adhoc

completed
2026-09-17T22:59:35.039510+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
235.4 s
total steps
301
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying between the burner on the left and the kettle on the right. I’m bringing the right gripper above the can to line up a grasp around its middle.
move_to
right_x0.3700right_y0.2000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3882, -0.0177, -0.0345, 0.9993, -0.0212, 0.7937, 0.6071, -0.4023, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0011 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1769 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5812, -1.347, 10.1402, 1.956, -0.0562, 0.149, -0.0855, -0.3487, -1.5795, 9.6889, 2.0488, -0.0562, 0.188, -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":{"right_x":0.37,"right_y":0.2,"right_z":0.15,"right_gripper":1},"note":"The can is lying between the burner on the left and the kettle on the right. I’m bringing the right gripper above the can to line up a grasp around its middle."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe can is centered across the wrist view but still ahead of the fingertips. I’m advancing toward its middle and lowering the open jaws.
move_to
right_x0.4300right_y0.2000right_z0.0850
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.02, -0.0387, 0.9993, 0.7124, 1.5124, 0.9188, -0.1993, 0.5423, 0.3943, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0016 left_z=0.1748 left_yaw=0.0046 left_pitch=-0.0213 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3574 right_y=0.193 right_z=0.1307 right_yaw=0.0392 right_pitch=-0.0685 right_roll=-0.054 right_gripper=0.9996 state[joint_eff]: [-0.2803, -1.6479, 6.8718, 1.8877, -0.0171, 0.0024, -0.022, 0.0889, -7.0222, 8.7453, 1.7949, 0.398, 0.2125, -0.0513] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.2,"right_z":0.085},"note":"The can is centered across the wrist view but still ahead of the fingertips. I’m advancing toward its middle and lowering the open jaws."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe nearer blue end is now just ahead of the jaws, and the can is slightly left of their centerline. I’m moving a little farther forward and left, down to a side-grasp height.
move_to
right_x0.4650right_y0.2100right_z0.0250
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4141, -0.0204, -0.0391, 0.9993, 0.6025, 1.7966, 1.0031, -0.0582, 0.4614, 0.3099, 0.9996] state[eef_state]: left_x=0.291 left_y=0.0017 left_z=0.1718 left_yaw=0.0051 left_pitch=-0.0343 left_roll=-0.0016 left_gripper=0.9993 right_x=0.4084 right_y=0.1899 right_z=0.0652 right_yaw=0.033 right_pitch=-0.1544 right_roll=-0.1048 right_gripper=0.9996 state[joint_eff]: [-0.1573, -1.6068, 7.0222, 1.7558, -0.0562, -0.0073, -0.0122, -0.5675, -8.8, 7.9111, 1.707, 0.2808, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.21,"right_z":0.025},"note":"The nearer blue end is now just ahead of the jaws, and the can is slightly left of their centerline. I’m moving a little farther forward and left, down to a side-grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe blue end of the can extends between the open fingers. I’m closing gently around it while returning the idle arm to its parked height.
move_to
right_gripper0.4300left_x0.2937left_y0.0011left_z0.1788
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8074, 0.6067, -0.4286, -0.02, -0.0391, 0.9993, 0.569, 2.0491, 1.1591, -0.0208, 0.4297, 0.2798, 0.9996] state[eef_state]: left_x=0.2892 left_y=0.0017 left_z=0.1677 left_yaw=0.0048 left_pitch=-0.0534 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4453 right_y=0.2017 right_z=0.0117 right_yaw=0.0346 right_pitch=-0.2195 right_roll=-0.1371 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.5932, 7.0085, 1.7998, -0.0171, -0.0611, -0.0122, -0.5949, -10.3453, 7.8017, 1.4383, 0.2369, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.43,"left_x":0.2937,"left_y":0.0011,"left_z":0.1788},"note":"The blue end of the can extends between the open fingers. I’m closing gently around it while returning the idle arm to its parked height."})
tool
executing move_to over 6 steps (0.6s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe fingers stopped at a substantial opening, consistent with holding the can. I’m lifting it a short distance to verify that it comes off the table with the gripper.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.833, 0.6197, -0.4683, -0.0204, -0.0433, 0.9993, 0.5671, 2.0651, 1.1801, -0.0051, 0.4252, 0.2691, 0.7202] state[eef_state]: left_x=0.2863 left_y=0.0017 left_z=0.1589 left_yaw=0.0072 left_pitch=-0.1056 left_roll=-0.0031 left_gripper=0.9993 right_x=0.4524 right_y=0.206 right_z=0.0134 right_yaw=0.0444 right_pitch=-0.2043 right_roll=-0.131 right_gripper=0.7202 state[joint_eff]: [-0.5949, -0.9231, 10.0581, 1.8974, -0.0806, -0.0073, -0.0171, -0.4581, -10.3316, 7.7333, 1.6581, 0.2173, 0.0366, 0.8767] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The fingers stopped at a substantial opening, consistent with holding the can. I’m lifting it a short distance to verify that it comes off the table with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe arm did not rise at the extended pose, so the lift is not yet confirmed. I’m shortening the reach and adding a small forward tilt to lift away from that constrained configuration.
move_to
right_x0.4200right_y0.1950right_z0.1300right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.836, 0.6262, -0.4789, -0.0204, -0.0467, 0.9993, 0.5671, 2.0651, 1.1801, -0.0051, 0.4255, 0.2691, 0.7213] state[eef_state]: left_x=0.2858 left_y=0.0018 left_z=0.1589 left_yaw=0.0094 left_pitch=-0.1128 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4524 right_y=0.2059 right_z=0.0134 right_yaw=0.0441 right_pitch=-0.2042 right_roll=-0.1312 right_gripper=0.7213 state[joint_eff]: [-0.2256, -1.6615, 6.6256, 1.7656, -0.0513, -0.0366, -0.0122, -0.6222, -10.3316, 7.747, 1.6923, 0.2759, 0.0171, 0.9158] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.195,"right_z":0.13,"right_pitch":0.2},"note":"The arm did not rise at the extended pose, so the lift is not yet confirmed. I’m shortening the reach and adding a small forward tilt to lift away from that constrained configuration."})
tool
executing move_to over 14 steps (1.4s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe can has lifted with the right gripper. I’m raising it for clearance and turning its long axis toward the burner as I carry it left.
move_to
right_x0.3900right_y0.2900right_z0.2300right_yaw0.7500right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8364, 0.6262, -0.4953, -0.0204, -0.0471, 0.9993, 0.6491, 1.7477, 0.8608, 0.2947, 0.5934, 0.1543, 0.7236] state[eef_state]: left_x=0.2832 left_y=0.0018 left_z=0.1557 left_yaw=0.0097 left_pitch=-0.1296 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4141 right_y=0.1947 right_z=0.0992 right_yaw=0.0679 right_pitch=0.0993 right_roll=-0.1646 right_gripper=0.7236 state[joint_eff]: [-0.1846, -0.9094, 6.9265, 1.8242, -0.0513, -0.0611, -0.0122, 0.4444, -10.3316, 6.0923, 2.293, 0.4176, -0.1001, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.29,"right_z":0.23,"right_yaw":0.75,"right_pitch":0.1},"note":"The can has lifted with the right gripper. I’m raising it for clearance and turning its long axis toward the burner as I carry it left."})
tool
executing move_to over 9 steps (0.9s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe can is clear of the table and approaching the burner. I’m turning it crosswise so its center can sit over the coil while keeping the gripper within its reach.
move_to
right_x0.3900right_y0.3900right_z0.2200right_yaw1.5000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8413, 0.6262, -0.5106, -0.0204, -0.0471, 0.9993, 0.6285, 1.5871, 1.1355, -0.1001, 0.0616, -0.1764, 0.7238] state[eef_state]: left_x=0.2809 left_y=0.0019 left_z=0.1516 left_yaw=0.0098 left_pitch=-0.1498 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3933 right_y=0.2768 right_z=0.194 right_yaw=0.6619 right_pitch=0.0294 right_roll=-0.165 right_gripper=0.7238 state[joint_eff]: [-0.1026, -1.853, 7.0906, 1.7314, -0.0269, -0.0464, -0.0122, -0.4855, -10.1265, 9.8667, 2.0537, -0.0024, 0.0122, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.39,"right_z":0.22,"right_yaw":1.5,"right_pitch":0.1},"note":"The can is clear of the table and approaching the burner. I’m turning it crosswise so its center can sit over the coil while keeping the gripper within its reach."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe can slipped out during the turn and is now on the table closer to the front. I’m returning above it with open jaws for a more secure grasp around its middle.
move_to
right_x0.2500right_y0.2200right_z0.1600right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8433, 0.6262, -0.5255, -0.0204, -0.0467, 0.9993, 0.569, 1.9587, 1.6497, -0.3351, -0.6193, -0.6128, 0.7238] state[eef_state]: left_x=0.2785 left_y=0.0019 left_z=0.1483 left_yaw=0.0097 left_pitch=-0.1666 left_roll=-0.004 left_gripper=0.9993 right_x=0.4 right_y=0.3818 right_z=0.2107 right_yaw=1.3961 right_pitch=0.0701 right_roll=-0.1583 right_gripper=0.7238 state[joint_eff]: [-0.1436, -1.5111, 7.0632, 1.6923, -0.0562, 0.0073, -0.0122, -0.1709, -11.1111, 8.1162, 1.4432, -0.4908, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.22,"right_z":0.16,"right_yaw":0,"right_pitch":0,"right_gripper":1},"note":"The can slipped out during the turn and is now on the table closer to the front. I’m returning above it with open jaws for a more secure grasp around its middle."})
tool
executing move_to over 14 steps (1.4s)
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 can’s body is lined up with the wrist camera’s jaw column. I’m lowering around its middle rather than gripping just the end.
move_to
right_x0.2700right_y0.2200right_z0.0250
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8471, 0.6262, -0.54, -0.0204, -0.0502, 0.9993, 1.1309, 1.4052, 0.9287, -0.5312, 0.8017, 0.5999, 0.999] state[eef_state]: left_x=0.2762 left_y=0.002 left_z=0.1447 left_yaw=0.0117 left_pitch=-0.1849 left_roll=-0.006 left_gripper=0.9993 right_x=0.2499 right_y=0.2413 right_z=0.1503 right_yaw=0.1624 right_pitch=-0.0516 right_roll=-0.1855 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.7436, 6.8718, 1.7265, -0.0611, 0.0171, -0.0122, 0.1436, -4.9573, 9.0735, 1.1258, 0.5201, 0.1245, -0.0122] 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":{"right_x":0.27,"right_y":0.22,"right_z":0.025},"note":"The can’s body is lined up with the wrist camera’s jaw column. I’m lowering around its middle rather than gripping just the end."})
tool
executing move_to over 9 steps (0.9s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe jaws now straddle the cylindrical body. I’m closing fully for a firm grip before attempting another lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5556, -0.0204, -0.054, 0.9993, 1.0275, 1.6165, 0.577, 0.0742, 0.7628, 0.4889, 0.999] state[eef_state]: left_x=0.2736 left_y=0.002 left_z=0.1415 left_yaw=0.0139 left_pitch=-0.2025 left_roll=-0.0083 left_gripper=0.9993 right_x=0.2671 right_y=0.2131 right_z=0.0324 right_yaw=0.1441 right_pitch=-0.0643 right_roll=-0.2209 right_gripper=0.999 state[joint_eff]: [-0.294, -1.5932, 7.0632, 1.7118, -0.0611, -0.0024, -0.0122, -0.3624, -3.3299, 3.6855, 1.0672, 0.022, 0.0317, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now straddle the cylindrical body. I’m closing fully for a firm grip before attempting another lift."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe gripper closed empty, so the can was still ahead of the fingertips. I’m reopening and advancing a few centimeters along its body for one corrected grasp.
move_to
right_gripper1.0000right_x0.3150right_y0.2250right_z0.0300
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.849, 0.6262, -0.564, -0.02, -0.0574, 0.9993, 1.0283, 1.5913, 0.593, 0.1616, 0.8188, 0.4786, 0.0082] state[eef_state]: left_x=0.2721 left_y=0.002 left_z=0.14 left_yaw=0.0155 left_pitch=-0.2109 left_roll=-0.0107 left_gripper=0.9993 right_x=0.2811 right_y=0.2233 right_z=0.061 right_yaw=0.1162 right_pitch=0.0492 right_roll=-0.1564 right_gripper=0.0082 state[joint_eff]: [-0.1299, -1.4564, 6.8444, 1.6044, -0.0269, 0.0073, -0.0122, -0.3214, -3.8359, 4.1504, 0.4762, -0.2466, 0.0806, 0.6569] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.315,"right_y":0.225,"right_z":0.03},"note":"The gripper closed empty, so the can was still ahead of the fingertips. I’m reopening and advancing a few centimeters along its body for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe fingers are now farther along the can’s body. I’m closing and checking the opening before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5819, -0.02, -0.0578, 0.9993, 0.9371, 1.7428, 0.6117, 0.4126, 0.7734, 0.3691, 0.9947] state[eef_state]: left_x=0.269 left_y=0.002 left_z=0.1369 left_yaw=0.0159 left_pitch=-0.2288 left_roll=-0.0104 left_gripper=0.9993 right_x=0.3167 right_y=0.2286 right_z=0.0468 right_yaw=0.1099 right_pitch=0.0923 right_roll=-0.1405 right_gripper=0.9947 state[joint_eff]: [0.0068, -1.4427, 6.8308, 1.6874, -0.022, -0.0317, -0.0122, -0.7043, -4.2872, 4.8342, 1.1404, 0.0073, 0.1636, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are now farther along the can’s body. I’m closing and checking the opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe second close was also empty, and the measured fingertips rose above the intended grasp height. I’m lifting and moving aside to expose the can and reassess its position rather than repeating the same grasp.
move_to
right_gripper1.0000right_z0.1500right_x0.2900right_y0.1600
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5884, -0.0204, -0.0578, 0.9993, 0.9363, 1.7313, 0.6174, 0.4671, 0.8001, 0.3588, 0.0083] state[eef_state]: left_x=0.2678 left_y=0.0021 left_z=0.1358 left_yaw=0.0163 left_pitch=-0.2353 left_roll=-0.0099 left_gripper=0.9993 right_x=0.3235 right_y=0.2317 right_z=0.063 right_yaw=0.089 right_pitch=0.1521 right_roll=-0.1075 right_gripper=0.0083 state[joint_eff]: [-0.1162, -1.2239, 7.0769, 1.5311, -0.0659, -0.0415, -0.0122, -0.3214, -6.2291, 4.547, 0.9744, 0.0024, 0.0611, 0.5934] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.15,"right_x":0.29,"right_y":0.16},"note":"The second close was also empty, and the measured fingertips rose above the intended grasp height. I’m lifting and moving aside to expose the can and reassess its position rather than repeating the same grasp."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe exposed can lies lengthwise ahead of the arm, with its broad body near the previous grasp location. I’m approaching lower, with a slight backward tool tilt, so the fingers reach the sides rather than closing above it.
move_to
right_x0.3150right_y0.2350right_z0.0000right_pitch-0.1500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8509, 0.6262, -0.5926, -0.02, -0.0578, 0.9993, 0.8658, 1.1675, 0.5339, 0.025, 0.7425, 0.3012, 0.9945] state[eef_state]: left_x=0.2671 left_y=0.0021 left_z=0.1346 left_yaw=0.016 left_pitch=-0.2414 left_roll=-0.0099 left_gripper=0.9993 right_x=0.2916 right_y=0.1639 right_z=0.1438 right_yaw=0.0895 right_pitch=0.1505 right_roll=-0.1087 right_gripper=0.9945 state[joint_eff]: [-0.0752, -1.4564, 6.8581, 1.6239, -0.0269, -0.0122, -0.0122, -0.4991, -3.8496, 7.2274, 2.1221, 0.0952, -0.0415, 0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.235,"right_z":0,"right_pitch":-0.15},"note":"The exposed can lies lengthwise ahead of the arm, with its broad body near the previous grasp location. I’m approaching lower, with a slight backward tool tilt, so the fingers reach the sides rather than closing above it."})
tool
executing move_to over 11 steps (1.1s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe can shifted slightly as the open fingers came down. I’m centering a little to the right and closing at table level to capture its lower sides.
move_to
right_y0.2200right_z-0.0150right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8536, 0.6262, -0.6079, -0.02, -0.0582, 0.9993, 0.8909, 1.7813, 0.7567, 0.1425, 0.6891, 0.4522, 0.9953] state[eef_state]: left_x=0.2644 left_y=0.0021 left_z=0.1314 left_yaw=0.0164 left_pitch=-0.2593 left_roll=-0.0096 left_gripper=0.9993 right_x=0.3265 right_y=0.231 right_z=0.0327 right_yaw=0.0782 right_pitch=-0.0571 right_roll=-0.1487 right_gripper=0.9953 state[joint_eff]: [0.0205, -1.6615, 6.8991, 1.5995, -0.0562, -0.0171, -0.0122, -0.1026, -3.7128, 3.3709, 1.0037, -0.5397, 0.5788, 0.0708] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.22,"right_z":-0.015,"right_gripper":0},"note":"The can shifted slightly as the open fingers came down. I’m centering a little to the right and closing at table level to capture its lower sides."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe can slid forward again instead of being captured. Its body is now clearly farther out, so I’m moving the open gripper over the body’s new position before closing.
move_to
right_x0.4250right_y0.2450right_z0.0450right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8536, 0.6262, -0.6147, -0.0204, -0.0582, 0.9993, 0.8757, 1.8561, 0.7185, 0.5587, 0.7631, 0.4191, 0.0084] state[eef_state]: left_x=0.2631 left_y=0.0022 left_z=0.1303 left_yaw=0.0168 left_pitch=-0.2662 left_roll=-0.009 left_gripper=0.9993 right_x=0.3583 right_y=0.2445 right_z=0.0601 right_yaw=0.0137 right_pitch=0.1821 right_roll=0.0144 right_gripper=0.0084 state[joint_eff]: [-0.0068, -1.4564, 6.9402, 1.5653, -0.0855, -0.0513, -0.0171, -1.0051, -2.1812, 0.9094, -0.4567, -0.7009, 0.0757, 0.6081] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.245,"right_z":0.045,"right_gripper":1,"right_pitch":0},"note":"The can slid forward again instead of being captured. Its body is now clearly farther out, so I’m moving the open gripper over the body’s new position before closing."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe arm stopped short of the requested forward position. I’m raising slightly and tilting forward to clear the constrained low pose, while staying aligned with the can.
move_to
right_x0.4100right_y0.2450right_z0.1000right_pitch0.2500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8547, 0.6262, -0.6308, -0.02, -0.0582, 0.9993, 0.8177, 1.8744, 0.7986, 0.4435, 0.6872, 0.4191, 0.9944] state[eef_state]: left_x=0.2601 left_y=0.0022 left_z=0.1274 left_yaw=0.0166 left_pitch=-0.2833 left_roll=-0.0087 left_gripper=0.9993 right_x=0.3766 right_y=0.2431 right_z=0.0549 right_yaw=0.0197 right_pitch=0.1142 right_roll=0.0041 right_gripper=0.9944 state[joint_eff]: [-0.0752, -1.2923, 6.8308, 1.5946, -0.0024, -0.0513, -0.0122, 0.0068, -8.0068, 5.5316, 1.7265, 0.2564, 0.0415, 0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.245,"right_z":0.1,"right_pitch":0.25},"note":"The arm stopped short of the requested forward position. I’m raising slightly and tilting forward to clear the constrained low pose, while staying aligned with the can."})
tool
executing move_to over 5 steps (0.5s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe can’s broad body remains centered, and the gripper has moved forward. I’m bringing the fingers down around that body with a modest forward tilt.
move_to
right_x0.4350right_y0.2500right_z0.0250right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8547, 0.6262, -0.6373, -0.02, -0.0582, 0.9993, 0.7979, 1.8759, 0.8143, 0.4564, 0.6823, 0.3607, 0.9952] state[eef_state]: left_x=0.2589 left_y=0.0021 left_z=0.1264 left_yaw=0.0163 left_pitch=-0.2898 left_roll=-0.0084 left_gripper=0.9993 right_x=0.3855 right_y=0.2409 right_z=0.0614 right_yaw=0.034 right_pitch=0.1311 right_roll=-0.0272 right_gripper=0.9952 state[joint_eff]: [-0.1162, -1.4154, 6.7897, 1.4676, -0.0513, -0.0562, -0.0122, -1.1419, -8.6632, 8.5128, 2.381, 0.2711, -0.1001, 0.0708] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.25,"right_z":0.025,"right_pitch":0.15},"note":"The can’s broad body remains centered, and the gripper has moved forward. I’m bringing the fingers down around that body with a modest forward tilt."})
tool
executing move_to over 4 steps (0.4s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe can’s body is now directly beneath the gripper’s forward opening. I’m testing the grasp at this corrected position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8566, 0.6262, -0.6384, -0.02, -0.0586, 0.9993, 0.738, 2.0506, 0.9573, 0.6224, 0.6716, 0.2676, 0.9953] state[eef_state]: left_x=0.2587 left_y=0.0022 left_z=0.1257 left_yaw=0.0169 left_pitch=-0.2928 left_roll=-0.0086 left_gripper=0.9993 right_x=0.4367 right_y=0.2534 right_z=0.0618 right_yaw=0.0188 right_pitch=0.2255 right_roll=-0.0177 right_gripper=0.9953 state[joint_eff]: [-0.1026, -1.5111, 6.8034, 1.4139, -0.0562, -0.0415, -0.0171, -0.9094, -6.1333, 3.6581, 0.9988, -0.1441, 0.3199, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The can’s body is now directly beneath the gripper’s forward opening. I’m testing the grasp at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe repeated empty readings show that the visible wrist hardware was misleading the alignment. I’m moving the right arm completely aside to locate the can unambiguously from above.
move_to
right_x0.2900right_y0.0000right_z0.2200right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8566, 0.6262, -0.646, -0.02, -0.0582, 0.9993, 0.725, 2.0705, 0.9707, 0.6865, 0.6376, 0.2806, 0.0081] state[eef_state]: left_x=0.2573 left_y=0.0022 left_z=0.1245 left_yaw=0.0164 left_pitch=-0.3005 left_roll=-0.008 left_gripper=0.9993 right_x=0.4457 right_y=0.2592 right_z=0.0677 right_yaw=0.017 right_pitch=0.2594 right_roll=0.045 right_gripper=0.0081 state[joint_eff]: [-0.0889, -1.0598, 6.8171, 1.5018, -0.0171, -0.0464, -0.0122, -0.4855, -6.4342, 4.2051, 0.9939, -0.0317, 0.1245, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.22,"right_pitch":0,"right_gripper":1},"note":"The repeated empty readings show that the visible wrist hardware was misleading the alignment. I’m moving the right arm completely aside to locate the can unambiguously from above."})
tool
executing move_to over 22 steps (2.2s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe can is now clearly visible just to the right of the burner. I’m using the left arm, which can both grasp it here and place it on the burner without a long cross-table carry.
move_to
left_x0.3700left_y-0.3200left_z0.1600left_gripper1.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8581, 0.6262, -0.6601, -0.02, -0.0586, 0.9993, -0.0471, 0.8268, 0.7425, -0.5163, -0.0277, 0.0097, 0.9976] state[eef_state]: left_x=0.2546 left_y=0.0023 left_z=0.1219 left_yaw=0.0172 left_pitch=-0.3161 left_roll=-0.0077 left_gripper=0.9993 right_x=0.2941 right_y=-0.0054 right_z=0.2062 right_yaw=-0.0424 right_pitch=-0.0123 right_roll=0.0405 right_gripper=0.9976 state[joint_eff]: [-0.3624, -1.5385, 6.8581, 1.5653, -0.0366, -0.0757, -0.0122, -0.0889, -1.8256, 9.6068, 1.9658, -0.188, 0.0171, -0.0269] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.32,"left_z":0.16,"left_gripper":1,"left_pitch":0},"note":"The can is now clearly visible just to the right of the burner. I’m using the left arm, which can both grasp it here and place it on the burner without a long cross-table carry."})
tool
executing move_to over 29 steps (2.9s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteThe left wrist view shows the blue-and-white body centered between the jaws, with the trigger farther away. I’m lowering straight down to grasp the middle of the cylinder.
