adhoc

completed
2026-09-18T04:59:49.631677+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
115.2 s
total steps
91
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe spray can lies on the table to the right of the burner, slightly left of and ahead of the right gripper in the wrist view. Moving the right arm forward and a bit left to hover over the can's middle before descending.
move_to
right_x0.3600right_y0.0400right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7929, 0.6048, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6067, -0.4015, -0.0196, -0.0334, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1769 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.4017, 10.1675, 1.9853, -0.0611, 0.1978, -0.0904, -0.5402, -1.4838, 9.6342, 2.0537, -0.0611, 0.1538, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.04, "right_z": 0.15, "right_gripper": 1.0}, "note": "The spray can lies on the table to the right of the burner, slightly left of and ahead of the right gripper in the wrist view. Moving the right arm forward and a bit left to hover over the can's middle before descending."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe can now sits squarely on the jaw column in the right wrist view with its body extending under the fingertips. Advancing ~3 cm to reach its middle and descending to can-center height for the grasp.
move_to
right_x0.3700right_y0.0450right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7967, 0.6083, -0.4053, -0.0189, -0.0353, 0.9992, 0.1623, 1.1469, 0.6174, -0.1864, 0.1017, 0.0391, 0.9996] state[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0175 left_roll=-0.0011 left_gripper=0.9992 right_x=0.3366 right_y=0.0406 right_z=0.1195 right_yaw=0.0415 right_pitch=-0.1236 right_roll=-0.0222 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.5111, 6.8718, 1.8535, -0.0317, -0.0269, -0.022, -0.2393, -4.4103, 10.1128, 2.0586, 0.2857, 0.2857, -0.0513] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.045, "right_z": 0.03, "right_gripper": 1.0}, "note": "The can now sits squarely on the jaw column in the right wrist view with its body extending under the fingertips. Advancing ~3 cm to reach its middle and descending to can-center height for the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe can body fills the right wrist view between the jaws at z≈0.02. Closing the gripper to grasp the can across its diameter.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4122, -0.0189, -0.038, 0.9992, 0.1616, 1.5265, 0.4965, 0.2062, 0.0956, 0.0341, 0.9996] state[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.174 left_yaw=0.002 left_pitch=-0.0263 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3506 right_y=0.0437 right_z=0.0163 right_yaw=0.0464 right_pitch=-0.2313 right_roll=-0.0344 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.3744, 7.0085, 1.8144, -0.0366, -0.022, -0.0122, -0.6359, -5.9829, 5.0667, 2.0488, 0.0464, 0.0171, -0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The can body fills the right wrist view between the jaws at z\u22480.02. Closing the gripper to grasp the can across its diameter."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
Gripper settled at 0.70 (≈6.6 cm) — consistent with the can's diameter. Lifting to verify the grasp.
agent noteGripper closed to 0.70, matching the can's ~6.6 cm diameter. Lifting the can to carry height to confirm it moves with the jaws.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4278, -0.0189, -0.0383, 0.9992, 0.1623, 1.5372, 0.4839, 0.2249, 0.0933, 0.0303, 0.7006] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1707 left_yaw=0.0022 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3483 right_y=0.044 right_z=0.0115 right_yaw=0.0511 right_pitch=-0.2361 right_roll=-0.0359 right_gripper=0.7006 state[joint_eff]: [-0.2256, -1.1145, 7.1863, 1.8828, -0.0757, -0.022, -0.0122, -0.4308, -6.4342, 6.1744, 1.2625, 0.0073, 0.0122, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
Gripper settled at 0.70 (≈6.6 cm) — consistent with the can's diameter. Lifting to verify the grasp.
move_to({"targets": {"right_z": 0.18}, "note": "Gripper closed to 0.70, matching the can's ~6.6 cm diameter. Lifting the can to carry height to confirm it moves with the jaws."})
tool
executing move_to over 11 steps (1.1s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe can is lifted and held in the right gripper (visible raised in the overhead view). Carrying it left toward the burner at the table centre line, staying high to clear the burner housing.
move_to
right_x0.3900right_y0.3300right_z0.2200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8021, 0.6083, -0.4355, -0.0193, -0.0383, 0.9992, 0.1623, 1.2545, 0.9375, -0.5743, 0.0906, 0.0265, 0.7007] state[eef_state]: left_x=0.2881 left_y=0.0016 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.053 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3415 right_y=0.0434 right_z=0.1523 right_yaw=0.0537 right_pitch=-0.299 right_roll=-0.0436 right_gripper=0.7007 state[joint_eff]: [-0.0889, -1.4974, 7.1043, 1.7656, -0.0464, -0.0366, -0.0122, -0.3624, -6.0103, 9.6479, 1.9219, 0.0757, -0.0073, 0.8523] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.33, "right_z": 0.22}, "note": "The can is lifted and held in the right gripper (visible raised in the overhead view). Carrying it left toward the burner at the table centre line, staying high to clear the burner housing."})
tool
executing move_to over 24 steps (2.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe right arm is over the burner; the coil shows at the upper-left of the wrist view, so the burner centre is slightly ahead and left of the can. Shifting a few cm that way and lowering toward the burner top.
move_to
right_x0.4100right_y0.3450right_z0.1200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4541, -0.0189, -0.0383, 0.9992, 0.8528, 2.0979, 2.1426, -1.15, 0.4549, 0.5896, 0.7007] state[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1644 left_yaw=0.0022 left_pitch=-0.0728 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3831 right_y=0.326 right_z=0.2067 right_yaw=0.086 right_pitch=-0.3459 right_roll=-0.0698 right_gripper=0.7007 state[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.8584, -0.0562, -0.0317, -0.0171, 0.5402, -11.1795, 8.3624, 1.072, 0.4615, 0.3004, 0.8669] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.345, "right_z": 0.12}, "note": "The right arm is over the burner; the coil shows at the upper-left of the wrist view, so the burner centre is slightly ahead and left of the can. Shifting a few cm that way and lowering toward the burner top."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteOverhead view shows the gripper and can directly above the burner; the coil rim is visible at the right edge of the wrist view. Lowering the can until it contacts the burner top.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.8375, 2.1834, 1.9438, -0.9447, 0.4297, 0.5755, 0.7017] state[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0024 left_pitch=-0.077 left_roll=-0.0027 left_gripper=0.9992 right_x=0.394 right_y=0.3327 right_z=0.1146 right_yaw=0.0742 right_pitch=-0.4194 right_roll=-0.1195 right_gripper=0.7017 state[joint_eff]: [-0.3077, -1.2513, 6.9538, 1.6777, -0.0611, -0.0269, -0.0122, -0.2667, -11.6171, 7.2684, 1.3455, 0.3297, -0.0659, 0.9304] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06}, "note": "Overhead view shows the gripper and can directly above the burner; the coil rim is visible at the right edge of the wrist view. Lowering the can until it contacts the burner top."})
tool
executing move_to over 4 steps (0.4s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe descent stopped at z≈0.086, consistent with the can resting on the burner (burner top plus can radius) and shoulder effort eased. Opening the gripper to release the can.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.8402, 2.1792, 1.803, -0.7708, 0.4545, 0.5652, 0.7037] state[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0025 left_pitch=-0.0915 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3987 right_y=0.3341 right_z=0.086 right_yaw=0.0772 right_pitch=-0.3773 right_roll=-0.1155 right_gripper=0.7037 state[joint_eff]: [-0.0615, -1.0735, 6.9402, 1.7705, -0.0708, -0.0415, -0.0122, -0.0479, -9.8256, 4.1641, 0.9304, -0.0855, 0.0952, 0.8425] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped at z\u22480.086, consistent with the can resting on the burner (burner top plus can radius) and shoulder effort eased. Opening the gripper to release the can."})
tool
executing move_to over 3 steps (0.3s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
Gripper is open; retracting the arm up and away to check the placement in the overhead view.
agent noteThe gripper has released the can on the burner. Lifting and pulling the right arm back toward its home side so the overhead camera can verify the can's position.
move_to
right_z0.2200right_x0.3000right_y0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4801, -0.0189, -0.0387, 0.9992, 0.8402, 2.1899, 1.771, -0.7376, 0.4385, 0.5694, 0.9944] state[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1594 left_yaw=0.0025 left_pitch=-0.0988 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3962 right_y=0.3351 right_z=0.0718 right_yaw=0.0828 right_pitch=-0.394 right_roll=-0.1086 right_gripper=0.9944 state[joint_eff]: [-0.0479, -1.1966, 6.9402, 1.6923, -0.0708, -0.0562, -0.0122, -0.0615, -10.8103, 6.106, 1.0867, 0.0562, 0.0415, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
Gripper is open; retracting the arm up and away to check the placement in the overhead view.
move_to({"targets": {"right_z": 0.22, "right_x": 0.3, "right_y": 0.1}, "note": "The gripper has released the can on the burner. Lifting and pulling the right arm back toward its home side so the overhead camera can verify the can's position."})
tool
executing move_to over 20 steps (2.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteGrasped the spray can lying on the right side with the right arm (gripper settled at 0.70 ≈ can diameter), carried it to the burner at the table centre line, lowered until contact at z≈0.086, released, and retracted. The overhead view shows the can resting on top of the burner.
