adhoc

completed
2026-09-18T03:40:10.822531+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
130.1 s
total steps
108
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 is lying on its side just below the left wrist camera's frame, slightly right of the jaw column, so it sits a few cm toward the base. Moving the left gripper closer to the base and lower to line up over it.
move_to
left_x0.2600left_y-0.0200left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3874, -0.0193, -0.0338, 0.9993, -0.0204, 0.7944, 0.6083, -0.4011, -0.02, -0.0254, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0012 right_z=0.1774 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5949, -1.388, 10.1675, 1.9316, -0.0464, 0.1783, -0.0904, -0.3761, -1.6068, 9.6205, 2.0244, -0.0562, 0.0757, -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": 0.26, "left_y": -0.02, "left_z": 0.1, "left_gripper": 1.0}, "note": "The can is lying on its side just below the left wrist camera's frame, slightly right of the jaw column, so it sits a few cm toward the base. Moving the left gripper closer to the base and lower to line up over it."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe can is now centered on the jaw column, lying radially with its body extending to the bottom edge. Descending to can-center height, slightly toward the base and right, to straddle its body.
move_to
left_x0.2400left_y-0.0300left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1989, 0.6304, 0.2787, -0.2878, -0.141, -0.1177, 0.9993, -0.0212, 0.7998, 0.6151, -0.4324, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.2547 left_y=-0.0224 left_z=0.0935 left_yaw=-0.0318 left_pitch=-0.0565 left_roll=0.006 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.3077, -0.253, 7.2821, 2.2784, -0.2857, -0.0952, -0.0904, -0.1846, -1.5385, 6.6803, 2.0342, -0.0415, -0.0269, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.24, "left_y": -0.03, "left_z": 0.03, "left_gripper": 1.0}, "note": "The can is now centered on the jaw column, lying radially with its body extending to the bottom edge. Descending to can-center height, slightly toward the base and right, to straddle its body."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe can body fills the left wrist view between the two jaws at z≈2.4 cm. Closing the gripper to grasp it across its diameter.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2913, 0.6643, 0.0486, -0.094, -0.2043, -0.1669, 0.9993, -0.0212, 0.8017, 0.6147, -0.4534, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.2329 left_y=-0.0286 left_z=0.024 left_yaw=-0.0431 left_pitch=-0.1165 left_roll=0.0204 left_gripper=0.9993 right_x=0.2863 right_y=0.0011 right_z=0.1679 right_yaw=-0.0005 right_pitch=-0.0534 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.4855, 0.2256, 6.694, 1.9756, -0.2271, -0.1294, -0.0904, -0.1573, -1.3744, 6.9949, 1.9023, -0.0659, -0.0464, -0.0073] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The can body fills the left wrist view between the two jaws at z\u22482.4 cm. Closing the gripper to grasp it across its diameter."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe close was empty (0.009) and the can rolled forward; the top view now shows it lying about 10 cm further out, just left of the burner, and its base shows at the upper right of the left wrist view. Opening and moving above the new can location to re-aim.
move_to
left_x0.3400left_y-0.0500left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3008, 0.6788, 0.025, -0.0261, -0.2253, -0.1879, 0.0094, -0.0212, 0.8017, 0.6147, -0.4778, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0242 left_yaw=-0.0245 left_pitch=-0.0841 left_roll=0.0093 left_gripper=0.0094 right_x=0.2826 right_y=0.0011 right_z=0.1631 right_yaw=-0.0005 right_pitch=-0.0778 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [-0.3077, -0.3897, 6.7761, 1.8339, -0.1001, 0.0317, 0.7741, -0.0342, -1.2376, 6.9402, 1.8926, -0.0659, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.05, "left_z": 0.1, "left_gripper": 1.0}, "note": "The close was empty (0.009) and the can rolled forward; the top view now shows it lying about 10 cm further out, just left of the burner, and its base shows at the upper right of the left wrist view. Opening and moving above the new can location to re-aim."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe can now appears in the upper part of the left wrist view, slightly right of the jaw column, so it is still ~8 cm further out. Advancing radially and a bit right to center over its body before descending.
move_to
left_x0.4100left_y-0.0750left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2573, 1.1809, 0.4721, -0.0059, -0.1989, -0.1696, 0.9951, -0.0212, 0.8062, 0.6147, -0.5007, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3275 left_y=-0.0464 left_z=0.083 left_yaw=-0.012 left_pitch=-0.1221 left_roll=0.0162 left_gripper=0.9951 right_x=0.2793 right_y=0.0012 right_z=0.1575 right_yaw=-0.0004 right_pitch=-0.1053 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [0.3761, -3.6171, 8.7043, 1.6288, 0.0024, 0.0708, -0.1148, -0.1709, -1.5658, 7.1179, 1.8437, -0.0415, -0.0513, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.075, "left_z": 0.08, "left_gripper": 1.0}, "note": "The can now appears in the upper part of the left wrist view, slightly right of the jaw column, so it is still ~8 cm further out. Advancing radially and a bit right to center over its body before descending."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe can body now fills the left wrist view centered between the jaws, lying radially. Descending to can-center height to grasp across its diameter.
move_to
left_x0.4100left_y-0.0750left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2756, 1.5555, 0.7197, 0.0528, -0.2077, -0.1928, 0.9984, -0.0212, 0.8097, 0.6147, -0.527, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3929 left_y=-0.0695 left_z=0.0632 left_yaw=-0.0075 left_pitch=-0.1864 left_roll=0.022 left_gripper=0.9984 right_x=0.2752 right_y=0.0012 right_z=0.1517 right_yaw=-0.0007 right_pitch=-0.135 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [-0.4718, -6.7487, 7.8291, 1.8144, -0.1734, 0.0073, -0.1783, -0.0615, -1.5111, 6.8991, 1.8291, -0.0513, -0.0513, -0.0122] 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_x": 0.41, "left_y": -0.075, "left_z": 0.03, "left_gripper": 1.0}, "note": "The can body now fills the left wrist view centered between the jaws, lying radially. Descending to can-center height to grasp across its diameter."})
tool
executing move_to over 3 steps (0.3s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteGripper is at z≈2.7 cm with the can body spanning the frame between both jaw tips. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2802, 1.6989, 0.7311, 0.1398, -0.2066, -0.1959, 0.9984, -0.0212, 0.8116, 0.6147, -0.5495, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4016 left_y=-0.0741 left_z=0.0272 left_yaw=-0.0088 left_pitch=-0.2299 left_roll=0.0312 left_gripper=0.9984 right_x=0.2716 right_y=0.0014 right_z=0.1471 right_yaw=-0.0003 right_pitch=-0.1594 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.1573, -8.5949, 5.1487, 1.9853, -0.1099, 0.0073, -0.1734, -0.0615, -1.306, 6.8718, 1.9658, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Gripper is at z\u22482.7 cm with the can body spanning the frame between both jaw tips. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteGripper settled at 0.71 (~6.7 cm), consistent with the can's diameter. Lifting to verify the can comes up with the jaws.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2802, 1.726, 0.7216, 0.141, -0.207, -0.197, 0.7099, -0.0212, 0.812, 0.6147, -0.5728, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3962 left_y=-0.0725 left_z=0.0137 left_yaw=-0.0054 left_pitch=-0.264 left_roll=0.0406 left_gripper=0.7099 right_x=0.2676 right_y=0.0015 right_z=0.1428 right_yaw=-0.0002 right_pitch=-0.1831 right_roll=0.0035 right_gripper=0.9996 state[joint_eff]: [-0.0205, -9.6615, 6.2291, 1.4725, -0.1294, -0.0513, 1.033, -0.0752, -1.2239, 6.9538, 1.79, -0.0708, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper settled at 0.71 (~6.7 cm), consistent with the can's diameter. Lifting to verify the can comes up with the jaws."})
tool
executing move_to over 11 steps (1.1s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe can lifted with the gripper (visible in the top view held horizontally). Carrying it to the right over the burner, which sits about 18 cm to the arm's right of the current position.
move_to
left_x0.4100left_y-0.2600left_z0.1700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2802, 1.4956, 1.0901, -0.5186, -0.2062, -0.2043, 0.711, -0.0212, 0.8139, 0.6147, -0.6117, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.391 left_y=-0.0711 left_z=0.1399 left_yaw=0.0031 left_pitch=-0.3222 left_roll=0.0526 left_gripper=0.711 right_x=0.2608 right_y=0.0016 right_z=0.1356 right_yaw=-0.0 right_pitch=-0.2239 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.3624, -9.0872, 9.6342, 1.7363, -0.0904, 0.0415, 0.7302, -0.2256, -1.3197, 6.7897, 1.873, -0.0659, -0.0464, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.26, "left_z": 0.17}, "note": "The can lifted with the gripper (visible in the top view held horizontally). Carrying it to the right over the burner, which sits about 18 cm to the arm's right of the current position."})
tool
executing move_to over 17 steps (1.7s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe gripper and can are now above the burner coil (visible around the can in the left wrist view). Lowering the can onto the burner surface.
move_to
left_x0.4100left_y-0.2600left_z0.0700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7231, 1.9285, 1.6794, -0.8661, -0.4225, -0.5964, 0.7129, -0.0212, 0.8173, 0.6147, -0.635, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4 left_y=-0.2516 left_z=0.1496 left_yaw=-0.0023 left_pitch=-0.3868 left_roll=0.0737 left_gripper=0.7129 right_x=0.2567 right_y=0.0017 right_z=0.1309 right_yaw=0.0001 right_pitch=-0.2506 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.4991, -10.441, 9.5932, 1.2381, -0.4908, 0.0562, 0.7204, -0.1983, -1.265, 6.8171, 1.6825, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.26, "left_z": 0.07}, "note": "The gripper and can are now above the burner coil (visible around the can in the left wrist view). Lowering the can onto the burner surface."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteDescent stopped at z≈8.5 cm, above the 7 cm target, indicating the can has touched down 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]: [-0.725, 1.9926, 1.5143, -0.6506, -0.429, -0.6075, 0.7156, -0.0212, 0.8181, 0.6147, -0.6575, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4043 left_y=-0.2552 left_z=0.0849 left_yaw=0.0106 left_pitch=-0.3927 left_roll=0.0815 left_gripper=0.7156 right_x=0.2525 right_y=0.0018 right_z=0.127 right_yaw=0.0002 right_pitch=-0.2738 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [0.1846, -8.1983, 5.5316, 1.1306, -0.1392, 0.1001, 0.6667, -0.3077, -1.2103, 6.7761, 1.6239, -0.0708, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at z\u22488.5 cm, above the 7 cm target, indicating the can has touched down on the burner. Opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
Released. Now lifting the arm clear to verify the placement in the top view.
agent noteGripper is open and the can appears to rest on the burner coil in the wrist view. Retracting the left arm up and back toward home so the top camera can confirm the placement.
move_to
left_x0.3000left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7254, 2.0037, 1.5051, -0.6376, -0.4309, -0.6113, 0.9959, -0.0212, 0.8185, 0.6147, -0.6739, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4042 left_y=-0.255 left_z=0.0782 left_yaw=0.0159 left_pitch=-0.3967 left_roll=0.0859 left_gripper=0.9959 right_x=0.2494 right_y=0.0018 right_z=0.1243 right_yaw=0.0004 right_pitch=-0.2906 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.0205, -11.6444, 7.241, 0.9011, -0.2613, 0.0024, -0.1148, -0.0752, -1.1282, 6.8034, 1.6288, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
Released. Now lifting the arm clear to verify the placement in the top view.
