adhoc

completed
2026-09-18T03:43:30.065105+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
367.9 s
total steps
310
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe left wrist camera shows a white can lying on its side just ahead of the left gripper, angled slightly from lower-right to upper-left. I lower the left arm to 10 cm above it with a small counterclockwise yaw so the jaws will close across the can body.
move_to
left_x0.3000left_y-0.0200left_z0.1000left_yaw0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3874, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6071, -0.4011, -0.02, -0.033, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.3607, 10.3043, 1.9463, -0.0904, 0.2076, -0.0904, -0.4308, -1.4017, 9.6615, 2.0244, -0.0513, 0.2076, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.02, "left_z": 0.1, "left_yaw": 0.35, "left_gripper": 1.0}, "note": "The left wrist camera shows a white can lying on its side just ahead of the left gripper, angled slightly from lower-right to upper-left. I lower the left arm to 10 cm above it with a small counterclockwise yaw so the jaws will close across the can body."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe can now fills the left wrist view, centred on the jaw column but still angled cap-to-upper-left. I increase yaw to align the jaws across the can body and descend to can-centre height.
move_to
left_x0.3000left_y-0.0300left_z0.0250left_yaw0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4179, 1.0454, 0.4324, -0.173, -0.5194, -0.4229, 0.9993, -0.0212, 0.7956, 0.6132, -0.4332, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2934 left_y=-0.0304 left_z=0.0906 left_yaw=0.2261 left_pitch=-0.0867 left_roll=0.0469 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1729 right_yaw=-0.0039 right_pitch=-0.0283 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.1026, -3.2615, 5.9145, 1.663, -0.398, -0.0952, -0.0904, -0.1573, -1.3197, 6.5162, 1.9951, -0.0366, -0.105, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.03, "left_z": 0.025, "left_yaw": 0.7, "left_gripper": 1.0}, "note": "The can now fills the left wrist view, centred on the jaw column but still angled cap-to-upper-left. I increase yaw to align the jaws across the can body and descend to can-centre height."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe can now runs vertically through the left wrist view between the two jaw wedges, so the jaws are aligned across its body at can-centre height. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5678, 1.5612, 0.5488, -0.2016, -0.7933, -0.9504, 0.9993, -0.0212, 0.8001, 0.6094, -0.4561, -0.02, -0.0334, 0.9996] state[eef_state]: left_x=0.2937 left_y=-0.0338 left_z=0.0183 left_yaw=0.5805 left_pitch=-0.1473 left_roll=0.1209 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.1654 right_yaw=0.0002 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.335, -5.9966, 6.3248, 0.9841, -0.7546, -0.0708, -0.0904, -0.294, -1.2923, 7.4188, 1.9414, -0.022, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.0}, "note": "The can now runs vertically through the left wrist view between the two jaw wedges, so the jaws are aligned across its body at can-centre height. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteGripper settled at 0.68 (~6.4 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can straight up to carry height.
move_to
left_z0.1700left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.569, 1.5761, 0.5514, -0.2131, -0.799, -0.9653, 0.6765, -0.0212, 0.8005, 0.6094, -0.4808, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.2917 left_y=-0.032 left_z=0.0153 left_yaw=0.593 left_pitch=-0.1508 left_roll=0.1337 left_gripper=0.6765 right_x=0.2814 right_y=0.0012 right_z=0.1604 right_yaw=0.0005 right_pitch=-0.0847 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [0.0479, -6.6393, 4.4786, 0.9353, -0.3932, 0.149, 1.072, -0.0342, -1.0598, 7.0496, 1.9072, -0.0562, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_z": 0.17, "left_gripper": 0.0}, "note": "Gripper settled at 0.68 (~6.4 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can straight up to carry height."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe can lifted with the left gripper (top view shows it raised). The burner sits near the table centre line ahead; I carry the can over to hover above the burner coil.
move_to
left_x0.4400left_y-0.3200left_z0.2000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.569, 1.3193, 0.9493, -0.8734, -0.775, -0.973, 0.6767, -0.0212, 0.8051, 0.6079, -0.5003, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.2938 left_y=-0.0369 left_z=0.1493 left_yaw=0.5887 left_pitch=-0.1734 left_roll=0.1241 left_gripper=0.6767 right_x=0.2783 right_y=0.0012 right_z=0.1548 right_yaw=0.0006 right_pitch=-0.1102 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.0615, -6.0786, 8.4581, 0.7497, -0.6325, 0.0269, 1.0281, -0.1573, -1.4291, 7.2137, 1.8486, -0.0317, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.32, "left_z": 0.2, "left_gripper": 0.0}, "note": "The can lifted with the left gripper (top view shows it raised). The burner sits near the table centre line ahead; I carry the can over to hover above the burner coil."})
tool
executing move_to over 26 steps (2.6s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe arm stopped short of the target (x 0.415, y −0.27); the top view shows the gripper over the burner's left edge and the wrist cam shows the coil to the right. Shifting a few cm further right to centre over the coil.
move_to
left_x0.4300left_y-0.3300left_z0.1800left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8375, 2.4729, 2.5301, -1.5761, -0.7826, -1.3582, 0.6773, -0.0212, 0.8097, 0.6056, -0.5304, -0.02, -0.0341, 0.9996] state[eef_state]: left_x=0.4153 left_y=-0.2696 left_z=0.1547 left_yaw=0.5883 left_pitch=-0.2166 left_roll=0.1148 left_gripper=0.6773 right_x=0.2733 right_y=0.0013 right_z=0.1471 right_yaw=0.0009 right_pitch=-0.1472 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.6496, -12.2872, 8.4991, 0.3053, -0.9255, 0.2125, 1.033, -0.1983, -1.5932, 7.2274, 1.8486, -0.0415, -0.0562, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.33, "left_z": 0.18, "left_gripper": 0.0}, "note": "The arm stopped short of the target (x 0.415, y \u22120.27); the top view shows the gripper over the burner's left edge and the wrist cam shows the coil to the right. Shifting a few cm further right to centre over the coil."})
tool
executing move_to over 7 steps (0.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe arm is barely tracking the sideways target at this height (stuck near y −0.28). I lower toward the burner while pushing right, since a lower pose is less reach-limited; the coil is still to the right in the wrist view.
move_to
left_x0.4200left_y-0.3200left_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8574, 2.4912, 2.5385, -1.5749, -0.7666, -1.3705, 0.6773, -0.0212, 0.8101, 0.6056, -0.5644, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4097 left_y=-0.2806 left_z=0.1464 left_yaw=0.5759 left_pitch=-0.2329 left_roll=0.1126 left_gripper=0.6773 right_x=0.2675 right_y=0.0015 right_z=0.1408 right_yaw=0.0008 right_pitch=-0.1815 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.7316, -11.6308, 8.1026, 0.4029, -0.6325, -0.0562, 1.033, -0.0752, -1.2103, 6.8718, 1.8632, -0.0366, -0.0513, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.32, "left_z": 0.1, "left_gripper": 0.0}, "note": "The arm is barely tracking the sideways target at this height (stuck near y \u22120.28). I lower toward the burner while pushing right, since a lower pose is less reach-limited; the coil is still to the right in the wrist view."})
tool
executing move_to over 7 steps (0.7s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe can is now over the left part of the burner; the coil is still slightly to the right in the wrist view. Nudging right a few more cm and lowering so the can settles onto the coil.
move_to
left_x0.4200left_y-0.3400left_z0.0700left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8825, 2.6602, 2.6701, -1.578, -0.7593, -1.4124, 0.6773, -0.0212, 0.812, 0.6018, -0.5907, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4135 left_y=-0.3057 left_z=0.0986 left_yaw=0.5834 left_pitch=-0.2421 left_roll=0.1233 left_gripper=0.6773 right_x=0.2623 right_y=0.0016 right_z=0.1342 right_yaw=0.0009 right_pitch=-0.2136 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.7453, -12.1778, 7.4325, 0.3199, -0.5397, 0.0171, 1.033, -0.2256, -1.2376, 7.3231, 1.7558, -0.0464, -0.022, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.34, "left_z": 0.07, "left_gripper": 0.0}, "note": "The can is now over the left part of the burner; the coil is still slightly to the right in the wrist view. Nudging right a few more cm and lowering so the can settles onto the coil."})
tool
executing move_to over 7 steps (0.7s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe descent stopped at z≈0.09 with shoulder effort easing, meaning the can is resting on the burner coil; top view shows it lying across the burner. Opening the gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.902, 2.7346, 2.7495, -1.5867, -0.8169, -1.4532, 0.6773, -0.0212, 0.812, 0.6018, -0.6132, -0.0196, -0.0341, 0.9996] state[eef_state]: left_x=0.4177 left_y=-0.315 left_z=0.0893 left_yaw=0.5886 left_pitch=-0.1825 left_roll=0.1032 left_gripper=0.6773 right_x=0.2583 right_y=0.0016 right_z=0.1303 right_yaw=0.0009 right_pitch=-0.2361 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [-0.7726, -10.6462, 6.9538, 0.4518, 0.1001, 0.0611, 1.0281, -0.0342, -0.9504, 7.0085, 1.7021, -0.0171, -0.0366, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The descent stopped at z\u22480.09 with shoulder effort easing, meaning the can is resting on the burner coil; top view shows it lying across the burner. Opening the gripper to release it."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe gripper reading is still 0.68, so the jaws haven't opened yet; re-sending the open command to release the can onto the burner.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9039, 2.7388, 2.7346, -1.578, -0.8474, -1.4582, 0.6773, -0.0212, 0.812, 0.6018, -0.6319, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4197 left_y=-0.3133 left_z=0.0877 left_yaw=0.5913 left_pitch=-0.1526 left_roll=0.1123 left_gripper=0.6773 right_x=0.2549 right_y=0.0017 right_z=0.1272 right_yaw=0.0011 right_pitch=-0.2548 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.0205, -16.253, 4.4786, 0.3004, -0.2076, -0.0122, 1.033, -0.0889, -1.0598, 6.9812, 1.6679, -0.0317, -0.0171, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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_gripper": 1.0}, "note": "The gripper reading is still 0.68, so the jaws haven't opened yet; re-sending the open command to release the can onto the burner."})
tool
executing move_to over 4 steps (0.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
Gripper is opening slowly (0.79); I'll lift clear while continuing to open, then check the top view.
agent noteThe jaws are opening (0.79) and the can is resting on the burner. Lifting the left arm clear so the top camera can confirm the placement.
move_to
left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9039, 2.7388, 2.7308, -1.573, -0.849, -1.4605, 0.7944, -0.0212, 0.8158, 0.6018, -0.6529, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4201 left_y=-0.3135 left_z=0.0869 left_yaw=0.5924 left_pitch=-0.1508 left_roll=0.1095 left_gripper=0.7944 right_x=0.251 right_y=0.0018 right_z=0.1229 right_yaw=0.0013 right_pitch=-0.2796 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [-0.1983, -15.2, 5.0393, 0.2711, -0.4664, -0.0024, 0.0855, -0.0889, -1.4291, 6.7624, 1.7558, -0.0317, -0.0611, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
Gripper is opening slowly (0.79); I'll lift clear while continuing to open, then check the top view.
move_to({"targets": {"left_z": 0.2, "left_gripper": 1.0}, "note": "The jaws are opening (0.79) and the can is resting on the burner. Lifting the left arm clear so the top camera can confirm the placement."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe can is released and appears to lie on the burner's left side partly over the coil. Retracting the left arm to its home pose so the overhead camera can verify the placement.
move_to
left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8738, 2.4962, 2.5145, -1.5715, -0.8349, -1.4139, 0.9977, -0.0212, 0.8181, 0.601, -0.6727, -0.02, -0.0341, 0.9996] state[eef_state]: left_x=0.4099 left_y=-0.2801 left_z=0.1468 left_yaw=0.5924 left_pitch=-0.1654 left_roll=0.1152 left_gripper=0.9977 right_x=0.2471 right_y=0.0019 right_z=0.119 right_yaw=0.0017 right_pitch=-0.3024 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [0.3897, -16.6085, 5.0803, 0.3639, -0.6325, 0.1294, -0.0904, -0.0752, -1.1829, 6.7897, 1.6239, -0.0562, -0.0464, -0.0073] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The can is released and appears to lie on the burner's left side partly over the coil. Retracting the left arm to its home pose so the overhead camera can verify the placement."})
tool
executing move_to over 25 steps (2.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe overhead view shows the can ended up on the table just in front of the burner, lying along the forward direction near the centre line. I'll re-grasp it with the right arm (fresh and closer to aligned), first hovering 10 cm above it.
move_to
right_x0.3000right_y0.3300right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1268, 0.9279, 0.7765, -0.6113, -0.2214, -0.0868, 0.9985, -0.0208, 0.8223, 0.601, -0.6983, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0056 left_z=0.1783 left_yaw=0.0934 left_pitch=-0.1684 left_roll=0.1051 left_gripper=0.9985 right_x=0.2422 right_y=0.0021 right_z=0.1141 right_yaw=0.0021 right_pitch=-0.3322 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [0.0889, -2.3179, 6.653, 1.663, -0.0611, 0.1148, -0.1734, -0.0205, -1.3744, 6.7077, 1.619, -0.0513, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.33, "right_z": 0.1, "right_gripper": 1.0}, "note": "The overhead view shows the can ended up on the table just in front of the burner, lying along the forward direction near the centre line. I'll re-grasp it with the right arm (fresh and closer to aligned), first hovering 10 cm above it."})
tool
executing move_to over 28 steps (2.8s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteIn the right wrist view the can lies about 5 cm to the left of the jaw column, angled with its far end to the left. Shifting left, yawing to align the jaws across the can, and descending to can-centre height.
move_to
right_x0.3000right_y0.3700right_z0.0250right_yaw0.3500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1249, 0.9318, 0.7708, -0.6312, -0.207, -0.0902, 0.9982, 1.0267, 1.895, 1.4136, -0.7368, 0.5125, 0.8696, 0.9996] state[eef_state]: left_x=0.2875 left_y=0.0041 left_z=0.171 left_yaw=0.0862 left_pitch=-0.1991 left_roll=0.0989 left_gripper=0.9982 right_x=0.2917 right_y=0.3218 right_z=0.0919 right_yaw=0.0258 right_pitch=-0.3708 right_roll=-0.0245 right_gripper=0.9996 state[joint_eff]: [-0.4718, -2.1675, 7.2547, 1.7265, -0.2955, 0.0562, -0.0415, 0.1162, -9.1966, 7.9111, 1.0037, 0.5299, 0.2955, -0.0513] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.37, "right_z": 0.025, "right_yaw": 0.35, "right_gripper": 1.0}, "note": "In the right wrist view the can lies about 5 cm to the left of the jaw column, angled with its far end to the left. Shifting left, yawing to align the jaws across the can, and descending to can-centre height."})
tool
executing move_to over 5 steps (0.5s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe can is now under the jaws but still angled about 25° across the view with its far end to the left. Adding more yaw to line the jaws up perpendicular to the can before closing.
move_to
right_x0.3000right_y0.3600right_z0.0200right_yaw0.6000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1249, 0.9321, 0.7708, -0.6361, -0.2062, -0.0906, 0.9979, 1.0237, 1.998, 1.3197, -0.4278, 0.4038, 0.6167, 0.9996] state[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.1701 left_yaw=0.086 left_pitch=-0.2044 left_roll=0.0992 left_gripper=0.9979 right_x=0.2965 right_y=0.3603 right_z=0.0375 right_yaw=0.276 right_pitch=-0.378 right_roll=-0.0186 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.9897, 6.8034, 1.5311, -0.149, -0.0122, -0.0366, -0.6359, -9.265, 5.6957, 1.1746, 0.2222, -0.0855, -0.0562] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.36, "right_z": 0.02, "right_yaw": 0.6, "right_gripper": 1.0}, "note": "The can is now under the jaws but still angled about 25\u00b0 across the view with its far end to the left. Adding more yaw to line the jaws up perpendicular to the can before closing."})
tool
executing move_to over 3 steps (0.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe can now runs nearly vertically in the right wrist view but sits a couple of centimetres left of the jaw column. Shifting slightly left and closing the gripper on the can body.
move_to
right_x0.3000right_y0.3750right_z0.0200right_yaw0.6000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1249, 0.9321, 0.7708, -0.6365, -0.2062, -0.091, 0.9979, 0.9611, 1.9705, 1.1904, -0.2733, 0.2707, 0.366, 0.9996] state[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.17 left_yaw=0.0862 left_pitch=-0.2048 left_roll=0.099 left_gripper=0.9979 right_x=0.298 right_y=0.3504 right_z=0.0168 right_yaw=0.479 right_pitch=-0.4059 right_roll=-0.0331 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.5067, -0.1001, -0.0562, -0.022, -0.1846, -10.1675, 5.559, 1.3895, -0.022, -0.0415, -0.0513] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.375, "right_z": 0.02, "right_yaw": 0.6, "right_gripper": 0.0}, "note": "The can now runs nearly vertically in the right wrist view but sits a couple of centimetres left of the jaw column. Shifting slightly left and closing the gripper on the can body."})
tool
executing move_to over 10 steps (1.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteRight gripper settled at 0.72 (~6.8 cm), matching the can diameter, so it's grasped. Lifting straight up to carry height.
move_to
right_z0.1800right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.936, 0.7708, -0.6521, -0.2062, -0.091, 0.9979, 0.9714, 1.9938, 1.2388, -0.2932, 0.2195, 0.268, 0.7196] state[eef_state]: left_x=0.284 left_y=0.0046 left_z=0.1664 left_yaw=0.0879 left_pitch=-0.2238 left_roll=0.1032 left_gripper=0.9979 right_x=0.2934 right_y=0.3675 right_z=0.0186 right_yaw=0.5927 right_pitch=-0.4214 right_roll=-0.0444 right_gripper=0.7196 state[joint_eff]: [-0.1299, -2.3316, 6.8034, 1.6093, -0.1294, -0.0269, -0.0122, -0.6632, -8.3624, 8.4034, 1.3016, 0.022, -0.0659, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_gripper": 0.0}, "note": "Right gripper settled at 0.72 (~6.8 cm), matching the can diameter, so it's grasped. Lifting straight up to carry height."})
tool
executing move_to over 11 steps (1.1s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe can is lifted in the right gripper (visible raised in the top view). Carrying it forward and left toward the burner, aiming to hover above the coil's centre.
move_to
right_x0.4200right_y0.3300right_z0.2000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.936, 0.7708, -0.6594, -0.2062, -0.091, 0.9979, 0.9714, 1.8992, 1.6749, -0.8841, 0.2123, 0.2615, 0.7195] state[eef_state]: left_x=0.2828 left_y=0.0048 left_z=0.1652 left_yaw=0.0883 left_pitch=-0.2309 left_roll=0.1048 left_gripper=0.9979 right_x=0.2904 right_y=0.3655 right_z=0.1488 right_yaw=0.5922 right_pitch=-0.48 right_roll=-0.0662 right_gripper=0.7195 state[joint_eff]: [-0.0752, -1.7983, 6.7897, 1.5897, -0.149, -0.0611, -0.0122, -0.2256, -12.6701, 8.8821, 1.4579, 0.105, -0.0024, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.33, "right_z": 0.2, "right_gripper": 0.0}, "note": "The can is lifted in the right gripper (visible raised in the top view). Carrying it forward and left toward the burner, aiming to hover above the coil's centre."})
tool
executing move_to over 10 steps (1.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe right gripper is over the burner's front-left part; the coil shows to the upper-right in the wrist view. Shifting forward and right a few cm and lowering so the can comes down over the coil's centre.
move_to
right_x0.4500right_y0.3000right_z0.1000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6754, -0.2062, -0.0906, 0.9979, 0.6975, 2.2127, 2.3188, -1.2064, 0.0906, 0.0257, 0.7176] state[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1624 left_yaw=0.0889 left_pitch=-0.2473 left_roll=0.1087 left_gripper=0.9979 right_x=0.4117 right_y=0.3289 right_z=0.1899 right_yaw=0.5791 right_pitch=-0.5075 right_roll=-0.0703 right_gripper=0.7176 state[joint_eff]: [-0.0752, -1.9077, 6.7897, 1.5946, -0.1587, -0.0171, -0.0122, -0.3487, -11.8359, 8.2667, 1.1062, -0.0562, 0.0317, 1.0037] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.3, "right_z": 0.1, "right_gripper": 0.0}, "note": "The right gripper is over the burner's front-left part; the coil shows to the upper-right in the wrist view. Shifting forward and right a few cm and lowering so the can comes down over the coil's centre."})
tool
executing move_to over 8 steps (0.8s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe can is now over the burner coil in the top view. Lowering a bit further until the can rests on the coil (descent should stop at contact) before releasing.
move_to
right_x0.4500right_y0.2900right_z0.0600right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6895, -0.2062, -0.091, 0.9978, 0.606, 2.2032, 1.9415, -0.9089, 0.0475, -0.0566, 0.7145] state[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1601 left_yaw=0.0899 left_pitch=-0.2611 left_roll=0.1115 left_gripper=0.9978 right_x=0.4336 right_y=0.2946 right_z=0.0926 right_yaw=0.5797 right_pitch=-0.5834 right_roll=-0.0716 right_gripper=0.7145 state[joint_eff]: [-0.0342, -1.9761, 6.7487, 1.5751, -0.1392, -0.0317, -0.0171, -0.7863, -12.6564, 6.9265, 1.2918, 0.0024, -0.0122, 1.0232] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.29, "right_z": 0.06, "right_gripper": 0.0}, "note": "The can is now over the burner coil in the top view. Lowering a bit further until the can rests on the coil (descent should stop at contact) before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe descent stopped at z≈0.089 and shoulder effort dropped, so the can is bearing on the burner coil near its centre. Opening the right gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6964, -0.2062, -0.091, 0.9979, 0.588, 2.2166, 1.9293, -0.8387, 0.0353, -0.0799, 0.7125] state[eef_state]: left_x=0.2761 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2678 left_roll=0.113 left_gripper=0.9979 right_x=0.4482 right_y=0.2956 right_z=0.0885 right_yaw=0.5893 right_pitch=-0.5398 right_roll=-0.069 right_gripper=0.7125 state[joint_eff]: [-0.1983, -1.9761, 6.8991, 1.5067, -0.1441, -0.0562, -0.0073, -0.9094, -8.7726, 4.8752, 1.0916, -0.0073, -0.0806, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped at z\u22480.089 and shoulder effort dropped, so the can is bearing on the burner coil near its centre. Opening the right gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
Gripper hasn't started opening yet (still 0.71); re-sending open.
agent noteThe gripper reading is unchanged at 0.71, so the jaws haven't released yet; repeating the open command while holding position over the burner.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6968, -0.2062, -0.091, 0.9978, 0.5877, 2.2189, 1.9297, -0.82, 0.0368, -0.0864, 0.7125] state[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2681 left_roll=0.1131 left_gripper=0.9978 right_x=0.4519 right_y=0.2976 right_z=0.0895 right_yaw=0.5916 right_pitch=-0.5232 right_roll=-0.074 right_gripper=0.7125 state[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.4383, -0.1392, -0.0562, -0.0171, -0.1573, -12.8752, 6.4205, 0.8962, -0.0269, 0.022, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
Gripper hasn't started opening yet (still 0.71); re-sending open.
move_to({"targets": {"right_gripper": 1.0}, "note": "The gripper reading is unchanged at 0.71, so the jaws haven't released yet; repeating the open command while holding position over the burner."})
tool
executing move_to over 3 steps (0.3s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe gripper open command keeps getting clamped to too few steps to move the jaws. Adding a slight 1.5 cm lift to lengthen the motion so the jaws actually open and drop the can onto the coil.
move_to
right_z0.1050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1238, 0.9367, 0.7708, -0.6971, -0.2062, -0.091, 0.9979, 0.5877, 2.2189, 1.9297, -0.8196, 0.0368, -0.0872, 0.7125] state[eef_state]: left_x=0.276 left_y=0.0057 left_z=0.1589 left_yaw=0.0907 left_pitch=-0.2685 left_roll=0.1132 left_gripper=0.9979 right_x=0.452 right_y=0.2976 right_z=0.0895 right_yaw=0.5921 right_pitch=-0.5229 right_roll=-0.0744 right_gripper=0.7125 state[joint_eff]: [-0.0342, -1.9897, 6.735, 1.4579, -0.1685, -0.0757, -0.0073, -0.2393, -12.588, 6.4752, 1.0623, 0.0073, -0.0415, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.105, "right_gripper": 1.0}, "note": "The gripper open command keeps getting clamped to too few steps to move the jaws. Adding a slight 1.5 cm lift to lengthen the motion so the jaws actually open and drop the can onto the coil."})
tool
executing move_to over 3 steps (0.3s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe right jaws are now open (0.9) and the can has been released onto the burner. Lifting the arm straight up clear of the can.
move_to
right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6971, -0.2058, -0.091, 0.9979, 0.5877, 2.2192, 1.9491, -0.8639, 0.0368, -0.0895, 0.895] state[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.1589 left_yaw=0.09 left_pitch=-0.2686 left_roll=0.1129 left_gripper=0.9979 right_x=0.4476 right_y=0.2947 right_z=0.0916 right_yaw=0.5936 right_pitch=-0.5482 right_roll=-0.0754 right_gripper=0.895 state[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.4286, -0.1001, -0.0806, -0.0171, -0.335, -12.8615, 9.4564, 1.1941, -0.0073, 0.0024, -0.2271] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_gripper": 1.0}, "note": "The right jaws are now open (0.9) and the can has been released onto the burner. Lifting the arm straight up clear of the can."})
tool
executing move_to over 9 steps (0.9s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
assistant
agent noteThe can did not stay on the burner: the top view shows it standing upright on the table in front of the burner near the right arm. I move the right arm to hover above the upright can with the wrist level, to grasp it from above.
move_to
right_x0.3000right_y0.2500right_z0.2600right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1238, 0.9367, 0.7708, -0.7162, -0.2062, -0.091, 0.9978, 0.5877, 2.4763, 2.8365, -1.4948, 0.0364, -0.0975, 0.9991] state[eef_state]: left_x=0.2724 left_y=0.0062 left_z=0.1559 left_yaw=0.0919 left_pitch=-0.2871 left_roll=0.1174 left_gripper=0.9978 right_x=0.451 right_y=0.297 right_z=0.194 right_yaw=0.5992 right_pitch=-0.5492 right_roll=-0.0789 right_gripper=0.9991 state[joint_eff]: [-0.0342, -1.9487, 7.0359, 1.6044, -0.1587, -0.0415, -0.0171, -0.3214, -14.8718, 9.0188, 1.1844, -0.022, 0.0464, -0.0269] 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": {"right_x": 0.3, "right_y": 0.25, "right_z": 0.26, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The can did not stay on the burner: the top view shows it standing upright on the table in front of the burner near the right arm. I move the right arm to hover above the upright can with the wrist level, to grasp it from above."})
tool
executing move_to over 19 steps (1.9s)
step 239
assistant
agent noteThe right arm overshot upward to z≈0.45 while unwinding its wrist; the can still stands upright on the table in front of the burner. Bringing the arm back down to a 25 cm hover directly above the can.
move_to
right_x0.3000right_y0.2500right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1238, 0.9386, 0.7708, -0.7261, -0.2062, -0.091, 0.9978, 0.9993, 1.5269, 2.0441, -1.0119, 0.7418, 0.5941, 0.9991] state[eef_state]: left_x=0.2707 left_y=0.0064 left_z=0.1539 left_yaw=0.0926 left_pitch=-0.2987 left_roll=0.1201 left_gripper=0.9978 right_x=0.2965 right_y=0.247 right_z=0.4541 right_yaw=0.0423 right_pitch=0.2104 right_roll=0.2537 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.6479, 6.7624, 1.4872, -0.1636, -0.0415, -0.0073, 0.0889, 0.0479, 4.588, 2.4298, 0.0904, 0.2222, -0.1148] 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": {"right_x": 0.3, "right_y": 0.25, "right_z": 0.25, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The right arm overshot upward to z\u22480.45 while unwinding its wrist; the can still stands upright on the table in front of the burner. Bringing the arm back down to a 25 cm hover directly above the can."})
tool
executing move_to over 14 steps (1.4s)
step 253
assistant
agent noteThe right wrist view shows the burner centred ahead and the upright can at the bottom-right, i.e. to the arm's right and nearer the base. Shifting right and back to bring the can under the jaw column, staying above its top.
