adhoc

completed
2026-09-18T03:35:58.142981+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
209.8 s
total steps
203
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe spray can lies on its side just right of the left gripper, roughly aligned with the arm's forward axis; the burner is at the table centre. Moving the left arm over the can to check alignment in the wrist camera.
move_to
left_x0.3100left_y-0.0600left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7925, 0.6067, -0.3962, -0.0174, -0.0261, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9463, -0.0513, 0.1587, -0.0855, -0.335, -1.3333, 9.7026, 1.9121, -0.0904, 0.1148, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.06, "left_z": 0.15, "left_gripper": 1.0}, "note": "The spray can lies on its side just right of the left gripper, roughly aligned with the arm's forward axis; the burner is at the table centre. Moving the left arm over the can to check alignment in the wrist camera."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe can now sits on the jaw column in the left wrist camera, its body running down to the bottom edge, so the jaws should straddle its diameter. Descending to can mid-height with the gripper open, advancing slightly forward.
move_to
left_x0.3200left_y-0.0600left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.358, 0.9401, 0.5541, -0.2787, -0.2592, -0.2043, 0.9993, -0.0212, 0.7979, 0.6121, -0.4187, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3014 left_y=-0.0606 left_z=0.1402 left_yaw=-0.0454 left_pitch=-0.0639 left_roll=0.012 left_gripper=0.9993 right_x=0.2907 right_y=0.0009 right_z=0.1747 right_yaw=0.0021 right_pitch=-0.0225 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [-0.1299, -2.5368, 6.5299, 2.0195, -0.2857, -0.0171, -0.0855, -0.0479, -1.6615, 6.5709, 1.917, -0.0024, -0.0366, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.06, "left_z": 0.03, "left_gripper": 1.0}, "note": "The can now sits on the jaw column in the left wrist camera, its body running down to the bottom edge, so the jaws should straddle its diameter. Descending to can mid-height with the gripper open, advancing slightly forward."})
tool
executing move_to over 8 steps (0.8s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe can body fills the left wrist view between the two jaw wedges, so the jaws straddle it. Closing the gripper to grasp the can across its diameter.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3252, 1.3499, 0.2783, 0.3046, -0.239, -0.1913, 0.9993, -0.0212, 0.8024, 0.6075, -0.4412, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3047 left_y=-0.0548 left_z=0.0156 left_yaw=-0.033 left_pitch=-0.1657 left_roll=0.04 left_gripper=0.9993 right_x=0.2872 right_y=0.001 right_z=0.1668 right_yaw=0.0022 right_pitch=-0.0541 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.6085, -4.7248, 4.8479, 1.8877, 0.0073, 0.0611, -0.0806, -0.1983, -1.6068, 7.4872, 1.8828, -0.0415, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The can body fills the left wrist view between the two jaw wedges, so the jaws straddle it. Closing the gripper to grasp the can across its diameter."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
Gripper settled at 0.70 (≈6.6 cm) — consistent with a can diameter. Lifting to verify.
agent noteGripper closed to 0.70, about 6.6 cm, which matches the can's diameter. Lifting the can to 15 cm to confirm it is held and clear the table.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3256, 1.3571, 0.2642, 0.3332, -0.244, -0.1928, 0.6997, -0.0212, 0.8024, 0.6075, -0.4553, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3039 left_y=-0.0538 left_z=0.0139 left_yaw=-0.0287 left_pitch=-0.1578 left_roll=0.04 left_gripper=0.6997 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0027 right_pitch=-0.0682 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [0.0342, -4.4103, 6.4752, 1.2332, -0.1001, -0.0122, 1.033, -0.0615, -1.0872, 6.9675, 1.7949, -0.0757, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
Gripper settled at 0.70 (≈6.6 cm) — consistent with a can diameter. Lifting to verify.
move_to({"targets": {"left_z": 0.15}, "note": "Gripper closed to 0.70, about 6.6 cm, which matches the can's diameter. Lifting the can to 15 cm to confirm it is held and clear the table."})
tool
executing move_to over 9 steps (0.9s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe top camera shows the can lifted in the left gripper. Carrying it forward and to the right toward the burner at the table centre, holding it high to clear the burner.
move_to
left_x0.4000left_y-0.2500left_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3256, 1.0283, 0.6353, -0.4065, -0.2436, -0.1967, 0.7038, -0.0212, 0.8043, 0.6075, -0.4812, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3004 left_y=-0.0527 left_z=0.1267 left_yaw=-0.0248 left_pitch=-0.1956 left_roll=0.0488 left_gripper=0.7038 right_x=0.2812 right_y=0.0012 right_z=0.1585 right_yaw=0.0028 right_pitch=-0.0961 right_roll=0.0031 right_gripper=0.9996 state[joint_eff]: [-0.335, -4.1231, 9.388, 1.7949, -0.149, 0.0269, 0.7399, -0.0342, -1.4017, 6.9402, 1.917, -0.0611, -0.0806, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.25, "left_z": 0.2}, "note": "The top camera shows the can lifted in the left gripper. Carrying it forward and to the right toward the burner at the table centre, holding it high to clear the burner."})
tool
executing move_to over 18 steps (1.8s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe gripper with the can is hovering over the left half of the burner in the top view. Shifting slightly right to centre over the coil and lowering toward the burner surface.
move_to
left_x0.4100left_y-0.2700left_z0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7475, 1.7832, 1.5307, -0.7418, -0.4915, -0.5503, 0.7068, -0.0212, 0.8089, 0.6067, -0.5003, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3898 left_y=-0.2428 left_z=0.1778 left_yaw=-0.0309 left_pitch=-0.259 left_roll=0.0678 left_gripper=0.7068 right_x=0.2783 right_y=0.0012 right_z=0.1534 right_yaw=0.0023 right_pitch=-0.1205 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.6085, -9.4838, 9.4017, 1.409, -0.6032, 0.0904, 0.5739, -0.335, -1.6205, 6.9949, 1.7949, -0.0562, -0.0317, -0.0073] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.27, "left_z": 0.1}, "note": "The gripper with the can is hovering over the left half of the burner in the top view. Shifting slightly right to centre over the coil and lowering toward the burner surface."})
tool
executing move_to over 6 steps (0.6s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteIn the left wrist camera the burner coil appears to the right of the held can, so the can is still a few cm left of the coil. Shifting further right and lowering to just above the burner surface.
move_to
left_x0.4100left_y-0.3000left_z0.0600
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7578, 1.9385, 1.4448, -0.5594, -0.4923, -0.5644, 0.7096, -0.0212, 0.8101, 0.6064, -0.5228, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4018 left_y=-0.2603 left_z=0.0991 left_yaw=-0.0215 left_pitch=-0.3018 left_roll=0.0993 left_gripper=0.7096 right_x=0.2746 right_y=0.0013 right_z=0.1487 right_yaw=0.0027 right_pitch=-0.1445 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [-0.5675, -9.347, 6.1744, 1.2918, -0.3541, 0.0171, 0.5934, -0.0205, -1.306, 6.9949, 1.8193, -0.0464, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.3, "left_z": 0.06}, "note": "In the left wrist camera the burner coil appears to the right of the held can, so the can is still a few cm left of the coil. Shifting further right and lowering to just above the burner surface."})
tool
executing move_to over 4 steps (0.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe descent stopped at z=0.083 with the can centred over the burner coil in the wrist view, indicating the can is resting on the burner. Opening the gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8036, 2.0605, 1.5284, -0.5014, -0.5541, -0.6163, 0.7095, -0.0212, 0.8116, 0.6056, -0.548, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4155 left_y=-0.2918 left_z=0.0832 left_yaw=0.0 left_pitch=-0.2478 left_roll=0.0894 left_gripper=0.7095 right_x=0.2704 right_y=0.0014 right_z=0.1434 right_yaw=0.0028 right_pitch=-0.172 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.2393, -7.9932, 6.735, 0.7839, 0.1929, -0.0317, 0.8034, -0.1162, -1.1556, 6.9265, 1.8339, -0.0855, -0.0317, -0.0073] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The descent stopped at z=0.083 with the can centred over the burner coil in the wrist view, indicating the can is resting on the burner. Opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
Gripper open; the can remains on the burner. Retracting the left arm to home to verify from the top camera.
agent noteGripper is open and the can stays resting on the burner in the wrist view. Lifting and returning the left arm home so the top camera shows the burner clearly.
move_to
left_x0.2900left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8093, 2.0739, 1.5333, -0.5014, -0.551, -0.627, 0.9949, -0.0212, 0.8116, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4142 left_y=-0.2952 left_z=0.0783 left_yaw=-0.0002 left_pitch=-0.2549 left_roll=0.0863 left_gripper=0.9949 right_x=0.2667 right_y=0.0014 right_z=0.1396 right_yaw=0.0026 right_pitch=-0.1933 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [0.4855, -12.5744, 5.9829, 1.1893, -0.3736, 0.0366, -0.022, -0.212, -1.1692, 6.8444, 1.7558, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
Gripper open; the can remains on the burner. Retracting the left arm to home to verify from the top camera.
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18}, "note": "Gripper is open and the can stays resting on the burner in the wrist view. Lifting and returning the left arm home so the top camera shows the burner clearly."})
tool
executing move_to over 27 steps (2.7s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe can rolled off the burner and now lies on the table to the right of it, next to the kettle, closer to the right arm. Moving the right arm above the can to line up a new grasp in its wrist camera.
move_to
right_x0.2700right_y0.2200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0967, 0.9993, 0.8623, -0.6987, -0.1467, -0.0658, 0.9963, -0.0212, 0.8158, 0.6056, -0.6117, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.001 left_z=0.1786 left_yaw=0.051 left_pitch=-0.2517 left_roll=0.08 left_gripper=0.9963 right_x=0.2593 right_y=0.0016 right_z=0.1313 right_yaw=0.0028 right_pitch=-0.2399 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [0.0342, -2.906, 6.653, 1.6044, 0.0122, 0.1148, 0.1294, -0.0889, -1.3333, 6.9402, 1.8877, -0.0611, -0.0366, -0.0073] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.22, "right_z": 0.15, "right_gripper": 1.0}, "note": "The can rolled off the burner and now lies on the table to the right of it, next to the kettle, closer to the right arm. Moving the right arm above the can to line up a new grasp in its wrist camera."})
tool
executing move_to over 19 steps (1.9s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe can is centred on the jaw column in the right wrist camera with the kettle just to its right. Descending to can mid-height with the gripper opened only 8 cm so the right jaw does not hit the kettle.
move_to
right_x0.2700right_y0.2050right_z0.0300right_gripper0.8500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0967, 1.0023, 0.8623, -0.7197, -0.1356, -0.0647, 0.9965, 0.9497, 1.4132, 1.0191, -0.7219, 0.5529, 0.7444, 0.9996] state[eef_state]: left_x=0.2902 left_y=-0.0006 left_z=0.1741 left_yaw=0.0418 left_pitch=-0.2768 left_roll=0.0759 left_gripper=0.9965 right_x=0.2614 right_y=0.2121 right_z=0.1362 right_yaw=0.0334 right_pitch=-0.2891 right_roll=-0.0415 right_gripper=0.9996 state[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.6532, -0.1685, -0.0562, 0.0073, 0.1846, -5.5726, 8.5128, 1.1697, 0.4762, 0.1538, -0.0513] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.205, "right_z": 0.03, "right_gripper": 0.85}, "note": "The can is centred on the jaw column in the right wrist camera with the kettle just to its right. Descending to can mid-height with the gripper opened only 8 cm so the right jaw does not hit the kettle."})
tool
executing move_to over 7 steps (0.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
The can is between the jaws in the right wrist view. Closing to grasp.
agent noteAt z=0.03 the can body sits squarely between the right gripper's jaw wedges. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0967, 1.0023, 0.8623, -0.7277, -0.1349, -0.065, 0.9965, 0.9096, 1.5593, 0.7185, -0.3271, 0.5289, 0.7071, 0.8515] state[eef_state]: left_x=0.2887 left_y=-0.0005 left_z=0.1729 left_yaw=0.0417 left_pitch=-0.2848 left_roll=0.0762 left_gripper=0.9965 right_x=0.2593 right_y=0.1939 right_z=0.0288 right_yaw=0.016 right_pitch=-0.3398 right_roll=-0.0948 right_gripper=0.8515 state[joint_eff]: [-0.1162, -2.1128, 6.7214, 1.4774, -0.1392, -0.0415, -0.0122, -0.3624, -5.7368, 5.8735, 1.1404, 0.3346, -0.0317, 0.0073] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
The can is between the jaws in the right wrist view. Closing to grasp.
move_to({"targets": {"right_gripper": 0.0}, "note": "At z=0.03 the can body sits squarely between the right gripper's jaw wedges. Closing the gripper to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteRight gripper settled at 0.71, matching the can diameter, so the can is held. Lifting and carrying it over toward the burner at the table centre.
move_to
right_x0.4100right_y0.3400right_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0967, 1.0042, 0.8623, -0.7418, -0.1349, -0.0647, 0.9965, 0.9081, 1.5726, 0.7029, -0.305, 0.5331, 0.7071, 0.7065] state[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1701 left_yaw=0.0421 left_pitch=-0.3007 left_roll=0.0787 left_gripper=0.9965 right_x=0.2587 right_y=0.1914 right_z=0.0226 right_yaw=0.0101 right_pitch=-0.341 right_roll=-0.103 right_gripper=0.7065 state[joint_eff]: [-0.1846, -2.5641, 6.7077, 1.536, -0.1343, -0.0659, -0.0122, 0.0068, -7.1726, 6.5983, 0.7302, 0.1978, -0.0317, 1.0281] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.34, "right_z": 0.2}, "note": "Right gripper settled at 0.71, matching the can diameter, so the can is held. Lifting and carrying it over toward the burner at the table centre."})
tool
executing move_to over 13 steps (1.3s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteIn the right wrist camera the burner coil appears to the left of the held can, so the can is a few cm right of the coil centre. Shifting left over the coil and lowering toward the burner.
move_to
right_x0.4100right_y0.3800right_z0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7525, -0.1349, -0.0647, 0.9965, 0.8536, 2.2673, 2.3196, -1.1946, 0.4953, 0.6422, 0.7112] state[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1678 left_yaw=0.0419 left_pitch=-0.3135 left_roll=0.0806 left_gripper=0.9965 right_x=0.4054 right_y=0.3425 right_z=0.1823 right_yaw=0.0253 right_pitch=-0.3498 right_roll=-0.0944 right_gripper=0.7112 state[joint_eff]: [-0.1846, -2.4, 6.6803, 1.4774, -0.0611, -0.0562, -0.0073, -0.5675, -10.906, 5.9282, 0.3785, 0.5836, -0.0024, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.38, "right_z": 0.1}, "note": "In the right wrist camera the burner coil appears to the left of the held can, so the can is a few cm right of the coil centre. Shifting left over the coil and lowering toward the burner."})
tool
executing move_to over 6 steps (0.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe can now appears centred over the burner coil in the right wrist view, with coil visible on both sides. Lowering until the can touches down on the burner.
move_to
right_x0.4100right_y0.3800right_z0.0600
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7647, -0.1349, -0.0647, 0.9965, 0.8921, 2.3512, 2.2047, -1.0359, 0.5079, 0.6662, 0.7112] state[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.166 left_yaw=0.0425 left_pitch=-0.3256 left_roll=0.0824 left_gripper=0.9965 right_x=0.4042 right_y=0.37 right_z=0.1156 right_yaw=0.0307 right_pitch=-0.3663 right_roll=-0.1194 right_gripper=0.7112 state[joint_eff]: [-0.0205, -2.441, 6.7624, 1.4823, -0.1197, -0.0415, -0.0073, 0.2667, -11.1385, 5.7504, 1.0965, 0.2808, 0.188, 0.7497] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.38, "right_z": 0.06}, "note": "The can now appears centred over the burner coil in the right wrist view, with coil visible on both sides. Lowering until the can touches down on the burner."})
tool
executing move_to over 4 steps (0.4s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe descent stopped at z=0.09 with elbow effort dropping, meaning the can is resting on the burner coil, centred in the wrist view. Opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7681, -0.1349, -0.065, 0.9965, 0.9043, 2.373, 2.1258, -0.9089, 0.5392, 0.6693, 0.7125] state[eef_state]: left_x=0.2812 left_y=-0.0 left_z=0.1655 left_yaw=0.0429 left_pitch=-0.329 left_roll=0.0827 left_gripper=0.9965 right_x=0.4093 right_y=0.3794 right_z=0.091 right_yaw=0.0295 right_pitch=-0.3272 right_roll=-0.1159 right_gripper=0.7125 state[joint_eff]: [-0.1846, -2.1538, 6.8171, 1.3797, -0.0855, -0.0659, -0.0073, -0.6222, -10.5641, 3.9726, 1.1795, -0.2564, -0.0415, 0.8034] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped at z=0.09 with elbow effort dropping, meaning the can is resting on the burner coil, centred in the wrist view. Opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteGripper is open and the can remains under it on the burner. Lifting straight up first so the jaws clear the can without knocking it off.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7689, -0.1349, -0.0647, 0.9965, 0.8989, 2.3951, 2.0964, -0.8764, 0.5125, 0.6621, 0.995] state[eef_state]: left_x=0.281 left_y=-0.0 left_z=0.1653 left_yaw=0.0427 left_pitch=-0.3297 left_roll=0.083 left_gripper=0.9965 right_x=0.4085 right_y=0.3803 right_z=0.0699 right_yaw=0.0394 right_pitch=-0.3587 right_roll=-0.1191 right_gripper=0.995 state[joint_eff]: [-0.0615, -2.3453, 6.8034, 1.37, -0.1294, -0.0171, -0.0073, -0.4991, -12.6838, 6.8034, 1.116, 0.3639, 0.0611, -0.232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper is open and the can remains under it on the burner. Lifting straight up first so the jaws clear the can without knocking it off."})
tool
executing move_to over 9 steps (0.9s)
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 noteThe lift stalled at z=0.07 with high shoulder effort, likely at the reach limit at this extension. Pulling back slightly toward the base while raising so the arm can unfold and clear the can.
move_to
right_x0.3700right_y0.3600right_z0.2200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0978, 1.0061, 0.8619, -0.7723, -0.1349, -0.0647, 0.9965, 0.8974, 2.4474, 2.2112, -0.9756, 0.4965, 0.6579, 0.9967] state[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1648 left_yaw=0.0425 left_pitch=-0.3331 left_roll=0.0835 left_gripper=0.9965 right_x=0.4086 right_y=0.383 right_z=0.071 right_yaw=0.0391 right_pitch=-0.3942 right_roll=-0.141 right_gripper=0.9967 state[joint_eff]: [-0.0752, -2.4274, 6.7761, 1.37, -0.0952, -0.0317, -0.0073, -0.3761, -13.9556, 8.4034, 0.7204, 0.3639, 0.0171, 0.1636] 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": 0.37, "right_y": 0.36, "right_z": 0.22}, "note": "The lift stalled at z=0.07 with high shoulder effort, likely at the reach limit at this extension. Pulling back slightly toward the base while raising so the arm can unfold and clear the can."})
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
The right wrist camera now shows the can lying on the burner coil. Retracting the right arm home to confirm from the top camera.
agent noteThe right wrist camera shows the can resting across the burner coil after release. Returning the right arm to its home pose so the overhead view of the burner is unobstructed.
move_to
right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7731, -0.1349, -0.0647, 0.9965, 0.9283, 2.4271, 2.7674, -1.5177, 0.4938, 0.6731, 0.9969] state[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1647 left_yaw=0.0429 left_pitch=-0.3339 left_roll=0.0836 left_gripper=0.9965 right_x=0.3738 right_y=0.3657 right_z=0.2151 right_yaw=0.0731 right_pitch=-0.3726 right_roll=-0.1019 right_gripper=0.9969 state[joint_eff]: [-0.2393, -2.3863, 6.8308, 1.3358, -0.1197, -0.0562, -0.0073, 0.2393, -13.4769, 4.9983, 1.0427, 0.3932, 0.0757, 0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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
The right wrist camera now shows the can lying on the burner coil. Retracting the right arm home to confirm from the top camera.
