adhoc

completed
2026-09-18T05:49:10.193021+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
199.4 s
total steps
93
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I see the can lying on its side at the upper right of the top view (near the right arm), and the burner in the centre. I'll use the right arm: first fly above the can.
agent noteThe can lies on its side far ahead of the right arm (top of right wrist view, upper-right of top view). Flying the right gripper to hover above it at z=0.15 with jaws open.
move_to
right_x0.4600right_y0.0400right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.3962, -0.0196, -0.0292, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5265, -1.4427, 10.2632, 1.9707, -0.0562, 0.1587, -0.0904, -0.4308, -1.347, 9.6615, 1.917, -0.0415, 0.0952, -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
I see the can lying on its side at the upper right of the top view (near the right arm), and the burner in the centre. I'll use the right arm: first fly above the can.
move_to({"targets": {"right_x": 0.46, "right_y": 0.04, "right_z": 0.15, "right_gripper": 1.0}, "note": "The can lies on its side far ahead of the right arm (top of right wrist view, upper-right of top view). Flying the right gripper to hover above it at z=0.15 with jaws open."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe can is still at the top of the right wrist view and slightly to the right of the jaw column, so it lies further forward and a little to the arm's right. Advancing and lowering to check the approach.
move_to
right_x0.5200right_y0.0100right_z0.0900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.1131, 1.5566, 0.926, -0.0414, 0.0753, 0.0196, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4406 right_y=0.0403 right_z=0.1269 right_yaw=0.0278 right_pitch=-0.088 right_roll=-0.019 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.5932, 7.0085, 1.8388, -0.0366, -0.0122, -0.0171, 0.1573, -7.3231, 8.8, 2.0391, 0.2076, 0.1929, -0.0562] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.01, "right_z": 0.09, "right_gripper": 1.0}, "note": "The can is still at the top of the right wrist view and slightly to the right of the jaw column, so it lies further forward and a little to the arm's right. Advancing and lowering to check the approach."})
tool
executing move_to over 7 steps (0.7s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteCan still sits at the top-right of the wrist view, so it is further forward and slightly right of the arm. Extending further with the tool pitched forward to gain reach and coming down near can height.
move_to
right_x0.5600right_y-0.0200right_z0.0600right_pitch0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7994, 0.6067, -0.4145, -0.0193, -0.0387, 0.9992, 0.0193, 1.8717, 1.1236, 0.0013, 0.0021, -0.0444, 0.9996] state[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1727 left_yaw=0.0025 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4997 right_y=0.0128 right_z=0.074 right_yaw=0.0308 right_pitch=-0.1651 right_roll=-0.0228 right_gripper=0.9996 state[joint_eff]: [-0.3077, -1.3744, 7.0085, 1.7802, -0.0317, -0.0708, -0.0122, -0.5538, -9.306, 8.212, 2.0342, -0.0464, 0.0806, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.56, "right_y": -0.02, "right_z": 0.06, "right_pitch": 0.4, "right_gripper": 1.0}, "note": "Can still sits at the top-right of the wrist view, so it is further forward and slightly right of the arm. Extending further with the tool pitched forward to gain reach and coming down near can height."})
tool
executing move_to over 19 steps (1.9s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe can now fills the top-right of the wrist view, lying diagonally with its cap toward the arm; it is still right and slightly forward of the jaws. Shifting right/forward and yawing so the jaws close across the can's diameter.
move_to
right_x0.5900right_y-0.0600right_z0.0350right_yaw0.7000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, -0.065, 2.2211, 0.9646, 0.9688, -0.0917, -0.0708, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0029 left_pitch=-0.0431 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5489 right_y=-0.0159 right_z=0.038 right_yaw=0.0439 right_pitch=0.2951 right_roll=-0.0267 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.1009, 6.9949, 1.8437, -0.0757, -0.0317, -0.0122, -0.5949, -9.8667, 6.9812, 2.3126, 0.0073, 0.1148, -0.0562] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.59, "right_y": -0.06, "right_z": 0.035, "right_yaw": 0.7, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The can now fills the top-right of the wrist view, lying diagonally with its cap toward the arm; it is still right and slightly forward of the jaws. Shifting right/forward and yawing so the jaws close across the can's diameter."})
tool
executing move_to over 7 steps (0.7s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe can body now runs diagonally past the right jaw in the wrist view, still to the right of centre. Moving to the right workspace limit and yawing further to line the jaws up across the can before closing.
move_to
right_x0.6000right_y-0.0800right_z0.0300right_yaw1.1000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, -0.3401, 2.5622, 1.4597, 0.9302, -0.9024, -0.1844, 0.9996] state[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.1645 left_yaw=0.0029 left_pitch=-0.0694 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5963 right_y=-0.0601 right_z=0.0345 right_yaw=0.587 right_pitch=0.4752 right_roll=-0.0351 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.4017, 7.2957, 1.9414, -0.0366, -0.0269, -0.0122, -2.441, -12.506, 6.3385, 1.7656, -0.0611, -0.0757, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_y": -0.08, "right_z": 0.03, "right_yaw": 1.1, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The can body now runs diagonally past the right jaw in the wrist view, still to the right of centre. Moving to the right workspace limit and yawing further to line the jaws up across the can before closing."})
tool
executing move_to over 4 steps (0.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe arm stalled at y=-0.04 and the can is now off the right edge of the wrist view; the can is against the fence at the arm's right limit. Returning to yaw 0 near the right limit so the open right jaw sits beside the can, planning to close and roll it between the jaws.
move_to
right_x0.5700right_y-0.0700right_z0.0250right_yaw0.0000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, -0.345, 2.8464, 2.0777, 0.4717, -1.3388, -0.4541, 0.9996] state[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.1605 left_yaw=0.0029 left_pitch=-0.0889 left_roll=-0.0024 left_gripper=0.9992 right_x=0.6207 right_y=-0.0366 right_z=0.0294 right_yaw=1.094 right_pitch=0.508 right_roll=-0.1684 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.1966, 7.0906, 1.8535, -0.0611, -0.0611, -0.0122, -7.1316, -9.2376, 5.135, 0.8864, 0.2369, -1.5653, -0.0562] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.57, "right_y": -0.07, "right_z": 0.025, "right_yaw": 0.0, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The arm stalled at y=-0.04 and the can is now off the right edge of the wrist view; the can is against the fence at the arm's right limit. Returning to yaw 0 near the right limit so the open right jaw sits beside the can, planning to close and roll it between the jaws."})
tool
executing move_to over 7 steps (0.7s)
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 can is now clearly in the wrist view, lying diagonally just ahead of the jaws with its cap toward the arm's right. Advancing, dropping to table level and yawing so the can axis runs along the image vertical, letting the jaws close across its diameter.
