adhoc - adhoc_07ec1951.json

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: 523 s
total steps: 380

operator

scenes

trials

errored

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

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

user

Goal: put the can on the burner

step 0

assistant

agent noteThe can lies on its side left of centre, tilted so its top points toward the left base; the burner is further forward near the middle. Moving the left gripper above the can, yawed to close across its diameter.

move_to

left_x0.3000left_y-0.2600left_z0.1500left_yaw-0.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7937, 0.6052, -0.3882, -0.0193, -0.0334, 0.9993, -0.0208, 0.7952, 0.6079, -0.4026, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.001 right_z=0.1767 right_yaw=-0.0001 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5538, -1.4427, 10.2359, 1.9756, -0.0757, 0.1783, -0.0904, -0.4991, -1.5248, 9.6889, 2.0928, -0.0366, 0.105, -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": 0.3, "left_y": -0.26, "left_z": 0.15, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "The can lies on its side left of centre, tilted so its top points toward the left base; the burner is further forward near the middle. Moving the left gripper above the can, yawed to close across its diameter."})

tool

executing move_to over 24 steps (2.4s)

step 24

assistant

agent noteWrist cam shows the can's cap near the jaw column with its body running under the fingertips toward the base, axis vertical in the image so the jaws will close across its diameter. Descending to can-centre height, slightly toward the base.

move_to

left_x0.2800left_y-0.2500left_z0.0300left_yaw-0.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8455, 1.3251, 0.7231, -0.0895, -0.3042, -0.2337, 0.9993, -0.0212, 0.7986, 0.6128, -0.4328, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2914 left_y=-0.2436 left_z=0.1268 left_yaw=-0.4788 left_pitch=-0.0778 left_roll=0.0238 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.172 right_yaw=-0.0005 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.5265, -4.8615, 9.6615, 1.917, -0.0855, 0.0757, -0.0904, -0.1846, -1.4974, 6.5983, 1.9951, -0.022, -0.0513, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.28, "left_y": -0.25, "left_z": 0.03, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "Wrist cam shows the can's cap near the jaw column with its body running under the fingertips toward the base, axis vertical in the image so the jaws will close across its diameter. Descending to can-centre height, slightly toward the base."})

tool

executing move_to over 7 steps (0.7s)

step 31

assistant

agent noteThe can body sits between the jaws at the bottom of the wrist image, centred on the jaw column. Closing the gripper to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8806, 1.5761, 0.4969, 0.3195, -0.3195, -0.2413, 0.9993, -0.0212, 0.7998, 0.6094, -0.4549, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2763 left_y=-0.2419 left_z=0.0247 left_yaw=-0.4945 left_pitch=-0.1374 left_roll=0.0526 left_gripper=0.9993 right_x=0.2853 right_y=0.001 right_z=0.1657 right_yaw=-0.0005 right_pitch=-0.0561 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.7863, -5.8735, 4.6701, 1.8193, -0.2271, -0.0855, -0.0904, -0.1026, -1.1419, 7.241, 1.8632, -0.0269, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.0}, "note": "The can body sits between the jaws at the bottom of the wrist image, centred on the jaw column. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 41

assistant

agent noteThe close came up empty (reading 0.01) and the can appears to have shifted forward, seemingly standing upright ahead of the jaws. Opening and lifting to re-locate it from the overhead view.

move_to

left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8822, 1.5612, 0.5125, 0.416, -0.3382, -0.2481, 0.0105, -0.0212, 0.8017, 0.6094, -0.4812, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2912 left_y=-0.256 left_z=0.0537 left_yaw=-0.4808 left_pitch=-0.0153 left_roll=0.0093 left_gripper=0.0105 right_x=0.2814 right_y=0.0011 right_z=0.1601 right_yaw=-0.0005 right_pitch=-0.0843 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [0.0752, -4.8205, 4.3009, 0.735, 0.0464, 0.0659, 0.8327, -0.0205, -1.3607, 7.1453, 1.9267, -0.0317, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_z": 0.15, "left_gripper": 1.0}, "note": "The close came up empty (reading 0.01) and the can appears to have shifted forward, seemingly standing upright ahead of the jaws. Opening and lifting to re-locate it from the overhead view."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe can now lies with its axis along the tool's forward direction, cap ahead and body running under the fingertips toward the base. Shifting ~3 cm toward the base and 1 cm right so the jaws straddle the can's middle, then descending to can height.

move_to

left_x0.2550left_y-0.2450left_z0.0300left_yaw-0.4700left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8829, 1.3346, 0.7162, -0.0532, -0.3382, -0.2661, 0.9951, -0.0208, 0.8032, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2881 left_y=-0.2526 left_z=0.1284 left_yaw=-0.4713 left_pitch=-0.0509 left_roll=0.01 left_gripper=0.9951 right_x=0.2785 right_y=0.0013 right_z=0.156 right_yaw=-0.0001 right_pitch=-0.1049 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.0205, -6.7214, 9.347, 1.8437, -0.1734, 0.1441, -0.0171, -0.0479, -1.347, 6.9675, 1.8193, -0.0171, -0.0513, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). 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_x": 0.255, "left_y": -0.245, "left_z": 0.03, "left_yaw": -0.47, "left_gripper": 1.0}, "note": "The can now lies with its axis along the tool's forward direction, cap ahead and body running under the fingertips toward the base. Shifting ~3 cm toward the base and 1 cm right so the jaws straddle the can's middle, then descending to can height."})

tool

executing move_to over 7 steps (0.7s)

step 58

assistant

agent noteThe can body now fills the space between the jaws in the wrist view, cap toward the camera. Closing 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]: [-0.9695, 1.4967, 0.4274, 0.3634, -0.3943, -0.3271, 0.9984, -0.0212, 0.8051, 0.6075, -0.5228, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.256 left_y=-0.2469 left_z=0.0382 left_yaw=-0.4785 left_pitch=-0.0658 left_roll=0.0079 left_gripper=0.9984 right_x=0.2746 right_y=0.0013 right_z=0.1505 right_yaw=-0.0001 right_pitch=-0.1312 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [-0.4308, -2.8513, 3.5077, 0.7106, -0.1734, 0.2222, -0.1783, -0.1026, -1.2513, 7.159, 1.8535, -0.0317, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The can body now fills the space between the jaws in the wrist view, cap toward the camera. Closing to grasp it across its diameter."})

tool

executing move_to over 10 steps (1.0s)

step 68

assistant

agent noteEmpty again; the can body visible between the jaws is actually a few cm forward of the fingertips, so the jaws closed on its near end and pushed it away. Opening and advancing ~3 cm along the tool axis to centre the jaws on the can's middle.

move_to

left_x0.2900left_y-0.2700left_z0.0300left_yaw-0.4700left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.973, 1.4857, 0.4347, 0.4416, -0.4164, -0.3313, 0.0097, -0.0208, 0.8062, 0.6075, -0.5537, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2654 left_y=-0.2565 left_z=0.0598 left_yaw=-0.4628 left_pitch=0.0254 left_roll=-0.03 left_gripper=0.0097 right_x=0.2695 right_y=0.0015 right_z=0.1445 right_yaw=0.0001 right_pitch=-0.1632 right_roll=0.0031 right_gripper=0.9996 state[joint_eff]: [-0.0479, -4.4239, 4.7658, 0.862, 0.0952, 0.0415, 0.7888, -0.0752, -1.1145, 6.9949, 1.8486, -0.0317, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_y": -0.27, "left_z": 0.03, "left_yaw": -0.47, "left_gripper": 1.0}, "note": "Empty again; the can body visible between the jaws is actually a few cm forward of the fingertips, so the jaws closed on its near end and pushed it away. Opening and advancing ~3 cm along the tool axis to centre the jaws on the can's middle."})

tool

executing move_to over 10 steps (1.0s)

step 78

assistant

agent noteThe descent stopped at z≈0.05, and the wrist view shows the spray cap between the jaws with the body running under the fingertips; the overhead shows the gripper straddling the can. Closing to grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9245, 1.6848, 0.4808, 0.672, -0.3855, -0.3229, 0.9954, -0.0212, 0.8097, 0.6075, -0.5877, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2941 left_y=-0.2736 left_z=0.0487 left_yaw=-0.4421 left_pitch=0.0857 left_roll=-0.0743 left_gripper=0.9954 right_x=0.2638 right_y=0.0015 right_z=0.1377 right_yaw=0.0002 right_pitch=-0.2006 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [0.4308, -4.0684, 5.1761, 1.1502, 0.0659, 0.2271, -0.1392, 0.0205, -1.2786, 6.8444, 1.8339, -0.0464, -0.022, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The descent stopped at z\u22480.05, and the wrist view shows the spray cap between the jaws with the body running under the fingertips; the overhead shows the gripper straddling the can. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 88

assistant

agent noteStill empty and the gripper again rode up on close, so the jaws are landing on the can rather than around it. Lifting with jaws open to re-sight the can body from above in the wrist camera.

move_to

left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.923, 1.6867, 0.4847, 0.7147, -0.395, -0.3309, 0.0099, -0.0208, 0.8101, 0.6075, -0.6125, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.299 left_y=-0.2765 left_z=0.0583 left_yaw=-0.4261 left_pitch=0.127 left_roll=-0.0985 left_gripper=0.0099 right_x=0.2594 right_y=0.0017 right_z=0.1333 right_yaw=0.0004 right_pitch=-0.2258 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.2803, -6.5846, 4.5197, 1.4139, -0.0513, 0.0708, 0.7741, -0.0752, -1.1556, 6.8171, 1.7411, -0.0269, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.15, "left_gripper": 1.0}, "note": "Still empty and the gripper again rode up on close, so the jaws are landing on the can rather than around it. Lifting with jaws open to re-sight the can body from above in the wrist camera."})

tool

executing move_to over 10 steps (1.0s)

step 98

assistant

agent noteFrom above, the spray head sits at the bottom of the wrist view and the overhead shows the can body slightly base-ward and left of the gripper. Moving ~4 cm toward the base and 1.5 cm left, descending all the way to table level so the jaws go around the body rather than land on it.

move_to

left_x0.2660left_y-0.2400left_z0.0000left_yaw-0.4200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.923, 1.4052, 0.6373, 0.2451, -0.3977, -0.3462, 0.9951, -0.0212, 0.8135, 0.6064, -0.635, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2966 left_y=-0.2726 left_z=0.1292 left_yaw=-0.4174 left_pitch=0.0957 left_roll=-0.0939 left_gripper=0.9951 right_x=0.2552 right_y=0.0017 right_z=0.1283 right_yaw=0.0001 right_pitch=-0.2529 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.3487, -7.2137, 8.8957, 1.9853, -0.1587, 0.0904, 0.0024, 0.0068, -1.3333, 6.8581, 1.6923, -0.0269, -0.0317, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.266, "left_y": -0.24, "left_z": 0.0, "left_yaw": -0.42, "left_gripper": 1.0}, "note": "From above, the spray head sits at the bottom of the wrist view and the overhead shows the can body slightly base-ward and left of the gripper. Moving ~4 cm toward the base and 1.5 cm left, descending all the way to table level so the jaws go around the body rather than land on it."})

tool

executing move_to over 9 steps (0.9s)

step 107

assistant

agent noteThe descent stopped at z≈0.05 with the tool tilted, meaning the gripper is resting on top of the can again. Pulling the arm back and aside so the overhead camera can show me exactly where and how the can lies.

move_to

left_x0.2000left_y-0.0500left_z0.2000left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9417, 1.792, 0.3172, 1.1282, -0.4179, -0.3836, 0.9984, -0.0212, 0.8162, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2839 left_y=-0.2622 left_z=0.053 left_yaw=-0.3828 left_pitch=0.249 left_roll=-0.212 left_gripper=0.9984 right_x=0.2509 right_y=0.0017 right_z=0.1237 right_yaw=0.0003 right_pitch=-0.2788 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.6889, 0.0068, -0.5592, 0.0024, 0.3004, -0.1783, -0.0205, -1.2103, 6.9949, 1.619, -0.0366, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). 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

move_to({"targets": {"left_x": 0.2, "left_y": -0.05, "left_z": 0.2, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The descent stopped at z\u22480.05 with the tool tilted, meaning the gripper is resting on top of the can again. Pulling the arm back and aside so the overhead camera can show me exactly where and how the can lies."})

tool

executing move_to over 19 steps (1.9s)

step 126

assistant

agent noteOverhead now shows the can lying on the table's centre line, axis pointing forward with the cap ahead, close to the bases; my earlier grasps were several cm to its left. Moving above its middle at yaw 0 so the jaws close across its diameter.

move_to

left_x0.2400left_y-0.3200left_z0.1200left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8314, 0.1902, 0.4118, -0.6037, -0.6594, -0.5026, 0.9985, -0.0212, 0.8223, 0.6056, -0.6777, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2048 left_y=-0.0587 left_z=0.1963 left_yaw=-0.0045 left_pitch=0.2627 left_roll=-0.2368 left_gripper=0.9985 right_x=0.2471 right_y=0.0018 right_z=0.1191 right_yaw=0.0004 right_pitch=-0.3051 right_roll=0.0062 right_gripper=0.9996 state[joint_eff]: [0.1299, 2.2769, 8.3761, 1.7705, -0.2027, 0.0513, -0.1734, -0.0889, -1.2513, 6.9265, 1.619, -0.0269, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.24, "left_y": -0.32, "left_z": 0.12, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "Overhead now shows the can lying on the table's centre line, axis pointing forward with the cap ahead, close to the bases; my earlier grasps were several cm to its left. Moving above its middle at yaw 0 so the jaws close across its diameter."})

tool

executing move_to over 24 steps (2.4s)

step 150

assistant

agent noteWrist view shows the can body running under the jaws, slightly left of the jaw column and extending toward the base; the tool has also drifted to a tilted pitch/roll. Levelling the tool, shifting 2 cm back and left, and descending to table level to straddle the body.

move_to

left_x0.2200left_y-0.2950left_z0.0000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.3373, 1.6871, 0.7624, 0.1577, -1.0992, -0.9279, 0.9984, -0.0212, 0.8249, 0.6018, -0.7013, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2386 left_y=-0.3075 left_z=0.1105 left_yaw=-0.0116 left_pitch=0.2461 left_roll=-0.1924 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1134 right_yaw=0.001 right_pitch=-0.3352 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.6222, -7.0906, 7.6513, 1.5897, -0.486, 0.0122, -0.1783, -0.1026, -1.3197, 7.159, 1.5604, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.22, "left_y": -0.295, "left_z": 0.0, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Wrist view shows the can body running under the jaws, slightly left of the jaw column and extending toward the base; the tool has also drifted to a tilted pitch/roll. Levelling the tool, shifting 2 cm back and left, and descending to table level to straddle the body."})

tool

executing move_to over 9 steps (0.9s)

step 159

assistant

agent noteThe can body now sits squarely between the two jaws in the wrist view, and the descent stopped at z≈0.04, roughly the can's centre height. Closing to grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.3415, 1.8931, 0.8597, -0.1074, -1.055, -1.1446, 0.9985, -0.0212, 0.8249, 0.6018, -0.7238, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2318 left_y=-0.3012 left_z=0.0399 left_yaw=0.0144 left_pitch=0.1113 left_roll=-0.0339 left_gripper=0.9985 right_x=0.2373 right_y=0.0021 right_z=0.1101 right_yaw=0.0012 right_pitch=-0.3577 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [-0.2393, -3.0427, 3.2752, 0.8718, 0.5641, -0.5348, -0.1734, -0.1162, -0.8821, 6.9128, 1.5116, -0.0366, -0.0171, -0.0073] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The can body now sits squarely between the two jaws in the wrist view, and the descent stopped at z\u22480.04, roughly the can's centre height. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 169

assistant

agent noteI now realise the can is standing upright (the overhead shows a vertical cylinder with the spray cap on top, and my low descents were pressing into its side). Rising well above its top and moving forward to sight the cap from directly above.

move_to

left_x0.3000left_y-0.3000left_z0.2400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.3415, 1.8755, 0.8696, -0.0795, -1.124, -1.1461, 0.0102, -0.0212, 0.8288, 0.601, -0.7399, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.238 left_y=-0.3031 left_z=0.0596 left_yaw=0.052 left_pitch=0.1828 left_roll=-0.0779 left_gripper=0.0102 right_x=0.2339 right_y=0.0021 right_z=0.1067 right_yaw=0.001 right_pitch=-0.3783 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [-0.1026, -6.9265, 4.1231, 0.6716, 0.1734, -0.0171, 0.696, -0.1709, -1.3197, 6.9128, 1.4774, -0.0464, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.3, "left_z": 0.24, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "I now realise the can is standing upright (the overhead shows a vertical cylinder with the spray cap on top, and my low descents were pressing into its side). Rising well above its top and moving forward to sight the cap from directly above."})

tool

executing move_to over 12 steps (1.2s)

step 181

assistant

agent noteFrom above, the spray cap is visible at the bottom centre of the wrist view between the jaws, so the can's axis is just ahead of the grasp point. Moving 2 cm forward and descending to mid-body height (z≈0.12) with jaws open to straddle the standing can.

move_to

left_x0.3200left_y-0.2950left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.1229, 1.6779, 1.446, -0.7425, -0.8715, -0.9089, 0.9958, -0.0212, 0.8288, 0.601, -0.7475, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2999 left_y=-0.3038 left_z=0.2246 left_yaw=0.0262 left_pitch=0.0145 left_roll=-0.0361 left_gripper=0.9958 right_x=0.2323 right_y=0.0022 right_z=0.1056 right_yaw=0.0014 right_pitch=-0.386 right_roll=0.0084 right_gripper=0.9996 state[joint_eff]: [0.4718, -8.5265, 8.8137, 1.1502, -0.4274, 0.188, 0.0073, -0.0342, -0.8684, 6.653, 1.3309, -0.0269, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.32, "left_y": -0.295, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "From above, the spray cap is visible at the bottom centre of the wrist view between the jaws, so the can's axis is just ahead of the grasp point. Moving 2 cm forward and descending to mid-body height (z\u22480.12) with jaws open to straddle the standing can."})

tool

executing move_to over 7 steps (0.7s)

step 188

assistant

agent noteThe cap top is still visible below the camera at z≈0.12, so the can is shorter than expected (~10 cm) and its axis is a couple of cm ahead of the grasp point. Advancing 2 cm and descending to z≈0.05 to straddle the body.

move_to

left_x0.3350left_y-0.2900left_z0.0500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0618, 1.7374, 1.1263, -0.3683, -0.8238, -0.815, 0.9984, -0.0212, 0.8288, 0.601, -0.7555, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3136 left_y=-0.2886 left_z=0.1232 left_yaw=0.0094 left_pitch=-0.0232 left_roll=0.0292 left_gripper=0.9984 right_x=0.2307 right_y=0.0022 right_z=0.1045 right_yaw=0.0012 right_pitch=-0.394 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [0.4034, -7.8427, 6.3521, 1.3553, -0.4078, 0.0659, -0.1783, -0.0889, -1.0872, 6.7487, 1.326, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.335, "left_y": -0.29, "left_z": 0.05, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The cap top is still visible below the camera at z\u22480.12, so the can is shorter than expected (~10 cm) and its axis is a couple of cm ahead of the grasp point. Advancing 2 cm and descending to z\u22480.05 to straddle the body."})

tool

executing move_to over 5 steps (0.5s)

step 193

assistant

agent noteAt z≈0.05 the white cap sits just inside the jaws at the bottom of the wrist view and the overhead shows the can between the fingers, with the burner directly ahead. Closing to grasp the can body.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0153, 1.8908, 0.9836, -0.0635, -0.7963, -0.7605, 0.9985, -0.0212, 0.8303, 0.601, -0.7696, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3269 left_y=-0.2804 left_z=0.0469 left_yaw=0.0102 left_pitch=-0.04 left_roll=0.055 left_gripper=0.9985 right_x=0.2277 right_y=0.0022 right_z=0.1023 right_yaw=0.0013 right_pitch=-0.4096 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [0.2667, -9.388, 5.6821, 1.4383, -0.4322, 0.0952, -0.1734, -0.1026, -1.1966, 6.6393, 1.3651, -0.0415, -0.0073, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "At z\u22480.05 the white cap sits just inside the jaws at the bottom of the wrist view and the overhead shows the can between the fingers, with the burner directly ahead. Closing to grasp the can body."})

tool

executing move_to over 10 steps (1.0s)

step 203

assistant

agent noteEmpty close; the cap disappeared from the wrist view and the overhead shows the can on the base side of the jaws, so I overshot by ~3 cm. Lifting clear with jaws open and moving back to x≈0.305 over the can's axis.

move_to

left_x0.3050left_y-0.2900left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.013, 1.8992, 0.9749, 0.0231, -0.7963, -0.7475, 0.0092, -0.0212, 0.8326, 0.601, -0.7883, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3329 left_y=-0.2883 left_z=0.0508 left_yaw=0.0041 left_pitch=-0.0039 left_roll=0.0065 left_gripper=0.0092 right_x=0.2238 right_y=0.0023 right_z=0.0994 right_yaw=0.0015 right_pitch=-0.4306 right_roll=0.0092 right_gripper=0.9996 state[joint_eff]: [0.212, -8.6359, 5.4496, 1.4774, -0.2808, 0.105, 0.7692, -0.1026, -1.0325, 6.5709, 1.3944, -0.0562, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.305, "left_y": -0.29, "left_z": 0.15, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Empty close; the cap disappeared from the wrist view and the overhead shows the can on the base side of the jaws, so I overshot by ~3 cm. Lifting clear with jaws open and moving back to x\u22480.305 over the can's axis."})

tool

executing move_to over 10 steps (1.0s)

step 213

assistant

agent noteThe cap now sits at the very bottom centre of the wrist view, just right of the jaw column, so the can axis is essentially under the grasp point. Descending to z≈0.05 with a 1 cm rightward correction to straddle the body.

move_to

left_x0.3100left_y-0.3000left_z0.0500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0801, 1.7107, 1.1118, -0.3813, -0.8177, -0.8314, 0.9956, -0.0212, 0.8341, 0.601, -0.7925, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.305 left_y=-0.2898 left_z=0.1264 left_yaw=-0.0035 left_pitch=-0.0278 left_roll=0.0139 left_gripper=0.9956 right_x=0.2229 right_y=0.0023 right_z=0.0985 right_yaw=0.0016 right_pitch=-0.4363 right_roll=0.0093 right_gripper=0.9996 state[joint_eff]: [-0.6222, -10.4, 8.8684, 1.1893, -0.5543, 0.0171, -0.1392, -0.0068, -0.9641, 6.5846, 1.2283, -0.0415, -0.022, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.31, "left_y": -0.3, "left_z": 0.05, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The cap now sits at the very bottom centre of the wrist view, just right of the jaw column, so the can axis is essentially under the grasp point. Descending to z\u22480.05 with a 1 cm rightward correction to straddle the body."})

tool

executing move_to over 5 steps (0.5s)

step 218

assistant

agent noteThe can body now fills the lower-right of the wrist view between the open jaws, right beside the right finger. Closing to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0851, 1.8809, 0.9859, -0.1295, -0.8268, -0.836, 0.9984, -0.0208, 0.8341, 0.6006, -0.7956, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3045 left_y=-0.2907 left_z=0.0478 left_yaw=0.0005 left_pitch=-0.0417 left_roll=0.0529 left_gripper=0.9984 right_x=0.2222 right_y=0.0024 right_z=0.098 right_yaw=0.002 right_pitch=-0.4397 right_roll=0.0094 right_gripper=0.9996 state[joint_eff]: [-0.2667, -8.4855, 4.7521, 1.37, -0.4908, 0.0073, -0.1783, -0.0889, -1.0735, 6.6803, 1.2137, -0.0317, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The can body now fills the lower-right of the wrist view between the open jaws, right beside the right finger. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 228

assistant

agent noteEmpty again — the closing jaw squeezed the can forward and it may have toppled. Lifting straight up with jaws open to see the can's new pose from above.

move_to

left_z0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0851, 1.8851, 0.9825, -0.1093, -0.8532, -0.8425, 0.0092, -0.0212, 0.836, 0.5999, -0.8139, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3072 left_y=-0.2893 left_z=0.0502 left_yaw=0.0178 left_pitch=-0.0158 left_roll=0.0466 left_gripper=0.0092 right_x=0.2181 right_y=0.0025 right_z=0.095 right_yaw=0.0022 right_pitch=-0.4607 right_roll=0.0103 right_gripper=0.9996 state[joint_eff]: [-0.0889, -9.347, 5.641, 0.8816, -0.1392, 0.0415, 0.7692, -0.0615, -1.0735, 6.653, 1.3651, -0.0415, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.2, "left_gripper": 1.0}, "note": "Empty again \u2014 the closing jaw squeezed the can forward and it may have toppled. Lifting straight up with jaws open to see the can's new pose from above."})

tool

executing move_to over 10 steps (1.0s)

step 238

assistant

agent noteFrom above the can shows only its white cap, at the bottom centre of the wrist view, so it is standing with its axis about 1–2 cm base-ward of the grasp point. Descending to z≈0.03 slightly back to straddle the body low down.

move_to

left_x0.2950left_y-0.2900left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0855, 1.7164, 1.3277, -0.6434, -0.849, -0.8593, 0.9953, -0.0212, 0.836, 0.5999, -0.8337, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3087 left_y=-0.2935 left_z=0.1757 left_yaw=0.0247 left_pitch=-0.0276 left_roll=0.0493 left_gripper=0.9953 right_x=0.2138 right_y=0.0025 right_z=0.0927 right_yaw=0.0021 right_pitch=-0.4805 right_roll=0.0104 right_gripper=0.9996 state[joint_eff]: [-0.3214, -10.9607, 8.7453, 0.9695, -0.4762, 0.1148, -0.1148, -0.0615, -1.0325, 6.735, 1.3358, -0.0317, -0.0366, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.295, "left_y": -0.29, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "From above the can shows only its white cap, at the bottom centre of the wrist view, so it is standing with its axis about 1\u20132 cm base-ward of the grasp point. Descending to z\u22480.03 slightly back to straddle the body low down."})

tool

executing move_to over 10 steps (1.0s)

step 248

assistant

agent noteThe white can now sits squarely between the two jaws at the bottom of the wrist view at z≈0.035. Closing to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.1076, 1.8809, 0.9062, -0.0574, -0.8555, -0.8539, 0.9984, -0.0212, 0.8406, 0.5964, -0.8452, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2937 left_y=-0.2816 left_z=0.0349 left_yaw=0.0031 left_pitch=-0.0228 left_roll=0.0561 left_gripper=0.9984 right_x=0.2105 right_y=0.0026 right_z=0.0892 right_yaw=0.0023 right_pitch=-0.5 right_roll=0.011 right_gripper=0.9996 state[joint_eff]: [-0.5538, -7.747, 4.588, 1.2674, -0.3932, -0.105, -0.1783, -0.1573, -1.388, 6.9402, 1.2039, -0.0464, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The white can now sits squarely between the two jaws at the bottom of the wrist view at z\u22480.035. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 258

assistant

agent noteEmpty again and the gripper rode upward, so the jaws are landing short of the can; objects at the bottom edge of the wrist view are still a few cm ahead of the fingertips. Lifting clear, opening, and shifting 2 cm forward to x≈0.32, between the two positions that bracketed the can.

move_to

left_x0.3200left_y-0.2850left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.1103, 1.8698, 0.9115, -0.0082, -0.9123, -0.8543, 0.0092, -0.0212, 0.8417, 0.5964, -0.8558, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3012 left_y=-0.2848 left_z=0.0518 left_yaw=0.0319 left_pitch=0.0486 left_roll=0.0171 left_gripper=0.0092 right_x=0.2081 right_y=0.0027 right_z=0.0878 right_yaw=0.0025 right_pitch=-0.5118 right_roll=0.0113 right_gripper=0.9996 state[joint_eff]: [-0.0752, -7.8017, 5.3538, 0.6618, 0.1636, 0.0171, 0.7692, -0.0342, -1.0735, 6.5709, 1.1697, -0.0659, -0.022, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.32, "left_y": -0.285, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Empty again and the gripper rode upward, so the jaws are landing short of the can; objects at the bottom edge of the wrist view are still a few cm ahead of the fingertips. Lifting clear, opening, and shifting 2 cm forward to x\u22480.32, between the two positions that bracketed the can."})

tool

executing move_to over 10 steps (1.0s)

step 268

assistant

agent noteThe white can shows at the bottom centre of the wrist view, slightly right of the jaw column. Descending fully to table level, 1 cm forward and 1.5 cm right, so the open jaws surround it regardless of its height.