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2}, "note": "Gripper is open and the can appears to rest on the burner coil in the wrist view. Retracting the left arm up and back toward home so the top camera can confirm the placement."})
tool
executing move_to over 19 steps (1.9s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe left arm grasped the can lying on its side (gripper settled at 0.71 ≈ 6.7 cm) after one empty close that rolled the can forward, carried it to the burner and released it; the top view shows the can resting on the burner plate over the coil.
done
hindsightIn this scene the can lies on its side near the left arm's base (initial location roughly left x≈0.24, y≈-0.03). A cylindrical can on its side rolls away when the jaws touch it off-center; after an empty close, re-locate from the wrist camera — it ended up at about x≈0.40, y≈-0.07. The burner top is at about left x≈0.40, y≈-0.26 and its surface is ~5 cm high (a can lying on it stopped the descent at z≈0.085). Grasping the can at z≈0.03 with the jaws across its diameter worked; the readback ~0.71 confirms the grasp.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3248, 1.224, 1.1385, -0.9295, -0.2512, -0.2726, 0.997, -0.0212, 0.8223, 0.6147, -0.6838, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3059 left_y=-0.0529 left_z=0.1944 left_yaw=0.0477 left_pitch=-0.3936 left_roll=0.0779 left_gripper=0.997 right_x=0.2476 right_y=0.0019 right_z=0.1219 right_yaw=0.0004 right_pitch=-0.3043 right_roll=0.0062 right_gripper=0.9996 state[joint_eff]: [0.0205, -4.6154, 7.0496, 1.3162, -0.1099, 0.1245, 0.1001, -0.0205, -1.3197, 6.7214, 1.4676, -0.0415, -0.0464, -0.0073] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
done({"summary": "The left arm grasped the can lying on its side (gripper settled at 0.71 \u2248 6.7 cm) after one empty close that rolled the can forward, carried it to the burner and released it; the top view shows the can resting on the burner plate over the coil.", "hindsight": "In this scene the can lies on its side near the left arm's base (initial location roughly left x\u22480.24, y\u2248-0.03). A cylindrical can on its side rolls away when the jaws touch it off-center; after an empty close, re-locate from the wrist camera \u2014 it ended up at about x\u22480.40, y\u2248-0.07. The burner top is at about left x\u22480.40, y\u2248-0.26 and its surface is ~5 cm high (a can lying on it stopped the descent at z\u22480.085). Grasping the can at z\u22480.03 with the jaws across its diameter worked; the readback ~0.71 confirms the grasp."})
tool
done: The left arm grasped the can lying on its side (gripper settled at 0.71 ≈ 6.7 cm) after one empty close that rolled the can forward, carried it to the burner and released it; the top view shows the can resting on the burner plate over the coil.
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 · 20.03 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3874, -0.0193, -0.0338, 0.9993, -0.0204, 0.7944, 0.6083, -0.4011, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0012 right_z=0.1774 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.388, 10.1675, 1.9316, -0.0464, 0.1783, -0.0904, -0.3761, -1.6068, 9.6205, 2.0244, -0.0562, 0.0757, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f20428279fcd2f88bdd24fc4776d329afca77d23e8f70f3f8664f9e0209b75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14281cdd136c0589aa1d4b8aeb681fe3c10ba00dbdd7ed80702225e596cd575b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:ca4d0c6a30e72c7b2db6006943f8993edec9b9d3b5e5784a3e2c5a838ec613d3",
        "media_type": "image/png",
        "type": "base64"
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    }
  ],
  "role": "user"
}
wire blob e3f20428279f
wire blob 14281cdd136c
wire blob ca4d0c6a30e7
call 1 attempt 0 · /messages · status 200 · 9.962 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, 0.7933, 0.6048, -0.3874, -0.0193, -0.0338, 0.9993, -0.0204, 0.7944, 0.6083, -0.4011, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0012 right_z=0.1774 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.388, 10.1675, 1.9316, -0.0464, 0.1783, -0.0904, -0.3761, -1.6068, 9.6205, 2.0244, -0.0562, 0.0757, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f20428279fcd2f88bdd24fc4776d329afca77d23e8f70f3f8664f9e0209b75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14281cdd136c0589aa1d4b8aeb681fe3c10ba00dbdd7ed80702225e596cd575b",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4d0c6a30e72c7b2db6006943f8993edec9b9d3b5e5784a3e2c5a838ec613d3",
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012194bjUaRMzBcSAr7pVufr",
      "input": {
        "note": "The can is lying on its side just below the left wrist camera's frame, slightly right of the jaw column, so it sits a few cm toward the base. Moving the left gripper closer to the base and lower to line up over it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.26,
          "left_y": -0.02,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012194bjUaRMzBcSAr7pVufr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1989, 0.6304, 0.2787, -0.2878, -0.141, -0.1177, 0.9993, -0.0212, 0.7998, 0.6151, -0.4324, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2547 left_y=-0.0224 left_z=0.0935 left_yaw=-0.0318 left_pitch=-0.0565 left_roll=0.006 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.253, 7.2821, 2.2784, -0.2857, -0.0952, -0.0904, -0.1846, -1.5385, 6.6803, 2.0342, -0.0415, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9977d5badb120fbe3edaee2297e7ddd4ee45b443f406eb7a9f4a835af883e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f963c3766054e05a1a27145e162262840b166914ab4892bd6d9ee49b6c48da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5642cd0165e6737b0193816ecad1728f0922274e3b1498cf741b83c1e8d34fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob df9977d5badb
wire blob 0f963c376605
wire blob 5642cd0165e6
call 2 attempt 0 · /messages · status 200 · 5.829 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, 0.7933, 0.6048, -0.3874, -0.0193, -0.0338, 0.9993, -0.0204, 0.7944, 0.6083, -0.4011, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0012 right_z=0.1774 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.388, 10.1675, 1.9316, -0.0464, 0.1783, -0.0904, -0.3761, -1.6068, 9.6205, 2.0244, -0.0562, 0.0757, -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]: [-0.1989, 0.6304, 0.2787, -0.2878, -0.141, -0.1177, 0.9993, -0.0212, 0.7998, 0.6151, -0.4324, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2547 left_y=-0.0224 left_z=0.0935 left_yaw=-0.0318 left_pitch=-0.0565 left_roll=0.006 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.253, 7.2821, 2.2784, -0.2857, -0.0952, -0.0904, -0.1846, -1.5385, 6.6803, 2.0342, -0.0415, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9977d5badb120fbe3edaee2297e7ddd4ee45b443f406eb7a9f4a835af883e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f963c3766054e05a1a27145e162262840b166914ab4892bd6d9ee49b6c48da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5642cd0165e6737b0193816ecad1728f0922274e3b1498cf741b83c1e8d34fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob df9977d5badb]
[blob 0f963c376605]
[blob 5642cd0165e6]
{
  "content": [
    {
