adhoc

completed
2026-09-17T22:31:44.124601+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
217.7 s
total steps
268
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
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 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: put the can on the burner
Raw transcript
system
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 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying to the right of the burner. I’m moving the right gripper above its middle with the jaws open.
move_to
right_x0.4300right_y0.1500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6079, -0.3958, -0.0189, -0.033, 0.9995] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1784 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9995 state[joint_eff]: [-0.5128, -1.3607, 10.1812, 1.9414, -0.0904, 0.1587, -0.0904, -0.4308, -1.5521, 9.6615, 1.9023, -0.0513, 0.2027, -0.0659] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.15,"right_z":0.15,"right_gripper":1},"note":"The can is lying to the right of the burner. I’m moving the right gripper above its middle with the jaws open."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe can is nearly centered between the open jaws, but its middle is still forward of the grasp point. I’m advancing slightly and lowering to grasp its cylindrical body.
move_to
right_x0.4550right_y0.1450right_z0.0550
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4713, 1.5753, 0.9577, -0.094, 0.358, 0.2222, 0.9995] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0027 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4133 right_y=0.1452 right_z=0.1294 right_yaw=0.0393 right_pitch=-0.0765 right_roll=-0.0401 right_gripper=0.9995 state[joint_eff]: [-0.253, -1.4017, 6.9265, 1.8632, -0.0464, -0.0024, -0.022, 0.1436, -7.4872, 8.8274, 1.8584, 0.315, 0.2662, -0.0659] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.145,"right_z":0.055},"note":"The can is nearly centered between the open jaws, but its middle is still forward of the grasp point. I’m advancing slightly and lowering to grasp its cylindrical body."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe jaws are aligned with the can’s lower body. I’m moving a little farther along the can and lowering to its mid-height for a secure side grasp.
move_to
right_x0.4800right_y0.1450right_z0.0250
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8005, 0.6067, -0.4118, -0.0189, -0.0383, 0.9992, 0.4175, 1.8385, 0.9409, 0.1093, 0.3248, 0.1905, 0.9994] state[eef_state]: left_x=0.2912 left_y=0.0013 left_z=0.1729 left_yaw=0.0022 left_pitch=-0.0301 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4392 right_y=0.1371 right_z=0.0442 right_yaw=0.0261 right_pitch=-0.1568 right_roll=-0.0745 right_gripper=0.9994 state[joint_eff]: [-0.1436, -0.9778, 7.0496, 1.7851, -0.0366, -0.0366, -0.0122, -0.3077, -8.6222, 6.2974, 2.0293, 0.1343, 0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.145,"right_z":0.025},"note":"The jaws are aligned with the can’s lower body. I’m moving a little farther along the can and lowering to its mid-height for a secure side grasp."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe can’s body sits between the jaws at table height. I’m closing the gripper to secure it before testing the lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.3981, 1.9926, 1.0573, 0.1154, 0.3027, 0.1722, 0.9994] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1688 left_yaw=0.0028 left_pitch=-0.0496 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4658 right_y=0.1427 right_z=0.0169 right_yaw=0.0328 right_pitch=-0.1929 right_roll=-0.0849 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.4974, 7.0222, 1.8535, -0.0415, -0.0659, -0.0122, -0.5128, -9.6479, 7.7744, 1.7705, 0.2222, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The can’s body sits between the jaws at table height. I’m closing the gripper to secure it before testing the lift."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper stopped at a substantial opening, consistent with holding the can. I’m lifting a few centimeters to check that it comes off the table.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.3977, 2.0083, 1.0603, 0.1047, 0.2981, 0.1654, 0.6783] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0028 left_pitch=-0.0568 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4635 right_y=0.1423 right_z=0.0088 right_yaw=0.0383 right_pitch=-0.2162 right_roll=-0.095 right_gripper=0.6783 state[joint_eff]: [-0.1573, -1.1966, 7.1863, 1.7363, -0.0171, -0.022, -0.0122, -0.0752, -11.2615, 5.3538, 1.5507, 0.1343, 0.0611, 1.0281] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The gripper stopped at a substantial opening, consistent with holding the can. I’m lifting a few centimeters to check that it comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe can moved with the gripper. I’m raising it to clear the burner and retracting slightly to improve reach before moving left.
move_to
right_x0.4050right_z0.1900left_x0.2940left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9992, 0.3981, 1.8854, 1.1721, -0.2066, 0.2905, 0.1574, 0.6783] state[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.074 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4526 right_y=0.1393 right_z=0.0578 right_yaw=0.0425 right_pitch=-0.2905 right_roll=-0.1226 right_gripper=0.6783 state[joint_eff]: [-0.1436, -1.0598, 7.1179, 1.8486, -0.022, -0.0366, -0.0122, -0.2256, -12.7932, 9.1009, 1.8242, 0.1636, 0.0366, 1.0232] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_z":0.19,"left_x":0.294,"left_y":0,"left_z":0.18},"note":"The can moved with the gripper. I’m raising it to clear the burner and retracting slightly to improve reach before moving left."})
tool
executing move_to over 9 steps (0.9s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe can is securely lifted above the table. I’m carrying it left toward the center of the burner, keeping clearance above the heating coil.
move_to
right_x0.3900right_y0.3800right_z0.2100
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0235, 0.8501, 0.6453, -0.5034, -0.02, -0.0536, 0.9992, 0.4515, 1.6577, 1.3453, -0.6964, 0.3023, 0.1799, 0.6832] state[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1589 left_yaw=0.0075 left_pitch=-0.1327 left_roll=-0.0121 left_gripper=0.9992 right_x=0.4008 right_y=0.1399 right_z=0.1549 right_yaw=0.062 right_pitch=-0.3681 right_roll=-0.1517 right_gripper=0.6832 state[joint_eff]: [-0.4718, -1.1145, 10.5504, 1.8388, -0.105, 0.0415, -0.0122, 0.1846, -10.8376, 9.7846, 1.7363, 0.3199, 0.149, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.38,"right_z":0.21},"note":"The can is securely lifted above the table. I’m carrying it left toward the center of the burner, keeping clearance above the heating coil."})
tool
executing move_to over 21 steps (2.1s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe can is above the burner but slightly to its right. I’m shifting it left as far as this arm allows and lowering carefully toward the coil.
move_to
right_x0.3750right_y0.4000right_z0.1150
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0246, 0.8536, 0.6476, -0.5182, -0.0219, -0.057, 0.9992, 0.9203, 2.5229, 2.8315, -1.5272, 0.4828, 0.6041, 0.6861] state[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1563 left_yaw=0.0099 left_pitch=-0.1487 left_roll=-0.013 left_gripper=0.9992 right_x=0.3823 right_y=0.3729 right_z=0.1842 right_yaw=0.095 right_pitch=-0.4118 right_roll=-0.1666 right_gripper=0.6861 state[joint_eff]: [-0.1846, -1.5521, 6.8855, 1.7118, -0.0366, -0.0366, -0.0122, 0.212, -13.9009, 8.4171, 1.1551, 0.5983, 0.1245, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.4,"right_z":0.115},"note":"The can is above the burner but slightly to its right. I’m shifting it left as far as this arm allows and lowering carefully toward the coil."})
tool
executing move_to over 5 steps (0.5s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe arm stopped above the requested height near its reach limit. I’m retracting slightly and adjusting the wrist pitch to allow a controlled descent onto the burner.
move_to
right_x0.3500right_y0.4000right_z0.1100right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0246, 0.8547, 0.6464, -0.5255, -0.0219, -0.057, 0.9992, 0.9283, 2.5565, 2.8517, -1.573, 0.474, 0.6102, 0.6861] state[eef_state]: left_x=0.2822 left_y=0.0005 left_z=0.1541 left_yaw=0.01 left_pitch=-0.1582 left_roll=-0.0126 left_gripper=0.9992 right_x=0.3748 right_y=0.3722 right_z=0.1691 right_yaw=0.0844 right_pitch=-0.457 right_roll=-0.2052 right_gripper=0.6861 state[joint_eff]: [-0.0615, -1.6342, 7.0222, 1.6386, -0.0171, -0.0073, -0.0122, 0.0068, -13.6547, 7.3778, 1.0916, 0.3248, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.4,"right_z":0.11,"right_pitch":0.4},"note":"The arm stopped above the requested height near its reach limit. I’m retracting slightly and adjusting the wrist pitch to allow a controlled descent onto the burner."})
tool
executing move_to over 29 steps (2.9s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe can is above the burner’s right edge, with its length extending away from the gripper. I’m turning it diagonally so more of its body lies over the center of the coil.
move_to
right_x0.3650right_y0.4000right_z0.1000right_yaw0.6500right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0246, 0.8566, 0.6464, -0.54, -0.0219, -0.0608, 0.9992, 1.1465, 2.196, 1.3182, 0.3222, 1.1011, 0.2329, 0.6861] state[eef_state]: left_x=0.2799 left_y=0.0006 left_z=0.151 left_yaw=0.0122 left_pitch=-0.1746 left_roll=-0.0149 left_gripper=0.9992 right_x=0.3481 right_y=0.3967 right_z=0.097 right_yaw=0.1269 right_pitch=0.3236 right_roll=-0.2578 right_gripper=0.6861 state[joint_eff]: [-0.0068, -1.6889, 6.9949, 1.7216, -0.0073, -0.0269, -0.0122, 0.6906, -10.9333, 6.2701, 1.9902, 0.5641, -0.0806, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.4,"right_z":0.1,"right_yaw":0.65,"right_pitch":0.4},"note":"The can is above the burner’s right edge, with its length extending away from the gripper. I’m turning it diagonally so more of its body lies over the center of the coil."})
tool
executing move_to over 4 steps (0.4s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe can is now angled across the burner, but still favors the right side. I’m rotating a little farther and lowering gently to bring its body onto the coil.
move_to
right_x0.3500right_y0.4000right_z0.0650right_yaw1.0000right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8581, 0.6464, -0.5472, -0.0219, -0.0612, 0.9992, 0.9894, 2.1284, 0.9844, 0.8227, 0.654, -0.0849, 0.6892] state[eef_state]: left_x=0.2787 left_y=0.0003 left_z=0.1493 left_yaw=0.0113 left_pitch=-0.1834 left_roll=-0.0148 left_gripper=0.9992 right_x=0.3699 right_y=0.3737 right_z=0.0716 right_yaw=0.4599 right_pitch=0.3097 right_roll=-0.268 right_gripper=0.6892 state[joint_eff]: [-0.1983, -1.6205, 6.9538, 1.6825, -0.0024, -0.0659, -0.0122, -0.0479, -12.4786, 5.2991, 1.8095, -0.0562, -0.0904, 0.9646] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.4,"right_z":0.065,"right_yaw":1.0,"right_pitch":0.4},"note":"The can is now angled across the burner, but still favors the right side. I’m rotating a little farther and lowering gently to bring its body onto the coil."})
tool
executing move_to over 4 steps (0.4s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe can is spanning the coil diagonally. I’m easing it down the last few centimeters so the burner supports it before releasing.
move_to
right_z0.0400right_yaw1.1500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8585, 0.6464, -0.5625, -0.0219, -0.0612, 0.9992, 0.9646, 2.1281, 0.9253, 0.9424, 0.4816, -0.165, 0.6926] state[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1465 left_yaw=0.0114 left_pitch=-0.199 left_roll=-0.0142 left_gripper=0.9992 right_x=0.3623 right_y=0.3852 right_z=0.0709 right_yaw=0.6218 right_pitch=0.3322 right_roll=-0.2748 right_gripper=0.6926 state[joint_eff]: [-0.1709, -1.5521, 7.0906, 1.6679, -0.0366, -0.0122, -0.0122, -0.6496, -9.7709, 4.4376, 1.9658, 0.2027, 0.0366, 0.8425] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04,"right_yaw":1.15},"note":"The can is spanning the coil diagonally. I’m easing it down the last few centimeters so the burner supports it before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe can has stopped descending and is resting against the burner. I’m opening the jaws to leave it supported there.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8585, 0.6464, -0.5724, -0.0219, -0.0612, 0.9992, 0.9627, 2.1281, 0.9245, 0.9443, 0.4854, -0.165, 0.6961] state[eef_state]: left_x=0.2744 left_y=0.0004 left_z=0.1448 left_yaw=0.0115 left_pitch=-0.2089 left_roll=-0.0139 left_gripper=0.9992 right_x=0.3633 right_y=0.3839 right_z=0.0712 right_yaw=0.6164 right_pitch=0.3336 right_roll=-0.2754 right_gripper=0.6961 state[joint_eff]: [-0.2256, -1.5111, 7.0496, 1.6435, -0.0317, 0.0073, -0.0122, -0.4444, -9.9624, 4.506, 1.9316, 0.2271, 0.0317, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The can has stopped descending and is resting against the burner. I’m opening the jaws to leave it supported there."})
tool
executing move_to over 4 steps (0.4s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe jaws are open and the can remains beside the coil. I’m lifting and withdrawing the gripper to check its final support without disturbing it.
move_to
right_x0.3200right_y0.2700right_z0.2000right_yaw0.6000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8619, 0.646, -0.5854, -0.0219, -0.0647, 0.9992, 0.9619, 2.1281, 0.9234, 0.96, 0.4934, -0.1577, 0.9955] state[eef_state]: left_x=0.2721 left_y=0.0005 left_z=0.1415 left_yaw=0.0136 left_pitch=-0.2257 left_roll=-0.0157 left_gripper=0.9992 right_x=0.3646 right_y=0.3828 right_z=0.0743 right_yaw=0.6027 right_pitch=0.3489 right_roll=-0.2646 right_gripper=0.9955 state[joint_eff]: [-0.0889, -1.7709, 6.8855, 1.6484, -0.0659, -0.0269, -0.0122, -0.1299, -9.9624, 4.5744, 1.7949, 0.1636, 0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.27,"right_z":0.2,"right_yaw":0.6},"note":"The jaws are open and the can remains beside the coil. I’m lifting and withdrawing the gripper to check its final support without disturbing it."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe can followed the withdrawing gripper, so it was not successfully released. I’m securing it again and bringing the left arm above its free end; the left arm has better access to the burner’s center.
move_to
right_gripper0.0000left_x0.4150left_y-0.3500left_z0.2300left_gripper1.0000left_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8642, 0.646, -0.5922, -0.0223, -0.0647, 0.9992, 0.8608, 1.3949, 0.6323, 0.5308, 0.4057, -0.1841, 0.9967] state[eef_state]: left_x=0.271 left_y=0.0006 left_z=0.1397 left_yaw=0.014 left_pitch=-0.2349 left_roll=-0.015 left_gripper=0.9992 right_x=0.3231 right_y=0.2745 right_z=0.1929 right_yaw=0.5931 right_pitch=0.3511 right_roll=-0.2665 right_gripper=0.9967 state[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.6288, -0.0513, -0.0415, -0.0171, -0.4171, -5.559, 6.7624, 2.1221, -0.0708, -0.0366, 0.105] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.415,"left_y":-0.35,"left_z":0.23,"left_gripper":1,"left_pitch":0.35},"note":"The can followed the withdrawing gripper, so it was not successfully released. I’m securing it again and bringing the left arm above its free end; the left arm has better access to the burner’s center."})
tool
executing move_to over 32 steps (3.2s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe right gripper is empty, and the can is on the table just right of the burner. I’m parking the right arm clear so the left arm can pick it up without interference.
move_to
right_x0.2900right_y0.0000right_z0.2200right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8852, 1.8935, 1.3815, -0.0349, -0.9714, -0.3882, 0.9993, 0.77, 1.3907, 0.6159, 0.498, 0.6281, -0.033, 0.0078] state[eef_state]: left_x=0.4271 left_y=-0.2861 left_z=0.2066 left_yaw=0.0977 left_pitch=0.2746 left_roll=0.0993 left_gripper=0.9993 right_x=0.3533 right_y=0.203 right_z=0.1852 right_yaw=0.2259 right_pitch=0.3505 right_roll=-0.1841 right_gripper=0.0078 state[joint_eff]: [-7.3641, -6.8171, 11.8496, 2.5665, 0.0317, 0.0806, -0.0952, 7.2, -4.9162, 7.6923, 2.0049, -2.5714, -1.7656, 0.7643] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.22,"right_yaw":0,"right_pitch":0,"right_gripper":1},"note":"The right gripper is empty, and the can is on the table just right of the burner. I’m parking the right arm clear so the left arm can pick it up without interference."})
tool
executing move_to over 17 steps (1.7s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe can is visible to the right of the left gripper’s jaw column. I’m shifting toward it and lowering the open jaws around its body.
move_to
left_x0.4050left_y-0.3650left_z0.0850
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8871, 1.9064, 1.3853, -0.0498, -0.973, -0.3973, 0.9992, 0.1204, 0.8192, 0.7322, -0.5205, 0.2329, -0.0978, 0.9966] state[eef_state]: left_x=0.4268 left_y=-0.287 left_z=0.1999 left_yaw=0.0966 left_pitch=0.2625 left_roll=0.1114 left_gripper=0.9992 right_x=0.2902 right_y=-0.0024 right_z=0.2054 right_yaw=-0.0328 right_pitch=-0.0191 right_roll=-0.1958 right_gripper=0.9966 state[joint_eff]: [-0.1983, -11.494, 6.3521, 1.6581, -0.3199, 0.0708, -0.022, -0.1299, -1.9077, 9.8256, 1.9609, 0.0024, 0.0073, -0.0708] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.365,"left_z":0.085},"note":"The can is visible to the right of the left gripper’s jaw column. I’m shifting toward it and lowering the open jaws around its body."})
tool
executing move_to over 8 steps (0.8s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe can’s body extends forward and slightly right of the fingertips. I’m aligning the grasp nearer its middle and descending to the cylinder’s height.
move_to
left_x0.4400left_y-0.3850left_z0.0300
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0203, 2.2459, 1.4593, 0.0368, -1.063, -0.5434, 0.9992, 0.1184, 0.8227, 0.7307, -0.5716, 0.2207, -0.1123, 0.9979] state[eef_state]: left_x=0.4039 left_y=-0.3561 left_z=0.0809 left_yaw=0.0704 left_pitch=0.2302 left_roll=0.1567 left_gripper=0.9992 right_x=0.2832 right_y=-0.0016 right_z=0.1936 right_yaw=-0.0171 right_pitch=-0.0773 right_roll=-0.2085 right_gripper=0.9979 state[joint_eff]: [-0.5675, -11.9316, 7.8291, 1.4383, -0.5201, -0.022, -0.0122, 0.0752, -1.5521, 6.9812, 2.1172, 0.188, 0.0659, 0.1197] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.385,"left_z":0.03},"note":"The can’s body extends forward and slightly right of the fingertips. I’m aligning the grasp nearer its middle and descending to the cylinder’s height."})
tool
executing move_to over 4 steps (0.4s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe can is centered in the open left jaws. I’m closing around its body for the second pickup.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9928, 2.4683, 1.6382, 0.0769, -1.0534, -0.5297, 0.9992, 0.1184, 0.8246, 0.7307, -0.6071, 0.2203, -0.1139, 0.998] state[eef_state]: left_x=0.4326 left_y=-0.3756 left_z=0.0287 left_yaw=0.0833 left_pitch=0.2216 left_roll=0.1699 left_gripper=0.9992 right_x=0.2779 right_y=-0.0022 right_z=0.1864 right_yaw=-0.0165 right_pitch=-0.1145 right_roll=-0.2145 right_gripper=0.998 state[joint_eff]: [0.294, -14.1607, 7.9385, 1.4921, -0.3541, 0.1832, -0.0171, -0.1846, -1.3607, 7.0906, 2.0635, 0.0269, -0.0415, 0.0024] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The can is centered in the open left jaws. I’m closing around its body for the second pickup."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe left gripper has closed onto the can’s diameter. I’m lifting it clear and retracting slightly to avoid the arm’s long-reach limit.
move_to
left_x0.4000left_z0.1150
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9897, 2.4928, 1.6493, 0.0895, -1.063, -0.5327, 0.6981, 0.1184, 0.8284, 0.7307, -0.6327, 0.2199, -0.1162, 0.998] state[eef_state]: left_x=0.4349 left_y=-0.3746 left_z=0.0218 left_yaw=0.0941 left_pitch=0.2272 left_roll=0.1709 left_gripper=0.6981 right_x=0.2741 right_y=-0.0026 right_z=0.1807 right_yaw=-0.0154 right_pitch=-0.1439 right_roll=-0.22 right_gripper=0.998 state[joint_eff]: [-0.2803, -15.8427, 4.8752, 1.2137, -0.2711, -0.0171, 0.9841, -0.3624, -1.4838, 6.8171, 1.8339, 0.0024, -0.0415, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_z":0.115},"note":"The left gripper has closed onto the can’s diameter. I’m lifting it clear and retracting slightly to avoid the arm’s long-reach limit."})
tool
executing move_to over 7 steps (0.7s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe can remains secured in the left gripper. I’m carrying it directly over the burner from this side, where the arm can reach the coil’s center.
