCszOLJyIna-nqeaZg-pir1weg_gIQFjuzS5zamppHDPw6Pnna66iVydTCryaUplApQ7MJKDtAWTrbJKo0rOh7yqzfRmZvx1cJtAM3YTCwQttj226anQJbo8aOeQlNnW1m7XfH32vgIYz1O5EvI1gWcGLoMFKrrnhHf-dhxHsf80nSRnsxIOkoMsMBvNm-Iw2K5JI1Fx1EI1qjbC20QKXhHR_yYb7jODTzHtpUxzK31QqMvwOJTsUr3Wr9XvHZSr1unL__8nskX4RA2DKpZjAvZ8WZ5rD4u5-jJScfNmV1LM9cW1Ke1zSTwZnBi7CRLH4dVaPFrp9xCboJI4C-vU5xNJyA-0RMml1wfZYukwZEF4yy-um8qhCBZCODxAnvt8wPIl0NWuVa8tzlLG5L_RgSFAQd3IVI2LnTcDgkZ2us8Zjyn1ELLV1Tu2TJd9SnktfO__Deaq8n0I6JHoWMECsRBSjC3gmZLlOgODpWRWWjFAFTHZhnu-qWVvNT17Kz6krVMkzj6zrz4XiiByyKjWQSi_Z5yGTetXnWFAWHexUcnauvHW-r6bOFrV8a5xNbhUBKVC6OKJqYseLuKmqy4MwUpjsZ3mQG-aMdaTCVnu0s-u4b5IcaRh0YVsNzka6I5PO2U9OYC0zoo51C0aVP1INeQ2-2ZgzXK3o9RenLdFEjdtYbfVLdWbO3KqXSvWXsWyMPBF11p9weWzHUZTdgPne5iWCvYuf2KBqUU0z51Wu-gRKsFk4OZRzyyTNOFsBlSCbWM8WSo4xhJx_BKK2xfMIc681jtQCjojPzX-VUEfY77TjonbJJkcqxp1tZNyeIPtFjQxlsvDn5EuS5QMDS_gX6IvOKZGpCM61ebbskLJaweSpKPjrswByYmqTvqh7xp4D1K0b17g5qO837cB5RVZ5z_oL86DwYhSUlP839aVJo3Nd4-RKEzkLv3Wr3l0X4ocONxkqf44E2yrd-pz4f6EydA==",
  "id": "rs_01eaf3bfca25f624016a7e04343df4819988dc0ef34b56c2d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.28,\"right_j2\":2.06,\"right_j3\":-1.35},\"note\":\"The residual is 0.439 with strong effort, confirming the secure broad grasp. The red tile is already centered just forward of the blue tile, so I’m lifting while extending the measured 7 cm depth offset in one coordinated move.\"}",
  "call_id": "call_tyOGTv1nj7Zom3oHho8FpujP",
  "id": "fc_01eaf3bfca25f624016a7e04392a848199bcc888e0d73aa98d",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tyOGTv1nj7Zom3oHho8FpujP",
  "output": "executing move_joints over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6258 left_j2=1.1915 left_j3=-0.9325 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5499 right_j1=2.2688 right_j2=2.0064 right_j3=-1.3224 right_j4=-0.0345 right_j5=0.556 right_gripper=0.4438\nstate[joint_eff]: [-0.1299, 1.6205, 5.2581, 2.0147, -0.0562, -0.0659, -0.0122, -0.2667, -11.0291, 8.7043, 0.2808, -0.0122, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 626):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95902bb5ea1ce10f09573fb23e0b370a9e498ddca20364a039aae2d922264781",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 626):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00d114062f81a8897c3b320421e06e68e229877b9a92be44aa22d6c201a87f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 626):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae03357cd5582abc28552a37e6f5eba20f3d66a5c622d7e9547759a999a7828",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 354 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6254 left_j2=1.1919 left_j3=-0.9142 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5499 right_j1=2.1509 right_j2=1.5295 right_j3=-0.9501 right_j4=-0.0311 right_j5=0.5602 right_gripper=0.439\nstate[joint_eff]: [-0.1299, 2.0171, 5.4769, 1.9463, -0.0659, -0.0513, -0.0122, -0.1846, -11.0838, 5.5316, 0.3834, -0.0513, 0.0024, 1.033]\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": "gAAAAABqfgRM6vx6nI4egh9fuXNuARzGWCNN8TlpB7EMG5U5ujNdkxig_EJhc_fFTIfBtPIrQxpzIgnwRxWARpSjtwRKIF1SVse3j7pSvEb5Ml5zBdkVDMMWJzbHbPO6jaLMW17RHFo9YN-TrXpX07THl_wFaZ-hFTOfseKXveeXsoD19kkwTtJuX10y4qqNTz4qzpxNfAzexGG7cM0QoHVT61i8Uh3EbtyASrlnv4Ka5_j05-7XIK9yXOQcB7nQWZ2Ab12NyclQS3ia6KbrcfNzurHW96oM-jE2llD6JPn1Jw3N1GgLiGlSNk4ACLVIHVQR_Y1O2tReH5ZgpVMb258IMZP2RNAnjHqXch2R4SeqO_Kks0XRrzb2evsF4tlF46W8fke_qLixX1lSTsFVyzn7s_S85E9vfgC9ko67okvHkQXjY2jWck5v7CRTugnBvhsa1fIxH5fOZd6ltq5vATsCzFl93pxcXO7_8og_dCV84Y50eNx7JK29N2urrL4L21dd2f7mPyPrLgA32IaBLSiYsSusETmD7RFO9z6Afi0OBoba17y4EtazAYjFUpCpzfaCV7Vaws3Fxsbuys5pNx13qXA8yPwKLTQ5MNZXf_0hEaHmSc2awktVwq2EvPxsWbWtPW9QyMvHii3DcSELTkLnS1H3x1My-q0PO2bPzIHaWFsUrYj15WiLoFySejtKp02Y02AJ--4VeHWilI3q30AmXEOTfxrZEz8udkMKdP0n0X68q7eJnQnCLzDO1djRecnuQwzMxSPqC99OX2kVPuPKO8VnRNnHGUzLnlapkEp1yinPQR_Dk6HzaV1OAa03waf08mKMYixk7lh4ki_p3xyEgqY6yX0J39FKqb1n0a84fJ2UXQ-nkD0U83by-PtnApUC8BlgPz3-S-zsdzylyxYTEGoA1boU6bR5B4cITrUSP9faRrgLumVfuDX2m9ppCbjNOTtcvDK8GVDSwsBZtCPgGdDlJm00wa_cc29YoX7cZhKzXbsLrU5z4oEVz_lCbqDnSthMtuLZqKO2ANkc9Rl9wz24oDLhrr8SGyxgEjn6eoojHTWYDRvwFEf1YrHOr143jRroZZ-xhaxC2P00h6hWZg9PQ4ITo0If5AKqVVdnWRg6rcGdE6mgYbt901a5UJyp2ApecywcKD9Zd1rDo2baYlOGXXncYS8a-nO2PYmdVmfJ6EWU-Fbgz5UFeUB1JfG8KfcQzN7uRAcxYU6iHaRiL8urbb4ZxmpfudES_IR842teg1N4gxrHiER-5s7PSokoNcen4815ItN_Z4wxNN-CXi95HWOXhHxDPtKTGPBLfKsotmZcVSA035Hm0rxlXgM3a1pz4apMLWOExajAolHVxL8IyBQQaX2GsWAtXbgmfO5ujeJkbmmJp2B-pVzoQV5NzzDOwdySyzGtg1x4pw-687-x78qYJxkLf_6BqcRZd6S0kA-0WYF9JDPoA9AaAuHDNQyGnNwHzFxvVbXc3hZkaVJsIsmvjOJNbcH3RqJlxAYs0mhR4SIBABEJi-ndnUxEw22t3vsNKuXInYvW2wb-eMqsXZDT3Qt0LR1OtUhukXsatEuXpl46fKwkGA7jd4b8fOJL4LtQ1TW-W_sikqnDdhbMH3b0J4bwihGARNrMgIO5HDqZV-0dn4rskwwQeUM21Ck5ea169FC80nfaqu_aaR0wJHv-OwnSk7WGB4FKpBDyUQAoufQbRkrJWv3XJWpGlPtibzBYSWgsfBARRDjTeNUSxytI3izxVAkIN8GFFEqTwq65WfOsZtO7o0Q0J8oSsi5JY_oaJcdWuMHfggNE8EcbeBERVunKrfz2AVUtdV26kVq_311L63sfKxpPP8J99bnjPWJtmlBSYqvtkXN3ncazf6jX1qWYU63Tuscfun4mkrmvTQI18ujJlWbxMGICRCA8CKNpZvBAjq7N14g290-hBEQFJj8sOnr_xAi6BBxSOFSdxIUgq2987jnXdIXtHSWcg_YPviM_VOJIz_TLv1pG70w1gzSSoDx4mzbOiAHUophXW8ake6RkS-8kSZe4asXt8vT0vOCztQzwvzOzyQRopyVp049J1z3wzUKH8Uq3CMJuzPI1sXDf0BkmzLKN8jEjhdi-KFpeW-vlh61K4_HfrDS1yWgaJ8_96pPW1ZffeUNKi3i6u_N0QMOQPVgJMFUzoFFF5iJ_33UE9QXBpCKwTtQ3s6Zc9zdRmqNWTu9UQ8uuzTUqnPCa3cHVzOFUlujo5SpQMqvapG8M4kipzxXtQwIOjhKCchiL2hBnfhS5fwxP6HHdCcryNAoT0s2a0BBQxFQv7nvwIVcEn1AHbx3qcId4qh2yDwPOkzZKMAdrc0hb2TJlL4WT4s4lnvru6ULnuFpxOK_qbjxcwlmQ0QYQQ9tg4RgS3CR4-iqUT4J43hpbMj0p5aueZHxN66ZF3tvmRSEC_SIVuIe3qjCCY7la2zIxeRZ39NvPeaItIf2yfN6yqSk95OoDpeXmPMAjl6XvAk_N4qBcGtFVU1NltzV5q3PC1zXQ6bO9NFAWXw_pafVt3AfTK-L95eKNDVtYPVjfoHIwkBkINX7b_e2ia76_RzSvSbFYmENzwJtbj09bHcwVXFXjx_js-0MuAkZZd6cROcNTrS5HAWPvWSy4W7lRdRLpDkzlbX9pul7ku42gK_7ZGJp_X_K5suRSvhBvwdbrmHpr6rOcGEJkXboSrgYRySb5IBzgXzf-A2rIuLblVaRM-553QJuZutki2RYaPlvauUoVMJXQfDXrRZPxcSDP29WkwkGYx_5_2m1XphfbKRay15Le4miPG0nznXq9vEdI9o3uEAv3_sL6SE7buIjGvdcVwkfsNHjO8qCvFhgsPVFYVh8jzeNwD2pMManDH2UIKXArBrWx0KFhy9p94XKxgI-H5BBBtiOP90sLy-NQWIJBypnN5eaGPTOwPRq-z8ALCTZBT3bYJSyp4d3eOAGlm2Uprr9oKxFfwUuWhW7iq0JpLH65m6uQrgud8PCld2UZuwblrBiGm9zP4Vp1uYiDWhzd1JxM3xnkxXaTIazIiB8mJ_pWyavJjO4zXZdjYFkm55BCD306fBit9V5mYlAPUU-yttyMGM8zpnLMkkSqH-cER0zCSzGw1GWQhEK_8ZlKUnYkX1zEtlQNtu3_7XY6IsPNCeG3DrkmJh6pgXyvSiaPuG1Dmmgo5H1IYQaGF4-W1Pv7a4Silv0KK3cPI3jcQYgakN-HQzGhMnJJ8ae1UaYatC10n7WuxYUoAKh4egrH7si45ikROVal4uSo6XeEuRqUU4jNWz5zTRx97fwTWV4LFOE3cyQSiy0icClnyZtWq0B5KB-msGasbrxVpsMgBGXBNKBdXz2on1s0vshgoJDS7MiQlZ8XpQlOy3pqDLbdJBf_ASTZQkoSzr-gy4XZ4QQ2d7JmYyOsC4k0FLASslfK5-FJYvkDFGf47UPtT0TZtTAA_Yde5HA8d37BQnke5Caapb16CfueJADA6X4AMNR91Qa6G2hRj6FuMipxcvmrUmdvqMyK-UFlxDCaSFGCs2v-YXNA2ecv1i_gy-ZS3K-QaHNI1tKpJadyTtYOj2syKfvyb_LqKQIV7UiylG41FjQCLxS27UeagRZZ_aueke5TZtn2370jX9bcvoYoXOLS_04g0yJFZf5jgYdNLGTsNBJDGOdLSLw1HOJmeBhG7xq9vvHj7cA6C_yVWAFs3OcSPFG8li-Fh6xQc8H-5uP3GNGwXvbeo45kNdzpYoX1GzocksZPDUSzxWoCDR5Nid42EPdEsQpZPUg2OLWxL0FUwwQc1FwYkP_mBKABVpjnmX4mSqN-D34omvKjXfRvvz23vrnxqkp74o-MtAr34mQ4N1Pi6zBJM3t9uw3uVXHZo8_96sy18tWSFht6IV28DK3Gcw1Llyunm7Nx0yppbX6W9AhZM4wwbPvoL0sG15mgd11PJ_PV1RZjAUd6_-8iyE0kzmDAB62_Ds0HYW3V-uTbEfoNSKd1kI--NtvE_LnSxllOfLY=",