move_to
right_x0.2700right_y0.1900right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.939, 0.7708, -0.7414, -0.2058, -0.091, 0.9978, 1.0077, 1.4609, 1.4425, -0.775, 0.7845, 0.6823, 0.9991] state[eef_state]: left_x=0.2678 left_y=0.0066 left_z=0.1515 left_yaw=0.093 left_pitch=-0.314 left_roll=0.1233 left_gripper=0.9978 right_x=0.3022 right_y=0.2516 right_z=0.291 right_yaw=0.0025 right_pitch=0.0568 right_roll=0.0688 right_gripper=0.9991 state[joint_eff]: [-0.0342, -1.5658, 6.694, 1.5604, -0.105, -0.022, -0.0073, -0.1299, -4.6017, 8.2256, 1.8535, 0.4811, 0.1343, -0.1148] approver: 4 step(s) modified (delta_clamped ×4). 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": {"right_x": 0.27, "right_y": 0.19, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The right wrist view shows the burner centred ahead and the upright can at the bottom-right, i.e. to the arm's right and nearer the base. Shifting right and back to bring the can under the jaw column, staying above its top."})
tool
executing move_to over 6 steps (0.6s)
step 259
assistant
agent noteThe right wrist view now shows the can lying on its side directly on the jaw column, cap pointing toward the burner, with its body at the bottom edge. Descending to can-centre height with jaws across the body.
move_to
right_x0.2600right_y0.1900right_z0.0250right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.939, 0.7708, -0.7483, -0.2062, -0.091, 0.9978, 0.9825, 1.248, 1.0367, -0.7101, 0.7589, 0.6716, 0.999] state[eef_state]: left_x=0.2665 left_y=0.0068 left_z=0.1505 left_yaw=0.0938 left_pitch=-0.3207 left_roll=0.1252 left_gripper=0.9978 right_x=0.2692 right_y=0.191 right_z=0.2119 right_yaw=0.0014 right_pitch=-0.0294 right_roll=-0.0369 right_gripper=0.999 state[joint_eff]: [-0.0342, -1.6205, 6.7214, 1.4237, -0.1294, -0.0708, -0.0073, -0.2393, -5.641, 8.5265, 1.6435, 0.3297, -0.0366, -0.1197] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.19, "right_z": 0.025, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The right wrist view now shows the can lying on its side directly on the jaw column, cap pointing toward the burner, with its body at the bottom edge. Descending to can-centre height with jaws across the body."})
tool
executing move_to over 13 steps (1.3s)
step 272
assistant
agent noteThe can body fills the right wrist view vertically between the jaw wedges, and the top view shows the gripper straddling the can. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.01, 1.5539, 0.4427, 0.1207, 0.7689, 0.693, 0.999] state[eef_state]: left_x=0.2662 left_y=0.0068 left_z=0.1504 left_yaw=0.0939 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2531 right_y=0.1788 right_z=0.0183 right_yaw=0.0085 right_pitch=-0.0597 right_roll=-0.0819 right_gripper=0.999 state[joint_eff]: [-0.1709, -1.894, 6.8171, 1.3504, -0.1245, -0.0611, -0.0073, 0.5949, -5.5726, 4.8068, 1.4383, 0.486, 0.0708, -0.1148] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The can body fills the right wrist view vertically between the jaw wedges, and the top view shows the gripper straddling the can. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteGripper settled at 0.70, so the can is held (near its base end, pointing forward). Lifting and carrying it over the burner so the can's body will lie across the coil.
move_to
right_x0.4000right_y0.3300right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1238, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.0122, 1.5616, 0.4274, 0.1364, 0.7673, 0.6891, 0.7047] state[eef_state]: left_x=0.2662 left_y=0.0069 left_z=0.1504 left_yaw=0.0943 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2507 right_y=0.1765 right_z=0.0138 right_yaw=0.0134 right_pitch=-0.0649 right_roll=-0.0904 right_gripper=0.7047 state[joint_eff]: [-0.0342, -1.6342, 6.6803, 1.3309, -0.1587, -0.0611, -0.0122, -0.3487, -5.7915, 5.7504, 0.9988, 0.3687, 0.0024, 1.0379] approver: 10 step(s) modified (delta_clamped ×10). 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": {"right_x": 0.4, "right_y": 0.33, "right_z": 0.2, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 0.0}, "note": "Gripper settled at 0.70, so the can is held (near its base end, pointing forward). Lifting and carrying it over the burner so the can's body will lie across the coil."})
tool
executing move_to over 13 steps (1.3s)
step 295
assistant
agent noteThe top view shows the can held over the burner with its body extending across the coil. Lowering until the can rests on the coil.
move_to
right_x0.4000right_y0.3300right_z0.0700right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9424, 0.7708, -0.765, -0.2062, -0.091, 0.9979, 0.9134, 1.9251, 1.5978, -0.5217, 0.693, 0.5945, 0.7047] state[eef_state]: left_x=0.2634 left_y=0.0072 left_z=0.1472 left_yaw=0.0953 left_pitch=-0.3404 left_roll=0.1298 left_gripper=0.9979 right_x=0.3914 right_y=0.3283 right_z=0.1832 right_yaw=0.0194 right_pitch=-0.0285 right_roll=-0.0111 right_gripper=0.7047 state[joint_eff]: [-0.1983, -2.1812, 6.694, 1.4774, -0.1538, -0.0659, -0.0073, -0.6496, -10.8923, 8.2667, 1.2674, 0.4371, 0.022, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.33, "right_z": 0.07, "right_gripper": 0.0}, "note": "The top view shows the can held over the burner with its body extending across the coil. Lowering until the can rests on the coil."})
tool
executing move_to over 8 steps (0.8s)
step 303
assistant
agent noteDescent stopped at z≈0.086 with the can visibly resting on the coil in the wrist view. Opening the jaws with a slight lift so they actually release, leaving the can on the burner.
move_to
right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1238, 0.9424, 0.7708, -0.7681, -0.2062, -0.091, 0.9978, 0.9073, 2.0357, 1.3548, -0.168, 0.6994, 0.5823, 0.7047] state[eef_state]: left_x=0.2628 left_y=0.0074 left_z=0.1468 left_yaw=0.0959 left_pitch=-0.3434 left_roll=0.1305 left_gripper=0.9978 right_x=0.396 right_y=0.3278 right_z=0.0864 right_yaw=0.0157 right_pitch=-0.0248 right_roll=-0.0242 right_gripper=0.7047 state[joint_eff]: [-0.0479, -1.935, 6.653, 1.3211, -0.1538, -0.0708, -0.0171, -0.5675, -8.2256, 5.6137, 1.1404, -0.0269, -0.0611, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_gripper": 1.0}, "note": "Descent stopped at z\u22480.086 with the can visibly resting on the coil in the wrist view. Opening the jaws with a slight lift so they actually release, leaving the can on the burner."})
tool
executing move_to over 3 steps (0.3s)
step 306
assistant
agent noteThe jaws still read 0.70 (not yet open) while the can rests on the coil. Commanding open again with a slightly longer motion so the release actually happens over the burner.
move_to
right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1242, 0.9428, 0.7708, -0.7681, -0.2062, -0.091, 0.9978, 0.9073, 2.0438, 1.3647, -0.1619, 0.7021, 0.5793, 0.7047] state[eef_state]: left_x=0.2628 left_y=0.0073 left_z=0.1467 left_yaw=0.0956 left_pitch=-0.3438 left_roll=0.1306 left_gripper=0.9978 right_x=0.3982 right_y=0.3301 right_z=0.0872 right_yaw=0.0158 right_pitch=-0.0183 right_roll=-0.0217 right_gripper=0.7047 state[joint_eff]: [-0.0615, -1.9077, 6.653, 1.3651, -0.1538, -0.0708, -0.0122, -0.3077, -13.4632, 8.0205, 1.033, 0.1978, -0.0073, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13, "right_gripper": 1.0}, "note": "The jaws still read 0.70 (not yet open) while the can rests on the coil. Commanding open again with a slightly longer motion so the release actually happens over the burner."})
tool
executing move_to over 3 steps (0.3s)
step 309
assistant
agent noteThe can was grasped and lowered onto the burner coil; descent stopped at z≈0.087 with the can resting on the coil (visible in the right wrist camera and top view). The gripper open commands were rate-clamped by the approver and did not complete before the call budget ran out, so the jaws still loosely surround the can while it sits on the burner.
done
hindsight1) Gripper open/close commands on this rig are heavily rate-clamped: a bare gripper change gets only 3-4 steps and the jaws often do not move at all; the gripper only actually opened when bundled with an 8+ step motion (e.g. a 10 cm z move). Plan releases as gripper=1.0 combined with a long enough motion, or repeat 3-4 times, and budget calls for it. 2) A spray can released while the tool pitch/roll had drifted (pitch -0.5) rolled/fell off the burner and even ended standing upright; reset pitch/roll to 0 before placing and place with the can body centred on the coil (coil centre ≈ x 0.45, y ≈ -0.32 left / +0.33 right; can grasp point rests at z≈0.087 on the coil). 3) The left arm at x≈0.42, y≈-0.32 with yaw 0.6 was near its limit and tracked sideways targets poorly (stuck 3-5 cm short); the right arm reached the same spot fine at yaw 0. 4) The IK can overshoot z badly (0.26 commanded → 0.45) when unwinding wrist pitch/roll at the same time as a big translation; change orientation and position in separate small moves. 5) The can lying on the table at top-cam row ~145 corresponds to x≈0.26-0.30; burner coil at row ~78.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1238, 0.9432, 0.7708, -0.7719, -0.2062, -0.091, 0.9979, 0.9073, 2.0384, 1.3727, -0.2005, 0.7067, 0.5793, 0.7047] state[eef_state]: left_x=0.262 left_y=0.0075 left_z=0.1461 left_yaw=0.0963 left_pitch=-0.3479 left_roll=0.1316 left_gripper=0.9979 right_x=0.3962 right_y=0.3265 right_z=0.0879 right_yaw=0.0122 right_pitch=-0.0313 right_roll=-0.0435 right_gripper=0.7047 state[joint_eff]: [-0.0479, -1.8803, 6.653, 1.3358, -0.149, -0.0611, -0.0073, -0.3214, -12.3556, 8.4581, 1.2381, 0.1832, 0.022, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
done({"summary": "The can was grasped and lowered onto the burner coil; descent stopped at z\u22480.087 with the can resting on the coil (visible in the right wrist camera and top view). The gripper open commands were rate-clamped by the approver and did not complete before the call budget ran out, so the jaws still loosely surround the can while it sits on the burner.", "hindsight": "1) Gripper open/close commands on this rig are heavily rate-clamped: a bare gripper change gets only 3-4 steps and the jaws often do not move at all; the gripper only actually opened when bundled with an 8+ step motion (e.g. a 10 cm z move). Plan releases as gripper=1.0 combined with a long enough motion, or repeat 3-4 times, and budget calls for it. 2) A spray can released while the tool pitch/roll had drifted (pitch -0.5) rolled/fell off the burner and even ended standing upright; reset pitch/roll to 0 before placing and place with the can body centred on the coil (coil centre \u2248 x 0.45, y \u2248 -0.32 left / +0.33 right; can grasp point rests at z\u22480.087 on the coil). 3) The left arm at x\u22480.42, y\u2248-0.32 with yaw 0.6 was near its limit and tracked sideways targets poorly (stuck 3-5 cm short); the right arm reached the same spot fine at yaw 0. 4) The IK can overshoot z badly (0.26 commanded \u2192 0.45) when unwinding wrist pitch/roll at the same time as a big translation; change orientation and position in separate small moves. 5) The can lying on the table at top-cam row ~145 corresponds to x\u22480.26-0.30; burner coil at row ~78."})
tool
done: The can was grasped and lowered onto the burner coil; descent stopped at z≈0.087 with the can resting on the coil (visible in the right wrist camera and top view). The gripper open commands were rate-clamped by the approver and did not complete before the call budget ran out, so the jaws still loosely surround the can while it sits on the burner.
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 · 23.43 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, 0.7921, 0.6037, -0.3874, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6071, -0.4011, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.3043, 1.9463, -0.0904, 0.2076, -0.0904, -0.4308, -1.4017, 9.6615, 2.0244, -0.0513, 0.2076, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f454465d1fe5ec6126b9e92b43a9cb3a42abaf5b5e0d28f4d06b46ec0ab29b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b66d5f1cf6ae9b51402ba198797c0bf953ae5a87ac7c20137a44d2c6726c4058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edec9f6c77c35f5cac10f90264865122e3ec2fcea9df9ecc488c97a1f688722c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 12.38 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, 0.7921, 0.6037, -0.3874, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6071, -0.4011, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.3043, 1.9463, -0.0904, 0.2076, -0.0904, -0.4308, -1.4017, 9.6615, 2.0244, -0.0513, 0.2076, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f454465d1fe5ec6126b9e92b43a9cb3a42abaf5b5e0d28f4d06b46ec0ab29b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b66d5f1cf6ae9b51402ba198797c0bf953ae5a87ac7c20137a44d2c6726c4058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edec9f6c77c35f5cac10f90264865122e3ec2fcea9df9ecc488c97a1f688722c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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WZZG4Np7sR/OXRbRVaHU6WFyWfWrjmlMgu9wRGQuABLpP3Nby4lkb1K7AZBWaHykNV6ody8kGR3GKDDFvStceXRA1BvAChwy6XdYpMP0vyiZVs9kIb7pjLG3WAlCdKSWYkYhsc9jog5i1qIgpQ87bDbu+9gUEUW4zGJ1ay1fEf2tIYkwawfdWIMA6mTG3vCSTXHnjQhIKsaCLNcvetS/Se+qtC8POwOASKiO3goMiLQRkZ5q2pk3RwxDBZizyPRyhrbCfu7B65yQZ/GQHfxig/iA15PHx1Kwgztg3NYsvyjAwbjTb9Sz6hgSZZ8SJRC+gqfFtLTXpYVybDdfMpxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bf1RfjdZ5J3QpcemkA9f1E",
      "input": {
        "note": "The left wrist camera shows a white can lying on its side just ahead of the left gripper, angled slightly from lower-right to upper-left. I lower the left arm to 10 cm above it with a small counterclockwise yaw so the jaws will close across the can body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.02,
          "left_yaw": 0.35,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Bf1RfjdZ5J3QpcemkA9f1E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4179, 1.0454, 0.4324, -0.173, -0.5194, -0.4229, 0.9993, -0.0212, 0.7956, 0.6132, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=-0.0304 left_z=0.0906 left_yaw=0.2261 left_pitch=-0.0867 left_roll=0.0469 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1729 right_yaw=-0.0039 right_pitch=-0.0283 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.2615, 5.9145, 1.663, -0.398, -0.0952, -0.0904, -0.1573, -1.3197, 6.5162, 1.9951, -0.0366, -0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84e944becca0bfc81ae2a345bde764f70e1c9e4c89cfdf02a36113b6bbddb0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9a673f483801e142bfee2f55a71fc6a9ff5631bf4e90a6041a78819aa01185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27239cbaa69201831764bf91bc0f458f7169b45a6ff5f7e01dafdfb8660042b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 6.292 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, 0.7921, 0.6037, -0.3874, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6071, -0.4011, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.3043, 1.9463, -0.0904, 0.2076, -0.0904, -0.4308, -1.4017, 9.6615, 2.0244, -0.0513, 0.2076, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4179, 1.0454, 0.4324, -0.173, -0.5194, -0.4229, 0.9993, -0.0212, 0.7956, 0.6132, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=-0.0304 left_z=0.0906 left_yaw=0.2261 left_pitch=-0.0867 left_roll=0.0469 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1729 right_yaw=-0.0039 right_pitch=-0.0283 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.2615, 5.9145, 1.663, -0.398, -0.0952, -0.0904, -0.1573, -1.3197, 6.5162, 1.9951, -0.0366, -0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84e944becca0bfc81ae2a345bde764f70e1c9e4c89cfdf02a36113b6bbddb0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9a673f483801e142bfee2f55a71fc6a9ff5631bf4e90a6041a78819aa01185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27239cbaa69201831764bf91bc0f458f7169b45a6ff5f7e01dafdfb8660042b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpxNBPVn5N1EjQvKTWQSNt",
      "input": {
        "note": "The can now fills the left wrist view, centred on the jaw column but still angled cap-to-upper-left. I increase yaw to align the jaws across the can body and descend to can-centre height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.03,
          "left_yaw": 0.7,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RpxNBPVn5N1EjQvKTWQSNt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5678, 1.5612, 0.5488, -0.2016, -0.7933, -0.9504, 0.9993, -0.0212, 0.8001, 0.6094, -0.4561, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.0338 left_z=0.0183 left_yaw=0.5805 left_pitch=-0.1473 left_roll=0.1209 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.1654 right_yaw=0.0002 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.9966, 6.3248, 0.9841, -0.7546, -0.0708, -0.0904, -0.294, -1.2923, 7.4188, 1.9414, -0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d92e441c1bf257e714c3da5bd1781ecf1a3b995731fbca77149d53890c38dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77fd6dab3a42de8bbffefaa812ca4cc05f3550ed11e1a3460e045d4d84c6be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3afba4dd1dd45ff95023ae25f850342fcb5fcb530e192075df229a9176a81073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.207 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, 0.7921, 0.6037, -0.3874, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6071, -0.4011, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1772 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.3043, 1.9463, -0.0904, 0.2076, -0.0904, -0.4308, -1.4017, 9.6615, 2.0244, -0.0513, 0.2076, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4179, 1.0454, 0.4324, -0.173, -0.5194, -0.4229, 0.9993, -0.0212, 0.7956, 0.6132, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=-0.0304 left_z=0.0906 left_yaw=0.2261 left_pitch=-0.0867 left_roll=0.0469 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1729 right_yaw=-0.0039 right_pitch=-0.0283 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.2615, 5.9145, 1.663, -0.398, -0.0952, -0.0904, -0.1573, -1.3197, 6.5162, 1.9951, -0.0366, -0.105, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5678, 1.5612, 0.5488, -0.2016, -0.7933, -0.9504, 0.9993, -0.0212, 0.8001, 0.6094, -0.4561, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.0338 left_z=0.0183 left_yaw=0.5805 left_pitch=-0.1473 left_roll=0.1209 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.1654 right_yaw=0.0002 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.9966, 6.3248, 0.9841, -0.7546, -0.0708, -0.0904, -0.294, -1.2923, 7.4188, 1.9414, -0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d92e441c1bf257e714c3da5bd1781ecf1a3b995731fbca77149d53890c38dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77fd6dab3a42de8bbffefaa812ca4cc05f3550ed11e1a3460e045d4d84c6be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afba4dd1dd45ff95023ae25f850342fcb5fcb530e192075df229a9176a81073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgYKEAgRGAI4AUIIdGhpbmtpbmcSDGGSxZ9Lw12WQ75McBoMbeXV8PEnaKXhyz7mIjCs6T2cZfTpLXZBm5dCwx1DJWTo4h03yNcdvw7FMVs2vdnUu7Do9ak5wqWHCkSm/S4q4wUZODwINxsmaP0nkOW1m/2DzoRLD36/prLR4D6gMZMYiuNK3NzNI9XlmD6+vFuWTPgvVafS5c2hZzBB2BYSWa8HKqQ8vxM2wS/91PuF4tUJx87t8SjY3qrYITDSwR8iSctVDRpEEhgEFxfCu0Hotz8rkRWHzPgJONNMisydMjen4FZ9UcIVXNL8QHIQ2ZTvcpIGJaur3KFWMUOUpX8WplkCCatHU/Ptei+yFpP5Xuy1E6WsbwEocVxeQrpvoX8JQudeJVE9IIb0Rr+UlTBJvRr2xRhJGu+c5Vs+RI1fPbQC2cXaX7kxBXVf7lid916IUJKYiGwx3wyJF2I+jzqbm2IfU4rmDhwB43pmM0MZVBPWkf1POhFwTKtW5gXuPfmeJcOE7GnVff5BXXbSLYsaIhlSVUgNQaZiI3Iylu6/jJTH2H3eZeRSYs4s1nOPZSvGFFM+B7JXZLKtXJzV4SzKJiRwiKZBaEtWu47PaoYlub5ULOJnMu/N3TQm8Ux2Xgb2Vb0Z1ZkPT0c7/RmvThsCGWd4iVyxVgdbjWmA75Rw+bRDuQxNavjubM9AWeRBW+3CzpDa2BWcrnjhquHUbOGjGOd8nOKjZaFlzFo+PHJM4Y5cR/MLUFFDbM3wKrq1LoidyaMQ/g/syKXoGmqYQE1V/sAMTVe7rW71SKWZlFq8StJQbUWfD1gxxwjKGHc6AilPksgGYJSMmuET/XRbvRghjDp1JlFwWLSNXjGhUymOGrqmAaVhz8pukYrg3AWFj+/alSQKBy7GilT7c9cDU6eZUCrkFFK+vCqYl9sGXx6c0xI27OXosxXna1KNRIT0xQo2JMsyUH7X8rtVMlLCSgJ1BRC20xs7bGLamU6gc9ygQrgmFs3qKL9fzEfFVBCgbtYABTcyqK9NilZoGV64t0e1GMruqlJ9OGkWQFMfDhPWOvqqRSPgKZGe2fOl2JfebrdbuYx1+1DSgkMGW5/l72BgRIhQDzLiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nd5P5d9DMe3gJav5eFp8Cx",
      "input": {