move_to
left_x0.3750left_y-0.1900left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0458, 2.3177, 1.6352, -0.186, -1.0706, -0.6094, 0.7011, 0.1184, 0.8295, 0.7303, -0.6575, 0.2203, -0.1165, 0.998] state[eef_state]: left_x=0.4015 left_y=-0.3769 left_z=0.0797 left_yaw=0.0632 left_pitch=0.1879 left_roll=0.2045 left_gripper=0.7011 right_x=0.2701 right_y=-0.0031 right_z=0.1759 right_yaw=-0.0161 right_pitch=-0.17 right_roll=-0.2241 right_gripper=0.998 state[joint_eff]: [-0.4855, -16.1436, 8.0205, 1.2332, -0.6618, -0.1099, 0.862, -0.0342, -0.7726, 6.9128, 1.8046, 0.0415, -0.0269, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.19,"left_z":0.2},"note":"The can remains secured in the left gripper. I’m carrying it directly over the burner from this side, where the arm can reach the coil’s center."})
tool
executing move_to over 17 steps (1.7s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe can is above the burner but a little right of center. I’m shifting left and lowering until its body is just over the coil.
move_to
left_x0.3750left_y-0.1350left_z0.0850
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8227, 1.573, 1.0084, -0.1158, -0.9062, -0.3534, 0.7016, 0.1184, 0.8341, 0.7303, -0.6765, 0.2199, -0.1169, 0.998] state[eef_state]: left_x=0.3759 left_y=-0.1954 left_z=0.1831 left_yaw=0.0687 left_pitch=0.1621 left_roll=0.2199 left_gripper=0.7016 right_x=0.2672 right_y=-0.0034 right_z=0.1714 right_yaw=-0.0161 right_pitch=-0.1935 right_roll=-0.2273 right_gripper=0.998 state[joint_eff]: [0.2256, -9.4974, 7.0359, 1.6288, -0.3248, 0.0611, 0.5104, -0.0889, -1.6342, 6.8034, 1.6874, 0.0366, -0.0562, -0.0122] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.135,"left_z":0.085},"note":"The can is above the burner but a little right of center. I’m shifting left and lowering until its body is just over the coil."})
tool
executing move_to over 7 steps (0.7s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe can now spans the coil lengthwise. I’m making a small final centering adjustment and lowering it onto the burner surface.
move_to
left_y-0.1100left_z0.0550
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6876, 1.6238, 0.6235, 0.3618, -0.8116, -0.2474, 0.7038, 0.1184, 0.8349, 0.7303, -0.6968, 0.2203, -0.1169, 0.998] state[eef_state]: left_x=0.3702 left_y=-0.1336 left_z=0.0878 left_yaw=0.0827 left_pitch=0.1339 left_roll=0.2464 left_gripper=0.7038 right_x=0.2638 right_y=-0.0039 right_z=0.1678 right_yaw=-0.017 right_pitch=-0.2143 right_roll=-0.2305 right_gripper=0.998 state[joint_eff]: [0.4171, -5.0256, 4.9846, 1.3846, -0.0904, -0.0073, 0.735, -0.0615, -1.3197, 6.9265, 1.7314, 0.0611, -0.0562, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.11,"left_z":0.055},"note":"The can now spans the coil lengthwise. I’m making a small final centering adjustment and lowering it onto the burner surface."})
tool
executing move_to over 3 steps (0.3s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteThe descent stopped with the can resting on the coil, and it is centered over the burner. I’m opening the left gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6395, 1.6676, 0.5476, 0.5961, -0.7864, -0.2146, 0.7062, 0.1184, 0.836, 0.7303, -0.7048, 0.2203, -0.1165, 0.998] state[eef_state]: left_x=0.3778 left_y=-0.1207 left_z=0.0831 left_yaw=0.1071 left_pitch=0.2036 left_roll=0.1869 left_gripper=0.7062 right_x=0.2624 right_y=-0.004 right_z=0.1662 right_yaw=-0.0175 right_pitch=-0.2233 right_roll=-0.2315 right_gripper=0.998 state[joint_eff]: [0.9641, -3.7402, 2.906, 0.3834, 0.1392, 0.1441, 0.7399, -0.1026, -1.2103, 7.0085, 1.5995, 0.0171, -0.0269, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent stopped with the can resting on the coil, and it is centered over the burner. I’m opening the left gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteThe can remains centered on the burner after release. I’m lifting the open gripper away and returning the left arm clear of the placement.
move_to
left_x0.2900left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6258, 1.6985, 0.5163, 0.6281, -0.7673, -0.1951, 0.9954, 0.1184, 0.836, 0.7303, -0.7242, 0.2199, -0.1165, 0.998] state[eef_state]: left_x=0.3737 left_y=-0.1143 left_z=0.0662 left_yaw=0.0915 left_pitch=0.1724 left_roll=0.2182 left_gripper=0.9954 right_x=0.259 right_y=-0.0044 right_z=0.1629 right_yaw=-0.0178 right_pitch=-0.2426 right_roll=-0.2339 right_gripper=0.998 state[joint_eff]: [0.335, -5.6684, 4.4239, 1.6337, -0.1148, -0.0269, -0.1148, -0.0752, -1.0735, 6.7077, 1.7314, 0.0415, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2},"note":"The can remains centered on the burner after release. I’m lifting the open gripper away and returning the left arm clear of the placement."})
tool
executing move_to over 11 steps (1.1s)
step 247
assistant
agent noteThe can shifted as the gripper withdrew and is now diagonal across the burner. I’m lifting straight up with the jaws fully open to clear it without further sideways contact.
move_to
left_x0.3530left_y-0.0120left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3084, 1.195, 0.4858, 0.1947, -0.5495, -0.0563, 0.9963, 0.1165, 0.8413, 0.7303, -0.746, 0.2203, -0.1165, 0.998] state[eef_state]: left_x=0.3535 left_y=-0.012 left_z=0.1351 left_yaw=0.1638 left_pitch=0.1257 left_roll=0.2307 left_gripper=0.9963 right_x=0.2553 right_y=-0.0054 right_z=0.1582 right_yaw=-0.021 right_pitch=-0.2694 right_roll=-0.238 right_gripper=0.998 state[joint_eff]: [-0.253, -1.265, 8.9778, 1.7656, 0.0757, 0.1929, 0.0806, 0.0342, -1.347, 6.7077, 1.6777, 0.0708, -0.0611, -0.0073] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.353,"left_y":-0.012,"left_z":0.25,"left_gripper":1},"note":"The can shifted as the gripper withdrew and is now diagonal across the burner. I’m lifting straight up with the jaws fully open to clear it without further sideways contact."})
tool
executing move_to over 8 steps (0.8s)
step 255
assistant
agent noteThe can rolled off the burner toward the left edge during withdrawal. It is still within reach, so I’m approaching its cylindrical middle for a final centered pickup.
move_to
left_x0.4600left_y0.0250left_z0.0550left_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3107, 1.0977, 0.8429, -0.2794, -0.5434, -0.0608, 0.9983, 0.1165, 0.8444, 0.73, -0.7658, 0.2199, -0.1165, 0.998] state[eef_state]: left_x=0.3551 left_y=-0.0143 left_z=0.2308 left_yaw=0.1579 left_pitch=0.1073 left_roll=0.2328 left_gripper=0.9983 right_x=0.2518 right_y=-0.0057 right_z=0.1542 right_yaw=-0.0216 right_pitch=-0.2925 right_roll=-0.241 right_gripper=0.998 state[joint_eff]: [-0.0752, -4.6017, 9.388, 1.7216, -0.2222, 0.0024, -0.1832, -0.1983, -1.4017, 6.694, 1.6288, 0.022, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":0.025,"left_z":0.055,"left_pitch":0.35},"note":"The can rolled off the burner toward the left edge during withdrawal. It is still within reach, so I’m approaching its cylindrical middle for a final centered pickup."})
tool
executing move_to over 12 steps (1.2s)
step 267
assistant
agent noteThe can rolled off the burner during release and is now against the left-side fence. The gripper cannot center around it within the permitted lateral workspace, and the last approach stopped above the grasp height. I cannot complete the placement safely from its current position.
give_up
hindsightThis can rolled or snagged during sideways withdrawal after opening the jaws. Release over the coil center and lift vertically clear before any lateral retreat. The right arm could not reach the burner center comfortably; use the left arm for placement. Wrist pitch of +0.4 improved the right arm's reach, but did not solve the lateral limit.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.102, 1.9793, 0.5728, 1.227, -0.4034, 0.0734, 0.9978, 0.1165, 0.849, 0.73, -0.7914, 0.2199, -0.1169, 0.998] state[eef_state]: left_x=0.4583 left_y=0.0264 left_z=0.0811 left_yaw=0.2055 left_pitch=0.4017 left_roll=0.1794 left_gripper=0.9978 right_x=0.2471 right_y=-0.0063 right_z=0.1493 right_yaw=-0.0227 right_pitch=-0.3224 right_roll=-0.2457 right_gripper=0.998 state[joint_eff]: [0.1573, -5.0393, 4.1915, 0.0269, 0.0611, 0.3834, -0.0659, -0.1436, -1.5521, 6.6256, 1.5897, 0.0562, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The can rolled off the burner during release and is now against the left-side fence. The gripper cannot center around it within the permitted lateral workspace, and the last approach stopped above the grasp height. I cannot complete the placement safely from its current position.","hindsight":"This can rolled or snagged during sideways withdrawal after opening the jaws. Release over the coil center and lift vertically clear before any lateral retreat. The right arm could not reach the burner center comfortably; use the left arm for placement. Wrist pitch of +0.4 improved the right arm's reach, but did not solve the lateral limit."})
tool
give_up: The can rolled off the burner during release and is now against the left-side fence. The gripper cannot center around it within the permitted lateral workspace, and the last approach stopped above the grasp height. I cannot complete the placement safely from its current position.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.633 s
model
gpt-6-astra
effort
medium
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 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\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.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\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: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6079, -0.3958, -0.0189, -0.033, 0.9995]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1784 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -1.3607, 10.1812, 1.9414, -0.0904, 0.1587, -0.0904, -0.4308, -1.5521, 9.6615, 1.9023, -0.0513, 0.2027, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402968e4720439faae588598ba4b6e819490e4d49611d6b4090e9f3be1285cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b325a5a31b649098657db057be40661a02f81ae231dc60a6303176ddafe6ef46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf2f4cb472c45b6521ab99d4a04670e00abd0a86827a431387f96c96342de2f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrGpeZRDXG1FHd78lCH-eTEp4BGKFxbiYALVM7XGjPvwsSRvPPzEFo3kOj2JOytHElRtDdZVpDWqIHEnmxApIiAEYh9o7AseDOqCf97WANXdAHfOoag55LNenMAyYLt74jqdOls2BU0fbBPget1incJwZnUiW6WqoiTdqYVkYwo6oEIrB-7kz1ar8SonAOe8G4xHoelnEi1TBkeMORjz2EM1My7H0z5fNFBEuye-pr9cr-3LTN17C63HN90Ty0nO-qYtqRWLzRXt3UMpOpXHxfNANaRkjI03mtdn5t5VRO3midCa_puqk_QWZ2jzCzxnyNTWgEBsavXoWTyXY1o3jVkybJ1VlwsCYe7UM4SFWJI5x-_8T-vAaJMIlOijQqM__Wrad_K-WmXHkhdm0WECd73yqK_ggWSYWJ4C7dWhuYRPgtg_GRWVESYOcJuz1W7ZZ2oCGCSOiDYTjYHKdgEFHecGbwl7t8WgaCHb0nXHAq9fUq2Q7x69E4cPRqq9qM3v9qimYBo67UbF4kv6kDllhYjusvnUYn3ed1p8bFe5JlznriEsLJOhCfRrEUV_zGZ_qOLQSCPZ1URxqt0B8N54Yn41VX7zhhooWlLjPGQGNm_IK8W-NRB-GnMtLseTmGJ29yqE5Brp8YTEFetxMxz1h1cTY4mzsDzOBll26ooekRPHHQYQka-C7TX4NRz0i4SvzDTfWKyHQf4phlZtuvzbc2Hm3bTxt9uhqypONXLjkWRivOAtJw7rbwn8uVMzejNB9SzYOpGP2jB5fp9LbkUn20pv2HPOH3NC8hMrHiqRtkJ6Q1mLBvQg51YabeDSxk_rJqVaF-atAJAamSoKMCnzCL9aqvexYfXKCQoy8Mo38mqv8UVLxSzcp3M-NoWTUTTwLoFJrttLtx9RvclqIL4NeuC8zY9VirVmhqO_5Jt9iE2gCWQm8RzA34ZBlmngOiV0mUiMo8rOalWvy_rcRHhyV1XWugkR02DvL9NX7_iMOnME1GLeelmF7nLT6s_GRe2NSOjJQzF9WAddQukiKqe3i9FtiKYR1y9Ug5FIuuz6JgUwjpZejIs3W7BAnzKct0WKf2p_T8mgEzg-BeYUYhomIKXWJAchpCNMsT0HBLSAavOw1zmL5pIemFxNksAUgpKFyI61YI9PvxgYYIO2L83cmiK9FfgkcpSxGoy2V0sprAYzoEnigj99R8YXxS3Nerk7dG1lUMjKN9aJlxPbmUbOLEho664OqM8S8T61H2AWO6oi2DmuvpKFDeBxieKWx0_hItCGsyhPabjb8JhlEzJ9WuFIcb_mkAcsNerwqUamRT4nif1rVDtlWDYwbpwIGGn9iT8Bx2FiitCKAvopHzsCywC30nlC2irrRJIeJC18AgpNewWOwVPa-rvUAwhptAz_FLITopjlCYC0k2JebRWgLm3jq05JU5sJm80Lzj_4apCmdn91ZIke3cgZBYL-UnQjEB_DmYjRcA9emevYE8tpi73SriwkOQ65rglK5jm65hKTkCPZVbFCW5cNwt0Yl9n3ZIECU",
  "id": "rs_0e17d5c3f91b4845016aac6a5a6d6887d08ef4fa333bc62d9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying to the right of the burner. I’m moving the right gripper above its middle with the jaws open.\"}",
  "call_id": "call_SP4nPy45huKjkBpC2wnJlDzi",
  "id": "fc_0e17d5c3f91b4845016aac6a5d23f487d094330b975fae716a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SP4nPy45huKjkBpC2wnJlDzi",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4713, 1.5753, 0.9577, -0.094, 0.358, 0.2222, 0.9995]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0027 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4133 right_y=0.1452 right_z=0.1294 right_yaw=0.0393 right_pitch=-0.0765 right_roll=-0.0401 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -1.4017, 6.9265, 1.8632, -0.0464, -0.0024, -0.022, 0.1436, -7.4872, 8.8274, 1.8584, 0.315, 0.2662, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e074bc19acb042af2f3f940814b2d8fbc8ab5b3a73293abaab25ca024751141",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bb886d6a67a160a2ec67b4dc3692389e47264aad3e46600f5d5ae8779659f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08894191d5c9fafd59e7d287113fc4210622dd9c52e864f66f1e36faf64f58b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.728 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6079, -0.3958, -0.0189, -0.033, 0.9995]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1784 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -1.3607, 10.1812, 1.9414, -0.0904, 0.1587, -0.0904, -0.4308, -1.5521, 9.6615, 1.9023, -0.0513, 0.2027, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGppKnNA8-syWPRQkEX3lpkXON45FT-YpIuiwv2j0y_kGoiH-Rqs52HpCYnHQ7TR_o7WjA9B7Px_y7toSiugOoFLw8X5ZDI6zseHwnUtNd0WrQO00GSCJqYjN8KZqbDWNwcuNOoI_wPC57X1JO-SLizQz2IncTsqci3Kc9MxRykcOo9IhZG6hTLuaz9a0Zf805rFzToup3tBvZs50cPk7HBEYRBgGMx_HJOmNeiebAUiyIjcJmMq7l1ZMyB7GBjJ_3e3by6oxfQOjIdT1IhwwHtUxJk-JhKHJGj6WRIQAbuAjCfHGfAdv1I-yCUT20UeDdGHxKkTCCKkaKgb0hhpoDhbHCnMINmOUF16yjZOSIeaA4D31ajwFCqOt9JdcRajbgDXt4_dWWeo-0XnAdw8Vr_snS-Ph38oK7IODb_TSgUh_nR1x0ZZWdH0-b4Htqw5uNusxN0XipN4nHBHFq3gg2IVo1DXohVM-Jln9llqILdiYJrDh9BKr5BAmTIq7exvetX9dDxavnyrUvlPaQIVuNWUBu0WMRSolfcIhVA2VW1pm3uYw5MxUiIajwba9W3sVAyDpwnlLRQ-qIVwV1zwraYry78wgYjJx-7hFuOTkAx-bBAWdlvul_7Wc1t4q16Btg7j0bffuMEGmlSpjzrTc40z2Qie59bbOGnRmeXWoT8_aj4hbVXWBenpeI_p0PytQfj9qFEO9iIs8l6HaPmkk_HqOwoDImXBSUnuge-MAJ2nUPA8JKLLFAdXPdCIs9UB9dVfBMeWiLnZIxLfFMxTiYNkLFkWRKVt2BkMEIP0a8v_daFr3VLRUkt__ejxVbUBcdWWCn1_WMEin55qiAoG--yOc7Ld4ZyGzw-qAnmqioj0g2BlIf-TBbTsOu7tnPw37abB4Aluez-aXpiqQkhF2wFNFB-xk3zR7D8AwqyQu9yYjMbWn4stpPCgVxQAWghG5fJrmgrEDN5yIp4axh_rK2tJXjQYyQUBazRbtYIU6_IFSdH_FvU1b9OkoLAhrzxDD309akQ2bJyGBI3tl1t2MIBMnuX2RXTt5IkFEt1xS0wrpzMRoQpKhlQxq8viewP0IPUAGM-NYZ7_a79eOYHU1f6-s6xaoW92oBwW7l_jOCXMvh38Sjx4KGjqq2OH9R3EjUyLRu7ACiTzBhF17inAtpsd06QNv6Wl93Z5RxLRG_P5KwHideJ4sanuJAN1JAN_ALyometOZi6nrP1J49F_B5QSIFtc3YJciyf12AQi_YDG0Am3SM4YWEI_cMk1GbVyfyOpAupcrggTLD46ub_U1feBsho02wpG1PzMbRmYjTQd1_BwLP-mXatVZHrMvnGffXptUOmwSYsCb_yZia039IfZsNheeziTBddAhJqBGFoPKxmd0NAau0ozOETd1VyJiUwRN9ihEiNiwUwCZ5Yo1EC5E6tAmYlFpqNemEJQ0lUh3X4T5Y8DBw2hs_ZfFGeqzQfoohGvTLTwXwpRC8CcKg8mJgYrKJfA79iO_ssitYZOl4FwSFzBeyXmV4XNHYZieizQ",
