adhoc

completed
2026-09-18T04:17:22.228113+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
352.9 s
total steps
158
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I see the can lying on its side to the left arm's front-right and the burner at the table's centre. I'll move the left arm over the can first.
agent noteThe can lies on its side ahead and to the right of the left gripper, angled forward-left; moving the left arm above it with the jaws turned to match the can's angle.
move_to
left_x0.3700left_y-0.1000left_z0.1500left_yaw0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3901, -0.017, -0.0174, 0.9993, -0.0212, 0.794, 0.6075, -0.4023, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.2934 left_y=0.0009 left_z=0.1784 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.2376, 10.1675, 2.0098, -0.0708, 0.0073, -0.0952, -0.3214, -1.4017, 9.6889, 2.0733, -0.0708, 0.0171, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I see the can lying on its side to the left arm's front-right and the burner at the table's centre. I'll move the left arm over the can first.
move_to({"targets": {"left_x": 0.37, "left_y": -0.1, "left_z": 0.15, "left_yaw": 0.5, "left_gripper": 1.0}, "note": "The can lies on its side ahead and to the right of the left gripper, angled forward-left; moving the left arm above it with the jaws turned to match the can's angle."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe can now runs along the wrist image's vertical axis, slightly left of the jaw column and extending past the bottom edge; shifting a few cm forward and left and lowering to 8 cm to line the jaws up on the can's middle.
move_to
left_x0.4000left_y-0.0700left_z0.0800left_yaw0.4500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6189, 1.5238, 0.973, -0.4187, -0.775, -0.7547, 0.9993, -0.0212, 0.7975, 0.6094, -0.4351, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.366 left_y=-0.1046 left_z=0.1369 left_yaw=0.4011 left_pitch=-0.0525 left_roll=0.0376 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1702 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.2256, -7.8427, 7.9111, 0.9158, -0.6276, -0.0806, -0.0952, -0.1846, -1.4291, 6.8444, 2.0147, -0.0415, -0.0366, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.07, "left_z": 0.08, "left_yaw": 0.45, "left_gripper": 1.0}, "note": "The can now runs along the wrist image's vertical axis, slightly left of the jaw column and extending past the bottom edge; shifting a few cm forward and left and lowering to 8 cm to line the jaws up on the can's middle."})
tool
executing move_to over 4 steps (0.4s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe can body runs up the middle of the wrist view, slightly left of the jaw column with the cap ahead; nudging forward-left a little and descending so the open jaws straddle the can's body.
move_to
left_x0.3960left_y-0.0400left_z0.0200left_yaw0.4900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4805, 1.6688, 0.881, -0.2066, -0.741, -0.7013, 0.9993, -0.0212, 0.8005, 0.6075, -0.4549, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3853 left_y=-0.0623 left_z=0.0755 left_yaw=0.4919 left_pitch=-0.0915 left_roll=0.0857 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1646 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.253, -8.212, 5.5726, 1.5311, -0.3101, 0.105, -0.0904, -0.0205, -1.4291, 7.1179, 1.8486, -0.0366, -0.0024, -0.0073] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.396, "left_y": -0.04, "left_z": 0.02, "left_yaw": 0.49, "left_gripper": 1.0}, "note": "The can body runs up the middle of the wrist view, slightly left of the jaw column with the cap ahead; nudging forward-left a little and descending so the open jaws straddle the can's body."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe descent stopped at z≈0.066, the can's top height, so a finger is resting on the can rather than straddling it; lifting slightly and shifting ~3 cm toward the tool's left to centre the can between the jaws.
move_to
left_x0.3760left_y-0.0330left_z0.0900left_yaw0.4900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4629, 1.689, 0.8501, -0.1238, -0.7193, -0.6743, 0.9993, -0.0212, 0.8005, 0.6075, -0.4702, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3895 left_y=-0.0603 left_z=0.0656 left_yaw=0.4792 left_pitch=-0.0893 left_roll=0.0706 left_gripper=0.9993 right_x=0.2827 right_y=0.0011 right_z=0.1616 right_yaw=-0.0006 right_pitch=-0.0748 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.0752, -6.7214, 5.5316, 1.1697, -0.442, -0.0659, -0.0904, -0.0615, -1.2376, 7.159, 1.9414, -0.0464, -0.0611, -0.0073] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.376, "left_y": -0.033, "left_z": 0.09, "left_yaw": 0.49, "left_gripper": 1.0}, "note": "The descent stopped at z\u22480.066, the can's top height, so a finger is resting on the can rather than straddling it; lifting slightly and shifting ~3 cm toward the tool's left to centre the can between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe arm did not move at all on the last command and seems stuck against the can; raising the gripper well clear and pulling back a little to free it before re-approaching.
move_to
left_x0.3300left_y-0.0500left_z0.1500left_yaw0.4900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4629, 1.689, 0.8497, -0.1349, -0.7189, -0.6785, 0.9993, -0.0212, 0.8009, 0.6075, -0.4904, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3878 left_y=-0.0595 left_z=0.0641 left_yaw=0.4822 left_pitch=-0.096 left_roll=0.0764 left_gripper=0.9993 right_x=0.2796 right_y=0.0011 right_z=0.1576 right_yaw=-0.0003 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.7077, 5.559, 1.2723, -0.4664, -0.0562, -0.0904, -0.0615, -1.1966, 6.9265, 1.9365, -0.0171, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.05, "left_z": 0.15, "left_yaw": 0.49, "left_gripper": 1.0}, "note": "The arm did not move at all on the last command and seems stuck against the can; raising the gripper well clear and pulling back a little to free it before re-approaching."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm is only creeping upward (z 0.064→0.079) with high shoulder effort; commanding a plain lift again to get it clear of the can before re-aligning.
move_to
left_x0.3600left_y-0.0600left_z0.1600left_yaw0.4000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4965, 1.623, 0.8547, -0.231, -0.7269, -0.7189, 0.9993, -0.0212, 0.8043, 0.6075, -0.5003, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.375 left_y=-0.0656 left_z=0.0787 left_yaw=0.4776 left_pitch=-0.1034 left_roll=0.0694 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1549 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.8957, -11.5487, 10.6051, 1.619, -0.7009, -0.0611, -0.0904, 0.0615, -1.1556, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.06, "left_z": 0.16, "left_yaw": 0.4, "left_gripper": 1.0}, "note": "The arm is only creeping upward (z 0.064\u21920.079) with high shoulder effort; commanding a plain lift again to get it clear of the can before re-aligning."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe arm is free again at z≈0.14 and the can runs from the bottom-right of the wrist view up to its cap, tilted ~20° from vertical; rotating the jaws a bit more to match and lowering to 10 cm for a closer alignment check.
move_to
left_x0.3700left_y-0.0500left_z0.1000left_yaw0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4889, 1.4349, 0.936, -0.4824, -0.6834, -0.6559, 0.9993, -0.0212, 0.8055, 0.606, -0.5232, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3571 left_y=-0.0595 left_z=0.137 left_yaw=0.4227 left_pitch=-0.1249 left_roll=0.082 left_gripper=0.9993 right_x=0.2744 right_y=0.0013 right_z=0.1496 right_yaw=-0.0001 right_pitch=-0.1343 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.3897, -7.2274, 9.2923, 1.2479, -0.2173, 0.2369, -0.0904, -0.1846, -0.8274, 7.1179, 1.8388, -0.0611, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.05, "left_z": 0.1, "left_yaw": 0.7, "left_gripper": 1.0}, "note": "The arm is free again at z\u22480.14 and the can runs from the bottom-right of the wrist view up to its cap, tilted ~20\u00b0 from vertical; rotating the jaws a bit more to match and lowering to 10 cm for a closer alignment check."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm ignored the last descent and its pitch has drifted to -0.13; re-commanding the pose with pitch and roll explicitly zeroed and a modest step down to 11 cm.
move_to
left_x0.3650left_y-0.0550left_z0.1100left_yaw0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8089, 0.6056, -0.5449, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4047 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2708 right_y=0.0013 right_z=0.1446 right_yaw=-0.0004 right_pitch=-0.1598 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [0.3624, -6.4889, 8.4855, 1.2869, -0.3639, 0.0952, -0.0904, -0.0752, -1.4154, 6.8855, 1.9121, -0.0171, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.055, "left_z": 0.11, "left_yaw": 0.6, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm ignored the last descent and its pitch has drifted to -0.13; re-commanding the pose with pitch and roll explicitly zeroed and a modest step down to 11 cm."})
tool
executing move_to over 5 steps (0.5s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe left arm has not moved for two commands; testing a pure 3 cm descent at the current position and yaw to see whether it responds at all.
move_to
left_x0.3540left_y-0.0600left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6357, 0.9993, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4049 left_pitch=-0.1298 left_roll=0.0881 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0 right_pitch=-0.1842 right_roll=0.0037 right_gripper=0.9996 state[joint_eff]: [0.4171, -6.4615, 8.2803, 1.326, -0.3394, 0.0904, -0.0904, -0.0615, -1.0598, 6.8718, 1.7509, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.354, "left_y": -0.06, "left_z": 0.12, "left_gripper": 1.0}, "note": "The left arm has not moved for two commands; testing a pure 3 cm descent at the current position and yaw to see whether it responds at all."})
tool
executing move_to over 2 steps (0.2s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe left arm is frozen with every step being clamped; sending it back toward its home pose with yaw zero to try to reset the solver before a fresh approach.
move_to
left_x0.3000left_y-0.0200left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4881, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8101, 0.6056, -0.5758, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3544 left_y=-0.0595 left_z=0.1473 left_yaw=0.405 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2656 right_y=0.0014 right_z=0.1388 right_yaw=-0.0003 right_pitch=-0.1919 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [0.3761, -6.4889, 8.2803, 1.2918, -0.3785, 0.1001, -0.0904, -0.0889, -1.1692, 7.1453, 1.7558, -0.0317, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.02, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The left arm is frozen with every step being clamped; sending it back toward its home pose with yaw zero to try to reset the solver before a fresh approach."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe arm responded and is back near home; the overhead view and the earlier finger contact both put the can's centre near (0.40, -0.10), so flying there at 12 cm with the jaws rotated to match the can's angle.
move_to
left_x0.4000left_y-0.1000left_z0.1200left_yaw0.5000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1974, 0.87, 0.7204, -0.4576, -0.297, -0.2337, 0.9993, -0.0208, 0.8158, 0.6025, -0.6121, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3025 left_y=-0.0041 left_z=0.2004 left_yaw=0.1726 left_pitch=0.0009 left_roll=-0.0227 left_gripper=0.9993 right_x=0.2587 right_y=0.0017 right_z=0.1299 right_yaw=0.0007 right_pitch=-0.2368 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [-0.7863, -0.335, 6.4342, 1.8095, 0.0611, 0.1929, -0.0904, 0.0205, -1.4291, 7.0359, 1.8437, -0.0269, -0.0024, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.12, "left_yaw": 0.5, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm responded and is back near home; the overhead view and the earlier finger contact both put the can's centre near (0.40, -0.10), so flying there at 12 cm with the jaws rotated to match the can's angle."})
tool
executing move_to over 9 steps (0.9s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe can body now runs vertically through the wrist view about 3 cm left of the jaw column and passes under the grasp point; shifting left that much and descending so the jaws straddle it at can-centre height.
move_to
left_x0.3780left_y-0.0720left_z0.0300left_yaw0.4500left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5652, 1.6436, 0.9691, -0.2928, -0.7635, -0.728, 0.9993, -0.0212, 0.8211, 0.6018, -0.6357, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3885 left_y=-0.0975 left_z=0.1065 left_yaw=0.4334 left_pitch=-0.06 left_roll=0.0522 left_gripper=0.9993 right_x=0.2543 right_y=0.0017 right_z=0.1245 right_yaw=0.0004 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.5128, -8.4308, 8.1436, 1.2137, -0.6862, -0.0611, -0.0904, -0.294, -1.4701, 7.0359, 1.6581, -0.0659, -0.0269, -0.0073] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.378, "left_y": -0.072, "left_z": 0.03, "left_yaw": 0.45, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can body now runs vertically through the wrist view about 3 cm left of the jaw column and passes under the grasp point; shifting left that much and descending so the jaws straddle it at can-centre height."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe can body sits squarely between the two jaws in the wrist view; descending the last 2 cm so the jaws close on the can's widest part.
move_to
left_x0.3740left_y-0.0710left_z0.0220left_yaw0.4600left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5301, 1.7233, 0.6964, 0.1192, -0.7807, -0.7055, 0.9993, -0.0212, 0.823, 0.6018, -0.6575, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3741 left_y=-0.071 left_z=0.0403 left_yaw=0.4648 left_pitch=-0.0165 left_roll=0.0281 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1205 right_yaw=0.0006 right_pitch=-0.2902 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [0.6359, -4.3829, 3.3573, 0.8913, -0.2613, 0.1587, -0.0952, -0.0752, -1.306, 6.8718, 1.6581, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.374, "left_y": -0.071, "left_z": 0.022, "left_yaw": 0.46, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can body sits squarely between the two jaws in the wrist view; descending the last 2 cm so the jaws close on the can's widest part."})
tool
executing move_to over 2 steps (0.2s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
At z≈0.033 with the can between the jaws; closing the gripper now.
agent noteThe can fills the wrist view between the jaws at grasp height; closing the gripper fully to grip it.
move_to
left_x0.3770left_y-0.0720left_z0.0300left_yaw0.4600left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.524, 1.755, 0.6655, 0.2249, -0.7708, -0.6891, 0.9993, -0.0212, 0.823, 0.6018, -0.6632, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3774 left_y=-0.0718 left_z=0.0325 left_yaw=0.4553 left_pitch=0.0007 left_roll=0.0015 left_gripper=0.9993 right_x=0.2491 right_y=0.0018 right_z=0.1196 right_yaw=0.0003 right_pitch=-0.296 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.0342, -6.3932, 4.6017, 1.5116, -0.2906, 0.0513, -0.0904, -0.0889, -1.1282, 6.9538, 1.5653, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
At z≈0.033 with the can between the jaws; closing the gripper now.
move_to({"targets": {"left_x": 0.377, "left_y": -0.072, "left_z": 0.03, "left_yaw": 0.46, "left_gripper": 0.0}, "note": "The can fills the wrist view between the jaws at grasp height; closing the gripper fully to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe gripper closed empty (reading 0.013) and the can now lies just ahead of the closed jaws; opening and lifting to 10 cm to re-sight it.
move_to
left_x0.3900left_y-0.0720left_z0.1000left_yaw0.5000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.524, 1.739, 0.6769, 0.3286, -0.8291, -0.693, 0.0128, -0.0212, 0.8288, 0.6018, -0.6792, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3932 left_y=-0.0726 left_z=0.0609 left_yaw=0.5029 left_pitch=0.1065 left_roll=-0.09 left_gripper=0.0128 right_x=0.2461 right_y=0.0019 right_z=0.1159 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.1436, -5.1214, 4.1504, 0.4567, 0.1832, -0.0317, 1.1453, -0.0889, -1.5795, 6.9538, 1.5604, -0.0415, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.072, "left_z": 0.1, "left_yaw": 0.5, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The gripper closed empty (reading 0.013) and the can now lies just ahead of the closed jaws; opening and lifting to 10 cm to re-sight it."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe can now lies centred on the jaw column and passes between the open jaws toward the base; descending straight down to grasp height.
move_to
left_x0.3860left_y-0.0720left_z0.0250left_yaw0.5000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5217, 1.6512, 0.8295, -0.0887, -0.7975, -0.7376, 0.9948, -0.0212, 0.8288, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3862 left_y=-0.072 left_z=0.0839 left_yaw=0.5011 left_pitch=-0.0064 left_roll=0.0107 left_gripper=0.9948 right_x=0.2451 right_y=0.0019 right_z=0.1151 right_yaw=0.0005 right_pitch=-0.3227 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [0.3624, -9.3197, 8.4308, 1.2576, -0.3297, 0.1441, 0.0415, -0.0342, -1.0051, 6.7214, 1.3944, -0.0415, -0.0269, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.386, "left_y": -0.072, "left_z": 0.025, "left_yaw": 0.5, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can now lies centred on the jaw column and passes between the open jaws toward the base; descending straight down to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe can body fills the wrist view between the jaws at 2 cm height; closing the gripper onto it.
move_to
left_x0.3760left_y-0.0670left_z0.0200left_yaw0.5000left_gripper0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5228, 1.8069, 0.73, 0.1001, -0.7925, -0.7376, 0.9984, -0.0212, 0.8303, 0.6018, -0.7017, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.376 left_y=-0.0673 left_z=0.0207 left_yaw=0.4984 left_pitch=-0.0444 left_roll=0.0653 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1122 right_yaw=0.001 right_pitch=-0.3417 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [0.0752, -8.4444, 5.053, 1.6044, -0.3932, -0.0464, -0.1783, -0.1573, -1.2786, 6.8171, 1.4969, -0.0317, -0.0415, -0.0073] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.376, "left_y": -0.067, "left_z": 0.02, "left_yaw": 0.5, "left_gripper": 0.3}, "note": "The can body fills the wrist view between the jaws at 2 cm height; closing the gripper onto it."})
tool
executing move_to over 7 steps (0.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gripper settled at 0.68 (≈6.5 cm), matching the can's diameter, so the can is gripped; lifting it to 17 cm to confirm in the overhead view before carrying.
move_to
left_x0.3740left_y-0.0660left_z0.1700left_yaw0.5000left_gripper0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5228, 1.8248, 0.7189, 0.1188, -0.7937, -0.7414, 0.6842, -0.0212, 0.8341, 0.6014, -0.7212, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3737 left_y=-0.0659 left_z=0.0137 left_yaw=0.5016 left_pitch=-0.0488 left_roll=0.0715 left_gripper=0.6842 right_x=0.2377 right_y=0.002 right_z=0.1083 right_yaw=0.0008 right_pitch=-0.3654 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [-0.0342, -8.9504, 5.5316, 0.9744, -0.3101, -0.0122, 1.033, -0.0479, -1.4564, 7.0222, 1.4969, -0.0366, -0.0513, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.374, "left_y": -0.066, "left_z": 0.17, "left_yaw": 0.5, "left_gripper": 0.3}, "note": "The gripper settled at 0.68 (\u22486.5 cm), matching the can's diameter, so the can is gripped; lifting it to 17 cm to confirm in the overhead view before carrying."})
tool
executing move_to over 11 steps (1.1s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe overhead view shows the can lifted in the left gripper; carrying it at 20 cm toward the burner near the table's centre line.
