adhoc

completed
2026-09-18T03:17:50.784931+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.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
114 s
total steps
109
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can lies on its side left of the burner; it is nearest the left arm. Flying the left gripper to hover above the estimated can position before descending.
move_to
left_x0.3500left_y-0.1800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3889, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6083, -0.3954, -0.017, -0.0193, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0004 right_z=0.1789 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.4017, 10.2222, 1.9756, -0.0659, 0.2027, -0.0904, -0.3214, -1.4564, 9.6615, 1.9072, -0.0708, 0.0366, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.18, "left_z": 0.15, "left_gripper": 1.0}, "note": "The can lies on its side left of the burner; it is nearest the left arm. Flying the left gripper to hover above the estimated can position before descending."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteWrist cam shows the can slightly left of the jaw column with its body extending toward the base; shifting slightly back and left while descending to can-center height for a grasp across its diameter.
move_to
left_x0.3100left_y-0.1500left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7315, 1.4033, 0.8108, -0.1936, -0.5739, -0.4759, 0.9993, -0.0212, 0.7967, 0.6147, -0.432, -0.0193, -0.0193, 0.9996] state[eef_state]: left_x=0.3397 left_y=-0.1712 left_z=0.1309 left_yaw=-0.0181 left_pitch=-0.0599 left_roll=0.0349 left_gripper=0.9993 right_x=0.2891 right_y=0.0009 right_z=0.1735 right_yaw=0.0019 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [-0.3214, -5.7641, 9.4564, 1.619, -0.569, -0.0171, -0.0952, -0.0615, -1.5111, 6.694, 2.0391, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.15, "left_z": 0.035, "left_gripper": 1.0}, "note": "Wrist cam shows the can slightly left of the jaw column with its body extending toward the base; shifting slightly back and left while descending to can-center height for a grasp across its diameter."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteWrist view shows the can body ahead of the fingertips and a bit to the left; advancing ~4 cm and shifting left so the jaws straddle the can's middle before closing.
move_to
left_x0.3450left_y-0.1250left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7448, 1.5036, 0.4709, 0.1699, -0.5808, -0.4885, 0.9993, -0.0212, 0.7967, 0.6147, -0.4545, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3042 left_y=-0.1437 left_z=0.0305 left_yaw=-0.0151 left_pitch=-0.1138 left_roll=0.0796 left_gripper=0.9993 right_x=0.2859 right_y=0.001 right_z=0.169 right_yaw=0.0023 right_pitch=-0.056 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-0.4581, -5.1761, 5.4632, 1.6777, -0.3248, -0.0904, -0.0904, -0.0752, -1.2239, 7.0222, 1.8974, -0.0464, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.125, "left_z": 0.03, "left_gripper": 1.0}, "note": "Wrist view shows the can body ahead of the fingertips and a bit to the left; advancing ~4 cm and shifting left so the jaws straddle the can's middle before closing."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
The can now fills the jaw column with the body between the jaws; closing the gripper.
agent noteThe can now spans the jaw column in the wrist view with the jaws on either side of it; closing the gripper to grasp across its diameter.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5892, 1.5791, 0.5045, 0.2329, -0.5014, -0.3962, 0.9993, -0.0212, 0.8005, 0.6147, -0.4667, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3331 left_y=-0.1162 left_z=0.0215 left_yaw=0.0301 left_pitch=-0.1393 left_roll=0.0904 left_gripper=0.9993 right_x=0.2843 right_y=0.001 right_z=0.1656 right_yaw=0.0023 right_pitch=-0.072 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [0.1709, -5.4496, 7.0222, 1.79, -0.1148, 0.1734, -0.0904, -0.0889, -1.4974, 7.2274, 1.9219, -0.0366, -0.0366, -0.0073] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
The can now fills the jaw column with the body between the jaws; closing the gripper.
move_to({"targets": {"left_gripper": 0.0}, "note": "The can now spans the jaw column in the wrist view with the jaws on either side of it; closing the gripper to grasp across its diameter."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteGripper settled at 0.71 (~6.7 cm), matching the can's diameter, so it appears grasped; lifting to confirm the can comes along.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5755, 1.5883, 0.5095, 0.2321, -0.4675, -0.3527, 0.7095, -0.0212, 0.8017, 0.6147, -0.4961, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.334 left_y=-0.1175 left_z=0.0179 left_yaw=-0.0053 left_pitch=-0.16 left_roll=0.1048 left_gripper=0.7095 right_x=0.2798 right_y=0.0011 right_z=0.1596 right_yaw=0.0024 right_pitch=-0.1026 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [-0.1026, -5.8872, 6.694, 1.7314, -0.2564, 0.0317, 1.0232, -0.1983, -1.1556, 6.9265, 1.9902, -0.0611, -0.0024, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper settled at 0.71 (~6.7 cm), matching the can's diameter, so it appears grasped; lifting to confirm the can comes along."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe can lifted with the gripper (visible in the overhead view). Carrying it up and over toward the burner, which sits to the right and forward of the pickup spot.
move_to
left_x0.4200left_y-0.2500left_z0.2200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5755, 1.2991, 0.8818, -0.4751, -0.4603, -0.3603, 0.7107, -0.0212, 0.8043, 0.6147, -0.5194, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3305 left_y=-0.1166 left_z=0.1442 left_yaw=-0.0021 left_pitch=-0.201 left_roll=0.1197 left_gripper=0.7107 right_x=0.2762 right_y=0.0012 right_z=0.1545 right_yaw=0.0024 right_pitch=-0.1285 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [-0.3897, -6.5846, 9.6752, 1.5702, -0.2857, 0.0708, 0.8083, -0.0889, -1.4154, 6.9265, 1.873, -0.0317, -0.022, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.25, "left_z": 0.22}, "note": "The can lifted with the gripper (visible in the overhead view). Carrying it up and over toward the burner, which sits to the right and forward of the pickup spot."})
tool
executing move_to over 12 steps (1.2s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe wrist cam shows the burner coil off to the right of the held can, so the can is still left of the burner center; shifting right ~5 cm and slightly forward to center over the coil.
move_to
left_x0.4300left_y-0.3000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7292, 1.8809, 1.7359, -0.8661, -0.5262, -0.511, 0.7136, -0.0212, 0.8093, 0.6147, -0.5472, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.412 left_y=-0.2443 left_z=0.1987 left_yaw=-0.0073 left_pitch=-0.2526 left_roll=0.1296 left_gripper=0.7136 right_x=0.2719 right_y=0.0014 right_z=0.1481 right_yaw=0.0029 right_pitch=-0.1613 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.5675, -10.3316, 9.0872, 1.1941, -0.5885, -0.0073, 0.6276, -0.2393, -1.4838, 6.9128, 1.8779, -0.0708, -0.0171, -0.0073] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.3, "left_z": 0.2}, "note": "The wrist cam shows the burner coil off to the right of the held can, so the can is still left of the burner center; shifting right ~5 cm and slightly forward to center over the coil."})
tool
executing move_to over 5 steps (0.5s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe burner ring now surrounds the held can in the wrist view, so the can is centered over the coil; lowering it until the can rests on the burner.
move_to
left_x0.4300left_y-0.3000left_z0.0900
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7902, 2.1193, 2.0262, -1.0126, -0.532, -0.5728, 0.7158, -0.0212, 0.8116, 0.6147, -0.5697, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4229 left_y=-0.2945 left_z=0.1757 left_yaw=-0.0109 left_pitch=-0.3134 left_roll=0.1585 left_gripper=0.7158 right_x=0.2681 right_y=0.0014 right_z=0.1434 right_yaw=0.0026 right_pitch=-0.1861 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.1436, -13.053, 9.5248, 0.9988, -0.6032, 0.0269, 0.4567, -0.2393, -1.3744, 6.9675, 1.7411, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.3, "left_z": 0.09}, "note": "The burner ring now surrounds the held can in the wrist view, so the can is centered over the coil; lowering it until the can rests on the burner."})
tool
executing move_to over 6 steps (0.6s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe arm did not descend at all (z stayed at 0.18), likely an awkward IK pose with the wrist pitched back; reducing reach slightly, resetting pitch/roll, and requesting a smaller descent.
move_to
left_x0.4100left_y-0.3000left_z0.1300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7971, 2.1326, 2.0636, -1.037, -0.5358, -0.5854, 0.7189, -0.0212, 0.812, 0.6147, -0.5987, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4225 left_y=-0.2983 left_z=0.1801 left_yaw=-0.0081 left_pitch=-0.3102 left_roll=0.153 left_gripper=0.7189 right_x=0.2631 right_y=0.0015 right_z=0.1383 right_yaw=0.0028 right_pitch=-0.2154 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [0.0342, -12.7111, 9.1419, 1.2137, -0.5641, 0.0122, 0.3053, -0.0889, -1.0872, 7.0359, 1.8193, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.3, "left_z": 0.13, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The arm did not descend at all (z stayed at 0.18), likely an awkward IK pose with the wrist pitched back; reducing reach slightly, resetting pitch/roll, and requesting a smaller descent."})
tool
executing move_to over 11 steps (1.1s)
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 is now at 10 cm directly over the burner coil; lowering further until it touches down on the burner surface.
move_to
left_x0.4100left_y-0.3000left_z0.0600left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.857, 1.9488, 1.356, -0.3401, -0.664, -0.5919, 0.7205, -0.0212, 0.8158, 0.6147, -0.6201, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3984 left_y=-0.2883 left_z=0.1023 left_yaw=-0.008 left_pitch=-0.1117 left_roll=0.0956 left_gripper=0.7205 right_x=0.2594 right_y=0.0016 right_z=0.1337 right_yaw=0.0029 right_pitch=-0.2406 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.4581, -12.7658, 6.5299, 1.5946, -0.4908, 0.0562, 0.149, -0.1709, -1.4154, 6.8034, 1.6777, -0.0513, -0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_x": 0.41, "left_y": -0.3, "left_z": 0.06, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The can is now at 10 cm directly over the burner coil; lowering further until it touches down on the burner surface."})
tool
executing move_to over 4 steps (0.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe descent stopped at z≈0.08 with shoulder effort dropping, indicating the can is resting on the burner; opening the gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8639, 1.9961, 1.2301, -0.0315, -0.6998, -0.5903, 0.7221, -0.0212, 0.8173, 0.6147, -0.6353, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4078 left_y=-0.2967 left_z=0.0792 left_yaw=0.0028 left_pitch=-0.0025 left_roll=0.0121 left_gripper=0.7221 right_x=0.2566 right_y=0.0016 right_z=0.1308 right_yaw=0.003 right_pitch=-0.2574 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [0.0342, -7.1179, 4.7521, 1.0379, 0.0366, -0.0366, 0.1538, -0.0342, -1.1419, 6.7761, 1.6239, -0.0269, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The descent stopped at z\u22480.08 with shoulder effort dropping, indicating the can is resting on the burner; opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
Gripper opened; lifting the arm clear to verify the can stays on the burner.
agent noteGripper is open and the can appears to sit on the burner in the wrist view; retracting the arm up and away so the overhead camera can confirm the placement.
move_to
left_x0.3000left_y-0.1000left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8627, 2.0293, 1.2098, 0.0635, -0.6926, -0.5877, 0.9957, -0.0212, 0.8173, 0.6147, -0.6525, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4123 left_y=-0.3025 left_z=0.0695 left_yaw=-0.0024 left_pitch=0.0207 left_roll=-0.0205 left_gripper=0.9957 right_x=0.2534 right_y=0.0017 right_z=0.128 right_yaw=0.0031 right_pitch=-0.2746 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [-0.0068, -10.0991, 5.5043, 1.3895, -0.2515, -0.022, -0.149, -0.0752, -1.1145, 6.9675, 1.7509, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
Gripper opened; lifting the arm clear to verify the can stays on the burner.
