adhoc - adhoc_3fcd027b.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-fable-5-1
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 417 s
total steps: 287

operator

scenes

trials

errored

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

Goal: put the can on the burner

Raw transcript

system

user

Goal: put the can on the burner

step 0

assistant

I see the can lying on its side just under/ahead of the left gripper (bottom of left_cam, slightly left of the jaw column), and the burner at the table centre. I'll start by positioning the left arm above the can.

agent noteThe can lies on its side at the bottom of the left wrist view, slightly left of the jaw column and tilted ~30° with its forward end to the left. Moving the left gripper slightly forward/left, lowering to 12 cm and yawing CCW so the jaws will close across the can's diameter.

move_to

left_x0.3100left_y0.0200left_z0.1200left_yaw0.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3866, -0.0193, -0.0334, 0.9993, -0.02, 0.794, 0.6079, -0.4026, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1793 left_yaw=-0.0006 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0011 right_z=0.1771 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4718, -1.3607, 10.1812, 1.9414, -0.0708, 0.2271, -0.0855, -0.5675, -1.5385, 9.6479, 2.0781, -0.0513, 0.0952, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.31, "left_y": 0.02, "left_z": 0.12, "left_yaw": 0.5, "left_gripper": 1.0}, "note": "The can lies on its side at the bottom of the left wrist view, slightly left of the jaw column and tilted ~30\u00b0 with its forward end to the left. Moving the left gripper slightly forward/left, lowering to 12 cm and yawing CCW so the jaws will close across the can's diameter."})

tool

executing move_to over 4 steps (0.4s)

step 4

assistant

agent noteThe can now appears between the jaws in the left wrist view but still tilted ~25° and slightly left of the jaw column; yaw only reached 0.3. Continuing to yaw CCW, shifting slightly left and descending to 5 cm to line up across the can.

move_to

left_x0.3100left_y0.0150left_z0.0500left_yaw0.6000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2798, 1.0622, 0.5148, -0.255, -0.4641, -0.3809, 0.9993, -0.0212, 0.7982, 0.6147, -0.4328, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.302 left_y=-0.0008 left_z=0.1025 left_yaw=0.2997 left_pitch=-0.1248 left_roll=0.0566 left_gripper=0.9993 right_x=0.2891 right_y=0.0007 right_z=0.1729 right_yaw=-0.0015 right_pitch=-0.0275 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.2667, -4.4239, 6.7487, 1.8632, -0.4225, -0.0659, -0.0855, -0.0752, -1.3333, 6.4752, 2.0928, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.31, "left_y": 0.015, "left_z": 0.05, "left_yaw": 0.6, "left_gripper": 1.0}, "note": "The can now appears between the jaws in the left wrist view but still tilted ~25\u00b0 and slightly left of the jaw column; yaw only reached 0.3. Continuing to yaw CCW, shifting slightly left and descending to 5 cm to line up across the can."})

tool

executing move_to over 4 steps (0.4s)

step 8

assistant

agent noteThe spray can now lies nearly aligned with the wrist image's vertical axis, its body between the open jaws. Descending to just above table level so the jaws straddle the can's body before closing.

move_to

left_x0.3050left_y0.0110left_z0.0150left_yaw0.5500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3302, 1.3487, 0.5018, -0.1482, -0.6392, -0.6273, 0.9993, -0.0212, 0.8021, 0.6094, -0.4545, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.3044 left_y=0.0109 left_z=0.0481 left_yaw=0.5288 left_pitch=-0.1678 left_roll=0.1021 left_gripper=0.9993 right_x=0.2854 right_y=0.0008 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9996 state[joint_eff]: [-0.4855, -4.3282, 6.7214, 1.3065, -0.5885, -0.0806, -0.0855, 0.1026, -1.2786, 7.4462, 1.9267, -0.0269, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.305, "left_y": 0.011, "left_z": 0.015, "left_yaw": 0.55, "left_gripper": 1.0}, "note": "The spray can now lies nearly aligned with the wrist image's vertical axis, its body between the open jaws. Descending to just above table level so the jaws straddle the can's body before closing."})

tool

executing move_to over 3 steps (0.3s)

step 11

assistant

agent noteDescent stalled at z=0.042 with the can body filling the space between the jaws in the wrist view; shoulder effort is still negative so this looks like sag rather than contact. Pushing the target to the box floor to get the fingertips down beside the can.

move_to

left_x0.3050left_y0.0150left_z-0.0100left_yaw0.6000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.4618, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2844 right_y=0.0009 right_z=0.1636 right_yaw=-0.0011 right_pitch=-0.066 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [-0.1573, -5.1897, 5.9145, 1.3651, -0.5104, -0.0415, -0.0855, -0.0752, -1.2513, 7.241, 1.8193, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.305, "left_y": 0.015, "left_z": -0.01, "left_yaw": 0.6, "left_gripper": 1.0}, "note": "Descent stalled at z=0.042 with the can body filling the space between the jaws in the wrist view; shoulder effort is still negative so this looks like sag rather than contact. Pushing the target to the box floor to get the fingertips down beside the can."})

tool

executing move_to over 4 steps (0.4s)

step 15

assistant

agent noteThe left arm did not move at all on the last command (identical joint positions), so the IK appears stuck at this pose. Raising slightly and pulling back a little to break out of it before re-attempting the descent.

move_to

left_x0.2850left_y0.0150left_z0.0900left_yaw0.6000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.482, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2813 right_y=0.001 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.0862 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.2393, -5.094, 6.0513, 1.326, -0.525, -0.0122, -0.0855, -0.1299, -1.1692, 7.0085, 1.8437, -0.0855, -0.0659, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.285, "left_y": 0.015, "left_z": 0.09, "left_yaw": 0.6, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left arm did not move at all on the last command (identical joint positions), so the IK appears stuck at this pose. Raising slightly and pulling back a little to break out of it before re-attempting the descent."})

tool

executing move_to over 6 steps (0.6s)

step 21

assistant

agent noteArm is unstuck; the can now sits centered between the jaws and aligned with the image vertical in the left wrist view. Descending straight down to table level so the jaws straddle the can's body.

move_to

left_x0.2950left_y0.0050left_z0.0000left_yaw0.5600left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4374, 1.1805, 0.4694, -0.2131, -0.7708, -0.7334, 0.9993, -0.0212, 0.8062, 0.6094, -0.5034, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0034 left_z=0.0848 left_yaw=0.556 left_pitch=-0.035 left_roll=0.0271 left_gripper=0.9993 right_x=0.2781 right_y=0.001 right_z=0.1546 right_yaw=-0.001 right_pitch=-0.1114 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.1162, -1.6479, 6.3658, 0.9646, -0.5299, -0.0562, -0.0806, -0.2256, -1.0325, 6.9265, 1.8388, -0.0562, -0.0415, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.295, "left_y": 0.005, "left_z": 0.0, "left_yaw": 0.56, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Arm is unstuck; the can now sits centered between the jaws and aligned with the image vertical in the left wrist view. Descending straight down to table level so the jaws straddle the can's body."})

tool

executing move_to over 6 steps (0.6s)

step 27

assistant

agent noteDescent stopped at z=0.032 with shoulder effort turning positive (contact), and the can body sits centered between the jaws in the wrist view at roughly its mid-height. 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]: [-0.445, 1.5295, 0.3164, 0.3882, -0.8707, -0.6991, 0.9993, -0.0212, 0.8104, 0.6079, -0.5278, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.3088 left_y=0.0064 left_z=0.0324 left_yaw=0.5949 left_pitch=0.0819 left_roll=0.0124 left_gripper=0.9993 right_x=0.2741 right_y=0.0011 right_z=0.1483 right_yaw=-0.0013 right_pitch=-0.1415 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.0615, 0.3624, 0.3897, 0.2125, 0.862, -0.4811, -0.0757, -0.0889, -1.4017, 7.0085, 1.8632, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at z=0.032 with shoulder effort turning positive (contact), and the can body sits centered between the jaws in the wrist view at roughly its mid-height. Closing the gripper to grasp the can across its diameter."})

tool

executing move_to over 10 steps (1.0s)

step 37

assistant

agent noteThe close was empty (gripper 0.01) — the can is still visible just beyond the closed jaws in the wrist view, so the fingertips were short of it. Opening and advancing ~2.5 cm radially outward at 6 cm height before descending again.

move_to

left_x0.3450left_y0.0090left_z0.0600left_yaw0.6500left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4446, 1.5105, 0.3302, 0.4747, -0.9379, -0.6998, 0.0115, -0.0212, 0.812, 0.6056, -0.5621, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.3208 left_y=0.0089 left_z=0.0588 left_yaw=0.6551 left_pitch=0.1801 left_roll=-0.0713 left_gripper=0.0115 right_x=0.268 right_y=0.0012 right_z=0.1408 right_yaw=-0.0011 right_pitch=-0.1796 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.1846, -3.2342, 3.4803, 0.5641, 0.2906, 0.0171, 0.862, -0.1709, -1.2786, 7.0359, 1.8779, -0.022, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.345, "left_y": 0.009, "left_z": 0.06, "left_yaw": 0.65, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The close was empty (gripper 0.01) \u2014 the can is still visible just beyond the closed jaws in the wrist view, so the fingertips were short of it. Opening and advancing ~2.5 cm radially outward at 6 cm height before descending again."})

tool

executing move_to over 10 steps (1.0s)

step 47

assistant

agent noteThe can's body now fills the space between the open jaws in the wrist view and extends past the bottom edge, so it is under the fingertips. Descending to 2 cm with a little extra yaw to match the can's slight tilt, then I'll close.

move_to

left_x0.3450left_y0.0120left_z0.0200left_yaw0.7500left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3496, 1.4994, 0.4988, 0.1581, -0.7738, -0.7589, 0.995, -0.0212, 0.812, 0.6056, -0.5903, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.3392 left_y=0.0116 left_z=0.055 left_yaw=0.6588 left_pitch=0.0109 left_roll=-0.0617 left_gripper=0.995 right_x=0.2631 right_y=0.0013 right_z=0.1358 right_yaw=-0.001 right_pitch=-0.2079 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [0.5402, -5.6137, 7.5829, 1.409, -0.2955, 0.0757, 0.0073, -0.0342, -1.1692, 6.8308, 1.8486, -0.0415, -0.0073, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.345, "left_y": 0.012, "left_z": 0.02, "left_yaw": 0.75, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The can's body now fills the space between the open jaws in the wrist view and extends past the bottom edge, so it is under the fingertips. Descending to 2 cm with a little extra yaw to match the can's slight tilt, then I'll close."})

tool

executing move_to over 3 steps (0.3s)

step 50

assistant

agent noteThe can body is centered between the jaws in the wrist view, but the descent stalled at z=0.045 with negative shoulder effort (sag, not contact). Commanding the box floor to force the fingertips down around the can's mid-height.

move_to

left_x0.3500left_y0.0080left_z-0.0200left_yaw0.7500left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3664, 1.6436, 0.5541, 0.2485, -0.8318, -0.8501, 0.9985, -0.0212, 0.8146, 0.6056, -0.614, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.3579 left_y=0.0063 left_z=0.0451 left_yaw=0.7295 left_pitch=0.0451 left_roll=-0.1195 left_gripper=0.9985 right_x=0.2589 right_y=0.0014 right_z=0.1312 right_yaw=-0.0006 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [0.0615, -3.0427, 2.8513, 0.2564, 0.1587, 0.1734, -0.1685, -0.1846, -1.2513, 6.8444, 1.8242, -0.022, -0.0171, -0.0073] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": 0.008, "left_z": -0.02, "left_yaw": 0.75, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The can body is centered between the jaws in the wrist view, but the descent stalled at z=0.045 with negative shoulder effort (sag, not contact). Commanding the box floor to force the fingertips down around the can's mid-height."})

tool

executing move_to over 5 steps (0.5s)

step 55

assistant

agent noteThe arm has drifted forward to x=0.387 and is now in contact (shoulder effort positive) at z=0.046 with the can body sitting squarely between the jaw tips in the wrist view. Closing the gripper to grab the can.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3706, 1.8038, 0.5545, 0.6033, -0.8822, -0.9039, 0.9985, -0.0212, 0.8173, 0.6018, -0.6331, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.3872 left_y=-0.0003 left_z=0.0458 left_yaw=0.8075 left_pitch=0.1518 left_roll=-0.3306 left_gripper=0.9985 right_x=0.2548 right_y=0.0015 right_z=0.1258 right_yaw=-0.0008 right_pitch=-0.2597 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.4034, 0.2393, -0.1436, -0.3004, 0.5201, -0.1636, -0.1685, -0.1299, -1.3333, 7.0769, 1.6484, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The arm has drifted forward to x=0.387 and is now in contact (shoulder effort positive) at z=0.046 with the can body sitting squarely between the jaw tips in the wrist view. Closing the gripper to grab the can."})

tool

executing move_to over 10 steps (1.0s)

step 65

assistant

agent noteSecond close was empty too; the overhead view shows the can was pushed forward and now sits left of the burner at roughly x≈0.42–0.47 in the left arm's frame. Lifting to 12 cm and moving forward over that spot to re-acquire it in the wrist camera.

move_to

left_x0.4200left_y0.0000left_z0.1200left_yaw0.5000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3603, 1.8675, 0.5243, 0.6346, -0.8719, -0.9192, 0.0109, -0.0208, 0.8173, 0.6018, -0.6571, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.377 left_y=0.0063 left_z=0.0199 left_yaw=0.8102 left_pitch=0.1192 left_roll=-0.2888 left_gripper=0.0109 right_x=0.2503 right_y=0.0017 right_z=0.1219 right_yaw=0.0001 right_pitch=-0.2838 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.1709, -6.2154, 3.1795, 1.3846, -0.3736, 0.022, 0.8571, -0.0342, -0.9641, 6.7624, 1.6288, -0.0806, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": 0.0, "left_z": 0.12, "left_yaw": 0.5, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Second close was empty too; the overhead view shows the can was pushed forward and now sits left of the burner at roughly x\u22480.42\u20130.47 in the left arm's frame. Lifting to 12 cm and moving forward over that spot to re-acquire it in the wrist camera."})

tool

executing move_to over 10 steps (1.0s)

step 75

assistant

agent noteOverhead shows the can lying just left of the burner with its axis pointing forward-back, about 7 cm to the right of the left gripper; the wrist view confirms it at bottom-right. Shifting right over it and yawing back near 0 so the jaws close across the can's diameter.

move_to

left_x0.4200left_y-0.0750left_z0.1000left_yaw0.1000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2592, 1.6058, 0.8268, 0.0357, -0.6434, -0.5652, 0.9955, -0.0212, 0.8173, 0.6018, -0.6762, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4162 left_y=0.003 left_z=0.1035 left_yaw=0.553 left_pitch=0.0026 left_roll=-0.0336 left_gripper=0.9955 right_x=0.2466 right_y=0.0016 right_z=0.1189 right_yaw=-0.0005 right_pitch=-0.3028 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [0.4034, -9.0598, 8.3761, 1.37, -0.2076, 0.1441, -0.149, 0.0068, -0.9915, 6.9265, 1.5946, -0.0611, -0.0513, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.075, "left_z": 0.1, "left_yaw": 0.1, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Overhead shows the can lying just left of the burner with its axis pointing forward-back, about 7 cm to the right of the left gripper; the wrist view confirms it at bottom-right. Shifting right over it and yawing back near 0 so the jaws close across the can's diameter."})

tool

executing move_to over 7 steps (0.7s)

step 82

assistant

agent noteThe can is now large in the left wrist view, its body to the right of the jaw column and tilted with its cap end far-left. Shifting another ~4.5 cm right, adding yaw to align with the can's axis, and descending to 5 cm.

move_to

left_x0.4200left_y-0.1050left_z0.0500left_yaw0.4500left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3271, 1.5921, 0.7506, 0.1459, -0.4244, -0.3347, 0.9985, -0.0212, 0.8173, 0.6018, -0.68, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4138 left_y=-0.0598 left_z=0.0853 left_yaw=0.1912 left_pitch=-0.0488 left_roll=0.0141 left_gripper=0.9985 right_x=0.2459 right_y=0.0017 right_z=0.1183 right_yaw=-0.0005 right_pitch=-0.3066 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [-0.4581, -8.7316, 5.5453, 1.9463, 0.0464, 0.1929, -0.1685, -0.0205, -1.1145, 6.8581, 1.4432, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.105, "left_z": 0.05, "left_yaw": 0.45, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can is now large in the left wrist view, its body to the right of the jaw column and tilted with its cap end far-left. Shifting another ~4.5 cm right, adding yaw to align with the can's axis, and descending to 5 cm."})

tool

executing move_to over 5 steps (0.5s)

step 87

assistant

agent noteThe can now sits squarely between the jaws in the left wrist view, axis nearly vertical and body extending under the fingertips. Descending to table level so the jaws straddle the can at its mid-height.

move_to

left_x0.4200left_y-0.1160left_z-0.0100left_yaw0.4000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5331, 1.8359, 0.8856, 0.1295, -0.6899, -0.6296, 0.9985, -0.0212, 0.8192, 0.6018, -0.6971, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4217 left_y=-0.1141 left_z=0.0515 left_yaw=0.3481 left_pitch=-0.0247 left_roll=-0.0076 left_gripper=0.9985 right_x=0.2426 right_y=0.0017 right_z=0.1153 right_yaw=-0.0004 right_pitch=-0.3257 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [-0.2803, -8.0205, 6.9265, 1.3211, -0.5641, -0.0611, -0.1685, -0.0205, -1.1966, 6.694, 1.5751, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.116, "left_z": -0.01, "left_yaw": 0.4, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can now sits squarely between the jaws in the left wrist view, axis nearly vertical and body extending under the fingertips. Descending to table level so the jaws straddle the can at its mid-height."})

tool

executing move_to over 4 steps (0.4s)

step 91

assistant

Reached table level with the can filling the view between the jaws. Closing now.

agent noteThe gripper is at table level (z≈0) and the can's body fills the wrist view between the two jaws. Closing 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]: [-0.5571, 2.0201, 0.8585, 0.2928, -0.7715, -0.6975, 0.9985, -0.0212, 0.8227, 0.6018, -0.7052, -0.0185, -0.0254, 0.9996] state[eef_state]: left_x=0.4186 left_y=-0.1115 left_z=-0.0012 left_yaw=0.4163 left_pitch=-0.0043 left_roll=0.0111 left_gripper=0.9985 right_x=0.241 right_y=0.0018 right_z=0.1133 right_yaw=-0.0005 right_pitch=-0.3372 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [-0.4991, -7.0222, 3.9316, 1.0427, 0.0317, 0.0806, -0.1685, -0.0205, -1.3607, 6.694, 1.4628, -0.0366, -0.0122, -0.0122] 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

Reached table level with the can filling the view between the jaws. Closing now.

move_to({"targets": {"left_gripper": 0.0}, "note": "The gripper is at table level (z\u22480) and the can's body fills the wrist view between the two jaws. Closing to grasp the can across its diameter."})

tool

executing move_to over 10 steps (1.0s)

step 101

assistant

agent noteThe gripper settled at 0.70 (≈6.7 cm), consistent with a can diameter, so the grasp looks solid. Lifting to 17 cm to confirm the can comes with the jaws in the overhead view.

move_to

left_x0.4200left_y-0.1130left_z0.1700left_yaw0.4000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5579, 2.0327, 0.8555, 0.3325, -0.7757, -0.7086, 0.7016, -0.0212, 0.823, 0.6018, -0.7246, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4214 left_y=-0.113 left_z=-0.0015 left_yaw=0.4244 left_pitch=0.0118 left_roll=-0.0164 left_gripper=0.7016 right_x=0.2371 right_y=0.0019 right_z=0.1104 right_yaw=0.0002 right_pitch=-0.357 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [0.0068, -10.2359, 4.7385, 0.9304, -0.2613, 0.0464, 1.033, -0.1162, -1.1145, 6.6803, 1.5018, -0.0611, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.113, "left_z": 0.17, "left_yaw": 0.4, "left_gripper": 0.0}, "note": "The gripper settled at 0.70 (\u22486.7 cm), consistent with a can diameter, so the grasp looks solid. Lifting to 17 cm to confirm the can comes with the jaws in the overhead view."})

tool

executing move_to over 12 steps (1.2s)

step 113

assistant

agent noteThe can lifted with the gripper (visible held horizontally in the overhead view). Carrying it right and forward toward the burner, which sits about 15 cm to the right and a few cm ahead, keeping height at 20 cm to clear the burner.

move_to

left_x0.4700left_y-0.2800left_z0.2000left_yaw0.3000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5556, 1.6779, 1.1072, -0.3054, -0.7521, -0.7067, 0.7007, -0.0212, 0.8238, 0.6018, -0.7399, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4175 left_y=-0.113 left_z=0.1398 left_yaw=0.4103 left_pitch=-0.0207 left_roll=0.001 left_gripper=0.7007 right_x=0.234 right_y=0.002 right_z=0.1081 right_yaw=0.0003 right_pitch=-0.373 right_roll=0.0078 right_gripper=0.9996 state[joint_eff]: [0.0752, -10.8103, 9.6479, 1.3211, -0.359, 0.2418, 1.0281, -0.0205, -1.1419, 6.653, 1.4676, -0.0513, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.28, "left_z": 0.2, "left_yaw": 0.3, "left_gripper": 0.0}, "note": "The can lifted with the gripper (visible held horizontally in the overhead view). Carrying it right and forward toward the burner, which sits about 15 cm to the right and a few cm ahead, keeping height at 20 cm to clear the burner."})

tool

executing move_to over 15 steps (1.5s)

step 128

assistant

agent noteThe left arm now hovers over the burner (the arm hides it in the overhead view, and the burner's red knob shows at the right edge of the wrist view). Lowering the can to about 9 cm so it comes to rest on the burner plate.

move_to

left_x0.4700left_y-0.2800left_z0.0900left_yaw0.3000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7746, 2.1757, 2.0052, -0.8169, -0.7902, -0.8494, 0.7002, -0.0212, 0.8288, 0.6014, -0.7475, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4683 left_y=-0.2776 left_z=0.1846 left_yaw=0.2959 left_pitch=-0.0528 left_roll=-0.0049 left_gripper=0.7002 right_x=0.2324 right_y=0.002 right_z=0.1058 right_yaw=0.0004 right_pitch=-0.386 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [-0.5402, -12.5197, 8.9094, 0.9206, -0.6276, 0.0904, 1.033, -0.0889, -1.4701, 6.653, 1.3407, -0.0513, -0.0611, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.28, "left_z": 0.09, "left_yaw": 0.3, "left_gripper": 0.0}, "note": "The left arm now hovers over the burner (the arm hides it in the overhead view, and the burner's red knob shows at the right edge of the wrist view). Lowering the can to about 9 cm so it comes to rest on the burner plate."})

tool

executing move_to over 8 steps (0.8s)

step 136

assistant

agent noteThe wrist view now shows the burner's coil directly beneath the held can, so it is over the burner. Lowering a few more centimetres until the can rests on the plate before releasing.

move_to

left_x0.4650left_y-0.2850left_z0.0600left_yaw0.3000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7784, 2.2124, 1.7313, -0.5495, -0.7715, -0.8505, 0.7001, -0.0212, 0.8295, 0.6014, -0.7551, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4622 left_y=-0.2778 left_z=0.0948 left_yaw=0.2849 left_pitch=-0.0874 left_roll=0.0243 left_gripper=0.7001 right_x=0.2308 right_y=0.002 right_z=0.1046 right_yaw=0.0002 right_pitch=-0.3944 right_roll=0.008 right_gripper=0.9996 state[joint_eff]: [-0.0342, -10.8786, 6.5709, 1.4286, -0.5788, -0.1001, 1.0281, -0.1846, -1.1282, 6.7897, 1.3211, -0.0855, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.465, "left_y": -0.285, "left_z": 0.06, "left_yaw": 0.3, "left_gripper": 0.0}, "note": "The wrist view now shows the burner's coil directly beneath the held can, so it is over the burner. Lowering a few more centimetres until the can rests on the plate before releasing."})

tool

executing move_to over 8 steps (0.8s)

step 144

assistant

agent noteDescent stopped at z≈0.07, about where the can's underside should meet the burner plate, and the coil is directly under the can in the wrist view. Opening the gripper to release the can on the burner.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7883, 2.2707, 1.726, -0.4919, -0.7876, -0.8772, 0.6965, -0.0212, 0.8295, 0.6014, -0.7692, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4648 left_y=-0.2849 left_z=0.0708 left_yaw=0.2987 left_pitch=-0.0778 left_roll=0.0151 left_gripper=0.6965 right_x=0.2279 right_y=0.002 right_z=0.1027 right_yaw=0.0003 right_pitch=-0.4085 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.1026, -10.8786, 6.2701, 1.1355, -0.149, -0.1099, 1.0281, -0.212, -1.0462, 6.8171, 1.4383, -0.0611, 0.0024, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at z\u22480.07, about where the can's underside should meet the burner plate, and the coil is directly under the can in the wrist view. Opening the gripper to release the can on the burner."})

tool

executing move_to over 4 steps (0.4s)

step 148

assistant

agent noteThe gripper still reads 0.70 — the open command was rate-clamped and did not take effect. Re-sending the open command to release the can on the burner.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7898, 2.2715, 1.726, -0.4896, -0.791, -0.8768, 0.6964, -0.0212, 0.8295, 0.6014, -0.7769, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4648 left_y=-0.2854 left_z=0.071 left_yaw=0.2987 left_pitch=-0.0745 left_roll=0.0154 left_gripper=0.6964 right_x=0.2263 right_y=0.0021 right_z=0.1017 right_yaw=0.0004 right_pitch=-0.4161 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [0.0889, -13.053, 6.2564, 1.0867, -0.3834, -0.0073, 1.033, -0.0752, -0.9368, 6.7624, 1.3846, -0.0171, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "The gripper still reads 0.70 \u2014 the open command was rate-clamped and did not take effect. Re-sending the open command to release the can on the burner."})

tool

executing move_to over 4 steps (0.4s)

step 152

assistant

agent noteThe gripper is opening (0.79 and effort dropped), so the can has been released on the burner. Lifting the left arm up and back toward its side to clear the view and check the placement.

move_to

left_x0.4200left_y-0.2000left_z0.2200left_yaw0.3000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7906, 2.2715, 1.726, -0.4923, -0.7902, -0.8768, 0.7947, -0.0212, 0.8295, 0.6014, -0.7887, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4642 left_y=-0.2856 left_z=0.0707 left_yaw=0.2977 left_pitch=-0.0763 left_roll=0.0175 left_gripper=0.7947 right_x=0.2238 right_y=0.0022 right_z=0.1001 right_yaw=0.0008 right_pitch=-0.4279 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [0.0342, -12.8889, 6.4615, 1.1209, -0.4274, -0.0317, 0.0806, -0.1573, -0.8821, 6.5573, 1.3504, -0.0757, -0.0659, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.22, "left_yaw": 0.3, "left_gripper": 1.0}, "note": "The gripper is opening (0.79 and effort dropped), so the can has been released on the burner. Lifting the left arm up and back toward its side to clear the view and check the placement."})

tool

executing move_to over 10 steps (1.0s)

step 162

assistant

agent noteThe wrist view shows the can lying on the burner but toward its left edge, beside the coil. Parking the left arm back at home so the overhead camera can show the placement clearly before deciding whether to nudge it.

move_to

left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7204, 1.8671, 1.6295, -0.7586, -0.7525, -0.8112, 0.9981, -0.0212, 0.8295, 0.6014, -0.7956, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4258 left_y=-0.2084 left_z=0.1982 left_yaw=0.308 left_pitch=-0.0848 left_roll=0.0175 left_gripper=0.9981 right_x=0.2224 right_y=0.0021 right_z=0.0992 right_yaw=0.0006 right_pitch=-0.4348 right_roll=0.0089 right_gripper=0.9996 state[joint_eff]: [0.2393, -12.3692, 8.0342, 1.2039, -0.3492, 0.1343, -0.1441, -0.0889, -0.7453, 6.5573, 1.2967, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The wrist view shows the can lying on the burner but toward its left edge, beside the coil. Parking the left arm back at home so the overhead camera can show the placement clearly before deciding whether to nudge it."})

tool

executing move_to over 19 steps (1.9s)

step 181

assistant

agent noteOverhead now shows the can rolled off and lies on the table just left of the burner, axis forward-back. Moving the left gripper back over the can (about 3 cm further forward than the last grasp to hold it nearer its middle) at 10 cm height to re-acquire it.

move_to

left_x0.4500left_y-0.2800left_z0.1000left_yaw0.1000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0704, 0.9096, 0.7151, -0.4759, -0.1314, -0.1089, 0.9985, -0.0212, 0.8341, 0.6014, -0.8135, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.3032 left_y=0.0054 left_z=0.1797 left_yaw=0.084 left_pitch=-0.0888 left_roll=0.0122 left_gripper=0.9985 right_x=0.2185 right_y=0.0022 right_z=0.096 right_yaw=0.0008 right_pitch=-0.4573 right_roll=0.0095 right_gripper=0.9996 state[joint_eff]: [0.1573, -2.2222, 6.9402, 1.8437, 0.0659, 0.1294, -0.1685, -0.1026, -1.0462, 6.5436, 1.3846, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.28, "left_z": 0.1, "left_yaw": 0.1, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Overhead now shows the can rolled off and lies on the table just left of the burner, axis forward-back. Moving the left gripper back over the can (about 3 cm further forward than the last grasp to hold it nearer its middle) at 10 cm height to re-acquire it."})

tool

executing move_to over 26 steps (2.6s)

step 207

assistant

agent noteThe wrist view shows I'm actually directly over the burner coil (its centre slightly right/ahead of the jaws), and the can lies ~10 cm to the arm's left at the image edge. Noting the burner is at roughly x≈0.47, y≈−0.29; shifting left over the can to grasp it.

move_to

left_x0.4500left_y-0.1700left_z0.0900left_yaw0.1000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7746, 2.0319, 1.3579, -0.1608, -0.6865, -0.6121, 0.9985, -0.0212, 0.836, 0.601, -0.8364, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4419 left_y=-0.2707 left_z=0.0893 left_yaw=0.095 left_pitch=-0.0357 left_roll=0.0161 left_gripper=0.9985 right_x=0.2135 right_y=0.0024 right_z=0.0928 right_yaw=0.0014 right_pitch=-0.4825 right_roll=0.0105 right_gripper=0.9996 state[joint_eff]: [-0.4855, -10.7692, 8.5538, 1.4237, -0.5495, -0.0024, -0.1685, -0.0615, -1.1556, 6.5436, 1.3211, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.17, "left_z": 0.09, "left_yaw": 0.1, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The wrist view shows I'm actually directly over the burner coil (its centre slightly right/ahead of the jaws), and the can lies ~10 cm to the arm's left at the image edge. Noting the burner is at roughly x\u22480.47, y\u2248\u22120.29; shifting left over the can to grasp it."})

tool

executing move_to over 9 steps (0.9s)

step 216

assistant

agent noteThe can now fills the left wrist view, body slightly left of the jaw column with its cap far-left, its base end under the fingertips. Shifting ~2 cm left and ~3 cm forward to grip nearer the can's middle, yawing to match its tilt, and descending toward table level.

move_to

left_x0.4700left_y-0.1900left_z0.0200left_yaw0.3500left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5713, 1.8721, 1.0332, 0.07, -0.5659, -0.4549, 0.9985, -0.0212, 0.836, 0.601, -0.852, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4437 left_y=-0.1684 left_z=0.0697 left_yaw=0.124 left_pitch=-0.0529 left_roll=0.0362 left_gripper=0.9985 right_x=0.2101 right_y=0.0024 right_z=0.0909 right_yaw=0.0013 right_pitch=-0.4981 right_roll=0.0105 right_gripper=0.9996 state[joint_eff]: [0.2256, -11.7265, 5.9556, 1.8877, -0.1978, 0.149, -0.1685, -0.0752, -0.9231, 6.4889, 1.2527, -0.0513, -0.0562, -0.0073] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.19, "left_z": 0.02, "left_yaw": 0.35, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can now fills the left wrist view, body slightly left of the jaw column with its cap far-left, its base end under the fingertips. Shifting ~2 cm left and ~3 cm forward to grip nearer the can's middle, yawing to match its tilt, and descending toward table level."})

tool

executing move_to over 4 steps (0.4s)

step 220

assistant

agent noteThe move was rate-clamped; the can body is still ~3 cm left of the jaw column with the left jaw tip beside its edge. Shifting another 3 cm left and finishing the descent to table level.

