adhoc

completed
2026-09-17T21:57:02.571954+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
183 s
total steps
99
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying on the right side of the table, with the burner on the left. I’m bringing the right gripper above the can to align a grasp around its middle.
move_to
right_x0.4050right_y0.0650right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7914, 0.6037, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.3958, -0.0189, -0.0254, 0.9997] state[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0007 right_z=0.1782 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [-0.5812, -1.3333, 10.2359, 1.9609, -0.0757, 0.1538, -0.0855, -0.3487, -1.3744, 9.7026, 1.9023, -0.0366, 0.105, -0.0464] 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":0.405,"right_y":0.065,"right_z":0.15,"right_gripper":1},"note":"The can is lying on the right side of the table, with the burner on the left. I’m bringing the right gripper above the can to align a grasp around its middle."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe wrist view shows the can slightly right of the jaw centerline. I’m shifting toward its center and lowering the open jaws around the cylindrical body.
move_to
right_x0.4250right_y0.0370right_z0.0400
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4061, -0.0193, -0.0387, 0.9993, 0.2279, 1.3609, 0.7593, -0.0902, 0.165, 0.0872, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0029 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3849 right_y=0.0632 right_z=0.1253 right_yaw=0.033 right_pitch=-0.0982 right_roll=-0.0276 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.5795, 6.8171, 1.8779, -0.0757, -0.0122, -0.022, 0.1299, -5.8872, 8.7179, 1.9316, 0.1392, 0.1685, -0.0464] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.037,"right_z":0.04},"note":"The wrist view shows the can slightly right of the jaw centerline. I’m shifting toward its center and lowering the open jaws around the cylindrical body."})
tool
executing move_to over 6 steps (0.6s)
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 can’s near end is still ahead of the fingertips and slightly to the right. I’m advancing along the can so the jaws will close around its body rather than its rim.
move_to
right_x0.4600right_y0.0200right_z0.0330
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7979, 0.6067, -0.4198, -0.0189, -0.0387, 0.9993, 0.1177, 1.6852, 0.6842, 0.2234, 0.0887, 0.0231, 0.9996] state[eef_state]: left_x=0.2899 left_y=0.0014 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0355 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4068 right_y=0.036 right_z=0.0279 right_yaw=0.0206 right_pitch=-0.1917 right_roll=-0.0374 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.3197, 7.1316, 1.9316, -0.0562, -0.0708, -0.0171, -0.4034, -7.0632, 5.8188, 1.9072, -0.1001, -0.0415, -0.0122] 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":0.46,"right_y":0.02,"right_z":0.033},"note":"The can’s near end is still ahead of the fingertips and slightly to the right. I’m advancing along the can so the jaws will close around its body rather than its rim."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe can now extends between the open fingertips. I’m closing the jaws to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8005, 0.6064, -0.4294, -0.0193, -0.0383, 0.9993, 0.0582, 1.8229, 0.868, 0.1539, 0.0471, -0.0193, 0.9996] state[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1692 left_yaw=0.0027 left_pitch=-0.048 left_roll=-0.0025 left_gripper=0.9993 right_x=0.4476 right_y=0.0213 right_z=0.0255 right_yaw=0.02 right_pitch=-0.2177 right_roll=-0.0395 right_gripper=0.9996 state[joint_eff]: [-0.3077, -1.388, 7.0085, 1.7753, -0.0366, -0.0317, -0.0122, -0.4718, -7.8291, 7.4325, 1.7802, 0.0073, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The can now extends between the open fingertips. I’m closing the jaws to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe empty jaw reading and overhead view show that the rounded can slipped forward-left rather than being grasped. I’m reopening and realigning above its new position, with the jaws turned to match its diagonal axis.
move_to
right_x0.5150right_y0.1350right_z0.1500right_pitch0.3500right_yaw0.4000right_gripper1.0000left_x0.2930left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4507, -0.0189, -0.0387, 0.9993, 0.0517, 1.832, 0.8845, 0.1287, 0.0406, -0.0261, 0.0081] state[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1644 left_yaw=0.0026 left_pitch=-0.0713 left_roll=-0.0025 left_gripper=0.9993 right_x=0.448 right_y=0.0196 right_z=0.0232 right_yaw=0.0228 right_pitch=-0.2359 right_roll=-0.0401 right_gripper=0.0081 state[joint_eff]: [-0.1436, -1.3197, 6.9538, 1.8486, -0.0464, -0.0269, -0.0122, -0.2803, -8.1026, 7.2957, 1.8046, -0.0024, 0.0024, 0.5641] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.135,"right_z":0.15,"right_pitch":0.35,"right_yaw":0.4,"right_gripper":1,"left_x":0.293,"left_y":0,"left_z":0.18},"note":"The empty jaw reading and overhead view show that the rounded can slipped forward-left rather than being grasped. I’m reopening and realigning above its new position, with the jaws turned to match its diagonal axis."})
tool
executing move_to over 20 steps (2.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe can is visible just right of the jaw centerline, beside the kettle. I’m making a small lateral correction and descending toward the can’s middle while keeping clear of the kettle.
move_to
right_x0.5400right_y0.1080right_z0.0450right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8436, 0.6456, -0.5072, -0.0223, -0.0502, 0.9993, 0.1871, 1.8545, 0.9218, 0.6033, -0.173, -0.1051, 0.9974] state[eef_state]: left_x=0.2846 left_y=0.0002 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1296 left_roll=-0.0078 left_gripper=0.9993 right_x=0.5038 right_y=0.13 right_z=0.1256 right_yaw=0.3872 right_pitch=0.258 right_roll=-0.0324 right_gripper=0.9974 state[joint_eff]: [-0.1709, -0.9368, 10.0855, 1.8926, -0.0513, 0.0122, -0.0171, 0.1983, -8.1846, 8.4581, 2.2833, 0.0122, 0.0269, -0.0513] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.108,"right_z":0.045,"right_pitch":0.35},"note":"The can is visible just right of the jaw centerline, beside the kettle. I’m making a small lateral correction and descending toward the can’s middle while keeping clear of the kettle."})
tool
executing move_to over 6 steps (0.6s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe can’s near rim is still ahead of the fingertips. I’m advancing a few centimeters farther under the body with a forward tool tilt, so the next close surrounds the can rather than missing behind it.
move_to
right_x0.5750right_y0.0990right_z0.0450right_pitch0.4500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8471, 0.6472, -0.5232, -0.0223, -0.054, 0.9993, 0.1135, 2.2116, 0.9421, 0.9161, -0.2329, -0.1055, 0.9989] state[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1475 left_roll=-0.0101 left_gripper=0.9993 right_x=0.5266 right_y=0.1047 right_z=0.0239 right_yaw=0.3639 right_pitch=0.2391 right_roll=-0.007 right_gripper=0.9989 state[joint_eff]: [-0.0205, -1.6615, 6.8034, 1.7411, -0.0659, -0.0171, -0.0122, -0.3624, -10.2496, 6.5983, 2.2979, -0.1392, -0.0611, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_y":0.099,"right_z":0.045,"right_pitch":0.45},"note":"The can’s near rim is still ahead of the fingertips. I’m advancing a few centimeters farther under the body with a forward tool tilt, so the next close surrounds the can rather than missing behind it."})
tool
executing move_to over 8 steps (0.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe can is offset toward the right-hand jaw, so closing now could push it away again. I’m centering the open gripper laterally and straightening its yaw before grasping.
move_to
right_y0.0650right_z0.0550right_yaw0.0000right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.849, 0.6468, -0.5385, -0.0219, -0.057, 0.9993, 0.0872, 2.3653, 1.0908, 1.0557, -0.2783, -0.0788, 0.999] state[eef_state]: left_x=0.2799 left_y=0.0003 left_z=0.1534 left_yaw=0.0087 left_pitch=-0.1651 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5651 right_y=0.1017 right_z=0.0283 right_yaw=0.3732 right_pitch=0.3724 right_roll=-0.0045 right_gripper=0.999 state[joint_eff]: [-0.335, -1.6479, 6.9949, 1.707, -0.0562, -0.0122, -0.0122, -0.759, -10.4957, 6.5299, 2.4103, -0.0806, 0.1197, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.065,"right_z":0.055,"right_yaw":0,"right_pitch":0.4},"note":"The can is offset toward the right-hand jaw, so closing now could push it away again. I’m centering the open gripper laterally and straightening its yaw before grasping."})
tool
executing move_to over 4 steps (0.4s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe can is now centered laterally, but the fingertips remain just behind its near end. I’m making one final short approach with extra forward tilt to reach the body without pressing into the tabletop.