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.2, "left_gripper": 1.0}, "note": "Gripper is open and the can appears to sit on the burner in the wrist view; retracting the arm up and away so the overhead camera can confirm the placement."})
tool
executing move_to over 19 steps (1.9s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
The overhead and wrist views both show the can resting on the burner's coil plate.
agent noteGrasped the can (lying on its side) with the left arm across its diameter (gripper settled at 0.71 ≈ 6.7 cm), carried it over to the burner, lowered until contact at z≈0.08, released, and retracted. Overhead view confirms the can is sitting on the burner.
done
hindsightIn this scene the can lay at roughly left (x≈0.33, y≈-0.12) and the burner centre at about (x≈0.41, y≈-0.30) in the left arm frame; the burner surface puts a lying can's grasp centre at z≈0.08. A carried-object pose at x≈0.42 with the wrist pitched back (pitch≈-0.3) refused to descend at all; explicitly commanding pitch/roll back to 0 and reducing x by 2 cm unlocked the descent. Wrist-cam alignment for lying cylinders works well: when the can body fills the jaw column and the burner ring surrounds the held can, you are centred.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6117, 0.9947, 0.7521, -0.3782, -0.5152, -0.4145, 0.9984, -0.0212, 0.8223, 0.6147, -0.6765, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3063 left_y=-0.1042 left_z=0.2027 left_yaw=0.0222 left_pitch=0.0455 left_roll=-0.0465 left_gripper=0.9984 right_x=0.249 right_y=0.0019 right_z=0.123 right_yaw=0.0037 right_pitch=-0.3035 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [0.2393, -2.4684, 7.1043, 1.7363, -0.0952, 0.105, -0.1783, -0.0342, -1.1829, 6.8444, 1.6679, -0.0757, -0.0757, -0.0073] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
The overhead and wrist views both show the can resting on the burner's coil plate.
done({"summary": "Grasped the can (lying on its side) with the left arm across its diameter (gripper settled at 0.71 \u2248 6.7 cm), carried it over to the burner, lowered until contact at z\u22480.08, released, and retracted. Overhead view confirms the can is sitting on the burner.", "hindsight": "In this scene the can lay at roughly left (x\u22480.33, y\u2248-0.12) and the burner centre at about (x\u22480.41, y\u2248-0.30) in the left arm frame; the burner surface puts a lying can's grasp centre at z\u22480.08. A carried-object pose at x\u22480.42 with the wrist pitched back (pitch\u2248-0.3) refused to descend at all; explicitly commanding pitch/roll back to 0 and reducing x by 2 cm unlocked the descent. Wrist-cam alignment for lying cylinders works well: when the can body fills the jaw column and the burner ring surrounds the held can, you are centred."})
tool
done: Grasped the can (lying on its side) with the left arm across its diameter (gripper settled at 0.71 ≈ 6.7 cm), carried it over to the burner, lowered until contact at z≈0.08, released, and retracted. Overhead view confirms the can is sitting on the burner.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 19.15 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, 0.7929, 0.6044, -0.3889, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6083, -0.3954, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0004 right_z=0.1789 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2222, 1.9756, -0.0659, 0.2027, -0.0904, -0.3214, -1.4564, 9.6615, 1.9072, -0.0708, 0.0366, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7520875261b756be908cbd2c477bcc2787dacb0f820ab36b4272f286ebf84e17",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a063ec8f9cc9e95cf9ba829caa6404b840cadc51f9346761670fc8a0f46f83b",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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        "type": "ephemeral"
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}
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wire blob 3a063ec8f9cc
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call 1 attempt 0 · /messages · status 200 · 8.627 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, 0.7929, 0.6044, -0.3889, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6083, -0.3954, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0004 right_z=0.1789 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2222, 1.9756, -0.0659, 0.2027, -0.0904, -0.3214, -1.4564, 9.6615, 1.9072, -0.0708, 0.0366, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7520875261b756be908cbd2c477bcc2787dacb0f820ab36b4272f286ebf84e17",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
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      "source": {
        "data": "$blob:3a063ec8f9cc9e95cf9ba829caa6404b840cadc51f9346761670fc8a0f46f83b",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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      "source": {
        "data": "$blob:7d1770faa22608fe1df6dd3771e01f4969a860cd17fc8fe0b592a6a5fcd7f0bf",
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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VHDanL5CSddtQCCMnsW7Cz",
      "input": {
        "note": "The can lies on its side left of the burner; it is nearest the left arm. Flying the left gripper to hover above the estimated can position before descending.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01VHDanL5CSddtQCCMnsW7Cz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7315, 1.4033, 0.8108, -0.1936, -0.5739, -0.4759, 0.9993, -0.0212, 0.7967, 0.6147, -0.432, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1712 left_z=0.1309 left_yaw=-0.0181 left_pitch=-0.0599 left_roll=0.0349 left_gripper=0.9993 right_x=0.2891 right_y=0.0009 right_z=0.1735 right_yaw=0.0019 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7641, 9.4564, 1.619, -0.569, -0.0171, -0.0952, -0.0615, -1.5111, 6.694, 2.0391, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7ac9bdb81e802a3a81bad436b970aaeacc4360a37816435bc8348b2bc9858e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4235cfad7b22e087075a62c1a0fd9a4cbdbc7d769b0d2643fdc6e949a77506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8303725906a44400f59897585f8e785bd15bcd8a88dec28890baef94489ba029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d7ac9bdb81e8
wire blob fa4235cfad7b
wire blob 8303725906a4
call 2 attempt 0 · /messages · status 200 · 11.05 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, 0.7929, 0.6044, -0.3889, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6083, -0.3954, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0004 right_z=0.1789 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2222, 1.9756, -0.0659, 0.2027, -0.0904, -0.3214, -1.4564, 9.6615, 1.9072, -0.0708, 0.0366, -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]: [-0.7315, 1.4033, 0.8108, -0.1936, -0.5739, -0.4759, 0.9993, -0.0212, 0.7967, 0.6147, -0.432, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1712 left_z=0.1309 left_yaw=-0.0181 left_pitch=-0.0599 left_roll=0.0349 left_gripper=0.9993 right_x=0.2891 right_y=0.0009 right_z=0.1735 right_yaw=0.0019 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7641, 9.4564, 1.619, -0.569, -0.0171, -0.0952, -0.0615, -1.5111, 6.694, 2.0391, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7ac9bdb81e802a3a81bad436b970aaeacc4360a37816435bc8348b2bc9858e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4235cfad7b22e087075a62c1a0fd9a4cbdbc7d769b0d2643fdc6e949a77506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8303725906a44400f59897585f8e785bd15bcd8a88dec28890baef94489ba029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d7ac9bdb81e8]
[blob fa4235cfad7b]
[blob 8303725906a4]
{
  "content": [
    {
