adhoc

completed
2026-09-18T03:25:09.866267+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
440.9 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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can lies on its side just ahead of the left gripper, angled forward-left. Moving the left arm slightly forward and lower, yawing so the jaws close across the can's axis.
move_to
left_x0.3300left_y0.0000left_z0.1200left_yaw0.4500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6086, -0.3958, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4034, -1.3744, 10.1538, 1.9414, -0.0464, 0.1783, -0.0904, -0.3077, -1.5521, 9.6342, 1.956, -0.0317, 0.0904, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": 0.0, "left_z": 0.12, "left_yaw": 0.45, "left_gripper": 1.0}, "note": "The can lies on its side just ahead of the left gripper, angled forward-left. Moving the left arm slightly forward and lower, yawing so the jaws close across the can's axis."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe can is now on the jaw column in the left wrist view with its body running toward the base; advancing ~3 cm and descending to just above can height before the grasp.
move_to
left_x0.3500left_y-0.0250left_z0.0600left_yaw0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3161, 1.1564, 0.5545, -0.2115, -0.4564, -0.3748, 0.9993, -0.0212, 0.7979, 0.6151, -0.4213, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3169 left_y=-0.0179 left_z=0.0984 left_yaw=0.2555 left_pitch=-0.1365 left_roll=0.0633 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1755 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.1299, -5.7778, 7.665, 1.6972, -0.4225, -0.0708, -0.0904, -0.0752, -1.388, 6.4889, 2.083, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.025, "left_z": 0.06, "left_yaw": 0.3, "left_gripper": 1.0}, "note": "The can is now on the jaw column in the left wrist view with its body running toward the base; advancing ~3 cm and descending to just above can height before the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe can body now sits between the jaws in the left wrist view, centered on the jaw column. Descending to can-center height (~3 cm) before closing.
move_to
left_x0.3450left_y-0.0150left_z0.0300left_yaw0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3256, 1.3998, 0.551, -0.0399, -0.5293, -0.448, 0.9993, -0.0212, 0.8017, 0.6151, -0.44, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3351 left_y=-0.0152 left_z=0.0553 left_yaw=0.3475 left_pitch=-0.1623 left_roll=0.0972 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1707 right_yaw=-0.0001 right_pitch=-0.0458 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [0.1846, -6.7214, 7.5282, 1.746, -0.3199, 0.1441, -0.0904, -0.1026, -1.1282, 7.0085, 1.9609, -0.0659, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.015, "left_z": 0.03, "left_yaw": 0.35, "left_gripper": 1.0}, "note": "The can body now sits between the jaws in the left wrist view, centered on the jaw column. Descending to can-center height (~3 cm) before closing."})
tool
executing move_to over 2 steps (0.2s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteDescent stopped at z≈0.045 with the spray can body spanning between the jaws in the wrist view; 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]: [-0.3256, 1.4445, 0.5507, -0.0002, -0.4927, -0.4278, 0.9993, -0.0212, 0.8024, 0.6151, -0.4469, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.339 left_y=-0.0225 left_z=0.0447 left_yaw=0.31 left_pitch=-0.1849 left_roll=0.0926 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1691 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [0.1846, -6.4068, 7.1179, 1.5849, -0.2027, 0.0611, -0.0904, -0.1983, -1.2923, 7.0359, 1.873, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at z\u22480.045 with the spray can body spanning between the jaws in the wrist view; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe close was empty (reading 0.01): the jaws shut above the can. Re-opening and descending lower to z≈0.02 so the jaws straddle the can body.
move_to
left_gripper1.0000left_z0.0200left_x0.3500left_y-0.0200left_yaw0.3200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.326, 1.4288, 0.5625, 0.049, -0.5129, -0.4278, 0.0105, -0.0212, 0.8024, 0.6151, -0.4561, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3513 left_y=-0.0235 left_z=0.0623 left_yaw=0.3178 left_pitch=-0.1143 left_roll=0.0587 left_gripper=0.0105 right_x=0.286 right_y=0.0011 right_z=0.1673 right_yaw=-0.0001 right_pitch=-0.0626 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.2393, -3.8906, 4.9846, 0.9695, -0.0415, 0.0122, 0.8718, -0.0752, -1.2513, 6.9949, 1.7411, -0.0464, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.02, "left_x": 0.35, "left_y": -0.02, "left_yaw": 0.32}, "note": "The close was empty (reading 0.01): the jaws shut above the can. Re-opening and descending lower to z\u22480.02 so the jaws straddle the can body."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteAt z≈0.03 the can body now sits squarely between the open jaws in the left wrist view; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3202, 1.5593, 0.4839, 0.2794, -0.5129, -0.4271, 0.9953, -0.0212, 0.8024, 0.6151, -0.4816, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.354 left_y=-0.0223 left_z=0.0291 left_yaw=0.3218 left_pitch=-0.0972 left_roll=0.0464 left_gripper=0.9953 right_x=0.2821 right_y=0.0011 right_z=0.1623 right_yaw=-0.0003 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.1162, -4.6701, 4.2462, 1.536, -0.2173, 0.0024, -0.1001, -0.1162, -1.2376, 6.9949, 1.8779, -0.0171, -0.0171, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "At z\u22480.03 the can body now sits squarely between the open jaws in the left wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteGripper settled at 0.51 (~4.8 cm), consistent with holding the can. Lifting to check the can comes with the jaws.
move_to
left_z0.1700left_x0.3500left_y-0.0200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3202, 1.5471, 0.4915, 0.363, -0.5476, -0.4313, 0.5078, -0.0212, 0.8036, 0.6151, -0.5003, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3687 left_y=-0.0216 left_z=0.0514 left_yaw=0.3475 left_pitch=-0.0008 left_roll=-0.0014 left_gripper=0.5078 right_x=0.2793 right_y=0.0012 right_z=0.1584 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.0615, -4.7248, 4.6564, 0.779, 0.0806, -0.0269, 0.2271, -0.2256, -1.1829, 6.9538, 1.8242, -0.0659, 0.0024, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_x": 0.35, "left_y": -0.02}, "note": "Gripper settled at 0.51 (~4.8 cm), consistent with holding the can. Lifting to check the can comes with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe can is lifted and held horizontally in the left jaws (visible in top view). Carrying it up and toward the burner, which sits near the table centre line about 0.42 m out.
move_to
left_x0.4000left_y-0.2800left_z0.2000left_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3355, 1.206, 0.7216, -0.2092, -0.5583, -0.4507, 0.5073, -0.0212, 0.8062, 0.6151, -0.5232, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3528 left_y=-0.0201 left_z=0.1572 left_yaw=0.351 left_pitch=0.0025 left_roll=-0.0117 left_gripper=0.5073 right_x=0.2758 right_y=0.0012 right_z=0.1534 right_yaw=-0.0002 right_pitch=-0.1335 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [-0.7043, -4.7521, 9.0051, 1.5653, -0.2906, -0.0024, -0.0708, -0.0752, -1.4154, 6.9265, 1.8388, -0.0415, -0.0317, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.28, "left_z": 0.2, "left_yaw": 0.35}, "note": "The can is lifted and held horizontally in the left jaws (visible in top view). Carrying it up and toward the burner, which sits near the table centre line about 0.42 m out."})
tool
executing move_to over 24 steps (2.4s)
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 burner coil is directly ahead in the left wrist view, slightly right of the jaw column. Advancing ~4 cm and lowering to just above the burner surface before releasing.
move_to
left_x0.4400left_y-0.3000left_z0.1400left_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9031, 2.0186, 1.7836, -0.8883, -0.8986, -1.0615, 0.5072, -0.0212, 0.8101, 0.6151, -0.5613, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3989 left_y=-0.2769 left_z=0.1891 left_yaw=0.3431 left_pitch=-0.0204 left_roll=-0.0158 left_gripper=0.5072 right_x=0.2696 right_y=0.0014 right_z=0.1455 right_yaw=-0.0001 right_pitch=-0.1754 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.6085, -11.0154, 8.4581, 0.6862, -0.6374, -0.022, -0.022, 0.0752, -1.4838, 7.0496, 1.9463, -0.0513, -0.0269, -0.0073] 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": 0.44, "left_y": -0.3, "left_z": 0.14, "left_yaw": 0.35}, "note": "The burner coil is directly ahead in the left wrist view, slightly right of the jaw column. Advancing ~4 cm and lowering to just above the burner surface before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe top view shows a can lying on the table back near where I grasped, and gripper effort is near zero, so I suspect the can is not in the jaws. Re-commanding a close to test whether the jaws are actually holding anything.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8684, 2.1971, 1.8462, -0.8108, -0.8833, -1.0466, 0.5072, -0.0212, 0.8116, 0.6151, -0.5877, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4286 left_y=-0.2895 left_z=0.131 left_yaw=0.3644 left_pitch=-0.0461 left_roll=0.0283 left_gripper=0.5072 right_x=0.2651 right_y=0.0014 right_z=0.1404 right_yaw=0.0 right_pitch=-0.2033 right_roll=0.0035 right_gripper=0.9996 state[joint_eff]: [0.2667, -13.3812, 9.2513, 1.0085, -0.4762, 0.1929, -0.0122, -0.1026, -1.2786, 7.0496, 1.8681, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The top view shows a can lying on the table back near where I grasped, and gripper effort is near zero, so I suspect the can is not in the jaws. Re-commanding a close to test whether the jaws are actually holding anything."})
tool
executing move_to over 6 steps (0.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe jaws closed fully to 0.01: the can was dropped and now lies on the table left of the burner, oriented across the arm's y axis. Flying back over it with the gripper open and yawed 90° so the jaws close across the can.
move_to
left_x0.3900left_y-0.0500left_z0.1500left_yaw1.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8635, 2.2326, 1.853, -0.7773, -0.873, -1.0267, 0.0098, -0.0212, 0.8116, 0.6151, -0.6128, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4343 left_y=-0.2942 left_z=0.1173 left_yaw=0.3541 left_pitch=-0.0537 left_roll=0.0365 left_gripper=0.0098 right_x=0.2607 right_y=0.0015 right_z=0.1361 right_yaw=0.0001 right_pitch=-0.2285 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.3624, -13.9692, 8.9504, 1.0965, -0.5641, 0.0513, 0.8425, -0.0205, -0.9368, 6.8171, 1.7363, -0.0171, -0.0513, -0.0073] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.05, "left_z": 0.15, "left_yaw": 1.5, "left_gripper": 1.0}, "note": "The jaws closed fully to 0.01: the can was dropped and now lies on the table left of the burner, oriented across the arm's y axis. Flying back over it with the gripper open and yawed 90\u00b0 so the jaws close across the can."})
tool
executing move_to over 22 steps (2.2s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe wrist view shows the can lying diagonally below-left of the jaws; working out its direction, it still lies about 0.5 rad off the arm's x axis, so I'm yawing back to 0.5 to close across it and shifting slightly left.
move_to
left_x0.3800left_y0.0000left_z0.1200left_yaw0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4175, 2.2459, 1.8019, -1.5543, -0.8711, -2.0586, 0.9977, -0.0212, 0.812, 0.6151, -0.6353, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3812 left_y=-0.0173 left_z=0.1 left_yaw=1.447 left_pitch=-0.0517 left_roll=0.0576 left_gripper=0.9977 right_x=0.2566 right_y=0.0017 right_z=0.1322 right_yaw=0.0006 right_pitch=-0.2513 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [0.1983, -14.188, 4.7932, -0.5348, -0.3053, -0.0317, -0.0513, -0.1299, -0.759, 6.8171, 1.6777, -0.0269, -0.0562, -0.0073] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": 0.0, "left_z": 0.12, "left_yaw": 0.5, "left_gripper": 1.0}, "note": "The wrist view shows the can lying diagonally below-left of the jaws; working out its direction, it still lies about 0.5 rad off the arm's x axis, so I'm yawing back to 0.5 to close across it and shifting slightly left."})
tool
executing move_to over 7 steps (0.7s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe can runs from the jaw column at the bottom edge up toward the upper right of the left wrist view, so its middle is ahead and slightly right of the fingertips. Moving over its middle, lowering to just above it, and yawing so the jaws close across it.
move_to
left_x0.3700left_y0.0400left_z0.0600left_yaw0.4500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3138, 1.5017, 0.8326, -0.5217, -0.7399, -0.9646, 0.9985, -0.0212, 0.8162, 0.6151, -0.6678, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3284 left_y=0.0224 left_z=0.0844 left_yaw=0.8162 left_pitch=-0.182 left_roll=0.0684 left_gripper=0.9985 right_x=0.2506 right_y=0.0018 right_z=0.126 right_yaw=0.0008 right_pitch=-0.288 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.8171, 6.8855, 1.2821, -0.2418, 0.1441, -0.1734, -0.1162, -1.1009, 6.7761, 1.7998, -0.0366, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": 0.04, "left_z": 0.06, "left_yaw": 0.45, "left_gripper": 1.0}, "note": "The can runs from the jaw column at the bottom edge up toward the upper right of the left wrist view, so its middle is ahead and slightly right of the fingertips. Moving over its middle, lowering to just above it, and yawing so the jaws close across it."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe can body now passes between the two jaws in the left wrist view. Descending to can-centre height and finishing the yaw so the jaws close squarely across it.
move_to
left_x0.3500left_y0.0400left_z0.0300left_yaw0.4000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2146, 1.4818, 0.7177, -0.2474, -0.6193, -0.6632, 0.9985, -0.0212, 0.8173, 0.6147, -0.6792, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3435 left_y=0.0338 left_z=0.0676 left_yaw=0.6542 left_pitch=-0.1886 left_roll=0.0777 left_gripper=0.9985 right_x=0.2484 right_y=0.0018 right_z=0.1237 right_yaw=0.0005 right_pitch=-0.3009 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.1709, -5.9145, 6.188, 1.3162, -0.2515, 0.1441, -0.1734, -0.1436, -0.9778, 7.1863, 1.4969, -0.022, -0.0024, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": 0.04, "left_z": 0.03, "left_yaw": 0.4, "left_gripper": 1.0}, "note": "The can body now passes between the two jaws in the left wrist view. Descending to can-centre height and finishing the yaw so the jaws close squarely across it."})
tool
executing move_to over 3 steps (0.3s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe arm did not move at all on the last command; a jaw tip is probably resting on top of the can (a ~6.5 cm can, fingertips at 6.8 cm). Lifting slightly and correcting the yaw first so the jaws will straddle the can when I descend.
move_to
left_x0.3500left_y0.0400left_z0.0900left_yaw0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6582, 0.9985, -0.0212, 0.8173, 0.6151, -0.68, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6483 left_pitch=-0.1873 left_roll=0.076 left_gripper=0.9985 right_x=0.2483 right_y=0.0018 right_z=0.1238 right_yaw=0.0005 right_pitch=-0.3013 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.1846, -5.9829, 6.188, 1.4042, -0.3004, 0.1148, -0.1734, -0.0068, -1.0325, 6.7214, 1.3944, -0.0513, -0.0708, -0.0073] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": 0.04, "left_z": 0.09, "left_yaw": 0.3, "left_gripper": 1.0}, "note": "The arm did not move at all on the last command; a jaw tip is probably resting on top of the can (a ~6.5 cm can, fingertips at 6.8 cm). Lifting slightly and correcting the yaw first so the jaws will straddle the can when I descend."})
tool
executing move_to over 3 steps (0.3s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe left arm is not responding to the last two targets at all, so the IK seems stalled in this pose. Backing off: reducing reach and raising the arm while keeping the current yaw to unstick it.
move_to
left_x0.3000left_y0.0000left_z0.1500left_yaw0.6500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6579, 0.9985, -0.0212, 0.8173, 0.6151, -0.7013, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6481 left_pitch=-0.1873 left_roll=0.0763 left_gripper=0.9985 right_x=0.2442 right_y=0.002 right_z=0.1205 right_yaw=0.001 right_pitch=-0.3227 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.1983, -5.9692, 6.1744, 1.3358, -0.2906, 0.1392, -0.1734, -0.0479, -1.0735, 6.735, 1.6044, -0.0317, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.15, "left_yaw": 0.65, "left_gripper": 1.0}, "note": "The left arm is not responding to the last two targets at all, so the IK seems stalled in this pose. Backing off: reducing reach and raising the arm while keeping the current yaw to unstick it."})
tool
executing move_to over 6 steps (0.6s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteArm is free again; the can now appears nearly vertical in the left wrist view, running up from the bottom edge just left of the jaw column. Moving forward-left over its middle at a safe height with yaw ~0.7 to match its axis.
move_to
left_x0.3600left_y0.0450left_z0.1000left_yaw0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3962, 1.2621, 0.8909, -0.5941, -0.6746, -0.8223, 0.9985, -0.0212, 0.8204, 0.6151, -0.7238, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3284 left_y=-0.0139 left_z=0.1597 left_yaw=0.5892 left_pitch=-0.1223 left_roll=-0.0516 left_gripper=0.9985 right_x=0.2398 right_y=0.002 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3482 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [-0.3487, -3.1248, 6.8034, 0.8132, -0.4371, 0.022, -0.1685, -0.0615, -0.841, 6.8991, 1.6239, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": 0.045, "left_z": 0.1, "left_yaw": 0.7, "left_gripper": 1.0}, "note": "Arm is free again; the can now appears nearly vertical in the left wrist view, running up from the bottom edge just left of the jaw column. Moving forward-left over its middle at a safe height with yaw ~0.7 to match its axis."})
tool
executing move_to over 6 steps (0.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe can is now vertical in the left wrist view and centred on the jaw column, with its body reaching the bottom edge under the fingertips. Descending to can-centre height to grasp its body (the fence-side y bound prevents going further along it).
move_to
left_x0.3550left_y0.0500left_z0.0300left_yaw0.7200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1806, 1.4162, 0.7696, -0.3191, -0.6132, -0.7341, 0.9985, -0.0212, 0.823, 0.6151, -0.7403, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3466 left_y=0.0437 left_z=0.0968 left_yaw=0.7172 left_pitch=-0.162 left_roll=-0.0142 left_gripper=0.9985 right_x=0.2366 right_y=0.0021 right_z=0.1134 right_yaw=0.0011 right_pitch=-0.3673 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [0.1709, -5.3265, 5.9692, 1.4628, -0.3101, 0.1197, -0.1734, -0.1299, -1.265, 6.7487, 1.4969, -0.0269, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.355, "left_y": 0.05, "left_z": 0.03, "left_yaw": 0.72, "left_gripper": 1.0}, "note": "The can is now vertical in the left wrist view and centred on the jaw column, with its body reaching the bottom edge under the fingertips. Descending to can-centre height to grasp its body (the fence-side y bound prevents going further along it)."})
tool
executing move_to over 5 steps (0.5s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
Can body sits between the jaws at z≈0.03. Closing fully now (giving the close enough time this round).
agent noteAt z≈0.03 the can body fills the space between the two jaws in the left wrist view. 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]: [-0.1577, 1.5997, 0.6464, -0.0593, -0.5957, -0.7174, 0.9985, -0.0212, 0.823, 0.6151, -0.7479, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.345 left_y=0.0491 left_z=0.0275 left_yaw=0.7261 left_pitch=-0.203 left_roll=0.0259 left_gripper=0.9985 right_x=0.235 right_y=0.0021 right_z=0.1123 right_yaw=0.0011 right_pitch=-0.3749 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [0.4718, -6.6803, 5.1624, 1.3846, -0.3883, 0.0464, -0.1734, -0.0479, -1.0598, 6.8581, 1.3895, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
Can body sits between the jaws at z≈0.03. Closing fully now (giving the close enough time this round).
move_to({"targets": {"left_gripper": 0.0}, "note": "At z\u22480.03 the can body fills the space between the two jaws in the left wrist view. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper reads 0.67 (~6.4 cm) with high effort, consistent with the can, but the close was rate-clamped. Re-sending the close to confirm the settled reading before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1555, 1.6085, 0.6353, 0.0376, -0.6098, -0.7143, 0.6745, -0.0212, 0.823, 0.6151, -0.7685, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.357 left_y=0.0501 left_z=0.0342 left_yaw=0.7255 left_pitch=-0.145 left_roll=-0.0247 left_gripper=0.6745 right_x=0.2308 right_y=0.0022 right_z=0.1095 right_yaw=0.0013 right_pitch=-0.3955 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [0.1299, -5.7368, 5.2991, 1.1551, -0.1978, 0.0317, 0.9939, -0.1846, -0.8547, 6.6667, 1.5165, -0.0366, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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": {"left_gripper": 0.0}, "note": "Gripper reads 0.67 (~6.4 cm) with high effort, consistent with the can, but the close was rate-clamped. Re-sending the close to confirm the settled reading before lifting."})
tool
executing move_to over 7 steps (0.7s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
Settled at 0.666 (~6.3 cm) — a real grasp. Lifting to verify.
agent noteGripper settled at 0.67 (~6.3 cm), a firm grasp on the can. Lifting to 18 cm to confirm the can comes up with the jaws.
move_to
left_x0.3500left_y0.0300left_z0.1800left_yaw0.7200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1558, 1.6085, 0.6353, 0.0387, -0.6102, -0.7151, 0.666, -0.0212, 0.823, 0.6147, -0.7883, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3572 left_y=0.05 left_z=0.0344 left_yaw=0.7257 left_pitch=-0.1441 left_roll=-0.026 left_gripper=0.666 right_x=0.2267 right_y=0.0023 right_z=0.1066 right_yaw=0.0015 right_pitch=-0.4157 right_roll=0.0084 right_gripper=0.9996 state[joint_eff]: [-0.3487, -6.1744, 5.3128, 1.2674, -0.3443, -0.0073, 1.0281, -0.1709, -1.0051, 6.5983, 1.4774, -0.0415, -0.0366, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
Settled at 0.666 (~6.3 cm) — a real grasp. Lifting to verify.
move_to({"targets": {"left_x": 0.35, "left_y": 0.03, "left_z": 0.18, "left_yaw": 0.72}, "note": "Gripper settled at 0.67 (~6.3 cm), a firm grasp on the can. Lifting to 18 cm to confirm the can comes up with the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe can lifted with the jaws (it fills the left wrist view and the table receded). Carrying it high toward the burner near the table centre line; the can protrudes forward-left of the grasp point, so I aim the grasp point slightly short of the coil.
move_to
left_x0.4200left_y-0.3300left_z0.2200left_yaw0.7200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.2306, 1.3907, 1.0031, -0.6209, -0.6247, -0.7902, 0.6698, -0.0212, 0.823, 0.6147, -0.7956, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3515 left_y=0.0273 left_z=0.1543 left_yaw=0.7114 left_pitch=-0.1806 left_roll=-0.0156 left_gripper=0.6698 right_x=0.2252 right_y=0.0023 right_z=0.1056 right_yaw=0.0016 right_pitch=-0.423 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [-0.4581, -8.0479, 9.2103, 1.2967, -0.5934, 0.0611, 0.7497, -0.253, -0.6359, 6.5709, 1.2918, -0.0317, -0.0562, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.33, "left_z": 0.22, "left_yaw": 0.72}, "note": "The can lifted with the jaws (it fills the left wrist view and the table receded). Carrying it high toward the burner near the table centre line; the can protrudes forward-left of the grasp point, so I aim the grasp point slightly short of the coil."})
tool
executing move_to over 32 steps (3.2s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe wrist view shows the burner coil just to the right of the held can. Shifting the grasp point ~6 cm toward the arm's forward-right so the can lies over the coil, while lowering slightly.
move_to
left_x0.4400left_y-0.3100left_z0.1500left_yaw0.7000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8536, 2.3951, 2.4172, -1.5734, -0.7761, -1.5879, 0.6717, -0.0212, 0.8249, 0.6147, -0.8139, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.399 left_y=-0.2638 left_z=0.1608 left_yaw=0.7069 left_pitch=-0.2188 left_roll=-0.0173 left_gripper=0.6717 right_x=0.2213 right_y=0.0024 right_z=0.1029 right_yaw=0.0018 right_pitch=-0.4432 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [-0.7863, -12.1231, 8.294, 0.359, -0.823, 0.0269, 0.8474, -0.0615, -1.1282, 6.5436, 1.409, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.31, "left_z": 0.15, "left_yaw": 0.7}, "note": "The wrist view shows the burner coil just to the right of the held can. Shifting the grasp point ~6 cm toward the arm's forward-right so the can lies over the coil, while lowering slightly."})
tool
executing move_to over 5 steps (0.5s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe arm is near its reach limit and the can sits over the burner just left of the coil centre. Yawing the tool clockwise swings the protruding can toward the coil while lowering it to just above the burner surface.
move_to
left_x0.4300left_y-0.3000left_z0.1000left_yaw0.2500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8375, 2.5698, 2.5938, -1.5753, -0.7528, -1.5684, 0.6756, -0.0212, 0.8249, 0.6151, -0.8272, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4198 left_y=-0.2802 left_z=0.122 left_yaw=0.7115 left_pitch=-0.242 left_roll=-0.0038 left_gripper=0.6756 right_x=0.2186 right_y=0.0024 right_z=0.1013 right_yaw=0.0019 right_pitch=-0.4561 right_roll=0.0094 right_gripper=0.9996 state[joint_eff]: [0.0889, -14.0239, 8.2803, 0.2857, -0.6178, 0.2076, 0.6764, -0.1573, -0.9504, 6.5436, 1.4432, -0.0562, -0.0464, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.3, "left_z": 0.1, "left_yaw": 0.25}, "note": "The arm is near its reach limit and the can sits over the burner just left of the coil centre. Yawing the tool clockwise swings the protruding can toward the coil while lowering it to just above the burner surface."})
tool
executing move_to over 3 steps (0.3s)
step 204
assistant
agent noteThe arm has stalled at full reach over the burner without lowering. Pulling back 2 cm and raising slightly to unstick the IK before a final lower-and-release over the plate.
