adhoc

completed
2026-09-17T23:55:46.810697+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
198.1 s
total steps
278
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying to the left of the black burner. I’m moving the open left gripper above the can to line up a grasp across its body.
move_to
left_x0.4500left_y-0.1300left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7921, 0.6064, -0.3958, -0.0193, -0.0254, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 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]: [-0.6632, -1.3607, 10.2906, 1.9414, -0.0659, 0.1587, -0.0855, -0.2667, -1.306, 9.7162, 1.9072, -0.0464, 0.105, -0.0513] 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":{"left_x":0.45,"left_y":-0.13,"left_z":0.15,"left_gripper":1},"note":"The can is lying to the left of the black burner. I’m moving the open left gripper above the can to line up a grasp across its body."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe can is slightly left of the jaw centerline and still ahead of the fingertips. I’m shifting left and forward while lowering toward the middle of its cylindrical body.
move_to
left_x0.4800left_y-0.0950left_z0.0550
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4126, 1.6157, 0.9844, -0.057, -0.3328, -0.2569, 0.9993, -0.0208, 0.7959, 0.6067, -0.4324, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4352 left_y=-0.1236 left_z=0.1291 left_yaw=-0.0101 left_pitch=-0.0693 left_roll=0.0213 left_gripper=0.9993 right_x=0.288 right_y=0.0009 right_z=0.17 right_yaw=0.0003 right_pitch=-0.04 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.5538, -8.4718, 8.7316, 1.8388, -0.2808, -0.0562, -0.0855, -0.0752, -1.4701, 6.9675, 2.0586, -0.022, -0.0317, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.095,"left_z":0.055},"note":"The can is slightly left of the jaw centerline and still ahead of the fingertips. I’m shifting left and forward while lowering toward the middle of its cylindrical body."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe can’s lower end is between the open fingers but remains a little left of center. I’m making a small alignment correction and lowering to grip its lower body.
move_to
left_x0.4900left_y-0.0780left_z0.0180
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2951, 1.8668, 0.9569, 0.1585, -0.2661, -0.2028, 0.9993, -0.0212, 0.8005, 0.606, -0.4538, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4648 left_y=-0.089 left_z=0.0439 left_yaw=0.0256 left_pitch=-0.1449 left_roll=0.0446 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.2803, -9.2103, 6.0923, 1.9414, -0.0317, 0.1294, -0.022, -0.1026, -1.3333, 7.0496, 1.8926, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.078,"left_z":0.018},"note":"The can’s lower end is between the open fingers but remains a little left of center. I’m making a small alignment correction and lowering to grip its lower body."})
tool
executing move_to over 2 steps (0.2s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe can’s lower body now overlaps the fingertip region. I’m closing the jaws to secure it before a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2718, 1.9465, 0.989, 0.2291, -0.2462, -0.1909, 0.9993, -0.0212, 0.8013, 0.6056, -0.4564, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4818 left_y=-0.0859 left_z=0.0312 left_yaw=0.025 left_pitch=-0.1274 left_roll=0.0338 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0706 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [1.2376, -8.5675, 6.5162, 1.5946, 0.0366, 0.2027, -0.0171, -0.0479, -1.2239, 7.1043, 1.6728, -0.0806, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The can’s lower body now overlaps the fingertip region. I’m closing the jaws to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe jaw opening indicates contact with the can rather than an empty close. I’m lifting it a few centimeters to check that it follows the gripper, while keeping the unused arm parked.
move_to
left_z0.0850right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2443, 2.0087, 1.0023, 0.2234, -0.2367, -0.1802, 0.7063, -0.0212, 0.8036, 0.6056, -0.4782, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4816 left_y=-0.0737 left_z=0.0058 left_yaw=0.0411 left_pitch=-0.1818 left_roll=0.0513 left_gripper=0.7063 right_x=0.2814 right_y=0.001 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0946 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.2393, -10.7419, 6.7761, 1.6484, -0.0659, 0.0855, 1.0281, -0.2256, -1.4017, 6.9265, 1.8779, -0.0806, -0.0415, -0.0073] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The jaw opening indicates contact with the can rather than an empty close. I’m lifting it a few centimeters to check that it follows the gripper, while keeping the unused arm parked."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe can moved with the gripper during the test lift. I’m raising it to clear the burner and drawing the arm slightly back to improve carrying clearance.
move_to
left_x0.4500left_z0.2100
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2443, 1.8801, 1.0855, -0.0647, -0.2367, -0.1883, 0.7041, -0.0219, 0.8658, 0.6712, -0.5495, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.4696 left_y=-0.0707 left_z=0.0477 left_yaw=0.0504 left_pitch=-0.2547 left_roll=0.0679 left_gripper=0.7041 right_x=0.2826 right_y=0.0008 right_z=0.1576 right_yaw=0.0002 right_pitch=-0.1625 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [-0.2393, -12.4376, 9.2513, 1.8388, -0.1197, 0.0513, 1.0281, -0.6769, -1.4564, 9.6342, 1.9219, -0.0952, -0.0952, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_z":0.21},"note":"The can moved with the gripper during the test lift. I’m raising it to clear the burner and drawing the arm slightly back to improve carrying clearance."})
tool
executing move_to over 11 steps (1.1s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe can is securely lifted and the burner is clear to its right. I’m carrying the can sideways above the burner, keeping it elevated.
move_to
left_x0.4500left_y-0.3200left_z0.2300
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.255, 1.7107, 1.4361, -0.6708, -0.2367, -0.2054, 0.7056, -0.0235, 0.8688, 0.6731, -0.5865, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4473 left_y=-0.0701 left_z=0.1688 left_yaw=0.0573 left_pitch=-0.3362 left_roll=0.0833 left_gripper=0.7056 right_x=0.2767 right_y=0.0005 right_z=0.1511 right_yaw=-0.0016 right_pitch=-0.2006 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [-0.6085, -12.1094, 9.9214, 1.707, -0.2271, 0.0562, 0.9451, 0.1436, -1.812, 6.735, 1.8974, -0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.32,"left_z":0.23},"note":"The can is securely lifted and the burner is clear to its right. I’m carrying the can sideways above the burner, keeping it elevated."})
tool
executing move_to over 23 steps (2.3s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe wrist view shows the burner slightly to the right of the can. I’m centering the can over the coil and lowering toward it carefully.
move_to
left_y-0.3600left_z0.1350
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7704, 2.5534, 2.9303, -1.5345, -0.469, -0.6731, 0.7053, -0.0238, 0.8715, 0.6731, -0.6128, -0.0189, -0.0261, 0.9996] state[eef_state]: left_x=0.4433 left_y=-0.3139 left_z=0.1961 left_yaw=0.0392 left_pitch=-0.3852 left_roll=0.0909 left_gripper=0.7053 right_x=0.2721 right_y=0.0004 right_z=0.1458 right_yaw=-0.002 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.335, -14.1744, 9.2376, 1.1404, -0.652, -0.0855, 0.9255, -0.1846, -1.7983, 6.9538, 1.7558, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.36,"left_z":0.135},"note":"The wrist view shows the burner slightly to the right of the can. I’m centering the can over the coil and lowering toward it carefully."})
tool
executing move_to over 5 steps (0.5s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe can is aligned side-to-side but its center is still toward the near edge of the burner. I’m moving it a few centimeters forward and slightly lower so the coil supports its middle.
move_to
left_x0.4900left_z0.1100
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8234, 2.6003, 2.7586, -1.4075, -0.4877, -0.7364, 0.7083, -0.0238, 0.8719, 0.6731, -0.6346, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4373 left_y=-0.3448 left_z=0.1315 left_yaw=0.0648 left_pitch=-0.4285 left_roll=0.1399 left_gripper=0.7083 right_x=0.2682 right_y=0.0006 right_z=0.1421 right_yaw=-0.0018 right_pitch=-0.2517 right_roll=0.0052 right_gripper=0.9996 state[joint_eff]: [-0.6632, -13.1761, 8.5538, 1.0867, -0.3004, 0.0611, 0.6764, -0.0752, -1.5658, 6.8034, 1.6728, -0.0806, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_z":0.11},"note":"The can is aligned side-to-side but its center is still toward the near edge of the burner. I’m moving it a few centimeters forward and slightly lower so the coil supports its middle."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe can is now over the coil, with only a small gap remaining. I’m lowering slowly to let the burner take its weight before opening the gripper.
move_to
left_x0.4750left_y-0.3500left_z0.0650
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7532, 2.8063, 3.0474, -1.4765, -0.4644, -0.6849, 0.708, -0.0238, 0.8719, 0.6731, -0.6575, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4708 left_y=-0.3281 left_z=0.1005 left_yaw=0.0855 left_pitch=-0.4404 left_roll=0.143 left_gripper=0.708 right_x=0.264 right_y=0.0007 right_z=0.1383 right_yaw=-0.0016 right_pitch=-0.2746 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.294, -13.4496, 7.9795, 1.0379, -0.2271, 0.0952, 0.7106, -0.0342, -1.5248, 6.7761, 1.6728, -0.0513, -0.0171, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.35,"left_z":0.065},"note":"The can is now over the coil, with only a small gap remaining. I’m lowering slowly to let the burner take its weight before opening the gripper."})
tool
executing move_to over 3 steps (0.3s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe can has been lowered onto the burner area. I’m opening the jaws gently to leave it supported on the coil.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7643, 2.8185, 2.9425, -1.404, -0.4686, -0.7006, 0.7107, -0.0238, 0.8719, 0.6731, -0.6743, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.47 left_y=-0.3351 left_z=0.0677 left_yaw=0.1027 left_pitch=-0.4654 left_roll=0.1742 left_gripper=0.7107 right_x=0.2608 right_y=0.0007 right_z=0.1356 right_yaw=-0.0019 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.9094, -14.065, 7.5966, 0.9988, -0.2759, -0.0122, 0.5543, -0.335, -1.4701, 6.9265, 1.6484, -0.0611, -0.0317, -0.0073] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The can has been lowered onto the burner area. I’m opening the jaws gently to leave it supported on the coil."})
tool
executing move_to over 3 steps (0.3s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe gripper is open and the can remains over the burner. I’m lifting the fingers clear before moving away to verify the final placement.
move_to
left_x0.4400left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.77, 2.8376, 2.9459, -1.3991, -0.4648, -0.7113, 0.9952, -0.0238, 0.8764, 0.6731, -0.68, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4682 left_y=-0.3387 left_z=0.0582 left_yaw=0.1052 left_pitch=-0.474 left_roll=0.1747 left_gripper=0.9952 right_x=0.2598 right_y=0.0007 right_z=0.1336 right_yaw=-0.0018 right_pitch=-0.3017 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [0.4718, -16.6085, 5.9692, 0.6569, -0.315, 0.0464, -0.1441, -0.0068, -1.853, 6.7624, 1.4725, -0.0806, -0.0171, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_z":0.2},"note":"The gripper is open and the can remains over the burner. I’m lifting the fingers clear before moving away to verify the final placement."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe can slid off the near edge and is now lying on the table in front of the burner. I’m repositioning above its middle for a more balanced grasp and another placement.
move_to
left_x0.3000left_y-0.3200left_z0.1300
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7975, 2.5778, 2.804, -1.5558, -0.4618, -0.7383, 0.9964, -0.0238, 0.8772, 0.6727, -0.7013, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4241 left_y=-0.3167 left_z=0.145 left_yaw=0.1084 left_pitch=-0.498 left_roll=0.1917 left_gripper=0.9964 right_x=0.2556 right_y=0.0008 right_z=0.13 right_yaw=-0.0016 right_pitch=-0.3242 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.5812, -18.0034, 5.6274, 0.7643, -0.4274, -0.0317, 0.1148, -0.0205, -1.2376, 6.735, 1.6288, -0.0611, -0.0269, -0.0073] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.32,"left_z":0.13},"note":"The can slid off the near edge and is now lying on the table in front of the burner. I’m repositioning above its middle for a more balanced grasp and another placement."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe bottle-shaped can is slightly right of the jaw centerline. I’m aligning over its broad middle and restoring a vertical tool orientation while lowering for the grasp.
move_to
left_x0.3000left_y-0.3500left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0092, 2.1265, 1.9076, -1.2552, -0.485, -0.9482, 0.9966, -0.0238, 0.8818, 0.6727, -0.7238, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.3034 left_y=-0.3208 left_z=0.1165 left_yaw=0.1052 left_pitch=-0.531 left_roll=0.2336 left_gripper=0.9966 right_x=0.2513 right_y=0.001 right_z=0.1256 right_yaw=-0.0011 right_pitch=-0.3513 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [-0.2803, -13.8051, 5.7504, 0.6227, -0.4322, -0.0952, 0.0024, -0.335, -1.6615, 6.6667, 1.619, -0.0659, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.35,"left_z":0.035,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The bottle-shaped can is slightly right of the jaw centerline. I’m aligning over its broad middle and restoring a vertical tool orientation while lowering for the grasp."})
tool
executing move_to over 18 steps (1.8s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe can extends forward from the fingertips, so I’m shifting the grasp toward its center rather than its end. This should make the placement more stable.
move_to
left_x0.3450left_y-0.3350left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.1656, 2.0682, 1.19, -0.244, -0.8436, -0.9531, 0.9966, -0.0238, 0.8829, 0.6727, -0.7433, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.294 left_y=-0.3416 left_z=0.025 left_yaw=-0.0031 left_pitch=-0.0684 left_roll=0.0531 left_gripper=0.9966 right_x=0.2474 right_y=0.001 right_z=0.1225 right_yaw=-0.0012 right_pitch=-0.3719 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [-0.4991, -10.4684, 5.2855, 1.1746, -0.7302, 0.0562, -0.0073, -0.212, -1.5658, 6.6393, 1.5311, -0.0317, -0.0073, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.335,"left_z":0.03,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The can extends forward from the fingertips, so I’m shifting the grasp toward its center rather than its end. This should make the placement more stable."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe jaws are aligned across the can’s central body. I’m closing them for a balanced hold.
move_to
left_gripper0.0000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0576, 2.0727, 1.1694, -0.0742, -0.8268, -0.8452, 0.9966, -0.0238, 0.8871, 0.6727, -0.7528, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.3382 left_y=-0.3281 left_z=0.031 left_yaw=0.0315 left_pitch=-0.0212 left_roll=0.0041 left_gripper=0.9966 right_x=0.2455 right_y=0.0011 right_z=0.1202 right_yaw=-0.0008 right_pitch=-0.3856 right_roll=0.0084 right_gripper=0.9996 state[joint_eff]: [-0.1709, -8.7316, 5.2718, 1.4286, -0.4371, 0.1685, -0.0122, -0.1709, -1.8667, 6.8444, 1.3797, -0.0806, -0.0317, -0.0073] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The jaws are aligned across the can’s central body. I’m closing them for a balanced hold."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe jaws have closed around a substantial width of the can. I’m making a short lift to confirm the new grasp.
move_to
left_z0.1050left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0496, 2.0758, 1.1694, -0.0147, -0.823, -0.7937, 0.6422, -0.0238, 0.8883, 0.6727, -0.7692, -0.0193, -0.0261, 0.9996] state[eef_state]: left_x=0.345 left_y=-0.3336 left_z=0.0358 left_yaw=0.0088 left_pitch=0.0028 left_roll=-0.004 left_gripper=0.6422 right_x=0.2422 right_y=0.0012 right_z=0.1177 right_yaw=-0.0004 right_pitch=-0.4031 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [-0.0205, -9.5521, 5.1761, 1.4042, -0.2808, 0.0317, 1.0281, -0.1983, -1.5932, 6.612, 1.4383, -0.0611, -0.0415, -0.0073] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The jaws have closed around a substantial width of the can. I’m making a short lift to confirm the new grasp."})
tool
executing move_to over 5 steps (0.5s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe can is held securely. I’m lifting it above the burner’s height and beginning the forward approach, keeping its orientation steady.
move_to
left_x0.4300left_z0.2100left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0492, 1.9945, 1.2385, -0.2279, -0.8066, -0.7963, 0.6422, -0.0238, 0.8883, 0.6727, -0.7883, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.3401 left_y=-0.3287 left_z=0.0682 left_yaw=0.002 left_pitch=-0.0399 left_roll=0.0419 left_gripper=0.6422 right_x=0.2382 right_y=0.0012 right_z=0.1151 right_yaw=-0.0008 right_pitch=-0.4222 right_roll=0.0089 right_gripper=0.9996 state[joint_eff]: [0.1299, -13.9556, 8.5675, 1.2137, -0.4713, 0.0855, 1.033, -0.1709, -1.4701, 6.5709, 1.4872, -0.0464, -0.0562, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_z":0.21,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The can is held securely. I’m lifting it above the burner’s height and beginning the forward approach, keeping its orientation steady."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe can’s near end is still in front of the coil. I’m advancing farther so the center of its body, not just its tip, is above the burner.
move_to
left_x0.5400left_y-0.3350left_z0.1800left_yaw0.0000left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8799, 1.9896, 1.7214, -0.5549, -0.7025, -0.6407, 0.6422, -0.0238, 0.8886, 0.6727, -0.7956, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4214 left_y=-0.3249 left_z=0.196 left_yaw=0.0164 left_pitch=-0.019 left_roll=-0.0091 left_gripper=0.6422 right_x=0.2367 right_y=0.0013 right_z=0.1141 right_yaw=-0.0003 right_pitch=-0.4298 right_roll=0.0095 right_gripper=0.9996 state[joint_eff]: [0.4718, -9.7299, 9.3744, 1.4628, -0.3736, 0.232, 1.0281, -0.1983, -1.4701, 6.6393, 1.3407, -0.0806, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.335,"left_z":0.18,"left_yaw":0,"left_pitch":0.15,"left_roll":0},"note":"The can’s near end is still in front of the coil. I’m advancing farther so the center of its body, not just its tip, is above the burner."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe coil is visible just to the right of the can’s middle. I’m making a small rightward and forward correction while lowering toward the support surface.
move_to
left_x0.5600left_y-0.3650left_z0.1150left_yaw0.0000left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7418, 2.2795, 1.9259, -0.2996, -0.6643, -0.4274, 0.6422, -0.0238, 0.894, 0.6674, -0.8154, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.5247 left_y=-0.3283 left_z=0.1569 left_yaw=0.014 left_pitch=0.0756 left_roll=0.0309 left_gripper=0.6422 right_x=0.2314 right_y=0.0015 right_z=0.1084 right_yaw=0.0 right_pitch=-0.4603 right_roll=0.0103 right_gripper=0.9996 state[joint_eff]: [0.4171, -13.2718, 10.0581, 1.7167, -0.2027, 0.2125, 1.0232, -0.2256, -1.8393, 6.9675, 1.3797, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_y":-0.365,"left_z":0.115,"left_yaw":0,"left_pitch":0.15,"left_roll":0},"note":"The coil is visible just to the right of the can’s middle. I’m making a small rightward and forward correction while lowering toward the support surface."})
tool
executing move_to over 4 steps (0.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe can is centered across the burner coil now. I’m lowering the last few centimeters to establish support before releasing it.
move_to
left_z0.0800left_yaw0.0000left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7467, 2.4798, 2.0571, -0.178, -0.7006, -0.4114, 0.6478, -0.0238, 0.8955, 0.667, -0.8333, -0.0189, -0.0261, 0.9996] state[eef_state]: left_x=0.5537 left_y=-0.3524 left_z=0.1127 left_yaw=0.0318 left_pitch=0.1279 left_roll=0.0239 left_gripper=0.6478 right_x=0.2275 right_y=0.0015 right_z=0.1057 right_yaw=0.0001 right_pitch=-0.4802 right_roll=0.0102 right_gripper=0.9996 state[joint_eff]: [-0.1436, -13.8325, 7.8427, 1.2821, 0.0757, 0.1929, 1.033, -0.0615, -1.5795, 6.5436, 1.4628, -0.0611, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"left_yaw":0,"left_pitch":0.15,"left_roll":0},"note":"The can is centered across the burner coil now. I’m lowering the last few centimeters to establish support before releasing it."})
tool
executing move_to over 3 steps (0.3s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe descent stopped with the can visibly resting across the coil. I’m opening the gripper to leave it on the burner.