      "signature": "CAQSwgoKEAgRGAI4AUIIdGhpbmtpbmcSDFFcDVfJUNdygtn3DhoM/CxCBsMFYTWkynUyIjDumh1qOm0qCK9k9ioNiL/SmkqvXPkFkquoQkhBR8PFzk+D+XXwAKUiqTYAWomA9SEq3wl7eoN82F3VrvVyqqyetpsKN4tlXqoRKjpr2eElVbhRRqZnEm6AdFlSYVITVHYoaiGydLiWk71b545rsNwaP1fJBQWAZfLPK7fb3HYH4WIy1ijtszRbG/nAjutsaybrLU4LvU78WuCLCN9dlqBkJRtvyDtllPd2TgtONZtQDtNzOU3BRsdkN6bUie8/Zb6L40J/rbpUZoeHeJ3oN2Iupm1W/sn26envyUGPqCn0bhY9QGVXolaoaYbNVchojjwUOxQ5Ah9abDFVqtbeXbXG0jZbCwH0g6A2tqdGWuNO3Tnaa0FreM7oNEla/kzdcqV49Ogo1ZokrBYNQaiLZ5KhmlbOZ/Z2cIX8FHVSXawMlPLhBaO1z7aQ6o4GtrAtUW/THiJhDo9oRtH7DzzLnWBZ+JBC0qfOvvOcV9dO11bPil16udsOTAXhxB6mkwhi/zXDpscp1qKhzqscWMaeJReTIYOcx6MQwgMI09ATOlhlAkA1LtyuEULEQDWZCj4dgo3H/u8aLeIlwachjiEz9AHBC/3D2NZykWY/vdHLckDQmwBF/qYLC1M0WoVTos9EVKXfhMS6JdIhGc47kxzOe7rMG+M9DkEVazq9DCo7VbPQI+3h44J4Y0WmrUQlErRDBuWdq95qqffNnNM+sHvwrPWw/7Lwbkmd16ioH4fQeDOs+o6azxHGUptELgAtqVk4l4IEWX2hKt6OquFRxkyi0ECXcljkvLOqqQHXxpvBR88JSN3AEd1OG8pQkBUzBRVwGdoYX4Z1AyXpm4ezCbTCPeXcgx+sC4pyVF/K2bogPKaX6rfYzpcKFeFWd920AWMVhPAJ4vQUulxpimoEJK/hQIxoBDRkeFnexbNV1PEB6VlN/kipXyBzvZ1/EDDbDtBMSJeOS1EJJVOp9FmeK637vo9wp6afdDp0kWG3ejJnov8SeTZMZDXOXK9fYTKNNVSFtPGNCMj83akO/dlU3U5zLKaGOdA5fmF4OHeiG7yX/KSOKk/3uQqLaNPo1bogwkizchixIHLN5uXESbAbDgq/LbeSXU071sTvHJjTBQ1MRbTxJiOmkG47fQg2NHcIOCq/Hd4ADDAb13+E8mJnBChMCLQ077+6AHUyYL2WSXknMLUiZymwiQ6GxLJtB1gLFdET/B620sEPxo/uBlPrU6W9UM/+3bwKyz2ZZEhrBP2e6UQ0P1J8sml6X1p2bZstVW+GJRBs4RyLRuMw3hmKwSH3LpxiSgqIKJqQZaoIRJDQaGxxO6sv42/wD8Pv3ufc1Ega2FYyn2WXo2O/YvVgFcLJfJK8TjK/m1xuCbpZ98qo2NxBYPHF4XIQzO9K5BFJ3MSugIcGwRFHLKfgon9MRx6eSnRktUlaxZpedjxZZk6AFvj3cYzHPCZr7xQSHyOYWO4GjkoMvWo0B9evKG5Bgnolh88a00veZ4UTTm12ZfyXnVYcsuAYGMQavEKY87o9ZCDxR+QTB7hlNc7j6q8mkh/yDyZFOHkaaq45+8lq/GLJlOBhAn0uSL3fKOsTm+7PgIbEVZsuM+ewDkkiRP+EiqF/JVHzYG0VPLLhtmzzs+nm/R9wR+sWaO0aSnvUlsuULCCpzOmLQkLbKkjZXDHNg9OIqqB39x2HHuSsk0lsPFU3SqBHrJ4MyBK/7rcpUDUgEfMwQa5m9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F37owcBkgrrjfp144ZJZHp",
      "input": {
        "note": "The can is now centered on the jaw column, lying radially with its body extending to the bottom edge. Descending to can-center height, slightly toward the base and right, to straddle its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.24,
          "left_y": -0.03,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01F37owcBkgrrjfp144ZJZHp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2913, 0.6643, 0.0486, -0.094, -0.2043, -0.1669, 0.9993, -0.0212, 0.8017, 0.6147, -0.4534, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2329 left_y=-0.0286 left_z=0.024 left_yaw=-0.0431 left_pitch=-0.1165 left_roll=0.0204 left_gripper=0.9993 right_x=0.2863 right_y=0.0011 right_z=0.1679 right_yaw=-0.0005 right_pitch=-0.0534 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, 0.2256, 6.694, 1.9756, -0.2271, -0.1294, -0.0904, -0.1573, -1.3744, 6.9949, 1.9023, -0.0659, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1df98566ccfb93bdf502d5c1c4f0ed1a21e6e0b16542bb5fb8a4a214daef571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e702ce0e4945a3db62e0a4a4c8c467ca0098063ed5c3168a657798d4f4d6aadc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c1afb79528697abb6d5f9bf88b1d4454035a9ce0d89d7b6f49d69f9465e8544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a1df98566ccf
wire blob e702ce0e4945
wire blob 8c1afb795286
call 3 attempt 0 · /messages · status 200 · 11.53 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, 0.7933, 0.6048, -0.3874, -0.0193, -0.0338, 0.9993, -0.0204, 0.7944, 0.6083, -0.4011, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0012 right_z=0.1774 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.388, 10.1675, 1.9316, -0.0464, 0.1783, -0.0904, -0.3761, -1.6068, 9.6205, 2.0244, -0.0562, 0.0757, -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]: [-0.1989, 0.6304, 0.2787, -0.2878, -0.141, -0.1177, 0.9993, -0.0212, 0.7998, 0.6151, -0.4324, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2547 left_y=-0.0224 left_z=0.0935 left_yaw=-0.0318 left_pitch=-0.0565 left_roll=0.006 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.253, 7.2821, 2.2784, -0.2857, -0.0952, -0.0904, -0.1846, -1.5385, 6.6803, 2.0342, -0.0415, -0.0269, -0.0171]",
      "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]: [-0.2913, 0.6643, 0.0486, -0.094, -0.2043, -0.1669, 0.9993, -0.0212, 0.8017, 0.6147, -0.4534, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2329 left_y=-0.0286 left_z=0.024 left_yaw=-0.0431 left_pitch=-0.1165 left_roll=0.0204 left_gripper=0.9993 right_x=0.2863 right_y=0.0011 right_z=0.1679 right_yaw=-0.0005 right_pitch=-0.0534 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, 0.2256, 6.694, 1.9756, -0.2271, -0.1294, -0.0904, -0.1573, -1.3744, 6.9949, 1.9023, -0.0659, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1df98566ccfb93bdf502d5c1c4f0ed1a21e6e0b16542bb5fb8a4a214daef571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e702ce0e4945a3db62e0a4a4c8c467ca0098063ed5c3168a657798d4f4d6aadc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c1afb79528697abb6d5f9bf88b1d4454035a9ce0d89d7b6f49d69f9465e8544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a1df98566ccf]
[blob e702ce0e4945]
[blob 8c1afb795286]
{
  "content": [
    {
      "signature": "CAQS5gUKEAgRGAI4AUIIdGhpbmtpbmcSDI46tpfNen8IdA/DphoMjWuNxeCa571D0mpDIjCw9oijpO0NWsb0HTAcwiqzC8iPURqJBUqe2877PV8z39pM9MZ9nR2dQNK1ppyOtiYqgwVKcacIzl9outXWlJGnuxu5kRLI5lVvV/BY3Ts3Som/N6gHzqie2PuVc4Vn0fjyHH5Zp9vEo3L6PKeakpJ0fdM17uytUj2xRoJ5+WR9EyJyGXnXFs8YRHoyHoYYLJfRIx4oyZNex25/9xTQyme4yTQhAovGdLRiNqESs8qg+LcpqMLF02FnHCioGnyAaEomEtA1cl2NYmXZPU5+f6vXPtoMgQ9+PjQomX2UF5N+fBesBGdMCwW8rvTbeK2oL8NhvlP1n5/3fm6MY45uJqq0kh5olZwA7hZcyOxWvddLZckeLg0PmvD+RB9iaod7i2b7JCWNE6/Km6qatD3tQw3I9HKazveSdwYrirfsw4G7mGP9Oc1l83BAhBmnEUvT3KsQsQHfMog43NoenkSG3TjLdEvEYnpjrbIrVZh+rTd0qfRlsQdBhbxob17/1zuK7ueoRSHZbt4nN8w9JI6mcCw1TGUQRVxH+HQQTPhsvIeI1wBar3ZEOnydRKJs3XoONFgppivSmO2eLyiING2jxVVnSNCpsYAI00Xyc8W7s+acCH5inNh1D6yAh/TO+qBrMIFNI4dEWYTlwP6tbFVpd8pxQsmQp9Srcrj55dDum3nSAqWa0or7/LLquAlqughYYeCXyMqfPvRp47SdFDvTyBekK7OoocGEOIOgjVYVqP3tZXIugT1IxYtlqPtWN+8CZHcI8MTezYIaaRaNehx/79YDKTowfbpM5J1dK9NzlAbQBmufEQcvQwJ9Sw3DnrFjza1vPh5aFvpxXafH6tjx2CRkb91DEWgeVPN1IJDN4GgnEUWlHROEptVwLc9ummdpBRzgISTI2n+sCPn1aFiqCOZQaCqmp0v3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wr7S8jJaA1Gin7P4Yi69Li",
      "input": {
        "note": "The can body fills the left wrist view between the two jaws at z≈2.4 cm. Closing the gripper to grasp it 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_01Wr7S8jJaA1Gin7P4Yi69Li",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3008, 0.6788, 0.025, -0.0261, -0.2253, -0.1879, 0.0094, -0.0212, 0.8017, 0.6147, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0242 left_yaw=-0.0245 left_pitch=-0.0841 left_roll=0.0093 left_gripper=0.0094 right_x=0.2826 right_y=0.0011 right_z=0.1631 right_yaw=-0.0005 right_pitch=-0.0778 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.3897, 6.7761, 1.8339, -0.1001, 0.0317, 0.7741, -0.0342, -1.2376, 6.9402, 1.8926, -0.0659, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f58b7c27ad3a5562bd185a82e652b6a96a9a06d270e856317d0ed46052da764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5bd113efea3ea91e7495322b5f495834e5908920296347084dbbd54f873319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:130423adb16f51b7c956e1bdd98b9c7d48db49cb9d023945ab53a2dbc97ac073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2f58b7c27ad3
wire blob 2f5bd113efea
wire blob 130423adb16f
call 4 attempt 0 · /messages · status 200 · 7.925 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]: [-0.1989, 0.6304, 0.2787, -0.2878, -0.141, -0.1177, 0.9993, -0.0212, 0.7998, 0.6151, -0.4324, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2547 left_y=-0.0224 left_z=0.0935 left_yaw=-0.0318 left_pitch=-0.0565 left_roll=0.006 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0301 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.253, 7.2821, 2.2784, -0.2857, -0.0952, -0.0904, -0.1846, -1.5385, 6.6803, 2.0342, -0.0415, -0.0269, -0.0171]",
      "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]: [-0.2913, 0.6643, 0.0486, -0.094, -0.2043, -0.1669, 0.9993, -0.0212, 0.8017, 0.6147, -0.4534, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2329 left_y=-0.0286 left_z=0.024 left_yaw=-0.0431 left_pitch=-0.1165 left_roll=0.0204 left_gripper=0.9993 right_x=0.2863 right_y=0.0011 right_z=0.1679 right_yaw=-0.0005 right_pitch=-0.0534 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, 0.2256, 6.694, 1.9756, -0.2271, -0.1294, -0.0904, -0.1573, -1.3744, 6.9949, 1.9023, -0.0659, -0.0464, -0.0073]",
