adhoc

completed
2026-09-18T03:03:46.813650+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
381.9 s
total steps
182
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

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can lies on its side to the right of the burner, ahead and to the left of the right gripper in its wrist view. Flying the right arm to hover above the estimated can position to check alignment.
move_to
right_x0.4000right_y0.1200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0193, -0.033, 0.9993, -0.0212, 0.7929, 0.6079, -0.3958, -0.017, -0.0193, 0.9996] state[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6085, -1.4154, 10.2359, 1.9658, -0.0464, 0.1929, -0.0904, -0.3487, -1.388, 9.6479, 1.9072, -0.0757, 0.0366, -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
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.15, "right_gripper": 1.0}, "note": "The can lies on its side to the right of the burner, ahead and to the left of the right gripper in its wrist view. Flying the right arm to hover above the estimated can position to check alignment."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe can is now centred on the jaw column in the right wrist view, lying diagonally (upper-left to lower-right) with space below it. Advancing ~3 cm and yawing the tool 45° so the jaws close across the can's axis.
move_to
right_x0.4200right_y0.1200right_z0.1500right_yaw0.7800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0357, 0.9992, 0.4252, 1.422, 0.8146, -0.102, 0.3214, 0.2043, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3829 right_y=0.1161 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.0861 right_roll=-0.0413 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.5385, 6.8308, 1.8926, -0.0269, 0.0024, -0.0171, 0.0889, -6.4205, 8.8, 1.8974, 0.2027, 0.2027, -0.0513] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.12, "right_z": 0.15, "right_yaw": 0.78, "right_gripper": 1.0}, "note": "The can is now centred on the jaw column in the right wrist view, lying diagonally (upper-left to lower-right) with space below it. Advancing ~3 cm and yawing the tool 45\u00b0 so the jaws close across the can's axis."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe can now runs nearly vertically down the jaw column in the right wrist view, so the jaws will close across its body. Descending to can mid-height with the gripper open.
move_to
right_x0.4260right_y0.1000right_z0.0300right_yaw0.8500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4152, -0.0189, -0.0387, 0.9992, 0.0856, 1.5734, 1.0348, -0.2279, -0.326, -0.3519, 0.9996] state[eef_state]: left_x=0.2905 left_y=0.0013 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0282 left_roll=-0.0044 left_gripper=0.9992 right_x=0.4261 right_y=0.097 right_z=0.1373 right_yaw=0.55 right_pitch=-0.1368 right_roll=-0.0338 right_gripper=0.9996 state[joint_eff]: [-0.3077, -1.1556, 7.1043, 1.8242, -0.0659, -0.0415, -0.0122, -0.4991, -7.4598, 7.5419, 1.3407, -0.3443, -0.0855, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.426, "right_y": 0.1, "right_z": 0.03, "right_yaw": 0.85, "right_gripper": 1.0}, "note": "The can now runs nearly vertically down the jaw column in the right wrist view, so the jaws will close across its body. Descending to can mid-height with the gripper open."})
tool
executing move_to over 7 steps (0.7s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe arm yawed but did not descend (z still 0.14); the can is well aligned vertically along the jaw column. Re-commanding the descent to can mid-height.
move_to
right_x0.4200right_y0.1100right_z0.0300right_yaw0.7800right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.0658, 1.5974, 1.0714, -0.3058, -0.4984, -0.524, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0427 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4141 right_y=0.1155 right_z=0.1384 right_yaw=0.7644 right_pitch=-0.1261 right_roll=-0.025 right_gripper=0.9996 state[joint_eff]: [-0.1573, -1.1966, 7.1179, 1.8388, -0.0611, -0.0562, -0.0122, 0.1436, -7.5419, 7.9385, 1.6288, -0.4371, -0.0269, -0.0562] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.11, "right_z": 0.03, "right_yaw": 0.78, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm yawed but did not descend (z still 0.14); the can is well aligned vertically along the jaw column. Re-commanding the descent to can mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper is at table height and the can is no longer visible in the wrist view, meaning it is either between the jaws or just behind them. Closing to test for a grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4366, -0.0189, -0.0391, 0.9992, 0.0116, 1.8343, 0.7673, 0.128, -0.5953, -0.5343, 0.9996] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1674 left_yaw=0.0034 left_pitch=-0.0553 left_roll=-0.0041 left_gripper=0.9992 right_x=0.3862 right_y=0.1071 right_z=0.0068 right_yaw=0.7954 right_pitch=-0.1543 right_roll=0.0961 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.4017, 7.0085, 1.7949, -0.0317, -0.0513, -0.0122, 0.0479, -5.6957, 5.3949, 1.4628, -0.398, 0.0415, -0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at table height and the can is no longer visible in the wrist view, meaning it is either between the jaws or just behind them. Closing to test for a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe close was empty; the top view shows the can was pushed forward and now lies along the forward axis, beside the burner. Lifting, opening and re-aligning at yaw 0 above the can's new position to look with the wrist camera.
move_to
right_x0.4600right_y0.1400right_z0.1500right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4538, -0.0189, -0.0391, 0.9992, 0.0071, 1.8492, 0.7589, 0.1356, -0.5961, -0.5423, 0.0116] state[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1638 left_yaw=0.0035 left_pitch=-0.0732 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3833 right_y=0.1055 right_z=-0.0 right_yaw=0.7976 right_pitch=-0.1645 right_roll=0.1018 right_gripper=0.0116 state[joint_eff]: [0.0068, -1.1009, 7.241, 1.8584, -0.0464, -0.0317, -0.0122, 0.1983, -9.0735, 5.4769, 1.16, -0.2466, 0.0513, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.14, "right_z": 0.15, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The close was empty; the top view shows the can was pushed forward and now lies along the forward axis, beside the burner. Lifting, opening and re-aligning at yaw 0 above the can's new position to look with the wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteIn the right wrist view the can is forward and to the arm's right of the jaws, with the burner to the left. Shifting right and forward to bring the can onto the jaw column.
move_to
right_x0.5000right_y0.0800right_z0.1200right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, 0.3733, 1.6672, 1.0107, 0.0032, 0.1383, 0.1951, 0.9947] state[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1612 left_yaw=0.0035 left_pitch=-0.0866 left_roll=-0.0034 left_gripper=0.9992 right_x=0.446 right_y=0.1524 right_z=0.124 right_yaw=0.1467 right_pitch=-0.0673 right_roll=0.0786 right_gripper=0.9947 state[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7607, -0.0562, -0.0806, -0.0122, 0.1162, -7.9248, 8.6359, 1.9072, 0.1245, 0.1832, -0.188] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.08, "right_z": 0.12, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "In the right wrist view the can is forward and to the arm's right of the jaws, with the burner to the left. Shifting right and forward to bring the can onto the jaw column."})
tool
executing move_to over 7 steps (0.7s)
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 sits at the top of the right wrist view, still ahead and slightly right of the jaws; the arm is near its reach so I pitch the tool forward to extend and move further out and right.
move_to
right_x0.5300right_y0.0500right_z0.1000right_yaw0.0000right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4801, -0.0189, -0.0391, 0.9992, 0.207, 1.7699, 1.0351, 0.0452, 0.1154, 0.1638, 0.999] state[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0035 left_pitch=-0.1003 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4769 right_y=0.083 right_z=0.095 right_yaw=0.0161 right_pitch=-0.1046 right_roll=0.0603 right_gripper=0.999 state[joint_eff]: [-0.1299, -1.306, 7.1179, 1.7363, -0.0611, -0.022, -0.0122, -0.4718, -7.8838, 9.5795, 2.3907, 0.0415, -0.0464, -0.1148] 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": {"right_x": 0.53, "right_y": 0.05, "right_z": 0.1, "right_yaw": 0.0, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The can sits at the top of the right wrist view, still ahead and slightly right of the jaws; the arm is near its reach so I pitch the tool forward to extend and move further out and right."})
tool
executing move_to over 14 steps (1.4s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe can now fills the upper-right of the right wrist view, lying at ~30° from horizontal, slightly right of the jaws. Shifting right/forward and yawing the tool clockwise so the jaws close across the can body.
move_to
right_x0.5500right_y0.0100right_z0.0800right_yaw-1.0000right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4965, -0.0189, -0.0391, 0.9992, 0.1181, 1.9648, 0.9096, 0.6765, 0.0765, 0.078, 0.999] state[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1554 left_yaw=0.0035 left_pitch=-0.1167 left_roll=-0.0027 left_gripper=0.9992 right_x=0.5209 right_y=0.0518 right_z=0.0814 right_yaw=0.0054 right_pitch=0.2025 right_roll=0.0527 right_gripper=0.999 state[joint_eff]: [0.0068, -1.2239, 7.0906, 1.7509, -0.0611, -0.0366, -0.0122, -0.5812, -8.7179, 5.6137, 2.591, -0.0317, -0.0269, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.55, "right_y": 0.01, "right_z": 0.08, "right_yaw": -1.0, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The can now fills the upper-right of the right wrist view, lying at ~30\u00b0 from horizontal, slightly right of the jaws. Shifting right/forward and yawing the tool clockwise so the jaws close across the can body."})
tool
executing move_to over 7 steps (0.7s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe wrist image is motion-blurred with the can running diagonally up from the left jaw; the yaw is still converging. Holding position and letting the yaw finish to get a sharp view before descending.
move_to
right_x0.5600right_y0.0350right_z0.0800right_yaw-1.0000right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5198, -0.0189, -0.0391, 0.9992, 0.3115, 2.3161, 1.5318, 0.1886, 0.9852, 0.5953, 0.9991] state[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1499 left_yaw=0.0036 left_pitch=-0.1442 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5712 right_y=0.033 right_z=0.0815 right_yaw=-0.807 right_pitch=0.2633 right_roll=0.0876 right_gripper=0.9991 state[joint_eff]: [-0.253, -1.1829, 7.1316, 1.8926, -0.0171, -0.0366, -0.0122, 0.1709, -13.012, 5.9692, 1.3407, 0.6911, 0.2173, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.56, "right_y": 0.035, "right_z": 0.08, "right_yaw": -1.0, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The wrist image is motion-blurred with the can running diagonally up from the left jaw; the yaw is still converging. Holding position and letting the yaw finish to get a sharp view before descending."})
tool
executing move_to over 2 steps (0.2s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteWith the yaw settled the can runs vertically in the right wrist view but sits ~5 cm to the tool's left of the jaw column. Shifting toward the tool's left (forward-left in base frame), pitching further forward for reach, and lowering toward grasp height.
move_to
right_x0.5900right_y0.0450right_z0.0500right_yaw-1.0000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5213, -0.0189, -0.0387, 0.9992, 0.3275, 2.3825, 1.6775, -0.065, 1.1564, 0.8078, 0.9991] state[eef_state]: left_x=0.2749 left_y=0.0017 left_z=0.1492 left_yaw=0.0034 left_pitch=-0.1472 left_roll=-0.0017 left_gripper=0.9992 right_x=0.5607 right_y=0.0235 right_z=0.0825 right_yaw=-0.9881 right_pitch=0.2945 right_roll=0.09 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.306, 7.0222, 1.6239, -0.0317, -0.0366, -0.0171, 1.6068, -12.4376, 7.1863, 1.3016, 0.6618, 0.1685, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.59, "right_y": 0.045, "right_z": 0.05, "right_yaw": -1.0, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "With the yaw settled the can runs vertically in the right wrist view but sits ~5 cm to the tool's left of the jaw column. Shifting toward the tool's left (forward-left in base frame), pitching further forward for reach, and lowering toward grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe arm has stalled at its reach limit (x≈0.556) with the can still to the tool's left of the jaws. Instead of reaching further, I slide along the can's axis toward its near (lid) end, which brings the can body onto the jaw column within reach.
move_to
right_x0.5500right_y0.1000right_z0.0500right_yaw-1.0000right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.54, -0.0189, -0.0391, 0.9992, 0.3523, 2.4016, 1.7084, -0.16, 1.1671, 0.8501, 0.999] state[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1451 left_yaw=0.0037 left_pitch=-0.1686 left_roll=-0.0015 left_gripper=0.9992 right_x=0.5556 right_y=0.035 right_z=0.0747 right_yaw=-0.9705 right_pitch=0.2797 right_roll=0.0462 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.4291, 7.1043, 1.746, -0.0659, -0.0513, -0.0122, -0.0615, -12.6291, 7.9111, 1.3162, 0.5934, 0.0952, -0.1148] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.55, "right_y": 0.1, "right_z": 0.05, "right_yaw": -1.0, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The arm has stalled at its reach limit (x\u22480.556) with the can still to the tool's left of the jaws. Instead of reaching further, I slide along the can's axis toward its near (lid) end, which brings the can body onto the jaw column within reach."})
tool
executing move_to over 6 steps (0.6s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe can now runs down the middle of the right wrist view, tilted ~20° with its lower end just left of the jaws. Yawing slightly more clockwise to square the jaws to the can and descending to grasp height.
move_to
right_x0.5700right_y0.0900right_z0.0200right_yaw-1.3500right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5583, -0.0189, -0.0391, 0.9992, 0.4412, 2.5855, 1.9957, -0.3672, 1.2221, 1.0447, 0.9991] state[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1409 left_yaw=0.0038 left_pitch=-0.1907 left_roll=-0.001 left_gripper=0.9992 right_x=0.5724 right_y=0.0907 right_z=0.0585 right_yaw=-0.994 right_pitch=0.2934 right_roll=0.1255 right_gripper=0.9991 state[joint_eff]: [0.1436, -1.306, 6.8718, 1.9121, -0.0659, -0.0562, -0.0122, 0.4581, -14.6803, 7.4872, 0.8278, 0.8816, 0.1832, -0.1148] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.57, "right_y": 0.09, "right_z": 0.02, "right_yaw": -1.35, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The can now runs down the middle of the right wrist view, tilted ~20\u00b0 with its lower end just left of the jaws. Yawing slightly more clockwise to square the jaws to the can and descending to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe can's base end now sits right between the jaws at the bottom of the right wrist view, at can mid-height. Closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8223, 0.6067, -0.5732, -0.0185, -0.0391, 0.9992, 0.4423, 2.9456, 2.6114, -0.8967, 1.3094, 1.5139, 0.9991] state[eef_state]: left_x=0.2665 left_y=0.0018 left_z=0.1368 left_yaw=0.0036 left_pitch=-0.2117 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5854 right_y=0.0924 right_z=0.0308 right_yaw=-1.2109 right_pitch=0.3094 right_roll=0.3076 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.0735, 6.8718, 1.8779, -0.0513, -0.0464, -0.0122, -3.0701, -8.9231, 3.7265, 0.3785, 0.2076, 0.6667, -0.1148] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The can's base end now sits right between the jaws at the bottom of the right wrist view, at can mid-height. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
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 noteSecond empty close: the can's base is visible just ahead of the closed jaws, at the arm's reach limit. Retracting the right arm home to get an unobstructed top view of where the can actually lies before re-planning.
move_to
right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.823, 0.6067, -0.585, -0.0189, -0.0391, 0.9992, 0.4438, 2.9582, 2.6251, -0.8936, 1.2968, 1.5143, 0.0117] state[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1345 left_yaw=0.004 left_pitch=-0.2242 left_roll=-0.0002 left_gripper=0.9992 right_x=0.5866 right_y=0.0946 right_z=0.026 right_yaw=-1.2064 right_pitch=0.2972 right_roll=0.3114 right_gripper=0.0117 state[joint_eff]: [-0.0615, -1.1966, 6.8991, 1.6337, -0.0464, -0.0366, -0.0122, -0.1846, -16.9368, 5.0667, 0.6716, 0.6032, -0.0366, 0.9988] approver: 10 step(s) modified (delta_clamped ×10). 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": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Second empty close: the can's base is visible just ahead of the closed jaws, at the arm's reach limit. Retracting the right arm home to get an unobstructed top view of where the can actually lies before re-planning."})
tool
executing move_to over 23 steps (2.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteTop view shows the can lying far forward-right at about x≈0.6, y≈0.07, angled ~45°, right at the arm's reach limit. Going straight to a low grasp pose at the box's x limit with the jaws squared to the can's axis.