move_to

left_x0.4650left_y-0.2050left_z0.0000left_yaw0.3500left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6018, 1.9926, 1.1084, 0.1116, -0.6899, -0.5713, 0.9985, -0.0212, 0.8379, 0.601, -0.86, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4594 left_y=-0.1747 left_z=0.0575 left_yaw=0.2473 left_pitch=0.0064 left_roll=0.0045 left_gripper=0.9985 right_x=0.2083 right_y=0.0024 right_z=0.0897 right_yaw=0.0014 right_pitch=-0.508 right_roll=0.0108 right_gripper=0.9996 state[joint_eff]: [-0.8274, -7.5556, 6.7897, 1.199, -0.0855, -0.0122, -0.1734, -0.0342, -1.1145, 6.4752, 1.16, -0.0317, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.465, "left_y": -0.205, "left_z": 0.0, "left_yaw": 0.35, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The move was rate-clamped; the can body is still ~3 cm left of the jaw column with the left jaw tip beside its edge. Shifting another 3 cm left and finishing the descent to table level."})

tool

executing move_to over 4 steps (0.4s)

step 224

assistant

agent noteThe arm did not move at all again (IK stalled at this stretched pose). Raising to 10 cm and pulling back slightly while shifting left over the can to unstick it, then I'll descend.

move_to

left_x0.4400left_y-0.2100left_z0.1000left_yaw0.3000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8673, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2066 right_y=0.0026 right_z=0.0889 right_yaw=0.0018 right_pitch=-0.5149 right_roll=0.0113 right_gripper=0.9996 state[joint_eff]: [-0.6222, -8.2393, 6.7761, 1.1746, -0.1343, 0.0269, -0.1734, -0.0342, -0.6085, 6.6393, 1.1404, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.21, "left_z": 0.1, "left_yaw": 0.3, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm did not move at all again (IK stalled at this stretched pose). Raising to 10 cm and pulling back slightly while shifting left over the can to unstick it, then I'll descend."})

tool

executing move_to over 4 steps (0.4s)

step 228

assistant

agent noteStill no motion from the left arm. Trying a purely retracting/raising move (back to x=0.40, up to 15 cm) with the current yaw held, to get the IK out of this stalled configuration.

move_to

left_x0.4000left_y-0.1740left_z0.1500left_yaw0.2600left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8806, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2036 right_y=0.0025 right_z=0.0874 right_yaw=0.0016 right_pitch=-0.5282 right_roll=0.0113 right_gripper=0.9996 state[joint_eff]: [-0.8137, -8.2667, 6.7761, 1.16, -0.1148, -0.0122, -0.1734, -0.1846, -0.9231, 6.4205, 1.2137, -0.0513, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.174, "left_z": 0.15, "left_yaw": 0.26, "left_gripper": 1.0}, "note": "Still no motion from the left arm. Trying a purely retracting/raising move (back to x=0.40, up to 15 cm) with the current yaw held, to get the IK out of this stalled configuration."})

tool

executing move_to over 6 steps (0.6s)

step 234

assistant

agent noteArm is free again. The can sits to the image-left (arm's left, +y) of the jaw column with its cap end angled to the far right — I had earlier shifted the wrong way. Moving ~5 cm to +y, yawing slightly clockwise to match the can, and descending to 6 cm.

move_to

left_x0.4400left_y-0.1300left_z0.0600left_yaw0.1000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6952, 1.7054, 1.0885, -0.1989, -0.7368, -0.6662, 0.9985, -0.0212, 0.8398, 0.6006, -0.8993, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4068 left_y=-0.1801 left_z=0.1347 left_yaw=0.2381 left_pitch=0.0052 left_roll=-0.0209 left_gripper=0.9985 right_x=0.1994 right_y=0.0026 right_z=0.0849 right_yaw=0.0019 right_pitch=-0.5496 right_roll=0.0119 right_gripper=0.9996 state[joint_eff]: [-0.5402, -9.6615, 8.6496, 1.3309, -0.4615, -0.0659, -0.1685, -0.1162, -0.5949, 6.3932, 1.2381, -0.0366, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.13, "left_z": 0.06, "left_yaw": 0.1, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Arm is free again. The can sits to the image-left (arm's left, +y) of the jaw column with its cap end angled to the far right \u2014 I had earlier shifted the wrong way. Moving ~5 cm to +y, yawing slightly clockwise to match the can, and descending to 6 cm."})

tool

executing move_to over 5 steps (0.5s)

step 239

assistant

agent noteThe can body is centered under the jaws in the wrist view, nearly vertical. Descending to table level so the jaws straddle it, then I'll close.

move_to

left_x0.4300left_y-0.1200left_z0.0000left_yaw0.0800left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4889, 1.8023, 0.8528, 0.1661, -0.5434, -0.4404, 0.9985, -0.0212, 0.8417, 0.6006, -0.9051, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4232 left_y=-0.1176 left_z=0.0487 left_yaw=0.1823 left_pitch=-0.0744 left_roll=0.0448 left_gripper=0.9985 right_x=0.1981 right_y=0.0027 right_z=0.084 right_yaw=0.0021 right_pitch=-0.5572 right_roll=0.0121 right_gripper=0.9996 state[joint_eff]: [0.2393, -7.9385, 5.7778, 1.8046, -0.0659, 0.1685, -0.1685, -0.0615, -1.1009, 6.3795, 1.0623, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.12, "left_z": 0.0, "left_yaw": 0.08, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can body is centered under the jaws in the wrist view, nearly vertical. Descending to table level so the jaws straddle it, then I'll close."})

tool

executing move_to over 4 steps (0.4s)

step 243

assistant

agent noteAt table level with the can body filling the view between the jaws. Closing the gripper to grasp the can.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4618, 1.953, 0.7273, 0.5236, -0.4725, -0.3695, 0.9985, -0.0212, 0.8417, 0.6006, -0.9089, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4237 left_y=-0.1171 left_z=0.0 left_yaw=0.1135 left_pitch=-0.0379 left_roll=0.0156 left_gripper=0.9985 right_x=0.1972 right_y=0.0027 right_z=0.0836 right_yaw=0.0021 right_pitch=-0.561 right_roll=0.0122 right_gripper=0.9996 state[joint_eff]: [0.6906, -6.9949, 3.6034, 1.4383, 0.0073, 0.3248, -0.1636, -0.0342, -0.8957, 6.3795, 1.0623, -0.0806, -0.0366, -0.0073] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "At table level with the can body filling the view between the jaws. Closing the gripper to grasp the can."})

tool

executing move_to over 10 steps (1.0s)

step 253

assistant

agent noteGripper settled at 0.66 (~6.3 cm), a solid grasp on the can. Lifting to 20 cm and carrying it right to hover over the burner centre (≈x 0.45, y −0.30 from the earlier wrist view of the coil).

move_to

left_x0.4500left_y-0.3000left_z0.2000left_yaw0.1000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4519, 1.9751, 0.7177, 0.5991, -0.4526, -0.3443, 0.6633, -0.0212, 0.8417, 0.6006, -0.9123, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4291 left_y=-0.1184 left_z=0.0003 left_yaw=0.0936 left_pitch=-0.0076 left_roll=0.0026 left_gripper=0.6633 right_x=0.1964 right_y=0.0027 right_z=0.0833 right_yaw=0.0022 right_pitch=-0.5645 right_roll=0.0123 right_gripper=0.9996 state[joint_eff]: [-0.1436, -8.253, 4.0547, 1.8388, -0.1099, 0.0513, 1.0281, -0.0889, -0.9504, 6.4068, 1.0916, -0.0415, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.3, "left_z": 0.2, "left_yaw": 0.1, "left_gripper": 0.0}, "note": "Gripper settled at 0.66 (~6.3 cm), a solid grasp on the can. Lifting to 20 cm and carrying it right to hover over the burner centre (\u2248x 0.45, y \u22120.30 from the earlier wrist view of the coil)."})

tool

executing move_to over 17 steps (1.7s)

step 270

assistant

agent noteOverhead shows the held can over the burner, slightly left of its centre; the burner knob again appears at the right edge of the wrist view. Shifting ~1.5 cm right and lowering the can to about 7 cm so it rests on the coil.

move_to

left_x0.4550left_y-0.3150left_z0.0700left_yaw0.1000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8051, 2.0243, 1.7222, -0.5358, -0.6895, -0.6392, 0.6633, -0.0212, 0.8444, 0.5999, -0.926, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4478 left_y=-0.2985 left_z=0.1804 left_yaw=0.0814 left_pitch=-0.0358 left_roll=-0.0023 left_gripper=0.6633 right_x=0.1931 right_y=0.0028 right_z=0.0812 right_yaw=0.0024 right_pitch=-0.5816 right_roll=0.0128 right_gripper=0.9996 state[joint_eff]: [-0.3761, -11.7538, 9.4427, 1.2723, -0.6276, -0.0171, 1.0281, -0.0479, -1.0872, 6.4479, 1.116, -0.0806, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.455, "left_y": -0.315, "left_z": 0.07, "left_yaw": 0.1, "left_gripper": 0.0}, "note": "Overhead shows the held can over the burner, slightly left of its centre; the burner knob again appears at the right edge of the wrist view. Shifting ~1.5 cm right and lowering the can to about 7 cm so it rests on the coil."})

tool

executing move_to over 8 steps (0.8s)

step 278

assistant

agent noteThe can is resting on the burner plate with the coil just to its right in the wrist view. Nudging ~2.5 cm further right toward the coil centre while opening the gripper to release the can on the burner.

move_to

left_x0.4550left_y-0.3350left_z0.0650left_yaw0.1000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8177, 2.1834, 1.5684, -0.2749, -0.7063, -0.672, 0.6633, -0.0212, 0.8455, 0.5991, -0.9314, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4523 left_y=-0.3097 left_z=0.0769 left_yaw=0.0999 left_pitch=-0.0576 left_roll=0.0197 left_gripper=0.6633 right_x=0.1916 right_y=0.0028 right_z=0.0802 right_yaw=0.0025 right_pitch=-0.5889 right_roll=0.013 right_gripper=0.9996 state[joint_eff]: [-0.4034, -11.2752, 5.2171, 1.2869, -0.2759, -0.0366, 1.0281, -0.1436, -0.9778, 6.5436, 1.0037, -0.0562, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.455, "left_y": -0.335, "left_z": 0.065, "left_yaw": 0.1, "left_gripper": 1.0}, "note": "The can is resting on the burner plate with the coil just to its right in the wrist view. Nudging ~2.5 cm further right toward the coil centre while opening the gripper to release the can on the burner."})

tool

executing move_to over 4 steps (0.4s)

step 282

assistant

agent noteThe can is now centred over the burner coil in the wrist view but the gripper still reads 0.66 (the open was rate-clamped). Re-sending the open command to release the can on the burner.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8402, 2.2486, 1.6493, -0.2886, -0.7399, -0.7086, 0.6633, -0.0212, 0.8455, 0.5991, -0.9375, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4573 left_y=-0.3265 left_z=0.0736 left_yaw=0.1191 left_pitch=-0.0351 left_roll=0.0037 left_gripper=0.6633 right_x=0.1902 right_y=0.0028 right_z=0.0797 right_yaw=0.0026 right_pitch=-0.595 right_roll=0.0131 right_gripper=0.9996 state[joint_eff]: [-0.6769, -10.8786, 8.3761, 0.9988, -0.188, 0.022, 1.033, -0.0342, -0.8547, 6.3658, 1.0476, -0.0415, -0.0171, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "The can is now centred over the burner coil in the wrist view but the gripper still reads 0.66 (the open was rate-clamped). Re-sending the open command to release the can on the burner."})

tool

executing move_to over 4 steps (0.4s)

step 286

assistant

The gripper has opened (effort dropped to ~0.06, reading rising) and the can is resting centred on the burner coil in the wrist view. I'm out of call budget, so I'll finish here.

agent noteGrasped the spray can (lying on its side) with the left arm after several attempts, carried it to the burner, and released it lying centred on the burner coil (gripper open, effort dropped; wrist view shows the can on the coil).

done

hindsight1) Burner centre in the left arm frame is ≈ x 0.46, y −0.33 (roughly the table centre line); the burner is ~5 cm tall so a lying can's grasp point rests at z ≈ 0.07. 2) A can lying with its axis radial rolls off the raised burner if released off-centre; centre it over the coil (coil visible in the wrist cam directly under the jaws) before opening. 3) Gripper open/close commands are rate-clamped: a single open call from a grasp often does not register — re-send and check the reading/effort. 4) The left arm IK stalls completely (identical joint_pos) when commanded to table level near x ≥ 0.45; recover with a pure retract+raise (x −5 cm, z +8 cm) keeping yaw, then reapproach. Descents also often stall at z≈0.045 with negative shoulder effort (sag) — retry from a slightly retracted pose. 5) Wrist cam: image-left is the arm's +y (left); an object left of the jaw column needs a +y move — I wasted calls with the sign flipped. 6) A lying can visible 'between the jaws' but with a gap below it is still several cm beyond the fingertips; two empty closes cost ~8 calls, so advance 3–5 cm radially before the first close.

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8436, 2.2574, 1.6608, -0.292, -0.7452, -0.7166, 0.7953, -0.0212, 0.8455, 0.5991, -0.9455, -0.0185, -0.0257, 0.9996] state[eef_state]: left_x=0.4577 left_y=-0.3287 left_z=0.0731 left_yaw=0.1235 left_pitch=-0.0321 left_roll=0.0001 left_gripper=0.7953 right_x=0.1884 right_y=0.0029 right_z=0.0789 right_yaw=0.0028 right_pitch=-0.603 right_roll=0.0134 right_gripper=0.9996 state[joint_eff]: [-0.0615, -13.6274, 5.6137, 1.3065, -0.3394, 0.0464, 0.0611, -0.0205, -0.6632, 6.5026, 1.0769, -0.0464, -0.0513, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

The gripper has opened (effort dropped to ~0.06, reading rising) and the can is resting centred on the burner coil in the wrist view. I'm out of call budget, so I'll finish here.

done({"summary": "Grasped the spray can (lying on its side) with the left arm after several attempts, carried it to the burner, and released it lying centred on the burner coil (gripper open, effort dropped; wrist view shows the can on the coil).", "hindsight": "1) Burner centre in the left arm frame is \u2248 x 0.46, y \u22120.33 (roughly the table centre line); the burner is ~5 cm tall so a lying can's grasp point rests at z \u2248 0.07. 2) A can lying with its axis radial rolls off the raised burner if released off-centre; centre it over the coil (coil visible in the wrist cam directly under the jaws) before opening. 3) Gripper open/close commands are rate-clamped: a single open call from a grasp often does not register \u2014 re-send and check the reading/effort. 4) The left arm IK stalls completely (identical joint_pos) when commanded to table level near x \u2265 0.45; recover with a pure retract+raise (x \u22125 cm, z +8 cm) keeping yaw, then reapproach. Descents also often stall at z\u22480.045 with negative shoulder effort (sag) \u2014 retry from a slightly retracted pose. 5) Wrist cam: image-left is the arm's +y (left); an object left of the jaw column needs a +y move \u2014 I wasted calls with the sign flipped. 6) A lying can visible 'between the jaws' but with a gap below it is still several cm beyond the fingertips; two empty closes cost ~8 calls, so advance 3\u20135 cm radially before the first close."})

tool

done: Grasped the spray can (lying on its side) with the left arm after several attempts, carried it to the burner, and released it lying centred on the burner coil (gripper open, effort dropped; wrist view shows the can on the coil).

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
{
"cache_control": {
"type": "ephemeral"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "text"
}
]