      "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]: [-0.3008, 0.6788, 0.025, -0.0261, -0.2253, -0.1879, 0.0094, -0.0212, 0.8017, 0.6147, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0242 left_yaw=-0.0245 left_pitch=-0.0841 left_roll=0.0093 left_gripper=0.0094 right_x=0.2826 right_y=0.0011 right_z=0.1631 right_yaw=-0.0005 right_pitch=-0.0778 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.3897, 6.7761, 1.8339, -0.1001, 0.0317, 0.7741, -0.0342, -1.2376, 6.9402, 1.8926, -0.0659, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f58b7c27ad3a5562bd185a82e652b6a96a9a06d270e856317d0ed46052da764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5bd113efea3ea91e7495322b5f495834e5908920296347084dbbd54f873319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130423adb16f51b7c956e1bdd98b9c7d48db49cb9d023945ab53a2dbc97ac073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2f58b7c27ad3]
[blob 2f5bd113efea]
[blob 130423adb16f]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SxYmTP3NN6HZZBcnA5ZG8a",
      "input": {
        "note": "The close was empty (0.009) and the can rolled forward; the top view now shows it lying about 10 cm further out, just left of the burner, and its base shows at the upper right of the left wrist view. Opening and moving above the new can location to re-aim.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.05,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SxYmTP3NN6HZZBcnA5ZG8a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2573, 1.1809, 0.4721, -0.0059, -0.1989, -0.1696, 0.9951, -0.0212, 0.8062, 0.6147, -0.5007, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3275 left_y=-0.0464 left_z=0.083 left_yaw=-0.012 left_pitch=-0.1221 left_roll=0.0162 left_gripper=0.9951 right_x=0.2793 right_y=0.0012 right_z=0.1575 right_yaw=-0.0004 right_pitch=-0.1053 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -3.6171, 8.7043, 1.6288, 0.0024, 0.0708, -0.1148, -0.1709, -1.5658, 7.1179, 1.8437, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8a10b9229b7916bc8b6d3891a68b01dc7634cb5a6c3a6f0211d04bca7d1103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27d99bd007f78ea7fc937192ae4bb0c29cb5a07dffe6afb3e5a2d10f44edca38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8ad424b2586f5abed171c955d057c49286e91e64f7591c19525d82928334c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dc8a10b9229b
wire blob 27d99bd007f7
wire blob b8ad424b2586
call 5 attempt 0 · /messages · status 200 · 8.237 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]: [-0.2913, 0.6643, 0.0486, -0.094, -0.2043, -0.1669, 0.9993, -0.0212, 0.8017, 0.6147, -0.4534, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2329 left_y=-0.0286 left_z=0.024 left_yaw=-0.0431 left_pitch=-0.1165 left_roll=0.0204 left_gripper=0.9993 right_x=0.2863 right_y=0.0011 right_z=0.1679 right_yaw=-0.0005 right_pitch=-0.0534 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, 0.2256, 6.694, 1.9756, -0.2271, -0.1294, -0.0904, -0.1573, -1.3744, 6.9949, 1.9023, -0.0659, -0.0464, -0.0073]",
      "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]: [-0.3008, 0.6788, 0.025, -0.0261, -0.2253, -0.1879, 0.0094, -0.0212, 0.8017, 0.6147, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0242 left_yaw=-0.0245 left_pitch=-0.0841 left_roll=0.0093 left_gripper=0.0094 right_x=0.2826 right_y=0.0011 right_z=0.1631 right_yaw=-0.0005 right_pitch=-0.0778 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.3897, 6.7761, 1.8339, -0.1001, 0.0317, 0.7741, -0.0342, -1.2376, 6.9402, 1.8926, -0.0659, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2573, 1.1809, 0.4721, -0.0059, -0.1989, -0.1696, 0.9951, -0.0212, 0.8062, 0.6147, -0.5007, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3275 left_y=-0.0464 left_z=0.083 left_yaw=-0.012 left_pitch=-0.1221 left_roll=0.0162 left_gripper=0.9951 right_x=0.2793 right_y=0.0012 right_z=0.1575 right_yaw=-0.0004 right_pitch=-0.1053 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -3.6171, 8.7043, 1.6288, 0.0024, 0.0708, -0.1148, -0.1709, -1.5658, 7.1179, 1.8437, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8a10b9229b7916bc8b6d3891a68b01dc7634cb5a6c3a6f0211d04bca7d1103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27d99bd007f78ea7fc937192ae4bb0c29cb5a07dffe6afb3e5a2d10f44edca38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8ad424b2586f5abed171c955d057c49286e91e64f7591c19525d82928334c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dc8a10b9229b]
[blob 27d99bd007f7]
[blob b8ad424b2586]
{
  "content": [
    {
      "signature": "CAQSxgkKEAgRGAI4AUIIdGhpbmtpbmcSDBH8k77tLGpBc4C2fRoMR/hSENRJRCCBfUXxIjCw/Mwwbp1ZKKkT3VP21IR/eTT+p/Fw2rWJsZ/mL5vwkyb5jD496pR0TIoATrC0GU4q4wi+M6o/1MNSTqSVWvGT3nv2WmHibiUfUUDoLOIKAdY/Iwr5cu0EMN5SXz+EEb1GFsP3ojE6ku49/wRHxIYwABBhXk3ilWtQjM9veRvowlIG1dqMFpZ7ZDALPkLA4dokoeicONqO2zHIe7DxXGxGBmiXBCP39K0RjSZtP/E+QyYwR56aQ0PluHf2o9hpOE9PlG25oue6FeFrz1W9ByGK41f4cPvfiqbMur9WG07AOPU0fR923POddi+1Bounko/Yl2xA/kQp9dfCsL0wBCw/hlO007kVcFlhjm6jSnlnNxKg+CR+fvBaP+GjXksoAX5owE3aa6A42HBEcR6YwILHh41ctuwCCAuutyYytb1E04i0IbQTh1BQx/zyjBLphdC1IZ7NunTK7d8gOFuku3ymTmN7YecxT7Yae9/tver8p8hNegc14juEYX1r+uAO1GvncdGO3DS0ZTAkZJU+r7W1fvV4ucfUN42RTLaHrtB1qlLZfid/aXBuv5T+Wh2XvHD5qhEd9UocbISLzaHoaCuwhvyCF1dTjVqNjJFX3UqcWchBUQ0lTRjQ4wAaMrOhyjJIDl1s24AUcUwQCX/rOD/Ng8AZIulIlxEWJvAw3Z7YJnQskw2HtMWQMVu4g8+vtEfTTgV5HoxWrx6SfP3vW1w1x7kXXviGnHCyvYgyO9ahAau5ZuHf3MEDOWn2QnzlBDaKmB2C6KlvbdkKevKrOpKzGpU4zxZp2UTXtwrJzXE5woksyH5IjNQQwQsuCF4FeZInZQzfu92t8dm8XMCPRdNKZPkR5BM6joovFBU+3sVTBEtgllhezfuYP9+2v2szrUtTfE8PdTxuN59n0P1BZdC5+mUsL8aoThscb/9Y4I9WHRfjoQQtyjyRQAP4WbeCg0X8EA0wmoVDXRy9GMh+xc+yKyJmJSK3bXgSO0Esu7zBZdEH+g+hKuWKIx9fPVACkzmjNaPXVkeTzGplAmqMXbyzWeW3XyepcIfrmdR4alOG5tQEfTDYSqXqlbgEawNnBetV3S8dSvwA3SZpfGN/SyAW9vNJ82O0ZeYDqPmWaphtIIzsvgBXYZlmGHTyNTU/yP4M9aebB/LRlbaRLo57WG6ok5n66qQHylNRkvnotuYi6oC9pggHFQDOkqbU9YWnA9zwu0SSVpGeUJYV1yZuSsurFOcWaqpNE6kihtalScazBmLaaxAGwOB6Ads51MYWrpHIEmqD33KRW1K6cXhuKWBdBQ0SE7yKRjYcRLRBsIK6L0H5mOnVBOQDCpMBb9s+uuXVzdve4aFm2Kkc7C2x0X+fd2u944lV1y++z6nzP/nkiZbKNGhrlp16Sr/4Hgv4cB/Q/jXzRW9ApsqpfFU7M1bMkhkVAnm1RlZMcbhIRw/fc8SBopFQsrPtVYo+bEmOerAay0HUvVPm7CWFlVj2T6aKRvSDqpMGU9oJi/w8QT2EdodtnHFr1yKm8Quu2q4fMwFypurHtqYIGTflaDxpWN0zJnymqLBYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014TBL3nSay8utGuSazyudqy",
      "input": {
        "note": "The can now appears in the upper part of the left wrist view, slightly right of the jaw column, so it is still ~8 cm further out. Advancing radially and a bit right to center over its body before descending.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.075,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014TBL3nSay8utGuSazyudqy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2756, 1.5555, 0.7197, 0.0528, -0.2077, -0.1928, 0.9984, -0.0212, 0.8097, 0.6147, -0.527, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3929 left_y=-0.0695 left_z=0.0632 left_yaw=-0.0075 left_pitch=-0.1864 left_roll=0.022 left_gripper=0.9984 right_x=0.2752 right_y=0.0012 right_z=0.1517 right_yaw=-0.0007 right_pitch=-0.135 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.7487, 7.8291, 1.8144, -0.1734, 0.0073, -0.1783, -0.0615, -1.5111, 6.8991, 1.8291, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:245210bd9325ffade2425c82a7013adda7807ce365a77350e315006f78fa6153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f5e176d87f20d01415b51e27308bb04866ad74ca9a2ab1cceb7634aa52ce5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:273774b6e6f7c6bb06f9152bd271a0865ca54768dd939280584c046b89a0f707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 245210bd9325
wire blob 4f5e176d87f2
wire blob 273774b6e6f7