move_to
right_x0.6000right_y0.0800right_z0.0300right_yaw-1.0000right_pitch0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8288, 0.6067, -0.6067, -0.0189, -0.0395, 0.9992, 0.001, 0.8631, 0.6617, -0.3752, 0.0887, 0.0669, 0.9976] state[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1295 left_yaw=0.0043 left_pitch=-0.2517 left_roll=0.0001 left_gripper=0.9992 right_x=0.3068 right_y=-0.0118 right_z=0.1884 right_yaw=-0.1135 right_pitch=0.0066 right_roll=0.0147 right_gripper=0.9976 state[joint_eff]: [-0.1709, -1.5932, 6.8308, 1.7265, -0.0464, -0.0708, -0.0122, -0.1299, -1.9077, 10.4, 2.0391, -0.149, -0.0708, -0.022] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_y": 0.08, "right_z": 0.03, "right_yaw": -1.0, "right_pitch": 0.4, "right_gripper": 1.0}, "note": "Top view shows the can lying far forward-right at about x\u22480.6, y\u22480.07, angled ~45\u00b0, right at the arm's reach limit. Going straight to a low grasp pose at the box's x limit with the jaws squared to the can's axis."})
tool
executing move_to over 23 steps (2.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe can's base end now sits squarely between the jaw wedges in the right wrist view, running vertically up the frame. Closing the gripper on the can body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8318, 0.6067, -0.6178, -0.0189, -0.0391, 0.9992, 0.4141, 2.7468, 2.1117, -0.1196, 1.256, 0.7525, 0.9991] state[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1269 left_yaw=0.0042 left_pitch=-0.2658 left_roll=0.0007 left_gripper=0.9992 right_x=0.604 right_y=0.0859 right_z=0.0311 right_yaw=-0.9411 right_pitch=0.3667 right_roll=0.0321 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.2376, 6.8034, 1.6532, -0.0464, -0.0415, -0.0122, -0.2256, -14.8855, 5.8872, 0.9011, 0.862, 0.0952, -0.1148] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The can's base end now sits squarely between the jaw wedges in the right wrist view, running vertically up the frame. Closing the gripper on the can body."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteEmpty close again; the can's base is directly ahead of the closed jaws by ~3 cm. Since the tool's forward direction at this yaw is mostly to the arm's right, I open and shift right 3 cm to bring the can between the jaws.
move_to
right_x0.6000right_y0.0550right_z0.0300right_yaw-0.9400right_pitch0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6331, -0.0189, -0.0391, 0.9992, 0.4133, 2.7525, 2.0872, -0.1154, 1.256, 0.7593, 0.0122] state[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1243 left_yaw=0.0043 left_pitch=-0.2815 left_roll=0.0011 left_gripper=0.9992 right_x=0.5997 right_y=0.0835 right_z=0.0204 right_yaw=-0.9362 right_pitch=0.361 right_roll=0.0121 right_gripper=0.0122 state[joint_eff]: [-0.0479, -1.1692, 6.7897, 1.5751, -0.022, -0.0269, -0.0122, 0.1983, -17.0325, 5.4632, 1.2576, 0.3687, -0.0366, 1.0672] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_y": 0.055, "right_z": 0.03, "right_yaw": -0.94, "right_pitch": 0.4, "right_gripper": 1.0}, "note": "Empty close again; the can's base is directly ahead of the closed jaws by ~3 cm. Since the tool's forward direction at this yaw is mostly to the arm's right, I open and shift right 3 cm to bring the can between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe can's base is now between the jaws but a bit to the tool's left; nudging slightly toward the tool's left while closing so the jaws squeeze the can body centrally.
move_to
right_x0.6000right_y0.0720right_z0.0300right_yaw-0.9500right_pitch0.4000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6373, -0.0193, -0.0391, 0.9992, 0.3775, 2.7117, 1.9392, 0.1501, 1.2564, 0.6147, 0.9945] state[eef_state]: left_x=0.2551 left_y=0.0022 left_z=0.1237 left_yaw=0.0047 left_pitch=-0.2856 left_roll=0.0015 left_gripper=0.9992 right_x=0.5986 right_y=0.0605 right_z=0.0215 right_yaw=-0.9484 right_pitch=0.3993 right_roll=0.0254 right_gripper=0.9945 state[joint_eff]: [-0.0068, -1.0735, 6.9128, 1.4579, -0.0806, -0.0171, -0.0122, -1.0188, -16.8957, 5.1761, 1.3651, 0.188, -0.2173, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_y": 0.072, "right_z": 0.03, "right_yaw": -0.95, "right_pitch": 0.4, "right_gripper": 0.0}, "note": "The can's base is now between the jaws but a bit to the tool's left; nudging slightly toward the tool's left while closing so the jaws squeeze the can body centrally."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe can's base is still just beyond the closed fingertips and the arm is at the workspace x limit, so it cannot be grasped where it lies. New plan: put the closed fingertips on top of the can and drag it back toward the base so it rolls within reach.
move_to
right_x0.6000right_y0.0450right_z0.0750right_yaw-0.9300right_pitch0.4000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6376, -0.0193, -0.0391, 0.9992, 0.392, 2.7094, 1.9751, 0.0597, 1.2572, 0.6434, 0.0117] state[eef_state]: left_x=0.255 left_y=0.0022 left_z=0.1236 left_yaw=0.0047 left_pitch=-0.286 left_roll=0.0015 left_gripper=0.9992 right_x=0.5981 right_y=0.0693 right_z=0.0253 right_yaw=-0.9305 right_pitch=0.3868 right_roll=0.0008 right_gripper=0.0117 state[joint_eff]: [-0.0479, -1.2376, 6.9675, 1.4676, -0.0562, -0.0171, -0.0122, 0.5538, -14.3248, 8.5128, 1.3895, 0.4811, 0.0806, 1.0134] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_y": 0.045, "right_z": 0.075, "right_yaw": -0.93, "right_pitch": 0.4, "right_gripper": 0.0}, "note": "The can's base is still just beyond the closed fingertips and the arm is at the workspace x limit, so it cannot be grasped where it lies. New plan: put the closed fingertips on top of the can and drag it back toward the base so it rolls within reach."})
tool
executing move_to over 4 steps (0.4s)
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 · 37.92 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, 0.7925, 0.6041, -0.3885, -0.0193, -0.033, 0.9993, -0.0212, 0.7929, 0.6079, -0.3958, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4154, 10.2359, 1.9658, -0.0464, 0.1929, -0.0904, -0.3487, -1.388, 9.6479, 1.9072, -0.0757, 0.0366, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec54df97f7760b48263eeddff21c373871df7c33cc5f93ab05456650a3c39d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3e6437ba836f138dd980d3218c978f07af16f6406eb0568bbf9704cc743445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4cf3abaef441c9b146ea5679e12d7f24e1ece15847a8872d37f36e11f5dc8162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6ec54df97f77
wire blob be3e6437ba83
wire blob 4cf3abaef441
call 1 attempt 0 · /messages · status 200 · 27.81 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, 0.7925, 0.6041, -0.3885, -0.0193, -0.033, 0.9993, -0.0212, 0.7929, 0.6079, -0.3958, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4154, 10.2359, 1.9658, -0.0464, 0.1929, -0.0904, -0.3487, -1.388, 9.6479, 1.9072, -0.0757, 0.0366, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec54df97f7760b48263eeddff21c373871df7c33cc5f93ab05456650a3c39d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3e6437ba836f138dd980d3218c978f07af16f6406eb0568bbf9704cc743445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf3abaef441c9b146ea5679e12d7f24e1ece15847a8872d37f36e11f5dc8162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6ec54df97f77]
[blob be3e6437ba83]
[blob 4cf3abaef441]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FWh3jkrekq2ogwJGp7ghiJ",
      "input": {
        "note": "The can lies on its side to the right of the burner, ahead and to the left of the right gripper in its wrist view. Flying the right arm to hover above the estimated can position to check alignment.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FWh3jkrekq2ogwJGp7ghiJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0357, 0.9992, 0.4252, 1.422, 0.8146, -0.102, 0.3214, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3829 right_y=0.1161 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.0861 right_roll=-0.0413 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.5385, 6.8308, 1.8926, -0.0269, 0.0024, -0.0171, 0.0889, -6.4205, 8.8, 1.8974, 0.2027, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b930f1bcdbfcac7c8cd3c79ec0f4972bd6f340fe8977fe152745bb1c768358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cada1ea192d3f4220b4beac70ef5a09add4ebbf75e222eed75612b14cef85ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc8eb0b74bf3bd15e646abac7b32845d7c96080479cb70d12597c5b2a54ab1d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f4b930f1bcdb
wire blob cada1ea192d3
wire blob fc8eb0b74bf3
call 2 attempt 0 · /messages · status 200 · 10.62 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, 0.7925, 0.6041, -0.3885, -0.0193, -0.033, 0.9993, -0.0212, 0.7929, 0.6079, -0.3958, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4154, 10.2359, 1.9658, -0.0464, 0.1929, -0.0904, -0.3487, -1.388, 9.6479, 1.9072, -0.0757, 0.0366, -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]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0357, 0.9992, 0.4252, 1.422, 0.8146, -0.102, 0.3214, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3829 right_y=0.1161 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.0861 right_roll=-0.0413 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.5385, 6.8308, 1.8926, -0.0269, 0.0024, -0.0171, 0.0889, -6.4205, 8.8, 1.8974, 0.2027, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b930f1bcdbfcac7c8cd3c79ec0f4972bd6f340fe8977fe152745bb1c768358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cada1ea192d3f4220b4beac70ef5a09add4ebbf75e222eed75612b14cef85ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc8eb0b74bf3bd15e646abac7b32845d7c96080479cb70d12597c5b2a54ab1d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f4b930f1bcdb]
[blob cada1ea192d3]
[blob fc8eb0b74bf3]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0128TcCqPVFKUxxdjSv5RBrY",
      "input": {
        "note": "The can is now centred on the jaw column in the right wrist view, lying diagonally (upper-left to lower-right) with space below it. Advancing ~3 cm and yawing the tool 45° so the jaws close across the can's axis.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.12,
          "right_yaw": 0.78,
          "right_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_0128TcCqPVFKUxxdjSv5RBrY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4152, -0.0189, -0.0387, 0.9992, 0.0856, 1.5734, 1.0348, -0.2279, -0.326, -0.3519, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0013 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0282 left_roll=-0.0044 left_gripper=0.9992 right_x=0.4261 right_y=0.097 right_z=0.1373 right_yaw=0.55 right_pitch=-0.1368 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.1556, 7.1043, 1.8242, -0.0659, -0.0415, -0.0122, -0.4991, -7.4598, 7.5419, 1.3407, -0.3443, -0.0855, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3c69eb81023b4b43cd5e1937fcb7ae068c4c6b163412fce1f5c4682fd4773f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e13c3cd196b641841a63857c931ad81607cf789e85f3ca451e9210cbff808e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:209df19c537b0e8677169c5bf3f6132cd4d1c5226e642097be797cd1e492d70b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b3c69eb81023
wire blob e13c3cd196b6
wire blob 209df19c537b
call 3 attempt 0 · /messages · status 200 · 6.79 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, 0.7925, 0.6041, -0.3885, -0.0193, -0.033, 0.9993, -0.0212, 0.7929, 0.6079, -0.3958, -0.017, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4154, 10.2359, 1.9658, -0.0464, 0.1929, -0.0904, -0.3487, -1.388, 9.6479, 1.9072, -0.0757, 0.0366, -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]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0357, 0.9992, 0.4252, 1.422, 0.8146, -0.102, 0.3214, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3829 right_y=0.1161 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.0861 right_roll=-0.0413 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.5385, 6.8308, 1.8926, -0.0269, 0.0024, -0.0171, 0.0889, -6.4205, 8.8, 1.8974, 0.2027, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4152, -0.0189, -0.0387, 0.9992, 0.0856, 1.5734, 1.0348, -0.2279, -0.326, -0.3519, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0013 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0282 left_roll=-0.0044 left_gripper=0.9992 right_x=0.4261 right_y=0.097 right_z=0.1373 right_yaw=0.55 right_pitch=-0.1368 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.1556, 7.1043, 1.8242, -0.0659, -0.0415, -0.0122, -0.4991, -7.4598, 7.5419, 1.3407, -0.3443, -0.0855, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3c69eb81023b4b43cd5e1937fcb7ae068c4c6b163412fce1f5c4682fd4773f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e13c3cd196b641841a63857c931ad81607cf789e85f3ca451e9210cbff808e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209df19c537b0e8677169c5bf3f6132cd4d1c5226e642097be797cd1e492d70b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b3c69eb81023]