move_to
right_x0.5950right_y0.0850right_z0.0650right_pitch0.5500right_yaw-0.2500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8501, 0.6468, -0.5453, -0.0219, -0.0574, 0.9993, 0.1509, 2.3283, 1.0328, 1.05, 0.017, -0.0246, 0.999] state[eef_state]: left_x=0.2788 left_y=0.0003 left_z=0.1519 left_yaw=0.0089 left_pitch=-0.1731 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5588 right_y=0.0855 right_z=0.0246 right_yaw=0.1411 right_pitch=0.3371 right_roll=-0.0159 right_gripper=0.999 state[joint_eff]: [-0.212, -1.0188, 6.9812, 1.6581, -0.0659, -0.0464, -0.0122, -0.0889, -14.5026, 4.8342, 2.1807, 0.1441, 0.2076, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.085,"right_z":0.065,"right_pitch":0.55,"right_yaw":-0.25},"note":"The can is now centered laterally, but the fingertips remain just behind its near end. I’m making one final short approach with extra forward tilt to reach the body without pressing into the tabletop."})
tool
executing move_to over 8 steps (0.8s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe can’s body now lies between the fingertips. I’m closing to a moderate opening first to avoid squeezing the rounded surface out sideways.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8536, 0.6468, -0.5629, -0.0219, -0.0578, 0.9993, 0.2836, 2.4405, 1.2404, 1.0988, 0.4534, -0.0074, 0.999] state[eef_state]: left_x=0.2759 left_y=0.0004 left_z=0.1479 left_yaw=0.0093 left_pitch=-0.1941 left_roll=-0.0116 left_gripper=0.9993 right_x=0.5913 right_y=0.0955 right_z=0.0528 right_yaw=-0.1491 right_pitch=0.4912 right_roll=-0.0433 right_gripper=0.999 state[joint_eff]: [-0.3077, -1.7026, 6.8718, 1.6777, -0.0317, 0.0024, -0.0122, 0.3624, -11.1248, 6.7624, 2.3028, 0.1245, -0.0562, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The can’s body now lies between the fingertips. I’m closing to a moderate opening first to avoid squeezing the rounded surface out sideways."})
tool
executing move_to over 7 steps (0.7s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe can stayed centered during the partial close. I’m completing the grasp so the jaw readback can confirm whether the can is securely held.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8536, 0.6468, -0.5781, -0.0219, -0.0582, 0.9993, 0.2867, 2.45, 1.2411, 1.0855, 0.4507, -0.0109, 0.3546] state[eef_state]: left_x=0.2733 left_y=0.0004 left_z=0.1452 left_yaw=0.0096 left_pitch=-0.2093 left_roll=-0.0114 left_gripper=0.9993 right_x=0.5903 right_y=0.0975 right_z=0.0445 right_yaw=-0.1366 right_pitch=0.4708 right_roll=-0.0572 right_gripper=0.3546 state[joint_eff]: [-0.335, -1.4701, 6.9128, 1.6581, -0.0855, -0.0562, -0.0122, -0.5949, -13.4496, 4.9983, 1.9414, 0.0464, 0.0366, 0.0464] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The can stayed centered during the partial close. I’m completing the grasp so the jaw readback can confirm whether the can is securely held."})
tool
executing move_to over 4 steps (0.4s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe second close was empty, and the can is now beyond a reliable grasp at the arm’s forward workspace limit, beside the kettle. I’m opening and withdrawing the gripper rather than pushing the can farther or contacting the kettle.
move_to
right_x0.4700right_y0.0600right_z0.2000right_gripper1.0000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8536, 0.6468, -0.5854, -0.0219, -0.0612, 0.9993, 0.2867, 2.45, 1.2388, 1.0721, 0.4488, -0.012, 0.0081] state[eef_state]: left_x=0.272 left_y=0.0005 left_z=0.1439 left_yaw=0.0114 left_pitch=-0.2166 left_roll=-0.0133 left_gripper=0.9993 right_x=0.5895 right_y=0.0976 right_z=0.0406 right_yaw=-0.1309 right_pitch=0.4564 right_roll=-0.0653 right_gripper=0.0081 state[joint_eff]: [-0.2256, -1.4701, 6.9949, 1.6044, -0.0122, -0.0171, -0.0122, -0.1709, -12.506, 5.0256, 2.0195, 0.1734, 0.0562, 0.6081] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.06,"right_z":0.2,"right_gripper":1,"right_pitch":0.2},"note":"The second close was empty, and the can is now beyond a reliable grasp at the arm’s forward workspace limit, beside the kettle. I’m opening and withdrawing the gripper rather than pushing the can farther or contacting the kettle."})
tool
executing move_to over 11 steps (1.1s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteI could not secure the can: both grasps closed empty, and the can rolled to the far edge beside the kettle, beyond a reliable grasp within the forward workspace limit. I withdrew the gripper. The can needs to be moved closer before another attempt.
give_up
hindsightFor this scene, the can’s visible near rim in the wrist camera was still ahead of the actual grasp point; closing there missed or displaced it. The rounded can rolled toward the far edge and kettle after off-center contact. Confirm that the jaws surround the body before closing, and avoid pursuing it once forward travel reaches x≈0.59 m.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8585, 0.6464, -0.5926, -0.0219, -0.0616, 0.9993, 0.2684, 1.6043, 0.9638, 0.2546, 0.4023, 0.0692, 0.9948] state[eef_state]: left_x=0.2708 left_y=0.0005 left_z=0.1413 left_yaw=0.0117 left_pitch=-0.2291 left_roll=-0.0131 left_gripper=0.9993 right_x=0.4772 right_y=0.0632 right_z=0.1902 right_yaw=-0.121 right_pitch=0.2275 right_roll=-0.0724 right_gripper=0.9948 state[joint_eff]: [-0.2256, -1.4017, 6.9538, 1.6386, -0.0562, -0.0757, -0.0122, -0.335, -8.4718, 9.2239, 1.9658, 0.105, 0.1245, -0.1343] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the can: both grasps closed empty, and the can rolled to the far edge beside the kettle, beyond a reliable grasp within the forward workspace limit. I withdrew the gripper. The can needs to be moved closer before another attempt.","hindsight":"For this scene, the can’s visible near rim in the wrist camera was still ahead of the actual grasp point; closing there missed or displaced it. The rounded can rolled toward the far edge and kettle after off-center contact. Confirm that the jaws surround the body before closing, and avoid pursuing it once forward travel reaches x≈0.59 m."})
tool
give_up: I could not secure the can: both grasps closed empty, and the can rolled to the far edge beside the kettle, beyond a reliable grasp within the forward workspace limit. I withdrew the gripper. The can needs to be moved closer before another attempt.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.248 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, 0.7914, 0.6037, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.3958, -0.0189, -0.0254, 0.9997]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0007 right_z=0.1782 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.3333, 10.2359, 1.9609, -0.0757, 0.1538, -0.0855, -0.3487, -1.3744, 9.7026, 1.9023, -0.0366, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c231031f389136bbfad0dfd259f3101053453be5193f310ecc38fe7701ac70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a37f040f21c2e69c8ce162185b5a4069e706cc5af698e80c2f0232d992191d73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d6dc93f76e81d19e789375800def9ec18d99d5df655ac1d9063229b235a7ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a2c231031f38
