adhoc

completed
2026-09-17T23:05:28.980439+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
215.3 s
total steps
313
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

done

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 between the burner on the left and the kettle on the right. I am bringing the right gripper above the can to align a grasp around its middle.
move_to
right_x0.4050right_y0.2650right_z0.1600right_gripper1.0000left_x0.2940left_y0.0010left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3866, -0.0189, -0.0338, 0.9993, -0.0212, 0.7937, 0.6071, -0.3954, -0.0193, -0.0261, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0008 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5128, -1.4291, 10.2222, 1.9463, -0.0415, 0.188, -0.0904, -0.4444, -1.4701, 9.7299, 1.9072, -0.0562, 0.0659, -0.0464] 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":0.405,"right_y":0.265,"right_z":0.16,"right_gripper":1,"left_x":0.294,"left_y":0.001,"left_z":0.18},"note":"The can is lying between the burner on the left and the kettle on the right. I am bringing the right gripper above the can to align a grasp around its middle."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe can is centered between the jaws in the wrist view, with its long axis pointing forward. I will move slightly forward and lower toward the can’s midsection while keeping the jaws open.
move_to
right_x0.4300right_y0.2550right_z0.0650
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.786, 1.7592, 1.2301, -0.2699, 0.5991, 0.4591, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0013 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3944 right_y=0.259 right_z=0.1448 right_yaw=0.0383 right_pitch=-0.0521 right_roll=-0.0426 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.6068, 7.1043, 1.8926, -0.0659, 0.0073, -0.022, 0.0615, -8.8684, 8.7863, 1.6728, 0.5739, 0.2125, -0.0464] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.255,"right_z":0.065},"note":"The can is centered between the jaws in the wrist view, with its long axis pointing forward. I will move slightly forward and lower toward the can’s midsection while keeping the jaws open."})
tool
executing move_to over 6 steps (0.6s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe jaws remain aligned on opposite sides of the can, but the grasp point is still above its center. I will lower to a table-level side grasp before closing.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7986, 0.6067, -0.4088, -0.0189, -0.0387, 0.9992, 0.7162, 1.9469, 1.1496, -0.0418, 0.5514, 0.4068, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0259 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4193 right_y=0.247 right_z=0.0602 right_yaw=0.0298 right_pitch=-0.1069 right_roll=-0.084 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.2513, 6.9949, 1.7167, -0.0269, -0.0464, -0.0122, -0.4308, -9.4838, 5.8462, 1.7802, 0.1783, 0.0122, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.02},"note":"The jaws remain aligned on opposite sides of the can, but the grasp point is still above its center. I will lower to a table-level side grasp before closing."})
tool
executing move_to over 3 steps (0.3s)
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 can’s sides are aligned between the lowered fingers. I will close the gripper to secure it, then check the opening and lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.7139, 2.0071, 1.1069, 0.0532, 0.54, 0.3935, 0.9996] state[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.173 left_yaw=0.0031 left_pitch=-0.0309 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4181 right_y=0.2468 right_z=0.0307 right_yaw=0.0427 right_pitch=-0.1191 right_roll=-0.0927 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.2239, 6.9949, 1.7216, -0.0415, -0.0513, -0.0171, 0.1709, -9.0872, 5.3265, 1.7753, 0.3101, 0.0855, -0.0122] 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_gripper":0},"note":"The can’s sides are aligned between the lowered fingers. I will close the gripper to secure it, then check the opening and lift."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe gripper stopped at a substantial opening, consistent with holding the can rather than closing empty. I will lift a few centimeters to verify that the can moves with it.
move_to
right_x0.4190right_y0.2470right_z0.0900
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.7139, 2.0403, 1.0859, 0.0696, 0.5377, 0.3965, 0.6716] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0031 left_pitch=-0.045 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4125 right_y=0.2425 right_z=0.0107 right_yaw=0.0395 right_pitch=-0.1496 right_roll=-0.1127 right_gripper=0.6716 state[joint_eff]: [-0.0889, -1.2513, 7.0359, 1.8339, -0.0757, -0.0659, -0.0171, -0.0342, -10.359, 6.0513, 1.7265, 0.2857, 0.0757, 1.0281] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.419,"right_y":0.247,"right_z":0.09},"note":"The gripper stopped at a substantial opening, consistent with holding the can rather than closing empty. I will lift a few centimeters to verify that the can moves with it."})
tool
executing move_to over 6 steps (0.6s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe can has lifted with the gripper. The burner is beyond the right arm’s sideways reach, so I will move the can toward the center for the left arm to take over.
move_to
right_x0.4050right_y0.3200right_z0.1800left_x0.2940left_y0.0010left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.7139, 1.9526, 1.211, -0.2199, 0.5209, 0.3923, 0.6716] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0031 left_pitch=-0.0526 left_roll=-0.003 left_gripper=0.9992 right_x=0.4084 right_y=0.2423 right_z=0.0528 right_yaw=0.045 right_pitch=-0.2182 right_roll=-0.1537 right_gripper=0.6716 state[joint_eff]: [0.0068, -1.1145, 7.1726, 1.7802, -0.0562, -0.0659, -0.0171, -0.3761, -13.1761, 8.759, 1.5604, 0.3639, 0.0024, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.32,"right_z":0.18,"left_x":0.294,"left_y":0.001,"left_z":0.18},"note":"The can has lifted with the gripper. The burner is beyond the right arm’s sideways reach, so I will move the can toward the center for the left arm to take over."})
tool
executing move_to over 9 steps (0.9s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe can is securely held near the table center, to the right of the burner. I will lower it onto the clear tabletop so the left arm can pick it up without an arm-to-arm handoff.
move_to
right_x0.3650right_y0.3350right_z0.0350
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8345, 0.627, -0.4751, -0.0189, -0.0425, 0.9992, 0.849, 2.0552, 1.8469, -0.8371, 0.5575, 0.4965, 0.6716] state[eef_state]: left_x=0.2864 left_y=0.0014 left_z=0.1604 left_yaw=0.0049 left_pitch=-0.1079 left_roll=-0.0048 left_gripper=0.9992 right_x=0.4014 right_y=0.3199 right_z=0.1635 right_yaw=0.0833 right_pitch=-0.2524 right_roll=-0.1609 right_gripper=0.6716 state[joint_eff]: [-0.5128, -1.1282, 9.8667, 1.8486, -0.0464, -0.0024, -0.0122, 0.1436, -11.1385, 8.7179, 1.2332, 0.6129, 0.2125, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.335,"right_z":0.035},"note":"The can is securely held near the table center, to the right of the burner. I will lower it onto the clear tabletop so the left arm can pick it up without an arm-to-arm handoff."})
tool
executing move_to over 9 steps (0.9s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe can is just above its original table-level grasp height. I will finish lowering it before releasing so it does not drop or roll.
move_to
right_z0.0120
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.836, 0.6281, -0.4801, -0.0189, -0.0456, 0.9992, 0.931, 2.1166, 1.4479, -0.4919, 0.5678, 0.564, 0.6716] state[eef_state]: left_x=0.2859 left_y=0.0015 left_z=0.1595 left_yaw=0.007 left_pitch=-0.1133 left_roll=-0.007 left_gripper=0.9992 right_x=0.3562 right_y=0.3255 right_z=0.0321 right_yaw=0.0964 right_pitch=-0.3194 right_roll=-0.2081 right_gripper=0.6716 state[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0562, -0.0122, -0.0122, 0.5675, -10.7009, 6.7487, 1.3797, 0.5299, 0.1538, 1.033] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.012},"note":"The can is just above its original table-level grasp height. I will finish lowering it before releasing so it does not drop or roll."})
tool
executing move_to over 2 steps (0.2s)
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 descent has stopped with the can resting at the tabletop. I will open the fingers and leave it in this central pickup position.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.836, 0.6273, -0.4961, -0.0189, -0.046, 0.9992, 0.9352, 2.125, 1.4254, -0.4381, 0.5785, 0.5682, 0.6716] state[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1561 left_yaw=0.0072 left_pitch=-0.13 left_roll=-0.0069 left_gripper=0.9992 right_x=0.3577 right_y=0.3282 right_z=0.0269 right_yaw=0.0971 right_pitch=-0.2964 right_roll=-0.1943 right_gripper=0.6716 state[joint_eff]: [0.0889, -1.388, 7.1726, 1.7753, -0.0513, -0.0073, -0.0122, -0.5128, -9.0735, 5.6137, 0.9158, 0.149, -0.0806, 1.033] 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_gripper":1},"note":"The descent has stopped with the can resting at the tabletop. I will open the fingers and leave it in this central pickup position."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe can is released beside the burner. I will lift and park the right arm to clear the pickup area for the left arm.
move_to
right_x0.3000right_y0.0400right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.836, 0.6273, -0.511, -0.0189, -0.046, 0.9992, 0.934, 2.1342, 1.4189, -0.432, 0.5632, 0.5579, 0.9958] state[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.1534 left_yaw=0.0073 left_pitch=-0.1449 left_roll=-0.0065 left_gripper=0.9992 right_x=0.3556 right_y=0.3283 right_z=0.0199 right_yaw=0.1089 right_pitch=-0.3142 right_roll=-0.1988 right_gripper=0.9958 state[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.7118, -0.0513, -0.0366, -0.0122, -0.4855, -9.9077, 5.4222, 1.0574, 0.3297, 0.0269, -0.1587] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.04,"right_z":0.2,"right_pitch":0},"note":"The can is released beside the burner. I will lift and park the right arm to clear the pickup area for the left arm."})
tool
executing move_to over 25 steps (2.5s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteAfter release, the can rolled slightly and now lies sideways beside the burner. I will approach it with the left gripper rotated to close across the can’s diameter.
move_to
left_x0.4300left_y-0.3650left_z0.1500left_yaw1.5700left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8406, 0.627, -0.5289, -0.0189, -0.0505, 0.9992, 0.276, 0.8799, 0.6991, -0.44, 0.281, -0.057, 0.9968] state[eef_state]: left_x=0.278 left_y=0.0017 left_z=0.1487 left_yaw=0.0099 left_pitch=-0.1678 left_roll=-0.0093 left_gripper=0.9992 right_x=0.2998 right_y=0.0377 right_z=0.1911 right_yaw=0.0639 right_pitch=-0.0239 right_roll=-0.198 right_gripper=0.9968 state[joint_eff]: [-0.0205, -1.812, 6.9402, 1.7411, -0.022, -0.0269, -0.0171, -0.253, -2.1538, 7.5829, 1.9853, 0.0024, -0.1197, 0.0904] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.365,"left_z":0.15,"left_yaw":1.57,"left_pitch":0,"left_roll":0},"note":"After release, the can rolled slightly and now lies sideways beside the burner. I will approach it with the left gripper rotated to close across the can’s diameter."})
tool
executing move_to over 33 steps (3.3s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe left arm did not reach the requested sideways position and is still above the burner. I will raise it and return to a less folded orientation before approaching the can again.
move_to
left_x0.3200left_y-0.1000left_z0.2400left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4694, 2.5034, 2.1231, -1.5524, -0.8574, -2.0937, 0.9991, 0.2756, 0.8845, 0.6971, -0.4774, 0.2722, -0.0746, 0.9969] state[eef_state]: left_x=0.4328 left_y=-0.0658 left_z=0.0607 left_yaw=1.4158 left_pitch=-0.0842 left_roll=-0.0298 left_gripper=0.9991 right_x=0.2946 right_y=0.0377 right_z=0.1815 right_yaw=0.0798 right_pitch=-0.0699 right_roll=-0.2159 right_gripper=0.9969 state[joint_eff]: [0.6085, -11.535, 6.8308, -0.6178, -0.5788, -0.1197, -0.0171, -0.0342, -2.1538, 7.2137, 2.0098, 0.1783, 0.1245, -0.0024] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.1,"left_z":0.24,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The left arm did not reach the requested sideways position and is still above the burner. I will raise it and return to a less folded orientation before approaching the can again."})
tool
executing move_to over 12 steps (1.2s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe left arm is clear of the burner again. I will first move it sideways toward the can with the wrist unrotated, keeping the right arm parked away.
move_to
left_x0.3700left_y-0.3200left_z0.1800left_yaw0.0000right_x0.2930right_y0.0000right_z0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5797, 1.1286, 0.9749, -0.6575, -0.6094, -0.701, 0.9985, 0.2756, 0.8886, 0.6968, -0.5064, 0.2714, -0.0788, 0.997] state[eef_state]: left_x=0.3137 left_y=-0.0802 left_z=0.2167 left_yaw=0.2838 left_pitch=-0.0659 left_roll=-0.1105 left_gripper=0.9985 right_x=0.2906 right_y=0.0367 right_z=0.1748 right_yaw=0.0821 right_pitch=-0.1034 right_roll=-0.2253 right_gripper=0.997 state[joint_eff]: [-1.347, -3.2205, 8.6359, 2.3907, -0.149, 0.2271, -0.0757, -0.0205, -2.1402, 7.0222, 1.9267, 0.1148, 0.0073, -0.0073] approver: 11 step(s) modified (delta_clamped ×11). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.32,"left_z":0.18,"left_yaw":0,"right_x":0.293,"right_y":0,"right_z":0.2,"right_roll":0},"note":"The left arm is clear of the burner again. I will first move it sideways toward the can with the wrist unrotated, keeping the right arm parked away."})
tool
executing move_to over 22 steps (2.2s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe can is visible just ahead of the left fingertips, lying across the current jaw direction. I will rotate the wrist the opposite way and shift slightly right to align across its width.
move_to
left_x0.3700left_y-0.3550left_z0.1300left_yaw-1.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9379, 1.8183, 1.4338, -0.5293, -0.6628, -0.8005, 0.9985, -0.0891, 0.8921, 0.7692, -0.6384, -0.1135, -0.1314, 0.997] state[eef_state]: left_x=0.3639 left_y=-0.3062 left_z=0.1661 left_yaw=0.0234 left_pitch=-0.1016 left_roll=-0.0832 left_gripper=0.9985 right_x=0.2836 right_y=-0.0016 right_z=0.1778 right_yaw=0.071 right_pitch=-0.1733 right_roll=-0.0081 right_gripper=0.997 state[joint_eff]: [-0.5128, -9.1966, 9.1556, 1.4921, -0.2759, 0.2125, -0.022, -0.4308, -1.5932, 10.0991, 1.9121, -0.1538, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.355,"left_z":0.13,"left_yaw":-1.3},"note":"The can is visible just ahead of the left fingertips, lying across the current jaw direction. I will rotate the wrist the opposite way and shift slightly right to align across its width."})
tool
executing move_to over 9 steps (0.9s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe can is still slightly to the right of the grasp point. I will move to its middle and lower the open jaws across the cylindrical body.
move_to
left_x0.3550left_y-0.3950left_z0.0450left_yaw-1.5700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5953, 1.9068, 1.3682, -0.2924, 0.3985, 0.2291, 0.9985, -0.091, 0.8959, 0.77, -0.667, -0.1246, -0.1314, 0.997] state[eef_state]: left_x=0.3819 left_y=-0.3371 left_z=0.1152 left_yaw=-1.0734 left_pitch=-0.1785 left_roll=-0.1131 left_gripper=0.9985 right_x=0.2791 right_y=0.0002 right_z=0.1722 right_yaw=0.0794 right_pitch=-0.2033 right_roll=0.005 right_gripper=0.997 state[joint_eff]: [0.2803, -10.2632, 8.7043, 1.4872, 0.5201, 0.2027, -0.0171, 0.1299, -1.7573, 6.8581, 1.8486, -0.0122, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.395,"left_z":0.045,"left_yaw":-1.57},"note":"The can is still slightly to the right of the grasp point. I will move to its middle and lower the open jaws across the cylindrical body."})
tool
executing move_to over 6 steps (0.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe fingers straddle the can, but the grasp point is still a little high. I will lower to the can’s centerline while correcting the small forward position error.
move_to
left_x0.3500left_y-0.3950left_z0.0150
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.627, 2.1914, 1.5841, -0.3763, 0.6182, 0.5636, 0.9985, -0.0914, 0.9005, 0.7692, -0.6807, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3692 left_y=-0.3895 left_z=0.0582 left_yaw=-1.4669 left_pitch=-0.1742 left_roll=-0.0984 left_gripper=0.9985 right_x=0.2768 right_y=0.0003 right_z=0.1684 right_yaw=0.0801 right_pitch=-0.222 right_roll=0.0086 right_gripper=0.997 state[joint_eff]: [-0.6769, -11.2205, 7.2957, 1.0281, 0.5934, 0.1783, -0.0171, -0.0752, -2.0718, 6.8308, 1.5946, -0.0659, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.395,"left_z":0.015},"note":"The fingers straddle the can, but the grasp point is still a little high. I will lower to the can’s centerline while correcting the small forward position error."})
tool
executing move_to over 3 steps (0.3s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe can is now centered between the left fingers at table height. I will close the gripper around its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6498, 2.2086, 1.4811, -0.2592, 0.6247, 0.564, 0.9985, -0.0914, 0.9009, 0.7681, -0.6888, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3519 left_y=-0.3927 left_z=0.0281 left_yaw=-1.4946 left_pitch=-0.1722 left_roll=-0.1041 left_gripper=0.9985 right_x=0.2752 right_y=0.0005 right_z=0.1665 right_yaw=0.0805 right_pitch=-0.2314 right_roll=0.0103 right_gripper=0.997 state[joint_eff]: [-1.0051, -10.865, 4.0, 1.0281, 0.1294, -0.0806, -0.0122, -0.1026, -1.5111, 6.8991, 1.5995, -0.1245, -0.0415, -0.0122] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The can is now centered between the left fingers at table height. I will close the gripper around its body."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe left gripper has closed to about the can’s diameter. I will lift to confirm the can is secure and keep the right arm safely parked.
move_to
left_x0.3500left_y-0.3850left_z0.1150right_x0.2930right_y0.0000right_z0.2100
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6605, 2.1914, 1.4574, -0.1413, 0.6167, 0.5186, 0.6397, -0.0914, 0.9016, 0.7673, -0.7029, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3604 left_y=-0.4048 left_z=0.0429 left_yaw=-1.4637 left_pitch=-0.103 left_roll=-0.0519 left_gripper=0.6397 right_x=0.2726 right_y=0.0007 right_z=0.1636 right_yaw=0.0811 right_pitch=-0.2468 right_roll=0.013 right_gripper=0.997 state[joint_eff]: [-0.5402, -9.8803, 4.588, 0.9646, 0.0366, 0.0366, 1.0281, -0.0342, -1.7709, 6.7897, 1.5751, -0.0904, -0.0562, -0.0122] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.385,"left_z":0.115,"right_x":0.293,"right_y":0,"right_z":0.21},"note":"The left gripper has closed to about the can’s diameter. I will lift to confirm the can is secure and keep the right arm safely parked."})
tool
executing move_to over 5 steps (0.5s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe can remains between the fingers as the arm rises, though the loaded arm is below its height target. I will raise it to transport height before moving toward the burner.
move_to
left_x0.3500left_y-0.3700left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6426, 2.0724, 1.4616, -0.3244, 0.614, 0.5217, 0.5407, -0.0879, 1.013, 0.9565, -0.8162, -0.1246, -0.1318, 0.997] state[eef_state]: left_x=0.3489 left_y=-0.3839 left_z=0.0797 left_yaw=-1.451 left_pitch=-0.1459 left_roll=-0.0916 left_gripper=0.5407 right_x=0.2872 right_y=0.0003 right_z=0.1943 right_yaw=0.0861 right_pitch=-0.2818 right_roll=0.0188 right_gripper=0.997 state[joint_eff]: [0.212, -14.0239, 9.2786, 1.4383, 0.4127, 0.2076, -1.3748, 0.1983, -2.2222, 8.8274, 1.4139, -0.0659, -0.0171, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.37,"left_z":0.2},"note":"The can remains between the fingers as the arm rises, though the loaded arm is below its height target. I will raise it to transport height before moving toward the burner."})
tool
executing move_to over 8 steps (0.8s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe overhead view shows the can stayed on the table rather than following the lift; it rolled toward the front during closing. I will reopen and approach its new position farther back toward the base.
move_to
left_x0.2950left_y-0.3750left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6189, 2.0228, 1.7508, -0.7525, 0.6132, 0.5255, 0.54, -0.0864, 1.0191, 0.9562, -0.8478, -0.1246, -0.1314, 0.997] state[eef_state]: left_x=0.3494 left_y=-0.3693 left_z=0.1583 left_yaw=-1.4405 left_pitch=-0.2074 left_roll=-0.1543 left_gripper=0.54 right_x=0.2815 right_y=0.0012 right_z=0.1876 right_yaw=0.0895 right_pitch=-0.3194 right_roll=0.026 right_gripper=0.997 state[joint_eff]: [0.4718, -14.6393, 9.3197, 1.3993, 0.4371, 0.1587, -0.0855, -0.1299, -2.906, 6.694, 1.6484, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":-0.375,"left_z":0.07,"left_gripper":1},"note":"The overhead view shows the can stayed on the table rather than following the lift; it rolled toward the front during closing. I will reopen and approach its new position farther back toward the base."})
tool
executing move_to over 6 steps (0.6s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe wrist view places the can just outside one finger, so the previous approach was too far back. I will shift forward to straddle it and reduce the wrist’s observed tilt for a more level grasp.
move_to
left_x0.3450left_y-0.3800left_z0.0150left_pitch0.1800left_roll0.1200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7078, 1.9678, 1.2926, -0.4015, 0.5709, 0.4473, 0.9967, -0.0864, 1.0195, 0.955, -0.8612, -0.1246, -0.1314, 0.997] state[eef_state]: left_x=0.2856 left_y=-0.3653 left_z=0.0567 left_yaw=-1.4681 left_pitch=-0.278 left_roll=-0.2213 left_gripper=0.9967 right_x=0.2788 right_y=0.0015 right_z=0.1851 right_yaw=0.0903 right_pitch=-0.334 right_roll=0.0288 right_gripper=0.997 state[joint_eff]: [-0.5265, -12.1231, 6.3658, 1.3895, 0.1832, -0.0708, -0.0659, -0.1983, -2.2222, 6.6393, 1.5116, -0.0806, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.38,"left_z":0.015,"left_pitch":0.18,"left_roll":0.12},"note":"The wrist view places the can just outside one finger, so the previous approach was too far back. I will shift forward to straddle it and reduce the wrist’s observed tilt for a more level grasp."})
tool
executing move_to over 16 steps (1.6s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe can rolled forward when a finger touched it, and it is now clearly ahead of the grasp point. I will raise the open jaws and move forward over its new center before descending.
move_to
left_x0.4150left_y-0.3800left_z0.0650
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6235, 2.1983, 1.0252, 0.5526, 0.693, 0.466, 0.9971, -0.0864, 1.0195, 0.955, -0.8822, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3364 left_y=-0.3765 left_z=0.0035 left_yaw=-1.4547 left_pitch=0.1098 left_roll=0.0537 left_gripper=0.9971 right_x=0.2747 right_y=0.0019 right_z=0.182 right_yaw=0.092 right_pitch=-0.3546 right_roll=0.033 right_gripper=0.997 state[joint_eff]: [0.7863, -10.2359, 4.3009, 1.8486, 0.0757, 0.0757, 0.0269, -0.1436, -2.3863, 6.5299, 1.5116, -0.105, -0.0415, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.38,"left_z":0.065},"note":"The can rolled forward when a finger touched it, and it is now clearly ahead of the grasp point. I will raise the open jaws and move forward over its new center before descending."})
tool
executing move_to over 7 steps (0.7s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThe can shifted again because the open fingers were still too low during the forward move. I will lift fully clear before making the final forward alignment.