move_to

left_x0.3250left_y-0.2950left_z0.0000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0454, 1.7596, 1.0317, -0.2367, -0.8204, -0.7998, 0.9953, -0.0212, 0.8436, 0.5941, -0.8631, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.316 left_y=-0.2803 left_z=0.0967 left_yaw=0.0152 left_pitch=-0.0188 left_roll=0.0274 left_gripper=0.9953 right_x=0.2059 right_y=0.0028 right_z=0.0858 right_yaw=0.0028 right_pitch=-0.5233 right_roll=0.0122 right_gripper=0.9996 state[joint_eff]: [0.5402, -11.0427, 8.7863, 1.2039, -0.3199, 0.2173, -0.1197, -0.0479, -1.1692, 6.612, 1.1209, -0.0366, -0.0415, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.325, "left_y": -0.295, "left_z": 0.0, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The white can shows at the bottom centre of the wrist view, slightly right of the jaw column. Descending fully to table level, 1 cm forward and 1.5 cm right, so the open jaws surround it regardless of its height."})

tool

executing move_to over 7 steps (0.7s)

step 275

assistant

agent noteThe can has disappeared below the wrist view's bottom edge, meaning it is now at or under the fingertips, and the descent stopped near z≈0.03. Closing to grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0439, 1.9911, 0.9493, 0.1783, -0.8326, -0.7979, 0.9984, -0.0208, 0.8455, 0.5941, -0.8814, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3303 left_y=-0.3007 left_z=0.0283 left_yaw=0.024 left_pitch=0.0388 left_roll=-0.0547 left_gripper=0.9984 right_x=0.2018 right_y=0.0029 right_z=0.0835 right_yaw=0.0033 right_pitch=-0.5435 right_roll=0.0121 right_gripper=0.9996 state[joint_eff]: [0.0615, -5.3128, 3.3846, 0.5885, -0.1636, 0.2027, -0.1783, -0.0342, -1.1145, 6.612, 1.2283, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The can has disappeared below the wrist view's bottom edge, meaning it is now at or under the fingertips, and the descent stopped near z\u22480.03. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 285

assistant

agent noteThe jaws closed on nothing at table level and the can is no longer visible anywhere in the overhead frame — it must be hidden under the arm. Moving the arm up and aside to reveal where the can went.

move_to

left_x0.2000left_y-0.0500left_z0.2500left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0401, 2.0193, 0.9356, 0.1749, -0.8265, -0.7979, 0.0137, -0.0212, 0.8455, 0.5941, -0.9001, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3271 left_y=-0.2936 left_z=0.0119 left_yaw=0.023 left_pitch=0.0126 left_roll=-0.0172 left_gripper=0.0137 right_x=0.1976 right_y=0.0029 right_z=0.0815 right_yaw=0.0032 right_pitch=-0.5622 right_roll=0.0127 right_gripper=0.9996 state[joint_eff]: [-0.335, -11.8769, 5.9145, 1.2869, -0.4176, -0.0122, 0.8913, -0.0615, -0.9231, 6.3795, 1.2381, -0.0855, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.2, "left_y": -0.05, "left_z": 0.25, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The jaws closed on nothing at table level and the can is no longer visible anywhere in the overhead frame \u2014 it must be hidden under the arm. Moving the arm up and aside to reveal where the can went."})

tool

executing move_to over 22 steps (2.2s)

step 307

assistant

agent noteThe can is revealed lying on its side near the bases, axis running left-right, right of the centre line — closer to the right arm. Switching to the right arm: hovering above it yawed 90° so the jaws close across the can's diameter.

move_to

right_x0.2200right_y0.1800right_z0.1200right_yaw1.5700right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8341, 0.6147, 0.8623, -0.9863, -0.6842, -0.6041, 0.9977, -0.0212, 0.849, 0.5941, -0.9085, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2065 left_y=-0.0561 left_z=0.2433 left_yaw=0.0298 left_pitch=0.0268 left_roll=-0.0519 left_gripper=0.9977 right_x=0.1956 right_y=0.0029 right_z=0.0801 right_yaw=0.0034 right_pitch=-0.574 right_roll=0.013 right_gripper=0.9996 state[joint_eff]: [0.1573, 1.1419, 8.1573, 1.4725, -0.2613, 0.1734, -0.0562, -0.0342, -0.9368, 6.3932, 1.1062, -0.0366, -0.0171, -0.0073] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.22, "right_y": 0.18, "right_z": 0.12, "right_yaw": 1.57, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The can is revealed lying on its side near the bases, axis running left-right, right of the centre line \u2014 closer to the right arm. Switching to the right arm: hovering above it yawed 90\u00b0 so the jaws close across the can's diameter."})

tool

executing move_to over 20 steps (2.0s)

step 327

assistant

agent noteThe right wrist cam shows the can lying along the image vertical (arm y axis), cap toward the centre and body running to the bottom edge, slightly left of the jaw column. Moving 3 cm toward the base and 8 cm toward the centre to the can's middle and descending to its centre height.

move_to

right_x0.1950right_y0.2500right_z0.0300right_yaw1.5700right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8307, 0.6174, 0.8661, -1.0069, -0.6693, -0.6071, 0.9978, 0.1261, 1.3735, 0.7788, -0.7685, -0.8986, -1.2476, 0.9996] state[eef_state]: left_x=0.2043 left_y=-0.0558 left_z=0.24 left_yaw=0.0239 left_pitch=0.0064 left_roll=-0.0463 left_gripper=0.9978 right_x=0.222 right_y=0.1711 right_z=0.1073 right_yaw=1.4903 right_pitch=-0.0676 right_roll=0.058 right_gripper=0.9996 state[joint_eff]: [-0.294, 0.841, 5.6821, 1.6239, -0.4127, -0.0024, -0.0024, 0.294, -5.0393, 6.9538, 0.2466, -0.7595, -0.1001, -0.0513] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.195, "right_y": 0.25, "right_z": 0.03, "right_yaw": 1.57, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The right wrist cam shows the can lying along the image vertical (arm y axis), cap toward the centre and body running to the bottom edge, slightly left of the jaw column. Moving 3 cm toward the base and 8 cm toward the centre to the can's middle and descending to its centre height."})

tool

executing move_to over 7 steps (0.7s)

step 334

assistant

agent noteThe can body now runs between the two jaws, centred on the jaw column in the right wrist view, and the overhead shows the right gripper straddling it. Closing to grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8307, 0.6178, 0.8646, -1.0103, -0.6689, -0.6071, 0.9978, 0.4404, 1.5551, 0.5068, -0.1074, -0.8761, -0.9104, 0.9996] state[eef_state]: left_x=0.2039 left_y=-0.0555 left_z=0.2388 left_yaw=0.0236 left_pitch=0.0027 left_roll=-0.0425 left_gripper=0.9978 right_x=0.1794 right_y=0.2385 right_z=0.0261 right_yaw=1.5992 right_pitch=-0.0425 right_roll=0.1234 right_gripper=0.9996 state[joint_eff]: [-0.1162, 0.8274, 6.1607, 1.5263, -0.315, -0.0317, -0.0122, 0.1026, -5.2581, 4.6838, 0.9841, -0.1929, -0.0708, -0.0513] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The can body now runs between the two jaws, centred on the jaw column in the right wrist view, and the overhead shows the right gripper straddling it. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 344

assistant

agent noteThe full close ejected the can toward the fence again (cap now mid-frame, body under the jaws). Reopening, levelling the tool and shifting 3 cm toward the fence to centre the body between the jaws; next close will stop at the can's diameter instead of squeezing fully.

move_to

right_x0.1900right_y0.2250right_z0.0300right_yaw1.5700right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.018, -0.6685, -0.6106, 0.9978, 0.4374, 1.5284, 0.5301, -0.0257, -0.9932, -0.9092, 0.0125] state[eef_state]: left_x=0.2033 left_y=-0.0549 left_z=0.2373 left_yaw=0.0252 left_pitch=-0.0038 left_roll=-0.0383 left_gripper=0.9978 right_x=0.1881 right_y=0.2553 right_z=0.0602 right_yaw=1.6524 right_pitch=0.1031 right_roll=0.0415 right_gripper=0.0125 state[joint_eff]: [-0.0752, 0.7453, 6.1197, 1.5214, -0.3101, 0.0024, -0.0122, 0.1846, -3.2205, 3.1932, 0.2271, 0.7057, -0.0562, 1.1453] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.19, "right_y": 0.225, "right_z": 0.03, "right_yaw": 1.57, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The full close ejected the can toward the fence again (cap now mid-frame, body under the jaws). Reopening, levelling the tool and shifting 3 cm toward the fence to centre the body between the jaws; next close will stop at the can's diameter instead of squeezing fully."})

tool

executing move_to over 10 steps (1.0s)

step 354

assistant

agent noteThe can body fills the space between the jaws, centred on the jaw column. Closing only to about the can's diameter (0.55) to avoid squeezing it out.

move_to

right_gripper0.5500

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.0187, -0.6659, -0.6113, 0.9978, 0.3775, 1.494, 0.4591, 0.0162, -0.9382, -0.9657, 0.9949] state[eef_state]: left_x=0.2031 left_y=-0.0553 left_z=0.237 left_yaw=0.0237 left_pitch=-0.0058 left_roll=-0.0396 left_gripper=0.9978 right_x=0.1953 right_y=0.2345 right_z=0.0467 right_yaw=1.597 right_pitch=0.0614 right_roll=-0.0293 right_gripper=0.9949 state[joint_eff]: [-0.0889, 0.841, 6.0103, 1.4481, -0.2759, -0.0366, -0.0122, -0.6906, -4.2462, 3.1658, 0.7253, 0.0904, -0.1294, -0.1929] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.55}, "note": "The can body fills the space between the jaws, centred on the jaw column. Closing only to about the can's diameter (0.55) to avoid squeezing it out."})

tool

executing move_to over 5 steps (0.5s)

step 359

assistant

agent noteJaws closed to the can's diameter with the body between them; lifting and carrying toward a point above the burner to check whether the can came along.

move_to

right_x0.4500right_y0.3000right_z0.1700right_yaw1.5700right_gripper0.5500

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8307, 0.622, 0.8646, -1.0302, -0.6655, -0.6144, 0.9978, 0.3763, 1.4899, 0.4576, 0.0257, -0.9508, -0.9684, 0.5553] state[eef_state]: left_x=0.2022 left_y=-0.0543 left_z=0.2349 left_yaw=0.0252 left_pitch=-0.015 left_roll=-0.032 left_gripper=0.9978 right_x=0.1953 right_y=0.2356 right_z=0.0498 right_yaw=1.6046 right_pitch=0.0755 right_roll=-0.0395 right_gripper=0.5553 state[joint_eff]: [-0.1162, 0.6769, 6.0239, 1.5604, -0.3053, -0.0024, -0.0122, 0.0205, -4.4513, 5.5179, 0.9792, -0.2027, 0.0317, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.3, "right_z": 0.17, "right_yaw": 1.57, "right_gripper": 0.55}, "note": "Jaws closed to the can's diameter with the body between them; lifting and carrying toward a point above the burner to check whether the can came along."})

tool

executing move_to over 20 steps (2.0s)

step 379

assistant

The can stayed behind on the table (visible near the bottom of the overhead frame), and I have exhausted my call budget, so I must stop here.

agent noteRan out of LLM-call budget without a successful grasp. Roughly ten close attempts on the can with both arms all came up empty: the can (a smooth ~6.5 cm aerosol can) was repeatedly pushed/ejected by the closing jaws and moved around the table, and I mis-read its pose (lying vs standing) several times from the wrist camera.

give_up

hindsight1) The "can" here is a smooth white/teal aerosol spray can (~6.5 cm dia, ~15 cm long) lying on its side near the bases, at about left_y≈-0.26..-0.39 / right_y≈0.18..0.26, x≈0.19..0.30 — very close to the bases where the top-cam scale is ~4-6 px/cm, not the far-region 2.5-3.5. 2) A full gripper close (target 0) on this can ejects it every time and the arm rides up 2-3 cm (z readback jumps from 0.03 to 0.06, pitch/roll drift); command the close only to ≈0.55-0.6 (can diameter/9.5 cm). 3) An empty close pushes the can several cm; after each miss the can has moved, so re-locate it in the overhead view with the arm pulled fully aside before retrying — do not adjust incrementally from wrist-cam guesses. 4) When the can lies along the tool's forward axis, the wrist view shows the cap ahead and the body "running under the jaws"; from directly above a standing object you'd see only its top. I wasted many calls by misjudging lying vs standing; the overhead view after moving the arm away resolves this immediately. 5) An object at the very bottom edge of the wrist view is at the fingertips or ~1-3 cm ahead; positions bracketing the can by ±3 cm in x both missed, so aim within ~1 cm and rely on the partial close. 6) With the arm working near x≈0.3, y≈-0.3 the tool drifted to pitch ≈0.25 / roll ≈-0.2 when pressing on an obstacle; explicitly command pitch=0 and roll=0 on every move. 7) Budget: 40 calls is enough only for ~2 grasp attempts plus transport; grasp verification (lift 5 cm and look) must be combined with the transport move.

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8303, 0.6228, 0.8646, -1.0344, -0.6617, -0.6144, 0.9978, 0.3126, 2.2082, 1.9289, -0.741, -0.955, -1.0218, 0.5517] state[eef_state]: left_x=0.2016 left_y=-0.0544 left_z=0.2339 left_yaw=0.0229 left_pitch=-0.0203 left_roll=-0.03 left_gripper=0.9978 right_x=0.4486 right_y=0.3003 right_z=0.1678 right_yaw=1.5717 right_pitch=0.073 right_roll=-0.072 right_gripper=0.5517 state[joint_eff]: [0.0752, 1.2376, 6.1333, 1.4481, -0.315, -0.0269, -0.0122, -0.6496, -11.7949, 7.4598, 0.6569, -0.525, 0.0073, 0.1636] camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [image omitted: streamed camera frame]

assistant

The can stayed behind on the table (visible near the bottom of the overhead frame), and I have exhausted my call budget, so I must stop here.

give_up({"reason": "Ran out of LLM-call budget without a successful grasp. Roughly ten close attempts on the can with both arms all came up empty: the can (a smooth ~6.5 cm aerosol can) was repeatedly pushed/ejected by the closing jaws and moved around the table, and I mis-read its pose (lying vs standing) several times from the wrist camera.", "hindsight": "1) The \"can\" here is a smooth white/teal aerosol spray can (~6.5 cm dia, ~15 cm long) lying on its side near the bases, at about left_y\u2248-0.26..-0.39 / right_y\u22480.18..0.26, x\u22480.19..0.30 \u2014 very close to the bases where the top-cam scale is ~4-6 px/cm, not the far-region 2.5-3.5. 2) A full gripper close (target 0) on this can ejects it every time and the arm rides up 2-3 cm (z readback jumps from 0.03 to 0.06, pitch/roll drift); command the close only to \u22480.55-0.6 (can diameter/9.5 cm). 3) An empty close pushes the can several cm; after each miss the can has moved, so re-locate it in the overhead view with the arm pulled fully aside before retrying \u2014 do not adjust incrementally from wrist-cam guesses. 4) When the can lies along the tool's forward axis, the wrist view shows the cap ahead and the body \"running under the jaws\"; from directly above a standing object you'd see only its top. I wasted many calls by misjudging lying vs standing; the overhead view after moving the arm away resolves this immediately. 5) An object at the very bottom edge of the wrist view is at the fingertips or ~1-3 cm ahead; positions bracketing the can by \u00b13 cm in x both missed, so aim within ~1 cm and rely on the partial close. 6) With the arm working near x\u22480.3, y\u2248-0.3 the tool drifted to pitch \u22480.25 / roll \u2248-0.2 when pressing on an obstacle; explicitly command pitch=0 and roll=0 on every move. 7) Budget: 40 calls is enough only for ~2 grasp attempts plus transport; grasp verification (lift 5 cm and look) must be combined with the transport move."})

tool

give_up: Ran out of LLM-call budget without a successful grasp. Roughly ten close attempts on the can with both arms all came up empty: the can (a smooth ~6.5 cm aerosol can) was repeatedly pushed/ejected by the closing jaws and moved around the table, and I mis-read its pose (lying vs standing) several times from the wrist camera.

