adhoc

completed
2026-09-17T21:51:49.240828+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
269.1 s
total steps
267
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying to the right of the burner, with a kettle between them. I’m moving the right gripper above the can to line up a grasp around its middle.
move_to
right_x0.4300right_y0.1000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6052, -0.3866, -0.0193, -0.0341, 0.9993, -0.02, 0.7948, 0.6079, -0.3962, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0013 right_z=0.1782 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.3761, -1.347, 10.1538, 1.9267, -0.0757, 0.2027, -0.0904, -0.5538, -1.6068, 9.6752, 1.9072, -0.0513, 0.0269, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.10,"right_z":0.15,"right_gripper":1},"note":"The can is lying to the right of the burner, with a kettle between them. I’m moving the right gripper above the can to line up a grasp around its middle."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe can is slightly to the right of the jaw centerline and lies diagonally. I’m shifting right, turning the jaws across its body, and lowering toward a mid-body grasp.
move_to
right_x0.4300right_y0.0650right_z0.0650right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.3222, 1.499, 0.8757, -0.0719, 0.239, 0.1448, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4112 right_y=0.0969 right_z=0.1263 right_yaw=0.0354 right_pitch=-0.0891 right_roll=-0.0345 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.4564, 6.9812, 1.873, -0.0757, 0.0269, -0.022, 0.1573, -7.159, 8.9915, 1.8926, 0.1978, 0.2564, -0.0513] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.065,"right_z":0.065,"right_yaw":-0.4},"note":"The can is slightly to the right of the jaw centerline and lies diagonally. I’m shifting right, turning the jaws across its body, and lowering toward a mid-body grasp."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe open jaws are near the can’s lower end rather than its middle. I’m advancing a few centimeters along the can and lowering the fingers around its cylindrical body.
move_to
right_x0.4650right_y0.0500right_z0.0250right_yaw-0.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4129, -0.0189, -0.0387, 0.9992, 0.3637, 1.7123, 0.8814, -0.0345, 0.4435, 0.3492, 0.9996] state[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4141 right_y=0.0804 right_z=0.0582 right_yaw=-0.2102 right_pitch=-0.1776 right_roll=-0.0823 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.388, 7.3504, 1.79, -0.0659, -0.022, -0.0122, 0.0205, -9.3744, 7.241, 1.9609, 0.4811, 0.1783, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.05,"right_z":0.025,"right_yaw":-0.5},"note":"The open jaws are near the can’s lower end rather than its middle. I’m advancing a few centimeters along the can and lowering the fingers around its cylindrical body."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe right arm stopped short of the requested position, so I won’t force the descent. I’m raising and tipping the tool forward to improve reach while keeping the left arm parked.
move_to
right_x0.4600right_y0.0500right_z0.1050right_pitch0.3500left_x0.2940left_y0.0010left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4309, -0.0189, -0.0391, 0.9992, 0.3656, 1.7092, 0.881, -0.0277, 0.4938, 0.3939, 0.9996] state[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0526 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4155 right_y=0.0733 right_z=0.0633 right_yaw=-0.2702 right_pitch=-0.1462 right_roll=-0.0753 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.306, 7.1453, 1.8632, -0.0464, -0.0073, -0.0122, -0.4034, -8.9915, 7.0222, 1.7949, 0.2711, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.05,"right_z":0.105,"right_pitch":0.35,"left_x":0.294,"left_y":0.001,"left_z":0.18},"note":"The right arm stopped short of the requested position, so I won’t force the descent. I’m raising and tipping the tool forward to improve reach while keeping the left arm parked."})
tool
executing move_to over 17 steps (1.7s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe forward tilt let the arm reach the can, which is now aligned between the open fingers. I’m lowering carefully to surround its body before closing.
move_to
right_x0.4600right_y0.0500right_z0.0250right_pitch0.3500right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8322, 0.6289, -0.4732, -0.0193, -0.0463, 0.9992, 0.326, 1.8362, 0.6933, 0.7567, 0.5911, 0.1055, 0.9996] state[eef_state]: left_x=0.2869 left_y=0.0015 left_z=0.1622 left_yaw=0.0068 left_pitch=-0.1022 left_roll=-0.0076 left_gripper=0.9992 right_x=0.4534 right_y=0.0531 right_z=0.0873 right_yaw=-0.2416 right_pitch=0.2619 right_roll=-0.1079 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.347, 10.1265, 1.8144, -0.0806, 0.0269, -0.0122, -0.4991, -7.2957, 4.9436, 2.2442, 0.3346, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.05,"right_z":0.025,"right_pitch":0.35,"right_yaw":-0.4},"note":"The forward tilt let the arm reach the can, which is now aligned between the open fingers. I’m lowering carefully to surround its body before closing."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe descent met contact early, and the can still appears offset toward the right finger. I’m lifting slightly and recentering the open jaws to avoid pushing it sideways.
move_to
right_x0.4800right_y0.0350right_z0.1050right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0181, 0.836, 0.6289, -0.4847, -0.0196, -0.0463, 0.9992, 0.3882, 2.1174, 0.77, 1.1698, 0.7631, 0.1043, 0.9996] state[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.159 left_yaw=0.0083 left_pitch=-0.1174 left_roll=-0.0069 left_gripper=0.9992 right_x=0.4752 right_y=0.0663 right_z=0.0772 right_yaw=-0.3792 right_pitch=0.455 right_roll=-0.012 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.7162, 6.9812, 1.746, -0.0562, -0.0317, -0.0122, -0.8547, -4.2462, 1.6479, -0.1148, 0.0708, 0.2711, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.035,"right_z":0.105,"right_pitch":0.3},"note":"The descent met contact early, and the can still appears offset toward the right finger. I’m lifting slightly and recentering the open jaws to avoid pushing it sideways."})
tool
executing move_to over 6 steps (0.6s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe can’s body is now centered between the fingers. I’m making a straight, short descent to gripping height.
move_to
right_x0.4800right_y0.0350right_z0.0350right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.836, 0.6285, -0.5022, -0.0189, -0.0463, 0.9992, 0.2935, 1.9182, 0.7784, 0.7719, 0.6598, 0.1711, 0.9996] state[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1555 left_yaw=0.0069 left_pitch=-0.1354 left_roll=-0.007 left_gripper=0.9992 right_x=0.4731 right_y=0.0336 right_z=0.0875 right_yaw=-0.3725 right_pitch=0.2942 right_roll=-0.0533 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.265, 7.3094, 1.8144, -0.0415, -0.0513, -0.0122, -0.4718, -10.8103, 8.3624, 2.0977, 0.0659, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.035,"right_z":0.035,"right_pitch":0.3},"note":"The can’s body is now centered between the fingers. I’m making a straight, short descent to gripping height."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe fingers bracket the can, and the arm has stopped descending at contact. I’m closing the jaws and will check the measured opening before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8375, 0.6281, -0.5171, -0.0189, -0.0532, 0.9992, 0.2989, 2.0636, 0.7956, 0.9997, 0.6617, 0.1608, 0.9996] state[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.1522 left_yaw=0.0108 left_pitch=-0.1522 left_roll=-0.0117 left_gripper=0.9992 right_x=0.4871 right_y=0.0403 right_z=0.0733 right_yaw=-0.3843 right_pitch=0.3722 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [0.0615, -1.5521, 6.9265, 1.7314, -0.0611, 0.022, -0.0122, -0.4991, -4.7248, 3.6991, 0.3785, 0.0464, 0.0415, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers bracket the can, and the arm has stopped descending at contact. I’m closing the jaws and will check the measured opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe gripper closed fully, so that grasp was empty. I’m reopening and using a stronger forward tilt at the nearer portion of the can to get the fingers lower.
move_to
right_gripper1.0000right_x0.4600right_y0.0600right_z0.0400right_pitch0.6000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8379, 0.6281, -0.5255, -0.0189, -0.057, 0.9992, 0.2996, 2.0701, 0.7986, 1.0309, 0.6613, 0.1574, 0.0082] state[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1505 left_yaw=0.0129 left_pitch=-0.161 left_roll=-0.0143 left_gripper=0.9992 right_x=0.4893 right_y=0.0414 right_z=0.0777 right_yaw=-0.3883 right_pitch=0.3937 right_roll=0.0169 right_gripper=0.0082 state[joint_eff]: [-0.0205, -1.4564, 6.8855, 1.6386, -0.0611, -0.0269, -0.0122, -0.1162, -10.1128, 4.4103, 1.4432, 0.0513, 0.0171, 0.5739] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.46,"right_y":0.06,"right_z":0.04,"right_pitch":0.6},"note":"The gripper closed fully, so that grasp was empty. I’m reopening and using a stronger forward tilt at the nearer portion of the can to get the fingers lower."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe arm is still staying well above the requested height, so the tilted approach isn’t working. I’m backing toward the nearer end of the can and returning the jaws upright for a lower, reachable grasp.
move_to
right_x0.4050right_y0.0800right_z0.0800right_pitch0.0000right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8379, 0.6281, -0.54, -0.0193, -0.0574, 0.9992, 0.382, 2.2833, 0.8028, 1.5791, 0.7479, -0.001, 0.9947] state[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1479 left_yaw=0.0135 left_pitch=-0.1754 left_roll=-0.0139 left_gripper=0.9992 right_x=0.4827 right_y=0.0683 right_z=0.0932 right_yaw=-0.4232 right_pitch=0.653 right_roll=0.0943 right_gripper=0.9947 state[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7265, -0.0806, -0.0659, -0.0122, 0.4718, -4.4786, 1.7436, 1.5702, 0.1197, 0.1343, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.08,"right_z":0.08,"right_pitch":0,"right_yaw":-0.4},"note":"The arm is still staying well above the requested height, so the tilted approach isn’t working. I’m backing toward the nearer end of the can and returning the jaws upright for a lower, reachable grasp."})
tool
executing move_to over 22 steps (2.2s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteFrom this lower-reach pose, the near end of the can sits just left of the jaw centerline. I’m shifting left slightly and lowering around that end rather than reaching over the far end.
move_to
right_x0.4150right_y0.1050right_z0.0150right_pitch0.0000right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8425, 0.6281, -0.5594, -0.0189, -0.0578, 0.9992, 0.4328, 1.6791, 0.7403, 0.197, 0.6357, 0.5632, 0.9953] state[eef_state]: left_x=0.273 left_y=0.0018 left_z=0.1433 left_yaw=0.0136 left_pitch=-0.1995 left_roll=-0.0136 left_gripper=0.9992 right_x=0.404 right_y=0.0751 right_z=0.069 right_yaw=-0.396 right_pitch=0.0068 right_roll=0.0601 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.7709, 6.8581, 1.6972, -0.0611, -0.0562, -0.0122, 0.3214, -9.0188, 7.8564, 1.6874, 0.1734, 0.1148, 0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.105,"right_z":0.015,"right_pitch":0,"right_yaw":-0.4},"note":"From this lower-reach pose, the near end of the can sits just left of the jaw centerline. I’m shifting left slightly and lowering around that end rather than reaching over the far end."})
tool
executing move_to over 4 steps (0.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe fingers have reached table level around the can’s near end. I’m closing for a second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8463, 0.6281, -0.5694, -0.0189, -0.0578, 0.9992, 0.4995, 1.9053, 0.7582, 0.2756, 0.6552, 0.6075, 0.9954] state[eef_state]: left_x=0.2714 left_y=0.0017 left_z=0.1406 left_yaw=0.0133 left_pitch=-0.2132 left_roll=-0.0132 left_gripper=0.9992 right_x=0.3987 right_y=0.099 right_z=0.002 right_yaw=-0.3704 right_pitch=-0.0691 right_roll=-0.0104 right_gripper=0.9954 state[joint_eff]: [-0.1436, -1.6615, 6.8308, 1.6386, -0.0317, -0.022, -0.0122, -0.1573, -8.5949, 7.0906, 1.8974, 0.4762, 0.1099, -0.0024] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers have reached table level around the can’s near end. I’m closing for a second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThat close was also empty; the overhead view now clearly shows the can ahead of the fingertips. I’m repositioning above its nearer rim using that view, with the jaws turned more squarely across the cylinder.
move_to
right_x0.4450right_y0.0750right_z0.0650right_gripper1.0000right_pitch0.0000right_yaw-0.7000left_x0.2940left_y0.0010left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8471, 0.6281, -0.5842, -0.0189, -0.0578, 0.9992, 0.5037, 1.9213, 0.7658, 0.3248, 0.6659, 0.6289, 0.0084] state[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1378 left_yaw=0.0138 left_pitch=-0.2288 left_roll=-0.0127 left_gripper=0.9992 right_x=0.406 right_y=0.1033 right_z=0.0058 right_yaw=-0.3837 right_pitch=-0.0371 right_roll=0.0332 right_gripper=0.0084 state[joint_eff]: [-0.0479, -1.265, 6.8444, 1.6337, -0.0806, -0.0317, -0.0171, -0.2393, -7.9795, 6.188, 1.7216, 0.4664, 0.0122, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.075,"right_z":0.065,"right_gripper":1,"right_pitch":0,"right_yaw":-0.7,"left_x":0.294,"left_y":0.001,"left_z":0.2,"left_pitch":0},"note":"That close was also empty; the overhead view now clearly shows the can ahead of the fingertips. I’m repositioning above its nearer rim using that view, with the jaws turned more squarely across the cylinder."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe can is diagonally ahead of the open jaws, and there is room to advance around its body. I’m moving forward and slightly right while lowering to the cylinder’s center height.
move_to
right_x0.4800right_y0.0600right_z0.0250right_yaw-0.7000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0231, 0.8131, 0.6552, -0.5213, -0.0227, -0.0616, 0.9992, 0.4671, 1.9446, 1.1114, -0.1513, 0.8158, 0.8513, 0.9946] state[eef_state]: left_x=0.2821 left_y=0.0011 left_z=0.1697 left_yaw=0.0142 left_pitch=-0.1049 left_roll=-0.0173 left_gripper=0.9992 right_x=0.4415 right_y=0.0826 right_z=0.0577 right_yaw=-0.6418 right_pitch=-0.0248 right_roll=0.0218 right_gripper=0.9946 state[joint_eff]: [-0.5402, -1.9897, 10.0034, 2.0684, -0.1148, 0.0317, -0.0122, -0.6906, -8.9504, 7.4462, 1.2283, 0.5006, 0.1685, -0.2027] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.06,"right_z":0.025,"right_yaw":-0.7,"right_pitch":0},"note":"The can is diagonally ahead of the open jaws, and there is room to advance around its body. I’m moving forward and slightly right while lowering to the cylinder’s center height."})
tool
executing move_to over 3 steps (0.3s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe fingers are now down beside the can’s body rather than behind it. I’m closing and checking whether the jaws stop at the can’s diameter.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8162, 0.6533, -0.5228, -0.0219, -0.0647, 0.9992, 0.4072, 2.0892, 1.1782, -0.102, 0.8139, 0.8322, 0.9953] state[eef_state]: left_x=0.2818 left_y=0.0002 left_z=0.1678 left_yaw=0.0126 left_pitch=-0.1114 left_roll=-0.0199 left_gripper=0.9992 right_x=0.4623 right_y=0.0635 right_z=0.0223 right_yaw=-0.6909 right_pitch=-0.039 right_roll=-0.0186 right_gripper=0.9953 state[joint_eff]: [0.1026, -1.0598, 7.2684, 1.7949, -0.0366, -0.0073, -0.0122, -0.4308, -11.1248, 7.2821, 1.3504, 0.5055, -0.0611, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are now down beside the can’s body rather than behind it. I’m closing and checking whether the jaws stop at the can’s diameter."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe jaws missed and nudged the can sideways; it is now more nearly horizontal in the overhead view. I’m opening, matching that new angle, and shifting toward its exposed middle at a slightly higher grasp height.
move_to
right_x0.4900right_y0.0150right_z0.0550right_gripper1.0000right_yaw-1.1000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8169, 0.6533, -0.5365, -0.0223, -0.0647, 0.9992, 0.3904, 2.1277, 1.1801, -0.0483, 0.8082, 0.8005, 0.0086] state[eef_state]: left_x=0.2797 left_y=0.0003 left_z=0.1649 left_yaw=0.013 left_pitch=-0.1259 left_roll=-0.0191 left_gripper=0.9992 right_x=0.4687 right_y=0.0587 right_z=0.0111 right_yaw=-0.6866 right_pitch=-0.0356 right_roll=-0.0269 right_gripper=0.0086 state[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.7705, -0.0317, -0.022, -0.0122, -0.5949, -10.9197, 7.2821, 1.3846, 0.4615, 0.0659, 0.6276] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.015,"right_z":0.055,"right_gripper":1,"right_yaw":-1.1,"right_pitch":0.15},"note":"The jaws missed and nudged the can sideways; it is now more nearly horizontal in the overhead view. I’m opening, matching that new angle, and shifting toward its exposed middle at a slightly higher grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe wrist view shows the can’s blue section close to the jaws, with its body extending to the right. I’m shifting along it and squaring the fingers across that section before closing.
move_to
right_x0.4900right_y-0.0250right_z0.0350right_yaw-1.4000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8185, 0.6533, -0.556, -0.0219, -0.0647, 0.9992, 0.3607, 2.3169, 1.6283, -0.6006, 1.0683, 1.2018, 0.9946] state[eef_state]: left_x=0.2766 left_y=0.0003 left_z=0.1609 left_yaw=0.0127 left_pitch=-0.1468 left_roll=-0.0185 left_gripper=0.9992 right_x=0.4927 right_y=0.0242 right_z=0.0476 right_yaw=-1.0381 right_pitch=0.1017 right_roll=-0.0383 right_gripper=0.9946 state[joint_eff]: [-0.335, -1.388, 7.241, 1.7607, -0.0464, -0.0171, -0.0122, -0.5812, -11.5624, 6.9812, 0.6471, 0.9011, 0.1392, -0.0611] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":-0.025,"right_z":0.035,"right_yaw":-1.4,"right_pitch":0.15},"note":"The wrist view shows the can’s blue section close to the jaws, with its body extending to the right. I’m shifting along it and squaring the fingers across that section before closing."})
tool
executing move_to over 5 steps (0.5s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe blue body now extends directly into the jaw opening. I’m closing around it and checking for a nonzero retained width.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8223, 0.6533, -0.5694, -0.0223, -0.0647, 0.9992, 0.2928, 2.6316, 2.1609, -1.1885, 1.1019, 1.647, 0.9954] state[eef_state]: left_x=0.2746 left_y=0.0005 left_z=0.1575 left_yaw=0.0132 left_pitch=-0.164 left_roll=-0.0176 left_gripper=0.9992 right_x=0.5064 right_y=-0.0082 right_z=0.0341 right_yaw=-1.3173 right_pitch=0.116 right_roll=-0.0141 right_gripper=0.9954 state[joint_eff]: [-0.3214, -1.4564, 6.8718, 1.7509, -0.0317, -0.0562, -0.0122, -1.3333, -12.8615, 5.9966, -0.2076, 0.569, 0.2271, 0.0611] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue body now extends directly into the jaw opening. I’m closing around it and checking for a nonzero retained width."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe jaws stopped at about 6.6 cm, consistent with holding the can. I’m lifting a few centimeters to confirm that it moves with the gripper.
move_to
right_x0.4900right_y-0.0100right_z0.1050
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8246, 0.6533, -0.5846, -0.0223, -0.0647, 0.9992, 0.2932, 2.6572, 2.1651, -1.2125, 1.1069, 1.6485, 0.6964] state[eef_state]: left_x=0.2721 left_y=0.0005 left_z=0.1541 left_yaw=0.0133 left_pitch=-0.1815 left_roll=-0.0169 left_gripper=0.9992 right_x=0.502 right_y=-0.0097 right_z=0.0245 right_yaw=-1.3118 right_pitch=0.1226 right_roll=-0.0582 right_gripper=0.6964 state[joint_eff]: [-0.1846, -1.2786, 6.8581, 1.7265, -0.0562, -0.0073, -0.0122, -0.2393, -16.335, 5.0667, 0.2955, 0.4322, -0.0904, 1.0281] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":-0.01,"right_z":0.105},"note":"The jaws stopped at about 6.6 cm, consistent with holding the can. I’m lifting a few centimeters to confirm that it moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe can has lifted and the grip width remains steady. I’m raising it higher and drawing it away from the table edge before carrying it past the kettle toward the burner.
move_to
right_x0.4300right_y0.0600right_z0.2100right_pitch0.0000left_x0.2940left_y0.0010left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8246, 0.6533, -0.5861, -0.0223, -0.0647, 0.9992, 0.2955, 2.5858, 2.2009, -1.3697, 1.0767, 1.6497, 0.6962] state[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1539 left_yaw=0.0133 left_pitch=-0.183 left_roll=-0.0169 left_gripper=0.9992 right_x=0.4896 right_y=-0.0098 right_z=0.0639 right_yaw=-1.3094 right_pitch=0.0946 right_roll=-0.1085 right_gripper=0.6962 state[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0317, -0.0171, 0.2803, -17.7436, 7.8154, -0.1441, 0.823, 0.0952, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.06,"right_z":0.21,"right_pitch":0,"left_x":0.294,"left_y":0.001,"left_z":0.2,"left_pitch":0},"note":"The can has lifted and the grip width remains steady. I’m raising it higher and drawing it away from the table edge before carrying it past the kettle toward the burner."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe loaded arm is not following the lift at this strongly turned wrist angle. I’m partially straightening the wrist while lifting, to move out of the awkward configuration without releasing the can.
move_to
right_x0.4400right_y0.0350right_z0.1800right_yaw-0.6000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8131, 0.654, -0.5194, -0.0223, -0.0647, 0.9992, 0.3431, 2.5523, 2.2532, -1.5543, 1.0119, 1.713, 0.6962] state[eef_state]: left_x=0.2822 left_y=0.0003 left_z=0.1695 left_yaw=0.0129 left_pitch=-0.1041 left_roll=-0.02 left_gripper=0.9992 right_x=0.4685 right_y=0.0122 right_z=0.0869 right_yaw=-1.3044 right_pitch=0.0414 right_roll=-0.1556 right_gripper=0.6962 state[joint_eff]: [-0.1573, -2.1538, 10.1675, 2.1074, -0.0659, 0.0122, -0.0122, -0.1436, -15.7744, 6.9675, -0.3541, 0.6764, 0.105, 1.033] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.035,"right_z":0.18,"right_yaw":-0.6,"right_pitch":0.2},"note":"The loaded arm is not following the lift at this strongly turned wrist angle. I’m partially straightening the wrist while lifting, to move out of the awkward configuration without releasing the can."})
tool
executing move_to over 7 steps (0.7s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe can is now visibly off the table. I’m carrying it inward at a higher clearance, turning the wrist gradually as I approach the burner side.
move_to
right_x0.3700right_y0.2000right_z0.2400right_yaw0.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8177, 0.6521, -0.5354, -0.0223, -0.065, 0.9992, 0.424, 2.0541, 1.7149, -1.1721, 0.968, 1.3361, 0.7004] state[eef_state]: left_x=0.2797 left_y=0.0003 left_z=0.1645 left_yaw=0.0132 left_pitch=-0.1266 left_roll=-0.0194 left_gripper=0.9992 right_x=0.4263 right_y=0.0367 right_z=0.1511 right_yaw=-1.0238 right_pitch=-0.0237 right_roll=-0.1283 right_gripper=0.7004 state[joint_eff]: [-0.2256, -1.4291, 7.3641, 1.8144, -0.0708, -0.0464, -0.0122, -1.9077, -12.2598, 8.1026, 1.2186, 0.8425, -0.2076, 0.7302] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.2,"right_z":0.24,"right_yaw":0,"right_pitch":0.1},"note":"The can is now visibly off the table. I’m carrying it inward at a higher clearance, turning the wrist gradually as I approach the burner side."})
tool
executing move_to over 14 steps (1.4s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe can remains secure, and the kettle is behind the transport path. I’m continuing toward the burner in a modest step while rotating the can toward the left.
move_to
right_x0.3300right_y0.3000right_z0.2300right_yaw0.5000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0254, 0.8211, 0.6514, -0.5541, -0.0223, -0.0685, 0.9992, 0.7246, 1.7088, 1.2049, -0.7189, 0.8658, 0.9844, 0.7013] state[eef_state]: left_x=0.2768 left_y=0.0005 left_z=0.1597 left_yaw=0.0156 left_pitch=-0.1495 left_roll=-0.0211 left_gripper=0.9992 right_x=0.3584 right_y=0.1424 right_z=0.1344 right_yaw=-0.4928 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.7013 state[joint_eff]: [-0.1846, -1.5795, 6.9538, 1.7998, -0.0464, -0.022, -0.0171, -3.0564, -11.7812, 9.1282, 1.7802, 1.0232, -0.1587, 0.6862] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.3,"right_z":0.23,"right_yaw":0.5,"right_pitch":0.1},"note":"The can remains secure, and the kettle is behind the transport path. I’m continuing toward the burner in a modest step while rotating the can toward the left."})
tool
executing move_to over 14 steps (1.4s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe burner is just left of the carried can. I’m moving the grip toward the centerline and turning the can so its body reaches across the burner rather than toward the kettle.
move_to
right_x0.4000right_y0.3900right_z0.1900right_yaw1.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8227, 0.6514, -0.5629, -0.0223, -0.0685, 0.9992, 0.8825, 1.478, 1.0725, -0.2474, 0.4484, 0.1471, 0.7045] state[eef_state]: left_x=0.2754 left_y=0.0004 left_z=0.1577 left_yaw=0.0152 left_pitch=-0.1598 left_roll=-0.0206 left_gripper=0.9992 right_x=0.3273 right_y=0.2831 right_z=0.1942 right_yaw=0.4258 right_pitch=-0.0022 right_roll=-0.1391 right_gripper=0.7045 state[joint_eff]: [-0.0342, -1.388, 6.8855, 1.7167, -0.0806, -0.0024, -0.0122, -0.1709, -8.9231, 9.1966, 2.1563, 0.2173, -0.0562, 0.5983] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.39,"right_z":0.19,"right_yaw":1,"right_pitch":0.1},"note":"The burner is just left of the carried can. I’m moving the grip toward the centerline and turning the can so its body reaches across the burner rather than toward the kettle."})
tool
executing move_to over 9 steps (0.9s)
step 215
assistant
agent noteThe can is above the burner’s right side. I’m bringing it left to the available limit, turning its length across the burner, and lowering toward the coil.