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "The right wrist camera shows the can resting across the burner coil after release. Returning the right arm to its home pose so the overhead view of the burner is unobstructed."})
tool
executing move_to over 31 steps (3.1s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
The overhead view confirms the can is lying on the burner coil with both arms parked.
agent noteThe can (initially lying near the left arm) was grasped by the left arm and placed on the burner, but rolled off to the right. It was then re-grasped by the right arm next to the kettle (using a partial 8 cm opening to avoid the kettle), carried to the burner, centred on the coil via the wrist camera, and released. The top camera confirms the can resting on the burner with both arms parked.
done
hindsightBurner centre is at about left (x≈0.41, y≈−0.30) / right (x≈0.41, y≈0.38); its coil top is ~5 cm high so a held can (grasp point mid-can) touches down at z≈0.085–0.09. A cylindrical can lying on the burner rolls off if placed even a few cm off the coil centre — align it in the wrist camera until coil is visible on both sides before releasing. When releasing at long reach (x≈0.41, |y|≈0.38) the right arm sagged and then stalled on a pure z lift; pulling x back ~4 cm while raising unfolds it. Top-cam scale in the working region was about 3 px/cm, and the arms at x≈0.29 sit at image y≈140.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0978, 1.0069, 0.8619, -0.7872, -0.1349, -0.0647, 0.9965, 0.017, 1.1027, 0.9878, -0.8768, 0.0544, -0.1047, 0.997] state[eef_state]: left_x=0.2775 left_y=0.0002 left_z=0.1624 left_yaw=0.0432 left_pitch=-0.3486 left_roll=0.0859 left_gripper=0.9965 right_x=0.2861 right_y=-0.0012 right_z=0.173 right_yaw=0.0217 right_pitch=-0.4125 right_roll=-0.1031 right_gripper=0.997 state[joint_eff]: [-0.0752, -2.4684, 6.6256, 1.536, -0.1392, -0.0757, -0.0073, -0.2393, -4.0274, 6.6667, 1.536, -0.1099, -0.0562, -0.0073] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
The overhead view confirms the can is lying on the burner coil with both arms parked.
done({"summary": "The can (initially lying near the left arm) was grasped by the left arm and placed on the burner, but rolled off to the right. It was then re-grasped by the right arm next to the kettle (using a partial 8 cm opening to avoid the kettle), carried to the burner, centred on the coil via the wrist camera, and released. The top camera confirms the can resting on the burner with both arms parked.", "hindsight": "Burner centre is at about left (x\u22480.41, y\u2248\u22120.30) / right (x\u22480.41, y\u22480.38); its coil top is ~5 cm high so a held can (grasp point mid-can) touches down at z\u22480.085\u20130.09. A cylindrical can lying on the burner rolls off if placed even a few cm off the coil centre \u2014 align it in the wrist camera until coil is visible on both sides before releasing. When releasing at long reach (x\u22480.41, |y|\u22480.38) the right arm sagged and then stalled on a pure z lift; pulling x back ~4 cm while raising unfolds it. Top-cam scale in the working region was about 3 px/cm, and the arms at x\u22480.29 sit at image y\u2248140."})
tool
done: The can (initially lying near the left arm) was grasped by the left arm and placed on the burner, but rolled off to the right. It was then re-grasped by the right arm next to the kettle (using a partial 8 cm opening to avoid the kettle), carried to the burner, centred on the coil via the wrist camera, and released. The top camera confirms the can resting on the burner with both arms parked.
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 · 29.63 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]: [-0.0189, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7925, 0.6067, -0.3962, -0.0174, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9463, -0.0513, 0.1587, -0.0855, -0.335, -1.3333, 9.7026, 1.9121, -0.0904, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c04e0e36109023b04e83dfc953d70c36524dbe2bd309fe72342b5cc1a193e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:985d6f3306b820e7d469010c240a0ac374ae8c58706d69df4676cf1cf6ae417f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:913d0c98d7a323162a8ab11fc069f643f733a0905ed788ed96e9e5aeb87ed4c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4c04e0e36109
wire blob 985d6f3306b8
wire blob 913d0c98d7a3
call 1 attempt 0 · /messages · status 200 · 8.152 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]: [-0.0189, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7925, 0.6067, -0.3962, -0.0174, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9463, -0.0513, 0.1587, -0.0855, -0.335, -1.3333, 9.7026, 1.9121, -0.0904, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c04e0e36109023b04e83dfc953d70c36524dbe2bd309fe72342b5cc1a193e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:985d6f3306b820e7d469010c240a0ac374ae8c58706d69df4676cf1cf6ae417f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913d0c98d7a323162a8ab11fc069f643f733a0905ed788ed96e9e5aeb87ed4c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4c04e0e36109]
[blob 985d6f3306b8]
[blob 913d0c98d7a3]
{
  "content": [
    {
      "signature": "CAQSlSUKEAgRGAI4AUIIdGhpbmtpbmcSDCxIitAONUA4HORYzhoM/hahmSJO6fxs0MAMIjDbNlcruSQGwTF0KNakEMqPVWat3EkuE101gY44pk/MtRYyGUTvFv3zh7mA/wl5YHQqsiTkL1slgR0oaunBGS/NrnrxS7L3OG1+meJbBaOflA5tbVoiFioHjoX2DbLu1d+tJD7z9BHxhOB1rYhuVx2K/SeSrCx7166EOmJmqjnVZuUuAC01KS952u+PZEPbq2GC794Dp2+JJKoOfrCxXtkgYWfXWIi/7DBa8e83Xg/J1HeVpGxXbm/34xku6xdHg/Y+R5C+lsMKP9oJamnzaOX2FSyA0sPAsc4LR4XY3Xg0RqWsrNCfPOE0NABHydB7uAecSQVbNAfWt3ru3iH8Z0lkyXp0m4XUv2jRRQBmYoo2yCyWGwo1Nlsmfi8wRnEJLCRxsfdRDjuZjKem3F0g/EL1dvo4fp4lPeMY0TbpdOSE7AoUG0j3A9sIdsWnqZnvCydmRjUo1fWV/V2qL6RjnSgsmkm/1opupF51CAo2qMEZjpRfI0t3m0J1caHk+qL2v9v/7rG5wSvx5p1+63+TF7S2TuGiGwpjkw1RQwJUieicT3l6+WlIP6WN7jcLWA7FpwqRWMEKQTPXn2sgpocxO3QeH3yxL8jru26vOyMGXxfBOrGVBNLdXCkqDVgdsVNyiN0hZxdgr8eBMWiD8+01foeaGvVJ+ye150rUpxdPrk5uAuJtNyCPm5Tfyxzvl5FC7rS6gDdhu9Z8yHf/rNGbYP4hyyq0ck1puG134c3DcPvfRTJjGLGObuiNAi2iYdzdeplAJhnnp2wUICgSeMu2kzI3XSlWTgC7yK8STiKZzEMl4XL4flkutwbHtwhpppi+pvAbFPVDyZ/xL5bGL3Q90WiLaPuPrioTAJi3im7ehsXDDBXCZvWLnYT6+Ns691RUstS88/zq2tnNmEErQp5bne2aRSpMWmPK04rTXB7uWKIYKR7aduRGc+8q3Z4x2DMNUW+lXPBSF32SfvDFmXC7CydlgFp8x3OGmU5GM00yLwB/JzFBPhAHIb/kXogVfOy7a8CfQzcHAdWbWEOd2Qev0AW+uWid3a4PlH/bSYQDbNLunjFpDTzNO6k/laGF6n3eNG8rHtKmRrvufObab2D5cVAuGljfMCA/t+JtI97Y7NTbwFHsjuV5f4BYfVh6FPhb0GLORqXwMH//5K5sT8PKyK5Vsac2BmoqAzukFsnM05torLhvyVNII4EWeEJnFyTcNlh2rqWUM9HDvroS7CZ52JAf+Xt2nGaTbKtC9Z7kePwP+aU18g0iVo+SPFaGvB4THHywQX2jc2BzzDCXu9mqZk2Rs97D+SReYwZA7r9X5dlZRDGAPA1IeF5LqpJfcz1AmpIQPW/zEpAG6s6ub75xXC54XAYRR6Q4kw059X6wAYQ9Boz0BeUYs0XoUCTNTCJLuUfHqQL2DrhDaxG3WSc/gOmWcC+n8OioWe4dC63MN/2kqd74beXN1O+wNdQznXJ4A1coxBVwfAUypLrqnfDdFQ/KwYKOhQ/k16IuvuRwqjGVTNKOEZskJJx+wvLmLMgfuvgij9ZWwjqibU3USZKIwxEDRqklkPfDedGx5tCBlrD4+ODDZ8JW9d6QGHgql+FgZjIzoXWprSDcMeVemkUvTJgtMoz1VZqD7sywbdkCRWmhJw6sQanOkpQH0Ma4p6OzbXQ7TnMAgRhVuoMFIfb+VBG/F/lcp5G7RtbYt8rKXTX4qBGirf/tp8+SLWWVkQx/rPE6OBKlo8574bdUqxpzTs36bxPL+n/wxlXmGpuX4lsUc9Ye97NFE9wjmpp9crZxM9AHq4g2Yycp1AHyn/Dju3E5cRyIDcjDGBjH75BTVqVkIdBLSGp/vJoy6fVkaU2fqF+uQyvvKtP36drpe2C/NAi9JhGt/sPf/be1qVYDQrcebGkZA9rm/Zx1I4kMLnTetlYopd3NBtEDCSZiytq2g5is3tEXUXUaers8ufIqNw5EHSpqaZ+HKK9YfSdphgju9BsOtdGr3r2owaXUpNlYSyqUht74KIny6XiSK8I+Mki7NDSOIVF1GJghtmETFcmlrXGdm1GxruUqoWeaQJV5PWyxGmRfW2csde3lOVfJFj97HLWZS7Hq81FTeejIOcyDG+gzYneh/jDTGrmF2QD+/9Z8TRfdHxnXlpYaJDtetl6CPJC72rB6RfP7MPxnCg8pLwHHZ76MoyCJ5dK4BdnlJFIYiiWGTU7UecKeW/bl1BD4M7QjNBIHnL/hXVqQqMFBQwW1ZhVVEFap/hxNVQvxu82JepwpQo4Xy70o7suwI68CC8qCzao/NIzpGhpEvvqeQJ5VSt72ZHkf8CrGzFErmFQR8OTNcoZNnyEr4iRFa6WiqVdCBbR5ZhYN/100nYUaDatpRl7dxC0V0cjBPtFQOi4Zap42F5ci2jLiwV/+jBS7USNQHY1QifM1XHgm3QODpfCy78+XwPRS/MiMMmAe/mX7k0NhSgb3jzvfYd1RcchqXRV39HyPDKQPHuSA/ITKYWdDnsMHcOJSSMiUdiwBVYr/hxvVtKJDQyK2z5ZxWeLOTQ+XxzNLDxqbtfNMl70IUL7PRo6fWwcLNaqSleGzLo+65Eaq5yK+FepKyBb0yLj2SninPhNUNGtYsyfjfJMOovMut2/fmc2oJ0WzPXD4t3QEtbjQsVPjE/+ulrmFrJNsVU7IVec3XZI2vSOuyznvywV6PP+YJe+7DHJM0BwW9/AFCxsWYdW+nvHKEZ5ilt4sEn6j6my93d0xPHdN1Bi62ElPkfTox/w0RKygIsn/l/yBDuIMr45MMQgQBKHcD0s2VaWiDIaCqco1l11nLg5KefuQtZFgXpnW8JyIpZ/59bqboC7TvdmGyf+rIaIfJ/4aUKUW69kYR/07oEiiDsPy/+AJL0yFM+gJTmra3lAILlXd7FPYmHjXGPxM9pw2iLMBoeaaWYUGSrBrevJsGymcqzGr4rPuxFID6LtSz6+hgPXn8BYbGa02JbZAdNmp4nAhfFeUDif1OxkuODrgTBwAVwSVKqRpupu4IbyJl2e2hqyAw4ey7cjzRNFE6Bu3lwb8XvKu8/I0Vq6hCk2wo11FDAQhbRIL/v8nHjggpzLFxq4dyA0YOG9PbpDzOaeg6MldPSyz5qdDdsMBwXzDgAhdorxLBMX9lBL2rgsSEMY8w2J7BoScO6OREEaKefNx8aW40imWKwV/Bdic2pgfBgviaBChpHaUaOyzCRbjW4SxgNGRHQYp7TQIZI9oTRxvEIigc2q1uOgbXjfsgV8zBAcxzBYDcfmqcPLgczc5+94iL2ybENCd58mMm1qLCHf/waILH8q8YZxQwUAhgwzd3RzkpzFC8DM/y7Mb1Ch4lJ+TPy6YZWla3pTZeubuyblKmi5GHE8lwQ7791ctVzg8MIu2L1eKnf5hYNuuwR8FZgApxHJUBEMhUjJuAKhpuIFzGAeEZOinY+S+LwJBQzvJxrl32buZ0+nbufOemyWTQE5NLE3QoOIaEaTNQ18Fw/dscLlI80DsrrXtExjemzl1cq4vsaw5HmEp7M+1WUVGeMH0EOwlHixeV/EPItlsExbb53qVfXqZqq0e6QBlskrpviV49Fh00MJzWcBk6xr2/uDq+P4MrX+kqu18pA9ZT5xBTY6DkvNXQkcxWM4Qg0BcP+4iYR8DlimZGo7fePeKrH92TTc3zo282HptODSvswNb4qsN5jNdHiSDWvTKPxOM3a4lmk855+UH3Lx8sSVnkSpLCHhI+WucQTwhHNFCYEPBIrXsl2rihcakMZVIQJIXSPds46Re+8IqBeve+SPWSp5cavCdRBQnenvqrZVNfi4K861IuMe+VZhPC+VUnUMRSdLOQGa2NGAt+7UNQs3gNskrt57uQsCFhRD9KyqURQaHJrECGVCvooKAujO8w2lO/xo43+kvu6MVYo3PXrY+pxzXvYo5pixbfV50Lfk2LPl2PFrxrE6vXKFX9U90IUb+EZ7fkdYQe6TC+luexFZjnQcSRVie1KgeAS43Vc/fMcQainta96hV3L6DVYfrhN38ShMNXiRvghvP/1a8fqG6URxUgfEetolbps8LKQg7nbaCFXpfPEBj763acjYY44shupt9d0RS1NQQyuJoQf78CjhftabHEc0i0if6XMT4XsbfxdiDzHB8sMourSxAxQQrXmWuvavAMAUCu12wExYtC8i7h9ckuQhzYt+M1eQx8X5VQV4jEzE0HLgaS8fbb0P0wekYXNvuf9cI7F4iRykIczi0f89oVzbD0D2VLMFDDfxnMf2CWHkuRv68quPdkDcgpOVJ4FnLUZ+FnZnpNdYJ8ctXeVnvSvby4SBA5hLrqnQEbxDk4re1bhEYOIfV7ph6vEhsRFf/LSbrvfd+6rwaCBav319MJNdFqhrQT+681C/gQ5jbdfUwighbNpfdNWz3his/kdyeHtKVNXeG4A7ma8XCCRm0aUrg+xxI2U5MbYXs2y9tb8gP8wb/nlznQz0QPzC+gqyqCAY15ISB322FwSRnVKjV+SNj9Ka89LhavnjyorDO7HW+WSq3DKZx7arrpDQvF8Em+1tF4g5f+qKdnVoVb7V8Kx74RzA872edXhKt63I81BMoB3SU0dnVXzCNU7m7vqq7lyA9s47jT3/tStT8lZ662iLhkU8nman2fmjxty+SKabEI/4LLJQY+/OZE8aOnVI9Z33ItEA/cGGNclIXfxAvacDRC2+c+96gsMTCcIGVDXCi3tfLahZtY97uh4m3UQ4xJ9q+o2zhLBHVjimA05vVAF1BQQT6U1dnM8/wce7grFE3Hkhoka8tJ+SBgUzRfK6D2Ah/Ulw9ZkpFo48FRFz/25rL7YZ+yw1wAitnWvRaEtPM3jHtN696Q+YYdp2/AevwpxkZSbwearXW/z28Rp479iYEiWNYqXYlLu7wrXVEZ3ZbwnOpR+dglnGLl1qWS7YN0T0n1vYUxwMD4/CpBOxtKn5kf+pPBnLNNayjDDUdSv03L7hmnmeqeQKSgc5YCjL8O7nGAV2Yc4oJNU/dget3ZsKSzrTfOQci7AHCnKNRy6DS4+St2iXenELiJYZL5eGV3pVmXPo/thYlbFhTmUF4g86uQMXYVv6p65g4cXgM05878VeWjdqrm8Ccr1xh56+sDH8RW+e4DPUs0v2Vkaa6+R3YE3+pGUXOHudAXDGhbXnXQb+L5RrL0RycbTOFQA436XvUI8uUEUT7V8UmXQUTxUOoTWfFO1mPXjac3OVl9hv08zu/LuJ3wWCxk1VVKTQoEJU+Emnt/4bIJOqIRl+4O49G1VxIiXtbXEs45QZVPyicVuNWLXT7B8P4y5xAiJqpTJEY0hwcihBiT/vom8e6+P7hloFLKtERy4HBZHdQMgdbcx8Gk0Rwt6SHidc3PXnABU17CqDQXqwt+qh/ednVTPOKWnFyvCBZzmljFAZLH58NPajvkRmPmylnUnr1XGriZpKeYZcJfyQSQ+DZk2yyRDTwDyYmz595CVJTNNaxISpWhKHyhiqyALtaNH8N2Ld1BfRH+wycon4fjCp9d1cLpUa12RIv7ZCgpATaZLF7B/YxB1lY0ro9A3eMjynr/juPJUfBcA1oSHCwwYMy6V3km91wP9Ty0haebuYr23/Khrkop1ZzD87vfzejajz93HxYQU66O6cMl7IR7f8S+cYAegvFnivfYHOBc7XfQz74sp6IHNzllQqvthCcx9yFotXUjvHko/YEEK9XEM2v5TEqsVkeRnFH/XRwq/or1FPEVl0QWWip9PFfZSHbjMA5wwHjFlg0d9nmWmAA7KVehTuFZazglJwR57S66vARI2FKx+kW/u6b0Aef2sbI4JzGFaZRhessZcufrrsjlJRs/FjUzh+Nqs1/fZ5X3NmB7gA/BYpuGd70aruhkL4nffi2Ow6H8VXaKmMLLljoyJB4er+tOEh8seKK767EjXev/A8HQ/tAZLsGdiEMV3HIHr/hrGjupkyd1apl77crox87H7qlHr4un0sn4FnO3IOazQCheU9c2Br1CecTNPF8e4qI52nbO33NpBVk0+LoVQ44JFgrbojkDzjtvYbHf9JKRivB8o7BUH7JC++675sy+UYG86jTDJkryO3csgholma5PstJEhrC0iC/Yrz7gCyQ0A/v4Tf8Y69u2i48W32WW5jtTBVUhfa6nmhwlZoewp7rVP5kEl0LhG19W0yyH1GBQ9OWmw1N1KmshPJClGerxApHzB+fVbMJkTfP7DQB/KxC6QHT/RGUcxgAhtuVFYj7v3gbaUzpeMJCDqNyEp36VTf7ID5Uk7OqDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NDHNkGvTSpEzWJSzPSyi74",
      "input": {
        "note": "The spray can lies on its side just right of the left gripper, roughly aligned with the arm's forward axis; the burner is at the table centre. Moving the left arm over the can to check alignment in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.31,
          "left_y": -0.06,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NDHNkGvTSpEzWJSzPSyi74",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.358, 0.9401, 0.5541, -0.2787, -0.2592, -0.2043, 0.9993, -0.0212, 0.7979, 0.6121, -0.4187, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0606 left_z=0.1402 left_yaw=-0.0454 left_pitch=-0.0639 left_roll=0.012 left_gripper=0.9993 right_x=0.2907 right_y=0.0009 right_z=0.1747 right_yaw=0.0021 right_pitch=-0.0225 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5368, 6.5299, 2.0195, -0.2857, -0.0171, -0.0855, -0.0479, -1.6615, 6.5709, 1.917, -0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b249431849ad337d4c650f7dbf783887e3a3650f25fe34586ec648cc11b30ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72bfe19c10a9cc3e31cb1b49973564eda0a137642e7457c500307c40832ee310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bca6616b0c35f5d6314f62e318248047565afb39c1086b7e2a42cb0d3bd4095e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2b249431849a