  "id": "rs_01eaf3bfca25f624016a7e043c7aa8819983e40e5c541c7695",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgRM6rxcCuZkvesMbvWaaWwW5nfyfQuTA6It6wz8yDiLMYSW9ls6jWRMnEnsRa4NI4uiuRWSqIpjvU4CB9x6bM1otuWvTT6TjKGkoFzWR3oTGMNpdN80shjgq-UFKgiXgNIpjGKgtGjv7LHQrC4ZEazBv8oY6qeTdlNPrya5nmGAe1qBXn9ZRJpRj57AXYk8wVWBjFprQIphq7RbpgRV_CO_QrDhckLHtEHAJBctv02zAcnpKNauSFhL1SOTboxi_IqKBjwPgsIqUu7kqs_O_lKSpWHpnyKVd9YrRRfBG23YYVAS2c0o_398qufhgFRldsRWYMTRwMmlnLEw1sleGY5NMakOJS1OW6vFnuzoRE1e8u1tjCigm6L3R6hfCAhzmFOUTJAsQWV8xkUyBJji05LIsPPFd-JJTQGDtlEGWLjk7AjI-craK7iPdmOBdUW1gHxh2ESSgesxxXOIU_N6q9OSeRhQFxpSVHh6E33bwQAkzo81B4XSHypysBl1P_YsP3Ylkx6uv703gA6het8bsJ9Yf4svCTveFWtBguG163A1HmW_yy40N67KDSrGBNj0KF5_TDf1e5JjXkziKtTqhULVBmHP83Ju309v7Z3mB-kwFdd5sjq_tcqB8iZAMH2UILVz1piJ5-MarZUhFtVoK3Wrr5X3iqrBGDjzF1TXwSefLB2JS74Y7mm_uEcTmIVB4ZfsRX4l-JvfFjaEEQZET2Y4AAGVamwGoA5yagKLZiSEHq58_Qt3SR-qyUG7Lvnce4u0cXexPPyxjufa9rFinYqT-6wSKPh2p2EJ9HWc8EcNrnQIvFOV1UWhg7v3CwzZbWspILumA8Ld1jAQ1Vb8DxD0l4YIgiXZjsE0CSPfgZ7iOwsT_2sdQq9CAVxEspywYTVmRrAbbm6VuPwZSxiMZyXIH63ur1LDGEG6atfFmmNd2V9O06IZCcEXqZKm937N9aghqN6WyJ8zFf0Yq-243OvO9pld7slcDh9f4EKqP9KHYa8FL8FFv_LsOPGnekUOjYFcvWlsbaqHUC5yKdVLwN8GZUfpCDAcqWxNHM48NxdTaPvdulkos4JEL3UspRzEzxFUGWeoXdygil9vdtfR01qIuG7qGynpiTv7zNogvrcQ0qU=",
  "id": "rs_01eaf3bfca25f624016a7e044949588199984c769afc4f5c70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.37,\"right_j2\":1.92,\"right_j3\":-1.12},\"note\":\"The lifted wrist view reveals the broad grasp actually captured the red ice-cream tile nearest the jaws, while the blue caterpillar tile remains farther ahead. I’m lowering the red tile back to the table at this forward position so I can release it and then grasp the blue tile unambiguously.\"}",
  "call_id": "call_jSbJdda04NBjp6Brzrp7mzIK",
  "id": "fc_01eaf3bfca25f624016a7e044a682c8199805fa6a02e398262",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jSbJdda04NBjp6Brzrp7mzIK",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6266 left_j2=1.1915 left_j3=-0.9459 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5518 right_j1=2.3383 right_j2=1.9347 right_j3=-1.2213 right_j4=-0.0311 right_j5=0.5571 right_gripper=0.444\nstate[joint_eff]: [-0.1436, 1.5795, 5.3538, 2.044, -0.0757, -0.0464, -0.0122, 0.0342, -10.1538, 4.6838, 0.9841, -0.1245, -0.0464, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 630):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84afe112162ac6a4254bc34e13ab74f36ee5bd91ec3d807a4e64989b7610b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 630):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75b71ee7c636b282ab8a34ad886fdcdddd2395ebff8509133ec7e98b02b5987",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 630):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691a12856d74c82419fb15304ef3f814af5fd9dbee713bbc016c6f27f4b6b4a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 358 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6258 left_j2=1.1915 left_j3=-0.9325 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5499 right_j1=2.2688 right_j2=2.0064 right_j3=-1.3224 right_j4=-0.0345 right_j5=0.556 right_gripper=0.4438\nstate[joint_eff]: [-0.1299, 1.6205, 5.2581, 2.0147, -0.0562, -0.0659, -0.0122, -0.2667, -11.0291, 8.7043, 0.2808, -0.0122, -0.022, 1.033]\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": "gAAAAABqfgRQ6XDwortBRfXfuACYEDpBT9EDb4BIgs_lyvvnMl16bwo5AiCRmZiZSNRzBhtB54nzPuHFZ1UwHV2AmmFTe5CBAHFk4jHXFii17-FvKRKUVUY9b4zqxaZcbkOF4AMr97MNLLEaYukwE7gHW6UJWGWc6dqzKNqLgEL-MEH1ewivlEi31cKNUqYfmr-9lmzrIIdMNRvW6a-ORAhVZREjg9siGW3uXwErELcpLVF7RpxsmVh8WHlumu-rSoorUSaRlMBt6dbboqx7ifowgqaRQAMtESBhYXryzrHytaaTK6UmJHw-ZSbh68cU9eKDVauk1JIIuU62Jefa_uEo6AMVKDn-0JK9oxBVjUZcxj-_ULjc261RGTqPfIyvmxtwWHixxHLDjONOpREvJVNaUiY2ZTBfqOXzuXxG3hyOdUl74-zTq_pVgV_xkaaBWcAHjlFDr1T8AysshkdBxPB9HYhE5cmjFGBRBU0Gg8R7K9IWOZB4CchwLDUKkIFroRiW8oQ5lNdbgt6l4NVfyOTAcGzwV20Y5bg9pI_Ss6OK8CLySGAkYGvVAOleMNiIfn9ZCSaZoFhaa1hzKBbPLi__0_XB0Fj15oh0JaKAehsAG1OKRYg2Ax00HRahJCuzojWVHGgjO-breKMexhIRlEOIpQ7q8x8l-3mR58OhlRXZv4AotvL6arwy9FNY6pXxoLxesUQg82whPIz4VY00yhAkAB7cLRiD-SZ7msOk0hJhAGvfg7BscNkN6S-JoLp-cniB56hMtnY2mA0NAvdgSvoPz0jijPoIcUMucFJHG2hyP6AJCahr36fUAyYKNAsXTqjcmVo8DyYSIlRK2U7WhhTXTxJIx_Ot53QyPwInNZo0nj5H_Odi_6MrAzkabEeoXiQIu488x-JI-5VqPmA1_yGMdYhj8y90etHsSh9ORpCSvZu75H5F987QYya0S3dVbe1yC6AAPoLnqKVB_w5fYiCLECC-Bh_n6nKiiUJFODw_XNXS3BimdBHaTbNDWO5FVaQIBEO4NNERCTgpvq1ZmnbX6_lOEjLS_cP1YAsYlA154aqbRFXLhODVLoyjKrLzNkrIKIcz1vgwhjYeV4aLgL6BhxjffDoGhKuZBZWYpLBcL_ScoI17UCo=",
  "id": "rs_01eaf3bfca25f624016a7e044efad88199b5aba42e1e1f63bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The lowered red tile has reached the surface, indicated by rising wrist effort and the tile filling the near-bottom view. I’m opening the gripper to leave the red base on the table before reaching for the blue tile.\"}",
  "call_id": "call_qkOQoCBg9xSNIcxKNGo9337c",
  "id": "fc_01eaf3bfca25f624016a7e044fbf50819981b259f31b9dec5c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qkOQoCBg9xSNIcxKNGo9337c",
