adhoc

completed
2026-09-17T23:49:00.418046+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
106.7 s
total steps
193
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying on its side between the burner and the kettle. I’ll move the left gripper above the can with its jaws open, keeping the right arm parked.
move_to
left_x0.4000left_y-0.2800left_z0.1500left_gripper1.0000right_x0.2930right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3878, -0.0193, -0.0338, 0.9993, -0.0204, 0.7937, 0.6079, -0.3962, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.2937 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=0.2931 right_y=0.001 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4034, -1.2513, 10.2496, 1.9951, -0.0415, 0.1783, -0.0855, -0.4855, -1.2513, 9.7709, 1.956, -0.0269, 0.1197, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.28,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0.001,"right_z":0.18},"note":"The can is lying on its side between the burner and the kettle. I’ll move the left gripper above the can with its jaws open, keeping the right arm parked."})
tool
executing move_to over 26 steps (2.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe can is to the right of the gripper in the wrist view. I’ll center over it and turn the jaws across the can’s diameter rather than along its length.
move_to
left_x0.4250left_y-0.3350left_z0.1150left_yaw1.5700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.841, 1.8038, 1.2434, -0.2539, -0.664, -0.5785, 0.9993, -0.0208, 0.7986, 0.6151, -0.4335, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3932 left_y=-0.2709 left_z=0.1375 left_yaw=-0.0055 left_pitch=-0.0339 left_roll=0.0172 left_gripper=0.9993 right_x=0.2891 right_y=0.0011 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0351 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [-0.5265, -9.1145, 8.6496, 1.4042, -0.4811, 0.0073, -0.0855, 0.0068, -1.3607, 6.8991, 2.0195, -0.0464, -0.0122, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.335,"left_z":0.115,"left_yaw":1.57},"note":"The can is to the right of the gripper in the wrist view. I’ll center over it and turn the jaws across the can’s diameter rather than along its length."})
tool
executing move_to over 11 steps (1.1s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe large wrist turn did not track the requested position and brought the gripper over the burner. I’ll lift away and use a smaller turn before approaching the can again.
move_to
left_x0.3500left_y-0.2000left_z0.2300left_yaw0.6000right_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5583, 2.5725, 2.183, -1.5303, -0.8379, -2.0373, 0.9992, -0.0212, 0.8043, 0.6151, -0.4557, -0.0204, -0.0265, 0.9996] state[eef_state]: left_x=0.4337 left_y=-0.1119 left_z=0.0401 left_yaw=1.3019 left_pitch=-0.1038 left_roll=0.0075 left_gripper=0.9992 right_x=0.2862 right_y=0.0011 right_z=0.1669 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [3.7949, -14.3932, 4.2735, -0.735, -0.3639, -0.3541, -0.022, -0.0342, -1.6479, 7.1863, 1.873, -0.0317, -0.0415, -0.0073] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.2,"left_z":0.23,"left_yaw":0.6,"right_z":0.18},"note":"The large wrist turn did not track the requested position and brought the gripper over the burner. I’ll lift away and use a smaller turn before approaching the can again."})
tool
executing move_to over 13 steps (1.3s)
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 left arm is still well below the requested clearance. I’ll return the wrist to its starting orientation and retract upward to get clear of the burner.
move_to
left_x0.3000left_y-0.1500left_z0.2500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6895, 2.3489, 1.9007, -1.441, -0.8581, -1.8748, 0.9992, -0.0208, 0.8104, 0.6304, -0.5262, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3911 left_y=-0.1446 left_z=0.0719 left_yaw=1.0718 left_pitch=-0.0978 left_roll=0.1005 left_gripper=0.9992 right_x=0.2777 right_y=0.0014 right_z=0.1585 right_yaw=0.0006 right_pitch=-0.1243 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-2.988, -20.465, 7.3231, -0.2125, -0.735, 0.1685, -0.0073, -0.1983, -1.1419, 10.5368, 1.7949, -0.0855, -0.0415, -0.0073] approver: 7 step(s) modified (delta_clamped ×7). 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":{"left_x":0.3,"left_y":-0.15,"left_z":0.25,"left_yaw":0},"note":"The left arm is still well below the requested clearance. I’ll return the wrist to its starting orientation and retract upward to get clear of the burner."})
tool
executing move_to over 12 steps (1.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe left gripper is now clear, and the can remains on its side. I’ll approach again with the wrist turning in the opposite direction, which should avoid the awkward arm configuration.
move_to
left_x0.3800left_y-0.3000left_z0.1800left_yaw-0.8000right_x0.2930right_y0.0010right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8009, 1.2869, 1.2087, -0.8753, -0.693, -0.672, 0.9992, -0.0212, 0.8154, 0.63, -0.5671, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3023 left_y=-0.1446 left_z=0.2383 left_yaw=0.1125 left_pitch=-0.1038 left_roll=0.0638 left_gripper=0.9992 right_x=0.2711 right_y=0.0013 right_z=0.1495 right_yaw=-0.0001 right_pitch=-0.1705 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [0.3624, -4.7385, 6.9265, 1.3895, -0.3004, 0.2369, -0.0122, -0.1846, -1.6342, 6.9812, 2.0244, -0.0513, -0.0122, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.3,"left_z":0.18,"left_yaw":-0.8,"right_x":0.293,"right_y":0.001,"right_z":0.18,"right_pitch":0},"note":"The left gripper is now clear, and the can remains on its side. I’ll approach again with the wrist turning in the opposite direction, which should avoid the awkward arm configuration."})
tool
executing move_to over 14 steps (1.4s)
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 opposite wrist turn is tracking much better. I’ll move over the middle of the can and finish aligning the jaws across its round body.
move_to
left_x0.4300left_y-0.3350left_z0.1050left_yaw-1.5000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6518, 1.647, 1.2152, -0.3473, 0.0044, 0.0513, 0.9992, -0.0212, 0.8028, 0.6167, -0.4671, -0.0204, -0.0265, 0.9996] state[eef_state]: left_x=0.3701 left_y=-0.2788 left_z=0.154 left_yaw=-0.6996 left_pitch=-0.2042 left_roll=0.0488 left_gripper=0.9992 right_x=0.2846 right_y=0.0012 right_z=0.1657 right_yaw=0.0002 right_pitch=-0.0713 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.4444, -8.4171, 9.6068, 1.9805, 0.105, 0.232, -0.0122, -0.3214, -1.7983, 6.7487, 2.2784, -0.0611, -0.0171, -0.0073] 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":{"left_x":0.43,"left_y":-0.335,"left_z":0.105,"left_yaw":-1.5,"left_pitch":0,"left_roll":0},"note":"The opposite wrist turn is tracking much better. I’ll move over the middle of the can and finish aligning the jaws across its round body."})
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’s body is still offset from the jaw column. I’ll shift slightly forward and toward its center while lowering to grasping height.
move_to
left_x0.4550left_y-0.3700left_z0.0450left_yaw-1.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4408, 2.1517, 1.5925, -0.3737, 0.6701, 0.6064, 0.9992, -0.0212, 0.8089, 0.6159, -0.4919, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4328 left_y=-0.3215 left_z=0.0862 left_yaw=-1.3326 left_pitch=-0.1058 left_roll=-0.0549 left_gripper=0.9992 right_x=0.281 right_y=0.0012 right_z=0.159 right_yaw=0.0002 right_pitch=-0.103 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [0.6769, -12.3009, 7.5829, 1.0574, 0.8327, 0.2271, -0.0122, -0.1162, -1.3333, 6.9812, 2.0488, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.455,"left_y":-0.37,"left_z":0.045,"left_yaw":-1.5},"note":"The can’s body is still offset from the jaw column. I’ll shift slightly forward and toward its center while lowering to grasping height."})
tool
executing move_to over 5 steps (0.5s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe left arm is reaching its low-height limit before the jaws can surround the can. I’ll withdraw it and use the right arm, which has a shorter reach to this spot.
move_to
left_x0.3000left_y-0.1500left_z0.2200left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4797, 2.4096, 1.9377, -0.4759, 0.738, 0.7139, 0.9992, -0.0212, 0.8116, 0.6159, -0.503, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4605 left_y=-0.3695 left_z=0.0676 left_yaw=-1.4742 left_pitch=-0.0685 left_roll=-0.0142 left_gripper=0.9992 right_x=0.2794 right_y=0.0012 right_z=0.1562 right_yaw=0.0 right_pitch=-0.1167 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.5675, -11.959, 6.8034, 0.8132, 0.2955, 0.1343, -0.0122, -0.0889, -1.3607, 6.9128, 1.7314, -0.0659, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.15,"left_z":0.22,"left_yaw":-0.7},"note":"The left arm is reaching its low-height limit before the jaws can surround the can. I’ll withdraw it and use the right arm, which has a shorter reach to this spot."})
tool
executing move_to over 20 steps (2.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe can is still on the table, just to the right of the burner. I’ll park the left arm fully to the side so it cannot interfere with the right arm’s approach.
move_to
left_x0.2900left_y0.0000left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3206, 1.1061, 0.9466, -0.4992, 0.3374, 0.2264, 0.9986, -0.0212, 0.8158, 0.6159, -0.5442, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3058 left_y=-0.1594 left_z=0.2236 left_yaw=-0.7402 left_pitch=-0.0396 left_roll=-0.0027 left_gripper=0.9986 right_x=0.2728 right_y=0.0014 right_z=0.1475 right_yaw=0.0002 right_pitch=-0.1621 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [0.4034, -3.8906, 6.4889, 1.8388, -0.0024, -0.0806, -0.0708, -0.0615, -1.265, 6.8855, 2.0049, -0.0513, -0.0024, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_yaw":0},"note":"The can is still on the table, just to the right of the burner. I’ll park the left arm fully to the side so it cannot interfere with the right arm’s approach."})
tool
executing move_to over 15 steps (1.5s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe can has rolled slightly toward the front of the table and has stopped. I’ll bring the right gripper above its new position with a gradual wrist turn.
move_to
right_x0.3850right_y0.2900right_z0.1500right_yaw0.8000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.038, 0.8261, 0.7372, -0.5438, 0.0074, -0.0242, 0.9985, -0.0212, 0.8181, 0.6159, -0.5686, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2894 left_y=-0.0087 left_z=0.1984 left_yaw=-0.0463 left_pitch=-0.0565 left_roll=-0.007 left_gripper=0.9985 right_x=0.2687 right_y=0.0014 right_z=0.1425 right_yaw=0.0003 right_pitch=-0.1888 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [0.2393, -1.935, 6.3521, 1.9219, -0.1392, -0.0317, -0.0171, -0.0615, -1.2239, 6.8718, 1.7949, -0.0513, -0.0562, -0.0073] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.29,"right_z":0.15,"right_yaw":0.8,"right_pitch":0,"right_gripper":1},"note":"The can has rolled slightly toward the front of the table and has stopped. I’ll bring the right gripper above its new position with a gradual wrist turn."})
tool
executing move_to over 25 steps (2.5s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe can is clearly visible beside the right fingertips. I’ll finish turning across its diameter and lower over the middle of the cylindrical body.
move_to
right_x0.3850right_y0.3250right_z0.0850right_yaw1.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0387, 0.8299, 0.7326, -0.5632, -0.004, -0.0349, 0.9985, 0.5621, 1.6413, 1.0168, -0.0494, -0.178, -0.1333, 0.9996] state[eef_state]: left_x=0.2864 left_y=-0.0068 left_z=0.1915 left_yaw=-0.0316 left_pitch=-0.0844 left_roll=-0.0087 left_gripper=0.9985 right_x=0.3733 right_y=0.2763 right_z=0.1287 right_yaw=0.7741 right_pitch=-0.0796 right_roll=0.0164 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.5795, 7.241, 1.8095, 0.0855, 0.0659, -0.0122, 0.335, -7.6376, 9.1692, 1.9805, -0.0757, -0.0855, -0.0562] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.325,"right_z":0.085,"right_yaw":1.5},"note":"The can is clearly visible beside the right fingertips. I’ll finish turning across its diameter and lower over the middle of the cylindrical body."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe cylindrical body is slightly right of the jaw column. I’ll make a small forward correction and lower the open jaws around it.