move_to
right_x0.3900right_y0.4000right_z0.0950right_yaw1.4000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8253, 0.6514, -0.5827, -0.0223, -0.0685, 0.9992, 0.7151, 1.8477, 1.3327, -0.0666, -0.1005, -0.2192, 0.7066] state[eef_state]: left_x=0.2722 left_y=0.0005 left_z=0.1535 left_yaw=0.0154 left_pitch=-0.1823 left_roll=-0.0197 left_gripper=0.9992 right_x=0.3941 right_y=0.3705 right_z=0.1626 right_yaw=0.9122 right_pitch=0.0002 right_roll=-0.1226 right_gripper=0.7066 state[joint_eff]: [-0.212, -1.1692, 7.0359, 1.7705, -0.0415, -0.0415, -0.0171, -0.3077, -10.0855, 9.4154, 2.2344, -0.0952, 0.0513, 0.5788] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.4,"right_z":0.095,"right_yaw":1.4,"right_pitch":0.1},"note":"The can is above the burner’s right side. I’m bringing it left to the available limit, turning its length across the burner, and lowering toward the coil."})
tool
executing move_to over 5 steps (0.5s)
step 220
assistant
agent noteThe can’s left portion is now over the coil. I’m lowering the last few centimeters and aligning it more horizontally across the burner so it can rest securely.
move_to
right_x0.4050right_y0.4000right_z0.0650right_yaw1.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8253, 0.6514, -0.588, -0.0223, -0.0685, 0.9992, 0.6018, 2.0651, 1.3167, 0.1074, -0.5095, -0.4557, 0.7087] state[eef_state]: left_x=0.2713 left_y=0.0005 left_z=0.1525 left_yaw=0.0154 left_pitch=-0.1876 left_roll=-0.0195 left_gripper=0.9992 right_x=0.3989 right_y=0.3828 right_z=0.0877 right_yaw=1.262 right_pitch=0.0316 right_roll=-0.0851 right_gripper=0.7087 state[joint_eff]: [-0.294, -1.2376, 6.8444, 1.6288, -0.0464, -0.022, -0.0171, 0.7043, -9.6342, 8.3214, 1.4481, -0.1587, -0.0904, 0.5885] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.4,"right_z":0.065,"right_yaw":1.5},"note":"The can’s left portion is now over the coil. I’m lowering the last few centimeters and aligning it more horizontally across the burner so it can rest securely."})
tool
executing move_to over 2 steps (0.2s)
step 222
assistant
agent noteThe can has stopped descending against the burner, and the load on the gripper has decreased. I’m opening the jaws to leave it resting on the coil.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.828, 0.6514, -0.593, -0.0223, -0.0685, 0.9992, 0.5888, 2.1708, 1.4673, 0.0456, -0.6739, -0.5869, 0.7093] state[eef_state]: left_x=0.2705 left_y=0.0006 left_z=0.151 left_yaw=0.0155 left_pitch=-0.1953 left_roll=-0.0192 left_gripper=0.9992 right_x=0.4021 right_y=0.4054 right_z=0.0901 right_yaw=1.4475 right_pitch=0.0811 right_roll=-0.115 right_gripper=0.7093 state[joint_eff]: [-0.212, -1.1829, 7.2684, 1.6484, -0.0269, -0.0366, -0.0122, -1.4564, -10.5231, 5.4769, 0.8034, -0.2076, -0.0366, 0.2857] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The can has stopped descending against the burner, and the load on the gripper has decreased. I’m opening the jaws to leave it resting on the coil."})
tool
executing move_to over 3 steps (0.3s)
step 225
assistant
agent noteThe can is released onto the burner. I’m lifting the open gripper away and to the right so I can verify it stays in place.
move_to
right_x0.3700right_y0.3000right_z0.2000right_yaw0.8000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0254, 0.8303, 0.6495, -0.6079, -0.0223, -0.0685, 0.9992, 0.5751, 2.188, 1.4536, 0.0193, -0.6941, -0.6197, 0.9945] state[eef_state]: left_x=0.2677 left_y=0.0007 left_z=0.147 left_yaw=0.0161 left_pitch=-0.2143 left_roll=-0.0184 left_gripper=0.9992 right_x=0.3984 right_y=0.3972 right_z=0.0728 right_yaw=1.4639 right_pitch=0.0524 right_roll=-0.0914 right_gripper=0.9945 state[joint_eff]: [-0.0342, -1.0598, 6.9675, 1.6581, -0.0855, -0.0464, -0.0122, 0.2667, -14.3111, 6.9538, 1.7705, -0.2369, 0.1783, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.3,"right_z":0.2,"right_yaw":0.8},"note":"The can is released onto the burner. I’m lifting the open gripper away and to the right so I can verify it stays in place."})
tool
executing move_to over 9 steps (0.9s)
step 234
assistant
agent noteThe can rolled toward the front edge as the gripper withdrew, so it is not secure on the coil. I’m reaching down to regrasp it and move it farther onto the burner.
move_to
right_x0.3100right_y0.4000right_z0.0550right_yaw1.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8322, 0.6495, -0.6296, -0.0223, -0.0685, 0.9992, 0.6361, 1.6024, 1.1065, -0.0689, -0.1802, -0.2337, 0.9953] state[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1428 left_yaw=0.0159 left_pitch=-0.2379 left_roll=-0.0173 left_gripper=0.9992 right_x=0.364 right_y=0.3126 right_z=0.1817 right_yaw=0.9077 right_pitch=0.0257 right_roll=-0.0967 right_gripper=0.9953 state[joint_eff]: [-0.212, -0.8684, 6.8034, 1.7167, -0.0659, -0.0464, -0.0122, 0.3897, -9.388, 7.3231, 2.1172, 0.0269, 0.1685, 0.0708] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.4,"right_z":0.055,"right_yaw":1.5,"right_gripper":1},"note":"The can rolled toward the front edge as the gripper withdrew, so it is not secure on the coil. I’m reaching down to regrasp it and move it farther onto the burner."})
tool
executing move_to over 9 steps (0.9s)
step 243
assistant
agent noteThe open fingers surround the can near its middle. I’m closing to secure it for a short repositioning onto the center of the coil.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8356, 0.6495, -0.6373, -0.0223, -0.0689, 0.9992, 0.6853, 1.9713, 1.0683, 0.1791, -0.5243, -0.5171, 0.999] state[eef_state]: left_x=0.2626 left_y=0.0008 left_z=0.1406 left_yaw=0.0162 left_pitch=-0.249 left_roll=-0.0171 left_gripper=0.9992 right_x=0.3203 right_y=0.3807 right_z=0.0524 right_yaw=1.3908 right_pitch=-0.0293 right_roll=-0.0769 right_gripper=0.999 state[joint_eff]: [-0.0068, -1.5795, 6.8718, 1.536, -0.0904, -0.0562, -0.0122, 1.1556, -7.8427, 7.4462, 1.6337, -0.7888, -0.0269, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers surround the can near its middle. I’m closing to secure it for a short repositioning onto the center of the coil."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteThe regrasp was empty, and the can is leaning across the burner’s front edge rather than sitting securely on the coil. I’m withdrawing the gripper instead of risking another uncontrolled push.
move_to
right_x0.3000right_y0.2300right_z0.2000right_gripper1.0000right_yaw0.7000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.836, 0.6487, -0.6376, -0.0219, -0.0685, 0.9992, 0.6861, 1.9934, 1.0729, 0.1738, -0.5278, -0.5232, 0.0086] state[eef_state]: left_x=0.2625 left_y=0.0007 left_z=0.1402 left_yaw=0.0157 left_pitch=-0.2505 left_roll=-0.0171 left_gripper=0.9992 right_x=0.3189 right_y=0.3807 right_z=0.043 right_yaw=1.3981 right_pitch=-0.0454 right_roll=-0.0653 right_gripper=0.0086 state[joint_eff]: [-0.1846, -1.3333, 6.8444, 1.453, -0.0073, -0.022, -0.0122, -0.2256, -11.8085, 5.3128, 1.5507, -0.1148, 0.0464, 0.6325] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.23,"right_z":0.2,"right_gripper":1,"right_yaw":0.7},"note":"The regrasp was empty, and the can is leaning across the burner’s front edge rather than sitting securely on the coil. I’m withdrawing the gripper instead of risking another uncontrolled push."})
tool
executing move_to over 13 steps (1.3s)
step 266
assistant
agent noteI moved the can to the burner, but it rolled and is resting insecurely across the front-right edge rather than securely on the coil. The recovery grasp was empty, so I withdrew the gripper and cannot confirm successful placement.
give_up
hindsightThe right arm's y=0.4 limit makes centering this can on the left-side burner difficult; use the left arm for final placement or plan a handoff. A horizontal can can roll off the raised coil after release, so verify after retreat. Strong wrist yaw while holding the can caused large lift-tracking errors; reducing yaw improved the lift. The successful grasp retained a normalized opening near 0.70.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8379, 0.6487, -0.6529, -0.0223, -0.0685, 0.9992, 0.6395, 1.2381, 0.8635, -0.2928, -0.0692, -0.1501, 0.9956] state[eef_state]: left_x=0.2597 left_y=0.0008 left_z=0.1372 left_yaw=0.0162 left_pitch=-0.2677 left_roll=-0.0161 left_gripper=0.9992 right_x=0.2933 right_y=0.2379 right_z=0.1754 right_yaw=0.7732 right_pitch=-0.084 right_roll=-0.0705 right_gripper=0.9956 state[joint_eff]: [0.0068, -1.1966, 6.9949, 1.5946, -0.0562, -0.022, -0.0122, -0.5402, -5.6, 10.7419, 2.1026, -0.0317, 0.2222, -0.1197] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I moved the can to the burner, but it rolled and is resting insecurely across the front-right edge rather than securely on the coil. The recovery grasp was empty, so I withdrew the gripper and cannot confirm successful placement.","hindsight":"The right arm's y=0.4 limit makes centering this can on the left-side burner difficult; use the left arm for final placement or plan a handoff. A horizontal can can roll off the raised coil after release, so verify after retreat. Strong wrist yaw while holding the can caused large lift-tracking errors; reducing yaw improved the lift. The successful grasp retained a normalized opening near 0.70."})
tool
give_up: I moved the can to the burner, but it rolled and is resting insecurely across the front-right edge rather than securely on the coil. The recovery grasp was empty, so I withdrew the gripper and cannot confirm successful placement.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.382 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6052, -0.3866, -0.0193, -0.0341, 0.9993, -0.02, 0.7948, 0.6079, -0.3962, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0013 right_z=0.1782 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.347, 10.1538, 1.9267, -0.0757, 0.2027, -0.0904, -0.5538, -1.6068, 9.6752, 1.9072, -0.0513, 0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9322b605683bf13cdded935a91e52cf2165a5753f97b79dc26c279c295645dab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6eeaae9d0de496391b8d87f07965be1e9b0d5d4c07f4711cffd19bf3372bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a342c6970a3cae7bfb2a20a657f4d8f8b40723b89d5175d069480e2b588f314",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 9.769 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrGEC375qFcL31POWC2kxcjieKdgPgbrWhZgAS4nz6mwKxmtNwzcnFcTP6mLy7bbsY7u67Qy8wNqaa8bmmoO8szVf1bNqYMpeaBZuzAkyVqMZPxbl081Y6_R0ekXkojeCgINvLsJn-l9rhVOkk7RUzuy5IkoeROAC857-6IGKbUm5yV1f-cNiCUbrhhGRpGZzberlqZ-Gh_Zq7o1n0Bkrsj0bKD_evdt0VFLEvoJ43YFaOtnV6PkyBxrkytb7yax9nGawHfsMAaRMSZ8Trtt6gCw_MsIWqY0-8jyYlJCMf4eyRJsWj3UqNXnZgduB1pufeMg-jSNPUoeMZycf6VS7eBevkN0X9D8wOaQQVV--_1sk31xIPjlVnVd3uP3cm7uw13GCKBpJeeUyVUDWljmrnHkzIvPnOQBUhW4wJO_AJ0Sj9nb2p7V--ZfarH49HsIl7hel1B7Kwq4oVWGHMSojE-4pmKV4PNDAYHmH5_ffvYFfbBJ9brXaonUzEBEivqAJcyzADIrMtrdWh1urafxSPacvVuByv8d7gn9FTckO8PULkH4Zpeil_XCM_s8nyBz8Sb1_H28O0ECqwsLpfyYlTsw33l-QMmJtkkrrjg0Bun_5WIm2lCOzM9omT9pFOenEhXXd86dUZXyYy-ZzD5fz1KdyQpc-ZKwUGawrYLfRVlkbc7rxHu4H0263f6wKSoDv1s6KdftZZQPYGApxlkcgJam_MLZGKqpYbDD8zC-W8s2s2N9pQbhow51SiWnjs8VPlc9FfZRwLjWts_Gtt9Q4ZZbpDSLEi-tsxxgnHPZmqBkDctUM68UHFH4ywcl_TV79i5DsxTm3Q6SqvOR-uxMAMg_h-rTvqGnjNaNXNKeH14LIG25Hi4xqUIO21yMtblszTz7EMB90I6vne8ADiQr1BOHKDxp_RjrfGhqNqEGEDA62FQGqbzTco08SjUKdP2q5jwBOXxSYBaeiyP42qT3XURiSTutkAzraYntY4SCFBNErmxifXiAvcCarZaS4g2r7lj5pWs1xxGInoFgEG5p1PKUdVeu7XRy20TjkbPtER-tcGqq5fz1WEBjWsLxaXmL_VsrPtPAGyXRKO4odH6ID7_LDlgkH03BWbpqe5_hsSbZck5u6wgCNHLgmR3pb7UH6A7T8GFwHqUdauFEOnYxBkInkXnrGz6xEyON_TiY2i7I31eeFcv4N5rMeBs99ecjlymSRNnVIIiQr9QbB3l0vhyjFagMHOc-wbE6vE4tTgS8hqYLaT8u-T-Iv61ljV2LcIWShFpkqS8MyfQs9cko3WWajt1a0kaaK_dwc1irIuy4uFzsHHL88ttY3mI7nGNO7AiZ-REraL3u4qIxX5B1d_jnGnQOU8Fv6U7cvEX0-T8zS0VBzhIYmsvmVs69bpGhMrfTNrJNeMrVRKdHaWhB1wiXKe6aNTeyS5GUbDVZfhROTK9TmyWjntb73eZ-mELshwpq50UuAAj0NgoRdvI5bYfaC10qTgAT6z6ignoEOLXB27d0=",
  "id": "rs_0654cc9cb92cd962016aac60fee3e087d0b62a6c359297f47b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.10,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying to the right of the burner, with a kettle between them. I’m moving the right gripper above the can to line up a grasp around its middle.\"}",
  "call_id": "call_kdMmMqiRGb1Q3295YVPBlMbe",
  "id": "fc_0654cc9cb92cd962016aac6100f82087d0a45ae2b5ac0fedb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kdMmMqiRGb1Q3295YVPBlMbe",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.3222, 1.499, 0.8757, -0.0719, 0.239, 0.1448, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4112 right_y=0.0969 right_z=0.1263 right_yaw=0.0354 right_pitch=-0.0891 right_roll=-0.0345 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4564, 6.9812, 1.873, -0.0757, 0.0269, -0.022, 0.1573, -7.159, 8.9915, 1.8926, 0.1978, 0.2564, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941a54e1114be313e0cf1b4455933eb41071f030ae082c6ed1f791d01e84b6fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dca26781b37634da494b8320bb2fdc8bcd7313d8076a3439929187583fd0d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77bfb013cc21a251aa788419f358d3a251e4ba171d3e84f0478ecc27b090b58",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 6.691 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6052, -0.3866, -0.0193, -0.0341, 0.9993, -0.02, 0.7948, 0.6079, -0.3962, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0013 right_z=0.1782 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.347, 10.1538, 1.9267, -0.0757, 0.2027, -0.0904, -0.5538, -1.6068, 9.6752, 1.9072, -0.0513, 0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGENM8crNx90Q_hOpLkVkMx38jZFw4uUwlRKLO1XaH0CdVyeiXAcwxpdQVc-sWkdqTFJeuUQy4l_93OiK_jO_VBO6Tw8ztE_vicEfl_WvruqH0yrSgz_275XFrx-sJoqhLEt2u3qw1c-wch5oi5mX8yzXmyKAZ1S8WYazkkYUn1nQP0fP9N-5kGw0Ckgw9uLRspKzzARR8VpasLZDKfZm1yIExhLZw--t5SqpF2pOBt7eb6Ou29lhNNoBxuIhzM0UvYIPI2A3_j5KfH_GjL6QRr1QpncLK_XDiCCI7cWwHQzWe1GJIDX488vMG9hiRJSWNv-kWragQWhDf5WUs2tHo0kwiZlxms7kRCDO17VFaMnZ1-73EoEXBHIgrDd0GqKEvUYE-5F3ibBHMStUE8Cl8uWShNA7CcAyQ48Cm_vNxvEiV2qt1wTCtx-1Dc69YK5s1u4nVDE2WJaKK8ANqVy6EeSdoPZeXL_9CdxAJvWGl0KAgyCYWqE_3djGc_rrFTAP7Ynzs-gdofBz6hVCASIDG9jDNPW_bXZMF5qmAlycTVviCZwof4ZOyl99-Gdaj58qi_toXLQGx7Wipopdmx19heHssQYhdulTiHyg7_VjjRv2KAyrgSHPLReRWDvFUH09HHwZT33horRm4Nvmyj8SFpgpE5DUxc7Vy0YIseiCG5vVb6GBrJMSZ_UXUm6zuy_c5bPNC06q1MtNH3I-FH6afwDKVMReyU_5Frnph47Y2T4IyYDZSe9mQ5kKvaGx9dW2jkGPPY-24p9tzxJG6WnTguuh_aGIw08DykCcsMbwAx6nQyKnBj829XobMOt8Jt-KkCrbsQytvrtSPGLCxaGAxUZbEWWwE9CDCnRTknBKHA8Q7KwpIYpDv86DwWy4N5bOD80XKmE6AU_qoJNhqmd5vHUOMCkuwQJvH4AgKdoMshL2FFqr6DoZY8cTxRW7OAEdOeIwxCWVz1dJQsmu6682ah2gK7ymAlKqso-z3P0-JSXxpSpSj4HE8plAJGM62PVREBbzZgvFsofUiu3ILZyKwr43K9oXFw1DjGwUvnqaVRDyumUm3JB8MyvNSC11FnuvktUPpckzUvZwjhtQ-AiXGHUYtWIJsY7avbVpj6SxJnhfoeC9DutFmvCP7TagFDP9ER6-IAqGQ8xE4Ur_KLtfGBSUQyCwowXD7i-ppnUw_Dnpgz1Cy2vMSgBSnSETN0mSknDyC1V_V-V-CQf13BG1uZ_aMYfzxClbUseHQy-AzVeE-0X8R-5nmv-VZyQFRQ6YqwiBtvOo7l-sdnUI0dAuANhsRlJt2hNxZNq4Vi3JzSRXjPCuo7Cxip2TxvGoJy9Qng9WZ8ALhOTAGCrWO5R7g9eBbakYdCOMUSNa6NKsm52ZnjrQ9-EVDu8xB6zqXE7FCEw1dcv5h0rrZz9y3amZNyARa6bADxC9qEQRBzUfE7TQ-yUqrBVFQkKhN_8dQZMpxEvXOvVoz-i3gaW_LYjwQItUF9Loi_uvwU594fL5XtkvUGqg4iHr6higxueXzTTuRsOeNntMQDQRA_skwQN86AK9L9f4ctgXYzhsrnZ4vYUgGoP0ySgfmK80xt6LW2EggxALC6E4WluydABoWBMKeltdfzIOEqZR2gvIfuTgMDLeY-hQInW7T9rBDH4deS9q-Dka4QsjXZc2leaRKzTtipYmYdPiq0iWgCOiaQ1eww32sHnM7Qekdzq35-Kn9Ke6VOcvm5MpFrj4qhA7uBxatimAQ==",
  "id": "rs_0654cc9cb92cd962016aac610700b087d0a180278488999efb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.065,\"right_z\":0.065,\"right_yaw\":-0.4},\"note\":\"The can is slightly to the right of the jaw centerline and lies diagonally. I’m shifting right, turning the jaws across its body, and lowering toward a mid-body grasp.\"}",
  "call_id": "call_VqJtU8r3ojaiuEUGP3eW547H",
  "id": "fc_0654cc9cb92cd962016aac610b691087d08fbbe0c76a619bf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VqJtU8r3ojaiuEUGP3eW547H",