move_to
right_x0.6000right_y-0.0600right_z0.0120right_yaw0.9000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4835, -0.0189, -0.0391, 0.9992, -0.1783, 2.4729, 1.1042, 1.2865, -0.3233, -0.173, 0.9996] state[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1563 left_yaw=0.0029 left_pitch=-0.1091 left_roll=-0.002 left_gripper=0.9992 right_x=0.5737 right_y=-0.0427 right_z=0.0285 right_yaw=0.2249 right_pitch=0.4989 right_roll=-0.1471 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.0188, 6.9538, 1.8388, -0.0464, -0.0708, -0.0122, 0.3761, -11.453, 3.7265, 1.4188, 0.1441, -0.0757, -0.0562] 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": 0.6, "right_y": -0.06, "right_z": 0.012, "right_yaw": 0.9, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The can is now clearly in the wrist view, lying diagonally just ahead of the jaws with its cap toward the arm's right. Advancing, dropping to table level and yawing so the can axis runs along the image vertical, letting the jaws close across its diameter."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe can body now lies between the jaws in the wrist view at roughly the grasp height (z≈0.04, can centre ~0.033). Closing the gripper to grasp it across the body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.5045, -0.0193, -0.0387, 0.9992, -0.3378, 2.6953, 1.6783, 0.9588, -0.8753, -0.2668, 0.9996] state[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1515 left_yaw=0.0031 left_pitch=-0.1335 left_roll=-0.0009 left_gripper=0.9992 right_x=0.6323 right_y=-0.0746 right_z=0.0387 right_yaw=0.6664 right_pitch=0.5316 right_roll=-0.2379 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.8486, -0.0562, -0.0415, -0.0122, -3.453, -12.2325, 5.2855, 1.5897, -0.2418, -0.3785, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The can body now lies between the jaws in the wrist view at roughly the grasp height (z\u22480.04, can centre ~0.033). Closing the gripper to grasp it across the body."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe close was empty (gripper 0.009); the can is still several cm beyond the fingertips at the x=0.6 workspace limit. Making one last attempt at the box corner (x=0.6, y=-0.08, table level, maximum forward pitch) to see if the can's cap end comes within the jaws.
move_to
right_x0.6000right_y-0.0800right_z0.0000right_yaw0.7000right_pitch0.6000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.5179, -0.0189, -0.0387, 0.9992, -0.3355, 2.6213, 1.4918, 1.0489, -0.9085, -0.2726, 0.0089] state[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1477 left_yaw=0.0028 left_pitch=-0.1518 left_roll=-0.0008 left_gripper=0.9992 right_x=0.6007 right_y=-0.0581 right_z=0.0332 right_yaw=0.6935 right_pitch=0.521 right_roll=-0.2209 right_gripper=0.0089 state[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7021, -0.0757, -0.0171, -0.0122, -2.3453, -14.3111, 4.6974, 1.746, 0.0513, -0.0073, 0.5983] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_y": -0.08, "right_z": 0.0, "right_yaw": 0.7, "right_pitch": 0.6, "right_gripper": 1.0}, "note": "The close was empty (gripper 0.009); the can is still several cm beyond the fingertips at the x=0.6 workspace limit. Making one last attempt at the box corner (x=0.6, y=-0.08, table level, maximum forward pitch) to see if the can's cap end comes within the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe can body now sits between the open jaws in the wrist view, centred near the jaw column with the cap by the right jaw. Lowering slightly and closing to grasp it.
move_to
right_z0.0200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, -0.3408, 2.73, 1.6154, 1.2709, -0.9478, -0.1802, 0.995] state[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0029 left_pitch=-0.1674 left_roll=-0.0004 left_gripper=0.9992 right_x=0.61 right_y=-0.0604 right_z=0.0514 right_yaw=0.8085 right_pitch=0.6444 right_roll=-0.3639 right_gripper=0.995 state[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.7265, -0.0317, -0.0464, -0.0122, -3.4393, -7.2957, 5.094, 1.0769, -0.1148, 0.1538, -0.2271] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_gripper": 0.0}, "note": "The can body now sits between the open jaws in the wrist view, centred near the jaw column with the cap by the right jaw. Lowering slightly and closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe can lies on its side against the right fence at roughly right_x ≈ 0.63–0.66, right_y ≈ −0.07, beyond the x=0.6 workspace bound and past the arm's table-contact reach (at x=0.6 the arm cannot descend below z≈0.05). Two closes at the box corner were both empty (gripper ≈ 0.008). The left arm cannot reach that side (would need left_y ≈ −0.72). The can needs to be moved closer to the base or the box widened.
give_up
hindsightIn this scene the can lay on its side against the right fence, far forward (top view ≈ px (185,40)); that corresponds to right_x ≳ 0.63, outside the 0.6 x-bound, and at x=0.6 the right arm cannot get the grasp point below z≈0.05 even with pitch 0.6 — check reachability from the overhead frame before spending calls. The top-view rule "0.45 m appears near the top corners" under-states distance: objects at image-y ≈ 40 are at x ≈ 0.63+. Yaw plus large pitch near full reach makes IK stall (y target −0.08 returned −0.04). Objects at image-y < ~55 in top_cam are effectively unreachable for a table-level grasp.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, -0.3286, 2.7045, 1.5669, 1.2682, -0.9585, -0.2539, 0.0083] state[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1433 left_yaw=0.0029 left_pitch=-0.1754 left_roll=-0.0002 left_gripper=0.9992 right_x=0.6034 right_y=-0.0492 right_z=0.0493 right_yaw=0.8609 right_pitch=0.6176 right_roll=-0.4243 right_gripper=0.0083 state[joint_eff]: [-0.1573, -1.2786, 6.9812, 1.6093, -0.0415, -0.0513, -0.0122, -1.7983, -8.9368, 6.147, 1.4676, 0.0073, 0.0562, 0.6032] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The can lies on its side against the right fence at roughly right_x \u2248 0.63\u20130.66, right_y \u2248 \u22120.07, beyond the x=0.6 workspace bound and past the arm's table-contact reach (at x=0.6 the arm cannot descend below z\u22480.05). Two closes at the box corner were both empty (gripper \u2248 0.008). The left arm cannot reach that side (would need left_y \u2248 \u22120.72). The can needs to be moved closer to the base or the box widened.", "hindsight": "In this scene the can lay on its side against the right fence, far forward (top view \u2248 px (185,40)); that corresponds to right_x \u2273 0.63, outside the 0.6 x-bound, and at x=0.6 the right arm cannot get the grasp point below z\u22480.05 even with pitch 0.6 \u2014 check reachability from the overhead frame before spending calls. The top-view rule \"0.45 m appears near the top corners\" under-states distance: objects at image-y \u2248 40 are at x \u2248 0.63+. Yaw plus large pitch near full reach makes IK stall (y target \u22120.08 returned \u22120.04). Objects at image-y < ~55 in top_cam are effectively unreachable for a table-level grasp."})
tool
give_up: The can lies on its side against the right fence at roughly right_x ≈ 0.63–0.66, right_y ≈ −0.07, beyond the x=0.6 workspace bound and past the arm's table-contact reach (at x=0.6 the arm cannot descend below z≈0.05). Two closes at the box corner were both empty (gripper ≈ 0.008). The left arm cannot reach that side (would need left_y ≈ −0.72). The can needs to be moved closer to the base or the box widened.