  "id": "rs_0e17d5c3f91b4845016aac6a64db1487d09cc72815ffe7249b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.145,\"right_z\":0.055},\"note\":\"The can is nearly centered between the open jaws, but its middle is still forward of the grasp point. I’m advancing slightly and lowering to grasp its cylindrical body.\"}",
  "call_id": "call_wkXZlR1bJb6IdJqst71eDpDY",
  "id": "fc_0e17d5c3f91b4845016aac6a684a3087d09845c647c99aabce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wkXZlR1bJb6IdJqst71eDpDY",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8005, 0.6067, -0.4118, -0.0189, -0.0383, 0.9992, 0.4175, 1.8385, 0.9409, 0.1093, 0.3248, 0.1905, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=0.0013 left_z=0.1729 left_yaw=0.0022 left_pitch=-0.0301 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4392 right_y=0.1371 right_z=0.0442 right_yaw=0.0261 right_pitch=-0.1568 right_roll=-0.0745 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -0.9778, 7.0496, 1.7851, -0.0366, -0.0366, -0.0122, -0.3077, -8.6222, 6.2974, 2.0293, 0.1343, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d368d80528f151d7953c4e050ab79daeaee5b8cc66a4b1400190bfcfb5a72897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afc8aadf1a77192e1989ca0ef2c9e49f50eb5d895e6d7ca32ca7c1d4d290459a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c40fddfda32fe54f99e42def8b625263052eeb5f5990b4aee4e73ac8244c068",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.34 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4713, 1.5753, 0.9577, -0.094, 0.358, 0.2222, 0.9995]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0027 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4133 right_y=0.1452 right_z=0.1294 right_yaw=0.0393 right_pitch=-0.0765 right_roll=-0.0401 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -1.4017, 6.9265, 1.8632, -0.0464, -0.0024, -0.022, 0.1436, -7.4872, 8.8274, 1.8584, 0.315, 0.2662, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGpxjPi_PhqM7cVFOUQlF_kRPntEsyIECjy36T1HjQq37v-uibNRjTdu7qE80Iz0jPtkVv8OMhW9f7A94BHpfAxRA08D5s8UtO2qsPDk1pa-6ZeebVs45V1n1AF0OykyQ-9W4hZgTB3dYvJukWqoLSoZTe7KUhLnC5pRB4EwT-szdD3hj23xDwzZ04uq0lpMbbigIRH0rxxagJmbX53hJjGOO8Qw-TxbqgLrcCF9FhjHaDA5QC5Qn6Np4Q2FEftyPjF5nm7VAGZrk9OpjAdUx2m8WOBPDk05p51adZWXT1Ic7TQo8w3OGkco-9m9mb-ABSvIhWkdmqYcQUYvGzbgHknUk5Q3VgXPi78KDd-BlQnTKEPPjCerrhW3q-s_d3LFK74IfD8dpBCMfgRDTUHAM5azdN2Wvvlt2wrvQ5EErxQm3FTgbycgByWH4C1afSEFrkELiTiZmmv_CRhvPtIylunuTdRQMu8diuWGTeZ93lttisA61wIvivm1kxtPFoxRV_Z5CViR_gf6ehjvVCg2TkUK9raYC75zWKejYQxBBsytOF2FkCe_zXx_qKTH6mCSRhZaSoU6Szx7lkrAhYbZQEPB4TRHyVxqSoyG9Rn32oWsUY1nJ3rSKZDGebmIHOVfp5sTPFxFOwYzUWdUcN-pftp0I61DsyHMoNWPLvSXhX5AQ3zXl9Gn21oHTZQmwAa3xdinC76SH985fCZFsQCktWrnej1SyL43-k9Fg-IjlnmKJaEHPlryxMBpNWtSubI92m6JxM_jcpgqvnXPDkHcbKWZe4SAy1MCzlPlK6z44Zd7WiyTxc3fhdLbhuBzNTcebc5tE0HA3V7avGA2FjGy-mgS7Gj8FxSreBlg1DzhKYPNlzhIOUisBDGqnD9VxB9GD0Fl3LuUUaA-7yZKgVI7YIVTWZY-3iK8Wwuu0K_XwwAnLsKYsEDkcPTGXPOQBHkcscrauOkvXwtqyDaa3qePsmk40zomW4JO2NMj5MgHxpNkK72j1I6KY0m09vy50rf0Ssv7kN1vIJ1mDImZN9dJzMqtssSOkbTsxTvZFjlPd1Q-BOkYQLMjIjYMj77AW8Kvo-RoH4Rcce2pjUZe6d9ZpBcNYT12Yqm_Tp6KwH8HY__oZUAXcfxfIpgVJyLUUOnfShsha012mCsNfd6zD8HPal3n6PQZZ4Z7P7XpeCSAdVGKxfts2Dw0OCbN1uA6LGUoAVWjcvfU0sP85hX-s7yKHawndKdFvuPVryhzWiUzyr0dN_cdf_F8sAagZgHOgsAPf2wAlDX_kZwYyffd8CFrx0rnRVk4aFqyjdJGG5KLQi5rHL7GuX9NHyXbfmi48LhPS_BB2VpoabMe-co1BZw6d8SY7-7ExUWXmWWK8sT8WBEdOKIaxgaq_q1L96tOnnR9WbmxMURASSZr4d4KtmHGsKbt_pPAELk_DDzmC2DEa3Tsq3CSCd1BoqWUAStBuQdGiTpbukIN2RZ5Ur5b7msj9blHr8rk1DfwhyIpxScz1siGNGTHgwqwfRw4tkpRlwsWpBN505kH9mn_HbxjYo-dztxAcoDRBjim6Fr4buHaI-_vJ17qFR0-1uUsAhplOQM09egX_TIf3OGfK-1LFwlOveft0i_nT2wIX27DEHlMGh8r_W0K6VSvqKYixePbaW_yDsGkP9-l9Jcd7AD4y4ANm6GfOQ==",
  "id": "rs_0e17d5c3f91b4845016aac6a6ce18c87d08a782afc2280a8d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.145,\"right_z\":0.025},\"note\":\"The jaws are aligned with the can’s lower body. I’m moving a little farther along the can and lowering to its mid-height for a secure side grasp.\"}",
  "call_id": "call_rYMPmTLiWrMSJ5xEyX06ndc6",
  "id": "fc_0e17d5c3f91b4845016aac6a6fabc087d0ac69d93fc85ae6d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rYMPmTLiWrMSJ5xEyX06ndc6",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.3981, 1.9926, 1.0573, 0.1154, 0.3027, 0.1722, 0.9994]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1688 left_yaw=0.0028 left_pitch=-0.0496 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4658 right_y=0.1427 right_z=0.0169 right_yaw=0.0328 right_pitch=-0.1929 right_roll=-0.0849 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.4974, 7.0222, 1.8535, -0.0415, -0.0659, -0.0122, -0.5128, -9.6479, 7.7744, 1.7705, 0.2222, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645f7d688c49f759199c5ab7a41f8f092c12195f788a3143bda6933e96057279",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2cc3ae5ca0f1eaf8e47428a03d18bd57843428aa399e075cce2f00c6a1d074",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b8326b143797233df1a041caddb67866cf920e88be5bbaaecd8ddf040cf2d6d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.558 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8005, 0.6067, -0.4118, -0.0189, -0.0383, 0.9992, 0.4175, 1.8385, 0.9409, 0.1093, 0.3248, 0.1905, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=0.0013 left_z=0.1729 left_yaw=0.0022 left_pitch=-0.0301 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4392 right_y=0.1371 right_z=0.0442 right_yaw=0.0261 right_pitch=-0.1568 right_roll=-0.0745 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -0.9778, 7.0496, 1.7851, -0.0366, -0.0366, -0.0122, -0.3077, -8.6222, 6.2974, 2.0293, 0.1343, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s body sits between the jaws at table height. I’m closing the gripper to secure it before testing the lift.\"}",
  "call_id": "call_HQo6Qc0rckl65hg8qezOLHqo",
  "id": "fc_0e17d5c3f91b4845016aac6a72e7e487d0aa1c53ef439d9d04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HQo6Qc0rckl65hg8qezOLHqo",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.3977, 2.0083, 1.0603, 0.1047, 0.2981, 0.1654, 0.6783]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0028 left_pitch=-0.0568 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4635 right_y=0.1423 right_z=0.0088 right_yaw=0.0383 right_pitch=-0.2162 right_roll=-0.095 right_gripper=0.6783\nstate[joint_eff]: [-0.1573, -1.1966, 7.1863, 1.7363, -0.0171, -0.022, -0.0122, -0.0752, -11.2615, 5.3538, 1.5507, 0.1343, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c3a7eb0f802c90e026723bf49ca260c64eff03fe509d56d5a3d7143271392b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8c07399ae049e07e75fa92a61d6322941026286adf2aa372e2f9087e76a863",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b52b87c31f2fac68e4a1aaf0938b9eae9a8bdaedc8fc9a1febfcd426c00a1d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 7.948 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.3981, 1.9926, 1.0573, 0.1154, 0.3027, 0.1722, 0.9994]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1688 left_yaw=0.0028 left_pitch=-0.0496 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4658 right_y=0.1427 right_z=0.0169 right_yaw=0.0328 right_pitch=-0.1929 right_roll=-0.0849 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.4974, 7.0222, 1.8535, -0.0415, -0.0659, -0.0122, -0.5128, -9.6479, 7.7744, 1.7705, 0.2222, -0.0171, -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": "gAAAAABqrGp6AC_sdsb478lyUpltuYXJDqC-_dAVEAZSAT36m1aHg-ZlZR8RbEQkDTiL2kw6334xYaHX-odsVU639tqE8mGTJ3TMjwjVG6_cBd1TWM3-k1oLouioPBp2okqNmwyHMSAQYrfsGwvKqSqYg2yh5y30KRyBsvvlhK_g2Vo37sGw2k8XScyG8T8PwzseUgsI0hKhD2qabacine4SJqKo942-q0A45rVyKprGDDrvcwpTGBERMINLF-liumYiywdEwxVrInhbWBusjQNMlhDbQxelZsdsrlSCnLJ6yETCiW-akm9pMOsVL8EEilUmEOwhIks-jQZtWbIndO9BV9KUzMmPsN1LIiMYfGcRYxWx0VIgxbtKMfqHflZxMmqp1DJlT7e4Py3Ad9vgErUjOECDhto8o0dfPTB_T1jtkWWvtX_OMLsuVbN2WHC3bBoUy5taZ9XnxWcqlbNSnwKBHd_TGCePNymRTQmm2eGO1BzPVja-unaTPWctGaDOt8kbnFi2Pj4eGz_J5fX9OfbIvTfYkZKDD5VIh4O4EcoUpUlq-rOexoIwgm8BDBfb0PEETNEnowrTXR8UXlu7GMcw-VGK0BOrtt6khM85a44c6AsXqgLJLpwpGpovBnYPyU_j6zYStAEi3rnWQyNyad67C4-WDsQxrQsKNVejf5RkUXvpcICJJi_I6lDiejOtbc9RNxdXxqc5dw5qPao7FrtspJqTfT-Oel6rcsqpWhA1X5qNQmJxxBr6x14puy-wUh1xddsFtlxj5IiODtJyK13klteVTolscFld09loif8YYB5takgv4poJZlysv4i2tvaEQbl2Xw4bucA6HgRvl0qqz_bnTPtHYGS9-n8qSatzpXjSt-wWdjFFjgvS2tppehiRBSPxjHwZRkbAi6jnspGJjta--0nyizLa_mlcCsNxU3SGX6iwuN5WUIulwxhbJ_znucNP9h4yxFbgKg61LhIzb6WuXskQv__FIiebzcj73FHOwJ9W3Wuf3IYnO9xrBQPdn_jJXSEOi7wc-yXVMBUusvZNV3gGcH2i5qcV4Q_xuHSqmy82HxUmlXqcqlaDadUuCC1R_YEj9r8Tza_s8cB_4XqI_8VRK5t3grjZEyCC_0MahtXHsOK29QWcfGXjuTfsm5NpnzvHaLDpuKIaojzA9L2wksUmyfjAbEV-KIhg_eKT9Jv0rvM7rKazb8SgWEojpAd1bIYp64goRry0WE6wHo1anwnX08CroUhBqp41QXMpt7iFauIYmJOLYa8wRBJS2Jxt8dHyX-BGb7c9Rn7iyCUzG2ngFCsJGKIT8jStenJ92CcLorQ=",
  "id": "rs_0e17d5c3f91b4845016aac6a784a3c87d0a3bb92d4bc70cdc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the can. I’m lifting a few centimeters to check that it comes off the table.\"}",
  "call_id": "call_GT8E7kjJBGRq4tzYt1IzJcIb",
  "id": "fc_0e17d5c3f91b4845016aac6a79111087d0bb74fe5087d52694",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GT8E7kjJBGRq4tzYt1IzJcIb",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9992, 0.3981, 1.8854, 1.1721, -0.2066, 0.2905, 0.1574, 0.6783]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.074 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4526 right_y=0.1393 right_z=0.0578 right_yaw=0.0425 right_pitch=-0.2905 right_roll=-0.1226 right_gripper=0.6783\nstate[joint_eff]: [-0.1436, -1.0598, 7.1179, 1.8486, -0.022, -0.0366, -0.0122, -0.2256, -12.7932, 9.1009, 1.8242, 0.1636, 0.0366, 1.0232]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db40f0dae171d8d617116d117f4f30bbf303f3e6be98615dfca3de189730d4a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecfa376957f2380b62f808f3e4e300face1ce82f3d44ce619b6aae07bd0495c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ed518013176851d04d23a44e50c42b8b740f2a94fab547b0e5bcbc52613412",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.928 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.3977, 2.0083, 1.0603, 0.1047, 0.2981, 0.1654, 0.6783]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0028 left_pitch=-0.0568 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4635 right_y=0.1423 right_z=0.0088 right_yaw=0.0383 right_pitch=-0.2162 right_roll=-0.095 right_gripper=0.6783\nstate[joint_eff]: [-0.1573, -1.1966, 7.1863, 1.7363, -0.0171, -0.022, -0.0122, -0.0752, -11.2615, 5.3538, 1.5507, 0.1343, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGqC8u5-f_MGXPAU2hwgpuveEIU8BnqPoqcrJW8TIVkfXXfspSgYzV73ukXlHnJV9mTbBsYVNx-6HfxmxIvq3EwAhEdk1QmqLSn1zVDR30kneL3w4A3iAXJ6GlbQiTLROST_ZhjqE1Ki0HO4XhljZlG0VYSlTpmxeaFuZI3eX1CJb6jS2K5QPYY2u8simY6VMP_gPSzgdKeEWu93e0zoMO9Hc4VMdhGJ2ZC_j6Emmu6cN1W4OohBT-4at2XLwax8BFSwtvet7uzshe0f4mNxwp7czDa6Wy8ccl2dhMmtL_kssMNaT2WvXvk9KvlXhHalsFXQT44mNv7zUqwkktI2d-kYZei5O3uwF0spkMjDyQyVl6Bwnkoixfuz9gaDEQALQDVym89jb1bFpXNZ6B2qLoAbiDDTwo3__Lqj-j4Qf9zirTy8-Djx0ZVy2vKT9R0ixgmy1wVhT1LyuZVhcnG5Wzz9LHMX4xRBkISc17IkdYtdecYIXmpDl24nH2Y65-E2FriCccT5SuilUFmTkXAYyy6pGP6hAJr5IBUZBJLshYnMFH7MdpUvaQj3Mr7eWBSPWaYxhiwqIm6N_ychSocsFoR8kSZFzXKHk53j3ciZbXUYX0uWjmgWQnANbHCVcikKh6Gbdi2Xaf-BH4uciTnpiCksqiCboKjcgUWRp9Yf8vHvWhD9GNpduSdgqSeY59mqQVzODfsr6ACX0Vb4wiIPazA8UPXJ2L0LLFITTtfagaD23M97rJkWvfKrzhnuoOMMTaQfOIOVqAv_bQ3D_1CO81WA8yFrNoGjUP1dsrT_kbGIkKPFpVD3qGPR6E7va8V82YO3fKxspPYz75C8KLUf6BD4xiiGf1jF-nGSy8S9KccWTzgZz0fkc3rMi5Gbnp0qjuFcKmGHxu77E7jKm1adOBldlyt2cMcItdf8k9Xuq3AD6lwDT7XalOvYS8S6q2JC9ENVNiYwZvnHENT2-zTjngs21zrd1BLjZdY-eB4K78-nntyDdEp3ne5HurWhkfbeHJuamCuU-_BNW6e9U7cEGO5GtGtZHlq6ZlGHlVzCJB5PGYZuYLs_4WbG-Anu7pNneHBrBpuQjPIFTtvhzDd6uvgeistn6JR53Wd5PwjvrAxu1vH18-n3XkIEzOOwvpleNeUShxe2NqaMX392oIpB3TjdcQM62vJVkrErCZrkjFTnM2thglh9nW9TspfAHYynTL2JX3btR-2mLPW4LIhoFe2JMU0t1eluYl_5QrbzGrnNGFtGyhFo5adNYAJIApiACQhgrN0Sf2YCAiVrcUe3wARK3mSNyEZzkHrohj1NOzRl07DgUiAEQsbDQy_4mK6mf4raocu8y-ToON5nMtS24dnkhWF22nQRSlpUDo2i8EbObQIucbS7LQmV77WXQ8J3WjeX9HitbUnWUgDcXLs1vRMzYjA57yNyPkA2OAQHGEeRgp_hpaVnG9AXBLIUWvaqRlhxtPLAtuRTknxEMGaFAHA4BpC-_fxJVWbGpBQ9pkFjmtICDSmQPd71-52XvX8jXqLamRG6Sb26abMgM_jR7LQiJlonml2sApqX7jyaJ7Lx47_7H-TT4cyd1MCGCAFnG405",
  "id": "rs_0e17d5c3f91b4845016aac6a7cb8a887d0a42a124cd4d18943",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_z\":0.19,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The can moved with the gripper. I’m raising it to clear the burner and retracting slightly to improve reach before moving left.\"}",