move_to
right_x0.4300right_y0.3000right_z0.0300right_yaw1.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0387, 0.8345, 0.7326, -0.5819, -0.0048, -0.0383, 0.9985, 0.4454, 2.0449, 1.4033, -0.3023, -0.6292, -0.6514, 0.9996] state[eef_state]: left_x=0.2839 left_y=-0.0066 left_z=0.1867 left_yaw=-0.0291 left_pitch=-0.1077 left_roll=-0.0107 left_gripper=0.9985 right_x=0.4027 right_y=0.3114 right_z=0.076 right_yaw=1.3104 right_pitch=-0.1326 right_roll=0.0338 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.4838, 6.8718, 1.9267, -0.0317, 0.0024, -0.0122, 0.1983, -11.6855, 7.1726, 1.0427, -0.6227, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.30,"right_z":0.03,"right_yaw":1.5},"note":"The cylindrical body is slightly right of the jaw column. I’ll make a small forward correction and lower the open jaws around it."})
tool
executing move_to over 3 steps (0.3s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe gripper has not yet reached the can’s center at this low height. I’ll add a modest forward tilt to improve reach while keeping the jaws open.
move_to
right_x0.4250right_y0.2900right_z0.0450right_pitch0.3500right_yaw1.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0387, 0.836, 0.7326, -0.5854, -0.0048, -0.0391, 0.9985, 0.4458, 2.0777, 1.4483, -0.4103, -0.7456, -0.8238, 0.9996] state[eef_state]: left_x=0.2834 left_y=-0.0065 left_z=0.1856 left_yaw=-0.0286 left_pitch=-0.1126 left_roll=-0.0112 left_gripper=0.9985 right_x=0.3824 right_y=0.3195 right_z=0.0749 right_yaw=1.4861 right_pitch=-0.1048 right_roll=0.0365 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.4564, 6.8581, 1.6386, -0.0415, -0.0708, -0.0073, 0.1299, -11.494, 7.8838, 1.1306, -0.5446, -0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.29,"right_z":0.045,"right_pitch":0.35,"right_yaw":1.5},"note":"The gripper has not yet reached the can’s center at this low height. I’ll add a modest forward tilt to improve reach while keeping the jaws open."})
tool
executing move_to over 16 steps (1.6s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe can rolled away toward the back edge when the gripper contacted it, and it is now beyond the arm’s safe table-level reach. I’ll lift and withdraw the right arm rather than chase it near the edge.
move_to
right_x0.3000right_y0.0500right_z0.2000right_yaw0.7000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0387, 0.8379, 0.7326, -0.5934, -0.0048, -0.0391, 0.9985, 0.2733, 2.2921, 1.2964, 0.2733, -1.1408, -0.6403, 0.999] state[eef_state]: left_x=0.2823 left_y=-0.0065 left_z=0.1836 left_yaw=-0.0286 left_pitch=-0.1226 left_roll=-0.0111 left_gripper=0.9985 right_x=0.4235 right_y=0.2892 right_z=0.0424 right_yaw=1.4818 right_pitch=0.3018 right_roll=0.05 right_gripper=0.999 state[joint_eff]: [-0.3214, -1.4974, 6.8718, 1.6728, -0.0659, -0.0464, -0.0122, -0.253, -10.4547, 4.9983, 1.5556, -0.5397, 0.1587, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.05,"right_z":0.2,"right_yaw":0.7,"right_pitch":0},"note":"The can rolled away toward the back edge when the gripper contacted it, and it is now beyond the arm’s safe table-level reach. I’ll lift and withdraw the right arm rather than chase it near the edge."})
tool
executing move_to over 20 steps (2.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteI could not secure the can. Contact with the open gripper caused it to roll toward the back of the table, where it now appears beyond safe table-level reach. Both arms have been withdrawn; the can needs to be moved closer before retrying.
give_up
hindsightFor this can’s original central-right position, use the right arm first to minimize lateral reach. Large positive yaw on the left arm caused severe position tracking error; negative yaw tracked better. Forward pitch improved low-height reach, but approaching this loose horizontal cylinder off-center pushed it away, so precise alignment is essential before descending.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0387, 0.8421, 0.7326, -0.6079, -0.0048, -0.0391, 0.9985, -0.2543, 1.124, 0.8322, -0.5911, -0.7879, -0.6556, 0.999] state[eef_state]: left_x=0.2803 left_y=-0.0064 left_z=0.1798 left_yaw=-0.0286 left_pitch=-0.1413 left_roll=-0.011 left_gripper=0.9985 right_x=0.3048 right_y=0.0539 right_z=0.1868 right_yaw=0.712 right_pitch=0.0042 right_roll=0.0588 right_gripper=0.999 state[joint_eff]: [-0.1846, -1.7436, 6.9128, 1.7607, -0.0366, -0.0317, -0.0122, -0.253, -4.1915, 9.1966, 1.4579, -0.2906, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the can. Contact with the open gripper caused it to roll toward the back of the table, where it now appears beyond safe table-level reach. Both arms have been withdrawn; the can needs to be moved closer before retrying.","hindsight":"For this can’s original central-right position, use the right arm first to minimize lateral reach. Large positive yaw on the left arm caused severe position tracking error; negative yaw tracked better. Forward pitch improved low-height reach, but approaching this loose horizontal cylinder off-center pushed it away, so precise alignment is essential before descending."})
tool
give_up: I could not secure the can. Contact with the open gripper caused it to roll toward the back of the table, where it now appears beyond safe table-level reach. Both arms have been withdrawn; the can needs to be moved closer before retrying.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.906 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3878, -0.0193, -0.0338, 0.9993, -0.0204, 0.7937, 0.6079, -0.3962, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 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=0.2931 right_y=0.001 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.2513, 10.2496, 1.9951, -0.0415, 0.1783, -0.0855, -0.4855, -1.2513, 9.7709, 1.956, -0.0269, 0.1197, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977b08f935a6c08df1a93f9755a632dff843aeb2164882e68470fcc66a6e60e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a025ffdd28d74fc62a08fde07629e11bb72f2c147733d67ac30c3cfd2741c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22e4577f03f0421b52a2f6faa5e65b1fc08d61f3e6ccf7ec2f44ca9f945cfd78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 977b08f935a6
wire blob 7a025ffdd28d
wire blob 22e4577f03f0
call 1 attempt 0 · /responses · status 200 · 5.314 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrHx6Seajalhi2mrqFR6naF__TI5GjX_YfVC7NeY_QY07ZCJx70ax3Bsm2FNHPIKtsJ7H3j7QGEV6Fv18vcvI-bhRgdzVjrPfVNRLu95iUdq_j7pKcpMhFrdtQZaVjy7xZFcixs0Lz9QnFwtyn_GF9QbkEG4nWzkh7lltyKyfoy2Hn02h-9GXBADZkrih_RuyYGxkXhkbhCblrWErIGbQUfN_2P4_8SGmfGgYs9fyiMfSzDFOTAQb1ylEIuuQ9WBEPERdn37n4MtwyGYF-XWFvyAob3guRIJHtb04MaU8a9hj3r8x6XXp0cQ90zYPvRnzNoj_pEDAKcXbAeVupDW5fJ-ARrQjiN0jVPfeV_BNl7ZGV-MaNlHGQnEWsK9zCry0rEsi6T-fu4p_5flpbIn-R75UwvsJ_Azq_SyghfN0k07EncodUEF2_yJ56l8odbbROzONtypAc8TGd8Ug_zMWAgB400rc_vXjGqGRBoE2Hq5todeNKQqk0-z0Xe_uDXNv51mT-9BaLd5t93kHSUcV_9ohCk7HEqFDe50ktzl36dHDYtZ6pHvGGfdeVUFqjY4vGR-P4MkTG3jUo6VNvHXZa-wxLyc4PgtPPKF9HgpaBieRJFqKwHCiTjYAEK9cW7dEkdweIvBMpFGqlrLg0VfrHp2n24hLpNJF93IcqLuiSMfmsvyIja6YSjWTnZmD7T7FZFm3Yu4RaMM2nMC3p2u9AQKDXWVPiJsUL3Ix2s7GCUbzHFkbmJE2NHy6aeovFJ2BPMFAoEN9hWAcH0aMrX_nB1bcliHPavUpRxq20feyTwTaGUXFMjB6VfjssR0oN5_LQn4VrA6a1uhqFGFgdpgD8DjidTPM69BN35axvG3VJdSChaGvjgFCUl4lfWmULHrbEXdm0MTI1olkEHhUmKoeh14jsZPf7TLP8m-YoCSl6_vWjLP9Cffg2CUuREuD4_ImhcqpwRLEg97XxC29i4KX_k9jbMybyPbyJej7xv3Le1Jl70dXsMc4kJP2ogyulcHCXyks8hvju5_ee7jwhvqVry63GXLaqkZ6iVzz42r3V45KZpmEcmEQjPL7BP4S9fV2eCpr7e8GMEyawKg30hu1v0MSI7jlKTZKKKk7lMkQbCKb0zCud5JwWdTvBMiuwpKLChZtQK6KVQZA4tqYeSKR1WvYKN5Uc4Qs-gWq-HRFE1Q8UK7vAI_GzbxUMjQ80W8ggPoR4SQ-GSmB8ExQzTpjnAfpzmGaJekS0R_IXTHCmwZCLRKl_vmQjxppqVlmri0sVeUV-aXXpgbepIycdcMayll2sqDPxYT-6SV4sLJ4YiK6rgcSAvqyhRiQklD7zwhTw1aD9J5mXLHGV-sXpmh2JRATL30A0r-f6bdwK0TcBUgQzc8vPZqc_4QqQ_5KqRM-awpWtf8ZEfQxvr6swVZdjVGqkGR8xyIcwdGdUp3Y33b-c_tCxRMAMr-VAFAmxUOyzPzYpDguwhp3Ay__7tALf_cem_xUYlu-a4g2DRlzM8saihp3S_mQ6GueRVm9gowRn2rKMG5iEHY7PbtvSiciPwqmSVNaazucElOOhGjf4eYcMtOzr2iCiQeZXroCpZtEdgii",