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 · 17.03 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]: [-0.0193, 0.7918, 0.6037, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.3962, -0.0196, -0.0292, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.4427, 10.2632, 1.9707, -0.0562, 0.1587, -0.0904, -0.4308, -1.347, 9.6615, 1.917, -0.0415, 0.0952, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cf5b795053bf2b3dc1384eba8e4cc9d9ce80629389c7738e81766cf1cad016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cffd3a732267b65225447eb59c76893ac78710961ed6d138de57964582ff5a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abebe0b2c3bef5d7adb4b515f537abe28804e87eab331fdb81ccff0c229cb79e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c4cf5b795053
wire blob 3cffd3a73226
wire blob abebe0b2c3be
call 1 attempt 0 · /messages · status 200 · 17.34 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]: [-0.0193, 0.7918, 0.6037, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.3962, -0.0196, -0.0292, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.4427, 10.2632, 1.9707, -0.0562, 0.1587, -0.0904, -0.4308, -1.347, 9.6615, 1.917, -0.0415, 0.0952, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cf5b795053bf2b3dc1384eba8e4cc9d9ce80629389c7738e81766cf1cad016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cffd3a732267b65225447eb59c76893ac78710961ed6d138de57964582ff5a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abebe0b2c3bef5d7adb4b515f537abe28804e87eab331fdb81ccff0c229cb79e",
        "media_type": "image/png",
        "type": "base64"
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  ],
  "role": "user"
}
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[blob 3cffd3a73226]
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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I see the can lying on its side at the upper right of the top view (near the right arm), and the burner in the centre. I'll use the right arm: first fly above the can.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013d9it7tsmPxCkxJxujeK78",
      "input": {
        "note": "The can lies on its side far ahead of the right arm (top of right wrist view, upper-right of top view). Flying the right gripper to hover above it at z=0.15 with jaws open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.04,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013d9it7tsmPxCkxJxujeK78",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.1131, 1.5566, 0.926, -0.0414, 0.0753, 0.0196, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4406 right_y=0.0403 right_z=0.1269 right_yaw=0.0278 right_pitch=-0.088 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5932, 7.0085, 1.8388, -0.0366, -0.0122, -0.0171, 0.1573, -7.3231, 8.8, 2.0391, 0.2076, 0.1929, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4274758c590e13e0622b852ee139e4b69940947a61cc300d3ff9d088b6178713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4561a7aa480a657c025ef28f04f6be5eb16506fc3a71991bfb2e16cc2a038719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:122df9ae1e088a1d509a9c275b4f2dd197cc0a041bd97ee0ae73a572a505035a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4274758c590e
wire blob 4561a7aa480a
wire blob 122df9ae1e08
call 2 attempt 0 · /messages · status 200 · 15.94 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]: [-0.0193, 0.7918, 0.6037, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.3962, -0.0196, -0.0292, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.4427, 10.2632, 1.9707, -0.0562, 0.1587, -0.0904, -0.4308, -1.347, 9.6615, 1.917, -0.0415, 0.0952, -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, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.1131, 1.5566, 0.926, -0.0414, 0.0753, 0.0196, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4406 right_y=0.0403 right_z=0.1269 right_yaw=0.0278 right_pitch=-0.088 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5932, 7.0085, 1.8388, -0.0366, -0.0122, -0.0171, 0.1573, -7.3231, 8.8, 2.0391, 0.2076, 0.1929, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4274758c590e13e0622b852ee139e4b69940947a61cc300d3ff9d088b6178713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4561a7aa480a657c025ef28f04f6be5eb16506fc3a71991bfb2e16cc2a038719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122df9ae1e088a1d509a9c275b4f2dd197cc0a041bd97ee0ae73a572a505035a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4274758c590e]
[blob 4561a7aa480a]
[blob 122df9ae1e08]
{
  "content": [
    {
      "signature": "CAQS1Q0KEAgRGAI4AUIIdGhpbmtpbmcSDDx0cmby5sisc1CHsBoMiSDU/mgQ3oY/EBn7IjBLqttxq8WLjvIiJiBLSi2u6EXtr4gC3FJmor4gyVgKg/G+wytZLdFONQWFohTfftYq8gzHSQbvMBpEbZ89wMZG4LRS8O5T67cnFu/ecGTMWTH8yPPJ5Bd9k5bk2EA69u6y17dLVqA8tlx1tXmalXmuyAv0f6T6NhDoNt5sdMFxbFTcQu3Q92PTfiMe0q3Ac4CAg7bA4DUUTzv7AaIYxanYjTzA5qbfMq+hNZMMY8OGy+QuR1zC/ibBwKHi07BqnT/Q6sdyASC8NWd5AyWpRcxmnZKIyVwfvGpXxHpy4I+gmlidwgHnjQOha2DSCP5oIn9syzGbfjcwjlIwTUiYd8IM7Bh4kA8BFq8ZR9oRO/+XTf1rytyqQT5hDcapi4Awy74fD4km2CSwVvZVaCMZi18iSL+yr4IJ4vAQ76cHMzufDPjXJynaBpsBwUiCULX4NWlF0/XmqBqZJww3IHDfQJ3NBmfIog6v4MCwunXyRbtjtBUWUhT/eDIwLlBcRDLIH6mG/ygHGAT36EN3SmRIUJIrQuixzS+cy6ar1Qlphd3vvW7+ky1ofTE+Q72p8FIe9/JiGdjHT10SaeeBIIyWodl8s7qIao9y9VDS8HAzaSOeB4mr9u7VMAxEijPqM5brN93TRHrK9POUifUcZZmxdRnh+lBvnEykKo+fi+EYK96e/tedpf9/A7oKATr0mchQk0QtZPIQ63qxrOUpgUzXCvN+QkC/ABvY/fo7Sm+XBgbBZaaC32lG3916KeNdgdhIbRKXKCRyhR9pBcZ6NXo0a8x7SjZ41m1ezfRMZqq3gR26qT4Gq1T8SkipoLihPZXIWcxIa4mZrwCYFkL0dvPgnuSxmLT1Ut1i7X+54VVprYZPA6BM/M68qRsQvafqZ+w/Juile0sZZA6Z3zNYJxsp6/M8Dx9WOQFHuOqhniB3EYdPdIrxmlxroCkwZS0JuXt9MWTgATg2d+lw0Jn6ulAqInZTetEuHG8Hzpnt5c8yztgEo0wX492GVZPsCGDPNJHHVuxaLs0mlCBd7CenLPOABQQxHqAbGie12raU5tzYOA+2NScbTPmBxmruyBO1qm4Vr/QJapAXAQIk7TvE8B7uwyTIH1VZvFHhC6WfKN4HPb5GXeshBo3aiYnH7p3RGfGITNFAi9vXZR80yHDlJzwiv1HfSUbE1YNd3ykOuOQluw4ZE/oJGV/xIB1Du3isJoIFtPq9JBpAU7L8LgOxrumX2NgkjNazNpysqhVYjmhbUnaUvpkcF6EhLBqsra6HhBjUfpckuCAV9NSNTGQSxA9G0XaIJgeGahoOLtTaissNvTIVONZYopoIiOg4JIU2F5fz8ICHoIg5ZSznlB7N3RsceXPWHOQ6auKaOCgiuDhMYRkvILmUuQVQtXxmIf2tfuaZjgPkaFVgMgtrrzTD+ulyU2JBjfA72w2ysVFrhlm5Ha+sf/XOu5kzf/wDzPoKUs1Zt9EIuT/0lbWjyTgw9iRqoktD2pD4C/kKd91iMKwrsbfSlw5rNENaEElOoxIJf/xqFV96Q9UCpCpDHT6egivbMx2NefkRocRCwUsvppWrXJT1IjtMW3Vt1k3gQN35p3t+4Uui4E8/7+r8W38bYvfnq6/sKmN+vePuuSPS4f7uskphHW0GLKZqFDjeaiJzrFEiodFfFAlcpDugl1iP4+I7PWOGHh5lXkgFwqFG3YeEXt9h/vveat4ubBCxRVKoZU4WGhPX0h3K4sB7MROWwA+TPgmmVpWUlgXfFqZ6j4O1DAGTYPvClzO+AjP3zsGnOgdU6We3/HK2nVRa4+Hn/5FTdtIVbh93CUCg50o1CHaSsy7L1Vl24ENkl/NYW1Xp8T9bq14jCmk/UqBFiy7SJOljA0H7IAfjhQOK8YrxxUmCOYWTcSRXLPIt95GLbcXi/oVhYP9FuGkRnIteqi4Lans+uT6FF/5cjJH1r7+nnSEBr6CzU6/V1sliXZqMsVwTCiN0bcsMZAoGHSLdWoKzH7jCXxdl2Dt2C5/iteP19xP4204XT2SAYonZ59lxUDGCvyCICe0Jpc9WrjWvs0dDVc5jDVzCvmWMG99+6xKHi5TF8IUqZpdGz9ZEMhqOVNm7Rdrq+9WI2Ibd6da6hplKJiCWSgOjsYW1P3LV+MK04uwa3ubzGjh+UK9xgZqVT65Ytnf5wHXIjn7NUzESzSyYdgMjGSe5aCWHGs5RNg8bhVAwWsLd5kz+TxSV+vkFl9QRPMRIEztf/pKCfAa7MhzxWyWnwsaV3E/+0NEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012WjMsqbgWjJP5kZYhvqTsy",
