adhoc

completed
2026-09-17T22:45:16.000756+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
278.4 s
total steps
270
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying on its side between the burner and the kettle. I’m bringing the right gripper above the can to align a secure grasp.
move_to
right_x0.3400right_y0.2500right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3866, -0.017, -0.0334, 0.9976, -0.0212, 0.7929, 0.6048, -0.3965, -0.0189, -0.0254, 0.9996] state[eef_state]: left_x=0.2939 left_y=0.0009 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9976 right_x=0.2926 right_y=0.0007 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6359, -1.4154, 10.2222, 1.956, -0.0952, 0.1685, -0.2613, -0.3214, -1.3607, 9.9214, 1.9609, -0.0513, 0.0659, -0.0562] 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":0.34,"right_y":0.25,"right_z":0.17,"right_gripper":1},"note":"The can is lying on its side between the burner and the kettle. I’m bringing the right gripper above the can to align a secure grasp."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe can is visible ahead of the fingertips and lies diagonally across the table. I’ll move closer and rotate the jaws to grasp across its diameter rather than along its length.
move_to
right_x0.3750right_y0.2500right_z0.0850right_yaw1.1500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4053, -0.0166, -0.0357, 0.9972, 0.8959, 1.5623, 1.0664, -0.3679, 0.6773, 0.5556, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0009 left_z=0.1753 left_yaw=0.0009 left_pitch=-0.0202 left_roll=-0.0017 left_gripper=0.9972 right_x=0.3315 right_y=0.2429 right_z=0.1544 right_yaw=0.0386 right_pitch=-0.0505 right_roll=-0.052 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.5111, 6.8581, 1.9121, -0.0464, 0.0073, -0.0562, 0.1299, -7.3094, 8.5128, 1.5507, 0.5104, 0.2857, -0.0513] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.25,"right_z":0.085,"right_yaw":1.15},"note":"The can is visible ahead of the fingertips and lies diagonally across the table. I’ll move closer and rotate the jaws to grasp across its diameter rather than along its length."})
tool
executing move_to over 8 steps (0.8s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe can now runs nearly lengthwise in the wrist view, with its body close to the jaws. I’m making a small alignment adjustment and lowering to the can’s mid-height before closing.
move_to
right_x0.3900right_y0.2350right_z0.0350right_yaw1.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8017, 0.6067, -0.4232, -0.0166, -0.036, 0.9971, 0.3782, 1.739, 0.9237, 0.0063, -0.3973, -0.4133, 0.9996] state[eef_state]: left_x=0.2896 left_y=0.0009 left_z=0.1703 left_yaw=0.0012 left_pitch=-0.0431 left_roll=-0.0016 left_gripper=0.9971 right_x=0.3793 right_y=0.2281 right_z=0.0667 right_yaw=0.9314 right_pitch=-0.146 right_roll=-0.0116 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.4154, 7.0359, 1.9463, -0.0513, -0.0269, -0.022, -0.1299, -8.7453, 7.9932, 1.5556, -0.4908, -0.0806, -0.022] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.235,"right_z":0.035,"right_yaw":1.3},"note":"The can now runs nearly lengthwise in the wrist view, with its body close to the jaws. I’m making a small alignment adjustment and lowering to the can’s mid-height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe can’s body is between the open jaws at the current height. I’ll close the gripper and check whether it holds a can-sized width.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0166, -0.0391, 0.9971, 0.3344, 1.805, 0.9485, 0.0048, -0.5362, -0.5564, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.169 left_yaw=0.0032 left_pitch=-0.0492 left_roll=-0.0039 left_gripper=0.9971 right_x=0.3786 right_y=0.2308 right_z=0.0562 right_yaw=1.0754 right_pitch=-0.1189 right_roll=-0.012 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.2923, 7.3368, 1.7118, -0.0659, 0.022, -0.0171, 0.0889, -8.0479, 5.7094, 1.6386, -0.2125, 0.1929, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The can’s body is between the open jaws at the current height. I’ll close the gripper and check whether it holds a can-sized width."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe gripper closed completely, so the first grasp was empty. I’ll reopen, move a little farther along the can, and lower the fingertips for one corrected attempt.
move_to
right_gripper1.0000right_x0.4120right_y0.2340right_z0.0250right_yaw1.1000left_x0.2940left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0166, -0.0391, 0.9971, 0.3325, 1.803, 0.9501, 0.0612, -0.5449, -0.548, 0.0092] state[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1673 left_yaw=0.0032 left_pitch=-0.0572 left_roll=-0.0037 left_gripper=0.9971 right_x=0.3873 right_y=0.2344 right_z=0.0666 right_yaw=1.0714 right_pitch=-0.0702 right_roll=-0.0412 right_gripper=0.0092 state[joint_eff]: [-0.253, -0.9094, 7.0906, 1.7509, -0.022, -0.0415, -0.0122, 0.0889, -8.5538, 5.7368, 0.8913, -0.1441, -0.0366, 0.5299] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.412,"right_y":0.234,"right_z":0.025,"right_yaw":1.1,"left_x":0.294,"left_y":0,"left_z":0.18},"note":"The gripper closed completely, so the first grasp was empty. I’ll reopen, move a little farther along the can, and lower the fingertips for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe corrected approach brings the cylindrical body down between the fingertips. I’ll close again and use the jaw opening to determine whether the grasp succeeded.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8356, 0.6334, -0.4797, -0.0174, -0.0467, 0.9971, 0.3046, 1.9495, 1.0107, 0.1734, -0.5884, -0.6006, 0.9946] state[eef_state]: left_x=0.2867 left_y=0.0011 left_z=0.1621 left_yaw=0.0077 left_pitch=-0.1068 left_roll=-0.0081 left_gripper=0.9971 right_x=0.4153 right_y=0.2371 right_z=0.0448 right_yaw=1.1037 right_pitch=-0.0318 right_roll=-0.08 right_gripper=0.9946 state[joint_eff]: [-0.5949, -0.9915, 9.853, 1.8974, -0.0952, 0.0366, -0.0171, -0.4991, -6.4205, 6.0513, 1.0867, -0.3199, 0.0269, -0.1343] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The corrected approach brings the cylindrical body down between the fingertips. I’ll close again and use the jaw opening to determine whether the grasp succeeded."})
tool
executing move_to over 10 steps (1.0s)
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 second close was also empty. I’m lifting and moving the right arm aside so the overhead view can reveal the can’s position without the gripper blocking it.
move_to
right_x0.3200right_y0.0600right_z0.2000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8379, 0.6346, -0.4965, -0.02, -0.0471, 0.9971, 0.3016, 1.9377, 1.021, 0.2409, -0.6224, -0.6029, 0.0084] state[eef_state]: left_x=0.2843 left_y=0.0018 left_z=0.1588 left_yaw=0.0106 left_pitch=-0.1247 left_roll=-0.0062 left_gripper=0.9971 right_x=0.4249 right_y=0.2438 right_z=0.067 right_yaw=1.1278 right_pitch=0.046 right_roll=-0.1316 right_gripper=0.0084 state[joint_eff]: [-0.0752, -1.5932, 6.9675, 1.7851, -0.0415, -0.0464, -0.0171, 0.1026, -8.8137, 4.9436, 0.8864, 0.1148, -0.0024, 0.6178] approver: 10 step(s) modified (delta_clamped ×10). 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":0.32,"right_y":0.06,"right_z":0.2,"right_yaw":0,"right_gripper":1},"note":"The second close was also empty. I’m lifting and moving the right arm aside so the overhead view can reveal the can’s position without the gripper blocking it."})
tool
executing move_to over 16 steps (1.6s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteWith the arm clear, the can is still on the table beside the burner. The earlier grasps were short of its body; I’m approaching farther forward, centered on the main cylinder.
move_to
right_x0.4600right_y0.2550right_z0.1200right_yaw1.1000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8417, 0.6346, -0.5171, -0.02, -0.0471, 0.9971, 0.3832, 1.0004, 0.6807, -0.2977, 0.3115, 0.0193, 0.9962] state[eef_state]: left_x=0.2812 left_y=0.0018 left_z=0.1539 left_yaw=0.0107 left_pitch=-0.1491 left_roll=-0.0055 left_gripper=0.9971 right_x=0.3187 right_y=0.074 right_z=0.1764 right_yaw=0.1058 right_pitch=-0.0066 right_roll=-0.1517 right_gripper=0.9962 state[joint_eff]: [-0.1162, -1.6479, 7.0359, 1.8046, -0.0562, -0.0317, -0.0122, 0.1709, -3.4667, 10.2359, 2.0488, 0.3199, 0.149, -0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.255,"right_z":0.12,"right_yaw":1.1,"right_pitch":0,"right_roll":0},"note":"With the arm clear, the can is still on the table beside the burner. The earlier grasps were short of its body; I’m approaching farther forward, centered on the main cylinder."})
tool
executing move_to over 16 steps (1.6s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe can’s main body is now centered on the jaw column near the bottom of the wrist image. I’ll lower straight down to surround the cylinder.
move_to
right_x0.4650right_y0.2550right_z0.0280right_yaw1.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8471, 0.6346, -0.5377, -0.02, -0.0467, 0.997, 0.2958, 1.9511, 1.3277, -0.1341, -0.5789, -0.4908, 0.9973] state[eef_state]: left_x=0.278 left_y=0.0019 left_z=0.1488 left_yaw=0.0107 left_pitch=-0.175 left_roll=-0.0044 left_gripper=0.997 right_x=0.459 right_y=0.2447 right_z=0.1132 right_yaw=1.0272 right_pitch=-0.0282 right_roll=-0.0004 right_gripper=0.9973 state[joint_eff]: [-0.253, -1.7983, 7.0769, 1.7753, 0.0122, -0.0024, -0.0171, 0.0205, -10.4957, 7.747, 1.3455, -0.486, -0.0269, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.255,"right_z":0.028,"right_yaw":1.1},"note":"The can’s main body is now centered on the jaw column near the bottom of the wrist image. I’ll lower straight down to surround the cylinder."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe jaws now straddle the can’s cylindrical body. I’ll close to secure it before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8482, 0.6346, -0.5541, -0.0204, -0.0471, 0.9971, 0.2943, 2.1204, 1.2846, 0.0521, -0.6254, -0.5442, 0.9974] state[eef_state]: left_x=0.2752 left_y=0.0019 left_z=0.1455 left_yaw=0.0109 left_pitch=-0.1925 left_roll=-0.0039 left_gripper=0.9971 right_x=0.4645 right_y=0.2526 right_z=0.0452 right_yaw=1.0896 right_pitch=-0.0248 right_roll=-0.0026 right_gripper=0.9974 state[joint_eff]: [-0.2803, -1.4017, 6.8581, 1.8144, -0.0415, -0.0513, -0.0073, -0.0068, -8.1436, 5.7094, 1.2527, -0.2857, -0.0611, -0.0024] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now straddle the can’s cylindrical body. I’ll close to secure it before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe jaws still closed empty, and the readback shows the fingertips rose above the can during closing. I’ll reopen and bring them down to table level so they reach below the cylinder’s widest part.
move_to
right_gripper1.0000right_x0.4600right_y0.2600right_z-0.0100
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.849, 0.6346, -0.5629, -0.0204, -0.0471, 0.9971, 0.2951, 2.1063, 1.293, 0.1223, -0.6704, -0.5503, 0.0082] state[eef_state]: left_x=0.2737 left_y=0.002 left_z=0.1438 left_yaw=0.0113 left_pitch=-0.2021 left_roll=-0.0036 left_gripper=0.9971 right_x=0.4717 right_y=0.2618 right_z=0.0695 right_yaw=1.128 right_pitch=0.0607 right_roll=-0.0543 right_gripper=0.0082 state[joint_eff]: [-0.1026, -1.4017, 7.0222, 1.663, -0.0366, -0.0415, -0.0122, -0.0068, -10.4, 5.6547, 0.779, 0.1636, 0.0073, 0.6618] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.46,"right_y":0.26,"right_z":-0.01},"note":"The jaws still closed empty, and the readback shows the fingertips rose above the can during closing. I’ll reopen and bring them down to table level so they reach below the cylinder’s widest part."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe arm is not reaching the requested low height at this extension. I’ll tilt the tool forward to improve low reach while keeping the open jaws around the can.
move_to
right_x0.4600right_y0.2550right_z0.0180right_pitch0.5000right_roll0.0000right_yaw1.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.849, 0.6346, -0.5785, -0.02, -0.0475, 0.997, 0.2951, 2.191, 1.2163, 0.4892, -0.6994, -0.5537, 0.9947] state[eef_state]: left_x=0.271 left_y=0.002 left_z=0.1411 left_yaw=0.0113 left_pitch=-0.2177 left_roll=-0.0037 left_gripper=0.997 right_x=0.4848 right_y=0.27 right_z=0.0622 right_yaw=1.1737 right_pitch=0.2077 right_roll=-0.2033 right_gripper=0.9947 state[joint_eff]: [-0.0068, -1.4427, 6.8308, 1.6825, -0.0611, -0.0659, -0.0171, 0.2667, -5.2444, 2.1402, 0.2808, 0.1587, 0.0415, -0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.255,"right_z":0.018,"right_pitch":0.5,"right_roll":0,"right_yaw":1.1},"note":"The arm is not reaching the requested low height at this extension. I’ll tilt the tool forward to improve low reach while keeping the open jaws around the can."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe tilted approach is still too high, so I’m backing away from the reach limit. I’ll reposition over the nearer end of the can with a less extreme wrist orientation.
move_to
right_x0.4100right_y0.2800right_z0.1400right_yaw0.6000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.849, 0.6346, -0.5858, -0.02, -0.0471, 0.997, 0.2527, 2.3852, 1.0927, 1.3556, -0.8532, -0.194, 0.9953] state[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1398 left_yaw=0.0108 left_pitch=-0.225 left_roll=-0.0032 left_gripper=0.997 right_x=0.4724 right_y=0.2631 right_z=0.0862 right_yaw=1.2582 right_pitch=0.6088 right_roll=-0.2787 right_gripper=0.9953 state[joint_eff]: [-0.212, -1.265, 6.8308, 1.5507, -0.0659, -0.0073, -0.0122, -1.0598, -5.2718, 1.3744, -0.4615, 0.0611, 0.3541, 0.0513] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.28,"right_z":0.14,"right_yaw":0.6,"right_pitch":0.3,"right_roll":0},"note":"The tilted approach is still too high, so I’m backing away from the reach limit. I’ll reposition over the nearer end of the can with a less extreme wrist orientation."})
tool
executing move_to over 11 steps (1.1s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe nearer section of the can is aligned beneath the open jaws. I’m lowering from this shorter-reach pose while watching whether the actual height follows the command.
move_to
right_x0.4100right_y0.2800right_z0.0250right_yaw0.7000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8528, 0.6346, -0.5922, -0.02, -0.0467, 0.997, 0.5766, 1.7859, 0.7956, 0.7116, -0.1177, -0.0765, 0.9954] state[eef_state]: left_x=0.2687 left_y=0.0021 left_z=0.1378 left_yaw=0.011 left_pitch=-0.2353 left_roll=-0.0026 left_gripper=0.997 right_x=0.4035 right_y=0.2914 right_z=0.1306 right_yaw=0.7148 right_pitch=0.3076 right_roll=-0.0298 right_gripper=0.9954 state[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.5653, -0.0562, 0.0024, -0.0073, 0.1026, -9.7573, 6.7077, 2.0928, 0.0904, 0.1148, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.28,"right_z":0.025,"right_yaw":0.7,"right_pitch":0.3,"right_roll":0},"note":"The nearer section of the can is aligned beneath the open jaws. I’m lowering from this shorter-reach pose while watching whether the actual height follows the command."})
tool
executing move_to over 7 steps (0.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe descent nudged the can forward instead of surrounding it. I’m lifting clear and moving above its new position before attempting another approach.
move_to
right_x0.4700right_y0.2300right_z0.1400right_yaw1.1000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8547, 0.6346, -0.6014, -0.02, -0.0475, 0.997, 0.5407, 2.1452, 0.7307, 1.0519, -0.149, -0.0666, 0.9954] state[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1357 left_yaw=0.0112 left_pitch=-0.2463 left_roll=-0.0028 left_gripper=0.997 right_x=0.4047 right_y=0.2777 right_z=0.0143 right_yaw=0.6969 right_pitch=0.2261 right_roll=0.0028 right_gripper=0.9954 state[joint_eff]: [-0.1846, -1.6068, 6.8444, 1.6435, -0.0366, -0.0464, -0.0122, -0.7043, -8.9641, 4.506, 2.3077, -0.1978, 0.0269, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.23,"right_z":0.14,"right_yaw":1.1,"right_pitch":0.3,"right_roll":0},"note":"The descent nudged the can forward instead of surrounding it. I’m lifting clear and moving above its new position before attempting another approach."})
tool
executing move_to over 9 steps (0.9s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe overhead view shows the gripper to the right of the can, and the wrist view confirms the cylinder is off-center. I’ll shift left across the table while staying above it.
move_to
right_x0.4750right_y0.2800right_z0.1450
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8555, 0.6346, -0.6113, -0.02, -0.0475, 0.997, 0.2035, 1.9991, 1.1202, 0.4347, -0.7712, -0.3214, 0.9954] state[eef_state]: left_x=0.2653 left_y=0.0021 left_z=0.1339 left_yaw=0.0116 left_pitch=-0.257 left_roll=-0.0024 left_gripper=0.997 right_x=0.4739 right_y=0.2272 right_z=0.1174 right_yaw=1.0174 right_pitch=0.2712 right_roll=0.012 right_gripper=0.9954 state[joint_eff]: [0.0068, -1.4838, 6.9675, 1.5751, -0.0415, -0.0366, -0.0073, -0.3761, -12.1915, 7.6786, 1.9658, -0.4371, -0.1734, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.28,"right_z":0.145},"note":"The overhead view shows the gripper to the right of the can, and the wrist view confirms the cylinder is off-center. I’ll shift left across the table while staying above it."})
tool
executing move_to over 5 steps (0.5s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe can has shifted with the open jaws and is now centered much better in the wrist view. I’ll test a grasp at this higher height rather than descending and pushing it again.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8558, 0.6346, -0.6151, -0.02, -0.0475, 0.997, 0.3298, 1.9987, 1.1862, 0.3439, -0.6926, -0.2832, 0.9954] state[eef_state]: left_x=0.2646 left_y=0.0021 left_z=0.1332 left_yaw=0.0117 left_pitch=-0.2612 left_roll=-0.0023 left_gripper=0.997 right_x=0.4596 right_y=0.2803 right_z=0.1227 right_yaw=1.0534 right_pitch=0.2289 right_roll=0.041 right_gripper=0.9954 state[joint_eff]: [-0.1573, -1.4701, 7.0906, 1.4774, -0.0659, -0.0562, -0.0073, -0.5949, -11.0701, 9.1419, 1.9463, -0.105, 0.2613, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The can has shifted with the open jaws and is now centered much better in the wrist view. I’ll test a grasp at this higher height rather than descending and pushing it again."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThat close was empty; the fingers were near the can’s white end rather than around its body. I’ll move back along the cylinder to place the jaws over its wider blue section.
move_to
right_gripper1.0000right_x0.4050right_y0.2350right_z0.0850right_pitch0.0000right_roll0.0000right_yaw1.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8581, 0.6346, -0.6304, -0.02, -0.0505, 0.997, 0.3317, 1.9987, 1.2064, 0.3305, -0.6662, -0.2642, 0.0086] state[eef_state]: left_x=0.2618 left_y=0.0022 left_z=0.1301 left_yaw=0.0135 left_pitch=-0.2787 left_roll=-0.0038 left_gripper=0.997 right_x=0.4659 right_y=0.2797 right_z=0.127 right_yaw=1.0241 right_pitch=0.226 right_roll=0.0456 right_gripper=0.0086 state[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5995, -0.0757, -0.0269, -0.0122, -0.5128, -11.3436, 8.253, 2.0098, -0.0415, 0.0806, 0.6032] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.405,"right_y":0.235,"right_z":0.085,"right_pitch":0,"right_roll":0,"right_yaw":1.1},"note":"That close was empty; the fingers were near the can’s white end rather than around its body. I’ll move back along the cylinder to place the jaws over its wider blue section."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe wider body is visible, but it is still offset to one side of the jaws. I’ll shift left across the table to center the gripper on that section.
move_to
right_x0.4050right_y0.2800right_z0.0600
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8585, 0.6346, -0.6373, -0.02, -0.0544, 0.9971, 0.2901, 1.8763, 1.0401, 0.0551, -0.6605, -0.5087, 0.9947] state[eef_state]: left_x=0.2605 left_y=0.0021 left_z=0.1289 left_yaw=0.0154 left_pitch=-0.286 left_roll=-0.0062 left_gripper=0.9971 right_x=0.4059 right_y=0.238 right_z=0.0748 right_yaw=1.091 right_pitch=-0.0057 right_roll=0.0421 right_gripper=0.9947 state[joint_eff]: [-0.1026, -1.265, 6.7624, 1.5214, -0.0659, -0.0024, -0.0122, -0.5265, -11.6444, 6.147, 1.7558, -0.2711, -0.0708, -0.2271] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.28,"right_z":0.06},"note":"The wider body is visible, but it is still offset to one side of the jaws. I’ll shift left across the table to center the gripper on that section."})
tool
executing move_to over 4 steps (0.4s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThat lateral shift moved the body farther from the jaw center in the rotated wrist view. I’ll correct diagonally in the opposite direction to bring the main cylinder between the fingertips.
move_to
right_x0.4450right_y0.2100right_z0.0350right_yaw1.1000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8585, 0.6346, -0.6376, -0.02, -0.0547, 0.997, 0.3954, 1.9381, 1.034, 0.0978, -0.6003, -0.4538, 0.9953] state[eef_state]: left_x=0.2605 left_y=0.0022 left_z=0.1288 left_yaw=0.016 left_pitch=-0.2864 left_roll=-0.0064 left_gripper=0.997 right_x=0.3874 right_y=0.2737 right_z=0.0473 right_yaw=1.1233 right_pitch=-0.0554 right_roll=0.0734 right_gripper=0.9953 state[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.4139, -0.0513, -0.0317, -0.0171, -0.8, -9.0735, 8.212, 1.7167, -0.1783, 0.0806, 0.0464] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.21,"right_z":0.035,"right_yaw":1.1,"right_pitch":0,"right_roll":0},"note":"That lateral shift moved the body farther from the jaw center in the rotated wrist view. I’ll correct diagonally in the opposite direction to bring the main cylinder between the fingertips."})
tool
executing move_to over 6 steps (0.6s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe low sideways move did not track, so I won’t force it against the object or table. I’ll lift while completing the alignment, then descend vertically.
move_to
right_x0.4400right_y0.2100right_z0.1400
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8623, 0.6346, -0.6529, -0.0204, -0.0578, 0.997, 0.3588, 1.9499, 1.0355, 0.0875, -0.6094, -0.4797, 0.9954] state[eef_state]: left_x=0.2576 left_y=0.0022 left_z=0.1255 left_yaw=0.0179 left_pitch=-0.3054 left_roll=-0.0074 left_gripper=0.997 right_x=0.3943 right_y=0.2597 right_z=0.0418 right_yaw=1.1084 right_pitch=-0.0651 right_roll=0.0714 right_gripper=0.9954 state[joint_eff]: [-0.0205, -1.7299, 6.9538, 1.6435, -0.0806, -0.0073, -0.0073, -0.0205, -9.1556, 6.2838, 1.6142, -0.4029, -0.0659, -0.0073] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.21,"right_z":0.14},"note":"The low sideways move did not track, so I won’t force it against the object or table. I’ll lift while completing the alignment, then descend vertically."})
tool
executing move_to over 7 steps (0.7s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe arm is still not lifting as requested and joint load has increased. I’ll shorten the reach and raise clear of the can and kettle before making any further contact.
move_to
right_x0.3700right_y0.2500right_z0.2200right_yaw0.6000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8623, 0.6346, -0.6621, -0.02, -0.0582, 0.997, 0.2966, 1.9499, 1.1286, -0.0528, -0.6617, -0.551, 0.9954] state[eef_state]: left_x=0.2559 left_y=0.0023 left_z=0.1241 left_yaw=0.0182 left_pitch=-0.3146 left_roll=-0.0077 left_gripper=0.997 right_x=0.41 right_y=0.2425 right_z=0.0583 right_yaw=1.1241 right_pitch=-0.0676 right_roll=0.0759 right_gripper=0.9954 state[joint_eff]: [-0.212, -1.4291, 6.8991, 1.4872, -0.0513, -0.0415, -0.0073, -4.0684, -14.0923, 10.6051, 2.0977, -0.3297, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.25,"right_z":0.22,"right_yaw":0.6,"right_pitch":0,"right_roll":0},"note":"The arm is still not lifting as requested and joint load has increased. I’ll shorten the reach and raise clear of the can and kettle before making any further contact."})
tool
executing move_to over 11 steps (1.1s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe arm is clear again, and the can’s full body is visible to the right of the jaw column. I’ll approach its center from above with the simpler wrist angle.
