adhoc

completed
2026-09-17T22:55:45.264330+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
108.3 s
total steps
133
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying between the burner on the left and the kettle on the right. I’m moving the right gripper above the can’s middle with its jaws open.
move_to
right_x0.3800right_y0.2500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3885, -0.017, -0.0307, 0.9993, -0.0212, 0.7944, 0.6067, -0.3962, -0.0193, -0.0189, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1789 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.293 right_y=0.0008 right_z=0.1778 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.3744, 10.1812, 1.9707, -0.0952, 0.1685, -0.0855, -0.294, -1.5932, 9.7983, 1.9121, -0.0464, 0.0317, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.25,"right_z":0.15,"right_gripper":1},"note":"The can is lying between the burner on the left and the kettle on the right. I’m moving the right gripper above the can’s middle with its jaws open."})
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 centered between the jaw columns, but its body is still ahead of the fingertips. I’m advancing four centimeters and lowering toward the middle of the cylinder.
move_to
right_x0.4200right_y0.2500right_z0.0600
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4057, -0.017, -0.0357, 0.9993, 0.8059, 1.6699, 1.0897, -0.231, 0.6113, 0.4835, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0011 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0214 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3696 right_y=0.2438 right_z=0.135 right_yaw=0.0395 right_pitch=-0.0522 right_roll=-0.0436 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.6205, 6.9265, 1.8779, -0.0659, -0.022, -0.022, 0.0615, -7.8427, 8.7043, 1.6044, 0.5055, 0.2418, -0.0562] 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":0.42,"right_y":0.25,"right_z":0.06},"note":"The can is centered between the jaw columns, but its body is still ahead of the fingertips. I’m advancing four centimeters and lowering toward the middle of the cylinder."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe fingertips are alongside the can’s lower end. I’m moving a little farther along the body and lowering the jaws to straddle its sides before closing.
move_to
right_x0.4550right_y0.2500right_z0.0250
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.4099, -0.0166, -0.0357, 0.9993, 0.7238, 1.9209, 1.0779, -0.0238, 0.5556, 0.4229, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.001 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0278 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4046 right_y=0.2381 right_z=0.0493 right_yaw=0.0277 right_pitch=-0.1236 right_roll=-0.0976 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7509, -0.0464, -0.0317, -0.0171, -0.4171, -9.6205, 7.5009, 1.7509, 0.2759, 0.0366, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.25,"right_z":0.025},"note":"The fingertips are alongside the can’s lower end. I’m moving a little farther along the body and lowering the jaws to straddle its sides before closing."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe can’s body now sits between the jaws at table level. I’m closing the gripper to secure it, then I’ll check the grip with a short lift.
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, -0.4282, -0.0166, -0.0395, 0.9993, 0.6704, 2.0972, 1.2243, -0.0074, 0.5179, 0.3775, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1691 left_yaw=0.0047 left_pitch=-0.0477 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4427 right_y=0.244 right_z=0.0189 right_yaw=0.0257 right_pitch=-0.1547 right_roll=-0.1174 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.265, 7.159, 1.8339, -0.0464, -0.0415, -0.0122, -0.294, -10.7556, 7.5009, 1.6044, 0.1978, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The can’s body now sits between the jaws at table level. I’m closing the gripper to secure it, then I’ll check the grip with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe gripper has stopped at a substantial opening around the can rather than closing empty. I’m lifting it about five centimeters to verify that it moves with the jaws.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0166, -0.0395, 0.9993, 0.6617, 2.1139, 1.2346, -0.009, 0.5034, 0.366, 0.6969] state[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1674 left_yaw=0.0047 left_pitch=-0.0557 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4452 right_y=0.2433 right_z=0.0132 right_yaw=0.0331 right_pitch=-0.1685 right_roll=-0.1217 right_gripper=0.6969 state[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7509, -0.0659, -0.0708, -0.0122, 0.1162, -10.865, 7.788, 1.6239, 0.3199, 0.0171, 1.033] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The gripper has stopped at a substantial opening around the can rather than closing empty. I’m lifting it about five centimeters to verify that it moves with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe can remains secured, but the loaded arm rose less than requested. I’m retracting slightly while lifting to a safer transport height and restoring the idle arm to its parked pose.
move_to
right_x0.4150right_z0.1800left_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, -0.4511, -0.0166, -0.0395, 0.9993, 0.6617, 2.0342, 1.3128, -0.2398, 0.4847, 0.3641, 0.6967] state[eef_state]: left_x=0.2856 left_y=0.0011 left_z=0.1643 left_yaw=0.0047 left_pitch=-0.0713 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4359 right_y=0.2397 right_z=0.0459 right_yaw=0.0392 right_pitch=-0.2365 right_roll=-0.1542 right_gripper=0.6967 state[joint_eff]: [-0.0615, -1.1966, 6.9812, 1.873, -0.0171, -0.0611, -0.0122, -0.1983, -14.1333, 8.9231, 1.746, 0.486, -0.0024, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_z":0.18,"left_x":0.294,"left_y":0,"left_z":0.18},"note":"The can remains secured, but the loaded arm rose less than requested. I’m retracting slightly while lifting to a safer transport height and restoring the idle arm to its parked pose."})
tool
executing move_to over 9 steps (0.9s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe can is lifted clear. I’m moving toward the burner and turning the can sideways so its body can extend over the burner while the right arm stays within its reach.
move_to
right_x0.3900right_y0.3300right_z0.2000right_yaw0.8000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8494, 0.6468, -0.5026, -0.0174, -0.0471, 0.9993, 0.6926, 1.8996, 1.573, -0.7158, 0.4778, 0.3706, 0.6967] state[eef_state]: left_x=0.2857 left_y=0.0011 left_z=0.16 left_yaw=0.0093 left_pitch=-0.1289 left_roll=-0.0096 left_gripper=0.9993 right_x=0.412 right_y=0.2409 right_z=0.1442 right_yaw=0.0582 right_pitch=-0.305 right_roll=-0.1945 right_gripper=0.6967 state[joint_eff]: [-0.5812, -1.2513, 10.1675, 1.8535, -0.0757, 0.0269, -0.0122, -0.1162, -13.6821, 8.841, 1.536, 0.4713, 0.2027, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.33,"right_z":0.20,"right_yaw":0.8},"note":"The can is lifted clear. I’m moving toward the burner and turning the can sideways so its body can extend over the burner while the right arm stays within its reach."})
tool
executing move_to over 8 steps (0.8s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe can is approaching the burner with clearance above it. I’m completing the sideways turn and aligning its body over the circular heating surface.
move_to
right_x0.3800right_y0.4000right_z0.2000right_yaw1.5700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8516, 0.6476, -0.5179, -0.02, -0.0505, 0.9993, 0.7124, 1.8893, 1.6989, -0.7628, 0.1127, -0.1543, 0.6968] state[eef_state]: left_x=0.2835 left_y=0.0018 left_z=0.1568 left_yaw=0.0139 left_pitch=-0.1457 left_roll=-0.0099 left_gripper=0.9993 right_x=0.3867 right_y=0.3124 right_z=0.1752 right_yaw=0.6965 right_pitch=-0.3758 right_roll=-0.1913 right_gripper=0.6968 state[joint_eff]: [-0.0889, -1.7026, 6.9949, 1.7705, 0.0171, 0.0073, -0.0171, -0.3487, -10.1128, 9.5932, 1.6044, 0.0171, -0.0024, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.4,"right_z":0.2,"right_yaw":1.57},"note":"The can is approaching the burner with clearance above it. I’m completing the sideways turn and aligning its body over the circular heating surface."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe can is above the burner, with its long axis across the coil. I’m lowering in a controlled step and shifting slightly forward to account for the overhead camera’s angled view.
move_to
right_x0.4200right_z0.1150
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8566, 0.6476, -0.5377, -0.0204, -0.0544, 0.9993, 0.6849, 2.2959, 2.4153, -1.1496, -0.3096, -0.8028, 0.6968] state[eef_state]: left_x=0.2804 left_y=0.0018 left_z=0.1519 left_yaw=0.0161 left_pitch=-0.1705 left_roll=-0.0116 left_gripper=0.9993 right_x=0.3926 right_y=0.3948 right_z=0.1941 right_yaw=1.4316 right_pitch=-0.3892 right_roll=-0.2026 right_gripper=0.6968 state[joint_eff]: [-0.1709, -1.7846, 7.2274, 1.7509, -0.0366, -0.022, -0.0171, -0.4308, -11.9316, 6.7761, 0.6129, -0.4908, -0.0855, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_z":0.115},"note":"The can is above the burner, with its long axis across the coil. I’m lowering in a controlled step and shifting slightly forward to account for the overhead camera’s angled view."})
tool
executing move_to over 6 steps (0.6s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe can is just above the near side of the coil. I’m moving it toward the coil’s center and lowering gently, with a small forward wrist adjustment to help reach.
move_to
right_x0.4450right_y0.4000right_z0.0800right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8577, 0.6468, -0.5537, -0.0204, -0.0574, 0.9993, 0.6586, 2.3169, 2.1567, -0.9443, -0.334, -0.8459, 0.6968] state[eef_state]: left_x=0.2776 left_y=0.002 left_z=0.1484 left_yaw=0.0183 left_pitch=-0.1884 left_roll=-0.0132 left_gripper=0.9993 right_x=0.403 right_y=0.3896 right_z=0.1145 right_yaw=1.472 right_pitch=-0.4313 right_roll=-0.1547 right_gripper=0.6968 state[joint_eff]: [-0.1846, -1.0598, 6.9675, 1.7998, -0.0562, 0.0122, -0.0122, -1.0462, -12.0274, 7.0359, 1.2576, -0.0611, 0.0562, 1.033] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.4,"right_z":0.08,"right_pitch":0.2},"note":"The can is just above the near side of the coil. I’m moving it toward the coil’s center and lowering gently, with a small forward wrist adjustment to help reach."})
tool
executing move_to over 22 steps (2.2s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe can is now centered across the burner. I’m lowering the last small distance so the burner supports it before I open the jaws.
move_to
right_z0.0620
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.86, 0.6464, -0.5632, -0.0204, -0.0582, 0.9993, 0.5186, 2.2902, 1.5631, 0.0978, -0.7616, -0.6186, 0.7003] state[eef_state]: left_x=0.276 left_y=0.002 left_z=0.146 left_yaw=0.0188 left_pitch=-0.2006 left_roll=-0.0133 left_gripper=0.9993 right_x=0.4389 right_y=0.395 right_z=0.0762 right_yaw=1.4658 right_pitch=0.1389 right_roll=-0.1338 right_gripper=0.7003 state[joint_eff]: [-0.0205, -1.7162, 7.0632, 1.663, -0.0415, -0.0269, -0.0122, -0.2803, -11.0291, 6.1744, 1.9365, -0.3297, 0.2076, 0.9158] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.062},"note":"The can is now centered across the burner. I’m lowering the last small distance so the burner supports it before I open the jaws."})
tool
executing move_to over 1 steps (0.1s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe can stopped descending as it met the burner, and it appears supported by the coil. I’m opening the gripper to leave it in place.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8604, 0.6464, -0.5629, -0.02, -0.0582, 0.9993, 0.5156, 2.3032, 1.5543, 0.1638, -0.7757, -0.5934, 0.6968] state[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1459 left_yaw=0.0184 left_pitch=-0.2006 left_roll=-0.0136 left_gripper=0.9993 right_x=0.4423 right_y=0.397 right_z=0.0773 right_yaw=1.4653 right_pitch=0.1732 right_roll=-0.1423 right_gripper=0.6968 state[joint_eff]: [0.0342, -1.7026, 6.8718, 1.663, -0.0317, -0.0317, -0.0122, -0.1162, -12.2188, 6.7487, 2.0342, -0.4127, 0.105, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The can stopped descending as it met the burner, and it appears supported by the coil. I’m opening the gripper to leave it in place."})
tool
executing move_to over 4 steps (0.4s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe can stayed on the coil when the jaws opened. I’m lifting the empty gripper away to confirm that it is resting securely on the burner.