done
hindsightThe can lay along the arm's x axis at roughly right_x≈0.35, right_y≈0.045 (can center); grasp at z≈0.02 with yaw 0 works. The burner sits at the table centre line (right_y≈0.33, x≈0.40); its top plus can radius puts the release contact at z≈0.086. When carrying a can lying across the jaws, its length hides the burner in the wrist cam — rely on the overhead view for alignment. Sag with a load is ~3–4 cm at x≈0.35, and the wrist pitches back (~-0.3 rad) when descending to low z.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4992, -0.0189, -0.0383, 0.9992, 0.4648, 1.3071, 1.2732, -1.0218, 0.2737, 0.2363, 0.9953] state[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.155 left_yaw=0.0023 left_pitch=-0.1205 left_roll=-0.0015 left_gripper=0.9992 right_x=0.3026 right_y=0.1023 right_z=0.2097 right_yaw=0.058 right_pitch=-0.411 right_roll=-0.1131 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.4427, 7.0632, 1.8584, -0.0464, -0.0317, -0.0122, -0.1709, -5.5316, 7.4598, 1.3797, 0.1587, -0.0464, 0.0757] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
done({"summary": "Grasped the spray can lying on the right side with the right arm (gripper settled at 0.70 \u2248 can diameter), carried it to the burner at the table centre line, lowered until contact at z\u22480.086, released, and retracted. The overhead view shows the can resting on top of the burner.", "hindsight": "The can lay along the arm's x axis at roughly right_x\u22480.35, right_y\u22480.045 (can center); grasp at z\u22480.02 with yaw 0 works. The burner sits at the table centre line (right_y\u22480.33, x\u22480.40); its top plus can radius puts the release contact at z\u22480.086. When carrying a can lying across the jaws, its length hides the burner in the wrist cam \u2014 rely on the overhead view for alignment. Sag with a load is ~3\u20134 cm at x\u22480.35, and the wrist pitches back (~-0.3 rad) when descending to low z."})
tool
done: Grasped the spray can lying on the right side with the right arm (gripper settled at 0.70 ≈ can diameter), carried it to the burner at the table centre line, lowered until contact at z≈0.086, released, and retracted. The overhead view shows the can resting on top of the burner.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "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"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "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"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "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"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "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.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 21.2 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6048, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6067, -0.4015, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1769 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.1675, 1.9853, -0.0611, 0.1978, -0.0904, -0.5402, -1.4838, 9.6342, 2.0537, -0.0611, 0.1538, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5014a1063db15afdf114f65db603a6a033c46311c91b5360890ffef5e022753c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec557e7806d95867ad3c52abd3e6b873971addfae718eb97acacd6acd5bd17d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c855667cb3011fb9e65d52ab1f45abfd681d227a5f31114e44b8a94171409dee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5014a1063db1
wire blob ec557e7806d9
wire blob c855667cb301
call 1 attempt 0 · /messages · status 200 · 10.63 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6048, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6067, -0.4015, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1769 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.1675, 1.9853, -0.0611, 0.1978, -0.0904, -0.5402, -1.4838, 9.6342, 2.0537, -0.0611, 0.1538, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5014a1063db15afdf114f65db603a6a033c46311c91b5360890ffef5e022753c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec557e7806d95867ad3c52abd3e6b873971addfae718eb97acacd6acd5bd17d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c855667cb3011fb9e65d52ab1f45abfd681d227a5f31114e44b8a94171409dee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5014a1063db1]
[blob ec557e7806d9]
[blob c855667cb301]
{
  "content": [
    {
      "signature": "CAQSixgKEAgRGAI4AUIIdGhpbmtpbmcSDFkEP+ZlYGBY1sddFBoMglG9f/9F3AqU/TNfIjDCjudm+XtFZwVvSsjXWZIxpOkUyrtZku9ntENuA2TGwW9NNXXyX9TlzTJpzgXXhBwqqBe/c6sjgAIL0Z0XqWFAkNgFRpx2DY3AXIFUImOBVhl8IN2yBvsuZ8PiN42M7fBpgP2JO86IOu72oCdqYd+RFOad28laolOnoMn7L1bGl9reuCplgRHl+Q/OCJZ1TrX4aP4npKELdD+/kxbE5RzHAMCPNQOrmWIPfuEQVgUTLF4oYZ3OxMi77fsp+IDrO+bcGscJyVWxyCX29z0Lut6SLwvunzsRSc8UUz9GX+k3yBGex55Sg2yXCbSkuZH/trU8yCr4KrgIjCJTTsLoh8sDyOfA+i5ry7++vd8kvaNEI9mtcR5DXwkZ+M78yGOT/TKz+P8r5tNGvf1zqAQ1aYGQUebeKQ6WKzECdQOiIVRrIllM3Mga4/qlP5VoWD7vAf285lY7b0e5AUanKi3pzUYtTdqoXB37RpZ+hUl4ScUU0Z0/FwK5wh46+mOjOD9KRkeNmUBWiIbsKo4BpFqDADhSkvarkKJiCTpTG+BEBalTGXDeqluTQTPX16spdg//lhpLhmpGY1lOwjzMQxd8fdHDTTAWcf+kWYUV9XmpDXSv0w4WC4zMSA9SUw70UM7ioJNiBKEkNEKOLM1Vo6XB4i+8it41BUKkWG6zahomibC0GSNDhqIZ5w3nHuxosdhGGG1cWDLxRfKdfnCNiTHP1r9sy8bM/ZTvmKX8+7/E/yUdxjhXlQwgENNpYpuucShYepjApGmPchhIlHlo5WraAKZ6cdxF9WjxuFCIvU/Z5KrI90CKG2WC8GGn7SmlTkaR6uePehioOIqBUSmru72rGegUm9tjIDrWo9Cv/fG7dM8FgrnsrFtLx8xmWr4uzuYe48ptU2rd2LDvqTGXyZKV4rVekQvaqQPG9ju0jsuvrb8e0uXQwtLYHgUPgXkQvImL3R4SP9RrxJ0U7lRLuGgQTz/7Zq3RPk6WfY8psGdOCcwFBD2IdwPGvSquVY6hQmf/O6+MRrBD5G6eHuNqByLfFORn3PZjkc5B1WJcF4i3GCsBw4PQiWgkoSaN/5TiSqLfbtM1/NxlbpRQYCG6dIvYuYI0lcubzBlLgdCYVBn90X51BgMWIdbyoPURTXikDZ6b/n3CVQ1iQ7fMFSMrCdC95WB3M2mdNeG3xYVVtcRYnj4Bx2HM5e2gjI+4lypTxgBQbXClrS4JbMXypcd+HgwH8BmkIaB+v7Atmswyo9wrDKo6CHX6wiRCmb2SRXydMp2C/4ccEufDVhIiTCdT7/cRu5tuj9I/0lBbDsWdc0eZMFPaM7nXd53MgdvKV97Jm4fS7OaSDfZfvKTZPg70QXZWLHW852+ZnVSqQXieHG8FxrDQY+y7ODXe/PKx6eRfOlAe9gJ4e8DPWiJvc6OSsIdbBcOREWYbCh1lpr8+954HEsT+RJWNswiMO8OvD/JjcdVMZwNhl92Y2bA7U1TLx4lZ1JNvg/eOgmoIi0xZ1Vwssoqh8mHPjSnSTPHdDAKEfLRqLmYkHG8fsefn0WTET/8MjFYO36sl/16XN1BkUbPfkuYKWMDBGy4MeG9gIVMkTi3cOTu1ULZApD4vFNIIunLPz7I1aIg48+asSA5tjoHzsGjeodBr17yf23Yj4adMnMMYb7Q5Zwne11eN7hi0Lx9bY44pxcR3aLQZ9C6CBJmrx24DAJI0oYaPurGYS8moCRVnkPA5CqPYLAUDediQs2Bxq16RsmefgkdO1wyn/inaui6KiIvELK6F8iI2ogp0Vh+y4cW5JMxtUukTT01AzEjG5nzsdVem0BJTYZcgRUGNujyTOnNpmbyIEJdAAtsUPO0VApf6cmR7YiwGZZWbMgIzznjphstTV9bEqHtL8ixQoXtlEr84gTU6TfhVG53fBwUCJZ1hNr41g5d7vLw5yPk3TYmxId+u6kENS8NPXhGp1zWFEV2iSa62lMqkkBRSkdLHPmVIoFBZ4fTT0X4J5ANaQQ/RjqXXStYsCI12zjk5mFaMJJ/6Xgjnw5xYUwOA1Wlvr6WkOGKY/Oa+f1cqPjWVeS6CiekGLvFlDbwPlRETAk2i23/isamYQxSAW7mKv3jnKTU7Zsp+W5BE4lvR7m4