move_to
left_x0.4500left_y-0.3000left_z0.2000left_yaw0.5000left_gripper0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5228, 1.5383, 1.0389, -0.5236, -0.7746, -0.749, 0.6842, -0.0212, 0.8352, 0.6014, -0.7322, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3732 left_y=-0.0683 left_z=0.1438 left_yaw=0.4969 left_pitch=-0.0809 left_roll=0.0876 left_gripper=0.6842 right_x=0.2354 right_y=0.0021 right_z=0.1065 right_yaw=0.0013 right_pitch=-0.3776 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [-0.0615, -9.1419, 8.9915, 1.1648, -0.5788, 0.0562, 1.033, -0.0479, -1.1966, 6.653, 1.4237, -0.0366, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.3, "left_z": 0.2, "left_yaw": 0.5, "left_gripper": 0.3}, "note": "The overhead view shows the can lifted in the left gripper; carrying it at 20 cm toward the burner near the table's centre line."})
tool
executing move_to over 21 steps (2.1s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe wrist camera shows the burner coil just to the right of and below the held can, so the can is a few cm left/forward of the plate centre; shifting toward the tool's right and slightly back while lowering to 15 cm.
move_to
left_x0.4300left_y-0.3400left_z0.1500left_yaw0.5000left_gripper0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8429, 2.5782, 2.7453, -1.5211, -0.8577, -1.1912, 0.6842, -0.0212, 0.8379, 0.601, -0.7467, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4448 left_y=-0.2929 left_z=0.1718 left_yaw=0.4863 left_pitch=-0.1173 left_roll=0.0791 left_gripper=0.6842 right_x=0.2324 right_y=0.0022 right_z=0.1038 right_yaw=0.0014 right_pitch=-0.3951 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [-0.3077, -14.188, 9.1966, 0.5397, -0.8962, -0.0952, 1.033, -0.212, -1.3607, 6.8308, 1.3944, -0.0806, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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": 0.43, "left_y": -0.34, "left_z": 0.15, "left_yaw": 0.5, "left_gripper": 0.3}, "note": "The wrist camera shows the burner coil just to the right of and below the held can, so the can is a few cm left/forward of the plate centre; shifting toward the tool's right and slightly back while lowering to 15 cm."})
tool
executing move_to over 5 steps (0.5s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe burner plate is visible in the wrist view ahead and slightly right of the held can; advancing ~4 cm and lowering to 10 cm so the can's middle comes over the plate before setting it down.
move_to
left_x0.4600left_y-0.3300left_z0.1000left_yaw0.5000left_gripper0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9115, 2.6671, 2.7876, -1.5723, -0.8448, -1.2839, 0.6842, -0.0212, 0.8379, 0.601, -0.7479, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4214 left_y=-0.3223 left_z=0.1358 left_yaw=0.4787 left_pitch=-0.1456 left_roll=0.1017 left_gripper=0.6842 right_x=0.2322 right_y=0.0021 right_z=0.1036 right_yaw=0.0011 right_pitch=-0.3963 right_roll=0.0082 right_gripper=0.9996 state[joint_eff]: [-0.1436, -14.1607, 5.9009, 0.5153, -0.7497, -0.1392, 1.0281, -0.1983, -1.1556, 6.9675, 1.2772, -0.0317, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.33, "left_z": 0.1, "left_yaw": 0.5, "left_gripper": 0.3}, "note": "The burner plate is visible in the wrist view ahead and slightly right of the held can; advancing ~4 cm and lowering to 10 cm so the can's middle comes over the plate before setting it down."})
tool
executing move_to over 4 steps (0.4s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe overhead view shows the gripper roughly over the burner with the coil slightly to the can's right in the wrist view; shifting ~2 cm right and lowering until the can touches the plate.
move_to
left_x0.4550left_y-0.3400left_z0.0700left_yaw0.5000left_gripper0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8722, 2.7258, 2.7239, -1.4666, -0.8448, -1.261, 0.6842, -0.0212, 0.8406, 0.601, -0.767, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4419 left_y=-0.3152 left_z=0.092 left_yaw=0.5079 left_pitch=-0.1502 left_roll=0.1357 left_gripper=0.6842 right_x=0.2282 right_y=0.0022 right_z=0.1005 right_yaw=0.0013 right_pitch=-0.418 right_roll=0.0087 right_gripper=0.9996 state[joint_eff]: [0.5402, -15.1726, 6.0513, 0.1929, 0.0415, 0.1392, 1.0281, -0.0615, -1.3197, 6.5983, 1.4335, -0.0171, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.34, "left_z": 0.07, "left_yaw": 0.5, "left_gripper": 0.3}, "note": "The overhead view shows the gripper roughly over the burner with the coil slightly to the can's right in the wrist view; shifting ~2 cm right and lowering until the can touches the plate."})
tool
executing move_to over 4 steps (0.4s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe descent stopped at z≈0.09, consistent with the can's underside resting on the ~6 cm burner plate, and the overhead view shows the can over the plate; opening the gripper to release it.
move_to
left_x0.4490left_y-0.3200left_z0.0900left_yaw0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8505, -1.2575, 0.6842, -0.0212, 0.841, 0.601, -0.7696, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4487 left_y=-0.3194 left_z=0.0918 left_yaw=0.5045 left_pitch=-0.1369 left_roll=0.0986 left_gripper=0.6842 right_x=0.2276 right_y=0.0022 right_z=0.1001 right_yaw=0.0013 right_pitch=-0.4211 right_roll=0.0088 right_gripper=0.9996 state[joint_eff]: [0.5128, -15.6103, 5.4496, 0.5836, -0.4078, 0.1636, 1.0281, -0.0889, -0.8684, 6.5846, 1.2772, -0.0415, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.449, "left_y": -0.32, "left_z": 0.09, "left_yaw": 0.5, "left_gripper": 1.0}, "note": "The descent stopped at z\u22480.09, consistent with the can's underside resting on the ~6 cm burner plate, and the overhead view shows the can over the plate; opening the gripper to release it."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe gripper barely opened (0.70) and every step was clamped, so the arm is stuck in an awkward joint configuration again; commanding a small up-and-back move together with opening to free it.
move_to
left_x0.4300left_y-0.3200left_z0.1100left_yaw0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8501, -1.2575, 0.7033, -0.0212, 0.8417, 0.601, -0.7883, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4486 left_y=-0.3194 left_z=0.0917 left_yaw=0.5044 left_pitch=-0.1373 left_roll=0.0985 left_gripper=0.7033 right_x=0.2237 right_y=0.0024 right_z=0.0975 right_yaw=0.0019 right_pitch=-0.4405 right_roll=0.0096 right_gripper=0.9996 state[joint_eff]: [0.7043, -15.8017, 5.2718, 0.5885, -0.4029, 0.1734, 0.6911, -0.0615, -1.1829, 6.7077, 1.4383, -0.0611, -0.0757, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.32, "left_z": 0.11, "left_yaw": 0.5, "left_gripper": 1.0}, "note": "The gripper barely opened (0.70) and every step was clamped, so the arm is stuck in an awkward joint configuration again; commanding a small up-and-back move together with opening to free it."})
tool
executing move_to over 3 steps (0.3s)
step 146
top_cam
camera top_cam step 146
assistant
agent noteThe gripper is now fully open and the wrist view shows the can resting on the burner coil; retracting the arm up and back toward home to clear the overhead view and verify the placement.
move_to
left_x0.3500left_y-0.2000left_z0.2000left_yaw0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.868, 2.7255, 2.7155, -1.4166, -0.8345, -1.2495, 0.9948, -0.0212, 0.8417, 0.601, -0.7929, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4478 left_y=-0.3206 left_z=0.0897 left_yaw=0.4979 left_pitch=-0.1527 left_roll=0.1007 left_gripper=0.9948 right_x=0.2227 right_y=0.0023 right_z=0.0969 right_yaw=0.0016 right_pitch=-0.4451 right_roll=0.0094 right_gripper=0.9996 state[joint_eff]: [0.6222, -15.8017, 5.4769, 0.5983, -0.569, 0.0855, -0.0855, -0.1162, -1.0462, 6.735, 1.2283, -0.0366, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.2, "left_yaw": 0.3, "left_gripper": 1.0}, "note": "The gripper is now fully open and the wrist view shows the can resting on the burner coil; retracting the arm up and back toward home to clear the overhead view and verify the placement."})
tool
executing move_to over 11 steps (1.1s)
step 157
assistant
agent noteGrasped the lying spray can with the left arm (yaw ≈0.5 to close across its body), carried it to the burner at the table centre (left frame ≈ x 0.45, y −0.32) and released it; overhead and wrist views show the can resting on the burner coil.
done
hindsightOn this rig the left arm intermittently "freezes": every step gets delta_clamped by the approver and joint positions do not change at all, even for small moves or gripper commands. It happened near shoulder/elbow joints ≈2.7 rad (reaching x≈0.45 at low z) and after descending onto the can. A stopped descent there is NOT contact evidence—check joint_pos actually changing. The fix that worked was commanding a clearly different, comfortable target (up and back toward home, yaw toward 0); repeating the same/similar target does nothing. The burner top is ≈6 cm high (can held with centre at z≈0.09 rested on it); the burner centre is at left_y≈−0.32, x≈0.45. The lying can (≈6.5 cm diameter, gripper reads 0.68 when held) was at ≈(0.38, −0.07) with its axis ≈0.5 rad CCW from +x; grasp with yaw matching that so jaws close across the body, descend to z≈0.02 and close to 0.3. Aerosol/cylindrical can slipped out on the first close when the arm jerked (z rose during the close); the second attempt at the same pose worked.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8474, 1.771, 1.5372, -0.997, -0.778, -0.9752, 0.9984, -0.0212, 0.8448, 0.601, -0.8001, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3538 left_y=-0.2079 left_z=0.1878 left_yaw=0.3211 left_pitch=-0.1621 left_roll=0.1008 left_gripper=0.9984 right_x=0.2211 right_y=0.0024 right_z=0.0954 right_yaw=0.0017 right_pitch=-0.4554 right_roll=0.0096 right_gripper=0.9996 state[joint_eff]: [0.6359, -10.1265, 6.1744, 0.9499, -0.4469, 0.1001, -0.1783, -0.0889, -0.841, 6.6667, 1.3065, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
done({"summary": "Grasped the lying spray can with the left arm (yaw \u22480.5 to close across its body), carried it to the burner at the table centre (left frame \u2248 x 0.45, y \u22120.32) and released it; overhead and wrist views show the can resting on the burner coil.", "hindsight": "On this rig the left arm intermittently \"freezes\": every step gets delta_clamped by the approver and joint positions do not change at all, even for small moves or gripper commands. It happened near shoulder/elbow joints \u22482.7 rad (reaching x\u22480.45 at low z) and after descending onto the can. A stopped descent there is NOT contact evidence\u2014check joint_pos actually changing. The fix that worked was commanding a clearly different, comfortable target (up and back toward home, yaw toward 0); repeating the same/similar target does nothing. The burner top is \u22486 cm high (can held with centre at z\u22480.09 rested on it); the burner centre is at left_y\u2248\u22120.32, x\u22480.45. The lying can (\u22486.5 cm diameter, gripper reads 0.68 when held) was at \u2248(0.38, \u22120.07) with its axis \u22480.5 rad CCW from +x; grasp with yaw matching that so jaws close across the body, descend to z\u22480.02 and close to 0.3. Aerosol/cylindrical can slipped out on the first close when the arm jerked (z rose during the close); the second attempt at the same pose worked."})
tool
done: Grasped the lying spray can with the left arm (yaw ≈0.5 to close across its body), carried it to the burner at the table centre (left frame ≈ x 0.45, y −0.32) and released it; overhead and wrist views show the can resting on the burner coil.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 35.34 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3901, -0.017, -0.0174, 0.9993, -0.0212, 0.794, 0.6075, -0.4023, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0009 left_z=0.1784 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.2376, 10.1675, 2.0098, -0.0708, 0.0073, -0.0952, -0.3214, -1.4017, 9.6889, 2.0733, -0.0708, 0.0171, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c67e4afd6decc44420488f25931170a854259d8685e6ddfd53bf5a08e85de04a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918cd886b1012f327d9176c8fffe4da67651d19222a648330035dad8fd46d16d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:117febddad9b8f6ad15063fcf0e59be491196b58b93155acd46c32c1af84ca99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 22.31 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3901, -0.017, -0.0174, 0.9993, -0.0212, 0.794, 0.6075, -0.4023, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0009 left_z=0.1784 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.2376, 10.1675, 2.0098, -0.0708, 0.0073, -0.0952, -0.3214, -1.4017, 9.6889, 2.0733, -0.0708, 0.0171, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c67e4afd6decc44420488f25931170a854259d8685e6ddfd53bf5a08e85de04a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918cd886b1012f327d9176c8fffe4da67651d19222a648330035dad8fd46d16d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117febddad9b8f6ad15063fcf0e59be491196b58b93155acd46c32c1af84ca99",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I see the can lying on its side to the left arm's front-right and the burner at the table's centre. I'll move the left arm over the can first.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hgh16FoDgCd2qX5dmFb5Jn",
      "input": {
        "note": "The can lies on its side ahead and to the right of the left gripper, angled forward-left; moving the left arm above it with the jaws turned to match the can's angle.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.1,
          "left_yaw": 0.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Hgh16FoDgCd2qX5dmFb5Jn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6189, 1.5238, 0.973, -0.4187, -0.775, -0.7547, 0.9993, -0.0212, 0.7975, 0.6094, -0.4351, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.366 left_y=-0.1046 left_z=0.1369 left_yaw=0.4011 left_pitch=-0.0525 left_roll=0.0376 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1702 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8427, 7.9111, 0.9158, -0.6276, -0.0806, -0.0952, -0.1846, -1.4291, 6.8444, 2.0147, -0.0415, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2863cbcf1104dd1961ebece258a140b685be5d4945ddde587bc6349e918feeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76f837475ad1728e4cd8b3f47183ebdc45b677a1187e1230d6dd80f2bda6573f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce24ac756ab89581c2862d8bf4ef47791f145eebcca940fb61c00ac0bf909f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 11.66 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3901, -0.017, -0.0174, 0.9993, -0.0212, 0.794, 0.6075, -0.4023, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0009 left_z=0.1784 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.2376, 10.1675, 2.0098, -0.0708, 0.0073, -0.0952, -0.3214, -1.4017, 9.6889, 2.0733, -0.0708, 0.0171, -0.0513]",
      "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]: [-0.6189, 1.5238, 0.973, -0.4187, -0.775, -0.7547, 0.9993, -0.0212, 0.7975, 0.6094, -0.4351, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.366 left_y=-0.1046 left_z=0.1369 left_yaw=0.4011 left_pitch=-0.0525 left_roll=0.0376 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1702 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8427, 7.9111, 0.9158, -0.6276, -0.0806, -0.0952, -0.1846, -1.4291, 6.8444, 2.0147, -0.0415, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2863cbcf1104dd1961ebece258a140b685be5d4945ddde587bc6349e918feeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76f837475ad1728e4cd8b3f47183ebdc45b677a1187e1230d6dd80f2bda6573f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce24ac756ab89581c2862d8bf4ef47791f145eebcca940fb61c00ac0bf909f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A2YGu5FQRi6MNU9aRkeTKz",