[blob e13c3cd196b6]
[blob 209df19c537b]
{
  "content": [
    {
      "signature": "CAQS4QgKEAgRGAI4AUIIdGhpbmtpbmcSDO7EUGtLVk3ctOj3dhoM58Hh3klmebyzTuA9IjBeh7Oct4yUW57bu5eqxCIQ4QYiHR+xSpuIWgvpuG7fDS+fm2jHdbR28JDogNoFQXYq/gdbx2BF0alPwQqj6R4h80ZIQr9/ZFIoiqGTYgao4DacUtGUDGz04PI2yqXtAwEtrQnxpVpwcruyFoEgLRY/0TM8U765r0MfS0+dz+L7zEBeaKNUonzN7iQ7StWPRan2kMmo4APYXgTXVLuJtHXvgUiWSr5zLwYGrWPuqylXOQaAAoeYQtD7HCzboK/Nn/oJ/Lp8I8OoiWEMQByYE8lfsnRHb0CIZiCC+OL0YAVIhDARIr8WuorKaLxojaL1ZBDyGKzYcgS2yZs9hBKAHA/+jNSqxXPqxNxj+sHJM391uzUH8ekTrvKi8h7qRDr+LffDZ1O8xiciPRdsjL+4ZOuLzc2/8T7dfBFvbL6Kb3iA28iSGDEWqLGoTSHcz5rPfA8kumnTYlzWtP2oXYTOzLc1e82W9b8Iqy78QbHAYlK6lS+i6PI/X+m+3B8pIGEjTIb2o8UjIKr3qbvHKmejIg5ypzpqnpOelm6GbimaWP9DgaXmOJSHz2ZBlfwHFwYFkI3PDxw80c2rpr2c8XmTQl7lhdNfVMQgFKKM8dL0lRio+a/iIHTo8kiPjWbizQ4887cLNQXCy/rTnNi3FzRBs20quqcpAzazCKw+swMNO4XhSzh4v3Rp8IslMU5jqMB06WMUetLjup81swxiEbDBIZ3AQbAg5UaXZq7KRCPpIqmMTaobvq1Pxb6oICRIDm2MLbIJBDQiGsr/uFdzD/TV7owa9/sZbqsWWSfrr9Xn8uk5CCpL9RfEU0KBbI2J6hIb/8Y42rX1cSvFtgpd5veaYrhqhmogcV/eSXWf9ktzIA8dHsBkMrS/gM42rV+9An6RSqR/MllnqSZ/KxyIMN8/cTrD5F4OB7KU1qRYSmeSZkatZBsaVqqYIahIMynhmgWW9UWsBB7pemZtBUnqXw4rIFRQkMBBrJAAmnmS+ymC12/LcBcgYL2G2qmCNU6JChcYgAiGNNO8MR62RskPxNdeL7IF6cmmt429yIRIAwfkR5SvFE8gfnhHCP0kUU2r3B9TvzMu5PH6KKsmwv8TnG/askDiBVI3rvwZLFIjq6SIr9xRVf3Dq/y7KM1K1jzTMINDoCUH2IYyWD1W4/UM5M/IlgTk22+sr4gumbS/bNLo6CS5ET6sD5OwWJbBVriYJjn+tVW1i0t+Bh0iDGKSCHCv23MAYe/RY06a6RPp7AXSTascgrQmLKsl2NKDVDw8lu5yBRmx2OMgy5/FiZsSzg+H82zgB12cnVWr19vMq3xokpbnfTnKn3wSN5mnsaEcGBXcvmIV5SHIIJHPWgna8BdpG+Tp4R3F++HKvivjoHHyUM8CKOCxH7dDYhgy9kjCbZkzVIBGnRjQZtEVuB+TXky2vy8PKhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G1UBwNsD5zizCfLnpdiEzf",
      "input": {
        "note": "The can now runs nearly vertically down the jaw column in the right wrist view, so the jaws will close across its body. Descending to can mid-height with the gripper open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.426,
          "right_y": 0.1,
          "right_yaw": 0.85,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01G1UBwNsD5zizCfLnpdiEzf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.0658, 1.5974, 1.0714, -0.3058, -0.4984, -0.524, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0427 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4141 right_y=0.1155 right_z=0.1384 right_yaw=0.7644 right_pitch=-0.1261 right_roll=-0.025 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1966, 7.1179, 1.8388, -0.0611, -0.0562, -0.0122, 0.1436, -7.5419, 7.9385, 1.6288, -0.4371, -0.0269, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85e1915f575d780caf01a95f0d66c2e1e2ceb0024fc45a85d0d15e5f6c58cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4562375692cbabbc9d22b6fbabab0a4f7e71e16f49769302bd0c8255267825ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b826612093cc7b94cb109c1c871f1e23608fb63b3524bc56aeed081bc522837e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f85e1915f575
wire blob 4562375692cb
wire blob b826612093cc
call 4 attempt 0 · /messages · status 200 · 15.47 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0357, 0.9992, 0.4252, 1.422, 0.8146, -0.102, 0.3214, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3829 right_y=0.1161 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.0861 right_roll=-0.0413 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.5385, 6.8308, 1.8926, -0.0269, 0.0024, -0.0171, 0.0889, -6.4205, 8.8, 1.8974, 0.2027, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4152, -0.0189, -0.0387, 0.9992, 0.0856, 1.5734, 1.0348, -0.2279, -0.326, -0.3519, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0013 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0282 left_roll=-0.0044 left_gripper=0.9992 right_x=0.4261 right_y=0.097 right_z=0.1373 right_yaw=0.55 right_pitch=-0.1368 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.1556, 7.1043, 1.8242, -0.0659, -0.0415, -0.0122, -0.4991, -7.4598, 7.5419, 1.3407, -0.3443, -0.0855, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.0658, 1.5974, 1.0714, -0.3058, -0.4984, -0.524, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0427 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4141 right_y=0.1155 right_z=0.1384 right_yaw=0.7644 right_pitch=-0.1261 right_roll=-0.025 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1966, 7.1179, 1.8388, -0.0611, -0.0562, -0.0122, 0.1436, -7.5419, 7.9385, 1.6288, -0.4371, -0.0269, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85e1915f575d780caf01a95f0d66c2e1e2ceb0024fc45a85d0d15e5f6c58cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4562375692cbabbc9d22b6fbabab0a4f7e71e16f49769302bd0c8255267825ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b826612093cc7b94cb109c1c871f1e23608fb63b3524bc56aeed081bc522837e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f85e1915f575]
[blob 4562375692cb]
[blob b826612093cc]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgRGAI4AUIIdGhpbmtpbmcSDNApIXuGZwV6+XDiCxoMnwEyr4Y0fh6ubYDIIjAE/1/QH58Fg/r2szyAefuUVAg3UolWaJDwcVpErl1BDOJeauIZ3fKc+rVBBAebxcAquAaBYxFJKLOFjC4wG563L9r8vWsYQ0+5ulqrL4s4Aa93U+379eLI287eGV4y/PaE+0RT/U1A5mpTrF6wdLBsON6DbVoShaKiBZVWTsEJeidA7eOxsSEyiF7WVH+V9XZeKy9nVrSPeNVXVy2K/PNESAOZYAJipk4rbsIl1kEbVk/jFlfdmB+hnnVkyXGA0Vr8ect9v95DzFJCG9p54YSAB/QqOWYdCfRTL4hzCk8+oLtdeVQVEiJSwtnpSX3trS1KsIlGk/JCgIDsLk/Ehi5ZkOPwA4L7nCLe0EhrCMKhY5XbeoMTRXwAL8vns44mjKm23FjNMmqb6xyxbwlg8GVDNqmj6iOOUeC/xXA0+n+zrpWqlv4KlYFaoB8D01qjt8MhS0AmQJMF71Ehj0Um4Zp3TWW1u/eCPxuSkuH2dcmFr3QuQ6Jop60UC0xnz8Mi74DWT95sMbcCJh4lRwXSkh1pshOlu4SS/DRSsCISeQIIjItUdLFBfoONtacE77LDcGvhi55pIOaKgMWWe6GskFDoJS1JVxAXXVfaVDH5Vo2hdSWO2s5NMoI8euB0keQaTsZnovmV5vI64cksA035ruXTP9fLrWYJga4VmTEukYOlXHsg/rf/Q6FBhBjyXfo18W8ldQBeBQE7jq03QUvkhozWDFKoM8DnKfsQnSLvQGzwOwKMmHUjLBSOB1Q2FpQm1pt1z7/1wL6jBYicXMkkyL8kjNw7o5fKf2WivntivEk5D9525zQwPx9u0mgBaZL1z5tqqIktgprD9m2h8jm3OuOoWRMofJ18WeJPVtuppB3dOkF65G36M5NI4NNHwDIyiEowuL5F6PlYGLnLICMazUuoTSeUMBdlkdOITMV4GBW+qwVCKfHolBJ5QiPYJO8xkX2ptc2f764cQAkHwGmEDr1ZGwuYAFKe0gsDkxJfI334ZYQR+a7ooESdVy9STGpTu2NMGw0rpHzRvM/59GMOgBn7Bl5Sc6sRyAcvwiZ1fguMH4eysOIXPv3iKVIhjTZXMKTdzsUzUFF7wIOAuH3oh21o6Xzez4ElVDVFeJ/Lllxl/ccKfI7fuGlU485Trwsatn9a+Pl2W0wMBsN3ZBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tb5TYUAvVdyoDM1fp2Zekf",
      "input": {
        "note": "The arm yawed but did not descend (z still 0.14); the can is well aligned vertically along the jaw column. Re-commanding the descent to can mid-height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.11,
          "right_yaw": 0.78,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Tb5TYUAvVdyoDM1fp2Zekf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4366, -0.0189, -0.0391, 0.9992, 0.0116, 1.8343, 0.7673, 0.128, -0.5953, -0.5343, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1674 left_yaw=0.0034 left_pitch=-0.0553 left_roll=-0.0041 left_gripper=0.9992 right_x=0.3862 right_y=0.1071 right_z=0.0068 right_yaw=0.7954 right_pitch=-0.1543 right_roll=0.0961 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4017, 7.0085, 1.7949, -0.0317, -0.0513, -0.0122, 0.0479, -5.6957, 5.3949, 1.4628, -0.398, 0.0415, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ff4c006bdf0a93072d56d4aa47d765ae31e41eaef92db89f134430a7469255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e387e84087f5a64690f50bec2171bf8e1e50361ce6f916e6f56db59e783d62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b5f3d200c3bcede743081d84148f51d6a60c986a98069e68ee424de353ce08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f1ff4c006bdf
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 12.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7967, 0.6067, -0.4152, -0.0189, -0.0387, 0.9992, 0.0856, 1.5734, 1.0348, -0.2279, -0.326, -0.3519, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0013 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0282 left_roll=-0.0044 left_gripper=0.9992 right_x=0.4261 right_y=0.097 right_z=0.1373 right_yaw=0.55 right_pitch=-0.1368 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.1556, 7.1043, 1.8242, -0.0659, -0.0415, -0.0122, -0.4991, -7.4598, 7.5419, 1.3407, -0.3443, -0.0855, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.0658, 1.5974, 1.0714, -0.3058, -0.4984, -0.524, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0427 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4141 right_y=0.1155 right_z=0.1384 right_yaw=0.7644 right_pitch=-0.1261 right_roll=-0.025 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1966, 7.1179, 1.8388, -0.0611, -0.0562, -0.0122, 0.1436, -7.5419, 7.9385, 1.6288, -0.4371, -0.0269, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4366, -0.0189, -0.0391, 0.9992, 0.0116, 1.8343, 0.7673, 0.128, -0.5953, -0.5343, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1674 left_yaw=0.0034 left_pitch=-0.0553 left_roll=-0.0041 left_gripper=0.9992 right_x=0.3862 right_y=0.1071 right_z=0.0068 right_yaw=0.7954 right_pitch=-0.1543 right_roll=0.0961 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4017, 7.0085, 1.7949, -0.0317, -0.0513, -0.0122, 0.0479, -5.6957, 5.3949, 1.4628, -0.398, 0.0415, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ff4c006bdf0a93072d56d4aa47d765ae31e41eaef92db89f134430a7469255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e387e84087f5a64690f50bec2171bf8e1e50361ce6f916e6f56db59e783d62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b5f3d200c3bcede743081d84148f51d6a60c986a98069e68ee424de353ce08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f1ff4c006bdf]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LnvW4SCEtwFpoEQR22d8Bo",
      "input": {
        "note": "The gripper is at table height and the can is no longer visible in the wrist view, meaning it is either between the jaws or just behind them. Closing to test for a grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LnvW4SCEtwFpoEQR22d8Bo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4538, -0.0189, -0.0391, 0.9992, 0.0071, 1.8492, 0.7589, 0.1356, -0.5961, -0.5423, 0.0116]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1638 left_yaw=0.0035 left_pitch=-0.0732 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3833 right_y=0.1055 right_z=-0.0 right_yaw=0.7976 right_pitch=-0.1645 right_roll=0.1018 right_gripper=0.0116\nstate[joint_eff]: [0.0068, -1.1009, 7.241, 1.8584, -0.0464, -0.0317, -0.0122, 0.1983, -9.0735, 5.4769, 1.16, -0.2466, 0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105853c10cc4d6ab9ad196e0bdf1467109797e98fe1cdfbb43f368a9d3273783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da029610b34338be212842985e7c84530d6ef8289bd9d7db112375d00ae5ec20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea97b5f1d2cedb3a44e0e81030c0e535630210e36894cb5ccc8e3967b6388a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 9.873 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.0658, 1.5974, 1.0714, -0.3058, -0.4984, -0.524, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0427 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4141 right_y=0.1155 right_z=0.1384 right_yaw=0.7644 right_pitch=-0.1261 right_roll=-0.025 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1966, 7.1179, 1.8388, -0.0611, -0.0562, -0.0122, 0.1436, -7.5419, 7.9385, 1.6288, -0.4371, -0.0269, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4366, -0.0189, -0.0391, 0.9992, 0.0116, 1.8343, 0.7673, 0.128, -0.5953, -0.5343, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1674 left_yaw=0.0034 left_pitch=-0.0553 left_roll=-0.0041 left_gripper=0.9992 right_x=0.3862 right_y=0.1071 right_z=0.0068 right_yaw=0.7954 right_pitch=-0.1543 right_roll=0.0961 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4017, 7.0085, 1.7949, -0.0317, -0.0513, -0.0122, 0.0479, -5.6957, 5.3949, 1.4628, -0.398, 0.0415, -0.0562]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4538, -0.0189, -0.0391, 0.9992, 0.0071, 1.8492, 0.7589, 0.1356, -0.5961, -0.5423, 0.0116]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1638 left_yaw=0.0035 left_pitch=-0.0732 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3833 right_y=0.1055 right_z=-0.0 right_yaw=0.7976 right_pitch=-0.1645 right_roll=0.1018 right_gripper=0.0116\nstate[joint_eff]: [0.0068, -1.1009, 7.241, 1.8584, -0.0464, -0.0317, -0.0122, 0.1983, -9.0735, 5.4769, 1.16, -0.2466, 0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105853c10cc4d6ab9ad196e0bdf1467109797e98fe1cdfbb43f368a9d3273783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da029610b34338be212842985e7c84530d6ef8289bd9d7db112375d00ae5ec20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea97b5f1d2cedb3a44e0e81030c0e535630210e36894cb5ccc8e3967b6388a94",
        "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_018nJy6bMCfC3t2HzrBLkfhZ",
      "input": {