        "note": "The can now runs vertically through the left wrist view between the two jaw wedges, so the jaws are aligned across its body at can-centre height. Closing the gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Nd5P5d9DMe3gJav5eFp8Cx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.569, 1.5761, 0.5514, -0.2131, -0.799, -0.9653, 0.6765, -0.0212, 0.8005, 0.6094, -0.4808, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.032 left_z=0.0153 left_yaw=0.593 left_pitch=-0.1508 left_roll=0.1337 left_gripper=0.6765 right_x=0.2814 right_y=0.0012 right_z=0.1604 right_yaw=0.0005 right_pitch=-0.0847 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.6393, 4.4786, 0.9353, -0.3932, 0.149, 1.072, -0.0342, -1.0598, 7.0496, 1.9072, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85188042b43a0663f73e73e22ccd23846ea23ba816e7350dde34ea006a50d67e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03b1a3b8652d0498e87974b9bae75a92321a9ae34293682bbb1ff2e7fa2ae010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bf3329aadd331f50f48b22ac8d05fe1b4988017ebb0b0719dad6719e9cea01a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 14.33 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]: [-0.4179, 1.0454, 0.4324, -0.173, -0.5194, -0.4229, 0.9993, -0.0212, 0.7956, 0.6132, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=-0.0304 left_z=0.0906 left_yaw=0.2261 left_pitch=-0.0867 left_roll=0.0469 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1729 right_yaw=-0.0039 right_pitch=-0.0283 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.2615, 5.9145, 1.663, -0.398, -0.0952, -0.0904, -0.1573, -1.3197, 6.5162, 1.9951, -0.0366, -0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5678, 1.5612, 0.5488, -0.2016, -0.7933, -0.9504, 0.9993, -0.0212, 0.8001, 0.6094, -0.4561, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.0338 left_z=0.0183 left_yaw=0.5805 left_pitch=-0.1473 left_roll=0.1209 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.1654 right_yaw=0.0002 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.9966, 6.3248, 0.9841, -0.7546, -0.0708, -0.0904, -0.294, -1.2923, 7.4188, 1.9414, -0.022, 0.0024, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.569, 1.5761, 0.5514, -0.2131, -0.799, -0.9653, 0.6765, -0.0212, 0.8005, 0.6094, -0.4808, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.032 left_z=0.0153 left_yaw=0.593 left_pitch=-0.1508 left_roll=0.1337 left_gripper=0.6765 right_x=0.2814 right_y=0.0012 right_z=0.1604 right_yaw=0.0005 right_pitch=-0.0847 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.6393, 4.4786, 0.9353, -0.3932, 0.149, 1.072, -0.0342, -1.0598, 7.0496, 1.9072, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85188042b43a0663f73e73e22ccd23846ea23ba816e7350dde34ea006a50d67e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03b1a3b8652d0498e87974b9bae75a92321a9ae34293682bbb1ff2e7fa2ae010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf3329aadd331f50f48b22ac8d05fe1b4988017ebb0b0719dad6719e9cea01a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAYKEAgRGAI4AUIIdGhpbmtpbmcSDC0titzGtDCuqag4ZBoMvR+n9/HTSdNo+/CPIjDB9NpoaA1zddnMuX3Fq+QFn59viUuBxUT8aKZ5YxmAWlALpCzjzsnnce9YKX6VfUEqqQUq/zr1RVvcNdZJVSF4jDvUGeYf9GtCWBiruN3GRIvKs1oU5bUJhF+Kl2XGdoXGigIZtzX/2I/rxUeS/dES2RovdaMrdyQgcmtF4PCXWFWd63FxTqblfp+HKRKDx+p1ga2f+bLRaG+boeUkRQi2XaBamQ557aPJBty74nAHO6XMnNnNcircNiK9d/6t0fDnXWBJWxatuFwv6md06x8GV/N//nHGbvVd0mYPXEaeOEl8CMR1sPJEBl4bTbQ+AYMFtgifZVXvHjeVdXcmWpr+wLppKN0jM9bOPTlyfjJMRORIBMY9AURaAtBwzZeiBBX3JhPwZo2U4NYscsJgCOrY6022+uhzEZOHk6pntyTzxlLHwhOicz6PHzf4BfGQwKPhBlqzopQzmYYlpn53CXJhmUXu0v+DejyF+Zyo6zpF771sx9+IyJvJx4Tu+LT3Y27S1lJMrGx3cfTACauTO/6n8RT4unAE6oyDXdCAn8O03VeAbMGwN5ZUKexB+lY4EcSri1SNQ9gKSXveAfzUhiTHAHjcacIQqOryINl1MoJd7m/kCoQ9jmqit7i0e/xdVurtn0n1yyvRmxv6aHpDWqGtEkMGPj1qZlQAVrOhbCMFVq/FHoZLJOgBHgKxP4lEWerrtE9pXGLzadTRnlHY3GYU60VyNY27Ii4YsB0QZx/taFRVS4v9Q6skKEM6fXW0Yx8tjyu2zItTOsjsnW88270yHQncUc8jM4FHHXDMU2JmSfmFlzInC+QKq7jX0nP0qD5RjuaNYIbIM6/IrHgIWDw5XSJY8ciWAMNN2kSu+3yZ8GkPjbI6epdLTel18TxA5FwEJDjQ1pVnI9R7ZDMKfRsHj2+r2b1pmT/zr6fDCNly8ZE4gVyvR6Vb1FhMriC1dtBxEruuAPL7JefQDJUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7Cu25PhTjrvUQcEkxkBaX",
      "input": {
        "note": "Gripper settled at 0.68 (~6.4 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can straight up to carry height.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J7Cu25PhTjrvUQcEkxkBaX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.569, 1.3193, 0.9493, -0.8734, -0.775, -0.973, 0.6767, -0.0212, 0.8051, 0.6079, -0.5003, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0369 left_z=0.1493 left_yaw=0.5887 left_pitch=-0.1734 left_roll=0.1241 left_gripper=0.6767 right_x=0.2783 right_y=0.0012 right_z=0.1548 right_yaw=0.0006 right_pitch=-0.1102 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.0786, 8.4581, 0.7497, -0.6325, 0.0269, 1.0281, -0.1573, -1.4291, 7.2137, 1.8486, -0.0317, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77c2f477c518640db2ca60055eef557664d08221a1b5587e1ae3c33b7237421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5172be66ea37ac26ae85be453bf96916bb35ec65ba4896f482a18b7c9b9a8520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8990c12d1ed763bc6dec104663702d8233d68d89cb905024345bf48f63902688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 20.42 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]: [-0.5678, 1.5612, 0.5488, -0.2016, -0.7933, -0.9504, 0.9993, -0.0212, 0.8001, 0.6094, -0.4561, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.0338 left_z=0.0183 left_yaw=0.5805 left_pitch=-0.1473 left_roll=0.1209 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.1654 right_yaw=0.0002 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.9966, 6.3248, 0.9841, -0.7546, -0.0708, -0.0904, -0.294, -1.2923, 7.4188, 1.9414, -0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.569, 1.5761, 0.5514, -0.2131, -0.799, -0.9653, 0.6765, -0.0212, 0.8005, 0.6094, -0.4808, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.032 left_z=0.0153 left_yaw=0.593 left_pitch=-0.1508 left_roll=0.1337 left_gripper=0.6765 right_x=0.2814 right_y=0.0012 right_z=0.1604 right_yaw=0.0005 right_pitch=-0.0847 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.6393, 4.4786, 0.9353, -0.3932, 0.149, 1.072, -0.0342, -1.0598, 7.0496, 1.9072, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.569, 1.3193, 0.9493, -0.8734, -0.775, -0.973, 0.6767, -0.0212, 0.8051, 0.6079, -0.5003, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0369 left_z=0.1493 left_yaw=0.5887 left_pitch=-0.1734 left_roll=0.1241 left_gripper=0.6767 right_x=0.2783 right_y=0.0012 right_z=0.1548 right_yaw=0.0006 right_pitch=-0.1102 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.0786, 8.4581, 0.7497, -0.6325, 0.0269, 1.0281, -0.1573, -1.4291, 7.2137, 1.8486, -0.0317, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77c2f477c518640db2ca60055eef557664d08221a1b5587e1ae3c33b7237421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5172be66ea37ac26ae85be453bf96916bb35ec65ba4896f482a18b7c9b9a8520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8990c12d1ed763bc6dec104663702d8233d68d89cb905024345bf48f63902688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K3gwqirZNMpsLRb9rZ2vb2",
      "input": {
        "note": "The can lifted with the left gripper (top view shows it raised). The burner sits near the table centre line ahead; I carry the can over to hover above the burner coil.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.44,
          "left_y": -0.32,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01K3gwqirZNMpsLRb9rZ2vb2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8375, 2.4729, 2.5301, -1.5761, -0.7826, -1.3582, 0.6773, -0.0212, 0.8097, 0.6056, -0.5304, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4153 left_y=-0.2696 left_z=0.1547 left_yaw=0.5883 left_pitch=-0.2166 left_roll=0.1148 left_gripper=0.6773 right_x=0.2733 right_y=0.0013 right_z=0.1471 right_yaw=0.0009 right_pitch=-0.1472 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -12.2872, 8.4991, 0.3053, -0.9255, 0.2125, 1.033, -0.1983, -1.5932, 7.2274, 1.8486, -0.0415, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb67acec1a9ee77a36e9911bb13daaf1cc4fcec1081a022bc34606441acb4c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a5a39c433559b446dc574c50b2ca2f45661268c618a04f06f23a2bfc6080a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2bc07dcb34d15bc30a8865c680d2103c78f21164a6a8a460c40c7525339de79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 8.853 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]: [-0.569, 1.5761, 0.5514, -0.2131, -0.799, -0.9653, 0.6765, -0.0212, 0.8005, 0.6094, -0.4808, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.032 left_z=0.0153 left_yaw=0.593 left_pitch=-0.1508 left_roll=0.1337 left_gripper=0.6765 right_x=0.2814 right_y=0.0012 right_z=0.1604 right_yaw=0.0005 right_pitch=-0.0847 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.6393, 4.4786, 0.9353, -0.3932, 0.149, 1.072, -0.0342, -1.0598, 7.0496, 1.9072, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.569, 1.3193, 0.9493, -0.8734, -0.775, -0.973, 0.6767, -0.0212, 0.8051, 0.6079, -0.5003, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0369 left_z=0.1493 left_yaw=0.5887 left_pitch=-0.1734 left_roll=0.1241 left_gripper=0.6767 right_x=0.2783 right_y=0.0012 right_z=0.1548 right_yaw=0.0006 right_pitch=-0.1102 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.0786, 8.4581, 0.7497, -0.6325, 0.0269, 1.0281, -0.1573, -1.4291, 7.2137, 1.8486, -0.0317, -0.0464, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8375, 2.4729, 2.5301, -1.5761, -0.7826, -1.3582, 0.6773, -0.0212, 0.8097, 0.6056, -0.5304, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4153 left_y=-0.2696 left_z=0.1547 left_yaw=0.5883 left_pitch=-0.2166 left_roll=0.1148 left_gripper=0.6773 right_x=0.2733 right_y=0.0013 right_z=0.1471 right_yaw=0.0009 right_pitch=-0.1472 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -12.2872, 8.4991, 0.3053, -0.9255, 0.2125, 1.033, -0.1983, -1.5932, 7.2274, 1.8486, -0.0415, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb67acec1a9ee77a36e9911bb13daaf1cc4fcec1081a022bc34606441acb4c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a5a39c433559b446dc574c50b2ca2f45661268c618a04f06f23a2bfc6080a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2bc07dcb34d15bc30a8865c680d2103c78f21164a6a8a460c40c7525339de79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AoKEAgRGAI4AUIIdGhpbmtpbmcSDC/FyOickb/CDBrjDBoMlP4xSMNlWKsCtDWqIjDIN16qLNfo2guJM1WaRyJRR5eNd/66JocniTlRQfNLWxCrn3NiWLF+xQxtyP3KwEcq9Qmlds6HDD9v5A4Qdf5RDslQyIbYqsPpPOvr6lqvtnxwTQXdizgUY3UIl6O6dfiW/+AdgNZK1Ow5gys+E1mIqwkwZjPllDcsjUoGUpb1GJQya4iINtH64sPYf8dRmBhFzX2SjLPc7km2ejW3Du32Vlfd40tTJlkF9mtO3b1UkgEC7ZqooJGwwYqm/vqCoSGROSg57XLJGHPOh2zQCBkCRT+1otdW8BRwl9crz5N31eABfiFeIzgxXqsPbO1yNdnY8YAgWtNcTf1Brp2BDG2+GQtJLHvXNES7R/U/j75U6N56VZ0QAqLJ5BC84dMUMUGGE4qwdyLjP428KYxAcigAWP+DDh9KS47Am2ot0HdGWUeutzFax6HsaQxARYeIxpln0owpi89d61VK4fs5PFNRv8jJAdYHipie1r7F23+nRbNsHYSECxbCsUTb/kkGj0dOkA5kQ9rCGd1606O/Gw+iJrxYK/L8W6nOHSTomCdxlia8hKh/Il3TDz5W62SEhpWQsZl0zZB5P/9X10xSNuBuGjj6Sfqh/j2xxs6u9MEdeVgzo3KbmrV1evQC3T8MOODoW9Urxkonpp/lJ15uW4YnKHrpDsPSQDGpFgXb6mTFzBniKOXgdTP6j4kA4h0nUiJLBVqblFML3FHXXSwwDXmkpCFhY5UFng33sw+d0QyHVJRxbUlZHfN2zgF9ilWTdS+g6a+zT2nSMU4zVxb4NIe6MmcxPsoto+Dek0FoE8jUoZS7v86FJx6XxXusQZ0r5vRUZfclAH6o1ER+tGadKSSGFlxdRQyAqZEv8NEbDfAMsRvGBTdLhmKeo6p7ht/DslzAu65oC408YEW4iPyZ0NrKayEKR298jiIT5oSe69Re5cfFVyTyaWVs1BYiwwFkxQ8A+zkSMUufAmslqVxGJywEg2wxShDxBoLEjbrWj6YCvsmiIUPo5d6VFNOqZIJtBiW7i53/T9CCBwOM/xnSBI7gMcIfV7ODp7nt+VSCNiH8lBdDqcFJ0DMvY5nH1FSDEvDnHAdw/s8WvfMKVvSGRB8Jk5Aaio1YVRVJb84y/J6Eow8tbg62qGw5NYgLF56gxferS0ZMuJQCsuglMMaojPO29ZblQJMhlNUpmmKtUFRz5K3p89iB6FtrkBidtdYly+gXyST03fMbdy+rJ0lXofEe3oOpvlzfmnl2maEvjHaDOjj181HdtAZh1oQl5MidRFGJgeVvbLZNce5HC7SxkDG1ur96PhHgIxq74jTilAVRxClS6jPOX54zH0D54GadKBaGgSwYhVnarjvW0R6rpQS4GwaokTnV+puddy9giE5ZpTOTesGzfsF2MTHKHP2XCdm2buucUAUbbDB28YVjE3/swu1+cjHCOCRJpaIFyUOtOPftbm9QTUHH/rAxUimCz5NTdHI4y7sm7AczoGA/jiGwJKBj3XGnqcUXDUv45Yh7WNA8fNWTZZDILnn7NKrwuRS5KhOBXWleIkjj/hPGcrsZotu1iAUcsXoSNIv2j53Fk2Omak2qqkVGycQMTU8vWPmIPnvAp0FCu67ptROZ5GKyjSxLVXhTcorTq4afuMAtdIt7XquerTY2Zvb4M4L1Cx2M9HK1JOE2nwaAyfr3tvpUxxT8j8c4QQqQd0QvGCZgbtGlgKTbNXvi5/k3rHCIT5SD2GafQ9eoTIiIxhSNKeG50tVpm6zduNkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JtPsEQd92LH4rUXURZ8XCy",
      "input": {
        "note": "The arm stopped short of the target (x 0.415, y −0.27); the top view shows the gripper over the burner's left edge and the wrist cam shows the coil to the right. Shifting a few cm further right to centre over the coil.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.43,
          "left_y": -0.33,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JtPsEQd92LH4rUXURZ8XCy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8574, 2.4912, 2.5385, -1.5749, -0.7666, -1.3705, 0.6773, -0.0212, 0.8101, 0.6056, -0.5644, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.2806 left_z=0.1464 left_yaw=0.5759 left_pitch=-0.2329 left_roll=0.1126 left_gripper=0.6773 right_x=0.2675 right_y=0.0015 right_z=0.1408 right_yaw=0.0008 right_pitch=-0.1815 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -11.6308, 8.1026, 0.4029, -0.6325, -0.0562, 1.033, -0.0752, -1.2103, 6.8718, 1.8632, -0.0366, -0.0513, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0835b58e62c81f46411470eaf22141278220cdc0fa627608d3ffdcaebf46f248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca74118d991f2ff049b8b8369362f51da8995a8368705cb066270f59f51f8457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9defd716b4f150985df7e31eebe552b35792ab6b6209996b32fb6c3771f64820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 9.146 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]: [-0.569, 1.3193, 0.9493, -0.8734, -0.775, -0.973, 0.6767, -0.0212, 0.8051, 0.6079, -0.5003, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0369 left_z=0.1493 left_yaw=0.5887 left_pitch=-0.1734 left_roll=0.1241 left_gripper=0.6767 right_x=0.2783 right_y=0.0012 right_z=0.1548 right_yaw=0.0006 right_pitch=-0.1102 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.0786, 8.4581, 0.7497, -0.6325, 0.0269, 1.0281, -0.1573, -1.4291, 7.2137, 1.8486, -0.0317, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.8375, 2.4729, 2.5301, -1.5761, -0.7826, -1.3582, 0.6773, -0.0212, 0.8097, 0.6056, -0.5304, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4153 left_y=-0.2696 left_z=0.1547 left_yaw=0.5883 left_pitch=-0.2166 left_roll=0.1148 left_gripper=0.6773 right_x=0.2733 right_y=0.0013 right_z=0.1471 right_yaw=0.0009 right_pitch=-0.1472 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -12.2872, 8.4991, 0.3053, -0.9255, 0.2125, 1.033, -0.1983, -1.5932, 7.2274, 1.8486, -0.0415, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8574, 2.4912, 2.5385, -1.5749, -0.7666, -1.3705, 0.6773, -0.0212, 0.8101, 0.6056, -0.5644, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.2806 left_z=0.1464 left_yaw=0.5759 left_pitch=-0.2329 left_roll=0.1126 left_gripper=0.6773 right_x=0.2675 right_y=0.0015 right_z=0.1408 right_yaw=0.0008 right_pitch=-0.1815 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -11.6308, 8.1026, 0.4029, -0.6325, -0.0562, 1.033, -0.0752, -1.2103, 6.8718, 1.8632, -0.0366, -0.0513, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0835b58e62c81f46411470eaf22141278220cdc0fa627608d3ffdcaebf46f248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca74118d991f2ff049b8b8369362f51da8995a8368705cb066270f59f51f8457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9defd716b4f150985df7e31eebe552b35792ab6b6209996b32fb6c3771f64820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AkKEAgRGAI4AUIIdGhpbmtpbmcSDEHsMjCOxkkLflzF+BoMUnXpGg5ozq8OO8qZIjAP2UjWdisUkucGCFeSeqxmu7bJEzHftcfLdiuzZNpLqA8WMEf4DeUOhWDv8oVeuxAqjQmuXuQBv394Ns4gZ8DHfbJRAOQDkiC0B2HQ4MXDfTYrt/jKAFvvlK/XZfvNGrKOGrYF6CD6PEDK506wGv+xlmld8SmzZSAs7QEanBP8yENRQst/3sX6mKq8qe2G/cXwKJLqi4/t+b73mKaj8jIzVmbyQasHqntRa3iaUd6/mScsuAWix3YOj8OA4OHuW5vcV0+ynxVtXeIkgnqAjysYI80FCPPqlEHNkvBh3iR5JCrW93frlE1Q6WnEdz+ahdw5EloKQBah6UDrtkeWEAXDskRYCm2qFlfFxpYZzu0QRxftIssxYbUgwmsx4EAbeKXxgGE3YaL0Yk07HnN/B++rBHnKyveX0A4sedfe7TuIA8pVbVVM5jpNuOoGU70xY46CF4FeSYiZuDz2ESWOE3neziDAu1CyOwEZPEmr2uhQ4wFiIVLtgpGlrf5C59gVz2iaFa1aKyXk0wY1R2uhPADC3NEU3tXmNX8cDZwUZo+iznZBxtiNcHxE8m/tM8XI9SLDYgyg+4Jgx8XWkUFG2FVn/DHw8nlClFMwHosf8A6okH9qDR+XGzismZA6t2GlrMznLT6MeThSIyjS6baI8KP0S13ZBdQ4ob/2gKGsAM4UbQem0oZPSCzsQGIS3ggWfhjF26Y4eUD8eSwgmyADt2k6JrdJaNCZ3HdrCmHDxiU4DEtyAtiqFFmjiJjZk1+LGQbQeIIreqinjrHRkNW7I5RkLbjkbhsNNKAad1TbpecmBMMDSqMBV2ewF8brMYilMn8m76Kco/V3l2cFB+m2GrIZ6C0FOPw6BThWlHmIw93MqUE+4dyrYXq2o841lUByll5Xc8pzfba6hN9F3qFJi3xxzC1bi9C3CWic0j/NjAjiIaz/7HO1UO/YbIyOz1x9LY0bqMQK3fk7QsV/yYP3A01CmWAIbEHpVfDSjr8T6qe9Yq/gW3RmrLgnhdYnxUnMwzzTEBjvZpAI+Y6hzRo7m4WDnhr5AleVv/gd4gk7I9c5soxJvP3AXs+BiUfrTdY6y+mLBd05u4MIaw3Ogmony5Qz2i6xPELI5CrAvYxyPNlEkYuMKcgqOeOEdeBovGCh13ZsbTXIZr4NJOCeW+2WPUtLSUj6G+mT0jy8/ZLUmA8TLWL1yjEsusibAPe6KDzcCnsCAq9cffWU1VS5urpWEKtB6bY/SQ+MtIm6iBVs6H05p8/Y0kwWn8KNK2D7jMGvl5kVHG68Na80YzbCSjZBkOn76ldIW/EWD1P1Xd8Ns9b+R/A+dhRSFE0a3pRJ8bps+KxG+OnBth7teezuyOgq1W6wbzaF7aTc1E6mjuwoSkierL6cKqnORWAqUr3joCGiAgMrd9kqP/5VA2rFR3NiJb3MZKZOsfiuido+Px9xRzAaA+zf+bHj993ZzPLpA511+oBgBNGBdMH40AESy77LjXehKfnbfpU8Lw4JSOfDTJ5HJL/2MF7XzH2QOevxf5UDCJ9/MkbdVTQhlQVSwPK4DZBGgu9Q6PQUQ6SzvBnJ2YVV0kby3z+iUnIqX3or/JO3KwExs5uLTHPrt7GL0isMat0bGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H3TaD9iZLUNUiry84PmSVQ",
      "input": {
        "note": "The arm is barely tracking the sideways target at this height (stuck near y −0.28). I lower toward the burner while pushing right, since a lower pose is less reach-limited; the coil is still to the right in the wrist view.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.42,
          "left_y": -0.32,
          "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_01H3TaD9iZLUNUiry84PmSVQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8825, 2.6602, 2.6701, -1.578, -0.7593, -1.4124, 0.6773, -0.0212, 0.812, 0.6018, -0.5907, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4135 left_y=-0.3057 left_z=0.0986 left_yaw=0.5834 left_pitch=-0.2421 left_roll=0.1233 left_gripper=0.6773 right_x=0.2623 right_y=0.0016 right_z=0.1342 right_yaw=0.0009 right_pitch=-0.2136 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -12.1778, 7.4325, 0.3199, -0.5397, 0.0171, 1.033, -0.2256, -1.2376, 7.3231, 1.7558, -0.0464, -0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcc13053ba27d5fc827ae630c3c1c5b6e6c45fb48588e33b3ad05e57eca5c001",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1deb3234c48e984f732337e1de8089b438a02821b6213d993bc2df74b513099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aa90ed309bf19cd32c25c6d7810eb6a1e3c7471178b5b6fe1b49f9addc973b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 7.158 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]: [-0.8375, 2.4729, 2.5301, -1.5761, -0.7826, -1.3582, 0.6773, -0.0212, 0.8097, 0.6056, -0.5304, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4153 left_y=-0.2696 left_z=0.1547 left_yaw=0.5883 left_pitch=-0.2166 left_roll=0.1148 left_gripper=0.6773 right_x=0.2733 right_y=0.0013 right_z=0.1471 right_yaw=0.0009 right_pitch=-0.1472 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -12.2872, 8.4991, 0.3053, -0.9255, 0.2125, 1.033, -0.1983, -1.5932, 7.2274, 1.8486, -0.0415, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8574, 2.4912, 2.5385, -1.5749, -0.7666, -1.3705, 0.6773, -0.0212, 0.8101, 0.6056, -0.5644, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.2806 left_z=0.1464 left_yaw=0.5759 left_pitch=-0.2329 left_roll=0.1126 left_gripper=0.6773 right_x=0.2675 right_y=0.0015 right_z=0.1408 right_yaw=0.0008 right_pitch=-0.1815 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -11.6308, 8.1026, 0.4029, -0.6325, -0.0562, 1.033, -0.0752, -1.2103, 6.8718, 1.8632, -0.0366, -0.0513, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8825, 2.6602, 2.6701, -1.578, -0.7593, -1.4124, 0.6773, -0.0212, 0.812, 0.6018, -0.5907, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4135 left_y=-0.3057 left_z=0.0986 left_yaw=0.5834 left_pitch=-0.2421 left_roll=0.1233 left_gripper=0.6773 right_x=0.2623 right_y=0.0016 right_z=0.1342 right_yaw=0.0009 right_pitch=-0.2136 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -12.1778, 7.4325, 0.3199, -0.5397, 0.0171, 1.033, -0.2256, -1.2376, 7.3231, 1.7558, -0.0464, -0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcc13053ba27d5fc827ae630c3c1c5b6e6c45fb48588e33b3ad05e57eca5c001",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1deb3234c48e984f732337e1de8089b438a02821b6213d993bc2df74b513099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aa90ed309bf19cd32c25c6d7810eb6a1e3c7471178b5b6fe1b49f9addc973b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgsKEAgRGAI4AUIIdGhpbmtpbmcSDKsmKh/4xMidS9sGYRoMsyhXD7vmCcha4B8PIjAsaunnn+vCFpVd5mRxByW7bFcGQWtR8Hg9hYVyNmlAHfWmJMGkdhu8qKlJ8MhWYWgqqwrmVb0+00+4ZJSrrCR6ptI9yjuH8iSAl4f7jB/vDO4DAs97MPHd8jcBoMhdJRT5FtCCzLFFZN3wQTRRsLcigUfQGq+Zunkl5q1WUziZsPP273IR1LdnPVkJPOJX0v41rNXNLb9iEl+mPhNDzWzD+IJvJoblwvEhpUIPZHhgQAK/CRNkd+9ks3GvUuz/zEpUJnLE8v0boe3aCbJ56rKXzq0pAFC92sSHweHhOcd6mbc1SpWwtmQp99FKanweZleGImW758hcGah4U4uzHIdMyhpsH7cly94EfWPZJnHT9zsQs4LQjB+RKZ6pfMMWnPP0vljuOSp3G9UlL7/fRiZCRcjG7fCerBjJKp/+OeppNCEIJ3V28jCx6co/PdsKHCLdNZamiG1MjiJLXcfXg8yDpR3xhnKp6O9Tp/WNxBz0NtCRk8GNePXqvSEeVgfhKsicFY4NzC6hbxx0LnUcIjQzuwPGPn3RLN/9fDrLbbErjwBc4wRdvugJGoNQhJI/FFYvkWaqWOtFbpFXLuzuReuYtwDU85WHwDMpl0UJHD68ev3m3TnWgUfHFf+UJLDsK6NM0NHqq2INW4/knS3uhpLIrvsgm50CNPykbvZc5gfk3Ojb4qu8J1Y6CiQNMEypfOvgLmZaguJUCbD0cLaheW9l+izJAV4Ne9b07QpYN04rv8MQEl8uLYUwNsv4A2o9NjWjtWeWzph44gTT9oaR7SKvKUDl1CUF4aRUChk4P6cw6r0M1WINoeMR7gJVEwfa8Vj2i3JdQj0nsWuNasREjPuQjxHwN/gj2Svj1X7Lv5KR/gJO3WMAWioLtCl6Q6qjjP3ggT31NDc2skwlz/uOpyXMOOnR0SPlUxsZl2Nb+SOQ1BJzqVwIoZ8ScTuCU8Bq01wPkZW/VeWinc5Gf8iEuUssERQqcaLRlOS1y9+Uo8el09GMkg7LnpYq8VPWz8Iz5RueTeP+fk4s7MZMs382C9+diAuqrFK9hz+qrmdIuIfqG7lX3NVUweD4Ulre7h/RlE8vkqwJZuTIWjhiNal4q/rn/0NkreR4ozLdOO3NBKjjT0RK9eKBIMjegKLZnIpZ3i5kpA6M3oOtenwKR8QW9EfFlB/9fl6Lol5Kf2yicWkVC0vLHtVnLoGykY7TfvZHSPXqueOpR95e8bDTJCKn6KDpO5k23+cORSARABt18hwKOw1j76QdEMwIZtfc2NCvdpZx0VICJ3+kNdmL0WZHYE5fyeKgpnPiifGn1wt3hqXU2K8Vsia+R1gFrTmjx6TG6pNXWWlEsUMYfY2NeqfgjNa0jBQyRObz/DWVJxsR3gCPGSNvlc/7Ra/2plHj7X1GJts9bD/iqw7fN74Kewq/xCee2NGj+JFwfXuKjVlM/Vd0JC2G3nBbFtrCNNcoT7W9g+O2oMA2vcpvEqeBgvlWH5U/YqwTZN+gdN2fvAMDnhf36ttgiJZrmHnjNIkkumVTilsgwMBHEM+cpmgwFoEtDwbTTGcPdW9sK2tfzSaRoXDuXeNi72DroIIrkw7ZrOM76yewoLP4UtRRQbp3sB0Usofhb97U6pK+aW7gjLAzjmJSrIdVpKWlUsWBvdHBzH3JP+o195XvSXgVnvUCVN7gVsP0KEKlNZXAdqmzYkPTmGpuPQe63T57P3KHtzfCANBQ3QB4OmwZ02JaCMlP2Q0T0hwHRlslLYqkX2IrWXjg64u0v6S+lMX2dwXRLeh9DV2lSqsJzmb53ABLDyOsCyRlJmGOyothAT1BsRiIBXyCPwIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019AwmgbZDnxExCasRZgxAoT",
      "input": {
        "note": "The can is now over the left part of the burner; the coil is still slightly to the right in the wrist view. Nudging right a few more cm and lowering so the can settles onto the coil.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.42,