move_to
left_x0.4000left_y-0.2700left_z0.1400left_yaw0.6000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7528, -1.56, 0.6789, -0.0212, 0.8249, 0.6151, -0.8375, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4213 left_y=-0.2815 left_z=0.119 left_yaw=0.7071 left_pitch=-0.242 left_roll=0.0017 left_gripper=0.6789 right_x=0.2164 right_y=0.0025 right_z=0.1 right_yaw=0.0021 right_pitch=-0.4664 right_roll=0.0097 right_gripper=0.9996 state[joint_eff]: [0.0342, -14.4342, 7.9385, 0.359, -0.6618, 0.1441, 0.7253, -0.0615, -0.8137, 6.6667, 1.2625, -0.0415, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.27, "left_z": 0.14, "left_yaw": 0.6}, "note": "The arm has stalled at full reach over the burner without lowering. Pulling back 2 cm and raising slightly to unstick the IK before a final lower-and-release over the plate."})
tool
executing move_to over 2 steps (0.2s)
step 206
assistant
agent noteThe arm remains locked at full reach with the can hovering only a few cm above the burner plate, just left of the coil. Opening the gripper to set the can down on the burner.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7525, -1.56, 0.6802, -0.0212, 0.8288, 0.6151, -0.8452, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4212 left_y=-0.2816 left_z=0.119 left_yaw=0.7071 left_pitch=-0.2424 left_roll=0.0017 left_gripper=0.6802 right_x=0.2147 right_y=0.0025 right_z=0.0984 right_yaw=0.0022 right_pitch=-0.4779 right_roll=0.01 right_gripper=0.9996 state[joint_eff]: [-0.2803, -14.3795, 7.9521, 0.3199, -0.6618, 0.149, 0.7448, -0.0205, -1.1829, 6.5436, 1.2186, -0.0366, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The arm remains locked at full reach with the can hovering only a few cm above the burner plate, just left of the coil. Opening the gripper to set the can down on the burner."})
tool
executing move_to over 4 steps (0.4s)
step 210
assistant
agent noteThe can is released and appears lying on the burner in the wrist view. Retracting the left arm toward home to clear the overhead view and verify the placement.
move_to
left_x0.3000left_y-0.0500left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5745, -0.754, -1.5558, 0.9961, -0.0212, 0.8288, 0.6151, -0.8532, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4215 left_y=-0.2816 left_z=0.1191 left_yaw=0.7046 left_pitch=-0.2409 left_roll=0.0039 left_gripper=0.9961 right_x=0.213 right_y=0.0026 right_z=0.0974 right_yaw=0.0023 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996 state[joint_eff]: [-0.0068, -14.4342, 8.1983, 0.3834, -0.6569, 0.0806, -0.0659, -0.0889, -0.9504, 6.5026, 1.243, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2, "left_yaw": 0.0}, "note": "The can is released and appears lying on the burner in the wrist view. Retracting the left arm toward home to clear the overhead view and verify the placement."})
tool
executing move_to over 21 steps (2.1s)
step 231
assistant
agent noteThe overhead view shows the can rolled off the burner and now lies on the table in front of it, on the centre line, pointing along x. Flying the left arm over it with jaws open, yaw 0 so the jaws close across the can.
move_to
left_x0.3300left_y-0.3300left_z0.1200left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3233, 1.0847, 0.9775, -0.7517, -0.276, -0.3412, 0.997, -0.0212, 0.8333, 0.6151, -0.8753, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3043 left_y=-0.0474 left_z=0.1973 left_yaw=0.09 left_pitch=-0.2404 left_roll=-0.0103 left_gripper=0.997 right_x=0.2081 right_y=0.0027 right_z=0.094 right_yaw=0.003 right_pitch=-0.5126 right_roll=0.0113 right_gripper=0.9996 state[joint_eff]: [0.1026, -3.6581, 6.5026, 1.5507, -0.1343, 0.1636, 0.0855, -0.1299, -1.0872, 6.4752, 1.326, -0.0513, -0.0122, -0.0073] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.33, "left_z": 0.12, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The overhead view shows the can rolled off the burner and now lies on the table in front of it, on the centre line, pointing along x. Flying the left arm over it with jaws open, yaw 0 so the jaws close across the can."})
tool
executing move_to over 26 steps (2.6s)
step 257
assistant
agent noteIn the left wrist view the can's nozzle points at the burner with its body running back under and behind the fingertips, centred on the jaw column. Pulling back ~3 cm and descending to can-centre height to grasp the body.
move_to
left_x0.2900left_y-0.3200left_z0.0300left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0058, 1.9064, 1.4467, -0.6872, -0.5995, -0.8959, 0.9984, -0.0212, 0.8352, 0.6147, -0.9001, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3238 left_y=-0.3179 left_z=0.1097 left_yaw=0.0073 left_pitch=-0.2763 left_roll=0.0143 left_gripper=0.9984 right_x=0.2025 right_y=0.0028 right_z=0.0907 right_yaw=0.0034 right_pitch=-0.5397 right_roll=0.0121 right_gripper=0.9996 state[joint_eff]: [-0.4991, -9.6615, 8.7179, 1.0818, -0.5495, 0.0171, -0.1783, -0.1026, -1.0598, 6.4889, 1.3114, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.32, "left_z": 0.03, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "In the left wrist view the can's nozzle points at the burner with its body running back under and behind the fingertips, centred on the jaw column. Pulling back ~3 cm and descending to can-centre height to grasp the body."})
tool
executing move_to over 6 steps (0.6s)
step 263
assistant
agent noteThe can's blue body sits between the open jaws at the bottom of the left wrist view. Closing the gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0786, 1.9541, 1.2144, -0.4839, -0.6106, -0.9588, 0.9985, -0.0212, 0.8352, 0.6147, -0.9077, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2877 left_y=-0.3146 left_z=0.0342 left_yaw=-0.0042 left_pitch=-0.3049 left_roll=0.0463 left_gripper=0.9985 right_x=0.2008 right_y=0.0028 right_z=0.0899 right_yaw=0.0031 right_pitch=-0.5473 right_roll=0.0119 right_gripper=0.9996 state[joint_eff]: [-0.3487, -8.8821, 5.6, 1.0867, -0.5348, -0.1001, -0.1734, -0.0752, -0.9231, 6.4615, 1.1551, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The can's blue body sits between the open jaws at the bottom of the left wrist view. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteGripper settled at 0.68 with high effort: the spray can is grasped by its body. Lifting and carrying it forward so the bottle's centre will sit over the burner plate.
move_to
left_x0.4000left_y-0.3000left_z0.1700left_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0843, 1.9728, 1.1984, -0.4721, -0.6109, -0.9665, 0.6822, -0.0212, 0.8352, 0.6147, -0.9123, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2838 left_y=-0.3123 left_z=0.0231 left_yaw=0.001 left_pitch=-0.3151 left_roll=0.0626 left_gripper=0.6822 right_x=0.1997 right_y=0.0029 right_z=0.0894 right_yaw=0.0036 right_pitch=-0.5519 right_roll=0.0124 right_gripper=0.9996 state[joint_eff]: [0.3897, -11.3846, 6.8855, 0.7253, -0.3443, 0.022, 1.033, -0.1026, -0.8957, 6.5573, 1.1013, -0.0611, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.3, "left_z": 0.17, "left_yaw": 0.0}, "note": "Gripper settled at 0.68 with high effort: the spray can is grasped by its body. Lifting and carrying it forward so the bottle's centre will sit over the burner plate."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteThe burner coil is directly ahead of the held bottle in the wrist view, nozzle pointing at its centre. Advancing ~4 cm and lowering so the bottle's body rests on the plate before release.
move_to
left_x0.4400left_y-0.3000left_z0.1000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8337, 2.014, 1.8103, -0.8928, -0.5125, -0.7338, 0.6823, -0.0212, 0.8375, 0.6147, -0.9264, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3945 left_y=-0.3004 left_z=0.1605 left_yaw=0.0229 left_pitch=-0.3121 left_roll=0.0326 left_gripper=0.6823 right_x=0.1965 right_y=0.0029 right_z=0.0876 right_yaw=0.0034 right_pitch=-0.5683 right_roll=0.0125 right_gripper=0.9996 state[joint_eff]: [0.3897, -10.1949, 8.212, 0.8962, -0.2515, 0.2466, 1.033, -0.0205, -1.0051, 6.4615, 1.1306, -0.0611, -0.0562, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.3, "left_z": 0.1, "left_yaw": 0.0}, "note": "The burner coil is directly ahead of the held bottle in the wrist view, nozzle pointing at its centre. Advancing ~4 cm and lowering so the bottle's body rests on the plate before release."})
tool
executing move_to over 4 steps (0.4s)
step 287
assistant
agent noteThe bottle is over the burner with its nozzle above the coil and the descent has stopped with falling gripper effort, suggesting it is touching the plate. Opening the gripper to set it down.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7666, 2.1315, 1.7584, -0.7536, -0.4706, -0.6651, 0.6825, -0.0212, 0.8398, 0.6147, -0.9279, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.424 left_y=-0.2922 left_z=0.0968 left_yaw=0.0307 left_pitch=-0.3624 left_roll=0.0736 left_gripper=0.6825 right_x=0.1961 right_y=0.0029 right_z=0.087 right_yaw=0.0035 right_pitch=-0.5721 right_roll=0.0126 right_gripper=0.9996 state[joint_eff]: [0.294, -12.6154, 6.7897, 1.3553, -0.2613, 0.1538, 0.6422, -0.0342, -1.0598, 6.3932, 1.0281, -0.0366, -0.0513, -0.0073] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The bottle is over the burner with its nozzle above the coil and the descent has stopped with falling gripper effort, suggesting it is touching the plate. Opening the gripper to set it down."})
tool
executing move_to over 4 steps (0.4s)
step 291
assistant
agent noteBottle released over the burner; retracting the left arm toward home to uncover the overhead view and check where it came to rest.
move_to
left_x0.3000left_y-0.1000left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7578, 2.1452, 1.7523, -0.691, -0.4603, -0.6479, 0.9961, -0.0212, 0.8406, 0.6147, -0.9344, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4338 left_y=-0.2975 left_z=0.0936 left_yaw=0.0115 left_pitch=-0.3392 left_roll=0.0455 left_gripper=0.9961 right_x=0.1946 right_y=0.0029 right_z=0.0862 right_yaw=0.0036 right_pitch=-0.5793 right_roll=0.0128 right_gripper=0.9996 state[joint_eff]: [-0.0479, -12.4103, 7.0632, 1.3944, -0.3297, 0.1001, 0.0073, -0.0752, -0.9778, 6.6256, 1.0427, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.2, "left_yaw": 0.0}, "note": "Bottle released over the burner; retracting the left arm toward home to uncover the overhead view and check where it came to rest."})
tool
executing move_to over 18 steps (1.8s)
step 309
assistant
agent noteOut of LLM-call budget. The spray can was grasped twice and set down on the burner twice, but each time it rolled off the domed/rimmed burner top back onto the table in front of the burner. It now lies on the table just short of the burner.
give_up
hindsight1) The "can" is a ~6.5 cm diameter spray bottle lying on its side, ~15 cm long including the trigger nozzle; it starts just ahead of the left gripper (~left x 0.33–0.36, y ≈ 0 to +0.05, axis ~0.5–0.7 rad off +x). Its body sits between jaws only when fingertips are at z ≤ 0.03; at z ≈ 0.045–0.07 the jaws close above it and read empty. 2) A gripper close of 1.0 is rate-clamped: after one 10-step close the reading (~0.5) is NOT settled — a second close is needed. I lost the first can because 0.5 was a mid-motion reading; the real grasp reads ≈0.67 with gripper effort ≈1.0 while an empty close reads 0.01. 3) The burner is at roughly left (0.46, −0.31) (right (0.46, +0.34)), top ≈ 6–7 cm high with a round coil; a cylindrical bottle laid on it rolls off toward the bases every time. To succeed, either stand the bottle upright (grasp near the top and roll the wrist / use pitch) or place it very low and centred (grasp point z ≈ 0.09, bottle centre exactly over the coil), or lay it across the coil oriented along y so it can't roll toward the base. 4) Left-arm IK frequently stalls completely (no motion at all) at radial reach ≈ 0.50 m with z ≈ 0.1 and also when yaw and position are changed together; unstick by commanding x ≈ 0.30, z ≈ 0.15 first. Yaw readback lags targets by 0.2–0.3 rad for several moves. 5) The idle right arm drifted badly (pitch to −0.6, z to 0.08) over the trial; re-park it if it will be needed.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5282, 1.2579, 1.1446, -0.8722, -0.3462, -0.448, 0.997, -0.0212, 0.8436, 0.6144, -0.9516, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.3079 left_y=-0.1061 left_z=0.1983 left_yaw=0.0199 left_pitch=-0.326 left_roll=0.0297 left_gripper=0.997 right_x=0.1905 right_y=0.003 right_z=0.0839 right_yaw=0.0036 right_pitch=-0.5999 right_roll=0.013 right_gripper=0.9996 state[joint_eff]: [0.2393, -4.8889, 6.2974, 1.37, -0.1343, 0.2027, 0.0855, -0.3487, -0.6222, 6.5983, 1.2088, -0.0611, -0.0464, -0.0073] 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
give_up({"reason": "Out of LLM-call budget. The spray can was grasped twice and set down on the burner twice, but each time it rolled off the domed/rimmed burner top back onto the table in front of the burner. It now lies on the table just short of the burner.", "hindsight": "1) The \"can\" is a ~6.5 cm diameter spray bottle lying on its side, ~15 cm long including the trigger nozzle; it starts just ahead of the left gripper (~left x 0.33\u20130.36, y \u2248 0 to +0.05, axis ~0.5\u20130.7 rad off +x). Its body sits between jaws only when fingertips are at z \u2264 0.03; at z \u2248 0.045\u20130.07 the jaws close above it and read empty. 2) A gripper close of 1.0 is rate-clamped: after one 10-step close the reading (~0.5) is NOT settled \u2014 a second close is needed. I lost the first can because 0.5 was a mid-motion reading; the real grasp reads \u22480.67 with gripper effort \u22481.0 while an empty close reads 0.01. 3) The burner is at roughly left (0.46, \u22120.31) (right (0.46, +0.34)), top \u2248 6\u20137 cm high with a round coil; a cylindrical bottle laid on it rolls off toward the bases every time. To succeed, either stand the bottle upright (grasp near the top and roll the wrist / use pitch) or place it very low and centred (grasp point z \u2248 0.09, bottle centre exactly over the coil), or lay it across the coil oriented along y so it can't roll toward the base. 4) Left-arm IK frequently stalls completely (no motion at all) at radial reach \u2248 0.50 m with z \u2248 0.1 and also when yaw and position are changed together; unstick by commanding x \u2248 0.30, z \u2248 0.15 first. Yaw readback lags targets by 0.2\u20130.3 rad for several moves. 5) The idle right arm drifted badly (pitch to \u22120.6, z to 0.08) over the trial; re-park it if it will be needed."})
tool
give_up: Out of LLM-call budget. The spray can was grasped twice and set down on the burner twice, but each time it rolled off the domed/rimmed burner top back onto the table in front of the burner. It now lies on the table just short of 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 · 25.71 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6086, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.3744, 10.1538, 1.9414, -0.0464, 0.1783, -0.0904, -0.3077, -1.5521, 9.6342, 1.956, -0.0317, 0.0904, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38c1b4df56657d05d61348a6a280e57110c6c8a1c63341dabc7dfdf171491051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:316720697c0c2064ba914da9fd1f64f7762fded295a4ee375a86f8bbde46b3ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b3688db1eaddae1ba77471dc95b89eb7de84a0c7653eb5b21f74b14fb37067b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 10.52 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6086, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.3744, 10.1538, 1.9414, -0.0464, 0.1783, -0.0904, -0.3077, -1.5521, 9.6342, 1.956, -0.0317, 0.0904, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38c1b4df56657d05d61348a6a280e57110c6c8a1c63341dabc7dfdf171491051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:316720697c0c2064ba914da9fd1f64f7762fded295a4ee375a86f8bbde46b3ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b3688db1eaddae1ba77471dc95b89eb7de84a0c7653eb5b21f74b14fb37067b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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M4YPoheciNuxO6dkhsxSiW1Wx4LFIC14FKrpKvS1F0sZqnow1623tN7eGTcDKsLGjfY3iaYsH3augorPcYJaK/f7D8PkfWUoKlr0E6zm8+bB5cukPASPpsxMA1m9mZ/oU8NjBB8Ph2gzcKtxKjHCw70Cl7CjT542UhR6HPO4PTzXAmEuLSG8BquAIVDTh1kx26SmtzekUzTklE5VltVyMs1NFOkg07OBXzJTU5Gcp5kRZXS0ASUROJlcp7hAujLMO+cB/WGks8FoR0U7OWzWS2FBDvBvd9G0tOO3SaFHvHwcmvDiLCgD3sMow+sbNDNJohpn2JtIHoNXiCMoAC6vFe4FY35I2mJR3Kgo8G3qaHlF0ABzKla5TGlTNa/P0Xxh6eUt9/dnCLPcLasDsbiiT0IehluBiiuBwmTifPFw/4M5SPIFflquhJgn2F9E7SqiRxt8bu93l5MjMe+eLIqKjwUqfsW1Nw9CUyJkRGD7k4X/7djier3eqNdrprztwCFMqAynWpEKyrC1NI0Bp7j5svc46TNHCY4Hmwy+i2pOvF+LOln4keshW+DlRAKPCi8LDpvgqaSzABVaIM7sj5LFUBudc78kmfkdSuH8G+CvkdKc/4ZdsZTCe7kz4sH6SLrUAApbW4VIN3+Jinz0pOw6LRF9vtZ2HiOsvh2YtACzBp8g91RY1HYgDJcQuUOaj8j7P6DsJaMbEIAzCffYVe9vnpQlZD2ivREeRa24IUrqJPaL4+jY9X1p9AI1pmvgEhJ4cpgdlSyPCPb/Cs2+snO9IShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYS5DrAmfjoXLeZPizcfZk",
      "input": {
        "note": "The can lies on its side just ahead of the left gripper, angled forward-left. Moving the left arm slightly forward and lower, yawing so the jaws close across the can's axis.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": 0.0,
          "left_yaw": 0.45,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QYS5DrAmfjoXLeZPizcfZk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3161, 1.1564, 0.5545, -0.2115, -0.4564, -0.3748, 0.9993, -0.0212, 0.7979, 0.6151, -0.4213, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3169 left_y=-0.0179 left_z=0.0984 left_yaw=0.2555 left_pitch=-0.1365 left_roll=0.0633 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1755 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.7778, 7.665, 1.6972, -0.4225, -0.0708, -0.0904, -0.0752, -1.388, 6.4889, 2.083, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35bfa966a7d672635eeadab2a3ebd6349dab33fcb32191ddd279f954c09f855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bdf385d64ea520e2d061be70167e840ca848ec4ff3c691c0fc1a43f053bd184",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9ec86e977b572346206347c1a605f74fe299fb70287f73ae5b420b95a7df88a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 8.99 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6086, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.3744, 10.1538, 1.9414, -0.0464, 0.1783, -0.0904, -0.3077, -1.5521, 9.6342, 1.956, -0.0317, 0.0904, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3161, 1.1564, 0.5545, -0.2115, -0.4564, -0.3748, 0.9993, -0.0212, 0.7979, 0.6151, -0.4213, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3169 left_y=-0.0179 left_z=0.0984 left_yaw=0.2555 left_pitch=-0.1365 left_roll=0.0633 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1755 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.7778, 7.665, 1.6972, -0.4225, -0.0708, -0.0904, -0.0752, -1.388, 6.4889, 2.083, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35bfa966a7d672635eeadab2a3ebd6349dab33fcb32191ddd279f954c09f855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bdf385d64ea520e2d061be70167e840ca848ec4ff3c691c0fc1a43f053bd184",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9ec86e977b572346206347c1a605f74fe299fb70287f73ae5b420b95a7df88a",
        "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_01Tt4Edy7mqGj7LjFFuFZN4U",
      "input": {
        "note": "The can is now on the jaw column in the left wrist view with its body running toward the base; advancing ~3 cm and descending to just above can height before the grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.025,
          "left_yaw": 0.3,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Tt4Edy7mqGj7LjFFuFZN4U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.3998, 0.551, -0.0399, -0.5293, -0.448, 0.9993, -0.0212, 0.8017, 0.6151, -0.44, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3351 left_y=-0.0152 left_z=0.0553 left_yaw=0.3475 left_pitch=-0.1623 left_roll=0.0972 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1707 right_yaw=-0.0001 right_pitch=-0.0458 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.7214, 7.5282, 1.746, -0.3199, 0.1441, -0.0904, -0.1026, -1.1282, 7.0085, 1.9609, -0.0659, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:948569122a4d1e2b1c2913c086fb091d5bda5ad2c0165a2dddb570d5f46c5880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0e8078bf0b3ec403f75219a88cba1b40f49314bc22fb7194db838a766d0bece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5514d02ac097b3665caef20d8f7a71f83daa7b2faa8b72131dfd06d257fef0ab",