      "input": {
        "note": "The can is still at the top of the right wrist view and slightly to the right of the jaw column, so it lies further forward and a little to the arm's right. Advancing and lowering to check the approach.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.52,
          "right_y": 0.01,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012WjMsqbgWjJP5kZYhvqTsy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7994, 0.6067, -0.4145, -0.0193, -0.0387, 0.9992, 0.0193, 1.8717, 1.1236, 0.0013, 0.0021, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1727 left_yaw=0.0025 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4997 right_y=0.0128 right_z=0.074 right_yaw=0.0308 right_pitch=-0.1651 right_roll=-0.0228 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.3744, 7.0085, 1.7802, -0.0317, -0.0708, -0.0122, -0.5538, -9.306, 8.212, 2.0342, -0.0464, 0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26eec879d5f487434bb0076c10fd6ef9d855145dbba2b7b3c009edc25b9e175d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc3a7cfb2f62bddb5b1f0a4d66a91f448cadfd242b7b626387e5780a4d12f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f2b03cbf28231c010b3e57ddb8755199e6fb27d824a829f058598e505c2a18b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 26eec879d5f4
wire blob 5bc3a7cfb2f6
wire blob 0f2b03cbf282
call 3 attempt 0 · /messages · status 200 · 18.98 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]: [-0.0193, 0.7918, 0.6037, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.3962, -0.0196, -0.0292, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.4427, 10.2632, 1.9707, -0.0562, 0.1587, -0.0904, -0.4308, -1.347, 9.6615, 1.917, -0.0415, 0.0952, -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, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.1131, 1.5566, 0.926, -0.0414, 0.0753, 0.0196, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4406 right_y=0.0403 right_z=0.1269 right_yaw=0.0278 right_pitch=-0.088 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5932, 7.0085, 1.8388, -0.0366, -0.0122, -0.0171, 0.1573, -7.3231, 8.8, 2.0391, 0.2076, 0.1929, -0.0562]",
      "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]: [-0.0193, 0.7994, 0.6067, -0.4145, -0.0193, -0.0387, 0.9992, 0.0193, 1.8717, 1.1236, 0.0013, 0.0021, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1727 left_yaw=0.0025 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4997 right_y=0.0128 right_z=0.074 right_yaw=0.0308 right_pitch=-0.1651 right_roll=-0.0228 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.3744, 7.0085, 1.7802, -0.0317, -0.0708, -0.0122, -0.5538, -9.306, 8.212, 2.0342, -0.0464, 0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26eec879d5f487434bb0076c10fd6ef9d855145dbba2b7b3c009edc25b9e175d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc3a7cfb2f62bddb5b1f0a4d66a91f448cadfd242b7b626387e5780a4d12f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f2b03cbf28231c010b3e57ddb8755199e6fb27d824a829f058598e505c2a18b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 26eec879d5f4]
[blob 5bc3a7cfb2f6]
[blob 0f2b03cbf282]
{
  "content": [
    {
      "signature": "CAQS8QkKEAgRGAI4AUIIdGhpbmtpbmcSDHIu3u+snxKkj2WsMBoMJMKjhtkZL93Y7RjbIjBAgPywVJiDrJAugwdEjEiIq5I7CNx/X/QNOSOME0Heiki4CWwjxjWtvSJNglIZGWcqjgkLIZHfiZzFHzXPV++BakVG6bOV0sy0hdPV41l3lIFy02BUC8kAj7kSdT8J3RZpMrH/4s93LZ6q+l3v7kKOoMdBLyZtORefbl1e96V1iT0M5Kxx3CRoQWLu2/FbvcBFccRROg4waWQuLAwEwhO8I58qzdh8PaNaFtYwyd6udvEUzAl/KFXVuckWYyIQSGxlWc36m+Sw5yrEQu2cpYyp9aTTbiuNibFWObDNtHGeAjZmjE1NbNpjHLJuietRN2Lq9tiu7cg/yKd8vB8IWN/dVrDpDZEPxEHPmxyNdP9EnSoLm6x9hysZ4EykHNXn0xVo/gzr3jhHcGkwIkormp/fhrJEYk7ySfA3GEdc6+fKx+k2QwhkptWxo/CSxxe2c4pMOi0W74HltQRvc72Dc9OM3t7QWqz9ar18pLEydZLvrT8UQFke4xywr1KtkVIN4vTqXYljVYbz0rHyrASGKnLa/UyNjuql7FJb5XkOr9sgL19Qaj+ESdzSw3g54GjX3a6729SHkDQv/z3YzRHvCjOfmEMjpt2cbue/eAUBrgKv1NqIE5yISPJC3dh+V4pSDR6SmVmG9hhm1PwWdkwcWtAwM7Z33XZ0jtQs/euoL2EAFwO22cM4deI0VzUQDKkGoW56fxOzR968gp6WGqGJwpdleuijFp+LY4buT2LF2was4IOu64OOURMswu/ab0X0eC+0hBaWMGDIQSCkJuAb4/Mz01oHl7OWC071hwOI8AXPQY/WH+R67qRty9YJBLUstfXEUmQuL+WeyTwFzxIlGVdd5vixTB8SrgY0OKTCNpSPtZxFM11wcBQI4ThjOPuP2qUXFD0RK2tSF3ggNSoAvAs8VSx9CMW0rdrm/Bc8Y9v0lU+fQMaPqYk0JBQazNMW4MvQ6Z71+Tiyi/mRB2OvzgNmkPRwE3frCqDo/AhVrBtsdMlZseBHzfmdAQgpcCQXuhsHKZn9NxJLLe/K5BMf7TZWPtLSVwhYqgl4U8V8x6vXrW7fVB/XSyOOVUV9TvhsISyIWRGZSYZVBbJfYm59aqgdwntZXWo6pGL4dHRvxp6h7quzngvqDqD4vkp6uJf1FBm3Y3J9HiOmQpdZGhOhNKPy0wdDZXc6SL2xKeeV2ZlBtomIKiQET/UyMYLOAxho2JJYyw2oXw0sGRUocwhX1LOMOsG0YLe59ARI/tk+7uuSd0uEhrXntjqjRIwO5rhay0sr6vxpQf1klebGe9ox2rJrnZcxFSysJfLvkYP5xUoVkGlKVz1CGdIMAbc63/SIo2bHIKbFjT83NLnh5gmVeTOHb8hqWXSFTSRUjUrUg8Ha8qQV1q8weMAQrdIQ9exgBpNqM3FNkW6U6XnFrki38cJewPWgx3ukgAV9q9HmzAYXiyTGBos/94nFWBc3XbGMkiHrkFmM6qoMaQKAo2RlNONmaDI/Ik6aud/uNjnzant4fVa6peR9BT7qkwKZ1VmnzsHl7CKgqwgt0bzfu6ToJyObDJr2OtFp2t//DR6Q55Vlot6wgeskHdhzWDCQaZmluFfaYOupRiY355RLxj1R2UjdeBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C4fcthvBNAidma51YcqoqR",
      "input": {
        "note": "Can still sits at the top-right of the wrist view, so it is further forward and slightly right of the arm. Extending further with the tool pitched forward to gain reach and coming down near can height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.56,
          "right_y": -0.02,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01C4fcthvBNAidma51YcqoqR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, -0.065, 2.2211, 0.9646, 0.9688, -0.0917, -0.0708, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0029 left_pitch=-0.0431 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5489 right_y=-0.0159 right_z=0.038 right_yaw=0.0439 right_pitch=0.2951 right_roll=-0.0267 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.1009, 6.9949, 1.8437, -0.0757, -0.0317, -0.0122, -0.5949, -9.8667, 6.9812, 2.3126, 0.0073, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5aba67936fb67e3f43abf67ad27df51563b1b235a10fe839108bb2f1b88b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513d703a128d3758c7f0003efc471e5727c31826c92667b00ec84ac4263fda33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b80e8503f3a4059f27d5313d8baa138601f83473b4a636357812fe08637febc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob cc5aba67936f
wire blob 513d703a128d
wire blob 1b80e8503f3a