  "id": "rs_02b7e235a7de6bf5016aac7c76366c87d1906248bba40edf47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.28,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"The can is lying on its side between the burner and the kettle. I’ll move the left gripper above the can with its jaws open, keeping the right arm parked.\"}",
  "call_id": "call_1n9MieKQPfXWHQoRPCGfbXyM",
  "id": "fc_02b7e235a7de6bf5016aac7c78d5a487d1991e0f88f3546f4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1n9MieKQPfXWHQoRPCGfbXyM",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.841, 1.8038, 1.2434, -0.2539, -0.664, -0.5785, 0.9993, -0.0208, 0.7986, 0.6151, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.2709 left_z=0.1375 left_yaw=-0.0055 left_pitch=-0.0339 left_roll=0.0172 left_gripper=0.9993 right_x=0.2891 right_y=0.0011 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0351 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -9.1145, 8.6496, 1.4042, -0.4811, 0.0073, -0.0855, 0.0068, -1.3607, 6.8991, 2.0195, -0.0464, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d3055a75523dc650d74ca7efe98db3575996d17b0432034e35fd0b3b569e17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548cff24918801f094bd30a8e849f3a36519061d251cb10433dcb83bce87e529",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09022ead426d086b731d526e88e9e41b2df458dc826ef5e7fba2cdd7cbb679ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a0d3055a7552
wire blob 548cff249188
wire blob 09022ead426d
call 2 attempt 0 · /responses · status 200 · 3.801 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3878, -0.0193, -0.0338, 0.9993, -0.0204, 0.7937, 0.6079, -0.3962, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 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=0.2931 right_y=0.001 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.2513, 10.2496, 1.9951, -0.0415, 0.1783, -0.0855, -0.4855, -1.2513, 9.7709, 1.956, -0.0269, 0.1197, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHyChNr31GP6Wu5GZ7tAGP1AvBb-EM0zlX8CHVTzkVYCjFb3RBbLY3X-6g84jhRbn75ZTpKQvexC6mn97s1v_l3W-L2GG5RSgx6Fc34Zdd_cOAVh-vpb1CR3qVFhjkONpm-fIindHkWJ4nluz-Zld7alGJ_fp78e9JnTeTf1MbNbf_21AQ5N_48UcAtG-aW3M1R0dlMetJw_1c4ykDv66BQ4ReLT383-rwXh8VQtPAyWc8KNnd_0rh1OgowFga1QrPpNp9kbKzdxPpo_oN8ZY4wcKYd38E5IAtMJ53AVOOWGXEHFX4V7rNiyuTEKtWPELLA4xW7CGQOkFpkl_wE5D09iPIfNWrJCXFbXAKybJhm_0sUt2XR4diMZWghYaHLoUb38ofAU_7WT1D5HazJuYfDhlgvZsl-PV-7Cy8ZtgMPBKDXUeSbc29ZjDdC7jnGaBzgJ3p2p4i-pHY5n8xkr58hF7v2_FXL--1sb1wuz7WH4vqX6d-7vRQKHaFQyVMQ8kfOmN6kAoBAup928EshKSMTzpjUhSV5ZvAH0l2mk7Xbe4_iN0bgSCj0nqUzPq-fF1sKaIKHosxMeOfwHn-N3hmadLyfJPVIQD0ShxAyihp6SIBCx9j3owAK8TjmhkwmZQZC414qRPOf9BCvF67KunPZVb5ur3cilzMqGNG03lhhzahB3kJV0i0eOoS2oYMmlFHXdDmvFvKPCrwCb8geN4ZzxWCN6cPz10OLtRkmpzscOXtMhdUD7rs0H_Ef8GISCd-LYYKVgE8xI8_OUajbeFJShodWj13D5TXQPDv05VRDe3sZA7yk_7FrT2caUna_RW-3c0Y5TohlrvaatI6dUL2BEMZ-QRpL3jPq1FhJTzs127z3PrlgLjSs8sVzlalMyf7LuwG4IvdszjrdMB1IL4kfoiTANDemHcXQIgpOIZ3WA9D3qw4w0R7L0pJbq6qDbNReDFU7JR46v-ZN1GX7liHHWYMCyQW2UI_nM0O0_IWQY9L23cFz5tIie-ClUHrk4lCsdBCnIsHEOsPmYqNlqX35OhazEDRSv6AiB6IaKmfJzDiC9dLVaXlJ1lUZwXm6zQuQ9wNcdqhN3vF4sxrlfzd1C5NhfXJfW6m-MXoRJS8XbggQV1UTdPZrukF_fPe2iplKK9pH8SnI1yTSU57S2w5fp5XRqf5ntef-QyoNlOJu4z6S9TzJ8lhfy0A1o5FKN4YC0D5OMA9eSZYnX9955D9rtixD_-TT5-lquzd8ord2nwQfJ3fq1-VXzpYcbQctm2JasoblG0JL8uDVmlYoxtEP0SSZA88jdH38tn2xV2wJlqNVSu9Oy08GG2UrYqcrCSV_x2zfynblttQYSaQSMBQjJFGo9pFf014Gx8B9Aj5YeQwpXuLS6lDuBGgTXEP-9BrysfVXcGpLU2mtI7ZE_UzzkC9-nQvkKfjvVFUBWpw4Jaac7YWY0OoxlW65XxUZS98yh0XXQKeadNwlkZgnfhotgn7c_771TuxFuNM1KEiCcUuyuNokiwsIeoQ9Av5LbXNlft2y6QTLy33TIS3Lh_qyMjdp97F59kui5Ech1Xsus0tVYWiB2GbyUABihToTX9iV8DIpIDB5TbzLGEA-iifh-E8FvKC0SOYOXusAkxjnpLQe4CARHtrvb_t9c8oU7SqrmyW_7oyP7WwZamJN__bdD4nGhzFXA_3LeorV-QE6lVcqTuEBazBI3etNlw4IhOgxd",
  "id": "rs_02b7e235a7de6bf5016aac7c7df31087d1a7b4d31c8f7532ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.335,\"left_z\":0.115,\"left_yaw\":1.57},\"note\":\"The can is to the right of the gripper in the wrist view. I’ll center over it and turn the jaws across the can’s diameter rather than along its length.\"}",
  "call_id": "call_lMNG8uBF88zSWQHyFKaEvyyF",
  "id": "fc_02b7e235a7de6bf5016aac7c80f78887d197ff5221fbc12bae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lMNG8uBF88zSWQHyFKaEvyyF",
  "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]: [-0.5583, 2.5725, 2.183, -1.5303, -0.8379, -2.0373, 0.9992, -0.0212, 0.8043, 0.6151, -0.4557, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4337 left_y=-0.1119 left_z=0.0401 left_yaw=1.3019 left_pitch=-0.1038 left_roll=0.0075 left_gripper=0.9992 right_x=0.2862 right_y=0.0011 right_z=0.1669 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [3.7949, -14.3932, 4.2735, -0.735, -0.3639, -0.3541, -0.022, -0.0342, -1.6479, 7.1863, 1.873, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47276cb726cec37b038057ccc47a3d42d141c943a922245efd24bd7d581ffa1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437e3f0ddde9e004fd1742ebdbd978b735f3ebc3936d397b95b4f110ca3edaca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19f084f81d910a707502199ad01fc6548813e95d235d808caa4c5e668edc2c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 47276cb726ce
wire blob 437e3f0ddde9
wire blob c19f084f81d9
call 3 attempt 0 · /responses · status 200 · 2.825 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]: [-0.841, 1.8038, 1.2434, -0.2539, -0.664, -0.5785, 0.9993, -0.0208, 0.7986, 0.6151, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.2709 left_z=0.1375 left_yaw=-0.0055 left_pitch=-0.0339 left_roll=0.0172 left_gripper=0.9993 right_x=0.2891 right_y=0.0011 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0351 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -9.1145, 8.6496, 1.4042, -0.4811, 0.0073, -0.0855, 0.0068, -1.3607, 6.8991, 2.0195, -0.0464, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHyG_xiiRwu_IRdl5EwozPiGBJVHkHx-vbEpRfaqMk9klgfsTZFnYuBD6nNxH4W-oJb4zokDXCq4njpE38B7ejromKv6CPFJsQYkL1VJ2RpeB-TLcXBrVzezYSmVZXvEZ7d4EvAF9WlAu9h-FSQv0-wZeh_w6ypLyTIHv_KHy3p4bGMQfGgifqc5OC1SyOsoiHXYs49-7LpZXDY16YIpiZoVrSmeUM4urIY0KrBtQjKE6evkxM1YL5j1_MT9g6_ExALrue4eMXONehumBGtfNaS-d4epSp1P0vLwRGaBSXcXo6TGJzGdV5hxgseS9EBFr6x1SmZuEMbARmxcTRPmULQd8o30INQRQWuVqy65Y5nhlDeX2Vsxyh8FIlujuQeiAlI-3-hp1VfnHI0Xh2qs9AN5HaIg27pTRFqgVt1DgEcCm5Ydwgywtrtb1kefkV4m2Dqdb2VAbHOcGXA4pPZ7utoKfcJUW9WaNMV_bS0_Fu5BeBs9p93HJCKnnQ2dsICtQvH69wGJNMDawIIWoBC6uEwlAF5wIShMDGtPPKNoxO4suvS8blJ_RyO1lmgpZaAAnrJ3UwBFKbX9-PivK_CMMTs-nuBJRqj7OEywgwaToaux0pe0pk2zQSSCw8mMRWomyDW1GzIrTQvidaR6h0An575bG2KFNq9FNhLSvp7NaYUg3JrA0uJm8WYjPckisSJ8h6Iyl3AdyTUr1SYmCaz9XqgeZhlqPCoPRkEkkrjLVDOM2PY2DetDXNfyt4b9TYLwo_RtBOz_N5g4J4TnCFnoCyuFOlK2kVenZu4B2YKNtsImNHl2_9Mw8XPBzVk0Ogg1FMo-Aqj0U3EWiEh6tUNngayVBXdxQZOsoO9N0plC-UPqUYy092YWoeE4pDwQTWxNrEYzIzJ3bvQNtBL9V2BSc9NdGWbC0HWzynH7VKrOjQ_2QRpXhi6gbhxtkwUFMJo9hk4tJKXisspbL7icTpOQ593RIdgz4rXfTuuf5agkmk3Fj71KrxYwcuRibsaf47wIw0vbrQuErgSaaO8sOV8ZsAVZPJhWnuws8hFk1GPbwghznZEZiIfp1-0rNqsabMpabvT2KLiG8-xKa1_2yPfDYiyvDYQosPpkWa-9hSi6qx2NqgoSoXeKRNeZEmGG3ZvQ8lD8x-ywGemklp3uhU1JKHqNXmUbYiYFmDxgMicXjKrO5NsH5mL-J1NRoAlkO1G2ugjF9O4ySpWrH4mIqAa1pkxxUXwgaAj4YKSyb1E2t8Ba1es4K0Mm67Lg1ucfd-1WJWfX4F3OZFI7Wx-O5WXrRfFGLgRUkFcuL7sUH2zLM-ytZFjPdpbZ8UWAVKSvd8GYmYiP1KgbUk4Iz7OPt6UxdKDJoL2bLrSmDlvgN1cDGMxOH0-49p7bc6ZP4Dj3xuVYW-qrjtio8ZdYS7zgKyL1SVKWmQ==",
  "id": "rs_02b7e235a7de6bf5016aac7c8487dc87d1a39802050d410905",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.23,\"left_yaw\":0.6,\"right_z\":0.18},\"note\":\"The large wrist turn did not track the requested position and brought the gripper over the burner. I’ll lift away and use a smaller turn before approaching the can again.\"}",
  "call_id": "call_L7FIiIlGE91vTYT3bVyd6Qod",
  "id": "fc_02b7e235a7de6bf5016aac7c85a06887d1b475a630895505b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L7FIiIlGE91vTYT3bVyd6Qod",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6895, 2.3489, 1.9007, -1.441, -0.8581, -1.8748, 0.9992, -0.0208, 0.8104, 0.6304, -0.5262, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3911 left_y=-0.1446 left_z=0.0719 left_yaw=1.0718 left_pitch=-0.0978 left_roll=0.1005 left_gripper=0.9992 right_x=0.2777 right_y=0.0014 right_z=0.1585 right_yaw=0.0006 right_pitch=-0.1243 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-2.988, -20.465, 7.3231, -0.2125, -0.735, 0.1685, -0.0073, -0.1983, -1.1419, 10.5368, 1.7949, -0.0855, -0.0415, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5534bdee5271be738ab6df9b800b32e231e4fb4a7772f2bff33a28b9888764b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15eece8f1d432c1fa25d67ef8172c82c8f2c5997a35628e49fcfcf892e64d5bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450afc3353ff1ddf3e5e8391175f81ee26f294415aaf24a4fd4ca848edf30846",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5534bdee5271