  "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, 0.7986, 0.6067, -0.4129, -0.0189, -0.0387, 0.9992, 0.3637, 1.7123, 0.8814, -0.0345, 0.4435, 0.3492, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4141 right_y=0.0804 right_z=0.0582 right_yaw=-0.2102 right_pitch=-0.1776 right_roll=-0.0823 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.388, 7.3504, 1.79, -0.0659, -0.022, -0.0122, 0.0205, -9.3744, 7.241, 1.9609, 0.4811, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc6d5301ffb1a399ab02f4ad4721f98d05a5a80907eca815731896c9a52fde7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8236ef11cd00487deb7aea60f02f1bca3dd7625ea140ffdc5c5caf401b4d812a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d0bff1e677805e4f5b1a37dd8b7d6a254d78c0fff746b162c7bac46f6d44f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 6.956 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, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.3222, 1.499, 0.8757, -0.0719, 0.239, 0.1448, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4112 right_y=0.0969 right_z=0.1263 right_yaw=0.0354 right_pitch=-0.0891 right_roll=-0.0345 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4564, 6.9812, 1.873, -0.0757, 0.0269, -0.022, 0.1573, -7.159, 8.9915, 1.8926, 0.1978, 0.2564, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGEUXvYLNJSpMJ4KEE0qvagZMPnN-6pIgWmgCHNs0akISMNRnyG3wFhYfk6HpTYElIDJQ_gKe5zoUAN8EnKZpFr25emamb3AyMmgNgj2GyCiRKvS5Jn76Cd16R1Ozg2j4V5dhNPP5MqwnUc4_ho4nrfNDH98_rYhyvLxdjfCaKEFnMdw4H8nkPdO5Tg2Xn2mTTpr7frlFM3qwC6pSq1JWEC1Q5k3OkXZV-8i8amkwIIj2CTG2yh6p0o32qC5O57NbCxd_ZVom1fxwGpNfXg0oPA8y2lk_6Xt7khfF0IKMqa-6BvySDvJZqqpm1RhiAhYWp723rNbLDNnZCdvRPuVBxqt8mtI-CILohpaAa1vg4AanCMy5KPodNX1293cRfxibXUV_f3hIRvSLhMu5XQw_D7wwHIPopGfHIf82ge_sBFTG-_ZvGy6t5qwNby9O6lbTmv580uceVmJENNSyK_YAat1gK_Z85G9zdLu68GKiInIUzQ9D-0LrcKB-b8nsaqrj2hE8ZgpXuOPwFNy-8SFQ3OjvAGot_7kEyxWYQe2Qncr3vFe6OytqqER6cfTbfYo75bTk7FVjnpvMz6JU33vGfbeccFgFuQB9oOUsT22sX0QC0ydDxRUdxbORnQJixipDJAuSfa5-fMGkSMtKc6Kk8Ktod8XyOyUadUgn6mpesPtWAnVG69SlYRQ8d_YKN9FYpjR0TLE168AkBmjWVqYTweO3hongoGW_u-Vj74bsxkuLaSyGLBswju9ERz4cwjAHNM8GqUYQliGxoZGGMkdfQSgQd_rE4ht3RMfEmxPsZwVTHPvAp8BavfpvWT8CNc_nckhng7L3a8tEeAZhQEoN106knVwLVbb_wkiw2GHLco9t3GIylcv_hQacDlCge7ZoEZNIuSWj-AUubxCvBE11VI46Ru-_WnHDnxIT204mhXAhPiq2UCkterX4RYGhY9AH4v_KK4sa2iO4dWNFyklamJ1GMLdEdIstFIola50Iy0gpgBxsbRO4Ez3ObBW6A9Ewl5WPyovXb1bubJzTr98H-t1khN9YnhqAfPIhLpxCb7rYkNwpWsbMjs8N0axOPytkXCdZsO0wfnNIWfMMKWCFUIfDLDn8ZsAEmUjz8Fjbm_3X00PZUMxcx9UcdynRH6w61yC06HPUrxUWduZVvST9zT8YwminFPDyoXAfe_oyPePMKK68e6x7heVg8Q8uCIEt9FbX7jQQLXpKBtRwpWUAvoGr-1rMBxrqT3QktBJHSgAH5p7MU3QHxUY3VaV3Qln-EvB-Gc9YTcq-2CytFFdMRUO0v8dQzXUsdmGPRQfOTuSI9fkmNjvDt4BuPf7Al9-oyZC7PJX1F0RpUm3PcE7hjsc8pneJecyj9K8NruQIx1ljOi05T0GVALNX_Iupb9RoSpwd5DhkhdRPpGAAQevl0hCE4yF8FZJdCX8OxYfazQUi0UPOsip1yPZfHsYemgp8gca9xK07q6JlBNPwow3BU_9YiXKJWowWlLEsTsHF5YHx4Zolgkoy-UCXpViv2ZggjRCdAks33Iwpix7DOZWs8WzHXZyVIria39lOqZSYmgXChw=",
  "id": "rs_0654cc9cb92cd962016aac610ffef887d0b6e64c8d15278449",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.05,\"right_z\":0.025,\"right_yaw\":-0.5},\"note\":\"The open jaws are near the can’s lower end rather than its middle. I’m advancing a few centimeters along the can and lowering the fingers around its cylindrical body.\"}",
  "call_id": "call_hWPxRG1lXpEaIWEv3ipqJSpu",
  "id": "fc_0654cc9cb92cd962016aac6112af3487d081f445e8b92d1cbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hWPxRG1lXpEaIWEv3ipqJSpu",
  "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, 0.8028, 0.6067, -0.4309, -0.0189, -0.0391, 0.9992, 0.3656, 1.7092, 0.881, -0.0277, 0.4938, 0.3939, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0526 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4155 right_y=0.0733 right_z=0.0633 right_yaw=-0.2702 right_pitch=-0.1462 right_roll=-0.0753 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.306, 7.1453, 1.8632, -0.0464, -0.0073, -0.0122, -0.4034, -8.9915, 7.0222, 1.7949, 0.2711, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:657d964c6ce16b3c7a3645bd029fa0e5615bb1e494b1a7317c1e2379c30814e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8df9f6000f040b07ffff79ed5b0d85c59fbd17af30902852d4ad9cb8edf829f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12e9b489f5e186a8173e4253dc8753ec894d8ad45753020cf60fcae39d0c4685",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 7.182 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, 0.7986, 0.6067, -0.4129, -0.0189, -0.0387, 0.9992, 0.3637, 1.7123, 0.8814, -0.0345, 0.4435, 0.3492, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4141 right_y=0.0804 right_z=0.0582 right_yaw=-0.2102 right_pitch=-0.1776 right_roll=-0.0823 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.388, 7.3504, 1.79, -0.0659, -0.022, -0.0122, 0.0205, -9.3744, 7.241, 1.9609, 0.4811, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGEbsPOEfRBNm6rdv5dR-TtMdFZRsa6EyMC3FxN60CBiODxZBksDhmmuhK6-ATRPPMwN2dL5g8Rh7de_PFaIQoPxjlUxw9tOKH8Dx7FecPzfrd0lJTGzeUnGtuGlZ7Xgn8exMqnEp4eA8HEyTU3E7iUGhu403jl1tBlfiCLrhCLe53meqyBMj2wstWazQWpjNe7VDf4XR7V82aDAEavI3AgBY2B8pY6FOTIo_V1JjHCNRwi8RJpfd4J0UbhRRtDfBei7Ja4z9yukluMEv3L2A5Pp__XPHr1KfYFCYS91AJZdBrQPFS6eRzdNPaEzveKq0CAKn5tKPp40tqcJIfOMzyXQ82fAmosWAPGnAVyIk_59ZDLaAhFUcdD7W7VCTsJB-oiFuVEDl0h8NOjoIiMKgd2QOhaLHXCzr7bn5wBx-EmrJChQeX94KHJ8vTpXG2Fi5ReUApjSdWX9ge4qqzjpnUlMJUJ5d3k-LNiZk0VrCqd4m36PfZO8iMVhtJyEdTXViTigkJlG6XnV3ktcrbhVK02mluSVIqIUADoLchWeT-HZeV0eYNkTJZT43qg5IEt7UjfNqYSXoFrzV0q-6b9wVa4NLtEToXIbcHmoNaqSoFYbdgcXGyv-WOJuSZdg1FscL56hevuRixHRTf35xWDxhXqspwZytN3whY1fJLUfS5JjN4TXNafYYa8H-HrfWolu_MtDYmE5tggo_2QI5RPId81e1NABILt2PPNZDl_gwGozbuHziF45UGrtabdEAVWw6PDIc7qVR7o3HPlmQ64XXI_jPbmNfNo-tuYvkRUHuToYzgHNR_Vm0AMBhZfdLfoCDmvC_ykXNEt_AMQulccTOz9TKsrcwNEVgxoiaC3xG_Ti-Bbi1cLDFOjfASwP8T3fiilFFFb_L6o9goyRc8HeDzP_kmFNzwcpVjMKMIoDBTc8dc3MCt88sZvkkzRaIeNvsSVNIcMxHCscl_zGLEkk0uSse74aANjzDtcU15w7cc9qjreaRR011Juep7o6FcSLfxX4DW0aLqUi_q3hYenUBnWhkTsmzgaexqUQ6rQVbZnFGXYKqz7rH8bQf8oX4-3WZ87P9eG519t3BTIdx9EWSucSZqf6yFZkjOEAZQsN_iejqTbFJadQbuJbg7CuYGZ3jruHRz4ZHkqPa7w21kj6FLLZVeVrfVPjuYntJta_NHwWuATTLVqIdaIYrCya53jM7zBy82n9Lg2dIYGTT6AY_6ORlor9JGJFVLMoWqgswA7RPxRgFVT9GDfdHU3m4lDaQ6gBjcTx4AUVRelOsRLaupLBwx0WpsIYzmbX68FtMUDA3aw7x3WlNmwQ0JE7dG0oj0LkzSlxxfae7gRrgGbd7jRm7gWuy0N5HTTUCweeX21rA8Ej3s2912AWyWj-r6kpNyR4CUssFvx_6-cUrPBHZpYBVLleIuyHWZVDv5BPnKI-qr8vTFIDelQ82sNN2cDDwn612JBuSUj1hh45ewtr7EnYzsJaxN_LgXriIUcGP8fg4C92KUcGNo7kwyIyblDRPuSI",
  "id": "rs_0654cc9cb92cd962016aac6116d42087d08942f11ad17104f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.05,\"right_z\":0.105,\"right_pitch\":0.35,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The right arm stopped short of the requested position, so I won’t force the descent. I’m raising and tipping the tool forward to improve reach while keeping the left arm parked.\"}",
  "call_id": "call_j19J8N054cYUuhgpH6uFE5pd",
  "id": "fc_0654cc9cb92cd962016aac61192d7887d09d32bacba1498d0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j19J8N054cYUuhgpH6uFE5pd",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8322, 0.6289, -0.4732, -0.0193, -0.0463, 0.9992, 0.326, 1.8362, 0.6933, 0.7567, 0.5911, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=0.0015 left_z=0.1622 left_yaw=0.0068 left_pitch=-0.1022 left_roll=-0.0076 left_gripper=0.9992 right_x=0.4534 right_y=0.0531 right_z=0.0873 right_yaw=-0.2416 right_pitch=0.2619 right_roll=-0.1079 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.347, 10.1265, 1.8144, -0.0806, 0.0269, -0.0122, -0.4991, -7.2957, 4.9436, 2.2442, 0.3346, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02534d21dac283135cbe7c5599d714638f761e79a3b72b485d4ab1cc00d1d8d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49556902136ab771b724207f8a23444036f1ecf588962644ed58bfa3e62c02d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73331a7ae9c04dd2e5a20f5b21cca55d18fd4a9f9b481dd582b20937ea35dc8e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.764 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, 0.8028, 0.6067, -0.4309, -0.0189, -0.0391, 0.9992, 0.3656, 1.7092, 0.881, -0.0277, 0.4938, 0.3939, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0526 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4155 right_y=0.0733 right_z=0.0633 right_yaw=-0.2702 right_pitch=-0.1462 right_roll=-0.0753 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.306, 7.1453, 1.8632, -0.0464, -0.0073, -0.0122, -0.4034, -8.9915, 7.0222, 1.7949, 0.2711, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGEkr6yUZoCg9rsZE6BFoOXHk8WrHPj8gagOrp8b9LLVcdimZn9lZjebNhmAZZOLNpLFsItAZ6Yj4Bi_5s8SHV01DprEsB1kZVs328iOWB-Td9ho8X8GIotJQXTThhZ71M4Ooj7vsf4RgiHtdkxy4-kE_U7WypiS9EWWgwZ7xQxH7AyS5lIq7Odi_JxjPl_CEca3mK2-UUq-04kEFS8ESqVKkBFVXBd9p6bA5C7Xw66A_fz0w07pMi_Cqw3A90-4Vy1nhp_oj2vQeTpRhWSTL6esvnRBqTBjT5z5lF1WvVrORi-lhH2wvBjwxNB3EJ3xSc9NeDGvf8mQ4QsFZ-JQJeeg8ZSWTdBJ_tIMxBmU-lm0XldKghvtzPZdU_kjnuESlqeN0Hl6GxJzepyx-ZKlESx0ybof1lx_svSkBRdTj7uNeqrOItf0Y0BoJMN-EYp2Mi5VdXmwBS2951aqiWNs3Go8pnRWhwIPFbHbV9CNFwFhmss8MF0_3mzIttVC1iXsu2sc9Wer5o2VoM8-nvtU1KjsWsDkp4ytBiGcIDTxMcKBCbNLUviFOsuWNiuoPDm-ZmOzHSVAeLbJOXMwbl3U-XSs8JiOQER-M7AZQESEBLJeIwf7y5Vpk9NIGhRgabEYJasUUZjsxPzPhEOX3P622TAIQMKWJrXIuYSVgKWtFdD3e0f2SA4y9qr7ULpdJP9DdLIYnaNMd-g3XaEEaAazMnmOMATdVTJUdf1usYKqmmfBmDi7L3B6UzhtqClXYXlRKs4bK09Thd7nC2uzi9xkK8YgheBD2tgo2SAhBEgaeOjvqgJqECudHSf8Irf3P--lP0LZILzegu9GxkjknDQRVCfjO34Pq01PKcvbL5EwMoKySRxA1cbHzVTNpkLiNLKeLfq16vtjxmCIce4u8JOIn_cO0ZO2FfcvJYV0JmVsBSloKb-oDDWcWtEpv3qzB6RBMvwHoBJF4Bsn5Kepna_-LXzQ2iftWJBJMbFkBGnQhIeTSp5j8JROWFxTQF2219aEHskhGotCEl71pbS_tx3t6MLckE9BHSzkfk3qPtAb6B39ygyyb06SOyahi21vH--j75fxr0Ev_1S77KeoKvum5OojZiMkCGP2uGST60mfzVnbIUbvVbya1PngTyF8yHBMmFlXeUJO6jCLaiwh57PcNb2t_PyAoQyILWfM8F1_ik1OklztzXWpnRIvm56Io1ifss6wAWBDLRs9-n2NGH5quaZr9Hakjmduq_aCe2h4tY1UBR0_kb2mCICdBI5CVslApv3jf94BGkgVRwH52HydfW0Xj149CgnFgHgLRqxD14z0l3vEtykMR8eiO10oeVmOCcSqTJnuXtmKIliHBh7fbR6Ncmu3P3fyp42dh103uFzE0s4qwOpYhMX2F5pQ9c-s_C14ZqneTbWFrA2Qer8TCpanXWdB0HSRJFftof1VKO3tzC4enS8PSvK6tnRF3FjEJyliqpfsmAO3i40I8X-feoGeG6hepAe1EnNzq4oz6HXo3Jo=",
  "id": "rs_0654cc9cb92cd962016aac611f9c7087d08f5ea7bbfdb5b120",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.05,\"right_z\":0.025,\"right_pitch\":0.35,\"right_yaw\":-0.4},\"note\":\"The forward tilt let the arm reach the can, which is now aligned between the open fingers. I’m lowering carefully to surround its body before closing.\"}",
  "call_id": "call_IRs0q2rpfsjG4CF4cE5rJer0",
  "id": "fc_0654cc9cb92cd962016aac61228ec487d0b0d1d3ef1817c3ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IRs0q2rpfsjG4CF4cE5rJer0",
  "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]: [-0.0181, 0.836, 0.6289, -0.4847, -0.0196, -0.0463, 0.9992, 0.3882, 2.1174, 0.77, 1.1698, 0.7631, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.159 left_yaw=0.0083 left_pitch=-0.1174 left_roll=-0.0069 left_gripper=0.9992 right_x=0.4752 right_y=0.0663 right_z=0.0772 right_yaw=-0.3792 right_pitch=0.455 right_roll=-0.012 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.7162, 6.9812, 1.746, -0.0562, -0.0317, -0.0122, -0.8547, -4.2462, 1.6479, -0.1148, 0.0708, 0.2711, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01c6dd5d720bdf4f39ceef3ad1fe385d3c7400d176dd6e5054fb4619b5a7eab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c763d1d6e32fb187887a350268f4cf4c08a3f3fee0824bf93c8bbfdd2bacc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260c6c8255dd269b56d0a9612656c0c41e897844faec9c08b3b2b84532e5a831",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.426 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8322, 0.6289, -0.4732, -0.0193, -0.0463, 0.9992, 0.326, 1.8362, 0.6933, 0.7567, 0.5911, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=0.0015 left_z=0.1622 left_yaw=0.0068 left_pitch=-0.1022 left_roll=-0.0076 left_gripper=0.9992 right_x=0.4534 right_y=0.0531 right_z=0.0873 right_yaw=-0.2416 right_pitch=0.2619 right_roll=-0.1079 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.347, 10.1265, 1.8144, -0.0806, 0.0269, -0.0122, -0.4991, -7.2957, 4.9436, 2.2442, 0.3346, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGEqkxjxtIQoqNduLrBydzSD7A9S0i0z_M6EUbWY7GX9FE-kUc17P6G7M5D7o1qQB4lMo9XuWwSDxLRNhyzgEnGB75v2Rf1Y2loI5C5L072RzHalx8XGw5MzkfBltTriERZ_Yj7jq5Zkk8-lJbA20az8mH5MSSfT4r_GTOIyTrwAJaOhMzp5XMrbeBy9Enr20CVC79BAghUNMoBvqR6iR0ZFXoZzNMi1MKLKFt-C7t_I-rKsT1wizNbj3oeJsZivqK15jWlkEYvYL2ydMMzk4GjJ6sMjvlgp0IY75zeqAkD35cJlmKGVKOYbNGmsdeZ5FmX85gPcPYHZHj0dCLNV3eI6hAHB9ieta0zfrFZZofYenTDrSkdCiSv_UNor2Zdb38cR_ChPKTTfj1utu-vV8z3mlroPHRYvhsd9SkGDwldMEpiwU4YIiAwRFIgXOuIBxfhNf2sgzsOfwBFNkgXjVMNn1CvKRxhLQQ00eAPFSLRjpA5KTnT3RlBK3dqr9hUIJljZOLSHAfpf54BH0uVFt18AArBlcDW8MXOKpOIQtzhOP6zyPuTXYhmJIz2fuK9eesqfsBb_4ZDP7mWuTg30VI9LO2ZXb09nW58i_wLijdfHzF_GI4IbhpreZBxxiWxN6wyupde1LTR0UWzXG-LN-jmJr7EgvMIUWBG9mNvJQPSAOxS1QA6ZaXaqzvtdEGVkTymTAWAWIgvudOxVc4o-hUsnOvKuiQNrapTPEIXdtie6mIGkFN7xllrJRtfRM-93_2wkixq3ekLurvCshDvTH6638Ru18GhNM3K1K60qdP7vrXzrHBxhAOAKg_5rtK801Cw5rqu50gYeBs4c0D4dHfhoN2BpoHjy77IU2nwK-PIrvzGJLHYKRLAVicsRN7LRzzV-sCvEpV_8jfm8xNk4Wiwh3RTdSfu_gb5uskM3nwkCyw9tiJpAob_j4ZnIex4_WRjCWtkxMVf2PyQA4GD1xp6-m2yfItBVBK4FLkWCfnGym5OOutEtX5HEhBMZi9AKxGf3wPrdvAjd7ZuCjGBw77mItW84tQ15lG3ZKQZXNMKT8Wp2vDUtuWpT-QVBatnjmNFHzvmNgAAp7gtJW-B5rsgwPEPs_W4-owj8t5LP1tR0AtwlDnC1jDlkyg8v3utEuEJeGaKptWJaqXctdbJhgtCekAdiTUdY3A5TrH3crLuXdUd-zmQ-SxOhfN3ROO7M9m2uqxz1zMyDPQ2klLnu8BpBE0VQAwjtveFMjQDuHYpvHPJRNHw1e9aRP0fjxO1c2WpAmVikHUoBKS27HoX06g4T4S6C9ugp7AoDWTohelhDilzB9XD2fzMkp7V9ZniXIgXhtXvS2nDMIyK0SwQQtTG4C-vIh21V322YEcemCDEMt5TrA-hRv5EjID-8SUSU2vsyTULZmGbFYHJMiCwl7mAp3_PCgBUVAltdEINNIaTf7vZGOWYZ8mv60Wj2xa1sdOdCZ5uK9O27Uq9MvAcmb8iQ0Pc0A6shzyKK0eME0HaRzbQ_z7HhMPOnvVPTz0W5MUHShRfSWhG0YODAi82vl5Am6oLIJDvc88YMO_vNokE3hYj1jtJhhDBPXsOIPIh-LgeCYyVJF6kt8YyTNS2JrFUyoXMISevyGpYry1bkd6TZP-IKbp297Ud83pqIvq2wDUxEp3jIzcbP4If39sx_vUcDyT5L76Sr9goR3bijPY_M2Z0YNvmQ5OlxuhguEfxXRc9i1sBiPHoMg0dmhqvYDXESZQ==",
  "id": "rs_0654cc9cb92cd962016aac6126646887d0b3fab757531c6cc3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.035,\"right_z\":0.105,\"right_pitch\":0.3},\"note\":\"The descent met contact early, and the can still appears offset toward the right finger. I’m lifting slightly and recentering the open jaws to avoid pushing it sideways.\"}",
  "call_id": "call_0Er2DwMW44HweuX25vdK285u",
  "id": "fc_0654cc9cb92cd962016aac61295d2087d08a1e3404ca58eaf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Er2DwMW44HweuX25vdK285u",
  "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, 0.836, 0.6285, -0.5022, -0.0189, -0.0463, 0.9992, 0.2935, 1.9182, 0.7784, 0.7719, 0.6598, 0.1711, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1555 left_yaw=0.0069 left_pitch=-0.1354 left_roll=-0.007 left_gripper=0.9992 right_x=0.4731 right_y=0.0336 right_z=0.0875 right_yaw=-0.3725 right_pitch=0.2942 right_roll=-0.0533 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.3094, 1.8144, -0.0415, -0.0513, -0.0122, -0.4718, -10.8103, 8.3624, 2.0977, 0.0659, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15b12406b6281c91d6dc3b868ced6a90696d1e4aa1a7bc270b0ef4cf6179862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6839bd02748e69b2afe0771e9e9942e68a852a0787c182eb63d15be3f5f872",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf42a15bc621fd3ecbd8fe19639ad6d7dfb7cc46e96c3be01f393463549441e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.294 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0181, 0.836, 0.6289, -0.4847, -0.0196, -0.0463, 0.9992, 0.3882, 2.1174, 0.77, 1.1698, 0.7631, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.159 left_yaw=0.0083 left_pitch=-0.1174 left_roll=-0.0069 left_gripper=0.9992 right_x=0.4752 right_y=0.0663 right_z=0.0772 right_yaw=-0.3792 right_pitch=0.455 right_roll=-0.012 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.7162, 6.9812, 1.746, -0.0562, -0.0317, -0.0122, -0.8547, -4.2462, 1.6479, -0.1148, 0.0708, 0.2711, -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_x\":0.48,\"right_y\":0.035,\"right_z\":0.035,\"right_pitch\":0.3},\"note\":\"The can’s body is now centered between the fingers. I’m making a straight, short descent to gripping height.\"}",
  "call_id": "call_9bMLiJ9qXjzRrRCYbTHJ0UY9",
  "id": "fc_0654cc9cb92cd962016aac612dbadc87d0a1fccbcac0a7f6e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9bMLiJ9qXjzRrRCYbTHJ0UY9",
  "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, 0.8375, 0.6281, -0.5171, -0.0189, -0.0532, 0.9992, 0.2989, 2.0636, 0.7956, 0.9997, 0.6617, 0.1608, 0.9996]\nstate[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.1522 left_yaw=0.0108 left_pitch=-0.1522 left_roll=-0.0117 left_gripper=0.9992 right_x=0.4871 right_y=0.0403 right_z=0.0733 right_yaw=-0.3843 right_pitch=0.3722 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.5521, 6.9265, 1.7314, -0.0611, 0.022, -0.0122, -0.4991, -4.7248, 3.6991, 0.3785, 0.0464, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b33bcefbf81c2ac32585f5200cafa86a97cdf247c2ea6b57c15d320418ffe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ecfb8a6d19f58db03ab66d7bfbc1ce8b9e8fa29a9a0eb31b50b4d131985305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51df8f1ff3a04ae52d5f27ecf0e3098763906763294f689b81db372941fed506",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 12.49 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.836, 0.6285, -0.5022, -0.0189, -0.0463, 0.9992, 0.2935, 1.9182, 0.7784, 0.7719, 0.6598, 0.1711, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1555 left_yaw=0.0069 left_pitch=-0.1354 left_roll=-0.007 left_gripper=0.9992 right_x=0.4731 right_y=0.0336 right_z=0.0875 right_yaw=-0.3725 right_pitch=0.2942 right_roll=-0.0533 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.3094, 1.8144, -0.0415, -0.0513, -0.0122, -0.4718, -10.8103, 8.3624, 2.0977, 0.0659, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGEzPy7vFDm5cl4F3ZJrZxtX9BrAztdrb84Xh26vGeq6zXElqqtpD_K7wiAU4bggzdxjT4_Lz3XlYuA4xdyzWI3IGCUdF8LqdQ6J0XkJd_txSqMVMjhDLZQEnmmBlaSnkRmdGi11V7Q4UZq-f50wEGkapdi5l2q2DbLMuTH7f6UtIm5W_1xWKUKFzld3eujVlXwnB1mZJOxaGpGeH8Wi6mde_YEU_B9a8dQisc02ymAWmWucj__zB0n3nZNZd9qEfXOhVnHGJMSLlfL3QHDVNKzv59JRdG9n0xlv6QzwWrhyGQ-fQT-moaCGOoI09D1XQqKVFgPnsxah8SRpYVMDkutbgZKZfXMQw9XKS-BhglfivRlCrzMkqlREMLl8K2sl4MO8vSt733TYxYkkkKtUb2fJRSkHAPqqLBSC6zKm-2aufC61BRV_LifmR35lTWbBxCKdJDGi0FoUVtbfnCgFA2k8i7iS3uywGaGCaSOY7Ckaxrpv6eYxvl6ElCDZjUt60jKN7Ojzqa_FYSHWQ2ay_DB4gGXqxv2ilNR1MPShXk-vlWutD0jMXYgKmKYx10yuA4JM_OBb3cGnNVOcAklCOgzrzrytyQvdvy_SdCOj5vQMnZj5pKU7B3mHx3I6K4PPZO0iwTUNIlwwjd64RwLXx-gg6dTM-MyoVnzj49lvcQgLEW99Uf6MeiG3vMDqP0dcurWV2ClY-klpg_lJ-pgEX26Xb1k6fBp0atTTT5-_R6gCIYpMlF0mCiTu626ZnaLeJAUpZgXK2wSOeCklAugME8wiOWGkdCDogSLsNdjFYR7IFTlIMjVA5-CxFklcHp7xgUtNRgVTaIEM9KHKUFeIUQeJKT6OLAqKArldsjm0HUZbPdfVYXx9vXXDF_RQmeq2WNHBt7vzP3Cp4PCgyTMJzB6sla85jTNJ3xkAC6Tn8HDy1YXlt9CN7r0VO05CP_rMLbONDxhGo5OBSqtgPblxbE4ClzyUH3GJimfzX5Erp5daUqTyURvTgXdYz9hYvOwffWVGJSh1U5ZGaNzoL4BqPl-ktm7nD0rxOaes8-HP1Q0iHeDO77-bYWjhjY59tLq2XmBI36ARB-xICeVZlYyvlX4Zrq_1JgR1TApMKgWw6MSBdSS0VP-Ybi4xIOlZW7dFXimU3Ecr0bTt4QUNFOpd8fM5Srb1EklpMVXLbpfj5AGCR_DJTj9QlNxBNQ7jkWaT9RBiYAWytZQNVDPe_okNje8x65dYq_lgr41MfMD0r2NHu-9jTu0eyDGC9H3oYSp3RajrTfkjjQhn7NdjmdSuliXS6ZsKA5XPZ2ZpQJHsc5x_Als=",