        "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 · 6.286 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6086, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.3744, 10.1538, 1.9414, -0.0464, 0.1783, -0.0904, -0.3077, -1.5521, 9.6342, 1.956, -0.0317, 0.0904, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3161, 1.1564, 0.5545, -0.2115, -0.4564, -0.3748, 0.9993, -0.0212, 0.7979, 0.6151, -0.4213, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3169 left_y=-0.0179 left_z=0.0984 left_yaw=0.2555 left_pitch=-0.1365 left_roll=0.0633 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1755 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.7778, 7.665, 1.6972, -0.4225, -0.0708, -0.0904, -0.0752, -1.388, 6.4889, 2.083, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.3998, 0.551, -0.0399, -0.5293, -0.448, 0.9993, -0.0212, 0.8017, 0.6151, -0.44, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3351 left_y=-0.0152 left_z=0.0553 left_yaw=0.3475 left_pitch=-0.1623 left_roll=0.0972 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1707 right_yaw=-0.0001 right_pitch=-0.0458 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.7214, 7.5282, 1.746, -0.3199, 0.1441, -0.0904, -0.1026, -1.1282, 7.0085, 1.9609, -0.0659, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:948569122a4d1e2b1c2913c086fb091d5bda5ad2c0165a2dddb570d5f46c5880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0e8078bf0b3ec403f75219a88cba1b40f49314bc22fb7194db838a766d0bece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5514d02ac097b3665caef20d8f7a71f83daa7b2faa8b72131dfd06d257fef0ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQgKEAgRGAI4AUIIdGhpbmtpbmcSDHp1N9dxaG3pZEQEcRoMEFOb0wonX9q0qnXqIjAnO79rme7gFD/a2w1W0MY995WzI8oaS6KYJ5IY6ai3ZTaZ1avcPYsTN4+YGsv+GykqzgeTCnsXlpTlNFYn+n9B20cbqPkkDIjX1nH6vP2Tfah7fVUi7xR0I3Ti3GCRxv0EurQM0h6StuldRU75isoQd5DNo3rXWjeOZ7etHCwSJvK0tfQmVc1TknXvZ82M5VLHlfU2ptc0M3fmlJ0iAhSrUJGctjASMHXmZVjYhWdSrvCS5d+S+k/6zFSkudW8ixaaAkurbhElGgFIp9ZQSecxTsmQR/XYBoUNQ4m3xbQKi948rj14iovbxdLZURNDrmtwjm3KQBdVtu/lIdRK+kcV/m95CQdYwTFlX0nO8sVEEZMwd8y+TjbhIyLq4uFuELvednaoQD8MpVXiZf62PLmTgkGMSdXLuIbIpg65ZSBLP16lHwvojUbGzw+BM9p2GOHVgJpWdDsJ8UPZwR1RrOEkPbEV/YlIr0gr4X2fdaZkZJR+s7io1xG0QsEFMz8ion6lfjznmMdHQDZ9ZyfR4vlln6nnXYFO7Lxc/22CQJ1O7xgzwpSKcEtwLAkyxWP9u3Z/S2J2L1qvqTjbYYYpTPjQAGmvA+A3uVA3NTN985xmHR7lDWKUSnJVTsas+2ob1ZmZjWJsxqm/ZW909wxjyu1pedQhRJJB+Xt4RhH5v++b9VU0/Hzoc5wIacJ2WQthxuPu9NCY3tVKX9VuSWuopK/NKgTVjb+bMasYf7cJuQuCI26aHb+qfXYt9UuTSJEAxqljBG2A0Sv/wO7pEdVo107sJ0UmK/x4R/T1LUcQ/Qxs2usGv84/fkVRe3HE50qgKefajkv5b5U2/vMc2zXyXpXh9sIkmnlH5kxBvnU0YiqQ23SwKG1vv0kQ/gUrqLiAnUHb0i6nXFBJ4idevpDNK8HMdtS7ETEjpghrJswjG4Qk3i8UkpCjIFZq7DPHNXzpdfhp5E+R3ZY8Sdwp3QtzsVYlzxDAPo2Z8Kp2V/jAROGI9BGjPAIxgZD76awMKf0gJ2pr8W6584IQjpPzh+2/0DnnVjddsmbV5v9W9odxb9H46cU1BW5QSxNuuo5PgdK8XX80l2aALe5K2DZa3f8+doOgLPIVYPwOuHRkaXxS1grMnlbzkcKSxGI6cspJ6j3mjsGbZXqXcz5kSRwYpN2rhuw8y5YhgoaqH3GXVmZDsPOlg056YUYX1NDYDEAfWla/8N4sdDHxAk37PxBaycuUXkMZ34n/jaq1NESb+Clkt8HK4uoiBaeOIIfOEaDf8Ncf+0TngLC4N5dXGzlh4ICyKR2KLIob4jnbA/L06UbFGthMp2hjFjmefx8tmaczsWn3bZjYEaB5iTeIizcUxkZMN67eKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DchQR1mghu5dnegnYQt1FU",
      "input": {
        "note": "The can body now sits between the jaws in the left wrist view, centered on the jaw column. Descending to can-center height (~3 cm) before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.345,
          "left_y": -0.015,
          "left_yaw": 0.35,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DchQR1mghu5dnegnYQt1FU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.4445, 0.5507, -0.0002, -0.4927, -0.4278, 0.9993, -0.0212, 0.8024, 0.6151, -0.4469, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.339 left_y=-0.0225 left_z=0.0447 left_yaw=0.31 left_pitch=-0.1849 left_roll=0.0926 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1691 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.4068, 7.1179, 1.5849, -0.2027, 0.0611, -0.0904, -0.1983, -1.2923, 7.0359, 1.873, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81b6943f28abb28a9b7976ab36f2b8f3e70a2866c66cc0701c97de49b9f25da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d77419c0c21ee04ad7f6b7a2f71234b2132c334a862c37e4b046e7e346e5cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8cb0802f4fe75c81b0f115e33fb1634be00694d4ebaac48b437d145a3b75d80e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 11.71 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]: [-0.3161, 1.1564, 0.5545, -0.2115, -0.4564, -0.3748, 0.9993, -0.0212, 0.7979, 0.6151, -0.4213, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3169 left_y=-0.0179 left_z=0.0984 left_yaw=0.2555 left_pitch=-0.1365 left_roll=0.0633 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1755 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.7778, 7.665, 1.6972, -0.4225, -0.0708, -0.0904, -0.0752, -1.388, 6.4889, 2.083, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.3998, 0.551, -0.0399, -0.5293, -0.448, 0.9993, -0.0212, 0.8017, 0.6151, -0.44, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3351 left_y=-0.0152 left_z=0.0553 left_yaw=0.3475 left_pitch=-0.1623 left_roll=0.0972 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1707 right_yaw=-0.0001 right_pitch=-0.0458 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.7214, 7.5282, 1.746, -0.3199, 0.1441, -0.0904, -0.1026, -1.1282, 7.0085, 1.9609, -0.0659, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.4445, 0.5507, -0.0002, -0.4927, -0.4278, 0.9993, -0.0212, 0.8024, 0.6151, -0.4469, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.339 left_y=-0.0225 left_z=0.0447 left_yaw=0.31 left_pitch=-0.1849 left_roll=0.0926 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1691 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.4068, 7.1179, 1.5849, -0.2027, 0.0611, -0.0904, -0.1983, -1.2923, 7.0359, 1.873, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81b6943f28abb28a9b7976ab36f2b8f3e70a2866c66cc0701c97de49b9f25da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d77419c0c21ee04ad7f6b7a2f71234b2132c334a862c37e4b046e7e346e5cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cb0802f4fe75c81b0f115e33fb1634be00694d4ebaac48b437d145a3b75d80e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSzwcKEAgRGAI4AUIIdGhpbmtpbmcSDKVgsqYRyH0JoBDrMRoMXPcPWBmpHd9qrmgwIjBjqgR+qXqG++J/dtAAdcrPHFyKDtYzJ2FBoazj2WP0M7kv/SFC7iIltPbTOsul+Fwq7AZp8PmeCrqO+O6j2kftjaASH+B+KsGhzY7J1Ao0w/1/Kt1PAGiYWacd22Ug8VZrRbqLJbFLlbUzgXs79ZGxrslGhKoYhHFaG7FZx3k/LdvuSLvZjUTsDjUha/s2nHEolyco9nEM8dWoDJiGK2VymmI4jUe72KS13GMdN9gzFAdXJJEP/m8f1qYDL0dQEQukKpbqyGa1eVL+oyEgwQ2COrHpiww6LO7sQIcGdqqMTNrDmkYJD9rSGkZshEdn/9ltBDqtpE1U9ZnZyJasH33UHtuf6Rk545WJ8ytiWVAksIlId0CtSHWzSOvz5QMbIDuhUqccO85sTl9nLwXkI9cPSRFwPPQe8tUBALbwIRF/W2VCMVMDDyYRchuOBOYZ9PnQ36kNUX/7AEDWq+chofWktKZq57ye8pBfwmzb0mSS8L9FyW6FYu+G3QSFnlnv0FcppumxxfNzxKYAgraQEPlL40b4x5y1HguuKWwwDSLUsKOYJNl+O1pXi1yr2OGNeH0bUwkSfHjEZ9OUNgyamxIMPot9wIAnTbXYwYgmkzAv/MccKUCj8i2Qpis5F+uX5I1kBRzscp2rFACCYS3tOY0LAS/cR+sn2DsgWLROU7BJPUnQwy1BLMpPoSlkPIEOBKIHaNvDtm3hXgap/PA5B3UBMuUx8eAqaxrXBNAvSMXwkaVQTDawddRc8DfWLDqvM/Kuh6V++H1v9DmZ0vEkQkWdYCZlnsiuubq3/Tq+5WPJUGd9KB9qUdVqI7KmjMA+k2TrUO0RBBoCTkt4FMrITGC3BVmD+TNbd1gKgXQ+EJmKdPWd1/iJ2L3AdUwLEqnxZ/oIpVkyKuSGOeK71z+yBik2jaGRUtehhcwMm9cEZuoItLqWgHpowlQIK7ANENEQhDx6Za7L/S06wlM1dt5jsu7XJ5FkvINcGuxmJZB/0RTQhS2oTs6Bnxfz51P6ejmPXPIibgwxnL7x55ZutqAq0p5xNj12q7w5CW8uV8GlRBseIi3xcvZfud5nm5z9wLxL0WjHehUA3C2yPexkRccmRUQ2criusikUbycwzhL9QE1CfpPU40wzrsnzDm96tCfpjjuT8hHO5s0jfMCojSewVEKwYR5oxfuFswXKm+SMkX7sc0j72j2koL0LhCmwzEzrnG7XPnqMgMW55O0bqzqRu38YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQ8wAP2896LQB2ipgAS8QJ",
      "input": {
        "note": "Descent stopped at z≈0.045 with the spray can body spanning between the jaws in the wrist view; 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_01CQ8wAP2896LQB2ipgAS8QJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.326, 1.4288, 0.5625, 0.049, -0.5129, -0.4278, 0.0105, -0.0212, 0.8024, 0.6151, -0.4561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3513 left_y=-0.0235 left_z=0.0623 left_yaw=0.3178 left_pitch=-0.1143 left_roll=0.0587 left_gripper=0.0105 right_x=0.286 right_y=0.0011 right_z=0.1673 right_yaw=-0.0001 right_pitch=-0.0626 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.8906, 4.9846, 0.9695, -0.0415, 0.0122, 0.8718, -0.0752, -1.2513, 6.9949, 1.7411, -0.0464, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bdc2d546861e63cc5257ffdf77fb758f338a86fcb167e86b24e5d93b1a9c396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773a0df86fdc52fd83d4d21f882b66246b6ce09d6220964f68415d6bc83e91f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:951924f51952784718fb0898cc23a8f57dbbe45a5d2a0959f2f71f596b2d7438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.966 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]: [-0.3256, 1.3998, 0.551, -0.0399, -0.5293, -0.448, 0.9993, -0.0212, 0.8017, 0.6151, -0.44, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3351 left_y=-0.0152 left_z=0.0553 left_yaw=0.3475 left_pitch=-0.1623 left_roll=0.0972 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1707 right_yaw=-0.0001 right_pitch=-0.0458 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.7214, 7.5282, 1.746, -0.3199, 0.1441, -0.0904, -0.1026, -1.1282, 7.0085, 1.9609, -0.0659, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.4445, 0.5507, -0.0002, -0.4927, -0.4278, 0.9993, -0.0212, 0.8024, 0.6151, -0.4469, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.339 left_y=-0.0225 left_z=0.0447 left_yaw=0.31 left_pitch=-0.1849 left_roll=0.0926 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1691 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.4068, 7.1179, 1.5849, -0.2027, 0.0611, -0.0904, -0.1983, -1.2923, 7.0359, 1.873, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.326, 1.4288, 0.5625, 0.049, -0.5129, -0.4278, 0.0105, -0.0212, 0.8024, 0.6151, -0.4561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3513 left_y=-0.0235 left_z=0.0623 left_yaw=0.3178 left_pitch=-0.1143 left_roll=0.0587 left_gripper=0.0105 right_x=0.286 right_y=0.0011 right_z=0.1673 right_yaw=-0.0001 right_pitch=-0.0626 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.8906, 4.9846, 0.9695, -0.0415, 0.0122, 0.8718, -0.0752, -1.2513, 6.9949, 1.7411, -0.0464, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bdc2d546861e63cc5257ffdf77fb758f338a86fcb167e86b24e5d93b1a9c396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773a0df86fdc52fd83d4d21f882b66246b6ce09d6220964f68415d6bc83e91f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:951924f51952784718fb0898cc23a8f57dbbe45a5d2a0959f2f71f596b2d7438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwg4KEAgRGAI4AUIIdGhpbmtpbmcSDEBot8XYeT3kDsiitRoMWcy1obXXx7Cu0aUjIjBp9uPTt0X2v5/VMEZlq+9rOmd9t0Q0uxrnq86aiI0sSYUojVvL7crIwZfKgVl5qIoq3w3P2ywavhSKox5JqQvGaktprJVSA64uvelNe2905MUMR/X0XtDss/Rke0Iz7rp5DJIq7qLsbulPuIsT6xFqOchGdyMrEWk/5Kc2vYJViY6t03Kc46ppQ16LQGQzUNYNZMjLs2vF141m3BtrXmuBrcVx9YExXN/qotSVFBHq2bA3+RMeLo7Hi7qzDXRWkoH7mqo2CAhPcM6oLLX/VD3rBan9Jbk9XtF/ufa/p37N2YjQcGoslbeGNcK0Lz8vqpJutG9HkvmA/V+zTCiSyc2oY3kGq7tI2LTA7hWiHmBh4NzT05AIcNHJBwNKJyLO8uvZefla8B2J6o7aVfZcQST8KOUOJJwA8+dgWs3bLJ1FJJFqNqrSQf9aftY+PONDfUddwEPSmoGJwdDh7tsPaL+gAcOr6OQFhmaVzHFns3ou8Z5WLhSZpE8TDXQUEmiW2Jz8mknuTotXXn/XSlHeDgylZXcbtFB1aGlqpVefT0lYoBTeV2otj4q94NVwlYP5dk12nzZ4Q4Q9NUDli2H6B5k5niHcshxFLcb7LneYPsPJMgVEmDikuCJ2Dm252jo6NcZg6nOYpduhI/tZdAS9/Zo6CBR1qcNYJVct6OWNQ4uIlR/8+SQ3UWmjtk5kg25XxtaXc7H5sfqxI+Qo02/KsVb3qrgsg0Ak2AKlaEJ5+vTMXRTTWba6ddIfYI48W59H815Pbis5/bsuO4TCBNAr8tGcD4QJkz1jtqvJBgwolu5nSmRVLA/la3uro1h+3TPdsjqhQgWDyP0aAwQQ6cBurujXhbAfNOwqwAqqdfe4x9nYCELcRJOldb9mbPW4BP36ggun9qZyDlihh6cnnm0YapUMYXiPXotfuN5MtKOru2htYQ8Q3bos4U2lTWttyMmCqrePv+pJML7vW+QsR6EEVRGUE53YkckTtnUErQqdec1Akmf5JDMZt3qTeNGZNw+wqROQC8LpDKReb5PJsPGjzYBRM8alHrm5+3cxYfwLQ7aU/CX02X0On2kgzuc+TTbJjgmlLTfIGgFwKClU3fachQP8nQe64Nzx9QZc4IyCqnRm5GC5RqGHO+OAwharz8AzF+vG0bjdVOjiafuE84ehbdr/eMGUw3uNKx9tYzPv/sBTVY0McQG1FywDYwlPBSN2LIwKIBhaARijbUBRRJ9XM7ESnLRLXvB87yAXU3k5iAo46ptx1qXU2F03XJD9/FS21iWc7vBDXhmK1nqB2d+wIuE42I7RrMuUhznUVNboKXiM6OQpbqurlhuY4d2DUijFF2XmxJQ0Cltwj9fRkbz14CeLXfDYM7FezPETxCzY2hmCfg9Ep8QIEjXiHJCOQCo5Zx1CrIPxMXeaUkDnpg8HCaBm/e83trfenE1YnsixIKkeY/e2rXNKX30Zu6TKMnaom2EH32iRkp73cgC/nyzmodFbNloWYyUlpOiMxO9njuOX9qB+d3ShgkX93N5bR0m+sUVum6NKdSL61OwFHI0wSRuiiyS0U3rYeBqAIlysNRcB4u1+22TCAQPGefSaE+P1AMH0Gedfyy8dHSfABytpH5pWJZhEJ+zjedbSRN3SWNGoWJtZgUvD/wChws5sMk5dvIyTkskOSD7xStAAd+K8SNlAtp/uhTXK4z1a78M/auy2YVKBvOX5Y/LOXAupBx34N4O0Xl/nYhlLUaDyscXfqugST4jXGEgVUSwGYc2lQ64H2WftAkxAWQNLebyBUXklCqlkbe/GwEiVCCbzNkKycdonYra7aBlSGrPwgAqGFJkuXgDAiKRugWRQk8aT8ex3GIbhN8FwjiGOTyMErs1Z6QUtIyvuY5WziWCYN2OmMNPZKPnS3f/Isvh8PCHtp6GCNPAQHmeYTLlMbSMgaEoDvQGT9RCdR410HuG0i9r2Rcv7mHH6tOud0tpC7zQ8FzCYrkurrUBxgJ6GTqpNXRxfTclypI2kkiZpeNpkE+gPSx06UBG/9HAyNybNgvMeBDwOYSIjj3gj2OfUAs/DHIv3L6mZEpFRI5x3hRBH+As2Pt/qpSk3BWpuQHxTCqHsq2s4Fkkf9yTkzJU4pCnnz8H657dbt3KoNAHImwTfWlcXV4ypz3zY0MT8Xmw3kZoDN9zdKR+BNSaXFu7Y67rMkAQOB0KZQg9YoMzaqyBZGEBsIaWvDHuiZOfRQPJvbR1ZogYtI9ztupE62L5lBVYi43A6n9i7KKl7RMU+WKmV7SOqycMPs5fVkYh+lZxnNWCZhUKcXbNODNpzKKqX91pMzRXf3PcQ7xU/aKqZH2izKd7wfWxNP/xB32C7hohuSXvT28tqRfYNwfJpAoTsqMrUmG3RAL6SYV0DseI+noyR9VnEZ7kOfQKvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F9b8zyV7zLGewVsgshiFKy",
      "input": {
        "note": "The close was empty (reading 0.01): the jaws shut above the can. Re-opening and descending lower to z≈0.02 so the jaws straddle the can body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.02,
          "left_yaw": 0.32,
          "left_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_01F9b8zyV7zLGewVsgshiFKy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3202, 1.5593, 0.4839, 0.2794, -0.5129, -0.4271, 0.9953, -0.0212, 0.8024, 0.6151, -0.4816, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0223 left_z=0.0291 left_yaw=0.3218 left_pitch=-0.0972 left_roll=0.0464 left_gripper=0.9953 right_x=0.2821 right_y=0.0011 right_z=0.1623 right_yaw=-0.0003 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -4.6701, 4.2462, 1.536, -0.2173, 0.0024, -0.1001, -0.1162, -1.2376, 6.9949, 1.8779, -0.0171, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d7bfbfc7d1dc814c799a4c192c044ba88379bfca16b05b54032b10c5b855339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12051440cf54705ad3bb5a9565b62b9f908550c48a8152a4e5c9365256bde91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e84f8ac1fd872f0805dfc129c91cd0cd7f77397c3990671dc170dac29e93f4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.337 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3256, 1.4445, 0.5507, -0.0002, -0.4927, -0.4278, 0.9993, -0.0212, 0.8024, 0.6151, -0.4469, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.339 left_y=-0.0225 left_z=0.0447 left_yaw=0.31 left_pitch=-0.1849 left_roll=0.0926 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1691 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.4068, 7.1179, 1.5849, -0.2027, 0.0611, -0.0904, -0.1983, -1.2923, 7.0359, 1.873, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.326, 1.4288, 0.5625, 0.049, -0.5129, -0.4278, 0.0105, -0.0212, 0.8024, 0.6151, -0.4561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3513 left_y=-0.0235 left_z=0.0623 left_yaw=0.3178 left_pitch=-0.1143 left_roll=0.0587 left_gripper=0.0105 right_x=0.286 right_y=0.0011 right_z=0.1673 right_yaw=-0.0001 right_pitch=-0.0626 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.8906, 4.9846, 0.9695, -0.0415, 0.0122, 0.8718, -0.0752, -1.2513, 6.9949, 1.7411, -0.0464, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3202, 1.5593, 0.4839, 0.2794, -0.5129, -0.4271, 0.9953, -0.0212, 0.8024, 0.6151, -0.4816, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0223 left_z=0.0291 left_yaw=0.3218 left_pitch=-0.0972 left_roll=0.0464 left_gripper=0.9953 right_x=0.2821 right_y=0.0011 right_z=0.1623 right_yaw=-0.0003 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -4.6701, 4.2462, 1.536, -0.2173, 0.0024, -0.1001, -0.1162, -1.2376, 6.9949, 1.8779, -0.0171, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d7bfbfc7d1dc814c799a4c192c044ba88379bfca16b05b54032b10c5b855339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12051440cf54705ad3bb5a9565b62b9f908550c48a8152a4e5c9365256bde91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e84f8ac1fd872f0805dfc129c91cd0cd7f77397c3990671dc170dac29e93f4a",
        "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+gYKEAgRGAI4AUIIdGhpbmtpbmcSDFy0iNQ9T/rBquRjTxoMjaYag3d5rXdcPjmpIjDa2BNSTV+4BtWOqkkGNCWCoG4m9FpupKTlt0ZhqoAi4OjC2O/K1uzH5gcmXi+Dnt8qlwYfKNSpWTdF84Q9CiydX2TeBkiV3gYnIAqYFbhdlWasd6YTiaP0N7+b7k7uFIZ3oporz0XHpIaHkpJ86S6Q1NPwrqkjgHM3PTF5pOE4eHrntx8SwkrW065pmRExmaps/HDC3KC6PCz7LDxRNXf2RlGS7c06SLNuyrUJm0NKD2zAqz/WGVcZU3Wd1Dtv+uouQ9u0efaL+BmUkYXnbQJRBiL1y3uD+xvKYv6vjbc2TCt0ZtWJ2hywvMPxyG3V6PGg1m+2nLvL9dlz8qrTIGzUIKmtlTe3MjbeBDgApwx7kVbZYwGc0XPMJ0I/zUC6CiWgoHdG6Lf9cpkqcHocWqdqARGDiiw/wlb+uv6oZE+ccWKTGHe+i5woj0QjB0mSDvk4WLehh9FmyYEsJIcRQGftPU/eJHh2Qql/BT+SEjaZ8Wl967oK3+SltCzyfOl1OZwXyVdtwgnJ05EfSC9kwEHzFutpW1HFba7UtJdO2BNWQpz4k8x6YxOH4n4+dFRqhLrZIotxa7gX2LbdDTJpz6vwjksuxn/5YQRlDIN3nwoxRu/JZ0bx2WGHwrRWgsCZIBDX65HZeyky50JrQEA4s3Ls+FPC7Upu9kUnQLkY3vOBGifoIOSePxH75q98QsKxrMwKZHESRFpdDP01vHRDivOHqT/6C4ZQoyqL7JiXVgdU+2B+MJwlwEywhusgHsdHeQ1SK3w3Aq8oUjqsIBgqUHW9s0AEECCkAttt2bqLn9tpjymOovmUbt1bOuj9QfV8nKJLDRXpy1VOB7fgFdMzdqfg5BNXLeoP5j9Z4LBDpabdnMsQMPH3erys4mGHahW5Y/XHsv3ImYh4swJ1jQhH1LIjQLU6h34PZRpBmHNNSQ/ovXaHhjjDhZjmZJ9/Nx7xj8LEyjPweet5Qzu0mFxgaDnT4NZeupk7CMi4iB52IOwGWt5yaruIRKVLun3Dq3HQfUoGyn7Wid8rxITXuuytXuhyzK9bYwtwdn/MdyagbnGKdyTOhexQvWFOR3YrJ+R4mUIwoKHtYHBVMGs86LPZ9cqwYfOxx7pAlRA1QBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019KEKGKYSSTadz7sxiEgYxo",
      "input": {
        "note": "At z≈0.03 the can body now sits squarely between the open jaws in the left wrist view; closing 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_019KEKGKYSSTadz7sxiEgYxo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3202, 1.5471, 0.4915, 0.363, -0.5476, -0.4313, 0.5078, -0.0212, 0.8036, 0.6151, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3687 left_y=-0.0216 left_z=0.0514 left_yaw=0.3475 left_pitch=-0.0008 left_roll=-0.0014 left_gripper=0.5078 right_x=0.2793 right_y=0.0012 right_z=0.1584 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.7248, 4.6564, 0.779, 0.0806, -0.0269, 0.2271, -0.2256, -1.1829, 6.9538, 1.8242, -0.0659, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0806f443e851195dc9c2d010480155a141d1962a033244b7b1c5f670abf476e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04402fcf6d34c765dd2f187c6f9a6382a36b5a4932b27491cce58c0367d151fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e351157264e0eb5674f8a055051f58790741ea900d04346a40d2bc4a1500033c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 22.67 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]: [-0.326, 1.4288, 0.5625, 0.049, -0.5129, -0.4278, 0.0105, -0.0212, 0.8024, 0.6151, -0.4561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3513 left_y=-0.0235 left_z=0.0623 left_yaw=0.3178 left_pitch=-0.1143 left_roll=0.0587 left_gripper=0.0105 right_x=0.286 right_y=0.0011 right_z=0.1673 right_yaw=-0.0001 right_pitch=-0.0626 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.8906, 4.9846, 0.9695, -0.0415, 0.0122, 0.8718, -0.0752, -1.2513, 6.9949, 1.7411, -0.0464, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3202, 1.5593, 0.4839, 0.2794, -0.5129, -0.4271, 0.9953, -0.0212, 0.8024, 0.6151, -0.4816, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0223 left_z=0.0291 left_yaw=0.3218 left_pitch=-0.0972 left_roll=0.0464 left_gripper=0.9953 right_x=0.2821 right_y=0.0011 right_z=0.1623 right_yaw=-0.0003 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -4.6701, 4.2462, 1.536, -0.2173, 0.0024, -0.1001, -0.1162, -1.2376, 6.9949, 1.8779, -0.0171, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3202, 1.5471, 0.4915, 0.363, -0.5476, -0.4313, 0.5078, -0.0212, 0.8036, 0.6151, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3687 left_y=-0.0216 left_z=0.0514 left_yaw=0.3475 left_pitch=-0.0008 left_roll=-0.0014 left_gripper=0.5078 right_x=0.2793 right_y=0.0012 right_z=0.1584 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.7248, 4.6564, 0.779, 0.0806, -0.0269, 0.2271, -0.2256, -1.1829, 6.9538, 1.8242, -0.0659, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0806f443e851195dc9c2d010480155a141d1962a033244b7b1c5f670abf476e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04402fcf6d34c765dd2f187c6f9a6382a36b5a4932b27491cce58c0367d151fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e351157264e0eb5674f8a055051f58790741ea900d04346a40d2bc4a1500033c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgYKEAgRGAI4AUIIdGhpbmtpbmcSDGWkOB9G4TA/Ax8ssxoMXqUsJNMwVR/rjeHtIjCVqDURSbmuSUZuS0hJK9+P4MVOaV/t52jKyohqcnGbpbsX2fjH6wrw9rTip7a/gHkqxwXET3o+3x6yVaYBlJkK6MCZI4Ff8/i504WFiFd++VFD5XKmZHGkf/KvQu1RPDsd6A36LJzZMIyLV8UHiPjZ8MrnjHJdj51f14/LmpdXNKNA0XjV7PA54l4YMuqTqA2AByrScAJZNNAI7f2ywGIvT8kRzvg8qTdfhqSM2LZB2Saq+8X9xOkMWYqyKCxh8sJOIa6VARegOYZCitDZftLpjXhYV6Va9GQIgltF7uPM+xMZphitGnkpw/5IFoldTsLHe9xTVeVb8Buppd1dbAqwbQc5Jm3noTBXIUno7o5M4vLEfOsLu8HSyAYW8i1XKIJQATqzjzHyH0KE/wMJDSbL+bfxknlBAXt3PXK088MzGvtSE++ySJCSCqc7Pbq4QzrtSFOKrX9Uw/GVtN/ca1QIMFjRh0YAKdQ+46TV9WOiYFkp8ENtnn7xnF32pYOYbRKTB8MGCkisAI5668hHwWCz+rPHck0tjpPmcEg10AgFelWfwhgNw4ETreANkF1UgyAWe50bMGjbyNahSIAS9vTjKBw83qY7tRI265kx5KXxrARuaFiyWp9trdifJh1KnA9eJTThuYct9deQRrDmzpfRhE8W39pYczK3gtXaFsmli6kAoB/1IUcETMVzoZ5zh++6BjAv2ws/K/OvizwifRPrKZvcZ73eFbLenzfKMk3Kpqt2FVwCQBL1gOTRsRwAEh3uJYlvJZuyojQ2MxFzIY9c7PGL0PguCfFoOCCr8UW+Slz0seuqhGv724wrQIY5PA5kmxjeJ8LEeS5QLWdxnoeqT+BGlYS8wm+FPRHlGJef9JbaRWxiF86f/Vg5HikZ90ks5MKei8kzD1HRHbYAFcYrSEUVeyrwJ+0GLx6ymksQlXyMLuxZj/6S5S9q/IpZ+3k4o6SXW7Vi4CbY1QNy/P6k7XKkS7oUeQRT16dvTsGqZMbob5PqLt72ItcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UZhMb8qX8tuvAAKmyMT586",
      "input": {