eeDINGLnLe5/0g+h3vVwiQDkRcVp9OsRtk/kKDeS1gIv3UUDVvOcL3F8E0FVUc3Wu8/el1/0PttaS0GDeYx4Fr9thgV6vWxByGPGJI/NRVswB5rBH0MtzW/riPewmef/yxQI6dYqhS8IsUKx8k/vsYgtmHIZd8it7PLKl3RMyd+SO4mT37UIdlCUAWW7S/pdwFLv/eSTyIYy8jvsTB5mZe0rWGkwz+NC/MQqZoEC7VgjRcrErtmp1ruj6r16TJ4xNeTvjoa7MKkXFZwFFA9Y74CDkVj4rf1+jFLwkCVivmWlJM7aSsnGjdNQvYrLfHW3XEo0zCB4+ggmtso2197bhAjtk8/VVKNDOOE7rwLlrgy0+lOqQ5jmDoPKoEQMGiv7z4NdIi5Zj5xBkxQmfMLf18avnaioGAXq1z8D1x6VxxdSMVKLfGGSVNrqatpHDQ35wiT1A2mUHARzQMaA6G7UfLBTZD2Q1d/AzxXl70kwJCn185liaM1397d3iBIm7xy9822hO9oS+FH/X05XFE5W3TPSbV437Iwa3w1GLnqhFUQrpQ71IPAd05XpsDWyCBoQfUququOMcDj10mNGbeqLtoFYAwrP/A1FcceGgWIDwYfSTjW/JVSo3Wd5Y0Q4F+WjCKlhrEXOzVfjT5z5rS15+PcBmKWGDVVTLxBajEQSO1ip1eE8Ht9nfPkWS/X99veZM9OzrDkw1HHtHhEMRxXhlFiHyag6WTHuicxuN4yQjGpaeciOtk9i0vA+i06sLAMcHwU0pHRKQQD1WgYZPuYgQQzIi2fsGDKfY9ce26XabcNj71jGTQDMOEOfJJy19pg+u8k6g8RcbwJwLIulxtRaas+oOeRlxrSzXfT78HCZjV2Kbo7y+U6+Zi75mHZK/APhdIrKXBddBT+K9gHpg4Q7akO7kIiwdtOBYts6BNvsV+MZtZ7C44aG5CJOkguLgwhH0/Bhu79A2SrIUuB/UkGEG9ouN0ELn0xnrYsc+iCCNNOTcVO52zmB/QCHAniRTLDi9zHjGQCKM/wE7HAIEyAizP2e6mz9cx0HetumDcmymaDjwU2pwYhvOX7KEWEK8BeBtMX+CoOCsNxP9e7uqr54VTQvmdI/p2K0OdhLU2z+hlq0Dsy4cszVrk4cLEMz0EnCF68ONpM5aCpcIA9cHqCfqioipElrZyptakChBSCMp/ZDqtxsgw9hjrWRDnMI9vmutZAu3geqHQfmdlZ3UcyjOaUQTaSvWZKRGC5MBCsMTkIsY3FFeioxiSB+poKMMYzll6ClsNQQp6P81k/rc0CPeCCczqCUI7+nFHr5cnsJLXLnrP/uMPZq7TON09y0PhRe7+iF+SCexjRQkVErPyqFYLMrR2QHYaSXd++obk7CbchXqb9vuKfQuunwLzeKLPjXGzq2Bjh5L7UxPceIkaO+dOMMHTb9ABnEigvJS4lvgkLwrjeAFSo1Y9bXYN2OZpfjfYXJnK15YFBmK4KoJjzV5XtJujutzG8a3hLC2aHnuTgn4iEYj9E1vhEpLmjph1RQjCaoUYo2SwVysDG80ndEGYt8p9m1q9109YFcMI5kvtvhCVKDTpOMauIJpsNEDbVg4Um7xsH50Kx4gOsUpwbThtd/o+VYcQ4cjZSPkzmAR1PqfyIzmqV7qmcPAUhCaelTTM7HM5YfYDeF7Jv+Afcep5Ck2LmbRgpbKr3vG9WKx/Zuy9JeowOY/tAIOS6a/2PylthoTx+VntavTNrROu/iSNvVwZQXavmmEbpHOJobHi76G+Tcp0g0bPOQqc3NCKzUA/Xd16p+uWptuAGcwStdpmEbq7YT7wRklppkB16RIgkh0XITvRqdOScwne8bihtodbhBon0dvzkpVxX3SGTQR6QA+Aza+KE/GmuAZSosvetP75zDZYczGGiM/Ig5/ShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W4M2XhhUaGh88EfYUHWeMM",
      "input": {
        "note": "The spray can lies on the table to the right of the burner, slightly left of and ahead of the right gripper in the wrist view. Moving the right arm forward and a bit left to hover over the can's middle before descending.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.36,
          "right_y": 0.04,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01W4M2XhhUaGh88EfYUHWeMM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6083, -0.4053, -0.0189, -0.0353, 0.9992, 0.1623, 1.1469, 0.6174, -0.1864, 0.1017, 0.0391, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0175 left_roll=-0.0011 left_gripper=0.9992 right_x=0.3366 right_y=0.0406 right_z=0.1195 right_yaw=0.0415 right_pitch=-0.1236 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5111, 6.8718, 1.8535, -0.0317, -0.0269, -0.022, -0.2393, -4.4103, 10.1128, 2.0586, 0.2857, 0.2857, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf986b05bd49e2527420303459f1b9e2fad15e96f0672ef27cd154930f4288de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65a885c44ca22ae929ec42c1f6f6cf95c26af6d970e105cc08a6449c95dce58e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f8f105eb8864eaba2283200632fbe2ce8a6d5199c01cb48555ff4df7e94aac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bf986b05bd49
wire blob 65a885c44ca2
wire blob 9f8f105eb886
call 2 attempt 0 · /messages · status 200 · 5.879 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6048, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6067, -0.4015, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1769 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.1675, 1.9853, -0.0611, 0.1978, -0.0904, -0.5402, -1.4838, 9.6342, 2.0537, -0.0611, 0.1538, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6083, -0.4053, -0.0189, -0.0353, 0.9992, 0.1623, 1.1469, 0.6174, -0.1864, 0.1017, 0.0391, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0175 left_roll=-0.0011 left_gripper=0.9992 right_x=0.3366 right_y=0.0406 right_z=0.1195 right_yaw=0.0415 right_pitch=-0.1236 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5111, 6.8718, 1.8535, -0.0317, -0.0269, -0.022, -0.2393, -4.4103, 10.1128, 2.0586, 0.2857, 0.2857, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf986b05bd49e2527420303459f1b9e2fad15e96f0672ef27cd154930f4288de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65a885c44ca22ae929ec42c1f6f6cf95c26af6d970e105cc08a6449c95dce58e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f8f105eb8864eaba2283200632fbe2ce8a6d5199c01cb48555ff4df7e94aac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bf986b05bd49]
[blob 65a885c44ca2]
[blob 9f8f105eb886]
{
  "content": [
    {
      "signature": "CAQSmwoKEAgRGAI4AUIIdGhpbmtpbmcSDMpQ7o/B0BPSZ4LOWhoMUoGXr8XU/22oYzBzIjBu5LSLNb7MTTHr3mJwMSbIC9NiIeFWwticd1jECiQmxJgKFS1et68o260jVhPaTvQquAmWUI2MNxQiiWbr/E8YPz+k2sCH5kZ95yyT1Y3xTlXnyK1B6/MPQ0VFicsgsT86eS/xFqSYWOGK3Ts9Iivgmn8OFz+Zr0tgaHD7DYSvlpyDKtbT411PKxPKDegom2voIGO24MyF0mzqiXKH5CGoOQ3PvX7VslEdk63AjyGVx22sxQlVmUBS8XfbA1WBXuG7xmDIs4yyJsaMtBd4LD/p9KAeSIVScckGBmtF4jM9MUGTPyOIWea3cpkkdqNls7G1sKFkapP4B7WPDDr4hckIaH4w0jR/HALxZzhP8sG3LJPQLVsbE1ITAHbw6B5MIaBf/jUTHg569BkOiet+fu7D9KPyY/M7INjEEB3yg9idM/5t9mpSrDW14oJCsoKV3pGQaRLrPK2iQT04B9CxiB/ezu+MaGFrXrqRiBtK9R6ZVSuI9X00VWdzC90roCuajqERQQs0/3x81laHTXuHV+qV3aiSk/ilWE+T526EOCTEzTdmiRNNpg7/wi2IM6K9OTz36IIvDMk2u0dNTNZ2wg8sZ2PtS1CdEgdTNfsh84bTk4ZnQzQUO7WhLdEhXvrZPrXbOmPRNw9behkY7h6fsqEQYRV/kqzoVDHXyEXiAagYoIFmZ+1Gp2k6KQvTo4aeWsMHZpoFMOyyFfGnLZ/TcuRxrHLLpZZTtAxiOtg16Z43Dl6i7MHV174c9pKy3vCxFEj/VlEng14daXT2u/7QY67BtYCNG3AfjI5rrX8Ecz7GvZZzIsmsdgin19PjrPhB+XQP2LDa9DlYP92bH63bJ0XJ4sNghYupXXJR6TCgE7P6rrk7lpOdaHwuBPj9WVRWVa7LHUakmvRIh4od02Bg0mjAyGXYZEJw6TGp6gmyk/7oT3REm6mGC4pOmbI7k2oxwtaE0Kbz8xWS2o9qJAXzp5efbNa5IHQ1+qxR9rhF/T3ijm8zMBYY/EWh5TxdDILg4imvaSpJi3W3Au+rlox2ARPOuZWb6lx6ZM/YYkiGC1uVslYejxMEmVMPlvFOeRxZmKbkBJuSEXS1nK9zwL266hOYH4VL7nqDq7Muy0J/qRH8q/t01k7X98w8+0JIJ3BPyoydkyIaR9dND2+koqJJTAkxP2Pr19LmrP1RSjSXKyibM8eOAr/hXdklfErNXT33gcuq8H4lBzwHbmjhmGjnZ3+WPwo69oBhoqYKeHH8/B7smQwd1VEU4rUuHe5MupTcG3QKgX6UNq03yaHp9MU0s2kZPy1aPEyqpcGWq23PUxoLHv/4VFAYByeCo0HEOk3RsEK6LCZcky/9vlCgR2GNL5BRH0OGES9u0M0U0vP9g3tKrbIeATmAJA3byEUYZIPLSl47lZ27FDDfLf7IBRAWI8MEk8Uaq885ELxpSB11Zmgu/YMqR2poGJtfLisiVnmA/xsnJN0TaamqAF3duH+DcL4e7/OJEogLmCPGWjTBjA/fzTvB781dkpi6AGdrPfGw5ctfUsJd8S6PLXgazunVb3phB1vI1Q8aco+xgWIQraxNz89r9BRbz9wVe84OvEYMsaO05Eh8rYwSDzvrTCW7krDsiM1qE9Ptoat9rR/wmSZfPp6wZ1qxHuPlMQRVrwtDK45MvFwnQxWsHQIq0BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XHXhCzczjUHrA8Nj5Tk1pt",
      "input": {