move_to
left_gripper1.0000left_yaw0.0000left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7494, 2.4912, 2.0701, -0.157, -0.6922, -0.4053, 0.6479, -0.0238, 0.8959, 0.667, -0.8455, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.5558 left_y=-0.3583 left_z=0.114 left_yaw=0.0214 left_pitch=0.1407 left_roll=0.0102 left_gripper=0.6479 right_x=0.2248 right_y=0.0016 right_z=0.1042 right_yaw=0.0001 right_pitch=-0.4928 right_roll=0.0108 right_gripper=0.9996 state[joint_eff]: [0.0479, -13.5043, 9.1692, 1.7265, -0.0611, 0.0757, 1.033, -0.1162, -1.2513, 6.5162, 1.2381, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_yaw":0,"left_pitch":0.15,"left_roll":0},"note":"The descent stopped with the can visibly resting across the coil. I’m opening the gripper to leave it on the burner."})
tool
executing move_to over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe released can remains on the coil. I’m lifting the open fingers clear without dragging it.
move_to
left_x0.5300left_z0.2300left_yaw0.0000left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7494, 2.5015, 2.0701, -0.1612, -0.6834, -0.4038, 0.9959, -0.0238, 0.8959, 0.667, -0.8558, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.5552 left_y=-0.3594 left_z=0.1062 left_yaw=0.0123 left_pitch=0.1269 left_roll=0.0182 left_gripper=0.9959 right_x=0.2226 right_y=0.0016 right_z=0.103 right_yaw=0.0002 right_pitch=-0.503 right_roll=0.0111 right_gripper=0.9996 state[joint_eff]: [-0.2256, -13.8462, 8.9231, 1.8242, -0.2173, 0.0855, -0.0952, -0.1299, -1.4154, 6.4889, 1.2039, -0.0415, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_z":0.23,"left_yaw":0,"left_pitch":0.15,"left_roll":0},"note":"The released can remains on the coil. I’m lifting the open fingers clear without dragging it."})
tool
executing move_to over 8 steps (0.8s)
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 still resting across the burner after the fingers lifted. I’m moving the arm away and restoring the idle arm’s parked pose so the final placement is unobstructed.
move_to
left_x0.3000left_y-0.1000left_z0.2200left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2930right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.778, 2.421, 2.2459, -0.4488, -0.693, -0.424, 0.997, -0.0238, 0.8959, 0.667, -0.8608, -0.0189, -0.0261, 0.9996] state[eef_state]: left_x=0.5357 left_y=-0.3644 left_z=0.1824 left_yaw=-0.0004 left_pitch=0.1085 left_roll=0.0258 left_gripper=0.997 right_x=0.2215 right_y=0.0016 right_z=0.1024 right_yaw=0.0005 right_pitch=-0.508 right_roll=0.011 right_gripper=0.9996 state[joint_eff]: [-0.3077, -18.3453, 9.1966, 1.6142, -0.2711, 0.0708, 0.105, -0.1709, -1.4017, 6.4615, 1.1893, -0.0611, -0.0708, -0.0073] 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_x":0.3,"left_y":-0.1,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.293,"right_y":0,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The can is still resting across the burner after the fingers lifted. I’m moving the arm away and restoring the idle arm’s parked pose so the final placement is unobstructed."})
tool
executing move_to over 24 steps (2.4s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
assistant
agent noteAfter the arm cleared, the can rolled off the sloped edge of the coil. I’m approaching it again, this time to place it farther onto the center rather than the rim.
move_to
left_x0.4500left_y-0.3800left_z0.0600left_yaw-0.3500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6151, 1.0248, 0.87, -0.5003, -0.519, -0.4042, 0.9972, -0.0238, 0.8017, 0.6151, -0.4759, -0.0193, -0.0261, 0.9996] state[eef_state]: left_x=0.3071 left_y=-0.1053 left_z=0.2231 left_yaw=0.0157 left_pitch=0.0174 left_roll=-0.0159 left_gripper=0.9972 right_x=0.283 right_y=0.0002 right_z=0.1636 right_yaw=-0.0022 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.253, -2.6188, 6.6803, 1.8437, -0.149, 0.149, 0.0024, -0.4034, -1.8393, 7.0632, 2.21, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.38,"left_z":0.06,"left_yaw":-0.35,"left_pitch":0,"left_roll":0},"note":"After the arm cleared, the can rolled off the sloped edge of the coil. I’m approaching it again, this time to place it farther onto the center rather than the rim."})
tool
executing move_to over 25 steps (2.5s)
step 231
assistant
agent noteThe can has shifted beyond the left gripper’s comfortable side reach. I’m clearing the left arm and bringing the right arm over the can for a better-centered grasp.
move_to
left_x0.3000left_y-0.1000left_z0.2200left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3800right_y0.2400right_z0.1300right_yaw-0.3500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8181, 2.1815, 1.4063, 0.1162, -0.4221, -0.3241, 0.9972, -0.0238, 0.8059, 0.6147, -0.4965, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.446 left_y=-0.365 left_z=0.0583 left_yaw=-0.3076 left_pitch=-0.0177 left_roll=0.0036 left_gripper=0.9972 right_x=0.28 right_y=0.0002 right_z=0.1584 right_yaw=-0.0027 right_pitch=-0.106 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.7043, -11.2342, 7.7197, 1.7363, -0.0513, 0.1978, -0.0122, -0.212, -1.4154, 7.1726, 1.8681, -0.0415, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.38,"right_y":0.24,"right_z":0.13,"right_yaw":-0.35,"right_pitch":0,"right_roll":0},"note":"The can has shifted beyond the left gripper’s comfortable side reach. I’m clearing the left arm and bringing the right arm over the can for a better-centered grasp."})
tool
executing move_to over 24 steps (2.4s)
step 255
assistant
agent noteThe right wrist view shows the can just left of the jaw centerline. I’m lining up across its body and lowering to grasp it.
move_to
right_x0.4000right_y0.2700right_z0.0270right_yaw-0.3500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6151, 1.0187, 0.8494, -0.4881, -0.5053, -0.3977, 0.9972, 0.8639, 1.8725, 1.3159, -0.5285, 0.857, 0.9077, 0.9996] state[eef_state]: left_x=0.3055 left_y=-0.1068 left_z=0.2175 left_yaw=0.0013 left_pitch=0.0107 left_roll=-0.0158 left_gripper=0.9972 right_x=0.3747 right_y=0.2386 right_z=0.1215 right_yaw=-0.3022 right_pitch=-0.0364 right_roll=-0.0333 right_gripper=0.9996 state[joint_eff]: [0.2393, -3.0154, 7.6513, 1.7949, -0.1441, 0.1392, -0.0122, 0.1573, -9.5658, 7.9111, 0.8669, 0.6667, 0.1929, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.27,"right_z":0.027,"right_yaw":-0.35,"right_pitch":0,"right_roll":0},"note":"The right wrist view shows the can just left of the jaw centerline. I’m lining up across its body and lowering to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 262
assistant
agent noteThe fingertips are nearer the can’s neck than its body. I’m backing up slightly to grip the wider central section instead.
move_to
right_x0.3400right_y0.2350right_z0.0250right_yaw-0.3500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6147, 1.021, 0.8494, -0.5236, -0.5053, -0.4057, 0.9972, 0.8772, 2.1269, 1.3476, -0.3077, 0.9131, 0.9516, 0.9996] state[eef_state]: left_x=0.3016 left_y=-0.1039 left_z=0.2106 left_yaw=0.0062 left_pitch=-0.0201 left_roll=-0.0006 left_gripper=0.9972 right_x=0.3979 right_y=0.2656 right_z=0.0492 right_yaw=-0.3393 right_pitch=0.0095 right_roll=-0.0171 right_gripper=0.9996 state[joint_eff]: [-0.212, -2.6325, 6.8444, 1.917, -0.1636, 0.0024, -0.0122, -0.0889, -6.9402, 5.2444, 0.7888, 0.105, 0.2369, -0.0122] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.235,"right_z":0.025,"right_yaw":-0.35,"right_pitch":0,"right_roll":0},"note":"The fingertips are nearer the can’s neck than its body. I’m backing up slightly to grip the wider central section instead."})
tool
executing move_to over 5 steps (0.5s)
step 267
assistant
agent noteThe can’s body is between the right fingertips. I’m closing the jaws to secure it.
move_to
right_gripper0.0000right_yaw-0.3500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6147, 1.0229, 0.8494, -0.535, -0.5056, -0.4057, 0.9972, 0.9382, 2.0052, 1.0885, -0.2062, 0.9535, 1.0515, 0.9996] state[eef_state]: left_x=0.3004 left_y=-0.103 left_z=0.2081 left_yaw=0.0067 left_pitch=-0.0308 left_roll=0.0073 left_gripper=0.9972 right_x=0.3512 right_y=0.2415 right_z=0.0384 right_yaw=-0.3504 right_pitch=0.0324 right_roll=0.0222 right_gripper=0.9996 state[joint_eff]: [0.0889, -2.7829, 6.8581, 1.6679, -0.2564, -0.0269, -0.0122, 0.335, -8.6496, 4.3692, 0.6667, 0.1245, -0.0562, -0.0122] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_yaw":-0.35,"right_pitch":0,"right_roll":0},"note":"The can’s body is between the right fingertips. I’m closing the jaws to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 277
assistant
agent noteI could not achieve a stable placement on the burner. The object rolled off during placement attempts, and the latest grasp was empty; it is not currently on the burner.
give_up
hindsightExplicitly re-command pitch, roll, and yaw during transport: leaving them unnamed allowed substantial orientation drift to accumulate on this run. A cylindrical object touching the near rim of this raised coil is not stably supported; verify its center is over the coil and confirm placement after fully retracting. Grasping near an end made the initial placement especially unstable.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6144, 1.0237, 0.8494, -0.5407, -0.5056, -0.4057, 0.9972, 0.9348, 1.982, 1.124, -0.2226, 0.9913, 1.0512, 0.0097] state[eef_state]: left_x=0.2998 left_y=-0.1024 left_z=0.2069 left_yaw=0.0072 left_pitch=-0.0361 left_roll=0.0111 left_gripper=0.9972 right_x=0.3593 right_y=0.2439 right_z=0.0609 right_yaw=-0.3725 right_pitch=0.0762 right_roll=0.0536 right_gripper=0.0097 state[joint_eff]: [-0.0479, -2.8239, 6.8444, 1.58, -0.2369, -0.0171, -0.0122, -0.3487, -7.665, 5.641, 0.5348, -0.2222, 0.0708, 0.8571] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not achieve a stable placement on the burner. The object rolled off during placement attempts, and the latest grasp was empty; it is not currently on the burner.","hindsight":"Explicitly re-command pitch, roll, and yaw during transport: leaving them unnamed allowed substantial orientation drift to accumulate on this run. A cylindrical object touching the near rim of this raised coil is not stably supported; verify its center is over the coil and confirm placement after fully retracting. Grasping near an end made the initial placement especially unstable."})
tool
give_up: I could not achieve a stable placement on the burner. The object rolled off during placement attempts, and the latest grasp was empty; it is not currently on the burner.
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 · 4.565 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, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7921, 0.6064, -0.3958, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 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]: [-0.6632, -1.3607, 10.2906, 1.9414, -0.0659, 0.1587, -0.0855, -0.2667, -1.306, 9.7162, 1.9072, -0.0464, 0.105, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bab0d9883fdb94780ea0c8326ae9ec6293a09003fd0fa3cec740cbc25dae764",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af295ca3281c657f907fb3c1c4bc0af1d4ce183e4d468b214ab8126bb28b9deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0376f8dd1fb88e25eb5c21da74ad4574c4a727fd5f60a1819f94db7b089cd36",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.047 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrH4PkYsmHWMYSJoCjw_6h3D1d6rygOAgSiNsbTZN0EoH_xqHwrVrYK1WuGEAO4PmsWQjuJxrEXkR-FfT9YoQPDaPU0fMdle6StBVb4tjiwX6mJqYhDoU26zIqbPlLy4KKi7cFde8Zt9opgad5-sUTCo_7t2fiOKh031osSs5ZpylS5QofBSLsDF1T1oGVyn43mvpSLl_JuPfsmRtffUESR2d19lzutq9c0Flj7bdloydnAM6v0yBYSNDAPYk8oz9_WqxESgXzWZUUe9Cx3YwioHCKJXC9ZCnZC8-lfCUxHnjUNcyDPE4W7ZMxUVEbd_t6Zpd73wPJW-eDdRGV5Euw_MKta5uacXtqHoNJpSCwJ4IWhLbSYm6UBKHJAAQChga5zmaAfMkJ44BZ5WQY7b-trz6nICzogYH6dxoUvX1zD3Lbuv2OLup3mfutEfo8zRTmrRuPrqetdjdQC50zev67V1Mw7omoXUVUeS_jzJriblwrzVvyOEEZU36JljMqrsrD-f7nIGtNlasYxB95YUpMo43yA_gcAi8xyHxlUT-Ov1hpjBZDNn8OTTmyDniP-P-4dAqMNpzQmzKx8v4xkPPSEDxeuuKPZUrrSkMQI34ze5gNYLxtbg_rXBG5ZKk2vjvFoS76_DuYAllqkrUkhjPKk8R0RJYAkbX66A-hKs3Vn7quQfb_69915d78uq21CCd9V1MWTbrh16wzDWh-gE8EdNX8pkF3PGOAwQyrAL1P8wWH54RXt5C-nKiHPiB45MwqGSXZZ5ho0ZtR3AWz22OT7vXXyif4ZVPbh-ZjTkrDAPLjwQSg8hoFkFUQy60XQn2mT-tb87K0jbkCdQsil41gYYRCo1FqOJeWbg4JJ48Smt_1q2Ynu4KVJufnLKlboeVIvGFyrevJte86zuj32diRFrCl0yBci1KZ0_cw4yGkLttTXBILldZ5cUXKdEIIAt6puJDG07QYRo4m8TNTZOQs43qtzhwbDVMr4TfJNNSIBk6rtbRx2YfXERJbOLD0T_SaKitoGrhMXeYe_DLGMJUvXI5RcsyjExzILGX79A3S6Ajx78RXWxe5LsYcG5nsecL3lj7isaTr2wG_cw-cSqT04rROOajgGA7bnSKAeiQMD4dKP-rWhblW0NKfhm8MCSWZ68qAuAxuN1zFA6PS4cUd7z4cJG46i_O-vXijr3Eeh-0DSwaVFq0VMSftiFli2iLzQMTK_iX6BK2VOW1enBIzPQl4ufS18naDbzHv6ZvXx_PbOBT-TmukYl0dGJanJsby9R7xTBgaqlwWcJLWabwFs4DiUPpY-LDI4XtvzGWPP2sxN5Ggn7g69hyLaJ_lRDfmJv73PwK91kkqtT5uC3-ZYtSMqfVLh1vmAHNu3kVuTEm4X_jDrQ5cdlC9Z7xFGb90lYOBub_Gx2TWod7YdQa4mJLBKFMftnjxkLibauEy2YVybD3XhuDz1ZqjtiK1_Kek1FtiNRasnH2A64yFzzfIpVMfg==",
  "id": "rs_0b1c0c83cb770e90016aac7e0c3ba487d1a7b8a74733a13a13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The can is lying to the left of the black burner. I’m moving the open left gripper above the can to line up a grasp across its body.\"}",
  "call_id": "call_IuSkcAkYf16ARUm1ju2WIjnJ",