  "call_id": "call_iwGaLYQntYkEqJ6b8q3NI16D",
  "id": "fc_0e17d5c3f91b4845016aac6a80e80c87d0a447c768ff3b6991",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iwGaLYQntYkEqJ6b8q3NI16D",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0235, 0.8501, 0.6453, -0.5034, -0.02, -0.0536, 0.9992, 0.4515, 1.6577, 1.3453, -0.6964, 0.3023, 0.1799, 0.6832]\nstate[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1589 left_yaw=0.0075 left_pitch=-0.1327 left_roll=-0.0121 left_gripper=0.9992 right_x=0.4008 right_y=0.1399 right_z=0.1549 right_yaw=0.062 right_pitch=-0.3681 right_roll=-0.1517 right_gripper=0.6832\nstate[joint_eff]: [-0.4718, -1.1145, 10.5504, 1.8388, -0.105, 0.0415, -0.0122, 0.1846, -10.8376, 9.7846, 1.7363, 0.3199, 0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1f657981674d942ccd8be5996973c94e4a396291cd92c2d48e8a4d3e61b5d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8011a2d17b20b62f8602e4a477c1d895cbb3142ab819b32314d3478be1db3c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb7deebf4156c84a0fe8e1835695c9f366189bf4d77b8dd322d85faa4d0a3c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 11.5 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9992, 0.3981, 1.8854, 1.1721, -0.2066, 0.2905, 0.1574, 0.6783]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.074 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4526 right_y=0.1393 right_z=0.0578 right_yaw=0.0425 right_pitch=-0.2905 right_roll=-0.1226 right_gripper=0.6783\nstate[joint_eff]: [-0.1436, -1.0598, 7.1179, 1.8486, -0.022, -0.0366, -0.0122, -0.2256, -12.7932, 9.1009, 1.8242, 0.1636, 0.0366, 1.0232]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGqJYUHR7i76VzSJu70Dfxtnj9YASuhqP87jMfrmOjeiUx5Tl-N5Hs2Eib8gUHOaWRLMatzKsBRFcEsNtdy6t-lOm8Xop-AFTrL2DHBuOWWVSjPqjkn6fFyID4I10HtnSKwxb5UFQb68ZrLWsxOILZBhklpVxD0vGZjLU3Pbaxcamen14zZ3wyqqwtvPdvrni0iBiBtmPSAsZ59-km84mQ0YKUe8Q5OAr7g0dqseXho_PiHhc2-p7dvV2hZf8kC9WOkGFpoPaTXvo_GhcwN67nEUS6D-ezvvFNy765_pPT33xLnG4hiZS_usV1EpwAO23QES-dAKkZiC8cy68V27YOMG4ee3XcBbfxzFIUhkrmWqPn9Nvf3SUwqaP6Q7RR92_-ua6B5f8rcjxEnGQerjSMNyJaCoYZpxBP9Cn9HwYWh8otbO03HxZXgkw_v-UoIXU4OoNJpfZXg4aeZ0d9hqQKR-84cBd6516Ya4L-rCi617j9854oQGjl9dTnpsnR1k1Ncvq6fColAENmA8CMVbDu-_nqqkACh3YY4K7itIbR854y9H2hzyKz932oqebdf29VXc1hIbaDVDXoho1eBmgPLpejDYrdmDmFMK_aUeQrFwcMZ8-V1ppxxO2G32hUHN1w4tcLLYSsV44nSR_CBex6IzQVb0qel694MTOcer23K1Y_Es-fQwRpi8hNbkSP_IGd4X1r1w7QCIeKBWxoA7JDgBhf9yjxh69pa9K3sOnsi9J_nFK9PE5CjrLpAvFCwKmPvSIXx-aHVoek08Tcgs16NUq6OVoCmy2VASJagC7JYB0utTtLKqQL_1I65th7v_T-r3Pnsb7Ly7kbn4v1vTSzn-f2_UKLXV2rI-uy1iQZ-ik4UJSsV06HLK6icPCrqUgpHWMn6z72cQQWuEGhSycmX00SnO-bT6GcoZjv_c9LhXBN3SD0E9BRJVAWYIm3AxcMA5gymrdsDtoToKb_v-N6HFQ-K5GCpHOLKrm_xTgnhxqbMXnZfgnlwz4bgZVtVkU2xueMrn9wAOdcnEYOwYfozY29prii6ixi27uZQ_81v74HnVvdWVe5n2R7gOaYnv-kYQ-Z1MXJ_mlg7XlAYu51KTOptNa9Cm_K7a22ms3Trb9ijrZ0cFEEFPb-WyhpjzZS-dlk7AeVR-6tF8zKY9-TAodCdf2ox8GDg1_I-24eEew2vn0iL5UUdu0-m7ar_qIP7LqkdPnzysmRiRWHfCtRNm2w==",
  "id": "rs_0e17d5c3f91b4845016aac6a87389487d094e65f01c0887072",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.38,\"right_z\":0.21},\"note\":\"The can is securely lifted above the table. I’m carrying it left toward the center of the burner, keeping clearance above the heating coil.\"}",
  "call_id": "call_3METVj0mC0cIxyEFZ2UG4s1d",
  "id": "fc_0e17d5c3f91b4845016aac6a87adec87d0ad85457c25edaa0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3METVj0mC0cIxyEFZ2UG4s1d",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0246, 0.8536, 0.6476, -0.5182, -0.0219, -0.057, 0.9992, 0.9203, 2.5229, 2.8315, -1.5272, 0.4828, 0.6041, 0.6861]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1563 left_yaw=0.0099 left_pitch=-0.1487 left_roll=-0.013 left_gripper=0.9992 right_x=0.3823 right_y=0.3729 right_z=0.1842 right_yaw=0.095 right_pitch=-0.4118 right_roll=-0.1666 right_gripper=0.6861\nstate[joint_eff]: [-0.1846, -1.5521, 6.8855, 1.7118, -0.0366, -0.0366, -0.0122, 0.212, -13.9009, 8.4171, 1.1551, 0.5983, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a08dfbb14077596a43ea6a27172c1bef3cff13af6e323f9b3c048ebeaaa33e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a7b2789452922db1257fa36e3b9f389de495ec63da7f1d36faadf6965522d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8b9cadc3571dcaaea0970de1ffa9a0ec410ccef7006e28fe01a4ed74c5c3dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.706 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0235, 0.8501, 0.6453, -0.5034, -0.02, -0.0536, 0.9992, 0.4515, 1.6577, 1.3453, -0.6964, 0.3023, 0.1799, 0.6832]\nstate[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1589 left_yaw=0.0075 left_pitch=-0.1327 left_roll=-0.0121 left_gripper=0.9992 right_x=0.4008 right_y=0.1399 right_z=0.1549 right_yaw=0.062 right_pitch=-0.3681 right_roll=-0.1517 right_gripper=0.6832\nstate[joint_eff]: [-0.4718, -1.1145, 10.5504, 1.8388, -0.105, 0.0415, -0.0122, 0.1846, -10.8376, 9.7846, 1.7363, 0.3199, 0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGqXmK6JFO_Oa6Zmo49EDzZAeRTGK4G-2ZZXvVOY7QYgLKRCGMo2KzLiHAmbzAZZZlKtbE4HIesh17D4WBAI_EbAuUmgDV9BrQWgOE-eMNMbNvw1BUOuu1tpSpLhWlkFHnH_PaeyNYQNVTeXdQU79VBkMXy2eXKb8kUV12-JJ4UY81lJaBd13xyrhyBmwJEpIuEFKMvKeC1EF6Dhm9cykNBq91M1pTb_Nbi6RwkxhvT2tIGn6aYp_qKa4pN0DBaBYWGMMC5IR9AwqXlcAyrwcL8hxvyE3oO8xbUa1F_n0G1Y1TtjmmInFSJycfh_kWUyqfjMlCo8xcegObX6VHxmrk2rUDbi8HM7rvHp7KlNnn0Nu-DXIZZ3tIoAwaCS5XcR9hwST8ugtkEc75zJrKRkus17_k6MIqdin9I-L1v9UnVRnyleDwoRE1aE-2x9MDc4HsdIaKL9lIpVun33jE9cmBvBd8n03JXNEhp-frWmu16z8w_WgvqU-TTNPGxAFi3efGsQZGRh8LCrm55lLR0-mf7yAPKxmuoMDH5olVKUErJgn3DHjkweQdujXVaV4vlb_aK1ZK8Na0CRz9j60NtwD-x-rykRGPDx_MwkQFRQ1EveH9Xo7xx-kCDcp_VLhVuVmJqy1yRBkG6U5TjZig-jh3tPpj2NNy-2JZr8EDs86mvO0kUpTuJP_P2AkR0a5a_mEcM5LB-1JGDGXBGvYidFBWAKjqnl_zdY9Ua9H4GN8E3JPR6E7j67h3S0Xbpj7LM33vgbZRlhEyaWgDTEvpEhmxfq-DCfHQ0bVUPs8nRlnreyyX6pM5RAxGOa7jbf9cTD2WKacLdsgoi7Rh9hd9GeSSlNj33XbNyJOBjSwG5QhNolRpdTCN3I0CDx66acPE5ZxcakGyCeaQprjmzoHKjJuDaKsNQ5O2-DXNMs-dPpHFDdffCW6jxh633B8dxkeXl5WiBIfSFuYzsom-2NQ4zxrSpGngQHq4aRX7DF60af3EUgcowqqnsi4U59VDRDpFZbTOAbpgqAU9zvY5RCTjSOU_jMo33iqBchc4OJNL48WuadrseEigls210VhBsFqEtqH8vi6np3TPcdO-jXFFtgwH9RapG9d1lCckN6iCZuZEzj3bAT3Jy7rnTqS5a92fpBZUOBTqLt63dAxz6fDGw4DSVE1B6xPOseTmZnEj-INBty1p89v3RiYb31T4P2GelgVVDnGLQA0OIjKeo78OHtXoZ0_OVBsmoWt-MJ0U9lxekC-q5ZgpbByxyn2I-CmBdVA0pZFDKfmQp6cc9zcqHL_D45BdNfJCrkvXKYy-LRYLvHwGlq2YfRsh-PyNdf5vCYBkOZYbuunWbouAM9E0-MipAirubVU_PwDaIn773t8s3jYNpEfvpML4g7hoT9IKneBcU8Ra6z4NipTvmF9K5yehYOt4yXJERoONv4Ik8CzRKBSqDE0Aisb546fShEH6SE1IXI5xf4qgQnvfMWSR17CKGe5L1pGssM_ImhsxQwJp2xMUD-OxMw4L5xkFvDslYiXd665KUOYGXX9OCjZEtcrVM-aEs7BHtYwLndkOyAQ5gauxpY3mSdvVkBfsnqCxrnD6YbaxeFyqcvp_EAPdAenu56GusabzeNhed_iE5zsyajJMJQZFUW68GaUC4Hidex1wNk1Fp7PVMMxJf_J-Ro5ffSS_QZE454Y56fkz_1KqBcNaTGt6k3qfYcwCGXpN4raXQMQ07O38PauujcAnFxWqY8bAS0Qu8-Ct-aM2Z4YWYBmU-xqH-MW-bVQeHmd2HX6Yb0cqmBlSnS92CfkSyEssyGCGV4BNCDql96qYbZXukaG-Y0a5h9z1sRME9d21GLVuOWD86IGONgwAyVeMSYeEkDrAYxBJfjAiD9CIvFSogY2UGXfYHCy2XvHUNBXrGf7cRyg5NJfZc9WSpYFHfdj_zyPV1Skb-N0JjtX_FdIfwwWMEmfaMlI4fOXA6CmJAgew33Wc1hQcOj-O1XWd4jJ2aKCyRXZbg5OicVZXYKd22rX6SyQejS8BNHRgEgLvp1lExeOPtFzz1T55aa2TVE3QmbMfkzeOyXYpeSxSHjdHLnBlAthmHYjWZABoSNmUqZkNWSsra_qroxsFIltOdmhXDux8O2zE-fgn9UXsB3Rp6JLezmAhqE_DouNfzvoJnbgHoUn1-_I2XDHz48hOZZip3LwWRsDW0RCGuO2a0ckwft0m00HyjqC3-7dQ52w0wu_xxe",
  "id": "rs_0e17d5c3f91b4845016aac6a8de88c87d0ac281f7735d3bf1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.4,\"right_z\":0.115},\"note\":\"The can is above the burner but slightly to its right. I’m shifting it left as far as this arm allows and lowering carefully toward the coil.\"}",
  "call_id": "call_equvJCgPVjF0jVVSAwHD7DVU",
  "id": "fc_0e17d5c3f91b4845016aac6a95de3487d0b0547aa9613c075a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_equvJCgPVjF0jVVSAwHD7DVU",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0246, 0.8547, 0.6464, -0.5255, -0.0219, -0.057, 0.9992, 0.9283, 2.5565, 2.8517, -1.573, 0.474, 0.6102, 0.6861]\nstate[eef_state]: left_x=0.2822 left_y=0.0005 left_z=0.1541 left_yaw=0.01 left_pitch=-0.1582 left_roll=-0.0126 left_gripper=0.9992 right_x=0.3748 right_y=0.3722 right_z=0.1691 right_yaw=0.0844 right_pitch=-0.457 right_roll=-0.2052 right_gripper=0.6861\nstate[joint_eff]: [-0.0615, -1.6342, 7.0222, 1.6386, -0.0171, -0.0073, -0.0122, 0.0068, -13.6547, 7.3778, 1.0916, 0.3248, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f6099e2db68ebafd7d44b46b2aad393d81018609165f957458cc18ecda6a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a60b53ae49a2d4ef1a385ca0cb1c93884a13422d9c891e9526ace62869e168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d04bf7d963d62fa6fba2ed1a3536140cb5293f48b95c6f41320c477aa1c4994",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 11.45 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0246, 0.8536, 0.6476, -0.5182, -0.0219, -0.057, 0.9992, 0.9203, 2.5229, 2.8315, -1.5272, 0.4828, 0.6041, 0.6861]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1563 left_yaw=0.0099 left_pitch=-0.1487 left_roll=-0.013 left_gripper=0.9992 right_x=0.3823 right_y=0.3729 right_z=0.1842 right_yaw=0.095 right_pitch=-0.4118 right_roll=-0.1666 right_gripper=0.6861\nstate[joint_eff]: [-0.1846, -1.5521, 6.8855, 1.7118, -0.0366, -0.0366, -0.0122, 0.212, -13.9009, 8.4171, 1.1551, 0.5983, 0.1245, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGqdzEjLR5n0SbBs0uKvfPHFWKm9MzIKlgU9_NTJgC9EYEiwl1MQObUyviXGnPg6Wps5bKC3kk7o1kfXOR--odq9BRr3zPjPf9J8_D6AKmwi-6YC9pvafYX5x0LSw3mBiHzAwQcNRUKW9L1P0D2OYWSgCU1lIJzgYDHqdAOF00FLr_xOPNAapnUOuKC-s-lOlNvgGyaNADq6srUs-ddu0r9qVlJKYuQzIqpAfrTBMfjsHCIw3v4Jp6FsQF1tD8YiEZ7v3av2q9eff175M6BDOJrVW-q3VLd7lGEPVuDeM_9kwHECxAcZ1D9R02OKCDjnX5K14GJs6sxXwtKoqH2TuH-lg9n80J5cOMQQoqfVABlEnn7O_arcWHU9mvFXDFqNwvkxDOsgIoFsfbRG5gnCViiwaCR8agPD4lDK6cQSfae_uBEPGji_t0xVTg_QapcIsOdxF8tWC761z0x3I_ACuRr4S-aUU5P4m1WaEInjvIUQUinwECzTL7FGr3VGgtT8NMM6fgN1Ur41CaLlLO2Hxt_BxP12hXZlYSW7-V9o6D6DUlZPGB5Dfde_pfiR-mbN2V2EjRAkdU6ARGLXCd_rCt-9CA8YBZ6v8XSshRCBUjj1WwB0caR1FvL1NUAfQ2Ym19G-f0Yir81h54bKlYOYpTHV2BilkaWQcJMm1o0RQaXHiIXZ-I02ZOtcWzc9aN8wg-HlUxDjrWe3meFkepHsRvuXDjJm325DLoRso6Dw1mnidViRnfgbxvXjiZgsa7XmTj0oIw1k3XjmnBqk9zFDefbcbxoBkvI2VCIr1fTw0h7uVIJEWeU9pyNNFjf41rVrWK0EQqcjsRn3uXBiR6Tof-UlHlO3o0JnCjPgd6htUN-atqTcxhnR-0TvhTNc2CklxyEMrxZbo0XqcY0gNokkRcXVc0KSJIDtPBKDOEQbz9A15Xsjq7_-IqBBAFy6MMadid46b_b2sWp_qXsCt-IWtpY_5i9G0ltEPPTz4Mlqh6qRQyvhQ5sgTfysA-NrMaSCMq1eFmeu5DTuDh9lRdrzyeHQWfok-8YOV8P5ZxTIAiATsYmvGQ1UI4LoQNW6ZN1I6mIM-u1RjK7sDSMX3zFdTTgmKgaEDIP8EvKt5PKOWx_CP7ieEycq84j44T2JEYqulqObroQ7VvC667dOwFhmcye9EbwS5xzusCTMVllKjbu9P1N28GHoch_va1losrOr1FQYosNrSykTKwtLJc9QS2p8u65Ngn7g9tV7OYjcOYcqf_zzrRcWZv4J08Z20FZhd4Tbh_fVfpfc85X9c_91ueYKz0JdSgkhyAH10d9K3VQxOrF-Aaw2Lg5Sili5Z50HBbWND3TN1wvCrIeLO3t62_F08tGly_zDuImytnBe5DbODWNWYJDPUcnFA0PgrmuU2DvxL2AAek8gAm42dXna1XaBZA==",
  "id": "rs_0e17d5c3f91b4845016aac6a9a6bcc87d0b960488b2ecd1b52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.4,\"right_z\":0.11,\"right_pitch\":0.4},\"note\":\"The arm stopped above the requested height near its reach limit. I’m retracting slightly and adjusting the wrist pitch to allow a controlled descent onto the burner.\"}",
  "call_id": "call_mS3UNhuIPzeaBUKfHwr7T56E",
  "id": "fc_0e17d5c3f91b4845016aac6a9ba40887d08ac050a7e08dec6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mS3UNhuIPzeaBUKfHwr7T56E",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0246, 0.8566, 0.6464, -0.54, -0.0219, -0.0608, 0.9992, 1.1465, 2.196, 1.3182, 0.3222, 1.1011, 0.2329, 0.6861]\nstate[eef_state]: left_x=0.2799 left_y=0.0006 left_z=0.151 left_yaw=0.0122 left_pitch=-0.1746 left_roll=-0.0149 left_gripper=0.9992 right_x=0.3481 right_y=0.3967 right_z=0.097 right_yaw=0.1269 right_pitch=0.3236 right_roll=-0.2578 right_gripper=0.6861\nstate[joint_eff]: [-0.0068, -1.6889, 6.9949, 1.7216, -0.0073, -0.0269, -0.0122, 0.6906, -10.9333, 6.2701, 1.9902, 0.5641, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4ecf38d787aee925bfe8f1b34f4eb03d1d0fb021bf1a6fc7e35bb3b0f59081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d7ee74b6df1c2a9155becc9f58d188eb773d255050802491284b58330e7e49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720bd9c3e298bbf2a863caa3d8271b33b32852442f055ac4dbfbee8628d422e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.336 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0246, 0.8547, 0.6464, -0.5255, -0.0219, -0.057, 0.9992, 0.9283, 2.5565, 2.8517, -1.573, 0.474, 0.6102, 0.6861]\nstate[eef_state]: left_x=0.2822 left_y=0.0005 left_z=0.1541 left_yaw=0.01 left_pitch=-0.1582 left_roll=-0.0126 left_gripper=0.9992 right_x=0.3748 right_y=0.3722 right_z=0.1691 right_yaw=0.0844 right_pitch=-0.457 right_roll=-0.2052 right_gripper=0.6861\nstate[joint_eff]: [-0.0615, -1.6342, 7.0222, 1.6386, -0.0171, -0.0073, -0.0122, 0.0068, -13.6547, 7.3778, 1.0916, 0.3248, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGqrvZOlBuX7Ekw0-77iwt-UV4zb8ZM3-zmfBMfOZZVhVoq-4stDfHENiMdr7xGgBHtEWQEn7K7Z8QvGPbginLRLxte9ic80S8VnU5iwqXC0aY6GQQ59HzDKHMzDzk8YRdthdT4RXsG46GpWbktiR_JQKj8qd1UybYxvVJFJ0bD9dLIp_gUtdL1n6QGzDBuqe6xnq_1dHi5xTg1MIwSVzpvBGVfj9rtT5S0OcjklnbE5xPXCR314tOfK9Ov3TSwqrbXLJgo2svfqXPE8qxATn74Nd0nQ2xRGRonmLaYzRxpDZjILqgoHrT00kba3TyIs7Jia80OLVQCc7tYpOvbRmyWA58JUX0iCOAv16cEIp6XoV57r04_x4yQxjp6fD9GL2Drc1NiXrkSILTcIb2H29iRAHhsY1tmebL9L_K7ExYkxvhXvIBDmeHf_3r-sTtEi7KVRkXYoEkh7ENb22MOMQWa07jk0FtGiIYpbGWxyRsnY6IhTq8pXkQyj11HbD-w5CHyjaEcSUZkDp0FUGW6PQa98OK3gmDxTatVZmNx_1XSmz0zC7iOu3q3Iw_vBMmS4xtPhzI124qJpRAcZfa0peL0etnK8MOb7XkYJlioywApLGs_W_s4wQ7a0cuM8UzpiA3-cnSnrpYD9xsNOQTJbPKG3jXXLu-ol0NlyQzCQ9ZI0BjoWh-fIVg7z809n9-MfE05pezYz-6NhBEUvmRv1lTG9kW6CBaJ-FV7K156Q4AI8jfSi-Uobezb-D2g1PoUy8ZHUoV3-oAA2ANPbf1PS4RSsEYURv6oet4ZXX_bjNFzNIlXw3-wAisV1A8MeQ_8esF3EYFJdaTHIjevw2YDg1fVI0thc3cayUfAX0oMVctebC4l34V0J6G--OK2u9p1JJW377wVpbDqrtiZtfSyVq3kv6EcDyBUkbQrdxXHTcE-UUUeZ8gX8Io89yZzMZiAXhbqYaclkYzx8nDRyyCcpQ2Z3sZ2MYJDHSuu8xV-U5h6dWf1G4UCS85D1rDLPvPtV-OMoWBwWDfDWftnJ-O87_SVbQQgeRQH0naibsgOEza0ncCB4xUZGqDHERJqVlOFVv9qR-vV0lDj_Zr5YuF3m80lL-X5UU6RkElH0_UJTcwpNu-tQmvvyutZiF8v-cV5AjiST2F0KS4SsptFAM7RzHNqIAHKjv4lqxAG2KbhqgKfRJw8aAJ0rxvv2ZVtM-GdbmQXLZgVWrz74KhHjZ2GbqKgEIKartNsJrNDZNGPgDV0MWnnzNSz2kqMutEQ3Zx0NpSYhmL_VYsYZaAFMVrX8eVb5GHwVLNE4CtVEfK2ePlsJEUQ7l0LI6NsX4FzYuGRVg6kvshRv2_R3r054FBPK_UqWg6TWQAYYMGygnIWXagaM4Jbl_dexqiOf0BuLp_YrW0phQ0THgL7cp-pKiPNoqvzUdvA8J20_bOwkbDZEEYfoAHC8n1O7bcITcziaERU0_ICJ30nQDJM4vKtU8Op5j5oBA-gWfU07-Lx9iVFOB6IQkTWnZT7p9Jz6x2wQiMzmdq5FY2n3UWag-U455o0STNy8LqMCxu_FW3ib8IvjDMNP4U93nLm5YOwJNZOyeHyyw30fzYy6NOPCrTJV8Wn69LPMUuQpBRPV0XH8ExCOcx84xkbI7ixMZRVrC6h1CeMZ4IhQ7kL4cHswdkRlaB6okQm9rYi_-FFuMPW-u5MxBmVFb-PGZl8fheuKcCcBiotI-gih75yFOLYN4TGcl-DYanCfwUogy3_-gKm8f4SuGmkMrpO_1bS2yLCyJF-IAJ0-HyYXolwgvazPs_TQMBBDOKESPJ0aEBKEP8uzF_VqHk6UZd8E_Th-XkcbGZwxwxi6x0fZLG8V3qquH0iMNX-2by751BadQF2txICfvKCCSe3cfQkoFwQKbWANOzleqMXuwgJPXaUQ0scm_hj0f1KEYGcDr_4ZgpUNw5Op6uWoxhMvbHezAkspvZIRqE9ivafWxT82",