move_to
right_z0.1800right_y0.3600right_x0.4200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8604, 0.6464, -0.5816, -0.0204, -0.0578, 0.9993, 0.5156, 2.3032, 1.5524, 0.1478, -0.7746, -0.601, 0.9958] state[eef_state]: left_x=0.2728 left_y=0.0019 left_z=0.1427 left_yaw=0.0183 left_pitch=-0.2193 left_roll=-0.0123 left_gripper=0.9993 right_x=0.4406 right_y=0.3958 right_z=0.0739 right_yaw=1.4662 right_pitch=0.1616 right_roll=-0.135 right_gripper=0.9958 state[joint_eff]: [-0.0752, -1.4838, 6.8718, 1.6825, -0.0562, -0.0269, -0.0171, -0.212, -12.9299, 6.4752, 1.7167, -0.2808, 0.0464, -0.232] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18,"right_y":0.36,"right_x":0.42},"note":"The can stayed on the coil when the jaws opened. I’m lifting the empty gripper away to confirm that it is resting securely on the burner."})
tool
executing move_to over 7 steps (0.7s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe can remains resting across the burner as the gripper clears it. I’m withdrawing the right arm from the cooking surface for a final unobstructed check.
move_to
right_x0.3000right_y0.1000right_z0.2000right_yaw0.8000right_pitch0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8604, 0.6464, -0.5884, -0.02, -0.0578, 0.9993, 0.4732, 2.0689, 1.5295, -0.1226, -0.7956, -0.6395, 0.9968] state[eef_state]: left_x=0.2716 left_y=0.0019 left_z=0.1415 left_yaw=0.0181 left_pitch=-0.2261 left_roll=-0.0124 left_gripper=0.9993 right_x=0.4216 right_y=0.3616 right_z=0.1506 right_yaw=1.4538 right_pitch=0.1356 right_roll=-0.114 right_gripper=0.9968 state[joint_eff]: [-0.0752, -1.4974, 6.8581, 1.5849, -0.0464, -0.0171, -0.0122, -0.5128, -13.7915, 9.4017, 1.5653, -0.359, 0.0366, 0.0952] 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_x":0.3,"right_y":0.1,"right_z":0.2,"right_yaw":0.8,"right_pitch":0,"left_z":0.2},"note":"The can remains resting across the burner as the gripper clears it. I’m withdrawing the right arm from the cooking surface for a final unobstructed check."})
tool
executing move_to over 22 steps (2.2s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent notePlaced the can on the burner and withdrew the gripper. The can is resting across the coil.
done
hindsightThe burner center is beyond the right arm’s lateral grasp-point limit, but grasping the can near one end and turning yaw to about 1.57 rad allowed its body to extend onto the coil. Final placement used right_x≈0.44, right_y≈0.40, grasp height≈0.075 m. Under load at long reach, a +0.2 rad pitch command substantially improved pose tracking.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8974, 0.8551, -0.8135, -0.0204, -0.062, 0.9993, 0.004, 1.0561, 0.812, -0.4671, -0.5869, -0.5945, 0.9973] state[eef_state]: left_x=0.2645 left_y=0.0022 left_z=0.1818 left_yaw=0.0217 left_pitch=-0.2795 left_roll=-0.0129 left_gripper=0.9993 right_x=0.3065 right_y=0.1026 right_z=0.1992 right_yaw=0.8013 right_pitch=0.0049 right_roll=-0.12 right_gripper=0.9973 state[joint_eff]: [-0.0752, -1.265, 9.5111, 1.5458, -0.0464, 0.0073, -0.0122, -0.1846, -3.3983, 6.7214, 1.6972, -0.3101, -0.0269, 0.0317] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the can on the burner and withdrew the gripper. The can is resting across the coil.","hindsight":"The burner center is beyond the right arm’s lateral grasp-point limit, but grasping the can near one end and turning yaw to about 1.57 rad allowed its body to extend onto the coil. Final placement used right_x≈0.44, right_y≈0.40, grasp height≈0.075 m. Under load at long reach, a +0.2 rad pitch command substantially improved pose tracking."})
tool
done: Placed the can on the burner and withdrew the gripper. The can is resting across the coil.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.844 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3885, -0.017, -0.0307, 0.9993, -0.0212, 0.7944, 0.6067, -0.3962, -0.0193, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1789 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.293 right_y=0.0008 right_z=0.1778 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3744, 10.1812, 1.9707, -0.0952, 0.1685, -0.0855, -0.294, -1.5932, 9.7983, 1.9121, -0.0464, 0.0317, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d61e05b90224a9684ade78dce63cd405cb4fd8dc17e7dd213bf1a7023b0111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53c86ee200528797f7e31aab7563076bf55848b3f5332382bf679c78d0017d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4838845602dcf9d37c2b64b719cf42946d2ab2bacde4f871ac4f996496f260",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 80d61e05b902
wire blob a53c86ee2005
wire blob ee4838845602
call 1 attempt 0 · /responses · status 200 · 7.605 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrHAAjWbMB_iGZNOIVgCiiZBwOM6LTHea8ZqrLFXEcekw1Jznhak8g3R-RMb0RLZKgnE7fGOjUJyB0kczPUFJz9bbL2F3fAFgAQ3-lNo586hTP0l9lfpj8CopYdz_UrC8xVPIK_HfzCbclnc6BujFl9P40lf56bbmz2cKvMG2lb7haqIKYmy0Fd53p8_hi5xYUd18Lw1oL_C50TeVBxVBR0acGCzTHbEPXEN5-kKBym3TZ55p-juFOD7m3Jxzo-Ufmbh4QSF4Cc4KcybcOmNlmFG3K5djpx9DhuhWgX1n6RKgphItr3jlcX1hPJkDsjRm2gZYQIvuOsSIZ0g-URSyivQ1XURkc3eYJTRewjCjx9RumqvOzPtc-aWkzuf9ay2guaTIBMvbs5RA8nzoBxOVJc3K7YIU_PEO4hm0VYF2zTJrnNK61w9aFZZKYN6gawrJuS3GsKxQEU-6F6j7jtv7OG3mlt2yWN-IUohjdnheaBLEvZnovaqFUgT6JyHRAykNiBwCsWM02wW9YHswljywo-DrEfFcBiRULMREDtx3G8eaD_VbC2gst-MZmW9k4eXII9NqBAMm_x8y4aaHop-Vpi4iZmknZ9sDRVDB5sHZt1KFWiLdpBymcofgKY-buYRsVfh_Dzs0njDwxTI_wbaPsgjWQLfQJoZBAzHYlnKAX52qK4Hpb3jagfTDaw_mR6kv1Bh_unQaL8-J1cQQl6b9Lub3UnDzVY33JXjab7R91z5uogV-4bFs3GU054pgTUtbhO_7pUqDhDxLcXOol_QkuFmxj-Z0OC6ehMG0xz6V9FCSufe5zNtr9F1ab0Ecrz6sX80Qq1-Be7pn0l8MRTihk16vmRIaJxrJbBsRxhy_te4JDO8h8neqep3lPw6Yh-PVYL4CVOeLAnsV8bz5hK0-91dJutDyrJRVfhFv3fRfoPSI5e-FDi-raSvHhhltCEh16ZReHNuoYdh9lK_RforiFypFjjbhu3dbqwrktBMXtbWpHbGc9iYC0MV-VTOZ6nACGBR9_DX3ic3jEC1pzypFgibZr5loibapa-JFpYpiqtVsDxErI-jea8S49f9Ra7TRL4ca4fH2-r9sptgt0WXrc6xUt_ypDotaj143jTXJCZm4MfyrvTGMG8VGKJ-_8vi2IXo1LEjxLKyh53zFAat1-mBD5TLlzDjlqRjpBxAo-2JD2UUbod45_b2glvX7jpICpJEOezHGQWB63H0i8QLBMWjZOlhxzdRi1-KhxuN43nHHImZnAt1N3Yc8kkQNCzXApk47UmGGwXtXazkacK-d4Ata4fcerQDMbBViT68_lHg6gcOqdlkaEv3I54W3yx_4AloZWxVRl_pr47dQc9nsVZiYXu-MGc3W3U0o1t9XTwU_AuI_d8Coy1bfWOp6F4349GGdWQtGFYroShuI7eNChJSn4vtwmPEDll85n-Rm7-q4Z08eJgQVAYYEi4NyNlFZrTq38iOn_A_lkm7n-eavLw2Ag7WTHqO5rPKzLvFCnGpuYux0PJk15B0pSml25Sr8-dKLdYp5zqx_k6I9UKu4ytXb5UT6wtlkiNT1zpd3-trB0k4Pf-HT5KSM9Z-W8TdE0aNtT4LzlDRuuwjhv9Pjm4Mp0I9Bw3HxWt186whWzjABbR8TOVDvW7VkbEEj7FefpmZw6hrjubQ2IgASl4GYX9_rHzK-QQgV0OC_RISg27b2Bzun5Fji4xSSYRXmkt0TrkRc",
  "id": "rs_003247e2b480125f016aac6ffa9eb087d09a680031c26988e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.25,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying between the burner on the left and the kettle on the right. I’m moving the right gripper above the can’s middle with its jaws open.\"}",
  "call_id": "call_XT9tPZcOKpiJfT4hVAZGXHuD",
  "id": "fc_003247e2b480125f016aac6ffeaad887d0b4831cc3d54b2a1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XT9tPZcOKpiJfT4hVAZGXHuD",