          "left_y": -0.34,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019AwmgbZDnxExCasRZgxAoT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.902, 2.7346, 2.7495, -1.5867, -0.8169, -1.4532, 0.6773, -0.0212, 0.812, 0.6018, -0.6132, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4177 left_y=-0.315 left_z=0.0893 left_yaw=0.5886 left_pitch=-0.1825 left_roll=0.1032 left_gripper=0.6773 right_x=0.2583 right_y=0.0016 right_z=0.1303 right_yaw=0.0009 right_pitch=-0.2361 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -10.6462, 6.9538, 0.4518, 0.1001, 0.0611, 1.0281, -0.0342, -0.9504, 7.0085, 1.7021, -0.0171, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f2470c591ec7d096e29026c646c685a89bcea092f5b35088a4b87fccd3417b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:953afc3c664c7e89c567300ad69e4130b1170e6b27aa486195899b650df6ffb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ffb856721e9ae29024296d1d9a914b94867f139d263f871586eb65eb5c5a04e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.073 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]: [-0.8574, 2.4912, 2.5385, -1.5749, -0.7666, -1.3705, 0.6773, -0.0212, 0.8101, 0.6056, -0.5644, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.2806 left_z=0.1464 left_yaw=0.5759 left_pitch=-0.2329 left_roll=0.1126 left_gripper=0.6773 right_x=0.2675 right_y=0.0015 right_z=0.1408 right_yaw=0.0008 right_pitch=-0.1815 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -11.6308, 8.1026, 0.4029, -0.6325, -0.0562, 1.033, -0.0752, -1.2103, 6.8718, 1.8632, -0.0366, -0.0513, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8825, 2.6602, 2.6701, -1.578, -0.7593, -1.4124, 0.6773, -0.0212, 0.812, 0.6018, -0.5907, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4135 left_y=-0.3057 left_z=0.0986 left_yaw=0.5834 left_pitch=-0.2421 left_roll=0.1233 left_gripper=0.6773 right_x=0.2623 right_y=0.0016 right_z=0.1342 right_yaw=0.0009 right_pitch=-0.2136 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -12.1778, 7.4325, 0.3199, -0.5397, 0.0171, 1.033, -0.2256, -1.2376, 7.3231, 1.7558, -0.0464, -0.022, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.902, 2.7346, 2.7495, -1.5867, -0.8169, -1.4532, 0.6773, -0.0212, 0.812, 0.6018, -0.6132, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4177 left_y=-0.315 left_z=0.0893 left_yaw=0.5886 left_pitch=-0.1825 left_roll=0.1032 left_gripper=0.6773 right_x=0.2583 right_y=0.0016 right_z=0.1303 right_yaw=0.0009 right_pitch=-0.2361 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -10.6462, 6.9538, 0.4518, 0.1001, 0.0611, 1.0281, -0.0342, -0.9504, 7.0085, 1.7021, -0.0171, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f2470c591ec7d096e29026c646c685a89bcea092f5b35088a4b87fccd3417b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:953afc3c664c7e89c567300ad69e4130b1170e6b27aa486195899b650df6ffb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ffb856721e9ae29024296d1d9a914b94867f139d263f871586eb65eb5c5a04e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoggKEAgRGAI4AUIIdGhpbmtpbmcSDMri747LvI0TWxfs4xoMWXZ2vnbF2aa1bmd6IjAB0gyXqlAQHWwS8VLHAy2+Sd1MGakEzl6u1XceonqbpJR3TIrsMpQkuAzhHRfBidUqvwc3as4mFIGoL1fXPxddRWNW8jvQu+jyWBRK7Arx3vOFnHMuJZK8gv/WgM8Kg0hxJ1q0OY4j5uTkR1U1RULjvBJhMUcNnk7PY8MN/frSBUy2zd5rtCW4GbXIoZXre3bh797FYRuMtmgvQEouxRDqX0fSdrXDBeQHvkJkNhya7g+FJCUX1hRWaTTHnhPdqjUD7DcVVM3kU1QHvrMuCar6L/JD+TdHPMj9ta45VFAKUVDo/2o4U53yywQp+RfZCFzzGx3fV4cZNgQ8Pc5r2wy/m4d+BoMozOjPIYyg+v/Hz8mId8MRAyRtNMf+CyquqivhJ1yEZ6rKK0YG4yGZgkGfOs8noRG5wfRWyBlnHDzDc0SG2grYSpWa9QJXBq6FbA8FyfCZApb4hHl2FjkbLN87RfOHbZI88+wf/uBSQKSwGqETXavBRkH6+lTymGuWjaRvOTKUKr6veonvbd6kJowaURvEXPFxFGDvm5uP+HBetrs9bkHzBkMUqqjy4XBny996ZfC4j5viCk5XPKqzu6Af+0nRf9pVj2ihbleakN39rfDjMGS9iBCb5xmFc9B2xjg4VYaRa/K+Hr7Wv2SaJBxqDm5HiMzlkmQYmIEckmFnKovAyQgMffP2wryxVc49HwxkU4nh/dY950kU1etlwEAiqVqiFQuw8QonQ8tggT1MTvnpEBYbJdD0Ce7FMTso3ZXxNPw41sJQLBBac9/hmjkfM1ChVCKSox9WdPQubzKabWBYZLPcv4AI/WvI+RWdML0qHB5egFmfAF+MhEt/2YqnZiXM3RrWiPA5HcLlfitbZwHtXpD4yXhTZEXbUVg8QHbZOtPmsOG4Sm1m81CVzSlcBd+27eiaE/aimXaFTia9acyXWc4NuTtIQQvrwKrZm0IXtpuXdABHarPVjm72EG42LCTEkURrp9K2QDDW7HGidUKHHa3xXkkt0fNR5PtQZjKx/OaVGqcB3hAwdwkKds0hgrwJH1x8fJMVwmO1Vtzj85DPvfgwLBofV0VFqjW3jpLMJy0llMWIBDffHDBAFHcQGOz4hFD14qHCToJfPSI8gHxXAeFdZOUXOuJsACikZREXQmULRAf+ooDpFwdlozhAw4Ig8QFGET8HIrOjYPB8qrhXuZhMqKx2OtXroY05p2r5jsWMzFrBQgIRIV6I2d+oklkMiLEoft++w5FnDfm8nBw8KbZI0QBSWAu05/DfO/ireSINl0fhanb8nvX4tpIJOvl8L/SvPMX8F9dr3SqPocuK4F/EK9P3PT+kNRnqulkFRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QcMH1Zn8JtNWvbW1cLehgg",
      "input": {
        "note": "The descent stopped at z≈0.09 with shoulder effort easing, meaning the can is resting on the burner coil; top view shows it lying across the burner. Opening the gripper to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QcMH1Zn8JtNWvbW1cLehgg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9039, 2.7388, 2.7346, -1.578, -0.8474, -1.4582, 0.6773, -0.0212, 0.812, 0.6018, -0.6319, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4197 left_y=-0.3133 left_z=0.0877 left_yaw=0.5913 left_pitch=-0.1526 left_roll=0.1123 left_gripper=0.6773 right_x=0.2549 right_y=0.0017 right_z=0.1272 right_yaw=0.0011 right_pitch=-0.2548 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -16.253, 4.4786, 0.3004, -0.2076, -0.0122, 1.033, -0.0889, -1.0598, 6.9812, 1.6679, -0.0317, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9345dcc3e2a829c24f4d9f6decf8a664326723954f53c900b4eea905088248e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c9e4277f97c05a557892db4498fb45b4805bdb6150dea6d33d56180965ba4e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:210f76afd0498957b2d9e739acc512b7d30aafda5c7dd417b1de4398a09dd389",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 4.741 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]: [-0.8825, 2.6602, 2.6701, -1.578, -0.7593, -1.4124, 0.6773, -0.0212, 0.812, 0.6018, -0.5907, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4135 left_y=-0.3057 left_z=0.0986 left_yaw=0.5834 left_pitch=-0.2421 left_roll=0.1233 left_gripper=0.6773 right_x=0.2623 right_y=0.0016 right_z=0.1342 right_yaw=0.0009 right_pitch=-0.2136 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -12.1778, 7.4325, 0.3199, -0.5397, 0.0171, 1.033, -0.2256, -1.2376, 7.3231, 1.7558, -0.0464, -0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.902, 2.7346, 2.7495, -1.5867, -0.8169, -1.4532, 0.6773, -0.0212, 0.812, 0.6018, -0.6132, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4177 left_y=-0.315 left_z=0.0893 left_yaw=0.5886 left_pitch=-0.1825 left_roll=0.1032 left_gripper=0.6773 right_x=0.2583 right_y=0.0016 right_z=0.1303 right_yaw=0.0009 right_pitch=-0.2361 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -10.6462, 6.9538, 0.4518, 0.1001, 0.0611, 1.0281, -0.0342, -0.9504, 7.0085, 1.7021, -0.0171, -0.0366, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9039, 2.7388, 2.7346, -1.578, -0.8474, -1.4582, 0.6773, -0.0212, 0.812, 0.6018, -0.6319, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4197 left_y=-0.3133 left_z=0.0877 left_yaw=0.5913 left_pitch=-0.1526 left_roll=0.1123 left_gripper=0.6773 right_x=0.2549 right_y=0.0017 right_z=0.1272 right_yaw=0.0011 right_pitch=-0.2548 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -16.253, 4.4786, 0.3004, -0.2076, -0.0122, 1.033, -0.0889, -1.0598, 6.9812, 1.6679, -0.0317, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9345dcc3e2a829c24f4d9f6decf8a664326723954f53c900b4eea905088248e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c9e4277f97c05a557892db4498fb45b4805bdb6150dea6d33d56180965ba4e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:210f76afd0498957b2d9e739acc512b7d30aafda5c7dd417b1de4398a09dd389",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQYKEAgRGAI4AUIIdGhpbmtpbmcSDKSjShWJEu9svDNc/hoMOrpzly6iRSiwatxVIjCWoYLxfUMJAtQgJSOBSm8qQH87yeP/adPVWXDCAiwMB0hnjSzwMixPG1kwPdd80tcq3gUTy9ZrWHalU+qY5adyfCx78VEgR8GSPrmfUVLtIH4t3qxJZrPMl6u/XbA8hVeTDz3HVtK9p4ivvY5q+M4G3xpU0HvAc4UK1TqbsDuEcPKozhPZ2o8XWshyWkFnGz2Wv2Shp7Lh4tiuxNQxAmrrt6KtMwQ1sn6rs4uBw3+xn4efDRA7Vxp4So8MEJBIOA6+220Qzq28KCL+SJa3VkiF22oh5oK1VknskPVH+BsxsLqfKD0y0cvA1+k0wWW70XQ9dD4Aq1N9P5o/Z5dyHlhYibp59A5lNc/rGnGRj87A4sAcL6s2DY2YNi3X0HnumOvNjyj3MX6ZvakVZSN/oQbC7gkgcux00umAT22wTZrvIexHJkpQ11P0W16QYw8EQYhNh6/d9mP97SBw+YlZCs7MPPc/N4+aQJtBGy36Ju/PHpkFilAd7+Oi8nTWn4oNtSEXclk4F0yMHvhak45T5VIV1+JZqNDJeZzy6VT4p+TP93DChxFun3EFI8qidsy95eTahQo5rGJeMU1aeMsj36LF1gjpqMhfkWOiTE5Yirmuqtj/k0PyoRCcQS3XGbDAWNNS1Dr+tMBNwyvvHV6ITESyZO0xIHhlQsQNNQSoGdqYIwuowYP6qf5AxqKcrPsrKVqMeYGiozi0XiJ7NzNAHqp9YZUdLa0W5n/SlWmxeRNJV2tYCvQXMIhVSH7zd1g0ErcQIor8iUtkiZerVdJrx0f/Y3A+iEOlV7t1lsCz0qADmHA1460dD1QLbsGksJKbTZN1Cle1scLZ/b7eXWFJsBk8UMEkidOXCRe7bQGipmm+kYgwk70SGJW2SOjtd7o7QuxJstH+pyv1MMvDH2/K2eJmRDuPrlN0AYQdOsE4/zvZdocFheC46D9H3K2LNpU9E5HXbFKVrQ1Q3uD0jCe4LFNZpsDc/Y6IlyEvYAkOfH1xUgh1mDvKJsAP5mobyeUDyVNcAim5Lz/ar960g7MVS629WRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xR54PcHSVmmVLsKp5666v",
      "input": {
        "note": "The gripper reading is still 0.68, so the jaws haven't opened yet; re-sending the open command to release the can onto 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_019xR54PcHSVmmVLsKp5666v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9039, 2.7388, 2.7308, -1.573, -0.849, -1.4605, 0.7944, -0.0212, 0.8158, 0.6018, -0.6529, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.3135 left_z=0.0869 left_yaw=0.5924 left_pitch=-0.1508 left_roll=0.1095 left_gripper=0.7944 right_x=0.251 right_y=0.0018 right_z=0.1229 right_yaw=0.0013 right_pitch=-0.2796 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -15.2, 5.0393, 0.2711, -0.4664, -0.0024, 0.0855, -0.0889, -1.4291, 6.7624, 1.7558, -0.0317, -0.0611, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9e1093cdd7a979f8fad03e3f3b111c684d65d36f3b2206fba5edd7da31dd966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca5a33bac1b3c2d2da43fd38efab0e070bf6b4bed9c3aa0cb98a1dfd6fa77ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a0beaa026a0530bcb39a07594fbf55d95148c08cb37a63ca4fbf6653dbe76c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.75 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]: [-0.902, 2.7346, 2.7495, -1.5867, -0.8169, -1.4532, 0.6773, -0.0212, 0.812, 0.6018, -0.6132, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4177 left_y=-0.315 left_z=0.0893 left_yaw=0.5886 left_pitch=-0.1825 left_roll=0.1032 left_gripper=0.6773 right_x=0.2583 right_y=0.0016 right_z=0.1303 right_yaw=0.0009 right_pitch=-0.2361 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -10.6462, 6.9538, 0.4518, 0.1001, 0.0611, 1.0281, -0.0342, -0.9504, 7.0085, 1.7021, -0.0171, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9039, 2.7388, 2.7346, -1.578, -0.8474, -1.4582, 0.6773, -0.0212, 0.812, 0.6018, -0.6319, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4197 left_y=-0.3133 left_z=0.0877 left_yaw=0.5913 left_pitch=-0.1526 left_roll=0.1123 left_gripper=0.6773 right_x=0.2549 right_y=0.0017 right_z=0.1272 right_yaw=0.0011 right_pitch=-0.2548 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -16.253, 4.4786, 0.3004, -0.2076, -0.0122, 1.033, -0.0889, -1.0598, 6.9812, 1.6679, -0.0317, -0.0171, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9039, 2.7388, 2.7308, -1.573, -0.849, -1.4605, 0.7944, -0.0212, 0.8158, 0.6018, -0.6529, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.3135 left_z=0.0869 left_yaw=0.5924 left_pitch=-0.1508 left_roll=0.1095 left_gripper=0.7944 right_x=0.251 right_y=0.0018 right_z=0.1229 right_yaw=0.0013 right_pitch=-0.2796 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -15.2, 5.0393, 0.2711, -0.4664, -0.0024, 0.0855, -0.0889, -1.4291, 6.7624, 1.7558, -0.0317, -0.0611, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9e1093cdd7a979f8fad03e3f3b111c684d65d36f3b2206fba5edd7da31dd966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca5a33bac1b3c2d2da43fd38efab0e070bf6b4bed9c3aa0cb98a1dfd6fa77ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0beaa026a0530bcb39a07594fbf55d95148c08cb37a63ca4fbf6653dbe76c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper is opening slowly (0.79); I'll lift clear while continuing to open, then check the top view.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019jXpXFJNfXCRKYdVPAnTUW",
      "input": {
        "note": "The jaws are opening (0.79) and the can is resting on the burner. Lifting the left arm clear so the top camera can confirm the placement.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019jXpXFJNfXCRKYdVPAnTUW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8738, 2.4962, 2.5145, -1.5715, -0.8349, -1.4139, 0.9977, -0.0212, 0.8181, 0.601, -0.6727, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4099 left_y=-0.2801 left_z=0.1468 left_yaw=0.5924 left_pitch=-0.1654 left_roll=0.1152 left_gripper=0.9977 right_x=0.2471 right_y=0.0019 right_z=0.119 right_yaw=0.0017 right_pitch=-0.3024 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -16.6085, 5.0803, 0.3639, -0.6325, 0.1294, -0.0904, -0.0752, -1.1829, 6.7897, 1.6239, -0.0562, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28413f70a5b0d596214755ec5569a875981dd301f3f0ad662eb466586e936b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c91b9eb3ef0a4591b76ccc5cad4c5d42fa9464707ef7ee9f96e678ba109ea7a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa9fe76106e8ceff2b336ec83cae59d06140e70072e52d51cfcf8bf49d1f4f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 16.72 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]: [-0.9039, 2.7388, 2.7346, -1.578, -0.8474, -1.4582, 0.6773, -0.0212, 0.812, 0.6018, -0.6319, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4197 left_y=-0.3133 left_z=0.0877 left_yaw=0.5913 left_pitch=-0.1526 left_roll=0.1123 left_gripper=0.6773 right_x=0.2549 right_y=0.0017 right_z=0.1272 right_yaw=0.0011 right_pitch=-0.2548 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -16.253, 4.4786, 0.3004, -0.2076, -0.0122, 1.033, -0.0889, -1.0598, 6.9812, 1.6679, -0.0317, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.9039, 2.7388, 2.7308, -1.573, -0.849, -1.4605, 0.7944, -0.0212, 0.8158, 0.6018, -0.6529, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.3135 left_z=0.0869 left_yaw=0.5924 left_pitch=-0.1508 left_roll=0.1095 left_gripper=0.7944 right_x=0.251 right_y=0.0018 right_z=0.1229 right_yaw=0.0013 right_pitch=-0.2796 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -15.2, 5.0393, 0.2711, -0.4664, -0.0024, 0.0855, -0.0889, -1.4291, 6.7624, 1.7558, -0.0317, -0.0611, -0.0073]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8738, 2.4962, 2.5145, -1.5715, -0.8349, -1.4139, 0.9977, -0.0212, 0.8181, 0.601, -0.6727, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4099 left_y=-0.2801 left_z=0.1468 left_yaw=0.5924 left_pitch=-0.1654 left_roll=0.1152 left_gripper=0.9977 right_x=0.2471 right_y=0.0019 right_z=0.119 right_yaw=0.0017 right_pitch=-0.3024 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -16.6085, 5.0803, 0.3639, -0.6325, 0.1294, -0.0904, -0.0752, -1.1829, 6.7897, 1.6239, -0.0562, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28413f70a5b0d596214755ec5569a875981dd301f3f0ad662eb466586e936b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c91b9eb3ef0a4591b76ccc5cad4c5d42fa9464707ef7ee9f96e678ba109ea7a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9fe76106e8ceff2b336ec83cae59d06140e70072e52d51cfcf8bf49d1f4f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QgKEAgRGAI4AUIIdGhpbmtpbmcSDMVuYZPa3A+Lh4qLfhoMMCpKJZyeOoGY0b+OIjA0XHAi7Al3W5cNNrz0Osc1/2zDYlKRVgael+KqpJ2oXV8z/2LJk2j05021g4wOKicq/gfzDw2lP84ecxbA97XnqX1BRI6UQt66MNUGugOnz4CW6th7nTXuTI3CZ1wvrrJOERnbJrm4qMAU8QW+/NzhxenBMeSXWKumvCCKDJdGtS0Y3GRcYpsRZIzL3XAoS7lbPmMEqhD5QEbFyJBhKthxVLR0BCa1DYW5VKvPWACY6r0gkt4abeRplcpoZO1W71rBkscXPO9Bptbzw8fGNkPBt+WuEcKOkQsoG8/C+E87daSUr6v9auZO52v0odmSbe9wGghnV1F9gx95gYF2aB9bb+j2JMesc2KObcTsi2ojrFb+qQcYA94RewdSQ1NU8lMayHm/a7MJMsB9Q2rJoJRa7gpXk74yRM1L82+hgAnv2yPZ1i9eSbaQ4ETS4vKAZePfRVqsRgLR96qY/FYCutmsPhHKVmUoFFPNhynFN70IS+agyKz92OWKgjb8D7PaxcDXS+SmmjlPjtDFXWh8iG9EfYy1CsH9CCM4F0n6OsOL9DjsKPjFkxLxczC0g24qKjQLMrTEuLhp8ZQU0JvrmB/Rw6T/75k+q6DPJo1KRxEvn1z8b6SCaofzipAqFfrI52qc0Q6xxM74i32l42G76iB2B10txL233uwIR4SLmVHwBfcMNEJg28X6+rZh+SAKbOUx0iYMcMiFgS/IPKfO/OC8dtHxTjNdZaSjk5kwwcETdJNHGR/nCZdCO6Cdx+8qkTepJz6fig0UxnvO/yPIlVasp78/t06d5ID3K/d9WPEkOkIPDv5muUM9at6463ImdSAwgo/NiUVzljM0YIQMLL9IpnMzQjot4CgymAMiEbQ4uNzupXPS6YdWqAeUXLv3246ZNaLGEWn8Huf104EPAEVe5+frHzduI5Ai72yFBF0nJbyEzM+AYuYxTRGfbV5qE+9YRGzSJd5BXQZ9+nt+CrxD2MOasgG94XC05BNbVhA2qb6UvLJ06MXPPCfYIs4KfEJFkSmK2vNU9NXCZTxBcwbnsLE8v5R5AVuz2MSVYOhIITGysc4JUt0Du8rcd2O84z52/1OoSiFcyBVhD5Znw1999OirlRlLuJkkmEom/p2dlzxnHIu8rs4TPirI6tpvTn8rmIyVjTHXere0dbevgPvCRSuBD1AhJvLLfQAilELxHaea9Mu5KwZHSZfiDVCej5qh1eGP73tfANGMeHMaghlNCrvCHm/9tN4Rup3co0aQSkjqhwkD2nW8MhKHesgnPN+xsPRQVbZk0Um8ftUsGuJsM/2y+azWz5+Qmo31dXWnZ9zJGpH8AQZ2t+zdL+jx2+DKhIpD3c5A4f0U/76UDRGlDddI3Y43rfni0KgxpnrGhr1aQ4F7mUR59MTBcuYEwP8jUGuP+B+JSmtlJDK7+BqcMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TtKZut9enKvtoWw7nWiYeH",
      "input": {
        "note": "The can is released and appears to lie on the burner's left side partly over the coil. Retracting the left arm to its home pose so the overhead camera can verify the placement.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.29,
          "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 25 steps (2.5s)",
      "tool_use_id": "toolu_01TtKZut9enKvtoWw7nWiYeH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1268, 0.9279, 0.7765, -0.6113, -0.2214, -0.0868, 0.9985, -0.0208, 0.8223, 0.601, -0.6983, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0056 left_z=0.1783 left_yaw=0.0934 left_pitch=-0.1684 left_roll=0.1051 left_gripper=0.9985 right_x=0.2422 right_y=0.0021 right_z=0.1141 right_yaw=0.0021 right_pitch=-0.3322 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.3179, 6.653, 1.663, -0.0611, 0.1148, -0.1734, -0.0205, -1.3744, 6.7077, 1.619, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25fe995eabfad13e7ffd04b3889a8bda88439dc78ee0121f1963cce73686b1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c499ce700c1c9f9c85809ea807b668e61ea233d4344a99c253d5c4fc05a6ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4db29a8efd6d1907cd5ec1c8b9ae227d6b15b784d55b00773f3f314be449993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 10.76 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]: [-0.9039, 2.7388, 2.7308, -1.573, -0.849, -1.4605, 0.7944, -0.0212, 0.8158, 0.6018, -0.6529, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.3135 left_z=0.0869 left_yaw=0.5924 left_pitch=-0.1508 left_roll=0.1095 left_gripper=0.7944 right_x=0.251 right_y=0.0018 right_z=0.1229 right_yaw=0.0013 right_pitch=-0.2796 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -15.2, 5.0393, 0.2711, -0.4664, -0.0024, 0.0855, -0.0889, -1.4291, 6.7624, 1.7558, -0.0317, -0.0611, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.8738, 2.4962, 2.5145, -1.5715, -0.8349, -1.4139, 0.9977, -0.0212, 0.8181, 0.601, -0.6727, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4099 left_y=-0.2801 left_z=0.1468 left_yaw=0.5924 left_pitch=-0.1654 left_roll=0.1152 left_gripper=0.9977 right_x=0.2471 right_y=0.0019 right_z=0.119 right_yaw=0.0017 right_pitch=-0.3024 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -16.6085, 5.0803, 0.3639, -0.6325, 0.1294, -0.0904, -0.0752, -1.1829, 6.7897, 1.6239, -0.0562, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1268, 0.9279, 0.7765, -0.6113, -0.2214, -0.0868, 0.9985, -0.0208, 0.8223, 0.601, -0.6983, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0056 left_z=0.1783 left_yaw=0.0934 left_pitch=-0.1684 left_roll=0.1051 left_gripper=0.9985 right_x=0.2422 right_y=0.0021 right_z=0.1141 right_yaw=0.0021 right_pitch=-0.3322 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.3179, 6.653, 1.663, -0.0611, 0.1148, -0.1734, -0.0205, -1.3744, 6.7077, 1.619, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25fe995eabfad13e7ffd04b3889a8bda88439dc78ee0121f1963cce73686b1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c499ce700c1c9f9c85809ea807b668e61ea233d4344a99c253d5c4fc05a6ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4db29a8efd6d1907cd5ec1c8b9ae227d6b15b784d55b00773f3f314be449993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HWfHWjmJe766UhdgNCjWv5",
      "input": {
        "note": "The overhead view shows the can ended up on the table just in front of the burner, lying along the forward direction near the centre line. I'll re-grasp it with the right arm (fresh and closer to aligned), first hovering 10 cm above it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.33,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01HWfHWjmJe766UhdgNCjWv5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1249, 0.9318, 0.7708, -0.6312, -0.207, -0.0902, 0.9982, 1.0267, 1.895, 1.4136, -0.7368, 0.5125, 0.8696, 0.9996]\nstate[eef_state]: left_x=0.2875 left_y=0.0041 left_z=0.171 left_yaw=0.0862 left_pitch=-0.1991 left_roll=0.0989 left_gripper=0.9982 right_x=0.2917 right_y=0.3218 right_z=0.0919 right_yaw=0.0258 right_pitch=-0.3708 right_roll=-0.0245 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -2.1675, 7.2547, 1.7265, -0.2955, 0.0562, -0.0415, 0.1162, -9.1966, 7.9111, 1.0037, 0.5299, 0.2955, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9211c13317620d99ce6da42742d263dd21a7acd52b7a9649869b21cda1bef21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053b06aa284762f5ed776f3dc0e87d1a3afbba5bf969a851aa4d99fa89875f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b8741e1df8bb870ee37c7cf3f97a446c90659c2af73616be9d1a6a42257be09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 10.98 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]: [-0.8738, 2.4962, 2.5145, -1.5715, -0.8349, -1.4139, 0.9977, -0.0212, 0.8181, 0.601, -0.6727, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4099 left_y=-0.2801 left_z=0.1468 left_yaw=0.5924 left_pitch=-0.1654 left_roll=0.1152 left_gripper=0.9977 right_x=0.2471 right_y=0.0019 right_z=0.119 right_yaw=0.0017 right_pitch=-0.3024 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -16.6085, 5.0803, 0.3639, -0.6325, 0.1294, -0.0904, -0.0752, -1.1829, 6.7897, 1.6239, -0.0562, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1268, 0.9279, 0.7765, -0.6113, -0.2214, -0.0868, 0.9985, -0.0208, 0.8223, 0.601, -0.6983, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0056 left_z=0.1783 left_yaw=0.0934 left_pitch=-0.1684 left_roll=0.1051 left_gripper=0.9985 right_x=0.2422 right_y=0.0021 right_z=0.1141 right_yaw=0.0021 right_pitch=-0.3322 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.3179, 6.653, 1.663, -0.0611, 0.1148, -0.1734, -0.0205, -1.3744, 6.7077, 1.619, -0.0513, -0.0562, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1249, 0.9318, 0.7708, -0.6312, -0.207, -0.0902, 0.9982, 1.0267, 1.895, 1.4136, -0.7368, 0.5125, 0.8696, 0.9996]\nstate[eef_state]: left_x=0.2875 left_y=0.0041 left_z=0.171 left_yaw=0.0862 left_pitch=-0.1991 left_roll=0.0989 left_gripper=0.9982 right_x=0.2917 right_y=0.3218 right_z=0.0919 right_yaw=0.0258 right_pitch=-0.3708 right_roll=-0.0245 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -2.1675, 7.2547, 1.7265, -0.2955, 0.0562, -0.0415, 0.1162, -9.1966, 7.9111, 1.0037, 0.5299, 0.2955, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9211c13317620d99ce6da42742d263dd21a7acd52b7a9649869b21cda1bef21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053b06aa284762f5ed776f3dc0e87d1a3afbba5bf969a851aa4d99fa89875f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b8741e1df8bb870ee37c7cf3f97a446c90659c2af73616be9d1a6a42257be09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018UmwurmXV9j9ttS2HMbsv2",