call 6 attempt 0 · /messages · status 200 · 4.52 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]: [-0.3008, 0.6788, 0.025, -0.0261, -0.2253, -0.1879, 0.0094, -0.0212, 0.8017, 0.6147, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0242 left_yaw=-0.0245 left_pitch=-0.0841 left_roll=0.0093 left_gripper=0.0094 right_x=0.2826 right_y=0.0011 right_z=0.1631 right_yaw=-0.0005 right_pitch=-0.0778 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -0.3897, 6.7761, 1.8339, -0.1001, 0.0317, 0.7741, -0.0342, -1.2376, 6.9402, 1.8926, -0.0659, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2573, 1.1809, 0.4721, -0.0059, -0.1989, -0.1696, 0.9951, -0.0212, 0.8062, 0.6147, -0.5007, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3275 left_y=-0.0464 left_z=0.083 left_yaw=-0.012 left_pitch=-0.1221 left_roll=0.0162 left_gripper=0.9951 right_x=0.2793 right_y=0.0012 right_z=0.1575 right_yaw=-0.0004 right_pitch=-0.1053 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -3.6171, 8.7043, 1.6288, 0.0024, 0.0708, -0.1148, -0.1709, -1.5658, 7.1179, 1.8437, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.2756, 1.5555, 0.7197, 0.0528, -0.2077, -0.1928, 0.9984, -0.0212, 0.8097, 0.6147, -0.527, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3929 left_y=-0.0695 left_z=0.0632 left_yaw=-0.0075 left_pitch=-0.1864 left_roll=0.022 left_gripper=0.9984 right_x=0.2752 right_y=0.0012 right_z=0.1517 right_yaw=-0.0007 right_pitch=-0.135 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.7487, 7.8291, 1.8144, -0.1734, 0.0073, -0.1783, -0.0615, -1.5111, 6.8991, 1.8291, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:245210bd9325ffade2425c82a7013adda7807ce365a77350e315006f78fa6153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f5e176d87f20d01415b51e27308bb04866ad74ca9a2ab1cceb7634aa52ce5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273774b6e6f7c6bb06f9152bd271a0865ca54768dd939280584c046b89a0f707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 245210bd9325]
[blob 4f5e176d87f2]
[blob 273774b6e6f7]
{
  "content": [
    {
      "signature": "CAQSlggKEAgRGAI4AUIIdGhpbmtpbmcSDJNedxjWd9Xi5I8jvBoMfiOzju1e9DEtOYyCIjBBDOg2L4+H2WwUq5bwu5bfevU9/JSuMfutcQWoORKSWQugSko8pmQnqnql/5N6C4cqswfMPn3EODZ4Ez9YuiPXlDvQ9SzhLqB1BB1NqHtYoEP3eskfOLLUCH7yErXhIv3kSoOXb09W332htJ53gAF29Dg3ejUL9UASbeKP9Th181AHxVM6yzboTOwPA/puhWuGpLQiGAjpE2zn7Al7bYcfPsuLNc4RbsYIosvrXZ9EKqXFUbF+2Dr38g5AlJ2SJpguwUT8LAJzJyZXHbGOS99jpG2GAHdrw/IInBhXgP36oS6dAj7JDJsBEF5/pWl6W2OZCt6NVoIoxoaYArBw9MLaKHpOw6AknQ5r9b/UhnC1abCQZRDTyrByJUED21GQ9hsvbTDB6x4aabjGCpDAUC6aHjuQemk/qai0gsLHIsQtadkvlGb7Bj3lNAzKS3nIUYP7/0P/b0271xj/DmPHYMIElHGRg9s7qVlSZwBaLlTSZTIGp6anbIhzUcGI2D5cY+GJBQfEwstJMnXPVPQblHhMe2ZYLNa4F+YBiFuzrKT9PFAtUJNS6hNyZJW0oHGwBw9ZuxgInSpC9lJNJIHaAVr+q+PaGMbcpf0DcIw+/9vO+oSCRKUTU/jDgA2TRO7xtSWoUT1cVIKNiEbHS9aeUj981ylclX9KV2Bte/CNoUPM8Z2GXCEGizdXl1t0Mt1hH5ejmBqUmSAECuSxy0fdjEsPi/e05cDSpxGCwbeIFF2fdUL5CqhlCxCOsPisv2KyycSSaV7WvTVQNuVKlImqG7hjau2prjFMpZBti6XVM9YeEQXRRrFX2lCSibQBrFT1pf9e/WsK05Ctm9PAIyWeGKxV6GLPdiNgUofTu1tM2lP81eP8h9Oi6V1sOYJ62OU9ucLCcKxIfFJFVAjz7zw/a/Wt37kb9ad9iuGpP5OphT5JJj5HPDq/rCC5ucuMqpLPg0mlDWeDjQKJku0J94leJgxTMzyHe+8idI2sSLa+iNCEwVkU5aEqDZ8xxGPzWXbA356vc1SvVJf4TmEyB4NczMV8/dC7MztFJ4V8jlQpwtOYWF9cQKajj85wvXv/5xS0NVa4WF/x/DIdJ0B3t43T7YuKCd6znfvvP6TlZOhoX9fqDosL4rJqIESQyeyWGqLUlF9MNWuS5Qgs0vTWGwveqiYxCHZ6ZfTC/zW1yBh+T+XJcz87btT7tjm9qaXCb1Y0NEznpDq5g3kTQhH2vpvx7yUNW5IOqt5HfuucdJ65MEzz/Mkogr69pFvEYH5+NVjo3wjqA64awatFfYmj1Fj2vXK8fYuJ54rdqdsgsSE/CHELCSM63Rn2UBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FGSVXrTzNZr76uCm4i1Lxb",
      "input": {
        "note": "The can body now fills the left wrist view centered between the jaws, lying radially. Descending to can-center height to grasp across its diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.075,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FGSVXrTzNZr76uCm4i1Lxb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 1.6989, 0.7311, 0.1398, -0.2066, -0.1959, 0.9984, -0.0212, 0.8116, 0.6147, -0.5495, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4016 left_y=-0.0741 left_z=0.0272 left_yaw=-0.0088 left_pitch=-0.2299 left_roll=0.0312 left_gripper=0.9984 right_x=0.2716 right_y=0.0014 right_z=0.1471 right_yaw=-0.0003 right_pitch=-0.1594 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -8.5949, 5.1487, 1.9853, -0.1099, 0.0073, -0.1734, -0.0615, -1.306, 6.8718, 1.9658, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f355d3485df38bc9379381bd1bc5ebb49f62a1cc10340236a5525c0c6d84aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51a7cc54aba48ae19d1de862c2309c237e597bed37f91a088d61c8d4ffd2dfcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:645daf00e70beacd7639dbbadbe0b01f8b5edb4287361170279141cc33c827ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4f355d3485df
wire blob 51a7cc54aba4
wire blob 645daf00e70b
call 7 attempt 0 · /messages · status 200 · 5.458 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]: [-0.2573, 1.1809, 0.4721, -0.0059, -0.1989, -0.1696, 0.9951, -0.0212, 0.8062, 0.6147, -0.5007, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3275 left_y=-0.0464 left_z=0.083 left_yaw=-0.012 left_pitch=-0.1221 left_roll=0.0162 left_gripper=0.9951 right_x=0.2793 right_y=0.0012 right_z=0.1575 right_yaw=-0.0004 right_pitch=-0.1053 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -3.6171, 8.7043, 1.6288, 0.0024, 0.0708, -0.1148, -0.1709, -1.5658, 7.1179, 1.8437, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.2756, 1.5555, 0.7197, 0.0528, -0.2077, -0.1928, 0.9984, -0.0212, 0.8097, 0.6147, -0.527, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3929 left_y=-0.0695 left_z=0.0632 left_yaw=-0.0075 left_pitch=-0.1864 left_roll=0.022 left_gripper=0.9984 right_x=0.2752 right_y=0.0012 right_z=0.1517 right_yaw=-0.0007 right_pitch=-0.135 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.7487, 7.8291, 1.8144, -0.1734, 0.0073, -0.1783, -0.0615, -1.5111, 6.8991, 1.8291, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.2802, 1.6989, 0.7311, 0.1398, -0.2066, -0.1959, 0.9984, -0.0212, 0.8116, 0.6147, -0.5495, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4016 left_y=-0.0741 left_z=0.0272 left_yaw=-0.0088 left_pitch=-0.2299 left_roll=0.0312 left_gripper=0.9984 right_x=0.2716 right_y=0.0014 right_z=0.1471 right_yaw=-0.0003 right_pitch=-0.1594 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -8.5949, 5.1487, 1.9853, -0.1099, 0.0073, -0.1734, -0.0615, -1.306, 6.8718, 1.9658, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f355d3485df38bc9379381bd1bc5ebb49f62a1cc10340236a5525c0c6d84aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51a7cc54aba48ae19d1de862c2309c237e597bed37f91a088d61c8d4ffd2dfcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:645daf00e70beacd7639dbbadbe0b01f8b5edb4287361170279141cc33c827ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4f355d3485df]
[blob 51a7cc54aba4]
[blob 645daf00e70b]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SFVNqoHxepbvov4tVuCeB8",
      "input": {
        "note": "Gripper is at z≈2.7 cm with the can body spanning the frame between both jaw tips. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SFVNqoHxepbvov4tVuCeB8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 1.726, 0.7216, 0.141, -0.207, -0.197, 0.7099, -0.0212, 0.812, 0.6147, -0.5728, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3962 left_y=-0.0725 left_z=0.0137 left_yaw=-0.0054 left_pitch=-0.264 left_roll=0.0406 left_gripper=0.7099 right_x=0.2676 right_y=0.0015 right_z=0.1428 right_yaw=-0.0002 right_pitch=-0.1831 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.6615, 6.2291, 1.4725, -0.1294, -0.0513, 1.033, -0.0752, -1.2239, 6.9538, 1.79, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7164e9f22d45d456811f7cba8a503adc4984778c4b396b82140b4ea25b43229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bce8a73e962c7b2fc73b83754a8c0cbae57fbf398cf49825659493f5d6c7a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99ce9e338c946aa3949950a4e24872490ede3448f4ada2c8d79f609de9c04385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f7164e9f22d4