move_to
right_x0.4550right_y0.1950right_z0.1000right_yaw0.7000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8642, 0.6346, -0.6754, -0.02, -0.0582, 0.997, 0.5674, 1.4899, 1.0946, -0.2588, -0.1059, -0.0902, 0.9954] state[eef_state]: left_x=0.2533 left_y=0.0023 left_z=0.1216 left_yaw=0.0184 left_pitch=-0.3298 left_roll=-0.0071 left_gripper=0.997 right_x=0.3616 right_y=0.2569 right_z=0.1868 right_yaw=0.6971 right_pitch=-0.0653 right_roll=0.0027 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.4564, 6.7077, 1.536, -0.0513, -0.0464, -0.0073, 0.1709, -8.6085, 10.0308, 1.9463, 0.0806, 0.2027, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.195,"right_z":0.1,"right_yaw":0.7,"right_pitch":0,"right_roll":0},"note":"The arm is clear again, and the can’s full body is visible to the right of the jaw column. I’ll approach its center from above with the simpler wrist angle."})
tool
executing move_to over 8 steps (0.8s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteThe gripper is above the blue body, but the jaws need to turn farther across its width. I’ll rotate and lower onto the middle of the cylinder.
move_to
right_x0.4400right_y0.1650right_z0.0300right_yaw1.6000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8665, 0.6346, -0.6907, -0.0204, -0.0582, 0.997, 0.2863, 1.7901, 1.0142, 0.0605, -0.318, -0.242, 0.9954] state[eef_state]: left_x=0.2504 left_y=0.0025 left_z=0.1187 left_yaw=0.019 left_pitch=-0.3474 left_roll=-0.006 left_gripper=0.997 right_x=0.4381 right_y=0.1903 right_z=0.085 right_yaw=0.676 right_pitch=-0.0885 right_roll=0.0282 right_gripper=0.9954 state[joint_eff]: [-0.1026, -1.4974, 6.694, 1.4921, -0.0659, -0.0562, -0.0073, -0.2393, -8.5538, 8.253, 1.9902, -0.2955, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.165,"right_z":0.03,"right_yaw":1.6},"note":"The gripper is above the blue body, but the jaws need to turn farther across its width. I’ll rotate and lower onto the middle of the cylinder."})
tool
executing move_to over 6 steps (0.6s)
step 224
assistant
agent noteThe can rolled forward during that approach. Its near white end remains accessible, so I’ll approach that end from above with a forward tilt to avoid pushing the body again.
move_to
right_x0.4700right_y0.3050right_z0.1600right_yaw0.6000right_pitch0.5000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8688, 0.6346, -0.7044, -0.02, -0.0582, 0.997, 0.0544, 2.3203, 1.6974, -0.6243, -0.8242, -1.1442, 0.9954] state[eef_state]: left_x=0.2476 left_y=0.0025 left_z=0.1162 left_yaw=0.0189 left_pitch=-0.3634 left_roll=-0.0057 left_gripper=0.997 right_x=0.4862 right_y=0.1599 right_z=0.031 right_yaw=1.3315 right_pitch=-0.1152 right_roll=0.0082 right_gripper=0.9954 state[joint_eff]: [-0.1436, -1.2786, 6.6667, 1.5897, -0.0659, -0.0073, -0.0122, -0.294, -12.8205, 5.4085, 0.0904, -0.735, -0.1636, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.305,"right_z":0.16,"right_yaw":0.6,"right_pitch":0.5,"right_roll":0},"note":"The can rolled forward during that approach. Its near white end remains accessible, so I’ll approach that end from above with a forward tilt to avoid pushing the body again."})
tool
executing move_to over 21 steps (2.1s)
step 245
assistant
agent noteThe can is now too far forward for a reliable low grasp, and further attempts risk pushing it farther away. I’m withdrawing both arms to clear the work area.
move_to
right_x0.3200right_y0.0300right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000left_x0.2940left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8734, 0.6346, -0.7193, -0.02, -0.0616, 0.997, 0.5468, 1.9842, 0.9855, 0.7525, -0.136, -0.0719, 0.9954] state[eef_state]: left_x=0.2447 left_y=0.0025 left_z=0.113 left_yaw=0.0212 left_pitch=-0.3828 left_roll=-0.0071 left_gripper=0.997 right_x=0.453 right_y=0.308 right_z=0.1207 right_yaw=0.7001 right_pitch=0.3404 right_roll=-0.0252 right_gripper=0.9954 state[joint_eff]: [-0.0342, -1.7846, 6.6803, 1.5067, -0.0464, -0.0415, -0.0073, -0.8, -8.7453, 8.1846, 2.3956, 0.2418, 0.1832, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.03,"right_z":0.22,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1,"left_x":0.294,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The can is now too far forward for a reliable low grasp, and further attempts risk pushing it farther away. I’m withdrawing both arms to clear the work area."})
tool
executing move_to over 24 steps (2.4s)
step 269
assistant
agent noteI did not secure the can. Repeated empty grasps and contact nudged it farther forward, where I could not reliably reach its body at table height. Both arms are withdrawn; the can remains beside, not on, the burner.
give_up
hindsightAccount for the full can body, not its white nozzle, when aligning: a visible nozzle near the jaw column led to repeated empty grasps. Large combined yaw and low-position changes tracked poorly and pushed the cylinder; align at clearance first and abort a descent when readback stays several centimeters high. The usable low reach shrinks with lateral extension, so x alone is not a sufficient reach check.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0212, 0.8124, 0.6559, -0.5167, -0.0204, -0.0566, 0.997, 0.1631, 0.9684, 0.7895, -0.4328, 0.1272, 0.0536, 0.999] state[eef_state]: left_x=0.2829 left_y=0.0012 left_z=0.1711 left_yaw=0.0138 left_pitch=-0.098 left_roll=-0.0142 left_gripper=0.997 right_x=0.3219 right_y=0.0339 right_z=0.2043 right_yaw=0.0189 right_pitch=-0.0216 right_roll=-0.0184 right_gripper=0.999 state[joint_eff]: [-0.5812, -1.9077, 9.7983, 2.0049, -0.0659, 0.1685, -0.0073, -0.212, -3.0427, 9.7983, 1.9805, 0.0024, 0.1001, -0.1197] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I did not secure the can. Repeated empty grasps and contact nudged it farther forward, where I could not reliably reach its body at table height. Both arms are withdrawn; the can remains beside, not on, the burner.","hindsight":"Account for the full can body, not its white nozzle, when aligning: a visible nozzle near the jaw column led to repeated empty grasps. Large combined yaw and low-position changes tracked poorly and pushed the cylinder; align at clearance first and abort a descent when readback stays several centimeters high. The usable low reach shrinks with lateral extension, so x alone is not a sufficient reach check."})
tool
give_up: I did not secure the can. Repeated empty grasps and contact nudged it farther forward, where I could not reliably reach its body at table height. Both arms are withdrawn; the can remains beside, not on, the burner.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.983 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, -0.3866, -0.017, -0.0334, 0.9976, -0.0212, 0.7929, 0.6048, -0.3965, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0009 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9976 right_x=0.2926 right_y=0.0007 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4154, 10.2222, 1.956, -0.0952, 0.1685, -0.2613, -0.3214, -1.3607, 9.9214, 1.9609, -0.0513, 0.0659, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a1d36e3ba8309537e58483d98d3462f6ac54295e64be98824fd3ab5cc32967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890526287885a2864361161cc757d9eddee6856c254496458b72a5e6180573c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bffd146b34b08fec3d436582498177058501ac0153b967290557b17f1e6f887",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 13.16 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrG2K-hNLFc1l-GJo9aHUk4ppwX_neg62nyVuuaIsFIRZmAvUh85O2SlPJvTHQuPGDcAxlzhPfnBrtlUeftUdmQTzq5hSl4v2wnawKMEoZf0LDLjwrELwfTksS_-bnnpgToeqc1UhcLfPz0LC2eAawywzikhYa3eTOlXuhpirT8O5DxJtzdhTbPIgJFYc-ikmob2rPcaotagp1qqqQKQkdKnwzB9w15JwEG7BtZTRo_E5h9y43Wvw_MUMiP6D-2KObUePkMkvfmeQQMDYR6jXbSjWFWnKjPBxrH3vI5Yxq9FVvESNeQ483fpbdlfNiSBuHz7WspL2uZhNC1oJ74xyDeZw_0EN12wSeakLYwaL2o5aGcgcDbM5ZS7BKvtd7MNtMPCEh2u3JL_pwWlIZ8nrJFOnzeCCN0zMno2ONczXjKnSpX-mGXQnbNFU3nO45p5_kM7grIhLNE__bTA9qStu9q3NNm8Ry6BFXZkdpu_mXlzCqGmKh6J5ALj8NpgPcMQKR6j9H_ZFdd-E-oAwjtVbbQ5oMxWcbZhEelDI3Lm5Y9dwWabVvMcCpZOxLQC6Z8RG_aEYZjAhMQUYbup1jx4Q7859hwCGngRR8ClQoyihLlCnSvioiqf_yaRaEx37DFwCQcWvLPigQlDw3A74GY5SmTXuGd6ivS51PQFPvk1MurcHqBATjPWyY3oYMt1ocs3ZsNhtogzYJU1OnG1Cz1npAc6j3DRGKTdaQFZXxcL7vF1pkkGgrEAMuiq2Lsj4G4GYqfhBpTr0uCjT5U-eY2V3NjTnnx9AIdQR8Q5NzSOqLKQXH9yAW7k7rwNiVmUd6F-xY7BBUgukrb6GX1AF_TBiXTdIv_V3olkJ7mH8NA7dh5aThwubQZuayDIEgUEKcnf9fxwttVNS4xexMJ8QAXJu9dzyWxR2fXu1hr0_d8UpSGlNbRq8SbH7P_KT_MwWZHZ7Wei5in9ByGywwugYk_J1KjeL1cspK9nDyuQzLNjiGBVcyDjPptfMmnrCZ_8HA-eZ7knltAohtMqW8w5Hgt3C4Ph12AOQ9vaCM_ALG1cnwU21c-mnAiX9KMVGPJk6pu1vYH-gwo30TJUTtThErqzBhJjZE7KMehWiX4H7uG8TtQanUgz_-DicoS1b6qnyVwkwGFg1hFtUBm3kLnpUDIVFdT7NDBEKPGmhBaZkXKgR7yhFwFlSmo_IunYgvlgpAX06UT_UpKv_3W1lgbilsH1K5Ss2NdzfFKhxIYY3d6LJpHaznU4MrX0JrVCQby3BJKoI7VJKweFELokaXtNlht0SgjjsbG7AElyDQ2AcfvZWyvub_koaRZ-oyGuioxhkd5d7_paHd7N1EqJaZR5DDGW42xRBYpkwThe9fSH-rNA5BVQyZRnn94NIqwC3tgeSN_5GoqX_Vd8Wrl2bTPPhNKvgb-U2XCxZrc7iosCo-bnt7F9Nu6yPwB2qB5gO-6juPVlXbCtwUWMnKT2oKip_qd5YWQMeOcuiPT9yTSpWdO6Ux_TD8dU=",
  "id": "rs_027dd9824144962c016aac6d8557cc87d0aefdc59ddbac2938",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.25,\"right_z\":0.17,\"right_gripper\":1},\"note\":\"The can is lying on its side between the burner and the kettle. I’m bringing the right gripper above the can to align a secure grasp.\"}",
  "call_id": "call_fTz7dKn9rDrP442ZbN3wFdoF",
  "id": "fc_027dd9824144962c016aac6d889af087d0a8d6dcf53c480770",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fTz7dKn9rDrP442ZbN3wFdoF",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4053, -0.0166, -0.0357, 0.9972, 0.8959, 1.5623, 1.0664, -0.3679, 0.6773, 0.5556, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0009 left_z=0.1753 left_yaw=0.0009 left_pitch=-0.0202 left_roll=-0.0017 left_gripper=0.9972 right_x=0.3315 right_y=0.2429 right_z=0.1544 right_yaw=0.0386 right_pitch=-0.0505 right_roll=-0.052 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5111, 6.8581, 1.9121, -0.0464, 0.0073, -0.0562, 0.1299, -7.3094, 8.5128, 1.5507, 0.5104, 0.2857, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5502f79d07b6fd4f236f6a0918dcd469dd488e7f728610edf7fe63f8d05fc266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b26ed736782a8d8d69f9e005589a5722018530d35babf7bae5a00cccc031806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2622ea74fe6dd326dd794a3cfd1e2184d9eccb6989947784503f98b997111a1c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 12.54 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, -0.3866, -0.017, -0.0334, 0.9976, -0.0212, 0.7929, 0.6048, -0.3965, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0009 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9976 right_x=0.2926 right_y=0.0007 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4154, 10.2222, 1.956, -0.0952, 0.1685, -0.2613, -0.3214, -1.3607, 9.9214, 1.9609, -0.0513, 0.0659, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG2a62s3qXk4WIt2OSefhcGO0O8ouWLLDQGiTwoflyFmpb4XuyliJf7dLdUWiLn6T070Odde0lXpqir762QGn5AGkIfynkP7qEnn5DuKY1cTk3IjCErPdkw9ARSnKtOin_fo0f8IJ2r7mcxmET-RT9Et9vwJ3n0h94Gxv3pIh-5XpJbrTpskUOqbSXn7KiI3REQcpVXxPPLRSbx3OOe4jYu-jxI_3RoqA_w7jNoFuQ7THmHZFT2SdEN1LzZNKBVFZxLcgGhoDFOXnIxTUkAyGx_qd_L2BABIVIzqiMPXGGFwWvKAb2NUU0xnFiLa-wf2gJGk6A1nPBcz0aMyaj4y60wPFC2aMx2OUrQiJm2QJ5CHGyrzS4J6Me2TzuBN8Gzl_HcEn-D3op0iwDSbH1Y1QwmfSxGAsmruLp9Q6ncFwhxOrDrb00o-sSeY_agjU430LRWJOXvX4DBXYNPPXBezHgXFLOKdWQUlhYZM0Z6TZlIXXKtHqBIiQ1WU4riB6BeWl_YWqkrV76ZIlbEE_-H4OXPDDcs7UfxvAytJ9x-TrzJugPvX5y6UvUPEJbMrFwbRSi5JcmrtFcjtFGDAxBN96pwfi4HqWqRnIzEdd5MAWQZTs83mTah-_RGu8tgznwEuGwyeEO-9_hCOu9C3unXkHx4NWg8_Mdk0rCnRL_RlS6KtflWV5-FVgpcHbqO8xMylI-VTEWDRqraleQrxifVFgL3z2kW7v1EU18v_wkPcFH7iwOtu7J0qyerKGY-OuOKC8AeMt7AkNeJcKvTIJKsje632HVqIXvZyyIn7tF71iOCLQG-PL55yNIAOY3MAT0ZvayMdCK8Nc0p0Q2fyAPVtifowz4MnkTI_AP70QalLOUnpK6u3FqlsgbqycS1mxcF3CTnWC8_ZSgxEePtL3icJG9p5ZEoOU0hWhfcBmqzFWapYfGMUeS2YGuIgYi9Dv9OpwTwTdaMYF2rkcIuxaeTvo68Tw1AZG6N-vfaAQIIqhPEAvNUl7FrRh7vHF8tsUxsCHzPppiSj7JCVFcEAbYDrBHc6Qa-C2XHuC37hDKP9PpW-a59_t1eMgdUHrs7W29DiyN-HMkUPvWsSHqp7j3p05xJ4q-Y1kCngFxQ7nCFFfP9Jb2oqoNNhfvDSUsgErIC1WVM2zkQsvBxpJumBY1KOxBUAnavu1PfL7_zx5JNGYrJSUf7NxsxmGSlMZSVLLJKjbtBKyhYzDBaPK_7ri734dt2cNnjKvN31QeqHRsxz0J2cqDx4GW1lk2EKX4MOivAMRH-VkXAUdYm9Yz3p1l2YoqupRdgEOoOyPhSUZbAmfrZYD-b26xUgg7p_Cgt04yEwGeOAHaqRxn-buymTzycielqKsxl8LAQmcHhp_GnWzI9vPB7U4TG_NjcrMQ5fM0AWM7XlFJ5UNm_0iRHn0R8-Vo1uGhr3rBrfMi_bqC3dAWbEbByBqVTW2XyUlIKZyqh9lGgJukMQ6C9zteafEBy79RoleEJaWkJ-A-p6kr7CoPRHTmiKONMdVWlzll8xMnVinyfFrja38pXU3-8bCbp_tG47pR6-AHZYTg3OIMx-6EhKBdyPGnlhBXg14pNbOPhIF4FNC7oEXUht0x9pZPCjRh-U3gxvmil8vTunOEOpbAIGafjxWmDMZptw7_R0A-QatHdodce9wJMH5iROETlvAADdvlY4P34TbgA2uDg3FmL40nC7-Ioh1aT8gVjB1xMSIBP1MegykHEGUBxwg85OZbToomANNsAuuHWoEXynmfvsgWGq6ME6S4xb5oxIY8KhrdQu3tCa6RuPXoXMXHwt03oe2mzzoi9Y6IjlB8bymRdEj2Xr3-4FDS95fAk9fd1V7PG-rMia4W2PiV-lltiOTt7kZ5HOQUz3_mbILQuugovOAtz3X1mOlHTokgqfi7lBcDSZASWZZgUKkbpoBpqBz3W0bulPMtXB-96-bpJdRf08NJP1gxGbSI6JyiB-08P_q2lP9gVnyqkbuZJuThmlOJYUTviaBi-RJixVz41a7u3Zw6Z2G6aSgfpGzxIA7cfTq2qOdZVIn8lBQeJx2fjDuZ4qn1mKs6QDvZYApCy-crflfvvfm11WfPh3S7t-A54YKHWHuJzqhz9R7fEAdq3PaOnxTRy4165Q2DMcirNjZunkRT5QB6KzSte8pJS_ugWm0ugRXgou0NMocaj4hukTHXTF6_KRQh5tv-EIJs7kmuR3dsQUG7WI6q4OCA1QYOisf5U7nJCaR3GAcqbJZ-cvOCtYRLevKxsjJpZNtL2jJSpfNA8Gwy18mmM29nuGkgXDI8CuZVb5LYHR88bPzP07_CYRZzUfgof0cByipgAAwkcWE2Q=",
  "id": "rs_027dd9824144962c016aac6d904ac087d0aae3a3ae16adbc99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.25,\"right_z\":0.085,\"right_yaw\":1.15},\"note\":\"The can is visible ahead of the fingertips and lies diagonally across the table. I’ll move closer and rotate the jaws to grasp across its diameter rather than along its length.\"}",
  "call_id": "call_iN1wA2o06bSeKGAGFTHCPWrR",
  "id": "fc_027dd9824144962c016aac6d98b4e887d0a30f652549458368",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iN1wA2o06bSeKGAGFTHCPWrR",