  "id": "fc_0b1c0c83cb770e90016aac7e0df9fc87d1a6c605484845e16b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IuSkcAkYf16ARUm1ju2WIjnJ",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4126, 1.6157, 0.9844, -0.057, -0.3328, -0.2569, 0.9993, -0.0208, 0.7959, 0.6067, -0.4324, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4352 left_y=-0.1236 left_z=0.1291 left_yaw=-0.0101 left_pitch=-0.0693 left_roll=0.0213 left_gripper=0.9993 right_x=0.288 right_y=0.0009 right_z=0.17 right_yaw=0.0003 right_pitch=-0.04 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -8.4718, 8.7316, 1.8388, -0.2808, -0.0562, -0.0855, -0.0752, -1.4701, 6.9675, 2.0586, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0cb916ae147f0778813558a54ce5ec544e3f404cf738283f73074de070eb9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2760a7095178cf8ee73b15e45f29a792151e451fc23f5a738857c17f65f3ac39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d6142a893bb549afc98da9e52513fd21b27658054012f3bd8c8839dcfe099a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.843 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, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7921, 0.6064, -0.3958, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 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]: [-0.6632, -1.3607, 10.2906, 1.9414, -0.0659, 0.1587, -0.0855, -0.2667, -1.306, 9.7162, 1.9072, -0.0464, 0.105, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH4Uq_1-94mjMlZn3vc0vJJN2pLV7CDtqWS2NWSEnLPZp5JzIEhlKwOa4H3u_RrQt8fxOeCmig0ZDEcu6XN5XuCwDNWSblY1zkaWT6YorY2QTD7TFoqUZLBqiHK7W4bW8EHRfF-_nsWaeZuNbZ7-7S8Kd0zEZ5DC7kEfPRT9XHWsYDOSlME_57aI1sDte0uq7iS80Xl32gbWauqsrmW3gz0Ix-wrQSCvlQuTC6tmC4WPLCYOvSDZG2z4Sw-UlTiTy2nXdLcC3o1XqOOheI0LJjRyvxmnt4bquxCXO3R9AdaE7FAfYd9jlPgYHF_aqLhmIXzpSXWWBDkyeHRJvrDr2O-ZEGRnyVW5-H2UPcMhcS0AIbdlK7ypkLw0ro2ZTFljlvKcLO6wPI92WRQaYzNEFGFlcI7RpMkg4ij8-3HgARtQ1qMpiz9009uJGW5rbmRElhzCDITf5939Pvd0dDNgfT19y5CzVJY-tSLtiLrILzPJ5DvbVoLTjVT-Qe9g6RxlsyJneqBnTT1wkwtBwzCHr5moFPcRZhKSlRhZ3og7IO0oVBHGc1ij6O6gHGQLgYqMnFpSqMZNd86Q9dETUnIEwpF0gaKMFXLCjSHesrCJBw-EGyHjaUL1hspCQt2XPcc4a7_rWUtcixuCGHt_ESj5nzIDawBezWi3aVGB8Yg3uraO76AK6RraPHon8vrZegRGYfIEDPWRJg59F3BKm3m4UcfpGXiI5BEgrxnatWMNf8dV4-Jb1VnFJAlUVZHuQO-nwg2H3xFDNyBZHbM5bLk0gHGD0N-UreW1p9WDo_0t68qB5bZm0f6bZooXxh2QIizCtTxSmJbHZVxzDsiMCtqE1rFR45nnHPd5HSwmV-aA3899ixBfx-Ya_K1h3TsBLngc9dmlFPJULurkLt9EetZV9W9ZEhOAWvcXhGgcXyQLgFMrluin1UCdQz_1k78YQc5LmET8zYXM_-63Y32fsQSuypgXEfC2A3JhntxLhBdpq5Vb8kRMkI7s5BQkJBZANToP6pH0vW4O7TOs4VbLfEPkGyWdFVVZESj1fbaj30eLuwSpRjXqHMxFjSNoe7O-5fKO__308dfgt9IJi0dEqwrAT5a_zsWTpcEcf_rtyg4lMMXCBtqKBa_XI_9KsBx37gYoDr0p_QbT4L4kqIbv4D6OXI0bykPp50KBUEvAjiTGTliWCAEwYbeNX3xsanm4NOSAOGBmm3MsRibtnqyK79gSYtLS-jfDMDihtg5TRVxE48ul6uwes3VpMJtX75F3ozmTYA-FpUa5bWu2wIkpLs7urLRcbrMwHvx__lb9B7kb6-DK24sHOa9qqcG0TbIr8UzQJzOeJwSiXtlOtZm16gfne1gOjQr68obwsQnx4Iau2N2grE0=",
  "id": "rs_0b1c0c83cb770e90016aac7e12221c87d1be14f51c5551e477",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.095,\"left_z\":0.055},\"note\":\"The can is slightly left of the jaw centerline and still ahead of the fingertips. I’m shifting left and forward while lowering toward the middle of its cylindrical body.\"}",
  "call_id": "call_ifWKRLaoLKOWoBL4CdQ8GaEW",
  "id": "fc_0b1c0c83cb770e90016aac7e13ddfc87d19507754295d166d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ifWKRLaoLKOWoBL4CdQ8GaEW",
  "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]: [-0.2951, 1.8668, 0.9569, 0.1585, -0.2661, -0.2028, 0.9993, -0.0212, 0.8005, 0.606, -0.4538, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.089 left_z=0.0439 left_yaw=0.0256 left_pitch=-0.1449 left_roll=0.0446 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -9.2103, 6.0923, 1.9414, -0.0317, 0.1294, -0.022, -0.1026, -1.3333, 7.0496, 1.8926, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df89e3db61d905951de7a2733e83523dcc7d12f07017be0bc39f4321b6925b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0722539760152314a3e0458f23aaa701f929a21f86a244688ca71aab9e60216e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c32e60f35907def9d8d907aa94a432ff4ba019050d092da7e9f57a51ea656423",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.611 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]: [-0.4126, 1.6157, 0.9844, -0.057, -0.3328, -0.2569, 0.9993, -0.0208, 0.7959, 0.6067, -0.4324, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4352 left_y=-0.1236 left_z=0.1291 left_yaw=-0.0101 left_pitch=-0.0693 left_roll=0.0213 left_gripper=0.9993 right_x=0.288 right_y=0.0009 right_z=0.17 right_yaw=0.0003 right_pitch=-0.04 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -8.4718, 8.7316, 1.8388, -0.2808, -0.0562, -0.0855, -0.0752, -1.4701, 6.9675, 2.0586, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH4YZsP--v4-9YV8LfvKqPfVORyRiJ3jU5McdwBvIBz4qwDtFX1NEDly7fq_zL6wtwtplwziq7iwfzPbjfGqp4mnOsuVDD6LoDFB9I8F31yMpYTKz2ck0b4DUZtar8Rv9AroC0331aiSNSS40AIzul1B73Hb7C25Bmug97qhvbnYoqK1ZGuXZTHdeBWKJ6r2Jx_piQlxeSgcurXTrMnzjmySVQJotZ5WdVJiBHMkZSMt7_Ol83kkxhGn9QApz4fZ2pRhPYl4mPH4Yhp-XQWq9PUDq4WPdknkB3ox0sWjv14GrNOth4zyY9FibO_NbMT6WxkhiXOGojXjAj8YCZNbucSSdJ6f43I7d6RZqQEjxFfFYShr9IBemAr1rutuo_-og9yd-0bxBcQghFCesfnhv-uu_J38128HKnLjZyOVZq1WCBc8OYclpGe9wYcdk0Ea7fqSXTXF3ynnii0x5ZBrQYVExSi9hvPhP-OU3ZJbJX6_IDfioXzTpwTAhEHjfsh3p929PE22AJlBf0SSlWXOFlFQz1pd9UdS8SCejY7uO6zTIJtRpLGtk5pgDzj9X4scn8gy_4wSnC_9hHOhXk90ElbWCGXc5_gf329vzaw2AzscocHQT7KgyVIFZdeUlSNMWjEQuZnUnMLOLF7pGmEAO8GB0ihjc0q9QK3oHZwHocPhzsWYGWg_w_4oh1KiOE9JDk8yb-mhZqKpYJhz2ulQMTOmc-n_VR66N3h39gJpTUWMYNnwqDO4kZkcqkpN9mOS_0lmpmwDbsReAO56zV62Lf7o7VxkX4VsNEKAP5fi1DNsNBTPSDOsQ5PKAaz9mDZUV1YHADRB2UMYe3UoUvJJvg6z1eCPeF8V9Dp7WExTI1JCr7B3nbiHrwwrSavnZ90bWTY-8GRbBhGITMRmmkmdjL1QvkdGLz_F1hFOkKJ7p1GN60LzvAB_B2K3muq4jRiC35aXe9gMEuYLzoHnMQR_bFaQ3T5FXh01kQwXnrZiptEJdjLbyz6tJlWuXHlqc4pMH8RJM5vEUqvEvFMkBvw0DJozNWHx5MNE46GtkKK2JSy-9GzepgBAij-NeQpwRsOF5nQoqY4Gx-Qmdf0ajKZXq5cClWfsHazRZk8y1EeoLa30QNPkbo2tszK6LTInAes1AftXLU5iLdhZYqRmwSSy-4XO89NY-tqnviwn1x9KxDtBfgaTT59R5cuujIn96oYQm9L1IymdJqMUmLXvR0L2DAbRF3X6StxS5guqc2LD7Fg4LQx_OLveWdHdLVTRchE2IHXDJxj-h_EWE2ZomNfQeqjckMkUdGcvx-7dqJNEELs2eSUmTH8lLrh1dWVDyOgxY-I0JKHofhbn-iVeHDQVjfGKwoHfP43Bb7Tz6OI0i9SCGe3SxKYKmS-La-aWBf0Nk2d8",
  "id": "rs_0b1c0c83cb770e90016aac7e165b2887d1876353ba725b502a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.078,\"left_z\":0.018},\"note\":\"The can’s lower end is between the open fingers but remains a little left of center. I’m making a small alignment correction and lowering to grip its lower body.\"}",
  "call_id": "call_cBZBI2BTb4q58sNXiNj3QDBv",
  "id": "fc_0b1c0c83cb770e90016aac7e17aec887d19fb1be3fb58055d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cBZBI2BTb4q58sNXiNj3QDBv",
  "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]: [-0.2718, 1.9465, 0.989, 0.2291, -0.2462, -0.1909, 0.9993, -0.0212, 0.8013, 0.6056, -0.4564, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4818 left_y=-0.0859 left_z=0.0312 left_yaw=0.025 left_pitch=-0.1274 left_roll=0.0338 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0706 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [1.2376, -8.5675, 6.5162, 1.5946, 0.0366, 0.2027, -0.0171, -0.0479, -1.2239, 7.1043, 1.6728, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ffa295aaeea552813e11090eef6450db707d2e287808d4a9ebe445841ee13a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64d0fc04622d0af797c6913d522c104c1a14d3ac5fae3163b2bec1c4a8dcbe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54439107553cc8db2f385479eeb68ce37927c153c2c68cf969f055e2d56a4cb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.187 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]: [-0.2951, 1.8668, 0.9569, 0.1585, -0.2661, -0.2028, 0.9993, -0.0212, 0.8005, 0.606, -0.4538, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.089 left_z=0.0439 left_yaw=0.0256 left_pitch=-0.1449 left_roll=0.0446 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0667 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -9.2103, 6.0923, 1.9414, -0.0317, 0.1294, -0.022, -0.1026, -1.3333, 7.0496, 1.8926, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The can’s lower body now overlaps the fingertip region. I’m closing the jaws to secure it before a short test lift.\"}",
  "call_id": "call_Ec1tpeQYAKeLAYtwFzjX92V6",
  "id": "fc_0b1c0c83cb770e90016aac7e1a7d8887d193cc8421ae45ded9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ec1tpeQYAKeLAYtwFzjX92V6",
  "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]: [-0.2443, 2.0087, 1.0023, 0.2234, -0.2367, -0.1802, 0.7063, -0.0212, 0.8036, 0.6056, -0.4782, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4816 left_y=-0.0737 left_z=0.0058 left_yaw=0.0411 left_pitch=-0.1818 left_roll=0.0513 left_gripper=0.7063 right_x=0.2814 right_y=0.001 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0946 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -10.7419, 6.7761, 1.6484, -0.0659, 0.0855, 1.0281, -0.2256, -1.4017, 6.9265, 1.8779, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b45027df81927632e6a3355224155e9bfc9229fdf77895e250a6ccd4f3efb09c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff1cbfda9cb975fc30e4b50ef81108b33da5a046863aeaa5625c0ec578b1247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c751091f78844062521cb99cb463304993e48dd54ed4d75f2d815420875c5fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 7.976 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]: [-0.2718, 1.9465, 0.989, 0.2291, -0.2462, -0.1909, 0.9993, -0.0212, 0.8013, 0.6056, -0.4564, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4818 left_y=-0.0859 left_z=0.0312 left_yaw=0.025 left_pitch=-0.1274 left_roll=0.0338 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0706 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [1.2376, -8.5675, 6.5162, 1.5946, 0.0366, 0.2027, -0.0171, -0.0479, -1.2239, 7.1043, 1.6728, -0.0806, -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_z\":0.085,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The jaw opening indicates contact with the can rather than an empty close. I’m lifting it a few centimeters to check that it follows the gripper, while keeping the unused arm parked.\"}",
  "call_id": "call_6QMn3VBqUJ2GGnyN9CtGIZW6",
  "id": "fc_0b1c0c83cb770e90016aac7e1e1e2c87d1bd6882ee98d76093",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6QMn3VBqUJ2GGnyN9CtGIZW6",
  "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]: [-0.2443, 1.8801, 1.0855, -0.0647, -0.2367, -0.1883, 0.7041, -0.0219, 0.8658, 0.6712, -0.5495, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4696 left_y=-0.0707 left_z=0.0477 left_yaw=0.0504 left_pitch=-0.2547 left_roll=0.0679 left_gripper=0.7041 right_x=0.2826 right_y=0.0008 right_z=0.1576 right_yaw=0.0002 right_pitch=-0.1625 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -12.4376, 9.2513, 1.8388, -0.1197, 0.0513, 1.0281, -0.6769, -1.4564, 9.6342, 1.9219, -0.0952, -0.0952, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ccbbf537679b8b3a8c7b729e970efa367fb014b86803642143fe9d03924c27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f945b76bfb5af2b53dae3933d62cf654846fef3f9b5a4ebc711d61451a149c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3032be069d49e6df411e94b4c4f15b6c45c506533c60142e1bcf7b0a800bb8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 8.011 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]: [-0.2443, 2.0087, 1.0023, 0.2234, -0.2367, -0.1802, 0.7063, -0.0212, 0.8036, 0.6056, -0.4782, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4816 left_y=-0.0737 left_z=0.0058 left_yaw=0.0411 left_pitch=-0.1818 left_roll=0.0513 left_gripper=0.7063 right_x=0.2814 right_y=0.001 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0946 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -10.7419, 6.7761, 1.6484, -0.0659, 0.0855, 1.0281, -0.2256, -1.4017, 6.9265, 1.8779, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH4oKKvGFrSKkfF3fbKFRkxH10jtTGGt7ryWD9Rrxta0whCAHT8lVjmZ0o1vEixJ4ojjao6EcSebyfhv0IBN8tsde1v3_lSU0Pk1jqn71TDs2OGn660Lvm_e7W-dBor9KmIkNiF_quvfxT3SoPanvPUm0QKElwF2qVy5ssM42vntcHm4dEP1ZmEpgmLTv9h-VG0TXn4uW0P1spDpa8C1MxiriW4Jw9eAvDez-OlAjPWFJQL_dmiOZZeT5cX4d-u9MxFbQ4UQ50futojsi_FcJZdYhtwWnxYqIBSK8C-PSPQktT0qrPjU2khgG3jiqgM1el1okGiP_n80QZRfTknkjxJVdRprzUZZP3hIOAZrlkd6A7qWQlRME0X8rBGw73raFim60B9xFwOK6MK1ppbq-Mp5WIQz9MHNFx_ImHrUyOzGO29dOciHGrnSapoTa_H1ciuZnt8u2ySXsbjgVRZssjOoGUzHLcq_dK2DQMMnB6AJxXyRS7Feaa6keNPcgRbBIdzGw_k6qqRWBAD1p4c5aYuOmCsXIvFUwAAzmqUI0pueT4x-RX4WxCGpbk1OYTdrjXJgVGEBqBf_BFKJzRbXPqgPH8y1kht_2bWVxwCrroAW4z8QH6UFruQTO9lTW0vftGJnpqxkPXHhbF975C5U5x6Hn_ZH03fEuCae1vjNbOxHX7t8gf1YoqViNtLuYHLA731F6wpJbjsVVTQAbEw2n20DXdqnYP5vRyFWZIcljICh8-zVdXdKY3Uz3Jue45ttoj94Qm82eojUZSw0eRCIxqCuZP-bpalBEPs8sK-CmA45HNu9IKK0C_vhqWqj70An5BKhhx6WAIPzAM2nDwAzTI7ztRmDSHigKQtsSmYcMXNi6uNMQqXEHt2lU_xmWmrUoMV-uzxrUd0A04MQA_dtAD2zEIcJ-cMgRgjRue9bSdqCT0rI6_KMDCUxD9NPlhcByFsj1LsfQp2bLMEt8BQq9uUY7hWMa97kU8lqGAgpQQO21K0uzDj5lcRzvWGe-LUboHD14IjftVIsTnqjleY9TcY1virCFNkl2oaYfPm4qk3p5xglDGb2bZAGkjvxOxAddRhGi-ieSo0nEj6_6V82QsVWx79cvbwJdz7ulNMZiiKckyWTOPkUkGE0SI3gTTEDnSGzCCs0E7xYhcQj7jhlak9FGY8tSiFE1ywzHCuOGX1jA2rs69g3EqfzqnGHtk_Z8iliyrCe0Ph4VgGLVzDW8-dO9eNMamjXUiS61n-cnVRzV6pta1Jc02jCW8Kbl6udKY7i1AX7RHJ0MQncqKgBLs9AH9nFeniJC28FSazOLbyfZv5HCnzczbCQqQNr6lM1HGet3nlBySZdLXTncmztp5IT8PQZEWA_tMjN7CgvY_WRMTTLN9OYHiKijAURwqor3SQgOJF57smKYKydgK88fUa1FHzUulxriU5b4Nl-uIdSeVqcSt7UdO_mOzR70nTzdqL9UMbIzGsfV_k3_fAtR3_Rvrk6KEXC2AxLm2R-ZFNs0rfD5JZfSpprpaTOrmK6hzfBICeeFK_17_uoJMSG5RDhkL-Fi_Km6Kyn-mPR-rruaU5iLNirXMfu27FStJF7WJI-D4bOXDXIFx9O2fDdaBrSsEnGeoKL1fbV7UHFX8hn-EDXKTMmOxoGnLbkEpa4j-UZG0ksy2o4NHK6eo3Qc9zjBg==",
  "id": "rs_0b1c0c83cb770e90016aac7e233b0487d187e00473230ac649",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_z\":0.21},\"note\":\"The can moved with the gripper during the test lift. I’m raising it to clear the burner and drawing the arm slightly back to improve carrying clearance.\"}",
  "call_id": "call_CBsgTjAHQ1Yh9nb7kbg6Co2H",