move_to
left_x0.4300left_y-0.3800left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.535, 2.2097, 1.3811, 0.1699, 0.7425, 0.5186, 0.9972, -0.0864, 1.0206, 0.955, -0.9039, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.4104 left_y=-0.3779 left_z=0.0615 left_yaw=-1.4295 left_pitch=0.1058 left_roll=0.0524 left_gripper=0.9972 right_x=0.2704 right_y=0.0023 right_z=0.1787 right_yaw=0.0936 right_pitch=-0.3772 right_roll=0.0374 right_gripper=0.997 state[joint_eff]: [0.4991, -10.2496, 8.0615, 1.5556, 0.4615, 0.1343, -0.0073, -0.0615, -2.4684, 6.5026, 1.5165, -0.1099, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.38,"left_z":0.18},"note":"The can shifted again because the open fingers were still too low during the forward move. I will lift fully clear before making the final forward alignment."})
tool
executing move_to over 8 steps (0.8s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteWith the fingers clear, the can is visible just forward of the jaw center. I will move a few centimeters forward while staying above it.
move_to
left_x0.4700left_y-0.3900left_z0.1100
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.522, 2.162, 1.6775, -0.2436, 0.7441, 0.5194, 0.9972, -0.0864, 1.0214, 0.9546, -0.9237, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.4287 left_y=-0.3805 left_z=0.1372 left_yaw=-1.4135 left_pitch=0.063 left_roll=-0.0018 left_gripper=0.9972 right_x=0.2663 right_y=0.0026 right_z=0.1756 right_yaw=0.0951 right_pitch=-0.3978 right_roll=0.0415 right_gripper=0.997 state[joint_eff]: [0.212, -16.5538, 9.388, 1.6142, 0.3297, 0.1001, -0.0171, -0.0479, -2.4, 6.7077, 1.4286, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.39,"left_z":0.11},"note":"With the fingers clear, the can is visible just forward of the jaw center. I will move a few centimeters forward while staying above it."})
tool
executing move_to over 4 steps (0.4s)
step 246
top_cam
camera top_cam step 246
assistant
agent noteThe reachable end of the can is now between the open fingers. I will lower at the edge of the left arm’s workspace to grasp that end without pushing sideways.
move_to
left_x0.4900left_y-0.4000left_z0.0200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5041, 2.3463, 1.8488, -0.3077, 0.7467, 0.5232, 0.9972, -0.0864, 1.0229, 0.9546, -0.9375, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.458 left_y=-0.3856 left_z=0.0925 left_yaw=-1.3972 left_pitch=0.0161 left_roll=-0.0597 left_gripper=0.9972 right_x=0.2636 right_y=0.0029 right_z=0.1734 right_yaw=0.0963 right_pitch=-0.4128 right_roll=0.0445 right_gripper=0.997 state[joint_eff]: [0.4171, -15.0359, 9.6342, 1.6044, 0.3883, 0.188, -0.0171, -0.1436, -2.4684, 6.4752, 1.4432, -0.0757, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.4,"left_z":0.02},"note":"The reachable end of the can is now between the open fingers. I will lower at the edge of the left arm’s workspace to grasp that end without pushing sideways."})
tool
executing move_to over 5 steps (0.5s)
step 251
assistant
agent noteThe can fills the gap between the fingers at this lower pose. I will close around it and check the lift immediately.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4969, 2.5721, 1.9816, -0.2626, 0.7433, 0.5186, 0.9972, -0.0864, 1.0256, 0.9546, -0.9535, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.4818 left_y=-0.3931 left_z=0.0171 left_yaw=-1.3851 left_pitch=-0.0163 left_roll=-0.0993 left_gripper=0.9972 right_x=0.2604 right_y=0.0031 right_z=0.1707 right_yaw=0.0978 right_pitch=-0.4312 right_roll=0.0482 right_gripper=0.997 state[joint_eff]: [-0.4308, -14.5026, 8.335, 1.5165, 0.4908, 0.0366, -0.0122, -0.1026, -2.5231, 6.694, 1.3797, -0.1392, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The can fills the gap between the fingers at this lower pose. I will close around it and check the lift immediately."})
tool
executing move_to over 10 steps (1.0s)
step 261
assistant
agent noteThe fingers have closed around the can with a firm, nonempty opening. I will lift it clear of the table and slightly inward from the reach limit.
move_to
left_x0.4600left_y-0.3850left_z0.1150
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4969, 2.5866, 1.9965, -0.247, 0.7437, 0.5194, 0.7025, -0.0864, 1.026, 0.9546, -0.9676, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.4856 left_y=-0.3953 left_z=0.0162 left_yaw=-1.3857 left_pitch=-0.0059 left_roll=-0.0864 left_gripper=0.7025 right_x=0.2575 right_y=0.0034 right_z=0.1688 right_yaw=0.0991 right_pitch=-0.4454 right_roll=0.0512 right_gripper=0.997 state[joint_eff]: [-0.1846, -13.9829, 8.294, 1.5018, 0.2808, 0.0855, 1.033, -0.1026, -2.0034, 6.4342, 1.3651, -0.1197, -0.0611, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.385,"left_z":0.115},"note":"The fingers have closed around the can with a firm, nonempty opening. I will lift it clear of the table and slightly inward from the reach limit."})
tool
executing move_to over 7 steps (0.7s)
step 268
assistant
agent noteThe can now moves with the gripper and stays fixed in the wrist view. I will carry it above the burner, rotating its long axis so its center will sit over the heating coil.
move_to
left_x0.3550left_y-0.1500left_z0.2200left_yaw0.0000left_pitch0.1800left_roll0.1200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4988, 2.4195, 1.9434, -0.4274, 0.7216, 0.514, 0.7019, -0.0864, 1.026, 0.9546, -0.9714, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.463 left_y=-0.381 left_z=0.0684 left_yaw=-1.3718 left_pitch=-0.0615 left_roll=-0.1312 left_gripper=0.7019 right_x=0.2567 right_y=0.0035 right_z=0.1684 right_yaw=0.0994 right_pitch=-0.4492 right_roll=0.052 right_gripper=0.997 state[joint_eff]: [-0.7043, -18.6462, 7.3231, 1.5116, 0.4078, -0.0171, 1.0232, -0.0615, -2.3316, 6.5026, 1.2186, -0.1197, -0.0415, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.15,"left_z":0.22,"left_yaw":0,"left_pitch":0.18,"left_roll":0.12},"note":"The can now moves with the gripper and stays fixed in the wrist view. I will carry it above the burner, rotating its long axis so its center will sit over the heating coil."})
tool
executing move_to over 21 steps (2.1s)
step 289
assistant
agent noteThe can is suspended above the burner but slightly to its right. I will shift it left and forward while lowering toward the coil.
move_to
left_x0.3950left_y-0.1050left_z0.0750
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7078, 1.2999, 0.8371, -0.0978, -0.6029, -0.2207, 0.7019, -0.0864, 1.0306, 0.9543, -0.9932, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3547 left_y=-0.167 left_z=0.1962 left_yaw=-0.1065 left_pitch=0.1159 left_roll=0.1296 left_gripper=0.7019 right_x=0.2522 right_y=0.0038 right_z=0.1645 right_yaw=0.1019 right_pitch=-0.4754 right_roll=0.0575 right_gripper=0.997 state[joint_eff]: [-0.4991, -6.6803, 8.9368, 2.0733, -0.3883, -0.0757, 1.0183, -0.1709, -2.7145, 6.5983, 1.3602, -0.1099, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.105,"left_z":0.075},"note":"The can is suspended above the burner but slightly to its right. I will shift it left and forward while lowering toward the coil."})
tool
executing move_to over 8 steps (0.8s)
step 297
assistant
agent noteThe can is centered over the circular burner. I will lower the last few centimeters until it is supported by the burner surface.
move_to
left_z0.0420
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4377, 1.5764, 0.5232, 0.4858, -0.3981, -0.086, 0.7019, -0.0864, 1.0325, 0.9543, -1.0134, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3851 left_y=-0.1006 left_z=0.0677 left_yaw=-0.0747 left_pitch=0.0483 left_roll=0.1545 left_gripper=0.7019 right_x=0.248 right_y=0.0042 right_z=0.1618 right_yaw=0.1041 right_pitch=-0.4971 right_roll=0.0622 right_gripper=0.997 state[joint_eff]: [0.6632, -4.5197, 4.3145, 1.4823, 0.0904, 0.0855, 1.0232, 0.0068, -2.4684, 6.3521, 1.2967, -0.1099, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.042},"note":"The can is centered over the circular burner. I will lower the last few centimeters until it is supported by the burner surface."})
tool
executing move_to over 2 steps (0.2s)
step 299
assistant
agent noteThe descent has stopped with the can supported on the burner. I will release it without moving sideways.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4324, 1.6398, 0.5083, 0.6395, -0.3874, -0.0757, 0.7057, -0.0864, 1.0325, 0.9543, -1.0187, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3952 left_y=-0.105 left_z=0.069 left_yaw=-0.0816 left_pitch=0.1163 left_roll=0.1321 left_gripper=0.7057 right_x=0.2468 right_y=0.0043 right_z=0.1612 right_yaw=0.1046 right_pitch=-0.5024 right_roll=0.0634 right_gripper=0.997 state[joint_eff]: [-0.212, -3.5214, 3.1932, 0.7204, 0.0415, -0.1148, 0.7643, -0.0615, -2.2906, 6.4068, 1.243, -0.0757, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent has stopped with the can supported on the burner. I will release it without moving sideways."})
tool
executing move_to over 3 steps (0.3s)
step 302
assistant
agent noteThe can is released on the burner. I will withdraw the left arm upward and back to verify that it stays in place.
move_to
left_x0.2900left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4381, 1.676, 0.495, 0.6781, -0.4046, -0.0956, 0.9953, -0.0864, 1.0325, 0.9543, -1.0241, -0.1249, -0.1314, 0.997] state[eef_state]: left_x=0.3934 left_y=-0.1036 left_z=0.0588 left_yaw=-0.0628 left_pitch=0.1103 left_roll=0.1259 left_gripper=0.9953 right_x=0.2456 right_y=0.0044 right_z=0.1606 right_yaw=0.1052 right_pitch=-0.5076 right_roll=0.0645 right_gripper=0.997 state[joint_eff]: [-0.0205, -5.5316, 4.4376, 1.2918, -0.0904, 0.1245, -0.1538, -0.0889, -2.3179, 6.3385, 1.1453, -0.1099, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2},"note":"The can is released on the burner. I will withdraw the left arm upward and back to verify that it stays in place."})
tool
executing move_to over 10 steps (1.0s)
step 312
assistant
agent notePlaced the can on the burner and opened the gripper; the can remains resting across the heating coil.
done
hindsightThe can rolls readily when low open fingers contact its side, so reposition above it with at least 15 cm clearance before descending. A nonempty gripper reading alone was misleading on one pickup; verify actual object motion during the lift. The left arm tracked a negative quarter-turn yaw much better than a positive quarter-turn when reaching across the table. The successful burner placement used left grasp coordinates approximately x=0.395, y=-0.105, with contact stopping z around 0.069.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1173, 1.3922, 0.519, 0.3878, -0.1883, 0.0177, 0.9963, -0.0864, 1.0348, 0.9543, -1.034, -0.1246, -0.1314, 0.997] state[eef_state]: left_x=0.3937 left_y=-0.0095 left_z=0.1091 left_yaw=0.0166 left_pitch=0.0935 left_roll=0.1231 left_gripper=0.9963 right_x=0.2436 right_y=0.0045 right_z=0.159 right_yaw=0.1062 right_pitch=-0.5197 right_roll=0.0668 right_gripper=0.997 state[joint_eff]: [-2.8923, -5.5863, 9.4427, 2.1026, 0.5739, 0.2759, 0.0904, -0.0068, -1.9624, 6.5162, 1.1795, -0.0806, -0.0513, -0.0122] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the can on the burner and opened the gripper; the can remains resting across the heating coil.","hindsight":"The can rolls readily when low open fingers contact its side, so reposition above it with at least 15 cm clearance before descending. A nonempty gripper reading alone was misleading on one pickup; verify actual object motion during the lift. The left arm tracked a negative quarter-turn yaw much better than a positive quarter-turn when reaching across the table. The successful burner placement used left grasp coordinates approximately x=0.395, y=-0.105, with contact stopping z around 0.069."})
tool
done: Placed the can on the burner and opened the gripper; the can remains resting across the heating coil.
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 · 5.869 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, 0.7925, 0.6044, -0.3866, -0.0189, -0.0338, 0.9993, -0.0212, 0.7937, 0.6071, -0.3954, -0.0193, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0008 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4291, 10.2222, 1.9463, -0.0415, 0.188, -0.0904, -0.4444, -1.4701, 9.7299, 1.9072, -0.0562, 0.0659, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8167c1f2dc5d01f6153afe89762f67be5833037dcd81aff50a7276954edea137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cca9ef184929cfca6d3106dd6b963cf19a0fbd747610aacfc7a0aa5fb7339aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1f444dff75f9438ed80ad2417dca69dbf9af2410b5efaa9ccdd99015bfe827",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.969 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrHJGGzvbiNTokpXR_bk5ZhOmwORTiuKb0n5erakNJ9LCYmu5Jt_7y2WNdZZ8EGL1nJnawtVS8gmoCy7vZZX8g2ToxE7zDIn4bEREVIbz5s888IkW1F5pmThIB4gNRm7-rE2N4rYdXrqbJXlZpz7m1v4uuT6VX2ymIxCqI9eNdFfiScnwgV9cwv36rrIooMbWHgyrnpPTl8Lq7qiuaYKyeO4BOKnwLCTtf8ucGvBZegqLQyTFeRAtJ_IlluS_r8soXajEUJKrEzm9sH3dZEwAR0NWn_4Jel14vW9WzDfZwj6MPNGQExE-0o5ZivIWBfZlwwnr9jFLgX7RKOenLAPzWVOAmmvI-TYyFMx3L_YCyJeqZTEeGLR92xxF4ya1Qid2OOGgg9WKD6ztANykdnCWTlNo1KWRdnR_Dbra649ucDKABHz8Bs_efm8XHsIji7gCETZ6rrj57sZViQQh_v22fm0GdcGDsKeKIAShqJsNqFejmu7CaizGbbyS4HQxhO2d7by6whwhmnrNe8vzUbScyqtDeEG8-13ZgssaQXbglz9VUrmU7e42CRsZnQE30MlC9KIwYE4EhxvviSWN2HNoRe8sur5GtLhduoTa2kl34m5q6dsX8XRAGhF7ufwByVuBy_ucEPCrt9LrvYO9A-IGAoA23iMva9_B4ieAKmIjhte978h1ZLmWBskupkdjpgrbRTS7_ESMEjp_6skvoNRnPg7hkJ_TfWanBT9NR6bLvJatEQLqQXB9BwLO-t2kIpBzJCTjvZEeE4Eq0R98AsEej4EjgBAR3fmVmF-FhPgS7DpOR0xSGPoZIlt__eDSEkGQl-nkjn1tVxn0icB54gYMdF91_DmMAB6iSa_IL6xJoZOAlQ6fOsvR3JMbiGvEfxCgmZnUZgWIBZd_T6d90H1egj5D9y5U3FxsB0GdTytQvHHYL955ZEfQy5EstlOLcvfyq0QeVSMMeRjaVvHYnnIcfJv-cksD1h6tQyroWOFeqrLZsO6Bu259Dy9FQVLsFE2wJcIfL_g6AKxiBpJfRmxuZH7vuZkvo5va6QWqu7HzA52YSwB_P5odqY2C-iVJnVSZA7fi1D7bNxUThwCY8a_fCowtQAFuXqTW_nEgfVBmFbE-fZKaE6P0kZGDXWTcwuQ4Qn0cnKXZ-eFs3zFEe7z7ZGW6G5eLarFR0VmeLyJUJv1JdXH8gwaFduf1GIY5tFkXW_DFodaJFIIZ4FJO_lnzs947CLiiJkh1Mk3hQGOfyHoAsN7WP_lzkY6dmTQKOhtTHdzQomWxmi_2kAMQkS5NzfCsexi_BCvfaMQ4H4nybS33o8LH3tV1whof4_gO25zFl7k2Rfo4YAcQcjBci6OgEoAAoyZgoU0GVW24RV9Yt48-96NMP73F6ChRmGez2xc4c5wJJrfeI8c8eNcaUTlSpakPIJUFxASowyWCIs_xpaCBYyXaoiA2ZMV766dvQxDt9pjS7oa4DHAgquguKSlwEewo0BsEw_MB3PHnAs4N_qaNInoERI6VVZwf4WlgqL__mubTUhiodKv1XvHBpuC4k64MzQ==",
  "id": "rs_06873735dcdc90d2016aac724271cc87d0a0ef2541c17cdd77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.265,\"right_z\":0.16,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The can is lying between the burner on the left and the kettle on the right. I am bringing the right gripper above the can to align a grasp around its middle.\"}",
  "call_id": "call_8MITZZAhgXW9hQyam3BliH6d",