  "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]: [-0.0193, 0.8017, 0.6067, -0.4232, -0.0166, -0.036, 0.9971, 0.3782, 1.739, 0.9237, 0.0063, -0.3973, -0.4133, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0009 left_z=0.1703 left_yaw=0.0012 left_pitch=-0.0431 left_roll=-0.0016 left_gripper=0.9971 right_x=0.3793 right_y=0.2281 right_z=0.0667 right_yaw=0.9314 right_pitch=-0.146 right_roll=-0.0116 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.4154, 7.0359, 1.9463, -0.0513, -0.0269, -0.022, -0.1299, -8.7453, 7.9932, 1.5556, -0.4908, -0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0695e80cf241ae9678cede2caad5f2093c5c670ae447fc83f3aa3422612f783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0640f967b7da7d25543a90bb9df41fbfa92fa53f05b9abb03c3f66392cba1f07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0946fc48f4463c82883fb36f28dc5cb5e24c2b691a4696a08b4456efa33ed4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 7.478 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4053, -0.0166, -0.0357, 0.9972, 0.8959, 1.5623, 1.0664, -0.3679, 0.6773, 0.5556, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0009 left_z=0.1753 left_yaw=0.0009 left_pitch=-0.0202 left_roll=-0.0017 left_gripper=0.9972 right_x=0.3315 right_y=0.2429 right_z=0.1544 right_yaw=0.0386 right_pitch=-0.0505 right_roll=-0.052 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5111, 6.8581, 1.9121, -0.0464, 0.0073, -0.0562, 0.1299, -7.3094, 8.5128, 1.5507, 0.5104, 0.2857, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG2nUAsPgHIdYzxw0RjtbLqBDtVhiD3DdrtCFdfEf0rpMJJCGmKFb9r2GX0Sm8cGuW0-e9iUPhqrJnvwic1-85TvmZnWfLcBOA_mUh0I5R6STF-XnHOHxAPc7lh7WvPSsJ3F6qy5SCUeLd27rwsD02fijdyMpfJUtxw1PaJvBly14Y9WB-59SrOQYKz8KWneG12Ki3EPQNIb4nJGNnNMZDilyMYK06ZxpocbqoaOIn29yv00BCY4suBtkjt719jumLSwGgnTC_mLtgBiHuz9lJ74hXr4_8ACq4PyRsfz1tFopgEGNt6RwpDv6G8FehfU2V3V2ZEljGsj8HErnWfaVnZTAGmEXoLCVb56OpE9NWefsJBd4-VgJsTQKdU2LbxuX4jFDIuCFJqKB2jUeZr0IuSI1N8AexITsqZaF3bwr7z14t7Uz6Weakxs_xoBB7KVBt66y5SaLihE8I-QdawLzrSK6nlIYXD-bDyhpVtBiJMva7mvqKZ2StZkfh0WJTYMr8xi37HWG4_vhXGf0znyxOW8EdL8iZPErxJXxKM6UK5lpGofv2brZnaIuN-vA3ECjb1C7KyPyvOtcFT70-5tEVnQNvgne3syZLx3QPWaogtr7Yqzr-ff58dvrkbvwj1yp4bZ8P3m7IN1O0rrI_alQx1f3pqxIgJiTd2REyN4BPMg9JkppcDc-07473g2YnKbnGlvn-MQXqk5OVPyGlGjy9VvM5eI6ZceYYZgtXbqpbWHP9aVK-eAiVHMDvqLuO4j-qDsU-sKgTiWbWUp7mbvBPz3d5nycCJzV53r7lpUnUs9wKaA7L4H-EG77_wG6_PWwx_Q_jRlWUBpmuWNmsYkWovitJdGgkM4R1niOoWBXutVDxw5CucKx2VZ1GvnpjLmM-eJvG7vt-sxEPxQ1hc2BcuzhRZwKtg5m_NQxKVEAHVy_P2N56Nj_RNfVnOGyqi7m1q2e6Ka7n4X2fy-d28NWJdF1ns-7gIOCdQcFyx8KvEmBx0D24xL_APb3LsxpRVtoVCD7eMrolgtGmo5aTrHzwQ64N4lvD5fscR6Nc0nN5N1LEfpVElNBAGzcba8gJIh6NVcJGGFhbNGVG5suVuoUth-12DUaHrluITuDlrhliVvwUqfVfJt5rDrRu3GakPm0UxbY6U2uZ_WNWhMQ-zihTWOMqFEzPQgqxQa6ysW_fBIid3B3A09lg5Kd27W_US8YePm21b_7WMl2jaWxavnDBZqaWnPPj1zJqg2in8cvEonqjbVaAyn12XVvQkgMiE2ygvZgfF9GJ0Y66SNMKOF_MR8CWFatE26nBBRC6KtKWDIvhZK7-8xiw3tyHPv_T5nkHJgvIkzj95OQKPFXOnai7J-jiG4AGvfsVx_bGpPsPYCfLmVNRHH4cJunMscheO_3F4BQCeqXp7L1BE2w9gB35AAZOSFMy5NmQlvE8m7G5BuF8clPRN0U1-C9lb76GaXCWDTkdKIXCAnXNl0lci-bYf01qjftoFoas7XLO3KvVkRWvlnRYPIO3YafAnUGOMGZYOvP5N_5Xhc5LQMp3QQUh6TWEqlNEOSEE0vRVVZF6GnssOrWHjfu3LzttCSrzbOSLgh7bSFm6yc2EIkRcK0sctwt9kPixN--zRCOAnxwYjjWlqbsAuWje5fajVcBfZKV9OYkoE-p5KC6Ia4CO7go1L1aF-slX4GQ6EniT57TskK858fkeWQxD5Hk74UsFf7nwJqlBavqbMv38MMmZpWj5z0Na5ss0VxGSiPV-YTSw_-am2OZPHnp7AW_Qx3W9vTlqOUq6NRcMlaFYkrHG2Pw0OGn96VJyGHbKwk0vK_AytEcivSFZoqBD-Zl4XombE47A9Av__6emgaRLI4dWLix4Y1Q64ej1P9MUes4MqqVI8IOe8TDd40GCfXjkHhaD9NNdWcOPuV1bNKe2OR0mVWZMbcQMCeZDixAwXGpZZwqvGX1mMRkyjJ9MYZHKeV0OI9kdyWYCPTHhtGBl3YtMgjpLnaQmSUX79F0cumLOAUZtkyES89cL-4SoNPhk71iRqvrncuBSRp5OQJquid2VgOOztqPse2p7V1A_NubJdk18k74_K6KG-gSeThLvlwnQiI0d2l2FNszNtPqoOpSOSFzT22wIAHz6FJgFPa108J71wsp0cyskKwbFGX_9Y1sfKPp0ahnEIIGeAd1G4dHSRkg5TupNOe917NBf-tDf9TAlTekoqLMk5S9nlrErVf86JfhESJx8t0R36E2kQ7k--qag0XvElIaTg1Is--XogEOOwCvYRrKGP1ER2bjrxXAIeVDShdThiv90uTKSPHgQfWcGogQgrzLdLwa4GgycMJUA8DQPjril09tdv0qXoLZstTeV1G3CRDTSMGQisV-XRp9pxvOswNbwcgZMrKu-I7PZgpD-XfRvpNckkyvF3CGDBdgfDRAfpmNmkOPhDd0btvjm-h03ThlU8tuOL9KJjvry8pCWVbLWY-rAgEojVpcw7f2-TkmcgtpAcjGHZwI2mq_FO_EQ==",
  "id": "rs_027dd9824144962c016aac6d9caf5487d08f22768a9aa29dc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.235,\"right_z\":0.035,\"right_yaw\":1.3},\"note\":\"The can now runs nearly lengthwise in the wrist view, with its body close to the jaws. I’m making a small alignment adjustment and lowering to the can’s mid-height before closing.\"}",
  "call_id": "call_2H43cPFRqFVqt6MDnIaRrpVZ",
  "id": "fc_027dd9824144962c016aac6da5b9d887d0a78f3b8b9657b3db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2H43cPFRqFVqt6MDnIaRrpVZ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0166, -0.0391, 0.9971, 0.3344, 1.805, 0.9485, 0.0048, -0.5362, -0.5564, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.169 left_yaw=0.0032 left_pitch=-0.0492 left_roll=-0.0039 left_gripper=0.9971 right_x=0.3786 right_y=0.2308 right_z=0.0562 right_yaw=1.0754 right_pitch=-0.1189 right_roll=-0.012 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2923, 7.3368, 1.7118, -0.0659, 0.022, -0.0171, 0.0889, -8.0479, 5.7094, 1.6386, -0.2125, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c355cf656961bef53314ce1be23276c1821c980c6b835d50a36a6c57a2f06e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7b1ef0dc150eae3cbae843030e7a8e70275ba31fab36eaa17fc311739879b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334adcf773c3c75b1a5b2029eff492168321f0e9e2a68110e0e308b6eab91c81",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.661 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8017, 0.6067, -0.4232, -0.0166, -0.036, 0.9971, 0.3782, 1.739, 0.9237, 0.0063, -0.3973, -0.4133, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0009 left_z=0.1703 left_yaw=0.0012 left_pitch=-0.0431 left_roll=-0.0016 left_gripper=0.9971 right_x=0.3793 right_y=0.2281 right_z=0.0667 right_yaw=0.9314 right_pitch=-0.146 right_roll=-0.0116 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.4154, 7.0359, 1.9463, -0.0513, -0.0269, -0.022, -0.1299, -8.7453, 7.9932, 1.5556, -0.4908, -0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG2vcLE3Qzpn1hzLDZo7_JZ_cD6TGQdzZ0udvZ04MNR-F1JhfDG1dSbWfTRGwFmmRyTHND9ZC0SC9xbNHDZ-FK71RRRUGmtcZC5fPQAqGZS5qbyrVRkmL67QRN86bhJ-J1epSNqzOmmqZNJ4BOs_NLvLX2R4lwdWN8_ZtltFB5VkUZYIHYOpOoLujC3BVxOqfkPqrDJwlfBHGTrTsJRL1eQrSzTDgHxlOrCGMarAnkjQ90ETtoJ9CaURIajhDpoAVEwxC1wZPSqkjLiuKre62ojdes-MDKV-skxPs51j2OMGhX4T1k1RYvmQqqXZsDb8h1NzUuF2KLGt2WHsPoLgIfga3gxXCeUcT_dFIdXUm3SPeAMqZxEZuARTZbMfPvRF3S9oYBk_xUzlC3H0KszRZbJowbObWs8dArku_QqnAuj1OXulfDlBkCLNWeH-n4ZabGF91DQ6eVVLc0rwn_P3qoAARCW3_O3c6qptBiyIPPzovcEAxo1dsYN2W1F6s3FVdVpGBh-xKIdgtFMDbEyBUJlx-OH2tTjWDDOVj9ams6ktBI9mb56C4SOwoYtRir1eDtRoB2KwqPa4XkGGjBI7XRQ1fGGDz3N5N-Nkagq5LLmVzjOQS5MsfYCKXycyGkARqqCPE-cNFYE1ImII4a_BTUeQZ1XtHWRiZRPq56Sv-HLlLMEm-WTgwaSyngnWgYcBi4VGDeXCBY8p-IrwN-pKlvNa_lkObof30wgZRcIn7eDfUYRidgu3YJ3_m-JoYItCIsdg_-xTUSzD26Z-jQg4T38dsmhLGi0RTJ0nKb25dT2NfyrW69Bys7F1bVCpiXUprR_6VMYOsrUNJ2Kzlsy8A3R1DifFmb-iYVpskUjQW8qBHbvn5zt2UONoT_UQBRfFnZAglxrMRANnU2QYRTFE5aScC57bq4IHPvSZrdM9KrDAO4hNSrJolyaR1716iS-dZ1ADUOmEaw7c_Y9z5dk5LlN1Q02STe5803kBVbi0k3Ga_pnQXqB7H-yxVd4VKaEHDTDWRtUKizTe__hwEg3TPCIgHZ48oSdZeSWEDMIOXJt7aSNGQ-A-8aE6c8ELYVtKZJnzcHAdZthw2aHqSvT-ghVmzGSUEm95kMjUkkae-dY6LvQzA0LZK6bbp0jNqA6zE3bcK251qG3mpnQycr1i5VtSN9d_Pw4BKhYe7_C97Yu8kuFjo69CCyuXhm_S0U8v81_ArTbjwo8iry6wJAtkqH7IwyyVmL8ibAXj8DU_EMZL68pymG-dEjrK5geuhHJY7CKqwpATAwW4sd0a-aqY6Fhsx1bhMHxuKY1vg1aRAFO39SEpIQhMpjLwQiW-GaRNjHWgM_yFau7gLExGP0lNC_WcLt8sddPw3TkJM0xGPX0ZprzaJ4YW6uU3HfOYGle0-S5Wp1SJDmErC3DiEjsdYA_Mo9ljzfH5R7yOiypF8Gb9M43DGaJl7uVZVDuP28xAkExA",
  "id": "rs_027dd9824144962c016aac6dac36b487d08b57c612a406c5fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s body is between the open jaws at the current height. I’ll close the gripper and check whether it holds a can-sized width.\"}",
  "call_id": "call_ao5erWMBMf1hCgJHrzI4picF",
  "id": "fc_027dd9824144962c016aac6dadc8d887d08c59dde8e8aa22e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ao5erWMBMf1hCgJHrzI4picF",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0166, -0.0391, 0.9971, 0.3325, 1.803, 0.9501, 0.0612, -0.5449, -0.548, 0.0092]\nstate[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1673 left_yaw=0.0032 left_pitch=-0.0572 left_roll=-0.0037 left_gripper=0.9971 right_x=0.3873 right_y=0.2344 right_z=0.0666 right_yaw=1.0714 right_pitch=-0.0702 right_roll=-0.0412 right_gripper=0.0092\nstate[joint_eff]: [-0.253, -0.9094, 7.0906, 1.7509, -0.022, -0.0415, -0.0122, 0.0889, -8.5538, 5.7368, 0.8913, -0.1441, -0.0366, 0.5299]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77e7c545e7089f3241406b56163b9e92080bbdfa3e23b1961d07158a8c18e29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe3848088227cc4026b78ec1a0a63e2837b58d79f34977c75939400430e95be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6705728ef998a19ef04d87b72f09074876b7cc517b38bcc4ff852bf0f6c1e2a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.576 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, 0.8024, 0.6067, -0.4286, -0.0166, -0.0391, 0.9971, 0.3344, 1.805, 0.9485, 0.0048, -0.5362, -0.5564, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.169 left_yaw=0.0032 left_pitch=-0.0492 left_roll=-0.0039 left_gripper=0.9971 right_x=0.3786 right_y=0.2308 right_z=0.0562 right_yaw=1.0754 right_pitch=-0.1189 right_roll=-0.012 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2923, 7.3368, 1.7118, -0.0659, 0.022, -0.0171, 0.0889, -8.0479, 5.7094, 1.6386, -0.2125, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG219VTLKFsLyIIlBBooKBHGMhdKPWRr7at0YCtKa3LrVK9jk1-O8kMAQLqBQBpNOiizP4z13WfosP9o9dTpR0ZU1DVQrn_OtG1WfRGTpYc6lBpFFwoDYnibSsBNbbYEL79na35ZVZF2SV6r3h0mJqHqPy1uDHVq05gXNBnQlnGK-Du9_Xs2CATfLfPSp7NyohIciWVlYZCOCDP3UBZbeIdaKuzdEl29RW7WCJg7NjxguKNGrnqtGDZFQ0P-gZjcFPPz4vxIedFh3FvJGMpoV3ZsY_32VI7ENzcbZ-gKP8tbUeyYEsBKFSZEtkdMN5qcFkRPoem3elRMmFp6C3tiZNmgfkOi3gsefEfh44Ezb9z0-9TO8F1xdw6ZuHVJHLrE5bwuepQF0TYIs9WLS8mZUeDKe9f3RYYspyuQ47GqKPpIzDE3bqqz2oxxTTwfk4CdM_Xn9GqJQjV-flRdpbpavA6yfKDe_eHg97ItrefXKId-RgPHhqvyBJApJ-o6KUy5bb3mnv-hUR_gD5nQH4A7WeUC15Ev_tSUf2UNJAM53pndSpVuDDge79S9Hwx2-GlTOzQlVzpkZnhXpAKzWIYAGO7wgTF-opylp_n8murtDMC1UPDZQBenpPnE-P3ffiX1oRvFcfJlb-E8Bq95V7cxiI3BVSjsUp21IPxHMi3UDaVi5mp8Ag4iV2Q3ffgl4xQCNxqOo4_qOMyFrOeWhiGhOjeYoZ1Qxe5qkfnNeaX1bpJUcfYEPRXP0HExUmKlHBaanS_jLAixb8etuAwDK5s84LVSRpFERSlEZDda96AsBoA-8rEOwss54sQyodzVTLz-O-5RoP7In1SaPChBjfTNrBIRu5xP0nInV0bsALqBMRM6URwT7IucgFgao9fw_ECGnIYmVkmFCE6XtuIlRS9KZu4CypwdfDQrIlkGWyYYj7W0MK-Wc_q_VeK7qKArOIX4jfcUvQyfi0-VtGJoQjJrSZF0f_8K0LGYDDqrq3Hs3tAm9Sk2xa0tMhX6WG2C8fZfd-Am9CPgtlJczipO-rAMjIwciO7HDSN-QuPXs27_kpPSNX3Na926PtndVdjhTEgOH1jhnmdSUZ_PRC7dKyhtnrBKFd5NjvhXZP4UPDXLoTbGaZoJiYMxceSsb2JscRUkDDtP6XXjHPMzl1IeWyvksMjnnTqp3y_h3CWWOGI5Y8XRmCVWRTqRJe-HRTKS0K858_4nhNuW9jK_InUvsAnwnYCbA8ce92dLWMNV_X6ZQ6TDCkWDCDQjo-uhh41GcJrZo_zpB8Qt2q7XF3J6jKagTmZTaaBA5OEm9l7uNJJ7KoMWQYPJjfmlZdBgs9cbDY_fuYOByjaLJLk1Sx3T0boKawrzSA==",
  "id": "rs_027dd9824144962c016aac6db1965487d099279fe7cf19ecf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.412,\"right_y\":0.234,\"right_z\":0.025,\"right_yaw\":1.1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The gripper closed completely, so the first grasp was empty. I’ll reopen, move a little farther along the can, and lower the fingertips for one corrected attempt.\"}",
  "call_id": "call_jj9Ryutn49kUjiZFMorbF7zn",
  "id": "fc_027dd9824144962c016aac6db31de087d095aac6f40f57ad8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jj9Ryutn49kUjiZFMorbF7zn",
  "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, 0.8356, 0.6334, -0.4797, -0.0174, -0.0467, 0.9971, 0.3046, 1.9495, 1.0107, 0.1734, -0.5884, -0.6006, 0.9946]\nstate[eef_state]: left_x=0.2867 left_y=0.0011 left_z=0.1621 left_yaw=0.0077 left_pitch=-0.1068 left_roll=-0.0081 left_gripper=0.9971 right_x=0.4153 right_y=0.2371 right_z=0.0448 right_yaw=1.1037 right_pitch=-0.0318 right_roll=-0.08 right_gripper=0.9946\nstate[joint_eff]: [-0.5949, -0.9915, 9.853, 1.8974, -0.0952, 0.0366, -0.0171, -0.4991, -6.4205, 6.0513, 1.0867, -0.3199, 0.0269, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d632be10c7321bb092f2d1b6ad7dd9f1ee5f187def5d684cd928a6f3db9b0a40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302f8a517d5583a8ac0c8bb8ee2b4fc9f6da08bb3d8090fe6c199d8d6c93baa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e69bd38accdb37c42c9b111d9f90ec076c787b44ae1d443feff7ff01da879d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 10.06 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]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0166, -0.0391, 0.9971, 0.3325, 1.803, 0.9501, 0.0612, -0.5449, -0.548, 0.0092]\nstate[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1673 left_yaw=0.0032 left_pitch=-0.0572 left_roll=-0.0037 left_gripper=0.9971 right_x=0.3873 right_y=0.2344 right_z=0.0666 right_yaw=1.0714 right_pitch=-0.0702 right_roll=-0.0412 right_gripper=0.0092\nstate[joint_eff]: [-0.253, -0.9094, 7.0906, 1.7509, -0.022, -0.0415, -0.0122, 0.0889, -8.5538, 5.7368, 0.8913, -0.1441, -0.0366, 0.5299]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG27GPZqqdSY_tl9gXGowKOWEJCjcU7KJwzZYhpPaa0JQEW7GAH3J30vHKt4wV0y_SdZv3LAOhEWglAmephUvq9zw5tF7OkpAjWeMW_96iIy6Jepp-M9tqMHB8sevMp2B_QNfrc8xQqfso3nCaGOJP0EFYcutxXPs4K1vt8s6bzeOt4M3zbYrEAw6j-tYOJ7rkFvnOOO7KY7XxYCKt3kFPOCpcPq28BU_ZesUtp7RFb2oAQV0Hwy_vYpgfMlvMQ8CUjwgneRY0Zbs00Z3KGACSOJytFFfKe5NpRVcidqtRhZcKUYQid9bgAGhZAx3CKJ7VvfCZubmcs9c3DZ9x7Gi1n1_KHVTux3OT7FAYCmtcXZ8huQSLhS3Ur6hmbrUI-Gbz9rUmmvhyHGag-9bVlh8NsHxEQ1FVF81yL_r2BJhgZjwP15KjGlmUtPkdM6qIK0_hEzN9N4RHVwK69TNVOXNFKW9K0cVDawgzka8Rwu5DohcQDgD28JNnrGHCEASwjQZ478-a2x6jwXPhPn3OkMAVRV3HkXlB1XSQ2eM_WTi5jxh-ymmpeJaNrADNVJcite2Swf0yTZt5PQ00to0T-Aeq0K8faRI8wSZ6Q9uQwbFE7-H5CttUTGDNodTlrbGM_S1xrxj1V1EIr2Ki_xTTIaNa76ZRyrkAA7pacsP9KD74Q7iDofhs_zhkIVLXaU1qnvwnnzK88cLfhROq2KLQU0jGB-eaW40TOlKfVPPr6qZuNEK-4rb0avMjjkaSD7TlhBsFuTa-k4jeM44qWIl2FGp829H_1YobY-licLmb50UU1pFy3I_WhhaioCCWbvDSkh2Rc8LjY0iqHrQiTYSEHNsHy3myghdez9GPqQIl9myGHvgCwpo-U27QhgB7mckG14cOC17wJGtKV4MvlhklKetKkQ2JFFMAClQnx-IsX79KIio1pNNNbguhCS6j04yPUTN9aOxY5pHI914LuVvWU8oQQK6-_qFUCcc845-Wf69uGBO6-oFPZZbRbHxEWxIYTjh2H8N6qXm7aswJDB-1xKeEOLdsmqYacAKlbflGH0pjUYUQfYm8EWHRSOHNhH7W9yufDtZA_i2G92bC_7KxaWes0292BGoECfTMflEOJ6ob42m1DZPSrjEQAI193xgRV3bYch0ecrkEZtCkGxh-NpW8jY5MsvCAgbgeM1QNXEyb5bv859j4QGlZ6wZhUf2OG-HCe9gXWXntxo2pzBo2DaCKwsIXhqhkUBS3VDxrdgDN8i77eZQNdpeFyjxZlRhTWwq9-_ti8EN8KVGV-73WUXtOsKsDqK3DUbZNhH0qnE_awHgvFdteiQM4Hi_Pn-5dMY6yK_nMd33WOXEikqUL2iWsrosXymomZLhRO3zoCpPEeuwSJe0JZFjcr6WdkSy64YKoTT",
  "id": "rs_027dd9824144962c016aac6db8a6c887d0a37c59962ce6513a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected approach brings the cylindrical body down between the fingertips. I’ll close again and use the jaw opening to determine whether the grasp succeeded.\"}",
  "call_id": "call_uvhDL79ekTJXecprBXhNyIRU",
  "id": "fc_027dd9824144962c016aac6db9a98c87d08a8527ed73d48b87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uvhDL79ekTJXecprBXhNyIRU",
  "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, 0.8379, 0.6346, -0.4965, -0.02, -0.0471, 0.9971, 0.3016, 1.9377, 1.021, 0.2409, -0.6224, -0.6029, 0.0084]\nstate[eef_state]: left_x=0.2843 left_y=0.0018 left_z=0.1588 left_yaw=0.0106 left_pitch=-0.1247 left_roll=-0.0062 left_gripper=0.9971 right_x=0.4249 right_y=0.2438 right_z=0.067 right_yaw=1.1278 right_pitch=0.046 right_roll=-0.1316 right_gripper=0.0084\nstate[joint_eff]: [-0.0752, -1.5932, 6.9675, 1.7851, -0.0415, -0.0464, -0.0171, 0.1026, -8.8137, 4.9436, 0.8864, 0.1148, -0.0024, 0.6178]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9668ab3e20e81523ab35e19784bdca6c054b6b7d36f5d03664bcdd572f7b6d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e72fe2f48350c5a953118b2acf05d91ee75a76fc62a20392deccd7a571c3c96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2776763df143b97a303505b9cde96566d1843c9ebd5e5f683237e61aa04205",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 13.19 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8356, 0.6334, -0.4797, -0.0174, -0.0467, 0.9971, 0.3046, 1.9495, 1.0107, 0.1734, -0.5884, -0.6006, 0.9946]\nstate[eef_state]: left_x=0.2867 left_y=0.0011 left_z=0.1621 left_yaw=0.0077 left_pitch=-0.1068 left_roll=-0.0081 left_gripper=0.9971 right_x=0.4153 right_y=0.2371 right_z=0.0448 right_yaw=1.1037 right_pitch=-0.0318 right_roll=-0.08 right_gripper=0.9946\nstate[joint_eff]: [-0.5949, -0.9915, 9.853, 1.8974, -0.0952, 0.0366, -0.0171, -0.4991, -6.4205, 6.0513, 1.0867, -0.3199, 0.0269, -0.1343]\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": "gAAAAABqrG3GIcT8-FZ7G6GnofMGuWis3adPtfklyQrt-xel1Uo5wP20QZJN7Oc9DNNQMypQQScIgKVGWCV21M7Zsrb_3MEDw3XFa6KlAy-Ob33vDFg9hB3BGAScMaHMPtxfsCDCRAZplJ2eRaLC3CqLUDQp0TV9AH5yBjmbQ-nKzrtglEDZm-zdoSC3ydgA0E_sFRkWB4qM8Dd8QYO2N9__mAgI8mqQxsGodmCzsRNWguQrKnhv8XUa3_5Jnd9KQsWqmS4lt4XhQVHRd4CuEuezJeu_xOJWc9eklv6sHIa8yiYm8Xrblud0X7jssRFMjrZcKY0LlUPiYpENqb4_6Vo-PRaytAAqTe1pPuayJPAq6p9ukHRWFUESp9ZcVAccmdemTIV_vbHeABtsRGlI5CH16Ppqcwl83whVnuBCNgi2-ImMqnyOgqmrWgGYC8gUGyv6McsjzH3yTPdJA5ZPxhzXHBfbH5iUIcp_aBLdJ6AM0ZDHalJNUaYl0mPTl4xReDxwrwNvnXucfUR-I3NX7qyJ9Yx79Quu1ygZ3gWBV8ylNeZ3LwqAlRkD_3RFZXJ3BuE6dsOEqqVX0w-RMPfnowqOu6p9n7reg3O7LuWYkfkV-mIZKCSRbRt_c0JU43kDQ-zx99VKytiHbsnhavHfmXeUyiyLEj9G__-q9BmjnrxXWhJdHfI1ezMPhzbPjvDMwG1NfJA70uAvUV5NridhVJ9s7d7CzejbnSMEs7VkDpFwTsykGaJ6weHoQPXk48cVgwa2UOVtgnPIK1ZVsVsEaDLzg3B7DBX1jD-OaegLoppoHadYLnrGBAeZ0yKkAuhx99YwTvmqQpjDFsho-OBOwmNeOYfb_RXxhLEa3G3JwCUtEgrr65_cm0Rp32srcX-kqHIqh3vzcXmYFCSg6iSUtyE2TDhO7OOZEH7UbiVKyHVtv1f7hn79cKUVZLcMN9zpvfQ11RRx8SGLxfjD2uHrDl9S-74BvJm0RFCmR-FZBzV5c48_AznQ20b1EyLgUFookeDQKZq_IHo7U_IVK5M0bnP0TemtFWHPo8FfmDEevjqmMTU4jo6qe4VJFclIux9GUzr94NaXmd-AczhMo6HTvv8eeckVDZrRe1bjlhueyoWowhHD5_DNU5uD50BswuA-s5xrzgjjFcVx-C5UV-MqI1-Zenu-wZQN2DAOrqkfjOa8JNHlPyoPW1qesEow6yjx-iM6iyMsHc_Jdx5Mv6x4_Y3tC-lR5qO1oQrC-HLPGG5PpJEVnpEPstDqMlZIvL2vmDSmC6YAWSjJLD7k0J96qs5g7evs_k1cLHfXEoZZseUnh5b4N6o22sXQWnDPcFh2StgPWNZktEM4OMwL7quymYPTLBYRnbB5RdCZe98zjVHtlMzUxmjzJHBICSyhltQ1_56aACk9aqLdiXida9WnJ2YkGntpdSllsMzuN1Qq8Mp2e482AHQ5u9GyaJ_vWB4hgi2LtE2rQH8iVVN5vGAKE99Y5v2X1Ystfb9T8xTFD1drtZjW3oYdnVgfch_LgME9YxIMwyrBXicB-duFIdhvqem7neNfqGUr832iToV6gbQWtJNF0pGX6WW0iqO0HUVXJ8ImqjGJfJTHa1FnzpuSnE-DhbLF4dkhkgZzp2dI0Jz2epFew36w3JEo2qinEGj_1WXju5KDvARBT7g02ERAPhV14KPLaPQSkQOW0NOb2zM4aJSbzrJteNgF2indGUoyNzq7PRAwl-2je-BzQrSrAjvLy_ubaZkDGA==",