  "id": "fc_0b1c0c83cb770e90016aac7e271ea087d18ea46a9fd1df7c6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CBsgTjAHQ1Yh9nb7kbg6Co2H",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.255, 1.7107, 1.4361, -0.6708, -0.2367, -0.2054, 0.7056, -0.0235, 0.8688, 0.6731, -0.5865, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4473 left_y=-0.0701 left_z=0.1688 left_yaw=0.0573 left_pitch=-0.3362 left_roll=0.0833 left_gripper=0.7056 right_x=0.2767 right_y=0.0005 right_z=0.1511 right_yaw=-0.0016 right_pitch=-0.2006 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -12.1094, 9.9214, 1.707, -0.2271, 0.0562, 0.9451, 0.1436, -1.812, 6.735, 1.8974, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585116de8d4ba4c16e37428d01908251c4133ea989c904aede9e3596fbb08f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5689b9677cf831ac0cc805546c42266a45f898067a640f683a190cc5f4b9a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd25d1d17cf46ec60d66cd78b5210b48ac3a64083a24203a60c5caad1b239243",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 7.208 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2443, 1.8801, 1.0855, -0.0647, -0.2367, -0.1883, 0.7041, -0.0219, 0.8658, 0.6712, -0.5495, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4696 left_y=-0.0707 left_z=0.0477 left_yaw=0.0504 left_pitch=-0.2547 left_roll=0.0679 left_gripper=0.7041 right_x=0.2826 right_y=0.0008 right_z=0.1576 right_yaw=0.0002 right_pitch=-0.1625 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -12.4376, 9.2513, 1.8388, -0.1197, 0.0513, 1.0281, -0.6769, -1.4564, 9.6342, 1.9219, -0.0952, -0.0952, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH4xrzrY1hR0ghS6yHQQVd7XdzBL3k6w1YWsR2i1gOfunS17NB4W9uASyMzv21-Q4EHZvE8Y4r_dEphruzAtB6YjiBVhagkveBnIHCnT2KxmWSN5gpdhMsSpVGV50RuCHGh2zFo2__Y90dj2XXnOk0f0YLjaOPteRmevDPbC3bwdhCNzXiuNYacaSxFYrBvYntY4xMb3XFS9W9-ylmi1sdztuV7q30i-IEMXYBPOmQg0zFUa9XbZVCgchAm-p-U-ZMD3NIhKVl3DyuTja29Nr38CElLOPB1JS_FcfsOWj8yy2RppOfdAQxRyuepowgM4X6zJV5RyGgsXbEqOKXfg5HgyZe11M57mDVu7r-0DezaN1UXnL6gChhdFboRNDFGgIHrLTSOy-DXeNG5mVi9hMmmFZrgg7uQjWa_USurgIYRwRzJINClZGkqiX1FG86Hbgj1p_m5MIVJeCLM6hNDx_cDzdlPxYOV_Mq5VDNCfdrKJQayL86r9HSc7DZYZ0H4UQs1GkcwXjEiugSsjZgb8JFW-oFleJ7jocg8IF0SWTh6oJpmE0pubnvWFfkQLM9tXOCHkzMDoy1agvr6t3aD79v5dFueUjzKqL6lRmdhU-vq04tjymHCb2qyor3XyUkn40QEnIWDCEeuw1lxWpOjHJ3Nazup7FJMo6Beo8YeI8I0dKKmlwNc9scuZLCp6Aco9XazZnHbjjB1Fxj4FobguErbnTRGCUiUC90tesQqz_8KZ8OpKKqdVfA9ZDPO0IcTAglEj5oPBfjWZ0LUQMnrc5kJYndL3oSRuBMAsypRK5t9nlLg_uB4yfHAJXu1PAysA2vK3qrXZtPlIdbDkLy6fGTaxFa7Gvz7fAwnQSJy56PuRK0q43JxzI0p2Nmkb7BeE--Asc4snUx5DGlyYdz5wiB5uV1leZGuIW0_0fXAfwvNLFhprs0XRIxz4__3-fgj2FQ2T_jBsevgKBjJRxK0dE0Q2Vt_Nk3dFTRbnh-Hf5815BbtnILr83vaiZ5Wb6PCezBbYkV4vieN1uSU5RbmcWz7zFGRXNRsxpBTVAzAGTd7DA1lKnOYkndmh--TMABUoYuJ4rdMJYFqClRMQuk68-9VIsHkYxaMXxqqscR4jarxvqoOyYyZIBL1SGWJo7JfAZqQ5bJ1QA6uT0G5kn885PQUKJdQ8xGrouYq7UZ4pZbW3rtKvp4non9a5-I_wkcLq2kPWHwDqxWOH0M4-sqnMaNlmSYoUg4gjvdpsNynDl4IvN6tvgw0tSJ4SGzf_ZJ-NHgekYawIv0Cg1AYKlB9xEwOtJJRNOpLNNx19aoWugTe2FERNQqT5WtaalP4jq7ziucEupxlyJer6RM-CP3rKrLXRI-QwDhq1D6RsLivIMzHLY6JyJXEZUpVKtUNA-P_5os-NFNBfvebUk_kW7EgzKF0dmTMBTxqIMRqbzOvAEgELqbngfvc02GYlif9-gEW0b5OQS3rINDhFyJ6ePkrBkwddy2fu1HHMSL-5jPcs_U8ACVTlDHaTmY5d7Ipmbg-IDOKO4JwvrrNlZz6iR9XPvCos0XZjFZbx3K_1JUE8c7guPMExA8GFOqgPyCIYztK5IaoNJ_HLpnW_SLPONl1TkF7tOFrrWPTytBGOWFdeatj4ijQ=",
  "id": "rs_0b1c0c83cb770e90016aac7e2d305887d1b2b9926d1b5c1b6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.32,\"left_z\":0.23},\"note\":\"The can is securely lifted and the burner is clear to its right. I’m carrying the can sideways above the burner, keeping it elevated.\"}",
  "call_id": "call_KMleIfGupTXXK0jbLZk6Ac5a",
  "id": "fc_0b1c0c83cb770e90016aac7e2ff71487d186b6df4eca0eee43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KMleIfGupTXXK0jbLZk6Ac5a",
  "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]: [-0.7704, 2.5534, 2.9303, -1.5345, -0.469, -0.6731, 0.7053, -0.0238, 0.8715, 0.6731, -0.6128, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4433 left_y=-0.3139 left_z=0.1961 left_yaw=0.0392 left_pitch=-0.3852 left_roll=0.0909 left_gripper=0.7053 right_x=0.2721 right_y=0.0004 right_z=0.1458 right_yaw=-0.002 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -14.1744, 9.2376, 1.1404, -0.652, -0.0855, 0.9255, -0.1846, -1.7983, 6.9538, 1.7558, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207b2c19e4d41c29fadbd836ec7eccbac7fba71fd90d9abef3591c01865e43f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da12db7f91950fd5b8a3dbafa9fa6f909f46847aff6015a710b70317c6048370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f135815e16b848c203caced3d5157fb84a1b0be9fb43e546a8d2f58611f27615",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 10.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.255, 1.7107, 1.4361, -0.6708, -0.2367, -0.2054, 0.7056, -0.0235, 0.8688, 0.6731, -0.5865, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4473 left_y=-0.0701 left_z=0.1688 left_yaw=0.0573 left_pitch=-0.3362 left_roll=0.0833 left_gripper=0.7056 right_x=0.2767 right_y=0.0005 right_z=0.1511 right_yaw=-0.0016 right_pitch=-0.2006 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -12.1094, 9.9214, 1.707, -0.2271, 0.0562, 0.9451, 0.1436, -1.812, 6.735, 1.8974, -0.0415, -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": "gAAAAABqrH46X23KJHYgz0eIYIbKe0mPRBJQilSvol9K8ng54AjNz8-NndB6sJy4Hvpt06UTMvbYOPrHcgodyNLrujzoiC2-uRSdJ592gvgVnWFxNtqNcoo7DECqmqzT42ubJ9jCVeHGrNfG2mkSN5oihbllRBtLa6Asah-mclfdVDHdGLeD8-AjR9NHqiz18wBLTSqFZ6ejGm78pWtQCZ81ANidIhOyU4mnBkxJnq6upkyRNTtDmazVTebe7vBhEomBA4_UGkO60vIkSlihRDXy0r5ebOMX7HrzOecnXyCg-jNXXVBav93s_Ceb93Wduj4vxEt0GxkS-id6ns8XxFyczsV6jyMAJfd_6fs07QJEWItdP4lXU3h59UvYF01qb91mJebyKEoYuNyXKB3NlEBtJBR8eMLitST5HKS5AOqd8hGg3EckrYu7HCmFhRj2vbBBHiPmt4EuUanrEgKkOeiHTzPNM0l9zHVsvSudhyKq0z5hBzhO72CzRE1FjSxwgF12cYq4T9cfa44nWZuEa2pq-SC9gfBoLAAKfvOyEC__jdsvZi1Z1-YQdLoc-4BNkzMJ28L0mcIB6dtJPMLkzJJeblkgZaNQvXo0WskZ7UHVwEeao36B1ha64sz6NMKlCqKimKVcaoFT_aO8JBCh_An8VZGU8cU6VGgzTbWZr0m2gmwROwznnWARchStUenJSpAgC5P0FvBu0efnOvHnlIFL82gxyO9tuPcu0r5RsdFFQAPVVKR1vZpNsiwYpVMYEwckS9ocqwypIFca7NFoN9JRASLyGga7x8ZKtkl8uIu-HkIqW8gw-XVrTqIOaxzWEtetw-7uEHcaTMJWvHnFdnUf6gOxrSvFXL7GFeCCzifbuUugjcnEprZ67ikrAGA5zTTxep1deIwbcS_sPbo-oUvPr_oJ_nk2PKPx1CA76koH9l44E97EngVvjouqnsXutvgd6vKWs7c7XmWddKSLe0INFxs9McK17FbudA4ABlRWdYfsmDY4XCmWT-ju8xdMqGosPBzaM9HNfpBffUlwrmcEIMzj6USi7icYNEWRcJoRXkES4cM2hqrG3GrdQguC7lZqeVI0ApQV9-dTtN_T2uTaFjb07qVkwmGTOKNwLJuVoEJxxd12-Rm5lABPdCELP01Me_d6Yw-bo26mBDoh5B8-LyhI84hnptUsNjJ0ke2rOfMdaMpDhaq_FQCrUgYYIzoFPPl95JktKq7oMpS3BbqtaTupqGpM3JSiy14HGNAH-8WhVhaAgML_N3msbeHA2XdRFcD0FLxSRWTpGmvTiYpjDMhNVMjL74RmSyQmFtr24LiUJE3csGgGGzeYiP42QtdpVYO5fcAd39i1oHu0Wq4Cq6fae42ukhRn2gMasLNocttAQp27Rn3H4wmXWfriJ1CYQdU11nODQLNKWa4QgKQ4aF-Hl2-Gp9haeJtJICyLvCjVsYViBusqTY2h1_MXSEUnVl8aINKW0YO5wTU7ZU7x1Le2jL_ZAdRDkCVNNBm6mte8foSph-VvBZp5Kb58je92E-eYEJpSxUFto6jI4t5u_bbSIFs94BmeASTgIPspuU-sLR4w1O0WyJipFpeVAOXYzUpJ06bnVa08WTxJZcFn1cJMC0EwSaIp1op30sIDrlBj3wQAIO-vwD6F4IzyINPkXsPJzJa-EjyLURudV7SKzfqWmZ0wfQR-V_74g_C4yp5fvuP9HbmiYnxAHO-nJk8quttNnfjDmPvGIH_NCqlRu2Vt-xJcCZvsdH_cS25Ktycn64H8LseYg_cCMzVBeV5gy58tR4Pi_Fl5llvAyb5d6qKfXFCVMyfTpEKrSE2S7heLHCAnI0o=",
  "id": "rs_0b1c0c83cb770e90016aac7e36544087d19432263e7ecbc959",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.36,\"left_z\":0.135},\"note\":\"The wrist view shows the burner slightly to the right of the can. I’m centering the can over the coil and lowering toward it carefully.\"}",
  "call_id": "call_pEzQtOH0MqRd8h8ssWDUVoqH",
  "id": "fc_0b1c0c83cb770e90016aac7e39c12087d18f90c2003a5f2ef8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pEzQtOH0MqRd8h8ssWDUVoqH",
  "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]: [-0.8234, 2.6003, 2.7586, -1.4075, -0.4877, -0.7364, 0.7083, -0.0238, 0.8719, 0.6731, -0.6346, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4373 left_y=-0.3448 left_z=0.1315 left_yaw=0.0648 left_pitch=-0.4285 left_roll=0.1399 left_gripper=0.7083 right_x=0.2682 right_y=0.0006 right_z=0.1421 right_yaw=-0.0018 right_pitch=-0.2517 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -13.1761, 8.5538, 1.0867, -0.3004, 0.0611, 0.6764, -0.0752, -1.5658, 6.8034, 1.6728, -0.0806, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5ea533230d8ce89e2e5171c6bfa526dff956af621dd952f209c300d75fb37b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2228117efff88fa47e0fde60e5e4c2ee44e5d668d3a81b4ebbbf6eb6fe068e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea6d205c62ce7acad7b688810539865480a5461348158e2b7165ad910d6e4e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 5.099 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7704, 2.5534, 2.9303, -1.5345, -0.469, -0.6731, 0.7053, -0.0238, 0.8715, 0.6731, -0.6128, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4433 left_y=-0.3139 left_z=0.1961 left_yaw=0.0392 left_pitch=-0.3852 left_roll=0.0909 left_gripper=0.7053 right_x=0.2721 right_y=0.0004 right_z=0.1458 right_yaw=-0.002 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -14.1744, 9.2376, 1.1404, -0.652, -0.0855, 0.9255, -0.1846, -1.7983, 6.9538, 1.7558, -0.0366, -0.0415, -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": "gAAAAABqrH5F3BWE04HeSP0a3DQabpk3SUjtxytdXPmTCjvXJCx3Qp_oml89Yxv_onmAeAyLeUkF6zDsPuh-aSdrrOBfKLicpQiCQJrQMWUU9yOnHYpy1JOxXPxt6uuIHonZao9OoU36SKyLkyXcsl2RVkhOO88i5d6WeXvsnF8MT3pDzdbMgG1Rgzz5VJRnlI0kBAiVSMDxc3cA_6tSE3UV4Q0gl8JS4xijRo6UvKo7SLwdk1D8B64dH_KVKE6fWlopgf8ZOnWuiK8i7X4P76-JmdwhcoDb0Ad9FxIqGSG_GtgrKxPe-ZmfU0ttgbDB47VjPfPncepi7Hsd0UsZs9K0AieEZweVyqWIAa614tzdGYAR9DmDzSuzjh6xtJ8Qrd_J93oi5tgc0kAXowS65km2TGY7evwuijSXIXi92g8-jKu0NlVNGOlmemUtDSibi5-XG8nDV-k9_asL2hqz5gI4TLUSC-f2BU6VaBBMzujQ_Z5XuM0zJyS3TPdtk4IcZWjisDoXRcqYuXdR6tjTn1bO0NTuHMo6k9y65lQfUuFujgsHGNvr_5kbfDtfmIHW_lkmU22IBskpYukxxmNfHX006QKYHpDCTdK49xlRrO4AO8GHTaKIjPUOyLk_0Lb-LsTItgkkPHga5_zz7MlBrjqRWFzWnE9GClctCN1fri_pmmsSOw4WnxmBdEpbfNm_83UnFNLXrBSczl8RB2EO4jSaS-wye_twoZILoL2V4AaUI9jDyPEU-eXxA3M6elFki6jk1sG3B4xfdbkeZXK706iwRTnWpXSpaAzv-0BINFmUDH0FASO938a763yBy-hlvoI6FjrKq_bIrQHa-3i93wpXsos7e6ygfMbWA8zuYR4sqvAoiAf2EdcoThGX9yzCSXhl1_SIZEoscpfA6ZcLiAdIvZLNZvxo8xEPVKTC874ahVbjESlSCfE6As44pI0aL0Aih7capadldWFZr7ITPO2QpusRbktiPMleATeb4Sgja-a1KfKYV_epEmoYqMKG8DK4vCBL3dy_807EMwFQzV-QiDv3TyP0WblEownWPMIyHYCtAXolbvcoYeKtmu6IVKEzpKLssBRL99JdZHNpEdWAGag3w4-HrJyvSQtHitX-mEbI580a6XQOllAhR84AAXqUz4wSu-l4AcI-74c93uLs5bHD5dC8RrIuDXs8X4mTL_U09IfOZAK3-1y7843DZe58oumy6_2gxYXIBS05jeXXznAV6UUnasiPXJNpohjsCKayrPnpXlCtYz-0wf1nNYB7vIK9MclchE4Z_1NDg_dUCx2UjzObWELrPNMIP_ROfL46NEAasQHzNNolDcV1PhozLkmkig-FIY7PnxZOVoYpUTZMnl42hojWj4zH_89cdyu3AJ1rCP3h01DnCTVJSc6aEa1n11pXcaGjxTA-bWmAGALS6vdsdf0JTrE6otCEVi8IGt4tD1sKymatK5WI7aDQBG88dQCHRX6Zl4svPtAuFmrPTAqcI2joaBRypsPEFFf7EXkhRJzKpFPla1o-psVyQDtmtogxAoqI8UE7_HCFuDmyK0hDKh007iiOWhfPqAth0E_ZXTphMI4YC9fEn_sLq_OaOvpwMwXBNx1QU3mLg40sutb03_KfvFviFSmNfaiJ52MxwucWzjbt8v0C3Xn58oiNX7qQTlwTlJhHfMIiuQH_GcLWwNmvYcG3KDPCcVUGm6AkPPW6JHF_nkMvwJkAxWVQ_4ed0ZZD1ZPOsk48WksMDI1UyWLHAKBcN1NJdYqv26hZN2GpaQBObXw7vkLQ_vzsGI9eo-448Gu9MluinXndLZ0CHL9GKTSsWb-kGvQ7h5woLpP0Pkd5PrH7bkGnf6JwT2BX4jLjGz1Pxp9mRxga5KGWQbI00tKahhHctRfLlmNd_JjE_eh6TOytYWuE7WhXza2MjA0WJ_FH0HOwKiyKGmaSwrg3yPK7FDKTeRS3tkdmE8nGJsP2YEXHde0YlSHWWlvXnlhnx2dSG1xjTYi5_Wpr-Kuw__sqIgD_Sw0jhL-zL-KWzzn6GJRCylTN7Wnfw-PFS1ABKZKA26M0xyf4JKABOaE-UaN4E0f4Q4yePHy9l0CgbdNUfPFGiTKAZtUm43iXBctkWluA_J4DeorK-krroQ==",
  "id": "rs_0b1c0c83cb770e90016aac7e3f7a6487d18dbc0e36390ccc61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.11},\"note\":\"The can is aligned side-to-side but its center is still toward the near edge of the burner. I’m moving it a few centimeters forward and slightly lower so the coil supports its middle.\"}",
  "call_id": "call_fKgKAHDKgEisJWKJkEY6W7Wr",
  "id": "fc_0b1c0c83cb770e90016aac7e4344e487d1aa5f9f951c218546",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fKgKAHDKgEisJWKJkEY6W7Wr",
  "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]: [-0.7532, 2.8063, 3.0474, -1.4765, -0.4644, -0.6849, 0.708, -0.0238, 0.8719, 0.6731, -0.6575, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4708 left_y=-0.3281 left_z=0.1005 left_yaw=0.0855 left_pitch=-0.4404 left_roll=0.143 left_gripper=0.708 right_x=0.264 right_y=0.0007 right_z=0.1383 right_yaw=-0.0016 right_pitch=-0.2746 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -13.4496, 7.9795, 1.0379, -0.2271, 0.0952, 0.7106, -0.0342, -1.5248, 6.7761, 1.6728, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f260e82abf172232ef282c72c4f1c291cecb4adc277c65ad28c99d44808dac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d760b9b1c9ac432b0a768731c4469d4242c8e700aa01614e61f6161f52503d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf903530321e1fbd40731ad1e53da6b4ea7cc295138bf5ba30e02d3d1265570",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.902 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8234, 2.6003, 2.7586, -1.4075, -0.4877, -0.7364, 0.7083, -0.0238, 0.8719, 0.6731, -0.6346, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4373 left_y=-0.3448 left_z=0.1315 left_yaw=0.0648 left_pitch=-0.4285 left_roll=0.1399 left_gripper=0.7083 right_x=0.2682 right_y=0.0006 right_z=0.1421 right_yaw=-0.0018 right_pitch=-0.2517 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -13.1761, 8.5538, 1.0867, -0.3004, 0.0611, 0.6764, -0.0752, -1.5658, 6.8034, 1.6728, -0.0806, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH5K2Mjp1OAd_FDikmDLfTSkVnm529Lvzr_h6PzcIsuQ_sptduFxHJLDdRByQmCZteX2IhtWAGMFQy-lW5pOcTfpYAUTfDG03xy62nIrFxD_vj8U2orvhPVa9VboF_yfoDA0RavgmdyIwbomPdnA9XdzWpS6zDCdiOvUxzzA1qLpBAfCiM5vajkVm82S9qky2Pc0c6PWVwgOxMhQCEjLDfz2HlPPbG98NEovUnfLsNBdqhud_LcXLkKEqG6f0EIaaUjWaivlNeMZ0E72xGboy1q0O7dTAGQ2btfnJsY43AxPhlVTU9e2wOdW4SHawMHIcwzoUTkdQ5TEbNEpEoxH5HLizi7oRfaQGTR69e-TYbtuJB_A13YfEHIZG-2Q1D8kvYjz1NgwV7Vg2yE5B7B3rb84aZEVH1svMHpG1ddkrPGIUUuwU2aPDQplhzG4q25Il6gIkqDWW_10vqgbxBzsS_FiiU7dqJfABZi7DdO6iXUW7pWhx4-PlNFpY37WWmBH6QnaKoJDPF5YvVeFHm-2wj-rW-eH17N5Zof3K3c4y00zHf_UnDx7j2jL2z7M6KlIUhnf6UY32K87EOfZ-zAFfd1qFTyMweI2t0hG-u3H9WuyplBQSbCc-ms19u73yOErdKcer1pYx1SRx4ix0G-fI27hIdKnz1XmvYFyG6hyc9InKgRLo5fO_7kjCf5CZdDJsM_Dv6x853Q1XBHsqH-sguBwZP-BDhrtLnLcy2RhWHc2Rcoz9lv3fOwkKRFLLmFa4NreDBKeldswgfbhU7ZPS7bwLvep4LOfzbo8A2ToG91wvt5AcY7cWYz2_EQBK6EEdXR-oMH3L-rS_nZQvKDbcqMw53VahNmU_VYfWrR7FReBwb_9OBsishDEp4IzdSfPYHXg8oMF7bffJHFA5NeHup3yc8RYdGQi59PSCg56OS4piybK8SX8Rv4iV6UcX005k7FwXKH2TS0Q6Ey1N-xxoG3UhFL9cIDeBfqnzjEu7C6joyxtqVgiETvhDSwDjesl9wAXTwMwdTeF56hGNcBFOlpCDl44EYrfR1zL9HpmAyQdv2Hx-RtFO8bG4Jrp9QEF_kEMvIy09CGzqnHhm6FWn5EH3QAQ0rKtjPb95FbaSWceTi97WUP9TorzrLExrl15LnYgFT_pTeIF-CAYy8ZR4Z6CNjZ08FTAlp21F8XL6O3SO-z1iMwx9Zcr0fvv6PbJntMvcJCePSHxpAd10cJBinjJ-cdhyUl665w5sMbMymbCvNbajXTZo_FGloiYfCGCwRXl7uVXnm2z3bf1aVipm1YlE8m1mMZXM6qIeilekbKoi2GvHd_EgBe2eclCjaRcg41q7-Mu_-G4eMU5CHWNh2JIL1ad-ZhB-L2iiOC4mGyWvj7Vrgo0YO-2FkCsgIKEjNR9",
  "id": "rs_0b1c0c83cb770e90016aac7e48135c87d1b36307114d45f9d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.35,\"left_z\":0.065},\"note\":\"The can is now over the coil, with only a small gap remaining. I’m lowering slowly to let the burner take its weight before opening the gripper.\"}",
  "call_id": "call_C84UESadodMW1qoXqQRIZ6j6",
  "id": "fc_0b1c0c83cb770e90016aac7e49a31487d198bd6a10d318369d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C84UESadodMW1qoXqQRIZ6j6",