  "id": "rs_0e17d5c3f91b4845016aac6aa322bc87d0a694a71a2f920b08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.4,\"right_z\":0.1,\"right_yaw\":0.65,\"right_pitch\":0.4},\"note\":\"The can is above the burner’s right edge, with its length extending away from the gripper. I’m turning it diagonally so more of its body lies over the center of the coil.\"}",
  "call_id": "call_w0tETLMRgD5VJ0fxvr1sB24Q",
  "id": "fc_0e17d5c3f91b4845016aac6aa9190487d0972bbee7ef7da1c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w0tETLMRgD5VJ0fxvr1sB24Q",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8581, 0.6464, -0.5472, -0.0219, -0.0612, 0.9992, 0.9894, 2.1284, 0.9844, 0.8227, 0.654, -0.0849, 0.6892]\nstate[eef_state]: left_x=0.2787 left_y=0.0003 left_z=0.1493 left_yaw=0.0113 left_pitch=-0.1834 left_roll=-0.0148 left_gripper=0.9992 right_x=0.3699 right_y=0.3737 right_z=0.0716 right_yaw=0.4599 right_pitch=0.3097 right_roll=-0.268 right_gripper=0.6892\nstate[joint_eff]: [-0.1983, -1.6205, 6.9538, 1.6825, -0.0024, -0.0659, -0.0122, -0.0479, -12.4786, 5.2991, 1.8095, -0.0562, -0.0904, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fabe9dd543aa4b1e0cf14deeaa087562c971de718b8faa4415691961a72be2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5b2ed69181929ebbca24e656a0c46eb414659152d362f159c52c732a7b52e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc81ec6f9027d7448d584f1e414489fdb99cd0c1c784863b1691c3942264386",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 6.503 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0246, 0.8566, 0.6464, -0.54, -0.0219, -0.0608, 0.9992, 1.1465, 2.196, 1.3182, 0.3222, 1.1011, 0.2329, 0.6861]\nstate[eef_state]: left_x=0.2799 left_y=0.0006 left_z=0.151 left_yaw=0.0122 left_pitch=-0.1746 left_roll=-0.0149 left_gripper=0.9992 right_x=0.3481 right_y=0.3967 right_z=0.097 right_yaw=0.1269 right_pitch=0.3236 right_roll=-0.2578 right_gripper=0.6861\nstate[joint_eff]: [-0.0068, -1.6889, 6.9949, 1.7216, -0.0073, -0.0269, -0.0122, 0.6906, -10.9333, 6.2701, 1.9902, 0.5641, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGqwszVzEmAvC7lUEngi3gPQrweNT2ccw_bWyUDhY8bHghMitxyh9AP_MKWN7fNnyrPiDR4_mfijMhKe4fl1HpMy2QThu8lsucDvje-f5kFEnM4OFAamgKgWQCKTyLNr0xVLRu0HTfSVlR9YiDI9FhUmepXmzYohj6LqNQ0Uj1_AyQhT2nAKL-y0FRLN5u5Nl1tmIKA1VGh7cObPn4uvX1MzIx1YWR0p-Ixpsi0jUloKgzANy2gQ38c6IRfhW2Dc71toVYuWM8ALhXioJjoUXDuB3ANcb38a5CPLe0TL9QvYL1tZFkrvPdthU8wwBxuc-oO5r9HARbCh7GD5rPQR6Ymz993hWhkw0R9c7YnaqzH3O1KXV8wH-JqgeOQLYtfEYWyYSUw0rMR5aOc7YfRqK5fQ-4g_ir7kcWOzEvefQzW1mJaCCXsc68i9donqCqIPDXd0rp71c8Wh4fPBkju0MrCv4xjY11rMgdGlDAlee8PaP7O2lNiQER0ko7XMZ1uW0garfdFXJSrGbtUfBHAiZlTHBd5AOIzFXcT0FaGrnRMzTxM7a8M4tLo8OzzgAH7TVtIkg3je1QuHzuDTs2iF_-0gxpfbNhAJhbxGt7GoU7bvSSpHgHBkUbekFj2ouWV3IGFGjTk46IMPDXt0ESS1SkCo_AerKzs5BC16SV80WlOpVpUa6W4r5y_SgoYxo7PdVR19HWj_2dIwBN9X8PwhB6Jt6XFlcalBhG_vjy4frb0Sm5-I62OXaY6dgfQlr9S0zdletqS01KMUzz6pGY5GvQfF7PYDRETUf1A8faJbrulr6VtDUvL31YDXWeNt6n-HEHk3Szn0FqCKpx17dg7Ku-dHkvB-1ryWONImYtsU0oIhuOYNpErkLD6hkrQJ-wbnvb_pqCNdUzdH-qB_xQXgrjsOMLOzoSravPwAWIUT6W3Oz7ser9C279seoz6IXmHQwjFuMb1xPok7RNjU4OhH-rUV9KRFZwo7ku5P8ajU927lJdnQY0D_bgSa_3AyCM-X4gkqrBUhLibj5jGpn0GJfqrqIt5h_DCtu86ZJf11LsOMcPDGTqkl5aPTpIsRxaUcrubBHTyFYK9ukbCKBN7z6Z4S4GpAd31rwriBlvgW4HstIq42qQgoYAwnXO61RnHjOqNkNq7Ps_CyWnrTYmzHUm6lds-w4mB7UvM0YuvWpK4bj4Gp9enwgYbMnHjBkTbMXGY3htvU7Sd7F6I5GJ2FFVsWTg==",
  "id": "rs_0e17d5c3f91b4845016aac6aad61b487d0ab9104086c8b3269",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.4,\"right_z\":0.065,\"right_yaw\":1.0,\"right_pitch\":0.4},\"note\":\"The can is now angled across the burner, but still favors the right side. I’m rotating a little farther and lowering gently to bring its body onto the coil.\"}",
  "call_id": "call_3hGCLYXlAy2rlRRoIqDZS3UR",
  "id": "fc_0e17d5c3f91b4845016aac6aae71c087d0a31d65ec7bd24bee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hGCLYXlAy2rlRRoIqDZS3UR",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6464, -0.5625, -0.0219, -0.0612, 0.9992, 0.9646, 2.1281, 0.9253, 0.9424, 0.4816, -0.165, 0.6926]\nstate[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1465 left_yaw=0.0114 left_pitch=-0.199 left_roll=-0.0142 left_gripper=0.9992 right_x=0.3623 right_y=0.3852 right_z=0.0709 right_yaw=0.6218 right_pitch=0.3322 right_roll=-0.2748 right_gripper=0.6926\nstate[joint_eff]: [-0.1709, -1.5521, 7.0906, 1.6679, -0.0366, -0.0122, -0.0122, -0.6496, -9.7709, 4.4376, 1.9658, 0.2027, 0.0366, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a82dbb39e3f3fc36d1665482068b5f7f32c74f9b81d8ce1b94e8cc5d9ff4e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1defda330479138e675260896bbac50baf92f74044a0568f07e15f501dfd9923",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ddc56efced0f0ad1b811a7629e052cae91b55c19927633a21ab930658dee17",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.75 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8581, 0.6464, -0.5472, -0.0219, -0.0612, 0.9992, 0.9894, 2.1284, 0.9844, 0.8227, 0.654, -0.0849, 0.6892]\nstate[eef_state]: left_x=0.2787 left_y=0.0003 left_z=0.1493 left_yaw=0.0113 left_pitch=-0.1834 left_roll=-0.0148 left_gripper=0.9992 right_x=0.3699 right_y=0.3737 right_z=0.0716 right_yaw=0.4599 right_pitch=0.3097 right_roll=-0.268 right_gripper=0.6892\nstate[joint_eff]: [-0.1983, -1.6205, 6.9538, 1.6825, -0.0024, -0.0659, -0.0122, -0.0479, -12.4786, 5.2991, 1.8095, -0.0562, -0.0904, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGq2hgXj4LfrF5XI1gGoRnLH-8rc2coFQXzR-kZbXXj4A_mKry7ekSavmDqvbvwSocI-d9tHha8rfrGCZqvx9_8dY6_szAjMl1nz4IwNknFpGf-TVrJC_9smy9NheaGb5gv_i1pNU5cpgseRJ1HzYLnGSk5VNXGgXMqgNBWVyOrAnXBVireapcV153NteA9M8AMhoJ0-sBFXg8p6-cMdinFW-52ktyMdBE23q6tfrVt3KID4ewTJ6LCgFVmFjF3dChGXKQM5WZOTdCPZqC1Kjmat1qkCEOt0AoMNiO2RWC4eU8HF9c-o3o85HlfVa76GuB-pwOb3dGThJnJY0IPi8B68w66GzCpdtNpIMyH-oEte4bLTCt31Ij5HuPNc1hIT54_iynXtCPNvyKWeZmTcllULEGlMBbxBlumsPmtZzyDF_62jIKqHaqbvGU2_gjSRsapUk7AnzBz2GNL8NgmNjMEU2TRS-1PnT_P6PbohajwKT5v-cw1stSbkUTu0c93KRlzdLzGgc1bAfwkY1HLXzWr9uddIAbnJdUZvv3We5-gPlANC0uewBQxEEfYlr4sHNiXY_OnzM0OZpR86TNFfAtsk3Y9k-aJosJpI1ijoX7bNgGSmUqDeScyS-Xc_5te1OxiNcnAPtr2CnmwnsLPcv2qH8-Uy_PZrLLOSJF3NoiYr5k7PdlFxnqFPbkv1g91DH23ZODrbQJoIwJ47pjmf5xv8eNjRhVCEl4ejwkYO7iGTVZcynlDE0tbRroQzrqZVsOPzAS9PSzkz-utFUkKtTmLa0oQ8a6x4wbE_TVaF2b5tmqrzJaq2tRyddPI3Y-ptlYYm7YIO7P2Esy1L-jgRwyXXy6pf9TNTgS3b516R-8cP5-CW6N7y8biIsbOsKwUxofetLVQpfzgnmo7tpBm4w_ww_WzHx1rT7kxbnMcV8qHTJOL5MlRTZ9p4QqWwH55mp4L7kQaWfeFf0Qiy40KyyXrIdAezL4qA-853o2G3MWHiukTN3LhvZBx_pvLSRJVRPWK5wYKNAaSrISugX2QkJV64XbqhWEO0amQe5--nlhDkjUIr0FwjayuvlTJ3F-4NAB43PD2lgYIhlMAlGH6VG8kk0ZGDVyndbLIJ_-MjpDrqAVvQ-jPBUquHa0-OsFNxhHPlW56-1WeLZ8OrWiVsg7qtCc6QQvSSqC_2x6Le5jkbOuAvcdbYOx8uZpfmc2ciAkXBB_p6an983tVhoYnqONuArjP7Q2ehKq3HQolZU2ru6JRl6zH1eVoBq2QTSmyPsxCV861dOW5-XzBbdBn6QO-4jT_r2n2zmADyNPQbG1XV7toOTqBQefSjxz0xGLwr6q11qF97d2ujQdi-PDOkd7lryN6iF3To7PRwnopP_tsW2WzfEJRy7SLvWDgG46B0uFFKtNe3M635ppKXI2JJ5jOmKHwl4_-i6gmKsIQzbmy82xPgv51RNpPfC8AAe_DHt-xGbn9vTvTNmrXPoJ__iu7LctSDIKoJJkQgO_Ytc4NiZ5qElZUW1BvgH9l9EFi30xzEgt1Zq8g_vLTlbJEgm8HHQQ==",
  "id": "rs_0e17d5c3f91b4845016aac6ab2d1e887d099ef49133669167a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_yaw\":1.15},\"note\":\"The can is spanning the coil diagonally. I’m easing it down the last few centimeters so the burner supports it before releasing.\"}",
  "call_id": "call_ptMG8Z9zKbtIBFvGzZYxf5dl",
  "id": "fc_0e17d5c3f91b4845016aac6ab5007887d085f1bc7e066862d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ptMG8Z9zKbtIBFvGzZYxf5dl",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6464, -0.5724, -0.0219, -0.0612, 0.9992, 0.9627, 2.1281, 0.9245, 0.9443, 0.4854, -0.165, 0.6961]\nstate[eef_state]: left_x=0.2744 left_y=0.0004 left_z=0.1448 left_yaw=0.0115 left_pitch=-0.2089 left_roll=-0.0139 left_gripper=0.9992 right_x=0.3633 right_y=0.3839 right_z=0.0712 right_yaw=0.6164 right_pitch=0.3336 right_roll=-0.2754 right_gripper=0.6961\nstate[joint_eff]: [-0.2256, -1.5111, 7.0496, 1.6435, -0.0317, 0.0073, -0.0122, -0.4444, -9.9624, 4.506, 1.9316, 0.2271, 0.0317, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc22aa18d6e646d6df5823dd90a1a9692b1141acf883f5196fcea95cb4adfc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea4d4a4cf37d097d743afbbe18e006b5c2b7a84b4544e93d0aee79e5e519760",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3604024e0eef4f73ea3ea825830f0289c98387ec2582b60f71d29709cb19efc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.118 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6464, -0.5625, -0.0219, -0.0612, 0.9992, 0.9646, 2.1281, 0.9253, 0.9424, 0.4816, -0.165, 0.6926]\nstate[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1465 left_yaw=0.0114 left_pitch=-0.199 left_roll=-0.0142 left_gripper=0.9992 right_x=0.3623 right_y=0.3852 right_z=0.0709 right_yaw=0.6218 right_pitch=0.3322 right_roll=-0.2748 right_gripper=0.6926\nstate[joint_eff]: [-0.1709, -1.5521, 7.0906, 1.6679, -0.0366, -0.0122, -0.0122, -0.6496, -9.7709, 4.4376, 1.9658, 0.2027, 0.0366, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can has stopped descending and is resting against the burner. I’m opening the jaws to leave it supported there.\"}",
  "call_id": "call_Y1GReegLLuZnz0hBDgaGXG7e",
  "id": "fc_0e17d5c3f91b4845016aac6ab9bf4487d09601de9cce3493a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y1GReegLLuZnz0hBDgaGXG7e",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8619, 0.646, -0.5854, -0.0219, -0.0647, 0.9992, 0.9619, 2.1281, 0.9234, 0.96, 0.4934, -0.1577, 0.9955]\nstate[eef_state]: left_x=0.2721 left_y=0.0005 left_z=0.1415 left_yaw=0.0136 left_pitch=-0.2257 left_roll=-0.0157 left_gripper=0.9992 right_x=0.3646 right_y=0.3828 right_z=0.0743 right_yaw=0.6027 right_pitch=0.3489 right_roll=-0.2646 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.7709, 6.8855, 1.6484, -0.0659, -0.0269, -0.0122, -0.1299, -9.9624, 4.5744, 1.7949, 0.1636, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1156629362d9368e51199864d9c205fbc7301b9dd5e0c141e939d6007b9de25d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936d425fc3af48d4babc41ef2020a324542fa8b1625a45971bd9d2658c036b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610675657057a3a12053f2da2597cf21055fe9f2ec015b4012c447edfc94b8f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 8.656 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6464, -0.5724, -0.0219, -0.0612, 0.9992, 0.9627, 2.1281, 0.9245, 0.9443, 0.4854, -0.165, 0.6961]\nstate[eef_state]: left_x=0.2744 left_y=0.0004 left_z=0.1448 left_yaw=0.0115 left_pitch=-0.2089 left_roll=-0.0139 left_gripper=0.9992 right_x=0.3633 right_y=0.3839 right_z=0.0712 right_yaw=0.6164 right_pitch=0.3336 right_roll=-0.2754 right_gripper=0.6961\nstate[joint_eff]: [-0.2256, -1.5111, 7.0496, 1.6435, -0.0317, 0.0073, -0.0122, -0.4444, -9.9624, 4.506, 1.9316, 0.2271, 0.0317, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGq_ph_yHyQEXojzlSZreGRIYhV3BDN1P8BQU43KMlQH9s6eA9lm9rCz_DnchqioPI4wxWv4AmWOaG55nOnTDiqosIYlwtz4bc8D4BoSuPFKnUJRPoADyKNC4NO9NoLous0NKhpuke8FNn4boErFW8kYOQ3P2eJltYSV7wjwatNvWY2wo1OK8Hq--RPF_lGuwhOqCBgMppF-5bWidxwrAJyh5WYCS4EylWN4rTzi53hrWZp-rDyuf9uJshh9Jc_PXjd02iNw1qPXIPMVXZvHW2lIlQFfiZaYhu_Vm3ot2Ye06_GhJlXmE8lDVd-uyxtRzvf1jque9tXZRpS_iKWMiDMUTK7sQDT1EBAbspllWXzQ42o90wQc7BJE3jwn8hyfWZBB2uH5DkW2g-u2ZUzDRFk1RdE3cq1RID0_wMKwo447xWiJRXv6u7GvRIrcu1MpmrWC83SV6s_SR10VjGWJ0buTWSdtWJTHdx3O0wKoAHcoFOkyJ45tHjicj9yKaPbIIM7_VM_nuGc6YR7b1tS-9N81_kCizEiEik6sRM--H-VLgAaWbpAlex68UByHDeOpGMAYAdqn9rnZv5Hfpe-zQ_ZH4F1AARRK1YxFC57WrZ-lKS8b7rhGhIjObRfKZyo73IsrPOGMCpJgE9LE4ewbD5tOOrYJFQCCGuYoGZkivTEzkt5wn_SThMS10kfUcximfRmn5YRCFDE2SOlVyNHKMwzrvFsboJwYDquLTtEhD6-ShqYg7It2xxU770EN1rc1f4pkPPYiNxsePGPsbj4IuPfGCqiD58jTA9QdU2KPB8Hnke2pLOp_zA8oVe0OGQL3KKYBQ8hwvaykdtsNwc8fqyO7e-6hfwHkig3Hu3IJ-dvoLa3qGVB2SKPxOV4t7wWhxKXGR2v-BES3NQXyVYE0MZ--ya_o7iROjlvy6Fj_jLhM1yf3NjKc_B18Wb6g5QEf2M7vRL5oac7f6BtKiFZCgsb_4kcOvHagYkJk9sDWUM9n3cMX5OK_VdxOVi8Of82fQuWoDaSWSA3Q1NUzRB3ECTMLEwG8JTJQVyPztmU8usO4coNVzp-nRcU4gZLFQNJ0DdEEKuCE1yAHX4fmrsmEOKgBMUIhDdVASnB-I2pUsQYXRPvYJ7xHtT70x6W5PyeFfF-9KwsiCj0Eo4E3q3yWMu2fP5eDPco4GgeHzsV5vg-9NV2uQ7_sO9uDiFQ-cxFgrIn9XY27k2gJC_WgTKfN-J71-m_2Gmvy3KtYI_yc0tAtPs0=",
  "id": "rs_0e17d5c3f91b4845016aac6abd228087d080b65bd37af98159",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.27,\"right_z\":0.2,\"right_yaw\":0.6},\"note\":\"The jaws are open and the can remains beside the coil. I’m lifting and withdrawing the gripper to check its final support without disturbing it.\"}",
  "call_id": "call_1g5DJIVB8h2gjES62gTiGUoh",