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 · 30.62 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, 0.7937, 0.6052, -0.3882, -0.0193, -0.0334, 0.9993, -0.0208, 0.7952, 0.6079, -0.4026, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.001 right_z=0.1767 right_yaw=-0.0001 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4427, 10.2359, 1.9756, -0.0757, 0.1783, -0.0904, -0.4991, -1.5248, 9.6889, 2.0928, -0.0366, 0.105, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1ee7cad9698c4d5e7648f5c1c34ba9e1a2c3522a3706607179fb805abf4eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9648955d76305c160735d232cf2c028b15c1707ee142950aa5c31da1c365ce03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ac2e3c89958e187133604c33d4408e898780dd1020374fd2ec1e5f10c9c138c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 9.92 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, 0.7937, 0.6052, -0.3882, -0.0193, -0.0334, 0.9993, -0.0208, 0.7952, 0.6079, -0.4026, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.001 right_z=0.1767 right_yaw=-0.0001 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4427, 10.2359, 1.9756, -0.0757, 0.1783, -0.0904, -0.4991, -1.5248, 9.6889, 2.0928, -0.0366, 0.105, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1ee7cad9698c4d5e7648f5c1c34ba9e1a2c3522a3706607179fb805abf4eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9648955d76305c160735d232cf2c028b15c1707ee142950aa5c31da1c365ce03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac2e3c89958e187133604c33d4408e898780dd1020374fd2ec1e5f10c9c138c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W5MhqovBE8aungyCmABdhV",
      "input": {
        "note": "The can lies on its side left of centre, tilted so its top points toward the left base; the burner is further forward near the middle. Moving the left gripper above the can, yawed to close across its diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.26,
          "left_yaw": -0.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01W5MhqovBE8aungyCmABdhV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8455, 1.3251, 0.7231, -0.0895, -0.3042, -0.2337, 0.9993, -0.0212, 0.7986, 0.6128, -0.4328, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=-0.2436 left_z=0.1268 left_yaw=-0.4788 left_pitch=-0.0778 left_roll=0.0238 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.172 right_yaw=-0.0005 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.8615, 9.6615, 1.917, -0.0855, 0.0757, -0.0904, -0.1846, -1.4974, 6.5983, 1.9951, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8e8a5a2e3010c8d2602cccd9bbd959d5a287b4485e258edb6805d3db2c9b82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c1710c34c48aaf85d82832f772c9f6dc90e5e58337f807613e040276ca2daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad7b4295faa8b00c3468965abf69471a229754c5570e05e1c7c1a6bbd49b0695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 6.583 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, 0.7937, 0.6052, -0.3882, -0.0193, -0.0334, 0.9993, -0.0208, 0.7952, 0.6079, -0.4026, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.001 right_z=0.1767 right_yaw=-0.0001 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4427, 10.2359, 1.9756, -0.0757, 0.1783, -0.0904, -0.4991, -1.5248, 9.6889, 2.0928, -0.0366, 0.105, -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]: [-0.8455, 1.3251, 0.7231, -0.0895, -0.3042, -0.2337, 0.9993, -0.0212, 0.7986, 0.6128, -0.4328, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=-0.2436 left_z=0.1268 left_yaw=-0.4788 left_pitch=-0.0778 left_roll=0.0238 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.172 right_yaw=-0.0005 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.8615, 9.6615, 1.917, -0.0855, 0.0757, -0.0904, -0.1846, -1.4974, 6.5983, 1.9951, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8e8a5a2e3010c8d2602cccd9bbd959d5a287b4485e258edb6805d3db2c9b82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c1710c34c48aaf85d82832f772c9f6dc90e5e58337f807613e040276ca2daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7b4295faa8b00c3468965abf69471a229754c5570e05e1c7c1a6bbd49b0695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/goKEAgRGAI4AUIIdGhpbmtpbmcSDDRUUrs/RatAwvIkoxoMUt0PtqsnGdeZKenLIjAH0+JbXz5VcRqpNBaa2vFPIIb5PiKYL9tzRR+Kfn7nlRjRMtty0YjzgDtf8yy/sWMqmwrW56bfEWz41DAiTbYCiEvxO9MEtQxetfMoe7eDbizqb/xE5j46/qNB+WXVBw5jQipfyar5K4PB6LmCZ15XkXCgPTkArEBjZxCVcL4LKjVk2Z1IDxjmbcWVxdSUsD3riMIucxPfX06D0lJ84b0x5b852HzhhJqkRjEcoOx+vfYQpbAjSNRt1fiwqkmQEmxFWDA81nbb/qqPagFJj3PBPPv42kkCHP1WHQL6pn9FvyYteEaDbWESRkLwMzbNo4J1K0ZnZY4I0PrpMEM6Gs1doyxH+YyBEuOFF+ypGOn+cuPrcFgSsaEMh37YNF50g/iLiVT+4lTLb7SmoBGBRI7EQa+AYI6ioHA6CnVZq6hR09nVzJISrrGD4GjskU0+MM6YVz+SXbHK2GIqwrBe9z8vgBRuTnYktQYbyz6qYNurieetKQn7svwjLf/Dxvd586Z/7S7CbUmJNfCEA4Kd7UeDe+JgXH/VS1GhZLRqMdVz6aDpOcuPVQYgx3QJSWXgVMgPsRYOq6HFGxzM3X8YvuLLfv8VwxH8638mPvbId8IhfPyKj3JopP30RbTtmWIis2SoSL6uun1kr2fHiXe+x1HToAXPu8KEFNElY12RE2c2O4Zz0WPZrxkRJVBxDQgTuDtXhj23V8fGOn9Ry0kAXE16xg8Dk5f+YJaFjEm/67C5mI/g8Afd3CLy2ADmWuUCHQbR54rj98olr8nYAFbtBjth+YIyaWA4xrom4RGWALSXQdR4BAH+vT72+kX/1vYb237HQWxqzHZSh6XSG1eAksTPBhOklAi3Sm3Zl8sXtrRkxImd0Y/XOy2zAPihPI2UfvlqFs5neurGIXhV90hGNbOswF3X7TvsZ8T+4l2840pJngri7hl6OZyYKE1OQIz3K89TQTQGxkbqH1tLrFSgZNLLOJ7RL1pspW0P4Sn33MlsczgBoCKqEoKez3Ursf2rcY9yoyx4+stN5cS5arm2hw9GcMxKIsdDU1tvO3GO/uuM5dlQSShgWAWW1k8nMlA6+5dqdu70FT6tVFHvbc2by61fndeRrGkCJzB97UDZI7PIxL1abqJKytjhlDIgGIKntRxFYuLLjmgicgDU8+s1d8ZOcqyMsc/m7plfRLraXD57K+3Ejr7FTE+z1rHrZOKrLe57jYuQ1gI6bD2zb6SARCWpcTridi1+oAQ99t9nDOj2RSzE6ca/pTspp1Ct7H7qbJ+8sTNEiaz4MmBnrgyymp4UkEJXR8MsB0YNOSB6tCggiLNUkoaFdcOz4SPBTrfQDXt/tt4JorwgC52ID6t+1kT/ZebgTyDy61nBS1a2LGThcq5BpqbDQqWK32vLrpnvoQBWtwO39YkAQgQDPyMOcNC81FqV3wSAaIzqalMOYu/vjt7j7UIiouNVEw7Q1aPXYWKJSy/qhWiaIhtjUZyj1WznlGZ8OojSMkCO7BQbeXP34V998F9B4KwogpAOal9KPM88umskcxrouEwjJUW3j5LFUiw9WMEtslepyMXzzYbsA+weRyPY7VsMEnxU+1xRYhSPcJv27GJZaNQQLRrtoOUkZLh5KW/5ygEaewx2LleJWp4Ie2HuhfwNOm+Wo3C/6ToLAytQEakq/OKwU5QqbBNIoII0KujYhpH1CLysJjzPkPmN9nzFPaHYcSlF5pJg3gSwxO2Dagm0RPhwOAZVrvxU5B/OGbtEfDphi5eGFnQan6N7wBtOMr9+93WjpeIn54Fud5Gx0l/BDjn9XvTwRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019o9c1hZZsGFRdmgFFdr7fS",
      "input": {
        "note": "Wrist cam shows the can's cap near the jaw column with its body running under the fingertips toward the base, axis vertical in the image so the jaws will close across its diameter. Descending to can-centre height, slightly toward the base.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.28,
          "left_y": -0.25,
          "left_yaw": -0.5,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019o9c1hZZsGFRdmgFFdr7fS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8806, 1.5761, 0.4969, 0.3195, -0.3195, -0.2413, 0.9993, -0.0212, 0.7998, 0.6094, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2763 left_y=-0.2419 left_z=0.0247 left_yaw=-0.4945 left_pitch=-0.1374 left_roll=0.0526 left_gripper=0.9993 right_x=0.2853 right_y=0.001 right_z=0.1657 right_yaw=-0.0005 right_pitch=-0.0561 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -5.8735, 4.6701, 1.8193, -0.2271, -0.0855, -0.0904, -0.1026, -1.1419, 7.241, 1.8632, -0.0269, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607a8caa9f56c647824099c1b122333f2e7b8eeca3ec86e5fe553c027d5be8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f01071f4623b0ac2e2921760fd9810526bd942fd42cf72e79d11d635155f11d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d684cfb81412c9bd4563618e07f0a5b0ca97142fbd841a4959960f4b1ef946ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 8.004 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, 0.7937, 0.6052, -0.3882, -0.0193, -0.0334, 0.9993, -0.0208, 0.7952, 0.6079, -0.4026, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.001 right_z=0.1767 right_yaw=-0.0001 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4427, 10.2359, 1.9756, -0.0757, 0.1783, -0.0904, -0.4991, -1.5248, 9.6889, 2.0928, -0.0366, 0.105, -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]: [-0.8455, 1.3251, 0.7231, -0.0895, -0.3042, -0.2337, 0.9993, -0.0212, 0.7986, 0.6128, -0.4328, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=-0.2436 left_z=0.1268 left_yaw=-0.4788 left_pitch=-0.0778 left_roll=0.0238 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.172 right_yaw=-0.0005 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.8615, 9.6615, 1.917, -0.0855, 0.0757, -0.0904, -0.1846, -1.4974, 6.5983, 1.9951, -0.022, -0.0513, -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]: [-0.8806, 1.5761, 0.4969, 0.3195, -0.3195, -0.2413, 0.9993, -0.0212, 0.7998, 0.6094, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2763 left_y=-0.2419 left_z=0.0247 left_yaw=-0.4945 left_pitch=-0.1374 left_roll=0.0526 left_gripper=0.9993 right_x=0.2853 right_y=0.001 right_z=0.1657 right_yaw=-0.0005 right_pitch=-0.0561 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -5.8735, 4.6701, 1.8193, -0.2271, -0.0855, -0.0904, -0.1026, -1.1419, 7.241, 1.8632, -0.0269, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607a8caa9f56c647824099c1b122333f2e7b8eeca3ec86e5fe553c027d5be8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f01071f4623b0ac2e2921760fd9810526bd942fd42cf72e79d11d635155f11d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d684cfb81412c9bd4563618e07f0a5b0ca97142fbd841a4959960f4b1ef946ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlQYKEAgRGAI4AUIIdGhpbmtpbmcSDEkOWW9GLegR30Ny/hoMgAFI0P5a/DErXCSpIjCz0uYoAa9fYqx+lPLyW16imb6UlLhDiBnHDRNNoxirr7/jcg4l58KlJ/ygp1Tc+zkqsgXmB7lMRYlEG2k3UjszcKuStN7/pL79A37nqCPMi58aCmbl8Ya+2ZYKTR+So4HqOQWK9oObC1ukJsVhUL65YKgXa2xjCrTepilvDm0PKkk8OWGF6qnj9Wi384OmOv0X9FZB3//ZO6lAKOHM6iBwjOa1bs9pK9jhN7NrDeeyLJ5UoapQ/9xOANONg5hfbks5l2+fGnuYghuLr7JyZCPs0bipgEDb1ReCqmOklQNTL84wnd6lPoCIOeLzq9Bl89w4K8pFOA4ZbWsPwcuzibK0ZGHBT+DK5OHAvhhR1fHgAC/pap1DI4vNfgQ2GfZ5/fosG5cP+P1RcXYSB8Q3zZMx51wmVnQKxfvo7WGzmXODTFSNiut9yO55WRyDLDFP3tqDO3vGZEAZ02xhQJeLHFEA51LQ63ogAx1QL/hzNi93jsZoG28PJbJiKHtsaEMfVRI+MEu9WMYTPOSQOenuRaLSUEzNNv7LzUtjTXMDTs/vkqty69FXeZ1tyke7nQyF9frWOWhMiAtWfHLcin+GqFeKPEGfLIdO85MZOcgRA3etkbVNO8UrFv3TsDplneNYvjjrneNjpRR5s6deKJcvFcKaDhJJgzcPY6PifUm7rGUTe8zHbMo6Dl6zTXiy+/PdQ3yZ55Vl5Rh2NzOVUL8ltF/ege43gJbt6WFMqCuVwEsLMy2kcWqpQLnMfe5yXr4UzihvnqeoqFdEvCpwhvQh3D165qRdxSneJMoUBvpjIl0YrcdcZWxkyfCL55ETWF40rNdQZ0wuxp9CIQzVfC2JUas2JANjSKxafYZ39NEIxOkXNiGbcUGdgrY4dKkv7Qk/UG7ZNGNL4+PLUP24ydDu7PoGAogq8wucQkrN/n3qyByp35x8C200arwohGeRUw8Ls8vWUB9fYZLUwqSzSqAfFx8tNgQJPuQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013u6oHzRaNTRk5FxY4hyskh",
      "input": {
        "note": "The can body sits between the jaws at the bottom of the wrist image, centred on the jaw column. Closing the gripper to grasp it.",
        "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_013u6oHzRaNTRk5FxY4hyskh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8822, 1.5612, 0.5125, 0.416, -0.3382, -0.2481, 0.0105, -0.0212, 0.8017, 0.6094, -0.4812, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.256 left_z=0.0537 left_yaw=-0.4808 left_pitch=-0.0153 left_roll=0.0093 left_gripper=0.0105 right_x=0.2814 right_y=0.0011 right_z=0.1601 right_yaw=-0.0005 right_pitch=-0.0843 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.8205, 4.3009, 0.735, 0.0464, 0.0659, 0.8327, -0.0205, -1.3607, 7.1453, 1.9267, -0.0317, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b0b55a55bbba7bba4b5ee7156178d2c63cf38ba52bf010fee7bfdc7673396f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1b4e1f7d72bac14ade6e12c6bc1b0ae9e6a1a06136184034a27f80129e9580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:563ad1d1235975c2b098caaa3c81fe0382b9eed779a112edb908fc034d560d0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 12.89 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]: [-0.8455, 1.3251, 0.7231, -0.0895, -0.3042, -0.2337, 0.9993, -0.0212, 0.7986, 0.6128, -0.4328, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=-0.2436 left_z=0.1268 left_yaw=-0.4788 left_pitch=-0.0778 left_roll=0.0238 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.172 right_yaw=-0.0005 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.8615, 9.6615, 1.917, -0.0855, 0.0757, -0.0904, -0.1846, -1.4974, 6.5983, 1.9951, -0.022, -0.0513, -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]: [-0.8806, 1.5761, 0.4969, 0.3195, -0.3195, -0.2413, 0.9993, -0.0212, 0.7998, 0.6094, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2763 left_y=-0.2419 left_z=0.0247 left_yaw=-0.4945 left_pitch=-0.1374 left_roll=0.0526 left_gripper=0.9993 right_x=0.2853 right_y=0.001 right_z=0.1657 right_yaw=-0.0005 right_pitch=-0.0561 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -5.8735, 4.6701, 1.8193, -0.2271, -0.0855, -0.0904, -0.1026, -1.1419, 7.241, 1.8632, -0.0269, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8822, 1.5612, 0.5125, 0.416, -0.3382, -0.2481, 0.0105, -0.0212, 0.8017, 0.6094, -0.4812, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.256 left_z=0.0537 left_yaw=-0.4808 left_pitch=-0.0153 left_roll=0.0093 left_gripper=0.0105 right_x=0.2814 right_y=0.0011 right_z=0.1601 right_yaw=-0.0005 right_pitch=-0.0843 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.8205, 4.3009, 0.735, 0.0464, 0.0659, 0.8327, -0.0205, -1.3607, 7.1453, 1.9267, -0.0317, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b0b55a55bbba7bba4b5ee7156178d2c63cf38ba52bf010fee7bfdc7673396f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1b4e1f7d72bac14ade6e12c6bc1b0ae9e6a1a06136184034a27f80129e9580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563ad1d1235975c2b098caaa3c81fe0382b9eed779a112edb908fc034d560d0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+gkKEAgRGAI4AUIIdGhpbmtpbmcSDFW0HEorP98ds317MBoMLS3tk7a06g0gcxYSIjAXgMHuWsELWEekWkGSFMGZptKvdlXTRqnWZcj4LfDgSwnruKsXMBZgCkyE6O2PbrwqlwnLsy0tUlH6OEAAjTSW6hG71z7CLIqS9tzlaBBx5IbK3k82u7K/r2gLcJzfBONBmRdLKzNOizqnWeJygLKG1e5tXj/sxXD+EVJVNmfziWnLUDgAyT1k+yHbGn1uSv7SGq4aFzRYmL0teudRjcDNPHP+XFaJ0UI2fNPSwTEeFrG08Q7phfmHgqLB+13PiXJqEp9uMg4tnqzgZoQZO3+sO4jpYmNgRj1DwaqFZq9V3RnltV6Zp79FZDA02R44036RKmF0rU3vBqILJGbvDVDQQQPOVs8nAAC9bcgVunTgPLU7Z3AVH3ToAPElRicYru0PNaqIEa2DczGBfj/z5muMcGHEbF1lf4ixYk2xpn9pUCSedAgQmicivW/VIA+nGYB147ptxaqsK/2aTXQciP77Dlr758GOUe4TcgjIlynUan0iSXnvJfqZKJiyM95Q7Dc3BpPAIwyJASq+g1Cn4FX7Qc0xMjkcfLDkl2JJnnCE5lPqm3S4uH4/OGJrXuLBtoGaZ85wTv5BxThGf2VoS7yLZD7BCEvKfMRqobeo+qcGPEFXq1uT3PfN8ET96p/uBkZ1xgmHpaQYEJJpPaYrr81XwNv7wMpA98Vk/ZekLgAflbrHTxaRwhW6+h1sR2nSwqk8UUvVXB2rhHrthW1UH21/oUxNklJ3Y1bvFc/9e8egJ8w5c3ybp9BlZz7uzCRGdWUowVNCCjJtnHR4N2rSrJrOH72kB055inAYR25URgVA0DDtrDcImNDxhEwqm3Id+HzGQRt0aPL8r+XwTcNRkTWMEeQQIgzPdKNLkOGM20meD423ppjKt3mtk3chFeZ2r05PVQSuuk8Bo4vVPUuiipcOn/iIj8ku8Y9v3RGiXBolirSD+zKoAUqvPGSQ0rdoDbNK15iBIc73QTF5hcux6H1iMEkddI12SZe6sLg3Oe32PiQq/St4cR2XiuxpEyuZPZ+4vuQmLT9JXAeHlmiwV8U1Rx4f64uUVVmSbcb1jORSB5+RKjB3FxBfyigE2WuuWxc3SZh20tj+56mbn1DmHySnDmj1TIwUkdF5iVEjKBYM9uxR2A906wu3On2MkjC1fW5XHgP0ISL+oUGWg2Hkqpb4sqMTVLyn9eyfVCSChIyRwZxGvcP1odmwmncYGh1IDHguufJ/caFd+m9VaH45+omhprm6RjkQ9wVpCLZRD67ngkHUaTyB4ymbR/JbxQSeuv3NavJmVfkTv0dTFEVeJUQ36xIuv7w55i22OsmG/yTuhv7qb3Sko34F7xD40lcXw6+l2jH6avvg00BLeG6C9wXpDbXRf2E2sM0proTI/PcxoLOUCb5DbHN4BLUWtdOA8MP9ZDMtrH2Bc+Gb7dLu67RsH+hlk3ePSfc4+MU3Varb+zCUUyLd/FQ2w8ypF6vErXqzKAW29a6VAdTflUVsuMylkbuI+QT6s2ULNr4pb9vKEDmIKKuVpSygzmHsoXqIYSooSlf+2dXpN2mR0hmGjYLk4P31QQ+1xHvkS1HyylVSwFmRDbVMiSgCAxS9o0fqZCo/HCRJOezNHmVQcO2lLvCEr0u93y6RezXpXBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Eyi1hQ4zWGbqbBLtmAAUN",
      "input": {
        "note": "The close came up empty (reading 0.01) and the can appears to have shifted forward, seemingly standing upright ahead of the jaws. Opening and lifting to re-locate it from the overhead view.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018Eyi1hQ4zWGbqbBLtmAAUN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8829, 1.3346, 0.7162, -0.0532, -0.3382, -0.2661, 0.9951, -0.0208, 0.8032, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.2526 left_z=0.1284 left_yaw=-0.4713 left_pitch=-0.0509 left_roll=0.01 left_gripper=0.9951 right_x=0.2785 right_y=0.0013 right_z=0.156 right_yaw=-0.0001 right_pitch=-0.1049 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -6.7214, 9.347, 1.8437, -0.1734, 0.1441, -0.0171, -0.0479, -1.347, 6.9675, 1.8193, -0.0171, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda16e267659ca6b80bb8d236b3922e86552ad487fc2ce6592087ff4913c09d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a2cac1c7fcea4fd150fd63117ea7587400c0fc3b91116ec2810ebdea7906b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22bf268b97aac54edaf426326c1812e11d6ee9d460ed62c76b4771bdbd4e8f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 6.092 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]: [-0.8806, 1.5761, 0.4969, 0.3195, -0.3195, -0.2413, 0.9993, -0.0212, 0.7998, 0.6094, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2763 left_y=-0.2419 left_z=0.0247 left_yaw=-0.4945 left_pitch=-0.1374 left_roll=0.0526 left_gripper=0.9993 right_x=0.2853 right_y=0.001 right_z=0.1657 right_yaw=-0.0005 right_pitch=-0.0561 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -5.8735, 4.6701, 1.8193, -0.2271, -0.0855, -0.0904, -0.1026, -1.1419, 7.241, 1.8632, -0.0269, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8822, 1.5612, 0.5125, 0.416, -0.3382, -0.2481, 0.0105, -0.0212, 0.8017, 0.6094, -0.4812, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.256 left_z=0.0537 left_yaw=-0.4808 left_pitch=-0.0153 left_roll=0.0093 left_gripper=0.0105 right_x=0.2814 right_y=0.0011 right_z=0.1601 right_yaw=-0.0005 right_pitch=-0.0843 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.8205, 4.3009, 0.735, 0.0464, 0.0659, 0.8327, -0.0205, -1.3607, 7.1453, 1.9267, -0.0317, -0.0171, -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]: [-0.8829, 1.3346, 0.7162, -0.0532, -0.3382, -0.2661, 0.9951, -0.0208, 0.8032, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.2526 left_z=0.1284 left_yaw=-0.4713 left_pitch=-0.0509 left_roll=0.01 left_gripper=0.9951 right_x=0.2785 right_y=0.0013 right_z=0.156 right_yaw=-0.0001 right_pitch=-0.1049 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -6.7214, 9.347, 1.8437, -0.1734, 0.1441, -0.0171, -0.0479, -1.347, 6.9675, 1.8193, -0.0171, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda16e267659ca6b80bb8d236b3922e86552ad487fc2ce6592087ff4913c09d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a2cac1c7fcea4fd150fd63117ea7587400c0fc3b91116ec2810ebdea7906b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22bf268b97aac54edaf426326c1812e11d6ee9d460ed62c76b4771bdbd4e8f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KM3EJhqhqEFn73tKkxNRW5",
      "input": {
        "note": "The can now lies with its axis along the tool's forward direction, cap ahead and body running under the fingertips toward the base. Shifting ~3 cm toward the base and 1 cm right so the jaws straddle the can's middle, then descending to can height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.255,
          "left_y": -0.245,
          "left_yaw": -0.47,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KM3EJhqhqEFn73tKkxNRW5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9695, 1.4967, 0.4274, 0.3634, -0.3943, -0.3271, 0.9984, -0.0212, 0.8051, 0.6075, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.2469 left_z=0.0382 left_yaw=-0.4785 left_pitch=-0.0658 left_roll=0.0079 left_gripper=0.9984 right_x=0.2746 right_y=0.0013 right_z=0.1505 right_yaw=-0.0001 right_pitch=-0.1312 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -2.8513, 3.5077, 0.7106, -0.1734, 0.2222, -0.1783, -0.1026, -1.2513, 7.159, 1.8535, -0.0317, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd40f35d687b3c5a4de209f65344a8fb18b24a8def10b2c0c232f6a1d096011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53080918fafd8076e119d8bac63eca99a659cd970ac26bee197f352dd73206de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1828359ed0c4e3cab6f0ac669ae733467af9c0712d9dd252f772f5d7048f29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 21.75 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]: [-0.8822, 1.5612, 0.5125, 0.416, -0.3382, -0.2481, 0.0105, -0.0212, 0.8017, 0.6094, -0.4812, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.256 left_z=0.0537 left_yaw=-0.4808 left_pitch=-0.0153 left_roll=0.0093 left_gripper=0.0105 right_x=0.2814 right_y=0.0011 right_z=0.1601 right_yaw=-0.0005 right_pitch=-0.0843 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.8205, 4.3009, 0.735, 0.0464, 0.0659, 0.8327, -0.0205, -1.3607, 7.1453, 1.9267, -0.0317, -0.0171, -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]: [-0.8829, 1.3346, 0.7162, -0.0532, -0.3382, -0.2661, 0.9951, -0.0208, 0.8032, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.2526 left_z=0.1284 left_yaw=-0.4713 left_pitch=-0.0509 left_roll=0.01 left_gripper=0.9951 right_x=0.2785 right_y=0.0013 right_z=0.156 right_yaw=-0.0001 right_pitch=-0.1049 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -6.7214, 9.347, 1.8437, -0.1734, 0.1441, -0.0171, -0.0479, -1.347, 6.9675, 1.8193, -0.0171, -0.0513, -0.0073]\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]: [-0.9695, 1.4967, 0.4274, 0.3634, -0.3943, -0.3271, 0.9984, -0.0212, 0.8051, 0.6075, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.2469 left_z=0.0382 left_yaw=-0.4785 left_pitch=-0.0658 left_roll=0.0079 left_gripper=0.9984 right_x=0.2746 right_y=0.0013 right_z=0.1505 right_yaw=-0.0001 right_pitch=-0.1312 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -2.8513, 3.5077, 0.7106, -0.1734, 0.2222, -0.1783, -0.1026, -1.2513, 7.159, 1.8535, -0.0317, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd40f35d687b3c5a4de209f65344a8fb18b24a8def10b2c0c232f6a1d096011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53080918fafd8076e119d8bac63eca99a659cd970ac26bee197f352dd73206de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1828359ed0c4e3cab6f0ac669ae733467af9c0712d9dd252f772f5d7048f29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3gcKEAgRGAI4AUIIdGhpbmtpbmcSDGPzIeOmoGkk8FBNPRoM5z30V9n7/qyzPSr0IjBTJNGAQoaNeeB/eigQAo2hcpU0JFvh2sNEhM+8ysXNpWM0IhYL0xt0qaAoWwky7Lcq+wY/fzQ/BNZBVQWpFAVvNUw+g+VXTx5x/Taj8FPit72fKZvlmCjsB0Ufhu84/QvIpoXniug1C3GRBsQFLoS1/nuCNffCmy2rLo3rwzQvdRCpJf8ziJzNytmA8jFZkNzy/T8MR46vSBCXoVbXEE3a2e2NkkSb9ndAk96Ipj5koTkYeZOMCiMvC9qswQr1n7HLXdp1Z65F1x+XNtha8BIfGy+PjI9UglOgcdLax5+WAbEHG6NWekepn/VgMHfYTJv7syoG3xoLyAdTf73EACUubpDuXd9xiO1e4kNMFL4d0oDtm8Fe4e5ZlM2NG0tkzvAbtl7Cc7FEvrjlWlLPHIhtgg0mHOr7AP1LdQatPo3BXnmzfw1d33SVR9v/jRXoezyp2xxO/syBdzYsRg6j1Dgu+0+kZaoM7uG+g4DTQtbHhbEw1hzzt0duLrUMufTljc/w26v/pcXPc3lHhVsHX6Zh6B4Yd80DSgYIUugnWVQwKKgZg5nHmQU/EIlT0CSnBWDGvc1x8y0tvHMMBvXhB6xK8Z7XAEnoWAh6FDUYJngu2hARPVN8mNBnHckXDVWPRvCX7mKR0WedWwt7E1HYKDB1PvHAj+OQDGbC4fEYLGGRQPRQrlPBXFNpM20zQuLW0skgPXVqXtTm3gh8BBM8E5csEkKXxE89cbOmhR/8TYn0NV+yoaeQcl+vrQc+uhVPojA8XA1P5dmldOCcDXeOStEBFjR/9b7wag3dBaCb08ZKLpunzJ0/WGeHVWZOCiO6bvWgi2BE7Z15gYSnPBvC/D5TdkI8Z8R36D21qTwKV+rw85Sb+NR5HqBkrojs6y8HKEVCdDh8yWIGCcky4rUycw0fHHn0Pbq0ngV2pa79VT2mZvjTT2hRm80NfG4Y5YOnv7tWaRHCNc6aaY6thhTKAZPQfAnkFO39dRvp/EBlXa5PzmqSWwMoaOjd7eQmjPqcwx5gDf2PqSAFStQ+jWifCjV5ip4QiL4Na1icMihbyYpUxelSSXB+/v5e36H611Y3eTKQ41PvvKZJSBfCkrjkW5H3q7JN6LncEZ9PrcSorQXqtKRvfbCnwIGWQTqZraWog1FUNPI2PEBsUrPAKy5h5S2s6e+/G55SOk34zF5zqgKKx/8gt7bc/AwUAaM51ApeJMI8xqexz+DbH6aj4JB6rxPx4fHAFEMBvR7lUcJlxjcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KqNda5L3s6ktJbTwquXq5C",
      "input": {