        "note": "Gripper settled at 0.51 (~4.8 cm), consistent with holding the can. Lifting to check the can comes with the jaws.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.02,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UZhMb8qX8tuvAAKmyMT586",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3355, 1.206, 0.7216, -0.2092, -0.5583, -0.4507, 0.5073, -0.0212, 0.8062, 0.6151, -0.5232, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3528 left_y=-0.0201 left_z=0.1572 left_yaw=0.351 left_pitch=0.0025 left_roll=-0.0117 left_gripper=0.5073 right_x=0.2758 right_y=0.0012 right_z=0.1534 right_yaw=-0.0002 right_pitch=-0.1335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -4.7521, 9.0051, 1.5653, -0.2906, -0.0024, -0.0708, -0.0752, -1.4154, 6.9265, 1.8388, -0.0415, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba9986562156bc65b975c225cee33220bebeb03c13f6d8e248c3386137dc3f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3581bc0b67bf9ca291d68ca25aeb22c48cdd57cedc9d5c318423ccd514c3bd0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:487242879f19f08804a510793d24846774f870bd3a5fe280dfda839db3503342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 17.63 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]: [-0.3202, 1.5593, 0.4839, 0.2794, -0.5129, -0.4271, 0.9953, -0.0212, 0.8024, 0.6151, -0.4816, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0223 left_z=0.0291 left_yaw=0.3218 left_pitch=-0.0972 left_roll=0.0464 left_gripper=0.9953 right_x=0.2821 right_y=0.0011 right_z=0.1623 right_yaw=-0.0003 right_pitch=-0.0881 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -4.6701, 4.2462, 1.536, -0.2173, 0.0024, -0.1001, -0.1162, -1.2376, 6.9949, 1.8779, -0.0171, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.3202, 1.5471, 0.4915, 0.363, -0.5476, -0.4313, 0.5078, -0.0212, 0.8036, 0.6151, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3687 left_y=-0.0216 left_z=0.0514 left_yaw=0.3475 left_pitch=-0.0008 left_roll=-0.0014 left_gripper=0.5078 right_x=0.2793 right_y=0.0012 right_z=0.1584 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.7248, 4.6564, 0.779, 0.0806, -0.0269, 0.2271, -0.2256, -1.1829, 6.9538, 1.8242, -0.0659, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3355, 1.206, 0.7216, -0.2092, -0.5583, -0.4507, 0.5073, -0.0212, 0.8062, 0.6151, -0.5232, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3528 left_y=-0.0201 left_z=0.1572 left_yaw=0.351 left_pitch=0.0025 left_roll=-0.0117 left_gripper=0.5073 right_x=0.2758 right_y=0.0012 right_z=0.1534 right_yaw=-0.0002 right_pitch=-0.1335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -4.7521, 9.0051, 1.5653, -0.2906, -0.0024, -0.0708, -0.0752, -1.4154, 6.9265, 1.8388, -0.0415, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba9986562156bc65b975c225cee33220bebeb03c13f6d8e248c3386137dc3f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3581bc0b67bf9ca291d68ca25aeb22c48cdd57cedc9d5c318423ccd514c3bd0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487242879f19f08804a510793d24846774f870bd3a5fe280dfda839db3503342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CN7JKMN9m4XZ5KMaVqt7AH",
      "input": {
        "note": "The can is lifted and held horizontally in the left jaws (visible in top view). Carrying it up and toward the burner, which sits near the table centre line about 0.42 m out.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.28,
          "left_yaw": 0.35,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01CN7JKMN9m4XZ5KMaVqt7AH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9031, 2.0186, 1.7836, -0.8883, -0.8986, -1.0615, 0.5072, -0.0212, 0.8101, 0.6151, -0.5613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.2769 left_z=0.1891 left_yaw=0.3431 left_pitch=-0.0204 left_roll=-0.0158 left_gripper=0.5072 right_x=0.2696 right_y=0.0014 right_z=0.1455 right_yaw=-0.0001 right_pitch=-0.1754 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -11.0154, 8.4581, 0.6862, -0.6374, -0.022, -0.022, 0.0752, -1.4838, 7.0496, 1.9463, -0.0513, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb50e2dccf14042dda379b20e3d3c813b24dc26db65ddca4bd9c08eeadd36d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b1654889ee95c7c12af3109d61e7cd6d38e54e9905ce85502779777d7b5db46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25678be5094d2bf8d5c79d8e06d9a1934e95b0f41321e12c4b832b270675ab5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 16.3 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]: [-0.3202, 1.5471, 0.4915, 0.363, -0.5476, -0.4313, 0.5078, -0.0212, 0.8036, 0.6151, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3687 left_y=-0.0216 left_z=0.0514 left_yaw=0.3475 left_pitch=-0.0008 left_roll=-0.0014 left_gripper=0.5078 right_x=0.2793 right_y=0.0012 right_z=0.1584 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.7248, 4.6564, 0.779, 0.0806, -0.0269, 0.2271, -0.2256, -1.1829, 6.9538, 1.8242, -0.0659, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3355, 1.206, 0.7216, -0.2092, -0.5583, -0.4507, 0.5073, -0.0212, 0.8062, 0.6151, -0.5232, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3528 left_y=-0.0201 left_z=0.1572 left_yaw=0.351 left_pitch=0.0025 left_roll=-0.0117 left_gripper=0.5073 right_x=0.2758 right_y=0.0012 right_z=0.1534 right_yaw=-0.0002 right_pitch=-0.1335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -4.7521, 9.0051, 1.5653, -0.2906, -0.0024, -0.0708, -0.0752, -1.4154, 6.9265, 1.8388, -0.0415, -0.0317, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9031, 2.0186, 1.7836, -0.8883, -0.8986, -1.0615, 0.5072, -0.0212, 0.8101, 0.6151, -0.5613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.2769 left_z=0.1891 left_yaw=0.3431 left_pitch=-0.0204 left_roll=-0.0158 left_gripper=0.5072 right_x=0.2696 right_y=0.0014 right_z=0.1455 right_yaw=-0.0001 right_pitch=-0.1754 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -11.0154, 8.4581, 0.6862, -0.6374, -0.022, -0.022, 0.0752, -1.4838, 7.0496, 1.9463, -0.0513, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb50e2dccf14042dda379b20e3d3c813b24dc26db65ddca4bd9c08eeadd36d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b1654889ee95c7c12af3109d61e7cd6d38e54e9905ce85502779777d7b5db46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25678be5094d2bf8d5c79d8e06d9a1934e95b0f41321e12c4b832b270675ab5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RghNZEBZ75SZchxR5v7wS4",
      "input": {
        "note": "The burner coil is directly ahead in the left wrist view, slightly right of the jaw column. Advancing ~4 cm and lowering to just above the burner surface before releasing.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.3,
          "left_yaw": 0.35,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RghNZEBZ75SZchxR5v7wS4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8684, 2.1971, 1.8462, -0.8108, -0.8833, -1.0466, 0.5072, -0.0212, 0.8116, 0.6151, -0.5877, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2895 left_z=0.131 left_yaw=0.3644 left_pitch=-0.0461 left_roll=0.0283 left_gripper=0.5072 right_x=0.2651 right_y=0.0014 right_z=0.1404 right_yaw=0.0 right_pitch=-0.2033 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -13.3812, 9.2513, 1.0085, -0.4762, 0.1929, -0.0122, -0.1026, -1.2786, 7.0496, 1.8681, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f564d977049a4e4e601fdf5ee75a6ae3b828cbdbf235a718d29702b223dd3e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9440a9e8937061d3bb5d802d2560120cd2af4519612beeebe780fadbd5b83cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28315fb114d220ea161d0e80295ab337747766436aee33a157beec4dd168e6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 20.92 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]: [-0.3355, 1.206, 0.7216, -0.2092, -0.5583, -0.4507, 0.5073, -0.0212, 0.8062, 0.6151, -0.5232, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3528 left_y=-0.0201 left_z=0.1572 left_yaw=0.351 left_pitch=0.0025 left_roll=-0.0117 left_gripper=0.5073 right_x=0.2758 right_y=0.0012 right_z=0.1534 right_yaw=-0.0002 right_pitch=-0.1335 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -4.7521, 9.0051, 1.5653, -0.2906, -0.0024, -0.0708, -0.0752, -1.4154, 6.9265, 1.8388, -0.0415, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9031, 2.0186, 1.7836, -0.8883, -0.8986, -1.0615, 0.5072, -0.0212, 0.8101, 0.6151, -0.5613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.2769 left_z=0.1891 left_yaw=0.3431 left_pitch=-0.0204 left_roll=-0.0158 left_gripper=0.5072 right_x=0.2696 right_y=0.0014 right_z=0.1455 right_yaw=-0.0001 right_pitch=-0.1754 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -11.0154, 8.4581, 0.6862, -0.6374, -0.022, -0.022, 0.0752, -1.4838, 7.0496, 1.9463, -0.0513, -0.0269, -0.0073]",
      "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]: [-0.8684, 2.1971, 1.8462, -0.8108, -0.8833, -1.0466, 0.5072, -0.0212, 0.8116, 0.6151, -0.5877, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2895 left_z=0.131 left_yaw=0.3644 left_pitch=-0.0461 left_roll=0.0283 left_gripper=0.5072 right_x=0.2651 right_y=0.0014 right_z=0.1404 right_yaw=0.0 right_pitch=-0.2033 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -13.3812, 9.2513, 1.0085, -0.4762, 0.1929, -0.0122, -0.1026, -1.2786, 7.0496, 1.8681, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f564d977049a4e4e601fdf5ee75a6ae3b828cbdbf235a718d29702b223dd3e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9440a9e8937061d3bb5d802d2560120cd2af4519612beeebe780fadbd5b83cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28315fb114d220ea161d0e80295ab337747766436aee33a157beec4dd168e6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CwjtLC46uaAmb2ZhbMXUhR",
      "input": {
        "note": "The top view shows a can lying on the table back near where I grasped, and gripper effort is near zero, so I suspect the can is not in the jaws. Re-commanding a close to test whether the jaws are actually holding anything.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CwjtLC46uaAmb2ZhbMXUhR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8635, 2.2326, 1.853, -0.7773, -0.873, -1.0267, 0.0098, -0.0212, 0.8116, 0.6151, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4343 left_y=-0.2942 left_z=0.1173 left_yaw=0.3541 left_pitch=-0.0537 left_roll=0.0365 left_gripper=0.0098 right_x=0.2607 right_y=0.0015 right_z=0.1361 right_yaw=0.0001 right_pitch=-0.2285 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.9692, 8.9504, 1.0965, -0.5641, 0.0513, 0.8425, -0.0205, -0.9368, 6.8171, 1.7363, -0.0171, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d4cd4c1403c6044b595785b993a060e9295be2292d868385e73d85c68801ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5afd0c7111a68e2868a180b8c35b30e8297c9094e5f6f7a13af99b111e1cd938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d1e5552b08aaf081a2c2ad74e7d5f64010fd85271145fc46f079f726a48b221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 29.68 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]: [-0.9031, 2.0186, 1.7836, -0.8883, -0.8986, -1.0615, 0.5072, -0.0212, 0.8101, 0.6151, -0.5613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3989 left_y=-0.2769 left_z=0.1891 left_yaw=0.3431 left_pitch=-0.0204 left_roll=-0.0158 left_gripper=0.5072 right_x=0.2696 right_y=0.0014 right_z=0.1455 right_yaw=-0.0001 right_pitch=-0.1754 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -11.0154, 8.4581, 0.6862, -0.6374, -0.022, -0.022, 0.0752, -1.4838, 7.0496, 1.9463, -0.0513, -0.0269, -0.0073]",
      "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]: [-0.8684, 2.1971, 1.8462, -0.8108, -0.8833, -1.0466, 0.5072, -0.0212, 0.8116, 0.6151, -0.5877, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2895 left_z=0.131 left_yaw=0.3644 left_pitch=-0.0461 left_roll=0.0283 left_gripper=0.5072 right_x=0.2651 right_y=0.0014 right_z=0.1404 right_yaw=0.0 right_pitch=-0.2033 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -13.3812, 9.2513, 1.0085, -0.4762, 0.1929, -0.0122, -0.1026, -1.2786, 7.0496, 1.8681, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.8635, 2.2326, 1.853, -0.7773, -0.873, -1.0267, 0.0098, -0.0212, 0.8116, 0.6151, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4343 left_y=-0.2942 left_z=0.1173 left_yaw=0.3541 left_pitch=-0.0537 left_roll=0.0365 left_gripper=0.0098 right_x=0.2607 right_y=0.0015 right_z=0.1361 right_yaw=0.0001 right_pitch=-0.2285 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.9692, 8.9504, 1.0965, -0.5641, 0.0513, 0.8425, -0.0205, -0.9368, 6.8171, 1.7363, -0.0171, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d4cd4c1403c6044b595785b993a060e9295be2292d868385e73d85c68801ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5afd0c7111a68e2868a180b8c35b30e8297c9094e5f6f7a13af99b111e1cd938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d1e5552b08aaf081a2c2ad74e7d5f64010fd85271145fc46f079f726a48b221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X3DiKpEq8fKs77mfNVcZxo",
      "input": {
        "note": "The jaws closed fully to 0.01: the can was dropped and now lies on the table left of the burner, oriented across the arm's y axis. Flying back over it with the gripper open and yawed 90° so the jaws close across the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.05,
          "left_yaw": 1.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01X3DiKpEq8fKs77mfNVcZxo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4175, 2.2459, 1.8019, -1.5543, -0.8711, -2.0586, 0.9977, -0.0212, 0.812, 0.6151, -0.6353, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3812 left_y=-0.0173 left_z=0.1 left_yaw=1.447 left_pitch=-0.0517 left_roll=0.0576 left_gripper=0.9977 right_x=0.2566 right_y=0.0017 right_z=0.1322 right_yaw=0.0006 right_pitch=-0.2513 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -14.188, 4.7932, -0.5348, -0.3053, -0.0317, -0.0513, -0.1299, -0.759, 6.8171, 1.6777, -0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d908a9aea927d495ec1e291304f30fa402754975c3c0ad7a33c14990ffd60449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc5ab6f73e40e45efc293e6968d8574685d8c66aa5bde78bf3f15632fe19144",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22e08ca5a3d3d817130eb4961a8da7bc73e963046b67a9b49377575ca96d5eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 12.79 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]: [-0.8684, 2.1971, 1.8462, -0.8108, -0.8833, -1.0466, 0.5072, -0.0212, 0.8116, 0.6151, -0.5877, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2895 left_z=0.131 left_yaw=0.3644 left_pitch=-0.0461 left_roll=0.0283 left_gripper=0.5072 right_x=0.2651 right_y=0.0014 right_z=0.1404 right_yaw=0.0 right_pitch=-0.2033 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -13.3812, 9.2513, 1.0085, -0.4762, 0.1929, -0.0122, -0.1026, -1.2786, 7.0496, 1.8681, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.8635, 2.2326, 1.853, -0.7773, -0.873, -1.0267, 0.0098, -0.0212, 0.8116, 0.6151, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4343 left_y=-0.2942 left_z=0.1173 left_yaw=0.3541 left_pitch=-0.0537 left_roll=0.0365 left_gripper=0.0098 right_x=0.2607 right_y=0.0015 right_z=0.1361 right_yaw=0.0001 right_pitch=-0.2285 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.9692, 8.9504, 1.0965, -0.5641, 0.0513, 0.8425, -0.0205, -0.9368, 6.8171, 1.7363, -0.0171, -0.0513, -0.0073]",
      "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]: [-0.4175, 2.2459, 1.8019, -1.5543, -0.8711, -2.0586, 0.9977, -0.0212, 0.812, 0.6151, -0.6353, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3812 left_y=-0.0173 left_z=0.1 left_yaw=1.447 left_pitch=-0.0517 left_roll=0.0576 left_gripper=0.9977 right_x=0.2566 right_y=0.0017 right_z=0.1322 right_yaw=0.0006 right_pitch=-0.2513 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -14.188, 4.7932, -0.5348, -0.3053, -0.0317, -0.0513, -0.1299, -0.759, 6.8171, 1.6777, -0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d908a9aea927d495ec1e291304f30fa402754975c3c0ad7a33c14990ffd60449",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc5ab6f73e40e45efc293e6968d8574685d8c66aa5bde78bf3f15632fe19144",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e08ca5a3d3d817130eb4961a8da7bc73e963046b67a9b49377575ca96d5eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019wijAVu2WByrPpAsC7xoKT",
      "input": {
        "note": "The wrist view shows the can lying diagonally below-left of the jaws; working out its direction, it still lies about 0.5 rad off the arm's x axis, so I'm yawing back to 0.5 to close across it and shifting slightly left.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": 0.0,
          "left_yaw": 0.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019wijAVu2WByrPpAsC7xoKT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3138, 1.5017, 0.8326, -0.5217, -0.7399, -0.9646, 0.9985, -0.0212, 0.8162, 0.6151, -0.6678, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=0.0224 left_z=0.0844 left_yaw=0.8162 left_pitch=-0.182 left_roll=0.0684 left_gripper=0.9985 right_x=0.2506 right_y=0.0018 right_z=0.126 right_yaw=0.0008 right_pitch=-0.288 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8171, 6.8855, 1.2821, -0.2418, 0.1441, -0.1734, -0.1162, -1.1009, 6.7761, 1.7998, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37eba360f21824d24cb35d90e1a01314446cc8c5008d57bf6e66578097adbfbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050088f9949993941388a1c0d5c44b961e5d02fa2099826107cfc718078c1ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e5450fbf65cd5a22bce1bd01e6f8dd5d887ac6d833c5afccb2851277c4e2a10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 9.961 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]: [-0.8635, 2.2326, 1.853, -0.7773, -0.873, -1.0267, 0.0098, -0.0212, 0.8116, 0.6151, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4343 left_y=-0.2942 left_z=0.1173 left_yaw=0.3541 left_pitch=-0.0537 left_roll=0.0365 left_gripper=0.0098 right_x=0.2607 right_y=0.0015 right_z=0.1361 right_yaw=0.0001 right_pitch=-0.2285 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.9692, 8.9504, 1.0965, -0.5641, 0.0513, 0.8425, -0.0205, -0.9368, 6.8171, 1.7363, -0.0171, -0.0513, -0.0073]",
      "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]: [-0.4175, 2.2459, 1.8019, -1.5543, -0.8711, -2.0586, 0.9977, -0.0212, 0.812, 0.6151, -0.6353, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3812 left_y=-0.0173 left_z=0.1 left_yaw=1.447 left_pitch=-0.0517 left_roll=0.0576 left_gripper=0.9977 right_x=0.2566 right_y=0.0017 right_z=0.1322 right_yaw=0.0006 right_pitch=-0.2513 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -14.188, 4.7932, -0.5348, -0.3053, -0.0317, -0.0513, -0.1299, -0.759, 6.8171, 1.6777, -0.0269, -0.0562, -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]: [-0.3138, 1.5017, 0.8326, -0.5217, -0.7399, -0.9646, 0.9985, -0.0212, 0.8162, 0.6151, -0.6678, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=0.0224 left_z=0.0844 left_yaw=0.8162 left_pitch=-0.182 left_roll=0.0684 left_gripper=0.9985 right_x=0.2506 right_y=0.0018 right_z=0.126 right_yaw=0.0008 right_pitch=-0.288 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8171, 6.8855, 1.2821, -0.2418, 0.1441, -0.1734, -0.1162, -1.1009, 6.7761, 1.7998, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37eba360f21824d24cb35d90e1a01314446cc8c5008d57bf6e66578097adbfbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050088f9949993941388a1c0d5c44b961e5d02fa2099826107cfc718078c1ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e5450fbf65cd5a22bce1bd01e6f8dd5d887ac6d833c5afccb2851277c4e2a10",
        "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_01KXcu2pqiC9HSgkEvRddp6H",
      "input": {
        "note": "The can runs from the jaw column at the bottom edge up toward the upper right of the left wrist view, so its middle is ahead and slightly right of the fingertips. Moving over its middle, lowering to just above it, and yawing so the jaws close across it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": 0.04,