wire blob 72bfe19c10a9
wire blob bca6616b0c35
call 2 attempt 0 · /messages · status 200 · 5.553 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]: [-0.0189, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7925, 0.6067, -0.3962, -0.0174, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9463, -0.0513, 0.1587, -0.0855, -0.335, -1.3333, 9.7026, 1.9121, -0.0904, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.358, 0.9401, 0.5541, -0.2787, -0.2592, -0.2043, 0.9993, -0.0212, 0.7979, 0.6121, -0.4187, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0606 left_z=0.1402 left_yaw=-0.0454 left_pitch=-0.0639 left_roll=0.012 left_gripper=0.9993 right_x=0.2907 right_y=0.0009 right_z=0.1747 right_yaw=0.0021 right_pitch=-0.0225 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5368, 6.5299, 2.0195, -0.2857, -0.0171, -0.0855, -0.0479, -1.6615, 6.5709, 1.917, -0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b249431849ad337d4c650f7dbf783887e3a3650f25fe34586ec648cc11b30ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72bfe19c10a9cc3e31cb1b49973564eda0a137642e7457c500307c40832ee310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bca6616b0c35f5d6314f62e318248047565afb39c1086b7e2a42cb0d3bd4095e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2b249431849a]
[blob 72bfe19c10a9]
[blob bca6616b0c35]
{
  "content": [
    {
      "signature": "CAQS5AkKEAgRGAI4AUIIdGhpbmtpbmcSDHgP8NNgsnPxVyseABoMafJXvXtNlWZmpNMUIjCOP9FGgzZcnXsoFPh83sdYFPV1415gOFKI/b5ZervNXmrAywacpKG6Ga08b5WxzncqgQkFMDegdTnsH6r2xdYCqK0P+29xo5F0ImbgAKskh25zS9C7e1hW0u8o/ONBxIh053yHqvWDixcbXgMZhAMJYZb/er0EXJgHAGCkmkBEsZcIp04hQ6YOuBA3ioAh8O95x8SaXSSrKFgGB20PmrkJJuNNZJAFj8Sp8SHDRd397WUdr8OMvEy0kb2nadip48Uz3d1kOpxI8VeGqIf6nIQt6rJnCjKM9wWqlOIA/GTvxnGozF1zQZKK+Ko+r0wbjpwioRJ26Cp+UthWEsxZBXluwCiFB7SoEz1ZRDeWetzCr14rGXhlmroR7lUjCHKpJw9mu5QgPgcql81CxEEbDSthA35X4nlssk4CP/JRXzLwXbRi4CG0+PJejIlGzgh5a485Z6Xap5Owf7d6WQGuTaoHZJDW9jlN6bvmB8jNKzFLMqvG15pb2RX/eApt+jITOnwn1KVuqiV2AxJxiSksY6oREOhsBWyDikuEPDA5LdZQyRiSgprsia/Cllk2buACnruGgjuNSCNwTY3qwA0Uo0MD+WP8kNCz4tmPkef1IHBETTqNgA8QgrPZXqgRSIkVAj2Q9BzqJBiTRA6IjXRxT3IRgTTEEXnAV0WbssEvIR9HXIL0JzY3yjNYZp1YevhEAVbun/3/xXr78FkAZTxCjb4000cFdeL7ML2OaS4Z0gwjH/BvF2BMi9nZI48ZJU5xDgv2vMGzfRcIJ7W7B47jwy27pAJ+77SS8NAOYZyHUKJf77NGQDTNYbNO5xO4K7s31TRMpe16H2qLM6jvq8JmMMMI2yK5CcmjBOmUeiXFHs6Z9Aoc4JtlGLj37u2gV2rdy90M3I8Pppfs4us9s3W7/5oxNblKoFJCauzPLggdAFtRrgpbzTympSh7ilBSC7NpFiTWb/UU3/ZiKZFDdIC3LCDQq/NBO5aXl3ntYw8xRijCJnLI92xEbYDTZeXBJYtiIn6eGrPAwXE+leeDPd7ufuqAH+Iz4DFxNIDY9nc5DYy8S34yZSJe9NrjUJ4dCCdRhTFQEzqOoCx1A96jMRWBIjYbwuG9cD7b0GEyy6HYRXcvGTFP2ObnIToYq6jqHN27Wig94nTFO419tI/lQLXh00uckKRBL9guuqt51C1qQgQpe/sjeqRQRazQJWcJgHb8DD315WKed8SSQhb6sqV0c5r8cYiuqOIPYTomCCUg6Ix/OcIm5hJzMn9GwwoOf999w2YQXUM2/7evcelMf9OZWMZCioWMKL273S8G5gcBF/h8bLvpUjK7X85VvQWcujprTj6ojUL9CnWVEN6QJFU+vK2s0NOn+rF2sIhV1cAeGnx56kQeSh4YU2tPMfm6G1gJdkDH02p9grIuZUD5PHmWAI4aL+qfsov+rdWMgEvkSJcluFLG8XUSAtDzoD1kqJWFg6MF7Wu92nydEFqB4zTNitgdt610+2Gg/RgZXvUshSdgAd2wEu2PMZ+fhJFwuNcSnnGkW+kn6j2OYoatc0RJ6HEEmCmHmNxIAMOonDaDaGpTMMFNbip3Mu82i2Bnay6BvqUfCqxqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UBhteraXLQt18bf3bXp1B6",
      "input": {
        "note": "The can now sits on the jaw column in the left wrist camera, its body running down to the bottom edge, so the jaws should straddle its diameter. Descending to can mid-height with the gripper open, advancing slightly forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.32,
          "left_y": -0.06,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UBhteraXLQt18bf3bXp1B6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3252, 1.3499, 0.2783, 0.3046, -0.239, -0.1913, 0.9993, -0.0212, 0.8024, 0.6075, -0.4412, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0548 left_z=0.0156 left_yaw=-0.033 left_pitch=-0.1657 left_roll=0.04 left_gripper=0.9993 right_x=0.2872 right_y=0.001 right_z=0.1668 right_yaw=0.0022 right_pitch=-0.0541 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -4.7248, 4.8479, 1.8877, 0.0073, 0.0611, -0.0806, -0.1983, -1.6068, 7.4872, 1.8828, -0.0415, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c624a6c5c7b1b79580e7980e7ec8fd18d78f8af00302a2832fb5eecc7048e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e9db873916ceee5b9888d8018d774ba0bbf9e2064d1463150b1c32e1619eb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a204f02a73cda215af47e095a7f9f8eefc5d66467bd682f3d56c363fb64fd20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b2c624a6c5c7
wire blob 3e9db873916c
wire blob 8a204f02a73c
call 3 attempt 0 · /messages · status 200 · 4.416 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]: [-0.0189, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7925, 0.6067, -0.3962, -0.0174, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9463, -0.0513, 0.1587, -0.0855, -0.335, -1.3333, 9.7026, 1.9121, -0.0904, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.358, 0.9401, 0.5541, -0.2787, -0.2592, -0.2043, 0.9993, -0.0212, 0.7979, 0.6121, -0.4187, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0606 left_z=0.1402 left_yaw=-0.0454 left_pitch=-0.0639 left_roll=0.012 left_gripper=0.9993 right_x=0.2907 right_y=0.0009 right_z=0.1747 right_yaw=0.0021 right_pitch=-0.0225 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5368, 6.5299, 2.0195, -0.2857, -0.0171, -0.0855, -0.0479, -1.6615, 6.5709, 1.917, -0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3252, 1.3499, 0.2783, 0.3046, -0.239, -0.1913, 0.9993, -0.0212, 0.8024, 0.6075, -0.4412, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0548 left_z=0.0156 left_yaw=-0.033 left_pitch=-0.1657 left_roll=0.04 left_gripper=0.9993 right_x=0.2872 right_y=0.001 right_z=0.1668 right_yaw=0.0022 right_pitch=-0.0541 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -4.7248, 4.8479, 1.8877, 0.0073, 0.0611, -0.0806, -0.1983, -1.6068, 7.4872, 1.8828, -0.0415, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c624a6c5c7b1b79580e7980e7ec8fd18d78f8af00302a2832fb5eecc7048e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e9db873916ceee5b9888d8018d774ba0bbf9e2064d1463150b1c32e1619eb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a204f02a73cda215af47e095a7f9f8eefc5d66467bd682f3d56c363fb64fd20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b2c624a6c5c7]
[blob 3e9db873916c]
[blob 8a204f02a73c]
{
  "content": [
    {
      "signature": "CAQS/wYKEAgRGAI4AUIIdGhpbmtpbmcSDNhk8XloQEw8iMhZPxoMnGyHScXW5ry7Ja8rIjDR3GE9pXph7/vmrp8lkqbUOj7ERFayHC7bk+xTaknMmJobKMj7m8DjP5ZG2Ulo7/IqnAZevHtwFtPt3uw3/Z2op7/SPsqZhHV6AdMsY2Odm2JbDP9j94VV4I5DIbaGFBw4w9WW9cy7/HxdKTMyF3feWhjUjkqbzJ7rbaNwPDZb+uhDEtveRhwJtf0ZZ0JZLblkDTg2J3k5IysglX3a4RXz9gEX/aFl7hOmqAUNKE+mKy72addsZIsrZ3dI5+AopVjAvgGmUvOStj9qAZTkdyS3v3e4pIFE3DKwXG6OFXWEGBsivfkillqXlc7edk0WD0rpJgKo/Qsci5/SJFu+StH55slbD7Myl747H9i/mwwx6V/4MqcXDZOGzfPHcfs8XjtOQcfh82maU+yVfNaROA7HutiFVE4/Ze5MI/2/BTeEhPwWXifLEyrttbB3yw5Qnny2Jeruz2thoe1gsjRoVoe8k2M4H/mnwNKxkFn4oKsMPiTb2lwXKfT9Um3oqPbBtp+MTlqJ6HTNMHjPOrf2ldYwN7AeeugHNfp5rmwmli8OpQbXj1lAHhHH1Vn6QMweeQUwzLFjq2AGr4gBsxrdS1PUbVcedPxkyDyYG3cqLs6YYKsoWljYr5NfqmOdO7iovGDcrN5xPT01ChJYfU+wgUr/Z5bVmlsJvOXyk0Etnta5Bx8BbUkz+yb40SfZ8oug/7TuqV19PmueTmaRLhdHbUqwbBEIc1IWrK6OcriKLAbhjg2QtRDv6ejAZIQzXT/jaXl3uD2rNSAWKhMSQq3gsXfUteD3ek2rAO/JDfv+X2BKYoBOWxkE9Z2KNhP2uvTHhTqGMfaMeFq4on0875dl1qhyhgAYw72SexMX/NNdvIwxMiiRnAFuHEA4HJHf6Gc/GoKx37MCI3Y4EZMtMaEkGkiOT5qHdveYWLouU2fS9xph72MAzq2Kn5p1dpX3ZGsuISMd2o0f8kgdwgvmso+MlCpSOn4t+I+KWKDMMdWctAgDGsDVC2+gahy1P1R+SunJP5FVtg+g4+D+JoIKT1d/G3TqE/L/jKtyzDm5KX+5G6A5badL1aPJmDPsjMUQNb3mvf+xvJEK1iGyi3Evrq2nwRmdooay3Qz3kjOczTpGGNXJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01454bgyKubkvqiieTv3vuGi",
      "input": {
        "note": "The can body fills the left wrist view between the two jaw wedges, so the jaws straddle it. Closing the gripper to grasp the can across its diameter.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01454bgyKubkvqiieTv3vuGi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.3571, 0.2642, 0.3332, -0.244, -0.1928, 0.6997, -0.0212, 0.8024, 0.6075, -0.4553, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3039 left_y=-0.0538 left_z=0.0139 left_yaw=-0.0287 left_pitch=-0.1578 left_roll=0.04 left_gripper=0.6997 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0027 right_pitch=-0.0682 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -4.4103, 6.4752, 1.2332, -0.1001, -0.0122, 1.033, -0.0615, -1.0872, 6.9675, 1.7949, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26df4070ccfe8fe35419bba8309d63ed6720763f5c080c8740c3f7d50fad8ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57c6c5cf2b2375bec6bcc58da1e039ba9283909ccfcb2e50c3383cb42616c85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7982a521379bfce7a8c6b294175110d4b2ee34ab2b2bbeba891039a2f483b245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 26df4070ccfe
wire blob a57c6c5cf2b2
wire blob 7982a521379b
call 4 attempt 0 · /messages · status 200 · 12.9 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]: [-0.358, 0.9401, 0.5541, -0.2787, -0.2592, -0.2043, 0.9993, -0.0212, 0.7979, 0.6121, -0.4187, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0606 left_z=0.1402 left_yaw=-0.0454 left_pitch=-0.0639 left_roll=0.012 left_gripper=0.9993 right_x=0.2907 right_y=0.0009 right_z=0.1747 right_yaw=0.0021 right_pitch=-0.0225 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5368, 6.5299, 2.0195, -0.2857, -0.0171, -0.0855, -0.0479, -1.6615, 6.5709, 1.917, -0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3252, 1.3499, 0.2783, 0.3046, -0.239, -0.1913, 0.9993, -0.0212, 0.8024, 0.6075, -0.4412, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0548 left_z=0.0156 left_yaw=-0.033 left_pitch=-0.1657 left_roll=0.04 left_gripper=0.9993 right_x=0.2872 right_y=0.001 right_z=0.1668 right_yaw=0.0022 right_pitch=-0.0541 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -4.7248, 4.8479, 1.8877, 0.0073, 0.0611, -0.0806, -0.1983, -1.6068, 7.4872, 1.8828, -0.0415, -0.0415, -0.0171]\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]: [-0.3256, 1.3571, 0.2642, 0.3332, -0.244, -0.1928, 0.6997, -0.0212, 0.8024, 0.6075, -0.4553, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3039 left_y=-0.0538 left_z=0.0139 left_yaw=-0.0287 left_pitch=-0.1578 left_roll=0.04 left_gripper=0.6997 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0027 right_pitch=-0.0682 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -4.4103, 6.4752, 1.2332, -0.1001, -0.0122, 1.033, -0.0615, -1.0872, 6.9675, 1.7949, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26df4070ccfe8fe35419bba8309d63ed6720763f5c080c8740c3f7d50fad8ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57c6c5cf2b2375bec6bcc58da1e039ba9283909ccfcb2e50c3383cb42616c85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7982a521379bfce7a8c6b294175110d4b2ee34ab2b2bbeba891039a2f483b245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 26df4070ccfe]
[blob a57c6c5cf2b2]
[blob 7982a521379b]
{
  "content": [
    {
      "text": "Gripper settled at 0.70 (≈6.6 cm) — consistent with a can diameter. Lifting to verify.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ndv3sfrjJagdaPqQaYzATz",
      "input": {
        "note": "Gripper closed to 0.70, about 6.6 cm, which matches the can's diameter. Lifting the can to 15 cm to confirm it is held and clear the table.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Ndv3sfrjJagdaPqQaYzATz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.0283, 0.6353, -0.4065, -0.2436, -0.1967, 0.7038, -0.0212, 0.8043, 0.6075, -0.4812, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3004 left_y=-0.0527 left_z=0.1267 left_yaw=-0.0248 left_pitch=-0.1956 left_roll=0.0488 left_gripper=0.7038 right_x=0.2812 right_y=0.0012 right_z=0.1585 right_yaw=0.0028 right_pitch=-0.0961 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -4.1231, 9.388, 1.7949, -0.149, 0.0269, 0.7399, -0.0342, -1.4017, 6.9402, 1.917, -0.0611, -0.0806, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66c838f695c2a130b9f0768ed65bbea915abf0ede3435160d0663b211a888bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd64e3a956f52359ba0a916c60390b1b568b9c5e5d48d1d08e079d3a9ad5651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24f36da298dce2936b462595cf37ed7b80280871fecb9014f45de73bfd248357",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c66c838f695c
wire blob 0bd64e3a956f