  "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, 0.7986, 0.6067, -0.4057, -0.017, -0.0357, 0.9993, 0.8059, 1.6699, 1.0897, -0.231, 0.6113, 0.4835, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0011 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0214 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3696 right_y=0.2438 right_z=0.135 right_yaw=0.0395 right_pitch=-0.0522 right_roll=-0.0436 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.6205, 6.9265, 1.8779, -0.0659, -0.022, -0.022, 0.0615, -7.8427, 8.7043, 1.6044, 0.5055, 0.2418, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba3088e05024a1cfd05a4a4d311e54b06e60b5699b06d30be3141e319a7d420",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c76050310472fa3b89a30768c746d403c3e45dfef14ec301ebeb377375dc903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f94fe0c8fe4cb9d9e358b497966591773b7992b68117f1ad19359ca7e7472f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 4ba3088e0502
wire blob 0c7605031047
wire blob 61f94fe0c8fe
call 2 attempt 0 · /responses · status 200 · 5.304 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3885, -0.017, -0.0307, 0.9993, -0.0212, 0.7944, 0.6067, -0.3962, -0.0193, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1789 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.293 right_y=0.0008 right_z=0.1778 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3744, 10.1812, 1.9707, -0.0952, 0.1685, -0.0855, -0.294, -1.5932, 9.7983, 1.9121, -0.0464, 0.0317, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHAJzYLWGBU9u7rmYZxD4eQshocScIqT5uuhTp22rQb6GgyX7k22cNeZa4SGe_GuR7PTs3thPWefU6cw4xh2EN2vFwtcGdJJZzJhxiv8HORPBfOZ3Vq6x1rcFvSPimf5tR0_f_ySWNiopxV6a_MQlwf7qtGb2hhskjs5jGZdpTckz-y5VMNgNPpR6YUoA52kg-YkzKJvL4Tvhv0xP0500AD2yzSJXsbmrA0Huvhdyft_9mgXMVi-7MjNil4kb46EkZUw2zVNW--ExbXwY5b2pfcCPRRTrMwBNgwG9Og8Bn3mvLuv1YObk4XA8XSE1Zk7uED1jlzCm8wOj37020n7Kges1yWnxhbtNJ_pYBNJ1rLh_vYs9TwhV_SvfbP2QacHzE6pSGrzfb0ZqBOk4MMSa06qROSrmeSDpL4wrcLiXTymo88aA00bHAJnBplFkQhDBIO2HHXRmxSD9CwteQbK_OkH9wx0uhaLa4sYRLY3Fn89HFP5tbJgG2-eb7atQFMiJ1j1PjI4pyDgUla20_62mdWdRXWBg7pFNNkT6-kcDhKfypwClYogGxgczpDBj7iwVDkuePO9aOo-CCh9OTbhGJF2NgpVG1ThFOLFdddIym1l0EMEHZ1sYV9YakV-8l699WbT0oG6UQa47oZxnhI4yBJASDNhi6aWzKld1jwb86x4es-N4kSx6melutF8xfE5deqrC-xKlEpGjkpaqfpdgv_tTEOk6kaLYqgmAZZoYqKsl2o9JC7pujqphaQS91MzxklY0hCFaQUheHwq_Y7-AK1-GNhzquRoItdYv4Eu953no0_J1EWK9bhC5mYwzK53waWDmAA-hknftUl6C_ssLe1oh265z6x8HTc-IkboeEpDO9w3YSf5nYgA2tQ1BEI8yz48vWDlpozfRFheBlHlNDQpE16X394PowoswaQmgjqo8RPa75bk8EmOTGMXzVXi_rKuK1gJMcZIPnbs16MVflYFopXRSga9KjodGHMPiTrqUz8JvHnqBIHGt64aGNZqbFL5jIfXLdTg1u3ghDWaE7Xa7VpTXa6RWZwn0zpYsz7TT74dnGSRUArf5ZMtP5rnHVXbVqCZ46N2dJjxKY3iNuBoY8OqPE6d-0vY8KI3RVlyMKNg3l8I5ds_rdokJeCxf73eMDpFYwjxgeR3zNEBjUN4B2pzUQvPODLkTL11Loz1P5nLuNDD8ln7yqbdpXXCpUE7HByoabXd8S2ol2GQah_E5wKj0PeZR6j9RMS_6JV6oXBfquxbRYa16QlK3fp7dMZ9AJ-4A_NH0K2IPjr5SBg5Jfl9yNegijWU3z_J4cjwsP9a-O86Oc9lHD0XcKK5PDkl4RE7s-1SWdcRcu7MeH_B3crfnFOadiPYJKDCDivoQ14y_N6-RMMvvBaSK4yjJYItj6LVg_4bv9VG_J3EEhUrE4CGcIWYPvWL3i8UC2aVnrklUIiOCo2JO5RDLUj7Q62CcUA74c8ISu_GNDzUj4EWI1e21bEGy8zcXkd8itYppfSflk8U0suBgwqx1JfzEZ-uVPrCEVOP6kzvYreVKljXGV4lH7jPkQiBjSloxlukTWkYeJapiDLRa4IhoP2wy4eFoCSwrzufggbcjy2_LHX8ZF7kmKVPtrCljO1QJYZiNNQFpNJ6XN4fnLFspD4-Cf_wRfdKscaM63YHILg7Yg0iLBZ55qCGHll0wRgGqoqe7v65GbwFH14z3l3PxFY_NWh-cesWQ4ZfaqHSiG_Wq_SBwq8-Zl3iGE36OcATXq2tE9IpS9ZWykN0ZzZSGMX4KpLPumk4SLGJrj9XOhDVLRbWGze4-qh6bSxpJWtsY5TBQXs=",
  "id": "rs_003247e2b480125f016aac7003d37487d0a5822330687929e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.25,\"right_z\":0.06},\"note\":\"The can is centered between the jaw columns, but its body is still ahead of the fingertips. I’m advancing four centimeters and lowering toward the middle of the cylinder.\"}",
  "call_id": "call_L0mtUCmmjwFKGBP8jl0DBJ77",
  "id": "fc_003247e2b480125f016aac70086d1087d0977bd0dd506e308b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L0mtUCmmjwFKGBP8jl0DBJ77",
  "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, 0.8009, 0.6067, -0.4099, -0.0166, -0.0357, 0.9993, 0.7238, 1.9209, 1.0779, -0.0238, 0.5556, 0.4229, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.001 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0278 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4046 right_y=0.2381 right_z=0.0493 right_yaw=0.0277 right_pitch=-0.1236 right_roll=-0.0976 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7509, -0.0464, -0.0317, -0.0171, -0.4171, -9.6205, 7.5009, 1.7509, 0.2759, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6d75840502dcc5a2bca62642d10681794a63573b18f001a148128d0ccbf4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1009d08947e64891bf314f9de1f8e96ac4774fca494cc87c286e08c2f604259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eeb166ae7e1c1a385635bcb70b873e5d2c2281c83f019f563ca215190f3a685",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3a6d75840502
wire blob b1009d08947e
wire blob 6eeb166ae7e1
call 3 attempt 0 · /responses · status 200 · 3.056 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4057, -0.017, -0.0357, 0.9993, 0.8059, 1.6699, 1.0897, -0.231, 0.6113, 0.4835, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0011 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0214 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3696 right_y=0.2438 right_z=0.135 right_yaw=0.0395 right_pitch=-0.0522 right_roll=-0.0436 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.6205, 6.9265, 1.8779, -0.0659, -0.022, -0.022, 0.0615, -7.8427, 8.7043, 1.6044, 0.5055, 0.2418, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHAPlts0FeNYvOV2VcWApyLb_N5Y3DrUo-r4qjATQx1Ppnan7zU2osY69jIOtbJ-SLqeBoXYEgkiIBLyhvLkVznCxgroU8xTthvgarKmi88iphDLFx8DK4flvJU1bQgafIhXDu6oxkp1PcgX35uN2VtDnJZtMMztbMj-teJ8WJevaNpmNjvtINsSu8pCqx3ukBmipVi6eGuufy_kG4iwTkzNKFnY0sHUnEjIWKn7nb7s0ieHS8XyczG4sFnxndj7k7y1ohHrnmPcLv46D78TbKX57KiMnp5R-YICkT48PREbLe5PZTkdlvTnTkbA7EpGlZLnXEZfS0ZYmMW5zYQ1eMQ_ouAz3iA6Ucs8SMWnYUA7rKpHxtQR7a3xooLu4CjCACwQKQ2LjlbTrdn4gUQF6-FXPJnBYD-LItHGyztDlenlxj-CdjvXZdWAiDtlnae7EZLaNarVzzL6RXoSRYkREUZndDrPn_seLYuwuZHvPgFQOT6r99V-Zx9mU6HgwgayX7hWU9FuzcB8mF_Toj3CaMfnJ_oJf25whDfJMu8X36vSgaYqJH_DjldgXBvdV-N2QsVIceAYBYnEdabiHEld7zmcPmD5-_0ARp2H3C2y80MxfiUel6rDUyjGSRiHOWiqWwj40V6OesxlFp9vUIMM6TNQ7nM5Xr-gUzD2ZDzLIiEtycRdI-JL-b3UsFlD0UlQpmSgaUaP4ix3jMB4hpxXVw1ERC3Y_9J-NDJ6DWGzGAkzsTgnAjfGZJ-cO9lmOgSGuZoB9RWNtMmQ8AEhV2jtg5Yyy5GYLEPLGLuL8nti1s4Jx69J-afI2YI190z68atb05sIK7vSvOe9JBi9GO3P1_VaHPDcO1D62NjAoUVY35NRWY1EDPWuWxKBQazwyfE7jrT7WdhaZgyDIrgzV4RJHQ_WkH4zj1AB3seHrdKRf_fuSTDsTzXLdcMecOdqbY6dbO45p-0grJBnG8-J1NJIqZ5jbcnPdfKxxDO7c5dNeTRsHna9GaKLkm5JSGHTvAcXVS31eNV4s7dcOekaAlZectd0MaWt6rC05SSpj1VLuYCfmGZmb6CapjEAq4CS892Ic7Li6hy0XCJgUoQonP2MK9_v6YoOZXFpZ9Qoyv-CQQNsrt-slvZa-MmGJqN0i-oMGtR0mLpi2y4cHxNPAR1Ryjlv8zUA4xEY1ii1wCwlx6ViNRyWBbwhoKT1L1AnLcVBOE-ZGKDvkEfGL3lR9j0Wk5eWDTC66_gbymh4CoyZWBfncu2VFMJb34NLIyQwGeAwc0IimJrNsIG5T-woBiyqenZTuBT4qGued4FjcJom32hLl_nTxQ8IClygrXIHZYYQjkcY8MCL_2ZVY-KQyYIpzxpL3YSELke5Zj7TNSJA32HIb1iwVCkp_kh00YpPis-9tFrhtWSZolHQ5r2g4z1rk3nwExdoP9dwzMOO6CNt3VjA3rDS8DVm0GOXzXSp83nxatFa59ztJSmmkyfRJO0ZlctiFg==",
  "id": "rs_003247e2b480125f016aac700be11087d0b1196d1b7b9983ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.25,\"right_z\":0.025},\"note\":\"The fingertips are alongside the can’s lower end. I’m moving a little farther along the body and lowering the jaws to straddle its sides before closing.\"}",
  "call_id": "call_LQPZTnZ9U7uKL1S6e5UEBnRr",
  "id": "fc_003247e2b480125f016aac700df66887d0859d111d31991b14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LQPZTnZ9U7uKL1S6e5UEBnRr",