          "left_yaw": 0.45,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KXcu2pqiC9HSgkEvRddp6H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2146, 1.4818, 0.7177, -0.2474, -0.6193, -0.6632, 0.9985, -0.0212, 0.8173, 0.6147, -0.6792, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3435 left_y=0.0338 left_z=0.0676 left_yaw=0.6542 left_pitch=-0.1886 left_roll=0.0777 left_gripper=0.9985 right_x=0.2484 right_y=0.0018 right_z=0.1237 right_yaw=0.0005 right_pitch=-0.3009 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.9145, 6.188, 1.3162, -0.2515, 0.1441, -0.1734, -0.1436, -0.9778, 7.1863, 1.4969, -0.022, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4980efd7cd3d1177c0b67e3e5de21b99f55aa33461d8c3a5bbdd6d5e66d910e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0e73bcda7c62c7b7bd12899986768469d873d98af35e19463d6d3484f03f869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:406a55c4b50ff3ba442f9d33c5932d335c8f6d5aea6486d7b7702fc76e58e40c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 14.13 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]: [-0.4175, 2.2459, 1.8019, -1.5543, -0.8711, -2.0586, 0.9977, -0.0212, 0.812, 0.6151, -0.6353, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3812 left_y=-0.0173 left_z=0.1 left_yaw=1.447 left_pitch=-0.0517 left_roll=0.0576 left_gripper=0.9977 right_x=0.2566 right_y=0.0017 right_z=0.1322 right_yaw=0.0006 right_pitch=-0.2513 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -14.188, 4.7932, -0.5348, -0.3053, -0.0317, -0.0513, -0.1299, -0.759, 6.8171, 1.6777, -0.0269, -0.0562, -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]: [-0.3138, 1.5017, 0.8326, -0.5217, -0.7399, -0.9646, 0.9985, -0.0212, 0.8162, 0.6151, -0.6678, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=0.0224 left_z=0.0844 left_yaw=0.8162 left_pitch=-0.182 left_roll=0.0684 left_gripper=0.9985 right_x=0.2506 right_y=0.0018 right_z=0.126 right_yaw=0.0008 right_pitch=-0.288 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8171, 6.8855, 1.2821, -0.2418, 0.1441, -0.1734, -0.1162, -1.1009, 6.7761, 1.7998, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2146, 1.4818, 0.7177, -0.2474, -0.6193, -0.6632, 0.9985, -0.0212, 0.8173, 0.6147, -0.6792, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3435 left_y=0.0338 left_z=0.0676 left_yaw=0.6542 left_pitch=-0.1886 left_roll=0.0777 left_gripper=0.9985 right_x=0.2484 right_y=0.0018 right_z=0.1237 right_yaw=0.0005 right_pitch=-0.3009 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.9145, 6.188, 1.3162, -0.2515, 0.1441, -0.1734, -0.1436, -0.9778, 7.1863, 1.4969, -0.022, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4980efd7cd3d1177c0b67e3e5de21b99f55aa33461d8c3a5bbdd6d5e66d910e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0e73bcda7c62c7b7bd12899986768469d873d98af35e19463d6d3484f03f869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:406a55c4b50ff3ba442f9d33c5932d335c8f6d5aea6486d7b7702fc76e58e40c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgRGAI4AUIIdGhpbmtpbmcSDH3uvlUaleQdJoCvIxoMjqyaVJ39YDXNQMJuIjDVCUf+ypcmVXD27zYpseLULKf++OIdOxZsWum7ajUA2qOlbL7RTXrrsL7FvvU2MkIq+QhHMCF4Irs29zBl2TNHS1lGjGjQ6T3UjkW+Zo3diduZvk8dau0mH5Wyvpuv1IjUK2T2eyAuGuIEHEdV4VErMa6QzGWOcptYpov/EBADXh+7nEAkB8/FknVOzy6hAf5KVyMOapud9bytX9oe5BdVQ28nP71YzNGXt4Sc5tYhaki7lXWaSLcbglm1pgSDvp6Ey0XIvX1QSO2/8O2HVPj4pPClFkSWcHREoXzetNwihLHlMs9xvFZhLoXsou1BElfEQw6EFl+OIA6sB6qhjbcPpHofv+ZtR8FmQo2P6HjOdkUzkd5RfrcDTiRycJfiv3mXCutG4vCInDusJ1nNG/xCRzO8+tmeIgUWoUKxrm0JLniQVlIuViCC4u99RnX/nbaKU4If0fy7VEgOXINBb1l4pIeraNva8OtzWLP5wUOt9p0GoncDMHvu5MIBZtOmYdov71HydBcx5lweNUUpyCtzf1/qsDIGrtDfDaOXd4NhTtrCHa7GmM460tPs6OWKoidOhyQKCorGdAPY+Ju4LNQ7bPvg5hSVOm3hVjcX6ZbPcovzQTAGwDAJWMByfMD7jlQvcmv/B29wmCUzw7kWg30UVDmTlfBo05+ghC+xu7hswiIMBap4LSwoytuF2Utq1xAGU2UHOcPSmdWWR5mLcoDQ+xZ8gDzpVWuHgCCDW68Owx1jf7Thgt5gOUPaB7v/8yM0ih9/11cDjsGF5cUHw1cZeWXm8ncbG7VGle3mAa/sId5cwb7beU9/kDkGQlKezL4n0gupPSQhehwTsGJ1bsen0A2sceJQvdk6wVzDxojvqsVOpQ/yvzIYca8Z3Q7wxf6FBwJAaW9xt7HLoulK7wrODd1iupxAKn4N1RL2NrarIPBJvhJxS4UOmR/GPzh7j8sKTWmI+RYypDibBGmsiTeOfEDEzUmvpLslPBmlr28vvk02txh1TCGb4MYejEye6qbEEPImU4Ji3S7nTE5+DW5lZkQcd+WRLAVFsetl4yKE5WBelfUDfdOo0z9U7RbvtRESqyRcyXaHTbAD9uQdpoR7AmA+Njc9PvQzwUemjHIDatQqY+CsK0JqdHsOQPXndqrWkq02D0O0QoIyxAnH3GXiJaInwHiNnMBoaeFeNSrxFN9tGPMx0VVnsmlJCIaDVaJO/2+oFSfG7nlwQth3Lz7X83klxvf1HTn1+naFuGdbRKgQyx9YolyVX3C6E6j16EKEGcQIOQi7ExMUUSDzcBljiSgTCtpqT3lkeZt+VHfwvHGhIlT3CKRCQ6Fpw1BV8Po6OG1diZXtDqZXpm1yo7yn8zkTBuX6lz+FiRUmaPRPx+YmpPTDoDCpd0Mc6RgAUDm4bdzi61Y0KmhTZQMzu1YibPmMXLaFkcoi8WB+XWrU0Ps+DfpGKUe1YL0PljMMn05Kkbx+qN3moVuG7aBvPTAst9WoV05LhClbAbIsFywM+rRQ/APVIgFBGB2iX0nmwzX2d14otQPYOHzNlabgYo6/uVjo4X7+wAqnN0HSkDhVa5MmOH4X/RjzEt2EXBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CFzufczkRjZpPyJonzKhXJ",
      "input": {
        "note": "The can body now passes between the two jaws in the left wrist view. Descending to can-centre height and finishing the yaw so the jaws close squarely across it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": 0.04,
          "left_yaw": 0.4,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CFzufczkRjZpPyJonzKhXJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6582, 0.9985, -0.0212, 0.8173, 0.6151, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6483 left_pitch=-0.1873 left_roll=0.076 left_gripper=0.9985 right_x=0.2483 right_y=0.0018 right_z=0.1238 right_yaw=0.0005 right_pitch=-0.3013 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.9829, 6.188, 1.4042, -0.3004, 0.1148, -0.1734, -0.0068, -1.0325, 6.7214, 1.3944, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3fdd55b5e0036bf523ebd6628c9e037d5e361219f9e5e0308f5b342a994b253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffb6121c3f180892ed6c89227fafb3df60ea241064f155c949f1c13c6d5c2e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44472271d59bff7855907734290a433d6e5b437aef92769062ec5857c98041c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 8.806 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]: [-0.3138, 1.5017, 0.8326, -0.5217, -0.7399, -0.9646, 0.9985, -0.0212, 0.8162, 0.6151, -0.6678, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=0.0224 left_z=0.0844 left_yaw=0.8162 left_pitch=-0.182 left_roll=0.0684 left_gripper=0.9985 right_x=0.2506 right_y=0.0018 right_z=0.126 right_yaw=0.0008 right_pitch=-0.288 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8171, 6.8855, 1.2821, -0.2418, 0.1441, -0.1734, -0.1162, -1.1009, 6.7761, 1.7998, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2146, 1.4818, 0.7177, -0.2474, -0.6193, -0.6632, 0.9985, -0.0212, 0.8173, 0.6147, -0.6792, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3435 left_y=0.0338 left_z=0.0676 left_yaw=0.6542 left_pitch=-0.1886 left_roll=0.0777 left_gripper=0.9985 right_x=0.2484 right_y=0.0018 right_z=0.1237 right_yaw=0.0005 right_pitch=-0.3009 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.9145, 6.188, 1.3162, -0.2515, 0.1441, -0.1734, -0.1436, -0.9778, 7.1863, 1.4969, -0.022, -0.0024, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6582, 0.9985, -0.0212, 0.8173, 0.6151, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6483 left_pitch=-0.1873 left_roll=0.076 left_gripper=0.9985 right_x=0.2483 right_y=0.0018 right_z=0.1238 right_yaw=0.0005 right_pitch=-0.3013 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.9829, 6.188, 1.4042, -0.3004, 0.1148, -0.1734, -0.0068, -1.0325, 6.7214, 1.3944, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3fdd55b5e0036bf523ebd6628c9e037d5e361219f9e5e0308f5b342a994b253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffb6121c3f180892ed6c89227fafb3df60ea241064f155c949f1c13c6d5c2e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44472271d59bff7855907734290a433d6e5b437aef92769062ec5857c98041c0",
        "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_01B699C8yF9QwnDywAuTe5HP",
      "input": {
        "note": "The arm did not move at all on the last command; a jaw tip is probably resting on top of the can (a ~6.5 cm can, fingertips at 6.8 cm). Lifting slightly and correcting the yaw first so the jaws will straddle the can when I descend.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": 0.04,
          "left_yaw": 0.3,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01B699C8yF9QwnDywAuTe5HP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6579, 0.9985, -0.0212, 0.8173, 0.6151, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6481 left_pitch=-0.1873 left_roll=0.0763 left_gripper=0.9985 right_x=0.2442 right_y=0.002 right_z=0.1205 right_yaw=0.001 right_pitch=-0.3227 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.9692, 6.1744, 1.3358, -0.2906, 0.1392, -0.1734, -0.0479, -1.0735, 6.735, 1.6044, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1b4b218b9b7a2769cd64a6f88a6d2d663abae869ebb45516b6754f6659c7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebc0886451fb3ff861575522f5b4cd3c8b0efe9dba583cd39421efa830a40658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3879e2d653f117386263ae3743c72e8de14196a43a37c805c5d80531173f2a54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 12.32 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]: [-0.2146, 1.4818, 0.7177, -0.2474, -0.6193, -0.6632, 0.9985, -0.0212, 0.8173, 0.6147, -0.6792, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3435 left_y=0.0338 left_z=0.0676 left_yaw=0.6542 left_pitch=-0.1886 left_roll=0.0777 left_gripper=0.9985 right_x=0.2484 right_y=0.0018 right_z=0.1237 right_yaw=0.0005 right_pitch=-0.3009 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.9145, 6.188, 1.3162, -0.2515, 0.1441, -0.1734, -0.1436, -0.9778, 7.1863, 1.4969, -0.022, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6582, 0.9985, -0.0212, 0.8173, 0.6151, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6483 left_pitch=-0.1873 left_roll=0.076 left_gripper=0.9985 right_x=0.2483 right_y=0.0018 right_z=0.1238 right_yaw=0.0005 right_pitch=-0.3013 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.9829, 6.188, 1.4042, -0.3004, 0.1148, -0.1734, -0.0068, -1.0325, 6.7214, 1.3944, -0.0513, -0.0708, -0.0073]",
      "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]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6579, 0.9985, -0.0212, 0.8173, 0.6151, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6481 left_pitch=-0.1873 left_roll=0.0763 left_gripper=0.9985 right_x=0.2442 right_y=0.002 right_z=0.1205 right_yaw=0.001 right_pitch=-0.3227 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.9692, 6.1744, 1.3358, -0.2906, 0.1392, -0.1734, -0.0479, -1.0735, 6.735, 1.6044, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1b4b218b9b7a2769cd64a6f88a6d2d663abae869ebb45516b6754f6659c7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebc0886451fb3ff861575522f5b4cd3c8b0efe9dba583cd39421efa830a40658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3879e2d653f117386263ae3743c72e8de14196a43a37c805c5d80531173f2a54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AcKEAgRGAI4AUIIdGhpbmtpbmcSDCTCBUd0K/Ie5Y2YfRoMhxi1/fHhNIhuFZWlIjA9iGb5MMEiMo9lTNEpwLNL4VugNXk8ZblICfA5YkYvoti8huZLuQ6zteIQZIB3wkkqjQd8ghRjRwcuMwF/Or6N/enPTMitdEMoiOcgA/Tv3EttbCkoOzuPmlaAi1HDXhbqG/a49w4VFgtGqIbq3KCLvqREgp0AePMaSvRGc1IpojF9Lkkp9eYwWtp9vryr4gVtklGebWPQ/+56rw8I1ejcOImB3buKZZpG9GYsMEv49WjhRxi690bC7NKtIrx7O8y6IrZCfz2SWevszUZvuB8GB5l/YdT2xVZL37UETo2yp3OOBC/vzNY0QBa/azaZJ7I4AJqCtU4Y95+iiCCFSlw1zk1YOHRnTWLv9H3S7iuTpBrGhVQ+qpAEYid7dP+0byB+eGkZ7GCri/xtfazHJ5bhMKCNn4tNW1f1O4Tt+KYjYECQjdd+8CZs4nr0CXzN3QkuNBfgASFW57A1oYQ2KPRNAaou7ibTlTaxxZFWZGAzqNoAodNjchG9L4MCzYxpRPBd4vqVTqbdLUGHz//NFYiZnEsVegqgvdrM8ryAWlZnmf9VGkaXfheNjpnl0aWUk2Pcwf2wbTUUJlXYZeiAmsY7OvFjW0/FkZsUkgIDr14P0zPLu7D+3xdSVQ7hc5eleLuKRjcAXTAJxeutR0TE6d/NAe0CFsjV2TFZknOxdLzVH7cLB8MZ8AhlvEgPXbOrUmOKjU45mUqh+/iWDNw4ZApRI38bAXmrS+mlZCuWVGG0xrHJvlD1kZLkOhRnsVUcfDgZJRBb2bjx0Op/KtrHdvA0TqvuudMLrel9tbRXo3n+S757/qlQTsFXzgvzspHacuPcjmJZZEdRZf/0IYTSPJaKMef3iJNCQeEJFii9AAmcOXYYLRPGcfudSvH5tPT8HQYSA/LNG2VR8QmHUQG6/2bFv/ZAACyAQFI+P9dxvwKpSnoODl06p8NZRWMr/1ayVWCXNdTdfOPb8vc/9I+VamGgEGct5fa8lvoO4YVAdVK8DLDPnePREOg3Pbb0x++TEDUSTdsybHbPcTwYdc/yj2nkqhfirIm1KIsrCP8wD10myzH09AA0TlUkqZTTwBmk6iHqrgrayXqnzrXVWGzz+mRx8Rq/Qmq4+7LA2QlOCXp4Ux7hX2Rh4+D5GmbWoD8n+px1kayKiqtaw8WC35YvfAZNs0vsM+2ak/0r8x91EMuHPuwSuZuW7c/3gt1lybcwGK6965GaA2RTs0+jjH1wHD2z9TY88VmyrqwlVPcfJQfw6D/9aV5eW8lvjDIbfts3yJYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FmmpKESxr9iVL1erBsTbpE",
      "input": {
        "note": "The left arm is not responding to the last two targets at all, so the IK seems stalled in this pose. Backing off: reducing reach and raising the arm while keeping the current yaw to unstick it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.65,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FmmpKESxr9iVL1erBsTbpE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3962, 1.2621, 0.8909, -0.5941, -0.6746, -0.8223, 0.9985, -0.0212, 0.8204, 0.6151, -0.7238, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=-0.0139 left_z=0.1597 left_yaw=0.5892 left_pitch=-0.1223 left_roll=-0.0516 left_gripper=0.9985 right_x=0.2398 right_y=0.002 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3482 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -3.1248, 6.8034, 0.8132, -0.4371, 0.022, -0.1685, -0.0615, -0.841, 6.8991, 1.6239, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57d987b50a42affe067e6efdab09029ee8e9066bd92917bda1661466cc6f1367",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6cae102f9a3d87f48d4e5a629d72d2427217b69516601ae62b82bba5b66defb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:620907e75ccbdd795cbdd8cd90b92eca07786c5969a6bc47304d48f162f0374f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 9.22 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]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6582, 0.9985, -0.0212, 0.8173, 0.6151, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6483 left_pitch=-0.1873 left_roll=0.076 left_gripper=0.9985 right_x=0.2483 right_y=0.0018 right_z=0.1238 right_yaw=0.0005 right_pitch=-0.3013 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.9829, 6.188, 1.4042, -0.3004, 0.1148, -0.1734, -0.0068, -1.0325, 6.7214, 1.3944, -0.0513, -0.0708, -0.0073]",
      "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]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6579, 0.9985, -0.0212, 0.8173, 0.6151, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6481 left_pitch=-0.1873 left_roll=0.0763 left_gripper=0.9985 right_x=0.2442 right_y=0.002 right_z=0.1205 right_yaw=0.001 right_pitch=-0.3227 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.9692, 6.1744, 1.3358, -0.2906, 0.1392, -0.1734, -0.0479, -1.0735, 6.735, 1.6044, -0.0317, -0.0122, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3962, 1.2621, 0.8909, -0.5941, -0.6746, -0.8223, 0.9985, -0.0212, 0.8204, 0.6151, -0.7238, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=-0.0139 left_z=0.1597 left_yaw=0.5892 left_pitch=-0.1223 left_roll=-0.0516 left_gripper=0.9985 right_x=0.2398 right_y=0.002 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3482 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -3.1248, 6.8034, 0.8132, -0.4371, 0.022, -0.1685, -0.0615, -0.841, 6.8991, 1.6239, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57d987b50a42affe067e6efdab09029ee8e9066bd92917bda1661466cc6f1367",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6cae102f9a3d87f48d4e5a629d72d2427217b69516601ae62b82bba5b66defb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:620907e75ccbdd795cbdd8cd90b92eca07786c5969a6bc47304d48f162f0374f",
        "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_0148Ze4S5pQMC6B3GFdj25yw",
      "input": {
        "note": "Arm is free again; the can now appears nearly vertical in the left wrist view, running up from the bottom edge just left of the jaw column. Moving forward-left over its middle at a safe height with yaw ~0.7 to match its axis.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": 0.045,
          "left_yaw": 0.7,
          "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_0148Ze4S5pQMC6B3GFdj25yw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1806, 1.4162, 0.7696, -0.3191, -0.6132, -0.7341, 0.9985, -0.0212, 0.823, 0.6151, -0.7403, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=0.0437 left_z=0.0968 left_yaw=0.7172 left_pitch=-0.162 left_roll=-0.0142 left_gripper=0.9985 right_x=0.2366 right_y=0.0021 right_z=0.1134 right_yaw=0.0011 right_pitch=-0.3673 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.3265, 5.9692, 1.4628, -0.3101, 0.1197, -0.1734, -0.1299, -1.265, 6.7487, 1.4969, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f34b90132e6c3f84fea19d1eb33a1ea00f532762979636bf0a4ff19c31b41c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db16ccf8e210a50b070de9dfcb277547c00a1aebe6d6be5aeed0117fa8f8499c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65416246db51e026f8739fc91b39614a75be30861bf29bf077f26740a79d96a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 4.847 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]: [-0.2153, 1.4818, 0.7177, -0.2424, -0.6167, -0.6579, 0.9985, -0.0212, 0.8173, 0.6151, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3445 left_y=0.0329 left_z=0.0679 left_yaw=0.6481 left_pitch=-0.1873 left_roll=0.0763 left_gripper=0.9985 right_x=0.2442 right_y=0.002 right_z=0.1205 right_yaw=0.001 right_pitch=-0.3227 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.9692, 6.1744, 1.3358, -0.2906, 0.1392, -0.1734, -0.0479, -1.0735, 6.735, 1.6044, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3962, 1.2621, 0.8909, -0.5941, -0.6746, -0.8223, 0.9985, -0.0212, 0.8204, 0.6151, -0.7238, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=-0.0139 left_z=0.1597 left_yaw=0.5892 left_pitch=-0.1223 left_roll=-0.0516 left_gripper=0.9985 right_x=0.2398 right_y=0.002 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3482 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -3.1248, 6.8034, 0.8132, -0.4371, 0.022, -0.1685, -0.0615, -0.841, 6.8991, 1.6239, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1806, 1.4162, 0.7696, -0.3191, -0.6132, -0.7341, 0.9985, -0.0212, 0.823, 0.6151, -0.7403, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=0.0437 left_z=0.0968 left_yaw=0.7172 left_pitch=-0.162 left_roll=-0.0142 left_gripper=0.9985 right_x=0.2366 right_y=0.0021 right_z=0.1134 right_yaw=0.0011 right_pitch=-0.3673 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.3265, 5.9692, 1.4628, -0.3101, 0.1197, -0.1734, -0.1299, -1.265, 6.7487, 1.4969, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f34b90132e6c3f84fea19d1eb33a1ea00f532762979636bf0a4ff19c31b41c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db16ccf8e210a50b070de9dfcb277547c00a1aebe6d6be5aeed0117fa8f8499c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65416246db51e026f8739fc91b39614a75be30861bf29bf077f26740a79d96a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D7p1BbLLbCRMneQtJEZG3Q",
      "input": {
        "note": "The can is now vertical in the left wrist view and centred on the jaw column, with its body reaching the bottom edge under the fingertips. Descending to can-centre height to grasp its body (the fence-side y bound prevents going further along it).",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.355,
          "left_y": 0.05,
          "left_yaw": 0.72,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01D7p1BbLLbCRMneQtJEZG3Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1577, 1.5997, 0.6464, -0.0593, -0.5957, -0.7174, 0.9985, -0.0212, 0.823, 0.6151, -0.7479, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.345 left_y=0.0491 left_z=0.0275 left_yaw=0.7261 left_pitch=-0.203 left_roll=0.0259 left_gripper=0.9985 right_x=0.235 right_y=0.0021 right_z=0.1123 right_yaw=0.0011 right_pitch=-0.3749 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.6803, 5.1624, 1.3846, -0.3883, 0.0464, -0.1734, -0.0479, -1.0598, 6.8581, 1.3895, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6000472db22ad36a99bde387f814913839cef3389bfb5bf29a039c51337ff780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f9dfe397d5a94baf6e173968a8d83fa0e20a760a1ec9bb887ffc6f189af7ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3c679c85e8b72d73a9ffa3dc9a7cd4a2a8b807355a41cf062f3cadb87947403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 5.913 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]: [-0.3962, 1.2621, 0.8909, -0.5941, -0.6746, -0.8223, 0.9985, -0.0212, 0.8204, 0.6151, -0.7238, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3284 left_y=-0.0139 left_z=0.1597 left_yaw=0.5892 left_pitch=-0.1223 left_roll=-0.0516 left_gripper=0.9985 right_x=0.2398 right_y=0.002 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3482 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -3.1248, 6.8034, 0.8132, -0.4371, 0.022, -0.1685, -0.0615, -0.841, 6.8991, 1.6239, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1806, 1.4162, 0.7696, -0.3191, -0.6132, -0.7341, 0.9985, -0.0212, 0.823, 0.6151, -0.7403, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=0.0437 left_z=0.0968 left_yaw=0.7172 left_pitch=-0.162 left_roll=-0.0142 left_gripper=0.9985 right_x=0.2366 right_y=0.0021 right_z=0.1134 right_yaw=0.0011 right_pitch=-0.3673 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.3265, 5.9692, 1.4628, -0.3101, 0.1197, -0.1734, -0.1299, -1.265, 6.7487, 1.4969, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1577, 1.5997, 0.6464, -0.0593, -0.5957, -0.7174, 0.9985, -0.0212, 0.823, 0.6151, -0.7479, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.345 left_y=0.0491 left_z=0.0275 left_yaw=0.7261 left_pitch=-0.203 left_roll=0.0259 left_gripper=0.9985 right_x=0.235 right_y=0.0021 right_z=0.1123 right_yaw=0.0011 right_pitch=-0.3749 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.6803, 5.1624, 1.3846, -0.3883, 0.0464, -0.1734, -0.0479, -1.0598, 6.8581, 1.3895, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6000472db22ad36a99bde387f814913839cef3389bfb5bf29a039c51337ff780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f9dfe397d5a94baf6e173968a8d83fa0e20a760a1ec9bb887ffc6f189af7ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3c679c85e8b72d73a9ffa3dc9a7cd4a2a8b807355a41cf062f3cadb87947403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Can body sits between the jaws at z≈0.03. Closing fully now (giving the close enough time this round).",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014b56fYBSYRefxondGcSPTi",
      "input": {