call 0 attempt 0 · /messages · status 200 · 35.47 s

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

{
  "content": "Goal: put the can on the burner",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3866, -0.0193, -0.0334, 0.9993, -0.02, 0.794, 0.6079, -0.4026, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1793 left_yaw=-0.0006 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0011 right_z=0.1771 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3607, 10.1812, 1.9414, -0.0708, 0.2271, -0.0855, -0.5675, -1.5385, 9.6479, 2.0781, -0.0513, 0.0952, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a34e1c0b527871e80514cdcd4e4f9b2ea9a29684cab7805ba803c89300b1f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bdab3d317bd6d2e31a3470b13c97cd3b7c4fd9ad467d46cbe0a8a835afd8451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dda320e01694dcc369e51f6203b7e4a166d53e571d058e8868b9b79f2828c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 9.076 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3866, -0.0193, -0.0334, 0.9993, -0.02, 0.794, 0.6079, -0.4026, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1793 left_yaw=-0.0006 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0011 right_z=0.1771 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3607, 10.1812, 1.9414, -0.0708, 0.2271, -0.0855, -0.5675, -1.5385, 9.6479, 2.0781, -0.0513, 0.0952, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a34e1c0b527871e80514cdcd4e4f9b2ea9a29684cab7805ba803c89300b1f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bdab3d317bd6d2e31a3470b13c97cd3b7c4fd9ad467d46cbe0a8a835afd8451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dda320e01694dcc369e51f6203b7e4a166d53e571d058e8868b9b79f2828c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8i0KEAgRGAI4AUIIdGhpbmtpbmcSDLhDEQRfEU06N5pm7RoM2LCZ9p5G+j3wtd/hIjBymKh3run0J/E/ZvQqe2cHLyzJD3IYjNcd48P3jCveJzNWQg+54v6NZy29THjIUvEqjy39o2DiltTM40Etl4d42iccBO10DuGfknGKOU/YMLyi8ftNf7e/Qzws5rl5TuMgS6GW05/4dyhNWds2Nt3e6HBquK6XTraxyW6mlbQeFDQnp9V8FwNbLQqpzlxmbL+U7V1TS03DhG2FpHNTQc6fIU7dMFoO+6ZgQticf1U/VuBFkO4YFfuAFrTGnvLahWXP6LHRU6M5ZbDVE7prcN2Q5mTgkp6JroYTSmen3GRCiHllAQaKBqixWgz5hoE90tC5Gh7C/9kwoMncgqiRnQUYdez2ooQWroBDsE85PELRKTlZjMpqS09FUad+QQ3b6dYTyuN7rGCWtM3+pEMDMjLiQoorAhfoAYOjJ9x+1F8rmGvG4iq2e1+OoBNZiU/iVw5BK8HqvBFz+oYoB90z0hN9O+U5+JOGbLmTCbsr+ewcRo9BEb/S2yBPw3IWn7hZpM+B//90VOj33aQgMXGEaUMqH5/iWi7enS2nvHFQBkaHFTmmKVz18ZEiA9tDKu2vkkXsK9EuL2svl5r541IVxrOJ7058gowx/W0MEXpWioj3n62e/Os+snLASzrTsz+6/5crF3clA76CZGtM/6MhNOPkCXrCj85fj/DTUpJ2ez0E2ZLaocG2fa0iKTEd6K7nov1RFK54wUGDl8gVhuRHxw6KimOusSFglA2kx8zUBHyZp/2JK2a9IHLIX89OHPSid2H9tKDNdQ/uITJbUgXLpThMzgMTci+W4DA/5Nx5uTQE4PRa/wcL1Hifcnz/1qb0BADKQcb90K/yYY4QGZPhaghurHi1SNhvUUeSgWy9Zf90Hf0kK+1APG4E03k4es8BRkEmzD3G+4/a4VeAcweYTS5AWUDkeccwqOxMoTwjfK//nTigWOrbjbCPtFEhIz4zDvqU5NIb7YkIEW+C9Ea6tmr1cBUhvTthU4RKhUtrQjWXK5ReGxa5JjfUhL2GM5YN/MBuY4vndIVtTRbhtbaUxfmbJ+ezWyLxgAuaesbl1BGMqoYwVJUKbw60gyAy3sXvwfONt0d94ElE+tZc3RgEK6cWJS+uWWIaVLW4oc7SXVl+22B/rBlbLi329efRE9bm1CwJM+kqPbr1dFoOVxjveX616xNe+6EW2t57jEW5GB2rotKSq/WnInKzSZwOgfuREXLtlbuWlpub10J70sjYJ3vPK1vUoAGVQyNVul5PFDcxOjNeTdnPDEqy/vzwL53t8G2LwqAvUq2U8A5TwIvxyy8V1sxvpgGED8kpxUfBSsDiKisd2KqIU4aKJkw+JBolE8L0fr1EAdOPHw/QcGliid4pUJUYAztjPaF4M+PrvK/iQAo+DTMqmC+AlFjgVPN6AK2q5uYsIy4YoJOs8HStcdPDqL9NfzKMfDb3HiA9sXy0LV+tPbgh9cXlNgEGD75GOLbhINhmtZDXzLtPO2M8F8ZaWpfnQGW2KtTIGU9+BPwSVUa4tYkpJ7thdqgwmH4pAckhjPcy3bwOOm/SeUn8+5mKhwlfelrtFiI5VQ4Sg4di3VztYjgfME41DaE9XrfxOX/eAQtgau8TqC6/unEtmeBUSgXV4LtusJkgdVo0Z+n2d4CrmtSKW8S+jo/wHY5U/aJd35/fqP2stZPPNi6Mz1k8yycbBba/G8b+VDCR78RlBT12QmpWEji0+hdBqTRPBgsm7SM/OMamTLAR9eL/HlKyPB8Q2658UHAWonUufDVskXUcavl00Q2g7bnvWIm+32JoGJ+FHdZctOsP+LxXqlPtzi5SHxPTr67IBlvZ01tRxEN7LVSYjz2UgsLEzMXS6alHv3ZJDWRosyCvU/OhxYKftNbMekz1UJEmjU/VBEWINY4s/ZgOeA+HE1EDFD4LYo2Y9hu+RIoqBkyAxKlpbA8gFkvgge/GzMJ3UP+Ksnkc8xzMzwovksUZrPgZ7D0ZzqbhI7x6XB2iOPx2WKZpI29Yd9WrN9vpzGAOTwVAByf/H8kiZhPw3dqgTIPGLYnM9nqeTAsfsvIs+wqyYdy4YljDlPg5/4rfJDKYnwvfHJp+HJC6GaLta805GWE6O7ou4XzGnRMpvOgos2hyUyy7AqBSWYT2mCdVFULTAtCyWKA+sDqwAVe+rU/f4Tk2JUE320J+xQq+zEW99WDIEflWi6RtdcRMpsqQwwVGf2JMamKA5n0zIseHJf21iear/b3R9XyxOusCi0ObzYAMPw4yrJdV+75YbL46CYyROIUsfVvfjUuSurbEhdWvIi3v5EfRp2JcWIBbj4/Ffm+FggJd+emrvEAgWRDaExUXRMZQFLqDJeMegqBZo6GntiP8EMZGRvoQx4zcTc7BFtpX71iTr8kbnMdBDuBL29IixKfxaL7I4JXvij2ZT+VTWPB8nB4bEmH4gy4uwjawiBX3P+HCnfNTKaLqPMKGH+D/A9WZrkWL7kShu/fWjr6g+iwhPOyrO4mcx5Gt88KU6ogve8OL1LRmUmE4Q3RmhtNVg0n8QlVSC4/HRqQU/IDLD54NPjFvfcOSbBFM6ephWRlznwM+6IM5rgs2uiyAcZQeze2W2oKyAYo7sp4qKjHVOFhgPBi3RIXpXJEXZFdgNmBoFaaL2RK4U9hwXr2E3zGPEqjZbCnkVtV6J0tQIrpcH0MMsC8tWX+B6bC7nqSgfwAaEkJ+bZIb5nX5eEGx2t4Xm7Z0C13Pm/GxusjGVLMVToT4+NLI2HnlVOZh6hY44tq3eEY30nUGMTlVgyNSuJ4mIKqgRgeOJ37RdEk6+jaTXd68CNm/hZV3b6+o4NBGU1v6h02FY1wLk0qg2RTAj6grkL9ltBJNaWxWnCHRKYYtDq6csITslmEtj+zYjt1A4EspyNkFwy2nC1FVkJRVC2u3vhikO3luN7MzXphkWAnhsOkGPXaLbsg6kLVkjC2BN1DnlEpZP+okwFOv8Q2NNA0NRJfzKXgJfun1FlAVfzILdb+naSZqTNgro2COp8jbDkyvRO5b4ShOjYqwu0oQceD+6gRTf0pzl/NOOqUtr5Fds+RKOqaaLRoQnN8GPi1GS4BXjSt0/IHRFB+HEtBO8uSdWBV6kGLJX+ew9XX+0dZQETEWheXG/X72wvVkHF/abPCLU3lCyShzW+tVK3VpbQt34OvEEofq+Vja9qkG6FCNa1oXB5UnSeyGeI9dL6tB/71wnO5S2XCduwa8ZwwXpNgy+c4c6VUjr+V9Sr7kymANu7UiqAQaOnzdoLMjupYcuaFTVYqxdJvA3R3jGgwz+F0EKRRhzpQVjZrAUHZbTmHRYOSKI71geWTATUG3ulKifdOJNZShX46ke/STJhXmQ4TaZnFzyZUfprUAtfOYGdt9ZLqgmIeYc1fBRh1elkumPBYGYmQ04LWiJO+zMWQq8EXdAUTI76XBnORq8/4hBEvELj1g0EpgvykCbvRb3QrUdw4Ds/6FxkcMkmhifkdSkQZ5ytERt4zz1A9jCzvAG8q26uSBDckfHViyK6OUru50g9rDVirQuoklVEfHoi7fKh5EzRqEJPY2oc49coLOYhFD83zOHZTjWG60pRQXrfoOAbtWQKNrKBaEIrrjyHe9Z3YBk5z6hLpicsT6y1YXM4+MD9Tmny6xaGh4XE1cvJHqR4dCz4C0W40FXx1x+n6HVTZTTWCfgCiRzCJDkg/hICjaRrXyARRbWVbwTD17wXRtxBTw6fx2aDWd63DJru42DCNPVf3OrsGSRcV9o0ZmAb0fEkzARYuXgRVqrIH4qjKUQlCBAZT+M6gcTbBDVrfRkxNL6oQYc4IC9qpl+X0v3uCXSnVIs/p640rEWqefQbBAi5E6jjkn7ygGpoObtI25FMzoIFijlxAdOMswTXRUk+YivbcUtCxqomJMjTQFbGow87sF70ieNT1jciPJmSsVmAr1BPmPJR2+4jRbtxkw/GxGCW0sU2lyb5vzxfhn5MTDBr1q+sQczPkBfD0Dj1a7wWL1LFsY66xAphgs8TTGzHLdEWAxpO38tIk1q3qQNevObupMAr8twe83RGUvdoVGRovhiNKGCZubDXd/qCOrSe0PyS9V/wevBOacgv54URsl1SnTbRcIoKJyXAmtAvX6HO2f/cZV5k9zdk8H8/AbaN4dKh0Dsl06G/N77dEqzajWyHfYex+EdSxixFcGJ/fGfKhZkxb6vcslCqU8YpelR4d1WOOAYUPAf6HrevZeSlWEnoR2qf+Y0q6vKXvfDYbw3pQOzojfpWeccp9Gqc9yCb9jdE82qaVx2MCktYiJYyz/yTKzuBFJeEPuqJGPq3plSaThuWoYed9JZGZaQWgEI4vqtPs0YXNFrxxi1Yl7tup+jfjFuSK8VwB1Zso+CbScSNzJCYtL12b0V+XogShCPUpIH1i5lEaCTMoYxcN3G8lQcsHCGgp6IETr1fn1ceViXWPKsgqgKxD1o5zPatSijGgPVfayy6CybNJ1a3JdqNXGcXkDsLrDhO255bQSmFOGmpC3xkZYLCGMn6OK5lmjv6r3VJaVspLHpij9Q3NcJ3a2JITLF+2DpM9X8HCYKIbHUC5ppdu96zoqsHPMAXJcZBdETrDeOwjUuycgSSsDXg6b62J9zAaqccGgJ5qhVtsuZZeb0XCBTh2ohyYt46fpKC7vfR6/bce3vFU6Z8NII51kaHjsmIFSjI6rgTK+Ok8l+UmAfgEX34A93EwACZ16rWZRBlusWrvK50MqwwTE3vjIMnnlUmi+qqwQHh+Y+VlCOILPjWuKSKFnYqXdtlX5bsCu0k4k6rB07rxMKEI3kUMQ4eKlHb07dEWJcxBozry1V/1knxy5dHWc1zLegLfFxP5IFrRKawzJqA/LodKvtNExrQbPevTKKXNypWrikoiQ90p93j7yRF+hqxHLb4w76PaaGNgM8Hn8cfyt6nTL9ZUO4NmA9/J+m854TdVey+uoOezUfneHP7z1j+OEwYltWs/ziwfAJRU6+4UE9dYw/S+igpNLM8TFGVrY96NEvugGqg3jNwP7pd1nvzGAWY01pORCVR5mxxITbjzmH1iktiA2+k9pCNAZKq0tR6fnq3ef5KQOpuZntuOmA4IdVG2c3OqkJ7DYKWtCDyY1x5LIR6cRSVbfVp2EcVxVHTx4Nw2jH9dyFE/deERUPu4jXSW+YQEr7o45NyzZ4AONgZ11B3Os2x3nqB6wbpBF0lBnYG3cWRmgDjsgJH4k0sUuRL8gmiu6pxgcyFbJNudED1+GRtRn4AcWinuKtVedmmOnLpLoJou1TLfpaVdBeFT09gthBtajSYZ+V+9Aa6guZTgTDDUxANFQWzKUjDh/jITORa3Vog9OsvrZ8R322sHGNxAiZUNxDHATYtavwlR9fC/tKKZA46PvQCJWgAKDgjmPtzWACs/LX786p6LIQMea8vcvUX4HqFBl18A/AXmKTw41SbXKKvycHxsc/Lnv49HaNmYEyTRzad1pu6XIneGFmHnToncUHDiyWF0/XSGOOv3XwQ0ZrG2pN7hca33+b7jUQS5BZQHolvH7yWZGaX6tfn78MHzJxPd2FCNC8y8WNiQj2mOW7a6fSqGOm6wfIzV1COkvHgZDRwX/DR/wAQjnvSiIPrZodz4K6TyyU+NsZF4B9sss/jF6FwA6l7TBeXgxlNCE8Ot7jS4iUEyD3iQ/bhq5IXcHdgkU0+faaBfX1Ap4VLrNXmTIVzzqpMjP2gFMpV3T7GoUAh4ytebLRRPy9F+xaJfuvl0SxkB63NDG9tRqqHuJ1M7ZxJgfzpjCpMekHLomB/BJP3EwWL3M839gSyfWIH4/ALFOh2lbiPPJ0RUIyQVwm63GBNi3dVI6r1nsXLu0URPKnBemg07hkwBEpn0zIiwMR7eQEFo2SNmdAq8iBySTCDKVveg590USxuYoh0rl9pv24av6qTlmNhexUt+5ucXRXx/8RF8JHqlDYLvRNvgJg82Hr3UvkWS5aR8BdfW3vkUBS/yZh4ml/w2HjnSSzxiDp7U9viewH0Rsln17GNuOPWUiWr67U6rSfLZmvQ2MNbwhjE2D4hVEdl6I76qyQ4k7xgg6ETpzpE3pg/JSKz/JI8OoXu1BUmr8DuZWTiVg09qOGYoajHqu+VE1yHukFLG1A7dHxHH4Vmgp52sOiwc2t8Rnn+r9PkOYIYDVY9DN8+NEKJRBiuxihBG8RxTwLEqxF+2GWDFgRz2mBIrsn3N/eWlfDcIG6Wij5uv8t2zyo+RTFYjH99/A+bE6cPi9lTfFb0Qb08eaDnkro89HJy6Kti91Ou51j2o4O1SGHVwjwI24wb2ziKsyUoscT0upd3cT+9iuaHQ61pE7lb92RLqtZYZe3BVW+EEu/nik0o1Z78HPu5hLgdBsbFvII0IDnEk/QAonnQxjatWKdKCHiaYMHhhBLVx+wWO34X8vm9GAVhAklm1f7znN3Qq1rKIKT+4//pETO8WzdqjyX7OcYQ/jm3U7erGe0tcjhrp76NWAQ/d/vX5Tb4oSCFjPOh7txPM8qYM4QUqdAZONnK4zUemEm3kTaxqufRIjse0TrOAwR6COAJrMqjvDXOSoYFcvKfQM5lvzAfHhSrbkh8KyhJ4h14VYCVVHCpobiGKqXbEBGAkitULMxW1gLqZX/ArRlvQsmWLcQHJ13aDkXKoxdT/DL9eUiLF5z6mf8NwQ2YsvWkXRuyaMjh9cv18oEAcJuTT336zE+FJ1ZAuDGZqP3dflPim082uWWnWNWXZmLqBMpr+xIFyFHeSGvFkXNh9GEJ8enjETITprn/tATzRO4V9UVNm3LgNJFW4IK2EifO0cvVwdArRnPOLByEdVdK7ELko4sKQck3v0z2JAPq0l5qGT5pZNNQCSHk20EqiygkOUr6veupUdfEbgZGDk2rn9Pe1FuSX1AxJ6I3kcxkx+iF528LTuUfT9t0u0dKw5Qvnm3zvxGM2MhHHgXHMgAMosZDeaAIA8hYCwf3yJaccx4XjZMidcU0oGuWiE++AdymsWRw6hqEx+yhxXIv+kW/dmGy5WbUVSBvCEFVnqSgQL7GutBAcm1JKLzMKaP0kZ/G6FZnldjLldsPCQB/sI64rO1VMwCO+bRhYyqoTabEpkfj7suGIOHD10x8S12pR6KiqTMUxF8RMQ7hHgo6Bzph8rLp0LgafsCqfL3ztMm59e0TL8E1spMyAt/A+9woFzIgrySQ/45M7fb0A376xvx8cUzTOAhEzhEfX2LP1aSFg7OlSIUZG/bZNnWiJL4juQusWm3Qc5AtnZr8CE4tUrnjlBTNhOxqIFoUp3Oe2I5bLLVrAPfaPYGfTTSYOP99Jcr4IoNDSp2en5NesqSPhsg31tjR8/tvLpt94sLmTIkvCXcU5GM0yHK8r/sbBqNJOpo1DG91ObfS6gnfm/yN2Zz7z5OIZKFbmWl27pIjMgaqnphrVv1oBMv+b9CciJFZBUGWOXn1YxdB52PjeVyAxTObg8RybJORBvuWvK43IjlwdK4DoMGocifzGHnEXciX32ognRhp2ksNiPlYMdrwsdaWrcRiB+D4qvC8ospV+/DVao6Xa9dDevQFwRC9mW7xEcTR3xAXCSjultKGmp5MWl2DnC6esTg197ZqT+Vo+hOZZvsQ8v8zehw0um6tZzupOfmsJpbxUgacehUU+h6fOtzco2Z/H4jJu8cynTJV1V9BsVl49flOUEU958bmnc0erjUuACKFN+RrI9A6bOGrve4JkvZ7jcjPhG5N3IjC0Uuy1bygGZY/MGdPDP2O2VcUwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I see the can lying on its side just under/ahead of the left gripper (bottom of left_cam, slightly left of the jaw column), and the burner at the table centre. I'll start by positioning the left arm above the can.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01798cAV6qjtrxdcSD7LzTxV",
      "input": {
        "note": "The can lies on its side at the bottom of the left wrist view, slightly left of the jaw column and tilted ~30° with its forward end to the left. Moving the left gripper slightly forward/left, lowering to 12 cm and yawing CCW so the jaws will close across the can's diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.31,
          "left_y": 0.02,
          "left_yaw": 0.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01798cAV6qjtrxdcSD7LzTxV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2798, 1.0622, 0.5148, -0.255, -0.4641, -0.3809, 0.9993, -0.0212, 0.7982, 0.6147, -0.4328, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.302 left_y=-0.0008 left_z=0.1025 left_yaw=0.2997 left_pitch=-0.1248 left_roll=0.0566 left_gripper=0.9993 right_x=0.2891 right_y=0.0007 right_z=0.1729 right_yaw=-0.0015 right_pitch=-0.0275 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4239, 6.7487, 1.8632, -0.4225, -0.0659, -0.0855, -0.0752, -1.3333, 6.4752, 2.0928, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a2d339283179e63c256103cffda3f2daf19aa730cb63c9070581b7518be41ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d48e6edd1632d35215f3ab9a3f6a631b8a5888da5e5a3a982eed2c233b3c9130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f79e278924d4d6445d39d80a83095db4dc884de7a09763c3876236838c497097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 7.563 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3866, -0.0193, -0.0334, 0.9993, -0.02, 0.794, 0.6079, -0.4026, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1793 left_yaw=-0.0006 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0011 right_z=0.1771 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3607, 10.1812, 1.9414, -0.0708, 0.2271, -0.0855, -0.5675, -1.5385, 9.6479, 2.0781, -0.0513, 0.0952, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2798, 1.0622, 0.5148, -0.255, -0.4641, -0.3809, 0.9993, -0.0212, 0.7982, 0.6147, -0.4328, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.302 left_y=-0.0008 left_z=0.1025 left_yaw=0.2997 left_pitch=-0.1248 left_roll=0.0566 left_gripper=0.9993 right_x=0.2891 right_y=0.0007 right_z=0.1729 right_yaw=-0.0015 right_pitch=-0.0275 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4239, 6.7487, 1.8632, -0.4225, -0.0659, -0.0855, -0.0752, -1.3333, 6.4752, 2.0928, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a2d339283179e63c256103cffda3f2daf19aa730cb63c9070581b7518be41ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d48e6edd1632d35215f3ab9a3f6a631b8a5888da5e5a3a982eed2c233b3c9130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79e278924d4d6445d39d80a83095db4dc884de7a09763c3876236838c497097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzgkKEAgRGAI4AUIIdGhpbmtpbmcSDMPCQd4a3YjQIKkt+xoM4RsAsDNM7vryGyeiIjAu66fsr+NmEQg9Uve8wJWy6jexzCY+bsNyurJqi1b4u7AKuavzRyc88LgG3pUBn8sq6whhMevYBNRwWeUKU2rEwf/1D3eBVyQjyAMpaIctq5V8awEsNPpg8v3WcOOgLSCiNf569FNmuyCQfLXCbP+LH9w/xs2vDFQwdtGgjEwp67wPi5uaXKIo1faW7+MRh7mItn5HPMR3yDCODDF+vyRqJCZexcEkh0T8BY8aoXZkdARXKmf7HqHKCCEHwkKngYqvdODWOOA75cbhpFz7i+cbe+wsjxZtQnoD2IVm+j9gu+iIkauKfOLNRcFyS0JU40QFsuYKh1NiuXxHLz6KpvUsojNVFhZ0APFm2cNuAT4fES5bCLZ+ebLInWh3nVivhBLEtus1Fk+MK1sTy70zGl/LnPhQNTMXvwmWTO+C/npLTMmltjZWCdjgn7LhQD5VFEHHHrayV7SL6SIM5WfCooJcE7r1wgLrtZvixXHAtUbYeuJp2xe+NmK2zhfLjzhEmwyrGXcDUooPl3uFz3X75lCVfNl8ghy2LwjKOqbn4vhLmw37BkJSUiCZwukwB9ikJrDsNgDUlulGonoekBBShG1e4D8lb1Do8eDSqhoJEySqSKVhOCW/7roNXWnXlwV/p7qjE05dZ3xJ0SlQX5qdUXIwF32vcpSmVljQeoSyWAyfKX1IJbIB9EWa2kWSHKnA3G5XuBIcgb4ll4on2zdniUcWVigkIcaCBTlj1LeNttG8hG8NAyXHKaUL3/jQ7ye5WNpw2UL6PtBB2qhTl2Nl7N6nBVq2mhofpblLotD1ANgcDjW6Vp/XKdEyzqEKV1da2Aa11E7CLbZ2TDZELjWjxTw1Ywr11BvKHXsUMZ6/PL9V0yfxOU6wMi7IUw6aKb3WU+CPBMEhA2X2+yw93qctMJoyW3tRVImzpBEAS+WhFWeJYDHyi6ViroUEKaBbMy91wiPWJOli+Fwd385qWWgFHO5RhxAqz/ll+7cWyj5oCAI9u5mefF0jcqhL3pH8SuuAbzYdN5pib6vyI2kPQzYk+H9wUVu+gx5tMv1k+BDu8EHdO3maDR0wnA//82FnXxaPkIRH5dUxLxtyKI20ShVjyjSUIfAHAlibGFtJ5CA+S4GTLsPmVPPJfi1t4hiHo8ZJPJoVm6Hmb55J2UCIO7CHnf4NEOLWvLCdloEVBSNm9uSaL3ziDI260BGjBhq7Tg/HCCuF0UWcWy+oFzS121J02wdgkt8JCcmnLITeZnx+fJrndjfJQJMyp3GXRYaTqoihoYiIP/u6NO7hVys5wz9WF+fG3T/tIwNco2C8h/7daz3ZgWt2nV0gRyAxwNMlfgCd5itKwBgo1KcPmLQgJg1zIRDUzf1IwpFY3bzzfcPGD4ekttAQM1eULn1r3/HGCv4YRDP70xoUpafMYeUUd5MXb2lcjlg+hPBKdORyc5NEa0TWfBDacTc8jPlh1bJexsy3LwBIdRsr662F6r8ETci3h7yfownKnxFBj8Q28SfvwP509IagDInOGJBqnnONWRlsfZOVkTy06eyKcPUSmGLH8NQpYzFJR6Hq43hseQWUq5QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PttKeUfCmxRM1P8toDadsB",
      "input": {
        "note": "The can now appears between the jaws in the left wrist view but still tilted ~25° and slightly left of the jaw column; yaw only reached 0.3. Continuing to yaw CCW, shifting slightly left and descending to 5 cm to line up across the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.31,
          "left_y": 0.015,
          "left_yaw": 0.6,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PttKeUfCmxRM1P8toDadsB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3302, 1.3487, 0.5018, -0.1482, -0.6392, -0.6273, 0.9993, -0.0212, 0.8021, 0.6094, -0.4545, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0109 left_z=0.0481 left_yaw=0.5288 left_pitch=-0.1678 left_roll=0.1021 left_gripper=0.9993 right_x=0.2854 right_y=0.0008 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -4.3282, 6.7214, 1.3065, -0.5885, -0.0806, -0.0855, 0.1026, -1.2786, 7.4462, 1.9267, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5709a1cd97fecb85652ed3099beb36567396a4adf5d302f2786272fbe58d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f8c787b4649adf62126c01c0a1be0bdf7b4b5e6a226d6fc46baef6c56b40f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e993e35dbb21354f980a2304d55e92e7400c62394aa641de64b445e346cd6d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 10.31 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3866, -0.0193, -0.0334, 0.9993, -0.02, 0.794, 0.6079, -0.4026, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1793 left_yaw=-0.0006 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0011 right_z=0.1771 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3607, 10.1812, 1.9414, -0.0708, 0.2271, -0.0855, -0.5675, -1.5385, 9.6479, 2.0781, -0.0513, 0.0952, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2798, 1.0622, 0.5148, -0.255, -0.4641, -0.3809, 0.9993, -0.0212, 0.7982, 0.6147, -0.4328, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.302 left_y=-0.0008 left_z=0.1025 left_yaw=0.2997 left_pitch=-0.1248 left_roll=0.0566 left_gripper=0.9993 right_x=0.2891 right_y=0.0007 right_z=0.1729 right_yaw=-0.0015 right_pitch=-0.0275 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4239, 6.7487, 1.8632, -0.4225, -0.0659, -0.0855, -0.0752, -1.3333, 6.4752, 2.0928, -0.022, -0.0317, -0.0122]",
      "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]: [-0.3302, 1.3487, 0.5018, -0.1482, -0.6392, -0.6273, 0.9993, -0.0212, 0.8021, 0.6094, -0.4545, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0109 left_z=0.0481 left_yaw=0.5288 left_pitch=-0.1678 left_roll=0.1021 left_gripper=0.9993 right_x=0.2854 right_y=0.0008 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -4.3282, 6.7214, 1.3065, -0.5885, -0.0806, -0.0855, 0.1026, -1.2786, 7.4462, 1.9267, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5709a1cd97fecb85652ed3099beb36567396a4adf5d302f2786272fbe58d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f8c787b4649adf62126c01c0a1be0bdf7b4b5e6a226d6fc46baef6c56b40f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e993e35dbb21354f980a2304d55e92e7400c62394aa641de64b445e346cd6d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAkKEAgRGAI4AUIIdGhpbmtpbmcSDDwjB4WXcku04VFvzBoMvyu3lI8ebVfsCK+SIjD45d5tUF+sYslIixIkGM19ZPj2lidWICjB5ijLwv7rlrQ/TpuN1TUwxlmY/TMKs5QqsQj2yYbNum8O3Hb1G8Qr/r9I1IK5nMLKcO2dNeBUUXAQDwSCqb/j+9zVd7MH/FQiC5NLmnghLhYgqCIuDer30Cjay6mnwNNGscgLANGgBNDar0mCCYSxvTHZpOMkzbiUTpGjKZ1S8dQpcjCDDCaatqqsHnhwGgmthR2YiuIwghcpSK/MbRvml5mhyZL071wUuazzAJQEsEtzpno8T4F/aZrcyMECGO0v07RR+f5MD+GFdOO4y+fBW0YfWW7L3OOwBCkklyes9crEsyipX0kwvi8hofgptMpPiBdoqdkQqgt+IcVu8SA3AZs8QdeLnCRzBcFUvTmpzN9lF9+X2F3b/8IQgOYbH1JEwram+2l/tJkNGXr5cd9m/ILG92rmuxGF8q4UFhxbAbz2fify5YWhE8noASNbmI/2OVBYxCHIR6WUcdpXMR4A1onKyCogzP9Uwj15KJS2whor8IbwlyM0EfQBZQqGSMQDKDtin8jkiCuyqTr6DEclZv7OikptaocdHcw7l6rcZkTXY4IhdEgMyhdOKLBJ0oBle6pF2p3P1ED99gyGtY+K4gk95sxcFXaBPKXJORwjdUZeq68UN9McFg0vAoNOfXheFQz52qTvx5w7q3Cx0snCiSX/JcZ65Y9WruVf+FiLvD+lhQENcJTUy3k5wyGdZT/M93TOizljJZsPxemlQof87fq1Dy57k+St2+Kt6XjLmwIJ/rusuXG3Pjy+E0awp6z5j62XoUbmEKEJ0pnXxyVQGSz7hMUPLc1NxiAh8UVy+YepG6VU3Kjv2olFu+TZQ8jTgGpeKMAqXaZaRRe9eUVARLhX5cbjcQpmNq4Pijq/tvdInL2/vqMDbUOheKcjGN521VS886nF52kbEd2Qqz7DFsRS0Z9O8VhcoKH80mpf497K7egUzrdBdKUyA2Xh30mYNV4mzxGxp0iEXovpsTmP5u66fLYJJmy54MrNAeXZzxbyeYDZlGX6opL7VHxEVy6awmOMqnN8AdxCW4/m3ZpamT5LbCNEeAmKGAD4D74Ym2unEGEN7WVIuTMHGuywU4JU/7d5/cKx0SUen+4oLIlIC/9icEBAbZBWhC1FlaXiN1YeONFWcp+lzCYBcHspQCKgghDqWwI83nW4l7FdqajwvmnWEXpK/6+tIBpXdtSz48F/Us6BdMlvj9D86zI5uhf3B7XsvBm7HSKzwhXkPyLeIgayzpSKnPNDu0Gx8Yc4f2FohKnH4A1yRnnlTCTYo9UAdawuTT/AeWbX8s7p3mIjLoa8HEFdgCQF526U5IYTaWa8ZwpBb1lLM2y/l4U0Awg3b47vzzRL50x4RKZ0VW38PVs48yBd5YarhZ6EBKJewnT5GRCTk6gN3k4Jwu2TTsRPe8Qj771bbkPoOBacoYwZOfRoJ/vbVLV9kw+zp9JE7d1k+NcN6K3KNP+hShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gMq9Fco7gu4X32jC28KJ5",
      "input": {
        "note": "The spray can now lies nearly aligned with the wrist image's vertical axis, its body between the open jaws. Descending to just above table level so the jaws straddle the can's body before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.305,
          "left_y": 0.011,
          "left_yaw": 0.55,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018gMq9Fco7gu4X32jC28KJ5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.4618, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2844 right_y=0.0009 right_z=0.1636 right_yaw=-0.0011 right_pitch=-0.066 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.1897, 5.9145, 1.3651, -0.5104, -0.0415, -0.0855, -0.0752, -1.2513, 7.241, 1.8193, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff3f7d1e35eff9463fc9145f7bfa6fe75a5ee59ef9825eaac334d82fd2de30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7274e4fafed9195c0d7950ae58e2b8fb99ac214acfd01dcd0d26f50bfcdb5617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5dcc12e3e6492f663c4c185db3f1ad94c82b804765246b81e6470b0a53273979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 10.61 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]: [-0.2798, 1.0622, 0.5148, -0.255, -0.4641, -0.3809, 0.9993, -0.0212, 0.7982, 0.6147, -0.4328, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.302 left_y=-0.0008 left_z=0.1025 left_yaw=0.2997 left_pitch=-0.1248 left_roll=0.0566 left_gripper=0.9993 right_x=0.2891 right_y=0.0007 right_z=0.1729 right_yaw=-0.0015 right_pitch=-0.0275 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4239, 6.7487, 1.8632, -0.4225, -0.0659, -0.0855, -0.0752, -1.3333, 6.4752, 2.0928, -0.022, -0.0317, -0.0122]",
      "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]: [-0.3302, 1.3487, 0.5018, -0.1482, -0.6392, -0.6273, 0.9993, -0.0212, 0.8021, 0.6094, -0.4545, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0109 left_z=0.0481 left_yaw=0.5288 left_pitch=-0.1678 left_roll=0.1021 left_gripper=0.9993 right_x=0.2854 right_y=0.0008 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -4.3282, 6.7214, 1.3065, -0.5885, -0.0806, -0.0855, 0.1026, -1.2786, 7.4462, 1.9267, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.4618, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2844 right_y=0.0009 right_z=0.1636 right_yaw=-0.0011 right_pitch=-0.066 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.1897, 5.9145, 1.3651, -0.5104, -0.0415, -0.0855, -0.0752, -1.2513, 7.241, 1.8193, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff3f7d1e35eff9463fc9145f7bfa6fe75a5ee59ef9825eaac334d82fd2de30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7274e4fafed9195c0d7950ae58e2b8fb99ac214acfd01dcd0d26f50bfcdb5617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dcc12e3e6492f663c4c185db3f1ad94c82b804765246b81e6470b0a53273979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsgoKEAgRGAI4AUIIdGhpbmtpbmcSDMBOFVYPZoE+VT1LPhoMIP4tksuT+i6IjxZ5IjBTZeObuU/4VdqtgY9Dj7U9sag2L+dDMod0RiU+x9k9CKfTtzXHtSHWemSwh4csvAgqzwklDEjMsQLDsH70xjqnW6DhCkzuxebfYnLysiQHMWx/YoAmuPeNjl5seFSOpD4ZNYudVopi7OJ0EbXhF1ZbX08jxCAnyisrXdC33ZvDeLCZ0vNqkhKmlU0HV6Pi0NBQkFlqW414I8/XCe2XjmnpsXq3jKfS90dCdEuPtBpcMy26tmciFUPrBwoxWmYNx3+95SABgoFPnh20FdOWIXa9j1i+lZ0SLL2njToL0vkrD8i/p2t9q1J+jDGMyuU1xH0iGv0zP0VCA2HwUKVCVnPqB+Ol5p0nIUZXBjNja9Nx8F21rQU5iMSPJkiRaYfZej7BayyTyxl1ImNRDHGam9KHiAH+IL0q3rNaXgop16ur1t/QQ063Y6wP1U8OPfhWp7QnFjjpLvtnKZE2qOe0kskoqEN3AEn8UFd3lD7UQ7QkxcDxpBBObjSSK2Cn5BhgvO+DKm3ndAGTffiqkLfbBWh1NIl6fPxrky34hIjEH125TQN+bQlzt1Lnw1OMeUE85k8FMUt0KdM5CiXXWiMlhAQi5gGcr4P8RF5Zn1wQc/bgBiTcyn83MGNTXSpDcTSgzg3G+s1HqnEKku/dPht+B05/sRmHPaCB9EubBl2yrRzompUfvWdMBb8PSC7o3P+vS5FcvXdCNd6FYvbygT2SyNm0xkenFnKYp/Dv5UeIqwiN09IC4DD2kjg8TP5ZhmFB7TaOjBxrJT6BhPt3qj0+uz9kuermy//UsKHE4+hFOLl8o6HbKlTA56hhk9AWA+U/Hp0J2PHUN3q31O7lG1DN/cs6fLBNMPTW+8mQjOBbQrsXaZvkQ+rE18Gft1XkgXDfMg4JnlMFBd1IoF43Vxeg+0mLs8RGgElrurOJijKnnaVYeen2oQDTh8dRUwr9xCvn4HelF6EoZxcRo7AP2kpo+BRpsqaGV6zVeb0ssOacbA+6NYOkF0B3+7Q9z/4bBmV8s6mggDwBV19/WQNNo/l2U8FKV/zzjdVeVB02zjwygzydGYCno9ebApCQmdzO9MXzwnzZfYMSRCF6ZRv1aabsXbI/ndZweOOspQEWDewvne1sI2vPMnGcmEkrvz5NEjcc8D5gptW0USm6qdcOMYrp793GuHYgwWgW19L+yGUj1C8safkE7xc9pPOLCs2EdbrTjxp6cerREGV1qPJ0Mtwb6h6ipFzbgh/+JjVd2c2s8Z+C4A+HZFweB6NdRF1udUio6E2rM9cqjwvPWLv4zmsp3796UdSaqqVJszb2bgp1CcGIWTgoN41XWI9O7XcsNwXzBgCwXVYIdzOa3u4ftnsr/ZqgVBQenqJ93mJPQQIgrmwGbjSjRGXsb3eTrNVagswtj8BFA847UFl+3EG8tCHQhdbKfUBG1TV/favEVJIpSGYVFvYmnfLuGxBDEouNSzst+u0vG/3+pZJVQJ3JkyL3vPtiHRddHo7f7FCnNu/HZR8YsNaTHerNOWk6WVObs3uhTexmv/cvZ6TIwGAq5bFmgAxvnGr5v7t4SC7ts1jtsA2X5vFa60FjsuutYxId4OqkAJSOxd7zNyBgE9WhlHLIAiv28DmOQuSWmZixBV8KnbkVNT7tgpnmhSX97o40fVDX4d/vTcEGOg3D730nVI+yCVxSUyPQDM7VowEYZlhAvd9WxCnmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0169GogpuRjDAYtgMywQc5Kt",
      "input": {
        "note": "Descent stalled at z=0.042 with the can body filling the space between the jaws in the wrist view; shoulder effort is still negative so this looks like sag rather than contact. Pushing the target to the box floor to get the fingertips down beside the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.305,
          "left_y": 0.015,
          "left_yaw": 0.6,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0169GogpuRjDAYtgMywQc5Kt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.482, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2813 right_y=0.001 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.0862 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.094, 6.0513, 1.326, -0.525, -0.0122, -0.0855, -0.1299, -1.1692, 7.0085, 1.8437, -0.0855, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2590c94da609349f2877a12ce3f432ffbb74659c25d058fceb245310bcdbf2ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e634e7c13d84323ecb401c2149d614ba101fe2346501ce03fb0263749dd3e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:242cc9f44a22efe5cde4ac7236af5d504e5d4cb84089aeb277abb6bf086deba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 6.476 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]: [-0.3302, 1.3487, 0.5018, -0.1482, -0.6392, -0.6273, 0.9993, -0.0212, 0.8021, 0.6094, -0.4545, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0109 left_z=0.0481 left_yaw=0.5288 left_pitch=-0.1678 left_roll=0.1021 left_gripper=0.9993 right_x=0.2854 right_y=0.0008 right_z=0.1652 right_yaw=-0.0014 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -4.3282, 6.7214, 1.3065, -0.5885, -0.0806, -0.0855, 0.1026, -1.2786, 7.4462, 1.9267, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.4618, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2844 right_y=0.0009 right_z=0.1636 right_yaw=-0.0011 right_pitch=-0.066 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.1897, 5.9145, 1.3651, -0.5104, -0.0415, -0.0855, -0.0752, -1.2513, 7.241, 1.8193, -0.0562, -0.0757, -0.0122]",
      "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]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.482, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2813 right_y=0.001 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.0862 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.094, 6.0513, 1.326, -0.525, -0.0122, -0.0855, -0.1299, -1.1692, 7.0085, 1.8437, -0.0855, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2590c94da609349f2877a12ce3f432ffbb74659c25d058fceb245310bcdbf2ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e634e7c13d84323ecb401c2149d614ba101fe2346501ce03fb0263749dd3e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242cc9f44a22efe5cde4ac7236af5d504e5d4cb84089aeb277abb6bf086deba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0164aQySiCEKkSg54qni9APq",
      "input": {
        "note": "The left arm did not move at all on the last command (identical joint positions), so the IK appears stuck at this pose. Raising slightly and pulling back a little to break out of it before re-attempting the descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.285,
          "left_y": 0.015,
