adhoc

completed
2026-09-18T05:03:42.779187+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
384.9 s
total steps
249
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 right wrist camera shows the spray can lying on its side just ahead of the right gripper, angled forward-right. Moving the right arm slightly forward and yawing clockwise so the jaws will close across the can's diameter.
move_to
right_x0.3400right_y0.0000right_z0.1500right_yaw-0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.4011, -0.0196, -0.017, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.4017, 10.2496, 2.0098, -0.0366, 0.1538, -0.0904, -0.1983, -1.4701, 9.6615, 2.0195, -0.0464, -0.0073, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.0, "right_z": 0.15, "right_yaw": -0.5, "right_gripper": 1.0}, "note": "The right wrist camera shows the spray can lying on its side just ahead of the right gripper, angled forward-right. Moving the right arm slightly forward and yawing clockwise so the jaws will close across the can's diameter."})
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 now appears nearly vertical along the jaw column in the right wrist camera, its body spanning from the middle to the bottom of the frame. Finishing the yaw alignment and lowering a bit before the descent to grasp.
move_to
right_x0.3300right_y0.0100right_z0.0900right_yaw-0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7963, 0.6067, -0.4057, -0.0193, -0.0376, 0.9992, 0.2893, 1.1812, 0.6556, -0.3267, 0.4446, 0.3401, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3206 right_y=0.0199 right_z=0.1125 right_yaw=-0.2764 right_pitch=-0.1633 right_roll=-0.085 right_gripper=0.9996 state[joint_eff]: [-0.3624, -1.4291, 6.8034, 1.8339, -0.0464, 0.0024, -0.0171, 0.1709, -5.8462, 10.5368, 1.9023, 0.4078, 0.1783, -0.0562] 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": {"right_x": 0.33, "right_y": 0.01, "right_z": 0.09, "right_yaw": -0.4, "right_gripper": 1.0}, "note": "The can now appears nearly vertical along the jaw column in the right wrist camera, its body spanning from the middle to the bottom of the frame. Finishing the yaw alignment and lowering a bit before the descent to grasp."})
tool
executing move_to over 2 steps (0.2s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe can lies centred between the jaws in the right wrist view, aligned with the tool's forward axis. Descending to can-centre height to grasp it across its diameter.
move_to
right_x0.3300right_y0.0050right_z0.0300right_yaw-0.4400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.3065, 1.2518, 0.6491, -0.2417, 0.5896, 0.4717, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.002 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3309 right_y=0.0055 right_z=0.1112 right_yaw=-0.4386 right_pitch=-0.0854 right_roll=-0.0664 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.2376, 7.0222, 1.7021, -0.0513, -0.0317, -0.0122, -0.1846, -2.9607, 5.4769, 1.3211, 0.398, -0.0659, -0.0513] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.005, "right_z": 0.03, "right_yaw": -0.44, "right_gripper": 1.0}, "note": "The can lies centred between the jaws in the right wrist view, aligned with the tool's forward axis. Descending to can-centre height to grasp it across its diameter."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe descent stopped at z≈0.076 with the can still centred between the jaws in the wrist view and no sign of contact; continuing the descent to grasp height.
move_to
right_x0.3300right_y0.0050right_z0.0250right_yaw-0.4400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4442, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.021 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3966 right_pitch=-0.1746 right_roll=-0.1155 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.306, 7.2274, 1.746, -0.0806, -0.0366, -0.0122, -0.335, -5.2034, 7.3915, 1.6435, 0.3639, -0.1001, -0.0562] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.005, "right_z": 0.025, "right_yaw": -0.44, "right_gripper": 1.0}, "note": "The descent stopped at z\u22480.076 with the can still centred between the jaws in the wrist view and no sign of contact; continuing the descent to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe arm did not move at all on the last command (joint positions unchanged), possibly an IK stall from the drifted pitch/roll. Re-commanding the descent with pitch and roll explicitly zeroed.
move_to
right_x0.3250right_y0.0000right_z0.0300right_yaw-0.4400right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4133, -0.0189, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4446, 0.9996] state[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0252 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3968 right_pitch=-0.1746 right_roll=-0.1152 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.2376, 7.1043, 1.7265, -0.0073, -0.0464, -0.0122, -0.2256, -5.2171, 7.2, 1.6874, 0.3492, -0.0611, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.325, "right_y": 0.0, "right_z": 0.03, "right_yaw": -0.44, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm did not move at all on the last command (joint positions unchanged), possibly an IK stall from the drifted pitch/roll. Re-commanding the descent with pitch and roll explicitly zeroed."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
Now z=0.012, can filling between jaws. Close the gripper.
agent noteThe gripper is now down at z≈0.01 with the can body filling the space between the jaws in the wrist view. Closing the gripper to grasp the can across its diameter.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.4605, 0.3347, 0.2584, 0.5682, 0.4488, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0022 left_pitch=-0.0408 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3062 right_y=-0.0011 right_z=0.0123 right_yaw=-0.4191 right_pitch=-0.1142 right_roll=-0.0875 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.8437, -0.0562, -0.0757, -0.0122, -0.294, -4.4239, 5.053, 1.7363, 0.4469, 0.0708, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
Now z=0.012, can filling between jaws. Close the gripper.
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is now down at z\u22480.01 with the can body filling the space between the jaws in the wrist view. Closing the gripper to grasp the can across its diameter."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper settled at 0.72 (≈6.8 cm), consistent with gripping the can's diameter. Lifting the can to carrying height to confirm the grasp before moving toward the burner.
move_to
right_z0.1700right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3, 1.4658, 0.3225, 0.2859, 0.5671, 0.445, 0.7162] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.3059 right_y=-0.0009 right_z=0.011 right_yaw=-0.4151 right_pitch=-0.1074 right_roll=-0.0833 right_gripper=0.7162 state[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.8291, -0.0513, -0.0464, -0.0171, -0.253, -4.9026, 5.8735, 1.0916, 0.1832, -0.0122, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_gripper": 0.0}, "note": "The gripper settled at 0.72 (\u22486.8 cm), consistent with gripping the can's diameter. Lifting the can to carrying height to confirm the grasp before moving toward the burner."})
tool
executing move_to over 11 steps (1.1s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe top camera shows the can lifted off the table in the right gripper. Carrying it left toward the burner in the table centre at a safe height.
move_to
right_x0.3300right_y0.2800right_z0.2000right_yaw-0.4000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.9992, 0.3, 1.103, 0.7563, -0.5625, 0.5419, 0.4438, 0.7161] state[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0022 left_pitch=-0.0652 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3008 right_y=0.0015 right_z=0.1462 right_yaw=-0.401 right_pitch=-0.1596 right_roll=-0.1033 right_gripper=0.7161 state[joint_eff]: [-0.212, -1.2923, 6.9812, 1.8584, -0.0415, -0.0757, -0.0122, -0.3487, -4.4923, 9.0188, 1.9219, 0.5055, -0.0464, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.28, "right_z": 0.2, "right_yaw": -0.4, "right_gripper": 0.0}, "note": "The top camera shows the can lifted off the table in the right gripper. Carrying it left toward the burner in the table centre at a safe height."})
tool
executing move_to over 24 steps (2.4s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe right wrist camera shows the burner coil to the left of the held can, so the burner centre is a few centimetres further in +y. Shifting over the burner and lowering toward its top surface.
move_to
right_x0.3400right_y0.3400right_z0.1300right_yaw-0.4000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.9951, 2.0491, 1.9556, -1.3678, 0.7734, 1.2427, 0.7146] state[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.325 right_y=0.2807 right_z=0.1881 right_yaw=-0.372 right_pitch=-0.2101 right_roll=-0.1216 right_gripper=0.7146 state[joint_eff]: [-0.2667, -1.5385, 7.159, 1.707, -0.0415, -0.0611, -0.0122, 0.1573, -10.359, 7.665, 0.2955, 0.8132, 0.232, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.34, "right_z": 0.13, "right_yaw": -0.4, "right_gripper": 0.0}, "note": "The right wrist camera shows the burner coil to the left of the held can, so the burner centre is a few centimetres further in +y. Shifting over the burner and lowering toward its top surface."})
tool
executing move_to over 8 steps (0.8s)
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 camera shows the held can now above the burner; the wrist view shows the coil slightly left of centre. Nudging a bit further left and descending toward the burner surface.
move_to
right_x0.3450right_y0.3550right_z0.0700right_yaw-0.4000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4686, -0.0189, -0.0387, 0.9992, 1.0382, 2.336, 2.1887, -1.4086, 0.7444, 1.3106, 0.7146] state[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1609 left_yaw=0.0023 left_pitch=-0.0862 left_roll=-0.0022 left_gripper=0.9992 right_x=0.332 right_y=0.3346 right_z=0.126 right_yaw=-0.386 right_pitch=-0.25 right_roll=-0.1642 right_gripper=0.7146 state[joint_eff]: [-0.2803, -1.2376, 6.9538, 1.8291, -0.0464, -0.0806, -0.0122, 0.1026, -11.8769, 7.8838, 0.3639, 0.735, 0.2222, 1.033] approver: 3 step(s) modified (delta_clamped ×3). 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": {"right_x": 0.345, "right_y": 0.355, "right_z": 0.07, "right_yaw": -0.4, "right_gripper": 0.0}, "note": "The top camera shows the held can now above the burner; the wrist view shows the coil slightly left of centre. Nudging a bit further left and descending toward the burner surface."})
tool
executing move_to over 8 steps (0.8s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe wrist view shows the burner coil ring directly around the held can, and the descent stopped near z≈0.09. Lowering a little more so the can rests on the burner before releasing.
move_to
right_x0.3400right_y0.3500right_z0.0550right_yaw-0.4000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 1.0409, 2.4355, 2.2051, -1.3586, 0.7677, 1.317, 0.714] state[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9992 right_x=0.34 right_y=0.3447 right_z=0.0888 right_yaw=-0.3958 right_pitch=-0.231 right_roll=-0.1969 right_gripper=0.714 state[joint_eff]: [-0.253, -1.2239, 6.9538, 1.7265, -0.0317, -0.0366, -0.0122, -0.1709, -9.8256, 7.2137, 0.7595, -0.0366, 0.0708, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.35, "right_z": 0.055, "right_yaw": -0.4, "right_gripper": 0.0}, "note": "The wrist view shows the burner coil ring directly around the held can, and the descent stopped near z\u22480.09. Lowering a little more so the can rests on the burner before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe descent has stalled at z≈0.087 and the elbow effort dropped, indicating the can is resting on the burner surface. Opening the gripper to release the can.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 1.0466, 2.439, 2.1696, -1.3247, 0.8375, 1.3174, 0.714] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.3453 right_y=0.3421 right_z=0.0872 right_yaw=-0.3916 right_pitch=-0.1624 right_roll=-0.2111 right_gripper=0.714 state[joint_eff]: [-0.0205, -0.9368, 6.9675, 1.6386, -0.0366, -0.0708, -0.0122, 0.0342, -10.4957, 3.7265, 0.8523, -0.315, 0.0806, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent has stalled at z\u22480.087 and the elbow effort dropped, indicating the can is resting on the burner surface. Opening the gripper to release the can."})
tool
executing move_to over 3 steps (0.3s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
The gripper reading hasn't changed yet (0.714); the open command was rate-clamped. Re-sending the open.
agent noteThe gripper still reads 0.71 after the clamped open command, so the can is still held. Re-sending the open command to release it onto the burner.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3254, 0.8562, 1.3167, 0.714] state[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0023 left_pitch=-0.0984 left_roll=-0.002 left_gripper=0.9992 right_x=0.3468 right_y=0.3407 right_z=0.0892 right_yaw=-0.3912 right_pitch=-0.1444 right_roll=-0.2172 right_gripper=0.714 state[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.619, -0.0513, -0.0659, -0.0122, -0.4171, -13.4496, 5.8598, 0.2759, 0.188, -0.0513, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
The gripper reading hasn't changed yet (0.714); the open command was rate-clamped. Re-sending the open.
move_to({"targets": {"right_gripper": 1.0}, "note": "The gripper still reads 0.71 after the clamped open command, so the can is still held. Re-sending the open command to release it onto the burner."})
tool
executing move_to over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe gripper is not opening despite two open commands (reading stuck at 0.71), possibly because the arm is pressing the can into the burner. Relieving the downward pressure slightly and opening in a smaller increment.
move_to
right_gripper0.8500right_z0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3258, 0.8597, 1.3128, 0.714] state[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0023 left_pitch=-0.1136 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3471 right_y=0.3404 right_z=0.0896 right_yaw=-0.3892 right_pitch=-0.1415 right_roll=-0.2209 right_gripper=0.714 state[joint_eff]: [-0.3214, -1.0872, 6.9402, 1.79, -0.0757, -0.0366, -0.0122, -0.2393, -13.2855, 5.8735, 0.1929, 0.3346, 0.022, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.85, "right_z": 0.1}, "note": "The gripper is not opening despite two open commands (reading stuck at 0.71), possibly because the arm is pressing the can into the burner. Relieving the downward pressure slightly and opening in a smaller increment."})
tool
executing move_to over 2 steps (0.2s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
Gripper now opening (0.80, effort dropped to 0). Opening fully and lifting clear.
agent noteThe gripper is now opening (0.80) and its effort has dropped, so the can has been released on the burner. Opening fully and lifting the arm clear to verify placement in the overhead view.
move_to
right_gripper1.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5011, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.1746, -1.3472, 0.852, 1.3094, 0.7954] state[eef_state]: left_x=0.2779 left_y=0.0017 left_z=0.1547 left_yaw=0.0023 left_pitch=-0.1186 left_roll=-0.0015 left_gripper=0.9992 right_x=0.345 right_y=0.3387 right_z=0.0906 right_yaw=-0.3894 right_pitch=-0.1513 right_roll=-0.2363 right_gripper=0.7954 state[joint_eff]: [-0.0752, -0.9504, 7.1316, 1.7705, -0.0611, -0.0171, -0.0122, -0.3487, -13.3265, 8.4991, 0.2369, 0.5348, -0.0269, 0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
Gripper now opening (0.80, effort dropped to 0). Opening fully and lifting clear.
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.18}, "note": "The gripper is now opening (0.80) and its effort has dropped, so the can has been released on the burner. Opening fully and lifting the arm clear to verify placement in the overhead view."})
tool
executing move_to over 6 steps (0.6s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe right wrist camera shows the can lying released on top of the burner coil. Retracting the right arm to its home pose so the overhead camera can confirm the placement.
move_to
right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5152, -0.0193, -0.0387, 0.9992, 1.0389, 2.4367, 2.3737, -1.5589, 0.8341, 1.2827, 0.9978] state[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.152 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.3427 right_y=0.3315 right_z=0.1392 right_yaw=-0.3851 right_pitch=-0.1741 right_roll=-0.2643 right_gripper=0.9978 state[joint_eff]: [-0.2393, -1.1966, 6.9265, 1.746, -0.0806, -0.0611, -0.0122, -0.8274, -17.4838, 5.7641, 0.1929, 0.6325, -0.0904, 0.0073] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The right wrist camera shows the can lying released on top of the burner coil. Retracting the right arm to its home pose so the overhead camera can confirm the placement."})
tool
executing move_to over 28 steps (2.8s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe overhead view shows the can rolled to the right rim of the burner and is only partly on it. Going back above the can to re-grasp it and place it centred on the coil.
move_to
right_x0.3400right_y0.3000right_z0.1600right_yaw-0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, 0.1623, 0.9463, 0.7826, -0.6518, 0.3096, -0.0544, 0.9991] state[eef_state]: left_x=0.2728 left_y=0.0018 left_z=0.1486 left_yaw=0.0024 left_pitch=-0.151 left_roll=-0.0008 left_gripper=0.9992 right_x=0.285 right_y=-0.0042 right_z=0.1721 right_yaw=-0.0744 right_pitch=-0.2057 right_roll=-0.2657 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.2513, 6.8991, 1.7851, -0.0317, -0.0464, -0.0122, -0.1846, -2.5368, 6.8718, 1.8486, 0.0513, -0.0513, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.3, "right_z": 0.16, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The overhead view shows the can rolled to the right rim of the burner and is only partly on it. Going back above the can to re-grasp it and place it centred on the coil."})
tool
executing move_to over 26 steps (2.6s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteIn the right wrist view the can lies to the right of the jaw column on the burner's rim, with the coil centre well to the left. Shifting the gripper right over the can and lowering to just above it.
move_to
right_x0.3400right_y0.2550right_z0.1300right_yaw-0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.548, -0.0189, -0.0387, 0.9992, 0.9947, 2.1502, 1.98, -1.3071, 0.7742, 1.0416, 0.9991] state[eef_state]: left_x=0.2703 left_y=0.0018 left_z=0.1458 left_yaw=0.0025 left_pitch=-0.1663 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3372 right_y=0.2989 right_z=0.1552 right_yaw=-0.2643 right_pitch=-0.2352 right_roll=-0.2806 right_gripper=0.9991 state[joint_eff]: [-0.1573, -0.8957, 6.8991, 1.7314, -0.0366, -0.0513, -0.0122, 0.1436, -10.947, 7.3094, 0.1636, 0.569, 0.2466, -0.1148] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.255, "right_z": 0.13, "right_yaw": -0.2, "right_gripper": 1.0}, "note": "In the right wrist view the can lies to the right of the jaw column on the burner's rim, with the coil centre well to the left. Shifting the gripper right over the can and lowering to just above it."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe can is now closer but still right of the jaw column in the wrist view and slightly tilted. Shifting a few more centimetres right, yawing to match the can's axis, and lowering toward can height.
move_to
right_x0.3300right_y0.2150right_z0.1000right_yaw-0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.9268, 1.9945, 1.5856, -1.0912, 0.7471, 0.9154, 0.9991] state[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1428 left_yaw=0.0025 left_pitch=-0.1823 left_roll=-0.0002 left_gripper=0.9992 right_x=0.328 right_y=0.2429 right_z=0.1113 right_yaw=-0.2648 right_pitch=-0.2908 right_roll=-0.3808 right_gripper=0.9991 state[joint_eff]: [-0.1983, -0.9641, 6.9265, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -13.2308, 7.1726, 0.9939, 0.4908, -0.0366, -0.1148] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.215, "right_z": 0.1, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The can is now closer but still right of the jaw column in the wrist view and slightly tilted. Shifting a few more centimetres right, yawing to match the can's axis, and lowering toward can height."})
tool
executing move_to over 3 steps (0.3s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe arm barely moved on the last command, likely because a jaw is resting on top of the can. Raising up first while shifting right so the jaws will straddle the can.
move_to
right_x0.3300right_y0.2100right_z0.1500right_yaw-0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5682, -0.0189, -0.0383, 0.9992, 0.9127, 1.9713, 1.5452, -1.0424, 0.7399, 0.8837, 0.9991] state[eef_state]: left_x=0.2669 left_y=0.0019 left_z=0.1417 left_yaw=0.0024 left_pitch=-0.1884 left_roll=0.0003 left_gripper=0.9992 right_x=0.3306 right_y=0.2388 right_z=0.1092 right_yaw=-0.2516 right_pitch=-0.2917 right_roll=-0.3689 right_gripper=0.9991 state[joint_eff]: [-0.1436, -0.9778, 6.8855, 1.663, -0.0513, -0.022, -0.0171, -0.294, -9.894, 5.6274, 0.4029, 0.3883, 0.1099, -0.1148] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.21, "right_z": 0.15, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The arm barely moved on the last command, likely because a jaw is resting on top of the can. Raising up first while shifting right so the jaws will straddle the can."})
tool
executing move_to over 3 steps (0.3s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe arm is not tracking (unchanged position) with pitch/roll having drifted to about -0.3/-0.38, the same stall seen earlier. Re-commanding with pitch and roll explicitly zeroed to unstick it.
move_to
right_x0.3300right_y0.2100right_z0.1500right_yaw-0.3000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5781, -0.0189, -0.0387, 0.9992, 0.9092, 1.9713, 1.544, -1.0607, 0.7399, 0.8944, 0.9991] state[eef_state]: left_x=0.2652 left_y=0.0019 left_z=0.1399 left_yaw=0.0026 left_pitch=-0.1983 left_roll=0.0002 left_gripper=0.9992 right_x=0.329 right_y=0.2345 right_z=0.1085 right_yaw=-0.2662 right_pitch=-0.2972 right_roll=-0.3804 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.1282, 6.9265, 1.6093, -0.0757, -0.0708, -0.0122, 0.0752, -9.6479, 5.7915, 0.3639, 0.3834, 0.1294, -0.1148] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.21, "right_z": 0.15, "right_yaw": -0.3, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm is not tracking (unchanged position) with pitch/roll having drifted to about -0.3/-0.38, the same stall seen earlier. Re-commanding with pitch and roll explicitly zeroed to unstick it."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe can is now just right of the jaw column in the wrist view with its far end leaning left. Yawing counterclockwise to match its axis, shifting slightly right, and descending to straddle it.
move_to
right_x0.3250right_y0.1900right_z0.0600right_yaw-0.1000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.915, 1.6733, 1.1542, -0.6998, 0.8528, 0.9546, 0.9991] state[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.138 left_yaw=0.0027 left_pitch=-0.2086 left_roll=0.0004 left_gripper=0.9992 right_x=0.3182 right_y=0.2013 right_z=0.1304 right_yaw=-0.2781 right_pitch=-0.0845 right_roll=-0.1258 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.1966, 6.8444, 1.6728, -0.0806, -0.0708, -0.0122, 0.1162, -9.3744, 6.5846, 1.2137, 0.6716, 0.1538, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.325, "right_y": 0.19, "right_z": 0.06, "right_yaw": -0.1, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The can is now just right of the jaw column in the wrist view with its far end leaning left. Yawing counterclockwise to match its axis, shifting slightly right, and descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe can now sits between the jaws in the wrist view, slightly right of the jaw column and aligned with the tool axis. Descending to can-centre height with a small rightward shift before closing.
move_to
right_x0.3200right_y0.1650right_z0.0350right_yaw-0.1500right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 0.8482, 1.6218, 0.709, -0.0673, 0.7998, 0.7097, 0.9991] state[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1373 left_yaw=0.0027 left_pitch=-0.212 left_roll=0.0005 left_gripper=0.9992 right_x=0.3161 right_y=0.1724 right_z=0.0582 right_yaw=-0.1708 right_pitch=-0.0332 right_roll=-0.0866 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.0598, 7.0496, 1.5507, -0.022, -0.0366, -0.0122, -0.7453, -6.3111, 4.9162, 1.0574, -0.5641, 0.2271, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.165, "right_z": 0.035, "right_yaw": -0.15, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The can now sits between the jaws in the wrist view, slightly right of the jaw column and aligned with the tool axis. Descending to can-centre height with a small rightward shift before closing."})
tool
executing move_to over 2 steps (0.2s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe can is between the jaws, nearer the right jaw, in the wrist view. Lowering the last couple of centimetres and closing the gripper to grasp the can.
move_to
right_x0.3200right_y0.1700right_z0.0300right_yaw-0.1500right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 0.8272, 1.626, 0.6128, 0.1871, 0.7303, 0.6537, 0.9991] state[eef_state]: left_x=0.2634 left_y=0.002 left_z=0.1371 left_yaw=0.0025 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.3223 right_y=0.1817 right_z=0.0513 right_yaw=-0.1154 right_pitch=0.0064 right_roll=0.0255 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.1829, 6.8444, 1.536, -0.0611, -0.0366, -0.0122, -1.2239, -3.7675, 4.5607, 0.0952, 0.0806, -0.2906, -0.1099] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.17, "right_z": 0.03, "right_yaw": -0.15, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The can is between the jaws, nearer the right jaw, in the wrist view. Lowering the last couple of centimetres and closing the gripper to grasp the can."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
assistant
agent noteThe close came up empty (0.015); the wrist view shows the can lying to the right of and ahead of the jaws, angled forward-left. Opening, lifting, and moving forward-right while yawing counterclockwise to match the can's axis.