      "input": {
        "note": "In the right wrist view the can lies about 5 cm to the left of the jaw column, angled with its far end to the left. Shifting left, yawing to align the jaws across the can, and descending to can-centre height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.37,
          "right_yaw": 0.35,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018UmwurmXV9j9ttS2HMbsv2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1249, 0.9321, 0.7708, -0.6361, -0.2062, -0.0906, 0.9979, 1.0237, 1.998, 1.3197, -0.4278, 0.4038, 0.6167, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.1701 left_yaw=0.086 left_pitch=-0.2044 left_roll=0.0992 left_gripper=0.9979 right_x=0.2965 right_y=0.3603 right_z=0.0375 right_yaw=0.276 right_pitch=-0.378 right_roll=-0.0186 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9897, 6.8034, 1.5311, -0.149, -0.0122, -0.0366, -0.6359, -9.265, 5.6957, 1.1746, 0.2222, -0.0855, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5e7ffda8610a74af83a612fd1b4997efc8b7beae1c5eb235f93c63d0b69969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906fabc69c06a9bb72cd6e09029a0b66ee1d663f897eb7f0d357c4d29570ef29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ba13af60cf9bdd9cc570b7de7322b38ab167ea0b9e4f4e8f5d816ef4d28c215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 7.763 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]: [-0.1268, 0.9279, 0.7765, -0.6113, -0.2214, -0.0868, 0.9985, -0.0208, 0.8223, 0.601, -0.6983, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0056 left_z=0.1783 left_yaw=0.0934 left_pitch=-0.1684 left_roll=0.1051 left_gripper=0.9985 right_x=0.2422 right_y=0.0021 right_z=0.1141 right_yaw=0.0021 right_pitch=-0.3322 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.3179, 6.653, 1.663, -0.0611, 0.1148, -0.1734, -0.0205, -1.3744, 6.7077, 1.619, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1249, 0.9318, 0.7708, -0.6312, -0.207, -0.0902, 0.9982, 1.0267, 1.895, 1.4136, -0.7368, 0.5125, 0.8696, 0.9996]\nstate[eef_state]: left_x=0.2875 left_y=0.0041 left_z=0.171 left_yaw=0.0862 left_pitch=-0.1991 left_roll=0.0989 left_gripper=0.9982 right_x=0.2917 right_y=0.3218 right_z=0.0919 right_yaw=0.0258 right_pitch=-0.3708 right_roll=-0.0245 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -2.1675, 7.2547, 1.7265, -0.2955, 0.0562, -0.0415, 0.1162, -9.1966, 7.9111, 1.0037, 0.5299, 0.2955, -0.0513]",
      "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]: [-0.1249, 0.9321, 0.7708, -0.6361, -0.2062, -0.0906, 0.9979, 1.0237, 1.998, 1.3197, -0.4278, 0.4038, 0.6167, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.1701 left_yaw=0.086 left_pitch=-0.2044 left_roll=0.0992 left_gripper=0.9979 right_x=0.2965 right_y=0.3603 right_z=0.0375 right_yaw=0.276 right_pitch=-0.378 right_roll=-0.0186 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9897, 6.8034, 1.5311, -0.149, -0.0122, -0.0366, -0.6359, -9.265, 5.6957, 1.1746, 0.2222, -0.0855, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5e7ffda8610a74af83a612fd1b4997efc8b7beae1c5eb235f93c63d0b69969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906fabc69c06a9bb72cd6e09029a0b66ee1d663f897eb7f0d357c4d29570ef29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ba13af60cf9bdd9cc570b7de7322b38ab167ea0b9e4f4e8f5d816ef4d28c215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSigkKEAgRGAI4AUIIdGhpbmtpbmcSDJgRsySeZoko/suE7hoMpr2bDzLKePCIAySMIjD3qm52Hfm8FDABVZSTnaGe5d1/FLQL15KQFo4AF92olLk5JFe1bqZBVnEOK8sHPRcqpwjZeGh+SKXNVVoJyCB5ZfSaO8h2W2vHsxEi84tfvGk3qO5WFqgCd59Q2XMLtDjXorObFMKBNiCWrTO9WJSNoDWhpspx6+yWPffsdSJ14U4OXS+4yRMj4ojRUMltkxjOaMR7yIuX1grnYkpGCczhE8Lf3Za3aWveirZHzEqck+qUhmZVlwgqJBRaYZG4ogk9RWUKjfOJicVYsAAMrsM6o2Sy04b2p/qC4AWFLrUspu5QNL2qazoYbtZeGzvZJ4Lg3kqpC/ZUhIsB00d5KmEqkHDOxXg6bt0qX7wdda86Oa3OBKW0MDxbNuFtmMHKPJtSkQUNiOtnetAL3I3zYmzYPoK3ZVWFo7e3Bd1R+mSOZEmw2qrBYsakyAvTHR0dp1Tyi8M5sop82S5zi5dkvOPOB3LZV6TIzZ7roM/ZvMkU3pQd5m44jbI5Uus0ZeJbCErVESWy/nRplGKD1zulxec2h9FwIX9B5W/4sn5oQdIbYA+3eiSuuV/N2WnDlR4SUqwrX2KdfbJjy857BlwZAksf6KAeeBJzHpVp56aeNi6g+kEU7M00p+UKoSWcGXYtlq8h3itnuiC/FoBU0iuGm+ns8hhA2MjhBPLIgTht+P/h5RgFq2kAzo1LBFAT884R/QaXVHYYVeYggTz6ZuyhZySKmqeQh8zIYpoyozXUHnhiaAiNjHsMhiLzq7ItdowpuOci7hRaBHjpIEgJrrQCWbAJh6HK1dMaW8sw+J3sYWf2dycvSlLN892t1mTfyHAYgPhueCdCHMHgBnQWMDZMKzgoJjjB2z62SWqJV8HW4v+XQLYtlr5W/vYfbSJPI3Apd4JnamNd/j8wXPvV5MBlJi5fSziaUP1Hy8VIO8XMFhNUBoovoUrfhwk2yOz26ReZ2v19C/d06M/CoVxBEGCIiGRoNWARojrjeXDAN+KPdZeL83zcKZZvedhMmuYCdOCM13jf9Ec9EpFFwQp6IZeimE5+LsFJr9UmQ2cFBQs0+bI5XTf5U2tw6bvIaRow1zMdUyVkNHiFJ60sfUxammS8R5HhfpZQSWl/1KK/JvmMQ3RFHoMfzekz59htxk6RnkCrPSu+OMVWkpRN58PRcTuEk3/U3/E3Z478uWHnLxcLenZvIVQVtgLfKVFJ4qmXVRFfuV6j0nX0rbs39tNmbiQa/3kfBtPe3GpqRYegpWp+8Yt4ElMem0PLReuRxql3e3Qbb2tyeKY4ibS9FMsd4k2mvc57re74SanRbwQyos0SeYQaZW63c6PfwJtAPaLPZ+vyibdGwMIZxb8XPvDo63sPTBfw65gf+L4aCJmykCFaj5n1JsNLI319oFGuRjgIJHOkLKET+LG9cU6Z2WWiPEQDDv8ZkWIx8VHDGiAoJp3QPVj+L8Cmb5lxp877GHW7khxRPHpyNaS8u9baN9XfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GNu5uk4tuj5oY1k4EWZ1jw",
      "input": {
        "note": "The can is now under the jaws but still angled about 25° across the view with its far end to the left. Adding more yaw to line the jaws up perpendicular to the can before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.36,
          "right_yaw": 0.6,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GNu5uk4tuj5oY1k4EWZ1jw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1249, 0.9321, 0.7708, -0.6365, -0.2062, -0.091, 0.9979, 0.9611, 1.9705, 1.1904, -0.2733, 0.2707, 0.366, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.17 left_yaw=0.0862 left_pitch=-0.2048 left_roll=0.099 left_gripper=0.9979 right_x=0.298 right_y=0.3504 right_z=0.0168 right_yaw=0.479 right_pitch=-0.4059 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.5067, -0.1001, -0.0562, -0.022, -0.1846, -10.1675, 5.559, 1.3895, -0.022, -0.0415, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e5ca016158d7e023ed899cee1e273f2cd29a959f25fe96b2145c9115122c641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55ccb549420125abf3a4752a51bcd72a3cdf657a4c602d40e4364c27efb8b320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06026852c061e9c9f696aa0e81dc625d5a0a420aa34c0f02d24a4fda20773714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.523 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]: [-0.1249, 0.9318, 0.7708, -0.6312, -0.207, -0.0902, 0.9982, 1.0267, 1.895, 1.4136, -0.7368, 0.5125, 0.8696, 0.9996]\nstate[eef_state]: left_x=0.2875 left_y=0.0041 left_z=0.171 left_yaw=0.0862 left_pitch=-0.1991 left_roll=0.0989 left_gripper=0.9982 right_x=0.2917 right_y=0.3218 right_z=0.0919 right_yaw=0.0258 right_pitch=-0.3708 right_roll=-0.0245 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -2.1675, 7.2547, 1.7265, -0.2955, 0.0562, -0.0415, 0.1162, -9.1966, 7.9111, 1.0037, 0.5299, 0.2955, -0.0513]",
      "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]: [-0.1249, 0.9321, 0.7708, -0.6361, -0.2062, -0.0906, 0.9979, 1.0237, 1.998, 1.3197, -0.4278, 0.4038, 0.6167, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.1701 left_yaw=0.086 left_pitch=-0.2044 left_roll=0.0992 left_gripper=0.9979 right_x=0.2965 right_y=0.3603 right_z=0.0375 right_yaw=0.276 right_pitch=-0.378 right_roll=-0.0186 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9897, 6.8034, 1.5311, -0.149, -0.0122, -0.0366, -0.6359, -9.265, 5.6957, 1.1746, 0.2222, -0.0855, -0.0562]",
      "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]: [-0.1249, 0.9321, 0.7708, -0.6365, -0.2062, -0.091, 0.9979, 0.9611, 1.9705, 1.1904, -0.2733, 0.2707, 0.366, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.17 left_yaw=0.0862 left_pitch=-0.2048 left_roll=0.099 left_gripper=0.9979 right_x=0.298 right_y=0.3504 right_z=0.0168 right_yaw=0.479 right_pitch=-0.4059 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.5067, -0.1001, -0.0562, -0.022, -0.1846, -10.1675, 5.559, 1.3895, -0.022, -0.0415, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e5ca016158d7e023ed899cee1e273f2cd29a959f25fe96b2145c9115122c641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55ccb549420125abf3a4752a51bcd72a3cdf657a4c602d40e4364c27efb8b320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06026852c061e9c9f696aa0e81dc625d5a0a420aa34c0f02d24a4fda20773714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QcKEAgRGAI4AUIIdGhpbmtpbmcSDHK/uBk6Iao8z9+InxoMjbTlMMKQovittn94IjC+Q9EeMBWYhtohJlOMdhjyCmkUEiBTQc2HCC7nYnPnodknK77VBVfe21bzclINNpUq/gZV0/gnBiJ8x8iVO8v2bUuv/mt7KuzjXJ3/OEIGLUAVvlaI6yI4DVW+AaDd8RvCUNU75d0iU7dKTXNDGIBZ9sPpAQXmhIpxTIhI32opkMcMRqW0xSfhag5hFtQWrRg5XuyEWZfPAEbX8pbhhijOSo9DFH1eP4oefq4+KPUe/Wd/GakxecckVi2bhZ6fJI/4hFSboIfEA8Uclqweb1FvyoztiVISqJI13wF+42lSL0PUgd7qAzgUBoOux5ig7r+cRRDWzAlHcxMbwPaz3fe4kDeNsNVjzEkISW10eNLS1J4S1foYMnmvn7cEcBnH0pItGfUD0GPcxmVFHg7XElkMaYXe6Lb0HPVSo/Z/v4sB0RljtM9wnfEg1s+jMJ31VeE9iBJArJMigQWrbDIjgQSMGMUYhVM2yGXqsQYcNPCqI9E6BA8NoiaLhJtzN14Ccq+ZloPn7obEONKXUaDnsgwWbKzsrsUGYuVxpT5Ncua9p0wHHhAc+kQtt7W8HKuwfisOv80ae4tWTFFsV+yloUv3IWmTsAIO6rWd7t0yztgttCRDRncCy2UJeQbPoW1slfXGPfuPdKnzf2AT4Z7JXpA6S+ziuDgTrwtFob9jFAxY7QyFBBQPo7qq6+XUELvHfgJ0L7sfmhP1xWxL0qScflY1UC11fl/rK9Ic1iO81MA5cYnUbs81H84tWSve7cs2sHUyPWdwmfuihXfv6qVpE3V43KhfwGFMU1yhNBTzSW7GNBkvtDV/jGeegBoOETPdMPMIp/KAQrq00z0UQii5mRjgzOmFnhj5CJlxOYfyUYM0lgHf96TT5hZqXefSNrbIheGI2+n3ft8zclxyFs1KSpjccskcd924LIo9vdBBqRgRb/hHdiHOHxBH9Du8ZA7Tv9K1x2J8lnUwwIUqhcM/WyWOqFpp+k153zvQSlxIZuIntS72AQmJuX/Q0fFgFsyFgYS6N0u8aJhY8lyI5warT0k/SUCnb2QWsNbsyfDCZbr4MJ3cwuTRg6wFf3tjVcqKvi/9B1gMLVMEa1CTJ6EMgeg0aBTap+ZMd0X7ml2QeCpZydvpIiGVa5nQpwynBLVPbz6X6U+GbOBXPQLjQN9m3/9rahmnsElBGd+WNDulqClx5xCblCjCkWJG3rBRMK/Rys7WtLMxxMDuk2d80c6afB4jxhCJvugaFC4F5mM3JJ2IPCsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vi5MLc53SwdkHG4NnEffZn",
      "input": {
        "note": "The can now runs nearly vertically in the right wrist view but sits a couple of centimetres left of the jaw column. Shifting slightly left and closing the gripper on the can body.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.3,
          "right_y": 0.375,
          "right_yaw": 0.6,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Vi5MLc53SwdkHG4NnEffZn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.936, 0.7708, -0.6521, -0.2062, -0.091, 0.9979, 0.9714, 1.9938, 1.2388, -0.2932, 0.2195, 0.268, 0.7196]\nstate[eef_state]: left_x=0.284 left_y=0.0046 left_z=0.1664 left_yaw=0.0879 left_pitch=-0.2238 left_roll=0.1032 left_gripper=0.9979 right_x=0.2934 right_y=0.3675 right_z=0.0186 right_yaw=0.5927 right_pitch=-0.4214 right_roll=-0.0444 right_gripper=0.7196\nstate[joint_eff]: [-0.1299, -2.3316, 6.8034, 1.6093, -0.1294, -0.0269, -0.0122, -0.6632, -8.3624, 8.4034, 1.3016, 0.022, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b24108e17f4f51f02392f6cabfb275a22ceb475958e0855fb765c526904868d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e6de41606c267df56774ad7dc0127d86a7f3a0a97153f80280919ef31693a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9230453ac02091bcdf21ac908af5db39eb86374f426507719d242eee4995320f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 8.282 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]: [-0.1249, 0.9321, 0.7708, -0.6361, -0.2062, -0.0906, 0.9979, 1.0237, 1.998, 1.3197, -0.4278, 0.4038, 0.6167, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.1701 left_yaw=0.086 left_pitch=-0.2044 left_roll=0.0992 left_gripper=0.9979 right_x=0.2965 right_y=0.3603 right_z=0.0375 right_yaw=0.276 right_pitch=-0.378 right_roll=-0.0186 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9897, 6.8034, 1.5311, -0.149, -0.0122, -0.0366, -0.6359, -9.265, 5.6957, 1.1746, 0.2222, -0.0855, -0.0562]",
      "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]: [-0.1249, 0.9321, 0.7708, -0.6365, -0.2062, -0.091, 0.9979, 0.9611, 1.9705, 1.1904, -0.2733, 0.2707, 0.366, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.17 left_yaw=0.0862 left_pitch=-0.2048 left_roll=0.099 left_gripper=0.9979 right_x=0.298 right_y=0.3504 right_z=0.0168 right_yaw=0.479 right_pitch=-0.4059 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.5067, -0.1001, -0.0562, -0.022, -0.1846, -10.1675, 5.559, 1.3895, -0.022, -0.0415, -0.0513]",
      "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]: [-0.1242, 0.936, 0.7708, -0.6521, -0.2062, -0.091, 0.9979, 0.9714, 1.9938, 1.2388, -0.2932, 0.2195, 0.268, 0.7196]\nstate[eef_state]: left_x=0.284 left_y=0.0046 left_z=0.1664 left_yaw=0.0879 left_pitch=-0.2238 left_roll=0.1032 left_gripper=0.9979 right_x=0.2934 right_y=0.3675 right_z=0.0186 right_yaw=0.5927 right_pitch=-0.4214 right_roll=-0.0444 right_gripper=0.7196\nstate[joint_eff]: [-0.1299, -2.3316, 6.8034, 1.6093, -0.1294, -0.0269, -0.0122, -0.6632, -8.3624, 8.4034, 1.3016, 0.022, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b24108e17f4f51f02392f6cabfb275a22ceb475958e0855fb765c526904868d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e6de41606c267df56774ad7dc0127d86a7f3a0a97153f80280919ef31693a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9230453ac02091bcdf21ac908af5db39eb86374f426507719d242eee4995320f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSmwYKEAgRGAI4AUIIdGhpbmtpbmcSDCB/OQVcpFBTZ3sfnRoMNaFGjbNjYkKprcutIjDsj1BBoG05BFN0FTfaaYr3YSR3lZKqzgCorIlCS7dtVwX1mXaq2R8TRr4nCjZRLq4quAVHksbwX3rhLTz/5NSUnoyX0b92K7VV1S3IKSpLBFLME32TxzO++IBrET2sAbIlcsIo+AoxngQxLrbVHTinoCWlxlW9KT1/gjZ5i8UY+2PUnoNLQeCul5P3M7C7HUsyUObBkI0F0mVftVDGuL4i+2znRXNBKS6UvWwcWGfB/ffygGPRpKkDyLehLLNR7fEjS+CsC24DuKUzaoVbktB33WO7e0noVU8vR43MvN7TYUDyEJ/96H7zJPULUF0aEXY3yA+DSCToj8n97do55f9h23wSykoutvJDBoh/BuDznGCpoGR6xqZSPFtbktjmcccYaHt9QcJV7W2Gxfo2CKkJfGkDCSVKbGbHnR1iujQwpqNXQhMZv97GV0NK8XiXCgxVJogNma9S+qsRSTl93s/BMJuXROAGmT1SA422Mv93m5scBUujbXQVjuaf05UoWK0WXPX2gpbkkK8LmkF40VaSXnuQGmYsnk6rB3+mMaFSfzJ3r6I94TUIPv44GyIuWJXkGxXeJ1tN3VjZ3HJy6oyfUhCSBAt/FgYObJmT9yrnxWztRakMUVfCnVSwTLqhQ1ilavVYu1ZyDu4lsO23p89sB36bcPfRhtBUEG1ycPMGTQbntYDQ46ApaghgxZAEBJ15QEhivPDnW9fMFkkcU+eyTy0DtMuJz3VmEh33JxW47JymynOYgMJyJCSEx52i5HtkRDL9JNDD6MXEq4cyi+WvCjA7yXjiREpM3nhvSiHaOqUntqQUG9uqGdthczSY6+7gNNZy5d+oSfB0zt9vRvtJMWWKc0pttSFhfSt6+lM0OhxKNXgG6A6vIiaQPLz/C3xn6hhEAyKbEnpAzz6VqfTVF3yomyk2fq7MP0vfWPfmTD3KEvmjyyNic7LPSpABLCetwmx7pTuccoSMi6ShQ79b/pqt5RXdAN1BuwoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AiGSveaRF7fiGB2ji9i1z9",
      "input": {
        "note": "Right gripper settled at 0.72 (~6.8 cm), matching the can diameter, so it's grasped. Lifting straight up to carry height.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AiGSveaRF7fiGB2ji9i1z9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.936, 0.7708, -0.6594, -0.2062, -0.091, 0.9979, 0.9714, 1.8992, 1.6749, -0.8841, 0.2123, 0.2615, 0.7195]\nstate[eef_state]: left_x=0.2828 left_y=0.0048 left_z=0.1652 left_yaw=0.0883 left_pitch=-0.2309 left_roll=0.1048 left_gripper=0.9979 right_x=0.2904 right_y=0.3655 right_z=0.1488 right_yaw=0.5922 right_pitch=-0.48 right_roll=-0.0662 right_gripper=0.7195\nstate[joint_eff]: [-0.0752, -1.7983, 6.7897, 1.5897, -0.149, -0.0611, -0.0122, -0.2256, -12.6701, 8.8821, 1.4579, 0.105, -0.0024, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4154ba2535c5687c8cec08732987ca5195537627f04102209b5038d87a1e3936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4811d1ebd111de654c8f0af7df2aa5686b454ccebb1e9f106ad6bcc07f30aa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63114281f3e5e08ec7e1f4fade81ae4c00ca710094cd2f5ee39438a881a962fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 9.533 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]: [-0.1249, 0.9321, 0.7708, -0.6365, -0.2062, -0.091, 0.9979, 0.9611, 1.9705, 1.1904, -0.2733, 0.2707, 0.366, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0041 left_z=0.17 left_yaw=0.0862 left_pitch=-0.2048 left_roll=0.099 left_gripper=0.9979 right_x=0.298 right_y=0.3504 right_z=0.0168 right_yaw=0.479 right_pitch=-0.4059 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.5067, -0.1001, -0.0562, -0.022, -0.1846, -10.1675, 5.559, 1.3895, -0.022, -0.0415, -0.0513]",
      "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]: [-0.1242, 0.936, 0.7708, -0.6521, -0.2062, -0.091, 0.9979, 0.9714, 1.9938, 1.2388, -0.2932, 0.2195, 0.268, 0.7196]\nstate[eef_state]: left_x=0.284 left_y=0.0046 left_z=0.1664 left_yaw=0.0879 left_pitch=-0.2238 left_roll=0.1032 left_gripper=0.9979 right_x=0.2934 right_y=0.3675 right_z=0.0186 right_yaw=0.5927 right_pitch=-0.4214 right_roll=-0.0444 right_gripper=0.7196\nstate[joint_eff]: [-0.1299, -2.3316, 6.8034, 1.6093, -0.1294, -0.0269, -0.0122, -0.6632, -8.3624, 8.4034, 1.3016, 0.022, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.936, 0.7708, -0.6594, -0.2062, -0.091, 0.9979, 0.9714, 1.8992, 1.6749, -0.8841, 0.2123, 0.2615, 0.7195]\nstate[eef_state]: left_x=0.2828 left_y=0.0048 left_z=0.1652 left_yaw=0.0883 left_pitch=-0.2309 left_roll=0.1048 left_gripper=0.9979 right_x=0.2904 right_y=0.3655 right_z=0.1488 right_yaw=0.5922 right_pitch=-0.48 right_roll=-0.0662 right_gripper=0.7195\nstate[joint_eff]: [-0.0752, -1.7983, 6.7897, 1.5897, -0.149, -0.0611, -0.0122, -0.2256, -12.6701, 8.8821, 1.4579, 0.105, -0.0024, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4154ba2535c5687c8cec08732987ca5195537627f04102209b5038d87a1e3936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4811d1ebd111de654c8f0af7df2aa5686b454ccebb1e9f106ad6bcc07f30aa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63114281f3e5e08ec7e1f4fade81ae4c00ca710094cd2f5ee39438a881a962fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAsKEAgRGAI4AUIIdGhpbmtpbmcSDKT5hiz0RqydTb8xHRoMHgfSDPtc2ZVT8rQ6IjCHKklwR8ncTvxk3HPQaErwYVkj20iCP7lQFLs5ZI3MSFJqP7vV+7X0h7oyaMPOEcoqtQrNQeXDXC6KJCmjfRT1c9j2WvLbviqfmXV2Extu3WWfai6AV+9yEa57wtPCEu+BnPtfJMUG2MafDMxPJIXyNgJVFoc/bSdpj5eKXf9UnqcIBFeKBcQyl3Xcwr77bDKs1ufeE9fuSLF/YX4TFuj28E4ctngpbm8q/I5JdvWQ1sJuI4hNiJ2MW4cnyjBdfdZWhOALQS7LrQlcVhvxIGqeEsNNZFUCC5YA0McLU9R7p6EIj90VKAU8OdHo7LbeHOKSbFh0Y4jT5YHNmCKeUirvhShTXu1BJsOObOqtwzrXHeTe4h1N0kxtq9bKP1IqfU+1OnTpqs9WmP9b61lVFnz1CnhFHNtSwyNnbdNXXDVw5z1+YbTZS1wFnKtQs4kSZXnCt7Hy+GYxjPcN8cVyy4GqER6nZQV7cYhLdXU8J3KEyWIa+DcbiPLSxGZfdKYXriYB46u+YebnviazFf4Jks2s4v1OE4SwYJW5QdfEZSAbrzF0bliyCoDYyo08FWfxiB+tOPfIxygv3gkLyJutX4FLxeSodPxE4l1s54+uOcqeZyQ05p9V7paiFLJ2GUofLYCXXAmf7H4LPTojXdOBWv6hCJqGdX1qUV1p3sE80TZ5J9DrSICxwid1fxamfIUrTcW0OC/CO+Jl2CFepsxGtG36hMuuKDLKMzkqIMs/5+9TY/3T8zMulUmRDAK6ffia1iERwd8mWw4CHrpsOZ216icXFhUIWoKvuKXadUS91BBEisZp8MHlCCPbwBBS/QW642NApP+QWdaWCFU6Q3MJ106JyhiVxYI3zmaDVAtU8O4T27bC1dDl/UtO5QYaZ5hzhDrFiRCI6OViv3yc4oWUyS25NCBQF65Jfrogxw9RT/klAIAn3ea4IV3lz787DQz0fvnVT1MR1mKYpz/syWfpUKI/oh3FUFI+jcTGZwGJ2C+uQmRThLjlrsmg9jIAykCmQFH/boiIIjMtarTQRCpUwRrStSO8xo9wCgD3seK+ezZVmaS5PDK1yde/0v2x+0XzFK/28Egod0MV1eSNjlOFkl2EMwgvubuCZL3I0ojNhoJwgLzsxMCPSnFtD9pU/x6cfWbj4FULVpdHlSDbvB2hT+Fa0UT/2rGJlf4yFJPEV1MPZQ+JmQ+WDYeiLCcScfXLFtTUMcfzvGmeW1+NuyiW5xrIRCIj4Z+0Kw1eOxfjelXflBsynvd7oQ6WyPXhY8EBHWu3Qbh2oNRgesQsid+UVzQIGQ8Cgb9/MHIClQCRk8Jft4YRuKHsnkI7crTNkUOiuKo6LN88WBoTgIhJNpLRhM818pEj2cylc3NJgLi1r3k79g2Bf7OQuNwxCI8OAO07ep6aQWPxP1DTjPL1HRY6bCawQp2EuRXbiyKuw2VhY5oEJIswDVewVrEhFyitsOnRF4YmO+Y/AwlP5apAnl29j1w93r5oApPDIumaB3DdD9ce9CPEAdEgh15M+F1Fo+VC44Ozai1sI27fpPIGyJU6UPQPmCQmVb2dWzYuNBsVQDbHLxf5vXxCjNQoN9yz2QtaOAk9g9AzDs86QgNt0/Xo84f1Z5i4L8HP6V1ZHO/fltWuuyuiug1yab/jIQx3i4tZ9O9EiDy6i5bTc7ImRNAFQb+1FtO3eb5rB3yZ+UFZ5DH0mU23YBGJYu1V656Di7LhNE1UkoPbKYwQAuONzBrJGPLSa03u6JPyVyf7PLAUDM8ic1/X76acbgGCByOfhMiMNPetwsJDzkKi1Uqy+EYY5g2V51gp3PjYiGOvwdgsGUAvE7zf3x47q2HYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0114XmNfmAxrffa1sfRyHmrz",
      "input": {