wire blob 6bce8a73e962
wire blob 99ce9e338c94
call 8 attempt 0 · /messages · status 200 · 10.51 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]: [-0.2756, 1.5555, 0.7197, 0.0528, -0.2077, -0.1928, 0.9984, -0.0212, 0.8097, 0.6147, -0.527, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3929 left_y=-0.0695 left_z=0.0632 left_yaw=-0.0075 left_pitch=-0.1864 left_roll=0.022 left_gripper=0.9984 right_x=0.2752 right_y=0.0012 right_z=0.1517 right_yaw=-0.0007 right_pitch=-0.135 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.7487, 7.8291, 1.8144, -0.1734, 0.0073, -0.1783, -0.0615, -1.5111, 6.8991, 1.8291, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.2802, 1.6989, 0.7311, 0.1398, -0.2066, -0.1959, 0.9984, -0.0212, 0.8116, 0.6147, -0.5495, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4016 left_y=-0.0741 left_z=0.0272 left_yaw=-0.0088 left_pitch=-0.2299 left_roll=0.0312 left_gripper=0.9984 right_x=0.2716 right_y=0.0014 right_z=0.1471 right_yaw=-0.0003 right_pitch=-0.1594 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -8.5949, 5.1487, 1.9853, -0.1099, 0.0073, -0.1734, -0.0615, -1.306, 6.8718, 1.9658, -0.0513, -0.0317, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 1.726, 0.7216, 0.141, -0.207, -0.197, 0.7099, -0.0212, 0.812, 0.6147, -0.5728, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3962 left_y=-0.0725 left_z=0.0137 left_yaw=-0.0054 left_pitch=-0.264 left_roll=0.0406 left_gripper=0.7099 right_x=0.2676 right_y=0.0015 right_z=0.1428 right_yaw=-0.0002 right_pitch=-0.1831 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.6615, 6.2291, 1.4725, -0.1294, -0.0513, 1.033, -0.0752, -1.2239, 6.9538, 1.79, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7164e9f22d45d456811f7cba8a503adc4984778c4b396b82140b4ea25b43229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bce8a73e962c7b2fc73b83754a8c0cbae57fbf398cf49825659493f5d6c7a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99ce9e338c946aa3949950a4e24872490ede3448f4ada2c8d79f609de9c04385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f7164e9f22d4]
[blob 6bce8a73e962]
[blob 99ce9e338c94]
{
  "content": [
    {
      "signature": "CAQSzgYKEAgRGAI4AUIIdGhpbmtpbmcSDKsOkTk2OMgK3+9XsRoMogXU8Qxk39zun/dWIjD6vNCQbY3kL/HxdkMkUn1emVllnfeQB7QQJGgXmtZXmRHF6sMv3Ia0RTbX+Zh++5cq6wXx79EiOENcXcxRNwF6yzbfl+ffOhlBxyHjhAx27oW93l94BEGC+raeRGTCqY/BDfKPm2Lv+Ehnf5wsUvvvZis1iKqC30ZVMDObHmH4weKhfUEPurFQ68m7kXJh4Y0LIODzIfZAWaBBAIBNnYU5k6dfSJBy6lXuNycMA5deX7bFDVRj7PXO68C0yByteXwaugdYBoiYy3do9ZBRDzvvvqhsJjdDiQorb1uQnG2hvj9UMDELYSszrPycXhVrFf45ajGcKG/kKR7oR9LJ9TqoDbwku8DETu7MWWDLrXKN2dalRExbwGNgFzP2ZjTWUsE6W+bPpb9MDrqYL1eOlDpFq127CIesdkiehziKklUJHGaWLw2Pj+gbB9W71fMq9PgkaeGMlbNufVrbKEMtvJZo6eUKSBnafP4w7a+drEF1L72GsG/ENGsbpnw9ap39n7u+p4/GjaWxXO5MN/sU2Zun3cs6RwzfztOSWTdPaHPNAKOmFCSE9STLjPwpvGwFrhfDaTQtCM6vsyLMcoVP/YZipXDBljl4ylxP6xU+4HMr1vWcLPIAl5Roj5iHDz7ZR0ZBcth029psHen4EpiFSnP1FFTA7DKXycZe3f/UrF/vKGyP7fW5EFOsQ7nI0KEnXJjLWh7N7plml7eeap86fuIOObNgD010EKHYLp5T/eSLh82Oju+GU+vzb9SWF6nbfIYKDlyuvLtoHfW1C1nI+YQKzubTG60x/1dLmA3LpLzCSDR+pOocSQXT6k5v0EZ+iu9sAKD+EGqpk3ALJGOExaiVxmVzfY53mC/EpvsoyZrLjeQ7iyWz0GftRL0Kbfvlvb/m2a6Mi8CejfmqRpPAXtir7Y2WOorgEZCmupD0JhcapdYe+poYC1aAV6MV/NwnFTccqdb84ye0xbq8Yamjsqq+7I1aueJThgQU6JcjldO0b7X4oYXbbiGt/7SXXLLee0+DlvTLjCBjDsOB9D5k06MDsaPb6qWyyKTmALpnimAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EH5Tsw1bU4ZbpsvD1UW94S",
      "input": {
        "note": "Gripper settled at 0.71 (~6.7 cm), consistent with the can's diameter. Lifting to verify the can comes up with the jaws.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EH5Tsw1bU4ZbpsvD1UW94S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 1.4956, 1.0901, -0.5186, -0.2062, -0.2043, 0.711, -0.0212, 0.8139, 0.6147, -0.6117, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.391 left_y=-0.0711 left_z=0.1399 left_yaw=0.0031 left_pitch=-0.3222 left_roll=0.0526 left_gripper=0.711 right_x=0.2608 right_y=0.0016 right_z=0.1356 right_yaw=-0.0 right_pitch=-0.2239 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.0872, 9.6342, 1.7363, -0.0904, 0.0415, 0.7302, -0.2256, -1.3197, 6.7897, 1.873, -0.0659, -0.0464, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2151f247728af24ccdcc9f9b01d46e1869844bb752ccd6d3731f7e6d5456189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37dd345e226f0f936d1fb355271de1b18323294b94a749be550388712f8dea01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d0979dc400a1cee07bea3b0792fb1cd60f6e6f960129f15b7e5b4a0df91722f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e2151f247728
wire blob 37dd345e226f
wire blob 1d0979dc400a
call 9 attempt 0 · /messages · status 200 · 7.224 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]: [-0.2802, 1.6989, 0.7311, 0.1398, -0.2066, -0.1959, 0.9984, -0.0212, 0.8116, 0.6147, -0.5495, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4016 left_y=-0.0741 left_z=0.0272 left_yaw=-0.0088 left_pitch=-0.2299 left_roll=0.0312 left_gripper=0.9984 right_x=0.2716 right_y=0.0014 right_z=0.1471 right_yaw=-0.0003 right_pitch=-0.1594 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -8.5949, 5.1487, 1.9853, -0.1099, 0.0073, -0.1734, -0.0615, -1.306, 6.8718, 1.9658, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 1.726, 0.7216, 0.141, -0.207, -0.197, 0.7099, -0.0212, 0.812, 0.6147, -0.5728, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3962 left_y=-0.0725 left_z=0.0137 left_yaw=-0.0054 left_pitch=-0.264 left_roll=0.0406 left_gripper=0.7099 right_x=0.2676 right_y=0.0015 right_z=0.1428 right_yaw=-0.0002 right_pitch=-0.1831 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.6615, 6.2291, 1.4725, -0.1294, -0.0513, 1.033, -0.0752, -1.2239, 6.9538, 1.79, -0.0708, -0.0611, -0.0122]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 1.4956, 1.0901, -0.5186, -0.2062, -0.2043, 0.711, -0.0212, 0.8139, 0.6147, -0.6117, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.391 left_y=-0.0711 left_z=0.1399 left_yaw=0.0031 left_pitch=-0.3222 left_roll=0.0526 left_gripper=0.711 right_x=0.2608 right_y=0.0016 right_z=0.1356 right_yaw=-0.0 right_pitch=-0.2239 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.0872, 9.6342, 1.7363, -0.0904, 0.0415, 0.7302, -0.2256, -1.3197, 6.7897, 1.873, -0.0659, -0.0464, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2151f247728af24ccdcc9f9b01d46e1869844bb752ccd6d3731f7e6d5456189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37dd345e226f0f936d1fb355271de1b18323294b94a749be550388712f8dea01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d0979dc400a1cee07bea3b0792fb1cd60f6e6f960129f15b7e5b4a0df91722f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e2151f247728]
[blob 37dd345e226f]
[blob 1d0979dc400a]
{
  "content": [
    {