  "id": "fc_06873735dcdc90d2016aac7245283887d0a0f46399629901ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8MITZZAhgXW9hQyam3BliH6d",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.786, 1.7592, 1.2301, -0.2699, 0.5991, 0.4591, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0013 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3944 right_y=0.259 right_z=0.1448 right_yaw=0.0383 right_pitch=-0.0521 right_roll=-0.0426 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.6068, 7.1043, 1.8926, -0.0659, 0.0073, -0.022, 0.0615, -8.8684, 8.7863, 1.6728, 0.5739, 0.2125, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b88e177fc1a4d48cee9d5298a6af2f7d474f91a35bfe203227508e75e156e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0c1e45ca522b0ac54ab37dfcc439155ed90ecbbb577a9c39b2c2861aabc7a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca0af5c8796cbce1e4dbb25b9e9624a98a3c4b18d1c09d7c0a4c2827d006f892",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.537 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, 0.7925, 0.6044, -0.3866, -0.0189, -0.0338, 0.9993, -0.0212, 0.7937, 0.6071, -0.3954, -0.0193, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0008 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4291, 10.2222, 1.9463, -0.0415, 0.188, -0.0904, -0.4444, -1.4701, 9.7299, 1.9072, -0.0562, 0.0659, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHJQwTLYCXT3tYUHhRB4w8CFKGqgAIyNqx22ZenxM2wqehamEq2RSj_NCxwTuviP8Qz_AeLrYRHjuHs1HJaWgLeH-sZ8UvTVrGJIbGFoLMhglNWQemWgRn2helcb4k8M-p65E1d9P-iUyliy0IY6ADjy-xOiiLqGdCz3ej3FavXgceYNVOR0UlfIGHEkQM4Z5_RHZcM5XCr3k1Ykk1WMhzTo_7XMHmFhTRGPPoU_E9FtFAjLWPYaJFEf3Lwh10thl_w7szk9G8FK1g08sVexSkj_zrfkE2t68jstVe33l5syNBiqnuCKB5VkV4rCRJt7VkcQHhzhSdb4gbui_vJGoTkWNcuiVkcR7qkhd0qDwB6UdmfZvNi_nDYSwdB7tGKPKoJaCYURlOeFwptoZAZxW_jv_t3i37MXUjNCJe4Y70v9S4Pw8epcDC0w8r-d3JzsTbKdactxt9xaukFw_JcojAG-G9jMhxDtZr2rpXLI0jHrH8FuKQ4zh_gVN8a3HPIGvlKpJYNtoYAZQdBpWXj3wVeG5_tiAEQ5nSD2XJuBGH8ID7BBR-zkshvLm37PHNpV5PBD0GBBntiJeY3pkicCPEWhTa9Dkn8LbVcuZRunOwQB5TX00NWF3F-c-H7lBbee8W-tpdhsxIlaw8Ipky8zcY9VuJ_Z2LL9DF6_whRc8f2Y0uIMmFoIfM6hRX7NMtyj1_Ko7Wj05mTOo4-sXn0peyWdai2O8PMPZ5WWbXuQbWhThKDhRGqnAGVBmE-pxB5KxJ8zkVLcvGZiQ1WRTQAQ2_X96CUMi2YXgYh5p8nn6vJNINefZjBIWlCsrl28aJJQ51sMo9Pu3Xbf9cj3ONaQkLNEiJ-lSgeFxO00foF5HeifVzv6-_ZPzXDQfxBj3s2vK-0X6y46i95ZDPay1s3ZZKKFRxSWF1kpZEWWxKi7GRX9QSe-eRipbIRSZ4wqkzbmghYLMJXmfpc2ToXXcQNcc3QJD7_Z6BCwLUjuJ77Lh047oY0tiGO6-md-PrQH70tbwFRiQsEGyDCe3tavIRtMPOqG8LlawsCZf_V0g0fbptZmjNjXn7ODzoAnm7hKPfdIVOK2fGrSjxHV0JkArsj6qtXq9mprU6LKVFz0v4d_NcFwIf1hv8SHlLG_FART3wPbsprtxnOal_ODBDRXPORREQlvTldnNRSydrm1eg42balnVDdBhOFmFmFVGyQwnqFlNcroLsfP8hx1VaAWr9uUKS3u55ML3uMdOSK38suU9IQsOFLHLuLf1kpRf2bX4Pydino-3ePfhkuetfa3caUtA2Es4K4YJatH72KaCuwN4JDX-RIkxSwkjl7vVpY5olnnx595EYrQI6JSh8yaoPJ_CH64b9ecSzUZNlNmh3mz1-_3CmtspU0Ccoowi7436_8U2XD7DKp8HRa6eQTrI04MsyL_FKmphJj1WyrzvGzrjAZK5CNVn_oqSDPFDYv5F4OhllWY3KzqFeiW9-X-1Oj0vEll2SQdEEs0fhGTqHjpQfgsiCYFl7udyRgY4d4syXHdV_BfVlMGJDq5x8ZyGIgdyZFPOOu8dCohPbu2UvQgtm-SmysMLTUtJz0BF9GSpK5uW7_fiEMzEQnKVZxhZbABu4k15HXCMZ8Vf8MfNf6O4UfhYccPiz5TSy534usmWB4g-FJOQS5F7CKPrGasS3ZdyFA8skRUvqt6h-9KoelH13WDBQ-ezWGBfrAXBkgE4CBJzLjXFabihTv5Z6H6lZSqvP8oIzUS5QyCVXe3nFY3lyFlDhY9ILAPYIldb5NSxKsk5yWCw8pdkwNirxxxLd_h2x6QHg==",
  "id": "rs_06873735dcdc90d2016aac724ab19087d09aabe67769f4bfa9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.255,\"right_z\":0.065},\"note\":\"The can is centered between the jaws in the wrist view, with its long axis pointing forward. I will move slightly forward and lower toward the can’s midsection while keeping the jaws open.\"}",
  "call_id": "call_xp78jFN1tKTOjYT7G1WdE25B",
  "id": "fc_06873735dcdc90d2016aac724e801487d0991e5b612afd8f2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xp78jFN1tKTOjYT7G1WdE25B",
  "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]: [-0.0193, 0.7986, 0.6067, -0.4088, -0.0189, -0.0387, 0.9992, 0.7162, 1.9469, 1.1496, -0.0418, 0.5514, 0.4068, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0259 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4193 right_y=0.247 right_z=0.0602 right_yaw=0.0298 right_pitch=-0.1069 right_roll=-0.084 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.2513, 6.9949, 1.7167, -0.0269, -0.0464, -0.0122, -0.4308, -9.4838, 5.8462, 1.7802, 0.1783, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5091b3161212570fdf78c43bbc53d8a0a103c3fd48bee8b1ff928feb2f56d12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9d505067d52a0b73a02cb3aa06668b9ecd694cd1960d29c4bd7cd5a6b41ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569a7c78ab0db14583b61b6c4dc4df7aa4d8093246c4f3bd4e1a33b029763ee2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.059 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]: [-0.0193, 0.7982, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.786, 1.7592, 1.2301, -0.2699, 0.5991, 0.4591, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0013 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3944 right_y=0.259 right_z=0.1448 right_yaw=0.0383 right_pitch=-0.0521 right_roll=-0.0426 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.6068, 7.1043, 1.8926, -0.0659, 0.0073, -0.022, 0.0615, -8.8684, 8.7863, 1.6728, 0.5739, 0.2125, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHJV86LWAt9xNY94CFJYVo6yjnO5OBi1pB1ftzQDOaXugsJHehBdC-d_Jshg4kc3vMS33zYIupDdEY7JHCS5ih49nE9U1sg80YbDOwxzSwuOuqaq3_eqAzT_dY9dCznguQ1LvsDC5PQBER-8N7rEN8PhlpaC6bkLp6Sv-_1hesQj1Cgf_GPjQotd8XJzrSfKw2VIVomcUGFsXgEcmTGe-LAwrDtSrglmAfTVJhrEibqSQR9AoeURIEyv0Gm_pQhWgwTYMFvZ4lhJZvCig0F2vAC3B1NO5jf1RE8NgOZuZgjCeLjjtrc8Jp0OPvHX0dFjauq0SWyWrnzMcavis702TJgETwvqculL8eE8fjM0GODudNCtb0Eu2ziDsTHf30kjzsnj4Wyy73MaE39Z4mD5P8u3Lb5oIJXeQTG1Dc33OEamXAnouKvANdC5BNthFvIVr82mV6wIo-Brav1UWOEHClg9XcWAw2ZPndyq4jU6I4688emWVZ2RcVFRUI9F7AIbdxdXBuAXSRdKgkkbR1Q8nXhLQPT6YPmThjX-Z0cWoNSnVREUP50sQZZVLvOpv2RHs5oeZaq9uLprJJcPdPN5ZfJuy6ozePSiVBh96TnNbX5HpgvyTKuBFwfy2bVAwFm4dgsGkevnv80rvb5x9fG3lm3BADmcwdmS4PKsWTNtKNKhVAvvAqk6i6Rprcvp7lqOp7bKH3qIZT0xrTo9xRRcGsztsMjrVGjoQaygql0Ol956l3ZvEe7rqK_98D7kHfOiROyRS_ez2q9kOTrG6e7Z1UI0-Y0Q9OJ-cC049BVrfSx_fvnvDKCcY3ro4bpLpeJxGA4qCTijUBJLIFvu_y1xwjrdN4sD_UEzQEvW7zVgbSeP8blcsWttn3RVYqSWiGjPq-5J-aFva5t5YCDZfGlqccqNGA4TQZ7N36LdyOsLGuU4k1qt98YrmyKi2RgAL9yOdS4pQ9T8waxbqzgrHmS0iiNKFdBjjho7Fi3Pro5zKOfyLej_nIPQ3NvjkflFFNjIYMVc0wW3h-SWtfcBEjWbTneTCMDSdEkD1G7JwPemyVn5Ep1XAkHajkEAbf24ESpZo27Q3AO-_8uvFDai2dGOQ9Re1pigBJvsVz3sBdjRKCW9itb8mPQRR2q7uAt0Hqk3MyWV0ZlDRGfTNtdFi-Ob6q2uJVB7756uQU23GxPx3bzkrGGhaI7LAH-JmkSGV1-Xxh3f809APl8NCarX1E-EqDBYBxZ4FsTZTS9sJQlXCIGR2A0-TjcQ7OurjIarJW388atUeOrn7Jt9q4kqtXgqZlvBzg==",
  "id": "rs_06873735dcdc90d2016aac7253a29887d0b7a0a2f5d125923b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The jaws remain aligned on opposite sides of the can, but the grasp point is still above its center. I will lower to a table-level side grasp before closing.\"}",
  "call_id": "call_49eGltnbAKx3jKNiXuil26Rl",
  "id": "fc_06873735dcdc90d2016aac7253f9cc87d09b36aaaceeb300c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_49eGltnbAKx3jKNiXuil26Rl",
  "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]: [-0.0189, 0.7986, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.7139, 2.0071, 1.1069, 0.0532, 0.54, 0.3935, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.173 left_yaw=0.0031 left_pitch=-0.0309 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4181 right_y=0.2468 right_z=0.0307 right_yaw=0.0427 right_pitch=-0.1191 right_roll=-0.0927 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2239, 6.9949, 1.7216, -0.0415, -0.0513, -0.0171, 0.1709, -9.0872, 5.3265, 1.7753, 0.3101, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4556e04ebaf4632cfd5b8ffae5e03ac73bd766349bb5e6550a36bb551af4e19e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3092977a878b83d9f253a974bf7a81e45755766a9b6a43f60f9e2266af49e1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73271b97455e6bd3d88f2baa1e0302b0f712791e814049aed19b4d4b41a1f4c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.835 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, 0.7986, 0.6067, -0.4088, -0.0189, -0.0387, 0.9992, 0.7162, 1.9469, 1.1496, -0.0418, 0.5514, 0.4068, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0259 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4193 right_y=0.247 right_z=0.0602 right_yaw=0.0298 right_pitch=-0.1069 right_roll=-0.084 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.2513, 6.9949, 1.7167, -0.0269, -0.0464, -0.0122, -0.4308, -9.4838, 5.8462, 1.7802, 0.1783, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s sides are aligned between the lowered fingers. I will close the gripper to secure it, then check the opening and lift.\"}",
  "call_id": "call_CIdYueDFIokNRnndfVaDitkW",
  "id": "fc_06873735dcdc90d2016aac7256dfd487d0935cae952aa057fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CIdYueDFIokNRnndfVaDitkW",
  "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, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.7139, 2.0403, 1.0859, 0.0696, 0.5377, 0.3965, 0.6716]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0031 left_pitch=-0.045 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4125 right_y=0.2425 right_z=0.0107 right_yaw=0.0395 right_pitch=-0.1496 right_roll=-0.1127 right_gripper=0.6716\nstate[joint_eff]: [-0.0889, -1.2513, 7.0359, 1.8339, -0.0757, -0.0659, -0.0171, -0.0342, -10.359, 6.0513, 1.7265, 0.2857, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03915980a561c4a2c9d14eef4f8f4d2575d838a240a6ce954849063a5c930b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69804c0a9596add49cab99c58133040a9e3398b063dfcade97ec0dc1bb1b003c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14a909561d6abc1860937fa982d75004794b95827329e967b741972d0795817",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 9 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, 0.7986, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.7139, 2.0071, 1.1069, 0.0532, 0.54, 0.3935, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.173 left_yaw=0.0031 left_pitch=-0.0309 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4181 right_y=0.2468 right_z=0.0307 right_yaw=0.0427 right_pitch=-0.1191 right_roll=-0.0927 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2239, 6.9949, 1.7216, -0.0415, -0.0513, -0.0171, 0.1709, -9.0872, 5.3265, 1.7753, 0.3101, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHJdnm42Vuki-OuLc6kv_-9f51pjNe-EgEkXaB1yQuSxH3BY2nF97XQA895MGnoeUW2uthFG1Jr36y33QcX1ehk_pxjWUftdNdrjj25RY-Yo5CsYZDCw9i5MVXnr5XM0P94TE7nMXO__rrA0EyzL5pkGpQcFKGZujJdO0J54EGATRdzbu7CDVvOQgciiIHll7jyZBh5NRTiN8tBRralH2dpu72kjVCROhKtEqGrIFplwurNzYTzH6-uoiXXGnJux4bRrbSPvxfwlBuo0aL91HOtKSKpsYj7B8n1wwVjUVYswn3b0u7OA2D3XljDEarQRhVbLhGxGuIXz6Y-IJQLv-fh_7piGbe0LV56F65mtIYd7gve-4A5T0opocN59GbwVQsVtlc1Hr9pToQ6toTJqPFTyVeIA3dyF6-8kAW3eLo7fdTp4H01At0hqhjS-xlq291MSKJEaQffZDFeiFgoZBD8NVcBFylAOlZnXyqY1dX_wWbEM6RymSYggEAJSONeSYpHbkMoTReZ0ohrSShVC5KS9gP13UOOcuiDNLFfVmDvRdtY3a1WAQsi7JI22Mm624FIEz2cAI7gKlgrSNWcp7TSXAJR79NMkPBcuEbEnt9EFN_WlweWgUQbDoFC7sLk7l6LVvbzgFXMD7ZI1hA3gr1LpZFE7ECg_9yEGOYjHurN9GohtsgWuJkn3BdeshbEIqfY6-daxLL5dterBa8Ve4yta943oZKLA-GFMVxDU14fhHo50s8qk_O_wiCb9ztj1iCm9bL4k1vrSTg9ouVMzIuQjyjrKNdonnKSeNAxHAsLgeA3-4rHNXeyYEnIfgc2ktbDlL1kEvU4tqKbjD3jZzfe_YEro9inAhK_xOKDOdFLvHrJyFnGOc5JudyoY5FNsW_Wr8qnjEeENLEOrgU9fEXb_LMQijcrNL35uKqs-B9bs-ofwEzHTaqK2bfbsoSDgqN7Zx595e6P2gS0g5bsmCvvS90xdii-Wk7FMS1GDHSGbHsovJJquzzapWawosQs4ZEr6u3jdie2ivSIBZcahM_vzjLYzv2PiXpgTT5ZhlELWp3s4DC6cmMZYJGTYktlZGH1OjBiQz68uN1qUocp90yZSfqILrnLR3aw9f-PhvOvxSisY_vbT_pD_9yHKntkXbvp07QellNuprL6lmN2CHKRiaOaBhY89V_-74Ru1F_p5qKRaPVe7Vg0OnbQocn9IhzVrsaONZYkDKQgb7Nn5iuIgaWcqbbg5XJwFCLfRYqt9b5A=",
  "id": "rs_06873735dcdc90d2016aac725b29c487d0bd8cd294ab96c0a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.419,\"right_y\":0.247,\"right_z\":0.09},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the can rather than closing empty. I will lift a few centimeters to verify that the can moves with it.\"}",
  "call_id": "call_eTIa98MhnfNTaULnOke1lxKR",
  "id": "fc_06873735dcdc90d2016aac725b7b1487d097fe54f71e281527",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eTIa98MhnfNTaULnOke1lxKR",
  "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, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.7139, 1.9526, 1.211, -0.2199, 0.5209, 0.3923, 0.6716]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0031 left_pitch=-0.0526 left_roll=-0.003 left_gripper=0.9992 right_x=0.4084 right_y=0.2423 right_z=0.0528 right_yaw=0.045 right_pitch=-0.2182 right_roll=-0.1537 right_gripper=0.6716\nstate[joint_eff]: [0.0068, -1.1145, 7.1726, 1.7802, -0.0562, -0.0659, -0.0171, -0.3761, -13.1761, 8.759, 1.5604, 0.3639, 0.0024, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dce1ad5e28432af82798ea088f0874ece1e96dd18d3a47b16c30e75d5511a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb3f8ca976fe6d2d86ecd7421df60a6c24da5ea00abed10286ce90adb4e618f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b774e80da3e5d267490a8d1ad4fada49c1621d496bc8baf550682236a027b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 7.98 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, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.7139, 2.0403, 1.0859, 0.0696, 0.5377, 0.3965, 0.6716]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0031 left_pitch=-0.045 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4125 right_y=0.2425 right_z=0.0107 right_yaw=0.0395 right_pitch=-0.1496 right_roll=-0.1127 right_gripper=0.6716\nstate[joint_eff]: [-0.0889, -1.2513, 7.0359, 1.8339, -0.0757, -0.0659, -0.0171, -0.0342, -10.359, 6.0513, 1.7265, 0.2857, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHJm1UP1dkEbdfbRnwqNiIvyD6kt3UKHrJj5JVSHktbuFUXPVtCSshIzpcTZ7xRO1NZjqRCJVYkMMl-F-RRVzQ_bdRFoi4ZbIkZWG4MCS54PUP5JxldLlNX3x-Jrz3uLf6mcjZYazTAHffMAXRgcSMneRSiW5UrVj8vSqxHDrHs5eFC-u5DJwvImc4i2G-tif17c5MddeLzsjAMHsydKJJBNTXhXvmZI1sv5sM9pvoJKUgMYjUK0ZeNHNYZ51sZl3hQsvX4lMRJniPdiZ5nE5036om_BVvX2JV9Va-ptjl5Ln9nERhM1WiG444bLJvj3oSp_7ZFhipuqRK6qznBuoCIEVxVeCjpPC9GPlkoOAF4mk8nhY-1KHkTXxEq8PwGDXVjfBkGieksp06c4IY_3s5-nNdw53NnXObKWCNF1gc34ZeQSxafe_xBMZNR8o4TUAnVEci4rVIjtJpwgXIzcEbzGjHJbIYMfNqpTZVVXCxLjQf6_AehF-Q0cm9SzfdLhb4UCFoDFS6Hxj1DjayCByZwI8fBUUO0nANva56euJIyAnzjHUS6MK8ONHiI6-tiKD3Va5QMutiINJvrdNhIgsL6QoXpT7bQGz8mnlfvK3RqleIWg8nAZlospuTeHxlQjN7UOTymUvDqKsoFsfSBZERDU0pIdYKQNiqP6je-veBd0n3c4mu3lTCVWqoXzBc_GjTxg2gHfBThaNSZvOwbgY-T_zxzeHHkxfAC2qHCWM09OfDxEqyc9PTZLY5K8pPOTNhsqOK5uKH8XHbfaK14UYFRmhm3XYKBvy-gunYs2Tulr_OrUdkMJq3YnjIp5cWoH3duhp-gZ9tM9dl_wHIEs-MpuqfKjA0RTim3G7Two_d6Wk1V7CjIrALz2DAmusH9PneTuoplW07hga1aKg8IKhrWaK3JPpvXWxdyH19j0YlTgYuGuo9yo4lVXWD8rKubFDe6xaEC_d6DdoADvEsJHgn0R-IJDZE10U8hO4vvjnDUVTcXYgpqA-qyZ1f_nDxXyi_wSBxyH9Z1YIhSPM49oJ8sY_NSOlOZJGc__SvEkd_r1V9BMLLTu7qpCife23-q4mLGU2VDGwBHPUx_5_co0JR0b1xQaVDZfvRkwJena_bHe_tjcfuf4x6sHwGio-GzlQV35h9kSasP78yqynlSZLIgr3b7h78S_iqJgE1PC4c0tAa1JosZsK9zKEcSncjea_U15mMEe2GyhaV8UmjY0NDOnwQynSBYioTMsngMaepY3m1uIDl7OUrQF-93IfIsRp7uAMNwSZllCdtoLvGFo07Ok_RBVGDX-9Fz6zIMtWdNlYqF6vUl88KIIERQ5KBdZ09ZEAUs9QXAUMhmvlN4_KdMtmZ_OVK7qdVUM51oK4h94WG7pUGwwuRx6esqqLFivcjeGhPdcJxOTPItcWrptWDzcLtNv0W5z1RiUPBZ8mgb8QnlUgdjh-YDYzhRAWCsHZx34PNMnGnB9g7--sBDKQSpARFQ7N_r4eHAtGosnM5ZmbJtGJ1GcSL95mnumWzs5W_UTTDyS2tOw3bK2OG0Mw0r30OGkRZC4jtGeRXqdmauMBxlKD-UrZSbGanjT9aKj9FenAK9_dObxLKGFjCTBDCc5DKyUcUGWW7E-Rm0W5XpsR4L6FViZ9ybL1yKXTz0oMBoe_viff1iBE-uDrMbGl32LTgvaeIkvp0_R24V-qHjM8oqt3T90zWp7AlBikwQsdQ_cVKGDCQFCSg-eXX2lOBv8Y4x5bKcJaVRjn7v0gvcgqN2NBhpZgNVC1vJBlvXxulm8-p_If1h-tL1CgHdY96B1TeSo_2ZV1F9XkhPAMTtawvt26uBY6fXiV0HfP_b-yaRteEc8UTT4SsVkvCaKRhU4j8mW8nBLEUHmEW9OhyLJvCOWU5_byRcrKuctA4SpfbZyVqKt6yeeQbk09O5C2CR46r9gDkZD4azzeboeADSq0kUbea_6UxO_TxN69Zx6icB5C9_FkHS0V7Ardw1I5q31bWg4spUPRdy4dsNu7VZM3WhY-UmjKNLVQghx2xxtfMvVUeXPCA-9Da2F5LdkG6uK9Q0lSE2qPcNw8pPbpJOJPTGVlvdj2EtXTHvMEdk1prW-T74egJSsOA67n8KqerVK_ge46cdPQKED2G1SnN8cT7SgkW06CZ5piUBGPDwIfNXBUIYgnABDXOPonsJCf3LgtzlgokQsFgZ3nsoVKpU7VfGYc7jnVvfbmqNfx9ZnBdx1TUsLy7YKx7JYBxP5i8vDIP3rqhP_syXhPINsCoAiwx2obHnfQomm5hVH5_A63Bgs3O5rtnUk6zaVRtppReq5Uw==",
  "id": "rs_06873735dcdc90d2016aac725f25b487d0bfca5f95ab978776",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.32,\"right_z\":0.18,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The can has lifted with the gripper. The burner is beyond the right arm’s sideways reach, so I will move the can toward the center for the left arm to take over.\"}",
  "call_id": "call_R2FeIVVZbXoxIpBTPaDp5tzc",
  "id": "fc_06873735dcdc90d2016aac7264f3b887d0b9fc0cf4e3abe593",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R2FeIVVZbXoxIpBTPaDp5tzc",