  "id": "rs_027dd9824144962c016aac6dc00a6487d08321e03b6e55bb5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.06,\"right_z\":0.2,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The second close was also empty. I’m lifting and moving the right arm aside so the overhead view can reveal the can’s position without the gripper blocking it.\"}",
  "call_id": "call_OHVMoZhTpAmII6Xa48yDuZsE",
  "id": "fc_027dd9824144962c016aac6dc469c087d0a26c6f178a592ee3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OHVMoZhTpAmII6Xa48yDuZsE",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8417, 0.6346, -0.5171, -0.02, -0.0471, 0.9971, 0.3832, 1.0004, 0.6807, -0.2977, 0.3115, 0.0193, 0.9962]\nstate[eef_state]: left_x=0.2812 left_y=0.0018 left_z=0.1539 left_yaw=0.0107 left_pitch=-0.1491 left_roll=-0.0055 left_gripper=0.9971 right_x=0.3187 right_y=0.074 right_z=0.1764 right_yaw=0.1058 right_pitch=-0.0066 right_roll=-0.1517 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.6479, 7.0359, 1.8046, -0.0562, -0.0317, -0.0122, 0.1709, -3.4667, 10.2359, 2.0488, 0.3199, 0.149, -0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f074492029b2726c43fc6195ff9ff31ce1e812fc8f74f8eb6e22dbf4e81c27da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef07508294832486cd9320639f00e91b3b4af92c8d69e4f4746b41977ce4432",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a10539f4fad497dda65ec693e769726fb978d7cde754be29b677e243e641155",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.158 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8379, 0.6346, -0.4965, -0.02, -0.0471, 0.9971, 0.3016, 1.9377, 1.021, 0.2409, -0.6224, -0.6029, 0.0084]\nstate[eef_state]: left_x=0.2843 left_y=0.0018 left_z=0.1588 left_yaw=0.0106 left_pitch=-0.1247 left_roll=-0.0062 left_gripper=0.9971 right_x=0.4249 right_y=0.2438 right_z=0.067 right_yaw=1.1278 right_pitch=0.046 right_roll=-0.1316 right_gripper=0.0084\nstate[joint_eff]: [-0.0752, -1.5932, 6.9675, 1.7851, -0.0415, -0.0464, -0.0171, 0.1026, -8.8137, 4.9436, 0.8864, 0.1148, -0.0024, 0.6178]\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": "gAAAAABqrG3UctMUK317WCIkkWPfQEOm9DPCWNopL-FYWl-E2W11rhVkOpnXg9rRU6sC_SumjkMPXRlb14efmxO8R5kouwEtchM1i431SHAmODc54c0gVLSZy2WgUlAckWgL1t5GSVrtIjKwA72VsS0XgkQmgNVMbYMcNjVcuUR6Wz9nK0Tjum5IC1WyAQshgL_Vew3R-Ozbz0Vhp5e6nBqnkDOij2DDuhNk__g0dUw94TN7gU0PO1uuKeTyjQEmxdtTlqs9e7_u7vDcDvUmRjmF2JnchW4YtqADaoFakWLdCD1EhVdFhywMY2pAiOtxuZI0o4bncpc2bKSD5Uv907kXUjgx1npoVNZT2sffs_YkTWQMjnWjPHxEeaoxa_pdQhCcfzVpTkYQjwyyTMWcdcmScMjr9LS8KvURDgmPjfakVmjSLpLRWqZ-BB_1cIdGBTyMUSSwHsmr5CcfxAkXjxweGOQfYFiTAvr1KICvLO9CE2mQ5Bdvvlj5AnaqdVtgs9_kIavr1Mm9d-eA0EAhdvs88YkEET5yjexK8SDznmQjE0xvpYovErmcC-PeF8svfVTIDvx1pXxtXWEN-Fpn684AK7w4TXA8m3mZMG7xqnF1Y2urDP-kx6zkMfdVqk51O9b4l-Q5pAEfQyOnC--lgd1ya-2eJ6gPYHeGFFKCvSausDXqahEB841AhR2TRYRBz76Cdt2Rmx0LUwDGEhYWlTl0Ni5nRmn0ufNC8tLBSH5cbxof605ZzBFKY9ZZDJ5HwMUndDvPndJKN1dyKKmdjDPSeZuY1pvy0Po8_eyRi0_V-6ePcdCiULBFrrfqLAljmu-f2IXqAS5qmc9S16fXnH3rsIbmVgAOaa5EyLoxf3r9GYWLyd6VO38KqRIUff3qw56xvy1cjAgXnItKuPXTivoWpknqSzA5vWvuvukx_mgXTD5wCgWCluB6wNY1rhln3WLum-hx9VpgZa_GvvwAIDFfdZ4dkwiWoJJYW_bH2DOtfQbXgspUGODI7eAzLbZYNQgLcSRzEtGjtijCZdoE_p8RJNuI4-Z0hkcRFl8PJCvrWmZ8oBYdcEMJuksn8JEheKyoj1Bt_EDZNuHzuF5yLUrwwtH5wdcmJpmOzk7MNWQWMTjgHfCSoLeOdD4PzSA1q_X_it0lGL1-auP6mM64vA0rJcI1zmXXg--TfEJRB6gc85dAvMR4hTu1S-F_WQUcbMFhnfJcfb47zsjnCnUEi59q8eT4rPJ0Uz7aGs5Pm3q_xr6-tOY5MI-lJbVoOPLiCfVbO9Si5ehM7N0R6GVr4k_G4TvdWGePCxdmSKySirYbLmYj2Fn97-_JQzO3DpECPY4gVHGmaatANYlPVDIXJa8O-5X0jQDnbAsOUec6prH7fYpQeDH6QxvGO33nrEu0qUwhBB8TdQ_qQ9z8Jg5aK9LOResD67Spk7xnsOVePHTfXnTitNFKy4jCqX8SJpQTjvkEnVdiGWkjvb7zRcESK2s1xHnHMsktGIYP8MG-Za0B2h9yAE4JexQtGRtZSO5Z-RpzDMr8qhCbMGpckqAUN_Azivi9dKYLfji7mWCw4I03kGIgFvBsre3165HcMoqQlpunCa88dXgMQTL9dASz9a5Pq7mkWkU68JnqQwZTOuksm6o_Oej5zOpxICgYvFYnUi3qRIJrXgMeV_LyA0Ue_E6NvZpSp57-WsqXkgac7cNsQ0QhuahuaW4CAmtAX87VSuFHLk3RCfkn4Gj8n4XRft8vJ8EVvD5kj87lH0Y_9nHbreYlqRlbTPwfrUs9yrJgHqUj1fT2_bsl-QmmXibYLWCoiflgpsSrmOPEInPVQQ8wyzx7qwkMUYj3_-nKNkrE0yoUGCRc9fMW_dc1o7wIXKU9AwjwSoqTXp0f3rsVhP_amf966F5GM4xXWtYZ3tINaKE2msPuk3Dbok303ycUUrItKnQd3ufPCEXpz1OgzYIMFu3lt3TxmeJ-55rFCIs3u2m_XXfPOPCW3P5TgBWCGZ4XkacbXpAsiGP8APXk5Hq1h4OoA3cfc8yZhVktoCt3qpYrRjW6HHe2BOuSI7fUQ2NE1AWlMnWhkUJgLyWAWb_UkCYIFDPYDUsdPdF0HEHWwcetCRXU7pXN9dTZam00PqpZRFiF2X0JsMwpOWc0JzxeRRZrG0nugQqbHYyzegKGsUzD5W0-X1ZV_s-hm48JXPOIKwAXfFvhW86yEZ9UGFHCSePtljyIvFZQY7QY8CDG0iSpzEDBtM06Tw4NF_BghfOQ9n6iEh4hU6KbgzgfEmLqM7fiJI4ZzktzsQh84Pw7y155Xs95n9FQLsklskhbhqOKJpyYVmvDD3ykcYDLXyHNkYGm2mclHvYFSILMX5W-YjrBHs4wxMxV3QfZOYEQMgV44HDHJenktv8v6gudqcgEuljWUPV0956-6AOHvpFA8-UoqKb9dP5pcbMxNqcLvdp6G0121cWxUwEqvwM_p40XG8uV3HBVnUA=",
  "id": "rs_027dd9824144962c016aac6dc9805c87d0b3dc6c5ad184d6d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.255,\"right_z\":0.12,\"right_yaw\":1.1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"With the arm clear, the can is still on the table beside the burner. The earlier grasps were short of its body; I’m approaching farther forward, centered on the main cylinder.\"}",
  "call_id": "call_x94btSNn283YCS0gHffkOVEe",
  "id": "fc_027dd9824144962c016aac6dd2fd4487d0858c273b6f711b2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x94btSNn283YCS0gHffkOVEe",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8471, 0.6346, -0.5377, -0.02, -0.0467, 0.997, 0.2958, 1.9511, 1.3277, -0.1341, -0.5789, -0.4908, 0.9973]\nstate[eef_state]: left_x=0.278 left_y=0.0019 left_z=0.1488 left_yaw=0.0107 left_pitch=-0.175 left_roll=-0.0044 left_gripper=0.997 right_x=0.459 right_y=0.2447 right_z=0.1132 right_yaw=1.0272 right_pitch=-0.0282 right_roll=-0.0004 right_gripper=0.9973\nstate[joint_eff]: [-0.253, -1.7983, 7.0769, 1.7753, 0.0122, -0.0024, -0.0171, 0.0205, -10.4957, 7.747, 1.3455, -0.486, -0.0269, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748748816cbfc69efd601803ca7aed2101ced36b80208c3d022ef73294ed9123",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38292de3f71428868435bf3964c130e1caaef272eab015db30c5dd9015ef24e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bff608d342372311ed5fecbf7e4abe40a77978cf8cb7fab4f806c5ed43f1d5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.834 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8417, 0.6346, -0.5171, -0.02, -0.0471, 0.9971, 0.3832, 1.0004, 0.6807, -0.2977, 0.3115, 0.0193, 0.9962]\nstate[eef_state]: left_x=0.2812 left_y=0.0018 left_z=0.1539 left_yaw=0.0107 left_pitch=-0.1491 left_roll=-0.0055 left_gripper=0.9971 right_x=0.3187 right_y=0.074 right_z=0.1764 right_yaw=0.1058 right_pitch=-0.0066 right_roll=-0.1517 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.6479, 7.0359, 1.8046, -0.0562, -0.0317, -0.0122, 0.1709, -3.4667, 10.2359, 2.0488, 0.3199, 0.149, -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": "gAAAAABqrG3cOBkst75SIpjRfCtogVkECqO5iXS_jhXFhdT20eRKQ6CdH1ElFuMd3sKYoLuK5qilyx-hkWaqyLc7MzaKVNW6ZRVSyZP9b0gAWZ1-2vKItZECV7ibOBhFNk5JQi-AujfGHWNioCHGZkUdSqW2OGup09Bv6txLpJB8cJ6El3IyvSS1p8WlEmRYtAT3N_LCdINS-NlMzmP2AxgcpgFYg6-NtDNV7rlp7sGP5jtHqGOnMmPaZ3-5yVf_IIQn3UOWfPmvUZQpNWNXTeai_J6bQxA5AI-QslJ-D3cD1M_gVC4I5iGMnBIzvLKgAINUNj_m516eWovVjWKrSJahsB1uRF0LVtAKBTcnI3v52CukHdifyTX5UOuebrZcVhZNHHStgYUK4KyUEQUx7hchfeMR0RuU91znGDX7i9SzUBdwlCdxns2AYWqEjMJilcgYTpHRMeWKk-_h7fj8DdEfPBaCWbGGpc8z6T7hQUTcHHLJI4TFz0Fnu0U0PdTgU3QvTS0YynLZVEQsCJ7is_P5SBWtYNdl2SmBwODxx6UWSl6mCNJAKhGTZOWxKtww8yhqoljrFBV1LhTZpJHTuUFgJx96VqTIVS3qhQKBe39ynkoLiPhZPuVWOLvGsRnUihp-TbGb7hiDE7gv95t4YxfGpl0shcJGC4BD8XPHylCxvjHuF23DykxIHTQvDLI6f41J8dsVtUKIejpX__eRZRknNXn90qNpUR7-IFOSDnXKE-gXI3R7RsI93gZlAnrsmOSZr8CqTpPwy6MCF3ODPtIcTM7ELjYtmp2jQ8FMQW6konqg3-lf8vL97EDkyyR6ffm9zl5lJIkHUIXxLSDO8od2uFwclTRIB27_Lwknk8sqPCY4dVKxZsS2vEim616inUuGf0OgThc-GDqEPjcppVwamhaVeMYF2kVnbbNJxfzHNwGPA6rm2r0aLZ-lg46bikIliVEcqZslIYrrqwpRhWBtaADJblfNSCXutlsOx1n6AwF4h4zwx4aX25Fqj7L82TPRfZEH2gX6RC9iAS_i84RgLkHDMZz77SQudrSZGNk6XSaqaXupaQnMJpFDEJOsiwd28Y4NmValVTuznPru5V6jVdibhGgsYXzphNxFoEiwBHVBwJn4Mhmoh6JIdVGSEOXk9jo6mLb9XgETKFPqnagq0YaE9Ds6HwThn2Y1sa4mIhly5ySaqiZOXXQIaYouF-8ZwiokP4bktMJtUzxTnFspacuVE5W8pqJRxyTDr4IQAsOQt8aw1aM=",
  "id": "rs_027dd9824144962c016aac6dda01c887d0bb1c6fdf088f87ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.255,\"right_z\":0.028,\"right_yaw\":1.1},\"note\":\"The can’s main body is now centered on the jaw column near the bottom of the wrist image. I’ll lower straight down to surround the cylinder.\"}",
  "call_id": "call_6slXp4HPW2M19fBtiOAaRavB",
  "id": "fc_027dd9824144962c016aac6ddac99887d081742b1c90056425",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6slXp4HPW2M19fBtiOAaRavB",
  "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, 0.8482, 0.6346, -0.5541, -0.0204, -0.0471, 0.9971, 0.2943, 2.1204, 1.2846, 0.0521, -0.6254, -0.5442, 0.9974]\nstate[eef_state]: left_x=0.2752 left_y=0.0019 left_z=0.1455 left_yaw=0.0109 left_pitch=-0.1925 left_roll=-0.0039 left_gripper=0.9971 right_x=0.4645 right_y=0.2526 right_z=0.0452 right_yaw=1.0896 right_pitch=-0.0248 right_roll=-0.0026 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -1.4017, 6.8581, 1.8144, -0.0415, -0.0513, -0.0073, -0.0068, -8.1436, 5.7094, 1.2527, -0.2857, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b63ab276c61f611a4c0f855ea888bc565776f257b09f5af65c3a6e5354a0fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e998cde3a37f5a63002d06eb163b223e8fa7e62129179241a932bd5e7bc9993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e729c5a51426493fa81df462fa597846f03662aec95e10fa88a9262b5267cc9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.915 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8471, 0.6346, -0.5377, -0.02, -0.0467, 0.997, 0.2958, 1.9511, 1.3277, -0.1341, -0.5789, -0.4908, 0.9973]\nstate[eef_state]: left_x=0.278 left_y=0.0019 left_z=0.1488 left_yaw=0.0107 left_pitch=-0.175 left_roll=-0.0044 left_gripper=0.997 right_x=0.459 right_y=0.2447 right_z=0.1132 right_yaw=1.0272 right_pitch=-0.0282 right_roll=-0.0004 right_gripper=0.9973\nstate[joint_eff]: [-0.253, -1.7983, 7.0769, 1.7753, 0.0122, -0.0024, -0.0171, 0.0205, -10.4957, 7.747, 1.3455, -0.486, -0.0269, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG3fbtdCfBhuQes1awasaWSOXCl4Rr1RMxAWQoUGfXC7sV0L8v81K2LjC4qvkr9dANBbrNhqhg7yG9fKVdT9KALPk09JTS0vvQA-UKR397oBsR-zQpsOJUBJplX8UFw7bbZXxS73b4qEai2o58x2Ah88Vp3x_L8dpMFdSN9sKh6esj7BuSucdiCfL7lYLNJupN6iqtAGcwvlMM6R8pZVlae9cvh5yXUZoWMs0M1d0VCSfzPHxYatuUy1jxYLjU3ptvxN7aWzobeKq763iyYAzzFFbmmTnlPogppjjljqJ3EAY3zHH_8trHzNdFzkKVGdbnJg4Fucmc2IakqLNxt9cj60HXpQCezMpx1fSmlOvVMBLrrO2w4TLfKiKdeqANWHKW4RXT_kslPO2B8b3fdnsmIXCPE1cnigpidpSrOiBhg-7BN_SO5xkfuEmghWFjcf1DoUJgQLUn2wmVUwJaJ9nqKpg_3yTnocJmtapUtUGkyY2w1oG3whcsaMxx7vyxuVV9RpbzLDSjbqLKkSoqZ2-P1B0gJ66FYTzGc--04GNrbbEqnkCGVKobG_uWVzCVgcYkrZhoG8uGT3OMdhtwdofjh9yL30NcWJuVle9lbrKJXQZi5xuQpKLl6fYBDqsRu0d8Y9p0Y9ybLI7QtN8itrg8ysV4T5-AaMaK4lwN5uADU70S-iEKXOXvAs1RSMhD5VILWF4_y1Tacfgy63uySldIoTfCZlv4Uhj4ZuRJGtaaFoOMH2Ca5c1ZO_vpInoLHWzR3zWxnc4dyBSZQX7YNPgc9bulQo5Ky2rICc27MyqfaI2XtGLefrkhIXUlkMSNyIvRjcbKbirAppndcDGblUwmpjoB9i7i7R5qb0L74zSykna53ZwQtkNhvjP6qVDCRpwOvD9F7dIC0tV4w1CgGHPXxRkWcPogatSDoQ2JLE5gpuH6uOyHamXCV07awao33b_5TGUHtG4L3SaiGuMSKPGn8xpdxQzOXSoQSn8F8hobMT-elsIQBHZG6C1RM-qxEfP_FXTnO5E0uCPBgPobFnjiNCZwCy5CDjd4hStQnfl4VGBgfLYjGGoxp0L5bWsHA1LDz9hDwX5Y4foSl5SFaLgbKpPTdvy9stkpgP7JgIkFVp49JzX-wGokms4tRFivwKJxm37efh7E2BSedWqS52hyKJUdwYQ7gJmMEpWAyhr-Wupcq3IkaGPTK7qPOjVVRuY_qP",
  "id": "rs_027dd9824144962c016aac6dde8fd487d0bb554241e94a84ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the can’s cylindrical body. I’ll close to secure it before lifting.\"}",
  "call_id": "call_sL1zyXTpuIoA0CqBGXNxdepd",
  "id": "fc_027dd9824144962c016aac6ddee23087d0865267cc5ec7dbb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sL1zyXTpuIoA0CqBGXNxdepd",
  "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, 0.6346, -0.5629, -0.0204, -0.0471, 0.9971, 0.2951, 2.1063, 1.293, 0.1223, -0.6704, -0.5503, 0.0082]\nstate[eef_state]: left_x=0.2737 left_y=0.002 left_z=0.1438 left_yaw=0.0113 left_pitch=-0.2021 left_roll=-0.0036 left_gripper=0.9971 right_x=0.4717 right_y=0.2618 right_z=0.0695 right_yaw=1.128 right_pitch=0.0607 right_roll=-0.0543 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.4017, 7.0222, 1.663, -0.0366, -0.0415, -0.0122, -0.0068, -10.4, 5.6547, 0.779, 0.1636, 0.0073, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20be169767c55f5b7390b98295045d8b0f890221ac167219521147fb008edb0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2f5eda07f4ed2cb1a758db953268f536ce849bba05d354186c3c78fbe8e221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98a27e1989258673e2def20731465634a14fd20ae785ad9c837cdefde73a56d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.845 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8482, 0.6346, -0.5541, -0.0204, -0.0471, 0.9971, 0.2943, 2.1204, 1.2846, 0.0521, -0.6254, -0.5442, 0.9974]\nstate[eef_state]: left_x=0.2752 left_y=0.0019 left_z=0.1455 left_yaw=0.0109 left_pitch=-0.1925 left_roll=-0.0039 left_gripper=0.9971 right_x=0.4645 right_y=0.2526 right_z=0.0452 right_yaw=1.0896 right_pitch=-0.0248 right_roll=-0.0026 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -1.4017, 6.8581, 1.8144, -0.0415, -0.0513, -0.0073, -0.0068, -8.1436, 5.7094, 1.2527, -0.2857, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG3oKJdSzx-TPoG0seEYZz2RjpMdjKCgSipANYDqTovnWyDTXcUZqfW6qQ63VhVcMF5NRkrZ_RVR0T8hs1Td4vVOsBCeQZu0zCMBXe-MoGppvgS2V49TZB4F4nLaLaSMnrCgV2klJS3Msa4f4D9PPiuYVHx1H-rTNfDrIYVgPtAAAI7KIYrmxppb8zbNkggVBFghIySvwYQjqrG_iPNRGsy74i20qFNokZZ3HMsc0hDlaWiSB14jp6cxr2UY5P2-g3nTqmbbOOMDZG4NLs9GbxeJML7R9iPFVMmc48q8FqCOZw8Glm6_0rBrznVGBw_olHma5RZ1h4fbyEJtvS6ZIQ-dGRSDF9_WxE6ErqaEWyGa19MjEoSNkUJCoJj_-dS_nqz5WMfS026CpMOPiUdkUIl7YSTcN0rI11zDYghM90Gq4Hc8vj3dt0M2hZr3Y2I9l1B9ybiULusVKFOcBgiPb4gMiJ_AHcCgNDxVSYqTIu4l0oN8QBrQC5b8ZDJD429pluYnJT49kEv55M35do-mb5GLw2AF4dbfmeUe_JjaE-x67iqC7WT-SU3LUKA8RD434GGJLgaJc7wxwYHO_PYUAchEebwP8C22dlhNFQt5iMkAWQW7MiVwVHzs3qvOZH2X47HpCHI6r4Xaaszt3tf_VN7jl2Q__pou1VysmdHUCgHxD0RwPN9cEZEVdfYBfX93JPIPgrZ_wq-uQOZj9IZKiYQW2xYTwuvvItyYCf5vIIhFl9jnOqIZb-jXFXDsd1eRaM-RnD1A6bo6zyS0vjqWJ_-46oQNIZ-TRKMYthfeAFFSO-kxgr7KlHak6rpX94bJHYCxBUAK1aIGfl86bCNWWsNOtNpBLKcq7xA7wF-GTTB4h1klUoIKD1Bz2GEx-8rwOVY6cVb2rNPvMguMOlPxzXgND94vV3U5ZCXM-fWndNlxhUjD4KGoxrD6OnXS2FytN0TN0t_hSh9aLkir5GnFpEDo_h55J6yNQHTLdpFtc9lgY4_Pbs91fURLKBoV5zVYzUXxJm7Oeu_p_HMag0fuCrPo424BRDpWYiMXetmN0oG4w_tQEV5pOl8YdD1NcCrRVvukEtc9EAGM9HThrjVqiH9yrgMsn97B4MnUFuU4x67qRFMklioTQizOYppYqks4xv6_1ygaLFrxRuUzhqfqCbHSLrCohd5IsLA7KYPiKqIhXWw_KrNplCa3BDUxaO1QWLgNeqoasEVTpmUJOUU-diRjZjN5CBim7TUop0pDZY0B-mORZ7Qpov-V8M4C_00pFKHsk6TVKSjE9Q185q_GMxQWjw6ko-5ZbxdC9fYypAV1ICDqN0Vnu9cPl4INB_cbjdgWl0Saryf_ueiTn9xwl4mJe_cVMLlrZUL2z57pR4wTy9PSX10ZdQ_2a62qfmoj2A3tDSEwpKJjUK8REI0fvlo3vehUfn96TsaxwD5BUhluooPtFDKkVVt2xw450imA8KaV3kUW4JrfLbKazxT7KBfK8ebU-S7Jn3YxY092QbGGws3ab4CZNoqMGcO6rbpw-kvv3NNJeCfpx_Ir17KipHaF_RJEiOwvlOk2RHWMzN5iLWk1pR-75K7CZWgK_ruPo7AgUYsCT5Tvbs60PTAFhwNxZBoyhhohoIX2dIx4qIL0tUd9tSkLMS5Ia9MtX_rc7ySV",
  "id": "rs_027dd9824144962c016aac6de2dd9887d0ae8b205f251fd0a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.46,\"right_y\":0.26,\"right_z\":-0.01},\"note\":\"The jaws still closed empty, and the readback shows the fingertips rose above the can during closing. I’ll reopen and bring them down to table level so they reach below the cylinder’s widest part.\"}",
  "call_id": "call_1wjYIFPisbqIB5nYgeL2TRDw",
  "id": "fc_027dd9824144962c016aac6de6b84487d09882534fb59536ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1wjYIFPisbqIB5nYgeL2TRDw",