  "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, 0.8024, 0.6067, -0.4282, -0.0166, -0.0395, 0.9993, 0.6704, 2.0972, 1.2243, -0.0074, 0.5179, 0.3775, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1691 left_yaw=0.0047 left_pitch=-0.0477 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4427 right_y=0.244 right_z=0.0189 right_yaw=0.0257 right_pitch=-0.1547 right_roll=-0.1174 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.265, 7.159, 1.8339, -0.0464, -0.0415, -0.0122, -0.294, -10.7556, 7.5009, 1.6044, 0.1978, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fe653845e33cd9e020662f35f8485eec76da2df881417a555d9491c3e7863c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c5eb680b0b1aa27984b57e6155ff94e3c09d8c59ac721ed55f1242240dae251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8930c85e1a2c67d35a55b52397382a7e9530a2a89e92a34cacad5ad07747059b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 75fe653845e3
wire blob 6c5eb680b0b1
wire blob 8930c85e1a2c
call 4 attempt 0 · /responses · status 200 · 4.213 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.4099, -0.0166, -0.0357, 0.9993, 0.7238, 1.9209, 1.0779, -0.0238, 0.5556, 0.4229, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.001 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0278 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4046 right_y=0.2381 right_z=0.0493 right_yaw=0.0277 right_pitch=-0.1236 right_roll=-0.0976 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.347, 7.0085, 1.7509, -0.0464, -0.0317, -0.0171, -0.4171, -9.6205, 7.5009, 1.7509, 0.2759, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHAS_BhjvslSmbRSBZC7FUKTU4tU01q9CCYlPn-ip74nitK4xj5zboafhRZKD1fYAFRk0jcGx1AY9DMWQlNo0HZKeaAyxLwFOdJ7xcoU8kSw1Sz2vkh0PosLt8-NbtoaX5Np3jWJod-fi_F61V8Rjap2PmglGhg_0Ron-PeKfyIWHppFEM03o0WeVmNbkn-GtnzO2bD9sr1c7wLZud4W0dShn8l4LPDbkkEnACkM9qUWc-aS6aCDqMUSlW6pwb4Q46RznKfJIOqbq6HsGf5ZP9NtBBJSZwOCncSHo0MQj9o8InMxkuuvsx8X4_RwOZF1_qTb3sqE57fCbfJrqBIJghWJcWGgRjedsDXi_pbqaQDMJwu0GCuzesuunBECQ36TI3P6io-Qmcz1A9JGITQK71vJTJTkZLYMheB27wQYe8yqaNtc6cIQkYptLbGC5WLUo775T_WUaxKALI3NHZ1YG_iATBWUOa96Xx_REyM8c-5tehs8AEp_jD9FHyBM0wPLT8J25gCfdAyPX02mdJ4UQ0ak8tuAUV__t2FhYYHkXlynY-jNdeYz5ccXLn3RafT0FZimdpPNhwNRI7UycJqg6mfpj2X0Gva0c2stUA2Ajohwkp7Tj3QRazeMUqJyAm8fIu3lngNOaJiZy8JVcNZE6fKQGHw_KNW1ZS8cLA6fNLj78w-I2ctZeAsdSrzH3woIP-b5rv-UuWNtESnN4GFfYDTtY_T4zamQdd3m-Zgk8qMACLsS4Vm0XlOzBZfTa6A3qVw1GKf_vGpfnupL7cuLhc3yDHOQ3Bm_-pUQ94HUVkvy_BXZSMC5Yq_dMeHi0GMyQFU4HVvb-XYlyfv_j3xbgfIDmIHV4oh4rUr804LDLjXjqst8X1COmdjsn_G4Nqmarawyxa19zgKavYtKDFn1w2Vy5s0nX2slNjiuO6qwpMNCLY8pXQNNj9C3wC1Y4D29GN2oWIW7vrFJ7blISRl2BkgWSeEbB4uHSuQWrJzQ8i5nbc4v5Jp55mg7JfVZN31SecqTyIncJE-Wo7fjZygITzSpQeRlTvi7dqzK2vhxtcU0WDCiXnT3tFlmFSR7mBlvh6aLxT1Bfk3H-ikz7zSfGtfsC57roa2QKEm1qFiB5vpuyNDcjKSViXxab8peCXkbuk2V8SzDkoGHt6L1pTlXxeedjJR0aB98JpAxxYEYbiEQc0KBe4RSfzmL6ZQ8vIPtibxYHbmjhVyLWNFw63FTnoLo8W21sxaBdyA3PH5a5V5TdlhsApv4CDGz-CKyr0g0Rt5x",
  "id": "rs_003247e2b480125f016aac70110cd887d0b66426d845e41113",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s body now sits between the jaws at table level. I’m closing the gripper to secure it, then I’ll check the grip with a short lift.\"}",
  "call_id": "call_IDHG5trXgWNdPMFgeol2E1cW",
  "id": "fc_003247e2b480125f016aac701188f487d0830619699460824a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IDHG5trXgWNdPMFgeol2E1cW",
  "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, -0.4355, -0.0166, -0.0395, 0.9993, 0.6617, 2.1139, 1.2346, -0.009, 0.5034, 0.366, 0.6969]\nstate[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1674 left_yaw=0.0047 left_pitch=-0.0557 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4452 right_y=0.2433 right_z=0.0132 right_yaw=0.0331 right_pitch=-0.1685 right_roll=-0.1217 right_gripper=0.6969\nstate[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7509, -0.0659, -0.0708, -0.0122, 0.1162, -10.865, 7.788, 1.6239, 0.3199, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12054c0e34b48c828e18fb1e34b325dbf29184de7af5ab3dd189f1d597d2f1be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31bc189d3773cad1d4363ec99b3c84006a12ea3b21433f5ae0989e01465ca6ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338cfcb5b64acb97be8d1a2f4f3218fdb8920c1eb7da6fbdae92a48f690be642",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 12054c0e34b4
wire blob 31bc189d3773
wire blob 338cfcb5b64a
call 5 attempt 0 · /responses · status 200 · 4.857 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, -0.4282, -0.0166, -0.0395, 0.9993, 0.6704, 2.0972, 1.2243, -0.0074, 0.5179, 0.3775, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1691 left_yaw=0.0047 left_pitch=-0.0477 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4427 right_y=0.244 right_z=0.0189 right_yaw=0.0257 right_pitch=-0.1547 right_roll=-0.1174 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.265, 7.159, 1.8339, -0.0464, -0.0415, -0.0122, -0.294, -10.7556, 7.5009, 1.6044, 0.1978, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper has stopped at a substantial opening around the can rather than closing empty. I’m lifting it about five centimeters to verify that it moves with the jaws.\"}",
  "call_id": "call_SrgJ3LOuZeyEJKlxHLTKyiPE",
  "id": "fc_003247e2b480125f016aac7016a06c87d0935ecea62e041b15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SrgJ3LOuZeyEJKlxHLTKyiPE",
  "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, 0.8032, 0.6067, -0.4511, -0.0166, -0.0395, 0.9993, 0.6617, 2.0342, 1.3128, -0.2398, 0.4847, 0.3641, 0.6967]\nstate[eef_state]: left_x=0.2856 left_y=0.0011 left_z=0.1643 left_yaw=0.0047 left_pitch=-0.0713 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4359 right_y=0.2397 right_z=0.0459 right_yaw=0.0392 right_pitch=-0.2365 right_roll=-0.1542 right_gripper=0.6967\nstate[joint_eff]: [-0.0615, -1.1966, 6.9812, 1.873, -0.0171, -0.0611, -0.0122, -0.1983, -14.1333, 8.9231, 1.746, 0.486, -0.0024, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e77b09fae5f3d61b96239ad8f80e8d1afcd37497f63270f0288783a98edb3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc50fc3f04705a2fd8c924f4dcc988b61a12e3d12b8705a3485c0114d909eba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315897033f1f9fc22e4c8dc059bf03df958533338b97a49e45076f865b00fa06",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 0e77b09fae5f
wire blob 7dc50fc3f047
wire blob 315897033f1f
call 6 attempt 0 · /responses · status 200 · 12.58 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, -0.4355, -0.0166, -0.0395, 0.9993, 0.6617, 2.1139, 1.2346, -0.009, 0.5034, 0.366, 0.6969]\nstate[eef_state]: left_x=0.2879 left_y=0.0011 left_z=0.1674 left_yaw=0.0047 left_pitch=-0.0557 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4452 right_y=0.2433 right_z=0.0132 right_yaw=0.0331 right_pitch=-0.1685 right_roll=-0.1217 right_gripper=0.6969\nstate[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7509, -0.0659, -0.0708, -0.0122, 0.1162, -10.865, 7.788, 1.6239, 0.3199, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHAdz7v93K-plJPf_si7dDo44F5KlbrGmTM_mgAb38uoGskpATU6SXuFp7PegWodc90rAZPv1V1hADLo2PVEhMaRW6Tgwlu-HU0lOtgc2tItjTaSY7RWQYZjxnCXCqo7x_ztLkcvfXS5z6STwwNUhznJ36wJmERqw3BsHaflrTdidrdhCQwuhW6j-sa30MU4b0Zwla0XgTKw79Q1rPT5N4LKTCGrKBSrmBJRQovDNa-6zs1Kx4JEfKG7af8WgoF_JVSA_jcchk2XjG1FtYxl_JCX7E7Wshd-KpQ9-Y9wev-YNvq1G2McsJg4Z-yVUTG2XbgGkNFgJF9rthWguQOLzJTzkPDraeDeXhgw8PCmBtQYNoYgT18HL_2lkNE2KEN4PIUp5PKIlleteW-tZjZdPJAFhbNx5Kumqj6_Y9Y9KJxhS8Nw32xIDHBfPlqMPTEU6SrTcWHOz_V-jisy6RuMzzJEfsTIzdD1oZnaidU5cVNXNv5K70jHdYXy4h467Wq2plq8RHO4M92XoouwkgIB-xXguTtN3e4eyXN3tah1YZ6_4BVnQuBifFUky4Zi38_kjDzPT0Sgw2imm0gH4tLTGnR1UKl8Y8p-P-BeljbOj6VQg3u-dPXTPgJvg9K5m-T4qQhPIZNFrACaSEXu3M28lMn7Nf1Ns4AuUF494-9ymEMfpjNVLF-PcRvUeBxDH48pNVzkyh-ELtAbFopdOOy9WagfImWo3Lqwc1LHQRcyA2iJx7eFrl_WeUIN6J1lQoJFiQMyHB6WH9chdjNh1X0VFlT6kH9nh2uvbNchgujWDGM_DAfXeRWxQBCiNucIAC4rRSbM8zqFKZGVYg7eWquQXs1aQNNCHUiGnmpNkIIbhdsuyztLwjbOGBdoomluEHGZ-cfIhyzI3jOkMURjltC6mAo_XxqUQqbK8RVWojVlua6JVkjZvSyPHocIe_7vld9YTkYG5Yob2Rbo-A0rEQX4qtbV3Zf8bn5SXznV2loZIOnv5CV2E18m_A2GzsFELG74AhCxeeSPqETZwvA7vHwrrT6REGTWnbdXScZOAVVho9Sy5XdqFqAIZkcHuptHhtHnqcAps6s9X0-ejSebMtQdWCaoo8bLu0sWHmUFGeMFXdcbmul53seNhU0nqcpcI5C1uGvXO6ePHRywBJE4xjvimvW0dl7ZPTF9LP_hLg3S0MXxD7lpGAalEqzRVU5qXamfqnwYktfGnrWQwGyaxTTXNwztA8c4ei_riVhvnPRuexB1Y59AZi0Sh8NJN7kjiplq6_O7rCXR34Hjmf_hC_R4WbrJyns9G0TXI9MRGtVF-PMss78=",