wire blob a37f040f21c2
wire blob 82d6dc93f76e
call 1 attempt 0 · /responses · status 200 · 14.02 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrGI-MSm6c3ZcXyTJqBHOMHgUGdvz0ikDVa_-gDGo-63tly4rSOoaT_NFEi6DKlPJPA3X2lzs8zKtq4wFREmc1_LmJwdvsXHrr4t8blihCsXE5yg7V6Na-72rej4ZmYDyvyQFcrge1Qc0HiVxfdXoYbBmo0HSiz0SNRy9TD4pXVyFquLMeMLTMr9wLAh1T2OBGGNzQOKAeRNeyji-bQu8Ju87LNx6uqyREvb127X3hsa5CfhNvBRGDQUSLNUflrAl9Sgk6Xf-fhZfdErrJSRPD9NTO4wh5HXQzS-nbU0q2UJgueNrNWTovJ5Miy6URu3O762p4z7SJejyvLawzW3574ZcpVzeFUuXxORjeMZmyjJ2yGivyH-WKzkGoOF2mWxKIhukZw86dMsDDTfdaluSU12ITyIYUzQNBdd_tslr6S89QN0rFvobWRJzwS6Aj014ViVdt2TIpJCx8d_nG7A8rBVqvGBfyJyqqhBkgtt89jOUkSXOTZZu-Ir0ROc8VOPXJX4A3OFy2rOUb3hE1wMGbQ11A-QD0EU2leTK7o__QmMh1PAEqjmsOOVULc4zPcIJEDcjZW2KWPe9nfVdi5Jiud5hZ0Bc-ZaXWo04njBAqyjen2PyYOPGQ-YaQgz7y5zBn9QqhVtW35bMipc0JxpoCVvRk7z9QYnhfwJow_ZeG5NAp67kRMsh5FiA80ak9NhKKSZ_PhXy3qpahMHj6DgiSDZ4h_UXrgO9m_-byzv3a2Dn5mOnboBabejIYSugo6S6v2_HtI-5__gPt5d43wiNu4Lo-pIxj4FWVFgrxcLsmY0BHgifa2xab6oIFuEcINmbCvrpVe1tlCqAA0XJj6QMAWqoXoHfBPH_H6sFD8HJMUYZQogharFEkGinH3mEuPUcMX_mAUaCWCjQ6ECcBHFXj1V9VA45PQpHAljRJ5mjVqYTxlLqPBz1qgukYhoxEzf3yd63cbYiPN4OoB86esKejtwEBNSY3eqMF1-3lQIcxcZdE7KmFhIHKQZR1TlwZo5-HKjFKJXjacVvtcd1NL7ed8fsehZY_TfyV1gzU9qa28qR0MW2_sywBr6VohgzAsRyCgQ-z6KU1iWSrCZUhohoa9exnocHW83EZKcdADQu-9xJFXadU7bgQNxFp7MMRX7_6YvqwY1_dn5wVlCRmmtq_NUdjaDuRKM0Duu_qf5vri74Bft-pTlnk72i9Ilj_mk5yttzm4g6XxVk2P6cwtPGhCdmXRRgSDhj1wPQFeqm5btvanwY5vqu7HJvPZTf-DCuf04SBScUjWthnyMbmbv15pYhhMmsugcjkhWxtCbwB5t4nwgmf_jALdm_olh2qIm84BqX0uj-jJ72G_0cWavAhNg9bB85edg9s3Lt--ZqVdSb8QpOl48FqttkRRWdIDClp_6sSpxj7us3dRu4eK_FN_2o7vbVvSkMPnbp9vUA94N8OVl6tijqXm7aDCGAFCvKGfocFUpMudI6EhDQK0PbnY4lUgKHW51YgtRA3M0yZD0P_xGbRqkbsQSB42aIT07EnlNL",
  "id": "rs_05e6312b5d8bfcfe016aac623ab00087d082447e65c4e2c98f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.065,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying on the right side of the table, with the burner on the left. I’m bringing the right gripper above the can to align a grasp around its middle.\"}",
  "call_id": "call_ikcYDhk0pB1CkY7mRwERMPyi",
  "id": "fc_05e6312b5d8bfcfe016aac623d0e9487d0af9b3e22bb5da8e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ikcYDhk0pB1CkY7mRwERMPyi",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4061, -0.0193, -0.0387, 0.9993, 0.2279, 1.3609, 0.7593, -0.0902, 0.165, 0.0872, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0029 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3849 right_y=0.0632 right_z=0.1253 right_yaw=0.033 right_pitch=-0.0982 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5795, 6.8171, 1.8779, -0.0757, -0.0122, -0.022, 0.1299, -5.8872, 8.7179, 1.9316, 0.1392, 0.1685, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4580946492c63c3c3ef3641fad5ae1b6536ff4786c48e73fd36e14eaa61b020d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf322b995d53e056ecff692129e52764616dd7d6307165861cce528506caba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dee98083b17c717e156c01f14d6eff7b8be20de3ffa3cb9d837446aa9eb7b3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 4580946492c6
wire blob 0bf322b995d5
wire blob 7dee98083b17
call 2 attempt 0 · /responses · status 200 · 11.66 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, 0.7914, 0.6037, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.3958, -0.0189, -0.0254, 0.9997]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0007 right_z=0.1782 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -1.3333, 10.2359, 1.9609, -0.0757, 0.1538, -0.0855, -0.3487, -1.3744, 9.7026, 1.9023, -0.0366, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGJNmXKJvKdW77BwgLBchTNAEr07HWpQKBneDJ5U0xyeXzVwbPeJRxffUU0kTJsXV_3tQV-Re_-8TGPGrAguEE4PG8YtDAvr0wHHd4i-lSs3kUOZeJ1LNLkzDYLlD8jEaiuPoGiuE0y5Lw2x6N9WR2hfuNDuF82FEZPTJuakblHvOPSRkTHCJ0PM6zoTwJd1FIrObmJQvBR3gOXK63xylcvMz4UjmnRNH19khtdId3ssUlcQSj4EfhHN1u6TD1wig3DrV4l_mMaRyDZz_GUo-ByJsRtps4wdFnR5jYoDN-aHYpRwbwToynNbwHOFQBxSihdmdBUkWOEydOPy8YM2TdCOI0F3dOtwnRmkcudSQ39G75419gpYPbN6jsdOLfCp9oodHc_ENEb4vr6Ip1s9obLtaBWZ5Yn3x1NxlqfR8AQ62_njGNf-VVTcBvRqXwk8W1dudEFtLoK_bGW5rxi6k522dbVsFtJYkY6vuXmzsqQqq1qYjJTwfnD1OzVvfn7i9eWMSiX3PDwGxyGDwVlNJyEjKN45Xliy-usuEnPEfdBR4jPQ-wob0fKPpmTC86B2SguOMVW9CJvYxyPgyWYHnvSFjul5TbCeLVuZD_ICXP0ebHFxjUt4Mq-x85P-tnOORL5Hzb4QqMHfuzCc_CpyMU_Yf1abcN9EGI1RobO9r-PKPIEWgM_rTqYEe8KPnz3iZiT18Dz7S_9oIcIvg_9E5LAWAmPNfKcXhVzXFiL3FhB5lM6XJFz2pk-MggLN31Z-CcPGXW-Jw344NwSokszW16ZCYerywB6dFK7lFP5CIrD7-V9zMXjQfUad3VnrACLZ-0EeM134CUleQPqj2DWV4wfOYmAjMnPPhGT8Ux8afgQt6lLUHDaFBp5Ykp7y-3lhZ-OpGel0Z0xz1dNAwCajxyFfUekmlOOmv15NX50EnbnlgshIq6vqeE7IomldSexqC3ZXY7YgyG8jlsBMTKlboLuYvXJGlGEKybOzFShE6rpGsijLDbQAtALGz7T9VehLerlBsSMzC8Clg1dLuMusM1G0YiwhgAK0ctqO-TUpI1jIFOE0v_uQ3b1XGZluJg3HawyEp8tcBHN7a4C1S9FU8ad0w142w0OFGPvnh9PbWbOMDdo6ISsAFI1jOjuCEhEKFAwwhavsqRbMaJOVzXYM3bOcY6mIg-x8ZKyPv3lVjNd1iP2tPFmlCOdL5v2Cp4NXvJMgpSPHer9IkDpU3iqelPtAI8fVFHwc1hM2dVwBjXe_VC-7mO37ZxVM65i7u91KhiXOIq7jTanW6sbFVgF8T1ztQ9apvK2bLsKN0CF_RmnmvAz-y-kJle_ivi3wOSZUfJvZRpVRts061BuJtBl5Blo2J0mtveSutEL_N9LcdEv8OEfrKL5eHm8rhs8OvuUfFT01sX84Hx65Heo8U82Dp0EaSDKDiJhcTMtZjI991wVnTKQ=",
  "id": "rs_05e6312b5d8bfcfe016aac624992c887d0a042eb4fc648321d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.037,\"right_z\":0.04},\"note\":\"The wrist view shows the can slightly right of the jaw centerline. I’m shifting toward its center and lowering the open jaws around the cylindrical body.\"}",
  "call_id": "call_UpkpO10qRtcaWv0YYXZ0ob0i",
  "id": "fc_05e6312b5d8bfcfe016aac624bae2487d0a44196629fc8c0c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UpkpO10qRtcaWv0YYXZ0ob0i",
  "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, 0.7979, 0.6067, -0.4198, -0.0189, -0.0387, 0.9993, 0.1177, 1.6852, 0.6842, 0.2234, 0.0887, 0.0231, 0.9996]\nstate[eef_state]: left_x=0.2899 left_y=0.0014 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0355 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4068 right_y=0.036 right_z=0.0279 right_yaw=0.0206 right_pitch=-0.1917 right_roll=-0.0374 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3197, 7.1316, 1.9316, -0.0562, -0.0708, -0.0171, -0.4034, -7.0632, 5.8188, 1.9072, -0.1001, -0.0415, -0.0122]\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,$blob:c3e088c30908a9cdc9cb6d32d5c5a800106dca6cdefa71bb6fd86c075d5bcb94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17a343580e0ea1514cc68b153e604e63a7825ed97ea0d628c60d7b9636ca61c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4b85441ee7bef028d07df3bb2c076fd2ef39af0c086f44f782e14f5b96aac6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c3e088c30908
wire blob c17a343580e0
wire blob 8f4b85441ee7