  "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]: [-0.0193, 0.8345, 0.627, -0.4751, -0.0189, -0.0425, 0.9992, 0.849, 2.0552, 1.8469, -0.8371, 0.5575, 0.4965, 0.6716]\nstate[eef_state]: left_x=0.2864 left_y=0.0014 left_z=0.1604 left_yaw=0.0049 left_pitch=-0.1079 left_roll=-0.0048 left_gripper=0.9992 right_x=0.4014 right_y=0.3199 right_z=0.1635 right_yaw=0.0833 right_pitch=-0.2524 right_roll=-0.1609 right_gripper=0.6716\nstate[joint_eff]: [-0.5128, -1.1282, 9.8667, 1.8486, -0.0464, -0.0024, -0.0122, 0.1436, -11.1385, 8.7179, 1.2332, 0.6129, 0.2125, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0e90c79615d045aafe197163b1eab8deacc25c6243552b0ff97c1f056b11c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:626a4acdb6485f6709348c1843f0d374a505023207ce506ac88e4e86285234ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c4397ce8395c29c0db471f672154c1b883507d46552c2cd2d6d9b9e69dee7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.045 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, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.7139, 1.9526, 1.211, -0.2199, 0.5209, 0.3923, 0.6716]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0031 left_pitch=-0.0526 left_roll=-0.003 left_gripper=0.9992 right_x=0.4084 right_y=0.2423 right_z=0.0528 right_yaw=0.045 right_pitch=-0.2182 right_roll=-0.1537 right_gripper=0.6716\nstate[joint_eff]: [0.0068, -1.1145, 7.1726, 1.7802, -0.0562, -0.0659, -0.0171, -0.3761, -13.1761, 8.759, 1.5604, 0.3639, 0.0024, 1.0281]\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": "gAAAAABqrHJv8KvI6LYwr621sO4HlKQwltzsACfA_aBikQIJLE4ZDwblsl2si7fkwpb_FuruzkVnvd5-1jDLUhGzmRwNZj7gAbFHn5PruntYnoRBPQs6S4Dws5BZgw0a1oFk6XZ7CSBnMg5RmEUbw_uB9wXQmx6dBaJZTOwa2oCLHEOSnXkCuaGSOtx2K6xoKMhySnWgJ81mDj5GmXztYYHl4is0VeU3doX0en3vFSk8iBu9H2FMxrta6VwaR5OQuzWcTcVesikjQLCLpwLu72V0101LJz2X7uJycgiZpx7V6LihYCEN__3d_JN2JdhK4OQ2PobNT3UXKd4pVP_Gly9Uq_kGxcAci9T9usVpew2gDoVdTdxxD1GZr6BOZQoZTfRW-ofbNK2VoBML99OBhesQJj4eHjR1x5PNSsl687fF-BeU3nOqxMrvXLRzy35dG1h0OLtC61KefCuKmsUQHcnepFrUXARBtvVOpygZJgn4DyE7VKQpbEiWhQJnn_h3YWHig-53gtREb_fr1FEj6N0qwL_A1M9d3PxAVtDnT0hy2la_skMYeEyHsw8v-pLQN3UoaKCm5RWFRniJtmeZ0XpjjFcB5ICjLWG9FwmMih6RDtFaGeKgk_ImFDsV3Z3jSznaUVt9-2s5BzyfL1N6f1xP3oC4eg_0X5nmqENIGSMrA3Ttca4TLuzVgvd34l8BF_J7oOtuSfNtx5i12YR95KfSXfL6naLVnG67CzB2xOycolCaiO2zaBzyJ-KKhuBOdiefufqRy25qFUU61RM6OL5UV7Dy5ws7D25sQ8ouPkEyW4bf7uYI4jEdjdOdYSqY7btPy7LYXqHTG9tx5ylYAGB0meqc5QNOXADPq9TNnDdLQasffBgkKkMiNvYqBd2iuqlWbvTbD8EFvxjVmGZUbYlQ10RJtaN9na8lwbXyot1-bKyzer_3tOJhEzzIhZvVIxgXXNwSxAxX_xkRlJwDs6kIPsOAIXW-j6ovwIBFQOvmSUI2conslA4mlMyF0TbBBcZY_zIDb-R8v9bOxUAJ1YSSBh7M2yniIoT1bta8XegDDdWSkNFBjhjdnxVVPY0S0IvgyFQq0cttnMGm5UTJo6_q6Wy1HipzaAhI9gXMKTCf4ataP2gxvVT0UjuX6rw1QM0WGT_1GZ7h4aIgq0EZZomuULMp-UYOPM_lXycSKYuDs0aia7R2ex1T2WZBqXaF34TpOggf9LrNJqbQ5DEBkfDmwGaD_XDDeEbAPSXpH9gdzw9kfYCdQNQ0PqBa95Z3nwCO6QCjM-J497GwPpv4jvbtox7mJRyh9FCeLJlf2iT9I2HvXZk7fRQsQLqVazHeVhEfQDLYVpXu2FadzF0r5s9yePRX7KkLzrqCSTGo_20fN2490Ic4Z2v93mVQqGyBGeilzffhW3t-yJlYgghYsdatl5akhmG4P463zBOvnBE41FK1IYZEfHnUyxutSzw3ak8quY--Sn4nNGbANKTOV_PZNMRMtjzMXwn5mDOCop9GA75lmSwXDyy65tdpAzfmvR9JO2DjmoACFIV9qOI_XZACd5CsPdOWlAOJqi7eSYcMIAqZN628WgwoNDa-dTnhrUI3rScUCQbibf0VGQmUYP6Mq_S7-cvox4KGWXNWT9VoQS8UsKMh9Mttr-s0OQjn1LOlt3AQzJuEy_C2vR3TzUlIS66smrO2k4fqWeYgv1RvJnEWLrEkGYSGPGwN_ainU5kYXKuoqYJcl9610uIPeRC7taL74xtgkD2UsihERYQ3zE0yLQ9GYDswBhYTyR0umb4o30mID6O7-o4Arsf9NFybC44GJcqFslB4ay8SQVxyxGjWlI7E0oY=",
  "id": "rs_06873735dcdc90d2016aac726a58e487d0b921efdb3d129636",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.335,\"right_z\":0.035},\"note\":\"The can is securely held near the table center, to the right of the burner. I will lower it onto the clear tabletop so the left arm can pick it up without an arm-to-arm handoff.\"}",
  "call_id": "call_G5K3p1zJW1exO8Ytm0O2kxNv",
  "id": "fc_06873735dcdc90d2016aac726e0be887d0a3635164d13dc3f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G5K3p1zJW1exO8Ytm0O2kxNv",
  "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]: [-0.0189, 0.836, 0.6281, -0.4801, -0.0189, -0.0456, 0.9992, 0.931, 2.1166, 1.4479, -0.4919, 0.5678, 0.564, 0.6716]\nstate[eef_state]: left_x=0.2859 left_y=0.0015 left_z=0.1595 left_yaw=0.007 left_pitch=-0.1133 left_roll=-0.007 left_gripper=0.9992 right_x=0.3562 right_y=0.3255 right_z=0.0321 right_yaw=0.0964 right_pitch=-0.3194 right_roll=-0.2081 right_gripper=0.6716\nstate[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0562, -0.0122, -0.0122, 0.5675, -10.7009, 6.7487, 1.3797, 0.5299, 0.1538, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aa144fad3ec856db7d2f92424e45cab63449b9f6de8d08bb88e40649f56b334",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa1c18ffd0363935e30150ad995bde4ae96177081e71979763af6376f0ec85c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19cc3e2a53afb0eaf2187893aa1d77fc9dc27435fdaf68f73593baf0e1e64ee1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 2.991 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]: [-0.0193, 0.8345, 0.627, -0.4751, -0.0189, -0.0425, 0.9992, 0.849, 2.0552, 1.8469, -0.8371, 0.5575, 0.4965, 0.6716]\nstate[eef_state]: left_x=0.2864 left_y=0.0014 left_z=0.1604 left_yaw=0.0049 left_pitch=-0.1079 left_roll=-0.0048 left_gripper=0.9992 right_x=0.4014 right_y=0.3199 right_z=0.1635 right_yaw=0.0833 right_pitch=-0.2524 right_roll=-0.1609 right_gripper=0.6716\nstate[joint_eff]: [-0.5128, -1.1282, 9.8667, 1.8486, -0.0464, -0.0024, -0.0122, 0.1436, -11.1385, 8.7179, 1.2332, 0.6129, 0.2125, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHJ0ckvbdImGkeP4lFvb5f8zzlFn76Dlgxa8MLkaQIRfZRFYlMVOj1AQjd8ZhNtfFwBNiSDv0AgBItBtKU0qup79p4_eQAPbvyVfXBDMqXhws6xhn__9BGftwxYt92VUZV0TaVq5Dqr6te6JV5JOTxjndTo_MEkFAbWsreS6nc_WME7rJisaaFiNOQh1eXad0B_zQONhfOlJqUw4a29w1jX-mUF1tfmbu6vR_QTS9Hzz_AP41rwkwqFiISORwcxtsPlfIYYZh25v53HMQEQu-kKVxOgsNI-nJiQKVQgUr9EBhkCTRtNheBSxLtBk91XKRPnmCP9QbbyLea0wlbc4MOgtFdr-37Mrluo5ikJlYGlPU8yq_KQql5S8RRTF8yUzuNIa6Zyx9uziP_kapHEP3yC8D190DpqlY49xtXlKCjxzIug6KtibjpD07_6MbhTdiBTGSQv-nXPLhxX0rakSWvERNLjc3W58oUO6zc9HKyqwErSb95ee7V5DtNBiTz1fYzZEz1LAMcgT8TL2Nd94hTgszJOxyZOzYsvf__Zw_OLiT_T-D3d4vNJL0h3a4_ooTH7163GkEUHn49dAlHz57ELIL98jL4ylnWbEyElpTUZWbFy3Xsyem1xhn3mFN0JjCdQVdiBr33DKiySGhkdomWBtZ2M6jlmdzjnn6tIPY54mgCMYw0tjSfed_HqSulMeULqxxFShm2LiQzieWinbFywPSrgG6TAs37hcoPWwbLu82p2ehUSDkdg2N6l_uaNKcIoJpXypqTO9o8zpA7XEF8MKWaruhLdtsbmL3YfrxBYB-h5-H4-nrKU-6WtzBAikZycTf_QYBgnaQpwoWz-k3Sit2jjE9kwERXWjcI_vW3qy7pfK4GBJ-xSNmk47G8cPcV7HtV4Si8bzbfo1caowcbIF0dSYBjxYh-wQ_ZUXLFpd7p55IOuIZ99LHwjtiTjXC-GbsGBzQqzMiK21Ba_mW09ROJDvsrXBh22S_g50Ilu5AL77Urg7ZYpIdO4QPt8l0uA8nRa1zqMVb1fLs5tm9qOkfVhaRhemkg36JXYrGZ_LF9neiU48rq6VFEItasFaZFnEbf-jVG0bFgAWzNAqWMnh91vhF7VEIEc0RYV15se120nO_g8kWYsUgkaEfkktiTYWvVTcXbA09PQakUklGf1_cvBBFVkdLdg7u2peWwjJL4OZJGFxFFTu8oHSAXd6ymc68g6zPNlLCW3dD8zpuLOvY8PV_xvze6i67TP-3AzUiDrEizi61IcDUBTQq7EK47loHx9OpTrODGMyZt_WAyeThKCwGukVabGR8erS23jR2VbeuhKt_cYIVQCc9wx7jOBE",
  "id": "rs_06873735dcdc90d2016aac7271f35487d0b84833ddadee72c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.012},\"note\":\"The can is just above its original table-level grasp height. I will finish lowering it before releasing so it does not drop or roll.\"}",
  "call_id": "call_WfVGe6Hg2nP9cmJNH4vZgYuc",
  "id": "fc_06873735dcdc90d2016aac7272f28087d08cfcd071e3ab0855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WfVGe6Hg2nP9cmJNH4vZgYuc",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.836, 0.6273, -0.4961, -0.0189, -0.046, 0.9992, 0.9352, 2.125, 1.4254, -0.4381, 0.5785, 0.5682, 0.6716]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1561 left_yaw=0.0072 left_pitch=-0.13 left_roll=-0.0069 left_gripper=0.9992 right_x=0.3577 right_y=0.3282 right_z=0.0269 right_yaw=0.0971 right_pitch=-0.2964 right_roll=-0.1943 right_gripper=0.6716\nstate[joint_eff]: [0.0889, -1.388, 7.1726, 1.7753, -0.0513, -0.0073, -0.0122, -0.5128, -9.0735, 5.6137, 0.9158, 0.149, -0.0806, 1.033]\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,$blob:b085405d95f7e6059ab8f13abf90872f8f035e0539f1ab326bb4878cf4bfa985",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c5f7a5eb34745bdfc0de17b1cd3cdb93852ff84d713a0d226d2b113bebe932d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f5e053b0f02376bace9c8c201627b424e526a922660e312cc3ecdb6a9e70b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.493 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]: [-0.0189, 0.836, 0.6281, -0.4801, -0.0189, -0.0456, 0.9992, 0.931, 2.1166, 1.4479, -0.4919, 0.5678, 0.564, 0.6716]\nstate[eef_state]: left_x=0.2859 left_y=0.0015 left_z=0.1595 left_yaw=0.007 left_pitch=-0.1133 left_roll=-0.007 left_gripper=0.9992 right_x=0.3562 right_y=0.3255 right_z=0.0321 right_yaw=0.0964 right_pitch=-0.3194 right_roll=-0.2081 right_gripper=0.6716\nstate[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0562, -0.0122, -0.0122, 0.5675, -10.7009, 6.7487, 1.3797, 0.5299, 0.1538, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent has stopped with the can resting at the tabletop. I will open the fingers and leave it in this central pickup position.\"}",
  "call_id": "call_oCu4O0iiFUImHNsRWR6jNGHS",
  "id": "fc_06873735dcdc90d2016aac72765f0887d09a33b86cee42f5a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oCu4O0iiFUImHNsRWR6jNGHS",
  "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, 0.836, 0.6273, -0.511, -0.0189, -0.046, 0.9992, 0.934, 2.1342, 1.4189, -0.432, 0.5632, 0.5579, 0.9958]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.1534 left_yaw=0.0073 left_pitch=-0.1449 left_roll=-0.0065 left_gripper=0.9992 right_x=0.3556 right_y=0.3283 right_z=0.0199 right_yaw=0.1089 right_pitch=-0.3142 right_roll=-0.1988 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.7118, -0.0513, -0.0366, -0.0122, -0.4855, -9.9077, 5.4222, 1.0574, 0.3297, 0.0269, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89242d854b9ad82925e2b1bc529926fc038ac97bc891ad5559240d1851adac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2667c2666f0eaa5d6680c1268d05b06d6265ebe162d3d73e5f0d3c85e54d8c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3876b1c2ed29aa7b53452b382c0a73010b783765ed8755f2d907a29c041108b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 9.395 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]: [-0.0189, 0.836, 0.6273, -0.4961, -0.0189, -0.046, 0.9992, 0.9352, 2.125, 1.4254, -0.4381, 0.5785, 0.5682, 0.6716]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1561 left_yaw=0.0072 left_pitch=-0.13 left_roll=-0.0069 left_gripper=0.9992 right_x=0.3577 right_y=0.3282 right_z=0.0269 right_yaw=0.0971 right_pitch=-0.2964 right_roll=-0.1943 right_gripper=0.6716\nstate[joint_eff]: [0.0889, -1.388, 7.1726, 1.7753, -0.0513, -0.0073, -0.0122, -0.5128, -9.0735, 5.6137, 0.9158, 0.149, -0.0806, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.04,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The can is released beside the burner. I will lift and park the right arm to clear the pickup area for the left arm.\"}",
  "call_id": "call_VLDLVh8EYx2Vg9M2HlZ9QLRJ",
  "id": "fc_06873735dcdc90d2016aac7279cf4487d0b8a44b6052ab0912",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VLDLVh8EYx2Vg9M2HlZ9QLRJ",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8406, 0.627, -0.5289, -0.0189, -0.0505, 0.9992, 0.276, 0.8799, 0.6991, -0.44, 0.281, -0.057, 0.9968]\nstate[eef_state]: left_x=0.278 left_y=0.0017 left_z=0.1487 left_yaw=0.0099 left_pitch=-0.1678 left_roll=-0.0093 left_gripper=0.9992 right_x=0.2998 right_y=0.0377 right_z=0.1911 right_yaw=0.0639 right_pitch=-0.0239 right_roll=-0.198 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.812, 6.9402, 1.7411, -0.022, -0.0269, -0.0171, -0.253, -2.1538, 7.5829, 1.9853, 0.0024, -0.1197, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474e2de4248349dd00f0f28fc63382a567bf66356cb281fcaac4eccfd6a72611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468558cb0fe3cf8e00d4bd08ebe7fd7ac5ac79d25eef012b1e5a84b14af162bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c36fdf53f0f0e7d4798b34ade7e5a4a7a6465b05be5bd81813ff482f59b5449",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.968 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.836, 0.6273, -0.511, -0.0189, -0.046, 0.9992, 0.934, 2.1342, 1.4189, -0.432, 0.5632, 0.5579, 0.9958]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.1534 left_yaw=0.0073 left_pitch=-0.1449 left_roll=-0.0065 left_gripper=0.9992 right_x=0.3556 right_y=0.3283 right_z=0.0199 right_yaw=0.1089 right_pitch=-0.3142 right_roll=-0.1988 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.7118, -0.0513, -0.0366, -0.0122, -0.4855, -9.9077, 5.4222, 1.0574, 0.3297, 0.0269, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHKHwSXV38NC6-uL-8T_8iz264cQwnAM0s_nlIEYPDzknbLSXP2ucfdg5QC0n8eDg-KeYZWWEhzr9zLcwHqUopyPehU5lpPRBWCmHvKBpqjcS74gDzkO-KlWOJC8S3NFru5-ot1PnXRoISvb97MGYYxuqsTSF9LPs4tXUoGw3rbUCPTivjJa2dPYunLKUjROMcZpJvjKaIZUSUrvkVlHoEkXvvSTdzY0LGADiRdueNNtsEGxjJ_r8iSwigIvLafinsi8dkiJd35DV8GrlKUsdDiVJURp650wVPb3AapJ1bhcdSf4h-K2xHkb5c31C3z_fZ5td2jbLEENvpwTQPhVzMA7079KYcMUM-ZpADnAOpIDEodyM6BbIM4a6QmxCg-xyNONg4UP6TmUicaPAtojTKLGSSNVB2hLDTxgsmllJFx8Ul_79qYXZ6IkNK2RiF4r4S3cz42CTA33OgEoDD9MqDhc5xvcmA64YHKD3didNtHmpIHBptqZaeKvPrLHUrN9a6JO-T9HT18Urq5zoHoVHoqmAWD4DRPG19IpNJdqqWMaFIhzn19E1ORzseqbusByFcz3Dij2fgsPeGXrWNrRcS9ksPUrabiQIdaAYxlqcaeJzakkqQbiENQ04AT7987zfCNJt4wj3MySR4s6K1qHilLl_C532yOncTcHv5yJQ_tzZvv5cMyStq7BJRLt-HY1sjSctYwRUrguG0EcEjkqKLrIAZGGlFsCr8zyg1KYkLlduMxB-5URlvU8a8eY823MNj8ZVyD5skXHX0EZW7VGtMEQaaviXNNUhVOq36rQg3TwfRSg-bHYu9iVLy_bH3vb4OC64fnKwQo64xDHP1L5029iBgc3EpM0GeL49J-UZ4bDd6MJGkACAIOb1TiCuSBnFFXi4jCNzySlO3Z_TrFcNWC3ma84Na136ZMc5rqenhUAUaGCHRrgDhyXHQekZpO1pkj_JhaKT6CjrHBwSqsaMPLV8252awwqnNrcIqO11fZvWA8kOM1wjRHnosbdbUDy8ECQ-lyw7a3Gd3Cj6lkCTiU2y6op07YwSUmciD9HI3lp9y5XZZvDiab4-gL08sk9v19_kYmnZ-IO2wVlJYuDJTBh9ywdR39qvQhkAnD9uHiAiGvcy2P2fvV_SG7SRH3z6VyBD--0H8ciBitOQ5LmiORMQF9FnlGUmIAgsfAH0X6zHSpqZXExUfdcRvWLy9UGntMvqidSr07Tq0B3a073gFIXXb79b0zCzq9jByMqwh85XECbwAkr3eDkWVuiy0skh-csjMvLLmtvOHt3JQKW0s5ciWruyjiKjltxXuArhMzAwtMDP8ZWl5F5XWeE4BtPR2zg7cwBig8ecEsiVd3k9pCcMRnIxYEakmkm6QSTLK_H84Egeq9pIEkZrVFg8j6Ed9HEAqjdASR745RUD6ipTViWKgmh1cnD_dHRTcQLi3Uq1Fp3BLMb3Ds8_rywIXEqslBon8loyAYakJdU4gSMIKsm6fInX8T4ZmpVcxEJ86X6rQupOOe6NumWhJB1gphOrKgHSx0zFAVFv-Oe7jW-f1TRDx4CQG6njb7JRS4ae58yNo3NdFI4cByAyhG-k0E4Iu8kttRcLc6Jg1kIxquiEwbkh0-m38mEZsLhGnijVhmz_xs4fUoBpy1MtbU5M3IRS9tgGg-ZRXd5FlBS9sXSQEGjE0Me0uJ7HRXltgfXCadUz5hTJsnp8clZ7oArO67QfH6LFqm9faiyljDbO88uwd914v82KU_JtyK8VwMtpbhvjANHPsfil-XiSpRAIkXwyGyxyEKxBVsfguBXF_91gukJ7PKKdu6ueY2LErpj8NIE1dSWSQ8SCFuGoQtbB8tS-79krIzRzFoM_6eoPnEcVTdppiaVAJ4ZNquXRNmpAfR8oLy1U_SmpnjSaMg6ib0CSrBgGpFHaFvSMPuKvpKJKnLVmbsKrzcoQTFkvItdGnCSvjVZ0xtk_RfrmVHfHm-tXyTC98CKHBpAXPHDNBnFEffvl1K-RUaGRsIIvb1W4R935QxiIIWyB9c9UYlkcu9OowkbO8KwynVA9NFpbGG9572mxIOFpwbinA2WbkknndJoJ1XVGnEdInitXYPyT0OrOCMH9vwB1w7SmWu3tPjQ_OpCFhypdX76sAegHai8qAzl88U1Oo4m9J2sGcVqRR2p8FGv2djEviGE0imBuUXshstflwYGw8s-gy9m71PGf2w-4fimw7P8TfnqXKXPJ6IgKkHqMh9Q-JoDSir1hgSFliLbVg==",
  "id": "rs_06873735dcdc90d2016aac727fece887d0a3ee3324ed003f56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.365,\"left_z\":0.15,\"left_yaw\":1.57,\"left_pitch\":0,\"left_roll\":0},\"note\":\"After release, the can rolled slightly and now lies sideways beside the burner. I will approach it with the left gripper rotated to close across the can’s diameter.\"}",
  "call_id": "call_f7cmYjcAUMAUZb63DCNcog8a",
  "id": "fc_06873735dcdc90d2016aac72856bc487d0ba7fb2fb5d3712c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f7cmYjcAUMAUZb63DCNcog8a",
  "output": "executing move_to over 33 steps (3.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4694, 2.5034, 2.1231, -1.5524, -0.8574, -2.0937, 0.9991, 0.2756, 0.8845, 0.6971, -0.4774, 0.2722, -0.0746, 0.9969]\nstate[eef_state]: left_x=0.4328 left_y=-0.0658 left_z=0.0607 left_yaw=1.4158 left_pitch=-0.0842 left_roll=-0.0298 left_gripper=0.9991 right_x=0.2946 right_y=0.0377 right_z=0.1815 right_yaw=0.0798 right_pitch=-0.0699 right_roll=-0.2159 right_gripper=0.9969\nstate[joint_eff]: [0.6085, -11.535, 6.8308, -0.6178, -0.5788, -0.1197, -0.0171, -0.0342, -2.1538, 7.2137, 2.0098, 0.1783, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2353ca64c292569265aa5659c4b38a2f6f9b94b26acbb5405c94b7bd88960b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678d91e376e5d1e26dac2018bf95dc8e15488753fc884d076eef2302952dcaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96389099bc1eaee0ecfd80b36e7cfad134b94d875305485b3e304f1ae029e735",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.242 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8406, 0.627, -0.5289, -0.0189, -0.0505, 0.9992, 0.276, 0.8799, 0.6991, -0.44, 0.281, -0.057, 0.9968]\nstate[eef_state]: left_x=0.278 left_y=0.0017 left_z=0.1487 left_yaw=0.0099 left_pitch=-0.1678 left_roll=-0.0093 left_gripper=0.9992 right_x=0.2998 right_y=0.0377 right_z=0.1911 right_yaw=0.0639 right_pitch=-0.0239 right_roll=-0.198 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.812, 6.9402, 1.7411, -0.022, -0.0269, -0.0171, -0.253, -2.1538, 7.5829, 1.9853, 0.0024, -0.1197, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHKPEGOhPKJ4l4AZrSIE55PbaQKm_q0RM9qYdfXG6-t2ofP8-JYJp3UytEg8f6evRuH4xMsfFhm0-U0WYutKklrIG-qRIC_qrS9ArsQ98RCBlHV8ZBOHAs1ebrlLz3IqPGAQGa1Pc-u3iSJ1aE9cqE2KhejpCJOqBRzAtruXEUn9GW6NDPNVXVhkRmSztBPvHcADKZrhKDk7tXEQisUOUY0ZEGmt3Vx4tb2pPY6-3MWoGnUflb5R3c0RwDWiLV-mk4r_aKZfKGu1PEJ4JXyrmUqdEzGJ8r5kttWgFC0yG2gL1dpVSeQFKMgLfJ2lsMkWVjFwAqNpZHZEsZicE1SnPPlnijsYRkNcXXPZe8630xGwBIBgTv9wglKNkeiU_sqg2NpsPKmsVScD_KS3ZZ0v1oNFNcuXS050rgYglF_05x14Sf9nvQC3ekAOiXd2w58hSyXqDNvgbvLZX89Eq9O8fr2yJYSbyYD1W-B9WdcyVm4bv8Y2lcJ44umHoISRDA7_PEq91fSdimArK2uPstArY5vMevsJIU11OmqbJYzGv_dCAqMhQL10mUEF0jFVnNNd0dlW6phTn7dxQZ8KJbvd2h8UldZNYiZ-cR_K-bbWQWFXqo6PiRfy8eQT06FSIo94aeRYP3HJwS7rPKBQBbuaS6ry4bElbfmH1ZEx_RYkwKKpXripOs733mbTVGOe-vR-agUdUdK3OHyMhOCInui0l1VLSmrSa_EFF8Cf6CjpG4Fk7nGgpM22QMtngHpx4WsbEIao-kA6EeScjddQBQXTUAjfqlei03PfNhJ94lUbDqr_cq88IYHDp_5vKGnIYhrMS53C2Y7GOEYuo6FOny5gi_2y2Zmb_xMyrRtktBlkWHvGZXs2g3R6CiWEPacDUFKoffXMcFFOOqaNt6VcRPyr_J55_CkbKBKFfa9DcKn4zav3zBjATcFk95s5d3uTLqzTtBvT68oX0SWlEPXwZwdIufWe0YJ8NuDya2e4wYPOTm6j3vxTMAGOEYoL4bIsvSfBUmg5oRFuDYouAGLdK-rbmcY2J9pqjEc_bPRgeFZa-IwfxRELtXVoxMV5tGEMEWx_CncPCezkSjBESly7zn7-3d4AbjFyHOMe4iierMtUJjUStw57OVyvkewDY4Mt4ezEN1I8iBiPgYXPqh2lSCBDm3Cdubec3y5X_3NQ4EyU-Whysbks7gm-fWDLV_6jj0_hFa61i3olcnwj2b3nE1fdLLsTWv4xajO3R53CnODfkkv2XT0ywCrluLwOSaRaQGjbYBgCKoM5pGg4uMUqApwMfA5IRw==",