  "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]: [-0.7643, 2.8185, 2.9425, -1.404, -0.4686, -0.7006, 0.7107, -0.0238, 0.8719, 0.6731, -0.6743, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.47 left_y=-0.3351 left_z=0.0677 left_yaw=0.1027 left_pitch=-0.4654 left_roll=0.1742 left_gripper=0.7107 right_x=0.2608 right_y=0.0007 right_z=0.1356 right_yaw=-0.0019 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -14.065, 7.5966, 0.9988, -0.2759, -0.0122, 0.5543, -0.335, -1.4701, 6.9265, 1.6484, -0.0611, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9edefbfbcef47962126ece6258dba36e5cdd8e5a1363d05351f8057a301d7b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd84d3a83a54dba09095e862729283b183165e8d431143e61314f25d39159fbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2cab948bda344dc085c09c242167d7925d1b46d47abc7835efa3ca30acd0b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.4 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]: [-0.7532, 2.8063, 3.0474, -1.4765, -0.4644, -0.6849, 0.708, -0.0238, 0.8719, 0.6731, -0.6575, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4708 left_y=-0.3281 left_z=0.1005 left_yaw=0.0855 left_pitch=-0.4404 left_roll=0.143 left_gripper=0.708 right_x=0.264 right_y=0.0007 right_z=0.1383 right_yaw=-0.0016 right_pitch=-0.2746 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -13.4496, 7.9795, 1.0379, -0.2271, 0.0952, 0.7106, -0.0342, -1.5248, 6.7761, 1.6728, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH5PEj8Vpp8ol0jQoied6RcOsqHdPgFY4ykd10NoG3UHDDJQQw7ubqKSlvLxAyoK00ZtxROg2u9W6MazKa5oN5b9HNcL7B-LLTD-P37k8EfSJRrfh2TAyNPlh3mSOK_beLMCxWKHtqm5paOWyPoXLbox7PHToUuC4rdeojsjmcXSlNSH18AgU4OjgF9FtcYs2p5GPbyjSmixwktUs0Tig5CApwjyO7XhBcRVEenfH11CUECnF20zprzLHI4WXD1pP-hXj0qjoQAeepNR9M1gWTxWL3HZnBxSjSJV9xkHzNpX2YY-7mXmD4OWKrKeiVaPlWGwcy4Gg3vK5E-blmVPJXfeEWzyd2nYx2kC8Ttk7g9kQsIB2_TGQrn07hgg9RTB7nZ82k7LktTO9gFbqQ5tO1UOPfin-xjpp5sYOfHsCTTjhrxOU_UT19fkQwc0yDVgpQUFn18PyqPhGrXM4v4KiSw-CnyIB8yCHSB-BWjvfBdTMDaqdalqEkZKwzDZv1OlOwmffls0UZwD6lrRgVOsSvrYg8a9gx2RZ1nuvURHJU3OWxYP3Qib9-udKZLPMcEfkbB6yUlwuAnVWXSSAYWpJ_jKDMZThA-0940zomsiAyJBfP7ZHt_Y96OieV8tMs8QuD2MG3rqt7JNms2lKsU3_2bOJtYKzrDElYwgrU_GgJKmbzwKYJyVn7P_MkP2wQz0x28ljNr5pxMQA9PLSn2RiHBmF2PljPExCreTx3F1My3ErdEa9qUKUbVOCKqXjfYEsRgYvdawKBZj798Burym5Gq2629ViUdnMctSmanwwuujfbENXtGsPtovACBZavkQgDZ7nV6yLVZsWIUQsu313lf2hh79B5utBYuYNdIoS-0lJmrJrkm4RitAqu787jAg4fTrIGbCbZaxQ2v8ShFdrP7CIML-wz8ObK8sX3iKJ-LB_inuelHTj0cBVK9KfZF1W4GJF_JSv2TYdJihGfiGXePomLPWXU6caXjTXmTOx-vmugPdGxws5rn5Mq2iNcFdFM_1ugu6gQgFsj18kC9ZAhZvdpwCmmFJ5cGEm6u7YKr--wr52TbM55_mmPwAhDqslMngHcZwv-kmM7fg7Qx5Qo7IMYqc-lb4k5Y5D5W_MJ_DWtXYN7Y13lHUAPvf0ZefUHs7aoUMRWYLjdHsdPjsp878NAWxxf3LeXxl6EQP9zMtgi47HxQ-s_JT9EuMsgHJk7fM",
  "id": "rs_0b1c0c83cb770e90016aac7e4ec19887d191bccb55240865f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The can has been lowered onto the burner area. I’m opening the jaws gently to leave it supported on the coil.\"}",
  "call_id": "call_t4J6WYzpbTOOgwj3ThTx5tE0",
  "id": "fc_0b1c0c83cb770e90016aac7e4eee4087d194f08ce354cc9bed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t4J6WYzpbTOOgwj3ThTx5tE0",
  "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]: [-0.77, 2.8376, 2.9459, -1.3991, -0.4648, -0.7113, 0.9952, -0.0238, 0.8764, 0.6731, -0.68, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4682 left_y=-0.3387 left_z=0.0582 left_yaw=0.1052 left_pitch=-0.474 left_roll=0.1747 left_gripper=0.9952 right_x=0.2598 right_y=0.0007 right_z=0.1336 right_yaw=-0.0018 right_pitch=-0.3017 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -16.6085, 5.9692, 0.6569, -0.315, 0.0464, -0.1441, -0.0068, -1.853, 6.7624, 1.4725, -0.0806, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de53a58dba7b4e5ff69aac916bf6bb807847bfb8304401b5c70e02084b89e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c009b3eba1b5f4ac3a916724ec514104e49531d0e565ec9cf937db9a0d9b223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169c85b1d805f9b1b88f7c68acb8471c6758964e2a65566e45ea39f7e0f794ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 8.865 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7643, 2.8185, 2.9425, -1.404, -0.4686, -0.7006, 0.7107, -0.0238, 0.8719, 0.6731, -0.6743, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.47 left_y=-0.3351 left_z=0.0677 left_yaw=0.1027 left_pitch=-0.4654 left_roll=0.1742 left_gripper=0.7107 right_x=0.2608 right_y=0.0007 right_z=0.1356 right_yaw=-0.0019 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -14.065, 7.5966, 0.9988, -0.2759, -0.0122, 0.5543, -0.335, -1.4701, 6.9265, 1.6484, -0.0611, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_z\":0.2},\"note\":\"The gripper is open and the can remains over the burner. I’m lifting the fingers clear before moving away to verify the final placement.\"}",
  "call_id": "call_yUQImLk0VVZ7ikeUcJl1Lt4A",
  "id": "fc_0b1c0c83cb770e90016aac7e528c2487d18c1324ec4d1792ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yUQImLk0VVZ7ikeUcJl1Lt4A",
  "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]: [-0.7975, 2.5778, 2.804, -1.5558, -0.4618, -0.7383, 0.9964, -0.0238, 0.8772, 0.6727, -0.7013, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4241 left_y=-0.3167 left_z=0.145 left_yaw=0.1084 left_pitch=-0.498 left_roll=0.1917 left_gripper=0.9964 right_x=0.2556 right_y=0.0008 right_z=0.13 right_yaw=-0.0016 right_pitch=-0.3242 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -18.0034, 5.6274, 0.7643, -0.4274, -0.0317, 0.1148, -0.0205, -1.2376, 6.735, 1.6288, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff05c552e75af4d19a6a162f0b44dbc9f986061d1130c26eccc720af55a08af2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a607930fdd3c26a8ac29316a21af1deee222acb9a88d9843a8e12ab47a86a3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd77aebeb3e48f1c566d9ba464b748b5f15ff63e84dd59dc4742cce031be04dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 7.093 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.77, 2.8376, 2.9459, -1.3991, -0.4648, -0.7113, 0.9952, -0.0238, 0.8764, 0.6731, -0.68, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4682 left_y=-0.3387 left_z=0.0582 left_yaw=0.1052 left_pitch=-0.474 left_roll=0.1747 left_gripper=0.9952 right_x=0.2598 right_y=0.0007 right_z=0.1336 right_yaw=-0.0018 right_pitch=-0.3017 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -16.6085, 5.9692, 0.6569, -0.315, 0.0464, -0.1441, -0.0068, -1.853, 6.7624, 1.4725, -0.0806, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH5dkdHn3u8aFHwCziPWifRz82R_X5GCbw7foHEK7G-0HfeFRu3CryCb0OENoj1XgQBEk3no0BjFLfvpCuFgDZTa4UkXC9t1z5K2mlklpawma7fuW-DaKMLDxZ--LmamqHs9AiCsFFrTvza0UEZ7zXK47FMSWlFVmkKgg5MLjV53PPzkk0etTDNt9x7OOs4tHc8IwZazCpwUu94lDP5JkMXxvp-AOkAJQGz1GYQ7OwTLfLLeQhrQQ_iSCIgvDkAaC0AWKv1cWp5F5i5a4ER26Xn4bMZpvZrs-ULAGPbnA7eYysbhxdInyDpqPkiGWU9DAK4L3EOoY-yDYZi-xKpdobUfwz9icotcPKaEptRZ1flz3y0PATspGauxG6W48K06UHJgL0zPbUjzOqaCe13cx_aKb0HSn6Zzulw3URK0n3a0M-RfXTJQ1oNYoiCOx84af5cFyvUDWrMHJ9zz6Ovox8VEnyp0D2lM9E2I9CeotfY0ESnMNwr22Cln0OcJNqTwEcMPNx2Idy8omgnySkAYKe0M8wL23_MoAOTSLEO5LaNBCDBkkX7lNwpMcWz883D57PGYODRuczyhyL8TXNRXofYgKT4cZpunEQCNKQ49nrGw24wt86J3gg1mYuLQvBNGEOFTl8y1aWdAIFiGhT1eNp_39gOa9afGCsPAqEe8Yf6MR7TzdR6a46RhVPY82rlEIS88czFJ1wYNxwfyV3cx4ZnTPw7Fjg0hW7AXKJXTskhFpUge-zYKBYDzWoKVfnee8oK6IZwvnPApDsqNVKdaX2z4c0GttNpASlNfYq9CWe1GUDwYvl55x2HFkn3zO6VBG2Qoya9oQVU4y_cBLWDhqaRyOyG1c-parf_xleYMeIYCSHeDNJlZmxg5h1iV4MDZAMGQ7Og3n_G5v8x4pGuAIspXaAKxQmm6vvk5VTJKo9Ajsq4V66dhyinnTx0pghTY0wDvwONnop27ySk5P0HkP2QYxLos2TeTZ6s9XdtTOsxgLTdL0RwNR-P8ESJMvhsKL3iVrVHoQemzfdld7jRjWRc4GDCR_NZ3LQWp8dm_scMG08dB1_P_ZbZXDMjAnFYGSwhz7-RJUkHLjAfmo0Vdq4cLX0ZA0igVg0CEy64sFWT6UlgaO2vG1kJzbEAE7dLnfJBXzYknA71iG5YQupMbqpjHaQLWf-JiHlHQqILRFvRENLr3h1mlmS-TGG7Pb23fUzhDtFzxqN0iSKvWaM-IkaaIuuzpWvAnlirJ0LP6vDm2iqIuR829JO005C_2BIJA1sZPZGhyGbusBK-WK7l5Z1G5TH62qHasqgrxNltmIxYBK6z8G_KkcU9SMSzAOMnGTeFM0GP9wbRAxNENgG_IKJfURu4WIJS8tAZ1F8CH5cXpLP7ximMIH7W9Sjv0EsLna_goORhXIR3Gf4FkNe-tYM9yySaTkctd4r6vAlit_ocF_7AvwRgpcyvduL0GObonOTji2ttdT-qvzAO3WfFJyOtYvlPBwP0AblMCF31tUnqpXFr-R9X1Uiqo6x-mGMHDw7kJY6cIrNKL-AIu8B5dugNdOOxvnwyZRZUSNnIFYFMNolV-hSRnrqPnL-Pfh9mzeQPDssospdWYtoH-swmCOWI1GaHJSk0zby1sIWsxjOUBX0i-FAcrCh5DFwN7VGIQsSgFh-FYi5FI7JCXCO1rfVXKIBWI6TRRegtQiGCcxqqPnGNwiCqdEMwR-etlaNGidJNh81KQAnH2xP8OibGCIqIeXzbMVy9OmrAU25HEYaMhuIzE7v1qjKDTQWt-P_xt7STtYgD96xdxD6qOBm6C_HZlME1L9lgl5GjSbcidBHDilnoOnrdbVQdAW2tcfNHQMOPRt3Ls0RG85Gr9NFhzuTgHWg==",
  "id": "rs_0b1c0c83cb770e90016aac7e58807c87d1abae872780d8c7df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.32,\"left_z\":0.13},\"note\":\"The can slid off the near edge and is now lying on the table in front of the burner. I’m repositioning above its middle for a more balanced grasp and another placement.\"}",
  "call_id": "call_qPCIOFxF8SSlAIutiGuRjSvs",
  "id": "fc_0b1c0c83cb770e90016aac7e5bc5b087d18f1ab5d621aaa86d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qPCIOFxF8SSlAIutiGuRjSvs",
  "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]: [-1.0092, 2.1265, 1.9076, -1.2552, -0.485, -0.9482, 0.9966, -0.0238, 0.8818, 0.6727, -0.7238, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3034 left_y=-0.3208 left_z=0.1165 left_yaw=0.1052 left_pitch=-0.531 left_roll=0.2336 left_gripper=0.9966 right_x=0.2513 right_y=0.001 right_z=0.1256 right_yaw=-0.0011 right_pitch=-0.3513 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -13.8051, 5.7504, 0.6227, -0.4322, -0.0952, 0.0024, -0.335, -1.6615, 6.6667, 1.619, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a986726b2ca2369da5fbd9e940a3d31bd58a29671c335d1e4986c121ee032d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8853ed477219fa320b197c5d4ccb6d8a70f276c1d4628878e09a82948baa16c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb5de3fb1a97eab3b6dfea63b7af519723fcae08d22500677fb6ac16b2b7bd11",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.544 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]: [-0.7975, 2.5778, 2.804, -1.5558, -0.4618, -0.7383, 0.9964, -0.0238, 0.8772, 0.6727, -0.7013, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4241 left_y=-0.3167 left_z=0.145 left_yaw=0.1084 left_pitch=-0.498 left_roll=0.1917 left_gripper=0.9964 right_x=0.2556 right_y=0.0008 right_z=0.13 right_yaw=-0.0016 right_pitch=-0.3242 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -18.0034, 5.6274, 0.7643, -0.4274, -0.0317, 0.1148, -0.0205, -1.2376, 6.735, 1.6288, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH5lY2CDSmAtgPw4CVGPGNxkMrU2krkrSYunr1YYAM4WQX0SHbDvF6t3xnP5-REq0Lj6RimSkcYOD1eUr0HHRRzu9soZhSdd-sK8fHmHsPyXsrdN8k4eDputGDctx941yTTFgOeSjp9hO2B4Zy2oMpMijLZCsuqMDOE1pGWbbQ7aM5uM8IRI7OECPt23vszJlQOY_KuG5sA5QNNpTpY9C-uD_XGYUZffOFv0xvNXohRffHIMmVAZ5Z_023Nl3TQGuvGsV_6GRbqWnWLEcoeCPrFG4bjbNQtHIWCcnhEexyfaWwktttEmZZcI2cLm9clInYCaHZqeyEmeqeGLmg_tisHpiUS-uw3T_77X695MM9Am6XKkP8naCDf2GTFCKtBGlOkCwmunk2HRUSp2cXC7O5fUhm8YTjL6ZxY--zxnm9BGpo_z_D1q49bvAV-U8MyOkI0Meu_aXlLZb3apCHtQG1WmjeOXBQB9GLWODmYxPsQHZZubmcSpFHO9B8e5utgyigRbTZTs884pPyjxtA4u-S-uhlgfIixFkNdtmz4lNxWfAYYTL9o88rqeJ-b7j0PkJ8UGfKryS8LgrVYNXyRpvKeMSBL76YkUrXcCeMwvdhB5DkkuO8Dbzks3Ihns1cLQ85gfk_4INxXF5gGzi44a4CJVH73i9iVsjZVHlyPwoY2WAGHdAI7ttI660ECBRVz_pHUyOagl2pNCapSUapZYT49tjCXfbRCDWU26IA2U3lR_HSUbPD1gHw4YQYjxWo2Lu9HfzaXNCimjsMk90BWPB9Yv4UFgxl_A6xkORQUqBF85Wx6CVzBbHvh6qghSApL_tAkoXsZrt1QFTDOO7JuYtua77dFFsQt8e1NBCNiBCzwLNjmzlIStC5rTrLq0uCNkgiaMEptvIybkAVJRxUWxe71GXjDzKxOffzla9ZFG2_QSSsejguH_0LO_8GBo6JJ9dyefwMIST_FZK4owa3odMbCD5VXLfu5UYxs12LrWxIiwLwkG2_Wh3a4sZzxCnWMZn0Aw6-Q6J14Mluqbgp-7mMVipieTrcHagGSRKKOFihc_H3S7EvV5N90QX8zZK4cRJ0Ni1I4sT8nW0q2liDhf7fZRnpodDisusMy0D8MQc95dEvWGrGEjHLtyCdj6NgaHxZJs7m2159UXQYuP8yamh9A23VEfbMAYD4EX_SjPHR6duRyIER2MkJ1Yv3OEOyaU1xMpjdxtBBh1rLublrt7qakBFHbbkhGRdmkbiVZUPcb6nkbEnYryESv0_BU_7zmlQ1GTzrqLI6N0d_ifg0NbSZ07xbTtTCzF9etJHhT_HsbAukUV-5_4FuK-b_P_vWu4FP8Tz8riQY0D6UkEElW2AGlU25zbijmR2T544ti5rL8TyvpFsm62120Mc4I0aA0-_4l6HJ-sfB8DEh5foqZyZE3E9_Ux56yWzofOh8WsMI9GtLgq6hrcJU4oiGZ6SaPpshzjC6vR6O7CU2Net3SfG6KscHeSyeu6NQKi6_LMLu8sErR22z_0hLdybD1kqP5M8ZvCsDvwONSA9c64qOfh2SSfwD03SBn4lCGxfPi0JiZ94kHW5ctP_M-se0P0fq8bGGyxLfjISQd4WuehZELw4shIK_DeTqSokLXojTc-azq-heHF_BespnWHMAA1TdfRnMAsW46cs1xNTe687ltIWQT3DTr7VIikkVW4_01fDt8r5oQPjFZNPlqcxBZ7yPct6mYv33u1J7F2EaUXejmUXy6LJTa1IoXCGQxAFe9oZz0EuHE-m5FJx6BrUQz63vkJKpbRBIpvuh3vVOrrPbKoZigg2Z4BoGaRopgAuHnykHXgorB4Hl0K381gR-1Eba6R7vba",
  "id": "rs_0b1c0c83cb770e90016aac7e60f13087d18538fea078787872",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.35,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bottle-shaped can is slightly right of the jaw centerline. I’m aligning over its broad middle and restoring a vertical tool orientation while lowering for the grasp.\"}",
  "call_id": "call_YOfLGsnpjwINF2QWrDr4AD7y",
  "id": "fc_0b1c0c83cb770e90016aac7e64054487d1a4acd66173f1b3aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YOfLGsnpjwINF2QWrDr4AD7y",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1656, 2.0682, 1.19, -0.244, -0.8436, -0.9531, 0.9966, -0.0238, 0.8829, 0.6727, -0.7433, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=-0.3416 left_z=0.025 left_yaw=-0.0031 left_pitch=-0.0684 left_roll=0.0531 left_gripper=0.9966 right_x=0.2474 right_y=0.001 right_z=0.1225 right_yaw=-0.0012 right_pitch=-0.3719 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -10.4684, 5.2855, 1.1746, -0.7302, 0.0562, -0.0073, -0.212, -1.5658, 6.6393, 1.5311, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4cf7710f8df8ffd1e99a7eb727169ee575ab2ef99be75631ef13bc4753309f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb006acdaf343e3393298f6d185893573af5172097551b1d525fce8caa39729",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c61bf9dc85826b32ad68c1ea1470fcf8953c01a88cc20e798c3d4621334ee9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.15 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0092, 2.1265, 1.9076, -1.2552, -0.485, -0.9482, 0.9966, -0.0238, 0.8818, 0.6727, -0.7238, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3034 left_y=-0.3208 left_z=0.1165 left_yaw=0.1052 left_pitch=-0.531 left_roll=0.2336 left_gripper=0.9966 right_x=0.2513 right_y=0.001 right_z=0.1256 right_yaw=-0.0011 right_pitch=-0.3513 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -13.8051, 5.7504, 0.6227, -0.4322, -0.0952, 0.0024, -0.335, -1.6615, 6.6667, 1.619, -0.0659, -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": "gAAAAABqrH5rGM80_K2tcsC9PqR5uaUWYyW_kYAsa61oiZTs5XpPUVt6gH4N4VfvAHRD0RjnhiC_qGAVdqeGt8ouEhITql0jwedR4YHkAqEHM0i4PaITWPaX6OissTMT4wtNQ30QyDGurAuDWITqn3Z15AAJQ30l8M6pL_i7W6XTQ7NYRSltFwGjlgqnMVBp-2r8nLPBvdINqPRiOoorraJr6WjHhgfHY4yGAaESAJH2QRl1FnkSyTMLR82lpQe_LynYP9XCureDJEF2iLoVTJ2JN8wOk7TLSYUan2ryvBf3_konqPfEwhkWY5zB4vhaJw1qL3yAlmgC-f6XxMaQfjRJuDTmc1TFLTmkdW7jCVfo84Ic9tBpP4guKzsgt1YMCIPPnShsk7GEry5yd0phsU_TCtEyNrA1xqXYlFZhgwNXmx4gA3rUD-IAtFJ9xl3TLfVX5UT1Cj--n2Rm4lbmuj9a4hMmoXl7Di6QHDsktiKtHK4nDf3G6tSXmyQiH8pawkzcsCmTpmFJujpsSfC40gfeBa1hT1bdUxK0STXNTrr-WnMq7-pu3xWkeCHh8GEjCcThzulCRN7U3UE0Y9jd9Lf0DBF4PylC8Gz2TN3y8jX73H26MteYR5gy0nrK4efXm5S73V_VwCW9-Tw6zFSbQ7LnG_-ofa14rAAstCaHJNs-JdvS3ng8i_iIWK81qPbHR0WvoPzx2r0aveCjMA7GlKKD6bA7yWcZxGElkxm1ndOwV4YDfHK7gJFWIgDRQhCPnwldGHQviT52RngJuGH29r0rZ3EH5HRCc87D2PWOuptLhXt_47AaQu3o6qU5lulFxDXyDawHpSbuJSZZno2Fm9S3lUmsJnHLlNB9H7JzP-VRW73ccCCQBdZzx9g0nTJdCEzLgoALZtMfvogG6HlWAqFN52bCP60omfLLMnGp0Rj_f17YrRMJi0shwvPiNpFdW17MoWNTwFeWbXI-z99Z21d0JyZxloujb1Xwp5oK7nJAJrAp2bpywhxG-U10Indh-YDji5fFBTd8PG7F3LGlKUmNPCvISMY2kWnL_isvK6EbuWdl4Jd3K-EjMgMPYnNO3LAQE4GtodziSuMowJrUPpwLA9NpR2K9RaAaB1WRnIjyCW-fZx4l-Hy3N82NKxyFXBfFH_MsmFT-7qtXDTU2Pws_d39-3FlTbGXnhJ4Ze_GGYgMNyvA8aUpeWtOljPYO9xSORuFBDv2ugwT9VTgAgdUuKKXJUpR5JF8Xvg3hst4YGfvzwcYcJG1jiaeRUoA3ZCm6N-rd_iKQncHCOXczwb_2pgdLrTUocGUBM8RA6EnCqBO3OQHqX7BggMaL6RJhpl-_xQDI94KIpxfhHwRjO_szyL1aWjbjcQT-rUuSlEjX8lmtCF2MU-qOtJzjBibyPDwQ8QQopJLa0fb-k6W6AaoXOs4pKTMS1qQV_dmO8gxZXjQ7dwdcYr7Vt3NFMOkLlz6jgVN1uX_-",