        "note": "The close was empty; the top view shows the can was pushed forward and now lies along the forward axis, beside the burner. Lifting, opening and re-aligning at yaw 0 above the can's new position to look with the wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": 0.14,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018nJy6bMCfC3t2HzrBLkfhZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, 0.3733, 1.6672, 1.0107, 0.0032, 0.1383, 0.1951, 0.9947]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1612 left_yaw=0.0035 left_pitch=-0.0866 left_roll=-0.0034 left_gripper=0.9992 right_x=0.446 right_y=0.1524 right_z=0.124 right_yaw=0.1467 right_pitch=-0.0673 right_roll=0.0786 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7607, -0.0562, -0.0806, -0.0122, 0.1162, -7.9248, 8.6359, 1.9072, 0.1245, 0.1832, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e6924b9b0689e6180593d44ff9beec06ac5b121744e9e30a1c4bef12004e6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d11cd3096e5fd12beabc6561902298d6fd21007169940439afcca0372f4f3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72de26cba83438df9f7d71d5265ab91dcabbf1e42e3e8c1d34a668120069736b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 11.95 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4366, -0.0189, -0.0391, 0.9992, 0.0116, 1.8343, 0.7673, 0.128, -0.5953, -0.5343, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1674 left_yaw=0.0034 left_pitch=-0.0553 left_roll=-0.0041 left_gripper=0.9992 right_x=0.3862 right_y=0.1071 right_z=0.0068 right_yaw=0.7954 right_pitch=-0.1543 right_roll=0.0961 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4017, 7.0085, 1.7949, -0.0317, -0.0513, -0.0122, 0.0479, -5.6957, 5.3949, 1.4628, -0.398, 0.0415, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4538, -0.0189, -0.0391, 0.9992, 0.0071, 1.8492, 0.7589, 0.1356, -0.5961, -0.5423, 0.0116]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1638 left_yaw=0.0035 left_pitch=-0.0732 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3833 right_y=0.1055 right_z=-0.0 right_yaw=0.7976 right_pitch=-0.1645 right_roll=0.1018 right_gripper=0.0116\nstate[joint_eff]: [0.0068, -1.1009, 7.241, 1.8584, -0.0464, -0.0317, -0.0122, 0.1983, -9.0735, 5.4769, 1.16, -0.2466, 0.0513, 1.0281]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, 0.3733, 1.6672, 1.0107, 0.0032, 0.1383, 0.1951, 0.9947]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1612 left_yaw=0.0035 left_pitch=-0.0866 left_roll=-0.0034 left_gripper=0.9992 right_x=0.446 right_y=0.1524 right_z=0.124 right_yaw=0.1467 right_pitch=-0.0673 right_roll=0.0786 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7607, -0.0562, -0.0806, -0.0122, 0.1162, -7.9248, 8.6359, 1.9072, 0.1245, 0.1832, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e6924b9b0689e6180593d44ff9beec06ac5b121744e9e30a1c4bef12004e6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d11cd3096e5fd12beabc6561902298d6fd21007169940439afcca0372f4f3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72de26cba83438df9f7d71d5265ab91dcabbf1e42e3e8c1d34a668120069736b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gsKEAgRGAI4AUIIdGhpbmtpbmcSDCjuhUZq65Ffzbtl2RoMTffpLbJBfezIiCSgIjBtIGL+dPaOWvZ2xlEpEe9gllf/zBE7Ijv3QlZ6bvKM/A+8exQBB1EbUnqHkJ7U8hkq7woYMv9f/OKYQ7mSfcBqCnug8wxSqg18ay4C5i+IwyuqqRPOafDmxcDdesc4YmMYxs1/qS8EMAJSc5wU1rjzPHStP0LfECTu/2bnicpWjGYL6t90h3VyuB0YtbRp21E0T0AasfFxiK2eCFcvY19Iwv+aPbCbYE5uXMIezQZGGDXqsH8t20ek5GCtH9+0NreckA5x65NS2cTdf/C0+Bnmzy3sJO0JY9ekHNiHu0bS78I5+yOgLl5R/XJ0YXotiCFMkdjGLstHEndcdbLPlkrK5H0qWcxTaba8uXPf/w3HoADAKlU85k+M9Su/5e/+DFnmpeslB1PKz9BrU4/UO2t2bewm21lVEurnSdHv9J8SEnJ4bkrKRAYhX+eVIAyE5rAF0fNIQGEJvfDEQvLMrADJTMTtBIkQs/6leKDroCfd6yEqbuaCwvwdmQz3KQJ69+kukDPnKkd55gnC51/cM89G/G4NEsuW6VnhfSIhEZHcezxzVdfizjVS+SNOcYH+5YFm6//Gcw93CqS8kp+20RL4GhEnNlDrP/bwIi7VGQQAeUXdDFvbfX0PMk1Iy/2+x2VYiQH9ziRqZU6BrPhs+JWrQ/XJoStYmyD0B6e5H9Lk8dPiUg3TTNVLog5QK6ShD6fT+PhF+ubVCLDwSwZkUBNA5oCbMYpm1P48L1T1Nwwof3hGeKSNt3eMSRQhhI3k1Def4uRiYavia+RuZ5l0fYYeBnzxe4GRf2dNF3cmCsi2hxUwBHhva127gQIxhsF1PRFWDoiBE3QJ6JTdeat6hgcgY+VK8LalWwXhamAOPIVLyncQgotrgLIHqy4v1IxjDg5cKObBKU3+3lwlhjwQF10SdL1wE04er8LpDAibZdZ6UVK5az11e/ry3sXTEeFPcoGXDF/kXq3ezyrYNR6Tg3vUQyrikg2Dqv9RpWxgcknHn+T51MnbPqcj1Xyk/DgHVBEbWnvnpQQjsGaWBqlefAoTZu/0RZNW26Ju1eSjnIVQ3quBjpqj+2NwAyOP6XkgmC/ch4AywqLXWUyLv66bDST96UzubDRoxPr9S6APpd6ixTISCKEfCZqApmhpBUu8XvZ4ZXBX1132nPGm5LVy30cONA463cqGhsunYEl0CoL/iAwOSZECOOdrQh+qBJ+EIQbu4wj1SnzOI7pC+Lz1Lr/gPweMdDOQj249yzKOLA0iynwEVpuqu6gIN3lqnhmEljd1c5XRnsaLrVexYZux82KtHkPbhHguH9PcnLt+BUI6txpLD7zaPbfbeyKma6t4OvRCTAZPnzp6XL7SglkojBmGx2g7sji8VxtBdVEJGRcRj6ZCTyb5w0GDiQsCseK3PXM4wG/dRQe1M/3yHTwz/9dBYfYfG03rYdQgHdfrY66ZmOsOsTNiWmgWRIw66rxAKxBDStA7EjWpQzYZn4Znie7VSr+zgWbBHh0zro1X0oUBBYtyvBgcrun6OnMUjGXTA/roNCjA1arE10432y4G5bI/lGZYbm9MMqMyOykQWlYCgRCtKO7mDvRHI5Lx8E1lI4GGq8u60ethhEx+WeMIxk7074E0e6PGGQ0LT8S7hNzmrDN6xlWok2k6bnXWNth5sQvjKJe21+UPP5VC7wyr0kW7bIcnoLga3jQn6hQ9OalHX450AeboumSH3s2h0jiJ1r/hCOhscba+kyw5CEkXkw5+cJypGQmKpDQ34HdEOHfY9uD3a211uaWoeHwGSIGgkN4bp0Mps0NsceZrj2YQ8vgBXQ1L4Ku1W/2ONSA/YAUGqMa7QPYcncJVKgUqMixvef5DggB7GwwHonj7lfUwVvHKCnFo3AiAiPj87I6h6HfnlHg+1D+bcrruN6+l0rXx8lP7hxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqNPcd1yePFaexq8DbpWtp",
      "input": {
        "note": "In the right wrist view the can is forward and to the arm's right of the jaws, with the burner to the left. Shifting right and forward to bring the can onto the jaw column.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.5,
          "right_y": 0.08,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WqNPcd1yePFaexq8DbpWtp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4801, -0.0189, -0.0391, 0.9992, 0.207, 1.7699, 1.0351, 0.0452, 0.1154, 0.1638, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0035 left_pitch=-0.1003 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4769 right_y=0.083 right_z=0.095 right_yaw=0.0161 right_pitch=-0.1046 right_roll=0.0603 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.306, 7.1179, 1.7363, -0.0611, -0.022, -0.0122, -0.4718, -7.8838, 9.5795, 2.3907, 0.0415, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2ad1a1cb20ee9115d30a2bf57e789bb86e5fbe7db8a0adc89dcbc4cb60b4f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada1a5910c13aa9d85b245e0efafc4f1ddbaa1cba9a393438f2cf74f3ecedd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c39a94790010869ea9f2a5c6d9b33882ad3df8e72c71c22a79c014bc32b088a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 11.87 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4538, -0.0189, -0.0391, 0.9992, 0.0071, 1.8492, 0.7589, 0.1356, -0.5961, -0.5423, 0.0116]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1638 left_yaw=0.0035 left_pitch=-0.0732 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3833 right_y=0.1055 right_z=-0.0 right_yaw=0.7976 right_pitch=-0.1645 right_roll=0.1018 right_gripper=0.0116\nstate[joint_eff]: [0.0068, -1.1009, 7.241, 1.8584, -0.0464, -0.0317, -0.0122, 0.1983, -9.0735, 5.4769, 1.16, -0.2466, 0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, 0.3733, 1.6672, 1.0107, 0.0032, 0.1383, 0.1951, 0.9947]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1612 left_yaw=0.0035 left_pitch=-0.0866 left_roll=-0.0034 left_gripper=0.9992 right_x=0.446 right_y=0.1524 right_z=0.124 right_yaw=0.1467 right_pitch=-0.0673 right_roll=0.0786 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7607, -0.0562, -0.0806, -0.0122, 0.1162, -7.9248, 8.6359, 1.9072, 0.1245, 0.1832, -0.188]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4801, -0.0189, -0.0391, 0.9992, 0.207, 1.7699, 1.0351, 0.0452, 0.1154, 0.1638, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0035 left_pitch=-0.1003 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4769 right_y=0.083 right_z=0.095 right_yaw=0.0161 right_pitch=-0.1046 right_roll=0.0603 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.306, 7.1179, 1.7363, -0.0611, -0.022, -0.0122, -0.4718, -7.8838, 9.5795, 2.3907, 0.0415, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2ad1a1cb20ee9115d30a2bf57e789bb86e5fbe7db8a0adc89dcbc4cb60b4f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada1a5910c13aa9d85b245e0efafc4f1ddbaa1cba9a393438f2cf74f3ecedd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c39a94790010869ea9f2a5c6d9b33882ad3df8e72c71c22a79c014bc32b088a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuA4KEAgRGAI4AUIIdGhpbmtpbmcSDJ6jEWr0vKHfHkixKxoMDHJVYVB//2hNhjw/IjBHSBA3e4Y/wIKBp256LvLPDU8wbR+8NOPm5HMnuHg1MdxaxuG/scLL1nRER7PbIBkq1Q19yA5xI8sgoPp+I/3nQV7oqJ8at70ScChL3BybGcbn9vYYQswWCPmDOht/vCiZGi4z3jjXiJBW7NJHT6DzjXDB9S3t8CiJUC85OcMy8GWxQBj8uF3yDh3+EBTQdf3C3tgDMrA+QdCiuGmrR/2CJe5zkPd8BxTl9YA2BRDux//EwmGYqItILoReIosjRkA34Ief0ToNmyaSlyjUVZXsB4101AXIyIYVPWg148krzAiD6jIhw7SeF/hF+H5UJq/XgncAgCuwCCPrsTJyUkTn0KlRXkpuk+/WQYt2/wwdS1RNFwPTI80m0gMww6CEa1V/hXAesqdYboONNTmgGKpnyUhs75ktpmGwi86WmT85iE87ghR+XcYD8ttYgAKGoF/W89QxnHTCCz3Rkln+jrL2YNfDK8Z7/rGAEi6ebQxYscTqM2POuTnTaFTZTcYMIvKrhwG97I3gEJeOPs+SRxi+2r+7AEjszZHR5JTBbNJxBInEvO10j0f0U7WjMKw9prufqTO4tZFF2ct+gicuevlkVDFEjLpt0H/jFJ8gDwT/BFXufuulna5PwX+1xpWA0CHWKq2MTmyAlMAOFv4FjCiXcrgHet/Om4wkXVkNz2e8ihc6Vstp5tWn4c7z/rQgpPrT7ZXCjnOjSagbwKWf5stcbMwqu/y7inIC6YEp8+BSbZuBzJd79Rpn6N0/8wlEksFdTn+wslrEWovdsesNfQtpFVTfGDBhls5FwUBYebRvw/sGF3DlBUukufdTy13Zq3w11kqItPVE1IEOveSBzvS68rr1NUCDPwMgg9K2pb27q0Ikuju/dDZoQs9m8iOepnmgk/tWr1oQ6s38h8e8UbmR5sSlgq8eH6QmNOsJ+zBjLvarjgR7kNU5BTomjkT1TJaSb/5F5QSaTYBFHZ2roeRs+ztSKie/zfHnXbBgD0fcRKXTXyUeD6iI6H0IyZcfwoESLNOYAsG30mKo6qA813bGctvv22BeK4sE02mziegyt++UUdgO00a57o+AYhNBXK8X4VjupgXQ2Z1583i614k9kfWmzP3jP1Ow1yMkfnBXCbvDxngFABGhs2XZ1+o6hJKgI0n2lG17M/n7Cy6JMd/pOG388evHAoKIKQF0/sE3f+Sj0ZCPPE9l5pgFbxdZQr43ooGSSvTnpe0rwEBsEZenKcEVPoZZDTbPhzakXZYDKru+wPY5lAbmj3WapFLNuxkYdgP/gh0KvX9YiZlLxFqb7NwWpTKWeujFS67v3lOEH8p7ppXSRwuviz5MbSLCnntrYQMYBlhwGIRX0t8yIQx5hF72EJZA432QuO1jAC+Yy0ALbnpbeDOJ2ABjwUkZEL9WjFZIB9savWLhANW7HhKOwTtibuBZV5S8kI016lMQb593whP8Bnq5okD/4ef6ZQt7gFmmTTkNP1Pr9S3M+qVEtRqBdtRg2h+NL1SxZelagW5kXDNznm9dnQLc6ZbY7mOVV4EtFafjgbEhpLnKjYdWBC+gyistQQDUfBkYK1YQqLBSUJC71KDwvIeAkNeH4T+gPYty1HIuqGFZR9HxqP98DCZJCsTfs6wBIDo/j0aWrSgvaioTWfyy9IvlpuasMBqOnitOcCeT+JgkheHFvJjmhO7S1lnQQUYlC8/PKJGtFmJwqRS019SeQqhFVa6RNowP5Z2YzPQEJtKVAxhezeaqDSvHlzK5SZJpPFia2SsetN5NwjrSs8yVxqdyVxd9lceuxPRO5vThZvV7cKzfnnLgW9fAtzsCjK8shMkTyx/HxkmFpUPDZZO0Gjq+JJuZtoy4nXcTM5MWgXv2m8JNh0oQ5sRmHMUYr+JAzgki19oJgs6UzF0lbTy+0f1PnZ2qrc7UYu05GE/PV/HbyHAIX1c+d8FKI3aKgvjjJLB4+lCYyNfiekj4mQ5HE3fqMow/k2D0Q7o5c9a/6LrCEIfadNUVY7B+3TA/yn61eElG5IhwoX+2Q/daxmu6L1wAPDLTK499luYAfzPlGhhIKCwCGZiF6jAnAAOlHq/+W46aPPVmgk6EVE2VBnPQAx2D2cRCtN8qpOPLOQkTr2OUibb35diWP/tIc5/lPFJDNid+pITSJvYpz6a77WNJ7fc66GVqm2thtIrqySsojh9L4+bFoyflLxat3OXW9hXd+68shGTwzUSGdX73kni8aigOznl6HsJo4TwAnEx4UvwE8//DKEp0yLbkTzsPOrdJSpqQR06eVJLhf65NzlDPusapzqyWHlLreFRK1w78PhOgr5bNyD/oRNwWEdHMARrfBvyrzx8T/+fOzuYxUdD++wxx1JcxV0LQjWErVCNy5z3Nc/gu0d4AlUOTtmdJOxMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SAUgJvcKadkgrD7vmaKrVT",
      "input": {
        "note": "The can sits at the top of the right wrist view, still ahead and slightly right of the jaws; the arm is near its reach so I pitch the tool forward to extend and move further out and right.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.53,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01SAUgJvcKadkgrD7vmaKrVT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4965, -0.0189, -0.0391, 0.9992, 0.1181, 1.9648, 0.9096, 0.6765, 0.0765, 0.078, 0.999]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1554 left_yaw=0.0035 left_pitch=-0.1167 left_roll=-0.0027 left_gripper=0.9992 right_x=0.5209 right_y=0.0518 right_z=0.0814 right_yaw=0.0054 right_pitch=0.2025 right_roll=0.0527 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.2239, 7.0906, 1.7509, -0.0611, -0.0366, -0.0122, -0.5812, -8.7179, 5.6137, 2.591, -0.0317, -0.0269, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f08e92f9ad90bf1092c750b0de143e933485b080721b6b84d221deb72df000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24d68e20d4af0bb20a1f4386ff24abff13869a268082a278aa016919b8eb3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2411c32ab08af91f14f633b51bf7dc7021594dc4747b9db45887769df80ed170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 12.54 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4671, -0.0189, -0.0391, 0.9992, 0.3733, 1.6672, 1.0107, 0.0032, 0.1383, 0.1951, 0.9947]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1612 left_yaw=0.0035 left_pitch=-0.0866 left_roll=-0.0034 left_gripper=0.9992 right_x=0.446 right_y=0.1524 right_z=0.124 right_yaw=0.1467 right_pitch=-0.0673 right_roll=0.0786 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7607, -0.0562, -0.0806, -0.0122, 0.1162, -7.9248, 8.6359, 1.9072, 0.1245, 0.1832, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4801, -0.0189, -0.0391, 0.9992, 0.207, 1.7699, 1.0351, 0.0452, 0.1154, 0.1638, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0035 left_pitch=-0.1003 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4769 right_y=0.083 right_z=0.095 right_yaw=0.0161 right_pitch=-0.1046 right_roll=0.0603 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.306, 7.1179, 1.7363, -0.0611, -0.022, -0.0122, -0.4718, -7.8838, 9.5795, 2.3907, 0.0415, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4965, -0.0189, -0.0391, 0.9992, 0.1181, 1.9648, 0.9096, 0.6765, 0.0765, 0.078, 0.999]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1554 left_yaw=0.0035 left_pitch=-0.1167 left_roll=-0.0027 left_gripper=0.9992 right_x=0.5209 right_y=0.0518 right_z=0.0814 right_yaw=0.0054 right_pitch=0.2025 right_roll=0.0527 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.2239, 7.0906, 1.7509, -0.0611, -0.0366, -0.0122, -0.5812, -8.7179, 5.6137, 2.591, -0.0317, -0.0269, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f08e92f9ad90bf1092c750b0de143e933485b080721b6b84d221deb72df000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24d68e20d4af0bb20a1f4386ff24abff13869a268082a278aa016919b8eb3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2411c32ab08af91f14f633b51bf7dc7021594dc4747b9db45887769df80ed170",