  "id": "rs_06873735dcdc90d2016aac728ca9d087d0a2174d6963b713de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.1,\"left_z\":0.24,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm did not reach the requested sideways position and is still above the burner. I will raise it and return to a less folded orientation before approaching the can again.\"}",
  "call_id": "call_tflbW0AIxmE3xGFFx2Jb7CXv",
  "id": "fc_06873735dcdc90d2016aac728d882487d08a6be407a65761b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tflbW0AIxmE3xGFFx2Jb7CXv",
  "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]: [-0.5797, 1.1286, 0.9749, -0.6575, -0.6094, -0.701, 0.9985, 0.2756, 0.8886, 0.6968, -0.5064, 0.2714, -0.0788, 0.997]\nstate[eef_state]: left_x=0.3137 left_y=-0.0802 left_z=0.2167 left_yaw=0.2838 left_pitch=-0.0659 left_roll=-0.1105 left_gripper=0.9985 right_x=0.2906 right_y=0.0367 right_z=0.1748 right_yaw=0.0821 right_pitch=-0.1034 right_roll=-0.2253 right_gripper=0.997\nstate[joint_eff]: [-1.347, -3.2205, 8.6359, 2.3907, -0.149, 0.2271, -0.0757, -0.0205, -2.1402, 7.0222, 1.9267, 0.1148, 0.0073, -0.0073]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3fdae8e9c6ad3e658a272b2e72f7e6eb93c75b0b424fcc79ead73e7b358511c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90f25ae941371b8f806b3507d13a5199c8e0378c2831b480e4bcbfb9022ee5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bfbf6d77b3e867f555cb507e18d93a68abccd1952ac39746e70303c9e9b3d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.392 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4694, 2.5034, 2.1231, -1.5524, -0.8574, -2.0937, 0.9991, 0.2756, 0.8845, 0.6971, -0.4774, 0.2722, -0.0746, 0.9969]\nstate[eef_state]: left_x=0.4328 left_y=-0.0658 left_z=0.0607 left_yaw=1.4158 left_pitch=-0.0842 left_roll=-0.0298 left_gripper=0.9991 right_x=0.2946 right_y=0.0377 right_z=0.1815 right_yaw=0.0798 right_pitch=-0.0699 right_roll=-0.2159 right_gripper=0.9969\nstate[joint_eff]: [0.6085, -11.535, 6.8308, -0.6178, -0.5788, -0.1197, -0.0171, -0.0342, -2.1538, 7.2137, 2.0098, 0.1783, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.32,\"left_z\":0.18,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_roll\":0},\"note\":\"The left arm is clear of the burner again. I will first move it sideways toward the can with the wrist unrotated, keeping the right arm parked away.\"}",
  "call_id": "call_ImmkHlyzAN8a1NxheJuaXgIQ",
  "id": "fc_06873735dcdc90d2016aac7292997087d08f10d1553f215d95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ImmkHlyzAN8a1NxheJuaXgIQ",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9379, 1.8183, 1.4338, -0.5293, -0.6628, -0.8005, 0.9985, -0.0891, 0.8921, 0.7692, -0.6384, -0.1135, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3639 left_y=-0.3062 left_z=0.1661 left_yaw=0.0234 left_pitch=-0.1016 left_roll=-0.0832 left_gripper=0.9985 right_x=0.2836 right_y=-0.0016 right_z=0.1778 right_yaw=0.071 right_pitch=-0.1733 right_roll=-0.0081 right_gripper=0.997\nstate[joint_eff]: [-0.5128, -9.1966, 9.1556, 1.4921, -0.2759, 0.2125, -0.022, -0.4308, -1.5932, 10.0991, 1.9121, -0.1538, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf359651e3a05524a5f6f810554354c5195007ce00c859d4535b48c89241d05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39821daaf03df29ad320cd7d950c4af9fd7d1fbe868843c274ca50d76be0c79e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ffc41acf49bddba2dcd37ff6f8adfef2ec393947fa07217fbc95ec61a71ca1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 6.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5797, 1.1286, 0.9749, -0.6575, -0.6094, -0.701, 0.9985, 0.2756, 0.8886, 0.6968, -0.5064, 0.2714, -0.0788, 0.997]\nstate[eef_state]: left_x=0.3137 left_y=-0.0802 left_z=0.2167 left_yaw=0.2838 left_pitch=-0.0659 left_roll=-0.1105 left_gripper=0.9985 right_x=0.2906 right_y=0.0367 right_z=0.1748 right_yaw=0.0821 right_pitch=-0.1034 right_roll=-0.2253 right_gripper=0.997\nstate[joint_eff]: [-1.347, -3.2205, 8.6359, 2.3907, -0.149, 0.2271, -0.0757, -0.0205, -2.1402, 7.0222, 1.9267, 0.1148, 0.0073, -0.0073]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHKdCjLNmcKdsIth_dKgbD5yP-FPEWiz0zujAF-E3pta3foBkbGaaNZZMI3s3g7ojAbJKHw2HCZPjzbrBcGGoVCK7GtxwQ9vK8h_j2F12TQUhmKK0piHLyiqWm_ZgFUvrhYAJVpj4srWcfi9gYPz63ah-rnIKEjJj0AgbcXzY57HcOoRWC5EVA2e5MNylgIJ2cj1NQOwj_22JfxRZvBmWVHiRdLd5Kc8wixrbYLV_ZjlmuqQeA3vHkj4w46zdJHhP1jzHCpvj2Uh9ZL3nw2lo4qRJ7nK80LTIVBYnolg38L9rYjwc30EYHpVOaggWinNfUSSPzYnJ7iLhdDeek-0oQJlyNkCdl-QpgWkvfwqIApLV8pb3THLMScDZVOD3-hf9oT_EodHHObhRIr7Y6WrueC-Tp_0mwJbp7Y-tyxP06UJJRTftGSfzxU_EmabEVFV0-B5TXE2RL30BcPY3dzmWtW3PrBC6-fXtqp9Iqkx4vg2gc01f_Z7E1v9N_ACC0CJMev4g900IcFzpoP082Ai69YLpmcqrYS4Jm0o_aC06K1b_rRbzY53V0d7Jj-96z6GGJypiLZjmmwewfPoECuJjVqTstEcgZQ9F43_aqTxyZ9bJczYOT3U83JkK2N5VL75YQbrqbw9YSHyK3o0CYSLkQXG5Sie7JXu3_ljlaDltwZ6SX6xZjdeoEVkO9c6fWcoQzeDxba2ZX-DzuW_wBFJ2mGedM7r_rR6PeSH6mmLgJlpPsA1tutSpi9k43JCg8tg0k44yi0hwtAyNZapK6lVdEtPcLQ3PkVraykYbVWB1-6lTrWFYgl_lQj1DymS_s5F9kRl_wK3kmtXRKi3wz_J9m8bHPCfzyJ2Y6YqnRFayj_WUvskyxzYXku9AHLR47pl5Fo8WiYzNWd1aBOo5NUx1gNBe6Pcw0ikTGZczbu-92X9UuZF1HYpgtZ2XioXFuzEjA-ufVV353mQSlIX0AWn0HyCIN8mW3PNt56wfGYXTDFs_f1vMAgt8fb00ah0BRhhnh1WbbY-9gt9A4WN0QUuxXpYAkTl54z6dzdIVi4mG1OsZp5rbi3oCwS0RmiKCuKIQaTSbPr2pKuFUuRm2elyPmRZRijKbGl4HKZkYgJ4C5fOYmnlITP-UCpC8rHZXPn-3MoDEmchvMrsZJ9fk80hPn4RwmnFXFCTR4-ziB1fn2K1VcR9fZp8NbYiiuWBCLuGMA4e2oH1yRdEdgKgo4vcmNckwD43EcIOV8RNn8I8hJZaIWVOWQwHbHd9TPZprB9LlI7KleWh2ZhhpFZJ0hWCA-eb1fOgBguBW-t2kh_Aa46URjXCAAvjlAPXFVLN7h0i6NDgzTWrT8FA6b3SvhOBLXzgeJMufn-e8upkUeoNX-SqYIWMIqnIAChfU0YSbl-jh5ZX",
  "id": "rs_06873735dcdc90d2016aac7299f3a887d0ba33abc094bfffeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.355,\"left_z\":0.13,\"left_yaw\":-1.3},\"note\":\"The can is visible just ahead of the left fingertips, lying across the current jaw direction. I will rotate the wrist the opposite way and shift slightly right to align across its width.\"}",
  "call_id": "call_hsDeQZcuMYcnBtpdEQglKJxY",
  "id": "fc_06873735dcdc90d2016aac729b430887d08fcb6c4049e1f5aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hsDeQZcuMYcnBtpdEQglKJxY",
  "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]: [-0.5953, 1.9068, 1.3682, -0.2924, 0.3985, 0.2291, 0.9985, -0.091, 0.8959, 0.77, -0.667, -0.1246, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3819 left_y=-0.3371 left_z=0.1152 left_yaw=-1.0734 left_pitch=-0.1785 left_roll=-0.1131 left_gripper=0.9985 right_x=0.2791 right_y=0.0002 right_z=0.1722 right_yaw=0.0794 right_pitch=-0.2033 right_roll=0.005 right_gripper=0.997\nstate[joint_eff]: [0.2803, -10.2632, 8.7043, 1.4872, 0.5201, 0.2027, -0.0171, 0.1299, -1.7573, 6.8581, 1.8486, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c649685c00a9ead0279b9d8c7ea7a5de3c85983c8a4720a85cd075e4b992f472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043e1227db4badb91650e35a717451e48d9cf534987aaf6696de26ca8b6e80fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51d62023ea2d5d31573291372614261f76f9727bb35984853e2750d49fb9e421",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.384 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9379, 1.8183, 1.4338, -0.5293, -0.6628, -0.8005, 0.9985, -0.0891, 0.8921, 0.7692, -0.6384, -0.1135, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3639 left_y=-0.3062 left_z=0.1661 left_yaw=0.0234 left_pitch=-0.1016 left_roll=-0.0832 left_gripper=0.9985 right_x=0.2836 right_y=-0.0016 right_z=0.1778 right_yaw=0.071 right_pitch=-0.1733 right_roll=-0.0081 right_gripper=0.997\nstate[joint_eff]: [-0.5128, -9.1966, 9.1556, 1.4921, -0.2759, 0.2125, -0.022, -0.4308, -1.5932, 10.0991, 1.9121, -0.1538, -0.0269, -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": "gAAAAABqrHKkXtsykWBJBpLgUnuT-Rpc41qP3iJdtORikbG5muqkZ6AwB7_duw2anAjGsS6giK_5fd20gRJz-3JNH8UmWPH3fMfctmcLTdQymX6f8t5lvv_SXBEe2j-XjITVkENDJaDC9VmPfBJjtQB_S2447PaYjj2fCUvHPYSY8FNkbp5T8tjYaoIkhcLx8Ys0xUMAKpyB-fKYGmy2MBom7GvE6ABF_VQlIjJdISHvOnkAYAjUlOgCGXEUoR4Z6YmSGT_D1QxurUhdl7IB8-OrER6nkr_Niw5BMeyu3fa9hzLAtUvX42lrsjrEtVfKpDgKnVDlHorBTXl9N4KhrhXbks3M2eWcYi9Mk6ja1nzixV5icBUssX11p8kspb-bgZg0AmoJZpm8T3uUwhIn3G5T-0y0v4i8hFLYAn4YIfSnXsepFTuqozq-7rWzgRoWVdWedk5m5qnN1dlM3eJbolrbuytk_PFJM1MZRHAGcGQZ5g1swIYnfuIXZGq0hq76bYtxnQhL37uRtkB9KQ4I-3cjrf8A0rMBlaLMywyEdKJe7t9Tm0umkSnePdCXFHUu3qXHE7wMT4gL4xKnyhybFI9aHwb9Pkpy2xzR00tu3Zwpeu32NkDFAiL0_XGifj3skJBiCnkc9TjQSj-_j_A6tSIHxLjei48Kt0RVF0-Bkj8aEhbDKpFh4q9DYewK6e4koJbQS8mIQfmj1SroDk3xW1RFyv3dHUtY3sNQb3SO583vWmbFQ_BIEwky56GHGBWnEtVfcyQlGSMqctySjByt-9-3h3ZJDvLdgxS7_ykyCsl5A44ZO4gVdpgTdJ9Gx7poQg_kvs8nTb9vW4j0tme1dz68guCVJPLU92zoHIgoOdRiq8HmgEUMFlqX-b34nPOr-OXZayMpiyJqKBwZ5R7JDOd64fpcQQ6CmquR4QCz9flixt1Z2qxJj6_Mb4zIE8jJffllB-oIUDPygTDCAB5orATaFM-G12gBiTfs9rA4L44tidrNO-KjIXi86JXqVcfs6YpGYPn9DCkr_KV4Xtm0Cn50wYOtroyUTMhF_ap-V9hrD2pMGpYM93t111hWJhTEDV5y-wNmbPS56hboNkNLOh3CxpP2znXL4SnzrpyO48wvntPy_JRGirF5LoIOE0SwGJ_soQBn7e5cpM1OTiWqxtpw4Q-30PEmz6xs2Ty69FiFIVhbTg5tlybUOR9Ij58KuqypvIjhm7apl8SFFevwGfjGVt6xzMz2_PyvO5q7XhzxeMJfr5raihIB1yJQr_lnJiAOq4p4LXF0wp7QPeouVPFhAMxB7IKbGc3QWgVBW77trGUfn_99aaanQ6gWwqzgd8QMgnjh5Mk_uV6A_lwTnjKe39r6mkg2qVSs6_5rA3BxeEz9OAJSVvFNIzap4GaTQIgesLftp1AgvjfxBO-4F60t-5j45PH9KTSNXjCgaMt8K0k-keCC-7mJl0KR8NfMBaeIl8QUzccXfXCornaIzCs-OeKVYMsuW_L15j4HeIcjau1IKR_ox12fmmaJ-xpOnjCQmlWIkVdOjL3ERIUdyVwYcB83q6CuTnafdPMN-xekMkBdg3sN_0r6gy_KKp3So8Gt1MT1S6g4m8dpntUMHISJwEoH9cReYDBz8P2ycv9zDPri96Vrite4b64-y-LzcBLupBjiTzC3deAVzgD5ac_fvhfe4r8mrQ==",
  "id": "rs_06873735dcdc90d2016aac729ffc3087d082002f1962cbad4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.395,\"left_z\":0.045,\"left_yaw\":-1.57},\"note\":\"The can is still slightly to the right of the grasp point. I will move to its middle and lower the open jaws across the cylindrical body.\"}",
  "call_id": "call_VmEvcwIs5EiU1nRsXYQWBp3o",
  "id": "fc_06873735dcdc90d2016aac72a330f087d0ba3edff351a78f9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VmEvcwIs5EiU1nRsXYQWBp3o",
  "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]: [-0.627, 2.1914, 1.5841, -0.3763, 0.6182, 0.5636, 0.9985, -0.0914, 0.9005, 0.7692, -0.6807, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3692 left_y=-0.3895 left_z=0.0582 left_yaw=-1.4669 left_pitch=-0.1742 left_roll=-0.0984 left_gripper=0.9985 right_x=0.2768 right_y=0.0003 right_z=0.1684 right_yaw=0.0801 right_pitch=-0.222 right_roll=0.0086 right_gripper=0.997\nstate[joint_eff]: [-0.6769, -11.2205, 7.2957, 1.0281, 0.5934, 0.1783, -0.0171, -0.0752, -2.0718, 6.8308, 1.5946, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80cead3cb4bec7e01598a23be677bb6828016d943b0df1faf2b3c4ae60e0fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8739c2df0eb5e100746613c7c6f08c2fe9e3e61753f739301499514b6fdbd8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64432ff2f06e7674a0c3b2560d66f15be8b0348ce3b731c4920113c4eb0251ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 2.662 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5953, 1.9068, 1.3682, -0.2924, 0.3985, 0.2291, 0.9985, -0.091, 0.8959, 0.77, -0.667, -0.1246, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3819 left_y=-0.3371 left_z=0.1152 left_yaw=-1.0734 left_pitch=-0.1785 left_roll=-0.1131 left_gripper=0.9985 right_x=0.2791 right_y=0.0002 right_z=0.1722 right_yaw=0.0794 right_pitch=-0.2033 right_roll=0.005 right_gripper=0.997\nstate[joint_eff]: [0.2803, -10.2632, 8.7043, 1.4872, 0.5201, 0.2027, -0.0171, 0.1299, -1.7573, 6.8581, 1.8486, -0.0122, -0.0464, -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": "gAAAAABqrHKpAV1zQXOVBoiQGwI5g3LGOhzccXgeyCaMgKXbVAK_zksEpRiBcXucbXOFTNDG9PoWCR_ZLT91zDXT9Nm6O8ZYW8NwGN5np1AiKySGthksuuzYOlfrjSp76VfkxnqvrJzMmgyy2YTxRO0E8U67qFTGb8D5qZSE32t9LDTzicOALwjJLeBfjpjmr4NaISD1k0pyJLREOeVYyKz-snjbydbOSFiaJ6mY30DwDv87fAYOIYXfLHE25eo4V8SYrOq04ukjH6MTJfvjO6xhueQQ_kAZjUWPdG-jHtcD0vCKFBN0wkxSVWPTrRbwcjrNWy7Q4ZDRutWVCXgabzWw9LLppi_L39TJYsSuHtK2Z_6Tbd5N2hZhTsKVAWFnFYH7G94dxnrRDbWp0rn2_WwlzKGezN2GN6sPQO-s14H2l5l6-6XH8mXwgvfDtYSmvnkq6hEoF5BV7V9zBRQzXWCqQSwvAz8hkmmWW-2q_CnSfKNx9nlov3hHvYD8R3pv_6aXYQLNjlxj39-n-bfdeO8YPcqm2HVCPMCqyE3IL45utJpn30n_gdYXuaEZeouV3Fe2ekeLKov2-WrahDsl5hMMJTUGziKLoCoYD6e0vUPSfM1TKaoC1WQ2V4cZPbSoR7loYnZqXC6NeMMntVFjlbrIhFJIlIcBr0G46CBAEVroB4UdOhrB4yT6drvTLK-m-epe21wKXaitxgmOQL6nT8oFf6wXOI2hlNe7JSa7GbCWQV9z6UemSbwWpMjA0vmXz41Bov0ESJBObeAdPsbr0hQJOyGn-v5YoSk0Dn7sawFEXNfSLJr83p60sVmXUw1UVPC_-Z5cff8_2dF7_TLIcTzYxmLMGQcZZo7uf2hkcQpEtl1LydgG03R6goKOG7CIPDvzhBgTFbMVsLbaKa7QU9L4w6RxV34-NhIxkKTjLuhnmVKoFxqElGk7O9n1AOLRrZCE9eIbq1r1Yn2ZGOe69t0q0bVAMJcHjnM5fEfT0V2sH3xER3nwEJIbJpSBEmuiNEnwZ03yomLgehuBP2LPZdhgDv1OIgc11lz8gEbQrtqWPKWzSN-7YP9iWxYYCvzM5yyVqk7JLrkldu0ALORSYMr3BLmTdToA5PqjmS22lXbKAFkupbGW6OesVBjzwZCNn25Z6jEN1XnadgAIz30bOHEMarYg8uOTI0DBiF2Hde9PI0UcbhWWipxW1tVoNFV-lrDkXJNYYPv0yQt_Fmx9avxGf8y9zCrsZ0znyY3v2bkkeP7VLSCrXI2Ivb_11XGsiULWUOefkCr2ZSnsMc7FpM0LQzMa0XG1NZlgCh8lacXwVPGJ9_Ki_GuKEP7ljh1_w4p-c2JPW38xLRxhDIPXoDtGeeL_sqb4GQ==",
  "id": "rs_06873735dcdc90d2016aac72a6eef487d09b041818f9f9a309",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.395,\"left_z\":0.015},\"note\":\"The fingers straddle the can, but the grasp point is still a little high. I will lower to the can’s centerline while correcting the small forward position error.\"}",
  "call_id": "call_GkHmxXJfuLHvuoZJzRlvhv37",
  "id": "fc_06873735dcdc90d2016aac72a81f0087d08632eaad8b7630c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GkHmxXJfuLHvuoZJzRlvhv37",
  "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]: [-0.6498, 2.2086, 1.4811, -0.2592, 0.6247, 0.564, 0.9985, -0.0914, 0.9009, 0.7681, -0.6888, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3519 left_y=-0.3927 left_z=0.0281 left_yaw=-1.4946 left_pitch=-0.1722 left_roll=-0.1041 left_gripper=0.9985 right_x=0.2752 right_y=0.0005 right_z=0.1665 right_yaw=0.0805 right_pitch=-0.2314 right_roll=0.0103 right_gripper=0.997\nstate[joint_eff]: [-1.0051, -10.865, 4.0, 1.0281, 0.1294, -0.0806, -0.0122, -0.1026, -1.5111, 6.8991, 1.5995, -0.1245, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dccae338dff0a7a39b7ac4058cb4cde5e905b6d0bf751f044ae7147c6a2d0a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6039b4dde1668d468da56586cb2c7f49d5550f69cf397f946e483f32816236e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d38f855023ff3f61c0161c980d28915f71b11d8c61b538bd9f7190083ce641a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.365 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.627, 2.1914, 1.5841, -0.3763, 0.6182, 0.5636, 0.9985, -0.0914, 0.9005, 0.7692, -0.6807, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3692 left_y=-0.3895 left_z=0.0582 left_yaw=-1.4669 left_pitch=-0.1742 left_roll=-0.0984 left_gripper=0.9985 right_x=0.2768 right_y=0.0003 right_z=0.1684 right_yaw=0.0801 right_pitch=-0.222 right_roll=0.0086 right_gripper=0.997\nstate[joint_eff]: [-0.6769, -11.2205, 7.2957, 1.0281, 0.5934, 0.1783, -0.0171, -0.0752, -2.0718, 6.8308, 1.5946, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The can is now centered between the left fingers at table height. I will close the gripper around its body.\"}",