      "signature": "CAQSogoKEAgRGAI4AUIIdGhpbmtpbmcSDHta8ENSlkM+ADJHVhoMvrmHkFlNgDxJ/uHQIjBOjy4p/pYFtHxk4xuac4bKEPJVe5OteGbusqvIpiPnMTKitRcYQ9G4WWq/UUSoqNMqvwnSTRm2vJNowbFy0P2JSPQRpPKPJkBPfWu82AdSUtbKTAP/XubA3P85fr4MdFNb+iwxFeVKFlLPIke8NdEROE7DPd5/QvBUkLiHgVzR9SsXzCMVjLpW+9L7jCPoH9NICIncC60TKFuOfbBpNIV7sON64gwJoZWrcYCJ3hbPU7vbSJnj2e1tNCUag0dRnOlYvaprh9gXN7/jOB8992aSJXOvnurGtdnu1daR1UeoM/RiBCoYU7wYEs759mD8a4U/LyH6MoLz6iVLQv+ynKy0ecGo/8VMi/Vd3vPsBxAkhFcJ2EErbq/8i20umcGi6psJY5yl+CGQWkEJsUVZl1GoZsgWQRvZo5bjDrWgkWLROOf+J/DsYtRKX1xlHDVcKFokqZ4BbwVl0LdC9cWgQU9esTwMMxiG5NO9PZqgUx6nA9PPQm5w3Yb3hl+jFjFBcsngWAJIdvYen5j2EDhw8EYtIRAzFng1bEzvMJxCHUF1JQc6FEP53OP6Bt91YfhRH8dkZvIHz0H4Uygw6sDQ+WoCme7B6lftBMZjJjZX5+IN5rCnrgupxG6ouy+ASbJBj08Qma5/vR1sI/RqLchVlGVWQ/sQc0VXquLjrDo0iaUONIdRoEG3aes0Je/Djf8thPkfU4MAVNacRdpltWh0//goUwDPoFsn11jawIQNQBd+xCMuSR9bimM6gAxgvLtY05hrLMbZFwtrFX6QKhkNBA/79sazyt5pvcnLjrccvK6sqdFUQzv5l1ZvwcpbOpriG+jV353jgKdZlfC8SB8BSmWKQPKc9+HJ3XL9dFDmibknGDSrEMrezNzP8ZxTiQjyzR52Pt91J7MRy+aJUfXDNEWXDDZSuZbZB0UvQNkWRD2SXjEzGZU8Fznvao0etDyqUN5Wt8lqgnq6Tutb3nlfzVe7iP9j2E0AdXC/2VFMxtFt6MtepOdcvVgjzLjdTDLWJITvdq4OzJYCCFGkBi6f/AaG/+PP1iB/uytm/tsarsuFFrnu39edeM8FW7KKMqf0OcZQFW1QjjzdQY9Ed6sd5NIppAdhSA6leEQEokUll4EnHm0qOOKvEtG0eM5yWnAW3PJiZMUUmatvjpXAWd6Z1YQnfZsHZxXq4sLd6c9sbQd+8XSLA7NP9wxLf9iHIGK1PaEA/MQyxYS9WaU0hHNCAlDQonyQt21ikS6yj+oYx/y+owB+VddBvJTCAWSqdZEsRj2LqEFjYZDZnZ2OyxHHVccxbmnUF7Fv5gGEfup30A7PkdQbtd/J6kyPoArqmY04LIYBE3aFab4700uNNtMeyNQFYzelwYCpd3pGsZIaGlZ6ZKDVdgBJmiMNAhcZ88qNvUZKoKMtaFjbynyQXagAH38gCwgL0cnRW2CH1dCi+40O0xUiQuq/3BILyPDcQ/Go/A1KFhD5qHHV5wb7XIDQXylt+RQJKW2o1xg+EcLFZ54zHQDo09gul97O/6I5l3m4Ic2aljjJlcPaV057j/AZ+FgLVZlZe/hPwYGU06w6B1QSrwSPd3W9gmHUijBBsq88Xa2GiqmvEGEtR/m4pvbkgk3jasHiAZ1Vwe5Eb/lQ+B+eWn7eWMDE3H05sXeYU2RAfVkMOIJ8053+wDddMgYbd0gXjHYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012iSA1ZwBtTV9LQCVXhXpmh",
      "input": {
        "note": "Wrist cam shows the can slightly left of the jaw column with its body extending toward the base; shifting slightly back and left while descending to can-center height for a grasp across its diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.31,
          "left_y": -0.15,
          "left_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_012iSA1ZwBtTV9LQCVXhXpmh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7448, 1.5036, 0.4709, 0.1699, -0.5808, -0.4885, 0.9993, -0.0212, 0.7967, 0.6147, -0.4545, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3042 left_y=-0.1437 left_z=0.0305 left_yaw=-0.0151 left_pitch=-0.1138 left_roll=0.0796 left_gripper=0.9993 right_x=0.2859 right_y=0.001 right_z=0.169 right_yaw=0.0023 right_pitch=-0.056 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.1761, 5.4632, 1.6777, -0.3248, -0.0904, -0.0904, -0.0752, -1.2239, 7.0222, 1.8974, -0.0464, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4d22888f5fc011f4b97c4faf5c3e4b8e929635a5c740ecf0b71a705460a532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08d4ae3a41eaeb5df4ecacd4339eb135c71e59382906dea300827d715085fe9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcdebfec01d0ec375afd64d8ee7b8c4a2d79068baf66fff5bc5dce34cd002309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dc4d22888f5f
wire blob 08d4ae3a41ea
wire blob dcdebfec01d0
call 3 attempt 0 · /messages · status 200 · 3.995 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, 0.7929, 0.6044, -0.3889, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6083, -0.3954, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0004 right_z=0.1789 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2222, 1.9756, -0.0659, 0.2027, -0.0904, -0.3214, -1.4564, 9.6615, 1.9072, -0.0708, 0.0366, -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]: [-0.7315, 1.4033, 0.8108, -0.1936, -0.5739, -0.4759, 0.9993, -0.0212, 0.7967, 0.6147, -0.432, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1712 left_z=0.1309 left_yaw=-0.0181 left_pitch=-0.0599 left_roll=0.0349 left_gripper=0.9993 right_x=0.2891 right_y=0.0009 right_z=0.1735 right_yaw=0.0019 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7641, 9.4564, 1.619, -0.569, -0.0171, -0.0952, -0.0615, -1.5111, 6.694, 2.0391, -0.0171, -0.0562, -0.0122]",
      "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]: [-0.7448, 1.5036, 0.4709, 0.1699, -0.5808, -0.4885, 0.9993, -0.0212, 0.7967, 0.6147, -0.4545, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3042 left_y=-0.1437 left_z=0.0305 left_yaw=-0.0151 left_pitch=-0.1138 left_roll=0.0796 left_gripper=0.9993 right_x=0.2859 right_y=0.001 right_z=0.169 right_yaw=0.0023 right_pitch=-0.056 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.1761, 5.4632, 1.6777, -0.3248, -0.0904, -0.0904, -0.0752, -1.2239, 7.0222, 1.8974, -0.0464, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4d22888f5fc011f4b97c4faf5c3e4b8e929635a5c740ecf0b71a705460a532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08d4ae3a41eaeb5df4ecacd4339eb135c71e59382906dea300827d715085fe9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcdebfec01d0ec375afd64d8ee7b8c4a2d79068baf66fff5bc5dce34cd002309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dc4d22888f5f]
[blob 08d4ae3a41ea]
[blob dcdebfec01d0]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BXEedgtbS6eQkAzYDZFxc8",
      "input": {
        "note": "Wrist view shows the can body ahead of the fingertips and a bit to the left; advancing ~4 cm and shifting left so the jaws straddle the can's middle before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.345,
          "left_y": -0.125,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BXEedgtbS6eQkAzYDZFxc8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5892, 1.5791, 0.5045, 0.2329, -0.5014, -0.3962, 0.9993, -0.0212, 0.8005, 0.6147, -0.4667, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3331 left_y=-0.1162 left_z=0.0215 left_yaw=0.0301 left_pitch=-0.1393 left_roll=0.0904 left_gripper=0.9993 right_x=0.2843 right_y=0.001 right_z=0.1656 right_yaw=0.0023 right_pitch=-0.072 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.4496, 7.0222, 1.79, -0.1148, 0.1734, -0.0904, -0.0889, -1.4974, 7.2274, 1.9219, -0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77876eaa6ee2b40f0198b33ad518bb05609060652b40a28bf349a92cfad217d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d34de61c21f05f93284d0b760f6a3d054db347b95264a8e20058640d3cbb7527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30c960f00cec036012bbe7cdf3fb9ca2d70e2b55bde7513d177ca8a669bf6e05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f77876eaa6ee
wire blob d34de61c21f0
wire blob 30c960f00cec
call 4 attempt 0 · /messages · status 200 · 5.103 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]: [-0.7315, 1.4033, 0.8108, -0.1936, -0.5739, -0.4759, 0.9993, -0.0212, 0.7967, 0.6147, -0.432, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1712 left_z=0.1309 left_yaw=-0.0181 left_pitch=-0.0599 left_roll=0.0349 left_gripper=0.9993 right_x=0.2891 right_y=0.0009 right_z=0.1735 right_yaw=0.0019 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7641, 9.4564, 1.619, -0.569, -0.0171, -0.0952, -0.0615, -1.5111, 6.694, 2.0391, -0.0171, -0.0562, -0.0122]",
      "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]: [-0.7448, 1.5036, 0.4709, 0.1699, -0.5808, -0.4885, 0.9993, -0.0212, 0.7967, 0.6147, -0.4545, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3042 left_y=-0.1437 left_z=0.0305 left_yaw=-0.0151 left_pitch=-0.1138 left_roll=0.0796 left_gripper=0.9993 right_x=0.2859 right_y=0.001 right_z=0.169 right_yaw=0.0023 right_pitch=-0.056 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.1761, 5.4632, 1.6777, -0.3248, -0.0904, -0.0904, -0.0752, -1.2239, 7.0222, 1.8974, -0.0464, -0.0464, -0.0073]\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]: [-0.5892, 1.5791, 0.5045, 0.2329, -0.5014, -0.3962, 0.9993, -0.0212, 0.8005, 0.6147, -0.4667, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3331 left_y=-0.1162 left_z=0.0215 left_yaw=0.0301 left_pitch=-0.1393 left_roll=0.0904 left_gripper=0.9993 right_x=0.2843 right_y=0.001 right_z=0.1656 right_yaw=0.0023 right_pitch=-0.072 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.4496, 7.0222, 1.79, -0.1148, 0.1734, -0.0904, -0.0889, -1.4974, 7.2274, 1.9219, -0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77876eaa6ee2b40f0198b33ad518bb05609060652b40a28bf349a92cfad217d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d34de61c21f05f93284d0b760f6a3d054db347b95264a8e20058640d3cbb7527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c960f00cec036012bbe7cdf3fb9ca2d70e2b55bde7513d177ca8a669bf6e05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f77876eaa6ee]