move_to
right_x0.3600right_y0.1400right_z0.1200right_yaw0.3000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0193, -0.0383, 0.9992, 0.8055, 1.6535, 0.5663, 0.2367, 0.7395, 0.6544, 0.0153] state[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0028 left_pitch=-0.2162 left_roll=0.0011 left_gripper=0.9992 right_x=0.3196 right_y=0.1661 right_z=0.0355 right_yaw=-0.1437 right_pitch=-0.0023 right_roll=0.0024 right_gripper=0.0153 state[joint_eff]: [-0.0889, -1.1692, 6.9812, 1.5263, -0.0855, -0.0366, -0.0122, -0.1709, -5.9145, 4.9573, 1.3748, 0.3199, -0.0171, 0.735] approver: 10 step(s) modified (delta_clamped ×10). 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": {"right_x": 0.36, "right_y": 0.14, "right_z": 0.12, "right_yaw": 0.3, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The close came up empty (0.015); the wrist view shows the can lying to the right of and ahead of the jaws, angled forward-left. Opening, lifting, and moving forward-right while yawing counterclockwise to match the can's axis."})
tool
executing move_to over 10 steps (1.0s)
step 206
assistant
agent noteThe can still appears to the right of the jaws in the wrist view; its apparent tilt is likely perspective from being offset to the side rather than true yaw. Moving a few centimetres to the arm's right and returning yaw toward zero to get the can onto the jaw column.
move_to
right_x0.3600right_y0.0900right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4133, 1.3445, 0.5823, 0.1158, 0.1593, 0.1074, 0.9947] state[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0025 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9992 right_x=0.353 right_y=0.1281 right_z=0.0964 right_yaw=0.2165 right_pitch=-0.0505 right_roll=-0.0069 right_gripper=0.9947 state[joint_eff]: [-0.1026, -1.1282, 6.8308, 1.4969, -0.0708, -0.0171, -0.0122, -0.1846, -6.2017, 9.1145, 1.8974, 0.0171, -0.022, -0.1783] approver: 9 step(s) modified (delta_clamped ×9). 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": {"right_x": 0.36, "right_y": 0.09, "right_z": 0.1, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The can still appears to the right of the jaws in the wrist view; its apparent tilt is likely perspective from being offset to the side rather than true yaw. Moving a few centimetres to the arm's right and returning yaw toward zero to get the can onto the jaw column."})
tool
executing move_to over 4 steps (0.4s)
step 210
assistant
agent noteThe can's near end now sits between the jaws with the body angling forward-left in the wrist view. Advancing a few centimetres, yawing counterclockwise to align with the can, and descending to straddle it.
move_to
right_x0.3800right_y0.0900right_z0.0500right_yaw0.4000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0387, 0.9992, 0.3882, 1.3354, 0.5503, 0.099, 0.2481, 0.1646, 0.999] state[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0027 left_pitch=-0.217 left_roll=0.0006 left_gripper=0.9992 right_x=0.3492 right_y=0.0998 right_z=0.0852 right_yaw=0.0858 right_pitch=-0.075 right_roll=-0.0244 right_gripper=0.999 state[joint_eff]: [-0.0479, -1.0325, 7.0496, 1.5214, -0.0904, -0.0317, -0.0171, -0.5812, -4.7795, 6.3111, 2.3077, 0.1832, 0.1832, -0.1148] 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": {"right_x": 0.38, "right_y": 0.09, "right_z": 0.05, "right_yaw": 0.4, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The can's near end now sits between the jaws with the body angling forward-left in the wrist view. Advancing a few centimetres, yawing counterclockwise to align with the can, and descending to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 213
assistant
agent noteThe arm overshot to the right and appears to have nudged the can, which in the overhead view now lies diagonally (forward-left) just left of the gripper. Lifting and moving back over the can with a larger counterclockwise yaw to match its new orientation.
move_to
right_x0.3700right_y0.1100right_z0.1200right_yaw0.6000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8127, 0.6067, -0.5999, -0.0189, -0.0387, 0.9992, 0.139, 1.5337, 0.5087, 0.3645, -0.0292, -0.0242, 0.999] state[eef_state]: left_x=0.2616 left_y=0.002 left_z=0.1345 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9992 right_x=0.3787 right_y=0.0618 right_z=0.0464 right_yaw=0.1722 right_pitch=-0.0738 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [-0.2393, -0.8547, 6.8308, 1.7607, -0.0464, -0.0513, -0.0122, 2.0444, -6.3385, 4.9162, 1.8046, -0.5348, -0.2515, -0.1197] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.11, "right_z": 0.12, "right_yaw": 0.6, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm overshot to the right and appears to have nudged the can, which in the overhead view now lies diagonally (forward-left) just left of the gripper. Lifting and moving back over the can with a larger counterclockwise yaw to match its new orientation."})
tool
executing move_to over 5 steps (0.5s)
step 218
assistant
agent noteThe can has been tipped upright and now stands just to the arm's left of the jaws (visible on the left in the wrist view and upright in the overhead view). Moving the open gripper left to straddle the standing can at mid-height.
move_to
right_x0.3700right_y0.1250right_z0.0900right_yaw0.2800right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.1295, 1.4902, 0.5056, 0.3008, -0.1192, -0.0971, 0.999] state[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1326 left_yaw=0.0028 left_pitch=-0.2372 left_roll=0.0011 left_gripper=0.9992 right_x=0.3684 right_y=0.0728 right_z=0.0493 right_yaw=0.2784 right_pitch=-0.0916 right_roll=0.0019 right_gripper=0.999 state[joint_eff]: [0.0068, -1.347, 6.8991, 1.6288, -0.0464, -0.0415, -0.0122, -0.294, -6.188, 7.4872, 1.7802, 0.0171, 0.1099, -0.1148] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.125, "right_z": 0.09, "right_yaw": 0.28, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The can has been tipped upright and now stands just to the arm's left of the jaws (visible on the left in the wrist view and upright in the overhead view). Moving the open gripper left to straddle the standing can at mid-height."})
tool
executing move_to over 5 steps (0.5s)
step 223
assistant
agent noteThe arm is stalled again, apparently with the left jaw pressed against the standing can. Backing off to the right and up to free it before approaching the can from a clear position.
move_to
right_x0.3600right_y0.0400right_z0.1200right_yaw0.2800right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.1295, 1.4902, 0.5056, 0.2855, -0.1162, -0.0959, 0.9991] state[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1318 left_yaw=0.0026 left_pitch=-0.2414 left_roll=0.0014 left_gripper=0.9992 right_x=0.3661 right_y=0.0719 right_z=0.0464 right_yaw=0.2754 right_pitch=-0.107 right_roll=0.0032 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5507, -0.0806, -0.0415, -0.0122, -0.212, -6.1197, 7.3094, 1.7802, -0.0122, 0.1001, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.04, "right_z": 0.12, "right_yaw": 0.28, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm is stalled again, apparently with the left jaw pressed against the standing can. Backing off to the right and up to free it before approaching the can from a clear position."})
tool
executing move_to over 5 steps (0.5s)
step 228
assistant
agent noteThe arm is free again and the upright can is visible at the left edge of the wrist view, roughly 7 cm to the arm's left. Positioning the open gripper behind the can (toward the base) so it can be approached radially with the jaws straddling it.
move_to
right_x0.3000right_y0.1050right_z0.0900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, -0.0124, 1.243, 0.5396, 0.0952, -0.2096, -0.1566, 0.999] state[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1308 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.3606 right_y=0.0359 right_z=0.1106 right_yaw=0.2436 right_pitch=-0.0067 right_roll=-0.0078 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.1829, 6.9812, 1.5116, -0.0708, -0.0513, -0.0122, -0.2803, -3.9726, 8.3487, 1.7607, -0.2222, -0.0024, -0.1148] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.105, "right_z": 0.09, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm is free again and the upright can is visible at the left edge of the wrist view, roughly 7 cm to the arm's left. Positioning the open gripper behind the can (toward the base) so it can be approached radially with the jaws straddling it."})
tool
executing move_to over 6 steps (0.6s)
step 234
assistant
agent noteThe upright can appears in the wrist view with its base at the bottom-left, about 4 cm left of the jaw column and near fingertip distance. Sliding the open gripper left so the jaws straddle the can at mid-height.
move_to
right_x0.3050right_y0.1600right_z0.0800right_yaw0.1500right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6304, -0.0193, -0.0383, 0.9992, 0.5457, 1.1343, 0.3985, 0.0483, 0.3225, 0.2218, 0.999] state[eef_state]: left_x=0.2562 left_y=0.0022 left_z=0.1278 left_yaw=0.0031 left_pitch=-0.2639 left_roll=0.0022 left_gripper=0.9992 right_x=0.2956 right_y=0.1182 right_z=0.0806 right_yaw=0.151 right_pitch=-0.0597 right_roll=-0.0238 right_gripper=0.999 state[joint_eff]: [0.0889, -0.9641, 6.8171, 1.6386, -0.0708, -0.022, -0.0122, -0.4034, -2.9744, 6.3111, 1.8779, 0.1832, 0.1685, -0.1148] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.305, "right_y": 0.16, "right_z": 0.08, "right_yaw": 0.15, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The upright can appears in the wrist view with its base at the bottom-left, about 4 cm left of the jaw column and near fingertip distance. Sliding the open gripper left so the jaws straddle the can at mid-height."})
tool
executing move_to over 4 steps (0.4s)
step 238
assistant
agent noteThe standing can now fills the wrist view centred on the jaw column, between the two jaws. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6365, -0.0189, -0.0387, 0.9992, 0.6846, 1.2919, 0.4068, 0.1101, 0.4232, 0.3012, 0.999] state[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1265 left_yaw=0.003 left_pitch=-0.2715 left_roll=0.0018 left_gripper=0.9992 right_x=0.287 right_y=0.1452 right_z=0.0526 right_yaw=0.1625 right_pitch=-0.1066 right_roll=-0.0607 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.306, 7.0906, 1.5165, -0.0611, -0.0366, -0.0171, 0.1846, -4.3282, 8.8821, 2.0684, 0.3346, 0.1392, -0.1148] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The standing can now fills the wrist view centred on the jaw column, between the two jaws. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe can was placed on the burner once but rolled off to the burner's rim and then onto the table (it later got tipped upright by a stalled approach). Re-grasping consumed the remaining LLM-call budget: the last close was empty with the upright can a few cm ahead of the jaws, and there are not enough calls left to grasp, carry and place it again.
give_up
hindsight1) Scene: burner (hot plate with coil) at table centre, right_x≈0.34, right_y≈0.34–0.36, top surface ≈ z 0.085 (can rested with grasp point at z≈0.087). Spray can (≈6.8 cm dia, ~20 cm long) starts lying on the right arm's side at right_x≈0.31–0.33, right_y≈0.0, axis roughly radial (yaw ≈ -0.4 aligns jaws across it). First grasp worked: descend to z≈0.01, close, reading 0.72. 2) A lying cylinder released on the coil rolls off toward -y (to the arm's right/down the burner rim). Either place the can standing upright, or release it exactly on the coil centre a bit further +y (≈0.37–0.38) and keep the gripper low so it does not drop/roll. 3) The right arm frequently stalls (joint positions unchanged for a whole move) when pitch/roll drift to ≈ -0.15…-0.4; re-sending the same target with right_pitch=0 and right_roll=0 explicitly unsticks it every time. Include pitch=0, roll=0 in every command. 4) The gripper open command is rate-clamped and may not move at all while the arm presses down on a resting object; raise z ~1 cm and open in a smaller increment (0.85) first. 5) Wrist-view perspective: a radial cylinder offset sideways appears tilted toward the image centre; do not treat that tilt as yaw. Objects visible between the jaws at the bottom edge are still ~4–5 cm ahead of the fingertips — advance before closing. 6) Sideways (y) approaches at object height cause jaw–object collisions and stalls; approach from behind radially with the jaws already straddling.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 0.6945, 1.3018, 0.4141, 0.1753, 0.4332, 0.3099, 0.0158] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.2723 left_roll=0.0018 left_gripper=0.9992 right_x=0.2953 right_y=0.1541 right_z=0.0639 right_yaw=0.1622 right_pitch=-0.0489 right_roll=-0.028 right_gripper=0.0158 state[joint_eff]: [-0.0479, -1.1829, 6.7897, 1.4335, -0.0562, -0.0513, -0.0122, -0.0342, -4.1368, 8.2256, 1.8242, 0.2173, 0.0611, 0.7741] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The can was placed on the burner once but rolled off to the burner's rim and then onto the table (it later got tipped upright by a stalled approach). Re-grasping consumed the remaining LLM-call budget: the last close was empty with the upright can a few cm ahead of the jaws, and there are not enough calls left to grasp, carry and place it again.", "hindsight": "1) Scene: burner (hot plate with coil) at table centre, right_x\u22480.34, right_y\u22480.34\u20130.36, top surface \u2248 z 0.085 (can rested with grasp point at z\u22480.087). Spray can (\u22486.8 cm dia, ~20 cm long) starts lying on the right arm's side at right_x\u22480.31\u20130.33, right_y\u22480.0, axis roughly radial (yaw \u2248 -0.4 aligns jaws across it). First grasp worked: descend to z\u22480.01, close, reading 0.72. 2) A lying cylinder released on the coil rolls off toward -y (to the arm's right/down the burner rim). Either place the can standing upright, or release it exactly on the coil centre a bit further +y (\u22480.37\u20130.38) and keep the gripper low so it does not drop/roll. 3) The right arm frequently stalls (joint positions unchanged for a whole move) when pitch/roll drift to \u2248 -0.15\u2026-0.4; re-sending the same target with right_pitch=0 and right_roll=0 explicitly unsticks it every time. Include pitch=0, roll=0 in every command. 4) The gripper open command is rate-clamped and may not move at all while the arm presses down on a resting object; raise z ~1 cm and open in a smaller increment (0.85) first. 5) Wrist-view perspective: a radial cylinder offset sideways appears tilted toward the image centre; do not treat that tilt as yaw. Objects visible between the jaws at the bottom edge are still ~4\u20135 cm ahead of the fingertips \u2014 advance before closing. 6) Sideways (y) approaches at object height cause jaw\u2013object collisions and stalls; approach from behind radially with the jaws already straddling."})
tool
give_up: The can was placed on the burner once but rolled off to the burner's rim and then onto the table (it later got tipped upright by a stalled approach). Re-grasping consumed the remaining LLM-call budget: the last close was empty with the upright can a few cm ahead of the jaws, and there are not enough calls left to grasp, carry and place it again.
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 · 19.65 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, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.4011, -0.0196, -0.017, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2496, 2.0098, -0.0366, 0.1538, -0.0904, -0.1983, -1.4701, 9.6615, 2.0195, -0.0464, -0.0073, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8ba3e586725fc9401fdbee44b08cf9835a1ad339bba6182946f61fd2f5990b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a7e11e6ddb1eff2c034daef9c79decb98254bb1b169da137fd70d04cf37d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82528c5cda14d5a01332e36e9a7102a9ab5fdd93e7fa77b550ade3396ba1dd3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.381 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, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.4011, -0.0196, -0.017, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2496, 2.0098, -0.0366, 0.1538, -0.0904, -0.1983, -1.4701, 9.6615, 2.0195, -0.0464, -0.0073, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8ba3e586725fc9401fdbee44b08cf9835a1ad339bba6182946f61fd2f5990b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a7e11e6ddb1eff2c034daef9c79decb98254bb1b169da137fd70d04cf37d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82528c5cda14d5a01332e36e9a7102a9ab5fdd93e7fa77b550ade3396ba1dd3c",
        "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_01HphGeWcwMGSCkADAexN1AG",
      "input": {
        "note": "The right wrist camera shows the spray can lying on its side just ahead of the right gripper, angled forward-right. Moving the right arm slightly forward and yawing clockwise so the jaws will close across the can's diameter.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.0,
          "right_yaw": -0.5,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HphGeWcwMGSCkADAexN1AG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7963, 0.6067, -0.4057, -0.0193, -0.0376, 0.9992, 0.2893, 1.1812, 0.6556, -0.3267, 0.4446, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3206 right_y=0.0199 right_z=0.1125 right_yaw=-0.2764 right_pitch=-0.1633 right_roll=-0.085 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4291, 6.8034, 1.8339, -0.0464, 0.0024, -0.0171, 0.1709, -5.8462, 10.5368, 1.9023, 0.4078, 0.1783, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb2861930ab99d2657efc36cb30129c57e67c950d18f38ecd979fd5b3fefac62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d29e943dca6195bfeee69b4f09e399e1cdf597efba5d398558c8a903e5b01ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02f43522b40b114905525c4c371c2e17d60f54115ede1982ff496ae7ed93afbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /messages · status 200 · 6.038 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, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.4011, -0.0196, -0.017, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2496, 2.0098, -0.0366, 0.1538, -0.0904, -0.1983, -1.4701, 9.6615, 2.0195, -0.0464, -0.0073, -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]: [-0.0193, 0.7963, 0.6067, -0.4057, -0.0193, -0.0376, 0.9992, 0.2893, 1.1812, 0.6556, -0.3267, 0.4446, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3206 right_y=0.0199 right_z=0.1125 right_yaw=-0.2764 right_pitch=-0.1633 right_roll=-0.085 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4291, 6.8034, 1.8339, -0.0464, 0.0024, -0.0171, 0.1709, -5.8462, 10.5368, 1.9023, 0.4078, 0.1783, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb2861930ab99d2657efc36cb30129c57e67c950d18f38ecd979fd5b3fefac62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d29e943dca6195bfeee69b4f09e399e1cdf597efba5d398558c8a903e5b01ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f43522b40b114905525c4c371c2e17d60f54115ede1982ff496ae7ed93afbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wkKEAgRGAI4AUIIdGhpbmtpbmcSDJlCClLiQT6ji+lrnBoMDOt/cYlJgW6bckocIjBZSAMpamV/JHSLSbcAqEEptKjk5Khu+1AfYAxYytrpWj+RtWLRnkVvxpZFk5+v5ZgqkAnW+WOJRV4nB49u8aCZfd1DAGNvz0jgjgYRprcxA7XhxhX+HPnKGhGUT+QZdFrED6YsYlNTTZgaN2acd0WaGhqeA5Z1TwHf3MovwcGjJjRRzftSbZ3zC+sgiJ/IK6nIiDSMUua8YtE9JAbvizEaKZwqbyMx1my2wyT+e6BwLFT1XYK2FpTo34jBBV1uPSre4GnsT6hL11LZSsOkKXnnRPeQ1ZPHGiEUWI/hDBJ1a/t3nr1vBa4CLLCRFyFvVcPX0JXbNLV6afzN1TX6o8HAg3wwPQL6WJwq5QVqep8Yfnw33Pd/ebgIczTvvjAfzTQeYzhzgoJGz+KMoozaz/LY7IHExr6g+kYjhTzoNXF1Ny4TUt9Y7kJ9zRgMzJXZjaUmG4ZBSKmg4/Dto0Mlc9DGXrgzdXHUmxBTytFGhDx3DWer8YT51G2mUV9670enLM9iHy39jgWwpYO/sjCliT5qkD7CTmBhnncyAixcdpu0YUa/fUuisyyRfy64F/rOs1e1gKfv8+4rPQYx5qx2x0wtPiVXJDROFLUwFZRfnXLsx7X+AItkxllAMVS2OcSlIr8/njrDbj96TbjVlAxHXbxsmv3Sn6CRImAws3yr5U/w/O9XB1ghz8IKYOMDjd/rVfgjcXbuLu89INm3k2Iec7Az4O+RDHNpWEgCdYjZGsXxoxqvr078/pOYqE3o4qRPw2CxdHcd+Mi86eHu8uECvT2Pqk0JrLWfuLBIdxdktSADsuDP7maylwlvKRvy5pLJ+yQYwmHjc2O7Y8tl35MjZKK1JjTiYo42fbCCGFCvwJoATS7Nb503QHapaznUEdmK9j35Bo/4fjxlp5/ATPGHaLE4Z1D3CYvrX3uQyqZe8dCAZKeDmm6CzFAl8PSss5YquUJTwqBBqt/21qkBvxA0+xPyP3etUfpdmYydUDcgaS8jggCPBslRs+2ILRLng7lXYQxU8koh+2iwgdnXqC1va7RWCqcZ/uv4DbiDR3VYjBzsTcisFjtisVL5KFRtjPGScbbcd2Vqk9btlcxyKv3oznELrSXRIliEUYYEo/fEaIrL0pL56yuzdCsRarxfi+/1Rd9b958PxoWBkbmOI4I9VYui/x6+sNnc9prP//jl4ps5IVIwzEhcDSx57nwXpbsdlqKTtzk1gwVmTVYk9zuoU7OoB34RAUGW9YMV7IeNXoHVjAv4d63NS3OTGyZ8HuXYe8oQZ5ob+LuTUkEo9kUOP41qCoF/dDprqnKzsWEjdUkBJK3t5u6ZT7JxWrWnmoAThGIUD2wkhuMdudtdXiiOK8A1j1m25fbJ2e2fU9x0e9enCjH+XXWiOdh+0RI4r+o6cmKEIlr7kwfR93NSoGtRCQM8/45EZvbI3/klMDacpLyL96wRiizjbsldahQJJuN5kC8C2hwZJm/9TCmxvp2Qsccj7oowYP1uRKR7iUc0FvUMeF2ckypjHPUSvobLv535LJcAD2zLLLX0O5rG6V7/1mJf7PSxR5VxtuhD2uKfy+lFMYerUMfMtCQ44tgxFx/TdKpt9BqlVFtc28GCMy3iuheTVjtvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016hztmwB5zwQPUoh3sFHve4",