  "call_id": "call_2eaG34LoPGVsW5hKnHMMR5zD",
  "id": "fc_06873735dcdc90d2016aac72ab9c4487d0a622212594b9dedb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2eaG34LoPGVsW5hKnHMMR5zD",
  "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]: [-0.6605, 2.1914, 1.4574, -0.1413, 0.6167, 0.5186, 0.6397, -0.0914, 0.9016, 0.7673, -0.7029, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3604 left_y=-0.4048 left_z=0.0429 left_yaw=-1.4637 left_pitch=-0.103 left_roll=-0.0519 left_gripper=0.6397 right_x=0.2726 right_y=0.0007 right_z=0.1636 right_yaw=0.0811 right_pitch=-0.2468 right_roll=0.013 right_gripper=0.997\nstate[joint_eff]: [-0.5402, -9.8803, 4.588, 0.9646, 0.0366, 0.0366, 1.0281, -0.0342, -1.7709, 6.7897, 1.5751, -0.0904, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7391442db1619cc6e3c91e963380fc8d772bfd184c6460d50fbc345a72c3449f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81145301d64d6a6676629f2007c5dd60d6e9a92c2ce0e58916a549caa983d299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a3171b22f8e7dbc81961d68bcc0ec3972d9a5d707a25da285faebaab46cfd0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.798 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6498, 2.2086, 1.4811, -0.2592, 0.6247, 0.564, 0.9985, -0.0914, 0.9009, 0.7681, -0.6888, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3519 left_y=-0.3927 left_z=0.0281 left_yaw=-1.4946 left_pitch=-0.1722 left_roll=-0.1041 left_gripper=0.9985 right_x=0.2752 right_y=0.0005 right_z=0.1665 right_yaw=0.0805 right_pitch=-0.2314 right_roll=0.0103 right_gripper=0.997\nstate[joint_eff]: [-1.0051, -10.865, 4.0, 1.0281, 0.1294, -0.0806, -0.0122, -0.1026, -1.5111, 6.8991, 1.5995, -0.1245, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.385,\"left_z\":0.115,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.21},\"note\":\"The left gripper has closed to about the can’s diameter. I will lift to confirm the can is secure and keep the right arm safely parked.\"}",
  "call_id": "call_13U3Jys2Y3MDppYPHT4cTzD6",
  "id": "fc_06873735dcdc90d2016aac72af2bb887d09d4d33fdf3fd9a47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_13U3Jys2Y3MDppYPHT4cTzD6",
  "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]: [-0.6426, 2.0724, 1.4616, -0.3244, 0.614, 0.5217, 0.5407, -0.0879, 1.013, 0.9565, -0.8162, -0.1246, -0.1318, 0.997]\nstate[eef_state]: left_x=0.3489 left_y=-0.3839 left_z=0.0797 left_yaw=-1.451 left_pitch=-0.1459 left_roll=-0.0916 left_gripper=0.5407 right_x=0.2872 right_y=0.0003 right_z=0.1943 right_yaw=0.0861 right_pitch=-0.2818 right_roll=0.0188 right_gripper=0.997\nstate[joint_eff]: [0.212, -14.0239, 9.2786, 1.4383, 0.4127, 0.2076, -1.3748, 0.1983, -2.2222, 8.8274, 1.4139, -0.0659, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9bd4f37b9c412c5a19d886b6f977e8ece5c428a1388c7a8f0eed052959d331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7337d530b7329e278c78e6fffd51b90d57a88fd83d3835df1d86005d5a5b6ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce148523b0fb4ab2edf82e38476a1d3a55566bdfa81f2bb71d8bd7b1c14e84da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 8.909 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6605, 2.1914, 1.4574, -0.1413, 0.6167, 0.5186, 0.6397, -0.0914, 0.9016, 0.7673, -0.7029, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3604 left_y=-0.4048 left_z=0.0429 left_yaw=-1.4637 left_pitch=-0.103 left_roll=-0.0519 left_gripper=0.6397 right_x=0.2726 right_y=0.0007 right_z=0.1636 right_yaw=0.0811 right_pitch=-0.2468 right_roll=0.013 right_gripper=0.997\nstate[joint_eff]: [-0.5402, -9.8803, 4.588, 0.9646, 0.0366, 0.0366, 1.0281, -0.0342, -1.7709, 6.7897, 1.5751, -0.0904, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHK2q625XGsly9CDvYw74CyV9ZulwS45DcKpOU2GNxsDbvuhWMmZ1nDvZSKIIwWt04TzHXGmzSJ6Vi1iKf-jXvQTWzQg4_DHAKQLXB71D9SzTVwW_S5EsVzs9v7d6ajWGRGErRjWxoCFi5S_cHMZROBS8RFeD4IWxqumGhqe1JhxhEqafuDOpcmTt2MRdS8Sm-Qy2cW2pQPoy7hv1d_pCIfxe9in70XrhGEzn3fuRmRMr1O2r6z3eHjlUSQ_chVaJelq2uljM2I-ZYrujJ5ZxQTxO6t7DZN-ZzqsTJ7JKhGIE6G5Nfm-op4KZ9_txr8_uqYMF81CjBrrPvKQlrhDruv8pkVp_yrO4xTTVD84eFW8vtvA80NQLJBVUE_rKjb4jS2yh6B5S7B5Ry5U6ABtRYa66u8Bw-2IjToaYPssavLZgL3pbBcQ4t-uKT96FIzDnwNztjWmD3_v40juj1w9iTbgPwDXwd3YblharKkhb58V8HwJLWlgT-RLk9seWEQdo8tp6-AFJiqdwIgIEZwuJVNG9BX_RT4xtvlrThFTUjQS5ILtvXaQPUHGM_eVDakpIubov5dUc1C0hHMIpbCsOLEWWIxW3aZjbOo4-HQEQzU1WrDU8qlW3xwcJfIJnavG-dALAssj-uXH7LFN695RHzvGn9adz8HY8vACrU1TSd86SjEAwyLU9goGIf4HP4ZUmH792OxUweoM0x2zFj6AI9KxmJTpuRwf8_3rtU9rwIybpPNM2UHqM2G_khJd_jmJgXO5aAV6LS5IZ3CsowQvWBQFcptcCRmMldFERSz9ov6FoaX8y8YJG4EvuSJ2A8Yqhe3ZEgb2jqZFcJ2NMW-2-2UISO_psLelYqpYZgYF75DANke502XTXfZvPaJbtoFR9h-nGTRsFu3h3pVq1hqs10jp2UAul3T7-92ahBmpca0nOM_2zTbZggm9BdxSlD9RVEITugaRlKYshnpGPsEollUSnjpbHw9tAx2huurdKCOLjv5M7ZesieYoVBAUQ0oTQsTcZpSbBsE0ap79iOMY6ZFpj21WUsvG4KN7LOXT7TQ83jKgQHeaN_CGRdhgTHJsQyHphaIIK1a8j8DoVXA6V0ihSyrC2tFPzfBhx3XLFN7aLg6u2kemRQddXcWQuy1scfxJhV38hmhr0kGxwKFEkwoNg2X0pxHkxFvMzyvGTM6chq2gX3s6Ifl1IkGHq9v-j8V0ZBGNzOPGBZgdOCHHoXkOiUO7cyzpM3bO8JutZYTUceOqQH8XmOCyKkjsEGjnTt5D",
  "id": "rs_06873735dcdc90d2016aac72b389e487d0a80f87cd742bc7ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.37,\"left_z\":0.2},\"note\":\"The can remains between the fingers as the arm rises, though the loaded arm is below its height target. I will raise it to transport height before moving toward the burner.\"}",
  "call_id": "call_0ad2kTMtlHzzFawPFAA4pwHP",
  "id": "fc_06873735dcdc90d2016aac72b41e7887d0b0120d42c9b29bf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0ad2kTMtlHzzFawPFAA4pwHP",
  "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]: [-0.6189, 2.0228, 1.7508, -0.7525, 0.6132, 0.5255, 0.54, -0.0864, 1.0191, 0.9562, -0.8478, -0.1246, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3494 left_y=-0.3693 left_z=0.1583 left_yaw=-1.4405 left_pitch=-0.2074 left_roll=-0.1543 left_gripper=0.54 right_x=0.2815 right_y=0.0012 right_z=0.1876 right_yaw=0.0895 right_pitch=-0.3194 right_roll=0.026 right_gripper=0.997\nstate[joint_eff]: [0.4718, -14.6393, 9.3197, 1.3993, 0.4371, 0.1587, -0.0855, -0.1299, -2.906, 6.694, 1.6484, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bab0e1437cb7ba47e8e08c4817d0848e8c2dd6730e73c37a90af56727c059f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9c4f1436670b5b75e76dee3c0856285ead1d0972a6dd3e457be20a1511172f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40bc971c0947e945cb77945b9db0c4edbc06903c93ddde422c90f8671a7d1eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 7.329 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]: [-0.6426, 2.0724, 1.4616, -0.3244, 0.614, 0.5217, 0.5407, -0.0879, 1.013, 0.9565, -0.8162, -0.1246, -0.1318, 0.997]\nstate[eef_state]: left_x=0.3489 left_y=-0.3839 left_z=0.0797 left_yaw=-1.451 left_pitch=-0.1459 left_roll=-0.0916 left_gripper=0.5407 right_x=0.2872 right_y=0.0003 right_z=0.1943 right_yaw=0.0861 right_pitch=-0.2818 right_roll=0.0188 right_gripper=0.997\nstate[joint_eff]: [0.212, -14.0239, 9.2786, 1.4383, 0.4127, 0.2076, -1.3748, 0.1983, -2.2222, 8.8274, 1.4139, -0.0659, -0.0171, -0.0122]\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": "gAAAAABqrHK_ToPkQS8cc7l-jTYp6ptxkbTaYoOD-uADNXKnHzf8iA1AcC_dvlOiZEX5_2jNBUI8nOfoKUO8eqNFAqnzBVNZCwrbiO3K5KjtsYhp_SdNEy0uELaErbPqQaieV6Zoh92-QRZT9eF9jeiKTarxHUdWluek9Hu3XSsIhi3bdypD0hULahdP2ga5htX-Vdbb26x7SSYfeJk_4vzyxEzyjdSv4GTkbghdmPFZqgUMmnSc_TOg4ljrEdvRSEqectbpMrpR4exNNXzCPlcXFN5HXXMoUh4QGLI_nH_tuLiHRwGWbaaE1NU--dVvXf-z60F-NUqE2ceT_HTubfwBhOY1ZsrHjpxHKBbt0L4VALjFls1U0RYSlKIU27_kswuvR_AnyWINiG8z5J1hSz6MqU-BijgyqL9agEqW_RIqTOlfwp05SMRV3ADbZwW1XwwDIojgxJJ67OuvCyrIssbw6la6R_x04wi_BEjvSpNJceQhDRkuN58JtnIGErhHt_wqhZ6FPrNCHS0U9QkhaJ8XRnB_COxTE7liqkqiRE2gvWUvccmkixBFUD0UjpmnG-zSAe1F-VIf0vGgNaXXFV_CB-E6Hx5xwA8FNhOFFLYUPJ7kNn4DxEB_j5e_isdPeZJd0ZhkftxqM9h50b7s7lso4zLpdfwRwLtm_scZ68sl32k61LrDP-TmwSziHg9xjUdmJJvBSpW7_Dt5UXS4WmSczdmbYhUeNsQYr2bHunvAd4djXLRkQj3B8UU79sPZ3xdHlLLgSvFuS4beZQROgOJvCOFKiFJlEvAvFVU8dxzdFiTJ6S_vw3L7tSaVQcroDGVFVtSMbZjIz6NVApQ4FjZjojFTat9C1xXhMrj1XtAsc14EzU0ot3lXmztK89BqBNu74n2GWZIaKXsEnxd9GZmLsxADF1RRcUoJOsNOX9V4lsbowhvjD3AYHo1lIIWe2KsGRrbPLlg7QTEEbFEXiabmK042k3KqPs-kafNqn1GxYhT8Srn6e18ImHSWkgGJtj2RmotK9KsFsIu3ID4XrhTZQ59HNNBiKsPWhRlINOVYxXFsbOFwT3ApRVlMuSkOVALZuFkLLUE2D9h2DljdqrAjKc65968f5ESC1TEXuy-a7KHszah56cpVRvedWffeEMqRMdUqhwioeGVaHFC6vx-fovzs-fqmjH6QHQilep9l_KWY8pBw9pUP1I7wZWEF2pFVNGzT_rTA74K-GfFz2JvfDsjj4aCYvbWKbmAKp_2LXhTULSs1lUXZ04Ku2KIFTQAJcmpjnFWeHsULA-LtzFqRO5v8QjaVgDnVqtcUnpiEzmODSeAOVsI2_bOpsG48TAJRU8egfMwiL4ZskWOshOgrS_xBINS4ZiPzwm4kfvsaAImDTpij11IQFjbRu5x01sInD6IOvMRUlwGRqxRN80AGJNYqmgXoMKAW8zgra7jCnLTnAsRcZBSynQW0W0vBm3JiaCjbn8zvwyl82_yhd1kG2zzpEl_HxBEcjpgXdtVFXHXwPEGMPqzdZCrae_tYt5tkGLP2j4ebKK3sINYcLFgY1q7KKcwnb1kk0ay6irqg77MVUlt1KkHS-giqMZnQ9xmiiZjKk0Brf2JbWfclUYy2yHHdHooue8tr1jvxatuqISA3Z94I4ZHAmSSlKerZSzc2zaqbExycwE7Q0u0XrVQzpjtCzwtIM1dEBoMkFF13ULeIcXhPJLdQ7p74O5QNOnXuRwEV2aVekqCuZNFcE_elmNgVGCS_3Uj5oB7KQeZvdy1P15kPG42VyWkgqWcY6N9rd_Tugq1gQZlpiFA_5CvzotVwtWzqe6WsFKNrvjWa-nLlNiATWN8DKr7uRh8BryGXoagT2LtWH6kaHG27yjwmyeCEm6JPZdOoIx7Hg655CZG0BS3AyOOtnCgH_Pz_rKTQMIyWt4sL4fiUNZgqQAAMnkugOl58skbXWCZMBXys8IvCgEVRcipMJlzavQXY_cJNMa-O7QMU07Xz7xJvGkF9gPWCrgSDZUipTbOk0Y9D3DggD2eUISbJHgehSgFz0s6GntDY08IP-WEML3CBNpl4ejpKWSudfeLENcPedyAFosVDoyvPWjcZZ3zR7Z1uaChiT7kUx4UcEBFBrCtg0MwgLkl2gbESBGUwVa4mwqS3EvYPtxveEuSpvrq-5jL9pkPhbZiBxxFmb173n31KldiMuaOkbIy3yRtv4IGrUsQZA41LsXA0SAKlghXYHhNvE4mUPRCY9u4h7ooAMXbhb9UM5jSmjJlMWlihNbECdudbzpHMvgNIrIesTjjwSla_hG3F4eCdkjqXYb9OUn8PfRbgm4o_4SKyWkLN4F-_uMmK9uR9qG0pQ94DCRwLZBIGKTa2WWzWYsTZ1DQso-97BP0dHaBgYDXqkg==",
  "id": "rs_06873735dcdc90d2016aac72b837a087d097bd6a073fc26a55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.375,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The overhead view shows the can stayed on the table rather than following the lift; it rolled toward the front during closing. I will reopen and approach its new position farther back toward the base.\"}",
  "call_id": "call_Z9842xn3nQLmna5KHXh0bjnz",
  "id": "fc_06873735dcdc90d2016aac72bdbb7087d0850c421ca3886544",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z9842xn3nQLmna5KHXh0bjnz",
  "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]: [-0.7078, 1.9678, 1.2926, -0.4015, 0.5709, 0.4473, 0.9967, -0.0864, 1.0195, 0.955, -0.8612, -0.1246, -0.1314, 0.997]\nstate[eef_state]: left_x=0.2856 left_y=-0.3653 left_z=0.0567 left_yaw=-1.4681 left_pitch=-0.278 left_roll=-0.2213 left_gripper=0.9967 right_x=0.2788 right_y=0.0015 right_z=0.1851 right_yaw=0.0903 right_pitch=-0.334 right_roll=0.0288 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -12.1231, 6.3658, 1.3895, 0.1832, -0.0708, -0.0659, -0.1983, -2.2222, 6.6393, 1.5116, -0.0806, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004284b0cd10b61f1ed820290b46fa3edcfa576515a9d5c842dbe3f8041ad80b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288beda10904eaa032bb68bfc3aaca644a0ac4a9d35cddac795a676b36aabbd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e18b205c61f583df4dcea243254bcb67bc6db816281da52b513d7fe37d39a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.662 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]: [-0.6189, 2.0228, 1.7508, -0.7525, 0.6132, 0.5255, 0.54, -0.0864, 1.0191, 0.9562, -0.8478, -0.1246, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3494 left_y=-0.3693 left_z=0.1583 left_yaw=-1.4405 left_pitch=-0.2074 left_roll=-0.1543 left_gripper=0.54 right_x=0.2815 right_y=0.0012 right_z=0.1876 right_yaw=0.0895 right_pitch=-0.3194 right_roll=0.026 right_gripper=0.997\nstate[joint_eff]: [0.4718, -14.6393, 9.3197, 1.3993, 0.4371, 0.1587, -0.0855, -0.1299, -2.906, 6.694, 1.6484, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHLHYDfzzOSd-hhrUnxLSmsIT6IxL0aGieJXaCPsqtEpjT2GEFaEyrHTDc8r4HQ1rPh5szpOh5H8m-OaV79XIikWcefpWXdqY62muD8HllBP93cQokZ80FmzqbeiSBgrTUV2pLe8D5JVtXwOVaoc8woLHTO-_0CU5gTuuZAHJ8enPHDfe-dpZGN3XkepAZ3w_4HQkKPqID-GxpB2fD3EObv6pBlBZihWGcHKRCBdqEZvUiMkNWtzlL3lvXkE01lTINv_xgSlQNdTL2ovkfnrwELSIzfb4yXbCc7xqqFbbnKU8OwvvfnnwQZRcTUGTJXg66Uee0NeNZwK-80cmFV3Px1h1-o7_MfTTt9sT6qWHRyVlYpZmUtdVaTMIfCniXVIWCfWBUE9hZdyoIpljbiTU_FO3s13dCaKlQHQYre1fvfejx2F39iOLwmckzkj93ok2ACDt1ckkI134Tt8oOAD8z3VSfKxqLc7f0uDN1alQeZSyOOTd8u1_gHcScIcl58yzF852_RFPYDSc-7DwCH0-vai8MVZooTNQpIsa_dNqIWNT-ORUxKHpAL3Ei2iPQNeqzJJWOA9clT-Dr5H7yqtu7yRtmQRILA9GaIJucFW3b9m5dh9Wp31vZYCf0_d68ekY6bFL4EJXy2K575uqy5_hvS8zgjlBRyFZDLIcUJvYvPzhvyPNqolJNBhI4EfOMPR57rxKmjzIVyYrKXNWDuE4bebIwcAQAzynaiSAl-Itr98LDwp6GVExGXT5JlVH018AHunvvGSNm029ONCec-6Mq1TIIJJdV2qqttRRgWC_treVZAP0vOzbqLYUG1AoPVfYrUyPlc5XwqzgTMX7d5oQUNqWS8qU2gL7_tDNNiyJunzJgJwudGPH31XlXUCoro5-5-iu8M7mYiPbWELQbHhguLjt6wcgGT2q-EcHb23hlopU5HiiqQcq9KXohONifPUKi7wkW83z9heglxoCCQ5ExfCLyR9C2_vEX8-b5umlLNuPOcaNhHYCHEIJg8Z4p69_B4Sk2YR-v6JaqmvzODbh8o9so7gQqrZuo44MwwbsTMrU2C8b1Vtr6g3BM9-QSwEHibIezgHxTwHxGlRSWsBMQgkx0zqkuzRM-rHysuP04lvjPr16hfbOgcqV6nkzpkfRbuEtBafX-2wre2mhvfgOFFJro_W5W8nBONuBBUzCTVxif1wECVYV8Z6iJEnJc4qFKm8I4aZ0fSDl7FYh_vOi1v8vWsRwpk0kbgxZzJgY_C0JQ3i4umsJMLVWIe3cRQv7aOJC1of2qK-ZGk2h4MEUxjrTvE1bZRrVsk04LFv-zA2p0QpRolLg8A8Yj-r8lC0IMEcbQhU6YTPHkn6eqPWb8hcLNuSvSH4skUwemEtVOlvb1L60uIrF0rG3pRltr5WzySePAnSqnxdqV30tBtts7KW4-XBBT_DqIrTn71wpqHWvvn6-AOgyI1vtarZnIfs274AJMzx3PTnBzxtndqaGtyg0cE_jkvAZBOczcOrsUXD9DObdZIHCq_kMs4molycCFTDNqaYg4m78eZZ88eVDrSNbGkP1FYturDrwEGAgLGVM48NDhCU0a1UiSzeb119m2UY7aFH6ptP0vnaGierfVqkuo6_FGBtb40_N36TewoNWVQ=",
  "id": "rs_06873735dcdc90d2016aac72c2d6b087d08b25ceafce88c176",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.38,\"left_z\":0.015,\"left_pitch\":0.18,\"left_roll\":0.12},\"note\":\"The wrist view places the can just outside one finger, so the previous approach was too far back. I will shift forward to straddle it and reduce the wrist’s observed tilt for a more level grasp.\"}",
  "call_id": "call_CyJuzbzu2aKQUeUakRTpG3UO",
  "id": "fc_06873735dcdc90d2016aac72c594bc87d09008d7ad95d59fd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CyJuzbzu2aKQUeUakRTpG3UO",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6235, 2.1983, 1.0252, 0.5526, 0.693, 0.466, 0.9971, -0.0864, 1.0195, 0.955, -0.8822, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3364 left_y=-0.3765 left_z=0.0035 left_yaw=-1.4547 left_pitch=0.1098 left_roll=0.0537 left_gripper=0.9971 right_x=0.2747 right_y=0.0019 right_z=0.182 right_yaw=0.092 right_pitch=-0.3546 right_roll=0.033 right_gripper=0.997\nstate[joint_eff]: [0.7863, -10.2359, 4.3009, 1.8486, 0.0757, 0.0757, 0.0269, -0.1436, -2.3863, 6.5299, 1.5116, -0.105, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079e05f3a56e1e61ff9d9881fdb5c64c608fa9c02bf15bc0e717993a0634cc40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b574a36cb3a443e25b9b9dfa475d44b89f00d8d982783db14b22b412f10f9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d047e5b8eca3825b1b5ead000b64af3ebef95bbaee17f48c9fa707d44858e133",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.017 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7078, 1.9678, 1.2926, -0.4015, 0.5709, 0.4473, 0.9967, -0.0864, 1.0195, 0.955, -0.8612, -0.1246, -0.1314, 0.997]\nstate[eef_state]: left_x=0.2856 left_y=-0.3653 left_z=0.0567 left_yaw=-1.4681 left_pitch=-0.278 left_roll=-0.2213 left_gripper=0.9967 right_x=0.2788 right_y=0.0015 right_z=0.1851 right_yaw=0.0903 right_pitch=-0.334 right_roll=0.0288 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -12.1231, 6.3658, 1.3895, 0.1832, -0.0708, -0.0659, -0.1983, -2.2222, 6.6393, 1.5116, -0.0806, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHLNtOvOelwqoQDRrGIj3N1D1Kja_MYsN1QZf0EhH0SBH9FVyaTW8s4wH5tj2w4AoZq2YD8KgX-GkNgpgEf1kq6PbBlioxy8ZvPJo0PVGUK9kMpMnqrgu6rCKQ5MfFxmj8GuCvY30-FeQ0cMukfVa9ePWdwZjQVI4ZZMfnI8SQmmvjdSjlnvFQj3NoaWtSpG46uhACleZwjIn_u2j2DfvT8q8ASV7aQiOcO-NZGts8QQzi1DXs-cZ1DqDzd4Be5Flf8ACGdxDu_6o_1Sv6qHKL8yakQnqrysZygGRkVqGcAVCPBzNGDClmVAaAwXmp7DSOaBws0PDH4rOvcy1Uk1U3jqGQi96MdTM0gztCt-6Rq_ZMCrM-bxiMmhgPSwtCoOx7-vLGVkFIQ52WrI0iADrSFOmDlUUASkmChjgRm3KsRBPq_EBGQbwuv9yLORwhjdskCl7MmpRfIu453KFcUmjyT8EbBl4CTDH9oti6wPqINDffObJuNbAtiWSXEuRGtDUOtp39zeDOCJ_8SUD0QOLiyJXXu9ZKFy1Ijfe--k7wO83puyF3lqBih3_y2vaOkLKHpT4ZbqU5oLo7cR8sa6SPsSW7uNzIlRVkvlBWjppZAIlhPzRsXeZL2fwle0p6_B9dx09fQ5KeCRY_wNlf6pJN2lozWDWYqYpDrOVl66WyHsbdqEcsaMQcJ2HiJTTk3ssXd_mdanxlJ7vP8KAeniuodpDZb2lH1Z3-QHTD3ifSlx0NlYk9qYpe2mx8j5XXA7LNOpKsdcAvWHONgIPwoqDtn_9NWDRYJBs_Crn_7bJ4y3z6YkyPHdVgHRSQnYFCge7FK6cqSWDVU1PtK8nJIwpK3ajtwDHX41YxYLynrwdkGw1XlhP292XmPbMw_j8aQqzFVh0P8VlII30YyK5bv3O_zJXdgrBhgNVhltknnJEO4wJRr93o2qG6QG-O3JjzuD_UGzSGnEcfnlJ5ZmgvElnGqdZjNeXPGJ1UEVOITnPvcexeIf-pstsnvuswMagKWsj0JLlKMbYQZxLxJGbzagpSsKEzTFL3z8BcvqEKMCB1ksrX5XbnpXKLjW5P8rUtQrzXwdRh2FU8D2NN-iLm2_Qy6RpTkJye9mHfBMtsbRuFMSqAKP-zOwh_GoBLGqzYtcIhZJUiLRyN142P4AD_v59BnLj_ctmcgkKXZ6rgV2t1d7PqnwmRp6Ny0If8qdM8NErvruVyNsX1kTkU4_j5Omy0_93Wi4Xq5Fgb0-qoKmH178fXEDEkb3V3DCKjKzaAHRkOejXtGZeOEQ9NkB2uv6ctWyrbRdUcWoW3QYH8R0xeXpH15xemz_YS83b7_gGr7jJVOpV1tNx0RF6J9Ucv9vLe5fWGNIG5dNgqn48rcM8sD3FEJTHA2giTBdN4sJ5z16yG0LNJt-YG9oBWsww5a_IdpQ_uuRzqE8s8w02hJZ_2RxDIUQryra1fP8M-HujrJbNa38",