  "id": "rs_0654cc9cb92cd962016aac6130d1f887d0ba63da1a918a0314",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers bracket the can, and the arm has stopped descending at contact. I’m closing the jaws and will check the measured opening before lifting.\"}",
  "call_id": "call_kSTL9d3cfSWICJRxw6jZPIzL",
  "id": "fc_0654cc9cb92cd962016aac6132098887d09a372e75d767972c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kSTL9d3cfSWICJRxw6jZPIzL",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8379, 0.6281, -0.5255, -0.0189, -0.057, 0.9992, 0.2996, 2.0701, 0.7986, 1.0309, 0.6613, 0.1574, 0.0082]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1505 left_yaw=0.0129 left_pitch=-0.161 left_roll=-0.0143 left_gripper=0.9992 right_x=0.4893 right_y=0.0414 right_z=0.0777 right_yaw=-0.3883 right_pitch=0.3937 right_roll=0.0169 right_gripper=0.0082\nstate[joint_eff]: [-0.0205, -1.4564, 6.8855, 1.6386, -0.0611, -0.0269, -0.0122, -0.1162, -10.1128, 4.4103, 1.4432, 0.0513, 0.0171, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7a187d9325cceee4aff6baf66ff504fd436bd658189521fbc4771747fe4c26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23c221e91bacfc68a8535c273e51f0e682bbe5b7fe38f170fec210d906dc751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69d9a98ec880b84b203719b226c5463935576611e9180138a9c81c7c703a5ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 11.89 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, 0.8375, 0.6281, -0.5171, -0.0189, -0.0532, 0.9992, 0.2989, 2.0636, 0.7956, 0.9997, 0.6617, 0.1608, 0.9996]\nstate[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.1522 left_yaw=0.0108 left_pitch=-0.1522 left_roll=-0.0117 left_gripper=0.9992 right_x=0.4871 right_y=0.0403 right_z=0.0733 right_yaw=-0.3843 right_pitch=0.3722 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.5521, 6.9265, 1.7314, -0.0611, 0.022, -0.0122, -0.4991, -4.7248, 3.6991, 0.3785, 0.0464, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGFAZxztwg4pavKcyZG5r0NYDt5vpTLONqxLk27Ws955Bw-Bs9Vy-19y3Bb6ffDflX5NJSNHEHUlcP0D2ozZF4wlzoNdaHxo560wUA98hnq5oC8iVcsIXKkpF3-2k5PbcuKAnsOPWbF1w0PzM_-nDsWvBqKwycWR3EFdOY_BK7RGsrRfxlWM2MlDb2c2SfLt_-Ps-8jeK1kUtvMO6l9WW8LJCE2s3yEjeM3vYC71f1FrTajRa6wYAWoWzOY0ygM4Ub0v8eykxFIXH-ZHlA9gKPuVnxY9DgMHavmGpu0t0QKS2Rplr1SoW6KWRrjt7ajQMYlDa6ffig2tlqcj7m8x5ZHSwSHugfy8CkWDytTxSQyyrWFjQen4vbSyYFBLtmmscayixY88ZyjuZAGgc82wTWPEwLxHx8uqkVpez0y3i5h4UNO_YNeZ6wavJVlmadEh-5OcrR6fMWYQhxYHgQGWqfGZhgNpv2gVionZzztdu_wpd3eBgCh9ZQTo2SIginFV6u7mcVx0SxQ7O7_YJqJA9H5zZ8Oq82NGE1A5P4U9UX6LMtM0JNkmWaatW4wWZl6Nrj9-4t9_vBBx1RGGbVLuDpw0XKNjzYhdttZrVoSatWaB-pk-k2CYP3Z-0WPImN5qJOiGDdqwufvdMKSAGe18KO9YX044Ft1vMD-1eM2ytdzycs1LotUcfNv-X162PsOEPeaHikFuM-u_gsvjYdMkBB0gyuav90VXuVmurCjzPfhy0pl3jZ_VfRJaTlRtFOsxdlDEaHtWkdazLm7PPb24OZZjDDVN8yOkLfgA6J657EqsB9Z9Z3D4ozQFc20N6LfKDlMSeMXdlr6rM3v62vD6jo9QxMlwCLvTY07aObggBseZmHp2MOKbgCX0fe9sUhSyeA-sr2X3W0TU1BQDayghAHPHo-a2YcG5lZt1U0NkhLZNqTDiH6Sy_jBUtcsSzQXSKgcO7UI4rxt8K6vUow8YpTbolC5E1o5OnY4bWfoTzFArQZY2tHSMWvYZ_U-c6H-QTlOai0xUtlkpmpNSityKJhhdas26e3gOB7rrHMKDPUe4z8dx7BP3qfJQCwh0PTU1cpGSlwF1snhnshla11t5rRlj9-QWgBQvNDgVkC1YC1qrsbmMzdqxa7yPHBa147SBorgImy7EwaRVFMGdY7RnjauV9d1MpmYnONfxexdy1_Ije3k3G1eUavSYshplQhpyMzQ_EGMEghM8Ctj17dOfl3uT5I6Uhcx6PAR72Cp5j7KX17wMIqSPvMkHmtlw5C-GV5HEl2eiVtfM9-0IBBADCcbmgtMFTPZCcRmO5VDHAFs8qX8_s0tJ969Yu1erbLzu_b143PCZDoBZ0DF8nnzKw5R2wounPqe33cOzdgDvayYunze1wnKVN-zZoobQveC3ybvshxkQzODEwFxG7so3esMd-DEgg1KIrstb2We3KiG7OWC61e2eCbNuGJLjOdHn73QGePTM47v9v1Az50KtOVJn5hNB2Dqp_WKa3kGksnOB_Ug99vv4kqYv-ftuAMGVyjVC4bBnttwJEjH57EZlKwpDtRndy9aubmWhpPWMrhEDMPbOA3qq9Vl2ZDxOV8wlmhQaBLgSBeWBNDSY-s_kTDL_WEtFcUtnaQQfzLjAuMTjkkFaN4ZfAg0wimeVKAD3cenXq5I9pw-c6V3Lv_VGOvqBJpj4YE4jrkSciozlYUo2vK3eC1sE-z6jY9VFXnK2s8mH5kaZzm5kLl1rm9jssXGFGL52QC6if0JDHO0SPPcb_9lMk0vGCVE1dNNqKF2A98K9uZwmjj1X0OSb5GrtUSWkHN4KJVkwSqlf9_31PvOThNbxmNSAMB42VUXZ7PIiiNBemCm9WoqDTnX44wgorwIRncEvJdIx_Rj5k64o6W8a7khy54o4k2b2HyZd7tl4H_TFFelyWX1Zq1RjvytdNTUEBB2n9eZpjtCkIdxPb4eQTSTQvbG3N6LU3Rhf62WjtyZ7BklWTHO3sB4VN22z42qXLql3RUMMWknDr-qdJD8ZVUmH3jhyb-1mYpAduZVE2CPIb9muQr_L8ZrMnSQs7y2U4J_BoJKCPakj9w9MAzcknkrMvKyWd2IGP_cCaLY9KKcq_7Etwob9K_JQvY2CByeAVOnKPryDgi4-f7XCj-G5rRbUiPfLfMZ7p76p-OZUuCByNePaeDJNi81UAtjaD6XKVK9OfrGZah4N3hdvCH6rzCEEFiJSVwP0a3En3gNcKekcue5A--mVcKpnHRpJOJxe1OGwbXt0wxZIPZp8Lsc20yawCZFYGcEGasPDZrrXRCEjdeWfCaW7xAq3CFF8CF_CSg==",
  "id": "rs_0654cc9cb92cd962016aac6136bd7887d09703ae4c525508ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.46,\"right_y\":0.06,\"right_z\":0.04,\"right_pitch\":0.6},\"note\":\"The gripper closed fully, so that grasp was empty. I’m reopening and using a stronger forward tilt at the nearer portion of the can to get the fingers lower.\"}",
  "call_id": "call_0Ybkus5sScmdtoMpoq9lsjmg",
  "id": "fc_0654cc9cb92cd962016aac613e9b0887d0abe638b8a15e9eac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Ybkus5sScmdtoMpoq9lsjmg",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8379, 0.6281, -0.54, -0.0193, -0.0574, 0.9992, 0.382, 2.2833, 0.8028, 1.5791, 0.7479, -0.001, 0.9947]\nstate[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1479 left_yaw=0.0135 left_pitch=-0.1754 left_roll=-0.0139 left_gripper=0.9992 right_x=0.4827 right_y=0.0683 right_z=0.0932 right_yaw=-0.4232 right_pitch=0.653 right_roll=0.0943 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7265, -0.0806, -0.0659, -0.0122, 0.4718, -4.4786, 1.7436, 1.5702, 0.1197, 0.1343, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4713d0244db04c756d9fd7f4bbf0b0143c7133e074d76a034c966838c9dc98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c52361179a3644e297fa7e5ddaafd1fad3054921d150e3aaf0e73f1c8dea8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b603cd4bf2778f48c904a4c9cc04f100bd4d824b5d1b18b188a5ede678d374b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.047 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8379, 0.6281, -0.5255, -0.0189, -0.057, 0.9992, 0.2996, 2.0701, 0.7986, 1.0309, 0.6613, 0.1574, 0.0082]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1505 left_yaw=0.0129 left_pitch=-0.161 left_roll=-0.0143 left_gripper=0.9992 right_x=0.4893 right_y=0.0414 right_z=0.0777 right_yaw=-0.3883 right_pitch=0.3937 right_roll=0.0169 right_gripper=0.0082\nstate[joint_eff]: [-0.0205, -1.4564, 6.8855, 1.6386, -0.0611, -0.0269, -0.0122, -0.1162, -10.1128, 4.4103, 1.4432, 0.0513, 0.0171, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGFNKCzs1TvSaqCql2io15D9XbNpZdJAJ_bErkDXPwbzCtd3eOlD8HuiHthctoJ2-yCyvZIczR4RlTPMM71etdeNcBqNntLHYURpT7lAPKndmnsNWndsCOzDQnkq_1tF9NQYtnLw02wEhx27hyHnjkvLooDuu7dp5HEOo49HJqYyfbJsCd3G8rybbmEYfqc4XqKpW8FleZv4yCA6sZI-jWwZzwuuWpxmjiYgx1PoPWwR6eBk16dwql9fSCa3maVqi2nEm-5QavUMaFIWLl5L--wnQlUMBNiIF7NyAPAisw3XMbjwPXFAxJStix8J5JkOJoU5gVAQ0nFqbX0rFrAgfytVQUjgn6pSqi8X1T2D5EtrwkWIRD90dGnqq2aG2E8r_QwbL_eejOLThttNCfSPIuI-108DQ2uMb6c30isJwt-rr-4U-qY1-kJwGJN-lPLjh8UfMjb5F9XST9lrMn_S-bWa6ffeLuzIhVi7DfM1IPSkG8nDQQIoEMMsI5llq6zwFoQi-kiuzVM5rPT1alTuKOwDfVfGVSIUnb_Vrxj-DDFGnQ0e2YtmXj2mxK5vX5vVeBqASw_anMM1mTgWKl6EKbFXVtIkBEsWx-i91SHPNDUWK23G6bg4VED7v90iNrIeEaCKxmn05DOLAE1KmkXL7Zwe9Rm8sUHZQrxz3mSuFXXuuDv3m7rS8iGzigdwWzJgCaOeNReHtYiXutDJQ3vqw_tePdfmukIeAVLCYY2vgyN23fECAoWup44oARZdEr7-YGiSF26fkLiZUn_S9pAIwglHAwV6LeSG_psR0Bcq444-igQZ11UXSulH38-15rhApxzJdcFdpx9W3nUywJ0GLwwdmtwVsNaOmCmP4lizMzKzDP0PEuFit68jk-xTr24Vr6ifUtepRpJMyzLV1QqbW9tUV1mPqcAp-YkapSJ4D6e6bFlEkV_wI67wYy6AtMVBwEVNO_bNLM_ouH3lH0wGoN877RXhV8ZuOuLgzqcZ-n3aqnUQ5zGCfT1lf8pyKQBV-6vFjOt-FXxdpVW7uP38l0YJoMOaHk_9nEG1jvyOYjbF6wGAD6QhJlQOvcWXqInW9BZQ4rxtgOLBytCp8FJGcz3mc9C72KivM_x5l0z5EZB0pnvSPbRQuKnBo7IyzJ6P_EybMtnINDe-BXeV678mT28nYR_QD71it6xwUhS3r2NzGtfl8C5XAHbvjRDgkmFHkergLCREH8Jr3DAYodYYTLwY9FT_DwA9ZPCDTyF7kCPRFiUiNUp_tPR29xDUF3KWH1k6yrBqI2WpV-3R_0is0ogXtuXgmq3_tBso1e2FQbHwBQN8EiUvNpaisNDQyLNne1v5uFLbm82U3vb29rse-HkMiPFnYOJLjYitGpE7pLpDF8WFdcrni6NY39zCjHIWtSKEz7jaQcELG-cOknrUg9xxEObvHsSFirqKg0TifTDkr02_okgqoPm4ymwdMAKI1nEO9q_l8HGjPqWJbQIFhweyS3jJFPQt5FEz6GlCPA7HxpUtwlI6ac3D4GiImX7ysDlxC9Psftfw0kTrfeMVgh1K1Lr7A3nDhE_H4PpbuCpip0YBXKSKKUkdYXn1FJFfPDga73HA49C0Td_2BpmpqJ3y-Xq5L4nl3FcWS6nUfef_2lkIJPNul7LKCqWhXLo-cUHJCiNd0uTiYRoOiBNbzt_xAXRKvKtR_P4bLHhoqiMNCT-Yo7pxTsk-ua8_rzVacRMU8kIvbzMklprQCxZSoGOvA8zfqyaH_8tQQbldtT5ycZX0CZSWRXafP-n-CBtRokvLk38ljTI77w7yiauSEdJzlJ4X3CFW2rj28wVXW2ZgPOB5Qy1C8xQ52wT3xDqddZlWxTD9HlOW1sdkg--R3bxJS6Fu840oQoaqXpxy46lXZMV07RCejwkehYSlzl1CgoByJzmUyLTsJPWUxUVTlPQARbpHvsVuTGKcEnpwJnhZKZrJgOT7zryBogaGyxDa-vC5sJ1qBeOLedB5LCjNDXkBbuLkecDCeK3Nkh21-F8iNB_TVqbw08X1HH460XMrQaWt7gpUQXntMnXj4FhEOVeoFtOtPb-l0Y9sSOe_0Sc9Ug7U9mpKPtG8qKtqHuFZmbBJYmm_HDFAETsSOpIVc2RgQUnVM3w6g96JfIDkWX7FvNQiF6uwMaV2Mmyjcpa6rs_AzkWtFs9I1Qhd2qnZNdWibPkIB_qfsgbvixnN87C5cmDINWJz5XAwRlaAXvP5RZJF1VeEqjHjI6FKho5TRLwh3N5bLIoUSmB1c0y2H5IicyJtaRkeFCiJsFckRNrCCuhIkb20o6SScmX5tEc0xaNxOFrgLmxlFMZtaRdQSpx3ANscGvciDE6YLe3XxT-mueL5Ef4okS2N6W5_c8gapUS_mJkG9LCnMbqf1jo2wuz7yTsC_p_rYKTsESM-dWcWaBAr_You0DP2cjKPtByGr1b00m-UjDmrBUK3mjOvLQ3gfwwxqrU64DMf5-R7iPYdfPsggOPYO2Pzgy_OKIDm6eiRT38L9ekORYeqXitBK4xgOAMdsKcf6DoMUrTVZaCZ3owSfGLOexb8fmdxsZDkrO5Pzg==",
  "id": "rs_0654cc9cb92cd962016aac61431eb887d093dae327d3f24dd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.08,\"right_z\":0.08,\"right_pitch\":0,\"right_yaw\":-0.4},\"note\":\"The arm is still staying well above the requested height, so the tilted approach isn’t working. I’m backing toward the nearer end of the can and returning the jaws upright for a lower, reachable grasp.\"}",
  "call_id": "call_NlSAYadvprfW9doxdbuCiQhv",
  "id": "fc_0654cc9cb92cd962016aac614b6da887d0b3579948586b92c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NlSAYadvprfW9doxdbuCiQhv",
  "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, 0.8425, 0.6281, -0.5594, -0.0189, -0.0578, 0.9992, 0.4328, 1.6791, 0.7403, 0.197, 0.6357, 0.5632, 0.9953]\nstate[eef_state]: left_x=0.273 left_y=0.0018 left_z=0.1433 left_yaw=0.0136 left_pitch=-0.1995 left_roll=-0.0136 left_gripper=0.9992 right_x=0.404 right_y=0.0751 right_z=0.069 right_yaw=-0.396 right_pitch=0.0068 right_roll=0.0601 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.7709, 6.8581, 1.6972, -0.0611, -0.0562, -0.0122, 0.3214, -9.0188, 7.8564, 1.6874, 0.1734, 0.1148, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4697bc4e4f46b44b53933f82309dd4525bbec4bb51a47e602d585149f43fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21b9b4d0ff1319a20d162f7c39cd0b93f1e335b05987d5aa3a22d36c399da97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a85d8dbecd0ceed985037c033ec1e203c299a73788c9dc24fee0bcb3c2ac23f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.352 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, 0.8379, 0.6281, -0.54, -0.0193, -0.0574, 0.9992, 0.382, 2.2833, 0.8028, 1.5791, 0.7479, -0.001, 0.9947]\nstate[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1479 left_yaw=0.0135 left_pitch=-0.1754 left_roll=-0.0139 left_gripper=0.9992 right_x=0.4827 right_y=0.0683 right_z=0.0932 right_yaw=-0.4232 right_pitch=0.653 right_roll=0.0943 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.4154, 7.0496, 1.7265, -0.0806, -0.0659, -0.0122, 0.4718, -4.4786, 1.7436, 1.5702, 0.1197, 0.1343, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGFVt7kOtueOQFqAOLKo9bzR9a8A9fDjEumRTHz6uRJyRQUzdBOn4cI67GqE6g3C7dTUNO2_0rKo741bPyWilI4SF6yAPkkqTozQa-bF6MIF5Ue16Q1yGcTXL-4JrCRBhX3vOmKsnlRjvdZ4xvM219EgJsXfLCyxIFn2Dt8amD2p0w88P8h-4S7p6zFEf6wqEkaXu0WSYxUKeg5ugmkbfajStRpg4B3zd-8B5rZvAyaY1sTcyN1HdOB4BUpUlef6U43k9KCbHX5JOHuNj_-1kXM6jTORhAZ4-YljKVdK2q3hkQYKgPMex4lZOPT-BPj16Bcn9tjMNk5ebKCZxqXxXoT8KMPrb1QdgZD7S5NLFzJbpsmDC4YxAx-6JxeIe95uy9Bynk_fS1P2BcWsNsJTKaojfSF_qVUE_qFye2PiQsgtU1Kq3rIjVAjr4cGtqGsjKpQ5ahiApa8SUP5zCEoHDVEEZjXEvJwDs89AVNMsYplsONveeDdcpOB_prA73nTbRzcS1qeCEeeDnl9dArjEKIiq51eS19W-GgSft5HyRfOeXJrhMtxzXLXfR5p2ThUv6TWzwGtPDb-o6jBU0xR9McbAJmfMLWAU_F5TiLEaD6GwdPM1iguHV9qQQ6Oot_Z1kmMwPkk2ITcZwj9cSCdPvvd5DUofJhdtAPipQJ741gyl2xVGcKay8qvDbRB0GKTPK9sjUevU0KFoTh04ZYwfCXJ0-ai1o_sOrH8dsR0dNd44mHurSk99kgGjYtVtfeMp3_a2Fo7hId1RAaH3YlVHvs4RmMLixDvV_uIRkZdNPcObiJOh7-GFxlowgKoFJCy7SQc3vrbr4EzuwHzLd6z7qkRWPmz91sOm7j8tq9K97PXw-gtLdLWvD74BIna8GgYw-9p2K6fE76UpNjCdpFMV0ybYzJV8gKuYA7aQNWkA0DisZ-X06wMm0rH4pl0QULx3NH8SGgbNO3BB4DfBNNUX_VU1FoycL9U-VcWrNijL3HecPHlFcIhh2MGbv9KmUyrydaLUdoj7XzGKCt959wV2OOTGoTpoHLQP1MHlYTyTVYNvPLkuHBW6vSnokWx0QpewQy2v0CpmABpgkzLJWzRuk2h5xoYfA34fXKiuYmwBhleplL3Nt341LFFOxi0X0x9RfX5HQ5uvat6KBpuj92n798amlt4gg8N37VOocCSxrt2L4zBRwEjuT1m_1BNOz6MagVf9wGgipuqWXZX_LctHwZzBX54lV3T1BucRkq53Xeyi0kPAhAIJy0EeKmYk9BkLIUUguOSEaIwRaJ61xHhlWwnuvfivCkSR1K7gm5PCUdrv8CaY8E5yVwCbkj1b2UgDz6lvvIk1xWyZTA31RFe6tHv-6A==",
  "id": "rs_0654cc9cb92cd962016aac61515eac87d0aaea071f74bcdb61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.105,\"right_z\":0.015,\"right_pitch\":0,\"right_yaw\":-0.4},\"note\":\"From this lower-reach pose, the near end of the can sits just left of the jaw centerline. I’m shifting left slightly and lowering around that end rather than reaching over the far end.\"}",
  "call_id": "call_UCVsLtQCe3jJtuPLQwRxhLH7",
  "id": "fc_0654cc9cb92cd962016aac6153625087d0a820edca3a74119b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UCVsLtQCe3jJtuPLQwRxhLH7",
  "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, 0.8463, 0.6281, -0.5694, -0.0189, -0.0578, 0.9992, 0.4995, 1.9053, 0.7582, 0.2756, 0.6552, 0.6075, 0.9954]\nstate[eef_state]: left_x=0.2714 left_y=0.0017 left_z=0.1406 left_yaw=0.0133 left_pitch=-0.2132 left_roll=-0.0132 left_gripper=0.9992 right_x=0.3987 right_y=0.099 right_z=0.002 right_yaw=-0.3704 right_pitch=-0.0691 right_roll=-0.0104 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -1.6615, 6.8308, 1.6386, -0.0317, -0.022, -0.0122, -0.1573, -8.5949, 7.0906, 1.8974, 0.4762, 0.1099, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5141e2c1bd76dcd181667487c1bd1dc26912e2ac08ab2436ce73a50fc24e85f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5986c03e1b1f1ba214d8a62ab6c7be995e2b1ac60a00107e9fe5b1691abfe81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec3e9b0e384a48d829d653e0efc37a1f40ef06cc59849885985abd902fa798c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 12.02 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, 0.8425, 0.6281, -0.5594, -0.0189, -0.0578, 0.9992, 0.4328, 1.6791, 0.7403, 0.197, 0.6357, 0.5632, 0.9953]\nstate[eef_state]: left_x=0.273 left_y=0.0018 left_z=0.1433 left_yaw=0.0136 left_pitch=-0.1995 left_roll=-0.0136 left_gripper=0.9992 right_x=0.404 right_y=0.0751 right_z=0.069 right_yaw=-0.396 right_pitch=0.0068 right_roll=0.0601 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.7709, 6.8581, 1.6972, -0.0611, -0.0562, -0.0122, 0.3214, -9.0188, 7.8564, 1.6874, 0.1734, 0.1148, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGFatdXO_sM---uqJrA5odug8R1EBYPnNnve2NZJMMnF5Ubbi-Ofmm4si1YMRHFEJBX_prIn-8gvbpt2JNUCBR1tlO6pr-tesLJppdjxzwPZi6ffSheShpjIPewBGqmAklCoKMapIGMp4q4CKbUv5_SBM5QG-IX4mgmstPjohDwtA5qB8huTTp9Js3xg3PXzeDMOk6YPJbZ_0Gv3OPmAr6-RTQvIJp-WJnYXKTtMMNQS-gj80mxHFqyT-RohORam9Ozq0Ixu0kmPXBI5Aeb8q_W2Tu2CmjF962I_KgsJ-SNuPchgX-vcM6sQXy_IZh7e_pqe8Q566p0v3TYOBHS7LO7jYjYya3Ao2decENsbHOMrgE3FbIXASZukgvIiunpNwZ63eAXGl8HC5GwAv2LbKvV_86bf1QG5H4XmGDZOxTP5lCS99_SIh5mEyBAdGxy8iVZVxyh4cocwe4MJs2OLifD383ePVBZPYTfFik0rDwfiaXCxGgDJWaG0BhJqyNW4rQ4rp1pQvT0Pw3qhvbdyk53bdtFJ21d6GAT3Ra0pOilJh5_arxQHZyEMMOe7eINlcXqIxivANp2Op2pxAljeblo4HBQPkUqP52rbKGNn8Oe2ySGkgxp2BHD2A3spoOKxzCSgwgXyMsfcvLHa86vPv6VP_7AdlGae07ncyzsHjdvjOe615zwHFMO3Lat2lobJ6NHv6MClZEWGWlEnydWo47W218rG9aJMarxYQR5Ind851MdGMH4IitWy8qgTNXE3CaKsNAdmuzh3I-_EWGqjVUypW6Ql2BjQKfkrwKwgd5gmZ3GJNNAKh9AW5UE7N_BLYt2o795IolGzN-E91SE0bllMPNSlH9fU3gw0STUHygfNkAmv0KXUe92PI7Ddw6VKQUA3DEFG4KZkl7TosGaqzLQoUQmKofbM6A_hpjhoWHixTjH9zmiOAi6O8sGIYt-baNVVOBmdf00LyRgRU9Kx9Txeuux3Db_oNslHzMhwzMVfO1znDRsPQ2F61oLY9lSHCrjCg-3VxMOuXT_1cITTXo3EQxxag6uWe7PaJXO_ii9gcJAf_0zzfpWlYldcZ4jKuKQHjcRZW7hgAoSHsd_ngcBxCRJdiM6wTrflAg4xybq2sLlDqukbk45MJOKT15ApVfTyauWCAa-uCDiv4jiCjS7jixelEp4yx7FVtWWlfe5uYA_6vrd3MuBVf97yYLMKgs5mvyGvURtc0lwD14MNo_YbHAfiGTH3rBiK9vheGYtLZpnGzmLeT9k1jIQpjfDw8KOR",
  "id": "rs_0654cc9cb92cd962016aac6158147c87d0a6a4b94b97b00e96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers have reached table level around the can’s near end. I’m closing for a second grasp attempt.\"}",
  "call_id": "call_He1LMneoc2bTav1jE7kvo2dW",
  "id": "fc_0654cc9cb92cd962016aac6158db5487d09e188cd0bf84fd76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_He1LMneoc2bTav1jE7kvo2dW",