      "input": {
        "note": "The can now appears nearly vertical along the jaw column in the right wrist camera, its body spanning from the middle to the bottom of the frame. Finishing the yaw alignment and lowering a bit before the descent to grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.01,
          "right_yaw": -0.4,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_016hztmwB5zwQPUoh3sFHve4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.3065, 1.2518, 0.6491, -0.2417, 0.5896, 0.4717, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.002 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3309 right_y=0.0055 right_z=0.1112 right_yaw=-0.4386 right_pitch=-0.0854 right_roll=-0.0664 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2376, 7.0222, 1.7021, -0.0513, -0.0317, -0.0122, -0.1846, -2.9607, 5.4769, 1.3211, 0.398, -0.0659, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1ae7c4dd561f7068778008b07409f4a2fa9f99d14ba93bf48aebc5bcc15436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57cbeb00eea43d49a7ad9b387c0b68ee0c0936648c46dfd8befdc851a1913759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d65c363d90cb35c2b75191b9cfa7da0e21a2a091a554968ce1cdba2cefd5a52",
        "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 · 6.545 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, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.4011, -0.0196, -0.017, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1775 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.2496, 2.0098, -0.0366, 0.1538, -0.0904, -0.1983, -1.4701, 9.6615, 2.0195, -0.0464, -0.0073, -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]: [-0.0193, 0.7963, 0.6067, -0.4057, -0.0193, -0.0376, 0.9992, 0.2893, 1.1812, 0.6556, -0.3267, 0.4446, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3206 right_y=0.0199 right_z=0.1125 right_yaw=-0.2764 right_pitch=-0.1633 right_roll=-0.085 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4291, 6.8034, 1.8339, -0.0464, 0.0024, -0.0171, 0.1709, -5.8462, 10.5368, 1.9023, 0.4078, 0.1783, -0.0562]",
      "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]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.3065, 1.2518, 0.6491, -0.2417, 0.5896, 0.4717, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.002 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3309 right_y=0.0055 right_z=0.1112 right_yaw=-0.4386 right_pitch=-0.0854 right_roll=-0.0664 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2376, 7.0222, 1.7021, -0.0513, -0.0317, -0.0122, -0.1846, -2.9607, 5.4769, 1.3211, 0.398, -0.0659, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1ae7c4dd561f7068778008b07409f4a2fa9f99d14ba93bf48aebc5bcc15436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57cbeb00eea43d49a7ad9b387c0b68ee0c0936648c46dfd8befdc851a1913759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d65c363d90cb35c2b75191b9cfa7da0e21a2a091a554968ce1cdba2cefd5a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugYKEAgRGAI4AUIIdGhpbmtpbmcSDCoV6v1hc8+WTc1M4hoM0yH0C6JCawGabFYcIjD//KCjz3B944fy1x/bqM35FZJoBWYri0xU1U88GlLgM9rKF05FsKQWVz5dMzOHJ2Uq1wVSpCRXFG65FUyOhtUU+LD1xF2iEPxYPm8qWRsxTMWE1axGGIwZPxdyT8HdSO5KAzTOM9PrYXWgGDNWFSFSsslAKxGtnWv5i6Y+qty6PXvR4JVeI86tCOWVHbmvqZlZL+ne2VRfbStOSrQBaIrvuwbgTCAtyf+EDJwGc5/swW/nKdjoNhCtRO8LDdkTRHI2c2mtP5T/9TYhdyHFqixjuME5YfppWDGg9tRfwh8zhAwqfbxt4QPUHfP6syfkFk5OpIS9hF1e140eyZtBzapoyGRsTYqqmy7VOQxHSEUWh/k8wSOfpHu6mRKYGwCEjsBM1W8QwEHMwLu7VSD5hD+diD6wviOQG8fwAsE8ZsnZDf8AoLMjDWrcrH27teRu6Y7CbHxeBmuaQb1vJ+0SkIjsY2BfE5abdCbpuyycCyohJUok7SYZQlxWO16r0a8NZpmtfDj1VJAAjeO9YB/qSyJwTahtbDH2TzlaoPjcCRCgQpO2YKuKIqco6isJR5QHOUJ1Vi7nTd9xcAi77AvjYoQv0I0JqZT9CctLJqo9qgwTf7/h6iAAVH1vNr2I7JGOnRP8JZ0bqhwPigS+GnPxQrGoXWzE64F2mPF+HygJksWsEzzQ3PCTA1+j5QUI3TKjARrVzPP2xg/1TkQb50vu1+ERwFP3C4DfTSv5SoFJfzbN9cTal796/tUvXzOg0x4qTExJ2vLtZ54Frh3W6Zu68z2k3zKfrC+ym+pef2dbxKcIgVYfXlLkUszzHgYfXJVjZlZQEsVd+WuxGOaoLy2A1tlvtom9f0F/G3oYANRRnlGYzFij4hl1KeJIbVTgptZVlkJ7Ww10S90ZxYeVH0CHk/QP8l9rA6RMa48wZAdLj/4hUwGeGY6GuzDZRECMJ6d3hCMg1MWZ+viDX/U61tPkdVUVDr6WUVAdFqzLPnyx4oynSLWj0AXcfjoLHfQwzhKf0F8iaEdY0z771zdmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GTtFCHYpHtQrEexjaKTKwa",
      "input": {
        "note": "The can lies centred between the jaws in the right wrist view, aligned with the tool's forward axis. Descending to can-centre height to grasp it across its diameter.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.005,
          "right_yaw": -0.44,
          "right_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_01GTtFCHYpHtQrEexjaKTKwa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.021 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3966 right_pitch=-0.1746 right_roll=-0.1155 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.306, 7.2274, 1.746, -0.0806, -0.0366, -0.0122, -0.335, -5.2034, 7.3915, 1.6435, 0.3639, -0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3509063cd9f62987bb1aa3ad6aeab3b6411ba9ba98052a3802e13def159af55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d74256c711c9e33ae7a33d980222980210a134a62532509c198276dc8d5f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4577e9cccc8cb486fd500eb033bed549e26c408cc582a3227c7a5bbb6371db53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 10.21 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]: [-0.0193, 0.7963, 0.6067, -0.4057, -0.0193, -0.0376, 0.9992, 0.2893, 1.1812, 0.6556, -0.3267, 0.4446, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3206 right_y=0.0199 right_z=0.1125 right_yaw=-0.2764 right_pitch=-0.1633 right_roll=-0.085 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4291, 6.8034, 1.8339, -0.0464, 0.0024, -0.0171, 0.1709, -5.8462, 10.5368, 1.9023, 0.4078, 0.1783, -0.0562]",
      "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]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.3065, 1.2518, 0.6491, -0.2417, 0.5896, 0.4717, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.002 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3309 right_y=0.0055 right_z=0.1112 right_yaw=-0.4386 right_pitch=-0.0854 right_roll=-0.0664 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2376, 7.0222, 1.7021, -0.0513, -0.0317, -0.0122, -0.1846, -2.9607, 5.4769, 1.3211, 0.398, -0.0659, -0.0513]\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]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.021 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3966 right_pitch=-0.1746 right_roll=-0.1155 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.306, 7.2274, 1.746, -0.0806, -0.0366, -0.0122, -0.335, -5.2034, 7.3915, 1.6435, 0.3639, -0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3509063cd9f62987bb1aa3ad6aeab3b6411ba9ba98052a3802e13def159af55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d74256c711c9e33ae7a33d980222980210a134a62532509c198276dc8d5f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4577e9cccc8cb486fd500eb033bed549e26c408cc582a3227c7a5bbb6371db53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AYKEAgRGAI4AUIIdGhpbmtpbmcSDEDsMkPcho56mKADzhoMzSQ0l6iQFTivN+B9IjCQhnGujXDi8DjGe1JGUy3v1v9GkymRQ32Suq1M927eKLFiGAVOh2tD3ucM2NIZeecqiQZuVv0pAeoh/TaQDZVExU06In/ZEc2ggk8AD3cx+yJ7KGug7HrQOagY5LzSNza1GkBau7QQ5asbjhm8bsl+3/MjIEk8wTOERy2t/PzD8dv4pokKhtVWfxbKYfNm5mPdCpP20AOzaEzVwwfpmKkqEFBEMsFHrxjajdaycEgJ4gipmyguiPAeYa4qxkbqQITt/d7A0KYpI/jiv9TpijZMx2jdsWbkmwU8kM97jDBX/u+vYnf5Y1mZwI6Zapd1ZwY7XKALW7MmHvnfpUqoO6KYcWLENM8qCX+B88BVwt0eEsIpSMSt0bJnv+rujWj327uaeu+YJ/p0Hbx4xyDBk7OJuSausWen75sntemnEH7Y6Niz1Hmb96KNclamMmnEleXEgZHQ9+r/s5IkHMWfng9Fmnl0WMFaDHFGklefaxTJEnmkMG+orv+8UPR8yFQwHLPMwUMKPO9oIQTg0HimCUVv+LQcmLGZYVdCG7XJrSikkGI/rTwDrJL2AMKn9RcD8CmXnDKfvQH3oMO5mv+5c19RjpXX0+8UmRGAmCoTQUF8rj8rvl/oDepsd365YY5tDOZ/uGSpzYQqtufXBR1YI2MsdJB+FqUSlASrHjCVnC+TiJhSOApChII7vE4Ubl/YlyPL1fTQhzLiqTEGI2JsoswpqcuZAGsDbMDgBgQILKBkOw3xPJ0fmIzzGBPIzOkJj7pDzR2AXpaZ48ticXhf2/ivmD9IC3wFaGaGVfFOcc5YVYcpnVVZ98uxVjBiwQHZ5oysBhRQo3uPHlMhOAYmEFYtDmxBk+BvyQzGDFGQYmjfkPvXu6X/HNXjJ7d1h/OCkFkST6IyoX+3JncwYCUvVmZl80UPGJsDZzvgg+d297hPatO3sQ5cS84lZR4YYzTMG3QsUjL3jpPwPKJmS4c8LER4P4t7nQrI1jvga0t+T2fLSh4WfUl0TaP3GCQudIzuaWnneuw2rSNqBs7Q/UYigmkY71NrgWyUYQRdxjyhfixR83o8yTkllBecgK/MenDkDbFqF5baq7fEwd4t8DcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JdQS8F2AZvzs2726Emua2Q",
      "input": {
        "note": "The descent stopped at z≈0.076 with the can still centred between the jaws in the wrist view and no sign of contact; continuing the descent to grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.005,
          "right_yaw": -0.44,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JdQS8F2AZvzs2726Emua2Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4133, -0.0189, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4446, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0252 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3968 right_pitch=-0.1746 right_roll=-0.1152 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.1043, 1.7265, -0.0073, -0.0464, -0.0122, -0.2256, -5.2171, 7.2, 1.6874, 0.3492, -0.0611, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ff84f9f3bc78458e6fc24ca3daa54c2c6b36dc5d5885fbb966a9b4934d9063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d571b9a2f1b683377c9b1a8a90857d34e33af173eddfb032a25be82a6dd01669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a57a8f84db8b9adbb5fba4ad7bfa06a490edb8c1c95e86996cbcc075e2bd069f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.356 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]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.3065, 1.2518, 0.6491, -0.2417, 0.5896, 0.4717, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.002 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3309 right_y=0.0055 right_z=0.1112 right_yaw=-0.4386 right_pitch=-0.0854 right_roll=-0.0664 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2376, 7.0222, 1.7021, -0.0513, -0.0317, -0.0122, -0.1846, -2.9607, 5.4769, 1.3211, 0.398, -0.0659, -0.0513]\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]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.021 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3966 right_pitch=-0.1746 right_roll=-0.1155 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.306, 7.2274, 1.746, -0.0806, -0.0366, -0.0122, -0.335, -5.2034, 7.3915, 1.6435, 0.3639, -0.1001, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4133, -0.0189, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4446, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0252 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3968 right_pitch=-0.1746 right_roll=-0.1152 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.1043, 1.7265, -0.0073, -0.0464, -0.0122, -0.2256, -5.2171, 7.2, 1.6874, 0.3492, -0.0611, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ff84f9f3bc78458e6fc24ca3daa54c2c6b36dc5d5885fbb966a9b4934d9063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d571b9a2f1b683377c9b1a8a90857d34e33af173eddfb032a25be82a6dd01669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57a8f84db8b9adbb5fba4ad7bfa06a490edb8c1c95e86996cbcc075e2bd069f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgsKEAgRGAI4AUIIdGhpbmtpbmcSDDPbcwnwWMcqsMWpwBoM3w09aTHL3Os1mtxQIjCymtLhbBMoGYjzj7fwpiDQ1piI5jqUmWg1T0tTVB5nfO8GA0wTx8mP5AhaOtzZF0Qq0wr5GBl/t2JrDhVrzdE9NVByEZWw5lwgVZIRvWSGoZjjBrAEO8fD9b7s0kZ2cbqYlqvJi6xe/4pPb7zVyGcfUIdFWX6Z7etBFu7XDT9vAOIIc6wM14TT3Ql1yPC7KR8nTgrsbO6Brli49wMhtihE0z8mneBf9P9Jl08/Cfo8DPDXsPSseBmNxi2on2OV6Jwt34l8ingz1TV7MUAZfqTY/xHUsAfk2666WLoJ7Yg+MCScJf2KGA6k9dVCSfyMy9uQP1NkHVPdLGKz7HkcyXu9udsJaiqeANcTp7DMdgPkB4KnTzA/PRew5vIxnjIBkOhFuS4ififA3TqS24+ZSBebQKycvVWKLqbWVxBctwRnMLmMIfWq+qL6R73U0p1ctw7nWiXO41vPi0ALdJo0nvJxYzSNwQ4cu0us1+CnFYgbHDzg/k0IjQOBZGosbcMercDG1X7hMc+fAiyWExtyuz4FmWhJAZrt8LxnZEsnfGPIzoew7oFUFW90nTJaFf9BmVX+olh4Wd2ABjGMTO8PD0v0SybnwGid9gtKSrSxC1adZ3npjGsq4hS74r1ZhE1cAFDtgx8ckVWnDoEgUnWOSH4ZP731ZaQNMPbPeGonTyL3TcTTw6hGLUbVJIHzSyBSW8jvQIe110Cvo3vchJdiSrANUU/Tr3tHixjYlMdAAQTP1oMmNy/Nv+Tqtwrac3bC018yX1s19YrYrVPzeKQAZUodrRm9/CVaA6g1rMqXrrOGezdeVnra8VA4r5smNA2xOmMFey9meOYFgzoEGTZzKoSgz+wV+kYbaxnhBu1lTYTW+vvKCXa1sGmdYPNaHniSmvCiGmoUqYF3s5YbLS9jdBtlB6H3o2zV8KasfTuQE0Xw/aL0d5b91hitr8T5Kr/2klLLE0SHE0813iunrmNyu6z960qoHt+pUONaBweHfnyHCpw5r7MD4YIMfpjK7CEPLEG5iWY69YQcQyfDWrtbSB+K8KunOTsbw4eqUZhD1ef8YWo7M3y4bFW2h++IOdqlv+OmFqVpZCu5pXvcIp+Oy0ICgm5BG3JEIAWYZBls0YnDhQGKpSTdhinp8VseBJq/6lBk4LeW7j1jx8Bah7DbDjgzBsAZ4lthRNfDrIuindqk3/8EVE2oIc1hHi5i9mGi8lcSybSTAcYoCs+ysB+MfAQw/6gwO4FFAcylTkVv9mrPKjC2xkWLVeLnVeqKUSjfa97cq6AQRpi4We3xyE6ieyTVq9tLGYWzLHpUH0mXLK1b5QMdcavh+kx1DyQxRFj/kV1SQSihNismcdQLIsTg5Cn+OpOvMRTNfpGZWCENQl0+lGh200pJx8Wq7vz8hW5MU2mgXzAzgVfya1h3C1Xg0/OpxBcjbph7PTNqxt4ndHbyhF/ComwKA59cPim5gkq15AEBsEy3z/ER9yYHOro5ZPqNq8ngUZaJn8/h3ac43xCnFvZeURsLAcMwmIApEu4pCzHY9oj6WgBwyq2t5aug3/ZWIspwGqHT5wEDCRRVdb4YN9qj4rCCJAsJmEm0bq0X+UH4srTHWY7gOMpJ38+2iDTYoQ4GFJ6AIBZfGs1m+l3ZtSqzCzb9uPmrTfAVThigQErd8cfs0/AeXWjJYj4gbQnuta9o/yr4OBqBcXkj2USj4B1mCKbVwYTOKNW8WUD78SZ+25Qb49CAMCk6uOM34uAvr240zjuNhgLUY9hvLOfmYmNypCQHF95UDaIuf55BRk3rPPCsZTWwfzqh366R1EHTIR69eVFxCH6OG8RGB69pwkT1CuDGR0H/UyIMt96Ye1H+9yrcx/AceTi0HJeAh5jYVXXftzRSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGCo5Bu54epzFFu7ctJdet",
      "input": {
        "note": "The arm did not move at all on the last command (joint positions unchanged), possibly an IK stall from the drifted pitch/roll. Re-commanding the descent with pitch and roll explicitly zeroed.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.325,
          "right_y": 0.0,
          "right_yaw": -0.44,
          "right_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_01WGCo5Bu54epzFFu7ctJdet",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.4605, 0.3347, 0.2584, 0.5682, 0.4488, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0022 left_pitch=-0.0408 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3062 right_y=-0.0011 right_z=0.0123 right_yaw=-0.4191 right_pitch=-0.1142 right_roll=-0.0875 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.8437, -0.0562, -0.0757, -0.0122, -0.294, -4.4239, 5.053, 1.7363, 0.4469, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d44bfe3cbb716ef39d8fa2fb349d97e58b266ee43071fe86ccb765fd9c6f4f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3988b16a3b0553fdb83c55ee58af12683541d2f71c294e6e906e0f5c87437397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:536583713c07ac1a72ace381ca88905e7d1afe3288946da5b2fc3ec99ac6bed1",
        "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 · 7.37 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.021 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3966 right_pitch=-0.1746 right_roll=-0.1155 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.306, 7.2274, 1.746, -0.0806, -0.0366, -0.0122, -0.335, -5.2034, 7.3915, 1.6435, 0.3639, -0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4133, -0.0189, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4446, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0252 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3968 right_pitch=-0.1746 right_roll=-0.1152 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.1043, 1.7265, -0.0073, -0.0464, -0.0122, -0.2256, -5.2171, 7.2, 1.6874, 0.3492, -0.0611, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.4605, 0.3347, 0.2584, 0.5682, 0.4488, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0022 left_pitch=-0.0408 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3062 right_y=-0.0011 right_z=0.0123 right_yaw=-0.4191 right_pitch=-0.1142 right_roll=-0.0875 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.8437, -0.0562, -0.0757, -0.0122, -0.294, -4.4239, 5.053, 1.7363, 0.4469, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d44bfe3cbb716ef39d8fa2fb349d97e58b266ee43071fe86ccb765fd9c6f4f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3988b16a3b0553fdb83c55ee58af12683541d2f71c294e6e906e0f5c87437397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:536583713c07ac1a72ace381ca88905e7d1afe3288946da5b2fc3ec99ac6bed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Now z=0.012, can filling between jaws. Close the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MdFewfkVmGidE6qfXMgEFN",
      "input": {
        "note": "The gripper is now down at z≈0.01 with the can body filling the space between the jaws in the wrist view. Closing the gripper to grasp the can across its diameter.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MdFewfkVmGidE6qfXMgEFN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3, 1.4658, 0.3225, 0.2859, 0.5671, 0.445, 0.7162]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.3059 right_y=-0.0009 right_z=0.011 right_yaw=-0.4151 right_pitch=-0.1074 right_roll=-0.0833 right_gripper=0.7162\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.8291, -0.0513, -0.0464, -0.0171, -0.253, -4.9026, 5.8735, 1.0916, 0.1832, -0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8526b461c86590ce2927ce13b012c430a20fb737e44b3be51b05b547716d693f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98eba33d779bf848c3af31980fbccf8a2389421ca15c198b407c4b467321cbce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09c236aaf4b5ba6e664ed23e2744f4e342027a9c6835bb1a8fd47cd411524f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 13.35 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4133, -0.0189, -0.0387, 0.9992, 0.3065, 1.3018, 0.5949, -0.2218, 0.5415, 0.4446, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0252 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3198 right_y=0.0095 right_z=0.0758 right_yaw=-0.3968 right_pitch=-0.1746 right_roll=-0.1152 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.1043, 1.7265, -0.0073, -0.0464, -0.0122, -0.2256, -5.2171, 7.2, 1.6874, 0.3492, -0.0611, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.4605, 0.3347, 0.2584, 0.5682, 0.4488, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0022 left_pitch=-0.0408 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3062 right_y=-0.0011 right_z=0.0123 right_yaw=-0.4191 right_pitch=-0.1142 right_roll=-0.0875 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.8437, -0.0562, -0.0757, -0.0122, -0.294, -4.4239, 5.053, 1.7363, 0.4469, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3, 1.4658, 0.3225, 0.2859, 0.5671, 0.445, 0.7162]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.3059 right_y=-0.0009 right_z=0.011 right_yaw=-0.4151 right_pitch=-0.1074 right_roll=-0.0833 right_gripper=0.7162\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.8291, -0.0513, -0.0464, -0.0171, -0.253, -4.9026, 5.8735, 1.0916, 0.1832, -0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8526b461c86590ce2927ce13b012c430a20fb737e44b3be51b05b547716d693f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98eba33d779bf848c3af31980fbccf8a2389421ca15c198b407c4b467321cbce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09c236aaf4b5ba6e664ed23e2744f4e342027a9c6835bb1a8fd47cd411524f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gYKEAgRGAI4AUIIdGhpbmtpbmcSDDfvANvzmadSr9NLPBoMHkuWG9mFXfP7LncQIjAQX4KX3l1yD/S03cUTx1xAlzhsJxaEoF5bErJlycxxlb0F0pmI/pF0jqZyQIUqVP8q9wVnTf+Q0RN9dujdXoUQpXQWfYlFQS0A/P3aVv0qdjQgUX555Lg8wrtigxOANf4VDLZgK+4CDgQVRlRiBQZjHwhqXY0gTmd6COyJvhxQ28zFArySPV0AXCx3YZyxO9z/1kedW23X/mthZeoi7j0YgvSSW3LB9HupS//vBnV8vr7j7Mw019Ve5MrH9UGQCnCgacnnUH2rSNcqPlWMh9kl6yI6YXW76fUCX/5h3wz/iKixeBDiyb8FXLGofLdekWEDhyDMM/QENg0q2v98MD1iAWfb0MFqKNSyt5agx9neUmQLzW3BROjcSvIv1RouXQlz/B7Yyz3N85pxEOjM45C+9AfjXFDoV8xysVtzGC4WKoZL42GUB1GsE/QBwoCbLXd/XyQEMebxZicI16aNH344Oq+HahEw0bRVuZ+cKNd8ysqj1IvUxBJzRK7Du7vu3WTtSRfSIdcA7qihY/uxglcGCUbjbU8QYOmHR2wx0C0YcVGLBs4mDpg1XvfrQWvUYAPY0DBwmC9KakbQNQwdWadsujsOPyTR5CKLANg4rYZIUBFEEQl1akv1YY0mYJZ9Ex97QuWI0uKimXUDxAk4C/GJgID9jnvUxrwvhMDIyjlQzNBtISzndv2hhILGXJ5x3I8kvl0HWe/tY/SZ9nTHpIdWXsZTCsbBuo/MBqw2wSp2m8Xbkcr58HyBCU3hB9R96Y41YzD+neaRYg+jpNvSWFrdqeVGcVpMO334ZxEWq29bLuRW3znAfxWliYCYWoKoi2MGpe2USKzlOGPsbgjYPhad9/lPlmILo5N3OSJH22BioBhl+SRkXW66uNXswn7fX1RDt+RWVljZ2quLZIStRaFScZAWH/MB3VzV22zQi0RXOguEiUpTZQKqYDYGBVTJ1X0WvCOlH5v2CRIuFzp4BDSlP+zs6OyY8UP75hHhCv9EBdduCe0Wk4teaDCK3fqmDzeMbzBQuRAgOSFuC4KBIzO1sqUmYieruSGqhEels5cahSmyOq4GOUmk2bkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018npwTwv6wAdnfuhvv5yP6o",