  "id": "rs_003247e2b480125f016aac701aceec87d09b9bdc92e9d02cf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_z\":0.18,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The can remains secured, but the loaded arm rose less than requested. I’m retracting slightly while lifting to a safer transport height and restoring the idle arm to its parked pose.\"}",
  "call_id": "call_5aqD4Q9EI5zyK3Ezq4feXTdE",
  "id": "fc_003247e2b480125f016aac701baba087d0a102729a5f407cd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5aqD4Q9EI5zyK3Ezq4feXTdE",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8494, 0.6468, -0.5026, -0.0174, -0.0471, 0.9993, 0.6926, 1.8996, 1.573, -0.7158, 0.4778, 0.3706, 0.6967]\nstate[eef_state]: left_x=0.2857 left_y=0.0011 left_z=0.16 left_yaw=0.0093 left_pitch=-0.1289 left_roll=-0.0096 left_gripper=0.9993 right_x=0.412 right_y=0.2409 right_z=0.1442 right_yaw=0.0582 right_pitch=-0.305 right_roll=-0.1945 right_gripper=0.6967\nstate[joint_eff]: [-0.5812, -1.2513, 10.1675, 1.8535, -0.0757, 0.0269, -0.0122, -0.1162, -13.6821, 8.841, 1.536, 0.4713, 0.2027, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8d0656c87c23850f915b89d27f58662244fdbb9bc1e0a6fefc54297bb1cb53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774e1951898f9fa4dbf62b4a1bb9b463a0ba614f3ec6391bc23241f14767e8f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fb48a8a219e6531d1e420fa5e0caf335f5c50ec24bfd66c0437989e26c6a8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7d8d0656c87c
wire blob 774e1951898f
wire blob 96fb48a8a219
call 7 attempt 0 · /responses · status 200 · 4.695 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4511, -0.0166, -0.0395, 0.9993, 0.6617, 2.0342, 1.3128, -0.2398, 0.4847, 0.3641, 0.6967]\nstate[eef_state]: left_x=0.2856 left_y=0.0011 left_z=0.1643 left_yaw=0.0047 left_pitch=-0.0713 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4359 right_y=0.2397 right_z=0.0459 right_yaw=0.0392 right_pitch=-0.2365 right_roll=-0.1542 right_gripper=0.6967\nstate[joint_eff]: [-0.0615, -1.1966, 6.9812, 1.873, -0.0171, -0.0611, -0.0122, -0.1983, -14.1333, 8.9231, 1.746, 0.486, -0.0024, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHAqp5ZtjNpNc8FzmCE49cthmO0BUfsBmdVpQ1sFcRPp4oKVEfVDR-kHntaCpQZWsMWjeY3nxtHhTuH_Taa5sdW6V7hjcdO_wTV8kafcdj8JOnzlkJsOR8_LHH3juW12UIcu9vnew1SVvSvkliGogxShMJycAZqb7bM43zv43Isy5noOFKr6B5cisdBdrAdMjc0LuKVV50SEf1HYJ6fkMDZnrbabba2ZRvyO3u294OyKa6MSq5Ahy-6e6kwUrMXqcYYLeY5pZQx8FAa-BgAUsteyLMcyL7y1XufIip8xd_3b3_LRpT_uOasTgpVy8Xqhiy9w5mtzCpG0aYuDT_vOytkRevhFLd99M8JrpEcORBKsOgSjrd2Dtfqp8g4gz0UZfOkB-4u-5x1eoJvFhOJWDBJuP-216XnbexqlbObIdER0ecuNBMxLuvs84OcFFXyqAw8A2Uapte2jjnl8r0uV2Yz0hwqWbwD8y99GbPeevXF1z0tZBrDSyW2Yli2T9JGlEdGJ7ubn-wzAbqXN1Wded1t7yGNsI4fdcCY9bxwVJ_dZlUQ9OG5Gdt_OxW9jChl65xxaytT8jN27i-wmwBk7Iv2k1PWNdMuPy97jIBqW6tVmZ5_wUtNICZ7prgc0L8BbPcrDkO4QqiYatY7zgvbIy2DmgawMrz55XZXuYr7G0oqSh4Enpg6ASpixCG5d965e6Jv6Xju6-8WO7WixG3qkSEWlvmOlbFS70Q8NFZcfYWIcpYlC56auFoI7urIy5XzoFAYgYwImNoICJP4_5wAYR0xlZAHPA_0erCxfDoXnObJiL5VwlQ2t-2Mn4bekTUJLaHGnPabMR15K7AoJYS6HHGEBNbztdYIoVICVSHHplZYg2CcrGseJWtv2AIvXuyvQjBJeobgWzAj1Xwk8GIRiOdLgcv_H4nDs941mLs_k9I85Fv7V7HkWv4jhgMWGBHqwp1jD-JfXBpNFTKmJFNi3xQIslbFfnZQB31CSpWq0qTI6MYts0JhGY1lXXF2y-qwho_ulnjTxaFbA10KFdwZo5VH-unqN20CW8g6oj9CIBPjPgZfHEZetsWb8qkTVv-Crtu-rZTAjfgf-azZPVqtkEPhAAzmtXTV-XeVgTUkQ0IiusOexq8nf5k4J4V0cP3E2ewEKKHJtolcnYuzKPKNvRjQLe-UIPSfycduhro-KYPLvZS1XK7gBhR0wc34twoAF5mwScLRdYRLe9L5y1yMeR0-HrK1UazsmqzD1UqmJ3HTKon9PGaquBKGa2e_ra7zGe-uBjYV4c2hbJwM56PbhAy8EQ3Ex_KalMGZQBQ8r2HNzAx5osJKZQpbgjVAQ4p5m2MOm_1NYHdn_XeK6CN9hK_x0Z51m-TrGtwSl3eSfTG4RbHlRISqDWuroNTVZEHgZ6VcRJbOa8wh4CKSUw3rzRhzx1wsGLGaYJnZ_7f8zB7ZjvkwWtA-TSvIEFccphY8d4ROnTJpgE0vAjUtJZ0MgEHnoaOnforoRs2uqJtKxtsTMJ_PvTXNgvAAo2DJfabnRNw9rsYrV4rg4mnx40hqAy6X_5Kgg3yjeCYmmjSmAsdemS2mmkARIChBrgtDREvNu6971bPfBb46cx9noZnWJMD4doExXry5arjjlKbyEajHfGjXem4XI83_amD68wyb5TpUN-obJEwPBv-3vFDG6GBv2ten5d-iSoa518XYMICjJl8-QKAje0y6fvbTCFlv4SytJ5nL5tBmQFnPgKo4cP19StxvJL1LpMcuqZxMhBSp5R2mMkj5CkKNqzw3fEYrWpgsBv3U34GxOmi-kFkH7Tjz1xYWwKbE6TFUhklidcwkKe0yHqhlWNZ4I1EPyy5tQyqFdljQ5x4A9kl38VdliJXnlg_Xedoy2CAnR0r8Un9ONPMalqYBg0ovM45eGivboBVXHB83D7Gc36yNCtSadvy80HkbParGnV1s9S6tyF4Vh960GiP7_FPgWBRflXnwj41GiBGMBus0OJ2X-A-1xmA89w-xgNKM2zwMV9WKXPBYFoM9jlCEMc0g7VG1Hqd8lVx1okdi4KOAvvT0XrRcULw6lwdcOfPdwgGwpy0HcUnkWwblslPa07V3-fm-KeMSgnQ0zBB6xBoMjeiBW6oLC0-ahSIwbJEjJFlblHQRiAC12ndHnR3Abqr95oB3aGjmT__BG_czRz1b2_DWQ95KeZfCgyUijrPIcqifAfiHzbKdkvQfSZncma_qvJDA5RfyW3pmgwscMVDZbDLEmRnqMTQ8E15_4Krql8iuu0Czx1CHYnyWQjJo9LL5PL0-IfDJvqfJfoN1rF6QrcKd8y7kuUjA84W-89XqyokkjojBDO7jzwzvx2pbtps7lAP_ScN1Sc3o0C1wRictZepYUTidfyk2OMKBjCpvWIgbCuL9u9EH4jNHWpePJ5bNglivR4rpImHc0sJ7SwtCwNnw9TP7sVgfLtFB0pnNwJbRMma1dqizdVs_7nrQjgH96XRgDlEb_5i9O6yOjjx8UPydgk53Ztq7XHM77ynk_L4Drotbl4X-Rt6GV7j2NhSZat-cx6ywoAHVC4PjLkbFTEvVRnQyMBBrR_EEAEzmYgqpwutIJDVj1KweohSPQDyRrcrgTJTB2lSb8JJGObwCIiMuZo6WVcFOvAo8ZAUSPwQvFO33BWvE6sQdqw8akvxraQkTb595NsQd0C_UEB7TEBMINvB8dk3Z2pzoP91gDnkQZ5Qnt4S3W27e2ZMiR4Nw0_yhIixQQTIx7128I0dUIbXb_sVpVwg4VKzZvE7vg3JqQmgmGlUdDuGgBIB_P3nH4mN1c_RqMiL4EgbfKgHi_uM9nARN8WIVDrlSsolnjW8aCbsh-JICUMWHKoXeO3w7tBv7Z5eNlIv6PDqu1VoOdoY4jWOAA84Esqvet6UKy6IV0F3qRvjHwuWPBAj9rd-cH5EC7K6rLRq8VokfnPWGtXAFUg9kTZkrvOBZZn_mXHXfHSKGP3gs-AoE=",
  "id": "rs_003247e2b480125f016aac701fdc7887d0ab7aa19d70163fe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.33,\"right_z\":0.20,\"right_yaw\":0.8},\"note\":\"The can is lifted clear. I’m moving toward the burner and turning the can sideways so its body can extend over the burner while the right arm stays within its reach.\"}",
  "call_id": "call_Lu5jqNhvLfCIquzAtYIg9jAA",
  "id": "fc_003247e2b480125f016aac7029340887d08ea2437d3e7e3e66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lu5jqNhvLfCIquzAtYIg9jAA",
  "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, 0.8516, 0.6476, -0.5179, -0.02, -0.0505, 0.9993, 0.7124, 1.8893, 1.6989, -0.7628, 0.1127, -0.1543, 0.6968]\nstate[eef_state]: left_x=0.2835 left_y=0.0018 left_z=0.1568 left_yaw=0.0139 left_pitch=-0.1457 left_roll=-0.0099 left_gripper=0.9993 right_x=0.3867 right_y=0.3124 right_z=0.1752 right_yaw=0.6965 right_pitch=-0.3758 right_roll=-0.1913 right_gripper=0.6968\nstate[joint_eff]: [-0.0889, -1.7026, 6.9949, 1.7705, 0.0171, 0.0073, -0.0171, -0.3487, -10.1128, 9.5932, 1.6044, 0.0171, -0.0024, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e896dd4e22b178955c951637170a2d22497060cdf4f0f97d3344f7dc40d1d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5888e7ebba3ea037f89207fa5136159395b501b7e69b2cd57e7f659293b3f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5d1f8d91ac4e68c99320015d468cc9d8ef0f6eb4fc887dcde80b0cc74cf90d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 18e896dd4e22