  "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, 0.6346, -0.5785, -0.02, -0.0475, 0.997, 0.2951, 2.191, 1.2163, 0.4892, -0.6994, -0.5537, 0.9947]\nstate[eef_state]: left_x=0.271 left_y=0.002 left_z=0.1411 left_yaw=0.0113 left_pitch=-0.2177 left_roll=-0.0037 left_gripper=0.997 right_x=0.4848 right_y=0.27 right_z=0.0622 right_yaw=1.1737 right_pitch=0.2077 right_roll=-0.2033 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.4427, 6.8308, 1.6825, -0.0611, -0.0659, -0.0171, 0.2667, -5.2444, 2.1402, 0.2808, 0.1587, 0.0415, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64e77172bf1111755033d31dc319cade6bbe7c707883fe8d61f03698cab4269",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022684c3dac5ed640a1fedec9b283cd5549e63ebd06675b35e27194682d6c823",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11a38710638e37a9ff9e686800de81c52d29975f29afbf5674acff82a774d76",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 13.56 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6346, -0.5629, -0.0204, -0.0471, 0.9971, 0.2951, 2.1063, 1.293, 0.1223, -0.6704, -0.5503, 0.0082]\nstate[eef_state]: left_x=0.2737 left_y=0.002 left_z=0.1438 left_yaw=0.0113 left_pitch=-0.2021 left_roll=-0.0036 left_gripper=0.9971 right_x=0.4717 right_y=0.2618 right_z=0.0695 right_yaw=1.128 right_pitch=0.0607 right_roll=-0.0543 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.4017, 7.0222, 1.663, -0.0366, -0.0415, -0.0122, -0.0068, -10.4, 5.6547, 0.779, 0.1636, 0.0073, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG3x5bwOehmrOhYQ0DFMUEXMquK291OPka1HZeQ1oTj6hDC6XYY4ZRCRzWmeDYQXPE5iUbJeBAU8imlYXH1bGtl87PqLE1J3h1AiJXjkCqoSXLHsOrh71sHGXnlWi5YqaUKBIA54UQUM5b_-bmYJ4nAwlde5RhExLEHJej0f_1r4CyX2P09PeecFdCQM7mdaqIdD9_Z6MyQ31eWBLiArSQNghKzp1Y9N1wnIIdgz3Mm_oPey4fpxe1FbHRy1gaj-ICrOleKYZh1bh69YB2CISqjRS5qcSSfoxkHsyOcDMcTf4HcB_dHAqbHdp4anTxef7NZhfiebh9lE1xIu5_EuYLNikoHcPrvuLrvw9fKVXDuWk71OkR842JtCn28mLHKPbCrYEkEw2L2JLyi00AnCcVZ0y1ZgFkpTgWtVa6LtcAifVlY4G83FnSTHooTYiLUtpfmgOn403kp0ZqIGmncqyVT63jk29YkH0img1I9YNhJ042xReCGNjY_WPbPgls0K4YT9W9qLABfF1mh4TrIHJlUUNixTbikoaYknjyq52GqCFFLIU6_AAmmAy29BqQuPnBzz0etLdJZ55sRV1bPU8O5MWjmcASUy4RtOYPVLA5poSKBfH3nkNHcgEU8pE4Ibb8j0LEhRZvQjrcNcbK9TIGIBN61nAwoKfhk5_iMB3OSQSBsERjbo3zS117XPOR9x66eBRYsEuO1Az65Zl2AhnfXrPvxAbSdMiVHzkftPJPaDCoigZjah8vmzJ9JVKoArthXzZ8nzPTdfoi2qKi16h7YHzIOgnx6VRMg2Ugzu65j8JN0y8GUUe4Dagh2YgZxg8vHOzjaLKeUhWdqKkYOjLSvV43QXwAjZDn6CvGm0HYDcppsedZV1pryXCoFbU6xKf-rwb6FCwdsO_PQsYzcNWH71BPSm-TWj78iSb0j8HuQIzrY01tusanrkUzksVEHFFAoq0a6vbXiBXz2Wz8hFyxvz0e8zg3fljFugoZbo2YJYuejG6SjYYWYZWLkfHRSAUqjX6z885VwJ_MjINVJIc1RoRRQKcEEMAKsiXUcqfeZA2nc_FGqUKGbGDfZ1K0C-Dw90U4tDZa9oTQnl_afeda_eS1fsFTX25K8hzvVVsxv_09g2Tokx34CCSquK_fYiJmfG7Gcea7F1ishIaq7rsa0xKcwBF4-JBo7K4Cz_B-8xDKRj4wPMR4qNs-tjGTa091mv7uQQwR7NIxRapyqpNY7mh92xl1JQTAsoOTFPmz3NBjiQzXhY3jHKTmSpAun39daNO74b5uqKSS1J3o-zam03-I3nVo1BbKjIbnB0ha1vkvCrS_n5LZ09nHr4SE-QzuAObQCBCMIG-BgKnDFuBNPSXltAZRr2osBnzrHrUuOPNoQxNTTdDe_3a4_jyK6FU2YrlojeFBp12UR_ZjQ5f8mQHWMoCmdiQRaLaIiZWDrCXEtUj1LuaqQisHHnrt3rgNwCZ8ff6LZ6ewQw61Ct6uW5rDdVw1xPpn21LCK-6S7jDFJGITM_L5DPTCfKLb3uX7f5dTnQv_0UqdsDgL-P1pZAPfL28lx2NtajaCWX9KrxY4cHiZ9vWMIOW_cGIdqAk4MM0MkusVONtVGtuEiRjkePvto0eXpDmsTtSW4IxGqAXlHrja4eFl-_c4SOISfqr0Qo2aVOQkUi_meaiQMfZCNuUsfE25gsM7EJZq6vE16vvCjdGOsq89E7IxfSohGXRDwC7S9QctW-vu6acG4n-sKrqgNAIwQxiAZZxWGe9CEbB9VNdBDa_52KSpPVTkaePLoK",
  "id": "rs_027dd9824144962c016aac6deb586487d0b9ccd12ff00e1344",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.255,\"right_z\":0.018,\"right_pitch\":0.5,\"right_roll\":0,\"right_yaw\":1.1},\"note\":\"The arm is not reaching the requested low height at this extension. I’ll tilt the tool forward to improve low reach while keeping the open jaws around the can.\"}",
  "call_id": "call_gkGzjhtAJVpRGwOyfji90PvZ",
  "id": "fc_027dd9824144962c016aac6defff1487d0a8546bc86fb9d943",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gkGzjhtAJVpRGwOyfji90PvZ",
  "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, 0.849, 0.6346, -0.5858, -0.02, -0.0471, 0.997, 0.2527, 2.3852, 1.0927, 1.3556, -0.8532, -0.194, 0.9953]\nstate[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1398 left_yaw=0.0108 left_pitch=-0.225 left_roll=-0.0032 left_gripper=0.997 right_x=0.4724 right_y=0.2631 right_z=0.0862 right_yaw=1.2582 right_pitch=0.6088 right_roll=-0.2787 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.265, 6.8308, 1.5507, -0.0659, -0.0073, -0.0122, -1.0598, -5.2718, 1.3744, -0.4615, 0.0611, 0.3541, 0.0513]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da37a6da613257e6acc55a392db79dc98c2fc4c049bd898f3042294ffdbc6c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e593c584defda62d0c3c8143305b6849ee726e42f793da779e5a2ddb000e76af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a7457463de3e97d7970f9987b041331c8b80e9e9d4d3efb24d9c01bf88ea81",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.444 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.849, 0.6346, -0.5785, -0.02, -0.0475, 0.997, 0.2951, 2.191, 1.2163, 0.4892, -0.6994, -0.5537, 0.9947]\nstate[eef_state]: left_x=0.271 left_y=0.002 left_z=0.1411 left_yaw=0.0113 left_pitch=-0.2177 left_roll=-0.0037 left_gripper=0.997 right_x=0.4848 right_y=0.27 right_z=0.0622 right_yaw=1.1737 right_pitch=0.2077 right_roll=-0.2033 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.4427, 6.8308, 1.6825, -0.0611, -0.0659, -0.0171, 0.2667, -5.2444, 2.1402, 0.2808, 0.1587, 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": "gAAAAABqrG4AsfYSr0eVvrhWYbPMvb2zzdUGNyLkJc28R4BWnrGClyJMEL93YBidrseOka9Xi8Nh3ap-2o5F9K60yBDsUCv3Pyx5ADFU6Bhw2-E6m07fHb5fW1f7Ool84lSpaXbhOZ7OFQKrsWJiu0biWBMs-fzNlALqX8TeligXgqiSyG7ucaGlWb_3kJ6db5ESzQGGwzGY3C9MoAs_wyRXSMLB-wTZBeDnRNglokUugpOeNflTrJDzKV8olU817lfo-16lU56FTTh0HKCmDGMn04WolG7nDnBZ333m7M7cAOFBdFlsMFz6NtIrojKHj902Dx1zj7FNwbKAW9eTitT9eWq0Q9lvu4QOfCHpPSVcmO4DQtxLyCiXYpIBXXr0XdLAV9fjd9qTTWV8C767xHxtxZ8EJLuqGuddW6N97pnZf8Pq4zT-VQ0ilRjOIE9VJ4dTCMJZT--KVsorghLbniFJBwLqYbgZgWHJgBwBHxIIjLE4NRfHQuJ9pC_n3Xzq4C9nhUG9kP5u61TNE_NOOBqx1V6Knu26JxzsXYgp-6LC0tGT4kdoVzpYvdpXS0B8RsRHuRH-oFXed4L3doF-a_BuS-6ZlF667KNJ1bXImA867rGUeK7-7p8OOgZYCmIRDSz-UxwAbK4wLmLJzBRqKZmuCQ-cLvyOJOomZXlFPpnzcBjIgzG9RvdwdkM5mB446hfho4vjU8pIrJYmj9Jz57sK1yRuksujwDTEe6v67Z4qL3S5GmgixhW5P5Zk13Y-m4ZONFrYtNQTvB74z4fbZ8p1aJ5uYgNBv83weh81P3_zZizgqOLgCDaL8witcN4GtDfoNy2g-BZTeZfX3HhR_jj6INcrmdCOvhEn5gQl03X8lagVSjLgCJuG0gRxr2bpXBeRxwraKm_Rb3_bczoDnnr2p4von3h-pp8M2yNNke-2ku0LZf1cCxkE1DLseaFq04K5xQ5z2IO7Yl_TlrBDaUiamZm_aaf7ARQmFc1M1rnDeoJppIwjQfgMi9He51uWdtG8fvveVmmnUY2v0vqHhW9WuG5FMv6osG9kg9sQsc-TQU4x90i3VD9qTfzjYjpF88e6MH0i0PgfRiYuOVHxW_Nhu-A8gCdWSE0dYhuMPmyuxk8WpXO7EYhAa7fK2JOJg5e0QhdjYskhWos-4YuRL7rfhFXFiT91uAx3qNEiifRPnLHlcmECPen7qjQ12NEJMelbCecaMAlx-pQIz8xfJQBHYIc4MGLSOTob1knT0HoOJSzM3YWllM4SkwkMyTlmMxW-6vuyz0LWrRox0G0nxOz9IL_Uc_OoOulyZ6YuHYrhbg1VdCJiQQkzHR2uA8vkpl--Uj0t_mltHIpX1LMkywwknkSfNsVVPNT7Axj5EN0W76GVeBl_gdEcdM1XQsrjBKgGIVQP8yGVNFNb3Jr7oqeQ7IxCQhTSOPHGZupe7kFk8ejF8kvXPuM9JJh_zbYKPwvu33hmnUzlcmYbcolRwqRNeeTLYapy2zRUzsD41htQpopqfMpwN22zEa6sufthGKp7x3AC5gmSi31pG7ZR0D7hiIVTapDnZ87bhA-fYpaCwNP_wcvxqTWLagnhMT4JWQa4-_ELU4brFlQ9Ik_N30xhfpdeh3xNzdsVJtXkMfz3wsbQgbvicIot7lo_J0yuIKsPgA_yVBfF4hXQo2G_YB9Q4TlmWKijXNdtb1AsxMMbECVApljbiHCT9LxL2uiP1h0x7iPShmx6ApZdvfLRZK1-c2TmX9ScuE_6TBUDwDfk7DaeMdQ0JQckecIaNTKfi5wvjuYi8KYpUl0nYN8GY5aB081PAFR-4JH7NYoDA20Az7EsKBUohQsf1HheKYm1zJpG9vwnTJwsSguphiaRegIyD_yLt400HHAy_IAJfkphugDUX5Bw5BBqQhUpjf2jFmiysi_IHXR-ZMPB95ek7UQhHiQ0dp06JmlENJHeSnQrXkltTwwl8L0iGZr09Z-RzONBFyXBwnAjZu7yXW_bW_H4mH7IuwCXAnTkdd1X_VVVU1v-W1yXmaiTWOx1H1MSgkL4rVC69GRNrPWu9Qm5EtPHLdlpEIr7gya_VyKY1dDwbPTf_9hRa15kE4kxZ_4_zJu2YtUI5nUki_HsXU0yGG0DdafnzNAYD7dMmZtOoMXibjnZe4WPh3G3E3uHX-s0Uk1VttdndkiuqsM7gKsjRy2wZoNQotwStKl3eBWlwN8pjw4gSD3dEiehIfn_17HwLPciSKD02hzwHYQeJs4iCn7QFuiH2qLXsO2ScHYg9Es4bwSdkgXNFAYqa4l5njSmKQ6DscwvgTdnBVEAAMSPZddrOQ7iWo35-EtFTN_dEDpttVqvMXYL5whYnCNkSf8IBiamBEUiA_b9MCnPRyf_F7wCY4cnxeCDmCq71_Xu7V5WDf9-0qm5WMNhhKwHU2FJaJ9zFic3s8S1kKQlPYdOrSnh4lrXxQhqyTq7I3XmJf2Cy2PlpJYcxYw=",
  "id": "rs_027dd9824144962c016aac6df5279487d092f6e7ffd39d4fb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.28,\"right_z\":0.14,\"right_yaw\":0.6,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The tilted approach is still too high, so I’m backing away from the reach limit. I’ll reposition over the nearer end of the can with a less extreme wrist orientation.\"}",
  "call_id": "call_i0QhcqSnpohA6F698SbbrOsn",
  "id": "fc_027dd9824144962c016aac6dfdd88887d08e7dc3ef8837bc36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i0QhcqSnpohA6F698SbbrOsn",
  "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, 0.8528, 0.6346, -0.5922, -0.02, -0.0467, 0.997, 0.5766, 1.7859, 0.7956, 0.7116, -0.1177, -0.0765, 0.9954]\nstate[eef_state]: left_x=0.2687 left_y=0.0021 left_z=0.1378 left_yaw=0.011 left_pitch=-0.2353 left_roll=-0.0026 left_gripper=0.997 right_x=0.4035 right_y=0.2914 right_z=0.1306 right_yaw=0.7148 right_pitch=0.3076 right_roll=-0.0298 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.5653, -0.0562, 0.0024, -0.0073, 0.1026, -9.7573, 6.7077, 2.0928, 0.0904, 0.1148, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b49457a143e59481a5fd52520ba8439a72ff27420390677953b4f634bf39d06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc8b4f1a2dd91b0752fe4413c03730160663453c5cc171570ec853bca6050d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3fd623b450479790584a6a0c8d1e1c78632cc55bab7a5360ec385dbc82818d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 10.14 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.849, 0.6346, -0.5858, -0.02, -0.0471, 0.997, 0.2527, 2.3852, 1.0927, 1.3556, -0.8532, -0.194, 0.9953]\nstate[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1398 left_yaw=0.0108 left_pitch=-0.225 left_roll=-0.0032 left_gripper=0.997 right_x=0.4724 right_y=0.2631 right_z=0.0862 right_yaw=1.2582 right_pitch=0.6088 right_roll=-0.2787 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.265, 6.8308, 1.5507, -0.0659, -0.0073, -0.0122, -1.0598, -5.2718, 1.3744, -0.4615, 0.0611, 0.3541, 0.0513]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG4GvLGNmM1his0PwyDiUc2oXtHr3KMKbtO-vfWCfacF_QV4O7iH1hzIPnv4dOp58aizOYTqL4Dp4lCu6w5qlwkor0XK_9gyPhLdVt4op2YPNn1JWAWyK2WaFYOvOAYwtdd428Ui2fPT9OmH5Xg5OXg9WMTRjHXNWqY5WXcz2VaLbvgoxPIIudOIiiohCTIztzvVjoaGMbrrTUH2xRk8NtqXI1y0B0Ly266qe4zQzzUFEP0rwJHNOQvK3TM3uyV0lA2lAHsKioEjYO0XzTeDEzp6RIVbAu9ipHw2XHxnhZCnWwJgh-wPXCsEev20VaqTJv1jiN6tGriCdsMrodkKaGgKg0RNS6GsJ3ghxVPXO0lToFpb-nXT-ovGCwVNrhEIgYfUl6uObsNKnBowtXraHnwwm2foL582WitrlK8WD7OijZyVQfal_fDr3MhRprOgAhV4d69jIOlT1fu9fmEjPWB6TpwQ1TvQcywoG9rnZ-MKJleYtFpoGTmubXtMF9vvZ-eIXOVw1n6i2yOGgx6Id7fTrc9sTXgTe7-_rbz3IwiPn7PKiRhmHCImM2kM_1j_EUhktrNnoXa-9pGT5YA1LaZUh4mgH2q5DjQiA1rA6igJQZIMF72B6vPE5xlPzIZSjMyzMglGmREX8VBvUr4zitvkmzMDOqXskfKOu9-SDy0TIwLaqoUWiq7cviOoIRe6RCGJdqAGlehxYkBidj8ioeQXewzkdHD5g0LXH_ray_QhwBeovu4qgGBt1e9liJtZrqrg8ZhbghnpcfEikO7uW3CLmjbz4cvHUmtFXPEIox13pKqUU5r54rropMwsiF7Roco6m3N7x2YAvDD9_z1ud0Fold6dFkPlM_I6cunW6blNPt65-qGL_xmqGw9oiEDVeu1irFqlwzmWXQc4D5-jQ3TS1Tir7uH5ylk6FMi-4sAb0XoqjZ_zVYPfBI5rdPLU02WH1VC3aaZMuBVCcm3V1BiiMqDWCfoswTN6-Y6_MbqH9IwCrMgYfuhwAPwhfwY3uY5dfxmL2kfwl6jBP5cnQJVkZSlsN6SNRMrEDYRlCIiP83XPJXgwozRZeSov59YCJFq95rXJWWXKzrEAFUWNjax2eJTfnXfRoY8VHmc-akIHmRUE3Ay816ReW-lDOvX0xWVdO4Vvee5NldEG7ugetVTFtrounJG20lgt70gvdFbqH6MZteTN1djns-niSFXdDGGRplI429-2htMBWY6o1HFjz5UNxRi-1ETU97R6XKedRuQKDBZq-_7K6rp-yB3qcW_XfxOygQRaqpQh1u9tsj1G-A==",
  "id": "rs_027dd9824144962c016aac6e03257487d0b091fa6b444c389a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.28,\"right_z\":0.025,\"right_yaw\":0.7,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The nearer section of the can is aligned beneath the open jaws. I’m lowering from this shorter-reach pose while watching whether the actual height follows the command.\"}",
  "call_id": "call_WEnSJfAmxGWVUfU3O1i2lcKi",
  "id": "fc_027dd9824144962c016aac6e04239087d093b2f57aa65e575a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WEnSJfAmxGWVUfU3O1i2lcKi",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8547, 0.6346, -0.6014, -0.02, -0.0475, 0.997, 0.5407, 2.1452, 0.7307, 1.0519, -0.149, -0.0666, 0.9954]\nstate[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1357 left_yaw=0.0112 left_pitch=-0.2463 left_roll=-0.0028 left_gripper=0.997 right_x=0.4047 right_y=0.2777 right_z=0.0143 right_yaw=0.6969 right_pitch=0.2261 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.6068, 6.8444, 1.6435, -0.0366, -0.0464, -0.0122, -0.7043, -8.9641, 4.506, 2.3077, -0.1978, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4170bce0224da0b307fa3889084aa83ad047e189237e8bdc772fbf97793b6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2affb5555857f453dff952f4704c00aeff7acbf938f7c0581bdd074e2d4d9fab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce1aa37c9d441100fb4ec6640569060a39cb5e53a98cfcf7e906344c6401814",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 7.566 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8528, 0.6346, -0.5922, -0.02, -0.0467, 0.997, 0.5766, 1.7859, 0.7956, 0.7116, -0.1177, -0.0765, 0.9954]\nstate[eef_state]: left_x=0.2687 left_y=0.0021 left_z=0.1378 left_yaw=0.011 left_pitch=-0.2353 left_roll=-0.0026 left_gripper=0.997 right_x=0.4035 right_y=0.2914 right_z=0.1306 right_yaw=0.7148 right_pitch=0.3076 right_roll=-0.0298 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.7162, 6.8171, 1.5653, -0.0562, 0.0024, -0.0073, 0.1026, -9.7573, 6.7077, 2.0928, 0.0904, 0.1148, -0.0073]\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": "gAAAAABqrG4RNyE-P7Ivx3MfkLWeeOyKlgag5hGLHUdtc5ezKAQ-Du4xFDh9Z79cU2HRv3ZvvYQPoJXhOtiLO5LLupDocEQtyx7QJwY55qN78d_K3hDZv9dn68yTFFd-fhng33g0hpEt0Yb7VcXNkYFwYMkiSgie_BmXMsaBzLH2f2yBVk8nZt5-PafG4TE5F7FMVzBlHnNKxIujC_U-F1fvHe_Zm3qnb0ymGTMaHYvi3FVjNMD7G-f_bL7rKuxRpnl_iDvhr9dQk_06CKeAgIuIM6iYI6iK6m9UHfyvprqIc4mIKjPm3WO5Ybu7kR5n43KC1sSRyUQB6jxjzhKeE18Vq7mFumKdJMN3H7N5QQtFPph7QSfvO345rhhWcmpaZuGdNpz8EeFe63T2iJ2Ave43lDbYBBIZ4Pewa-WEoQuchhCzqLofSNjpSDGqJR_-is84VO9sY31vEp0-LTBzVTLInWwu5ida6zl9Vh0okoKfxR0zopNQIyD6_3rJ9eI5b4DDZIqp9xJ63IxS62Oe6dxBcpXWXWpmUBpa6XI9iiOMZgxu73dLuLzU7_ifH6W5Cp18vKDU-c9eEpokhLBu_FVVw0BuEez1xJ9sDthkSsDqU1i8Yqh3CIlj4IHDMZG57gQPinr37SMxOslGo0DMgsrC3Tnj9ev59PQeLlBTCcruJu8bJR6KqgtpxBG1miW5taXP64iFHbz_zq48aLAWTisHRM3_OMRgHb3oaDeYqyqd92KR34As2TRCPvdchCJ1TrYTtEpIgRIztSbvxAp5HR8-J4fWhI57q66f3MRlY8_8565Cv0jjEV6T0NrJSRUtJEtreikmFuBxLBre5Cf84eK9gU9CSn5LMhxCCw9gL6N6uB4PAF0aaGgYQZzsqEWkIJ3vHKYU-s2tbFba2v698xoqwNDRki9L2HO28cKKzlHN_7AJMFdZAf6hprwNT-glXbyUBvyxaWdbQ1fnGYoO0gz4E2lCpj3w8M3so25nt0MQpMsOF8c4LXJrLJuI7Xb2pu9bkIdyAPG24IPIOQ3XGuTwmhkg0ow3uWtLhOpfx4SyxH9W0ich64cyTXq-6o015Y3fBN30bsgN-LBfqJHGvYswTtlejM8du2HKIv1avIo_bg2pv68L1pJdjMQBcqv9V6Xcqiin4B8c3HVd6fjqTdPz2bgpfL_kesjbHF6gplROzIf2oQZV1uziiCFSrJK-1m2IUGb_P2xLLaX7d-RJ02_L8X3tgDE3ykYshgE6bhpGRL_GvskNnSlTal8FPNSq2rCLHDlQCdpMeBhUPnUXRA4kbrK8pt5AE8ZGUIAuWHB6zHcaPwrMRZVNlOIupZXuJIpG_gXl8PiAVw4E5bv4LpiNh8y0RrNYMV09j-AKe-HgfYcSo8P-JUKuEwWe0GVPiNroeV65MTVvRA8F2XRLCmngHyvd1SmdTcrfoI3NXn_egdtJasiAM_JswSmd9cyq_urLCAfE9juuPB8FRuxv8Ejiyf71P8OflwxAcNWLc3AueZgsl_WFMAEx9ePtL_bBHCUIV0Au7WkSLGRe0ADGfGHGil-mtoKkiFX6dtZJ4YqV0fkVFwbhU9124-lWpOWmj1Yzc630AglCVKNYOQQ0Sa6c6Fdch4vQCSXgaYMrEb3-xbXsa1qRRe_bOi3wMPw1-IO1u0qqiqlsF9k2m1mBXanf-wFY2EXgbul5oJ2qJHc09j4lhssj15t_2_CZG5rfBIKjWAPEYfvtMMrx_KvY_Wqf8MRoCIZKGLPvPckmiC6Rlu4V3cvq03RUHglJ7BMt9lgGXa1cVDCoPhwY77AHOz8_J0H2dkzm5QlmW-fi4WipiwqNw4hE582yUecTDKUZi-d5x51HCacooJ90FZ0g2X7cdamH9GVRcSoIhyVGtrvEG_mMXFCa9lll0c7TMi5qwtuh790Y6Au_7xHqJWYje4pi91pHGqdzoAw7KADnneoAQjOL_Rad8CdPsZKx_bnvtghcu1fh4g1rYwBFR78D50NAdkgcc_TRnt6c2ABKnPpp2vNQZ3ykge88dhUZMjuN6gaNWKfhLEQ6djIDUs9MjQwUimcvecgtY1w0IZKy5UEFVjmvbu3McWg=",
  "id": "rs_027dd9824144962c016aac6e08c38c87d09e731753f30916e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.23,\"right_z\":0.14,\"right_yaw\":1.1,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The descent nudged the can forward instead of surrounding it. I’m lifting clear and moving above its new position before attempting another approach.\"}",