wire blob 15eece8f1d43
wire blob 450afc3353ff
call 4 attempt 0 · /responses · status 200 · 5.811 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]: [-0.5583, 2.5725, 2.183, -1.5303, -0.8379, -2.0373, 0.9992, -0.0212, 0.8043, 0.6151, -0.4557, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4337 left_y=-0.1119 left_z=0.0401 left_yaw=1.3019 left_pitch=-0.1038 left_roll=0.0075 left_gripper=0.9992 right_x=0.2862 right_y=0.0011 right_z=0.1669 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [3.7949, -14.3932, 4.2735, -0.735, -0.3639, -0.3541, -0.022, -0.0342, -1.6479, 7.1863, 1.873, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHyLIlpF5fKokzaw7cC1Ian_UX7VwpoiEw5gfpBEVi5sP-dv6v8F5WAT_abiVBlOSa5MBm2xIuHF1v0sS1IzD6S_h_vTzMAdcgpdvEivLkFbq424XU3LhNBn1oz16i8Dtb9X7PO2xdcaJHAIvPgepOqpDfVM_RBA1c_SLA3vGIrHtRn0D4KKfo5lXUlodGp6xaIG-PB8H2N0GSvW9yc3FlXW-ECMRYxcWCggzgxBioNFQeubyUTEAe74qtKTBOBm6wHLJe7WT8m2c4XCPXrXPG7W65N-xdmaXuxl9vrATyHpq64No1AFBfqrvilAO-hxjp59A2AB25Jl9hwl1Xiz-taqA1G3ULExalhUIk2wGKTIIzEMvhZaXkXEfz5RbNiNwGS87LAH-ETyMXu8M4xScEsOhv3-y3Y94ie65Z_MbrO5Yw2kH16wg3lQbnZDBn6ADWa14BUf2Hm_zHSPGYQXRUXPYIaNjmJ4w4EN3YOpIXIbFlhDKWPFQrumZVmsJRRlMmEpx3TmSehmYWbDUkomn37Yh4QuDdPS5LmAney8IO3qCxI5kOxq41ANpdZ53H_VARTAsQWWephId8jn4eTeFAeaBB6umpUDRzMEvmh6Kf-55Z3G-mnHK2teFp3lkbDpqATYVz8tWNnqyUgr6hjRL7BBCnj1S1cGPGUnc_uJjRnS32s2icMB6SiWDSJb8JSI4oFEq1BI8ULpAZhkqrQTQMILA-YD5uhqLcUnKfrfelLj5FDNph8n2QiRX3Ks90SG7ljVbyI_DGohcfGexDIvZEmVI-z_TQXBlLFLQlikFRUGSVqujy5W1KLiU2jzq_7-ek60ZX_RvoaFdjlJPh09DCYURdc8VE_fzmuEFbaNUaXhlincEXfeRR6u6iyma87GLqcXjC_O_Or1N-WPF1ff5Gv1SCtv8KMS2IO4Q5aTOma2QjXIFzJT6jNqTFxfal90r8yGKgOvzmi7Q6SPcZXlG-E-NjrQ_lXxuLch-9Jbgo-rhyrFxCB2rt6QxjXZTQMAN-KjIb7ePe23HBWhvVX4HHfuiFKFTDHBDlXkF_AjykguMJEr4NNKxBpU8vOI6BsUvUXWQU8AVGGlxaVytAlomqQ_sz-ODnVkaCeiuYc7vK-Unn9AvY2Tcgp_zu4YBRA9tf5PTNjktNPIO6gxpvKxgCEpXrZlIRbxThXxPrZEiY8vehihMYcdoFz2ubED5Gi0SPMsagop3ES4XmMjiTslbS0D0w==",
  "id": "rs_02b7e235a7de6bf5016aac7c897c6087d18abac74274050548",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.25,\"left_yaw\":0},\"note\":\"The left arm is still well below the requested clearance. I’ll return the wrist to its starting orientation and retract upward to get clear of the burner.\"}",
  "call_id": "call_VTswc6UR7lhJdr11WoWSNC3R",
  "id": "fc_02b7e235a7de6bf5016aac7c89d3b487d18d9dcc4deb951f35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VTswc6UR7lhJdr11WoWSNC3R",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8009, 1.2869, 1.2087, -0.8753, -0.693, -0.672, 0.9992, -0.0212, 0.8154, 0.63, -0.5671, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.1446 left_z=0.2383 left_yaw=0.1125 left_pitch=-0.1038 left_roll=0.0638 left_gripper=0.9992 right_x=0.2711 right_y=0.0013 right_z=0.1495 right_yaw=-0.0001 right_pitch=-0.1705 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -4.7385, 6.9265, 1.3895, -0.3004, 0.2369, -0.0122, -0.1846, -1.6342, 6.9812, 2.0244, -0.0513, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401d7a964b1db7570cf8b0495c0940c0a8b8f51dfd87370ec8c04806624d8981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e1bb6c298631722053caed7078d0fef9f3acf048ad6201bd4b4021ee4a629e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8267f7fb8d15719247a4f59dda44e40aba033e48fc9f402fb0c71cfb1cc2d11a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 401d7a964b1d
wire blob 39e1bb6c2986
wire blob 8267f7fb8d15
call 5 attempt 0 · /responses · status 200 · 5.628 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]: [-0.6895, 2.3489, 1.9007, -1.441, -0.8581, -1.8748, 0.9992, -0.0208, 0.8104, 0.6304, -0.5262, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3911 left_y=-0.1446 left_z=0.0719 left_yaw=1.0718 left_pitch=-0.0978 left_roll=0.1005 left_gripper=0.9992 right_x=0.2777 right_y=0.0014 right_z=0.1585 right_yaw=0.0006 right_pitch=-0.1243 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-2.988, -20.465, 7.3231, -0.2125, -0.735, 0.1685, -0.0073, -0.1983, -1.1419, 10.5368, 1.7949, -0.0855, -0.0415, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHyRjPgpUlPbjJTpc_IeuP19Ykg1wK5LwYKmpUMvEyp8M8gRO-gilGz9ABAcyxmgG6RZ6CJesxflVu5FtL3IS7-RFgBsdm-4YxH0fyZgjj1-IUrT_tJckUFiMHdt5o2vwFXd54_3HOvAhmscINvqqa296PFa2Az8mQFjosWc8D0QUcyAZJwcNwAEPkxC3UGhbvgR8jDg6oq4xDrF0joqkZFkg_uMBEvD2_LzpeCJhFe6xTDWvXMwM9mv1AvhkxE5t-m8K7jzC-84kVIwwknmqMKBMiKi2gvbcVqdaFvemKjHRI52XaoiYTyVeHRpzDXwCvkY0nUrZK6S8iNZP6kQmeqZHWkVdU0rNKRmM8Zijbqma0mz6l7fgZR6rOWr5zqrf2RG8aMk1G2UADBOBOtIZfrGnijGUWNQpsWozpG1SEo8QqHjCOHdQZg5_DWRLxB3HNZf0NFUkXLGUy0k1ie7rnok7njuz8Umeb6oOm7him8fHcoZRznSbQ3yqTQwGqJ9cqotEZruu9q5cP9pD8RJYDIVaGrlwUlkiYxP0H9vhIezNkdFPw34_8TlBLrdYXy2CSyET3gmjadx2ivSoIzkOCuOTdn_hJEm5FuHifL8qSZqWuj6s8Twe9Zikflt_7ShEhmFG5S0k9bzBCqpLK_sBGZRnF5oBCvIwTTGDo6vg2HiG2nRElE8XQGiiMVN6wl00cMM4BFl77MpsZPXKwqJ1vPBcGBBbsj0ytcjCYIg4PnwGpXf5llb7OcgeZepyhUbefx3MHg_H4VFsa4JUOBnjX0w5sgXYFLhlIPOBxcIy7Afy51zjSQnciURzSSmSjD9-Umi6_9HomOC7qI3U7LAvtL64nXslrckgRnbj-O-1aOuTe7Gb-DlpbZojcMNVfspdy7fUU-0in1lLvlUlXFNfOq2cWvXZNNtRnIWlQ3YE4VNB7D3rMcJRW2_tbZcViHTUXS1fiCjiwihgxydDEMyBhCTH_gS-v8eqnitodBdBlDQsY9qTs8zGFn390Bjqx771j1CZXjNg-ou09spI_4HAvE9L01_MfWN6l_LDUq5ST9XqNJ_2buBAqSvy1tS_ADJo_88m-GgzsDXsCHTYUyHnpafIMfyqu4wsbLguSHe8v6jQZpqIo3guyMFR7L2CVp3y6WvDUpBDADucNXx-Qczr5-xHAhvjk7eTeh6PlsW6jrhkKKVCNLZJqN8zkV_D3ZQf3YOEEJqatr9njz0u8ruzUhRVlqNVanKdJRkkqYOG1byuQIDygn7oG6YKjg8hbICkuCueLsvMbpm0HytMdEZ5sr7TFa36NtERLy2X-VrIc8NdevmEDkCaOqul45T87-nhtjUIdN0-r5t-Kxs9XxZwMS8_96kfoLYDPAA8HcQX55KGYy_MxvmfsW-lolSU3cp0EKy5UyOy081BMgQl3sRO3XuITJyXm67CQAVNoaGYLpoZOMBwlYZZl9eqrNQn_tL0m1G-3MMBDv0xwWfVZ9QSCKNTYm6Es8O1iY3O8U3ElOrxnE=",
  "id": "rs_02b7e235a7de6bf5016aac7c8e447c87d19b9b2cda5fb7c6ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.3,\"left_z\":0.18,\"left_yaw\":-0.8,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"The left gripper is now clear, and the can remains on its side. I’ll approach again with the wrist turning in the opposite direction, which should avoid the awkward arm configuration.\"}",
  "call_id": "call_b7smVR92MtbjXqc9E8Ws2CVA",
  "id": "fc_02b7e235a7de6bf5016aac7c90244087d18811d65b932c44f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b7smVR92MtbjXqc9E8Ws2CVA",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6518, 1.647, 1.2152, -0.3473, 0.0044, 0.0513, 0.9992, -0.0212, 0.8028, 0.6167, -0.4671, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3701 left_y=-0.2788 left_z=0.154 left_yaw=-0.6996 left_pitch=-0.2042 left_roll=0.0488 left_gripper=0.9992 right_x=0.2846 right_y=0.0012 right_z=0.1657 right_yaw=0.0002 right_pitch=-0.0713 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.4171, 9.6068, 1.9805, 0.105, 0.232, -0.0122, -0.3214, -1.7983, 6.7487, 2.2784, -0.0611, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b2150c3ac8fc4b2c022450f4daf62dbf058fd29e89a49e7fbe7387bc1dcfa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14da9b4afb40015dd03232f2e1842e6bee465d037b5888aaf27061723c518955",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b1ed32b253fa67b5fb8ea105cd11c8f5fd983797f2107d7d51dd7c0e959c93",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 12b2150c3ac8
wire blob 14da9b4afb40
wire blob 97b1ed32b253