  "id": "fc_0e17d5c3f91b4845016aac6abdc00487d0b76f06d093ebb029",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1g5DJIVB8h2gjES62gTiGUoh",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8642, 0.646, -0.5922, -0.0223, -0.0647, 0.9992, 0.8608, 1.3949, 0.6323, 0.5308, 0.4057, -0.1841, 0.9967]\nstate[eef_state]: left_x=0.271 left_y=0.0006 left_z=0.1397 left_yaw=0.014 left_pitch=-0.2349 left_roll=-0.015 left_gripper=0.9992 right_x=0.3231 right_y=0.2745 right_z=0.1929 right_yaw=0.5931 right_pitch=0.3511 right_roll=-0.2665 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.6288, -0.0513, -0.0415, -0.0171, -0.4171, -5.559, 6.7624, 2.1221, -0.0708, -0.0366, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e835e43d9361dba1c0d2392d6b193b16ebe34e7e4cb8834189783c35bfaf2a78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20be8f24cccaa4b0b984bab6d60e9ef17dcc265e884df746297a420ebd967851",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243a0f3bf76d8e06d9de6e6436a3e85cae0a0585c406474fd34d2c594ae211c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 5.869 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8619, 0.646, -0.5854, -0.0219, -0.0647, 0.9992, 0.9619, 2.1281, 0.9234, 0.96, 0.4934, -0.1577, 0.9955]\nstate[eef_state]: left_x=0.2721 left_y=0.0005 left_z=0.1415 left_yaw=0.0136 left_pitch=-0.2257 left_roll=-0.0157 left_gripper=0.9992 right_x=0.3646 right_y=0.3828 right_z=0.0743 right_yaw=0.6027 right_pitch=0.3489 right_roll=-0.2646 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.7709, 6.8855, 1.6484, -0.0659, -0.0269, -0.0122, -0.1299, -9.9624, 4.5744, 1.7949, 0.1636, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGrIXlH9-MmDjlD-TWEr-A8U6vurXk5sTPbJVql0KMY5ovnCVTXxnWuBogSFN4TiDQQQ1E0NIArb3oPTiFmRA9ZGRAYZYsuWCwbIkZVL6hEVxFLWML5S2L99miO2EL3BzOBdl-Ksr7XdLRgSKZgFWvlPZBoTTR8Qt6A8IYdP6XOnxHW5hlYVB3F_fp1RC0NGPWa-r6vGhSl3zvsuYFmGFVbSBNnR5Et9AMYFidCBJFoWl9vBc9-x50WEkSydZ3s67jTybh_c3r-m72RAO6VSUaw5CiSNRmyzjWLnAyKPQUVFaS0j6YDXB10A6sE4rVRZm55zT0tQCOyOCKJTDia4dzV571psRhmgrPwxdeVzVShmhNtQzMCZPaLIdv6y8OshjLjUbu33ys3ckBW3gR88oLj7qi2wBhIgt-5zegHro80lTqeRLShnpoqo_vtXB1SNHqW9NJb5PrVEbVYSGqYqMdbIsnORCz8v9vXtDXAqGDz54z5e8m3d0NiREiMUHq993oCiYOrcHX865kQ5-SfRG8FVWJHfnfcHtkkOluj-gmkxaEsr-zZg0JlTZ6WO7eA4Jj24GBOBGMi6e6lrfzLKwWycrJZmEyoO0mu5uOJVSxmOdsHvqd9XimVWej5aOqJ7NcbnqKKh1OPUlakq7eBhfoOiWNwIt8vqmj5RKhnWCNHzd0nADNyObSZbichdzXDoteyVBo6rnUvJtRzy6UzBISeiSFVlx9iioLpQ3ivgjOCiL90nANLPtXpjAOFrXZ4VRRZejbN3PrT8RVAd1pCjX6Eart6B7huv6L8ajSZyBXX_z8zgkY6s8ldkZkeEcFRs1IiZ45GsVx9SLbaHbDjlDg1WdCWNemnUtNIDUdv-d1UKey_4N5-raQfPxRAlE9RLTC-_hwE9Cfo4tzDfyeGuBf2ER69VXlx_IpeLiXX0NHGldUDhqg3Ay481MMosWJqcV0nX9zO9ALnxyMqpMzx_VUpmRYzZqK46kEa1DEmbyEvsKL8Yb80zWiCFmrhZtLh63r5m08DmIj_nA7anHvcw4ImBKvZjhsJWK_qKty14rEu992Gymgz7qxudeewVSVjCvIiQJUqLdM2mwXdseEyD0R-g_NciI99bQTs7c9JhCxSlv5-HWaBNvlEqGjtJOILhHvrM2yen6bPwByRq_JYIliIHsDP92ZPJB4xBeHwHGa2aSZrW0PrkFk4F0Ak5e2ViaD7hS10Jgw857uwMH_pmicixnJ9st1tkIDZYXYi8OB1ecNH-HNqVzBQilf0QJxNMkBNtLReFc-6tBCUztuRdJyHU3iNPPEYk19GjQs9vbeVS2mG0o_yk-F5MO5GLx2Ib_jgH61V4nuU6rOokFiqyp29c3LLlkYaeFX7Goovl28slueNvi5SAy8tXcZIRdO8OmX23gTjPoAoAu-_yGzb6NgIpHiwvv7pKjzrX3AjNXBzsuFb-9MIWEHLlRUKCZsasGQ5LZA9O_BU0k84OjnN7hxyP9T-Qx-vykXM60OI9cOCAc9WbiMZUlgO3Re_CrmYZSyuDw2hl1cmasOQT3Vmby-u8EUhZ1iiHWhuUNQgwC3fOgp34_bJ959KwuqNBwokh9s_TrCyJFSmrnmbJb2drStyQq0_6Fzy5CmZSkkCOtOGv2thc2oaZTyC138jfV1psmnBC6eS3h2Lse4w2afqlAb9AP6TZ_iqlLt41jx7GXCzcvLuKgZnzE8AvvryhtP-fMNwa0hvknZU50a4kr3a5UmR5I659_js-dlzVyNQfgExvsbB2Rl1Z4GNVkzR3rM1mkOdz",
  "id": "rs_0e17d5c3f91b4845016aac6ac21b8887d0a53c546867034529",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.415,\"left_y\":-0.35,\"left_z\":0.23,\"left_gripper\":1,\"left_pitch\":0.35},\"note\":\"The can followed the withdrawing gripper, so it was not successfully released. I’m securing it again and bringing the left arm above its free end; the left arm has better access to the burner’s center.\"}",
  "call_id": "call_uHJBCIZhTR0Nrh5CmWt0Xzp2",
  "id": "fc_0e17d5c3f91b4845016aac6ac6c1ec87d0bfcae3aeda0d96fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uHJBCIZhTR0Nrh5CmWt0Xzp2",
  "output": "executing move_to over 32 steps (3.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8852, 1.8935, 1.3815, -0.0349, -0.9714, -0.3882, 0.9993, 0.77, 1.3907, 0.6159, 0.498, 0.6281, -0.033, 0.0078]\nstate[eef_state]: left_x=0.4271 left_y=-0.2861 left_z=0.2066 left_yaw=0.0977 left_pitch=0.2746 left_roll=0.0993 left_gripper=0.9993 right_x=0.3533 right_y=0.203 right_z=0.1852 right_yaw=0.2259 right_pitch=0.3505 right_roll=-0.1841 right_gripper=0.0078\nstate[joint_eff]: [-7.3641, -6.8171, 11.8496, 2.5665, 0.0317, 0.0806, -0.0952, 7.2, -4.9162, 7.6923, 2.0049, -2.5714, -1.7656, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b591163cee4e8484529305b72f938969258fa56bcd8b788067ad90b97d9e2857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b756c4c3eedbc8a81511a76a3487facc7f6abe4349c31184cc0406e49cb52ce1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bbcafe6119070bab9d23395f9fb8fb59cfafb93648833c74656f5d0cc51aaf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.992 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8642, 0.646, -0.5922, -0.0223, -0.0647, 0.9992, 0.8608, 1.3949, 0.6323, 0.5308, 0.4057, -0.1841, 0.9967]\nstate[eef_state]: left_x=0.271 left_y=0.0006 left_z=0.1397 left_yaw=0.014 left_pitch=-0.2349 left_roll=-0.015 left_gripper=0.9992 right_x=0.3231 right_y=0.2745 right_z=0.1929 right_yaw=0.5931 right_pitch=0.3511 right_roll=-0.2665 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.6288, -0.0513, -0.0415, -0.0171, -0.4171, -5.559, 6.7624, 2.1221, -0.0708, -0.0366, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGrSM2HowDwCs7oxYM6Wfg_vdPvAd3GIDpj5bZeHCrJ1lOs-nyqtV_mzh3p0s8vu4Vu8ZALpe6O2YHZCyBxGGZoWQ45Xcf53BWUSsbHGs3FjlrmtPPDC7XPaNMkTZi1BqA-28dpp6ZRyH0t0JbNfvUmGWeg1ZeupHAHMplf2DhwwiU6vb1cIXzd_ceKeAuSiEF-SLF7KluV_-9rsk4s4pcUkDzZVpVElrKXToOOdbfyswxCeaQjWEsDTNnx-DAkenmBzmew7Iu3LGjNT9jFrgDb2rw0fuUCfnVqtbofKNyh7K6E_jqnVqm6grAK_jC0ejQ7n3PqJjZrhNfdRYzRuju--erMX_b-TKJcYSpBuUH-ti8fO9tll2wRy_AxWNmm8X0zhIS_yM-596HWV0KW9Ntrw5D7Aj9KUNLD5OM6c0KWpH_OoVdLfYlHNdp4l8w8bJ8hsHW2KlHjJwzvwQErO2vV-oUy3tkat0wM__zeYBunXNNL0TGNLFTK77PuWNaxC8OFP_DxPM-wkGYIzhFrxj5926784tvVXQHBsRM5I935ZizGetc-UMe048upjq36yCSlEBVu3i6J5EW6DCLA7br5W7ivNbEjS2wY-unRaJ_8DhUKxvNcCB0aU4ecxUJLt03GsVpH_XjW30NblA756WGvHPxiqDuUKFI25faHaH3-dSWL9A6vqSLQal9l99F8ziJeO-bOfoT6GFHmgltG9ttR_FmlntJlCFMMqBQ9de4R0hkRH4grockm95xDn0deGI9EFHJRfPOSunvV8XKv2-5AVY8M1lELYggxVxukN_GY-8zqjTPNzei257_hAVAzoSJrs7G9TWkdTGKkmcfyeuV0ArJiYthI6ptsW-8TDiBeDluoiLbaP0gdMVLql4WWlZN8G6Ml5E2uVGWHIs2stdVIp3gdpfIQKGy6KfNhCptfwd3ofPJt8eu8UK6X_R6-FyNGwgpWrvlG1KRE1rpY9rYDg1V7Apc-3Zaosl-RS7Cgu4vuG1EAk84TX7NM5jsskOfaDceqw93mMR_NLvEmlff3zYzROfPLULER6awqnivEMi3BvKc_VhDW62-5MH6C49YOOZmnI7_g1STMPegiCmL5xr-PMVuA7-zkWLjrFAlcRqRJ4PX0lLuoxdn5g_6cOzyfV-LSYHxNsPJTIyDaDIa5kcW7cxef5scjsugmaNXt2FAJOOkXuRNxG9psM-VF2Zou-NQB6aVjO5YtnU8VHDy9KP38ULOp1iEPD3QE_CCN3xxIEfuxEaQ_VN9d5pKoHVR3GKrLm0f0qaiAF5FhX5_wuFBfoVwC60RAbOUPKx1codK9IJWVj62pHustZLrKGXTZjwCds83NL_7DGR6JRObn7bxYtaLPeJydyppp8EE2hvdEPoknzVQem5VWrFgZBHVF6cyZsoddfd1vENuV2h_sMoXO47PYlQfGC0Vi2Z4DJjP2UDW0b6E5T3dgEyo0i3gvL",
  "id": "rs_0e17d5c3f91b4845016aac6acdd82887d095d58ec548fcd400",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The right gripper is empty, and the can is on the table just right of the burner. I’m parking the right arm clear so the left arm can pick it up without interference.\"}",
  "call_id": "call_zoJmanXmkQyHcyExb4UWIj6J",
  "id": "fc_0e17d5c3f91b4845016aac6ad068b087d0b1f0e657b3a75243",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zoJmanXmkQyHcyExb4UWIj6J",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8871, 1.9064, 1.3853, -0.0498, -0.973, -0.3973, 0.9992, 0.1204, 0.8192, 0.7322, -0.5205, 0.2329, -0.0978, 0.9966]\nstate[eef_state]: left_x=0.4268 left_y=-0.287 left_z=0.1999 left_yaw=0.0966 left_pitch=0.2625 left_roll=0.1114 left_gripper=0.9992 right_x=0.2902 right_y=-0.0024 right_z=0.2054 right_yaw=-0.0328 right_pitch=-0.0191 right_roll=-0.1958 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -11.494, 6.3521, 1.6581, -0.3199, 0.0708, -0.022, -0.1299, -1.9077, 9.8256, 1.9609, 0.0024, 0.0073, -0.0708]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33e094e1ac52fbedb3f86cdc17aa4d34845e9e8ff6bc654b40e7e053f3e6947e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d04e355658974dd855200bec5ba921c89a98a597fb0176196f2c3ef2ecc829",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3f592b3bcee883ae11d70246c8e10e87f6864b7799f272806beb9f7a746078",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 7.899 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8852, 1.8935, 1.3815, -0.0349, -0.9714, -0.3882, 0.9993, 0.77, 1.3907, 0.6159, 0.498, 0.6281, -0.033, 0.0078]\nstate[eef_state]: left_x=0.4271 left_y=-0.2861 left_z=0.2066 left_yaw=0.0977 left_pitch=0.2746 left_roll=0.0993 left_gripper=0.9993 right_x=0.3533 right_y=0.203 right_z=0.1852 right_yaw=0.2259 right_pitch=0.3505 right_roll=-0.1841 right_gripper=0.0078\nstate[joint_eff]: [-7.3641, -6.8171, 11.8496, 2.5665, 0.0317, 0.0806, -0.0952, 7.2, -4.9162, 7.6923, 2.0049, -2.5714, -1.7656, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGrZ5B3SYP8-cEozGQKMAwNbtEmbYR4CO-G09QZMnavlHNQf7u2tbIJM6ScI5S1eN3-WFC0xX8QV4jTeCrdpKPOVZsjoJYJtMWnn4pSHPxRtSg1KXBQ7KrRHy4_eepMIlo6wr1Rs_U6EhYp0-yf4CUieI3D5K4sbUYdeHl8dRqVGsFpMwMv0ZlPyKVmf8V88PEDILkFqKmTYC4q73fiXqo9SqvGQdR9gaAvU6hlyDcV5n9CjJDQi19IkyUHnMWzODl-ut26RVRC-GtT2eHprRkUKii1mzoU4h6O9IyLeHEZ6u_XVxuwBj79_G3dZATQWv3PLpPZPBejJ2cWHNuQkJ_Vw8gvbX1yHZUa-zPqq2XXY7nvYi06ev4e8jvV1bsN_HC6rWHecly6nmNWAH9eNIFPxvE5BzYiw4tvRzDRBHawdc1W_F0S9l_N5Js6ycfXy8tFDhzUPQzOAE3iXa471FTof82JHy9hOYkBP_ILQfYB3NLq-eO1OXZuAo2E1AQUUOsW1vJ05wVI5qQ-elMUO7N78joeQ2osx1Zdgg_tR-9A-wbAotZS3LLH4Fg7owpbEUoeVstVmjdbPxra0O_11wcBkxo4arn0gDlGNp-qMWrYghBOCAj75OLU_3FUE354_gHzVw7s084ust6WNuMaJSCDZUKusSwbRPJ-xT1KESisDy9QCoIDEFZAGQLxwrIPFSKoxrxesJO1eQTQwro8kABjyrAwjry_hQnwPg_MjvnAmWBmdCs1dtxSigig0uFNmNclyD2qhc4KeuvRmTpPXMqHkhvDQ4vom2p50fTUL3WGkRC0DoOclFCMIcT27H2JlxdeAEKf_sdIM9EzFL6cHoXVLML0gl-RQ8CxxEEkrKBLqC01dLDaF5bChqw99aNVdZ8t0R3OGIXf7nWTC-5IR_JxYB4KWOXL6GGbJhH-wb6Xh_dnMYqGu9Zzw2KMkaS8_GFczlwFpwdYjrUp6zkcCNg782m8ngdcIMmNgMRbRRqUqn3n5Pq-vs5nJKNuzEkb9hzJQ-Ry2pOj5f-bjFtk1dNgOCGlNyD_8tUHHs-LRrZyr36MuLJRlGP6lHraWebMwjwcg_NmjGYcVYMylPJMspCY3z6FFoEcTo78V3J5AM9psKhixmnUDGctNAptNHljQAQfiIiPIdSBGVdXKSwaJBz-IaGhuuEpXTx0SWBgZJwWiFaIwbj7N2QmQacZOzK95nDEUkscMDovuoyw218MiAH6exJIn9-ueDTWn-cHe28JwFBZ7aDCItWlAr2fKx1MVRRr0z2kLWSEliz0tXs3x_wv00qm2pEjSVIdpzuYNg2ii2gi789KBNMB-usrnF02sos7nWrX6I2GsbqO9ffnRQz0XkSXXPWuxt0GzMB6GezgqR0HmQgVJ3U9wKexnrW17-n-UGdhxHsr5QuvksGlCxtjtllJheqRye21_YZlJPyt5d8UOISV7wZRKDtAZRgf9MmKdSGTgNB9DM3vLL4J7ObYnE0mNvuIygNy64p0l7qRfqbM=",
  "id": "rs_0e17d5c3f91b4845016aac6ad5a42487d08b67a8098c103220",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.365,\"left_z\":0.085},\"note\":\"The can is visible to the right of the left gripper’s jaw column. I’m shifting toward it and lowering the open jaws around its body.\"}",
  "call_id": "call_19NCbFO9ezOG16mXjB3WcuQG",
  "id": "fc_0e17d5c3f91b4845016aac6ad7de0487d0ac5f04252c4e9009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_19NCbFO9ezOG16mXjB3WcuQG",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0203, 2.2459, 1.4593, 0.0368, -1.063, -0.5434, 0.9992, 0.1184, 0.8227, 0.7307, -0.5716, 0.2207, -0.1123, 0.9979]\nstate[eef_state]: left_x=0.4039 left_y=-0.3561 left_z=0.0809 left_yaw=0.0704 left_pitch=0.2302 left_roll=0.1567 left_gripper=0.9992 right_x=0.2832 right_y=-0.0016 right_z=0.1936 right_yaw=-0.0171 right_pitch=-0.0773 right_roll=-0.2085 right_gripper=0.9979\nstate[joint_eff]: [-0.5675, -11.9316, 7.8291, 1.4383, -0.5201, -0.022, -0.0122, 0.0752, -1.5521, 6.9812, 2.1172, 0.188, 0.0659, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb900b4e42625451eb15dc0b5e78d080779d73e52ffb8ed16864d44ce121095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fefec4d387649d663e3226daf6e20b5402410ff0062cd5a85a4bb9016f7af1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec67f6afc2957bed98da0995a02b9ea409c27d54523d7c567449cba11e6c53c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.113 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8871, 1.9064, 1.3853, -0.0498, -0.973, -0.3973, 0.9992, 0.1204, 0.8192, 0.7322, -0.5205, 0.2329, -0.0978, 0.9966]\nstate[eef_state]: left_x=0.4268 left_y=-0.287 left_z=0.1999 left_yaw=0.0966 left_pitch=0.2625 left_roll=0.1114 left_gripper=0.9992 right_x=0.2902 right_y=-0.0024 right_z=0.2054 right_yaw=-0.0328 right_pitch=-0.0191 right_roll=-0.1958 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -11.494, 6.3521, 1.6581, -0.3199, 0.0708, -0.022, -0.1299, -1.9077, 9.8256, 1.9609, 0.0024, 0.0073, -0.0708]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGrifwJ3KxwBaBLSphid7HjAC9v6tC3flmdXRYsRHYMEWsir6BaQgXhtiWXlFS9_P5togMWpg8lwKPzAoH4WGjDhIEOXKOqJhMYK6u2c_9Fy5xjFA7bxG9fvTJKH-EcOetJmmcZ3l_TNIow2xVbhKONQhrN-l7p55CPKFX3xntxRNQ_whqw_pmbXSb8Z-rKXW0QZ5GGQrH-oqZuXN1Ao2EQE1aQkryL7dENeVT44W3DLtcn56ItkfQXKwDUZmmeOmtcNecvxEFxg2CfEZI0OC21hryI4NrXCktzC0zd0nqK1RK335W_P__rwEQ83kq2H17mRjR0pqsGMLFt17FpQF4tvAHDHc3OzX0nyZoml0b6_GaBQOBAvSJmjG0PuERkJ28hOy0HQX3yO8Noi2L_2armUbeR9rdKQU9bKPSvIo7nCk-FL76YAuxSgF0l2Qq-UlJ63ASOlhPWhZMFGXKuU2lg5u1vG3MsgSZzCe358K4H722M1xhfQucrf98avix9QHr5rFztJJtpRkb0Oml3uvWOTx9e7aC09eCz7Bv_UrQZy7MhNVfnSpcxMA_lAO3eh72nrb1mEBYa_BkdM2b0BsDNOjqIx-TcQBvdqFsh5d0nIcib7KvIyZgUf-4zEa_NjMsLcsqo4ZqARb1sZjmOd5grR87AiZcblV9BatB__KQpDlh6STJSwhzlzDgSx8zfhcXSYnP2Q8s_Y3dDxu76OH2h09rbDV8K_zSak-9E59_D4StBEWN9WAHFtoX_WAs5uF5PGRIW8JqEbm9qT1LdKeCkjKXmkTXuRbD6onGE_CNbQx8aTBM2YvukStGLIB8PjP9KlKEmHjqr_N0SD7F3youtvlJTQk0-R4UpjdBmCCZ4cDVN51JHKgee3oSUPKXJOuJa-Ap3okh-mj6AordFK-FfIMEl0bYTwfY5NerKuXPSiO24ivtukqQ6ANP8K_j28LCANBAwmnvzPUpKRza0vxh3b3hdfV4wcU2QHpopmG7TDaVPe09L3vvxWplR-h5nCD4l71tRnPY7cNd8CYw1Jq9AdKGiKE-B_9yqwR4Lze6iOREQoVMZDaTYZugJawyf_1r5sC6gTCUCZXECm9Sm-c5iZfo8rY_1x_1UKxQ9cSY2O_-wxjasJFchsDGVPb8prTikhczTolgAuFiklkwnx1l1fL_BlBFRwfXNSQzw1axwfV1cgIW_fZBbHJdNpacU3Ce5bssFg-KDhi4bdP7GjABOQdCBYfSQXx-ic05a2QJh7AQXJbuGTD_BlYOxAyMlr7M6oKjc9zgiB1hnpsgQ8sk7bzDdWsjl0WOyUs5RI7qATlMM0ABAcTftai3au8sHf9Bs-kGF-4tMbZg9wAi8lsldrMEgq0Gse3cFKBXHn9wgtIwYNTpNT_WGDi75vyfkw7nZuYCKM5DAcfEoUUH94KLho0B4UFshbjEnW7fOSt8Fr1Ss75CcYj83AtSpDV-cxEq6kh1FNp2Obbi581esX8b033MI6B6ZYrU5z9Dg0MfCQVP1gOWgWtn-cKelEXhOTb0E9S0snSR6pHG2BtNcr1_YtvmNHaElw5C2cdO3cWlmJvy7YBi6bM9-zvdfxKzowgAjmA6U6btQRCjGxCr1Kz-peFluU1uzQ0InTyhPcPme2ZDDHHZ8EBCJWW7gceZJc-XlI",