        "note": "The can now sits squarely on the jaw column in the right wrist view with its body extending under the fingertips. Advancing ~3 cm to reach its middle and descending to can-center height for the grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.045,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XHXhCzczjUHrA8Nj5Tk1pt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4122, -0.0189, -0.038, 0.9992, 0.1616, 1.5265, 0.4965, 0.2062, 0.0956, 0.0341, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.174 left_yaw=0.002 left_pitch=-0.0263 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3506 right_y=0.0437 right_z=0.0163 right_yaw=0.0464 right_pitch=-0.2313 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.3744, 7.0085, 1.8144, -0.0366, -0.022, -0.0122, -0.6359, -5.9829, 5.0667, 2.0488, 0.0464, 0.0171, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85544ad695963529f62b9677ab2a9d99aefd48445134596b5a2552bed737d56f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f9203e4312a555c3debec0ce1c7df94d2f340687c5e139f7db51c6b2c2f45f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98612484631ad65431b7aaa1d4721d04a995b92f2e329f0f757468b63315cebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 85544ad69596
wire blob 3f9203e4312a
wire blob 98612484631a
call 3 attempt 0 · /messages · status 200 · 10.27 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6048, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6067, -0.4015, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1769 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.1675, 1.9853, -0.0611, 0.1978, -0.0904, -0.5402, -1.4838, 9.6342, 2.0537, -0.0611, 0.1538, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6083, -0.4053, -0.0189, -0.0353, 0.9992, 0.1623, 1.1469, 0.6174, -0.1864, 0.1017, 0.0391, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0175 left_roll=-0.0011 left_gripper=0.9992 right_x=0.3366 right_y=0.0406 right_z=0.1195 right_yaw=0.0415 right_pitch=-0.1236 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5111, 6.8718, 1.8535, -0.0317, -0.0269, -0.022, -0.2393, -4.4103, 10.1128, 2.0586, 0.2857, 0.2857, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4122, -0.0189, -0.038, 0.9992, 0.1616, 1.5265, 0.4965, 0.2062, 0.0956, 0.0341, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.174 left_yaw=0.002 left_pitch=-0.0263 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3506 right_y=0.0437 right_z=0.0163 right_yaw=0.0464 right_pitch=-0.2313 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.3744, 7.0085, 1.8144, -0.0366, -0.022, -0.0122, -0.6359, -5.9829, 5.0667, 2.0488, 0.0464, 0.0171, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85544ad695963529f62b9677ab2a9d99aefd48445134596b5a2552bed737d56f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f9203e4312a555c3debec0ce1c7df94d2f340687c5e139f7db51c6b2c2f45f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98612484631ad65431b7aaa1d4721d04a995b92f2e329f0f757468b63315cebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 85544ad69596]
[blob 3f9203e4312a]
[blob 98612484631a]
{
  "content": [
    {
      "signature": "CAQSnAYKEAgRGAI4AUIIdGhpbmtpbmcSDEwj8ek+ipsPLDEZpBoMYMTOxxZM40xn1PyEIjDYBskwUgwjiibo8XLr3WvFHpi2tzt1Z9+RxJmXpEEkkyqggE7PowZ2H81hTyGc0mAquQWn0B8F1XoBaSHfgoy8e3cuYG4aB8NNuhVedBqIbfFUA3cYeA7WHGB6RTrdqpHxnXzKP8RP00HmQh2s0C9/hNI1L/2aEbmW/CPvGchsgRXCJ1hdyBWn1u1Tm9LO9JBC8gYagB486Viau1BA6KjZPqI3s4U0C5hgE/s5OrJrJJPMsCONnTUZrDb95EEyZ6kaSSq8QVtGFyoQTNEqG1CWMyHD1nGJlieiSmXhg7t1HHtcqbkVmeyiPvNBPRHoN1lybCoREghXj4jKJYvGpEIrahkkRINsh6+VDbC/L5rAClzcsZe3kKogMPw4bM33fkOoxukvJC7iIFFreBtP8kWFnqhV31OiE5Y3OAvE51gIz4EgJdKYnp6zr90ta9wra20yAfFEMAUXmG0C+pBQf2cQqJfiSHgHknBNaSkvgy4KWhQqbLMFkCthhnhHChVRyFn5kZOXrR/Mt2Tz8iEqpzuvRR2dE4NbYGvtiJGAT7BqpyraOjwM1mqnH13FXQisrU3Zgxsolt8jDZ9oDVzW6EiFC9z9T34m8dx1ilR9OTh3W4XDAQLjN1CJrqJPCC32YJy1fCMwHJJ1rSjEl2pgIb95vKucNXZwdbZvj62k+iA67ZzcaOIRsinWM8naOowfIenek0DjGk6H37nLKP028/qN7OrKhvPd1grfsdxwQPk4kObyFntqyr3BJ6qFEz1lw5qofNvlHgHAJgI7m9IpUfJJmNjqq6V3pttV2wn6vaPi6kHnXYM7O4Py3N2KYiAdgc1H+3k+mQucViuj8LRfAT1wJluVuBVAwjOucb/DjgrUf9ndDr65V85kQsqAT+yfodGkHDrWSO1kQfIaVZKV6z8LbKCG5g7TK72QPLSI253JBMN0Oqfp6hsGgBWRtp7v3afC1W1X2NzTqWHCCcS9fzcB303i5UFMh+dLr2tYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0134mNH9bsUVy2cNn4CPMYZj",
      "input": {
        "note": "The can body fills the right wrist view between the jaws at z≈0.02. Closing the gripper to grasp the can across its diameter.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0134mNH9bsUVy2cNn4CPMYZj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4278, -0.0189, -0.0383, 0.9992, 0.1623, 1.5372, 0.4839, 0.2249, 0.0933, 0.0303, 0.7006]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1707 left_yaw=0.0022 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3483 right_y=0.044 right_z=0.0115 right_yaw=0.0511 right_pitch=-0.2361 right_roll=-0.0359 right_gripper=0.7006\nstate[joint_eff]: [-0.2256, -1.1145, 7.1863, 1.8828, -0.0757, -0.022, -0.0122, -0.4308, -6.4342, 6.1744, 1.2625, 0.0073, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d9a544f926a0059a8264c75a485bd647c49e59acc5272b2382a82ad749fa1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f0c1e6f3eeb8d4c23c4234c79e5106768b37360f28e3d99454beaf43cbe7a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccf0ec7178d0a01f82938555e322d2e20f0ea7ac775c3eb35736ac690f669ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e4d9a544f926
wire blob 6f0c1e6f3eeb
wire blob ccf0ec7178d0
call 4 attempt 0 · /messages · status 200 · 9.807 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6083, -0.4053, -0.0189, -0.0353, 0.9992, 0.1623, 1.1469, 0.6174, -0.1864, 0.1017, 0.0391, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0175 left_roll=-0.0011 left_gripper=0.9992 right_x=0.3366 right_y=0.0406 right_z=0.1195 right_yaw=0.0415 right_pitch=-0.1236 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5111, 6.8718, 1.8535, -0.0317, -0.0269, -0.022, -0.2393, -4.4103, 10.1128, 2.0586, 0.2857, 0.2857, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4122, -0.0189, -0.038, 0.9992, 0.1616, 1.5265, 0.4965, 0.2062, 0.0956, 0.0341, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.174 left_yaw=0.002 left_pitch=-0.0263 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3506 right_y=0.0437 right_z=0.0163 right_yaw=0.0464 right_pitch=-0.2313 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.3744, 7.0085, 1.8144, -0.0366, -0.022, -0.0122, -0.6359, -5.9829, 5.0667, 2.0488, 0.0464, 0.0171, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4278, -0.0189, -0.0383, 0.9992, 0.1623, 1.5372, 0.4839, 0.2249, 0.0933, 0.0303, 0.7006]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1707 left_yaw=0.0022 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3483 right_y=0.044 right_z=0.0115 right_yaw=0.0511 right_pitch=-0.2361 right_roll=-0.0359 right_gripper=0.7006\nstate[joint_eff]: [-0.2256, -1.1145, 7.1863, 1.8828, -0.0757, -0.022, -0.0122, -0.4308, -6.4342, 6.1744, 1.2625, 0.0073, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d9a544f926a0059a8264c75a485bd647c49e59acc5272b2382a82ad749fa1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f0c1e6f3eeb8d4c23c4234c79e5106768b37360f28e3d99454beaf43cbe7a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccf0ec7178d0a01f82938555e322d2e20f0ea7ac775c3eb35736ac690f669ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e4d9a544f926]