[blob d34de61c21f0]
[blob 30c960f00cec]
{
  "content": [
    {
      "text": "The can now fills the jaw column with the body between the jaws; closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Whc2b9DG4Ab9dVvisdEPwW",
      "input": {
        "note": "The can now spans the jaw column in the wrist view with the jaws on either side of it; closing the gripper to grasp across its diameter.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Whc2b9DG4Ab9dVvisdEPwW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5755, 1.5883, 0.5095, 0.2321, -0.4675, -0.3527, 0.7095, -0.0212, 0.8017, 0.6147, -0.4961, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.334 left_y=-0.1175 left_z=0.0179 left_yaw=-0.0053 left_pitch=-0.16 left_roll=0.1048 left_gripper=0.7095 right_x=0.2798 right_y=0.0011 right_z=0.1596 right_yaw=0.0024 right_pitch=-0.1026 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.8872, 6.694, 1.7314, -0.2564, 0.0317, 1.0232, -0.1983, -1.1556, 6.9265, 1.9902, -0.0611, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b8f8f07ad857f0243e66e34e5f3023932ae17ee3c52a0717b6bd003b4b2cc3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37816320f2c055357b6e6fb14e91e8082f9c499f48b187d38f0bae94565c88d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7219d864d1dd7d94a9a25f014e86edaacafd6759d7b9421e04dd6f590cb0e4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7b8f8f07ad85
wire blob 37816320f2c0
wire blob 7219d864d1dd
call 5 attempt 0 · /messages · status 200 · 7.876 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]: [-0.7448, 1.5036, 0.4709, 0.1699, -0.5808, -0.4885, 0.9993, -0.0212, 0.7967, 0.6147, -0.4545, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3042 left_y=-0.1437 left_z=0.0305 left_yaw=-0.0151 left_pitch=-0.1138 left_roll=0.0796 left_gripper=0.9993 right_x=0.2859 right_y=0.001 right_z=0.169 right_yaw=0.0023 right_pitch=-0.056 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.1761, 5.4632, 1.6777, -0.3248, -0.0904, -0.0904, -0.0752, -1.2239, 7.0222, 1.8974, -0.0464, -0.0464, -0.0073]\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]: [-0.5892, 1.5791, 0.5045, 0.2329, -0.5014, -0.3962, 0.9993, -0.0212, 0.8005, 0.6147, -0.4667, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3331 left_y=-0.1162 left_z=0.0215 left_yaw=0.0301 left_pitch=-0.1393 left_roll=0.0904 left_gripper=0.9993 right_x=0.2843 right_y=0.001 right_z=0.1656 right_yaw=0.0023 right_pitch=-0.072 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.4496, 7.0222, 1.79, -0.1148, 0.1734, -0.0904, -0.0889, -1.4974, 7.2274, 1.9219, -0.0366, -0.0366, -0.0073]",
      "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]: [-0.5755, 1.5883, 0.5095, 0.2321, -0.4675, -0.3527, 0.7095, -0.0212, 0.8017, 0.6147, -0.4961, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.334 left_y=-0.1175 left_z=0.0179 left_yaw=-0.0053 left_pitch=-0.16 left_roll=0.1048 left_gripper=0.7095 right_x=0.2798 right_y=0.0011 right_z=0.1596 right_yaw=0.0024 right_pitch=-0.1026 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.8872, 6.694, 1.7314, -0.2564, 0.0317, 1.0232, -0.1983, -1.1556, 6.9265, 1.9902, -0.0611, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b8f8f07ad857f0243e66e34e5f3023932ae17ee3c52a0717b6bd003b4b2cc3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37816320f2c055357b6e6fb14e91e8082f9c499f48b187d38f0bae94565c88d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7219d864d1dd7d94a9a25f014e86edaacafd6759d7b9421e04dd6f590cb0e4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7b8f8f07ad85]
[blob 37816320f2c0]
[blob 7219d864d1dd]
{
  "content": [
    {
      "signature": "CAQSuAYKEAgRGAI4AUIIdGhpbmtpbmcSDDHshs8Qelc+2gT4aRoMluuxulkHBJIBaqbAIjBa3IYj/22FZiIsE6Pi8W6EU7YRbC5fwyaEGa2DWzy32srROZ9u6F70ndIbgOYf5RAq1QUkHVHTJTEEDt43NMBD3MpXhei1/oW6tzT1U+x0sMr5ytfaYLN1uRZSQ7TGVBWmJypZboFWzWPffywKaIbaqQNRglAAfV4Jd7/pvIzyl1lqFgYKW8fxGs7BHSN1y7IyZKztLhq50VUGCjGfP/TtKaquKqLw0XHgD2N4N1l4BpC7+ruGqQZO0qHwA4ZlWuam4n2jmLuzCcv7L4YzM3SWpfrIhRM29GE6MssLAyZYqgc3g8mCSuuIjQV9/hg6sZcEaVOmgM21kMBzZOV81ziDGV3P9nXERGJkX92mYHJadkNYjwzbWlPAGEyRnd5vbleyWO61jdmfWsjiD+Z+ZMEj3Aigs20lu1rn1kMETdor8mhVSraqrGdUJQzPd77vebp5jw/KX3mODFnOKgu1c6LHXZ8gh6SP7I2fLPHuvPTDMWVmWGLaGzY47tWRwra52JRk7yDFuEhmmnyIMaV77UNr/EFjJ5WRa0+rlkZmgyfFxd3QXT3vsMDpjx6cOxm0nQ3AaMqolM3pj1yLkwcM5PVdFy3oKHjoEc3ucnRQ2FNu0RdfaDKGywJieHz39+0CsBc68CB0pV/Xlv3+6gbryus4y+1Cne871Hnx88cL0nrrADm42jfrfK2PJt9Atx2BrpsWWzpG3QX4+ifswTDzsRl+tH0QQ6Y25pEFgcG1ZhhoOiZalEIORYQrn1ftCugUs+hTFHOsgxxl89n6nYmV0sb8QzxEXgltGpd+3cJyyGHLJ81NZLEwowEXt3lbzhC9uUNVskcQA+NIcZNx27iifX2yeI4aJDgyMrVW0zh27p0dArXkeZfL5Wl0d9G2hqNyimvShGA0GROuFILgkvWNW1iNQzK5UQ1sMwWuAcBTU5p8dazlxJgpzXXEmnuUoCK31SKPx5eS5rEro4QZy2WTJSEJyVjCoP1bzD1j/0yos4CaVTBo08eHPHLgn8tMWCB4BXh/BEqllBOGNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F2KsnEWN6z8iEwQJmMETAw",
      "input": {
        "note": "Gripper settled at 0.71 (~6.7 cm), matching the can's diameter, so it appears grasped; lifting to confirm the can comes along.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F2KsnEWN6z8iEwQJmMETAw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5755, 1.2991, 0.8818, -0.4751, -0.4603, -0.3603, 0.7107, -0.0212, 0.8043, 0.6147, -0.5194, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1166 left_z=0.1442 left_yaw=-0.0021 left_pitch=-0.201 left_roll=0.1197 left_gripper=0.7107 right_x=0.2762 right_y=0.0012 right_z=0.1545 right_yaw=0.0024 right_pitch=-0.1285 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -6.5846, 9.6752, 1.5702, -0.2857, 0.0708, 0.8083, -0.0889, -1.4154, 6.9265, 1.873, -0.0317, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85edbeb0d21047b193e11707e1b30b5215398ad7f4ef98af0f0f1a2f6eda214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27fa4c705ed3a60656b4a869d11465d54360bc92659b15dcde9ec8e0f6125ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f7d6a58c54950110e4e82d9a9086d0de73157f6f946f974cf4a346d68cd7c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f85edbeb0d21
wire blob 27fa4c705ed3
wire blob 8f7d6a58c549
call 6 attempt 0 · /messages · status 200 · 6.465 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]: [-0.5892, 1.5791, 0.5045, 0.2329, -0.5014, -0.3962, 0.9993, -0.0212, 0.8005, 0.6147, -0.4667, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3331 left_y=-0.1162 left_z=0.0215 left_yaw=0.0301 left_pitch=-0.1393 left_roll=0.0904 left_gripper=0.9993 right_x=0.2843 right_y=0.001 right_z=0.1656 right_yaw=0.0023 right_pitch=-0.072 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.4496, 7.0222, 1.79, -0.1148, 0.1734, -0.0904, -0.0889, -1.4974, 7.2274, 1.9219, -0.0366, -0.0366, -0.0073]",
      "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]: [-0.5755, 1.5883, 0.5095, 0.2321, -0.4675, -0.3527, 0.7095, -0.0212, 0.8017, 0.6147, -0.4961, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.334 left_y=-0.1175 left_z=0.0179 left_yaw=-0.0053 left_pitch=-0.16 left_roll=0.1048 left_gripper=0.7095 right_x=0.2798 right_y=0.0011 right_z=0.1596 right_yaw=0.0024 right_pitch=-0.1026 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.8872, 6.694, 1.7314, -0.2564, 0.0317, 1.0232, -0.1983, -1.1556, 6.9265, 1.9902, -0.0611, -0.0024, -0.0073]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5755, 1.2991, 0.8818, -0.4751, -0.4603, -0.3603, 0.7107, -0.0212, 0.8043, 0.6147, -0.5194, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1166 left_z=0.1442 left_yaw=-0.0021 left_pitch=-0.201 left_roll=0.1197 left_gripper=0.7107 right_x=0.2762 right_y=0.0012 right_z=0.1545 right_yaw=0.0024 right_pitch=-0.1285 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -6.5846, 9.6752, 1.5702, -0.2857, 0.0708, 0.8083, -0.0889, -1.4154, 6.9265, 1.873, -0.0317, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85edbeb0d21047b193e11707e1b30b5215398ad7f4ef98af0f0f1a2f6eda214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27fa4c705ed3a60656b4a869d11465d54360bc92659b15dcde9ec8e0f6125ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7d6a58c54950110e4e82d9a9086d0de73157f6f946f974cf4a346d68cd7c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f85edbeb0d21]