        "note": "The can body now fills the space between the jaws in the wrist view, cap toward the camera. Closing 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_01KqNda5L3s6ktJbTwquXq5C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.973, 1.4857, 0.4347, 0.4416, -0.4164, -0.3313, 0.0097, -0.0208, 0.8062, 0.6075, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2654 left_y=-0.2565 left_z=0.0598 left_yaw=-0.4628 left_pitch=0.0254 left_roll=-0.03 left_gripper=0.0097 right_x=0.2695 right_y=0.0015 right_z=0.1445 right_yaw=0.0001 right_pitch=-0.1632 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4239, 4.7658, 0.862, 0.0952, 0.0415, 0.7888, -0.0752, -1.1145, 6.9949, 1.8486, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c2f110a8133fa64a62eaf6e39feb5c5b64b4c1d04f9dbded4628a755d09f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e85cfed6755dd6298f9e1e230b72b03765922857196d61003d07e07a4031c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0154e9a2a888203b8981d0216b4b76fecec7b9f7418d0a5ccf61ec1829f0cc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 8.606 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]: [-0.8829, 1.3346, 0.7162, -0.0532, -0.3382, -0.2661, 0.9951, -0.0208, 0.8032, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.2526 left_z=0.1284 left_yaw=-0.4713 left_pitch=-0.0509 left_roll=0.01 left_gripper=0.9951 right_x=0.2785 right_y=0.0013 right_z=0.156 right_yaw=-0.0001 right_pitch=-0.1049 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -6.7214, 9.347, 1.8437, -0.1734, 0.1441, -0.0171, -0.0479, -1.347, 6.9675, 1.8193, -0.0171, -0.0513, -0.0073]\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]: [-0.9695, 1.4967, 0.4274, 0.3634, -0.3943, -0.3271, 0.9984, -0.0212, 0.8051, 0.6075, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.2469 left_z=0.0382 left_yaw=-0.4785 left_pitch=-0.0658 left_roll=0.0079 left_gripper=0.9984 right_x=0.2746 right_y=0.0013 right_z=0.1505 right_yaw=-0.0001 right_pitch=-0.1312 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -2.8513, 3.5077, 0.7106, -0.1734, 0.2222, -0.1783, -0.1026, -1.2513, 7.159, 1.8535, -0.0317, -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 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.973, 1.4857, 0.4347, 0.4416, -0.4164, -0.3313, 0.0097, -0.0208, 0.8062, 0.6075, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2654 left_y=-0.2565 left_z=0.0598 left_yaw=-0.4628 left_pitch=0.0254 left_roll=-0.03 left_gripper=0.0097 right_x=0.2695 right_y=0.0015 right_z=0.1445 right_yaw=0.0001 right_pitch=-0.1632 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4239, 4.7658, 0.862, 0.0952, 0.0415, 0.7888, -0.0752, -1.1145, 6.9949, 1.8486, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c2f110a8133fa64a62eaf6e39feb5c5b64b4c1d04f9dbded4628a755d09f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e85cfed6755dd6298f9e1e230b72b03765922857196d61003d07e07a4031c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0154e9a2a888203b8981d0216b4b76fecec7b9f7418d0a5ccf61ec1829f0cc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0186uCmXFeV2MCDqHTC2cYkH",
      "input": {
        "note": "Empty again; the can body visible between the jaws is actually a few cm forward of the fingertips, so the jaws closed on its near end and pushed it away. Opening and advancing ~3 cm along the tool axis to centre the jaws on the can's middle.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.29,
          "left_y": -0.27,
          "left_yaw": -0.47,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0186uCmXFeV2MCDqHTC2cYkH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9245, 1.6848, 0.4808, 0.672, -0.3855, -0.3229, 0.9954, -0.0212, 0.8097, 0.6075, -0.5877, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=-0.2736 left_z=0.0487 left_yaw=-0.4421 left_pitch=0.0857 left_roll=-0.0743 left_gripper=0.9954 right_x=0.2638 right_y=0.0015 right_z=0.1377 right_yaw=0.0002 right_pitch=-0.2006 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.0684, 5.1761, 1.1502, 0.0659, 0.2271, -0.1392, 0.0205, -1.2786, 6.8444, 1.8339, -0.0464, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ad31b564ec8714a90ee891151e1f0408f87720756694cd6b8fb518f9e82704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f8b27a348058c36a32b0799eab98e53f98b071bad6c4a5f7919ed669d0171f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6bc77e94214277b0f4469057078b64a256371435d4edd54eae05d08a8dd4843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 22.69 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]: [-0.9695, 1.4967, 0.4274, 0.3634, -0.3943, -0.3271, 0.9984, -0.0212, 0.8051, 0.6075, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.2469 left_z=0.0382 left_yaw=-0.4785 left_pitch=-0.0658 left_roll=0.0079 left_gripper=0.9984 right_x=0.2746 right_y=0.0013 right_z=0.1505 right_yaw=-0.0001 right_pitch=-0.1312 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -2.8513, 3.5077, 0.7106, -0.1734, 0.2222, -0.1783, -0.1026, -1.2513, 7.159, 1.8535, -0.0317, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.973, 1.4857, 0.4347, 0.4416, -0.4164, -0.3313, 0.0097, -0.0208, 0.8062, 0.6075, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2654 left_y=-0.2565 left_z=0.0598 left_yaw=-0.4628 left_pitch=0.0254 left_roll=-0.03 left_gripper=0.0097 right_x=0.2695 right_y=0.0015 right_z=0.1445 right_yaw=0.0001 right_pitch=-0.1632 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4239, 4.7658, 0.862, 0.0952, 0.0415, 0.7888, -0.0752, -1.1145, 6.9949, 1.8486, -0.0317, -0.0513, -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 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9245, 1.6848, 0.4808, 0.672, -0.3855, -0.3229, 0.9954, -0.0212, 0.8097, 0.6075, -0.5877, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=-0.2736 left_z=0.0487 left_yaw=-0.4421 left_pitch=0.0857 left_roll=-0.0743 left_gripper=0.9954 right_x=0.2638 right_y=0.0015 right_z=0.1377 right_yaw=0.0002 right_pitch=-0.2006 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.0684, 5.1761, 1.1502, 0.0659, 0.2271, -0.1392, 0.0205, -1.2786, 6.8444, 1.8339, -0.0464, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ad31b564ec8714a90ee891151e1f0408f87720756694cd6b8fb518f9e82704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f8b27a348058c36a32b0799eab98e53f98b071bad6c4a5f7919ed669d0171f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6bc77e94214277b0f4469057078b64a256371435d4edd54eae05d08a8dd4843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpAsKEAgRGAI4AUIIdGhpbmtpbmcSDN4rrpxW3apXO1RpaBoM6GhlnMuHnKn5b5EsIjAtpnqFlXySi5h8kMTsfdDMWxugDgahvGNFY9KYS/vA+fzCmWeIIAT+Yc8aqea2stwqwQp1NC4w/Xz4HjyRJRDkhHeV4YxFXNGQdynLvYMBCdc2YTFTt0tN5Im7UhvdFXQ+lGeIqvWwALu/KFkwDtNT8e+yced+h+uunbvsXD7lbtmg25YlOZqyc7SOsrUA2nUGP6uoxV6HFdzfcL6AffWVtv+yTCeSbTtFSEdMYi2CZuGVXYGKVMXEQwOfNlCy2Zs3zlk4G+T5uoAZh7aNB36ILRdb5t6rlDpmitFD72ukmc29f7NlEotOcDLN+qStiRNYCYOPHLJ0WvcGzzAG/e0NWo1wS7I/+MHVyckBCtpEbT+0Wd2j+sBBLh6Tgn+8WopZ179nwhes5vM9g1I9QYLYsa6Xk3kP8cL1Gnro/Hd+jev6yudKvkL48ic2HMHnpZva1TymmIpkuFHo+vcHyeKTnjF23cBD0fCDXlxHuLrIbxOrBRWnEBGvnnDNgrgRSnCgPJyVZ26j6az/Ue7ChvUdD15TyOePBjR1hfIAIzarFAscR5eZpxT69iJToOjKhWwyAxieRX9c6r4mjui+ySA5+N8AcDkcE/e0BKFq2yC8+87XeiE/bvzgOKdi0jylQQGscdpc5/LiDMpMWi5AkwUsZ1QWziUoBGPZugn1JU3GVtskj+38KqodcdwLC1Cf9pozLgEe+Vk4bRRm+rHDuSv/LVJFoczfXL7/RWFhC4U/xC5TLHEbwVBqj2U5V/CjR761t2Q/Y/PlhYFjS1Ln6izchkOQ8emMUEy1yIVXbOpT/rlH1x/zb3dqo8BFBlBd9ZWaSKQRqGXJijCeMcVzsGfPnrZ7hFxPr+ZGM2gqhMRPeqIRzpyfjcD9jJjRUMTme1ijtfecFm7aVaxjRT/tOgnyNtRaWAo5j8JWXORGvzSl3rl6rVb9dl95jqyfRYOd/ZSrUZtECyPx7fPPPoEomxyqLgidIySkED2AXzeAAIjKJpc4OXRd82rnPPW9E311yt210pYbCo9nuTeyUnAvFQIXznS9YqVFx27+1YbVtkqLsJwB1HKjmZVwDmX8e+qsnXLHsthu86X7QWPZcg4R+46QZBXo83LHDlKiL3uGc0E0XR2j+CB0RQjQ8fHRXes8fQpUjxcL1cxUOjXOZoDd0EM+hMRIxXKk6ElfDUxEZsHu0qm47MblYUY6bwQM3iZTiA7THiuLzFGz3UZ8LJUqs5ykMeUrNx+oKK4np1Fj8XesEwr6rSd9SfJgcv103xTXFgveTea/hjSGW+nVFUX4Gtt/JvAHcxG7CPywYTcFB2yaT1Wp4X/beVXrvEr6RJT9Ey95Gtl1RK3KAq3X7icVy9b9PEeZnUugxfaWXpDHVfyDEbQM+Sz928CfF5up3kAtMHdAQcVqg9ZX5qw0uTrb9KZDWo9NQX+8pLB5IrzL7AaCf7yFPAudIX9kppxDRKkrsyGK+6qk62jcBn95ChPeh3EUTEYBfqqDCALCNa15aP98gW399PbSaDIyujBHnzewe/lVH6GDQ3+6fO7BhUf0VTV0Ws7G0XK3gI75vaHI3k81rFWLlQn/FwsZPal33em2jt7pb3QNCcFQpXu9ZXcUwPuCOGyc3vKqFf7Y8YsP54FogrNct5kCsyafAa9WvuRnnlfEW803iuhTRVvXr7LbK/vbNAHYaiJbDou1HaQil5YGWG/P4lhglUbKxvSt6q1oEliacRWGRQ/veNjEfkZVm32iqax+2x2HBXxDpnI5QdCVM9hbobpG1Zgy6mXgGePNiCQYgWVhu16v36ljUeH1QSwg6KjYiX4Z0z4IhkzalopJE96J1dGGovyRrf9fnLEyAbRwq8vNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015tdGyxAuPYjusqPPgAWGAm",
      "input": {
        "note": "The descent stopped at z≈0.05, and the wrist view shows the spray cap between the jaws with the body running under the fingertips; the overhead shows the gripper straddling the can. 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_015tdGyxAuPYjusqPPgAWGAm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.923, 1.6867, 0.4847, 0.7147, -0.395, -0.3309, 0.0099, -0.0208, 0.8101, 0.6075, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=-0.2765 left_z=0.0583 left_yaw=-0.4261 left_pitch=0.127 left_roll=-0.0985 left_gripper=0.0099 right_x=0.2594 right_y=0.0017 right_z=0.1333 right_yaw=0.0004 right_pitch=-0.2258 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5846, 4.5197, 1.4139, -0.0513, 0.0708, 0.7741, -0.0752, -1.1556, 6.8171, 1.7411, -0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d03adc3bd7663a7b7506f50fda75192fbc8ace7749d5fc0957968e9cadc24c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5ebc7ed3dbc295e6b938bf71396d3a978570116f5292091be58133ef145e924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:652ae10f413c9c4a672c817cdc57a27361e3453d472434f1dd5b5b5299622ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 20.56 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]: [-0.973, 1.4857, 0.4347, 0.4416, -0.4164, -0.3313, 0.0097, -0.0208, 0.8062, 0.6075, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2654 left_y=-0.2565 left_z=0.0598 left_yaw=-0.4628 left_pitch=0.0254 left_roll=-0.03 left_gripper=0.0097 right_x=0.2695 right_y=0.0015 right_z=0.1445 right_yaw=0.0001 right_pitch=-0.1632 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.4239, 4.7658, 0.862, 0.0952, 0.0415, 0.7888, -0.0752, -1.1145, 6.9949, 1.8486, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.9245, 1.6848, 0.4808, 0.672, -0.3855, -0.3229, 0.9954, -0.0212, 0.8097, 0.6075, -0.5877, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=-0.2736 left_z=0.0487 left_yaw=-0.4421 left_pitch=0.0857 left_roll=-0.0743 left_gripper=0.9954 right_x=0.2638 right_y=0.0015 right_z=0.1377 right_yaw=0.0002 right_pitch=-0.2006 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.0684, 5.1761, 1.1502, 0.0659, 0.2271, -0.1392, 0.0205, -1.2786, 6.8444, 1.8339, -0.0464, -0.022, -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 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.923, 1.6867, 0.4847, 0.7147, -0.395, -0.3309, 0.0099, -0.0208, 0.8101, 0.6075, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=-0.2765 left_z=0.0583 left_yaw=-0.4261 left_pitch=0.127 left_roll=-0.0985 left_gripper=0.0099 right_x=0.2594 right_y=0.0017 right_z=0.1333 right_yaw=0.0004 right_pitch=-0.2258 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5846, 4.5197, 1.4139, -0.0513, 0.0708, 0.7741, -0.0752, -1.1556, 6.8171, 1.7411, -0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d03adc3bd7663a7b7506f50fda75192fbc8ace7749d5fc0957968e9cadc24c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5ebc7ed3dbc295e6b938bf71396d3a978570116f5292091be58133ef145e924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:652ae10f413c9c4a672c817cdc57a27361e3453d472434f1dd5b5b5299622ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ab6PtqoEJeR9rh7jqEqsY",
      "input": {
        "note": "Still empty and the gripper again rode up on close, so the jaws are landing on the can rather than around it. Lifting with jaws open to re-sight the can body from above in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019ab6PtqoEJeR9rh7jqEqsY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.923, 1.4052, 0.6373, 0.2451, -0.3977, -0.3462, 0.9951, -0.0212, 0.8135, 0.6064, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=-0.2726 left_z=0.1292 left_yaw=-0.4174 left_pitch=0.0957 left_roll=-0.0939 left_gripper=0.9951 right_x=0.2552 right_y=0.0017 right_z=0.1283 right_yaw=0.0001 right_pitch=-0.2529 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2137, 8.8957, 1.9853, -0.1587, 0.0904, 0.0024, 0.0068, -1.3333, 6.8581, 1.6923, -0.0269, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa86f615640ce8bac3dbc5c67961fd1ca9e03077ef01ed0374a5e730827617b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c4070ae3a09b3fa90142ef9e14654152442f62e365e002e6a2cc422c0f7ce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a394a6c5d640b7daf62be611014668e9f519e3e08d18c799889ae05b8b1847c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 17.66 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]: [-0.9245, 1.6848, 0.4808, 0.672, -0.3855, -0.3229, 0.9954, -0.0212, 0.8097, 0.6075, -0.5877, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=-0.2736 left_z=0.0487 left_yaw=-0.4421 left_pitch=0.0857 left_roll=-0.0743 left_gripper=0.9954 right_x=0.2638 right_y=0.0015 right_z=0.1377 right_yaw=0.0002 right_pitch=-0.2006 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -4.0684, 5.1761, 1.1502, 0.0659, 0.2271, -0.1392, 0.0205, -1.2786, 6.8444, 1.8339, -0.0464, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.923, 1.6867, 0.4847, 0.7147, -0.395, -0.3309, 0.0099, -0.0208, 0.8101, 0.6075, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=-0.2765 left_z=0.0583 left_yaw=-0.4261 left_pitch=0.127 left_roll=-0.0985 left_gripper=0.0099 right_x=0.2594 right_y=0.0017 right_z=0.1333 right_yaw=0.0004 right_pitch=-0.2258 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5846, 4.5197, 1.4139, -0.0513, 0.0708, 0.7741, -0.0752, -1.1556, 6.8171, 1.7411, -0.0269, -0.0269, -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 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.923, 1.4052, 0.6373, 0.2451, -0.3977, -0.3462, 0.9951, -0.0212, 0.8135, 0.6064, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=-0.2726 left_z=0.1292 left_yaw=-0.4174 left_pitch=0.0957 left_roll=-0.0939 left_gripper=0.9951 right_x=0.2552 right_y=0.0017 right_z=0.1283 right_yaw=0.0001 right_pitch=-0.2529 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2137, 8.8957, 1.9853, -0.1587, 0.0904, 0.0024, 0.0068, -1.3333, 6.8581, 1.6923, -0.0269, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa86f615640ce8bac3dbc5c67961fd1ca9e03077ef01ed0374a5e730827617b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c4070ae3a09b3fa90142ef9e14654152442f62e365e002e6a2cc422c0f7ce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a394a6c5d640b7daf62be611014668e9f519e3e08d18c799889ae05b8b1847c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015kRC3Xh37LTcMfG3p7Dp24",
      "input": {
        "note": "From above, the spray head sits at the bottom of the wrist view and the overhead shows the can body slightly base-ward and left of the gripper. Moving ~4 cm toward the base and 1.5 cm left, descending all the way to table level so the jaws go around the body rather than land on it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.266,
          "left_y": -0.24,
          "left_yaw": -0.42,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015kRC3Xh37LTcMfG3p7Dp24",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9417, 1.792, 0.3172, 1.1282, -0.4179, -0.3836, 0.9984, -0.0212, 0.8162, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.2622 left_z=0.053 left_yaw=-0.3828 left_pitch=0.249 left_roll=-0.212 left_gripper=0.9984 right_x=0.2509 right_y=0.0017 right_z=0.1237 right_yaw=0.0003 right_pitch=-0.2788 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.6889, 0.0068, -0.5592, 0.0024, 0.3004, -0.1783, -0.0205, -1.2103, 6.9949, 1.619, -0.0366, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20459ce6c5a58cdda5f50cda8fd4fb8ea354b06e9be28d2d3c5f384a7f30e1ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1249c5308091cef7d9a6da15a7ca3dc8672d5edcbb6158827a1018083fb42340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eda32329c025f6c7b9b1f5ad7b2a8a7dedd2d83021764f3094ee0b52c91dada7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 17.29 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]: [-0.923, 1.6867, 0.4847, 0.7147, -0.395, -0.3309, 0.0099, -0.0208, 0.8101, 0.6075, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=-0.2765 left_z=0.0583 left_yaw=-0.4261 left_pitch=0.127 left_roll=-0.0985 left_gripper=0.0099 right_x=0.2594 right_y=0.0017 right_z=0.1333 right_yaw=0.0004 right_pitch=-0.2258 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5846, 4.5197, 1.4139, -0.0513, 0.0708, 0.7741, -0.0752, -1.1556, 6.8171, 1.7411, -0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.923, 1.4052, 0.6373, 0.2451, -0.3977, -0.3462, 0.9951, -0.0212, 0.8135, 0.6064, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=-0.2726 left_z=0.1292 left_yaw=-0.4174 left_pitch=0.0957 left_roll=-0.0939 left_gripper=0.9951 right_x=0.2552 right_y=0.0017 right_z=0.1283 right_yaw=0.0001 right_pitch=-0.2529 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2137, 8.8957, 1.9853, -0.1587, 0.0904, 0.0024, 0.0068, -1.3333, 6.8581, 1.6923, -0.0269, -0.0317, -0.0073]\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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9417, 1.792, 0.3172, 1.1282, -0.4179, -0.3836, 0.9984, -0.0212, 0.8162, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.2622 left_z=0.053 left_yaw=-0.3828 left_pitch=0.249 left_roll=-0.212 left_gripper=0.9984 right_x=0.2509 right_y=0.0017 right_z=0.1237 right_yaw=0.0003 right_pitch=-0.2788 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.6889, 0.0068, -0.5592, 0.0024, 0.3004, -0.1783, -0.0205, -1.2103, 6.9949, 1.619, -0.0366, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20459ce6c5a58cdda5f50cda8fd4fb8ea354b06e9be28d2d3c5f384a7f30e1ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1249c5308091cef7d9a6da15a7ca3dc8672d5edcbb6158827a1018083fb42340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda32329c025f6c7b9b1f5ad7b2a8a7dedd2d83021764f3094ee0b52c91dada7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015dz59A5RF3tYtpnuiJDrV4",
      "input": {
        "note": "The descent stopped at z≈0.05 with the tool tilted, meaning the gripper is resting on top of the can again. Pulling the arm back and aside so the overhead camera can show me exactly where and how the can lies.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.2,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "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_015dz59A5RF3tYtpnuiJDrV4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8314, 0.1902, 0.4118, -0.6037, -0.6594, -0.5026, 0.9985, -0.0212, 0.8223, 0.6056, -0.6777, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2048 left_y=-0.0587 left_z=0.1963 left_yaw=-0.0045 left_pitch=0.2627 left_roll=-0.2368 left_gripper=0.9985 right_x=0.2471 right_y=0.0018 right_z=0.1191 right_yaw=0.0004 right_pitch=-0.3051 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.1299, 2.2769, 8.3761, 1.7705, -0.2027, 0.0513, -0.1734, -0.0889, -1.2513, 6.9265, 1.619, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9700a47453789ecde98f4e0207d800cc22d3833f08c1a6c4ac204bbb91f7009f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:864068eba1767a759d5699d925a97418c8a3734d2b7daad987bdcbc6810508bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87a43cc78abfd27370d0a98854d17140c0cdbea22d01f1c7d6baeadf88db7637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 12.29 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]: [-0.923, 1.4052, 0.6373, 0.2451, -0.3977, -0.3462, 0.9951, -0.0212, 0.8135, 0.6064, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=-0.2726 left_z=0.1292 left_yaw=-0.4174 left_pitch=0.0957 left_roll=-0.0939 left_gripper=0.9951 right_x=0.2552 right_y=0.0017 right_z=0.1283 right_yaw=0.0001 right_pitch=-0.2529 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2137, 8.8957, 1.9853, -0.1587, 0.0904, 0.0024, 0.0068, -1.3333, 6.8581, 1.6923, -0.0269, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.9417, 1.792, 0.3172, 1.1282, -0.4179, -0.3836, 0.9984, -0.0212, 0.8162, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.2622 left_z=0.053 left_yaw=-0.3828 left_pitch=0.249 left_roll=-0.212 left_gripper=0.9984 right_x=0.2509 right_y=0.0017 right_z=0.1237 right_yaw=0.0003 right_pitch=-0.2788 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.6889, 0.0068, -0.5592, 0.0024, 0.3004, -0.1783, -0.0205, -1.2103, 6.9949, 1.619, -0.0366, -0.0659, -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]: [-0.8314, 0.1902, 0.4118, -0.6037, -0.6594, -0.5026, 0.9985, -0.0212, 0.8223, 0.6056, -0.6777, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2048 left_y=-0.0587 left_z=0.1963 left_yaw=-0.0045 left_pitch=0.2627 left_roll=-0.2368 left_gripper=0.9985 right_x=0.2471 right_y=0.0018 right_z=0.1191 right_yaw=0.0004 right_pitch=-0.3051 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.1299, 2.2769, 8.3761, 1.7705, -0.2027, 0.0513, -0.1734, -0.0889, -1.2513, 6.9265, 1.619, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9700a47453789ecde98f4e0207d800cc22d3833f08c1a6c4ac204bbb91f7009f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:864068eba1767a759d5699d925a97418c8a3734d2b7daad987bdcbc6810508bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a43cc78abfd27370d0a98854d17140c0cdbea22d01f1c7d6baeadf88db7637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K8ALxLhhbuvdHr2aiSeFxS",
      "input": {
        "note": "Overhead now shows the can lying on the table's centre line, axis pointing forward with the cap ahead, close to the bases; my earlier grasps were several cm to its left. Moving above its middle at yaw 0 so the jaws close across its diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.24,
          "left_y": -0.32,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01K8ALxLhhbuvdHr2aiSeFxS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3373, 1.6871, 0.7624, 0.1577, -1.0992, -0.9279, 0.9984, -0.0212, 0.8249, 0.6018, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2386 left_y=-0.3075 left_z=0.1105 left_yaw=-0.0116 left_pitch=0.2461 left_roll=-0.1924 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1134 right_yaw=0.001 right_pitch=-0.3352 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -7.0906, 7.6513, 1.5897, -0.486, 0.0122, -0.1783, -0.1026, -1.3197, 7.159, 1.5604, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d31206ab3b3a20ffacb6ec9272c0810ee4342eccc6d9e2fa69faf5fd8c2a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50929f69fea532163f43c770b9bc6ccd55d426c81b5c5c3e9227cbf4409fd61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:640c592e3593a288dbeea25c5aef9dc958458be586871ff5bbae6ab89b3dd5d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 10.14 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9417, 1.792, 0.3172, 1.1282, -0.4179, -0.3836, 0.9984, -0.0212, 0.8162, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.2622 left_z=0.053 left_yaw=-0.3828 left_pitch=0.249 left_roll=-0.212 left_gripper=0.9984 right_x=0.2509 right_y=0.0017 right_z=0.1237 right_yaw=0.0003 right_pitch=-0.2788 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.6889, 0.0068, -0.5592, 0.0024, 0.3004, -0.1783, -0.0205, -1.2103, 6.9949, 1.619, -0.0366, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "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]: [-0.8314, 0.1902, 0.4118, -0.6037, -0.6594, -0.5026, 0.9985, -0.0212, 0.8223, 0.6056, -0.6777, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2048 left_y=-0.0587 left_z=0.1963 left_yaw=-0.0045 left_pitch=0.2627 left_roll=-0.2368 left_gripper=0.9985 right_x=0.2471 right_y=0.0018 right_z=0.1191 right_yaw=0.0004 right_pitch=-0.3051 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.1299, 2.2769, 8.3761, 1.7705, -0.2027, 0.0513, -0.1734, -0.0889, -1.2513, 6.9265, 1.619, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3373, 1.6871, 0.7624, 0.1577, -1.0992, -0.9279, 0.9984, -0.0212, 0.8249, 0.6018, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2386 left_y=-0.3075 left_z=0.1105 left_yaw=-0.0116 left_pitch=0.2461 left_roll=-0.1924 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1134 right_yaw=0.001 right_pitch=-0.3352 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -7.0906, 7.6513, 1.5897, -0.486, 0.0122, -0.1783, -0.1026, -1.3197, 7.159, 1.5604, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d31206ab3b3a20ffacb6ec9272c0810ee4342eccc6d9e2fa69faf5fd8c2a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50929f69fea532163f43c770b9bc6ccd55d426c81b5c5c3e9227cbf4409fd61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:640c592e3593a288dbeea25c5aef9dc958458be586871ff5bbae6ab89b3dd5d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KfVYKVi4kgTAYFwt9y3WFN",