move_to
left_x0.3700left_y-0.3100left_z0.0250
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9695, 1.8618, 1.372, -0.4274, -0.7464, -0.7357, 0.9993, -0.0471, 0.8341, 0.7448, -0.5831, -0.0383, -0.0071, 0.9988] state[eef_state]: left_x=0.363 left_y=-0.3108 left_z=0.1441 left_yaw=0.0109 left_pitch=-0.0466 left_roll=0.0102 left_gripper=0.9993 right_x=0.2852 right_y=-0.0031 right_z=0.192 right_yaw=-0.0241 right_pitch=-0.0835 right_roll=0.0343 right_gripper=0.9988 state[joint_eff]: [-0.5812, -9.7162, 9.0325, 1.3358, -0.6374, 0.0757, -0.0855, -0.1026, -1.9214, 6.6667, 2.2784, 0.0611, 0.1392, 0.1099] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.31,"left_z":0.025},"note":"The left wrist view shows the blue-and-white body centered between the jaws, with the trigger farther away. I’m lowering straight down to grasp the middle of the cylinder."})
tool
executing move_to over 8 steps (0.8s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
right_cam
camera right_cam step 244
assistant
agent noteThe fingers are down alongside the body near its lower end. I’m closing firmly and will verify the grip with a short lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9607, 2.0537, 1.1641, -0.0574, -0.7368, -0.7292, 0.9993, -0.0471, 0.8341, 0.7448, -0.6132, -0.0414, -0.0082, 0.9989] state[eef_state]: left_x=0.3642 left_y=-0.3077 left_z=0.0303 left_yaw=0.0116 left_pitch=-0.0697 left_roll=0.0359 left_gripper=0.9993 right_x=0.2805 right_y=-0.0023 right_z=0.1863 right_yaw=-0.0208 right_pitch=-0.1136 right_roll=0.0361 right_gripper=0.9989 state[joint_eff]: [0.5538, -9.7846, 5.2034, 1.2967, -0.3785, 0.0708, -0.0171, -0.3487, -1.3333, 6.8171, 1.9316, -0.0562, -0.0171, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are down alongside the body near its lower end. I’m closing firmly and will verify the grip with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 254
top_cam
camera top_cam step 254
assistant
agent noteThe gripper stopped at about a 6.6 cm opening, indicating a solid hold on the cylinder. I’m lifting it slightly while shortening the reach.
move_to
left_z0.1000left_x0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9615, 2.0754, 1.1465, -0.0456, -0.738, -0.7311, 0.6973, -0.0467, 0.8352, 0.7448, -0.6353, -0.0418, -0.0086, 0.9989] state[eef_state]: left_x=0.3609 left_y=-0.3032 left_z=0.0168 left_yaw=0.0143 left_pitch=-0.0843 left_roll=0.0577 left_gripper=0.6973 right_x=0.277 right_y=-0.002 right_z=0.1819 right_yaw=-0.0198 right_pitch=-0.1369 right_roll=0.0367 right_gripper=0.9989 state[joint_eff]: [0.0479, -12.3419, 6.8034, 1.1111, -0.3834, -0.0122, 1.0281, -0.0752, -1.4017, 6.8171, 1.7998, -0.0659, -0.0708, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10,"left_x":0.35},"note":"The gripper stopped at about a 6.6 cm opening, indicating a solid hold on the cylinder. I’m lifting it slightly while shortening the reach."})
tool
executing move_to over 6 steps (0.6s)
step 260
assistant
agent noteThe can remains secured during the lift. I’m carrying it left over the burner while raising it enough to clear the burner’s rim.
move_to
left_x0.3500left_y-0.1600left_z0.2000left_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9791, 1.9442, 1.2217, -0.3237, -0.7307, -0.7643, 0.6973, -0.0467, 0.8352, 0.7448, -0.6617, -0.0418, -0.0082, 0.9989] state[eef_state]: left_x=0.3467 left_y=-0.298 left_z=0.0664 left_yaw=0.0171 left_pitch=-0.1277 left_roll=0.0885 left_gripper=0.6973 right_x=0.2726 right_y=-0.0018 right_z=0.1771 right_yaw=-0.0199 right_pitch=-0.1632 right_roll=0.0377 right_gripper=0.9989 state[joint_eff]: [-0.759, -12.8205, 8.7453, 1.3065, -0.5592, 0.1538, 1.033, -0.1026, -1.3197, 6.7897, 1.8144, -0.0562, -0.0366, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.16,"left_z":0.2,"left_pitch":0.1},"note":"The can remains secured during the lift. I’m carrying it left over the burner while raising it enough to clear the burner’s rim."})
tool
executing move_to over 13 steps (1.3s)
step 273
assistant
agent noteThe can is above the burner, slightly to the right of the coil. I’m shifting it left a little and lowering gently onto the burner surface.
move_to
left_x0.3500left_y-0.1300left_z0.0900left_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7502, 1.3537, 0.9001, -0.2642, -0.7048, -0.4248, 0.6973, -0.0467, 0.836, 0.7448, -0.6792, -0.0418, -0.0082, 0.9989] state[eef_state]: left_x=0.3467 left_y=-0.1617 left_z=0.1819 left_yaw=0.0324 left_pitch=0.0478 left_roll=0.098 left_gripper=0.6973 right_x=0.2697 right_y=-0.0016 right_z=0.1738 right_yaw=-0.0198 right_pitch=-0.1815 right_roll=0.0382 right_gripper=0.9989 state[joint_eff]: [0.1846, -6.4342, 6.653, 2.0098, -0.315, 0.2271, 1.033, -0.0889, -1.1692, 6.7897, 1.7411, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.13,"left_z":0.09,"left_pitch":0},"note":"The can is above the burner, slightly to the right of the coil. I’m shifting it left a little and lowering gently onto the burner surface."})
tool
executing move_to over 6 steps (0.6s)
step 279
assistant
agent noteThe can is aligned sideways with the coil but its body is still a little toward the front edge. I’m moving it forward so the main cylinder, not just the top, rests over the burner.
move_to
left_x0.4050left_y-0.1300left_z0.0850
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6456, 1.4361, 0.6216, 0.0139, -0.6159, -0.3771, 0.6973, -0.0467, 0.836, 0.7448, -0.6956, -0.0418, -0.0082, 0.9989] state[eef_state]: left_x=0.3396 left_y=-0.1236 left_z=0.0829 left_yaw=0.0466 left_pitch=-0.0578 left_roll=0.1481 left_gripper=0.6973 right_x=0.2669 right_y=-0.0015 right_z=0.1709 right_yaw=-0.0198 right_pitch=-0.1979 right_roll=0.0386 right_gripper=0.9989 state[joint_eff]: [0.5675, -4.8752, 5.8462, 1.4725, -0.0366, 0.0855, 1.033, -0.0205, -1.1556, 6.7487, 1.7363, -0.0659, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.13,"left_z":0.085},"note":"The can is aligned sideways with the coil but its body is still a little toward the front edge. I’m moving it forward so the main cylinder, not just the top, rests over the burner."})
tool
executing move_to over 6 steps (0.6s)
step 285
assistant
agent noteThe cylinder is now centered over the coil. I’m lowering the last few centimeters to let the burner support its weight before releasing.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5411, 1.6299, 0.8017, 0.0761, -0.5671, -0.3138, 0.6973, -0.0467, 0.8398, 0.7448, -0.7235, -0.0418, -0.0082, 0.9989] state[eef_state]: left_x=0.3983 left_y=-0.1245 left_z=0.0861 left_yaw=0.0792 left_pitch=-0.0454 left_roll=0.1428 left_gripper=0.6973 right_x=0.2621 right_y=-0.0013 right_z=0.1652 right_yaw=-0.0196 right_pitch=-0.2295 right_roll=0.0395 right_gripper=0.9989 state[joint_eff]: [0.253, -6.2291, 7.3094, 1.4921, -0.0415, 0.1783, 1.0232, -0.0479, -1.3607, 6.8991, 1.7753, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The cylinder is now centered over the coil. I’m lowering the last few centimeters to let the burner support its weight before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 288
assistant
agent noteThe descent stopped at contact with the burner, and the can is supported over the coil. I’m opening the fingers to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.543, 1.6718, 0.7746, 0.2146, -0.5911, -0.3103, 0.6989, -0.0467, 0.8398, 0.7448, -0.7357, -0.0418, -0.0082, 0.9989] state[eef_state]: left_x=0.4077 left_y=-0.1269 left_z=0.084 left_yaw=0.0932 left_pitch=0.0198 left_roll=0.1176 left_gripper=0.6989 right_x=0.2599 right_y=-0.0012 right_z=0.1631 right_yaw=-0.0195 right_pitch=-0.2417 right_roll=0.0399 right_gripper=0.9989 state[joint_eff]: [-0.1299, -4.2872, 3.6171, 0.7888, 0.2076, -0.022, 0.823, -0.0752, -1.2103, 6.694, 1.6386, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent stopped at contact with the burner, and the can is supported over the coil. I’m opening the fingers to release it."})
tool
executing move_to over 4 steps (0.4s)
step 292
assistant
agent noteThe gripper is open and the can remains on the burner. I’m lifting and backing away to check the placement unobstructed.
move_to
left_z0.2000left_x0.3400left_y-0.0800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5426, 1.681, 0.7654, 0.2184, -0.5945, -0.3183, 0.9971, -0.0467, 0.8398, 0.7448, -0.7471, -0.0418, -0.0082, 0.9989] state[eef_state]: left_x=0.4057 left_y=-0.1249 left_z=0.0779 left_yaw=0.1004 left_pitch=0.01 left_roll=0.1212 left_gripper=0.9971 right_x=0.2578 right_y=-0.0011 right_z=0.1612 right_yaw=-0.0194 right_pitch=-0.2532 right_roll=0.0402 right_gripper=0.9989 state[joint_eff]: [-0.335, -8.212, 6.5026, 1.5458, -0.2418, 0.0415, -0.0708, -0.1162, -1.2376, 6.8171, 1.5702, -0.0904, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"left_x":0.34,"left_y":-0.08},"note":"The gripper is open and the can remains on the burner. I’m lifting and backing away to check the placement unobstructed."})
tool
executing move_to over 8 steps (0.8s)
step 300
assistant
agent notePlaced the can on the burner and released it; the final view confirms it rests across the coil.
done
hindsightUse the left arm for this burner to avoid the right arm’s cross-table reach limit. A full-close grasp with the left arm near x=0.37, y=-0.31 held the can securely at a settled opening of about 0.70; partial closing slipped during transport. The can remained visible in the wrist view while held, contrary to the general camera guidance. Placement at left x≈0.405, y≈-0.13 contacted the burner at measured z≈0.08.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5285, 1.1908, 0.8124, -0.3088, -0.5797, -0.3183, 0.9977, -0.0467, 0.8436, 0.7448, -0.7689, -0.0418, -0.0082, 0.9989] state[eef_state]: left_x=0.3446 left_y=-0.085 left_z=0.1843 left_yaw=0.1032 left_pitch=0.0123 left_roll=0.1077 left_gripper=0.9977 right_x=0.2539 right_y=-0.0009 right_z=0.1568 right_yaw=-0.0192 right_pitch=-0.2787 right_roll=0.0409 right_gripper=0.9989 state[joint_eff]: [0.5128, -4.3829, 10.0444, 1.5702, -0.1929, 0.1294, 0.0464, -0.0752, -1.5248, 6.735, 1.7216, -0.0904, -0.0415, -0.0122] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the can on the burner and released it; the final view confirms it rests across the coil.","hindsight":"Use the left arm for this burner to avoid the right arm’s cross-table reach limit. A full-close grasp with the left arm near x=0.37, y=-0.31 held the can securely at a settled opening of about 0.70; partial closing slipped during transport. The can remained visible in the wrist view while held, contrary to the general camera guidance. Placement at left x≈0.405, y≈-0.13 contacted the burner at measured z≈0.08."})
tool
done: Placed the can on the burner and released it; the final view confirms it rests across the coil.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.513 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, 0.7929, 0.6044, -0.3882, -0.0177, -0.0345, 0.9993, -0.0212, 0.7937, 0.6071, -0.4023, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0011 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1769 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.347, 10.1402, 1.956, -0.0562, 0.149, -0.0855, -0.3487, -1.5795, 9.6889, 2.0488, -0.0562, 0.188, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a689b9c436418a72bab01d98fe55e08092faa5dec96b80dae19621fae41255b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9e2e6f6c155393df4932eafd28dd9faba73ac7471fa2256c4d2f2c43036960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f2f134c5f35ab9b3c568c5c27d252fe350a4c88072e02fff051335d16d9ea4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 8.098 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrHDnBW-CaOwbdrkLs5268Ew_t_iJnrFtdxx4dELB3PtWcI--NSp6ZAhJevALU7E4oS3z6nlLgDRfAxI1ZDV3MDQEK72iy6XdYu25-0hLOpeli7H_yiY6EerkM8Ds9s_-uQ7kweJnOm-e9G9YJl-HiWv0xeZfOF1S58g9RaAhRrdBNhuH3arudIzb9xo3i95JK1NVCbbKRC0MqzkWRfqPOYk9WP-eMZdO-1artZ0l176JLhENbSA90cbRfcBU-jXq9hPJN5i02sd6Sl5MKkGye-mxy0is9Tgqw9MWHjlTQTM75I_ppclShG-0AdZlqg5SVKUCXsAqFBA9cu81Uz-AQDjYwp6AWscRgedCiQC4qtjvtDHyOH5EqJwjxFbnqMNhutAzJT-Bcida9aoPwFU7EnafWrsISIY4aYgHChihQZ9Td8oZ8tVSP2ebBPyLOQVxhlKtdn-EmQe6t5Y8A9A_6yps0iZposvbObN9RXlbQegNUP2-TWlcvvZU-V8Q1rId_DSEoUspTcguYVpp1cW5PkSVJINzZIsWLJCi-72jmvW_5nBZQSiWLElUCqNmfs20eR9ZwpiI36xn5htN3o0oH1XlQqih4jPx9kIRHINB-Gc_mBr1gc5_K50HnS-znC8arteLXXJpOqu5Muf2M8lcVWvL0WEWOa5dWEnAKpQMXYCBgnrYe051tmqBchAM5UgD--2keiXj-SsFRypkRs_rTOLGtr1rTmjeZVtlbbA33St_gAmjJUgHX2-yWxd1iEtN8G_04Yrw1Rs0irlro5221OrntA64wpw7kxwsGG5g0wkHyAjwpFqCrYdK7FCoedzyjpbeQXc2mT2ti7BpBbVKZo2Tx9hD6X8FhrRxi-YPXNN1qQPRN5N2BqxpeuHtT8iy-e-A3HOTbgcF-CJu8vRvDIscGOgh6spSScbqZ2dXqM_AyTNkzZfPQpdyF_BcNXpBWCNds3vMdY5Zk4yyufyISEN01_xZYYVBYiL2KuNGFEYG6JF1MKvBbuaFKT_EiOnyNC6lTKdFYG1kiiFdy82406pC7G_0iaY_kOOnoU-onUXMHMifWJeulfvnBa8oAokonluOuG7h9OYxyTDw1LeAfGj01m_PesZvzPvHK_gDiEaVefbQIycKBtkDM5l3obFt9Vt-QkI69XF-ha4zxQGq8br7Ico7JMaH3tDtzTOTmuoLqSIfyUh9XSI_aSDqcnGNYX1iZtt-DcU6Ea898uYC-XEHiHl98W4bvGqXIquw6WBDUahyecS1TX7x7o-g_YtrjYBvXeF1v50CeTjaE8wq8x0QNjrkrzOlNIZ-4uu6CFlLaE9BCVMsjdtxlSJ_OuCWFtMr9N9G5FhZwV-bJcl90FMXHoiynmwvfCFJMIYJSpGDtBwJb0cTdI3UJc7yz7uYvF9Tp7k2wmfepx1-4C_O_nC4Aw0_wEvOyvml1_1x6cCodFR31wlA907tXM3rpibU8nDGfGULZD_vGZ35VCQsIcHW5duWf5cnMtwHEzEHAYe3Ri8=",
  "id": "rs_051a55a58104fef3016aac70e3047087d0a1f3eb2216a97540",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying between the burner on the left and the kettle on the right. I’m bringing the right gripper above the can to line up a grasp around its middle.\"}",
  "call_id": "call_PlLE30xpIwfbnMkqFmjA5PAL",
  "id": "fc_051a55a58104fef3016aac70e5b30c87d0afd1fb3232f018e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PlLE30xpIwfbnMkqFmjA5PAL",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.02, -0.0387, 0.9993, 0.7124, 1.5124, 0.9188, -0.1993, 0.5423, 0.3943, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0016 left_z=0.1748 left_yaw=0.0046 left_pitch=-0.0213 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3574 right_y=0.193 right_z=0.1307 right_yaw=0.0392 right_pitch=-0.0685 right_roll=-0.054 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.6479, 6.8718, 1.8877, -0.0171, 0.0024, -0.022, 0.0889, -7.0222, 8.7453, 1.7949, 0.398, 0.2125, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478d279be423231dd585adb4dccc0b97133cf5058a5dd3d9b430f9801e7e81b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3605ba8b251af36f9b1de2383fd05ea825ec099b12d052679540007d65ddd9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37c71b9824ebb6796a07ce58d235e440b79bcfa7ad3d645c48d71073b664ddb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 11.15 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, 0.7929, 0.6044, -0.3882, -0.0177, -0.0345, 0.9993, -0.0212, 0.7937, 0.6071, -0.4023, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0011 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1769 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.347, 10.1402, 1.956, -0.0562, 0.149, -0.0855, -0.3487, -1.5795, 9.6889, 2.0488, -0.0562, 0.188, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHDxxF8JIr7YIsD9sJsQO2MR2MlctfHwHMO4Egq37ICNnSR3eBIFMn2FpuQNAgoux3ESrgvp9B3LLPgBT0h5XxBrGw35n0MQmDlMbX2Kp7xVcQXPleniMIxAEZXpVX3GmNlzqLP-p0JtkCozpD3ogj8_ow5xpPoEmg260jGp3ZsqC_ZF5q1eoNuL0WDBDFs5bWGFveLzmVf4GkHvJ14uV1wwobKe7VWnNCU4tIwc_5on3xviRQ2FC1QEplMVPx6j7bGRKDXB7Rm-nMyYF5ADozX28Lafc_PwNIiY-O32ad0YyRKUYsXHJf4sY_bpVmEg7MSabT-pyZ7rBWVir8sjm3rFNiys4i8ALKd8bxjBWyFjIsOEzNMjqmNxM2LLoI4ZAH-3h4atx3GUlDAkcXO73pfvHCx73zYvnYLPK568b6Uuagwu1o835G6nlll2sauWVFRxF-LGgAc4bdyB1qVYpHt-63WIRvp8SJM6E-qHk7CM98U9sQEUkA7TTT31sraydMzQlKnnTjiLIKnXhr_O5q3_gRS8KDgTXZ5gTCxJfOKUkZ4kMs7HbUdR171y9Xqr0ozdTh6wxgi-t2ZEnvvLHsGw00EhMKWkC6SO7wBUT63Y_8twnCCqnY5Bzb4hHq263c4m8zWpT0iCspoyMQjQyBIm3P3nc77TCR478CQhDTIuA2EDnShkit11ZN0ZU_kvahRO7HOGjB0atbUW7bp11qNmtfa5w-Yws95GB_IOZH_OX-Udfal7ddVtreYeh8n5RRzC3-io8St8nbcI0xutfrqG0aovP4Rv-lx8CNnDN38sr2qYdonWyRjV_9cgi5mN07lmSo_UQs8R7Ik3Sf6RhMZ9nzp6jFp3SaXkhql4HIxNRF6rtJ_cG1E4X94WRs3pKDLISLHR0vYKgSbpx4wCABHiAsDC6rmBh4wMGp8RTUc4pdecte6QaUogOcnzs2DANUkhxniMsDoCvPJALPf4EjNKPwZxvqUL-YddhO72Riv337JzX9qyq30qlEc6L4FG8IJyXKs5Rb-0R9_mSrwmaOP6pLvCl3ueMxl4EqItc4RaGwjnxO3QogAkj7iZc9H5xwep3lrT5ZOBKDGWaK4Kda0_WEkZblOu3HrQc1WvUCJnggNyPP1Ba18gyGuzZvtldkbtQqKipgcNpWn6ynGjp_hOBklBzpQ3qfFhMrZSW3piTBfZqmImTwiz4Up7R6d3-PD1CubyH3BKLOAkoyDJBjoNu2VpC0YD3BX39r-JLDK9WXwS2VNAIlXJmD5UaFwOuDGhgB1ybKIohZuWr8XKFx1OX3KWEJCAQzlx6_Q9cdjMj7vwg5-KfF83k26fnhttTHbrsuGe8Z6Q4foZBDlC0zCb_tdxGybe-e0dNEiXPzPag6pW4owU2G-b8Ypl_RCcGHpM0lANmnZyvjtWXzXOxRrZfnF-UujcFGSGLt66wJevhU9uF1U7MbcJjvMuozm0m49QiLNh6KoZMK7V7qpJmgacDMHYumf80fkcunnEIeS-vQCDkCmCIUpJGv5GFwzgUPortp5HFshSZyxJXLFXAoOALDLGrV_LNEKJz2eF9-vSAp8=",