  "output": "executing move_joints over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6273 left_j2=1.1915 left_j3=-0.9585 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5514 right_j1=2.3398 right_j2=1.9331 right_j3=-1.2293 right_j4=-0.0345 right_j5=0.5491 right_gripper=0.9953\nstate[joint_eff]: [-0.335, 2.0991, 5.4359, 1.9414, -0.0366, -0.0708, -0.0122, -0.0615, -12.6017, 5.6957, 0.2369, -0.0317, 0.0562, -0.232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 636):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9948c0bf6fcc14ef7208b04098d0c4d02181dc2d48616e5c4b87712750b0ffff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 636):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a261eb8c8c6c0a22da1a3126528e239bfbe876e0cefa87f5ef582eff93f60cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 636):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee008687e5a0baa79a57c107dc9f4959b01e6a8486149be3f637255d7b90b0f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 363 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6266 left_j2=1.1915 left_j3=-0.9459 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.5518 right_j1=2.3383 right_j2=1.9347 right_j3=-1.2213 right_j4=-0.0311 right_j5=0.5571 right_gripper=0.444\nstate[joint_eff]: [-0.1436, 1.5795, 5.3538, 2.044, -0.0757, -0.0464, -0.0122, 0.0342, -10.1538, 4.6838, 0.9841, -0.1245, -0.0464, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgRb69YobydsXUe6mONc7qtW3O5zUEhuyaUHrwgpPO87-YmuiLYDFEq5uns-bmon6l4B2lFi8Hi1cuk0XYbnXKPDSc2ee5U8spSDyoMgzv2V6kZHT5Z7G5j5Yshq3rGXbT0QaO1Hmi_kmqZVftW1W-TJcy4YCp_WrZewtZsWlv15kvGY9MwKcbfFKMMN-4CWBKnpgH4q4-3Wukf0FtRQksloOLun6ifBXt3PqlpUMuAe4EHNTg3ulR1EHpluST9R7FUdWQGIDI7sNOwc0WDGmYggZetbtb3nLPRr3vnMOqGtgL1OxfsUOu7SBtPsOszIqbhTS3orfh_fXxZbhKx-SQ-pyf_xF05Gcxetku5gpNINPMHX8khMapgfoE2MkM7FjvWp2CO168wHBRNHPiud9m1LXAfDyLE4Ndc1nYhHSvlzrhVybYbEzeenTJxV6jDrvBwSx--8sBN9NzPhqYjsQP56ye7dstM2ui7HxUugTLsLPGMXHRQLiw624N0kyI1Oy1xNwgPbQVo1FjuqbYwlVZ4Temu0V8X8VXdEjDFe47Z1p9D8YjcolRwt2ZUyVHgxozBPB9kH7nz7cLXUOKh_yMWRr0RPMI36oXgLQbrAVnr7bo7nPB_BJxRSziQg_r5fhH5G79KuWvA0CgpxEsgnb29dyDG4bPIKaGlt12uMZGvHcvrhlNP6Zb8VMbp2QPmJlaTQsuzYs8XMPw8q5fV0fTuGxJomQTXd2n--g_qg0r6xTh-HuR5wTCGy6XLLcq4fNtqgV5QTuG184t7ZXrdDiQrpSPLp496x7jeQ3vy2gMjh7OdyqW6jMHFS3bF2yvCzwYy6iKqBUmDHC1uwf45hjKI2zbMgO3RYfvzXRFjD08Ti905YDTChDQO_2qAqfXmkpAkO9Ia4SWQrX5h03782ovSFveBNUH6De61H8JCRGmcKiIdG0ClNzilC77_f-9kG9p_xglX3qTMe00C6rnJl9tSNVHb2lkEUNlR4vE4gd9cjy_5aU32mrfvyVuvV2VsBeG2ZVLf5s23mv8YzF1fKalgIZYra3G69Z0AndoPLnDUFGIQNOSi0jARXlgDkf1oNR59egaMvprdiccj3M3BZnd6lUR8k7nE5gusfDzfWRIqwslO0D6TlMy67IkbQZNlRaEWTWEVpLPpU12syoB0TcaK1_gL2YG6af06R48mdvX3JuaLNwBiykvFX9oSVqMfEjvTWq1VkIb6fKJ4qtL61cnh8Q4BqkoCJRNEcwxI7_YTQHD-93AN6rGOC3p0CG-B_O7m5yEqplKb6CA7dZhYiQzgDSmrewXd38KSeFzDKa3_lKtso6lJw-0xzx3xum2zqPaypBfZKVK8MKBZ5HcBmY-4XOQ-GXQXs96hS39xRtf3gUNLoTeRsNfVE0tPDXE1m4YACmCY6VPTrUBTZJx8bQhLHWHr3YYDrMXNHkKTYuy3e8LLsiHbKaglyVGWlzySOELH2YIzFs0hEuWmaQtXTdu1cuecAL8PNrb07WK5lxQfm7NgKAPGvs_Ec9tUNL6eWObtP0tSfB24_n6x-BLB3FDSj8xAR1vtmjGxibYHdJNb-5UFzCkWy9R6cT9nDuKQvfef4_h7ZMz49VtFng2iooGkkYBncIUOwuOoC8Z-Vo1W0tKXeB9eBbqXtCL69enupm28hBG6iYYDMbWQYITHaA4H3JESekKt8VyRfcWZWyQ5OxotOGx01aRwixIEKY_C-iHWIB8GuZoSlkyHz6TAqQ9QDzRU5vVqlCRDq83w0buUaD2DOJB2BBX_3kzgvgtDJAOc-L50F_f8nRD_o-cQm69axo5VNQYf3vS6DsItf4sfohuEstJdPdbQxt2MK0Cohrj_5K9AASEGjd2Jm6bqRTPcJMPWkzxoUQMWEZT0nKqpLJe79W4wdrbVHJ1DVpm_4mNRKryH5ZXqxDSBGeZrERZNEyW2VuR89EI5mHmiAj6y-638WRbqQQT9ScMKBMDtlE6PY1b_VvSYXV_7Q3UOpcCwWEBz-ecKadcKaDZDk8zf0-79LSvab_QCuOiJVaOYuUKXAjS5KV4zI3gOXmEktSkdLJ8WVaOh9Tze9jQdtLwmdY0-zEjL7txn1cQW3SCY20GVgpo1p1sGik26x1V3rS3mjYYq0rXuGWaP5ImzxnpxU7Szn03na-6zJ4d9xcNdzkIxrfZKXUArQ6QiWD3evEBTp83pNv4GQGHK4IGryFLZW37j6a5CT-fPZ2j-Ro-eNiCUMvHoE1YpZcgwJ4LaDiZkL6w==",
  "id": "rs_01eaf3bfca25f624016a7e045349ec81998a1c7fcedbab1eac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.45,\"right_j1\":2.68,\"right_j2\":2.81,\"right_j3\":-1.69},\"note\":\"With the red tile released, the blue caterpillar block is clearly visible ahead and about 6 cm to the right. I’m lifting, extending toward it, and yawing right so the open jaws approach the blue block without disturbing the red base.\"}",
  "call_id": "call_J6Qjweg04oPK7slKyhLInwgb",
  "id": "fc_01eaf3bfca25f624016a7e045997e081999b02900c19cfbf4e",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J6Qjweg04oPK7slKyhLInwgb",
  "output": "executing move_joints over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6285 left_j2=1.1915 left_j3=-0.9665 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4606 right_j1=2.6625 right_j2=2.7628 right_j3=-1.6794 right_j4=-0.0345 right_j5=0.5304 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, 1.5795, 5.2308, 1.9023, -0.0317, -0.0464, -0.0122, -0.7863, -12.7795, 7.665, 0.3834, -0.0366, 0.1783, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 650):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e56b579f65725e45ba1f0f08efdd049c6b6b459eab7cc896dc8f734683683ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 650):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2425610c6b635246d37369c06209d6d9a83ad304ef71babfb08a96f2fb6db272",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 650):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2010ad8e48bca73d8b425044bcc593fdfac94827de2fef7f65b63ebe6849b8e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 367 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6273 left_j2=1.1915 left_j3=-0.9585 left_j4=-0.0002 left_j5=-0.0502 left_gripper=0.9989 right_j0=0.5514 right_j1=2.3398 right_j2=1.9331 right_j3=-1.2293 right_j4=-0.0345 right_j5=0.5491 right_gripper=0.9953\nstate[joint_eff]: [-0.335, 2.0991, 5.4359, 1.9414, -0.0366, -0.0708, -0.0122, -0.0615, -12.6017, 5.6957, 0.2369, -0.0317, 0.0562, -0.232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgRlgHCdFCjDY9Gjrn7rN7gFuNwmw11eyNZv94vZ5dgtq9C3YC-ACbS1xkJ5Hd9-YvuY0xRbppvYZPAn6faVgorzDJtFFzEHjJuC3W3ebPelBJvwWr0teaT4OyciD9T1vL1lzIl3JhD6nKcpeaUavcWXsVr6HERKZ6_cj-Tma7XjwK7U-O5ksPwlljmVoTF0cb1uaS-hDFMxfC0NJ4vLmTaUTKrWLmT5hTzzvHelVJsM8QD7GPrnWplPOpGBE0qTSNy_aM92lq2xepHe8IfB5fwoxms1wzleC_yOo2wwcH7e3A26pNBCKL2Wexl6cL6MUy9QxZLFsY58q0yAjLPacZQq5NkOXt65Wfwn9ozIV8PZBzpAtxneKhInDWanEi3SgF4EL3F0WmRPrFehUdnWWqJ6TbeJ-BZPHdG0X2V7BeWOQoPK1xWW26bicfNkzI2zr_0mRExFuJppVpKWmtPa61Y9AMX6R2VTsmlgm_XJ4bf0XKFIQOCfrZEK52tQ60M5fPCesIwApIqwrO6U70U8eYez10NKrpB-ILuaM19bXZnqkBWIxxhJjfd0Tox_9ewip-TS00NNTn6_6gAxkjC-qd3sF6Kn0NKWgubXUDwlVcvHBqhZ6E6ne1kVoImI87AlhENwfwPby4C0mlFyolph1UpzATBFlgZJxL5Rx6Za6NL2PhXccu3gaxQMtuWmJnS8uazBq5ar33zzck2NqovoV0HCnVgep5KJJzscagLFkrpokXMtR_mtbiIIuvfAC4jKwofgjlqt-DLuK5SCVvXf_ai2qPxZRZjHslJ057aYk9lLqkh9Yvp1sHZFyVZr8xyYC5XPgoPSmAtFrt0zkFhmWF_h_5jIpk3d88v7DPy9f97DYBQUyTUnmn396rojDAWLYooLyj6-saJcgDe1CRsz_Tkpy6YnH80lhuDRqo41KeKxBEc7JRcNOniJNShWQoHmYlFZS7dwlYIXdyW_W7mBfyblisbHXqkdQ3Wz8HAs7BYRLthCQG1TGYEtEGkMa_dCzIldBNhk6zrmCsz9DDjiLQ4GO90NRILFH-aLAUUCRsrijuDTuc3KjgXYXILtmpDqRbBtsdmeHcOs9GHXL4zTK1HrvZcYTiAdddcIpH2ABQ8MzVD5nDYkBgdE2wsT_wP5DTxfZNFMZ5Zw6h1UuDw6RjsVrMHHe-NMP_KiPARiO6iO_9PDp4TTEOclm5fFkIasWwY3Fx52w62I0L2Nf0DyN9kSmUEZElmq_LIFUfl6B-n336aRNzitosrUp2NOnjJMIcxYdneJJtDtXd7okBL9yiYB4eg7N4PctDT-CDXDfGf4_AS-PSwLXOGqEdFrigOcKZno7VUZvN01r3x9GNG4343Ju2WY7CeIPgrbWcbP7O4PvyrlxmpdbIrRXXJIsvBKlaTtFmTYD7tA8lwdTwdRGBhgzRXLfgxj8YfZ0fEaZ4aXGGAfkO5RobH7r0mRt2WFg81pJm12j5b25JKaSeKmkbzQQb_1KC2cIKg5MYrTXg-FznHroJh4Wv7g8tFaZMwlPZ44QeXIFSrcuKJwU6syqa8WT2vZDiKxyVyEaAYbu02PyZbwLBToWMBq3e5-mf-Yv5K9rJyQwUbslVj0RKqyhN1xDKrACV8_vVF8Lr1EweuQ6JLm4-MoHmFbA0ri91_3Q-XLwK100_fQaJ9NGeZ4Djksq0g5v62CEURg7gfk-aipYNBahbO5QOhG_5PWnD74QGVAWGCczkv1dCf85ucG6ArqnRcuNMGmKAF6XBB2-2gbK4BfOP_pxBDMa4Ldodc8VGRmgG4CSMerOkh88aN3bUbLnDtG-7GHuFIGo3TpxgxYK1PnEwQ9buVJaeZAI9n6qfQEr-CsUMaSgfeXXOpXr76SK8VVq1x01BL8dbz9949UlDiZPnCXfw5NjdQ84s8s5BPBXMG4yKCZgShWAL23pmhjiC8IzzpZ5N5tGAD_XS6egMRppcq74Ab8BehvFc4HdbYv",
  "id": "rs_01eaf3bfca25f624016a7e045f19d48199bc0a49b69ac2f942",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.64,\"right_j2\":2.45,\"right_j3\":-1.12},\"note\":\"The blue block is now centered between the open jaws, with the red base visible behind and below it. I’m lowering to mid-block grasp height while adding a small forward pitch/extension so the fingers close around the blue block’s sides.\"}",
  "call_id": "call_Hll0y2dW0GrpWjb53nVX4gvi",
  "id": "fc_01eaf3bfca25f624016a7e0462e1d08199a1578e1b1c9b1709",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hll0y2dW0GrpWjb53nVX4gvi",
  "output": "executing move_joints over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.63 left_j2=1.1908 left_j3=-0.9779 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4587 right_j1=2.6396 right_j2=2.4554 right_j3=-1.2381 right_j4=-0.0242 right_j5=0.5156 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, 1.4701, 5.2991, 1.9463, -0.0757, -0.0708, -0.0122, 0.1436, -14.7077, 6.5436, 1.0965, -0.0122, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 659):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ceb0bbe91f5cb94a96ff27596de96120dc307e91f3fcbe453ca95c655f51b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 659):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea066ee0429cc3284fd6b8bd0a60bd8f738fc87a763190c6dea72df4b060ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 659):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3620da3540ea7925660abc6f7ac005ce58a4b2d1f176b52eded57397a77465",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 371 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6285 left_j2=1.1915 left_j3=-0.9665 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4606 right_j1=2.6625 right_j2=2.7628 right_j3=-1.6794 right_j4=-0.0345 right_j5=0.5304 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, 1.5795, 5.2308, 1.9023, -0.0317, -0.0464, -0.0122, -0.7863, -12.7795, 7.665, 0.3834, -0.0366, 0.1783, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgRp5Ehuyox6EJcKtFajduIwg5aXnfLY4dFTPX1jlTl3iPU6ycvCXp7Sv1xIvcWXegUMqZPoqXeZiAFNt1WtfE4ZUmHgG-kVb-I0t8jXEee8lLbO9us6XkiFmLWvzRWl3yXnMZR1iW6hTshp0CBaCG2NPhEV0ZZqP09Bxn1b3uxPRTwlqp-n1w0aJC432c2vweWho6ukaFG5lHEshNHc1oD3xHCciKhbFukPFxX545nVZYAolUwoGeSf-UL_zGDmGq6gDcwmJdUz_JjJ5pPEWNnzH2u2JdpKpOt1xrG-DRwwO67CmX4oVq2YSNs-oEWhPnHmUyYK-5_9HiD4LdStZO4r9tUbszZvcAxGAyn3R5utILZoBLKC1so37DTz9JSLzLBY97Qlf1HTlH0g9MZfFWkkI9Pa12eRp8yiIUNIpzARDtPkcSd-A1nNnqvTG9pNMq81g1SMXTv2dtvACYOj01qt5ag1bGkVyfkrnYrunKbr3UXZmHNQwDD0tPqqYU1TVoDo07hkFewJBvgG3sB9PphnpYPSmhuaAsOxctvzdJj3eQscJ4UJBRAR_RIVQv2pb_3tuiYmdNIReFeqUgf8KHDmjVQO-ixvQTiuMGgXKUtAItvDjAGTi_Gdju1_7fHVYZV2l9aLxT8-C-dF7XTo19YOXAC91-G5c0d64L2qv0jwoIY9lU4h8lgUSOiW9rPcuTSAxStt3PlSWoda06T-WLOiQMclXEHk9qRLOxaCagc5FyChV3MlOKYNDL2I2UuDa9JVZ9nZTttZLOzZS49--YjNm0jdoAqsXLOFS8v7gU36RzhOm6VprpjqxwTUQ61o3v3xoRgxQt0QhEYqiVb0zjygPvai-mE46MOSqLxrItd5Igc7_3z3wenFJWqfBp-LIoWRgVMWA1OP8aduYHvzqz0e8vIyyenhCCPoOgSm6joA2AvgTzu8i1lGFiYUWPoFJD2e2fJvHz4NJfdHZGH_JJ8joORNy225YH0f1khz_m9yB3Z-mXvh9yiDDjo82mGO1Kgn",
  "id": "rs_01eaf3bfca25f624016a7e04681960819990322f8ccc853ff2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The blue block is now centered deep between the fingertips and the descent produced a clear wrist-effort contact rise. I’m closing fully around its broad sides for the intended pickup.\"}",
  "call_id": "call_FHMluh6Jg2hQGx3kRlbpMYGH",
  "id": "fc_01eaf3bfca25f624016a7e046865a88199b4956e04f952ddbf",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FHMluh6Jg2hQGx3kRlbpMYGH",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.9844 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4625 right_j1=2.6408 right_j2=2.4435 right_j3=-1.2457 right_j4=-0.0341 right_j5=0.5114 right_gripper=0.008\nstate[joint_eff]: [-0.253, 1.6068, 5.4359, 1.9414, -0.0513, -0.0415, -0.0122, -0.4034, -14.8581, 6.8718, 0.5788, 0.0366, 0.0122, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 669):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b620db1c28f2d6b5e75d77706f123796c6c89603f5d185bd1039dcc155fd30dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 669):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b79cba0203ddbc6e39581fd93e439191120035ba40076ffecbfedb0eefb518",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 669):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3948c7ca559656ca8e053b629faf4196d8d5c05d90ec61458396b05e9e77f402",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 375 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.63 left_j2=1.1908 left_j3=-0.9779 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4587 right_j1=2.6396 right_j2=2.4554 right_j3=-1.2381 right_j4=-0.0242 right_j5=0.5156 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, 1.4701, 5.2991, 1.9463, -0.0757, -0.0708, -0.0122, 0.1436, -14.7077, 6.5436, 