[blob 6f0c1e6f3eeb]
[blob ccf0ec7178d0]
{
  "content": [
    {
      "text": "Gripper settled at 0.70 (≈6.6 cm) — consistent with the can's diameter. Lifting to verify the grasp.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Bwec6R68PpVo9Gqrpqf5e",
      "input": {
        "note": "Gripper closed to 0.70, matching the can's ~6.6 cm diameter. Lifting the can to carry height to confirm it moves with the jaws.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_019Bwec6R68PpVo9Gqrpqf5e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8021, 0.6083, -0.4355, -0.0193, -0.0383, 0.9992, 0.1623, 1.2545, 0.9375, -0.5743, 0.0906, 0.0265, 0.7007]\nstate[eef_state]: left_x=0.2881 left_y=0.0016 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.053 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3415 right_y=0.0434 right_z=0.1523 right_yaw=0.0537 right_pitch=-0.299 right_roll=-0.0436 right_gripper=0.7007\nstate[joint_eff]: [-0.0889, -1.4974, 7.1043, 1.7656, -0.0464, -0.0366, -0.0122, -0.3624, -6.0103, 9.6479, 1.9219, 0.0757, -0.0073, 0.8523]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362bfebc92c375c24208e6b8906d255dd536caf0b4bc67608372817a5e82f77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:102ae07910393ed31914cf5ad43c57ca4e97b1ccded35df5831fb3d18895e6a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30402cad327abddff8a4df01ee475e90730ee8021d1ec0b51d138519a90feef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 362bfebc92c3
wire blob 102ae0791039
wire blob 30402cad327a
call 5 attempt 0 · /messages · status 200 · 8.856 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4122, -0.0189, -0.038, 0.9992, 0.1616, 1.5265, 0.4965, 0.2062, 0.0956, 0.0341, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.174 left_yaw=0.002 left_pitch=-0.0263 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3506 right_y=0.0437 right_z=0.0163 right_yaw=0.0464 right_pitch=-0.2313 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.3744, 7.0085, 1.8144, -0.0366, -0.022, -0.0122, -0.6359, -5.9829, 5.0667, 2.0488, 0.0464, 0.0171, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4278, -0.0189, -0.0383, 0.9992, 0.1623, 1.5372, 0.4839, 0.2249, 0.0933, 0.0303, 0.7006]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1707 left_yaw=0.0022 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3483 right_y=0.044 right_z=0.0115 right_yaw=0.0511 right_pitch=-0.2361 right_roll=-0.0359 right_gripper=0.7006\nstate[joint_eff]: [-0.2256, -1.1145, 7.1863, 1.8828, -0.0757, -0.022, -0.0122, -0.4308, -6.4342, 6.1744, 1.2625, 0.0073, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8021, 0.6083, -0.4355, -0.0193, -0.0383, 0.9992, 0.1623, 1.2545, 0.9375, -0.5743, 0.0906, 0.0265, 0.7007]\nstate[eef_state]: left_x=0.2881 left_y=0.0016 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.053 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3415 right_y=0.0434 right_z=0.1523 right_yaw=0.0537 right_pitch=-0.299 right_roll=-0.0436 right_gripper=0.7007\nstate[joint_eff]: [-0.0889, -1.4974, 7.1043, 1.7656, -0.0464, -0.0366, -0.0122, -0.3624, -6.0103, 9.6479, 1.9219, 0.0757, -0.0073, 0.8523]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362bfebc92c375c24208e6b8906d255dd536caf0b4bc67608372817a5e82f77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:102ae07910393ed31914cf5ad43c57ca4e97b1ccded35df5831fb3d18895e6a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30402cad327abddff8a4df01ee475e90730ee8021d1ec0b51d138519a90feef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 362bfebc92c3]
[blob 102ae0791039]
[blob 30402cad327a]
{
  "content": [
    {
      "signature": "CAQSkwsKEAgRGAI4AUIIdGhpbmtpbmcSDJiEpHm4MCYPTsMDNBoMt4KiMmgCzBeVTPpjIjDL+DwwlHf6+c1UHahYIPT0C5HT5x50horI1kGHN42ss/pVdyZQzXylzTMK1eTFVnAqsApdIXS/EZL2ZSVNKVyS3UZ1chZd+uoV48yU8k7kd3rnDWoJ4oSNUQjaam/NBa6WwecoUZl8JTNPU/VCWbilgOaik2VcEgCQsfSu6SPU1VIanlzE2h7FpW3w+yZv3vaLrXKlPkoVuZJq0pRgTktp4vxXpl/0IXsmV3BaxBHv9V0oBYt32Y+X5x13lzWmeqN3oz0volYWc6o20PoTXS/KKZBukwldF8PP16Hfy1V8zHBR87Zadg5adL4yonCletrHvUJSzOirFAqsi72TnRdCw1bwg94UKRsx9f10t9JNir9Ra7JQxcazw8iO48kpY29gpOzqbgXtWAYFqCm5YNsFEK4wlJTNWjkLMUsgP34ifNmtNjyqvkoMjKtzLljKY+XsQ9Bj220J62OnXQpqToBVnzYvTBIjdIwRyBSrp3KGWrCfG2M1ZYGXf8Wg9sJ1viE/sZlYSznZbnLRtSAnBmHNN+Zkv86fNXwFSO/WlcIQFPoQSyu4tTGfT4ZDl54m9jvkBuUzNvyF4TyKeisVeBAsHjAcdSI/8RkRRiFYzmSscUy6qDCEnCEGIwpKhCrvcORBeZu97pVKs0EEh/nn712icWCpWxFulHmtW8qnHs0gF/XXqqI1/GLBmsuWnoKXV06aIT2cPB/+QjDeAkY9pUXj/zZWu2f+F/3kTSnWkinyH5KVRhk5DqUr+fv2EWjDo1911jii5snHDCarh3Qb85oLBFFH+JTNMWnXkmYbBecQjDHaJr0iwTBiXfjWcUkuig5T8tbtE4qTbqx7Wr1OIvSAFLYAMtYimNqy0/DB35Y3TBQeJyzd4ecMDi8tAcqJDvrgYqihqQ5IL0gg3CUObaY9sl6l6oQZh+ZrmH/SU51YmD3IE7V42350BChcq15slyjsMyyJ/4EEHA7mLKEQsrQoSaIO/yNZmTSVGKHCYGZRcMH/XmNUaXNaBNlD9/aoBFxo0+6vxYttD89VdkQwaKbl9uAHWezm7iP6tWjpPeCIwFdSttKIQG1Y2RFR2J1nswHPA7VFkssmtAbHLgVZuFMruCOQ4RYz9JDraoYs/wMAm9Ebssaq/6iHDgXxFlumUzgbP++UQB9WcvwLdoggvm4DJPb7BNEmv12/NtPkrKCexWlj/TJagoH9yHNfJV4cAW/mAUh3X/+F2Dbaa/X/AQ52HVUgCh6mTRKn7kRaxPbgPOxgGEhxmttCwyCzenF6WnpPBFIN6kFCpKQjYOlnxAKIOSpxeIxN+2hvQf0nbSpBysQjolXEVQa81Uux0kY3Pd49FzKavlYpD0YtKv51zDJtXUH6iezI37lALZu5MKKhU/68u9vdgJK7Q93f5qdqWLci4YfekmNV6J9tuh/vw6Odu/3nFSjiOEedZeWj34EW/BsSmYHa4hZl08Ns241Jk4kyosXKN9U5uYgqWpJFIeRv7cuYuqDLa7YbMnY1cwKJqh6kZCQ0HZDeHxlxCEBKjjHZB0Ustcw5mNkx6dkZ9KNbF9rZxOAMbLDRSnLfxQpmdN+Mc3VSjEKWHUFknTonkE9FRp9UOOGC/G6NnNqF4U7NcfqhLmlYlrFQsKqe8IAG2WXzSp86s/17VfK+amK/PcrW1rG0Mf52NUJS6iaZLq5oGPyaBl+DVccT5gF8LJKqbtICeC9E61qIlzDVk7ZBXGI7J8x5DCYKbJ5NQ0DwhQS4+jOJ22ycONbVXG7iq4BiuMEhROfKoeDXM6UoNsMOJh8EA/UVP2Po8C2jH1jARjY9aK+F0qfAFVj25d/G3tR8GeP2hRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JGjfv14U9JqCFnFpWnecyg",
      "input": {