      "input": {
        "note": "The gripper settled at 0.72 (≈6.8 cm), consistent with gripping the can's diameter. Lifting the can to carrying height to confirm the grasp before moving toward the burner.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018npwTwv6wAdnfuhvv5yP6o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.9992, 0.3, 1.103, 0.7563, -0.5625, 0.5419, 0.4438, 0.7161]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0022 left_pitch=-0.0652 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3008 right_y=0.0015 right_z=0.1462 right_yaw=-0.401 right_pitch=-0.1596 right_roll=-0.1033 right_gripper=0.7161\nstate[joint_eff]: [-0.212, -1.2923, 6.9812, 1.8584, -0.0415, -0.0757, -0.0122, -0.3487, -4.4923, 9.0188, 1.9219, 0.5055, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663a246a43395fb0ce99fc1ebb4490c3a51d110ba427cc13cb46c2520a07e90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac05450ebf096e8523ab1f321ff70bbcbfe2fa4373c563554dc866b18a69e716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:488fff558477230fe3cdea256624707f8d324ff8eadef413b60067ba79dbf37a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 10.71 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.4605, 0.3347, 0.2584, 0.5682, 0.4488, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0022 left_pitch=-0.0408 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3062 right_y=-0.0011 right_z=0.0123 right_yaw=-0.4191 right_pitch=-0.1142 right_roll=-0.0875 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.8437, -0.0562, -0.0757, -0.0122, -0.294, -4.4239, 5.053, 1.7363, 0.4469, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3, 1.4658, 0.3225, 0.2859, 0.5671, 0.445, 0.7162]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.3059 right_y=-0.0009 right_z=0.011 right_yaw=-0.4151 right_pitch=-0.1074 right_roll=-0.0833 right_gripper=0.7162\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.8291, -0.0513, -0.0464, -0.0171, -0.253, -4.9026, 5.8735, 1.0916, 0.1832, -0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.9992, 0.3, 1.103, 0.7563, -0.5625, 0.5419, 0.4438, 0.7161]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0022 left_pitch=-0.0652 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3008 right_y=0.0015 right_z=0.1462 right_yaw=-0.401 right_pitch=-0.1596 right_roll=-0.1033 right_gripper=0.7161\nstate[joint_eff]: [-0.212, -1.2923, 6.9812, 1.8584, -0.0415, -0.0757, -0.0122, -0.3487, -4.4923, 9.0188, 1.9219, 0.5055, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663a246a43395fb0ce99fc1ebb4490c3a51d110ba427cc13cb46c2520a07e90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac05450ebf096e8523ab1f321ff70bbcbfe2fa4373c563554dc866b18a69e716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:488fff558477230fe3cdea256624707f8d324ff8eadef413b60067ba79dbf37a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsgsKEAgRGAI4AUIIdGhpbmtpbmcSDHifk6wRtKgmgAaTMhoM5Omr2Dy+x0rLpvDbIjBnNBXXjHi07laqkBpZk1Bxxsh1hrY7iINw0R7unv0kZiTAO1h3xXJD3mFpXg5/hosqzwoaFvYflkf/A6dhNiARXiPuebd32nw8gj2jNaxRl1+0TiWcVvQlmrCaOms/L1LexlevnmIAMF7G9AYgKveC4qoiMtYIlDp7tehLMwafEv3DlVaB7rnZpEwnjEJhwj41Y2VrJKAOUJoFmNk/YsrRFMb5oxwXQxT6233Q7jXcxYiPZ1RTSIIBD8fmlOGG7mkQNEgyIj8+Y6DS3Bm4T0nhbVi0EhQQLxe/rwAePXYuskrpz/Jv+c6YzrEOYqO5Qa8GSudN3DuvZeze6OlP3xa7N8dOI3QvqpA9bDHZmod3pCH24w+92uKnVgXuyTVId0hcB0Ex5Yqft+eeOh7GXs70+9DNFh5a0jeg2nTERDixXx8FP6XRgbcLfEcDW45DfTZF8A22COqVSvRy2KLDVL69DfyMd8snN44SYfiwOId7kyb/qzj6IA9L/97n5fBfr9WuTYfTt7sATh4VHtUoLD8DfL2s96c7Aecx4vL+ctEYZBKebj08g65+yf6NQsOMjiHiLH2Qxmy/4b/I3UQcrCXMrJSqiqH2qNUicDMY8aHZM6/KReoG/0O9lqgtGr3VGDKGjCZzWwoqER0JDUXV6OhlpuhTHekWShQ66kJ4e4rDN9NVnyWYxb8IXpKP1Q5D35UNAWQCSp5dEL8ZFwiiI0avNS0z2//7YfOPjyndY8Lg30m1P9X7s1eFUjSbNV+B7L8ZBhL/w8lV3PEPfrQ8eZ5jrGFtDqlEpY5kI/jCTKsks1aWlJzOutcVyr1usjZQhGYi9mvORpZoVfgc9z9MFkGauO/DboQZaa9kDkcR+Yd6oCPFfp66SktjLcq7jXUaif0wq1yiuG5wwNk/xStlrXFoXpZaNWlKnGMtUrLT5GaOCgWVs6XjX4FqhhOxgOc9bQLzsA34nlTBxkS3GZMKwTmWZjwJO8Nw2B/iSzJJS81NVBCxNB7HMwi/KgpozQCRsLtTsNUFIdAe2m6G/sq1mzlib2yzgoggGkXodQrXX1Dug/2q+LZ3lY/XTYR7+6LnNk+VvmOnb4KqhYBZShGa/7snx0oSRUOGUlfeRVS9ef3rgDN6/CV2/Xj3pE75zjYO5fA+sJPjr1HmGYTbD4YgLw+XbaHZVEB/31qZ31ve1HfRMXPGaUK4/wBrVkCLFPK1EZkisRxprihxcwqPNVQqmgM2KUB4uXtt0d7PktDwIVCPsRLr92xR51ESt1wQXjlbbblWZKP+16JYbJfexH6F1EnbRbJAXw1C2ZZtJ5V7mrleQhnZXCb7J8xvTuSjJfI7A3fUBWb+iPjPAUA75YuxiN7SeQ94S8iN5sRzx7CI0RCkBjshSyRPMTYhWB26AXfiPtOx1tbgXXFB5ItKh7upmem0YD+86SKdM52U8wvAGJJfnivBU51zUhHTE9TRj0f8HK+bbk7ph5ftV3p8++e0SN1WPiawZkFwc0gP7at3uvRmvQfaohBkko2A9eIwf2yrKNQJn8aFzwhrpctnnd6K1CKGV6Xhp1mTCd1UvbYAS/a6WUXZ1YPBgot5tH4A0hwlMNs7sinZ5L8Pp+wPbo01str98dWgRbNEsXhH6ywdBb6bbZf07gdl8Ll6zsghv20aiLs05xR0W9Nf/ncrbcj44SsHF9Z7UzAcNMpzBkTejlxSrehyEAymNZBozBbyUYXPWUvWk97cWQXqH0Fyt8YvvSNWtCQ80ZDrWJQbi2h3iHBWh3jcU2cF7nkEmB8ZXByDhiJxVgL1K+zJokvKqqmer8X7wMAv0PyIzYqB806y/xLrze2kYKd4zWrmLoQ3UuY8TJYZ8r9zjwngJUi0LwcrlmxZ8NcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EhdBj2eqUM47rTF9vmTL9g",
      "input": {
        "note": "The top camera shows the can lifted off the table in the right gripper. Carrying it left toward the burner in the table centre at a safe height.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.33,
          "right_y": 0.28,
          "right_yaw": -0.4,
          "right_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_01EhdBj2eqUM47rTF9vmTL9g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.9951, 2.0491, 1.9556, -1.3678, 0.7734, 1.2427, 0.7146]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.325 right_y=0.2807 right_z=0.1881 right_yaw=-0.372 right_pitch=-0.2101 right_roll=-0.1216 right_gripper=0.7146\nstate[joint_eff]: [-0.2667, -1.5385, 7.159, 1.707, -0.0415, -0.0611, -0.0122, 0.1573, -10.359, 7.665, 0.2955, 0.8132, 0.232, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8d49a467428bde99b2724639c044f1cd869ea61ea44dea53757604abb3d9168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1cd13a3917f0876ba200c3075cdcdb68cc030379cd973dbf762e7d353c40463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a73c75fc558d226d61cc86b364ad35ad3599cb725531dd1199fd3bd4a36f602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.132 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3, 1.4658, 0.3225, 0.2859, 0.5671, 0.445, 0.7162]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.3059 right_y=-0.0009 right_z=0.011 right_yaw=-0.4151 right_pitch=-0.1074 right_roll=-0.0833 right_gripper=0.7162\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.8291, -0.0513, -0.0464, -0.0171, -0.253, -4.9026, 5.8735, 1.0916, 0.1832, -0.0122, 1.0281]\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]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.9992, 0.3, 1.103, 0.7563, -0.5625, 0.5419, 0.4438, 0.7161]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0022 left_pitch=-0.0652 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3008 right_y=0.0015 right_z=0.1462 right_yaw=-0.401 right_pitch=-0.1596 right_roll=-0.1033 right_gripper=0.7161\nstate[joint_eff]: [-0.212, -1.2923, 6.9812, 1.8584, -0.0415, -0.0757, -0.0122, -0.3487, -4.4923, 9.0188, 1.9219, 0.5055, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.9951, 2.0491, 1.9556, -1.3678, 0.7734, 1.2427, 0.7146]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.325 right_y=0.2807 right_z=0.1881 right_yaw=-0.372 right_pitch=-0.2101 right_roll=-0.1216 right_gripper=0.7146\nstate[joint_eff]: [-0.2667, -1.5385, 7.159, 1.707, -0.0415, -0.0611, -0.0122, 0.1573, -10.359, 7.665, 0.2955, 0.8132, 0.232, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8d49a467428bde99b2724639c044f1cd869ea61ea44dea53757604abb3d9168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1cd13a3917f0876ba200c3075cdcdb68cc030379cd973dbf762e7d353c40463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a73c75fc558d226d61cc86b364ad35ad3599cb725531dd1199fd3bd4a36f602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wkKEAgRGAI4AUIIdGhpbmtpbmcSDIxDVKcIG1UnMk3VChoMBEjyPlGxeWIZC9ehIjCYOOChjZkHZn791zFllthFbbXwzGoxOK0VK+AcIdiyivcib0dIQysluzZYrdGAcDEq/AisRCBfczza0/mUosjpi1qapTiic6E2WYKPfUrkpOfNPbcOHgHFj4nd1qNJ3ygQ738CJ7qK5QMC+4/B9MVENio6W+H4f1jwjP7tufHMFNGnmC3NWvjLC/RuRlHEMyYB3KYRv54y0tB/mjV+p8bnHkEks0j9iasU+LdUaTxoE/05A2tWfkVJaO9KVTo1e5xiBUA3fdGBp1PvdJktN9IWT1HPTH4Tymka4vykzUA1drrCjwIYgbS7hV8sTBD2yVxPL3aHeGiwAkg7rozsfrv6YIRw/kEu+nBN4e2csrdnwPfNpAA165G8QeYR2fEBgvssICCZavAx7fg+4nsleusBEx1771ugf06CHpq5UxiKn2XmrmxPHY0vpN1aLXEHBtcaWsv0gukek+vgGRtJkubo1Ug2vwod1qxBbq3J444jWzsWwGGM9cGvY3FPnw32IJSBoSufuKhlFqjKxYJtC4/njArK0rrGVkfR/TcezNEF8asaC0737jPUjt0Aa6CItdQiZ/1WZadwKv8r4PWWyHSTgzfPoadAHWA5Ech0AEmleyBriRp1YkInXvp8L7/blkUJdrJBTQ9piVDRqubmJRE3W5vhJ1DC4p4PEoOrHt8DgrRDIuTGgwSnv/+4Cvt0Ko7+ii3j+k+mfidlZaUkVcr7ixTDkUZKdyB0U06FL2NmRTX8k2F8hLMqkN0cV8Ki1bB8mCG9xbogg0PBTFZ1cE9L5NjSGrplYUHcLYTkJ5LTXEW1JNeCKsQofhHh/dar46vfFjysCJIoye8G1dhp98CMKnlFRAnY9OTnyXaKgd5ldBpuKF9QNp3350P+xzHdDoh2vrbxSXtB40lauLwUkelCrHMMHXUZXQlyzS3b1P5SgVfl6xHLLMXgJk5krUevQME/esS9cqCZAdqfAhoeV6QWZ2dqv4bHli9kAF+wAPyHsRmiufiVyJlQeGTukjP/TP8SXRCbj3P/tGwbrbxo9dUCSoiaKK5W2L+AAF0+2Nbe5Kr0xQ1qPbcIAU5vO7bfUwomQLkBcEfFokHkZPbIgk9EWhftAK3pr5me/ascnm9DTBGBw0Bshfmkfn6vYg6eS+kZHbGetww0PXlmu2FDKt2eFfDSW3W9ZCwO3cGO4R2TwthukbDE6v4c8fK6bWGj9xdI6Pqk4gnWHEWgprhMLVSOh0Ldv+mWhnXYzxP5J1x0HEY7So9AN2neC0kwXKgMvppEAaN6lcjJy08XoSYL7dCnWJtgxBSZZIW0Q+wfABzxiWVI2YxOBVFvIPR53cuJVqUdDBU/LZqWB9Xn+G+rq7Zpye6uoWsp1pezPOtEyic//Ay48stHwJrRzi9GP2J0EV1eVxm9gxmHg74D7pUVMN54V9cXBRKnBKWTPTiPuxg/A47nWmFHgiha1ehOxDJFLFMUTQgnQRWfZNZJk+ra2swbwb36RLVTs770mUp6WaVPzZW5tPnsHObqDCPS2IKwfAJ4NRKS6e1zu7n6R6P6VOEkAELpw4cJts5EojzWazz8fbvuHGdA35pSKNPVB8u0GRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013TSW9GpdavDCuNge8187wu",
      "input": {
        "note": "The right wrist camera shows the burner coil to the left of the held can, so the burner centre is a few centimetres further in +y. Shifting over the burner and lowering toward its top surface.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.34,
          "right_y": 0.34,
          "right_yaw": -0.4,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013TSW9GpdavDCuNge8187wu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4686, -0.0189, -0.0387, 0.9992, 1.0382, 2.336, 2.1887, -1.4086, 0.7444, 1.3106, 0.7146]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1609 left_yaw=0.0023 left_pitch=-0.0862 left_roll=-0.0022 left_gripper=0.9992 right_x=0.332 right_y=0.3346 right_z=0.126 right_yaw=-0.386 right_pitch=-0.25 right_roll=-0.1642 right_gripper=0.7146\nstate[joint_eff]: [-0.2803, -1.2376, 6.9538, 1.8291, -0.0464, -0.0806, -0.0122, 0.1026, -11.8769, 7.8838, 0.3639, 0.735, 0.2222, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef088594db0c5f1fcb56b83075482c5324799a155064b597dfe71b1a09325ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:764144ca6d7a5fe095df622b011224f1a4c3ed29ef5369aa834143cb051f2313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68a0839853d7d0bbc369d09d5a7ca6e0d0f1243951ca65b900cfc5b51c753810",
        "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 · 6.817 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.9992, 0.3, 1.103, 0.7563, -0.5625, 0.5419, 0.4438, 0.7161]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0022 left_pitch=-0.0652 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3008 right_y=0.0015 right_z=0.1462 right_yaw=-0.401 right_pitch=-0.1596 right_roll=-0.1033 right_gripper=0.7161\nstate[joint_eff]: [-0.212, -1.2923, 6.9812, 1.8584, -0.0415, -0.0757, -0.0122, -0.3487, -4.4923, 9.0188, 1.9219, 0.5055, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.9951, 2.0491, 1.9556, -1.3678, 0.7734, 1.2427, 0.7146]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.325 right_y=0.2807 right_z=0.1881 right_yaw=-0.372 right_pitch=-0.2101 right_roll=-0.1216 right_gripper=0.7146\nstate[joint_eff]: [-0.2667, -1.5385, 7.159, 1.707, -0.0415, -0.0611, -0.0122, 0.1573, -10.359, 7.665, 0.2955, 0.8132, 0.232, 1.033]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4686, -0.0189, -0.0387, 0.9992, 1.0382, 2.336, 2.1887, -1.4086, 0.7444, 1.3106, 0.7146]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1609 left_yaw=0.0023 left_pitch=-0.0862 left_roll=-0.0022 left_gripper=0.9992 right_x=0.332 right_y=0.3346 right_z=0.126 right_yaw=-0.386 right_pitch=-0.25 right_roll=-0.1642 right_gripper=0.7146\nstate[joint_eff]: [-0.2803, -1.2376, 6.9538, 1.8291, -0.0464, -0.0806, -0.0122, 0.1026, -11.8769, 7.8838, 0.3639, 0.735, 0.2222, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef088594db0c5f1fcb56b83075482c5324799a155064b597dfe71b1a09325ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:764144ca6d7a5fe095df622b011224f1a4c3ed29ef5369aa834143cb051f2313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a0839853d7d0bbc369d09d5a7ca6e0d0f1243951ca65b900cfc5b51c753810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgRGAI4AUIIdGhpbmtpbmcSDH0FXmef5nHGKPCulxoMyIwHgtcmBp97iOswIjAhMe3ZI9vAk/50IoEkpOPZdw81oK45KPu0whE+WXTn7Dqs5K+YoI8Dx0zVQU29wU4q1AZJ5hIS2Yc2SrZlAIj9ChM7nj2N08BZ7n1tVYawId/iRtHSq75RZhBliE9ZO7kjkpb2Vn97c8wg9G/0/ac1D2VCl/GfaC4hp1azS7km6PJGW7RH+YXfo2VfVEiXtlUaJF7RfVdQk06bn1PvWdqlFucpcK/WETo8QfScqzBfdT9O5ngoE4++8aQeuPYkz4Wk26qjC5GtEdf4SS3mrkE3XS8E4+GY/7wvD+GBqvK4IXZMenbX2OErBJq00G9Wj9127Ojx/7+U5CrO2LFoNRuop4Dd6lg5+6Am6+zc/VlwY/y6kiHBmXBeXZGgYFTM7hFDkGhuPN7cllZbdNiVa6tWFjNA/7MqrgJu4oQdU8mCJQixXF+be/oL+0Uc6M4HszHVl3M+bp8fW+6IqhUslGqINal3/7ir/0vh2D2bQI3Mlf+QZQGFOxQ+us1v7DheWzqlW9WZZrvJJPGJFG0QP+22iB45AcFMekkDOpb+gggDbHQ70KdBgEbNDqrF8MJygJ1WGOMYHeD30EgA38qvkD6MI1URx6wC2gN7wp/cIToItoogI446EDcHKSAjIuFyOGnFQb7OaEUmvoChxrrUh6wSEF28tf0drNZYZwQrK7T1oUcMqkJTt3WHYyplm81LclGvr4eikRcUjOVNkAmm7Y+tNi2v7A4AVwfVCvSZLhxFv5xLd/uMSHyyK05sswHlEqbhOuvkoLJJV98ZRVJUhOtJDezLP7c3WLuv5FMiwqknvPV7Diq7WQdDwOvkkrUJKgjiRZH1JXZhJ8neoTxQJpZWp7bQTn0oSYlj011HmnXbRl+ydViEPKG+x8Npg0OlrYeSh+XkyFhDLv7ItDOWDAe7mVlIdzeJImhMu+G8N4FL9JwkO14g3dgMQUU5FkVX0N+AWesKIF7NnuzFb0OCH36dV6USDZzyzh1TM9rm1ZE2a8lDgkHPE50L/T5OTWBYF81j6x6O769M8Qp181Iw7EaUH3GO5+KOyht5QVXa4QsKhCgapa21jiWJs5IApSsOUwH8Q6mm4uPICFqq5EOrfSkLeTvFJQ/hXrqJ1gXvLj8Mek8rni7tc8lSHXtdRh4oBm15oOBKzrCuZgiWLa5tpycgJ1uXSWf5a8ZFNAY2UVaDjeaFrsEphDEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013h7UtHC3CeSpe6LtzKbsrn",
      "input": {
        "note": "The top camera shows the held can now above the burner; the wrist view shows the coil slightly left of centre. Nudging a bit further left and descending toward the burner surface.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.345,
          "right_y": 0.355,
          "right_yaw": -0.4,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013h7UtHC3CeSpe6LtzKbsrn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 1.0409, 2.4355, 2.2051, -1.3586, 0.7677, 1.317, 0.714]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9992 right_x=0.34 right_y=0.3447 right_z=0.0888 right_yaw=-0.3958 right_pitch=-0.231 right_roll=-0.1969 right_gripper=0.714\nstate[joint_eff]: [-0.253, -1.2239, 6.9538, 1.7265, -0.0317, -0.0366, -0.0122, -0.1709, -9.8256, 7.2137, 0.7595, -0.0366, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6be8bea3dda140d199cdfcc7a078337cccce0586b470c8abf7486606494d71e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45452e69d695eeea9a0756ae2753ff89784e3b7879abf5fd1100d13c60009c64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:143ac83a94b6d5368b8f5b88de6814d818466a132960ed1df33986a56035164c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 5.154 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.9951, 2.0491, 1.9556, -1.3678, 0.7734, 1.2427, 0.7146]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.325 right_y=0.2807 right_z=0.1881 right_yaw=-0.372 right_pitch=-0.2101 right_roll=-0.1216 right_gripper=0.7146\nstate[joint_eff]: [-0.2667, -1.5385, 7.159, 1.707, -0.0415, -0.0611, -0.0122, 0.1573, -10.359, 7.665, 0.2955, 0.8132, 0.232, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4686, -0.0189, -0.0387, 0.9992, 1.0382, 2.336, 2.1887, -1.4086, 0.7444, 1.3106, 0.7146]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1609 left_yaw=0.0023 left_pitch=-0.0862 left_roll=-0.0022 left_gripper=0.9992 right_x=0.332 right_y=0.3346 right_z=0.126 right_yaw=-0.386 right_pitch=-0.25 right_roll=-0.1642 right_gripper=0.7146\nstate[joint_eff]: [-0.2803, -1.2376, 6.9538, 1.8291, -0.0464, -0.0806, -0.0122, 0.1026, -11.8769, 7.8838, 0.3639, 0.735, 0.2222, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 1.0409, 2.4355, 2.2051, -1.3586, 0.7677, 1.317, 0.714]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9992 right_x=0.34 right_y=0.3447 right_z=0.0888 right_yaw=-0.3958 right_pitch=-0.231 right_roll=-0.1969 right_gripper=0.714\nstate[joint_eff]: [-0.253, -1.2239, 6.9538, 1.7265, -0.0317, -0.0366, -0.0122, -0.1709, -9.8256, 7.2137, 0.7595, -0.0366, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6be8bea3dda140d199cdfcc7a078337cccce0586b470c8abf7486606494d71e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45452e69d695eeea9a0756ae2753ff89784e3b7879abf5fd1100d13c60009c64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143ac83a94b6d5368b8f5b88de6814d818466a132960ed1df33986a56035164c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7AcKEAgRGAI4AUIIdGhpbmtpbmcSDLyYbax7rWjk4/OtvRoMZ120f/M0Ry9miFbxIjCBYulR/27UF7XxTozNMgS4c3Fi+hLEW69jCTJSuLotuT8wIAyhe9kXMgnEq22NJX4qiQeLntjKGBV1PhA4iEpAiWebfj5ts7evun/5boxph3np5IH2mHZAZsgQLFF5iTCySGSRwIAU49J+9CS5WWId7vXU4kllV7rlE4OeojWq14gYHzRz2TEYMHjVrgi/DAp/T9W/wyRjS/TmzEw7iFOj24H31SVdu5AR2XOpeHWv5gK0CCHEsKnR2nor6ljRik/Nye/Pjd/N5+QVfVp5f53UMpQkKLLua6tAsXci7QSJQ9wAGDOjifAGSo/6rF9P+uczwPpqUkTXwbWizyEkDjOlpQmnopIOq79q0ooALnEUPFWz06JH9YksmaU4FYQqZSfGRcfF1YzalZNWWD+ypk7on19DaXAGUg2D9KgLiyTFZZxy3nUVyqTpANv3/W+9licCJ+9Eo4eJb843+OksxhefBm+WrlGwkZwGK3spGiv5h4j6xbajHOG94nz0dxNK7q5ztXzm+N1SVRhh37hVwEXNaPkV+/yjdOEMAa6GWv1drTppHKv/ObW1b9HlDD8jSkkVKqDXo91ZbFZGugNhm/zIADTAZJtwsr7XQTIY9qC123XZb1iJb5ezrYOlmHEjmuLgdcdFPMyaxmlRVEZzP5yql6rEakvBr9kXZPGd44/EeHse4OFakaP86CmUBDWVSbSB2I9BIxIMlXn2Ajb4a4bqtqLgGg+nr3ZR1UANtHpjgk9UImDOvchQNwmv8WvOm7ZeeEZGtfhrk17bszhXBoB7cSff12a3IV2XpoH7oxX/vUjH+BMhPPYKlnM2g6hHJqevTzO5Ap4oluQOCZ3YBGqLatGd/WZoT8BtWwVd1IsVt4h1gb0Ih3Ooxe7F3LdUbrH2mJaw6iYSkQ6YC7/uC5cgldDShM3TU49Dsd0s55eWLjUUEIjDpNB5X6CIP0wd3vA/B+zEDabADOED5wLIl2xbrHegokoeycAfxxlElkxJ0rR80X+HTjLEKu4Vr+sazjSZBfJXs4mPd8CZ/mSp+E2MFLcx6MpXeLxF6IWD8vZvi6QigBORRJisJh7fJRtETqEUEfG3Fj935i4aEpDLdl7gtrCbLQBYhUtyL/MNwbKEI03s28T4/tIQ2GYZIPiEid74BAAygX7k3c/aofPW3SnrDwwb7bfQzK4k26rxHz0nIBpgvx2JmKJaAdrISdxTKAjWuBEe4WX0Tob+65UxOJpCxxYb8QbaiTAb/05oq1RgTPxZ+zO/XfCabHNLpxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RBCVoud1HRz3Dfgvp9i9Rr",
      "input": {
        "note": "The wrist view shows the burner coil ring directly around the held can, and the descent stopped near z≈0.09. Lowering a little more so the can rests on the burner before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.34,
          "right_y": 0.35,