      "input": {
        "note": "Wrist view shows the can body running under the jaws, slightly left of the jaw column and extending toward the base; the tool has also drifted to a tilted pitch/roll. Levelling the tool, shifting 2 cm back and left, and descending to table level to straddle the body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.22,
          "left_y": -0.295,
          "left_yaw": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KfVYKVi4kgTAYFwt9y3WFN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8931, 0.8597, -0.1074, -1.055, -1.1446, 0.9985, -0.0212, 0.8249, 0.6018, -0.7238, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2318 left_y=-0.3012 left_z=0.0399 left_yaw=0.0144 left_pitch=0.1113 left_roll=-0.0339 left_gripper=0.9985 right_x=0.2373 right_y=0.0021 right_z=0.1101 right_yaw=0.0012 right_pitch=-0.3577 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.0427, 3.2752, 0.8718, 0.5641, -0.5348, -0.1734, -0.1162, -0.8821, 6.9128, 1.5116, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f19610b79a2be8195b416f7065c4828b824497e0fccd97052d19ea24c1bb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eec9016f494edaa78b5d7a0f95ac13e0382f77c24a530673e1cecd5b14222e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d14b345bb82168a00e542dadd4f21f6ad2c9d6abe4e1e705d7dc7e9b1627d326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 24.1 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8314, 0.1902, 0.4118, -0.6037, -0.6594, -0.5026, 0.9985, -0.0212, 0.8223, 0.6056, -0.6777, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2048 left_y=-0.0587 left_z=0.1963 left_yaw=-0.0045 left_pitch=0.2627 left_roll=-0.2368 left_gripper=0.9985 right_x=0.2471 right_y=0.0018 right_z=0.1191 right_yaw=0.0004 right_pitch=-0.3051 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.1299, 2.2769, 8.3761, 1.7705, -0.2027, 0.0513, -0.1734, -0.0889, -1.2513, 6.9265, 1.619, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3373, 1.6871, 0.7624, 0.1577, -1.0992, -0.9279, 0.9984, -0.0212, 0.8249, 0.6018, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2386 left_y=-0.3075 left_z=0.1105 left_yaw=-0.0116 left_pitch=0.2461 left_roll=-0.1924 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1134 right_yaw=0.001 right_pitch=-0.3352 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -7.0906, 7.6513, 1.5897, -0.486, 0.0122, -0.1783, -0.1026, -1.3197, 7.159, 1.5604, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8931, 0.8597, -0.1074, -1.055, -1.1446, 0.9985, -0.0212, 0.8249, 0.6018, -0.7238, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2318 left_y=-0.3012 left_z=0.0399 left_yaw=0.0144 left_pitch=0.1113 left_roll=-0.0339 left_gripper=0.9985 right_x=0.2373 right_y=0.0021 right_z=0.1101 right_yaw=0.0012 right_pitch=-0.3577 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.0427, 3.2752, 0.8718, 0.5641, -0.5348, -0.1734, -0.1162, -0.8821, 6.9128, 1.5116, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f19610b79a2be8195b416f7065c4828b824497e0fccd97052d19ea24c1bb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eec9016f494edaa78b5d7a0f95ac13e0382f77c24a530673e1cecd5b14222e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d14b345bb82168a00e542dadd4f21f6ad2c9d6abe4e1e705d7dc7e9b1627d326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XrbwCZeyixsVsD6KHKuVoj",
      "input": {
        "note": "The can body now sits squarely between the two jaws in the wrist view, and the descent stopped at z≈0.04, roughly the can's centre height. 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_01XrbwCZeyixsVsD6KHKuVoj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8755, 0.8696, -0.0795, -1.124, -1.1461, 0.0102, -0.0212, 0.8288, 0.601, -0.7399, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.238 left_y=-0.3031 left_z=0.0596 left_yaw=0.052 left_pitch=0.1828 left_roll=-0.0779 left_gripper=0.0102 right_x=0.2339 right_y=0.0021 right_z=0.1067 right_yaw=0.001 right_pitch=-0.3783 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.9265, 4.1231, 0.6716, 0.1734, -0.0171, 0.696, -0.1709, -1.3197, 6.9128, 1.4774, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cf9f28fca6f7a8907862a0c06e6687d0505eed25de1898d8f86cf3460f836d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af90df92312b2851574110bbee71de38bcec15285551b76aa64db1ec484c4185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e75d00f6d622f4724ed838e64098fc398df8c35aadfbf9b96d940e54169018d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 10.63 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3373, 1.6871, 0.7624, 0.1577, -1.0992, -0.9279, 0.9984, -0.0212, 0.8249, 0.6018, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2386 left_y=-0.3075 left_z=0.1105 left_yaw=-0.0116 left_pitch=0.2461 left_roll=-0.1924 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1134 right_yaw=0.001 right_pitch=-0.3352 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -7.0906, 7.6513, 1.5897, -0.486, 0.0122, -0.1783, -0.1026, -1.3197, 7.159, 1.5604, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8931, 0.8597, -0.1074, -1.055, -1.1446, 0.9985, -0.0212, 0.8249, 0.6018, -0.7238, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2318 left_y=-0.3012 left_z=0.0399 left_yaw=0.0144 left_pitch=0.1113 left_roll=-0.0339 left_gripper=0.9985 right_x=0.2373 right_y=0.0021 right_z=0.1101 right_yaw=0.0012 right_pitch=-0.3577 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.0427, 3.2752, 0.8718, 0.5641, -0.5348, -0.1734, -0.1162, -0.8821, 6.9128, 1.5116, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8755, 0.8696, -0.0795, -1.124, -1.1461, 0.0102, -0.0212, 0.8288, 0.601, -0.7399, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.238 left_y=-0.3031 left_z=0.0596 left_yaw=0.052 left_pitch=0.1828 left_roll=-0.0779 left_gripper=0.0102 right_x=0.2339 right_y=0.0021 right_z=0.1067 right_yaw=0.001 right_pitch=-0.3783 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.9265, 4.1231, 0.6716, 0.1734, -0.0171, 0.696, -0.1709, -1.3197, 6.9128, 1.4774, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cf9f28fca6f7a8907862a0c06e6687d0505eed25de1898d8f86cf3460f836d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af90df92312b2851574110bbee71de38bcec15285551b76aa64db1ec484c4185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e75d00f6d622f4724ed838e64098fc398df8c35aadfbf9b96d940e54169018d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KmCz9G3NEo4vWNzReQEhZy",
      "input": {
        "note": "I now realise the can is standing upright (the overhead shows a vertical cylinder with the spray cap on top, and my low descents were pressing into its side). Rising well above its top and moving forward to sight the cap from directly above.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.3,
          "left_yaw": 0.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01KmCz9G3NEo4vWNzReQEhZy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1229, 1.6779, 1.446, -0.7425, -0.8715, -0.9089, 0.9958, -0.0212, 0.8288, 0.601, -0.7475, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2999 left_y=-0.3038 left_z=0.2246 left_yaw=0.0262 left_pitch=0.0145 left_roll=-0.0361 left_gripper=0.9958 right_x=0.2323 right_y=0.0022 right_z=0.1056 right_yaw=0.0014 right_pitch=-0.386 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -8.5265, 8.8137, 1.1502, -0.4274, 0.188, 0.0073, -0.0342, -0.8684, 6.653, 1.3309, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32accd3e8754cc4fdda7638c04e6678ff90412465dbc034bf08dbea2022d3b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0aeb56d5df8bc796c7f287330a8a799b8bb56b4b7aee9282dd2070491d5f227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7417914e41fe9e3c0c629740703abea3707088a72807450eab25f9338a56fe66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 9.41 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8931, 0.8597, -0.1074, -1.055, -1.1446, 0.9985, -0.0212, 0.8249, 0.6018, -0.7238, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2318 left_y=-0.3012 left_z=0.0399 left_yaw=0.0144 left_pitch=0.1113 left_roll=-0.0339 left_gripper=0.9985 right_x=0.2373 right_y=0.0021 right_z=0.1101 right_yaw=0.0012 right_pitch=-0.3577 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.0427, 3.2752, 0.8718, 0.5641, -0.5348, -0.1734, -0.1162, -0.8821, 6.9128, 1.5116, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8755, 0.8696, -0.0795, -1.124, -1.1461, 0.0102, -0.0212, 0.8288, 0.601, -0.7399, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.238 left_y=-0.3031 left_z=0.0596 left_yaw=0.052 left_pitch=0.1828 left_roll=-0.0779 left_gripper=0.0102 right_x=0.2339 right_y=0.0021 right_z=0.1067 right_yaw=0.001 right_pitch=-0.3783 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.9265, 4.1231, 0.6716, 0.1734, -0.0171, 0.696, -0.1709, -1.3197, 6.9128, 1.4774, -0.0464, -0.0317, -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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1229, 1.6779, 1.446, -0.7425, -0.8715, -0.9089, 0.9958, -0.0212, 0.8288, 0.601, -0.7475, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2999 left_y=-0.3038 left_z=0.2246 left_yaw=0.0262 left_pitch=0.0145 left_roll=-0.0361 left_gripper=0.9958 right_x=0.2323 right_y=0.0022 right_z=0.1056 right_yaw=0.0014 right_pitch=-0.386 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -8.5265, 8.8137, 1.1502, -0.4274, 0.188, 0.0073, -0.0342, -0.8684, 6.653, 1.3309, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32accd3e8754cc4fdda7638c04e6678ff90412465dbc034bf08dbea2022d3b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0aeb56d5df8bc796c7f287330a8a799b8bb56b4b7aee9282dd2070491d5f227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7417914e41fe9e3c0c629740703abea3707088a72807450eab25f9338a56fe66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwsKEAgRGAI4AUIIdGhpbmtpbmcSDGkXjU2RqN5Iwuyi5hoMM/dUOnjhaTlxFF2tIjB1EVu/JKdtOGOCiRbVrg0icz2PhtYYpoC3Mf0EbGN9kMumYH1Qsgn6wFtBDHT13EMqzApzE6kTPxmG6a/hNL94S+04XR3sNXMKbZyNefGtAHnmtudOFmxdF5bOJGMfaXfQF4VkGxVsD7O6Ujypvo5hBryAYRnfSUH4QoiXgd0dbeuQw6h8ny6IxyDPkJ8ApwHf68b0vZv2L5AyRM+MLXPEi4OxmoRFG0PPyd5rXwUZx4jd09le06UVBvpGvIAeADDu+/IYa8aTxMtGo3gFlqOUgMOwdy97dReglUIbYMvc8bL1GX6yPb8jiXAqEXIo57rkMJm+z1jE01s9h7LbcPcU7rOOlufP62C3LAjlJ84yOT5Hd8rKgXyvwFLfGHqsrvYKWwKURoLSotdgrPtP3Nbc21qaW+WakrsV1iARRL1WvgmMSx94/loQWeEKvp5r10+PgsUZeKiVdO+e6UEWocNZNv8yzke3zrj7MCLxA8ZiQf7U41Q9cfVny71v90DBXWuTNB8EojLwXJIUsVtamV7HeodMJMijRDmFIGmxCCxZm7ARSNGtzar7n/0jczeciuj0O+2j8T1nnM8nO4loZHyhM+vet+MBHXONLVbQbi2EGhvV4eSdG7ok1ixH1Q5yFGrTckGsh+cnRCBhcYZA4x8Fxn7H5HI8WbgErUp2/+DrLD3nAO7Q4FEoBCvzQVq8Tujq+UNrDJWxSIeNCkAORQNehGl05Hw2ExDXRCiQY5NHsR8Vm66cqwTRIQ273S9Sjv/Dy77pKz6E4ftk8cKXwVy9xaH97r8LWCaSwnmYcVhGrs6hEbSFchZWDerlFn86YYiLQeavNQL+AmKV49Irf4oKMNBWuSMP3txtW/tj1WrthslGUbHOOTrMGwi+NANbAM04QXUSE9gYI0prd1QO175/+YTT+EIWCXJl5jMGvEYxdL3twNypTGEbA80RNNovwrE5E2Uf3U75SIpocjnfOJAz5vF3wMg/1iifnTpu67Bl7kUjQeSPm9HkABQZCgNdiCHba7Wat7cTJ256kqtre4xVXZoL9mQ8feM2VZuLnvUer6TlcPMs1+quo0vH0F3YtFg/quJMkcm6AIrlgzyDeJYEvimwhShyrP622V/7FZXmw3E31SpBG/IE/PxoR8JmzOCNYs0TLOVjYJKxYgHloCyh5r8YLi9z5mJFqR7NGvBckc7pyJ4A6riSJ0nIgHbQjfOZ+RtXe/PUIZL8YxuHiAzg2+Sr6h1bhTjdjf1Q6JOPyEMQQ1Hizsih3yL5ICGakOLbyIeOaitA6V05sdIvoSxZCPemUM/ieECsTlCdmnXyjBiovnA0jnADVmNpsfyN6c+lIb2ySR/qCn876CWG+oxKVcdT0PKtYh6j8QNuCv7pnxnl32GfQqDyMY4DJE4eQ1zzn9DSXcGraTV0sjRjx0XLRPMf2Uld6tF0YmQ32AgVm2x0Q2golxeMjuwB7milxo6uolklYxLGW/qKnDGT62cwZBfg3B5VgV6b9DJzf80DjrRbTlUApnQTW6UpF+h5IbixPTusR3QrOtj73EOQgD9u5gONbo8ZaR2Wp70exori6uYw/d4pQCzFsMAiHdyT+fuqz68vXAsiILot/m2qtDe+jR6h14aGz2Lrpue4gDmukMdfvuxMJWsVKpqVO+ocdINSqS9xqLhQk4tkBXXtf/dupaZr8sOCb/jciciNauHpUDbO9eLqmUpRP7IbKtzgHQrj4sKtmGuuhNGSYoCP8N3OmHilPg94YRzzgDG3TazMAKzZm6HWu2wKeNX1CzuiGzZbAh7l1oKSdmkTJfmJFjiFhAFRQYn581QoZuVamKRWfKmAasFwNQpHN4FiYMMly6bF8iW3PHy6iy20bNHP0MoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DmkEk2JreVixac1hHPF8VA",
      "input": {
        "note": "From above, the spray cap is visible at the bottom centre of the wrist view between the jaws, so the can's axis is just ahead of the grasp point. Moving 2 cm forward and descending to mid-body height (z≈0.12) with jaws open to straddle the standing can.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.295,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DmkEk2JreVixac1hHPF8VA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0618, 1.7374, 1.1263, -0.3683, -0.8238, -0.815, 0.9984, -0.0212, 0.8288, 0.601, -0.7555, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.2886 left_z=0.1232 left_yaw=0.0094 left_pitch=-0.0232 left_roll=0.0292 left_gripper=0.9984 right_x=0.2307 right_y=0.0022 right_z=0.1045 right_yaw=0.0012 right_pitch=-0.394 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.8427, 6.3521, 1.3553, -0.4078, 0.0659, -0.1783, -0.0889, -1.0872, 6.7487, 1.326, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb080851457cee3a00854524b5f517e00c6c3b0b751c84d0b4d99361a71adbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40976ab4df287d2836d45ff545712a666dd41816c9266a28e233241790d4307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae4afacaab790c4bfdb81ac2b66d48eaf3dcc682a733b13ab7216d5c1fa4efc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 8.046 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.3415, 1.8755, 0.8696, -0.0795, -1.124, -1.1461, 0.0102, -0.0212, 0.8288, 0.601, -0.7399, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.238 left_y=-0.3031 left_z=0.0596 left_yaw=0.052 left_pitch=0.1828 left_roll=-0.0779 left_gripper=0.0102 right_x=0.2339 right_y=0.0021 right_z=0.1067 right_yaw=0.001 right_pitch=-0.3783 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -6.9265, 4.1231, 0.6716, 0.1734, -0.0171, 0.696, -0.1709, -1.3197, 6.9128, 1.4774, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1229, 1.6779, 1.446, -0.7425, -0.8715, -0.9089, 0.9958, -0.0212, 0.8288, 0.601, -0.7475, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2999 left_y=-0.3038 left_z=0.2246 left_yaw=0.0262 left_pitch=0.0145 left_roll=-0.0361 left_gripper=0.9958 right_x=0.2323 right_y=0.0022 right_z=0.1056 right_yaw=0.0014 right_pitch=-0.386 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -8.5265, 8.8137, 1.1502, -0.4274, 0.188, 0.0073, -0.0342, -0.8684, 6.653, 1.3309, -0.0269, -0.0562, -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 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0618, 1.7374, 1.1263, -0.3683, -0.8238, -0.815, 0.9984, -0.0212, 0.8288, 0.601, -0.7555, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.2886 left_z=0.1232 left_yaw=0.0094 left_pitch=-0.0232 left_roll=0.0292 left_gripper=0.9984 right_x=0.2307 right_y=0.0022 right_z=0.1045 right_yaw=0.0012 right_pitch=-0.394 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.8427, 6.3521, 1.3553, -0.4078, 0.0659, -0.1783, -0.0889, -1.0872, 6.7487, 1.326, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb080851457cee3a00854524b5f517e00c6c3b0b751c84d0b4d99361a71adbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40976ab4df287d2836d45ff545712a666dd41816c9266a28e233241790d4307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae4afacaab790c4bfdb81ac2b66d48eaf3dcc682a733b13ab7216d5c1fa4efc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+woKEAgRGAI4AUIIdGhpbmtpbmcSDOtUxo8Kpfnfmsb0RhoMbLGgYaBTl6BK14e3IjDH7RodKhlR0/gOIEK67oZxfY2E3c06UygtJ+3eCQVJHYCtqqlpgMfOQlXQDjQb2mkqmApyczVjvlVzIlzA2uBWOI/wxmjdqGw4Sqh/1Xg0+js24A/5cdNEU/wBzGzSPVjY2FTq4+2VGJntZ2zTeBjqfLqTYKe6021jNbf8+Ur27Usy3erizAF8/V8tdZja2BRa/A7EdCdv6OtlV8rVQAmroIfVF4W1AYVHDaU+EGY7gzWF/Y/zPyv70m+RuZJntyaTkkSlVDDN+1jepDZTwc+haeeaR+e+uknYf6ex2C3E4eOg6Wr2D2e2mlWWY1PnH8DXnK/q6IyUGR751LmXyq/nf4P3nLp7ZOklR7AK8lEjzTDD6zYCwyKEyJl17+By5A/n4lNTeRBJ384N4RNLUAxXuJoJqZ5GRm977nydb7gheAZy5a6j5LwRDkYk29N2N2cE4RKJYvVLFYcX1nlTbE/kWeXiT4PlYKIxr1R4Iwi0zHaqYEJyOWNFeHFDk3puX81FvLKVg46yXZEQ5P2wxneP7PKz846SUVuftajQPiyF7T+TU6rZa6TbHHQQrRAUNpqAFVdyt6tma0sj0Cyv5nzJLyQTFu4khKfYPH1Snbmw066bFGkQMRWdFm+5ng+NBI3WB6G3B4BmTp7QwBNus2vvvCGCCd1MCHVobTcvoBuuv1pDltQqG5r4/doFvfj9QhrJuFmb9EzM+TlLHwKj3/tuI9+UhvcY1kVl1MKqoEfA165ux4wyUZmAGl5/snygrNuOL5vpFCQQP9AGVXhJQ3XCXkIgZOYmiaIxYhKvsllfQzWxE44nHr8giXIfQ31U6Gv6Z9TUeLMPD0KL0/C/hUqJakRkUPbR7EZ8Coga0Ha+exDqNkF9S2vA8WUOOMau1z5piP37HzEJ34KF7b6u/If5RqcLAOU9CicPI1kFS4Oyhj8Gjq0oorPSfIb6eFaPOmPDXxzz2IGyGK5aa7FofaXJWZJy1hjxAcFv+OdEu2i8y16DlfKZh6tqV2vaeOT5ycYI2GpblBD1Q0gthyGPYFdlYfSv060ManMZ4iOsTqHBgHuufXo9KWJW4SZuj4N1DzyMqzJyJ50U7t+QiCPxVt202qSp1PGknqpUXq9YCE0b/9V0wYRTw56WZkl9VcyS2ec2gtCWSQ0jMpy6gRiWwDd79Yf0zQlnNcUrLxc5cNmB7tMEo6L0mioSfVG7sgke6c2KBjKL8ADYym+hvOxR3L6r5Im6nlzTh7Npp1FBOJkGBJ4wj9sNtNMYhNmcqLoiJek8zW4nIWk8fYM5TBwk3cbEPGt7L0VgmdwiURH1gfVgeKqmOelp/jpOlatqXaLtzQ+k6co2kDhSupICaUYzkY+R+Ji9R+4E47ax1GYhLrKCzIqDFaMh/BTI2WT1fkGfjVljs3ujgbyC7L2FOgFmOf9GlmXPaWMgCnAM1CSkn3Dwg+SyzjbW/bTeVi0OPRAjJer4qtWT+3LSD3oZydGc+q/uqsnE9ExK+J07sjuXIZzX4eOwJrNYAKNT6nTHPBdwusmxdDopcmKYnjc+t28oi02b6WP2K2t+vKN9DK9r+BWvBcSwN8+Qq/tAuqBcz+LKwVSnqtvMw48uy3as3M/RqwOS7xOwg3HM1/i5QCLtl8cL+A+lSAhEyQ189V7IznVlMu6EaIhaEt7kGxMDlUiSR/nzE79tiuwFh5nEJyJVSisJKTtG/x+kapwlJAxUKPYLF+2fy6Mqe0H28q1k/hch+FzMgtuNisyPmF6iGlvEt7oD0cz0hCWkigVUolX+LOBkl9zjD9FsAbZBuCIWZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGguPjoY782BFZL5BYmE2e",
      "input": {
        "note": "The cap top is still visible below the camera at z≈0.12, so the can is shorter than expected (~10 cm) and its axis is a couple of cm ahead of the grasp point. Advancing 2 cm and descending to z≈0.05 to straddle the body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.335,
          "left_y": -0.29,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WGguPjoY782BFZL5BYmE2e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0153, 1.8908, 0.9836, -0.0635, -0.7963, -0.7605, 0.9985, -0.0212, 0.8303, 0.601, -0.7696, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3269 left_y=-0.2804 left_z=0.0469 left_yaw=0.0102 left_pitch=-0.04 left_roll=0.055 left_gripper=0.9985 right_x=0.2277 right_y=0.0022 right_z=0.1023 right_yaw=0.0013 right_pitch=-0.4096 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -9.388, 5.6821, 1.4383, -0.4322, 0.0952, -0.1734, -0.1026, -1.1966, 6.6393, 1.3651, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf78f9914ba6dc64971fde8765d6e54aa894a2b3b2b439dbc426eb9ebf7cfb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e3eff8cc83f2201c3a8b7683bf3a82b753457ca0449c1fa3ef0f9df4e2d44e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82589e7eddf32e9eac088c36376bb74b43c27c174e1bc1ffc670c5a4042f61a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 17.08 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1229, 1.6779, 1.446, -0.7425, -0.8715, -0.9089, 0.9958, -0.0212, 0.8288, 0.601, -0.7475, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2999 left_y=-0.3038 left_z=0.2246 left_yaw=0.0262 left_pitch=0.0145 left_roll=-0.0361 left_gripper=0.9958 right_x=0.2323 right_y=0.0022 right_z=0.1056 right_yaw=0.0014 right_pitch=-0.386 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -8.5265, 8.8137, 1.1502, -0.4274, 0.188, 0.0073, -0.0342, -0.8684, 6.653, 1.3309, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0618, 1.7374, 1.1263, -0.3683, -0.8238, -0.815, 0.9984, -0.0212, 0.8288, 0.601, -0.7555, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.2886 left_z=0.1232 left_yaw=0.0094 left_pitch=-0.0232 left_roll=0.0292 left_gripper=0.9984 right_x=0.2307 right_y=0.0022 right_z=0.1045 right_yaw=0.0012 right_pitch=-0.394 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.8427, 6.3521, 1.3553, -0.4078, 0.0659, -0.1783, -0.0889, -1.0872, 6.7487, 1.326, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0153, 1.8908, 0.9836, -0.0635, -0.7963, -0.7605, 0.9985, -0.0212, 0.8303, 0.601, -0.7696, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3269 left_y=-0.2804 left_z=0.0469 left_yaw=0.0102 left_pitch=-0.04 left_roll=0.055 left_gripper=0.9985 right_x=0.2277 right_y=0.0022 right_z=0.1023 right_yaw=0.0013 right_pitch=-0.4096 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -9.388, 5.6821, 1.4383, -0.4322, 0.0952, -0.1734, -0.1026, -1.1966, 6.6393, 1.3651, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf78f9914ba6dc64971fde8765d6e54aa894a2b3b2b439dbc426eb9ebf7cfb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e3eff8cc83f2201c3a8b7683bf3a82b753457ca0449c1fa3ef0f9df4e2d44e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82589e7eddf32e9eac088c36376bb74b43c27c174e1bc1ffc670c5a4042f61a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+QoKEAgRGAI4AUIIdGhpbmtpbmcSDMebe7MUfaySrFScPRoMnTGh/eJ+Cpxfjs3RIjCnim0D/w1MGDBeaY0VBNDt/NnFzx1oIYsf8YBzreprQKePc3uPxeNbnkl9OfswbuMqlgovbVwztkoQoYW/7GZA0To8C8HH8gIFUBHT2jPD+OB9NYpKgn9af8BMe3bcIIvESAG53mtuOcH1pxrK14nZ3z2a/2xrXQG52BPxInzbuCBv4tFE9tKt4hv0OeMGUcR6jCY1dfJmsez6buA9JWA+0Q7mhZH3lO4ACD11RINsiBOmsx0JT3j0IXvSXpY9o4V69BF0rUrZIiLUzjrlLIPdGYjutwZA4zZvsE+J+1sJ9B+5PljvXtFwTGoAvFc+rWMT3SqpQlBDvL1dQu4A53oeVZjR0DDpC7wbBBpfFHk1HJe55Uka9zPR3JvWxRtRMUuvRZqUvpSAPHq72oOvcHXxQ9Ha/4eoQi8E6hgL2lITds73vX/Dt6k/9xkWWWluwvN4NxTKsVPn1t6iQemG4peh8MAIsDfoavufLE3fT5zCkKmXVnlH7xlnbYxZV0dAI83bi8v0XqSfrqKEBKl3ObiI4QHvhLMqzUR74Tl0wgVEkK8AYhmxdxJZojTHTPqU8KgZbwNYGvDPDaRh8wtdvkiJ1DZuCjf+JjHp+ODNZqAap4m8PwTvw8fsGFvzSVBbJfPkga3SIzMZ+oQxfEgLQTTSlZwKe7Sds0OkslAc5YHYDtWWv4k4YeQuyM7Tup1JKAXSBMsU/z6zKw43sWXi4Txq8tfWjp0HafVNy5dYQkeOqWOiMLhgOZwOEp8OTDx1V1lhOktDw2k5c5I3n+Ob+giyw7i2s/e7DG7MfBjCu5/WYFUSdadx/dUS8WsjeYurcWiX+gFX9ALlBk+5gLW7QLAgbtF1bise9NmZwZDAqwKTB4aDxW2Y1n2Ts7GQgGKS6y8JWqAfuefm1V56iXWUuuW3YKyHivvTt4vOP01MWZwt5N6pPfvJ9P2D9kT1wE301iQ1icAQefAglFTu3sCrjRpQf5Zb5THIXbhhyDro2w40x2JTEtqrAODllevjsg/yqx7NcJR3iHXizKqzTbV4VDU9ryzF/zWskRMtkMI9B1c37yOUXSnUfSufpdpKJpY3xReSTH7cNqPmveSNd/Lc8JFu2CW10BAFN027pY6PAMzygAGsC6D9l19DjuDvqazVYaErpw1iitXOru95dJzSJFLbFTedm/xJ7/Yu9+Xl/DTgDCbdflVmWyF5hPm9crOyGBdDw2Z3KzRxSa4GF8BVgzUYFEdSE5M08gNfRKFOIij78lFgBPNbvSGj+wTdAMXL4I3MOs4IqthGSmF8nf/7v3HUBRW1R6n/s1w3YsaFvA7+SvaB6YkhaWOCShN5BLSzQDcagE/C93GaKzGBo6pbja7s8oFUmiUzi404t0u02A9G8F/phKz/VoRXb9diW2GOcC/na5HDqh2zah9nWrZ3cUBA3bRMAdfrtiDxFy6XF6mdgNUCz36Ayekt2+zbtYe8EtwmTQby08dgI63hmOlAq7dznihIk1pTB+9teTD+/e5Iv8ymln0RJz3rZ+4WjPUR6kdV2Lbh9IX10QuFhs2fbKY6DPdrOK0NVwIyNaq0Q7iVIw9x8bR9IcE/H9T84P5/09pGVoEyhVkHOw1VWtocBQrk2YAg4eT+GT+SeKn0aZGYx7d6a/F3GWhoPi3AJMwCIqIHHk5US5wW8uB0yCkJwHm59/bsBQmGlyMizpVqstoCx3EKdBJFWCV7okcqynO+DqXZ1gUR5Wck1R4j8seRKnhgNWAmI8CUSI/0wXnreTINuHfq9ZaVEHLLwk3I0dFm6yXAF4UvoXHlpd4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gu7ErGdRw5LFmQa2mntpvN",
      "input": {