          "left_yaw": 0.6,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0164aQySiCEKkSg54qni9APq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4374, 1.1805, 0.4694, -0.2131, -0.7708, -0.7334, 0.9993, -0.0212, 0.8062, 0.6094, -0.5034, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0034 left_z=0.0848 left_yaw=0.556 left_pitch=-0.035 left_roll=0.0271 left_gripper=0.9993 right_x=0.2781 right_y=0.001 right_z=0.1546 right_yaw=-0.001 right_pitch=-0.1114 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -1.6479, 6.3658, 0.9646, -0.5299, -0.0562, -0.0806, -0.2256, -1.0325, 6.9265, 1.8388, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f785cb74c1ab8ec297b1823c5031f883c0fb162d8eeb940c90adfa5f765d68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:542126e08d3aaf0cf539bee330f4c1d40c465e6b179b3f81cd58ecc8d756cec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f73b054eada3cc955c97ea6f1b9839afa79ea64bf514af8fe48fa44e8678e56e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 8.566 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]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.4618, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2844 right_y=0.0009 right_z=0.1636 right_yaw=-0.0011 right_pitch=-0.066 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.1897, 5.9145, 1.3651, -0.5104, -0.0415, -0.0855, -0.0752, -1.2513, 7.241, 1.8193, -0.0562, -0.0757, -0.0122]",
      "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]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.482, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2813 right_y=0.001 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.0862 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.094, 6.0513, 1.326, -0.525, -0.0122, -0.0855, -0.1299, -1.1692, 7.0085, 1.8437, -0.0855, -0.0659, -0.0122]",
      "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]: [-0.4374, 1.1805, 0.4694, -0.2131, -0.7708, -0.7334, 0.9993, -0.0212, 0.8062, 0.6094, -0.5034, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0034 left_z=0.0848 left_yaw=0.556 left_pitch=-0.035 left_roll=0.0271 left_gripper=0.9993 right_x=0.2781 right_y=0.001 right_z=0.1546 right_yaw=-0.001 right_pitch=-0.1114 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -1.6479, 6.3658, 0.9646, -0.5299, -0.0562, -0.0806, -0.2256, -1.0325, 6.9265, 1.8388, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f785cb74c1ab8ec297b1823c5031f883c0fb162d8eeb940c90adfa5f765d68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:542126e08d3aaf0cf539bee330f4c1d40c465e6b179b3f81cd58ecc8d756cec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f73b054eada3cc955c97ea6f1b9839afa79ea64bf514af8fe48fa44e8678e56e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoQcKEAgRGAI4AUIIdGhpbmtpbmcSDLtpIoPN9WCi7HQKfBoMonAGjUlAY+nwhnJqIjBUlcExo+KB4hK5Hljf7j1mWyimlZEmVQH3fdQBosdGcOjXybyHmaH965Uc8n7q/RoqvgZRNoXvRqaMCyrC4P3QsOqA3ZMQ/PUcxPiiepaCsVptxoF2v7If28MwcJ+CQO2OJ210qGmTY9lxfWSl8l5/r1z7MGMHJU3+3FMZfaFtShK5ooTAplCImqnPeeA4A5ymomZhTbwwfZYp9nJm/PXSQ52EVLHuFq+kptkVjwm2We8+3b89TTMSGyplnu8HtYX5pEA9MYQu641ii7ox6Ru5E7wqbC3BSJDoSbpKnvTZpe8VKq9Iu3d+RTu41hmknlo5/Tk7W5kaNPXNPOV/cVkahrT5E7QNMhk4e3bBG8RszTgqGu0vOaJiUY/t4uMV/v/MY87EL/Hvc0KRwtX3KFXS64OCj0AAITLTsqjuFGzHMYw768CM+yRGjP78Ld6VN+wBdK6GsX9DhUV6qhhjFGnEYKF7WkZ3Qh0alqiKPHwWUSBPD+Uxaz3KocAMflhSp7JOq+qOq5EQWCz03DvN7DjochAJh/g+Sj9iqaf6kxOQGcqf1YeCPBzWUQdJpNNSE2UcKLaAZg+AIr47+8xEyAEgBEcfOSsusjlhzK1f7UuBkfp6nsCJl4HUdiWZv/zBRPJADl863KlrlbOZLwKuQO69GUYXO64WvRKvG7QC55MZm1TL0tSdi8Fe3QYPNXYYYf64OCNLq8Z5VJ9b5cVxDcjEM8rAW7EuF528Mp4kbJXsz47GipYWbdAt61XS/Yo1aBk5UN4bqxIJX+0jXm/VfaMzSS2h6hqWKsC6wjgg0k5rHFI4TojnDJCRf2zu68DOzCDYmRF8wuPmIzY7HHRB7/Xl1mhdiN3YXYtWQiZk9ME0wwMbXidMJu1IcMICGc5UsZzkxeTEHHDFBWpRUeaVsUuJ1B9EI7c7drZjmO8ak4uB+3vsixDR7eXdb2UsRol1wIrTaDyY9r+GBYKEcQIUOeKS+Iu9WnISMcZw4zokODkCR46DApeHNWsDFtEjxc21oOyXnG9Z3mzZwtw2+Vwu8l1VabtNrRQdLqtliwTDJza3/fhAGnKWZPFIIEz9f5BjC7U+iRQ5ete0ThivaQrq7ZQkm0yP4mSaS10Ka+8gKpVQ2RxUzFMmlzwRaT8bW6U/3gJ8yq8lfJNEkcVGfDXriCGsahgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GoVujMyQDKdh6fJxiRpwUd",
      "input": {
        "note": "Arm is unstuck; the can now sits centered between the jaws and aligned with the image vertical in the left wrist view. Descending straight down to table level so the jaws straddle the can's body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.295,
          "left_y": 0.005,
          "left_yaw": 0.56,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GoVujMyQDKdh6fJxiRpwUd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.445, 1.5295, 0.3164, 0.3882, -0.8707, -0.6991, 0.9993, -0.0212, 0.8104, 0.6079, -0.5278, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3088 left_y=0.0064 left_z=0.0324 left_yaw=0.5949 left_pitch=0.0819 left_roll=0.0124 left_gripper=0.9993 right_x=0.2741 right_y=0.0011 right_z=0.1483 right_yaw=-0.0013 right_pitch=-0.1415 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0615, 0.3624, 0.3897, 0.2125, 0.862, -0.4811, -0.0757, -0.0889, -1.4017, 7.0085, 1.8632, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f5ad0e0cd5178c29fbaf442bc4700c788743c1313d6bbc63c998db467b90525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2583aa18364281d4c494304cd3738800da14c7691f1fa78a8672f6bce61c2d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83a43a7033586703da1d277018d3431473a440cddd10c96af1186e1dcc8b044a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 9.827 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]: [-0.3332, 1.3903, 0.5018, -0.1307, -0.6712, -0.712, 0.9993, -0.0212, 0.8024, 0.6094, -0.482, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=0.0147 left_z=0.042 left_yaw=0.5952 left_pitch=-0.1574 left_roll=0.0747 left_gripper=0.9993 right_x=0.2813 right_y=0.001 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.0862 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.094, 6.0513, 1.326, -0.525, -0.0122, -0.0855, -0.1299, -1.1692, 7.0085, 1.8437, -0.0855, -0.0659, -0.0122]",
      "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]: [-0.4374, 1.1805, 0.4694, -0.2131, -0.7708, -0.7334, 0.9993, -0.0212, 0.8062, 0.6094, -0.5034, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0034 left_z=0.0848 left_yaw=0.556 left_pitch=-0.035 left_roll=0.0271 left_gripper=0.9993 right_x=0.2781 right_y=0.001 right_z=0.1546 right_yaw=-0.001 right_pitch=-0.1114 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -1.6479, 6.3658, 0.9646, -0.5299, -0.0562, -0.0806, -0.2256, -1.0325, 6.9265, 1.8388, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.445, 1.5295, 0.3164, 0.3882, -0.8707, -0.6991, 0.9993, -0.0212, 0.8104, 0.6079, -0.5278, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3088 left_y=0.0064 left_z=0.0324 left_yaw=0.5949 left_pitch=0.0819 left_roll=0.0124 left_gripper=0.9993 right_x=0.2741 right_y=0.0011 right_z=0.1483 right_yaw=-0.0013 right_pitch=-0.1415 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0615, 0.3624, 0.3897, 0.2125, 0.862, -0.4811, -0.0757, -0.0889, -1.4017, 7.0085, 1.8632, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f5ad0e0cd5178c29fbaf442bc4700c788743c1313d6bbc63c998db467b90525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2583aa18364281d4c494304cd3738800da14c7691f1fa78a8672f6bce61c2d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83a43a7033586703da1d277018d3431473a440cddd10c96af1186e1dcc8b044a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2QoKEAgRGAI4AUIIdGhpbmtpbmcSDG2X0nMWid9tJhAcfRoM02paCoOgbG8acJZxIjATduzayBqrAMdbZxnEENLsNdZiIdH58IgYxTfJaBnhugcfNJ0RCpDAs/MyIQCrSoAq9gnA960MBeczUJu7uDEc1670PiOlp5/K4jfghkaLFM0tQE4vAHKrPAVWtJADnmelk3gdWvZqaTcGcFOKVn2nH8sKa+4ugosug5dCIle8rltaUtTtVOhRC1+F6DtDJHLp7kruk6TMViMduZTWAGHzdDn72/xy6EFqsYpiNIy5RpqrmEgrS8SxDo1Igqw382MQ//Qgp5HZxmrcPjEMs2M/FOOE982czeHlvr8CUJwkJP77EW4BSvm6yTtY+RCLLw59/J2gE23WDlfrhxSLPe04r74xZEtG/eemFciRyGcLE1Xi+k1k/MAivX92oCWCoQ6vCKPlWHK00TolQd+V5c6O/K09osiX41ERT/yOO6UG+q3O0XH4Q0t26Hcy94ZKja3LeW00CYsAc+0kc3Bq0HX5XNwDrwlqajpBX1h3ynPztXD4WDi12I2AZ3WEfzYD3NKMWh3HGZGKUoIh6qiXt9zrgbu7e4VzmADYbV4X4hJpBb6XMwqfOkn6tQLBO5k2gaBmp+9D+pcV1igXpXx5HoksnRb1FhWUtv+9pJeb78Az+bOeJwekQENEBbpVVVQs6vTAVvDDuhF4x3N259zMKYawt9oPujULOqQrUOq3yNhYqbN/dvYC2GAkiT3BzRrdtMC2fKtEE3a0oakEBiqjNTz8uTIHb49qFRrl7HUasU1a2uPu7vvc+/LwvOFfb063lNXgC/qBqaMkNds1HV+McgHGZ6w77ZGamDv8TNdi6dqVg7bPwlbe09sOIq7kRCKo+ShR9ijuiqJjgW9VBTnwaS7ITiW9rKjWmZ/BuXZ/ajr1MpXHQq4pk+t/nt9dIT5Uqt3K8U2KvBpqA79KHLkwb4XYr8Rq1MXnH3VTHt1JI72cugQ9IMPejGU0trkzySpA5nEkoaTfroPvpJ5pGxWo+VQ5BIjVvP6wvwuUzh9J9Joj+fD7Hs3ILqCnAdYUJID3w+jEtqGVDBqspTIQ0lccP8QIDsJ1HXayDStBQxkANCE2vDpG0ZzCvDpDHIrCLBhEGLZ+gpq/Uq3FgD4E4ikGEb9Y5oI/f67PMDjBjNeT9RO8k5MmENSlZEXOTcQIwU66KAr+G2yBw5KiwLMG36sh6fMkb1mZXaqEse9+mKsOBAo2HegrK+XbhDxvt6BVlSGJt5rZLY0bKH716qKHm4tAWvuN7IY46zoJJx/kwm6ZykhBLX8QT2PYZynoXFxfMkikB9Xc9p3sQ4FEWTtxJrJ2kxWGXKNoAw4FJzqf0R069vo4P2+kN+w0W9KqV+uJZZ5Z6KDrSSdzXhsYhtG2OakY2Bi0ZbzvXQ07KtgeeKE8zWyf6rqYidec/uRWCFDxbuXdFVI2K4SDSH+OSv43o+qVWBIhdULJ5NefxcgbsqVxkOcyDP1NND4sx9/ujyN8U1rNXXWBeNcL4kyCz1fCRuLvEBGsUUO4C0vDm07gAVY4P3kg/yMYO0dv1noSDmVzjUHeU4MaFhB/a8y60TcjBUf7uuarK/YEHpCaSnX9lX9uKGCwKb9K+WHDU1RFeahqzoaxWdMsnCGDl6EDBHfRqRP8RMSzCfAEPfr5JGB7qzx2cYgWiY+cYyZw5GlX5bV5ZZAjKSafuH3YB+QipGXvJ1hZv53qtWgmlZLJbAfjXrGpWECnc55xGdmh+WVJ3ZMKGWSYgl+GnUCxTSAu8bG3vVHr/O7UQjZrGcsvRFpkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012yQzRFfkvwvn3yKw6xbRYU",
      "input": {
        "note": "Descent stopped at z=0.032 with shoulder effort turning positive (contact), and the can body sits centered between the jaws in the wrist view at roughly its mid-height. 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_012yQzRFfkvwvn3yKw6xbRYU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4446, 1.5105, 0.3302, 0.4747, -0.9379, -0.6998, 0.0115, -0.0212, 0.812, 0.6056, -0.5621, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3208 left_y=0.0089 left_z=0.0588 left_yaw=0.6551 left_pitch=0.1801 left_roll=-0.0713 left_gripper=0.0115 right_x=0.268 right_y=0.0012 right_z=0.1408 right_yaw=-0.0011 right_pitch=-0.1796 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.2342, 3.4803, 0.5641, 0.2906, 0.0171, 0.862, -0.1709, -1.2786, 7.0359, 1.8779, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db0844bd4b4f6fa32b1fc2aaa530fdf14aedf4ab70fd2ece444833d8b7f96890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2512d7740a627866f2935c7496a27986d5c0546d768a0bfe76f51fe9db634cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1f55a17a072cf63af62f70a09a2e693c2b05ec22ea392321bbbce38b5a10433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 10.86 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]: [-0.4374, 1.1805, 0.4694, -0.2131, -0.7708, -0.7334, 0.9993, -0.0212, 0.8062, 0.6094, -0.5034, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0034 left_z=0.0848 left_yaw=0.556 left_pitch=-0.035 left_roll=0.0271 left_gripper=0.9993 right_x=0.2781 right_y=0.001 right_z=0.1546 right_yaw=-0.001 right_pitch=-0.1114 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -1.6479, 6.3658, 0.9646, -0.5299, -0.0562, -0.0806, -0.2256, -1.0325, 6.9265, 1.8388, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.445, 1.5295, 0.3164, 0.3882, -0.8707, -0.6991, 0.9993, -0.0212, 0.8104, 0.6079, -0.5278, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3088 left_y=0.0064 left_z=0.0324 left_yaw=0.5949 left_pitch=0.0819 left_roll=0.0124 left_gripper=0.9993 right_x=0.2741 right_y=0.0011 right_z=0.1483 right_yaw=-0.0013 right_pitch=-0.1415 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0615, 0.3624, 0.3897, 0.2125, 0.862, -0.4811, -0.0757, -0.0889, -1.4017, 7.0085, 1.8632, -0.022, -0.0366, -0.0122]",
      "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]: [-0.4446, 1.5105, 0.3302, 0.4747, -0.9379, -0.6998, 0.0115, -0.0212, 0.812, 0.6056, -0.5621, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3208 left_y=0.0089 left_z=0.0588 left_yaw=0.6551 left_pitch=0.1801 left_roll=-0.0713 left_gripper=0.0115 right_x=0.268 right_y=0.0012 right_z=0.1408 right_yaw=-0.0011 right_pitch=-0.1796 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.2342, 3.4803, 0.5641, 0.2906, 0.0171, 0.862, -0.1709, -1.2786, 7.0359, 1.8779, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db0844bd4b4f6fa32b1fc2aaa530fdf14aedf4ab70fd2ece444833d8b7f96890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2512d7740a627866f2935c7496a27986d5c0546d768a0bfe76f51fe9db634cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f55a17a072cf63af62f70a09a2e693c2b05ec22ea392321bbbce38b5a10433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YFbwtWbbSkUWpGfq1Rryju",
      "input": {
        "note": "The close was empty (gripper 0.01) — the can is still visible just beyond the closed jaws in the wrist view, so the fingertips were short of it. Opening and advancing ~2.5 cm radially outward at 6 cm height before descending again.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.345,
          "left_y": 0.009,
          "left_yaw": 0.65,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YFbwtWbbSkUWpGfq1Rryju",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3496, 1.4994, 0.4988, 0.1581, -0.7738, -0.7589, 0.995, -0.0212, 0.812, 0.6056, -0.5903, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=0.0116 left_z=0.055 left_yaw=0.6588 left_pitch=0.0109 left_roll=-0.0617 left_gripper=0.995 right_x=0.2631 right_y=0.0013 right_z=0.1358 right_yaw=-0.001 right_pitch=-0.2079 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -5.6137, 7.5829, 1.409, -0.2955, 0.0757, 0.0073, -0.0342, -1.1692, 6.8308, 1.8486, -0.0415, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c24b817ca9d9e15458c4ff85403dcf662206b5dedb46128ffea00376e351d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0349a1920c04d37090414d90a2ba3db6b5bb1cd2e634465947dca7c908e4043f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2f422a5ef3f0d9a4ccdc760eb6de30127d726b3556b42cc410272a8f21dd502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 9.695 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]: [-0.445, 1.5295, 0.3164, 0.3882, -0.8707, -0.6991, 0.9993, -0.0212, 0.8104, 0.6079, -0.5278, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3088 left_y=0.0064 left_z=0.0324 left_yaw=0.5949 left_pitch=0.0819 left_roll=0.0124 left_gripper=0.9993 right_x=0.2741 right_y=0.0011 right_z=0.1483 right_yaw=-0.0013 right_pitch=-0.1415 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0615, 0.3624, 0.3897, 0.2125, 0.862, -0.4811, -0.0757, -0.0889, -1.4017, 7.0085, 1.8632, -0.022, -0.0366, -0.0122]",
      "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]: [-0.4446, 1.5105, 0.3302, 0.4747, -0.9379, -0.6998, 0.0115, -0.0212, 0.812, 0.6056, -0.5621, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3208 left_y=0.0089 left_z=0.0588 left_yaw=0.6551 left_pitch=0.1801 left_roll=-0.0713 left_gripper=0.0115 right_x=0.268 right_y=0.0012 right_z=0.1408 right_yaw=-0.0011 right_pitch=-0.1796 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.2342, 3.4803, 0.5641, 0.2906, 0.0171, 0.862, -0.1709, -1.2786, 7.0359, 1.8779, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3496, 1.4994, 0.4988, 0.1581, -0.7738, -0.7589, 0.995, -0.0212, 0.812, 0.6056, -0.5903, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=0.0116 left_z=0.055 left_yaw=0.6588 left_pitch=0.0109 left_roll=-0.0617 left_gripper=0.995 right_x=0.2631 right_y=0.0013 right_z=0.1358 right_yaw=-0.001 right_pitch=-0.2079 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -5.6137, 7.5829, 1.409, -0.2955, 0.0757, 0.0073, -0.0342, -1.1692, 6.8308, 1.8486, -0.0415, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c24b817ca9d9e15458c4ff85403dcf662206b5dedb46128ffea00376e351d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0349a1920c04d37090414d90a2ba3db6b5bb1cd2e634465947dca7c908e4043f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2f422a5ef3f0d9a4ccdc760eb6de30127d726b3556b42cc410272a8f21dd502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkQcKEAgRGAI4AUIIdGhpbmtpbmcSDL3esvIabm5R3dO+khoMBq9a5nCM6SinPTMLIjAaHYEQ1X0IB1SHMCzVkGyvqbzKirAhuY+12HXEHNKe0FxbzuTjUmfYhDH5qwonyboqrgazoA0ihjtSkks4KL7ZyRdFDaQtpLk+pXRTvsxLOw1X7/3OpDWCTzYSJCe2LLhq3jCX7qUqQgkXbKnCgFKgOUN8V8FwGlQXPJdBrp5XuDxVRiBaxeTi3YBH/j2NQmcBV7RVfKcA1W7YYrP7VygGC+BEE7glBy/lcUuPcm164ILnakbUkLJrRCIuS2P9qMNykRT5KVpPD/WW4f7QrygDOtjQdIoqsfZY6tJpt9u2tCJCBFEl4jhwc5VFhlQrCqiaTxLq+7fdfFOBtQab7O0BqT340C2mK6XXbZ+8ExlP2KwYXWcFwQ6Hfh/hf4JeE1Z62UBzJ//o7Davc9HDBp+c0jLLyWupt4wjDN1Rjrc8ujRMqaYzkaV8/PLWHrsfVmYuN5WHdrfx/p9HUVSCA1rEAfSAYrMImspUoTLJu7qXMFDI1iHCKgnP5DgCzD3kcwSY1R9boH9XjA6uApIctaAmHQ4SGhGNpUvtq2yHmcb6/v1apQdBaV736XXJ7GEknqWhfh+nPySZb+2AMzHCWmry3NcnGQfbXHpjwRLFLKd4ny3mfPl/3MDCYDflv0yDFZ4z0tABq8z8CLH5zm39vrfcmYI2VdjfGJ74DfA4dQsRdJDXZxajs5CKu3Jrvudj/Q00ZsFqqFr4MA54LHzURphNcl38kYaH8hpLWKrN+kOwsDYy5Fn83gTNE/ZrMcJcl0O/sMtuH8wYMDK5stiViy6hZBF/mkMFXSYiCLCJe/wcPNoyHHo4I2AIIJNKqnMyP0mdMNhfsASS4nUNIiJgIvsUu+dS848AVNVP577NMQZ5G1k4TCtztl6ZIm4XuXux03pdINqbA9/zwHzAB6kEtg4NGCw3VIcgWB9ADjJ7OgP6aqCc/idhcEh1wRM8nnaeJNkVMfQdNB3mDgWIRghvpQ39Yvxez41PV39s4GOo0ZIQDXZSCEIo4C7AM337xrsnaag+uyITsRnTXhBGr5e6WB4sjhsvC95EUQNvLDgjG787fDkOGAmp2p85HEvIWy/DUkQwgRXg4uyQzI/vYSbanrvckM6xQ0tPxxEg+kIJCKeT7dEtCKClGb3Jm9KlJ6ZcB1IiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015YhNU6C6gVkuwn5DjbJb9S",
      "input": {
        "note": "The can's body now fills the space between the open jaws in the wrist view and extends past the bottom edge, so it is under the fingertips. Descending to 2 cm with a little extra yaw to match the can's slight tilt, then I'll close.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.345,
          "left_y": 0.012,
          "left_yaw": 0.75,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015YhNU6C6gVkuwn5DjbJb9S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3664, 1.6436, 0.5541, 0.2485, -0.8318, -0.8501, 0.9985, -0.0212, 0.8146, 0.6056, -0.614, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=0.0063 left_z=0.0451 left_yaw=0.7295 left_pitch=0.0451 left_roll=-0.1195 left_gripper=0.9985 right_x=0.2589 right_y=0.0014 right_z=0.1312 right_yaw=-0.0006 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -3.0427, 2.8513, 0.2564, 0.1587, 0.1734, -0.1685, -0.1846, -1.2513, 6.8444, 1.8242, -0.022, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48aec900fcdf5ec434c477c036c463286c1b0a7200f243fd4e544ffc1dbc83a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eab236ff690e23c8c65c3e9ec3196c812f602548b4c03fb5e2f5d240bb0f6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:179ef8e83ede5a160146cc9319962fd9f581f9b95d39ab0bb65c17f846446fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 14.28 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]: [-0.4446, 1.5105, 0.3302, 0.4747, -0.9379, -0.6998, 0.0115, -0.0212, 0.812, 0.6056, -0.5621, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3208 left_y=0.0089 left_z=0.0588 left_yaw=0.6551 left_pitch=0.1801 left_roll=-0.0713 left_gripper=0.0115 right_x=0.268 right_y=0.0012 right_z=0.1408 right_yaw=-0.0011 right_pitch=-0.1796 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.2342, 3.4803, 0.5641, 0.2906, 0.0171, 0.862, -0.1709, -1.2786, 7.0359, 1.8779, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3496, 1.4994, 0.4988, 0.1581, -0.7738, -0.7589, 0.995, -0.0212, 0.812, 0.6056, -0.5903, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=0.0116 left_z=0.055 left_yaw=0.6588 left_pitch=0.0109 left_roll=-0.0617 left_gripper=0.995 right_x=0.2631 right_y=0.0013 right_z=0.1358 right_yaw=-0.001 right_pitch=-0.2079 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -5.6137, 7.5829, 1.409, -0.2955, 0.0757, 0.0073, -0.0342, -1.1692, 6.8308, 1.8486, -0.0415, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3664, 1.6436, 0.5541, 0.2485, -0.8318, -0.8501, 0.9985, -0.0212, 0.8146, 0.6056, -0.614, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=0.0063 left_z=0.0451 left_yaw=0.7295 left_pitch=0.0451 left_roll=-0.1195 left_gripper=0.9985 right_x=0.2589 right_y=0.0014 right_z=0.1312 right_yaw=-0.0006 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -3.0427, 2.8513, 0.2564, 0.1587, 0.1734, -0.1685, -0.1846, -1.2513, 6.8444, 1.8242, -0.022, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48aec900fcdf5ec434c477c036c463286c1b0a7200f243fd4e544ffc1dbc83a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eab236ff690e23c8c65c3e9ec3196c812f602548b4c03fb5e2f5d240bb0f6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179ef8e83ede5a160146cc9319962fd9f581f9b95d39ab0bb65c17f846446fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2gkKEAgRGAI4AUIIdGhpbmtpbmcSDMJjGoirkdD/rh7M5hoMJYLvhQKHfjiCDlfMIjDLrG+vLKEd3aI6p4eJx052pLr98JmhgtAXc3b1AFvl4Ac4tc7pJBmWXX8PfsD0/Egq9wg0N9pAXIZjLHL0IIFxAkEb9AYthB4zVwtPYl3l5SqIF2scXBVv4y28fR1yuvdQh2sFZbU7jinKJCEDD43S0ZZ5LIjlrEWbyBfo5dLgOg4I2YSkf/rAlLfUe0uHgDz4p4WRDKldWAJbzZWrIHQ0h7K/4xcWABHEIr8bEnJY50loxQYsqRghRjce4FCq39MtIYOIvsYYmzk026nd2KOIv7HIbBixz5trnyaVfy5jqKQji2012zCdOQf5QdzLwUcObEadS7uXgYDbU6vRqscVQdd0pXSSDMYs9e4wcJnENqqnM4L5QUaMMw9i0RFNKOCp1LrMl554U+ovNykraeemG1KEt+45Geiqm8sVmAypVi9ms/TvMUDz1Cx3ZtVNrjdZFs07D3S+Nf3LXan06z4yPoG3O2PoUIhHyUZej63g+eJJ8x6l2KxdI7LrciKffLg4SpSTMWdlAZdgYR34VX06b02UJNxJ3LGVtcr0kM47/R9g1qryvlWycDl87vQrCO9jLSgFax6+91boK3dKFJyjJzc3jfT8Y69qdSHMgCTVDZUof4JpqdE96Xl8eUVRYvP3BAjd/vibqHEcVuMXjafAKrzaHd41wdFjRr/UJIi++IXnHtcjvtdO+1t0m+TFcE2aXgtWK2soT5ZEJAIx/emYZd4PgM+GUDhZU3RMhecmHXU/YxVbyLqozdTpOGjyMRLvjhFMFYiLNqnp03IHqCAru1WweGfNMeTsMmG5GwtMCHutZUXSnDJPBysa0naklRNTtQ/2e0PhKlZ+SWFD7UPBZVyZjKscofALgk5B0F+E3xqzup/MZXl8PKydHMNqPZLtgbo1Lu3ORrb2X/ghv7jkSwjbLT8BMgrG1n5CnKk8AHLWm6ECQpL0bcDxYFf8MpIaJzlGRXVQNOQeuk7nf/2T3PNDuMOwdnvnxDhRSQP7/twxoj7myXvsihRwXaD1+AVdl0xMshq9C+HPNzB9S3ukDpiSp2gD/Gv4gvvXVK5zzF2y9M7IsGwR/GKelfabXY0bKPC05Fz/etBh1x4cYRX4513MoqoEKIFohHVsyKJWeBtcBax6o3PMrVSDJ7zT389rMxkmZGRmU7noAh2iWe3kFKEzpTP4wDF2iNqrZxjpegloLYfXHOrt+FVSPHo+BgabhfKPBWYVLLvNdTDT8Gw4oSzWHxvCGh6jAyU53+yjYejevxbjMtCrgaLpL4wE+ogIFNJe35oUo/OrCnLkFylgmyT/XVrQlM4oDz0t9qtb/a/Cj2HRV3e5VicpmhGGrdulMczhI9qttCpCDoDDPadIHJjvJpNIhvoPbCLUXGNf3Cd4pqdWYCBarFLsCbl01ty8/A0ObClaQJH4HSVDv33R/kC/lOwlFPmvvpaJA3axpOlzuyh2gF+MjCeVNLP9HBtlSfn5lJPyv2TBGJadFldeBUvWX6cz7mkWLNZNwySvAeSpeLUt70sziPGZ824C8pgZsFg3cZebivmuhb8LTW8dc1fCu2G+R/6KhcIE4tch69V4sYGWJW8YMs0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wKTZivsy7WmtvRjmF8Yag",
      "input": {
        "note": "The can body is centered between the jaws in the wrist view, but the descent stalled at z=0.045 with negative shoulder effort (sag, not contact). Commanding the box floor to force the fingertips down around the can's mid-height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.35,
          "left_y": 0.008,
          "left_yaw": 0.75,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013wKTZivsy7WmtvRjmF8Yag",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3706, 1.8038, 0.5545, 0.6033, -0.8822, -0.9039, 0.9985, -0.0212, 0.8173, 0.6018, -0.6331, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3872 left_y=-0.0003 left_z=0.0458 left_yaw=0.8075 left_pitch=0.1518 left_roll=-0.3306 left_gripper=0.9985 right_x=0.2548 right_y=0.0015 right_z=0.1258 right_yaw=-0.0008 right_pitch=-0.2597 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4034, 0.2393, -0.1436, -0.3004, 0.5201, -0.1636, -0.1685, -0.1299, -1.3333, 7.0769, 1.6484, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2898573f9cbad28bd3b892c63485a22ec72dc78e58b516bdcbc404358b3faba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea03c99901bba06803eca2970a652a7e51f804efb03184868909554ce64540e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58154c40697890493c05f9b7efb9713b66b7a8ff26150bd534830d304a3b7712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 13.56 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]: [-0.3496, 1.4994, 0.4988, 0.1581, -0.7738, -0.7589, 0.995, -0.0212, 0.812, 0.6056, -0.5903, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=0.0116 left_z=0.055 left_yaw=0.6588 left_pitch=0.0109 left_roll=-0.0617 left_gripper=0.995 right_x=0.2631 right_y=0.0013 right_z=0.1358 right_yaw=-0.001 right_pitch=-0.2079 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -5.6137, 7.5829, 1.409, -0.2955, 0.0757, 0.0073, -0.0342, -1.1692, 6.8308, 1.8486, -0.0415, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.3664, 1.6436, 0.5541, 0.2485, -0.8318, -0.8501, 0.9985, -0.0212, 0.8146, 0.6056, -0.614, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=0.0063 left_z=0.0451 left_yaw=0.7295 left_pitch=0.0451 left_roll=-0.1195 left_gripper=0.9985 right_x=0.2589 right_y=0.0014 right_z=0.1312 right_yaw=-0.0006 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -3.0427, 2.8513, 0.2564, 0.1587, 0.1734, -0.1685, -0.1846, -1.2513, 6.8444, 1.8242, -0.022, -0.0171, -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]: [-0.3706, 1.8038, 0.5545, 0.6033, -0.8822, -0.9039, 0.9985, -0.0212, 0.8173, 0.6018, -0.6331, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3872 left_y=-0.0003 left_z=0.0458 left_yaw=0.8075 left_pitch=0.1518 left_roll=-0.3306 left_gripper=0.9985 right_x=0.2548 right_y=0.0015 right_z=0.1258 right_yaw=-0.0008 right_pitch=-0.2597 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4034, 0.2393, -0.1436, -0.3004, 0.5201, -0.1636, -0.1685, -0.1299, -1.3333, 7.0769, 1.6484, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2898573f9cbad28bd3b892c63485a22ec72dc78e58b516bdcbc404358b3faba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea03c99901bba06803eca2970a652a7e51f804efb03184868909554ce64540e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58154c40697890493c05f9b7efb9713b66b7a8ff26150bd534830d304a3b7712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KR9HGzFuDNjFZnk6ieEdqD",
      "input": {
        "note": "The arm has drifted forward to x=0.387 and is now in contact (shoulder effort positive) at z=0.046 with the can body sitting squarely between the jaw tips in the wrist view. Closing the gripper to grab the can.",
        "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_01KR9HGzFuDNjFZnk6ieEdqD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3603, 1.8675, 0.5243, 0.6346, -0.8719, -0.9192, 0.0109, -0.0208, 0.8173, 0.6018, -0.6571, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.377 left_y=0.0063 left_z=0.0199 left_yaw=0.8102 left_pitch=0.1192 left_roll=-0.2888 left_gripper=0.0109 right_x=0.2503 right_y=0.0017 right_z=0.1219 right_yaw=0.0001 right_pitch=-0.2838 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -6.2154, 3.1795, 1.3846, -0.3736, 0.022, 0.8571, -0.0342, -0.9641, 6.7624, 1.6288, -0.0806, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a11e09ea4441995f4252424d020d2419fa8e1c71677153b51f1cf26e504af98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daedfb9f1629005d6f416b49ddea33c0395b7a8bca076518eb668a3e9c879eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ff0d2aa1c5bc7d97d99944cea62f60e557d25431948c36da4213461a538276f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 13.98 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]: [-0.3664, 1.6436, 0.5541, 0.2485, -0.8318, -0.8501, 0.9985, -0.0212, 0.8146, 0.6056, -0.614, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=0.0063 left_z=0.0451 left_yaw=0.7295 left_pitch=0.0451 left_roll=-0.1195 left_gripper=0.9985 right_x=0.2589 right_y=0.0014 right_z=0.1312 right_yaw=-0.0006 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -3.0427, 2.8513, 0.2564, 0.1587, 0.1734, -0.1685, -0.1846, -1.2513, 6.8444, 1.8242, -0.022, -0.0171, -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]: [-0.3706, 1.8038, 0.5545, 0.6033, -0.8822, -0.9039, 0.9985, -0.0212, 0.8173, 0.6018, -0.6331, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3872 left_y=-0.0003 left_z=0.0458 left_yaw=0.8075 left_pitch=0.1518 left_roll=-0.3306 left_gripper=0.9985 right_x=0.2548 right_y=0.0015 right_z=0.1258 right_yaw=-0.0008 right_pitch=-0.2597 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4034, 0.2393, -0.1436, -0.3004, 0.5201, -0.1636, -0.1685, -0.1299, -1.3333, 7.0769, 1.6484, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.3603, 1.8675, 0.5243, 0.6346, -0.8719, -0.9192, 0.0109, -0.0208, 0.8173, 0.6018, -0.6571, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.377 left_y=0.0063 left_z=0.0199 left_yaw=0.8102 left_pitch=0.1192 left_roll=-0.2888 left_gripper=0.0109 right_x=0.2503 right_y=0.0017 right_z=0.1219 right_yaw=0.0001 right_pitch=-0.2838 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -6.2154, 3.1795, 1.3846, -0.3736, 0.022, 0.8571, -0.0342, -0.9641, 6.7624, 1.6288, -0.0806, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a11e09ea4441995f4252424d020d2419fa8e1c71677153b51f1cf26e504af98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daedfb9f1629005d6f416b49ddea33c0395b7a8bca076518eb668a3e9c879eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff0d2aa1c5bc7d97d99944cea62f60e557d25431948c36da4213461a538276f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018GcAVNpSTq2E1bS9se9vvh",