  "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, 0.8471, 0.6281, -0.5842, -0.0189, -0.0578, 0.9992, 0.5037, 1.9213, 0.7658, 0.3248, 0.6659, 0.6289, 0.0084]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1378 left_yaw=0.0138 left_pitch=-0.2288 left_roll=-0.0127 left_gripper=0.9992 right_x=0.406 right_y=0.1033 right_z=0.0058 right_yaw=-0.3837 right_pitch=-0.0371 right_roll=0.0332 right_gripper=0.0084\nstate[joint_eff]: [-0.0479, -1.265, 6.8444, 1.6337, -0.0806, -0.0317, -0.0171, -0.2393, -7.9795, 6.188, 1.7216, 0.4664, 0.0122, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4ecefc450ac198a7043c19fe5b0df8f8a127e7cd03acdc099791666926fa3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7e322aafdc78ce7417ef0e19f4a59f7696634f062f81cd8032e6dc2c09325a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e560b4f77246b52b64613229ceb731a983cd1b8a3c57d113a04d3683ce7282fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 6.574 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]: [-0.0193, 0.8463, 0.6281, -0.5694, -0.0189, -0.0578, 0.9992, 0.4995, 1.9053, 0.7582, 0.2756, 0.6552, 0.6075, 0.9954]\nstate[eef_state]: left_x=0.2714 left_y=0.0017 left_z=0.1406 left_yaw=0.0133 left_pitch=-0.2132 left_roll=-0.0132 left_gripper=0.9992 right_x=0.3987 right_y=0.099 right_z=0.002 right_yaw=-0.3704 right_pitch=-0.0691 right_roll=-0.0104 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -1.6615, 6.8308, 1.6386, -0.0317, -0.022, -0.0122, -0.1573, -8.5949, 7.0906, 1.8974, 0.4762, 0.1099, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGFnZ07VvCx5bD-aFgd5UCrVtuf8EO0TY2oZ2_cD7QA7oPg_8LqHIRZBk-ahXzBb35EpB9iPuc6jiJ-Mb7N2v3HbB4yco4kNx9WzPEcCtHyoDLY1O3l9qFgGfq14zvLAuhaI_qk5G563lWvgkG1jw3FzmvJyw0Le4UXWrHwATsXOn0MjO1D5j-iUkrWnzdTLujMQH9S2Jku-SCTUIyqFEYNTt1446sDTB6DE6i7V-GnVHcwczPwDnExMNOKJjf76MInD-eGR7xcMaQxWIFRECwj03QH-Ygd7iPvMPzILOht24LpWe8qdhuJtIy57ZNVI1xchjQrJkIusASWdIA20-bpezdWiDXWvB4B32mSSZQvTSyHHu-tCP9pqp_CfmFmizbPBo_5ZSHAgi80g24OfRiwETt0NRncxNycPm5Pz_OHgx6r9GtGSGVJx9NIWWtJl378rqMX-BCnbXGKajs2XARtGV2vz7V2I3XMvJeWImHVoYqpZC6GoF7Zf2SQ6reGzj-zmK1880jFQY1Y24bvLXMcGbYey0bqOZrW2dd3pp9olLY1Hpmc_79HNVHrvpPkGiGe7DZ6HgELi_qLUlmzCF73RCX1JCqPJ8d0fH0bLZwlJ8fK2s9JSRUcatC81Evw3TI08su3rwy-OS00SUZbnus03FRKGxtOrRePg2ihVkOf5sjpDSFTB5-CbyhX-P3PqLRfXMEcSlQ8nzM6wArUsdwNaljWIQvG2_P61I6wjzJo-5wabCkdf4ims8CsRYLsqjofjLw3a5ek398w-Xxekdb-UNw6Y1_cFkR3mCk6Qn9YiqH2Ik6ejHo6XawMl7jAXgWvGbViler3dmlmaXsT2lvbrbxOBfs59REWG2u8Dc3UmvLMQnlhP-mrgW4JcFMqrfPqGxk8wim95TfExYvQyXMDGV8GCGtRwTTt4Cjf29IzSZD1iXBwAdkZPbj1QX6OqF32ZmRTfVumADxTfT6fpcXWNa6WPHzHtZ31mgpNX2WNDRan1KDuRiu3mEyEzddvCHtv7s8zjACuFjq_CI2ulS02IlkMemck0gmN6Q4JRCYXUoHdrHG48xlhuEftTNgWSwaWtINVO4qxu8VC5teuDk8rStjRWrnb2yyJvsKkyRK335sfTpHkeQr9pDput3zS0nfzEpbBoS2Ctz-v26wVnba6qe1CZIUVcTQHQPMj5ZS39nGM5rzCoN13-F1lY7DaQC8iEh399_frs-YhRzc92RuC-lwTxnsL2mGK0K96gU7l6FR9e2L6N1ji_oUJJ1rLn-KQDvEurTDq46ejgQAJevJpKwM98UA1hxPMShFqAp0WbDCAOxBO61wSIeMaftmiF0uEGFIIwTENWNL_fn0Bu9GE5V2iwvwaWkmVeTiM57eyKGnKcQNfygLf8S7BGH92yVveDi4ctesTmKO50lW_zRvddvZlciX7cOwJU1n8Plfw0mMwCylT4ND3ZX6UxKvDstPELTPPFgIsrZCKy_FVGAmLwQgOmEYGUBhSkXxL1MeZIzo5Heof9_-l2sClLFwoiGmxBxAMaxzPpqcfvKSz7sYyHyh27YA0vH8FsmzW-sBp3qYvGTe-7jIfRkQuBrY3TFrWpEwai0FQRrfpVga-o2TBWh-xfeI_lZpFC-nmETt10m_KuMka4ZD4wrOqCDthXGV4EX3O8ummSELMw4ZdUuLxLnoPV2-ZKI0O0P_fvv9I_rTcSVvwjAsXM7Gc36CCYJFnId0UdaT_cWW7yYeTdkf-lGhui4cMIhDmSLe0eRf_xJ08-varHp-uMb8XkUBvukHTW6vYD4O87G_co8FCxAAxxcrESt9KCEPTXMHTneeNI-F1ZfMHEnYHGMkMdvrTt7Q1g6idQ6VOssY1cByp1z3akn4fCWyUORazpxg05VntjgY2fW8y8PnxkviSB9IYpwCxbcMQCerRnaINJzrPD9M8BTppNOY8JtrYJp_r3-j4q0TM-5vm--BdfAyqSN6DKfV6Ivy6H3r9e9-U6fbuevvkQZAnsfF1nTXl_4q0I8EHXIU4la6JZ7gJgFWHri62c8WsPXjRzLApV_GGj4jzGVXUGBQ==",
  "id": "rs_0654cc9cb92cd962016aac615d806887d08329215f4ab4fe77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.075,\"right_z\":0.065,\"right_gripper\":1,\"right_pitch\":0,\"right_yaw\":-0.7,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"That close was also empty; the overhead view now clearly shows the can ahead of the fingertips. I’m repositioning above its nearer rim using that view, with the jaws turned more squarely across the cylinder.\"}",
  "call_id": "call_scDHlESkD1dFCFFYk1bk20Ea",
  "id": "fc_0654cc9cb92cd962016aac6163b56887d09008f5ff38a78670",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_scDHlESkD1dFCFFYk1bk20Ea",
  "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]: [-0.0231, 0.8131, 0.6552, -0.5213, -0.0227, -0.0616, 0.9992, 0.4671, 1.9446, 1.1114, -0.1513, 0.8158, 0.8513, 0.9946]\nstate[eef_state]: left_x=0.2821 left_y=0.0011 left_z=0.1697 left_yaw=0.0142 left_pitch=-0.1049 left_roll=-0.0173 left_gripper=0.9992 right_x=0.4415 right_y=0.0826 right_z=0.0577 right_yaw=-0.6418 right_pitch=-0.0248 right_roll=0.0218 right_gripper=0.9946\nstate[joint_eff]: [-0.5402, -1.9897, 10.0034, 2.0684, -0.1148, 0.0317, -0.0122, -0.6906, -8.9504, 7.4462, 1.2283, 0.5006, 0.1685, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4466e69a3bd983d2fa5b853d1c65cfc1b59c8620a45583cf501d84b36d2ac001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e68af2db6ab8089262b8adbcaa9e14fae21cdf3a7e69ba0828e36454b7246a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c280e28554880d3a0906e384240350ac43c0e89f8a271ff20a4a3e89702fe5da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.289 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8471, 0.6281, -0.5842, -0.0189, -0.0578, 0.9992, 0.5037, 1.9213, 0.7658, 0.3248, 0.6659, 0.6289, 0.0084]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1378 left_yaw=0.0138 left_pitch=-0.2288 left_roll=-0.0127 left_gripper=0.9992 right_x=0.406 right_y=0.1033 right_z=0.0058 right_yaw=-0.3837 right_pitch=-0.0371 right_roll=0.0332 right_gripper=0.0084\nstate[joint_eff]: [-0.0479, -1.265, 6.8444, 1.6337, -0.0806, -0.0317, -0.0171, -0.2393, -7.9795, 6.188, 1.7216, 0.4664, 0.0122, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGFux5advSvr2ghiBMYsdzfrRdzKAGy8bcUUiWAFA7SISTdXNqZOSgqv3KjIa7cPoz5IL3_ggFacTRa9OAYGUzIQVermHrJkW-bMMn88uZn8a_FW6YANjSm60bvDnkwri4yHW_IIRobllFr7TavNhqU_cJNRwaS5RrKL0LbsrOdpgJmdP3v-nXSBywQ6dWYztlIeHF81VOSxJZYgaaaNon3Ugy1yIbmTeucoD3La1Lmk0o6i9UavGenE-PPoZSjuThu3S7ThYBazD6B2GSjEN0D1m2UKuAysPnlzEP2XdpbmLlEQKJtdlztQSTLW6kzOlH78uXC6OV6yluy2L5BolJuZHh6tE5mC-JVfvVjIr89UsUEjCvweSjTZIKB32JUhpvrxWJnAZwPM3r5if6K3Xs6J_J_YWYvLqqUY2r2Y7MMDzqKdxvNaDf4DgsBEfou_gkz45cGevydBKSA_D-Q9PDPUUuMBjxzrxXoDAUTH1na_Hkceifa_13U3C2vRFjzSIw-3-C4YSYU_QyigtcQySgPA4oIJ7ocwvFRnAXHambpnE2wa6W3iVnkImQtiwh1n14yokEr1BpPkkuW1BUOp1VFODda5OtNo_UV58isfyABMbB_qLpFU8LzFuxwpmygR9En0OWeDOQdPai8Huk73WvYsobZ8tb37AMDZSda5v3_stY3mqDAumVr7kbphbhoCIDx2vMRN8jbKkiViZODVZfvfqR0PWANYPvy-OJKpeZuBUc3bn4dTLkF4u_F7Pe_wrlduP6_qauwgFhgqA7CSqnk1N9KR6RmbeooJUvhIA2FjuknKEa3wnORYVXLQnh3ilZy879TkGHg8t4DQd_2c3TdQhwZkbkAG2HSuQ0FiF3mFIqTUXGACRhmiiqTSm2oypozdiys0Snk8KVvQwRvqzdfOuKWN4OVYmD6sSZ_gonDmWJdSWc7goc4FKBPYZ6Pjnp0ACFdGKgxiGl9L4JqSTaSsxrqjcxzMAnQjeOAR_NVUY4r7Cljcu51p0_3JBDiHLFj8P_tX55S0d9qAsmUqwKjOO5n1HlBLP30BZbJ5vXJFaJooora1eMRGyjDX9zYzPOypgfvqw3_Oad4h-Q_pSSb4NVV14GR20ThnjiE2pGg2yIDkH8ve7HKqaqOwO62iGzYXO_GZ-CcBAHUS5gt_s6viU6QXI7xOat4RQdMtKDRg_tf4RTkH6CaMeu_dpdr2Nim2Tgblj4e7kizmVvkzNnc5ZC_NNK36WywCLjspEbpj4h7A209vjICaIiUmN5hPVNojL650r2V5wYSKaL9_l0a_cmA0rIviAh3JakXg6lUltATpVd5cKG4m1iagqVOzAvGhFUReOCczXufeTMuyRZl65s57Pu9yRMP0nt2JTc7s-LI=",
  "id": "rs_0654cc9cb92cd962016aac616ace1887d0aaec45bcb4160595",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.06,\"right_z\":0.025,\"right_yaw\":-0.7,\"right_pitch\":0},\"note\":\"The can is diagonally ahead of the open jaws, and there is room to advance around its body. I’m moving forward and slightly right while lowering to the cylinder’s center height.\"}",
  "call_id": "call_FIlXdXeNvyXpwWcRiPpXRn3c",
  "id": "fc_0654cc9cb92cd962016aac616c9d7887d09b61ada75fc972e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FIlXdXeNvyXpwWcRiPpXRn3c",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8162, 0.6533, -0.5228, -0.0219, -0.0647, 0.9992, 0.4072, 2.0892, 1.1782, -0.102, 0.8139, 0.8322, 0.9953]\nstate[eef_state]: left_x=0.2818 left_y=0.0002 left_z=0.1678 left_yaw=0.0126 left_pitch=-0.1114 left_roll=-0.0199 left_gripper=0.9992 right_x=0.4623 right_y=0.0635 right_z=0.0223 right_yaw=-0.6909 right_pitch=-0.039 right_roll=-0.0186 right_gripper=0.9953\nstate[joint_eff]: [0.1026, -1.0598, 7.2684, 1.7949, -0.0366, -0.0073, -0.0122, -0.4308, -11.1248, 7.2821, 1.3504, 0.5055, -0.0611, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3bccd1a100d5d172ace49cb2bc7ab79b015769203bec1d9edfca209d1c8ff3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141272bc39d2c50410a8c888f4c2b615eb7084fbfad86f853690ca771d25fa7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d851d5af46045be856f4043621d2f963660358a393e4adbeb55fb17bd3d5df81",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 17.82 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0231, 0.8131, 0.6552, -0.5213, -0.0227, -0.0616, 0.9992, 0.4671, 1.9446, 1.1114, -0.1513, 0.8158, 0.8513, 0.9946]\nstate[eef_state]: left_x=0.2821 left_y=0.0011 left_z=0.1697 left_yaw=0.0142 left_pitch=-0.1049 left_roll=-0.0173 left_gripper=0.9992 right_x=0.4415 right_y=0.0826 right_z=0.0577 right_yaw=-0.6418 right_pitch=-0.0248 right_roll=0.0218 right_gripper=0.9946\nstate[joint_eff]: [-0.5402, -1.9897, 10.0034, 2.0684, -0.1148, 0.0317, -0.0122, -0.6906, -8.9504, 7.4462, 1.2283, 0.5006, 0.1685, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGFzNexnyLaychTxBPtaTekw-yVE-oW-Xb5AL1Tp8MKx-eebmkbVPXHOqdaO8HawkInKy9LuNMc1gkkY4SNCo640F3C-PBnNz2RDZ9z8eElX2rFSJi9DL_Kj9a-gsMk1DfvBMSgXuIpmseygAPu8gGY5-khKZa1nIb_9jc3yX8YvfxZ5wUTa54RWlYWimwCLeDZiP4NfVs_IAGr4P99APJnqg36tr4PVV2YlpnHE1T0v13XOBNmaUG9Uxlu7BevimrImSIK-wApjnxSfd7q6aV_7LuT_-pG_w90ocQy3i6bAjmrTA4gN8MIYG6HIl1MJlhedDSdhrUtmXmvieoikJMVBi_0feqJiDUixde5H94FuGLReVql08G-lW1xEyOPmczh2ed0QDoF5rnhzZDjk9yJ7wkGDufIkS6v230KZzvs42aNed5P55ifDf0UwxTmF4x20o2hI4A9AJ7XKyo00vtFpR3Jj6ytMNvStwNpnZeFaTeGUPHaHhLZ7vVOSUa8DYYglAn95A3vqD3APP3oBrxQd_EyftCyhrtxvqxBQfxio_Bqbc6zc8j5FuRRBu5XKdNTKfQsJlv4fBARPttkTfIJMKZ_kYySKQOGfoImcO2HA53rNU8xL0wnrpCFyeTckBuago86pIQGRO5J12WV6LypJPO93kABfMT9YDj-MjuxtL6mLOZ9lpHpGD7CqzeCBeFIZatmLERKmCQnJlrRbjd9XWeOZdlhyXztSb8mRZTHO6E6cvl5om0skvcy_LSrxi98E_q1PTB4-M0q_t3LrwPddNSeAsnUD4h-vuJ4zdj9ZFuA3ITm_nycUNTueMV39wliJxJQQa52LuB1_c3M3qyU2mj7Lnu9QZiwbWM1xjOnJodcRuVZB34uJWOrsSvDbLQt4MPEdtowRyWLHw6hg4SoyRosccqEY8wKK9NP3S-4k04Q8uJ3RwicUDONAp_ubmCrX8IcWIA8K_x32JJ7LIRThkVXx7nWm5DhZZzjOBD1YqstYDImpuXBPyQ0SKf7db7gx5Hrjt_qTSk-tREmpP2-vv4BCksE_lJB2Htrgz8G63-zwnZizGoH9nQGkn7qf3DBkVIZfgtj10iy0gLc8BXcJdR8kgiRJvwRsuIi24aceAv0U_Ye3n3CdhPrxYCGCAgHClLb64EKbjR0U5bhfIzOkbXkcKAn8J2soSZFHSFgSj3ClITfFsQGRg1mopz02REZKpGZh10ZaIhuhvnEZcd4G5s9recLfO_PeUDXcA14Ev-QO6C0UlEycBfYreKBlFW5_0jawZnbfejcCzFfZ8Vje4Q==",
  "id": "rs_0654cc9cb92cd962016aac6170abc887d0a596a13a9b872222",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are now down beside the can’s body rather than behind it. I’m closing and checking whether the jaws stop at the can’s diameter.\"}",
  "call_id": "call_j2nzX8yhKyKZnSJuIfoKsvYP",
  "id": "fc_0654cc9cb92cd962016aac6171fa2c87d0bae68627442dc548",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j2nzX8yhKyKZnSJuIfoKsvYP",
  "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]: [-0.0257, 0.8169, 0.6533, -0.5365, -0.0223, -0.0647, 0.9992, 0.3904, 2.1277, 1.1801, -0.0483, 0.8082, 0.8005, 0.0086]\nstate[eef_state]: left_x=0.2797 left_y=0.0003 left_z=0.1649 left_yaw=0.013 left_pitch=-0.1259 left_roll=-0.0191 left_gripper=0.9992 right_x=0.4687 right_y=0.0587 right_z=0.0111 right_yaw=-0.6866 right_pitch=-0.0356 right_roll=-0.0269 right_gripper=0.0086\nstate[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.7705, -0.0317, -0.022, -0.0122, -0.5949, -10.9197, 7.2821, 1.3846, 0.4615, 0.0659, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48b5c5a80de3fdd9c9773c21ff2d0a1221a83486a2b47fd142cd49730f3f3e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85984fa0ca8abf5c92cc3204b89d1df2a7ee605d5c0f921fdf201640cfe4af89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db75e9b8c596533621f31aeb9cf4263303550fd25543c021b39205364495052",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 7.439 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8162, 0.6533, -0.5228, -0.0219, -0.0647, 0.9992, 0.4072, 2.0892, 1.1782, -0.102, 0.8139, 0.8322, 0.9953]\nstate[eef_state]: left_x=0.2818 left_y=0.0002 left_z=0.1678 left_yaw=0.0126 left_pitch=-0.1114 left_roll=-0.0199 left_gripper=0.9992 right_x=0.4623 right_y=0.0635 right_z=0.0223 right_yaw=-0.6909 right_pitch=-0.039 right_roll=-0.0186 right_gripper=0.9953\nstate[joint_eff]: [0.1026, -1.0598, 7.2684, 1.7949, -0.0366, -0.0073, -0.0122, -0.4308, -11.1248, 7.2821, 1.3504, 0.5055, -0.0611, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGGGXN8SgL8R0ozxSvkrDM2wKxPCTXj6JiZ4LZfpahOckEOijNlQMox2pcYN9agAVudHOV8iTY6vVofbdfnMSNP3u9z_4pNgHoIMxd45DY46X-JTkA5x_D1rKQ4Iuj4fmrpgp11AKqw8blHsVCfLpDwkZmmQ5H7dmqT0uBq5JDShXu9JIV9dO0ecpSEpZBO5L2cR8K2yGawSlGMwL5Ocev3X9azZlCmQgSD9vJZ7fjp32n0CCRAYf0s70sXDYXOYhGLKIksQTHY6t49JpKZV8BwG22Lz5eKIr0i9AiEU--lNsfQV_PKqB7UtcJwYcjxWAR6YUDUzY8pKWYlfcBjXJRETEZiuLv7KMxZDUVJGNMG0F35atF_frMxdRMZFVbJbTSzT3vieQEkHFxwTyKifY8J4ZR_F-PTbNPnxcv-59k5Nwu5fxufz91WwPpM96buF3kgVM4iw6cmogjQrkU6HzEw-TxbtJANlK3dO_iyYH516hViVfoiI6S_NdS1whIivn4ZvNUNZNI4DakmtWxXR3IH-45LUL7QFQ1foXop7iDpSosuHayl5tsFNDvtbDkocmKTYFyiUqOdY4aTp-KEH8CP54ZX869Gcn_Jl5lUcv0akU858kQ8BOYMSmCo-fR4aysKdANxL8fy8b1j5yUxQ4XHtuSq8xBAXSbaQn7xM3_5B3TnN3lsrZPF-lzdMbPrrrIbirdD77h8qOL9pQm_C6ZnlP_5heBNdl0_BfwPNm_S9uXPPjN1HMGiVKLVPCwgdmaB1yTpnt9ufG4fpZplyUwixpoEoR5RwbVoENJ99AQS-AWmfn_Sm0pPTKOAekENG3kNL2uolOZGpQimyl0Ml7oB11AM8znfVJwIVyHiOzPEpdZxXH703wtVAJAv1ozc_psU1Xf_zqDQCRX6RzQQXCk4G9OB3TGonRLb59LYHeBbnM7W8efA6ZrpnzK8VgJwOyufiPO8oqnQHPQDt7ZMNF-MgY5FcYd2Y2Q2fi6-bgm8nLRYDPE0fV9mfQ8mKjV9Jk0mbjzVFRLvA2N-wjcpEKYq3O4KuptAR-GotdG8-CPDy3_Sh_SAwVrBgtYnreroqNk0Cgtxc-twafPvW6EmL5gXDtB9NwDRaN13vWv3R6ipARtVFRbSCR_AzPX0RhtdRGdCJlV1RvyeaBdhjgGncRk_bwgXVhYQtbNnwgrZFVszNpONwa7_OzYFYpePa_DMfapp44TgPGk6mpLDrR-aBrqamfQ6zyeYHrklM10MMQeX_iNOc6hokkppIm3CqgSeYFg2Ye4BYT9NL3wVDbEOU2sJ4u9vNswewgmdeHDvOUc3x4LwWWtzr65er2qxRNnGjvOp1A_Qf6F2NZKHmZokfFjXasQEtO8wDSNouoO8pxoWNDU8r-0j8Dsoz4Rs6Edw3_SyH1jcsSp_XYlKQRzvIat4qQr8MCo8pZSVF_jpLlqzH-zYQ0xXiTig7rKk1yVBJyVkzqZoDjoLsIrtcuWBqUIkb-ZlF3GAfa5aPmpAz6YipuKU8ctELp_25P3swsH6F8ixqoQcAiWZdF4arlSL0OfW23ByVOvymgVpXZ4TRPfCRAnWCz_uR56wzFTQaHgh3hgvucfop7hAke3kyCS69oL6LskUDj9L6Av-e4RQ22QTyaS-DlCoQRBgmSpAcADVjCgOdajgvYURX90RwNTKtN49eJB0DsdeO03dlMmRpGygE8736IyTJLzUj6o6H2-VuXkyRNUkmEgyf6pmvpKA1XqzAhkYUZ5aV_ItJDcZcRDMJbgKyCv_C2gMwhPJ_Kp0IaVNTfDdGMvCIXqdCgqMSvFqi6knMi5az9QF0Xkj5cut4sciIUG2e7moWywS6FN2m4GWyBQer36EZSRz7hRImmpISUj1_CiGkv89ET6XJ_8aJXi-EP1-3z9A8Wo_UmZ_Xk8XOexVNmkw96ooPXKQDBPohGFs96OpIffHBTQm35hT4MKxsDS23E8huhm7lAXkEMj03F-pt_lNxR0q9rpWAZhRkNdogEs6f-TIxp1j0zTEqhokNc1BQjx02S_3ayOYArZolzhYvlYjuEetACudL3pIrp3cgGdkTcnvq_7ikD-nzsC4NdLuMxG9bMa6XpmrlUdx6Gg-m0oUPsRm8xlOIP92xGzTXVX-kBkzPF-MMNZ0a9zSz0eJaIfPhX_f8xS7U8ldpbEsFzve0GB9Logq_eY9qZPM8s-NJ9FbSMaQ2nYxrSwhRSe1A6roCU9jGjWCu2iIUBl2uwiRt_w80YLK3-l6tKxhMPH4oY1CQoSaCh8DXCfTOnLc3JyrFaPexNrLdoBFFSz2OVXYJdTf9d8DsM8NX4l-EdD0tSmzd93k8P7Fx6zv6xNcbm1JhH4r67rlu5dfqkBnWavxl6EJYYXRIYN1zXbl0_qi2KR-BqgeGQvVzozLQJIGaGKu4eWws72mEcMHtlbnmwlJT386RRCJl1lzkUbTWVmE2YSklt7Va3xuYUVp6gztg2wCRtNsrfMVt_Upg-gAKtB3-86tjN3rWfD5rUvhXJxS7SIIAvxyKHT4-uX2QXoAOj2N79HhVd2-tCBJK45V0aZzS5noJTUrdF2fCPOJ37KAD8be5BQ0KSJEbA_kUxVAexobuPGaAN82zVI3aLPwj1tFk58ZuDKcKnHjEJ65n1At7O3ILa5__t63Tn_kTwcTv8Nk5IzwPOr3crxBKZXdZqSriPypE0zM_qQA-zSuJF8cwQoBqaDfzJH7VeDUNE3A72_C9vvvftit6Q1Yl9mGTOH6q2wogJlEB2WV9dj45A5KshsKh4S3paFneIXWqIeSgCST9s2cMZGabwyOyWKrzkHc6d7HQsl4tbMaZ9EFlWWoMawRmlxUWFhpjSuvpmBtzN-K0eQv971WXF5oIvx0rh3UTdHEgO-Hv4Zua1w==",
  "id": "rs_0654cc9cb92cd962016aac6175db5c87d0894f3030a806fa52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.015,\"right_z\":0.055,\"right_gripper\":1,\"right_yaw\":-1.1,\"right_pitch\":0.15},\"note\":\"The jaws missed and nudged the can sideways; it is now more nearly horizontal in the overhead view. I’m opening, matching that new angle, and shifting toward its exposed middle at a slightly higher grasp height.\"}",
  "call_id": "call_fk5EZyqSfm6XFFN6U9YJrdcO",
  "id": "fc_0654cc9cb92cd962016aac6182caec87d089e595f9a6b9798e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fk5EZyqSfm6XFFN6U9YJrdcO",