  "id": "rs_0b1c0c83cb770e90016aac7e687e4487d1b89baef2aac55bec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.335,\"left_z\":0.03,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can extends forward from the fingertips, so I’m shifting the grasp toward its center rather than its end. This should make the placement more stable.\"}",
  "call_id": "call_LMWP7ryf2Xc4nD0GMZ9Xyv4z",
  "id": "fc_0b1c0c83cb770e90016aac7e6a01e487d1816909bb980cb7cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LMWP7ryf2Xc4nD0GMZ9Xyv4z",
  "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]: [-1.0576, 2.0727, 1.1694, -0.0742, -0.8268, -0.8452, 0.9966, -0.0238, 0.8871, 0.6727, -0.7528, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3382 left_y=-0.3281 left_z=0.031 left_yaw=0.0315 left_pitch=-0.0212 left_roll=0.0041 left_gripper=0.9966 right_x=0.2455 right_y=0.0011 right_z=0.1202 right_yaw=-0.0008 right_pitch=-0.3856 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -8.7316, 5.2718, 1.4286, -0.4371, 0.1685, -0.0122, -0.1709, -1.8667, 6.8444, 1.3797, -0.0806, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:223e9a490045b6421acde45fb236634522ebdea37e756eb7ecc0a09d0a9607a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85ddce805abbe903688ef0707ba0c3d3e54df807723a82bd8e56aa2eee11b4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95ef81d4f64e4106b20ddb26008f4c427e67976ea0a2094df8264a6bbd50551",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 2.811 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1656, 2.0682, 1.19, -0.244, -0.8436, -0.9531, 0.9966, -0.0238, 0.8829, 0.6727, -0.7433, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=-0.3416 left_z=0.025 left_yaw=-0.0031 left_pitch=-0.0684 left_roll=0.0531 left_gripper=0.9966 right_x=0.2474 right_y=0.001 right_z=0.1225 right_yaw=-0.0012 right_pitch=-0.3719 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -10.4684, 5.2855, 1.1746, -0.7302, 0.0562, -0.0073, -0.212, -1.5658, 6.6393, 1.5311, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The jaws are aligned across the can’s central body. I’m closing them for a balanced hold.\"}",
  "call_id": "call_Kn7m8hVkOGTysOG07WJtylP5",
  "id": "fc_0b1c0c83cb770e90016aac7e6e1e3487d1a27bd610642dd699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kn7m8hVkOGTysOG07WJtylP5",
  "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]: [-1.0496, 2.0758, 1.1694, -0.0147, -0.823, -0.7937, 0.6422, -0.0238, 0.8883, 0.6727, -0.7692, -0.0193, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.345 left_y=-0.3336 left_z=0.0358 left_yaw=0.0088 left_pitch=0.0028 left_roll=-0.004 left_gripper=0.6422 right_x=0.2422 right_y=0.0012 right_z=0.1177 right_yaw=-0.0004 right_pitch=-0.4031 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.5521, 5.1761, 1.4042, -0.2808, 0.0317, 1.0281, -0.1983, -1.5932, 6.612, 1.4383, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e0c74aba6093724fedaa867dbaf8d0de45d26fa799b57645d4e309ccb1348a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68fae8ff816431f7da24e41693d8f2908bdb32ace0b727466623dc95ce804857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550c70233391e06d347e6bd9c62094492f7e0eeb2f37d326f59bed77e69d88d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 10.33 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0576, 2.0727, 1.1694, -0.0742, -0.8268, -0.8452, 0.9966, -0.0238, 0.8871, 0.6727, -0.7528, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3382 left_y=-0.3281 left_z=0.031 left_yaw=0.0315 left_pitch=-0.0212 left_roll=0.0041 left_gripper=0.9966 right_x=0.2455 right_y=0.0011 right_z=0.1202 right_yaw=-0.0008 right_pitch=-0.3856 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -8.7316, 5.2718, 1.4286, -0.4371, 0.1685, -0.0122, -0.1709, -1.8667, 6.8444, 1.3797, -0.0806, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The jaws have closed around a substantial width of the can. I’m making a short lift to confirm the new grasp.\"}",
  "call_id": "call_c4QQpQQ5a8MaZxrzEHKrk41i",
  "id": "fc_0b1c0c83cb770e90016aac7e7189f087d1b8bc1327c4de57c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c4QQpQQ5a8MaZxrzEHKrk41i",
  "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]: [-1.0492, 1.9945, 1.2385, -0.2279, -0.8066, -0.7963, 0.6422, -0.0238, 0.8883, 0.6727, -0.7883, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3401 left_y=-0.3287 left_z=0.0682 left_yaw=0.002 left_pitch=-0.0399 left_roll=0.0419 left_gripper=0.6422 right_x=0.2382 right_y=0.0012 right_z=0.1151 right_yaw=-0.0008 right_pitch=-0.4222 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -13.9556, 8.5675, 1.2137, -0.4713, 0.0855, 1.033, -0.1709, -1.4701, 6.5709, 1.4872, -0.0464, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a205d4d80177d84b93971757cbcd02abfb4e7b85d3f45a99ada61aac31266f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d736d5da377fbb0fbfc90f7297ff0fe5c9888201ef6fcbc2616169349fae557",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cebbb48a6d92c37db479e6bc105030090988dcd84941cb437b3781c862c6368",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.877 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]: [-1.0496, 2.0758, 1.1694, -0.0147, -0.823, -0.7937, 0.6422, -0.0238, 0.8883, 0.6727, -0.7692, -0.0193, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.345 left_y=-0.3336 left_z=0.0358 left_yaw=0.0088 left_pitch=0.0028 left_roll=-0.004 left_gripper=0.6422 right_x=0.2422 right_y=0.0012 right_z=0.1177 right_yaw=-0.0004 right_pitch=-0.4031 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.5521, 5.1761, 1.4042, -0.2808, 0.0317, 1.0281, -0.1983, -1.5932, 6.612, 1.4383, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH59C2AMEmXvVFq4yBzUkuMGYVTPuhQeWfGeCkBlyMO6RnwwF22yXyCqTBmPCItL_RvUgI6JSVrjJsVsstjBIAQtzGbrTy2kFftdVD2wzDF1Gx6xMmKYG-zdF_a_Wc5h9Ian4CRrgMj-xMTH1X1dh-cnSuId-Q-naV_jtVvNd6wgne_7kOxfS19bbSHE6Ucsi0mreqGyR7tUhCnoIZyVEzTgUmvs4sC2V0cMgbBLODN8GjNN9K_O_2B_ZHBiuff6lmdb_YdSnkcA0targLocvHLIKe7bLa0IU2Cw43XymULlrcLA3_Y_pPFGQCKMvfz8hHwg9CxlodA2JhpeSTant6okufXbe5vJ7cS30xqz29u19V0LJeYni1IjtOJCN4eCRgbbtxH86GmcVZsc9C2pPSoLYnXjX-GyGc3NlG1Qe5ZVLTGnZILHQL8kkwBEzPKhr-201om21JJaKIfQIeu9Ietxd_NLTF24nXvBlBytNLGoICwpFYw12FgD070tTNiUURmIgrkbOdH_BHFnZGulw6070kMzOdTAdvHy49EoiTFGy0ETZOzCForo4h2T1uY3KQiM_AY4JyILAIb1P1KQJTSFxO6DLCENyQMql-mfqqw6FSTlE55wXTNc6XsvwfS21H3RV4OVhSGf6yo8xP8z-7dLDfbAmQefmwf5mAQb7xZpv3coBhxhpFo8w7ugbT9AD9TzSJEVZvdx2xzNI68pvp00_-FdEs8RewosDFuVRhqd4skXQO1bUgPmvER7zHXNGJ71l2mKhTrWGUwppvWtnG2UK4VwSdSW_TuKm6L4iiAR9ZX9x19ya_LBmNzFrtX3gtnctWWZj7ACRJPV9lWjYDGNhkrjl674JvQ6UJPuJl-77MEWSkg8TbeKCcOYGiXUQlIJR7VV0BGEz5a5Z7yzpKPLGkE4zisBXyBk4Bm6jpmdfH3TV8bHGdQNix8BXE_x5IT-Thx5PuPfL1SjVHF3qM1ESTlA0RnYzAfTFb8r0Y9qnQOuBHzsJssF1gzuR92ENr5MMTDjczffhsX3L3WtYUvaZi8rPh7JyUMK9s2E9xevnlpN1jHJaD3yDr8svYA9DUXPOvxmvzNw6r0bfiidNRvlor7qDYuSwY0PnV98-B4LZFdZ7_m58DpOh-ORXE3gj8wIkdOCHdppSPSLqWTO30XbEluBk9qBHY2URRfwSL0mcXp86r-jyAaGTlJcgeMzC3SBvuLlOGmUNdencD0cuySIzd3jCcPe-hgxp8cMSNpm5ouc9EHvpBP58NlOGXLERv2swxOTRbiIieSxNckyZVVI6neVba0KELSpZjMseW9MXgGaSD6bxSkE2hlkR3RDXwzACDI60EqYgIURsMM8revKK1iyDqtwK6ey4RMyBVJ9M3W6CoA1HMz-qkGvi_psnI_wI09syhQmOvNB3kzcqohT4x3OV1nQhpPQ8pNOAv0ZBAC42tAzd_eXH3bcAr-9qRXtgqVFZxmWEBWFZYdD5Q0v6fSoA-1OYbVuBlecTnFT98rm-vuX9WtkApm_kD9Xff9Mr4Yd_zKAWhyvzPeUpDV7HYK95g0TpD_rnSHSTgj21UyL1b0pVXyGWoEyYBKWbI1CLP9lqnXdemVGGy_UHJ3uC9OSZ-H_IEaX5A7H3Wwk4ZKPm_kyc74zf0FyONG3KDkedNqZC1Of7Cxjs2HwrE7nDoeyTeFMPD9jR4DAa8EQYJROGYERMR6X_E6PF0VPGksXuhjUwN3SXPBRh2ubb151eAnQw3y99crDwaBIb0QEFLDXdxzkpAKQXx2QRLOMXfILVJo5my-cjzcYC340EcyHvSu8Md_RTUkKY_3g-VGYSKlGh-tHE5mdeJqTaKSooVIWWpY-kbx7nRehcXU2n22cIrXkq15cHv_2vaHPYHuhs0pEFO9XRSUza9N3VyUplWZmj30rya_G3SdGXeoz0nGt-6e4dVYTr6qh5HrmctAesdLUQ3WS4LUzzefuiGSupJLfV1efayNP9G7PM4Ac3kQzw5P_hijjO016FsgBdd4uHNAGkSOwuyEQ_S9raFbqvjr-RjH86npci8QXP4faAWXqnwuCwOEkVOAVxW2_pKAuIDM6NjPpgkwd1vms28dl4V8OgBuwqLeUtTdRctOKzDJTcM-U3veZfsh38Jxri0qj4dn7s8Zhp4hQKwMbhWfwkZTZCWjqxhBsL-cFlxhqimwS1DVcs-uQTnXesXE354b-4kk=",
  "id": "rs_0b1c0c83cb770e90016aac7e75fd7087d19e7ee87f394d9197",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.21,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can is held securely. I’m lifting it above the burner’s height and beginning the forward approach, keeping its orientation steady.\"}",
  "call_id": "call_xquHGoLBUr0UsiIh06qcM3q3",
  "id": "fc_0b1c0c83cb770e90016aac7e7c056087d186adbfc091959982",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xquHGoLBUr0UsiIh06qcM3q3",
  "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]: [-0.8799, 1.9896, 1.7214, -0.5549, -0.7025, -0.6407, 0.6422, -0.0238, 0.8886, 0.6727, -0.7956, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.3249 left_z=0.196 left_yaw=0.0164 left_pitch=-0.019 left_roll=-0.0091 left_gripper=0.6422 right_x=0.2367 right_y=0.0013 right_z=0.1141 right_yaw=-0.0003 right_pitch=-0.4298 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -9.7299, 9.3744, 1.4628, -0.3736, 0.232, 1.0281, -0.1983, -1.4701, 6.6393, 1.3407, -0.0806, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b650b7c960d590f70cc144188c11cd6adf6404e1ff1c1733587bedccdc7747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61461e345bee41b7e0a0ed7f954c5c545561b8bb1d0d3e42916a44528c04f646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04c4ed577d8c5199154863179d31b936f0bc375f783a5b4b1da12add35bd44c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.663 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]: [-1.0492, 1.9945, 1.2385, -0.2279, -0.8066, -0.7963, 0.6422, -0.0238, 0.8883, 0.6727, -0.7883, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3401 left_y=-0.3287 left_z=0.0682 left_yaw=0.002 left_pitch=-0.0399 left_roll=0.0419 left_gripper=0.6422 right_x=0.2382 right_y=0.0012 right_z=0.1151 right_yaw=-0.0008 right_pitch=-0.4222 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -13.9556, 8.5675, 1.2137, -0.4713, 0.0855, 1.033, -0.1709, -1.4701, 6.5709, 1.4872, -0.0464, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.335,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The can’s near end is still in front of the coil. I’m advancing farther so the center of its body, not just its tip, is above the burner.\"}",
  "call_id": "call_ParGnVsqreiPUtoaJzsBK607",
  "id": "fc_0b1c0c83cb770e90016aac7e80aa1c87d196577b92790f2c05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ParGnVsqreiPUtoaJzsBK607",
  "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]: [-0.7418, 2.2795, 1.9259, -0.2996, -0.6643, -0.4274, 0.6422, -0.0238, 0.894, 0.6674, -0.8154, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5247 left_y=-0.3283 left_z=0.1569 left_yaw=0.014 left_pitch=0.0756 left_roll=0.0309 left_gripper=0.6422 right_x=0.2314 right_y=0.0015 right_z=0.1084 right_yaw=0.0 right_pitch=-0.4603 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -13.2718, 10.0581, 1.7167, -0.2027, 0.2125, 1.0232, -0.2256, -1.8393, 6.9675, 1.3797, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2d6c64a4441fa651c2564639de62f2c512fa53d8c21eac44fba1db25b0f53d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1986420b2a941f4e7df2a80f1baf2351552a619513e353b4e0df91f44445050f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ef51b1f6fb34d1af064124bf7e4a327a23e61ad097c2f9cc35f221eef2c2c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 4.936 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8799, 1.9896, 1.7214, -0.5549, -0.7025, -0.6407, 0.6422, -0.0238, 0.8886, 0.6727, -0.7956, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.3249 left_z=0.196 left_yaw=0.0164 left_pitch=-0.019 left_roll=-0.0091 left_gripper=0.6422 right_x=0.2367 right_y=0.0013 right_z=0.1141 right_yaw=-0.0003 right_pitch=-0.4298 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -9.7299, 9.3744, 1.4628, -0.3736, 0.232, 1.0281, -0.1983, -1.4701, 6.6393, 1.3407, -0.0806, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH6HPSXkjnrp9e87j9lry4VDlphAoe-H-M9EMfxdzpzPZ_YYT_RY08-2X1ttma_rEke_5HAJr-GxlGJ9IqG3eMt0c1q3f-0qx4euxCxzoCRVEt2G19IRBfck18TeOaqxdWV2FBwgjrGEiWOeNG1D0giaizCxEbfzEw1yeiFZSxcLY9g9qiUFi_UakFKyxB9RfVH0uQFWuOedjrxbb-bEuZCcZKuWTIwDIu720kA3UtK5JarXhu2MqZb5udxYF2V8Jhh7yERb4z-FMtmtcgRSIhaNjGNHyqtTRr4fcNvFwxBMv-dxzKelpig81V6pZJRQF9KncESHOC8gu_9iwzMq2txE2i5gLNcaiE_CyAbeuxXMnzpyV6KsnyeygIT5HYQaNZ6UzDTFFmJrLexV0873OPZuYZ9SjDfe_bhV9VCdgbale74JHeaW9uIg6CDuhclZLuf5Gofo2PbHPMtb6vNbM1sic7jxoP7zzpoK_SeJH4GcCx-M47ZHcYRThZTpzjWKtbtMO3Arz6ufpr9cdMpZRcHy9l6yrIlnZ_i2SdMu1VsgGks7QsCeauHio5rH_4DiIIl9rzg8zmejwJgLxKn8H_dYoMLyv8mGZuFw-R_EIFkZBgZm0qAcUbSZompbfwVDEFAEDpq2GA1EGZUjNwvUErn2IsL918lZp63aQmPHwuVu1HPWo1qx5-iRagM6jq5S3qrYSuXTdrg3EE7DWxlbwNl8yyWhfK_OOF_YeEDk9qL5inUCYaI0zhjtg6zT1HnmiwSkGReXlPuMK2xpgMWUH7jVaI36UIaqW4KZZ0bnBqMuiS80sdlRwZqsWpVwffNlp91eFjC_3OVIKrVFepVmhsAg84-rjNVhgTEriPCRtK-cmgfQE3sClCJDF3e2Gq3u3cErkzZZm1B8Rx0JZGB0Nr6Kofz9EJPzLVF_yLhQaMvs6ZNpkzNFBB6zh5StHkMf1VpkcoX2goeEqS0sl1f4Pi8kBowxc96hEFS6u6YEYC9D1Lw-nZ8cER8OYerCnbA3NdjbmSMEdQfHp-xbwtdlc4M-6fYoqRJssnLWHBezhKScnBdRroT8AfKwG67MkTZ1k_zIQTk1E1hohnn8WeKy5ewYdAaYUtc392xFwz6_JxAe1tMBro2jLtIimKwml924P_bAlGwwusHxkfkMS-SulSY5643YPH3BoMoxGbGV7UZF35fdwjBrgxu6wPguvzCc6k3v3_HGmWx6iHEcHiMawCWyy8cmyaulK3SY1b_C0RLPWf-TFPOlIn6zVZrvO32PRp-nypKZ1bcUrb3KpiDKQv7_paSVYOsZal2uDD1HZGcccpllhN7YiXFXym3B7e_iQyj2UtiszpSIpBM9Lxs8EHqZA0SHY1ZW-729sRp1PyJ4gwGHHDxZZFFFrGZ8o1GxVDx1i4f2cczosb1yVahjdMvs42kIQusEQffxPJSohlTxdDm6crwy6Nu610-sQsF0mX8HyTbeyv5_BPicExR6rCti8OEdydRHBm0bt-QddViZAIw=",
  "id": "rs_0b1c0c83cb770e90016aac7e84e92087d19d80abd3765fffb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.365,\"left_z\":0.115,\"left_yaw\":0,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The coil is visible just to the right of the can’s middle. I’m making a small rightward and forward correction while lowering toward the support surface.\"}",