  "call_id": "call_GdPZyKNoKbLbWnPG3AJZGJSL",
  "id": "fc_027dd9824144962c016aac6e0f0a2087d08585cd628ce0878b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GdPZyKNoKbLbWnPG3AJZGJSL",
  "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, 0.8555, 0.6346, -0.6113, -0.02, -0.0475, 0.997, 0.2035, 1.9991, 1.1202, 0.4347, -0.7712, -0.3214, 0.9954]\nstate[eef_state]: left_x=0.2653 left_y=0.0021 left_z=0.1339 left_yaw=0.0116 left_pitch=-0.257 left_roll=-0.0024 left_gripper=0.997 right_x=0.4739 right_y=0.2272 right_z=0.1174 right_yaw=1.0174 right_pitch=0.2712 right_roll=0.012 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.4838, 6.9675, 1.5751, -0.0415, -0.0366, -0.0073, -0.3761, -12.1915, 7.6786, 1.9658, -0.4371, -0.1734, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0487968653fac85c2dde8f9ef2d85c39a93c6bbbcc0fbf462db9ed368bede063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06262b074342efc2840dffa16dcf7aa66f7b76735cd416e798ce0d4707ac9e04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7125c004eae27b6d0a42a4d3f6894eee9711f055c51549d7293261727f9908",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 14.07 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8547, 0.6346, -0.6014, -0.02, -0.0475, 0.997, 0.5407, 2.1452, 0.7307, 1.0519, -0.149, -0.0666, 0.9954]\nstate[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1357 left_yaw=0.0112 left_pitch=-0.2463 left_roll=-0.0028 left_gripper=0.997 right_x=0.4047 right_y=0.2777 right_z=0.0143 right_yaw=0.6969 right_pitch=0.2261 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.6068, 6.8444, 1.6435, -0.0366, -0.0464, -0.0122, -0.7043, -8.9641, 4.506, 2.3077, -0.1978, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG4Zys6m5qmgVVcZ78F6JVsrr4C0ZdrvFmnlyYgPI4bn2wgFK5GckNuELWi3WPDtX-Hrdz6kUTdR7ayawXoqKo2MKsj4jRSrs4qIlV_j5Pf9edbQnQ4ZMhR9iF0Z2eXWasMrqg9yPjt64aAlcokxmNk_sLxKJbg7sPAcdHZLwIY4EqikME4GX4tiO5xnwnkb1SsL18_-pJ7WMtru8vgaafwSVs5PcRy9PxdkUK1K5bzxJdabS7ySSSoAR2GWc5Zck5m7-OcsBKM9L7ca0bwNLBKzfEdyEL96tSue6gA22hKyUlLXx4yxcCzInoHNCuCPs6d8x99oGIcLmJCuNZMZEDpJnPRaU7bLcKlAjU5LyPNpo_aF5jRtE3OY7Zg6LN8dVSXKntNF_6fzAJ9AblLwdSIcpMEGZLgX10DHYdu0vfo1LVQFGUXuE9cTybsnpvmVw3doLki7h7fZXrveaYjCNxgC8VCJJR6TFspRBdt_w0YUvDK6i2BnCZnN2JZoR1Sn3mPoRRdVr-0VR-KQsKry9O9xUZQtGNzdbdv0c8CSS7bu2igi5UBKhD4pb1ed_7jtOLUS6f8D2N3FAQdwobsGdwK51bCxA2VQ1kF9yuDTMteEZS5xWGW52S4UMw4l4vLOb8IjstrSvsc3quCz0m6bwsB8_eQiggwIcSSmW84L3_OVSNoQ1OboW6la9y_mn_D50JEHkNZspG_5D7xwWANfH9_EGa8XA_IozVAjAQdri7Vj9EoAGx5WrUzhgTWRpPh2J8m3fCa0w6Qb-iwvA5fct2B-HoVW-WcCNAno-KVFi6Yf1bOhEub2JhCPlXa4Ar1BAWKmtntKj-FdfAJyAKGMrBbpXe3UjOGIkMeRvzwqY2PmXRUrvTvbq244p0JgRQDVu6Flfg174NAt51iQOZxb4cV_aUCMq4-AptO71-og-2qca1YWUVMSj8ub3iqlsnJghM9KTlpjvh_iRwS_JlmEXxOD4ay8LrLOqpmQHybfhFeBK_LPpfRKEmnEqsMpHLoZHKkywrdM4Vjiw43HrSsjO0ow-W_TZtBebsPXg-1cepgZLUHXbRZ_REa9hNGQTvZzSZqxi0POvZwJq93GQhLahxH7nx7OufAMg_q9VStNFnJY7LaJBxjFBRO3Gi2OitF16Sqk-F-_MBshms1oxGhyZcOv9gHb8hmDBMNeRVbTao3aDtCZPSH1qjBvJGMRTqGLAwcsQqQSOMPXheISEVLX3c7hIveRzdzODFM6bZt8_U1b0CjQYhGcXsJqOnk1NBq-cTIep_Eb5z7eArZzdItcp-pONUZqoU9YwZpDQfszEVLqhXAI0bjw7fOSvGW6rEFaPJdNEz3nmgsuS7f6QSR9t3QL18F44wEeXGKYTtCs5PY1kkqRo3tXmx0SMyPqfLVflxBIzvwRUZFCsutz8Bx06SO58Ytr0Yn7dd0uBV_gWhPL2yvMej37NAt70xPZXFTLvVczMluf3BQdsJHUFbsWbWkmqjtgYvQDLjIpD7K8zr5IRbHAn0gosgH31BUPk_btS-5YIZn4KCpxCbXIop5MzL6dsCySKKdEWDw-k1nD55kXNuPymbJPCnv_vJOJWzBywHbolUW_R4vLnVjNeZtLwv4LemB2jwjIZyYgLmfWEWBhOhEsgRQbYzvtyd32mcH1lfmVovMuvJxkw7yzgXVji0d7VRwM9U_x3WVWbLPFZIlXXIxtuvFYyk837g-qT-fSNY91tDhTumUwKOSdLkqvk2-qBkw0jdSzZIk5AYs5s2OolEdXT4zi6Qqi0baptAkaHfDhRjSTngyXmMKzVxKBN1jZjs0uMhAndFd548HVYUE-8RnhVfry6SBDtaZY8BCMoMn0AqzmnUGYWWhry6tZbZ0KkhAGeYC3gZ53jxfMbVcRppQ=",
  "id": "rs_027dd9824144962c016aac6e1394f087d092b412cdaa2db67c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.28,\"right_z\":0.145},\"note\":\"The overhead view shows the gripper to the right of the can, and the wrist view confirms the cylinder is off-center. I’ll shift left across the table while staying above it.\"}",
  "call_id": "call_hNej4q8kjPyCy61tvx5OnRSY",
  "id": "fc_027dd9824144962c016aac6e17940c87d0a8a3d7aca23806ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hNej4q8kjPyCy61tvx5OnRSY",
  "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, 0.8558, 0.6346, -0.6151, -0.02, -0.0475, 0.997, 0.3298, 1.9987, 1.1862, 0.3439, -0.6926, -0.2832, 0.9954]\nstate[eef_state]: left_x=0.2646 left_y=0.0021 left_z=0.1332 left_yaw=0.0117 left_pitch=-0.2612 left_roll=-0.0023 left_gripper=0.997 right_x=0.4596 right_y=0.2803 right_z=0.1227 right_yaw=1.0534 right_pitch=0.2289 right_roll=0.041 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4701, 7.0906, 1.4774, -0.0659, -0.0562, -0.0073, -0.5949, -11.0701, 9.1419, 1.9463, -0.105, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81770f488f75d5829c99ee59dedd561a4e24019364e157aa85993204438850d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda519cc14dd337a6771b1773a14636304bd74ac1aa27b05cba3708848658932",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3270f0cabca45eea07a0253dbbfbd434ab1b1eb7783516917b02cedea8a9fa5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 12.08 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8555, 0.6346, -0.6113, -0.02, -0.0475, 0.997, 0.2035, 1.9991, 1.1202, 0.4347, -0.7712, -0.3214, 0.9954]\nstate[eef_state]: left_x=0.2653 left_y=0.0021 left_z=0.1339 left_yaw=0.0116 left_pitch=-0.257 left_roll=-0.0024 left_gripper=0.997 right_x=0.4739 right_y=0.2272 right_z=0.1174 right_yaw=1.0174 right_pitch=0.2712 right_roll=0.012 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.4838, 6.9675, 1.5751, -0.0415, -0.0366, -0.0073, -0.3761, -12.1915, 7.6786, 1.9658, -0.4371, -0.1734, -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": "gAAAAABqrG4oEIymlswyu0nnKGxZJrNqtjovoYGuPqrCZQAmL5h_KxNwGwIpuLDtEdYwFU4pFk2_TXix7M-khQIng6v3tHctr1rH9sH5x4_ltpK8mAOxqTW-buCSsCb-3p8PV93Ahe5hBiAJx16Qnw48F6e1BWQdvgKMiH21sgFRIYpBIBcqtQvKJKqA3FbOPJdTtmcgm0JF7TIIYkdpd19tRMBMjros8UAQI83dr3378YDi0XF9YEQA1cDQsShI4R8PKD1r9KPK9evoVhkDn255fcItxS5iQf7adkvfV0kEXdz31dwXAqn495jWIq9mmhYMj7beHpJLqomprhrC_8_J2Oygr_Tz7xjJ7S2NNvwLhsxbbU8fCA68Cny8QPGAtmIB8ohUMh60umQoLFCBIv-Eg_25aLtgQ90X1uf2suahY73nJiywbuQE05iiu_L4AcMc8DXNZYKaCvWbzWzBmjOD29den6eLuUtC5No9PbkK-R4tjGtpagAU5ohm4YTtCR7i07axCha4mx6N3ZojZmn1LE_1Mu-j2A85zign8lk2URvf91CVQlLYeSN14nbp5ck6x5hKq8wUP-MtjzaBPILG7RPxtXvZUqKjiqSwoDHlbqp7YgyRnvzqA3sjBGXZ54wCxwosl4gqKGb8YC5-OmyBdPVK0ckU--M9xIHKkhG2Cv7cNvLSADgPYW6r-6ERvDiH4HPlq01XiFNRjXRBULN4-qBRJyrZRdHpBJ07VWldN3Pggt0Di0psEPD70tVNQ4kfAsfizAV45zhC7XzUXe0SOIF-94hvnYBcqWpUxweFsg4KDs6Pm0x5JV5kYW1nVBeugW0RUreuNKB2M9lZhoOfyo8V2V92Z4SzHgM6EPvNlAQPlR01plbPNjT4f_7b5x18ZGtshGhmDropcKGZNUXC-lSciPflJYyg94-YvjCjpAne-SlCIYjY8MlOYhFs4AMTP7IqL0uXyvsbtyiSNyPZdvw3riW8POOawm44wuEOuSdplh05T0IA8xJDt2sonPuxryKRhmS154nt0Xpen1yab359F5iAVpT2ntOhL0-0JpreLzDaAz9lj_U2l2I3GXEQ1dorLUYD7GnyLwkFl4zjE3HwI-FtoUN8jH4Cq4C3DBf_15HwsHPFCWdV66sbuZzklqTitTvmvKpiF7O80lv2S-jHSsfsvVSQLjklm4oA03MlFGA69lshn1TNxqvDGCeG_twzHi7j6TZFNi131xqUp0fL9DN9IMptvoB9YNYJLQhn2aVUrJPDAHQda8vIu25mocMDUkhhrQG0Hmg8PAE1kHbmz4fHGZMKtjUCa2wFTk8wBNSITKoXTfif_f-quWNYcWpzh21R8u699Kxodblgl2VWI15N8UL34R34YHaQne-EZ7ST53LfXJFbXfG5OwXMnzF6Md0pTukEe4IyfeFAqcR2GUvuJIZwNRgihxVk7zllmdvVIaT9rbAp7NTVGMsOnqNxepmr3RzGSUhFpG5fSLqKvuAWOxSQUwNq9XkeHHWTmXLp8DEv4kmzxiKgfE5zVChqDacc87_9VPwkNj4JIF-EQOTxxZWuTP4w_SCa3MmwkEfaS2f1SRH-7R2Lp_OAkbS6VmnFCgKZZgGrqJUeiEeZWWPwHHGAMwwJzfigGEFn2uEfcpRJ-msREyRxdHdAycj1_lRniVIFTGW8FZJuHet42X1G1Ghsy68SXSbMmO0AunsLHBB-Btn-CqgUbUwhXyCWlj6fqKUoqvIGY8rijlAO3S-auCiTJ0GdtG2uVOMdrD-Y3TrRwKF0mGdWp5hMIcTixTqPFwr0W35IRrR8d9JJf14L_oGzzlJ6Mth2u_QUKYSSfwSlQhbY4vqkMaKcvy6LrPmFOyIY7qYxK2quRSQ_HOhnkBxzI3L8Z2CeTiO8dVdmDkPF5sMbusmlnTmdxjj3ieBO692qvqPWuw-5UY3Y8jlfTuy_2vmcWWGVjq_UpKOIUYeF2XDPH_G6MpnhsRfbUjb9WP5NS_AUvJKqcx-NdBWvHIcVa0jCdB5jVtNI20gsiK9cp6KbM9hkfg4A5-ZnDdxcWlxQGDpEJrfw9N5TxauoeguNp57UsamiZZw86NWcRLnozKPyTCbsybYoPWrz6oNaUxN6KBBiGjM_4zc3M3nALargJfYMZedJ0UTi7ujb7hcZzulWJgeJTOCwcNWJuvXJAg0TzS7EBTdj7v7sd_auQE71m1gdfjyilS9R6ojQOokOsisuyS6KE604K7hZrbPPuJuhYJrCmUgo6G06lr6jyQgh_1Ty1ScuFEWyiOMqCYzXyEEwUR0uD_X4Dz-eIqrKVDo2yVGWFv2SbyoeFTcMaxPuV8CsS2izrDKgJ2vMIdGF-Z8aBD_UC3Fd8W_ibrFdH2uyPOJDlTFFgrd6wfU0ZFLoXCqTbpvZkcP-I-C5oBQ7HcWPPyHup6e_Wzxxp4A0f9rkeRCIqNGMl62cko__g8SJElz8dAFds_NyzUkk5h1IAn5G-6e4Sdw9M2Qu3hnxfpBZj23iIBdTi51Ee_PW9o4n12F9rrVQYv4_ff9-hjwJuuYcYTo6DcNnvkAXoi_UIWFYx-iq9QoL2d9EICFWykd0u3R3S66b1pMe6L-lXb9LjNgBTtA2TD4torayNq8ZhRP14Qp3m4CP6K2p5KW5mqpYnms_fm5Tv8L6cQF7q31v2RkrHovcXXnt-aZXIaFRUtm_UcXNgQP7lt-r1waWIQMrHx8QounIdQ_6AOybbRazFNWEb1C2y_hG3bqc2MjaAZvI3l54p_xqICrLpQAsZmWXYnjIi66k0rJhJ7EhW1ae-tZpJsz993-YGU23ycCI3lTb_jrBDoVPLOXqKGNEsmMjlArmQaWX93oMXg_jEV0OdFMcFQwemYlYyRG6PWwB",
  "id": "rs_027dd9824144962c016aac6e1be91887d09ebd3bca53a82e1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can has shifted with the open jaws and is now centered much better in the wrist view. I’ll test a grasp at this higher height rather than descending and pushing it again.\"}",
  "call_id": "call_I2C6gBAbr4TBY4jd4Wo90W3l",
  "id": "fc_027dd9824144962c016aac6e269d9887d086daf77f397db88d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I2C6gBAbr4TBY4jd4Wo90W3l",
  "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, 0.8581, 0.6346, -0.6304, -0.02, -0.0505, 0.997, 0.3317, 1.9987, 1.2064, 0.3305, -0.6662, -0.2642, 0.0086]\nstate[eef_state]: left_x=0.2618 left_y=0.0022 left_z=0.1301 left_yaw=0.0135 left_pitch=-0.2787 left_roll=-0.0038 left_gripper=0.997 right_x=0.4659 right_y=0.2797 right_z=0.127 right_yaw=1.0241 right_pitch=0.226 right_roll=0.0456 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5995, -0.0757, -0.0269, -0.0122, -0.5128, -11.3436, 8.253, 2.0098, -0.0415, 0.0806, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40cd7c9d6a238279c419706ca9a84a2b52ab9362028c4dbd024520a02bbb5d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759a55129692c4b58c75f8654c82584bcaa8ddded3b824a942b7fcb46aaba9bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6224ae9a3a57bb55ce03fbbadac9ef77a35c49067f86565cbca412c520896e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.821 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8558, 0.6346, -0.6151, -0.02, -0.0475, 0.997, 0.3298, 1.9987, 1.1862, 0.3439, -0.6926, -0.2832, 0.9954]\nstate[eef_state]: left_x=0.2646 left_y=0.0021 left_z=0.1332 left_yaw=0.0117 left_pitch=-0.2612 left_roll=-0.0023 left_gripper=0.997 right_x=0.4596 right_y=0.2803 right_z=0.1227 right_yaw=1.0534 right_pitch=0.2289 right_roll=0.041 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4701, 7.0906, 1.4774, -0.0659, -0.0562, -0.0073, -0.5949, -11.0701, 9.1419, 1.9463, -0.105, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG41UvpjcyvdyHYdIGTpbEe3lyGpIWKEgB_9nuw_5sDPYpXUjGkxk-T7JwDY89nAFDRFicgPz5DN2jRgK4M_vGb_L4-8UoPiVYFeSvIN0KxKNJf_ZBMGYyGdvdCaLPYua3qpULmxAXOW5x_kDyaD02LYPK1edHo8yEKHTJp7RkwL19GXOKumKCeVuGo4h3HE_TdrKP3fETINPv-TneeN7l74Ne2VrFtdLak7maeRa1dKtqrwR7pLgbJeKJw84zFSdTkh_BlZItCAm4itpDEwUtkkh8urcLe5myAGNO1692s8G9N7gscUl9cB8_l-Vpn3MJX2iRFNrWKdBVJz0havIxmqiNCiP7120tIc5xpvE70LDmC1FroiNB3Eus2VLgfhvvCte4atUXRCzQNVDmHrbwI1ZvrxFIat5XiMaTUX5XBFC-syfLD5MkUbB8zW583XDo1NeqTjBgWfpdULgRDoSm8PweBj73tzlH7VCbzSlRyGYTPDMUGnkWn5hQN6X3wDe3h9If1QHC1AvxG5ThwuUKejhlETBN8wGwg5pNwKP-ld2mVMFIjvPnNbqkth9S-pGzlU-2PCgt_0tvsNq32hgevaFI6ivlAq8Vt-ILmGRWQPfU9pYcirv0KaA1DJnIDJCLeQnv1UjvwZJ2MZ-fk6DKQatNFDyl9ky5o7iN3XBFVyurElOwwKyRteoVm_0041U5SmGaqRN92S85aOBWGva8zEM4Mp4babMVkHnA67svva1Xd7nl0XMUHIKoWkEDWdd1pRRjhNmwiC8q4QyMSZsceBwAujN0UIVvMdybgRbIrRA6BI8Vthee5xAdfWLOtUCwSjM15K0PlpABQ3hCEmZ-0n4HiI8Xlknvoj86MDg0QfhV6smyhY9vrewEgSjHGLbELm2y2A5gGRKs_7zZvDrDu2MY5o_6c7FeDNGvzgbcYbKTZmpRZJhI2O3AzPEnbbPsm2q5fVFzySKJoKH6Leh2zRM4IAemS_aLUakJe1GRkxjGa7ee-tvZmX5vkPx162w4_rG4tMYd0nt2JRlMXL2vTnenfL6VJsbUX5VCHV9B-qsAaHYyeF_g2UusYEV8hfiNLkBBihAedEABgtnBeBIWbG2z02gmuH_RZZNF1B_bhuPozQ3l_bbEu-2ha_3qP7i3Ew5OAcwVNpCM0tG9wd-lPZt1OuAaxr3H9YqP8DABLI1skIWQ1y-3iN823CKplGhvor8RromztCcZQ2qdb4erL6QWQwvEmtuO9MBzv6NNK0-qTZ8ViuftB7Ud8blrd9Ltfi2fOpkgCwMr5W68HPNS7ifNg2YrcZU2Tu0M9n3e4HP2q_uCH9mJ4-d4Bj_cYZ8zEakF7Xa7SR_qkLznjU5SywUHmcL1Gn1HvxBjKBAieDHoi0hJomfKm8GnI2U1jmJahVTkJO6FjrJyBFBg1M-2V5CNb2xE-Cfb35-C813ARXvRdXKb6E_MUj30ntReYavzeoj6NXuvC80SbSrmBItf86PHjwGY0kLIT48dbyWRjLaE7BUzY34QpEe0I13dRq0Rwte5lFxcbdS3YIV_T_oo6E3hgr9vUAzvXgpb4mBIsvCWlihITWB6PRJK4htiyBwWkSHnNDFBB_qGUDIi6DKT2NftUWtUtg4mKkes0H3grtIDxPp-I80cEuOMltsmdRO5Be81PgN1uirLmxqFEUbkt2hRjRD99oWhtYMbbvt7hRiqhYaHBBnFvKyhlBOLlfe7XjLp9up3oW6FxO6nyhY8k6jxpFvtPLrN3OgCl7-TXb0VvQONYoVfF9PUMFwl6UDiKmDy3ReBlFnU0-2b1T7uIPyaO2-bM_j3hNbXeXban8TFSl3gqVNW0Scm0UbQVo91LLYcuOe3APc9RpXtQafSieGWV8ojlA8iUd4VANgYD-PQvnTGRh-Kfh6T_-_pWtgdFuzTdPPc3b3XH9FxZeX6wphTz6ehjcvZDcwTT7ofAqcioohU11danjUMIqnQbQ-WA9wGEVLT-WcLpjHe4tHYZYFLtyXLL-vdfXlglyusfx0zSY6PoO4ZFCUj21dkPbMghUaVQ93ZQ72JrytyCOln9HpjD_bStXr_duO_e5iG-I9bZYxP4ekaD9P4oPicC6mRhWbZIUJgyBJtR88SXOwgbFBCm8tTKXxWu0ZXZTGpX8oymTBJvoyZgnSgR8X8nhZT-5yClMN9Y31eEHvinabZ4M7VJAhZZ8dhqC00U0klz7V6l7jtPdWGCQKNSZ6V6JTzDwvM9jqzgg1vyus34jawusUPXjCS_I3QieG9ZxxxhyJHngvC4W26QhtzPB9ScWcCsjduVclGA_paojWNae0uwTtkfLl2gXNnD_UhNNQYEYg0jKq3lUNHMNXqDjbYeNIeSA",
  "id": "rs_027dd9824144962c016aac6e2c4c4487d0be779abfcf6356eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.405,\"right_y\":0.235,\"right_z\":0.085,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":1.1},\"note\":\"That close was empty; the fingers were near the can’s white end rather than around its body. I’ll move back along the cylinder to place the jaws over its wider blue section.\"}",
  "call_id": "call_DMOshEKoiBdwfW1wqFeU10cu",
  "id": "fc_027dd9824144962c016aac6e32fec487d08a573350fd8e80d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DMOshEKoiBdwfW1wqFeU10cu",
  "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, 0.8585, 0.6346, -0.6373, -0.02, -0.0544, 0.9971, 0.2901, 1.8763, 1.0401, 0.0551, -0.6605, -0.5087, 0.9947]\nstate[eef_state]: left_x=0.2605 left_y=0.0021 left_z=0.1289 left_yaw=0.0154 left_pitch=-0.286 left_roll=-0.0062 left_gripper=0.9971 right_x=0.4059 right_y=0.238 right_z=0.0748 right_yaw=1.091 right_pitch=-0.0057 right_roll=0.0421 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.265, 6.7624, 1.5214, -0.0659, -0.0024, -0.0122, -0.5265, -11.6444, 6.147, 1.7558, -0.2711, -0.0708, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31df806b71f5e5195e224d69cc44a824d354b1a7d6db54e02fb2796869616e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae77144524068cd02fe4ecf6252410d6500d0290800cdec34ab0e9d7c1f6455b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf97fcbe84db218ff6c967c4e27a3ec60f39bff024edc8ca2f4b4698a16ff553",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 12.44 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8581, 0.6346, -0.6304, -0.02, -0.0505, 0.997, 0.3317, 1.9987, 1.2064, 0.3305, -0.6662, -0.2642, 0.0086]\nstate[eef_state]: left_x=0.2618 left_y=0.0022 left_z=0.1301 left_yaw=0.0135 left_pitch=-0.2787 left_roll=-0.0038 left_gripper=0.997 right_x=0.4659 right_y=0.2797 right_z=0.127 right_yaw=1.0241 right_pitch=0.226 right_roll=0.0456 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5995, -0.0757, -0.0269, -0.0122, -0.5128, -11.3436, 8.253, 2.0098, -0.0415, 0.0806, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG47oz8HSVYuGBfH4ue_3ooYeVNXq-oEt9t5qbASK14jndQQWrkIewCdXKZcSS3lZzrS7x3PQwm_S7t2lHANxAYsz8ez_XwqMenREF6FLSx0lcm68MX76KqtMTcCoj5gy86s1jsCOSk_DMg4b8fBCcNGfgGYFtyADFOcoMWJc0nGkMCqz2xVNgd-MsDBEHFgyxD_2k7UCDFjDR2DSSdm47KatSs8k1QCcuGwe3KrHdJAX8YegytZb0pdoqNP3oCM1rBcoFXEEdtmXJ3YA58h_qZTpHCVMFORtKdI13ojfUi4RqCo7g7M-JQUq51UpgjvksJHSg6CvRhB5bZVAwjDiPIiAL0bAT3Tjmf5f0kf97j4t6Pt4veqfdwverk_gMk28nT2M8rcXbOEX-2AXIFoKnmxmlRyGsaFhFQaxOHuLoJXNdq8qRHaN7rWR0qR3dyXGwAC5Boya3uMu-swGIZjZ8iOcsylAy4_doe1VelDShvAZfwBQQtQgSomrY2vsQYF4G7dvr23YKZ4TTcBjlbkDrc33SdArEYnChAerezSCkbist2CxkIz8aicwV1pD_wNOkGFMcdEXAdF-kkAFkOhOUerg_-EwWKw-NJhqd8ZhC4aczqIWfrnFWLzaMHMlxqi6SbdD5D17XcuFgdjTwfKDrQBOT3xxowy2nE7A3OFK1Fs6bk6ZuLzbtbsIk4qN3Wnk4BHgFA480S_rEVm6k1qidGCHAJBMFjadQjfK-km7JXx5kfaclv8Q1yIuus4AenfQ7Cj36sCYehHRcfV1-KjyLlPlVHqqUuru6aYgvrTDLYBbWnVVKv89Bu-1JHL-YnzB1KeOreKE_FrC1OwYpyOcsTg5Qsk0cAjDuWPtjcguS9vyo_2eB-7dhzN9YQkSVHn_YEzRpLITP16tNdBbh5P2o_iVZ_0gPrXBS6_wbWcL9m3cNFZ2hApNf1gaqX-8O6ifFVf5gaFgvn2VBgz3Znc1LbDDVFxta_YsadMFSeKmfJtCRnHkllj8KQgOCnuCnfUYwXa8aB5trrLC0mmp9pGYzVwY5_TUC5yFj3NcX02jMcoQoJoOcMHvz5rUq97EKjQcaRRKiLNquzkg2STioUPDqLJbqBqN4iQQewVG65eVdhMu_7diieTdksJxALt_8pYnXm8_iHaNsKLfINHlpNWF58JJuxJP90H2ErzXwJbCO7ZpCWwrdtjxuFMJGTYuK3xll55q-hzkIdYx5K7kXi3_JevDo0Ml-JSk4T8z-3NQoCHb5nG9htCwBGOvWJmluD1LaUoGVYLsU093t3n2tPltCzpYxhahRyS5bfdx7v0LJPzybcaHxqKSwjOcp74kmVfcClNIrsMPFGq9mDXBR9vAJ2h9L12jkKtrZyJRV38_tZXPByIjtBo-iDBlrMUqYNY7C5DX9MZMx1l9o2XCUb8CXUOtiTKQ72UhZ1kgaMUXSl_F6CDn9sjd4ufDznalKvY6tLfQ_UpVe6_x-oO0f8HDhsVdgRvdAiUWwe7YCLRyQLobPe0VhoYTJvt9BXZGnW-uylo",