          "right_yaw": -0.4,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RBCVoud1HRz3Dfgvp9i9Rr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 1.0466, 2.439, 2.1696, -1.3247, 0.8375, 1.3174, 0.714]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.3453 right_y=0.3421 right_z=0.0872 right_yaw=-0.3916 right_pitch=-0.1624 right_roll=-0.2111 right_gripper=0.714\nstate[joint_eff]: [-0.0205, -0.9368, 6.9675, 1.6386, -0.0366, -0.0708, -0.0122, 0.0342, -10.4957, 3.7265, 0.8523, -0.315, 0.0806, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1293964b9a0863060710bd4cff16e43e5ea0f8bb397489758a02f05dbb8874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c672f37693ffb291f60639d756b79755b71d0ec15e10e341356709f9d9a92826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0e2c9c69071e82d386cbc2e8f79d400aa9a4e87c6b1b68567795f8b26a5f773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.564 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4686, -0.0189, -0.0387, 0.9992, 1.0382, 2.336, 2.1887, -1.4086, 0.7444, 1.3106, 0.7146]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1609 left_yaw=0.0023 left_pitch=-0.0862 left_roll=-0.0022 left_gripper=0.9992 right_x=0.332 right_y=0.3346 right_z=0.126 right_yaw=-0.386 right_pitch=-0.25 right_roll=-0.1642 right_gripper=0.7146\nstate[joint_eff]: [-0.2803, -1.2376, 6.9538, 1.8291, -0.0464, -0.0806, -0.0122, 0.1026, -11.8769, 7.8838, 0.3639, 0.735, 0.2222, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 1.0409, 2.4355, 2.2051, -1.3586, 0.7677, 1.317, 0.714]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9992 right_x=0.34 right_y=0.3447 right_z=0.0888 right_yaw=-0.3958 right_pitch=-0.231 right_roll=-0.1969 right_gripper=0.714\nstate[joint_eff]: [-0.253, -1.2239, 6.9538, 1.7265, -0.0317, -0.0366, -0.0122, -0.1709, -9.8256, 7.2137, 0.7595, -0.0366, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 1.0466, 2.439, 2.1696, -1.3247, 0.8375, 1.3174, 0.714]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.3453 right_y=0.3421 right_z=0.0872 right_yaw=-0.3916 right_pitch=-0.1624 right_roll=-0.2111 right_gripper=0.714\nstate[joint_eff]: [-0.0205, -0.9368, 6.9675, 1.6386, -0.0366, -0.0708, -0.0122, 0.0342, -10.4957, 3.7265, 0.8523, -0.315, 0.0806, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1293964b9a0863060710bd4cff16e43e5ea0f8bb397489758a02f05dbb8874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c672f37693ffb291f60639d756b79755b71d0ec15e10e341356709f9d9a92826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e2c9c69071e82d386cbc2e8f79d400aa9a4e87c6b1b68567795f8b26a5f773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4wYKEAgRGAI4AUIIdGhpbmtpbmcSDLz82xp1fAX6V20qgRoMIGs21+Ec+3NpoDC5IjDTRMXyD8Y7ghYmaRR91KGX0XFyJAxY1q/FnOnhMCWZR2aK6B9l3zjgbxRfb+5BeXQqgAalphcpptIT0Rl3pHCiMmwzIPVOCmY9HHlCCEO/1sE3tr2u3yVHqzV04CXiEd5cO79VBb7t6LfDfHn1StDRwTD7QcHENopuFvc7nAExC5WwBg5QEN2aYImRbhIYLMdPvwwDisbsH2kYt08GwTTIkgPxFIZO9jXQIVJwClxuKEFcwq22Fg8FuMU+sVDQD1vB66tmmbbGJyD7ht21JBuCL5hJKBOv8KYBx0BbR8SO+NLFBtp7M8f7wG2h3nTJNCy3XhWdm9cwZT01NR1ZG1uNN2gTBO9/ZKL+1q+he/DkQYc2sGwHlzMcBcReStafYPTwc7f8PqTYcvMmEM8MXLa7Mh67XScQlZNA9i83mT5lXjb3p4ZaJf0v9egsHMqiGEUVXUXIzYYyZ9aJitSqdDNJcs+0atMrvB584N527VwV8clX8sBD3+fPMhK5PBw274ydsft7fznTI1F2ZciUqmyLN9Afg+l/qI/3sNCELmDQ/Y8mQg35BU8LGHpEhfki5inO8bOeKbs4rC8QpONfcs48l4oWDp62GroorVCZCg1SuU+NW/j2U2shKpsz87lvojHgmx3u6I2WjPyR5TghlNYHC5WPXUzP2DEvy4mFpJL0TWCGY/W5bDqlQHY5aC5daUaMTKqeeNygBk0jIkmTpc+ji7s+fDhGBjhks+Cd2shypOhSu/IdgGBTn9347bchXUZoHQ3MWG43Pcfvb1o69opPm5Mo45omXua/XIsKMYrbiJdZXPkGsjek2ilFvr4oSIdmc6DgpjHIVyRQT8X7RqZ8iFRxD7SMgJZieDymmF9liVSaqIjcn/nHoMqwg3Rd3+Hx1IGsDGeS0LLX0NzzKE8BfY59tuwO2LwABbjNuhEV8kY8SoMRAkjb5zgk6Iji8HDDzqLFua2fs+ObsaXwmoVss9s3cBzdWUKEpNFDReNVxcA/2nzIjN9yKf/Ezsw1ilhGILPkHriTcAMSNGZfGWHIIu0w2VNgZy0ZaKFmjcYRM+YDA5HDDuY7295O9OFD8XdsYt4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HEHy9PiWNgwACHGR95mXp",
      "input": {
        "note": "The descent has stalled at z≈0.087 and the elbow effort dropped, indicating the can is resting on the burner surface. Opening the gripper to release the can.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016HEHy9PiWNgwACHGR95mXp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3254, 0.8562, 1.3167, 0.714]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0023 left_pitch=-0.0984 left_roll=-0.002 left_gripper=0.9992 right_x=0.3468 right_y=0.3407 right_z=0.0892 right_yaw=-0.3912 right_pitch=-0.1444 right_roll=-0.2172 right_gripper=0.714\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.619, -0.0513, -0.0659, -0.0122, -0.4171, -13.4496, 5.8598, 0.2759, 0.188, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8999f2522c1f2eae6c76e8b164f4a8f31bbc4e93c81a09acb3d0d12438524f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36995dcf8306f3f0e024dd367e4bb1b68227994ad9238c0412f5b3a8efe0a87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b673f07115c74247116c860b6c229645b5b57f5a5962b7861a63e6f5417f6591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 8.426 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 1.0409, 2.4355, 2.2051, -1.3586, 0.7677, 1.317, 0.714]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9992 right_x=0.34 right_y=0.3447 right_z=0.0888 right_yaw=-0.3958 right_pitch=-0.231 right_roll=-0.1969 right_gripper=0.714\nstate[joint_eff]: [-0.253, -1.2239, 6.9538, 1.7265, -0.0317, -0.0366, -0.0122, -0.1709, -9.8256, 7.2137, 0.7595, -0.0366, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 1.0466, 2.439, 2.1696, -1.3247, 0.8375, 1.3174, 0.714]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.3453 right_y=0.3421 right_z=0.0872 right_yaw=-0.3916 right_pitch=-0.1624 right_roll=-0.2111 right_gripper=0.714\nstate[joint_eff]: [-0.0205, -0.9368, 6.9675, 1.6386, -0.0366, -0.0708, -0.0122, 0.0342, -10.4957, 3.7265, 0.8523, -0.315, 0.0806, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3254, 0.8562, 1.3167, 0.714]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0023 left_pitch=-0.0984 left_roll=-0.002 left_gripper=0.9992 right_x=0.3468 right_y=0.3407 right_z=0.0892 right_yaw=-0.3912 right_pitch=-0.1444 right_roll=-0.2172 right_gripper=0.714\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.619, -0.0513, -0.0659, -0.0122, -0.4171, -13.4496, 5.8598, 0.2759, 0.188, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8999f2522c1f2eae6c76e8b164f4a8f31bbc4e93c81a09acb3d0d12438524f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36995dcf8306f3f0e024dd367e4bb1b68227994ad9238c0412f5b3a8efe0a87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b673f07115c74247116c860b6c229645b5b57f5a5962b7861a63e6f5417f6591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The gripper reading hasn't changed yet (0.714); the open command was rate-clamped. Re-sending the open.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Br3KBrFyYFJDJmGorsta63",
      "input": {
        "note": "The gripper still reads 0.71 after the clamped open command, so the can is still held. Re-sending the open command to release it onto the burner.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Br3KBrFyYFJDJmGorsta63",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3258, 0.8597, 1.3128, 0.714]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0023 left_pitch=-0.1136 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3471 right_y=0.3404 right_z=0.0896 right_yaw=-0.3892 right_pitch=-0.1415 right_roll=-0.2209 right_gripper=0.714\nstate[joint_eff]: [-0.3214, -1.0872, 6.9402, 1.79, -0.0757, -0.0366, -0.0122, -0.2393, -13.2855, 5.8735, 0.1929, 0.3346, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d23c34ca48fea49a892e3daf8f38a2a0956da96f6585cb044f678bd996f3856d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448e28d7bd0985b29d693b58eec62f4784fa8b1e7928d7a7ce048d21d1f051d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2be8e0b0659fa0402ed8bd8e7019c60600748effe14fb34b864d53db974af832",
        "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 · 5.798 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 1.0466, 2.439, 2.1696, -1.3247, 0.8375, 1.3174, 0.714]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.3453 right_y=0.3421 right_z=0.0872 right_yaw=-0.3916 right_pitch=-0.1624 right_roll=-0.2111 right_gripper=0.714\nstate[joint_eff]: [-0.0205, -0.9368, 6.9675, 1.6386, -0.0366, -0.0708, -0.0122, 0.0342, -10.4957, 3.7265, 0.8523, -0.315, 0.0806, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3254, 0.8562, 1.3167, 0.714]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0023 left_pitch=-0.0984 left_roll=-0.002 left_gripper=0.9992 right_x=0.3468 right_y=0.3407 right_z=0.0892 right_yaw=-0.3912 right_pitch=-0.1444 right_roll=-0.2172 right_gripper=0.714\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.619, -0.0513, -0.0659, -0.0122, -0.4171, -13.4496, 5.8598, 0.2759, 0.188, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3258, 0.8597, 1.3128, 0.714]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0023 left_pitch=-0.1136 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3471 right_y=0.3404 right_z=0.0896 right_yaw=-0.3892 right_pitch=-0.1415 right_roll=-0.2209 right_gripper=0.714\nstate[joint_eff]: [-0.3214, -1.0872, 6.9402, 1.79, -0.0757, -0.0366, -0.0122, -0.2393, -13.2855, 5.8735, 0.1929, 0.3346, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d23c34ca48fea49a892e3daf8f38a2a0956da96f6585cb044f678bd996f3856d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448e28d7bd0985b29d693b58eec62f4784fa8b1e7928d7a7ce048d21d1f051d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2be8e0b0659fa0402ed8bd8e7019c60600748effe14fb34b864d53db974af832",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwgKEAgRGAI4AUIIdGhpbmtpbmcSDO+SUgWo67a3yWoP+RoMIiP84DiSB/VrHE6aIjCkds7hfcR1gyGcJCdcFMDXyukKxGyHE95KH4U+OjwNF1Cck59dZOwAxIoHwmMS6bUq4AfTuH6LgZgwe6eH9rf38O3EE2+rCT/lbTL2ZlTTg3X0PNnVsPXmlSJnmrJGfdYlo+GPV1LG2jxWACD8ZmvR3kfqiEMd28jy2wspx1p2Xtj/jhVmcKJH3T9IZ/woSTjzLHzkW11KV7wbw9YgkRhioCAJ9jGI4EplpZHMdBYMLM2yuxYdfJAOB28n4SF4K7IUQlScQbwvm8Gxd7l4VD8iQlbRjDbxIbbZ1Iw+dk0/WYrCtFNRdG7poQvaHaLYjr30IJBxQ8T6YuwQUp4P73Z77cgnW7KBLUl4nATYuKfEbswpFNhC5BqaVqMAtkqdGW+LYMY6l5MZv9eYT3KabS3gz4o43qcsUjj4p4XKmkFv5xdpo4S4+PugkpGNY3TYfj4weCaqx9gvgcKztjzS4klUTypZ5jIr8vrPyeBQV8uJ9oIgZMfZ79tQCP8XWhblmo9iq8D4N1F+DpEZbTbrf8HFWfbheWu7W+iqwvM5jf+5xmv+YR+h/O8b8JIB3Rn1I3aiqcLDZp1RiNhC+URZufAGWOhV1/D6Pm6h4smn4C/x7DrOPgtAFyaO39Ll3f2Fm/9Ou11arbAA/pgH6MKeuGW+0zl2F0bHCnGZerQXOVh/o5V6qfGvhskW0ES71l7UCUrg6ZHX0vU4iEu5OP7q01t0XPTy7XyUObk9/3sO23VPHEJ/gjxWlmlop2QMaoIyYrHG84VIA1tZsoQqvfK3TP/8OQnovGEO8q4YHyHi7uMlO4Bl6MBi7gBX+ogNYwXpoWb/u1ge0SzPJ3X20uCICR2hBx1k5hFAcY6TPunJWV0XhA+01PeHsfCVkustVO09Rl4YGFQ7aAZqKjyRlLMQxzuimMda5d2g+j+BmEodadDpdKRGp7DHoXlYHVJNqgH+/z3OHZaZaoE1F4wEOaVIeOU69XLd4pWVjWqOpEiietwRw2d8u2vDpMjB3ALcWTlANT+zGB9azdqs4E2OOIyWf14zsPGgspAL6XipgrCNK9VmQI7WICAKEm99vtvcam9hT6QpP6mA1VyXGUJ/tN4yNccsNdV7Ak7eE8VtduyILU4c7ac8S1RRIqmtKnqJIyW3ToubgJmc7EGFFpxXj9TkVLD5nmyvrCoIVohitGJnvxVxh6pUNlbgP4X5R6y3L9QV0519EQP+9o5ZTZzuj84qywh93PnSMln9l6CExSAu/tS3w/gm/Bw4fqHxSQaxnoVPSLuM4v6W3CoPOQObEhhTgu+BdaamFYCapFUjaw5mWh+MKDIrX/JB4Ef5FCatCGolaYpuZhixVgewXpw7vAkpidghHmNljUiuUP450PcZtD2bqt/u2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VAxUujX7hzGsCRDBioqME5",
      "input": {
        "note": "The gripper is not opening despite two open commands (reading stuck at 0.71), possibly because the arm is pressing the can into the burner. Relieving the downward pressure slightly and opening in a smaller increment.",
        "targets": {
          "right_gripper": 0.85,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01VAxUujX7hzGsCRDBioqME5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5011, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.1746, -1.3472, 0.852, 1.3094, 0.7954]\nstate[eef_state]: left_x=0.2779 left_y=0.0017 left_z=0.1547 left_yaw=0.0023 left_pitch=-0.1186 left_roll=-0.0015 left_gripper=0.9992 right_x=0.345 right_y=0.3387 right_z=0.0906 right_yaw=-0.3894 right_pitch=-0.1513 right_roll=-0.2363 right_gripper=0.7954\nstate[joint_eff]: [-0.0752, -0.9504, 7.1316, 1.7705, -0.0611, -0.0171, -0.0122, -0.3487, -13.3265, 8.4991, 0.2369, 0.5348, -0.0269, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6677b10c0a4350878d0a3350fa69b38dc9eed72c622e29c27dc3996d2b9c2d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9eedcf48d88ee2a157ed7e56c623986dc96cd55fcbb3e881610de6654e3fd9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2db7a263dcda58553567754747fd1c330e4d29436cff899749a51c4bfeeaea6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 14.83 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3254, 0.8562, 1.3167, 0.714]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0023 left_pitch=-0.0984 left_roll=-0.002 left_gripper=0.9992 right_x=0.3468 right_y=0.3407 right_z=0.0892 right_yaw=-0.3912 right_pitch=-0.1444 right_roll=-0.2172 right_gripper=0.714\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.619, -0.0513, -0.0659, -0.0122, -0.4171, -13.4496, 5.8598, 0.2759, 0.188, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3258, 0.8597, 1.3128, 0.714]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0023 left_pitch=-0.1136 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3471 right_y=0.3404 right_z=0.0896 right_yaw=-0.3892 right_pitch=-0.1415 right_roll=-0.2209 right_gripper=0.714\nstate[joint_eff]: [-0.3214, -1.0872, 6.9402, 1.79, -0.0757, -0.0366, -0.0122, -0.2393, -13.2855, 5.8735, 0.1929, 0.3346, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5011, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.1746, -1.3472, 0.852, 1.3094, 0.7954]\nstate[eef_state]: left_x=0.2779 left_y=0.0017 left_z=0.1547 left_yaw=0.0023 left_pitch=-0.1186 left_roll=-0.0015 left_gripper=0.9992 right_x=0.345 right_y=0.3387 right_z=0.0906 right_yaw=-0.3894 right_pitch=-0.1513 right_roll=-0.2363 right_gripper=0.7954\nstate[joint_eff]: [-0.0752, -0.9504, 7.1316, 1.7705, -0.0611, -0.0171, -0.0122, -0.3487, -13.3265, 8.4991, 0.2369, 0.5348, -0.0269, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6677b10c0a4350878d0a3350fa69b38dc9eed72c622e29c27dc3996d2b9c2d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9eedcf48d88ee2a157ed7e56c623986dc96cd55fcbb3e881610de6654e3fd9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db7a263dcda58553567754747fd1c330e4d29436cff899749a51c4bfeeaea6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper now opening (0.80, effort dropped to 0). Opening fully and lifting clear.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ATdWsirVaMK5Xu3B3ibgzQ",
      "input": {
        "note": "The gripper is now opening (0.80) and its effort has dropped, so the can has been released on the burner. Opening fully and lifting the arm clear to verify placement in the overhead view.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01ATdWsirVaMK5Xu3B3ibgzQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5152, -0.0193, -0.0387, 0.9992, 1.0389, 2.4367, 2.3737, -1.5589, 0.8341, 1.2827, 0.9978]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.152 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.3427 right_y=0.3315 right_z=0.1392 right_yaw=-0.3851 right_pitch=-0.1741 right_roll=-0.2643 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.1966, 6.9265, 1.746, -0.0806, -0.0611, -0.0122, -0.8274, -17.4838, 5.7641, 0.1929, 0.6325, -0.0904, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f131632d52353936f6134459e465e682448988e88b673d95a4d110d8caaaa55b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99556004f841bb3a4d312ebb48a86d489b80d8ff928ca6722c6e019fa91e24f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:901baf1b944acc790cd9e8bf31fe37f8b36ffb1d367728c0cab1c58f3c21808e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 14.34 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.167, -1.3258, 0.8597, 1.3128, 0.714]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0023 left_pitch=-0.1136 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3471 right_y=0.3404 right_z=0.0896 right_yaw=-0.3892 right_pitch=-0.1415 right_roll=-0.2209 right_gripper=0.714\nstate[joint_eff]: [-0.3214, -1.0872, 6.9402, 1.79, -0.0757, -0.0366, -0.0122, -0.2393, -13.2855, 5.8735, 0.1929, 0.3346, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5011, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.1746, -1.3472, 0.852, 1.3094, 0.7954]\nstate[eef_state]: left_x=0.2779 left_y=0.0017 left_z=0.1547 left_yaw=0.0023 left_pitch=-0.1186 left_roll=-0.0015 left_gripper=0.9992 right_x=0.345 right_y=0.3387 right_z=0.0906 right_yaw=-0.3894 right_pitch=-0.1513 right_roll=-0.2363 right_gripper=0.7954\nstate[joint_eff]: [-0.0752, -0.9504, 7.1316, 1.7705, -0.0611, -0.0171, -0.0122, -0.3487, -13.3265, 8.4991, 0.2369, 0.5348, -0.0269, 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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5152, -0.0193, -0.0387, 0.9992, 1.0389, 2.4367, 2.3737, -1.5589, 0.8341, 1.2827, 0.9978]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.152 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.3427 right_y=0.3315 right_z=0.1392 right_yaw=-0.3851 right_pitch=-0.1741 right_roll=-0.2643 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.1966, 6.9265, 1.746, -0.0806, -0.0611, -0.0122, -0.8274, -17.4838, 5.7641, 0.1929, 0.6325, -0.0904, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f131632d52353936f6134459e465e682448988e88b673d95a4d110d8caaaa55b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99556004f841bb3a4d312ebb48a86d489b80d8ff928ca6722c6e019fa91e24f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:901baf1b944acc790cd9e8bf31fe37f8b36ffb1d367728c0cab1c58f3c21808e",
        "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+AYKEAgRGAI4AUIIdGhpbmtpbmcSDIsL3bxOMxO6znHOVxoMtkDsxLTIvPJGX9jkIjCK6zkOLBeGrKI0LOb57k5nDjHaMSkF0XRmB3SOQawdZnknhDAm97Zf4QqYcayWF8QqlQbrqZrzO6JVGg0I1NieVx0ryb5+c/HBmjnQ/WDzcjIC7SfSmTTrWJXe7eMkey/ZWfsijcj2DSEF/Wt8+p7wONVaDrroojIkUG7qJH+NioUDNA02Rw66PkgstVBeDTt6j9N+iWk2eqcJwyurg3yeZWaZRi0Ijmxpim3o96frnsT9RuXq8yWDIDqFiB/D1qgI5acOOm8FCVrgH7qS1ua1laYzKDHGEZkd43wyamfgJGqgPG5Nj6Dy9b9JyhRH0SHnyTtIAmsVarZQ4QtHWhi1IhqvCYZAc1XZJMYCHA7MWHllhHGcRETvGfMRU/4HmU1cF/gPsOw6ePx2QPbaMlatbCyWqLBJLJiZfZw6lq/603TqLRg3kLtYs6A5bRsUApRnwLjizdmKtmYRrw6Vu3vw10KdcMcc3wzj7ozOSBGheVu5eiiYCcilM2GiLgk92SBs4MwC1R4Nu0Z41uleOn6Mb/iTNmfeUUG76hqMngsAEU4cdWEcvu1C3MWbMH+3DAF/lyWFwRjo5Ei1hgPF8vXF+gnU3XGPNthkc1fOu92DqpImpyXTmBkLA+SRzFdgKQOXvZiRhnvnRjJZdSLpm72Orydkp+fgxVBjEDb0xunwtlKShpk6UpvKbro+/27MxjOqCD41TAFpEvT8RjVYIHnFxdYvqkqbrxGBA057Y4sX77nwiA6y4t3hG2UoO7072ktt6nCXGU7ZyYOd4FPdQwdoAAZSalLJBpARmwnwC4u4QeeEhdy9rrC3WAVlt/DIUrHpQlLAV+Lu3on0uitV9cDtRzZ4KWDw6p8JV/ch3oO7zzweZxxMuVHL+Wx9PZb/wGwGdnL90pNwdluUpjJ7d06ROKrh7h/37pg4OQ5lTt9OunSqnPsVDh3R4n1RZXL8aCq7gdiVKU8a06UVqXMfpUaHU1zCr2d4YuMTfotyzIXAIYiWffgUHwo0uyLo3iNAZidwSQC8K0bcU2Y0x80ZcKFiPxlpM+/vndXwGj/Jh2rQ3Yc6w2t/rVyIeVBx1cUkyXl8/TlB33m8Ak6HNeqWZLTMmot/zWmahZwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01My8B6V3FCHpN5fVVHQA5AU",
      "input": {