1.0965, -0.0122, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgR1_j5SxDIMwze-mK-SFVVIX5hgwYsA5DrhfXLZcXPozuCqdgAgyAYcrUQNr_pyLIqulapMNkje51tjRG4fF0qdRyYMXPtyvS0VR_B4jD-nRMWVHLz1FuU5X3CQPRyNbY-i2ukHGaIHvMx2y_NuMmDnsSPNLnbDhqk_YJjIK31kJLjgFa0bxCgNOr8ShjYyjnSuGsLFyV3SUKPg605I35SOxUVlHxirXUFTj2Fm3fEZ5XtFubd51XVVUqJUFZ2hLzvSjPmdoQLBsymsnATqRHQfyZtJDNd-662zn0LCQt1CZc6fPWtbjBBQTQTa-gnn9jqsWBdDI0WoRwU-YyUdqnWAlSx2ZWpBRspok4UQpndUWijMnqNYm4DfBHJgoYM1lzSRxjGA6uw9ss3eRINMPnUs_VAFYYHUaCeahkBX-INTEfZwXcMvn09XJCnINebmSudD6aDmMEjvqZtqgVIk1yTwoRMFL1T-OUhlmb6JGdPBHaJtkuG4WLddtv71a0w474u9mcyUH_kNhVnVYCyMk_4wDSlXtseUhgIvVHjsmjI18z3iVBtsQxSaMd4XnAAg83CO5an8ND8Tb6h-6L82PGTtguuoyG1Dewshkw8M10RgOM76wdUTxghGnGUd4TFUATPAWHGkYs33Gz3vUk7EELBVCCXQkt730-ydCbIOWHrQL1w40fpBXt_LKXi4KB3LOydPg1-CIOwPC4VRgjIF2_8_uA9A4j_5Ss4P0uO-Omo5mPu8zY0Y_-S3PdNa-zyBs3K80Tqmkyzr2hvsEvp76apk3mdMPxY9kRrshi1Vk-TKc7aBXyZffHmRRJ7jlkFf9WIQsbj1xe6OdjWIeH6DC4-Y7C-c0r9Tm_dbdl45UpZe4O2zoEEXocOqAjcb6LHahowwzqbc2DVnqqSjKlGpY15Y-nRVy3eyf-VJZHU8ANGWvHCe5FLa_-ut6eKPR1MJzC6DQCIwJhbV9hVEXr3QHEGCathlXNAr3X0EdtdEiLo7F8j7kY2pNJTXmt4_RRulWLWwQg_XcK2hT_WtY2zQSbqbAeU7ycZMrdccLQ-xY9X1elDCx7wP4gKO3KPz0ZOM7IFXbKHuNkspgTM4yP5WRkPAocqQ9KxCodwhQ261OEsG2a80z-DBWfS1B3JZoT40Y4Mp1njiyYESXhqIvt1MNByEd2S5Oz_-XDuHUxOJKuYG27F-1mEeg-AFB85eqxdRDPejXf7ywkF_9xVtVOE8arnO94xf7nqzKRPVV4UlXdM54vAtlFa7C8nneLQuoQwmqRKqbS2xSeCyB6OhSwZ2Oc1eeVvwr3LTrVbme0Psx2NvjIjU_HSdrphhQ_G4Ms5W6CnUZQERwXU2e6Ha3xf8MzEOOwXcvrirYgxdu7IV6cXXFz9MIt1mJcCjMdR-x8rOXu_3SUo9x4cgjR-rIKvfINGrq_dhZShiF8dfBxz5y00AMNbGLACiERo9dPbYkd0WdbS9JDv6b03GLWX2uljx4MZPU0__PaO3KvjFT0UFiO1IrwgM6FbkOxs75Dh19gVVLeMoPkoO8cn8NLGxtorbdxYGww2iUgrKP1Md3fUAhCVqrGyEyJeknI5sTekF9L7q2JiTqX5Cs4Cv0vB8MiZMxeSohq4NayXw578X5L8ObcevCR1uC81lAObhmujm99tEVnYGUFLBjJFY9DZIHCwZdpJAgcoHisslnp524JaUIHkpynpuFtQxX7ABZHyWrEpWicJug2WP1ifpsLK3p0z7XInP934smEttAbwLCzmsOG1ddryyuczvi-dZ1T1rJh1JGip-YZBkBWKdi0NFQPNbgYoMtt4BjC0jzzVp9mL8Q--Nnmqw1RhEFWzLyOzAw-zg_H2kZ3Gxg9_vl5KzYnv_ZNCDTASAsM0vLeyMgFk-9eQEz2C931nif9_XMW6E-AfdG4a0dqr3OdwtHM0YX6H-miXd8hmtWqPNYqplLg73RaDER9ogRNX5DNG-7JJRHC9p0XOJ9gu1VMMjBAtdDL9PLVauBXTnlrnmhZoLhM0juvR2M8Ly4JFHWEYsk_ZWn7CTWS7UC17klzNMJeBN8ryEEuLT-PnxnubM6lcRxVmbpVsUJ_lE7dPfQ1SU6-n5tVLxEyBgb4QxTi_Z6cizuhXTlZbBWgzSWqflK6hhS8ovunq3SzFz5ecSchSgt2yI0wnJCySEdkBtFwgQQqiySlOFGxzfehKB39E-s568Jvv2NH_0L3K1IZSLBaT8He0Dyz1M3j0j",
  "id": "rs_01eaf3bfca25f624016a7e046e83e48199962edbd8bad9aa0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.56,\"right_j2\":2.43,\"right_j3\":-1.17,\"right_j5\":2.08,\"right_gripper\":1.0},\"note\":\"The 0.008 residual shows the jaws closed along the blue tile’s thin edge rather than its broad side. I’m reopening, lifting slightly, and rotating the wrist 90° so the next closure spans the tile’s broad dimension for a secure grasp.\"}",
  "call_id": "call_41EF4wU22mnMcVUh0UxMcthG",
  "id": "fc_01eaf3bfca25f624016a7e04743950819999d042db380d2092",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_41EF4wU22mnMcVUh0UxMcthG",
  "output": "executing move_joints over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.9916 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4629 right_j1=2.6122 right_j2=2.4264 right_j3=-1.2217 right_j4=-0.0364 right_j5=1.985 right_gripper=0.998\nstate[joint_eff]: [-0.1436, 1.6479, 5.4222, 1.8632, 0.0024, -0.0562, -0.0122, -0.1436, -18.5915, 6.2564, 1.0867, -0.0464, 0.2271, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 694):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2471e80768726460fab3c59885fc60032b8e10787ed4181c1e31a5f75361bae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 694):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5ec6781e105110af94db634fcf05c512857beacd8b2a7cbd131816431cac5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 694):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfdcf47bd8604821eae21a5c51308254294ffb355a49e1ec0488439fdf90f794",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 379 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.9844 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4625 right_j1=2.6408 right_j2=2.4435 right_j3=-1.2457 right_j4=-0.0341 right_j5=0.5114 right_gripper=0.008\nstate[joint_eff]: [-0.253, 1.6068, 5.4359, 1.9414, -0.0513, -0.0415, -0.0122, -0.4034, -14.8581, 6.8718, 0.5788, 0.0366, 0.0122, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgR-CkkurAoEb8aD2XMfifA5PR28DWDj-R5phXMdM0UL2KklJCoSoEk7CmKlMORaveRqBkYSbhJ61DWKrv9_SiuO7nK1JlP7HAK69kt1HtsMm9xQvnhGTi3epoepwzWFdX6gYyoq5gk4nSu_E9VLUlx8AMywLUSm7tpqVCLSXosfF_lBisLUeHMAxqOjmitWgMb94jpM7KQya5PraOk3jKApowKEFjvn7It548Fs-Lo5aklzZhwHEUmLyP6Ljw78OJQmeG14Tls972slYadWxlDv6QaL5v8UEvVgZHCQNdz7mV94aiNSAFTwPUpJj4ASp16Cj8xurxUiQ2EOYOEqivrFIOX4nyfjir19g5yefR7Vvs-GMxsF5j17PQ6k8ABiv6K3DwBqNHq1Hluk4FP6V_RDx2ftaW1BkhdoHcBJp6kNrjDsaSjGtnMDm8AMjiPIpOAzIE7miGWjM8is4NDer0G4ofcAilmG9L3EFrhzqLA3odC1kZYEYIylpPz_dj88FduMuuQCTn5O580CEIK9O9l8TzvxojGcEPPaKLRwKu7bNSQqkqo5HsvXtIc1yr09-UD9oNxX04YXKrNV6cCwvQ_h0MlZXySvNlymbHhRzz9dteJJBcu3ifpOES39m8UYSuH9oVYV8Rw9XI3O1eHsoCKn77yAhJXlMmmiqPadk95ahj8HU0YT24m5dxT9wPTubAxZgf6GsbP-SEyx-l5uISNWAt-yZqnVjMDxfuQ4dZ5-83ShvmXQL9P-tyk5oaBt59EanAxwdM8Q7LIl36IICXYAUysvDl-Qp2PToa7QLAdC3tD7JSItqkRhUd-O2jdVDZlCLIeEYRNoXBxZY-ddOeY4_PKi_u7ytiysn5nmUalL6XLr8t5nwdPqiw-V0RNbKXMTR9ThwgLVAIcaXl1dhl2Y13TYIX8ANuo_5fHSpJoqk9FkwiGfO4ES3Wh9uiapXoTMj1_ZTNyhfJCLczDdKmI6oC_5DK3ze8-TmLoe6vgJ4HcMCmn-p0N8QOo8yR7uYb5V8zJCp-bOlZVj8yQazWd1CSa7megqcrhZ8SlI31gis62i1iSAkuJoWZnOP1xA70rEEMMXFj9F-Zl8iux15ycmow4iv_495-El5ddakviAWik4N2rk6mF-C_0hOqnY0aRfw0-Fa6vSiClvjgmNpQNWT2PwFElF2FFZb7NkqVFAUysNhcwFoky-rZKgBD_SaYYAwrIiiQ19I623FtTYcdJeyBdWeSqDuI-Rh4bfLgsVJ0s=",
  "id": "rs_01eaf3bfca25f624016a7e047b74ac81999a145e14499f0886",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.64,\"right_j2\":2.45,\"right_j3\":-1.12},\"note\":\"The wrist has rotated to the broad-grasp orientation and the gripper remains over the blue tile, which is now below the camera at the fingertips. I’m lowering back to the confirmed contact pose before closing.\"}",
  "call_id": "call_k3DomGMEODToIZZo5qUvniRu",
  "id": "fc_01eaf3bfca25f624016a7e047cf0a88199a31c0a1a23d59753",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k3DomGMEODToIZZo5qUvniRu",