wire blob ff5888e7ebba
wire blob cb5d1f8d91ac
call 8 attempt 0 · /responses · status 200 · 6.778 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8494, 0.6468, -0.5026, -0.0174, -0.0471, 0.9993, 0.6926, 1.8996, 1.573, -0.7158, 0.4778, 0.3706, 0.6967]\nstate[eef_state]: left_x=0.2857 left_y=0.0011 left_z=0.16 left_yaw=0.0093 left_pitch=-0.1289 left_roll=-0.0096 left_gripper=0.9993 right_x=0.412 right_y=0.2409 right_z=0.1442 right_yaw=0.0582 right_pitch=-0.305 right_roll=-0.1945 right_gripper=0.6967\nstate[joint_eff]: [-0.5812, -1.2513, 10.1675, 1.8535, -0.0757, 0.0269, -0.0122, -0.1162, -13.6821, 8.841, 1.536, 0.4713, 0.2027, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHAwGihSUmaK_zJaodv386l7U1rpoQIQL3fGZ4PcDckff1QOweQNij4BaiCq9nJCpODwaA-aCdo-UKnZ4K-HtLBittYVFqVXPDCNxQ6gP-R3hrRyuAyFxO-5wFa76zI79A74Ro_g3axDWNpeA24eq77_ivFNsLbkKFA7KhNQ7cm0fovwpcCF0UN6qEIvFTmzukC4mrfmqQ6vGjqR-ptvUIY8al3F_MYiYBflsLmSWK_HeHea-dabop03EDR96zwFJRBOF2UpMWPnxcYG0R4wysKRYI8lnE9fKMR6Lfuh3u8McQusCRTGO9aGv0OYAEMbjCXH3DQ6qDKglGwk12GzM0TJO9GahIGZML-ZInRkTS_2KCpkk3UOMe5D5M5J7DvqyxJrC17_SxWPHz8x1cBukbq0szUs0kjuXSQJXSATK3WnjHW0wVEYlXTLIZAQygHzlh6GPWVSGhKSfjwRDJSv1oiTYVucxOtkCAmYxvUifIV2aoPeAUDBxFBQA4yiJzXOTaxZ3yIsubjxIJ5_hzFnZZtXrViDw9bDKLqAev3meQB52c5iI28opSkpFgHSG8pK5-LGF227Ka3lM47eo95VTy7BelFDuR5plj38641rbISC8Y_gfGbSNsaUCVDzkH4KzVPWV0zXVepC6nbkQpJn1P8YJrS4frG2h3BtoOVQHdjMP2FFGlotRNwQtH1tu9x_ZVkErkG-A3f4QUDhsr8bD1jdpu4Z1rOm_ofEo-KLCWjzavLlxgBSzKidyASoNmBrEyD2_mm3FsPHCqsz5EMng1CC2AlDi4h9_gJKSIfLFUMzmSnxBqfNlUBBh2xhqFFieYRjqr7aynzVxFjrkGc__B9lJ0mOF0xYKTegunuT5mjzdQMzjzD7C_FNXaAWArymKeQZDkusvTAT4700-DhY0HhRhBOTja_2VVUWiRtlpOT99QFJqW-JkfqippevIl0C4a9lNvrEfv18MMN9TUoDoWNLdNyhHWvpP1zX4QXX-RaLMVJmisPOoEa76n76XmcJ4-GWlc8bqJ215MM45f14OJG19KkbF42xEFep5daJf5c06SZVKp7X1_4hqETtBEXSbuuuyVI3fU-18hkylSHcXFJZmWyDCma8ftCErjtiwcRTuXeRSElVx-27k_Wgbif6Anf-wk-JAKVgEjL6ifniAyavGzQ8RICtIPjgb24GixVwhFQ46jdQ0abZsBzePwtktBhycZFhwo1Y8LPen6M2rzqLczAOrGXB286i6_tujvSs_gYGgYE_vzNlrgyzFHGwUIqd",
  "id": "rs_003247e2b480125f016aac702dce7c87d08ea86cd65543cf2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.4,\"right_z\":0.2,\"right_yaw\":1.57},\"note\":\"The can is approaching the burner with clearance above it. I’m completing the sideways turn and aligning its body over the circular heating surface.\"}",
  "call_id": "call_jjLXaZu6nZNx1ey3h4LdSDbg",
  "id": "fc_003247e2b480125f016aac702e9b2c87d0a1f6aa611406f400",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jjLXaZu6nZNx1ey3h4LdSDbg",
  "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, 0.8566, 0.6476, -0.5377, -0.0204, -0.0544, 0.9993, 0.6849, 2.2959, 2.4153, -1.1496, -0.3096, -0.8028, 0.6968]\nstate[eef_state]: left_x=0.2804 left_y=0.0018 left_z=0.1519 left_yaw=0.0161 left_pitch=-0.1705 left_roll=-0.0116 left_gripper=0.9993 right_x=0.3926 right_y=0.3948 right_z=0.1941 right_yaw=1.4316 right_pitch=-0.3892 right_roll=-0.2026 right_gripper=0.6968\nstate[joint_eff]: [-0.1709, -1.7846, 7.2274, 1.7509, -0.0366, -0.022, -0.0171, -0.4308, -11.9316, 6.7761, 0.6129, -0.4908, -0.0855, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872dce309b681d4ea7252e40d56f82b137b4914ad6087eb492552937d342f5e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f73212e78f640a8c97acdee7441d5bf478d0e1039925fea9b6b79e8eadddbc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc66f96195cd64b37ebf145b7156013156ad49597c4c56965f469539cda3cae5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 872dce309b68
wire blob 6f73212e78f6
wire blob cc66f96195cd
call 9 attempt 0 · /responses · status 200 · 11.55 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8516, 0.6476, -0.5179, -0.02, -0.0505, 0.9993, 0.7124, 1.8893, 1.6989, -0.7628, 0.1127, -0.1543, 0.6968]\nstate[eef_state]: left_x=0.2835 left_y=0.0018 left_z=0.1568 left_yaw=0.0139 left_pitch=-0.1457 left_roll=-0.0099 left_gripper=0.9993 right_x=0.3867 right_y=0.3124 right_z=0.1752 right_yaw=0.6965 right_pitch=-0.3758 right_roll=-0.1913 right_gripper=0.6968\nstate[joint_eff]: [-0.0889, -1.7026, 6.9949, 1.7705, 0.0171, 0.0073, -0.0171, -0.3487, -10.1128, 9.5932, 1.6044, 0.0171, -0.0024, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHA3zSOp-B-XXk5F4DLtpr8VWHKokCOdtFKfA42q5dFTub4WgwbziQWxvAFCNlCuc4hzx5n6F-qZLvVCDPw7_sN4Kz5y5UDh_qjoxucNW1mLk6weYRlkvqebAEmg1WYcFXwhFoYlmxW-6F2Z_5YYvVqI4GQw0jkMpYnvyI9dNX1nF82Gj0fLNmZHLH3IHrt_xnNiEpXlUFgViIfjRSZ9OlLrT__-8RSQatEw70F6ky8btjwgmWchzZCe-tJEsnjSfRcuvyZQ9EGjFBK367dZaQkiwi4uefz3WEJ-4aQ-tPYVhshJCg2p6WULYXKJlbV4lLBpKJixzIZuD6hhiTPd2wIxXTcpNrviEfhMHYdUmiCllkuQtZqDsGQ-OKXOGrzBUB-6domV48rlaYgd-Ob7SBg94MMdSfY02jJraKnE_rBDXqeMVGpiYxFMXESuAbMopDnBqkYQQjHKOPLeDs_wzY6u2naeLnYuk56YqBwE-1thzSKw9UFFJ4w6O9FtHWzylMogp7t_wk4dgGX9XFvuT6iDU2VY-k79_ee3TF5sHPjNcBbEwdluwZRtZLk5jP_q8RY4CoPHw02-JwjCfRCIYukbW-F5Fd0ZEayPrD64V2JNPWCBkrKkk_iE3yvwAaESh0j67kUG3iQcjCDp3Qcmu2qcX_CX9q7TiY4ka7X8JbMPcHQg0LfBmTKhQCwbVLJLTzHYegrULBhh6T22TVdTabgW9zCUFqKPhIAid9C6BxTHya0FL6ITcex1rLw5SiaOWbrbdeHgDnGJOiwXjPm0eQJQtASPGYQ5APe4IDv3lNpD2lEiB-IOPRPE5jh6xmvKHq7LIrfOfx2HqHBqdpLUHKpV8mpl-nAR5QsYIUMlWZnpwlxT6TNsn-hoNSYLLp7nlZhSW3uR2KZXUStKd69QcVkR0fx5QRLwRJ_9H5qqnqq2rXV0qq1MgC8woA8kboCn6VrIspiqD7oCj9j-uQCeEfoo1Rc8KXFsrUzaoLxtMYpLQ5jjid_HLAMjUlo4VlMHl2lsk0ZHPY5reBYKyugAZkiHoQO_aU8gGx6fIeZaFz-PPUF-fBmloskU69coZy8kDC8fHKMCWFLdx-m6Gdi_tBK_qLqgKFoTLAj4A9FWBp-Fu94kvIjYEqTflgTHv-zTdSzeZ36gG-GW71fKh-pPlXf1JY86zx_rzeHOWC64Bn9vSjpuCIId1VlL2WC3k3ZvYyFH96FmOP6xuuJ5jdevTBhkUBTWVkGPgY0G7wCpuePdh9YmcJeY9aVcgAN-xJ8SvK8EHUi8VAuk-sZNdUgEs3EMSbVatZ5w1zxcj5Mtdk9Bj4L-7pohgwvzkmqzhtfPSjRbCt_3qyhCvtf-CpYrHQOz6pXN6Y9mN9tNAeTG1s9gF-Fr59Yb-5qaRrlxviVWln2n29GaSc7UiqAdaij55cJwQXry7GXUrS0VxwPopuUv6rKBOmU1kz-nb4I_2JD0AxQqDisXhK3bwx0SO0kLf8DibCFUer7EvClAOx14gM7xdVqI9CR78mOXu3Qda9bkTWxzw4tadqQEGY4S23FQUVIsPg6JhnjQH6IbdovIQ5XuaES3U0FJA1KHcmoCI7HyEoIJT_Yit8nehd2IppJqah87cg==",
  "id": "rs_003247e2b480125f016aac70326fcc87d093b30703bd961a97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.115},\"note\":\"The can is above the burner, with its long axis across the coil. I’m lowering in a controlled step and shifting slightly forward to account for the overhead camera’s angled view.\"}",
  "call_id": "call_ecId3FX0lhhvHDSW3qCdJU6W",
  "id": "fc_003247e2b480125f016aac7035e3bc87d09a5ce33736f98505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ecId3FX0lhhvHDSW3qCdJU6W",