  "id": "rs_051a55a58104fef3016aac70ec6b9887d0965779ebf1aee8f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.085},\"note\":\"The can is centered across the wrist view but still ahead of the fingertips. I’m advancing toward its middle and lowering the open jaws.\"}",
  "call_id": "call_sYYKmwlY6V2RUG4gNxcD04RA",
  "id": "fc_051a55a58104fef3016aac70efb47487d09a5ce964875a5bdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sYYKmwlY6V2RUG4gNxcD04RA",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4141, -0.0204, -0.0391, 0.9993, 0.6025, 1.7966, 1.0031, -0.0582, 0.4614, 0.3099, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0017 left_z=0.1718 left_yaw=0.0051 left_pitch=-0.0343 left_roll=-0.0016 left_gripper=0.9993 right_x=0.4084 right_y=0.1899 right_z=0.0652 right_yaw=0.033 right_pitch=-0.1544 right_roll=-0.1048 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.6068, 7.0222, 1.7558, -0.0562, -0.0073, -0.0122, -0.5675, -8.8, 7.9111, 1.707, 0.2808, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d007b276542a7723d605d0c348a96c396097350d4394c184209dddcc308ddfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de497229aed5979c72ad345c5cf67eff00590e33b48a581f01d667ad6d44578d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d6ca73e829f864e311857b05fa59e2feb53e8e7eca11cb17022a336f8ab5e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.02, -0.0387, 0.9993, 0.7124, 1.5124, 0.9188, -0.1993, 0.5423, 0.3943, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0016 left_z=0.1748 left_yaw=0.0046 left_pitch=-0.0213 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3574 right_y=0.193 right_z=0.1307 right_yaw=0.0392 right_pitch=-0.0685 right_roll=-0.054 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.6479, 6.8718, 1.8877, -0.0171, 0.0024, -0.022, 0.0889, -7.0222, 8.7453, 1.7949, 0.398, 0.2125, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHD8d25nD7zlU6-olMFXfxEx57pMK92yGUTzM8wYQMHSQkxoMPaGduQ_RpMar-V9oLz9xZCCQu3rv-rXBXzwOS6qThYRI9rClZ79DC_cWr7kODn7fECVrzlbdhYvOL3bo3LuVgA6ontAU-hRzm11-mbLN4Yr3-3wFGGeN3QiMee8UnSQR3YjX5u67Lq5-Ftt2FddDWNWmmnDEvDdDG4fUejts1qgY0HQyWub1o-_w6WP7w2WK8fsE2ImMGJlYP2Z7iF_lOT11yE1nmw3AfLQ4-Ym1rmp-c5ZY6vYFuEQl8MbdAhN-XXfVmmVMRFVmjeHT6J9nmX-DpI7WqbgW3xIi_eot-dMd7QNltfRGx-uedFjVfM9YOTqS0pVHu61vt57yey3IdAducar-JcWoVGqn56Yu1w45fIcWovNn22qcptoFFKyBBv-ATft-9Wx6ktLmcbUCiNWXbo2_wSkUvotB3lZdKUj1NXZQSX6BqbelG2F323NbdohzInZ-t4-ggsNBULVk-rKhBbJ25AuQnUEiaVxr02RguYcJa-FYknIYI1Kib4g9qR71YbZWCBW1ZRW45yelfdo6FO5x82X4Q6Ov_0Tl4S-XojrPrexxB1LDhYQPxyEXUjadPrvWRvXLFKFFYuHczbcFxm9RRQPxqAxSrRrtHFxl_lqdmv6wjBZ99NzYFyLB-UZ76EYfviLTATgOy2X-lwnQpO4o37VSWJLZbLnF3WVNJFpK8GMBm4-8hOQHAw57frHT54GBZfH5KW2SxX07mjzubj7JWK5LpRDBzngTyC6SV9m4oQpfTf9vjl0fxXIS97FZOyYIH0Rm2_39H5Pssy24MxUxaM0pHZGCctJ9EjQGr4VQWorsomP_yGSYwBJaaAtjYDm0mXfvi7-Ib8y055J-2lmbxzJXbzlX7Uv86F8U-BJKr1N8aCS5oqcIier5-QzaHf7tY6M3C4MBsQDlU2tuJfzPkGStCRdgxRtM7k7Xg0PcGE9BTDG5ahgqwAXElMm3nkW3gEXrZYhQtY4FtM87DlI3MNRhHwVXWDJQePilUb2ATxpqcKEX82LJbhFsce7qK7-rY5std5SnTVin6P7TIH4rbrIwzRBWQ-d9Xoco2gHnNogwyn7qHQOeQdms0Q8pk2ji9bBDOXH-zRa_u5qPTHSmoCbgK6NGsIq17dEge0wPzfkZGNbVZlSfUq0V5i0MINdfPlJaFPO2GAwZ43_IzZKoia-iBOkcu3A9jRZDE9A5kF9lB7UJ83-v6jCEKbPAUfebV3FAUu44197oOMWGRAsE57kx2xeIqujO93CKyOYhOnxaOgfarL-5-ImBulIr4SeOwAgaEZxayUiCQzaKJW173u7f_mdeLDJ71b-uwxhfJLKsHOts7bSbOQ=",
  "id": "rs_051a55a58104fef3016aac70f9e7ac87d091c5798b3d7b86fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.21,\"right_z\":0.025},\"note\":\"The nearer blue end is now just ahead of the jaws, and the can is slightly left of their centerline. I’m moving a little farther forward and left, down to a side-grasp height.\"}",
  "call_id": "call_H156OqzzrgmUcwPvACi2S8xn",
  "id": "fc_051a55a58104fef3016aac70fb3f0c87d09683e4fc318b018d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H156OqzzrgmUcwPvACi2S8xn",
  "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]: [-0.0189, 0.8074, 0.6067, -0.4286, -0.02, -0.0391, 0.9993, 0.569, 2.0491, 1.1591, -0.0208, 0.4297, 0.2798, 0.9996]\nstate[eef_state]: left_x=0.2892 left_y=0.0017 left_z=0.1677 left_yaw=0.0048 left_pitch=-0.0534 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4453 right_y=0.2017 right_z=0.0117 right_yaw=0.0346 right_pitch=-0.2195 right_roll=-0.1371 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.5932, 7.0085, 1.7998, -0.0171, -0.0611, -0.0122, -0.5949, -10.3453, 7.8017, 1.4383, 0.2369, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3671676f4dc941f71642f5a4528ca6b72ec74bc148b699bf74b8a23bc06b2c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584ec3d795ddafba6f9798f0cf699e53d2e812f121724526ca73e12e995c4bbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2ad6ece8802f0ac39dad588d8f414c800e6ff5f02fd9a33aaee68ac460b8c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 6.472 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]: [-0.0189, 0.8028, 0.6067, -0.4141, -0.0204, -0.0391, 0.9993, 0.6025, 1.7966, 1.0031, -0.0582, 0.4614, 0.3099, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0017 left_z=0.1718 left_yaw=0.0051 left_pitch=-0.0343 left_roll=-0.0016 left_gripper=0.9993 right_x=0.4084 right_y=0.1899 right_z=0.0652 right_yaw=0.033 right_pitch=-0.1544 right_roll=-0.1048 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.6068, 7.0222, 1.7558, -0.0562, -0.0073, -0.0122, -0.5675, -8.8, 7.9111, 1.707, 0.2808, -0.0024, -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": "gAAAAABqrHECPdWrB2to2n51j119q0g15VKAniQZ-PzFpeYljJUxk9HVYSL2yzrqmmgCD2XFGTF8ROUxDYx09njYygVxFIaupJeAje2svwt5wWlnOURuGCjMruHR9_jkI36HMn9e4chKNbxbdMECGTx621z5kgsTgyJY4d0MJWYZta7TpRP7FnXlz-BXUk5z9sh-51b0S0Sagtuk7Umyb1nroZLTMllAJuur5Gu7swzA9gPAWsIxNM_2T6zVNmGmtluzcZZQEBC_H_iQoHkho2rqvrgBaR0nwwtTq644clQ8G0PUri4HfITNbqHdVMKbBexDNlHAkRZCbcu2sSPsNwAGxqsdPAoWUG19TXaCLxUIOo_j9wRxm6UlXH2RmSw2l6yNpsJqj3zXa_iSMVwMP7KlFsarI24ZVhuF_Fq1Un7nMTPMM7HoifxnQdnsifsRvU3kBVdfm3yaKHVPXeqoh6eeUI-FqWFRmtQlzvYfYO1yWWUYOVyEHM8VcgNNNE0trwa9SO4w5v1OULONROksx-fngpeRbpcB9CPZk1VE6JrxMBXMHYMKEzxy3yYt43RPEJb6ReCfY3g7ddHjw5kUUCuklhhDCcy2CK493VioG7ACGPmZi1Qu2G0JM06uURECq6aD7U1fY_yylLccWvlU3btEn4fiVeHDigbMvMrJ3Gjy3FL60ep12IJwl0eNVRJ5dnZj-O3cAS7aW0UyWX8vL_umaLYFgaIQ7KEynaVH67kHTZDjhr5vAYmItMnvraXUECTU7ReuFl3yopL0IK6Mtr53wcdVyQ2yUfHfADdK7eE_SCPmhHucRr0YCBv9wZUVjy1xJO8NTxL4de_5MoLT5sp4WaVAnB1vc8vRkZlkEu6z2VzoyhXKUD1M_I4U1Jc7b-AePjZZGtm2i97T9-NPmkcLCH4jSsCXiF-lilQxBKq1Dutuk5uGlmubNmH-J6yBi8sO8F8bkBoovlxqQ6Ex0W1ajfgY0Fvfb93YaX0kmai8wl4bluEnzFWsgvNon1TiTlrw826for-lLMX0n7bDJXk13I27tXbLWkhMacajRePtcPOdjOSt67ozKwyHclRcmYy4TejyMNlfpiTMjXoXdEPpkulDORHEnY1pBij5CYzf-WDlHxhnRzaoRDpTotwvTtQF1QJS8vUuw4qbM8cmPIIIQhXZkR0FhfWKQvgHJSTYDtL9NAd5Osbf1LctOKcRZ7mwDa9ag5-KXeMQ64jUI5l-jmZuu2hgUqPT7-sdv0DUahNkj-SPgfj93BhL8P9eshRZCq76JelcR0J2SA38AgbxMqCiuKkiQA==",
  "id": "rs_051a55a58104fef3016aac70feb4c887d084a78219668c478f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.43,\"left_x\":0.2937,\"left_y\":0.0011,\"left_z\":0.1788},\"note\":\"The blue end of the can extends between the open fingers. I’m closing gently around it while returning the idle arm to its parked height.\"}",
  "call_id": "call_UCG8973xZY0un4S0AwZYjO9p",
  "id": "fc_051a55a58104fef3016aac7100179887d0aea76dba582d7440",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UCG8973xZY0un4S0AwZYjO9p",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.833, 0.6197, -0.4683, -0.0204, -0.0433, 0.9993, 0.5671, 2.0651, 1.1801, -0.0051, 0.4252, 0.2691, 0.7202]\nstate[eef_state]: left_x=0.2863 left_y=0.0017 left_z=0.1589 left_yaw=0.0072 left_pitch=-0.1056 left_roll=-0.0031 left_gripper=0.9993 right_x=0.4524 right_y=0.206 right_z=0.0134 right_yaw=0.0444 right_pitch=-0.2043 right_roll=-0.131 right_gripper=0.7202\nstate[joint_eff]: [-0.5949, -0.9231, 10.0581, 1.8974, -0.0806, -0.0073, -0.0171, -0.4581, -10.3316, 7.7333, 1.6581, 0.2173, 0.0366, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcdb6fd674fac6a6affdd14a632a369fa130d0d0d2d99d005076e323d56dc132",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363ff5281b58e50241e504c949a512d94e6bbd62e8f23da7f233a0457576d53e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f944fa2e4c45caaaa9d0c29bb97d1c68ad1bd862c12c4c18c910854508ea7ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.654 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8074, 0.6067, -0.4286, -0.02, -0.0391, 0.9993, 0.569, 2.0491, 1.1591, -0.0208, 0.4297, 0.2798, 0.9996]\nstate[eef_state]: left_x=0.2892 left_y=0.0017 left_z=0.1677 left_yaw=0.0048 left_pitch=-0.0534 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4453 right_y=0.2017 right_z=0.0117 right_yaw=0.0346 right_pitch=-0.2195 right_roll=-0.1371 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.5932, 7.0085, 1.7998, -0.0171, -0.0611, -0.0122, -0.5949, -10.3453, 7.8017, 1.4383, 0.2369, 0.0024, -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\":{\"right_z\":0.085},\"note\":\"The fingers stopped at a substantial opening, consistent with holding the can. I’m lifting it a short distance to verify that it comes off the table with the gripper.\"}",
  "call_id": "call_L3dVbdot73hqcLt5EZ4zwXY3",
  "id": "fc_051a55a58104fef3016aac7107d05087d0a9c6a0f210216abe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L3dVbdot73hqcLt5EZ4zwXY3",
  "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]: [-0.0189, 0.836, 0.6262, -0.4789, -0.0204, -0.0467, 0.9993, 0.5671, 2.0651, 1.1801, -0.0051, 0.4255, 0.2691, 0.7213]\nstate[eef_state]: left_x=0.2858 left_y=0.0018 left_z=0.1589 left_yaw=0.0094 left_pitch=-0.1128 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4524 right_y=0.2059 right_z=0.0134 right_yaw=0.0441 right_pitch=-0.2042 right_roll=-0.1312 right_gripper=0.7213\nstate[joint_eff]: [-0.2256, -1.6615, 6.6256, 1.7656, -0.0513, -0.0366, -0.0122, -0.6222, -10.3316, 7.747, 1.6923, 0.2759, 0.0171, 0.9158]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9ee14ae6ba500986ca3296308210d25936b539af246e260a68857d4c92154a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2edb31317ae5262365557661f7f9b7c58ad9e66ea542d04cefb12283d8c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c317269e3a567723aa2e467b38965723d1ad60e147381fe99e54effee8a7fc6b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 14.63 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.833, 0.6197, -0.4683, -0.0204, -0.0433, 0.9993, 0.5671, 2.0651, 1.1801, -0.0051, 0.4252, 0.2691, 0.7202]\nstate[eef_state]: left_x=0.2863 left_y=0.0017 left_z=0.1589 left_yaw=0.0072 left_pitch=-0.1056 left_roll=-0.0031 left_gripper=0.9993 right_x=0.4524 right_y=0.206 right_z=0.0134 right_yaw=0.0444 right_pitch=-0.2043 right_roll=-0.131 right_gripper=0.7202\nstate[joint_eff]: [-0.5949, -0.9231, 10.0581, 1.8974, -0.0806, -0.0073, -0.0171, -0.4581, -10.3316, 7.7333, 1.6581, 0.2173, 0.0366, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHEOXDuvr7M50eRe_F6zdr_WLtsVQBjCqp6uezPwgu6K5ZabW0T46yFz90hjLSv0SveCuSLhBzGMzyLl0z6pTIGp7CFtnZyloYEvfAxJmsvApVGA9lWA9T6bL8m0k6bk5KDIoFqMTWu_d9d8jutmCvj3aFucQ0Xtv2_pHBIC4-0TBabuTr3QcVMONDrNhWK-EbW0BADCRXOYNWA9iC7c_TK-ALrQujSSFu9bjrR9KSLD1q3T_ykBKJOIjnE33pCLOnhPdEFWLGoskVvBFvhH3GByn_QVJN6S15iM49YdZTRUo0JX_PhB46hdE0DtI-vTKbhXE4EIv_3yFNdl_hJiSfT-Qf6JUj9n6zz8SjMrUU5_T29SqyUp8fUGSCm7X_zkZqiufBodlS5qAdLEoMcMt3L_mXyH7Rhd6vXMwRHMdejG4g1Y3qdTDO2LSHain2FbnF7rash_5M0bj2WkZZeSUTua8CgntfTccgOUs22GGREHxy_Cs7Z7jqHQnyD5pISwcFiyojfLE7VOOXfKMrwXb-7RXtZjdYcEyfuA3q-6cY4PYZd_ywbw1wLN3xuY1KNimnzz8n8xGLYVB07FjCQa15kzsRdzqV4_3yF4Ds6khQKF5In-CGP4ANJ4maDIAfQ_c8CIaK8zr6hT5bWXoDr9tX0TVq_QAOaFU8B2UQoa5jlE05zQfOH40eqVE2IGmU3ZlY1hvBF9XN75Rn67Dym8kbIxvo56RE18-k7TzYk7Ndh8UKzHq2ym-5W-SFS_2lxybP-Vzdu0pTpPNU_ESCOifnCDtjv68s4ZWp4bQzcO126KPja_We2lJwVs-tgBWYHtETn0WZ4owqG3htWCamO-pKUGnrkO74Kfa7QsnMWeIZk2G9ipbonD22kBNPTd34PtKBWsGQZbaV2jOnojj7-zxy5RIkwiNj8qVu7CMl9eVcVHd5Zg-n82PvWY8NcfOoV_2q2zQmoZZjcEt5fcjtWjbZi39Qa9qZ3RPpLPP29Q4TThk7p3bw0xEbXAFNSJGh-UFLMkRJ5nKDBhnePdQyo43qQVzXXws5PSA89JPwpd8MqthFPLU9Z6uvf-X0AnRCqtiP3pPSXiN5EcYFi9E74_SX8MzA3sB7lCNaenelqT_SHlRjOYU-wFyvZijwqJLLRzFmAew8xx2xCJnmbYy9aP6ARdaYKHk-sjtUuBdm2rj3hQSVBoMwq-QPU_2x9ljfcgitr7qh0IJFW1FyR9bgvjgVhEhQ9Q1NoQ-TdiLThGfMcdrsDKm4l84U9J4gxVZURgA46qpeFzPh6cSWywMqvB2pEtE71vMF1Y6e2Pr3xMJ1qJMIc=",
  "id": "rs_051a55a58104fef3016aac710b0e6887d0b78dbc466817a454",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.195,\"right_z\":0.13,\"right_pitch\":0.2},\"note\":\"The arm did not rise at the extended pose, so the lift is not yet confirmed. I’m shortening the reach and adding a small forward tilt to lift away from that constrained configuration.\"}",
  "call_id": "call_Z4KFodilrqGr15MgE1dj58ZQ",
  "id": "fc_051a55a58104fef3016aac710bf45887d0bd7bdbdfe0e069af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z4KFodilrqGr15MgE1dj58ZQ",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8364, 0.6262, -0.4953, -0.0204, -0.0471, 0.9993, 0.6491, 1.7477, 0.8608, 0.2947, 0.5934, 0.1543, 0.7236]\nstate[eef_state]: left_x=0.2832 left_y=0.0018 left_z=0.1557 left_yaw=0.0097 left_pitch=-0.1296 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4141 right_y=0.1947 right_z=0.0992 right_yaw=0.0679 right_pitch=0.0993 right_roll=-0.1646 right_gripper=0.7236\nstate[joint_eff]: [-0.1846, -0.9094, 6.9265, 1.8242, -0.0513, -0.0611, -0.0122, 0.4444, -10.3316, 6.0923, 2.293, 0.4176, -0.1001, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd153439a79434f05bf58a3e049873a35e9fbff8fa3afdcdffc2ccb70516523c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a8e35a62382df4c11132bfb181fa1ee1d4372b612b6fc5fa8ddc0cd0ba2d82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25bd409bd0404e0191468bc1290a1d0d67b3b95334a211a8014f4ce23a00d091",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.817 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.836, 0.6262, -0.4789, -0.0204, -0.0467, 0.9993, 0.5671, 2.0651, 1.1801, -0.0051, 0.4255, 0.2691, 0.7213]\nstate[eef_state]: left_x=0.2858 left_y=0.0018 left_z=0.1589 left_yaw=0.0094 left_pitch=-0.1128 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4524 right_y=0.2059 right_z=0.0134 right_yaw=0.0441 right_pitch=-0.2042 right_roll=-0.1312 right_gripper=0.7213\nstate[joint_eff]: [-0.2256, -1.6615, 6.6256, 1.7656, -0.0513, -0.0366, -0.0122, -0.6222, -10.3316, 7.747, 1.6923, 0.2759, 0.0171, 0.9158]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHEebIXLSwsLPEJ8f_3MfL67b7QfXfdaXhO6J-yC09vrbA7485w54mE2LLxIx1ri8W6IuKE1JWsBRuL49rfwtcgfkObaGGi4-A2N73gvgbro8N9cKb-aEahhZmqyupvcWFV4jSluT4OA-7Cd0R4Fu-N4-7g5O8NTaayFie-_Hc_YxnyYs_2aMOBVexmcvF3gwYHDhPjCLUnyqIuMcnOnQx4qrGZrEeturmNpNC9u5746Ohania5uMvgDbxCg7tVRmiUuPHYqgL3PBCasFX4f-RojNkBSM3omM24BJ2iSzaa4IvwqCFfoskMl5HcZTCPHxr4zHGdFc9BlKFqTIAtm0dXqtgTU_npl2_YT9vQ3DDVtCqmoSSciriMH2WKCNptSsYklxG6pkkzQu_EWoA-vBz1dVJLOe8F3FS1-_jIODeTh-zZbuXvI7ZsrqDTMGMzJNWKouFfqZnJVLYNj0xlv4i9dfj2bebQdHB0hyTnE-FYiCnFo-A9tMnQ7JJwRu-iU2iByMRqklWetsZOp8JTAQOOyxOhESyDr6K1e45bO_o3nINFPeJikyWr0aOsMhAVlWErtPf6SeLxk7KfkGmWjIBn2hRIyvtDykw5MW3cQleiGurTLc7MV0fMq4xefM5PFV79WNNn-jcWSh6v4x7P-H4IXmg7riGr5jaTHXhr3lIoGpSQTjOsxKLMLGVte5wpZgAYBRo9g8z0JaiRR621LHoVJ4sEtoSd_z0J_0qQwzW32Fkrv7XEN5TsflqnJrn-nzFdwwVc5j3xXnkSoFc4L3FpIIK6yjYcyf5qpbx0tPvbSUwxmAJIlKkPFLgBgEBWf2K840kObR6fXynrO7l64YyA4z3J4gOgoBmTrZTC2jffe9fxEIKKzUJ9R3DsWthAu-XQyy8EGjxzAKygQfOZTcCGgv7hJPu1ZF4dDlL7FBUrTouOgTMbCy5UxOVJkV34fwvJ_vcmbub4IO1PbgkssNj3waa5QdLlXoTQzFYZIyGOW8HqpnnnS-1aoLVecnjCSpG9slDomEk1ijRzV8ThGZethA9uLq4lP9QfNzRkt9ZttZB9aWeVcNrjZo4XHcY0qpX770adKTPFgit5v6bxdm9JFRl9HwfZXlJnDg1G4TowxXlPWpUOl4omZ5T_z6mgtROIwK_2gXA7BKVh4fHR06aDchb_gl3GYHuv0Gy2kyNx_iWKFWjrQaYlBfPpVJJwW8L27mxF21VPqs0MZVZF-8_u1sZJv2J3EHfcU0pbvAvJmnBz_gF65khbmMlAHeytE_2_BAYbNFWG6YuBKSTnthjpx3fBArkS-ftPWX-5sx_0RapdHAMZrJFFc7uKk7Lm03JFq4yziqcAFjiqFJviV4pXM38wSwSJgRZ-HzGj3JlTQdf3jSMyQblKHYzLOpBRrxQXCgi7X-I9KQGcPrIqieb2aXb6MxjJygpEm5oE3tHSk0aILJ00t06fh4Fjzs5vzFkuLspGPPuPhwJL6RcicEiYeymNl1ptgmyCyUTSTnow52CXBJr0FcQYWw0VBfc0_srENaVNkTq1lqaOUnJateWJ5yfk4tHc3Bu7MyF-R3zv0hjZ-Vmx7q7QH_z2Je590YJmJWiAS1Yp6asGhrpNNmjFHYCBS3xdiq6LW0zs9xr9nFXeMbytCIwgmOcrJh04JWqXrojmuWE6B5I9ON7oe_15mnAQEyKl9DHcVmCECLvByxaCw8bwYvHTfkpci_AtZIArNfuE9Yr9TWyZPl5JDLQz382x4PcGMM1Piuit1QyYeARyprJQAjyb0p8kumSBSGvTCrAFNJPoFVM0S2vl1G41NGUueFWcMFINh_Csf-qi1xm1XdNr0XcO7Xv2I9qqUo24oVYvSfroBZ-NLJmLM5jwS-52Hov7MfAXAuh_KE6SXRPJIRihoqW0mKW9CAXcUhpk8kDbFLlpnJXwn-Nis1VzrJg==",