      "input": {
        "note": "The can now runs along the wrist image's vertical axis, slightly left of the jaw column and extending past the bottom edge; shifting a few cm forward and left and lowering to 8 cm to line the jaws up on the can's middle.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.07,
          "left_yaw": 0.45,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A2YGu5FQRi6MNU9aRkeTKz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4805, 1.6688, 0.881, -0.2066, -0.741, -0.7013, 0.9993, -0.0212, 0.8005, 0.6075, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0623 left_z=0.0755 left_yaw=0.4919 left_pitch=-0.0915 left_roll=0.0857 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1646 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -8.212, 5.5726, 1.5311, -0.3101, 0.105, -0.0904, -0.0205, -1.4291, 7.1179, 1.8486, -0.0366, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354c8d04336b06e455c00282bf5322b6a24ac0de4f19b57928468da08fefc380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f41d89c95d3e00887c7d4f80043f1c61470a90c70832fd9c73fc8459a58c402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e91c79cadd5f29bad5daeaec8f1e6e4de423fe3603471199791d56d974f83c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 13.17 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3901, -0.017, -0.0174, 0.9993, -0.0212, 0.794, 0.6075, -0.4023, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0009 left_z=0.1784 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.2376, 10.1675, 2.0098, -0.0708, 0.0073, -0.0952, -0.3214, -1.4017, 9.6889, 2.0733, -0.0708, 0.0171, -0.0513]",
      "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]: [-0.6189, 1.5238, 0.973, -0.4187, -0.775, -0.7547, 0.9993, -0.0212, 0.7975, 0.6094, -0.4351, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.366 left_y=-0.1046 left_z=0.1369 left_yaw=0.4011 left_pitch=-0.0525 left_roll=0.0376 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1702 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8427, 7.9111, 0.9158, -0.6276, -0.0806, -0.0952, -0.1846, -1.4291, 6.8444, 2.0147, -0.0415, -0.0366, -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]: [-0.4805, 1.6688, 0.881, -0.2066, -0.741, -0.7013, 0.9993, -0.0212, 0.8005, 0.6075, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0623 left_z=0.0755 left_yaw=0.4919 left_pitch=-0.0915 left_roll=0.0857 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1646 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -8.212, 5.5726, 1.5311, -0.3101, 0.105, -0.0904, -0.0205, -1.4291, 7.1179, 1.8486, -0.0366, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354c8d04336b06e455c00282bf5322b6a24ac0de4f19b57928468da08fefc380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f41d89c95d3e00887c7d4f80043f1c61470a90c70832fd9c73fc8459a58c402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e91c79cadd5f29bad5daeaec8f1e6e4de423fe3603471199791d56d974f83c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wwKEAgRGAI4AUIIdGhpbmtpbmcSDEAv1heqYjob5MXLjBoMF+QBVYQyYNTQmGPAIjB8/YTv+/oAfSwin8n6edGPRqOL34L1kPNJzEfUL+h/4OLXgO5S6YEXIGqp/vMJs4kq/Av8UHnDVyQmEkScbkL0j2TiVecExkcXV4nHazd1AcR5SBrebRwEWM8G3sqjJH3b6eJJu+6llmg1UnWLjBjRF8MeU2zN4vnn7YeKxp/Xmtp93mKptFM35u6pbX1uDxKFRo+ph6Of7yBOkUmNvEyY5S39VWA4Z02LonnaLlBFBOTq0/EY7micqTL2hFyGkx6+yWOPt9VC6fwYw0WFzFxqpVr44TncOjDYb2c153cbgdoFusMSynAOqpkyMWcpYVvC60UNgDBTb5I22pnAMin8/V/K2mRMefuwJYuKqKEDqob3BbNQs6hObXiKSpopV7r0AikoUQz8x0bQLIT84wpPHfMEKA9ijYxKs6IXdE+V3b0xH4oAzqN9EOJcQDBLIXgR5ICmXU3lZlVU+kQHrbiTzKeT3EXp0PoSp6JfAYutbEB8qeyuRu/7lKwTIsUS4gYc4rUA04Q6ktMxieZAIju/rwUv5w7ouhGMqnlCa9dlmfryhKcMxPKM75pUSOtV3vmLpchq5dIvDFLls8/NcZf2fVuAg5VHvHEPxUC8w1ZTqfzAYLzKpSlzoSqrwCReRFkorKrIAO1RJXfcku7vvBZfplMmIruCRQtCJkCxJvwwkEhrP/Hbh4OOnXGI3FH6E6HuLAoJMk5iXjvZbhfXhfqr4DKK2pN79hrFS7KO4WXcEZVsxEBYrA628eXQpNeAf4p0f534eSO66EJzwHc8rYMlglN+/receRvN1EFiaCZY1w+hrk2BXAVf2BrSmjJ74YNRIkI54yBm3mNoXvOZzD8F7K6J0aK688U/jMIO9uGMI2hVHo00budUuMzFl3ZFi2Q9wuJcr1q/05ems4sSWi6ZyvFZ73silLEI7MD4ePc4e8vs8wIwqxvKgrwviuFEwKyE9OrUHpve28RG0UAAEnAJrN0QnEU4F0uZxkyVenWKPkzMZfiPnYjKZLMMaPzL+P/1HEaSusdwJ2PcJpXMAaUXrqpM14N6Pqs9W5+8U4yVN14kl+l8x71f8bqv797JTw06k9xBij1TlIJIpe6lQwrZk+Jg+Jmt27d7NeA/mqmrHRjzMuNoS+l3sJDCN9H9JDy6gotwdSevi+ueiYjtZy2B78lCUhOQIKeGUa/ya+muOWxYG4OuAPpYwYQS5hE6fzB9Uqiz4erKa/en+XYEcwwU+tqb5oJJdC1uCi/kN3y5rbhxGjw9eOeCHXmhPW8GNFm+DdzDepW/6efjH309zfGE3sRHZ0+skqJVyqiG3u808mdeUwUPQo4qMucpM2G25m2dhcLnAzH9U/XtBAbVbZTwTp3lorelCElAI3ISRBZIRfEGDNHByufiQpwQL5UKGfzUHO5hALIxj8NcMin9151C7mTjfKeSPgshii5VLhvXve28LhtaF+wFBWOmDftFZhxL9SryMW0D9y2iVCrtBxuTHFOmhXcik80gpWGlfhaojVCIuTcLKJyNG5TIQxVQUCFykFWwjle3TSsK/dCBVvqKGcGLF7/T9a/Fh1iPk2miwCIf3vNz+WKrJiEmDzefUW4mYolh+7eF4LHmW7SgXbDLauzEL60JmIpK9lW9AUU4yTCa05aTdBv9mHG/R8GeXb6Rj2NxTGHjRNfVu/0J+6vHZUBIUP78bXbkMpPJHbSxC5GvpYzAFNwK/JKSDvSOdMYu74XXcShiFhUB6bBxmsOc5KIOQfMOXNKm+4gmmEldLzO0FCfCihjgw6LNOgP6TzgLgLmSE/X2hUZUD4hihzv9UVd6gR6zrPhPzZ78Mv4R66ufFy/91TfEd8OStxgKZgyjfi52QgwUq9Cok0Qc2BAxYdtVm+YLUBHqYbmVmmTZUa39XFJGQPV+cKEfEOzfUdM4bSGB7ADMLQnqsY9AfSZrcFG1BSM07W/mN9ez/l9PMNtHZgHMOu9D0FW8ZJco5GjVCzWkJodw8YH/mUd+AfIOy9ST5ehl7tE4iTFeCwmj4RaOCq1cTrDu95WhMkONuXfFmkn0cDdfM3gaEVJ/G5sFKfwrFSidBebj0m630IM4KBS3QFUsck5cOcdDafUqeBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JM3tE1kmxbwMZAEFS5wrkD",
      "input": {
        "note": "The can body runs up the middle of the wrist view, slightly left of the jaw column with the cap ahead; nudging forward-left a little and descending so the open jaws straddle the can's body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.396,
          "left_y": -0.04,
          "left_yaw": 0.49,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JM3tE1kmxbwMZAEFS5wrkD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4629, 1.689, 0.8501, -0.1238, -0.7193, -0.6743, 0.9993, -0.0212, 0.8005, 0.6075, -0.4702, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3895 left_y=-0.0603 left_z=0.0656 left_yaw=0.4792 left_pitch=-0.0893 left_roll=0.0706 left_gripper=0.9993 right_x=0.2827 right_y=0.0011 right_z=0.1616 right_yaw=-0.0006 right_pitch=-0.0748 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -6.7214, 5.5316, 1.1697, -0.442, -0.0659, -0.0904, -0.0615, -1.2376, 7.159, 1.9414, -0.0464, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a452a2dedec984f7d2a5042d2208b025b92c693828cf3114b28fc8b5c667f2a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4452db8fc4d29cf875c1736f36a20ab2a1942c06bb2b5c9acab5bcfd44a1f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3ee38164b768bef2ebe24e5aac7a369d3d887d282ec253d0b97f443d1de7bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.532 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]: [-0.6189, 1.5238, 0.973, -0.4187, -0.775, -0.7547, 0.9993, -0.0212, 0.7975, 0.6094, -0.4351, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.366 left_y=-0.1046 left_z=0.1369 left_yaw=0.4011 left_pitch=-0.0525 left_roll=0.0376 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1702 right_yaw=-0.0006 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8427, 7.9111, 0.9158, -0.6276, -0.0806, -0.0952, -0.1846, -1.4291, 6.8444, 2.0147, -0.0415, -0.0366, -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]: [-0.4805, 1.6688, 0.881, -0.2066, -0.741, -0.7013, 0.9993, -0.0212, 0.8005, 0.6075, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0623 left_z=0.0755 left_yaw=0.4919 left_pitch=-0.0915 left_roll=0.0857 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1646 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -8.212, 5.5726, 1.5311, -0.3101, 0.105, -0.0904, -0.0205, -1.4291, 7.1179, 1.8486, -0.0366, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4629, 1.689, 0.8501, -0.1238, -0.7193, -0.6743, 0.9993, -0.0212, 0.8005, 0.6075, -0.4702, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3895 left_y=-0.0603 left_z=0.0656 left_yaw=0.4792 left_pitch=-0.0893 left_roll=0.0706 left_gripper=0.9993 right_x=0.2827 right_y=0.0011 right_z=0.1616 right_yaw=-0.0006 right_pitch=-0.0748 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -6.7214, 5.5316, 1.1697, -0.442, -0.0659, -0.0904, -0.0615, -1.2376, 7.159, 1.9414, -0.0464, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a452a2dedec984f7d2a5042d2208b025b92c693828cf3114b28fc8b5c667f2a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4452db8fc4d29cf875c1736f36a20ab2a1942c06bb2b5c9acab5bcfd44a1f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3ee38164b768bef2ebe24e5aac7a369d3d887d282ec253d0b97f443d1de7bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ME3sdx1HQmuNeg1pVpFH6",
      "input": {
        "note": "The descent stopped at z≈0.066, the can's top height, so a finger is resting on the can rather than straddling it; lifting slightly and shifting ~3 cm toward the tool's left to centre the can between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.376,
          "left_y": -0.033,
          "left_yaw": 0.49,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016ME3sdx1HQmuNeg1pVpFH6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4629, 1.689, 0.8497, -0.1349, -0.7189, -0.6785, 0.9993, -0.0212, 0.8009, 0.6075, -0.4904, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3878 left_y=-0.0595 left_z=0.0641 left_yaw=0.4822 left_pitch=-0.096 left_roll=0.0764 left_gripper=0.9993 right_x=0.2796 right_y=0.0011 right_z=0.1576 right_yaw=-0.0003 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.7077, 5.559, 1.2723, -0.4664, -0.0562, -0.0904, -0.0615, -1.1966, 6.9265, 1.9365, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb61c79ac3d6450cea29edc93ad812d9f33c77c1fc6ba1974592eb72d358e83a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70bc1151360dcfd81e0d1342875b89e668ea1e7ea0e7b336bd6b8d63574a11e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c95ab23587aab4a7c26d10e6eda173828e344ccb3b9525a832c0501dc5f16f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 13.04 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]: [-0.4805, 1.6688, 0.881, -0.2066, -0.741, -0.7013, 0.9993, -0.0212, 0.8005, 0.6075, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0623 left_z=0.0755 left_yaw=0.4919 left_pitch=-0.0915 left_roll=0.0857 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1646 right_yaw=-0.0003 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -8.212, 5.5726, 1.5311, -0.3101, 0.105, -0.0904, -0.0205, -1.4291, 7.1179, 1.8486, -0.0366, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4629, 1.689, 0.8501, -0.1238, -0.7193, -0.6743, 0.9993, -0.0212, 0.8005, 0.6075, -0.4702, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3895 left_y=-0.0603 left_z=0.0656 left_yaw=0.4792 left_pitch=-0.0893 left_roll=0.0706 left_gripper=0.9993 right_x=0.2827 right_y=0.0011 right_z=0.1616 right_yaw=-0.0006 right_pitch=-0.0748 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -6.7214, 5.5316, 1.1697, -0.442, -0.0659, -0.0904, -0.0615, -1.2376, 7.159, 1.9414, -0.0464, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4629, 1.689, 0.8497, -0.1349, -0.7189, -0.6785, 0.9993, -0.0212, 0.8009, 0.6075, -0.4904, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3878 left_y=-0.0595 left_z=0.0641 left_yaw=0.4822 left_pitch=-0.096 left_roll=0.0764 left_gripper=0.9993 right_x=0.2796 right_y=0.0011 right_z=0.1576 right_yaw=-0.0003 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.7077, 5.559, 1.2723, -0.4664, -0.0562, -0.0904, -0.0615, -1.1966, 6.9265, 1.9365, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb61c79ac3d6450cea29edc93ad812d9f33c77c1fc6ba1974592eb72d358e83a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70bc1151360dcfd81e0d1342875b89e668ea1e7ea0e7b336bd6b8d63574a11e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c95ab23587aab4a7c26d10e6eda173828e344ccb3b9525a832c0501dc5f16f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AcKEAgRGAI4AUIIdGhpbmtpbmcSDI3HeigsX++CJxEqWxoMVj2oqwvFSpwVCEk7IjCTpQ5Xj/ryhPDXaEroB19tGTs1bvkMZTrUtq9/XeuTVd/jXLaCIPvZX4MOsVBbmksqjQdbRMyU/1eY/sGBLAafH+M1MwTmjGWrOq410m5GbSBkxa+/uhA8BBlBzQlBx9Y21tGBkMTBaRhng8Q2SzwH9o2MR4TaSEkGURPdLM7pb7io+D9TgPpG0G2pRohxFlkaBwhJBVt6Z/2xMVn5rYz97JxbfpE21MH0fD3r17PpMC2jgdzt5P2StkSHaqV8Q5zhS60fKBZG9xpeFUrcg7GwuovPR0FOCDdiB7C1Sif5pwWPZLvRpTicRkmTp9LvGK//icTvtRuNPuGU6kSNbWmon7+ZtZpgl0LEejDIn1e4Mc7Ep72qFZ/t7NSrOUJxs/Y2YeYqcHNOzbxvj4rJZWVLHjZRt+2e6XTonRn6J/C5J5KBTfu6QCcVgP+ElOwwsuq9ygdUM24wuD1BbUtnOnmbRUhz+xtvGwexiU8Yd8n/w2t8AWAc9xvwv1pbgBW1cYYf4anKeHwjzLGRTXMg3CpJaBq6zH0q60L4WGislv/ZyewUazvZwtro5/shQrIVBaT28JE5Hw7nTOYEzX/00sm3SbAlHm6Qk1t4ipUWDNnhhrlHL7drmdRXU+JdUkK5zmU8VVscaZ9JS0x4Bi7uGyPhYel5GxnxIqTsGt0JP9/mqtCMXDNUDfhDRF/o9yADI0epi18OlVMUFPq2t6vQ31Zhc7Vfl2zTUoKX+hl2LDh9u3qRDF9o3LhTRfRE15XUKDN8r7pBgb0je03awyqzHg5JFj0E6/m8BByCUxHpv4cdR1TLFwYv7j6PnlpYFh+y8Mjr24YeR1Iq2b22F7TcodmSM9kZuYk+qNaq2EGKQ4rAqOAel/+Z36frhgyD6Fu6s6a92+iEfzYtB7eH3cGXyiL49l/hkArGiX33Jn+RO88SpQoB7W3eMKRVCT+VFyDkwXHUruQdo6BPF+zq1i+uS81O/hdXpPdOwxdO9jd1CcZzzr85paH1OuHVKh3YtBE5P8YawEP1l/X8ge2v9l/Jztlgm4fCu0oC7dyKFM/vvQDzwjrr0yFKQZnNlPzRorPUvlRztWBCUs2nn907Ar5rv5vanVqMgC6oMYbR2Ffq85+xqIc2LYhm1Q7NKqhs0RdkDDMCW42mf7LeaBcwVT+yyM/JMfBm4p2YRUbmxdABq2afIgcL0LazKisWGNN85W7jwtDol5+m5UWM2ywmYBFpzNIs6mdrJ4dDytq3pcKEmBRSf250k4RcSKTz+CBtts9bSycYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TFN2rdWBbuwYkY41igNqfy",
      "input": {
        "note": "The arm did not move at all on the last command and seems stuck against the can; raising the gripper well clear and pulling back a little to free it before re-approaching.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.05,