call 6 attempt 0 · /responses · status 200 · 6.69 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8009, 1.2869, 1.2087, -0.8753, -0.693, -0.672, 0.9992, -0.0212, 0.8154, 0.63, -0.5671, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.1446 left_z=0.2383 left_yaw=0.1125 left_pitch=-0.1038 left_roll=0.0638 left_gripper=0.9992 right_x=0.2711 right_y=0.0013 right_z=0.1495 right_yaw=-0.0001 right_pitch=-0.1705 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -4.7385, 6.9265, 1.3895, -0.3004, 0.2369, -0.0122, -0.1846, -1.6342, 6.9812, 2.0244, -0.0513, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHyYu8znYLcYTJLQg7nQBAt4NyvRl72CvWNsY8Egy5NlXDErT-T4PJ11g6HeOLgYaG5zVMlVP4-CCH-n450W_CW6ZPlXnBUta2aX_-FSlSXSX4NoQ1reCuxlJvP4gi-TvDJuV13tNH4rm1Q3-lTI_3qcso-STb2P9o2OumLFNB2vSUEeIbtYSRn00rxkSYTW5E27Hs7N_Sep3FAO-e4ON83LVG3kpEmNRS8gdYDGlYUs68Fuc1IQ6TgDl1vQyBu4JnYHJ-eDTSixUjU7jmkpCeuNu8PttsGI_es14RWNM2mJV2C4HWwVjndja9ZL5No34nAc9kARR6VKbp8zYc1S5fEhNtnWvLrrtdP8HR8_TnU4RSjI32BS6SIk3-VAH8nxbM8PwytEodrjJZUzBduYT3fvfZ07ZibKRc7esORPz2pgu9JAaTxqgXRKT2ukNN1mZD0Dfu9h4jjratj1JLSVordI3xrwsnfUByIUF1AsWyIRblXS9iWOv-yJN0KmQAd60mx29qlPm5sVd7bV8WVkDs6X1NUl38toRhCsCEtJg1cuHd9zYv9d1boqMe1tdpsyVfhV8CsIu_j_vOLg6cL5pF3hVTYwmR1DpD9JPa4WXZ5rjuEPjGfVXohHxk860gAzacA3HCij4dMeKVzrPYFOqWRinGmZsApEt5U633oYS-MF9la83YEPwwXFM5oHQ3cKiGPy7GT3lvdxy_HJ4NaicyWTzSlYJxSjyZ7SiRskfH7vJiLlcI_zUqjLry-ipIVHTU5lLHJvgjCNDxMCgSV-M6plgX18nH_7mLh10A308VOl-IlC88AJTHbRxugupRx8DJcjEUiCNjUAP1zTfSXJbDRC9FLQhPzAgX075AJrI1aIE7muGut67-E5OMjL5p5VObUryFrIWtZEq7a3UJUutokMMdIwCd4IcpGa-ZG--rJrDO6uZfQdZEaG1Ue_c_LuL-eqvez5UNA15ck7j8pAKI4Gww5TIr4aLYoZr4tzji9bCUGPEqvVFs13U9sK25xBpotopsGqs4hGCVdxoAJaUhOfT1pCPyhiyVaOq4rSw6HZsaQwmiZ7oNVOHeBF9LXzvcWXROtZ9zl277XC9_9mmJx8i92knIUzfjpxu_OR_Syo04tQ-nhXG6qJ3SE4AfkQtuasUNobwMtqNc9K1T2WUhKbd76MJKDk4fkaILy2QKlIMsWvnhP8xJZBryr5UIZUDEIYgVNT9gN9C2FJ7ie-KdcFO9kR56guAN-w18F_0WJyRXaq20c_jBCTi-B1E0gkEq6zda_GflYfxwMEd39b1-IVsN4E0O64Kil_5MJxwQNBEmddwMM4CBREORMJ05L9V6Lyg3ud0upHraHrN4VOZKqVYK3i9vWXQWqiNbwGMajcK9zPf8iLHCVBzpOc0IgzH3vUy4iIFqkVjss_sICbalVTmuR5TYzU7avmPGhR-iwth-I8fRIn6TvgU04AYRmnFxXGsd3Z7K_rXrkSNiCSsxiAiT4O2ifqMKdP6TMnhtlChTwUf1yoluVzB8BcXjQLwRiIvtIXTn3vJNgZHJqn_GbpzL2suQmz2HIkLHEEmBdmNYJ2uOEf0L83fLHbP5_8R5pTbJScMwqgkx43T3OC25B8jw==",
  "id": "rs_02b7e235a7de6bf5016aac7c9564cc87d1b72d5c5ccbcc7e0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.335,\"left_z\":0.105,\"left_yaw\":-1.5,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The opposite wrist turn is tracking much better. I’ll move over the middle of the can and finish aligning the jaws across its round body.\"}",
  "call_id": "call_Aj4Qr2Ejwb1RSRsJTzrgDZns",
  "id": "fc_02b7e235a7de6bf5016aac7c979de087d1ad048f97991b72bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Aj4Qr2Ejwb1RSRsJTzrgDZns",
  "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]: [-0.4408, 2.1517, 1.5925, -0.3737, 0.6701, 0.6064, 0.9992, -0.0212, 0.8089, 0.6159, -0.4919, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4328 left_y=-0.3215 left_z=0.0862 left_yaw=-1.3326 left_pitch=-0.1058 left_roll=-0.0549 left_gripper=0.9992 right_x=0.281 right_y=0.0012 right_z=0.159 right_yaw=0.0002 right_pitch=-0.103 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -12.3009, 7.5829, 1.0574, 0.8327, 0.2271, -0.0122, -0.1162, -1.3333, 6.9812, 2.0488, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09c667e65a4cee1c86ae4f800ef0a99f2513501dafd0c03bc7223252441e271",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254518f6117af7c002c71e6c3c9e9354f7ff05d3f951681234a69da57460e75b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17db9054d0e0a47d1cae9bb7c83ee21e251cde37dddccc06f7c27b49bdcfa2fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b09c667e65a4
wire blob 254518f6117a
wire blob 17db9054d0e0
call 7 attempt 0 · /responses · status 200 · 5.54 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6518, 1.647, 1.2152, -0.3473, 0.0044, 0.0513, 0.9992, -0.0212, 0.8028, 0.6167, -0.4671, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3701 left_y=-0.2788 left_z=0.154 left_yaw=-0.6996 left_pitch=-0.2042 left_roll=0.0488 left_gripper=0.9992 right_x=0.2846 right_y=0.0012 right_z=0.1657 right_yaw=0.0002 right_pitch=-0.0713 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.4171, 9.6068, 1.9805, 0.105, 0.232, -0.0122, -0.3214, -1.7983, 6.7487, 2.2784, -0.0611, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHygpvLTXAlZiKC_-CLDPiFpuING8efiluyqGji89RHFe_zMMb_IYm09rXLMdlAGkM8uz8ex_SK5lA1rSOnt6UxjdU4ArYVs6YMx5jWFLd6eeExZ-Q7dVpIV61qvA5R6wlgGKiHU9-m8JfmG7ddOKqR59smHIEmoxRoMpg0TDmWVQrfyk72R9dllDznlBxaFfq9BTdWH4E3tFVBCMtvb-GVVBoqwOkLPCVENBLCsTqjk4oBkXpfukaIU2RcQBa-i2jM0-4A1UmfGpcsZt3I7ReTL-XWvG-2JuxYtXbGpirjo8e9-aLNaGmgBR4mRBJchqv3P5f6iB_RdB2-BOhuMuzqYQmnaMh0ju0h0GI4XHW_GElLmmkXjKrRXy8CwdDc4L9sGajQ2xxNHb4vlErL0AhPZhdFi_VtdJbnXeu0VWCnFjdRqMEPYt4yIOUnotYlcw98o25SoVFD971VaoRrgCMEbj5ceEM6RWzQRlhQNSfnxdqSQzr-bh6wdSeIRWH0QCCN6dY3ZI6gfI22QeqdQEiGpah0W_T8aM4ywqzPCpp7w8CCR9VbH-4bgeNy45isK_myYfe_8oD593QjheAecnwBrXvoPFfCqvAxiZzhJDhQOTXA8_TzY2pk9KLrUVsrVmNUJ-qU3WEzZA2z-CiIIjngWPax_UvuZtzVHegLjsxH9DUApnMCxSWYj2Qc560RThV9nsYxccnjdZi7TvMBEVpWPUIkcfgzsDqTOxwnuvRtrrUMk8BksyBq8Im-BYy6gj9061mB4QAwjYRyZLq6tpUtyUkLh0d78lzh5MFDXDNA-onYvSfnuYvjEs2d_ZgtL3p4jXdyzCARFwXzj_7xKJTeW5rztqKkFyTGfjHux7yr6v34tFeeOiU2GeKHDds3wTXlqhpA-6gWfYUIJPb7LXU0mzu9iykZHK2oR-LiuNIUfpQRjF6Kdy0meaMW09wMukP6xeVp7Ax4m7FoSHkXVzMwjGG7v3HA2_ElPW5zJgG3LXy-h14yU_VSzKh2o4y2jBb3K2s0TfQ81v8og2tMAryrxz8GCL-_bvY4EUcHHnoRgl5dZ6odjZ4TaDzx6eUdaZoORnQR-mLRKLucLoUCgncAx238vj6VgScfNltR3BQvD2zRvaUwIqoFs4qAkFzt2_2kXVrCx8uMDRRJi9tGw_vSZn41RHNisw4Uxr2Xi2q-QQRulB2hrTfHSxn10kKoQ37AIBlkGfaY_p2CLmUiSy4KkUtg8PprYYNov1xfvxHr1r8XrkIeD1Z1InlG0HS3MisBdCqMgZau83GRSX7Ol7eg3M4mdA8ltahAXrQ-_yqIeQDvFF_EEKs4zl4z5Mso_e7uf1Tz4jhk23ByTFrIcfAGy6zo2k3xyg5kYWP5ej-ZXN0oe3MXH--tYZ8KzNEMIbEeJip6jKTebq0z6fVckR99Izb7CFIxP6Rg1SJwLZEAbgmawD7w3qdl30FznKRqD2D_j9mrVpUOFSntyY9l1knH0vQme82K5KPLggvvDtbAGJ6gmRxSGfP8r4rtW253Jzgdy4HTHcNpd3xOkUGzFA0-xgax1PGOL85FR5V4GYAb82dlo-8oL9a8MNtEdWQi_y05jeRZ6PQjBShLjRPQ-KnyT2oiHPyvsBb61bDWPaIKD9xZEclJ75NpRiyHxi7g9E8NxmmYokzMoHVJwpdrAafND7Pdvr6PbJFK01oIH94fG_1LKfOZhJ8uqw4cK-Ru86Yz3jrMVjISmTnZYMXEYpTHannBJEUIkOCNaGEgeqqX0aFRCeEFrArDLqqwx38-_KL6BK-dTqzq_qlJryHo_TNvt8Kq5OLurxB6OQ55p7gWznOHFEegFHSAM4Eu7SLQcdjDWKSVdkLkyWCNIVrRDabr0bSCLtR5clETkAdPgUhAvahoWXJIiCaeOeaPu2y_B-wADA6FXyKeGQrWxV8HHMqVBkJI5g4AyIU4Xo3MFnltd7Z0=",
  "id": "rs_02b7e235a7de6bf5016aac7c9af57087d1a6cacf6e3892acc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.37,\"left_z\":0.045,\"left_yaw\":-1.5},\"note\":\"The can’s body is still offset from the jaw column. I’ll shift slightly forward and toward its center while lowering to grasping height.\"}",
  "call_id": "call_23uuFfK7j5cRDvRQHZ4wFzBX",
  "id": "fc_02b7e235a7de6bf5016aac7c9ecab087d1b4e9a7ab35148da3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_23uuFfK7j5cRDvRQHZ4wFzBX",
  "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]: [-0.4797, 2.4096, 1.9377, -0.4759, 0.738, 0.7139, 0.9992, -0.0212, 0.8116, 0.6159, -0.503, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4605 left_y=-0.3695 left_z=0.0676 left_yaw=-1.4742 left_pitch=-0.0685 left_roll=-0.0142 left_gripper=0.9992 right_x=0.2794 right_y=0.0012 right_z=0.1562 right_yaw=0.0 right_pitch=-0.1167 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.959, 6.8034, 0.8132, 0.2955, 0.1343, -0.0122, -0.0889, -1.3607, 6.9128, 1.7314, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe10e889f94199a07b96c2b2950f687d6af293a9e13f0adcb479aec8479a388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12946057d73f7d58675abf085d7072746499604d1e3bb8a97d32b73abc2372f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d293771390a234ffe1e9d077db46ccae8e93944a38a8f538509d6d6463f7f33",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob afe10e889f94
wire blob 12946057d73f
wire blob 4d293771390a