  "id": "rs_051a55a58104fef3016aac7117d02c87d0baee95d70e109514",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.29,\"right_z\":0.23,\"right_yaw\":0.75,\"right_pitch\":0.1},\"note\":\"The can has lifted with the right gripper. I’m raising it for clearance and turning its long axis toward the burner as I carry it left.\"}",
  "call_id": "call_LzFaQeTsiy3pOHK9wCnAjPTh",
  "id": "fc_051a55a58104fef3016aac711c9d2087d0b80ed5926ddc3581",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LzFaQeTsiy3pOHK9wCnAjPTh",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8413, 0.6262, -0.5106, -0.0204, -0.0471, 0.9993, 0.6285, 1.5871, 1.1355, -0.1001, 0.0616, -0.1764, 0.7238]\nstate[eef_state]: left_x=0.2809 left_y=0.0019 left_z=0.1516 left_yaw=0.0098 left_pitch=-0.1498 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3933 right_y=0.2768 right_z=0.194 right_yaw=0.6619 right_pitch=0.0294 right_roll=-0.165 right_gripper=0.7238\nstate[joint_eff]: [-0.1026, -1.853, 7.0906, 1.7314, -0.0269, -0.0464, -0.0122, -0.4855, -10.1265, 9.8667, 2.0537, -0.0024, 0.0122, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0111f1dd486cd213fad5bbe8800339dabec314180218e71f1d0acfdd9a815e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6024080ba388b2e24481824e84ea73237359198e2f7b024b8ad327894b2d05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726beb03ba2b4ce5317d8a64f38429d922802bedcf2f1a0ddd7fd28abd144ea6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.968 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8364, 0.6262, -0.4953, -0.0204, -0.0471, 0.9993, 0.6491, 1.7477, 0.8608, 0.2947, 0.5934, 0.1543, 0.7236]\nstate[eef_state]: left_x=0.2832 left_y=0.0018 left_z=0.1557 left_yaw=0.0097 left_pitch=-0.1296 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4141 right_y=0.1947 right_z=0.0992 right_yaw=0.0679 right_pitch=0.0993 right_roll=-0.1646 right_gripper=0.7236\nstate[joint_eff]: [-0.1846, -0.9094, 6.9265, 1.8242, -0.0513, -0.0611, -0.0122, 0.4444, -10.3316, 6.0923, 2.293, 0.4176, -0.1001, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHEkL44uEJrgBcJof18rKuD2_3TlKarXnfuq7_P-JmqeQs7GI41ZswoG-L5uHfMp_fDun04mzybKJFcCju4qhkvCjzDIfD8jOoYLorO4i5KBtOAuMTOkKLDdKj_IgWA-DHZyClgy7c6PUkNNLUVng2B_5Hx5r7CRN_WuMg-26vOAPanRGLNEu9vFwCmurYGhzdDLLTH8gGe25xTAsxrayvcfBvOFQQ3PD8UfX6V73OrkQtf7ly0AxyIBzfAQBYdHjgYKpBdJ5KrBlgAdHKdTrlsd8xt0lJmTR80HijupoXZw1imKyqs595knAt69Y5JjLqjXNZ3oxC_h7oL4mBab_xe71dos8oGjL73WZNBNVOFTYpkNxbnZMyTF_DYMNduVHE9zyekHZqlkP03yBxiEITsDZGv3jLIU_yzNO3x1r4IVKuJS3ywPN5Nd6TdAmjqPXqAfFXY0qQe8AQsxgkXumBwyUR-1HKuFKFcGx4jLNDW4GqzdvHMqMeFz41uPZXNTJl9h8LiaTKT-Eiokz95aHTt41wVJBhE85LQgAcp7UTmSPTTGVCfquhlmKk1Im4UE2WSTlL1dtgSUR3NtyFPfSwqFrjkNQI0GiIkDaqC0vhTaAx0KbPQRyux6lzig4qekPR80Pix8PIDwTAiikVP5wOO8itpuq8MXMQwPLblavnNY_NVltgQBCuwRRfxdpD0qe6OUAsikbft8NPObwqRFr2w8aHLg3I-ni321La5R5kjeoQKlHp5GW6AQbvUIt3ZBmDHbX4IxZZ9PxCqTzq42TA51QnntXawf-NXnKeYnFpSxhCiXD_neyQoolRxRtDnRE19wfPWjMcIwlyP69okrq2s-gFEMwTZKlrgoUWUhT3d-xjLIixI6USxqb_j36HAFUN4NM4upa-ZAqRtW8-XgSGKwxYzsWYysFhp5o4VAlNrnVCPud-0cFoH0eSrqpdA_owj3-KfbdWtkGaUlcMrUD6iwRLR6QqMzdcDAJIhHKIBHdrulu2YKolLrAZ_6985qfuAbBcEC2fzYdL9DaD_T8VVNYelsKuHOmV2msv23CHNydUUy9PSN8-M5MXOHEwi8DnsVmz3qSb8brCrwJ0tihgEHQtnuQ5PY4QSiVHQEqrkhufImoWM3axw-bsVoiFJji_Yz5Ie2nYJzaQ5UQbvLRwi-8FOnf91HokyZQsgnLxbM3XOmBfYzyEZdMqpzBvEi1A_wuMK3NXpleWEBPEXhlgamMfl63OTa3sjwn3Vs4qprLebzhJa5wyiYIflHkxq94IXdh3st9g2wgrF7XvGTZRPAAySqaMy73UrxVDs6iLIJRu5kyRjz9zyPfa4HywaXhMkwY-BfFjxITOH8L5QYgFos7FnpZbts8IgwIFaReXfGIzUoGRlJ7YUO-BGn43X-qG7Vte-LmKxSN1TyftSfOmhhWEiRZYWDPBFiU1rFd6Yipe5qrF_3EW8_SIueeKXXsybx_YtiEM8SeiKS-zkA-PTkfCtN_yZwtBQNRghqJDdtRENmgH8UZmGwBkUcdKIibmnaUmFarrx5BRO7LXsEoq93IUjFQnn1OV7b5ibOr6Czysc=",
  "id": "rs_051a55a58104fef3016aac712079c887d0aec2618ff1b993ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.39,\"right_z\":0.22,\"right_yaw\":1.5,\"right_pitch\":0.1},\"note\":\"The can is clear of the table and approaching the burner. I’m turning it crosswise so its center can sit over the coil while keeping the gripper within its reach.\"}",
  "call_id": "call_Xdq6NLRNTGCLgFXs3QMaN2No",
  "id": "fc_051a55a58104fef3016aac7122f9b487d0b14267e28d0e1a38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xdq6NLRNTGCLgFXs3QMaN2No",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8433, 0.6262, -0.5255, -0.0204, -0.0467, 0.9993, 0.569, 1.9587, 1.6497, -0.3351, -0.6193, -0.6128, 0.7238]\nstate[eef_state]: left_x=0.2785 left_y=0.0019 left_z=0.1483 left_yaw=0.0097 left_pitch=-0.1666 left_roll=-0.004 left_gripper=0.9993 right_x=0.4 right_y=0.3818 right_z=0.2107 right_yaw=1.3961 right_pitch=0.0701 right_roll=-0.1583 right_gripper=0.7238\nstate[joint_eff]: [-0.1436, -1.5111, 7.0632, 1.6923, -0.0562, 0.0073, -0.0122, -0.1709, -11.1111, 8.1162, 1.4432, -0.4908, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b76484f2d104cc08b1b035019d3942326e3ca49c9853d33df8aa7e7106e633e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d6839829946f7d77d22727e5b6832551d1d8e2b63a8fadc2854be82b3da88c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175578fa5dd4ddba8c86f7b5e925e07f35b29605cde29c860755968f3ff3445a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.94 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8413, 0.6262, -0.5106, -0.0204, -0.0471, 0.9993, 0.6285, 1.5871, 1.1355, -0.1001, 0.0616, -0.1764, 0.7238]\nstate[eef_state]: left_x=0.2809 left_y=0.0019 left_z=0.1516 left_yaw=0.0098 left_pitch=-0.1498 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3933 right_y=0.2768 right_z=0.194 right_yaw=0.6619 right_pitch=0.0294 right_roll=-0.165 right_gripper=0.7238\nstate[joint_eff]: [-0.1026, -1.853, 7.0906, 1.7314, -0.0269, -0.0464, -0.0122, -0.4855, -10.1265, 9.8667, 2.0537, -0.0024, 0.0122, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHEsEK827jfc64mMZ4mzgcF0w2dUWjFnbavMPkIELTC-RMDmLgS7ojjyPica19w3DcZl3XvKYFDRLTqIYBLGZQJr8e_V6qP3exfR5-MTYpmn6A5a-HabVaXXeNT_JPm7xCoCnIsl0wLWTHdF1PwCPw8pCOGeNclgNfOypMCUVmRRo96woxi9kj4CMy-NSVReefJCAWuKDzuwa9c7KZeXffxKvtkyiZb5ZkZRTSOEDMaYkrHuSvcusGo6ATR5vKWOyaMtAfVRuCI5oLQKYTOzXuKZUVE3dvFbSJJ06PnwQQgl5dgoNcRNn2P-OnZ6sWCl7wMcDAhzPqBRR82-YPFCcZwItdGQfXGRq4kNilIrFL57RvR1EEwC-WtjcipWrBBMLakz6dbWeV8Eii1ZnF6OceJRnISXvJy7VQYCEY3C2xI_1g2UkKSWXjmIjgVBXwOwhKqESdU0LrkEUvdMBjv7_oJ2nbvrNM48F1PNbRRxe18AkeegFUHlSYbVsmdrOhItP8bI-nZ6fmUMYbTj-nawhGVEnNsOhaXZNqWqyr8goKm2_quN6ced1Wg_dCojipm7PGi7EqTueB_1BlKkXv6xgs4jdaoncQpL1J8vhz51So-duw4qmiH0tVNH26V_zWyiKqPVxVBsLoDtJNBBAYrtJQBy7crGYaP5Geq7ebBa66u_i64_bMqoYkBz0FjsWeSFHFFBGXb3J5_9FfvI9qQQKtnJH_Urofqh4nqQXy1HoBwjWx-9F7I5YEDcI9hcvb-utUUc22e6lIjv2BwmCTDJ0gcpux8BRx94ha2RMwlxC1fjDRa878RKbjOhJLaoNPomvOaihCn6WMZp8uAmZ7LAFMyN_UjnpUl7blBbGAf_CofHtj2iRuIcT6Y1_yHukUd_IYce3AwhGQsQ_SzinDy2pPflg0ZuV1hn6n3wH1gqDKxLmbp1Cy1Xf39yTwjQ3XHZUl-CZwnRG-zBrl276Q7XYAuL2bTj3SH049Cyb3TYeyoO9SINjeUmHrxsa9qoyanUJEwueGlESbSaBEkJq6XYZfbg_Qfld47ktIWhfrpSyWDNZCJ1hg1Pv2NTH34ijVjujuO7JXNJkyjxbzolFJ89j1Mf3C7B0NsrHGIcdBPWplYfI8dhpKGUSUwADc20PjtEHDnakPfkABU2SNLtVW47xozycmD6E5g-acZu3ugkBcslxxR2aitjRREwJaMMPWAN1y_tePx6MtKbCDt6i2VjFg1ZI0Y3strbeQS1Kv9cH0oDAyqdYErrUNDb0NRYL1GySrMVhZeiphhOwFQq_GFnacxQCf7tMxat4Rt3gEiGBiP1V-r1UW0mqz5FHKAOSe7wqpzwXCjDCMrBNYZPaZcBec9Bs-PFFWKFJQWq7euCSuKFQgPrWfLr6U28mC5Aov-GWKsE5OwtLPKmw9no4XDTaV6bNhthDiuNz6ytU5sigS8hYvQaRu-ZTDy18Sc4t9nRSTvyr0z-BdvjVWk6DInrNiFgkeHekQDcmvG6h6Rria0IAFdqAWOK7ZufwKt8R7Od0YCqTpQ7QmSHolu2p7JghuBK2vUQmDqx4eFuVnNTSb8wDIw=",
  "id": "rs_051a55a58104fef3016aac7128ccbc87d0b06c175de336ff8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.22,\"right_z\":0.16,\"right_yaw\":0,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The can slipped out during the turn and is now on the table closer to the front. I’m returning above it with open jaws for a more secure grasp around its middle.\"}",
  "call_id": "call_gPZsuIFiKKY5jOXgEQ6UpqHm",
  "id": "fc_051a55a58104fef3016aac712b004487d0a0bfc820054fcec7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gPZsuIFiKKY5jOXgEQ6UpqHm",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8471, 0.6262, -0.54, -0.0204, -0.0502, 0.9993, 1.1309, 1.4052, 0.9287, -0.5312, 0.8017, 0.5999, 0.999]\nstate[eef_state]: left_x=0.2762 left_y=0.002 left_z=0.1447 left_yaw=0.0117 left_pitch=-0.1849 left_roll=-0.006 left_gripper=0.9993 right_x=0.2499 right_y=0.2413 right_z=0.1503 right_yaw=0.1624 right_pitch=-0.0516 right_roll=-0.1855 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.7436, 6.8718, 1.7265, -0.0611, 0.0171, -0.0122, 0.1436, -4.9573, 9.0735, 1.1258, 0.5201, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d5f81d5be908832e1b1011645077004ccdf1d0f90b045579888c08ff9ae6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8954fc15f65bde7b6ed0927bf81d9a82dd65853277177775cd13d4e52de8ee96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef38bbe906b40aba219fe5fc8234ff32f95a969f1579df3e0aa0a4446e227ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.68 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8433, 0.6262, -0.5255, -0.0204, -0.0467, 0.9993, 0.569, 1.9587, 1.6497, -0.3351, -0.6193, -0.6128, 0.7238]\nstate[eef_state]: left_x=0.2785 left_y=0.0019 left_z=0.1483 left_yaw=0.0097 left_pitch=-0.1666 left_roll=-0.004 left_gripper=0.9993 right_x=0.4 right_y=0.3818 right_z=0.2107 right_yaw=1.3961 right_pitch=0.0701 right_roll=-0.1583 right_gripper=0.7238\nstate[joint_eff]: [-0.1436, -1.5111, 7.0632, 1.6923, -0.0562, 0.0073, -0.0122, -0.1709, -11.1111, 8.1162, 1.4432, -0.4908, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHExsT0aJq2aR987pcKTny6SDr9eDjTtKoZUU97I2bT6B6Atsj6LxMnXBN4pwHYZwowlk2hGrID3wgENa5An4r5SX8b9bpTtAFCWaIA4CkV_1dUwoROStcLQqjysKHth63nvyiUh-s9dz3rsMedNC0wTa77L39zGVjtst3g20AxqGAT1FiFEu2N055TUd6PXpXiWmehHrrTYMoSbsmK3pcIcNBp3bT-A6fApmLhtLiOFEgrQZIXbbESKTk_XyIfQakboJg-wJHZxBV9VyYw0BLMMlCf_fIZGb_PWGu9PC0EA5XBkWPcOqIyRUa2QhzFPPlzlfmxm0vh5BmFdSF3U03prhVplAnQrRU6pdI81LCVzgiwVnsWPdI_aogjAAXbUjmbdUmoA15l5u4uvubTfZS0-th7tRkXieLiTGp2QPgL_QbnbZWqR8f2sSi7IRQCnLTjHJoRPZhK99v7nru3YKFK17qTToRi-VVCga909I0IqSs_HIVD5FnJBD_fokEf-szvA6-2xJXc_V2HfCL12F09WrE2E3rJ8Fa3hTvtni4gt-5f4QBsVcjEu0_JEpGFCJG29cmcmOfm2OGiEAdglOtgpmjqQCw38MF4YBhsnaIaQdVuDXPqSwA_qpwcBLCCqFs437oqiVoKs-kGOPmF7uelDD2xo1l3Ot6R-E_bxTvtDe7PLNT2TZGfHfnUbjG_IOMdTakLVOSpVuTojPpj6izF3j3lMzNA7hgjOzXEMseDcGKfuvcJvCCTFxcIhbFh2fanMX3teZxCkL6xTSgsWj4rqmFJ5unLB6N_0VK28YlhMkJ4TyAHFHx1UWscBn94-FCJ33sXafbB7SYVnJ8MPueZzFQqQ7suQvy8LT38xNAMROpA3DIc5nqvV3RBKTAEvKWa0xoc3toBv7aTK9BHAoVQo4Q48rS09yxzAUKJwTWFkXzY7c8XwIQwB9sFa5QVmRuY1CFiXvIY6_MIJ9PMq7zwcvRxCHG9mM5aFZgroyNMRjJgQ60QCC7Or2nrfYEjHxRTnHtREHP96WH_1uRgXXWkhY-SLZLkYpsp0AaxN4umjr7PmdApMHQZn2ZgKW2IAxDRSGRGsq3RzjdFSEcBwop1S55zk2yfX0AmZcloF0Y6EaObARl67vibPkfurRPe1C8gkAuQ_Ek7xSmBTq7I_rv1BmfXmZd4DLSUftwnKUn5djbfeWronYQZ5fFdL1eETRYb5k3unwwAYo0pKexwJ_Zg6RRUQ4Z9fmbhdTS4pMQCmbqdpJ__fs7f8CIwaO_QpF6RF",
  "id": "rs_051a55a58104fef3016aac712fbd3087d0be74e9e8d5d2c456",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.22,\"right_z\":0.025},\"note\":\"The can’s body is lined up with the wrist camera’s jaw column. I’m lowering around its middle rather than gripping just the end.\"}",
  "call_id": "call_VyRyJjjH9I5Zb9Vf5NKy6gsr",
  "id": "fc_051a55a58104fef3016aac713028a487d08068f49c5ba293e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VyRyJjjH9I5Zb9Vf5NKy6gsr",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5556, -0.0204, -0.054, 0.9993, 1.0275, 1.6165, 0.577, 0.0742, 0.7628, 0.4889, 0.999]\nstate[eef_state]: left_x=0.2736 left_y=0.002 left_z=0.1415 left_yaw=0.0139 left_pitch=-0.2025 left_roll=-0.0083 left_gripper=0.9993 right_x=0.2671 right_y=0.2131 right_z=0.0324 right_yaw=0.1441 right_pitch=-0.0643 right_roll=-0.2209 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.5932, 7.0632, 1.7118, -0.0611, -0.0024, -0.0122, -0.3624, -3.3299, 3.6855, 1.0672, 0.022, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad7ae7d0a77b09e7a66dffcb950544d51a6626b7ecc187bc5bb3f1a3c5c11a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf5fe73265abacef3b74ab983302e25dd70c278884cc556257a22392bb86050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099568b7af6052e5d2d1c405888068ab83d897be2da0af5c6b0f4bd16495d1a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.59 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8471, 0.6262, -0.54, -0.0204, -0.0502, 0.9993, 1.1309, 1.4052, 0.9287, -0.5312, 0.8017, 0.5999, 0.999]\nstate[eef_state]: left_x=0.2762 left_y=0.002 left_z=0.1447 left_yaw=0.0117 left_pitch=-0.1849 left_roll=-0.006 left_gripper=0.9993 right_x=0.2499 right_y=0.2413 right_z=0.1503 right_yaw=0.1624 right_pitch=-0.0516 right_roll=-0.1855 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.7436, 6.8718, 1.7265, -0.0611, 0.0171, -0.0122, 0.1436, -4.9573, 9.0735, 1.1258, 0.5201, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHE2lzN0JOCRGVp--ZD7lA3O2w48aHuXENX2wIHKTUF7pu7a1kQkbID7DStw-0ecg_hRrMtCPs6_r7ripPxK1F_cC0yiyhiSahJuNr2X5bXkycUIcaYievKhKBmDrKDGRPJckawh79ub5yC-kYwSInEo1Y5ZvSpE4NyU8A_KhyuiPwCFBSApg9V8vRlxF-pq3cQZVRFCKcvAwOvO4w1T877IZ-Zw5e22zq-pigSMrdR864bMCDbTCe5Glrm0FgXuZNM0tTkBLhZJESDVS160xcVPA5RPow9SzSYdQm_xfve7W7eHNdthhcenb0PwQ20h5MG55s9NmBWug2uZIPXw0NuyziMxTuAl3WjXPAN1ZyNrmyBYwxolFG5R6mByKqKqDJKyENFtauASph99dkYRZ9dBvsyUJ558_BC4DB51hp8pZRJqa_378we8YOtyuQR1hZ9ldsAZXMBiUzwjTcJq_Us5VyqLEoxmYwTLlhGCkm2HzEdCJabE6VMtHNs89PwLgt7rCmbb6baPw0AmNDcQheee0c4ttET6aTEbVN5MSF2YX-wc32XVUkblxyWYO1kplkmRd4K7dvfyK3SBDi4b995Ug-vFG3y5lCXCYBOtSWAhydUbi2lvqM4hF7fAkTqYhFSkHgChTbTHF67RwDAs5z9bg3iJPms_qwvcemqlurBrUSWuufEGuJB-nQ4XlPITXSG-Mj96FwOBxQc6moaVjD-fPTwyZtJ3zLD8Z1aLxr0bNNpiu8Kw6PyEO6iNuBgUrC8VL_2k5PnMhz9DrhIZbKUy4EbpIav699Oc7-meSrimTcBQ_wfDck8PHV6GmZirluL92A6ROb8h-S22PMCRlYvVUNdcMpyxRzMFeW-zEmXwl-48QxsT216T0cUasRIExlhhzmaAZFsAZNaQUVOpHjIjZXSbVxP8I85UBglu6mOiprRTTzVsA-zpAJ7zSMEDJxCjVdbo0Gi-EKYi3c7mbzH74LoU8_U7nHqH4KzSnA3nNVUfJyHyGOQGgBJlX70oo2bEC3Eq6MhDWeB3E7htfDGJdCOQymaLo0DP6Z_64_o8nd-HL0S8w1GfD46LIu8vt-fvJJaed1MBuGdTw3ZAIQL4spfx_GZk1ndZW7nuenEWWzafCQpT7Mqxx0_U56HOcUZi8AYhnzg75jFBKXPIzNl8aTh9i61Ih5suFXvN6e1Z_JWjcnGEEivnGmvXkRs29XVbXTN3OK8lrXHAEumIu9Gp62BFdXlZPXJG07E0lzqvdmw=",
  "id": "rs_051a55a58104fef3016aac7134947087d0a628856c95a17890",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the cylindrical body. I’m closing fully for a firm grip before attempting another lift.\"}",
  "call_id": "call_1Xeq5NXmUv6htQGDe5qN9yw3",
  "id": "fc_051a55a58104fef3016aac7135443087d0a30468ba9ec51479",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1Xeq5NXmUv6htQGDe5qN9yw3",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.564, -0.02, -0.0574, 0.9993, 1.0283, 1.5913, 0.593, 0.1616, 0.8188, 0.4786, 0.0082]\nstate[eef_state]: left_x=0.2721 left_y=0.002 left_z=0.14 left_yaw=0.0155 left_pitch=-0.2109 left_roll=-0.0107 left_gripper=0.9993 right_x=0.2811 right_y=0.2233 right_z=0.061 right_yaw=0.1162 right_pitch=0.0492 right_roll=-0.1564 right_gripper=0.0082\nstate[joint_eff]: [-0.1299, -1.4564, 6.8444, 1.6044, -0.0269, 0.0073, -0.0122, -0.3214, -3.8359, 4.1504, 0.4762, -0.2466, 0.0806, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2f5c811aafa276a05c0c5f5e940112e079a19f37cc5eaf64ae45ce9a805793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1a4845e59bc573f12182cb9314ba60d2af19c668187bbba97f7c5a5350cb1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e838284899a875541d60fb927a91efb2633afae73b3ba56d52efb91715bd03eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.189 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5556, -0.0204, -0.054, 0.9993, 1.0275, 1.6165, 0.577, 0.0742, 0.7628, 0.4889, 0.999]\nstate[eef_state]: left_x=0.2736 left_y=0.002 left_z=0.1415 left_yaw=0.0139 left_pitch=-0.2025 left_roll=-0.0083 left_gripper=0.9993 right_x=0.2671 right_y=0.2131 right_z=0.0324 right_yaw=0.1441 right_pitch=-0.0643 right_roll=-0.2209 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.5932, 7.0632, 1.7118, -0.0611, -0.0024, -0.0122, -0.3624, -3.3299, 3.6855, 1.0672, 0.022, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHE7muyGWyxOK1ietP-K9615kqsD-2_7YBegwXgUFTVcEEiiuEeuxwNZERMmonA03Xk_IV3svjqMUtLyquWTBhfSxJhmqMHT9CAVFhQmvi4mqf97L-vxPgGaKsdeZR8dpSkcIy7q_zZ_Cbed1OoS5AzoV_Nu7iEBlVD_yepgTBh1eFN-yZHkqMv6H76HkrRV611y6i_M1cX0rJW7bWitNKZuS4ZPx5R2g0CX_-OjhP1VJhmGi7Dpeifb1UniWirZL701FiwY2Hu8Jtkx2jL9WCmA-z10b-s-Kf6nOR1GLsMLe4xxnTg4CZ5z51wTNlatFE5mbvl_ebmxGeF_OKwpdBMYTHojwZNcMdUNN0Qe6w_Z5FtcYuAoJMUE2_LoqHRjse5HM7ZnMGlfGX-X8j2iamAEs_hT2Rl5J2-6jimcTrtjecN9VOfbPEcolbb9MJw60oTpPt8S3z7TVJfbCfaeQhXvh4I-wmrSizAZAQ0tUWhM7Amwp0bb_9ZwwwadourwnWd-rBE9XgUX8dx6dTg1KKSr2px4zHpeNAMqsnFYMUK-O9nT8fD3rqoukFXVdXw2Rcf0tTjeDVthBCWJd2-4AJtPLfq0wvDVgT5dQ_VoTGrCBMfkHLVaNONQ-Fwz3cxNbVFqpzZqY4llrvRnE2EXyb7KKHHwjq4O7vTqpsfGjBa6IwTwwpeJbJLvQjkWQNNQHl_sV3GYck93YEM03Vcgm1kMHL2A8KCLlMEswOXYRG3AUEEmTxIwR8Qm7ZvwJsaxEHToyE5sZMPeLnczuol1hkeC1paRaLKx8YeKxUDZKlIjvXEZd298mBO3uyhWOeunrwNb4d6eAALnY2OiPU8XZfYAFJiyAT1bEJMzzJjRjDu4umrhejfN_diHPmTwsODVxC60wgZeNX1eBYcRAdvEMsQ-TOGlqZ_LvYCWqcY2Bqbw8-wJTK6C7ux0u3zlktqwTItmWYQ9i5PfdacTGddkeVqQtsXdHmjT0jgCUyjEiqh8jCUQ4YBYdrFTnwIoe3Oa_Lxqky80-CfNPHvLlV7iICBBU8LiDT0UDu7Yc6EReeR708sw9s_kuGc9MKJ5jzWKwENxmuUpFDftoN02fzakfcIM06rI8i7F8CDgirj9ZiT7VOpnHENtxFxmivHbq3leeiOgrViQZxjnWrZ0tdankBsudHqFBBMujMipa97SYo4JfeYQaN-4efihiSYAbmuB88pAcBy2F3BX4Te5xP6cXEdfxwAz0TgJxB24wStmJGEjU1Jg8dllX5irrVf38ZPMniqTgcmjqMGOE1lDjf-LEfyJBaYfmF55ED1v7wZYSfWnsBNxFtRgPsvo_B1cl8FgemGmSm4h0vL5XhWo0c2-I7Sl5A==",