        "note": "The right wrist camera shows the can lying released on top of the burner coil. Retracting the right arm to its home pose so the overhead camera can confirm the placement.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01My8B6V3FCHpN5fVVHQA5AU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, 0.1623, 0.9463, 0.7826, -0.6518, 0.3096, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2728 left_y=0.0018 left_z=0.1486 left_yaw=0.0024 left_pitch=-0.151 left_roll=-0.0008 left_gripper=0.9992 right_x=0.285 right_y=-0.0042 right_z=0.1721 right_yaw=-0.0744 right_pitch=-0.2057 right_roll=-0.2657 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2513, 6.8991, 1.7851, -0.0317, -0.0464, -0.0122, -0.1846, -2.5368, 6.8718, 1.8486, 0.0513, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c32ad7d7b491ee5b48b3df8bf2f9721b20afc8f56243fded543883e3f6fc169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3146c2d3bbe73021440ea418200ca9c694ad04013246534a52a6ad4e6c71482c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4434e91b432c7e63d8eaa9b86970c6b97046bea75119095e368b7edc143baca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 9.285 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5011, -0.0189, -0.0387, 0.9992, 1.047, 2.4386, 2.1746, -1.3472, 0.852, 1.3094, 0.7954]\nstate[eef_state]: left_x=0.2779 left_y=0.0017 left_z=0.1547 left_yaw=0.0023 left_pitch=-0.1186 left_roll=-0.0015 left_gripper=0.9992 right_x=0.345 right_y=0.3387 right_z=0.0906 right_yaw=-0.3894 right_pitch=-0.1513 right_roll=-0.2363 right_gripper=0.7954\nstate[joint_eff]: [-0.0752, -0.9504, 7.1316, 1.7705, -0.0611, -0.0171, -0.0122, -0.3487, -13.3265, 8.4991, 0.2369, 0.5348, -0.0269, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5152, -0.0193, -0.0387, 0.9992, 1.0389, 2.4367, 2.3737, -1.5589, 0.8341, 1.2827, 0.9978]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.152 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.3427 right_y=0.3315 right_z=0.1392 right_yaw=-0.3851 right_pitch=-0.1741 right_roll=-0.2643 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.1966, 6.9265, 1.746, -0.0806, -0.0611, -0.0122, -0.8274, -17.4838, 5.7641, 0.1929, 0.6325, -0.0904, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, 0.1623, 0.9463, 0.7826, -0.6518, 0.3096, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2728 left_y=0.0018 left_z=0.1486 left_yaw=0.0024 left_pitch=-0.151 left_roll=-0.0008 left_gripper=0.9992 right_x=0.285 right_y=-0.0042 right_z=0.1721 right_yaw=-0.0744 right_pitch=-0.2057 right_roll=-0.2657 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2513, 6.8991, 1.7851, -0.0317, -0.0464, -0.0122, -0.1846, -2.5368, 6.8718, 1.8486, 0.0513, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c32ad7d7b491ee5b48b3df8bf2f9721b20afc8f56243fded543883e3f6fc169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3146c2d3bbe73021440ea418200ca9c694ad04013246534a52a6ad4e6c71482c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4434e91b432c7e63d8eaa9b86970c6b97046bea75119095e368b7edc143baca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tg2CpMGtRrXBDH3joLQNvL",
      "input": {
        "note": "The overhead view shows the can rolled to the right rim of the burner and is only partly on it. Going back above the can to re-grasp it and place it centred on the coil.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.3,
          "right_yaw": -0.3,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01Tg2CpMGtRrXBDH3joLQNvL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.548, -0.0189, -0.0387, 0.9992, 0.9947, 2.1502, 1.98, -1.3071, 0.7742, 1.0416, 0.9991]\nstate[eef_state]: left_x=0.2703 left_y=0.0018 left_z=0.1458 left_yaw=0.0025 left_pitch=-0.1663 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3372 right_y=0.2989 right_z=0.1552 right_yaw=-0.2643 right_pitch=-0.2352 right_roll=-0.2806 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -0.8957, 6.8991, 1.7314, -0.0366, -0.0513, -0.0122, 0.1436, -10.947, 7.3094, 0.1636, 0.569, 0.2466, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccec0e28966fcc45b6adf0a68d63bee843ee4e4db303693efc8cde8b6c9974f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02a7c9b8c34cfd852dd7cc898b9c65c7deb072b28d675deab446c760a4cd0e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f84e8cda7f6e7429dec3837f5aea0135a945b3936424d6a465b4fd23e9aacbca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 8.768 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5152, -0.0193, -0.0387, 0.9992, 1.0389, 2.4367, 2.3737, -1.5589, 0.8341, 1.2827, 0.9978]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.152 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.3427 right_y=0.3315 right_z=0.1392 right_yaw=-0.3851 right_pitch=-0.1741 right_roll=-0.2643 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.1966, 6.9265, 1.746, -0.0806, -0.0611, -0.0122, -0.8274, -17.4838, 5.7641, 0.1929, 0.6325, -0.0904, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, 0.1623, 0.9463, 0.7826, -0.6518, 0.3096, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2728 left_y=0.0018 left_z=0.1486 left_yaw=0.0024 left_pitch=-0.151 left_roll=-0.0008 left_gripper=0.9992 right_x=0.285 right_y=-0.0042 right_z=0.1721 right_yaw=-0.0744 right_pitch=-0.2057 right_roll=-0.2657 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2513, 6.8991, 1.7851, -0.0317, -0.0464, -0.0122, -0.1846, -2.5368, 6.8718, 1.8486, 0.0513, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.548, -0.0189, -0.0387, 0.9992, 0.9947, 2.1502, 1.98, -1.3071, 0.7742, 1.0416, 0.9991]\nstate[eef_state]: left_x=0.2703 left_y=0.0018 left_z=0.1458 left_yaw=0.0025 left_pitch=-0.1663 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3372 right_y=0.2989 right_z=0.1552 right_yaw=-0.2643 right_pitch=-0.2352 right_roll=-0.2806 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -0.8957, 6.8991, 1.7314, -0.0366, -0.0513, -0.0122, 0.1436, -10.947, 7.3094, 0.1636, 0.569, 0.2466, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccec0e28966fcc45b6adf0a68d63bee843ee4e4db303693efc8cde8b6c9974f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02a7c9b8c34cfd852dd7cc898b9c65c7deb072b28d675deab446c760a4cd0e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f84e8cda7f6e7429dec3837f5aea0135a945b3936424d6a465b4fd23e9aacbca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgoKEAgRGAI4AUIIdGhpbmtpbmcSDFuEVrlQvFKNqARToRoMMHmAujl6PnU0LXonIjDQ7KwJ+blkYVJroL3afw1sIG5Ws50wz4GLvkaJDSBeRrAtK/sSmh6ewkBFXE2bCvQqqwnxiiHhg91wR68KgusMSi/q7JEd4JFJto8mX6F9dZME51OGv0Hx0r6Pqs9DUDF3qBiARShvRMbydXf2TB9pwLan0y3O872tM8+b1tU3QA3I5ugsUj2fEey4euCAfWb9hfxOXf8UN/zsCtW6Mg4VjDBwx13dRd277h0G8R/Vumidg0Du7zYmktnYAeqBRz9KZMlNomf/YBlEzi2XjVjWUynQq4nPtMJAx1RO1GP5M7J4T1T1LaIxKmowWo9RqW2d6gbdhBWFM6rHj0UNERw3Ba+d0lHvRefHY0Ws3PybH0aDNudndbxuUbFVFcWenewiAMNnaZO2KIEMhqqOJ4O20LW5HEbSaFZBodNaamJTzOAIwSHBFcWKPgKp+1B9lARxcHw8yECIdpt3RopIhftZx9DhLYlDh7lXN9LYOlgLqCvlmLhJynWCxv57prv0UKQo5aCNQz4NYr0aPw9IRFX8jWZBk6sdP3ZvZFMXLjpY5y2n51FdaBtCGL6975rpyhKL7ROdAEVSUVLapwlTal36KSdBfuiOeSDoaF/XDrUypwuzZsMsIdaMIMrxbLLcaKzQibEpoa7hWrBDAoMX9X8gsG33oy1RfjJZ4C/Cgki68sdy8m9jdTroMl4kXAv4pQ+5wDwUrAs/1sI5zYkbFg6K5rJKMBC67w1t2Qz5ffryz6YIeabfD/3/yLMRwHY/12Jf13y4+SlUN/6x6WOQNzJNJuQ/vYsoMpd5vQkuBr87RSon50Y33owX0VYaselioHfThm+fxEElu4M4UpvKUAbLkcwWSUwkIlTHmZu1eykfvQLsZ0N7YsmgrXuCnolwExqsNax0TNEw++ilg+KFXy+YYJZ8rfneIldepmhHbaSb6qcRZNCBEtx03gdIDMLyfyPX8lQHmEn6s8vV9FLBzkhI9giOxoKD6NziU/0p9W7lqplupZgYq7zIO8g1fKerJ02xzYy3vyReKcOFN+gzyevRcNTnCIItJIyfPb9OHAgGDjkAWKvU5WhwNQWtdDK4EFYLhvE9Gxe0WOeB0lW4bNY8XHlBfOMnpWGVb0B+KM2ak0lhgnZQLD8ZmTvKlWmA3rCh7v/iDC4U6Ijk86MeeqUXP9LJr1BrqqpLbJ5X+az/whLca3crqndvBJLKCu3WAIcqs7tutf1iiqTYwRE1bbrTQSOHnk8mikgjdrnAstVamiIhqqlvFiVObF/oZc+4dsPdUWU+7c8qnqIu9O8O5Splviy/C9o9sICLLulV+b0nD/Bn7kl/2zaU3rrwzBd3orE1wNHpvje2OLdF6usMmaOqrEC254WDnmHCygsJqkjxTl62uBw2HBIm7QjnHy0r00k9HefLYoc6YczXTlADP5ULZDAw5x3oY9gggGjzR4FbVRYRiLZJZDh16Ilx8ltEBaxfV8Wz9LBslKHrCiZqoGmh4BOztbr4DA66+38SJRiJNXKKeP/j6LD1PJIvJXdrZhTZKNJN2qUVySFeWZPmlgHxofwpb/QCbe82rDEgcynELayZXe1IVFZ1ntaZFwrGee/c2KoYRrU1NkIpkii9bVMXYazYxTnwiAylW1Go6KuETrwWm2rOFTLtJFEB2Bl4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6Gfi7Ke35nzF25M1Tsczr",
      "input": {
        "note": "In the right wrist view the can lies to the right of the jaw column on the burner's rim, with the coil centre well to the left. Shifting the gripper right over the can and lowering to just above it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.255,
          "right_yaw": -0.2,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01U6Gfi7Ke35nzF25M1Tsczr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.9268, 1.9945, 1.5856, -1.0912, 0.7471, 0.9154, 0.9991]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1428 left_yaw=0.0025 left_pitch=-0.1823 left_roll=-0.0002 left_gripper=0.9992 right_x=0.328 right_y=0.2429 right_z=0.1113 right_yaw=-0.2648 right_pitch=-0.2908 right_roll=-0.3808 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -0.9641, 6.9265, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -13.2308, 7.1726, 0.9939, 0.4908, -0.0366, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0009f8fce26af02154eb533fc7910216cfe5c874a23bb1d7f1f708aacf5b90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa3a0a3372d9517b43ae995f48fd093b6454a4716acdabcf0f5927cca5c5e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5666fc54984a38c6be58d93f516242beaaa632b74872f9e3715a245551006a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.358 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5327, -0.0189, -0.0387, 0.9992, 0.1623, 0.9463, 0.7826, -0.6518, 0.3096, -0.0544, 0.9991]\nstate[eef_state]: left_x=0.2728 left_y=0.0018 left_z=0.1486 left_yaw=0.0024 left_pitch=-0.151 left_roll=-0.0008 left_gripper=0.9992 right_x=0.285 right_y=-0.0042 right_z=0.1721 right_yaw=-0.0744 right_pitch=-0.2057 right_roll=-0.2657 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2513, 6.8991, 1.7851, -0.0317, -0.0464, -0.0122, -0.1846, -2.5368, 6.8718, 1.8486, 0.0513, -0.0513, -0.1148]\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]: [-0.0189, 0.804, 0.6067, -0.548, -0.0189, -0.0387, 0.9992, 0.9947, 2.1502, 1.98, -1.3071, 0.7742, 1.0416, 0.9991]\nstate[eef_state]: left_x=0.2703 left_y=0.0018 left_z=0.1458 left_yaw=0.0025 left_pitch=-0.1663 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3372 right_y=0.2989 right_z=0.1552 right_yaw=-0.2643 right_pitch=-0.2352 right_roll=-0.2806 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -0.8957, 6.8991, 1.7314, -0.0366, -0.0513, -0.0122, 0.1436, -10.947, 7.3094, 0.1636, 0.569, 0.2466, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.9268, 1.9945, 1.5856, -1.0912, 0.7471, 0.9154, 0.9991]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1428 left_yaw=0.0025 left_pitch=-0.1823 left_roll=-0.0002 left_gripper=0.9992 right_x=0.328 right_y=0.2429 right_z=0.1113 right_yaw=-0.2648 right_pitch=-0.2908 right_roll=-0.3808 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -0.9641, 6.9265, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -13.2308, 7.1726, 0.9939, 0.4908, -0.0366, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0009f8fce26af02154eb533fc7910216cfe5c874a23bb1d7f1f708aacf5b90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa3a0a3372d9517b43ae995f48fd093b6454a4716acdabcf0f5927cca5c5e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5666fc54984a38c6be58d93f516242beaaa632b74872f9e3715a245551006a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQkKEAgRGAI4AUIIdGhpbmtpbmcSDKENtUU5Clk5dQeqHBoMLCH1QwhLQ2I/UCNAIjBauNoimlUFQ2FIoBzrEC0eHqpoMiM5IvZg3ZzTtNbpqo4r1Yizc+EHlhCM+4qFyrcqqgj8loDq4t+mtI6Gbk7URoNK70wMDRc9BFm+aQ7Rk6uShb+GOubBorJp3T7oY3a4do9jpicgtK9mW2CYNXFynN/0VkcP2+R5IDWPDbW12X0Ib2ikQ4fHvAKRHGQ+Na0v5FNOKAbBtAYny/S/UsdYNxf5Q7P66dxE7LigGyEvl/GxvdsY7etq+9srFosltvOZyw/HrgB5LWJ+MRG67JIyo9vUNz8lnk9aflBTpEBddkfGGou62OgntSZpuM7u8A7JMyO5JwlPB41F8sx8vLdXzfSPTraVBIh1bS+bCzEi078fXFWh+zVK4wC9WmK9R7L9XtntoD9xdGwHVJ9T5yBM1zt9HP6iMGunrnv5UwrvvB7LIydFS5LVgs9XmTdp6cxh7xvML52JaO1Qm9DYr5T8tssFs3LYyV26sv2/5Jd2ocHnPW12eaULq9SDt3rcafpEDbwl4zayfSLzSAyaX7EvMRor/ue4PBymQpnMGnWxpA+WAUYzmJG2uL+JsuHrEIDh80WNh/dtzHEmg3kAyZkMxmXYccuLfEw3uZI63eouiJO9ydtfWTjs7d4HSAvNL4YpIMnMuNAIIbn5G2UD5FuvyFyMFL+Xn5v1R62cX+QDOcQT25RQYu956DxbikeNbfpPFXst3RkBnDoavJXHygGLn7q2n6kfsYlulYcR+2yYX60RPNt/OT1tga9s9hz+c02P5PsahS0Gzxzn2pZWA8TEq7U51W4dSPv2BNNuv6waVKKl2vRtlpsX2Hq4TmgK/ARjyiN1f1IxMHZyCfjQCxKzSR02/TX2kEy31LvoetUAuDq1PbojUqPuW98ERnSelb6p6/Jc3k5CkLTtTM+7ONLB0uSucigR74tXQeDFwIdUHOeu7duZkueXu5M0eQJSVdzT35Oe38LhkbPkPSv/CHcsMwsTxUub/tmvGuSeZm5vvKQ9jXEU6/1eBEJsINYx+68PAbi7KrvSx7wYpWgEF72VzyP5p7xDgvpUJLXxiYDffzpwJu9dCBXGltOPT+PcXn//bYhVRwZsqYtG4UD1y90bpNxarolENledcdstI3W/X4PCKVsXZvVgv8p7lreVPn/lGNY6+hYNNiYUodE/2ATr7xsLTUWxn0MvJBDzr3TJB89IVvxb6mINhraniSWTaxIYAuYiLAO2P28ESdOle1uc2z7DktJbWqvPNG44Qsbtn7R0UVZFd8lrQmLi0H0orcHay+V34P2belGkKMyBp7SECJzLhGwg+ZuyWiTWtq1df8pP/f2VPVN0RP2L0gEdZFxFY2x7ZSDxqg0K7OEUq8/mw6ueyVkHl7iGESWTAZ5PJJ4TjPIRhIxPXPoARe33GWGNdYiM29U4/YWCiCHLYgbxuXSUTvSFnzFti4wNFW+Z+aVo9ODxZUmqfQyZw0YjpOLImODmlci5YdoIsNWxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LmgGVdbCbjEeF5HHEKxexD",
      "input": {
        "note": "The can is now closer but still right of the jaw column in the wrist view and slightly tilted. Shifting a few more centimetres right, yawing to match the can's axis, and lowering toward can height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.215,
          "right_yaw": -0.3,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LmgGVdbCbjEeF5HHEKxexD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5682, -0.0189, -0.0383, 0.9992, 0.9127, 1.9713, 1.5452, -1.0424, 0.7399, 0.8837, 0.9991]\nstate[eef_state]: left_x=0.2669 left_y=0.0019 left_z=0.1417 left_yaw=0.0024 left_pitch=-0.1884 left_roll=0.0003 left_gripper=0.9992 right_x=0.3306 right_y=0.2388 right_z=0.1092 right_yaw=-0.2516 right_pitch=-0.2917 right_roll=-0.3689 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -0.9778, 6.8855, 1.663, -0.0513, -0.022, -0.0171, -0.294, -9.894, 5.6274, 0.4029, 0.3883, 0.1099, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f90c2bb0f0446c72357c50221ab3550c32ade0fce4f401251d87ea67d052a323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:422ef561d556e87bb46d3cb2f808658114a143e0311f280b2a755ced3086a9ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ef97d97b62c809da299dbeb1bac9e68d394b8293aae49fcdca6f04a609757c5",
        "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 · 7.156 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]: [-0.0189, 0.804, 0.6067, -0.548, -0.0189, -0.0387, 0.9992, 0.9947, 2.1502, 1.98, -1.3071, 0.7742, 1.0416, 0.9991]\nstate[eef_state]: left_x=0.2703 left_y=0.0018 left_z=0.1458 left_yaw=0.0025 left_pitch=-0.1663 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3372 right_y=0.2989 right_z=0.1552 right_yaw=-0.2643 right_pitch=-0.2352 right_roll=-0.2806 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -0.8957, 6.8991, 1.7314, -0.0366, -0.0513, -0.0122, 0.1436, -10.947, 7.3094, 0.1636, 0.569, 0.2466, -0.1148]",
      "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]: [-0.0189, 0.8059, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.9268, 1.9945, 1.5856, -1.0912, 0.7471, 0.9154, 0.9991]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1428 left_yaw=0.0025 left_pitch=-0.1823 left_roll=-0.0002 left_gripper=0.9992 right_x=0.328 right_y=0.2429 right_z=0.1113 right_yaw=-0.2648 right_pitch=-0.2908 right_roll=-0.3808 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -0.9641, 6.9265, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -13.2308, 7.1726, 0.9939, 0.4908, -0.0366, -0.1148]",
      "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]: [-0.0189, 0.8059, 0.6067, -0.5682, -0.0189, -0.0383, 0.9992, 0.9127, 1.9713, 1.5452, -1.0424, 0.7399, 0.8837, 0.9991]\nstate[eef_state]: left_x=0.2669 left_y=0.0019 left_z=0.1417 left_yaw=0.0024 left_pitch=-0.1884 left_roll=0.0003 left_gripper=0.9992 right_x=0.3306 right_y=0.2388 right_z=0.1092 right_yaw=-0.2516 right_pitch=-0.2917 right_roll=-0.3689 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -0.9778, 6.8855, 1.663, -0.0513, -0.022, -0.0171, -0.294, -9.894, 5.6274, 0.4029, 0.3883, 0.1099, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f90c2bb0f0446c72357c50221ab3550c32ade0fce4f401251d87ea67d052a323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:422ef561d556e87bb46d3cb2f808658114a143e0311f280b2a755ced3086a9ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef97d97b62c809da299dbeb1bac9e68d394b8293aae49fcdca6f04a609757c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQgKEAgRGAI4AUIIdGhpbmtpbmcSDOcCndybnfJDOiHgdxoMWPwSAo6cxczNVvmrIjD8pZVOKNPoaV8wnJyy4RMh/J4JQ+ijJ6W1XoGnswHAA4Lutq2a4dYoO7Q+nNc/7MYqtgfCwa3PJZKGPSKvDPPCEpoMWJLSLHIfXVjB3kH5885Jmq6VZudDR3HcezVbCociHviYnvfFWT8cGEhBpu6FxxVh6Fq9Mve6ccinAic6aw0IP3x7pIARyko3ss9vnutXdpvcD3pqAXl03yDrbtkX4q/bulThVKd9l+Xf17xYfFOj2gY2WceS9CXEgiWgCaLVDWtQfvGgl2FAqj1Q3MAqeItuA0dkNzJ2mCxcaniuGFyKEDtib0UwV1dXfuf+lF+rywmg53QM5GPftNljGGJJlaHt5HiJWxcbz7erb4EK4IPAq0A7HhT8hfQSmIpl2oEn/dDc4jk4UjIWW1Fgf46N2RMctJ12KPSKq5qHNUKsnm0qaKH3ea96syfIx8GKGDyTFe8lGa+kjFOd4y26qtEh1xaFluHak2kEYKTTsuSd8Mm5x5lj/6ue9rsu2GrcXtwSSBpb4BpdzCUiAccAOPw5t+aeBFdfBxqKc0TKPQNUo6Vs84bTykhH74mvAC7V0hxxcuhhcy7IF0UiFcIa5FjiNZBMxOoADg0IRrK1DFRz8kGspRuPvCBjhokVTC+xhJli08QZX4w303RDtRUMaK/5n8mQlFHfPScIQ45krc37qxUuM8QaK1IIlL7wheVMeIbZRHvujoNV6FI2TSfiPSEJLdXLOc6H/sAuvs2O+t3qUFiz4kvEfvWjfJ6B3WwRs1wNBuTK1BJiZwm8yZ4ZQka9XMcJhlWQ2UkmeBrVrMhNyn2bsV4a4OveZtbyE68cpSbyaTsEaAiw3YqmR5SgmvdjnI2Yr8ZLGeNk4LsUFtvZyRXQ12GrwRi8P9EizXFvfrjPRozgmCGCJ/U/6EwbPNVWQMz4mQERS3Ciss7XiL+IGI9P8MizV+KPrXjhpfHNUSqEe99ttCZnavHfW9HfX7YfcJWCb+lZPSSFMdMLGDfdrdOuyFJhM/PE0JE3G3GrdfElq4VXU8hUPBdnQ7B5z6mU2Z5JiMIPMHdtBnyT3JsRjq5zFL1gBd623Oam1Rft2QE4HUJxUHu6ABTj+pdolyhuEEc8cp+s4L3Jo0GxDY4fzYWXvP3K+ugFT0yGAr0mSSbsz7JRPosC1+ZfYBvmuthAe09f+y85F+E5YZ13KyoxcEY7WwuYfGRu3FF4eCH2wTP0v+IfP2zSavFfXKqVGUe3Mwx/Lh+SNbrOKSZaluxvPZfYDoJpeXtaHIRh3vfHRMVOrZDsXPkIn830hRi9wFs2w+KqQ7Xd5XVyiY07Kg9NSUjTTeoge6PuABgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZDDMHyx6zrnSoaNQCnnKS",
      "input": {
        "note": "The arm barely moved on the last command, likely because a jaw is resting on top of the can. Raising up first while shifting right so the jaws will straddle the can.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.21,
          "right_yaw": -0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XZDDMHyx6zrnSoaNQCnnKS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5781, -0.0189, -0.0387, 0.9992, 0.9092, 1.9713, 1.544, -1.0607, 0.7399, 0.8944, 0.9991]\nstate[eef_state]: left_x=0.2652 left_y=0.0019 left_z=0.1399 left_yaw=0.0026 left_pitch=-0.1983 left_roll=0.0002 left_gripper=0.9992 right_x=0.329 right_y=0.2345 right_z=0.1085 right_yaw=-0.2662 right_pitch=-0.2972 right_roll=-0.3804 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.1282, 6.9265, 1.6093, -0.0757, -0.0708, -0.0122, 0.0752, -9.6479, 5.7915, 0.3639, 0.3834, 0.1294, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72a00734b00530e77d33df6a3084db59eba8cc8b2eca31fc0eb44fe6d50eb9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b326d960dfe717cd6c7cd63ef0d045a0b5039ab8f575d3cd287e88da70ffc2dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc95a00ff554ab277ef03e0b928cd9d91aa6311fef93361c4fc922331751c909",
        "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 · 9.727 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]: [-0.0189, 0.8059, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.9268, 1.9945, 1.5856, -1.0912, 0.7471, 0.9154, 0.9991]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1428 left_yaw=0.0025 left_pitch=-0.1823 left_roll=-0.0002 left_gripper=0.9992 right_x=0.328 right_y=0.2429 right_z=0.1113 right_yaw=-0.2648 right_pitch=-0.2908 right_roll=-0.3808 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -0.9641, 6.9265, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -13.2308, 7.1726, 0.9939, 0.4908, -0.0366, -0.1148]",
      "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]: [-0.0189, 0.8059, 0.6067, -0.5682, -0.0189, -0.0383, 0.9992, 0.9127, 1.9713, 1.5452, -1.0424, 0.7399, 0.8837, 0.9991]\nstate[eef_state]: left_x=0.2669 left_y=0.0019 left_z=0.1417 left_yaw=0.0024 left_pitch=-0.1884 left_roll=0.0003 left_gripper=0.9992 right_x=0.3306 right_y=0.2388 right_z=0.1092 right_yaw=-0.2516 right_pitch=-0.2917 right_roll=-0.3689 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -0.9778, 6.8855, 1.663, -0.0513, -0.022, -0.0171, -0.294, -9.894, 5.6274, 0.4029, 0.3883, 0.1099, -0.1148]",