[blob 27fa4c705ed3]
[blob 8f7d6a58c549]
{
  "content": [
    {
      "signature": "CAQSkQoKEAgRGAI4AUIIdGhpbmtpbmcSDNJ+iGWjUqLCz51QuhoMlQYXEZ74m2PwlbWKIjDjiyofeChP6Evltl+Esk+p3EbieS9650OBhjpIi0fKZ2tLl7uai71GQZ/h0tUgaXwqrgnlavYdVXuMR7YpYY8dTjnBIj7EmFPMdgxt1Ap9i9FONGvuQCn3/fwsIVL48J6nfqcm5okGiKuGGRP4mHgKjFVu/nZ85uS+aDwaxv9M0s0PNb6a78LdAL2iFsbh7XlaJ7k3jCWMqGtj8eF3zQNI442s/y8jxpr1ckBE0ZCJDNJP1r9V6Ukm5uaERRt/aX1mS12/ERkgIDR2L10SLJRzZVlMxcu7RIsprixEV17AqfuuGSVmn3Xm7K742f0aotSuLSUFt5Ejcs2f43yY7iu/WZZW94NJR0R7uWPh0dT2CcTxa4mU/2RwNc+2nCT8jDAtFxwCdC5r/eFHaupP/O2LJvfXYShtltFeV/zZvLqjBy4xi6uHQeURDbY7wEuFT2DM8rVX8WyISwC2w5SdntYe4P3k6RwqjYlBnHDlUK+TKAbJHztl1hbd5rZB2ykdGW9ct8o2/ikgmgowt27zp7LHW0AtnXfFTiAhttD/Vg6XbcRy9q/geyWWJQPbAlh1oSk2Y3EGy4J31p6iu6cvt1AphJjLAaxSmHQhXn39lkF2GyabSBlQT/hwgBmy9CUPARfDyMYnybTqUH8Ff5wEtDKHC81oGomXTJsrZ7p1V9RZFzgJWHWaSMRWwyb2W649B4x5zav3lNllZ6q4t9WKlcVin4FgHfQrZNtzQktoQ7LWXJcBOTEPuNVyMvlIcjTgQxtxENn8kJe4rcp2+goK9q8+PyeFk4rhijFHhTrJE4EKfoZtrpBrxdb9uen18tYEtzaESUL82Ab33DNiZYSkAzqK0WXQNZSfMcwO/9b2G8yjIjPXfhmhCzOq2Jus0qU472D571eCBw/M0PdTxqqyUHeg/2Q3PHmVqYKHXNNmQjCtorpVHFbaKyT8mvCqYwTQgOXXTEiTP/xllsCcsHqTW7mrkuktLJdajIVupZS0LhkcstuPw2j9iUbmKWw4jY2hgCAUHVUOkOv2CXrxUOJ2WvA2RbuglxkGxpQGsIiKd/qfbhqlNj89sIl1CVsAYMPsXlhaiAZhyVlmSHhNeK7VEUoWKuSHt9E6ri3fkuCZERnYPRzo8UMd26iwEcpfqQEY2JWX0/hL6IrVqgSAIWsay+hO1Yv9lwaXlRizb+lVQmmeBNGTLOJNkeMhaSlMGf5MeeybN0zM5cnuIopsDrP56HMDnCu6rZIE7yskdVe3INeL4KE5QjjqdtO/KuevZwaYwuS3RfsCDyswuX9K2PNxg9VbEZTmfdNeFtNKj7R8rtfJKIz5T6wE8M4Sn6MPOVp7gJU7qZ9Eg8+4pSn6F9RUMsBBBPZ4XO8mKRQruQgLHOwwpC3v6UZmAafw3yOPPbiFO2wl+ZQJsG+08/SCV2rdM8aVK3GuukzZr4Matn347ZHsRBY9aZ2wyh/sBQ95NQHoy3XfAuZsP/8JwVPXLj+46yex/oDEaqi8MtDw9+wJvXFeesRscMLdJ1lIu7sMH6FcmSz0v/0hu5OdtjHmDQY+9Bjde3NNuNlWA68W/Az6Olx1bERd1AITRKIuYR4aE9SYBARFSLd15vch2etDnaXlI2DF1+/vAJJbcw2dU9G2nhXoPwzk2WjULittNkGhHKMUHlbJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DjyUsGbVMidHMcaodgHuxu",
      "input": {
        "note": "The can lifted with the gripper (visible in the overhead view). Carrying it up and over toward the burner, which sits to the right and forward of the pickup spot.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.25,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01DjyUsGbVMidHMcaodgHuxu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7292, 1.8809, 1.7359, -0.8661, -0.5262, -0.511, 0.7136, -0.0212, 0.8093, 0.6147, -0.5472, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.412 left_y=-0.2443 left_z=0.1987 left_yaw=-0.0073 left_pitch=-0.2526 left_roll=0.1296 left_gripper=0.7136 right_x=0.2719 right_y=0.0014 right_z=0.1481 right_yaw=0.0029 right_pitch=-0.1613 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.3316, 9.0872, 1.1941, -0.5885, -0.0073, 0.6276, -0.2393, -1.4838, 6.9128, 1.8779, -0.0708, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:909c1c98d04c1a9c4a9e82f2a5e8de907c81533ca70595530ab4c21a1cbe71b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35a9178fa9693b7be4fa4568d5967b9c9c8a9d042fd0653f9b26831f5651901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90df0a0352eaf5c0269ff91632942c96fc6f51a4df00f05fab000e4ac36c9ec8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 909c1c98d04c
wire blob c35a9178fa96
wire blob 90df0a0352ea
call 7 attempt 0 · /messages · status 200 · 5.514 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]: [-0.5755, 1.5883, 0.5095, 0.2321, -0.4675, -0.3527, 0.7095, -0.0212, 0.8017, 0.6147, -0.4961, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.334 left_y=-0.1175 left_z=0.0179 left_yaw=-0.0053 left_pitch=-0.16 left_roll=0.1048 left_gripper=0.7095 right_x=0.2798 right_y=0.0011 right_z=0.1596 right_yaw=0.0024 right_pitch=-0.1026 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.8872, 6.694, 1.7314, -0.2564, 0.0317, 1.0232, -0.1983, -1.1556, 6.9265, 1.9902, -0.0611, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5755, 1.2991, 0.8818, -0.4751, -0.4603, -0.3603, 0.7107, -0.0212, 0.8043, 0.6147, -0.5194, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1166 left_z=0.1442 left_yaw=-0.0021 left_pitch=-0.201 left_roll=0.1197 left_gripper=0.7107 right_x=0.2762 right_y=0.0012 right_z=0.1545 right_yaw=0.0024 right_pitch=-0.1285 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -6.5846, 9.6752, 1.5702, -0.2857, 0.0708, 0.8083, -0.0889, -1.4154, 6.9265, 1.873, -0.0317, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7292, 1.8809, 1.7359, -0.8661, -0.5262, -0.511, 0.7136, -0.0212, 0.8093, 0.6147, -0.5472, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.412 left_y=-0.2443 left_z=0.1987 left_yaw=-0.0073 left_pitch=-0.2526 left_roll=0.1296 left_gripper=0.7136 right_x=0.2719 right_y=0.0014 right_z=0.1481 right_yaw=0.0029 right_pitch=-0.1613 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.3316, 9.0872, 1.1941, -0.5885, -0.0073, 0.6276, -0.2393, -1.4838, 6.9128, 1.8779, -0.0708, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:909c1c98d04c1a9c4a9e82f2a5e8de907c81533ca70595530ab4c21a1cbe71b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35a9178fa9693b7be4fa4568d5967b9c9c8a9d042fd0653f9b26831f5651901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90df0a0352eaf5c0269ff91632942c96fc6f51a4df00f05fab000e4ac36c9ec8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 909c1c98d04c]
[blob c35a9178fa96]
[blob 90df0a0352ea]
{
  "content": [
    {
      "signature": "CAQS+AgKEAgRGAI4AUIIdGhpbmtpbmcSDFI0egezh8s0VywlDhoMqbDCrhfqfLnBALIGIjANt43I/ei5H39yzNKPS2gyNw8D79E17HclQ/KYJBnDEJgiLzllZPUwSO6jXt8wChcqlQh2kq0ZbqFp/acAH9G3YXLwJSl1hft76NKLQnmH5kiU9ElVLyao56R43MMELu2jz86bdYkRrGg9IPmr3NGd2XOIYO8U7TD9klS7Bh/w283gkLrUmj548gILvUXAAwBbxlvW8ZtdnkrcCDjgkkO/3WcpG64lSnUXozSAlGhkaYxhGZdFCOsTXKGoASIr9/FMf/FPi/WuZgCbnkbH+isMJAr5BZnM7/Q4oo1CBnizNFOA/6An2U1+zh4dkx7n/xLPDQvUWlE1xquJTPiPFWwiqUWhyEXj/MB1weFdF3sIVUY/7s48U+jc97US1D5LbOu+tguL0UWCN+dHjC0IK3bhuCvjc98RnxAFnrBveg08p8am2JvaG0g/sdPX6uojDUM7LYMg1OL82r02EdBRniFfzpnH2OntvJqAQx9L2F9S8rEkzEZhJp4IV8bY0e3w3h8jAD0fDLYW+vYCWQRAiDnv0Pee3C4UnIBevwySZJA/KkgFCR9PLQ2Loz7JfGXMdNfFTQhIKbaDZxWh1ndZYkFhdGKcfreqNel46XX0CZ9YfaWRj5f2PMHAoR4ab6lbzfBmvYxq3Tcqvf6VND/UbvFkyU2T8PKKGQheurl2tVp0kBd1BexVCYZLVl9gfgK4b2fTjWXg+1gvha5UAdMCUiQGNMvvKQDIW+LsiXjOgW54MLiilFHoH+Sn7r21srMxrRz3h7hlFRfmJbXsAv1q3rc1ib2Huu4gfgaMBv7o7hjdUMQkraCT6h2NvzNhZafQu7tuNRqJJRxL4ifOxkzrrGRNdUDmNlujoxTYtqhMuHCI5wyMnPjdI82EZlz9LOTIi/BsKZWbwOWzZRXKcSW4q62D5GpsQAUP83WC75j2LFu7RQkA0PpIb/YpGNlpvkt29ZLMeRogrSABROxhpos1W3Yklij5/UaSt7FU8ijmYrIQb+i4/RN2S7z8YhjUw/bQRix7U+uRaKLN4i2+Di+Gjmw5ZD4LbqAQpRLxVTT1CaMgUpv9dWPsA9VhhByBs6Q0/jgPwncw0mewSvUtzelqOm1YxBxDOmNz03WpHXu4dIecuEHYi5To7sB/7SBbHChkd1K9KKZSOdpkAxVA7zcraHX6r2nP9PvL322sOvb1sUBsVnuhG44lvSduBCT0kDddx6GdErW66kOJrNEH9ZfqtLVDK5rNhAE0BKUygATI9Mmo5Z3CEazlFGalUp13MGn6lm83r8TsRQHnE5faH8Du0vb//GwsI5A84Zg3AULERQQhJncHdZYUSI3NJCZvVx/8zyAmHyQOd+gLjuzgqYFjnGHjg0bs10/Z1IGaFzNgUFBZrM0NWMijmP1UL8lqcxEmANz6JO+A6EJshG6PCWb0d5tqOW6okw3Y+8iloHJMqKYIinTiiQ+uyCRIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015uDYQu2bSX51eBbuAGyHLi",
      "input": {