  "id": "rs_051a55a58104fef3016aac7138f39887d09fc30e84c55ff4ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.315,\"right_y\":0.225,\"right_z\":0.03},\"note\":\"The gripper closed empty, so the can was still ahead of the fingertips. I’m reopening and advancing a few centimeters along its body for one corrected grasp.\"}",
  "call_id": "call_n4MwHqEyArOlfHTE8fSncIRx",
  "id": "fc_051a55a58104fef3016aac713a379087d0ad7235f036759efb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n4MwHqEyArOlfHTE8fSncIRx",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5819, -0.02, -0.0578, 0.9993, 0.9371, 1.7428, 0.6117, 0.4126, 0.7734, 0.3691, 0.9947]\nstate[eef_state]: left_x=0.269 left_y=0.002 left_z=0.1369 left_yaw=0.0159 left_pitch=-0.2288 left_roll=-0.0104 left_gripper=0.9993 right_x=0.3167 right_y=0.2286 right_z=0.0468 right_yaw=0.1099 right_pitch=0.0923 right_roll=-0.1405 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.4427, 6.8308, 1.6874, -0.022, -0.0317, -0.0122, -0.7043, -4.2872, 4.8342, 1.1404, 0.0073, 0.1636, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7032dbf6c030d5fc3d4c7d8342d87ce3e5f51708d9c13df6de6e8deb7243f517",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64567ef514ec49857c5a409e04f45ab6231ba7e5bd423f77c45f9184db66bc57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87203c385304530c66c61668d9cc58ee22b3a5178aa9399c493b8776aabf28c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.905 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.564, -0.02, -0.0574, 0.9993, 1.0283, 1.5913, 0.593, 0.1616, 0.8188, 0.4786, 0.0082]\nstate[eef_state]: left_x=0.2721 left_y=0.002 left_z=0.14 left_yaw=0.0155 left_pitch=-0.2109 left_roll=-0.0107 left_gripper=0.9993 right_x=0.2811 right_y=0.2233 right_z=0.061 right_yaw=0.1162 right_pitch=0.0492 right_roll=-0.1564 right_gripper=0.0082\nstate[joint_eff]: [-0.1299, -1.4564, 6.8444, 1.6044, -0.0269, 0.0073, -0.0122, -0.3214, -3.8359, 4.1504, 0.4762, -0.2466, 0.0806, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are now farther along the can’s body. I’m closing and checking the opening before lifting.\"}",
  "call_id": "call_zD7FuK8AcFIJRdJSiYvR8o91",
  "id": "fc_051a55a58104fef3016aac713f1a1487d0bf9ecd7d5072802a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zD7FuK8AcFIJRdJSiYvR8o91",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5884, -0.0204, -0.0578, 0.9993, 0.9363, 1.7313, 0.6174, 0.4671, 0.8001, 0.3588, 0.0083]\nstate[eef_state]: left_x=0.2678 left_y=0.0021 left_z=0.1358 left_yaw=0.0163 left_pitch=-0.2353 left_roll=-0.0099 left_gripper=0.9993 right_x=0.3235 right_y=0.2317 right_z=0.063 right_yaw=0.089 right_pitch=0.1521 right_roll=-0.1075 right_gripper=0.0083\nstate[joint_eff]: [-0.1162, -1.2239, 7.0769, 1.5311, -0.0659, -0.0415, -0.0122, -0.3214, -6.2291, 4.547, 0.9744, 0.0024, 0.0611, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba97386d388b60b698a7a19fe91fa8de68ea3bd95058d56075da1279d4c7a31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3ee031012a0744b02c330a0965643935c79de9051b20f1e137f22d55905f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0d1a2b5e829bf55a9e2843f5080f0bddb4ad7ec9ab957c94cb652eb34130a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.417 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5819, -0.02, -0.0578, 0.9993, 0.9371, 1.7428, 0.6117, 0.4126, 0.7734, 0.3691, 0.9947]\nstate[eef_state]: left_x=0.269 left_y=0.002 left_z=0.1369 left_yaw=0.0159 left_pitch=-0.2288 left_roll=-0.0104 left_gripper=0.9993 right_x=0.3167 right_y=0.2286 right_z=0.0468 right_yaw=0.1099 right_pitch=0.0923 right_roll=-0.1405 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.4427, 6.8308, 1.6874, -0.022, -0.0317, -0.0122, -0.7043, -4.2872, 4.8342, 1.1404, 0.0073, 0.1636, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHFHQCMFqs-6yr6IXlBTeWy3QDqBKaMisyURot37r9kDYFJVd719L464aBEplNjq7zeD3iWm1cKKc1uDtSn5Tpp4CcjSXVyPyXPQRBvPLkcM8HqK17GzTYLXCe3Ix018sZLZLBt_mUQExrINX0J1Hv6VkaBU6SKG4zDS20jYXDwlwI630NKkeXZbj5fKAt32QGFYV_a61jRAM2UTrkPgIUlS6D0NP6Wf8vGLBOEoqbgEtIqtekETuFFjcPcYsf089QxKK2T4IP__4QvAIAGt6tE8Ip-VPkdV7Zay0LHpWCXw_-eaTWvTLz1Tv2DPg1wPEX9BEHmHW_7nhg4hd0yqQNhF4-FHqfwZ9bUvbeus9caKxv4HZBoO4Ukcemx4nv7Y3F7jcJVCxblqmQ_ugkxjbE1LKcA2VEu2u27f1NovRsBL9wKzhu016hGxxHG8KZAB7ZSO3ZjzpAEob-9xYwofUCfWWKvGlOrEPOrfDVWHxSTdch0E9PeKcoIgJI8OAdtyuE1moTBTmxRhdQQNOapGfnL5z4Vo174X6QJJKSZf9jfJWjwtWAsCC3NoqzyR8YZeCBAvd3MVSZ6PtGwWjNTvm9m3btXlpj-UdzkLAGAMdMctLnz8JyVy4qTr62LSsvNCrwvr0gvVwkTNO35UNrXmGVDq2hmm7BYipgmMUC6teHv8VL0DoX3eX_YrqXmlPM5z8_EA9nzWlkH3JTzc5UXEwIh447qQAU7iv0RjWoZdX7q4UTHgo0t1K5j9HhTFosaoL1qAIKewXXPV1eqUJCTnCaZMn1iHykzIWQaFFSZLd2ilJH9s_0vqONo8jSjXDTXKrZlKgshJA0___f6kx5B2kzuTGEw_RSNeIDpw6w_SpaoXzHodlaU96OZT2rn8lLG2JUOIkzLW0hzj4d0VrXR99f-5rsZGhF67gZeuanyqZIXx1PMk07s8nC6sBhExBFCM6dLM8tR7xpNNsSrD4vtgpbVxUau31DYXN_V1h43b0kCNm-ECroBzVMajAViTi8locwwXXtORgW3M33lCNYo6MW82KMqDieYeLVQMKphA3EGU7T18KdaX3a6PW7gHLZsCRUDrCswg54VvnvZj5jdTtETF-Ah1OnQ6qP1Hc64k9ls3PdGFLxt-roGcMV6WICYQMlexcwjhhQE9rvisovuihd4cklBhS5qa9J2FJDHyLAKWGSbo5MUSaR0ZZI1Ld7Odla6S3zYU6zSubC__MozCpWBxkweUnz65RIMoVMe6XOUrloIddpphjc7_xvlYq8dgJsR9xdKU6JIAOrRBELHgMaf-CisXy7pDQ2KMzX0fiPvztsXAsmXloGTc6zMpY98WXK7X1JH6tRuiWjzYeWAG-L3LRyh0N54K3xB0hbwqjyhDSjQ51ubSTjFUWcvcuQOIrhYoSpY2MJ9pPNsppCCBjxUkpPiL6KTNG4BvWXfkA7DZJEDoKbcxIysXkGLajvmJ9kDNG14zeOCVGQp0fImln7nSi05MxLf67i5uLmAWyu4zO8M-VVPFAJEtV5R8jSwW608lQAEGA5AVpQqi1LiRGXQpC3mLKTqj4dQCFqP1HY9v2Ausu-Z8Beqm7gjmZEJfWheD2d6tj7u9siB7G6psHs6ZkhvLyGMbsbSMH_oRVNvycj9ET3tN4LmrVB5sSswNzC2X3TenOHze43idNApO2FffTtxFKhErM2WTNSffwcrklorH6o9NDtC7zh5PY-ZIWsxYYn55rU219sVBuPxThQcrArhYoT65SpCAtRkvF2s-FBmXZZXHSY7YV7kNASFpe_mAuEYne1IvAic47v_bQGdWUBhR81HcPNFRVTEmmUrJXovRGpcafHqRO5G6FOkzJ_mdfmkEt7mQbKfwFrD6M9r7LHe1xe9BSFGlkCOvYl3LfgpNrLlTSmTuAaCWpNEMBfxiA6rWbwrI0B5kebEfgrBaXw==",
  "id": "rs_051a55a58104fef3016aac71426bf887d0a09bdfc393dc0930",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.15,\"right_x\":0.29,\"right_y\":0.16},\"note\":\"The second close was also empty, and the measured fingertips rose above the intended grasp height. I’m lifting and moving aside to expose the can and reassess its position rather than repeating the same grasp.\"}",
  "call_id": "call_iPBqkRiqbrz6o0hQEWzt9sdL",
  "id": "fc_051a55a58104fef3016aac7146682087d0b8aee0c28a78a8fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iPBqkRiqbrz6o0hQEWzt9sdL",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8509, 0.6262, -0.5926, -0.02, -0.0578, 0.9993, 0.8658, 1.1675, 0.5339, 0.025, 0.7425, 0.3012, 0.9945]\nstate[eef_state]: left_x=0.2671 left_y=0.0021 left_z=0.1346 left_yaw=0.016 left_pitch=-0.2414 left_roll=-0.0099 left_gripper=0.9993 right_x=0.2916 right_y=0.1639 right_z=0.1438 right_yaw=0.0895 right_pitch=0.1505 right_roll=-0.1087 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -1.4564, 6.8581, 1.6239, -0.0269, -0.0122, -0.0122, -0.4991, -3.8496, 7.2274, 2.1221, 0.0952, -0.0415, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eadf7aa23106704105a433d1c6f2253f8c23d7791b4d859c45559e198fe31b50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e714eb316d30a4ec769cd43b0b9d92b1be73352a0e4a845f9b6eb25bcdf76731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cd3c74e0adf08182655f2f9137ecf273a9acb4f6f06fd667031c61db54c9ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.716 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6262, -0.5884, -0.0204, -0.0578, 0.9993, 0.9363, 1.7313, 0.6174, 0.4671, 0.8001, 0.3588, 0.0083]\nstate[eef_state]: left_x=0.2678 left_y=0.0021 left_z=0.1358 left_yaw=0.0163 left_pitch=-0.2353 left_roll=-0.0099 left_gripper=0.9993 right_x=0.3235 right_y=0.2317 right_z=0.063 right_yaw=0.089 right_pitch=0.1521 right_roll=-0.1075 right_gripper=0.0083\nstate[joint_eff]: [-0.1162, -1.2239, 7.0769, 1.5311, -0.0659, -0.0415, -0.0122, -0.3214, -6.2291, 4.547, 0.9744, 0.0024, 0.0611, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHFOXqZ-qnnzPHRsamafq6p3jc8LSEOPwaKaJpD2s3NY_3HCxPQyvmHPkMsWbqJaeNdTBQZVPI4PoEmmwqs5QCXVsapIYNOoyPFV9bt0ITKkDJs3ADCE1AoeeSjN86WkEnt4Spe4PhhVPARc-Ck7-Sd7MwITlYRiiQV3byc8I2_Oh7yeYD3cwT_kwYfftDY_YLtQNSX5h6hr2MgKEom-bkwSPmm2icwZg5poBYtgVB1oAHy8ar0dxV1yPKYBvnRSPEU3b39oqCpfIIfONIWg0LkDvnIWYjTMo2VY_2dGJwiqtBR_4x73ohzfK3SiASh597xDDRZhKHDaJSv4CGMMIS-Jj_YmaXIBvccKRnAg9T2hHEBWku4Bz1vrqZiT6MVdp_sw8ECGNKNfbYv0vlOG_raH-2O8MMO_xiEug-l1jXWONd3_yHDmbJcx2LOlL78ASDCgPRrFvAwnui_je4X1xaIZpuVfVp1ZYtyQJYznuDEA2cdhQf_7H1nuTvdPqdRDD9NBUyd2y5JDEkKxhTUlLBYNDBUGPZ564A4aRPzumKXm1aLMLLMtJQWu6WbQNSOjqFfP7uH86lAYYdqKehVBaNaacI178s1NQHI-wrLfnIGWaIO_QQIeDeo3B3e-4zLxHC__-GjkgBlQ69zVksvVkE2GBHoQ24VRC9lYyE0et2f_D0toguYdsRs_l_s-qoNgV0eVGyKcLtyFbt7Or0nvHkkQyYii4Cb5ti3a9ZSv57IVeaBBHPGv4rFWXF-ml6Q3Er48OpG9TWh39TXTfRQd_Uw6xWlOMrMwJfycLlFTr25-9CPdOqHdjpG-2A2jlq4_eMFDQNaISkaLOwZ623MLHadlVigdukAMvN1Ru2idN2GwC0AMzdDwuFuIwbadKtKjhxiHTbsmJjDz8liQSzRWvcUIGWYEtkxVVFHJGXXD7R1ZIJx3P45vpOf0HLGAIBNmUVSxSh-a7QEJI5NwvwZpD0ghnHHFQ9ovM5ChE_tPNbAR4cfGOBElpvgybg5B0_D23ajcHuoNGzK3iztKfDyUxJye98U0madG1aoDF0-rWl6A4tWdL16ymtsuv5QoVixiCs-fdgJ10BULC3s5mZJRQ3-qxtSROwgg4YH9AeIdQOszgB7IhtkPiMTEy-5m2_i06JGCgsml6oYGpoHuzhk0tKkT-xKzwFyARmFxSzyt11H4H4M9fVai6yJpOSE6e2ANYzUnxi3IYXtDjzSsbP9bo_Y9sjhKbj43mDDJF8VuSKE9O0UFF35cXqlgAvpIkVec_T1gaeY8TOzJ1PlRkszhfJDIL6U5kK6t4qNEqvAlXcj3gdvDXq53-0B5nsGv5QugAbm0t1uIPYd3kDSEG6RaqzuPHv2fZ8yqYzuGR86B7bevREQVRIlwh3bYsCDyAcs3RQ4Xysoi0ESp4pK8w0ySBDLsGQ==",
  "id": "rs_051a55a58104fef3016aac714a4b3087d08548087e8e868f02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.235,\"right_z\":0,\"right_pitch\":-0.15},\"note\":\"The exposed can lies lengthwise ahead of the arm, with its broad body near the previous grasp location. I’m approaching lower, with a slight backward tool tilt, so the fingers reach the sides rather than closing above it.\"}",
  "call_id": "call_z2QFyrphChdwz4GZYRJRI34F",
  "id": "fc_051a55a58104fef3016aac714c2be887d0a39774e2a8b8d6ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z2QFyrphChdwz4GZYRJRI34F",
  "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]: [-0.0189, 0.8536, 0.6262, -0.6079, -0.02, -0.0582, 0.9993, 0.8909, 1.7813, 0.7567, 0.1425, 0.6891, 0.4522, 0.9953]\nstate[eef_state]: left_x=0.2644 left_y=0.0021 left_z=0.1314 left_yaw=0.0164 left_pitch=-0.2593 left_roll=-0.0096 left_gripper=0.9993 right_x=0.3265 right_y=0.231 right_z=0.0327 right_yaw=0.0782 right_pitch=-0.0571 right_roll=-0.1487 right_gripper=0.9953\nstate[joint_eff]: [0.0205, -1.6615, 6.8991, 1.5995, -0.0562, -0.0171, -0.0122, -0.1026, -3.7128, 3.3709, 1.0037, -0.5397, 0.5788, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b4e987420e8363d0c55a89357ba1681a0c4087f471ba9e53810798dd5650a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed94e1f33e940e52bb3ccfd6000956614505abb448104628601220cddcf85a9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bca0755fdf8a0cb44f81aa75c6a7747bfa1759f0d40c7393961f69c8cdc750c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 7.405 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8509, 0.6262, -0.5926, -0.02, -0.0578, 0.9993, 0.8658, 1.1675, 0.5339, 0.025, 0.7425, 0.3012, 0.9945]\nstate[eef_state]: left_x=0.2671 left_y=0.0021 left_z=0.1346 left_yaw=0.016 left_pitch=-0.2414 left_roll=-0.0099 left_gripper=0.9993 right_x=0.2916 right_y=0.1639 right_z=0.1438 right_yaw=0.0895 right_pitch=0.1505 right_roll=-0.1087 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -1.4564, 6.8581, 1.6239, -0.0269, -0.0122, -0.0122, -0.4991, -3.8496, 7.2274, 2.1221, 0.0952, -0.0415, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHFVyQMy7ic46h_rLef7-1d_wW52L1pJunkpNRfqJllPz1I7Ilxr0KHKVo0u521lRXEBlTzKxwiD9NgDF4yG5v44moazNIlPb3G1AuTud2HXNn25Iylf_RCTSQmdNDsMrzMh2sYSCRAa652TemtFxCYUz8byYbNcZ9woKnbAoJcxVtnTB2vJJxy8XkyPXTnyC6xrD6sS0DyEcLlRPHn0Pbe2udzRpqL0ZxoZ0fjzXn5tu63Swp2HEYcq7s0DZVVe_L5g1ZTQ5K9hCNYH06cuJA9xn6o96y2F_E09UgLAEt40frrYGO12SuBNS5ArweqX33RzbVwihiUmsyOwxKuyRkcqYsgy8mYBUWLj5FKoITi3WBYilyDILqxYEpZH32oEqxIC3kjKhNT8Zp09Zg29fdfYifC8wrhEd1wWRD8mbNvDDeAqbvwfhKTBYAwfJngccdaTAt4SgWYgc8Oo20IElRFmkMwPssc9oQLaIuGPZgixi7LMY6JJIHeDn14V7yiy1nL5so9OKpBV-ugLPeGdpihZLfsNoEXxRiQNId9U9j3qpVq71KoQPM35cAX_S9MkZiYE5BjDhcTteHS45J6GCSkPQVYTeMf10CHWWkUKjrc078F8H9RGMPBS4sJ2c8c2Ke38teieaBpLLk4Hn1flQb-YLwL7Q7Yq4GYqBtcuwHVKIPFL23QX0EVsUj0wkN87_TagXEWlWqdy-tbIrnPqT-oP26GG-YUPNfxpoF8aylq6j1LFeZ6Y-S75AEfVbEMiqTUduo5D0-MqFuicl9h9bo2eCP7GhCkyuTddw2qq3efH-yU5sV16CsIAZuk1Lau113tR7NxO2l_CqBGj1h4mu96z0_B0qRsjpfpvAgxRh1Ux3qSSb4oEdWXLSu7GBzeGo1iaQSVcXDV5fwbqEQuRMEtB_6r1ytiaFg6ZusADQ-Kb_adXPk97_aYWxJJWDqH1yx8AXirrRu2awfJ32grqqlpe8oTFl1OHdJmAoz2-UNt8x0QSze64aEipfb77YicJhONO4QOUFNDx3X8zUnthJALsLO1lueXgMyWhiU-WGd2xRKpbPw_4oMrTF1kMEpTIxrpM2GS3GR_H1abSk1gI4KGkDryIRJ1nXcs6segULKMaK2WLeRpoayO-vPAETyIDQdP7PUpN5kIhgwT2fJLfDTDRWtiDcCNXtW95khXSMgku18OjfzVL16S4j6Y7W-_9Pk_0gfzh_jpqK5C_SXqVupitxD5fVbVSwbSjhO9vYnggR4EC_6cKunmFTa36mOVyVXaAOm6QiSzkAMOOMTUI_oq_uUA5dbnaA-8kpCD4boflYsNpZjj7xMvPOutz2IxcEpfNjFw1wxGxWrCEFPvsnmbGP7KfZ314fqj3MoYsw18K04xTkdEovGLh6DJdKA5BaK04FSVYo017YX5SHyuy8joc1K8_HPOwOZh2kERFg4Oep6s3AIr-rUy6J-tTVYCDF2Z3Ft_0ZlgvhLuMAzqRAu728l3qK4JO6Zn-HV_i3mCcFWQ7b69g0eNWVc2J02VAkAM9yWNXWd0KRzbvqAtLMN3PWZ-dqo_BLrFD9OL2IIzAQ3HB8WsT-837q_3XzCzySsuw7YUvuVu3utcve448ZNiy7181xye2Tuo4gvF07isDyTZsTZUS1elsONOsZUHVbnk8socdW1d9ZIcpd0QyJzFogHvwN1gBXqG11fC489nuyh8=",
  "id": "rs_051a55a58104fef3016aac7150998487d09f5ca924bfd8517c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.22,\"right_z\":-0.015,\"right_gripper\":0},\"note\":\"The can shifted slightly as the open fingers came down. I’m centering a little to the right and closing at table level to capture its lower sides.\"}",
  "call_id": "call_3ouxFrhaQKCPx6jVuArJfHg5",