call 8 attempt 0 · /responses · status 200 · 4.056 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4408, 2.1517, 1.5925, -0.3737, 0.6701, 0.6064, 0.9992, -0.0212, 0.8089, 0.6159, -0.4919, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4328 left_y=-0.3215 left_z=0.0862 left_yaw=-1.3326 left_pitch=-0.1058 left_roll=-0.0549 left_gripper=0.9992 right_x=0.281 right_y=0.0012 right_z=0.159 right_yaw=0.0002 right_pitch=-0.103 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -12.3009, 7.5829, 1.0574, 0.8327, 0.2271, -0.0122, -0.1162, -1.3333, 6.9812, 2.0488, -0.0366, -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"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHymSO5REiRWdlFh4iJhzbi8gNhR1-aANeN_6Hn57b90hipLbbc9ZGgnFRge4g0RCMGKAnxt6kLfnMoJf6ZScvCBjeVz-v7R2zgnmWCs5YHXx589KwsbxO-_9w7XNc4MGpJwHDT-3or1D9cDPl4BwnF2WqPlS62SLxNkVHPPIwIFY3nusObJH2qgFhaLCws6tY84twRU3zOPbzk0wzTUngGoOY_O6Mw5B-zLL0xqFHMm62owufXXq6TAppwYkjnSe8QALyxgBPkjlcaZ3OjRd_8w9J78s8tM6pVvpPpMWWBT2latA95fxOt9HOxmT37NLckOFSaujoiFnmu_ApJKKzprXHZCjFo7egI_btlqnfROvN9TZGCHlLxwGrAQArQAjJJb5IVg0TBEhT5Ac0g2o6NSlFTErdgvmZMMcJtWKxDfRcMcDD6u6CeKOGpx4O_lLpYMctgxoUjjItE_DWGVFP7UfCyRWew3eXaX48OiHG2W1xBeuWz0RvF8gNX77rJfW8QLNFTTZUm27GySB95Fq1Suxf9T_im3UFk_1GJHIqjqOGscmIPPMol8YRKfeVYI6ZasoD0AKvb_xzRDUpnTaBhG89Bfwuurx2RDg7qUbmfZwzqsIQFMqkni9oNNbAkj4BWufJAomgrBBqFF5uwlKJr6zreA8aJMjD3TFu9WN2vZMx6QrCeS9j8bleEvs7POyucH_ptLLN1eBBpmugsueqY3gl_ABy8tSujRjuj007r1Pm1R1cFH_PDbi5un_p70ZgJN8ozWNWGv4BIf5dDkcM1rmmhYeB-RcPYbDcWSipEMgxBsV7rWOIQBFYUpnlUgZ2IfNEiyfyIapJM4stDq-H0VcSfliFq1vFmFuDZgpMD4xkGJNnbcvdiFugkPTg0ddFiLw22XGHsgVCR6d_gOH2Axk-25jRCqtGGw-8y9wQkMhbiKM5dLk3IlBgu5ZG26mxK7HroYWtACHWZ7Ej1dVLNGperghrnuH_n52mewYTWo-MPGDeta2OhPcK4yhUtABFiyjGZ6NPYzquS3f6cJBCWDSsN2vDaCYbfp2FDD_YNlc1vXl_S1EQlvgthVKJxQ6DTgHAJ1p5u4jtdnb-kVL8pKvWdQMKkVIxrrus-zqtyii-5F751ND_fHFWjT1CtZE0eibHF2e0meUpUEF_T7HGtDPe8-kAtTPSInRUb0V2HkWLkj0l2rqsSfnhd2wGgH2mdJNs7KcHqv85df89IdGmtCOV37LHstJeWpy-e95XyxMh0SHAGMy5ggGWisY-AuBNKHdTxM4nQwvgal5ydNW-x9ukPls7QzI1ZseiaEKwZoM3J-Jw_W1XkMd2fuqxiAy-l-Hh3re1vRZ6Cybqzrw_XceeQRXqJqFwGGTwsymTkZ7YabVu5Gp4jlWQtlCXvACuFXBMlNhGoX-1Raxt5YoPlVC7qnJvXKXLgJU0i5alTOuGxKWVZ8lPy4sTxnxW3z8Gwbzsyg7ySyNNmFS9SEHiBcO5hQhKzr-X3t9tFEICXkk63mg_Dp2D6tn83_ZIVjH1IICQxbI1mlIeJRWsUL8vwSWA==",
  "id": "rs_02b7e235a7de6bf5016aac7ca268a087d19526bd4065e1cab2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.22,\"left_yaw\":-0.7},\"note\":\"The left arm is reaching its low-height limit before the jaws can surround the can. I’ll withdraw it and use the right arm, which has a shorter reach to this spot.\"}",
  "call_id": "call_4Ju9axE6KStfmbhhnQrAKIRB",
  "id": "fc_02b7e235a7de6bf5016aac7ca48f0c87d1b8a510d50844a854",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Ju9axE6KStfmbhhnQrAKIRB",
  "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]: [-0.3206, 1.1061, 0.9466, -0.4992, 0.3374, 0.2264, 0.9986, -0.0212, 0.8158, 0.6159, -0.5442, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3058 left_y=-0.1594 left_z=0.2236 left_yaw=-0.7402 left_pitch=-0.0396 left_roll=-0.0027 left_gripper=0.9986 right_x=0.2728 right_y=0.0014 right_z=0.1475 right_yaw=0.0002 right_pitch=-0.1621 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -3.8906, 6.4889, 1.8388, -0.0024, -0.0806, -0.0708, -0.0615, -1.265, 6.8855, 2.0049, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47a712d52801e5bf407f7a1c5241a0986190a1be217aef2d4b24989eee1683f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735bef8bf25a773dd66656a172bab78bbaf4930c9de461c0faaa615ee64b1e9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a272b96f377697454342ebf2da058bf8afaf8be2c2e7b5a7a973103d938421b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e47a712d5280
wire blob 735bef8bf25a
wire blob 6a272b96f377
call 9 attempt 0 · /responses · status 200 · 5.069 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4797, 2.4096, 1.9377, -0.4759, 0.738, 0.7139, 0.9992, -0.0212, 0.8116, 0.6159, -0.503, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4605 left_y=-0.3695 left_z=0.0676 left_yaw=-1.4742 left_pitch=-0.0685 left_roll=-0.0142 left_gripper=0.9992 right_x=0.2794 right_y=0.0012 right_z=0.1562 right_yaw=0.0 right_pitch=-0.1167 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.959, 6.8034, 0.8132, 0.2955, 0.1343, -0.0122, -0.0889, -1.3607, 6.9128, 1.7314, -0.0659, -0.0464, -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": "gAAAAABqrHystGOIyrBp8447iJTUgeZL_0Hs4Q7EkcCbSkQ8W1Qh5LFNKYHb-eDRcfjqTGmyCSvvNXic12gcukMrT-JOuMLfBnc5qJEE04PAXbnG3y4o3EQopYY-7_-OO8MhetW0n_R-uSiw-DzbZz4pWmkHzP--pIlePh_ByCZJPFVMpEH2frouS-IDEtYyanmL_-U1bq7nIiUmCLKW_JiF0wzfmm3X6Q-zdfKUPvmx2Nwukn79qe1gWbH15wqc9-8682kf2HCzKqMsx6vugjDY95B2xnhHR74gzgOkU7rwtW6PgKZxQ_nwPKVl3VPGrIc-4hJYO-0C7XyZr8yTJlACt8MtMEP7zourAPrb_bjWs6SJmenSzUueyjJ7Pc_21G6yVijnsVEfPYH5cTh7gmsbUyhZ7RxWN7GkRlULdOnyAOwimXEcMcjTo_bhZd4VO48-wMGImbPdw5LoAh4YyAesIgABChamGWq-bDpweWkJB8nOjvRP_od57C_v5w0akXXkij0a0W-slOC5aLtvkkUtrl12C6ce5bNUpiFxI761fXnc0tL3V4lSJdETl5QlG5BSVBQhVsK9VbXQhUUAwVw-7AD8oUZkfnoi5hhJXcFbx8QViDOaS4wv56_CnS7tVliJ5BBbN_tSJu1iELtoa8031mLDfyr_WquZD0HL0XKImrAcYXja08pFU1jUGrxQ8B_gk4IwAy4rGGBYM4VEbbtvSgEwNtpNl6fEeOWISVUKu2-06202Lv1VnIIZ29VQE9bOS5YeLGui1lCJVCvz7Dhgl0neK5q5W04KzlJTQEoaUaVWeixFk8QwjFYTF3cuheMOUZQ8Si93EY_KW4B3ThQUNnlb1L7wg2jMD68pJ-Ga0wkf_PF9RwB962qb6CRASDqgq8pjrR1wDboccRPF34fA-RY191w-UE-xa2zDKcM2iBcChOXD-ra7uZoIFxt2wDCQN4mGQZXQhFF0CQhwv-n7dfcmZPevzbD4ZK5HwtX5WZi4UsOPSv_ltlmTM1Gjyc-mfB2P284gYF5hmbiLd4NZ7tcSsP6qnfVTPd5RpmWnP3s90Fv1zWOOv34nLVxluNPThw8gDIXu9H8wjNkyE54MlaVDphIafSVApvsn6vGFN6ud6JIqE_zSLIvRcfHKQaqKg8rx-p0RnpBM-nIf7pn7slv0UvC0oiBPMPcMHnju4nTYT5cvuZz6L_8t_dFym_ujkSvH1irnb6ID_jbW79UXEVPwrZ22BHmxyG4qBv_8jDj7njv8QDAWHGz5Fiaedt_-QY7_bOJIo3jFQm0Uh0axmTTvKmnQqUwNUwRXc601-NFFWk7cgB4=",
  "id": "rs_02b7e235a7de6bf5016aac7caa208087d1a463936f7dad0d28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The can is still on the table, just to the right of the burner. I’ll park the left arm fully to the side so it cannot interfere with the right arm’s approach.\"}",
  "call_id": "call_hNmnk2t8F8yYKOvVYpfolErm",
  "id": "fc_02b7e235a7de6bf5016aac7caacf8487d1bdd2f30d6b0ad828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hNmnk2t8F8yYKOvVYpfolErm",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.038, 0.8261, 0.7372, -0.5438, 0.0074, -0.0242, 0.9985, -0.0212, 0.8181, 0.6159, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2894 left_y=-0.0087 left_z=0.1984 left_yaw=-0.0463 left_pitch=-0.0565 left_roll=-0.007 left_gripper=0.9985 right_x=0.2687 right_y=0.0014 right_z=0.1425 right_yaw=0.0003 right_pitch=-0.1888 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -1.935, 6.3521, 1.9219, -0.1392, -0.0317, -0.0171, -0.0615, -1.2239, 6.8718, 1.7949, -0.0513, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443aa4a9261987f0780c3a5db5bd9390481db901fee8d00b3b4bc168bedac378",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe3fafa4e1853af104c11eca2db32e9575e62a7fe6964195378dfed58d5a70b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe9a073a708923ea46dad01d2313cfd4884002b02c73c2aa1e7e8accb89295d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 443aa4a92619
wire blob efe3fafa4e18
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.579 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3206, 1.1061, 0.9466, -0.4992, 0.3374, 0.2264, 0.9986, -0.0212, 0.8158, 0.6159, -0.5442, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3058 left_y=-0.1594 left_z=0.2236 left_yaw=-0.7402 left_pitch=-0.0396 left_roll=-0.0027 left_gripper=0.9986 right_x=0.2728 right_y=0.0014 right_z=0.1475 right_yaw=0.0002 right_pitch=-0.1621 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -3.8906, 6.4889, 1.8388, -0.0024, -0.0806, -0.0708, -0.0615, -1.265, 6.8855, 2.0049, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHyyZ6uvsqHjbYKa39S2EFyEbeaok_SyVnn2oCscfoFPvsC7jZF5a-jRTYB9VUACaVMAKc-3Uw_5hUb5UBExqWZkHMarnfAqVcBxfDeQz2UVwhwymu7hpShjMfP-8dy4TBc1NSdegoJ89NmSWHhg_zQfJXMdNxzEi4BRK6LiM3-099xvA5nKp3nkNJobr9CwalfQ74wHZb64UG43ucUItVBtHHFLk7ilBjp0dAzCNoW1SfQT1gX1Wg6bU_di4wY6VwJZ6fzmlcTcBbQKea2oMQfcxVxHyng4uHqB45wBNIfNET1t1DH2uAsZwLXl8hm4o8KN_5sC5Z_CWXwGWiWJfqF1J_Rqn56pK0aLD5N_6pGR0xGn4aJ_cvm1TLxVb7Q2faTgHUdvuFPEyBkgLDtAxqkvYHnMRRNrcf5-gGvPmAg02J3MdjCaBKS9tldQ54qpgPnB_k8arRYt0rzF3EOha9zYerxgO69txZqD2rKaPSWUxtDw-EcjC54vwI4N94E1PZuMcnuPOzGHpbcPXiWgfs5Cj_1y7j7zqSgX1Kfxt2hfK1IvAsKHDPQITLAvQkQAg_7g9aEdTebxUkS63DU_NgGGNWLdA-1ghSssm06EEor32SSFYsDw3p6qol8v-eU5vPBxgmM3hKC5QgK1bKS3o4Q72wIZZzxmst6rU4_fXp073cx7UASl7tRAM3P9NuSWh_QH2pQ7ahrTyGBV-IHcDQ-YQxn9VTg79LUPoRy0fh8lwTfXsKnheDUG6rctNKHv8D5hdoOrA73sgivAgDi9PMGPesSko_Prnw_jCzgqMG0jlRjFNX0UCW9PQUlk5lcOo46R23JycI04Z15xPLdoc-KdHgm2WN59PHjdufU0knge0FhazyQ_lD8LOKZyxuwojMPP8NNaguPW9oYmJaIAgonu8NZkRFMVDfJ51P1jsdPzmoBCjwgrYZAEy2odjJm_9LkPgly1wAnRPnxTYyVB37bRBykNA4A7e62UMFH17N5TKjqu4qMBSOCPIe1bo5BwoHR3W9ZA_0b4SkwrUksuGXZrwwytbh7bHb7vSc2OH7h5dtt90QzjI3CwpVUN85lg6115tiurLZfpWP40HVMmIl7WTbPRJPOQ5YTgBOfl0HNyreqy1zN4PgG3rwv-087lCmqm_yjBEdD7jg7-rkfbpqVzF7opseWlqvWZ9PWtMh2jiGEuMB1ykpDHUjGxQTAYqmZw7lDR840bVv-2aInLt462vDYO_0t5JN3ZDgb3VtkJHPRdu8k7cbqXGzi-LgM4fnzoYlQH2z8FJtqUW1eKJ4XD5r1ok8nETx94wUagI24Jhkwd9DXz4eYTTJ8dsSSWFAkG",