      "signature": "CAQSwA0KEAgRGAI4AUIIdGhpbmtpbmcSDOauDx1R3uC730J8LRoMtp6LcyuK/hbCvR7WIjB1h732ibP2ePV7kGrVSSC8Qt5Bg8yRvFOq+Xi5uKaMPHr+Ryrh6PGs/yTEcvPfh6Uq3QyB5FjuIXkWSkb8MCnfo68Z6k1ISpUtqZhBcWxXE4OA+tmLW/yLPqqmG5t+n37hixKWI/fvYTNJXJkSbWhkOJDE1CkjaYa2LO646xN/7r+5TibTlF7Kete/hEwzyvy+vLmRhYUhjKfY6NW/vkma4NelmYm2vXWDvo8MfmBUfc6lWNBJiCNIxJyFlUV9mkqbtKbtANioQNxcEKgrbbAjGa96F0LV2Kf6tIWo2gRanRchx+g0oXoO5rHscAj3dy5RP1zBuys6n3ZeLQxWizHdxzelO63mwVsNkPN5xfhnnQovorFpCgvnQ3v8FZ8dz4S5y1shJiM2tfyKQpsi6uFP6lKi4MoeljfFc88FLWNmYNUJyU9jVGHS5pLRxR/HSLlTAn0572qWWS0CCTeRGIqPJxfxNJuIifnqmxPkIohFvmLK0BFY3sW4RfK109HzYgT5wdowr+quo8uTZb3+WG4+KbvLhPaNx1tLSP6DxSxj5TUEPIhhX61MnSm7KSetynzK7XC1IQsbEO0DJf6yJ5hFsrYZ9hitrv0mbQT8m/jUmDFRs7aIrFtZ9TciTNtdtNSjtDzF5zfuhvxN+wxPur1k1SuJvW4AwcVw2cbtNDSh2uilPxQhmxq8s1ssDfkLRAvU4Tj/YvJtdPre2CjLw2WOsBiaZeAFnij0Si+Jv7hZqmYnXCv5Tn0Lub2oR6+RIa50xTftOWG5yikdKTZWfhiWKRX6pq9h7xu9H89JaFFZYQBjTyoySVS/ALWpVnxioppiyJ7dohRwLBEThGrzEeprJxQ4HvClNk49N1laAJdnF+kpbIJTfz9cYeeP465+Y4RaG7w8ncAHM1fp0g5CQlpgkwnIuVSFndZJ4OEfcDpDM5HigMtMjZsbkaGkHnY2zIPKiLQtFuiS7nLv4PRD0dATLI5PeATWDmsLkofP/JkesixCbF3Pc8jMqTdDFp70MpPB0uG1GcxoC+FNHrjFysuVfmUjpTA94MggkzXdKD2g/dwHSzPratihg99J/kYlPnodlBVqesv/LhwrntdETaORXBqaCSZmFSuUS6HJwKRJDRxIhB9WVQAo79dviGhzVxtG7d3zpKZ5llHs4hQuTdcRrFJIvIGpES8vkRwiEBEHjzo/JiYwoX2b8bJJ+l4qJLVlJoTSP+xZWn+UA58nPxP5qk8zdLCGAYXdsYyj1AZrL+2j7ZQ5FqCaw8tNlL0uSFYVQ4pxkqrj7G0/pVDeHewwwTTbCKNoFOyE8F3y5lY2f9X1FemPwMv1IwCG8TX5uAghngc5vsGL5s4aaSBIrXi+dNk+p8e2nnhnssPuwQ4Lp9eB9FK2K5e9hGpJtMQfC9by5GHP/8fB41rIVf75JVeH8W4xA5jI2ty6rhdGEAJ43gVAe03pzRH5ukM7Xf5vxJrKRz9Pcx7Jf9Uyqmbk3InruPIsz4ewMPDCui1GMESLfHh8iB6Uc8gW/4l6fCJAvbA0DIHhfZPNrSjAgj+/d0WjozCoHHcA03MLoSytJ/K7bzCKQ9uI+8E/SpKc70+0QTzI2PsEslS0N+n9JBgpMzrU/DydHNe9NbTpwBU6gi5jWq2h+feEIqGX2oxTpovRS3nwnM50aCgm+3HWQHwdjYHjAgH6It4gQNaI+lGct72cE8r0rctgN7NzjiQBrs15SNX6M9rE6YPwMZIj0ZyI+fUZvlwg0K51q8Ilom/RIYXg8+yVGAa2XBfvEOXFI0Uq4xqn0vUreDhK+qDiRZ0PI2d2rxccrbyzK+zI5LVW15J/0eFmFpLmetvpk8tNzhgyXC5BGo1m7vMryejl9e2W27s1I1BVJ7EqBoGkKVFaGmQrTarBSd7gMAy4QDmDYN8Su8F7KtvcBKYFT1ZlF0r+0BOhYtT/XUfNHSBbqfP8upT5p2ibR8wQcfedMUXdoSZkECkeP+tzMbqdyctJ1UK0vBO7lFvc0DWAQFjGy7cgtPr8eYgx66N81gFM5TVXLEvZ5QwSe8ACFGLW83yywe9tu7i3hYooP/X93HuLN0qNNVKsm3KKOjXl0HrZucOBz7ReflbYhrC02L2P9Sjd6fZlAj77hshB0Mg5U6kBY96+QJx+yzG3qHyg1nCzFVJVlgzmgHDfPqMwSBWyuw6222jjVk8WbVS/1MFL+sKSCtCctnC4fVaYsQjzLBK2ON3Znzkag/8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EPzhcBLBk7gFZQGDTdA5i8",
      "input": {
        "note": "The can lifted with the gripper (visible in the top view held horizontally). Carrying it to the right over the burner, which sits about 18 cm to the arm's right of the current position.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.26,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01EPzhcBLBk7gFZQGDTdA5i8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7231, 1.9285, 1.6794, -0.8661, -0.4225, -0.5964, 0.7129, -0.0212, 0.8173, 0.6147, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4 left_y=-0.2516 left_z=0.1496 left_yaw=-0.0023 left_pitch=-0.3868 left_roll=0.0737 left_gripper=0.7129 right_x=0.2567 right_y=0.0017 right_z=0.1309 right_yaw=0.0001 right_pitch=-0.2506 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -10.441, 9.5932, 1.2381, -0.4908, 0.0562, 0.7204, -0.1983, -1.265, 6.8171, 1.6825, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e3d55fc91b4c651c639b73d0b3871796da074745d6ec3e681b36d0ef04464a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b38a1deac45066ec2d7875d80cec763dd0bd5a9a56cbbf6836893e81d5b3bee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c854b975ab1e40e1507c2ae5455ce4f101f1c9fbbf0937e00b407e6ffe93796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 15e3d55fc91b
wire blob b38a1deac450
wire blob 3c854b975ab1
call 10 attempt 0 · /messages · status 200 · 6.708 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]: [-0.2802, 1.726, 0.7216, 0.141, -0.207, -0.197, 0.7099, -0.0212, 0.812, 0.6147, -0.5728, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3962 left_y=-0.0725 left_z=0.0137 left_yaw=-0.0054 left_pitch=-0.264 left_roll=0.0406 left_gripper=0.7099 right_x=0.2676 right_y=0.0015 right_z=0.1428 right_yaw=-0.0002 right_pitch=-0.1831 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.6615, 6.2291, 1.4725, -0.1294, -0.0513, 1.033, -0.0752, -1.2239, 6.9538, 1.79, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2802, 1.4956, 1.0901, -0.5186, -0.2062, -0.2043, 0.711, -0.0212, 0.8139, 0.6147, -0.6117, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.391 left_y=-0.0711 left_z=0.1399 left_yaw=0.0031 left_pitch=-0.3222 left_roll=0.0526 left_gripper=0.711 right_x=0.2608 right_y=0.0016 right_z=0.1356 right_yaw=-0.0 right_pitch=-0.2239 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.0872, 9.6342, 1.7363, -0.0904, 0.0415, 0.7302, -0.2256, -1.3197, 6.7897, 1.873, -0.0659, -0.0464, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7231, 1.9285, 1.6794, -0.8661, -0.4225, -0.5964, 0.7129, -0.0212, 0.8173, 0.6147, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4 left_y=-0.2516 left_z=0.1496 left_yaw=-0.0023 left_pitch=-0.3868 left_roll=0.0737 left_gripper=0.7129 right_x=0.2567 right_y=0.0017 right_z=0.1309 right_yaw=0.0001 right_pitch=-0.2506 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -10.441, 9.5932, 1.2381, -0.4908, 0.0562, 0.7204, -0.1983, -1.265, 6.8171, 1.6825, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e3d55fc91b4c651c639b73d0b3871796da074745d6ec3e681b36d0ef04464a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b38a1deac45066ec2d7875d80cec763dd0bd5a9a56cbbf6836893e81d5b3bee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c854b975ab1e40e1507c2ae5455ce4f101f1c9fbbf0937e00b407e6ffe93796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 15e3d55fc91b]
[blob b38a1deac450]
[blob 3c854b975ab1]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgRGAI4AUIIdGhpbmtpbmcSDEsE6CZaYYG9UNyL4BoMNKjYJUd9io2C/h1lIjCtHbugIf4AciV85ZXeUZ1vOUtX8slSSklhFv/INKqRNNPErwNuOdlcJGpT42qMcmAqyAcmMSJCLIME9HHl4iusW1fLLKj3DXiq/QhHaCKuC658sr2BvYa2RitfOH+nGjht1nJNyMWLoP1KmWXCdk4GMYgZrqdLIy0xii6xCQAKNew+08zhi1LAzf3/T0qRKJP3LFDe6E6baBgQdXbkHLHEhhsFGuWfYAuMegbB+DCvHQBdb85YLXb5RORijLwXEQPuZbAXkbZg4l1V2KS2SuzeBCMESM6KZzCYXtKbcYAxnSqY++pqVrai66w+o+y5vVskYODRsRF6dsUehAqqdBQ+cWPHkZQ9syU/LnOpKUlcqPyiVC7Yx15IJxtoueBeZheB4RtuYNyHvEj28FzkIs6tCMjn1TrfIxpwVZWwzl2F5XRU+P9fKv0pGYzoxCa5gfY5kcTtmjRrOhGtnyx1qiwyWQQc5DS41rZmnrA0t1rlGH9WnoWg9brEiFjmh15ITHG7VrqnGZ5NlBQtmq3T3ufd6IpHrpM7fAM7nFl2gXE9oKr3ZFytBT+rRyhliuHCF+zx/d1Y+YsTA2n0vA9nTeZ1P8B+hrnBmqS1prEKRqdlZ5IB3uNSNbgd9xPokBNNfquZMLT8r/yqnVhOFpnMuachfYAXmLPO7xik9UcVUDnEr+wZYbj7G1ZSa0BvbpvXQGwi8kS89Es77PL2jrAg22USxRm9s3oVkv/uXlCIlya7ycqXCxRJZpeLOk2+sR2DI1BAfUY98YaIgOI6kvt4p+a60H3XPcBxjyPpqIN09val10G3JXE26KsrDOkXBBoudV2dGco+9BatQ1m8+kkEUYYX6NE35KwG4EVLFx+pNd5widwCKQC8H/w3h06laOjRLyR4G0lk22ovZ7G16G2jyoZGPb43DOag1M6OWAs1yjo4zaK8SRKvZyAGTNcuE63UjP5qiFGOyGahg++TxVgLzXhxFSx9CloKrlnSQealA25bZcOWQXx7iHVwc0d1JwhCT7JvmJolLLRv3BRRYFhKhq3QIzILFvWY69xRDxTpWEfwkhC4Pun8+ra5X8eRkl/0ofZhJ7DXnx0wqczPr1fP5RWkRLqx8Az2ESZoRQOBl2oZhxJ+fLMIO706nTpDKYhXVOMaYf5c2Y0wY6XgqBmVvYLD1EyrdGmoebrKKm621jVyVUEwc3Bve6nqdcFcB4X6MJHvmJB7fwRDsngyOcCwa0OVoit+qkls66svYdY0rKlEHm0FVYoLPHfOJ5FnhHSOmc4H10nV2bVYR+0cS3sdZVlF+Hd7fp/EmDDVJ1VCMZ6MR08H5B1VJIOgOvHUV+czERW7VfIyrozQ/Wd6nxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PbLD5xd2xH7vr9fxUmAMjK",
      "input": {
        "note": "The gripper and can are now above the burner coil (visible around the can in the left wrist view). Lowering the can onto the burner surface.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.26,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PbLD5xd2xH7vr9fxUmAMjK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.725, 1.9926, 1.5143, -0.6506, -0.429, -0.6075, 0.7156, -0.0212, 0.8181, 0.6147, -0.6575, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.2552 left_z=0.0849 left_yaw=0.0106 left_pitch=-0.3927 left_roll=0.0815 left_gripper=0.7156 right_x=0.2525 right_y=0.0018 right_z=0.127 right_yaw=0.0002 right_pitch=-0.2738 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -8.1983, 5.5316, 1.1306, -0.1392, 0.1001, 0.6667, -0.3077, -1.2103, 6.7761, 1.6239, -0.0708, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf2be81cb1403c749ade1360fa21e1b14d75a3111ec569e35c8876a144e2816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97da1b4c1bc153a06b04df821bb81a2203f239a54fa729dd2ce3ae17e008d897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0946f0b941cf48638928228b3b5a76350455b6765c54154b0c7d7175b43b77e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob acf2be81cb14
wire blob 97da1b4c1bc1
wire blob 0946f0b941cf