  "call_id": "call_GI2wDYFO616Woni4HfQTOpfp",
  "id": "fc_0b1c0c83cb770e90016aac7e86586087d18e64fd8db7ad6846",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GI2wDYFO616Woni4HfQTOpfp",
  "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]: [-0.7467, 2.4798, 2.0571, -0.178, -0.7006, -0.4114, 0.6478, -0.0238, 0.8955, 0.667, -0.8333, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5537 left_y=-0.3524 left_z=0.1127 left_yaw=0.0318 left_pitch=0.1279 left_roll=0.0239 left_gripper=0.6478 right_x=0.2275 right_y=0.0015 right_z=0.1057 right_yaw=0.0001 right_pitch=-0.4802 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -13.8325, 7.8427, 1.2821, 0.0757, 0.1929, 1.033, -0.0615, -1.5795, 6.5436, 1.4628, -0.0611, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:decbbd852f06d802fb74eabd28f8943deaedddbb2123199d05192ced4209599c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4cfda4398542a64034be0f20029b91584e9166b191a9d445a440c4aeb684e9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3318a1fa8bf99be2859cce96327ac4a1ddf85c8acf57dda44d0f3e72029a042",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.104 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]: [-0.7418, 2.2795, 1.9259, -0.2996, -0.6643, -0.4274, 0.6422, -0.0238, 0.894, 0.6674, -0.8154, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5247 left_y=-0.3283 left_z=0.1569 left_yaw=0.014 left_pitch=0.0756 left_roll=0.0309 left_gripper=0.6422 right_x=0.2314 right_y=0.0015 right_z=0.1084 right_yaw=0.0 right_pitch=-0.4603 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -13.2718, 10.0581, 1.7167, -0.2027, 0.2125, 1.0232, -0.2256, -1.8393, 6.9675, 1.3797, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH6NYjOejMnUjffIitC4aOAzdIgbcR0fxJySze6QPsVpoeWa_93Vz1NvUVzMlRYo1iY3EsLFFH8Hc808GTISdiCimBEC0wpSFjO-8z9xaRZydeNy9vQNPTB42gMBZw0JZ4eNTIZ8mhbIrer6K5ya0CmHjWHKgwpvRVpM0pAI3aB5dU0j-d13KA-RvmQtS8tgmOlSmPsyjQN667Zu-Rc7mnl5SkS2czszD7F-U7EE60wwlmP4KXrpNCakQGyDpcHzr4UfV7OYg7FPlNTT1Y-t3KtkHCkebvgVxcQGeNoqDKlQrSJR0OME0giiOWbc0fQwnr9i1HyzE3fU53ndwLGdwR4BuHmZwLxDivSbMS0xwricEuKguyJO6bfnC7uu0jX7EHkRlkI0rG3SaTSbypj1zXfvgbqVtMei6aX2e1pW9vjB2F51YmdeBIgsyfKkoweh4s7ustl9uUiuWuLkHjm4M-qAGUdg0Kx0EfmG-qbf-M6HceSAsoJzGn7KRBC_FphV3x_hsx1bHdhMZutQs8PHFl4BElFuHvjP_xl26rACDvkxJnOcU6BhuLFr2wljk8cWLY9oupY8JGC0K4IRn-tCuzP-55j43lMllE0sSKn5LY1e_ARemI1_TSjDlT9Tvz0_5zxiCGWwHub6irYr0lHwB1gqYCcuoYQiJsO_5SQuvK0fb-rjoWL3z4V4nbzL7Iybxl6mm7gdvPpy_ILCJj2AdHvp7M3ZTpqC8Ls8krk0kSML37m4NLkvA6lIj4etK7w8ITpyLGNXg7YhnFeIW1JvpTQd_eToZwfivHEyevWZznh4_BXc2law3Lp7WLDBaStynyWfXL4mi19Kk3drbBFqWVG84HxA2IHdNP-Qyu9ADqx0eT8Qkwe-W3ZNv-K-It0sSMGbuoJVDKUlsC_fbcYSBwAZ0MlW1R_xGyA4GPlImRekWuS_p651Dj7R0x_Der9fVsUOL_icb1YJcupXufkuqV87OZ5X2-j9ubUuZqmUZBlzK4xUZuf7dqRqr6BpdNDtkmCzb6dycfGlgShmqG7so6s2M2szmbeVzhILsZi54XVYrtXr76GnRZg7EZ1eAgFdaEDMj6uaAQZGnx9d2Wl0RXUBEyHIqt47UeHyqJZ88IAbuQYSIJ095WCMMmDIOWKKmF7_hwDY1Fp9BV8zxxw1c0JWoJf1p9xj0xZJZFdlvxwgH9sJwOMwO9A5zIGJIlgUqvWcoiKdrrIzgZWkM52WDnux5g==",
  "id": "rs_0b1c0c83cb770e90016aac7e8b827487d1a22da268ed8116d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_yaw\":0,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The can is centered across the burner coil now. I’m lowering the last few centimeters to establish support before releasing it.\"}",
  "call_id": "call_Jl9MLdeO1nngPNHUevSDN2ZQ",
  "id": "fc_0b1c0c83cb770e90016aac7e8bdb9087d1a1ed12251036d624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jl9MLdeO1nngPNHUevSDN2ZQ",
  "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]: [-0.7494, 2.4912, 2.0701, -0.157, -0.6922, -0.4053, 0.6479, -0.0238, 0.8959, 0.667, -0.8455, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5558 left_y=-0.3583 left_z=0.114 left_yaw=0.0214 left_pitch=0.1407 left_roll=0.0102 left_gripper=0.6479 right_x=0.2248 right_y=0.0016 right_z=0.1042 right_yaw=0.0001 right_pitch=-0.4928 right_roll=0.0108 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -13.5043, 9.1692, 1.7265, -0.0611, 0.0757, 1.033, -0.1162, -1.2513, 6.5162, 1.2381, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d532e45b1eeab9bc1e8ef075f43ce08fac5b9f8c32a80ea3afe00f8dbb97ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200fec597d6183c42d6e37c4e6a49ac3503ef2e7d2444f80faaf11a95b61cedd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0e17d63a5f8fd4c8df62e3e9ca9a4f4013276ca754d7184dd856d655a93cfc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.259 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]: [-0.7467, 2.4798, 2.0571, -0.178, -0.7006, -0.4114, 0.6478, -0.0238, 0.8955, 0.667, -0.8333, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5537 left_y=-0.3524 left_z=0.1127 left_yaw=0.0318 left_pitch=0.1279 left_roll=0.0239 left_gripper=0.6478 right_x=0.2275 right_y=0.0015 right_z=0.1057 right_yaw=0.0001 right_pitch=-0.4802 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -13.8325, 7.8427, 1.2821, 0.0757, 0.1929, 1.033, -0.0615, -1.5795, 6.5436, 1.4628, -0.0611, -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"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH6QPnHtF3TGcsyUfPoY5DeXZFI8m7QLQL_MpKO4aTl3zs6-67zK5LdjkDaDUwrpCo7k6_hhMAblDeY0yEL_ICg8ssD9MYwCzhvkrc5rLwQV6Azn9bZ1t0c-GAFKpsQpjwVMzWp0TFDkTgNyeH91Ttd2ppwnPWZel117oGjRofgq85LCWUcgks3eqwTI9RiIPGRqgm_tMiOKqgHBFa_0L9wDFC6FZ-0GqJSGkewwEpfi7p1AbWbOy6Y3D1nagCBEC6edCB9SLUgNdrAsOFX0IASza7Atgf9k_tt-IIeA3S95YrgUyUiAS5woeTcZXIkeKmlOxpRjqj4cB6TjIv1mHVtiPdH8smfjP-YEAtRZwj-_6ayec9cZsK8Z-op_Vy3EkOBg84g_f1BLCDaSYMQZXngHGMimix8Gnf47QgmiTJMw0D72OOexuPJFRhhu-lygROW7PUyBuJxNWts7XTm6IrsCN4mHmVEWqm2lGZypr9C8hHzRumQFsgY7YlFANogubJOCWbcC9qutK8pPYqfp5M2vrUnkk7I1lpPCHlsvVHiQtTwEsH9YFtQ1vhB8ykWnGnUX1ERnNHW1FyaFvr8c3AU0H7iH_d6brIj8mCYx7ZxOEC2Yy8ujNT_rWmfy7fC92Jt0vnAY-g8q8Or83n1JB_oxfWY4iASUVflx9wOfKwkWaRGuViyzBE2BbFTc7q9GTcEdWwwech9ffxN8i4skbbKAl-Y9_nSshBedwYZrF3A2c3C4cf2jGJnG-IL8Vy-lCcxDLrFxW_o8sSUsV-wu9eZRLh3qsDJvSuNRr3PcO2ZlfseUgoLycECLpiAgQaj3-nGj-4kvwx01-6ELBKD9nbms9b5BeXuzTkEcd31NY2-6aeb1KzNNpAvnIggFEFn4XbheKTQm92KBwq-dVqPTFVTmXN2ALx9sj9x9Gcf8Tn3gpb24y1agaAdk0lDucdvOJyiQnM7ksR4VBTreQEOQxFkMuc43Rp54Jw5dcpElmzN8EFzfRU7HdwX1gxLTWFlCB4K7OibGa4n9kOTwiQ6uKf6WbQ4AfvqWqW_55PjivQ9LrjLjBHwHKQWUBv0TRGDGpb-SqBT8YrtgxQrt2C0a0qXPP80OIsUiyNb2P-rqOhx6PNehVt37iq7R0bUEjv7ZDW584gGQOBUtyNAWkHBedMIz5PsuCnor94EvL7r-labWGkJ1vkqNbY9RqlnzOfXcZFfg",
  "id": "rs_0b1c0c83cb770e90016aac7e8ef6c487d1b7516de7cabc3330",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_yaw\":0,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The descent stopped with the can visibly resting across the coil. I’m opening the gripper to leave it on the burner.\"}",
  "call_id": "call_FD8MB2EKzYw3zpT2NUACBHIX",
  "id": "fc_0b1c0c83cb770e90016aac7e8f386887d19986fc6a215ecd3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FD8MB2EKzYw3zpT2NUACBHIX",
  "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]: [-0.7494, 2.5015, 2.0701, -0.1612, -0.6834, -0.4038, 0.9959, -0.0238, 0.8959, 0.667, -0.8558, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5552 left_y=-0.3594 left_z=0.1062 left_yaw=0.0123 left_pitch=0.1269 left_roll=0.0182 left_gripper=0.9959 right_x=0.2226 right_y=0.0016 right_z=0.103 right_yaw=0.0002 right_pitch=-0.503 right_roll=0.0111 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -13.8462, 8.9231, 1.8242, -0.2173, 0.0855, -0.0952, -0.1299, -1.4154, 6.4889, 1.2039, -0.0415, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533f605b51ce63dc4cfebcb2a08a9ca6a0190eb32323601c816d3e9202861738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e97a1cb7e4e08c2ce510a2ae8ab549a5006dd9dcc9a5fe7c4f1d9911d6c588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e010f493484050236e4c220eeb7b886443659b19a3e390335ef748d30885c12f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.233 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]: [-0.7494, 2.4912, 2.0701, -0.157, -0.6922, -0.4053, 0.6479, -0.0238, 0.8959, 0.667, -0.8455, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5558 left_y=-0.3583 left_z=0.114 left_yaw=0.0214 left_pitch=0.1407 left_roll=0.0102 left_gripper=0.6479 right_x=0.2248 right_y=0.0016 right_z=0.1042 right_yaw=0.0001 right_pitch=-0.4928 right_roll=0.0108 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -13.5043, 9.1692, 1.7265, -0.0611, 0.0757, 1.033, -0.1162, -1.2513, 6.5162, 1.2381, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The released can remains on the coil. I’m lifting the open fingers clear without dragging it.\"}",
  "call_id": "call_ofqEFffFKgpvFnDB6MT8mCLs",
  "id": "fc_0b1c0c83cb770e90016aac7e92a32487d1b53bc483d8514346",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ofqEFffFKgpvFnDB6MT8mCLs",
  "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]: [-0.778, 2.421, 2.2459, -0.4488, -0.693, -0.424, 0.997, -0.0238, 0.8959, 0.667, -0.8608, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5357 left_y=-0.3644 left_z=0.1824 left_yaw=-0.0004 left_pitch=0.1085 left_roll=0.0258 left_gripper=0.997 right_x=0.2215 right_y=0.0016 right_z=0.1024 right_yaw=0.0005 right_pitch=-0.508 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -18.3453, 9.1966, 1.6142, -0.2711, 0.0708, 0.105, -0.1709, -1.4017, 6.4615, 1.1893, -0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f3fe6e8d188fe281594cfec53813e0ff6daa2e8774b934d852bb66a0938e60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993ca30dc2b953be7f822ee22822c1a981600be28ea532c9a49f42a03b505534",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96108a7a7178290a500f1b41de8dd748435b407d8a143bc0833a9ad3ccd8cfff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.75 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]: [-0.7494, 2.5015, 2.0701, -0.1612, -0.6834, -0.4038, 0.9959, -0.0238, 0.8959, 0.667, -0.8558, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5552 left_y=-0.3594 left_z=0.1062 left_yaw=0.0123 left_pitch=0.1269 left_roll=0.0182 left_gripper=0.9959 right_x=0.2226 right_y=0.0016 right_z=0.103 right_yaw=0.0002 right_pitch=-0.503 right_roll=0.0111 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -13.8462, 8.9231, 1.8242, -0.2173, 0.0855, -0.0952, -0.1299, -1.4154, 6.4889, 1.2039, -0.0415, -0.0659, -0.0073]\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\":0.3,\"left_y\":-0.1,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can is still resting across the burner after the fingers lifted. I’m moving the arm away and restoring the idle arm’s parked pose so the final placement is unobstructed.\"}",
  "call_id": "call_HdhhAkNFEHieb78EQ9GN7Pja",
  "id": "fc_0b1c0c83cb770e90016aac7e96ed2c87d1b6c0c0534ac6808a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HdhhAkNFEHieb78EQ9GN7Pja",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6151, 1.0248, 0.87, -0.5003, -0.519, -0.4042, 0.9972, -0.0238, 0.8017, 0.6151, -0.4759, -0.0193, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3071 left_y=-0.1053 left_z=0.2231 left_yaw=0.0157 left_pitch=0.0174 left_roll=-0.0159 left_gripper=0.9972 right_x=0.283 right_y=0.0002 right_z=0.1636 right_yaw=-0.0022 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.253, -2.6188, 6.6803, 1.8437, -0.149, 0.149, 0.0024, -0.4034, -1.8393, 7.0632, 2.21, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4688a27235a63cac77abf6b3640560cc514c2ec76efe9777c7e61af159aa8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42547fcca6334b7de8fbc9abe85a55c5adf1a713d8baae40fba8ab1c5f39696",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9de6fcd4eba3cd5426e613ee9a0b8ad696e31bd897712a0b139f8fd4c1e7e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 7.367 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.778, 2.421, 2.2459, -0.4488, -0.693, -0.424, 0.997, -0.0238, 0.8959, 0.667, -0.8608, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5357 left_y=-0.3644 left_z=0.1824 left_yaw=-0.0004 left_pitch=0.1085 left_roll=0.0258 left_gripper=0.997 right_x=0.2215 right_y=0.0016 right_z=0.1024 right_yaw=0.0005 right_pitch=-0.508 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -18.3453, 9.1966, 1.6142, -0.2711, 0.0708, 0.105, -0.1709, -1.4017, 6.4615, 1.1893, -0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH6jgrJnB9IMvZ_ertYuiYb0wsTbPZNXYXQd3ZJ4Qnhh49IUx4Y5326FnFSbUcMcTxmRNAAJMBoQByqG0RIiritjNXDGiL4bHYSTZF7otVv7VuWKFXLyybt-mCDRBQz8HzlgilpWa7a00PrQ2S748LvjdepyVnQHIwVQAURvotBgv6eRo9oCy1IuTTxHdHr9VPqlArhHZ4yzmGj8hOIzwR-nVSeQ-O466A-G1AaBUuuJXqnfJtW3tDxTzc1Ymkk6vqR3WKz9sA7mP_uOg-axsGEjnCw0545mjYfsoVwkIW8KVPKBqs5CMMLufka3PItS_h5ofrl8NAx6ccTIYpQgpVE7dj_RLZ0cB6exwbqc8Fig3ulPvhHaPReNneEcM-nu9g_Cr8MNBxolRYr0ApFFwXsPX6xUc1_KDzTmQKtWqr2fh3I6xf2boHyIB341TBAcPxwGlqh0qcQAhJzIl7irfk_oLJyBurrT-SoUZB6xYq4xG4nYYAs8OWL8yju7cLJndMIPeGixs-u2KRO_rvi2kiqWD-p-77pbJkf1TfTkMUpLoZ5siZ53-XODddalfeUNmFJhOFgB3b0gVT_yVY6kHG465Az9ba61U9PU6dA9T0Lg6dsbEMdnZOlGn3pOk__6TTdM03e-qLeHV3nvDNeexUlxFf0KON21PwpM_Tbn_X3uYbj_V9Zfu4yDVjs5IpueKL5R_Nx_dpyWq9FFXFL5e40csL9kSW44g8N6oM8YwnJfwxBzQQeHNTxvvkQJQwr7PFPXBxrkuyIE59I2Vw7FXEpPzwTSoRrEeWt58nY2nTe21zFSIfYrzdGzPYEKYvNVBhEjYMWiGdiyboSRL2qqfa2PJi-OxmWdScrcTjxeCOmp5bRvmm4vDd697Vxc7wUQ12BLy7EwCD4h6NtUz6XQobkCWJkIMBPDpkwZmrjEWbh1kLjmQ16yPIJmhwXHY8H89JhzBBzxGWbTdqrzWt1yDEjqzSOjQPWgXl4i3mQm_Kwq23qHhHpzNmzgYsWTmM2IZOajxAogcSGS2wzPQ-5mtIpjsoKsOG3S6M_SHH2xWG-4Tv_eqKmZMubUPpIvHHfEiwLq3dD7jbGBNqCfHxp0SYseRMdbpwk70u6U4CdPOXb-z7KRCxidAqiL2NRUK6WJe4EtRjxomRT8Cr2aszly2crkL6-udBSTby21v1Erqhn9_QNIoOrV0OTo9oDuJ-aCtVJwoytpR8QP_FJwBwg6j9rcPbqL1PfTiMFY0Q5uCwcALnpx1AL3-i8N-KrDCy23zWQw925i2a9lyg6xjQrzoH7ZygcOelhpcBhH1vH1ZDXAdMCLbK-JBNmNKTzslTnL-OGjtetG2lyPvZLQyy1jR9QEXP4lLcO4ZRqtnBjzfpg4f06wVoE2QkrIQbagogeQt4JjVrfDT4wUBawGojayVKSZS4iKKfltpJ2AiObfLtMobXesEn7Zv_1IBzObD2Qkktx0ntAy8zZv5Sfjwl1NudHtTgUto9qYBosvxq1ITqMTXeaEvyV9AzBdtoqHbqx31U-FLg5-mwpDGFPLRtFM3NzUfPk-ySCgkufkjcsWPU7YP19VP3pWox0pKp3A26xFW9bNGFX3aqR0zxSkaDELEZCY_UdlS6dd-hLFo2aaQ3pTcZ5Dy-jcc5yTlg1fXrYPfTFfuSw07CjyCT6w3Dui28zsK-2ITj0uNLpk2xGHWODjsgRMfcEH2TuOANtq_G7OKsas5faarcgpW54F4jDtwrQTXPAkdNKDWShOAi7RY2XjAqqkOZtSXBoa8MtIKCeIfBZU6GtgWnD4xX4ijq0GrAnp7xagiNgjPipVO961Zs0Sunlcbf5hL5ZJuFmxdLdhw4EqMSDdGR47D8Ebt9ARppYtegqs9IUxx3fDhc670DNUoG_TU6Hjd239T7WlBbV0iSGxeL7DNXb_35_ef7kLa3HU1cn3Qz1tvFZpKwgG_toEQvmo9Di9UFF109BZ6gqjo9FvO6is-LfTRdcv2hZ6vEuDL-P0L_37DW53tbWVoRm11-tABthGs5N2a-0MWJVgM9Ah",
  "id": "rs_0b1c0c83cb770e90016aac7e9d09f087d1ad0f209241e71f31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.38,\"left_z\":0.06,\"left_yaw\":-0.35,\"left_pitch\":0,\"left_roll\":0},\"note\":\"After the arm cleared, the can rolled off the sloped edge of the coil. I’m approaching it again, this time to place it farther onto the center rather than the rim.\"}",