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 7.597 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]: [-0.3252, 1.3499, 0.2783, 0.3046, -0.239, -0.1913, 0.9993, -0.0212, 0.8024, 0.6075, -0.4412, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0548 left_z=0.0156 left_yaw=-0.033 left_pitch=-0.1657 left_roll=0.04 left_gripper=0.9993 right_x=0.2872 right_y=0.001 right_z=0.1668 right_yaw=0.0022 right_pitch=-0.0541 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -4.7248, 4.8479, 1.8877, 0.0073, 0.0611, -0.0806, -0.1983, -1.6068, 7.4872, 1.8828, -0.0415, -0.0415, -0.0171]\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]: [-0.3256, 1.3571, 0.2642, 0.3332, -0.244, -0.1928, 0.6997, -0.0212, 0.8024, 0.6075, -0.4553, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3039 left_y=-0.0538 left_z=0.0139 left_yaw=-0.0287 left_pitch=-0.1578 left_roll=0.04 left_gripper=0.6997 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0027 right_pitch=-0.0682 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -4.4103, 6.4752, 1.2332, -0.1001, -0.0122, 1.033, -0.0615, -1.0872, 6.9675, 1.7949, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.0283, 0.6353, -0.4065, -0.2436, -0.1967, 0.7038, -0.0212, 0.8043, 0.6075, -0.4812, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3004 left_y=-0.0527 left_z=0.1267 left_yaw=-0.0248 left_pitch=-0.1956 left_roll=0.0488 left_gripper=0.7038 right_x=0.2812 right_y=0.0012 right_z=0.1585 right_yaw=0.0028 right_pitch=-0.0961 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -4.1231, 9.388, 1.7949, -0.149, 0.0269, 0.7399, -0.0342, -1.4017, 6.9402, 1.917, -0.0611, -0.0806, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66c838f695c2a130b9f0768ed65bbea915abf0ede3435160d0663b211a888bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd64e3a956f52359ba0a916c60390b1b568b9c5e5d48d1d08e079d3a9ad5651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f36da298dce2936b462595cf37ed7b80280871fecb9014f45de73bfd248357",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c66c838f695c]
[blob 0bd64e3a956f]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQkKEAgRGAI4AUIIdGhpbmtpbmcSDC3Lau92vT+WNFQrhhoM+iLFadT4PHZ/KPZOIjBkvhOHZCtnHKfjTO+Q4UWl0UaH3oehOWOg6RH0fAE1v3miNAvI5y9vW0ovYbYX3Loqwgjxtb9ktmq+hRi6didIDDf6y24ESF9amp7hLkwtTvWMWgiN2iGD2hQwVShFLjquod7xMP7WkCUrFczhxVJgN0G8CQKgvW3sKMLE/8qb7IX3UnRFgfaqGDQrv/LFZU06bo/HjMwsACRAjE4kdGVLpqNrzl3TVDBHVkKVploYWxTl7o3yS6ZmQCzHmw0k9youet/Eod3sXAtuYVsiHY46847XCZEaGoNXFU/Ga6sL0lgdYGCkSa0OtSgFC6jqYBRsD9Nz1Uv4/GE2yMIl0Ld87L/fDVxALni6CUZPtcrETisvfp0OAoHcO57CCv/GsfkkYiJ9gpAIDuf8C18MetWNclJYW95OCuHSK1+cxnwVrAQMEjLzRgSAf5ikGP3J38edAyMPUOsaPH8Ae24/7UjUv7TY3EkENW88amGLskE485KgMWtQBtNSMICVWDf5RRlpX8axyfLBrOmYdtUjLmtKZdJdLMcJnrnk/ZPsX+usmdrtczKasQjfcc7/yqm8AfrR4d7+afhCK4lN6On/haq5/+u71W6es5rJ7GGIbPWJKzzCvWQTIk35NFZ0RJlYoS3Yp/nddcFKCyAhitJaj4V8vpkb0LUmNlq/de7wtAAYfC0dhe1MZU56icoL4DVbhVGFn5Q3Pfj/w4KBzwsKkFlQwJgh8NZCKMkKj5exTmD+xZEbpTD8qV+iFAMtoEtB3PEDgiExM/EPziJNRa8zbyiEW5aJkdSOVsKpcw7fyVWj+G0Wg9pt8eB98hEIj3O0ebodghl3n6ZxgmvAr8fWuIb+eO4pZwBbzF54sgJZJg4qnD6qkSri31TgizUTHuHpmGKuaw5QpCHqOrwPCLNe9AQHqrc3gJoQcyykzCDY5Mlrpc5UeBlutXEL8XlCwfp/nHGHmingSFMfDS99RyH9gI+6BERgbEzxgceCk7/DsB0aLPyRA/aUGlpG8eEZj8HvU9LyhbdGL23rbApJcpXY37f0sgnoxtUxtFIpBaHevC9dpYRrnLQBYRmbDfFBUpYWx1L+EJ+2U2kwFfLNugoKPqb4nGWhIP7DhB0nVtrLPO6QM2BLjtmYKWvNYdR+hpZOcqNyNcJMTOFfdeRndBL4wWnENgE+KDl21eEaebfh80HFwk8AZLjVHBiLceRL0IZArjvkBBAg8XnJv5jm5J2pPUKDHJ/COvBvUEo1udftqBBqrKvDHRXtX4OEPAsetVDy5UL3KW84zFU2AmI05J0mUnQOd7GulVM+RPhIkBe8dNJbWZeu6s4906kTaNfLMbyLhzW27Yh9u2DtyOgocufCbPT+rTfLLwcnB1mBAtcb49hJ5e3IpRrNeGM/PLks4+77XnLxIaMgJTRhBozM1vsw3XdoHk0vLDV/uwWfpZtAoJfJi366EwgCksQH5Q+u8vk68xYyXLiy/Jcf+o8JRYUnVIf8CDmoqYCyH9lQM0TZQUcPBva1Y8JmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQfxQoAerM19t2LpGxvTrT",
      "input": {
        "note": "The top camera shows the can lifted in the left gripper. Carrying it forward and to the right toward the burner at the table centre, holding it high to clear the burner.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.25,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01NQfxQoAerM19t2LpGxvTrT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7475, 1.7832, 1.5307, -0.7418, -0.4915, -0.5503, 0.7068, -0.0212, 0.8089, 0.6067, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.2428 left_z=0.1778 left_yaw=-0.0309 left_pitch=-0.259 left_roll=0.0678 left_gripper=0.7068 right_x=0.2783 right_y=0.0012 right_z=0.1534 right_yaw=0.0023 right_pitch=-0.1205 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -9.4838, 9.4017, 1.409, -0.6032, 0.0904, 0.5739, -0.335, -1.6205, 6.9949, 1.7949, -0.0562, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354818bf68ed59302f70af7b1a8f293449b765dd77c5c222c7c21468e15d7235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:852234fe201a744de33dc64cb4c9114eed89df1fd38823d5f99c3405474f84b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e7c4d94c065ba234122f4bf2de51c9019f6ff43569d97684ee9b2363107f804",
        "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 · 6.655 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]: [-0.3256, 1.3571, 0.2642, 0.3332, -0.244, -0.1928, 0.6997, -0.0212, 0.8024, 0.6075, -0.4553, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3039 left_y=-0.0538 left_z=0.0139 left_yaw=-0.0287 left_pitch=-0.1578 left_roll=0.04 left_gripper=0.6997 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0027 right_pitch=-0.0682 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -4.4103, 6.4752, 1.2332, -0.1001, -0.0122, 1.033, -0.0615, -1.0872, 6.9675, 1.7949, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.0283, 0.6353, -0.4065, -0.2436, -0.1967, 0.7038, -0.0212, 0.8043, 0.6075, -0.4812, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3004 left_y=-0.0527 left_z=0.1267 left_yaw=-0.0248 left_pitch=-0.1956 left_roll=0.0488 left_gripper=0.7038 right_x=0.2812 right_y=0.0012 right_z=0.1585 right_yaw=0.0028 right_pitch=-0.0961 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -4.1231, 9.388, 1.7949, -0.149, 0.0269, 0.7399, -0.0342, -1.4017, 6.9402, 1.917, -0.0611, -0.0806, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7475, 1.7832, 1.5307, -0.7418, -0.4915, -0.5503, 0.7068, -0.0212, 0.8089, 0.6067, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.2428 left_z=0.1778 left_yaw=-0.0309 left_pitch=-0.259 left_roll=0.0678 left_gripper=0.7068 right_x=0.2783 right_y=0.0012 right_z=0.1534 right_yaw=0.0023 right_pitch=-0.1205 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -9.4838, 9.4017, 1.409, -0.6032, 0.0904, 0.5739, -0.335, -1.6205, 6.9949, 1.7949, -0.0562, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354818bf68ed59302f70af7b1a8f293449b765dd77c5c222c7c21468e15d7235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:852234fe201a744de33dc64cb4c9114eed89df1fd38823d5f99c3405474f84b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e7c4d94c065ba234122f4bf2de51c9019f6ff43569d97684ee9b2363107f804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAkKEAgRGAI4AUIIdGhpbmtpbmcSDBMriMbsk9TCxgi4+RoMGasEx8X0ZvI7vy1cIjAPf8BNIPFFvg6GOb33QZAOeh0GU4d8r0Po0YE0XSuVU6EgZcuKKcDUnoFkeHHnbWIq6QgD2uvS3hNBZg/TrjYcEdejqzGW8fadSOp4Gw9aYENtpAKQb9+U6iOvel3u3fc7W1nOZ+KjHJSjghZXUqQjx9bfaA0NC1fWHto79pC4iwVianS3Bw/h8M9wgPKfYtWUxyhg/gDOBeYv9pP4XbfdznlSKIEThu2woR9VJaQih1JxBNVnNkuPZS3y1i7F8BRP5fRDOI0zre2brxWX/P4ocUOJs7uFemiUmnJVPWAN9O3okNxO1Zv0wcnjsDXuXc/tkC7vAJ87+L7yAzvN1XLnMT/SDqosWuEat0rqT9QzZkki45aND9ePgQx4W0jDtBYEJg3Kuz7H9spOlnKhOpNJgdw3dJRG0LM3CvfOEXOAIaBnfCA6v7iOGI+nun2Hck7UC2y4Tv8KwI2oaKw/80lAoC5MWGubv2H9P53NE3t7L5V2bKLNUCUyithiZVjuYBSUzyCLCkDdXukhpeWBb+w0PkqFE7hNsBDk3DJFycYxm+qooxZiUivqE7+Y+NEcXGRUw/YDBx5zv3qtV643pcOw9bb6pwTNltf31KRO9aPbU3LyQDoKeeWXbT9YWfNHmqU1GuB9jSEbzTsa+TjjG7tzBEuQumavRSgQdorRhxSxKjnvuZsUPdV5Wzw4GkJWkDwW1hNR8ijt3ZwoIFREzh1nXRSsBKwLmEm9m1MXu+YUVghLP+KrPv6Flpr6AzvGlElZ6kM0m0Uq0DuXqS341zzLGBP6+tefSV119mfBQ8bUIdkQeHi0c+AmyeGkw/dnW6N2k53HDcMnjbgmZmKW4Cm+N+OZq1HRPpl+8bgjcOy1XoX/BJbuTw76C4briug0d2Oxgs7KJ15qN/0h+USmpiMTof8mQ0HL3aFUAvlewqFNRH/aAXjpMGNQetHdN3E49UYGeGhc6yfUCg6K5pNMM61uXIw6LoUnqCCFvGkcHfLRZrnuKJnLOixJVjz3tWzqU1BR/6TtYZl6hz+eR9J7E7Vbb1iViSKNDCVCq3y1hYdhc+FD6oTR2osQ7/RQbkTWrrKt9hXAYQxcrCtBB5BsD4+AyzgsRdxcjJgE/TwUnxrve0kI4iA9pIim6o+MZ6kU+Ts1vNpNg9piWvELqL3324wJMcsFEX+0GinC38Blfh360TTa0sRGGa4wT7+EHE97dbfBFDQmg+WA20UXPx1NLW5wJRN9m+9cctoWz34Uoza/8bNMG9+MNVIbf2y9zWT8DD2xdCmBCJd4X6h3fgJCu1GBZiKzlJ/EbEQE90AYHJuZR4qSOMo9f74vQVxp/e9G7vOpaCckjHM3QiR4fY4OxF9hQWc0amJ6gvbgd3mVIiDonMvs4gir9lkKtgg/Q9f8Nh/0SnjqJbs31+b2dzC1SEMIhy/h5ufUZujhEFduFYBO1vS4ewLqxIRytOmhgHzdaXzj5ubfZuQnXmiDJyIEHgVDhhyXywOUV1NljcrnPey96YeON/GXbuM03z8mtKVxnqXIDqmf3ThmUuuW4ZlYnVCN8KPHgwbs/alKUg0wGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011RQSQarnZ6BiiAQCaZCgYu",
      "input": {
        "note": "The gripper with the can is hovering over the left half of the burner in the top view. Shifting slightly right to centre over the coil and lowering toward the burner surface.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.27,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011RQSQarnZ6BiiAQCaZCgYu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7578, 1.9385, 1.4448, -0.5594, -0.4923, -0.5644, 0.7096, -0.0212, 0.8101, 0.6064, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4018 left_y=-0.2603 left_z=0.0991 left_yaw=-0.0215 left_pitch=-0.3018 left_roll=0.0993 left_gripper=0.7096 right_x=0.2746 right_y=0.0013 right_z=0.1487 right_yaw=0.0027 right_pitch=-0.1445 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -9.347, 6.1744, 1.2918, -0.3541, 0.0171, 0.5934, -0.0205, -1.306, 6.9949, 1.8193, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310a973eec9a906d7c7674f04b95a94f4b6fb53fc5c64b366b52fcd7b9ac8f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0bd4faf4867a1414aa6cfef513e4bf5663090284c9d2abd271c770571b3429b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92fa701a5b7865c903b289398d52b39a3ab6fc455e81017e98aa2220877740d4",
        "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 · 5.338 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]: [-0.3256, 1.0283, 0.6353, -0.4065, -0.2436, -0.1967, 0.7038, -0.0212, 0.8043, 0.6075, -0.4812, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3004 left_y=-0.0527 left_z=0.1267 left_yaw=-0.0248 left_pitch=-0.1956 left_roll=0.0488 left_gripper=0.7038 right_x=0.2812 right_y=0.0012 right_z=0.1585 right_yaw=0.0028 right_pitch=-0.0961 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -4.1231, 9.388, 1.7949, -0.149, 0.0269, 0.7399, -0.0342, -1.4017, 6.9402, 1.917, -0.0611, -0.0806, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7475, 1.7832, 1.5307, -0.7418, -0.4915, -0.5503, 0.7068, -0.0212, 0.8089, 0.6067, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.2428 left_z=0.1778 left_yaw=-0.0309 left_pitch=-0.259 left_roll=0.0678 left_gripper=0.7068 right_x=0.2783 right_y=0.0012 right_z=0.1534 right_yaw=0.0023 right_pitch=-0.1205 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -9.4838, 9.4017, 1.409, -0.6032, 0.0904, 0.5739, -0.335, -1.6205, 6.9949, 1.7949, -0.0562, -0.0317, -0.0073]",
      "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]: [-0.7578, 1.9385, 1.4448, -0.5594, -0.4923, -0.5644, 0.7096, -0.0212, 0.8101, 0.6064, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4018 left_y=-0.2603 left_z=0.0991 left_yaw=-0.0215 left_pitch=-0.3018 left_roll=0.0993 left_gripper=0.7096 right_x=0.2746 right_y=0.0013 right_z=0.1487 right_yaw=0.0027 right_pitch=-0.1445 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -9.347, 6.1744, 1.2918, -0.3541, 0.0171, 0.5934, -0.0205, -1.306, 6.9949, 1.8193, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310a973eec9a906d7c7674f04b95a94f4b6fb53fc5c64b366b52fcd7b9ac8f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0bd4faf4867a1414aa6cfef513e4bf5663090284c9d2abd271c770571b3429b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fa701a5b7865c903b289398d52b39a3ab6fc455e81017e98aa2220877740d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AgKEAgRGAI4AUIIdGhpbmtpbmcSDJQYIXmNKOwTtkKYcBoM2fxPYFtxTvTDjO+XIjDoKOrammk5Q9wq+JZcsRA7sPeBPWp6484lz3ruFQU0SPfYYaHkMwBtH6x+8sQ0m+gqgQi6zH9WddrQvE5zB0oMAgZiHRaTPwpG69WGy8WYdyoQAzZ46eUSNC3aWgFbO7JS/MDvBe0YvVydJ8tC0yT21je8XDQKb2qbcWT1mJqdKdp0Grg5MQRWh1J+0tD8s3VwbN7Vp7BAV9WV5caGS+XDkW9jOGUlSAfJR/NNDy+Rj+RGdUstGy0MzCMuCsgA5wxU2mrepLhaKiEjsSOPUJAt86LC5roBRpI1zsHMNCPGvRNZKoN+RdQ5Qp78ytgBnI+YLXKHT/rnYnSF4MKKy/MdVskrtkLuiEryWaKGehgN737hkFquLQ9oLdwhA/byRsG/SxX3Mhz/WVMnoQUm9PbVVNhxVvZxfTwtvk7dTlxIHtQ/BNNXpaBW2oom54eUYx7+Vzcp2XZSCc1xTnBiFXnBJ10UXtJ6LZkGSmrXh+MlhhZ1jDCbvX49Eo4xPh/II/DLgzPv3VQ4rbdw77BBxbuoUde8RRsv3IdpjYttg0IOo+hpn9RuWcSD/MGLAvYdLGt07X8VCFboBLqV/qYPKfeZYmy0qyjETxe84opabqL96Pwxj5XjB0agzpcDX6XOI8ATu/mfEUNOjuRdZeIEzvsDfqe6BQDB9IGUMCIBX/b+4DU0fhLho4WFi0d3YPl1F0kif1Iwvwi7kQyqwVoXKPgnaY6N1fJLUkw2NqjpQzaL5IgjsFthoZBzEYXuPjyrFr+9pd/diZK1b93OCN/FnblwUN+M30eFAAxuJCSSygtBOKeZQsmQHsXusmze0/g14i0qEgpN1q9zIORF1TnumXBNwZJ7y+M/6PUdYfbSM/exA32E+dt9RKzcdVYKiAFEWj2PTpvlLSeTU2gYH+BUndBp1RQ13vdooVL5Tsl47I+jvCqeQw5tdj7Zq4sn81HW2T/mSjYMWO3SBTBVbVXPFlnLCCFzQwQfod3jL4UBMk+1NO9GSbbylbN1r0dbK0gGr9sBz7l0Y1+/bdmBOKw0Hbr+UuC817A8FaMEZ2ulSdWmUvabkxhpJSQDCE1E5ATc/e+i5qqKsA5luQjn2m2Lu6gCaQv7Ou2rWtAoQSrwH9S7fJMaggRiuXquCFkZsY+PDKMVqvo9zVJyma1hmkjkL+nTBZeNLiMyT0rtW/xNTv+a+2EwMAwOPEz8TdxG7B7NdqBMY4OBoiXA+/c+eBq33ApXD1qIPeA2qY9Kcup8kWcDUrjOs34/Fqq36KXfc3Geq9QU8WY39QJyMSlzgpC5kUmDxyNMdDV8qPQ1Klr4qgyrO7tBpOmo4vLwilAO4h7vUeKUFLkxUEogoNGhv3FxiZp0x1+W/SY1U3bbHRxlmexaqsue+RHcR9Y4svfWIv+WjBn6UL+BeSIWZpq2ab2mggHxFz3V2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0196sWZ2z1MgswxSpNXYZVDp",