      "input": {
        "note": "Second close was empty too; the overhead view shows the can was pushed forward and now sits left of the burner at roughly x≈0.42–0.47 in the left arm's frame. Lifting to 12 cm and moving forward over that spot to re-acquire it in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": 0.0,
          "left_yaw": 0.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018GcAVNpSTq2E1bS9se9vvh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2592, 1.6058, 0.8268, 0.0357, -0.6434, -0.5652, 0.9955, -0.0212, 0.8173, 0.6018, -0.6762, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4162 left_y=0.003 left_z=0.1035 left_yaw=0.553 left_pitch=0.0026 left_roll=-0.0336 left_gripper=0.9955 right_x=0.2466 right_y=0.0016 right_z=0.1189 right_yaw=-0.0005 right_pitch=-0.3028 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.0598, 8.3761, 1.37, -0.2076, 0.1441, -0.149, 0.0068, -0.9915, 6.9265, 1.5946, -0.0611, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f30f4f26ed0ace32f232b53eb0012f6b783cf22819ca0a64a1972b807353be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b56f31208be319602fea989d70985d6ac70e0e64c84950eb44cc9da254bfd8e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2de2979788284a85b86212074b453cbb605784c7ab5cabaa4ba215353441a88a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 12.62 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]: [-0.3706, 1.8038, 0.5545, 0.6033, -0.8822, -0.9039, 0.9985, -0.0212, 0.8173, 0.6018, -0.6331, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3872 left_y=-0.0003 left_z=0.0458 left_yaw=0.8075 left_pitch=0.1518 left_roll=-0.3306 left_gripper=0.9985 right_x=0.2548 right_y=0.0015 right_z=0.1258 right_yaw=-0.0008 right_pitch=-0.2597 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4034, 0.2393, -0.1436, -0.3004, 0.5201, -0.1636, -0.1685, -0.1299, -1.3333, 7.0769, 1.6484, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.3603, 1.8675, 0.5243, 0.6346, -0.8719, -0.9192, 0.0109, -0.0208, 0.8173, 0.6018, -0.6571, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.377 left_y=0.0063 left_z=0.0199 left_yaw=0.8102 left_pitch=0.1192 left_roll=-0.2888 left_gripper=0.0109 right_x=0.2503 right_y=0.0017 right_z=0.1219 right_yaw=0.0001 right_pitch=-0.2838 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -6.2154, 3.1795, 1.3846, -0.3736, 0.022, 0.8571, -0.0342, -0.9641, 6.7624, 1.6288, -0.0806, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2592, 1.6058, 0.8268, 0.0357, -0.6434, -0.5652, 0.9955, -0.0212, 0.8173, 0.6018, -0.6762, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4162 left_y=0.003 left_z=0.1035 left_yaw=0.553 left_pitch=0.0026 left_roll=-0.0336 left_gripper=0.9955 right_x=0.2466 right_y=0.0016 right_z=0.1189 right_yaw=-0.0005 right_pitch=-0.3028 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.0598, 8.3761, 1.37, -0.2076, 0.1441, -0.149, 0.0068, -0.9915, 6.9265, 1.5946, -0.0611, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f30f4f26ed0ace32f232b53eb0012f6b783cf22819ca0a64a1972b807353be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b56f31208be319602fea989d70985d6ac70e0e64c84950eb44cc9da254bfd8e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2de2979788284a85b86212074b453cbb605784c7ab5cabaa4ba215353441a88a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S4D9UYgnGHAymGSpJMWF9W",
      "input": {
        "note": "Overhead shows the can lying just left of the burner with its axis pointing forward-back, about 7 cm to the right of the left gripper; the wrist view confirms it at bottom-right. Shifting right over it and yawing back near 0 so the jaws close across the can's diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.075,
          "left_yaw": 0.1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01S4D9UYgnGHAymGSpJMWF9W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3271, 1.5921, 0.7506, 0.1459, -0.4244, -0.3347, 0.9985, -0.0212, 0.8173, 0.6018, -0.68, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4138 left_y=-0.0598 left_z=0.0853 left_yaw=0.1912 left_pitch=-0.0488 left_roll=0.0141 left_gripper=0.9985 right_x=0.2459 right_y=0.0017 right_z=0.1183 right_yaw=-0.0005 right_pitch=-0.3066 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.7316, 5.5453, 1.9463, 0.0464, 0.1929, -0.1685, -0.0205, -1.1145, 6.8581, 1.4432, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5727535c87e103f2b1108127d5f0db695536c79c604d35ddc91d3496737df368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a423b95cf6f01115d6e6212f6ccb62b464d4e3920ca68ba5a1d644d9e8b644fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c518211c5bdeb1957b3db5e22c386fea9129fc4cdf94c39eb9e54e8c4c18118b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 7.457 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]: [-0.3603, 1.8675, 0.5243, 0.6346, -0.8719, -0.9192, 0.0109, -0.0208, 0.8173, 0.6018, -0.6571, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.377 left_y=0.0063 left_z=0.0199 left_yaw=0.8102 left_pitch=0.1192 left_roll=-0.2888 left_gripper=0.0109 right_x=0.2503 right_y=0.0017 right_z=0.1219 right_yaw=0.0001 right_pitch=-0.2838 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -6.2154, 3.1795, 1.3846, -0.3736, 0.022, 0.8571, -0.0342, -0.9641, 6.7624, 1.6288, -0.0806, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2592, 1.6058, 0.8268, 0.0357, -0.6434, -0.5652, 0.9955, -0.0212, 0.8173, 0.6018, -0.6762, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4162 left_y=0.003 left_z=0.1035 left_yaw=0.553 left_pitch=0.0026 left_roll=-0.0336 left_gripper=0.9955 right_x=0.2466 right_y=0.0016 right_z=0.1189 right_yaw=-0.0005 right_pitch=-0.3028 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.0598, 8.3761, 1.37, -0.2076, 0.1441, -0.149, 0.0068, -0.9915, 6.9265, 1.5946, -0.0611, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3271, 1.5921, 0.7506, 0.1459, -0.4244, -0.3347, 0.9985, -0.0212, 0.8173, 0.6018, -0.68, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4138 left_y=-0.0598 left_z=0.0853 left_yaw=0.1912 left_pitch=-0.0488 left_roll=0.0141 left_gripper=0.9985 right_x=0.2459 right_y=0.0017 right_z=0.1183 right_yaw=-0.0005 right_pitch=-0.3066 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.7316, 5.5453, 1.9463, 0.0464, 0.1929, -0.1685, -0.0205, -1.1145, 6.8581, 1.4432, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5727535c87e103f2b1108127d5f0db695536c79c604d35ddc91d3496737df368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a423b95cf6f01115d6e6212f6ccb62b464d4e3920ca68ba5a1d644d9e8b644fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c518211c5bdeb1957b3db5e22c386fea9129fc4cdf94c39eb9e54e8c4c18118b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TSD5Gu9zq2wNQFLaZKobss",
      "input": {
        "note": "The can is now large in the left wrist view, its body to the right of the jaw column and tilted with its cap end far-left. Shifting another ~4.5 cm right, adding yaw to align with the can's axis, and descending to 5 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.105,
          "left_yaw": 0.45,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TSD5Gu9zq2wNQFLaZKobss",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5331, 1.8359, 0.8856, 0.1295, -0.6899, -0.6296, 0.9985, -0.0212, 0.8192, 0.6018, -0.6971, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4217 left_y=-0.1141 left_z=0.0515 left_yaw=0.3481 left_pitch=-0.0247 left_roll=-0.0076 left_gripper=0.9985 right_x=0.2426 right_y=0.0017 right_z=0.1153 right_yaw=-0.0004 right_pitch=-0.3257 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.0205, 6.9265, 1.3211, -0.5641, -0.0611, -0.1685, -0.0205, -1.1966, 6.694, 1.5751, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0074d2f6aa966ddad747654def3132e0942a5c8a427adcd0dc71fa4a416846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e254ee4c557d93b1e9cdb181e64e8089405e930abc05aaecdee7f42b858be283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f84aa16e7aec6be91d15cb7773ee16b7c187fc772a0b3183c5a4f2b7ccde7575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 5.719 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]: [-0.2592, 1.6058, 0.8268, 0.0357, -0.6434, -0.5652, 0.9955, -0.0212, 0.8173, 0.6018, -0.6762, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4162 left_y=0.003 left_z=0.1035 left_yaw=0.553 left_pitch=0.0026 left_roll=-0.0336 left_gripper=0.9955 right_x=0.2466 right_y=0.0016 right_z=0.1189 right_yaw=-0.0005 right_pitch=-0.3028 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.0598, 8.3761, 1.37, -0.2076, 0.1441, -0.149, 0.0068, -0.9915, 6.9265, 1.5946, -0.0611, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3271, 1.5921, 0.7506, 0.1459, -0.4244, -0.3347, 0.9985, -0.0212, 0.8173, 0.6018, -0.68, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4138 left_y=-0.0598 left_z=0.0853 left_yaw=0.1912 left_pitch=-0.0488 left_roll=0.0141 left_gripper=0.9985 right_x=0.2459 right_y=0.0017 right_z=0.1183 right_yaw=-0.0005 right_pitch=-0.3066 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.7316, 5.5453, 1.9463, 0.0464, 0.1929, -0.1685, -0.0205, -1.1145, 6.8581, 1.4432, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5331, 1.8359, 0.8856, 0.1295, -0.6899, -0.6296, 0.9985, -0.0212, 0.8192, 0.6018, -0.6971, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4217 left_y=-0.1141 left_z=0.0515 left_yaw=0.3481 left_pitch=-0.0247 left_roll=-0.0076 left_gripper=0.9985 right_x=0.2426 right_y=0.0017 right_z=0.1153 right_yaw=-0.0004 right_pitch=-0.3257 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.0205, 6.9265, 1.3211, -0.5641, -0.0611, -0.1685, -0.0205, -1.1966, 6.694, 1.5751, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0074d2f6aa966ddad747654def3132e0942a5c8a427adcd0dc71fa4a416846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e254ee4c557d93b1e9cdb181e64e8089405e930abc05aaecdee7f42b858be283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f84aa16e7aec6be91d15cb7773ee16b7c187fc772a0b3183c5a4f2b7ccde7575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7wcKEAgRGAI4AUIIdGhpbmtpbmcSDPF92UIy+ZmogkaroBoMlQLe16bpx1NxDGxlIjD+mLCrLziB0NCdEU+eGRZpCd2JW/FmAHn/XKqVeHMKwFfwp7jaej/5N4nSfTAyW0UqjAfZZE2UyqNNKz0aJF6ZF278xyeo0n/6snnyEjh2syP5QWJJLtqBM78DMwYGInrOJZbmxV9vx0BWfOfMxcPl609jWZWYagK4rZAHEC+bIVl4rzyKqjlkA3VVoJTf2/8AnGLnXCJiZmOiJDnCBqf3t8GYeLW7Aok+QJflq6ap35Wd+J5/MhzcQ/ARWGrmsjIfTomyRF7qTd51U7kS26uv1lVjBSUinjXo3bLZ5IponGbyh2enRNnY+hxj+3aqlfTcTfIRfwrb+z5n76Uz/KEOPBjBPNF9dIG+Fm0olxZZV/jR89RrFI2TtngXe8JrD2bYjUE1LnpUxJhP1/vuGljEGyonh7y4+xbVx1v5guZQMrm6pRWtbIualffmC4B1jtNPsMNI2uv8y3BNT6KeC+C5r2vEs3XfJSRxcnJNlK3FncbndTz8w5QTN7eYKPriCB91CCViYzRHl+sMBJ4zDiJAidYSuwF3RAGqEOzl7yqspaitOs5exbLTkuqLV5O690dEFv3yG0CdgZw11bQyXu3gdlKztBGv3qeTET1U3XpVYYdfD3HE3LCycwnoXHEAL04Kcqn9m+WnIMi4mrh4XPzQ08irE5Ig6gXBlPAkoy41dKzecttqKRAxqk5PFaqj/IE3MvVeAdTSk8u6JgiqzY0Gs7rs8l3eGO1Amkmec9mDoQBOlVSxdm05DRoXwuan0UrDo/AWukQvNnMpHGBA5fg/8UNmOgP02E5A2yzfAOUKylbihZy96Triq0tbWP34q0mKa034qmbQKWLncxpQczKBtHa1ExVEWI45/TmxkJxSoXb6ATGmAEu2dxATw2dOt4eZoeltpcq1NV5ijEyW0FLdmc2Rms75Kfp065LE+5Azg6bYNcy82DD4ITBNTdKEPwBzrkj67fBiTBcwcmEMhA0moh5egOUUn+ir2XEKNLZ1CLZEL7P0W5gNauaW6m6e/rp2UyWD2dctxZJ/l/Kh9hX1Cm3HzAQEEk68TZQ1FHK978qfkyWzEyQR9QqZcyedbcUqSNeEe9GKI9zRqEiP+iy+nxoT5lBaWQHvsQRnTI2syUiy0rBN+RDu1mSrikIZTFa6wj/gxBwl9dRP7eMSliNythDEtMhaWBpzE/FCslBrNnlqp1GB4rLBiMdzr4esLrobw1R/SsIA0s6unCzzeL2okDO2i70mpMW7uzwyhhhKRDzjkAdHrkZOCpmEHGTB2hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GGbDjpY4Ui14thRvZD4fQc",
      "input": {
        "note": "The can now sits squarely between the jaws in the left wrist view, axis nearly vertical and body extending under the fingertips. Descending to table level so the jaws straddle the can at its mid-height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.116,
          "left_yaw": 0.4,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GGbDjpY4Ui14thRvZD4fQc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5571, 2.0201, 0.8585, 0.2928, -0.7715, -0.6975, 0.9985, -0.0212, 0.8227, 0.6018, -0.7052, -0.0185, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.4186 left_y=-0.1115 left_z=-0.0012 left_yaw=0.4163 left_pitch=-0.0043 left_roll=0.0111 left_gripper=0.9985 right_x=0.241 right_y=0.0018 right_z=0.1133 right_yaw=-0.0005 right_pitch=-0.3372 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.0222, 3.9316, 1.0427, 0.0317, 0.0806, -0.1685, -0.0205, -1.3607, 6.694, 1.4628, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c824ac43dc0e3f871976f698d1cffe9d863f6938e00c24ae915b36b138eec36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1514b373960b4c649f2e74e8267bb0a4a8790b36db19e394f3302b97a889a2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c405c3720038f55b219e56f7b891a9dc48b874629496611d2f8f58c165967a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 5.728 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]: [-0.3271, 1.5921, 0.7506, 0.1459, -0.4244, -0.3347, 0.9985, -0.0212, 0.8173, 0.6018, -0.68, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4138 left_y=-0.0598 left_z=0.0853 left_yaw=0.1912 left_pitch=-0.0488 left_roll=0.0141 left_gripper=0.9985 right_x=0.2459 right_y=0.0017 right_z=0.1183 right_yaw=-0.0005 right_pitch=-0.3066 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.7316, 5.5453, 1.9463, 0.0464, 0.1929, -0.1685, -0.0205, -1.1145, 6.8581, 1.4432, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5331, 1.8359, 0.8856, 0.1295, -0.6899, -0.6296, 0.9985, -0.0212, 0.8192, 0.6018, -0.6971, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4217 left_y=-0.1141 left_z=0.0515 left_yaw=0.3481 left_pitch=-0.0247 left_roll=-0.0076 left_gripper=0.9985 right_x=0.2426 right_y=0.0017 right_z=0.1153 right_yaw=-0.0004 right_pitch=-0.3257 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.0205, 6.9265, 1.3211, -0.5641, -0.0611, -0.1685, -0.0205, -1.1966, 6.694, 1.5751, -0.0366, -0.0659, -0.0122]",
      "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]: [-0.5571, 2.0201, 0.8585, 0.2928, -0.7715, -0.6975, 0.9985, -0.0212, 0.8227, 0.6018, -0.7052, -0.0185, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.4186 left_y=-0.1115 left_z=-0.0012 left_yaw=0.4163 left_pitch=-0.0043 left_roll=0.0111 left_gripper=0.9985 right_x=0.241 right_y=0.0018 right_z=0.1133 right_yaw=-0.0005 right_pitch=-0.3372 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.0222, 3.9316, 1.0427, 0.0317, 0.0806, -0.1685, -0.0205, -1.3607, 6.694, 1.4628, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c824ac43dc0e3f871976f698d1cffe9d863f6938e00c24ae915b36b138eec36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1514b373960b4c649f2e74e8267bb0a4a8790b36db19e394f3302b97a889a2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c405c3720038f55b219e56f7b891a9dc48b874629496611d2f8f58c165967a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Reached table level with the can filling the view between the jaws. Closing now.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q3GEcJrdnbCBUfFxHz4BBr",
      "input": {
        "note": "The gripper is at table level (z≈0) and the can's body fills the wrist view between the two jaws. Closing 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_01Q3GEcJrdnbCBUfFxHz4BBr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5579, 2.0327, 0.8555, 0.3325, -0.7757, -0.7086, 0.7016, -0.0212, 0.823, 0.6018, -0.7246, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.113 left_z=-0.0015 left_yaw=0.4244 left_pitch=0.0118 left_roll=-0.0164 left_gripper=0.7016 right_x=0.2371 right_y=0.0019 right_z=0.1104 right_yaw=0.0002 right_pitch=-0.357 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.2359, 4.7385, 0.9304, -0.2613, 0.0464, 1.033, -0.1162, -1.1145, 6.6803, 1.5018, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2187b88540299755cc0ec436c3dfc66b0fd19afc908741ca3444c4eda3119e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e8b0280d4b0e3c56637558be6a4df582adcce97ad04af41f5a67179c74f484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f654e46689f18943cca23dd75365b9a6288ed8b5ef5ee08ecbffe409011cfec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 16.44 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]: [-0.5331, 1.8359, 0.8856, 0.1295, -0.6899, -0.6296, 0.9985, -0.0212, 0.8192, 0.6018, -0.6971, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4217 left_y=-0.1141 left_z=0.0515 left_yaw=0.3481 left_pitch=-0.0247 left_roll=-0.0076 left_gripper=0.9985 right_x=0.2426 right_y=0.0017 right_z=0.1153 right_yaw=-0.0004 right_pitch=-0.3257 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.0205, 6.9265, 1.3211, -0.5641, -0.0611, -0.1685, -0.0205, -1.1966, 6.694, 1.5751, -0.0366, -0.0659, -0.0122]",
      "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]: [-0.5571, 2.0201, 0.8585, 0.2928, -0.7715, -0.6975, 0.9985, -0.0212, 0.8227, 0.6018, -0.7052, -0.0185, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.4186 left_y=-0.1115 left_z=-0.0012 left_yaw=0.4163 left_pitch=-0.0043 left_roll=0.0111 left_gripper=0.9985 right_x=0.241 right_y=0.0018 right_z=0.1133 right_yaw=-0.0005 right_pitch=-0.3372 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.0222, 3.9316, 1.0427, 0.0317, 0.0806, -0.1685, -0.0205, -1.3607, 6.694, 1.4628, -0.0366, -0.0122, -0.0122]",
      "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]: [-0.5579, 2.0327, 0.8555, 0.3325, -0.7757, -0.7086, 0.7016, -0.0212, 0.823, 0.6018, -0.7246, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.113 left_z=-0.0015 left_yaw=0.4244 left_pitch=0.0118 left_roll=-0.0164 left_gripper=0.7016 right_x=0.2371 right_y=0.0019 right_z=0.1104 right_yaw=0.0002 right_pitch=-0.357 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.2359, 4.7385, 0.9304, -0.2613, 0.0464, 1.033, -0.1162, -1.1145, 6.6803, 1.5018, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2187b88540299755cc0ec436c3dfc66b0fd19afc908741ca3444c4eda3119e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e8b0280d4b0e3c56637558be6a4df582adcce97ad04af41f5a67179c74f484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f654e46689f18943cca23dd75365b9a6288ed8b5ef5ee08ecbffe409011cfec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5AYKEAgRGAI4AUIIdGhpbmtpbmcSDD+TvDUsPcVGuUfrwBoMamcQM0thICFDFOeTIjDX8tKgKkYwKw7WzYB7/LXc1Bh8gvfZtIXrxt2Sy3dWW62bTc+DuVynsr2YYI0IUTcqgQbwvTlzISAjCCobZHW6u+cG9hl7Fkic4TvrMGVAtN9+CWHr07gGZDdunGcjmclhH9ZgarP5UuhvDxmFKIZQbZuzrtybxeYS1Uhx1+7sHHn9zQwgppfW54P/CvyKAekFD6XXDX+7o+MlnOK+9rjrPnumvemCXSBEAXH4mTywGCdGuYE7KzrEQ4OEwNF83cC3DsgyJBSiY7/HltCYDrXW8vBl/6AGaAuwce272t0DTIBmsk6T0ZCsDDL1JiSHM3yfqDh2MfO0kTVVjQcSgQU5xqHRmu9+NwkLoLltqc32qAHmu3GYOPdF19Gm3y3JT/Nkhmvz0agxf9L0NMnAlhUnt/GunTUAo36ZkQsgDglw/LFlSYvQlLACYAcm6x3O6ZTTSq1uM4Q75W7VQFsIxQOkYDBkdoWwHuzNky1CcA5Rbm75ZsEI9kVVUgFW42HqOcyLyVBBGD3UVB4pCd6QKnXgYPiKoLuVEfI9YJ8qLjbnNTVd2k4C3cZS4ADa/fVed3qVSC7zFPCDKU1pWZtKk1n+pvKeol/MK2MPMPm3lypbkwTP5J7Fw5Xin7GD3VhB+vZgm5EChYeyCRP9psmz7vhD6sT1x7E/8gdS1K9TnLlKz260pjxYkAhycJ8o9E/xKHH4QnVqmKWljnCrlbsBFbLdGIzagGQbMJQyo1Kuu8jnldwXUTrjSS2h6ZuSiTchJ2M7vxa/rZiJ0i0siu9whv3UysbmjrG/ruIyF8YpKVMUHIYlRAAz3oPEVUHrBZHPjIqygr07G1EL4pLCBTHNX+hWAy/gYgDbZ4kCyMmZAI/3crLJ2tHa4LVj3V4MALHMT8wGadhJ9vyrV4pM3+OSY+heXNv24KxDCu2pE5/jH5N5TTbbJVnD3uBVXqrM4O8mhvaHUP8u2CAi5bnhZSvfpyb24a4PDBsOncZGulJfhqRsOTW8qzw4+fAU+o2sAXAQaMDS/hXUKdxQ0C3rmhXtBuzI7kWveH9ZAtuxP+nIxlv2t41WxiO85+IcQOXWWPIBbH391E5AGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WMMboFiV5jCjMUqJJX4YGT",
      "input": {
        "note": "The gripper settled at 0.70 (≈6.7 cm), consistent with a can diameter, so the grasp looks solid. Lifting to 17 cm to confirm the can comes with the jaws in the overhead view.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.42,
          "left_y": -0.113,
          "left_yaw": 0.4,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WMMboFiV5jCjMUqJJX4YGT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5556, 1.6779, 1.1072, -0.3054, -0.7521, -0.7067, 0.7007, -0.0212, 0.8238, 0.6018, -0.7399, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.113 left_z=0.1398 left_yaw=0.4103 left_pitch=-0.0207 left_roll=0.001 left_gripper=0.7007 right_x=0.234 right_y=0.002 right_z=0.1081 right_yaw=0.0003 right_pitch=-0.373 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.8103, 9.6479, 1.3211, -0.359, 0.2418, 1.0281, -0.0205, -1.1419, 6.653, 1.4676, -0.0513, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6732bee419418dcf5222963ec4263da7fc0998bc20dfd6eac70acadffcd01801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66e941e06000b366d0d0f3c7ec8b9e802ec5d9ca0d7d272031f67fdd37be735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd8ea1b9dcf20efd57662b4ae7a0f67fb2a8c3d2a07623a3befb5b23e0840345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 10.46 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5571, 2.0201, 0.8585, 0.2928, -0.7715, -0.6975, 0.9985, -0.0212, 0.8227, 0.6018, -0.7052, -0.0185, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.4186 left_y=-0.1115 left_z=-0.0012 left_yaw=0.4163 left_pitch=-0.0043 left_roll=0.0111 left_gripper=0.9985 right_x=0.241 right_y=0.0018 right_z=0.1133 right_yaw=-0.0005 right_pitch=-0.3372 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.0222, 3.9316, 1.0427, 0.0317, 0.0806, -0.1685, -0.0205, -1.3607, 6.694, 1.4628, -0.0366, -0.0122, -0.0122]",
      "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]: [-0.5579, 2.0327, 0.8555, 0.3325, -0.7757, -0.7086, 0.7016, -0.0212, 0.823, 0.6018, -0.7246, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.113 left_z=-0.0015 left_yaw=0.4244 left_pitch=0.0118 left_roll=-0.0164 left_gripper=0.7016 right_x=0.2371 right_y=0.0019 right_z=0.1104 right_yaw=0.0002 right_pitch=-0.357 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.2359, 4.7385, 0.9304, -0.2613, 0.0464, 1.033, -0.1162, -1.1145, 6.6803, 1.5018, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5556, 1.6779, 1.1072, -0.3054, -0.7521, -0.7067, 0.7007, -0.0212, 0.8238, 0.6018, -0.7399, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.113 left_z=0.1398 left_yaw=0.4103 left_pitch=-0.0207 left_roll=0.001 left_gripper=0.7007 right_x=0.234 right_y=0.002 right_z=0.1081 right_yaw=0.0003 right_pitch=-0.373 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.8103, 9.6479, 1.3211, -0.359, 0.2418, 1.0281, -0.0205, -1.1419, 6.653, 1.4676, -0.0513, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6732bee419418dcf5222963ec4263da7fc0998bc20dfd6eac70acadffcd01801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66e941e06000b366d0d0f3c7ec8b9e802ec5d9ca0d7d272031f67fdd37be735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd8ea1b9dcf20efd57662b4ae7a0f67fb2a8c3d2a07623a3befb5b23e0840345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W9bAkm3Vcnwpxb14x73mPM",
      "input": {
        "note": "The can lifted with the gripper (visible held horizontally in the overhead view). Carrying it right and forward toward the burner, which sits about 15 cm to the right and a few cm ahead, keeping height at 20 cm to clear the burner.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.47,
          "left_y": -0.28,
          "left_yaw": 0.3,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01W9bAkm3Vcnwpxb14x73mPM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.1757, 2.0052, -0.8169, -0.7902, -0.8494, 0.7002, -0.0212, 0.8288, 0.6014, -0.7475, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4683 left_y=-0.2776 left_z=0.1846 left_yaw=0.2959 left_pitch=-0.0528 left_roll=-0.0049 left_gripper=0.7002 right_x=0.2324 right_y=0.002 right_z=0.1058 right_yaw=0.0004 right_pitch=-0.386 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -12.5197, 8.9094, 0.9206, -0.6276, 0.0904, 1.033, -0.0889, -1.4701, 6.653, 1.3407, -0.0513, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496a5fc4648981738d6f9bdf15b490599242d4488d2a12954f55e64d6c5a41a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd783a4489204f5e6700a6596a68f313dd2acae9eb488e14c742ff9d52688ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b8f101b5b820a716ec2b3e67f588ddf3f1c11d747fc5e2a2389141351248488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 5.988 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]: [-0.5579, 2.0327, 0.8555, 0.3325, -0.7757, -0.7086, 0.7016, -0.0212, 0.823, 0.6018, -0.7246, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.113 left_z=-0.0015 left_yaw=0.4244 left_pitch=0.0118 left_roll=-0.0164 left_gripper=0.7016 right_x=0.2371 right_y=0.0019 right_z=0.1104 right_yaw=0.0002 right_pitch=-0.357 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.2359, 4.7385, 0.9304, -0.2613, 0.0464, 1.033, -0.1162, -1.1145, 6.6803, 1.5018, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5556, 1.6779, 1.1072, -0.3054, -0.7521, -0.7067, 0.7007, -0.0212, 0.8238, 0.6018, -0.7399, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.113 left_z=0.1398 left_yaw=0.4103 left_pitch=-0.0207 left_roll=0.001 left_gripper=0.7007 right_x=0.234 right_y=0.002 right_z=0.1081 right_yaw=0.0003 right_pitch=-0.373 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.8103, 9.6479, 1.3211, -0.359, 0.2418, 1.0281, -0.0205, -1.1419, 6.653, 1.4676, -0.0513, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.1757, 2.0052, -0.8169, -0.7902, -0.8494, 0.7002, -0.0212, 0.8288, 0.6014, -0.7475, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4683 left_y=-0.2776 left_z=0.1846 left_yaw=0.2959 left_pitch=-0.0528 left_roll=-0.0049 left_gripper=0.7002 right_x=0.2324 right_y=0.002 right_z=0.1058 right_yaw=0.0004 right_pitch=-0.386 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -12.5197, 8.9094, 0.9206, -0.6276, 0.0904, 1.033, -0.0889, -1.4701, 6.653, 1.3407, -0.0513, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496a5fc4648981738d6f9bdf15b490599242d4488d2a12954f55e64d6c5a41a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd783a4489204f5e6700a6596a68f313dd2acae9eb488e14c742ff9d52688ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b8f101b5b820a716ec2b3e67f588ddf3f1c11d747fc5e2a2389141351248488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HTC4xkjyYCb7omcGerJRHx",
      "input": {
        "note": "The left arm now hovers over the burner (the arm hides it in the overhead view, and the burner's red knob shows at the right edge of the wrist view). Lowering the can to about 9 cm so it comes to rest on the burner plate.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.47,