        "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_01RpBkk7o5hvzbbBJyyWKVMf",
      "input": {
        "note": "The can now fills the upper-right of the right wrist view, lying at ~30° from horizontal, slightly right of the jaws. Shifting right/forward and yawing the tool clockwise so the jaws close across the can body.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.55,
          "right_y": 0.01,
          "right_yaw": -1.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RpBkk7o5hvzbbBJyyWKVMf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5198, -0.0189, -0.0391, 0.9992, 0.3115, 2.3161, 1.5318, 0.1886, 0.9852, 0.5953, 0.9991]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1499 left_yaw=0.0036 left_pitch=-0.1442 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5712 right_y=0.033 right_z=0.0815 right_yaw=-0.807 right_pitch=0.2633 right_roll=0.0876 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.1829, 7.1316, 1.8926, -0.0171, -0.0366, -0.0122, 0.1709, -13.012, 5.9692, 1.3407, 0.6911, 0.2173, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4930af22a5ba5ab489d40ebccdcd6a9c8751fbf8a30a57905ff1c880a182c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474cdf2c8be89b4b04c115215e8a23ece5ee748de8e78e1f60d27cc8cf044d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cd20686f5abd223375afdeeee47010e854b7718a157c410f8c7c34eae153aa3",
        "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 · 17.84 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4801, -0.0189, -0.0391, 0.9992, 0.207, 1.7699, 1.0351, 0.0452, 0.1154, 0.1638, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0035 left_pitch=-0.1003 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4769 right_y=0.083 right_z=0.095 right_yaw=0.0161 right_pitch=-0.1046 right_roll=0.0603 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.306, 7.1179, 1.7363, -0.0611, -0.022, -0.0122, -0.4718, -7.8838, 9.5795, 2.3907, 0.0415, -0.0464, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4965, -0.0189, -0.0391, 0.9992, 0.1181, 1.9648, 0.9096, 0.6765, 0.0765, 0.078, 0.999]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1554 left_yaw=0.0035 left_pitch=-0.1167 left_roll=-0.0027 left_gripper=0.9992 right_x=0.5209 right_y=0.0518 right_z=0.0814 right_yaw=0.0054 right_pitch=0.2025 right_roll=0.0527 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.2239, 7.0906, 1.7509, -0.0611, -0.0366, -0.0122, -0.5812, -8.7179, 5.6137, 2.591, -0.0317, -0.0269, -0.1197]\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]: [-0.0189, 0.8082, 0.6067, -0.5198, -0.0189, -0.0391, 0.9992, 0.3115, 2.3161, 1.5318, 0.1886, 0.9852, 0.5953, 0.9991]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1499 left_yaw=0.0036 left_pitch=-0.1442 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5712 right_y=0.033 right_z=0.0815 right_yaw=-0.807 right_pitch=0.2633 right_roll=0.0876 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.1829, 7.1316, 1.8926, -0.0171, -0.0366, -0.0122, 0.1709, -13.012, 5.9692, 1.3407, 0.6911, 0.2173, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4930af22a5ba5ab489d40ebccdcd6a9c8751fbf8a30a57905ff1c880a182c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474cdf2c8be89b4b04c115215e8a23ece5ee748de8e78e1f60d27cc8cf044d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd20686f5abd223375afdeeee47010e854b7718a157c410f8c7c34eae153aa3",
        "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_01MwFvfasevcrtbEY39BRyWx",
      "input": {
        "note": "The wrist image is motion-blurred with the can running diagonally up from the left jaw; the yaw is still converging. Holding position and letting the yaw finish to get a sharp view before descending.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.56,
          "right_y": 0.035,
          "right_yaw": -1.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01MwFvfasevcrtbEY39BRyWx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5213, -0.0189, -0.0387, 0.9992, 0.3275, 2.3825, 1.6775, -0.065, 1.1564, 0.8078, 0.9991]\nstate[eef_state]: left_x=0.2749 left_y=0.0017 left_z=0.1492 left_yaw=0.0034 left_pitch=-0.1472 left_roll=-0.0017 left_gripper=0.9992 right_x=0.5607 right_y=0.0235 right_z=0.0825 right_yaw=-0.9881 right_pitch=0.2945 right_roll=0.09 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.306, 7.0222, 1.6239, -0.0317, -0.0366, -0.0171, 1.6068, -12.4376, 7.1863, 1.3016, 0.6618, 0.1685, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76815a4ae8252ad54464f3245aaf0897147e9ba8a3bd690302dadb3b4fc3abf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cdb17851aec32e7599dc0a69b86ea9bbce949871d2b59def233be932930e791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0f1b8112b8798f6497cc7c91a832ecfb77a2dbb52f81c9d57270cb84b99d433",
        "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 · 38.3 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]: [-0.0189, 0.804, 0.6067, -0.4965, -0.0189, -0.0391, 0.9992, 0.1181, 1.9648, 0.9096, 0.6765, 0.0765, 0.078, 0.999]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1554 left_yaw=0.0035 left_pitch=-0.1167 left_roll=-0.0027 left_gripper=0.9992 right_x=0.5209 right_y=0.0518 right_z=0.0814 right_yaw=0.0054 right_pitch=0.2025 right_roll=0.0527 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.2239, 7.0906, 1.7509, -0.0611, -0.0366, -0.0122, -0.5812, -8.7179, 5.6137, 2.591, -0.0317, -0.0269, -0.1197]\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]: [-0.0189, 0.8082, 0.6067, -0.5198, -0.0189, -0.0391, 0.9992, 0.3115, 2.3161, 1.5318, 0.1886, 0.9852, 0.5953, 0.9991]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1499 left_yaw=0.0036 left_pitch=-0.1442 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5712 right_y=0.033 right_z=0.0815 right_yaw=-0.807 right_pitch=0.2633 right_roll=0.0876 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.1829, 7.1316, 1.8926, -0.0171, -0.0366, -0.0122, 0.1709, -13.012, 5.9692, 1.3407, 0.6911, 0.2173, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8097, 0.6067, -0.5213, -0.0189, -0.0387, 0.9992, 0.3275, 2.3825, 1.6775, -0.065, 1.1564, 0.8078, 0.9991]\nstate[eef_state]: left_x=0.2749 left_y=0.0017 left_z=0.1492 left_yaw=0.0034 left_pitch=-0.1472 left_roll=-0.0017 left_gripper=0.9992 right_x=0.5607 right_y=0.0235 right_z=0.0825 right_yaw=-0.9881 right_pitch=0.2945 right_roll=0.09 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.306, 7.0222, 1.6239, -0.0317, -0.0366, -0.0171, 1.6068, -12.4376, 7.1863, 1.3016, 0.6618, 0.1685, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76815a4ae8252ad54464f3245aaf0897147e9ba8a3bd690302dadb3b4fc3abf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cdb17851aec32e7599dc0a69b86ea9bbce949871d2b59def233be932930e791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f1b8112b8798f6497cc7c91a832ecfb77a2dbb52f81c9d57270cb84b99d433",
        "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_01QSiuoCkCs5nG2MTDASYz1H",
      "input": {
        "note": "With the yaw settled the can runs vertically in the right wrist view but sits ~5 cm to the tool's left of the jaw column. Shifting toward the tool's left (forward-left in base frame), pitching further forward for reach, and lowering toward grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.59,
          "right_y": 0.045,
          "right_yaw": -1.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QSiuoCkCs5nG2MTDASYz1H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.54, -0.0189, -0.0391, 0.9992, 0.3523, 2.4016, 1.7084, -0.16, 1.1671, 0.8501, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1451 left_yaw=0.0037 left_pitch=-0.1686 left_roll=-0.0015 left_gripper=0.9992 right_x=0.5556 right_y=0.035 right_z=0.0747 right_yaw=-0.9705 right_pitch=0.2797 right_roll=0.0462 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4291, 7.1043, 1.746, -0.0659, -0.0513, -0.0122, -0.0615, -12.6291, 7.9111, 1.3162, 0.5934, 0.0952, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094bba7e079a231c44932bdd06d0705c1d6ff8798bc45904078a948f2fb71206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05b9d68cda00185a338e034e6645f327120b3686ee75c4f7c9ae7545c5705a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2d58edd1aa16f9af2676b391131a3ccd96bc6af126e210d6ce0823386af6fa4",
        "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 · 20.48 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]: [-0.0189, 0.8082, 0.6067, -0.5198, -0.0189, -0.0391, 0.9992, 0.3115, 2.3161, 1.5318, 0.1886, 0.9852, 0.5953, 0.9991]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1499 left_yaw=0.0036 left_pitch=-0.1442 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5712 right_y=0.033 right_z=0.0815 right_yaw=-0.807 right_pitch=0.2633 right_roll=0.0876 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.1829, 7.1316, 1.8926, -0.0171, -0.0366, -0.0122, 0.1709, -13.012, 5.9692, 1.3407, 0.6911, 0.2173, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8097, 0.6067, -0.5213, -0.0189, -0.0387, 0.9992, 0.3275, 2.3825, 1.6775, -0.065, 1.1564, 0.8078, 0.9991]\nstate[eef_state]: left_x=0.2749 left_y=0.0017 left_z=0.1492 left_yaw=0.0034 left_pitch=-0.1472 left_roll=-0.0017 left_gripper=0.9992 right_x=0.5607 right_y=0.0235 right_z=0.0825 right_yaw=-0.9881 right_pitch=0.2945 right_roll=0.09 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.306, 7.0222, 1.6239, -0.0317, -0.0366, -0.0171, 1.6068, -12.4376, 7.1863, 1.3016, 0.6618, 0.1685, -0.1148]\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]: [-0.0189, 0.8124, 0.6067, -0.54, -0.0189, -0.0391, 0.9992, 0.3523, 2.4016, 1.7084, -0.16, 1.1671, 0.8501, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1451 left_yaw=0.0037 left_pitch=-0.1686 left_roll=-0.0015 left_gripper=0.9992 right_x=0.5556 right_y=0.035 right_z=0.0747 right_yaw=-0.9705 right_pitch=0.2797 right_roll=0.0462 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4291, 7.1043, 1.746, -0.0659, -0.0513, -0.0122, -0.0615, -12.6291, 7.9111, 1.3162, 0.5934, 0.0952, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094bba7e079a231c44932bdd06d0705c1d6ff8798bc45904078a948f2fb71206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05b9d68cda00185a338e034e6645f327120b3686ee75c4f7c9ae7545c5705a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2d58edd1aa16f9af2676b391131a3ccd96bc6af126e210d6ce0823386af6fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuigKEAgRGAI4AUIIdGhpbmtpbmcSDNQAG6Zvvbv2qcadbBoM6xZBACsVbURaiJ4XIjBJDKxlXt5d9l1B0CpyftfBoWZNSFQAmmWxXZH3wO9uLlSyAvHvCdZFUyQMe39YmUwq1yf5VSxue5JKFbqlIws2obKeO4KmZULk6KYZGnPrsior8j2qgNuc8TQxL7IH6/PvX1nXq9f6gC3LU6+uc6OWSO2bPxy+t7y2Ifcypg9PJ+vesUU5dlwuHAUOgPcrQQPWOIhwQNxDdweIJboY/JoEvqjl72EajD+YcUIo1QSdHS5cotpWLq2O0V6mYR6wbr2DYiLpAfSqrS2NdLDFbqIQU9/DUx8+mEvpqeqb2+q1J8+YX0SBudoEAkJNv2QFKeAJVh0nceSlS+S6u8+3TpAKmUCwKbSfM7HVf3r2hgm6Ymk43kx2ZuwY9I7La3/ye4NoKSJ6IGDnyD4sAq3hWFykS0IIU7ZLX9MNETbg02UPokECo5bzRkneDJsqFchS8qRLqraGvj1N9dx3J7NePexI4XYEOsziouktAot3LOyRYuD34sVLJA6XSDH5CLvOfIJNE7RZqaX5JQgVqfRqO2gkfY42yjch674MEfuNz0SFz7aYCP3L7GBHCWj3CnhYpHSd/LK9sAnlJAlJCSIAsld+grjbRO37Z5pkiDpXtM+njR4kDpkHTr98Y9yFQH81lY/6/1db8A9x2Dd+hZ90TRsYWK4BDLaG5FRvHF2xe2RxMJm4K6giBRjn97w4matFByF+TELG8wnpC9cHE9EmmuAXx+RyEqfuD0spVW9eHKbt9c3YTa1EOcsr76vkxWS1lhLcv+TM6dJzViJBlE/2LUw2+g7PTV+8VnXbNky0NWjIZx30KeOFjKzPp4i5xEM2drN4hfxVdG64ym1nu2HCiPYJKERuBBplePAH5BCHxrGlKs/CNPPNfFIu5uV1vx9cIKHJMDzf00oVQbhwwsVKk5R1DnUQ/9lwTL+wcNQzXHgiovxg2xQwBaeXUUOznHoM/J+JlDwEwXYg2dmKK9F64pyVug+CTd2qqUPBhg0PmvvNUZ+uoZPgN4tUMdjIikgILUBAydDHOls4rWN3xO0YSscy+anBPeXCCyupGcFKran8unfR6UUl5MPrtSW0m4WXvhqGnDskuW4NY+hub9mLzz4P7C2jrQvowUau+G6DhHtaRh3Lrwngcan3N6DXFeBS2H/mfJZK8jpcztvWfRxtiQbVBoqvuKpGvVcxrcS5nZ2enU5yLADz2Eec3XEnySs5k7Wv6xx3sdpQyf1Wg9gxdwJNU1zIqc5s0y89qeO4k+PnXPyvw22TM/jTOdVA0tSd5/epPRUVNggIH/rdBhzxS4Hdndtv4v0yMNU4ctrZuGTWKeY+SKK6TTqvGSSpao6TJAVbnX/JxK/8XijiWyiakc96P521U8bRGTTd1NlkmH/0tpobnc2EOgI5yzSvY99cMcBccD+Lr9IsEaRJKdUOmmXVd7R2wAcWmlL6FF7vOmN4mqN3PWrDQ9YDcv1cfK92DIhhgaK2/t9Em9XqYWaB26UWrCW3r40vtNjv+GIym0rffK2Q3wdvDKF61VgnZbMRd5e4arO3ZpPCJChKjOkKweVfOqGb4G8qjihMG52xYGVpLw35g1NonS/KRhJnLdsLlo00BRWl8ISqrpPOpqlSxIjaWlr5S9aj7ieWKgObQSSo2K