  "id": "fc_051a55a58104fef3016aac71542dd887d0908d88fd4f57d259",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3ouxFrhaQKCPx6jVuArJfHg5",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8536, 0.6262, -0.6147, -0.0204, -0.0582, 0.9993, 0.8757, 1.8561, 0.7185, 0.5587, 0.7631, 0.4191, 0.0084]\nstate[eef_state]: left_x=0.2631 left_y=0.0022 left_z=0.1303 left_yaw=0.0168 left_pitch=-0.2662 left_roll=-0.009 left_gripper=0.9993 right_x=0.3583 right_y=0.2445 right_z=0.0601 right_yaw=0.0137 right_pitch=0.1821 right_roll=0.0144 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.4564, 6.9402, 1.5653, -0.0855, -0.0513, -0.0171, -1.0051, -2.1812, 0.9094, -0.4567, -0.7009, 0.0757, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59cbd2bbf24e04f4ff9f286d671ae3efedd697bb62aedf00065058a2f8344671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6370c0993ffde3198a7c75821579cb369b9cffe37943a76122a4592831b373d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08285a9f798983b29c4affb8887afa74f686f85dd4c3b0d2884a626203f1aaa0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8536, 0.6262, -0.6079, -0.02, -0.0582, 0.9993, 0.8909, 1.7813, 0.7567, 0.1425, 0.6891, 0.4522, 0.9953]\nstate[eef_state]: left_x=0.2644 left_y=0.0021 left_z=0.1314 left_yaw=0.0164 left_pitch=-0.2593 left_roll=-0.0096 left_gripper=0.9993 right_x=0.3265 right_y=0.231 right_z=0.0327 right_yaw=0.0782 right_pitch=-0.0571 right_roll=-0.1487 right_gripper=0.9953\nstate[joint_eff]: [0.0205, -1.6615, 6.8991, 1.5995, -0.0562, -0.0171, -0.0122, -0.1026, -3.7128, 3.3709, 1.0037, -0.5397, 0.5788, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHFePc0yCRY1yHnlB5ned897powPymj2W5WbYs8m6OtASuJM3mocdcLuucsXY9HczT6sXv4RGnJpvJq3eMelXA1i-mGJkBbfosW_CuNCaaHZfN8rPOVqiM90w2PyZr8UqQaEqJLKFOiWyRqr9G4ztk9m1YqGoKlN5nw2j8Ost214HoOvZzRXVyPh5iz4xfayRWo0_pAglwe0MnWuP_pvLf78DBE6vtY0SDMsYX8mMOmMn3ZogtZ-vmkX1oVCBWl5UE5BqnhSfs_nNo8l92OEf9NUKoQU412aM6-iejdSvl798hCEkO9c4q5M2Q2P8AGkEvXX9l0G9frdJIVE-ugv4DD6WY7fpkGc06arL4HXXoB2dxHuaPL-nI7NB0mza9a3-IwnXLfy0aayOQYAsT1c1ap2ATba1j3FlUf5hvtENZRhtEt0fv94FvsPCymBgHkwKn9QcgRzRtXxa2vd7TlO2d6XZIinl4GadwiX3YLvWDNREGFjLlWLrFTPQy96e8NzRSJJ9BEAjKdHX5llo5D_eqSmq2pB2J57jEwIsxMQhf8EUhc-DrdIXNCWAfF3nSA6Pw0SbzPiWWmkEQ7-dpIF7o9L2VUHv_NchnweSE35crYhqBJXZ572UR8To4PajIog6s7uptLHUGvTN6La9i7zAvEMyMG9jiUuLAhacG9A28tEg0bqSYCuzzIChFpsfu96PwsMkKWhl7w_wp7-hoifXqLPzZ7kG2qPLdE1PSLai7GrFV-w6jRImDX0qPqbNjZvDcrVoQdv8VJda019voE2qU-jaY33JBYvAyd9gZKqdYzSIfSmAKbbeJCptRNKVHIxggKTVmNSk3_UIRRjiS0TnVLDhfJZgyLWrUxEUz3HzrTRvAGJewujDgYi2e40Gmq3kxb6AmpA9n9VraeokFDWNAezGo_KKJwiz5VvGMC3rhDsg3BDpwQ-tVHtUg7-0PgXyVH5zT-QbzleSDjmHcGKE0DD1WYzjtxMtZBSiy3mfzyyzdHto8LAwkTHbExf0uTfy1IT__8glhbGCmuex39jJRTdEKZJMu8aCLtlBJdVIufOwjmtSVd3QwVDHq_EESA_kjTUfoKXMbkHLdXYWAvqdXjkxvecttLkE8J20z5WnlSNCLvqhpklT9Gp3dnps_kY9nnryyjz2_lxZHcBxEm5q4V1TzSwj4zjqRGigwKqc7jC2Ochd35eSqQMxOmvFT8IiDPJOzPPBoFF554ua4FOD_zEIQJ2CE2TZdL16Umrj6z6-blgl-Jx0ipnXtgoizfhs9ndMUrdpfsUFd9aelowFfuzoD6JIXkcJepO-iF4HNA2SbCMvbBYBcXJlICzO5nQoHk3OEsZRXuVnmWczlRLxw7qhNUilx894E_MR1O03bPKmHVmQ88If88oqqhasI3rmr7y1AejUxjQsMhJNTENEI4W-Ymnyw8gUeSmYI7NcvLQLX7wSFs_Gi6FYmIzz3iTlyGWVOwssHUopyN24sS8-v1n_0FUbO16ULPvI_DDPGlaBq1etgfam8Npj95qXEPitnX_bsTieepEWomOG19AJzDiN8N8EM8vgdp_xUp4qbDsEgVgkiH8k3nKVtUWfxSPf8Ces3H4rDZIJpHO3vTTmO9-1GUqkO5KudS9ZI5N1cqs-vH08SGxpBDCK8l1RpNA3O1RNOPgwgbnfPNx13ZSjssFOHEFKlsB6J-75jaleO54uBmZpnTenGrMlauq8LcvfPg-nl1xIkcIEIpNdtGjGMBCO4uSvd8iUekI4ikW51TZdxy7h6JwrZ9EE8YsxTOyU2G7uIi-g5l2zkkJPITCNZ_Q8w==",
  "id": "rs_051a55a58104fef3016aac715904e887d08e57bad5103c76cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.245,\"right_z\":0.045,\"right_gripper\":1,\"right_pitch\":0},\"note\":\"The can slid forward again instead of being captured. Its body is now clearly farther out, so I’m moving the open gripper over the body’s new position before closing.\"}",
  "call_id": "call_vdRZOKwv5vtKj1VlUIG9RbI0",
  "id": "fc_051a55a58104fef3016aac715c4d4887d097d969ce082bf213",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vdRZOKwv5vtKj1VlUIG9RbI0",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8547, 0.6262, -0.6308, -0.02, -0.0582, 0.9993, 0.8177, 1.8744, 0.7986, 0.4435, 0.6872, 0.4191, 0.9944]\nstate[eef_state]: left_x=0.2601 left_y=0.0022 left_z=0.1274 left_yaw=0.0166 left_pitch=-0.2833 left_roll=-0.0087 left_gripper=0.9993 right_x=0.3766 right_y=0.2431 right_z=0.0549 right_yaw=0.0197 right_pitch=0.1142 right_roll=0.0041 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.2923, 6.8308, 1.5946, -0.0024, -0.0513, -0.0122, 0.0068, -8.0068, 5.5316, 1.7265, 0.2564, 0.0415, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3db405436d4fb5cc82e8d06326523375fbc991b2b270376856e0acc3452ddff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf32181df57394a0f17dc5cb997b90108f74947ea5ee1ff3226681f66560f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0dd73aa21678d186781ab972055f0809596d398de8b88721434f9600920d71",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.992 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8536, 0.6262, -0.6147, -0.0204, -0.0582, 0.9993, 0.8757, 1.8561, 0.7185, 0.5587, 0.7631, 0.4191, 0.0084]\nstate[eef_state]: left_x=0.2631 left_y=0.0022 left_z=0.1303 left_yaw=0.0168 left_pitch=-0.2662 left_roll=-0.009 left_gripper=0.9993 right_x=0.3583 right_y=0.2445 right_z=0.0601 right_yaw=0.0137 right_pitch=0.1821 right_roll=0.0144 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.4564, 6.9402, 1.5653, -0.0855, -0.0513, -0.0171, -1.0051, -2.1812, 0.9094, -0.4567, -0.7009, 0.0757, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHFj6o_4FfDdB1XMcamZFFBb4j0aGxvHsSiiHaEF2UnJskjxPn0VyRvpIi-tZnhSiiszUo0qJ7Y03mecerI5W-BRminrps_M0KKTVMsdTKjdO-zDwHeSFQf7ID2fQ0rPvMftVqMKMe5m_xCC-UYPTVN7fXYWAhQpC_DXPA9XkIKC4HZnGY2-Mo6HFsF6dLs46wRMF9_vfnW4tDLNr__zAYyeJrtdmkhUbvT3HYVIV5XKmUmwuMtWru10n-_bSLojURwUUgWTnZV8-mfpyN8Xz1-XTf2wCICQKY-baxT6C47nWuTNx6beM6_8j-Gn0gMQ690weTDMyVCCIZ_yqQmen8kCE3e3MOQitdEvBZn4-J5paWLXMV7y9pJZTCNR7Z8RIVe0eSQZMjlG2lDQh_IOjxmn_g9M_hInCWoAdF5HYQ68IwJyfzRzgmtKkbYj6rHB1q380WOVXM-xmTM6cWZvaed3B_ramrmylzQKuw_doAFz3vbr8-SEQNtk4tQHFkq21cSkmnBIYhC5VQw1bNd_f0CbibUSjPblYsg2RlbaNcJ6qQDsS_MX_ksM_WRGi0CEImjlwV7ufZiBwm1iiHYK6wao8riWx5SqRd2woJJF4AOi2-Jmx2Kjd3L1sK-wJR1yIGOqoO3SAZkz33tOmK-ObOVjfvUyujbc0Ln4MBiy8cd9v8g5AiiVCSltxJhtP9-pdzp5r2Ys9pZ3gfguIlfdN9U6d2SHQu52vitazGsTlnzUTsOTG-4jtnQwjIt1zGGJC9g_jSjUAkIEP9r5626T6JU09o6Vmy9ftrRM0cOBWBUbAk7vvhNTTEbsChb9_KION4raV_KuwiCxS70_w721d-6EjDRdL725EsTph_YvPWrQCaAtWOdA9JXZHUytxAzgyQDohTBWh7b913at8NvpGirgHPFncGLcsTK4H8yte_obPpd-QnxsHfjYU5RNvJS_p5556ULKRMbwkGHDO5eirS60NcWT2C0llyr0addCxWdOnkpqF2j21kR4BtA4_KgmjZ1W7CW3Iwx_MdRYhGEXVuunwcc8xlA5eEvgD9C4CSlQYXTGOEXsTjIdTSJv8A-NPMTRjkrE6wZ5K7eMT0CLlb94H-6Qy_dWeJMxr7MQmTQ5cjb_QIh9Dgv_ZwTqTR9ahSnUaxzKE6YNiWJZSDQmHVQUT5pV0hJlo7W9e60_VB2KLo27FHK9JPu1CH5OZt_tLlDnkDprnRlryDmNhZNV5vwxm3CHooDIaDLYAchDItAYZqKxhge1P4RappaL43pP9jQP",
  "id": "rs_051a55a58104fef3016aac7160e7c887d0a7a36d610996ad33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.245,\"right_z\":0.1,\"right_pitch\":0.25},\"note\":\"The arm stopped short of the requested forward position. I’m raising slightly and tilting forward to clear the constrained low pose, while staying aligned with the can.\"}",
  "call_id": "call_s41fq1eiLBLmo6fe1VFExh4G",
  "id": "fc_051a55a58104fef3016aac7161ad6887d09fc0b927b024815c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s41fq1eiLBLmo6fe1VFExh4G",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8547, 0.6262, -0.6373, -0.02, -0.0582, 0.9993, 0.7979, 1.8759, 0.8143, 0.4564, 0.6823, 0.3607, 0.9952]\nstate[eef_state]: left_x=0.2589 left_y=0.0021 left_z=0.1264 left_yaw=0.0163 left_pitch=-0.2898 left_roll=-0.0084 left_gripper=0.9993 right_x=0.3855 right_y=0.2409 right_z=0.0614 right_yaw=0.034 right_pitch=0.1311 right_roll=-0.0272 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -1.4154, 6.7897, 1.4676, -0.0513, -0.0562, -0.0122, -1.1419, -8.6632, 8.5128, 2.381, 0.2711, -0.1001, 0.0708]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326676f2d7c4a6ec4fff6bd2d9f050c9e767ad55863da1bc58785a49972958ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cdaf6006591e284b63fe6919ccf304727e9872b58786d128521227264ecf860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36e273ec89d0b27914118ab24aa5fb03ee0f18c58b2f098d357fffcccecc808",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 7.875 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8547, 0.6262, -0.6308, -0.02, -0.0582, 0.9993, 0.8177, 1.8744, 0.7986, 0.4435, 0.6872, 0.4191, 0.9944]\nstate[eef_state]: left_x=0.2601 left_y=0.0022 left_z=0.1274 left_yaw=0.0166 left_pitch=-0.2833 left_roll=-0.0087 left_gripper=0.9993 right_x=0.3766 right_y=0.2431 right_z=0.0549 right_yaw=0.0197 right_pitch=0.1142 right_roll=0.0041 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.2923, 6.8308, 1.5946, -0.0024, -0.0513, -0.0122, 0.0068, -8.0068, 5.5316, 1.7265, 0.2564, 0.0415, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHFpwBottS3B9bCvPNO4NBLX2naRmwglcq205YsMmY2mK6K1P250NwYmqpM85J5ucSMWFOcUSb73SvpZ-CnBkTHYDv6ljUB3XcP4IN1rsnHq77XrJKS_ipG_YqE7dMg22a3AoCPTUXP3O8jFSOhkf-YWUzfEntGcXhcY_KwVXJwrMH1f2vPlcFQLQ-e7V-sZJefR7zn8nPXkNjeZLu1lph68bappju6Z7xu7fMUq5IGdRibaXjFyL_2PAvTxZibou_0VV3_OgPaBvaU82PGU2RWRHHzRU1GEMiUHSZAoV8jBp-HAjL3ICOMSDSU3F8CURj7_H3C-p-zkDfafV0uQRLgb44SJHq39p_bCV1bg3KW9AYVblkUkOhgJSEfCj7fccUN9cBvam4W0biwTTHe3U_4cD1knvgSu_6PZ6hwhkYz7ddC8WaIRaLVgACaDwm_mydXcwgs14JZS6bHQcflncT4YtY5BztZuiYYYqo4qI7lUZyGYzCAJCvbS0QEg3art1AtdfLNYCWicz_UlcIiFpCkmwFZwZki_4vw1quU2RIA0OguFetXVXfH7CfETKYGz3oCsv46NkVAoKe7SOfvsBRaBve8x1rBk7SqP20CNho-AL1_WsaFXo_QKdogLKLp7PxIllxl6CfBFT-oxdaEvp3kZgKKFuMlnIcfWONVlGQA1EQ3ZM518XD2eNOxs74fIhpi8GoYnhH9vcfJPdhB6zWxAvMWQJFp1c5Z1Ig4fQOZxsYwgooWowsGKqPHkdX7FisDK67zkc1Cv9VOXhu2LTDzbPjf6JDRfU-njQaYZMzQWyL8jHfD8KdypZGW6DEe14gCskE_cj8cKGzHzQHheE3VsNtU63k-uq1GQGPYnfsqsZZCeYfoJQCboTnUstUL1W6BRR6cDKHJabvfivWknuiz7pT64IhHKrWNXsArOSkH7G9zSNRCDQw_q8RTxCiL56CuZEd3_a6oELb6-wg5JTTqHbr4c1w2mqjCoqSUFpZhgVMxEMYmR1_5RAqt5Z3p4DW61OruHoQJv9ClhKJsiZdwESXRLom1FZCf-KCQUIAZaO3mynCWyRR6M4E4IMNoPwyoElK_Dmxe6Nzb8I9qujIpQ0iXg6ww3PmFWEQ0W3o767p7xsBtGeR3iyj-SrXCxCusBXgJ6RrJUyBqunABlXyGTkOqSjzP-rX0qjnW8qy5NbRFjdskBt1J0RKy0aksjWEucB5uwWej1T5_rsRmx-sNRI0wnuJjZcjh0KINxCvw5viPQH6mheYCVaAN8_5DMeqk4KHvjqmwIsAgELSuMOBMc7F1FSYT0gvbHxQ9_eQKnabl5KPzKcSp3A697VACmOcFNAnW1V_wYDZSmdmbZ1ZXw8CWTE-i3XszQM0gqY0kaKz2swemdiRZCMXn65ryjXoUCV4-9s7yQdocYPxd_GQYp9KjCA4mVDKGvY81zhyWVid_FKCQW1O_osHeU0oX9gEB9alci0J16h9Y-NtWov92o2W4O2N1jzOMkWhDANEO6SlpGWWuKcq1A4AFRogRGrWGeXt7X7AN_K0uSqeZHO800t4CahfY6kfZ1a9d3422sLCkpcJKHH4hX-FWuG9ODNc-cVccVQHAC-P2NIG0RpiCRtGU5-QEbdCSRGNMeVxlVLESTIDbG0vjFECF6tdJkZUhm33mO6IQHwGJZBDn5xsVcjA==",
  "id": "rs_051a55a58104fef3016aac71650d9487d097c94c8e4648206c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.25,\"right_z\":0.025,\"right_pitch\":0.15},\"note\":\"The can’s broad body remains centered, and the gripper has moved forward. I’m bringing the fingers down around that body with a modest forward tilt.\"}",
  "call_id": "call_jPnpLepxzE3vbuamJaWGk7Hu",
  "id": "fc_051a55a58104fef3016aac71681fa487d08a2e6620b48858ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jPnpLepxzE3vbuamJaWGk7Hu",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8566, 0.6262, -0.6384, -0.02, -0.0586, 0.9993, 0.738, 2.0506, 0.9573, 0.6224, 0.6716, 0.2676, 0.9953]\nstate[eef_state]: left_x=0.2587 left_y=0.0022 left_z=0.1257 left_yaw=0.0169 left_pitch=-0.2928 left_roll=-0.0086 left_gripper=0.9993 right_x=0.4367 right_y=0.2534 right_z=0.0618 right_yaw=0.0188 right_pitch=0.2255 right_roll=-0.0177 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.5111, 6.8034, 1.4139, -0.0562, -0.0415, -0.0171, -0.9094, -6.1333, 3.6581, 0.9988, -0.1441, 0.3199, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4894921140bde041bb9306e344f3c164652249ffc5ce5917874619fb2f1dd82d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dde67e7afa73085177a8c7ef948c3829d0fbf769fcdb95120a3a4eba0f95143",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2029cb28bcbfff87540549b9fec59865882f91694bdc7eddc9e8bafb4bd6d81d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 7.485 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]: [-0.0193, 0.8547, 0.6262, -0.6373, -0.02, -0.0582, 0.9993, 0.7979, 1.8759, 0.8143, 0.4564, 0.6823, 0.3607, 0.9952]\nstate[eef_state]: left_x=0.2589 left_y=0.0021 left_z=0.1264 left_yaw=0.0163 left_pitch=-0.2898 left_roll=-0.0084 left_gripper=0.9993 right_x=0.3855 right_y=0.2409 right_z=0.0614 right_yaw=0.034 right_pitch=0.1311 right_roll=-0.0272 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -1.4154, 6.7897, 1.4676, -0.0513, -0.0562, -0.0122, -1.1419, -8.6632, 8.5128, 2.381, 0.2711, -0.1001, 0.0708]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHFxXRzqlkyP1HCsV9RsUYe_cEjZ4r2voj5WUGN4dpUNjf108jU2dMnWPx13MV2u6FbJte9ls7b7oyr6VEwlzXIZzTSQvkCEK6hmAQ4a7JIrJaMzlls13mL9W5pqJ-3PlBwW4UO1inElGXsW3nirecUY6qSkRnpogUsxd6y2iI1gCBV00yaj1SRztzOEu1LDpGUYU3lnrM9QVKYioQ1PxsCZHOqNpfCAI7iWm_Ar5fRANoDUrRdD2hAOm94RqGED5mDnHrH_G845nHiFOBa9AJiZrElDNZBCQkGPYrj8udA-KT_wU27FNHKzRp3wssnKxbPSXnPPmvd9V1hmXhwlanuWADdPbElc_KrbHztUAFAl9L0MyujoNTdfCjuXCFjOiQfcZBE74xkT7pGd1bQgYUYKqyJxCfICYr_RkcEQ-8aCnkFp0ooNpOwPBhmbwqcoi-bOu0Bfq7d46Pu8Z5csEOR9MzSh541XGu3AD_qxMCSUTzbET7gpjvmiZs2ezkdt-5CL-I-saq_xapheAQmZ4-d818jK_7Nz_5rtp_GBCZv9FE_-NDesDPWHnZ531RZcMzWgg18-ITnfXeQcbly5hLovg2z3isxf1DE9KUYDdG338Q9lbDnFvqp3mO-gSMEhRAtFT0LS-p2ST1pf7MUGBre5GKc0syAHdNMAtYYg2kZ1a-jjGWD2olE3VmBi6cp0yCFZTo5jRZ96KEsPcYEjJO8P3TlnX832RpOWfuVcBQ5MbdqWE07jvdEKMLVtUstM1VmHPlaGYGWBTlFJNT_kzq1xuTGxi7gvtIgnCIHBFqjeQsTtvrZbKfLj9_4EbNr3oElyjsB_TMNKKQpv0fvyXuWK8ktwnlEA7XIHH0sfYG07Tenig0mc5rfujIzqM4aTYPHVSSmfvce9dUFOYgISFl8ILF88ei1_dD61B9NcPec1SWd2eQz_eToDS9yOq-0AFL0nUlHiVUPg08CZzgqJCEDQdpQzkoVaJ7cHUeoTVuatrB6H4HVaHC7BtLQwjvZaZEySxuC_WjL59VyqCWNk4IXfdPs6IQiYpISZAXDI50o0Po7rMFia26ggGWytcK2gz2BJtAmqckoyVelEx0Ukibg3BZM0YMg_JtY7eHX5AFBZQWUGc8GxALuor_puYIL6ob8SXVfXTMA6-6v5UnBAKsXWD8moPMAb_6887LlVDvdl8xqcFwnC0C9EfA3MCfYd3GRmhr5JPlXu_3eOi7TGHYK-_BjN_asJq2vP-a6iN_A9BUFvX4Q4AijI6BoNqaxtWYuJICpuuPbKUSWOtKb-KZOFY9M--Y55JgcYgRl582GE7DtWYXg_ydSlzd_qAmbRV4nU8rZMtWdQyEd5I2s3PVpdG3RWQ8ji_-Ph5ZBzsDOu1-af1RaP3qupyNZ77cV3YNP-8zna1KLwbyrAs-7OrWXgaDdCTRc89fwIDq_0BE1e-owyHviNMTjwPo6ZtoKap5evywWP6yzTM-dn_QjjZWhAWeC30JqVuixSaunQqNVckwEntDw0Ex90GB_Flgszk2p0wOf8VHSlauYM1Z3alKNGhtWNwZrdEx8EmDisruEg_vPhhgteKmw4pN5ES9vyfCySRn6Zwh1OIZ_Wt5FcDoJvt87XrXt-ClEj_8h16Mjhc1oi2-y4Ex8EUU7PHPIYunrIhCzqwNfD3dELgKNxiwKOv-5gYqYBX0yF_VFskBOPoh19dznvw7wUILJhev6lqBn-S2zcA56An_oyPBoTOqt_xbh0x_FP4aNGu8KPuOp9dsLUreL_rPx6irAtWyw5JhDHGqHLRBL_5WEI4LeW_0-oGqmqndQmatZK3w0sQ-WHbZoN3fMrg7s7JEdrn-SXxfyHvz8ZRHqNtlslid7TBtB5b0dG8TluSQ2TPSlfaHixRF5JuUhwg9w9k-kbjHe6hnWAy35QOCMqP6GtdED78acxx149ixF3l_JfrzFH4xIYUVQHOvYifvqUW_i37LzzSsHp-Yc3aRPp8T5eANjiWJH_GcHjq3U6aAye9VaOEa7_wQC8EbqqhksRV8fvQM9gQcT1op-8cye0pGtgXnYifSQ0s1hofAGMWe-_fr7D_gj7kAOrcYEmr-ka9QYBigJpr-BLUcIfx1yWPZ097qegcZVCnb9w2SKFl-0HrHG9qCNXU_ytpPlmA4QqXmt3WQYER7SwfixCB-exTYtch_btkQt5F4VIdbWt17dTD5KoPu_rlmGFPD_JzHwbyrzaZEUEzUGjeQNQymHgLMViDZ4-vTPVmmx3Rxe7pZkfJfHRbyt2el3j7RQiQ-nFO19ze_TDSLyr",
  "id": "rs_051a55a58104fef3016aac716b63dc87d09d2ea4151c2a684c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s body is now directly beneath the gripper’s forward opening. I’m testing the grasp at this corrected position.\"}",
  "call_id": "call_LEzjVggx8xY4EM02BURuG1QV",
  "id": "fc_051a55a58104fef3016aac7170707887d0ae5c975e3b079911",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LEzjVggx8xY4EM02BURuG1QV",
  "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]: [-0.0193, 0.8566, 0.6262, -0.646, -0.02, -0.0582, 0.9993, 0.725, 2.0705, 0.9707, 0.6865, 0.6376, 0.2806, 0.0081]\nstate[eef_state]: left_x=0.2573 left_y=0.0022 left_z=0.1245 left_yaw=0.0164 left_pitch=-0.3005 left_roll=-0.008 left_gripper=0.9993 right_x=0.4457 right_y=0.2592 right_z=0.0677 right_yaw=0.017 right_pitch=0.2594 right_roll=0.045 right_gripper=0.0081\nstate[joint_eff]: [-0.0889, -1.0598, 6.8171, 1.5018, -0.0171, -0.0464, -0.0122, -0.4855, -6.4342, 4.2051, 0.9939, -0.0317, 0.1245, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ebb52436b2865b4c9e4ca9898cd9c90bcdfddcf0e74b26c46a53c2d0501dbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3305285f30cf810e5a6ff00c52f9626488e25ef5c12da241dd47c7b1cba25d64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82dc99bba730b5506b28ca6d6b122d67894aec5e9dd1bbd4b55bf33223999dc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 6.382 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]: [-0.0189, 0.8566, 0.6262, -0.6384, -0.02, -0.0586, 0.9993, 0.738, 2.0506, 0.9573, 0.6224, 0.6716, 0.2676, 0.9953]\nstate[eef_state]: left_x=0.2587 left_y=0.0022 left_z=0.1257 left_yaw=0.0169 left_pitch=-0.2928 left_roll=-0.0086 left_gripper=0.9993 right_x=0.4367 right_y=0.2534 right_z=0.0618 right_yaw=0.0188 right_pitch=0.2255 right_roll=-0.0177 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.5111, 6.8034, 1.4139, -0.0562, -0.0415, -0.0171, -0.9094, -6.1333, 3.6581, 0.9988, -0.1441, 0.3199, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHF64RfeBL5KzugCQJ62MVLfFIH5zM6-NPwNZVQXimTf4YPeI5bgYg6Ru4nkJ6sFAwvR68Qohi4B1p391ydVMwSusBN0m64kjHe7OwBsUHgOOJ36l7Q6ShBGU6JRCaFJlhVF9Ec_niIDPz7dvCy77BrqV7cwOX_yFGLGH8VaNL_xU_sMQMvRbKcjfqZmNhxzvImFD-vXx1HHIYgklR3WS1AZwWapIrc2zE5dg8IBZM1Z-dQ1-me06S7VBZXa9bEOAD5vstm3xLfSPItgIphl-1qJGZYHC3ZrTaLR8rDcCqltt-wq1ey-zH-gldTlAavHBnQF2PJara5is0_C0cLnyCgi9avDnHJRuX6iZx61Rf-EeLmT2HKsTslIKzCeI3BCL-9t81oVF39lAep7qmPnQq2L6O2dMF8l8067iUXQS9wKS9p-y8AEITicieUD0qKMAW-_duhukrcpyIZesTm2D5bv1xuq2qPGC6Jszz_vqlF62Ed0qHmfKsepA3W2uTYlpU9Lmga4ZmSF9AgBvNUDeWO2eYLRIVKWGxglu7XDEqhf4Ixo1SpmtLdCkrH3_qHzSEXsS84xj10bpvPjEJV4zR0lCfrR3aq6SvbZoNvSu5i-6WoG9l2nbMnLHD8sHMhIMUchtAMnHY61B8JMSZ5fjtHGCLsFISvD9-d9xxhyF6OlF7YTl2xNdTmZKmXtFrWJKHeKA7dCQrlz_lCkl_f-eTjBU0TMAX7EPQslCs5bDIbVjcda14Nf-GFJMNNdX8odduW3qCuJFqgptet9sYTPIz1N2M5gohVklUD0MaP3L8MZwJ4RaKd5jCmTdzrQmmw-MY_Qu9IQdADW4fmZWsWHNkCCb9Y2Ib2tOztdhjQJ-GTpoyl3oIufydbE8te56VVJgPuKY3PHcOJuYxSl_tjL97ckqm6FyZt51PxFIyOUiqKYJMkOa4WkDGsIM2ZhgV4Qw6X0fmIivW35oaT-ieJMndc3fwImr7jZLq7iOEpRsmNZc0xFmRPADEI3sZzti1oz5nSTfr7wtjl_FroHtwy8hwQp8S7Ys-blyz39fNx9MknhhW1sdLiyOyOq58vnFvkzx2ioiZjcO6cleg5SoBftlOol5-8sJDjj6DJkFm5fL1g0ebWt3U6FUqCNfkf9DG13dxHKrBbF5Aq69IgxtbvvC7dugM-YTZ2dHslk1ktW8oXGSEiM7QJON-4xIAYYrleOPoEpJRU_97aADch9Uet2oZjzvUBn_G9kvI7jzjgtyzK4asYX15OatOPmGHdYdlEUp7BgyTDS9Raei7Z92zOWpfjzlLzWf3hl1zlkty7zRJ-sRfs7XYgwck_Yg5zuDT8FDCYzKpXF2dS7GVUDeZoiCmm0yvTtNU8hBWzbxpIwU0wO_uSmrTZptP0OLAOM8IipNd7-wk8Bbm8DHoMdKK9e2MYIznUE8sbhaBjphbUDOoCnELsQ0ca3_LtsN3CqzxdXPI7WcTa6fKyyFjmyiSCu4piVytevfHq9hS7OUpVT3fPKFqUIM0NFQk5L3IPDoEZtBkHid_UkZ7GA-13o0pNfm4sWRTxR8yAS3JsGqzYiaqwqBe2ouE_JOEPZO37K5ujrX_8ROCGc9LO3iWqJ8YNur4JQj7o7d6eEAkfccfzEy-xvRxjdhsNpt38SiGjRxvg7SnGxZIWK1q2oSTIpUF0elWJahxBNfxj3kzTrYw3DDVF8dEJUl76nybpruIi8IQKudnr7j9uXnriWjmJAOKOxjtzDLNL5Xt9a36LEsm2hTmwCj0AJUoT8wPbE0Q8NFCgGynTbtXSV1K4XFSTHPX9yDRN3Be0wBMpHpcww0M42mOxqmiw=",