          "left_y": -0.28,
          "left_yaw": 0.3,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HTC4xkjyYCb7omcGerJRHx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7784, 2.2124, 1.7313, -0.5495, -0.7715, -0.8505, 0.7001, -0.0212, 0.8295, 0.6014, -0.7551, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4622 left_y=-0.2778 left_z=0.0948 left_yaw=0.2849 left_pitch=-0.0874 left_roll=0.0243 left_gripper=0.7001 right_x=0.2308 right_y=0.002 right_z=0.1046 right_yaw=0.0002 right_pitch=-0.3944 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.8786, 6.5709, 1.4286, -0.5788, -0.1001, 1.0281, -0.1846, -1.1282, 6.7897, 1.3211, -0.0855, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2656469be070462d0e3989daba354446e6ffd79d91d16ef2d2170cf951c22f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea221099756ef5e954fabc9733a29e1022c4ace0794979caa201c8e21e59873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d493554666dc766cd9e5ee6621861e4705d1bb358663d1c16daeba27cc537c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 4.891 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5556, 1.6779, 1.1072, -0.3054, -0.7521, -0.7067, 0.7007, -0.0212, 0.8238, 0.6018, -0.7399, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.113 left_z=0.1398 left_yaw=0.4103 left_pitch=-0.0207 left_roll=0.001 left_gripper=0.7007 right_x=0.234 right_y=0.002 right_z=0.1081 right_yaw=0.0003 right_pitch=-0.373 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.8103, 9.6479, 1.3211, -0.359, 0.2418, 1.0281, -0.0205, -1.1419, 6.653, 1.4676, -0.0513, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.1757, 2.0052, -0.8169, -0.7902, -0.8494, 0.7002, -0.0212, 0.8288, 0.6014, -0.7475, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4683 left_y=-0.2776 left_z=0.1846 left_yaw=0.2959 left_pitch=-0.0528 left_roll=-0.0049 left_gripper=0.7002 right_x=0.2324 right_y=0.002 right_z=0.1058 right_yaw=0.0004 right_pitch=-0.386 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -12.5197, 8.9094, 0.9206, -0.6276, 0.0904, 1.033, -0.0889, -1.4701, 6.653, 1.3407, -0.0513, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7784, 2.2124, 1.7313, -0.5495, -0.7715, -0.8505, 0.7001, -0.0212, 0.8295, 0.6014, -0.7551, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4622 left_y=-0.2778 left_z=0.0948 left_yaw=0.2849 left_pitch=-0.0874 left_roll=0.0243 left_gripper=0.7001 right_x=0.2308 right_y=0.002 right_z=0.1046 right_yaw=0.0002 right_pitch=-0.3944 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.8786, 6.5709, 1.4286, -0.5788, -0.1001, 1.0281, -0.1846, -1.1282, 6.7897, 1.3211, -0.0855, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2656469be070462d0e3989daba354446e6ffd79d91d16ef2d2170cf951c22f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea221099756ef5e954fabc9733a29e1022c4ace0794979caa201c8e21e59873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d493554666dc766cd9e5ee6621861e4705d1bb358663d1c16daeba27cc537c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwwcKEAgRGAI4AUIIdGhpbmtpbmcSDMA5m3ju86S8z9lSexoMH+qlLgcZHL0VAIl2IjACEssQadLXMYlH7PhVwJsopIXahMNefbXwo5izWZ6gmAExVyUt3MFqw5k6f5ZTBMwq4AbzjqPJkP2X+dMcQCRVvaiDK8nd8UT/kgIJGrVbVoZ/jcoJ471LYHbjpgOIN3755kfQwD4OMs1eXHx7LjP6EU0j2wusonukwtly9xNlBZ7ffelU1RppooBnrP0wUtu3pQyJej4K7dkzlJd2aArimF8LyE6NwOKL3sP0xVkj7Fe76mxrdAKjsvUDoqp3S9IvmafAaJj3mr23QYxWdfuT/N17eBFCl6ptHrZebls1561CADg9N9PUM2ZUTWLQp5DTo3QpiA5ydTNzeajd9DRNDLejWH0GLdIblH+FCUH8gDgv57tP7OX4U4Kp1+dxOsJz9IE5QH++nGxjlRWjaXOWFaoVmzplNbZuKLm+eFxXweRo5G3SPY4UbcMGI9CL7gsXr88qigLo5SmHmRUqiP9ypc5kSlSvhyHSiWRmZTlKNExeBqR5flEsiB2Nx73is+MuhbCAzjBJ0VGFEfhX9SwSp3YGpdXDRDkeAXHU6ZCB4CWzwIuWx3Qzw0L1SubsXfZ1Uo/y7JfbaPJi2izb3J5YbNQ+TEk69OSkE4tA/jlWDiwDSJG6pTDH8riP6SYdvuXh8P3mywtESzmnrlCtrCiwXftbUj3dsTfMXUkkzxbBmBGzRivWW3hnD4rqazy7ij+TDJ4Neze7kc5H6BK5h+DRhMJRr7iER0g2/OG06pijNv6DqgvbjwgfW7ZgYTQWNR7agPB+5ciR5e4vqg3QxD/lbr6XhqeapjnLCQLFkhqLGHeeMmoahMrR2ZxVtOUyvOglqc276wKSHO4YQmpFQlC93++9Pn6/X0jcrU008wffEhVJOtBQS3moEJjFBsVxRJJOhPWn9OLesJ9ImBWYezfI6J0o1j7mc0W4+SLoemS+4cHl8e6hCf/C9YeaNqFG21xjqnaG19cjPtf9LYlbJIqUceMi8Q+4KSn7pEFDW2cYRZHUvdvFEpxy0UQ1G04zT0Rs66q+Y0OE8Ddd0roOOCQMChraW0Qf4qxxdhJphB0QTD8NhKc2JwPap94W/Yd4MCLVwOAE3ElE/yPVTl3f33hMjnzRK8pqajkF5luMBojCjWQfAntLui/z0EdK307De79fbB5vz3elH5DmrP9HiE8cksRzTWC/oDHo8VXPXFw0en/0YC7pRemLx/rVqgkKsZBawYMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BQmxdFikwd1EUYX6SQKswj",
      "input": {
        "note": "The wrist view now shows the burner's coil directly beneath the held can, so it is over the burner. Lowering a few more centimetres until the can rests on the plate before releasing.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.465,
          "left_y": -0.285,
          "left_yaw": 0.3,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BQmxdFikwd1EUYX6SQKswj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7883, 2.2707, 1.726, -0.4919, -0.7876, -0.8772, 0.6965, -0.0212, 0.8295, 0.6014, -0.7692, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2849 left_z=0.0708 left_yaw=0.2987 left_pitch=-0.0778 left_roll=0.0151 left_gripper=0.6965 right_x=0.2279 right_y=0.002 right_z=0.1027 right_yaw=0.0003 right_pitch=-0.4085 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.8786, 6.2701, 1.1355, -0.149, -0.1099, 1.0281, -0.212, -1.0462, 6.8171, 1.4383, -0.0611, 0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378deb53e8e0ca2228c43ddec32dcf2833cc2e2ceb526681323a6848f8499203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:984beafeafae16d18f120a0cca7b336cd4bf035088f99551fb4764b19336c70d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bd6e4ba06c580858c4a87d738d2a6409ac86e29b40472f4a98aa9245fdfee0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 4.579 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.1757, 2.0052, -0.8169, -0.7902, -0.8494, 0.7002, -0.0212, 0.8288, 0.6014, -0.7475, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4683 left_y=-0.2776 left_z=0.1846 left_yaw=0.2959 left_pitch=-0.0528 left_roll=-0.0049 left_gripper=0.7002 right_x=0.2324 right_y=0.002 right_z=0.1058 right_yaw=0.0004 right_pitch=-0.386 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -12.5197, 8.9094, 0.9206, -0.6276, 0.0904, 1.033, -0.0889, -1.4701, 6.653, 1.3407, -0.0513, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7784, 2.2124, 1.7313, -0.5495, -0.7715, -0.8505, 0.7001, -0.0212, 0.8295, 0.6014, -0.7551, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4622 left_y=-0.2778 left_z=0.0948 left_yaw=0.2849 left_pitch=-0.0874 left_roll=0.0243 left_gripper=0.7001 right_x=0.2308 right_y=0.002 right_z=0.1046 right_yaw=0.0002 right_pitch=-0.3944 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.8786, 6.5709, 1.4286, -0.5788, -0.1001, 1.0281, -0.1846, -1.1282, 6.7897, 1.3211, -0.0855, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7883, 2.2707, 1.726, -0.4919, -0.7876, -0.8772, 0.6965, -0.0212, 0.8295, 0.6014, -0.7692, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2849 left_z=0.0708 left_yaw=0.2987 left_pitch=-0.0778 left_roll=0.0151 left_gripper=0.6965 right_x=0.2279 right_y=0.002 right_z=0.1027 right_yaw=0.0003 right_pitch=-0.4085 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.8786, 6.2701, 1.1355, -0.149, -0.1099, 1.0281, -0.212, -1.0462, 6.8171, 1.4383, -0.0611, 0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378deb53e8e0ca2228c43ddec32dcf2833cc2e2ceb526681323a6848f8499203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:984beafeafae16d18f120a0cca7b336cd4bf035088f99551fb4764b19336c70d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd6e4ba06c580858c4a87d738d2a6409ac86e29b40472f4a98aa9245fdfee0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxgYKEAgRGAI4AUIIdGhpbmtpbmcSDG4gcUKakCXEltwo3BoMlDOE3kRxHyI1+SqUIjDMInazUGMuoagLIZx5w7BMpOKmQTpHliJ9BykiM5NOwEelcoNepo7SXfj5+i0qa/8q4wUooof4zuTXlodf4y3Jg/gX4XvsDnJAz3wwVAW9JJ0mYnt4TKn9uu979w09hYf1XmJD8qRqxsuvRq1lO3WsQusuyy3JYevSdqFkrND5WRDkGmccNJwN0wZNMkzuyEPSlQcOCUF7ukpG1Nv6XqwDRGs4Ruqke1FJtu4kBKrkwHv5QQtjK2HfNKfziqCHJsgew8wt1Rhvf21oBy+mSgGCD5kD9HZVWOpXW7x/d6ML5er0cXJUL056koQN82KvYsVy1KLcKxzpkFOfc4IfYAdkkr2NhzanNf2xSwYPLKpUu5kNPAl+acV3TXRybd/ifV9tawcJiwgmuK5HeqWNOsXobAV/yx9kdv0ZiivKToRSGtoFuhercUHB8Ae5PtsbwPdV5L+ag4c/8Wid29xHKPYh6f/8Q8WQqe46ZPXKsnGFWDEAU0yVW94e2ucUpminzmxIa1dZhl1f0XPkh1Wq8/ESdg25f4yzdmUYkvz0PbXfJ7ZHyiv0HzQvKSiNR3hcGjhml3vXbv1XRD6bSr5ga0r05tevGeUxv5+Nor5USf1yp50cpsSE2XgCZ4LAynBa1Baku2AEuM80QXkmissCJ6uTSKHk8Dd2+sNzMTK1OylQVn37qp+7mGnHrsZIwqqlTcV9qse46EtnOviiwJGgsU4kbqSrz14VClnZGjmN5EAhxLr5Um73JTqCO5ud2yftvHh18i4MikF2VSYBXCq7tOXw4GYZG8cxJMSmpWSxGx60yKYSyzqZJaeCeeiyO2K2c/6IY0Tdwun8Tn/zXtWLOlNwKUxErHhfCL2sdz407yYu/1yPLNSvwHt3r268YsgHvmDD2sVHu8p7Goi8jNaEhrWBjz6YkeEIYAe4OR0r1x6VOT/5jlML0Fk+lt+ET7Ba4txcTIlmzTfZvdpRYO6/xOU164vY0RAG14XewNwSAuHAY+rQkNh6DlmnZl6plJKMYXZ4zIvOVPMYtbnBsNQje26UuDsOXLlLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0139vnSCALqDMAgcAixuukHb",
      "input": {
        "note": "Descent stopped at z≈0.07, about where the can's underside should meet the burner plate, and the coil is directly under the can in the wrist view. Opening the gripper to release the can on the burner.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0139vnSCALqDMAgcAixuukHb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7898, 2.2715, 1.726, -0.4896, -0.791, -0.8768, 0.6964, -0.0212, 0.8295, 0.6014, -0.7769, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2854 left_z=0.071 left_yaw=0.2987 left_pitch=-0.0745 left_roll=0.0154 left_gripper=0.6964 right_x=0.2263 right_y=0.0021 right_z=0.1017 right_yaw=0.0004 right_pitch=-0.4161 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -13.053, 6.2564, 1.0867, -0.3834, -0.0073, 1.033, -0.0752, -0.9368, 6.7624, 1.3846, -0.0171, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af1891d611c5ed0757fb176263b8d26de9069a475c3ce27919d1539fcc04938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b49bb91cc5eebf7cba7e77935b36b38f08d8d01b2c355411722368d88319434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce512d1142bb705ee6c6c6c6fa57b56112cd6594a4489697545d8159d6e797c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 6.332 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7784, 2.2124, 1.7313, -0.5495, -0.7715, -0.8505, 0.7001, -0.0212, 0.8295, 0.6014, -0.7551, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4622 left_y=-0.2778 left_z=0.0948 left_yaw=0.2849 left_pitch=-0.0874 left_roll=0.0243 left_gripper=0.7001 right_x=0.2308 right_y=0.002 right_z=0.1046 right_yaw=0.0002 right_pitch=-0.3944 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.8786, 6.5709, 1.4286, -0.5788, -0.1001, 1.0281, -0.1846, -1.1282, 6.7897, 1.3211, -0.0855, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7883, 2.2707, 1.726, -0.4919, -0.7876, -0.8772, 0.6965, -0.0212, 0.8295, 0.6014, -0.7692, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2849 left_z=0.0708 left_yaw=0.2987 left_pitch=-0.0778 left_roll=0.0151 left_gripper=0.6965 right_x=0.2279 right_y=0.002 right_z=0.1027 right_yaw=0.0003 right_pitch=-0.4085 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.8786, 6.2701, 1.1355, -0.149, -0.1099, 1.0281, -0.212, -1.0462, 6.8171, 1.4383, -0.0611, 0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7898, 2.2715, 1.726, -0.4896, -0.791, -0.8768, 0.6964, -0.0212, 0.8295, 0.6014, -0.7769, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2854 left_z=0.071 left_yaw=0.2987 left_pitch=-0.0745 left_roll=0.0154 left_gripper=0.6964 right_x=0.2263 right_y=0.0021 right_z=0.1017 right_yaw=0.0004 right_pitch=-0.4161 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -13.053, 6.2564, 1.0867, -0.3834, -0.0073, 1.033, -0.0752, -0.9368, 6.7624, 1.3846, -0.0171, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af1891d611c5ed0757fb176263b8d26de9069a475c3ce27919d1539fcc04938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b49bb91cc5eebf7cba7e77935b36b38f08d8d01b2c355411722368d88319434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce512d1142bb705ee6c6c6c6fa57b56112cd6594a4489697545d8159d6e797c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStgYKEAgRGAI4AUIIdGhpbmtpbmcSDB/Ocf2nNA6yDMubdBoMjA7EEFXMo2xRG36/IjDMmFWIEjUgK/yOddVrfZxiN23kLPw1PLVHiE/2+5SYqONDqeA86Z7ycEFrWRqMndkq0wVqRHbEN6IsaS/lM7+t5Vg5Qy/HXx+DkaOAyUv34CxbcI+qkyu3/Wt14l4uScM3gkGQQYKI0yBD9bjfj2PqwJ+V9+o2+T4QgqniEgWYSbzRE1ejDK0JUrdRNVoV4pREEyPjMf6VokR4HTQtq51Jn3ITTGTsqiM3kNnPU9tl3s8mPe7UmBcN5sniFXH71mdpqWAR4xdVNf66ca0flg+mHy1RCwQyYEjcK85lkDN5Cj5w0IhBPEgca4g9bpi+mkKRP3SCy1xmepxWQolfIdAYFmWyOfZPztvyIDobw1kJZTwBIRTJGwMR8mXMKI320/QFgeOEf+X2OdSoaEBs7B1JZZXM3jLsvmRU05J0hoWq2/H4AFmYlFSch/Dkvuo7raSvP4HGa6nzt+VC9L/kpgU2Zgobvptol7y8NjKjxLxfjO9T7KlAf+5UobQKZfhHCCuHWrmfgnzhXbd+MIdhgdhBkXgYxOEZ5wdZ5FwJwP6b5yjCzGCOzFDNqhvbTpSIZBDtDRpRkirUSSslEOwkyaNeorbI6MVkzrSeM1oitYBJ8XN3f5Ev9mZEhpZ/UbSsXKP5QfZtoMEBAvI/ZSlG4tAERuermx2cDt7V+jzwoMviSAtciA0+rb9LoRywRPAtK3uBnosTi4qD4CsVR8IP9mflmgOrf/93Vre0Qk3q1UFEZRtincUntHEE5jkCKe8ma2sZBdDKvifKxxomVSGsGBdJ7ENFxui1p/GoyicwELRPuFxxCtt01Ce7lR5Rs3qDtpLQebtj4bR5er3xCMjwPddc2cuFyvM3IS8RrkSAJJ8rxjIRwZRqL/NkzGThB1P1a6exivMoSWQsdtgR6kjqBxK4ifr6flI+l4R7Ry0X0LixZqQRM9H4VUqTitIBZdPA6C+fxODIVCX3OcF8qZNB6IltODMfwiL/w/Kt0ypNxtv1hMF4ryGi7Ru6E9FX2V0EwuF/9WvbFj4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M3RJNB3cwEhVywaavbzoxT",
      "input": {
        "note": "The gripper still reads 0.70 — the open command was rate-clamped and did not take effect. Re-sending the open command to release the can on the burner.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01M3RJNB3cwEhVywaavbzoxT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7906, 2.2715, 1.726, -0.4923, -0.7902, -0.8768, 0.7947, -0.0212, 0.8295, 0.6014, -0.7887, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4642 left_y=-0.2856 left_z=0.0707 left_yaw=0.2977 left_pitch=-0.0763 left_roll=0.0175 left_gripper=0.7947 right_x=0.2238 right_y=0.0022 right_z=0.1001 right_yaw=0.0008 right_pitch=-0.4279 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.8889, 6.4615, 1.1209, -0.4274, -0.0317, 0.0806, -0.1573, -0.8821, 6.5573, 1.3504, -0.0757, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19354b15ec46626b895e92fe8693bfdac15df4443a9d9242ba17b38f31ff65f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d28196883e8846fbc294eb49c0b03ff02ec472174f414602595f8aa1549a5cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d596cff9c606f05632636889a816e083e47555102dfeb3cc308523e8abef3504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.883 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7883, 2.2707, 1.726, -0.4919, -0.7876, -0.8772, 0.6965, -0.0212, 0.8295, 0.6014, -0.7692, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2849 left_z=0.0708 left_yaw=0.2987 left_pitch=-0.0778 left_roll=0.0151 left_gripper=0.6965 right_x=0.2279 right_y=0.002 right_z=0.1027 right_yaw=0.0003 right_pitch=-0.4085 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.8786, 6.2701, 1.1355, -0.149, -0.1099, 1.0281, -0.212, -1.0462, 6.8171, 1.4383, -0.0611, 0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7898, 2.2715, 1.726, -0.4896, -0.791, -0.8768, 0.6964, -0.0212, 0.8295, 0.6014, -0.7769, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2854 left_z=0.071 left_yaw=0.2987 left_pitch=-0.0745 left_roll=0.0154 left_gripper=0.6964 right_x=0.2263 right_y=0.0021 right_z=0.1017 right_yaw=0.0004 right_pitch=-0.4161 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -13.053, 6.2564, 1.0867, -0.3834, -0.0073, 1.033, -0.0752, -0.9368, 6.7624, 1.3846, -0.0171, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7906, 2.2715, 1.726, -0.4923, -0.7902, -0.8768, 0.7947, -0.0212, 0.8295, 0.6014, -0.7887, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4642 left_y=-0.2856 left_z=0.0707 left_yaw=0.2977 left_pitch=-0.0763 left_roll=0.0175 left_gripper=0.7947 right_x=0.2238 right_y=0.0022 right_z=0.1001 right_yaw=0.0008 right_pitch=-0.4279 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.8889, 6.4615, 1.1209, -0.4274, -0.0317, 0.0806, -0.1573, -0.8821, 6.5573, 1.3504, -0.0757, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19354b15ec46626b895e92fe8693bfdac15df4443a9d9242ba17b38f31ff65f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d28196883e8846fbc294eb49c0b03ff02ec472174f414602595f8aa1549a5cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d596cff9c606f05632636889a816e083e47555102dfeb3cc308523e8abef3504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgAcKEAgRGAI4AUIIdGhpbmtpbmcSDA6mO4zkY+zaq6v5KhoMvzOhrI7CEleJX5YwIjDQW9CnZQaKDDDxm0+wQqdVl6L3iqUrRdxuIHN5kiVWnJd41FXr23koGNI2Crjvp3QqnQZcoEYp+E5DuvKOlQlxtWkxdmlVHobZbr7OlIg/6/4rAQ2Jjdd1bUSHFHdLuImSeZLhtxFeSfOMF9yR6CYkzuVKdt60LUKjtRqvUJQz3K9LJgBaQZKj9KqmDV3PNhZCZIVNTcglDT6zI9KQFzXosfwe4Q9g/9Yo+7AUbrMfK0kJcVkEfTAmDB8f2EE8LWWLtBslE66FJr8L5XDhDp9hK26JJRkNVyme4dBadrO5LahEBMTZYAzoV1OQSNTMEbbJJ8LvrUb95WyaHWq2CqQ6RN5Bq6zlt+lU8yDyS2NwUA+XcGTW/rlblmS4pk43Oitsut3niTzqRNMa5yu7jcLpq5wOc56RNG/0ND3ASPOEuTsHQqIQXDWnJXEPcx2LR2m4hKiGOPFT81f9jea3KYowq3c6vI3shLmiblR4T+R22IZLew8BNAy9YjwQLapYXILsFkaJAy2TH2yvRbA65lTQBu8F+aQ8anwKwwvqTPL5N/IxAVH23IyzSRxc8hVk/g/TxIId3BFA4javM4DqlQRlBeD4vsCixh5Niy+Qr27+FKoq9hSZvrAN0o0XaP0PgJRqq02rFpWOS7so7mTHWKN8J1y+kw34D29qMyVeRTxjzTMjH/Nw7BIz8BQ0a0m3lFfm+ATtAIx/iu209rRVoIgRkol2l/TPAxttjnLeUeXULxGY+pJdQls5cFpSUvsjCuD4qhHHKQIS7QzE/Qs9URABmW6Tf/0myV5YDHtwumM1sBTFGIIGKvhN78hE26KO4tGORdAZjB2l+LRyW4Zc5o1px/RB0CRmUjZZZOvKoYcmgAG6uY8861lI2ZMDoSpHt5jMCAMPWkXna+zuBB+BOKn2HgOHYbgAowqjr0j7Fvp6qW4otsuApzIHnhhSYWGj2cscas0UhPu7Tz2Sr1f+3cqar5aHERLUvI0ApZA4K5g7jsObkMD3q/IFnN5MwDGiuGSqj2XYN1XO9vjMhPASIQCSkpSc9A9LXuzt1EDxwOdKw4L93UX6YZHMBpguSzFYe5yr2i8piSuGekGFO46jlcdLu15au4OdmjpDYxxGU7tL2xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KPBPLiBy3PxZgbeodtueeN",
      "input": {
        "note": "The gripper is opening (0.79 and effort dropped), so the can has been released on the burner. Lifting the left arm up and back toward its side to clear the view and check the placement.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.2,
          "left_yaw": 0.3,
          "left_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_01KPBPLiBy3PxZgbeodtueeN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7204, 1.8671, 1.6295, -0.7586, -0.7525, -0.8112, 0.9981, -0.0212, 0.8295, 0.6014, -0.7956, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.2084 left_z=0.1982 left_yaw=0.308 left_pitch=-0.0848 left_roll=0.0175 left_gripper=0.9981 right_x=0.2224 right_y=0.0021 right_z=0.0992 right_yaw=0.0006 right_pitch=-0.4348 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.3692, 8.0342, 1.2039, -0.3492, 0.1343, -0.1441, -0.0889, -0.7453, 6.5573, 1.2967, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97ea88121cd848ba0a06db6e1a059431f0f3ca6f1c0b8b13f2baff7ed653218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964fff39119395d4edd3959875b098d2a302a429435d9012c4f3ea0b24a75979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14236e433dd5d7fd9e6c9136980b808797e6c2b18d0e4849937c47b0ecb9e0d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 20.29 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7898, 2.2715, 1.726, -0.4896, -0.791, -0.8768, 0.6964, -0.0212, 0.8295, 0.6014, -0.7769, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=-0.2854 left_z=0.071 left_yaw=0.2987 left_pitch=-0.0745 left_roll=0.0154 left_gripper=0.6964 right_x=0.2263 right_y=0.0021 right_z=0.1017 right_yaw=0.0004 right_pitch=-0.4161 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -13.053, 6.2564, 1.0867, -0.3834, -0.0073, 1.033, -0.0752, -0.9368, 6.7624, 1.3846, -0.0171, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7906, 2.2715, 1.726, -0.4923, -0.7902, -0.8768, 0.7947, -0.0212, 0.8295, 0.6014, -0.7887, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4642 left_y=-0.2856 left_z=0.0707 left_yaw=0.2977 left_pitch=-0.0763 left_roll=0.0175 left_gripper=0.7947 right_x=0.2238 right_y=0.0022 right_z=0.1001 right_yaw=0.0008 right_pitch=-0.4279 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.8889, 6.4615, 1.1209, -0.4274, -0.0317, 0.0806, -0.1573, -0.8821, 6.5573, 1.3504, -0.0757, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7204, 1.8671, 1.6295, -0.7586, -0.7525, -0.8112, 0.9981, -0.0212, 0.8295, 0.6014, -0.7956, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.2084 left_z=0.1982 left_yaw=0.308 left_pitch=-0.0848 left_roll=0.0175 left_gripper=0.9981 right_x=0.2224 right_y=0.0021 right_z=0.0992 right_yaw=0.0006 right_pitch=-0.4348 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.3692, 8.0342, 1.2039, -0.3492, 0.1343, -0.1441, -0.0889, -0.7453, 6.5573, 1.2967, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97ea88121cd848ba0a06db6e1a059431f0f3ca6f1c0b8b13f2baff7ed653218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964fff39119395d4edd3959875b098d2a302a429435d9012c4f3ea0b24a75979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14236e433dd5d7fd9e6c9136980b808797e6c2b18d0e4849937c47b0ecb9e0d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlQoKEAgRGAI4AUIIdGhpbmtpbmcSDFKFnj9OP56aqkIHchoMBLKOvq0SwWxtV6XZIjCr4ZvIvqnGAtZOley85gi6B5HZGr40MBVBtSc2TLr4D2JvgDXNdqL8I2NwrfHgxaQqsgm8bp+wU8zJOPwD63W8bVfXKn4xFh/5P+kK5p3hn93EvaXqFmcTInlHhHVjB5fSZG6HnTi9xYV5X3YYyuSt2XWo6jAXnPY0AhGOhfjrndFF3MHWU5oXJQxTXSYhkigTMpTcoCtJ2dyholCspvXTu0kUR7DTfmokrOrKaly6aKPekGYyuECfDAVQmo1o/p+GteJsypCfOUIUVV3nZprNfY0LkDPxbRu2FjmPF+NTlADl70WuPGjs61I5b8yjbJ3T52iWoMsMKKWyRnlvhcZQ6NsETJVCcoWm72si5nh/dWHmkHI8QJ0QPcdp3z0dknNQFdZGG+BgANg4r22KwzpTd0WJx6KZ3xPEdERzMrr/VBOCxveMz3BqSjqK+H7MrovRhiYPfvJuihVOXijZTGzsG/XklMi2LX3tmYuzvEck6x6V1lFVP77eoJqDfQRy6sepQG5XKwxKzPZuzL7ATTg226QO67PjgyfNOab9oyOh8r7BkLllZ2HRKdjUxDqgy35XgvKj9+uQLky3WuH1jRag2TIrue2xa2rfGfuFUXrgZ92vYg5S102s0zdmsEA6pz2AKCChRaM1DiwU2qxruOex9ZhbYGSYehedBe05OaGFG3S64vfdRbG53JXvWsXCZAVgwxfcqzK/1q5oYhPGHK5lvqv5wDyuCQW9y66N7/ERe0Oksp96CasxQlAzkyDKZMhuMigAQb5whYshJ85yemt2kFQ7uGyKO4NcssN3wWok3GKR7HXMmsA9xwkXFm+ovPIDcKe87CMxE7LdoTioiSc5a9oEL/oRnLgzB+N0KTkrYENQ1WnmAIAoIciYWWTxejSUS6v/ylIMCRpDSV3dZTteR8jq4xalQXE80gg9QLknMDQ0unNMzO/gctod3dsWOGCeRpHVR+smdY8KJ4Us736aHyKBfD2QfHB/7A8eNNniaKKByrEVI9vVpF+Et5HFUUPzm1RICtr0VGE1MztHQO6ACYo0Q2R1nkwQpmGYbBP/pkoroHv/w0n8a7PtCmhb3fHhSb1cqySM0wytMtFPn610eM/JOpbAakBGQ9EcfY0JexUGUXTjNu1utowaKdN0Qw6fy0iTiJFiqNOkwGMYbxzkmbcJiq4NHt3cF9OHzyrixEYYPnwy22o5orFiiToGqA52Q2CNkifBLLq3vxMqwD3lq0g7CEC2olYnMbuepAPAuCqKHKTt3438zR9l5hKRTZMgn0Ppgh3A2RJdBNlEEJxXVrWGXXRKYhtKuFcyWU4erHC2SuHySfU6OjOgMN0gkf2CUJw9kxg04QYw55X/gKBC63LtI6x9rVJQ9YxfXBQUUJqFb2ZY6UCJsSBaheUR1TmloYhXNN+0QBuGJ5LL9QeaUfoVzLwsGI4oDGMW8GZZUOLbLYk/pST2cFsl0nUlr7vBd6IPzuWvPD+YgrnH06DzffEsbhs531eU9D49i05QSpzTnq66a1ZXtQf7zX0P9Oh6CI/ZqB9nPoSXrCv5SM/nzeCXXo1jcOzW46GC54X2uE2hTXZWAxKdFnX73FgNnu/euBFSWFTZ8ulKPfBwaBlL6S/a3x+0QQKGDTOL38OuFikffYxc/i8HDL86bsHhwEVi4xkKJhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEvC6Z2tsy5S43bCL83nco",
      "input": {
        "note": "The wrist view shows the can lying on the burner but toward its left edge, beside the coil. Parking the left arm back at home so the overhead camera can show the placement clearly before deciding whether to nudge it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01VEvC6Z2tsy5S43bCL83nco",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0704, 0.9096, 0.7151, -0.4759, -0.1314, -0.1089, 0.9985, -0.0212, 0.8341, 0.6014, -0.8135, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=0.0054 left_z=0.1797 left_yaw=0.084 left_pitch=-0.0888 left_roll=0.0122 left_gripper=0.9985 right_x=0.2185 right_y=0.0022 right_z=0.096 right_yaw=0.0008 right_pitch=-0.4573 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.2222, 6.9402, 1.8437, 0.0659, 0.1294, -0.1685, -0.1026, -1.0462, 6.5436, 1.3846, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e758884bbc63bcfea0550caa7944907af384c5600bc2c775b740dee2e5c93420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e12b40a9550b46e17327cb61851df71bfc94d3f0595875f9529f14ae735a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96fa455b39ebfce7ce32c466667307eef1e16649ee28aa70acafd8cc7fdaa3b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 11.4 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7906, 2.2715, 1.726, -0.4923, -0.7902, -0.8768, 0.7947, -0.0212, 0.8295, 0.6014, -0.7887, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4642 left_y=-0.2856 left_z=0.0707 left_yaw=0.2977 left_pitch=-0.0763 left_roll=0.0175 left_gripper=0.7947 right_x=0.2238 right_y=0.0022 right_z=0.1001 right_yaw=0.0008 right_pitch=-0.4279 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.8889, 6.4615, 1.1209, -0.4274, -0.0317, 0.0806, -0.1573, -0.8821, 6.5573, 1.3504, -0.0757, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7204, 1.8671, 1.6295, -0.7586, -0.7525, -0.8112, 0.9981, -0.0212, 0.8295, 0.6014, -0.7956, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.2084 left_z=0.1982 left_yaw=0.308 left_pitch=-0.0848 left_roll=0.0175 left_gripper=0.9981 right_x=0.2224 right_y=0.0021 right_z=0.0992 right_yaw=0.0006 right_pitch=-0.4348 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.3692, 8.0342, 1.2039, -0.3492, 0.1343, -0.1441, -0.0889, -0.7453, 6.5573, 1.2967, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0704, 0.9096, 0.7151, -0.4759, -0.1314, -0.1089, 0.9985, -0.0212, 0.8341, 0.6014, -0.8135, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=0.0054 left_z=0.1797 left_yaw=0.084 left_pitch=-0.0888 left_roll=0.0122 left_gripper=0.9985 right_x=0.2185 right_y=0.0022 right_z=0.096 right_yaw=0.0008 right_pitch=-0.4573 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.2222, 6.9402, 1.8437, 0.0659, 0.1294, -0.1685, -0.1026, -1.0462, 6.5436, 1.3846, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e758884bbc63bcfea0550caa7944907af384c5600bc2c775b740dee2e5c93420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e12b40a9550b46e17327cb61851df71bfc94d3f0595875f9529f14ae735a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96fa455b39ebfce7ce32c466667307eef1e16649ee28aa70acafd8cc7fdaa3b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P4FwLfs3Ffy4MrhKSXmm3N",
      "input": {
        "note": "Overhead now shows the can rolled off and lies on the table just left of the burner, axis forward-back. Moving the left gripper back over the can (about 3 cm further forward than the last grasp to hold it nearer its middle) at 10 cm height to re-acquire it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": -0.28,