  "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]: [-0.0257, 0.8185, 0.6533, -0.556, -0.0219, -0.0647, 0.9992, 0.3607, 2.3169, 1.6283, -0.6006, 1.0683, 1.2018, 0.9946]\nstate[eef_state]: left_x=0.2766 left_y=0.0003 left_z=0.1609 left_yaw=0.0127 left_pitch=-0.1468 left_roll=-0.0185 left_gripper=0.9992 right_x=0.4927 right_y=0.0242 right_z=0.0476 right_yaw=-1.0381 right_pitch=0.1017 right_roll=-0.0383 right_gripper=0.9946\nstate[joint_eff]: [-0.335, -1.388, 7.241, 1.7607, -0.0464, -0.0171, -0.0122, -0.5812, -11.5624, 6.9812, 0.6471, 0.9011, 0.1392, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4f2a35083a512b430936701333d9c098567ec993d977e21ac871dd02be8736e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8088711552bb612a4751d8407ca9c6934fb1e2f57b5e35a20f64247c01c9b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8af9348d094cbbbac2b752e446d6cdd9e8533f3d81af0e4a4477ec68784465",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.092 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8169, 0.6533, -0.5365, -0.0223, -0.0647, 0.9992, 0.3904, 2.1277, 1.1801, -0.0483, 0.8082, 0.8005, 0.0086]\nstate[eef_state]: left_x=0.2797 left_y=0.0003 left_z=0.1649 left_yaw=0.013 left_pitch=-0.1259 left_roll=-0.0191 left_gripper=0.9992 right_x=0.4687 right_y=0.0587 right_z=0.0111 right_yaw=-0.6866 right_pitch=-0.0356 right_roll=-0.0269 right_gripper=0.0086\nstate[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.7705, -0.0317, -0.022, -0.0122, -0.5949, -10.9197, 7.2821, 1.3846, 0.4615, 0.0659, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGGO2EWXJZ4fyqSdwiVBpGVKx3NxbKN_ohqngOw3TUFxCRf0J09ASyeyHFU4v5XbZf6nwiKHm6IkAjaA5A-WpnXYmZ6Oz2fcQXmJ5oOmGyk8n28IwpDLYjVoioVggllg9z6z4oBk8nVXVe8gUhXl79FByR3uJF7r8mn5W0Ti11ZQA71qBQUg033tRcJjt78OEnwk01c-MZ3akx3Hw1svQ5uGGkBorgZkrrLXOEpDcvtyc-oBdGWy4yng8Ck57bpc66n_e21l3JhS1Owh9HeH1UMvx2btQiZ8Jw410SnzU3fTa5kdPB2dCpMlRnMGDGq0Zch1UB8bwcIkzeKecBvJ5LCAxQKsfHo9p7NZfc2-QlIzd4XqVr8ZxYPzGK7lLSusmxiXX0uLQB4cH2IWlAOJtfIV-K75oX-lGF0VkJaMy2WMgNkUYbcYo4AypdX95qHkZC0nLhG8MlZQriLYjHyboF6P0OxWfW6KB6nzL0bnU-NBmc8CGAbPPW0cZpUlS4ND0aFG2O0u0bps5C4s60cJuSZ_YI--LWcOPp60uRZrjM0_GAcuD58Ne7Bl1coKhqQAlzg24skWi-4EhQfv311oAo9QvkPqzF08K-4psE2uHuAnAko8nWfgUP45ENxuTWDLrOMQdnhp_OR_QmAPEKqvifKll8ZxhdhvfSn5l3ZjCiyYx4FBXG4Q9v-BHRg7H5tMnVpiokQKT6mHpoCGo90GAWgC2a-wvd4XUW2Cq6kNiO51biQHNc24tnZQqGEXrUJKQlLB1VIphttQfw-p6p8kxHjvg2n9jOs6q-2HjdAusczFUI-6qnYfIPyP40LiuryGMDF1m4gCn_E_MLccBCD4VM116qb4Q6LTZkYo4chSrZ3bfaMpfsOmd094Cr7MQSQ0Cd1pb7Be3JKJK0HHUoIWVnt5rPb33SySZcW6WUDKDFVW1ir3SKIBKDMBbSlEMQ2DJTaMzmcjQtQJSNKdfcInTbeDyi97-4AZuvwT4ZMH9MvAGtDeUMctdC5fSEetapDn5D5NT7Vd2iEKpOCQePIJ5-I7sM8jG-y2RENnHx9mHocoO2Rl_PFu5dJ8yNBnq9xc2jkrn56jG3agQOXp4CFM44HXZsCT3EuvCk2Z1UhTihOW4RcyAosRTztqB0uScEsleZ4H2PwOei_ZDITjxlclb4Mqul8UMnmL6cOswYL9-pjNlAXws6qq0KPF9G5N1KDilfDKaAnMijVPcp5IDEPuma-NmdvpO5dgjTdWSW719CmmzDB1N7W9YFxZuXA8MX2fn9ZawGro8lETt7rsSS4SzCMNkUGBrj4agkHwsjrph8raU-5THFgthGdxv0nh9qKAporRpm19Yb5ueRf4vV2wjC2XzTjnA-ugTGSDgaiCk-VmOINfNEGgc0jsKCUjC1GLxaX0IoFZNc6bOTZ1xEzcfQ6eiKZ3A5vHZJTPTFSJzJsx1vOkwjnnFTVsY4nTe-Oukd709FcjMitJ1vHc9mGMjUaiaow657HRumStpHxk3Tk0-0j-2QKYxNzE5IU2RMRtYgb7z6LgH2H1q_CYsb9md5G7ThmcL6ywGN8g4EXq9oCAWrjhzrWNw0le-_dfNgm6uVFOnuyD-rr3CDaKK75vOFtVJg==",
  "id": "rs_0654cc9cb92cd962016aac6188fdb887d0827e8bbfcd370cee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":-0.025,\"right_z\":0.035,\"right_yaw\":-1.4,\"right_pitch\":0.15},\"note\":\"The wrist view shows the can’s blue section close to the jaws, with its body extending to the right. I’m shifting along it and squaring the fingers across that section before closing.\"}",
  "call_id": "call_w9fg4oJxIBP2Xwt2CUidAD4w",
  "id": "fc_0654cc9cb92cd962016aac618c2df487d089c9f8916956c13d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w9fg4oJxIBP2Xwt2CUidAD4w",
  "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]: [-0.0257, 0.8223, 0.6533, -0.5694, -0.0223, -0.0647, 0.9992, 0.2928, 2.6316, 2.1609, -1.1885, 1.1019, 1.647, 0.9954]\nstate[eef_state]: left_x=0.2746 left_y=0.0005 left_z=0.1575 left_yaw=0.0132 left_pitch=-0.164 left_roll=-0.0176 left_gripper=0.9992 right_x=0.5064 right_y=-0.0082 right_z=0.0341 right_yaw=-1.3173 right_pitch=0.116 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.4564, 6.8718, 1.7509, -0.0317, -0.0562, -0.0122, -1.3333, -12.8615, 5.9966, -0.2076, 0.569, 0.2271, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14192eeb2aa15b0a5d8497b5fff8907f07f0b50b3f3dfff1a5db32ca5cfc38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b974589a7f6367e7cefb982857792833ea1f198f2f3c7796ab1bd4ab1d29f33c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6873a6482138e9038bd279725acfab22ea7ec03e1329760d4f318b29d8c554cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.303 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8185, 0.6533, -0.556, -0.0219, -0.0647, 0.9992, 0.3607, 2.3169, 1.6283, -0.6006, 1.0683, 1.2018, 0.9946]\nstate[eef_state]: left_x=0.2766 left_y=0.0003 left_z=0.1609 left_yaw=0.0127 left_pitch=-0.1468 left_roll=-0.0185 left_gripper=0.9992 right_x=0.4927 right_y=0.0242 right_z=0.0476 right_yaw=-1.0381 right_pitch=0.1017 right_roll=-0.0383 right_gripper=0.9946\nstate[joint_eff]: [-0.335, -1.388, 7.241, 1.7607, -0.0464, -0.0171, -0.0122, -0.5812, -11.5624, 6.9812, 0.6471, 0.9011, 0.1392, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGGSbbAk-UBqEnd2AksZa0b38YAZkF2bSub_LjFVg_HeanmmUDWUi_vyfF9O1BPAy96tXM3CXwvxbv3iMB-JWxNAIknoZnp2fkT16dgEFpMDkpNPYDBtRy5bAyi0K7UZ-xjxENqthagokIDNdMzqUFbicj6MBFoPIBetY0P40QIMYrrGDEwctDd4qe6AfOzS4bsEu0LzTqQqz5qnkRPzS0mZtOHJ7ioWaOGjLLIxBQagDIy3Y0Ks4LYCnjqTat_vloqXCbVqTr9UiVYWpx2iw37O07N-g25w53b88AzNtIjcZ907OzErBKGp6Wb2Wm5B5UlQvk_HpO2pPZI71mgyU-E71Cw1o4wxvbGwOZmVw8Ot89g3aQqNSeYZi1XKtezCaI2xPdrua3bAHA14Pd1wvGJ-dHtCyAGoT6Ft2h0qbZz8ulleDMY9WFE_41JDSSQA5_7Is9iaeR2UnwxC6RsRI8ddB0CUC-1MrUZbq8daH5D3ZO1AaUGIGt0vixVfFyd4aS36il4qMgWaW6yKb8zGlsJAEnyTlh9vc8ZphSE5oTkp3BLNoZQvkXmbnP1X9a3gKwZglCXNcR4Tzq_RZzDbDpwPzMkDcjOKHIYIlagIJ725LYAfpE5hx9v2rAvp2lOCv6NSexBX5gE-cWtJJ_RAdH3Fij4f2zc5fH2wbHUj8JWS1UQpQMAC8I7QGf9cnR_Wy6Fpq2JJSF3XdWHLdd5o4L6O6zWjf_9n3VpKsoylvPkusCMd4gtTLAHHRxJt9a84dQyCBsyQZ0RqVzBHhbu9Vi6mnoDJzC3_dGskyuwFGg2EQ27REkoN4qyIzwa5IFkZfFAEgE0KJKXKLT_mpLwMMBWQw-DTxABc2_ZUxx8DjC81Urp8Wv6a_STh5seTvgzFsSJStTybZeTIMP5WEo6KS4XoH3QQ-rNncGgTK6ed8b91VTNOQ9eVrSsBDtkkr_c_SgQ1zE27z5oQS5o0LxkeLz-XG_I7M9LdgEHw0M2JzMswWzqZ57or34xS-62kUQFwWiS9UwYJ5kVlyCkbDY4nlkq-VVQYZZupbAtmo8AEtHxP91nt_ldLf_1IW0gR5kqygvIXs7nYUrKlYnPvoCQ3HlcAj8dHg82Hx8lTX5WQms4sbWWLw5ctldL1PhY6WFnCawcMXrvh8BPCZiqJVbgLZryeqXehNC22MV9yTnGZ3ka_oKsFvM8okSrP0cLmLV1aCRT6Kh9li4g_E9lPuXYHnvuUgA6AcOrhmVqYO_GZcFu0WGOca3cx35j4YNMVvBxcwA-hSuo6wCeTiuDQcbMapu-ZqEiKrB9LRYShAjv6L6jkAzkY4yLZQDL394-Hxcd_mY7O",
  "id": "rs_0654cc9cb92cd962016aac6190cde887d09ef9237ebda9dd36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue body now extends directly into the jaw opening. I’m closing around it and checking for a nonzero retained width.\"}",
  "call_id": "call_iB2Kh6fLz3gxV3O9nR6qbVDs",
  "id": "fc_0654cc9cb92cd962016aac619198d087d08201253672793638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iB2Kh6fLz3gxV3O9nR6qbVDs",
  "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]: [-0.0257, 0.8246, 0.6533, -0.5846, -0.0223, -0.0647, 0.9992, 0.2932, 2.6572, 2.1651, -1.2125, 1.1069, 1.6485, 0.6964]\nstate[eef_state]: left_x=0.2721 left_y=0.0005 left_z=0.1541 left_yaw=0.0133 left_pitch=-0.1815 left_roll=-0.0169 left_gripper=0.9992 right_x=0.502 right_y=-0.0097 right_z=0.0245 right_yaw=-1.3118 right_pitch=0.1226 right_roll=-0.0582 right_gripper=0.6964\nstate[joint_eff]: [-0.1846, -1.2786, 6.8581, 1.7265, -0.0562, -0.0073, -0.0122, -0.2393, -16.335, 5.0667, 0.2955, 0.4322, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9cfac3397fd0fa6f7a23e237b7d9c808b0f890f46fedc963b27c1479ad655e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df46eb8f3946c51395d211a4ad8d6647dbb052e4ee123c6131c19d94c0aeffc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427f6bb7c1359e9e157e5369322e365f13b7cca27061bcfa8be5b9133f37dcca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 13.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8223, 0.6533, -0.5694, -0.0223, -0.0647, 0.9992, 0.2928, 2.6316, 2.1609, -1.1885, 1.1019, 1.647, 0.9954]\nstate[eef_state]: left_x=0.2746 left_y=0.0005 left_z=0.1575 left_yaw=0.0132 left_pitch=-0.164 left_roll=-0.0176 left_gripper=0.9992 right_x=0.5064 right_y=-0.0082 right_z=0.0341 right_yaw=-1.3173 right_pitch=0.116 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.4564, 6.8718, 1.7509, -0.0317, -0.0562, -0.0122, -1.3333, -12.8615, 5.9966, -0.2076, 0.569, 0.2271, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":-0.01,\"right_z\":0.105},\"note\":\"The jaws stopped at about 6.6 cm, consistent with holding the can. I’m lifting a few centimeters to confirm that it moves with the gripper.\"}",
  "call_id": "call_R1c4jkxFDMNb52vlkr3ZZuKS",
  "id": "fc_0654cc9cb92cd962016aac6195baf087d09d78ce9da74a7c7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R1c4jkxFDMNb52vlkr3ZZuKS",
  "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]: [-0.0257, 0.8246, 0.6533, -0.5861, -0.0223, -0.0647, 0.9992, 0.2955, 2.5858, 2.2009, -1.3697, 1.0767, 1.6497, 0.6962]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1539 left_yaw=0.0133 left_pitch=-0.183 left_roll=-0.0169 left_gripper=0.9992 right_x=0.4896 right_y=-0.0098 right_z=0.0639 right_yaw=-1.3094 right_pitch=0.0946 right_roll=-0.1085 right_gripper=0.6962\nstate[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0317, -0.0171, 0.2803, -17.7436, 7.8154, -0.1441, 0.823, 0.0952, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1badb860d6073c876ed6a7f5061286a583e88c4f5503dde4e43d55706f04c8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4188b5ca24ee0e2484bee2bdce1fbb84f0d245f3668017fcafb4b03906284c90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb4378539cd06ad2197fc3a8520d965d08f3012fa13a4ba8df60c7380bb4f6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.344 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8246, 0.6533, -0.5846, -0.0223, -0.0647, 0.9992, 0.2932, 2.6572, 2.1651, -1.2125, 1.1069, 1.6485, 0.6964]\nstate[eef_state]: left_x=0.2721 left_y=0.0005 left_z=0.1541 left_yaw=0.0133 left_pitch=-0.1815 left_roll=-0.0169 left_gripper=0.9992 right_x=0.502 right_y=-0.0097 right_z=0.0245 right_yaw=-1.3118 right_pitch=0.1226 right_roll=-0.0582 right_gripper=0.6964\nstate[joint_eff]: [-0.1846, -1.2786, 6.8581, 1.7265, -0.0562, -0.0073, -0.0122, -0.2393, -16.335, 5.0667, 0.2955, 0.4322, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGGlndK_3YxHVQFWhnDk2OszsIICL7udkx9GKErd4_XnjidzotG3cE7rnmFWvBTK4jCpjGYH3VfjCywfxrlHcoLdwrhfNCX00r7UhlAlJV8nNzdX5zJjBph-rdOCdA-swXq-eIEE3CXNiXhrSnVbU-dS2wwtjdKoiJ6LgZFBTDYz4M9AqOXEQTwUr8bHEnABG5WUek1kFpqtLJoWp1wST3qH04UdplDSwTCHXYynWbyYMjyWrZm0nLc7-DBTVVIpyFpSwUUkrN_Pl7TSAC8jfLdRb1GYqcpDsRj4qBWrGZttr62vkGNjtCQn9__yhKUo-t2Tm47CZEdjuAo0CfrBd4kulav17a0mAzJaTWrbzIWoc7IpQga11BDaINFqULmboxmwoFVcGc_Nwo5nzaf1g6MG2q8BFiKqps0dMQz0mwnB548OScC6v3wJzkGK4SpyFd2mwYQBvzGHavcnP7_8zURduHjWUT5W-eKLjDY2e_6sboVI2dNmMroV9CfduBDEfOphsn6RZnhgxUpHfFd4YYFBA15R8Ha7IOg64fb18hCQs8Tf1bp5rD-0S5l-kMgylEbP5kySW-BjTMeBfVCwE4fSVOqyLuatZ02ZDugU7tEHH3vp-KOKKjGsZxMWCj0FSTn6w41IX-04i88mSVqpcDyTtQOB3VpdeOBWiDy7R2nCc1DmPdSVq2-4epb7tZ7yIIhT40qWyABHz1b1Xd6I-iIvrP6WlYbDb8Nw9TJuIjolu5IQ6nsRilGMtsJEGBnqUN5ULJa2auKbtWG-dMeUSOb2wisD-L9-cVUxq4z7YNjsarhCw9P6ZO_OqQdEF2nfI8Nw_CQBhG062jrC5ngLCgA1edvFerZ4v3bMV7L2ypVAEthcuqW4TQ_hFV90-sC17YU8xYWw9nhP_OdcmhMFLMmRiF-whO0gDG56Xy0eXCfnUQpBCbbiMPOMtOGhC6wW56bb4Cd55k7iwOglYItLMMrVxM53HqrqxG9Ml-DMDgs-2oitWnUm05fLYSj8lWYQCysJ1sSyPebE6IOTQIsxgntQSkBd88GZIdMFvFTKSegydeFnfoR_og0sl-mg6WHDVJi8zhgyuh16AQLUDwzxkqoNs7Wl4TQkvg6wlzCf641uHLSNnyLy7WBTBmebX4Gp1k4JB1TrA-beQzV9g2LAfyfInPyDkRHUYwZnaQVcqfb0Jz7MAaOdybERXSaK8aDSu6jVs7hwvARByAWgL6QugU2c2VwRVhzvfcQX0Y03t22NciF4ig0b_2texV5XNGLWNUWyrdFKZUotH_EeZ4m9QwTXYKoo1FbaKpWIIq4ETf4B6RMcFaMSLjqtpBOCgxliE_s96cEpxKYcyc2HdwSLLT7BWwtkjnLmx820LvlqizIQ5nlLfuym-e3rf75MW-rHi3hGdTjd6NrkPefN1PTBntMm5y5UPALwHrC5fd-dxWIDgvGh0bmXqmw-YT0qM-y7hwRmV8_6SJtDhNFHuntjWgds4FahSehUox9MIkjRqZVlaWXNt_aYkKJHJvgLjS0GCb__kM8T3IsxnyBBlm5AKaHk2s9yVsdyDbmhASuTXwRtJ-lmDcrUkYWqD1vyYjTpl93NbAZs9VhPg1I4N__XjBsiSJ7bL59nmm7qNZASa_dnevZyUuNDN3pPhyiVqnMODbu9eFUSkaD22IxmnrOAGrImzNj-qcXzMTZmxU9xUHuaXvo-xehUuOaYNSYBag8dcWnXIgI2uwT6iXivyx-eAMHRsvclPJmXd_cD5Qkl6HGKLTXHbPAqt_SLYuJfSSN5RI8nVJlc-z_IjAe9lY2Ph_ZkpTKj_hfHLaCZ-z2ZvYrBsBQkAGMEYfsp2yqrSfvaL5BFjI_3AQGv8qzAgJVaFUZuRFrneEZ-aw3dsNz6Oik6ZyC747ixR6wCVBwFm-OEZlwRrd_FhlidhY_AjplN8T5DkIszMG6BadLpzsLdw1RVN_x7srAG9-uGg6HaGy8StyyFu6r1R6Rs3GqEbTa_0iKvm4Td8FLDfS3wpLxBrxr7gFsGrNTiXp_GjsHBkz91LfX7o3Ptx9zyzswOcY_z_aLCDpZQcdFZecX5YTzxVNHEj8Fm61fnY2PNFcDHiEUE8STWHz0OX7lk_8NhUUFkeiL8KA2WElA2i6Lm965ZSabD9tryrsfZ6cYQnwmF997faBGdaxR60TFuZVK3o59z75tl7lLJ5idC1KGL1gX3ZSGFkUSN_SpZOzDQFNqYYkRHYx1tulWBuc96KDht9f596dn5S3DOTTT7K5t9GiKUQFibLz1A3om5oIZb4q1ikBHgXauhVu8Mf0dHsMem0wYmxLcjFB0VhYr0WZf2RlXp4KwrFL6aKYjnBu2hG5RwEsvq6yr9_1E8ZY7cXjEPc_p7IuyUVtVquMy57PQQjyR9f_b3KLZe7WvLhgrvsz63aMXGFWdg0Yo6eY2Rb7OIBdVbd-fTUkpHLy-030fqwkPnzXt8JA8=",
  "id": "rs_0654cc9cb92cd962016aac619a456087d0a01d92b952910ed5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.06,\"right_z\":0.21,\"right_pitch\":0,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The can has lifted and the grip width remains steady. I’m raising it higher and drawing it away from the table edge before carrying it past the kettle toward the burner.\"}",
  "call_id": "call_DDNmx92veYfYsgV8entYC1Sj",
  "id": "fc_0654cc9cb92cd962016aac61a2fe7487d0a60af7ee69a562da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DDNmx92veYfYsgV8entYC1Sj",
  "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]: [-0.0257, 0.8131, 0.654, -0.5194, -0.0223, -0.0647, 0.9992, 0.3431, 2.5523, 2.2532, -1.5543, 1.0119, 1.713, 0.6962]\nstate[eef_state]: left_x=0.2822 left_y=0.0003 left_z=0.1695 left_yaw=0.0129 left_pitch=-0.1041 left_roll=-0.02 left_gripper=0.9992 right_x=0.4685 right_y=0.0122 right_z=0.0869 right_yaw=-1.3044 right_pitch=0.0414 right_roll=-0.1556 right_gripper=0.6962\nstate[joint_eff]: [-0.1573, -2.1538, 10.1675, 2.1074, -0.0659, 0.0122, -0.0122, -0.1436, -15.7744, 6.9675, -0.3541, 0.6764, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4777b7a924d3b53d8c2a1d5d929f6e2b08e5640ee15916affe2db4c3ecb71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd49599b6837d7fa17701e6c0ce199b344759aae8b68b2c00c75dc34ebdc0e18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4b6e34de2fd58668ae4fef5ac5400bfa38db8dbf387ea06fc44a694afeb478",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.649 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8246, 0.6533, -0.5861, -0.0223, -0.0647, 0.9992, 0.2955, 2.5858, 2.2009, -1.3697, 1.0767, 1.6497, 0.6962]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1539 left_yaw=0.0133 left_pitch=-0.183 left_roll=-0.0169 left_gripper=0.9992 right_x=0.4896 right_y=-0.0098 right_z=0.0639 right_yaw=-1.3094 right_pitch=0.0946 right_roll=-0.1085 right_gripper=0.6962\nstate[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0317, -0.0171, 0.2803, -17.7436, 7.8154, -0.1441, 0.823, 0.0952, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGGrPyh6Ns7qmWriesteyPsPFiDuxg2Ij7gX_gN00k-4sCHmxazVHzV5u3FV4DdsnRLTu_j0gjMlSloajN-itqLxyhEeUhMHiQ0RGjETcbLgzZU35qNjJqDA6cbFnWKKsbVAPYi2DDmlRXzAXN2iUudQoBUsdL-wEkbuI3GE74R8lM_8vMQlYNnfa_-7QGUSsdFHZ8sfVkPlpOTQ1ZondGi5VOgvpsImkqgM9a-bXwiT797CUbG-BNQ_gAmHQ-WyLltW-itPI3QuEeAJu4V8eB7BxamQLOkZ79nv6NqhMmyBLrC8Y1YgS0hf-TOq2r8a_LtU20qzRu5y7MDIDYd1SZ4iRQmAZC_Jqjfj26l9OnfNiTNmI9aWUYXiJtaH0sfZmiNbJm3L99uuWd5r3mL2jkrszkoWfWAjnkmfmXhUDPoCalQ9fKNXk9LM5DuG5RQDmAWuOKKmKv13mYVgiFJEQTTpp9vdFMrpDqVRbLHsub4NFHu7FZqmnZp83bOXNHMdzGzuTKV9v7TSdI2Kog7SVyrQNTspxoGaW_3vxjw6ylsBgp0bPfByXTVO4bn5lByfJSRUeMLf9ZWx7IofPJqa6BluJ_GR8akZNfzXVhO_dMEXYYSDgMA_ZK5f3jePPrLWwICEdt5-44kahed0rkOMfOD7FTOFdSnN4YUoT7EJ_iqtk7i7DI-DkhZYtk9_uzWOXWib7QVuywlFqkxTySP38eixae1CCjAdHjOAExCkBLpbnO40IIBJ2bEWtvqWPwyrbARmIfltnVf145JU3F3B-92uYfjp2LXanFPOdjIkgFc7Phgc5nawLs_ikz5J4Exen1evnxGuG-5E0NAmnG3Xjy2SnKvyOB7TCL-a_qYW9OCc5_Z3T7A4PkeZsQFoMozWuxnteTg6ywRhtvGf_VczgtjTmvNQmY_rBd7PhBmAys_7CebpZN9YAUWXzCpL4mPSIJqvRplGsEMRAEvYGek-u15TDXpCC91-r6XAldwF5WopCp9MZKSEJI9MXGHNCMx55VCzht1MHMJ3jCq4AnMX78irfjuveDIP0mXykUUfjasRlck5Ci5YZYPkDF2QfTL8ROjre8XCfjTIs0lbXT6SdcgY4qXfM8fyrBOUi7zdmWWUTWI9q35ogW1F1pe5k-WEU5RhH50rfv-_QSrCzFV1ScYRqaWHKJvDSby9WlpdRtAqyGbm3UaZQ4SBzATGgiY2dr4yfLeOLz67za6KuNDoJIBXfsfyaYzp0OpD-yQaDqsTuoLFtEwUgyO8-Yi1yhySt2maRmvov--NDFtZ7wsakiy_aUU6Z2A6w3ztiZL8C78iaVilODINA-yWniJYCuk8kJir",
  "id": "rs_0654cc9cb92cd962016aac61a81dc087d0877ddc855f18135e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.035,\"right_z\":0.18,\"right_yaw\":-0.6,\"right_pitch\":0.2},\"note\":\"The loaded arm is not following the lift at this strongly turned wrist angle. I’m partially straightening the wrist while lifting, to move out of the awkward configuration without releasing the can.\"}",
  "call_id": "call_8ZnNNqTGun1cdo4wAi3CFN5R",
  "id": "fc_0654cc9cb92cd962016aac61a95a6087d0a7069b5564e26048",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8ZnNNqTGun1cdo4wAi3CFN5R",