        "note": "The wrist cam shows the burner coil off to the right of the held can, so the can is still left of the burner center; shifting right ~5 cm and slightly forward to center over the coil.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.3,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015uDYQu2bSX51eBbuAGyHLi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7902, 2.1193, 2.0262, -1.0126, -0.532, -0.5728, 0.7158, -0.0212, 0.8116, 0.6147, -0.5697, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4229 left_y=-0.2945 left_z=0.1757 left_yaw=-0.0109 left_pitch=-0.3134 left_roll=0.1585 left_gripper=0.7158 right_x=0.2681 right_y=0.0014 right_z=0.1434 right_yaw=0.0026 right_pitch=-0.1861 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -13.053, 9.5248, 0.9988, -0.6032, 0.0269, 0.4567, -0.2393, -1.3744, 6.9675, 1.7411, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737facd522f1c58dfc4f526aafecb7e6805492da832bf8650a0ac60dd881543b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161ca1a89813338df69846add084adbfe5ee9b492a5c2bc59d8a21c192e73275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:279f0d2bac6a59cc1476ec418c79a46dff44be4c4c4bde02b308dfdd0c984d34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 737facd522f1
wire blob 161ca1a89813
wire blob 279f0d2bac6a
call 8 attempt 0 · /messages · status 200 · 6.334 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]: [-0.5755, 1.2991, 0.8818, -0.4751, -0.4603, -0.3603, 0.7107, -0.0212, 0.8043, 0.6147, -0.5194, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1166 left_z=0.1442 left_yaw=-0.0021 left_pitch=-0.201 left_roll=0.1197 left_gripper=0.7107 right_x=0.2762 right_y=0.0012 right_z=0.1545 right_yaw=0.0024 right_pitch=-0.1285 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -6.5846, 9.6752, 1.5702, -0.2857, 0.0708, 0.8083, -0.0889, -1.4154, 6.9265, 1.873, -0.0317, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7292, 1.8809, 1.7359, -0.8661, -0.5262, -0.511, 0.7136, -0.0212, 0.8093, 0.6147, -0.5472, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.412 left_y=-0.2443 left_z=0.1987 left_yaw=-0.0073 left_pitch=-0.2526 left_roll=0.1296 left_gripper=0.7136 right_x=0.2719 right_y=0.0014 right_z=0.1481 right_yaw=0.0029 right_pitch=-0.1613 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.3316, 9.0872, 1.1941, -0.5885, -0.0073, 0.6276, -0.2393, -1.4838, 6.9128, 1.8779, -0.0708, -0.0171, -0.0073]",
      "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]: [-0.7902, 2.1193, 2.0262, -1.0126, -0.532, -0.5728, 0.7158, -0.0212, 0.8116, 0.6147, -0.5697, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4229 left_y=-0.2945 left_z=0.1757 left_yaw=-0.0109 left_pitch=-0.3134 left_roll=0.1585 left_gripper=0.7158 right_x=0.2681 right_y=0.0014 right_z=0.1434 right_yaw=0.0026 right_pitch=-0.1861 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -13.053, 9.5248, 0.9988, -0.6032, 0.0269, 0.4567, -0.2393, -1.3744, 6.9675, 1.7411, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737facd522f1c58dfc4f526aafecb7e6805492da832bf8650a0ac60dd881543b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161ca1a89813338df69846add084adbfe5ee9b492a5c2bc59d8a21c192e73275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:279f0d2bac6a59cc1476ec418c79a46dff44be4c4c4bde02b308dfdd0c984d34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 737facd522f1]
[blob 161ca1a89813]
[blob 279f0d2bac6a]
{
  "content": [
    {
      "signature": "CAQS9wcKEAgRGAI4AUIIdGhpbmtpbmcSDByD5StR3S4/hfGCuxoMKhVKJWWlplUupaGgIjCKxtGTp7aJ5cjOK/hCItojb5XvutPqECuvMB08UbwqCVr1FIr0LxxXb2E5GpLNDEQqlAeggNhaqTmk8AtZeu+3KFLDssYBRIVCsR7tE4oqDZBVPen7AJ8gpEFA4niwMBKBi0wz27waglj/pGuQF9yPTaamhhDR/iNTnZX2sTfSAOfEgmhxT6+4f+dKlnCaNau7jMlYjU4MSkTqAWvaHuLwDyyUt/F0wCmLXXSXzmhD8B58lDFJKqgTFmYS/y4kqaq2MIDyFp7SlK/EVI79t+F57OfckXcN7OABxg7SgkngpStlv/GyLa77vYxo2sLeowzcJJDi4YzqvLtwcMsk+e/LD/WYSE1kl9zzyK9OXWXwuT8FEJZ5DlPs0DVijkotlFSskica1PHOblZisBupa4ZK7UqLJXoO7KPUrUt2GCQVNclTDQ+1FR2g85QZULTJig90WGxH4QHGAE1EAYbK6jbMkidh0m/EHmafYnlpBeUZuB1JmZ0OEnvXKXXPTQtAoD0E8IYpYd7M7rmL1MyPqtVhsFy93n1TtaQQEdeHVi86AsOrSbVxAxj0lW/rKc0TPoj71uUPmgAFjB4yA7a2M/zYuUsTG7ejKJ5fxO2PyrlPULofRwRfow2D8JV7vFwwYtHcCUU6KUn5t7luRBhHsHCch0+eXNGsP3zCNbevZkXWaGoytOCTwvyzaxEJ6xIeaDA427ewHJAsm6AQ4+WW12lEkXBLyMTJ7cuXYiDtdyfeIZhA0B+Zl1aQRJFaronHQUwZBnkzwuwQhp6PsUADMyE6+PE4+ppuP0HS24pl6aCZoLjk5YL6CHtYxwPv9RLSg0BqOHt9qJbsFOGroqhnMLHLiERH80qRAx+J+SGcwnDLEhmo5Vi9fgwyU7CrZx3z58XY+OQdAi22sy8B/MyoM900FnUsBCHOcs693+NKf2HbwyxIZUZQidv8iG+7rpwOaO4xZ8mItXpPDrhGjer+vY59cxtS5TtCvW/BYW9+vFfl6PexUD5Gojwpue0FYsNTzFN89Pcjv9eAQk+al3YBskT03ozoEdJgsTctLveOsp4unJH1CBqFOx5fngMuwZWUKpUJmegAiu9OYmHlvwQ9+5CbNbXO5QuCOyRJuftTZq9UbaL53Hy5qwxF7waCdZG4/fR12RwBqDgQnBM8wVy2MSyujHWjK3ipRy2gMedKWib3kLy4XVlDRHTRgH6jqP+TSQMXkuENni/DLTw7RF0mV3lFzWxihwkLBa7NfAB0cqquAtYYRAdhGPDMq4E1dj47k4ZKZqvj3JzGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VSDhNVdVzExgga2oqe3wj1",
      "input": {
        "note": "The burner ring now surrounds the held can in the wrist view, so the can is centered over the coil; lowering it until the can rests on the burner.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.3,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VSDhNVdVzExgga2oqe3wj1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7971, 2.1326, 2.0636, -1.037, -0.5358, -0.5854, 0.7189, -0.0212, 0.812, 0.6147, -0.5987, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4225 left_y=-0.2983 left_z=0.1801 left_yaw=-0.0081 left_pitch=-0.3102 left_roll=0.153 left_gripper=0.7189 right_x=0.2631 right_y=0.0015 right_z=0.1383 right_yaw=0.0028 right_pitch=-0.2154 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.7111, 9.1419, 1.2137, -0.5641, 0.0122, 0.3053, -0.0889, -1.0872, 7.0359, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43183f0c716dd6b4e33a986ca9e5a1f57e6a742dd1f430f3399544efe5a0ba21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364925c5220aa0b219fbd054f043b56ba606942271adc2dc2f74945ce5cc6f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14ae0f86aa21b30e856c352a8ab1c875d327159380432bac0fe4aebe70b33797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 43183f0c716d
wire blob 364925c5220a
wire blob 14ae0f86aa21
call 9 attempt 0 · /messages · status 200 · 5.535 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]: [-0.7292, 1.8809, 1.7359, -0.8661, -0.5262, -0.511, 0.7136, -0.0212, 0.8093, 0.6147, -0.5472, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.412 left_y=-0.2443 left_z=0.1987 left_yaw=-0.0073 left_pitch=-0.2526 left_roll=0.1296 left_gripper=0.7136 right_x=0.2719 right_y=0.0014 right_z=0.1481 right_yaw=0.0029 right_pitch=-0.1613 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.3316, 9.0872, 1.1941, -0.5885, -0.0073, 0.6276, -0.2393, -1.4838, 6.9128, 1.8779, -0.0708, -0.0171, -0.0073]",
      "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]: [-0.7902, 2.1193, 2.0262, -1.0126, -0.532, -0.5728, 0.7158, -0.0212, 0.8116, 0.6147, -0.5697, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4229 left_y=-0.2945 left_z=0.1757 left_yaw=-0.0109 left_pitch=-0.3134 left_roll=0.1585 left_gripper=0.7158 right_x=0.2681 right_y=0.0014 right_z=0.1434 right_yaw=0.0026 right_pitch=-0.1861 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -13.053, 9.5248, 0.9988, -0.6032, 0.0269, 0.4567, -0.2393, -1.3744, 6.9675, 1.7411, -0.0562, -0.0513, -0.0122]",
      "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]: [-0.7971, 2.1326, 2.0636, -1.037, -0.5358, -0.5854, 0.7189, -0.0212, 0.812, 0.6147, -0.5987, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4225 left_y=-0.2983 left_z=0.1801 left_yaw=-0.0081 left_pitch=-0.3102 left_roll=0.153 left_gripper=0.7189 right_x=0.2631 right_y=0.0015 right_z=0.1383 right_yaw=0.0028 right_pitch=-0.2154 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.7111, 9.1419, 1.2137, -0.5641, 0.0122, 0.3053, -0.0889, -1.0872, 7.0359, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43183f0c716dd6b4e33a986ca9e5a1f57e6a742dd1f430f3399544efe5a0ba21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:364925c5220aa0b219fbd054f043b56ba606942271adc2dc2f74945ce5cc6f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ae0f86aa21b30e856c352a8ab1c875d327159380432bac0fe4aebe70b33797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 43183f0c716d]