call 3 attempt 0 · /responses · status 200 · 12.97 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, 0.6064, -0.4061, -0.0193, -0.0387, 0.9993, 0.2279, 1.3609, 0.7593, -0.0902, 0.165, 0.0872, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0029 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3849 right_y=0.0632 right_z=0.1253 right_yaw=0.033 right_pitch=-0.0982 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5795, 6.8171, 1.8779, -0.0757, -0.0122, -0.022, 0.1299, -5.8872, 8.7179, 1.9316, 0.1392, 0.1685, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGJZCmIWL0pMB0ery6IuvHNPzTW9ttNZiMyjdNzr6X67Zp52OYOP-T9vN87Qki1UjPDJsfmCbm5phDkKV2eoVmmK2nH13ViT82AATc0kjfpYE7Uks1VqJ2EPWNTF2TDheCI0c0XtNfsbAtN0Q9WmflKOsuXIRtHWgCRBQkYsvIFa_J1KRSiyzlNcuDLHSoIXxrERdX_pJBLn6CamSEDBYEqi8C-j9O0iF3qBKQ8NmJvIkxxRRZ13TVkK-yJY9h-RBiHsKghvTaYCqUZMlHqk-t2gPRbcH72I1yfu9pFvHRbw72puzyQr7c9qC3kuyWvgrPvgkkvCxKUDb0KE2EAkE6zl6sYFG00FEdMd1LDrGQecIBDxxQAECfPbgBUhzqShNXByuTXfXhrfRA5_YRSWC--Waiv47qP-1gG86R-uTsA7c_iPUnOkLhDoHurixQ2zZTpEkPTEeT9GxMw4N0f8_m4bUUxCVVt9bBaKzsjUt010ZNFVbYnAgzBaYBQ7OtLkWoaInFtV3xzUR1vH4EiH8Stax3BFEmFXRDYWMYXueYzmWsyjSNt7bFnDz0vyx0O1qGIXdKnY8O9mQZsRau7X97VpnlyzbCD0lA61udIWpXZLOaHhBa19pRUNfS5yMsZBD3-VkZYslrl2MjBFTS2BBd0IvgjELAdJC5VD2Hlrr57gjn9a9HBTZZ5rpYF9CaDRJDbxRDaI7t3oYIfvWC3I_2DNsBFPaqV37z3FX-JJCcbZtmGI1QB-YrrW3MvTP9SBOydqqEkFugZiws2wiQKbDISk8dE2KHkqFWu4v-xEQaXY6I0VfelaVIQ7uLQX-5hsdUNp7h9yyN9e_jPgHZDRQzlvzlK09E-hgIuGflSvIsTTlze2DVGqY-FkfMnz0LkRWB_VqAprklPAY-uCKC_9yksNBToZCNY0WKv8zzCXKPABsf2KiiuxQRGHCuYdJ1IZMlwgJBQRMbSQyNQ_TBOqeCF99XxI1WmsYI81pZNJrU1BGgxMZU207eG8JtNYSyMZyd4iAfYLQGX71daPu60V4foVWlzV-8G1qyfz6e-WvSyR8lGLdJaRjRz9wccwkOHEX56mSCIbrJHDoItE4fVZQYavVERDhhko_6YswmOBbpPxikr6nJw9ZzjCELl9JehujKRyIJcXadqZsU81ENkXeQ43mAorE8a93pQb8RKtCRdqIJw8Y6TDMnUCWGTp0ICR5CjXCzCMwL-P19Ght2A74kOrV33p1q16DG_BZkRN4uwFrbIPzjOVIPkVTNusNKiR3u4I0dNYHPNAlGa30Q9xECMoajAFVNoK46YtuRP0xCMJGdLfRiNgO9Da0-ZTEKi_jUTKrDbyANBu_QwYF3RzXfIhTnyFubn0CaVP32ufgp_FU4U=",
  "id": "rs_05e6312b5d8bfcfe016aac6256e32087d0b73fcb488e600bbf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.02,\"right_z\":0.033},\"note\":\"The can’s near end is still ahead of the fingertips and slightly to the right. I’m advancing along the can so the jaws will close around its body rather than its rim.\"}",
  "call_id": "call_3pBR3whJmQQy0GMf0tYPnnp3",
  "id": "fc_05e6312b5d8bfcfe016aac625890c487d0a56b679a8248c6f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3pBR3whJmQQy0GMf0tYPnnp3",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8005, 0.6064, -0.4294, -0.0193, -0.0383, 0.9993, 0.0582, 1.8229, 0.868, 0.1539, 0.0471, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1692 left_yaw=0.0027 left_pitch=-0.048 left_roll=-0.0025 left_gripper=0.9993 right_x=0.4476 right_y=0.0213 right_z=0.0255 right_yaw=0.02 right_pitch=-0.2177 right_roll=-0.0395 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.388, 7.0085, 1.7753, -0.0366, -0.0317, -0.0122, -0.4718, -7.8291, 7.4325, 1.7802, 0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c268fb0762e2c6f7029da527ecfcc9325a55f9b63820ade501a11bf5c5100d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054d9749cb981ca38ab4111ecd140965bfb211587a601390f1b94d658d99c46d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a3bc2ef0a7ab5f1dbcfc0adaa9260c790de47f561322a191df9bbc6d9d654b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c268fb0762e2
wire blob 054d9749cb98
wire blob 2a3bc2ef0a7a
call 4 attempt 0 · /responses · status 200 · 12.57 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, 0.7979, 0.6067, -0.4198, -0.0189, -0.0387, 0.9993, 0.1177, 1.6852, 0.6842, 0.2234, 0.0887, 0.0231, 0.9996]\nstate[eef_state]: left_x=0.2899 left_y=0.0014 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0355 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4068 right_y=0.036 right_z=0.0279 right_yaw=0.0206 right_pitch=-0.1917 right_roll=-0.0374 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3197, 7.1316, 1.9316, -0.0562, -0.0708, -0.0171, -0.4034, -7.0632, 5.8188, 1.9072, -0.1001, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can now extends between the open fingertips. I’m closing the jaws to secure it before a short test lift.\"}",
  "call_id": "call_sxNRfboIfIuQQE2Fj0LUvMdG",
  "id": "fc_05e6312b5d8bfcfe016aac6265e21487d0b5c814319d58f681",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sxNRfboIfIuQQE2Fj0LUvMdG",
  "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, 0.8024, 0.6064, -0.4507, -0.0189, -0.0387, 0.9993, 0.0517, 1.832, 0.8845, 0.1287, 0.0406, -0.0261, 0.0081]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1644 left_yaw=0.0026 left_pitch=-0.0713 left_roll=-0.0025 left_gripper=0.9993 right_x=0.448 right_y=0.0196 right_z=0.0232 right_yaw=0.0228 right_pitch=-0.2359 right_roll=-0.0401 right_gripper=0.0081\nstate[joint_eff]: [-0.1436, -1.3197, 6.9538, 1.8486, -0.0464, -0.0269, -0.0122, -0.2803, -8.1026, 7.2957, 1.8046, -0.0024, 0.0024, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ce8673f024f187c62e68a69be5af0e425452e8c4ab981ef9753525246da395",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:107f934b96dd74668b6c178cccac313fd35143954f71c38dd3b6c58f566a5982",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2232eb2d41d36f38c9e2c4ccf60ba919732d04bb7ee1d7a2b10a7d75a2884ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 71ce8673f024
wire blob 107f934b96dd
wire blob f2232eb2d41d
call 5 attempt 0 · /responses · status 200 · 13.46 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, 0.8005, 0.6064, -0.4294, -0.0193, -0.0383, 0.9993, 0.0582, 1.8229, 0.868, 0.1539, 0.0471, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1692 left_yaw=0.0027 left_pitch=-0.048 left_roll=-0.0025 left_gripper=0.9993 right_x=0.4476 right_y=0.0213 right_z=0.0255 right_yaw=0.02 right_pitch=-0.2177 right_roll=-0.0395 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.388, 7.0085, 1.7753, -0.0366, -0.0317, -0.0122, -0.4718, -7.8291, 7.4325, 1.7802, 0.0073, -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": "gAAAAABqrGJ04ZpuNKcmhFPFBqZmdqExySR1H8H4NI5tJsvTswmlUzcSZr5gNqrMyCS5J2aInq1viKtZudI2_7QyApMV8rQFcd5hGbtz-_Q76zMnK-fGFltE-HFhk9q45uMzNwBZN16kL8nPUJy35F5vcTd-3xXl7VROMV_QX8ufrIz-Ak30mYXT2vO4gZhEzJJ-mgUEBk_WtV_4KyAXVsTgNWJ2D3FTcLuTlYTeVlkKLHD7n2SAkhCHfktPhDIT5Y39NgUd16QV6MQi8bA8fXniiLhiJnYc9se40GrH3TiTNT5e_a10cFfPr6xEjfO0uAj9sM1K7DGBmYbEiSu211oUU6-l9-7R-eFk-Y_nUsjxYje2i5qD1g-MYp3aEwDgS3Vd2iDs2MAEWkxpbOWo7fczWNw_pp2hwlHSmnz9XomTyOZc5mUFUY1V1Rmr5ZMjkUNw5XP_LG0la5QSNY-pv7eWiWNgOxrNGrfTISYi4tfvufFihQjjMEVzzUyT_7iQ_2j_cDQQqCbYftbzY8syMbJm0uxzRwRec5sm70CdCO_kYCPNhnVPYub8n2Cr4iSy-1-LAvGUOX9n4GLnQO9mjYNG6USnrOFhXMkFhXIFadjTkScqAKFEe5WrG-Zi10H4nlYw7rGrpn1eTfD0Ag9FINhY-CwHr7rXIvL-4l6kZTs1Pfb5cvgMMKIvcHG-UhXXYnykZssRCD39BiWmNPBHWXliWtw_zDGRClJMEIGx8q5OmPkAxC8ij-iQuvSMOKJA85aehRPh-rl2RIF-4hTO1haB8BjHrTOGJu33Si8gmVKq_HCC12dDUEIG_6w4aB-eBRclbGGOdVEK8Dul0rrijsNBIPdtfwt_TaPegoKK2qOfQHljqXAFJmwrv2X1YhPtpBbq54Jso_KE-GXIvb_5511QLy36u9VCpRLwE6xkMSp2avXjKptrRXAkLZ2VbKV841DsAPQkKrPF9NIn9tUta4Dxj6zn-3kjSXRIgVgPY_3LvcjAO_aQyI8ewKMYBzVyo53vrVGQzkaM0PmVk8Da4JxlGFqJVELfNnGuxMNadDpscgnEJVFetI_Kru-dfgvGNmApA6q9XY9SZRP8-jVd-F6Vx8Si3U5NL8SMDOq8JRmodGFzV_KNSLQCPo1V6Ru_C-6bfBuOZCD5G5c_lYiPOCi-3xWJWTtcaIIV748hicQCJTJnXLZQ-SUhFZYfpjvxYX7Ma9zVcD-F7lP9Jll_GklneTy4S27CtOWDZjXwToqHt3OPcmL_hS6yrWrJm31U94Nim8cdhBQzJGHSl-VxAatzG3M8kOsAnwCHKn45n2fOZ_0rQ1vZwIE5iAuqIpGa3KUBPowwTVlgI6Sm3iuygCuvDEwrho0UcDkYqMDN58kQgEBtSyZW-T6bG8fdsHPpuXIpS_7279Se5zJRmbDfqQRCECyUfmgVJ4MzogRXdyzjJ2d0mI3exZvovRbyukun7z3ofsARqn2GHDZmXZByGbXemp1xJ30gnMpVh1UqfxcLVsHI1q_ppoo=",