        "note": "The can is lifted and held in the right gripper (visible raised in the overhead view). Carrying it left toward the burner at the table centre line, staying high to clear the burner housing.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.33,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01JGjfv14U9JqCFnFpWnecyg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4541, -0.0189, -0.0383, 0.9992, 0.8528, 2.0979, 2.1426, -1.15, 0.4549, 0.5896, 0.7007]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1644 left_yaw=0.0022 left_pitch=-0.0728 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3831 right_y=0.326 right_z=0.2067 right_yaw=0.086 right_pitch=-0.3459 right_roll=-0.0698 right_gripper=0.7007\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.8584, -0.0562, -0.0317, -0.0171, 0.5402, -11.1795, 8.3624, 1.072, 0.4615, 0.3004, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c9d1817c339f1cb57acc468a3e13ffd14ea8a6ca82d4f85d11bf07be4e91770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82fa9ba5d6ad9b6a6cc94a7784ceecd6a635a6bc1cdf988c623a140d76db15d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a72292a999c264f4528c99b569b39bbb19371dcdbfd967bfbd31e08e47032db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2c9d1817c339
wire blob 82fa9ba5d6ad
wire blob a72292a999c2
call 6 attempt 0 · /messages · status 200 · 9.6 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4278, -0.0189, -0.0383, 0.9992, 0.1623, 1.5372, 0.4839, 0.2249, 0.0933, 0.0303, 0.7006]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1707 left_yaw=0.0022 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3483 right_y=0.044 right_z=0.0115 right_yaw=0.0511 right_pitch=-0.2361 right_roll=-0.0359 right_gripper=0.7006\nstate[joint_eff]: [-0.2256, -1.1145, 7.1863, 1.8828, -0.0757, -0.022, -0.0122, -0.4308, -6.4342, 6.1744, 1.2625, 0.0073, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8021, 0.6083, -0.4355, -0.0193, -0.0383, 0.9992, 0.1623, 1.2545, 0.9375, -0.5743, 0.0906, 0.0265, 0.7007]\nstate[eef_state]: left_x=0.2881 left_y=0.0016 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.053 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3415 right_y=0.0434 right_z=0.1523 right_yaw=0.0537 right_pitch=-0.299 right_roll=-0.0436 right_gripper=0.7007\nstate[joint_eff]: [-0.0889, -1.4974, 7.1043, 1.7656, -0.0464, -0.0366, -0.0122, -0.3624, -6.0103, 9.6479, 1.9219, 0.0757, -0.0073, 0.8523]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4541, -0.0189, -0.0383, 0.9992, 0.8528, 2.0979, 2.1426, -1.15, 0.4549, 0.5896, 0.7007]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1644 left_yaw=0.0022 left_pitch=-0.0728 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3831 right_y=0.326 right_z=0.2067 right_yaw=0.086 right_pitch=-0.3459 right_roll=-0.0698 right_gripper=0.7007\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.8584, -0.0562, -0.0317, -0.0171, 0.5402, -11.1795, 8.3624, 1.072, 0.4615, 0.3004, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c9d1817c339f1cb57acc468a3e13ffd14ea8a6ca82d4f85d11bf07be4e91770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82fa9ba5d6ad9b6a6cc94a7784ceecd6a635a6bc1cdf988c623a140d76db15d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a72292a999c264f4528c99b569b39bbb19371dcdbfd967bfbd31e08e47032db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2c9d1817c339]
[blob 82fa9ba5d6ad]
[blob a72292a999c2]
{
  "content": [
    {
      "signature": "CAQShwsKEAgRGAI4AUIIdGhpbmtpbmcSDLtI2OCZf7eGAUQA7xoMj1SqOGW8lNg94QooIjBzQJt3WQ9d3cEWWWjJMtcrgiqVozSmBjTwQx2/a3itrgV1Tz1vxgD7NKZaUcxx7l4qpAr+SjS+ArItvOhWv06zHWLTucTMW95YZYrJyoWnvrNsXpnbl8PTbNgBv3V/figarSDsygWIUszfNKg9biTdcAiXAzBIHjds90YTSt3BmNxZ20DSqAyGpGdgLosY66q8vre/1IhStnREMo1M5VI3HdE8gtl0SY2p0zA8UpjKXnwBBlZ0DaS3EfdjSeQebEpKgKYfzwfm27wvsmnPEcvTW4lgit0XMsrTsLCX+ObUJjf/VBlZSFKM8cOgs/nW80ej7+JkoqrtklRtZd38Cp3TWksi/Ph2IOOywcB60m+U2AFMq4tjpvB4TAe7rUcPV/RAdH020HMnF9ASZsPqKyHZmCthmPXersDpj6gsOFU/dP4M1UV4Q+A2Zm7HkPjyWgB+1LTr6AlGtPGyGIGZhYpTsc5iP0rQPOFEuWC1ARg7s2G+0GxZE+hhjo7emkl2BV47cioLOv7uhK26lWD3QRfs+TvX19efiC38NmpTdGSxV7Ujp4FnKFqJp2XWEOtkVmtaqu/3LdnYqELRYKzvng0cUpAhwpZP6xMm77Z4tk6BpQVHgVZ6M3odCM/egPn0XMQ453ccUuOFH7K7clREkNAgUaJlQYGI9Px/Ork1D6lmUaVvsjVSDGMpi2KQLjSHP4gKWp6Q43lCy/zh2zPubx6iGlmQ6kb8CADCQKP+vDj/LMQDXnIzrQ8Z/8oFbC1p3v7/cxLzlSF59T3vumDtD7E1OQFOXg5+Mpl6+QO+hJH/IP2E+tbcvANI4KfwN8ysQ1/Ck99XHmpVMi7C/HTCyhh5NMrL5bSzvdc2wJelJfeS56Qj4G2Kpxwbk7K/6xxPetdym3FT2NMROVCSYYWwjG9zjuTwssoqSjLhjEvSc5VRoTLjagYrhx7m5FlHJfbODJppDDnJ+3HDgMPjiUmoY7tvLepDh3BsSjx5ceMGS2mujM8KYaN/QzHQhKtXjf999Lu5W7eyulsxSgPbvRJVxZ6DtrnqId4vq394rou6YImo4TaDpTvUg/R1IYokMvbhfJfLz8YdjgvlmqlOdYcnDWsaauYpaHWvxbd8uBkfAue8Blm4COy20PPaKEFjvFGhX56zjmKXn3uY7J3HJzrnqCLf7s/9U75teudBHCeMRXEx0zqR8bCes+pnAOQHYQXqrUHYRerDcG2K+ktaJXa+oSZg9RxepxZIxqj+KvmT9mxH6DV9ngcsehzCWkitnozneS6wFigB1ugvJqHtw7w9+C/CSkGFEUbsYu0IE3hCkBqau0K3E+JsSU/hfbCiyNq43luthsMwnDUSMVBnA9eqNswvnLhe2DwPMO3oG2ZyXOQ0YP9a5EHpP596x6HqgRd4y5WPtMS/+K/27lHUxen7NuY+TxqwQRySromSHY5Gl9qjXvU9fDly4HqW134TZCraKtJi18hmqE6p4XtMKM3tBGc/ZEZb0KhufRr5zhSsy+2y1GobBcCvpkzqAc15MbVVN5VT/co9BzlvYkQ9JgkA+PmU+llfAYppXGX+aQMCAOIZqbSV30eO5ameBKVVAeQwSAtjMCaKsIvP7j8qrJaE7sGYNGFE7Lfz6ND6n5kcUE6qRbO3qYzdAN6oEiYtRNgwU807ev6WiXBuDHRWLP/SuyIXuRangVKrww9N0T0WFlAg78SC9h2fPF+EMLrS7VkLuM//+zMLfvR/B1+iuWtat29WS5b4ibOoy1qSfewi7Ys70epRxS5yswCPOF3TxN+H4WaPAxk/FoNP+K35PashKeVdXUiRqlNtdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XGzBCH7iX9DK4rX6qAsraD",
      "input": {
        "note": "The right arm is over the burner; the coil shows at the upper-left of the wrist view, so the burner centre is slightly ahead and left of the can. Shifting a few cm that way and lowering toward the burner top.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.345,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XGzBCH7iX9DK4rX6qAsraD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.8375, 2.1834, 1.9438, -0.9447, 0.4297, 0.5755, 0.7017]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0024 left_pitch=-0.077 left_roll=-0.0027 left_gripper=0.9992 right_x=0.394 right_y=0.3327 right_z=0.1146 right_yaw=0.0742 right_pitch=-0.4194 right_roll=-0.1195 right_gripper=0.7017\nstate[joint_eff]: [-0.3077, -1.2513, 6.9538, 1.6777, -0.0611, -0.0269, -0.0122, -0.2667, -11.6171, 7.2684, 1.3455, 0.3297, -0.0659, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c1c643e606b3b53fc8105b17410a2717a399c093821fff31de8f9865b3067e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3faa9a6c5c9c1b66a7d4b3d90afa0e1e04c852f0d1556ce9ab3deb345e26808e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8943d223979c6f349d4cd724f88b2966b6af4d25f6cad579d8003127974d5723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 54c1c643e606
wire blob 3faa9a6c5c9c
wire blob 8943d223979c