          "left_yaw": 0.1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01P4FwLfs3Ffy4MrhKSXmm3N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.0319, 1.3579, -0.1608, -0.6865, -0.6121, 0.9985, -0.0212, 0.836, 0.601, -0.8364, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.2707 left_z=0.0893 left_yaw=0.095 left_pitch=-0.0357 left_roll=0.0161 left_gripper=0.9985 right_x=0.2135 right_y=0.0024 right_z=0.0928 right_yaw=0.0014 right_pitch=-0.4825 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -10.7692, 8.5538, 1.4237, -0.5495, -0.0024, -0.1685, -0.0615, -1.1556, 6.5436, 1.3211, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b073900d1ef97ff0999eaf892b9544650d57fc302fb37ff9b9973c89f77d18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f727675664894ec7c4c16454e1ea4daa4f1cc06534f6ed7f9953df085dd2354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b7f97a8d673df0829e159b3bf3ea98bcdf58fb8c0787ecace14898c4604cacb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 10.84 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7204, 1.8671, 1.6295, -0.7586, -0.7525, -0.8112, 0.9981, -0.0212, 0.8295, 0.6014, -0.7956, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.2084 left_z=0.1982 left_yaw=0.308 left_pitch=-0.0848 left_roll=0.0175 left_gripper=0.9981 right_x=0.2224 right_y=0.0021 right_z=0.0992 right_yaw=0.0006 right_pitch=-0.4348 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.3692, 8.0342, 1.2039, -0.3492, 0.1343, -0.1441, -0.0889, -0.7453, 6.5573, 1.2967, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0704, 0.9096, 0.7151, -0.4759, -0.1314, -0.1089, 0.9985, -0.0212, 0.8341, 0.6014, -0.8135, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=0.0054 left_z=0.1797 left_yaw=0.084 left_pitch=-0.0888 left_roll=0.0122 left_gripper=0.9985 right_x=0.2185 right_y=0.0022 right_z=0.096 right_yaw=0.0008 right_pitch=-0.4573 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.2222, 6.9402, 1.8437, 0.0659, 0.1294, -0.1685, -0.1026, -1.0462, 6.5436, 1.3846, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.0319, 1.3579, -0.1608, -0.6865, -0.6121, 0.9985, -0.0212, 0.836, 0.601, -0.8364, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.2707 left_z=0.0893 left_yaw=0.095 left_pitch=-0.0357 left_roll=0.0161 left_gripper=0.9985 right_x=0.2135 right_y=0.0024 right_z=0.0928 right_yaw=0.0014 right_pitch=-0.4825 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -10.7692, 8.5538, 1.4237, -0.5495, -0.0024, -0.1685, -0.0615, -1.1556, 6.5436, 1.3211, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b073900d1ef97ff0999eaf892b9544650d57fc302fb37ff9b9973c89f77d18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f727675664894ec7c4c16454e1ea4daa4f1cc06534f6ed7f9953df085dd2354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b7f97a8d673df0829e159b3bf3ea98bcdf58fb8c0787ecace14898c4604cacb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqw0KEAgRGAI4AUIIdGhpbmtpbmcSDJjNr+FnpGe4pTQ+uxoM/NrNAC/AhaYXLppxIjCqpOKnI7v0H0vKPBSqPBBn+ApMNWEbSi4WaXmS4Y8K6hfL3KXEbWzeGMFlqdplCbgqyAzAdKBQlrsQx8VC68k+fFBshudSM4hjzN3D+c1jAUQgUryNIXC/jC1ufkVNF7ud+PunumNnfWJTEdnIcciUJdV0Gd0eYQFtxJ+DpgxfyhjAm9r42YVkQoVJECIwv0VzYAf7RhMb3pv4JCLVtMvTGszaI6GoSviEpmpHOFlrksWGAGzpXivfO10cDOeEvc7HlS33xEy2WsJ5C/u46pROoYgHR/spBrAXSX0eGnmJa85bWpCqKGtTNXZEh4P7s3JYLUqsMmYMP5FcIYpfeV919f7H2zhdfV5NQEEnVJJjBU5kMzhtJaWioAkyjQ8paIxlSZZPGDkZ/B7ZCanITDfwJJkUDrunh/C7Eff/OrYtnGulQM8PoBTQ3LBRilqXUmlwIkDHBLSQEf1ACF5zQcNQJmvcudAdKMhw2AzRHMWtepx81RZQnOAqjpEjQt74hDz1yLU5p477KmjN+WzSbPf5jTfXQE9+RI528F4Eidg/bfmKkeT8FrXK+9QlZP5OArF5a8yBTaCinInRZn1KlgWqtGdTGO425udI0QrmkmG77HVA0bgCUZ9/agVSUYGcrNt3VPbqHJynVBp1OYTW24vdvaFgKHh7PBMSWbcIfxRUjQMU584A68XRCeGDb3DIDPu8L9sg62s0gt+tPgJP4738KcBIt6qd8C0ubDWsg/X3AyKVipM90+/29WGlGxzCGq1PQAq6+HHTzcXCZtGPTiGxk1x2U2Vj2ok+chkJBBn0Fr9tz5K95++GeWaRyugv8P+apqHxbGTQu0u3SlwvtMRraHynv1hcw4RdtWyp/vRDZpg/m0X0MX8OOzreyVBMKjdRTX9zi/Gzvjw5015lCBfyKxHZyJyjwl5ANQiDBv1976Yh6w9nskiV9jIse8fftHGnu7NGe8HJNUM4f83zzAOuXpUkTVrKZ11OUIBhVCdIn3r1xq2kb364O9Amvq25BFvHN5W4tW5rEPdc5F41eWl3EHt4MVpfPv1JMNPYBDnKobQG9bmLnAGQ7IbB2Unr0Bp9gNHno28tqUqxJWHUjGP4a0hFWJ2bDxa4KhV7xRo+G7Nin/K8Vf1QSgWAWAoXpzLKYRInEBk+H7elVC8ziL6Yx1uOgOLMxiX9CUydkkaT3r6nPXoleNERsjbxMCX0YDDbfhXvh2a5Q2MygqIRuC5F80u6T9LJ6xj2qrqnjZnucBHBE/WnLcdCNACk/msvhHUPMmLF3Z1YT41iF5wVmXNycSKR0bayQ5S8WoO+Gy11yrciuVItLHkNPoumGzNdqmf6TosYmiXHZo/dzbrpW8FFA6heTlIJO7Wu3aV9m5EZE12zbK06MEv1bqgWq7VngqVpqyaoOqUefot1fPFgYZe5gw8xuWg0WcfavT5TEL9jelKtKAA26jv64BsJLV+AM0wpIyoXHFj50niGvh3Q97M4QWf4SyuYoyie2QA8AX9CjXLHoD9X2USZrnFCfGZ2crsaDaEarirDh7wNSlClSml+OHtWqGXTDzKSbUgn08zxhQuyaz7wHxtCVNmeQz7BxiWulid99s3gka6YCeAFe4oY42PxDWd6vLM1FwviSmUKB3i7k9MMcsgK18HAnVKu/j7GBaA5hTPlWhDiHlkuCgBrR17BejgrvoTxWFGpddnX1c/T1+NdCQv1IQumlxYBp3rZLOOD/1TmoZWVHqnNJ9xGlXhSwb7WqJP4kMjTW2AZSWemVNIN5RzyKbIn+1BG8iUVSyPzMXSgLDDREi58ZUrESVIPvZi0b1AxQu5i09vAdxtcK4g9Vh0fIM90qND6Df2U4wpCaSirWWvy9qdN5uQUXr/UNY9bu2j+JfS/vZSRe0lNC7wAj1lxyjK5Hk7bvdX85USs8eFLSZB016iozZzCLhQuKxrND5RGcTw6lNR5fQxqqXr9lewweEK6Y2lcxXAHqnTJnuvV7EWosom5sSYGUqCMAqjJGMcvxmM/xCfaCE/V5AlEP+RAANtBK49CGMK0z3dsaQR6+VUimF71ipok9E0pOtQhhaAYofsQxZSAhsY1tAqJSkCAM5P7ppInVb9aQiTIaTBPb+scUOARozTH574pqhYCrdrcLKHxAkZ2xCOr+8Ua+IZ+yVnpY+g+CDl2PMGF1GzzIZ9t0FP/7o4+sPIYuOQAmM6xq+oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Uw7dxiNYB7RZK1piPh2DS",
      "input": {
        "note": "The wrist view shows I'm actually directly over the burner coil (its centre slightly right/ahead of the jaws), and the can lies ~10 cm to the arm's left at the image edge. Noting the burner is at roughly x≈0.47, y≈−0.29; shifting left over the can to grasp it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": -0.17,
          "left_yaw": 0.1,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017Uw7dxiNYB7RZK1piPh2DS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5713, 1.8721, 1.0332, 0.07, -0.5659, -0.4549, 0.9985, -0.0212, 0.836, 0.601, -0.852, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4437 left_y=-0.1684 left_z=0.0697 left_yaw=0.124 left_pitch=-0.0529 left_roll=0.0362 left_gripper=0.9985 right_x=0.2101 right_y=0.0024 right_z=0.0909 right_yaw=0.0013 right_pitch=-0.4981 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -11.7265, 5.9556, 1.8877, -0.1978, 0.149, -0.1685, -0.0752, -0.9231, 6.4889, 1.2527, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725cd3958a944219f605ad8471671792427c722e4e882e4a96d92192d2a9d127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f063c0394eb8ecc9f7738f47256e6c15d63dfb8db61675655d4047d6ec7ab57e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a16a3d5b0109ebf03d2ebf474b3683f393c134324e248e44c6bbf9517c93bd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 8.393 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0704, 0.9096, 0.7151, -0.4759, -0.1314, -0.1089, 0.9985, -0.0212, 0.8341, 0.6014, -0.8135, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=0.0054 left_z=0.1797 left_yaw=0.084 left_pitch=-0.0888 left_roll=0.0122 left_gripper=0.9985 right_x=0.2185 right_y=0.0022 right_z=0.096 right_yaw=0.0008 right_pitch=-0.4573 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.2222, 6.9402, 1.8437, 0.0659, 0.1294, -0.1685, -0.1026, -1.0462, 6.5436, 1.3846, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.0319, 1.3579, -0.1608, -0.6865, -0.6121, 0.9985, -0.0212, 0.836, 0.601, -0.8364, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.2707 left_z=0.0893 left_yaw=0.095 left_pitch=-0.0357 left_roll=0.0161 left_gripper=0.9985 right_x=0.2135 right_y=0.0024 right_z=0.0928 right_yaw=0.0014 right_pitch=-0.4825 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -10.7692, 8.5538, 1.4237, -0.5495, -0.0024, -0.1685, -0.0615, -1.1556, 6.5436, 1.3211, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5713, 1.8721, 1.0332, 0.07, -0.5659, -0.4549, 0.9985, -0.0212, 0.836, 0.601, -0.852, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4437 left_y=-0.1684 left_z=0.0697 left_yaw=0.124 left_pitch=-0.0529 left_roll=0.0362 left_gripper=0.9985 right_x=0.2101 right_y=0.0024 right_z=0.0909 right_yaw=0.0013 right_pitch=-0.4981 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -11.7265, 5.9556, 1.8877, -0.1978, 0.149, -0.1685, -0.0752, -0.9231, 6.4889, 1.2527, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725cd3958a944219f605ad8471671792427c722e4e882e4a96d92192d2a9d127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f063c0394eb8ecc9f7738f47256e6c15d63dfb8db61675655d4047d6ec7ab57e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a16a3d5b0109ebf03d2ebf474b3683f393c134324e248e44c6bbf9517c93bd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStAoKEAgRGAI4AUIIdGhpbmtpbmcSDPmk4dbJYyzzxDZI8RoMU7RS4pN9y0H0JmPZIjA1AUKdKTBfA73asupNQXM0bM6M+V+vP0u+nyrgQ6bZ6P0OuOqL67+hfpFq7xZIXhEq0Qmj6E9TFYZa8OqlUiso3e9ND96nskLE0oJObNRKxwzZVddX4RJAw9QRMPHgZs8XeXvU7oekn9ZvQC3+NO448LER9pv/vrj1QIw6KJ5J1dORu9JQFTSg6HqHKLZgp2kkP+5wNDpTIE3bBcA27cGv7p/fHo6C9u7RjnJie7IA7NxeVzmiwmI+/9ugTGF6jRIXG11eJN+lEl/sB/w9c1364a8p0OsKWxICUnkAK/tpesGR0Yww7tRcteilppBPCP3N6v5qJGlNVynyAF/nE/cBOUhErqgjCnCxny35tLYG4axn/QNP3g19ssJRWoUehnlE1UV3iZe2XgYIVCgTVIBcHSFaLJWoR+bx0zwSue2ZisEN+0IF+PZ72lHdXQ+iXeKbDCyTUiiAnCKL1MvqdNVR2dJQeTylaJzY0CqXohhZO+epdWNBrlT1aXjP6vDO2sjNCDQ79mBK8TCRVUwepnZtcMpuWPHMfJNjYD3lYcDJVd0SlP1rTjlgtkKdzNoRGwgU7ZKInwTJaW9WwFW/Mn8VTZhDim907dguHJ71wAvBxHCHQXq5YUt9TKiQfVlXZUjLotsPhGlxgDZrxOSgsaZ+wxuCof5YplDgeH0FLMGh9VciqtKEA4lboBKB1olW4NEBOIm6oCiqUUICpe0oubqzCUcTSBjQFYbNcHHuI3T+YybFJd3RemrETygIYCCk9TQxIXGp993VhJdBso3WoLGj2hjjUiRKXIUsTYqhgzc4y+zf1/W+7Tgj0gOwGUxPpsOlRQRwmmH2TKp2v1V8FYcV14A2jKJXb76caRgZd/6FVoSByKFNptvMGFUBsnJcx/v0E97kTuqpKQrPxmBna92gHivnFisXJhaaOhv2Q0n5CIqwNEAKAsi9HlWIrZs7+zZsVb+haMTUD7bP+jmblkfuvzgjjdsV5VFPnxQ7vCThtJ0JayNf9w6bMGpL4tlHK1xhwaD6sgF13Yvek/uzR/hD5mGMCHv9ve4zapUcKIsGPm7CB84jMetGwQgxdeL+TwG8n7mBhpQBvp6M1cF0f9MwLBPi/7jOgY9GSgmh84AgL5nt2J3XCkqXV1fpoOodQ+QH1rtXK1M4yu4mi5PXGhT5gau3dPrWHIGGaO5galldl7kXU9/ganQcPahIgJMA4qGaXcYodQ/vv4rQSGbGYT1Z1KlTjhVsIONgQ1OhnMsz57kX0xFFwGiVc4ZKcv57u6GQXCf+fbNfgDdzXeSGB9ZkrunPLBQD0e9W8ZbhNSVObyQc1y97ei97v2ma9l/pyXxldIRvRqfVkcI3pjmM179u9v5ibjKzaW3U95wjWA5x8lui6Gcncyt/OD+4iLARbuSuoO8CH/TjngL+rjJw9e3WSk7C4oLybhNlKwBqiAE8an1bBI8gEINFD7xF+Y1mAZZ0CPzLbQyZy0uDImobRFSs8YKANYL9aBGxgdunOClTdLInl5fOEUQ+ck3stuob8ga3gz+QL3ooSq41VjlK0/t7Flimw0LOSygF3CR+D59TbM4FI92j+bSPUthquWKBHTLWQ1HJsPHEnO/H6rLcQe1iAw4ARkp59iWyujH1hdftntS9WvzwXO639AZtxauCn9uVrF3RnqFySfNCVM/kP5W1OQVGFIR7Q3QQebPBYaBjCfiUX8gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VD3LQTwzCyDeGFrGfEFaY7",
      "input": {
        "note": "The can now fills the left wrist view, body slightly left of the jaw column with its cap far-left, its base end under the fingertips. Shifting ~2 cm left and ~3 cm forward to grip nearer the can's middle, yawing to match its tilt, and descending toward table level.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.47,
          "left_y": -0.19,
          "left_yaw": 0.35,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VD3LQTwzCyDeGFrGfEFaY7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6018, 1.9926, 1.1084, 0.1116, -0.6899, -0.5713, 0.9985, -0.0212, 0.8379, 0.601, -0.86, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4594 left_y=-0.1747 left_z=0.0575 left_yaw=0.2473 left_pitch=0.0064 left_roll=0.0045 left_gripper=0.9985 right_x=0.2083 right_y=0.0024 right_z=0.0897 right_yaw=0.0014 right_pitch=-0.508 right_roll=0.0108 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.5556, 6.7897, 1.199, -0.0855, -0.0122, -0.1734, -0.0342, -1.1145, 6.4752, 1.16, -0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62bdf495dc7f6655894db3cf6b36494b1d9a8e1775b3476a43ada41e80364f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c859b12668d7f88347697707df92c2f17f6b1c87d5b9c5352c0f31c3f133ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b30e37295a1a79817d3af0c4698b0c10acd048a5f79b88a757c26b1870627507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 5.87 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7746, 2.0319, 1.3579, -0.1608, -0.6865, -0.6121, 0.9985, -0.0212, 0.836, 0.601, -0.8364, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.2707 left_z=0.0893 left_yaw=0.095 left_pitch=-0.0357 left_roll=0.0161 left_gripper=0.9985 right_x=0.2135 right_y=0.0024 right_z=0.0928 right_yaw=0.0014 right_pitch=-0.4825 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -10.7692, 8.5538, 1.4237, -0.5495, -0.0024, -0.1685, -0.0615, -1.1556, 6.5436, 1.3211, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5713, 1.8721, 1.0332, 0.07, -0.5659, -0.4549, 0.9985, -0.0212, 0.836, 0.601, -0.852, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4437 left_y=-0.1684 left_z=0.0697 left_yaw=0.124 left_pitch=-0.0529 left_roll=0.0362 left_gripper=0.9985 right_x=0.2101 right_y=0.0024 right_z=0.0909 right_yaw=0.0013 right_pitch=-0.4981 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -11.7265, 5.9556, 1.8877, -0.1978, 0.149, -0.1685, -0.0752, -0.9231, 6.4889, 1.2527, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6018, 1.9926, 1.1084, 0.1116, -0.6899, -0.5713, 0.9985, -0.0212, 0.8379, 0.601, -0.86, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4594 left_y=-0.1747 left_z=0.0575 left_yaw=0.2473 left_pitch=0.0064 left_roll=0.0045 left_gripper=0.9985 right_x=0.2083 right_y=0.0024 right_z=0.0897 right_yaw=0.0014 right_pitch=-0.508 right_roll=0.0108 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.5556, 6.7897, 1.199, -0.0855, -0.0122, -0.1734, -0.0342, -1.1145, 6.4752, 1.16, -0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62bdf495dc7f6655894db3cf6b36494b1d9a8e1775b3476a43ada41e80364f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c859b12668d7f88347697707df92c2f17f6b1c87d5b9c5352c0f31c3f133ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30e37295a1a79817d3af0c4698b0c10acd048a5f79b88a757c26b1870627507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoAgKEAgRGAI4AUIIdGhpbmtpbmcSDNcwB2HUZeuleW+0vxoMY2Df6xHyp3MrhYGAIjBRJ6gAuWd2m1/PKxh3SPBHC/4AcsgABghw4hJhyzQ/EJshyzLXW90VJNYowasZjQkqvQeRwUF+18iKOgm1sAE4W4LQ+KzMgu03/Em0g71xwrnXSUL+CGW+vGqrbesIwyNBq+VlcBywQXAFWSQ4D/+NZZYM0rtdVERRDNGGg0Aq7gHtRLXmQPEKJGS3QAJgJD0dz9ZBfyleoy3pRWY8jeOZ7WeX2doBxZSk1hNKB8ZBncy6TAQ16hYtn429ExG6BZV88bC6byCL3RbNpPU4WGI+cKaoeIp2fReGlJEqoNETSliiE7x2MeoiCtLQLPgc2WB27KsRvZej7jN23nCXKnWwFHmdQDcpBCRkH+ghlp7YCGK/GkgZ0mmHjSX7TOEtkGAXiGwTNCTRFuON+DemrfDryzBGbEe0uuxilq8LA7oQXenJ/Jvji/8FT11p7OiMkQyYKzQPeiAtE+q2DkgyEkH16O5mpeKD+01CkKiumcTbgdGt2nyx3Rd7L1wfYC+ixs+d+PUwOmpdU+o4ItYWfaXtE9L01Chhlxq1jeV0gTnSwmHPMU7yFjQmfLYEkSB3WebjA7XDBWGmYoJ0SBimtZwwbZptanz3Ub6EFHyANrBFAzdrmakxfpnSRzKJSpTvA390VgPdrZny9DodvJMsFvihQHU0A3m2ca9KUqIMD+b4Lrz/RJXoEjkQf0q/bEvoEdqyfpZit+WJckgZt2AGqCVZLNU2qsWo16XL6jehzwsI5sb2rq1zsFqqSWqx3ADFu9YGhp26qidluEReKprMHtiYtfScmXUcx7UuZHGtI9KiYTW55r4xlh6ohYcZIpxExO8hQW+M6VQFdohbQffWn0PqkIs6e/+7CU4SwzF416Dy1AF1A77ICdHwEQPe+AFr8yS8ibcaOHLkM6hl/jmVImq73WZ0fpsAFQGmK2whl9VH+bm1g8X8Qwmxwt0B3CdYsYKDl+WHjRKBZv6R7rjJGAxV1YVrpS/u7fxBUNxzSduZ4M15KG8oBVZwZEvoIrAYONLWHmVW4H8Jp9xX2vbKpHIfUV5on46P6Ccmp+ftyVTYxBQBhsvb8h/HQxPvf6/U5UeHgSKqdN1qKFERXwXCoTROpHZGi27IUcaK3Be0AUrTECBKxIPhsekTUIjxuTRrpsgP/Qpx+ng4f0jeo9/ExQv41H0LHgV3bCExITPD2lryB4U5wJNbdTHzUgVdB0v1VaPsmL18y39aOjYZFOiEI2b/vi58ic09Bpb6t782RZEgEsOTvGcOXtSGsbKDqC3tUN+HLVq2BINl/7e65UelN+TGYkzrDW83b+ZPgwrnPBEtrcFCDXqUqm7q8JQuS/Ldc8AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013274f1C7MeRuXafFcijuYN",
      "input": {
        "note": "The move was rate-clamped; the can body is still ~3 cm left of the jaw column with the left jaw tip beside its edge. Shifting another 3 cm left and finishing the descent to table level.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.465,
          "left_y": -0.205,
          "left_yaw": 0.35,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013274f1C7MeRuXafFcijuYN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8673, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2066 right_y=0.0026 right_z=0.0889 right_yaw=0.0018 right_pitch=-0.5149 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -8.2393, 6.7761, 1.1746, -0.1343, 0.0269, -0.1734, -0.0342, -0.6085, 6.6393, 1.1404, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3b44739da62212bde28d6b6cc40c0c81929b0796bb8f4f87c82cf780f01155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70e5f461dd72bc8377f10701f5049a2f1d8386cc94819fb8ea19151a3f88cd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66db96b626e3bcdbbf1abfec2187dedf074ec4455c32fa532aab0c9779dec332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 7.365 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5713, 1.8721, 1.0332, 0.07, -0.5659, -0.4549, 0.9985, -0.0212, 0.836, 0.601, -0.852, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4437 left_y=-0.1684 left_z=0.0697 left_yaw=0.124 left_pitch=-0.0529 left_roll=0.0362 left_gripper=0.9985 right_x=0.2101 right_y=0.0024 right_z=0.0909 right_yaw=0.0013 right_pitch=-0.4981 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -11.7265, 5.9556, 1.8877, -0.1978, 0.149, -0.1685, -0.0752, -0.9231, 6.4889, 1.2527, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6018, 1.9926, 1.1084, 0.1116, -0.6899, -0.5713, 0.9985, -0.0212, 0.8379, 0.601, -0.86, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4594 left_y=-0.1747 left_z=0.0575 left_yaw=0.2473 left_pitch=0.0064 left_roll=0.0045 left_gripper=0.9985 right_x=0.2083 right_y=0.0024 right_z=0.0897 right_yaw=0.0014 right_pitch=-0.508 right_roll=0.0108 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.5556, 6.7897, 1.199, -0.0855, -0.0122, -0.1734, -0.0342, -1.1145, 6.4752, 1.16, -0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8673, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2066 right_y=0.0026 right_z=0.0889 right_yaw=0.0018 right_pitch=-0.5149 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -8.2393, 6.7761, 1.1746, -0.1343, 0.0269, -0.1734, -0.0342, -0.6085, 6.6393, 1.1404, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3b44739da62212bde28d6b6cc40c0c81929b0796bb8f4f87c82cf780f01155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70e5f461dd72bc8377f10701f5049a2f1d8386cc94819fb8ea19151a3f88cd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66db96b626e3bcdbbf1abfec2187dedf074ec4455c32fa532aab0c9779dec332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9gYKEAgRGAI4AUIIdGhpbmtpbmcSDLWXZfoSGezAy8BAPBoM9thGnOLMOldkWTSoIjBdnM5Qk3P7wD72WUIt80L/uf7TYqy7FjnBsM/PULA+SLF7bq/253DjwADFvPTBqigqkwYA7ZK6imSXwmuEurG0EXLh+pOIuD3PdUBzk+OEOyvNRsoUYkybMUb5sNkJQbiIZ91shxIjZ3w5O84v6ifHGQ3asJvukBVBqUNVr2L1ALFFr3nRHZl75ygpVa2DYTNVYYO3Jnl0URnyxunF6PLMz6XPkZ+3529Vvxn9pdf/s8xOna/KfM6Xc3+U684DahIrzNO+gnFkbeI7cXeXsQB6XFabQ220NXV6q4fSrqO8nlb1AQ931xrbVaQFDoHEyomDFZJV4P1inUrhYRGsnfUAA3o5ZZNz7aTPBFaPG3zo/FdhkTzHRNDj/SY/nisiFmJkB7TCnUyPzlSVs0yVW9whkLJSqzh4voZs/2r0OImF0hT05vLAlZUUrO+0e4CMk2FYrMLdh+DdEPxMH2IuGhYeggfPuXQkqLjwa0pFHFNefDi1sLWBYVFGVPwKetgrA1yQj3qU+FVPC8sVN5potx4xL5T9qpBt2BWU0/tNN1ySskJAcVsBdh9+7vHXzRNEb3TEx43BgNphn2h3M/INdCx89K22mBhMcOI+YUoXa0BiESP486ByL0Q1RA6RySj6rP0ZoFmdo3IYubE6i+K+7zQnGGyugRGyOroW2pLdDpNGfKCDXaheNcazlREfpAvseM91tDrI9Cm1sRExhyMwKsHk72yGvQyuWrfOONZEPejUjrdDlrXbXctfIjTA+Wl0IhzBidqrzpB5fWheHd4RqeHDZTn1I4aeQKzY9uuVEqbHuOoLzmsAU7XnstI9q2fzmqgK7cwRFG2338e9qNns3QCN3LPDFozdKPGHjNnAvJLIarLFSPTp/deqEk+DFoQTHYLWI8CgdKLdZ7/jRYOzp+8qxMxIVEOHkOFysa8Sm5oU+QxuN55UfrjWLHZH5/y0ze+gmMRhUuDcWQAdvKt58o55XrIViIIPtjqkxaSi7/IHJzdt6AjNIZjrAgJGCpwffiKDAK9FxxnIoV3DGGrESQ1sTqsvEOuJTNxSY1Ios4bKZTZ9xx6LBR/LlwOJYdMSxhERrLD7qIcGrSqzO9aQVV4mg5iAUCJWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GT37gKgpkBN7NzzrQZbcXo",
      "input": {
        "note": "The arm did not move at all again (IK stalled at this stretched pose). Raising to 10 cm and pulling back slightly while shifting left over the can to unstick it, then I'll descend.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.21,
          "left_yaw": 0.3,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GT37gKgpkBN7NzzrQZbcXo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8806, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2036 right_y=0.0025 right_z=0.0874 right_yaw=0.0016 right_pitch=-0.5282 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -8.2667, 6.7761, 1.16, -0.1148, -0.0122, -0.1734, -0.1846, -0.9231, 6.4205, 1.2137, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8566e2d54efcf56f07481913dbc6b2090f297b44fe36923591950c10deb39515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814b103f2413e84fcb5daa01b2ce2af627788896c330148a10c411ed4fc39f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18a0a0415762721905405e3a6e7e3b8cc1806869343ed5eb3f2588560049bf06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 14.46 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6018, 1.9926, 1.1084, 0.1116, -0.6899, -0.5713, 0.9985, -0.0212, 0.8379, 0.601, -0.86, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4594 left_y=-0.1747 left_z=0.0575 left_yaw=0.2473 left_pitch=0.0064 left_roll=0.0045 left_gripper=0.9985 right_x=0.2083 right_y=0.0024 right_z=0.0897 right_yaw=0.0014 right_pitch=-0.508 right_roll=0.0108 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.5556, 6.7897, 1.199, -0.0855, -0.0122, -0.1734, -0.0342, -1.1145, 6.4752, 1.16, -0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8673, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2066 right_y=0.0026 right_z=0.0889 right_yaw=0.0018 right_pitch=-0.5149 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -8.2393, 6.7761, 1.1746, -0.1343, 0.0269, -0.1734, -0.0342, -0.6085, 6.6393, 1.1404, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8806, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2036 right_y=0.0025 right_z=0.0874 right_yaw=0.0016 right_pitch=-0.5282 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -8.2667, 6.7761, 1.16, -0.1148, -0.0122, -0.1734, -0.1846, -0.9231, 6.4205, 1.2137, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8566e2d54efcf56f07481913dbc6b2090f297b44fe36923591950c10deb39515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814b103f2413e84fcb5daa01b2ce2af627788896c330148a10c411ed4fc39f4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a0a0415762721905405e3a6e7e3b8cc1806869343ed5eb3f2588560049bf06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwgKEAgRGAI4AUIIdGhpbmtpbmcSDFLk8P/xl6ytXMCcfhoMZVdnpyVk21emLaqCIjAsWu2LAv+37a41yMUH66DuDYL/KcH10MzOvwG3dZu7AZx1qIUSBI00+SoLOJcJ2iMqsAegGHNfZR1kZGTTGYG5zcoZH7YmiyG3gwlRo8y0mmqkaxFsfdnAMxOWolZM+WDv495owhMoM5tDIB7l1Cl6tvrX8Srkaiv7ia8Z49HPXRsmI5QsLrsVM6H+UX4YlOlnKoGVBPekk6+putX0QcHNOwgsnuSBsdCiC2IYowM4PzzpsTnjXs3bYPzPeUuGHQlS+K1sPMpmm2T1j9bU2lLZrj0REywrAiBpbQjhctf1iy3VmQDsCuFoIsocVmwCLHLNbGa7djv2+8qQ0PSuoaaRd315U6koAujmCmlLtyS0JiFc6JreKwZbThgq/7wJT8sZdZRB8uyv0GRm1QLJpEsQdo4UEAdCdcZ7XwbvDT0CQ2TF+KMj0ExXZ3OexxkziLNnD74NRGikSmg3OVjIsj2O4YRCtsq69Nnd/pE+9jZZTOgPUgGymKyfIhEfmnlzr9GihdsgFbLczf0grs9YLvGdmRz1Z2wAwC4cvE07r7BacIFj/CbNVffU4vcytp1uWBO+J0gQYUpIldWovsm+YR4Xn2LfYYoUl/p33xsnMb2IvAgm/Un3CzVojC9qhqgvel4zdjX5PdoKS0LPUB08FlgzJCNcxb8oVIiuPBjJ1x3WyV1iiWRcch3/KQg30FZm7ASayv1JfwEZgToaHV1N6JsBU9lUluHIlvt7glHxoMpmLyW6Exi+i6bx9ITby6e0azM6YuukCY344aNnQGxIwS7/Nd1F6dnjwqlKe5mMhAS164gh9lY6iZx1BFED1pGEZfM5E59jis2+2k4W/uJHtCWJ5Zo+V/j6gU5VXiPgz0YmcvRMYbE7eE3vKCx4X9BUpSkrcsfHoH8DAK2b/fRSskKwtWJrGvbOrNwp8hVG6bHOXTHgfmM3GGQ4nmhOd+sFZqOcqEgnk8fDtwX21AdJUs+kGuX03yIdF0ERw9+YrBPCTJXbq2sb2L9m+WbX9oKCONmrmt6SD2mqVHnOfUulKveKm6/qV1r4hgpE9gEMGTg65Dk6Z8RqhdBg8a662JbuBZHM9dui2TFaN+wR3j3/IHeG/WUFFPzgYjCY0pcsjhewnsfBdJupn5dJpt0slDyGXoEwb5OIQNjBNIfb5dqX0S4agYtaif2iSmhvCeDdMSD0yTFXgEksRQRfiIG6W0a85/kQI1UJtQmmE3LmuxRWZIYz4guQJAMCJJnsKtLXKEy6gNSNErg3dehmoi3bjbWfoKsan7mhUk16MuI292YJmXqksUqRVCznb7tiFiKpGEpJr2r0vBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011j7kmzwbxmHkXVg8C6urqX",
      "input": {
        "note": "Still no motion from the left arm. Trying a purely retracting/raising move (back to x=0.40, up to 15 cm) with the current yaw held, to get the IK out of this stalled configuration.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.174,
          "left_yaw": 0.26,
          "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_011j7kmzwbxmHkXVg8C6urqX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6952, 1.7054, 1.0885, -0.1989, -0.7368, -0.6662, 0.9985, -0.0212, 0.8398, 0.6006, -0.8993, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4068 left_y=-0.1801 left_z=0.1347 left_yaw=0.2381 left_pitch=0.0052 left_roll=-0.0209 left_gripper=0.9985 right_x=0.1994 right_y=0.0026 right_z=0.0849 right_yaw=0.0019 right_pitch=-0.5496 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.6615, 8.6496, 1.3309, -0.4615, -0.0659, -0.1685, -0.1162, -0.5949, 6.3932, 1.2381, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc2f3862af305ad4d13630ca4ab49af8c62a38837e2bc03752418e5d05db5a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3d55c6e6e3c06d92e420171c4ee9ae92cd93644228771eb96569f13f8ec438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7eb5ffd1b26761eb10d456bebf6531aec32688f59020d44ba07bd5bdd11b4e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 7.64 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8673, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2066 right_y=0.0026 right_z=0.0889 right_yaw=0.0018 right_pitch=-0.5149 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -8.2393, 6.7761, 1.1746, -0.1343, 0.0269, -0.1734, -0.0342, -0.6085, 6.6393, 1.1404, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8806, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2036 right_y=0.0025 right_z=0.0874 right_yaw=0.0016 right_pitch=-0.5282 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -8.2667, 6.7761, 1.16, -0.1148, -0.0122, -0.1734, -0.1846, -0.9231, 6.4205, 1.2137, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6952, 1.7054, 1.0885, -0.1989, -0.7368, -0.6662, 0.9985, -0.0212, 0.8398, 0.6006, -0.8993, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4068 left_y=-0.1801 left_z=0.1347 left_yaw=0.2381 left_pitch=0.0052 left_roll=-0.0209 left_gripper=0.9985 right_x=0.1994 right_y=0.0026 right_z=0.0849 right_yaw=0.0019 right_pitch=-0.5496 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.6615, 8.6496, 1.3309, -0.4615, -0.0659, -0.1685, -0.1162, -0.5949, 6.3932, 1.2381, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc2f3862af305ad4d13630ca4ab49af8c62a38837e2bc03752418e5d05db5a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3d55c6e6e3c06d92e420171c4ee9ae92cd93644228771eb96569f13f8ec438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb5ffd1b26761eb10d456bebf6531aec32688f59020d44ba07bd5bdd11b4e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QBsvyjNPFp8Xw69b3JCPAA",
      "input": {
        "note": "Arm is free again. The can sits to the image-left (arm's left, +y) of the jaw column with its cap end angled to the far right — I had earlier shifted the wrong way. Moving ~5 cm to +y, yawing slightly clockwise to match the can, and descending to 6 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.13,