[blob 364925c5220a]
[blob 14ae0f86aa21]
{
  "content": [
    {
      "signature": "CAQSiQgKEAgRGAI4AUIIdGhpbmtpbmcSDOmU5YZeskPzyBkKWhoMNU8wKUuu2LaSc2kDIjAkyARhRJjgExdGSsMoJusI6xLGiszwstvV9eCCyaNMltYL26vLnPmJMuAn/r0D1ToqpgcxlboIyGOWWkkWmGLUFYC1siR1CTlyooyFasLAnhN73HlhixuMoVz/av9zx3hQ5JP45tmahudKqHpq3Q6pOQK7RbioQKph3kpdbCtuphvT+L43Yc+NAPJZ9a8QROt5KaYshgXPEaFC7yKwlzHWaP9bovCpEWgpc+EMb5eqIaseZDwCWsxOB7snGORkdi7hvVbYxy9Z/HdgdsqRhOrAKp1fgSxWH2kpFUkXzCAW83WbaE9ktUeyHIzI04462KwGETfvgWEkg+C3cKFPP8155p4BShCtH7fIvA/Oh8isuuPNwFwhXh0lCrc2jZnM2IRYue5AzQXUxeRURUSelN6Jp4HOqfXYUdcey+Fs1kgzOndOaKZnr8N+jsSeKi+f8p/hIgYGWaKCVZghtGC0VO1A470YaEmOKisS2KUdm9Me7J7vogAuNRYug6FKi8Vu2sPFw+llyuDZtN/g29nD6v5mrG8Fd9Kl6Pkr7z0yOm9hTikbmB5ij26ZwnIgI413PyjC5JXlxzFNyzsBBG/sVCJnwCTDuiKSu7cZtCYdhY16DP4uqgXa62pErSC7WHYNWaQlcuu5B3uDk5ncubQmE+TgGo44604iVBU1rmQyZqdPsyAnPDphkj4AzLbdmFc07uYKGLLeo7gYkXTfMWKhAe95M+UIJ4ctoTdpbsiED/CGmgPmX9ZDpxjmJjHazZ2DIDy6GVw5n4UiHskyFfv0rgoL/+zgz094XgMs+q3xx5tmTeyjuZ6ahUCpstT2hF8MrCZRHIPYMy1J0oTCGXjKUDrbgp0j5ssMSb0uh/F4Csc8wKLz9gFFSqEvcXI64+QmtG9c+ch3IYDu4P1xnmNKEMpUO0I2nMn751pVCrNvtqpR8LgKnZUE54F26mnH2Or3QUhwIm0sC+SQt3UYw4jCbbEFVm/Gsv/uVlwZfCVBRpTjI5pYnxa21wpT/Vsx6A/8CSdOEofjmlN9WxoHBp6w3X0Gw8d2iOv0GCRs5/zSWXABihty63g3zIFG8uPEbHnTyrghdklCJhhwSba4BHIuhIy+PJhi8ElcoJD1Xc9gT1NqkKq9LdmjmJr7rwBatQuy8oFIQqzryizuG8/gubratqhxIYv6a8EIjrcXAWuEcBkIJ9OxOgj1aDi9JASc99nkBu3gbPui2jPLuBW5UCKVjMK1LQtIE6fEr+tlFcK73CicSD89qcX2r/2YN6etea2LGOItQl58RIxxEdTQaO8DMtj0nr7Umm+Rq7q8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SqT7dThmsUjrCwBzoCRtcH",
      "input": {
        "note": "The arm did not descend at all (z stayed at 0.18), likely an awkward IK pose with the wrist pitched back; reducing reach slightly, resetting pitch/roll, and requesting a smaller descent.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.41,
          "left_y": -0.3,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01SqT7dThmsUjrCwBzoCRtcH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.857, 1.9488, 1.356, -0.3401, -0.664, -0.5919, 0.7205, -0.0212, 0.8158, 0.6147, -0.6201, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2883 left_z=0.1023 left_yaw=-0.008 left_pitch=-0.1117 left_roll=0.0956 left_gripper=0.7205 right_x=0.2594 right_y=0.0016 right_z=0.1337 right_yaw=0.0029 right_pitch=-0.2406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -12.7658, 6.5299, 1.5946, -0.4908, 0.0562, 0.149, -0.1709, -1.4154, 6.8034, 1.6777, -0.0513, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fddfd7ceda55e71d3076cc00cb8d5e291246b449d967cce6fc7768e399dafd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d0f8a616943c69fc65b7e694fb74afbf8eece5f5f91869b699c2822f5e10375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d1857f082f174e97a879990a63e16c13b1a79239b12a42dd766e2d9390a46f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3fddfd7ceda5
wire blob 4d0f8a616943
wire blob 9d1857f082f1
call 10 attempt 0 · /messages · status 200 · 4.316 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]: [-0.7902, 2.1193, 2.0262, -1.0126, -0.532, -0.5728, 0.7158, -0.0212, 0.8116, 0.6147, -0.5697, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4229 left_y=-0.2945 left_z=0.1757 left_yaw=-0.0109 left_pitch=-0.3134 left_roll=0.1585 left_gripper=0.7158 right_x=0.2681 right_y=0.0014 right_z=0.1434 right_yaw=0.0026 right_pitch=-0.1861 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -13.053, 9.5248, 0.9988, -0.6032, 0.0269, 0.4567, -0.2393, -1.3744, 6.9675, 1.7411, -0.0562, -0.0513, -0.0122]",
      "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]: [-0.7971, 2.1326, 2.0636, -1.037, -0.5358, -0.5854, 0.7189, -0.0212, 0.812, 0.6147, -0.5987, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4225 left_y=-0.2983 left_z=0.1801 left_yaw=-0.0081 left_pitch=-0.3102 left_roll=0.153 left_gripper=0.7189 right_x=0.2631 right_y=0.0015 right_z=0.1383 right_yaw=0.0028 right_pitch=-0.2154 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.7111, 9.1419, 1.2137, -0.5641, 0.0122, 0.3053, -0.0889, -1.0872, 7.0359, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.857, 1.9488, 1.356, -0.3401, -0.664, -0.5919, 0.7205, -0.0212, 0.8158, 0.6147, -0.6201, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2883 left_z=0.1023 left_yaw=-0.008 left_pitch=-0.1117 left_roll=0.0956 left_gripper=0.7205 right_x=0.2594 right_y=0.0016 right_z=0.1337 right_yaw=0.0029 right_pitch=-0.2406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -12.7658, 6.5299, 1.5946, -0.4908, 0.0562, 0.149, -0.1709, -1.4154, 6.8034, 1.6777, -0.0513, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fddfd7ceda55e71d3076cc00cb8d5e291246b449d967cce6fc7768e399dafd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d0f8a616943c69fc65b7e694fb74afbf8eece5f5f91869b699c2822f5e10375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d1857f082f174e97a879990a63e16c13b1a79239b12a42dd766e2d9390a46f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3fddfd7ceda5]
[blob 4d0f8a616943]
[blob 9d1857f082f1]
{
  "content": [
    {
      "signature": "CAQS6QcKEAgRGAI4AUIIdGhpbmtpbmcSDOG9mxZ7PBIWONPX7hoMhhs5eJ6Vh5XvVmEmIjBl4DnNAiu72Spsjtbvxrr40m12Hwyi1VJduIL3ZeogLV9TpiqBlJBwUF98dmBZPekqhgeLwkq4Wv5kOY1WqD7HG6PBC3cwp1hHla+UySElkQd7WB8iQs7npbLTYyY+tcfDWO9x8y0GEnnvB9CEOlKMzygNfPtOyvFtUputxlyUngtxkfV2U923N56VZxYqteEebeQqo2MIEzh6vjBsiS7ecWT2x0D8CC8bKEc8XA/O8+yU8cEOe7V36AsCsVrPaIPyw+GMZq4NLhXQrZiYwa+zKGi6SKzz2FELZ7vdrJl3YNfq9v6JyVlYABeBv/kkT2v4SHrr/k3kkuYmZUSJFLSwbWGvbzW3ssXoZHB0lHjUpziLGl24X2NM4xgdV4eWUWZk10oby/pRAH+5RPHxzwuNpBh3v3T8eekI94QZLwohJtnEbaZX0XpfofiWIBNY63v0mNIio4pcdUFiL703AO+7FC34FRlSx2GHtcMKvTD+AxfnRhnqQjgxMDJiddOjHupnZWMrtaNhiBunKoalEqS9vkivfy5/tan+Sf6/KjD7EfTKr8W++tb9PslxbVpum92i5vtshlhdqtnYeNYS/w2n4bgeBFb/jhkvW0qsa0Xe/Q11yAokpBKZLx8nrCJ1gQyEN9+kEeGDGeTAkwrwj1+pCTPhdBNTWqF4rDHZB5irg3zoyQ5Jq2ACYip1yRFNOFxpf0ykijKusM83qcSGT0ywdWkbfWoLjj1Q+1jXQ1tjkWgBT7ClRSWci6nNptb9jWHZ+E9DBo7hqp79z4vZN9g8qux/Drd57PkQT0UvthM9O0u8aWX25QEsLKnaMC+Na/v5/FuOOex3rzOXFFzkTRYge0NjZ2DoCRlejkNVbNrTrSlgLWCIPAb9vFDgsuutTmAC513t4LTbs2Z89N+0gDOkBbqiigAM+G1Q0JtAhkoxuxjFBXu2hgFUQHEIpRHvT3FgRYtGM9PyMvTUrI3MXZkU24p0T3BkLUTabfr3V8U+QsUDPZSJilpdSgG79mJtq8KV9cfpm+S9V36Z/7HmVH8iF922ZvCX6EgvbuzaeS2KHzqO23H37U6dWEkm9JjzIM78MJZmQoDI5rSUX9xNZIUiWTjqXiHicYzLUezNgVb26SekshE+f5+zUXj3z1+xRX9JcUKjz7SI1SvkPUVdAIXOpsOomuig3EVfd1RKT1/UwY+s3p/4bEQRZqDbmCgWqOBwWrQWokQeq4qyU4NpcBA4Bg1r2MTxbNWwr2KUZn0coIptLFmDbnzOCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HHghjQHzxHsKE7oEdTxd8D",
      "input": {
        "note": "The can is now at 10 cm directly over the burner coil; lowering further until it touches down on the burner surface.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.41,
          "left_y": -0.3,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HHghjQHzxHsKE7oEdTxd8D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8639, 1.9961, 1.2301, -0.0315, -0.6998, -0.5903, 0.7221, -0.0212, 0.8173, 0.6147, -0.6353, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4078 left_y=-0.2967 left_z=0.0792 left_yaw=0.0028 left_pitch=-0.0025 left_roll=0.0121 left_gripper=0.7221 right_x=0.2566 right_y=0.0016 right_z=0.1308 right_yaw=0.003 right_pitch=-0.2574 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -7.1179, 4.7521, 1.0379, 0.0366, -0.0366, 0.1538, -0.0342, -1.1419, 6.7761, 1.6239, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814c78a93a2809a2eae7abc89c2a54b58cc71d1fe638eabd0ed4db81ae7507a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58dc92b515ffd046fdfa285b4d526e73118af437564520c0bde1eff710872c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a1eea2f4afa62476709dbf3bd72fdc04e112195ed84bf197e3fcb9bfd78e4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 814c78a93a28
wire blob 58dc92b515ff
wire blob 9a1eea2f4afa