call 7 attempt 0 · /messages · status 200 · 6.442 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8021, 0.6083, -0.4355, -0.0193, -0.0383, 0.9992, 0.1623, 1.2545, 0.9375, -0.5743, 0.0906, 0.0265, 0.7007]\nstate[eef_state]: left_x=0.2881 left_y=0.0016 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.053 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3415 right_y=0.0434 right_z=0.1523 right_yaw=0.0537 right_pitch=-0.299 right_roll=-0.0436 right_gripper=0.7007\nstate[joint_eff]: [-0.0889, -1.4974, 7.1043, 1.7656, -0.0464, -0.0366, -0.0122, -0.3624, -6.0103, 9.6479, 1.9219, 0.0757, -0.0073, 0.8523]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4541, -0.0189, -0.0383, 0.9992, 0.8528, 2.0979, 2.1426, -1.15, 0.4549, 0.5896, 0.7007]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1644 left_yaw=0.0022 left_pitch=-0.0728 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3831 right_y=0.326 right_z=0.2067 right_yaw=0.086 right_pitch=-0.3459 right_roll=-0.0698 right_gripper=0.7007\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.8584, -0.0562, -0.0317, -0.0171, 0.5402, -11.1795, 8.3624, 1.072, 0.4615, 0.3004, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.8375, 2.1834, 1.9438, -0.9447, 0.4297, 0.5755, 0.7017]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0024 left_pitch=-0.077 left_roll=-0.0027 left_gripper=0.9992 right_x=0.394 right_y=0.3327 right_z=0.1146 right_yaw=0.0742 right_pitch=-0.4194 right_roll=-0.1195 right_gripper=0.7017\nstate[joint_eff]: [-0.3077, -1.2513, 6.9538, 1.6777, -0.0611, -0.0269, -0.0122, -0.2667, -11.6171, 7.2684, 1.3455, 0.3297, -0.0659, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c1c643e606b3b53fc8105b17410a2717a399c093821fff31de8f9865b3067e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3faa9a6c5c9c1b66a7d4b3d90afa0e1e04c852f0d1556ce9ab3deb345e26808e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8943d223979c6f349d4cd724f88b2966b6af4d25f6cad579d8003127974d5723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 54c1c643e606]
[blob 3faa9a6c5c9c]
[blob 8943d223979c]
{
  "content": [
    {
      "signature": "CAQS5QgKEAgRGAI4AUIIdGhpbmtpbmcSDL4ftzJraIkUrp7IbRoMnUhEzC6NoxR6yNnkIjA5Lr3NLfCr7fhK3Ujogd9jfz00L5Xhz3RI9xQk1RtJeEy/x5rLFN866f8yUykYGsMqgggk+aKiv8ciKUo+HTG38paWstLYMY4am43+8wenVmsK/W7I+jZL8jyhArrhFI/kSENuuIIkxuCtO5QnBLg8tWSjULPgc5DfoJ7pQMe8Uu03aO1EpIFPhPmL5VMO2Zvfcg51yUTBbwynZ4c0MGIWaLgrph+L3sCLET5h/EAlqs7/iVyj3/DdtSxqQ6j1DoEuRv7aEXUR4lVSIHJ9rEQepNphdvx63R2i6G+D1C2pYrz8P48xt03KWon9DgJhhHIDTzDntc1HH6VjCD+Ojna+3zBLG/i95sUtX6Ky+18gDs+94VKc4d8AEgMHSJVW59b5a+RmwiFNJDUP7vixT5JPTejVsXBAAnuWg/rtOzNirLAdE8w07Zqd6rVUKWZah9RxD6XV+//7jP6qg4qIHIocE7YBSlop5GXBPJa7BH9sy+6DuarA8XscwWNnHRei/NQWEvA3FtsBHDUEnXoujzfa6rQP4GqRpawUFCv2qt9PTWBoL48nMHoNlNkVJJmPo0/A12+ZR7Xerh9xw7IKLCYWjIU1YmZZDMb7U/XQO5jMUWRfi7RA1bazKu7Y3FB95x6T+a99MLQJXv+IDxpO10X0bD9kI7Uu9D/oOQ/2r2oIUO3kuKPgsUJhksCq3ckTftLQ3Iu09FBVD/IcbVkDshMOwQ2FH+Q35cuQZHKQhd33uaOscDVNh6tRE5z3fPfD5ktR8aPXJ5xt+RFBNdTvgtCfH6us4SaBWYzMrBjsYMScb5a/Zr5jj+bEVpU26J272kaqpmETG9Da2xHDzBkA+yM+DyXw4S0XPxWgsYXOd2MnqaMIfvy81CmIl4TVF3/UIqsLpjFbbW3averxVnH75A9Zz/g9XXPdRM7vcel3Z7cN3si2D+xfQP2qC77bTLSFfO/PxvoVx9VIawMEWhAgZurKQcuK7MIAJFu+Bpmx2FWzf5TezTMd+qQsXdwtISt0M+iNMa4lHeQveuwSdnXmTLsM5uR658prmEN2l9iVFXM2Sl1Ad2Yu7Ik7FZ5vOFPYSZpClgKSsf75hebp90QotbhKwDewGZeCJfDDdGN6+R+HlFnyctz2nv/vSY1Gzs+Iapeib4M9SBaJU9UsnWCu12l9Bl4GRFoERLeaY98USE4Fyfis5/4HC7MXpKJCZrRyjbUpSV3CrHkQLXZ5bLC3eA40tIEsFrRQ5bdK5yLUYpqkWsoZjwB06BzbEYFCZvi+at9UmZ10punifSxBBFj8rxUqCk369LbDZUENEOhznh4ptJsQtJYFYsLt2fPa6xdDh1usVx9svSMJlEJWqSmah1wktWCvTUiOUtkuyhlBkUHzo+RZ8uN6wrTfw4/SRlkscX0RmabhrkV9IIn1OkCUBTHnBQkvlxIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6qduL71vVFz6LQfdkabZx",
      "input": {
        "note": "Overhead view shows the gripper and can directly above the burner; the coil rim is visible at the right edge of the wrist view. Lowering the can until it contacts the burner top.",
        "targets": {
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01U6qduL71vVFz6LQfdkabZx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.8402, 2.1792, 1.803, -0.7708, 0.4545, 0.5652, 0.7037]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0025 left_pitch=-0.0915 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3987 right_y=0.3341 right_z=0.086 right_yaw=0.0772 right_pitch=-0.3773 right_roll=-0.1155 right_gripper=0.7037\nstate[joint_eff]: [-0.0615, -1.0735, 6.9402, 1.7705, -0.0708, -0.0415, -0.0122, -0.0479, -9.8256, 4.1641, 0.9304, -0.0855, 0.0952, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e18fa8144d881f9da85c078233d6ad012f81296814002a22aeab66a8636ec89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7517f208c76d3b767af00fbfc1016261bd63dcbfaafe3dd1fb72fe59b28f6fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9bbc55016fbf2695fd255de177def61d91e56c714b330d0476a695a79e5bd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2e18fa8144d8
wire blob 7517f208c76d
wire blob c9bbc55016fb
call 8 attempt 0 · /messages · status 200 · 5.324 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4541, -0.0189, -0.0383, 0.9992, 0.8528, 2.0979, 2.1426, -1.15, 0.4549, 0.5896, 0.7007]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1644 left_yaw=0.0022 left_pitch=-0.0728 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3831 right_y=0.326 right_z=0.2067 right_yaw=0.086 right_pitch=-0.3459 right_roll=-0.0698 right_gripper=0.7007\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.8584, -0.0562, -0.0317, -0.0171, 0.5402, -11.1795, 8.3624, 1.072, 0.4615, 0.3004, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.8375, 2.1834, 1.9438, -0.9447, 0.4297, 0.5755, 0.7017]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0024 left_pitch=-0.077 left_roll=-0.0027 left_gripper=0.9992 right_x=0.394 right_y=0.3327 right_z=0.1146 right_yaw=0.0742 right_pitch=-0.4194 right_roll=-0.1195 right_gripper=0.7017\nstate[joint_eff]: [-0.3077, -1.2513, 6.9538, 1.6777, -0.0611, -0.0269, -0.0122, -0.2667, -11.6171, 7.2684, 1.3455, 0.3297, -0.0659, 0.9304]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.8402, 2.1792, 1.803, -0.7708, 0.4545, 0.5652, 0.7037]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0025 left_pitch=-0.0915 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3987 right_y=0.3341 right_z=0.086 right_yaw=0.0772 right_pitch=-0.3773 right_roll=-0.1155 right_gripper=0.7037\nstate[joint_eff]: [-0.0615, -1.0735, 6.9402, 1.7705, -0.0708, -0.0415, -0.0122, -0.0479, -9.8256, 4.1641, 0.9304, -0.0855, 0.0952, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e18fa8144d881f9da85c078233d6ad012f81296814002a22aeab66a8636ec89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7517f208c76d3b767af00fbfc1016261bd63dcbfaafe3dd1fb72fe59b28f6fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9bbc55016fbf2695fd255de177def61d91e56c714b330d0476a695a79e5bd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2e18fa8144d8]