  "id": "rs_05e6312b5d8bfcfe016aac626ff3ec87d0830f92dbb40f28ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.135,\"right_z\":0.15,\"right_pitch\":0.35,\"right_yaw\":0.4,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The empty jaw reading and overhead view show that the rounded can slipped forward-left rather than being grasped. I’m reopening and realigning above its new position, with the jaws turned to match its diagonal axis.\"}",
  "call_id": "call_rcraBbwTeMo8ZuYwzVDzWInc",
  "id": "fc_05e6312b5d8bfcfe016aac627204ac87d081ce8d6e33adef17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rcraBbwTeMo8ZuYwzVDzWInc",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8436, 0.6456, -0.5072, -0.0223, -0.0502, 0.9993, 0.1871, 1.8545, 0.9218, 0.6033, -0.173, -0.1051, 0.9974]\nstate[eef_state]: left_x=0.2846 left_y=0.0002 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1296 left_roll=-0.0078 left_gripper=0.9993 right_x=0.5038 right_y=0.13 right_z=0.1256 right_yaw=0.3872 right_pitch=0.258 right_roll=-0.0324 right_gripper=0.9974\nstate[joint_eff]: [-0.1709, -0.9368, 10.0855, 1.8926, -0.0513, 0.0122, -0.0171, 0.1983, -8.1846, 8.4581, 2.2833, 0.0122, 0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d1b7d0f25b3fc58bffa8975233f54f85809e258be46eca877acf62c6f4e36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e185eecd1d2ddaa5f251280377af2df08eecfee9335953ed7ce9af185bc92efe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2da4d464a27d53d531088dfb5383b4e9642c2488cf37ad569079378c4e5a13d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 71d1b7d0f25b
wire blob e185eecd1d2d
wire blob d2da4d464a27
call 6 attempt 0 · /responses · status 200 · 11.81 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4507, -0.0189, -0.0387, 0.9993, 0.0517, 1.832, 0.8845, 0.1287, 0.0406, -0.0261, 0.0081]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1644 left_yaw=0.0026 left_pitch=-0.0713 left_roll=-0.0025 left_gripper=0.9993 right_x=0.448 right_y=0.0196 right_z=0.0232 right_yaw=0.0228 right_pitch=-0.2359 right_roll=-0.0401 right_gripper=0.0081\nstate[joint_eff]: [-0.1436, -1.3197, 6.9538, 1.8486, -0.0464, -0.0269, -0.0122, -0.2803, -8.1026, 7.2957, 1.8046, -0.0024, 0.0024, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGKEty1Nfr1p64GrfCYYIUzHweANTMY6g3J6jDHmvCDauab7gMuU6BDl3bpny8rbVNlFTGRIPcgu3BVUMwAfKcHm8t02EekCMBPSRfF76qayRWp4PXPubZgO0hR2aX2c0ZnTwCJU6kXNOb0MxO2qBknzjnP-vX_4ipv41S1Cy_bqBvCAtIS1m_QKUVPOTkPftXL8ZtpmGQqXTv95RjDSL7a-8lTSCdGa84A74QVjCHEXmsg7mE0ENY3dilyOdOVPdHjaamT5e1APV1NXFCuUm5P3_rZ9O_vzTQ68S1Zs8HmkwvAYy9ZdjWBVo_3o4yx8Far385dY4pCwbFZ84rNJnHpi9wiBa05tDZx5lh_JjqAsd2k7t9sz8c_Xte5sMSHmVbgmTm2J7KXWQ2G-bYs69ZABnPKbmtmEoF00JcRKLQdvi-3xlmzkBQZfr2OAEDjAIyY5LT2Px0zBD2NaZA6OqC2j6oqGsVB2fLv3857AKHALqLKxDwKTBRYY3v-6rLiIHl3Xaaq8xdvReQKAuGDAta0d-8Nl6vSA_si7FZPjwhUsB7BGiDfGSKU-1XmWlQGit1c2ExINkHq_74HCku9S9_vyDf6Ft1auYqPECmLD1M9jaXiyU6lJhuYbPOz_M07cUH5ogNzswS2rXV_fVmCgy71B9Qwq5l9HWxNTWss1dsWZ2IEQ0VuFWEQDjK3cSiTCk3OoLaJzQls1_xSwsgia7sBB4Ko9fC8-pdzy6KV7ETzwgbaF6zulrIJCJ3kpJaMRn0H4b7dCu-KODb2Bf8iASvFgwXFFbHLRxrn5Ie5HguDADWRluCNp1zjFcDSW4ly_V0WkAB7pN4bQKKxwZyIUILMJpY67oTsRWuxD6QT7g4PvrZTx2AnV1aUWn7TBd_RSYhk3FDUUsSj3lIx27T9obsYz_8NblMnXCx3SYUpl5WcTjh_iMmVseCdwkB2cffK5-z8F_Xnrx0HicWfBI90S_WejUUlHFZu0bgpvwNFt8HHNkI7eQ4BG5QvHWbMeNRQpKZYd-1wkdRY9nY6CK5S2jN-dgQWe1QLGZv87N0r-tnuARH_NjY2rQ7_qeYCwM5XyPYYHKaUfCHyqNEbaj8rQ62nvAWqPmRaEfJfR3GD_5IaAfpysgiU_dv3Qv6BWLWC1C17gixvDmYwbQUtASn0qmZ8HdXna_kgmRv9CLaeS6Dj_YacDMfAgnks6X3RZomZ9B2hRLUnINJjCUP5qcRDZghIgdUrjteUtIazguNiCU9sLTsPh_l9yuZEbRKR-lHkTCmZ3X6FznyaocsQKIV94Aqp8sGB6pm9XYZlIlg-V3XJ6OV3VVscMxqcKhoOOsq2YsH9ApT8lZ4vbNN38frnBIF5Mkq-pGzveyo-qhLsKVn_Hq_Y3INURzqPjCkjmpbKi_Z2TE4BdluHBOLHAeGuwgv-6n4k69pBGwWJfcuOhHWmZme3QXtQ0iyx6frcWLGGrLIUdJJlxKGwBpCCT-R0jL2OdgfmwwDQKvIVkXzyR84uWXR0QSD3oCvgh0n68g1_bO1RHEYkkMMnfidYaENpuMdrWEbkMsG9-q5XwDafFFmEpB2AgXFFa1Gw9D6Dbp_S4BtLPylXvoMRMUhAqgFwGGJxiMA==",
  "id": "rs_05e6312b5d8bfcfe016aac62804db887d08a24201138c672e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.108,\"right_z\":0.045,\"right_pitch\":0.35},\"note\":\"The can is visible just right of the jaw centerline, beside the kettle. I’m making a small lateral correction and descending toward the can’s middle while keeping clear of the kettle.\"}",
  "call_id": "call_qzwBigqSjFf7MhNQ9IWEUaJI",
  "id": "fc_05e6312b5d8bfcfe016aac6282e16887d0b950313d6f0aa0b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qzwBigqSjFf7MhNQ9IWEUaJI",
  "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, 0.8471, 0.6472, -0.5232, -0.0223, -0.054, 0.9993, 0.1135, 2.2116, 0.9421, 0.9161, -0.2329, -0.1055, 0.9989]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1475 left_roll=-0.0101 left_gripper=0.9993 right_x=0.5266 right_y=0.1047 right_z=0.0239 right_yaw=0.3639 right_pitch=0.2391 right_roll=-0.007 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.6615, 6.8034, 1.7411, -0.0659, -0.0171, -0.0122, -0.3624, -10.2496, 6.5983, 2.2979, -0.1392, -0.0611, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a79db4c74ae64b0350fddaf1d765429445368f744f95c7947564e9178677d33d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1cec4277995a5d494ceafe53c4a4b9b4dfedbb47da7344e796f6977d8a00352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f932920f8d2f1ab992d77aa95f1fd62fd995d3efc7e451b0a8996afc7e21ff86",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a79db4c74ae6
wire blob f1cec4277995
wire blob f932920f8d2f
call 7 attempt 0 · /responses · status 200 · 11.17 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8436, 0.6456, -0.5072, -0.0223, -0.0502, 0.9993, 0.1871, 1.8545, 0.9218, 0.6033, -0.173, -0.1051, 0.9974]\nstate[eef_state]: left_x=0.2846 left_y=0.0002 left_z=0.1601 left_yaw=0.0051 left_pitch=-0.1296 left_roll=-0.0078 left_gripper=0.9993 right_x=0.5038 right_y=0.13 right_z=0.1256 right_yaw=0.3872 right_pitch=0.258 right_roll=-0.0324 right_gripper=0.9974\nstate[joint_eff]: [-0.1709, -0.9368, 10.0855, 1.8926, -0.0513, 0.0122, -0.0171, 0.1983, -8.1846, 8.4581, 2.2833, 0.0122, 