        "note": "At z≈0.05 the white cap sits just inside the jaws at the bottom of the wrist view and the overhead shows the can between the fingers, with the burner directly ahead. Closing to grasp the can body.",
        "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_01Gu7ErGdRw5LFmQa2mntpvN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.013, 1.8992, 0.9749, 0.0231, -0.7963, -0.7475, 0.0092, -0.0212, 0.8326, 0.601, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2883 left_z=0.0508 left_yaw=0.0041 left_pitch=-0.0039 left_roll=0.0065 left_gripper=0.0092 right_x=0.2238 right_y=0.0023 right_z=0.0994 right_yaw=0.0015 right_pitch=-0.4306 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [0.212, -8.6359, 5.4496, 1.4774, -0.2808, 0.105, 0.7692, -0.1026, -1.0325, 6.5709, 1.3944, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c1c373aaefa043e45ca8e5d4ae14097e01e4f7158e265d7f324766cd14ee97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a811f10fdcb3048a1e47ecbca98bb52e7839bbe4cc0660cb6fe169829fdbdc80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6825f1c1f096f4dda94044bd3eff8248076a6b6f014e71400a77b1b5e3ec3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 6.916 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0618, 1.7374, 1.1263, -0.3683, -0.8238, -0.815, 0.9984, -0.0212, 0.8288, 0.601, -0.7555, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.2886 left_z=0.1232 left_yaw=0.0094 left_pitch=-0.0232 left_roll=0.0292 left_gripper=0.9984 right_x=0.2307 right_y=0.0022 right_z=0.1045 right_yaw=0.0012 right_pitch=-0.394 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.8427, 6.3521, 1.3553, -0.4078, 0.0659, -0.1783, -0.0889, -1.0872, 6.7487, 1.326, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0153, 1.8908, 0.9836, -0.0635, -0.7963, -0.7605, 0.9985, -0.0212, 0.8303, 0.601, -0.7696, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3269 left_y=-0.2804 left_z=0.0469 left_yaw=0.0102 left_pitch=-0.04 left_roll=0.055 left_gripper=0.9985 right_x=0.2277 right_y=0.0022 right_z=0.1023 right_yaw=0.0013 right_pitch=-0.4096 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -9.388, 5.6821, 1.4383, -0.4322, 0.0952, -0.1734, -0.1026, -1.1966, 6.6393, 1.3651, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.013, 1.8992, 0.9749, 0.0231, -0.7963, -0.7475, 0.0092, -0.0212, 0.8326, 0.601, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2883 left_z=0.0508 left_yaw=0.0041 left_pitch=-0.0039 left_roll=0.0065 left_gripper=0.0092 right_x=0.2238 right_y=0.0023 right_z=0.0994 right_yaw=0.0015 right_pitch=-0.4306 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [0.212, -8.6359, 5.4496, 1.4774, -0.2808, 0.105, 0.7692, -0.1026, -1.0325, 6.5709, 1.3944, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c1c373aaefa043e45ca8e5d4ae14097e01e4f7158e265d7f324766cd14ee97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a811f10fdcb3048a1e47ecbca98bb52e7839bbe4cc0660cb6fe169829fdbdc80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6825f1c1f096f4dda94044bd3eff8248076a6b6f014e71400a77b1b5e3ec3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YbDF924XPhNcFthBV6H4wY",
      "input": {
        "note": "Empty close; the cap disappeared from the wrist view and the overhead shows the can on the base side of the jaws, so I overshot by ~3 cm. Lifting clear with jaws open and moving back to x≈0.305 over the can's axis.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.305,
          "left_y": -0.29,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YbDF924XPhNcFthBV6H4wY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0801, 1.7107, 1.1118, -0.3813, -0.8177, -0.8314, 0.9956, -0.0212, 0.8341, 0.601, -0.7925, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.305 left_y=-0.2898 left_z=0.1264 left_yaw=-0.0035 left_pitch=-0.0278 left_roll=0.0139 left_gripper=0.9956 right_x=0.2229 right_y=0.0023 right_z=0.0985 right_yaw=0.0016 right_pitch=-0.4363 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -10.4, 8.8684, 1.1893, -0.5543, 0.0171, -0.1392, -0.0068, -0.9641, 6.5846, 1.2283, -0.0415, -0.022, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:303895078e67e97ad6912030e5a087de677b30504c66746239b091bbcb8218f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0a1fde0ef69fcd659142a317b81d297eaf2b5fcb8a5f83dd7a41b632eb62b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdb9d10f56c7b90bca7cbe5c5e633c61add89497812810edeb3ae86059cf4fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 6.928 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0153, 1.8908, 0.9836, -0.0635, -0.7963, -0.7605, 0.9985, -0.0212, 0.8303, 0.601, -0.7696, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3269 left_y=-0.2804 left_z=0.0469 left_yaw=0.0102 left_pitch=-0.04 left_roll=0.055 left_gripper=0.9985 right_x=0.2277 right_y=0.0022 right_z=0.1023 right_yaw=0.0013 right_pitch=-0.4096 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -9.388, 5.6821, 1.4383, -0.4322, 0.0952, -0.1734, -0.1026, -1.1966, 6.6393, 1.3651, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.013, 1.8992, 0.9749, 0.0231, -0.7963, -0.7475, 0.0092, -0.0212, 0.8326, 0.601, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2883 left_z=0.0508 left_yaw=0.0041 left_pitch=-0.0039 left_roll=0.0065 left_gripper=0.0092 right_x=0.2238 right_y=0.0023 right_z=0.0994 right_yaw=0.0015 right_pitch=-0.4306 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [0.212, -8.6359, 5.4496, 1.4774, -0.2808, 0.105, 0.7692, -0.1026, -1.0325, 6.5709, 1.3944, -0.0562, -0.0366, -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 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0801, 1.7107, 1.1118, -0.3813, -0.8177, -0.8314, 0.9956, -0.0212, 0.8341, 0.601, -0.7925, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.305 left_y=-0.2898 left_z=0.1264 left_yaw=-0.0035 left_pitch=-0.0278 left_roll=0.0139 left_gripper=0.9956 right_x=0.2229 right_y=0.0023 right_z=0.0985 right_yaw=0.0016 right_pitch=-0.4363 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -10.4, 8.8684, 1.1893, -0.5543, 0.0171, -0.1392, -0.0068, -0.9641, 6.5846, 1.2283, -0.0415, -0.022, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:303895078e67e97ad6912030e5a087de677b30504c66746239b091bbcb8218f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0a1fde0ef69fcd659142a317b81d297eaf2b5fcb8a5f83dd7a41b632eb62b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb9d10f56c7b90bca7cbe5c5e633c61add89497812810edeb3ae86059cf4fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuQcKEAgRGAI4AUIIdGhpbmtpbmcSDDtYO2y2qzQD8/gtYRoMuJSSeAhMgTCCFAi5IjDziHAgGU16OtSPie8pBKaFu6dBvql9gtmbyMgKGI6YxsCeOulxDbCkz3IARyXHXAQq1gZRZSS6WUowcbEEb6FQN7u9Oc5RMBz4TR2tXG0AjOk2KTjBcgLAuW+Dj7AbzQqjTC8t/IwRlPUGhEzH3C6y7GWZEvBtSJS6N7DyIcIhcXh0lpa2PcuopX6JdY2BLzqCAfJ0rN9YXj+FQKClakZqxpoEmduf7Bgq0JfivBBOGONzQNDEINOtLscQnZCaSyeucQyGMUV8ojMZm9naR0I8IUkdwKEQSSywYat7EzjGGcLd8/qel8uzrFF8vXeqKuOov3PiEz3PwfuU3LTZqoA3mkzVru2V/FBIYLEC+tXIOLS7dXwZuT0NtPDASU3exMYih+wVLQXlLVAkYBrWVbMkly1C9ENvZgevQ0XT+JPii++HyLVsg3xI/bjJwJWn6/kVPpJMZRFB/JKLcW/pUcgmm17wjCD4r4xqXGAjd3ZK1y58BfyAiWqEglI6so6xkZwF58yotQf0sHmUfCk+EOa8kttoKPfYbs0n1CoxPZ9LHHkjHNoKoLjo1Q92PqnB4ew1tHGz/tTh9mXdm6gUOqkfxUFYEs1RajHdfOyhH8Xxct0wAxcOXVIOComun43aKtghDIrMoMJVCEeYfGkRMimEaQGssAhyxpwqE+Y0sDGwgHVIad6jvPxjDMVybIwIiEp/dYYlmB+E+wV6Gr+0V6184lxPWwQf/OW9LQYPaf0fJMcH1ZbOu7b/dOJiEsR4jmQqwlRJMMoWpprJrjAMH0m5y9EC+4EdF56xFudcN+SXYUeLmtZBD5p8bqh5k7S03f+Jbou4P4ws/0T7D8Vx6f16kaHuKC5dClCa1HFh1kvLtLbN8Wkr3q9qn7nZDGsp4HjFB1qT6wjwR4IqAVZC1V4+FQ/EZelPjk/FXOMiEF15UxO6Tx1ih6NpgHAqrhHjSUedUcb6UY4dfOj3T/5ZJ0cvFbWnyETCzHTJaseSmMph5CcikXXolnLL15zzQ5Jzdpux4UJ2nIGUEmq3v8U1+q4CBnbG2TKmVB3HRNjVGo9wC1Q2B6uvpdc78d1yTig8mDXBW4UNxT6nd+nF8Mv5uTcO+2gzuA3q3o6BBDCnwi1PnwsaPShlCucOSd4KE7g7vhMLR3jvBKdO4eqBYHT64I70mIVFm/hp6wpskBcV8ESds5XVG5vKvra+lRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016DxdFq2dUyQrFvtHhuv3AQ",
      "input": {
        "note": "The cap now sits at the very bottom centre of the wrist view, just right of the jaw column, so the can axis is essentially under the grasp point. Descending to z≈0.05 with a 1 cm rightward correction to straddle the body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.31,
          "left_y": -0.3,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016DxdFq2dUyQrFvtHhuv3AQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8809, 0.9859, -0.1295, -0.8268, -0.836, 0.9984, -0.0208, 0.8341, 0.6006, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.2907 left_z=0.0478 left_yaw=0.0005 left_pitch=-0.0417 left_roll=0.0529 left_gripper=0.9984 right_x=0.2222 right_y=0.0024 right_z=0.098 right_yaw=0.002 right_pitch=-0.4397 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.4855, 4.7521, 1.37, -0.4908, 0.0073, -0.1783, -0.0889, -1.0735, 6.6803, 1.2137, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:280011e7b221d185db490ed1bdde2e50543a08a7bb27a808df08d9dd87e7893f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa926eccc450e097eece01e2519c6b186f8249d2be407bbd8deeb1b8e6945391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4730de290f259e2cd82f45952574b219af4d8007e4a512e1188c94403b98a8fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 13.18 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.013, 1.8992, 0.9749, 0.0231, -0.7963, -0.7475, 0.0092, -0.0212, 0.8326, 0.601, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2883 left_z=0.0508 left_yaw=0.0041 left_pitch=-0.0039 left_roll=0.0065 left_gripper=0.0092 right_x=0.2238 right_y=0.0023 right_z=0.0994 right_yaw=0.0015 right_pitch=-0.4306 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [0.212, -8.6359, 5.4496, 1.4774, -0.2808, 0.105, 0.7692, -0.1026, -1.0325, 6.5709, 1.3944, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0801, 1.7107, 1.1118, -0.3813, -0.8177, -0.8314, 0.9956, -0.0212, 0.8341, 0.601, -0.7925, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.305 left_y=-0.2898 left_z=0.1264 left_yaw=-0.0035 left_pitch=-0.0278 left_roll=0.0139 left_gripper=0.9956 right_x=0.2229 right_y=0.0023 right_z=0.0985 right_yaw=0.0016 right_pitch=-0.4363 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -10.4, 8.8684, 1.1893, -0.5543, 0.0171, -0.1392, -0.0068, -0.9641, 6.5846, 1.2283, -0.0415, -0.022, -0.0073]\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 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8809, 0.9859, -0.1295, -0.8268, -0.836, 0.9984, -0.0208, 0.8341, 0.6006, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.2907 left_z=0.0478 left_yaw=0.0005 left_pitch=-0.0417 left_roll=0.0529 left_gripper=0.9984 right_x=0.2222 right_y=0.0024 right_z=0.098 right_yaw=0.002 right_pitch=-0.4397 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.4855, 4.7521, 1.37, -0.4908, 0.0073, -0.1783, -0.0889, -1.0735, 6.6803, 1.2137, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:280011e7b221d185db490ed1bdde2e50543a08a7bb27a808df08d9dd87e7893f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa926eccc450e097eece01e2519c6b186f8249d2be407bbd8deeb1b8e6945391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4730de290f259e2cd82f45952574b219af4d8007e4a512e1188c94403b98a8fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpQcKEAgRGAI4AUIIdGhpbmtpbmcSDAojs3wsCyewi5jtwxoMlg25JE1CUg0rzRzTIjAugGzbCQ+vsz3Y/XPa5VGhsLV8CIO3O37O5+edNJTlZVtUK1Z8aiBAJl36Pa1UNlgqwgYCkP6HxHANtl6iJWdpRSG+c8ytWvaXU7/cDhpPld154kQqCKQEj1CigmpqJ8uQx1GZj97HdqQXR6mInPLSdSBN6XfPx4b24LeT+M1ldIzBchyXfUWUG+JhLaRJqsxtwyHvlWZR6UvfIUJR//ST3jPBCu/g58c+6gkXChTclLPaigBByuFteRG9twJUUldX2adiLJMXPAGFrSpFdJjbtcDhaoEaAuYqdwm7SRM2hgI5+Hc335bvc/ztRunTN7k5QvmkKiX+M2AnuTwa1jTXXo5NasD4sAQ8d5gU+sRMFutV716cU0/WeH3BWFkdvZV4B8fAvQwI3d5Zbrd4vLAvXU1ju94wvhJ5g2vkN5xobnAXr+zCFrbbfXWvsAkSlv/e9q/yHFXtx9HjXjI7SCwNc/sW1tyCiu17A7xH4FEp3FTUrXaCG1gAWrxMnuMXwDVm3hVfWvY/EO2SSwpzYhSIhQiufSpG0Nn+4S1F6Bs3xgqogvqh0YL6tG0quiCDXNhQyNtmpVdCClCAqdEyKNZ3+gg0jT93qJTPe/PeaGu/z+YVyQZYEVOui7z9JTX4KYlPa11Y/6TvaZaGbtaHjcH/wX90DSOZzCHTFX/59QZmw6fKauAM8c6yuBPN37ktsST49JSNcg2op1xRLwarKoOT2ZY1o38Wh8dGyAAxtllAVolj1xTQepNNfTDmT3KsmfnSt5l0TwqAJWeeczS4iQIz0+EXRzwSxsGW4qtawu0M2Ixzs8/i04Lz38N8jg15MV/JY4heD4XxlF/NmIP851tZ0U5aNGm7mC/dFITLiNJHWgU8KI+bX1xrBS/Wb6HDTz1UEe8JpznPJSWXg4zfEJWyAzV1EP7+tNN5JtR/V8qtwP9D5ly72NPKUwrXV3JOHSIbkgHM/QbZQ1s8XooWSlpq1CieZKSAgUR3+4nUzDzzjKvBBpgJ8vMzw2la7boCuk5+GpHiVpQV7gMVFVvuOqEyHCru+ePoBGFBvP/UloLv0rxG9gFWFCaCX5gMUB8i/JILei7rGW/SRs9iF1q8ptNSWudSb5qQbw7vNJWjM14WHO7QX7elPwO5syXETF/WtQeJY/J8cWBbyieQIvpupFrm6sQB0g8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019DUShVHWFCZg2DdffJsVGJ",
      "input": {
        "note": "The can body now fills the lower-right of the wrist view between the open jaws, right beside the right finger. Closing to grasp it.",
        "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_019DUShVHWFCZg2DdffJsVGJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8851, 0.9825, -0.1093, -0.8532, -0.8425, 0.0092, -0.0212, 0.836, 0.5999, -0.8139, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3072 left_y=-0.2893 left_z=0.0502 left_yaw=0.0178 left_pitch=-0.0158 left_roll=0.0466 left_gripper=0.0092 right_x=0.2181 right_y=0.0025 right_z=0.095 right_yaw=0.0022 right_pitch=-0.4607 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -9.347, 5.641, 0.8816, -0.1392, 0.0415, 0.7692, -0.0615, -1.0735, 6.653, 1.3651, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:059840a3f381ad8baa16c46b3ce1fe7f772f7aaa02338455fa827418bb019b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ce867ff9919be179c103314ba8f2cd3716f28e19cb8ac0a647476eaf70b9734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:028517a516c1e8880db57180c87647a2927df886f3fade11d81ded353f86154e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 15.97 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0801, 1.7107, 1.1118, -0.3813, -0.8177, -0.8314, 0.9956, -0.0212, 0.8341, 0.601, -0.7925, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.305 left_y=-0.2898 left_z=0.1264 left_yaw=-0.0035 left_pitch=-0.0278 left_roll=0.0139 left_gripper=0.9956 right_x=0.2229 right_y=0.0023 right_z=0.0985 right_yaw=0.0016 right_pitch=-0.4363 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -10.4, 8.8684, 1.1893, -0.5543, 0.0171, -0.1392, -0.0068, -0.9641, 6.5846, 1.2283, -0.0415, -0.022, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8809, 0.9859, -0.1295, -0.8268, -0.836, 0.9984, -0.0208, 0.8341, 0.6006, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.2907 left_z=0.0478 left_yaw=0.0005 left_pitch=-0.0417 left_roll=0.0529 left_gripper=0.9984 right_x=0.2222 right_y=0.0024 right_z=0.098 right_yaw=0.002 right_pitch=-0.4397 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.4855, 4.7521, 1.37, -0.4908, 0.0073, -0.1783, -0.0889, -1.0735, 6.6803, 1.2137, -0.0317, -0.0708, -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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8851, 0.9825, -0.1093, -0.8532, -0.8425, 0.0092, -0.0212, 0.836, 0.5999, -0.8139, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3072 left_y=-0.2893 left_z=0.0502 left_yaw=0.0178 left_pitch=-0.0158 left_roll=0.0466 left_gripper=0.0092 right_x=0.2181 right_y=0.0025 right_z=0.095 right_yaw=0.0022 right_pitch=-0.4607 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -9.347, 5.641, 0.8816, -0.1392, 0.0415, 0.7692, -0.0615, -1.0735, 6.653, 1.3651, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:059840a3f381ad8baa16c46b3ce1fe7f772f7aaa02338455fa827418bb019b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ce867ff9919be179c103314ba8f2cd3716f28e19cb8ac0a647476eaf70b9734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:028517a516c1e8880db57180c87647a2927df886f3fade11d81ded353f86154e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KWWBfSHty1pUCmyatkTt15",
      "input": {
        "note": "Empty again — the closing jaw squeezed the can forward and it may have toppled. Lifting straight up with jaws open to see the can's new pose from above.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KWWBfSHty1pUCmyatkTt15",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0855, 1.7164, 1.3277, -0.6434, -0.849, -0.8593, 0.9953, -0.0212, 0.836, 0.5999, -0.8337, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3087 left_y=-0.2935 left_z=0.1757 left_yaw=0.0247 left_pitch=-0.0276 left_roll=0.0493 left_gripper=0.9953 right_x=0.2138 right_y=0.0025 right_z=0.0927 right_yaw=0.0021 right_pitch=-0.4805 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.9607, 8.7453, 0.9695, -0.4762, 0.1148, -0.1148, -0.0615, -1.0325, 6.735, 1.3358, -0.0317, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bdcccf7bac2fa83b8792a785e8059057e36c3b1b906a9c9b16ff8ea5246b627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c19b588d93522504b73ea81e8952957e5b174b527ca16633fb9b8cf2cbc3ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:049295d043f3f8a6566338ea7060577675f18cbc4779ada547d37f4b40f010d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.366 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8809, 0.9859, -0.1295, -0.8268, -0.836, 0.9984, -0.0208, 0.8341, 0.6006, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.2907 left_z=0.0478 left_yaw=0.0005 left_pitch=-0.0417 left_roll=0.0529 left_gripper=0.9984 right_x=0.2222 right_y=0.0024 right_z=0.098 right_yaw=0.002 right_pitch=-0.4397 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.4855, 4.7521, 1.37, -0.4908, 0.0073, -0.1783, -0.0889, -1.0735, 6.6803, 1.2137, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8851, 0.9825, -0.1093, -0.8532, -0.8425, 0.0092, -0.0212, 0.836, 0.5999, -0.8139, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3072 left_y=-0.2893 left_z=0.0502 left_yaw=0.0178 left_pitch=-0.0158 left_roll=0.0466 left_gripper=0.0092 right_x=0.2181 right_y=0.0025 right_z=0.095 right_yaw=0.0022 right_pitch=-0.4607 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -9.347, 5.641, 0.8816, -0.1392, 0.0415, 0.7692, -0.0615, -1.0735, 6.653, 1.3651, -0.0415, -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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0855, 1.7164, 1.3277, -0.6434, -0.849, -0.8593, 0.9953, -0.0212, 0.836, 0.5999, -0.8337, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3087 left_y=-0.2935 left_z=0.1757 left_yaw=0.0247 left_pitch=-0.0276 left_roll=0.0493 left_gripper=0.9953 right_x=0.2138 right_y=0.0025 right_z=0.0927 right_yaw=0.0021 right_pitch=-0.4805 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.9607, 8.7453, 0.9695, -0.4762, 0.1148, -0.1148, -0.0615, -1.0325, 6.735, 1.3358, -0.0317, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bdcccf7bac2fa83b8792a785e8059057e36c3b1b906a9c9b16ff8ea5246b627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c19b588d93522504b73ea81e8952957e5b174b527ca16633fb9b8cf2cbc3ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049295d043f3f8a6566338ea7060577675f18cbc4779ada547d37f4b40f010d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014wdNEpeA3zxdptVLHK6yzL",
      "input": {
        "note": "From above the can shows only its white cap, at the bottom centre of the wrist view, so it is standing with its axis about 1–2 cm base-ward of the grasp point. Descending to z≈0.03 slightly back to straddle the body low down.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.295,
          "left_y": -0.29,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014wdNEpeA3zxdptVLHK6yzL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1076, 1.8809, 0.9062, -0.0574, -0.8555, -0.8539, 0.9984, -0.0212, 0.8406, 0.5964, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.2816 left_z=0.0349 left_yaw=0.0031 left_pitch=-0.0228 left_roll=0.0561 left_gripper=0.9984 right_x=0.2105 right_y=0.0026 right_z=0.0892 right_yaw=0.0023 right_pitch=-0.5 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.747, 4.588, 1.2674, -0.3932, -0.105, -0.1783, -0.1573, -1.388, 6.9402, 1.2039, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70473c9b04083e0358b1c89f22ba6a12d1627dcf89d43630f97bd1f82e154213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1d16fe2285bd5c2f0ba248e4c5f189fbd7a20e897534573f77df9148fcce76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b46330d9e345d6c3d6fcf980e3cbf85807e269836079ad7d833ab685bd7a5339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 18.5 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0851, 1.8851, 0.9825, -0.1093, -0.8532, -0.8425, 0.0092, -0.0212, 0.836, 0.5999, -0.8139, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3072 left_y=-0.2893 left_z=0.0502 left_yaw=0.0178 left_pitch=-0.0158 left_roll=0.0466 left_gripper=0.0092 right_x=0.2181 right_y=0.0025 right_z=0.095 right_yaw=0.0022 right_pitch=-0.4607 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -9.347, 5.641, 0.8816, -0.1392, 0.0415, 0.7692, -0.0615, -1.0735, 6.653, 1.3651, -0.0415, -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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0855, 1.7164, 1.3277, -0.6434, -0.849, -0.8593, 0.9953, -0.0212, 0.836, 0.5999, -0.8337, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3087 left_y=-0.2935 left_z=0.1757 left_yaw=0.0247 left_pitch=-0.0276 left_roll=0.0493 left_gripper=0.9953 right_x=0.2138 right_y=0.0025 right_z=0.0927 right_yaw=0.0021 right_pitch=-0.4805 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.9607, 8.7453, 0.9695, -0.4762, 0.1148, -0.1148, -0.0615, -1.0325, 6.735, 1.3358, -0.0317, -0.0366, -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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1076, 1.8809, 0.9062, -0.0574, -0.8555, -0.8539, 0.9984, -0.0212, 0.8406, 0.5964, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.2816 left_z=0.0349 left_yaw=0.0031 left_pitch=-0.0228 left_roll=0.0561 left_gripper=0.9984 right_x=0.2105 right_y=0.0026 right_z=0.0892 right_yaw=0.0023 right_pitch=-0.5 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.747, 4.588, 1.2674, -0.3932, -0.105, -0.1783, -0.1573, -1.388, 6.9402, 1.2039, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70473c9b04083e0358b1c89f22ba6a12d1627dcf89d43630f97bd1f82e154213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1d16fe2285bd5c2f0ba248e4c5f189fbd7a20e897534573f77df9148fcce76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b46330d9e345d6c3d6fcf980e3cbf85807e269836079ad7d833ab685bd7a5339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSygoKEAgRGAI4AUIIdGhpbmtpbmcSDJ49TwC1EsoJu1/lDRoMWthJcOYUwz/Y17k+IjBMvG4iWPl1Zis13WVHtMMIG2T52LouJWCAoiTNS0CkZpsdW0mDrvF/ZW84xml4Ns0q5wlj3fxRv0rVYTYLoMbvL2d6WS7uSPcaDxspsejOnbBt5uFSQLGg5PGdDztgdF1D9X9r0Lj9n2JP8SdX2fol9yG9rPOjtHuEHxuILB9BB3uQltOfFk/tKGw5KJxS3Rm0B8K0skL7WltvPRws8hftP2kXoMF2fBwzXGncmh5dMDUD4Jrok7C9tlj2unyUrxcopHTwLoeEVUe+BY1Z5PA3qa8cMdTeoKW159XN+P3WmW5/p1tyT7J8R4svL3WlKNQ+2NI8NBMA4sI0dSb3r8efnJEYKIh3Ym9Xx9pWVhSNX3doid/azhDtjyj69DrzVan/qz0HazKWjgDiTrK11m30VHZO3ZoHmtxWUknxNZ1QJI1832MT3gFZn01pQkHNhboBqY2+k5+CETn7XAoAtf0iKvfum0YVL5BwqtXCItzB/MMTsalZRZQr9ZHmUxIDPs+aHWcx4RjhpBTS0+91qE631WJ7Bs+56lc7DlP6PmL9X45BBl85P6jIxLzElbx4HsIibp1SP1Zz9ynvjOZECycHEyZT3M5LxG3lj90tMF6uLLrTPWKIubLPPRAk4sHG5osgzKr6B+YhEEdyHrZr67aGYozG0JHO/ZGg6qtQjiYtwY6C7ilnGfM9j5Oi28rYMcfJwdRrh6Tx8UXn1XHgCeaN2xGcUjQNiF8z6oPcI7G5xNCDE5oeUgZ6Og7eMBgLuASkLSTK0KGqM//zLPIgco3tu/2P4t7DyRapHvlZCSRcCVssXPrg7p/3UdH9cdrNTbtnwrOd/KDpcmfi4Au+/Z8KEbxnuTVDJxHDWdU+p0RR7ihVrGc21Crf2IS7U0c1ptvNjUA3TAb9KTMLOd/kfmG0gtce+oxGkdP4KeDlkV7fNxvRkbeVewq25wRHoykjp2Z4qEgxNfedU4B02rRiXe5Ed7cVUu1XzmJNrGHHBBFBOtEvZe4ccH5L1doP8jcuM0L0p7WFQK9MCGb/OzaEgqo5uJMzHGtG0bMLe2hnem/agbG4TD/Cr/a+KAMklaqhiWGNgb5uZ63DFKMksvH6+HTnME0YizIzTayawusITRjFMd4nlAFWFJ19eBCmnp9VMy8sZFoLAbjWd2UaGq6+AZTwGFR0ZznETr/9Zgc89loJdll4bWVLYAyAlJH6tW5IJAUTSgA87VnWkArrrD7fNDFNIijjvyp/A56UN5Ew9rL60xgHxjLZ4hGpLRHdxk3ufLoYmjqj/+CY+UtkQ7INz0YWuyMdBRRF/wvjOFO/6+1RHW/ZVvZ0WCqU6drlDApB99QyWNpXYzyXXT2Mqlb2xE0ccPqMKdJlmEIu9W1fH7UO3Mn2icQzlyfgmPQ1Jsz0cPJe22aR2mNTmYpO7FvqDkGNeuZFCqwloKTFWKKIIHS+FebGAg5LtaFIR6QCTr1TnYb2Rihjn+I0EslaJy1LfwpdfUszSKc5nskCnaXAhJvfzGyYHI5PSTAC+fnWTkF3j28Igwu2pUsJ5JTreJMgST6Xo/KGsqP0vRyxtowKIb+SnOAc8SL4LEqe5llTQSPkPmvu1vsSQFe6svNMWUwzrblCB6yYw1o+Lnwl9ExK3naawpaCaVpjo61tFwqDlD22HmmPrxZT42Rxqn9F8QJzP/sMQvDGsfJ4YONRVdxIWdFjGdDnwIejzAOeVk0O2FjjTMsFqvDxQuYf/USmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YLUwYYNpkXFE1CtApGLwFA",