          "left_yaw": 0.49,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TFN2rdWBbuwYkY41igNqfy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4965, 1.623, 0.8547, -0.231, -0.7269, -0.7189, 0.9993, -0.0212, 0.8043, 0.6075, -0.5003, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.375 left_y=-0.0656 left_z=0.0787 left_yaw=0.4776 left_pitch=-0.1034 left_roll=0.0694 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1549 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.8957, -11.5487, 10.6051, 1.619, -0.7009, -0.0611, -0.0904, 0.0615, -1.1556, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:246d861f88910bee36d6552b6ac90ea479f0012e08112fc14ca5c2cea6dfe1a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d980022012d59f6bce606d2cc51576751e0805703bf9361048ab66682a409245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd3b02ca3314bc4dae651c8b5923af79969c15809cf6c686db0e63abff135b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 19.54 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]: [-0.4629, 1.689, 0.8501, -0.1238, -0.7193, -0.6743, 0.9993, -0.0212, 0.8005, 0.6075, -0.4702, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3895 left_y=-0.0603 left_z=0.0656 left_yaw=0.4792 left_pitch=-0.0893 left_roll=0.0706 left_gripper=0.9993 right_x=0.2827 right_y=0.0011 right_z=0.1616 right_yaw=-0.0006 right_pitch=-0.0748 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -6.7214, 5.5316, 1.1697, -0.442, -0.0659, -0.0904, -0.0615, -1.2376, 7.159, 1.9414, -0.0464, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4629, 1.689, 0.8497, -0.1349, -0.7189, -0.6785, 0.9993, -0.0212, 0.8009, 0.6075, -0.4904, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3878 left_y=-0.0595 left_z=0.0641 left_yaw=0.4822 left_pitch=-0.096 left_roll=0.0764 left_gripper=0.9993 right_x=0.2796 right_y=0.0011 right_z=0.1576 right_yaw=-0.0003 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.7077, 5.559, 1.2723, -0.4664, -0.0562, -0.0904, -0.0615, -1.1966, 6.9265, 1.9365, -0.0171, -0.0757, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4965, 1.623, 0.8547, -0.231, -0.7269, -0.7189, 0.9993, -0.0212, 0.8043, 0.6075, -0.5003, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.375 left_y=-0.0656 left_z=0.0787 left_yaw=0.4776 left_pitch=-0.1034 left_roll=0.0694 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1549 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.8957, -11.5487, 10.6051, 1.619, -0.7009, -0.0611, -0.0904, 0.0615, -1.1556, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:246d861f88910bee36d6552b6ac90ea479f0012e08112fc14ca5c2cea6dfe1a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d980022012d59f6bce606d2cc51576751e0805703bf9361048ab66682a409245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd3b02ca3314bc4dae651c8b5923af79969c15809cf6c686db0e63abff135b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS8AkKEAgRGAI4AUIIdGhpbmtpbmcSDPBPTH/vVH++g+c9OxoMcg9YjAl5PRVPDtxpIjB2kCl+14e9bCArnm9ttnYd4QCNhs/uqs4TyyrDRDYDwvUWnNO7bfvSVb2ClbBNSPwqjQkmnz3lQ4leT6wCbUkRiWZptUAVesKF40nFIlhxBdHixZx6ZqPg+co16wsKXaH5nEq94uYIK4D554VhJXQr+hXdTaQVLK0jcgKKWVf+QACaOGj32DDcIVnhzKmIuHigT+POJXtKqqxRM4j+/F7cY6/M5N5UzR9yTiD6+rLnseCN28tZ1l4lfQQtzfrGk6P01ztvQNc2UoWBQRBI7hJGNaYdUQ2Cgkq419Tv75PG2vBPkFo7ILx6wR9gNcdFcmI0Eqx6hvpyfw1ddq3GZYj7l1hekfOXJj9/QtcO6PwtZWN0IkUUaB0wYs0YTSpfpHazyZgX5yqyIgY6KGZtfTtACEKoIaby7kx4xr4tMOY86I2j0gz5RTNTe6S/ec80zSxJRVExh/90spmBIjKl0xLdjHX+RTUaI4ejKK+w2+/x7FoAgMJ2Gri7mr6vcKhAKlDt8f5FkfFZEgnwqGsIBk42qMEqmMAS5+evI0r+sA1WHNLmWEmr1YpZ8SGRbv765iuuipM+vlJgH3PWl/8PyCmfqF+T2THyFt+TITKcbO4quykHbp8cTWEWbzVL4/9W5OAXvTsrn3rdWTYtW1dgK9foAKxI6WwCuJVz7Nal0h2LhhFcJFiJ7ww3wvjUwZGNfHsgkmjFRHBNh3gx7yC74A01HcdissxupVGJM0l7O4rgepa0Hfg2jLLxnNjwdyKvIyRiOIiLYz9rfVrs8F2YTcnzDn5Jz2ESABa1ZpzlLRbU2Kh0qapl+JnYeLNiCXHedxZuOOWteGM4iTxhNXG1mPVFJprAINdk0K8hsMudYnVp0kEECNBpISHPae/2ZQHs7t7wsyUJsuo4KFcVW+xpbktmglRph1451rQUhAQZkIxjNY2D01Fy1nLRTwEW9MR0+BSNNTSiCBDhp3T6aipoUCrVGWLLumYOQ3BsfvzH6gIBLsSqSBQuXHX2nzCqVznRJcyz4M9jMd5x5Cuj0ofc1gNH16uterV4dwevRe04wRBNOnn9zx6an8y+4zwabLPN+H2lE8Y3UP6m7yvgDGo+0ygRhZoKf4gIdyp5iX8YfNVUcWf3PpPFvDEiNfk2gAbUIBTu13NPfUlYYTvDpHWpgtkVZVVMSC3rph5gWyfkJhmvfBE75Qn3fmPCEx34ffoVkrLIyvQCE+4PtfxGsn18k9JZaBM+wDDQE8dDFzlD9Q/A9Fv8TfTaUCq7S67L4i+wV3QcXMB2Ykx8rKhzWo9jnYBMEGhjBwx3pnDASY2tzDqXHFmh/5TlKXzMpGazNYLf5M3DpeInT7KCyOg51J0wbbvuRGwRwG71pMlNzqITnB8BGo3BZtx6S2KkHVs58BcyaUPf8R+4Cd5StDdkaI4QN1WJ5I+JYovbvdgVvcS6RPA11v7N486w6yyvsDweqXPMqXTyocLerw0kWOe9KMZ21iAeELe9fBV3VdKILpojd7j1UW95MMMn11wEi22zpZ2aXyoH30LFKL6oKH4KPICRkkULZ+W+iwcXyGt600BLpOdO+Iqsu4GONIECPjbmhT8tjoX9tuzRVxLVFh0a8JEqcyXJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GRPkvcKethAwRQAuirSav4",
      "input": {
        "note": "The arm is only creeping upward (z 0.064→0.079) with high shoulder effort; commanding a plain lift again to get it clear of the can before re-aligning.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": -0.06,
          "left_yaw": 0.4,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GRPkvcKethAwRQAuirSav4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4889, 1.4349, 0.936, -0.4824, -0.6834, -0.6559, 0.9993, -0.0212, 0.8055, 0.606, -0.5232, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.0595 left_z=0.137 left_yaw=0.4227 left_pitch=-0.1249 left_roll=0.082 left_gripper=0.9993 right_x=0.2744 right_y=0.0013 right_z=0.1496 right_yaw=-0.0001 right_pitch=-0.1343 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -7.2274, 9.2923, 1.2479, -0.2173, 0.2369, -0.0904, -0.1846, -0.8274, 7.1179, 1.8388, -0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70363fdf6f3d8609d1ad5510452d951169bf532cb5673597c4dd2c9e1c9a90ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20cbe9e3bf35920e8d2fdf9ec7649b486e9b6d0d18ebc7acd7cd986e6c346f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd25ec52c93e4d905902ee998f56c595b66f22e260d6229cbff8f48e1db7b3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 9.049 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]: [-0.4629, 1.689, 0.8497, -0.1349, -0.7189, -0.6785, 0.9993, -0.0212, 0.8009, 0.6075, -0.4904, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3878 left_y=-0.0595 left_z=0.0641 left_yaw=0.4822 left_pitch=-0.096 left_roll=0.0764 left_gripper=0.9993 right_x=0.2796 right_y=0.0011 right_z=0.1576 right_yaw=-0.0003 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.7077, 5.559, 1.2723, -0.4664, -0.0562, -0.0904, -0.0615, -1.1966, 6.9265, 1.9365, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4965, 1.623, 0.8547, -0.231, -0.7269, -0.7189, 0.9993, -0.0212, 0.8043, 0.6075, -0.5003, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.375 left_y=-0.0656 left_z=0.0787 left_yaw=0.4776 left_pitch=-0.1034 left_roll=0.0694 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1549 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.8957, -11.5487, 10.6051, 1.619, -0.7009, -0.0611, -0.0904, 0.0615, -1.1556, 6.9402, 1.7753, -0.0464, -0.0366, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4889, 1.4349, 0.936, -0.4824, -0.6834, -0.6559, 0.9993, -0.0212, 0.8055, 0.606, -0.5232, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.0595 left_z=0.137 left_yaw=0.4227 left_pitch=-0.1249 left_roll=0.082 left_gripper=0.9993 right_x=0.2744 right_y=0.0013 right_z=0.1496 right_yaw=-0.0001 right_pitch=-0.1343 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -7.2274, 9.2923, 1.2479, -0.2173, 0.2369, -0.0904, -0.1846, -0.8274, 7.1179, 1.8388, -0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70363fdf6f3d8609d1ad5510452d951169bf532cb5673597c4dd2c9e1c9a90ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20cbe9e3bf35920e8d2fdf9ec7649b486e9b6d0d18ebc7acd7cd986e6c346f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd25ec52c93e4d905902ee998f56c595b66f22e260d6229cbff8f48e1db7b3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R9uDNFVK91DPvqKdAKxLGG",
      "input": {
        "note": "The arm is free again at z≈0.14 and the can runs from the bottom-right of the wrist view up to its cap, tilted ~20° from vertical; rotating the jaws a bit more to match and lowering to 10 cm for a closer alignment check.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.05,
          "left_yaw": 0.7,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01R9uDNFVK91DPvqKdAKxLGG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8089, 0.6056, -0.5449, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4047 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2708 right_y=0.0013 right_z=0.1446 right_yaw=-0.0004 right_pitch=-0.1598 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -6.4889, 8.4855, 1.2869, -0.3639, 0.0952, -0.0904, -0.0752, -1.4154, 6.8855, 1.9121, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968be99a8904ba8a73f771ad54be75dc1133c77265ef6094f98ac7b911fdec04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1227f6f2f1603512e90cba3ffc24c2b97dfa567b297360259500d45d4439f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6eb261f5cc733c234373e548e6fbdd57d6654fd3ce1a146d3cd50cb091a6820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 7.435 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]: [-0.4965, 1.623, 0.8547, -0.231, -0.7269, -0.7189, 0.9993, -0.0212, 0.8043, 0.6075, -0.5003, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.375 left_y=-0.0656 left_z=0.0787 left_yaw=0.4776 left_pitch=-0.1034 left_roll=0.0694 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1549 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.8957, -11.5487, 10.6051, 1.619, -0.7009, -0.0611, -0.0904, 0.0615, -1.1556, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122]\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]: [-0.4889, 1.4349, 0.936, -0.4824, -0.6834, -0.6559, 0.9993, -0.0212, 0.8055, 0.606, -0.5232, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.0595 left_z=0.137 left_yaw=0.4227 left_pitch=-0.1249 left_roll=0.082 left_gripper=0.9993 right_x=0.2744 right_y=0.0013 right_z=0.1496 right_yaw=-0.0001 right_pitch=-0.1343 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -7.2274, 9.2923, 1.2479, -0.2173, 0.2369, -0.0904, -0.1846, -0.8274, 7.1179, 1.8388, -0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8089, 0.6056, -0.5449, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4047 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2708 right_y=0.0013 right_z=0.1446 right_yaw=-0.0004 right_pitch=-0.1598 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -6.4889, 8.4855, 1.2869, -0.3639, 0.0952, -0.0904, -0.0752, -1.4154, 6.8855, 1.9121, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968be99a8904ba8a73f771ad54be75dc1133c77265ef6094f98ac7b911fdec04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1227f6f2f1603512e90cba3ffc24c2b97dfa567b297360259500d45d4439f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6eb261f5cc733c234373e548e6fbdd57d6654fd3ce1a146d3cd50cb091a6820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngkKEAgRGAI4AUIIdGhpbmtpbmcSDBlE87sQkuCwZY7ETBoMVS0pzWfTj5O1/S+yIjBDoYmP0nyjkQEQEofDXMl6HgqmX5uWl51RhXhuoX7zcR+9FiCLdNql2bejhj44TAEquwjmqJoVZqfBAoZIpg0t3cDLSAOlJCXqMWVO5Ug6lAUzFfpr8bBCbUWIcCZxRShEUGvB3CuCgQFqxqKuUCBirEUS7ulcjb38Eny/4Lz+o+fQejtW/0MFajNBPHpRrEWCRdUR9ZPHdLa5ZZwakLAfhHx1f3eXkkjXF/B+2Ua8Jn1c4ETd+GAhgD20eGGsw6LUGJQZMWotn+rMGXxdQ9nmy9nuFw340p3PzCWRQO/I3hinnfffkRN5EABpoVY0P9xORIckFsXKTUEE582ZDXLApayDD5Sr0Ix/kvQs7K5tYwxcEzn9dJX03gb7NcxT5Cq9ROROrAvjTJSWpScxcgXZnI4TRkOk9uj4tSKUS03CmrMWfjQ8NL7MZwkSht+xw4b5pGdCFmLnbIddwzRE57OZWVs/IQMmkphXhcApKafq1YwzPmUm9bLaOn1DyPpcjoJhGKJizgDdqsD/TD5cLbOr7i7GvPny+y5VK+oKOrFqmf9D69nGGYmYH1OXP1MjvpR2d4UKtQFPAWWvL4qi5pfqPCJEy4O0JdU18arAeDyF6Rtbbs68PapOZ7tF/38swufyo0EHYGfpX8Jsb8YDod3N63VHnbTb66ZqfKpPtT9mwO7zrod+Mw/w397OnuixhqqmfImlbpyVdduMrmobn4hWwVLZ5vDRIbIJjToWyBwecMmDkjfn1Yth0MoeyN7xkPt+lYFr8j48aA98u8OH2ac59FzFCWGLeJgwmntIYNa+v8HWUrxgNgk/4vkJnrkDDhuF9D1RuFV3fdXMKgNcMHdvlk2Op1LCE8jsbkwfzuBRVDWJ6NzhedWbrayqCT8sF/8b2f1Y2zm5n+28G3JS3+Gfv9gnjOh91K4iO+05dMjAoxMs/r2A19nONNufgjPrFLTSPsF+pHenOLEKYa3nfGAKP5eot1+63D6wbh327ou9ot6InfNpCVT/I7kgANacgZwN+QdHH/zC+g+EP5cqJqyWn1KoOFB4q8dxWeQTfp9sRbue7TuHkMCSsMj5aREW/Pt+NTPX8mm+4Cem2+UywBHLNgnCftEO+jh7gdxBcXAAciwT620VHmxdyzP4UqmIWWOYRiAnas1nvsheZoVQ2O06BSVFnWhvjy3TyMdZbpziHi+IypbKjjbH7GDQdedmX/K1FBv62oJ3bbX+4bhYyJDg1/XEqqaHUH5mnV44aabV/adgFTVnejosOAv6qzhepfRpt66N2P/E7wIUBls9QZ10FfR/4Wvur2QS2Nt6WPsWsopQaGlnYqir50/nr7GgcdxtmcdNwmVE8LJJOChqggeaaAg1ze7C8l5WKcBJ6xMn0aB4/Qw64HMH2yyvmi26VrmKQAV7uRH8Ww9lmI31kKJ77DKu6qqnwOHGvBlJfchthB9xh9c1SLMxKuodxxfqxhPfjNYuSpn/NgCRRCf+5yoHHlRenJYz5U3kNb1QkCQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NqYVv29wNFNo8Bzadnf8gf",
      "input": {
        "note": "The arm ignored the last descent and its pitch has drifted to -0.13; re-commanding the pose with pitch and roll explicitly zeroed and a modest step down to 11 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.365,
          "left_y": -0.055,
          "left_yaw": 0.6,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NqYVv29wNFNo8Bzadnf8gf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6357, 0.9993, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4049 left_pitch=-0.1298 left_roll=0.0881 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0 right_pitch=-0.1842 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4615, 8.2803, 1.326, -0.3394, 0.0904, -0.0904, -0.0615, -1.0598, 6.8718, 1.7509, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f35abe4fa62b6b3c8005175aaadbcf067cc9ac460d115cf3ed4810d629b57424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:869fc77242f6e1110bb74f4b674e051f1dcb09d2cc189b7998bef521c2d48fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca847567f54fa75c228145e711cbca5cc1ce76240b0d83a84117dc50b8966f5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 11.11 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]: [-0.4889, 1.4349, 0.936, -0.4824, -0.6834, -0.6559, 0.9993, -0.0212, 0.8055, 0.606, -0.5232, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.0595 left_z=0.137 left_yaw=0.4227 left_pitch=-0.1249 left_roll=0.082 left_gripper=0.9993 right_x=0.2744 right_y=0.0013 right_z=0.1496 right_yaw=-0.0001 right_pitch=-0.1343 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -7.2274, 9.2923, 1.2479, -0.2173, 0.2369, -0.0904, -0.1846, -0.8274, 7.1179, 1.8388, -0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8089, 0.6056, -0.5449, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4047 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2708 right_y=0.0013 right_z=0.1446 right_yaw=-0.0004 right_pitch=-0.1598 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -6.4889, 8.4855, 1.2869, -0.3639, 0.0952, -0.0904, -0.0752, -1.4154, 6.8855, 1.9121, -0.0171, -0.0464, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6357, 0.9993, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4049 left_pitch=-0.1298 left_roll=0.0881 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0 right_pitch=-0.1842 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4615, 8.2803, 1.326, -0.3394, 0.0904, -0.0904, -0.0615, -1.0598, 6.8718, 1.7509, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f35abe4fa62b6b3c8005175aaadbcf067cc9ac460d115cf3ed4810d629b57424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:869fc77242f6e1110bb74f4b674e051f1dcb09d2cc189b7998bef521c2d48fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca847567f54fa75c228145e711cbca5cc1ce76240b0d83a84117dc50b8966f5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAkKEAgRGAI4AUIIdGhpbmtpbmcSDH0rhy1u600rm1ipfhoMGI5ey51MTCBjoYOvIjBdDyQ+I4dFV8/JkI3u4oIzBbpEJZ4bUByUTpVAF4m4ybiBJk021WOzU2VBPNGCbQ4q6QiSCiHW0DCmadCJFIkO9Ja6ICr9aoepJffkC+8SHoL4qYjlnnJ3YGEVRZ08xnfTSDZIxuif37gDrkk52ka92eMhHmcZGf2xdjJuKc5HIzbJZw5GRysoPBWt7Lh6juyQlGSWihr4N7+mMqEJCMuHcOyRnlmO3qA8LYU8Y8oDvYgfrnsX1u35fi+eUoCTkDPmWcIr+DXnO0/Sf64pZdnlK5jLfjACxCizpC1XYAP45Ep4MDrujFPyIAZrCsc/wL18NTJKasI102fV5grfv4egW/W5FJVQDl+JiL5Bmq10z2Sz8asA0B6PYMypFNzdQm8khVCfQsY4E9wws49v00OdVGwDsc9sv/oWIR6e/7TQucr3W3pnteX4mFFy7brdu2JB9ffTg4QCgz14aDkqsENQ7s5bCdIeHBAWI5Z1nYNU5hYH7jILKL9NeQK/Ud5SM0bqfQpL85RfIO8y/zRIAO6Mc4ZHw4pvCJdc2XxA6FCaX3EXovfMtHBBIVkAbKxr22UDTJrUeNLKWRh+6ybUlhnr67QTJ9LSoqpqK4VkUud+1TRhiIXGNM+q2JFly+LIwQgZZqo0yBM3CWQ3PFMa2iH5feU/04fJrmxl9ADwSmGhf22fCyL6FQsUcSKTz7BGABLnrrQqKsJeMTcmb0Wsn5IIU/iNYiwIDbqOO0zVAzqtz5bwYGeYJUE1uEztqwjOM5aR5USxoluswPFkOmNIvmataQvuedp4mUH9YuqJCjqe+wy55kdrF/8cQwZz1eihF/SHa8pt7ABfULP8ERS1mADs3KFOSFKbMk185k/gKKPfMUjI+vpM/7izOYwm2kO+sDRALWTxn1MBO0aYq8F7Kd4y6z/fxZiPtrx9JR49lPwPX541l+sJQdz4BxVXH9z6/Q44+wlHpiUBPIxPJzfvG8/2m4e+dJd/LWmpOAHkKwjh7lNd354jkwfuA3o+DDFgMx7+E/QcG5C6hycRQH9UkeAWwMHqMj+/n13scC+Hes6tiOQyinwERjEj84OmGwgw00FK7ugz6d2aYLpiskl6sTxHcVmEyMGj9sTGaBPDjFmaTSKLKkTVudlUI6Z6b29vKx8Y3jsMo+n+P0c6bwdkMRIJ/Jb4WYAMrtY1E00qC6++X8KTy+JcrIczZnjjPPZwZeTUo4484u43zcQh8oXJ/NAeHUgiHVXZmzQ0F7n19QPus9YWqBwyhAFUcWRB0BJo+BaZ+Sf8wBEYbtHTtAuMqcNa+VXETozu4HH1YZAMAKswR2V2/iZmC+st4n1Qvbw4cVUCHph6K+vOo4An7TA+N9/4wkY21XetR4JNBm2mGNNig4GZfPllMAQ32UD7uHRUkgfBQiBxryIcp85aNl6N8s817Q2NAZ61w68zH/UiXIHbcS2d7EVLgKhu5PXOXz2AETYPvIN4XrwgnffVaZEYcodQDhLVs9fRqe5B625QCJPKusy/EDof0iDevy1VfjwCgsowR2VRERToMyEtrMxoRBIqqYMc3fjIrhXib3HoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011WzP52paXhwEeiHHKZAvHK",
      "input": {
        "note": "The left arm has not moved for two commands; testing a pure 3 cm descent at the current position and yaw to see whether it responds at all.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.354,