      "input": {
        "note": "In the left wrist camera the burner coil appears to the right of the held can, so the can is still a few cm left of the coil. Shifting further right and lowering to just above the burner surface.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.3,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0196sWZ2z1MgswxSpNXYZVDp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8036, 2.0605, 1.5284, -0.5014, -0.5541, -0.6163, 0.7095, -0.0212, 0.8116, 0.6056, -0.548, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4155 left_y=-0.2918 left_z=0.0832 left_yaw=0.0 left_pitch=-0.2478 left_roll=0.0894 left_gripper=0.7095 right_x=0.2704 right_y=0.0014 right_z=0.1434 right_yaw=0.0028 right_pitch=-0.172 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.9932, 6.735, 0.7839, 0.1929, -0.0317, 0.8034, -0.1162, -1.1556, 6.9265, 1.8339, -0.0855, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c1f129733854e69f8fd7c957fff35e4284bd25f4750cfda0a0e27066aca605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:314d11d363de663839d6796adec694f581d6caf3c14904aca4c585309533fc42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcc92cc24837c25de5380a043215be920c8e5338ad8b2a6799dabba00bd13f8d",
        "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 · 4.694 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]: [-0.7475, 1.7832, 1.5307, -0.7418, -0.4915, -0.5503, 0.7068, -0.0212, 0.8089, 0.6067, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.2428 left_z=0.1778 left_yaw=-0.0309 left_pitch=-0.259 left_roll=0.0678 left_gripper=0.7068 right_x=0.2783 right_y=0.0012 right_z=0.1534 right_yaw=0.0023 right_pitch=-0.1205 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -9.4838, 9.4017, 1.409, -0.6032, 0.0904, 0.5739, -0.335, -1.6205, 6.9949, 1.7949, -0.0562, -0.0317, -0.0073]",
      "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]: [-0.7578, 1.9385, 1.4448, -0.5594, -0.4923, -0.5644, 0.7096, -0.0212, 0.8101, 0.6064, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4018 left_y=-0.2603 left_z=0.0991 left_yaw=-0.0215 left_pitch=-0.3018 left_roll=0.0993 left_gripper=0.7096 right_x=0.2746 right_y=0.0013 right_z=0.1487 right_yaw=0.0027 right_pitch=-0.1445 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -9.347, 6.1744, 1.2918, -0.3541, 0.0171, 0.5934, -0.0205, -1.306, 6.9949, 1.8193, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8036, 2.0605, 1.5284, -0.5014, -0.5541, -0.6163, 0.7095, -0.0212, 0.8116, 0.6056, -0.548, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4155 left_y=-0.2918 left_z=0.0832 left_yaw=0.0 left_pitch=-0.2478 left_roll=0.0894 left_gripper=0.7095 right_x=0.2704 right_y=0.0014 right_z=0.1434 right_yaw=0.0028 right_pitch=-0.172 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.9932, 6.735, 0.7839, 0.1929, -0.0317, 0.8034, -0.1162, -1.1556, 6.9265, 1.8339, -0.0855, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c1f129733854e69f8fd7c957fff35e4284bd25f4750cfda0a0e27066aca605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:314d11d363de663839d6796adec694f581d6caf3c14904aca4c585309533fc42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcc92cc24837c25de5380a043215be920c8e5338ad8b2a6799dabba00bd13f8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gcKEAgRGAI4AUIIdGhpbmtpbmcSDIgy0QF8/6lnZvCXDBoMxBe63NizuX8ZEz0qIjA8hWeIgddxpfc1BhuIe//t4CWoN6mZ9GnNufgzhh+lLuCYUB4j27E4GSKQM51I0cEq9waxYaW4Q3aAMutkiFPBm65I/7dmCaqNa/4MZW1gf8GhRxd64WNLXyWz/19+VmiDTZ6Ev7kaXdgl9B9XIzs260IzRvCMHCJjhvWHjmHfysG1fPo6EHbVlSFv8j2V58Yi1h9wXM4g8IVRNj3Wg4Un8vGWWcW3WwAyfy+K3Sffch/Z+/QmQh0FDzkp5duT7i05xfF9waEx7has8lhxy4jRq0XtIAQ9pG7B0mLLm+rzIKUyFiJpCBLvLGpAn3XzOe5eT5SiiMLuWY0NDl5UaBWOpNCpDHK+EVnRu3cf0/C4C1bHhmNZrjEZFQLNlmkUx8Gpe9NQzW4GaHoWzcL2eECRpM0a4MJcDC2aMRnbK50MwJW6/1EWG0bZ32nW/X/Lm3s5OGZWtfgwHhITlDKxrEKV8Io3dmSg018WZhQZ2WRQK3N4HnVzUoXdcd73olbCnm/7zAyl/CYQ0bYLUst42SXGW7pw7E7XZ5fOSOAMlCnasPJssbnHLj4pKnA/VIX1MM3rpfor26ByFlHnGNKlLQo8MSK67EEhbzdJ7UOh3hLqBFVXvSBdtLvNF3TJ+UPuWdFMUtexMeGQhXyRunB3aCsTOedb7+L4TTVfxc4PL6voZGHz5f/Dk3mVxtYShR7GVcgL8KlS/4KJ8B7tV16Xp4RVrrEDGZTcAI+n9PGi+dhBKJtLq2mdanSkbKhWYBLoGyA4R+/cujRPzKm+CzMKs+YcgFT4SNNdpx21Ua97XVSo4jRSWl9KoCajrzLlIl7eWtRW5TA+pm+kHuxUgkSpEE73WkG7/m3lBUQV41lsH5lY7LuHO9lreLQTNoPGyjSHmXCfVdSPIs+jbdQIan8CsOE1XnZMW+G/Uucv24CXnI+/ozgNAg27NUFLb/WNsf2ew2eDdjZybFne8AkDa4SvfjsrSFPSwpK1QRv52ztHnS/ZDYcvJvCwjK4BNBQgGjKipinFn31Tskux9jvEnHkYhc088DUMz2wJZGhV6J5R7GYQ5L5KoYrOj1EmUfv3txYmmgEehH0t8Zcej9moVAzyl4POThFTT++65yp7Xsd4wrQOl9VLsELSeCuuVrVkzFxyIWsaaPNqRiyxM+CULOYfd5VCaflMlqom8cveIa5ZjYfWXHaAQi4OmiDyQzCgWUlpW8D21hh1/W785WVTHUcdJie+vwvCs+MOvNCrLhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AfDg6VpPtSRNBUm7v54MiV",
      "input": {
        "note": "The descent stopped at z=0.083 with the can centred over the burner coil in the wrist view, indicating the can is resting on the burner. Opening the gripper to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AfDg6VpPtSRNBUm7v54MiV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8093, 2.0739, 1.5333, -0.5014, -0.551, -0.627, 0.9949, -0.0212, 0.8116, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2952 left_z=0.0783 left_yaw=-0.0002 left_pitch=-0.2549 left_roll=0.0863 left_gripper=0.9949 right_x=0.2667 right_y=0.0014 right_z=0.1396 right_yaw=0.0026 right_pitch=-0.1933 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -12.5744, 5.9829, 1.1893, -0.3736, 0.0366, -0.022, -0.212, -1.1692, 6.8444, 1.7558, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1354f11314aaf5b7ad3cf0b959991ae9f2b91ca6299dc93e39463cf9042bf739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122bc7c931fe34feeb33ca12fd7d964f8f87ded167d77b8e9a70c4653067f94b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90620b6cfaec5b517597d72c3ffb5b7b1b045245f2203e512dbf6898e0fc3251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 18.75 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]: [-0.7578, 1.9385, 1.4448, -0.5594, -0.4923, -0.5644, 0.7096, -0.0212, 0.8101, 0.6064, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4018 left_y=-0.2603 left_z=0.0991 left_yaw=-0.0215 left_pitch=-0.3018 left_roll=0.0993 left_gripper=0.7096 right_x=0.2746 right_y=0.0013 right_z=0.1487 right_yaw=0.0027 right_pitch=-0.1445 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -9.347, 6.1744, 1.2918, -0.3541, 0.0171, 0.5934, -0.0205, -1.306, 6.9949, 1.8193, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8036, 2.0605, 1.5284, -0.5014, -0.5541, -0.6163, 0.7095, -0.0212, 0.8116, 0.6056, -0.548, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4155 left_y=-0.2918 left_z=0.0832 left_yaw=0.0 left_pitch=-0.2478 left_roll=0.0894 left_gripper=0.7095 right_x=0.2704 right_y=0.0014 right_z=0.1434 right_yaw=0.0028 right_pitch=-0.172 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.9932, 6.735, 0.7839, 0.1929, -0.0317, 0.8034, -0.1162, -1.1556, 6.9265, 1.8339, -0.0855, -0.0317, -0.0073]",
      "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]: [-0.8093, 2.0739, 1.5333, -0.5014, -0.551, -0.627, 0.9949, -0.0212, 0.8116, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2952 left_z=0.0783 left_yaw=-0.0002 left_pitch=-0.2549 left_roll=0.0863 left_gripper=0.9949 right_x=0.2667 right_y=0.0014 right_z=0.1396 right_yaw=0.0026 right_pitch=-0.1933 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -12.5744, 5.9829, 1.1893, -0.3736, 0.0366, -0.022, -0.212, -1.1692, 6.8444, 1.7558, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1354f11314aaf5b7ad3cf0b959991ae9f2b91ca6299dc93e39463cf9042bf739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:122bc7c931fe34feeb33ca12fd7d964f8f87ded167d77b8e9a70c4653067f94b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90620b6cfaec5b517597d72c3ffb5b7b1b045245f2203e512dbf6898e0fc3251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Gripper open; the can remains on the burner. Retracting the left arm to home to verify from the top camera.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XWvrJzUMYrn86RCWXZxNan",
      "input": {
        "note": "Gripper is open and the can stays resting on the burner in the wrist view. Lifting and returning the left arm home so the top camera shows the burner clearly.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01XWvrJzUMYrn86RCWXZxNan",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0967, 0.9993, 0.8623, -0.6987, -0.1467, -0.0658, 0.9963, -0.0212, 0.8158, 0.6056, -0.6117, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.001 left_z=0.1786 left_yaw=0.051 left_pitch=-0.2517 left_roll=0.08 left_gripper=0.9963 right_x=0.2593 right_y=0.0016 right_z=0.1313 right_yaw=0.0028 right_pitch=-0.2399 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.906, 6.653, 1.6044, 0.0122, 0.1148, 0.1294, -0.0889, -1.3333, 6.9402, 1.8877, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d55647e0d077fc79d95ea5dd01197b8425fce1fc4c3e3648d984d19ba0284017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fc951f8abea503818449f1e4981de748f1358ce9893f087e47f8995eef48372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3e444771f0c7b769c8200285b6d71800d42a43fa940346ae943fef0f20a25d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 10.63 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]: [-0.8036, 2.0605, 1.5284, -0.5014, -0.5541, -0.6163, 0.7095, -0.0212, 0.8116, 0.6056, -0.548, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4155 left_y=-0.2918 left_z=0.0832 left_yaw=0.0 left_pitch=-0.2478 left_roll=0.0894 left_gripper=0.7095 right_x=0.2704 right_y=0.0014 right_z=0.1434 right_yaw=0.0028 right_pitch=-0.172 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.9932, 6.735, 0.7839, 0.1929, -0.0317, 0.8034, -0.1162, -1.1556, 6.9265, 1.8339, -0.0855, -0.0317, -0.0073]",
      "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]: [-0.8093, 2.0739, 1.5333, -0.5014, -0.551, -0.627, 0.9949, -0.0212, 0.8116, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2952 left_z=0.0783 left_yaw=-0.0002 left_pitch=-0.2549 left_roll=0.0863 left_gripper=0.9949 right_x=0.2667 right_y=0.0014 right_z=0.1396 right_yaw=0.0026 right_pitch=-0.1933 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -12.5744, 5.9829, 1.1893, -0.3736, 0.0366, -0.022, -0.212, -1.1692, 6.8444, 1.7558, -0.0464, -0.0562, -0.0122]",
      "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]: [-0.0967, 0.9993, 0.8623, -0.6987, -0.1467, -0.0658, 0.9963, -0.0212, 0.8158, 0.6056, -0.6117, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.001 left_z=0.1786 left_yaw=0.051 left_pitch=-0.2517 left_roll=0.08 left_gripper=0.9963 right_x=0.2593 right_y=0.0016 right_z=0.1313 right_yaw=0.0028 right_pitch=-0.2399 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.906, 6.653, 1.6044, 0.0122, 0.1148, 0.1294, -0.0889, -1.3333, 6.9402, 1.8877, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d55647e0d077fc79d95ea5dd01197b8425fce1fc4c3e3648d984d19ba0284017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fc951f8abea503818449f1e4981de748f1358ce9893f087e47f8995eef48372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e444771f0c7b769c8200285b6d71800d42a43fa940346ae943fef0f20a25d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UhzHdHTRRB2xQoiVcAdCbd",
      "input": {
        "note": "The can rolled off the burner and now lies on the table to the right of it, next to the kettle, closer to the right arm. Moving the right arm above the can to line up a new grasp in its wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.27,