call 11 attempt 0 · /messages · status 200 · 3.979 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7971, 2.1326, 2.0636, -1.037, -0.5358, -0.5854, 0.7189, -0.0212, 0.812, 0.6147, -0.5987, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4225 left_y=-0.2983 left_z=0.1801 left_yaw=-0.0081 left_pitch=-0.3102 left_roll=0.153 left_gripper=0.7189 right_x=0.2631 right_y=0.0015 right_z=0.1383 right_yaw=0.0028 right_pitch=-0.2154 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.7111, 9.1419, 1.2137, -0.5641, 0.0122, 0.3053, -0.0889, -1.0872, 7.0359, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "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]: [-0.857, 1.9488, 1.356, -0.3401, -0.664, -0.5919, 0.7205, -0.0212, 0.8158, 0.6147, -0.6201, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2883 left_z=0.1023 left_yaw=-0.008 left_pitch=-0.1117 left_roll=0.0956 left_gripper=0.7205 right_x=0.2594 right_y=0.0016 right_z=0.1337 right_yaw=0.0029 right_pitch=-0.2406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -12.7658, 6.5299, 1.5946, -0.4908, 0.0562, 0.149, -0.1709, -1.4154, 6.8034, 1.6777, -0.0513, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8639, 1.9961, 1.2301, -0.0315, -0.6998, -0.5903, 0.7221, -0.0212, 0.8173, 0.6147, -0.6353, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4078 left_y=-0.2967 left_z=0.0792 left_yaw=0.0028 left_pitch=-0.0025 left_roll=0.0121 left_gripper=0.7221 right_x=0.2566 right_y=0.0016 right_z=0.1308 right_yaw=0.003 right_pitch=-0.2574 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -7.1179, 4.7521, 1.0379, 0.0366, -0.0366, 0.1538, -0.0342, -1.1419, 6.7761, 1.6239, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814c78a93a2809a2eae7abc89c2a54b58cc71d1fe638eabd0ed4db81ae7507a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58dc92b515ffd046fdfa285b4d526e73118af437564520c0bde1eff710872c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1eea2f4afa62476709dbf3bd72fdc04e112195ed84bf197e3fcb9bfd78e4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 814c78a93a28]
[blob 58dc92b515ff]
[blob 9a1eea2f4afa]
{
  "content": [
    {
      "signature": "CAQShAcKEAgRGAI4AUIIdGhpbmtpbmcSDC1XYETY2N3yga5A5BoM5l4gtwRS8RIDX8t4IjDJzI+lxLyQVu3mimyLwXsOHzrnwU4TZ4GS+VryZX+uhyclh865BoFWDMagtfu+bvUqoQYaX6g0jLydyD15NyNHtFH6WlYjTgb6L+sEHfLwsxTUknK1EBe8x5OXcIm00kBk1lWW4euYSiPiKd9FxKIqMGJg/Dvr02korYXcLVY43cuzUov8ak7/wlfzTYNs7xJ6q6/bbQAq5BqtubhsHZQIrG/Fn95Ogur7fS9sKRQfSdwlXRdf6mGBmnjWTdNj0IiWQf6hOQcRByxlNwcH69oNSTR/w2INf8z/NsnEmc3+27hV5zm0N+I/Zl+WmgvJUCOxV7WBAnRmonZlRqmYNsvDYxCLARW616TbnSKKAsT2Y84x/RFt7bbFpy1MpQpw6omeRdYNU0j+XAzWqFz7La1p46xk8YDgIt8nnv08Lp2S00IW9p8VCXMwKUXIvpCQ2qZNA97VWL991zHVPym9Dbyn0GJZov3ljPRNd2GQl9m/N8eLdk2WOsIyaJPvsNX78aFoqaKToookIkXFlmfHcjbW6N08m34R/IQsbcI31O/fnel28SJF+YkHQAYrWUwNIv3Wie0eOPyxwOBYcLkmZzIybvD7LXchy78Hgtgg6YB/bkyTUpKvnbqiFALi8BcYYXbKL+7UO9FWGZ/jDBX9RkUHYiOQzWNU6HxQTEVQvkHJKUJ0FPV1rrfKsItiBFcx7Yu/zILcJevLAY3+pxKz+6e1U7buym9h7vPdZOANwshCfzo+15ARk581KtdeIRkqvJg/58B7P2B6DU2Oz0f4B3HZ+OhUYvNAE71F4AWw2WQRt4Vb6YveUCx7Lhp5DwqWoI9e6ysSCWWvpVzv0Jg9A7n59lUadb637Z6z0fLDejgtKd9N+vuW7q1KcHttSMsTnM3rY79Ro3Lnt/yV7RZF3GLsx1DiyqQxbH1SHtYzwxPsSdS3Z3qv43Nm9kYu0oVq67lPXYivvV9W0VkoR0/euu6FUdBmw5EVSn6mpU5PGd53bLneJgscnbduTR2CMr9JodXmnw6YOw/1pis/LPsL8EnvgPpP2JG1Rb0AtNpFz6nm/01exFBmicEaOeKHkWtsDGBLYrWuVBdNBDzpAXSq7zHDlvcVlRfy6QnFj+rln48DXFaSiW0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VTYseP4Nr1Yqpn9PxJKDRd",
      "input": {
        "note": "The descent stopped at z≈0.08 with shoulder effort dropping, indicating the can is resting on the burner; opening the gripper to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VTYseP4Nr1Yqpn9PxJKDRd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8627, 2.0293, 1.2098, 0.0635, -0.6926, -0.5877, 0.9957, -0.0212, 0.8173, 0.6147, -0.6525, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.3025 left_z=0.0695 left_yaw=-0.0024 left_pitch=0.0207 left_roll=-0.0205 left_gripper=0.9957 right_x=0.2534 right_y=0.0017 right_z=0.128 right_yaw=0.0031 right_pitch=-0.2746 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.0991, 5.5043, 1.3895, -0.2515, -0.022, -0.149, -0.0752, -1.1145, 6.9675, 1.7509, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0876243f9bd1a0a75a173a52e74d263842699618c366a4583f487d4044cf97a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b259238fceaa7a2bba0dbdfca78ea9b2c97428aed1515a2d2dbe7cda9abc791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9c1a2f3f8f36e5ce24edc2e5c3567678fbe20261573ed44666ed111b3f148d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c0876243f9bd
wire blob 6b259238fcea
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 8.239 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.857, 1.9488, 1.356, -0.3401, -0.664, -0.5919, 0.7205, -0.0212, 0.8158, 0.6147, -0.6201, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2883 left_z=0.1023 left_yaw=-0.008 left_pitch=-0.1117 left_roll=0.0956 left_gripper=0.7205 right_x=0.2594 right_y=0.0016 right_z=0.1337 right_yaw=0.0029 right_pitch=-0.2406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -12.7658, 6.5299, 1.5946, -0.4908, 0.0562, 0.149, -0.1709, -1.4154, 6.8034, 1.6777, -0.0513, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8639, 1.9961, 1.2301, -0.0315, -0.6998, -0.5903, 0.7221, -0.0212, 0.8173, 0.6147, -0.6353, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4078 left_y=-0.2967 left_z=0.0792 left_yaw=0.0028 left_pitch=-0.0025 left_roll=0.0121 left_gripper=0.7221 right_x=0.2566 right_y=0.0016 right_z=0.1308 right_yaw=0.003 right_pitch=-0.2574 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -7.1179, 4.7521, 1.0379, 0.0366, -0.0366, 0.1538, -0.0342, -1.1419, 6.7761, 1.6239, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8627, 2.0293, 1.2098, 0.0635, -0.6926, -0.5877, 0.9957, -0.0212, 0.8173, 0.6147, -0.6525, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.3025 left_z=0.0695 left_yaw=-0.0024 left_pitch=0.0207 left_roll=-0.0205 left_gripper=0.9957 right_x=0.2534 right_y=0.0017 right_z=0.128 right_yaw=0.0031 right_pitch=-0.2746 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.0991, 5.5043, 1.3895, -0.2515, -0.022, -0.149, -0.0752, -1.1145, 6.9675, 1.7509, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0876243f9bd1a0a75a173a52e74d263842699618c366a4583f487d4044cf97a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b259238fceaa7a2bba0dbdfca78ea9b2c97428aed1515a2d2dbe7cda9abc791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9c1a2f3f8f36e5ce24edc2e5c3567678fbe20261573ed44666ed111b3f148d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c0876243f9bd]
[blob 6b259238fcea]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper opened; lifting the arm clear to verify the can stays on the burner.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AwbfypdYYby2F2h3s57hWs",
      "input": {
        "note": "Gripper is open and the can appears to sit on the burner in the wrist view; retracting the arm up and away so the overhead camera can confirm the placement.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01AwbfypdYYby2F2h3s57hWs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6117, 0.9947, 0.7521, -0.3782, -0.5152, -0.4145, 0.9984, -0.0212, 0.8223, 0.6147, -0.6765, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3063 left_y=-0.1042 left_z=0.2027 left_yaw=0.0222 left_pitch=0.0455 left_roll=-0.0465 left_gripper=0.9984 right_x=0.249 right_y=0.0019 right_z=0.123 right_yaw=0.0037 right_pitch=-0.3035 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -2.4684, 7.1043, 1.7363, -0.0952, 0.105, -0.1783, -0.0342, -1.1829, 6.8444, 1.6679, -0.0757, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e811f396929a28a3fd2d3f3511fdb7e76dcc5a106f70911d021ed82550fccf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:052b4e5aa7bb845c1fcb54473a8d8197d1835d2f21953aa286af43cc1e295f51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1169631f4fa9864287e0da5851618cb6bd3c3572babcf31e88160e67348ab06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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