0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGKQyeVCiszFOF2mZoz0It5dhT84xK3luDSbnKHMgE8TuOG2rHRF5hILTINZXdfii55DJFkUcO2NToFdR2ToU9qHDUuiJH1hHT6tzmb_r0y2bD-_uJk2exqB-2fay98V-QZsVKbKOXExH_STA4HUG-dMNA9a2AequVYHAi5ajSoMKfhlNdjuIoOGYSoOU8ctwrYX8RwtvH7DUNmrXW6DjjcN5iaoJXSYYPGlZ8KQxXHiUcJVVQBExjy8cBHWkj9LrXOSUhM4t5oBSmic1hp8szfZr3_nnzz6VxEiYWVQ6xtNExdvevCQ0JLLfzr3yv3a5LKUYXisBzv4G0izoR0KMZzrTGpIKcMNgT6p8ALXGtSN4UpGOitxh-T1WcaB0pyJ5F5HtZYvt5J11rbxba4zuzbDArcf2n3uDAbGeOX81ys2z7HOahv2mYahxqc3OLhJ8esRpBk_ymqiBErq1WEf6rmB8BXgqHdDcxLRuuzSVxgeJtpFc_Aee4lTTb83sIQesdVfebc_zQ4AxImfGnFjs2nt71rJwjORQPJqAE-tHDzgvcaQG2P8oGKiNra0QUtsVx7BXMvn2pwGmNGU-SWMoHEEkvFjyxxtMvJ-dVKrLlwXPDR1HnMQ68XhZMyj69DlHCZucJmBU2oHLnC0qjE5Im80eg21FEcwaM9Yxk62f2LvFfven2jgNKeC0IIpmG7D3ypEp9eYyls6qBHMzVTVqJnrjemLMxNBfF2qvK-gTdyyLYgL_AmYMXNJevyEdLHITVxAKGotGnzcU_lFSD9tM8laZWn-hHMdboVtwxz8g2eC-JFHc_w4XBUBCteuhHyz20KCAc4RyysSF72YJmuk6IIqLCZGKW-DORPvz_EzwqGrmeflTABT_kIbZP-Xl5-ohMpSjv4KS-lNmyx4CNY76eO2Bn2c3_t6ZKc-fdB6wOT84JHfnX0VPYA_yYQAB_WomwavvtynEg5mAOZTNtqlN4wD0z8Dp6_j_4rnGKswTgIZiFzmofAChIQLT_Jxu3z7jUr-GBxfZp6dUj_OCI-5humMpt_ulp2d4ZBpTU9ieazqdA23zrS2tJadAAYDuptJMzkOD9MYvgGQKviE-6SD_FsFD3E23xtwyQWUQyYWM14gJrlGbZVCZigBTuTYMJnVn5xAwmrxJhBWgkLKn3XxGCk5nQga0fU45cuqTwHaO2TnXyFULQweWi35Jc1-iilDIkx126SjC3WQ4pu2f1-aOLXutCTnnwFyYwEPJUa2eYGjpBP0hTbMKyqqbxWmxrTFtRX87ODCAuVBMorRx17-wwc6jzDPn3arwiBtREBwuvNYi8oxiZVjlDimPT6VslgZoHrb3smY2i7zdySOGp7_qQ3KsqILuxA7JV8agf583v4OgT1H8sKAgFPQrlw4VmJGTJkeiYMM86Q-YtPcWyVilBRdKd2rCzsbWLBiYJwGtO-Ll-4F_2vYekJiagF4G14xJ7ZmhMCIJn2QsAM4pNZRihAFdCj7uufe7aDRHWqGqW9SZV--z1TSMH4J7G-530-BOjiEU25YRzsJzJFGz8FIvVgiht1u5RiPwSia4XPIKu2_bx0WhTZ7-Fie1otJPABQuF0N",
  "id": "rs_05e6312b5d8bfcfe016aac628bf6b887d0b8a399f15f0c3f11",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.099,\"right_z\":0.045,\"right_pitch\":0.45},\"note\":\"The can’s near rim is still ahead of the fingertips. I’m advancing a few centimeters farther under the body with a forward tool tilt, so the next close surrounds the can rather than missing behind it.\"}",
  "call_id": "call_Momt8wxx8viAPD3ArCduUEzZ",
  "id": "fc_05e6312b5d8bfcfe016aac628eeff887d09eab225aacf4c02f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Momt8wxx8viAPD3ArCduUEzZ",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.849, 0.6468, -0.5385, -0.0219, -0.057, 0.9993, 0.0872, 2.3653, 1.0908, 1.0557, -0.2783, -0.0788, 0.999]\nstate[eef_state]: left_x=0.2799 left_y=0.0003 left_z=0.1534 left_yaw=0.0087 left_pitch=-0.1651 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5651 right_y=0.1017 right_z=0.0283 right_yaw=0.3732 right_pitch=0.3724 right_roll=-0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.6479, 6.9949, 1.707, -0.0562, -0.0122, -0.0122, -0.759, -10.4957, 6.5299, 2.4103, -0.0806, 0.1197, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31ec957df247e133a35b76411031c5fd9a40cfaf85f0b49b55d900e9d142703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506d0c06f659beee96010100f177eb224aa90531dead941cab441ee50a0f8be8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b710dc6756f467ec5bc58da1d6bba98af0770441e9494df5c6b4afb12a41994",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c31ec957df24
wire blob 506d0c06f659
wire blob 2b710dc6756f
call 8 attempt 0 · /responses · status 200 · 15.3 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8471, 0.6472, -0.5232, -0.0223, -0.054, 0.9993, 0.1135, 2.2116, 0.9421, 0.9161, -0.2329, -0.1055, 0.9989]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1475 left_roll=-0.0101 left_gripper=0.9993 right_x=0.5266 right_y=0.1047 right_z=0.0239 right_yaw=0.3639 right_pitch=0.2391 right_roll=-0.007 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.6615, 6.8034, 1.7411, -0.0659, -0.0171, -0.0122, -0.3624, -10.2496, 6.5983, 2.2979, -0.1392, -0.0611, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGKc9YKLxImaecJMbgP7K0fge5HW3ODq8HDag5jPZu13LPa5Ahs68U2ZIQAtUIJ1ZY-91ycw3muCt9ZXXjXz2kViX1UpfxqSExyCPWx-RJGynVvVp0NVqCv276nrmt0P_ZOgJZG3WVZMJHJLJ0WBJrq0QocyQ446HzJDtfMdN8IqGXfnBv2v18nVLqeB29y-2zCoMFQBYzqd8rNfXELsTUOCQWcef7FbhoSObM_3EPNhmIBVsz9o9t0CXePnbYsKGcW_gXlgyHEDYaSQEnuUoO7UoREsklx5NAW9JLTp9LsW6bPwQsjOQXuS9CLzsnVEYmbKEPtv-ROJaTfFb5rl8D7mXQtCj06lgI69Ala6A41U-cPLmZS_6nLQGQeqd7dih4oeCDdIm6shtbp9S8X32WZNqyTGVPig1mHppkV911arFKav2U9cJBXlgnG5TnBgx_Y_ri17Kv7ijZ5uePLmgBcN6j_UnRwXBTMpNaVNqfABk8X4JVkmqzJbPjbq9XWCWvKEa57FicjkvZAA4uzaCMuAzY6nXqb_NsldR9wNOjURgPc1jZwKmV26OWypk5XkrCUE0H3iUwUkGJb79BmNKclqvXouUE1mPyL6NMibuFKY0p75tP0635Td4rzcqg684nZFJNIkc9cbAUmRPlbSHBbmChijcvPaRb-QSfgUTWoc61GtYYcRqa5ssvrdIp2csoqWjQhLdR5telj9ZcLVCGBy0DxBj_odslw7AC3UCDgfkEvKweQ8DrLnaNbfvMAUG3hssJlZepXWtccn3hYgStL2tBsbeegIwSIUx85v5a275iZADyiBngN0jSQDs2U0o8Hl_fc6hyKB7fDjJ8C5E5ZCFbgbZdJmyCNsxij6BkAuzNDXW62m3LkkWJeU47lfmk6aZhlc97fszL_cVG4r_ObY96l0gPBmvqjMs7SBYHnq_PyBz7CZ-5OqfOxvr-bel-QEVHPIiYIjYbq0egNzKAKjeMRDGxmqcBifiEvYqaq5U5U5n2sIzTr5iyTxkXx3mLsj-9Zc3eGhyEP1Z7zfxpM0uz3tbjqV4JbZxfbhJzXmvXlm3-pwO84lwAFznYGywAZXtoXDwDjpQ6vE26wv9ISZuobfrz_R1gDr_HhIOI6ep-WhAzTmcDKpHCpwIx2zje_uoyzFSgHzEAMW56C1mVx3wd7PRnuB9ZSAhILWa_Rd2r0JSCdgYUTcbl_zoRz3zPx1Y05Yc_tgtveZ5ZZid06X9VtsebjcpFAB8inTcOdtuJa2AXFzr8nRBXESos_shRDshN6BZ4oPrUCY4Ww2SVkUKQmRa2-uYaab0duXynTnLtQ6Ifjof6dxBwt0c5_aOrgjMHMmy8tZX10z0Re85zr2ayNWLPdaxFC2HCwujL6bWfnDj3jxu1sJqERr1TKUCJYqlVpTu-R2AkYpvNk1nvcmlSfQRexH9hwEiwnjTZTMiCao8RJhpmUOifIl_uAjJJae1B4bJvkmHVtQxt2olfJCNEDE2gj_p1y2N0tO0jmwsUrgGiYVWvxwwu7FDHkHJBbQ5elbTaclLoQc0la4oUQSfMh6l3zHplBevA0GsK8hxpFIWFY-xbdrrZGMnP1Va16i4vPfqDhwHthx2gR7CA9eEI6KZRFR2r3YpwjDDiRX9Go2GCJm6WV_U8ZsBSc25Bj25ahg6AP2pyFKH1FzCGic9ZkAXkkPI55SBLqWD8BDqSA=",
  "id": "rs_05e6312b5d8bfcfe016aac6297dc9087d0adac773caf30ceab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.065,\"right_z\":0.055,\"right_yaw\":0,\"right_pitch\":0.4},\"note\":\"The can is offset toward the right-hand jaw, so closing now could push it away again. I’m centering the open gripper laterally and straightening its yaw before grasping.\"}",
  "call_id": "call_ecOaWxhE7H5TimTFfTv8vcOf",
  "id": "fc_05e6312b5d8bfcfe016aac629ac2c887d0bef0ec46fcd7e830",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ecOaWxhE7H5TimTFfTv8vcOf",
  "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]: [-0.0257, 0.8501, 0.6468, -0.5453, -0.0219, -0.0574, 0.9993, 0.1509, 2.3283, 1.0328, 1.05, 0.017, -0.0246, 0.999]\nstate[eef_state]: left_x=0.2788 left_y=0.0003 left_z=0.1519 left_yaw=0.0089 left_pitch=-0.1731 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5588 right_y=0.0855 right_z=0.0246 right_yaw=0.1411 right_pitch=0.3371 right_roll=-0.0159 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.0188, 6.9812, 1.6581, -0.0659, -0.0464, -0.0122, -0.0889, -14.5026, 4.8342, 2.1807, 0.1441, 0.2076, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321f38187d134a8ffbd40974fdfdadfccffb8c051b8532a74062ece12891e9a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee264c6cba6030a845a237ebb5caf0a2fc114577af9733351e3cf3cf799ee3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a2a241ecd0d218e2bb936e8f35760d582383af6fa3734fbf7bd08f088daf48",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 321f38187d13
wire blob ee264c6cba60
wire blob a2a2a241ecd0