      "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]: [-0.0189, 0.8059, 0.6067, -0.5781, -0.0189, -0.0387, 0.9992, 0.9092, 1.9713, 1.544, -1.0607, 0.7399, 0.8944, 0.9991]\nstate[eef_state]: left_x=0.2652 left_y=0.0019 left_z=0.1399 left_yaw=0.0026 left_pitch=-0.1983 left_roll=0.0002 left_gripper=0.9992 right_x=0.329 right_y=0.2345 right_z=0.1085 right_yaw=-0.2662 right_pitch=-0.2972 right_roll=-0.3804 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.1282, 6.9265, 1.6093, -0.0757, -0.0708, -0.0122, 0.0752, -9.6479, 5.7915, 0.3639, 0.3834, 0.1294, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72a00734b00530e77d33df6a3084db59eba8cc8b2eca31fc0eb44fe6d50eb9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b326d960dfe717cd6c7cd63ef0d045a0b5039ab8f575d3cd287e88da70ffc2dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc95a00ff554ab277ef03e0b928cd9d91aa6311fef93361c4fc922331751c909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQcKEAgRGAI4AUIIdGhpbmtpbmcSDJk9gH5/rIz7Z6VzCBoMkG4KTvy9vOwyk01QIjCcJz2Z2aP6uyzXiaAoVaWVJk88yOWU/Ym3nx5zSRmoFALkfwlsje+JfAz295nOYGkqtgYA0wjQj+JosEzoKIDutq84cW+qGueJ9BHTjjaEakir8GdK8SlBQOQXMz7KIIy8rwQAv76C8fSt5CmjGUfzwN/mdnQyXkJudl8e0zVwww8RTD4rZ83jLK1icn1gL7HSazhb6BZd5+l2zqMUgDDgEddCmMsBCm9Rx0sop9QTLrJODVYVMSpR97z4Sf6dTi0l+/pi052YFZHq4FqxeWo3i7HITiYIo3pTeU1VysKnSBg59d6u9Gofpbwye2CuP0mHMtYOYOw0KzWwdiXcwBjiU11sREEKbyb6wNE5o91k3kQ7u0amgheclQp88qr6vhFRfTL8FWBdnM03Q5Fp1kwEsR6lpnyXAoYXgkbkrzX+jSbstpBwkj00AK3tCPxkY5HvFQ+s+6GDVsJOsyw9Yh2KTDtAWQKwtpxSeCKjbkheXFcgTYq1LVtugogUQlRc12+KupmVMABgz+QTQTaLVyu2SBu34tW/aqcqH/GHOrd99p9asNnZ0YPiONkzahlqsAf+VnUSaaY71O6ODwr8pZLy48g9W05Tk3i0jMYJ8XOEsw/1QwYT9D+KK6yh2c2mvyzQVRSo+3h94rDMvKOE0/eDZH8erQDpI5smagKUbgv0BAk+pStKsWbTNQwKTiChZM/l3fS2InHHMfBNeDalaaf6icY2Ov0SiO40uD1o35W8/JCh8CkdQUgm1FLm+9KG5ZyzVgrTGMcYGxQ5+5ZCKG+zXTylEeGv/nZYHMKSh8iLPdpMUoj5H4NAtGmTI6f0Q6kumf+SKGcmWL33IqH9Rsq3dkmpLNNFp/5lZZ4qJgLCSRMlhiytZgmb9RoE38W51iazsW+05gh8cYRdVBRkSQXNuDOHBFNkr8JOHJxz2YewUdjODJmE7Dngz9kpOL5eQz7cNwh7E1p3lsE8DKl6tBQ+WBYuXSJ9avuZ/vqwEyK8NAIlJjlL/IkIDyh6BArVuB9zWJGUzgaXlKsx3peks/3nw9j6MOEU7R2koIIglRYYUD8UFiIgoJfWymJr4u2iCWnRkABfW+PloI6BdQUxD4TqyLzGod/ztGe1SrIKLpfQzOF3yQ5GIFtrn+hpDjZxFa06ck+Is9uLPIEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QALRBpVcRNhF5vUEYrGXYy",
      "input": {
        "note": "The arm is not tracking (unchanged position) with pitch/roll having drifted to about -0.3/-0.38, the same stall seen earlier. Re-commanding with pitch and roll explicitly zeroed to unstick it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.33,
          "right_y": 0.21,
          "right_yaw": -0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QALRBpVcRNhF5vUEYrGXYy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.915, 1.6733, 1.1542, -0.6998, 0.8528, 0.9546, 0.9991]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.138 left_yaw=0.0027 left_pitch=-0.2086 left_roll=0.0004 left_gripper=0.9992 right_x=0.3182 right_y=0.2013 right_z=0.1304 right_yaw=-0.2781 right_pitch=-0.0845 right_roll=-0.1258 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.1966, 6.8444, 1.6728, -0.0806, -0.0708, -0.0122, 0.1162, -9.3744, 6.5846, 1.2137, 0.6716, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e978c6a3c4f87f4b7d093491902333581e51b28dd1acb11df1f6bbddb29a6962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e8256e94269b000f4627e68a86519ce3ffeb26bf26aaa77844665d3a5170f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35c068b42845c7f45e127b26ee423ff39fb7e83b4b36b0fb70dd173185df1b48",
        "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 · 8.271 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]: [-0.0189, 0.8059, 0.6067, -0.5682, -0.0189, -0.0383, 0.9992, 0.9127, 1.9713, 1.5452, -1.0424, 0.7399, 0.8837, 0.9991]\nstate[eef_state]: left_x=0.2669 left_y=0.0019 left_z=0.1417 left_yaw=0.0024 left_pitch=-0.1884 left_roll=0.0003 left_gripper=0.9992 right_x=0.3306 right_y=0.2388 right_z=0.1092 right_yaw=-0.2516 right_pitch=-0.2917 right_roll=-0.3689 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -0.9778, 6.8855, 1.663, -0.0513, -0.022, -0.0171, -0.294, -9.894, 5.6274, 0.4029, 0.3883, 0.1099, -0.1148]",
      "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]: [-0.0189, 0.8059, 0.6067, -0.5781, -0.0189, -0.0387, 0.9992, 0.9092, 1.9713, 1.544, -1.0607, 0.7399, 0.8944, 0.9991]\nstate[eef_state]: left_x=0.2652 left_y=0.0019 left_z=0.1399 left_yaw=0.0026 left_pitch=-0.1983 left_roll=0.0002 left_gripper=0.9992 right_x=0.329 right_y=0.2345 right_z=0.1085 right_yaw=-0.2662 right_pitch=-0.2972 right_roll=-0.3804 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.1282, 6.9265, 1.6093, -0.0757, -0.0708, -0.0122, 0.0752, -9.6479, 5.7915, 0.3639, 0.3834, 0.1294, -0.1148]",
      "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]: [-0.0189, 0.8078, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.915, 1.6733, 1.1542, -0.6998, 0.8528, 0.9546, 0.9991]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.138 left_yaw=0.0027 left_pitch=-0.2086 left_roll=0.0004 left_gripper=0.9992 right_x=0.3182 right_y=0.2013 right_z=0.1304 right_yaw=-0.2781 right_pitch=-0.0845 right_roll=-0.1258 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.1966, 6.8444, 1.6728, -0.0806, -0.0708, -0.0122, 0.1162, -9.3744, 6.5846, 1.2137, 0.6716, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e978c6a3c4f87f4b7d093491902333581e51b28dd1acb11df1f6bbddb29a6962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e8256e94269b000f4627e68a86519ce3ffeb26bf26aaa77844665d3a5170f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c068b42845c7f45e127b26ee423ff39fb7e83b4b36b0fb70dd173185df1b48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugoKEAgRGAI4AUIIdGhpbmtpbmcSDLM+rKO3iPsgK/CrnRoMJZKX3Dg4BrACr5hCIjDfbhCjMpZxkDAaqaTeZOioujbJHnvq3Eje/DYy9JzYbkfuy3uBkg0UFO0rANRHFWkq1wl29XmG/ehNNIrW15UyMDJiUOz4qEItJIAm2FFOT0DHxH4TND9cYSDFIS9uLdBiJOCXuVOTEJ2gwOYAjJEJG276f7uYDGkhJITTaSBss5PNMwsvo+2A76t7qNHyyxdLz2rN4pwqaeS9yW9mMUnOiXBYyGvFMgw1A09HHZL3M66jfQhSOL+yKqge756Ru+aefMVj55+Dbt6YajpS5BtVKHkg9Nl/k5wQSrn0x5nQas8KvUX+gOXl8f/bkLQMk1EI1Dt+M+aVnWBZZLdXB6cTEPIu4t99XnqgTUKdiznnIw57JScmZ37SnwRNWxQ/snq6PFUNTQ7Uf869UwLXM7whCWnNhc5wOEjXD+X1V2eXatoWqFDkdEe4s6FguZ8+x1z8VrVm6lBm9PE0zTTzqShV3yShVEwa5q6vqDJsyNUb5YdxdxoxNVeg0JsjjYMZBaIw7Myrie/1rBFrlMZvr3vYxzhe0IgY8URt8qZuNM3UeLfC7HhHjfksZza8dCrnC1TyTjk8JF3knuCqr6C+rkDdXQaRe/XIypdnPVjVEVG/NK9HPL4Sn/waKhBNCdQi4RrZifCqi4H9k4lnOChaOTw4SfaMyeVM9CFkHmer97Awgu/KT6cqLQ53wOyqkPwPEnNYOiFmVRmjX68ttyYCbP6hYE/gRv1fyIkJ0GKUnTOW9VJE5CRwMXLYY7g8B28A5U9emEYTDv24AwWvP4A1KnlP1I295yOvZkipc3HGRqupvAQlM793IAPQY70vgWZa6X7D0SDESCS+ge4BxBvuxeJ593mboVKUntMav5lZsvJSHuG7m24TDxCduo4Gfzax2zyjeGO2pTH/b9+rTUHlzIS+TIliMlmLbVVku2UyCZN8RiJQyFcgmB514/xGgE2WMhTN7UXuhcH+tsvY7GIskTAlL16WNtxIUGt9dSl2oRoteZJlB89hJEpkreNbaUmolOcSmNBdIsLnPYSkouzQnVhbI5AHXq7j0grBwuM1tSER+K4IU+Je2PztwoIW1OYRn8l33c0bWG3+ZITSdCQEvB64G/roqHWNO3plf48XNPTfFrcZyLW3KGK6TonzxGdgC2fS4kc6ZijjeW/Q7pjJKU6+9Q51ndnH6kXnFovs+0nAqcf1mk7KjxLfW5bB25vop4lgKyevRAwphjZACJ/vHjtEnjgrdDjcpPMPPm+Qg4Sz8t5pKq/PvksQfXOjwlDNA/AeRYEVnpVoXeiLi9v2RgTrqfHwvD49JJSL3aZvpffbyAsvibSpmWO+cobekUN9KD6nMGqNoriJGtUUu2LKWIrC+5/wE2TDkfUDPfDS0P60CxsjMBJaSw+aTav0Qd+6nkw9cFToNChGaysVyDAVPqUlOmRgCd0Q8uV6kI9qGCmgpfjK0LGXJ/IPOYc7pCpF+ejeEgUPgg0tLDmr7FvVLD01vudKtn+5qWO23aWRdb2yVYbBUalpb8aHSN/ltmPygW3/dYi/VDozk1mDMcWlO2aZQAZxC436Eh1Ld3W79yW8InSWoVU4nW8vD9luavjw6ePJ3dm1C/yrGuMdlc9bOfRkWSO6IdrdwEdpAcVSS7P8iwoSkqo0WWnoezXGCYW35DPB8RYxLS0oYUX1ScHnUaXiavskls081Ao5fOv3dmjmqoBf8cooCrU+l+sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T9BBVzs67fdNS2w1NcdMK9",
      "input": {
        "note": "The can is now just right of the jaw column in the wrist view with its far end leaning left. Yawing counterclockwise to match its axis, shifting slightly right, and descending to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.325,
          "right_y": 0.19,
          "right_yaw": -0.1,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01T9BBVzs67fdNS2w1NcdMK9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 0.8482, 1.6218, 0.709, -0.0673, 0.7998, 0.7097, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1373 left_yaw=0.0027 left_pitch=-0.212 left_roll=0.0005 left_gripper=0.9992 right_x=0.3161 right_y=0.1724 right_z=0.0582 right_yaw=-0.1708 right_pitch=-0.0332 right_roll=-0.0866 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.0598, 7.0496, 1.5507, -0.022, -0.0366, -0.0122, -0.7453, -6.3111, 4.9162, 1.0574, -0.5641, 0.2271, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:934835346cb8f17c7d66af3fe08261260edf8421b850479fdd46db9cc8e403dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8af2c2878130b98aa38f9d6a548092efb1678e3006bd41cd75895a0c1ae976e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfa8d5ebb0d8e3984e14f5c70fa1e1cf3f0394ed89310c23dcc3caca73e6cd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 10.94 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]: [-0.0189, 0.8059, 0.6067, -0.5781, -0.0189, -0.0387, 0.9992, 0.9092, 1.9713, 1.544, -1.0607, 0.7399, 0.8944, 0.9991]\nstate[eef_state]: left_x=0.2652 left_y=0.0019 left_z=0.1399 left_yaw=0.0026 left_pitch=-0.1983 left_roll=0.0002 left_gripper=0.9992 right_x=0.329 right_y=0.2345 right_z=0.1085 right_yaw=-0.2662 right_pitch=-0.2972 right_roll=-0.3804 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.1282, 6.9265, 1.6093, -0.0757, -0.0708, -0.0122, 0.0752, -9.6479, 5.7915, 0.3639, 0.3834, 0.1294, -0.1148]",
      "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]: [-0.0189, 0.8078, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.915, 1.6733, 1.1542, -0.6998, 0.8528, 0.9546, 0.9991]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.138 left_yaw=0.0027 left_pitch=-0.2086 left_roll=0.0004 left_gripper=0.9992 right_x=0.3182 right_y=0.2013 right_z=0.1304 right_yaw=-0.2781 right_pitch=-0.0845 right_roll=-0.1258 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.1966, 6.8444, 1.6728, -0.0806, -0.0708, -0.0122, 0.1162, -9.3744, 6.5846, 1.2137, 0.6716, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 0.8482, 1.6218, 0.709, -0.0673, 0.7998, 0.7097, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1373 left_yaw=0.0027 left_pitch=-0.212 left_roll=0.0005 left_gripper=0.9992 right_x=0.3161 right_y=0.1724 right_z=0.0582 right_yaw=-0.1708 right_pitch=-0.0332 right_roll=-0.0866 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.0598, 7.0496, 1.5507, -0.022, -0.0366, -0.0122, -0.7453, -6.3111, 4.9162, 1.0574, -0.5641, 0.2271, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:934835346cb8f17c7d66af3fe08261260edf8421b850479fdd46db9cc8e403dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8af2c2878130b98aa38f9d6a548092efb1678e3006bd41cd75895a0c1ae976e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa8d5ebb0d8e3984e14f5c70fa1e1cf3f0394ed89310c23dcc3caca73e6cd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwoKEAgRGAI4AUIIdGhpbmtpbmcSDD/iB7pzJTncn59bwBoMAyRjIqXjLXk1uldJIjBdEXVVYDbHfYttUGHAOTyeLbeYugIFj9wdXcpwv6QNgEDyc5eN4bItJ2/ITnZ+51sqxAlZ2FZW5rLPTrSqRjL0OjRTBvGwjwN4TT9v4SU36BXgEhEu5X5lsvpfnYlz75FexH5Zzm4nTQC0XFB2/HwYnhqnchnf8FccaP7noKqBJfDXeNFvo9u6Dum3mC6AD5jDTpKU4JtVevFA4cOEUdLPvGz5Sx0jDgpNOXxAUU8kefRRvKlQ+wrYZp9jFpttVjXuVRV7OF/MfynajcT66BTU1gll3KHZNW8hQPCbgwuSxLE7bOhud4+vUtWqlgXuZzLPvbZTMq5rq1iPbqjVWX6f7R0XxCqeb8KmQw8e1i9aarf0vOAVA7nT0LaQQCZWqFJlNz0V0oE7E7Twnk8dHopv2lAKHe4VJxqfiLtwVuM+7clJPDCbUAQGKSm/8IKQ0i9RlUFWRZ44+U5LyuUxCr0oCFwtp4wFt+uS2eTEKRapmPYyYKGtTmni8lwXIiojb3HRmU29K7aiXf78L507G1r7+aH/YQADqHBmxz0+l+auvoxkZy0wRacqPt8KMI3mGLtp+KhrCukOPP2Pcon0pBj+rSWQYKwSf1qfPoz4LfCfjj4QJsWAYdwRsKFJWC0j23KBi5fpqd2tEFWOfvDimzyjXy8c4xRxSmscgDh7i3+uNM8PUxy+shbJFk/P6PIPSbkRUk0Io6WS3kfcRf4f63iP3zG38y8kWjpud8XEhv9DyzPolBuSo3zSLeMhfsKkmZXDBewQk1pgmuF+rfe908C5vHXk/uMcD7sJJf8j2NGDhDPk9FsC+XiFDidvBV6cvhJ0j42orpIxqIbMBTcrrmPo3WeHZIC3m0hLTHhvJ2JKta+5QnIzaAiyH/KUzI59Gn4JfYMte+T7NnpGSvqq3AxCmDqkTxO52zEenhXACd/ChObm+doL6BsBKOv9oJIlcfcvw/x9qn0Ad/I+9XuXdlsislmbL/g6u7GZBr8/WiGQHOXUFZjCc/nJgBRVoheCmDV9TCOZFfWfJO4B4iPHPupogpN0uqIeJ5iqe6TAJ/uuUd+FYJpZEPAnIFTd+xE+FFnJoczagc7Vu0TyUgt1qs/fMo/3DufIAtPCr2Er4uPLUX1589o3sVp1f3xRtXaCtElTkuv5mLezvVKrwCRaizYyZ9PUYt7D4w0ThX0V5GhSDHMejnEyxMGyqEnYsroqctR1bwrvv2R+o3kJEDM1YRhwCTu86e+KWYfs43WxUXM98iAn19BNXBp1Vh/0UFiwjMHLwZos/LWq5PhL8/L2Ghdc0CYlkXqvsuKJpg+x3Kci8BdNbVYawxJglDNwvCVyGgWc3oQdqGMEWjYKb+U2oBR9rTCNBGqes9YcbiWAov/Q6a16KVFcQlYqyhj+j7dUJEYDc5kgmz52CyidSU8MkxQjZh5V+7JtqqeoJ6dfjN7M+mdm2R/xl9xeHPQAq5nBqWuXajszTf5v1uXb59gR3vKsRlE4MrVcF7Q59pUjicDvn5EpRH5XJ+OFIOIY5fPOWAT8sJ3zB0ihomJgG3gQXrTzbFhXKjmCgCmMXAGruatw/lJIP7iJNRgz4rN5uzunxitB8vpHlpjroIBUcfbM09hlGXY+eES4UIVGkIqzGfHYetcx16w9+YACAOdN2Xmr0V3XEbHW+o9EsffkLfaC9Zyz5yeGWwe/kRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDZC9SRn1Y9zKWqrCJpSTd",
      "input": {
        "note": "The can now sits between the jaws in the wrist view, slightly right of the jaw column and aligned with the tool axis. Descending to can-centre height with a small rightward shift before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.32,
          "right_y": 0.165,
          "right_yaw": -0.15,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RDZC9SRn1Y9zKWqrCJpSTd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 0.8272, 1.626, 0.6128, 0.1871, 0.7303, 0.6537, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.002 left_z=0.1371 left_yaw=0.0025 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.3223 right_y=0.1817 right_z=0.0513 right_yaw=-0.1154 right_pitch=0.0064 right_roll=0.0255 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.1829, 6.8444, 1.536, -0.0611, -0.0366, -0.0122, -1.2239, -3.7675, 4.5607, 0.0952, 0.0806, -0.2906, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2101194195206b6b7ecb7f3187cf6ca5fc547ec22bbaa9c8c4beee70f5381e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056a7c27dc9b6fc579f79a1aedb52d7975127269b80cf99dfebef1e3220c91eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc3d7e478662bd317d0bf9bb674c7379a7ece4b9e5169353f101b544eb6b3b3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 14.26 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]: [-0.0189, 0.8078, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.915, 1.6733, 1.1542, -0.6998, 0.8528, 0.9546, 0.9991]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.138 left_yaw=0.0027 left_pitch=-0.2086 left_roll=0.0004 left_gripper=0.9992 right_x=0.3182 right_y=0.2013 right_z=0.1304 right_yaw=-0.2781 right_pitch=-0.0845 right_roll=-0.1258 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.1966, 6.8444, 1.6728, -0.0806, -0.0708, -0.0122, 0.1162, -9.3744, 6.5846, 1.2137, 0.6716, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8089, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 0.8482, 1.6218, 0.709, -0.0673, 0.7998, 0.7097, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1373 left_yaw=0.0027 left_pitch=-0.212 left_roll=0.0005 left_gripper=0.9992 right_x=0.3161 right_y=0.1724 right_z=0.0582 right_yaw=-0.1708 right_pitch=-0.0332 right_roll=-0.0866 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.0598, 7.0496, 1.5507, -0.022, -0.0366, -0.0122, -0.7453, -6.3111, 4.9162, 1.0574, -0.5641, 0.2271, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 0.8272, 1.626, 0.6128, 0.1871, 0.7303, 0.6537, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.002 left_z=0.1371 left_yaw=0.0025 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.3223 right_y=0.1817 right_z=0.0513 right_yaw=-0.1154 right_pitch=0.0064 right_roll=0.0255 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.1829, 6.8444, 1.536, -0.0611, -0.0366, -0.0122, -1.2239, -3.7675, 4.5607, 0.0952, 0.0806, -0.2906, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2101194195206b6b7ecb7f3187cf6ca5fc547ec22bbaa9c8c4beee70f5381e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056a7c27dc9b6fc579f79a1aedb52d7975127269b80cf99dfebef1e3220c91eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc3d7e478662bd317d0bf9bb674c7379a7ece4b9e5169353f101b544eb6b3b3f",
        "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_01QdFqZSBamM9rmoCxUw1ShK",
      "input": {
        "note": "The can is between the jaws, nearer the right jaw, in the wrist view. Lowering the last couple of centimetres and closing the gripper to grasp the can.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.32,
          "right_y": 0.17,
          "right_yaw": -0.15,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QdFqZSBamM9rmoCxUw1ShK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0193, -0.0383, 0.9992, 0.8055, 1.6535, 0.5663, 0.2367, 0.7395, 0.6544, 0.0153]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0028 left_pitch=-0.2162 left_roll=0.0011 left_gripper=0.9992 right_x=0.3196 right_y=0.1661 right_z=0.0355 right_yaw=-0.1437 right_pitch=-0.0023 right_roll=0.0024 right_gripper=0.0153\nstate[joint_eff]: [-0.0889, -1.1692, 6.9812, 1.5263, -0.0855, -0.0366, -0.0122, -0.1709, -5.9145, 4.9573, 1.3748, 0.3199, -0.0171, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e29757147118ec3771545228f75816060a6d59ca2806146d1254f74a7173c7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6ffe83c6adee7d5d7160094574d80d104c315cad2c516b0e69539a72ebc446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f761098f116a6dd3e70022a3d59faaa0e7d2a8a8d3482c991c7c00bb692d6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 12.34 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]: [-0.0189, 0.8089, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 0.8482, 1.6218, 0.709, -0.0673, 0.7998, 0.7097, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1373 left_yaw=0.0027 left_pitch=-0.212 left_roll=0.0005 left_gripper=0.9992 right_x=0.3161 right_y=0.1724 right_z=0.0582 right_yaw=-0.1708 right_pitch=-0.0332 right_roll=-0.0866 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.0598, 7.0496, 1.5507, -0.022, -0.0366, -0.0122, -0.7453, -6.3111, 4.9162, 1.0574, -0.5641, 0.2271, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8097, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 0.8272, 1.626, 0.6128, 0.1871, 0.7303, 0.6537, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.002 left_z=0.1371 left_yaw=0.0025 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.3223 right_y=0.1817 right_z=0.0513 right_yaw=-0.1154 right_pitch=0.0064 right_roll=0.0255 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.1829, 6.8444, 1.536, -0.0611, -0.0366, -0.0122, -1.2239, -3.7675, 4.5607, 0.0952, 0.0806, -0.2906, -0.1099]",
      "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]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0193, -0.0383, 0.9992, 0.8055, 1.6535, 0.5663, 0.2367, 0.7395, 0.6544, 0.0153]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0028 left_pitch=-0.2162 left_roll=0.0011 left_gripper=0.9992 right_x=0.3196 right_y=0.1661 right_z=0.0355 right_yaw=-0.1437 right_pitch=-0.0023 right_roll=0.0024 right_gripper=0.0153\nstate[joint_eff]: [-0.0889, -1.1692, 6.9812, 1.5263, -0.0855, -0.0366, -0.0122, -0.1709, -5.9145, 4.9573, 1.3748, 0.3199, -0.0171, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e29757147118ec3771545228f75816060a6d59ca2806146d1254f74a7173c7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6ffe83c6adee7d5d7160094574d80d104c315cad2c516b0e69539a72ebc446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f761098f116a6dd3e70022a3d59faaa0e7d2a8a8d3482c991c7c00bb692d6ed",
        "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_017gWVU7mytyieHvUTZqDYYi",
      "input": {
        "note": "The close came up empty (0.015); the wrist view shows the can lying to the right of and ahead of the jaws, angled forward-left. Opening, lifting, and moving forward-right while yawing counterclockwise to match the can's axis.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.14,