5MCN7PhXyuag3zojPL5X9tmEV3U7kY1FeR3zc0QSBXv8c0zaVSrLsnIAHMVh8011SyUb2gk41olZW96zdAU4GH2ICPEgQVyYTewWZyPrfbT0nVrk9Zum7k58w6z2rZxafiG2CZEzr2PBq+8zjIBmuEAo2fUAbmjW05NZpIJXy4rCg6wKuYfe0+pAN9FreKCOn8yYZHBK3ZLjpfohcFPtbV7Mz3wfV318o/4641ziONfUirGjn8SEXx1JD2eNvsLlDl0LqplkAkhqyPbi9DyPwrFa+lfM5661+siKssyC0Qb6GroiocY2/MgYkWAP4Nt+M+wfW4PNsjD0ojaoMuIrmIbLPYsVDIR1OA3ahFMEjHjKw9ZqVXl1nzuljLbISgsuBHI69xEWDCkIZ9PZaYOO9/H05zLAehK9ucSL2rPKH71DA1bPcutgIvSNXdYLBBZY0Bnqs8J91rtsSc8+gybK1GpS8X3HuiDnW/wneEu2vwBvv+VcB6oSsI527UTl2IbH0wkEHbuXGjk70NVNEEiAWpl6OvMNf4GkZOStG5WJQiGvNji0LC1+CexEAtAGtti/PWr9Vt7MLBWsBQD6KYtEPpm3YuVuhStVenxIaFoydbC49a4kvAmRnK/k+PWP0UTotAGhhYDgqcmYfwZggpqvC/gyRkEJnjYTbKL4tIm8f3KycqfvDaAfROuR3+xX3x5sQMQ4dbc4JPWtwEoS6VkkFwuUWhbpKnB/vzGfheAX6eax8XIlMLRff3agrpQSvvB7PzamiNX6TcEJ3pomyeOiKQIkXIbhj3voRJXqk16WiwO13Emv+PwMCIe+kYStnXW2vVIrahu+mOxtp3l/F6jz3jIPEj0yERIDSJTtiIT/rbXDzA7Y7p7yN74HpZqXF5Kw0xtvAuxS1k4m34SnO0F2CAl8gOFSc0Y4IP6MMI8LJR9VvqRdORDGgkFkfu/X8WFNw32THU262hfa1Hsjtyt6A2vdUAFv6WgEuLh+mJDcDeQsBnemPjcugrmXT11BrGaoheFWLini5oDI3+1s6/+AHs1+1YjmRr6ikecFWev6Ap/iXx/WbEvPQRD3xn0v2cnPZyXmXO+r3sQNV5NdAxvPvi9cdg+WZhwLCIEjEpNiJMRunpJvwbZK1xbel0MXsk5Lbj+wN14noU//K5HShjV7sVbar7/T4SISM1aJwxxZ3MZpm4p9bxKD2dtA9gXMeL7dDwUaIibnIEUZvco9mRafKAyJaePkYWui7DwCct3TIwLL0gN6/kWJeBkien2tpusQ2gY9qck/mM9oDdiIcHXP2xfbIOsRP+kBhkIQxZpyOhreSkCbQBPpJ8zTkaMCQWkKTY8oWQTZtQewqFOt0dVcMASX/7PMT2ohnJY6y2n5Il4lHafbMfMyedZD9rPDkBsW11Inqn8jIX0Ns9jNsQTBqgWxFkQpEIclla2sENPyqmen+jTbDcE7KwZ1d1hKGQyLexbY1k2KeqaxIV06fY7CBrribgSdNuO+qC8UTFqOBdmfczchkRsCvgL7ZaZh6FAvf5QnvkKsiEjvoMbHWsoQZOceMbRYNkzT6nFmGLQy4rUmqoKm33zr0N3ejjjESoyLBTpe4hzpQ8hQMFLuiuJExmwDdRIH2B5Y4LDWtE//goQOqNmo4ilf6DNUeVFeAa67UE/1bxTW/RF8i4e0wHXol8VbMOXZPOlj68EqNGVy3Ck/xTIh4n+2WiLpnVFKq51QNuoitK4ahTLHUSekKDbfWggchC7zzX2Fqfr8E0NF7i/FuHlDpnEcE6z1LhqHHC/ZPzOY7ABbJuDAwUVo+XMAGqG7H4bcqAtfWYL66GtJQBHd112SCQx7KcKuXporIB9+nXmHkOhd7K128BknzlMekgSTGvceFPp+2xJsWlkpD68n1L5loofCI+WU+x4PwwrKt3hq8UhZhgUbvHhBZRYFnJZomrYL9lTE/gHltkgEmvYD6NQ6OgDDjlV40mfHx3g4W8Ig6aDvUhzBbZR7p+7KPbdS4TG+xvAjQl6FIv4iYOgPYlMP3cfljGfvF5UsyVr+88jVbVmiDTnUEzIKpjMPdMlXVzCFepYVf/s0YwvUOuDBezLC45PAnHkzQdc9yOFrNyy1Aakhn8aW9uvRiwbQRQxfQmecNQPGIbd6HmKpW1iHbM1gZqbPZya3fkXl5284eAidhy7R8ZSsV8Vw+0N5SaNlfzpZvcBj0yMuudtvCHPk5AD3BmKUaP9nBHNmOdv32eespIFPUekCASiYSP6NArShBGZ0y5DhJPkRK9s/zVvYhxHarpJ86yPr12JEdSjH0BeIxcMO/sentuUgyU8GGp2pW76PAOVl39Hjd98Je2dhO0x7H2I1vpZNoVqhM5nNCwc3DGGuc/Bx0G6MGQh8gOKQzCEwkZ+qrsJb9MtLGPRcsMudwFndA/O5ikPCkp3DzlI+Ouuqy61u+RboKlrDqzA/vfqnWrCxk8N5pIQ23kPJ/IUTOrtM4dqgqjmWv1b+fVSLLrgTEpKFzCNbSAUM3Y83H4TC8S/tOORb+w2vdqgr837vYCGoU5s/aYtiJ86mLbDUtJYnLDvlQmtEa05aA/l6tYYVLUyIFKhrjws4gGmBG8s6IfJ7dW2Z76/Ltf011dHEJsr2uXe/CeW+foDg4vLBbKo/3Fn0sCPhNt3v8VgyTMwhR455CRROeFLGXCQIF7Cw8HULQQFlSpZVxf3FcL+K7lt6QbSEHKQ1FUmaMUo8wRFmXuzZuht1SJdpPIwogrrEAC+Wxew/vrn9LiSQmTsYRjKeMenvJH975ZcCr8Tnt00N+rfcE0URQ0VmjCbYa1gj9aiWohS+0ZSfNcdg0DYImi85hqN4WsAgrXQC7qpkHS9ondO2bR+nr5TJsNX2+Z0CtF060i9L9QFLJP3scW7PI8j75IbW9TBUo9PK14dzBXUx9bxVdX5RnF87p2XXQOTVI6poN0OMgHBk56/t6P19Fh1MynMwHtjQjQBPrA6B9r4p9iduQe8c4Upa9vweRE3VOOviITfIldT2vAFF9xwzN9gBJT9NC0mOBDj/D7Y53Q8JrND9dj0sWj9EwKi21jhBCx8xLT4XgbkXsFPD4DqDF0RBlq3CPoi4yC5X4/jBOo3hO0yElMKIzRjxH77sFQH6vceYgBtXRl8UDJtA0q5zAMIkQz3XUZpbytNpT/aRSlOr5c2ay7iSPuQaw/Mrc6qEK55gdyvNAR7+hyd80vKyjyXUEC+cTEXbe5E129le1RWAqoN8buSgTuQRKOiUoxGgPUuvEfLSTCfeXsPXN1On7wRwQrwJs8bUKROyYYsKpYgBTd0T6PP15HZYekhZuPoTuEZs7EcFwqEqeQWbPTg/EEqCUTbCPueJltFIZCiS2fd1x9o8/0HOEyEQ2jmxahxayEEVGuwmh+E4eu9It8OuYPxMRjdsvzaRjjlqLxbdqEL5x0pB52fRZEeXxOj49j7Ys6sy07mSd/T6+U7g3y37nD+0+ocIIWUm7pc0ht3Wv5q7OJhS7QAbx97wx3MFW7bEX5Zs3DQOIr6sqcT8NZWIlZ2J/JRgzs3beyOpdez3NGVyO7Y/0H0S0yfx4S53HK20BF/zEV7yUHIQ7ZnjWo2jKOOEH+qfqFEj5BXO2FSc7nD6IaO88N9+qoecMs47QrrU6/6mMJHyiph6gbPB6arF1LP9a3uncoZ3s6KvWq3s0HexIERrbJM0VPB5/cqh2cW6zfRXfi3TOrJIemXb9jesZrYFl8J8WlD/63cd0ayLzcYfNxnImn5XERJYy1Xv/Ey+I2L893bbAkDH3SPn4wrj16iFchozmOErGIG8vq8fd8VOZG+HxklKW3Qb1ueiB67easDo3lPRk0cWnBnAAcHMAnjDCko2MVshp/aMlXwYrKccc1eavDWEo2nt/Tt/0St1g1LLXYDLpE/jXuVB5TB7eXjgjxQWRinSYwe8RlLNKoljZfg28ar4V4jtC2vraqXLOIOE+ud7zsaYZZvl/4IGDWgf6WXIqoE3Xdp1hl2cFLuh26TdEgSLg8eb8++OB3fSwHxGR75QWxGnUhCPpFXt01paIv63AN91f7AnyRzb1xCvNgfFTDzubjj8POrZEi1d20t1KZ6Tavus0smRIIJp2CkN31aWlF2/3QKxOnVECI/B+8dJ/rwQyFrC1RszG79EjlIzYja6yTXsZeOq+U89JaLIKC4lKPQddqXlAFQOg48MiDoPFyASJrEPD1GPA963POJCy9mn7TUrTTj3358KG5uwi6eqOBy/+mcernkAlavMjxBNEdXJyJoMV0++tpX+fsjYIJY04Y5KB6uJ19lIV0Xd/zTivdNBTTt7qnZFuqcaG8Eef0ug+kQyMeGdsClqWDcWYUNdIe6UUJn0/wmLG5PGA4uaDcs+gsTGVEPskmtiZUHZJ6U3BqNAhnO+MshlPDe3N7YcuZdvBY2mol4OaXvPdMn2/IzmHHdVWQnO11DCw0VFX43JrIfLA6xjehoo0EB3mhbNjtipPrWdpUyEKemhI1PH/DHwYg7BisHTJPreOUAhXj4/O6cnybRzqtqfmGyEFfiR10KrgmVowH264ZhRFZwc7ulkjP2lgZ/9889XMXi06h9q7d2WUiAgd0/p5noUc2Q1PwN3fGAmAdNC/VB/lusv0d35PJ76gc0T+YGZd+tSPW+Om3MurxAUe6Ye9/tmY7SQ6d1ZDlNRXyahVtNGCxTNhEepvWxQd0CjMn+BfuZ+3XBs7LQXDXIhQlAZKNroaUGIugj1E7DhXKZ0go0Abh7+aFErpKplv1Mk3oSKl5MbFa78Y4i1fYtIiIuEANCNiMjDeE07YwohpXJRCRUe45gF/CfS/QbwIzxBWiHXAH7xeK/BdZmNJdQhmVh4fcOisXxGPFIcdfgOPJKSEy9P1/v6ks0SH7Zt6KTa4jVLTp3smBJG1AmCKHmA/RdAqFUFfLLRQ3f3RfUqylbeBSLjy3IEvz1aBsOg6rPUnrwXHrInASgTpqx2h24pR/lvFjpP7xhwlJxeIe+1FrjROdh3aVGgG8U0JGYOOOhp/0MwL7DhfFLC7gdPJLw0KOoe/9baffi47RnE/mzAgsh0TR72sBvx/vMozVTDQeEYOO+QLVcw1pYbeF2Hx2JtXEpBC4GlQFApy8p2b9pTYyL3k3S6eG0Lx6sjlWWmLsr47kNT6Uq7lYBTvGCFckCkud0r92T2j98pMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P9PwfyVzFaArJmp5XDxxSY",
      "input": {
        "note": "The arm has stalled at its reach limit (x≈0.556) with the can still to the tool's left of the jaws. Instead of reaching further, I slide along the can's axis toward its near (lid) end, which brings the can body onto the jaw column within reach.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.55,
          "right_y": 0.1,
          "right_yaw": -1.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01P9PwfyVzFaArJmp5XDxxSY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5583, -0.0189, -0.0391, 0.9992, 0.4412, 2.5855, 1.9957, -0.3672, 1.2221, 1.0447, 0.9991]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1409 left_yaw=0.0038 left_pitch=-0.1907 left_roll=-0.001 left_gripper=0.9992 right_x=0.5724 right_y=0.0907 right_z=0.0585 right_yaw=-0.994 right_pitch=0.2934 right_roll=0.1255 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -1.306, 6.8718, 1.9121, -0.0659, -0.0562, -0.0122, 0.4581, -14.6803, 7.4872, 0.8278, 0.8816, 0.1832, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c289ee86d942cefa041a104d220cc63a864bc747595c1e00aec062cab20e2271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a376cc07e7dd47e22ac455cfce50e9dbb90e6a50c968114b10285f7eae89a093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0213b27c83c088b435c5f30000aa89b1c7b398d1309ba05e09e357735c4ddd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 10.09 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]: [-0.0189, 0.8097, 0.6067, -0.5213, -0.0189, -0.0387, 0.9992, 0.3275, 2.3825, 1.6775, -0.065, 1.1564, 0.8078, 0.9991]\nstate[eef_state]: left_x=0.2749 left_y=0.0017 left_z=0.1492 left_yaw=0.0034 left_pitch=-0.1472 left_roll=-0.0017 left_gripper=0.9992 right_x=0.5607 right_y=0.0235 right_z=0.0825 right_yaw=-0.9881 right_pitch=0.2945 right_roll=0.09 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.306, 7.0222, 1.6239, -0.0317, -0.0366, -0.0171, 1.6068, -12.4376, 7.1863, 1.3016, 0.6618, 0.1685, -0.1148]\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]: [-0.0189, 0.8124, 0.6067, -0.54, -0.0189, -0.0391, 0.9992, 0.3523, 2.4016, 1.7084, -0.16, 1.1671, 0.8501, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1451 left_yaw=0.0037 left_pitch=-0.1686 left_roll=-0.0015 left_gripper=0.9992 right_x=0.5556 right_y=0.035 right_z=0.0747 right_yaw=-0.9705 right_pitch=0.2797 right_roll=0.0462 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4291, 7.1043, 1.746, -0.0659, -0.0513, -0.0122, -0.0615, -12.6291, 7.9111, 1.3162, 0.5934, 0.0952, -0.1148]",
      "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]: [-0.0189, 0.8162, 0.6067, -0.5583, -0.0189, -0.0391, 0.9992, 0.4412, 2.5855, 1.9957, -0.3672, 1.2221, 1.0447, 0.9991]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1409 left_yaw=0.0038 left_pitch=-0.1907 left_roll=-0.001 left_gripper=0.9992 right_x=0.5724 right_y=0.0907 right_z=0.0585 right_yaw=-0.994 right_pitch=0.2934 right_roll=0.1255 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -1.306, 6.8718, 1.9121, -0.0659, -0.0562, -0.0122, 0.4581, -14.6803, 7.4872, 0.8278, 0.8816, 0.1832, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c289ee86d942cefa041a104d220cc63a864bc747595c1e00aec062cab20e2271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a376cc07e7dd47e22ac455cfce50e9dbb90e6a50c968114b10285f7eae89a093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0213b27c83c088b435c5f30000aa89b1c7b398d1309ba05e09e357735c4ddd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqRoKEAgRGAI4AUIIdGhpbmtpbmcSDKcfGZS7qrBBSATtQBoM5f8wV8g+U/E+QIJ4IjCfaAe1YKViNMW2bk72PnC7XbKbWAHYJY3F7voT4LxWP9ClCziU/sYI/77v0IgGn0cqxhmy1oKlNWMhBZmbWHDfQRC7U4dQbL18sdODGOKj9G2OFuYBD8dLIZt488RURtyBbrSaI9ffM28MPchabn34CN9AsWGA3kEo1IOZe8zrr8ua7R7M33YttUeodDfggtiHwjPQN8jd2liRGuv0u7W94XsVMWcWYdyOY0EHLuWEX2ifW95dfHCqNtRx6rJtB56unCvJiSTdkSSZTsE6bdKCJRsXQFV9yQZhtQhD0k837PqD+BfsoXK4iJaYmmKQv2KumYzqlzcsDkX3x8E2z7/5hz/tzhkxM6roWFIdVmm0dldJkJaywJumg91xWSmLZGBXQtpJHrX+B7gb1f6JdItIPn+lnxLSAHP/SdMTLYXzfd2fc5iYUMAIlXYVchNnpW2a9ETCkMMvvtwnDq6Rs8ndKbFqCThwED4FPmFB1qRUXsrCm6vFMRHQAC9VuePgcyVf7sdcL5U0eOfSTyrUPXcOjMN91eoZwYNLvoynzGYaZBEeUS792J4Z+VLRyWVzV3oObDLftq42NLun2L3FmRyHw1+5BpTgZtyc475L1UC0ekikhO7EhraqnTuc/Wk7kUJ2RBjK25oWJH3P0X2M4ymV8e7Kwk08PecILTkC41yK6/3rx0ZVYHOa/ekGssXOx5ZmC1sQcdpja+QbNu2uZNsl5rsCI0CBU53mvhwiKSmOPcAdGR/RvVlzIsT7/rznIiaNRnH4O2hWY+/SfKaBEvSSyvHgOitH4PoG70j077vFho8/Zyjdwug+CF31j5ZpnPnxGFr/O6UsV8jvjMhwYFW3YWyfrDAqbdl2GMkhUgnPtFRVoHdFVZfSYqu4LNLMFkTyNb0wMBkf/lOz/RsxDmtT5hGXS/PQ0W/pk676CyPLesDdihb9Jee90xCGubfANdlVT1bGYnVHGy9fgUT13c0gfIFyDm3La4FGHcW8IO3KxqyxV/iQovkqo4Ui6mDa0pxa4ppy3O5uDrwv9byJgG9XiRpctiaC+bFCES/60gfqtNV/bf6NnJfxNUDRzF0XHrdm+458qUa4vwH/M+XEa9eAsQBEpFAVaCGcDAyvyrraScd0af4gx2XJR2OV5LTpF5ZgqQh9XpCZSqCzwTjkce8KaTowRpi7p/fhSzAiCvmygnyy+K6kOOOmQ+8iJFSxLiqUgjHupabq+weH+Werw7Y1uISt6+vuv0bUGm3H1xqlSvTAyPOA8jgPn80xZAUk6gBsE4PkbmdchaZx5xA4LpqgVMw0ssVq4r5dSB1X4ziz7Qhxv4He7Ef8N7LvsUm8cnLJC/2Kx50xhd/HrHKThbuxkgDHVDCbRXSccAP7zGM6b4g8Ji36rxRzFGzCVRjlWhUNksohpcnUsfxWh10YwGwlwUz88LcrkssJzYAN7q76dQWWNfGU1WWt+4bhSI8mHf2Ff5MG1bJYODoCH4I0KRap4rFtH3o9X4dncad4HViG8rWzR5ERKFRji1R4jpY5pU1tJRgwdXDZdX1TWAcIXU/DIsIrcPDrPxfDq0k7a1hNdq4f8gJ8l1YtDxfSK6ezihdRXrJGd5D/7sJ8UMuH5jjsspmxFHlRZXWLjcbeW9Q8qSrkI7es0lLC2TzsGvBdcGkEDkRZ1o8gPuHC6kNjZD4GmtsK8jXFa8iGfYIAb9ipraoX0TCefydSYqo1nSYa+hnMObbgslegl6BHEUWZsYlRjUO8YKtkr4XA7s8ye2TElp5ln/sYDhHBNO8krDnnXWqwsaQxX2TT+PMHpn+Oa5qEoySjC3qwPRAaSdwTej6FejUwXFbLCvMBrLckInCWaKgY044/+RV4BCzrOIdx4MNco+IoYgg01asCfwW8lFWWIjF/q0R0/g77DekoURmRP5+vtjFiWu2tM6Ja9wVcJn13POjNw9m3cjosMQ3rmw2D5nmvvMiR9UERB9vNXSjhAz7KX2OJ3wZutYQF3rPU9NOcdoNZwyI4X2w13uyl6phWI0PjzZRtSymY3MSf2nKoSf8PT6lM/elkmLtFfu2dgV4STVZcllzDwPpRRJplOsRGp1XPv+Uh1y5XWKigbZwz3XDdy66FtLBiczUnCxw537ZG+xfO1eY5MW87zFHws+u6H9s7Nmo1Lw6sQTRKi0+yR/vHoj2DhFsM1CYpK5cFp7u7Odn88zJ1HFPytb5rM//aj90MFVVmrdN2qJzyAfN8ldGyoseuNLC4u2PywtoJ/flRvPUmonCAkt31+gpcvR6BTshKJUOXhq/6yq1KkLNaige1IuUgkizHr1zYrV6I9ATGlrFJ0BYtI61Je4nvVwMcRxU+HHYLzSv2h4qGwiH7wcO/lNpaWuMskdePLzHumNqKgbswZOMjiPrEYXsZaZ9Rauy3y9bzBJWMtjDZ1o8Tyc/S3pvjrqxgD/+KyK+AV83NOI7rlBt2YdxrFXSU/GWO0jd5xyBuHwNXzRbcSOFV0Bkd56SNT6LN35QLXHGQEE4xeCjyUAIgbEBNhMWY1+DThIKA841IEChCJoCrccSCaPUOM4U05PTuZeITdO9+JyblECYC1BXSRuAJGMtrfR2Ap5uT1CFzcNIRTkOUAdUEwlza6vtXc3w5TEaG4GBJQn9xnkhMrv598r598lYNa9uUuTV8565MCGbjApDN0Yw3caCvBV0KZzmBxwFnJiLrwAfpfbJI4e6ApP/9qREuMa57gqFiCyE9VpmH3nsOCfU1bBoojFx43oPIKAnY2NPl1Z3mKwQnPq2grm3upp6MLQDsOi3MonXqh0I2B2CD6Fc/VNlArIFKrjCfs6D0t+shoQcLZGcOt8C5ykH9mT17xMMW/HVQrGKdd4ZdfPkP3MVDv/ZGGDBmyj47zDWTTSZK0ffupRTyu4PYmOzjSpV/3C2hxuvuqFlzGV3yB7Xsosozb6UK80/IhAkaLTSJ5/HpTnZzWxzY5hW1hn7ZWP2uAvEdoiYuSf66oDmezmDku7f2Bg9pIqxWWzToaefW2nsJLOJQn2YWg1d94LirRkTzujbyT+BUGq93fa+aXJZc9Vn91dyl3Y17Aad15y/yuEpmVoQ1QTXBUfIOeEtmGlAw9U1RA6oBOubN0K76+WF/9aV9Zzns+VYccm2n2rMHrcQfqjUQDzxcS2PZCc8P+KfDky3PKqHCf7M+4nD0De0gjyVk0+Xy2A7FPim0wAd1pDeEsthnh2kNnE85f+Nf1OIsZszGaMUiuoQno/U6O/M4O5PzbDmCW+4cO3/Sv0CHHkwuqPA4bgIMTut52MtWA7u4tMawfoaGkKrWO4ywTEn2ejk+SJpsCt+/0y2yoloaJZEuR4egi4MKSKA7qPBNIvJCUxE/AIOazwryBsMDmcm3YiAW5UTnxdR9tSfDouE+FHMbC+L1DweusrxG/ZdzFBsQxEPTG3QbSXJ7c+DPw0hjGfmMebRB40znvpb4JinftqDmkzSQRem832c29N0Uvofk9xoHJDGxw8xVoffwJLUotV8FN2AVTlTbi7hUteQUaCGTWS5cEncI8E62xHOxIN6Cl0vCZTyZnftK7uGnKdJ+nMLOWsJ8ntsr1OdxIoAocQ0UATyLLo4qjbDlBC0WAcjWn+ZLtFoZ9jv59dy0uQM/hZUh+rbfvEP1hjev4xaqiHfTeGCFKjlzyJV85rKEgnJnhv6Gaeqzjz4g6MEMRNeJrTR8IVmgYp4TfOWZCvgY/SA39893DivPEXV+l1DivKEUwl378zrVOnePe50UqPHPTE9RMWeWd9H1rlja6ylQB63jxaypN3r9GA9OZAjB8aZQ6WL3oXzIIwQrMcsDuYPKxaCHpxF0LAd37XPjKpo9PSWstLZzyNdzbVlEhxQDF/CDatPfGzp8vjR2hc2bBjTTbDigVkYqowyIRnDCnhAMcNHIqsbiwde2Dp4J+1UpgrUEqyq5kaRHtl/ejMazThPRsO3TKcR7lEz3W0axe0Gwy6vYx6Ai5wmT5GuOiEdN+15nBSilUCsYKERvoDc23FC+3VTj2/KBgLB66058DjQR3d7oApJYDdRCnevz/M6rN5iec1DG4Gr0ChVPDQoxr0aWRBaRddRHVZ9vyAyOqnNJrNkg7mJWI7+zdVCM5VgRXc0qJfniI2+9ZZQq6omEc/YVVBudKulDuAqmcYUgoTF3hfXmtJVsichONj/1hsyH7zEoKpthJA5jnvu/9HBds1UYQr+UAfKx4tg+gFZB3xgeH3LMbSPUm6enPTJcC+UnP7YLbnkxMTaZ/b5hiQRqUZDR0DT5uW5NbHJhmqrPrp4xy78s3JKr1++HBdE7Cm4Aw6UR9J23xWbRxdifIFWdaCFR2N55zNYw20uSWL1V8NfmksWJVV1qt+7TglpvzyOzD/79nifwyf4IdrTrqvm+t1id/FaFys647RFQ2zCoBoEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015dzFR4RYCj7J2yCXZN86Ec",