  "id": "rs_02b7e235a7de6bf5016aac7cb0023887d1b462c018b8c3a535",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.29,\"right_z\":0.15,\"right_yaw\":0.8,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The can has rolled slightly toward the front of the table and has stopped. I’ll bring the right gripper above its new position with a gradual wrist turn.\"}",
  "call_id": "call_6e6LTOleaMBt6yyeGzW2F2T2",
  "id": "fc_02b7e235a7de6bf5016aac7cb1033487d1baf9a82e232badd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6e6LTOleaMBt6yyeGzW2F2T2",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0387, 0.8299, 0.7326, -0.5632, -0.004, -0.0349, 0.9985, 0.5621, 1.6413, 1.0168, -0.0494, -0.178, -0.1333, 0.9996]\nstate[eef_state]: left_x=0.2864 left_y=-0.0068 left_z=0.1915 left_yaw=-0.0316 left_pitch=-0.0844 left_roll=-0.0087 left_gripper=0.9985 right_x=0.3733 right_y=0.2763 right_z=0.1287 right_yaw=0.7741 right_pitch=-0.0796 right_roll=0.0164 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.5795, 7.241, 1.8095, 0.0855, 0.0659, -0.0122, 0.335, -7.6376, 9.1692, 1.9805, -0.0757, -0.0855, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:261d698b567760184072659d36d578f485766408aadd8ac2e83c262993dc7776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416222a79bdafbe76f5ef02521ca8a6c5d772b11683e8251087dba7093b33d05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61af49c54abcb648d9108ebf60d5414fd046d6a6df476d367deeb58be3700bc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.425 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.038, 0.8261, 0.7372, -0.5438, 0.0074, -0.0242, 0.9985, -0.0212, 0.8181, 0.6159, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2894 left_y=-0.0087 left_z=0.1984 left_yaw=-0.0463 left_pitch=-0.0565 left_roll=-0.007 left_gripper=0.9985 right_x=0.2687 right_y=0.0014 right_z=0.1425 right_yaw=0.0003 right_pitch=-0.1888 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -1.935, 6.3521, 1.9219, -0.1392, -0.0317, -0.0171, -0.0615, -1.2239, 6.8718, 1.7949, -0.0513, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHy4mGbDwMQlFX6gEv-SsdUeeV2YLLtCcceUkjcFAXW6eL1XZhNR2x4LXLX1h_FpKCfyL1lDj1ZXC_C4EFk7N9mrVT-LNgJlOyLxYi1LITWqzYmVfNuXq4GbGMbN2z7KmqHVz7BlXI-Uhit51yIIJJdUVbdnFZbRvp-m4wwBQNxMIkoEUka6_o-FoGNCLir9NPlEXdyFFEVFyAEzY6uluxG1pB3DHjHrkAYXrOEtzMgwJudI-nwjZJq3JH6Vb9DiQjoWnJEmN4q_ligfQR5P3ybtX0Cw8E7VYqCn3HpPxEbe0pKaJmALDM2dUitCXcXXXUU0IchDKhcY6fiORS38IVZh0qXP50_TXjyHaP0v8c6DWCbPVhk9rE2cWxAjaZe0T7s2agcPFdVLUuTv_cb7XPfE1luGDhBdMJWeeNVGgT-Ch4rWnV41LiCXxg2vVSOYGo6leqXPiIbrMq_0pzSqOxHmzys6jKKJ1U_iUhHP90I9ZYc-5eNl3uqsha9Ow5ratHkKF0IjhI8o9or61YHEliWZ1ICB8vqBW8RBRaatYaj_vU1LjpNrWv47KRhKZaR0zS3iPYDhqCYtFlObS0L9mc-mzfPc-uTg-6a-3Rvx4kuROBwVI43VcN5naabXqZysj-pwq-gGS-T-T7XcQ3-HCef8eVlnnso2JR9RxGYFt9FdDUbdvOFsmuH1NaI8D2e2lx-E6QEbjbkqlLfhIfEv6EiNYVa2qPLydSldKu9rwM8QunSqOVJKMiEXJ4wVB912tFh6yMx7aQD2KtTqL_2aL-YIlvYNUhsUw2mDEDusct8B0RN3ih15rGqkcjsFSJv22znATZM_J4mYS24emtZeUF20LogoM2zGqBWomBLJyvaH9LAsVJ61adxKXoD6z3i1IWdyNHE9pMeNzyLNbiGqjNvQNt6hj90VA0yMrRI62L30TNJgsCs7zl2HPENP4Jbw3qC4eZhlON9JURv_M6TOIJ_UVQg5KdrBUOybIlsrSqL12dUl53IMiQhVUFcA8xnoJ-CO6Z0csD2XDAzzriVQ84RXUKyBfdb1EVhwsvzoLAylQf-a8uh_O5TrXl7UAAdI0vzc_uONgSZ9V7cdbEM6V07XGZGNAANdN5Z5jp7VtodrdG_2WRiRAPmkY69QXsdqaymx8TeRUermKg8u36GFukHIPc5tekZdrGhd6RjWXTzhJ8TXlw38owWlHKusnhHd1-dLRirdvE_6b9TOkTxqyRUtgcFGzaAXG3GC3FeToFaY6DQOakmFHZQJMvN4xTJB-Xja",
  "id": "rs_02b7e235a7de6bf5016aac7cb6a7c487d1984319a9b39d49ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.325,\"right_z\":0.085,\"right_yaw\":1.5},\"note\":\"The can is clearly visible beside the right fingertips. I’ll finish turning across its diameter and lower over the middle of the cylindrical body.\"}",
  "call_id": "call_2XPqDcva2LmqQ1BoFi4UXDbX",
  "id": "fc_02b7e235a7de6bf5016aac7cb72a9087d1afd46f5af3adf193",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2XPqDcva2LmqQ1BoFi4UXDbX",
  "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]: [-0.0387, 0.8345, 0.7326, -0.5819, -0.0048, -0.0383, 0.9985, 0.4454, 2.0449, 1.4033, -0.3023, -0.6292, -0.6514, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0066 left_z=0.1867 left_yaw=-0.0291 left_pitch=-0.1077 left_roll=-0.0107 left_gripper=0.9985 right_x=0.4027 right_y=0.3114 right_z=0.076 right_yaw=1.3104 right_pitch=-0.1326 right_roll=0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.4838, 6.8718, 1.9267, -0.0317, 0.0024, -0.0122, 0.1983, -11.6855, 7.1726, 1.0427, -0.6227, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03a8397221d5ba30ad7fc0d005dd3dca0a6ed11067f59fd71b2a86a3fdb8658",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a68c382d95f395f3577310d10540da4b28cb9e01ab07b1b1f585e2beaf3381",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee95486ddd156c4c5ec98379925e67d600e03c290fbe75f7824a446046eeda8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.544 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0387, 0.8299, 0.7326, -0.5632, -0.004, -0.0349, 0.9985, 0.5621, 1.6413, 1.0168, -0.0494, -0.178, -0.1333, 0.9996]\nstate[eef_state]: left_x=0.2864 left_y=-0.0068 left_z=0.1915 left_yaw=-0.0316 left_pitch=-0.0844 left_roll=-0.0087 left_gripper=0.9985 right_x=0.3733 right_y=0.2763 right_z=0.1287 right_yaw=0.7741 right_pitch=-0.0796 right_roll=0.0164 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.5795, 7.241, 1.8095, 0.0855, 0.0659, -0.0122, 0.335, -7.6376, 9.1692, 1.9805, -0.0757, -0.0855, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrHy9y8VQcOWdlIBH0t4Og-II79vkjf956Aw5PxLgrPJ_nwskUlSkIBJzLGlq796TBo5QcL_EGjCAkreumoPFz5oGcxtTnXD2V9q0nbn468PdVktev8R8wg-31gkYlB93ojjuPenfL0nBTHpbxT_Tadtmaq-4ZBdXdx-KqIW0JXcgSG-Pk6FVMyBSXTDVUOK8ZaFXjiXNCWm6Ko9Df0Tdu-j1eR37kdxPU80rXWiLNDsSLIBri6qUnoqqaZ3oynPCBBCFfqgv55113rvgfvfS_KWe5nT9icbU-jiVl3gMHdEzKJ-JU8fzCxqneeXoGWcn0DAVtgJrhMfTG2ZG18PlzzHu9yJ9JqgaPArB9Jy377tdfVvXXip1_pHyzjiKDtj4MxmB8wXoenBHe_aqAWmSkcg5vCwcUF4yt8nDAWbtf9wqPZZQ6NNu8fJw3-SVwcSa7zcQaLjn9eaBjINzEJ1JrqqqhaNeL-5LQG4t8fAMnCkGj8Ci7JzKLAUrLIm8zYYU7LuXJMw0Bz3saAO6R25VVWcl1Uz7n0tr51dn4KgBX1pxqN9_l5b_prxi2P0EXaWCO3fZpO7bF620eYJfVpkg3HAHCpf7IGWPmsbjIr9MCCs3WvAGftNvH2erLCEKqBVqM83Znfg7VFY8kD6af8qLKSTEHn-jy5dvKV4t5_TUcP3Wbz14X7Euy8LxDyLjh-fWKN7p16Ay_YHjOazdbyQ-LtKdhVzz1nVT2_RJG6ASj7yXJgA5d9IwZBw-I9KbEjjWE6tH59ysSsXcsjRuJYhV1sFr5wN8bLuYyOdlxfuq4zePjEt1vxFWCSKvv66DJpEgluG59Ikwy85WNV0RB8LOY_L6weCYOez4E1CPvoAKkorOZ4hxZFN_23g52Zddtc9aP2w8lk7GHnHzNwPs-QcO6TYfRlIPCWIMIIrPec7Nxs3dpTlkEnFMwdUY5t0BTyc4xpUYsuU9SgrqVB84CNq6bLiVlTBhGV4Q9AwtdRknvAk9AV3D77BgWK7mtDbu1xS2b8Uf_Acels9ioSxsRKU9zXIuu-YpQ8puzyO_RaYlgOoiX81K-WWWKLBZlJpWmDXMKld4uJMCzBlRtAkuykfYv_8YO_mdGTP-MQv8mh5RgqntBwuzVfTAnJOJjBPhqaRuRINUabIBgs88dnla81PCW5R-cxnxgRBw0x0JN7EhvN0r09iSn5zbuvG22eeAVRS9eAaMdBiyDmqBDW9vES6NXfJJ3_scHZpvNh7Ko0tGNfqBRq3to_XfqTv0j9_UxCvNmGDl8SNMnKvKTV3xvYmbHeDo7j0SzWpYHaf3Jodk8quBS_XYgAxGVcjgtjgPpX0HEcaHp_VDkbB0dziNIHEV8GA_f79fD9--mZlBRFlRDWuvQf1EWAaN-7J1NjrtRBP25pFL2kVrXVYVmiRtEhGlFLa1eZUy20Xm0MDcRhfqQsQsNyYlQn8gQCtHmPqq2hUw706JIQFOAuSBSPMCCPAAW67rKQ==",
  "id": "rs_02b7e235a7de6bf5016aac7cbab2d087d1aaa68c812d50b2cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.30,\"right_z\":0.03,\"right_yaw\":1.5},\"note\":\"The cylindrical body is slightly right of the jaw column. I’ll make a small forward correction and lower the open jaws around it.\"}",
  "call_id": "call_NJ6lJfWtony0B3ANCCQBSzaS",