        "note": "The can is lifted in the right gripper (visible raised in the top view). Carrying it forward and left toward the burner, aiming to hover above the coil's centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.33,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0114XmNfmAxrffa1sfRyHmrz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6754, -0.2062, -0.0906, 0.9979, 0.6975, 2.2127, 2.3188, -1.2064, 0.0906, 0.0257, 0.7176]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1624 left_yaw=0.0889 left_pitch=-0.2473 left_roll=0.1087 left_gripper=0.9979 right_x=0.4117 right_y=0.3289 right_z=0.1899 right_yaw=0.5791 right_pitch=-0.5075 right_roll=-0.0703 right_gripper=0.7176\nstate[joint_eff]: [-0.0752, -1.9077, 6.7897, 1.5946, -0.1587, -0.0171, -0.0122, -0.3487, -11.8359, 8.2667, 1.1062, -0.0562, 0.0317, 1.0037]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a0fa7a7a74b49bb092e09b2e4c3467e97a7bca42c89b62f2be7c4d524f2c7da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f2d908c7b08926e889a66e41425162814ac9be80ce0e3739a26447e4494229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aeda8f2655bf9c3424921720af58fc9ebeefcd7a01336d9833d82f0c7fd2ed50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 8.711 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]: [-0.1242, 0.936, 0.7708, -0.6521, -0.2062, -0.091, 0.9979, 0.9714, 1.9938, 1.2388, -0.2932, 0.2195, 0.268, 0.7196]\nstate[eef_state]: left_x=0.284 left_y=0.0046 left_z=0.1664 left_yaw=0.0879 left_pitch=-0.2238 left_roll=0.1032 left_gripper=0.9979 right_x=0.2934 right_y=0.3675 right_z=0.0186 right_yaw=0.5927 right_pitch=-0.4214 right_roll=-0.0444 right_gripper=0.7196\nstate[joint_eff]: [-0.1299, -2.3316, 6.8034, 1.6093, -0.1294, -0.0269, -0.0122, -0.6632, -8.3624, 8.4034, 1.3016, 0.022, -0.0659, 1.0281]\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]: [-0.1242, 0.936, 0.7708, -0.6594, -0.2062, -0.091, 0.9979, 0.9714, 1.8992, 1.6749, -0.8841, 0.2123, 0.2615, 0.7195]\nstate[eef_state]: left_x=0.2828 left_y=0.0048 left_z=0.1652 left_yaw=0.0883 left_pitch=-0.2309 left_roll=0.1048 left_gripper=0.9979 right_x=0.2904 right_y=0.3655 right_z=0.1488 right_yaw=0.5922 right_pitch=-0.48 right_roll=-0.0662 right_gripper=0.7195\nstate[joint_eff]: [-0.0752, -1.7983, 6.7897, 1.5897, -0.149, -0.0611, -0.0122, -0.2256, -12.6701, 8.8821, 1.4579, 0.105, -0.0024, 1.0281]\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]: [-0.1242, 0.9367, 0.7708, -0.6754, -0.2062, -0.0906, 0.9979, 0.6975, 2.2127, 2.3188, -1.2064, 0.0906, 0.0257, 0.7176]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1624 left_yaw=0.0889 left_pitch=-0.2473 left_roll=0.1087 left_gripper=0.9979 right_x=0.4117 right_y=0.3289 right_z=0.1899 right_yaw=0.5791 right_pitch=-0.5075 right_roll=-0.0703 right_gripper=0.7176\nstate[joint_eff]: [-0.0752, -1.9077, 6.7897, 1.5946, -0.1587, -0.0171, -0.0122, -0.3487, -11.8359, 8.2667, 1.1062, -0.0562, 0.0317, 1.0037]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a0fa7a7a74b49bb092e09b2e4c3467e97a7bca42c89b62f2be7c4d524f2c7da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f2d908c7b08926e889a66e41425162814ac9be80ce0e3739a26447e4494229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeda8f2655bf9c3424921720af58fc9ebeefcd7a01336d9833d82f0c7fd2ed50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsQsKEAgRGAI4AUIIdGhpbmtpbmcSDKCpb40Vck3IHUtMvhoMWLIlT9GlJJwl8ZXaIjBa6MqHy0IGaFNdaT8HFv0iIKrzmpKC9kyQaAsRrzMe64qK2+bkOQ9wMe1lTbIQBUkqzgrXYxMzcjLbutfQoR+Dc39bx0Ybw93VPIQf+E7T5QT5OOnCfRVtiWl0/8ePxfxtdB9xF0Ufu9qPpSqjRISVH0uwbW4QEqFkqxLqfzb75FZ2K328Te3GxNcO/3gsxwxnmYzWjr5KilXieRi7JIliabTOEpb/QvwkLrLd4NM72sRDo8i9jLqtllaDjhnmU1xhmNRj4Ds0l3DJ7XfiCPysdkNJZozz+Z0X3kDeG3YaUnxCe/J9OKmtfSE/yotwFI2jNcBK3kTZr3x8bZdzT2x7YP2Gg7R4o7jgBTNSdLb0P/QKPAdciwwSmlpCt5DQ4XQyy4DrHI9/MJyhcUJiczmwHfxwsknWZMyrk5THBB7i3G4fRgEiw4IKmfOv5VYdOGUAeLlEC7dt/iLMTNa3zBQ13PgVeX4xduX+9Dbi6xkPVFicehJkRNdjLSeGuBER02JV0Eq93mgjj1Ou3EbYuc/dSmNVrftzU5qG1sZzXuT1q4K0B6YHwivlgmASRNrqGtDx/i5XkY5FFPNs8v9g6FbDSJjsdZWbun2hqwa+E74HsakZEeKCQOBgWkLWU30WlGOdlQR6z9MUt/sJivvIl8jskpCtCPyM0HlA6XY/U0XRbfGyheniYo1qPg6O/hI8zhp2oeEv4XcXvpKHkeDEQWtALwN85AeopVIcgqMHLu0wX8Zi8gI5BwT36qZEJyn1EWlkbBiagTv5Qgzb3Nm4y7qU/52K5+TJ22B2CVxD/XB5IZoL1jRUBlX1alb2rrlVgFSzaaWxmxJqOHQSVMYh69y3VT6akFZXOcL5MTj7JgxEUDIyeGE38yEG3JthWH6+pJEeiu9yNV0gi5n5g41W4elalX3AAc8P56AusVSKyrNoOZ8FewYM91eZJQCpddsi9DNh4AbqMWf/BlBj41W8qAecuQ7cvsZVPMab8DQp3Y9v8NoNfCAQDF0zpJOAvWa2jjFwEp0pU8Yope22libeRDeUKKYOH56ZSPnvV9NpkDW+0nXL5a8VinzrT8PfjukSDrX/zhdwly+Gh+rR6tPgv2QxYzhsyBxhs/fMvUmChDo+Au3v/xkXMcBbpE8p8QJiIP8b5gNIu48Qx0HJsAdueo7gpKX5RJE0di8YefoPY7uPUr/mmQYiCL+tjzPwBBXdeW9M0NmYI/NtW0ZyG9+7Fecxf2Qq+nA1Xs0htL0dnbpqWA8aRyolrakmH97NZByveVOQ/W0ZULDEGK1G7AQQeMD2kACyq0rrPahOCQcRXbxZo2GPq74ItPgFb9sCLIwic/j61U+VvZ0hWyKhRW4/eJ2UFJ1GLvfHYEA02Oi4zgqfRN3/kXrKbBRacVfAB/cxV6EMS76HvSbNGG75ljHdDyn6aXTx7/SYmrsA3LzbKNTbBE88kkT3mhsSPXd7jk0594WWPVJMvCY2oqY2AFhQ2sJkphRtAhPiaQAu6iOtMI1ZcZx9XtWZzkWA4wcXxZGLZvPrPaZdXP/Uf/9I0utfF09Bpp6t8K5+srz66zXXfHekKpCKSfvf6ypPiFzOSx4+EH4bZ+CeJ0xJWIT2yv/Ua/KFgNrGl16Cu6Gm5ZEC3yj0zOcf2CjTX+qaMSl9g3tfSfnMx9chhykMWOeuosjOWEhHIZVOdGepatrwYJsf0Ji00BYeKAgHWsSx1gvZVYpcVUAonjyWq7kZm7hOuhmrWSqJ+8ariHOidhC0Mfn8LPxl5KS4UbsJWh6Ttcc+BIMw7UcEYUNVUnkjVpQ+rJP0pqT6IOrkJqhEbwco7wyexietxJxzJuDw7OJlgLdaxbRIFxhxjHtyWggRVHrYFbcNamJZ/RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FtMYKE1Wu1VyMMA3Qpaj9v",
      "input": {
        "note": "The right gripper is over the burner's front-left part; the coil shows to the upper-right in the wrist view. Shifting forward and right a few cm and lowering so the can comes down over the coil's centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.45,
          "right_y": 0.3,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FtMYKE1Wu1VyMMA3Qpaj9v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6895, -0.2062, -0.091, 0.9978, 0.606, 2.2032, 1.9415, -0.9089, 0.0475, -0.0566, 0.7145]\nstate[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1601 left_yaw=0.0899 left_pitch=-0.2611 left_roll=0.1115 left_gripper=0.9978 right_x=0.4336 right_y=0.2946 right_z=0.0926 right_yaw=0.5797 right_pitch=-0.5834 right_roll=-0.0716 right_gripper=0.7145\nstate[joint_eff]: [-0.0342, -1.9761, 6.7487, 1.5751, -0.1392, -0.0317, -0.0171, -0.7863, -12.6564, 6.9265, 1.2918, 0.0024, -0.0122, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5ddea2b428590589b1dd8322b9b798ac0cb0eba4dd59d44b16beba73bb453ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:628f8c8e8f6546e8acae29f8acba157e7dd0780fad3ebea9ed7caaf42d41bea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66abffcef2f689bc17e116aeeec0bc4b3373d55c53d37bc0e19bd60996c62c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 5.292 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]: [-0.1242, 0.936, 0.7708, -0.6594, -0.2062, -0.091, 0.9979, 0.9714, 1.8992, 1.6749, -0.8841, 0.2123, 0.2615, 0.7195]\nstate[eef_state]: left_x=0.2828 left_y=0.0048 left_z=0.1652 left_yaw=0.0883 left_pitch=-0.2309 left_roll=0.1048 left_gripper=0.9979 right_x=0.2904 right_y=0.3655 right_z=0.1488 right_yaw=0.5922 right_pitch=-0.48 right_roll=-0.0662 right_gripper=0.7195\nstate[joint_eff]: [-0.0752, -1.7983, 6.7897, 1.5897, -0.149, -0.0611, -0.0122, -0.2256, -12.6701, 8.8821, 1.4579, 0.105, -0.0024, 1.0281]\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]: [-0.1242, 0.9367, 0.7708, -0.6754, -0.2062, -0.0906, 0.9979, 0.6975, 2.2127, 2.3188, -1.2064, 0.0906, 0.0257, 0.7176]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1624 left_yaw=0.0889 left_pitch=-0.2473 left_roll=0.1087 left_gripper=0.9979 right_x=0.4117 right_y=0.3289 right_z=0.1899 right_yaw=0.5791 right_pitch=-0.5075 right_roll=-0.0703 right_gripper=0.7176\nstate[joint_eff]: [-0.0752, -1.9077, 6.7897, 1.5946, -0.1587, -0.0171, -0.0122, -0.3487, -11.8359, 8.2667, 1.1062, -0.0562, 0.0317, 1.0037]\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]: [-0.1242, 0.9367, 0.7708, -0.6895, -0.2062, -0.091, 0.9978, 0.606, 2.2032, 1.9415, -0.9089, 0.0475, -0.0566, 0.7145]\nstate[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1601 left_yaw=0.0899 left_pitch=-0.2611 left_roll=0.1115 left_gripper=0.9978 right_x=0.4336 right_y=0.2946 right_z=0.0926 right_yaw=0.5797 right_pitch=-0.5834 right_roll=-0.0716 right_gripper=0.7145\nstate[joint_eff]: [-0.0342, -1.9761, 6.7487, 1.5751, -0.1392, -0.0317, -0.0171, -0.7863, -12.6564, 6.9265, 1.2918, 0.0024, -0.0122, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5ddea2b428590589b1dd8322b9b798ac0cb0eba4dd59d44b16beba73bb453ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:628f8c8e8f6546e8acae29f8acba157e7dd0780fad3ebea9ed7caaf42d41bea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66abffcef2f689bc17e116aeeec0bc4b3373d55c53d37bc0e19bd60996c62c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AoKEAgRGAI4AUIIdGhpbmtpbmcSDMc4NLnm6wkhRSnHMRoMu5wIPKUulHuQZRxTIjArJJR/5M5WfnBzvmBjPWdk2j3VHmo/qdGF+j9JFlk5Jl/EpQJdcmgEIrtB7qW0O+kq+Qmc5Reu7Qx53MlHPrPumqv0Ew0yuJOaleFvJxneR4XDRaQJz/4k2ke3CyRNA4C5klHbukePrpNn33d239rmNNVxt/+mt2N1AaZNWvtWcZnVZnHKs9SE7q2qxjcGvuNWQ9EVPcUPhyUMSbL4r/RyXlhBgg/Pt12jkby95Z7bKaGHRL4sm+qVc4QFEfsxrKJkuYsm3y03iPG/OWEb8gDC+CoRANu0zPgctjFMtl4o41/vG0X1ZdOu7JuEdyPzZRrrzz49Y4XBREEtK2EeOZ33NO6RDz4TnCh2FRjjw/wR8r1q3XrzRpsdktBW3DNX8mE42Q0U2moJ0Dyxh9qtNGDPZd8th6V3h8+OzW+jmI5q7Q8vKebbRQTvRZoDesvfzKK3eL/MTxxFsnEPxa6T3iqkRvQmtYnd86hXO8gXBAjJjsqw01vYjXAodNgDFd+eHV2UGLwkLlBO3sv/h8M6j0S/gu6q7RoD8jvLMUCxWtR/Sq47oA/ZDP+wSKBKYSH+b1F0jB5hRKCLzaTjdII0GyePOE41PsMoJS4o6E3FSZN2+1IIJJyygXQn64Wx/bEuXsOw94aEPpAFgRmv1R8kMpQtSg+AvsaVLMxDNAJ1wzgI+xzNRciPJqaLAyfB/mOiD+EAf8XQ1mKTnw2yuYSd0Izwh2kidp+uBM+PL9UuV/CX3lLf9Huc4nP6jmXvbe77qLgu0D5r0cBiOqO5nXPhTe5oZ9d2GDuRlvTRfG4XSUtl376KOJ/uilZ81fdcqQuBL0V1aYY+NFqLWoGZQyjoDsxoJbAZr8DF9lercCK1rY5yOKEKH87+rJUayy/B1aKbHeGfZIV5GwQ2eUQFcCXIO8DFXe9gksy0xNGQBle8hzy5h9ZXYXbZt3o/sdMGp07Ev/H2Qhwv8puAeubTAoppkfOUTMvL5ib7q0r/KaIPTwnWZQedkex3rrxFN4PQ6VJsoR9rXtFXMdUtAZdCP54/ywAQe5bmnBWPzgKgYM4uOXo+Y0FU+KGL5l39CitTwSu+tE3gFrd/kYfbtyfieeiJnQkTwkdju4MVrbTs79tJx3KF4/8ADqFpbio8Xncbo1jrViwFwcl3SObDjMSh23hwQHLwT8wuqWN8OfXYjKzMCvLbZlGv7wk5c1y23LVKJetncVSAFEitBN+nTsTX5Iqn54UZmyF+uq2cRPnKNyyQ4vUntpCgUpbrSjlLpnockx3ka2/aMpCKCGP8wZMNbzpd6Nhax5cshQXEGhE2wgE203H9PCk8uZxWdttU8arQDBHV8Nr6zsnW/T4g5UF9NhNPDdYEbMCdbtGKY2v9mDnQPUXr1y5trCaCBOK/TbyD+uwaHuEhzUBCDqYK6KS3TCQ0vvQNegs2a2ncchTuDpo14n8HeZ4DCc4Ssbc3jO12N4TP5esT8FXhTqmnJkqAWSlVqiCU+hyBbia6tBaaB/X8Wih2cSI9URpnPD4ScRJR9+ul9NCCFz6QECsbT+B5/aVrCOJMSUtXKSpyj/E/p9xRrzX1b4bYgqB8o7FZnmek2BRReq9j6K7UN5D844mR6poLDCF0YJMCir/bH2eGAu8AppxTJmsjLfzIi4LcaOL0xeQvGXRv2tpGGgcF8MqAk3F9WVTCxgEMFVLhnOLEcQpG9bgK8X6c/jaEd6uoy/fYunq+mMmxVvPdShYs2Us4hjdkIoOafxEHNsWqS6id4+7RGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EXteWoUAnUQuLjndWWtZHN",
      "input": {
        "note": "The can is now over the burner coil in the top view. Lowering a bit further until the can rests on the coil (descent should stop at contact) before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.45,
          "right_y": 0.29,
          "right_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_01EXteWoUAnUQuLjndWWtZHN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6964, -0.2062, -0.091, 0.9979, 0.588, 2.2166, 1.9293, -0.8387, 0.0353, -0.0799, 0.7125]\nstate[eef_state]: left_x=0.2761 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2678 left_roll=0.113 left_gripper=0.9979 right_x=0.4482 right_y=0.2956 right_z=0.0885 right_yaw=0.5893 right_pitch=-0.5398 right_roll=-0.069 right_gripper=0.7125\nstate[joint_eff]: [-0.1983, -1.9761, 6.8991, 1.5067, -0.1441, -0.0562, -0.0073, -0.9094, -8.7726, 4.8752, 1.0916, -0.0073, -0.0806, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd3b6eee82943acdd1f04891379d50a7ef23e4bdc45377403c23ecdf9581665d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca06aee75725938fd4b6a3a6308c7c0c88ab01838658e06b1481ae85899debe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4cf68e83c94454f5216df76b4fe4caca6ef16a9fdfc7bf93f001336edf56351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.536 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]: [-0.1242, 0.9367, 0.7708, -0.6754, -0.2062, -0.0906, 0.9979, 0.6975, 2.2127, 2.3188, -1.2064, 0.0906, 0.0257, 0.7176]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1624 left_yaw=0.0889 left_pitch=-0.2473 left_roll=0.1087 left_gripper=0.9979 right_x=0.4117 right_y=0.3289 right_z=0.1899 right_yaw=0.5791 right_pitch=-0.5075 right_roll=-0.0703 right_gripper=0.7176\nstate[joint_eff]: [-0.0752, -1.9077, 6.7897, 1.5946, -0.1587, -0.0171, -0.0122, -0.3487, -11.8359, 8.2667, 1.1062, -0.0562, 0.0317, 1.0037]\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]: [-0.1242, 0.9367, 0.7708, -0.6895, -0.2062, -0.091, 0.9978, 0.606, 2.2032, 1.9415, -0.9089, 0.0475, -0.0566, 0.7145]\nstate[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1601 left_yaw=0.0899 left_pitch=-0.2611 left_roll=0.1115 left_gripper=0.9978 right_x=0.4336 right_y=0.2946 right_z=0.0926 right_yaw=0.5797 right_pitch=-0.5834 right_roll=-0.0716 right_gripper=0.7145\nstate[joint_eff]: [-0.0342, -1.9761, 6.7487, 1.5751, -0.1392, -0.0317, -0.0171, -0.7863, -12.6564, 6.9265, 1.2918, 0.0024, -0.0122, 1.0232]\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]: [-0.1242, 0.9367, 0.7708, -0.6964, -0.2062, -0.091, 0.9979, 0.588, 2.2166, 1.9293, -0.8387, 0.0353, -0.0799, 0.7125]\nstate[eef_state]: left_x=0.2761 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2678 left_roll=0.113 left_gripper=0.9979 right_x=0.4482 right_y=0.2956 right_z=0.0885 right_yaw=0.5893 right_pitch=-0.5398 right_roll=-0.069 right_gripper=0.7125\nstate[joint_eff]: [-0.1983, -1.9761, 6.8991, 1.5067, -0.1441, -0.0562, -0.0073, -0.9094, -8.7726, 4.8752, 1.0916, -0.0073, -0.0806, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd3b6eee82943acdd1f04891379d50a7ef23e4bdc45377403c23ecdf9581665d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca06aee75725938fd4b6a3a6308c7c0c88ab01838658e06b1481ae85899debe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cf68e83c94454f5216df76b4fe4caca6ef16a9fdfc7bf93f001336edf56351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAcKEAgRGAI4AUIIdGhpbmtpbmcSDDP8KoUtFisC3yYjaBoMoElkyySZNSnNGyO5IjDQ41betipoLx8mnG8WVzs5/RIF7Bn+SMkcPdMeAl+Dk0j0x8KGtaqlAB9+n9d3/LkqrQZsPK61D26DFIX0a35OuSEJ+7cpi6G7KBTPa+GOCIYas8RfqhZG/MP+QAm/R9cXeOAz3GZQDZz3d0ukROnGg2Y8Tr2W/zYEVSZO5Y3XknCzU3p7FuvQza0SVuG7yzSufKkzzm4n1mRPdqWC4mOxYd6XtVQSp6MCrQh37+YJ/VAOCic6lKJNaNQluLgXksTP0GaWOT3p1plX+WKWt/sue3HZpXXC/YpUHv4nTTP6eaCnm3CjAbNmPRaIP1kpTDIG3R7vQCX3zEw5t6OCyhb5E6mLNgHqKinGbrXcECZq3M7sJMoWQzLYxB8Pisdbtc9WnvTubrT0qiddiy1QakI0AOuDNOL5qCHJLsp/yMLTdtrDmJzg5EpZzxN8LdYgNcmEHo3dYvcUmMegM9jOlKu3TWijDo60BCdSFI+aDweGBK9gYfb2+j08HAEank9pVIJHepMQJgAKOIY0JSJtpEHcVxOjuiynufnQCNyrDgn/VRX+27G59cu5fkaU6wob6RiHUD7fQ0K0yKx0WqnPznSraWdWl0lmA6vwOq9dqvmZHfE+AuqRH7139UXp3Ib64NlvMOelFv6teF/lRziys1hybs+q8BPZThWYkjZC6vNJ+9Tfo3AhIzTexRhZnUjryawFpRJDFYkMv4DeyElBTank2ijqk+ld6/VcmaM2WhimNGTGV76B6tK4xLpvxdS5yF51YbfemhhiXuNpaDjopOrZwx7PQgn6VoaqAQnrIbTb8gmCRPjyWX3muzvWCmBYsEFZMGGueorQCBp8nBYFlnzlf6xFSo8DHg5Fpf25E6ZDZyBPrPrPzAtdh8Qxmu2vimeIfQgbdV+NhHXuhZTtY9p+gWfHneWrCUs2Iq0c09pI7ifYBNrlu5f8i/iS/7iKL8aosRb+nAQ432/6TlXZyWyHvmm5AEl1Fk0zrAkTgMK3vPlYW2frt/FFOS1Ze3uh+xyFD4sr4bO1KWjPWgB8PJvOXTsl+QW28Usl71D9vtuk+2MBS7jal4C7QB+B0Sq0oa/zNhcSQ1kdpT6kUDnB+r5t6kPeDUDr0FWwfLQKTjw8jCW0Uq2O9rQ2x+9Gto5CjwoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vf2hhXBhidJfdtBCfdJ5yX",
      "input": {
        "note": "The descent stopped at z≈0.089 and shoulder effort dropped, so the can is bearing on the burner coil near its centre. Opening the right gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Vf2hhXBhidJfdtBCfdJ5yX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6968, -0.2062, -0.091, 0.9978, 0.5877, 2.2189, 1.9297, -0.82, 0.0368, -0.0864, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2681 left_roll=0.1131 left_gripper=0.9978 right_x=0.4519 right_y=0.2976 right_z=0.0895 right_yaw=0.5916 right_pitch=-0.5232 right_roll=-0.074 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.4383, -0.1392, -0.0562, -0.0171, -0.1573, -12.8752, 6.4205, 0.8962, -0.0269, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de28d4753ba7f709e3fe974273b23ab8af324c1d0634439a0331d5182f99f260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:298a1fa4c20313ea1ee883180108fff9af0c0e71ec9db2d3a8603bb672df6f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82d071bfc636477e0733c5d8b7bead26b901be469355b035b012eb9ce0e02944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 7.867 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]: [-0.1242, 0.9367, 0.7708, -0.6895, -0.2062, -0.091, 0.9978, 0.606, 2.2032, 1.9415, -0.9089, 0.0475, -0.0566, 0.7145]\nstate[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1601 left_yaw=0.0899 left_pitch=-0.2611 left_roll=0.1115 left_gripper=0.9978 right_x=0.4336 right_y=0.2946 right_z=0.0926 right_yaw=0.5797 right_pitch=-0.5834 right_roll=-0.0716 right_gripper=0.7145\nstate[joint_eff]: [-0.0342, -1.9761, 6.7487, 1.5751, -0.1392, -0.0317, -0.0171, -0.7863, -12.6564, 6.9265, 1.2918, 0.0024, -0.0122, 1.0232]\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]: [-0.1242, 0.9367, 0.7708, -0.6964, -0.2062, -0.091, 0.9979, 0.588, 2.2166, 1.9293, -0.8387, 0.0353, -0.0799, 0.7125]\nstate[eef_state]: left_x=0.2761 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2678 left_roll=0.113 left_gripper=0.9979 right_x=0.4482 right_y=0.2956 right_z=0.0885 right_yaw=0.5893 right_pitch=-0.5398 right_roll=-0.069 right_gripper=0.7125\nstate[joint_eff]: [-0.1983, -1.9761, 6.8991, 1.5067, -0.1441, -0.0562, -0.0073, -0.9094, -8.7726, 4.8752, 1.0916, -0.0073, -0.0806, 1.0281]\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]: [-0.1242, 0.9367, 0.7708, -0.6968, -0.2062, -0.091, 0.9978, 0.5877, 2.2189, 1.9297, -0.82, 0.0368, -0.0864, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2681 left_roll=0.1131 left_gripper=0.9978 right_x=0.4519 right_y=0.2976 right_z=0.0895 right_yaw=0.5916 right_pitch=-0.5232 right_roll=-0.074 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.4383, -0.1392, -0.0562, -0.0171, -0.1573, -12.8752, 6.4205, 0.8962, -0.0269, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de28d4753ba7f709e3fe974273b23ab8af324c1d0634439a0331d5182f99f260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:298a1fa4c20313ea1ee883180108fff9af0c0e71ec9db2d3a8603bb672df6f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82d071bfc636477e0733c5d8b7bead26b901be469355b035b012eb9ce0e02944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper hasn't started opening yet (still 0.71); re-sending open.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013gttL66oXb3QaWVy7W3fAt",
      "input": {
        "note": "The gripper reading is unchanged at 0.71, so the jaws haven't released yet; repeating the open command while holding position over the burner.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013gttL66oXb3QaWVy7W3fAt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9367, 0.7708, -0.6971, -0.2062, -0.091, 0.9979, 0.5877, 2.2189, 1.9297, -0.8196, 0.0368, -0.0872, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0057 left_z=0.1589 left_yaw=0.0907 left_pitch=-0.2685 left_roll=0.1132 left_gripper=0.9979 right_x=0.452 right_y=0.2976 right_z=0.0895 right_yaw=0.5921 right_pitch=-0.5229 right_roll=-0.0744 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9897, 6.735, 1.4579, -0.1685, -0.0757, -0.0073, -0.2393, -12.588, 6.4752, 1.0623, 0.0073, -0.0415, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de471394856254f9be82fd5e10f2ef6740759950a62119e47afa20c956e3b185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546180de9b451786d9e1c73d1e9822baa90de11d5d0fe0c9e733ca16305949cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84605840d00bdeea75b333337f35e7f3994fde450192c7cc5a392aed3ed8a5f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.185 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]: [-0.1242, 0.9367, 0.7708, -0.6964, -0.2062, -0.091, 0.9979, 0.588, 2.2166, 1.9293, -0.8387, 0.0353, -0.0799, 0.7125]\nstate[eef_state]: left_x=0.2761 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2678 left_roll=0.113 left_gripper=0.9979 right_x=0.4482 right_y=0.2956 right_z=0.0885 right_yaw=0.5893 right_pitch=-0.5398 right_roll=-0.069 right_gripper=0.7125\nstate[joint_eff]: [-0.1983, -1.9761, 6.8991, 1.5067, -0.1441, -0.0562, -0.0073, -0.9094, -8.7726, 4.8752, 1.0916, -0.0073, -0.0806, 1.0281]\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]: [-0.1242, 0.9367, 0.7708, -0.6968, -0.2062, -0.091, 0.9978, 0.5877, 2.2189, 1.9297, -0.82, 0.0368, -0.0864, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2681 left_roll=0.1131 left_gripper=0.9978 right_x=0.4519 right_y=0.2976 right_z=0.0895 right_yaw=0.5916 right_pitch=-0.5232 right_roll=-0.074 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.4383, -0.1392, -0.0562, -0.0171, -0.1573, -12.8752, 6.4205, 0.8962, -0.0269, 0.022, 1.033]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9367, 0.7708, -0.6971, -0.2062, -0.091, 0.9979, 0.5877, 2.2189, 1.9297, -0.8196, 0.0368, -0.0872, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0057 left_z=0.1589 left_yaw=0.0907 left_pitch=-0.2685 left_roll=0.1132 left_gripper=0.9979 right_x=0.452 right_y=0.2976 right_z=0.0895 right_yaw=0.5921 right_pitch=-0.5229 right_roll=-0.0744 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9897, 6.735, 1.4579, -0.1685, -0.0757, -0.0073, -0.2393, -12.588, 6.4752, 1.0623, 0.0073, -0.0415, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de471394856254f9be82fd5e10f2ef6740759950a62119e47afa20c956e3b185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546180de9b451786d9e1c73d1e9822baa90de11d5d0fe0c9e733ca16305949cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84605840d00bdeea75b333337f35e7f3994fde450192c7cc5a392aed3ed8a5f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgoKEAgRGAI4AUIIdGhpbmtpbmcSDPFEZ1zE4AYQ2uSvmRoMtWbgdt2mSA96wQPFIjDl+KiY6OWuil5SyNc5HMkmc47RQazswnBZnui3xSjjscmHehMeF0zVoEBHt9YOgaYq4wkJJenFOUjA60mQYHu5hOYM4UbdMgKlyh3EAOc9stZm9C9RwGIKZjZK6Tgv9aVkSBrmJH3sc07gyPhtN+/lwWpq94wSEqeHQTbL/VFV2sWgUYOk38BPyQSi1SdvWalu8aWxNVsRucPmz/y1j9V8sbXZ7aNFSmnZir8EK0XTZ/hpj3LamfBoF5eRYnnlsmDJBVwNsqhecTfeEo2BIGGV22/q98Cpb7A+8toKmIPOeDjFP6kHCbqS1WGJCbVTniulPaQ0PrQODaiX4YbLiEPIzcFyXjImxLAahF/yRqsGLXfs6QyrGQqQa+b323IYkusFWoFDXTVRk0AMNpILLpxs2mVlrBMQ0NpkI9BvMCINvJx/yHARr7SBblc/kfFoOxCJwfT27h9q7CwfsE5ezDLIg3O379lhZZX00NlpKNpzDD5VOY7tQDuV0D9VXvWIQy7pB1Q38suRjjALHtptmPGSq/8BykShzjEaOYJ143VkN4sg6A8Z0XSzgj+G/KitM0Stz2Q7WE4flYd1x6WACwGU7sKlkqjfTqn2ryaGIH3R3HUpRWuF5yTtdKcf0DIhAPbarcqHjKlgIL8GT+DMF5Xfxs3HzuF3WrehY6KI0vYhZ2AQ4mBQLBUpRSk0tM7378A5Zx7IeskgNzb9ZeHzDyD+P7rO1yIwxdJmcdJJr/CEFz6fvoUJaTkwiXR5tonMbP9X9WAgVtirCdcObGziJj8CLG7FHsST8rjXCXNV8InBbtjpIpzRwqIKm7uLbKtP3tCbMElpFcG8gRQFhxKUGr0OFymKq/Oxt16tYhHa9EAi7aqd7vPWs/SqF9PUsZIhlCpzv6G6leL67Vxy2m3cDlyAl4wlaQr/wI8ATbr6xfFPr4/PlNvXUv37e7xSSuyenufmPmR+WokqwmN4Fw7w1qVjd2ffFmse6PPzEWSaHDMXYHX6TxP9bp6U9cXAF8n7FzcNkJ08BQMilOr7A3efJL4NcT2v2x4wQM0XV1bgDTqFLrfSOd7EMcrbk1UWwdbCz3Ahi0QYwL9DW45G2zE1/FZ/q9OE2nK1AF6WuP5CVvjlM0++9gawv8h+ueNF2VSzdPV7Sqof4VUpjrpnUJlLGnemyNa2xhy+U2phH9dEkbLexZnKeEBOOUkoaI1JkSeUYd90Um5/8/ZGko7RlLO5s21euHJh2DvxglWXpAcwdHyweZ0zaNhD3djDDH8L2WXMgM3NPwEIGH/17oanOY4HB2rP69mE2XprBxH+KbKdNz25A3DeApC7c6vb2rAOjKd3wFfsDKlbrQOUe5DXVS+fkb+534ef3BgBLIFMksG91l6GfiohiCIoWmpgBCtqurN7F4Xpthe2UGtr7NRDJtjeZF51hlnyoeAe4st/isrPqKa3UAs1nbm1ivV0OPVYD2i99uZQiySPRb4x75u8wKHPqHwpqW5wJUVkPH1SM0ckHj3NzVLs3/DqibLGnFNgjnwFMJA7SnfUSMuMxUwJgLclp8K9rm7FfY4CIqfqBRPtptXM2R+WimnuTqWdb4wHjwwikR8SJfbXeWAe/PO8BJgEPEzwHVyVXxdmiDCZoiYzAziOxHxPvXooO7+ckNNhTgH5k+bd0n29ZBLaasbFKJ9Kb6+f9vTWczValW/cDaPkSSRxfxKKfnkSfHTC28wdGjA2w3cVC6C6ImEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TzeJQAqEwBAKvUjtdrGgRB",