call 4 attempt 0 · /messages · status 200 · 21.74 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, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.1131, 1.5566, 0.926, -0.0414, 0.0753, 0.0196, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4406 right_y=0.0403 right_z=0.1269 right_yaw=0.0278 right_pitch=-0.088 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5932, 7.0085, 1.8388, -0.0366, -0.0122, -0.0171, 0.1573, -7.3231, 8.8, 2.0391, 0.2076, 0.1929, -0.0562]",
      "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]: [-0.0193, 0.7994, 0.6067, -0.4145, -0.0193, -0.0387, 0.9992, 0.0193, 1.8717, 1.1236, 0.0013, 0.0021, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1727 left_yaw=0.0025 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4997 right_y=0.0128 right_z=0.074 right_yaw=0.0308 right_pitch=-0.1651 right_roll=-0.0228 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.3744, 7.0085, 1.7802, -0.0317, -0.0708, -0.0122, -0.5538, -9.306, 8.212, 2.0342, -0.0464, 0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, -0.065, 2.2211, 0.9646, 0.9688, -0.0917, -0.0708, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0029 left_pitch=-0.0431 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5489 right_y=-0.0159 right_z=0.038 right_yaw=0.0439 right_pitch=0.2951 right_roll=-0.0267 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.1009, 6.9949, 1.8437, -0.0757, -0.0317, -0.0122, -0.5949, -9.8667, 6.9812, 2.3126, 0.0073, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5aba67936fb67e3f43abf67ad27df51563b1b235a10fe839108bb2f1b88b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513d703a128d3758c7f0003efc471e5727c31826c92667b00ec84ac4263fda33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b80e8503f3a4059f27d5313d8baa138601f83473b4a636357812fe08637febc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob cc5aba67936f]
[blob 513d703a128d]
[blob 1b80e8503f3a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WCGbjsutVajofrib36z9dJ",
      "input": {
        "note": "The can now fills the top-right of the wrist view, lying diagonally with its cap toward the arm; it is still right and slightly forward of the jaws. Shifting right/forward and yawing so the jaws close across the can's diameter.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.59,
          "right_y": -0.06,
          "right_yaw": 0.7,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WCGbjsutVajofrib36z9dJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, -0.3401, 2.5622, 1.4597, 0.9302, -0.9024, -0.1844, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.1645 left_yaw=0.0029 left_pitch=-0.0694 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5963 right_y=-0.0601 right_z=0.0345 right_yaw=0.587 right_pitch=0.4752 right_roll=-0.0351 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4017, 7.2957, 1.9414, -0.0366, -0.0269, -0.0122, -2.441, -12.506, 6.3385, 1.7656, -0.0611, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db2065fb39d6c7b2a5f3a7f360937ec18fe5e68b94b4989ad2836c4b727c78e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152a795267aff53d2b8b6a35546812b621dd9b9933b4ab31f70daece5e39bbc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ebced2c98dc2ca781379f3f2bd4f081c55f0e118eab0181f383d20a50197fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6db2065fb39d
wire blob 152a795267af
wire blob 2ebced2c98dc
call 5 attempt 0 · /messages · status 200 · 18.27 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]: [-0.0193, 0.7994, 0.6067, -0.4145, -0.0193, -0.0387, 0.9992, 0.0193, 1.8717, 1.1236, 0.0013, 0.0021, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1727 left_yaw=0.0025 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4997 right_y=0.0128 right_z=0.074 right_yaw=0.0308 right_pitch=-0.1651 right_roll=-0.0228 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.3744, 7.0085, 1.7802, -0.0317, -0.0708, -0.0122, -0.5538, -9.306, 8.212, 2.0342, -0.0464, 0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, -0.065, 2.2211, 0.9646, 0.9688, -0.0917, -0.0708, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0029 left_pitch=-0.0431 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5489 right_y=-0.0159 right_z=0.038 right_yaw=0.0439 right_pitch=0.2951 right_roll=-0.0267 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.1009, 6.9949, 1.8437, -0.0757, -0.0317, -0.0122, -0.5949, -9.8667, 6.9812, 2.3126, 0.0073, 0.1148, -0.0562]",
      "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, 0.8024, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, -0.3401, 2.5622, 1.4597, 0.9302, -0.9024, -0.1844, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.1645 left_yaw=0.0029 left_pitch=-0.0694 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5963 right_y=-0.0601 right_z=0.0345 right_yaw=0.587 right_pitch=0.4752 right_roll=-0.0351 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4017, 7.2957, 1.9414, -0.0366, -0.0269, -0.0122, -2.441, -12.506, 6.3385, 1.7656, -0.0611, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db2065fb39d6c7b2a5f3a7f360937ec18fe5e68b94b4989ad2836c4b727c78e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152a795267aff53d2b8b6a35546812b621dd9b9933b4ab31f70daece5e39bbc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ebced2c98dc2ca781379f3f2bd4f081c55f0e118eab0181f383d20a50197fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6db2065fb39d]
[blob 152a795267af]
[blob 2ebced2c98dc]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019QmSqHwyVrkUwNr56z9MMv",
      "input": {
        "note": "The can body now runs diagonally past the right jaw in the wrist view, still to the right of centre. Moving to the right workspace limit and yawing further to line the jaws up across the can before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.6,
          "right_y": -0.08,
          "right_yaw": 1.1,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019QmSqHwyVrkUwNr56z9MMv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, -0.345, 2.8464, 2.0777, 0.4717, -1.3388, -0.4541, 0.9996]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.1605 left_yaw=0.0029 left_pitch=-0.0889 left_roll=-0.0024 left_gripper=0.9992 right_x=0.6207 right_y=-0.0366 right_z=0.0294 right_yaw=1.094 right_pitch=0.508 right_roll=-0.1684 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1966, 7.0906, 1.8535, -0.0611, -0.0611, -0.0122, -7.1316, -9.2376, 5.135, 0.8864, 0.2369, -1.5653, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:597e331247f9c7f1adcf7f3d458e8d79d783586939b61f276f7b5d9a088b2daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffa8d2b8c3d78ebd6f1451a523e2783909ef5b017ae30f37ed785fc56000b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b91d36e6fc5d414a9c5bbe2e5b047fae09e7ca416990b7dd474b4fc41d86affc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 597e331247f9