call 9 attempt 0 · /responses · status 200 · 11.1 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]: [-0.0257, 0.849, 0.6468, -0.5385, -0.0219, -0.057, 0.9993, 0.0872, 2.3653, 1.0908, 1.0557, -0.2783, -0.0788, 0.999]\nstate[eef_state]: left_x=0.2799 left_y=0.0003 left_z=0.1534 left_yaw=0.0087 left_pitch=-0.1651 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5651 right_y=0.1017 right_z=0.0283 right_yaw=0.3732 right_pitch=0.3724 right_roll=-0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.6479, 6.9949, 1.707, -0.0562, -0.0122, -0.0122, -0.759, -10.4957, 6.5299, 2.4103, -0.0806, 0.1197, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGKrV-_HP3n3E2TOPcMkm4VcHJjOwlBUuiKNGMm8oMGj3tsqo0IaWuSa7yiIFKo4aEdYcKODxrFSSWQ7gtf8V-Ux1DZlHcdaeCzP_GRlc7kO20LLvn5YqGFowGCoNpdVzX0vilV2SxHG9lFZCCVMsxKCay6NnON1XCTOpkL0wAyzQPtnP5Iu89vMYIJY4sFrjnwZsYetwW6uGD767oCeiC3_Isf76huqDg58qS_-NDNmCj8OXOuu6F2rXxJ5Zf-dJVWHxQPA5-HcqZzbnw3oERiiHR3DsmjGsrVbCWM8bZMWQ8gxj5SpNqMvdZE7HK0_CkxNVjktB2u3r5fA4gLSmkLF42Q2NQwwK6LEdMBpn6Q2LhgsJbEePekADtqsTRhmRQCAF7zAsu1b2bjcbrD_yliFmSqfvE9AE8L1UF1BVp08MWVDG_9As0_tHxC4BXCAo1kfZvZ5vsgTnPGJszBYcm0j06N4VAViQhyM2PZTgsBnDVLROGaVpeqGbv30mQqTZzo0Ubv20FC2Ozk9SdJMgsQC2JyU9FwcXTxkhoPFnj2PhKxeZI-BYt5-QjOORyFexDeBF5ciN_Kq-K3I-kZPIpaNX7u9DFLHViz9k5pwq-mqU7w1wvQjYV8DZyLfMs4mlu2ikGzEzfO1kiRFkGe3kF7bhuqlp_Sk5UgBknA1-8el71dBl7HX7tuFHyvPq6xIHm7hYT9lDD-bENWd6tMJvOW0h5iHCFGxbb394HtKdoSGAfjAheuI0CvrzyoGXu3pnmN9DOW4Q-hW90iQ0yHNCBWRWVjeim617D_DXcs4-0BKdYuMVCtxtPHLNyWfX3v4H_2JpKMHx9bohEFkJ5t1C-s4nDDt6Hr5aongFFwXHCrt8fwKmrADDhf55aYrb6nwMWQEM-HMf30KYacAWHU5fxo3r8hAob0sIHBJanAgYG-wQ1ZZA3RMkxMtDn-2Np0tq4LoSCyrBpRhB9KDCAyouios97t0rr9-4SyzxH9lIEhrGF3pTwd3892ICo2PYbJrhEBGaA183pcbGu1tMM_SCEnNsy-Lrp0lw33mGq_oGMnKrZN6bZr5aW4ovQ-WZjOwvGLU0cOkQ33VkgGx637XYqYcKR2C-SBa4SbXEs1VSedCh8SQxjP2cc47Msg31wOqaKnshrH_E_NPVIik4urFZoBTCKFs4OE0e4vErvxcihdRBE5qFimiwTYJDshr_m7DsjDOtLxcM0lAmlpjHIAKHoNledTwcrmqm7vXvTR02PlRdvVTSStJqM_4Y0unnNPWEdL3fMnckf_K0OlVnEfPgW03vBLJhUJKW-JFq68axfc4pP8VK1MVOZWa1VpiqMfEMrJmC6G5cl7gQb46862HK3nsOA==",
  "id": "rs_05e6312b5d8bfcfe016aac62a8c95c87d0bedf00710b6bd92e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.085,\"right_z\":0.065,\"right_pitch\":0.55,\"right_yaw\":-0.25},\"note\":\"The can is now centered laterally, but the fingertips remain just behind its near end. I’m making one final short approach with extra forward tilt to reach the body without pressing into the tabletop.\"}",
  "call_id": "call_IhGDW4UX52ECkrJyimWyFBL0",
  "id": "fc_05e6312b5d8bfcfe016aac62aa317c87d0bd1a858baa019121",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IhGDW4UX52ECkrJyimWyFBL0",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8536, 0.6468, -0.5629, -0.0219, -0.0578, 0.9993, 0.2836, 2.4405, 1.2404, 1.0988, 0.4534, -0.0074, 0.999]\nstate[eef_state]: left_x=0.2759 left_y=0.0004 left_z=0.1479 left_yaw=0.0093 left_pitch=-0.1941 left_roll=-0.0116 left_gripper=0.9993 right_x=0.5913 right_y=0.0955 right_z=0.0528 right_yaw=-0.1491 right_pitch=0.4912 right_roll=-0.0433 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.7026, 6.8718, 1.6777, -0.0317, 0.0024, -0.0122, 0.3624, -11.1248, 6.7624, 2.3028, 0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83d6aefd06b6fcaca75c0f1db7e29ca544c1918189039494dfa1c26b98ed3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f281234097c55544f9e9cb07003f2998af8036c7a7d47cb2980d2302e49f52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b84e9d6065da43fd9316601d256252d1f7e5b652b0d1d8fd631f4160f30913",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob d83d6aefd06b
wire blob f2f281234097
wire blob b2b84e9d6065
call 10 attempt 0 · /responses · status 200 · 16.87 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]: [-0.0257, 0.8501, 0.6468, -0.5453, -0.0219, -0.0574, 0.9993, 0.1509, 2.3283, 1.0328, 1.05, 0.017, -0.0246, 0.999]\nstate[eef_state]: left_x=0.2788 left_y=0.0003 left_z=0.1519 left_yaw=0.0089 left_pitch=-0.1731 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5588 right_y=0.0855 right_z=0.0246 right_yaw=0.1411 right_pitch=0.3371 right_roll=-0.0159 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.0188, 6.9812, 1.6581, -0.0659, -0.0464, -0.0122, -0.0889, -14.5026, 4.8342, 2.1807, 0.1441, 0.2076, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGK3ugv49Mpg_JF3q-CsXmCXWdjTbyouVSRzbxMvSgty8FATB8jWFU4WFvjDLOTEFw85Rz4S9GOiO-yW_bXreIZfnPxueQ9_SZv5QC7s3TwkZSakK6grl43ednRu6yi2zk-2QBXftXVMfXpbQ9Bg2pXhGvlWQyaTcGt_IEkEBY7fFDaCXI8zQ183nl7Hu4BQ1Ut665pcg57gFodVJ80W_lt-w2Tcm01_xkdbYWSeKqnjRa_NX7TZpel6-ajm2parjkLjXDG_8kLaGz7gFZ_1Kgr5jndSXtRWMOizfeGQqBVhoQDQwlX6KBOuLvpMfEvjpHgHTBxBkWn68F1BfhE6sZRuEGD5arywjDU3zvqYXKkB3HQ_eNwFCWAXecEPvHGl_GMZzWvrZhDHPDoxwMGbW9zEl9VBooze4ikThqhggCEsCHOsAw1nDHYuAdy3APQgjWhaVLTavv3q20Dp9IGA2aET0wwzqlo_iDqsTmBy-3Fmd3EjB84N19HUqOn93xP6ow_6p28i2WJ1icm11ZARoF_1_DZJlHSpGGR_AxbSDmaWtG1ikxdxE5ny4jElpAfCnOurcMzuvqOyZhvpAAwgIv2zn1mXSGhGUn-KqOqqPTGYwdt3QTXg6fEzAxvlgkrnMDXN0dlxOMKQFkfmVCgnfkAHj2AU68XgYniTBAu68AJLpfsQ7UrwlY8Ky9zuEhIJTyngY3OSkXanikOCrq5tthIdvu_0jt3C_m4dZYADTQ_V2XVxyG-ptsScUl5jXqjX-EtY-k7bHxSW3-MOyxY8celgdhfbazVK-neK_g-aaeSPaamoveqJvqRnDhwc3BQKE8S0khnq5-5FTeJvMuF17RDJw8Loz9rVjns6wvcIz8ma9oO65yr2eVGS0mrZsQmp5vGfmv5Ajp3oOpDWvGPZ2V41hnrgWFXt1tHNxwCtvk_ECkZaJbSdLrtZ1RBRqVwyw4P_AgsbeElY6gA8AWZbPK4Tnf8xPOjdnNkkgQ3CF8SRhXjf_PACYcnoqLw76zMoim1XySwm7fUS48A8OMA0jPv8ltEJmM6j5ETvg81e5YQI5Q6qI_KHSYsTBKQsVYNJTvhO6ls2m32ArgEdwi4foeGZdxC9EdZcSC5kMZKvzusKlHLQWKOO2FIJb_ukd9zx6rtWKMnhF9usuVSHVC7JVb2uJPytFAo_apRVi9kHlyHudK5HH_I705SNql5mkedqH5MA9IlXr4I1WLOAF77Ah2SQupXrv6UhfqXq7s4q697ZnIix9inPiBJnRymAKOzoqwhQ7g6zVP6Br1fH5HE8FCVmtA==",
  "id": "rs_05e6312b5d8bfcfe016aac62b5cabc87d08d99ee311980ea5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The can’s body now lies between the fingertips. I’m closing to a moderate opening first to avoid squeezing the rounded surface out sideways.\"}",
  "call_id": "call_QsxBEEsiD6a93kedXHS1JLmD",
  "id": "fc_05e6312b5d8bfcfe016aac62b6b9e887d0a8aa9e8c24cd85cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QsxBEEsiD6a93kedXHS1JLmD",
  "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, 0.8536, 0.6468, -0.5781, -0.0219, -0.0582, 0.9993, 0.2867, 2.45, 1.2411, 1.0855, 0.4507, -0.0109, 0.3546]\nstate[eef_state]: left_x=0.2733 left_y=0.0004 left_z=0.1452 left_yaw=0.0096 left_pitch=-0.2093 left_roll=-0.0114 left_gripper=0.9993 right_x=0.5903 right_y=0.0975 right_z=0.0445 right_yaw=-0.1366 right_pitch=0.4708 right_roll=-0.0572 right_gripper=0.3546\nstate[joint_eff]: [-0.335, -1.4701, 6.9128, 1.6581, -0.0855, -0.0562, -0.0122, -0.5949, -13.4496, 4.9983, 1.9414, 0.0464, 0.0366, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94dd51fb334d3b7826d3eba8c71d6fd44abb9ee891788b7b0f9da1463ffd7b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5471f1ca12cd00e6734213325c9c29d3e5eb4f7bb3f10b7057b1102c25002a53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb64b3bb7fdaea00cf095042f3f43a121cf143f4afba4e91bd4dc9f4de31ef16",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 94dd51fb334d
wire blob 5471f1ca12cd
wire blob eb64b3bb7fda