  "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]: [-0.0257, 0.8177, 0.6521, -0.5354, -0.0223, -0.065, 0.9992, 0.424, 2.0541, 1.7149, -1.1721, 0.968, 1.3361, 0.7004]\nstate[eef_state]: left_x=0.2797 left_y=0.0003 left_z=0.1645 left_yaw=0.0132 left_pitch=-0.1266 left_roll=-0.0194 left_gripper=0.9992 right_x=0.4263 right_y=0.0367 right_z=0.1511 right_yaw=-1.0238 right_pitch=-0.0237 right_roll=-0.1283 right_gripper=0.7004\nstate[joint_eff]: [-0.2256, -1.4291, 7.3641, 1.8144, -0.0708, -0.0464, -0.0122, -1.9077, -12.2598, 8.1026, 1.2186, 0.8425, -0.2076, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588cabbd1ddd3411d183c77927bbf5e979853e19d22d605127a2c3d918d5e46f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bb1e5859fc241bd080967449d57071602433146175f795eaf14f291ba320b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33be26cd5cff53d09a85f7b927686bdc5159d64b49707f590d5784000fe9c806",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.529 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8131, 0.654, -0.5194, -0.0223, -0.0647, 0.9992, 0.3431, 2.5523, 2.2532, -1.5543, 1.0119, 1.713, 0.6962]\nstate[eef_state]: left_x=0.2822 left_y=0.0003 left_z=0.1695 left_yaw=0.0129 left_pitch=-0.1041 left_roll=-0.02 left_gripper=0.9992 right_x=0.4685 right_y=0.0122 right_z=0.0869 right_yaw=-1.3044 right_pitch=0.0414 right_roll=-0.1556 right_gripper=0.6962\nstate[joint_eff]: [-0.1573, -2.1538, 10.1675, 2.1074, -0.0659, 0.0122, -0.0122, -0.1436, -15.7744, 6.9675, -0.3541, 0.6764, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGGwSbECL19G2XYn79ZJ__QM231-wL6RfHe9jlEUl-lZ2gaxS7iX54OXEcRoG_a0_POVQyZq0kxeAXWyLvq3BL3IbqLd727dvi166fKi9ucxRdo-nWgdVEH5osdarPIhehBzUBP4rD1TIbeqERoXQv72CPdgVI4LXKvB2hyqVFsfIRGcQZaBYIdTXsxN8PRmRIj5D17nTHeJgtEQ7eNgpAsClXOG2PY3nBUcg4ZGHHXrFdp7iz57dbCRlpHWttW_4zBnc4SgVcDz7H3zhIj9bIQVXGSDWhfdOjt_XHsU-9exQ-GqlN38jT7EilD5SjEqeKPZ5ouhoJ4Vf4zGHlZzPJw1fEZd2DOVZlqzxTqFMTsSuHN6Vwpswc1jjUyrYvP0byUjXQ18vvh7BIYn_5c_29Wd4JUCwV-nIle9hm4vkmxKgybagPFILSctDfFFdsx0dEL3j9unEzMbQEP-p47H_-oiIAnykuS1CClNbxlv7KYIvKuekIPI7eQVd5KOVt5UcYpVgvREFKjKCaC2-uKcbBcYUsijss11lCjKGMIC47RpLIchnCVXaUPCNuOjQC02U78XsbO8E9BKtABWUK_Gacc06BNW7wEuCdGYs3Z902q8WsBOC2lwwkZuV0iCyLHxVg9C80dIN13Pau9IyThphmtRjZ3DzL70OSsSZ3EmwGlxlcHPnOxU_nBTJX8StwRj2RrPSWf0tAYnaJQSE_8kdJC-wCsoyrSpfxhUYqWNZYzdPHXbD6ehuN_OGuJlNEmEoKHwnH3pJX3S35B1Ze2s-DpgJdN2Ll-JQ3Ua3Vd_k0vwdqvQvR6j7VquAEqEvSmTapg9DRIsf0Dp8KL2TALgCcs4URUrcla8bkDEnAAD0zpEtNWkMTfH2-gYPBsk_TKMDji2DeSck8ZPncyuquLhTsk1ccVvsnzGwITVamL-f-8cM4BBvb_1wFn-EkdWlbPPQnSaVCby8dR7PGMUuSFnvgwp7HWbwrmxlvZEuCVv1Zm3Pv8JnNdcy3XhySScrt3W44mbblyAAvu4kZGYjUJckKuoEZkgGqLYkHU-dPL38fQ4yewRz_Q_OSDbtzXIEE_j2fwJ4jcE2VS6NknOGbQF0eZa_1zd2dfCnDLh8DNObqXOwjeo3WuCsVvkG8tEZYYMCyu4bPECAWnKu6UUSp89OEL44pvt7YaRqIUS0TtgsCTv_N9KUB0lRKSQQm85_QyCoPXMQ8ZrwunwClxMzMc50p4sEwNRzRS2rJ49SousjP9bQYg8fzKLtF10XhRi3O8z3fcIg4vnZ9W4_hI-sJz3iLi11Q==",
  "id": "rs_0654cc9cb92cd962016aac61ae454087d08ef0176628edf4d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.2,\"right_z\":0.24,\"right_yaw\":0,\"right_pitch\":0.1},\"note\":\"The can is now visibly off the table. I’m carrying it inward at a higher clearance, turning the wrist gradually as I approach the burner side.\"}",
  "call_id": "call_ADiU5XjFrORQ8syeN5ShVzeF",
  "id": "fc_0654cc9cb92cd962016aac61af0f6487d0a855245e7df63f0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ADiU5XjFrORQ8syeN5ShVzeF",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8211, 0.6514, -0.5541, -0.0223, -0.0685, 0.9992, 0.7246, 1.7088, 1.2049, -0.7189, 0.8658, 0.9844, 0.7013]\nstate[eef_state]: left_x=0.2768 left_y=0.0005 left_z=0.1597 left_yaw=0.0156 left_pitch=-0.1495 left_roll=-0.0211 left_gripper=0.9992 right_x=0.3584 right_y=0.1424 right_z=0.1344 right_yaw=-0.4928 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.7013\nstate[joint_eff]: [-0.1846, -1.5795, 6.9538, 1.7998, -0.0464, -0.022, -0.0171, -3.0564, -11.7812, 9.1282, 1.7802, 1.0232, -0.1587, 0.6862]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941b767ed9afcd5881823764a9b35173b76d457b751db68e57c0d84bcaf07c14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f727fd25e79c9fceb009757cf6d5928641160f4ec80a98fee0ed29f6593aad15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade54ffe5877f380c59c2abbc7cdc8534ea3556fa221fca271e1f1c548a39810",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 12.05 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8177, 0.6521, -0.5354, -0.0223, -0.065, 0.9992, 0.424, 2.0541, 1.7149, -1.1721, 0.968, 1.3361, 0.7004]\nstate[eef_state]: left_x=0.2797 left_y=0.0003 left_z=0.1645 left_yaw=0.0132 left_pitch=-0.1266 left_roll=-0.0194 left_gripper=0.9992 right_x=0.4263 right_y=0.0367 right_z=0.1511 right_yaw=-1.0238 right_pitch=-0.0237 right_roll=-0.1283 right_gripper=0.7004\nstate[joint_eff]: [-0.2256, -1.4291, 7.3641, 1.8144, -0.0708, -0.0464, -0.0122, -1.9077, -12.2598, 8.1026, 1.2186, 0.8425, -0.2076, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGG2wJ5Em3kid-l49FPCEUlmJ0gdSgY2k5M_qKqbQS6mdEThifKV1pOfw7pXhvoLTKochfv38l_7sUV6BCIVAyjKXNHjGB_2oD84glgxeehRBGW0mxppg2h7vQ8WVWybqXKbGtQkgWDRMv0tlRuoOxaHVVWbeX0l3Mw2vmvHet_KZ_k_YeQrxZjjst61iqpR_SnMEjBkUVHabcxMW6KxXagD-7orkPvuW3Eu4flF8QmgP8Ho8WDsNp6huggCB6uylm2H56-cHkmXd3vgbc3A_skoYdOZWJXNvkSfVmqYJjF8RCutVkhh_ftJjdkzGVDLg8R0ORbSWXFUjChxO03ri289ofkWY7KsuhnivtT2jO0Ic7BlxvngNhVPNvTwDaaaOgFbtHKZImuWlpiTg3lClIMWhF3iE_2phew_2_tONXn1-Rcf8KVAV_O5Anaqz3j4a_5aY3whR8o-aXwJuKRrOLFogjav0XMTAPP3dVAYHAcDiRqorKRvS3elmidq1NBxg_fAgiOxkKJNZ-D5DYSdfbxOLAGaxRvfLBMmPUi71ScBaf3JwDfRSlMAGBixmox79lPuY4DHuD52OX4gjqbrvTou4TQf0h2f2QsVMcqts2NuMtuxmVSE0LxUr4uuI9du8p79xUHY2my4GIhpSqZ_nZyMpgohmXbblt_B5T0gJM25q9D7SKL73-p01DHhQ4Tc9mg0X0V3KCoOLuSQP5rNeSfgaiDW7kt15qVywomWk0JviN8WSvZZeIfidIlqJzQWXfEP_gjY6W7GQlGdglKTygEcg5fJBXX_wQtKa4t3nFAD3MlW6A5BJh__TKoE3Hni-uF7hxJDIw8cF5lTnUPWGPURPwRhNp8l6I6WHJAqYv8gN9v4rYrZ_sAPbQKHShN-DZtPuR6lwIFrZa2CZiVlzXloNUvu0Pf1Z2lg76gfF-6KTChsrLI3Jy1_tAmrgTUWnfzV4PBPAYokXVk09lMcgKr4mFFV6IlB9xsqmddJgbcZB1umNfTeR1Bv93gSU7TSd2fdzyWXyhprCb49h6oyekrv6FrOjLm-9SHNTpa23oz2IfwVpDf_ETX0X6OARwxTxt-WaeRpPEHTVtzs81Eg8MLCCmPfyX8LiHXrzWsI0-5tfzVOZXvZPx1tb1I-eiPnW7GNWMg7VQ_pr8d4tAmnd7u7U3CoV5ooqJXSgo_ejlR-t15eIXRJ4ssPhaij6NZvcUhsL0c-2efnQdyFOEd9cFJWeOi9WEURUgaPzr4VEw3bqHg=",
  "id": "rs_0654cc9cb92cd962016aac61b485a487d08817f3d787a821cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.3,\"right_z\":0.23,\"right_yaw\":0.5,\"right_pitch\":0.1},\"note\":\"The can remains secure, and the kettle is behind the transport path. I’m continuing toward the burner in a modest step while rotating the can toward the left.\"}",
  "call_id": "call_OC5SyiJFFY0QUxU34ppBV1sW",
  "id": "fc_0654cc9cb92cd962016aac61b4fd4c87d08161b48107ab7d11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OC5SyiJFFY0QUxU34ppBV1sW",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8227, 0.6514, -0.5629, -0.0223, -0.0685, 0.9992, 0.8825, 1.478, 1.0725, -0.2474, 0.4484, 0.1471, 0.7045]\nstate[eef_state]: left_x=0.2754 left_y=0.0004 left_z=0.1577 left_yaw=0.0152 left_pitch=-0.1598 left_roll=-0.0206 left_gripper=0.9992 right_x=0.3273 right_y=0.2831 right_z=0.1942 right_yaw=0.4258 right_pitch=-0.0022 right_roll=-0.1391 right_gripper=0.7045\nstate[joint_eff]: [-0.0342, -1.388, 6.8855, 1.7167, -0.0806, -0.0024, -0.0122, -0.1709, -8.9231, 9.1966, 2.1563, 0.2173, -0.0562, 0.5983]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00fc2fffa4eb97e6a3056418bcaf85c8986b6b0548f87d70a60b19485d57602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:064844c2175f8096b44c4a3d9dcba6fe71f498f363d4ff5367d4bba947f7c933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3fb1a0966e23b48b5cd385ab394359c5c4b8595b9819a38e8d21a698ca665e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.297 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8211, 0.6514, -0.5541, -0.0223, -0.0685, 0.9992, 0.7246, 1.7088, 1.2049, -0.7189, 0.8658, 0.9844, 0.7013]\nstate[eef_state]: left_x=0.2768 left_y=0.0005 left_z=0.1597 left_yaw=0.0156 left_pitch=-0.1495 left_roll=-0.0211 left_gripper=0.9992 right_x=0.3584 right_y=0.1424 right_z=0.1344 right_yaw=-0.4928 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.7013\nstate[joint_eff]: [-0.1846, -1.5795, 6.9538, 1.7998, -0.0464, -0.022, -0.0171, -3.0564, -11.7812, 9.1282, 1.7802, 1.0232, -0.1587, 0.6862]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGHEduv__ie-FTJ7YWCWBRuyAqkh3VxGfZLMNwS--fg2nWCp-AyRc6VvIA2uourWQhOTVb5fIJyTJmb_sNh53sGxE01uuHLwTotG3Xw1OXaUF4BTaHPjb0tSnfudyLs9ijnmue0BNB8HX9wLS-41dbAQbjpRMuSUmqLLyqcV_HEgYxJTL3ogYLwD08OqprAh7Iaf0ZqegNEuJYoOb1JUstojDyD5Y6OIeZnyBmoxFxz_m4gk4cKI5484viL1U7OM1_-OCgHH08gCqUoXRS_fwCsMgKhASNurlw2ItiweN1wrLynSXgi3xnOVKWQ9fSiQckZDtJdOy17aBt1MDpUAnkN0zgeMY3pQp-0JOrz5Z7rxtSX-DPNO83TN7VF7IBOD0W2Yy6-9UGyooGkLHtwlSOdLgOlr66oOBSa3c2g3NtH7_SJsVOAnabJE1FrQbLkuKeYAfQPD6TVKFYDVApZNs1pjBkp7KaGwGgTsf7nu6bSGoCL31LPUWB_CwpdQBplMZcMpF1vRt_dsaW7ycOEQgr0pvzNYDIHLJwUDfVDhuM_iT-UK6KeCtZMm3StSVcwJN_7sSoGzThd54QvIFZFGhUZZUb05zgsRK8PjvLjGzsc3KQ06EqS5DBnxN55voZRytWWg2Badwxe8GH7euGetzaTGa1Ckd6003ZlzPc38M0bdFDprWt6f3zYD8Ilxkhh29Ztx5y41RzmuKirOQe2Rko5YFSp6ebqF4_aUsMeDLD7PpG0PjetESqUQRtp27eVjaWZofvhggaq155Bx0BtID0GVMa2yYcK4FVIf7HwrzuxJk7SO-qUb6pV5qqAyf21Yuj9j7JAfNt5Emvz5iU1WrM1NOoUrq-IfohiSEI9u6EfIKB1ff50JY0dIOI09Irr2HD7dEyaQKc54HLDdCUWY7BG_UJM5pShP2Lqnh5o1y_fVp9qV1s-SD7lhGRvYrY_pmQLGChtXZb_HjvkMAdvaxFlEsESQ5qrNE7myuyVoOsLeLdbKu7InrqeIBHy7qZrPY6DSwFG3IfFbsiK8scYxSvPkm6VZTii7sR4nn5ePMMoHf1AxKGw9KrX3QbgS7y8rIcs3lMYRoVlaWCSrkQ3zbdrHxyh-gO5ItPQfiPoim_V2lxa1qDKl0YxbN-VJ9NHmoq98d6r2gnngWPI0IUpLCAbexpVDiucsFx-0WgQ4WRv-9PWlnpKxHsPmu-6LEhE1vy5a-1t8fwX0pp-0hrl4EbLw6tPlNhG_dHQePFAFbmmu3BFHwx8futTaKf30Rjlf_IPIUXKbY-r02rkmtQnbN_hHHjEMuhh9nVLCkKO9Sif11RIRrnJt6tPRzjdxC2uEXa9ha_IrSkYj52NZpjcd4Thlc-T8IF0p1FpVNkKPehmKMSyqnxylei4nX3Or0NXdf1yR_c0OU_UdCeU2GdHcEycPul-ESOETVn83x1fueU0WTP3ZkzyNswvJAas1paLqzCcdrsYYf3mOFLj0ScLNkVSeuLorvZ3nNlMjlygbSGipsIroY6M_TMAQjU-qXvaJjnBm8BRjwrIirkKfr9WLBsVHJsXdTMxUBSq1Nmq5Sj5g2frQU7ZvVp7aSr91TY5iCD64ql50IkxzYh_CPkpp-5gKjMo3e-ROtuVDKv3Ql2itXIEjSNYM-2tom01y2Gn9w0Wd29RrID5bT8UEfooYo7hawFq2wkeIe9xSGxr-0Taju2GHFkofxqcX3LFNJq6MuknSn2sXGvs3KesVrzYV4IraAEwqiOjTmXUlhHUmYlk3KP9senwrvddKuelxS2onuHOD9JU7y0W1wOp1CMTRlaUwL1Dc1Ot1dK1oS6Z0bSc0vw7K7G6vPAjGQhapfIvtQnk6kg9gUXYYJh0Lpj-0Un_L0l_0ulYstcqaHYj7WXm89FvVYBX2SKwBN1q_GuKtWr0BquAQh6zN0bBfWOvUwIz-jwOxnBwzL19y9JoJehb5PxdKyo7IyzgN-rKBsdNpx2Su7pLAC41G9x13CemvVxErnRILDgNl1wcyZ5VQ8qxBj7c=",
  "id": "rs_0654cc9cb92cd962016aac61bbef4487d08cd2d8216adae2a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.39,\"right_z\":0.19,\"right_yaw\":1,\"right_pitch\":0.1},\"note\":\"The burner is just left of the carried can. I’m moving the grip toward the centerline and turning the can so its body reaches across the burner rather than toward the kettle.\"}",
  "call_id": "call_59cOize5PyXMCaU9eGLBdnHG",
  "id": "fc_0654cc9cb92cd962016aac61c1e49487d08b1dbc0a857e11c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_59cOize5PyXMCaU9eGLBdnHG",
  "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]: [-0.0257, 0.8253, 0.6514, -0.5827, -0.0223, -0.0685, 0.9992, 0.7151, 1.8477, 1.3327, -0.0666, -0.1005, -0.2192, 0.7066]\nstate[eef_state]: left_x=0.2722 left_y=0.0005 left_z=0.1535 left_yaw=0.0154 left_pitch=-0.1823 left_roll=-0.0197 left_gripper=0.9992 right_x=0.3941 right_y=0.3705 right_z=0.1626 right_yaw=0.9122 right_pitch=0.0002 right_roll=-0.1226 right_gripper=0.7066\nstate[joint_eff]: [-0.212, -1.1692, 7.0359, 1.7705, -0.0415, -0.0415, -0.0171, -0.3077, -10.0855, 9.4154, 2.2344, -0.0952, 0.0513, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae6e8ffe3eaa5c651aa75408a60c22bb3a29da998b030f3f3b6e0139bd9d965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40ea372ac32dd13183c9db67a659c325662aeba1dafce3e3eaf41d89231f232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764d019e1a0fdd6d8231b72f63a8993c3de583f34d9d47a942e518afb6b5987c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 11.27 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8227, 0.6514, -0.5629, -0.0223, -0.0685, 0.9992, 0.8825, 1.478, 1.0725, -0.2474, 0.4484, 0.1471, 0.7045]\nstate[eef_state]: left_x=0.2754 left_y=0.0004 left_z=0.1577 left_yaw=0.0152 left_pitch=-0.1598 left_roll=-0.0206 left_gripper=0.9992 right_x=0.3273 right_y=0.2831 right_z=0.1942 right_yaw=0.4258 right_pitch=-0.0022 right_roll=-0.1391 right_gripper=0.7045\nstate[joint_eff]: [-0.0342, -1.388, 6.8855, 1.7167, -0.0806, -0.0024, -0.0122, -0.1709, -8.9231, 9.1966, 2.1563, 0.2173, -0.0562, 0.5983]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGHJs4zPv1lr1JnU5G6xbw_YbWBQF4IjxhzgwDpXH79eEk8LHSWrwRUR2qrz3iPKrdpyrbpnCmFLaL8JAiGHuyBsO4cka6BlQffSNI2TY51Jv_kxOCbwY9EQFQ62fDZ1nDmRt_3A9jZIQP2m3zBvKCcEMhl-oWqB31tPHvuW63QxR06HnMLsXXXwdnExr9P9PJAAcufSbptJe56T7WLK4hmrfv23tXxgpNiaMale0DwLCH8z-R_pmUjOSeK57hvowkuMEiLg1zOweVSKjZuT4vnBACDQDj28GZczSH6D8aD-ymM2s7nOZ6X3NoJ67hdMBjorH6zClyp5qfGE-q346u1_LP89hbum-faQVC9kLcUrXMfVqWv-cKPEwxcmsp1IBC4_8jX-_d5U4HuXSfWMljcFV8g-VPJWvdG29H2DrVwijoARcO8uWKmPcO3aUC9l615OPKh6wYeInEeFEbSfRAtiKjkVIVFKRsMOUR-LezGb0ARjovrkDxvuvXdvO6jf_urmSZncZqP2R-4FRz4UKliw5Vtqi_2giWNmLufsKX4u4vzlp3RPt2Wt-I99-xLruENmBiL2eGHnMCBnf2OJsgemRNSftDqz8YV-__skcJAKxC_0n2XSqtv2SgTcyBmnch1UulM7-fIx0UDjUlVSnKEP-CSqB_d0-4FmoTE7CQddbxNLXjQ9JJ2iy7D1EhmJ4ANItwbVyaByznCRqWR4upMYeRxdsz_hc1MOZTXKJ-5f3DXMXn93SpUHLTc2SR-VMH-Ui3saHEDVO333sVCNFsXy8tKS0e74UCVo6PZ4D0w6XjCTiVvV57zZsSTKLY0o4160BS3QHskc6I5-aH9TN7xaOy0WMxT-Hg4JXfEfrTHpL0eMS8zGDSsmhGLyVN4Z3T3d3d7ugl2Bzmln_2QyeeBjZWglXDbQI4k1noxUH28m1mXcFD-EBqSt9bhezAL0dq83fIuIfNKpmgeByDfcp0qqff3sD-i0KGZ6PspU7WoQsis3gpz7dC5j01PxX-UOR2VLeLkwRyKar9X4zoYCZRZcbTlsrh1VW0f3whpwKQpkLdpYPx2goz0aouNgsPnmKODEG1vBt-ZdLJSMhigR3KlZTVjvYxgqM-oM2m3Q6vFmIcya-KB5p3N7n-m2B6oh_qZ9FAkvQ-uQymTdrMoeCQ_cYHBlhTjnphEm3OwN_7VdTMkqZ9SmD5aNR6zehjUffLg8taX4_Ia5EknklqJQbc0s7E7aWD5UQrIKZnAfy5cgW7Q1_1fNbFiZbt-lYnyjpULBlvM6mlMHrwsGUfuIAsS9achfsXwujWcM6rihkoPfa1Q=",
  "id": "rs_0654cc9cb92cd962016aac61c693c887d0bed50ec2b01027b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.4,\"right_z\":0.095,\"right_yaw\":1.4,\"right_pitch\":0.1},\"note\":\"The can is above the burner’s right side. I’m bringing it left to the available limit, turning its length across the burner, and lowering toward the coil.\"}",
  "call_id": "call_mt6AD7PO4F3YnJiTBMHgUcZk",
  "id": "fc_0654cc9cb92cd962016aac61c799a887d0beb820b8c4dc8d5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mt6AD7PO4F3YnJiTBMHgUcZk",
  "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]: [-0.0257, 0.8253, 0.6514, -0.588, -0.0223, -0.0685, 0.9992, 0.6018, 2.0651, 1.3167, 0.1074, -0.5095, -0.4557, 0.7087]\nstate[eef_state]: left_x=0.2713 left_y=0.0005 left_z=0.1525 left_yaw=0.0154 left_pitch=-0.1876 left_roll=-0.0195 left_gripper=0.9992 right_x=0.3989 right_y=0.3828 right_z=0.0877 right_yaw=1.262 right_pitch=0.0316 right_roll=-0.0851 right_gripper=0.7087\nstate[joint_eff]: [-0.294, -1.2376, 6.8444, 1.6288, -0.0464, -0.022, -0.0171, 0.7043, -9.6342, 8.3214, 1.4481, -0.1587, -0.0904, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef5f5da03eb577d4a0d50cd24201c08039c9a1bb8c54a6a495b6dc2b59c311d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280aaea05e0f386e487234d4a9a1d93668c9f5be5c5b053f666454d3efd81be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f219aa7a646507bd5b2be4027eceae2c30d33b0765b0b8142e624dab596c9b3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.113 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8253, 0.6514, -0.5827, -0.0223, -0.0685, 0.9992, 0.7151, 1.8477, 1.3327, -0.0666, -0.1005, -0.2192, 0.7066]\nstate[eef_state]: left_x=0.2722 left_y=0.0005 left_z=0.1535 left_yaw=0.0154 left_pitch=-0.1823 left_roll=-0.0197 left_gripper=0.9992 right_x=0.3941 right_y=0.3705 right_z=0.1626 right_yaw=0.9122 right_pitch=0.0002 right_roll=-0.1226 right_gripper=0.7066\nstate[joint_eff]: [-0.212, -1.1692, 7.0359, 1.7705, -0.0415, -0.0415, -0.0171, -0.3077, -10.0855, 9.4154, 2.2344, -0.0952, 0.0513, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGHUXNtvLqxa2YfwWWuwgWgVYbAbnj-xrLJONlzTaPAD9zLvC-Gm8JsCy4YVrnUFuuxJUOLCWv7XwiXyodzPbfDsx-6B9SpIWF8Y34EYDTUHRINFG_drvKWTb2uDePYmgd0TWlZqqOLVW_nyyN3vlqcm-H3Y5jcEHvR22VnE2a7RCsw0Ix-5cavGZ_Sk2PxzsQMHdaR5gwAddne9XHWPmSiPBMBecUcHpW222Yo_TSr8SNbEB_Sz2KEgdTcW5fUabWK97RwcrUZ_RFng1gA4IrSmrRzLyO3u4JfANkD2k5ZZs8bmglnhO80G-U0MgXt-VaT2lv0v9WkA7Yih4lUoRUb-iVyve8sNZAyGN2Uc7MRVC6TFTj3Q1z-sjXdht1fvuFkuSeKRLA41fQsKhKDvst1o5jx7WpjxxL8PCoMlO1oRmRhiN-NSFGOwSJSTvaM6r6Sso_-X3fKOWbDZDGEU-6tGgydwcsS51Nrv6ng6fbNVk-Pt3gn17bFgLAVbq0vFO_VxglP_0ltTU24b_zJnRmpopoaut4NStflmz_sJGpHnZJzJMvQQaJXF_yPmDeRJFBddb-muL6TCRFtR7msGvv3-JA0y0WRApJI1ndU_TuyiGc_V5tZlXXaRPDbfSm9CcyPT62WbiFSxJak-H06E5FokdambNVqPgssVhVe6Z3AlZs5iifIgdboyL-82qTn-immdcb2O-7ZF5tDx8QY0R_g_dEAsLf2Pvog51PSD5CFTgwEJbMwIM1eT3s4M3GzG1-LhPfYM1PzsxZCxk6Fw_aKJ1q6iOwRr3_KC1d8trpQNrg3LzRWP8-1s-44qxpcmJGUiYIQakqPcSxpsMPeShBpNdqQR4wbcD0a1xkMq1WRWGVnvqkZMjw4e0IMFI3tQmq3_tErzlxJtI2Rhd7erqSo2Slq2bpzSRlpp2nBaaTY211pEsIdgR6kWKaxYUYZ9YwmPMPRe3tb0WpNBl8htFU4hoWRg7UBgfavYQB1tCeGwr0PP91iwAoapGwKS-VQr7o7XP6YWdKyiZYZ1JXhLK6j5QLCYK5MZioY8tT7Ak8cK6hRdhW-uXO3B5p4D8fdIn7VuJYieGwdAjYaX9H6loyNY12oBfwZSdk3-15a41BcxDAmnA5EP-5gHpOv2gcM3X_Dj1xEoP3pa9u-2I-cdFxu1KVEaZ2Fi4aXMh9g5Hcnct4cnlHerFAvc00uLaJad3EhgMVdrde_uGaVFUN92HeaBU74i7iDL583390zBwmmZioDR0LGPw3stEpYlMWCd3bpdsI_W1W1XkpgRZjmCoXSXTFIPW9zhwQfB_gGJ_66pCa6R1YIaita5Ed96sGYAn5g7sONQtQHW4SLd2KDm2mgr2mLLudYzY8_H-VDxnbo7r38VPHoix3MSU5ZE6RFKQxfv2ZH12Xukr-lcpd-GUa217w91FOeDWpof_6UhkyBfBDLAQZGZb8NCMMJHLMCXi5VtZF2ekMAEjKgb5G2GfkaPrQ94kdTTS5Adq_KwoqTkdclBuQ4xInUJUFSIJs9V7-V0CyR1bo-c67gRUsqlWo5_v-od_jPEME7tkqYc_XDu1ySRNRb7qVdh7F05Yk2JWkPyEGVxZcNlmfe7gsB4v_3vfZ-Tsc2dH209LmHOxK3VJn5qggeD9odlZLFGHjL6nH-0KdVJObhKPuseSOi9mvZB7AVU1veY67cEE7rFYarSf9iUo-crMSjfQy64l5qB6uWiqZkIdVbdLwvU8gOBCL3NxyVOq6nBT1dS97iA3VUJx5gBgGMXSjGpaxTEEl9zcgQePbAnAYAufO-ad-D3G8MF9jR3MbeXemW1wpHn1l3oBb6TJbDVEm-QH0uHHiodBk3ecbGDOEAZxgAj0TICARbmTXawTjddwpa2a-kZo5gshUEkrBfk5rbOk9U5jZVvCdNJuQ_lOmYC3uFSHmYlbI4yJmSP59lcssPsB6s1NwLaZ8o2KfeaKOTpOgAfwugaa7FvuINNUfp9mdHWPvali4eSNFSy33zXrTvywmSrfbcxpRLCFOT7UU0siulz4mXXboC2QH_wk04EbjZ5Oa6Hf10XwoPG6YoHJBB9RlhLSy5mdCU=",