          "left_y": -0.06,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011WzP52paXhwEeiHHKZAvHK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4881, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8101, 0.6056, -0.5758, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0595 left_z=0.1473 left_yaw=0.405 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2656 right_y=0.0014 right_z=0.1388 right_yaw=-0.0003 right_pitch=-0.1919 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.4889, 8.2803, 1.2918, -0.3785, 0.1001, -0.0904, -0.0889, -1.1692, 7.1453, 1.7558, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd75d9ef89ca636695a32476ad49c2a05c019dc1a37d0e4fe91f26abe10b0e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c02cec80ef7de5d2e8d3be181de2cbc4d3169bce668fef10d2c9d84bf864365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57f735303457b19df15983ed35dc3a878b9cd2082c7f32f47da2c466abd1cc4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 19.95 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]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8089, 0.6056, -0.5449, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4047 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2708 right_y=0.0013 right_z=0.1446 right_yaw=-0.0004 right_pitch=-0.1598 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -6.4889, 8.4855, 1.2869, -0.3639, 0.0952, -0.0904, -0.0752, -1.4154, 6.8855, 1.9121, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6357, 0.9993, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4049 left_pitch=-0.1298 left_roll=0.0881 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0 right_pitch=-0.1842 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4615, 8.2803, 1.326, -0.3394, 0.0904, -0.0904, -0.0615, -1.0598, 6.8718, 1.7509, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4881, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8101, 0.6056, -0.5758, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0595 left_z=0.1473 left_yaw=0.405 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2656 right_y=0.0014 right_z=0.1388 right_yaw=-0.0003 right_pitch=-0.1919 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.4889, 8.2803, 1.2918, -0.3785, 0.1001, -0.0904, -0.0889, -1.1692, 7.1453, 1.7558, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd75d9ef89ca636695a32476ad49c2a05c019dc1a37d0e4fe91f26abe10b0e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c02cec80ef7de5d2e8d3be181de2cbc4d3169bce668fef10d2c9d84bf864365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f735303457b19df15983ed35dc3a878b9cd2082c7f32f47da2c466abd1cc4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019SqukZqEZZbkc72kp3hM1v",
      "input": {
        "note": "The left arm is frozen with every step being clamped; sending it back toward its home pose with yaw zero to try to reset the solver before a fresh approach.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.02,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019SqukZqEZZbkc72kp3hM1v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1974, 0.87, 0.7204, -0.4576, -0.297, -0.2337, 0.9993, -0.0208, 0.8158, 0.6025, -0.6121, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3025 left_y=-0.0041 left_z=0.2004 left_yaw=0.1726 left_pitch=0.0009 left_roll=-0.0227 left_gripper=0.9993 right_x=0.2587 right_y=0.0017 right_z=0.1299 right_yaw=0.0007 right_pitch=-0.2368 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -0.335, 6.4342, 1.8095, 0.0611, 0.1929, -0.0904, 0.0205, -1.4291, 7.0359, 1.8437, -0.0269, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72ff0af1d9291d538254ac51de4fd71b7b7702f661f41ca173d0f6fc2b806495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e248615b9755ad1b3e1af9cb338e15708f22eafeea1430b1372ff261d3622a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:417499bd7b7050bdd228a1a38cb7097df3682461d8c4ec8942f4e58bb579882a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.78 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]: [-0.4885, 1.4097, 0.9585, -0.5251, -0.6727, -0.6357, 0.9993, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0596 left_z=0.1473 left_yaw=0.4049 left_pitch=-0.1298 left_roll=0.0881 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0 right_pitch=-0.1842 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4615, 8.2803, 1.326, -0.3394, 0.0904, -0.0904, -0.0615, -1.0598, 6.8718, 1.7509, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4881, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8101, 0.6056, -0.5758, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0595 left_z=0.1473 left_yaw=0.405 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2656 right_y=0.0014 right_z=0.1388 right_yaw=-0.0003 right_pitch=-0.1919 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.4889, 8.2803, 1.2918, -0.3785, 0.1001, -0.0904, -0.0889, -1.1692, 7.1453, 1.7558, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1974, 0.87, 0.7204, -0.4576, -0.297, -0.2337, 0.9993, -0.0208, 0.8158, 0.6025, -0.6121, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3025 left_y=-0.0041 left_z=0.2004 left_yaw=0.1726 left_pitch=0.0009 left_roll=-0.0227 left_gripper=0.9993 right_x=0.2587 right_y=0.0017 right_z=0.1299 right_yaw=0.0007 right_pitch=-0.2368 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -0.335, 6.4342, 1.8095, 0.0611, 0.1929, -0.0904, 0.0205, -1.4291, 7.0359, 1.8437, -0.0269, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72ff0af1d9291d538254ac51de4fd71b7b7702f661f41ca173d0f6fc2b806495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e248615b9755ad1b3e1af9cb338e15708f22eafeea1430b1372ff261d3622a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:417499bd7b7050bdd228a1a38cb7097df3682461d8c4ec8942f4e58bb579882a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013iaAMNax2JgaQm5QHo9TKr",
      "input": {
        "note": "The arm responded and is back near home; the overhead view and the earlier finger contact both put the can's centre near (0.40, -0.10), so flying there at 12 cm with the jaws rotated to match the can's angle.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.1,
          "left_yaw": 0.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013iaAMNax2JgaQm5QHo9TKr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5652, 1.6436, 0.9691, -0.2928, -0.7635, -0.728, 0.9993, -0.0212, 0.8211, 0.6018, -0.6357, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3885 left_y=-0.0975 left_z=0.1065 left_yaw=0.4334 left_pitch=-0.06 left_roll=0.0522 left_gripper=0.9993 right_x=0.2543 right_y=0.0017 right_z=0.1245 right_yaw=0.0004 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.4308, 8.1436, 1.2137, -0.6862, -0.0611, -0.0904, -0.294, -1.4701, 7.0359, 1.6581, -0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30dc4c8db1cead303623469d8795b0239db9bae56d5575ce1fca03ad44e7c29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8ad0899deee02c74ea4a4a37a9ee67424f96892c74aed3856fffe6788d5e54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b7ec3300eeb773497594ec889e658621fbcec1839d789f682f8748c1079c3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.71 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]: [-0.4881, 1.4097, 0.9585, -0.5251, -0.6727, -0.6353, 0.9993, -0.0212, 0.8101, 0.6056, -0.5758, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3544 left_y=-0.0595 left_z=0.1473 left_yaw=0.405 left_pitch=-0.1298 left_roll=0.0884 left_gripper=0.9993 right_x=0.2656 right_y=0.0014 right_z=0.1388 right_yaw=-0.0003 right_pitch=-0.1919 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.4889, 8.2803, 1.2918, -0.3785, 0.1001, -0.0904, -0.0889, -1.1692, 7.1453, 1.7558, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1974, 0.87, 0.7204, -0.4576, -0.297, -0.2337, 0.9993, -0.0208, 0.8158, 0.6025, -0.6121, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3025 left_y=-0.0041 left_z=0.2004 left_yaw=0.1726 left_pitch=0.0009 left_roll=-0.0227 left_gripper=0.9993 right_x=0.2587 right_y=0.0017 right_z=0.1299 right_yaw=0.0007 right_pitch=-0.2368 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -0.335, 6.4342, 1.8095, 0.0611, 0.1929, -0.0904, 0.0205, -1.4291, 7.0359, 1.8437, -0.0269, -0.0024, -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]: [-0.5652, 1.6436, 0.9691, -0.2928, -0.7635, -0.728, 0.9993, -0.0212, 0.8211, 0.6018, -0.6357, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3885 left_y=-0.0975 left_z=0.1065 left_yaw=0.4334 left_pitch=-0.06 left_roll=0.0522 left_gripper=0.9993 right_x=0.2543 right_y=0.0017 right_z=0.1245 right_yaw=0.0004 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.4308, 8.1436, 1.2137, -0.6862, -0.0611, -0.0904, -0.294, -1.4701, 7.0359, 1.6581, -0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30dc4c8db1cead303623469d8795b0239db9bae56d5575ce1fca03ad44e7c29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8ad0899deee02c74ea4a4a37a9ee67424f96892c74aed3856fffe6788d5e54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b7ec3300eeb773497594ec889e658621fbcec1839d789f682f8748c1079c3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0199GpjJBZNc5xrkXU7dXvUw",
      "input": {
        "note": "The can body now runs vertically through the wrist view about 3 cm left of the jaw column and passes under the grasp point; shifting left that much and descending so the jaws straddle it at can-centre height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.378,
          "left_y": -0.072,
          "left_yaw": 0.45,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0199GpjJBZNc5xrkXU7dXvUw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5301, 1.7233, 0.6964, 0.1192, -0.7807, -0.7055, 0.9993, -0.0212, 0.823, 0.6018, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3741 left_y=-0.071 left_z=0.0403 left_yaw=0.4648 left_pitch=-0.0165 left_roll=0.0281 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1205 right_yaw=0.0006 right_pitch=-0.2902 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -4.3829, 3.3573, 0.8913, -0.2613, 0.1587, -0.0952, -0.0752, -1.306, 6.8718, 1.6581, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122f110c83337b3b05b424f40faa7b1e03a28e7fb96371aa01181aa295701277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd03e770ff67dacbd5098f692be589559ddde9ef35b0907a7ec2ac8844f49271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:643fc566f78365f2017439d48742bdc7c72c990dcf3a940cc3a5253ad34b2210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.768 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]: [-0.1974, 0.87, 0.7204, -0.4576, -0.297, -0.2337, 0.9993, -0.0208, 0.8158, 0.6025, -0.6121, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3025 left_y=-0.0041 left_z=0.2004 left_yaw=0.1726 left_pitch=0.0009 left_roll=-0.0227 left_gripper=0.9993 right_x=0.2587 right_y=0.0017 right_z=0.1299 right_yaw=0.0007 right_pitch=-0.2368 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -0.335, 6.4342, 1.8095, 0.0611, 0.1929, -0.0904, 0.0205, -1.4291, 7.0359, 1.8437, -0.0269, -0.0024, -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]: [-0.5652, 1.6436, 0.9691, -0.2928, -0.7635, -0.728, 0.9993, -0.0212, 0.8211, 0.6018, -0.6357, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3885 left_y=-0.0975 left_z=0.1065 left_yaw=0.4334 left_pitch=-0.06 left_roll=0.0522 left_gripper=0.9993 right_x=0.2543 right_y=0.0017 right_z=0.1245 right_yaw=0.0004 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.4308, 8.1436, 1.2137, -0.6862, -0.0611, -0.0904, -0.294, -1.4701, 7.0359, 1.6581, -0.0659, -0.0269, -0.0073]",
      "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]: [-0.5301, 1.7233, 0.6964, 0.1192, -0.7807, -0.7055, 0.9993, -0.0212, 0.823, 0.6018, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3741 left_y=-0.071 left_z=0.0403 left_yaw=0.4648 left_pitch=-0.0165 left_roll=0.0281 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1205 right_yaw=0.0006 right_pitch=-0.2902 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -4.3829, 3.3573, 0.8913, -0.2613, 0.1587, -0.0952, -0.0752, -1.306, 6.8718, 1.6581, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122f110c83337b3b05b424f40faa7b1e03a28e7fb96371aa01181aa295701277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd03e770ff67dacbd5098f692be589559ddde9ef35b0907a7ec2ac8844f49271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:643fc566f78365f2017439d48742bdc7c72c990dcf3a940cc3a5253ad34b2210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QmKg4bphm6w7P3pcyTUtF8",
      "input": {
        "note": "The can body sits squarely between the two jaws in the wrist view; descending the last 2 cm so the jaws close on the can's widest part.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.374,
          "left_y": -0.071,
          "left_yaw": 0.46,
          "left_z": 0.022
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QmKg4bphm6w7P3pcyTUtF8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.524, 1.755, 0.6655, 0.2249, -0.7708, -0.6891, 0.9993, -0.0212, 0.823, 0.6018, -0.6632, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3774 left_y=-0.0718 left_z=0.0325 left_yaw=0.4553 left_pitch=0.0007 left_roll=0.0015 left_gripper=0.9993 right_x=0.2491 right_y=0.0018 right_z=0.1196 right_yaw=0.0003 right_pitch=-0.296 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -6.3932, 4.6017, 1.5116, -0.2906, 0.0513, -0.0904, -0.0889, -1.1282, 6.9538, 1.5653, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8f038c391041ce2d1e883e2cdd54c52c6ecf1e4a585d4c3f665adcb559148ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0967f12395fc5755a10e2d6e5bab881ea8872b249509e3c10c25236b5dc2fc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17719742aaa5ea0bbf081324a09d14f0766e1d886351f7582005f1925c5e6a11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 14.65 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]: [-0.5652, 1.6436, 0.9691, -0.2928, -0.7635, -0.728, 0.9993, -0.0212, 0.8211, 0.6018, -0.6357, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3885 left_y=-0.0975 left_z=0.1065 left_yaw=0.4334 left_pitch=-0.06 left_roll=0.0522 left_gripper=0.9993 right_x=0.2543 right_y=0.0017 right_z=0.1245 right_yaw=0.0004 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.4308, 8.1436, 1.2137, -0.6862, -0.0611, -0.0904, -0.294, -1.4701, 7.0359, 1.6581, -0.0659, -0.0269, -0.0073]",
      "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]: [-0.5301, 1.7233, 0.6964, 0.1192, -0.7807, -0.7055, 0.9993, -0.0212, 0.823, 0.6018, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3741 left_y=-0.071 left_z=0.0403 left_yaw=0.4648 left_pitch=-0.0165 left_roll=0.0281 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1205 right_yaw=0.0006 right_pitch=-0.2902 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -4.3829, 3.3573, 0.8913, -0.2613, 0.1587, -0.0952, -0.0752, -1.306, 6.8718, 1.6581, -0.0366, -0.0611, -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]: [-0.524, 1.755, 0.6655, 0.2249, -0.7708, -0.6891, 0.9993, -0.0212, 0.823, 0.6018, -0.6632, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3774 left_y=-0.0718 left_z=0.0325 left_yaw=0.4553 left_pitch=0.0007 left_roll=0.0015 left_gripper=0.9993 right_x=0.2491 right_y=0.0018 right_z=0.1196 right_yaw=0.0003 right_pitch=-0.296 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -6.3932, 4.6017, 1.5116, -0.2906, 0.0513, -0.0904, -0.0889, -1.1282, 6.9538, 1.5653, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8f038c391041ce2d1e883e2cdd54c52c6ecf1e4a585d4c3f665adcb559148ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0967f12395fc5755a10e2d6e5bab881ea8872b249509e3c10c25236b5dc2fc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17719742aaa5ea0bbf081324a09d14f0766e1d886351f7582005f1925c5e6a11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "At z≈0.033 with the can between the jaws; closing the gripper now.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NeYog46BEnYUnS5gnMwraj",
      "input": {
        "note": "The can fills the wrist view between the jaws at grasp height; closing the gripper fully to grip it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.377,
          "left_y": -0.072,