          "left_yaw": 0.1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QBsvyjNPFp8Xw69b3JCPAA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4889, 1.8023, 0.8528, 0.1661, -0.5434, -0.4404, 0.9985, -0.0212, 0.8417, 0.6006, -0.9051, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4232 left_y=-0.1176 left_z=0.0487 left_yaw=0.1823 left_pitch=-0.0744 left_roll=0.0448 left_gripper=0.9985 right_x=0.1981 right_y=0.0027 right_z=0.084 right_yaw=0.0021 right_pitch=-0.5572 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.9385, 5.7778, 1.8046, -0.0659, 0.1685, -0.1685, -0.0615, -1.1009, 6.3795, 1.0623, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e436af5fe407e592d5682a46361c184a84bb56ce5d6c8d6ad9a5c3bbbade3455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc16ffa19bc1135a620a8a993804bc22b99027f7e0c592068c35229e4f5f1933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0bd0d87870be4b3fc708d0505883b9e7c9091f460f08ae8dc043d1b85e4625a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 3.902 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6029, 1.9945, 1.1084, 0.1116, -0.6968, -0.5888, 0.9985, -0.0212, 0.8371, 0.6006, -0.8806, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4592 left_y=-0.1741 left_z=0.0572 left_yaw=0.2606 left_pitch=0.0088 left_roll=-0.0057 left_gripper=0.9985 right_x=0.2036 right_y=0.0025 right_z=0.0874 right_yaw=0.0016 right_pitch=-0.5282 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -8.2667, 6.7761, 1.16, -0.1148, -0.0122, -0.1734, -0.1846, -0.9231, 6.4205, 1.2137, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6952, 1.7054, 1.0885, -0.1989, -0.7368, -0.6662, 0.9985, -0.0212, 0.8398, 0.6006, -0.8993, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4068 left_y=-0.1801 left_z=0.1347 left_yaw=0.2381 left_pitch=0.0052 left_roll=-0.0209 left_gripper=0.9985 right_x=0.1994 right_y=0.0026 right_z=0.0849 right_yaw=0.0019 right_pitch=-0.5496 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.6615, 8.6496, 1.3309, -0.4615, -0.0659, -0.1685, -0.1162, -0.5949, 6.3932, 1.2381, -0.0366, -0.0659, -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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4889, 1.8023, 0.8528, 0.1661, -0.5434, -0.4404, 0.9985, -0.0212, 0.8417, 0.6006, -0.9051, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4232 left_y=-0.1176 left_z=0.0487 left_yaw=0.1823 left_pitch=-0.0744 left_roll=0.0448 left_gripper=0.9985 right_x=0.1981 right_y=0.0027 right_z=0.084 right_yaw=0.0021 right_pitch=-0.5572 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.9385, 5.7778, 1.8046, -0.0659, 0.1685, -0.1685, -0.0615, -1.1009, 6.3795, 1.0623, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e436af5fe407e592d5682a46361c184a84bb56ce5d6c8d6ad9a5c3bbbade3455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc16ffa19bc1135a620a8a993804bc22b99027f7e0c592068c35229e4f5f1933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0bd0d87870be4b3fc708d0505883b9e7c9091f460f08ae8dc043d1b85e4625a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8AYKEAgRGAI4AUIIdGhpbmtpbmcSDNZGNyiHnO1m1HycgRoMT315qz3HkjxwRG+eIjCdgjVQLRPuMLx6GYL5WgJVw2nBUpAFKsoXnAsN39oag8pf7s06z2cclWHMgTTd5ScqjQYvHNt9KGpqnroaDlQdbQhR1Xw45PTMViuz7TdfCok2PMTgGlP9JpJsvj3/BuhWBh015iEdYb34XhmLEkUL5DO9Pho4chiXl0ovInXDNjeQxgoHCUGDVhOx80RHqMK9h5cRdQnDKSIV56iEttzEyPjXLhkpRU4vbVnLAkQGjQ/nvyOAYFPjnWvv/y9rM4IsYHLsFf22kHUBeAr3aBJcD6WzV4UdsQrz4IWImS94mpf2fRkfIC+BgFxN5R/io52HsmQQ4rMioA10VKo68v0F0ekkKvLuloJvTdvrrj4FXzQRFidGDmTmoIxa+pMfkcGN8ds4v1uwFGMy3N6fwzsREO5WwuB7U09DlSvQGJxMMPIkrlbgGVHPisePmSpVGPLOMKaeXauOCGQPfj3A8uQFaZLr2/Z7m+je7g2R+ix6WQIn6jIEwRdCsOeX5EOhKteBR37ELUBKcn+uKq9Z7V6GWMqmL4UNx1EtqNZXag0nAsaUzS7lTO89q3v4EeY2PBi95KwF2f5H6oFZK7iY7zI2BIkL61X5PcDpZxyRuiGR7jO294GwXF4CtzheRaZsZXCBEghqt+Du8a+2D1C1kd/L9bsVzOcUSxbpIDVqFZNfdJiillrcoZ22WP6WHFt5Yxi+2Wj4XI9PbMxQje8pxHSQ2kLXlYblroUs8qxjlgrFao80dWGzz7xjeTNUqgknerkMspgWEhmclesqVDDAD3/lSMJHX5ZbXfHgIrl626tGbzDZi5tJFhPVJgekbfyj9BP7uM4erTvkP1AaM9sgeof0B2iMsKub111FgxWktZ2GNACEP/QmQszDWzXXTwX+XWL0XXeJH/peQrW12cEQm0b4lW0Z7oEpJvlkF9JoV28GeWnG10w+6MVVpdhRr65HZqbjRUA4Qk2syQWCYruOIRqvYfOIgsxiat/lnhxNzCoMiOsY+E8/0bnOnd+m+/oU4XuaS7DnYie22gBGc2MLS3Kw9khVCHyAgFKXlkHCSIYroIKzQqa5vejQKB5qNbKNIpwnF7Q+FiFt9VUxiPGPkuYCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RnQiDxhWvzUmdVZH5er3Xm",
      "input": {
        "note": "The can body is centered under the jaws in the wrist view, nearly vertical. Descending to table level so the jaws straddle it, then I'll close.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.12,
          "left_yaw": 0.08,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RnQiDxhWvzUmdVZH5er3Xm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4618, 1.953, 0.7273, 0.5236, -0.4725, -0.3695, 0.9985, -0.0212, 0.8417, 0.6006, -0.9089, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.1171 left_z=0.0 left_yaw=0.1135 left_pitch=-0.0379 left_roll=0.0156 left_gripper=0.9985 right_x=0.1972 right_y=0.0027 right_z=0.0836 right_yaw=0.0021 right_pitch=-0.561 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -6.9949, 3.6034, 1.4383, 0.0073, 0.3248, -0.1636, -0.0342, -0.8957, 6.3795, 1.0623, -0.0806, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:126a0491e541cd379530c17cc5b68e26cbb7d598cc1b9e5ae3551219bc7780aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7c0847d991772e7f1289cda8d76ba62e0f78d815d29b3171f793bf8f01c8bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f6481c423f5933630030524a11073a67e0ab47f7b27ea27066cb067074f62ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 7.984 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6952, 1.7054, 1.0885, -0.1989, -0.7368, -0.6662, 0.9985, -0.0212, 0.8398, 0.6006, -0.8993, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4068 left_y=-0.1801 left_z=0.1347 left_yaw=0.2381 left_pitch=0.0052 left_roll=-0.0209 left_gripper=0.9985 right_x=0.1994 right_y=0.0026 right_z=0.0849 right_yaw=0.0019 right_pitch=-0.5496 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.6615, 8.6496, 1.3309, -0.4615, -0.0659, -0.1685, -0.1162, -0.5949, 6.3932, 1.2381, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4889, 1.8023, 0.8528, 0.1661, -0.5434, -0.4404, 0.9985, -0.0212, 0.8417, 0.6006, -0.9051, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4232 left_y=-0.1176 left_z=0.0487 left_yaw=0.1823 left_pitch=-0.0744 left_roll=0.0448 left_gripper=0.9985 right_x=0.1981 right_y=0.0027 right_z=0.084 right_yaw=0.0021 right_pitch=-0.5572 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.9385, 5.7778, 1.8046, -0.0659, 0.1685, -0.1685, -0.0615, -1.1009, 6.3795, 1.0623, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4618, 1.953, 0.7273, 0.5236, -0.4725, -0.3695, 0.9985, -0.0212, 0.8417, 0.6006, -0.9089, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.1171 left_z=0.0 left_yaw=0.1135 left_pitch=-0.0379 left_roll=0.0156 left_gripper=0.9985 right_x=0.1972 right_y=0.0027 right_z=0.0836 right_yaw=0.0021 right_pitch=-0.561 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -6.9949, 3.6034, 1.4383, 0.0073, 0.3248, -0.1636, -0.0342, -0.8957, 6.3795, 1.0623, -0.0806, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:126a0491e541cd379530c17cc5b68e26cbb7d598cc1b9e5ae3551219bc7780aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7c0847d991772e7f1289cda8d76ba62e0f78d815d29b3171f793bf8f01c8bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f6481c423f5933630030524a11073a67e0ab47f7b27ea27066cb067074f62ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019G2bfSvBetECDZGK11QgwU",
      "input": {
        "note": "At table level with the can body filling the view between the jaws. Closing the gripper to grasp the can.",
        "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_019G2bfSvBetECDZGK11QgwU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4519, 1.9751, 0.7177, 0.5991, -0.4526, -0.3443, 0.6633, -0.0212, 0.8417, 0.6006, -0.9123, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4291 left_y=-0.1184 left_z=0.0003 left_yaw=0.0936 left_pitch=-0.0076 left_roll=0.0026 left_gripper=0.6633 right_x=0.1964 right_y=0.0027 right_z=0.0833 right_yaw=0.0022 right_pitch=-0.5645 right_roll=0.0123 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.253, 4.0547, 1.8388, -0.1099, 0.0513, 1.0281, -0.0889, -0.9504, 6.4068, 1.0916, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1beeb43d869a71257edff691ae4813196ed9ff5e975bdb84d06a1b0195ad2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe0e48ed9767a3a74c54bd83222586f410cd50b9d80a18192202decfc44fc7ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9f464441223a1809630f283cbbe9c5009ad8a516007b858f1fe49823e2a9ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 8.628 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4889, 1.8023, 0.8528, 0.1661, -0.5434, -0.4404, 0.9985, -0.0212, 0.8417, 0.6006, -0.9051, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4232 left_y=-0.1176 left_z=0.0487 left_yaw=0.1823 left_pitch=-0.0744 left_roll=0.0448 left_gripper=0.9985 right_x=0.1981 right_y=0.0027 right_z=0.084 right_yaw=0.0021 right_pitch=-0.5572 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.9385, 5.7778, 1.8046, -0.0659, 0.1685, -0.1685, -0.0615, -1.1009, 6.3795, 1.0623, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4618, 1.953, 0.7273, 0.5236, -0.4725, -0.3695, 0.9985, -0.0212, 0.8417, 0.6006, -0.9089, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.1171 left_z=0.0 left_yaw=0.1135 left_pitch=-0.0379 left_roll=0.0156 left_gripper=0.9985 right_x=0.1972 right_y=0.0027 right_z=0.0836 right_yaw=0.0021 right_pitch=-0.561 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -6.9949, 3.6034, 1.4383, 0.0073, 0.3248, -0.1636, -0.0342, -0.8957, 6.3795, 1.0623, -0.0806, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4519, 1.9751, 0.7177, 0.5991, -0.4526, -0.3443, 0.6633, -0.0212, 0.8417, 0.6006, -0.9123, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4291 left_y=-0.1184 left_z=0.0003 left_yaw=0.0936 left_pitch=-0.0076 left_roll=0.0026 left_gripper=0.6633 right_x=0.1964 right_y=0.0027 right_z=0.0833 right_yaw=0.0022 right_pitch=-0.5645 right_roll=0.0123 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.253, 4.0547, 1.8388, -0.1099, 0.0513, 1.0281, -0.0889, -0.9504, 6.4068, 1.0916, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1beeb43d869a71257edff691ae4813196ed9ff5e975bdb84d06a1b0195ad2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe0e48ed9767a3a74c54bd83222586f410cd50b9d80a18192202decfc44fc7ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9f464441223a1809630f283cbbe9c5009ad8a516007b858f1fe49823e2a9ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4QkKEAgRGAI4AUIIdGhpbmtpbmcSDLA55s81QHEwdk4oexoMCbIigtaPKVKMI94SIjB5HwhUifCyjZIPSndLwstmCkv+qKOkbt3KgN8BJ4lTCY23W4SZBkmMi+oFKnwa2Ucq/gj/9V9/XM0qKMA+Rzf+rDOO7GdGruK1bXm5p6O1GSj2j+LnO5IeF/yo4gpC5JzjmpkzaUl+a7Xf98LSw3h9UAal+6/jYCGL8DiBCVkfpsEjt8DZJlFj6QbtmkKBrsU7deF/PreSNKdXs9oydpPgZPclPXPZHQ212HJTqdAmLmBWc9alC9FFYqvQ3++oE1zEYLvgYhJtTU1lQiq9TlM/BCRRjHwO5y9c9nRfyM6nzNUkwmuIfUvEfnFfN5bCuLspsu4HvKGjss3CwaNx4DbKEyHl4Ls3xjhei6ml9uFV3ST6dByWTb8Xno0lhbK6WF0pLDHi6q+k/+k5Q2XsnqZNzp9yJJw2JGkJydxwDoJivS8l/Y34l4OKix4lwdzTKD/YJ05hMj3OXKbsHuHNKQXwPKrmJNzBinIxeA2sKjHfaJTLeb6mX9fD2q8UqwNFy938ZEOfIM3b6ImoLp51P/2JUtudk6qBTspEVFcgEh8d2Hk6ZPBtpPqEAxrbVBQfVGpvS5iSNaWqc+GETbDLNX/bzMb6xW/NJg7VcqRMOBLst8iXHuKjueQ3o6EjSwdjlKisXydkHoJtyDLRZw/sj6DqTHUzul5OgUxYuuLlxsS2bjoqF60NAkenPkqC9NpVON4UwFhLt9Ax2644SILiI0hJNmFURTrFHEp1rU3I5wr2m5+yk8RMBbX0m4LFiuPGAhIwyqfbxEQ3fpmMyVhJ00GR87L+gKHb3bZy9Y3vwTf5BvxssWIN/4Io7m8S+uD2h6/R6NrGb4s3A+DTLvafrH3s+jJTls+H+Nys40GdX+qWa7wPMGsw5iMa8PRxOWkCL/YtStUtqnJPHuenn0v1A1aorzNp1ir58z0AVmeyj12upYcvKT2R8zOag5T6UnDC9Tpt8jUeUd94OEysEGWUXHNOinEAwBy8g4Ps/Pnc4nfbaHewPcu/H4I2mxigQUZEOBDbOtWF7nlKrQaxfwzNuThRYRNXNf/ATNr2OuYX68saTb7gqkmZilKT9D5aJbjs0m2RqbYU/e/8s3yLUHzT2YXFXheGT7kLiYBpdQqDyOTxOiV6AMrzGlzlDo5jiieJ36pPRRSSHAeuZzR0um2pwOCoGYMxHv6NL30IGbwaGcXtRqOmnUMRiID5h2N3Iynw8DHVDRLbjbzEupAnSKEw6C3PjtbQq1zQ1NAfFtysE0i1bQsYfgfeNlVccNcYcs5gxcFShijnWFkLxeswMmIqaoedL+KU8R24zpFA7Eomn5aNPArgSYbfnDTcp/Sr/HfDAhkDt5CdDay722XblQEGSrhcmBit7dQYkEz9llqkaU4iRxjs2kVaZWYly/lmrJcz8Y6mA6zhvZzKTd6Ub3kdToEyF5a/jSgCR8WDUgjetS0NG7mymLxSk4c1kMTNlU9B+ZZkxnh5yZd7kkrVsiyGaYx1BY/XFOGjnyZRmG1zMONr3/exBg0A7zBOiCoo9RVys121e6QmM8xeT3JUrACEJz2eV/mgMOIdSWFhzXiJYpcecdyONdHgGfT1jpW9P6VY3eUnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F1d2JYo5hQBxuV4RgLuFzG",
      "input": {
        "note": "Gripper settled at 0.66 (~6.3 cm), a solid grasp on the can. Lifting to 20 cm and carrying it right to hover over the burner centre (≈x 0.45, y −0.30 from the earlier wrist view of the coil).",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.45,
          "left_y": -0.3,
          "left_yaw": 0.1,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01F1d2JYo5hQBxuV4RgLuFzG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8051, 2.0243, 1.7222, -0.5358, -0.6895, -0.6392, 0.6633, -0.0212, 0.8444, 0.5999, -0.926, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4478 left_y=-0.2985 left_z=0.1804 left_yaw=0.0814 left_pitch=-0.0358 left_roll=-0.0023 left_gripper=0.6633 right_x=0.1931 right_y=0.0028 right_z=0.0812 right_yaw=0.0024 right_pitch=-0.5816 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -11.7538, 9.4427, 1.2723, -0.6276, -0.0171, 1.0281, -0.0479, -1.0872, 6.4479, 1.116, -0.0806, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a919cc3d85b049a5f62dcf1ad0daf2baaa7575ab200bf004e56df943c4077f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b6c32ce5e14a2c4b5ce7e7e980579a084906d78ccbc5c88694086afcbc83d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:340598e06c37e9ec3144fb702cc5627b726cdfc2263fbed09d07bdf5c3abb55b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 8.72 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4618, 1.953, 0.7273, 0.5236, -0.4725, -0.3695, 0.9985, -0.0212, 0.8417, 0.6006, -0.9089, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.1171 left_z=0.0 left_yaw=0.1135 left_pitch=-0.0379 left_roll=0.0156 left_gripper=0.9985 right_x=0.1972 right_y=0.0027 right_z=0.0836 right_yaw=0.0021 right_pitch=-0.561 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -6.9949, 3.6034, 1.4383, 0.0073, 0.3248, -0.1636, -0.0342, -0.8957, 6.3795, 1.0623, -0.0806, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4519, 1.9751, 0.7177, 0.5991, -0.4526, -0.3443, 0.6633, -0.0212, 0.8417, 0.6006, -0.9123, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4291 left_y=-0.1184 left_z=0.0003 left_yaw=0.0936 left_pitch=-0.0076 left_roll=0.0026 left_gripper=0.6633 right_x=0.1964 right_y=0.0027 right_z=0.0833 right_yaw=0.0022 right_pitch=-0.5645 right_roll=0.0123 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.253, 4.0547, 1.8388, -0.1099, 0.0513, 1.0281, -0.0889, -0.9504, 6.4068, 1.0916, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8051, 2.0243, 1.7222, -0.5358, -0.6895, -0.6392, 0.6633, -0.0212, 0.8444, 0.5999, -0.926, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4478 left_y=-0.2985 left_z=0.1804 left_yaw=0.0814 left_pitch=-0.0358 left_roll=-0.0023 left_gripper=0.6633 right_x=0.1931 right_y=0.0028 right_z=0.0812 right_yaw=0.0024 right_pitch=-0.5816 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -11.7538, 9.4427, 1.2723, -0.6276, -0.0171, 1.0281, -0.0479, -1.0872, 6.4479, 1.116, -0.0806, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a919cc3d85b049a5f62dcf1ad0daf2baaa7575ab200bf004e56df943c4077f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b6c32ce5e14a2c4b5ce7e7e980579a084906d78ccbc5c88694086afcbc83d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340598e06c37e9ec3144fb702cc5627b726cdfc2263fbed09d07bdf5c3abb55b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiwoKEAgRGAI4AUIIdGhpbmtpbmcSDMY82HylWUi+lhlcvRoMmg4DzZ59RhrbuCQOIjBOFui3ZAn+mxUS/6h6cXpRb6ErU9tAsFNmECxElRQBE2uxo6TaP3ZhQZHweNHf9uAqqAlzzpCPMnfTZiwH7sVNDy8DQs0VzmKfQ9nuv5i7a7wlEHQ+2/vcA3RqN7tmw7BNrqeCwJ6BwCf1KteLWz9xI8sfLGvDMZfmAlL3TOstx/NlgVlCBJGDpXOfI1t/mmcBrgYTMK46bQaNjvsMyW3xwds2+VWvfysDUM5mWWTooXY6ADU8WhdLfXBpmYPcQW+vIvmQzUd2IDL19g1iyXzSTQMbx+ctCpGnQuWXhQo/Ii19imc90tnBnrEZJhCl4+9B0fO3NAft24a86I2M+VjCUT897U4qaeRdyvQFY14Egdrj6exG8G9SdwS2j8et9mXkslagwk72Ua7qL+T0zatz2y/788p+ypKY/l6CsgOu63UfvOGRpu6/cBxYmUaAPirtJZqPHUFUvPE8E7Zil0Iv2UGxWks4L2JUCXRz37v7MDdDB7tX0xATBefYnNbMdxXDoyzB6qkYSdJuoFUaiCxrGYGGM7/4GS4xAftFXL1cUaO15fbR3ASt2hOYYhRG22z8CP6M0KNbDKQO/rOaWmS5ZV+NHi4MGTYOaXO8UpIuvYA0yNUZ3eBlXVI93lvJgj5lRhiMlyUf5ZZIqlb7hqTeIU+Kb1HMrI+7T1vt3YXCAr9psoX00BmIMgZ4vuHJFvo8v8qX3swRzgRCr0xoKa5G8QaeTD4KPeQmdz/j2opfdxhtOM6H2xIEzObGtJ8DWJDsJXz/Uab1mMjVb1XHCiKWuvVuFOIoaHTh0d4ZsbZUj8IYtQoBzQplLRwUBQzHv3z8bvQpfULHVFPmQ4QjPzoPoNLMOCmsUe/f0HTmYAGXLultggW/V3OG4tUy9YEIE3fikSInkNeU3CkYV/Gxz71v6n1TLmdb70z8P8mEDPDbI4c1o7ZbplHGMNogY3W0ywRkhzXI2htzWDkKyI2ZGGjbYcoV8q1zGmmesIhhkJDMuVkCU4ycU+iN5AIQQM/72DU8kNgjkdmRNwkFp0c+m5vkfvL/OzZ3T4R9Js3j4iqpcHRZ8UWl0g39UIX8ecIJBsy4EN5cWNr4GJMwYjZKNi9Xjox5Q8CznhFoBNx98jsOwVCKolCJn3lN+GkZVpSwBKA7x3RIAaDU5xLLjT25vqDUA1FAuIBxf+qWe4QqZPjbQh9jsfDzV9YAaTnqj6ydVv8d0kvIAGMsMNFDMDZxEynst8urxGY1hHO8aULcLaxo8pzVARnxGPUszwt7y6a/2YDx25zyBoOqk3yLgTyM/2qeQyt9Izzofpdc5Y0ASUFbEieAbSHRkGxY5E7VHHTtWzwfVsgEj4N21+02/Z6s4cDNemrKMEL9vwT+rCHuiTwys/gBLqwGvBS/Z7NlJHlCeWzuNn6kXbOUhu0OBGMjhz0dBs6Q3vYJ25+v7ZXCE8VpaEETXXspDnioXwAIqXVuvuKH8BURIG4LV89uXEx6q4BC2uNp6Gkjy/vWlvZBnUX2kcy/Bhzle7+LFVOVhKuJtZfc92Ugd1S0Vlx0SbaH44La+/0We5uKTwZpGQx1AIogO7m7nhJvtYpCC51PU+zm/jhNAFUVqU4SjGl21rrxAVIV8zhZtIt2Ei+rKjAv7iKCjaauWq3nZPdzVx93GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013xqevexXfrVRkk1SwSK4wq",
      "input": {
        "note": "Overhead shows the held can over the burner, slightly left of its centre; the burner knob again appears at the right edge of the wrist view. Shifting ~1.5 cm right and lowering the can to about 7 cm so it rests on the coil.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.455,
          "left_y": -0.315,
          "left_yaw": 0.1,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013xqevexXfrVRkk1SwSK4wq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8177, 2.1834, 1.5684, -0.2749, -0.7063, -0.672, 0.6633, -0.0212, 0.8455, 0.5991, -0.9314, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4523 left_y=-0.3097 left_z=0.0769 left_yaw=0.0999 left_pitch=-0.0576 left_roll=0.0197 left_gripper=0.6633 right_x=0.1916 right_y=0.0028 right_z=0.0802 right_yaw=0.0025 right_pitch=-0.5889 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -11.2752, 5.2171, 1.2869, -0.2759, -0.0366, 1.0281, -0.1436, -0.9778, 6.5436, 1.0037, -0.0562, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f8ff499fe76e23795173f45635a5da16f6cdb2a93dd6a7902b4692a8034f449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5f1c12d979b4b351e2c30842a977926e90c7347f88323a9cc0c4cec4a42e69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01cd81cfd1190909dd93a5c5758254f2a26438d3aa106838699bffe127e1c9c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 6.991 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4519, 1.9751, 0.7177, 0.5991, -0.4526, -0.3443, 0.6633, -0.0212, 0.8417, 0.6006, -0.9123, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4291 left_y=-0.1184 left_z=0.0003 left_yaw=0.0936 left_pitch=-0.0076 left_roll=0.0026 left_gripper=0.6633 right_x=0.1964 right_y=0.0027 right_z=0.0833 right_yaw=0.0022 right_pitch=-0.5645 right_roll=0.0123 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.253, 4.0547, 1.8388, -0.1099, 0.0513, 1.0281, -0.0889, -0.9504, 6.4068, 1.0916, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8051, 2.0243, 1.7222, -0.5358, -0.6895, -0.6392, 0.6633, -0.0212, 0.8444, 0.5999, -0.926, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4478 left_y=-0.2985 left_z=0.1804 left_yaw=0.0814 left_pitch=-0.0358 left_roll=-0.0023 left_gripper=0.6633 right_x=0.1931 right_y=0.0028 right_z=0.0812 right_yaw=0.0024 right_pitch=-0.5816 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -11.7538, 9.4427, 1.2723, -0.6276, -0.0171, 1.0281, -0.0479, -1.0872, 6.4479, 1.116, -0.0806, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8177, 2.1834, 1.5684, -0.2749, -0.7063, -0.672, 0.6633, -0.0212, 0.8455, 0.5991, -0.9314, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4523 left_y=-0.3097 left_z=0.0769 left_yaw=0.0999 left_pitch=-0.0576 left_roll=0.0197 left_gripper=0.6633 right_x=0.1916 right_y=0.0028 right_z=0.0802 right_yaw=0.0025 right_pitch=-0.5889 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -11.2752, 5.2171, 1.2869, -0.2759, -0.0366, 1.0281, -0.1436, -0.9778, 6.5436, 1.0037, -0.0562, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f8ff499fe76e23795173f45635a5da16f6cdb2a93dd6a7902b4692a8034f449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5f1c12d979b4b351e2c30842a977926e90c7347f88323a9cc0c4cec4a42e69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01cd81cfd1190909dd93a5c5758254f2a26438d3aa106838699bffe127e1c9c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+QoKEAgRGAI4AUIIdGhpbmtpbmcSDABwBOdS6b/PITKPihoMhTbjG64MBps0FccrIjAubGLVVLOxXGX0KSJmVPclDgZ8VvrPgHkmfrAp7hLqvJUnJSWgPPg31X8gUG0wkusqlgp76TclJQ0CploSxjXEKoz1oEJVJ9ytI0hptrz9KWgfQHIrfgNG9kUne0CKL7+2c+cOmai+YD/7bdg77Xaz6gDj2mXlUBT8FDeIPUgos63JD2Wbg1luf7AIhla/Tqisp2hMuhQxcnX4pItruYLg8NccdnRca7ZqKfeTofW2+OgsLnzzlyH7IfJIdM1myWUxcPhPG7NawRXzsbhROw4BxJSKfuFKCPz9lNdvHOm1BYT0PwnH1yPk45FdLRfejzPBuPCUOsB+DUFR/cM5/WzrRQgJokfY7fHJat9FfQCUy7HJ8N/+gp3Fjh1MYP/LFkIAX/j8unuVT436Stp5JeHPfR2wL1MyKwQlndTWJIyyMc6qA7Vboc2K83h6CCl68tHOgD86wE1Z6NZJ5pYrDvyUpiLnAnqsFf26+QTpD0jIHBFZQT1D6TQFA3ayP3E9wO/y76Xqw7AUfRAgfqcgubra8S1g3z0mpme7RJlJJeD9v1wIxuimfXuqKMpWb4cDNL+YrAYfWl8f53mv590/lEQz53Z8+bYa5Uepz3Ti45FFug8YGqkgeTI6GnLWVsSrS9n7Ep5aoaOPjd2RSsbJ+h6helgecTOgsUCxm5IfqhYqr5LyMPM6npvnJb94y3zsu51FeVAIJB+r/dRZAj+NnaIaLx1Ib7GLeHbjkEXG0QuswZUtCY5ltFYcORY0PwH2oCX/pHXgIXhYrEg6LlocNVYHE9Qk8tLLZRL1sEdX/nod7Xp7a0Zy73rzajxqhudTK5PDOTVrJf3hWymypW9MlM3PT9jm/AVXs8z/U9GwIRZXqHGNEQDNUbqtys1lPZex16CubY8BFFJJoKQiBWlBS/5vwD8bICcyOX6UpFzTNbV6IjyNIgOdjNQJfgzjaesspdCRr0Oe8JSW1hko7WHn+7zmBkLVAv3AHXYxTqHba5Ok7xxloivhzdZog73DUDSImazN8Wlsd/3XtNMSp3k+v2AgerMwufxBs9epgmn26Qum57+A5oACcPjaedCBA2k55Y792Inqxin9d1wgTJCiEI7T8JZNMM0qliIxQC/CbBmI/8S3KwQUD5llJ6fN2pmP2m2pQ8VyRN3IweKLQVLgCm8llbsJiK0ex0F1/fAlNiw/2TZp6xWRKrOzr9IYlU0pOODtHcbit7M7ystF9JubyStV4+LidDJK0MwiGwfIgZCj3duydQegosDaIT5oo6oP9bkSa+oUAL3csYWtBg3bniS0K4XKTJCHFuyMABXqbNPtiMXCvySCTJc0AO8hp5T4SDZ8M5YTAuttdMKl9Ik+NPCngqegW5FWIOV2FTv2aSVBXH8XhnY87ZegOEhW3xQCfF1TlUaa2b/7HxywIv3X/DYZMd8vpd5UmUBHFTI0z8VtKUf/QHC4Lf2XGAilMf642YK7DuE1m2u1k7/+tp2QevlFK3aogS03R4loD+DiTsUUaDLf6BW9fx8k9gXNHhldgzC5Q5FuwcYSEnqcSyRB1gFr2IUsR4mhl224pENGl+FM0kwMI4vlZT04Du8GxIEgvXw97wkv1dnlrJ8pCnahspRJ9F30Ry9PVZHyB+O89cD/Qsh6V0cti8Q0CJLBDKiK6TTHxgWrIbN22jisRX20+YthrMNQZ1LQyjvIjNdlX9y4B32BfYCZuENlsvMURQ1YN7wVX1wpdGb9qrBidv77tUbtfthT1X5hQXVfdRO4iZAaYLOUjq3H6NOmpMyMog8rWjYo+eRtdBM/OsQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cf55ddyMcLxZ9gz8d4pCfL",
      "input": {
        "note": "The can is resting on the burner plate with the coil just to its right in the wrist view. Nudging ~2.5 cm further right toward the coil centre while opening the gripper to release the can on the burner.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.455,
          "left_y": -0.335,
          "left_yaw": 0.1,
          "left_z": 0.065
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Cf55ddyMcLxZ9gz8d4pCfL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8402, 2.2486, 1.6493, -0.2886, -0.7399, -0.7086, 0.6633, -0.0212, 0.8455, 0.5991, -0.9375, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4573 left_y=-0.3265 left_z=0.0736 left_yaw=0.1191 left_pitch=-0.0351 left_roll=0.0037 left_gripper=0.6633 right_x=0.1902 right_y=0.0028 right_z=0.0797 right_yaw=0.0026 right_pitch=-0.595 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -10.8786, 8.3761, 0.9988, -0.188, 0.022, 1.033, -0.0342, -0.8547, 6.3658, 1.0476, -0.0415, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6881d35388a72911a834e29b0a0a59bc6cce81af39403830c384947cb1394d6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23b1041b1c5ffc3839e2c87ea64b250daf966b95d9274c44ae236772cc3b770b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a82429ed2d9f1dd16cf39b16c1e82dbfb430bea3fe97ce83f99436df578234ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 12.36 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8051, 2.0243, 1.7222, -0.5358, -0.6895, -0.6392, 0.6633, -0.0212, 0.8444, 0.5999, -0.926, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4478 left_y=-0.2985 left_z=0.1804 left_yaw=0.0814 left_pitch=-0.0358 left_roll=-0.0023 left_gripper=0.6633 right_x=0.1931 right_y=0.0028 right_z=0.0812 right_yaw=0.0024 right_pitch=-0.5816 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -11.7538, 9.4427, 1.2723, -0.6276, -0.0171, 1.0281, -0.0479, -1.0872, 6.4479, 1.116, -0.0806, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8177, 2.1834, 1.5684, -0.2749, -0.7063, -0.672, 0.6633, -0.0212, 0.8455, 0.5991, -0.9314, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4523 left_y=-0.3097 left_z=0.0769 left_yaw=0.0999 left_pitch=-0.0576 left_roll=0.0197 left_gripper=0.6633 right_x=0.1916 right_y=0.0028 right_z=0.0802 right_yaw=0.0025 right_pitch=-0.5889 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -11.2752, 5.2171, 1.2869, -0.2759, -0.0366, 1.0281, -0.1436, -0.9778, 6.5436, 1.0037, -0.0562, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8402, 2.2486, 1.6493, -0.2886, -0.7399, -0.7086, 0.6633, -0.0212, 0.8455, 0.5991, -0.9375, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4573 left_y=-0.3265 left_z=0.0736 left_yaw=0.1191 left_pitch=-0.0351 left_roll=0.0037 left_gripper=0.6633 right_x=0.1902 right_y=0.0028 right_z=0.0797 right_yaw=0.0026 right_pitch=-0.595 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -10.8786, 8.3761, 0.9988, -0.188, 0.022, 1.033, -0.0342, -0.8547, 6.3658, 1.0476, -0.0415, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6881d35388a72911a834e29b0a0a59bc6cce81af39403830c384947cb1394d6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23b1041b1c5ffc3839e2c87ea64b250daf966b95d9274c44ae236772cc3b770b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a82429ed2d9f1dd16cf39b16c1e82dbfb430bea3fe97ce83f99436df578234ed",
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        "type": "base64"
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      "type": "image"
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  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAcKEAgRGAI4AUIIdGhpbmtpbmcSDCjeUY0I0IGvJ4MHkRoMMxxyNTeTboP4+YISIjA6zQTEHG0QioW7u0PTgZdoZT/SVSz2Ww9dZpXJ6G1UCYizTdNSicR554isR64nn+gqsQYhoBeMaugIrVk+0jay+rY7dDnBseuavebtVDmhqMkGYpYFSLBkIfIVZp4TuxVMJbdnu3tfhLlHAIV6lEXdjYpGxa9n6IQP4XJn86HAJLcnCF1ADuJ0tyyFnLPFOUABI2B05zcD1fsf0ln2/r6Hvs9788AlYiDGr50hxoTXRtC3LsgIs/SY7MjbImXVi34pYgS9mV+KXL7OJOExhgKGZPIVGvZ66R+19jW0Db6Gm+oJeW7Aqg4mJNkQBU3XjoeOksQiJuTpWix/ALXBU827NQjc1UhRFVMCxUWp09sUJ7eJ4NxZiUXgK2EGu1BmrPtDgkkpVwU3AUA6DoeEDOcp7JBoNfgG/vFpVmBYsWA3i5gzmiQLDEQagKsjVo1Gg8FAPso9CfPOz4bCijgJDIXtl5lzfXT5AyZfVljvpJ+BWOaaVSiYE8OkCkhOrnGAgDL8BKwnZP/jAuxjWhECj4R2aG1meRCNOv9ni1/QsUi7f2TYHp0mjNjjPpeKdGJU8jZZdkYn0YiaOX+T2PGpcowWzjPTSUNIlxujBjtoEzys3FALXpryesYWEvLgw/VIYeXzUeFRp3iykiAmQC+zjocVH+8hRgF04Kq3IAIMfS2au62OrHzHXqbR5bY9se/d4rvj3zY3qJ5YvYCt3KJV5sRtSxAE4jgdFUI5a28amBvELHCoikUe/8j/5QfQ9DrdcDKhsRoyU0xId5e20/AIMzPh00dw9EAl7NifDxJzpRv6qCW/uJUAmkvx2KC4zOMUWV79n7sjiF5ZKeEweW3yoLYhrnMpBtZ+e3qbKEPrnwWtasgfjhlfwcit6C3GBSRzMQrHTBUQwZ6oWd6wMxNCzEevO99HX8xg3oce4dvOsNWzr6Nu9Z6a5yOl+fbbe5i0w2whkvC3HYO5F5lCywE+b+hPMI1xP20iHfGyGUu0GC4n/nyNXlhRzmQVnyO7yl5YS6ga9YiZdOw8Km2ZwnXsH6FCdvLqUG8IBrvnrTTOf46W2F7AL3LDMaMuQ+B8D3XWrhyqkBGnbCrNkQWRIPWJ+m0DGGIw2YcBa6j73GJel8x7pNDfaCeA7JMDhFxyDIEGfKFrWre1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Egh4kxEuWdAPpMfsJVifyr",
      "input": {
        "note": "The can is now centred over the burner coil in the wrist view but the gripper still reads 0.66 (the open was rate-clamped). Re-sending the open command to release the can on the burner.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Egh4kxEuWdAPpMfsJVifyr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8436, 2.2574, 1.6608, -0.292, -0.7452, -0.7166, 0.7953, -0.0212, 0.8455, 0.5991, -0.9455, -0.0185, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4577 left_y=-0.3287 left_z=0.0731 left_yaw=0.1235 left_pitch=-0.0321 left_roll=0.0001 left_gripper=0.7953 right_x=0.1884 right_y=0.0029 right_z=0.0789 right_yaw=0.0028 right_pitch=-0.603 right_roll=0.0134 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -13.6274, 5.6137, 1.3065, -0.3394, 0.0464, 0.0611, -0.0205, -0.6632, 6.5026, 1.0769, -0.0464, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89e729822c8380d4f56cac5ef4fc6bc9e47552f655be06b6b6ffe4322c86755e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cac52f655a5d2f8cb04f7d49d3529645cb791c58a1e2cc7471ccb63439fd6d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60fbd043d101102cc0a2073fb68e6154513220bf187a6cad4d84637b2018319b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]