  "id": "fc_02b7e235a7de6bf5016aac7cbc563c87d1ac2d727e673346f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NJ6lJfWtony0B3ANCCQBSzaS",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0387, 0.836, 0.7326, -0.5854, -0.0048, -0.0391, 0.9985, 0.4458, 2.0777, 1.4483, -0.4103, -0.7456, -0.8238, 0.9996]\nstate[eef_state]: left_x=0.2834 left_y=-0.0065 left_z=0.1856 left_yaw=-0.0286 left_pitch=-0.1126 left_roll=-0.0112 left_gripper=0.9985 right_x=0.3824 right_y=0.3195 right_z=0.0749 right_yaw=1.4861 right_pitch=-0.1048 right_roll=0.0365 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4564, 6.8581, 1.6386, -0.0415, -0.0708, -0.0073, 0.1299, -11.494, 7.8838, 1.1306, -0.5446, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff4738838e7f240baff43fa81c0b3ec3a33a97398f479b6579726093cf5230b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7619facb054fb22cf109eddcd738d98b46e9e00eb8abe850f4ad96e7e5d35407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5aa27eab592a77ea7b16f5e998a3861de6e7383a42de91841b54b23c9f458c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 8.285 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0387, 0.8345, 0.7326, -0.5819, -0.0048, -0.0383, 0.9985, 0.4454, 2.0449, 1.4033, -0.3023, -0.6292, -0.6514, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0066 left_z=0.1867 left_yaw=-0.0291 left_pitch=-0.1077 left_roll=-0.0107 left_gripper=0.9985 right_x=0.4027 right_y=0.3114 right_z=0.076 right_yaw=1.3104 right_pitch=-0.1326 right_roll=0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.4838, 6.8718, 1.9267, -0.0317, 0.0024, -0.0122, 0.1983, -11.6855, 7.1726, 1.0427, -0.6227, -0.0708, -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": "gAAAAABqrHzE9LRqCK7TLlRPd1tHgolOCkQOo21hTavGWXj0fJx5iw73c5EgfPThejS4z7mU_txQTmHlDqHXmhmE2O3gKEy9AFwrP6SQCezLaGzPIPyj5C4abe6NS_6HMk47Bql8yMv5-r2hIsDGbq71mKTo1-QYgMxAa2jIkCK0l_3JeDtQE3g14ahxAzpDJHo1PEX0Ao6Q9-kryA5Zk6eCifunndVlaqCuS8Z4mSBTh2uZQ0QKogRHpjLcIm0avN6V3LGN8ZOsC02qXmL6rtuHBpGlAK7v_JJbGJixovgytl66lXbvdWWItWrEAGmG-sB-QImjZQ9EIXOe-fZaagsXcvoMUF-w5oGiZXWrMqnshA9WxxVG7E9X4e06A_sVyVRWg6IQoob1JLEj4pLjL40De250WG-0bqjWqEa7F7oKTKc9-vb_sEeVhL_8cXyJ5qR4PsFSklUA-7feV_4xCruCUm6Q6nPZJnZhNtWDHJryVbLd5kK0hjn9zsVFxbDwI0IiPZUkg2SJAlmoI0ShBC9veRsIacRO7xhqeaE30mLKHOHwMIhYqrRFoUlbJ5whXwhe3OB3EL5uEYBA_JY-QXJdYZrG0qpUBM42ptMGE5UdcNQSPcQkbVQwlG3U6N5Ebnjnel6VwOmUo9Dy1w9UoTIasrXrIELGBoOJ95mE8UQDHzVnEd9I6Wi9sHF-UZGxIZVyHDnv2lvCt960ktHRIk696mHS2iQ6rwIPwbIGkEkn0crGc4xteiBBwa9s2P3PeHlCf4lEw83eC1AomyT2uhu1FqxRhvdXUs1fkz4Er4XJHf9XycbxQ0XhFVR0E9MOkxjgBkDBmVqCspNznFcr-xPuwQkehh9_4d6PyX18RRfm9rTmo5fiyq0nbEcv1z08wfzz6yMNaDWv76M4LTffyBE0Tn9k-LVM8C-QM0FiN2KnWGq5kwXQ8_nNekWd8PSQ30Xl6YciQQEeNk4ACv8_MbWSzlv07xdm9ftcVLzDBRBvtpiEsXUPUU6kVgGnK_MVnBpzHWKfXbLNd65vKeFC2mq4DU3wNTy7TSHzixW2GOW2BTko915b0klH5z7cGQB_XlwH22qLLCHb4KrVf7iai4k236e81a4pIk4WoJU3YWPc1MeasmjviksUXgquw65_Ugm4vZCOoQxQkBZbfUlBF508-B-L28438toJmbqdG-dx4Uu0U4LLsJCiL-jmLGdhc32bFVZcsP_RA7rzuA7ZDCCpUISb7V59k6eNBnb6AQMj3YdR4Wcqjn9viEI1ehPL3riAtXIl9fp60EgVhT8YZTENBZbOU8SvC0WxiIzyhsETAF5mljOsP1FR1dwtICgBQiGS4HM99-TNQDjRDcdHz9OgkZIrOyTquRd1Q-PzgXYCLl_VyyeQNeVjEsNRSk7GxDv7s7oZlFM2JLiHqbm5K0n4TBMcimE4ujdetAdkmxt1Q2sVmkBCK_eHpjada0GwjdmNPuuTnPNdphIYi_Eb4FYdaKED9srWQQ==",
  "id": "rs_02b7e235a7de6bf5016aac7cc0c18c87d18109d0aeb3f885fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.29,\"right_z\":0.045,\"right_pitch\":0.35,\"right_yaw\":1.5},\"note\":\"The gripper has not yet reached the can’s center at this low height. I’ll add a modest forward tilt to improve reach while keeping the jaws open.\"}",
  "call_id": "call_PoOXAmSZJF7hXlsPuTtVgcIX",
  "id": "fc_02b7e235a7de6bf5016aac7cc2e34c87d1adaa3bc8775e1737",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PoOXAmSZJF7hXlsPuTtVgcIX",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0387, 0.8379, 0.7326, -0.5934, -0.0048, -0.0391, 0.9985, 0.2733, 2.2921, 1.2964, 0.2733, -1.1408, -0.6403, 0.999]\nstate[eef_state]: left_x=0.2823 left_y=-0.0065 left_z=0.1836 left_yaw=-0.0286 left_pitch=-0.1226 left_roll=-0.0111 left_gripper=0.9985 right_x=0.4235 right_y=0.2892 right_z=0.0424 right_yaw=1.4818 right_pitch=0.3018 right_roll=0.05 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.4974, 6.8718, 1.6728, -0.0659, -0.0464, -0.0122, -0.253, -10.4547, 4.9983, 1.5556, -0.5397, 0.1587, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d206509178d0b38a8c882d1d448b7811422ea2d3787413a2c7d968d51d8dc00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81e11191ae3eb0d19e9ee318b4f857e030ae8dc65570a24a1e9d63cff68689b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e48d3bd52a8e0fbd2c3dbaea1ef22041815f704dad8458bab3917ea6e9aaaf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 7.102 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0387, 0.836, 0.7326, -0.5854, -0.0048, -0.0391, 0.9985, 0.4458, 2.0777, 1.4483, -0.4103, -0.7456, -0.8238, 0.9996]\nstate[eef_state]: left_x=0.2834 left_y=-0.0065 left_z=0.1856 left_yaw=-0.0286 left_pitch=-0.1126 left_roll=-0.0112 left_gripper=0.9985 right_x=0.3824 right_y=0.3195 right_z=0.0749 right_yaw=1.4861 right_pitch=-0.1048 right_roll=0.0365 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4564, 6.8581, 1.6386, -0.0415, -0.0708, -0.0073, 0.1299, -11.494, 7.8838, 1.1306, -0.5446, -0.105, -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": "gAAAAABqrHzOwPKp_rYk8SVJPgpYpsjQ74tm68TL9PbECLE4ItSFhsJF6Q8emImD2rGzTEoUEAAE3HmFFU--mjf8-nprapnVFksktzxrk6KxhQ1mL32vQnXXhcpEUw7lq0r2bHHZ8yBcLDMHXyQCx4SOkgYswQkZKLXEpXxo6q2YxN7XDnS1pgKXt_Lp3JMn1M7rDdKgxjx58hLXwWncRdwApKYyeoJYzPgXEFpGDYwWdba10xrMlaASnSUJ1KO36PTdkybLtmtdt2JuxJzFip1OLQecFu0Zc7JHKbJ6kgWgmwz2R7QwT54wkk6ZA9wQfyuuxGQ1ONjwILbt1Rh2-0HPTCYjsiz7SteqrkUAZF-EMAR2-8s2OFNhsGoN2kBPzWjKQWleQmHEXJCBdXaO_ES6AnDirashgfYj6QnE80xmx1v3Hw9HcwS8zD7K-RhgHH0-Vh5xfqdJx94bFX06Pgg0ERXLE9nL-CIeYPZNPb7xuFmwuMn6AJ-JwFlYxXf2vUAVVhLpf_Qk6h-KUrzv19qC91LQlPNP2mNDwSRHJW6eaD_6Nv7pJpDIPtryr1VjSa5w9p-In_zd60FSrcPrrKb3IR0y-eYGqzq8uNjO18Spj0DLWFzeF9kNAEk8Sr6logcFNGnd-Qi7Cc3uprw1oOpYD-ZR10AzX9lg3ZKSDnpbXkiOLbtLUC4u4VNdvbO8hvuMxuRHSiTpEuAMUTUe1vyO8tC7y0s1ITelz1LTOp4BgST1XHkJ7gIrpMR_j6s1LExl62DxRWyoeAdgF4AOuzD3qckKWF7DxplyzoccMHqmmlc6buLOSwrRmR0lgcCwFQb2Vvn8YDHmTcljskc-_9bsvAZ5jkny7zmRCE0RnHfDQ1IoaApMO2YaO-VGueph9jTUnBrEkWtfE3AYR4j7xW_iP5qErmNd9dLfKt1e_2lNUJNOD-SAr_V4I-UR_t5Zk85mw-uOx9f7EWuB-I6B0av0yAFgGpCGD4hfLHBE8t1Zp_g1Gvki61NiyqqfKe35iVwyroqaiM-OSCUrxVG2fTwGwWmTfg3yoyF-03lrhZenUm_W-0fp5WU4m8FdlHdykF4m-LdMJHkW_0h0lgq3T9h_zgeYksPmQQ9apqTd5GCTfKFh6ERV53Kd2buZvHZD_hWhaZOOAXr8afROZUw4UJMaBQlwC9TCxiBDlm5TUFwS5QFXI88h0dAzARBQqs1ozgMiNWWdjvM2fUcQCfGWQXmw3Kk3GPRZ30fSUIN38CEgq308svIu2flA2w4gH4uPBQKjY-fMy4lnTAd1H_Yf_4Nm2duCA_97GqL8Hcus_xuG8OVYky2v_N8pS6ZB2FgO1-BSFGDG-3Gu84ofE17lzIKnEPJYsoj8Pcn_LVNd44ZhvGrlhoQTbhL1ddW8GBQhRot148HDSFFLJlRFRUDrGiQY1mi8BEEx-ZngsaSr71XNWgeD0aqnpYqFtdooNPjjj7h3iSsaSuEgZmaALqMxhQMF_wZgZiiwtzbrzLBclzdLwdhMNwUBAwaTBUS0O7yrNk49EWBprFX5vShcyIxjXo-LVVkO-wbCL0D_UyNErXjwqwCdjiftmNAZQuUiTHsSQLhV1a9VcTGA2q4SLcqywz3tGM87MAmzlovJgIafkBIHnW--hUJ38ISr7kpimvgdiWkmZFnowoakV2jo3dKHTptLWp9WSfVzKlrxjClNwH3Dl-wajVIoopvXUFRkQgx0WhlmM3688FaWrfzk3UlbkoWV4UDMdo94Ql0xfMBjfUvMBoPUNhrC97OzjGW2S09YlSnAghN2b23rXyVpszv5YzFFefn54erE7kGs3qg8ZXSn5xFvGzQH7smpU-XkYxfGYKPkd60B3GfTYwDr8PHA0_-kOzZMvL_wLw==",
  "id": "rs_02b7e235a7de6bf5016aac7cc8708887d188dead22a5aad2f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.2,\"right_yaw\":0.7,\"right_pitch\":0},\"note\":\"The can rolled away toward the back edge when the gripper contacted it, and it is now beyond the arm’s safe table-level reach. I’ll lift and withdraw the right arm rather than chase it near the edge.\"}",
  "call_id": "call_1wQm9aSKv0Ad8LgZg1XHFnxv",
  "id": "fc_02b7e235a7de6bf5016aac7ccc6f3087d1a3dac7e0ec461335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1wQm9aSKv0Ad8LgZg1XHFnxv",
  "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]: [-0.0387, 0.8421, 0.7326, -0.6079, -0.0048, -0.0391, 0.9985, -0.2543, 1.124, 0.8322, -0.5911, -0.7879, -0.6556, 0.999]\nstate[eef_state]: left_x=0.2803 left_y=-0.0064 left_z=0.1798 left_yaw=-0.0286 left_pitch=-0.1413 left_roll=-0.011 left_gripper=0.9985 right_x=0.3048 right_y=0.0539 right_z=0.1868 right_yaw=0.712 right_pitch=0.0042 right_roll=0.0588 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.7436, 6.9128, 1.7607, -0.0366, -0.0317, -0.0122, -0.253, -4.1915, 9.1966, 1.4579, -0.2906, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b75e533fab9125c142a2cae8d49cc8b6cf91e2f7b5ecaa842812c9eb87fe55b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe5479f9867de0c9d60c57fdcca793b810fcaf6f92568bf13a92643955e5c29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce68735ccbacaaf600baaf4f0e194aa7affa0179fa5a54569649eddddf91573e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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