  "id": "rs_051a55a58104fef3016aac71744a2c87d0a90f9384ed15afcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The repeated empty readings show that the visible wrist hardware was misleading the alignment. I’m moving the right arm completely aside to locate the can unambiguously from above.\"}",
  "call_id": "call_ckWelIggqDh0WuhHRRU6DWJm",
  "id": "fc_051a55a58104fef3016aac71786e1c87d098b0683ebc9e9708",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ckWelIggqDh0WuhHRRU6DWJm",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8581, 0.6262, -0.6601, -0.02, -0.0586, 0.9993, -0.0471, 0.8268, 0.7425, -0.5163, -0.0277, 0.0097, 0.9976]\nstate[eef_state]: left_x=0.2546 left_y=0.0023 left_z=0.1219 left_yaw=0.0172 left_pitch=-0.3161 left_roll=-0.0077 left_gripper=0.9993 right_x=0.2941 right_y=-0.0054 right_z=0.2062 right_yaw=-0.0424 right_pitch=-0.0123 right_roll=0.0405 right_gripper=0.9976\nstate[joint_eff]: [-0.3624, -1.5385, 6.8581, 1.5653, -0.0366, -0.0757, -0.0122, -0.0889, -1.8256, 9.6068, 1.9658, -0.188, 0.0171, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e9fac080e42d8749e12ad8a3bbe0d77cbbb1264b73d9fe716023b221f7fbb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b852ba6af133bed98e3112752ff27857a14e11546359b5385c4b8d9c1f0df934",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bedf1e2877079d57252513f26580c967819d3d6790c8d6b7d13f6edafdc441ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 6.15 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]: [-0.0193, 0.8566, 0.6262, -0.646, -0.02, -0.0582, 0.9993, 0.725, 2.0705, 0.9707, 0.6865, 0.6376, 0.2806, 0.0081]\nstate[eef_state]: left_x=0.2573 left_y=0.0022 left_z=0.1245 left_yaw=0.0164 left_pitch=-0.3005 left_roll=-0.008 left_gripper=0.9993 right_x=0.4457 right_y=0.2592 right_z=0.0677 right_yaw=0.017 right_pitch=0.2594 right_roll=0.045 right_gripper=0.0081\nstate[joint_eff]: [-0.0889, -1.0598, 6.8171, 1.5018, -0.0171, -0.0464, -0.0122, -0.4855, -6.4342, 4.2051, 0.9939, -0.0317, 0.1245, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHGC9VloDHh5_m382elLhKKQQe6zeS2UYInwdmSxsrGhi3rp1QlQYghA4VkCZOuWNxFZ4MGXev6LF6u7iCGJ-19SwO2BDAY3FCrkhurtgSy4YdC4wJRlvX4vNytiRTMLpzrj5dXh0DkXqun5FIt2j8Rfxug8-rUIudkqI4dIRxsb03NLNqJMSfmkzK8MJ3ZZ9GEThYYz8IQcDNGASgqlbM4NEGuP2JZVLmd29lGIuccoa9E0gzThEV1a6IFVmR7QQB2CV05GnRi-3oDZbCWvpgK2idj8RZ5kJCtTFRCL2gKFBt7UAWcvKC4kMk02feThA3M2YrWsEH8cybeDzV67UP3bcmO7nNFILYRHrtHniXW2vhCUT8pf_IPY-u0uogsgyKobBajTSUXnDJn5XShtXAO3w7VriGFlzg9TSMBtsk39HPUC344VlB0JFQdet7-HlV1EpscH2nMy3McqglNqKZgtSd-c5xWnlVVjciMccy2QQI4pyYB7X-RsrK5BsFijU7EjDnZ8jLu34w0JAVFG1pmovjI08l5pU468Bdvg7UixISw5eooSOtvJECOfRb1GmMyTCkWf6f9ma-B-Ue0jtvEWoxd6mAyEISgArbbzFtY2w8yYUOhE0RfuuADIHqFD2egS13QflzNYOv1MVY3i3Yb7jhGcihC_YX8zAxVxClL0oksxUJkyXFWXbZSwI2yhYikJcWwaZH32BTojqstrw50mQRUKw0GDj7B7paMz812zmya-dB1vxGQ72HUodnPLBvKRWw25IqL3D09lRDErXqAbFpEMAqbmE3lke3upqnCHX8raMQSP0r49SAAQOc2M2o2M4NV3Hswk5muZXESZ960tk_aNT_H3gEiZtlviOwdZFdFENezkK21XS-1Xvv5MQ5rgt1ecxIr8tSitCyTfIEx_I-nm7kXFf8AYp7GrshorTFEJVTPE2qbqTZdVxpW3oesPQF4MOXadbvCuk2yg2DWUHwWADhI-Pur3eu2htCZw_9DamrmZ7J3f28xN3WFQCGmRThx9jT6Xa7o-sO5_vFy84TFMwc-nQbTfT2DkPzIkJhoUNG1wyNBqFmN5JIYooZDsD0F_hvuDt2OTG9o9gLqtKIE09mfC0rxVwLsnbR0nWRCrX6UC8OspKlP_z4AcSYYaRfPNUMPFMYNkQo0QGTP2KH0vu91DyW58J2_zm56_HTvFQGCkLU36fvFFDMuwZ5_UHUCYOg1xRX_q7mnzYAmkX05EjEXb_NMgllgNmq526ObT1HLP3Hv5bAw1AgChVYSjrYo2FLemglPlCaGO_yzMBEXkq9b9AgH2x7YSGGA4dHZvWk40NsRSMneWQLWB2NYtUt0yH4In-H2OAqJbRCJLgUvJMzuWHQm86jFnNkGJfS27hwo9YIHR1TKtLZ-4cQbX0uSN7gaeEZ9W7fZp1wmGSn49S02x0E0w7mfDN7GEUiqHAYAxbMPf8P2JCWfgd68GNhdfn0IhhoC2GsnNnf2LkjOL2wWM0B_C2alOTh3mmiIIvDgxD6C-9RWXZ_JnCZZhQOgYHnfeyd699TSEqVFYbuG8_pchnzZ90U9xYCg0Ds3h4B-bKDd6eDFjqmOHiqgHA7V9648DLV3UNW-QONOkew==",
  "id": "rs_051a55a58104fef3016aac717e495487d09fe52a536e16938b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.32,\"left_z\":0.16,\"left_gripper\":1,\"left_pitch\":0},\"note\":\"The can is now clearly visible just to the right of the burner. I’m using the left arm, which can both grasp it here and place it on the burner without a long cross-table carry.\"}",
  "call_id": "call_s0HdW49TpLUQd3cKw8HA4IcW",
  "id": "fc_051a55a58104fef3016aac718103f087d0bfda0fce4f3d303d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s0HdW49TpLUQd3cKw8HA4IcW",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9695, 1.8618, 1.372, -0.4274, -0.7464, -0.7357, 0.9993, -0.0471, 0.8341, 0.7448, -0.5831, -0.0383, -0.0071, 0.9988]\nstate[eef_state]: left_x=0.363 left_y=-0.3108 left_z=0.1441 left_yaw=0.0109 left_pitch=-0.0466 left_roll=0.0102 left_gripper=0.9993 right_x=0.2852 right_y=-0.0031 right_z=0.192 right_yaw=-0.0241 right_pitch=-0.0835 right_roll=0.0343 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -9.7162, 9.0325, 1.3358, -0.6374, 0.0757, -0.0855, -0.1026, -1.9214, 6.6667, 2.2784, 0.0611, 0.1392, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354a030f08e9aa5c612b307036825df41996a46bf9eded101389476e6c70ae46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0660a7bb15bcaacf0948cb023d5d892649b36d42e0df2deb4cd47422aa44637e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ce38c0dd082e9eed157af27c44dd56b2edb69f7fac093375a1397470000980",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.188 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]: [-0.0189, 0.8581, 0.6262, -0.6601, -0.02, -0.0586, 0.9993, -0.0471, 0.8268, 0.7425, -0.5163, -0.0277, 0.0097, 0.9976]\nstate[eef_state]: left_x=0.2546 left_y=0.0023 left_z=0.1219 left_yaw=0.0172 left_pitch=-0.3161 left_roll=-0.0077 left_gripper=0.9993 right_x=0.2941 right_y=-0.0054 right_z=0.2062 right_yaw=-0.0424 right_pitch=-0.0123 right_roll=0.0405 right_gripper=0.9976\nstate[joint_eff]: [-0.3624, -1.5385, 6.8581, 1.5653, -0.0366, -0.0757, -0.0122, -0.0889, -1.8256, 9.6068, 1.9658, -0.188, 0.0171, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHGLTm2tBNKWBiaxDWVfYQVvK0aSL2Y0sJJebhEwG5vJWpNoclOJlGw-iP2_uM6XnpvMrdJDoDgffcIQ5FUE8WEP-_hkbip-pUPXaSkenB6heyy6k9wEPQ9_udsYOkSNIqMalBMrnVIoyF28QXUnIZ7wrE2_f4smVPSY_mpd3Ti38Z1oZyXeQ3Iofjlonk3F6tISGmdG3g6mo2fCX2UUdasaSYtGEZ_nB0M-On1W_HJXZuiRHEB8HPPX4Ygf-QeLgEjQlFGz4Uhwc2gzQnRrHCdo9-LoGVP852aWo-r5T8wX6B6L0GiIigrFuusEfMfGVwxfLuv3Hz5it2gCRiG9dgSOxdia37n51FG9krGdt5Lc5OleCoRSn2Eq7BThs19cszHiyCofuWe94U2DP4gb1dJY7ze2OFq0JuZpA2AhctLfMFArD3-NCTLM2_OwusDUHfPv69kBum_0A7uM2OQREDcu-IOxogsfEGiPp_8Pt3gSOT32oVo1iVCCleLJpZAnsaShb8q-XaCapn1b5l0HgIcmN_rFGUqMdkkI7lXsGGCy229-Qh3Kg7ygdDt_q9pAEPtgysH0M9-FQdfUS2cWjGi6KoTRISpcIBNgl_6h_V4UNsoy33MDsqeDSsQ_JOVjCaNYgGzo_my3me7UxeQtbRKjFfP-ZSEps82TJSqrt9oL4QnmFnTa8FAQ5oTZ2vVAd8KpnEmnTEJ7HtpEJSWA4zeBCHpRT4dwjHG8nEGxeFmVyhG_m1tjjTURM9UODw-aVVhZO8dW0dk81uiqaWim-vM4PPJXR9G2GErtogU0CjS151HPgNokAKYVjAb28-OmD0GVVgoOa9Yfza-X3-g86VXxle301yIcN9dTHLO1RzxK-_aKC24TN_hOph_3MSkTP2YyP2icUtkPzljbzzN0soupiKpbyPQ4El21HcyTsgatbz7bIyo5hB2qmFbn8eSqTQh9MOieAV75rTJWLqUEk6bMsUlR43b5ETg4PVUXHOd5R2qRcBeA2AgNgLbSHy_lbMNWzHb0VAEv4O3YXeQ_7l2fusTD75Zupik14QGt3JViAqfaRpsZ7zZSqBgpWC-kIUpsoHpjdUYrn4vURS9zZoxP6HM8mAbf-L-IQg6VXqP8-0iEJXq-kzahURLpl9q1_boYYb-W8r15NCQZiDnBb8IOdY3gvQfGaL6wm8EtSCBlcOtzgOe_U9TU9dsIPTqUxhVZuS_yx_tGAOCLRpvnCrmr7iGgZ2kOzeA8Z6vp-JvXp5ZClemDWjb33fytvUtMa63OGTtOoErQ7NzJCfFsbUbgcoQOFIGWmsE5OmbHzqmZKfmzKjOs61W44GGRuKaUm_e7jMMRxEIL5LHjasUCnvY9TART1WLaXs3SIx0FnSSuu6M=",
  "id": "rs_051a55a58104fef3016aac7188898087d080eee91cf1944fdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.31,\"left_z\":0.025},\"note\":\"The left wrist view shows the blue-and-white body centered between the jaws, with the trigger farther away. I’m lowering straight down to grasp the middle of the cylinder.\"}",
  "call_id": "call_7Ub1NKGyu7RJV1EZG4hvTODK",
  "id": "fc_051a55a58104fef3016aac7189efac87d0be1bb6d44a78b162",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Ub1NKGyu7RJV1EZG4hvTODK",
  "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]: [-0.9607, 2.0537, 1.1641, -0.0574, -0.7368, -0.7292, 0.9993, -0.0471, 0.8341, 0.7448, -0.6132, -0.0414, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3642 left_y=-0.3077 left_z=0.0303 left_yaw=0.0116 left_pitch=-0.0697 left_roll=0.0359 left_gripper=0.9993 right_x=0.2805 right_y=-0.0023 right_z=0.1863 right_yaw=-0.0208 right_pitch=-0.1136 right_roll=0.0361 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -9.7846, 5.2034, 1.2967, -0.3785, 0.0708, -0.0171, -0.3487, -1.3333, 6.8171, 1.9316, -0.0562, -0.0171, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c22a1a9e4ed6486534a312093c7d1578c34190c3c86ddead4395b986657e7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d0e75f68418d9486c569bf797842d7bd5333c21db3495e0ca5c253ee403a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5671887df10281a229b4f08b0a69e0593460c1c507af6510a848cec0979860",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.4 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9695, 1.8618, 1.372, -0.4274, -0.7464, -0.7357, 0.9993, -0.0471, 0.8341, 0.7448, -0.5831, -0.0383, -0.0071, 0.9988]\nstate[eef_state]: left_x=0.363 left_y=-0.3108 left_z=0.1441 left_yaw=0.0109 left_pitch=-0.0466 left_roll=0.0102 left_gripper=0.9993 right_x=0.2852 right_y=-0.0031 right_z=0.192 right_yaw=-0.0241 right_pitch=-0.0835 right_roll=0.0343 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -9.7162, 9.0325, 1.3358, -0.6374, 0.0757, -0.0855, -0.1026, -1.9214, 6.6667, 2.2784, 0.0611, 0.1392, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are down alongside the body near its lower end. I’m closing firmly and will verify the grip with a short lift.\"}",
  "call_id": "call_b78wsycXKkXaESTmEK9lMBdi",
  "id": "fc_051a55a58104fef3016aac718de1ac87d080ab87254240406a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b78wsycXKkXaESTmEK9lMBdi",
  "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]: [-0.9615, 2.0754, 1.1465, -0.0456, -0.738, -0.7311, 0.6973, -0.0467, 0.8352, 0.7448, -0.6353, -0.0418, -0.0086, 0.9989]\nstate[eef_state]: left_x=0.3609 left_y=-0.3032 left_z=0.0168 left_yaw=0.0143 left_pitch=-0.0843 left_roll=0.0577 left_gripper=0.6973 right_x=0.277 right_y=-0.002 right_z=0.1819 right_yaw=-0.0198 right_pitch=-0.1369 right_roll=0.0367 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -12.3419, 6.8034, 1.1111, -0.3834, -0.0122, 1.0281, -0.0752, -1.4017, 6.8171, 1.7998, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8bf6b069613a6666a6c44c2a20978f0da622239984b04e46a54b368f74ffdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00759a8e13de87a5c9500f5361595123390922b1e67012e4bf818bdc095b8616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12f9a770ce050e582c9c5e7340969ad6ec3283dbdb188b6ea8684492353ad6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.475 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9607, 2.0537, 1.1641, -0.0574, -0.7368, -0.7292, 0.9993, -0.0471, 0.8341, 0.7448, -0.6132, -0.0414, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3642 left_y=-0.3077 left_z=0.0303 left_yaw=0.0116 left_pitch=-0.0697 left_roll=0.0359 left_gripper=0.9993 right_x=0.2805 right_y=-0.0023 right_z=0.1863 right_yaw=-0.0208 right_pitch=-0.1136 right_roll=0.0361 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -9.7846, 5.2034, 1.2967, -0.3785, 0.0708, -0.0171, -0.3487, -1.3333, 6.8171, 1.9316, -0.0562, -0.0171, -0.0024]\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\":0.10,\"left_x\":0.35},\"note\":\"The gripper stopped at about a 6.6 cm opening, indicating a solid hold on the cylinder. I’m lifting it slightly while shortening the reach.\"}",
  "call_id": "call_3c8lVMvgPEwZ1mFgUqB5yqso",
  "id": "fc_051a55a58104fef3016aac7192314c87d095f332a7e679376d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3c8lVMvgPEwZ1mFgUqB5yqso",
  "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]: [-0.9791, 1.9442, 1.2217, -0.3237, -0.7307, -0.7643, 0.6973, -0.0467, 0.8352, 0.7448, -0.6617, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.298 left_z=0.0664 left_yaw=0.0171 left_pitch=-0.1277 left_roll=0.0885 left_gripper=0.6973 right_x=0.2726 right_y=-0.0018 right_z=0.1771 right_yaw=-0.0199 right_pitch=-0.1632 right_roll=0.0377 right_gripper=0.9989\nstate[joint_eff]: [-0.759, -12.8205, 8.7453, 1.3065, -0.5592, 0.1538, 1.033, -0.1026, -1.3197, 6.7897, 1.8144, -0.0562, -0.0366, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea42ed55564752f5afd8d6b631e73e680d1af7eac9ca75c22577023ffcfb5077",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:560a6ce6936ce4c1645da11412c42323334bd9a67a1f3bc7896cc9b4c85eb713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856e446c6a459d2b42ef189adc287393f6a91b430630995c226ea8c4608830ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 8.72 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9615, 2.0754, 1.1465, -0.0456, -0.738, -0.7311, 0.6973, -0.0467, 0.8352, 0.7448, -0.6353, -0.0418, -0.0086, 0.9989]\nstate[eef_state]: left_x=0.3609 left_y=-0.3032 left_z=0.0168 left_yaw=0.0143 left_pitch=-0.0843 left_roll=0.0577 left_gripper=0.6973 right_x=0.277 right_y=-0.002 right_z=0.1819 right_yaw=-0.0198 right_pitch=-0.1369 right_roll=0.0367 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -12.3419, 6.8034, 1.1111, -0.3834, -0.0122, 1.0281, -0.0752, -1.4017, 6.8171, 1.7998, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHGYCMQgvh1ofGcYjG1Dum9BKXY2H2sI2QEiCwNVtE-naMGjaMf3zTJU68uAGoQYEenBBmy9m2zptkQ-nFGPBSeVQihxuiq8xamvsZC84SmF2d-8r6TkwE6KAFHRtboWHcoEKIwe2ARa9dCTQxmMmfyxAsf8CuQL_p1nph1Qje5cnGxa1oCXx_OLlu0zclwMkpZnYm1Mr-KZjXEVpPlqw3qHYgOvZn5-NAgPVR84PzsW4jNBjsCP7XNy78b0ymdWc38NnHqBcYvG6HkkZno8P3iSn959cQff825ccRZglkDFyar-ppT0Y5quA3UkZQbst13vxAWrbi55ASQ33EwEUIbOXuV56t1v6wj2F43ubPTz1uhFQnIms0hnckNFsdusjvha-TcI2GmDVhMqZ8XPkP-RVzm6a_-e9TDpZpFsj1P3Hxui-83yRxoYYUH3OWJBTTzPx3BHgw_ZwzdpBQJbFirLig08-7T387foJhI1_SCX56ROGeRkIkqF-rzcY4xWQbwloWYkibRACug5Dt8hawQu2EsPHCFZ2fQoivwq1q7FYvMTQmRHqLfviCykEHbv6KyfDcBSBxtIZGuCnihTABcoJHNAAI3mKmBsSm-hqOm5NYjBdirEBe-3IqsAWCzhw5XHWSVNGaBuN6IoQi1ag66_3aQHHogDdD-twFvsU-TOBMriRrFxlige7rs_acA_G4XEG8S_mqzH7zRvmX5oQiXwZl5BZV5E6IOYXZYDMPbphU__mHWNwJUjshfsUUazPGqlFhkKXN76Y8CAZvt0WM5Z-VCKofekI5w5yXOvLXHC1-LU4LkoCeKOV_JPQjBzKLRZJYCBkkkjR0Gk_TPaszminBkDiLEBu9hsr0lpkTRrnfQvWJlZknddjYCKVJk12i9DqYNkSDZ0ocOgCaEktAoeEPP4FyY-4GyCsoH2QAN354kD8U4COvdaLaaGVUaUghRFcdFw9wEh6-g-i0tLsoK89sDd6qeHiByP8wRBTA7TwsqPNe9W2kKKVzZrQhIaR76HyvB_nMqBrEDt4VpKmrfqFKXmorkIKrzizcDTI6qPOce53_RP6QgISS2NvLH8qYpcf9wSApDvYx2epG-Kqh-mgICf00JmRCtnqKTvSat95lysGe-vA6ooZT-BgekBH8j5Gx39RFVHS4P9Amr-NijGTEGhquH2MCQKDzr20rJ1c_sK3N97MPRnci54XE0cGKyG-NxJI0krhuHyU_fb9YBCto-_H32iXJAQjisHp7Ya4rbbs1p-xWmPuxlMytJdVvQ3Gl5__qapTaH-98-u5a2cN8XBZ8l8qtCMIcTlTZzdqlGdBdd9UhCGcxmQ8cXLnOSvMhZsj-bWNlD5qZhiH6UFPNvxLUHlzMExU7RfK6z4bBRtXAyGu4DppW8UZPNBAoat",
  "id": "rs_051a55a58104fef3016aac719641a887d09aff55237253dd4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.16,\"left_z\":0.2,\"left_pitch\":0.1},\"note\":\"The can remains secured during the lift. I’m carrying it left over the burner while raising it enough to clear the burner’s rim.\"}",