          "left_yaw": 0.46,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NeYog46BEnYUnS5gnMwraj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.524, 1.739, 0.6769, 0.3286, -0.8291, -0.693, 0.0128, -0.0212, 0.8288, 0.6018, -0.6792, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.0726 left_z=0.0609 left_yaw=0.5029 left_pitch=0.1065 left_roll=-0.09 left_gripper=0.0128 right_x=0.2461 right_y=0.0019 right_z=0.1159 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.1214, 4.1504, 0.4567, 0.1832, -0.0317, 1.1453, -0.0889, -1.5795, 6.9538, 1.5604, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7892d8f055e443358b86b8427ec7ba3166c3c43e0bf0f8f22e56f4c05719e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a92e885292face5941ce69b514474fc1e81a65b95410b79934b0507b9ce2a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:401b6f1676e881030d5441722b78b227e81048d70332657fe84d54e0e5aa23b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 10.01 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]: [-0.5301, 1.7233, 0.6964, 0.1192, -0.7807, -0.7055, 0.9993, -0.0212, 0.823, 0.6018, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3741 left_y=-0.071 left_z=0.0403 left_yaw=0.4648 left_pitch=-0.0165 left_roll=0.0281 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1205 right_yaw=0.0006 right_pitch=-0.2902 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -4.3829, 3.3573, 0.8913, -0.2613, 0.1587, -0.0952, -0.0752, -1.306, 6.8718, 1.6581, -0.0366, -0.0611, -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]: [-0.524, 1.755, 0.6655, 0.2249, -0.7708, -0.6891, 0.9993, -0.0212, 0.823, 0.6018, -0.6632, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3774 left_y=-0.0718 left_z=0.0325 left_yaw=0.4553 left_pitch=0.0007 left_roll=0.0015 left_gripper=0.9993 right_x=0.2491 right_y=0.0018 right_z=0.1196 right_yaw=0.0003 right_pitch=-0.296 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -6.3932, 4.6017, 1.5116, -0.2906, 0.0513, -0.0904, -0.0889, -1.1282, 6.9538, 1.5653, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.524, 1.739, 0.6769, 0.3286, -0.8291, -0.693, 0.0128, -0.0212, 0.8288, 0.6018, -0.6792, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.0726 left_z=0.0609 left_yaw=0.5029 left_pitch=0.1065 left_roll=-0.09 left_gripper=0.0128 right_x=0.2461 right_y=0.0019 right_z=0.1159 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.1214, 4.1504, 0.4567, 0.1832, -0.0317, 1.1453, -0.0889, -1.5795, 6.9538, 1.5604, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7892d8f055e443358b86b8427ec7ba3166c3c43e0bf0f8f22e56f4c05719e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a92e885292face5941ce69b514474fc1e81a65b95410b79934b0507b9ce2a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401b6f1676e881030d5441722b78b227e81048d70332657fe84d54e0e5aa23b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016w9p9AHwh5HkvbgHnuxu36",
      "input": {
        "note": "The gripper closed empty (reading 0.013) and the can now lies just ahead of the closed jaws; opening and lifting to 10 cm to re-sight it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.072,
          "left_yaw": 0.5,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016w9p9AHwh5HkvbgHnuxu36",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5217, 1.6512, 0.8295, -0.0887, -0.7975, -0.7376, 0.9948, -0.0212, 0.8288, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.072 left_z=0.0839 left_yaw=0.5011 left_pitch=-0.0064 left_roll=0.0107 left_gripper=0.9948 right_x=0.2451 right_y=0.0019 right_z=0.1151 right_yaw=0.0005 right_pitch=-0.3227 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -9.3197, 8.4308, 1.2576, -0.3297, 0.1441, 0.0415, -0.0342, -1.0051, 6.7214, 1.3944, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af34aa9e20f4451332098183ac774cc36aa4ca91e4a59ed04f8e35378d6dcaae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e4be161571d7269638015a5f91ef5d4d6d1548f621c53749420955496a96a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63d59bd89a15495954a10d89f76e647256502eeb75ff595521bc1ff0e41fdec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.947 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]: [-0.524, 1.755, 0.6655, 0.2249, -0.7708, -0.6891, 0.9993, -0.0212, 0.823, 0.6018, -0.6632, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3774 left_y=-0.0718 left_z=0.0325 left_yaw=0.4553 left_pitch=0.0007 left_roll=0.0015 left_gripper=0.9993 right_x=0.2491 right_y=0.0018 right_z=0.1196 right_yaw=0.0003 right_pitch=-0.296 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -6.3932, 4.6017, 1.5116, -0.2906, 0.0513, -0.0904, -0.0889, -1.1282, 6.9538, 1.5653, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.524, 1.739, 0.6769, 0.3286, -0.8291, -0.693, 0.0128, -0.0212, 0.8288, 0.6018, -0.6792, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.0726 left_z=0.0609 left_yaw=0.5029 left_pitch=0.1065 left_roll=-0.09 left_gripper=0.0128 right_x=0.2461 right_y=0.0019 right_z=0.1159 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.1214, 4.1504, 0.4567, 0.1832, -0.0317, 1.1453, -0.0889, -1.5795, 6.9538, 1.5604, -0.0415, -0.0708, -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]: [-0.5217, 1.6512, 0.8295, -0.0887, -0.7975, -0.7376, 0.9948, -0.0212, 0.8288, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.072 left_z=0.0839 left_yaw=0.5011 left_pitch=-0.0064 left_roll=0.0107 left_gripper=0.9948 right_x=0.2451 right_y=0.0019 right_z=0.1151 right_yaw=0.0005 right_pitch=-0.3227 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -9.3197, 8.4308, 1.2576, -0.3297, 0.1441, 0.0415, -0.0342, -1.0051, 6.7214, 1.3944, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af34aa9e20f4451332098183ac774cc36aa4ca91e4a59ed04f8e35378d6dcaae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e4be161571d7269638015a5f91ef5d4d6d1548f621c53749420955496a96a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63d59bd89a15495954a10d89f76e647256502eeb75ff595521bc1ff0e41fdec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQwKEAgRGAI4AUIIdGhpbmtpbmcSDJp/jEGx2bYLuMQ8zBoMotNf1CioS60W1Ov7IjC13Tq+E4H3Wo8OAFKmozW/OU5sURG7hNXNgdf8cTBCLIwb8AImCmNBvXFBv2MENWUqxgtDKoDTd0Nujw3L8f8OvMNYhFE/OUFLkvHAtwp+qK3Lap9iK4sq6tO2vM5dHMdxsginlF5c1eeiGTeJvJ6W5l3849u8gMFgDGm8sn/l8PqkCjUo/2ac+VlxsnkpZql0eNe4nAgQBkpW1lHRT6kGX1LoHtC83Bm7ubfqSSyQXbOp2iq1CtKzLdV3iF6LLurn/f2i+ayffql39CxU68GpG1AYTU0VbetwsVdlGrvLEbDK0HSwJbA0vlj2kKUIwULTuBNbcP8lSYbavaA/9xovN8svSaQY8JMoYDGXv2dixILnYqH9tiYTgiDsVM5HHXJHNu2xwd1ZAiSzpLa6MIE3aAClYlaCNQmQwli3G2gt9pVLXtixPv+GtI7TYFzCVoL1jsi6mQzXquxor4pC0d6cTWIJRO6SLAtK1vnUTPacoJBaM/nzJZ/dxDzBq/xYQ5LW0q46UCkp3EciTiSwNVpZoo3uLWb1Xnw7w+Cv7LsIC6Rtf7Nv5ZFSpVRAe8IEmyKMjlhvlxyMN3ioMhndvwTZSwnyRW2aY2gotUiFCNVRgGaDjG1G68hcbyLdSvT4MbAlhE8XKJl19xYO0vnGNSLXnWamAnpkzI09qhvPGJlDXcWKdi5BMSb4E6qqz3+U5eshfvCztgyvJivlX9lvc/tE9UA82bDtUBJOOsGFVUNxfxL4UmxmasD6Ov8xS0r4pC/V0UxehaTIngDd60YDplPnYNP8jmr8RHndEtufpV9xXdy1372pJWuRnbbz6EhA++WIeyQsCcb+d8YfUUMT22YaW+aiK+ncGaffOVwFdjK7lP5QB09hvQvTEtQb6yo9YhAR0aQu4mMytt0UqG4FeauczcLKmyBaH7ttY5IMShvU44EoJy2y9Vk1BQZTLgwK5S/luAcAMkZWeap76I/qMDbaiMG8v6eUxpacoPD8I343YWH0GdMNBN5yKra0sa3p+PFrqolgvm/FT5oufo1u77yNBOV4g6sxVWXZg3bxD+kyRrOUf4DZwhI5n+a0pwWAAejddWmSJo/hs6PVDv0M4hk3v/R00/pnBoguXNMuFtSrN5Y/T2DhhIFNP5LjzqEgN386l8fdnzSMgc9vtvpdwUzUBn4mnOhcAGlGhAmynRdsfGrbA7Her7EBoGJwjDScX87jG/CbHm+dnHnCjebRojAtyNqOwwWAve5jW3Mh1Vx/hkmsRlOy6eJp+CELKYHGPSmz1dIU58AIA+GwOOhIpg8BesiwWYATeEFbniodrqTIkuFMYoasoeOOWwJYWYw1zK4iJzjl2EcRYLALRlGm2dC+MsIoIypdHeO/c9Yf2spWsWFJ0n+WVjWGvSftDbL6ql2+67u9EewSdKULVO/2MgnnaR6YTlvN5ETwJJFt1hASr5p1AbgXwhw9UPonmW5RYnmU/+PjBCRipJVTNxxZ4tt1RqleW2dadQnX0JhT3Kup6Y41ove4tENHUvnojGSzGsqoh1zok6xnA+xE4YXVMSj5CkTKCipQfRhrFhBQK3dFzWn2A3ooM4Zdoe3vwYTQ/5F4pYX3fiVQ9hNE069YF1rJaYxZsXZdIARrTWdIW2n3G2cgalNhL2WPLVPhb/R6x51/4Ip6MyyKuM036JqZWzlhib0sBMUNzQRxrDCGR/pNHRdrsLz3E4xiQVIa43Zqhsy7koePzBBIcTu5OaIpaVz9Gd8+CqWeSP5k+Dt4H6NkQHJYxE2bO1ICvi+mvz5wRiWCATbr5xtFeOEBVSnvsJEo7k131ZRaWJbNrn3MTUdKXfPFVFTQlZ/PhbXRxiwttiHqj/3IA+0SQGVJe4G8+jBSfV2fBTYfCCrnQG2i1XByQgLQwEY6nk7moXzsPTvGPDyqx8W8/i6hJK4PiIIdBTNocf38mxyYY20MJvsjK0eUSiuawnzmUizZzRlfeVHoQQMu6F1PlCsEYFQVpHrcHmTEk4W1FMfJru3+BXtENhm+Htjd/l0Db/ZtwxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WCqY7ph2KeMrbJAbo2Cb9S",
      "input": {
        "note": "The can now lies centred on the jaw column and passes between the open jaws toward the base; descending straight down to grasp height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.386,
          "left_y": -0.072,
          "left_yaw": 0.5,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WCqY7ph2KeMrbJAbo2Cb9S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5228, 1.8069, 0.73, 0.1001, -0.7925, -0.7376, 0.9984, -0.0212, 0.8303, 0.6018, -0.7017, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.376 left_y=-0.0673 left_z=0.0207 left_yaw=0.4984 left_pitch=-0.0444 left_roll=0.0653 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1122 right_yaw=0.001 right_pitch=-0.3417 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.4444, 5.053, 1.6044, -0.3932, -0.0464, -0.1783, -0.1573, -1.2786, 6.8171, 1.4969, -0.0317, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8052713b2a79aead1d55cdf81d6d85ba51ae8fa01e39554cdc9a96be47fc28ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb2401a472e015c68c11ee8ea83ae504fd99c9def027f1254038b5d7a4e54e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba1edab6ce56ebd789d48445c39d237d1781adda778eaa59f9ea726d7db5ac99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 11.25 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]: [-0.524, 1.739, 0.6769, 0.3286, -0.8291, -0.693, 0.0128, -0.0212, 0.8288, 0.6018, -0.6792, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.0726 left_z=0.0609 left_yaw=0.5029 left_pitch=0.1065 left_roll=-0.09 left_gripper=0.0128 right_x=0.2461 right_y=0.0019 right_z=0.1159 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.1214, 4.1504, 0.4567, 0.1832, -0.0317, 1.1453, -0.0889, -1.5795, 6.9538, 1.5604, -0.0415, -0.0708, -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]: [-0.5217, 1.6512, 0.8295, -0.0887, -0.7975, -0.7376, 0.9948, -0.0212, 0.8288, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.072 left_z=0.0839 left_yaw=0.5011 left_pitch=-0.0064 left_roll=0.0107 left_gripper=0.9948 right_x=0.2451 right_y=0.0019 right_z=0.1151 right_yaw=0.0005 right_pitch=-0.3227 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -9.3197, 8.4308, 1.2576, -0.3297, 0.1441, 0.0415, -0.0342, -1.0051, 6.7214, 1.3944, -0.0415, -0.0269, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5228, 1.8069, 0.73, 0.1001, -0.7925, -0.7376, 0.9984, -0.0212, 0.8303, 0.6018, -0.7017, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.376 left_y=-0.0673 left_z=0.0207 left_yaw=0.4984 left_pitch=-0.0444 left_roll=0.0653 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1122 right_yaw=0.001 right_pitch=-0.3417 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.4444, 5.053, 1.6044, -0.3932, -0.0464, -0.1783, -0.1573, -1.2786, 6.8171, 1.4969, -0.0317, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8052713b2a79aead1d55cdf81d6d85ba51ae8fa01e39554cdc9a96be47fc28ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb2401a472e015c68c11ee8ea83ae504fd99c9def027f1254038b5d7a4e54e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba1edab6ce56ebd789d48445c39d237d1781adda778eaa59f9ea726d7db5ac99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwgKEAgRGAI4AUIIdGhpbmtpbmcSDIFXWaMFtgTXKdqNSBoMiwNW4HQ7SUzwfohBIjDu71YlNhWNY2n36q5oYUzuYMa2V8hCodXqDiPNCPsRSQykDlnhPqCZF2rna5DvWpUqvAcY3v/v+L46jbGQVDW1aCZ2WNP25bAecP+x/kEDoG6RZ0+dXgZsXmt+Ns/SLFNrgA1ycir9t30s+mWqj+dpwi60NadTkSl7eYuJyfripkCQwa+Lb9qeC0BF/sZK2V5uuajLWASzG2B/Bo8rwyhEzhvrLrgCXf21NoK1fNnXHSldrXczHiQLqgDWyBnAef3+V4bzn8vOqkkaqRw8tI17+cKxECQvXZbzD62p42ix+42WNkYQNfVvg14YY4BfWGcPsE+1S3sK9TztXg9KYM5PKTJZJ9VWIQGhF0TH78VuG68q0gOZ4wNxLlDiT/OCUbsZKnegSQutmPiJNLmgoKs3Cny+fd7t2SZfQnk22m92inNaHABAP9AdesfHgkstsCqgwFvxGjjguuogBRYX6YPZ//Lfp/29+p1bADUlVfc4wNm0ZfZtzsbDXhCeMbtkCKKBpZMW0yI9Q5MFSKZ9Gm8mw3OrX5fABPQZ2okVqS13TmfQAuxYMSrBZuwRidlDAEyNyy00cjQQwDo67qOEGZyzYEVEUGnVBnQHaIOjpd79yLk8ncFA/4fzAXnB4S+/r4scVX5gvx66wUYNP9OAOQIf6vLB69MHS8j/bT2lFrQrPw+Lo1xLQap6PwjWJeM6lHY5xgiIWCqjRls4LDIZPMfrA92DzG5IfQmmyTYsfFCdtx8Oy7hturMHzvV5tC/ENATEHTTTzmDoDPcjwMSAN8d9asHFEgjQFIt0noRj+nXGYZdNONQZeE+pfjsdxkBqXUy57PMn7wf6SrPsdKnchDh8rDbtCf53Z2KZdmbcxj8IVUVZumjEE4AsZgz+DyjCdUkEqmXF82A+AAGyaKdyohHyv7KwWNmOohvbzv3ZQkj7UlCeZBA1WGVJgPMb3lI9bR4RCJ1dmJLZK4eL2P+sBf5HtFCxz0rQ3x4azlfkhV5gi+BdZp6IhuRKl/DEhXXBc1g6N15ppNqcB8kIPwRsTxg5Kbi8MIbH8dwbr0pFxPg9MzQkzXnvSiCLcM0D5qGXDp3cMpxUnpNkso7FcjkJU6TbUWPz0y9+KwCckPS7D9wWE+1S2sOY02rg0FKGo1iJRTS6CfhEDTOban9ty384OK2105H598H5WE/qk2lht+RC4fTUMm9/FoiwApYuP/cePLa20enB1c3WrJ7u1P1eBzHlZF/2inVkSuaYDABBIJnGj96EWpxelfdgm0JxJfrNH9dbEPmbnsMcXxqvrXDmFYcgA8WzGaHgu0V5YKt5qPUMu6PiL574l5rc8ww6HGPD+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013TMsXgjrKSgjkAvMFjjzDL",
      "input": {
        "note": "The can body fills the wrist view between the jaws at 2 cm height; closing the gripper onto it.",
        "targets": {
          "left_gripper": 0.3,
          "left_x": 0.376,
          "left_y": -0.067,
          "left_yaw": 0.5,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013TMsXgjrKSgjkAvMFjjzDL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5228, 1.8248, 0.7189, 0.1188, -0.7937, -0.7414, 0.6842, -0.0212, 0.8341, 0.6014, -0.7212, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.0659 left_z=0.0137 left_yaw=0.5016 left_pitch=-0.0488 left_roll=0.0715 left_gripper=0.6842 right_x=0.2377 right_y=0.002 right_z=0.1083 right_yaw=0.0008 right_pitch=-0.3654 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.9504, 5.5316, 0.9744, -0.3101, -0.0122, 1.033, -0.0479, -1.4564, 7.0222, 1.4969, -0.0366, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2625f74c4dfc10479312fbb9263464bd73801485860645c1b136d937683365e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9905253afe784cd069fe9e072ed73479c103a1ad0dcefe61f4a7e6a6f4659a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0f8c10ceb247a0d6123ed3b7d949c7fa22a47acc6b904edcdc9dd83ae2dcb6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 8.346 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]: [-0.5217, 1.6512, 0.8295, -0.0887, -0.7975, -0.7376, 0.9948, -0.0212, 0.8288, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.072 left_z=0.0839 left_yaw=0.5011 left_pitch=-0.0064 left_roll=0.0107 left_gripper=0.9948 right_x=0.2451 right_y=0.0019 right_z=0.1151 right_yaw=0.0005 right_pitch=-0.3227 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -9.3197, 8.4308, 1.2576, -0.3297, 0.1441, 0.0415, -0.0342, -1.0051, 6.7214, 1.3944, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.5228, 1.8069, 0.73, 0.1001, -0.7925, -0.7376, 0.9984, -0.0212, 0.8303, 0.6018, -0.7017, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.376 left_y=-0.0673 left_z=0.0207 left_yaw=0.4984 left_pitch=-0.0444 left_roll=0.0653 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1122 right_yaw=0.001 right_pitch=-0.3417 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.4444, 5.053, 1.6044, -0.3932, -0.0464, -0.1783, -0.1573, -1.2786, 6.8171, 1.4969, -0.0317, -0.0415, -0.0073]",
      "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]: [-0.5228, 1.8248, 0.7189, 0.1188, -0.7937, -0.7414, 0.6842, -0.0212, 0.8341, 0.6014, -0.7212, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.0659 left_z=0.0137 left_yaw=0.5016 left_pitch=-0.0488 left_roll=0.0715 left_gripper=0.6842 right_x=0.2377 right_y=0.002 right_z=0.1083 right_yaw=0.0008 right_pitch=-0.3654 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.9504, 5.5316, 0.9744, -0.3101, -0.0122, 1.033, -0.0479, -1.4564, 7.0222, 1.4969, -0.0366, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2625f74c4dfc10479312fbb9263464bd73801485860645c1b136d937683365e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9905253afe784cd069fe9e072ed73479c103a1ad0dcefe61f4a7e6a6f4659a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f8c10ceb247a0d6123ed3b7d949c7fa22a47acc6b904edcdc9dd83ae2dcb6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pr71jBGKVAtHfAYa51MnMi",
      "input": {
        "note": "The gripper settled at 0.68 (≈6.5 cm), matching the can's diameter, so the can is gripped; lifting it to 17 cm to confirm in the overhead view before carrying.",