  "id": "rs_0654cc9cb92cd962016aac61cc696487d08714cd0eec3267ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.4,\"right_z\":0.065,\"right_yaw\":1.5},\"note\":\"The can’s left portion is now over the coil. I’m lowering the last few centimeters and aligning it more horizontally across the burner so it can rest securely.\"}",
  "call_id": "call_LuJc3fjL4m77ThvFFmfy97W1",
  "id": "fc_0654cc9cb92cd962016aac61d31c1c87d087f948c72731fd36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LuJc3fjL4m77ThvFFmfy97W1",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.828, 0.6514, -0.593, -0.0223, -0.0685, 0.9992, 0.5888, 2.1708, 1.4673, 0.0456, -0.6739, -0.5869, 0.7093]\nstate[eef_state]: left_x=0.2705 left_y=0.0006 left_z=0.151 left_yaw=0.0155 left_pitch=-0.1953 left_roll=-0.0192 left_gripper=0.9992 right_x=0.4021 right_y=0.4054 right_z=0.0901 right_yaw=1.4475 right_pitch=0.0811 right_roll=-0.115 right_gripper=0.7093\nstate[joint_eff]: [-0.212, -1.1829, 7.2684, 1.6484, -0.0269, -0.0366, -0.0122, -1.4564, -10.5231, 5.4769, 0.8034, -0.2076, -0.0366, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c493d71beb2a86ed8c31272ff48579233f94cda7516ccd010cd5b2441b09b98e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba12879a91bb06d34e24a7c18fef6c9fb985db9e8acd42324b6c7621489ca5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa1ba7c306bfad4197f3f057d1435aeb37091c9164bb0f5c213f8e30a7f9bc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.869 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8253, 0.6514, -0.588, -0.0223, -0.0685, 0.9992, 0.6018, 2.0651, 1.3167, 0.1074, -0.5095, -0.4557, 0.7087]\nstate[eef_state]: left_x=0.2713 left_y=0.0005 left_z=0.1525 left_yaw=0.0154 left_pitch=-0.1876 left_roll=-0.0195 left_gripper=0.9992 right_x=0.3989 right_y=0.3828 right_z=0.0877 right_yaw=1.262 right_pitch=0.0316 right_roll=-0.0851 right_gripper=0.7087\nstate[joint_eff]: [-0.294, -1.2376, 6.8444, 1.6288, -0.0464, -0.022, -0.0171, 0.7043, -9.6342, 8.3214, 1.4481, -0.1587, -0.0904, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGHZtZZOmZl2U6K0mNktJWScLyHucJRyJHlrwiR06n9PmtmWvCZ_68DPtxf55m8rjSXBw6tQntRcPo2AWHeo9FpgaAie6qmjHS4_MKc6fWZFepUe8ue0Q2Lz8G3Di26cAapE-2BWVRYCnGpEpO3ZgK7rGujPg2H5qScnyoH0EmVRdt9pRQ9X7ADOn2R6iV41FY2gxAKrwjAOrHJRoW59zTJK_0dvotyxZGggbO1G_ilYSVL460CAn8Ipv5mhC1lRpOrBSmZuRAxCSUGFXvV3DEq4p9vJLJEjxysSYeUqZOcSBb2g-a5Ti5jcaZShaCZTHcEnp7RZVmxZ3Tw4KyAd0rDHz2-kzdv85ibLOosryU0yVsQ4PRv9F4AfR5X68LbS8nxXIkU4urw_AKIDPbr0pFvI1_eSg0-OZLs6Ah7Gdm9jR0WkpWh7OcVu_mizvCkVWYK-CFdLD_KEO5keQQy8a1w_J2Mzdkp4OZoZU--u1qCxM4Ow2oF9MWQHggFXrsA3gHZwSQX6qGEg5sH6m0Y5U0bLTrjdGFuoJyXovFN4iST4oRLGnVbaA7X1JVIJyOA8ZOw_pejOgrsw0dE25NoVDjeoWVFChRV5gtcGKQ0G8Styvwba8Esoq8Ed-QDQsGgYKsoHxo3KfLGMxBpb5aPaC3sk1whfi1O4hI0o9GFvv_A6ZOSZIPGpWHVT_autQzTEDrJz7FSOW8eZT1WtRO6dwh-oWsH87q07nYJ9xtVK1n8xKFRD7nfOlcA-aQuRASR3oZthxrwdQAN-I2fWDxTFyL7ZTqC6DTWtLjF0_Yok1zYitv4qi6FK8Kd4L_D0NP_wm5tmRrcKNk81bH8huECDmx9obR8KfaqiUyoi8Cad9Gq02WFOWkCNccGjuZyPvbwilJdoscAhftu5zJUyP_ebFvBx8v8reqZOn47x6Rq5AQA8x68-WbjQe62m-X3JAybI3CEORHEkLDu63hRF3vRsQhNojtkjGOPN6rcgZaKrvmGHsqmwZAdi-urx3bzDGCwN2B74QVp5gfJX1X6T8KJs5tGUPuJWDVNYVEL1_R2k10yN5wGDJhOvr0hEAt9Jr5seFf_zqV5wiHPrQ3MWW1SgZyrJ1Xs8BJrLAmMx_h9zIgMxA0gJ47Q52tx9YLY04g8yqFz2xfm7pkj4BHhmYhN-ZoSFvxDJ7dUE_hf5dnnSRysX6vicN5PnTEDQlW1j3b_HuIyh",
  "id": "rs_0654cc9cb92cd962016aac61d6ffb087d087d017101495b055",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can has stopped descending against the burner, and the load on the gripper has decreased. I’m opening the jaws to leave it resting on the coil.\"}",
  "call_id": "call_pXk49QtH3OIiq8Y8zpjthmcl",
  "id": "fc_0654cc9cb92cd962016aac61d73d4087d08837f9b58aee9931",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pXk49QtH3OIiq8Y8zpjthmcl",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8303, 0.6495, -0.6079, -0.0223, -0.0685, 0.9992, 0.5751, 2.188, 1.4536, 0.0193, -0.6941, -0.6197, 0.9945]\nstate[eef_state]: left_x=0.2677 left_y=0.0007 left_z=0.147 left_yaw=0.0161 left_pitch=-0.2143 left_roll=-0.0184 left_gripper=0.9992 right_x=0.3984 right_y=0.3972 right_z=0.0728 right_yaw=1.4639 right_pitch=0.0524 right_roll=-0.0914 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -1.0598, 6.9675, 1.6581, -0.0855, -0.0464, -0.0122, 0.2667, -14.3111, 6.9538, 1.7705, -0.2369, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58660488f702337862275ac0e68cef75bf28d73f97470bd6ed634fd5946b688a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b62243986eddc288f6bf6dd13f205d9d45ae42ee39ad1ca8f5a24467df64c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2212885b3c67af5c1cb581ee7e0633ef9f75b4bc262eb563e9682845be44fdb5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 12.61 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 104 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.828, 0.6514, -0.593, -0.0223, -0.0685, 0.9992, 0.5888, 2.1708, 1.4673, 0.0456, -0.6739, -0.5869, 0.7093]\nstate[eef_state]: left_x=0.2705 left_y=0.0006 left_z=0.151 left_yaw=0.0155 left_pitch=-0.1953 left_roll=-0.0192 left_gripper=0.9992 right_x=0.4021 right_y=0.4054 right_z=0.0901 right_yaw=1.4475 right_pitch=0.0811 right_roll=-0.115 right_gripper=0.7093\nstate[joint_eff]: [-0.212, -1.1829, 7.2684, 1.6484, -0.0269, -0.0366, -0.0122, -1.4564, -10.5231, 5.4769, 0.8034, -0.2076, -0.0366, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.3,\"right_z\":0.2,\"right_yaw\":0.8},\"note\":\"The can is released onto the burner. I’m lifting the open gripper away and to the right so I can verify it stays in place.\"}",
  "call_id": "call_5KHLhfG0BW9ncHqYCpn8HSev",
  "id": "fc_0654cc9cb92cd962016aac61dc8a1c87d0a18a8240c8d9abc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5KHLhfG0BW9ncHqYCpn8HSev",
  "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]: [-0.0257, 0.8322, 0.6495, -0.6296, -0.0223, -0.0685, 0.9992, 0.6361, 1.6024, 1.1065, -0.0689, -0.1802, -0.2337, 0.9953]\nstate[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1428 left_yaw=0.0159 left_pitch=-0.2379 left_roll=-0.0173 left_gripper=0.9992 right_x=0.364 right_y=0.3126 right_z=0.1817 right_yaw=0.9077 right_pitch=0.0257 right_roll=-0.0967 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -0.8684, 6.8034, 1.7167, -0.0659, -0.0464, -0.0122, 0.3897, -9.388, 7.3231, 2.1172, 0.0269, 0.1685, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18cd9c67249e93aa82cefe61f14a5dc397bad711db70ddd9f5c47d62805cfee0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4427eb024455551134b3968a0f7ec87814faa469f1fc9342fccfa4a033b628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2f5ba44c53d96180ebc514b614de483eef676b0ca83829b54124b1d1a32763",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.054 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8303, 0.6495, -0.6079, -0.0223, -0.0685, 0.9992, 0.5751, 2.188, 1.4536, 0.0193, -0.6941, -0.6197, 0.9945]\nstate[eef_state]: left_x=0.2677 left_y=0.0007 left_z=0.147 left_yaw=0.0161 left_pitch=-0.2143 left_roll=-0.0184 left_gripper=0.9992 right_x=0.3984 right_y=0.3972 right_z=0.0728 right_yaw=1.4639 right_pitch=0.0524 right_roll=-0.0914 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -1.0598, 6.9675, 1.6581, -0.0855, -0.0464, -0.0122, 0.2667, -14.3111, 6.9538, 1.7705, -0.2369, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGHr9cI_7BwUtITW3-kG-I_514ugLwANz6kGQMPxd5TF9H_XHffR9O_90--wExwaRnyzLxkqp_g2EVEBDwgeeaiP3SVi_iVLrkfj_p2xzEVwvWa9eEPgnQ6szcVrc0tc8U4ppIhpmuRWiFTryLEPFoM7R_uvP0c7Lc4iQNmuI75v8ZRtnrPuZkPPGrRJGdI2Y0nuKKC0DMdEPi4n1Hp2yMOJANDvBxKC-_c1DSq7lzZTREJozkWs-hMVWRZJ3SkMOr2pIvFNB4S7aqR_eTlRySbO-9waOCE0MIa6RoTAHN0B4lpU8kSx-kf6gZ02sZn-Iqep_ItErr1ckIeQJ921AgwPeWPfMLjA4RhtQwBUgBfVDSpq2G6qh0oy1dW1YB2pVi1VMmK_2eYA5XA_z7gKyS4txBfJcR1ZsFEXuGXiD707AwndJV33gu4QGDf01R3SxDFnBtRlg_fz4MqsLqSOmaMH1YxliJl0bRwswLbDnal6NCzkQO9s1uS_2ZZIbw2MZ9AqvLUR3xh6G5Rh9hC_--ud_8ABepYRL0vUtoKhH1A4ucEE-yF4N_pLmRP8elPObAwMcoeEPl6UvzB40RYThoaDYW3JUJ3sS0HZGNw0nw5Xvc9jzPyF38tCI53zUR7m_FEAuO_zsBnzforw_9HheXctKz4J3Fgl5PO9gk6-UNd9NhuRpFJgpQokm28nbMrnVWyBsr5xlq74YRpQbQFLH-hzePcrPbhkhc4r1rxDJGoO79DXL650ejH2-rSM0vuc8embng0Gb17hmIys7p5Eeo46Z0Fi1gsIHqz2784AoQymDLwFGQ2roElckiypNWxOxvjk8m3DSXPPyq0Q4vED6jo_dhrmX6d0BHmZFRkd4-rPtefZhpGTB6_t-A5JsTTn4EGZ0M4CqPEHajnx6vTmtw6miUGjw8GQMpZe4bqEXsXF4xoIJKX7BEc0b0a82bCaN1x4aKy9LzW0sREtJxR1lHWkLMFloXg1h_fLbTgQbDArZNFh_FnnrPAog5fAiX7sNuBQrZeRv10_TE6j4aUQwPbQP8wL2gZ2vdu8X2UCOS-PTkBSQM5pJxUZcfSys9gWWwtqsPwYLeEHejFvgLgOPPVLt2uFP2CMpZn6siR8ViGcTenZTyL0qLn3w-1pvnANcdtHVkJrrbNEHdfcQe6Ud-TLARlZFzfIO-4c3fwhNP58ULTHHtQtzSfJu5xrdUZ8ORnm4yKZkTEtwKQjntZVq9WZ8iXRIw9Kt3ZoEy0wGerDk7yt16zqIGAlxSM9gFN1wXPaF7pxxusSFXaEJ2bF1YKcz-teyBSyGGSaQ4y9NRgL4tLnmgQj5QWRfQh1jaL-8Ky1l6_ujDjLII-nnTan2wjCTm0IY60sqmExXx7-wG1Ulvzr4NJ6_5csKVLkxwMrPEZD7--anK06MgG5POQZiISP0mgxngN9EPwiqn9uHd-WJ5UrtOwwrYFe_zRNVY-AR1odXK8VuDAtmOHRMe5jTdHUuNS5WqfcRBL_DX04flz8-WQ25Ec3iMWb4-ccYnsT622Wkc8dHAmnefe0vhGGZBU1pkHH6HLuBXfT1w8vW5YhmiNZ_11NclYF13mkSYyoMIOXEVmKuADeAyS5yuPJ8Y16aZSEfZeFIaMuGAKItzrsVLYxjcTToq7hNiEyfx2eITBvU5Z8EOxbovayGElbmA91VmpbptFQE0gGx6c2FjFz_eWeWYt_OkSDdZ_lJew_BcVG_lZMIdL08_gxJi0MdJ0t5xys5LfSZbKm46dWkAl6Ai5UfRSY9J-ONvvgeD1k_Inn3hixxFmrYHqvvSgUGBVRgcdL5znSHHPcUjFuUgX-jqGvBI7sw3AikqDlSFB-abCfoir2sjMl65VjO57BFGK36I3QFpgeF0OdZns7peqprEN2JPSB6B31LYufyi7_Psx-ETILwC7IjUY3_jICNVWQmTRl6nEATgDDMpDEulwUHQqzeobELkrZgJ83sg1oUI4YijOg-qa9Sf8LPoEOnY_QakaHsDmJ9cx3LMP0UmEO2kD9qu81h44IhLTHLuJ_kViPhCqXziJwDnxeA3KbAVhJt604TQuK8wdn5iS50-GONuUdUnKv4xTsfzMkWvAWXKQ8l3R0xtjQfZ4NkHBjgvrpF5KL1xR3HE1Z4mhu_QWOtQouSDDPHwhn_nzpA6fAp-eymNUfPp0_D7Cl30dOSCItxfco42ShvnUMrQlfsYtdCUAY_74kwBKVj0WMqYWN4oHSdcxAr6NNvyQWiiaKPjf_NMfstOXhrx5vnsKRrVQnMg0NhHjWxUh69Gssug9-_zMMYWOVSySK3tL6xQMu4tT0QMFeckeKiwDOCDZhXw__VKVbFb6fu0xIH_3hENON82XG2gsJ4WK_uOGPcmI_cMbqr4l7S-fKZqzUaEMBegBYUWYKn8GuvbXEpiVBfJv43WzZEb6krZveIXTQzq4Nk2fW7v1G8O0weK-HG9gY-hibzVs=",
  "id": "rs_0654cc9cb92cd962016aac61e1075c87d09cba6361db8762f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.4,\"right_z\":0.055,\"right_yaw\":1.5,\"right_gripper\":1},\"note\":\"The can rolled toward the front edge as the gripper withdrew, so it is not secure on the coil. I’m reaching down to regrasp it and move it farther onto the burner.\"}",
  "call_id": "call_xWswhsqeFBcPmYKhFh6Y8A6c",
  "id": "fc_0654cc9cb92cd962016aac61e9733087d084a42652dfcf89ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xWswhsqeFBcPmYKhFh6Y8A6c",
  "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]: [-0.0257, 0.8356, 0.6495, -0.6373, -0.0223, -0.0689, 0.9992, 0.6853, 1.9713, 1.0683, 0.1791, -0.5243, -0.5171, 0.999]\nstate[eef_state]: left_x=0.2626 left_y=0.0008 left_z=0.1406 left_yaw=0.0162 left_pitch=-0.249 left_roll=-0.0171 left_gripper=0.9992 right_x=0.3203 right_y=0.3807 right_z=0.0524 right_yaw=1.3908 right_pitch=-0.0293 right_roll=-0.0769 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.5795, 6.8718, 1.536, -0.0904, -0.0562, -0.0122, 1.1556, -7.8427, 7.4462, 1.6337, -0.7888, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725ca03f339f25418c5fc324f7eaeb583fa65a5740b21148d5de4ee8fa6b4856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd471d3f0c7a45a9b72a977b250ddfb6b9257c632cb61d0cc3801709e9adec09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c5a111acb52a5f8248055fe7cf4452b9a37f5dd3240ad08d6942a49764939a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.147 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 111 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8322, 0.6495, -0.6296, -0.0223, -0.0685, 0.9992, 0.6361, 1.6024, 1.1065, -0.0689, -0.1802, -0.2337, 0.9953]\nstate[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1428 left_yaw=0.0159 left_pitch=-0.2379 left_roll=-0.0173 left_gripper=0.9992 right_x=0.364 right_y=0.3126 right_z=0.1817 right_yaw=0.9077 right_pitch=0.0257 right_roll=-0.0967 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -0.8684, 6.8034, 1.7167, -0.0659, -0.0464, -0.0122, 0.3897, -9.388, 7.3231, 2.1172, 0.0269, 0.1685, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers surround the can near its middle. I’m closing to secure it for a short repositioning onto the center of the coil.\"}",
  "call_id": "call_TD9vtaWMNvwGqHeEIB6MK1AT",
  "id": "fc_0654cc9cb92cd962016aac61ee7a3487d0af33245efdef4330",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TD9vtaWMNvwGqHeEIB6MK1AT",
  "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]: [-0.0257, 0.836, 0.6487, -0.6376, -0.0219, -0.0685, 0.9992, 0.6861, 1.9934, 1.0729, 0.1738, -0.5278, -0.5232, 0.0086]\nstate[eef_state]: left_x=0.2625 left_y=0.0007 left_z=0.1402 left_yaw=0.0157 left_pitch=-0.2505 left_roll=-0.0171 left_gripper=0.9992 right_x=0.3189 right_y=0.3807 right_z=0.043 right_yaw=1.3981 right_pitch=-0.0454 right_roll=-0.0653 right_gripper=0.0086\nstate[joint_eff]: [-0.1846, -1.3333, 6.8444, 1.453, -0.0073, -0.022, -0.0122, -0.2256, -11.8085, 5.3128, 1.5507, -0.1148, 0.0464, 0.6325]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fc6c968fb268ed142597e2aa46b49d542a85c4d6133c93b995bd0c68a1e2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f6d576ce5d17ad069d8da52d0fa18d397314bae854d9ff7e920832bfd32c53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1344c810fdf43a14c13315e3a88f629d83ec5c3378e38880433bd51f9b2d255",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 8.447 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8356, 0.6495, -0.6373, -0.0223, -0.0689, 0.9992, 0.6853, 1.9713, 1.0683, 0.1791, -0.5243, -0.5171, 0.999]\nstate[eef_state]: left_x=0.2626 left_y=0.0008 left_z=0.1406 left_yaw=0.0162 left_pitch=-0.249 left_roll=-0.0171 left_gripper=0.9992 right_x=0.3203 right_y=0.3807 right_z=0.0524 right_yaw=1.3908 right_pitch=-0.0293 right_roll=-0.0769 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.5795, 6.8718, 1.536, -0.0904, -0.0562, -0.0122, 1.1556, -7.8427, 7.4462, 1.6337, -0.7888, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGH4JlCJyQJ6jYApw4Kb3dMrglDItPq1f04jHtS5i9iLSyPbZZW1eDEW5ecITc9aH9fY98oqM293Ia9iV1GlmQdy3XOokm3iwUjvEs9s5rlbNqjKF4VDvgx2K07EUI6fVVDNZF_7FIada5tt8vpDEDTA25Hw-Spp7NB4H83ewjrllDukyy_qLAUhG1WEfz68fZT1SJ5LrawKjVWF-Qz4SxrLDBJkQcsbjc6js1NKc8bEYQSolijuICkBDg_Iacd4vJS386F4EHZ898KwQsJDjiL184-T8uSxzcw8c_S6njrgOsa8K5jH8Miwl7oQCMv8YQJpIZdfoa3tUdNCO3F-yer4JvdpacBq4PFwNckM2n4Y5Z6JzOQCt2IXyl-U1C_jDI5A-8rnVP72NLeAc7K5ForfG3I66XBJQB4YyWeC4Tjp6rYZkVqGg1rGLsanDAFVlxko2GfQPsGvyFrh8zh6448CAXW5ngDf_kHL91nQksmaoWreLF-nXL8WkUhfnAa26-8ZTIyiiuT5doZpQawP7InrXgO7lgk055Z28kBxDCV7y4-8G0cKSEE2VnKys9AUq1nebmsaT45RlPxM57Jiov0mpTRIbMrLhNyZ9vwvcbEkJE2nM3n39ogU-AvhdGen3HZoaliJJHjU4gHSxKpdDNks7eHErxGD3aEWYhcZjrzxAGkqn1DBIhwUG-7l4yQmkYuMDRymxkwgA8iMfapzhm_stUBC6tAa87n7fATwv-XE8_wIHHhrLbZRUSWsFxzQgOQkEs3iAZki7fxS1nBofOJ7P7_L0Ywfv-FCK5g9R7m5QSxThjSFkW85xdpRVYOd84cTn2dreLd7hLlqcpfgVVZ3vI-ez2i-IwTlto2XgwluTcHJwakSwwNE3k_QeUWgAEvXcD0Mc_Cl5RIcg6yWueacxwNcqCMCyIPUXMXxv01iNGmJ1epC4teD_OhZzCdpiDa-FflQAylgbP4X-Wg5FwP6q6ow24wwQ7q3HWnbo43mkc39QihhAqB--DcAaP7JF2TcLoSVOgFtTaC0LpYOsqR26vhSY2WnedYtSweXiBaF4IW7wjlvsSwnidRkspp7lQLPshqjAaABLQgf7F54Z16RXaTPLFNeiD5QTkClCcZZZBQT-PwTstiLUBfCC--HB7K-2oO2q8ahRVcPo7bgN-2XUhoLDHIMCSHJOnakIBKQYEzjHJNg2Jx7mXeueA4VSNLECQ8pP3UMDuCOeupbDdoLVa6yj7gHLXcvPi9TrZdBn8EK1Lyh-sm0F686JxCysB-P-RkqVkR26vAZnZFethqU0XGvUyTyiSeJLACW1gT_YiEO3RqZyGOnfmK7rDaZZnCUuhiIWyKJdQgfbnUrliieBgidNcejMRLxhQJ11d874uFbhxnqAaU8YvWz0j8lOecisDreQ1hLRNn0oVWps-wIZqElIJQZSNC7E9o-IaBEfwYbCL5RLH42MYHhjECgM75W",
  "id": "rs_0654cc9cb92cd962016aac61f4514087d0851aa43a15bcf780",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.23,\"right_z\":0.2,\"right_gripper\":1,\"right_yaw\":0.7},\"note\":\"The regrasp was empty, and the can is leaning across the burner’s front edge rather than sitting securely on the coil. I’m withdrawing the gripper instead of risking another uncontrolled push.\"}",
  "call_id": "call_Jb0YwRoOwKCHDOh2XTjAyjwc",
  "id": "fc_0654cc9cb92cd962016aac61f62c9887d0b97529d01515172d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jb0YwRoOwKCHDOh2XTjAyjwc",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8379, 0.6487, -0.6529, -0.0223, -0.0685, 0.9992, 0.6395, 1.2381, 0.8635, -0.2928, -0.0692, -0.1501, 0.9956]\nstate[eef_state]: left_x=0.2597 left_y=0.0008 left_z=0.1372 left_yaw=0.0162 left_pitch=-0.2677 left_roll=-0.0161 left_gripper=0.9992 right_x=0.2933 right_y=0.2379 right_z=0.1754 right_yaw=0.7732 right_pitch=-0.084 right_roll=-0.0705 right_gripper=0.9956\nstate[joint_eff]: [0.0068, -1.1966, 6.9949, 1.5946, -0.0562, -0.022, -0.0122, -0.5402, -5.6, 10.7419, 2.1026, -0.0317, 0.2222, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ee52dee937e3e896102fd8f5702a5ee60cda3ac62d336a9c7efc834c6bb020",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780e5e6d8c82f3483d289f46402a74bf6fee8ae5d7eb731b21c5608717d1fd0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747d2f89548c626058d8ac7e4dfcf295febc7a0fd5b76b4f524c042fc1b021b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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