  "output": "executing move_joints over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.992 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4629 right_j1=2.616 right_j2=2.4271 right_j3=-1.1839 right_j4=-0.0391 right_j5=2.0148 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, 1.6205, 5.4222, 1.8242, -0.0562, -0.0806, -0.0122, -0.1709, -12.7248, 7.9658, 0.9841, -0.0269, 0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 696):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0caab9a229d763729fd16c8d6bf62d9182d9770a0ecccc7431c964f6a84e62ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 696):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4adf661f952a192f8f2d45e5cf8ddea3f4f890d2af1fa22f4fea48be9887baa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 696):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5befd19b4f12480df80381776694327cde2ea3819a9a5d7a1eba7b8ed40b8b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 383 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.9916 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4629 right_j1=2.6122 right_j2=2.4264 right_j3=-1.2217 right_j4=-0.0364 right_j5=1.985 right_gripper=0.998\nstate[joint_eff]: [-0.1436, 1.6479, 5.4222, 1.8632, 0.0024, -0.0562, -0.0122, -0.1436, -18.5915, 6.2564, 1.0867, -0.0464, 0.2271, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgSBbqUSqG1PkA9cK9FQpRYor_8W-TnzoQDDFCXNeEt1BSdtrNLvw9ed6SeO6yiF16_1qlq1rrgLUgXFqeVd1dZVhfFv_HWibb1xUGOWEqyAWHVX8uilo_L8Z0v2TrijY-73Zjs4tZuBzO_8B6WlkxScOQ9gaYn_4FnLZlk34G3aKlpagw1suReIVshBH6Y4smNB_X4GGfsy1G95nIUHzVqN5ipJq7OIyj6HVh46V0YWFT-kvWe6Llcac7TgApxCN8AMPum4VUUBfEWeLuHcYxB5qxwOpizkKhKf6VuaS-pY9ZfVE_I4vDn7RBzEfR-nOURnN98e9shvU9zsM4YPoyLrfobIyVjiwhRE3EnTN0E_jk4SzPnnSf3A0260s1oDiujNRWIrx4JNoLn2VceX8jDtrh6f47oLb8tqmCIFInzjgmcsfBoEFVacWDJej6kGW1DDCT00O66nKkEFqegr3JmNXa9DWUbAsw-7yLWxtxLlZn5ujnNsqv03ZRICVisC8yLe-ecCv9A0JEZMQSeh82L3BCgnYSzBP21eLdTjO3u4KAPsfXu024GCBuKoRT7911IJGSg7W7JRranbFfBkR5rSkwkj-Y1ZUEzS4fcoKsTkxDsfYIipXq6VNmGr5F125yWPchiAcF_pYUQSmwOa5GZOXHHaOtoJ7o_oX89yU5Eop5jFXSnZ6PD_qKlZB7FEOT6QAupW9SUgp6eFgb8kezYEJ4lvfPy-_0DhQPlWXbWA0GbgCtdwPE5tfTv0g3QttD3RkXrYTwQpdDtQJ8TObVXRG1WinbbPcJwI0hkjSAiUntedwB_OKjK_xs5dERf-22NoDq6U-beDBUi70VosXJ6qEyzvmfJ8l5uTyD1LET35EUfbbYeV7TrOz6TGs9SOiRyfJidAgMThwld_s03xP0HYQJIQ6iLMi2BJc9bItVizCWw=",
  "id": "rs_01eaf3bfca25f624016a7e048027108199b2ecbf196208d11a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The rotated fingers are back at the contact pose with the target directly below them and elevated wrist effort. I’m closing across the broad axis now.\"}",
  "call_id": "call_MKzcvEqiAC7LuamUQLEikm48",
  "id": "fc_01eaf3bfca25f624016a7e04804abc8199a3c8689ea983a6d7",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MKzcvEqiAC7LuamUQLEikm48",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.992 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4629 right_j1=2.6335 right_j2=2.4256 right_j3=-1.2037 right_j4=-0.0425 right_j5=2.0003 right_gripper=0.0074\nstate[joint_eff]: [-0.1983, 1.5795, 5.2308, 1.8095, -0.0513, -0.0464, -0.0122, -0.3077, -16.1709, 6.106, 0.7985, 0.0024, 0.1148, 0.5446]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 706):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:592298f93b67bfb38675fe54f662abd33c8597a32a03c859d10a25dce141f933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 706):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fd207fae4ae720c9d36890850fb663f525f35769e172fcadf1107e24e7ead1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 706):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be3e51d909652212808af2601d75a20d165b0b0fe369aee8f27c3675063bc34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 387 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.992 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4629 right_j1=2.616 right_j2=2.4271 right_j3=-1.1839 right_j4=-0.0391 right_j5=2.0148 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, 1.6205, 5.4222, 1.8242, -0.0562, -0.0806, -0.0122, -0.1709, -12.7248, 7.9658, 0.9841, -0.0269, 0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgSLJtD9cy3kSklNGfgi3GuZgVc58lxXDEF2YD4DyqEfdSrfs6CHN41BO8DJSV_LQOcDGbcH29LbvAIdy9BN_sUC6zPyS-kcVYpviJj5FK9fmZmwP6N_OVv_uss1GSu72b76zZ1hUWRh0l8sdAVE7uTkWFfjqzqJEiRFd6ts9Mj_PNoz1I_6Tt2GQXyrUcEHyvw5WnxikGykON8bbmrbKXJMYxTG0xxpuAdl5TjCmtkJZ5W-lFJu6AKNpxfq258i3T20Qx-Jv9Eq57kqAwigG5-QT2MR250sG-zEuy6JBui84_GBCusNAUbBYtvGrPxmOCps8DYdT0F5iB57d_OCHl4y3qQKOHMrvn3dtNA2UoQvfFliDI0QGd1CQi1VFsqS-tKah1PPEFNU8CPctsM5cVKqbUSXdssGn98_k8QXDkSXZZ952NWBCq0UtTERmgDq8ncSCkM54FbnyG8ImkrHA2tyhSWnw9jOUtjBtOFGpOgyohm5Q6ZKAxNorIGFHp6XNGPANilgxeo0rkQXRBFHS5cs76PGW6XusXOIMu-f8EHJQw0pMwMAfWlI9uywkmfleA_HEh6l_68tVtqo1NPnFA08jRyiE3mKsxRt0BDsVR7v_GNgV_UtFzD6EbyBAGRRLojyMZoR2c1SCYfytpvTX121WBu9vEqagZdTBskF8X0ZOocmTgj_iwJR_WpyS1LMcOItTK67WF2Jf7YPkGwGB_gJc2r4m4I3R3KQldUa1AQdzv79lP1TsIE5Wb7JfqKGvO1yUghALSS_7VNESLWtOkaBkdvAsUW3XmcPhpl0s5wkft8M5qOUDrtqVEfSk3cd1TP-eRMFeuBEoic6CGtnhmcgqVeBBAovshTO97qU_5ZMFmp6sveROSXB2AAqX_LBFygAMr4y5Ve2h6nyTVL5QhuErmCZyR48atfeLUn64xRao_Iw0spbqAWH1QXUlWUIKWh6PlTsKErGZNtRn7dA6J7wBfj8gptwZT2PkSEvH8DX9g7HYeexhcJjEviK3fhfqckN3cwQCqOWvjHDBg17YssxUM9nvI7xtlHyS10fhpY_o8qg_KFON3FNMf_mVzvuzh8kTKFSB2IFGMe4pqAD9kYaR_soCekL9Rgf9bgcNjrtLhOVXUs9COCWidQuRLU7U_IwQJQfO2DjWe0FNUM0VBwR3I3pza-M1YY0YgAz3KvVQ98QSfrvHNSZZGUZRj2XSf0uznCzDwuwpOPej3dydDwM2a_DeTuv77LVY4nyk7y7433lficXLP-pz2FJJ_8R45NmI4Km5Dl22BcY88_dDdFMPWyRiNrxMmDKNAa3eteMctfQGkGx-ZaGj9unxrV_3ZOz9OyLFne3Su7M8R_kpvGu3CxhXO6dpunFg1a4H5MB07yCBnM8-wd9_PL6nwOEbpaEWAYeU81QVOmj3qL8JvdSbKMJKZI7BAmjLDJ9a8x8iU1AvMdfbDTWozb1BDhykBTyoCgTOi2IxF1vPiXj_rQRjy3Q0foIZ6w0lM7yzd8-dyzuOq-ZxDMSd-VxjDyQy8Akx5Sw1lKl2oOz-LWHO_6mLWEwqaU3chFQ7yOjywqXWcOzbPt5YoE9kjQntIF35W4c8etUrWNdl998Z_Y6BaTrGe-CL0rm6zw10rKV9BLbUsnW7-k0cnHz20UlhNIqg_N02OQ1htL55GmQG43DXt8kdpEWn8mDJwrQfAkC4E_PJc89vDM0q6iR4-_9dEKTgD1dccjJYgSIbVZAUot2D6rrT_tiJKxmpprolEZSXGw7lpiSkfHdq1SrptVSdQNKXsSvuo8UPr6Z_7IkijVWaEPuOQatG-a9WNdpUO8piZQaJ3xTwr7h2OxXe3xIF5_r5chccLAHBoCsM8-KS2k_8TMvwSzNSAsKJL-kL0bbygGNcgA=",
  "id": "rs_01eaf3bfca25f624016a7e04844ae08199af503094323ebe32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.32,\"right_j2\":2.19,\"right_j3\":-1.17},\"note\":\"The blue tile again reads as a thin-edge grasp, but the jaws are visibly centered over it and effort is high; this may be the only available thickness axis. I’m lifting and retracting slightly to verify whether the blue tile moves before deciding the final placement.\"}",
  "call_id": "call_z35HyXpx7mrrww6KQM6AS1Vs",
  "id": "fc_01eaf3bfca25f624016a7e04891164819981703929df16f3b0",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z35HyXpx7mrrww6KQM6AS1Vs",
