{
 "collection": "2026-09-17-cone-course-trial",
 "group": "gpt-5.6-sol",
 "group_title": "GPT-5.6 Sol (Codex, medium reasoning)",
 "result": "F F F",
 "part": "attempt-2--fail--627be4",
 "about": "Attempt 2 after the continuation prompt at 21:19:45; 58 s, 4 commands. Operator brake: drove over the mini-cone line toward the landscaped island.",
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  "steering_scale_deg": 180
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