  "id": "rs_0e17d5c3f91b4845016aac6adc2d3487d08ed34a50c69bab89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.385,\"left_z\":0.03},\"note\":\"The can’s body extends forward and slightly right of the fingertips. I’m aligning the grasp nearer its middle and descending to the cylinder’s height.\"}",
  "call_id": "call_GrLA2rXV475Y6h6odHb27VmJ",
  "id": "fc_0e17d5c3f91b4845016aac6ae0aa5087d09604127b30d458cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GrLA2rXV475Y6h6odHb27VmJ",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9928, 2.4683, 1.6382, 0.0769, -1.0534, -0.5297, 0.9992, 0.1184, 0.8246, 0.7307, -0.6071, 0.2203, -0.1139, 0.998]\nstate[eef_state]: left_x=0.4326 left_y=-0.3756 left_z=0.0287 left_yaw=0.0833 left_pitch=0.2216 left_roll=0.1699 left_gripper=0.9992 right_x=0.2779 right_y=-0.0022 right_z=0.1864 right_yaw=-0.0165 right_pitch=-0.1145 right_roll=-0.2145 right_gripper=0.998\nstate[joint_eff]: [0.294, -14.1607, 7.9385, 1.4921, -0.3541, 0.1832, -0.0171, -0.1846, -1.3607, 7.0906, 2.0635, 0.0269, -0.0415, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb2490ccd14ee48584cf1549e29cc41f568c99b9a8d9aaacee474206a83b084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee44596fb62854717971a5ac1255d3f9f1475904a79beba2c0ca6abf851ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c89c69a5d83f4f4f08593058f9a48aa6e82544f9e0ea9ebf28fa12e52af98c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.756 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0203, 2.2459, 1.4593, 0.0368, -1.063, -0.5434, 0.9992, 0.1184, 0.8227, 0.7307, -0.5716, 0.2207, -0.1123, 0.9979]\nstate[eef_state]: left_x=0.4039 left_y=-0.3561 left_z=0.0809 left_yaw=0.0704 left_pitch=0.2302 left_roll=0.1567 left_gripper=0.9992 right_x=0.2832 right_y=-0.0016 right_z=0.1936 right_yaw=-0.0171 right_pitch=-0.0773 right_roll=-0.2085 right_gripper=0.9979\nstate[joint_eff]: [-0.5675, -11.9316, 7.8291, 1.4383, -0.5201, -0.022, -0.0122, 0.0752, -1.5521, 6.9812, 2.1172, 0.188, 0.0659, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The can is centered in the open left jaws. I’m closing around its body for the second pickup.\"}",
  "call_id": "call_gTEHYF6f1t1yPXc8TzcOUCzy",
  "id": "fc_0e17d5c3f91b4845016aac6ae5a11087d0b09a1e3d8dd034a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gTEHYF6f1t1yPXc8TzcOUCzy",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9897, 2.4928, 1.6493, 0.0895, -1.063, -0.5327, 0.6981, 0.1184, 0.8284, 0.7307, -0.6327, 0.2199, -0.1162, 0.998]\nstate[eef_state]: left_x=0.4349 left_y=-0.3746 left_z=0.0218 left_yaw=0.0941 left_pitch=0.2272 left_roll=0.1709 left_gripper=0.6981 right_x=0.2741 right_y=-0.0026 right_z=0.1807 right_yaw=-0.0154 right_pitch=-0.1439 right_roll=-0.22 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -15.8427, 4.8752, 1.2137, -0.2711, -0.0171, 0.9841, -0.3624, -1.4838, 6.8171, 1.8339, 0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf33e3f1526649761465aa4cbe3e5ec8541fcef046edb0f47a28ba1bfa0e1a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259ea657bbaeeb76745194b157552086f3b7236cc445f205c36e134fa2d519ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb88f2517c91e56cdc867bb99f875edc6a0befce77777e4c8deff35c9751751d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 7.301 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9928, 2.4683, 1.6382, 0.0769, -1.0534, -0.5297, 0.9992, 0.1184, 0.8246, 0.7307, -0.6071, 0.2203, -0.1139, 0.998]\nstate[eef_state]: left_x=0.4326 left_y=-0.3756 left_z=0.0287 left_yaw=0.0833 left_pitch=0.2216 left_roll=0.1699 left_gripper=0.9992 right_x=0.2779 right_y=-0.0022 right_z=0.1864 right_yaw=-0.0165 right_pitch=-0.1145 right_roll=-0.2145 right_gripper=0.998\nstate[joint_eff]: [0.294, -14.1607, 7.9385, 1.4921, -0.3541, 0.1832, -0.0171, -0.1846, -1.3607, 7.0906, 2.0635, 0.0269, -0.0415, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.115},\"note\":\"The left gripper has closed onto the can’s diameter. I’m lifting it clear and retracting slightly to avoid the arm’s long-reach limit.\"}",
  "call_id": "call_Eu3ciO6DhhA804fVaAD0b6Tt",
  "id": "fc_0e17d5c3f91b4845016aac6ae9c34c87d0b87af8e02eee18d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eu3ciO6DhhA804fVaAD0b6Tt",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0458, 2.3177, 1.6352, -0.186, -1.0706, -0.6094, 0.7011, 0.1184, 0.8295, 0.7303, -0.6575, 0.2203, -0.1165, 0.998]\nstate[eef_state]: left_x=0.4015 left_y=-0.3769 left_z=0.0797 left_yaw=0.0632 left_pitch=0.1879 left_roll=0.2045 left_gripper=0.7011 right_x=0.2701 right_y=-0.0031 right_z=0.1759 right_yaw=-0.0161 right_pitch=-0.17 right_roll=-0.2241 right_gripper=0.998\nstate[joint_eff]: [-0.4855, -16.1436, 8.0205, 1.2332, -0.6618, -0.1099, 0.862, -0.0342, -0.7726, 6.9128, 1.8046, 0.0415, -0.0269, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4997c00bfc1432e7f7736a68bd459046370139bd56b5ffc692c82a473ff94cae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ac654f673601e09ef6ab4f4d6428a33e977bb787b5675cd70851a5efd9bbc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8916fe8a001a0f22dd43b47ce757c2f8e2e8c5a4fd0216e9f9e0b7bd08bdb1be",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 6.343 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9897, 2.4928, 1.6493, 0.0895, -1.063, -0.5327, 0.6981, 0.1184, 0.8284, 0.7307, -0.6327, 0.2199, -0.1162, 0.998]\nstate[eef_state]: left_x=0.4349 left_y=-0.3746 left_z=0.0218 left_yaw=0.0941 left_pitch=0.2272 left_roll=0.1709 left_gripper=0.6981 right_x=0.2741 right_y=-0.0026 right_z=0.1807 right_yaw=-0.0154 right_pitch=-0.1439 right_roll=-0.22 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -15.8427, 4.8752, 1.2137, -0.2711, -0.0171, 0.9841, -0.3624, -1.4838, 6.8171, 1.8339, 0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGrzG3UUEwmuHQAIJ8xoAS8h_t8nLj0_bDWPVKC_h7OzIkNxe5iwYUNaRSoH8DQaB5-3rRm0zZNfjMX_gNndS66gGfbzVvQey6edCli6X0_JDF_CiasgumOa5gMOEQr-ETUklZZaluV4nKR-Z3pVGSll_XNR7WhqTfRiYCO-M5oHvyuaYX39vt8F10ARdHmfwshTJxw_XfewCiG0r8eVYodg0Llv4T75zCNx22VAvZa_nFSQU6y2ynkw_dbFDkLB_UlHYHEigmVDj9xoqqQi6twxCQFBdmZtloOTH7iomF8kYxmTNxXOCb6f79mwL3XzEUgy-pzgQ1Qmdx5Mq1DI7Yn-d7kqeD3N0_r8hgQMWRFtfdCRtLYxq6RjtOEmuRKAnVLpIyKFJYi3_ZSyXZ5X6RY9oLwTJH6jjAZnUH3t7AqYvAcNCAK5MA2sXAojfsXuw1Bo5FBrUcTNjjAsTTcQPnRTNth-I4vhWiEhohzTgd9_V7lG83KQDYupl-s9xb0ZnD-BEONGltQgnYaXIJDTalKPDc27eZdixKqW9cFf_Zxf7pO9COTv3ti6aJcQpP8C4X4y0x_-wCotRhJvIPGNRAliODKNOoj6Z26WZFWSGhPPImQup8MrsKN6xGuxCiur-MG4OnHspse38L0WeBj7G_MBDwVH4l2uzq5oAmgQObupC1MfQ7n4FQcf7ZPp1omj1sqJ9Ic-S-ZEfeF2BvvSar8g-LlNNn-I54RufS1ii1CFcc-FKF2l0sfZgTFd2it2_fHQZHqMmZsqqdolf6QNrLXFqvPhiRMrEBmZe4mL-e-l-Hy7hXDNcHLS-_-52dXtoChRFNsMRl9vFgGNzrslmLYN484CxiUwa_meH5UpUJwuFZDCqJI0VdtLNc78_xkY21A8wLw8bTQNUMoYqx9jXhv28KF8HW8Scp6aeJ6RzSCV0-iBwoG05lDqhbb3Fs-PCj9S9qlqdiwXqJZLQQv-alysnOHIqQ_zhLYvIJAbPqM4V-mC0JV5xiSR1D-L0QEWLVG7Ph7cr-gei2m9bdq_p5rGsJCGdL3aXEo4Gea-kcGyh4Yd_GL10589ITWPTqu_I6hMZuclgvgfZUp7a4dRgizWnhM6MFuQg47N4OLE7u6wzkHWUrpYTkrUSwOoXc_0IxOioDeqaIYoYHVnoNmIHurfUipdHGV5XCTF2UvH9BK_wtRpKhIgjMwGeOgEs6UNTesZO1Mvc_Y-FSmTOhAOKrNsxU3k8PpqfE61oY9RXcSlfX6PZYVz_8m3orXaC5CIJYgTvGm9nNWnClTW-_WYNhVzspRTQ-Z1JGnRkm_YBfkAEb_QheglzhHZ3IkpXnVqDuOTTsho8Pk6_XWi4Q6XPsxH-g==",
  "id": "rs_0e17d5c3f91b4845016aac6af037dc87d08e6a76656d8fdcb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.19,\"left_z\":0.2},\"note\":\"The can remains secured in the left gripper. I’m carrying it directly over the burner from this side, where the arm can reach the coil’s center.\"}",
  "call_id": "call_DuMWQMoshNHZDPE12avNT1pD",
  "id": "fc_0e17d5c3f91b4845016aac6af1652c87d08109e00fea232a74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DuMWQMoshNHZDPE12avNT1pD",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8227, 1.573, 1.0084, -0.1158, -0.9062, -0.3534, 0.7016, 0.1184, 0.8341, 0.7303, -0.6765, 0.2199, -0.1169, 0.998]\nstate[eef_state]: left_x=0.3759 left_y=-0.1954 left_z=0.1831 left_yaw=0.0687 left_pitch=0.1621 left_roll=0.2199 left_gripper=0.7016 right_x=0.2672 right_y=-0.0034 right_z=0.1714 right_yaw=-0.0161 right_pitch=-0.1935 right_roll=-0.2273 right_gripper=0.998\nstate[joint_eff]: [0.2256, -9.4974, 7.0359, 1.6288, -0.3248, 0.0611, 0.5104, -0.0889, -1.6342, 6.8034, 1.6874, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a387358402065b20c71dab9bcfd6c0aa86f927750065855eb0803e6dab1eaa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6d60d6cff9e59c6e8fc219a61fb8aa02ed50638869f9df495faea7f6261c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7cfd44237a2f8cdcf0da951b00a6ec33895ab048802f77daa8aab1e010d7e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 7.295 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0458, 2.3177, 1.6352, -0.186, -1.0706, -0.6094, 0.7011, 0.1184, 0.8295, 0.7303, -0.6575, 0.2203, -0.1165, 0.998]\nstate[eef_state]: left_x=0.4015 left_y=-0.3769 left_z=0.0797 left_yaw=0.0632 left_pitch=0.1879 left_roll=0.2045 left_gripper=0.7011 right_x=0.2701 right_y=-0.0031 right_z=0.1759 right_yaw=-0.0161 right_pitch=-0.17 right_roll=-0.2241 right_gripper=0.998\nstate[joint_eff]: [-0.4855, -16.1436, 8.0205, 1.2332, -0.6618, -0.1099, 0.862, -0.0342, -0.7726, 6.9128, 1.8046, 0.0415, -0.0269, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGr74PYWeHY0xOK09glXBzVHVtDq7ga9yP7dNaTMhot69VoR5aP9jQKBtu5N39qzty11byuTFTIJxpZx69yBoo-I89RpvsGt4-dZ3CwJaRLej63N1PwW0jMYx8519ha1SHvl8XThYXVPE6RIf3QiQyUOfmO7jKTQKPgv5WvlFp8sg6P8W6TOfFBNDXFnufIvO--es6IYlcFl_phPQoAMq65og7jPL1NMi6akzHrlU-9miPSXN2NZBeerNydyypAxVmLXEfd2u37ScA-ArihQi4uG57F-SNkScZK2kXKLMvcDnLH8mAC3gDvY0FmtRZQTh09ylc4OGii19BL3zxunkUa-a6PrPE7tuKNYGmEIt1ejet76HAMNhCh4Ju7Xkfs63Hxp80xMpBH6TQ8WjnP3R-ITIFGUEd0Y6plFEajS_UvnimDOgTshItwM2MEVF3-juOIcJwLYJO6NTlfyOdo3RDJWf3RP1RStKhwjF65q6rsUx4--p_Wtw-cb5ZOM1ERopsDz5QG2ammgCctiA5kT14koaIZ6tvPrA39FMg2dTbgoXcaRZ1iTslcfmlsnpv7vwRoy9Vb1wA8uhNCon2Fh1IG3dl8iq82y1PXJRj6UmuF7mN2_6Pl6wGLeH5knyhAcNYuslIBemmSmGNXEIQml8QRUQAAnpWnhl6eQiMRFighq9BTr6UNbfCcbQberZCX30Jg-02LrW9qg8oU0hhwh5sYch_9un0BG91HC98PA4odS_qCIjIkwV20NX3VI9DU_RLsySGeVczJAYcs4p-GyqzopKbHJAu-r-RxYL_CexoImW9EIvbt85krQk9PP4nX2ckLvU4aDChc52SUPIhZVDwgk1iqHG3hYJAxnRRTmlyCooR8oSFGS5vRAMnZymFCdWU5NTOGgtOwVM49IjYk5ozCELarDSQ9ufWEYmFzqGkd5drLpwlSj2u7Xms6Up1RMu3qfayUx3vb8bWNpoN5PDAkNeZLHRvPtoyVW8KdBzMJxoITyNhg1rw8Ij1V-aKP3rs4Ux4ZN7cuA6TYtk_jC85il39Rr8NwJbrwC82nuxFQQNV9rShojEVChqfzWkqsEMXsKNot6UJL-EIdTcpVgrK3ERQVjFlFVK9YC9BBX8S_smvZTZ5UBshR-XJZWVDwLJfJCZVkpMpJaR36dVuz6ryIbvhXUpDaPhb64GUbicG3XFxnDCPafyR0uAFwu68QTZHrn3wY8ps26-Ql8Hq8DHTcpWUXrdyE5KDwoBNZGQqP-q8zRLl_BlN2o2tD6016GsRU6A2lGEI9fBfcIwWEN2Q0melnzAAK4Gl0e7q7pHeJjiKyMM5gcRBmSvi_bVsTrZaeaCr_PsJyZtnmHhCBWPfFjhJqllt1FCZi9lTBUeTSDUiU=",
  "id": "rs_0e17d5c3f91b4845016aac6af80d8887d084b312ce05336771",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.135,\"left_z\":0.085},\"note\":\"The can is above the burner but a little right of center. I’m shifting left and lowering until its body is just over the coil.\"}",
  "call_id": "call_FtPJAsXLo4UGkoGw52DO5QBO",
  "id": "fc_0e17d5c3f91b4845016aac6af9dc0887d0b63b53ac0b17aeb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FtPJAsXLo4UGkoGw52DO5QBO",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6876, 1.6238, 0.6235, 0.3618, -0.8116, -0.2474, 0.7038, 0.1184, 0.8349, 0.7303, -0.6968, 0.2203, -0.1169, 0.998]\nstate[eef_state]: left_x=0.3702 left_y=-0.1336 left_z=0.0878 left_yaw=0.0827 left_pitch=0.1339 left_roll=0.2464 left_gripper=0.7038 right_x=0.2638 right_y=-0.0039 right_z=0.1678 right_yaw=-0.017 right_pitch=-0.2143 right_roll=-0.2305 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.0256, 4.9846, 1.3846, -0.0904, -0.0073, 0.735, -0.0615, -1.3197, 6.9265, 1.7314, 0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984fd9da130b4d6710fdbc7018aaf29d7dbccdad1ba71b3d814c4ef04eb49f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc52e473ac9b3d5ef9a4d8307927b4d555d56090be1856f8fc886f1094cb5f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:333eb695ea62316137d2e6430c5ba40df0264e3ba496b51193005b10a846f6d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.444 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8227, 1.573, 1.0084, -0.1158, -0.9062, -0.3534, 0.7016, 0.1184, 0.8341, 0.7303, -0.6765, 0.2199, -0.1169, 0.998]\nstate[eef_state]: left_x=0.3759 left_y=-0.1954 left_z=0.1831 left_yaw=0.0687 left_pitch=0.1621 left_roll=0.2199 left_gripper=0.7016 right_x=0.2672 right_y=-0.0034 right_z=0.1714 right_yaw=-0.0161 right_pitch=-0.1935 right_roll=-0.2273 right_gripper=0.998\nstate[joint_eff]: [0.2256, -9.4974, 7.0359, 1.6288, -0.3248, 0.0611, 0.5104, -0.0889, -1.6342, 6.8034, 1.6874, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGsDgsauaNLyTE7OOIkpj9bIx-LCqu9oEk0Ib88JesbA_tiq33TiJWGuUUAEPQqmq0jvcCYkInhrkrvXftIwm92pc2gSlyQN25ZsrOBV_byPYv_aPqfdrO_4X-C-zKKEXueqC76MpexW2DloC_C6fbOc8OY7CWRurNO1gBARNpyKUC2VTx1oHaJc3L4ZvAhj5yK9KCS_lIfgNW3P-STJzEJo7MOVGkXT4-kQQKh_qOeMVFnkRkCEtD944QT9YaPJawu0jDWmVX_p6-mV2U4yv7XPHup8tpqyzw5VQ5PTIsNcl0KNiflUcHlSfCN4k20CD-SJIRBErXKJM46jayEh22Vk9U9qhjAhbVqKytJG07XlSx2zDg7wb9fXqvmul-Je6HV9phCTFRmEZoCeFTzKJ-InjJj9o_Xd26iBx4gpX-a6eshV-LRT-W91JNZa32Fp_VuYi8i37l3_diRjNqJXwpz0jT9ILIg346zwt4ppGihf4KXOQeuP_AU8G3WOHSwLQ50DYm56zsU80Ott8PKOTcecjyh0O4-zVVhZo_iYZvk_OHerirAlVQSn9wx-yhh_Hg53Tk3Ng5ebEg3H1xXdshFqXDx76L9wjV9tBb7f0BwHFQ2nr4TiDsbTA9Ut5jlfWWX7b6U-wBpqXGT48rsLqA4fM7ys3smQIj3RwKBXWQ0ocLyTTZK3JFJZI1LuQ4Ky-RBQaf6SGHQWvwAeNjnOGdOiQxffcBojDhyejmP0mgX-YnhZJ29WiGUiSPLHduN__fw_X93W9aMAJPDuzDGFhUx_mLg37cI1ynNZuQofqfxymsR7TuaW6X5d44J2YfmxG7h4JA06E3_xlgt83xzepUZnvhH-P7xep4FY4CCG0gUjEnKlWfkNiBNtIe2ka9Q1i0rhZa1W_Obl_oK4oiNzsPl7z15h45LsTl8KTqEyMuE-CraVcvDtYgX7SXq_mF1WqhF8Z4M5RMia0HSLhdKvOA0XYLatyYiuXHPL4fy9Idl-NRetDCX-mC28cqxleGBSyge_G7TegrLj9AuzmcI0ridLjzsofouGDBmBHnXxMbe7vuDPyYKqksmUZ09GwF7od0fMC7x5UCvMW-CCJeywifVevp42zMjfhEdzqdT3CiAKYHhHML7RoUNsV9AwMLeT49uVrJDhQwbVLoWgDpza-WJTJCrlQECCT4g5ptTJA_cN0jAJfE5iF0hIs42J_SybZKkeFDvbDB4thDCouXeyr5JSwpYQfp0tAqtcQ7plBA2-iLiqgWcUccZTQNfELFtRANxAKvmGMCdRE66JQ4NvowusQkX6CkT66wJKLYMMrxfT0h0MOHP74ft7u53oURsLlrhCfAkgfU0umkm1Qb5Ye9rTTmAtB7apQHL_HE0wk9YvvOgnjCHyd7wvTvYb-BxjXEADFtcxTPvOZo1jwHwcCg3Er72p14qfkpMSkcVFM-ocBwV8FsqcLBE_17N-lniNKRzmRXFCu29j5YKev7wm8FILfYaZl3zODyZROX6CqvK0jBwhNzT_hT1Of3LjCDPWNQkpfgBONboZqkL5GrwvOLxSgp1JgycXMaOeijriXhvm7BU=",