  "id": "rs_06873735dcdc90d2016aac72caa60087d0bda48d1bf5d9ad93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.38,\"left_z\":0.065},\"note\":\"The can rolled forward when a finger touched it, and it is now clearly ahead of the grasp point. I will raise the open jaws and move forward over its new center before descending.\"}",
  "call_id": "call_OaevDrCQQ3O2Hy8otcxJFVJE",
  "id": "fc_06873735dcdc90d2016aac72cc5d2487d09880334072f68cd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OaevDrCQQ3O2Hy8otcxJFVJE",
  "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]: [-0.535, 2.2097, 1.3811, 0.1699, 0.7425, 0.5186, 0.9972, -0.0864, 1.0206, 0.955, -0.9039, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4104 left_y=-0.3779 left_z=0.0615 left_yaw=-1.4295 left_pitch=0.1058 left_roll=0.0524 left_gripper=0.9972 right_x=0.2704 right_y=0.0023 right_z=0.1787 right_yaw=0.0936 right_pitch=-0.3772 right_roll=0.0374 right_gripper=0.997\nstate[joint_eff]: [0.4991, -10.2496, 8.0615, 1.5556, 0.4615, 0.1343, -0.0073, -0.0615, -2.4684, 6.5026, 1.5165, -0.1099, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20271460b2ae81fb249ac9040d09ba2278a1507c0ce956599b23abf41f0cb111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35107e0f0a8b5e43f69f7c9d7c6d52ebbab085086da97b05fc9a2c3fccff4fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609ff9771655f1a8155beebd03bccaf41b5686ef6749875bc80f1b1c71cae2aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6235, 2.1983, 1.0252, 0.5526, 0.693, 0.466, 0.9971, -0.0864, 1.0195, 0.955, -0.8822, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3364 left_y=-0.3765 left_z=0.0035 left_yaw=-1.4547 left_pitch=0.1098 left_roll=0.0537 left_gripper=0.9971 right_x=0.2747 right_y=0.0019 right_z=0.182 right_yaw=0.092 right_pitch=-0.3546 right_roll=0.033 right_gripper=0.997\nstate[joint_eff]: [0.7863, -10.2359, 4.3009, 1.8486, 0.0757, 0.0757, 0.0269, -0.1436, -2.3863, 6.5299, 1.5116, -0.105, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHLThGe-ZGRFcck-Hn5_SgnAhqFUxglnTECup2MZovHqvLOzAtvJhdKw8Qip2IFn7ClCQti4y1boPkXkWWNFj2vL9YTdj5G2EOzNvuGOUfiTWfvgvtdj3Kb5WEGzuChG9mZDBo68XQVq0zLt85XEU8UZAsqOZcgg0Up_YVUyaER5EMXeqObQDJn5RyP7ofbgj32xrFOpRcyJZyo7Lf2jK-HJ-RvGR98rWPCjpZyod8uwQHmsM1ARh0IgMXxfV9lERQ0ZIrW6HCjlRRLHm-xWw3Q2g9SUfyok4jRWHM4Vyf30XJdsZrAABeRApoLKITBjy1DCNE2S35pMjpt7-X3m_Q_l3VNOCovUZmwG5AvhrV5mAtb7LQuV0wF2KQSSEryqlgHz-UYt7YZa21yTsfPr85-Vr9YeiLPCz3g5NT-y2xP2GHzgqX66XCZ-wTBusRSe6Eln-rDJZM5jVKmM5PulDqmubTstu_cmoAWhtgJSm0-3HS--sGVMtRdGxIEUn4wC0s6kMREFXQqKlTrs5hnhuw664vakDXWbMk8NF-knzeeVYy25RGXJx3tGKzHXIm8As15ab8gaAFfbItrlfune9_OcdDdSt-Rvq1PUT-cIC0FrQNUweQg3l8z35oBByMuVKLR9B3tiZQzEAJxMf9JlvAyhJOfkwSWfdlXeYBfwcgUhuRS5SuT1dEVREa7XTufNBRVJfzOdpbJ0nWqF-jQTBd9UeBn0Hs8KBYH-F_PnxnWzTk8LmU5a1SOu_-mjzrM6sTh4SVqYj7qcbrYaWrQ-m_fWbaOvyAVvW0jBC8-Rt9JBTL115SWpQzRebx1JDAQs2V2ktfWx1EhHw5GQaeS0TBqfeVcUqGKUwVSh9-yznc5sOGQ-GRf9-FdcgNCU7a2duIh7u3XqwrSc0KXsVYSVortQCIMVCdBTW_eBc6Fzeuw-3cIWLXo1YwRui-XdWvMOypjyYAxMj84hn1Pg5IpHUhlG83vpDyrfL1EZ7r1pF7Q6YriPSvRm9Y_yKLoDUMuTuuQrRWwBoIktjfipdRztypQAVxp86UKKPif7b1IJiPnSO3zKXZF2p6Tb3arOH1CCZAVmKC-zFhwNyzgD6BJkToisOllDd2_stAVQA6qmTBdLk7DHVuO5EXFVQxtMLrlW0Tmx8FggRqa8UL50ofO5DcE8_YalE6-AKdcyIQpn2WbGyzt0V6r4IwBB07ciuuw4Z9o687FLBU7ezpebN_zE5GBdSxu0WUBql4HqrydGTZOpNshfth54bM2Bb-KVmxqgsXGEmG7NfgPeNEl4D8J2xvu-UqGVv7HbNb7Fb_DN0tw-W4qf-vvdI93Bne1SG8sA1zxZlaMg1B_LgNuLQPMetlp5nUoGapXXRWnoynyoqW-7S-r9cy3ih1LZYYn2y1FBZ7X4IHqyWD-BAtYEDYk67VFUUU095y3xQXFlR7yjBuDChNBmkNjI1SY0U0R82FEev9CBzQIoVA6D_fcH1_zXhz_KbnihlCIsPYX42ES7K2-nzsk=",
  "id": "rs_06873735dcdc90d2016aac72cffe4487d0b8e4715bccd09b55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.38,\"left_z\":0.18},\"note\":\"The can shifted again because the open fingers were still too low during the forward move. I will lift fully clear before making the final forward alignment.\"}",
  "call_id": "call_uf1faBSLPBoBXue9RxdCgokJ",
  "id": "fc_06873735dcdc90d2016aac72d1d4a087d0bd8c4b58106a40f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uf1faBSLPBoBXue9RxdCgokJ",
  "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]: [-0.522, 2.162, 1.6775, -0.2436, 0.7441, 0.5194, 0.9972, -0.0864, 1.0214, 0.9546, -0.9237, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4287 left_y=-0.3805 left_z=0.1372 left_yaw=-1.4135 left_pitch=0.063 left_roll=-0.0018 left_gripper=0.9972 right_x=0.2663 right_y=0.0026 right_z=0.1756 right_yaw=0.0951 right_pitch=-0.3978 right_roll=0.0415 right_gripper=0.997\nstate[joint_eff]: [0.212, -16.5538, 9.388, 1.6142, 0.3297, 0.1001, -0.0171, -0.0479, -2.4, 6.7077, 1.4286, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411a7b223f254dc665ec0a26f4bcc5ed9b11886f98b61dbe7a653c9d46a3a2bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:481d419d950a6580cd8c6ecc411e760ba280013b42c25c735407a1b9295fd1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1861b98aec06131d9a07a7422deb9009d44bc8765b556a9d6d36c1cfd269d486",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.908 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.535, 2.2097, 1.3811, 0.1699, 0.7425, 0.5186, 0.9972, -0.0864, 1.0206, 0.955, -0.9039, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4104 left_y=-0.3779 left_z=0.0615 left_yaw=-1.4295 left_pitch=0.1058 left_roll=0.0524 left_gripper=0.9972 right_x=0.2704 right_y=0.0023 right_z=0.1787 right_yaw=0.0936 right_pitch=-0.3772 right_roll=0.0374 right_gripper=0.997\nstate[joint_eff]: [0.4991, -10.2496, 8.0615, 1.5556, 0.4615, 0.1343, -0.0073, -0.0615, -2.4684, 6.5026, 1.5165, -0.1099, -0.0562, -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": "gAAAAABqrHLYBB4ggC-HBTJPDMpPXbj6R2-Tq2butolXf2WfoNZprYp3WT-ilviaFHNcT1BWQdE6h1PPuWGs-7-RyUAnAbP3hDA4_TYbQwNtW2bWWLLCIvTjtolbmap9GjCd6lpzFS2PGvnWGca0xnsabg2r0bC9HO5-H2dMI1k5WpkKphfrtMnXWYlE7gXZthCKdoi4CRkBILzoyB7LloVG2SZwBZT-BbizSKlyqXIoH1DxGWrvfOw3cXRKaksl1qMJBVPcalizTZg01bcSA-HGTD7bBZ69UsK4L_kjlVdUrZdMkAQA1ysoxG1BDbXsc_-UC8h6ADZV_h6Fy0ZsMftWVI1Akcc-NpEH1v6_OTosp3Drxd9L7r3qT1GnpSKQ0BJfvZAzCXpZ59-EKpRpn3mHXT4xbb1Ife0nB1eEs0rme4cxrgdSIpnQ67PYnk5EKFKS1-pqZz4of7UcJG-MQ9YHImHSP_4tlElZCHeo6iZAffO-1449MXtJLXG3vhuLunN69HTXpF8f0qdiFuv7NgYHZXwxUNP_qcGxhs0zhXRFmyUlXW5Kq7CAknJXetO7_pk3Z3DuRKVzCNUnNoejwQKBdiAXVgODNOTW8tFbGlf3OOOFvJJ07nybNu-1J6hoU5OYXT43OAB37KK2E2CWA8ELe0MYwBAMnYJ9MsrOkYZg-08lwBJMhGjine8ImxfsoYcM2U1_B_UNaNqiSYYXnLi2tzCxP73WRGlqQ6R7xMKIWibldj13yupU1NBWlOVrjwdMJ45C1Dapzh3Hvu3A9RGtsrFD7qAhC_ejrpIqTy3UHSiBZnx2zTa2q9UkgjZILGJEwO7H7u9hfd2b8Ev6lne3asMa_BGpKhmMMRBYEa0wsAQ66QNw-HbYOx43qQ7HNVpwhbsm6-WlWeGvlKFmYSmRcAlg_5FLQnup5J6q1reCm4Tq2eKyuXvZtlnwEVaPOePzK-38rNNU8uL5yKeBcckU7TQSE9csc1evQ8TqMdCYncfoLmGEUQ8i7FAAxYS2it2INLdw0QoDKv1d9ymb3GdjtGW8R9ViWtDl-k98x3QSuDL5oQ7JENMbirgUmkXuvyiMTTt_CO9wywXiOjuc85qI8K7pibvE3vxJ3beVyGNRmLLFUlnH2VmSId4aAlStlPnegpXjNdA8Pj0N9NcDE6Z4nUecDn4qw0gXJRLKwVYFZrCb_b1G8r5nT1iQ1fjP6hajiBLI-bnOtLXb-OrbnZBEdDKEqrs983-5fJJO40GLJMPUSU_EViHxLCadFUFU_9F5enNgTSDiPZmr1HYo4oG0fGkdBmForvpEw1iBmvJ8NygK2zkFriV5_5aIux7tu6GeBOf43z7P10M8FqxQkGHHVo3_eEsoUvl0ooZmCeabQ0uiKfrzXUXuDpUCIcIGKPs0Q7AJDWbbfRhd9Fmev_B8M0jzkETemdTFJx8lI7jWBDac7au6zTOviR7liQNxEP0QviELFqXx69j_jyVTXDs7L8Naq1mSYENELsiY1jEz3_r-L_0YkIbbQpgvfzU9lB8Hbsfk-unrDPhCDacKEONvRE-q3oCD7Q==",
  "id": "rs_06873735dcdc90d2016aac72d5c46087d0985c4e18bf6a534a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.39,\"left_z\":0.11},\"note\":\"With the fingers clear, the can is visible just forward of the jaw center. I will move a few centimeters forward while staying above it.\"}",
  "call_id": "call_AJb6tIMS1KGXa0ShXVRdgjsR",
  "id": "fc_06873735dcdc90d2016aac72d7523c87d0809a78258b6a4530",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AJb6tIMS1KGXa0ShXVRdgjsR",
  "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]: [-0.5041, 2.3463, 1.8488, -0.3077, 0.7467, 0.5232, 0.9972, -0.0864, 1.0229, 0.9546, -0.9375, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.458 left_y=-0.3856 left_z=0.0925 left_yaw=-1.3972 left_pitch=0.0161 left_roll=-0.0597 left_gripper=0.9972 right_x=0.2636 right_y=0.0029 right_z=0.1734 right_yaw=0.0963 right_pitch=-0.4128 right_roll=0.0445 right_gripper=0.997\nstate[joint_eff]: [0.4171, -15.0359, 9.6342, 1.6044, 0.3883, 0.188, -0.0171, -0.1436, -2.4684, 6.4752, 1.4432, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3025b366570df60893d360b70441bea6b8d0d4e9f28d791243bd8ba756be1ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec3ce71347f88a781857087c4ef53ed119ba79dd5c5498121a6865ec02cab8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c4a62e7795b5238d3e7824a92558d7ebaa2bdb4e84633172f444ca12750394",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.025 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.522, 2.162, 1.6775, -0.2436, 0.7441, 0.5194, 0.9972, -0.0864, 1.0214, 0.9546, -0.9237, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4287 left_y=-0.3805 left_z=0.1372 left_yaw=-1.4135 left_pitch=0.063 left_roll=-0.0018 left_gripper=0.9972 right_x=0.2663 right_y=0.0026 right_z=0.1756 right_yaw=0.0951 right_pitch=-0.3978 right_roll=0.0415 right_gripper=0.997\nstate[joint_eff]: [0.212, -16.5538, 9.388, 1.6142, 0.3297, 0.1001, -0.0171, -0.0479, -2.4, 6.7077, 1.4286, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHLgagmbGB9gI0cBI6JDqRvw6oSVHxYu5qpV_9AJDuty8QhR1kI3fbLSe2Fy-NM9d10cnnxKXCzfkILsloLWbs69twXdIASJVYiFsowDYt-t0SCSveVoYDPPqYB4vSUbiGMsav6WNCrkd8r9h1GzhNmleE8EZ7IsEol_57M0O-6NhZC8NPiBX4Klp1cZ4SJPLXiKysA-0hvJ2T307nV_1M5xgaLy07QKmwdyRdcUuQ9oA1Go8ha7hv6QQzTEn8GTagmneROShRSyy4JhtZtdHR6K58PEVBsO7OwFnNeQXWoakEjHUeZ6XyOwpVw2_fquNuNVPuLnhc1qFjciSWr-4C_BZH4GCSsKb-Uvd-65xenrpQYpAu1elSWvQbLHZv-JQPjqpEgwNkNQv6-LIdEy_RnG2GtqeiDsz9MD3_UBCF4ssWWeKVGXfLcoQO-rO1B4v0uepHUQ7MWoeS-EhWLeLaQz_gSBHglw0znlLnwlBpDkEz4LJ8VZyGB50flFhEjZ7uKBtAV088v825bdfMRO-Qn7OJ9wYLVse5tUu3SpUbImsTZqCJMgwAF-CSmc6CMaA-HyRuTnVV002bKPhx300zAihQ7eVjwJWuLLnjcQlOaKmqUMwpcQrnYkB4RLjw7kgGdwHQLd4_Ru41-7WLaW4YQPxwZuKivqs6bOImOv9CPUbi0SOjhwkkUssoerKRN52YJgWbThrvzzbacmspMwm4n8Gl6R75enwdP2ciIZ1YkXhZZs363PTbG77yT9Y4FfEjbTizlOkBD-9UW7BhgMfAnkfyxzMhWo9_1pEHggcj6jGQm_42vlCHzqmDpnYKuyEA5De7GiRD6lWp821U_DDrRlyMjcsUQgurmhUAoQ0J0yJL5b6PthFM5l0ltOBlscBmHZglsI8fiNF_0uurrewvA3-LNEIXzuB9n5X5g0y8yVs5gbf-m7JL6y0TiwBeRdKFVWfuDLV3mHha8suVjHnSUw9wkXJWAdofT3UMMIgdjJdy1shIXzLmSDc-keF__kUgl6dvCOov-bXUHGHQ4gqmJnFS0M_QvkkadFCeJooHk8vreyIJosP71cOFV2RZ1vnKyZnb6uxZFDngVfqW7TP5tHnqKcnrO3MZKw95nDaa2vr4qW2vBzfMeEyRE2FcY-BmkGnkO_sWbdHi-LpP8irKK7demqblKu9XGkFycFfGZygXInj5kqyv1XqfRcNLYPzjoTJ3Tf86FjYuHuu3zOqNnAvlKjh3Eu4o_jW576_NrHUCkzxoZza0F7SI8jOdfofBHQUIq_teglAo-FWj_RjE_KmlkYOR2bECAIv3-f349ySpMcyPk3GSXw7sYtXLU-FO5-ApI4oPmXk2bVnJc-85qQKrTGx03_YHo3S2cPJby7wB1t6XgCEa5DAMKyB00QWwKUu5aJcms1WYrqJ4JR-FDjWMjTkkS2THzhNTX_NSHvC2-96EthZzf9ylvGITwds6iw_8IrkcJRmgIJor4kPVDHlGENwT6TsTtPxQpAAWSulncAPHxWLBnMxLycxSdZhYorE8V5mWTSfByLMLjOqvPJ7kQMy59qxCZlUmu31mqxYCsJgdlvObhq0fhf5rSQxLIUBEpuxfEKEybxsqinrPXRuKVqjN_dL7D83EeIU9QioKINUv-DAukq1-p6SGj_WmWg3PJXcCn_6WwyB7Fo6Obhe1fOIQC1S1y3D9max7MmzYYCUa-_o9NdFPYx8dmnwrBAmHPyRxelVnDJJ6nFwF0Njcx78PVUI-iimg1SoFhoEZMFbpYEdaz-MKU2Z9hPQ-ziFMy2WMbp--_YL_Xju70Ka-Ely_LX2G-zoh9JTo_vIeO61S9O0Tt12mdDrSJwf8QWjtybU2Qqb58R-0PKsLmrYMXNjes1E6uhLvsCEaW78K5mi4YO2_j_-G8AGFuPlZnKXce8ZT08ZSo0fTWJkFlb6OKVL8ufWXes_tM-kdTEHDMGHjdD4W2xPYlHgVf5mouSBNF6D1-l7QS3U3eTxV8SmJzI6m_IaiVurmDb0f2DcMPcgaUvZ0bH_RnwvPnxGbRGPmEUUcl6dEgjn-nJiiAya0l0n1h3bD5ssAfC-grA8qGKBip2nMZjhAkUcpTl0gAQ",
  "id": "rs_06873735dcdc90d2016aac72da636c87d0beaf1204d961fc89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.4,\"left_z\":0.02},\"note\":\"The reachable end of the can is now between the open fingers. I will lower at the edge of the left arm’s workspace to grasp that end without pushing sideways.\"}",
  "call_id": "call_hTiBsok2g9OaKyfeftWIpF7C",
  "id": "fc_06873735dcdc90d2016aac72df5aac87d0abef7cc0ffa3332b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hTiBsok2g9OaKyfeftWIpF7C",
  "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]: [-0.4969, 2.5721, 1.9816, -0.2626, 0.7433, 0.5186, 0.9972, -0.0864, 1.0256, 0.9546, -0.9535, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4818 left_y=-0.3931 left_z=0.0171 left_yaw=-1.3851 left_pitch=-0.0163 left_roll=-0.0993 left_gripper=0.9972 right_x=0.2604 right_y=0.0031 right_z=0.1707 right_yaw=0.0978 right_pitch=-0.4312 right_roll=0.0482 right_gripper=0.997\nstate[joint_eff]: [-0.4308, -14.5026, 8.335, 1.5165, 0.4908, 0.0366, -0.0122, -0.1026, -2.5231, 6.694, 1.3797, -0.1392, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2698e920ab8095107a8a5530fc48fbbcf6b2a32f518f22c7a403d42599b362",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97ae59b38fd8e36a013f0956c85794d1f096e39f4424121c7fc7ead4abb3acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1cbfd06045c3fa82034bcbd6d1745d29afcca0ce9aeab5a95d01e29b7439caf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 3.635 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5041, 2.3463, 1.8488, -0.3077, 0.7467, 0.5232, 0.9972, -0.0864, 1.0229, 0.9546, -0.9375, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.458 left_y=-0.3856 left_z=0.0925 left_yaw=-1.3972 left_pitch=0.0161 left_roll=-0.0597 left_gripper=0.9972 right_x=0.2636 right_y=0.0029 right_z=0.1734 right_yaw=0.0963 right_pitch=-0.4128 right_roll=0.0445 right_gripper=0.997\nstate[joint_eff]: [0.4171, -15.0359, 9.6342, 1.6044, 0.3883, 0.188, -0.0171, -0.1436, -2.4684, 6.4752, 1.4432, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The can fills the gap between the fingers at this lower pose. I will close around it and check the lift immediately.\"}",
  "call_id": "call_89pJ8s0EGpaCuT70jIGOOalz",
  "id": "fc_06873735dcdc90d2016aac72e2ffd087d097c7f4e607e8708c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_89pJ8s0EGpaCuT70jIGOOalz",
  "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]: [-0.4969, 2.5866, 1.9965, -0.247, 0.7437, 0.5194, 0.7025, -0.0864, 1.026, 0.9546, -0.9676, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4856 left_y=-0.3953 left_z=0.0162 left_yaw=-1.3857 left_pitch=-0.0059 left_roll=-0.0864 left_gripper=0.7025 right_x=0.2575 right_y=0.0034 right_z=0.1688 right_yaw=0.0991 right_pitch=-0.4454 right_roll=0.0512 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -13.9829, 8.294, 1.5018, 0.2808, 0.0855, 1.033, -0.1026, -2.0034, 6.4342, 1.3651, -0.1197, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60149c49137e304ddbf6fefc79462ee76c069d786c3e12307afdaa57cda69cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5738848938d73aac794cde4360ce967663c88fd73dfca94873355194bb5b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0754c423e831c810cd7521fe312d664917e88c773287dca417cd9b178caabbd9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.829 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]: [-0.4969, 2.5721, 1.9816, -0.2626, 0.7433, 0.5186, 0.9972, -0.0864, 1.0256, 0.9546, -0.9535, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4818 left_y=-0.3931 left_z=0.0171 left_yaw=-1.3851 left_pitch=-0.0163 left_roll=-0.0993 left_gripper=0.9972 right_x=0.2604 right_y=0.0031 right_z=0.1707 right_yaw=0.0978 right_pitch=-0.4312 right_roll=0.0482 right_gripper=0.997\nstate[joint_eff]: [-0.4308, -14.5026, 8.335, 1.5165, 0.4908, 0.0366, -0.0122, -0.1026, -2.5231, 6.694, 1.3797, -0.1392, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.385,\"left_z\":0.115},\"note\":\"The fingers have closed around the can with a firm, nonempty opening. I will lift it clear of the table and slightly inward from the reach limit.\"}",