  "output": "executing move_joints over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6312 left_j2=1.1908 left_j3=-0.9916 left_j4=0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4625 right_j1=2.392 right_j2=2.2009 right_j3=-1.1885 right_j4=-0.0429 right_j5=1.9968 right_gripper=0.0096\nstate[joint_eff]: [-0.212, 1.5932, 5.4906, 1.8291, -0.0171, -0.0562, -0.0122, -0.3077, -15.9658, 6.3385, 0.8425, -0.0171, -0.0122, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 711):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbfce4ac2a37e8c4711ca57d6a448f724ea7ccd7fabf769fe2ef6b0464521163",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 711):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24abd98662ab08a35b7d9c69e42331f25e75f132a84a0b04deb28b6920400d91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 711):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671f801d217d421d73245abc7158079149810d9777f95adbf53e1e5c7ebfb278",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 391 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6296 left_j2=1.1908 left_j3=-0.992 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4629 right_j1=2.6335 right_j2=2.4256 right_j3=-1.2037 right_j4=-0.0425 right_j5=2.0003 right_gripper=0.0074\nstate[joint_eff]: [-0.1983, 1.5795, 5.2308, 1.8095, -0.0513, -0.0464, -0.0122, -0.3077, -16.1709, 6.106, 0.7985, 0.0024, 0.1148, 0.5446]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgSXaJLDt9kNGv8DF6S_qSxHdnwGGnnXyyPaaA5NDuTFEEmAloAWwH2aOV00qiNVHrw57nS7ks4--0RXAydFBlzS7k4hUwshDW8mTrbCORtgMdwK9fI4NF_uwex2Of413T3QrISV6cqw50eh8LAyr3W0q20pX6CfN-VId1Y-HoC5KBXGzFAQX73Uvc6ydrrEFvcy_T-vYu1-axQf7hxrd_1hdliCjLyaOokgCsPr7brmkVOsmQug7Z3_U3mE3wJ07w2DCKCUa1tMQ7P4krKiJkWITDiII9rdeYBHXOJ7ncbqSN-Z1v8reIpu2OzICltTyGn8kpDJEdgR4ILD5wB89secW18hf79RpC2p6xUr_-sHlZ1f2YBOgTZ4T4gEYmW4JMZ8xep470lPq3QYm3UJOnuxe_2AKbAQ2_DOpqJtk-eU1hMG1y2MwG9xJgP-wtLqL_zCUW7zajAwXBOe_4mAwbj6LYjPHkT9fGbzmNh998PjLCFSe7hYRdPJdVFxiuotJsEoe0LjSRbQ7qi2EMXUzXDR8A_tcpS0VjoBdv90YRLdtRSxQy3skMElaoVLs7noLZI-bMDrc8fXo_qTZOafSlyBsEC189kjxoQsZKr5E-8YPqXjqzv2J5Lt2ae8_VYQ-zj03QzpjNVGStk-47gY_KPw_5wn_YV6CMJNBhIdZhYkOOjitAlh7VFI-L3zUAUmE25zJVBlrUWSjpXyH3qH4QJcS2YCOdSVB4sUow09LP1WmKbQvMluRYaVfFv3vRTM0Sb9ELzKSDNEL2t80njwffUSJnvKwVVXMt690y1XlkJaHMmrGUfHkQyupojybv_bynL1-TqR4YxVQtUFjYss2Hm_rA4FNS1kF3tF4E2z3P41tuXkeK9GsEUL-3ak7Jwax1LFobwwHxluu-EAo4jVCGk5_Oova3lyodzPy1qyiqwcCKECFY73dxJYMqiBOPFs1Pio1FkeHA3-fyznTWUKelXvDq5xDf7QMss9hi_gjVFw0osDoSGAHXKutCT1dkuaKN2qeQucRhLQ8X90rM7lERzEcFFZHYRNG5qSAYO-t8tet4ATUQGK6jjDZfGjPBzeVGUNgLSrDVVJt87uhDRgWQHiGQzysZ9M3dkyyXwHex_gzcwX_C0dRmyZxR-uoxMWY3VabYR7U2FqqbOPAgWZwalbXkiQv4SkIlFAwRG67h4L0ZJ3zRWaB6V9kVBL_NTOF3pis6-HO-lNAZ6JLuqhex2CLBiAPBt2rSTAf-oEqbEzvzAbeAmLQA3RKJCDmc_zY_abL5qpUXUqkebkxeFZlIAuiq4hy-38X9uAd5SdS49oCdNWpBttu8mFOJjT5L0vj8wwwFHsQv4yqy-f3JRHfk0hwXLZPYIKyosmNxEQ5Ocr60jv5I5Nem6RD7CioVTnCMXYMf8s4rtEt7abJhJ7QlkutMMJzO_bvk7Wyuz0ZWjB7ELAonptQL_3ljpyLLRR4uh9njLvxCN0M3di-5ByYNBMkjLntI-7wl2g8sPoCTNFklwLm_tsr7f-kgvKiFdO23qW-23XgpeB4Bld0VjTzE43d0PPidz-hIYeX6sIFx2FyqB5msG69D0oWI4tpXRC5k68qB4LA64RRopJ0g0YkZIjlpwNLBWXrsi58tnfDz0dI_Ra4eAUl56BgtHsRnafHF8xtrp9Ta6g7V8xe738TauPflf_DR_v_x_-ZhUWA05Gbt-TKqIO6gK1vfMzjeWTRncswgfMjwqIQu3XFpzhwl96UOVtQ1Vnn4FZ8B36Fooh6QS09iSbcqNbcYnYIBvZRIVZjgg0qwxfmAd5kSHRIWJtwHJuD46UK2IXQMUPcWEvhs4q1WVUQabVLNcSFLHGrAYt3FKsFeZgg9VPRrKG5396a_XM5fvdh_JuFameqm5IcQfnhDBBQDqv17m4hp450O6ptLcly8wL08KdVKSz1EE6axgMFcwDjf7VYARG0CwyuKgLhvKBOWWGeEcStcEriwr73saR7xwzVQh0sw_d6mHRTS2NwA_OWP5pecNv7Pu4bI1jtL9klVj39AcBxt4JiLiLKtnh24gpXblXmVx5yvIz3N8_O6WwuvOoJBUzvwwnSqOBkz-vz2u02Ok1nyIJyky85nyGy4pYUK7hhyzeW5iCBcLYtSWd1qzzNIselOi4FJbgP8me7oya4TPmaMIrSwPxs7nu9EmCnC3NZ2Bbc_GGOwn2pDZodCX7lJo2Rwk2Vi0TkK2i78tI0UWmZqD80jXm",
  "id": "rs_01eaf3bfca25f624016a7e048dd3dc819991011610f6caf573",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j0\":0.86,\"right_j1\":1.99,\"right_j2\":1.55,\"right_j3\":-1.14},\"note\":\"The lift confirms success: the blue tile disappeared from its table location while the red base remains visible, so the thin-edge grasp is holding. I’m moving the blue tile inward to the red block’s current center at roughly 0.33 m radius and 0.86 rad bearing, maintaining lift clearance.\"}",
  "call_id": "call_j4ZaBPh4md5LiI56a8SZCst5",
  "id": "fc_01eaf3bfca25f624016a7e0495a8808199baaec3cc3232d449",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j4ZaBPh4md5LiI56a8SZCst5",
  "output": "executing move_joints over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6334 left_j2=1.1908 left_j3=-1.0096 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.8486 right_j1=2.0384 right_j2=1.57 right_j3=-1.1393 right_j4=-0.0429 right_j5=1.9942 right_gripper=0.0117\nstate[joint_eff]: [-0.3624, 1.853, 5.2581, 1.9609, 0.0122, -0.0611, -0.0122, 0.0205, -13.012, 6.0923, 0.3736, -0.0122, 0.0171, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 722):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4ba2505997b4aa123fbef78dcac8f1cb21c3847fbc3a6bc3c493ff0e1db447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 722):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0207d434549a2efc1d3de4ce2e09db529314e16f535d12ea423d315aaffa92c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 722):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390bc40338002e2e7e6328b83810479a6b789ac41faa70538807a9e126cdc870",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 395 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6312 left_j2=1.1908 left_j3=-0.9916 left_j4=0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.4625 right_j1=2.392 right_j2=2.2009 right_j3=-1.1885 right_j4=-0.0429 right_j5=1.9968 right_gripper=0.0096\nstate[joint_eff]: [-0.212, 1.5932, 5.4906, 1.8291, -0.0171, -0.0562, -0.0122, -0.3077, -15.9658, 6.3385, 