          "right_y": 0.22,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01UhzHdHTRRB2xQoiVcAdCbd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0967, 1.0023, 0.8623, -0.7197, -0.1356, -0.0647, 0.9965, 0.9497, 1.4132, 1.0191, -0.7219, 0.5529, 0.7444, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0006 left_z=0.1741 left_yaw=0.0418 left_pitch=-0.2768 left_roll=0.0759 left_gripper=0.9965 right_x=0.2614 right_y=0.2121 right_z=0.1362 right_yaw=0.0334 right_pitch=-0.2891 right_roll=-0.0415 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.6532, -0.1685, -0.0562, 0.0073, 0.1846, -5.5726, 8.5128, 1.1697, 0.4762, 0.1538, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1ad8042a2c56b3c7a7e8910e16f372907861e05b32c024c253638b7752cc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae805678b01ae05d39a8c2df4a715fa8d8b763af444eea6174e5571d3b5f761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4889286cddcdb996eecebd6e16d7897423710670d45fb602cb9faed1fc975db",
        "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 · 4.483 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]: [-0.8093, 2.0739, 1.5333, -0.5014, -0.551, -0.627, 0.9949, -0.0212, 0.8116, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2952 left_z=0.0783 left_yaw=-0.0002 left_pitch=-0.2549 left_roll=0.0863 left_gripper=0.9949 right_x=0.2667 right_y=0.0014 right_z=0.1396 right_yaw=0.0026 right_pitch=-0.1933 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -12.5744, 5.9829, 1.1893, -0.3736, 0.0366, -0.022, -0.212, -1.1692, 6.8444, 1.7558, -0.0464, -0.0562, -0.0122]",
      "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]: [-0.0967, 0.9993, 0.8623, -0.6987, -0.1467, -0.0658, 0.9963, -0.0212, 0.8158, 0.6056, -0.6117, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.001 left_z=0.1786 left_yaw=0.051 left_pitch=-0.2517 left_roll=0.08 left_gripper=0.9963 right_x=0.2593 right_y=0.0016 right_z=0.1313 right_yaw=0.0028 right_pitch=-0.2399 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.906, 6.653, 1.6044, 0.0122, 0.1148, 0.1294, -0.0889, -1.3333, 6.9402, 1.8877, -0.0611, -0.0366, -0.0073]",
      "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]: [-0.0967, 1.0023, 0.8623, -0.7197, -0.1356, -0.0647, 0.9965, 0.9497, 1.4132, 1.0191, -0.7219, 0.5529, 0.7444, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0006 left_z=0.1741 left_yaw=0.0418 left_pitch=-0.2768 left_roll=0.0759 left_gripper=0.9965 right_x=0.2614 right_y=0.2121 right_z=0.1362 right_yaw=0.0334 right_pitch=-0.2891 right_roll=-0.0415 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.6532, -0.1685, -0.0562, 0.0073, 0.1846, -5.5726, 8.5128, 1.1697, 0.4762, 0.1538, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1ad8042a2c56b3c7a7e8910e16f372907861e05b32c024c253638b7752cc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae805678b01ae05d39a8c2df4a715fa8d8b763af444eea6174e5571d3b5f761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4889286cddcdb996eecebd6e16d7897423710670d45fb602cb9faed1fc975db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EpbWLBNA1yELZs2ysMUNYR",
      "input": {
        "note": "The can is centred on the jaw column in the right wrist camera with the kettle just to its right. Descending to can mid-height with the gripper opened only 8 cm so the right jaw does not hit the kettle.",
        "targets": {
          "right_gripper": 0.85,
          "right_x": 0.27,
          "right_y": 0.205,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01EpbWLBNA1yELZs2ysMUNYR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0967, 1.0023, 0.8623, -0.7277, -0.1349, -0.065, 0.9965, 0.9096, 1.5593, 0.7185, -0.3271, 0.5289, 0.7071, 0.8515]\nstate[eef_state]: left_x=0.2887 left_y=-0.0005 left_z=0.1729 left_yaw=0.0417 left_pitch=-0.2848 left_roll=0.0762 left_gripper=0.9965 right_x=0.2593 right_y=0.1939 right_z=0.0288 right_yaw=0.016 right_pitch=-0.3398 right_roll=-0.0948 right_gripper=0.8515\nstate[joint_eff]: [-0.1162, -2.1128, 6.7214, 1.4774, -0.1392, -0.0415, -0.0122, -0.3624, -5.7368, 5.8735, 1.1404, 0.3346, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73af07e37235020f0d3d90e5867ef4740c81059afbe21c5e7eb4ab6b4f317a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209cfbf2222eb96eda86e9a17c7d24208cd1313f0012b037b8391fda9c3495e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab02ee4d12f11755c5ae2326b69b2a962de3970d3c4afe96ccdf036c07b2add7",
        "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 · 8.799 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]: [-0.0967, 0.9993, 0.8623, -0.6987, -0.1467, -0.0658, 0.9963, -0.0212, 0.8158, 0.6056, -0.6117, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.001 left_z=0.1786 left_yaw=0.051 left_pitch=-0.2517 left_roll=0.08 left_gripper=0.9963 right_x=0.2593 right_y=0.0016 right_z=0.1313 right_yaw=0.0028 right_pitch=-0.2399 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.906, 6.653, 1.6044, 0.0122, 0.1148, 0.1294, -0.0889, -1.3333, 6.9402, 1.8877, -0.0611, -0.0366, -0.0073]",
      "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]: [-0.0967, 1.0023, 0.8623, -0.7197, -0.1356, -0.0647, 0.9965, 0.9497, 1.4132, 1.0191, -0.7219, 0.5529, 0.7444, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0006 left_z=0.1741 left_yaw=0.0418 left_pitch=-0.2768 left_roll=0.0759 left_gripper=0.9965 right_x=0.2614 right_y=0.2121 right_z=0.1362 right_yaw=0.0334 right_pitch=-0.2891 right_roll=-0.0415 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.6532, -0.1685, -0.0562, 0.0073, 0.1846, -5.5726, 8.5128, 1.1697, 0.4762, 0.1538, -0.0513]",
      "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]: [-0.0967, 1.0023, 0.8623, -0.7277, -0.1349, -0.065, 0.9965, 0.9096, 1.5593, 0.7185, -0.3271, 0.5289, 0.7071, 0.8515]\nstate[eef_state]: left_x=0.2887 left_y=-0.0005 left_z=0.1729 left_yaw=0.0417 left_pitch=-0.2848 left_roll=0.0762 left_gripper=0.9965 right_x=0.2593 right_y=0.1939 right_z=0.0288 right_yaw=0.016 right_pitch=-0.3398 right_roll=-0.0948 right_gripper=0.8515\nstate[joint_eff]: [-0.1162, -2.1128, 6.7214, 1.4774, -0.1392, -0.0415, -0.0122, -0.3624, -5.7368, 5.8735, 1.1404, 0.3346, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73af07e37235020f0d3d90e5867ef4740c81059afbe21c5e7eb4ab6b4f317a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209cfbf2222eb96eda86e9a17c7d24208cd1313f0012b037b8391fda9c3495e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab02ee4d12f11755c5ae2326b69b2a962de3970d3c4afe96ccdf036c07b2add7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The can is between the jaws in the right wrist view. Closing to grasp.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018YN9nRTDDQCcSypUBTfr2E",
      "input": {
        "note": "At z=0.03 the can body sits squarely between the right gripper's jaw wedges. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018YN9nRTDDQCcSypUBTfr2E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0967, 1.0042, 0.8623, -0.7418, -0.1349, -0.0647, 0.9965, 0.9081, 1.5726, 0.7029, -0.305, 0.5331, 0.7071, 0.7065]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1701 left_yaw=0.0421 left_pitch=-0.3007 left_roll=0.0787 left_gripper=0.9965 right_x=0.2587 right_y=0.1914 right_z=0.0226 right_yaw=0.0101 right_pitch=-0.341 right_roll=-0.103 right_gripper=0.7065\nstate[joint_eff]: [-0.1846, -2.5641, 6.7077, 1.536, -0.1343, -0.0659, -0.0122, 0.0068, -7.1726, 6.5983, 0.7302, 0.1978, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6016dee74b4f0e15a738eaca3f519724fdce81450954fd26c878f1084c1c19ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e0ddeacb7c768a6da2ee16c509338958f55177ca1e1d4a42e4fdf4f7d81e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4bc962f00774d691916ffb92a7bfb593767a390c286c4d34a641725baca4e1a",
        "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 · 8.721 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]: [-0.0967, 1.0023, 0.8623, -0.7197, -0.1356, -0.0647, 0.9965, 0.9497, 1.4132, 1.0191, -0.7219, 0.5529, 0.7444, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0006 left_z=0.1741 left_yaw=0.0418 left_pitch=-0.2768 left_roll=0.0759 left_gripper=0.9965 right_x=0.2614 right_y=0.2121 right_z=0.1362 right_yaw=0.0334 right_pitch=-0.2891 right_roll=-0.0415 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.6532, -0.1685, -0.0562, 0.0073, 0.1846, -5.5726, 8.5128, 1.1697, 0.4762, 0.1538, -0.0513]",
      "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]: [-0.0967, 1.0023, 0.8623, -0.7277, -0.1349, -0.065, 0.9965, 0.9096, 1.5593, 0.7185, -0.3271, 0.5289, 0.7071, 0.8515]\nstate[eef_state]: left_x=0.2887 left_y=-0.0005 left_z=0.1729 left_yaw=0.0417 left_pitch=-0.2848 left_roll=0.0762 left_gripper=0.9965 right_x=0.2593 right_y=0.1939 right_z=0.0288 right_yaw=0.016 right_pitch=-0.3398 right_roll=-0.0948 right_gripper=0.8515\nstate[joint_eff]: [-0.1162, -2.1128, 6.7214, 1.4774, -0.1392, -0.0415, -0.0122, -0.3624, -5.7368, 5.8735, 1.1404, 0.3346, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0967, 1.0042, 0.8623, -0.7418, -0.1349, -0.0647, 0.9965, 0.9081, 1.5726, 0.7029, -0.305, 0.5331, 0.7071, 0.7065]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1701 left_yaw=0.0421 left_pitch=-0.3007 left_roll=0.0787 left_gripper=0.9965 right_x=0.2587 right_y=0.1914 right_z=0.0226 right_yaw=0.0101 right_pitch=-0.341 right_roll=-0.103 right_gripper=0.7065\nstate[joint_eff]: [-0.1846, -2.5641, 6.7077, 1.536, -0.1343, -0.0659, -0.0122, 0.0068, -7.1726, 6.5983, 0.7302, 0.1978, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6016dee74b4f0e15a738eaca3f519724fdce81450954fd26c878f1084c1c19ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e0ddeacb7c768a6da2ee16c509338958f55177ca1e1d4a42e4fdf4f7d81e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4bc962f00774d691916ffb92a7bfb593767a390c286c4d34a641725baca4e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQsKEAgRGAI4AUIIdGhpbmtpbmcSDOM15Thxu07KHmkgHhoMmJyg0WrXS1e+cLV+IjAm7+a6P3iSq7gsMxE9VmSbjwTeNZcdNEb7NHETBer2dXhyJn9D1DyXeP+vaIM/VSYq1grGnoUC+NCrpsLhK1nUhHaGrbkf5l1LxTB7VFKi+g29mfkReCx9VH92YydXhRJUUtM9RmKsRt9NVzHfx3z92Ang70KpS3p+oE53ThugnYPPQs/IJZ9JjH6o4VA0BIu2up1Yx4PMGdvNozOmZTxia6YkMD8QvonqbgU4b3nFJZlp1W3DNbikevtHaoP7e+XU/pZnKL9PKifJGy58EpX49dDa61GYMzC8RHFH0X7T9YU9lfU1zHAz/XyG8nBkHZ8Cz0q2KnMP1AkrNCQKMlHVnRr37xBd1+bMSRVFDViQhxmFSYwkmrzpPUT50GIV4gvvB7LBz/5GS9HlHp7DsQaoT03gqtrC/puagyKxonUeRDyNj94EbLPj6MKY8arNfot25zfppXBnu3RT9jspO7LkiA04QdyO/H8WboIuRwPow7HsenhMnUc6+jZ/KzpY2G3NOM75UEKq5EkfyoJRiuKw5OPeyFHmMwLRm4QeTd1ppDOuY/TOFz4TabZ54aO1bJZdfB2sKQ6XMnshJZM8EfDyp0/GCUOecdk99cUyDmn81mDyzEh9I2npvtr3UTvzW6owPSdKgBnxdbi4GTdp6rK/ov4FglrcrGQF4jXDszxQ9H8aPvatj2c9xicPT8jFlgxC30HFnY+QDEXmh3Eg5/BN6cnM0S+qGxUgPlyW3XWGcTMIvA5uLM6yFXblQwOjrhFJO9JnZDQ+FAOHMnabZsupIw5VUKpkc+MTHS17nScDv9F229VvNEwMn+mONb6ugq2OiIvFa/zAOhLA0zyS6JENkPWiGQSD9rdDomTpgW9mSjJBSwn+pbj/CJ+PHi6CTSuaUKH3pF1bjeYEHnjNOwRqMDMTN4QTi3lGa6yj9LzMSaTNeGz8YA3rtpBQkWwaVSZyhzxDLr1NSQoZ8HBz8nFGV1sG91juRDdqehBG1BTJXStOgsEWYvAmeeQWguXPufPuChl3y7hhG1U+9jSB9OtWnnuFYUnOgpfkNUxBLsqu76qENnU/hkQ1SVaOxGiwBzrHCb0CkFigHswG1AlAtlue8rl1jdrwPJbHsWgNXdEf0wgQRHMMkz/QgKqcF/r98LmB8FShlzxTMTI2V6+QGo5MOe42jGE2A89MT8SVkEp7Zaufhs4GibQuqKMpZqyl6v7GiPm6TcjAwEPCORvTSsFrIHtFOs0DyigmTh/kvuNOeOhY3xUnT3uYZzAbJGCDT2dk4aJYpBaorqpffO9MEZyfI4ZxWaHvxJBlWgXuuR/XmHY0odSyEKWNhmlq7tJdRtWwobHQnVGYdmTWDW2fCzDqVbjQnWJWLhbCHIAyK+ylmdC6ri+G9gIYWugWdkoZUqGKM8dBDHgwNeSxtyNlB5FFIhZ7vgP8xLmcjztQPxMJjp3gqlf6I6UWJFgjlam3sZWGh6WpNWRO6W6a9bOtJR13hvVMBUL5TCSOHDLUCqpYeks3lQBqyYdZTArjjreCeBFgjMy9lYuj0XQr7VYF1lnlLEY0HyQZxs2trleksUcD+YmHFMHGE/6LEOkNK5GJXOeHETj+GdAvi3cfHideguKGiBj6ChTT/c1238jnjzK9751GgMau98NIeRvCIAvkqrIhOdZfE0znvPfUeLnCiYyFu3ZIXKZhcp6iR3td6ma4b9juxN7wxxvlWTGOF7v6zah/u9OFvVYOPm0tfK+NpA86OOsL2JqebTzGT5Dq4js5vFz3IQfv2OHX63srH2e+j3OUxIlhQRdLclcOeu5NMEl4vKBvYavqSL9pW45uB9tnTiab3I26cjCK7DbVBLgTXob3ZsXWwGtMtZupOefgMcgKMT1ey27A9BdEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018qaY1u7XHPN8VRWTzXaUnS",
      "input": {
        "note": "Right gripper settled at 0.71, matching the can diameter, so the can is held. Lifting and carrying it over toward the burner at the table centre.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.34,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_018qaY1u7XHPN8VRWTzXaUnS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7525, -0.1349, -0.0647, 0.9965, 0.8536, 2.2673, 2.3196, -1.1946, 0.4953, 0.6422, 0.7112]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1678 left_yaw=0.0419 left_pitch=-0.3135 left_roll=0.0806 left_gripper=0.9965 right_x=0.4054 right_y=0.3425 right_z=0.1823 right_yaw=0.0253 right_pitch=-0.3498 right_roll=-0.0944 right_gripper=0.7112\nstate[joint_eff]: [-0.1846, -2.4, 6.6803, 1.4774, -0.0611, -0.0562, -0.0073, -0.5675, -10.906, 5.9282, 0.3785, 0.5836, -0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b371ae0489b17091b297544c2dc1888382e22afe0a9817e778cc3b5dceb62ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f495677fc25b9f4b9d751c6a3ecfcfd72e89c8c603aa02fe8a241eb120dfa74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba12f50ca00544d3dc4ff3b25b2d675f5ca6db8a01ae2f080640690d3ae6f6a4",