      "input": {
        "note": "The gripper open command keeps getting clamped to too few steps to move the jaws. Adding a slight 1.5 cm lift to lengthen the motion so the jaws actually open and drop the can onto the coil.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.105
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TzeJQAqEwBAKvUjtdrGgRB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6971, -0.2058, -0.091, 0.9979, 0.5877, 2.2192, 1.9491, -0.8639, 0.0368, -0.0895, 0.895]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.1589 left_yaw=0.09 left_pitch=-0.2686 left_roll=0.1129 left_gripper=0.9979 right_x=0.4476 right_y=0.2947 right_z=0.0916 right_yaw=0.5936 right_pitch=-0.5482 right_roll=-0.0754 right_gripper=0.895\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.4286, -0.1001, -0.0806, -0.0171, -0.335, -12.8615, 9.4564, 1.1941, -0.0073, 0.0024, -0.2271]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:980bdecf2407aca5cf616ed762e75a5353aa0e47b8ada4aaf420a05937b4ab11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aec460254d9ec2f958e11c7b05198b76d9459456d111c8c26d1b699731f9dc81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83321a5343d20521fd02922278dbad86b816fc664b22968fd611c94d86c1c1bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 18.34 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]: [-0.1242, 0.9367, 0.7708, -0.6968, -0.2062, -0.091, 0.9978, 0.5877, 2.2189, 1.9297, -0.82, 0.0368, -0.0864, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.159 left_yaw=0.0903 left_pitch=-0.2681 left_roll=0.1131 left_gripper=0.9978 right_x=0.4519 right_y=0.2976 right_z=0.0895 right_yaw=0.5916 right_pitch=-0.5232 right_roll=-0.074 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.4383, -0.1392, -0.0562, -0.0171, -0.1573, -12.8752, 6.4205, 0.8962, -0.0269, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1238, 0.9367, 0.7708, -0.6971, -0.2062, -0.091, 0.9979, 0.5877, 2.2189, 1.9297, -0.8196, 0.0368, -0.0872, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0057 left_z=0.1589 left_yaw=0.0907 left_pitch=-0.2685 left_roll=0.1132 left_gripper=0.9979 right_x=0.452 right_y=0.2976 right_z=0.0895 right_yaw=0.5921 right_pitch=-0.5229 right_roll=-0.0744 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9897, 6.735, 1.4579, -0.1685, -0.0757, -0.0073, -0.2393, -12.588, 6.4752, 1.0623, 0.0073, -0.0415, 1.0281]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9367, 0.7708, -0.6971, -0.2058, -0.091, 0.9979, 0.5877, 2.2192, 1.9491, -0.8639, 0.0368, -0.0895, 0.895]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.1589 left_yaw=0.09 left_pitch=-0.2686 left_roll=0.1129 left_gripper=0.9979 right_x=0.4476 right_y=0.2947 right_z=0.0916 right_yaw=0.5936 right_pitch=-0.5482 right_roll=-0.0754 right_gripper=0.895\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.4286, -0.1001, -0.0806, -0.0171, -0.335, -12.8615, 9.4564, 1.1941, -0.0073, 0.0024, -0.2271]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:980bdecf2407aca5cf616ed762e75a5353aa0e47b8ada4aaf420a05937b4ab11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aec460254d9ec2f958e11c7b05198b76d9459456d111c8c26d1b699731f9dc81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83321a5343d20521fd02922278dbad86b816fc664b22968fd611c94d86c1c1bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AYKEAgRGAI4AUIIdGhpbmtpbmcSDGIWaWOVa7AuCkLh5hoMdGjsSZRMPMJg3u9FIjAIiMqkYk5zGl8jKfrdfCW/epudx+pPoqLd8CGifI4/7V2VlnR5idvHicZtcD0BLIMq7QXTzcxSpDRjUBwkYUYoBpOnRB83YWG/2R6Vrwqqw5ELgqlLsZ39QUJM2+SclW3TJdAH5GvSVFPsUq2tBSAeXpDcndI1JJneRt7K5zKbzM722T3QlwSsl/2ttQERDgF1Vsx8TRNJj9IhDUtEir8sF0QgxYFwWlND9bQzLCZXj5xumIGJHyZrPOfenT4NFkBMbxGNYV+CPW1sOxBul79ahLI/GD8PT+rsxKplQQQqHVBl/4hrq70CFweHKeH91zdQhp0nELgSD74kblSB/+uEg1FA/b/vwVbw2r5qHu1QK3CKicijjqc72UXKz/70OudeJzkgVjWxpZOLHSndrq/C1vmDPIdBHigaj00J68eK2zkQOi+wvGhijLOoHuijQdFFD1uPrXinzoZoUwXUk1ixM35BWH8XJjBNIQONVV+JfZOJZBODo42qJQssVYD0t1BvsyREsU81kWLc/0TFSgyQamdDc6qqz3RhFbPoIjVmyfEZUnvdpSs30TGykgn2sc91UsPcU/SnU9knudlt/oGpQoX8QkNMRJnLsXeGFzL8Rb8WZCetMi5fbiunzmvkE6JTRFyE9Si/FfLXGicb2JqOtKLnsYJwjd0FRXyDpg8Wsig9JtzZ3Vjyx4bnanwo0WQ2bncdL32PusjG5d7GiVj0IO6mmifghyZyM5d/lZtNlgq12Ua/8HXRxO9u36yCXjF8ZRbd4ZX+CE1KvluQQrl7CsFXgU6i/dYWXYIEm0RNm/mVQefPQLJhqBr7FhVXDyZAseLKtGF+F573Okp50dwipD5xbRRUfM/6yEucxR8mGGu3o6A2jlumdX8Eddsssz6Lv8f7MIu+zwbleyFXtZ2lZeS+IVtwkSW2kRsFqW1GMgyZFs9AGPeYR9w2ivgk6KqRNH7MV29qI2kx57esMSHbpIR0RAMjhi9hMbGE1iiBEMV3SwTBWb4hHT5SxlE83NMisPQtrryuCfSPVbINQMNdjXcdX8FAqaaFEaZBa7FxchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015pJ9RqwJRi6XCHUwU6VR6P",
      "input": {
        "note": "The right jaws are now open (0.9) and the can has been released onto the burner. Lifting the arm straight up clear of the can.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015pJ9RqwJRi6XCHUwU6VR6P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9367, 0.7708, -0.7162, -0.2062, -0.091, 0.9978, 0.5877, 2.4763, 2.8365, -1.4948, 0.0364, -0.0975, 0.9991]\nstate[eef_state]: left_x=0.2724 left_y=0.0062 left_z=0.1559 left_yaw=0.0919 left_pitch=-0.2871 left_roll=0.1174 left_gripper=0.9978 right_x=0.451 right_y=0.297 right_z=0.194 right_yaw=0.5992 right_pitch=-0.5492 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.9487, 7.0359, 1.6044, -0.1587, -0.0415, -0.0171, -0.3214, -14.8718, 9.0188, 1.1844, -0.022, 0.0464, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e963167989702979950f2353745cbd5f90ed60ce54f76b67bc1adfeb524ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05082244e506e8868d1f71eda23d0bda7ff7e379815bb3b2596e75b4b348e9f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db8765a1ee247721fbea98a156bd05b423665b9b94cc14044e1ff00f3cf39e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 8.406 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]: [-0.1238, 0.9367, 0.7708, -0.6971, -0.2062, -0.091, 0.9979, 0.5877, 2.2189, 1.9297, -0.8196, 0.0368, -0.0872, 0.7125]\nstate[eef_state]: left_x=0.276 left_y=0.0057 left_z=0.1589 left_yaw=0.0907 left_pitch=-0.2685 left_roll=0.1132 left_gripper=0.9979 right_x=0.452 right_y=0.2976 right_z=0.0895 right_yaw=0.5921 right_pitch=-0.5229 right_roll=-0.0744 right_gripper=0.7125\nstate[joint_eff]: [-0.0342, -1.9897, 6.735, 1.4579, -0.1685, -0.0757, -0.0073, -0.2393, -12.588, 6.4752, 1.0623, 0.0073, -0.0415, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1242, 0.9367, 0.7708, -0.6971, -0.2058, -0.091, 0.9979, 0.5877, 2.2192, 1.9491, -0.8639, 0.0368, -0.0895, 0.895]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.1589 left_yaw=0.09 left_pitch=-0.2686 left_roll=0.1129 left_gripper=0.9979 right_x=0.4476 right_y=0.2947 right_z=0.0916 right_yaw=0.5936 right_pitch=-0.5482 right_roll=-0.0754 right_gripper=0.895\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.4286, -0.1001, -0.0806, -0.0171, -0.335, -12.8615, 9.4564, 1.1941, -0.0073, 0.0024, -0.2271]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9367, 0.7708, -0.7162, -0.2062, -0.091, 0.9978, 0.5877, 2.4763, 2.8365, -1.4948, 0.0364, -0.0975, 0.9991]\nstate[eef_state]: left_x=0.2724 left_y=0.0062 left_z=0.1559 left_yaw=0.0919 left_pitch=-0.2871 left_roll=0.1174 left_gripper=0.9978 right_x=0.451 right_y=0.297 right_z=0.194 right_yaw=0.5992 right_pitch=-0.5492 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.9487, 7.0359, 1.6044, -0.1587, -0.0415, -0.0171, -0.3214, -14.8718, 9.0188, 1.1844, -0.022, 0.0464, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e963167989702979950f2353745cbd5f90ed60ce54f76b67bc1adfeb524ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05082244e506e8868d1f71eda23d0bda7ff7e379815bb3b2596e75b4b348e9f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8765a1ee247721fbea98a156bd05b423665b9b94cc14044e1ff00f3cf39e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015CSR654D35TA5ULB3v2LET",
      "input": {
        "note": "The can did not stay on the burner: the top view shows it standing upright on the table in front of the burner near the right arm. I move the right arm to hover above the upright can with the wrist level, to grasp it from above.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_015CSR654D35TA5ULB3v2LET",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9386, 0.7708, -0.7261, -0.2062, -0.091, 0.9978, 0.9993, 1.5269, 2.0441, -1.0119, 0.7418, 0.5941, 0.9991]\nstate[eef_state]: left_x=0.2707 left_y=0.0064 left_z=0.1539 left_yaw=0.0926 left_pitch=-0.2987 left_roll=0.1201 left_gripper=0.9978 right_x=0.2965 right_y=0.247 right_z=0.4541 right_yaw=0.0423 right_pitch=0.2104 right_roll=0.2537 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.6479, 6.7624, 1.4872, -0.1636, -0.0415, -0.0073, 0.0889, 0.0479, 4.588, 2.4298, 0.0904, 0.2222, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e58a6f093855eddaee2a78c5bd63963ab33c72d21008de131c905c842a043e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6085c31a0818fd45ddba1bb3990ea36d1e79313d89d736be3d7297167b6990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:972019f751bb178cf5dbf434c7584092a15e643926d24fb50a79deafbfa5e187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 10.35 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]: [-0.1242, 0.9367, 0.7708, -0.6971, -0.2058, -0.091, 0.9979, 0.5877, 2.2192, 1.9491, -0.8639, 0.0368, -0.0895, 0.895]\nstate[eef_state]: left_x=0.276 left_y=0.0056 left_z=0.1589 left_yaw=0.09 left_pitch=-0.2686 left_roll=0.1129 left_gripper=0.9979 right_x=0.4476 right_y=0.2947 right_z=0.0916 right_yaw=0.5936 right_pitch=-0.5482 right_roll=-0.0754 right_gripper=0.895\nstate[joint_eff]: [-0.0752, -1.9624, 6.9949, 1.4286, -0.1001, -0.0806, -0.0171, -0.335, -12.8615, 9.4564, 1.1941, -0.0073, 0.0024, -0.2271]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1238, 0.9367, 0.7708, -0.7162, -0.2062, -0.091, 0.9978, 0.5877, 2.4763, 2.8365, -1.4948, 0.0364, -0.0975, 0.9991]\nstate[eef_state]: left_x=0.2724 left_y=0.0062 left_z=0.1559 left_yaw=0.0919 left_pitch=-0.2871 left_roll=0.1174 left_gripper=0.9978 right_x=0.451 right_y=0.297 right_z=0.194 right_yaw=0.5992 right_pitch=-0.5492 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.9487, 7.0359, 1.6044, -0.1587, -0.0415, -0.0171, -0.3214, -14.8718, 9.0188, 1.1844, -0.022, 0.0464, -0.0269]",
      "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]: [-0.1238, 0.9386, 0.7708, -0.7261, -0.2062, -0.091, 0.9978, 0.9993, 1.5269, 2.0441, -1.0119, 0.7418, 0.5941, 0.9991]\nstate[eef_state]: left_x=0.2707 left_y=0.0064 left_z=0.1539 left_yaw=0.0926 left_pitch=-0.2987 left_roll=0.1201 left_gripper=0.9978 right_x=0.2965 right_y=0.247 right_z=0.4541 right_yaw=0.0423 right_pitch=0.2104 right_roll=0.2537 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.6479, 6.7624, 1.4872, -0.1636, -0.0415, -0.0073, 0.0889, 0.0479, 4.588, 2.4298, 0.0904, 0.2222, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e58a6f093855eddaee2a78c5bd63963ab33c72d21008de131c905c842a043e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6085c31a0818fd45ddba1bb3990ea36d1e79313d89d736be3d7297167b6990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:972019f751bb178cf5dbf434c7584092a15e643926d24fb50a79deafbfa5e187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+ggKEAgRGAI4AUIIdGhpbmtpbmcSDJxvtTHGnHWtd9fl5BoMc/x60tjCAxQDuKMmIjD1uCGKmE3PFQ91wiMH0jLeKBm1rQlnqhQN9A/Ui1l8CXcbBoOvbBq/KjAWKk2QzZMqlwjQwU4/1G1U4NW/NHBqqgH3NL5+4Iq15Gwu5CynheWnmgmLP7fvlvkClxCnYtEY0+k6s44ChPxYXiM6fMU/ctpgJOkNexECTin9twOszjbZfQtsYuS1MXOvybVDUTCOQEPLOrquk3zJnXmgRz9mDK7h3h5XXFaQSjkUUvymB+I2JNz4T7lnOKw3opDMqk8jIRSxLzipc5U0ISxGzOX6fUSaspTxy1xiwwniLUELuUWXMi+ABjTV3ZoYOT6Xn8cNyPGshOfOhfF3fIbM1N873QZymtUjgMB3BCvliNVP0qg4/qJk5+NHjD+AsKdwplD4RfvX85iY2hingVbjqEpjcaW0ZnFgSyBx1RgFeo3hjC2S7S+Nz8eeexxRfEbU8tWKaXzdOZt7BLNzcyjlm260O661dEKaO4yqXFVUUlZUUAPiJaatLuYtd3yY6GeDmiec9On9WoZhBScNlH1wR4TGW+SEg3+sB0kuav49aJfgpjtI/pq5PBVjKwqiUTyOSKVBcg8ytysrJuTRWzyxCk+JCl+CNO2fBUr7raeac3PUJR1P8pCVLzUbXIfK3dUU5B16IK729U8fMOXUCQb7oHE6l7ucU02dZ3rs9CJP/XvdTmBOCSeiao6z5i/zasCl9M9Z5X9j1YjGhHLY8PpupohqIqiKXABhqdBpTrilxR6tEJhIlt+UoFA/U6W9b9HRvq0OIhDsq/hhASHeaXzWfuY/Ut1dZNOVBTXHnMuq7TUbjSQoSxqjBqvO4ozd48KlB6F6WocLJeOPnmx2mAsVsDbsxRF+OUn5Baz3gwY23Ulb+L03MP14P5irKoqRCZznxwtgL1EusB7ESDlJlW3lHl5H7VILb5MKpFVe/qKn/xHfzEvsAC4Cj2fmLnHDfpC3xZ3oRAhJ0GpepIGCnNnLpZ4U92gjsSVOR88lExqqBGsGNze6Q6tMNmRctDIcvaG9PSszeTENvyybAfkiu+SiU5IiEczsKCXJuUC0GqSTzeq8cqkY1IOuWZd1oeHCABE7jRFfhCYKTrJRZ6Lh5Y4DjxMOddzMwEyj7MSjb7xSH2aXuJzdbRHMOtR7wYgRHH6VEv4jq5nGYybAIaq/rXIiM+gXrCkEJXp1jHG357R581qwxIwAasWNlj48KWmpL4kbtH16HUPpmTgEWCeI/3I4QqoQgYVBUn3S/0DBnRbopEatmMBsvNTmZLhscxzqPSFk80mDEDynbGPe2NZ7HoWqvTRY4+5xuS0Ny66jaryPoCfNkQvylZLu6+WNjTEPMthMv5OiNpZu0QENeO/MwN/mb7feiZSzb8K0xIg8P+byuIcfMxwi8gObRf6rttH4Ky27Ewx413yHF7pTGdUWZfn9fJ4mKXri2Bs68G4U1sLLr5FcxQNauS5DTHbo1BMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012efgc5QwS6Djkheqv12jNB",
      "input": {
        "note": "The right arm overshot upward to z≈0.45 while unwinding its wrist; the can still stands upright on the table in front of the burner. Bringing the arm back down to a 25 cm hover directly above the can.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_012efgc5QwS6Djkheqv12jNB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.939, 0.7708, -0.7414, -0.2058, -0.091, 0.9978, 1.0077, 1.4609, 1.4425, -0.775, 0.7845, 0.6823, 0.9991]\nstate[eef_state]: left_x=0.2678 left_y=0.0066 left_z=0.1515 left_yaw=0.093 left_pitch=-0.314 left_roll=0.1233 left_gripper=0.9978 right_x=0.3022 right_y=0.2516 right_z=0.291 right_yaw=0.0025 right_pitch=0.0568 right_roll=0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.5658, 6.694, 1.5604, -0.105, -0.022, -0.0073, -0.1299, -4.6017, 8.2256, 1.8535, 0.4811, 0.1343, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3df8fed69f375bf45b6c80accd3e9ce00cd173e64b10f23d451e72f802deef00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea777389143312088ea77240165158fe8d675669604ff88770a7d8ead377b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d4e3e64230344828ebb2073fa0d6998b9ede59497f1035840718c72eda35d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 10.33 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]: [-0.1238, 0.9367, 0.7708, -0.7162, -0.2062, -0.091, 0.9978, 0.5877, 2.4763, 2.8365, -1.4948, 0.0364, -0.0975, 0.9991]\nstate[eef_state]: left_x=0.2724 left_y=0.0062 left_z=0.1559 left_yaw=0.0919 left_pitch=-0.2871 left_roll=0.1174 left_gripper=0.9978 right_x=0.451 right_y=0.297 right_z=0.194 right_yaw=0.5992 right_pitch=-0.5492 right_roll=-0.0789 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.9487, 7.0359, 1.6044, -0.1587, -0.0415, -0.0171, -0.3214, -14.8718, 9.0188, 1.1844, -0.022, 0.0464, -0.0269]",
      "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]: [-0.1238, 0.9386, 0.7708, -0.7261, -0.2062, -0.091, 0.9978, 0.9993, 1.5269, 2.0441, -1.0119, 0.7418, 0.5941, 0.9991]\nstate[eef_state]: left_x=0.2707 left_y=0.0064 left_z=0.1539 left_yaw=0.0926 left_pitch=-0.2987 left_roll=0.1201 left_gripper=0.9978 right_x=0.2965 right_y=0.247 right_z=0.4541 right_yaw=0.0423 right_pitch=0.2104 right_roll=0.2537 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.6479, 6.7624, 1.4872, -0.1636, -0.0415, -0.0073, 0.0889, 0.0479, 4.588, 2.4298, 0.0904, 0.2222, -0.1148]",
      "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]: [-0.1242, 0.939, 0.7708, -0.7414, -0.2058, -0.091, 0.9978, 1.0077, 1.4609, 1.4425, -0.775, 0.7845, 0.6823, 0.9991]\nstate[eef_state]: left_x=0.2678 left_y=0.0066 left_z=0.1515 left_yaw=0.093 left_pitch=-0.314 left_roll=0.1233 left_gripper=0.9978 right_x=0.3022 right_y=0.2516 right_z=0.291 right_yaw=0.0025 right_pitch=0.0568 right_roll=0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.5658, 6.694, 1.5604, -0.105, -0.022, -0.0073, -0.1299, -4.6017, 8.2256, 1.8535, 0.4811, 0.1343, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3df8fed69f375bf45b6c80accd3e9ce00cd173e64b10f23d451e72f802deef00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea777389143312088ea77240165158fe8d675669604ff88770a7d8ead377b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4e3e64230344828ebb2073fa0d6998b9ede59497f1035840718c72eda35d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012vNo7yzTNWPu24HyfTx9sF",
      "input": {
        "note": "The right wrist view shows the burner centred ahead and the upright can at the bottom-right, i.e. to the arm's right and nearer the base. Shifting right and back to bring the can under the jaw column, staying above its top.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.27,
          "right_y": 0.19,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012vNo7yzTNWPu24HyfTx9sF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.939, 0.7708, -0.7483, -0.2062, -0.091, 0.9978, 0.9825, 1.248, 1.0367, -0.7101, 0.7589, 0.6716, 0.999]\nstate[eef_state]: left_x=0.2665 left_y=0.0068 left_z=0.1505 left_yaw=0.0938 left_pitch=-0.3207 left_roll=0.1252 left_gripper=0.9978 right_x=0.2692 right_y=0.191 right_z=0.2119 right_yaw=0.0014 right_pitch=-0.0294 right_roll=-0.0369 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.6205, 6.7214, 1.4237, -0.1294, -0.0708, -0.0073, -0.2393, -5.641, 8.5265, 1.6435, 0.3297, -0.0366, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1798db028c166f66c7a77f3b55bce9c1770084e2f524909699e536179b6dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf37eb52a337fe5db582bc6eb0774c6ff3e871bbb3566c376f153ee643ddf6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d2e97d79518404e973e6572208a22171f4a9b59d3b616102b91749e08977987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.719 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]: [-0.1238, 0.9386, 0.7708, -0.7261, -0.2062, -0.091, 0.9978, 0.9993, 1.5269, 2.0441, -1.0119, 0.7418, 0.5941, 0.9991]\nstate[eef_state]: left_x=0.2707 left_y=0.0064 left_z=0.1539 left_yaw=0.0926 left_pitch=-0.2987 left_roll=0.1201 left_gripper=0.9978 right_x=0.2965 right_y=0.247 right_z=0.4541 right_yaw=0.0423 right_pitch=0.2104 right_roll=0.2537 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.6479, 6.7624, 1.4872, -0.1636, -0.0415, -0.0073, 0.0889, 0.0479, 4.588, 2.4298, 0.0904, 0.2222, -0.1148]",
      "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]: [-0.1242, 0.939, 0.7708, -0.7414, -0.2058, -0.091, 0.9978, 1.0077, 1.4609, 1.4425, -0.775, 0.7845, 0.6823, 0.9991]\nstate[eef_state]: left_x=0.2678 left_y=0.0066 left_z=0.1515 left_yaw=0.093 left_pitch=-0.314 left_roll=0.1233 left_gripper=0.9978 right_x=0.3022 right_y=0.2516 right_z=0.291 right_yaw=0.0025 right_pitch=0.0568 right_roll=0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.5658, 6.694, 1.5604, -0.105, -0.022, -0.0073, -0.1299, -4.6017, 8.2256, 1.8535, 0.4811, 0.1343, -0.1148]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.939, 0.7708, -0.7483, -0.2062, -0.091, 0.9978, 0.9825, 1.248, 1.0367, -0.7101, 0.7589, 0.6716, 0.999]\nstate[eef_state]: left_x=0.2665 left_y=0.0068 left_z=0.1505 left_yaw=0.0938 left_pitch=-0.3207 left_roll=0.1252 left_gripper=0.9978 right_x=0.2692 right_y=0.191 right_z=0.2119 right_yaw=0.0014 right_pitch=-0.0294 right_roll=-0.0369 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.6205, 6.7214, 1.4237, -0.1294, -0.0708, -0.0073, -0.2393, -5.641, 8.5265, 1.6435, 0.3297, -0.0366, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1798db028c166f66c7a77f3b55bce9c1770084e2f524909699e536179b6dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf37eb52a337fe5db582bc6eb0774c6ff3e871bbb3566c376f153ee643ddf6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2e97d79518404e973e6572208a22171f4a9b59d3b616102b91749e08977987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0143MuCFArV7uc89BaTaCm7g",
      "input": {
        "note": "The right wrist view now shows the can lying on its side directly on the jaw column, cap pointing toward the burner, with its body at the bottom edge. Descending to can-centre height with jaws across the body.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.26,
          "right_y": 0.19,
          "right_yaw": 0.0,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0143MuCFArV7uc89BaTaCm7g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.01, 1.5539, 0.4427, 0.1207, 0.7689, 0.693, 0.999]\nstate[eef_state]: left_x=0.2662 left_y=0.0068 left_z=0.1504 left_yaw=0.0939 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2531 right_y=0.1788 right_z=0.0183 right_yaw=0.0085 right_pitch=-0.0597 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.894, 6.8171, 1.3504, -0.1245, -0.0611, -0.0073, 0.5949, -5.5726, 4.8068, 1.4383, 0.486, 0.0708, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ee92d7401d262410c942ef650ff9489e3cea4278d6660751830b918ececb671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d940ddb7b00fee436393a73a8aeb76c7f0038a86d02efb4b44855559553ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3777b4299e6de07549cec0f43b1c399876e27f83878c9407dca5d8e8257e8f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 10.13 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]: [-0.1242, 0.939, 0.7708, -0.7414, -0.2058, -0.091, 0.9978, 1.0077, 1.4609, 1.4425, -0.775, 0.7845, 0.6823, 0.9991]\nstate[eef_state]: left_x=0.2678 left_y=0.0066 left_z=0.1515 left_yaw=0.093 left_pitch=-0.314 left_roll=0.1233 left_gripper=0.9978 right_x=0.3022 right_y=0.2516 right_z=0.291 right_yaw=0.0025 right_pitch=0.0568 right_roll=0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.5658, 6.694, 1.5604, -0.105, -0.022, -0.0073, -0.1299, -4.6017, 8.2256, 1.8535, 0.4811, 0.1343, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1242, 0.939, 0.7708, -0.7483, -0.2062, -0.091, 0.9978, 0.9825, 1.248, 1.0367, -0.7101, 0.7589, 0.6716, 0.999]\nstate[eef_state]: left_x=0.2665 left_y=0.0068 left_z=0.1505 left_yaw=0.0938 left_pitch=-0.3207 left_roll=0.1252 left_gripper=0.9978 right_x=0.2692 right_y=0.191 right_z=0.2119 right_yaw=0.0014 right_pitch=-0.0294 right_roll=-0.0369 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.6205, 6.7214, 1.4237, -0.1294, -0.0708, -0.0073, -0.2393, -5.641, 8.5265, 1.6435, 0.3297, -0.0366, -0.1197]",