  "call_id": "call_bc5ePJb5IhzSbKCRYLwmWFmV",
  "id": "fc_06873735dcdc90d2016aac72e7aff487d08c502c535bbfe0a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bc5ePJb5IhzSbKCRYLwmWFmV",
  "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]: [-0.4988, 2.4195, 1.9434, -0.4274, 0.7216, 0.514, 0.7019, -0.0864, 1.026, 0.9546, -0.9714, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.463 left_y=-0.381 left_z=0.0684 left_yaw=-1.3718 left_pitch=-0.0615 left_roll=-0.1312 left_gripper=0.7019 right_x=0.2567 right_y=0.0035 right_z=0.1684 right_yaw=0.0994 right_pitch=-0.4492 right_roll=0.052 right_gripper=0.997\nstate[joint_eff]: [-0.7043, -18.6462, 7.3231, 1.5116, 0.4078, -0.0171, 1.0232, -0.0615, -2.3316, 6.5026, 1.2186, -0.1197, -0.0415, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0917ee2c89bd92b4c09cd62a6aab5b7d66bfd4a2b7a26838dae01475a6d483a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7cc725d574559c83c62bf5371552e1450f69585de435bfd1db0c9e79698add",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889ffad9e952b3d04e6d5c88539f4c4f0fd804d034fc93c0ccb4f5c760fc3a7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 7.009 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4969, 2.5866, 1.9965, -0.247, 0.7437, 0.5194, 0.7025, -0.0864, 1.026, 0.9546, -0.9676, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.4856 left_y=-0.3953 left_z=0.0162 left_yaw=-1.3857 left_pitch=-0.0059 left_roll=-0.0864 left_gripper=0.7025 right_x=0.2575 right_y=0.0034 right_z=0.1688 right_yaw=0.0991 right_pitch=-0.4454 right_roll=0.0512 right_gripper=0.997\nstate[joint_eff]: [-0.1846, -13.9829, 8.294, 1.5018, 0.2808, 0.0855, 1.033, -0.1026, -2.0034, 6.4342, 1.3651, -0.1197, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHLwwqkK0vHX0rQR3pppUVWuu2bjha6E3c-qwMs2EQyNB3IB_ohPgzShnDd7xr9BTlfKwD4SiWH5DnlOJ7UAuy-SvRYrP9p3fjmyCDlCS3sKPm2DDaA6t3zLdQYNtzHN2XGgkdpjBmx6g4C24v1Aa_bUXu5D685JhUWdiPGnlTHBQXkE8ZYpu4Knf3NA9vY5tiyepLo4FFvZdlJVq_hV-wQI34C30Zi325kd4u6I3PbLs6TAhx4AtqiQdfLrcWcwG-m4CkGdl6-gYklsbdPiPuw-HjYe0ukAudnpc3S20kh_79pAYqw_-KkPHpsU1Z48r4gtmZhMO5Mqz58zqIOa_jUJeSYIHKf4cx9yaA0aG8_D5zEIBYCeVStm5YzNFB083moeqcOSYpPyl6Eh3De8ktWh2u2H_mjDx2fdVyrfKZCKvQcR0CpbCKaCQGo3ACGS7KY0WVMl270a3TCXyW3nXpLjisAxMl5Q_WMutYY3psOy2z0JRHRRTUQgceF_mVrFOlLqlUr4I90QyYmWcUFGKy0tqRyeohEGbhjnQRysIOr2vHiXLbvcgsesJ7xmJg_oh5JZdYh5uEfls5bvuceZcqxegoEld7CW4KYr6LN-o8ggWXuqPboIoUCrN5OHReu-jyxFJa8sKPMG4esQkQeL-l9nKt5WkEViqthvzSHm1LuHeCQxzN-Yz1T5CrS7pCKtMXOmB7aFum5CZ6as0kwWbNbeYtjtKdMbxm1cqz8qVHuf6R2pwU8INsG4SPRGA-bFCjzh2heqTpB8axdptcaJKw9GCYJa5jt13xt5BwrC0Nb_2aPWtcbf3MWryEPRoH44vM3q6WQ5zdi_CBIKt8TMEJQNxcgCI025vS6Sdq0hSdtilE4p2VM2fntwigMcYm4SJvcrGYrIXJoK6lVg71scP8G8DN-2T3mrWcSXUS_qzI9ziMmV7W_fMann9oRzL10c7cOfBUDN4LeXOA0_Am_1QFJXttzz2rC6OVYCNH_mKkoTnOANBpVx1NBreEHsOWP9iZdVHtLi0jjS9PyaieByAApksuSC_KN8VxudxyJ_n9IBLSMgXeWHl7DK01BtZjtO0wqwkCSdSAdsqluUAqoZ6aYZgb2r3gKCeLYPw8oRPGPyAHdZecQiGBvcgR7SHztoLmbVJi0C2iFUvSY9Bfnl5XkixWyO0rX1Jx6GiIPfZDa4JANL_Se0KfKNfUO4DUEBCs3272He3XDK-hpcDqMD6FSiCdzj_WRG4JZTK0vQ6DdHdsq29ucniZnlP4VLXLV3Lrx4hsZBk2m-Nxj9botisGaR5wESV432nVWv2pehA03400QVpHw9MN1yxBCV2hxCpyTc4X8WkuowhmqPQx-nbnT3EhmDjHxqs84K_MWSW37KW7II-dsyz2f3LE-dgscIiVdNYDaO6ywHVa4YlGKUDUep6l9DU1cOdLfoekLa_z_Bw546L3OoFjTY0DMQFJqRdx-s3LvgZuSFkOX-Nn4hl4hDEWb6eZZ6vGFijzCdOftEIPXZrKVkZHRcmXu03bSP45oBb1EknsBwgcybKv3XvT_LIaaiVlTf1ovfnsl6WIxQQHqwlkzHyilbmBNlPuGnBzLIgy4qnf6iy9PYs9MkVtkvt2e-DYNkEKUKkOsSv8GjddeAHD5hFgct98mPHzoit0dN2khhPLd5QHd85o1XA8czos3MSe0uPVQYtPfHDL0qdTED-_8XgkECjW0SbtCpfsRnoNudw_RJKyNSXc-GeSG1BZSRObEtHJdFb5bWFIV9R3Sw1iqA0an8m2VFyTrJ43mm",
  "id": "rs_06873735dcdc90d2016aac72eb004c87d0ab7e0e0e2d275c3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.15,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0.18,\"left_roll\":0.12},\"note\":\"The can now moves with the gripper and stays fixed in the wrist view. I will carry it above the burner, rotating its long axis so its center will sit over the heating coil.\"}",
  "call_id": "call_nBU9bu1SjeWvjAy0GG2fl0x5",
  "id": "fc_06873735dcdc90d2016aac72ee9d0887d0acc2fdca32f17a7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBU9bu1SjeWvjAy0GG2fl0x5",
  "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]: [-0.7078, 1.2999, 0.8371, -0.0978, -0.6029, -0.2207, 0.7019, -0.0864, 1.0306, 0.9543, -0.9932, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3547 left_y=-0.167 left_z=0.1962 left_yaw=-0.1065 left_pitch=0.1159 left_roll=0.1296 left_gripper=0.7019 right_x=0.2522 right_y=0.0038 right_z=0.1645 right_yaw=0.1019 right_pitch=-0.4754 right_roll=0.0575 right_gripper=0.997\nstate[joint_eff]: [-0.4991, -6.6803, 8.9368, 2.0733, -0.3883, -0.0757, 1.0183, -0.1709, -2.7145, 6.5983, 1.3602, -0.1099, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a094e51383cffd3867ff7c05fee35889449980b94fc758695f6b4666eb342d44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99b5a7e8370968a229eb593d1df61d08964bdd50dd05df2b01fca7dc354c2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e350a71b1cb41ca6e202c47458914ad921fa79ec2fdccc5884d34c9ff48cc1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 4.211 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4988, 2.4195, 1.9434, -0.4274, 0.7216, 0.514, 0.7019, -0.0864, 1.026, 0.9546, -0.9714, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.463 left_y=-0.381 left_z=0.0684 left_yaw=-1.3718 left_pitch=-0.0615 left_roll=-0.1312 left_gripper=0.7019 right_x=0.2567 right_y=0.0035 right_z=0.1684 right_yaw=0.0994 right_pitch=-0.4492 right_roll=0.052 right_gripper=0.997\nstate[joint_eff]: [-0.7043, -18.6462, 7.3231, 1.5116, 0.4078, -0.0171, 1.0232, -0.0615, -2.3316, 6.5026, 1.2186, -0.1197, -0.0415, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHL5keaXHetmPY42lS3TxcqO081mH_siLUe6E7wcOabZah1TPp1k7K6owrdc_3rG8wUXQsUZDnJoD4XVRwvMR5t5z7LugeBeDsnctLMcGnm8y3cYxcm4vcuywYKAKEqQL996rTInV_RocWSJKrhSlfc-e3mU5m7a6plNShWJYCo0Y6sJxqXcDxJshgrL-lLcGvZtNYQHwcdxBbNT96CJoUaHIorslu_1huiCaDAnroSwYyoH7QXK-CXOV-2qTYumCJEVKbwV8NrfJxebPIzYI8C5bKfA59pg9r8xjDIzT3A1qW6ZAiH6W8CLx3gnra1apwoWG_JKgNJeq64XgMcOxZT9jKOutEUhih5tOOTBm4rLR1lKKBYbwXrdngB9XS6OE-2TmX5CpVocLJaV1bbgj0zAjv10zC9QcdHfkiLBRz_DKr3qNreWzzcErAg3ZgBQs3ql5oUUk1oo2AXK7M_jfHKFoAEGqizO8mVVRgYi9CHtS_w9C7MwVhiXTflXNSYqXbLwwtHliuTPKwcKthbeW_MeSxgGpY3DNS4_VY2_SBONzzS1uWU9Q0dYrLQGaJiZrVHsaCI9lTTKK4-uoAuhuRNGLia2eLznP-CnrF_wnlPsd4_yhxG1BcWa-XVwEsCUhYy92cfhWOllxP0jCf8_eJfjwi3dFtu4X69FaPOC3_KbFLPpOF3evq6uaU5Sc4G0XpfkmJtj7ZN5KBGUo05OKnQQMrZ8LKGGGTZz8Zcn7DNqi_oVxLXf7Toxoc0C6VQ0ba2ZOb97ldXb0Z_MoU2frDCwX3cH5K25enUkD9Y2CZa82kAkiMCjnrbs_GS3zr1i3jzYq2pFp6OeSW5d4nwG00gYr5L4v4sx-Pj2Npjs7Sfu73Or0_FdhX3J1aKOiXgHGoIdTO-BCW-tXzP-HsLv_MbbxFbcLa_b4YEgnd9EWtP-Jl43PRdqEdScaDtXiNQQQFx_CTRCmU2bA2UbmbqHfxb7r-1D2PjkanTGU-29wRd3iV6AHG2b6OZN58cLJeorDBBIMbWS_S6ye9ZqQxgq3OWSOSA8tG7AlVtRnCfDucaIm8R98zbbeDQ-zoN3GeWQMqjAckcePxCFjwwdn-mzcwRxiBzX3MGbHvlS7IHIxA6L3n46rwUuZuyFh_lNyi2tMQZsq4GGv5Gbw8bcVzIvFxeMIfV5j3aYng5vTtzQjdCLkJTyma_80T-636uAEo-eNNKJhlU2_t6dde2bObSq-GaRxUV-d5wZvS_EFfmZaeParBmqluFrr1C0_NVpMBSwhPZ_UY4u7bcF96kirV-5GBabv3EAv4lPWOi7q9NrcmSU2Pzp3hFUyKboa8NxntezqCiqhHK4alZOcdXqqdwIjTpxtNaGU7jtQV93717iNUqnsNgrtS4fiqjGMGUnpsEJgavv12rKsJzSln4aN4jk4uLhGB3G0ml_LOZIFiUf1t_F3_-xVlC5QJ6KamWEetoww9LpfIT7JbD7w763yFJ_f-WMCpZUe51UbBMevkaGHhgOf09DnU9uXKUsa47Hne1aRvLBC7-5_kxkDxLk_5r6VUWZCTu6tKSJQIWFXgCE95VEbe7TsM5gQtx-pgR1XQnWeLH0QKBeEuHXICNsxCR_5hgGKIigihVheVfxIusQtMjxBgize2MRIi3oJsoEUs8OwVQW2HjOjDdByIktURWI_yth2EQ_8oRtJahHhiLgyfe2erzZyYXQ0FDI9UEaU22AWGdcAksz-3Wvlyw7IjBO2o5xOXyUe-vk998tICaXmsM6kM5LclT-yOXVpNPW5eYVUldYvPWVFvLTXsqYAhdt3VjS1rgMLD3zCVXK1be0P07nt7kVE8GPHTpDjF4ON3MxdwgM",
  "id": "rs_06873735dcdc90d2016aac72f3d34c87d0a4747550818f8122",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.105,\"left_z\":0.075},\"note\":\"The can is suspended above the burner but slightly to its right. I will shift it left and forward while lowering toward the coil.\"}",
  "call_id": "call_rg5XZBzLaMqfkWILZ2kR1quC",
  "id": "fc_06873735dcdc90d2016aac72f787e887d0a2ba4823aa17afad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rg5XZBzLaMqfkWILZ2kR1quC",
  "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]: [-0.4377, 1.5764, 0.5232, 0.4858, -0.3981, -0.086, 0.7019, -0.0864, 1.0325, 0.9543, -1.0134, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3851 left_y=-0.1006 left_z=0.0677 left_yaw=-0.0747 left_pitch=0.0483 left_roll=0.1545 left_gripper=0.7019 right_x=0.248 right_y=0.0042 right_z=0.1618 right_yaw=0.1041 right_pitch=-0.4971 right_roll=0.0622 right_gripper=0.997\nstate[joint_eff]: [0.6632, -4.5197, 4.3145, 1.4823, 0.0904, 0.0855, 1.0232, 0.0068, -2.4684, 6.3521, 1.2967, -0.1099, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b4aa6f99019a230328e0eba63e29c9d07d1bcad148a354a77232389b91aa88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72ab3e2a113339fe3e4ad1889de557d0bff235c1af52010a6835efb752e773f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd5ea78fa9c9c50feb3b045b21709380b29a4a2474ff7fe17be80d0949dd4f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.225 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7078, 1.2999, 0.8371, -0.0978, -0.6029, -0.2207, 0.7019, -0.0864, 1.0306, 0.9543, -0.9932, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3547 left_y=-0.167 left_z=0.1962 left_yaw=-0.1065 left_pitch=0.1159 left_roll=0.1296 left_gripper=0.7019 right_x=0.2522 right_y=0.0038 right_z=0.1645 right_yaw=0.1019 right_pitch=-0.4754 right_roll=0.0575 right_gripper=0.997\nstate[joint_eff]: [-0.4991, -6.6803, 8.9368, 2.0733, -0.3883, -0.0757, 1.0183, -0.1709, -2.7145, 6.5983, 1.3602, -0.1099, -0.0757, -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": "gAAAAABqrHL-tP60SPpTIUxokmZMgtWPemxatsIf4p8lQLvRXiRzE-t8Yu0rjehTIZau_bkrb3LtDjS24p9WEBmaBG6QbGvb5H7PVYXbrDFVZJhcGdfKgVqtawaHiEctYtDiLXK4yC575IwhIBnbacwhVcCSapRjbQq-lSP6IYb6kZCoCvn-rJuDQ8XelLj3KIDsNMdBY-a5VzF-o7CRv3c6crs7TJTtzwXVLeB9J9D00lhe2WRyEHVx43HnsRfaFYN_t-WluKNeirny_3g2oZ0TN5zfcdubkDBIJDv_noCVedIIX07-1IAOtIAJXELzbDXqq5MBLtGs9FfH0QWsdRwSKRKgrUYofRspF6YkWX5kXgTpwS_QQ6uyX-YifyU0pCSyO4_DVGhYdXbhF_bNEBEGNcol4rc9kah46NbnqTzdxveAiD9J0XG5dp61kvkvs9FIUpw7YRScgOmtq4RRVfuAoNmWlUNKWOAKsfMJY893Vgj4CrJl-tq-X1pZen3y4Y4FktoR8lpFEOK6exJUQ2blLgfRVn4twlqQ9Mzlnrb8tVeQsP2pQzd62jJVh5RiAv75LfN1pyaBSoWFXIkV2HJcql7CFmzMLRq_xG3KsRV9bpDhWWw-tPS94QpcAyVehHSkdGWGbHwUhKd3rh7tbWVFeBXrR3B_MKODbfUSBYONhO0UiPUMADmoI91hsF7z0Om-EPzlcFk2VpcppkLZooXv38Ffy5G_k6vXgYf0sxwTeD_3uIeuClv67TXPl7VCI6eYDTw9ZQbYqmmE8H69PT5ir_nqRsH94SwF0RfzZVAcgB6HxjDzg6ijP-b8E3fbr-QZesKR2J74JBUfntOeATuwyg6BTw3FIvteT9wWydDoNCYMmZdVluc32T2vhGSepXw9GtLNRJzFTNDEoNDrll6NXpw5GxmLVhTUPjKhAmdmjXtygqs4cmFst4CvS5ADa8NbaUKgL_djUf9tEkH9p3I29SsYLXlU3NY1ODFZghwdKSxEQIQSQtYmw03kxWYW7IylHyC-6aOnb9i7WeSmwPhqNn33SfzYPCwsqJ_clrfxTBct3HGm7Jh3lsF_Xw1aL9isaMPZ5F5U0dMENbeS_Rk1LN3mtPwNZ80Dw4XBtydn4LIf2udLbJ2DUbZUizUUBTrKa8Bm8f3Ws0OT9b3XgRIQUocjR7D47bNCw3GwPPtyzhzmr-C5QTznGNRjkyWD043VveRudSj9rZaikK1ThSLpbLqYSPayLgNo395zzn6f_LXCXN0wcg8=",
  "id": "rs_06873735dcdc90d2016aac72fc74f887d0beb39d22bbce6cbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.042},\"note\":\"The can is centered over the circular burner. I will lower the last few centimeters until it is supported by the burner surface.\"}",
  "call_id": "call_KgJzd1KtRUsfGcmUrbrchSVe",
  "id": "fc_06873735dcdc90d2016aac72fcefa887d09da0bea1d7c50040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KgJzd1KtRUsfGcmUrbrchSVe",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4324, 1.6398, 0.5083, 0.6395, -0.3874, -0.0757, 0.7057, -0.0864, 1.0325, 0.9543, -1.0187, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3952 left_y=-0.105 left_z=0.069 left_yaw=-0.0816 left_pitch=0.1163 left_roll=0.1321 left_gripper=0.7057 right_x=0.2468 right_y=0.0043 right_z=0.1612 right_yaw=0.1046 right_pitch=-0.5024 right_roll=0.0634 right_gripper=0.997\nstate[joint_eff]: [-0.212, -3.5214, 3.1932, 0.7204, 0.0415, -0.1148, 0.7643, -0.0615, -2.2906, 6.4068, 1.243, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695900aaf4f7224a4c75f9c41fccc7987e77aa7775c30a7944ef3bff543defde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12852bce93a2be70a75a06c83867bc6a15d0bc43ef3397d724cbd4f686df8c04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3167745e89d9d3974384c051c1d55425c7158871393444698171a4b34979e98b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 4.731 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 110 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4377, 1.5764, 0.5232, 0.4858, -0.3981, -0.086, 0.7019, -0.0864, 1.0325, 0.9543, -1.0134, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3851 left_y=-0.1006 left_z=0.0677 left_yaw=-0.0747 left_pitch=0.0483 left_roll=0.1545 left_gripper=0.7019 right_x=0.248 right_y=0.0042 right_z=0.1618 right_yaw=0.1041 right_pitch=-0.4971 right_roll=0.0622 right_gripper=0.997\nstate[joint_eff]: [0.6632, -4.5197, 4.3145, 1.4823, 0.0904, 0.0855, 1.0232, 0.0068, -2.4684, 6.3521, 1.2967, -0.1099, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped with the can supported on the burner. I will release it without moving sideways.\"}",
  "call_id": "call_7y2aCg1K401uHWnCM60PB49s",
  "id": "fc_06873735dcdc90d2016aac73004a0c87d09310e8c37ce89b7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7y2aCg1K401uHWnCM60PB49s",
  "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]: [-0.4381, 1.676, 0.495, 0.6781, -0.4046, -0.0956, 0.9953, -0.0864, 1.0325, 0.9543, -1.0241, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3934 left_y=-0.1036 left_z=0.0588 left_yaw=-0.0628 left_pitch=0.1103 left_roll=0.1259 left_gripper=0.9953 right_x=0.2456 right_y=0.0044 right_z=0.1606 right_yaw=0.1052 right_pitch=-0.5076 right_roll=0.0645 right_gripper=0.997\nstate[joint_eff]: [-0.0205, -5.5316, 4.4376, 1.2918, -0.0904, 0.1245, -0.1538, -0.0889, -2.3179, 6.3385, 1.1453, -0.1099, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a665a4ec84572e047b93bb7768a4d9baffdbb87067cd78155ea15df978b825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c0c8298518d721b909b0dcb5022da731738632bccdd99d95300ef8921414e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488d4a723b2a9e272a5d6f4b3377d4f6422bdb32ba7dd43130e1a7216b9f8c36",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 8.813 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 114 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4324, 1.6398, 0.5083, 0.6395, -0.3874, -0.0757, 0.7057, -0.0864, 1.0325, 0.9543, -1.0187, -0.1249, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3952 left_y=-0.105 left_z=0.069 left_yaw=-0.0816 left_pitch=0.1163 left_roll=0.1321 left_gripper=0.7057 right_x=0.2468 right_y=0.0043 right_z=0.1612 right_yaw=0.1046 right_pitch=-0.5024 right_roll=0.0634 right_gripper=0.997\nstate[joint_eff]: [-0.212, -3.5214, 3.1932, 0.7204, 0.0415, -0.1148, 0.7643, -0.0615, -2.2906, 6.4068, 1.243, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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 is released on the burner. I will withdraw the left arm upward and back to verify that it stays in place.\"}",
  "call_id": "call_aelV3GRA3ZuGjKvMJpWo5TQb",
  "id": "fc_06873735dcdc90d2016aac73051df887d0ab16579082a9e59d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aelV3GRA3ZuGjKvMJpWo5TQb",
  "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]: [-0.1173, 1.3922, 0.519, 0.3878, -0.1883, 0.0177, 0.9963, -0.0864, 1.0348, 0.9543, -1.034, -0.1246, -0.1314, 0.997]\nstate[eef_state]: left_x=0.3937 left_y=-0.0095 left_z=0.1091 left_yaw=0.0166 left_pitch=0.0935 left_roll=0.1231 left_gripper=0.9963 right_x=0.2436 right_y=0.0045 right_z=0.159 right_yaw=0.1062 right_pitch=-0.5197 right_roll=0.0668 right_gripper=0.997\nstate[joint_eff]: [-2.8923, -5.5863, 9.4427, 2.1026, 0.5739, 0.2759, 0.0904, -0.0068, -1.9624, 6.5162, 1.1795, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca0882461b9f3f48e47fac228c2d112cf6f757087093d7a1fc0c9375c6295fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fccf8609cf108db8b42bc2cf44b768b7354c297b85a90705a2fab5f15dacce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feea7745198e1bec221df84233eb1d1b525ca26cc3354cf847a212983314b48f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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