        "note": "At z≈0.03 the can body fills the space between the two jaws in the left wrist view. Closing the gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014b56fYBSYRefxondGcSPTi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1555, 1.6085, 0.6353, 0.0376, -0.6098, -0.7143, 0.6745, -0.0212, 0.823, 0.6151, -0.7685, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.357 left_y=0.0501 left_z=0.0342 left_yaw=0.7255 left_pitch=-0.145 left_roll=-0.0247 left_gripper=0.6745 right_x=0.2308 right_y=0.0022 right_z=0.1095 right_yaw=0.0013 right_pitch=-0.3955 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -5.7368, 5.2991, 1.1551, -0.1978, 0.0317, 0.9939, -0.1846, -0.8547, 6.6667, 1.5165, -0.0366, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43cb17f137473ac45e2a55fc5c5796529c3a9ae84c36540321f85450ff453caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8debd6c58f173eb480040a83ef077e064f775677ab21cae5ad073d2897d29bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68d51bf2032e6bb808b757c0d737ff160e7d8c7a4dfc02ad6d12dc4bdebf8a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.099 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]: [-0.1806, 1.4162, 0.7696, -0.3191, -0.6132, -0.7341, 0.9985, -0.0212, 0.823, 0.6151, -0.7403, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=0.0437 left_z=0.0968 left_yaw=0.7172 left_pitch=-0.162 left_roll=-0.0142 left_gripper=0.9985 right_x=0.2366 right_y=0.0021 right_z=0.1134 right_yaw=0.0011 right_pitch=-0.3673 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -5.3265, 5.9692, 1.4628, -0.3101, 0.1197, -0.1734, -0.1299, -1.265, 6.7487, 1.4969, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1577, 1.5997, 0.6464, -0.0593, -0.5957, -0.7174, 0.9985, -0.0212, 0.823, 0.6151, -0.7479, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.345 left_y=0.0491 left_z=0.0275 left_yaw=0.7261 left_pitch=-0.203 left_roll=0.0259 left_gripper=0.9985 right_x=0.235 right_y=0.0021 right_z=0.1123 right_yaw=0.0011 right_pitch=-0.3749 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.6803, 5.1624, 1.3846, -0.3883, 0.0464, -0.1734, -0.0479, -1.0598, 6.8581, 1.3895, -0.0611, -0.0317, -0.0122]",
      "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]: [-0.1555, 1.6085, 0.6353, 0.0376, -0.6098, -0.7143, 0.6745, -0.0212, 0.823, 0.6151, -0.7685, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.357 left_y=0.0501 left_z=0.0342 left_yaw=0.7255 left_pitch=-0.145 left_roll=-0.0247 left_gripper=0.6745 right_x=0.2308 right_y=0.0022 right_z=0.1095 right_yaw=0.0013 right_pitch=-0.3955 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -5.7368, 5.2991, 1.1551, -0.1978, 0.0317, 0.9939, -0.1846, -0.8547, 6.6667, 1.5165, -0.0366, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43cb17f137473ac45e2a55fc5c5796529c3a9ae84c36540321f85450ff453caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8debd6c58f173eb480040a83ef077e064f775677ab21cae5ad073d2897d29bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68d51bf2032e6bb808b757c0d737ff160e7d8c7a4dfc02ad6d12dc4bdebf8a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wcKEAgRGAI4AUIIdGhpbmtpbmcSDOisYWYs0NILphICrhoMKodeYwRCNgdMI03PIjC85xIuppFUS764+eNTgSzfMyfNmbQjSOfa2fCPr6+w6w1bHAuuI4mTKOa1OCzjvhcq8Abjaww5pi7R89MN9BKzhk3Q54SymScfyOI8IQGJa+GRrGVkkfQh7Mvmjz5k87syzzF4ezVHVnOZqbcLp5uU7GA8VIbG5e2HrrHqOs9f1GfAdVTrh06TCWYKMeLN6SqaQxXaldzx8xJ8UG+BMclVDTws55Ec3J1xywD6a4HXa7GZ+4wpHLN+RdTU44753SI4Iq6aTZF7uCjpI+zM4E3SHpnbcOIBSItAF6byzS21KScIdx8bT+iYqRU5HSrVyNmY2RtdkucKO2os4QzY21ROXcKiIysYKJYU1zl+rF1hbDh07Bemnl4UrsbieEP6iyO4mc5cV0pAtcH+J8bXta1xtVezQhEuty3E2jBr36x5G7vHaoXTD7Hl71EU/LpvZ0JoWPLIB0HIECOK4qdjqlNnW3928Zz4o1EStbwEXog1bdr0xD+5CIRvlAD5aQSsrxvB/BPjNDhL0bxznEsK/KGZdYtFwwxuKaz+atSxwfz6rW/NQggcxNI21+Q1/jJds8k8fWGav5c3wjlqiTPt7A9ptdAiDPh49he6if3zbsIpvESjEj8vNgH6YpRGVNW8cyL9IhWKD9PIy0u511ZE8IwjVv7LkJ3j0KRXPvkJSt+igfYGMfZYmHHsoN6bgzZvAvjJsTJ1vbbAM2ehsMH+25iei4vUiWUKU2qRQzj0eTQZsxPFrQryd9YxLCjQoE+oOYOpt3V2rSBTfCfdQuaoBfniS8tD1X7NuEl0Eenlv9LrmYe3W/AOi6Xl4Kflm3JJXvFlP30rUtCjBmtnT+h5tSwjxfoc9uX88YYB4Vm+HrBo2hi6csXZZz8J4ibBD6DfHH8vny9i50n7B+zVnGQ73ahcYnB58Rzf5djn19uHg6Edw0Svzuhfbe02VtiB5MZ9xftR0yyXO6GvwpBn1NhP06zAsJWTiDqtclNxhSVPeV22V1g9YtcjIlziMy0Hwbb/z4By0SEb3mXmp+6TLTEleSGAOTCy521RnfeVgrO92XS40hPECc8565kzo4NQB2tlysBiFIZ0lULVC4VR/iSQeNKifE/uqig0wG5bQoP2rNXSgJ/nv14pidGkz1kyaoiRyEf+1shFBrnvJEcJYSZd/UFua7R8ccTWa1fympNPmqUiLFMr/VzU+jP5C8m3+AC/ndgTtLXQzbrxrUSmBdIO7yHlOP8EGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Y4NRbvh2wbhLnWa9UW1hP",
      "input": {
        "note": "Gripper reads 0.67 (~6.4 cm) with high effort, consistent with the can, but the close was rate-clamped. Re-sending the close to confirm the settled reading before lifting.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011Y4NRbvh2wbhLnWa9UW1hP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1558, 1.6085, 0.6353, 0.0387, -0.6102, -0.7151, 0.666, -0.0212, 0.823, 0.6147, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3572 left_y=0.05 left_z=0.0344 left_yaw=0.7257 left_pitch=-0.1441 left_roll=-0.026 left_gripper=0.666 right_x=0.2267 right_y=0.0023 right_z=0.1066 right_yaw=0.0015 right_pitch=-0.4157 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.1744, 5.3128, 1.2674, -0.3443, -0.0073, 1.0281, -0.1709, -1.0051, 6.5983, 1.4774, -0.0415, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712d498920d4aa63e135ddeb6b8da45e33e217655fbcf52114169bcb3ad4e534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a1772214a51748a81e0bb0d9091aed343344ac2f9df65bdc85e9e161f3e355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b71db38055ffc61da10a8c06b106a44ae98a67dd45598b3e72bee47f0d6e02e4",
        "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 · 12.18 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]: [-0.1577, 1.5997, 0.6464, -0.0593, -0.5957, -0.7174, 0.9985, -0.0212, 0.823, 0.6151, -0.7479, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.345 left_y=0.0491 left_z=0.0275 left_yaw=0.7261 left_pitch=-0.203 left_roll=0.0259 left_gripper=0.9985 right_x=0.235 right_y=0.0021 right_z=0.1123 right_yaw=0.0011 right_pitch=-0.3749 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.6803, 5.1624, 1.3846, -0.3883, 0.0464, -0.1734, -0.0479, -1.0598, 6.8581, 1.3895, -0.0611, -0.0317, -0.0122]",
      "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]: [-0.1555, 1.6085, 0.6353, 0.0376, -0.6098, -0.7143, 0.6745, -0.0212, 0.823, 0.6151, -0.7685, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.357 left_y=0.0501 left_z=0.0342 left_yaw=0.7255 left_pitch=-0.145 left_roll=-0.0247 left_gripper=0.6745 right_x=0.2308 right_y=0.0022 right_z=0.1095 right_yaw=0.0013 right_pitch=-0.3955 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -5.7368, 5.2991, 1.1551, -0.1978, 0.0317, 0.9939, -0.1846, -0.8547, 6.6667, 1.5165, -0.0366, -0.0562, -0.0171]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1558, 1.6085, 0.6353, 0.0387, -0.6102, -0.7151, 0.666, -0.0212, 0.823, 0.6147, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3572 left_y=0.05 left_z=0.0344 left_yaw=0.7257 left_pitch=-0.1441 left_roll=-0.026 left_gripper=0.666 right_x=0.2267 right_y=0.0023 right_z=0.1066 right_yaw=0.0015 right_pitch=-0.4157 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.1744, 5.3128, 1.2674, -0.3443, -0.0073, 1.0281, -0.1709, -1.0051, 6.5983, 1.4774, -0.0415, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712d498920d4aa63e135ddeb6b8da45e33e217655fbcf52114169bcb3ad4e534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a1772214a51748a81e0bb0d9091aed343344ac2f9df65bdc85e9e161f3e355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71db38055ffc61da10a8c06b106a44ae98a67dd45598b3e72bee47f0d6e02e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Settled at 0.666 (~6.3 cm) — a real grasp. Lifting to verify.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SS31SfVXcVrpuY8VHEX67U",
      "input": {
        "note": "Gripper settled at 0.67 (~6.3 cm), a firm grasp on the can. Lifting to 18 cm to confirm the can comes up with the jaws.",
        "targets": {
          "left_x": 0.35,
          "left_y": 0.03,
          "left_yaw": 0.72,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SS31SfVXcVrpuY8VHEX67U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2306, 1.3907, 1.0031, -0.6209, -0.6247, -0.7902, 0.6698, -0.0212, 0.823, 0.6147, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3515 left_y=0.0273 left_z=0.1543 left_yaw=0.7114 left_pitch=-0.1806 left_roll=-0.0156 left_gripper=0.6698 right_x=0.2252 right_y=0.0023 right_z=0.1056 right_yaw=0.0016 right_pitch=-0.423 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.0479, 9.2103, 1.2967, -0.5934, 0.0611, 0.7497, -0.253, -0.6359, 6.5709, 1.2918, -0.0317, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b8def8a896514bd07b3108f0a84c5852369ac6be1af47f688b853ad6fdf086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beed6a1915d133bb72a9aeffdbff8698d463bda9462f92c06706a94147996548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67c0b609bccc8d66e9dc21e14cc5c13304ff0349f6f6dc4fcb9a0f01367cb249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 13.05 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]: [-0.1555, 1.6085, 0.6353, 0.0376, -0.6098, -0.7143, 0.6745, -0.0212, 0.823, 0.6151, -0.7685, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.357 left_y=0.0501 left_z=0.0342 left_yaw=0.7255 left_pitch=-0.145 left_roll=-0.0247 left_gripper=0.6745 right_x=0.2308 right_y=0.0022 right_z=0.1095 right_yaw=0.0013 right_pitch=-0.3955 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -5.7368, 5.2991, 1.1551, -0.1978, 0.0317, 0.9939, -0.1846, -0.8547, 6.6667, 1.5165, -0.0366, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1558, 1.6085, 0.6353, 0.0387, -0.6102, -0.7151, 0.666, -0.0212, 0.823, 0.6147, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3572 left_y=0.05 left_z=0.0344 left_yaw=0.7257 left_pitch=-0.1441 left_roll=-0.026 left_gripper=0.666 right_x=0.2267 right_y=0.0023 right_z=0.1066 right_yaw=0.0015 right_pitch=-0.4157 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.1744, 5.3128, 1.2674, -0.3443, -0.0073, 1.0281, -0.1709, -1.0051, 6.5983, 1.4774, -0.0415, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2306, 1.3907, 1.0031, -0.6209, -0.6247, -0.7902, 0.6698, -0.0212, 0.823, 0.6147, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3515 left_y=0.0273 left_z=0.1543 left_yaw=0.7114 left_pitch=-0.1806 left_roll=-0.0156 left_gripper=0.6698 right_x=0.2252 right_y=0.0023 right_z=0.1056 right_yaw=0.0016 right_pitch=-0.423 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.0479, 9.2103, 1.2967, -0.5934, 0.0611, 0.7497, -0.253, -0.6359, 6.5709, 1.2918, -0.0317, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b8def8a896514bd07b3108f0a84c5852369ac6be1af47f688b853ad6fdf086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beed6a1915d133bb72a9aeffdbff8698d463bda9462f92c06706a94147996548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67c0b609bccc8d66e9dc21e14cc5c13304ff0349f6f6dc4fcb9a0f01367cb249",
        "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_017iGss9QBjZdFNcktgcTqtu",
      "input": {
        "note": "The can lifted with the jaws (it fills the left wrist view and the table receded). Carrying it high toward the burner near the table centre line; the can protrudes forward-left of the grasp point, so I aim the grasp point slightly short of the coil.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.33,
          "left_yaw": 0.72,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_017iGss9QBjZdFNcktgcTqtu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8536, 2.3951, 2.4172, -1.5734, -0.7761, -1.5879, 0.6717, -0.0212, 0.8249, 0.6147, -0.8139, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.399 left_y=-0.2638 left_z=0.1608 left_yaw=0.7069 left_pitch=-0.2188 left_roll=-0.0173 left_gripper=0.6717 right_x=0.2213 right_y=0.0024 right_z=0.1029 right_yaw=0.0018 right_pitch=-0.4432 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -12.1231, 8.294, 0.359, -0.823, 0.0269, 0.8474, -0.0615, -1.1282, 6.5436, 1.409, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fda2db7a59d64c214e49b85c6f09a6596f58d8d9a1b439c01884728fd5f0383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c69a1b9c2ec4dff81ad72056737e266641a4781918367d8b27a673542363c9b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fbbe2b9b78e2db17ca9f8d247562af7d90aba684b8df4e29c526c68941d682a",
        "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 · 10.53 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]: [-0.1558, 1.6085, 0.6353, 0.0387, -0.6102, -0.7151, 0.666, -0.0212, 0.823, 0.6147, -0.7883, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3572 left_y=0.05 left_z=0.0344 left_yaw=0.7257 left_pitch=-0.1441 left_roll=-0.026 left_gripper=0.666 right_x=0.2267 right_y=0.0023 right_z=0.1066 right_yaw=0.0015 right_pitch=-0.4157 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.1744, 5.3128, 1.2674, -0.3443, -0.0073, 1.0281, -0.1709, -1.0051, 6.5983, 1.4774, -0.0415, -0.0366, -0.0122]\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]: [-0.2306, 1.3907, 1.0031, -0.6209, -0.6247, -0.7902, 0.6698, -0.0212, 0.823, 0.6147, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3515 left_y=0.0273 left_z=0.1543 left_yaw=0.7114 left_pitch=-0.1806 left_roll=-0.0156 left_gripper=0.6698 right_x=0.2252 right_y=0.0023 right_z=0.1056 right_yaw=0.0016 right_pitch=-0.423 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.0479, 9.2103, 1.2967, -0.5934, 0.0611, 0.7497, -0.253, -0.6359, 6.5709, 1.2918, -0.0317, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8536, 2.3951, 2.4172, -1.5734, -0.7761, -1.5879, 0.6717, -0.0212, 0.8249, 0.6147, -0.8139, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.399 left_y=-0.2638 left_z=0.1608 left_yaw=0.7069 left_pitch=-0.2188 left_roll=-0.0173 left_gripper=0.6717 right_x=0.2213 right_y=0.0024 right_z=0.1029 right_yaw=0.0018 right_pitch=-0.4432 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -12.1231, 8.294, 0.359, -0.823, 0.0269, 0.8474, -0.0615, -1.1282, 6.5436, 1.409, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fda2db7a59d64c214e49b85c6f09a6596f58d8d9a1b439c01884728fd5f0383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c69a1b9c2ec4dff81ad72056737e266641a4781918367d8b27a673542363c9b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fbbe2b9b78e2db17ca9f8d247562af7d90aba684b8df4e29c526c68941d682a",
        "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_01YZ69U41zmXiP6zfDBw881g",
      "input": {
        "note": "The wrist view shows the burner coil just to the right of the held can. Shifting the grasp point ~6 cm toward the arm's forward-right so the can lies over the coil, while lowering slightly.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.31,
          "left_yaw": 0.7,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YZ69U41zmXiP6zfDBw881g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8375, 2.5698, 2.5938, -1.5753, -0.7528, -1.5684, 0.6756, -0.0212, 0.8249, 0.6151, -0.8272, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4198 left_y=-0.2802 left_z=0.122 left_yaw=0.7115 left_pitch=-0.242 left_roll=-0.0038 left_gripper=0.6756 right_x=0.2186 right_y=0.0024 right_z=0.1013 right_yaw=0.0019 right_pitch=-0.4561 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -14.0239, 8.2803, 0.2857, -0.6178, 0.2076, 0.6764, -0.1573, -0.9504, 6.5436, 1.4432, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75ecc187eabc980f5acd74bc34c81e8cbf660e9f5e95844ab7695aa7fff753b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12bb0de92cbe2c288e3f3bed6d196dce88cf08d10fd2eb25269ffe8eba7452c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05854cb1040b718898286d0e7b85643cd5c6b0bed4c46af93bade300d1082dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 10.88 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]: [-0.2306, 1.3907, 1.0031, -0.6209, -0.6247, -0.7902, 0.6698, -0.0212, 0.823, 0.6147, -0.7956, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3515 left_y=0.0273 left_z=0.1543 left_yaw=0.7114 left_pitch=-0.1806 left_roll=-0.0156 left_gripper=0.6698 right_x=0.2252 right_y=0.0023 right_z=0.1056 right_yaw=0.0016 right_pitch=-0.423 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.0479, 9.2103, 1.2967, -0.5934, 0.0611, 0.7497, -0.253, -0.6359, 6.5709, 1.2918, -0.0317, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.8536, 2.3951, 2.4172, -1.5734, -0.7761, -1.5879, 0.6717, -0.0212, 0.8249, 0.6147, -0.8139, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.399 left_y=-0.2638 left_z=0.1608 left_yaw=0.7069 left_pitch=-0.2188 left_roll=-0.0173 left_gripper=0.6717 right_x=0.2213 right_y=0.0024 right_z=0.1029 right_yaw=0.0018 right_pitch=-0.4432 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -12.1231, 8.294, 0.359, -0.823, 0.0269, 0.8474, -0.0615, -1.1282, 6.5436, 1.409, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.8375, 2.5698, 2.5938, -1.5753, -0.7528, -1.5684, 0.6756, -0.0212, 0.8249, 0.6151, -0.8272, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4198 left_y=-0.2802 left_z=0.122 left_yaw=0.7115 left_pitch=-0.242 left_roll=-0.0038 left_gripper=0.6756 right_x=0.2186 right_y=0.0024 right_z=0.1013 right_yaw=0.0019 right_pitch=-0.4561 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -14.0239, 8.2803, 0.2857, -0.6178, 0.2076, 0.6764, -0.1573, -0.9504, 6.5436, 1.4432, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75ecc187eabc980f5acd74bc34c81e8cbf660e9f5e95844ab7695aa7fff753b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12bb0de92cbe2c288e3f3bed6d196dce88cf08d10fd2eb25269ffe8eba7452c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05854cb1040b718898286d0e7b85643cd5c6b0bed4c46af93bade300d1082dd5",
        "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_01KCXeteFZFsUAL586Z7vwsh",
      "input": {
        "note": "The arm is near its reach limit and the can sits over the burner just left of the coil centre. Yawing the tool clockwise swings the protruding can toward the coil while lowering it to just above the burner surface.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.3,
          "left_yaw": 0.25,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KCXeteFZFsUAL586Z7vwsh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7528, -1.56, 0.6789, -0.0212, 0.8249, 0.6151, -0.8375, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4213 left_y=-0.2815 left_z=0.119 left_yaw=0.7071 left_pitch=-0.242 left_roll=0.0017 left_gripper=0.6789 right_x=0.2164 right_y=0.0025 right_z=0.1 right_yaw=0.0021 right_pitch=-0.4664 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -14.4342, 7.9385, 0.359, -0.6618, 0.1441, 0.7253, -0.0615, -0.8137, 6.6667, 1.2625, -0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd3f659beadb6877ef27223124e457d4fcd6e14f2553229e426dd130663604a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9b2e46f369e22247cb4cb482321752d4cded3718b596c6e2fbaae2b427623b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3fe81898b8b498c09436e44cf3b4dfa1dc3fc0cab5d40af8d0ec58bc09b43bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 7.408 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]: [-0.8536, 2.3951, 2.4172, -1.5734, -0.7761, -1.5879, 0.6717, -0.0212, 0.8249, 0.6147, -0.8139, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.399 left_y=-0.2638 left_z=0.1608 left_yaw=0.7069 left_pitch=-0.2188 left_roll=-0.0173 left_gripper=0.6717 right_x=0.2213 right_y=0.0024 right_z=0.1029 right_yaw=0.0018 right_pitch=-0.4432 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -12.1231, 8.294, 0.359, -0.823, 0.0269, 0.8474, -0.0615, -1.1282, 6.5436, 1.409, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.8375, 2.5698, 2.5938, -1.5753, -0.7528, -1.5684, 0.6756, -0.0212, 0.8249, 0.6151, -0.8272, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4198 left_y=-0.2802 left_z=0.122 left_yaw=0.7115 left_pitch=-0.242 left_roll=-0.0038 left_gripper=0.6756 right_x=0.2186 right_y=0.0024 right_z=0.1013 right_yaw=0.0019 right_pitch=-0.4561 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -14.0239, 8.2803, 0.2857, -0.6178, 0.2076, 0.6764, -0.1573, -0.9504, 6.5436, 1.4432, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7528, -1.56, 0.6789, -0.0212, 0.8249, 0.6151, -0.8375, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4213 left_y=-0.2815 left_z=0.119 left_yaw=0.7071 left_pitch=-0.242 left_roll=0.0017 left_gripper=0.6789 right_x=0.2164 right_y=0.0025 right_z=0.1 right_yaw=0.0021 right_pitch=-0.4664 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -14.4342, 7.9385, 0.359, -0.6618, 0.1441, 0.7253, -0.0615, -0.8137, 6.6667, 1.2625, -0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd3f659beadb6877ef27223124e457d4fcd6e14f2553229e426dd130663604a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9b2e46f369e22247cb4cb482321752d4cded3718b596c6e2fbaae2b427623b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fe81898b8b498c09436e44cf3b4dfa1dc3fc0cab5d40af8d0ec58bc09b43bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QsKEAgRGAI4AUIIdGhpbmtpbmcSDLe9DMK8aBGBZyTtSRoMk8kqO/JYpSc8Ba8jIjDk3x0ypT6IkXspj7qI/W3BJt5jBA6a7GYhBm1HbWAelY0/KrDuiBysS0+t5jzFcgsq7gpTi5vwYWRZk7q2VBSPSRWE8mpp8CO8UfHRhVqr112NqHGAnvNb/4M2bYeUQQDu5eMqjvJMp/Z5T3cPbRFNv/aLEyTefWk1/YWQR06CwIem2cFkiohObLiNFHkhgbQfCiPxmEawQwTuddIf719df6RxwvJR25F6wXMG4/W7Uc/SsUXLPEO9f4QY5FJOnE5oqlZBP9LEe8sXw/lB/n8jUPNS+5Hov5El6Cw5WQHJywGFYWg+Wb833SOqOH7M8Phsfex27Y4GKwAG/buWc6hSpUKB7sWPjiugw8qYXDf8pO6wO1m+kpgA4F4KAqyFYFDg2vW8Km9yU1ZDiYFI3G3pm5E0grMOgcRk7mbOkupMxvf4W65lLLKjwGmUos6yc6di8eq4yxTQrgs9M68PUjYHx0Stgb8g/fv/24wEDqVKLS9LVbiTcvq8E73IhAiPAjxl+YmP2IZErcSp6ksbix12MPWJ7RKiX4INF0KIfhe1srU6Kb8WR+CNGIzt7JiR9VnTs66Mo/6+b5QN4abGo/oRdpUBjX6ShxR8qqbIHBxrafW/FMXQvEUXMcdbNk4JxZk4oydYNZ6SndPaCPbgOMcVjkgECcJ+4tDVVoGGedryaKV6Cq4H+BveVtNejQi3fURkwb82iOuGqWLTZwmXjua7TuSRJujR7s8omS6nHo97k/eOtG5rFIm6wiRxyNMQ+PCv7ewU5kqN7BlvZ+E2L+sfOOSyrLotWSvOzxG79Io2yRbl7GhYKhXNAfvwtPaJmFK4+O1mC8TMkJVv21+NUzMsh5a/wvChB6vorIw9k7oWBewJgtRyt0zDuxD2PfHx+JZqUkzJBfOymOPu+I2mAYVXvrv54lhz97e6E7BgWmYogJd9feZtNU3UDgTjX35pzU/OxQRM/P65DtpVSMX7TTzoV+hYPxEO4bTI5lO01uw0Uz4NxVG+IofiHfQ/pC2ApwLp1UNclQNoJhnFVStlYxPNO6Xfx/y7j7iPQl1ukiqfQpy0mwfikA8XIUHZKGKjX55TKPId9nxXgjglUxN2S+Ty2XeRitZLdEdRvSYH3tMHc17Eg2w6iNDnf9fCaTu8uWX4+91X4O6902hjGQwxz3CQRCrrZ+swTzR7hBqvRuSaIRxBaI0wE+8mh50GD1EOgc362hocZBhUifUOMx1S2cgqpnX/be43OubZ93zIkVrfu1omPQOWV93GT8OEt9U1Y8vmJK8X0Tj6/AwkKE1oJE93vr1VQT61ffFlB0LIPk47nycAmQACgtFNPN7ihHdD4nX4V2Lz9OkjrJ+FcKgQBZrgMb6bYb1ZU2QplgvciVuziMkB70hLvmfnWGE/qDtPOpSBNq8WSyi1Gdjh53lHqfoCk6U96ZKFI8qpc4CY5O2md+rWJXW76QqpmMX1nqugfi5LkwPdkh+KAifivzXihwYOiZ1XQmtXxdBMETL7scg89F00pu/n/27M36v8ZkkSOKBu/KFbjaHUeWGJjF/yIGObFkQDqNkRwp3hP0tClzmNQVMcLGy4uJLXZwlpI7SGJoM+xBy7rXXRWcLXe9F8aF8olTIPDTzj1uea3oz89fQgmDMaW3WPHJPsgDtMaJ3TMspaPv8/oLsCPIQpdnR98OUMXSgB+cDqclLc4bPUzvPGMHpmfswY0iBXWdqQI3NeMUZlFSY7QiUKpfFeyNWGY5J2oKFddnXpgdcRSFTRuPuFnkgaX8n/7Jg62Iv+V9Yg1u3xI7i9qy3CaBiHbOElM36Oe7HqdJYZOWiYw8qDNU/uKiTXe9Jvp1zJArLbj15+p+iexA0mDam2WJj9C/XeZs8GJsM4yiEw9PBVzJVS4zsJIEn6VomV8mFFjNZ2pcUvrJyKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MxPVYVzryrATRVpgduHJTm",