      "input": {
        "note": "The can now runs down the middle of the right wrist view, tilted ~20° with its lower end just left of the jaws. Yawing slightly more clockwise to square the jaws to the can and descending to grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.57,
          "right_y": 0.09,
          "right_yaw": -1.35,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015dzFR4RYCj7J2yCXZN86Ec",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8223, 0.6067, -0.5732, -0.0185, -0.0391, 0.9992, 0.4423, 2.9456, 2.6114, -0.8967, 1.3094, 1.5139, 0.9991]\nstate[eef_state]: left_x=0.2665 left_y=0.0018 left_z=0.1368 left_yaw=0.0036 left_pitch=-0.2117 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5854 right_y=0.0924 right_z=0.0308 right_yaw=-1.2109 right_pitch=0.3094 right_roll=0.3076 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.0735, 6.8718, 1.8779, -0.0513, -0.0464, -0.0122, -3.0701, -8.9231, 3.7265, 0.3785, 0.2076, 0.6667, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3acaeb10b3e66e1beeaa61d3c2c3bd78556a6de4fadc493746e59b2308e4ce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147f5f38ec6ffd6ce8c7231199ecc7b64bf1cfe0afcbf73cee8f30f32e84c7aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be28c10712ac8de109c2411f32544d424ebe414bb4a293de91098c66f2b7740a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 20.02 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]: [-0.0189, 0.8124, 0.6067, -0.54, -0.0189, -0.0391, 0.9992, 0.3523, 2.4016, 1.7084, -0.16, 1.1671, 0.8501, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1451 left_yaw=0.0037 left_pitch=-0.1686 left_roll=-0.0015 left_gripper=0.9992 right_x=0.5556 right_y=0.035 right_z=0.0747 right_yaw=-0.9705 right_pitch=0.2797 right_roll=0.0462 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4291, 7.1043, 1.746, -0.0659, -0.0513, -0.0122, -0.0615, -12.6291, 7.9111, 1.3162, 0.5934, 0.0952, -0.1148]",
      "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]: [-0.0189, 0.8162, 0.6067, -0.5583, -0.0189, -0.0391, 0.9992, 0.4412, 2.5855, 1.9957, -0.3672, 1.2221, 1.0447, 0.9991]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1409 left_yaw=0.0038 left_pitch=-0.1907 left_roll=-0.001 left_gripper=0.9992 right_x=0.5724 right_y=0.0907 right_z=0.0585 right_yaw=-0.994 right_pitch=0.2934 right_roll=0.1255 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -1.306, 6.8718, 1.9121, -0.0659, -0.0562, -0.0122, 0.4581, -14.6803, 7.4872, 0.8278, 0.8816, 0.1832, -0.1148]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8223, 0.6067, -0.5732, -0.0185, -0.0391, 0.9992, 0.4423, 2.9456, 2.6114, -0.8967, 1.3094, 1.5139, 0.9991]\nstate[eef_state]: left_x=0.2665 left_y=0.0018 left_z=0.1368 left_yaw=0.0036 left_pitch=-0.2117 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5854 right_y=0.0924 right_z=0.0308 right_yaw=-1.2109 right_pitch=0.3094 right_roll=0.3076 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.0735, 6.8718, 1.8779, -0.0513, -0.0464, -0.0122, -3.0701, -8.9231, 3.7265, 0.3785, 0.2076, 0.6667, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3acaeb10b3e66e1beeaa61d3c2c3bd78556a6de4fadc493746e59b2308e4ce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147f5f38ec6ffd6ce8c7231199ecc7b64bf1cfe0afcbf73cee8f30f32e84c7aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be28c10712ac8de109c2411f32544d424ebe414bb4a293de91098c66f2b7740a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0191ruJyAXSJNrydGVYsKYPg",
      "input": {
        "note": "The can's base end now sits right between the jaws at the bottom of the right wrist view, at can mid-height. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0191ruJyAXSJNrydGVYsKYPg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.585, -0.0189, -0.0391, 0.9992, 0.4438, 2.9582, 2.6251, -0.8936, 1.2968, 1.5143, 0.0117]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1345 left_yaw=0.004 left_pitch=-0.2242 left_roll=-0.0002 left_gripper=0.9992 right_x=0.5866 right_y=0.0946 right_z=0.026 right_yaw=-1.2064 right_pitch=0.2972 right_roll=0.3114 right_gripper=0.0117\nstate[joint_eff]: [-0.0615, -1.1966, 6.8991, 1.6337, -0.0464, -0.0366, -0.0122, -0.1846, -16.9368, 5.0667, 0.6716, 0.6032, -0.0366, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74eba2882e5e6147636be88be31b29a7170629909f8cbcfd5844b9fa7425cff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56121ca9fdab6f2780bf3b69c18a5019207c28f885dfaf95d847234e61b14e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b3b7308e0929026603da5c2a2e3df9170206a733a83b2db9d0891b1c57fb1c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 28.44 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]: [-0.0189, 0.8162, 0.6067, -0.5583, -0.0189, -0.0391, 0.9992, 0.4412, 2.5855, 1.9957, -0.3672, 1.2221, 1.0447, 0.9991]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1409 left_yaw=0.0038 left_pitch=-0.1907 left_roll=-0.001 left_gripper=0.9992 right_x=0.5724 right_y=0.0907 right_z=0.0585 right_yaw=-0.994 right_pitch=0.2934 right_roll=0.1255 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -1.306, 6.8718, 1.9121, -0.0659, -0.0562, -0.0122, 0.4581, -14.6803, 7.4872, 0.8278, 0.8816, 0.1832, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0189, 0.8223, 0.6067, -0.5732, -0.0185, -0.0391, 0.9992, 0.4423, 2.9456, 2.6114, -0.8967, 1.3094, 1.5139, 0.9991]\nstate[eef_state]: left_x=0.2665 left_y=0.0018 left_z=0.1368 left_yaw=0.0036 left_pitch=-0.2117 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5854 right_y=0.0924 right_z=0.0308 right_yaw=-1.2109 right_pitch=0.3094 right_roll=0.3076 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.0735, 6.8718, 1.8779, -0.0513, -0.0464, -0.0122, -3.0701, -8.9231, 3.7265, 0.3785, 0.2076, 0.6667, -0.1148]",
      "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]: [-0.0189, 0.823, 0.6067, -0.585, -0.0189, -0.0391, 0.9992, 0.4438, 2.9582, 2.6251, -0.8936, 1.2968, 1.5143, 0.0117]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1345 left_yaw=0.004 left_pitch=-0.2242 left_roll=-0.0002 left_gripper=0.9992 right_x=0.5866 right_y=0.0946 right_z=0.026 right_yaw=-1.2064 right_pitch=0.2972 right_roll=0.3114 right_gripper=0.0117\nstate[joint_eff]: [-0.0615, -1.1966, 6.8991, 1.6337, -0.0464, -0.0366, -0.0122, -0.1846, -16.9368, 5.0667, 0.6716, 0.6032, -0.0366, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74eba2882e5e6147636be88be31b29a7170629909f8cbcfd5844b9fa7425cff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56121ca9fdab6f2780bf3b69c18a5019207c28f885dfaf95d847234e61b14e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b3b7308e0929026603da5c2a2e3df9170206a733a83b2db9d0891b1c57fb1c0",
        "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_01BwC2kEGY6USwVXcTomgHhq",
      "input": {
        "note": "Second empty close: the can's base is visible just ahead of the closed jaws, at the arm's reach limit. Retracting the right arm home to get an unobstructed top view of where the can actually lies before re-planning.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01BwC2kEGY6USwVXcTomgHhq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8288, 0.6067, -0.6067, -0.0189, -0.0395, 0.9992, 0.001, 0.8631, 0.6617, -0.3752, 0.0887, 0.0669, 0.9976]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1295 left_yaw=0.0043 left_pitch=-0.2517 left_roll=0.0001 left_gripper=0.9992 right_x=0.3068 right_y=-0.0118 right_z=0.1884 right_yaw=-0.1135 right_pitch=0.0066 right_roll=0.0147 right_gripper=0.9976\nstate[joint_eff]: [-0.1709, -1.5932, 6.8308, 1.7265, -0.0464, -0.0708, -0.0122, -0.1299, -1.9077, 10.4, 2.0391, -0.149, -0.0708, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a566e0b573d2128d26d3790ea342efbf28f0bdb9ccd8d8cf89061d1abca0f0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:449cb8eb9224c35249b5df9d2a4fb6a8c08bed12640ade74aae821e7b62bc2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:300b619cfb1a109582a3fa14c93ff6a3639d515ddfaf7e4098e6aac6276dd5d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 10.46 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]: [-0.0189, 0.8223, 0.6067, -0.5732, -0.0185, -0.0391, 0.9992, 0.4423, 2.9456, 2.6114, -0.8967, 1.3094, 1.5139, 0.9991]\nstate[eef_state]: left_x=0.2665 left_y=0.0018 left_z=0.1368 left_yaw=0.0036 left_pitch=-0.2117 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5854 right_y=0.0924 right_z=0.0308 right_yaw=-1.2109 right_pitch=0.3094 right_roll=0.3076 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.0735, 6.8718, 1.8779, -0.0513, -0.0464, -0.0122, -3.0701, -8.9231, 3.7265, 0.3785, 0.2076, 0.6667, -0.1148]",
      "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]: [-0.0189, 0.823, 0.6067, -0.585, -0.0189, -0.0391, 0.9992, 0.4438, 2.9582, 2.6251, -0.8936, 1.2968, 1.5143, 0.0117]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1345 left_yaw=0.004 left_pitch=-0.2242 left_roll=-0.0002 left_gripper=0.9992 right_x=0.5866 right_y=0.0946 right_z=0.026 right_yaw=-1.2064 right_pitch=0.2972 right_roll=0.3114 right_gripper=0.0117\nstate[joint_eff]: [-0.0615, -1.1966, 6.8991, 1.6337, -0.0464, -0.0366, -0.0122, -0.1846, -16.9368, 5.0667, 0.6716, 0.6032, -0.0366, 0.9988]\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]: [-0.0189, 0.8288, 0.6067, -0.6067, -0.0189, -0.0395, 0.9992, 0.001, 0.8631, 0.6617, -0.3752, 0.0887, 0.0669, 0.9976]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1295 left_yaw=0.0043 left_pitch=-0.2517 left_roll=0.0001 left_gripper=0.9992 right_x=0.3068 right_y=-0.0118 right_z=0.1884 right_yaw=-0.1135 right_pitch=0.0066 right_roll=0.0147 right_gripper=0.9976\nstate[joint_eff]: [-0.1709, -1.5932, 6.8308, 1.7265, -0.0464, -0.0708, -0.0122, -0.1299, -1.9077, 10.4, 2.0391, -0.149, -0.0708, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a566e0b573d2128d26d3790ea342efbf28f0bdb9ccd8d8cf89061d1abca0f0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:449cb8eb9224c35249b5df9d2a4fb6a8c08bed12640ade74aae821e7b62bc2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:300b619cfb1a109582a3fa14c93ff6a3639d515ddfaf7e4098e6aac6276dd5d8",
        "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_01Loghz1bWwACdsG3SrS31wb",
      "input": {
        "note": "Top view shows the can lying far forward-right at about x≈0.6, y≈0.07, angled ~45°, right at the arm's reach limit. Going straight to a low grasp pose at the box's x limit with the jaws squared to the can's axis.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.6,
          "right_y": 0.08,
          "right_yaw": -1.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01Loghz1bWwACdsG3SrS31wb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8318, 0.6067, -0.6178, -0.0189, -0.0391, 0.9992, 0.4141, 2.7468, 2.1117, -0.1196, 1.256, 0.7525, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1269 left_yaw=0.0042 left_pitch=-0.2658 left_roll=0.0007 left_gripper=0.9992 right_x=0.604 right_y=0.0859 right_z=0.0311 right_yaw=-0.9411 right_pitch=0.3667 right_roll=0.0321 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.2376, 6.8034, 1.6532, -0.0464, -0.0415, -0.0122, -0.2256, -14.8855, 5.8872, 0.9011, 0.862, 0.0952, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d15c9812f85ac7e81abc491cbabfa60f384d8710d4661c8dd4c0b72d21cecd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1590a871cb19c9031fdb5184e37fc19c3bcede1d9bfe96efd3107fc1d31e021b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48d9de3cae0ba5052675a7f3230460f1913075078c0a0edbcfb5fab42400d1a9",
        "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 · 8.614 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]: [-0.0189, 0.823, 0.6067, -0.585, -0.0189, -0.0391, 0.9992, 0.4438, 2.9582, 2.6251, -0.8936, 1.2968, 1.5143, 0.0117]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1345 left_yaw=0.004 left_pitch=-0.2242 left_roll=-0.0002 left_gripper=0.9992 right_x=0.5866 right_y=0.0946 right_z=0.026 right_yaw=-1.2064 right_pitch=0.2972 right_roll=0.3114 right_gripper=0.0117\nstate[joint_eff]: [-0.0615, -1.1966, 6.8991, 1.6337, -0.0464, -0.0366, -0.0122, -0.1846, -16.9368, 5.0667, 0.6716, 0.6032, -0.0366, 0.9988]\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]: [-0.0189, 0.8288, 0.6067, -0.6067, -0.0189, -0.0395, 0.9992, 0.001, 0.8631, 0.6617, -0.3752, 0.0887, 0.0669, 0.9976]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1295 left_yaw=0.0043 left_pitch=-0.2517 left_roll=0.0001 left_gripper=0.9992 right_x=0.3068 right_y=-0.0118 right_z=0.1884 right_yaw=-0.1135 right_pitch=0.0066 right_roll=0.0147 right_gripper=0.9976\nstate[joint_eff]: [-0.1709, -1.5932, 6.8308, 1.7265, -0.0464, -0.0708, -0.0122, -0.1299, -1.9077, 10.4, 2.0391, -0.149, -0.0708, -0.022]",