        "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 · 7.015 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]: [-0.0967, 1.0023, 0.8623, -0.7277, -0.1349, -0.065, 0.9965, 0.9096, 1.5593, 0.7185, -0.3271, 0.5289, 0.7071, 0.8515]\nstate[eef_state]: left_x=0.2887 left_y=-0.0005 left_z=0.1729 left_yaw=0.0417 left_pitch=-0.2848 left_roll=0.0762 left_gripper=0.9965 right_x=0.2593 right_y=0.1939 right_z=0.0288 right_yaw=0.016 right_pitch=-0.3398 right_roll=-0.0948 right_gripper=0.8515\nstate[joint_eff]: [-0.1162, -2.1128, 6.7214, 1.4774, -0.1392, -0.0415, -0.0122, -0.3624, -5.7368, 5.8735, 1.1404, 0.3346, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0967, 1.0042, 0.8623, -0.7418, -0.1349, -0.0647, 0.9965, 0.9081, 1.5726, 0.7029, -0.305, 0.5331, 0.7071, 0.7065]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1701 left_yaw=0.0421 left_pitch=-0.3007 left_roll=0.0787 left_gripper=0.9965 right_x=0.2587 right_y=0.1914 right_z=0.0226 right_yaw=0.0101 right_pitch=-0.341 right_roll=-0.103 right_gripper=0.7065\nstate[joint_eff]: [-0.1846, -2.5641, 6.7077, 1.536, -0.1343, -0.0659, -0.0122, 0.0068, -7.1726, 6.5983, 0.7302, 0.1978, -0.0317, 1.0281]",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7525, -0.1349, -0.0647, 0.9965, 0.8536, 2.2673, 2.3196, -1.1946, 0.4953, 0.6422, 0.7112]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1678 left_yaw=0.0419 left_pitch=-0.3135 left_roll=0.0806 left_gripper=0.9965 right_x=0.4054 right_y=0.3425 right_z=0.1823 right_yaw=0.0253 right_pitch=-0.3498 right_roll=-0.0944 right_gripper=0.7112\nstate[joint_eff]: [-0.1846, -2.4, 6.6803, 1.4774, -0.0611, -0.0562, -0.0073, -0.5675, -10.906, 5.9282, 0.3785, 0.5836, -0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b371ae0489b17091b297544c2dc1888382e22afe0a9817e778cc3b5dceb62ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f495677fc25b9f4b9d751c6a3ecfcfd72e89c8c603aa02fe8a241eb120dfa74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba12f50ca00544d3dc4ff3b25b2d675f5ca6db8a01ae2f080640690d3ae6f6a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwcKEAgRGAI4AUIIdGhpbmtpbmcSDLV5seHzlsqwzEf4aRoMhveysp8gV0AOR4ScIjD0cn1338C1B6JbWFJEghsqXP7OsBaGIBQH0irQ/s051ME9fPaJR1nvna8atBqrUAIq2AarJ8n0vHVM/2k/GfZ+9bq1rWuRyxS+btB5FnrhcRc8KiKiDZ77u2mytRsJKIwZQremmooJbjh/cj/zZ+BI9LM9MdJfUZqI2PTGMA8AloiZmu/I/YFqrhGH1qSlQ3LG+sHPDkj9fmBGCndhfW6JY2WyOM1VVd4qjFWB3yZAElI0C42zdqLS6as47hMK5X7z9W5Gy/HouzJztMNXT+fkweRoo6EY/c15vs0oeRnAbg0J/wwvq1LZbBB05f9CCqcPAPsKXSwE3iUAOkFRjheXb+sccZbVYMWfsl+5uTXF08UcPTLbu7XvQLoRyMu19LcF/PswCssCjfQY60xBsAAIVBlTdvf0kTZhLQw3DRKxGaGkS3UCc9/Y098g2ss4acjy2wlyOcoKY+8Ht41i0LAGo+LBwa7T6HZs3fd4afBL7JvEg8phCdyaPL0T0eRbfaSHzJDSXzy75ZY6vWLSYNwL1APZMOYNG2FQS3vnby6G/fS5wvniLa1WJMghPwcJGqVDnmHrsMQDNKDMlyaTC9R3sG4Msu2ukkRkiryibjF7aqS5k/KA6d3NtHl+EV3rD+AQt3zVujsjHbBPWZq5Z/pQ+PvvvFO9GZ+jEjb+wRE16ditrPcq17Cl+UzyB9JhCJJ1MxK4H0MmwQGHgXL7zPy9wg9tJd90k4A6HoqXYqyFpYiKR/j1IoFCFC6/uD7d2inEb7KZOxq7Qyv5hZSKCY/u1K9m4mcwSugPvKxQsiD3DPNikxu+uwwigE/w44fwpsQD3RcW4Mts87IhVpJuAOqpyJRCo1hz8J6gdPPmehjtMVUu6wHi7xDA4Fh8xnNgPXTkHeGnisUyKF+p1DFb1GzjOXXn4z5STaSAh6prq+nk4YvfOL2B1ct+demnVhDyNuxOzkikMHg85rrcOhS2H4WjOBGsjnQkyRiGHsaWXZlnHIJ01HZLcEREuUzKqBRt1Y82K+5DUC/tWzvjKpyej+p6NbcyVw8HD1wnCoCCSxE9vkx6fy8yOss1kRaCGg1Rg9ZgF7NltS80gJm5yflFP6rKBHR+YHLkplze2jXHNFPtqFuOxdhEPDIfhGFcxtBAIvUaTrxSStI3uxcWKSkbuUH6HfsQePP5WIg+M5mbfYEm97W12uJA5BfVfeblGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JeMcAWw2LCLJzyTWfWYBny",
      "input": {
        "note": "In the right wrist camera the burner coil appears to the left of the held can, so the can is a few cm right of the coil centre. Shifting left over the coil and lowering toward the burner.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.38,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JeMcAWw2LCLJzyTWfWYBny",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7647, -0.1349, -0.0647, 0.9965, 0.8921, 2.3512, 2.2047, -1.0359, 0.5079, 0.6662, 0.7112]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.166 left_yaw=0.0425 left_pitch=-0.3256 left_roll=0.0824 left_gripper=0.9965 right_x=0.4042 right_y=0.37 right_z=0.1156 right_yaw=0.0307 right_pitch=-0.3663 right_roll=-0.1194 right_gripper=0.7112\nstate[joint_eff]: [-0.0205, -2.441, 6.7624, 1.4823, -0.1197, -0.0415, -0.0073, 0.2667, -11.1385, 5.7504, 1.0965, 0.2808, 0.188, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d3d15d06ef9a5596d8b496962c1fc07d394ec5eb819ad31e2455de381c0177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d8b0a08c462905f18977bfdf8a3d7a4ecc5eecaaf594fc7b70ac82fd55ab6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63cf54d58db8c7aff6d0b33c1ee0ef6c722d2bff559919215b2a3ec12ff72fdd",
        "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 · 5.333 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]: [-0.0967, 1.0042, 0.8623, -0.7418, -0.1349, -0.0647, 0.9965, 0.9081, 1.5726, 0.7029, -0.305, 0.5331, 0.7071, 0.7065]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1701 left_yaw=0.0421 left_pitch=-0.3007 left_roll=0.0787 left_gripper=0.9965 right_x=0.2587 right_y=0.1914 right_z=0.0226 right_yaw=0.0101 right_pitch=-0.341 right_roll=-0.103 right_gripper=0.7065\nstate[joint_eff]: [-0.1846, -2.5641, 6.7077, 1.536, -0.1343, -0.0659, -0.0122, 0.0068, -7.1726, 6.5983, 0.7302, 0.1978, -0.0317, 1.0281]",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7525, -0.1349, -0.0647, 0.9965, 0.8536, 2.2673, 2.3196, -1.1946, 0.4953, 0.6422, 0.7112]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1678 left_yaw=0.0419 left_pitch=-0.3135 left_roll=0.0806 left_gripper=0.9965 right_x=0.4054 right_y=0.3425 right_z=0.1823 right_yaw=0.0253 right_pitch=-0.3498 right_roll=-0.0944 right_gripper=0.7112\nstate[joint_eff]: [-0.1846, -2.4, 6.6803, 1.4774, -0.0611, -0.0562, -0.0073, -0.5675, -10.906, 5.9282, 0.3785, 0.5836, -0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7647, -0.1349, -0.0647, 0.9965, 0.8921, 2.3512, 2.2047, -1.0359, 0.5079, 0.6662, 0.7112]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.166 left_yaw=0.0425 left_pitch=-0.3256 left_roll=0.0824 left_gripper=0.9965 right_x=0.4042 right_y=0.37 right_z=0.1156 right_yaw=0.0307 right_pitch=-0.3663 right_roll=-0.1194 right_gripper=0.7112\nstate[joint_eff]: [-0.0205, -2.441, 6.7624, 1.4823, -0.1197, -0.0415, -0.0073, 0.2667, -11.1385, 5.7504, 1.0965, 0.2808, 0.188, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d3d15d06ef9a5596d8b496962c1fc07d394ec5eb819ad31e2455de381c0177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d8b0a08c462905f18977bfdf8a3d7a4ecc5eecaaf594fc7b70ac82fd55ab6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63cf54d58db8c7aff6d0b33c1ee0ef6c722d2bff559919215b2a3ec12ff72fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAgKEAgRGAI4AUIIdGhpbmtpbmcSDGRzDhhusXQdRIHIfRoMOAGLgJmc0VFN7k0VIjAMZgfE1Dz5l7MN42tJ6rHp1k904gjZx7FyL7aWWOBSNDtwpz5RywWWe3Y+IrABqXAqoQeblNPDkswBETOnzBLlLUrKYAusrJdQ4++6CgQDnQ3gSLjMXE8qNT/MCoFHSmG9LY4SW4ZCyRz+1PaQCFWChJAWRjdtAMbJIGG1iD1qe1MeloCUITY2q23Fita1kRxVFZNygQWDJ5e8hf2ieKft8L/99LyuafRQk4ZzVfr1hYzQQLKXrr4U5oBW/joH4/svKX6tNcqXcjjhQDia8lDjBNWsaygZuvT7912MOvZ0CXq2vDgakknMuAQDLpmnR/CegvFVVD60X425zninBXjn+/Z6Q481OqmSOMSKOkbzutGpSwdtauI79BA+cqdd2lcYSVksYtmATFwiSP66H1sr8D5SqHL6/E8xWJk8rx8ZQIzyhJ+Vo72bI+uS4r2Pkt50xopsi1QXaczdUszf6HOEQ4XrymgLK8UF7Ur705XqD5PAPNAX8lk0GfD8FGDw/oZL6nujyLzQ2vTlG7H4KcIiZIGEpG9C14/ypigkhf1zRd+WfUzJtP0PBmB5XEZCpJfWn3+rt9le5wVvB2enddajga0J6ykDljl95r1EmFBT7Gn4gUDK/TwffJ7yp95bmcLy6xZ6gocRegXQvtdln4TIj7xJ3AFbpq4gVyRI3nWII6vkNtWERejUzTj7ZI3xv01qS6mV//NWw4MOVaoqb6zDZsPrxSD8CQc6x+rLwLzHN3Fs/zMXoCGw2r2rabsQGAR5pKsm8Ai9sRsRVJSp95mrV7/uSMYBQmpZhxQM+ltF3ax2TVmSncKQYg9F+ruLMgrleaNGdQ70h1XSoGmcXUtJrZTW4sVGTGU8P9xGfsgy6RBmoSqisoFPkSX38u87qktRG4hHp4zRKTMV7wzJKfiDn0NvxIprPfLTmXPDOJ1OcoLOd5gGQyM4orqXjnfX9nXpLkzfWbR9bNyVVG3Z8vyMmSKrvNXpCxZnwxUAQFr0kyEKKcGge1Yv3kO7t53T2Xal4J2RMUjiOZSV7MBvMcF+InoEIQonb5rjGsKWA1DyS2Ggf01wTFJttOK2CArXQRdRmQmOjxzpzS58LPtWpMcpRA2m1gcrfCtYBX5y7vJj90DLy1cRSR7he4lzJ9LC82jbDf4XybgsoSIOkILSvagXlaIxjTDDgWKAT7OjJMCSkALYfXsH+u3A5idGNxiUhJiTS7VcjRwrlx90NK8J2N82/fptrJLfql2PV0jYcFDi02T8x+FTpCmPyytR5Ydw2aF99JBY5heyuHlsjMs9c67/ZVx7jhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KeYJ41Qww8qkdRBAoALJyE",
      "input": {
        "note": "The can now appears centred over the burner coil in the right wrist view, with coil visible on both sides. Lowering until the can touches down on the burner.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.38,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KeYJ41Qww8qkdRBAoALJyE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7681, -0.1349, -0.065, 0.9965, 0.9043, 2.373, 2.1258, -0.9089, 0.5392, 0.6693, 0.7125]\nstate[eef_state]: left_x=0.2812 left_y=-0.0 left_z=0.1655 left_yaw=0.0429 left_pitch=-0.329 left_roll=0.0827 left_gripper=0.9965 right_x=0.4093 right_y=0.3794 right_z=0.091 right_yaw=0.0295 right_pitch=-0.3272 right_roll=-0.1159 right_gripper=0.7125\nstate[joint_eff]: [-0.1846, -2.1538, 6.8171, 1.3797, -0.0855, -0.0659, -0.0073, -0.6222, -10.5641, 3.9726, 1.1795, -0.2564, -0.0415, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b6c27b30508d161125f8901c7d66e391890ddcb2f91890cb94a6270f84ce06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eefb69a54dd1f643d85bd9d37568bc1b1cfd79ea57b0c650f43ee2fbd7a3b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d4a649a52e06187a14664035df14816b26801403724ef46d3058669d6baa3e5",
        "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 · 7.039 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]: [-0.0975, 1.0061, 0.8619, -0.7525, -0.1349, -0.0647, 0.9965, 0.8536, 2.2673, 2.3196, -1.1946, 0.4953, 0.6422, 0.7112]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1678 left_yaw=0.0419 left_pitch=-0.3135 left_roll=0.0806 left_gripper=0.9965 right_x=0.4054 right_y=0.3425 right_z=0.1823 right_yaw=0.0253 right_pitch=-0.3498 right_roll=-0.0944 right_gripper=0.7112\nstate[joint_eff]: [-0.1846, -2.4, 6.6803, 1.4774, -0.0611, -0.0562, -0.0073, -0.5675, -10.906, 5.9282, 0.3785, 0.5836, -0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7647, -0.1349, -0.0647, 0.9965, 0.8921, 2.3512, 2.2047, -1.0359, 0.5079, 0.6662, 0.7112]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.166 left_yaw=0.0425 left_pitch=-0.3256 left_roll=0.0824 left_gripper=0.9965 right_x=0.4042 right_y=0.37 right_z=0.1156 right_yaw=0.0307 right_pitch=-0.3663 right_roll=-0.1194 right_gripper=0.7112\nstate[joint_eff]: [-0.0205, -2.441, 6.7624, 1.4823, -0.1197, -0.0415, -0.0073, 0.2667, -11.1385, 5.7504, 1.0965, 0.2808, 0.188, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7681, -0.1349, -0.065, 0.9965, 0.9043, 2.373, 2.1258, -0.9089, 0.5392, 0.6693, 0.7125]\nstate[eef_state]: left_x=0.2812 left_y=-0.0 left_z=0.1655 left_yaw=0.0429 left_pitch=-0.329 left_roll=0.0827 left_gripper=0.9965 right_x=0.4093 right_y=0.3794 right_z=0.091 right_yaw=0.0295 right_pitch=-0.3272 right_roll=-0.1159 right_gripper=0.7125\nstate[joint_eff]: [-0.1846, -2.1538, 6.8171, 1.3797, -0.0855, -0.0659, -0.0073, -0.6222, -10.5641, 3.9726, 1.1795, -0.2564, -0.0415, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b6c27b30508d161125f8901c7d66e391890ddcb2f91890cb94a6270f84ce06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eefb69a54dd1f643d85bd9d37568bc1b1cfd79ea57b0c650f43ee2fbd7a3b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4a649a52e06187a14664035df14816b26801403724ef46d3058669d6baa3e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAcKEAgRGAI4AUIIdGhpbmtpbmcSDAogsj09QlBbSkmZ2xoMCpGNAAEVwKSmaclgIjBuNQQBzt/vE6POTlrWNVoUtxNGPzB/sowKfiU3wecY/oRRixQyM/gmemozQzBI7lYqsQbc3Mx7nNQuxWxkJmxTVpdKaGht6XVrWffpGnEnsakfeQpiAb/cEhKXaMFHLjL6G7D+giDplFZN+kiAz4WTdMvu219OLY55NQ8Y4uQzmGBd+T1x5i8tsHv0euYbCHiAy0qVfOyimbYbYBVg43+te0/Ee03QVBAt+eSge7vttketazOQElcs2JiwszSadWFcwVEAxffjV/WjoEXSPQ7nHRtdsBiCLWxTZgtu80NBc0Fp/lCH5i8iRYDnz83KPSrSzkL/RlpzGSrFBTTG1CrABwVWN9rFZ270zm+seXKEIAAdI9lN7US6QU7Ow6WE9/X5+IwZqRoZoaNvr7MASgoMUD91m0Kn3s+qnOw/9v0VlYYvaYNW4RzkLOjMfkxjs6R2YyuGQq0A67t+TLZaPRllg4kUPE0s0xoQ0Dlx2kv1Umz5Ovlx/VpXjiduWpNv1bXnJ+4PiPykmPgVFWZGacvSJJV9qXxahpqID48f2qzcnGxnRk5SPXYtoZJMxfJ/KxRFGDoebsK/mWAWZFRA8JLAqbYChy0ZJpUnvgi9urq9ytGaIwi1H/f2kHHawg42SsxRfKGfq88njtJ+4nGcD8lYyXcNgq+r2IWdjobW1BmdpWaSKAIHFeMMgtG/bdm3IYrsY3ajoqiiccfdTYHEwbIXbgCljzHe84gBjVBYJBNPVvxcOCZtBSZbYhAmbL2vSofMEebMXMEsNxYz/R7xEjFqW0wTqqKHQW/kDKe6KA1b2zEovBj/ehiwEesWamFb+IYxEggJbumFWmliozan1zhgmOLm+sFtzx/UBt8WCb9TiTaPFFoTi1y6zLHslQCeR0XU64VMQrWO3wgJ2LnlbJpGZ/BOS+2R4PpJ5lilvH0zOmtcexqyOQG0hWZM3QuS7oVXbpQI8MWUsWZA4AzGy7dNrQSY3GoAyviokYhnbEZVzd+xHwLjpFaGaPcpuh0xt3H2Hjf14JxJLRNGkc7N48EKbcnetwMtv+WS6uF6dO+BkcGiYG7uffNEk2KPI1UvFlVCe8o7j3tHINN57kkZWVb5zy0vCof1Z2Q+AMoOrET9XO1Upg4EjX2VoFl2pQNkqQDeRqOEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019kqQKGsMoEaMZjwBGHCwmN",
      "input": {