call 11 attempt 0 · /responses · status 200 · 15.76 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]: [-0.0257, 0.8536, 0.6468, -0.5629, -0.0219, -0.0578, 0.9993, 0.2836, 2.4405, 1.2404, 1.0988, 0.4534, -0.0074, 0.999]\nstate[eef_state]: left_x=0.2759 left_y=0.0004 left_z=0.1479 left_yaw=0.0093 left_pitch=-0.1941 left_roll=-0.0116 left_gripper=0.9993 right_x=0.5913 right_y=0.0955 right_z=0.0528 right_yaw=-0.1491 right_pitch=0.4912 right_roll=-0.0433 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.7026, 6.8718, 1.6777, -0.0317, 0.0024, -0.0122, 0.3624, -11.1248, 6.7624, 2.3028, 0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGLJXTxAVjO-dmm268Q9ZcJiba-CstwVt3AugeWeF7BQsZhSf-CVDh61IfPhipn0inLf_dCifX86KuBi34J2kzv_cYF2JsQEhsYWT6uJbJJjjeg3zr0Gu2qSEKOhGRBIvlNU1oaIcn2LJ1pf-peFVzj8Ah0K9q5B35RvkjRn80zMmAdTC9OnZbmSKOUet9FAqRaj64cDp1ITJilT5W1G7g1UhQWQFhBsF_xSfeY3BBQxL_DmSg2L20yrbqxmmLKByP8ObDk2BpLTpU85EgbQullqJWu3imtgh9xiCJlADIw5jKd_jW0lo8acTlKFWxjx-2NWj6YwwoIi3-vjTdN8MbV-Jh1X9iXgX69Pd-kMH-xW7__tz85qeY5xtzIV3ywMhf69FNmUBkgPlPxU2S7NnPUhFF_MVxForMyJ_or5TmnUMDnDGi3ZxhjJarY5ucM0mjHEFjDGVSrMl8OhfpwLabeFJ1O8MjNsTqwnI428WOhyzA2Vcjnv9O_ZCgobQCkW37eGbZFpHvXlxnTqMXrZgA0UiYzFm1Jjgky_WX9XY42lwNbq1lsa2j8gr3eN9lgkLGQ6aFWrL1_cG8Hc_WJmsh8H3ocmT542IwQgHBBrCXxcPKOXHTwizs7LEaL3LgeZ3FvsJwTclJ918U1S8UuI5blsETNtoXxvK1dDiQX-VJ71iRT-NlJJ6bUDf-gt0wBKyHJi00eVvC2vkFjs3YjMT4h33zt_k-oA3LRNIbCnnHIkS-9z--D8lepkm4tA5ek7D6PKWzOh30PIJoUbmZCruAq5t0Mz68neiZmUcvuWFlwtJnozB_gmDRkXRMglmhw_xoWx_fls3srPckaRMekcfZgeOyAqK2IDr6Rkwb_s5ZOFUZUtOSPDaXmHmoG-gmie9jfYVw01j-qbIT2kJnl7Qw30anNiwzZlEAxdy_1-0VTyrZZeqzkpHdHssdS0reUy9HJqxqganTCONjDwAzTMhWHfvHwRpGtTzqO9CTb4IEQ1od-_sYhSTde28lM28hW41SgtBlgsFN157UrXC1Ei9ByAId4PeCnTQEwyutcXt-mPASlFsWgrbtXWzxmtlnOCojUcM4Z4QvhydM0nBA-W0WtUOjCsSOV089RimkpaqjpG2VBoBlSvCVObgkQaQkprLPJy6ugH4FLiyqKv2Lk4I5Gp6LwPl5XiYnl71aEWjZx_EoPXABtn860Mr1vu_X-QF5_em11o-K5O2sk5pgY-8WXT-72kcoaqQZ7H4KtHuf3gtlk=",
  "id": "rs_05e6312b5d8bfcfe016aac62c7991087d092aecadbc4ff2718",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can stayed centered during the partial close. I’m completing the grasp so the jaw readback can confirm whether the can is securely held.\"}",
  "call_id": "call_brBcp5t9T4Nxb713k4VM9pqp",
  "id": "fc_05e6312b5d8bfcfe016aac62c81c4c87d0b993b7f9f910e4b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_brBcp5t9T4Nxb713k4VM9pqp",
  "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]: [-0.0257, 0.8536, 0.6468, -0.5854, -0.0219, -0.0612, 0.9993, 0.2867, 2.45, 1.2388, 1.0721, 0.4488, -0.012, 0.0081]\nstate[eef_state]: left_x=0.272 left_y=0.0005 left_z=0.1439 left_yaw=0.0114 left_pitch=-0.2166 left_roll=-0.0133 left_gripper=0.9993 right_x=0.5895 right_y=0.0976 right_z=0.0406 right_yaw=-0.1309 right_pitch=0.4564 right_roll=-0.0653 right_gripper=0.0081\nstate[joint_eff]: [-0.2256, -1.4701, 6.9949, 1.6044, -0.0122, -0.0171, -0.0122, -0.1709, -12.506, 5.0256, 2.0195, 0.1734, 0.0562, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd6e25aefd1197d15197016c2046f46e7100d8d421d057fc496a4b1fbf33c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ed1bf1ee6960671f971856104107406757d8fa14b5e420acb4c9d23f5f1016",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4976b3cde85ba125f9bfda7fb8097267941bed6047ed252027c2486b9bd6dab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 11.17 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]: [-0.0257, 0.8536, 0.6468, -0.5781, -0.0219, -0.0582, 0.9993, 0.2867, 2.45, 1.2411, 1.0855, 0.4507, -0.0109, 0.3546]\nstate[eef_state]: left_x=0.2733 left_y=0.0004 left_z=0.1452 left_yaw=0.0096 left_pitch=-0.2093 left_roll=-0.0114 left_gripper=0.9993 right_x=0.5903 right_y=0.0975 right_z=0.0445 right_yaw=-0.1366 right_pitch=0.4708 right_roll=-0.0572 right_gripper=0.3546\nstate[joint_eff]: [-0.335, -1.4701, 6.9128, 1.6581, -0.0855, -0.0562, -0.0122, -0.5949, -13.4496, 4.9983, 1.9414, 0.0464, 0.0366, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGLZ2ldV0XQ34GUI1hRe7hRah8UYT0E7nxK3clIbZKCPNhhEFJ4DvoaJXXvjXXswEjxCecSvM1itvK3navR8TTFUPBQvIfyyU1jgVxgeca3fZFJxERHDCIUFOgqv_zmSgKS-ohBk50SViw_w5ajm0yeBWkYrO49cIzMQHhTXqIgdBGEoMNCjXvcdVwqs9wfLcMftq3zW2OD6O8OoE7hlo7A028d9UCjQZOHtR_4kGilQK0vmeYYWFYax2dffBjI5xIPw7GewLshcCfOmKmtZqP6bfjVw5u_obohbjtAdfgtYRZ2KvkaXaZJ8dH7Qxr22rbOIYlh2YgBLyyGWt8xuHMi88RzvucWSk8iX1nHFJJc4S8pOy383QmDtYlPuPGgnbh1ja2sjVsa-ElRKxZ15JDJtQEPC37hPEL9lzPs_PS-g46NG8BMZaGKGtAJBTTUS9YvtcjxEBIxibxA2HaN1i7qbtYtP1r1hCYrs8uyqm388NV5qnihejsVp6K4G3OtJoHNBeN3kQkVASuZSYg5oWqu576WLQHYzXJeEQpUXq0lc4zJd_fOgN1f-cV8bhLvDpUKFYlgd4SCAMxn_w3JmKc2eZnky8S22qi7zsfM4sDBxXFk4Ezv8VGBiP1KTxlsbnhbw2tszeuSjDXGtrXewzBUlAufOxrm-WjJwzRE87uXQYx4SMhoAETEmUG3qCzFfEQEMnfESQfHm_eQCjOZAyRTh98SxqhDCym6zznl-j7E8aVtSba3SIa3UmW9vyx_fqw-kXlBMAzQdppQ0g9kqJKNvTFDlXYynCv99P9OHyKFOODaNHKk_rLJLPxjRvjjsGmcEm9svDbvs2A6Y1CoVXZsl5TVZxTweQYi9hJS-EyGrPlmzPpsO-O3D_nHYpax_i5YEgIFlIAhTM6mILNQb229vJ7gH2-NtPh2MgktMchMjGTsdTD_w4G1dEEqcFIA5XrGDYKtxhaNVgzujoMe5sf6FwFTDXqvZTGJ07uM3an5pfSAI-_cqmedR-aKNqY3lmoGH1mE1gu-OXjmSnJZKwpeorQWHJs4oOoKszAjrjpW1QC21I9Rb3AcOE-u4wiPOQML8P3yHfsIbsFmEwchNRdoA0AMVSe-PtZogjsPPKFevEpOqfDLHOVmpQmfBP9CsWdYuCO_p9T5wuC5RD3jXYPIqD2RRZcfNFc2Fs8-7xoWOz7tatAgpst80Zm63-8YTziQa558lohYWPZsEXws_GDPcCNZueM2lt96Nuv7MOfHSvF_qGfaRnVNHHucmgYot-fUTrzd57whY08DAX54R9vCDUWtxbafeSJcm3Bvhwrfi7BLeh2Ezne0Gm2mezDrbQgJI1gGgKjWi8exiZAXFmEX19jyGP8hQHM8nBu43BlXeYA9EVf2JC0_vqfUyl5_vW_2v9MUqGu5ws6oRqfTb_ExkfhWGVEfcxWrrcsEKdj1mWEwz8yXRoLD77rOKP0hu4mFr_D2c4oYnQenU1384r7YnGnt3krxxk3fQbUoZLGflXSyfTze_Oca6Pv9IICkZYMu16Z2s8i_nzP0fN_VHBNSy9iuX4Ecv6UrdxL6No7GQ05WwuKrZvaozrvxEGkXqa9uYCuT7wUHtlKorc7mgOabTYXBs_SJFLarcGZ2QOqj3ghU=",
  "id": "rs_05e6312b5d8bfcfe016aac62d477c887d0a05d91e7e6c81ae5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.06,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0.2},\"note\":\"The second close was empty, and the can is now beyond a reliable grasp at the arm’s forward workspace limit, beside the kettle. I’m opening and withdrawing the gripper rather than pushing the can farther or contacting the kettle.\"}",
  "call_id": "call_9R7gpSZ7fwec4mXACpdkBZOf",
  "id": "fc_05e6312b5d8bfcfe016aac62d73a9087d0ab1aa1a9aa4e5e2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9R7gpSZ7fwec4mXACpdkBZOf",
  "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]: [-0.0257, 0.8585, 0.6464, -0.5926, -0.0219, -0.0616, 0.9993, 0.2684, 1.6043, 0.9638, 0.2546, 0.4023, 0.0692, 0.9948]\nstate[eef_state]: left_x=0.2708 left_y=0.0005 left_z=0.1413 left_yaw=0.0117 left_pitch=-0.2291 left_roll=-0.0131 left_gripper=0.9993 right_x=0.4772 right_y=0.0632 right_z=0.1902 right_yaw=-0.121 right_pitch=0.2275 right_roll=-0.0724 right_gripper=0.9948\nstate[joint_eff]: [-0.2256, -1.4017, 6.9538, 1.6386, -0.0562, -0.0757, -0.0122, -0.335, -8.4718, 9.2239, 1.9658, 0.105, 0.1245, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038313839c30cc3ff9e6ae833ea01cbc678878b354db7fe293ad6832d9419e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f695ef404d6927d881cb959bcec22c87a6d5eb13f8153713db79fc3d0b3f4aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38449a4e85f2c29c13e49c9b8d31e952a8ffbe3cefd42fa8a7125c8ec8932e05",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]