      "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]: [-0.0189, 0.8318, 0.6067, -0.6178, -0.0189, -0.0391, 0.9992, 0.4141, 2.7468, 2.1117, -0.1196, 1.256, 0.7525, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1269 left_yaw=0.0042 left_pitch=-0.2658 left_roll=0.0007 left_gripper=0.9992 right_x=0.604 right_y=0.0859 right_z=0.0311 right_yaw=-0.9411 right_pitch=0.3667 right_roll=0.0321 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.2376, 6.8034, 1.6532, -0.0464, -0.0415, -0.0122, -0.2256, -14.8855, 5.8872, 0.9011, 0.862, 0.0952, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d15c9812f85ac7e81abc491cbabfa60f384d8710d4661c8dd4c0b72d21cecd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1590a871cb19c9031fdb5184e37fc19c3bcede1d9bfe96efd3107fc1d31e021b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d9de3cae0ba5052675a7f3230460f1913075078c0a0edbcfb5fab42400d1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AwKEAgRGAI4AUIIdGhpbmtpbmcSDD+HP2dOFxR39aBXYxoMfbTNCJDrnTQaziq4IjCez8bIIbyKNN9edNCmamPDzT9Sz90KAik6nMXfVQh1qJlVbrp5LpUvpa0B0a/A7Dcq9Qs9RVFlyxoVsF4pLliuI7BfGLwITdSOG6bG7xcxgNlRnuRB5oQLh5p76cEmJX2A11VU9Brb4FRp3lfFp2p0KPs3OeUYnGfF5uDzEbcpbXiZCF2PJ07xRIVZROaN15ktpkCZ6sAbGT3DLXSaZ3H9UG7v2JH2PjpqSQrJ1lF5pNElXSkSL6vL7E9TvVlIXkBuQA2j52uuCgEIuGr1SrsRjvS7x1W/C2BsDlxGp4TSJMOQUnLXEruJwFzLEYJevKBPrPSk/5E0iSnretFUZChRQUUVCBnHG+jdfk7HhYtwHfmEorG02XkWp8QpGEV8yknA4Uhq2xz3T3KwvLDQvWlZ26t1OmIiDSAUu1pMm1oQhYL5+wPvkBbnns70Ibi0h8jYJ2SfOzi2he6ioTuKd/MJkhWcO/OH/+HNWkDqamydlmep/7C7hPlajpzjuCsXOUEZBct/fk77mXYJY7TCCgWuiAAG2Jlc/hKpj+EMfHLP/ewbSIjpdllMC9KPuh/NycXdRxulJWs/Pr6+U64sV2YGIMDTParwIUozhl2TvJiOaTLPzqvYzKwbexeUs7CVn7C9SPJUgGVuy/rrpczkyONlg1fgqGYqrcM7H/4sV+/gLJCE8bzz4YAd5lg44vVS9CKURRdoARhpwHlH2WSqEzzDbdsvjguENB3tTzVlcSm1crIFlE4eYsQDB01lEgc8KqTxqQv9mUsuuu2FZO7l5iWC/mN1EZAsZsmvCK+FG3/+WdpFLHM9nL4o7J29AC76McMvZFWfrnHmcmo4KuGTTqtX2XAL8kPq/FrU0qJlN6vdNgfXudLN669IV2sYrdgj4PQYt1DMClGJ+TKh+e6jM8VWbSQxncjvWjCtKKBymJIwCHPMdKZVfOV1Ld0k2aCTLudQGpAs8nw6apNVS3g86pIKAhBDLbm2gsMxK2PCC/WKdSbiRWErzUcFQNE4op+ofHUmqcog9sf6Vylj0va6hsavd72N/w+z9I8aDwZOGawiPhABh5nq+5zQ8BNJUuyB4jc9yC71KK9P087DaxpUu+N7cWfbk2tPfX4m688mYoy4lxO113gKcTjolOBDbDAvYiNc5M35b/CM9B2HtEE/6lgw08rE+nUl3nzCzjAgO2/dXvD9ApefrZdrlBXFoosaUqT9cPCoT0rHqCb4BPoHxwxm95Crx4JhCdZQeM2zJIwbhGNn9XrlNeyZe4lVHyxYXvkQiSwabgowvYRqLz2QaCD6xmwa07LAuIKYI50uhBsQ4vfG8d81DHzScR82EK5pJbl7wC88i0e0Bh+mzeAQxAkYeLKTQ88xuHBRDKm1L6B1tAT4MzP73dMdYYHdOQ7eF1ZMnWxgT/K4Y4d8JtjYku8eVD7mH2o66uz3booobHN1D0QL5TXWsOIIg4WnopD/j1lS3gATX8y//H+5Kj198sor6q5fSbaLC/ZiOKpgQOFdEZ+45TvxRHayThGxhNxN/baanlxPCPxwx99xVeFL+NKMnDUOlQQ5I9BZXlw0j6vXxU4EXIP68vdTNxYKCjD4KS0jE6j4LJ6I0tQL1Asaxcm3yBlYgobI9rkPHeVx+lFFF91AcFKpS4VLSQgtAplompeZu02thSLHkZHgYSI15BM9cdavIcX7TfV4cJKbcKGNPVbfoFBkxDqqI2pfXXJa3xfskGg1ZTE/DRdCQZGi4cQRK/1wMeZFc/YCdbcb0H/l6XL3lO7drGABwTAWUqwFROcCW4jtxttpVYtO4AlfK+EvxJSVYPwv8PDOeMdTb976HzgyUIIi/aF2Q90eLPJJwO+oKsBJhq78epd0LL9O/yLK22sUAFw4bCCEIzt7WTquVE6RyEvlLNp1VQbWGlAAY90tlnRnyliIOSGxI5WzvzYq9bOk0WrwedYgX7ITKhMxmEWguZgjwUPeuNwdm89stkfwunThJe5/2BjO8l0t/OOVlotJpkcub7efKjoO4Sn4/xtUrjflabPa3tjrqe6149MLlS7Z3tEiL0QwzpnhRaFN2Zht2Gzw6oH4vRCjPXFfkLSjrIqCK8MLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KcinHXUyf5Tx7cszp3x17M",
      "input": {
        "note": "The can's base end now sits squarely between the jaw wedges in the right wrist view, running vertically up the frame. Closing the gripper on the can body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KcinHXUyf5Tx7cszp3x17M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6331, -0.0189, -0.0391, 0.9992, 0.4133, 2.7525, 2.0872, -0.1154, 1.256, 0.7593, 0.0122]\nstate[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1243 left_yaw=0.0043 left_pitch=-0.2815 left_roll=0.0011 left_gripper=0.9992 right_x=0.5997 right_y=0.0835 right_z=0.0204 right_yaw=-0.9362 right_pitch=0.361 right_roll=0.0121 right_gripper=0.0122\nstate[joint_eff]: [-0.0479, -1.1692, 6.7897, 1.5751, -0.022, -0.0269, -0.0122, 0.1983, -17.0325, 5.4632, 1.2576, 0.3687, -0.0366, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee2e1971581d7bfcaf57b89230cdf5e00d4bb50f3407b22007243b2e4462ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b5605dd7025cd2c804c606486c8b73bdb57d125bd84f17cbee62e2f2cf738c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16b436410bf9ce59b315157059551157f8abb8696685c45b92111152dd852f0e",
        "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 · 10.46 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]: [-0.0189, 0.8288, 0.6067, -0.6067, -0.0189, -0.0395, 0.9992, 0.001, 0.8631, 0.6617, -0.3752, 0.0887, 0.0669, 0.9976]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1295 left_yaw=0.0043 left_pitch=-0.2517 left_roll=0.0001 left_gripper=0.9992 right_x=0.3068 right_y=-0.0118 right_z=0.1884 right_yaw=-0.1135 right_pitch=0.0066 right_roll=0.0147 right_gripper=0.9976\nstate[joint_eff]: [-0.1709, -1.5932, 6.8308, 1.7265, -0.0464, -0.0708, -0.0122, -0.1299, -1.9077, 10.4, 2.0391, -0.149, -0.0708, -0.022]",
      "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]: [-0.0189, 0.8318, 0.6067, -0.6178, -0.0189, -0.0391, 0.9992, 0.4141, 2.7468, 2.1117, -0.1196, 1.256, 0.7525, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1269 left_yaw=0.0042 left_pitch=-0.2658 left_roll=0.0007 left_gripper=0.9992 right_x=0.604 right_y=0.0859 right_z=0.0311 right_yaw=-0.9411 right_pitch=0.3667 right_roll=0.0321 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.2376, 6.8034, 1.6532, -0.0464, -0.0415, -0.0122, -0.2256, -14.8855, 5.8872, 0.9011, 0.862, 0.0952, -0.1148]",
      "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]: [-0.0189, 0.8322, 0.6067, -0.6331, -0.0189, -0.0391, 0.9992, 0.4133, 2.7525, 2.0872, -0.1154, 1.256, 0.7593, 0.0122]\nstate[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1243 left_yaw=0.0043 left_pitch=-0.2815 left_roll=0.0011 left_gripper=0.9992 right_x=0.5997 right_y=0.0835 right_z=0.0204 right_yaw=-0.9362 right_pitch=0.361 right_roll=0.0121 right_gripper=0.0122\nstate[joint_eff]: [-0.0479, -1.1692, 6.7897, 1.5751, -0.022, -0.0269, -0.0122, 0.1983, -17.0325, 5.4632, 1.2576, 0.3687, -0.0366, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee2e1971581d7bfcaf57b89230cdf5e00d4bb50f3407b22007243b2e4462ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b5605dd7025cd2c804c606486c8b73bdb57d125bd84f17cbee62e2f2cf738c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b436410bf9ce59b315157059551157f8abb8696685c45b92111152dd852f0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgkKEAgRGAI4AUIIdGhpbmtpbmcSDJOGLHFQ/Z10E7G4choMwZvCqnmofivCTDbhIjCVLDiTtkxU3/5TGaI2Dvd+ApI5tlTN6Fd7YvD/WEZS78+2YT2r0qmQB9k9Oh6V2Wwqowjqx/j28y0hNL7WhnJyDGTW/AEPDEt6i+R1hRJx1TWTu+OsZ43yansj3QbBZtzs+tBeVUYE8965132Qgza0jaK314NvV7sdnhMYOMYsMGqh+qOWv3NrJG5HIx9rG1UmgyNrVRIE9Ra+KDQTKPiCBPzMTEnPX/9LRjwUQ/TE73skRM9ggNHOUgwx07abg6NAi5P1Et52wiNKaKlEKZwW2P34Z0xEOhQRHWVxiAZLDuR4fs1qnP8V0ZcBBqVLwXDmgsPjyh+qP7+IT0JWox9aLTKxjkpbcIYrZypibgsXau2EyMjgaWyoI1lEYQOGuyp8nka6lnUe/b3lGZcgw7KZpLGE7iu7MnaOFE2D7c2mBuNe7nGib1/mAloWwuGZ/0aiXJL9X3Hz30GPyyBT6NFm1f4GP32VBa6LYseWNOAxjdMleAddkqaLVuq0/3HxkuMz3GqTYfmoETv4Dytcc5enHv1KfDGwsA51+gaDCDd7NtnNgoIbD+Gm3jqm4an7EAecGVM5E4O2Mbf0n9PH/wC8w+RfnSJzBMENpYkZxv4ZeSxqo2o8huzl0QNWlbMoqywoLVo/22Hc53tGWDTti0Wy8v2zGakEkkwCbqZnduEXb5xBpzw2eK7J8LQlwpxPdCEl3krI0lEkT1Hed4b+Y9Is/CBzSX6I+j+dCLrlVCvc0Jq8kTSugStZwK7RdrKF2+zE/5tmWTwpPwF3t+uSJ2onGSwFvPwgY1k/EVM89S8jxy98I5U73bewH8Gfk+x3kWttjh6yNnNh+QMSsB4qUNKSzDSrUPAG5p9hyGM6BfHQSInN267/5RnRMe87sruYTljWo7KLTV6sTx1DKHN/dcN/yT8SevxbJrTBsPAboZzlniEKjrugV6HHoxM5kkgxC5uzBUC7hlnJdhBo6MHoBg6C2ROe+i5k764HcjwLfYiZitFu5uZ+wntZYh2eFqVa5mVQlh6R/TXWGDdzrHKIKa1CmaGKH+n4HcDjv5UX775/D9H4UzbJrnmZYfhhOruEh1XC4wpVvsW7ZOb6aqKoObGlzDIQj+D+P+4wmRbnmgphvlTHIRbwjFZDskP5aVwBJeyOI3/20b/NfQWMjoBBnhjlg9+cmssE2M2PCcNau91R74nz8Q1jOGAjqiYij/2JnMvSBeHUKS/x2SzMFvPjSGM20e1iFoRfDqysUaQqFkMjndkU5RXxQwf0/obnC1xd1F+pif+JQGJ3CmpiCIkLLltW/hE9RDpqaOM5qYVUbK7n4ye0LN+9BKcrh7qd3qLCF7QrwSovbTYvokQjJhPxvpzx1Vz6QSmcNC1BaGckXwiVwv7Q8Zns/sacSs7YqTSBTeS9oYJN2iliJiSb5VqcQjl4c94l2yE03mNkA5fjZpIOnHbdgpOo5dvm/Sus9a/6+1ty2SaSDmYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QzB8jtMMkgT5PMN7A7UELF",
      "input": {
        "note": "Empty close again; the can's base is directly ahead of the closed jaws by ~3 cm. Since the tool's forward direction at this yaw is mostly to the arm's right, I open and shift right 3 cm to bring the can between the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.6,
          "right_y": 0.055,
          "right_yaw": -0.94,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QzB8jtMMkgT5PMN7A7UELF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6373, -0.0193, -0.0391, 0.9992, 0.3775, 2.7117, 1.9392, 0.1501, 1.2564, 0.6147, 0.9945]\nstate[eef_state]: left_x=0.2551 left_y=0.0022 left_z=0.1237 left_yaw=0.0047 left_pitch=-0.2856 left_roll=0.0015 left_gripper=0.9992 right_x=0.5986 right_y=0.0605 right_z=0.0215 right_yaw=-0.9484 right_pitch=0.3993 right_roll=0.0254 right_gripper=0.9945\nstate[joint_eff]: [-0.0068, -1.0735, 6.9128, 1.4579, -0.0806, -0.0171, -0.0122, -1.0188, -16.8957, 5.1761, 1.3651, 0.188, -0.2173, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec0d8f9b387c53af3908c7e364dfc54e22f1b030e4f58e35d27951ca22b9f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7aa564dd5420f1363d37849db5c71055ddc4ca23967c2820edf4ec8d40d2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0de894eb0eb2b7d5c421bd06832449fd59230267c217e6a7c15c031533e1d9d9",
        "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 · 31.63 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]: [-0.0189, 0.8318, 0.6067, -0.6178, -0.0189, -0.0391, 0.9992, 0.4141, 2.7468, 2.1117, -0.1196, 1.256, 0.7525, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1269 left_yaw=0.0042 left_pitch=-0.2658 left_roll=0.0007 left_gripper=0.9992 right_x=0.604 right_y=0.0859 right_z=0.0311 right_yaw=-0.9411 right_pitch=0.3667 right_roll=0.0321 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.2376, 6.8034, 1.6532, -0.0464, -0.0415, -0.0122, -0.2256, -14.8855, 5.8872, 0.9011, 0.862, 0.0952, -0.1148]",
      "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]: [-0.0189, 0.8322, 0.6067, -0.6331, -0.0189, -0.0391, 0.9992, 0.4133, 2.7525, 2.0872, -0.1154, 1.256, 0.7593, 0.0122]\nstate[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1243 left_yaw=0.0043 left_pitch=-0.2815 left_roll=0.0011 left_gripper=0.9992 right_x=0.5997 right_y=0.0835 right_z=0.0204 right_yaw=-0.9362 right_pitch=0.361 right_roll=0.0121 right_gripper=0.0122\nstate[joint_eff]: [-0.0479, -1.1692, 6.7897, 1.5751, -0.022, -0.0269, -0.0122, 0.1983, -17.0325, 5.4632, 1.2576, 0.3687, -0.0366, 1.0672]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6373, -0.0193, -0.0391, 0.9992, 0.3775, 2.7117, 1.9392, 0.1501, 1.2564, 0.6147, 0.9945]\nstate[eef_state]: left_x=0.2551 left_y=0.0022 left_z=0.1237 left_yaw=0.0047 left_pitch=-0.2856 left_roll=0.0015 left_gripper=0.9992 right_x=0.5986 right_y=0.0605 right_z=0.0215 right_yaw=-0.9484 right_pitch=0.3993 right_roll=0.0254 right_gripper=0.9945\nstate[joint_eff]: [-0.0068, -1.0735, 6.9128, 1.4579, -0.0806, -0.0171, -0.0122, -1.0188, -16.8957, 5.1761, 1.3651, 0.188, -0.2173, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec0d8f9b387c53af3908c7e364dfc54e22f1b030e4f58e35d27951ca22b9f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7aa564dd5420f1363d37849db5c71055ddc4ca23967c2820edf4ec8d40d2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de894eb0eb2b7d5c421bd06832449fd59230267c217e6a7c15c031533e1d9d9",
        "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_01WrN6c4kNbf4FzHMnbZJ6VH",
      "input": {
        "note": "The can's base is now between the jaws but a bit to the tool's left; nudging slightly toward the tool's left while closing so the jaws squeeze the can body centrally.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.4,
          "right_x": 0.6,
          "right_y": 0.072,
          "right_yaw": -0.95,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WrN6c4kNbf4FzHMnbZJ6VH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6376, -0.0193, -0.0391, 0.9992, 0.392, 2.7094, 1.9751, 0.0597, 1.2572, 0.6434, 0.0117]\nstate[eef_state]: left_x=0.255 left_y=0.0022 left_z=0.1236 left_yaw=0.0047 left_pitch=-0.286 left_roll=0.0015 left_gripper=0.9992 right_x=0.5981 right_y=0.0693 right_z=0.0253 right_yaw=-0.9305 right_pitch=0.3868 right_roll=0.0008 right_gripper=0.0117\nstate[joint_eff]: [-0.0479, -1.2376, 6.9675, 1.4676, -0.0562, -0.0171, -0.0122, 0.5538, -14.3248, 8.5128, 1.3895, 0.4811, 0.0806, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2f45f6b395454a7304e68daa433dfd9e8afe948f2136cd81b0f3fc03109420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c11ce222eee2c766cb084a4f54ecd3bad4f219994246c4aad43854ee94e0d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58b8c60af3165f48e9c7021981cf718f34657de85f76c8933fef4c775091fa82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]