  "call_id": "call_ie7Gg0FtsPzCJmPg8LT4dha3",
  "id": "fc_0b1c0c83cb770e90016aac7ea14a4c87d182f242d1d21c1574",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ie7Gg0FtsPzCJmPg8LT4dha3",
  "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]: [-0.8181, 2.1815, 1.4063, 0.1162, -0.4221, -0.3241, 0.9972, -0.0238, 0.8059, 0.6147, -0.4965, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.446 left_y=-0.365 left_z=0.0583 left_yaw=-0.3076 left_pitch=-0.0177 left_roll=0.0036 left_gripper=0.9972 right_x=0.28 right_y=0.0002 right_z=0.1584 right_yaw=-0.0027 right_pitch=-0.106 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -11.2342, 7.7197, 1.7363, -0.0513, 0.1978, -0.0122, -0.212, -1.4154, 7.1726, 1.8681, -0.0415, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d0fb39b0ce59fee5993031234f02d40711e1c76bb2771d0d62ca0ee44ed11f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382b855083a2978fee918e914743c0bc77c3a9d345c2b4e79231f31bd864f30d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23b8d619d352b740f4f8273efa09fbbfb35f6414c895030e163fe7172fee407",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.718 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6151, 1.0248, 0.87, -0.5003, -0.519, -0.4042, 0.9972, -0.0238, 0.8017, 0.6151, -0.4759, -0.0193, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3071 left_y=-0.1053 left_z=0.2231 left_yaw=0.0157 left_pitch=0.0174 left_roll=-0.0159 left_gripper=0.9972 right_x=0.283 right_y=0.0002 right_z=0.1636 right_yaw=-0.0022 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.253, -2.6188, 6.6803, 1.8437, -0.149, 0.149, 0.0024, -0.4034, -1.8393, 7.0632, 2.21, -0.0708, -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": "gAAAAABqrH6s8SlnGPHLmNlMqnooVbFMQ_YXXub8vrMifOZJ9ZpUszrTcErnjpoAtxStjbpSdpN2mjZLL5BYVocaJ2-NtDdl_e00PTXuir5izEQQ_2anITfnfGEzpME9AbbiDffH7Qd2_9BsQTH3ws0bRuRCbZYFEBoSv4AMEzxOfJgSrnE8Zp7MBQq320drkuJFg13j45LgVOyc2WPqhm_gSXtCfVP7pe9_uQgt3-YzxKyOPjAltMMTyj6SRNO3DRArJfyN7tw6iV1cCN-W-ePnVImlisKzy4FK2i2ZDpCE9deQ8-sT1WIdA-J9luy8kAa-fr5Z_33i8RSbH48G4Kw0nwqJIEniJ__HdKO1wLJMNKAu68Y7uqc5afxjyL0bKNOlNiBa7Zrg1bdPHeoPVn8UVFVHPQgqz2_EG4lHXcuND3T0p5Mn44nQTD8oBTFrUYfYen_AkIziGDRKNMZ-8rQ0faIeAXsXKaOsmxdAX2chfI4X4eEnwHEZcY1NXpgTVeyA7hkNJ_4XJKAt3m1mVRfPlv8tri_u0B3zxl9R0I6EVRoCsknuA2qAjaekljnc2f6N0eiH5uchhmeMKlJbUTeHFycxbOaAkLWKQarvEBKzkvU5u_ecmDzsG594Dp4XnAlk2J2o_ovJxDtYKnMj5ugwf0Beg05J34KlvgB0Hws5BXLOl-KOxmrpvXN1kawZY93aDFj2ql_GVgtae0VqFxcMRzKD5shg4dNacfjcZ4HYcsni8naJcmQH1IE7VhedAa31bhxMhY8PLzC1bftzQwDsJkwpsjgQ4nrKaD0cN8n79tSzpfjMgfOJHL9jxIOKbDLgDbtaIexFWSAnX0uklplWVI_xKeaeyynpvVqmRQRT5YWdyWejEAaTgOgCZCNhrMRjaGd1c_MpbVlj-09nAwhiUuDNf7PvT5olYO9f5wuAgSLuVE32lfuFXPFgO2pU6qzl8xVx8aVx0R_MJ0M-pxCrOOIq0ZbzdvR0jinkAscYW1rUyjGqB_SgNNt2LwHU0Z79JwyHkbOJt5vqewoM_-0SNUSCtclOQzgEmrEh8S6xw-CcyNMPHTlx-jWQ_5wIzdqhA7RIqN377EjVyvOz69hmewtc0tghpKsba-NtETPzrct_J_ovVzPUncQdRk03ewg1y5MTYVCfAld5Mx0BTBrUaQ0-MToYsgcBpX5nJ9ywdLVF6AKmXaxyoFNErLN_NzNj27J1v2MNqfHzyJqrsXUWyPG7wsaxmm7A6qzqIwNTt37ar57ti3_2XUKP5ynnSfbZ-74R7YaCus_jGVFlU_qZfBJXgY5Q-IAej06EPWAJXUs5fX6Q9Hl03CfhyBiqbkrEkxrdW0VnrryQlFnqp3Zm1DgtHqwDGbmDPW3Wk6dOJEPioWW2C6zasnFZmPnnIgMzv0fQgYjKYkrrunKsIhCEBX9hWrAnJ9F_VChiTSLjo78GUX_hFbIgoTqV1vjBFrAqW7XrCFUxQGhjmFeDLfDWCKRfp7u9-W57TLTAJeOiaL_mNCP7j_4EfgYaMy6ifYL6iD1gVvFOsaftD99Xk_JXeEsSPlMSs2dSEAEzYFG9YLsbzrzljA3kuWCCuaBCABJ8vh-mIy6nFrBxB_nYHF93lzIPXrc0d-a0Z2ZRrp6nYzZKqRODZDfuq0-sUrOYIG-cYv3tgXTyyfz6N6_kJkbcFDiZb4D4CYjNoBiN0iJ9Iw288MpDgBqKvjiKltARmGx1bk5KSqOGnDLJRUu8l7qGznqczeN67sYuMTfYgaiPBdzHwyJpyRM=",
  "id": "rs_0b1c0c83cb770e90016aac7ea7b71087d19c67f980e304b01f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.38,\"right_y\":0.24,\"right_z\":0.13,\"right_yaw\":-0.35,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can has shifted beyond the left gripper’s comfortable side reach. I’m clearing the left arm and bringing the right arm over the can for a better-centered grasp.\"}",
  "call_id": "call_NHWwwod6BDlvj69y293CwzV4",
  "id": "fc_0b1c0c83cb770e90016aac7eaafc8887d192fc842989d7d333",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NHWwwod6BDlvj69y293CwzV4",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6151, 1.0187, 0.8494, -0.4881, -0.5053, -0.3977, 0.9972, 0.8639, 1.8725, 1.3159, -0.5285, 0.857, 0.9077, 0.9996]\nstate[eef_state]: left_x=0.3055 left_y=-0.1068 left_z=0.2175 left_yaw=0.0013 left_pitch=0.0107 left_roll=-0.0158 left_gripper=0.9972 right_x=0.3747 right_y=0.2386 right_z=0.1215 right_yaw=-0.3022 right_pitch=-0.0364 right_roll=-0.0333 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -3.0154, 7.6513, 1.7949, -0.1441, 0.1392, -0.0122, 0.1573, -9.5658, 7.9111, 0.8669, 0.6667, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8a63eb8cbb73df7d48221fd773ad059885150ccd7bd7025b642afcbfd186b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72adad6dc6413e86f8e0843324f54d4735828b9781a6b09d9da4f457c7254918",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c3d2ae6a7250d199830cf08b0459b8ff2effbe323c9626a0bf2ce993509859",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.352 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8181, 2.1815, 1.4063, 0.1162, -0.4221, -0.3241, 0.9972, -0.0238, 0.8059, 0.6147, -0.4965, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.446 left_y=-0.365 left_z=0.0583 left_yaw=-0.3076 left_pitch=-0.0177 left_roll=0.0036 left_gripper=0.9972 right_x=0.28 right_y=0.0002 right_z=0.1584 right_yaw=-0.0027 right_pitch=-0.106 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -11.2342, 7.7197, 1.7363, -0.0513, 0.1978, -0.0122, -0.212, -1.4154, 7.1726, 1.8681, -0.0415, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrH60VTpkYSatimYxxz9oBVLpvPLu5h7fRtVvtljJJ9BaXafx-T4vQOwmaKyzM8DcE9a8-ZcHoQFKtoDxw48najP4PW9nxEttQXr1wQxIqs5IHhoXtE8WIjCBdeaUxcaPl2MzXvl_XU_5nRcnmHCRAvEIAX10wYF1pog8UyWwlktBVOd5M4mQaADDavNiomkCX5teK2YTRBJ98Ordnq3qLnc0AAO7DXEN9DUjyxVYzQS1kx0CAv30woIDh7D6HqoHNuw-eIY0pHDSeX76-eRhMd-2z8rw2AFe0BWdbCf8jQWdE9EN3q-dyz0Je8zZDWX4j5Xr2DGvXK7Mn25ZPBB8NH3MTuzsqh0tYpAskE4408YQa0vD_nEvySytP6ShMeZ_srfITf_XbcLrlS91sVwZeqs3rgawO-ZdzGRIrw3dChVzOqwHxWjgGe2QFvetySmZJFN6_RYEFjXxHXFQGXfYsF3IMLRZMYGgPfkczP4cDMZJNtrE_NrnlV0q1VzZzO77iHKIASl6sT11pW1gYENGScKQJPRMjMNIj3DUvV_b76rTUJ7waua_N-Zo0wsUudhotWG7iZV5SLjjRvh5X4btIGgWiJWetEN6RI_lBDNd2-c6_C_UQo_AB1K9LUh2pelAGnW34mn8VK72W2wIqgzfAjOyZwLaI_tOToj7K2FC3zJKpLI11TmnBETox9aoVV4SeQBQnCFbR42QnbE9ElvG-4CDQR9-nUqcEUgET0zV01FIrmceCS-792Z75JforzaGbfVN3zFhsSegwaZmqvKk_v9DgtqWtWUedUlBd-ffD02bCusKOfbDIfuN3Uts2fgdq60ZWaJw-kVott__qo5Aih2pn40P-SOK0IOz8f2HyYdsEHwiijTxhtxTgx7rnNYvld_mQcwNWZ33FoXwxiDl6ErT31iJT6GVklM-RFehGXD39H8qjmF_fJOqddEwg7ZgzNPnFWBw5dZbTsWS9kn0XdJVgiK4JheGw6yKCOS0F8P9xJYYGd_FqLaGzhyjWYjxds9Suz8HWpnmEY08zEVLdtHsnfh9W9pfP6Wh6Eu7TrOYgfU9PSTG2_EepWinY0TbRySYOskYVeDt95Txnx-WH_hkum-GPJs4yDhZrjfJ7qTYUmD73r7IhP_8k-YmqefM5Vy91yGR36RhYTFK0SXYucJYXJc3TLORmSo4Br5A9YW3uJCLftci6OFfgntx06w06kwY_J_Xr8lUE7nQIZcjHoNL_qDr5o6209jBpcZt1eLx9LXzm9fs8gTWUUbDOMeoZuoyXaB51Wic9J6nYy_EeOQk2B0pE2IR3B9yj_jxl6cMIWQLOawjgCJa-SEqUOGCm4BcT73GujihK1HXVW9IA1c3GKGu-65MIPJSpKOrb-_lPDAqTE1HS4NxH9gBn3uGBwkgum8FmexuGnmmJ1uhV6yMS4i0m0FPxCL6TNXVzGvaHqY1P-lgNQVaGzwJ2CGjncGB",
  "id": "rs_0b1c0c83cb770e90016aac7eb21ecc87d1871280532d468c90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.27,\"right_z\":0.027,\"right_yaw\":-0.35,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right wrist view shows the can just left of the jaw centerline. I’m lining up across its body and lowering to grasp it.\"}",
  "call_id": "call_3r6ZrF6V2fj6uHeLItHM5gAJ",
  "id": "fc_0b1c0c83cb770e90016aac7eb3c46087d1a63d24a4ce37e397",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3r6ZrF6V2fj6uHeLItHM5gAJ",
  "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]: [-0.6147, 1.021, 0.8494, -0.5236, -0.5053, -0.4057, 0.9972, 0.8772, 2.1269, 1.3476, -0.3077, 0.9131, 0.9516, 0.9996]\nstate[eef_state]: left_x=0.3016 left_y=-0.1039 left_z=0.2106 left_yaw=0.0062 left_pitch=-0.0201 left_roll=-0.0006 left_gripper=0.9972 right_x=0.3979 right_y=0.2656 right_z=0.0492 right_yaw=-0.3393 right_pitch=0.0095 right_roll=-0.0171 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.6325, 6.8444, 1.917, -0.1636, 0.0024, -0.0122, -0.0889, -6.9402, 5.2444, 0.7888, 0.105, 0.2369, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bff94157de616065fcf85146a10481c3391428f63d4ff583a416a5b58dba6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abe357a53466d6a23cd7efc3aed3cdbc8f20eb7149ab40fbbc98be08f415cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034138155b643e6d74f58055e005d01509cf3354989c06b73a6595c2f9c881a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.772 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6151, 1.0187, 0.8494, -0.4881, -0.5053, -0.3977, 0.9972, 0.8639, 1.8725, 1.3159, -0.5285, 0.857, 0.9077, 0.9996]\nstate[eef_state]: left_x=0.3055 left_y=-0.1068 left_z=0.2175 left_yaw=0.0013 left_pitch=0.0107 left_roll=-0.0158 left_gripper=0.9972 right_x=0.3747 right_y=0.2386 right_z=0.1215 right_yaw=-0.3022 right_pitch=-0.0364 right_roll=-0.0333 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -3.0154, 7.6513, 1.7949, -0.1441, 0.1392, -0.0122, 0.1573, -9.5658, 7.9111, 0.8669, 0.6667, 0.1929, -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": "gAAAAABqrH66R0uQ-Naq9CvJIa8euPt49miucdevtxPnkAj53WeUlZswePqHsAl9P4ULqlvEC1U9rVk_eC-gN22i8rlQdzTEWupOTUjmdMPysN_gkrdIEQSd1p8q07v-jvkcJueGFnz5oCTvWfOzb0GXAARr4v3crncJ0Q1lo9kbV6uYufS-rhwLfTxpcm7KnsVrvYrY8EMLhjKdAe1M-4ejaw08ABdY0ovLwDhPb2lHQcfRyBcfSTRAGWewZqBI0ciPsK580WA_8XL_kqyWiEuNxhuMVY72-e1NQMjSjzF_6hN_D1N-lFBeZ8PX6qtdCafifd3TFKs9ZcTfImLVIzyWdzwJ_OjLlqR1Q5FV5c4sA8LZdI9S6n4Kqb8DvpaZiZIUUW9f7XzwJ87s__2gZ3t4uz9nSe9Eqh3tJb4s5U8aq9GpV_ZDgoL0pOCfylYKh6kkiR7NDXh907xoLoeVfPvlWnfT-GrGtdhExoX8sFZ5mvFaXF1plhIhFtvgZM6Sh-DoBep3B6pBPk33hoj1D0cSRQBCxpbgPzEm46MdLYynNZ-pZasB1oaK2JYrQz5Z9HQoqvXbHX7DtqPyEig-G7lcCggt9uYb7Ujt6hhpH0VG2dGCC3iaU1RRPuAtzIYgAOnxvBQaLA0lBB7LshuaX6d19MapArS1OhnBwnDq4j18etp7j6m4WtBgNz_cVRLMjWbRfbWX7S8zFuKPvJEHAIAvOXEMYAEx6W3SsxfGJv-xEqqMgBKeycZAaazffpOviae1bCEhiKm8TJJiMFuivypo5I0L0BvHQyAQjspT5mVfSU2JHaCl8KEs0LLVkY7mtEGbU9GPAa0MEiZ5YxxKvROJfh73v3YQ05hCrhRy1IAGHQgfVeSYAfSIfKs6JLqA_1j3yKaVyZoW8m8vhyZ2fAPbCX-fdHogGpaYYFqJFu8BUlZhI74IiT7ZP7IQm-_zxkp-5Zfb29ki7fg5P4CGE2ZqBPaRBtPuTlqjzO3-g5NE7ejKV4oenHpXF4GGbuNVt7DcMsq1c6YQoVy1DtqBaDgGYnkvOYIGKlxEuDqUvyQPquk92ouMMv3o59T-aNrwWCr0_uRdSssH3vUEfZBMZaoUXJPwP2bRc3jUkNPY-lAuV4mT22uZ-KrjWNaHp-hPfHSkg86O1j14tqxGGHQn-xoKdLiEwy1VjLCBp4CZ-h3Oml3D8B1o6_OeZCx12qJIy3U2ulnq4dFQlEpDUFJveOxXt0LbDOsWfGPQIQ1s4Ui2gIZMZ5eDyh8n9Uz5CV47wlK7VXJuSsxgxyLJ1AfVrqhshQaRsj-PQXpMj4c8i-qaPdaetjdbogZjA6dWDyIILpdv0-Llid84UGULBfs8fgSy9wXjOu454AHN8gpnx6oL04LcYsl-NJBZmQ1WDV0Q34yRTPG8o4kJdftUNQZQeXQBcBW9ptG5t0d27qY9LIQLyrZbNCmnrci16Zg1ZskXK0V74a28YqX_SotpVdWpQCRBdWLv6Iz2R71Yq9-9_mG2bg-PhwOEKBqf1Tq2IGNdxOIUuCRZgdPV4y_TFGc_4C43r8qFnABx2y9X_jELgJGhrEoSq9ywr4Af4mc0VZzvdAiWrUJ_eOYf",
  "id": "rs_0b1c0c83cb770e90016aac7eb7239887d1bedc873362a193ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.235,\"right_z\":0.025,\"right_yaw\":-0.35,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The fingertips are nearer the can’s neck than its body. I’m backing up slightly to grip the wider central section instead.\"}",
  "call_id": "call_yABq16JiEUti1TuXFNoy1Hje",
  "id": "fc_0b1c0c83cb770e90016aac7eb99f8c87d1b9cf500fefa8835f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yABq16JiEUti1TuXFNoy1Hje",
  "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]: [-0.6147, 1.0229, 0.8494, -0.535, -0.5056, -0.4057, 0.9972, 0.9382, 2.0052, 1.0885, -0.2062, 0.9535, 1.0515, 0.9996]\nstate[eef_state]: left_x=0.3004 left_y=-0.103 left_z=0.2081 left_yaw=0.0067 left_pitch=-0.0308 left_roll=0.0073 left_gripper=0.9972 right_x=0.3512 right_y=0.2415 right_z=0.0384 right_yaw=-0.3504 right_pitch=0.0324 right_roll=0.0222 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.7829, 6.8581, 1.6679, -0.2564, -0.0269, -0.0122, 0.335, -8.6496, 4.3692, 0.6667, 0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:527dcc109cec8e6c82ed4af681a43c6468f613477d9cb18b23be3d9494355451",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df08a227db57ff84373dae72f510409741d8ed4a00f330859d246a33dd7c448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72520e74210e16cd3b8a63f45c89534fb3b28e99a4e68719a93f6aca6907e80b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 9.754 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]: [-0.6147, 1.021, 0.8494, -0.5236, -0.5053, -0.4057, 0.9972, 0.8772, 2.1269, 1.3476, -0.3077, 0.9131, 0.9516, 0.9996]\nstate[eef_state]: left_x=0.3016 left_y=-0.1039 left_z=0.2106 left_yaw=0.0062 left_pitch=-0.0201 left_roll=-0.0006 left_gripper=0.9972 right_x=0.3979 right_y=0.2656 right_z=0.0492 right_yaw=-0.3393 right_pitch=0.0095 right_roll=-0.0171 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.6325, 6.8444, 1.917, -0.1636, 0.0024, -0.0122, -0.0889, -6.9402, 5.2444, 0.7888, 0.105, 0.2369, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_yaw\":-0.35,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can’s body is between the right fingertips. I’m closing the jaws to secure it.\"}",
  "call_id": "call_lyC1ALTgtmIEL6ugE7JLXvfX",
  "id": "fc_0b1c0c83cb770e90016aac7ebd127c87d1aafeed069fd21e88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lyC1ALTgtmIEL6ugE7JLXvfX",
  "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]: [-0.6144, 1.0237, 0.8494, -0.5407, -0.5056, -0.4057, 0.9972, 0.9348, 1.982, 1.124, -0.2226, 0.9913, 1.0512, 0.0097]\nstate[eef_state]: left_x=0.2998 left_y=-0.1024 left_z=0.2069 left_yaw=0.0072 left_pitch=-0.0361 left_roll=0.0111 left_gripper=0.9972 right_x=0.3593 right_y=0.2439 right_z=0.0609 right_yaw=-0.3725 right_pitch=0.0762 right_roll=0.0536 right_gripper=0.0097\nstate[joint_eff]: [-0.0479, -2.8239, 6.8444, 1.58, -0.2369, -0.0171, -0.0122, -0.3487, -7.665, 5.641, 0.5348, -0.2222, 0.0708, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c50baa3ac4badc4568b36fcf571874f9c4bace461a151a0e5a63e90596408b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae400d4bb0595ca211651633542b29badf079bddebf90cafd87bfa453a50784c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b6d280c1e9f6f7f3a5c8653c50385de9f300d472cb482b738fa5049a9703e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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