  "id": "rs_0e17d5c3f91b4845016aac6afefdb487d0b8f1130804e86f47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.11,\"left_z\":0.055},\"note\":\"The can now spans the coil lengthwise. I’m making a small final centering adjustment and lowering it onto the burner surface.\"}",
  "call_id": "call_bkfjKu0c3Yuc9EqPg3lE1T86",
  "id": "fc_0e17d5c3f91b4845016aac6b01ce5887d09af4cc9f336083ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bkfjKu0c3Yuc9EqPg3lE1T86",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6395, 1.6676, 0.5476, 0.5961, -0.7864, -0.2146, 0.7062, 0.1184, 0.836, 0.7303, -0.7048, 0.2203, -0.1165, 0.998]\nstate[eef_state]: left_x=0.3778 left_y=-0.1207 left_z=0.0831 left_yaw=0.1071 left_pitch=0.2036 left_roll=0.1869 left_gripper=0.7062 right_x=0.2624 right_y=-0.004 right_z=0.1662 right_yaw=-0.0175 right_pitch=-0.2233 right_roll=-0.2315 right_gripper=0.998\nstate[joint_eff]: [0.9641, -3.7402, 2.906, 0.3834, 0.1392, 0.1441, 0.7399, -0.1026, -1.2103, 7.0085, 1.5995, 0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10b770d20f912154aae56a16edc333808e1befdf01051aeff580805624e13d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9eb931d27b925909080001909500cf70b77d3b51525f7171014f13e14cba223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91b7dba8ade099ede6ad3a1918f54dcfb0a77aa442c6912b6d2fed7e8dd284f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 4 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6876, 1.6238, 0.6235, 0.3618, -0.8116, -0.2474, 0.7038, 0.1184, 0.8349, 0.7303, -0.6968, 0.2203, -0.1169, 0.998]\nstate[eef_state]: left_x=0.3702 left_y=-0.1336 left_z=0.0878 left_yaw=0.0827 left_pitch=0.1339 left_roll=0.2464 left_gripper=0.7038 right_x=0.2638 right_y=-0.0039 right_z=0.1678 right_yaw=-0.017 right_pitch=-0.2143 right_roll=-0.2305 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.0256, 4.9846, 1.3846, -0.0904, -0.0073, 0.735, -0.0615, -1.3197, 6.9265, 1.7314, 0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped with the can resting on the coil, and it is centered over the burner. I’m opening the left gripper to release it.\"}",
  "call_id": "call_0emjmcQOdri9kEkV4Gp6sgzB",
  "id": "fc_0e17d5c3f91b4845016aac6b06a15887d08a0db914504e7c01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0emjmcQOdri9kEkV4Gp6sgzB",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6258, 1.6985, 0.5163, 0.6281, -0.7673, -0.1951, 0.9954, 0.1184, 0.836, 0.7303, -0.7242, 0.2199, -0.1165, 0.998]\nstate[eef_state]: left_x=0.3737 left_y=-0.1143 left_z=0.0662 left_yaw=0.0915 left_pitch=0.1724 left_roll=0.2182 left_gripper=0.9954 right_x=0.259 right_y=-0.0044 right_z=0.1629 right_yaw=-0.0178 right_pitch=-0.2426 right_roll=-0.2339 right_gripper=0.998\nstate[joint_eff]: [0.335, -5.6684, 4.4239, 1.6337, -0.1148, -0.0269, -0.1148, -0.0752, -1.0735, 6.7077, 1.7314, 0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090fa8c359617ccb2ff6343ca55c030e117ce19b9b3db0012c5e8b513e106732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5005a64d80325c3706f1960b82addf6b79982423c2342e55fb034648cbe66143",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b7b20e5ac6d0f49797cede7605b0fc115ebb38d06b1b47ef86d21edb288011",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 8.191 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6395, 1.6676, 0.5476, 0.5961, -0.7864, -0.2146, 0.7062, 0.1184, 0.836, 0.7303, -0.7048, 0.2203, -0.1165, 0.998]\nstate[eef_state]: left_x=0.3778 left_y=-0.1207 left_z=0.0831 left_yaw=0.1071 left_pitch=0.2036 left_roll=0.1869 left_gripper=0.7062 right_x=0.2624 right_y=-0.004 right_z=0.1662 right_yaw=-0.0175 right_pitch=-0.2233 right_roll=-0.2315 right_gripper=0.998\nstate[joint_eff]: [0.9641, -3.7402, 2.906, 0.3834, 0.1392, 0.1441, 0.7399, -0.1026, -1.2103, 7.0085, 1.5995, 0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2},\"note\":\"The can remains centered on the burner after release. I’m lifting the open gripper away and returning the left arm clear of the placement.\"}",
  "call_id": "call_PaQCDF3RntZAeLBmnFi9PL61",
  "id": "fc_0e17d5c3f91b4845016aac6b0a19f087d09790f6ad7734d814",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PaQCDF3RntZAeLBmnFi9PL61",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3084, 1.195, 0.4858, 0.1947, -0.5495, -0.0563, 0.9963, 0.1165, 0.8413, 0.7303, -0.746, 0.2203, -0.1165, 0.998]\nstate[eef_state]: left_x=0.3535 left_y=-0.012 left_z=0.1351 left_yaw=0.1638 left_pitch=0.1257 left_roll=0.2307 left_gripper=0.9963 right_x=0.2553 right_y=-0.0054 right_z=0.1582 right_yaw=-0.021 right_pitch=-0.2694 right_roll=-0.238 right_gripper=0.998\nstate[joint_eff]: [-0.253, -1.265, 8.9778, 1.7656, 0.0757, 0.1929, 0.0806, 0.0342, -1.347, 6.7077, 1.6777, 0.0708, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a328a6c369ea40e7681eb7592fc89f3e0f2639628c8109d71e73a1880943b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baaf1228626b93718199bcbe7c871ffb89c2b472fc2bf01551829b1d8e9e7216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39df4758d576772c8a30bba4b0081f13201663f82ac8f82a1c87ba0b34ddf31",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 8.932 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6258, 1.6985, 0.5163, 0.6281, -0.7673, -0.1951, 0.9954, 0.1184, 0.836, 0.7303, -0.7242, 0.2199, -0.1165, 0.998]\nstate[eef_state]: left_x=0.3737 left_y=-0.1143 left_z=0.0662 left_yaw=0.0915 left_pitch=0.1724 left_roll=0.2182 left_gripper=0.9954 right_x=0.259 right_y=-0.0044 right_z=0.1629 right_yaw=-0.0178 right_pitch=-0.2426 right_roll=-0.2339 right_gripper=0.998\nstate[joint_eff]: [0.335, -5.6684, 4.4239, 1.6337, -0.1148, -0.0269, -0.1148, -0.0752, -1.0735, 6.7077, 1.7314, 0.0415, -0.0122, -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": "gAAAAABqrGsVHIUU_grE1oxra4xgNfId07nHcYAKFxPsxE-MBleWd7i03Lte0_8SpSihTkkwlyUu0YqbvFgfSqFOYlolXqjLtsNuOOKJWhlGtkt_VxYJvp_gD_LHfMmRpXOIZ2eA-g2b9hyKEsYZ7mnkvE5-v0mRMstUEkcU4nSU4COsoVnmCqYcKFJnQOJp6TWzrTp8M_pVxJ2Ms38malD-QhZOfo0Q9lSZvTEKWdUJfzUPTcOC5FoDkfDi6p-R8aypBlpUPE5ChJml7G_L516pC8BNMXW5OSgpljVn6OjUBm95Kof0kAX4RNm8nRlIDxXJO8R1LlRidSN_gNvUjLRVwJg3Zjb22q228mdE2b-aytkuykxw7tf-4TvOa5Un8rb81NmncOt7rQ7qcV1TdFTp0SxTBVnFZ95mQTlgM4rXKqRKehBNZhnCaeY51l8OGmj3TdQkY7j8MrCqJ75u1DXkK1GMRPZOE4ltcxwsXPogKNJQJ4S85dMG8MYZJt6aSdppWTgW9K3Fp9p5wZ1cjwMgYjZOxFJ-AbW4sBjk778VLJnec2Z0oDlVL2wfDXCAwu-B6nq_iJJvKw7HTt0C76ySxR3-xsBJZ5FrJ9l5PhdwExkrvhRocrKqxD6jElmVFIdSW2wzL8aXfan2JzzdwkYnfTlhiRMm4QJDhOu-G0NO_HzRATYEmyFouTY1FcpfhA1fFaybhaKt2fxwtxZZeRvlUqNocaLRAwtck8GIDfsHvpLvLPA3CoqBaJ5ARmAR4lp8zak0Upw55w4C4jLiocdttLHDENCkOmoZpQOnI1MsZte9jjEE44WfYej1SuDd5f1RI_QtMdWFVRY5_0RO3l9XDEzinWAkep8X0NEjU9x9c8mL3f-ZZmD8AMbovmAqioXYSNa2HZAf22yx4__uiFScV6ZSqaPf5zwRDe7uB2bgmUw4hDRtOSePYShfh1c2_N6hviRCCDKjKSXVZebVvg6Arf8FAOvdU3yrjtAzNZN39RKtoNlgWo5krtNhIPpiTypkQtohvwI_o3Hodh5UiUltiVkCDPsw7j24MGadrrfLozgw5VYFTlU86I6AmTAP0UCDcE2xOwpFWCFYlEEZfSXiDXzPBxrRJgZA09pLl_fcjwKrG5_r-axMFZgb3CFwP19KPupiubTYH7DKv2VHWJpc9oNf1XyCVGhgzeeAYJ1tqkDTLZ6HmBu3LOCbTzQ1Aqfa3Kf5jmOMTH8D0ZtRiaw7zIpKjdusndAqWWwMPpdIN_sY5znp7nezipnREfaJPBaGVWdaudnl_ZXEmiyrPiaxz8Qk3pZBh4H-zJAaKhO0tea4HfEj2o5v4u8dPKQd7SWCa_NkhiaLxvYUonQLqBye17LUZksufnYnpZicDDbFNGbez8-h-rJAshbWZwGQD8ylbsubkHcamTcOusqoXOUHxewWH0DMoLeiExqW8Qo8E0-xR--x2XkLLgYFOFqzF3QTkTbOCRekJRxK1YDrnEJ_Zb5nZCsQdVu1zuk5wWw0ExS51OsT6-pOorcURiK8N8AN5Z8JIua9852h0GKvfpyrkk8BEqfWKw==",
  "id": "rs_0e17d5c3f91b4845016aac6b10311487d0ad76d3d50f6f74f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.353,\"left_y\":-0.012,\"left_z\":0.25,\"left_gripper\":1},\"note\":\"The can shifted as the gripper withdrew and is now diagonal across the burner. I’m lifting straight up with the jaws fully open to clear it without further sideways contact.\"}",
  "call_id": "call_lGS1Kdv1nVNFOK6qJZDYnC2P",
  "id": "fc_0e17d5c3f91b4845016aac6b12f55087d0965e6b463584d8af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lGS1Kdv1nVNFOK6qJZDYnC2P",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3107, 1.0977, 0.8429, -0.2794, -0.5434, -0.0608, 0.9983, 0.1165, 0.8444, 0.73, -0.7658, 0.2199, -0.1165, 0.998]\nstate[eef_state]: left_x=0.3551 left_y=-0.0143 left_z=0.2308 left_yaw=0.1579 left_pitch=0.1073 left_roll=0.2328 left_gripper=0.9983 right_x=0.2518 right_y=-0.0057 right_z=0.1542 right_yaw=-0.0216 right_pitch=-0.2925 right_roll=-0.241 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -4.6017, 9.388, 1.7216, -0.2222, 0.0024, -0.1832, -0.1983, -1.4017, 6.694, 1.6288, 0.022, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f201d139c3dc8b090a4554092ddeede04fcfbe1669b650515c597e784fc80dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dee58405e62657559425af56da7e20abc997cc6dab1920ac4a6b7cb4e6c2212",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114ac4e1ce4d63712a14119bf1b56bcf4f76736a3aa6b17b37ede0e4496fb162",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 9.701 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3084, 1.195, 0.4858, 0.1947, -0.5495, -0.0563, 0.9963, 0.1165, 0.8413, 0.7303, -0.746, 0.2203, -0.1165, 0.998]\nstate[eef_state]: left_x=0.3535 left_y=-0.012 left_z=0.1351 left_yaw=0.1638 left_pitch=0.1257 left_roll=0.2307 left_gripper=0.9963 right_x=0.2553 right_y=-0.0054 right_z=0.1582 right_yaw=-0.021 right_pitch=-0.2694 right_roll=-0.238 right_gripper=0.998\nstate[joint_eff]: [-0.253, -1.265, 8.9778, 1.7656, 0.0757, 0.1929, 0.0806, 0.0342, -1.347, 6.7077, 1.6777, 0.0708, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGsetbSoJp_oLtI_-CqvWAb2-eiKvJNK-rqwywJ-k-eS4xBL4xA7i2ajslREKu6QiWL0xLbMPZBFoIdhYnQ2eLuiIhPMfJq2M9nFwY-GhOH3D2RaHOnwsA0ENjqFbJcEQaWi07BL9ucMZUoGsWxD6bmiK2m686WkkFv8MGokg1Tb5mPjwC51xQMTgoT_22SMdXNx3lhLZiqws-FkHZCGZCuDxODmyDVb4ODUHRUhznDUsoNKyeYCbYX3Zwl2hSukYBmNC3qL-j9Kj4efvrk1IfgJ1Qrkj6WU1lfXuOGc8X-LuEAPKyPHPb_ZJ8YYxDsKxzKZV1_Vqjyr3YMGRWGr_K1cbsLT1uOmlv9NtcFIFIKmtraaKLx7yf8t_lZFsnoESHO3-vTXBgCVBW4Zvo40IaTcuJSm-IyA1k-KU6UpC6oyQ0ENaMqaf4uYw74tK0thhpuNIaFGDzWOB4ie64O-BR6BpylyfUDNYsxNddwplsQxaDOgDV3wZxoAapXiC7PxVMjW-DoU7RHh52Y4mAxNv03hdhwLCdhWuv7ZWLefqC3SCXI8dijBn4dDeqW0KtG_8TC7llc9mmPRDzkrUjff8nLT-5Em4wN0leSNY8VLbJBY3g4ys9NE8-y8nn2j4UWHbdyQctpgKcgC9QSiWaNC8EmxHzYgvnCdF4-cDywB10SVrBd4xsGiXaSvxqJ0oZd6xbx4lgt9_LFbXNtrRTmqc5iJx9F3SQGIyQr-KtKF8JFgGxGw5Vhu4BaXfxlb7DfCrGTOZ2lV4k5B4Qiqt_Z3B0v21TFo1C-YokZ7F9dOK5KDkPtQHag4j9yH5N9AjYeE4dQ1tLIEtLBgJqkJ8_QfrEl90P4YwbBR4-b-gZdxzE4HFI9ksORVgpvqw5VsPCu59w3wKdXCwWyZuXOXTrbfuE1uiX1hf0PxcM2QzUklWRbEa9dC9SwGUA2IPVMUmz98pDsdAyI9TT1ab8jdeyVV3TVIBcog0j7ZtnkujGocs1pYjfScn15BadgoOJ1ejtZCMh4UvtXOX8xBTsoX_If_Q0DQJM1_GvhDnqW9DUkUZZj92D3YQt2a-Gd23IR8Ahy4i1Kyg9s6TapWhLq_wV4MyhZFVw3ERXjyvNDnIuLrn46LNdmrxTKUEAZGI12i0i-rBNHK04Qpk7OMGD2ydBnfRiLrsSlVf1O0YM5goVcpShKJFnl5fSMQLUA2YvHGDKWHcz5bvlz0CPwcdkNzdLNRbZwHNiyQKaiIkrHjm6nrb_yTZwRRCVR-eGhj6s8MaTQmB3J6oA5XpQmuz2wHe_Fn2gSvVzhOR9mQYz7R6BRKhOJzMKsLdnQq8bm-DCiww6lfUP69dg40EcUVl-CA1jC80s51IHlzt_5wYG5jiIm5NlIk7iRgSUgYJtApAeCeddfqqj8ztkfIZ1gkBfod4ge9Kqzvf23h9V4zdDeUvqE4vMfeFVFMiSIBRedAMK1Odyd0PaJFKVJWFVZNeJNxQB0ihIkAA-iU_kuQJvDsm0VfzRQ5vkg6gWDAmiCRvTBkcHppi2oYqpgw7Fbe8ABj1Kk9i-e1HbaScoxdjsHlsx01TSTXg2J-StEYbUu4BivJCVcfme1-8E78nOu7uJakcjCcsHa-FNScArjD73UJ0KG1LyWHG8Q7JdzzIM1Ryr8SokCRc6ypXJ2GqVf7WmYb6q-3BAgE8lZ-aTNMmMkSJhGh_isot4M7Qf7UOT2PLSZSN6i7gUmx",
  "id": "rs_0e17d5c3f91b4845016aac6b17f99c87d0a0d87c4af7dfe218",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":0.025,\"left_z\":0.055,\"left_pitch\":0.35},\"note\":\"The can rolled off the burner toward the left edge during withdrawal. It is still within reach, so I’m approaching its cylindrical middle for a final centered pickup.\"}",
  "call_id": "call_2ljDTwOliWtpRUrkPKFvZrSv",
  "id": "fc_0e17d5c3f91b4845016aac6b1c4d0887d0917b49cfa6b66d9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ljDTwOliWtpRUrkPKFvZrSv",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.102, 1.9793, 0.5728, 1.227, -0.4034, 0.0734, 0.9978, 0.1165, 0.849, 0.73, -0.7914, 0.2199, -0.1169, 0.998]\nstate[eef_state]: left_x=0.4583 left_y=0.0264 left_z=0.0811 left_yaw=0.2055 left_pitch=0.4017 left_roll=0.1794 left_gripper=0.9978 right_x=0.2471 right_y=-0.0063 right_z=0.1493 right_yaw=-0.0227 right_pitch=-0.3224 right_roll=-0.2457 right_gripper=0.998\nstate[joint_eff]: [0.1573, -5.0393, 4.1915, 0.0269, 0.0611, 0.3834, -0.0659, -0.1436, -1.5521, 6.6256, 1.5897, 0.0562, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c2798a1ae4f998a873987eecdea66256c52843e2b786de9c8e3b8df2184546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8b38cb785c61b4018982ded5f8db1fb902f5fd7ac1bfdc32d9906056a533c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa80ca8b8d653d077dff7dae1a7c02446be8813f0179bf8bda78baac6e29d654",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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