  "id": "rs_027dd9824144962c016aac6e37ae3887d0ac94c5b972cd84d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.28,\"right_z\":0.06},\"note\":\"The wider body is visible, but it is still offset to one side of the jaws. I’ll shift left across the table to center the gripper on that section.\"}",
  "call_id": "call_lbCBotSreGwmKZfYnZ022C86",
  "id": "fc_027dd9824144962c016aac6e3a7db087d0a9192e52d9d0c719",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lbCBotSreGwmKZfYnZ022C86",
  "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, 0.8585, 0.6346, -0.6376, -0.02, -0.0547, 0.997, 0.3954, 1.9381, 1.034, 0.0978, -0.6003, -0.4538, 0.9953]\nstate[eef_state]: left_x=0.2605 left_y=0.0022 left_z=0.1288 left_yaw=0.016 left_pitch=-0.2864 left_roll=-0.0064 left_gripper=0.997 right_x=0.3874 right_y=0.2737 right_z=0.0473 right_yaw=1.1233 right_pitch=-0.0554 right_roll=0.0734 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.4139, -0.0513, -0.0317, -0.0171, -0.8, -9.0735, 8.212, 1.7167, -0.1783, 0.0806, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8634ad63ad8607648085f2e43ba5ed4d2711552b9b329cb0ddd64a911b2938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1178530553762455266e9ec5f3c565b5a928eec4c669d2165c6cf3769db9b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df4ae0322d0ddb5b1711c735a2993c5c63492aeab4cd20706afae0d32210c3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.723 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8585, 0.6346, -0.6373, -0.02, -0.0544, 0.9971, 0.2901, 1.8763, 1.0401, 0.0551, -0.6605, -0.5087, 0.9947]\nstate[eef_state]: left_x=0.2605 left_y=0.0021 left_z=0.1289 left_yaw=0.0154 left_pitch=-0.286 left_roll=-0.0062 left_gripper=0.9971 right_x=0.4059 right_y=0.238 right_z=0.0748 right_yaw=1.091 right_pitch=-0.0057 right_roll=0.0421 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.265, 6.7624, 1.5214, -0.0659, -0.0024, -0.0122, -0.5265, -11.6444, 6.147, 1.7558, -0.2711, -0.0708, -0.2271]\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": "gAAAAABqrG5IVBhKLBZHrHn5-nbW1EcCh-7YvTXZZoUTl8J2WyHAKx7Y7cBT-oSjMmb9Lmgo7T9-6JCc4aaHZPhbDlibe0WMwd4UgBbOtwQnTT0KwDPvSOYzA_7fwoVcISk5xTtGgfjuVyXYWbslswQOcNotHKS1Pxm9JON9pivGExyUcZm6ZMb73Lzh1nm-CjXpWnU45YvUfPgIUIZrpRzL2HaBwvqgrmIUM8eNDm3o5nxV5RkkAEwJ1o5ss_s0PbDTpEmyD4ngBXcdXIZaqCRI8MtXQwRWIy96HN5putEQx2wwkKb7GUPSyEkZLmhNJA1x6RY-OvA67b5n4EYzqIzj1HlQGteCHOZ3jUkVDht8Y4Bw-Qfx2Askr__JOTxzRqTuEDwV9d1daxJHjD_HJLXAW6g11ekkreNVMtQz4sbJ6PVf-h3p94IM8CdSZRLlLTTkiFLU35k9mDJURV0dgLashSMUW4MFSmtobVYOhw23X3KRpcY8T7bA3TkTnrgP8l2NltdUPXBW-JBSIIQaPDvD6qhM6MymHCaTz1dp-s-XbFQPX9sGSw7cazzvqe1O3Glvkl2dAQGkc5ds6is32X2VR2InhPt9iW2usnsqaLISmQXf5cDzaB1X1zZRThkfdWC28Vz4CugobvecbIWWLCF0PTtXSOH7s5H2OBTbogKPQJ1GdUw8VBqSxtj00KlIC4h-3EWomYeC6WB0yyWZ_Hk8CmGZzrGSZSiqhsVf9mwBTLCkLHVAyrfMQ1d2p_yZdrP_p02Tse99gROiEn8HbJRkvM7EVKhE75o1DUYoAVO0dsZN99_eQkBF7avuC9sIkQbGrohz4DEZ-1FOfr7pQwp80cnvO2JOZF5smpFq6LxixHEKJG6tP0cJhf1IvC-mCIY7hK19ZNhJdLdlgjGayLvePtAiJXUrqo9jqlcV1M6aH6MIct3Etph70Ya_VCHxhEUg0QOGy3dCDqMZmrontF1vt4mCBCxTsmmZJYXJWbdiKIUAkaaKeEdXZxABeoOkIJX8bJ9Hf7AHKo1V2LbrRttFi3Dr7YWzPQqEX4KCPSPmAjaszA4DCNMGwWams62PDZgoB4niq3uPMehaip3K0P369reXmWk3rAAZv7i5AvsGQ2nWtJIYOQaZN6oEswV4mn57c_rzFCMdzueJZwA3xjl77MoEfI059L6-oKwIKn074VvjWVJnCTL_dSw92-xmsOGlgtTYDDURQLADAnPlGYXzkBxCumClwxcKMgHgd7xbiA0Oo0e90msVqGPE1xTIqAERaKOj2IajL1nSh2x1E2CXxIhSGb5dNoqrFCLSJ5Rrb6ev9Hg3do8it5ptQI7rR8oChE3IUTBDgKsAXUGT79d8tZfTaNqTD97izksfAVPJHhoYsUlEaIiaDL-Zud3i5k8V2FHNrno46zIntxjl04qAeF4Eh7mCwCd7PYsbZNnqXNh9nQTyE5LYgk-TmQZcroUeq0v299cpqyHa4f1VtvdhUaEPM1fBswzjJuoMFBeyzErVo9s81uLT7taoeBtjlc_ZJ_lGwkvOyrGpENzZ2lkY8TKoCAldp2GSe3egX4B4C5reqvtaVtxSImi6ZtUoz7LkqBPWm0E7GQBkK64qa0JNEwsLSd8AR_TWx5Cq7m6pbfOonJaJSuhV3j3Dlfl-TUVHAJ4oaaXhq-X-zBigdXnfAXMqM_Jm99oLUzpQTTTEEkE9SfaF-MCiTKxcxTzDiDm9tWOBG8ll9icXgq5jqLbylRQbpWeTPWtLUSuJIPv2p6LaDYZheX6w90T9fPpH0Xf3-zGWq3sQjaPzpWd-BM9s6ur7IyIOLymUT6mhyy09fJ6kGGSgt2vLVsFoWuV83Iv7QhlcuqtsSwT0ZWryaoO4kxEvyd1U_If9ALuiuEINGFvW1t2SNZm5CKuNd05pinomgO0_EGZLR481-BbW3MxrYp3iBW6xAeTeaUDlWfmhezIJJyDYWHClJnxBYCZTkY-sbHWwXYWa1zfm4G0wBZkzHhWxpwuUeFrolYsLH86k5ITOsfbRyqiAa3uHbeaOUGOx4bTGU1ubYbI0LqRKv2H75sYMNtkvOO_VMebc22nQXGaOHzgpAuWZQzBGRk25n1wk1PgxjLvawkqCXKZ1pYJ56jV1dl7jjA-SNSn24zKOMchd_BCN_H6HoMwzR5Y9JQF8YIDcJUbLVZaI1BZYUEL07KhW48arJwTPbzZ8ezyGUSyVUC-YZh5n5jcaxjpTUy0YkWpYerhw",
  "id": "rs_027dd9824144962c016aac6e3f13c487d0979e5046b2ae742d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.21,\"right_z\":0.035,\"right_yaw\":1.1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"That lateral shift moved the body farther from the jaw center in the rotated wrist view. I’ll correct diagonally in the opposite direction to bring the main cylinder between the fingertips.\"}",
  "call_id": "call_nXu7VwgVEehsQPtQpXHrHHbX",
  "id": "fc_027dd9824144962c016aac6e46b47487d0bde5bc18e27243fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nXu7VwgVEehsQPtQpXHrHHbX",
  "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, 0.8623, 0.6346, -0.6529, -0.0204, -0.0578, 0.997, 0.3588, 1.9499, 1.0355, 0.0875, -0.6094, -0.4797, 0.9954]\nstate[eef_state]: left_x=0.2576 left_y=0.0022 left_z=0.1255 left_yaw=0.0179 left_pitch=-0.3054 left_roll=-0.0074 left_gripper=0.997 right_x=0.3943 right_y=0.2597 right_z=0.0418 right_yaw=1.1084 right_pitch=-0.0651 right_roll=0.0714 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.7299, 6.9538, 1.6435, -0.0806, -0.0073, -0.0073, -0.0205, -9.1556, 6.2838, 1.6142, -0.4029, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702cb3e5939c70aba69a9d340c39eda0d1be5702c58ac4c79f3ce4569499d65d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e91214163f6a129e9e29d8fc303af8ad246c59681a518d8e403a0102a683ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d56998e2338ee984a9bcc03090ae490123d673a5a1c27d8ce7960a72720bd81",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.978 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.6346, -0.6376, -0.02, -0.0547, 0.997, 0.3954, 1.9381, 1.034, 0.0978, -0.6003, -0.4538, 0.9953]\nstate[eef_state]: left_x=0.2605 left_y=0.0022 left_z=0.1288 left_yaw=0.016 left_pitch=-0.2864 left_roll=-0.0064 left_gripper=0.997 right_x=0.3874 right_y=0.2737 right_z=0.0473 right_yaw=1.1233 right_pitch=-0.0554 right_roll=0.0734 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.4139, -0.0513, -0.0317, -0.0171, -0.8, -9.0735, 8.212, 1.7167, -0.1783, 0.0806, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG5O7IPiUF-be-GYy-d32rSDaPnayWCTHyTexnZcbD_Oe-qFgflYY_6njTDPSNrlD_0LPhiA_loCSvN4e1gO2mYymx6lpQUPadtCaLSY-Q7Uspyth_JmzTZE3f8395i8IxBrR_p0_jyragYHxjMtN5kAluYrd1E1cPy0BcoACMenUG78YkIprCVJZbQhRkJ9NlBtI7PNdf17f6QjI_6ScgQws8oLnpf8XVvliqoGNbXWHHyhO6XT5_mMYtTU2aTimQXDvZIqXOd0fa67jG40tSCiV7-Ug_7yIo_zaUXuskhsB3XVl0_CwDYMl5BSGPJcfWbddO7XgN1jTc9UhKLmHmLZsDu3svdhK23ruNToBeGZe5irKFmxpsKccghUPOedfFaR8yuST0H2nZXOJnjwzjNAUCjbLTymhKdxXyp1BFIOwIO7wM-Qk8Mj-Yhh34fpI0OEyZbdf4_U9sAp_pWl_pFS3k133grxppAf9TU31p2Gk-MowY_g3M6OZHEMYP3k9K6wCnje3rcHjkZzG00YjHTplljq5pPJg3XJOucGkK-bPFt9ubmXsgtM9I_P0gbPUvew-Ir5--utGNyej6ST-FiqFIeM7OeogGsxq74BLUyiHiXzcLaQbn5drrocm4W7tOHoFVPvsgSIdCq2dmIZ82TP576D0Qy1AO79289u9RfND_1ZiM-aLxai0XEkUNOiXkpCBvsJY1MhGd8lac69oodz_6gb1us6X5S8Amx5vc-13y_UfJa34flaBLlGHcMZ87DOp3CGWmsa1H0sNLZRPviqcSc9ZTmRq8QwoyKL0MlPp53ZKpMgVpUQhOglibBp7jGLxwrv5z3gLss72VRzHwWgVPiq0xJhbCko8x6AQDt_mISgJirVyD5PROq7qV-e9ZWTlzfD4PMIkVTTT1iLSVbfZJcYQh9kvhKUy-kUZa2tj1K20rJq7p5XohG4dxkthosqd1DoEG--IurVwOMdcU3Pk4pKFEu9t4ydBY12qupJXwHtuUqjB6pPJSEBsTkbzMGH-KeHYOCEYFgtP407FAblNpN5a4gAUwlFcSLVQWI--YtTxLmbga9K43qArQmu4x-MSr-LOcPVO2wRSMY9gaJ6vf39-KhWXCxAhAxR-W4bulrUrbdCvt0puhxfKGmsVxJaYHHF7bFwAkYxcySMkWTHxRszcZoEhhjqwOdbBDmWFQWW07i60oYo5wiF_aLgJ8IuRlvoJYc9s_DwXef8MUQddXtvm8LIixwobukbE3Ool7ggDR9bdxMV7amEKdb8XjCS-fLlJq4s4qtv19y_Hv94hw==",
  "id": "rs_027dd9824144962c016aac6e4c066087d08924a762703d39e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.21,\"right_z\":0.14},\"note\":\"The low sideways move did not track, so I won’t force it against the object or table. I’ll lift while completing the alignment, then descend vertically.\"}",
  "call_id": "call_SibwBfgrGAXzBCDxb51kLFbR",
  "id": "fc_027dd9824144962c016aac6e4cfc9887d08b293a3e7acaf860",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SibwBfgrGAXzBCDxb51kLFbR",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8623, 0.6346, -0.6621, -0.02, -0.0582, 0.997, 0.2966, 1.9499, 1.1286, -0.0528, -0.6617, -0.551, 0.9954]\nstate[eef_state]: left_x=0.2559 left_y=0.0023 left_z=0.1241 left_yaw=0.0182 left_pitch=-0.3146 left_roll=-0.0077 left_gripper=0.997 right_x=0.41 right_y=0.2425 right_z=0.0583 right_yaw=1.1241 right_pitch=-0.0676 right_roll=0.0759 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4291, 6.8991, 1.4872, -0.0513, -0.0415, -0.0073, -4.0684, -14.0923, 10.6051, 2.0977, -0.3297, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38fea96c08d414fe359e5651092e19a31bbc4d236f16cea86f82389330c1bac0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2712e3ad3f5bd5e4561fca2b986916bfe8977dcebac32dfb2ea0447f328ec802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09476e1d27856fc9ae3a52cd5132b731a0cb34ab5894660e520e1c6cc3f04f2f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 11.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8623, 0.6346, -0.6529, -0.0204, -0.0578, 0.997, 0.3588, 1.9499, 1.0355, 0.0875, -0.6094, -0.4797, 0.9954]\nstate[eef_state]: left_x=0.2576 left_y=0.0022 left_z=0.1255 left_yaw=0.0179 left_pitch=-0.3054 left_roll=-0.0074 left_gripper=0.997 right_x=0.3943 right_y=0.2597 right_z=0.0418 right_yaw=1.1084 right_pitch=-0.0651 right_roll=0.0714 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.7299, 6.9538, 1.6435, -0.0806, -0.0073, -0.0073, -0.0205, -9.1556, 6.2838, 1.6142, -0.4029, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrG5UszLSAq9zzMDtSRei7Os5UYpY94C9UtZFzZ6JiolWG1xGkDn4bjGgIVx99RsQMcJx7GWkRLwRrkvvtAEH_ta1NURX8CqDRmsY2y8OdqL6-qLVhlyLS7youeb6givtdIVistLrXjf7nuHhbjJEeuda9Aap-XhjBOp0Dogys9xBz9gJ20s-yAmq36vTrzUmijcNyJQo0zou-2VgCJF8QBcRd9bhT5Aq3ooaSdK5FOwNzcjORnGh8CCLV9m8yLsqqSK455VvMn2KkNtkIUIJTQnP-gnGShAlREjQ_D8Yy2tI8rWdDPEYvjjLZNF-6qsyXrAWcV1tYjObAAzLW4RxspDRDp8XByMbsf7jzzfWdhrJaOECP6eXTG59Wimv6kCsr3Kk3iQSMNaPkfc4RiY8L-JMF0-SJFLLoSzxoEerZn56-wqgDvmlk6El770lhxYvVyifUCtZW6xLxH0o4gvEZ726o4tCQz9cEEEJ1TNN_vr0vg06MEsmJo65f1JQX_y0vHk_aj0ufY6J6_5lpuJtqvGXwn3wW5m8kwNh0igZTqZ7hH_0mwFGST2uBsUCqebVlSp7vlhqqPXVhQqT0IG_eKP3mRJlmTGGBAtYvfrx4qoBy6mxnKXktSDYMBG0Q7MvcHi7Y8NL5Byz3r7Fow_tH14lEE2hyYo80YJZgNgnQx99nvSNvYKVNi2YoQlFtLIYclHMzRJIXaWnLavPNge7az1J6xvb1JeXX9IKW3EqfD1V1SxeD3iwI9PDnOO2wcIXsxSS1PvJ0lcztUTop3KM0kDnVoP-FL0COItzRpQ35BQI6r-BROF0Cw9IC6UHoOxdvfh7rhArD4Fy3KQMUm2CGvxUbixddgeEZICLGI4xgPM_EFbN9qvfP9WtB5aINhivbm26M3yqWVHhC_fNZmz-FbcTSiTgZ5D6v2ULC7yjMCyuEvhcGWZZ0iO-sOM-gc3_7fFJza_oy89aXsZus-zHcw0LUdZWxJzfA-AP7aGhopqB0-HkrwDm64_9xDlXyb4V2BESMSkFsjb3aaZX2V6naCcJiA3yTtoP4OESvhj8zPzawC6ZMcPU4MCKEHnKijqeWGpnEx6G3xKmLNfK463vg-EzVZ0xANA-ruBU1HN69VIj2dI0_LlPx0GsPBJY582ThiGRiJQSBFpyhbhsFNWHJhR82EszykPDyL8tT1v0_lkEI_qnfuNK9cJ4b15QLvoDc9H0PEo5JiecrT3mpVXpQ0HmzwGAIxzjoo7YlynV9C7Bm9lJtKbwdkYxugd0q0h7qjoOnG8EHD8ciqQDtzM0WL0jpd7pSGHFuWfJhHPzxkC7RKkyigJw6O91ehchIEB5-91bjukMVh1R5Fi5XS6nTjsij9h0jrFqBRkoGM7Yfezm-IY=",
  "id": "rs_027dd9824144962c016aac6e513d1087d0bb4a4071f58ef252",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.25,\"right_z\":0.22,\"right_yaw\":0.6,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arm is still not lifting as requested and joint load has increased. I’ll shorten the reach and raise clear of the can and kettle before making any further contact.\"}",
  "call_id": "call_zt9IgPTePupDmhNajM2eZs2v",
  "id": "fc_027dd9824144962c016aac6e52c01887d0958490c122e2d6ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zt9IgPTePupDmhNajM2eZs2v",
  "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, 0.8642, 0.6346, -0.6754, -0.02, -0.0582, 0.997, 0.5674, 1.4899, 1.0946, -0.2588, -0.1059, -0.0902, 0.9954]\nstate[eef_state]: left_x=0.2533 left_y=0.0023 left_z=0.1216 left_yaw=0.0184 left_pitch=-0.3298 left_roll=-0.0071 left_gripper=0.997 right_x=0.3616 right_y=0.2569 right_z=0.1868 right_yaw=0.6971 right_pitch=-0.0653 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4564, 6.7077, 1.536, -0.0513, -0.0464, -0.0073, 0.1709, -8.6085, 10.0308, 1.9463, 0.0806, 0.2027, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9750a48d8c56ac06a2c6dda342eb685ff2037c77db38f03eddd088c6590f83a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca97277225b86f8de392047f2f590015c43da06297ef58d1b02b55b2d85b9634",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d193f79b69f01ee9f174fdab72c5959e5685f957baafa4601f909b1a0b0310b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 14.07 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8623, 0.6346, -0.6621, -0.02, -0.0582, 0.997, 0.2966, 1.9499, 1.1286, -0.0528, -0.6617, -0.551, 0.9954]\nstate[eef_state]: left_x=0.2559 left_y=0.0023 left_z=0.1241 left_yaw=0.0182 left_pitch=-0.3146 left_roll=-0.0077 left_gripper=0.997 right_x=0.41 right_y=0.2425 right_z=0.0583 right_yaw=1.1241 right_pitch=-0.0676 right_roll=0.0759 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4291, 6.8991, 1.4872, -0.0513, -0.0415, -0.0073, -4.0684, -14.0923, 10.6051, 2.0977, -0.3297, 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": "gAAAAABqrG5glCTxot4iAEAPg3MfSz18I3-YZ5wgvygUZ1p1tA1gGIGlEtVRcuUC87kTVMSO3gBYkf3TYZSu6SJH9jMWbj0GODH4X0sLxWfcGiIh8w4DVFb1bbPRDwHuauK-kHZXcMcXMBM55OX9-W8CWtuB6K8TkJQCo9uS-jpLLyrZbMuB7Y_lQiZbODwc41LvCwRTIuRfvyV9Zx8iW3n5MFVtjY31--oBCkkkuYB1KpVjelKUmYXzk-Dt0lIYy6nigp24mV3A3xeyqbClWP8todwpha0Z1kwlFEfo-anvAvD16XPqlSn6ojbKMjyHahlbAIEnNNZ3-6WWMF5e3XBa0tbai_Co-GMUEPxGwKigsLy4Nu6mJF7MEqiW-83UzPqz9TR332CKnfWcu7SbTo8gn-faZZMZuOJF1Z-ihMwN8KU2P09Lhsxpf_L0G2t_9dL0THSYeDU9hvWqLfVd8Ptl6yrQe8VnK7_AnYEBNbvKI3vg29xXFZvyaV45_UnZoCf5UKDtDEPEto6F8iHqOhwB-25_mEwIPRilsF056cidJyzBpTRSjnlgDxwK5ZkkEzqAl_Gk5-06XOoFBiFGmLuUgqm1_A6VDpA5T5UxEU-8v40dL6FopMbzpmAmKsLHhJrcJ3olCOUnstS8L8Ip4yi0j7CK3foqqgdquiDtqxxM_XUxOFzDxkB5nG_yPW1lN8pboU2xsjC8Sls0uWpAgGEXE990d3O3J3RdmWKnpnverggAk-qFy7yNb-s65TyTdpPgHS5IoAsgwx6mMi5UltzCWrDJxiXuBKz1FUiqzO5sMPPp8Y6PGAL5VE6x7Wt3EJdGz9nQbSRkp1lj_lVadGcMBDr6bkMoJJvUnNITkYvbqfCCc1uXtefPfglMz_2l9964CeY68eh_1RxwgHZk3BqNI0M2kqBtfThqDFAp6h1yzwobdvKy4_ogv-O3UMVUPV8LC0htrhCDn4ooxgxFfHqarP6GPcDZMyzBOyJ_Svehuze1Uv2bIPZwYBErpTc-197FkurIX68Exm0xXrqrNBvO9_6nZSv1VyPb1pMYpy2k2lD3hEIT7LSbQUYFFM2r9kvh8CxXCiAUFcv0zqCZ3raeMT96sZj3xSHQJc_jIldhvyvEEKAyGwiKiniL1rXzyvE-gAG2uVfFjwNEwXJl4tOJBDJN5bN2qf4VLzPKD2csCIgxjYy_g_VMm63jHap4k652sGEP-SWKOR50SqkfXX5hQ81TmDKo9XFKr6n6thJ5ie8U_AiGKb19t4ZUe6wcscJl04nSaOTuy9cp8NSGTGlw2WV0NYaXyQIn4x_-P0VDFoZhkA1MJn8EGts0_iTWelluf-iDFwrjJapuLDVtOje5LtrXA3h2cn-7Fi6y6GyHB-RDbMcPqAl_VYlvt9Bj9DkrQXD0MwEaoSYYHuRBR1leojD8doWIuAe0vtJItFkXCgJz9MwXcGJXUZLhAAam6G-It1EiIaX8twPUPrjVINliat0MxxW6HLggdzSYrhoyueWr5QqvNAU22HUZKgUT_iHpNjiA6iczd2Y5-LgX7BTf8tRaUfFem4bFQKR431PdBzRF_XNu91Yj_c7SwTc62xVkdOxYKCB-99kf2jePbjWZlCiUr9Ji60jrgWoFG7VuW2BVF5GsQ1Cd7FzmHKaUl-cBblqbjqfd5vwy_AQo-V9hrCCF6U_ZT0j7jxrVoycUO6OQ1hq_d9qLBz84N6klIp-a57K6VWtjmn6lqLgn17vlQKTt4RU0FuPPZ93ulXECxiYoF3a8SYZuHwLEp1VtsE1-NKvfaGsV2kyfdxdMqjPHp-lrPE-xPjIis5tw91Dzeg_gkdr120RUpItOkCXBlUu6M2Uvtrj7M9V7cPB2HoUBsepiOdhAoaDBBK_X2YIqzTEpP6tudOSKBFtk7CGL5do26vdpAreL7NTrMUu-pvXrEapprvsyccXoM5CnkB-7RHCHehoHuZVLpJH-X75mC5MwcTM3CQcLOh4Z07RrYtbsxHh25GZsr8XAN27K0MUr5utKPCQcHevx1gEw0gKjqU4zeUQvC5ayILoVY3UF2L6Jx0Szgq-nJskOoprGvESMkAoX6mLBsZqGcGc_Es0LNmS7i2yu1j3_aC-nI1XH-SseD6-2tHYjRopRctI2yuzosZQMwfkVXHRkNC_W66nMzoTjuqHtY6oDSVak0BSxjsb5tL-V_rvf84joSGHKICgixzFsQ5Zcpx9JGoo65pnPzbU4hDfX2_9vOmtKAtM3zX3ktwpdpzUGTKL_mrdnMXJIxq02cdb5-NDkgy3zgfkLErmOvHqOrSAe3lvBQObRqBxiowOChnYzoAcXOSMMnZln9CA3iM6jXMcVU26WWT7CmGQCozpahWAd",