wire blob 4ffa8d2b8c3d
wire blob b91d36e6fc5d
call 6 attempt 0 · /messages · status 200 · 15.12 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, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, -0.065, 2.2211, 0.9646, 0.9688, -0.0917, -0.0708, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0029 left_pitch=-0.0431 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5489 right_y=-0.0159 right_z=0.038 right_yaw=0.0439 right_pitch=0.2951 right_roll=-0.0267 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.1009, 6.9949, 1.8437, -0.0757, -0.0317, -0.0122, -0.5949, -9.8667, 6.9812, 2.3126, 0.0073, 0.1148, -0.0562]",
      "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, 0.8024, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, -0.3401, 2.5622, 1.4597, 0.9302, -0.9024, -0.1844, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.1645 left_yaw=0.0029 left_pitch=-0.0694 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5963 right_y=-0.0601 right_z=0.0345 right_yaw=0.587 right_pitch=0.4752 right_roll=-0.0351 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4017, 7.2957, 1.9414, -0.0366, -0.0269, -0.0122, -2.441, -12.506, 6.3385, 1.7656, -0.0611, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8059, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, -0.345, 2.8464, 2.0777, 0.4717, -1.3388, -0.4541, 0.9996]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.1605 left_yaw=0.0029 left_pitch=-0.0889 left_roll=-0.0024 left_gripper=0.9992 right_x=0.6207 right_y=-0.0366 right_z=0.0294 right_yaw=1.094 right_pitch=0.508 right_roll=-0.1684 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1966, 7.0906, 1.8535, -0.0611, -0.0611, -0.0122, -7.1316, -9.2376, 5.135, 0.8864, 0.2369, -1.5653, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:597e331247f9c7f1adcf7f3d458e8d79d783586939b61f276f7b5d9a088b2daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffa8d2b8c3d78ebd6f1451a523e2783909ef5b017ae30f37ed785fc56000b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b91d36e6fc5d414a9c5bbe2e5b047fae09e7ca416990b7dd474b4fc41d86affc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 597e331247f9]
[blob 4ffa8d2b8c3d]
[blob b91d36e6fc5d]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1jRqnXjpoR3rZ9AufGAd8",
      "input": {
        "note": "The arm stalled at y=-0.04 and the can is now off the right edge of the wrist view; the can is against the fence at the arm's right limit. Returning to yaw 0 near the right limit so the open right jaw sits beside the can, planning to close and roll it between the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.57,
          "right_y": -0.07,
          "right_yaw": 0.0,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01C1jRqnXjpoR3rZ9AufGAd8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4835, -0.0189, -0.0391, 0.9992, -0.1783, 2.4729, 1.1042, 1.2865, -0.3233, -0.173, 0.9996]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1563 left_yaw=0.0029 left_pitch=-0.1091 left_roll=-0.002 left_gripper=0.9992 right_x=0.5737 right_y=-0.0427 right_z=0.0285 right_yaw=0.2249 right_pitch=0.4989 right_roll=-0.1471 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.0188, 6.9538, 1.8388, -0.0464, -0.0708, -0.0122, 0.3761, -11.453, 3.7265, 1.4188, 0.1441, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f357dcc647c6418812d4d0dc68997dbc3690b7e6079da6afce89ea83acf31d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35136a183c1bcc7095bbbe6b2183561809b9c3760229c8dd93842546f527bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e53e1156c08bbe23a6cdecded93bbb0d5333253a0e0a0ec015da121ab5a497f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f357dcc647c6
wire blob b35136a183c1
wire blob e53e1156c08b
call 7 attempt 0 · /messages · status 200 · 9.457 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, 0.8024, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, -0.3401, 2.5622, 1.4597, 0.9302, -0.9024, -0.1844, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.1645 left_yaw=0.0029 left_pitch=-0.0694 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5963 right_y=-0.0601 right_z=0.0345 right_yaw=0.587 right_pitch=0.4752 right_roll=-0.0351 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4017, 7.2957, 1.9414, -0.0366, -0.0269, -0.0122, -2.441, -12.506, 6.3385, 1.7656, -0.0611, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8059, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, -0.345, 2.8464, 2.0777, 0.4717, -1.3388, -0.4541, 0.9996]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.1605 left_yaw=0.0029 left_pitch=-0.0889 left_roll=-0.0024 left_gripper=0.9992 right_x=0.6207 right_y=-0.0366 right_z=0.0294 right_yaw=1.094 right_pitch=0.508 right_roll=-0.1684 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1966, 7.0906, 1.8535, -0.0611, -0.0611, -0.0122, -7.1316, -9.2376, 5.135, 0.8864, 0.2369, -1.5653, -0.0562]",
      "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, 0.8097, 0.6067, -0.4835, -0.0189, -0.0391, 0.9992, -0.1783, 2.4729, 1.1042, 1.2865, -0.3233, -0.173, 0.9996]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1563 left_yaw=0.0029 left_pitch=-0.1091 left_roll=-0.002 left_gripper=0.9992 right_x=0.5737 right_y=-0.0427 right_z=0.0285 right_yaw=0.2249 right_pitch=0.4989 right_roll=-0.1471 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.0188, 6.9538, 1.8388, -0.0464, -0.0708, -0.0122, 0.3761, -11.453, 3.7265, 1.4188, 0.1441, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f357dcc647c6418812d4d0dc68997dbc3690b7e6079da6afce89ea83acf31d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35136a183c1bcc7095bbbe6b2183561809b9c3760229c8dd93842546f527bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53e1156c08bbe23a6cdecded93bbb0d5333253a0e0a0ec015da121ab5a497f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f357dcc647c6]
[blob b35136a183c1]
[blob e53e1156c08b]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WzgM1vTRZ5kWoT3EvYmGGm",
      "input": {
        "note": "The can is now clearly in the wrist view, lying diagonally just ahead of the jaws with its cap toward the arm's right. Advancing, dropping to table level and yawing so the can axis runs along the image vertical, letting the jaws close across its diameter.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.6,
          "right_y": -0.06,