        "targets": {
          "left_gripper": 0.3,
          "left_x": 0.374,
          "left_y": -0.066,
          "left_yaw": 0.5,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Pr71jBGKVAtHfAYa51MnMi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5228, 1.5383, 1.0389, -0.5236, -0.7746, -0.749, 0.6842, -0.0212, 0.8352, 0.6014, -0.7322, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3732 left_y=-0.0683 left_z=0.1438 left_yaw=0.4969 left_pitch=-0.0809 left_roll=0.0876 left_gripper=0.6842 right_x=0.2354 right_y=0.0021 right_z=0.1065 right_yaw=0.0013 right_pitch=-0.3776 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.1419, 8.9915, 1.1648, -0.5788, 0.0562, 1.033, -0.0479, -1.1966, 6.653, 1.4237, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709e87f79a0625689e9e95876e4eb88e4119fea393cea2331e904f8acea8399e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3855953c6f829d5c9d129e5f4cafad93c9d9d72b8bc398df189d2bec8024d77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:394dad0c76b64379c6771eb2f5a9e2f47b6f4b9413f679d560242aaa48763c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 10.97 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]: [-0.5228, 1.8069, 0.73, 0.1001, -0.7925, -0.7376, 0.9984, -0.0212, 0.8303, 0.6018, -0.7017, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.376 left_y=-0.0673 left_z=0.0207 left_yaw=0.4984 left_pitch=-0.0444 left_roll=0.0653 left_gripper=0.9984 right_x=0.2417 right_y=0.002 right_z=0.1122 right_yaw=0.001 right_pitch=-0.3417 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.4444, 5.053, 1.6044, -0.3932, -0.0464, -0.1783, -0.1573, -1.2786, 6.8171, 1.4969, -0.0317, -0.0415, -0.0073]",
      "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]: [-0.5228, 1.8248, 0.7189, 0.1188, -0.7937, -0.7414, 0.6842, -0.0212, 0.8341, 0.6014, -0.7212, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.0659 left_z=0.0137 left_yaw=0.5016 left_pitch=-0.0488 left_roll=0.0715 left_gripper=0.6842 right_x=0.2377 right_y=0.002 right_z=0.1083 right_yaw=0.0008 right_pitch=-0.3654 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.9504, 5.5316, 0.9744, -0.3101, -0.0122, 1.033, -0.0479, -1.4564, 7.0222, 1.4969, -0.0366, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5228, 1.5383, 1.0389, -0.5236, -0.7746, -0.749, 0.6842, -0.0212, 0.8352, 0.6014, -0.7322, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3732 left_y=-0.0683 left_z=0.1438 left_yaw=0.4969 left_pitch=-0.0809 left_roll=0.0876 left_gripper=0.6842 right_x=0.2354 right_y=0.0021 right_z=0.1065 right_yaw=0.0013 right_pitch=-0.3776 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.1419, 8.9915, 1.1648, -0.5788, 0.0562, 1.033, -0.0479, -1.1966, 6.653, 1.4237, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709e87f79a0625689e9e95876e4eb88e4119fea393cea2331e904f8acea8399e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3855953c6f829d5c9d129e5f4cafad93c9d9d72b8bc398df189d2bec8024d77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394dad0c76b64379c6771eb2f5a9e2f47b6f4b9413f679d560242aaa48763c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gkKEAgRGAI4AUIIdGhpbmtpbmcSDGVA/JO8JfLhoAHsbxoMbW1zZ3f/xlj2i4nbIjAtmkzwi1fiZ7hewWfLY0VUYyoJXa7DHdGhyOZ6P4XGTwPqz3TvN1cJjpYE8bsTBxAq7wgC4cu7uPDQErrvdC7zD5a3wlnKyGolASlWRKFyJu5uE7uSKSrDsCCL4qEboQnk2W8hFIBc2g7wfEQxp53uTuMfMbJ6iTMJzKUWXKh0tl0l2Q0b9hLlKdmK0qxNLTm0qgDG0Lbp03W5SFzHrlCCB0JyJrvMNS/cWT1np/6c6HUX94n6OFdIFmwLC0CrnaE0yneYjmNvR0FPwS3ooGYiNeIcABAS11Ad2OFYBUPNaKOlXxdWrIz4ixFfDmmg1xivlRdziwGBqly4sXlmB/OXcOp+PRup1wvR/e7vyxFYYqogUEd5s3LBBlYt1XtgqP3wQ9HPHDMX3GEEJgI9Vsdy7B0AE29x7mhPLIEJMgkmQTeGykh2lQ1700VbD1vNFTnhO+khbLzWUiAks6RiRWhPlA+qgkDk9DaTTO4/TVGXSs+DyhgVfYE4tJ+uGTNcwwvMXWUWsdoGM6FwQdQqLky+UNTvth1UKgz3Ya8wIBSPk+vr1voOJUzI/Ckt+AoWQTULN/hwXj0Q99fcOav3h8tGGoWuCIjLWy+FRQ5SZyZbAoYOz15WPC1f65xNZdsI0wmDgqnuqFuSReABVD1ziPUlhs4YMtuusv9IvV9DI78sXrGKkfEeKnqqn3+mgoPSoDHNjzzk7LQ9QDBQhSk3nPFn9unSW8Um4Rvb7J6La+8yWG04VzKuc/jOp66KxtGFx1Bx3G6te5zDBBmo52SgOJP2AK2wVkIkb7zT5dmnOJrtEMYItc2WbW+OujjQZo/EnMkc5qwHjqpyvpwYzN0wO76tc1X8uk8p72OnRICidD24mDzeW8qWoMUKrnU1sXHw9E3JlYURgP7pqZx/4xFax9BsEwn4e2dJfPxxAubeXX4aBtP5lEOjGefG17igJb4s8wYoWXSa//LaAPAOnUxXxWdn6xBj4U3Xw6/SIl701Ku0kfv+HFgmZap7OfeZRvnC2Zb/PtOHEstR5V3TVR710PSj5/aVC5ptaoAjMxBnHW7+Mzo1wC9hFTm5pRZ4EwtbyaPVLeOiJsdHZHjjelgn6UvFgCMjhLWd4v1Bj+UbxKFJhrzB5ivSd6K905ORXgboCiw9/kGrNir0LKjP5OufomuI86xhUnt8iyruDEnX84L0dcoeFCEoUeiOUNfJ4PsrJAOU95JXQSftM020LZWznouwjmgl5hwXFyOTowQ2l0/KrMlh+Uy5C2FnscTERx/9P2Wy1iCf7rbH7TOVxMaLWLbBe5sgZbdqVKCS1RhBL3Olk+j5VqHNh028cC5YnymYKukPBQZuyXN6aneVhsOEP4wyzsmyodu3BFF0gUmXmkW6uKxpDqus88tuAOUKURQpCU/+cgiuZMHGP/YeAifNUzD5UIw6n7vIGt4tZMsVVwbsIBUJDbotYYGpgAHvC+ITHHxnS322Sh7S+1Xqnkq73MtxKKrrE+yf3a7y4JooR4PzaFSeXkOhSZMAvuSpnz2ctvV9pFuNxlv8YjtupaDP0YjY0iWRdCTMWMRpraC2IECtHUTzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ExDqvSSSr87YnSRnqw2yBz",
      "input": {
        "note": "The overhead view shows the can lifted in the left gripper; carrying it at 20 cm toward the burner near the table's centre line.",
        "targets": {
          "left_gripper": 0.3,
          "left_x": 0.45,
          "left_y": -0.3,
          "left_yaw": 0.5,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01ExDqvSSSr87YnSRnqw2yBz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8429, 2.5782, 2.7453, -1.5211, -0.8577, -1.1912, 0.6842, -0.0212, 0.8379, 0.601, -0.7467, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4448 left_y=-0.2929 left_z=0.1718 left_yaw=0.4863 left_pitch=-0.1173 left_roll=0.0791 left_gripper=0.6842 right_x=0.2324 right_y=0.0022 right_z=0.1038 right_yaw=0.0014 right_pitch=-0.3951 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -14.188, 9.1966, 0.5397, -0.8962, -0.0952, 1.033, -0.212, -1.3607, 6.8308, 1.3944, -0.0806, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:197a8c7ad9bc9a6df58cf4be42985127eff66d63eb8296f35cc1a4496463258c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c401d46d37e54053d8c4bbc1dd11a3cf2b6eec15d37684e2f9afe5e6575db23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:972a1f52d9a2b10e13bf51a838dd08c49c4a27a99c417739bfb7b21f3c157660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 19.48 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]: [-0.5228, 1.8248, 0.7189, 0.1188, -0.7937, -0.7414, 0.6842, -0.0212, 0.8341, 0.6014, -0.7212, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.0659 left_z=0.0137 left_yaw=0.5016 left_pitch=-0.0488 left_roll=0.0715 left_gripper=0.6842 right_x=0.2377 right_y=0.002 right_z=0.1083 right_yaw=0.0008 right_pitch=-0.3654 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.9504, 5.5316, 0.9744, -0.3101, -0.0122, 1.033, -0.0479, -1.4564, 7.0222, 1.4969, -0.0366, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.5228, 1.5383, 1.0389, -0.5236, -0.7746, -0.749, 0.6842, -0.0212, 0.8352, 0.6014, -0.7322, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3732 left_y=-0.0683 left_z=0.1438 left_yaw=0.4969 left_pitch=-0.0809 left_roll=0.0876 left_gripper=0.6842 right_x=0.2354 right_y=0.0021 right_z=0.1065 right_yaw=0.0013 right_pitch=-0.3776 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.1419, 8.9915, 1.1648, -0.5788, 0.0562, 1.033, -0.0479, -1.1966, 6.653, 1.4237, -0.0366, -0.0708, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8429, 2.5782, 2.7453, -1.5211, -0.8577, -1.1912, 0.6842, -0.0212, 0.8379, 0.601, -0.7467, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4448 left_y=-0.2929 left_z=0.1718 left_yaw=0.4863 left_pitch=-0.1173 left_roll=0.0791 left_gripper=0.6842 right_x=0.2324 right_y=0.0022 right_z=0.1038 right_yaw=0.0014 right_pitch=-0.3951 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -14.188, 9.1966, 0.5397, -0.8962, -0.0952, 1.033, -0.212, -1.3607, 6.8308, 1.3944, -0.0806, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:197a8c7ad9bc9a6df58cf4be42985127eff66d63eb8296f35cc1a4496463258c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c401d46d37e54053d8c4bbc1dd11a3cf2b6eec15d37684e2f9afe5e6575db23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:972a1f52d9a2b10e13bf51a838dd08c49c4a27a99c417739bfb7b21f3c157660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017WsypCVEQL2n149hcXwyo6",
      "input": {
        "note": "The wrist camera shows the burner coil just to the right of and below the held can, so the can is a few cm left/forward of the plate centre; shifting toward the tool's right and slightly back while lowering to 15 cm.",
        "targets": {
          "left_gripper": 0.3,
          "left_x": 0.43,
          "left_y": -0.34,
          "left_yaw": 0.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017WsypCVEQL2n149hcXwyo6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9115, 2.6671, 2.7876, -1.5723, -0.8448, -1.2839, 0.6842, -0.0212, 0.8379, 0.601, -0.7479, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.3223 left_z=0.1358 left_yaw=0.4787 left_pitch=-0.1456 left_roll=0.1017 left_gripper=0.6842 right_x=0.2322 right_y=0.0021 right_z=0.1036 right_yaw=0.0011 right_pitch=-0.3963 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -14.1607, 5.9009, 0.5153, -0.7497, -0.1392, 1.0281, -0.1983, -1.1556, 6.9675, 1.2772, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abfba9500e23b2e83a19ff1e6600072f57567d894a97a05416244691914ecea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b70e7e257334ee22f6419a1eba8e8fe6a1f7907a9d71c3e0571c8cad6c791368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd14ff804fc1b68a34d8080d47da713364e9fae6a236313ed63bcdb946610d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 10.53 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]: [-0.5228, 1.5383, 1.0389, -0.5236, -0.7746, -0.749, 0.6842, -0.0212, 0.8352, 0.6014, -0.7322, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3732 left_y=-0.0683 left_z=0.1438 left_yaw=0.4969 left_pitch=-0.0809 left_roll=0.0876 left_gripper=0.6842 right_x=0.2354 right_y=0.0021 right_z=0.1065 right_yaw=0.0013 right_pitch=-0.3776 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.1419, 8.9915, 1.1648, -0.5788, 0.0562, 1.033, -0.0479, -1.1966, 6.653, 1.4237, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8429, 2.5782, 2.7453, -1.5211, -0.8577, -1.1912, 0.6842, -0.0212, 0.8379, 0.601, -0.7467, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4448 left_y=-0.2929 left_z=0.1718 left_yaw=0.4863 left_pitch=-0.1173 left_roll=0.0791 left_gripper=0.6842 right_x=0.2324 right_y=0.0022 right_z=0.1038 right_yaw=0.0014 right_pitch=-0.3951 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -14.188, 9.1966, 0.5397, -0.8962, -0.0952, 1.033, -0.212, -1.3607, 6.8308, 1.3944, -0.0806, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9115, 2.6671, 2.7876, -1.5723, -0.8448, -1.2839, 0.6842, -0.0212, 0.8379, 0.601, -0.7479, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.3223 left_z=0.1358 left_yaw=0.4787 left_pitch=-0.1456 left_roll=0.1017 left_gripper=0.6842 right_x=0.2322 right_y=0.0021 right_z=0.1036 right_yaw=0.0011 right_pitch=-0.3963 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -14.1607, 5.9009, 0.5153, -0.7497, -0.1392, 1.0281, -0.1983, -1.1556, 6.9675, 1.2772, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abfba9500e23b2e83a19ff1e6600072f57567d894a97a05416244691914ecea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b70e7e257334ee22f6419a1eba8e8fe6a1f7907a9d71c3e0571c8cad6c791368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd14ff804fc1b68a34d8080d47da713364e9fae6a236313ed63bcdb946610d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ArtTMDnvofm9Mj5YQLrDVN",
      "input": {
        "note": "The burner plate is visible in the wrist view ahead and slightly right of the held can; advancing ~4 cm and lowering to 10 cm so the can's middle comes over the plate before setting it down.",
        "targets": {
          "left_gripper": 0.3,
          "left_x": 0.46,
          "left_y": -0.33,
          "left_yaw": 0.5,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ArtTMDnvofm9Mj5YQLrDVN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8722, 2.7258, 2.7239, -1.4666, -0.8448, -1.261, 0.6842, -0.0212, 0.8406, 0.601, -0.767, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.3152 left_z=0.092 left_yaw=0.5079 left_pitch=-0.1502 left_roll=0.1357 left_gripper=0.6842 right_x=0.2282 right_y=0.0022 right_z=0.1005 right_yaw=0.0013 right_pitch=-0.418 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -15.1726, 6.0513, 0.1929, 0.0415, 0.1392, 1.0281, -0.0615, -1.3197, 6.5983, 1.4335, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96413cc31dad02d38a6e03995d0b21f07efe76dccf3809297eec037da27cf38e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f352a9a94ea4dddf8e466570f6c094eddf5843f569c3fe699d6718c751ee73f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e60f92b882ca12f46d7c34d3442c421958c13d727569cc530b15d0b02bb02942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.055 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]: [-0.8429, 2.5782, 2.7453, -1.5211, -0.8577, -1.1912, 0.6842, -0.0212, 0.8379, 0.601, -0.7467, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4448 left_y=-0.2929 left_z=0.1718 left_yaw=0.4863 left_pitch=-0.1173 left_roll=0.0791 left_gripper=0.6842 right_x=0.2324 right_y=0.0022 right_z=0.1038 right_yaw=0.0014 right_pitch=-0.3951 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -14.188, 9.1966, 0.5397, -0.8962, -0.0952, 1.033, -0.212, -1.3607, 6.8308, 1.3944, -0.0806, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9115, 2.6671, 2.7876, -1.5723, -0.8448, -1.2839, 0.6842, -0.0212, 0.8379, 0.601, -0.7479, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.3223 left_z=0.1358 left_yaw=0.4787 left_pitch=-0.1456 left_roll=0.1017 left_gripper=0.6842 right_x=0.2322 right_y=0.0021 right_z=0.1036 right_yaw=0.0011 right_pitch=-0.3963 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -14.1607, 5.9009, 0.5153, -0.7497, -0.1392, 1.0281, -0.1983, -1.1556, 6.9675, 1.2772, -0.0317, -0.0611, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8722, 2.7258, 2.7239, -1.4666, -0.8448, -1.261, 0.6842, -0.0212, 0.8406, 0.601, -0.767, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.3152 left_z=0.092 left_yaw=0.5079 left_pitch=-0.1502 left_roll=0.1357 left_gripper=0.6842 right_x=0.2282 right_y=0.0022 right_z=0.1005 right_yaw=0.0013 right_pitch=-0.418 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -15.1726, 6.0513, 0.1929, 0.0415, 0.1392, 1.0281, -0.0615, -1.3197, 6.5983, 1.4335, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96413cc31dad02d38a6e03995d0b21f07efe76dccf3809297eec037da27cf38e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f352a9a94ea4dddf8e466570f6c094eddf5843f569c3fe699d6718c751ee73f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60f92b882ca12f46d7c34d3442c421958c13d727569cc530b15d0b02bb02942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rcizw2UzdnTSMViC2QVjMh",
      "input": {
        "note": "The overhead view shows the gripper roughly over the burner with the coil slightly to the can's right in the wrist view; shifting ~2 cm right and lowering until the can touches the plate.",
        "targets": {
          "left_gripper": 0.3,
          "left_x": 0.455,
          "left_y": -0.34,