      "input": {
        "note": "The white can now sits squarely between the two jaws at the bottom of the wrist view at z≈0.035. Closing to grasp it.",
        "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_01YLUwYYNpkXFE1CtApGLwFA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1103, 1.8698, 0.9115, -0.0082, -0.9123, -0.8543, 0.0092, -0.0212, 0.8417, 0.5964, -0.8558, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3012 left_y=-0.2848 left_z=0.0518 left_yaw=0.0319 left_pitch=0.0486 left_roll=0.0171 left_gripper=0.0092 right_x=0.2081 right_y=0.0027 right_z=0.0878 right_yaw=0.0025 right_pitch=-0.5118 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.8017, 5.3538, 0.6618, 0.1636, 0.0171, 0.7692, -0.0342, -1.0735, 6.5709, 1.1697, -0.0659, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1983e2c513898d567e0b0b2d4ceb83089252eeb58c4771e3f6eb97af7db2f2bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09c6e28aa3ec9b4315f4883fc515dc7e5f7081dd0a6d4bb3bb40b0c6e8b26189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcffb46c21db8eb2f77fd4e78972da100539dcc2c2dc66659f5f0b36de28b5fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 9.747 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0855, 1.7164, 1.3277, -0.6434, -0.849, -0.8593, 0.9953, -0.0212, 0.836, 0.5999, -0.8337, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3087 left_y=-0.2935 left_z=0.1757 left_yaw=0.0247 left_pitch=-0.0276 left_roll=0.0493 left_gripper=0.9953 right_x=0.2138 right_y=0.0025 right_z=0.0927 right_yaw=0.0021 right_pitch=-0.4805 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.9607, 8.7453, 0.9695, -0.4762, 0.1148, -0.1148, -0.0615, -1.0325, 6.735, 1.3358, -0.0317, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1076, 1.8809, 0.9062, -0.0574, -0.8555, -0.8539, 0.9984, -0.0212, 0.8406, 0.5964, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.2816 left_z=0.0349 left_yaw=0.0031 left_pitch=-0.0228 left_roll=0.0561 left_gripper=0.9984 right_x=0.2105 right_y=0.0026 right_z=0.0892 right_yaw=0.0023 right_pitch=-0.5 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.747, 4.588, 1.2674, -0.3932, -0.105, -0.1783, -0.1573, -1.388, 6.9402, 1.2039, -0.0464, -0.0708, -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 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1103, 1.8698, 0.9115, -0.0082, -0.9123, -0.8543, 0.0092, -0.0212, 0.8417, 0.5964, -0.8558, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3012 left_y=-0.2848 left_z=0.0518 left_yaw=0.0319 left_pitch=0.0486 left_roll=0.0171 left_gripper=0.0092 right_x=0.2081 right_y=0.0027 right_z=0.0878 right_yaw=0.0025 right_pitch=-0.5118 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.8017, 5.3538, 0.6618, 0.1636, 0.0171, 0.7692, -0.0342, -1.0735, 6.5709, 1.1697, -0.0659, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1983e2c513898d567e0b0b2d4ceb83089252eeb58c4771e3f6eb97af7db2f2bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09c6e28aa3ec9b4315f4883fc515dc7e5f7081dd0a6d4bb3bb40b0c6e8b26189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcffb46c21db8eb2f77fd4e78972da100539dcc2c2dc66659f5f0b36de28b5fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/RUKEAgRGAI4AUIIdGhpbmtpbmcSDJwIaKk2UlcTPBUFVRoMH1/8uIrEdXLORfT+IjDu6v3ohVkUSRSV8NM8tNPBOouXgult3dRSRu0ZAfs0j5b/Jxie2N9eU9szYT9fOqwqmhVD7RB04dNGTlnj2qCfJ257MWIhGajFv2WgRY7R6m/cjv4FTGz1LE8lory1AGi1SZ8HpVGSlVRDw6/UI9G58p6w3rzhTjUM++y8HjC9Eont2p4lrXWsyGCy7XyC5kfRDcepWkZnzx34fUFOomyQ5DPnKUeSfMkK+rSQUvNfOrC2IpTijV0CxliAjdYBtfCgove2/LejuHBFltVtMxoS112zsw0wLkpq5CdGNjWo5IggfwMYzQ9cX8RlFfbVULl1r0Q9G2ZTr/kJa2IYBxfYQ0QmqLhKKR2wSvKoaakrwPWF4cD81K1uMHx9qKpHEKaDi9Q6uSjbJj8/LU7vN3dW5Lpv/wakyxMSk7PL5h6VMNtCLx/oSSbxor8B2fIj5kbh2VnVXC0kdXi1BtUX/JKTp5xKwBD5C7ZZlO6MJ3v/YBb5L2OuWuuT1qvoxtznCM/gV2Dz9IpxWamOfntFqihRe3doubT6TKKRAkWGn0Rv0+tGmR7EBBlZmViMRrduirOM3gR6sT24kUcjL+WSK54aIbsZjEDqXC+o3zrRksYAZvDd8hnKmgBNPCvhhdOi2qo8U8e2h9LxPr6VJAalfB6JWb6HOatSWlRGlZ/yhEk8RRp24Ds/ZcmRI4DRnJAuGXlWJ+N+ujoM5zLHYbE4OyaKEZEdvBcuNl8xpTqK/wyopUvxJj4ax+6cUY0T5OyfldpGw8aUFwaBKyTePEt+7DKnr/wOyW1fh8ET/HtOYXcgAPVBFDqWSPxftagYPDBqegplpEHb8fKLTgVkjOiIoVbAgoa+t5/yhQLMfxkx1yZ8/4f0GwaBvHU7CMo5AnFH9AfblLMeLJRS3c3hKr2Q/Q0Tw7UVq3i9qUvcuNeKfIEu7xvs18gQstdPwilKvHZa2UC0ud+edTkgGbDMPQnhaDWzcNcgTmYwSv0ekoUIQI2Pwhy5xED/pIw05k++7vZWObKk9oqR7qZD5zOpJd/WRFfvKaJ5kahMtD5toErZ882zC3MPcCxeUYi7vuUIyVYhE6aSdZQuIVW2Wlcc3DTJF/lq6N/UHkm2zkI8SaJ2KQ/vnFucrEGb/Tuu3Ajq70646U8E+SQnUmGSdK2k8wWHshrVTywVcz8uFzzib5QrcxpTrjvsuDdkZVqMVUxcjqoUMdceb2SMekscBH90WfxEBXu9RZDYT4rDO7quCVAod6IQBjTcEB90j5FtTipCpNugNDNGtvPWOOCR4gIolpf1BVxXqh1VTDYb5O2ML2lgmZB6r/zmGG0Hg7zWue7kvDBskJv2tAS6cXfMd+RGA8nQh0irDfs9lFKVyobDBQixiYHKdyxiTLkvE/PvT4yPKsSQGLM2xywp8XWZnTTKOAX5wDR2M+YMeztj//gColrAxBgyn2smMzypec8ifT4C1OkmYmlIBRCc8nmTQBQeybOYcgRxksRusiJNKQAY4tMNXdpVVJQm2y3nPyeAlvfoTjhhFJsuq2XcJEivxRr7QbTU1ht52akCItvU7JLVT6A1xrgcrV92hSWDGQSeS4Kbcigp5uhmPuPbhCSZygWqm7/Nh6McP5XNrIT0dw1EVOqy5oviwPP3DCGwaAwLkLLoJrhiyLc17tUSSF2wg2VTKKdNLXnm2rDstaq3Qnv9+gg/w4O5xObdUtHo/02hcyxmbOAHRYfXP2a9wtfuYFITj23jiL4zoNFpCVXHBdQeIo/eSi8CUPveFsQbFUki/XIloDWVs8S0hFGkWES92oTzlFd84YWuhkfClMwMKrBPVm2lYbjQbpqbSozV6BE0ka5UtnwtbVXdK0BgWiwaFh8b1sVbz0TO5+dEWIGmeEBPQPSpMq9pZILQ+AqznIZKJ5h9u+tCvxWb3zbvwkIVnSa+kTeZ1xz2nGDiCPzySUUw226Y9rYvl8NhlYHbbcT74Rj3X+eI4+sMelMICixYnGXdteE4CGHP8+vOvWTZbGY1kS6DZSipiT+eKE3JOQnML0I3B6tLWylSrBea4Wr9Xg+zNcaU3U/vsPqLBcdeopxOQNnqWMKIx7DHU3oa20/JGwigHtHctQes3vkwhpEZs0cRqupPQ+Ym5xrqvzVQlUeZJ6ezNsaZTb07xcCukNMXDRJFAb3XQ06Z3m0CEC1c8VjwDs1Im92u3OjB58SpdBy1mN9IqWK7sNgCZIN/iUY6uEEXHsTsW7UL3SkAGV/TSLfW6Kt4dJfBFCEf9b4KQy6RWUTkUksSk/axb5HPIrHJx5XjVtlJU6CbVdFJLEB2HbqnkyQLwx+AaJ4wxBBqDhTwdzEpe6BUxxjDhG3OiLaflChkrpRqMquljlJaNOkfi+/Y1Ajekv1Oq5/25zXuqNy2VZQM7t3M1FAGTEyUUPOyLmfWYe+hneggxK0TSWl8VPCb/E2SFVB87DYlrmJB0kNPPHgZfPnQQ8Ls2MgFN0kMHIRc7e11gMckEQbSXc8TgD0mfGOMFKMLgH/CCcZEBRXj5wRuuYM/BXvCVjq/VcnD1kL50WRRyQL+VMtr/zaiqRHnkx8BvHEVoGVTfUOGDJQNycuByl+c1G59mV4bmGXrrAOgTWRk5LJ61PV/bbf3Li/kq6XOidvR2gscBpqz2VoIOog9wOY3AK/yVyGDdPcON2wqqhl9q/NNKG9MdIV23lZ2N+M4OxwIj8mZvcensXE1oCd7ZMeE+iEl2RshfhFjZo+n/2hKhjPmKcjA2bv4paBcJ+8Q8d8mYskyc8nFx2DtXMkUQIjW3O7QodIZoGSWiFJjSYj1t2144sOYZCSOgtalmXtEfb8JhpyB5BnsR8nETSovXpyTjtBlr9V34NB/Xwk3Xvha+eQ0W25qf6oRJzJYJKfiYsddRTB5+vGPMyjhcOEvAWbbsVy+riri6ymQNWhPFrCg+aieud78pcNrN1vdJHYZx/cdRHXdR7pWK6Zd7SB3uLsGr5iSPDanYgG1yG+/n6BvKZxNn0+51zzxBdy2dTfq3ydfIlLYjN5qMChKyqLzeW1b/CURfDd/0LqV//2eMPfdC9u5JTQ/s0BUwRBOEoUb32Df/V4Vfh6aEIxQEfH7QzvlVljMqnE6QOYtXp81sZBmhlC/OjAzxtjm208IzY/qTOp0DIp9o/JZpe3temEzITj/b7tZt9jL2KQKNtdqq90W3LtHV/5fjPZFPlin53EkwQZikXxLEpfG0G9/OpesUqsWf6TO/khzIJpbXGqLUYY9FWWnfIvNGB0vwNg0ImrNcWBBC3aeICSt6ObLZCsK3ZjWQkXnZy75dQJ90X5rlGaGQ6nx6+yVNl65HSGjk83jFjfqvujIw7sL3SfGbM37CscJYwdUHgG8mITozyX9DgvDxEqgieThjHrg1pkttZnyo/ZQO6rFLuAUdKI6ciYVtwDAcCOEvxVBHxKNoABoYSlfHtn9OM9hAWPu+XeUjhWd1jG1tJx2L8994277DnaMUpZ4vFYlcBdizycbCLyXG0EV0mnCw06DTItEpqDtK3wfeq4lEmWLUYMXHbDsRFLNzk56sjE1YUkc/Bmi6LaYDn24tgELUFW1noJAdvDfd5hUNruxpIvLJCy1wkyHhOm/UuE2SKD1mIBxmZ7vH6eElR4p3v6yhiArBtiihcLPBHs19hokWkOhvEUVUMYXM8d5PhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MVZVrKwJaQE4Hq4WyQeEzo",
      "input": {
        "note": "Empty again and the gripper rode upward, so the jaws are landing short of the can; objects at the bottom edge of the wrist view are still a few cm ahead of the fingertips. Lifting clear, opening, and shifting 2 cm forward to x≈0.32, between the two positions that bracketed the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.285,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MVZVrKwJaQE4Hq4WyQeEzo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0454, 1.7596, 1.0317, -0.2367, -0.8204, -0.7998, 0.9953, -0.0212, 0.8436, 0.5941, -0.8631, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.316 left_y=-0.2803 left_z=0.0967 left_yaw=0.0152 left_pitch=-0.0188 left_roll=0.0274 left_gripper=0.9953 right_x=0.2059 right_y=0.0028 right_z=0.0858 right_yaw=0.0028 right_pitch=-0.5233 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.0427, 8.7863, 1.2039, -0.3199, 0.2173, -0.1197, -0.0479, -1.1692, 6.612, 1.1209, -0.0366, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45fa1cebdb631dc1dcba59e257269cb5a2de9d4661be0e213f468e4de7f05b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfcaf91a7b3c91ca159fc0a194056cbea7c6bfcebb2fa8cfd2c5c194f5ebe5db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15231c17c72a1d0f5c6957ace34e70059ca94efa309da37009b5759ed29a954a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 8.758 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1076, 1.8809, 0.9062, -0.0574, -0.8555, -0.8539, 0.9984, -0.0212, 0.8406, 0.5964, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.2816 left_z=0.0349 left_yaw=0.0031 left_pitch=-0.0228 left_roll=0.0561 left_gripper=0.9984 right_x=0.2105 right_y=0.0026 right_z=0.0892 right_yaw=0.0023 right_pitch=-0.5 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.747, 4.588, 1.2674, -0.3932, -0.105, -0.1783, -0.1573, -1.388, 6.9402, 1.2039, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1103, 1.8698, 0.9115, -0.0082, -0.9123, -0.8543, 0.0092, -0.0212, 0.8417, 0.5964, -0.8558, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3012 left_y=-0.2848 left_z=0.0518 left_yaw=0.0319 left_pitch=0.0486 left_roll=0.0171 left_gripper=0.0092 right_x=0.2081 right_y=0.0027 right_z=0.0878 right_yaw=0.0025 right_pitch=-0.5118 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.8017, 5.3538, 0.6618, 0.1636, 0.0171, 0.7692, -0.0342, -1.0735, 6.5709, 1.1697, -0.0659, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0454, 1.7596, 1.0317, -0.2367, -0.8204, -0.7998, 0.9953, -0.0212, 0.8436, 0.5941, -0.8631, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.316 left_y=-0.2803 left_z=0.0967 left_yaw=0.0152 left_pitch=-0.0188 left_roll=0.0274 left_gripper=0.9953 right_x=0.2059 right_y=0.0028 right_z=0.0858 right_yaw=0.0028 right_pitch=-0.5233 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.0427, 8.7863, 1.2039, -0.3199, 0.2173, -0.1197, -0.0479, -1.1692, 6.612, 1.1209, -0.0366, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45fa1cebdb631dc1dcba59e257269cb5a2de9d4661be0e213f468e4de7f05b83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfcaf91a7b3c91ca159fc0a194056cbea7c6bfcebb2fa8cfd2c5c194f5ebe5db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15231c17c72a1d0f5c6957ace34e70059ca94efa309da37009b5759ed29a954a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkQoKEAgRGAI4AUIIdGhpbmtpbmcSDBhJgILcZtZj/541qRoMuKidvaUlo0iRxDY+IjB1PCGhVMeaLKjPDR0LVugj7JeoSuhsGVwEAtlmDJVZAOcfnYyY4nLUWNWie2skaVUqrgkyJ/wVek6bXmC9E9mqQr4UEpXvKAyNytf04K/27dOHFe/RWKspiBnlOr/zXgBSgZULJPdh8iv/tZO5sExm3zpPt2nypBygZ+fV5c9ZNs1C2flrhBswsFYKAvmBXCBhaKDtk95fhTvoEBhKgimdl4nNdVMQgUvQr0Sku6/O8a4X+ZMfSy3IP+y0BRBUTqOP/xh0CEL7U8841LY9lypeSmsvoVSHU18+VkWkLNoHRxilURTxPAuPmdeImelxDX/CLh63ZEGcCikaDDLaUqSQJvHqS2HDFGDs8ugXKtbjsEg96Sri1pJjC2xeCVVpzPrJIQKA8tMe3PvFCiEwxHH/zVoYdkbHPr1AI23kmLYSs8Ty2nEIAsGjzO8L9tffk1KzzbfTEjJ7n/mxCja+8k+Iu2PG1/VBEpw3N0MNN/cODSZNPAZmlrFDLsvEGCiyHm9C5/0KpGr6/4yx/S6zK/0vqbdzmUsLNzE9fHiSM4ATtq4VMNlWyfRZIN/s4/IYNYhLgCZ6IgC9xpO315kazcVPYkOnPXbGRy0k8xGvZnybGFKSdURkIlrrzg7eUyzsLjwkY+fwXokCxFHQmAWMVDYlYYylDeGO58ta/LEcWaUbdMmhZVYeO8lGK/cry8BgmCeSTaNtgQaXgCUJDuudwPm60GOvYpc+ICgW+dDIsXPecqfJYWQpHp2Vo1Kj2+Qr9qvi0pcxsaMVkASzgFo8jELRydjtJbKpiguovEdpNCBpN5N6Z8i0eTmNftuXe7daGw6sZcuXfzJRmH4D0l/fn6iWYUUL+U8hk5KjRxDruMWusLg+y+yuYER6UpWRe6x5/QnzQTuKH1gv6nTYkaRGUTq5WoLkXmskR7BaNLWchJfADN3uD4WhWs3UXtqsj7Qi/xxCS984ENKexbGvdt1Z06IIwVVY7s5sePwWHJFfb17dsuicd/WIAizPOxenYXafv3coTsazFeXOZLwn1J8YS+1k0I6k9Jq4qhOZXMJm4vt8WG1scYKNKG35mRmUPv88OQy4id7eiWHJ7JiaOhKmCSQoRXQw5hmreOLkHcP+3HNyKlMXn92ojyqpECfYKkcyTD/BgCkRXHUxYWM87ibINb5xqj2+M5wSiHaUXYdWNRqK4BL1VnOYWoAYe2ZoO/Id6POlPH0RJ+i1/UiDkX6zR9UCAjSV9sYEiNRnzlBRtZVjuPJ8uHcGr/dbvxRPVNvUyTlL3CiD91fPGiMrEB/1x0E96mYi7WlnRszgoHbdpEP8kAntaZQTV8LDNCmMlBy9G25FunwZtL9VF0Nx2mypD8jDtls95EEv7ijvXvM0eJFwHLQ29+zuyaHWjMhvlFjOMJnaRorU3Z9sfDiYcXk4zK1Yappd2x4LDujXSb8sG1k4DZEuHb0hxQ5YdjZ5ROD+H4XozL+oZV+xHJngkOWDMeejK1v3+PTg2AT+tiaOVQ51rgDIfaum3Qv/U6n8k2JqdPM2/CdnY8XAmam4we2OGQMkNVCmOPc9aiMbodvIi4uYHhQeBwPNFNqygxT+XYG0/63qKS8i0UAyetLIsMlGNwlPbpOLuZ2MiGWZeJoE2wJMmLEyMixi3Xcpo1CRewSceCjcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018bds4EJgKE6r9CwsJH9anQ",
      "input": {
        "note": "The white can shows at the bottom centre of the wrist view, slightly right of the jaw column. Descending fully to table level, 1 cm forward and 1.5 cm right, so the open jaws surround it regardless of its height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.325,
          "left_y": -0.295,
          "left_yaw": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018bds4EJgKE6r9CwsJH9anQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0439, 1.9911, 0.9493, 0.1783, -0.8326, -0.7979, 0.9984, -0.0208, 0.8455, 0.5941, -0.8814, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3303 left_y=-0.3007 left_z=0.0283 left_yaw=0.024 left_pitch=0.0388 left_roll=-0.0547 left_gripper=0.9984 right_x=0.2018 right_y=0.0029 right_z=0.0835 right_yaw=0.0033 right_pitch=-0.5435 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.3128, 3.3846, 0.5885, -0.1636, 0.2027, -0.1783, -0.0342, -1.1145, 6.612, 1.2283, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8197ac98f1ada2f88d20ea9e71d31986ee0eeda422a3f9087636091cb9eba33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3aa761d81119eb48998f673ed6c11b8c3a088934cb8ad4751940c94a49af5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30906105188dd86854e5e4f7b2338ce491da0f8d55cb9e205e9ea8c4f7c8d9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 14.64 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1103, 1.8698, 0.9115, -0.0082, -0.9123, -0.8543, 0.0092, -0.0212, 0.8417, 0.5964, -0.8558, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3012 left_y=-0.2848 left_z=0.0518 left_yaw=0.0319 left_pitch=0.0486 left_roll=0.0171 left_gripper=0.0092 right_x=0.2081 right_y=0.0027 right_z=0.0878 right_yaw=0.0025 right_pitch=-0.5118 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.8017, 5.3538, 0.6618, 0.1636, 0.0171, 0.7692, -0.0342, -1.0735, 6.5709, 1.1697, -0.0659, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0454, 1.7596, 1.0317, -0.2367, -0.8204, -0.7998, 0.9953, -0.0212, 0.8436, 0.5941, -0.8631, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.316 left_y=-0.2803 left_z=0.0967 left_yaw=0.0152 left_pitch=-0.0188 left_roll=0.0274 left_gripper=0.9953 right_x=0.2059 right_y=0.0028 right_z=0.0858 right_yaw=0.0028 right_pitch=-0.5233 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.0427, 8.7863, 1.2039, -0.3199, 0.2173, -0.1197, -0.0479, -1.1692, 6.612, 1.1209, -0.0366, -0.0415, -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 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0439, 1.9911, 0.9493, 0.1783, -0.8326, -0.7979, 0.9984, -0.0208, 0.8455, 0.5941, -0.8814, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3303 left_y=-0.3007 left_z=0.0283 left_yaw=0.024 left_pitch=0.0388 left_roll=-0.0547 left_gripper=0.9984 right_x=0.2018 right_y=0.0029 right_z=0.0835 right_yaw=0.0033 right_pitch=-0.5435 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.3128, 3.3846, 0.5885, -0.1636, 0.2027, -0.1783, -0.0342, -1.1145, 6.612, 1.2283, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8197ac98f1ada2f88d20ea9e71d31986ee0eeda422a3f9087636091cb9eba33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3aa761d81119eb48998f673ed6c11b8c3a088934cb8ad4751940c94a49af5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30906105188dd86854e5e4f7b2338ce491da0f8d55cb9e205e9ea8c4f7c8d9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiAkKEAgRGAI4AUIIdGhpbmtpbmcSDK44a42HAdGdewyVoxoMxN5cmmGLiNE2BhdtIjBvXxbOvsuDdwQPStFkHlepTxtBn/5pgoKHDPhL3RQJKWrwVulExknpqcwxmITD/JsqpQh357NG07/hph/t9+hR16XnDKeemyYc45L+Cv4mzNerbonMYiFZQi1JZ6Twt9kAJD60F0Vpe1VSkPvQxbicXjuQden7XxxLIA+MZu7jb3yuG9ydeK1/wGNw7q6R9zhiB6Rq4bmbBsSnJCz0Ijiz2wyiguweUxrJxqBeTYGKwl9649cNW16GyWrD9IzzVMg+/yOutODK/0VDRG4VoWw0TcZ6uO6yOxaXfP2r2GeK14+mEpAG4Hn9F4r/hASDZjzie9Aroioa2PR+kIvaTjFZVusp06vqMkavmkv7GBxsVDPt5m9165K1ueLlABW+mM9ikUfA7tC67cig5tTaZMtkNmr73bU5UUYl6oKZeVJg8Fh3qen/bFso2bzlSc09dFqr9Hy3cxlM4kU95Z8GB0nUEiu16FfqFwcxJL2qRumcw+xIBcs08YMtreJicNgheOVg0KYc4eOAzInxSvCkqEF1HvKoj6A6Ha2G0BiNHorWKqD1vMpXRQv6leGkeC7QSCaAxZq1eNXDmcJs1v+AuEqur1BSB7EFZvEVU10NybFi9jxtVGz/Sk2NnZrQbDPASFIgKsRV9fmYtJl3V2q1mASxlc3OLdOQRjUFvQMGkiOkrMClTuPBpEb7lo6r/QTTVY7xByorv2vOqxwhtqfSXD+B6aXUh//PtWIEGMn5y7frC7bE6+jEQT/5yuyVi+EX+nG6EH6JUXdW49cR3GtwaOFAW08qYi1nM2dcfQGrjUKmrlL7b66F29huOBJkWbcGtRNXhAMhPOAslFFyHuVtp7a+m1M6CgpcLkd1w6mtr/5gDogrh9AqdqS9wpmo1r28vsQ7w02FY7c56j36/k0oaIdHain/0mnEHOwcP6idRc9u1jP2ZEg2yyzYxdISyKUGotMkYUYLEv+6+tpyim7IdBvz6U7JLYy0KmxqIoL7/S6ZQIhsY5tvbUZndXgCsymwKKHjWgy72BLo80gP4LsMkjX+bmQ7Jd2/OiyAEC6g1LuzGF6bYTQ0ycCqf8zI/atF6Lj2+4Q2rv8cJm3D5QIFIyVcgzUQsIK7QEV1IORLPG1t5CCxfv+l9BVItGdCTdWgUUg1lttPz0idkMU28VLbX4lXobTVGxxPXzs7Z0raAKLJk/LgPBR4kbbJZIGt0orm79HK7ObggPzm8tFA1RKrI8WR7NL66yi2DZUqDfZqdz6nv6uSaLCr0PQ3h2L0cd/aWZBTMdRuamJkqGXgJpRghRIjmTdzzbxhyB0us4lxDTpWs7HwYm8bSKOmTTMzWJzW9PRL/Bj/0JJV5I1HIem0eFM6XHQBIALJmStidp7ZwJ5cv+2B/DTHlMj7M6TiqwrgqRr2w7pCgGcLVyeXts5Nri1TN/a7c58K9QtWh8Pw6+1yLRLlk19NRVchA91VmCsRgMRx18pYwP9bZBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AvjXujZeW2K1yZYaCxtebx",
      "input": {
        "note": "The can has disappeared below the wrist view's bottom edge, meaning it is now at or under the fingertips, and the descent stopped near z≈0.03. 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_01AvjXujZeW2K1yZYaCxtebx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0401, 2.0193, 0.9356, 0.1749, -0.8265, -0.7979, 0.0137, -0.0212, 0.8455, 0.5941, -0.9001, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3271 left_y=-0.2936 left_z=0.0119 left_yaw=0.023 left_pitch=0.0126 left_roll=-0.0172 left_gripper=0.0137 right_x=0.1976 right_y=0.0029 right_z=0.0815 right_yaw=0.0032 right_pitch=-0.5622 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -11.8769, 5.9145, 1.2869, -0.4176, -0.0122, 0.8913, -0.0615, -0.9231, 6.3795, 1.2381, -0.0855, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97cd05811b963a9398cd0614f20717f24efaeee9a99045ba52f90367b30d0a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bb6e3608281963e8df79aef366a5bd3d02be998d9ac87324ba592dfd3dbae13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e4c63d7caefba32e138285d0baed1aaa3b7cf88927ba68660522cefe1b63d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 21.16 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0454, 1.7596, 1.0317, -0.2367, -0.8204, -0.7998, 0.9953, -0.0212, 0.8436, 0.5941, -0.8631, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.316 left_y=-0.2803 left_z=0.0967 left_yaw=0.0152 left_pitch=-0.0188 left_roll=0.0274 left_gripper=0.9953 right_x=0.2059 right_y=0.0028 right_z=0.0858 right_yaw=0.0028 right_pitch=-0.5233 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.0427, 8.7863, 1.2039, -0.3199, 0.2173, -0.1197, -0.0479, -1.1692, 6.612, 1.1209, -0.0366, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0439, 1.9911, 0.9493, 0.1783, -0.8326, -0.7979, 0.9984, -0.0208, 0.8455, 0.5941, -0.8814, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3303 left_y=-0.3007 left_z=0.0283 left_yaw=0.024 left_pitch=0.0388 left_roll=-0.0547 left_gripper=0.9984 right_x=0.2018 right_y=0.0029 right_z=0.0835 right_yaw=0.0033 right_pitch=-0.5435 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.3128, 3.3846, 0.5885, -0.1636, 0.2027, -0.1783, -0.0342, -1.1145, 6.612, 1.2283, -0.0317, -0.0562, -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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0401, 2.0193, 0.9356, 0.1749, -0.8265, -0.7979, 0.0137, -0.0212, 0.8455, 0.5941, -0.9001, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3271 left_y=-0.2936 left_z=0.0119 left_yaw=0.023 left_pitch=0.0126 left_roll=-0.0172 left_gripper=0.0137 right_x=0.1976 right_y=0.0029 right_z=0.0815 right_yaw=0.0032 right_pitch=-0.5622 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -11.8769, 5.9145, 1.2869, -0.4176, -0.0122, 0.8913, -0.0615, -0.9231, 6.3795, 1.2381, -0.0855, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97cd05811b963a9398cd0614f20717f24efaeee9a99045ba52f90367b30d0a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bb6e3608281963e8df79aef366a5bd3d02be998d9ac87324ba592dfd3dbae13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e4c63d7caefba32e138285d0baed1aaa3b7cf88927ba68660522cefe1b63d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbQ4reCDLQNVczVZApTvp4",
      "input": {
        "note": "The jaws closed on nothing at table level and the can is no longer visible anywhere in the overhead frame — it must be hidden under the arm. Moving the arm up and aside to reveal where the can went.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.2,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01SbQ4reCDLQNVczVZApTvp4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8341, 0.6147, 0.8623, -0.9863, -0.6842, -0.6041, 0.9977, -0.0212, 0.849, 0.5941, -0.9085, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2065 left_y=-0.0561 left_z=0.2433 left_yaw=0.0298 left_pitch=0.0268 left_roll=-0.0519 left_gripper=0.9977 right_x=0.1956 right_y=0.0029 right_z=0.0801 right_yaw=0.0034 right_pitch=-0.574 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [0.1573, 1.1419, 8.1573, 1.4725, -0.2613, 0.1734, -0.0562, -0.0342, -0.9368, 6.3932, 1.1062, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb8aebf9a900bd7a3843bddf980b01cd1ea9eaf7a7137b6bcbcad6af2f260d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2589fbba3386e0e3f02e6606acff87346b95183bbd740760d12211c2254d7381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0c0c561ede499bfd16f94fa2756285cc25a8432905c7b857823c8b9c706ef8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 26.43 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0439, 1.9911, 0.9493, 0.1783, -0.8326, -0.7979, 0.9984, -0.0208, 0.8455, 0.5941, -0.8814, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3303 left_y=-0.3007 left_z=0.0283 left_yaw=0.024 left_pitch=0.0388 left_roll=-0.0547 left_gripper=0.9984 right_x=0.2018 right_y=0.0029 right_z=0.0835 right_yaw=0.0033 right_pitch=-0.5435 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.3128, 3.3846, 0.5885, -0.1636, 0.2027, -0.1783, -0.0342, -1.1145, 6.612, 1.2283, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0401, 2.0193, 0.9356, 0.1749, -0.8265, -0.7979, 0.0137, -0.0212, 0.8455, 0.5941, -0.9001, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3271 left_y=-0.2936 left_z=0.0119 left_yaw=0.023 left_pitch=0.0126 left_roll=-0.0172 left_gripper=0.0137 right_x=0.1976 right_y=0.0029 right_z=0.0815 right_yaw=0.0032 right_pitch=-0.5622 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -11.8769, 5.9145, 1.2869, -0.4176, -0.0122, 0.8913, -0.0615, -0.9231, 6.3795, 1.2381, -0.0855, -0.0562, -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 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8341, 0.6147, 0.8623, -0.9863, -0.6842, -0.6041, 0.9977, -0.0212, 0.849, 0.5941, -0.9085, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2065 left_y=-0.0561 left_z=0.2433 left_yaw=0.0298 left_pitch=0.0268 left_roll=-0.0519 left_gripper=0.9977 right_x=0.1956 right_y=0.0029 right_z=0.0801 right_yaw=0.0034 right_pitch=-0.574 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [0.1573, 1.1419, 8.1573, 1.4725, -0.2613, 0.1734, -0.0562, -0.0342, -0.9368, 6.3932, 1.1062, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb8aebf9a900bd7a3843bddf980b01cd1ea9eaf7a7137b6bcbcad6af2f260d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2589fbba3386e0e3f02e6606acff87346b95183bbd740760d12211c2254d7381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c0c561ede499bfd16f94fa2756285cc25a8432905c7b857823c8b9c706ef8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QJ3yMssCRvDuqnxHqAjwdf",