          "right_yaw": 0.9,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WzgM1vTRZ5kWoT3EvYmGGm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.5045, -0.0193, -0.0387, 0.9992, -0.3378, 2.6953, 1.6783, 0.9588, -0.8753, -0.2668, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1515 left_yaw=0.0031 left_pitch=-0.1335 left_roll=-0.0009 left_gripper=0.9992 right_x=0.6323 right_y=-0.0746 right_z=0.0387 right_yaw=0.6664 right_pitch=0.5316 right_roll=-0.2379 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.8486, -0.0562, -0.0415, -0.0122, -3.453, -12.2325, 5.2855, 1.5897, -0.2418, -0.3785, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bedcc634f58a76b1b393c45ab652b6efa10168ac7f93d1c5d27d587271395914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc52d0119861eb2e09314401faffc02b4e56c6c03eaab8bafa1445be9b4d939d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9adcfea2c8d96db4a8307b7f797c034dfc5e009fc21be05583ac43ba05c9e3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob bedcc634f58a
wire blob dc52d0119861
wire blob 9adcfea2c8d9
call 8 attempt 0 · /messages · status 200 · 22.08 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, 0.8059, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, -0.345, 2.8464, 2.0777, 0.4717, -1.3388, -0.4541, 0.9996]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.1605 left_yaw=0.0029 left_pitch=-0.0889 left_roll=-0.0024 left_gripper=0.9992 right_x=0.6207 right_y=-0.0366 right_z=0.0294 right_yaw=1.094 right_pitch=0.508 right_roll=-0.1684 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1966, 7.0906, 1.8535, -0.0611, -0.0611, -0.0122, -7.1316, -9.2376, 5.135, 0.8864, 0.2369, -1.5653, -0.0562]",
      "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, 0.8097, 0.6067, -0.4835, -0.0189, -0.0391, 0.9992, -0.1783, 2.4729, 1.1042, 1.2865, -0.3233, -0.173, 0.9996]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1563 left_yaw=0.0029 left_pitch=-0.1091 left_roll=-0.002 left_gripper=0.9992 right_x=0.5737 right_y=-0.0427 right_z=0.0285 right_yaw=0.2249 right_pitch=0.4989 right_roll=-0.1471 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.0188, 6.9538, 1.8388, -0.0464, -0.0708, -0.0122, 0.3761, -11.453, 3.7265, 1.4188, 0.1441, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8131, 0.6067, -0.5045, -0.0193, -0.0387, 0.9992, -0.3378, 2.6953, 1.6783, 0.9588, -0.8753, -0.2668, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1515 left_yaw=0.0031 left_pitch=-0.1335 left_roll=-0.0009 left_gripper=0.9992 right_x=0.6323 right_y=-0.0746 right_z=0.0387 right_yaw=0.6664 right_pitch=0.5316 right_roll=-0.2379 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.8486, -0.0562, -0.0415, -0.0122, -3.453, -12.2325, 5.2855, 1.5897, -0.2418, -0.3785, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bedcc634f58a76b1b393c45ab652b6efa10168ac7f93d1c5d27d587271395914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc52d0119861eb2e09314401faffc02b4e56c6c03eaab8bafa1445be9b4d939d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9adcfea2c8d96db4a8307b7f797c034dfc5e009fc21be05583ac43ba05c9e3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob bedcc634f58a]
[blob dc52d0119861]
[blob 9adcfea2c8d9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jdhdo6dsywdSP1TvZsbVuR",
      "input": {
        "note": "The can body now lies between the jaws in the wrist view at roughly the grasp height (z≈0.04, can centre ~0.033). Closing the gripper to grasp it across the body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Jdhdo6dsywdSP1TvZsbVuR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.5179, -0.0189, -0.0387, 0.9992, -0.3355, 2.6213, 1.4918, 1.0489, -0.9085, -0.2726, 0.0089]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1477 left_yaw=0.0028 left_pitch=-0.1518 left_roll=-0.0008 left_gripper=0.9992 right_x=0.6007 right_y=-0.0581 right_z=0.0332 right_yaw=0.6935 right_pitch=0.521 right_roll=-0.2209 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7021, -0.0757, -0.0171, -0.0122, -2.3453, -14.3111, 4.6974, 1.746, 0.0513, -0.0073, 0.5983]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658d0731df4d4906d2a986a1cce93ef630aa0db57a0326ef48653a737596da6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dcc34bba30090f1760bd0462645ba1d4ccf555d8f7013096603fd98f408c8fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b897147158d7966dbc97197eb6864e35e4dc9aefc990c94c29c084ced5895313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 658d0731df4d
wire blob 6dcc34bba300
wire blob b897147158d7
call 9 attempt 0 · /messages · status 200 · 9.089 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, 0.8097, 0.6067, -0.4835, -0.0189, -0.0391, 0.9992, -0.1783, 2.4729, 1.1042, 1.2865, -0.3233, -0.173, 0.9996]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1563 left_yaw=0.0029 left_pitch=-0.1091 left_roll=-0.002 left_gripper=0.9992 right_x=0.5737 right_y=-0.0427 right_z=0.0285 right_yaw=0.2249 right_pitch=0.4989 right_roll=-0.1471 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.0188, 6.9538, 1.8388, -0.0464, -0.0708, -0.0122, 0.3761, -11.453, 3.7265, 1.4188, 0.1441, -0.0757, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8131, 0.6067, -0.5045, -0.0193, -0.0387, 0.9992, -0.3378, 2.6953, 1.6783, 0.9588, -0.8753, -0.2668, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1515 left_yaw=0.0031 left_pitch=-0.1335 left_roll=-0.0009 left_gripper=0.9992 right_x=0.6323 right_y=-0.0746 right_z=0.0387 right_yaw=0.6664 right_pitch=0.5316 right_roll=-0.2379 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.8486, -0.0562, -0.0415, -0.0122, -3.453, -12.2325, 5.2855, 1.5897, -0.2418, -0.3785, -0.0562]\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, 0.8181, 0.6067, -0.5179, -0.0189, -0.0387, 0.9992, -0.3355, 2.6213, 1.4918, 1.0489, -0.9085, -0.2726, 0.0089]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1477 left_yaw=0.0028 left_pitch=-0.1518 left_roll=-0.0008 left_gripper=0.9992 right_x=0.6007 right_y=-0.0581 right_z=0.0332 right_yaw=0.6935 right_pitch=0.521 right_roll=-0.2209 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7021, -0.0757, -0.0171, -0.0122, -2.3453, -14.3111, 4.6974, 1.746, 0.0513, -0.0073, 0.5983]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658d0731df4d4906d2a986a1cce93ef630aa0db57a0326ef48653a737596da6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dcc34bba30090f1760bd0462645ba1d4ccf555d8f7013096603fd98f408c8fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b897147158d7966dbc97197eb6864e35e4dc9aefc990c94c29c084ced5895313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 658d0731df4d]
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[blob b897147158d7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QPZEcdwqqsJcGq28S7e7KN",
      "input": {