      "input": {
        "note": "The arm has stalled at full reach over the burner without lowering. Pulling back 2 cm and raising slightly to unstick the IK before a final lower-and-release over the plate.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.27,
          "left_yaw": 0.6,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01MxPVYVzryrATRVpgduHJTm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7525, -1.56, 0.6802, -0.0212, 0.8288, 0.6151, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4212 left_y=-0.2816 left_z=0.119 left_yaw=0.7071 left_pitch=-0.2424 left_roll=0.0017 left_gripper=0.6802 right_x=0.2147 right_y=0.0025 right_z=0.0984 right_yaw=0.0022 right_pitch=-0.4779 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -14.3795, 7.9521, 0.3199, -0.6618, 0.149, 0.7448, -0.0205, -1.1829, 6.5436, 1.2186, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad59a17116da772a9cbf5aac6cb3820db37a96ab47024aa828f5f8672ff03f3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ee8310ce5f4d989b6bf6dd8573a6a75111a13b1d3cc0cd2fae0c601fc22708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4193b3fcf43c61630d7135aeada8c785900129fcb09b8d4b366fadf09ba7846e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 6.79 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]: [-0.8375, 2.5698, 2.5938, -1.5753, -0.7528, -1.5684, 0.6756, -0.0212, 0.8249, 0.6151, -0.8272, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4198 left_y=-0.2802 left_z=0.122 left_yaw=0.7115 left_pitch=-0.242 left_roll=-0.0038 left_gripper=0.6756 right_x=0.2186 right_y=0.0024 right_z=0.1013 right_yaw=0.0019 right_pitch=-0.4561 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -14.0239, 8.2803, 0.2857, -0.6178, 0.2076, 0.6764, -0.1573, -0.9504, 6.5436, 1.4432, -0.0562, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7528, -1.56, 0.6789, -0.0212, 0.8249, 0.6151, -0.8375, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4213 left_y=-0.2815 left_z=0.119 left_yaw=0.7071 left_pitch=-0.242 left_roll=0.0017 left_gripper=0.6789 right_x=0.2164 right_y=0.0025 right_z=0.1 right_yaw=0.0021 right_pitch=-0.4664 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -14.4342, 7.9385, 0.359, -0.6618, 0.1441, 0.7253, -0.0615, -0.8137, 6.6667, 1.2625, -0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7525, -1.56, 0.6802, -0.0212, 0.8288, 0.6151, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4212 left_y=-0.2816 left_z=0.119 left_yaw=0.7071 left_pitch=-0.2424 left_roll=0.0017 left_gripper=0.6802 right_x=0.2147 right_y=0.0025 right_z=0.0984 right_yaw=0.0022 right_pitch=-0.4779 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -14.3795, 7.9521, 0.3199, -0.6618, 0.149, 0.7448, -0.0205, -1.1829, 6.5436, 1.2186, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad59a17116da772a9cbf5aac6cb3820db37a96ab47024aa828f5f8672ff03f3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ee8310ce5f4d989b6bf6dd8573a6a75111a13b1d3cc0cd2fae0c601fc22708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4193b3fcf43c61630d7135aeada8c785900129fcb09b8d4b366fadf09ba7846e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSygkKEAgRGAI4AUIIdGhpbmtpbmcSDM3s7BEl4XEtDEFBfRoMrUOM+R4soJi79O5lIjBdW8aBSowFIDsVPRbA1I4s8bAjAjJgplb0AwNd1U9AUbulwlFHnN7TKy12oPbZexEq5wi3S5RhLVOTdnUrCvZsR15OoZqB1ZKvMsonI4DHvdCDGSVvh4CzmR8RtEDJJTeO5r2rqixpEbJUXub8bE90x35ZoLWyQWqzm87Hjd4+i9Pi2MP31+d7I/tOS6VehTb3JChtcxRPQpwaN2pqZHGMZGBuBodQDzz8zUhv6RxMJ1rOGbZvSX8ImwZxRfLZznbJwBRKfLGQ8v+rxAR0Y0XFJ+2ppp9Ut6hOOzIbT4KNKEV5WRQKGnV8Cnm9sXwNfmSI8pizN+EgDMkepb8j57kJxNXMv2qsxPfblOG0nV5/hu9e32jexAjSrzns6BLEd35+CqtsNM+UDAhUYIoOTLtkyiiwlEPfC/FeCKimIOL8t9nwDxmYHZvvsTM5E748h7ha/ZSStN4PonrEsPAiJZX0ACyfOIblTW5XyFOjMm3tr8WO//mWffrsIYiUZLK8mEhNr+fljwf5Qwah18/r/x0K/EiZnTxAAp38bUQu8i+V7D5cq6LRCD+DTj6t7UrshD/ay19URsMJ02iCBYPYFH+CAbZSLZMcIKayih6TYx2MT8BlnkbB8WMi/F/Ga0t5lMF7EkmVLKN13N00OxFW77FOg/+JKEE+ll5MJP7oEjgiLYuX6lo0EQwW7OfenF+AEr1vvzzIhGNGIrJHF0sNTtUSqMVwxqk+txDzRdxC4PEbL6a6jr9MKuKL9jOkF8L6+4WHxlBmcwBWkLFgI9gZqjCkzROGJ1gvISusOsd7I7KbmlzTov9jmCX/ICxiV74A04YPzd9Tf+/yutNC70akdxu9K27NUsxwjBVcx1obrqR/QQulIHlIrqD1MTtWDGbxGjJ/Y1/kyx6x4wXW1UNGgU2Pq5MXr9AxfkabJp/cPl0MvnCQHuqxuX/jHLli1ptlXb5vqTSa60bYuvcGF9vu5fGZrLwAMTTRiKZEH8KYl3UPgnEqlaHc/4bbvDylztFZf8fs9fs3VDReJW3k3RzOmkUnUHgSAY+YJVamHeX0gfde6Xs1cKXbwnTg/vr8Iz6S27ndLHVzOPyo71KqvjG6OhdEF1f9oJFrSGyQHVhqt7Fxuu98oiePCtwNS99RT9VWXVvxV4qYbUXUDNkgdI02rEbUc8zzT/A2ttGOhxe5un2g1XFJA0q1UzMP+8i4cHREHzb7ZMpBvl54warkVFOG7dGMy1BLeI8yyf3Zz8GKOMy70f7vwfXHO09TaDLI7s19b4OFdXpKjcsmzyT3cw7TMcfB+si+RqOJtl/qhPzGAJ61u2XnGjr67D9BWFnK39w7VROXj3CY6aCr5m6nxk5G3BYedc3Ic14BLc4l0YTR3c9Igym5ppZr2NKrtqMRcc8xJIqRm+zbC05KJdgLhIVyix2HuuZX10r/PGwCXQ9f9LbgIuRhumSQogyy8JRuwhiluJRa2o28TU8JpXtNr0HIit4eYFIsFCb1NFRT9ii9WJvW+qL3K5Mzk8uUWOaLEBaM4KpCUqBofVIfEYCv8IomRxXrOwXsVp7dg9EWCxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mu2KTfKhmiZJVoMiUyzs7Q",
      "input": {
        "note": "The arm remains locked at full reach with the can hovering only a few cm above the burner plate, just left of the coil. Opening the gripper to set the can down on the burner.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Mu2KTfKhmiZJVoMiUyzs7Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5745, -0.754, -1.5558, 0.9961, -0.0212, 0.8288, 0.6151, -0.8532, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4215 left_y=-0.2816 left_z=0.1191 left_yaw=0.7046 left_pitch=-0.2409 left_roll=0.0039 left_gripper=0.9961 right_x=0.213 right_y=0.0026 right_z=0.0974 right_yaw=0.0023 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -14.4342, 8.1983, 0.3834, -0.6569, 0.0806, -0.0659, -0.0889, -0.9504, 6.5026, 1.243, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:140b08938e814e8ab0b95adf33dd29a585ba27072a0b53ea6b6ae55cb88f1c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:623c810ae2f89d431c11c3a9f8d72ac64447c6e917bbac59b6ce40b3ab274c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adaa18fc1ad56a6c197188e6a4c66328dbfca6b8c5e532ab714f7eee2f8de970",
        "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 · 15.07 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]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7528, -1.56, 0.6789, -0.0212, 0.8249, 0.6151, -0.8375, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4213 left_y=-0.2815 left_z=0.119 left_yaw=0.7071 left_pitch=-0.242 left_roll=0.0017 left_gripper=0.6789 right_x=0.2164 right_y=0.0025 right_z=0.1 right_yaw=0.0021 right_pitch=-0.4664 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -14.4342, 7.9385, 0.359, -0.6618, 0.1441, 0.7253, -0.0615, -0.8137, 6.6667, 1.2625, -0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7525, -1.56, 0.6802, -0.0212, 0.8288, 0.6151, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4212 left_y=-0.2816 left_z=0.119 left_yaw=0.7071 left_pitch=-0.2424 left_roll=0.0017 left_gripper=0.6802 right_x=0.2147 right_y=0.0025 right_z=0.0984 right_yaw=0.0022 right_pitch=-0.4779 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -14.3795, 7.9521, 0.3199, -0.6618, 0.149, 0.7448, -0.0205, -1.1829, 6.5436, 1.2186, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8371, 2.5835, 2.608, -1.5745, -0.754, -1.5558, 0.9961, -0.0212, 0.8288, 0.6151, -0.8532, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4215 left_y=-0.2816 left_z=0.1191 left_yaw=0.7046 left_pitch=-0.2409 left_roll=0.0039 left_gripper=0.9961 right_x=0.213 right_y=0.0026 right_z=0.0974 right_yaw=0.0023 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -14.4342, 8.1983, 0.3834, -0.6569, 0.0806, -0.0659, -0.0889, -0.9504, 6.5026, 1.243, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:140b08938e814e8ab0b95adf33dd29a585ba27072a0b53ea6b6ae55cb88f1c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:623c810ae2f89d431c11c3a9f8d72ac64447c6e917bbac59b6ce40b3ab274c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adaa18fc1ad56a6c197188e6a4c66328dbfca6b8c5e532ab714f7eee2f8de970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AgKEAgRGAI4AUIIdGhpbmtpbmcSDHOW8JcD3C6IBkySShoMfCzpSi0ChuE/vObhIjABpYbZzV4wfD1zz0eavtRtOZMVNjocrmn+Vv92yH0mZpEIAejfgcAefCBpJLyO/QYqkQiuwckNTuiZAWAgy/otId1beiwVr0ZlLobyFcj1E2K/Yt2txfRdeoaW75SIFxMogeXMD9fPX2AQMR+fA54F/nZunImIbYVO0UK65dxIX421RrV6YZQpDbycZIN76MtW2LDtMKvWBKJGWNFDt0+NVrsHG+OxItbsnKdnsIDRtL10F2uuK5u8SXkwFyj1Wmjz1ExbqndjsLD0ne3E51mUyYh1uRpP7TmfbqiY3b8Z9qPnkpaMZx9GydND+YQ6T+OXRSwdHXsht2lSaogTsccHoeUHOYGbpwG93wCcaaDRbNnGgkpOs94NHbgCQkckX+V0fv0vurand8ZHV8a75T1b+nQ6pkz8W39PAYUcvJmbf+4N5F/iXVgyrsCXqljfm9+VmVeJmQJLZNeOyfweRgSIoNdHSFrOAeSkOs5FEJm4n66/yCCTKtkBUyw3YtWk+dpWT0rSUyWtMvIXwQt5jqIplkgJ7pxy563MjfdhY0MrKJQzju5dpNSean36VVUv+9RHDR8M8N1zKj5dTvT4TBwoHHvzqrpJN3q7IbEj80lq2R2fmxdV26zFs/o/a1Qk26wd+qp8SMvi3VMeyVNGS8tDYenMar6S7OEy7q7Ry+J37BNYY5sHy+1tSbIYu0p0zjnC8atpgVSmgwGmuDSh4IMoongWwIs13qYzVeOsXqQ0WfOUDZptv8DW59wf/536SCRftlhkO+TEy6vez6DpayU1vjL5VcmZaCqQD9p+zT8Y9pX0i6WFoeN75CVQJTGRuZPnKNRmxu2GamOKsxuxBFrJSmBGFDnvtwA7hoKo9h4WcXYdcbTZ2bdtGm+TPv5KmUYbNnw4lucWSTi28LYwD5EkvsbIrhxvdU5LxtCCkGON3uuVy57ilxXRQsiZvkiwufIxTdUjotKM1Bmn95k4unYKvtVmgRerbdyd46MO1etESV9sO4ULl2HFczP5JJ61jFE2XWMXpSsbuteGSzVw/QKjRoJJ4rHqyr2/dja7CoKESR0vV0uCpGpG+DJOHvD6E1FyznwBxuAyl363X7WXlRkE3lRlW+FMZSMcE1ZUQIrPmQ0rmqTYkMMUv5eYzQuZKVISppLeISF71N1fRO1jfUMnk+cp8SFm9gdc9NlBPBqlEmk++BV2uXkKR73PWHNQHMz115DAPpBiQksoVmzw4U5i0YCdEUMzxWussoKNBBC1BOSSnzo9Y7jCHzr24y/e2SZT0ZF83gdFRN6hCnyoScZpuHHHzhlSY5S5uXvOwuwC5iQ06lDnuaLPTN/tBkw3xHIegcgbT+o2SO/AKnSsBXF++auTuuZpFbv+NhJ1MbHj8BmCsMA7BscdUCFs77hZIE9DcuuUaw5f0LxPC94kIE/NN1zr8JmLA/bMuA1JipEEOybfFdMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EVgYx7iSzdyzsbYFo9MXqE",
      "input": {
        "note": "The can is released and appears lying on the burner in the wrist view. Retracting the left arm toward home to clear the overhead view and verify the placement.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01EVgYx7iSzdyzsbYFo9MXqE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3233, 1.0847, 0.9775, -0.7517, -0.276, -0.3412, 0.997, -0.0212, 0.8333, 0.6151, -0.8753, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3043 left_y=-0.0474 left_z=0.1973 left_yaw=0.09 left_pitch=-0.2404 left_roll=-0.0103 left_gripper=0.997 right_x=0.2081 right_y=0.0027 right_z=0.094 right_yaw=0.003 right_pitch=-0.5126 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.6581, 6.5026, 1.5507, -0.1343, 0.1636, 0.0855, -0.1299, -1.0872, 6.4752, 1.326, -0.0513, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71113283e9cca19ed829de40aabc61f19f13d780feff3fa514109357a818d526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5a0ecded7cc58fc48a227d87d88331282564385d4061bd0e4a27c985d2dc2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ffc798b1ada9a618c11514f65af36224d722649e8bb4d75d0bad5ee9678f6d1",
        "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 · 7.771 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]: [-0.8371, 2.5835, 2.608, -1.5753, -0.7525, -1.56, 0.6802, -0.0212, 0.8288, 0.6151, -0.8452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4212 left_y=-0.2816 left_z=0.119 left_yaw=0.7071 left_pitch=-0.2424 left_roll=0.0017 left_gripper=0.6802 right_x=0.2147 right_y=0.0025 right_z=0.0984 right_yaw=0.0022 right_pitch=-0.4779 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -14.3795, 7.9521, 0.3199, -0.6618, 0.149, 0.7448, -0.0205, -1.1829, 6.5436, 1.2186, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8371, 2.5835, 2.608, -1.5745, -0.754, -1.5558, 0.9961, -0.0212, 0.8288, 0.6151, -0.8532, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4215 left_y=-0.2816 left_z=0.1191 left_yaw=0.7046 left_pitch=-0.2409 left_roll=0.0039 left_gripper=0.9961 right_x=0.213 right_y=0.0026 right_z=0.0974 right_yaw=0.0023 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -14.4342, 8.1983, 0.3834, -0.6569, 0.0806, -0.0659, -0.0889, -0.9504, 6.5026, 1.243, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.3233, 1.0847, 0.9775, -0.7517, -0.276, -0.3412, 0.997, -0.0212, 0.8333, 0.6151, -0.8753, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3043 left_y=-0.0474 left_z=0.1973 left_yaw=0.09 left_pitch=-0.2404 left_roll=-0.0103 left_gripper=0.997 right_x=0.2081 right_y=0.0027 right_z=0.094 right_yaw=0.003 right_pitch=-0.5126 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.6581, 6.5026, 1.5507, -0.1343, 0.1636, 0.0855, -0.1299, -1.0872, 6.4752, 1.326, -0.0513, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71113283e9cca19ed829de40aabc61f19f13d780feff3fa514109357a818d526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5a0ecded7cc58fc48a227d87d88331282564385d4061bd0e4a27c985d2dc2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ffc798b1ada9a618c11514f65af36224d722649e8bb4d75d0bad5ee9678f6d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BeMvNhAb4AD55B6o2JN9Gj",
      "input": {
        "note": "The overhead view shows the can rolled off the burner and now lies on the table in front of it, on the centre line, pointing along x. Flying the left arm over it with jaws open, yaw 0 so the jaws close across the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.33,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01BeMvNhAb4AD55B6o2JN9Gj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0058, 1.9064, 1.4467, -0.6872, -0.5995, -0.8959, 0.9984, -0.0212, 0.8352, 0.6147, -0.9001, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3238 left_y=-0.3179 left_z=0.1097 left_yaw=0.0073 left_pitch=-0.2763 left_roll=0.0143 left_gripper=0.9984 right_x=0.2025 right_y=0.0028 right_z=0.0907 right_yaw=0.0034 right_pitch=-0.5397 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -9.6615, 8.7179, 1.0818, -0.5495, 0.0171, -0.1783, -0.1026, -1.0598, 6.4889, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:392eaf4f8ae20dacdebe9f53c3757bb2351bac64505878d8ba822119c95a6f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9efb35af3f450c55ddab96e68aa5978f370bd910b2a04c62eb51ed95acfc1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2df933c11c23816e99d6174b43827102466a58b735ed7d26e89526aad395dca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.926 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]: [-0.8371, 2.5835, 2.608, -1.5745, -0.754, -1.5558, 0.9961, -0.0212, 0.8288, 0.6151, -0.8532, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4215 left_y=-0.2816 left_z=0.1191 left_yaw=0.7046 left_pitch=-0.2409 left_roll=0.0039 left_gripper=0.9961 right_x=0.213 right_y=0.0026 right_z=0.0974 right_yaw=0.0023 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -14.4342, 8.1983, 0.3834, -0.6569, 0.0806, -0.0659, -0.0889, -0.9504, 6.5026, 1.243, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.3233, 1.0847, 0.9775, -0.7517, -0.276, -0.3412, 0.997, -0.0212, 0.8333, 0.6151, -0.8753, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3043 left_y=-0.0474 left_z=0.1973 left_yaw=0.09 left_pitch=-0.2404 left_roll=-0.0103 left_gripper=0.997 right_x=0.2081 right_y=0.0027 right_z=0.094 right_yaw=0.003 right_pitch=-0.5126 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.6581, 6.5026, 1.5507, -0.1343, 0.1636, 0.0855, -0.1299, -1.0872, 6.4752, 1.326, -0.0513, -0.0122, -0.0073]",
      "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]: [-1.0058, 1.9064, 1.4467, -0.6872, -0.5995, -0.8959, 0.9984, -0.0212, 0.8352, 0.6147, -0.9001, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3238 left_y=-0.3179 left_z=0.1097 left_yaw=0.0073 left_pitch=-0.2763 left_roll=0.0143 left_gripper=0.9984 right_x=0.2025 right_y=0.0028 right_z=0.0907 right_yaw=0.0034 right_pitch=-0.5397 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -9.6615, 8.7179, 1.0818, -0.5495, 0.0171, -0.1783, -0.1026, -1.0598, 6.4889, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:392eaf4f8ae20dacdebe9f53c3757bb2351bac64505878d8ba822119c95a6f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9efb35af3f450c55ddab96e68aa5978f370bd910b2a04c62eb51ed95acfc1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df933c11c23816e99d6174b43827102466a58b735ed7d26e89526aad395dca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygkKEAgRGAI4AUIIdGhpbmtpbmcSDEmSN3UqTtjKEuU47BoMW/PP7rg4c9IA/RKXIjDVw93yFdkadUW79wqICZtAb5ozaWcTeallVGPifxpeG7fRuhh2HJ7sUG6LhNcMLQgq5whZSbhgwJRsXkFdSJiYkSB578wYe9WnexfXnKLWIk9dQB4mq+nfVRjytM1S5COuZob5e64xk2Twcfztz1D8DugUXaVOSXQQOuBqGoCF6CLOLBpkb7IzZnTZVAN22zxI8Ntr1slEVjWV7/S3QVkujDUqDEcYrXZn25OKdJGZ9LONs583Ygmn5O0n8YY2v/tkbzrd+U9S+MZIzt5kPatT+02BKfx2Uolobc674h4xh4YAufAGPZ/42JbD0RBe/UspJU9jPNYhxCafvUHDc/dLhlp5+4FaQead7DLW2aFn+xWz+klopxeRtTjMtIBBEKfp1xd4Kb6/efSgVFLx1rjpugSjBt+CEP/6q3x6lAwCEf+8mFluh0EXkgH+riyFPx9zR5NF/AtYii+PQxtvenWt5e+g+Ame1MUaBFJXZ6quCcJsa4AfW7Tf1xfsLYfKsMssSHCEo84b0XF4tiup4g/M0PIHpY7gAu1mInj3APRHrWMI29X6KmYK7y1fIRBPNgFeqjXvBbs7tiHxM7wnA4iRXTvv3hF3j2Cx+5G6ure093hpGcPzaZIBS3ScWnvJ5qdbMwn5iliFzXYBpvl4EKJq0y8t4U0y3XWCGE8wulYeK3hiJZdYjQIf43FwZxcgQD7/326t5yewh//ZBYeld3OqzXbqWJA0aeV7X+Wz9lZwxP+bZi25sNtarw0nTxJHG8GU2YTmhQwImWE+b5MoY6Oy3PQ1Nd7p2L7d0BX4r8HUzG/+i0gRSP3BTnqez7/W8Kc4B4OD+KUbRgxYH5E4fRmJ2yndRYyaQcGiiiwVpxKH4vT/1FKc3TIAPp/AD0l83ufQ+rCId9L67b8rBf0cFs0ieG6ye4Iw8CunCNQLR+A4YrfRZj15GIMHC3b6VW2IS9N+C4I5bGnnmTqxrmy3lDOgkkQX+y07R42TPewplhswZZ+IV3zYgweW9mrYPQlazQ0Nj6rZ3V5z0N7QUmoEWFjK2CkcfL6CP26MDw3TauTHUr7Y9ct+CpEGBFvU6eLmr0jvlLKOkw5VpQnzoOBFjYSD3zt1HH281SRgfYenlDimrMnFULG8Idt1pfN/J6IAk5tq1xZxgQXiw/vy4ec5kH/s0Bt+wF0Wfoh3HXgTFwtePcu4LTKlK5L3qfb6DAw5tkkYgI1DBb9xBwAirPIZ231WRcEh2vBuVqzshiOk65VP0jBQayUhoSxrNr31U7+kkZIZIqaJcfLdKrS4pBQAyhHDpabEUjBvBBf5TRNY8tEurPLeJ6y1bTBIiOjJcIRATp68IQh4KCFowKTnyRrgjtoneUHf4RtIxAk01IBnO7gAzwVV5YTHpKUM191MHVAIfXTDRbDrtNdusHWCCxY2J53USggXsmSBYeOe/wRe9OyGdjfMa36ETjA6WubZHCpz/eNf98l/TczELX1hppgcHKdXW/0oM1npKEtb0naSIAxnwlQC0pE/l86fXeu9n9nurMwK+qG+mtMQhxjvcr7KGNWfDOFL0h0xlhlwkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SEWay9VQMjcdUMWSD9CzAd",
      "input": {
        "note": "In the left wrist view the can's nozzle points at the burner with its body running back under and behind the fingertips, centred on the jaw column. Pulling back ~3 cm and descending to can-centre height to grasp the body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.29,
          "left_y": -0.32,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SEWay9VQMjcdUMWSD9CzAd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0786, 1.9541, 1.2144, -0.4839, -0.6106, -0.9588, 0.9985, -0.0212, 0.8352, 0.6147, -0.9077, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.3146 left_z=0.0342 left_yaw=-0.0042 left_pitch=-0.3049 left_roll=0.0463 left_gripper=0.9985 right_x=0.2008 right_y=0.0028 right_z=0.0899 right_yaw=0.0031 right_pitch=-0.5473 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.8821, 5.6, 1.0867, -0.5348, -0.1001, -0.1734, -0.0752, -0.9231, 6.4615, 1.1551, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3e5fc80619fabf1860e243161bc77478cb9d2c3496057632e95bb1f936f5f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2bf1d606d558321b37764c1b0e18a0987b2969fa45ddec707f8dff529e2bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1270c20c976540a12ee8d4b75b786b230a7e904e7f03dd1adfb753de9ad71063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 12.03 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]: [-0.3233, 1.0847, 0.9775, -0.7517, -0.276, -0.3412, 0.997, -0.0212, 0.8333, 0.6151, -0.8753, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3043 left_y=-0.0474 left_z=0.1973 left_yaw=0.09 left_pitch=-0.2404 left_roll=-0.0103 left_gripper=0.997 right_x=0.2081 right_y=0.0027 right_z=0.094 right_yaw=0.003 right_pitch=-0.5126 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.6581, 6.5026, 1.5507, -0.1343, 0.1636, 0.0855, -0.1299, -1.0872, 6.4752, 1.326, -0.0513, -0.0122, -0.0073]",