call 11 attempt 0 · /messages · status 200 · 4.886 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]: [-0.2802, 1.4956, 1.0901, -0.5186, -0.2062, -0.2043, 0.711, -0.0212, 0.8139, 0.6147, -0.6117, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.391 left_y=-0.0711 left_z=0.1399 left_yaw=0.0031 left_pitch=-0.3222 left_roll=0.0526 left_gripper=0.711 right_x=0.2608 right_y=0.0016 right_z=0.1356 right_yaw=-0.0 right_pitch=-0.2239 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.0872, 9.6342, 1.7363, -0.0904, 0.0415, 0.7302, -0.2256, -1.3197, 6.7897, 1.873, -0.0659, -0.0464, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7231, 1.9285, 1.6794, -0.8661, -0.4225, -0.5964, 0.7129, -0.0212, 0.8173, 0.6147, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4 left_y=-0.2516 left_z=0.1496 left_yaw=-0.0023 left_pitch=-0.3868 left_roll=0.0737 left_gripper=0.7129 right_x=0.2567 right_y=0.0017 right_z=0.1309 right_yaw=0.0001 right_pitch=-0.2506 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -10.441, 9.5932, 1.2381, -0.4908, 0.0562, 0.7204, -0.1983, -1.265, 6.8171, 1.6825, -0.0464, -0.0366, -0.0122]",
      "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]: [-0.725, 1.9926, 1.5143, -0.6506, -0.429, -0.6075, 0.7156, -0.0212, 0.8181, 0.6147, -0.6575, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.2552 left_z=0.0849 left_yaw=0.0106 left_pitch=-0.3927 left_roll=0.0815 left_gripper=0.7156 right_x=0.2525 right_y=0.0018 right_z=0.127 right_yaw=0.0002 right_pitch=-0.2738 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -8.1983, 5.5316, 1.1306, -0.1392, 0.1001, 0.6667, -0.3077, -1.2103, 6.7761, 1.6239, -0.0708, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf2be81cb1403c749ade1360fa21e1b14d75a3111ec569e35c8876a144e2816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97da1b4c1bc153a06b04df821bb81a2203f239a54fa729dd2ce3ae17e008d897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0946f0b941cf48638928228b3b5a76350455b6765c54154b0c7d7175b43b77e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob acf2be81cb14]
[blob 97da1b4c1bc1]
[blob 0946f0b941cf]
{
  "content": [
    {
      "signature": "CAQSrAcKEAgRGAI4AUIIdGhpbmtpbmcSDD1O0mKN9zi4PZlWShoMvyrmbvWBdUmqwl4xIjBab9pxvaW9UNeUI407GkzUsPBih1+AxIB0vzdu11Ri+78zs5XwjVPFZl2yOnIRKHQqyQZAxB3gbLcNKqxRYlNETlDPjv0bJBV1h834FJdtreqCmSLYY+L8yMpIwyisE62ODWw0v92n00OixOa/0cEtmj1gtueaKtC+aRu3DjVLEXtE+/8CVglHmyHQKm02/aGig7sMaWCaz6cYVb4xDzp5tnCSbsUD1iD1veJyzhg4X5fPM41JMNEv1FRh2zDnKTdFlU5KDGTKDpkNc8po2wb88NTS7gdJtvgZIisWVh8mJv5E3qFxbyzZRrQPn/8Oc1xk8hKT2YeOmOPvtg0zJXV1XHfk+RW7dvJpkMlFuaI+WiPQfMC/QifyvgAA2D6YThbj40CPCuxQBs6iyXciwHq9SiJ5j8oB9ajHEx+ejGp3g9bBtqU+gdoW5shclQzOSUB2lpWeh62NHa9RqRLRf+AnBMZyYZh/9gtree2bB2vW1dIcAg0TmM1YFtBvhJvNrSWnDWkyBvnZZ46XrRBXcRpW4yD6wVWCwdAGi9QaP1PNxnmYbnwiQF2TWzXyYOVCbgiDuxVVkdiZ5Uv3NnEH12YgL6CPnq6DiWHoi3Tb70scZ5LzZ1Epdo7xOBnLcNnJfnB9lHEnJXtR+YxUE7yUrDtiyFp+R34wDisD11JRPb8T8jCvatqUfeLcdi287LHVFMCDOl3jaKPXXNQEmmJiNK6TTjgRJo0Md8rvuF/U1ciOAY4JZTDFtkGb7Ubg0SwuPwogmARkv0Na2hP12hQdoamP1nrAraYa7MS32vASAGrhBzFsUTtGKY0DGxkWx5cxxBSw8umvRV7xwqFSflGpUAa52yYhHG1TbCfL/YBGAP0EoeGjreQHxHJ5Bw3qk+zLB0nHkTo9wgDH9vx/zT7jH1eo3E++zq6Z7rT8dxfIITXs0Tdb4LSytTGhf0C+s2XQvoPhNHEVRydN9qAssNKsKLGLr9oqRfTPPZXKddZKqAkgbTNpSLQG77trTRPmxJG/54OIcE5Z2DOp6vewm08rnLZgQiX3bsfDpnO40vzs8NtpswnWQBu19JvNjpcOe/4HREUARxD9j/l7JsyM4EUQwYTg0VprswhzZyV+Z5pgNgG9v0Mrf6tO9WaLxuvzzjtof4wlDVo7oPw1L6D5kpHPnGDqCY8HqcnU3WLSvT4tGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011PBQ2QtT36XrEC7kGY4mV4",
      "input": {
        "note": "Descent stopped at z≈8.5 cm, above the 7 cm target, indicating the can has touched down 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_011PBQ2QtT36XrEC7kGY4mV4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7254, 2.0037, 1.5051, -0.6376, -0.4309, -0.6113, 0.9959, -0.0212, 0.8185, 0.6147, -0.6739, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4042 left_y=-0.255 left_z=0.0782 left_yaw=0.0159 left_pitch=-0.3967 left_roll=0.0859 left_gripper=0.9959 right_x=0.2494 right_y=0.0018 right_z=0.1243 right_yaw=0.0004 right_pitch=-0.2906 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -11.6444, 7.241, 0.9011, -0.2613, 0.0024, -0.1148, -0.0752, -1.1282, 6.8034, 1.6288, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba41300a47bb645dd20e04feffcdabf05f9a9c67c877a011323aa2c76f075de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a839ad29ed625c50789dddfe1064031735d6f3addb603fc28edc98a5afe3486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67496e73830484e25180f0a6aa2d33c4199d51a1f01f59973ba0b3e7958dba4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1ba41300a47b
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 9.469 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]: [-0.7231, 1.9285, 1.6794, -0.8661, -0.4225, -0.5964, 0.7129, -0.0212, 0.8173, 0.6147, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4 left_y=-0.2516 left_z=0.1496 left_yaw=-0.0023 left_pitch=-0.3868 left_roll=0.0737 left_gripper=0.7129 right_x=0.2567 right_y=0.0017 right_z=0.1309 right_yaw=0.0001 right_pitch=-0.2506 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -10.441, 9.5932, 1.2381, -0.4908, 0.0562, 0.7204, -0.1983, -1.265, 6.8171, 1.6825, -0.0464, -0.0366, -0.0122]",
      "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]: [-0.725, 1.9926, 1.5143, -0.6506, -0.429, -0.6075, 0.7156, -0.0212, 0.8181, 0.6147, -0.6575, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.2552 left_z=0.0849 left_yaw=0.0106 left_pitch=-0.3927 left_roll=0.0815 left_gripper=0.7156 right_x=0.2525 right_y=0.0018 right_z=0.127 right_yaw=0.0002 right_pitch=-0.2738 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -8.1983, 5.5316, 1.1306, -0.1392, 0.1001, 0.6667, -0.3077, -1.2103, 6.7761, 1.6239, -0.0708, -0.0317, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7254, 2.0037, 1.5051, -0.6376, -0.4309, -0.6113, 0.9959, -0.0212, 0.8185, 0.6147, -0.6739, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4042 left_y=-0.255 left_z=0.0782 left_yaw=0.0159 left_pitch=-0.3967 left_roll=0.0859 left_gripper=0.9959 right_x=0.2494 right_y=0.0018 right_z=0.1243 right_yaw=0.0004 right_pitch=-0.2906 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -11.6444, 7.241, 0.9011, -0.2613, 0.0024, -0.1148, -0.0752, -1.1282, 6.8034, 1.6288, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba41300a47bb645dd20e04feffcdabf05f9a9c67c877a011323aa2c76f075de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a839ad29ed625c50789dddfe1064031735d6f3addb603fc28edc98a5afe3486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67496e73830484e25180f0a6aa2d33c4199d51a1f01f59973ba0b3e7958dba4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1ba41300a47b]
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{
  "content": [
    {
      "text": "Released. Now lifting the arm clear to verify the placement in the top view.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019uW7daR8CHCp8GCmk1cPoN",
      "input": {
        "note": "Gripper is open and the can appears to rest on the burner coil in the wrist view. Retracting the left arm up and back toward home so the top camera can confirm the placement.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_019uW7daR8CHCp8GCmk1cPoN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3248, 1.224, 1.1385, -0.9295, -0.2512, -0.2726, 0.997, -0.0212, 0.8223, 0.6147, -0.6838, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=-0.0529 left_z=0.1944 left_yaw=0.0477 left_pitch=-0.3936 left_roll=0.0779 left_gripper=0.997 right_x=0.2476 right_y=0.0019 right_z=0.1219 right_yaw=0.0004 right_pitch=-0.3043 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -4.6154, 7.0496, 1.3162, -0.1099, 0.1245, 0.1001, -0.0205, -1.3197, 6.7214, 1.4676, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bdca104cc8bce5fb93bee1aa66b7f3272b3e7819108fafd5655835c2ae35e0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0da961fcccb509e1f3814e0f0cd15f59d839cbe655ddfb4289c6be7b9fa0ef38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ab2936edf684fb7a704db6bc4edae25cad29e099f21e1c17e7a9c66a13d513a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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