  "call_id": "call_9ZS2F3Fz8Zl2E3DkVx2W8glB",
  "id": "fc_051a55a58104fef3016aac719766dc87d0b9eea793fe2211c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ZS2F3Fz8Zl2E3DkVx2W8glB",
  "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]: [-0.7502, 1.3537, 0.9001, -0.2642, -0.7048, -0.4248, 0.6973, -0.0467, 0.836, 0.7448, -0.6792, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.1617 left_z=0.1819 left_yaw=0.0324 left_pitch=0.0478 left_roll=0.098 left_gripper=0.6973 right_x=0.2697 right_y=-0.0016 right_z=0.1738 right_yaw=-0.0198 right_pitch=-0.1815 right_roll=0.0382 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -6.4342, 6.653, 2.0098, -0.315, 0.2271, 1.033, -0.0889, -1.1692, 6.7897, 1.7411, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f183a6dd2fdf8068802799206ee985630f4e5be7b3dbae759b4ec650ec0237fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf13e3d81e4b72bd562fc0ecaf8273b3d7f3ba6b7ea647ed04d155c0a962e95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3831304cb4f71ff29583d3c5ae36f563dfb4f51094330095b3bbff2c216616b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 7.058 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]: [-0.9791, 1.9442, 1.2217, -0.3237, -0.7307, -0.7643, 0.6973, -0.0467, 0.8352, 0.7448, -0.6617, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.298 left_z=0.0664 left_yaw=0.0171 left_pitch=-0.1277 left_roll=0.0885 left_gripper=0.6973 right_x=0.2726 right_y=-0.0018 right_z=0.1771 right_yaw=-0.0199 right_pitch=-0.1632 right_roll=0.0377 right_gripper=0.9989\nstate[joint_eff]: [-0.759, -12.8205, 8.7453, 1.3065, -0.5592, 0.1538, 1.033, -0.1026, -1.3197, 6.7897, 1.8144, -0.0562, -0.0366, -0.0122]\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": "gAAAAABqrHGiVKoKSwz8FS9nF0NgU4w2HyDXdzmxD4hPXAO56Gj2e5J6iFE_c8BLaRBta0OdtFEzYllNLyAsstVigBIQUIz48kiqd3uxGMDOTBl0kfO6micMGJULOEp7qUbba6tNDaOhPvvkcmMHtj9CWeC9cA18fIbQeLIE7GpIC6fjM8Vt4cup0D0X2WCzsQUTrilue4um8biBqZSqT5BnhBcRTbv25b0irjo_tdoqW9casPlrKL5MrmqRmXJQzCBUI6paPm-AZI_MimxVuU2JajdqKQ0TqzYKpOvliJYWrpiL555z_m3tIund3Jh1_lzvCKZRHg-G3E4YJgVGdOMNoSUQcC4dxeeLkqsrdDyegkDHhz3fxOJtVLuo1R9eXgdluDVa47FrubvhxVHa86Rv2NJIOjZL0oaWiUM0Qq-_pRI-5pOIaUYvXVhgP50Xx_nq0xJJ6_ogXmRdzP8P33V54tUnxMiHBHV3_tmW-C6GlIOYZphocQaoxJZaf_s9a6HFAgpy57jawBc4no36eTi3JpQlyKIrc7DAHRTEM5_jF0WUWoS5m3am_3A28xROK2lEJnsYf5gOeoBJW-c1xWsrLSUUKOgVA59-4itMzZVR4WWTthi7NWrx33vP_cbA1qBVWSa0Udi-wA_-weMbqIZuuB0FBehKiQb1hC763H7DXjfF7Fy2duA50P0ENdRb_Of1Pc3i70hmLqegCdHz81nBT4e0-B-Oly6wEYJAzZdX3nrbdi3lwYK9cNwYki135ksInov0_G9osEQPDoCurbe27H50XtmmIDDDeDYslvgWUdMEFl6nNGeiwN0o7k-fMFePHJ5t5MATNGlynvKeJckavIozsh6bVFT_knmG61XxY3-X1HfddP0sTfWrngfJMEHh5DA7mvIVMU3Xgq-RpknDrqd7QxgtOb8pV6jUBfEeDfWeVSDvjz14Su0zZhcztrKQhT0rGqZkbVJ8Ou48dSoO-kqSkJr4QGxLexzF_mv4MRiY20T8Cmk1GExVhf2okjznnZMAS5QJ33Qy5QBXsoNulI2dO7R1VcjBxG1lElWqSq89ymOtwzMQpWQZTasQbZeP5hk3cLLt3x65qU2pk9kACeqmbsypT47DSabXqBEJdRnPZWlC055g8UTrUyH6PjpwhUCUDibSouK2gCot0CuJ9CSoTPBVI2ax_ESPhbHdhJGmE3XoitsfDxwHIUBOvG13wQKpsZWfXzG0ukedxR4eBo7nfCO865ODGG6WdMLCsgJr__NqT7PFeXnFMgCtfUkZDOVShwl2auztFp1LOhh9OL4CvkvAdEPvsWFkp51PDdDXv9VFzvkmW7ZrK1TYtHqhWW76QFjtG3Nh2yyAbcmVL8p4ESc4IjplNxYdXgDIFdPLme3cxA0y1cpXtz_kZfIT5fvtbR8kMhojH9AMNBtoaqGj-C1bYU70RrWC1s4gkoHQ4SvtH9iALALktNjE60B5xkio9E_AjJGkXBytvkJUW8OazbMUIkYl_TqZ7FXTwFfpuPijQkgjIX51dhR51_fEirBLy7v3dekzr-YteyG5xRpochvjC57X7R7NoSMBQNXnLt-CQQg6ofjO5QCJzp4N9lZTehdNc0-pAzGTqWAqNlsSCGNX6-cA7vnaXyrI6l8Kjv7bvFwGh7Sa4HWTJ1R74RsUg7p0FmTV-FhCq3f4gEzamzGi1JNSVm8LOtnSqs6WOfaW34gE4g4mOLoNl2U6VuEFamf9e9FeuHIa2EmUWk2cNbibrE74jsQLmWWCk7qCii5JRd7BSasGg9R3flehIDGJt8R5OB7Qz8pPLrmGULDsh4xLy8_RY2bXj1rD_JtLcDColkSN0XlEJFNGsb2ZPx_FefC239_Gjuvs7lmtxQG6hZ10L-CHI9QX03Rm2QrXplXgogJaaAhin2hgSYzoAk_0bIuVB_7h1uOm6snswvdc-Ylc5zHvW8sFxLP7EaPRAdvmLJrowc9a_YOlWdMoSSl3wK4LrcUxDeP6zjchCio1pHA8mK3vyezgmm5mmawg1pXi1tAv8lf3vZVtho5UbtbkjqxM04i246ZOs1jioL5Lk2NqfISGjzEo-s5l7F72x9h7KrAELby7rLZja-bIr6zOZ8SPACgGrboDb0eWM0pgfPJfRSLMi63nzFJn4oTO6PAThDK17ASPY7Td9Qu85GHWqsXCI0zo-XAnWeXjOL3TyJNR_riK9bihez8AMkl8mrQGJ1FSjDkQU23IKnqfWImQ5omJ0EUdB20dsewQ8cSW-v4w_R8ANzRV5nWG0zEqp1OF84o1_tNAx4VkmZ87_5iOED4u",
  "id": "rs_051a55a58104fef3016aac719b8f8887d093439dee7d595329",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.13,\"left_z\":0.09,\"left_pitch\":0},\"note\":\"The can is above the burner, slightly to the right of the coil. I’m shifting it left a little and lowering gently onto the burner surface.\"}",
  "call_id": "call_O9qX2YkF9spfo4B0MfsKOIhu",
  "id": "fc_051a55a58104fef3016aac71a17a8c87d0a98dc3d69726a9d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O9qX2YkF9spfo4B0MfsKOIhu",
  "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]: [-0.6456, 1.4361, 0.6216, 0.0139, -0.6159, -0.3771, 0.6973, -0.0467, 0.836, 0.7448, -0.6956, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1236 left_z=0.0829 left_yaw=0.0466 left_pitch=-0.0578 left_roll=0.1481 left_gripper=0.6973 right_x=0.2669 right_y=-0.0015 right_z=0.1709 right_yaw=-0.0198 right_pitch=-0.1979 right_roll=0.0386 right_gripper=0.9989\nstate[joint_eff]: [0.5675, -4.8752, 5.8462, 1.4725, -0.0366, 0.0855, 1.033, -0.0205, -1.1556, 6.7487, 1.7363, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e813745fd46e6506b3d56ddd048a02d1b92dfa25f6bb41d73dc5342e9a59a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:badd5aeb61fa7c7e60149c1b1a9f7120191766b6811d4e54e1a5278e127d5775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ad0659238209b13dd936a9eef374d61bcf1798369c96a3fa31abb26b2a7163",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.763 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]: [-0.7502, 1.3537, 0.9001, -0.2642, -0.7048, -0.4248, 0.6973, -0.0467, 0.836, 0.7448, -0.6792, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.1617 left_z=0.1819 left_yaw=0.0324 left_pitch=0.0478 left_roll=0.098 left_gripper=0.6973 right_x=0.2697 right_y=-0.0016 right_z=0.1738 right_yaw=-0.0198 right_pitch=-0.1815 right_roll=0.0382 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -6.4342, 6.653, 2.0098, -0.315, 0.2271, 1.033, -0.0889, -1.1692, 6.7897, 1.7411, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHGqo8Km9jzGlyDpDIdyRz4bXbzh-7AHoH_qEwYgFQEwuJB7zh_yop9HRmXCDNOK_gyuYTnVJxdXjsLWlNW0pRZVFCMR8M22JmVWak0b6mnby_WyMDm_P5IEzMXxkB6P_4Pi_xz_Sqj7emHTtqq38bW_qPVx6qyOrc645eRHisY3Z9AduJtHHBTDrV0oVigan285NxXLPr6LdIP2zespyq6ewB0lMxB2ZNRgUZqcIQyZMHKoF7lsgG_k6IvswUaYWzMBf1B5ba2fnJr-etjiTqmlisdQ3dpvfcg-9buvTW3l5lbsBmM7hsrrVrxGAWFaYvoClIMUhLEULXslYvNl_WiiCtcxa0Ro9EPHVS0XDiqLX-yY0_6GwYCpST-lluBP4wcFmnOwkXfmHdycd0KYOMH6Xz7e3jsCUIvZO5vOWm9KAWm_W9IGjggpJQF9FSJggFShC2lvbAjE7BIpel8I6aXTH_VGQ5TZ0kUVog8FLGnjtMr7DllBdMMHwBZw3YNIv82xojmfSc69fMXET6a7LfSgnGG3U_7mGQFSg2rByPSE0XCyuRlERlNkI1VUQ664ed5LxcT07awMRr8bJBupKs2_kOg-Stigi_BEJIreF0YXBae0F2pJyHdqzgOzVU2pE0oRKty6WREsyEipf_FfHSlXg5ixSD4QcOK4p7wodCTgR198hMJPBCsfPN12xK7ERYh7Gw2Xb5phqRIjk1txHTOqJiDvt9ZELry3UwP85hqvKFW8nuNuqgcMz72U3ZFhKIpQoIvIubGAPYSb8kbJ0WlW9yYlzogFgKmZD6Bs48LqUdJ83HgwAS6nGDbuxA4wUufyIRpspSTAvejlA876Qwwr0rhWNcwXRQ9qyjJ_IEMnAakj_waUfolsxQF9Gkre-IFrN0iMGq8VeeH40h85TW92TMRwp22DAyL_gg9i_OxVHkGkkvJSj4gHCsMqyc0d0WUiBOPAZOKVgTKckeNFuJm3aDRH5N4oeRkUKcULZENypX7MhCmdM5yiKcBBA8UeYuO3z82E8Rb4G9b1-6BeDbJblCub5oSCW6UBCLlF3v6nvRc22S6WJqJzUcQKi0bi-7NTis9L_ji37aLAk3Yrisz6V4xG8MdSuiwKRD3v8FvKsGDJ7XwqBqy0P4CTyAeaHE1I6jppsV7mZV8_DxCf2IkKy5ZSyvQji2UH-wTkGa-pyFdqyLpbX9syJgpOzvGV_pXA0U8Le7TGnpjh5C-vx6P7kpObYpUF3pTJMmpSTkUaXzswuwWiOprGJatdfrI6Zmhf_98MroV1_hjGPMXv2MKIi8lJL4WKDzUW68EGU4GCaCvi6iXSIDkFtroBAAnIfmItB-VTa0FtJlPPI_UQ4tbhwyn4ydDi-0obOf834Yd-iLCp467QeqBiwx9U0fHPVRZa",
  "id": "rs_051a55a58104fef3016aac71a6df7087d0919ff553eddc06cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.13,\"left_z\":0.085},\"note\":\"The can is aligned sideways with the coil but its body is still a little toward the front edge. I’m moving it forward so the main cylinder, not just the top, rests over the burner.\"}",
  "call_id": "call_RxFp0BxPcnw9vq63RiWJjNkN",
  "id": "fc_051a55a58104fef3016aac71a92a5487d08c978411d85bf3a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RxFp0BxPcnw9vq63RiWJjNkN",
  "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]: [-0.5411, 1.6299, 0.8017, 0.0761, -0.5671, -0.3138, 0.6973, -0.0467, 0.8398, 0.7448, -0.7235, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3983 left_y=-0.1245 left_z=0.0861 left_yaw=0.0792 left_pitch=-0.0454 left_roll=0.1428 left_gripper=0.6973 right_x=0.2621 right_y=-0.0013 right_z=0.1652 right_yaw=-0.0196 right_pitch=-0.2295 right_roll=0.0395 right_gripper=0.9989\nstate[joint_eff]: [0.253, -6.2291, 7.3094, 1.4921, -0.0415, 0.1783, 1.0232, -0.0479, -1.3607, 6.8991, 1.7753, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e10878260d0f730823c718a6b4d7961b04d6a1b87f5a38669d7db5016c4643",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a6e4a7209fc098f4daa1c29832f42da269aeab533d229b921da22c3144b50a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ffe76375cee7992ba24756d99db4dcd6b613ef8e1e495096ae6ad2dc2a1f9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.925 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6456, 1.4361, 0.6216, 0.0139, -0.6159, -0.3771, 0.6973, -0.0467, 0.836, 0.7448, -0.6956, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1236 left_z=0.0829 left_yaw=0.0466 left_pitch=-0.0578 left_roll=0.1481 left_gripper=0.6973 right_x=0.2669 right_y=-0.0015 right_z=0.1709 right_yaw=-0.0198 right_pitch=-0.1979 right_roll=0.0386 right_gripper=0.9989\nstate[joint_eff]: [0.5675, -4.8752, 5.8462, 1.4725, -0.0366, 0.0855, 1.033, -0.0205, -1.1556, 6.7487, 1.7363, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHGuC3x96DYVE0AKfs7gJVWKZmzVC2ZoD7VXZ96RKS0tHm6mlMtTxQrkJMXLGLfzQ8kSxPmFqbxZsZQDgnjvECpKXVxgG_A4CxEsJzYFKyHBi9FD-Y49i2CxVPeOWXIcaFKkDfsvjyuOhrpt6uzfr4WrqXMAcxsekYX7WcJ1eh31sYscYhvRdzqGg0o31-eMU9flX-E8hgtTYjuVXXh4BUhnPQ-dhcdTeMjTaPCHSgqG1V1Quvk328iuScFl7y53ejjC8Ubuy3HLb9n2Sq7Rapj7yRPu8_dQv0t6uK4nh-CT3tERStmXMeX0O1hoiHFwY8Cz-5lTs8J5OHZjTVJrvA9zfEZdRW1vE6WqazsreLHKgJVpmZBpvOfp5aWav6F9XwYCA5Mv10SMvhN1VlrYt16k9gEkD8I547r2qpgTk-gOCJxZDhIzHSlURSHQpKgPZ8x-z6JjS40oLg3j8vrcYck9e8maafxpcmkgKxFeu_DCAevCOpG1t6PN7OM7aIuhXztSmfQBd46HggX0ndUI_jcY2YHchgMcFs2YJXpS_lNdR8Yq5ZTMXEt0OV2edrkV3A9xBh9a4pbJ_JPVD5XitsqeNiUU2Dj_PTW8icQsJBfklZb5TE8KTMCeHzEmvM3OKgCdeLzPsBQiVgY-PT92ADadwu84Spco6JG_X10sqf3QX7tJaau0lbN0fiewXRIbPwZJeMxIfZr64lhFnvU0DvS22bwHaYwdp2Ukc97bemISsA_r_9_pAOBTJZOtb9D4lWjQ1zQutt7Iqt61u0gJQJO-OuGd6PfDSYJ3RZTe99qcFV7HCPIDiLcEwj77916_rYyqw97UBb1ncW-xu2arpS4SkcTFhOIFbH_mXxrun5CGORaD3rDNRF95m9bRZ5gAnBTcmkJH8AZk8e9sz_W5axzqVpwH3kZXpCY7uJ4kgaFcIQN3MD9W2OsgKJXhmIAdk9zTCA1aml6vh5XSdRTnwKddcxDBMW7G8qrHu2Jv758ch65CCpEFajDGoEnhN6uYod0s8ClfkdO_iXO99uvFLYHXnrBF6c_z7uyaPLXlYW2hD_aC7_J-jmxnpZv0_t3kNM26IrSpsQK7scm8axgI-bhoi5DLc18lOA49MEVYpBil8VyhRnOiFMnnGB6MKYXHvd650NUiqaA9yX56LE4u8yGuRvoQTPGNZL5g_g_qOdogoZDPr_Ut8q6AeLmhDjMbvLbLEPuJ8o_r5osAhuHctgZNfw==",
  "id": "rs_051a55a58104fef3016aac71ad3bd887d0821fbeffb5b8f18f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The cylinder is now centered over the coil. I’m lowering the last few centimeters to let the burner support its weight before releasing.\"}",
  "call_id": "call_leNEOwrUIxczaR4V0n7C7PpE",
  "id": "fc_051a55a58104fef3016aac71adce8487d0ad5bb4d23ac6181b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_leNEOwrUIxczaR4V0n7C7PpE",
  "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]: [-0.543, 1.6718, 0.7746, 0.2146, -0.5911, -0.3103, 0.6989, -0.0467, 0.8398, 0.7448, -0.7357, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.4077 left_y=-0.1269 left_z=0.084 left_yaw=0.0932 left_pitch=0.0198 left_roll=0.1176 left_gripper=0.6989 right_x=0.2599 right_y=-0.0012 right_z=0.1631 right_yaw=-0.0195 right_pitch=-0.2417 right_roll=0.0399 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -4.2872, 3.6171, 0.7888, 0.2076, -0.022, 0.823, -0.0752, -1.2103, 6.694, 1.6386, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef19e61b4db2d238780bab8b97a4353fef4c9d2fa8fa5988b1781dd3dd38d17d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:193b4d415a9f8613746c9f9f1c585cf3e6f10a438cfb7c660813f01aa0d740c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9743ac6539ac905e8f6a28941a27a294e5bfed6d9651dd90f39c846c220d3aa3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 110 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5411, 1.6299, 0.8017, 0.0761, -0.5671, -0.3138, 0.6973, -0.0467, 0.8398, 0.7448, -0.7235, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3983 left_y=-0.1245 left_z=0.0861 left_yaw=0.0792 left_pitch=-0.0454 left_roll=0.1428 left_gripper=0.6973 right_x=0.2621 right_y=-0.0013 right_z=0.1652 right_yaw=-0.0196 right_pitch=-0.2295 right_roll=0.0395 right_gripper=0.9989\nstate[joint_eff]: [0.253, -6.2291, 7.3094, 1.4921, -0.0415, 0.1783, 1.0232, -0.0479, -1.3607, 6.8991, 1.7753, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped at contact with the burner, and the can is supported over the coil. I’m opening the fingers to release it.\"}",
  "call_id": "call_uap6y8vyeFkKcsRGJqysTC5C",
  "id": "fc_051a55a58104fef3016aac71b1e1ac87d0bdcbca25d3fb9770",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uap6y8vyeFkKcsRGJqysTC5C",
  "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]: [-0.5426, 1.681, 0.7654, 0.2184, -0.5945, -0.3183, 0.9971, -0.0467, 0.8398, 0.7448, -0.7471, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.4057 left_y=-0.1249 left_z=0.0779 left_yaw=0.1004 left_pitch=0.01 left_roll=0.1212 left_gripper=0.9971 right_x=0.2578 right_y=-0.0011 right_z=0.1612 right_yaw=-0.0194 right_pitch=-0.2532 right_roll=0.0402 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -8.212, 6.5026, 1.5458, -0.2418, 0.0415, -0.0708, -0.1162, -1.2376, 6.8171, 1.5702, -0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc456fcb028bb4bbfed7b8e0f88dc686de6b7bf8f16a95005970f86a26ec2919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a73a5f85483b3c91b378358507a6e0283dacc9ee4347a64923308e2e82128f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168d699d0a937e3998a116604efc3e2815e86662f8693a43b16120e131908045",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.667 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 114 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.543, 1.6718, 0.7746, 0.2146, -0.5911, -0.3103, 0.6989, -0.0467, 0.8398, 0.7448, -0.7357, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.4077 left_y=-0.1269 left_z=0.084 left_yaw=0.0932 left_pitch=0.0198 left_roll=0.1176 left_gripper=0.6989 right_x=0.2599 right_y=-0.0012 right_z=0.1631 right_yaw=-0.0195 right_pitch=-0.2417 right_roll=0.0399 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -4.2872, 3.6171, 0.7888, 0.2076, -0.022, 0.823, -0.0752, -1.2103, 6.694, 1.6386, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_x\":0.34,\"left_y\":-0.08},\"note\":\"The gripper is open and the can remains on the burner. I’m lifting and backing away to check the placement unobstructed.\"}",
  "call_id": "call_Xw5veoeNdHzbEHCWXXYH0PfQ",
  "id": "fc_051a55a58104fef3016aac71baa5fc87d0b0f740c9fe120ad7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xw5veoeNdHzbEHCWXXYH0PfQ",
  "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]: [-0.5285, 1.1908, 0.8124, -0.3088, -0.5797, -0.3183, 0.9977, -0.0467, 0.8436, 0.7448, -0.7689, -0.0418, -0.0082, 0.9989]\nstate[eef_state]: left_x=0.3446 left_y=-0.085 left_z=0.1843 left_yaw=0.1032 left_pitch=0.0123 left_roll=0.1077 left_gripper=0.9977 right_x=0.2539 right_y=-0.0009 right_z=0.1568 right_yaw=-0.0192 right_pitch=-0.2787 right_roll=0.0409 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -4.3829, 10.0444, 1.5702, -0.1929, 0.1294, 0.0464, -0.0752, -1.5248, 6.735, 1.7216, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c21bd8e7bf5945b2c0efb1003aad0bb5e6c8a29f2a8083fa4eb29cb7bb60a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dafeca72909bbd5ec18f457b1e42d747663d949d6fa3b01299f15d5f52c80a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e5b87248d67f52772cafcd6210dfd8c9a380b24c8ba7039cec1720fa1ef4f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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