        "note": "The close was empty (gripper 0.009); the can is still several cm beyond the fingertips at the x=0.6 workspace limit. Making one last attempt at the box corner (x=0.6, y=-0.08, table level, maximum forward pitch) to see if the can's cap end comes within the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.6,
          "right_x": 0.6,
          "right_y": -0.08,
          "right_yaw": 0.7,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QPZEcdwqqsJcGq28S7e7KN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, -0.3408, 2.73, 1.6154, 1.2709, -0.9478, -0.1802, 0.995]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0029 left_pitch=-0.1674 left_roll=-0.0004 left_gripper=0.9992 right_x=0.61 right_y=-0.0604 right_z=0.0514 right_yaw=0.8085 right_pitch=0.6444 right_roll=-0.3639 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.7265, -0.0317, -0.0464, -0.0122, -3.4393, -7.2957, 5.094, 1.0769, -0.1148, 0.1538, -0.2271]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08af4f3763fa902bf3128b2e3a043619da5025d92ea4472f32c72bdf38fd9e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c1ef8eda0cee2eca369602e8ac0ff214c6bdd6ffd46646679d7cbe6bf54213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:addc1a9a27807505345551e056679689ad9f54b7d32227ffaa296ac1ac864b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 08af4f3763fa
wire blob 66c1ef8eda0c
wire blob addc1a9a2780
call 10 attempt 0 · /messages · status 200 · 17.94 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.5045, -0.0193, -0.0387, 0.9992, -0.3378, 2.6953, 1.6783, 0.9588, -0.8753, -0.2668, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1515 left_yaw=0.0031 left_pitch=-0.1335 left_roll=-0.0009 left_gripper=0.9992 right_x=0.6323 right_y=-0.0746 right_z=0.0387 right_yaw=0.6664 right_pitch=0.5316 right_roll=-0.2379 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.5111, 7.0632, 1.8486, -0.0562, -0.0415, -0.0122, -3.453, -12.2325, 5.2855, 1.5897, -0.2418, -0.3785, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "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, 0.8181, 0.6067, -0.5179, -0.0189, -0.0387, 0.9992, -0.3355, 2.6213, 1.4918, 1.0489, -0.9085, -0.2726, 0.0089]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1477 left_yaw=0.0028 left_pitch=-0.1518 left_roll=-0.0008 left_gripper=0.9992 right_x=0.6007 right_y=-0.0581 right_z=0.0332 right_yaw=0.6935 right_pitch=0.521 right_roll=-0.2209 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7021, -0.0757, -0.0171, -0.0122, -2.3453, -14.3111, 4.6974, 1.746, 0.0513, -0.0073, 0.5983]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, -0.3408, 2.73, 1.6154, 1.2709, -0.9478, -0.1802, 0.995]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0029 left_pitch=-0.1674 left_roll=-0.0004 left_gripper=0.9992 right_x=0.61 right_y=-0.0604 right_z=0.0514 right_yaw=0.8085 right_pitch=0.6444 right_roll=-0.3639 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.7265, -0.0317, -0.0464, -0.0122, -3.4393, -7.2957, 5.094, 1.0769, -0.1148, 0.1538, -0.2271]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08af4f3763fa902bf3128b2e3a043619da5025d92ea4472f32c72bdf38fd9e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c1ef8eda0cee2eca369602e8ac0ff214c6bdd6ffd46646679d7cbe6bf54213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:addc1a9a27807505345551e056679689ad9f54b7d32227ffaa296ac1ac864b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 08af4f3763fa]
[blob 66c1ef8eda0c]
[blob addc1a9a2780]
{
  "content": [
    {
      "signature": "CAQShAsKEAgRGAI4AUIIdGhpbmtpbmcSDBV42iOBAWfCs0HI7hoM+fdSkUM/Ljnjd965IjAI5lOSS/zjPV/wCgSF4sncYRfeQAwJr2Zc1coXxxIgIWz7HxGw0lLet1NnjZyHeaIqoQp1qykddJODMbvpc+G3MfoZ5P0ybgitFFO0ngtTRvyrSMyXPss2QXq8M4PtF6J6pSXuw8LJJl14axsJWKtniOMsLF12kbI9h2/g3HdO1aYxtV8D5n0vEOUlIwclz+vKyjfQUUSr3eaHjNAENuZUc3AlxKQ+krPgGV2wbzm5aLuiuFjq9zxvmXui9FXpBsVdTV1kxk30yDdbZXok0YEAs6SaCPZISqSz6fLJcKz3EfPu4wB1urdiB4VqJnNrjBgrQL9hR3VQuQoyUntyurhgJQYYjn/z32cq1M8KOlg1OvVPkfZYmTpJ1vaITvq2a6vO5biX91sZA83QsNVfutz4VGFEGsFIZjRUJfQjfuSoHm9Vfb71BpyqKYSL7T6vTt1XtkFaCE0QRpfAoDBkuOiPr2V7TVa+jPOm+gpg4NeO8xq5qd2hGp5hvNFloXZGgizQ6g13pZpwy2/agpJ4x9GixHCo0Grg4xq74v9HHzJHL+zrVScEJRkfhi3eTyGVcqclLqKJ0ERcmy+Y2bQPwhAYc8H1z0J1xJdWA6S2Ev+c1ctqmeEMHWPi/Lgl8co7Hpk0PDsxyziXmIIFOyjk7yT5WaNZXpz8U9vY8lz6XB6pQ53f0OUBmPMvgZ1VMcitLg+zMbbmheBsQEpNexgtcNcZRHz6vv/sWpMwAuy0pgZymPxVR+N1nFMnNb3wCcHYopmMktjrJu+LHsrgM9L6/rz6Vrp99fHLQ4a7P3clX8A+V5ICEOcnGgIPUZg+GJynh+16Dn9hftAIeIj+hjELpMJ+LxtPyr0kLBIxKEsnjG78gMjIzAfg9bt269xrpQ9RC97a6v/kn1JiKuqofgg/Z+Dm5MzrvrglSKZu5xVvgxLgjVRHTBgUO4ewd9/TnY7P9YseEWL/FWfHV2ttga/1gAtasd0vOywsKFu+tdtD7ogK5lT7Sn3R5Wv2iJvjLl+is7cVKGJNy1apYkbgSw/N/pIR6bDG/DiUeqMYvrbp1LBHrqhaFMImZzTSiM2E3GpkZ7uw4aiV2+oeIewhpBR7HQZL5aeZ6qSofxtUrujU+anhp7gfcjfjWFjSF2YgHWRZ/Y+9CSJ0cDDHCXhrAmWckKpFL/9CvlRn1bc1V6eapq9cW/lboc4KHY3qOyCyK6oKbmN5b82BPQWChQZl8kbXT9HECPbOibT/88EqvlAtrKCQstJEIYgkfSJst1+R3gaoIIKIWYB/9zVe133/5s6Rbw5c8ufQu+w8d4HnPowO5nUk4cm25cV0RbPyO+V2z9ccjhaRRvKt5fsA/+QXMABrUQfS+3HjaQslk0AtLYxgrIUAD3L+jG8vBo12uotpRiN818CiLtUaFh16QSYi6lSG0altmb9F1cJc84wKMY0YPnEne0qAOEMesQuP4B0gZVKbJkOJbUEmMfPZFXRDsA/ihUd1bgptc2+VyeX9P4l9XxQ1OKjPi9nXszDI16HPEU2+kQRsAGav1YU+hYCeOMfFqoYS9mKuluNHMXLpU8cHvmZVhZgZownFK4mXylJl4u6eo0nSFWUAOzuKkY/WzBeXlepytGwtEKbKxaP/n1/rS7x2eDDfHk+DGkrC/YcCu/QDRk8gdZS8AUU8YmvXtuxPO2EuPM2JbCUmQrekeDB+CCfGReBF1b66U/knAB+eKlQPiot7iNNNDZtIZ919uBlMjFMuN8FsBVy/FqrtPV4fGE6GXsydlErSOkQiZu1C4zHOYyu95FrjrWE2geis2XLUavPpaAI2ehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HrnDxjW6uXnUVPGZqzni2i",
      "input": {
        "note": "The can body now sits between the open jaws in the wrist view, centred near the jaw column with the cap by the right jaw. Lowering slightly and closing to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HrnDxjW6uXnUVPGZqzni2i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, -0.3286, 2.7045, 1.5669, 1.2682, -0.9585, -0.2539, 0.0083]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1433 left_yaw=0.0029 left_pitch=-0.1754 left_roll=-0.0002 left_gripper=0.9992 right_x=0.6034 right_y=-0.0492 right_z=0.0493 right_yaw=0.8609 right_pitch=0.6176 right_roll=-0.4243 right_gripper=0.0083\nstate[joint_eff]: [-0.1573, -1.2786, 6.9812, 1.6093, -0.0415, -0.0513, -0.0122, -1.7983, -8.9368, 6.147, 1.4676, 0.0073, 0.0562, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3db1cd0178f8383617379ad47efcbb6bba8b727a86a6eb9864a4ff57c4950cad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d576bb0c4e40e2db29e3ee1c91e701d01558f89e503de353e5d5718d0b5127e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c177895e9fe65073b46730efa889d23550a0f79e743c1223cbde69f4591a8ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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wire blob 0d576bb0c4e4
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