[blob 7517f208c76d]
[blob c9bbc55016fb]
{
  "content": [
    {
      "signature": "CAQS3gcKEAgRGAI4AUIIdGhpbmtpbmcSDIN19gX1g8J1Ab7ZCBoMvTRdkeaa2DDlZMaEIjA8MC3ZzH/eJ2PqRZcOp0/tfHpKeafF6Lc/rn0ebPFCt+Vufx9niAt8jSMLi58rMeEq+wYBIfsZ8bRX4GVnTFfM9Xhvmbcdn381HsxIEacnKWqibRQbc/LhUGEZZGAxqTiKb06fbVg39GJICHMXrn0hKIzGKCVza5cO0d5bCOnIDN35Rp1Tqkqo5beCux5lMv+XHrFg80Pz1MhM1EVoyOMNjRo0l5BbbS2qNNwqU0opC8GBa5dUJ1c4aQgCxlVFNe092dAIduUnY5iBU0046smfHsxMvtteHwgaVPV08vSvkxGLhK5wombWPwlu3X6T0pPAeQFeXYshG1OvzKcc+4WAyaP7rvE4VocdWNBkZVYll12yqi59iSxKXfxr3rXfmcrGUJd7pQQRN2wzD3vPg+YKyUTXK7HJk5T6i4vEeCkz3FI2wE3Va2iKJcJaw73m3zRiodTYiQWZmzeaKvH+MklmrrcqxZUcmWTN7MXHv9MYYAtz+xO5H7yg3Zx12/1wHR1KmmNj4yrloWns7x2F7hAmfW9y+cFNX/wmLuw8vHtIGo9juFwjedYgnYOAjvafsiLzFm0+RCwHWOVC3oCVwH3vO9Aipjk/FIrbtPmwbZJcEV7tp/OakVCFw8FYJnA+Y9AO7KSPp9LQdUiQ/JB5F41jXxt9u/lioBIGhCAwAHxFZnYPC2dvuHvWl0hKAadRE0gRYy/il/+7zmhMlaMKChwlNELgF2YCEGsSxO0snkXQNzBuJG8X/1nOacCzjxftjMaxW9RgG+qRES96vl+WuPmAgofXRbNIUOLj7efkMBQLdjTLecGjQ4z5AmdAGneoqIeE36CZPrGX2ivcX0eYiOK1/nal5vF7slIHxfoPTbsgTFfFf5tWysghiHZWso2mVMjnjFw5CR9KnxqB2eJxIK9bH/Gjyt6cenYomHvziE5QjmrIYuvIyQG2LdcGHopXP57WQmBxNM29wURERVyekKm3Nf8cC0YZl8IXIXxMFArvc2ikvptHltd7v5UfmkK9YHF9uLEpwR1p9zFMOXhPXt9kHXZWCI5wh6cxK4PnI0zhbrssjRd4ebLDFGyYpzYNm4woK8M4/GApPgZ2vkv2fqHaNBTJcyNrcMbwqe8LgapOHfgcajCc5XS/zQoAlwa93uDq52WJAnm0Dq+tFaVU/Vl+ar6QqfmImA6oPEZCZ9mH3YCK9rELmerZRZuac5OsaRf+U+42hQCEhjDJAYpy4MGBtDYzMDyB1dr7OzXR6D8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Arzm3fNpjxcgCHrFcWrmNx",
      "input": {
        "note": "The descent stopped at z≈0.086, consistent with the can resting on the burner (burner top plus can radius) and shoulder effort eased. Opening the gripper to release the can.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Arzm3fNpjxcgCHrFcWrmNx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4801, -0.0189, -0.0387, 0.9992, 0.8402, 2.1899, 1.771, -0.7376, 0.4385, 0.5694, 0.9944]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1594 left_yaw=0.0025 left_pitch=-0.0988 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3962 right_y=0.3351 right_z=0.0718 right_yaw=0.0828 right_pitch=-0.394 right_roll=-0.1086 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -1.1966, 6.9402, 1.6923, -0.0708, -0.0562, -0.0122, -0.0615, -10.8103, 6.106, 1.0867, 0.0562, 0.0415, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abcc2870d6a17b9f502d6b38a8f1ba7610199fa82d7d246c153b77b20bc46fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f5e0c3cf4f55b10d509ba2ed5ccb23dce63c190f2d9fdb56ce9d25a4e1156e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b6758db5b51563777c376bcb3423f0f4d1d98f0335052726922afb1e61161f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob abcc2870d6a1
wire blob a4f5e0c3cf4f
wire blob 1b6758db5b51
call 9 attempt 0 · /messages · status 200 · 10.84 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.8375, 2.1834, 1.9438, -0.9447, 0.4297, 0.5755, 0.7017]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0024 left_pitch=-0.077 left_roll=-0.0027 left_gripper=0.9992 right_x=0.394 right_y=0.3327 right_z=0.1146 right_yaw=0.0742 right_pitch=-0.4194 right_roll=-0.1195 right_gripper=0.7017\nstate[joint_eff]: [-0.3077, -1.2513, 6.9538, 1.6777, -0.0611, -0.0269, -0.0122, -0.2667, -11.6171, 7.2684, 1.3455, 0.3297, -0.0659, 0.9304]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.8402, 2.1792, 1.803, -0.7708, 0.4545, 0.5652, 0.7037]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0025 left_pitch=-0.0915 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3987 right_y=0.3341 right_z=0.086 right_yaw=0.0772 right_pitch=-0.3773 right_roll=-0.1155 right_gripper=0.7037\nstate[joint_eff]: [-0.0615, -1.0735, 6.9402, 1.7705, -0.0708, -0.0415, -0.0122, -0.0479, -9.8256, 4.1641, 0.9304, -0.0855, 0.0952, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4801, -0.0189, -0.0387, 0.9992, 0.8402, 2.1899, 1.771, -0.7376, 0.4385, 0.5694, 0.9944]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1594 left_yaw=0.0025 left_pitch=-0.0988 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3962 right_y=0.3351 right_z=0.0718 right_yaw=0.0828 right_pitch=-0.394 right_roll=-0.1086 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -1.1966, 6.9402, 1.6923, -0.0708, -0.0562, -0.0122, -0.0615, -10.8103, 6.106, 1.0867, 0.0562, 0.0415, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abcc2870d6a17b9f502d6b38a8f1ba7610199fa82d7d246c153b77b20bc46fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f5e0c3cf4f55b10d509ba2ed5ccb23dce63c190f2d9fdb56ce9d25a4e1156e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6758db5b51563777c376bcb3423f0f4d1d98f0335052726922afb1e61161f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob abcc2870d6a1]
[blob a4f5e0c3cf4f]
[blob 1b6758db5b51]
{
  "content": [
    {
      "text": "Gripper is open; retracting the arm up and away to check the placement in the overhead view.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C7hmy8urSfXW4JUnRhdrMQ",
      "input": {
        "note": "The gripper has released the can on the burner. Lifting and pulling the right arm back toward its home side so the overhead camera can verify the can's position.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.1,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01C7hmy8urSfXW4JUnRhdrMQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4992, -0.0189, -0.0383, 0.9992, 0.4648, 1.3071, 1.2732, -1.0218, 0.2737, 0.2363, 0.9953]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.155 left_yaw=0.0023 left_pitch=-0.1205 left_roll=-0.0015 left_gripper=0.9992 right_x=0.3026 right_y=0.1023 right_z=0.2097 right_yaw=0.058 right_pitch=-0.411 right_roll=-0.1131 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4427, 7.0632, 1.8584, -0.0464, -0.0317, -0.0122, -0.1709, -5.5316, 7.4598, 1.3797, 0.1587, -0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8382f4d403aad1db0e639c80e66f738706fdd3952f5fd2b7917b86052959b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4fd5b2135920b08d77a282815420ebe365c4d85b4b0ac8a050655726d2870a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2897749e34a1b1dcbb01a487bd16259d3d7794fb72097541dae46a6fc74a28f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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