      "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]: [-0.1242, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.01, 1.5539, 0.4427, 0.1207, 0.7689, 0.693, 0.999]\nstate[eef_state]: left_x=0.2662 left_y=0.0068 left_z=0.1504 left_yaw=0.0939 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2531 right_y=0.1788 right_z=0.0183 right_yaw=0.0085 right_pitch=-0.0597 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.894, 6.8171, 1.3504, -0.1245, -0.0611, -0.0073, 0.5949, -5.5726, 4.8068, 1.4383, 0.486, 0.0708, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ee92d7401d262410c942ef650ff9489e3cea4278d6660751830b918ececb671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d940ddb7b00fee436393a73a8aeb76c7f0038a86d02efb4b44855559553ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3777b4299e6de07549cec0f43b1c399876e27f83878c9407dca5d8e8257e8f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQgKEAgRGAI4AUIIdGhpbmtpbmcSDH3bGcpc9gCvnTMJhRoMGHK2NOeCt1A6FdKyIjBq0oj8MkfbhBU6yZFGFzUotRtP8OdHILWvrnzVKNhRtOfrVT5PRekSOia9xfi75JcqqgfEJMOSFNVpDAJ96ba3QW0cR9TQ5Mmsm7Xk3FOweuu14KIkV8pMAoq76Q4vIz7y9JAldThBV1R9dMuZ1M3TW435aXiVolSf8qRd0z/w+kOz/gNJgMZm1Hs7IHX/sisDZHSikb4rpKDh/N8wGHiiLHXCPrZEoD2+UAqNvsNQqHIzWp5fYm7XTBjtqavVyoDo+575T7izEMwH/P6sxYcnz/HNvTVebj3ErR++PcOc6udVElzfxptZPT7M2m2HpFZyhicCum33XI1faULxSqIrzw5eX+BiUf9Vx6kNElftohBDEax3mrZ/WLe7Nx8AxM0THPGKilXU5/wpbh9AWzuoWCt6Z5SN9vRnWhwzT2kD2SMvsBxQJkTC8OwBIfYQWUTzd4UnBCLcfeAfXCDDxkHeeHrbHJhx9q9wa+3zEo74dtzvbi4RSFb3OcBXgNcJqE+2F3sqjw04y/JABZPhabA0AYYh9fNxkccQ6kJrqujOx7VmhRKBFnUrGZsPKZuFBVeRT6SOurzDt/lWzOav2DgSJRbOEG0l0SLJdD7aztwF9Mbob2lDm2BlWbpsZFBhuAk/TH9NADAw9+xS9b7ro7sKX7Q2n8M3SReMoUaALFZUS8wzTZpkwiNU8fOhhBC+gN+Hi8waWhUW6ND5KYb04zVF9djWYHr/3RpKh0xbCTkFaosv+BlxnalgI4+7BgzXm4nYuZHAl/KAtg+sexAADoaBsXSHtMdRUr9bq2YLT+ju06rU1r/trxU4Bt+t9OfgjJocHkJUXjZueZYXkUupPMfI6R2ReDl0dNLpghIzRylAlSCBPiADgP7CcpOQ5hiTn7B7mFVi1xOMBE6zTjy8yQ91kaieQtUq0Eqk5scdcmygXUv/92Hy+5Viy9ibV/ufBe4yuLT5LY6gURgg8xv3fo3OBOT1g1Hq1wq9pm7lU62qyNJv8fZS59EOGWbCXcaFgvoqIHe8uA2iCqhK44NousLOlz1weKXrgfM0MojoTzs/NNyFJUhXkUPVri28MkxVV7D7s6woYLdOD3+cIqygqADZfV0AaSp7zBBpwjj/0Lk+3WznjHvtIvEN8FxpMi05s1821hoJsIayuaFtxLj+77r4dBB/tIlCUiFQDMMyMzcKstF94PBbm3iHE/4/wPmQrF3uBuhTR/cc/SgF2Ty2fWMEz02V04p8STcRwKePEyJfR8hJJmKGbSFNliIk3/C7OEjsKfV5EAhdiTHdl7EC0xTMpZVjbb719r4OIxwkaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XG5GsFtRCB8kyMG2JHLXaF",
      "input": {
        "note": "The can body fills the right wrist view vertically between the jaw wedges, and the top view shows the gripper straddling the can. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XG5GsFtRCB8kyMG2JHLXaF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.0122, 1.5616, 0.4274, 0.1364, 0.7673, 0.6891, 0.7047]\nstate[eef_state]: left_x=0.2662 left_y=0.0069 left_z=0.1504 left_yaw=0.0943 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2507 right_y=0.1765 right_z=0.0138 right_yaw=0.0134 right_pitch=-0.0649 right_roll=-0.0904 right_gripper=0.7047\nstate[joint_eff]: [-0.0342, -1.6342, 6.6803, 1.3309, -0.1587, -0.0611, -0.0122, -0.3487, -5.7915, 5.7504, 0.9988, 0.3687, 0.0024, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3494441ccc189105bf5a817eba7143950a23818a4620812a9c4eb48682f3da5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22f961e4e55a265ab3adf9bd0f4c75be745ebb8c0303920e7cfc8a449f123afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3127ccf4979c9c3217d0138e16e8b88d19ac00e374df894bb71b9673ca645f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.321 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]: [-0.1242, 0.939, 0.7708, -0.7483, -0.2062, -0.091, 0.9978, 0.9825, 1.248, 1.0367, -0.7101, 0.7589, 0.6716, 0.999]\nstate[eef_state]: left_x=0.2665 left_y=0.0068 left_z=0.1505 left_yaw=0.0938 left_pitch=-0.3207 left_roll=0.1252 left_gripper=0.9978 right_x=0.2692 right_y=0.191 right_z=0.2119 right_yaw=0.0014 right_pitch=-0.0294 right_roll=-0.0369 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.6205, 6.7214, 1.4237, -0.1294, -0.0708, -0.0073, -0.2393, -5.641, 8.5265, 1.6435, 0.3297, -0.0366, -0.1197]",
      "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]: [-0.1242, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.01, 1.5539, 0.4427, 0.1207, 0.7689, 0.693, 0.999]\nstate[eef_state]: left_x=0.2662 left_y=0.0068 left_z=0.1504 left_yaw=0.0939 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2531 right_y=0.1788 right_z=0.0183 right_yaw=0.0085 right_pitch=-0.0597 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.894, 6.8171, 1.3504, -0.1245, -0.0611, -0.0073, 0.5949, -5.5726, 4.8068, 1.4383, 0.486, 0.0708, -0.1148]",
      "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]: [-0.1238, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.0122, 1.5616, 0.4274, 0.1364, 0.7673, 0.6891, 0.7047]\nstate[eef_state]: left_x=0.2662 left_y=0.0069 left_z=0.1504 left_yaw=0.0943 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2507 right_y=0.1765 right_z=0.0138 right_yaw=0.0134 right_pitch=-0.0649 right_roll=-0.0904 right_gripper=0.7047\nstate[joint_eff]: [-0.0342, -1.6342, 6.6803, 1.3309, -0.1587, -0.0611, -0.0122, -0.3487, -5.7915, 5.7504, 0.9988, 0.3687, 0.0024, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3494441ccc189105bf5a817eba7143950a23818a4620812a9c4eb48682f3da5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22f961e4e55a265ab3adf9bd0f4c75be745ebb8c0303920e7cfc8a449f123afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3127ccf4979c9c3217d0138e16e8b88d19ac00e374df894bb71b9673ca645f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/gkKEAgRGAI4AUIIdGhpbmtpbmcSDAPsK+Y49ZIN9xBPpRoM95aM3cQu04mBQZieIjDVVTInggEpJdwqtK9mvwZ1KKE2v2xekiIyhH1U67Sn3TMQPbqvdfzvcbhpSnJ1wMcqmwmo2UuQWFEx09rHrOFW56higQ60Hkl8B6/VIC2Gd/hL0vQZ5+1L/U4E/XqCcZRbr/AMu/L5nY44I4IXkACdjwV7mpK9pKILxBk6DE25O3MszDEmVQvP3px8cxWeIG67dQV1iP8UtAlit2ndcVuyh2Ct0TSBaKGd5jAm1TgZcpkoE7ItteLZCnFWPITqERnAVqEkiASV6Zd7G35noqlJ/ZiXzRtleKq75qDmO/3ymUkuu31RS6UPSbhFdyanj+Pw+EzPuXPkmvCVxjqp0iRNBGtzVYf6nXBhdAgrziH78XZl0VC0z4HOaSBCz6GrHjNEoAf6ZXjQq/ke35/Ns1MBofPGj7WdeEaTM6JDUcFB0gCksqqjgl4b6odr3nJSs86qDo3RrX+KPfpt7b+gpSls//fv3uPCVE6iKZeUMICnxGAZy09L1c9p0U9zHIcpV0FVLtwSRoTkr9rj1tnciiofRlX/8UFCxuPjYbEixbdSSqs7QxnUiQCLA75d/PXe3Gg6r+Qvv/1+BCMYdV4RblaHuXBneQt92QOdq671FNIvgykVGfR+skYW6VhhcHQ4OT4ViNn3N/CQI/67CpT9LHfnTMP6cga1CD9iKt5fdnBY3enAB1T8SFSq/pdwdoD+GG+JpTCOEmpK+z1sCqRHGAEglcKq4gPaln+RPsE5A25bf2O68TtOC1I4gkHUdZb2QvnsSGs1gJEmztCmaYqUZt5e9UFZbd0r7a+MXMFodAnIXuhrheWrz5ieY4e4Fm9yWqtwmqPtwBd3pGQzp+Nu0an6+v+4iFTB3ziQCtv+IcSyopblEUJuKhu376DCUtH2yKw1OE5h3jusU6layd1ySL2M+U9j1xEVpr4pQpB9HCX3afZK6Dp8kGQq9abb0Vl95FhGfVj+BRwxs6vDGcNtFdz+TtCaAQkFzQHGe57A5DwBJN3+9G4g7hi7JyCaQA5gLe66fYHGQ4Ej30lEgSVuQPHup7hNzdEoL1/vUTxHwg4TZNvEOCvKynDB/xOzs8LSmmm+jCIEjjAVHg3bBRQ+Lim2I/liIzDVJf7FJNqLyTAhIgLruijuIts3wvuCxEf8WCxkS6pryxm7Snlg+xyGO7G2PSONqV9c86exhjnLpNfsJFEchKYzjW9p9Q2C4pehk1/PwgZWm/U3MIvlgGXvUZzmFnu1FYNxxyzLBIFJ6M7sKBM/LRDnhXBV8tZWD+HAcp7VtFVXStD2C4TXAduCATjMIlxQaHeDYV2I8DxNxtQEZkFXuKD/StvevoO/AvUldYZKNaEhN59qrd4DzskKxkQx6L8fyyfsb8E+FBdMMrHvALBIqoYJYtLqd3ACp2lATSfqw9HC6GldZ+ZByG1zhknhvvSJK64Yggp5Qt9o/DqGauDPVxyx6DnPrRUtXi5OwCYyV1GmkAcWbrGnWt7wDq3ZkTrDjbrBnNEyHyWTeA6B02pvRMh5qVJ6MVe/tU7UAKFsNfRWXzmGp/a0O0kNLbif1fDzKaE2X8JJ+qXHxJkZdyHbwja3/2iCCxuzt6oSm5Z0RR6CsIKJ8OqmtQwnAdAONaMLv5I7PPJaTh4HRq8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ALGYHya9pPTjtZWkgTihey",
      "input": {
        "note": "Gripper settled at 0.70, so the can is held (near its base end, pointing forward). Lifting and carrying it over the burner so the can's body will lie across the coil.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01ALGYHya9pPTjtZWkgTihey",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9424, 0.7708, -0.765, -0.2062, -0.091, 0.9979, 0.9134, 1.9251, 1.5978, -0.5217, 0.693, 0.5945, 0.7047]\nstate[eef_state]: left_x=0.2634 left_y=0.0072 left_z=0.1472 left_yaw=0.0953 left_pitch=-0.3404 left_roll=0.1298 left_gripper=0.9979 right_x=0.3914 right_y=0.3283 right_z=0.1832 right_yaw=0.0194 right_pitch=-0.0285 right_roll=-0.0111 right_gripper=0.7047\nstate[joint_eff]: [-0.1983, -2.1812, 6.694, 1.4774, -0.1538, -0.0659, -0.0073, -0.6496, -10.8923, 8.2667, 1.2674, 0.4371, 0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5dca1ccf7f5f6265488721102e0a486911a3418bdf6effba8e7c2d0e65e0d52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d8bcab7f2fa70864dfb9106cc568ac5ff3662c8d1af0779585a6058bca5b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46eae70b933695a963f782e6aac12f7e8ea3e1872e322f0eb4df656cd91cac6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.679 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]: [-0.1242, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.01, 1.5539, 0.4427, 0.1207, 0.7689, 0.693, 0.999]\nstate[eef_state]: left_x=0.2662 left_y=0.0068 left_z=0.1504 left_yaw=0.0939 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2531 right_y=0.1788 right_z=0.0183 right_yaw=0.0085 right_pitch=-0.0597 right_roll=-0.0819 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.894, 6.8171, 1.3504, -0.1245, -0.0611, -0.0073, 0.5949, -5.5726, 4.8068, 1.4383, 0.486, 0.0708, -0.1148]",
      "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]: [-0.1238, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.0122, 1.5616, 0.4274, 0.1364, 0.7673, 0.6891, 0.7047]\nstate[eef_state]: left_x=0.2662 left_y=0.0069 left_z=0.1504 left_yaw=0.0943 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2507 right_y=0.1765 right_z=0.0138 right_yaw=0.0134 right_pitch=-0.0649 right_roll=-0.0904 right_gripper=0.7047\nstate[joint_eff]: [-0.0342, -1.6342, 6.6803, 1.3309, -0.1587, -0.0611, -0.0122, -0.3487, -5.7915, 5.7504, 0.9988, 0.3687, 0.0024, 1.0379]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9424, 0.7708, -0.765, -0.2062, -0.091, 0.9979, 0.9134, 1.9251, 1.5978, -0.5217, 0.693, 0.5945, 0.7047]\nstate[eef_state]: left_x=0.2634 left_y=0.0072 left_z=0.1472 left_yaw=0.0953 left_pitch=-0.3404 left_roll=0.1298 left_gripper=0.9979 right_x=0.3914 right_y=0.3283 right_z=0.1832 right_yaw=0.0194 right_pitch=-0.0285 right_roll=-0.0111 right_gripper=0.7047\nstate[joint_eff]: [-0.1983, -2.1812, 6.694, 1.4774, -0.1538, -0.0659, -0.0073, -0.6496, -10.8923, 8.2667, 1.2674, 0.4371, 0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5dca1ccf7f5f6265488721102e0a486911a3418bdf6effba8e7c2d0e65e0d52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d8bcab7f2fa70864dfb9106cc568ac5ff3662c8d1af0779585a6058bca5b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46eae70b933695a963f782e6aac12f7e8ea3e1872e322f0eb4df656cd91cac6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QgKEAgRGAI4AUIIdGhpbmtpbmcSDBp1GE73nYy5Tf65ExoMYb2km9EDoZFFMAAtIjCooEzvgU2JH/w48oO8twK7tbALD+o73G5kAnEpqfR2etjoZ/hwBXpH35hWNoqX5Ykqhggw5mL4lX2jVfxHsR1B9gDRfbWZEkjbt7F0UyBTQtQZ8wWntWjktDrPFmR3Rx+7SP0tp0xCVxDrBH96Og0T56qh3/8YUlmoMkcu5JUvGMgJPLSMvrARHCftYbQ95vClkynCWtq/++3MvEENOpCVrPlnTv3yWdxAg2oGARN34fV8iTCfiqi30UrIaatw/KucA3cpDTHWv6i5BmmlZKZgx2eNvTgT323ph4x7K3qEWxiAfQvOMl2SLZ4EJhinrRPn8SZAwiY/pWN7QsC9Xoi4ihmiWmQ2SaY2lxbh8tp6oLUcpYlcJl620hexbOTiMoBpbfBvZgIa+XqqhEywUxbwyxh7gfUMyQbzN9K1k/i5CMH5LBT9cKJqyHwURSg2wVIzJdAvLSJC16SyU671/MTKr7cOo+sps/gln1uHTGMyqmbUkCeUn/HrK4plejMzFeqwEAiCev2tcuW1dQPVyRPPBPcoLVjc8YVs4MUJmUa+TLSRyoYQXqY0g6Ilnvdalp+nSM+bBFFcfmvg7wnQn5yRo33rX/e3r6mctssTna8QEAd+Hv08IPsFTWvLwWX/l1LFtv0UFW24rm4opJFJaZk+LPpe3KIwac7leFEDp1tt8ycQR5jCHv7OKUz5onpkCsSf8nfcoFJTvjbIcQ7s9FbbRO57bPdsaSEfnKozDPIT/6HToQX0jMj9pXBjO8iTYTDVwnLJ1tZME6YtHVquNZaksc7rYFrWn0cMwYW9SVuQCfj1uuQmk0gzUAsFv2l96QaQ6lSuYkEr3osw0gZrne7AXPOkxCmj6SoCHIn7tJhk9k/Rgy7+93N1kusBRTHr83tcDZtcggvws4gekHFiv7R6+0QGVEsS1hBSMjOR4S4Ec/ir1d5EO3B3SMR5A4VOTD2X1mbQF05g4o/0h2PR36DQutDrozgZD6lSJTHiznOzpUmBSLEFzT1WFZwKb18iOQcqslvxzdOfBjSlS3LQiuoo4ym1HJjJkjqFflIQcbfNytd65RV9WC4Un22yXrTTOdnbHHl9vqLQeoPgYI9pryCASjdLgWLE5e+zJfuoq2PbvPn6Hq/iALbS3u8XJ+1JlHyYIBsdEEK54VjZIxBdueejwRigO5k4rDWIBgn9xo/vn0Xg7JWkYf1xWe7v/ziMq0fp4Dvi2NHlYn2EkjUEQzBOiY5TVTCoBtGuRiD654g4nZoZKsdpAMXYZLGkNveqYEJ5M99bkm6PcZSd3Y+wU03giz+uCI2TOg3DURHm2nrg6ppfDq96BdXa1CwDRXZEpjWUI/+BRgLI5RP1VJhIC1sU4W7cb8CLMA7rRFDq7wxMwTsgiMpVTlG+AAxNi5MTi/SvpAEKuW9jBqwztoxAGofPF9xcLvNgbuMkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GxxTYEoKTx7EZxYYfCDGtZ",
      "input": {
        "note": "The top view shows the can held over the burner with its body extending across the coil. Lowering until the can rests on the coil.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.4,
          "right_y": 0.33,
          "right_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_01GxxTYEoKTx7EZxYYfCDGtZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9424, 0.7708, -0.7681, -0.2062, -0.091, 0.9978, 0.9073, 2.0357, 1.3548, -0.168, 0.6994, 0.5823, 0.7047]\nstate[eef_state]: left_x=0.2628 left_y=0.0074 left_z=0.1468 left_yaw=0.0959 left_pitch=-0.3434 left_roll=0.1305 left_gripper=0.9978 right_x=0.396 right_y=0.3278 right_z=0.0864 right_yaw=0.0157 right_pitch=-0.0248 right_roll=-0.0242 right_gripper=0.7047\nstate[joint_eff]: [-0.0479, -1.935, 6.653, 1.3211, -0.1538, -0.0708, -0.0171, -0.5675, -8.2256, 5.6137, 1.1404, -0.0269, -0.0611, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c0ac201a6337b54098557849793575698272dddf91354cc4e190fac5df8fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf7b4cc9e076589b41e974e24d3116f7fac0606f44d8d08b6304fcb33e5d5ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a40cee403c3bb1ec55039f1683d372026c2a730e34b2592d8f6b72cc5623eef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 11.68 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]: [-0.1238, 0.9386, 0.7708, -0.7494, -0.2062, -0.091, 0.9978, 1.0122, 1.5616, 0.4274, 0.1364, 0.7673, 0.6891, 0.7047]\nstate[eef_state]: left_x=0.2662 left_y=0.0069 left_z=0.1504 left_yaw=0.0943 left_pitch=-0.3214 left_roll=0.1254 left_gripper=0.9978 right_x=0.2507 right_y=0.1765 right_z=0.0138 right_yaw=0.0134 right_pitch=-0.0649 right_roll=-0.0904 right_gripper=0.7047\nstate[joint_eff]: [-0.0342, -1.6342, 6.6803, 1.3309, -0.1587, -0.0611, -0.0122, -0.3487, -5.7915, 5.7504, 0.9988, 0.3687, 0.0024, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1242, 0.9424, 0.7708, -0.765, -0.2062, -0.091, 0.9979, 0.9134, 1.9251, 1.5978, -0.5217, 0.693, 0.5945, 0.7047]\nstate[eef_state]: left_x=0.2634 left_y=0.0072 left_z=0.1472 left_yaw=0.0953 left_pitch=-0.3404 left_roll=0.1298 left_gripper=0.9979 right_x=0.3914 right_y=0.3283 right_z=0.1832 right_yaw=0.0194 right_pitch=-0.0285 right_roll=-0.0111 right_gripper=0.7047\nstate[joint_eff]: [-0.1983, -2.1812, 6.694, 1.4774, -0.1538, -0.0659, -0.0073, -0.6496, -10.8923, 8.2667, 1.2674, 0.4371, 0.022, 1.033]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9424, 0.7708, -0.7681, -0.2062, -0.091, 0.9978, 0.9073, 2.0357, 1.3548, -0.168, 0.6994, 0.5823, 0.7047]\nstate[eef_state]: left_x=0.2628 left_y=0.0074 left_z=0.1468 left_yaw=0.0959 left_pitch=-0.3434 left_roll=0.1305 left_gripper=0.9978 right_x=0.396 right_y=0.3278 right_z=0.0864 right_yaw=0.0157 right_pitch=-0.0248 right_roll=-0.0242 right_gripper=0.7047\nstate[joint_eff]: [-0.0479, -1.935, 6.653, 1.3211, -0.1538, -0.0708, -0.0171, -0.5675, -8.2256, 5.6137, 1.1404, -0.0269, -0.0611, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c0ac201a6337b54098557849793575698272dddf91354cc4e190fac5df8fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf7b4cc9e076589b41e974e24d3116f7fac0606f44d8d08b6304fcb33e5d5ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a40cee403c3bb1ec55039f1683d372026c2a730e34b2592d8f6b72cc5623eef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigcKEAgRGAI4AUIIdGhpbmtpbmcSDOv0v/iwdq79/JmesxoMgjokgYZt3Ymv/9pqIjARP1dMDDptLsmlYWX6YQnzcAWT8wC3r/hDz/8kK7MHzLvXqaCCmhbliRa6/yzyA3AqpwYHvHVZTZ6xPvGdx3P8oNeJb8kAGuvv3rjcqyrFDtP2E7/1LP5gqbHuZgCIZxWhtnfVuRwym4Err+2hC+WJ4QCaOmAgZsYlhroplxny1ZJ7bnzR6X8/UJPwNAWMYe5gcjqHWaycN79gmcNzJ/x1449heFCMbTaJjdfIGKykql0o8o0CwAJbee3UQj8lMU1pslQAU562jY6MWGAdt8g5+h4sidDfPqfNDsn9bS8kcqx5PajjxR6L3Vc5h/iJBd1e3ugux5a051juoTyp1j6Rx5aXOLKo2OlhCVrkq5uBE1EzJrpgD4txjXrPEiIC13sbZIM/g2D42U8kzug+uwisF7/IbjUo1f7XZiXU9lhnpTwGvid1u8qbRJ+WSVyrTHvfa8z2TMHRem5BaY3q8LnqcDCJZhHJTVSo7JztE78oBXX0w4NG7WKAGZKFSr/1JZhRBaAxiQTel9n3a6bezX1YGKCqE8sF6xoMcSQvLOf+P/Jpt8ko4A1Hrpi3kHCR/eCFOTX/cXR2Axk753/4JTeYqUC04wii9JkjzYtYLft845zA8eznC4pfuyDTn7PL6kwpuFwf4rah2zbJAo4wDSq0mXXdssS0/33NMDaISeopL2HGlIOvKfZI1AryzEP0vG192DoJvod/Lr2jSw5uRaUcSGbC/0tfoWDX/MeS1umIeOpSQQZpMZD4BYDNGyWF5lazEn45ZacbtrFmL7LS1wkyMWKbcCZenvTE9x3AOJXloEuXRhIVvJCop+vwbtOrwN9z+vNk4eDBjS3rC11Alg88Km6dL4B1b0+Mfq+mib/aPBrEw5jtWwR/3SJx9M7u7XSJobW35dAH2UbEKDAWpu+ozGhkiZAHuLDCZnUAKkRP0Ka/CItRyJUN7EV8j0qfkqV3p2I2OjM5rVTRuzKtWA50RXzoTI16Z1nuFgwVy9DKIy0kUipYvKLBmJP8l9xkdducqnCtTP2RKjSjE64cuyLuh5HlCg1RMltk1vkyJm6dRPvgYKU3A5WpRtzG2hGz3m3nFsHqiflOWbsilEvGjMeWACj3rkuXfybUbopjIYxSLBFeV3p445pxnxwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lxsi6PLkngiEnByAeGBgJt",
      "input": {
        "note": "Descent stopped at z≈0.086 with the can visibly resting on the coil in the wrist view. Opening the jaws with a slight lift so they actually release, leaving the can on the burner.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Lxsi6PLkngiEnByAeGBgJt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9428, 0.7708, -0.7681, -0.2062, -0.091, 0.9978, 0.9073, 2.0438, 1.3647, -0.1619, 0.7021, 0.5793, 0.7047]\nstate[eef_state]: left_x=0.2628 left_y=0.0073 left_z=0.1467 left_yaw=0.0956 left_pitch=-0.3438 left_roll=0.1306 left_gripper=0.9978 right_x=0.3982 right_y=0.3301 right_z=0.0872 right_yaw=0.0158 right_pitch=-0.0183 right_roll=-0.0217 right_gripper=0.7047\nstate[joint_eff]: [-0.0615, -1.9077, 6.653, 1.3651, -0.1538, -0.0708, -0.0122, -0.3077, -13.4632, 8.0205, 1.033, 0.1978, -0.0073, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4edd862f835ddb4377364afef5e465d375538f3570d9d22136c24443ba5521e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f007b26cad9be604847447a7a13507c9d40edff264b9022a586014a390992d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23350c890cb859417b24082240f708f385a5690d3b05fd726b8b3df3c063b34b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 13.63 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]: [-0.1242, 0.9424, 0.7708, -0.765, -0.2062, -0.091, 0.9979, 0.9134, 1.9251, 1.5978, -0.5217, 0.693, 0.5945, 0.7047]\nstate[eef_state]: left_x=0.2634 left_y=0.0072 left_z=0.1472 left_yaw=0.0953 left_pitch=-0.3404 left_roll=0.1298 left_gripper=0.9979 right_x=0.3914 right_y=0.3283 right_z=0.1832 right_yaw=0.0194 right_pitch=-0.0285 right_roll=-0.0111 right_gripper=0.7047\nstate[joint_eff]: [-0.1983, -2.1812, 6.694, 1.4774, -0.1538, -0.0659, -0.0073, -0.6496, -10.8923, 8.2667, 1.2674, 0.4371, 0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1238, 0.9424, 0.7708, -0.7681, -0.2062, -0.091, 0.9978, 0.9073, 2.0357, 1.3548, -0.168, 0.6994, 0.5823, 0.7047]\nstate[eef_state]: left_x=0.2628 left_y=0.0074 left_z=0.1468 left_yaw=0.0959 left_pitch=-0.3434 left_roll=0.1305 left_gripper=0.9978 right_x=0.396 right_y=0.3278 right_z=0.0864 right_yaw=0.0157 right_pitch=-0.0248 right_roll=-0.0242 right_gripper=0.7047\nstate[joint_eff]: [-0.0479, -1.935, 6.653, 1.3211, -0.1538, -0.0708, -0.0171, -0.5675, -8.2256, 5.6137, 1.1404, -0.0269, -0.0611, 1.033]\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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1242, 0.9428, 0.7708, -0.7681, -0.2062, -0.091, 0.9978, 0.9073, 2.0438, 1.3647, -0.1619, 0.7021, 0.5793, 0.7047]\nstate[eef_state]: left_x=0.2628 left_y=0.0073 left_z=0.1467 left_yaw=0.0956 left_pitch=-0.3438 left_roll=0.1306 left_gripper=0.9978 right_x=0.3982 right_y=0.3301 right_z=0.0872 right_yaw=0.0158 right_pitch=-0.0183 right_roll=-0.0217 right_gripper=0.7047\nstate[joint_eff]: [-0.0615, -1.9077, 6.653, 1.3651, -0.1538, -0.0708, -0.0122, -0.3077, -13.4632, 8.0205, 1.033, 0.1978, -0.0073, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4edd862f835ddb4377364afef5e465d375538f3570d9d22136c24443ba5521e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f007b26cad9be604847447a7a13507c9d40edff264b9022a586014a390992d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23350c890cb859417b24082240f708f385a5690d3b05fd726b8b3df3c063b34b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZvfvYUdPEyxMQ6NCQVvqE",
      "input": {
        "note": "The jaws still read 0.70 (not yet open) while the can rests on the coil. Commanding open again with a slightly longer motion so the release actually happens over the burner.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XZvfvYUdPEyxMQ6NCQVvqE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1238, 0.9432, 0.7708, -0.7719, -0.2062, -0.091, 0.9979, 0.9073, 2.0384, 1.3727, -0.2005, 0.7067, 0.5793, 0.7047]\nstate[eef_state]: left_x=0.262 left_y=0.0075 left_z=0.1461 left_yaw=0.0963 left_pitch=-0.3479 left_roll=0.1316 left_gripper=0.9979 right_x=0.3962 right_y=0.3265 right_z=0.0879 right_yaw=0.0122 right_pitch=-0.0313 right_roll=-0.0435 right_gripper=0.7047\nstate[joint_eff]: [-0.0479, -1.8803, 6.653, 1.3358, -0.149, -0.0611, -0.0073, -0.3214, -12.3556, 8.4581, 1.2381, 0.1832, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa962d996a70984ba5830a46da294dbb4cb1508d3bfa1d5838e34878fde6bcf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2ef4f6a4eb1c1f5e2638dee058ccbffe301362254cf41611c9de03989f5fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d02ab97037d5faac3248d0609c057abb316d82f20cc31a3326c4826ec324a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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