      "input": {
        "note": "The can is revealed lying on its side near the bases, axis running left-right, right of the centre line — closer to the right arm. Switching to the right arm: hovering above it yawed 90° so the jaws close across the can's diameter.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.22,
          "right_y": 0.18,
          "right_yaw": 1.57,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01QJ3yMssCRvDuqnxHqAjwdf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6174, 0.8661, -1.0069, -0.6693, -0.6071, 0.9978, 0.1261, 1.3735, 0.7788, -0.7685, -0.8986, -1.2476, 0.9996]\nstate[eef_state]: left_x=0.2043 left_y=-0.0558 left_z=0.24 left_yaw=0.0239 left_pitch=0.0064 left_roll=-0.0463 left_gripper=0.9978 right_x=0.222 right_y=0.1711 right_z=0.1073 right_yaw=1.4903 right_pitch=-0.0676 right_roll=0.058 right_gripper=0.9996\nstate[joint_eff]: [-0.294, 0.841, 5.6821, 1.6239, -0.4127, -0.0024, -0.0024, 0.294, -5.0393, 6.9538, 0.2466, -0.7595, -0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86218b3d800ef3e5608b66606723c165608a78c0c630bd3b3adf87b85ed5996b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b56e69b949b4b5bfb8b6b82213a04444052ccfe0c6970a2204f74b0e48b48c56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc617e2ad7e8361db124017af9981443650da98cab35a57bd9ca3fcd65820252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 6.241 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0401, 2.0193, 0.9356, 0.1749, -0.8265, -0.7979, 0.0137, -0.0212, 0.8455, 0.5941, -0.9001, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3271 left_y=-0.2936 left_z=0.0119 left_yaw=0.023 left_pitch=0.0126 left_roll=-0.0172 left_gripper=0.0137 right_x=0.1976 right_y=0.0029 right_z=0.0815 right_yaw=0.0032 right_pitch=-0.5622 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -11.8769, 5.9145, 1.2869, -0.4176, -0.0122, 0.8913, -0.0615, -0.9231, 6.3795, 1.2381, -0.0855, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8341, 0.6147, 0.8623, -0.9863, -0.6842, -0.6041, 0.9977, -0.0212, 0.849, 0.5941, -0.9085, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2065 left_y=-0.0561 left_z=0.2433 left_yaw=0.0298 left_pitch=0.0268 left_roll=-0.0519 left_gripper=0.9977 right_x=0.1956 right_y=0.0029 right_z=0.0801 right_yaw=0.0034 right_pitch=-0.574 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [0.1573, 1.1419, 8.1573, 1.4725, -0.2613, 0.1734, -0.0562, -0.0342, -0.9368, 6.3932, 1.1062, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6174, 0.8661, -1.0069, -0.6693, -0.6071, 0.9978, 0.1261, 1.3735, 0.7788, -0.7685, -0.8986, -1.2476, 0.9996]\nstate[eef_state]: left_x=0.2043 left_y=-0.0558 left_z=0.24 left_yaw=0.0239 left_pitch=0.0064 left_roll=-0.0463 left_gripper=0.9978 right_x=0.222 right_y=0.1711 right_z=0.1073 right_yaw=1.4903 right_pitch=-0.0676 right_roll=0.058 right_gripper=0.9996\nstate[joint_eff]: [-0.294, 0.841, 5.6821, 1.6239, -0.4127, -0.0024, -0.0024, 0.294, -5.0393, 6.9538, 0.2466, -0.7595, -0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86218b3d800ef3e5608b66606723c165608a78c0c630bd3b3adf87b85ed5996b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b56e69b949b4b5bfb8b6b82213a04444052ccfe0c6970a2204f74b0e48b48c56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc617e2ad7e8361db124017af9981443650da98cab35a57bd9ca3fcd65820252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GLhTf4EyYw8bScvGkMZogv",
      "input": {
        "note": "The right wrist cam shows the can lying along the image vertical (arm y axis), cap toward the centre and body running to the bottom edge, slightly left of the jaw column. Moving 3 cm toward the base and 8 cm toward the centre to the can's middle and descending to its centre height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.195,
          "right_y": 0.25,
          "right_yaw": 1.57,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GLhTf4EyYw8bScvGkMZogv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6178, 0.8646, -1.0103, -0.6689, -0.6071, 0.9978, 0.4404, 1.5551, 0.5068, -0.1074, -0.8761, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2039 left_y=-0.0555 left_z=0.2388 left_yaw=0.0236 left_pitch=0.0027 left_roll=-0.0425 left_gripper=0.9978 right_x=0.1794 right_y=0.2385 right_z=0.0261 right_yaw=1.5992 right_pitch=-0.0425 right_roll=0.1234 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, 0.8274, 6.1607, 1.5263, -0.315, -0.0317, -0.0122, 0.1026, -5.2581, 4.6838, 0.9841, -0.1929, -0.0708, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a8dd257a9466ae5954e2ba5b4f542de22a4ecc1ec19a90a2aee38ba99ef0288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62500248e3220f6a5e8bb51cb315f99c7c9e7483e28781715abbe78c7772187e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:427cf94c2693db479b26fee11bcf062bbb3f2de040a162a0c1fbd394ac91d6f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 19 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8341, 0.6147, 0.8623, -0.9863, -0.6842, -0.6041, 0.9977, -0.0212, 0.849, 0.5941, -0.9085, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2065 left_y=-0.0561 left_z=0.2433 left_yaw=0.0298 left_pitch=0.0268 left_roll=-0.0519 left_gripper=0.9977 right_x=0.1956 right_y=0.0029 right_z=0.0801 right_yaw=0.0034 right_pitch=-0.574 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [0.1573, 1.1419, 8.1573, 1.4725, -0.2613, 0.1734, -0.0562, -0.0342, -0.9368, 6.3932, 1.1062, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6174, 0.8661, -1.0069, -0.6693, -0.6071, 0.9978, 0.1261, 1.3735, 0.7788, -0.7685, -0.8986, -1.2476, 0.9996]\nstate[eef_state]: left_x=0.2043 left_y=-0.0558 left_z=0.24 left_yaw=0.0239 left_pitch=0.0064 left_roll=-0.0463 left_gripper=0.9978 right_x=0.222 right_y=0.1711 right_z=0.1073 right_yaw=1.4903 right_pitch=-0.0676 right_roll=0.058 right_gripper=0.9996\nstate[joint_eff]: [-0.294, 0.841, 5.6821, 1.6239, -0.4127, -0.0024, -0.0024, 0.294, -5.0393, 6.9538, 0.2466, -0.7595, -0.1001, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6178, 0.8646, -1.0103, -0.6689, -0.6071, 0.9978, 0.4404, 1.5551, 0.5068, -0.1074, -0.8761, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2039 left_y=-0.0555 left_z=0.2388 left_yaw=0.0236 left_pitch=0.0027 left_roll=-0.0425 left_gripper=0.9978 right_x=0.1794 right_y=0.2385 right_z=0.0261 right_yaw=1.5992 right_pitch=-0.0425 right_roll=0.1234 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, 0.8274, 6.1607, 1.5263, -0.315, -0.0317, -0.0122, 0.1026, -5.2581, 4.6838, 0.9841, -0.1929, -0.0708, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a8dd257a9466ae5954e2ba5b4f542de22a4ecc1ec19a90a2aee38ba99ef0288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62500248e3220f6a5e8bb51cb315f99c7c9e7483e28781715abbe78c7772187e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:427cf94c2693db479b26fee11bcf062bbb3f2de040a162a0c1fbd394ac91d6f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoQcKEAgRGAI4AUIIdGhpbmtpbmcSDPoCWtoENN+vcXvF1RoM6ka+wPwmal1vcJcKIjDaIEq6qJswULxCoQK1IyIcKFpC9PM+6bwMjyZd5GAFeMNexarKbQqGNLbpPWCTPT8qvgYrPH75c5Fh9IaL+X0YfGVqRGX7oN026LP8FzYzPNYUjHhwQOMR4YiHD2f7O0dW301VoPd8R3ZBir96YDgNyhZn/A1sPuuNOBuMAg4B2a09KYi2g8/5KpSEFEo+4unObdOx/mu7PrCFM+JP1CHKvB1ZC9Pwn0s0J7ujrrW7ZJ8JvE7p38+G/v9TZdEnQw1SWYDv12pPVNLlG6a0Q8Ei0lRxJS9gD21J9wRERb3YqulgRM8fUs/UbXJnhESZYOMHcGCSVP6zQsTaHsraFSs99itXOZLzoRnmR9XN1nfqisV+RL6z0VaGGGu6BB16uG3bt4H2DkpMd+LXrmTID6XLk86uPxenWYE3oVQPILcKDYQOiooKrx1HBWVJBNeIUVzEn6XKk0MY9q3AF+ZnmanN+xsfn34Qs57HujPcRYMog76q15+xUIVmzd1MWSXDoQlC7QHAG+JiQkotNC4PEPN/yK6d7963YAbQ3Y7igng8SHJV1h812W65vcHsQm7Zt6l5qw9LnzE1m7h/8T2Uilt2Rx/ZGW8/0KnXCb9eg1y1Qs16FYPFYyu5nmBWuhKBv5sEKRo++akOhUPD2VgZ74fXTwD0+05mKb4Ts5tnrRhJpx5u4Pq6l/X0VrQoDXefGakAYXc7HXMsm44c9UVBpAJFpkLxDvfsiQJE26JAGTdKc2ldifQrBh6uMWfrhYI3W062Q/LYPBa65PJSA0wYNyopxs4iHHzlQUxy8fn6BBHxD3YNqw830zr11BitmzutRLpuev0aqmxfmpLFJdEVDrVtHQXFpPdQWhCkHBv8d7EAITLkv3D9Dtqo1SDaIOz0vPgtWVWr7fnudxpB2yTgeXogZ0BdiAJgs7UkfhBWNFDTzkILOtoKnmD3r5X32/SHlPrpfNoG762IGvhEFvEY4jYlKb55sHzjBjzWxv8Dq/DOK9hnQPhQUr4RiYcozoEHdHDPiDn2x536qLluvozAVS8uMML7Wo7/s/uIBMpbmgN/NG9wQC986KW1pEZFbevUyRItOtvg50i6X+/l1M5KMWRUd2VlDXWjoVuFoCTmhLzDKJbtfr5y619AIPIZ3CSFRoC0/0TSydVWqjZLlYyTWRWmGRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Acv55SfpMcWwNnvMLk9Sz",
      "input": {
        "note": "The can body now runs between the two jaws, centred on the jaw column in the right wrist view, and the overhead shows the right gripper straddling it. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015Acv55SfpMcWwNnvMLk9Sz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.018, -0.6685, -0.6106, 0.9978, 0.4374, 1.5284, 0.5301, -0.0257, -0.9932, -0.9092, 0.0125]\nstate[eef_state]: left_x=0.2033 left_y=-0.0549 left_z=0.2373 left_yaw=0.0252 left_pitch=-0.0038 left_roll=-0.0383 left_gripper=0.9978 right_x=0.1881 right_y=0.2553 right_z=0.0602 right_yaw=1.6524 right_pitch=0.1031 right_roll=0.0415 right_gripper=0.0125\nstate[joint_eff]: [-0.0752, 0.7453, 6.1197, 1.5214, -0.3101, 0.0024, -0.0122, 0.1846, -3.2205, 3.1932, 0.2271, 0.7057, -0.0562, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ccd54381353d6eec8b3bd4badc6f4dfb9fa4f1fdedd7a181d768a4964ef1bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68303e3880d81041158dd4f29cfc9ebc042eeb6557e700089378fb2fbb652f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a90dc883a62c2243710e553df64c4e1971eb39df1cc27883cc4d832cfce3232c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 5.167 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6174, 0.8661, -1.0069, -0.6693, -0.6071, 0.9978, 0.1261, 1.3735, 0.7788, -0.7685, -0.8986, -1.2476, 0.9996]\nstate[eef_state]: left_x=0.2043 left_y=-0.0558 left_z=0.24 left_yaw=0.0239 left_pitch=0.0064 left_roll=-0.0463 left_gripper=0.9978 right_x=0.222 right_y=0.1711 right_z=0.1073 right_yaw=1.4903 right_pitch=-0.0676 right_roll=0.058 right_gripper=0.9996\nstate[joint_eff]: [-0.294, 0.841, 5.6821, 1.6239, -0.4127, -0.0024, -0.0024, 0.294, -5.0393, 6.9538, 0.2466, -0.7595, -0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6178, 0.8646, -1.0103, -0.6689, -0.6071, 0.9978, 0.4404, 1.5551, 0.5068, -0.1074, -0.8761, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2039 left_y=-0.0555 left_z=0.2388 left_yaw=0.0236 left_pitch=0.0027 left_roll=-0.0425 left_gripper=0.9978 right_x=0.1794 right_y=0.2385 right_z=0.0261 right_yaw=1.5992 right_pitch=-0.0425 right_roll=0.1234 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, 0.8274, 6.1607, 1.5263, -0.315, -0.0317, -0.0122, 0.1026, -5.2581, 4.6838, 0.9841, -0.1929, -0.0708, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.018, -0.6685, -0.6106, 0.9978, 0.4374, 1.5284, 0.5301, -0.0257, -0.9932, -0.9092, 0.0125]\nstate[eef_state]: left_x=0.2033 left_y=-0.0549 left_z=0.2373 left_yaw=0.0252 left_pitch=-0.0038 left_roll=-0.0383 left_gripper=0.9978 right_x=0.1881 right_y=0.2553 right_z=0.0602 right_yaw=1.6524 right_pitch=0.1031 right_roll=0.0415 right_gripper=0.0125\nstate[joint_eff]: [-0.0752, 0.7453, 6.1197, 1.5214, -0.3101, 0.0024, -0.0122, 0.1846, -3.2205, 3.1932, 0.2271, 0.7057, -0.0562, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ccd54381353d6eec8b3bd4badc6f4dfb9fa4f1fdedd7a181d768a4964ef1bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68303e3880d81041158dd4f29cfc9ebc042eeb6557e700089378fb2fbb652f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90dc883a62c2243710e553df64c4e1971eb39df1cc27883cc4d832cfce3232c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQoQMAnkDKwdKLKCZuWsSZ",
      "input": {
        "note": "The full close ejected the can toward the fence again (cap now mid-frame, body under the jaws). Reopening, levelling the tool and shifting 3 cm toward the fence to centre the body between the jaws; next close will stop at the can's diameter instead of squeezing fully.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.19,
          "right_y": 0.225,
          "right_yaw": 1.57,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JQoQMAnkDKwdKLKCZuWsSZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.0187, -0.6659, -0.6113, 0.9978, 0.3775, 1.494, 0.4591, 0.0162, -0.9382, -0.9657, 0.9949]\nstate[eef_state]: left_x=0.2031 left_y=-0.0553 left_z=0.237 left_yaw=0.0237 left_pitch=-0.0058 left_roll=-0.0396 left_gripper=0.9978 right_x=0.1953 right_y=0.2345 right_z=0.0467 right_yaw=1.597 right_pitch=0.0614 right_roll=-0.0293 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, 0.841, 6.0103, 1.4481, -0.2759, -0.0366, -0.0122, -0.6906, -4.2462, 3.1658, 0.7253, 0.0904, -0.1294, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e70fdc2f1bfa27026962a4fe36fa9e1d32f0f3779cf566f85bc353f7f32224c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a414abf0b480a3fe65608897f009c42645de9f8abed0ee03eee65f4c37cb6eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d4538e1f50c12a57b794e7240cd62775d0722a209442a4dad803bf203d12226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 8.264 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6178, 0.8646, -1.0103, -0.6689, -0.6071, 0.9978, 0.4404, 1.5551, 0.5068, -0.1074, -0.8761, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2039 left_y=-0.0555 left_z=0.2388 left_yaw=0.0236 left_pitch=0.0027 left_roll=-0.0425 left_gripper=0.9978 right_x=0.1794 right_y=0.2385 right_z=0.0261 right_yaw=1.5992 right_pitch=-0.0425 right_roll=0.1234 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, 0.8274, 6.1607, 1.5263, -0.315, -0.0317, -0.0122, 0.1026, -5.2581, 4.6838, 0.9841, -0.1929, -0.0708, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.018, -0.6685, -0.6106, 0.9978, 0.4374, 1.5284, 0.5301, -0.0257, -0.9932, -0.9092, 0.0125]\nstate[eef_state]: left_x=0.2033 left_y=-0.0549 left_z=0.2373 left_yaw=0.0252 left_pitch=-0.0038 left_roll=-0.0383 left_gripper=0.9978 right_x=0.1881 right_y=0.2553 right_z=0.0602 right_yaw=1.6524 right_pitch=0.1031 right_roll=0.0415 right_gripper=0.0125\nstate[joint_eff]: [-0.0752, 0.7453, 6.1197, 1.5214, -0.3101, 0.0024, -0.0122, 0.1846, -3.2205, 3.1932, 0.2271, 0.7057, -0.0562, 1.1453]\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 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.0187, -0.6659, -0.6113, 0.9978, 0.3775, 1.494, 0.4591, 0.0162, -0.9382, -0.9657, 0.9949]\nstate[eef_state]: left_x=0.2031 left_y=-0.0553 left_z=0.237 left_yaw=0.0237 left_pitch=-0.0058 left_roll=-0.0396 left_gripper=0.9978 right_x=0.1953 right_y=0.2345 right_z=0.0467 right_yaw=1.597 right_pitch=0.0614 right_roll=-0.0293 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, 0.841, 6.0103, 1.4481, -0.2759, -0.0366, -0.0122, -0.6906, -4.2462, 3.1658, 0.7253, 0.0904, -0.1294, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e70fdc2f1bfa27026962a4fe36fa9e1d32f0f3779cf566f85bc353f7f32224c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a414abf0b480a3fe65608897f009c42645de9f8abed0ee03eee65f4c37cb6eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d4538e1f50c12a57b794e7240cd62775d0722a209442a4dad803bf203d12226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9AYKEAgRGAI4AUIIdGhpbmtpbmcSDK9WbGO1dHh30ovh/BoMeeuaqcE33tAC8oMiIjDUq+VaUuY+pe/JyjL6ht0Qa0HUQjQtKlBTxBdd9ZUWaob7ccX+bc1N/2C1+vu47hMqkQbzUblB4yKrMgy8j/5FQhQkWc5+CKcalQvj3T8XPss4fxjGCxffbRlsPgYV916vZmuwJsvjlomBCEsEo9zVZTNFeNwO0JxLv1tsAyRPDSmxnJPFDT1KKHw1vJwnQwdisjneFQGs3Ghbk4f3xRhccrE1KPNIi6zUVJ+3zf4lMsYHQjxnj/1sUROTAVUxMCktJB2xBLCFDN3nMHFT+CK3chuIHDTqVoq/N4F+vOlX4vibxH5yVeglCt8JsPltxNnnw9e2s9DgWp9YvPI5wthLjFxOo9bdPIZK47BI7jE5FoaNvfkBGyMwBvCjoCQrUjMj1eVmZtuGujQd8s2dqwYZWb1Jy1C27uly1DxzJSd8fDgzr+aKERBgTV1V3lLCH0lHss0zHw4zaaWbHML13H63I8p8lYb9NK/BuCgUVj6ZpGIOJHm/Ht0eBPBAWCGlYzDkcjMvYsC2v7c6AhWomGPb++JXIz9qmITm5SYeSzqMY92YhfyCU4aBBTYwaQFdWkIA+W9gggw1oGMgZQ8l8RBtZjlZz83mLFfIq4jpX2edZWLrcJtgbZvp2eRxocn4/exh+73uuKc/H/cBugx3rB4J4Gofh8NB91V6iSqJtQz7LAvk8HwpJYK1l1JD2f+fDBV6+daP4EJ/aPFRq0FI4IinWKACwmu/IeI2+sDg75hZWpwcl3oAsbi0midHIzcN/S+I5sEFrcPqziOBW8KWhabAaiP+Cx3GFUvdlxD4b829OD4b7C1YYPpKOUj/DED7VIZ79GKi7fZ2lQCvPkc5wsleyhNv2JB3he+cbl5TiyGGSykxSfX09g/IseariePvefC1tvjU1FtT7LYGYQcwdHlh5++rtOhw1Jq75fhACCjLp3P/AGQk9kHVqpAc4W40CAIgUaQcDb1glFHlroUK7L6TBmEIoEAvIs+gUCPKkC8mAhCmFwBKsUf2uPc6Mv1OwnqNj1YttoT290XfdGmhWGXzb7agGM4FnY2l/NJv6oLLl4Vt11G8eVgo7UYY3uU3Tcp2N5B0UOjAmPcm7ulrSoB2ClBl8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FfAQzKDsrYULoVbHRpTsk7",
      "input": {
        "note": "The can body fills the space between the jaws, centred on the jaw column. Closing only to about the can's diameter (0.55) to avoid squeezing it out.",
        "targets": {
          "right_gripper": 0.55
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FfAQzKDsrYULoVbHRpTsk7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.622, 0.8646, -1.0302, -0.6655, -0.6144, 0.9978, 0.3763, 1.4899, 0.4576, 0.0257, -0.9508, -0.9684, 0.5553]\nstate[eef_state]: left_x=0.2022 left_y=-0.0543 left_z=0.2349 left_yaw=0.0252 left_pitch=-0.015 left_roll=-0.032 left_gripper=0.9978 right_x=0.1953 right_y=0.2356 right_z=0.0498 right_yaw=1.6046 right_pitch=0.0755 right_roll=-0.0395 right_gripper=0.5553\nstate[joint_eff]: [-0.1162, 0.6769, 6.0239, 1.5604, -0.3053, -0.0024, -0.0122, 0.0205, -4.4513, 5.5179, 0.9792, -0.2027, 0.0317, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dad81d4fa26426c1c6b8b3426c6c3c5abcb89d825df1f9fd5826da7207f16d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c7148b2c6c725059876b33a85751b089bda9191c3b817c243fb2fd733fb1e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba03fab8fc0b0a5fe65680c5ad20e6202b61b23769c1ac184ded47d9d883e0d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 16.9 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.018, -0.6685, -0.6106, 0.9978, 0.4374, 1.5284, 0.5301, -0.0257, -0.9932, -0.9092, 0.0125]\nstate[eef_state]: left_x=0.2033 left_y=-0.0549 left_z=0.2373 left_yaw=0.0252 left_pitch=-0.0038 left_roll=-0.0383 left_gripper=0.9978 right_x=0.1881 right_y=0.2553 right_z=0.0602 right_yaw=1.6524 right_pitch=0.1031 right_roll=0.0415 right_gripper=0.0125\nstate[joint_eff]: [-0.0752, 0.7453, 6.1197, 1.5214, -0.3101, 0.0024, -0.0122, 0.1846, -3.2205, 3.1932, 0.2271, 0.7057, -0.0562, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.6197, 0.8646, -1.0187, -0.6659, -0.6113, 0.9978, 0.3775, 1.494, 0.4591, 0.0162, -0.9382, -0.9657, 0.9949]\nstate[eef_state]: left_x=0.2031 left_y=-0.0553 left_z=0.237 left_yaw=0.0237 left_pitch=-0.0058 left_roll=-0.0396 left_gripper=0.9978 right_x=0.1953 right_y=0.2345 right_z=0.0467 right_yaw=1.597 right_pitch=0.0614 right_roll=-0.0293 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, 0.841, 6.0103, 1.4481, -0.2759, -0.0366, -0.0122, -0.6906, -4.2462, 3.1658, 0.7253, 0.0904, -0.1294, -0.1929]\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 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8307, 0.622, 0.8646, -1.0302, -0.6655, -0.6144, 0.9978, 0.3763, 1.4899, 0.4576, 0.0257, -0.9508, -0.9684, 0.5553]\nstate[eef_state]: left_x=0.2022 left_y=-0.0543 left_z=0.2349 left_yaw=0.0252 left_pitch=-0.015 left_roll=-0.032 left_gripper=0.9978 right_x=0.1953 right_y=0.2356 right_z=0.0498 right_yaw=1.6046 right_pitch=0.0755 right_roll=-0.0395 right_gripper=0.5553\nstate[joint_eff]: [-0.1162, 0.6769, 6.0239, 1.5604, -0.3053, -0.0024, -0.0122, 0.0205, -4.4513, 5.5179, 0.9792, -0.2027, 0.0317, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dad81d4fa26426c1c6b8b3426c6c3c5abcb89d825df1f9fd5826da7207f16d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c7148b2c6c725059876b33a85751b089bda9191c3b817c243fb2fd733fb1e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba03fab8fc0b0a5fe65680c5ad20e6202b61b23769c1ac184ded47d9d883e0d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvwoKEAgRGAI4AUIIdGhpbmtpbmcSDLArMQgYGF5TZAn4qhoM6RDvorQL4/bMXRDCIjCU1qLL81EwiRG55wiXppSz3GKoiA1bMuzlG7j2vslAtueXplWuPNtgQRuGRxmi08Aq3AmXq6QFtnh5IvY2fjsJlOPNPughu2GpH8JHEJxzgUbzvyP5pQWAagrNmqPDTroymlZYvPeLfpjKAnGv0rmPtxHT9X4TeWNhtE8ZsNumdwrp9hatoJuV3hcI1GmrnC5wefjj2PrvlGX/PWhsSrq4qU9Em00R7LdPnQwv+rHR/rSuztmAIW7yAn6Ah3p5MT4djkQVnWZ42In9gCwXrvSqhpSqpu4u/4dDddFpfH/iwwW3quDBA4bHfhv2aF9VcRYImcuQPUomYo442ZOUgZ1NQJn8qMQgsNQpTbpU+/ujBUhI6uS0tf2YUcERhAQ8wDFY2SLIaStZIGETd6d2OqnKNilJFIvDpkTnIByQGQVWQxf746FjZHJOG6ToyY9iAhsxawRUa/IdYlPLtHOQQS+KYm//d9gbjPdifj+D/800NABwjUl4aY+X5yuqIvPI+APPy7hcOM0Ggsv17rnl1z3PwjVgFj4eCkq2LF7KzRQPUNP12tDcS0cDP53NPB6DhGJbEvO+0V/dc2+6xJoLHefrd0J4sf28B9iaf7nUzqHNr9cRLUHDVJgpaSVG9vGis5exJvsy7EWEAMX2SZhDT6k77sBPWVQVZs8xNjJYFwbJpzs2sWo152r8WI51KfNDKEB7OhYbRuHGCnLCZ0Oqghn7fEfNSrtVSZ7Zpgaz8u8Y6+7tBD81OuCruz41vKH5B9XHIxB+Tg/pwh6PDktTn0WgcbePrLi6rt59uokSMKOh3+40tWCOgw22XHwF1fQbWwDoWDtVkmMzIXyY2+vhf7pZ3sbRJZmWh9LMiTHiLy1KrdR6+PfbMlI6qe1EVtk86PZyxbxq7rG65Hxpf1Zb8tUcNf5YPytd4uQG0eWgbqOF5mOSmOwRLaqzER3Wsn7k9JbpNMUo2y3cfH+4B2Kjy4p29PS/TbEOWbY7a2icNz8MuFZzsF8Kh6DDvo6ITHXW/Z5Hl7ATbZ2dO7ESseN8RSn8qaJTIr+0yPaiLlG8vqDA6SpErk7uBRtb6+qQGfl0MbK+9Z69F0vxl9w0zG0hEwN/pdZ2PehX7LB3ta6bBUgNKdSSazYAH8dEN3juX5nY5sCFYwjt6Ij2bSLj9e7sGaCHnBFgWaTFZIrxHQ1CqZH48IH3HsYdBkRCwjxBLirY5ZUsBQTp66xQWKj7olzntR0V3iLgNtnnmwwaK9XgmCHM2dDFe4pPH5j1nFHMUEU2M1XI5kgzgwMlB3lVb4hT3E5MhrdF90aSmWFWQemRK+Y06u3zI0fed2H8YG9Js68WisBgrxZZNb++0DEjJklSvJFvwcQKkQVod0/4g8QyZecQCcLJNxVOzY17OqBhiEnXy0PvRN1NkwCavr8r+kNtmhoK1/wtjKoqwWnxR1TwyygjA9g93h7KgmC+d7aPoi4UwwYXCVrNJqCbR2OV9ZhNKz6oGAlR9UF5dA4XEgES3ZCxYysNAmep9L7XTpM0jCmrQqMOi/cSvOGq/1ax4yefpTB2o0ndHpExqR+2qcTzeDkXn5fxB5eVtsbIQcmiJ6QWznMapwo+2uGYCHFAbTVj06rIow2NVBloLp+kC24vItgMIZRw9h1BjtjOGf8BK2gicMspBSPgMPFhcB8BW3UD+2o6sTauIweHoZqCwBcIL7vT0TRzeFa6+nOHVLYJzDFqfhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X83UfnQdpdHzTqWeyQK3mF",
      "input": {
        "note": "Jaws closed to the can's diameter with the body between them; lifting and carrying toward a point above the burner to check whether the can came along.",
        "targets": {
          "right_gripper": 0.55,
          "right_x": 0.45,
          "right_y": 0.3,
          "right_yaw": 1.57,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01X83UfnQdpdHzTqWeyQK3mF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8303, 0.6228, 0.8646, -1.0344, -0.6617, -0.6144, 0.9978, 0.3126, 2.2082, 1.9289, -0.741, -0.955, -1.0218, 0.5517]\nstate[eef_state]: left_x=0.2016 left_y=-0.0544 left_z=0.2339 left_yaw=0.0229 left_pitch=-0.0203 left_roll=-0.03 left_gripper=0.9978 right_x=0.4486 right_y=0.3003 right_z=0.1678 right_yaw=1.5717 right_pitch=0.073 right_roll=-0.072 right_gripper=0.5517\nstate[joint_eff]: [0.0752, 1.2376, 6.1333, 1.4481, -0.315, -0.0269, -0.0122, -0.6496, -11.7949, 7.4598, 0.6569, -0.525, 0.0073, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b328e00c8f95f45ac34df0c3ba43ce935cea31f8b9b510978b8ad0c8dc2d643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9205b65e352bff00e3d4d0c9dd4d695736074830f5ceb3e9b4faedcba5234f92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c30e7d9b0efd77e5384f5ca5d40cf56491266c31d70d80b9a49e4b03124a1485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]