0.8425, -0.0171, -0.0122, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgSflTk6fznYUk6Gl-dXI_WZ1x-JQLboSccrGHhnL53XeSyXSZkOyJbri-nUf7fOIZabYyAn3eBGtU9uEcAZGd5OURcs3UGXWFtdIvkDSVQZm2Il_dBvpHD8IGrvhUp8qKxQLMuH6wcyqsTvn3jvLi1ZdNnwmyJZTLGeQ3Uickl5WaNvjOqrkYhRQTQ4O2-8c6FUhe2tztet6YgI441QRAqnVFDVfGQyP-TzMntDID_msIVRZYu8pQ6SQYqE923HLbZvWoVcLvxyfjikP_fx-vzvK9JWmXW40s1LwhTlmnl4KKn-_Jf9aImsSyAh-BGOMePoefPpE58XMvlwPMb071Q8DzfCy7zuKgyqEmAN3fQyJ0_8ux-h-aMm0GQib0lXsIGVd7Yn1Ippce4ncabEJT357NOA8EuNGYViBkP9uHCDBU6emjB4cUDttyOUCXuwKAncFIQklQhsiCC1TlWd96xBjbaVINuvMj6PlO1FUHRW0Ni6cYF0BypookxsnpGOCTo9GCOGo01MDNDrY4jfP1lX_g8hhbXcZRuYgJa6ePiF1eoRW-OUDEXpc1gi11SyiP_8l6TgA2mSBewFvYcQzNNaYZuOblHZITsxcvlNx7wInazwzqMhhhC9zaPZzW5qYqMoA-r3JjydlltbfbLHmgalHZTmLNAhbqCKpq8YXRcSO4US8TCCenwgkRRZiX9YPU2sWjkj7so0t78bcPfcmEfVilNX-rx8Cls9awnNH0QQUCLowliAMH6FRi6EJtkJiJ8DJcd4bX1RwEkKpIzXaiB41OmHk1GkLTsHzMCfUCgi-RHOtdTaEV6VhlcnB2T_7O9k9P1Gi8Cyic96iagZly8RKrP8ZZHqJxzue4n6AVUfDC7Mfgr_vdrW3WOfdvuyVYI-0u0Sm5afli1fVrQoZ5P5LeCWSGNOmcj21NSLoXS6pbNwY_rkPGfuoUGCnsi40FPrqAO94Vo-0wfo_LYfPAvnYeuy-XlOpcWadaqMrj9Qs1o21G0YZaW3Ij8v23djq58qvepM84jHZjn6uUvfq4mfa12EJ3kT1Mwra7TGbTawUAa_6Znkmpa498xfhtz3rmkSs42I7oxTfcOK8cFcR3KPiDrEgf8pBW_hNTVouTbue6fhH_IQ3Y3c9WDfkK0MGxxrbIH0K3F38P_8mBLxOQKXI1cfPr12uYP8zuPuU9DadvLj18GnvqW9XIGZyGHemRTt25Goign5HB-VqpwtCNyrYLDr4QyCv_SkcwnpG3ZT92jPdu6UqbXtR9HdPEmH4vGyIvsQ5oxt3_J1pheCJBNkDC22pAzhUrx5vjKpSSTckGUd3Ey2la_tIT0-F_FY8P7uv8jFjdeVqYS92571p1ntXOMABMlkGWz6FU5C0IWucq7hIbEPzU41XoxX9dFD5kJVqWXmrzhb-s2C63Rl0jID31nnf8q47UABFnpRky3589vQ1IPbUzhzx6j5dpGqA-gi682Jel57OJ6uelOU3anTDsL-j0gkiCVWEMFdgKEL1G1ekJsqZX8lV8s6UrYUGjSGKgNu_LVrR5ne57QtABSpqbfPFTwUfaMZ8SOiLJ-9fZYdyi0aqkL95ZQqabnxCOwIkhiALglXwqdTsumCsC8FMDMVRDSG6ff104i7iagdfmu9YzcDyi3VwK8rNPgDm5vQ-ujct04LRc7-SE3PIb2RQyi8hlNoCJUE37mPJqGCBVahQM_9F1838qZNn1nrDkP76uqxyhC2M5cmqY0JFhFZFHIUNeqjh75t3NJGxNpOSDE=",
  "id": "rs_01eaf3bfca25f624016a7e049a85a08199ae142e584db02771",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_j1\":2.09,\"right_j2\":1.47,\"right_j3\":-0.95},\"note\":\"The transported blue tile remains secure and the left-side view shows the red base directly beneath the right gripper, though overhead is occluded. I’m lowering about 3 cm at fixed horizontal pose to bring the held tile onto the red block.\"}",
  "call_id": "call_qKObbOtTlNfYfMbbAoQOguL3",
  "id": "fc_01eaf3bfca25f624016a7e049e253881998806be54f9839951",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qKObbOtTlNfYfMbbAoQOguL3",
  "output": "executing move_joints over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6342 left_j2=1.1908 left_j3=-1.0172 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.8505 right_j1=2.0785 right_j2=1.4792 right_j3=-1.0039 right_j4=-0.0456 right_j5=1.9934 right_gripper=0.0132\nstate[joint_eff]: [-0.1573, 1.5248, 5.2444, 1.9023, -0.0562, -0.0269, -0.0122, -0.4991, -9.8667, 5.5863, 0.2906, -0.0269, 0.0073, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 726):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a554e7a9a6411572edc471a8d14fd064134c515834f8326ed338e7adf5cb8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 726):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:003dff977a1f6688235a2f8010694e324b39dd767fd681b13838cbcb92cc869b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 726):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c707c296ea007691583e414e2ab02ea730ba59c143099caec6173dc4414af4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 399 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6334 left_j2=1.1908 left_j3=-1.0096 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.8486 right_j1=2.0384 right_j2=1.57 right_j3=-1.1393 right_j4=-0.0429 right_j5=1.9942 right_gripper=0.0117\nstate[joint_eff]: [-0.3624, 1.853, 5.2581, 1.9609, 0.0122, -0.0611, -0.0122, 0.0205, -13.012, 6.0923, 0.3736, -0.0122, 0.0171, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqfgSmgfjfJ-3OBF4Pnif87Pw8GPjok1NyohSu0Gk-SZ-e0bWAxIm0npkc01v8C3WOahOmaBKbhR6z1mQbkzhTY94WcfTSdh6BD-XaXzZppsYkWT79iHTa23utn7ckYKdTHJUbaVVaDGdSYtbhPo0Y1Wx1xkHNBpMHrfmZotnU3fKzSPlRyX9Jxjaa8TAPlzSQu38KPEMKf7ies1727DdYsWWalIL84wR6skgRTUJW8GI0ksPyp3k2Ldnm5ZT6zuaQYAHEZLOTn7IrcwR3me5HTPZvWQWEe76VppxnjW6A5kcz4NAkFhLMRrXCeeL-l6Ee-CyTEp6lJ7VYBa5Fk_UdvOQbYc2QeQk29K9A5l1J2EwREQBymW9AfCBz5Z5hvx_tQZpqNMo09_F8poH0pjmHg96lgFajpiNraOH7MnXpMrUjZcCrG-hcV-ABVt9zedX2w9R9hXafDrxan8KZOzLETLAUG7EetD7y8FBFCrBHHuGfLQnrgBbh6SGguTf9I4ZXCpeBFrN8XjUYZ1Nw3SlNDaehZseK0fpvYkpRxq4WMbg6aexxgA4UuxPgjV9yD2EMe7H7NTSc15iLYUkJ-Zoj7ATFnFct3CPUEP7Ma61N58P1qF_mKhWs9yyZs2vuTk_fkMGZ-8rtRCdZsvUoJucM38zmr4egURyMIfBIpu8cy9373vylOA6VTBP2dhhps77oIq6VvgwGBGT0bTS-eSguHCs3j7Ak5pZKMxeTLkzZQmLA0j8xWgaH7GFxvLJGJK3k7Qdzs7LXkoD4hXWe1c3VwvKzgBQw5Vaz-N6iOSmGrnrg8dAi7Xft93eUE7XwQtr-o7H0olGqC-5fUUgjCwJ-IKPpgJ7e4cXZKcRB-r1_8GDlx0J5vNOOxulC_j5d-ZyV5SDEpTNFTkr6gcOVchSycSCgKtsI7kdCey-xc2xS2UnNF0rxVv4dzYkp0DJ4CWjWxmEMToAjA1pK5HQUUtekg8LxM-MLMcRWWapSQABhAXi1MZOyuO1Rpr6BxtqUVKHhPNwvREPniWDqxQsFoW_4_ARJPQzUqPZcmHRGrnPJ-hLb3ThGkP3JJ80QXzQ4Ld8pviR48dkR2R8LSGq0PdjWzGTZR4azPj9yMEAzepmaH58JGZ76fa8dVjjnH2DmnbJe68c2-qC8-bjkbdEqJHlA7bH3fGNtonuoLHIJIltRA4XAOKrXcBKE3w2LymOzD6yRhV6X",
  "id": "rs_01eaf3bfca25f624016a7e04a40f308199a478d0484f21267f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The descent relaxed shoulder load and the side view now shows two tile faces vertically overlapped at the gripper, consistent with the blue tile contacting the red base. I’m opening the right gripper to release the blue tile onto it.\"}",
  "call_id": "call_FbR8dR8bNYnzEoC8dzm4ab2V",
  "id": "fc_01eaf3bfca25f624016a7e04a5513481999039b67b728f293c",
  "name": "move_joints",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FbR8dR8bNYnzEoC8dzm4ab2V",
  "output": "executing move_joints over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place the left block on top of the right block\nstate[joint_pos]: left_j0=-0.0067 left_j1=0.6342 left_j2=1.1908 left_j3=-1.018 left_j4=-0.0002 left_j5=-0.0498 left_gripper=0.9989 right_j0=0.8509 right_j1=2.0911 right_j2=1.4708 right_j3=-0.9989 right_j4=-0.046 right_j5=1.9858 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, 1.5932, 5.3949, 1.7851, -0.0708, -0.0562, -0.0073, -0.1162, -11.453, 5.9966, 0.1538, -0.0317, 0.0073, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 736):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5193392d75c2edb82b567846f618482931ce8d7af1b3f557a7554758816f564e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 736):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a5ce95f38f55d421e3dc5bd383e4e73ab8c38cb348e7560961fb9f1c77503d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 736):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004bc54e17622b7f356391072eb4e1ef16c92c0148dc2b2120c45bb8e3108501",
      "type": "input_image"
    }
  ],
  "role": "user"
}