      "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]: [-1.0058, 1.9064, 1.4467, -0.6872, -0.5995, -0.8959, 0.9984, -0.0212, 0.8352, 0.6147, -0.9001, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3238 left_y=-0.3179 left_z=0.1097 left_yaw=0.0073 left_pitch=-0.2763 left_roll=0.0143 left_gripper=0.9984 right_x=0.2025 right_y=0.0028 right_z=0.0907 right_yaw=0.0034 right_pitch=-0.5397 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -9.6615, 8.7179, 1.0818, -0.5495, 0.0171, -0.1783, -0.1026, -1.0598, 6.4889, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0786, 1.9541, 1.2144, -0.4839, -0.6106, -0.9588, 0.9985, -0.0212, 0.8352, 0.6147, -0.9077, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.3146 left_z=0.0342 left_yaw=-0.0042 left_pitch=-0.3049 left_roll=0.0463 left_gripper=0.9985 right_x=0.2008 right_y=0.0028 right_z=0.0899 right_yaw=0.0031 right_pitch=-0.5473 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.8821, 5.6, 1.0867, -0.5348, -0.1001, -0.1734, -0.0752, -0.9231, 6.4615, 1.1551, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3e5fc80619fabf1860e243161bc77478cb9d2c3496057632e95bb1f936f5f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2bf1d606d558321b37764c1b0e18a0987b2969fa45ddec707f8dff529e2bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1270c20c976540a12ee8d4b75b786b230a7e904e7f03dd1adfb753de9ad71063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAcKEAgRGAI4AUIIdGhpbmtpbmcSDAtUa11b8tecnYGE1BoMbxYL5Y6M2ds5BGdWIjB98A8el989VPPHqrc6k2tXwx7GviExeZ9NIDfapRNDWws9bE3eusiJZMa9ycTZd5sq5QbI5uysIAfbyuJ6ihCs579dDL+o/jN7DR4eKHemTE2OvYt+JWCtRngOZq2nNaYFnkAMlbGkdMMrPUwPrrDnHwgrhpo0OG2fLK4msfxC1bBWTv31jUSD1zGpTRWXZ6sAj0VbmLgo2veqZNWjZiqJm5Nul+qJ0XPKvroXsrYm/UwDnyWDfDQdbI/cS5ZhCs2rEHCn98qhyGnDRAmJk8ny3EM4ro94Uqa1zRBbRdT6fVKEUHIwHfkAbJxERgTlXUyz6kL3cdsxXa6zQYpQ/rrgZYwIKn87ZmGNB9wZoe1KNrnjtVASSAtEqJhaWtwAfnSLZ8HANvKtE8DZM/5B8bl71DYaI49Txp4RqBf6JG1mhj1k3711F2ff9vlzVqp5Gjjf8rQl6zSIhydJZ/hkn/8W87O0/4jW/Eqy+PSWOMnbsrCxKbLVqkU7hGnaWBNy60Y7SA/czsfb5dQ4oefE3FE/LBwTeKHDnP/kuSiDcGh8RFdGu54Uailm8g4vaJm61cQzBdWAoOGt+yPy7KCQO/hJWClH9TpGCCg+W7yKpFr2dkgrtSJemnRB2HEaAu16uWZYhwOOMYt/tVLybmr7q2F9GDsJ2+VI6qL991u8uni02anATM7ZfqcUL2zLxRNvCNk2WWWP1/Xxs34gLxyBxw8sp0EsBSY7BEKCJYXsB7fKUt3vUECxpWFkaMzWLxwgkoVyn96Pa4kIaTX6bToQuCWYsQCImOAlegtvq0fq9tT7FqJkPI3+pXYvwqEHdh+up3sC7pO+A8GmlWFmEPMFNkPVe606L6fQ/WRoqcxYinSEPd+baSvDfCGBAAHcSpmiGFjF4QRpiH25DP5kUA+Zosvqh+roAOcRQpG7rnKd/6SRsVr9QxK21YTyUTm2m6at9GuNxUwdeevsIiBTfkkMKvBilVRv8swxaYBbO+1m47fg3wUk6jhqAErcf7Fycq5xFrxXN9f5/5hAFYy6rpZOCXzFMec4oXzG0rrgU+QC/eUKpcc66FDp+5mdCrYPZZ1QnmDdyDHyhPcQhgnSy1mAI9XEmuFtB86mchH4w69S0SW4eMhykaQ5ii0MGWKkHy/U9A2+KqjqY9L/YE0QcnftFL74pV0hOUL5+hiaOTQLB7b3fHrXdGY3PdwKrIgRAn5k62Mj7h1jbd1ZmhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CwU6Pd4rgWCLjUDiZhrRrc",
      "input": {
        "note": "The can's blue body sits between the open jaws at the bottom of the left wrist view. Closing the gripper on 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_01CwU6Pd4rgWCLjUDiZhrRrc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0843, 1.9728, 1.1984, -0.4721, -0.6109, -0.9665, 0.6822, -0.0212, 0.8352, 0.6147, -0.9123, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2838 left_y=-0.3123 left_z=0.0231 left_yaw=0.001 left_pitch=-0.3151 left_roll=0.0626 left_gripper=0.6822 right_x=0.1997 right_y=0.0029 right_z=0.0894 right_yaw=0.0036 right_pitch=-0.5519 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.3846, 6.8855, 0.7253, -0.3443, 0.022, 1.033, -0.1026, -0.8957, 6.5573, 1.1013, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e28b39d40fca2ad1e591f1e8ad74c1794b57efe709530b4593b7b31b996956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02c098e58dce2181242f7fff09ef8e7d34d56b44c65fca4168729c361b853fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6162f4634dead3c013f80f743f8f426adb5eb83042d6c4ee878960fc7d004590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.885 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]: [-1.0058, 1.9064, 1.4467, -0.6872, -0.5995, -0.8959, 0.9984, -0.0212, 0.8352, 0.6147, -0.9001, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3238 left_y=-0.3179 left_z=0.1097 left_yaw=0.0073 left_pitch=-0.2763 left_roll=0.0143 left_gripper=0.9984 right_x=0.2025 right_y=0.0028 right_z=0.0907 right_yaw=0.0034 right_pitch=-0.5397 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -9.6615, 8.7179, 1.0818, -0.5495, 0.0171, -0.1783, -0.1026, -1.0598, 6.4889, 1.3114, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0786, 1.9541, 1.2144, -0.4839, -0.6106, -0.9588, 0.9985, -0.0212, 0.8352, 0.6147, -0.9077, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.3146 left_z=0.0342 left_yaw=-0.0042 left_pitch=-0.3049 left_roll=0.0463 left_gripper=0.9985 right_x=0.2008 right_y=0.0028 right_z=0.0899 right_yaw=0.0031 right_pitch=-0.5473 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.8821, 5.6, 1.0867, -0.5348, -0.1001, -0.1734, -0.0752, -0.9231, 6.4615, 1.1551, -0.0366, -0.0415, -0.0122]",
      "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]: [-1.0843, 1.9728, 1.1984, -0.4721, -0.6109, -0.9665, 0.6822, -0.0212, 0.8352, 0.6147, -0.9123, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2838 left_y=-0.3123 left_z=0.0231 left_yaw=0.001 left_pitch=-0.3151 left_roll=0.0626 left_gripper=0.6822 right_x=0.1997 right_y=0.0029 right_z=0.0894 right_yaw=0.0036 right_pitch=-0.5519 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.3846, 6.8855, 0.7253, -0.3443, 0.022, 1.033, -0.1026, -0.8957, 6.5573, 1.1013, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e28b39d40fca2ad1e591f1e8ad74c1794b57efe709530b4593b7b31b996956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02c098e58dce2181242f7fff09ef8e7d34d56b44c65fca4168729c361b853fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6162f4634dead3c013f80f743f8f426adb5eb83042d6c4ee878960fc7d004590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014BZ5D8H7GGteUWawmH3dar",
      "input": {
        "note": "Gripper settled at 0.68 with high effort: the spray can is grasped by its body. Lifting and carrying it forward so the bottle's centre will sit over the burner plate.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.3,
          "left_yaw": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014BZ5D8H7GGteUWawmH3dar",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8337, 2.014, 1.8103, -0.8928, -0.5125, -0.7338, 0.6823, -0.0212, 0.8375, 0.6147, -0.9264, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3945 left_y=-0.3004 left_z=0.1605 left_yaw=0.0229 left_pitch=-0.3121 left_roll=0.0326 left_gripper=0.6823 right_x=0.1965 right_y=0.0029 right_z=0.0876 right_yaw=0.0034 right_pitch=-0.5683 right_roll=0.0125 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -10.1949, 8.212, 0.8962, -0.2515, 0.2466, 1.033, -0.0205, -1.0051, 6.4615, 1.1306, -0.0611, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edf4eceff0dd28e5a07192293369f520b776b884b9224a4b7fc6b45c2bc32bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b70d7e8b0768cd0c7e4fc83f3ac380b127f7ae927f09e50fe13f24dfb5e8602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3fc12a3e2220502ffba50691e9279f8db1c811f60de79302b5c0c36232588ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 6.187 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]: [-1.0786, 1.9541, 1.2144, -0.4839, -0.6106, -0.9588, 0.9985, -0.0212, 0.8352, 0.6147, -0.9077, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.3146 left_z=0.0342 left_yaw=-0.0042 left_pitch=-0.3049 left_roll=0.0463 left_gripper=0.9985 right_x=0.2008 right_y=0.0028 right_z=0.0899 right_yaw=0.0031 right_pitch=-0.5473 right_roll=0.0119 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.8821, 5.6, 1.0867, -0.5348, -0.1001, -0.1734, -0.0752, -0.9231, 6.4615, 1.1551, -0.0366, -0.0415, -0.0122]",
      "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]: [-1.0843, 1.9728, 1.1984, -0.4721, -0.6109, -0.9665, 0.6822, -0.0212, 0.8352, 0.6147, -0.9123, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2838 left_y=-0.3123 left_z=0.0231 left_yaw=0.001 left_pitch=-0.3151 left_roll=0.0626 left_gripper=0.6822 right_x=0.1997 right_y=0.0029 right_z=0.0894 right_yaw=0.0036 right_pitch=-0.5519 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.3846, 6.8855, 0.7253, -0.3443, 0.022, 1.033, -0.1026, -0.8957, 6.5573, 1.1013, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8337, 2.014, 1.8103, -0.8928, -0.5125, -0.7338, 0.6823, -0.0212, 0.8375, 0.6147, -0.9264, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3945 left_y=-0.3004 left_z=0.1605 left_yaw=0.0229 left_pitch=-0.3121 left_roll=0.0326 left_gripper=0.6823 right_x=0.1965 right_y=0.0029 right_z=0.0876 right_yaw=0.0034 right_pitch=-0.5683 right_roll=0.0125 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -10.1949, 8.212, 0.8962, -0.2515, 0.2466, 1.033, -0.0205, -1.0051, 6.4615, 1.1306, -0.0611, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edf4eceff0dd28e5a07192293369f520b776b884b9224a4b7fc6b45c2bc32bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b70d7e8b0768cd0c7e4fc83f3ac380b127f7ae927f09e50fe13f24dfb5e8602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fc12a3e2220502ffba50691e9279f8db1c811f60de79302b5c0c36232588ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAoKEAgRGAI4AUIIdGhpbmtpbmcSDFjBUg717pITTpqJshoMCRrlAPe6BNUGlenYIjAdqWlPVxpiMWMlLG/bw5kISRiPMdiRDw+aRun/J+FU778PmY8xlpQ9MC35s4EViusq6QlXMOkmaDN7QbTT/N61JXa5x0V24L4pCpq14/EvyHzNoORUd7h6xAh3t8lqPidfrSGyaTbrxabhHx+C/+dYMqF147WQl8Szn1F93QvROTLgD9QJvzDQLhHmqgLphK3VLibWFLCrC5ArCvdXfe5cVxA/E7Xg7M5vlbjw1mj0zwQ884WdIS4Wb5oo+eed2cg2I94JcHMGt8wAboLh9aqHmv1e5/rWAhba7JieCfLICkUsUBgZBk6z0fbBlM9fMqG8DwB9nQ+MOBqOx6cbaOJYb8a2vvj2HCfAHP0m6Bjs7n/cjIn1yjkqxEPtJ8BmVZX3ebU5AqZGwBwwOjoUWidRrsYSXr6E7QvEyXNZzHv3tjs4t5449z4Pzqz05T8Wb0z9qVfE55PGyYlEBnmzMDEswM138F9356ikvUCNE900YPJGIgr6e/acr075TVVrs5wCdiXRhpheQntLzwtPmlecHTWv5yCBJxDq4apGbi+LtTmN5ArWFN2d5J+kgIIe5Jyfqe0TXQ7x3qaPd4uTfuXrXhXjlNKvSyZ8guysaPi8B92O2t2FNgGw/dBCWIrEMyYbJS3hfXWvH1tUuPdv2lZIFvtu0yK0annA7dybI0dXxM+v5DXDkO+a7PjA7xYCdnJWBlvFjWKX0JCGZlpVVGhDW0pEcAV/GxbkHO/YkncGvS49eSHML0O5w+cjfN/vWLI1Qh67MHcJAaa/cHk5c44pED/nRqGEcHu+iYTkhUF2zhY7VpqKbC70kLIFMaEV/fNd05hkxoT8u0Pwg3R2E1GLYHL4yQgx4imwfpZnFKZFRlesfQH9DIU+Db5Ljqp3stO7aefn0MBt3kboyOX/Ij4lIFt38Y0o/Eh7H6KwrGYGzbvuJjZyn5rKu9ksoJmNemw+p1+i4Brh/MVCIA9EiNfQc3GOxLPSl0JBxbUf0nZCUADzBOOyDhOnQ+nWwTmMokhGQYsO0zckQfF555yYZgQDuxOiIDeAuXMuG09xmgwo0JgQMuP1dE1oWEsjZZgK/eLsv73aNSgSgaWz6zfFCOcSsmN8QxhFQY8CNHmMzAY2dEUG2Im7wVYM/9KJCsOJqv0dmOgnZXudhuoObz+XukOCjfM+qrGRO2/f/jQd6Doxk5fHYxMhlJo++MKJs50IIlEUIwAOcIELYAeYMsR66EGETfg+cIsjKT9ZgjnIZ67k5bwiS0VznwxjkzfZVSarCUbm8pK/2DGAuFIanHO7GInz8JEbFAQQQ80ZSIOCLGg7oEOsjIKrVRjFCiYGFbymI1nraH/MvfnlyNbjNpi5VrjVTQN6x+KZxs/CzsgUY6en7QXPbj1E2GmbfQJlEKhba3BOWoFFew2uBcSCXbfgFk6JD8TE6ysjotsJO3Awn0jH0GsyiQIaKeM7RD0WTG17LGezaLLZkaM5y2qHfE3wWRjV54dxRsUKw0PMP6+lJSkh0ZOtk77rLKUqVUawXuWiUAnPS/JIwLtd6dDYx41vglsDbGSX/nXQfCgHwwmt0+IlicKXiGntGzCJ9azdFgjSL++LVRDw4atLBKaIxhjyRJx+JDQu2GYEpHsaGiH3ea2qdmLH92Xv/PK/hAQqSc4atzrah0EQ92FEnIGmsq8OQMJLrspAm5fgFUIcZsUKvpG0tWZljy09cvCm9hbh/1t5iGdjN/NPNCFENOuDrwUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0145gX2fWqewzcD9KUoMR79T",
      "input": {
        "note": "The burner coil is directly ahead of the held bottle in the wrist view, nozzle pointing at its centre. Advancing ~4 cm and lowering so the bottle's body rests on the plate before release.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.3,
          "left_yaw": 0.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0145gX2fWqewzcD9KUoMR79T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7666, 2.1315, 1.7584, -0.7536, -0.4706, -0.6651, 0.6825, -0.0212, 0.8398, 0.6147, -0.9279, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.2922 left_z=0.0968 left_yaw=0.0307 left_pitch=-0.3624 left_roll=0.0736 left_gripper=0.6825 right_x=0.1961 right_y=0.0029 right_z=0.087 right_yaw=0.0035 right_pitch=-0.5721 right_roll=0.0126 right_gripper=0.9996\nstate[joint_eff]: [0.294, -12.6154, 6.7897, 1.3553, -0.2613, 0.1538, 0.6422, -0.0342, -1.0598, 6.3932, 1.0281, -0.0366, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2459e736974dc4f0a9aee0db31494ddd3f3ae56fe395980a3acd35bf04d879c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d18dfeed937c17128fad8f996d39f9386e5c82161d9a808a2e03c43e4054dfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ad39b794f27aeb2e186f68d1168f94b259d51c2a2c8274bd5a93ba02e13d17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 8.154 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]: [-1.0843, 1.9728, 1.1984, -0.4721, -0.6109, -0.9665, 0.6822, -0.0212, 0.8352, 0.6147, -0.9123, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2838 left_y=-0.3123 left_z=0.0231 left_yaw=0.001 left_pitch=-0.3151 left_roll=0.0626 left_gripper=0.6822 right_x=0.1997 right_y=0.0029 right_z=0.0894 right_yaw=0.0036 right_pitch=-0.5519 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.3846, 6.8855, 0.7253, -0.3443, 0.022, 1.033, -0.1026, -0.8957, 6.5573, 1.1013, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8337, 2.014, 1.8103, -0.8928, -0.5125, -0.7338, 0.6823, -0.0212, 0.8375, 0.6147, -0.9264, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3945 left_y=-0.3004 left_z=0.1605 left_yaw=0.0229 left_pitch=-0.3121 left_roll=0.0326 left_gripper=0.6823 right_x=0.1965 right_y=0.0029 right_z=0.0876 right_yaw=0.0034 right_pitch=-0.5683 right_roll=0.0125 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -10.1949, 8.212, 0.8962, -0.2515, 0.2466, 1.033, -0.0205, -1.0051, 6.4615, 1.1306, -0.0611, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7666, 2.1315, 1.7584, -0.7536, -0.4706, -0.6651, 0.6825, -0.0212, 0.8398, 0.6147, -0.9279, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.2922 left_z=0.0968 left_yaw=0.0307 left_pitch=-0.3624 left_roll=0.0736 left_gripper=0.6825 right_x=0.1961 right_y=0.0029 right_z=0.087 right_yaw=0.0035 right_pitch=-0.5721 right_roll=0.0126 right_gripper=0.9996\nstate[joint_eff]: [0.294, -12.6154, 6.7897, 1.3553, -0.2613, 0.1538, 0.6422, -0.0342, -1.0598, 6.3932, 1.0281, -0.0366, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2459e736974dc4f0a9aee0db31494ddd3f3ae56fe395980a3acd35bf04d879c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d18dfeed937c17128fad8f996d39f9386e5c82161d9a808a2e03c43e4054dfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ad39b794f27aeb2e186f68d1168f94b259d51c2a2c8274bd5a93ba02e13d17b",
        "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/AcKEAgRGAI4AUIIdGhpbmtpbmcSDOOWDYka7A8rDOHHMBoMf1N56C2zVZDCdhaSIjA9RNsubaUsO5g/6gwBetZJsk42y+oBJyvs9Ex3/D1a87KaP2cbpkOmGrBko3SlGKUqmQeoVjIrsCMgWmSgeHXRr6ciAWufXnpbFc7bmwwrmqs+IagBKMz+PxofDrnni2yF6wp/Fm56evVoHiVPAE8w5zx/HNAgsOGWEEgkV/IBe1cIBlWoFvB8e9TMISNEBEsa6vkLM6Bk55wmXDLdvMoDjUBnh+FmktXjyTgz4Dt/db1pGkRG7Yjd63cti54HefEnsx3throhDuhsDP1n9onoDq1ndIdd7+i5bJQ3cCO2Xyzf5YCl3VaVWzF+ZiLAV+G8EtXvaOp6akchz8LfR/8UBz7p0enLoPK2uoSdCh0ASVg9sq/n+SCPQJpVjlpz+Ye6oBAGpMRO0ld/SySp67vnMLJq53xXtEIHVtVXsc0mu0aj5y3S/1fLhZ3vdNsY7Nnf/vqz0cxR4Bi1c6hLUgi3laYr7+/Nt5FoN2nf6lv/azX/3Apyi+H+VjprqCS7EZvfQ7n9Ht9jxU4qM7hMrjCLiedfOEUKOcYXduNYYOR53cBE8o3kUaCS8SosFaNcgrKCwziPYiqYV1FRtlOPyeAhuhDDyFGmvmC1C/Tsxut/3KUmWXAuoMoAdzb0OGpzNjjoK4btVLN0FzBKz6YmtJgfvloQ8sqOI6NngZqZYikyy6E2oN/zF4kTWvtdykJ9psNX4Y6B+knRSLbnSLVZv1lJsgsU8VmEdN278CVx/yzN8/4tB75wmoMzVkksYKTxKQgE3+xBGESzypTDwvBaxw7xnAS/zen7M7AQsD/EvsMeiupGQgs9YH6X5vEbdEaq+/t6snEJydebGDXnuQMmnQbde6pwFGj+9nXx3xiMT+28k5Eo/yScKP2BZ8vd9ciAArdvB1fTStPcorgOxM6JsCZCErZcVV+3NCzAiYnrcHwFLweXWAcEdGPyjRrDFOk3Sk9F8qQuYYLhMrI2bIIr0OP9RddlmewWCajzypFYNQ5YXmPo3MEJti9ZySJXDJeERtwR5Rr1X9A9uV1/tXxqP3TzbNtXa/q20/ItmHFgX8cFwJjB4XA04cJ45c2pjtw1Lh6GyRYwwN6tNxQr+q6YiRQYrAZEeuWapL2fyFtM7tJrEEgmJ9ZlCgCQyqfd7NSLPKyTXtWrh4zwMviwil8j46MpzR3JD9WjphMvSLklO66Tl3KlAUtauTmSeBLedhkMdwWGRByisWwAEwfKnvnHoxGLNI/dbHXb2aQjN7WvOV978NV8lDYVucxHuqYVR7Hl+CmEswovy4OStukvJ7gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J9DM6RUXKjMpJFGxu6yYhX",
      "input": {
        "note": "The bottle is over the burner with its nozzle above the coil and the descent has stopped with falling gripper effort, suggesting it is touching the plate. Opening the gripper to set it down.",
        "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_01J9DM6RUXKjMpJFGxu6yYhX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7578, 2.1452, 1.7523, -0.691, -0.4603, -0.6479, 0.9961, -0.0212, 0.8406, 0.6147, -0.9344, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4338 left_y=-0.2975 left_z=0.0936 left_yaw=0.0115 left_pitch=-0.3392 left_roll=0.0455 left_gripper=0.9961 right_x=0.1946 right_y=0.0029 right_z=0.0862 right_yaw=0.0036 right_pitch=-0.5793 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -12.4103, 7.0632, 1.3944, -0.3297, 0.1001, 0.0073, -0.0752, -0.9778, 6.6256, 1.0427, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9088350d703092dca8822462260f3741add761f178df9ca731bbedec926a53c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e588f5adbe29d1fb4ac2e4c2708804f608c18ddc13048bb5b0f9e3afbce679f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64c45dfae5d5be4dc68a390924e9b09411da532aee67945af53410f04e08bf39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 16.92 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8337, 2.014, 1.8103, -0.8928, -0.5125, -0.7338, 0.6823, -0.0212, 0.8375, 0.6147, -0.9264, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3945 left_y=-0.3004 left_z=0.1605 left_yaw=0.0229 left_pitch=-0.3121 left_roll=0.0326 left_gripper=0.6823 right_x=0.1965 right_y=0.0029 right_z=0.0876 right_yaw=0.0034 right_pitch=-0.5683 right_roll=0.0125 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -10.1949, 8.212, 0.8962, -0.2515, 0.2466, 1.033, -0.0205, -1.0051, 6.4615, 1.1306, -0.0611, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7666, 2.1315, 1.7584, -0.7536, -0.4706, -0.6651, 0.6825, -0.0212, 0.8398, 0.6147, -0.9279, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.2922 left_z=0.0968 left_yaw=0.0307 left_pitch=-0.3624 left_roll=0.0736 left_gripper=0.6825 right_x=0.1961 right_y=0.0029 right_z=0.087 right_yaw=0.0035 right_pitch=-0.5721 right_roll=0.0126 right_gripper=0.9996\nstate[joint_eff]: [0.294, -12.6154, 6.7897, 1.3553, -0.2613, 0.1538, 0.6422, -0.0342, -1.0598, 6.3932, 1.0281, -0.0366, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7578, 2.1452, 1.7523, -0.691, -0.4603, -0.6479, 0.9961, -0.0212, 0.8406, 0.6147, -0.9344, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4338 left_y=-0.2975 left_z=0.0936 left_yaw=0.0115 left_pitch=-0.3392 left_roll=0.0455 left_gripper=0.9961 right_x=0.1946 right_y=0.0029 right_z=0.0862 right_yaw=0.0036 right_pitch=-0.5793 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -12.4103, 7.0632, 1.3944, -0.3297, 0.1001, 0.0073, -0.0752, -0.9778, 6.6256, 1.0427, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9088350d703092dca8822462260f3741add761f178df9ca731bbedec926a53c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e588f5adbe29d1fb4ac2e4c2708804f608c18ddc13048bb5b0f9e3afbce679f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c45dfae5d5be4dc68a390924e9b09411da532aee67945af53410f04e08bf39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QgKEAgRGAI4AUIIdGhpbmtpbmcSDC/+QMRML+G2eobUixoMi34Y5xcUlSo1JtEBIjCB/AkqO1oDdxuxqIRmo2iH3oLWgjP1dcwR2jOlmu16yip39pOPafXkB6Ds3Cx+xLIqighKdZqj/l85rzXv8POTsNgjYxJ1Bd/6geKxGonnItFQ+f0wheImhlZ/RaaVk2jcwUE2nmxo9Gvmp2WF81EQSEkkHzR4QspK3JuWxYPqqRgqxWAXAlFtvJqkIm/UdbzUg4kNcuBIMWjlm5WzQl6ka0E5aOn68d602Znzi3xAaBeBf8KlozLFzK29msvQbO6EmdRL7e9YfKGqSnefq/8rmsQSA8SH0aRd5TEqFSh9YWwhv7L3UrPR5XkRJtg2SzTbmc7LpaL5gG2J6AA4ozfK65jmSetVhu+jvQr9SeEgcY0U4Sx3LyAWBMNpdXbKubZSluiyu1AtW/GbAvBrfPp8rdRUAHTk5slPnUlu6dTR5yvy9qPYdemdyK04o+9R9VpW/PT/ApRleliz/+aeLXl474zerIy6MEmcAAiPX0F57sdTNSIIMbSXxadCN8EYYni1kc+eLQ6fvi1h8RHVWO5iUyZcNTqzSQUYsskFXrb7KVGOLU8gPWy9wvAspyTfF6zHlq1EKPqnpjgwZFgmu7eHHnYIhcQ6gPtDsrRrE0ag+vjcToX/1N8m7ZauSTaCKimnKa+HlmwelezJgR9GxhbtHsqjZzrrAV2lBq1R7jJYQ4WzggGXNoXmNdNWIQAe+1ae93BuUwI277n+mpUmddt5s8wJdyA6kF/UZ60XPq5/Auozdi5uiw0TnEi5DBbvD3h7AOUNyAPZAYb6LsrTPIZDNZnJPxrmhH9pPrthNMl7Kqui7gpytvUHVRnZBBiZWM1/Cvg45gO8Rxdp0z/m5TvKkDFnrPK3lqEw1Q0Kx34xp/8kJfU5Dk2BkK9GK1x6nEGEOEnQNAmDLUEcO7g8qCj/dE94LG9IUOJz396GjghME0Zl6TufuXiG0g/yyiU1IE5RY0DkY989WjX4mVYOiy8JZtUfdXfUs8tm2yeO8tmU/YfxIJqAP7ei9DWnHTQho7ruECMF4mGTjWyYlsdCsgYdaydJIYUags7EIcXbNjqdVDpwGNLsrLyffGU+3DrnALFtOLrFu630Ybs2KVrFiiMgnrd2I0V+wbj96QS9cxpYrOeHqOVABxGGT2ksh8c2SAjBGh10Oih+Gz+NM3n5tNhQ/nptGV2Xrm0xlMbB3HGVl3ie6QIoNlDNiccl1KaSfG/oE3qLKUTRgu3YXUswo74smTU20D0jxujInO/RWOs+LZHm/NodJnhTgWEEF4zXfZpJ3i3nG3eQf1jwEbsn62esOlvtIJbXtcirBwFjaBwXNUvnwh99VCGD1jZoxzKwPGsDAYrSdy5nZafiXZiZ1qIEEA6ISoZ2ymWIeknjFbmoT7vXh+w1dlr0MV898ffIqvRkEsVEldQpFdI8OfoSLV70Qu5Dils5BvE2v4/hLhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017EKaqWAAxw7m9EoczbQ8Si",
      "input": {
        "note": "Bottle released over the burner; retracting the left arm toward home to uncover the overhead view and check where it came to rest.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_017EKaqWAAxw7m9EoczbQ8Si",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5282, 1.2579, 1.1446, -0.8722, -0.3462, -0.448, 0.997, -0.0212, 0.8436, 0.6144, -0.9516, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3079 left_y=-0.1061 left_z=0.1983 left_yaw=0.0199 left_pitch=-0.326 left_roll=0.0297 left_gripper=0.997 right_x=0.1905 right_y=0.003 right_z=0.0839 right_yaw=0.0036 right_pitch=-0.5999 right_roll=0.013 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -4.8889, 6.2974, 1.37, -0.1343, 0.2027, 0.0855, -0.3487, -0.6222, 6.5983, 1.2088, -0.0611, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb40352e22b59e759cf92c98b9f25c1f39371a9e6aeeff7e1c5f1ba1ef51699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c08ef2788968e54d50badf554a82d416628c4308ac39709cc5dd6c877602a196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8688c8e3782ec33b156ae4c7e52f70e702afd6d9f3122e50543ce7ea34ca6b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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