          "left_yaw": 0.5,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Rcizw2UzdnTSMViC2QVjMh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8505, -1.2575, 0.6842, -0.0212, 0.841, 0.601, -0.7696, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.3194 left_z=0.0918 left_yaw=0.5045 left_pitch=-0.1369 left_roll=0.0986 left_gripper=0.6842 right_x=0.2276 right_y=0.0022 right_z=0.1001 right_yaw=0.0013 right_pitch=-0.4211 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -15.6103, 5.4496, 0.5836, -0.4078, 0.1636, 1.0281, -0.0889, -0.8684, 6.5846, 1.2772, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2750843ca99ddec3de65b70a36dcbfd147798923f633ac6ab73da13f32373686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2071b4a54d0a8149d94ad9f0cd9e4df414843b5223e7705b1965f7b4465495d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9034b1f269dfb51ea4f50d6b3e594a9925f7f7b1e096d53a40b703d232d19705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 11.18 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]: [-0.9115, 2.6671, 2.7876, -1.5723, -0.8448, -1.2839, 0.6842, -0.0212, 0.8379, 0.601, -0.7479, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.3223 left_z=0.1358 left_yaw=0.4787 left_pitch=-0.1456 left_roll=0.1017 left_gripper=0.6842 right_x=0.2322 right_y=0.0021 right_z=0.1036 right_yaw=0.0011 right_pitch=-0.3963 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -14.1607, 5.9009, 0.5153, -0.7497, -0.1392, 1.0281, -0.1983, -1.1556, 6.9675, 1.2772, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8722, 2.7258, 2.7239, -1.4666, -0.8448, -1.261, 0.6842, -0.0212, 0.8406, 0.601, -0.767, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.3152 left_z=0.092 left_yaw=0.5079 left_pitch=-0.1502 left_roll=0.1357 left_gripper=0.6842 right_x=0.2282 right_y=0.0022 right_z=0.1005 right_yaw=0.0013 right_pitch=-0.418 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -15.1726, 6.0513, 0.1929, 0.0415, 0.1392, 1.0281, -0.0615, -1.3197, 6.5983, 1.4335, -0.0171, -0.0611, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8505, -1.2575, 0.6842, -0.0212, 0.841, 0.601, -0.7696, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.3194 left_z=0.0918 left_yaw=0.5045 left_pitch=-0.1369 left_roll=0.0986 left_gripper=0.6842 right_x=0.2276 right_y=0.0022 right_z=0.1001 right_yaw=0.0013 right_pitch=-0.4211 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -15.6103, 5.4496, 0.5836, -0.4078, 0.1636, 1.0281, -0.0889, -0.8684, 6.5846, 1.2772, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2750843ca99ddec3de65b70a36dcbfd147798923f633ac6ab73da13f32373686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2071b4a54d0a8149d94ad9f0cd9e4df414843b5223e7705b1965f7b4465495d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9034b1f269dfb51ea4f50d6b3e594a9925f7f7b1e096d53a40b703d232d19705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwkKEAgRGAI4AUIIdGhpbmtpbmcSDOzxdRbBnBGPHnBCrxoM3Cp1Vcwx58GDW2VdIjCK4+MbiD/Qwb78M6GBwpkrcLFQA7kaGRhPJBZ7Ww7MqzobRy6LxR38+CTEQhf0EEkq1AhLqxWw4LLSesGt3i/xuGN8C/QC2OcyWdxEUpF0vCpYrEK0EaGnqsnjRKyWKXd5f09oo2hodcopkUNsN88sgX9hQC5RuCCELb8NGOyM9zkFRNkv4mTDYbASdZYXN/fVximCEOutt7bioAh8xlc0rTZ2Dyf8tJm8RDf0E47lJkxXj5zXqoriJznNw7u5HNiTwkzQlRs672EWcLfLFv/uLmzjjNb2YJ/RE7Lp7rX1O0N4IlodvtiiARWvlqzMXZ96ezVsUkVyFlbFTHe7rw+IQRnaIRMh8DT+6AXqkS1fPb223iSFs1hX5ZjZZwm/ph0fm+B4vQNeHhrdVlbYV5xpDjdPZx4d0zjj1mhPNrT+CG88E+QU96ops7f/6PN4WxX7kM7mohnGjmXF/4oJbEWKSI7hh3k8Mb/JLu0AIT89EpSL+lRJ8aM6VB/5wRE8lr9XsaYAHOFu47UQuaAJoELe8UjTPFlEMFLHowuZOvJlFsqmeJt4GXBZ/vJx50hfhMg9kkWErMiWrMbrEscj0QDYJdpgbYG6iMX5KTIazXMoRsQy0A80c2Xwo2RnLxrzE9AjSJxEyEF4ZXpNOdInWZszNMO2+uy06lLxAtfvsXDHviSYz7exmGrUTBVVpykEy7XtY33t1kOno0AsU/EnllwSTu3mJVU6QjBw55L5RFIGnb008yMvbrqsLTMz1QW/4/Hsw/+0qZaHCwv7PlOUC0u3p5MGI2wXBTLoErt+PAIoWh3J05sCc+T7z718bkdQjBpKUohkQMvFQLR52PbdVUUo+yn101T+m99s3gXrIYS5lTG/VsQPPw/gDpWF0rJ04gF+wjR2ROSzeQ7TRsRwwEokO10UnvzT6LVf+3pqSljWNO2idlC3KVQ4tSohFKX9yFMTYdtQdW/JZv2ZJfsonbLXd9DyGttBurYWX8W0kJLT7gy6SGfRIfvNh/FStlMEfFwaj3+xn2G+sSO874Xa7CjWSCEFXlNeFd8UHWHcijgaussuV6Vz6Vhcf6e9Be3JNY6hRqAVfTX75UsYavmCwoBiRpdm6qDRA9d5659I683gas4igPFXlvVjVs7pAIuRcG1aOK3DKenK5qWIYxQzEYS3UZ6QF46fDDVZc3/czfRBYUNUTPSoP3vLwNHZ6uXHS3Q8sOVe0hoOZu/zE5aiLyxFfIIp9AfE2V78AnizW9lJlUQFJYyTpcpj/RVBfcVAG1wwZH5Nxti2egT3E2n2IW55baF/vLZuEPUYcxjAeYR64pR6XTLSxKMFGS72Hu0oCNb8TpoTF+NxHJI6r85iXUK+xOtnpiFphsgk3YY9cxZPDjukICFUNMCD3iGi9unxSSEoPPZKhGno/i2VIMdS7NwFew/S+9c4O1vx9eknjo9DONDcHU1W7RC2/2KeMazn8eDXEhhu82NI/ED8N+AFrIJzMF8GZ+SOK9xxT3ZabB+ladQZM2ESlkqcCx8zNjzMWt/lq3KRgdNVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbnTxfpjSGfuxH2KGuqnk2",
      "input": {
        "note": "The descent stopped at z≈0.09, consistent with the can's underside resting on the ~6 cm burner plate, and the overhead view shows the can over the plate; opening the gripper to release it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.449,
          "left_y": -0.32,
          "left_yaw": 0.5,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SbnTxfpjSGfuxH2KGuqnk2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8501, -1.2575, 0.7033, -0.0212, 0.8417, 0.601, -0.7883, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4486 left_y=-0.3194 left_z=0.0917 left_yaw=0.5044 left_pitch=-0.1373 left_roll=0.0985 left_gripper=0.7033 right_x=0.2237 right_y=0.0024 right_z=0.0975 right_yaw=0.0019 right_pitch=-0.4405 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [0.7043, -15.8017, 5.2718, 0.5885, -0.4029, 0.1734, 0.6911, -0.0615, -1.1829, 6.7077, 1.4383, -0.0611, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aef4f2f1aa13df94963e5a558e041e8fd560cb27083f7314f4409ca42540e9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f622e262b4152c29038423149201b56ba57d11a39ba539692c859bdf17481b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24cb26c3e7301e747cdf9ab3844347b1318345ff77c4f83defb89ba4cffe9b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.714 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]: [-0.8722, 2.7258, 2.7239, -1.4666, -0.8448, -1.261, 0.6842, -0.0212, 0.8406, 0.601, -0.767, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.3152 left_z=0.092 left_yaw=0.5079 left_pitch=-0.1502 left_roll=0.1357 left_gripper=0.6842 right_x=0.2282 right_y=0.0022 right_z=0.1005 right_yaw=0.0013 right_pitch=-0.418 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -15.1726, 6.0513, 0.1929, 0.0415, 0.1392, 1.0281, -0.0615, -1.3197, 6.5983, 1.4335, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8505, -1.2575, 0.6842, -0.0212, 0.841, 0.601, -0.7696, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.3194 left_z=0.0918 left_yaw=0.5045 left_pitch=-0.1369 left_roll=0.0986 left_gripper=0.6842 right_x=0.2276 right_y=0.0022 right_z=0.1001 right_yaw=0.0013 right_pitch=-0.4211 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -15.6103, 5.4496, 0.5836, -0.4078, 0.1636, 1.0281, -0.0889, -0.8684, 6.5846, 1.2772, -0.0415, -0.0366, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8501, -1.2575, 0.7033, -0.0212, 0.8417, 0.601, -0.7883, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4486 left_y=-0.3194 left_z=0.0917 left_yaw=0.5044 left_pitch=-0.1373 left_roll=0.0985 left_gripper=0.7033 right_x=0.2237 right_y=0.0024 right_z=0.0975 right_yaw=0.0019 right_pitch=-0.4405 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [0.7043, -15.8017, 5.2718, 0.5885, -0.4029, 0.1734, 0.6911, -0.0615, -1.1829, 6.7077, 1.4383, -0.0611, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aef4f2f1aa13df94963e5a558e041e8fd560cb27083f7314f4409ca42540e9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f622e262b4152c29038423149201b56ba57d11a39ba539692c859bdf17481b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24cb26c3e7301e747cdf9ab3844347b1318345ff77c4f83defb89ba4cffe9b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrw4KEAgRGAI4AUIIdGhpbmtpbmcSDA5kJ46RS6JeW30TyRoMoD7jCGLTqka2eAy4IjBDuuqpcPRT7LDyliuKm/sx/W/fjx9R8wpD99U++c58c2QbSJdysNwfmEL+PnCXL6AqzA0B+I++7DveTji5NJTynv45qfp8e1QRrxE6epPOq6Wvr2heTYQllTU/xH4qGr6wXADUFaj/bzuPWPXJPhxO0jX3fV6UMtC+5pLLYm/wbDLa5Po8UPQDA4P+DYa/XTQEaTleOIZBlCkUbCwOdOvyF4qqn33am+awM4oTepS+NbIA1RpojjovW+kIOcjEL46jOF/zCcTg4lFXq73u21moWSb37La7AieZ7ZYc4DYyXdGWpQ2NDVO9Pf0C1xJa/lnv0J3+w2T+yqgCpOOeHwN8zT6DS0bPEoLtBAbkLdXU5ChSZUGJM+kxzxxZ6nwkdNLQraFyKOcNRUrBJB727TQvtQtS/0K8WMoEn3KhY1f5VWu+ssvWDuSUUyp1uZh2Ulp5PqdgZLL9p3mmLwiQP5uyZRU1p0rvhuEyCgeUjynTbOrFy/8MqCoclyAGRd9WwI60i0tmzGVYNaW2rDsuTsezfT6rjn9TV4n4dgb65b0H8qFvBY+74dktIdBkLgDJ7hjXooxIBzAvMDUfcd+xt0AcG7Flmsy35CuOmJ8MCzoC49IYvXoXefjRVrklkhf9TgEaBEn9x0jfG1SEJyCwjHXIcDPwvIHGv1Uv5lz3yKbQ0PwkbrDk5xoYmjTCcaMh9dLFHAhrf9q+mA177DQyU13UFRW0jp4r7w8AjBOEaENdmLWxLv4ZEe9jk1bofdruORFEeY/VKYkQBznvLw14GN4bcyzIth5ziEl5iLmq9O4RmewKnWjHpTXAsa3RnSYTUnQVNmtvIQBLru1cgXKyGdbTo3Bi6nhHYRoH09igQqE+EEzNamNo7IwZ0opRU/SS0mKIrkUoDZJvV22twT9Nk7JZ6krvdmeuYs4e2d2zZ6hfIbyriQRjn0vJdNVgykSt8yln6N//z7OA9qJfdzs+8SvNkaTDL4HDkfOjit7d9SsEkhjj2kscpA/c9+8wFzHTj4kAEh24zgQdAzGTw1ab4twJwU+QI9nMa6mtO5luW/4agmOJuebzHvPxM++dZHYW36c5on5dvkHtFi5NAPIakkwsipsqudfjoM6d233kncHLEzhlbJ/zZ/wHsYwWemy7wiMgx3R518Yd4F4zcd/rCsfRnvRSf/eMwsCcGEufp8C6PMjuDHcElkEjbFemwSn/FvoiJLfM6XBsDiWxFNqZ+K9i5k25U3S2edyh7ltZfHttdmmZ8GhMBF4DXlN4iLbTXYdE3H6OGoSHVxluJLwZiAerxwQvULJVn9ba7KJ4IISdN2dApUF3GmZ9P7is/LIW3dybTdRfWhZ6OL0mzl4JCp9jeGgoQLI4W2QvIdZUAE0qsVlmhcr3WSWKt4KxWMUlyKPPMSys8b1ca3+3nEk8iCR8hu4ZyzXLT+TG9T20y+FfEqvCr+GMZHBi1XyN/JtUPteN6NuJnA2S5XsgRq2hnIvSUnHqhF8aiypq9IxMGXz3eSsSftpgGUhwiAdfsJx6+TsDstBCvexjQjxJOUuR1Ngg6O2ylu/PF1NgCbNlCGudsr4y9/2QiILYT0YRYaCxw6M+CaEJCiomqfJK0bjV5Cytu9S/DSOaOKEePc4OPwVFUesYk1KxqFn17YAHQq2zU/1UsR8fGqz8r9ZfmYcjwHRNqZ2EhoWCleVIzJsiUeIXcUqepQOKaicnjsis8p/UTa+z+/tZts79p8SJECm2apZ8tifia+c6Io9Rsz/tVqj3V5KrLdQ0hj5ZDKsEYx+KN/6UWgWJT+/L4jA8WoeUc7mTwOib1u0T43iYFZDkrnuXnUETj21ESy387BRYFx1EoOcvLjoAbWeJxosk6f/Elj/lKA8RtB182aYsJ+4D92N8c210mWp6qN8XPTZdg9hVEJJ1gxAOexSRh6kxMQi+IPXLpjpwzpMLWCgHAPNlw1iaWfwTxEYzDYnHAjO21tYdyyDt4EaWuXEPSLXxEFP21K/w3pInaj0sgdpVDG7IpjBw7MOPxJI0YUujWFQ3qqpM984C+Iyko01H2mo43NSMe1W2yI+d12jPqdOnJtc5miZEQx2rHHcOIugzhAA64m5huKcmEZ5P04VYlufwrLkvoZp4gwwkJi1o+HZshjJdlY9FoTFO+ocTig/VfQZpgqDE38DTCqC8FOwgxpmnKVfbEvD1p+f86DddzUbBvggtTaUIsZmV4p0gm+tE/3V0M0Xwni4WBhB1BN+3E8ZhAWnQgq63fUW9tEqn4SzsJe3Om6pnPOjzs+TExD5tNcTgtNHYTzFGHAImluMyvdPnoPwq1ZoFOqkW67swgTbvoOviBFcBGWIiaTUi7HLMplQr4On+l2P+rxBahCv7QfFuwmB/p9sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RkmcRKGnpZGELLKTkJpWPy",
      "input": {
        "note": "The gripper barely opened (0.70) and every step was clamped, so the arm is stuck in an awkward joint configuration again; commanding a small up-and-back move together with opening to free it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.32,
          "left_yaw": 0.5,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RkmcRKGnpZGELLKTkJpWPy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.868, 2.7255, 2.7155, -1.4166, -0.8345, -1.2495, 0.9948, -0.0212, 0.8417, 0.601, -0.7929, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4478 left_y=-0.3206 left_z=0.0897 left_yaw=0.4979 left_pitch=-0.1527 left_roll=0.1007 left_gripper=0.9948 right_x=0.2227 right_y=0.0023 right_z=0.0969 right_yaw=0.0016 right_pitch=-0.4451 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -15.8017, 5.4769, 0.5983, -0.569, 0.0855, -0.0855, -0.1162, -1.0462, 6.735, 1.2283, -0.0366, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16fc0c7e54b92202d064e77e0035a87df515e131c9c0ce6c4d8b9ac2589339f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60332cbe98a401f0ebe78c65a5b99883ef88456b93be2f8c160922c1b7c56cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2853c5da42600a961159bb022a0ffbff07979036e2398d4c31b32ea574ec1c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 12.58 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]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8505, -1.2575, 0.6842, -0.0212, 0.841, 0.601, -0.7696, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.3194 left_z=0.0918 left_yaw=0.5045 left_pitch=-0.1369 left_roll=0.0986 left_gripper=0.6842 right_x=0.2276 right_y=0.0022 right_z=0.1001 right_yaw=0.0013 right_pitch=-0.4211 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -15.6103, 5.4496, 0.5836, -0.4078, 0.1636, 1.0281, -0.0889, -0.8684, 6.5846, 1.2772, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8688, 2.7255, 2.7155, -1.4174, -0.8501, -1.2575, 0.7033, -0.0212, 0.8417, 0.601, -0.7883, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4486 left_y=-0.3194 left_z=0.0917 left_yaw=0.5044 left_pitch=-0.1373 left_roll=0.0985 left_gripper=0.7033 right_x=0.2237 right_y=0.0024 right_z=0.0975 right_yaw=0.0019 right_pitch=-0.4405 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [0.7043, -15.8017, 5.2718, 0.5885, -0.4029, 0.1734, 0.6911, -0.0615, -1.1829, 6.7077, 1.4383, -0.0611, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.868, 2.7255, 2.7155, -1.4166, -0.8345, -1.2495, 0.9948, -0.0212, 0.8417, 0.601, -0.7929, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4478 left_y=-0.3206 left_z=0.0897 left_yaw=0.4979 left_pitch=-0.1527 left_roll=0.1007 left_gripper=0.9948 right_x=0.2227 right_y=0.0023 right_z=0.0969 right_yaw=0.0016 right_pitch=-0.4451 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -15.8017, 5.4769, 0.5983, -0.569, 0.0855, -0.0855, -0.1162, -1.0462, 6.735, 1.2283, -0.0366, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16fc0c7e54b92202d064e77e0035a87df515e131c9c0ce6c4d8b9ac2589339f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60332cbe98a401f0ebe78c65a5b99883ef88456b93be2f8c160922c1b7c56cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2853c5da42600a961159bb022a0ffbff07979036e2398d4c31b32ea574ec1c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiwgKEAgRGAI4AUIIdGhpbmtpbmcSDKyBGDzd7EwZIcMMARoMKZredNM1wzFzo7o0IjAzUuDTU3qPcHbBsHXNbz+byrfF6XzFmOQIpNBR57edHkrU5CoQbNiAxRCCKqQy/WYqqAcwAar/I9pTmNGfZeyS53AR68MVEldE9Bcb07Rd8g1dTamQrz3p9U1341TOBXu2HpDsuRecWORTPOEX+JRAIkNY0ruHe/RvGX8qA6L8MpT+8CrSVKMyh2MoDiwzaP14biSp72oSi6h2OiILkP1pmn0QG5L3c+0PVWFdQ8K+btkdcjsTbWVva7iDz+HcLByOjyJnWVI325AhwKzpbTMd1sMF9bGLK4C4oORux273HB414Jz2+5+pSGI+wZH2vZiXR0SH/wjj5zq2gzQHt1k5fCJcUDISZydEQZBIPKsvVh5ea5MUEOM7Zs4L+ypgKxhQppseiww19WvHKxElqlNK+o+1NYF0nJGef3OIFKaT4+2u5ID2ZRZLkyHS0EYo7FcmQGUsck6+62x/Rg+S6jNW4djRZedNG0Q69ObaDdgnQjGAFEJ51kw09x/oINl03HhYSUHfEftDm8LKrjLBWMWukxvgTisAKPgJGHlLnvtpiQnXl2b15WLXZVfh2fAXy2LLNqrg0bEDvaNSpuXtrIpayDTOKLltnUq70BmnfImgnIo8niGEc4sSVawz6klzon10Dvzbj/WVTD3Ju/tT2Ltq/JqRNmsqQjAkrp6sPgy3xD7Un+HzwPxx53UGoKxW+AcGwB0RLSEQ2ZCIZtGZRGiBlCCUfI/3GMdqyyBd4FqSJhjjT3hBk1C2cspluavB/M4OyGKHXMKY4pMyLwrkOpafMzLlohQmzcS+QmnXLU7V1amPtykGblb0o7LU40rcXWL945vqHqJKewipOfIGkJgSWbZ8mb3v66hd3o8PH5g8h/EaHnS8ApZTo32WA96Vl0K3AnqAC1KpvW/f9s4PAeNJTqwkd1z9oIPC3bXxehxOA29MPU2teVDaBvmQvtALYO4YbZrs/iM/UrsBBY6B2OIxxG63zn0QZWyVw7VaOF6gSrdaKVsAxG3bdHo3ebFIH7IMuLLd5oRl3kdKNRYboiae6O65l+muOQjTqdDtn3v8CbK4HIsObXSCO4NwbuHxucGfnocI6IEuR+dZTx2y0+Rvy7f0t3ntXw5cx0KMuYOoMuR5veeEc2G7YGzVyInK/FvKjb5XHeTEDGbcLLMo9okUp1wfmCC5VJna46X/1IHGtTOiB06xAH+W5/+vEdwNMWU9I8+37rqsGibv6FAVDhcUKOYGrpi9TdrEEl85MrHuvnq+iQz6nEI+TaD7+4+PLd+0QbXukrENOtU3UK/31deNVt80eMnsYrq3Oy8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019USSUDGdwgJ9stgXnvivyz",
      "input": {
        "note": "The gripper is now fully open and the wrist view shows the can resting on the burner coil; retracting the arm up and back toward home to clear the overhead view and verify the placement.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.2,
          "left_yaw": 0.3,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_019USSUDGdwgJ9stgXnvivyz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8474, 1.771, 1.5372, -0.997, -0.778, -0.9752, 0.9984, -0.0212, 0.8448, 0.601, -0.8001, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3538 left_y=-0.2079 left_z=0.1878 left_yaw=0.3211 left_pitch=-0.1621 left_roll=0.1008 left_gripper=0.9984 right_x=0.2211 right_y=0.0024 right_z=0.0954 right_yaw=0.0017 right_pitch=-0.4554 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -10.1265, 6.1744, 0.9499, -0.4469, 0.1001, -0.1783, -0.0889, -0.841, 6.6667, 1.3065, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e106f6b6c6d124c2d0be1d1484a3840243b849492731f65a5e3123b9ca8c2e97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55978d8eb4777a255a899d6d04f5f7d7ea5d62dc7ecfb5103b2082f80c91966e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd4034124d637cfb0f6a5c039c4874db62730c3bf3fb5890434b37fed5e35c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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