  "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, 0.8577, 0.6468, -0.5537, -0.0204, -0.0574, 0.9993, 0.6586, 2.3169, 2.1567, -0.9443, -0.334, -0.8459, 0.6968]\nstate[eef_state]: left_x=0.2776 left_y=0.002 left_z=0.1484 left_yaw=0.0183 left_pitch=-0.1884 left_roll=-0.0132 left_gripper=0.9993 right_x=0.403 right_y=0.3896 right_z=0.1145 right_yaw=1.472 right_pitch=-0.4313 right_roll=-0.1547 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -1.0598, 6.9675, 1.7998, -0.0562, 0.0122, -0.0122, -1.0462, -12.0274, 7.0359, 1.2576, -0.0611, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f501d4a0a2c5c50850a49da4aa932fc22a9aa6ade70b901ff44cfff332ed373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2647868371db7628d09d3bc0aa924265d8d28cc8911f85385aae78808aadf25a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6fbe007e5580ab4960516a4866ada31e147437d250731a6753c8a158e7f52e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.763 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8566, 0.6476, -0.5377, -0.0204, -0.0544, 0.9993, 0.6849, 2.2959, 2.4153, -1.1496, -0.3096, -0.8028, 0.6968]\nstate[eef_state]: left_x=0.2804 left_y=0.0018 left_z=0.1519 left_yaw=0.0161 left_pitch=-0.1705 left_roll=-0.0116 left_gripper=0.9993 right_x=0.3926 right_y=0.3948 right_z=0.1941 right_yaw=1.4316 right_pitch=-0.3892 right_roll=-0.2026 right_gripper=0.6968\nstate[joint_eff]: [-0.1709, -1.7846, 7.2274, 1.7509, -0.0366, -0.022, -0.0171, -0.4308, -11.9316, 6.7761, 0.6129, -0.4908, -0.0855, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHBDKOBzOkkqayVcnILcIB3PxcUYnytFQQpWpyRysh9vG4eP2Xxe9tAzcGOzdKM9zeJhb_TZeHJiZ96wrx1CJ7W3THCuIUKFPKSuGS8jWRRlS08PuuVjwhiEWew-yG0pgxu0BKOIpochUcBvhHII36VD6c_5Cx1b4p3mU_KcB2-0fwodzo3hRjoCacxaQonhI38JWAd1pxw0t3YpAlRQrLZKYJkQSTioOHUMDUXv-8c4CpThjvreYv1hqC_S6zM9f4hExlvYpi6Cm520rgbxpjncbFHxD4-geOd3VMeqYekpbHM89SHG1tNC9wFJm_Z10I9QMwzYTZcVJEws-brqDYAl6Y2NAzbM9Q3aVvQGE-RHPakqD7Qv2PRqgrHEcrqnliwWvH4aslODi6NtZPXYPTUfhpu-evthourWweyhErVbv-iFk9Zi3w95GeAyHtXeYNTXypBXckJNbf9ojwmGWTqMPkks6QTqK_8fLvLDNbxHkN8hHVQq9B_KzuqYBKgE4eXw9CTZxs8HJb9uj3S3lqAZ8GMsnX0HClR6H8nP5EuA8rxfr1euAqprZweR66aMKbj7j2DuMFWIs5kYGcgE0Ch3ek8n8YOJQ7S-3K-YSKEMaDyN8_ecObzv5C_2W-TZoPYHmXxos7c1yP61votXg9shGQMcG8Tn3lseqtk7da939PRjtnvPTjebo8N7pT90nuWB-5aTEGoMi4KKCx-vRqoMree16UNAChkjFUS4YbM4RPvzFyytjgbdohoAclQQxl6Vd5LWt7i-ZLzDepURFPd5hGs5Rhm70Lt_6MMNhdUyrrg7ASStes-CV9OcFgM91Qin2gOtNq4egOBRs2Z2krsi8bKB_lty_zUgvE-zT2onVrJXR1UwTFE0FyzVSwz-OJJ2P7721Yj9pULrtChe5JCueIw4LeWWSwnhlekZa5xULGnJPkWDsOTPpZknfqziOL0SzMufCJDXGiFHXNGiNmJlZ6NoxNi2W2rr8coccLu94ovpMCNvNLcCwbrN8fCtHw43MURhAo_67Q3YGipBiJQ5l-wkoI6R02Ef2tBVxly9INYL47mvLsCLhWfNBp67wGclgmWcH8oKuvAMkATjmyTfRwF-sP0hSVyJeXGCAXF4hrIrCSRvnr33EHOAMg1ggt_3lSiHICVFkKORbgeOwvKBxCHjxI3p7HRSX-5uwwYf_2MopI3S6YBK0zojxzy9bM5aydhpS85_1lG7BXNMjki37-7YU9a6TjX7240s7_jLIbUDdq88EdNwUyhHMJC3sjMcrZkZKmW94kY2mL8-d3550lDTt9MTdUs0N_PQ26WYj1QY_GzTsieCRA0aImTGsWao2IkrSMTlSsaUabLOHAwHKzlq617zhw8t9eVnaeyN84eq30ua0jLFnTHt1ZjxOPaleulBYOV5khagseJ3DVniYgxasdKn_674bEETwz-4fJQ8DpXic0MBNBvN-ChCk5GhupCKeWnMjPKKc4lM8UvUM7JsJPesxGoNPasMpLtaWbAfhVo9aMT_ifeN-_--S3yf1I7bfFhQopyE2BGeD5NIVi86u4NwjlMHGqRgHlhaDLZp-AsM4R1pEO9nbF4tRMHC7nJa6j4uFbxGq2pMvb5boK-MpOOoVqknKcAEXYFt6ddwU35aesR4zeX0FZDk4dwO3fk7pzZv6-wKGDftdmK97ZWVU8YRZSIiT7qvF1eowwMNLHzZY183Laos-JIr7SP8T_g2przdB8EGto2-gBHn7RdUeuHnMvEOogBVXG24fFdTn9oVixBlovbfDP9w5a6jI4s_IAkKrE_1NfyFzKTDT3oYJMlhiVJkTJCxijp7RnYGpsrb9Ux17GpH0Np4SEi50p9cGXCJnMVefUqQLsETrAzzdnJBaOTnuyYqdxLVzHU=",
  "id": "rs_003247e2b480125f016aac703e13a087d09dcb96457d2c8aa9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.4,\"right_z\":0.08,\"right_pitch\":0.2},\"note\":\"The can is just above the near side of the coil. I’m moving it toward the coil’s center and lowering gently, with a small forward wrist adjustment to help reach.\"}",
  "call_id": "call_dVl4JvW7BHXd8ByGWrrvC8VX",
  "id": "fc_003247e2b480125f016aac7042416887d0b94f9efcdb375054",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dVl4JvW7BHXd8ByGWrrvC8VX",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.86, 0.6464, -0.5632, -0.0204, -0.0582, 0.9993, 0.5186, 2.2902, 1.5631, 0.0978, -0.7616, -0.6186, 0.7003]\nstate[eef_state]: left_x=0.276 left_y=0.002 left_z=0.146 left_yaw=0.0188 left_pitch=-0.2006 left_roll=-0.0133 left_gripper=0.9993 right_x=0.4389 right_y=0.395 right_z=0.0762 right_yaw=1.4658 right_pitch=0.1389 right_roll=-0.1338 right_gripper=0.7003\nstate[joint_eff]: [-0.0205, -1.7162, 7.0632, 1.663, -0.0415, -0.0269, -0.0122, -0.2803, -11.0291, 6.1744, 1.9365, -0.3297, 0.2076, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbc18c52b06b9c01072b854c8c84ad5b087f618f18dff91dbd77f4bd78d47e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229804a599f6316d66c2069c444eb6792972b7407f10c6d75c46d0f38dff305c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7fac4f89afcaa1f7e58c1cc174e5d6d7ed72476e2634ec8e65704c5ff74af16",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.278 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8577, 0.6468, -0.5537, -0.0204, -0.0574, 0.9993, 0.6586, 2.3169, 2.1567, -0.9443, -0.334, -0.8459, 0.6968]\nstate[eef_state]: left_x=0.2776 left_y=0.002 left_z=0.1484 left_yaw=0.0183 left_pitch=-0.1884 left_roll=-0.0132 left_gripper=0.9993 right_x=0.403 right_y=0.3896 right_z=0.1145 right_yaw=1.472 right_pitch=-0.4313 right_roll=-0.1547 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -1.0598, 6.9675, 1.7998, -0.0562, 0.0122, -0.0122, -1.0462, -12.0274, 7.0359, 1.2576, -0.0611, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHBJ7TVkhIKm3zBhlzxVF7pms_PWWuqfun46lolH6AjzDu_vR1b-xrjUz9bAekkIs3ztseg8yZt6iXGbsYsSALvFeFb-Y99z-QuGu5jRX_6I-YEPmufwLp379_1yaWYfgsMows1b2g2lkS28Cv6iyBBI19Nav8K9H1Vt_9xPwYS2Eciz7oqWkjX3FTBOOJHq7Iizw0Yswf55T1GmfLYQL4cYxwefAo5fqg8cu28mCEba2dtmwhxlihoVaOzsRfXbWIRfyCTVCjJxwuxkUrh1dDOzwmYXa8QMQttul6CloLpo2X9Rul5pbizQnhjHqnp6Y-YE7E9VNxmgySQ1NWUhNu92Eb5df0MXS0KavOZiXzVqEF2toBauxWsXXV3TbkiOlHN8UJRiNe--95rCXL-tS_ChH0je1t8dIOzFCkYYHHFjc-_maLG9bm7A7f3UwHmrPVenvDU2KNIEt9iAneT43RvS2Lt7h_YDpbhIJhFmd5FtPOjQ69rssgo1deHl3OtaQhSL4fbI1IHBkk1SKClsKkVlYdhTk8LhXbhqcMSs6IU0q8Zw22lKvgLYLL9WMlv3qdRHPqlaKNwgKApQ775p9CIllcY67CXWWvdRyhUDrxVlhW-KPqVzPjPfnvrFFA4ss9wEujy7sUjR2gW-SBwts4WXrAwj6tapDmtLBP4M9Ex3HfXqfuP_bt-d7sye2pGoICN2M7C5CMrHjg9plQoQR235379kSgh9G2CrqnASDH0u_P1VAy_1g0kYl8AZu1adT9aW9GWh_fyQRWM9V0Yn3EwedFhvOgsNI1k3NPQ-90L18siqzJNqjte9Sk8FT6bx1oo7_ZDEMUoMCz6HfRKcPhdvk3NlicsLcfR01w1z5d7EUHVV65y4928fMnCv_2q6_LnTN-KN_RXzeDnu1hWjut-DOkDZTSGcyXNwUR8znUH9quUBLJ5ESltJ556tOjTBFJsrBZyxYYclg1y6UAluQa-iZooH5u-BmucgmhsHwDX656yNk_r5xkKnnd3y8HeOCLryZp9x8xRNvPrMQOeQLf5GuOa6HM9qnt86FmqiFYF5ILL1hBr09MJsdEnABwKWQwPP9NTQMiCSPJ0RUH_s_LA7cL-JBGP_O9yGxFRxdhlengjYxgMDomXHumrKHvYNv1f3QFmJO6Vy5wXmK28mST9bvuL2zzonfkn4SH6LN1rGAIuRwWkHktFq2yfMPDMvUlqqIQZ4ZS_IMykH2ga6lMlR5L-n7cSDPqFF5oeLTj3h5jMvXn2aNpivQU2GFOFLzvTJzOC2P4hr9joSd2hDxy8Yj9XHxH6dSKOXC2kjGgX7cBj3cO1a8g15Bh3leAUp9N_8",
  "id": "rs_003247e2b480125f016aac70479a2887d082774aae9cc49103",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.062},\"note\":\"The can is now centered across the burner. I’m lowering the last small distance so the burner supports it before I open the jaws.\"}",
  "call_id": "call_aWGwX8JtB79F8pdcOWZalTs2",
  "id": "fc_003247e2b480125f016aac704886ac87d0b48b8a91b9a78522",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aWGwX8JtB79F8pdcOWZalTs2",
  "output": "executing move_to over 1 steps (0.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8604, 0.6464, -0.5629, -0.02, -0.0582, 0.9993, 0.5156, 2.3032, 1.5543, 0.1638, -0.7757, -0.5934, 0.6968]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1459 left_yaw=0.0184 left_pitch=-0.2006 left_roll=-0.0136 left_gripper=0.9993 right_x=0.4423 right_y=0.397 right_z=0.0773 right_yaw=1.4653 right_pitch=0.1732 right_roll=-0.1423 right_gripper=0.6968\nstate[joint_eff]: [0.0342, -1.7026, 6.8718, 1.663, -0.0317, -0.0317, -0.0122, -0.1162, -12.2188, 6.7487, 2.0342, -0.4127, 0.105, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f55f293577e45314cc3e0e4c0e06ee4226a0812a03ac08d7218f0f6f36662d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898665fb3167f4a4d3f86c07d0b145c29be4940296f26fc9004261e0212fdbe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03625dc5de977dd2c6e43119812e2c3f8e9abea13ec2a1234aacec2c49a7f58d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.015 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.86, 0.6464, -0.5632, -0.0204, -0.0582, 0.9993, 0.5186, 2.2902, 1.5631, 0.0978, -0.7616, -0.6186, 0.7003]\nstate[eef_state]: left_x=0.276 left_y=0.002 left_z=0.146 left_yaw=0.0188 left_pitch=-0.2006 left_roll=-0.0133 left_gripper=0.9993 right_x=0.4389 right_y=0.395 right_z=0.0762 right_yaw=1.4658 right_pitch=0.1389 right_roll=-0.1338 right_gripper=0.7003\nstate[joint_eff]: [-0.0205, -1.7162, 7.0632, 1.663, -0.0415, -0.0269, -0.0122, -0.2803, -11.0291, 6.1744, 1.9365, -0.3297, 0.2076, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can stopped descending as it met the burner, and it appears supported by the coil. I’m opening the gripper to leave it in place.\"}",