        "note": "The descent stopped at z=0.09 with elbow effort dropping, meaning the can is resting on the burner coil, centred in the wrist view. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019kqQKGsMoEaMZjwBGHCwmN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7689, -0.1349, -0.0647, 0.9965, 0.8989, 2.3951, 2.0964, -0.8764, 0.5125, 0.6621, 0.995]\nstate[eef_state]: left_x=0.281 left_y=-0.0 left_z=0.1653 left_yaw=0.0427 left_pitch=-0.3297 left_roll=0.083 left_gripper=0.9965 right_x=0.4085 right_y=0.3803 right_z=0.0699 right_yaw=0.0394 right_pitch=-0.3587 right_roll=-0.1191 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.3453, 6.8034, 1.37, -0.1294, -0.0171, -0.0073, -0.4991, -12.6838, 6.8034, 1.116, 0.3639, 0.0611, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cb18bf750437a11db17cda83228caedca3fdbc427b0f28851c8833546d4302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f13f5e65e012b780335a500a966c247f5c0aba36892e253b434c6036e35547bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a6f5977160f53a1123896a1ced4d97f1b1450222a3225aa650bcaccc0088006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 11.58 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]: [-0.0975, 1.0061, 0.8619, -0.7647, -0.1349, -0.0647, 0.9965, 0.8921, 2.3512, 2.2047, -1.0359, 0.5079, 0.6662, 0.7112]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.166 left_yaw=0.0425 left_pitch=-0.3256 left_roll=0.0824 left_gripper=0.9965 right_x=0.4042 right_y=0.37 right_z=0.1156 right_yaw=0.0307 right_pitch=-0.3663 right_roll=-0.1194 right_gripper=0.7112\nstate[joint_eff]: [-0.0205, -2.441, 6.7624, 1.4823, -0.1197, -0.0415, -0.0073, 0.2667, -11.1385, 5.7504, 1.0965, 0.2808, 0.188, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7681, -0.1349, -0.065, 0.9965, 0.9043, 2.373, 2.1258, -0.9089, 0.5392, 0.6693, 0.7125]\nstate[eef_state]: left_x=0.2812 left_y=-0.0 left_z=0.1655 left_yaw=0.0429 left_pitch=-0.329 left_roll=0.0827 left_gripper=0.9965 right_x=0.4093 right_y=0.3794 right_z=0.091 right_yaw=0.0295 right_pitch=-0.3272 right_roll=-0.1159 right_gripper=0.7125\nstate[joint_eff]: [-0.1846, -2.1538, 6.8171, 1.3797, -0.0855, -0.0659, -0.0073, -0.6222, -10.5641, 3.9726, 1.1795, -0.2564, -0.0415, 0.8034]",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7689, -0.1349, -0.0647, 0.9965, 0.8989, 2.3951, 2.0964, -0.8764, 0.5125, 0.6621, 0.995]\nstate[eef_state]: left_x=0.281 left_y=-0.0 left_z=0.1653 left_yaw=0.0427 left_pitch=-0.3297 left_roll=0.083 left_gripper=0.9965 right_x=0.4085 right_y=0.3803 right_z=0.0699 right_yaw=0.0394 right_pitch=-0.3587 right_roll=-0.1191 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.3453, 6.8034, 1.37, -0.1294, -0.0171, -0.0073, -0.4991, -12.6838, 6.8034, 1.116, 0.3639, 0.0611, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cb18bf750437a11db17cda83228caedca3fdbc427b0f28851c8833546d4302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f13f5e65e012b780335a500a966c247f5c0aba36892e253b434c6036e35547bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a6f5977160f53a1123896a1ced4d97f1b1450222a3225aa650bcaccc0088006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgRGAI4AUIIdGhpbmtpbmcSDNaN+x59TlSwFZvFyhoMDD7T4HiBaOCxpodTIjCrqE3qoGDnzFxpMECOeZ1KbAs4oKuqqmS9gNweG68PVWgvZaKegJXrsEuKP343Ug0quAbMVgfuAiUwpFcBLHKx0ti3SHhA377/eKoRUuM8oOjEc6eqaBZ0deBSjJS8jginjjDLRdsijkn9BMAUSD47P14w1h64XOdB3EyOehlJRW4WJIrdEkMshUcvhc2wdPklIRIm3NcVTROiI2h7UA/FeWx3NRUL11h4TECWDZji60313TBvQ0KGHtGSUZIlBvykJR4PCAdJGPGjwnMbPH7Lj6hcs5ajTZgWfBUEFT4agkeu7quSOZezvXunOyYH+VhOBjSo7xbIGWsbMppTqHFytWY/2J4K3po535BVchglfIs50CsmYsMWg8c+9/Z+FISlG+HaStf4SO10oN+TgtN603LcEfOSDd+N9ODxqX0DjqBezZs0fRTiPcLIKq3MOqPnP+KHJgMJWvU+PpzZSKs8FNTfcrVFNh4maYEBcfOOktTNVTXe829gJw/fcmwSirLteP8gZCSTBxbH8Gb0O08Lq0j7n/sGhIt58dRrIxcnT2MmmsKVUcEOHmA/CXafGyX2zTK766YJvZmEgATHlo8+kEaX7s3ERaVmBNxytIAU8H/ijbhqFk9rhO5KEmyzqqSQN3iD+qr4+0rSqK5APkebnRBYeJ6UXaZkdSkjUUZXubTXVmF9XpLfrifzoDiivclqqxIsB2Mcmk+4sJ0hjidUwxm5BNC8NpIatB1481oXJKpGXifaTNJvTDINu3Yu1l1/LhkyHzU35QKl71IingbBLQP/MAkznBsfn73Ufbk5qcUsMvz6WZer5ZOezeSFrBsGM2uwB7wjlvE9lkQ5vC9nBoG5k/D++gU2VO/HoW8VtkoFUK9g+g81uWsYeDKH43m8e5TmZq5fdkVnVAMaspt2oZ5G/pZV3GPaof4AzltSjfRobzwvl0aPElFqBL4yDuyDYBqMf3wmo/vfJkFzDSCBOqOEWOGUxN9vI4ENLBEifUNiKo0yDpo+TzMIR5wP/jtHOzEwYcUQ1OT9JcRibp9inDbzePIcCNGqLdXe/X2u9urGN4d1I/fIBZ10CA2IWPNKaw9BzLxj7tpBbkgrSJWILEVSKz1CtwUvo6xTZJ1m7vT/I3Ie4lHfWdoGTSoDYBfz8vf2WyCkhAKczxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P4iERGAG378oCceUZcYhgb",
      "input": {
        "note": "Gripper is open and the can remains under it on the burner. Lifting straight up first so the jaws clear the can without knocking it off.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01P4iERGAG378oCceUZcYhgb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0978, 1.0061, 0.8619, -0.7723, -0.1349, -0.0647, 0.9965, 0.8974, 2.4474, 2.2112, -0.9756, 0.4965, 0.6579, 0.9967]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1648 left_yaw=0.0425 left_pitch=-0.3331 left_roll=0.0835 left_gripper=0.9965 right_x=0.4086 right_y=0.383 right_z=0.071 right_yaw=0.0391 right_pitch=-0.3942 right_roll=-0.141 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -2.4274, 6.7761, 1.37, -0.0952, -0.0317, -0.0073, -0.3761, -13.9556, 8.4034, 0.7204, 0.3639, 0.0171, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1971da675508a0a73d4352de4a3e22565a9895b6d67289d34e4109b81c70c121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ee2a0b3397b9313bd316160f7292c7f3cf8970c010926291fc03469f1e346f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25c9bdf87ef00bda29d0b0ce34ddc40fa9167cc559948c23e54df419814a28b8",
        "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 · 5.619 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]: [-0.0975, 1.0061, 0.8619, -0.7681, -0.1349, -0.065, 0.9965, 0.9043, 2.373, 2.1258, -0.9089, 0.5392, 0.6693, 0.7125]\nstate[eef_state]: left_x=0.2812 left_y=-0.0 left_z=0.1655 left_yaw=0.0429 left_pitch=-0.329 left_roll=0.0827 left_gripper=0.9965 right_x=0.4093 right_y=0.3794 right_z=0.091 right_yaw=0.0295 right_pitch=-0.3272 right_roll=-0.1159 right_gripper=0.7125\nstate[joint_eff]: [-0.1846, -2.1538, 6.8171, 1.3797, -0.0855, -0.0659, -0.0073, -0.6222, -10.5641, 3.9726, 1.1795, -0.2564, -0.0415, 0.8034]",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7689, -0.1349, -0.0647, 0.9965, 0.8989, 2.3951, 2.0964, -0.8764, 0.5125, 0.6621, 0.995]\nstate[eef_state]: left_x=0.281 left_y=-0.0 left_z=0.1653 left_yaw=0.0427 left_pitch=-0.3297 left_roll=0.083 left_gripper=0.9965 right_x=0.4085 right_y=0.3803 right_z=0.0699 right_yaw=0.0394 right_pitch=-0.3587 right_roll=-0.1191 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.3453, 6.8034, 1.37, -0.1294, -0.0171, -0.0073, -0.4991, -12.6838, 6.8034, 1.116, 0.3639, 0.0611, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0978, 1.0061, 0.8619, -0.7723, -0.1349, -0.0647, 0.9965, 0.8974, 2.4474, 2.2112, -0.9756, 0.4965, 0.6579, 0.9967]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1648 left_yaw=0.0425 left_pitch=-0.3331 left_roll=0.0835 left_gripper=0.9965 right_x=0.4086 right_y=0.383 right_z=0.071 right_yaw=0.0391 right_pitch=-0.3942 right_roll=-0.141 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -2.4274, 6.7761, 1.37, -0.0952, -0.0317, -0.0073, -0.3761, -13.9556, 8.4034, 0.7204, 0.3639, 0.0171, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1971da675508a0a73d4352de4a3e22565a9895b6d67289d34e4109b81c70c121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ee2a0b3397b9313bd316160f7292c7f3cf8970c010926291fc03469f1e346f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c9bdf87ef00bda29d0b0ce34ddc40fa9167cc559948c23e54df419814a28b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EcKgBYxXHF5CioXzVceYT9",
      "input": {
        "note": "The lift stalled at z=0.07 with high shoulder effort, likely at the reach limit at this extension. Pulling back slightly toward the base while raising so the arm can unfold and clear the can.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.36,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EcKgBYxXHF5CioXzVceYT9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0975, 1.0061, 0.8619, -0.7731, -0.1349, -0.0647, 0.9965, 0.9283, 2.4271, 2.7674, -1.5177, 0.4938, 0.6731, 0.9969]\nstate[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1647 left_yaw=0.0429 left_pitch=-0.3339 left_roll=0.0836 left_gripper=0.9965 right_x=0.3738 right_y=0.3657 right_z=0.2151 right_yaw=0.0731 right_pitch=-0.3726 right_roll=-0.1019 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -2.3863, 6.8308, 1.3358, -0.1197, -0.0562, -0.0073, 0.2393, -13.4769, 4.9983, 1.0427, 0.3932, 0.0757, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7537b9076df2e814b4616a5110572e0ba17cfb6a4e2dbd46354ab49feb94df11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f2231b859b2c85839547a2b57aed13c6af290ba6d8f7e48eab714cac5f1b502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57c4c72bc5c0c1a3042698979d7ac05148d93d45347ebff13ec1a02df40d4219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 10.21 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]: [-0.0975, 1.0061, 0.8619, -0.7689, -0.1349, -0.0647, 0.9965, 0.8989, 2.3951, 2.0964, -0.8764, 0.5125, 0.6621, 0.995]\nstate[eef_state]: left_x=0.281 left_y=-0.0 left_z=0.1653 left_yaw=0.0427 left_pitch=-0.3297 left_roll=0.083 left_gripper=0.9965 right_x=0.4085 right_y=0.3803 right_z=0.0699 right_yaw=0.0394 right_pitch=-0.3587 right_roll=-0.1191 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -2.3453, 6.8034, 1.37, -0.1294, -0.0171, -0.0073, -0.4991, -12.6838, 6.8034, 1.116, 0.3639, 0.0611, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0978, 1.0061, 0.8619, -0.7723, -0.1349, -0.0647, 0.9965, 0.8974, 2.4474, 2.2112, -0.9756, 0.4965, 0.6579, 0.9967]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1648 left_yaw=0.0425 left_pitch=-0.3331 left_roll=0.0835 left_gripper=0.9965 right_x=0.4086 right_y=0.383 right_z=0.071 right_yaw=0.0391 right_pitch=-0.3942 right_roll=-0.141 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -2.4274, 6.7761, 1.37, -0.0952, -0.0317, -0.0073, -0.3761, -13.9556, 8.4034, 0.7204, 0.3639, 0.0171, 0.1636]",
      "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]: [-0.0975, 1.0061, 0.8619, -0.7731, -0.1349, -0.0647, 0.9965, 0.9283, 2.4271, 2.7674, -1.5177, 0.4938, 0.6731, 0.9969]\nstate[eef_state]: left_x=0.2802 left_y=0.0001 left_z=0.1647 left_yaw=0.0429 left_pitch=-0.3339 left_roll=0.0836 left_gripper=0.9965 right_x=0.3738 right_y=0.3657 right_z=0.2151 right_yaw=0.0731 right_pitch=-0.3726 right_roll=-0.1019 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -2.3863, 6.8308, 1.3358, -0.1197, -0.0562, -0.0073, 0.2393, -13.4769, 4.9983, 1.0427, 0.3932, 0.0757, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7537b9076df2e814b4616a5110572e0ba17cfb6a4e2dbd46354ab49feb94df11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f2231b859b2c85839547a2b57aed13c6af290ba6d8f7e48eab714cac5f1b502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c4c72bc5c0c1a3042698979d7ac05148d93d45347ebff13ec1a02df40d4219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "The right wrist camera now shows the can lying on the burner coil. Retracting the right arm home to confirm from the top camera.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tj4qfPc9vvWHmu9SunmAvB",
      "input": {
        "note": "The right wrist camera shows the can resting across the burner coil after release. Returning the right arm to its home pose so the overhead view of the burner is unobstructed.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 31 steps (3.1s)",
      "tool_use_id": "toolu_01Tj4qfPc9vvWHmu9SunmAvB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0978, 1.0069, 0.8619, -0.7872, -0.1349, -0.0647, 0.9965, 0.017, 1.1027, 0.9878, -0.8768, 0.0544, -0.1047, 0.997]\nstate[eef_state]: left_x=0.2775 left_y=0.0002 left_z=0.1624 left_yaw=0.0432 left_pitch=-0.3486 left_roll=0.0859 left_gripper=0.9965 right_x=0.2861 right_y=-0.0012 right_z=0.173 right_yaw=0.0217 right_pitch=-0.4125 right_roll=-0.1031 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -2.4684, 6.6256, 1.536, -0.1392, -0.0757, -0.0073, -0.2393, -4.0274, 6.6667, 1.536, -0.1099, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a768dd0c6353d2d953c2d1a260990fe48cfa7607e81bdae63c8734f6121b9075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bf5dbd88ddb71f1957eafd51e42e3aedea322652433d8d578e7c416d53c83a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44550c8dfd716e310258b33d50350928abe3b981bfe384306ca41aaebfff3d89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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