  "id": "rs_027dd9824144962c016aac6e574af087d0b154fc57eeb78d0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.195,\"right_z\":0.1,\"right_yaw\":0.7,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arm is clear again, and the can’s full body is visible to the right of the jaw column. I’ll approach its center from above with the simpler wrist angle.\"}",
  "call_id": "call_k6YeMBvBRx3rb8TYSU3l731l",
  "id": "fc_027dd9824144962c016aac6e5eb95c87d095562df7460e94ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k6YeMBvBRx3rb8TYSU3l731l",
  "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]: [-0.0189, 0.8665, 0.6346, -0.6907, -0.0204, -0.0582, 0.997, 0.2863, 1.7901, 1.0142, 0.0605, -0.318, -0.242, 0.9954]\nstate[eef_state]: left_x=0.2504 left_y=0.0025 left_z=0.1187 left_yaw=0.019 left_pitch=-0.3474 left_roll=-0.006 left_gripper=0.997 right_x=0.4381 right_y=0.1903 right_z=0.085 right_yaw=0.676 right_pitch=-0.0885 right_roll=0.0282 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.4974, 6.694, 1.4921, -0.0659, -0.0562, -0.0073, -0.2393, -8.5538, 8.253, 1.9902, -0.2955, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78719cb682a042355ebc469808ffe67b3200981f3af137385ab82c9676563faa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b32df56284102261390c3dea363416c72ffc6fec0e8a5faebccb745a0a47659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761bff034f9e0ade85fcfbc78576f032787e66cdace1af4f8d1daae6d323f025",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 12.17 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8642, 0.6346, -0.6754, -0.02, -0.0582, 0.997, 0.5674, 1.4899, 1.0946, -0.2588, -0.1059, -0.0902, 0.9954]\nstate[eef_state]: left_x=0.2533 left_y=0.0023 left_z=0.1216 left_yaw=0.0184 left_pitch=-0.3298 left_roll=-0.0071 left_gripper=0.997 right_x=0.3616 right_y=0.2569 right_z=0.1868 right_yaw=0.6971 right_pitch=-0.0653 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4564, 6.7077, 1.536, -0.0513, -0.0464, -0.0073, 0.1709, -8.6085, 10.0308, 1.9463, 0.0806, 0.2027, -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": "gAAAAABqrG5vMFOwp69ojvqW_5kxV7gN7M637z1KmD7WWaIMlC5HfGR-5YFuFdPwEmLoQrzWdghThNMq9aEZzmcl3KHBKcqZ3VwjVYqD2I0RBDz7LWc4-J7xLEuZofkW5HbqRbQV0JAjocL4GbHtYdhkQj6Pyoh-XwAkfLwO8nwBv9iGcyBj3xvaHJJtwm-xubzRvUzQ3RqtgmS9QDYih6uja7bZA2akoo3sdeY6oXuXoIBSgVdfaxfzkPt8gmzi0pDG1ScoScjxfDxat9qK8mrnMGlOVNxAeuP56K7ctcShGHqdHfmlB_K4LIhW7heGLZlwex1zTn14zZoPOC-gSKTJkcFlc2-5_XLXap1wjks0rnG3Fxkk-halA8qVVsVJ1B4CG8Klz6huyoso_cnEmQNzWEJgVkEwDGw-YTUdGCMUWbJX4XcxFCglcw7ONVVzgM3AR1dphd5IP5TVgK8UullgPILN0ijef9NkOS2aA1CvRKlvdi03hVYywAC_GxYHD6elyfB-CyZZ8goP_tWtEH2R9CPY7n-R8o7GpHaZeaCWg8hGk5NNWi4Rkxk2vf0AbOHzIWRjZlXi5tBqP7RMXivm1oPZd3uJnnUEMlKM9CA25nK7MKI_eOEFIiZ5LNLM7S4rmzrUWNlnFdSgCVBw8Oz9L2OlqpJ3OTB0gGV8qZ23FiKOt1PavCfwNULcTKoBAyeap7sMRP3iQyojzfdfdgtuFoJWKbBytcfUsZ5HcN1DYCcd4sou76W0Klqx6ptNJ06U-jd9_RWXLu3iDNNwAtdfsuZE6ywnX-e_RJ1mtBQIdGF7aaOkXeMIjFu0f3Zi-ksl1tDmjWZCIu4NWyVdfY6_PYiuVXlT8ksyudvbKqa7Yh6T4uX8D9kRhSDEQ1YqSpzMbcgSAsfeddBhJXKdlb31I1urFi0s_NDcSKLbWfeAu0fzRyzvtqnx6jJ8Ie8WfiOqBD2fvm22D5y8hchrNbNzml7CX3YY_mXETqCb-AsXVE9UzsWv9NJnJSpGYPzg0gdBZZks4yS3fMUbNuJVL3kAYNQW8PdY6yRwz9ML69p0yUcBR_VwDiL2eZy_KUTp5aWZIeCGUARy8G98IcyBoUw7VzS3ELbCJy4EC4YwDiFoho8z-08v7pcFxRQ7jwnErjqBUU622tt_eYL2OikeHcyHcmrbTVkIDcdlETOuYIQo0PgIPrYpPSbkYA7PwXv5c6iBvm9oyTPUGauLr7wcDlHshOGeNOtO_ACAKoZWVU7v6jZbIrofCjndmLvaB0MDIN8VQwGNCk38ypU2jdoHKPt_P0c45iS8oGlqUOxCXTJX6RHQM0dI5cblDMnJ9l5aT3a_OsmXGxdPNdfHsudCrY6oDR5og3ixAmgIo08TtjuadCS1VhJhKuY3Uokr6yZ9_q43tXFTKmOLGvY0AE_aHQu_Kem6r9Os3cElCFa1yHG6bNBwRvcurW5FOYoY0tpORa2U1yLFb8rBR0lmIIpyJeTtt2_bG6Ev3n0_XItoqNwBaLvuqeQgjrdUmpHjyeiO7WgTNRpedsJg4EXgzUliVXkQ8uE2S9ivrJ2hVqkzztCkc5U5DpydrWRLCMEXy5xMyHhgvA_xUBZEJ8i6ggX7dyZbhX6QdlFt7ZYO7JDmc4GqHv3ZzlxovsUpizfRlhZsbvdT3hsnzIj98ElTOmrlhMF1ngowd_h61HPeLr6O46tQeLDp1c_z0ISHNV2q4owCUQ2JpC7jLzpwFPeGe9-4UfqV9Wmrar5WP7r2zbg52csCoF8YIY5ALUVHj-_7pEuazDxJds2vC5lihSWgP2OaT29oPTRKETziallKd1icKeRgKtvkp1bqnpEUfk6FrGelqkd5Qnw48CY1slOCPDoNNTPy4JdML2dAZvMovbJqggdo7p8o12q5owFbTz35_NcYRTrFzau_rZ-9nlhkY3ov4gkYVjaxlxTAa6CZfOnQL4_FDPl0Qb-WQAEQvZYMzcmgfQt3M6qnLKl1-FIz2rbEg0nGagDwF0fQ2HVZXG7NdlIPC589u0ZlEn1b7U1qZyF9o-skcs9u3ZiFd5pQkqQensEcofPor5yPg_Ga_ZyoFeowLJUVqsUwB7yfYdP6fwUTS68Wigb0Usq24j9AAccz9i8VPcESubGPfC9iOvpdiVeJ-7AipSkery55snBd-V8WFBojuAGh01fDnkbOTtx_m_lE_8DikICWva5os5IarzbZwpNz4br-TN228LwgtyE7KP9ju686-ZFwYLdCnIyI3KqEdEXz3ooNPDeN1dygv6MMx-ZTskfUf-tfzyDDWd4aQchVOif523tfB6ETN1lUVXxTi6l6Rt0Uro9DeAjhwJi7s8w_LVJ9kY8-mrxbzYkhWt9sLEvwRW4pIpPKZ_mgr2ZgnZ0dlZWjhovA2SUlZwNK6jA40UruZWCfCFsBYat6ZbRFv6MSOS4bRO1ye4xODBAOI5hs9QnL8M8Gw77x11waBpcAqICaPcEkWi5KvtpvKa3n2shBx_FT0urydHNvL1MG38ZwJtMVbAHPw1dxf-yxrMcs_Ru3f8lyn8VmGNIWgc2il_cJhW9CQ5_muHg3LydfGmHlC0WIL_1umHF-4p2AKblOWUA53LFxuunjxMGZ9Ezn-E3Z-k3E2lqqNyUkK1XX04-4S00-aA==",
  "id": "rs_027dd9824144962c016aac6e64c39087d093cbf01e86314317",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.165,\"right_z\":0.03,\"right_yaw\":1.6},\"note\":\"The gripper is above the blue body, but the jaws need to turn farther across its width. I’ll rotate and lower onto the middle of the cylinder.\"}",
  "call_id": "call_KyvTGREZSsRwaaOZHocX7DmE",
  "id": "fc_027dd9824144962c016aac6e6d6e2087d0ab933ee626508245",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KyvTGREZSsRwaaOZHocX7DmE",
  "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, 0.8688, 0.6346, -0.7044, -0.02, -0.0582, 0.997, 0.0544, 2.3203, 1.6974, -0.6243, -0.8242, -1.1442, 0.9954]\nstate[eef_state]: left_x=0.2476 left_y=0.0025 left_z=0.1162 left_yaw=0.0189 left_pitch=-0.3634 left_roll=-0.0057 left_gripper=0.997 right_x=0.4862 right_y=0.1599 right_z=0.031 right_yaw=1.3315 right_pitch=-0.1152 right_roll=0.0082 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -1.2786, 6.6667, 1.5897, -0.0659, -0.0073, -0.0122, -0.294, -12.8205, 5.4085, 0.0904, -0.735, -0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606bc6a062a9665ea85d2248942688d2f06e00ea55562372652aac6f5c538a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f96a7547223f893be811dd8ee234d54472a8d33c627cb6493fca1c58d4d054",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a21e7aaf6650dea3f1b2ef91242337dae688a656ae427ddebb9b8a5c4b7062b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 10.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8665, 0.6346, -0.6907, -0.0204, -0.0582, 0.997, 0.2863, 1.7901, 1.0142, 0.0605, -0.318, -0.242, 0.9954]\nstate[eef_state]: left_x=0.2504 left_y=0.0025 left_z=0.1187 left_yaw=0.019 left_pitch=-0.3474 left_roll=-0.006 left_gripper=0.997 right_x=0.4381 right_y=0.1903 right_z=0.085 right_yaw=0.676 right_pitch=-0.0885 right_roll=0.0282 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.4974, 6.694, 1.4921, -0.0659, -0.0562, -0.0073, -0.2393, -8.5538, 8.253, 1.9902, -0.2955, -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": "gAAAAABqrG58JXTQEHwbHbIy337US45RO0D1oQ-bHKc0CMNXOOZ-z5909dBK6B2wXcikKpnR6jG8TLs32y1oaeYh_JfZ-jAZgoUgZP0im3QjRMXrx7yxgpeLhCu8iUpErjInCXtpzqThzmSUHZ_3i3PAGb8rMpYlBz_jxeR7HrZY4bsev83RZLgJ_NJgbAg2ZDfzSHTjMyXrUj5DeLkD-vr4yX13W4ZEBp1GlJip2U1p2jpA172J1hWAqDaCXwxF59UiC0OEqAVsRDktVi8j3EfawoCPpub1aWhB11ol38OKr6OoaXEdVcsNEipWYIn5vZHk-1rYKXsf4wNFRXQWKhqpK-viPuOEPMr2mSESzrantff45H44pch7F2ulHVIVDlOdT6Ytvp8WCIvky3Fa54RVYIUSoYf3_2b5iFYG1qMaDLjobQQfEm_SQhEW-Qh76biFFILzVsa6h3sVhIC72VxZC38Rm3QcsE_FvFrQ2eqqa3kU92mIY9zRwOZuUlE9HdaGCAED3gZWowC548hLYf1JnHerrvqVW63W1OflF_R2fv_mE1x7GrilL8S6k6yRjLrpe3uiFmTcFKn_yyPYqTB2TLvTT6TleN3ojq17ACZ5sqY9OMRIRK9ITgCGBHm2jh0Z3O_1i_1OqHiN50K2l0X9qrhB5esUt-5s0EqkD5uVakR6et4_e2FSJHXVImHQhw8qi51iqLtjqI6DGQ9XO0wRMvZ4TNFXm6NGukvhfOgqAq0YmgWzxkwjgrbXoFqo0JlAe3r9j7yFf-KXs12Q1VxNcw9ERujx0K73yo8vhGNN72cVYqiC7DXOGrAOco2K9hrxng7M7mdhlYzEPZ9_dXLEENStMNcitP7KpZuPKtTA75np1mJF47MSer_gGwIgK32mGLBasTDnm-BjwhNLFAzYRr1ewXBAa2UKGZ8vDd1kQShgrLzSxZDtscbVEPrPrWamHQl5CI9yiZ0ONwyMTdkWimAyb5c8CWsL9eHUUOf9PsK6l9xXvTUR7iXwuuGRxWcK-srgKTUbNCyYeCsWvkPfwrNHMfZkjN-uacV2Wgd8g6HWTbCPaPeOpzTKadY_0WFRo6MPrMBGE7CgtX3eLTDodujUApf-Q8wB9dhK1F2-QfvK96Tx7a7n5zDOvQi4Rl8h6ZIQtscmbwRJhm9wS4WlCGMGprGzerBXaB0bEJ_H12xUjRnNgaLsZqhRcF_TqWBsVMs-9M_0klTMz9ZNXgGhikJ7b6Ize7hw4E57UEKKKL1oRdsHgqFbM5qgyFdVopXIHfcdSOfUBDNxUjPi4TNUsrOKYjvBzO6SjH8bfTTR82JkEjXRZaceCMkUHXZeVeuiL83B4OoYweKiqmSdRh-RcnQmUCLdttNq9JqQ20JYStkkGvhtgXhPFbMLY5mS0KtF7R0VUWl-dDJLh-JQgXWq8_gWJ6duYbwu4tXNtSKrFwl8zKkJPyLiQBU6y1dDFQnpNuB63pD0kd3Zf-WTmZu6XEtlxD08zZtoZwMJpVJr-GtvNLKNfk8seyyqNSvLiOx-FbX0DQxKcPlkf1ijnH6WB3H8z3QPlgmG09oQMihfL5Z8hckOAbsYC9BRMfi8B9l2ZfcM85imffHGdlS9NbNPvbxNhz_5Th1lye6fMBi_1UfJlZmIx1qqRuABFA1pO4_uF8NzzPi73F5Mk7Sd81-sfE5WY1nMtF9m7G4LpTVDqs8Rgb0UXHRxaxV69Q4XBr7FZuwxu6WfJU_pVUonHv6405zvhX0zW9EvUDeuj52gPB_4-5ALzbv4cMqjy6mbXcgfa_4Od8I3LrU9Q0le42WBOIBRSegiXak44Lk4HoA9mqMHaFiiHlwZLaFq2dXnnUymxNF0RmDmMTetwX9ccmy6kBao10HEyKQRCkVmt_FYOTvfUwkMcWMNhUS2KQn7mCi5nqzPySz6JryMPpksiCkaLpFtPj8UPo9Je-kVk8TN_BaX4lavAfNctbR8ueA3exkTgXVmdvU_9f0zA82PItKvtgVA3jJcKZMVglH23R5aQPktmk9um91CsbRHSZpe1mUh0eAyaMn9J2h8WCCOOX2oJc5PunM6HePc0JwvZPlJ5ef3aQ9iaeOtDSXZHdZjabPxPOlAqCsdM7AiaWaKBTLrGVYRJKDKHGD9LZTDe-0CAGjXH5pigwcwcMW25dS9Z2oMji2UQ0RM9ehWYNAT_kpDJCctkgKonwvL3iG22mw1oB_5suGlNvyGvDGiHMw0FLRaVKPa-GUe30Mig3ZXHc1ubAdbT1VScq3Af2_DtGeRpqLn94vvPPElhPMSeEzxRAwj79a-pBDVPm4whu9L6VauBSAh4PwkgdDk68a-wns6A2b2XpU3IP9NqehNZXtrdN8_dSH_26bzcbjKRN2HriTQ-bE0c-yJqqPWhNDTZ-P4-MAUEAr61Vc=",
  "id": "rs_027dd9824144962c016aac6e727a9c87d0a1c0aba74a67b618",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.305,\"right_z\":0.16,\"right_yaw\":0.6,\"right_pitch\":0.5,\"right_roll\":0},\"note\":\"The can rolled forward during that approach. Its near white end remains accessible, so I’ll approach that end from above with a forward tilt to avoid pushing the body again.\"}",
  "call_id": "call_eawpdNb3xHZAwocDfeb4zz43",
  "id": "fc_027dd9824144962c016aac6e7a38f887d0be0cf17af16f28c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eawpdNb3xHZAwocDfeb4zz43",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8734, 0.6346, -0.7193, -0.02, -0.0616, 0.997, 0.5468, 1.9842, 0.9855, 0.7525, -0.136, -0.0719, 0.9954]\nstate[eef_state]: left_x=0.2447 left_y=0.0025 left_z=0.113 left_yaw=0.0212 left_pitch=-0.3828 left_roll=-0.0071 left_gripper=0.997 right_x=0.453 right_y=0.308 right_z=0.1207 right_yaw=0.7001 right_pitch=0.3404 right_roll=-0.0252 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.7846, 6.6803, 1.5067, -0.0464, -0.0415, -0.0073, -0.8, -8.7453, 8.1846, 2.3956, 0.2418, 0.1832, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a86afbfbb909c7ff6ca8ae8ae000aaf8bdf07090425293e13083c0dbe83727d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1dfa25e2ae326c357ca76e5bc4350d303e03ba2154d322ec46996ffe0eb1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209340528ec81f9caf1dce23206cc1dac9fc7d2cea1f1c17ebd8360699959b89",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 7.352 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]: [-0.0189, 0.8688, 0.6346, -0.7044, -0.02, -0.0582, 0.997, 0.0544, 2.3203, 1.6974, -0.6243, -0.8242, -1.1442, 0.9954]\nstate[eef_state]: left_x=0.2476 left_y=0.0025 left_z=0.1162 left_yaw=0.0189 left_pitch=-0.3634 left_roll=-0.0057 left_gripper=0.997 right_x=0.4862 right_y=0.1599 right_z=0.031 right_yaw=1.3315 right_pitch=-0.1152 right_roll=0.0082 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -1.2786, 6.6667, 1.5897, -0.0659, -0.0073, -0.0122, -0.294, -12.8205, 5.4085, 0.0904, -0.735, -0.1636, -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": "gAAAAABqrG6I85Mlk6ayl5YKlAnnWpaHABMj_HJmy2C9839w9nqCCySRYNuNbiEXluIXgpx_vmTYrlsdq2GiS2r0R5qYtJILdOeLJOyta0krDE-T2zMJsuRhFKXuo3aaSKOkmSzL-1WQ2JyaltJZL-lrmNZGonxPyE-f0hzqWg6fBK0pFmYOtW8P54sKLgY1l8PR_4u1cGfYffdJT_StK0YR4aCdayyowzLuyWuLwv5RN0RcycJygvftqV-2XT--lvHu5-z8OEUMDvseEtOUbEKxWV_FWMxkGgV0QzQbp1MFt3XkRVs6zrQIP6ykrSNQdN_0EkX9DeQWmP18kM9r64TgKsOWERwvryg2KAIQ4zswKeUxLTvK1RN5LUavFFYOc2p6MS03f9AIOgap8PkFia40UbtJMSVgMt4Z2rcgFf4LBs64W-xNQy42JNlvBT7_Y4JkshBQv4e7mIoS5VQpiTZPalJ7YgjZcIGv8GgOKk_KtT5fYd15Hj3GLSLJE6ijy2hMJUSn31IHZF3KjsFshqMlYYMmnAYyE8GRkBT2q3ZqlgJRnudIKYPmtMp8ENne8dq_X874DrfW79pkQufszx-fAaja9FPZjlH6B60Bplur9sgNWddb1rxwDQivwwist0Op8Md9AX_S8Wcfnixfvtx_dHKp7JDBs0EAQkC56OQnhnp1JmjLzeQZpO-Ku-pBvhJ6K_3Eq0JcmRRTDwibSa_ZxKUbfQ_CIKMjesZTyiXBtjN-s9NXrdvpD8365kHm_uKV6PgLwUdnAFuPEmeR4TNpvS0E5uav3NX4Pm56xyzhWLswk2GNMCxhtaIVimjQ0h6wRXm8j_s5g5sB12F0-IWxdAcWI1EZmMwPAlNmZAOhkYBpEMAL2MTrn1l3_0E8yYouisEBZ9qyM6WBno4ots-wUad0UH7rOF1we6DJm7_DyWJk7uSJu1pygiRq85VBgmFXZ3fl3VWY8v3oSZxCU5qlKMF50iBfv-_Acr-cBZ4St2ZDddhuoOsWCTMEYG7mYSkEAVRZhItlq3Nf8rA08p211pjoZNCrMvKGeHxb64v-4EazPbesvaLViEedNTxmYr0CAnGe8n6edg9-pZ5wSJ-yFBGwCWfyXnuKhXKnrEB9YBpD3S_1BWh4XZ9lSOopbP9Wx-mSrLxOGCY8DJzazw-1WkXg7BBDrqjUnC9oxrUP5k-750hIJLZDx2LSE0_Fl4mrsnXU9G8fAy4l9js_xSHeyoAL0hzd3-EG7s9KPKZ9Ymio6oGJqgCGi37j3cgDXZR3IB8kziKtHL2doaQ_plRosA5veOSUAZ67lI8PKTxeNthDPr9nWPogCDwttRgNVuzeaIX4oNZ3NZu325nH9fQKL_4S99N6tkZ8w1uiTiyAJeWTWv1lAAW9EfrhxdplYdtgkbksQaS9YEuOg22ft3WR7ddL0vXiTT-h0fdHqo5-WZbQ9XqWXI1-s1Amffw8H1W-x5xXKT59t5NvYWpZ1kPywelPVc3lOi38ASfhFU9DrnHx2n0tYJmE2YLihCFgAgg1pEAE88gLAX5ddzItoWe2BhEmafn-Q6jk7d6QyfTkHcbA9RK0TQqlhjgdBrbL61PebUJGwYZ0q3ag82YC1i7gmDIEKoY4VnCQ4Xw-xt20hlhRuFcTWczQtwEwb5OjEMV7oK-GY5BY1jsUhiPyfF1WNshB0mGQZPlEU0xToi4t0UPDEMnuk4wdByIDpNMgYLcUFnhrNT6bixECGEOGQK_3p902PFr1GFtTRFK3J8kpqd4qMCAitSALbuDbJhj1_IpMrlVlMY8WarGxbuw6r0Y7BAKOA-uUtGzKSHl_ojD2IUQnRQqe-Zpofe0rC_IIdyeylvKd6sIgsnna5GBJe8Zpm_fNJDNBuG_6gjeeczMjJ77dN0TIzhrU-bCM0LM4NkGhIa7IBMnzl08P0cj17P9oww7lZl8IyFrvkpvAPvE92icLX8ZK75wYfz6besxal7tmtP-kIWsu6xy40ZfVYbrGhOTCLjqOvIJI4ZmqawqgJniuUALvoBwy3rz9-gyZQjEMegQ5GKw4ki2upWHg4pYK0k_fZklzJGXKBXAUVMgrgW1G89jo1zwVpQcOF4XkyjC3Q5ShlCiNNaVqwGqElG66RyIcaWfMffm1htPiU4uZ-AX6F7uRN8KwREACzFLLfZqRhlRab_5j",
  "id": "rs_027dd9824144962c016aac6e806ef087d089c7a356d2ba236f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.03,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can is now too far forward for a reliable low grasp, and further attempts risk pushing it farther away. I’m withdrawing both arms to clear the work area.\"}",
  "call_id": "call_1k49SHx1T51wwzcS8In5H0nQ",
  "id": "fc_027dd9824144962c016aac6e87604487d0a2e4bd97055d15ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1k49SHx1T51wwzcS8In5H0nQ",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0212, 0.8124, 0.6559, -0.5167, -0.0204, -0.0566, 0.997, 0.1631, 0.9684, 0.7895, -0.4328, 0.1272, 0.0536, 0.999]\nstate[eef_state]: left_x=0.2829 left_y=0.0012 left_z=0.1711 left_yaw=0.0138 left_pitch=-0.098 left_roll=-0.0142 left_gripper=0.997 right_x=0.3219 right_y=0.0339 right_z=0.2043 right_yaw=0.0189 right_pitch=-0.0216 right_roll=-0.0184 right_gripper=0.999\nstate[joint_eff]: [-0.5812, -1.9077, 9.7983, 2.0049, -0.0659, 0.1685, -0.0073, -0.212, -3.0427, 9.7983, 1.9805, 0.0024, 0.1001, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ae2b05d3c6d3da1303c83aae6013a0afac3fb2c4a4693a458be57bb6726f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384e5377cafb4507b95740277c3caeaaeb09ab624481125d8f76e7c03f26ac50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c535175577171f500c8853b30fc54c2ac4e8aa170cd4b509aa82a84b17b95eaa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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