  "call_id": "call_I3HPPBbUZR7NCxVDEILbc0Aq",
  "id": "fc_003247e2b480125f016aac704c3b2087d0903a371de20cf86d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I3HPPBbUZR7NCxVDEILbc0Aq",
  "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]: [-0.0193, 0.8604, 0.6464, -0.5816, -0.0204, -0.0578, 0.9993, 0.5156, 2.3032, 1.5524, 0.1478, -0.7746, -0.601, 0.9958]\nstate[eef_state]: left_x=0.2728 left_y=0.0019 left_z=0.1427 left_yaw=0.0183 left_pitch=-0.2193 left_roll=-0.0123 left_gripper=0.9993 right_x=0.4406 right_y=0.3958 right_z=0.0739 right_yaw=1.4662 right_pitch=0.1616 right_roll=-0.135 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.4838, 6.8718, 1.6825, -0.0562, -0.0269, -0.0171, -0.212, -12.9299, 6.4752, 1.7167, -0.2808, 0.0464, -0.232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b48071d21a1e6bff6b80bb2a0f34612184a4b3f1ef5acd17dc9ff8405c29e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495f71ee5354bb410fe6e79bff1e3ffcd98288c026802e7e97bc718a8e5ff458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933f3da0fad8327b7d90df447e18f0599a0ab2522c76593d5cc5c9dd931883a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.721 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8604, 0.6464, -0.5629, -0.02, -0.0582, 0.9993, 0.5156, 2.3032, 1.5543, 0.1638, -0.7757, -0.5934, 0.6968]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1459 left_yaw=0.0184 left_pitch=-0.2006 left_roll=-0.0136 left_gripper=0.9993 right_x=0.4423 right_y=0.397 right_z=0.0773 right_yaw=1.4653 right_pitch=0.1732 right_roll=-0.1423 right_gripper=0.6968\nstate[joint_eff]: [0.0342, -1.7026, 6.8718, 1.663, -0.0317, -0.0317, -0.0122, -0.1162, -12.2188, 6.7487, 2.0342, -0.4127, 0.105, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_y\":0.36,\"right_x\":0.42},\"note\":\"The can stayed on the coil when the jaws opened. I’m lifting the empty gripper away to confirm that it is resting securely on the burner.\"}",
  "call_id": "call_5UYiU0XdqJllgXHyNOj7ABvH",
  "id": "fc_003247e2b480125f016aac704fd74087d0928ec8147edf70f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5UYiU0XdqJllgXHyNOj7ABvH",
  "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, 0.8604, 0.6464, -0.5884, -0.02, -0.0578, 0.9993, 0.4732, 2.0689, 1.5295, -0.1226, -0.7956, -0.6395, 0.9968]\nstate[eef_state]: left_x=0.2716 left_y=0.0019 left_z=0.1415 left_yaw=0.0181 left_pitch=-0.2261 left_roll=-0.0124 left_gripper=0.9993 right_x=0.4216 right_y=0.3616 right_z=0.1506 right_yaw=1.4538 right_pitch=0.1356 right_roll=-0.114 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.4974, 6.8581, 1.5849, -0.0464, -0.0171, -0.0122, -0.5128, -13.7915, 9.4017, 1.5653, -0.359, 0.0366, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730720b35647e13e72e7c83a318ad07bebb2fbd90dd05c083ac6c1ac32096878",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574f4f0d573a7a8babe6894e0f350d11a3a758dba5fc351234bb7c333097e191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fe11c80983af718c8ae81f05bd567bad4badede6655893bd00e4c975ed8471",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.899 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8604, 0.6464, -0.5816, -0.0204, -0.0578, 0.9993, 0.5156, 2.3032, 1.5524, 0.1478, -0.7746, -0.601, 0.9958]\nstate[eef_state]: left_x=0.2728 left_y=0.0019 left_z=0.1427 left_yaw=0.0183 left_pitch=-0.2193 left_roll=-0.0123 left_gripper=0.9993 right_x=0.4406 right_y=0.3958 right_z=0.0739 right_yaw=1.4662 right_pitch=0.1616 right_roll=-0.135 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.4838, 6.8718, 1.6825, -0.0562, -0.0269, -0.0171, -0.212, -12.9299, 6.4752, 1.7167, -0.2808, 0.0464, -0.232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHBWEdziyArp6kNYed_xY_u7AvPLvuJSsKdfO6vscpodDgY_-rxpceZz5r4e19ubgGKGTc-Si35G8MwjnKRsCqH-0yvzgInUGigRlba1cO-QfFeesdPO14TII2vyC4n5NpGOeX_yAp4px-dnyLhiXJjwzMxoTBYS-i9Z4EUwk2KEj76Mr-JNI1lXth3RXWJvjORusyhu_irYWM3MtxM32LU2OYwYQp_OOgViYdXTC52yy2or9lKIps1SWc244swM9KLeeXIFSjT7nwiddXIbAXQV0hy1ftZgpxsSnhHzjjhPoEXL70rR7_arktGpfHgNud9Qcx2fKyfQ_BVu2jSHRi5nW-EBYNHv7coGTeJk-HkJ8b00SlCEPCe5prODtMRadSSjTmS8BMdydaaFL0hQBrSnlW7BAxyaPAD6sPb7LALnPMAGp5GZ_vjhhXDjZsKftZ8oKjJ9RmYizN8npbvEpMHZkvfUxWXTAnoZtlMolgEMX2hJ1FmOaj21eFyqDZzQV9A6X_Dgg0BjihOMqIz6oT8xcRYlq03QjeD_OyZU0pl_dVmU6uBEtck9IfgStUi-DgrWIY20kvq_gRGiwrr7ird5oWBeRucN530TCApQso6b3oHZDjWcHjD8njDxZJXHBwryfstMN39RXV8VJJoJOgBK2Df4ADdpT23g99x3aK_kvU8wnfzEnHNNNUGo5XQmsWQD6nVm4iAreiQCzU3Kh6IJktS4jBh-aYwC9Pl-CXHFPwPfcwVkCM390DO4i3h6WNRH3xuN4gx3t7BYOYjObo7wG8gbXAr3olYADzgpxbkRSmMXuMT_SVm-d6A1hCTL5dCVfpcU_NcRnPX2EBYQOdjoEcYV6jxMW5d3IsSmBfgYQHZ3IGETvkyWAIthlofo1SBErmvm4952EM-nBqVKa1CyAwWogqoRSVca8KrQDvl_9XSTL8mYyfPjyXspziS5hOD6ybQ5JmxDrpG5STqNRhDt9U189f1NqYsednqO1BRkKiN9VcW4GqGQnEYVitXyER3QhKwK-cGk_MVNhJP9GA5uEdo-eNIrH2qiOuFOgf41cnBtdSqykjyYVg4-on_ygAeAyk0177jpddeghAOolbPNnQGNojirs28y_RZZtUqu1gz0qtRgEeJFpAVeulmQxXGYUhb8HNDMNQU5KIvUOA_Kj8PDOZ8Q-RUh4Q486V58mH6SqJvD0ltp63ByNmEfAeJMcmwPEKbznmbsHLzTW8hyoM0Sb2IAOfwDGF3qm1VYbL4LjOV8oK4K7RmVeg7tI91l",
  "id": "rs_003247e2b480125f016aac7053b0e487d0863b3b46289f1e67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.2,\"right_yaw\":0.8,\"right_pitch\":0,\"left_z\":0.2},\"note\":\"The can remains resting across the burner as the gripper clears it. I’m withdrawing the right arm from the cooking surface for a final unobstructed check.\"}",
  "call_id": "call_Eu6srYd7DZLACgvcrxnOlR6M",
  "id": "fc_003247e2b480125f016aac7054816487d0aa6702d633ba2715",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eu6srYd7DZLACgvcrxnOlR6M",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8974, 0.8551, -0.8135, -0.0204, -0.062, 0.9993, 0.004, 1.0561, 0.812, -0.4671, -0.5869, -0.5945, 0.9973]\nstate[eef_state]: left_x=0.2645 left_y=0.0022 left_z=0.1818 left_yaw=0.0217 left_pitch=-0.2795 left_roll=-0.0129 left_gripper=0.9993 right_x=0.3065 right_y=0.1026 right_z=0.1992 right_yaw=0.8013 right_pitch=0.0049 right_roll=-0.12 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.265, 9.5111, 1.5458, -0.0464, 0.0073, -0.0122, -0.1846, -3.3983, 6.7214, 1.6972, -0.3101, -0.0269, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c82baf23277bbf1ddc4ae3c82e1770cf7fbd38cc6b1c332dcbbeac9c9c13d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e1d924901784935130e70bea47d0d7ca9b053a2f76c1fb7025764c7f42acbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0b0c03ef8c410c69954655f76c89995565572f5204ccccfb3f5d48179c28ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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