          "right_yaw": 0.3,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017gWVU7mytyieHvUTZqDYYi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4133, 1.3445, 0.5823, 0.1158, 0.1593, 0.1074, 0.9947]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0025 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9992 right_x=0.353 right_y=0.1281 right_z=0.0964 right_yaw=0.2165 right_pitch=-0.0505 right_roll=-0.0069 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.1282, 6.8308, 1.4969, -0.0708, -0.0171, -0.0122, -0.1846, -6.2017, 9.1145, 1.8974, 0.0171, -0.022, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f0cfc706ad464ef8462811bd934a609974580ed6c2cc7295211f143d4f08c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8fa5697289d9aa52c5aae55ac10c284e22a3deb2ce28642515e18ee4c2a05d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:caa19e4071ba2b6faab20fa61d16052037ba07ea2a58826528519500da0e6224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 10.02 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]: [-0.0189, 0.8097, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 0.8272, 1.626, 0.6128, 0.1871, 0.7303, 0.6537, 0.9991]\nstate[eef_state]: left_x=0.2634 left_y=0.002 left_z=0.1371 left_yaw=0.0025 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.3223 right_y=0.1817 right_z=0.0513 right_yaw=-0.1154 right_pitch=0.0064 right_roll=0.0255 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.1829, 6.8444, 1.536, -0.0611, -0.0366, -0.0122, -1.2239, -3.7675, 4.5607, 0.0952, 0.0806, -0.2906, -0.1099]",
      "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]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0193, -0.0383, 0.9992, 0.8055, 1.6535, 0.5663, 0.2367, 0.7395, 0.6544, 0.0153]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0028 left_pitch=-0.2162 left_roll=0.0011 left_gripper=0.9992 right_x=0.3196 right_y=0.1661 right_z=0.0355 right_yaw=-0.1437 right_pitch=-0.0023 right_roll=0.0024 right_gripper=0.0153\nstate[joint_eff]: [-0.0889, -1.1692, 6.9812, 1.5263, -0.0855, -0.0366, -0.0122, -0.1709, -5.9145, 4.9573, 1.3748, 0.3199, -0.0171, 0.735]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4133, 1.3445, 0.5823, 0.1158, 0.1593, 0.1074, 0.9947]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0025 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9992 right_x=0.353 right_y=0.1281 right_z=0.0964 right_yaw=0.2165 right_pitch=-0.0505 right_roll=-0.0069 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.1282, 6.8308, 1.4969, -0.0708, -0.0171, -0.0122, -0.1846, -6.2017, 9.1145, 1.8974, 0.0171, -0.022, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f0cfc706ad464ef8462811bd934a609974580ed6c2cc7295211f143d4f08c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8fa5697289d9aa52c5aae55ac10c284e22a3deb2ce28642515e18ee4c2a05d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa19e4071ba2b6faab20fa61d16052037ba07ea2a58826528519500da0e6224",
        "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_01M1nXHwvKxQfJ3zh7aBvgN3",
      "input": {
        "note": "The can still appears to the right of the jaws in the wrist view; its apparent tilt is likely perspective from being offset to the side rather than true yaw. Moving a few centimetres to the arm's right and returning yaw toward zero to get the can onto the jaw column.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.09,
          "right_yaw": 0.0,
          "right_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_01M1nXHwvKxQfJ3zh7aBvgN3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0387, 0.9992, 0.3882, 1.3354, 0.5503, 0.099, 0.2481, 0.1646, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0027 left_pitch=-0.217 left_roll=0.0006 left_gripper=0.9992 right_x=0.3492 right_y=0.0998 right_z=0.0852 right_yaw=0.0858 right_pitch=-0.075 right_roll=-0.0244 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.0325, 7.0496, 1.5214, -0.0904, -0.0317, -0.0171, -0.5812, -4.7795, 6.3111, 2.3077, 0.1832, 0.1832, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e214bb1ebaba49ca4a6d29675b969fb367d5f235a027f13b3c388a5a8fca9df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0e65b4a465bc90086e480ed8a78d064d20a6a4cca4192e5d69662289d53fed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20446807bae5000f0c490a30b63196f94adb8af651c0cef62d4b3ebc9f88fc69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 12.4 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]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0193, -0.0383, 0.9992, 0.8055, 1.6535, 0.5663, 0.2367, 0.7395, 0.6544, 0.0153]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0028 left_pitch=-0.2162 left_roll=0.0011 left_gripper=0.9992 right_x=0.3196 right_y=0.1661 right_z=0.0355 right_yaw=-0.1437 right_pitch=-0.0023 right_roll=0.0024 right_gripper=0.0153\nstate[joint_eff]: [-0.0889, -1.1692, 6.9812, 1.5263, -0.0855, -0.0366, -0.0122, -0.1709, -5.9145, 4.9573, 1.3748, 0.3199, -0.0171, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4133, 1.3445, 0.5823, 0.1158, 0.1593, 0.1074, 0.9947]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0025 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9992 right_x=0.353 right_y=0.1281 right_z=0.0964 right_yaw=0.2165 right_pitch=-0.0505 right_roll=-0.0069 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.1282, 6.8308, 1.4969, -0.0708, -0.0171, -0.0122, -0.1846, -6.2017, 9.1145, 1.8974, 0.0171, -0.022, -0.1783]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0387, 0.9992, 0.3882, 1.3354, 0.5503, 0.099, 0.2481, 0.1646, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0027 left_pitch=-0.217 left_roll=0.0006 left_gripper=0.9992 right_x=0.3492 right_y=0.0998 right_z=0.0852 right_yaw=0.0858 right_pitch=-0.075 right_roll=-0.0244 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.0325, 7.0496, 1.5214, -0.0904, -0.0317, -0.0171, -0.5812, -4.7795, 6.3111, 2.3077, 0.1832, 0.1832, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e214bb1ebaba49ca4a6d29675b969fb367d5f235a027f13b3c388a5a8fca9df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0e65b4a465bc90086e480ed8a78d064d20a6a4cca4192e5d69662289d53fed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20446807bae5000f0c490a30b63196f94adb8af651c0cef62d4b3ebc9f88fc69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgoKEAgRGAI4AUIIdGhpbmtpbmcSDHqwUjVKbS1BnFHwYhoMlii6OQfUdtpDk9leIjDAjc3oPahveWHCHnn09l15r8is+jPaovI2NENpG2hLQCBd4WBQn7EG2Cm7ro2aZMIq2wlNX1bGjn9DnpO8KrMqGCp/2UksluI/kdvvUKHN1JahrP9nYarhx8/AryepCgs+XCPStT1hKGuJbQmM3Ep9vcV6LqDCJfrrHCmJNP9TH14vLlEvTGAkiU7az9mCouhOf3BrSGBt0Sg+yRrDezT/7I0cuX4OOw9zt6WoT05sISUiKoBK5WEIivud6HpHfnf9L1ZMXusWXl1PxrWKcXozjuoreuZX0B+jCsNSPygJto7b1TKBqnnCwdPfD6FoFu6i1Uss8qG7wiBgzW2lg0Fvb52Mm2yiTrZ0gDLsMAJTUnTj4q4gwa7OKpfj20ycif8Ck5+sJDYGdfYLrKa0U/s9FQF65tuDQgjha9Am8NYmVDvw74oH9tnsZL7ytB89x8JFKuiKunLcPeRwXsegpRm4YURsH7lhRxtF2ZEXnmhbgyNctaopeYfwqoxVRJDZlXdlKU55AP0Pmm8mKi9i9LRjWXff8D8BODR1AI7Uj/lauZudD5nXWIk3WadY1LhxtFeXGr/YorJmWjF87tkioHL31ravnN6ot/3Ogz5PmvtH8gpXz4qh5zK7QBETVXqUB+TWoYxPp2d+nBdmH7efFHcO4a5HcGN9OtkYAyTbvxr2AiKTKIk58gYyfyPdwTxaazV3Dx5JGsCCWOiF6UtaPEn+HE8LQin9ZatOxAme8Aom8Nu6qPBqwxH7sLWJLWTk0LHm97PCruaE9NT8DdcaKulZtNp5vb+ypw7AmXOb5qP8RqenXc3zNy1RgPf6fq8y75XmPo8P6t9NfBwXxaf9Vra4lgHz6YJ8oGqjfDr8mEVFaPEc+f+NoqLSVO2l7XgtsIHfDH588OSNUV6AtR8Df6IgF+OyRLsomnrU1VpWyZZ5p0gSI/+dXjMH26mB2TnGK6ZrGNaAYwVBa5hO7NUsyRpDj5/IPVy+4WNNaEsPmoWJo2vV3aTUCqbgXYwoeDl/C9TJF5OHPdwgR0rqDZyVCmfug5uQrCkrLJ+lyUSPr9tqPROF5UtyPT/3r/7WBHym52OtyYxMDVDWHTlbqVXj9KdMxj3+dyM+lQFYIGPBPc5XGEfwSOTlqafGg+w2dh1LhxYXxiglijUW/98bImOtOgM3hG3Ve0w4EZT2UQ0U9AUXIDRR2GsbQWtSKScjFmbU1O8z/oNWF5jECYkvUZrya4+/AytEfUHM90TVXSU8xRjgguDEi6f/wlS1SnAIDiUxUAwuT+ucfnpWNPMdY1eG4oiJOBEbJWk9D4QQKuMYYwZroho0iC6nDWxvLk16ZzhmEviHbJsNk9L5CLSJeMUuIhxX22a/K92CY3YYyAcXqmx8YGOsW+6U7wtoYyXVodatxiM66PfMGeGOFT0p7LUQM01GT23c3x8lZ5iucD7sONf3dDEPy4Tr1PPkBFKtl2+k5RthfTYN4Xz2/p8pN+1LuluAUMS8RR0m5lFbf9A+yA/dcJBtjT0PcNjqkqjFlGs29ZBQymTyKqJyRKVscqGLVZVnbbhul7pC68Rc8yLBe9cygYSsDR+6NqWWNmwbvCn9lYrx/H0/FufMo97P7P+dRztrQ13fD3JPmtKRfEckN7CvGQOSsgK5aUf5rOHk7lgeDTC+cFJgb+JwG+Wu/UMhIoqAuLOyMPWx21DIBBF6SyZgiV7qxZAMaFyIHpwQEq3eGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P4ywGXni6ut6qfuoCkf5Kz",
      "input": {
        "note": "The can's near end now sits between the jaws with the body angling forward-left in the wrist view. Advancing a few centimetres, yawing counterclockwise to align with the can, and descending to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.38,
          "right_y": 0.09,
          "right_yaw": 0.4,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01P4ywGXni6ut6qfuoCkf5Kz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8127, 0.6067, -0.5999, -0.0189, -0.0387, 0.9992, 0.139, 1.5337, 0.5087, 0.3645, -0.0292, -0.0242, 0.999]\nstate[eef_state]: left_x=0.2616 left_y=0.002 left_z=0.1345 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9992 right_x=0.3787 right_y=0.0618 right_z=0.0464 right_yaw=0.1722 right_pitch=-0.0738 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -0.8547, 6.8308, 1.7607, -0.0464, -0.0513, -0.0122, 2.0444, -6.3385, 4.9162, 1.8046, -0.5348, -0.2515, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b98d665417bd0d43a33bebf71f2e0f2daef5f340e04623cefc2a22b5a80e1052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d38855bbcc243b819386ddc3309d5024326cfbc95dea5425fa4bdba5c5d27138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1371b5a6e276e3946d9bd08865bc7f574753f01fea1b1029c7e8232f192479d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 12.99 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]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4133, 1.3445, 0.5823, 0.1158, 0.1593, 0.1074, 0.9947]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0025 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9992 right_x=0.353 right_y=0.1281 right_z=0.0964 right_yaw=0.2165 right_pitch=-0.0505 right_roll=-0.0069 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.1282, 6.8308, 1.4969, -0.0708, -0.0171, -0.0122, -0.1846, -6.2017, 9.1145, 1.8974, 0.0171, -0.022, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0387, 0.9992, 0.3882, 1.3354, 0.5503, 0.099, 0.2481, 0.1646, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0027 left_pitch=-0.217 left_roll=0.0006 left_gripper=0.9992 right_x=0.3492 right_y=0.0998 right_z=0.0852 right_yaw=0.0858 right_pitch=-0.075 right_roll=-0.0244 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.0325, 7.0496, 1.5214, -0.0904, -0.0317, -0.0171, -0.5812, -4.7795, 6.3111, 2.3077, 0.1832, 0.1832, -0.1148]",
      "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]: [-0.0189, 0.8127, 0.6067, -0.5999, -0.0189, -0.0387, 0.9992, 0.139, 1.5337, 0.5087, 0.3645, -0.0292, -0.0242, 0.999]\nstate[eef_state]: left_x=0.2616 left_y=0.002 left_z=0.1345 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9992 right_x=0.3787 right_y=0.0618 right_z=0.0464 right_yaw=0.1722 right_pitch=-0.0738 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -0.8547, 6.8308, 1.7607, -0.0464, -0.0513, -0.0122, 2.0444, -6.3385, 4.9162, 1.8046, -0.5348, -0.2515, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b98d665417bd0d43a33bebf71f2e0f2daef5f340e04623cefc2a22b5a80e1052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d38855bbcc243b819386ddc3309d5024326cfbc95dea5425fa4bdba5c5d27138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1371b5a6e276e3946d9bd08865bc7f574753f01fea1b1029c7e8232f192479d0",
        "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_01GkzKdYmHGdzrcpJJUFWSGY",
      "input": {
        "note": "The arm overshot to the right and appears to have nudged the can, which in the overhead view now lies diagonally (forward-left) just left of the gripper. Lifting and moving back over the can with a larger counterclockwise yaw to match its new orientation.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.11,
          "right_yaw": 0.6,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GkzKdYmHGdzrcpJJUFWSGY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.1295, 1.4902, 0.5056, 0.3008, -0.1192, -0.0971, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1326 left_yaw=0.0028 left_pitch=-0.2372 left_roll=0.0011 left_gripper=0.9992 right_x=0.3684 right_y=0.0728 right_z=0.0493 right_yaw=0.2784 right_pitch=-0.0916 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.347, 6.8991, 1.6288, -0.0464, -0.0415, -0.0122, -0.294, -6.188, 7.4872, 1.7802, 0.0171, 0.1099, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d473f1abdff44c2cae8a57ef6b1b201d7911e480ccad0147da94096978f60e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79c85b0bc2d368ff5782f5682e1662bde8ec88972c0ed4f598cbcbe96dd758ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff09fec84aef7080a6421ea9cff9804da2c8db8b370b692456bb2ae2fcd29621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 8.125 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]: [-0.0189, 0.8097, 0.6067, -0.593, -0.0189, -0.0387, 0.9992, 0.3882, 1.3354, 0.5503, 0.099, 0.2481, 0.1646, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1364 left_yaw=0.0027 left_pitch=-0.217 left_roll=0.0006 left_gripper=0.9992 right_x=0.3492 right_y=0.0998 right_z=0.0852 right_yaw=0.0858 right_pitch=-0.075 right_roll=-0.0244 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.0325, 7.0496, 1.5214, -0.0904, -0.0317, -0.0171, -0.5812, -4.7795, 6.3111, 2.3077, 0.1832, 0.1832, -0.1148]",
      "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]: [-0.0189, 0.8127, 0.6067, -0.5999, -0.0189, -0.0387, 0.9992, 0.139, 1.5337, 0.5087, 0.3645, -0.0292, -0.0242, 0.999]\nstate[eef_state]: left_x=0.2616 left_y=0.002 left_z=0.1345 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9992 right_x=0.3787 right_y=0.0618 right_z=0.0464 right_yaw=0.1722 right_pitch=-0.0738 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -0.8547, 6.8308, 1.7607, -0.0464, -0.0513, -0.0122, 2.0444, -6.3385, 4.9162, 1.8046, -0.5348, -0.2515, -0.1197]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.1295, 1.4902, 0.5056, 0.3008, -0.1192, -0.0971, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1326 left_yaw=0.0028 left_pitch=-0.2372 left_roll=0.0011 left_gripper=0.9992 right_x=0.3684 right_y=0.0728 right_z=0.0493 right_yaw=0.2784 right_pitch=-0.0916 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.347, 6.8991, 1.6288, -0.0464, -0.0415, -0.0122, -0.294, -6.188, 7.4872, 1.7802, 0.0171, 0.1099, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d473f1abdff44c2cae8a57ef6b1b201d7911e480ccad0147da94096978f60e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79c85b0bc2d368ff5782f5682e1662bde8ec88972c0ed4f598cbcbe96dd758ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff09fec84aef7080a6421ea9cff9804da2c8db8b370b692456bb2ae2fcd29621",
        "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_015wqmNMGKoHiJpLJHPyaTzG",
      "input": {
        "note": "The can has been tipped upright and now stands just to the arm's left of the jaws (visible on the left in the wrist view and upright in the overhead view). Moving the open gripper left to straddle the standing can at mid-height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.125,
          "right_yaw": 0.28,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015wqmNMGKoHiJpLJHPyaTzG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.1295, 1.4902, 0.5056, 0.2855, -0.1162, -0.0959, 0.9991]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1318 left_yaw=0.0026 left_pitch=-0.2414 left_roll=0.0014 left_gripper=0.9992 right_x=0.3661 right_y=0.0719 right_z=0.0464 right_yaw=0.2754 right_pitch=-0.107 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5507, -0.0806, -0.0415, -0.0122, -0.212, -6.1197, 7.3094, 1.7802, -0.0122, 0.1001, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fd5c179f3c9bf42a0ea424b1ec3cee2aef27bbbf805b3126f1aa539b6755f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8486d9936df35e5b64051d9079861e3e45279e90d7735f52a0ffad959d42b91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95bf05da0f24b0a34db6b2807fb6da66cfd278673059781bdfcc518f7cafe1f4",
        "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 · 26.72 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]: [-0.0189, 0.8127, 0.6067, -0.5999, -0.0189, -0.0387, 0.9992, 0.139, 1.5337, 0.5087, 0.3645, -0.0292, -0.0242, 0.999]\nstate[eef_state]: left_x=0.2616 left_y=0.002 left_z=0.1345 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9992 right_x=0.3787 right_y=0.0618 right_z=0.0464 right_yaw=0.1722 right_pitch=-0.0738 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -0.8547, 6.8308, 1.7607, -0.0464, -0.0513, -0.0122, 2.0444, -6.3385, 4.9162, 1.8046, -0.5348, -0.2515, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.1295, 1.4902, 0.5056, 0.3008, -0.1192, -0.0971, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1326 left_yaw=0.0028 left_pitch=-0.2372 left_roll=0.0011 left_gripper=0.9992 right_x=0.3684 right_y=0.0728 right_z=0.0493 right_yaw=0.2784 right_pitch=-0.0916 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.347, 6.8991, 1.6288, -0.0464, -0.0415, -0.0122, -0.294, -6.188, 7.4872, 1.7802, 0.0171, 0.1099, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.1295, 1.4902, 0.5056, 0.2855, -0.1162, -0.0959, 0.9991]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1318 left_yaw=0.0026 left_pitch=-0.2414 left_roll=0.0014 left_gripper=0.9992 right_x=0.3661 right_y=0.0719 right_z=0.0464 right_yaw=0.2754 right_pitch=-0.107 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5507, -0.0806, -0.0415, -0.0122, -0.212, -6.1197, 7.3094, 1.7802, -0.0122, 0.1001, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fd5c179f3c9bf42a0ea424b1ec3cee2aef27bbbf805b3126f1aa539b6755f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8486d9936df35e5b64051d9079861e3e45279e90d7735f52a0ffad959d42b91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95bf05da0f24b0a34db6b2807fb6da66cfd278673059781bdfcc518f7cafe1f4",
        "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+wgKEAgRGAI4AUIIdGhpbmtpbmcSDEC/VptNSLskTEf+yhoMHzmsWqH2O1nRw+nkIjC3nkuKsPpXmGiyqHhyD20TSZJDo/1Uw0Qky2fX6AZgh4OWE4bfZ0uIAnQUv37jJawqmAjNLc/9Iru7MOu6X0e9xI+pJ9S22/M33Dj09e6QjYIU71KcIH9aytfq8upeCRmxmQxNHC/WiTmLE1M3b/ZNDyEebu9Yo6FZ2TRKb8l8qF2t5Pvl56qnjmunqgucEPjpEOd7R6ssZv/GBtokgo3vdUo+yVt6M03p0uyrv8LALFEyf5vrDLlucMf1pnMeNvmTMb0IiCshDXD3RlAEfodKkgILFJZHsYym+2bpQCjfxD04Im36GksZqsTsUacsjDq5w1UfDTo8AxOllYyRwKa40zNa0ZOdxOkYVS1tjOnf0creFPFT3vuaN/EUdI75ErWQHGggJSubx4jnYUaCPF/MB5g/o2BXreuIfa+a9ivYQW4trD4RlvGvF2WTK6O4sz/KzohrfL/YSBw/slbIwobBm+ACMregKhGOGpe1nnaTcMLgohW0swzRukoZdWociKs9yDX3kdnI4pMXCmACy9a44eJAe2n57X4Ef/8k0F2AyCr4WUQbac++CeoUiTffbDUt52e7FESmA6O2i+7fVDJ15v8H1xGulWROGqkGOLyUYo4cZufd4Rv7CrJpcMYj/+NQ2xLLagAKj9Hi1+NClgCk1VQxaqH9INJIwJ3xb25Wejw8EpK5HHThc4tUEusjZOmdxAU+toAdlpENb1iVKQhQ4STioWc4uAesqBfXMHlQhICmN4TWNUZpj7SB2vvvKUIMwB7L44NvW51PklGpIzhdErba6DhKFga6KZokVw6VPE9Wm2XrqmF5bkUmccTWiEQ4WUjS9uUIepCnka3JP9Ac4w/x8hT57Wi0d9RdBIUiIm779++X+3raQ9xIWcznjlNc83LCNCKYbJM1G90EUnhitkWCCiXQNIgXSSHKRZQTOAyMjsr8TVGSoSVy3abB0jh6+6As8uz7nGBizdTPHJOJZH9fkafh41Gx1jIxNfZhBeLVb6KkVT6jYNEzIsdasRjwUfx3yo6P0VsVpJ0eYv9ceyUVU4d8USA39mgtGVFmsXCK15F7QTmQVZX3e8mXu79aTrl8yZwGemebcqIXub3xJn7h8rxef9SHKqTFFM1ZWo4cUPe41Z2xLi0YNfjav792vzAgdaRrjRr8zPR61g2WssoGZ2pQzCptCZB54T8W+KU4l2TsYBNyNXtwVw/J6w1CrwRO6Rn9MiPZii6teCw3/FcKbn5Jm1vIvHE4MgDOgItNZ6r4s2qVNObePRPuvUA8y40uv9Ta16kB7FQnXzQBeve0+lrwbuV1ttERvzG82v6Hty6KLVUeJXU7JiptfL0S/QSN9STNbPortMRpUmMTyb8Uk62yeFhTnhUrIHHqQakkARiRzprM41DdJahAeKU+DeBjt3zgAAFQJ6ngqwKDR/HRCJ3oMiUzL30Hy+DzFSqovGF6Sw6GXckFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MGhUKCzoCfsMbL2YUHzjmG",
      "input": {
        "note": "The arm is stalled again, apparently with the left jaw pressed against the standing can. Backing off to the right and up to free it before approaching the can from a clear position.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.04,
          "right_yaw": 0.28,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MGhUKCzoCfsMbL2YUHzjmG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, -0.0124, 1.243, 0.5396, 0.0952, -0.2096, -0.1566, 0.999]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1308 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.3606 right_y=0.0359 right_z=0.1106 right_yaw=0.2436 right_pitch=-0.0067 right_roll=-0.0078 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 6.9812, 1.5116, -0.0708, -0.0513, -0.0122, -0.2803, -3.9726, 8.3487, 1.7607, -0.2222, -0.0024, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c965f358eadfa8eb97672bf866e06132a00fa3f031d326239663b03048e936a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa2f2637ed8ab9eef09e5638c94586cdadcc2068031f35c4305c23c8cd71037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40d99355505543bea59139bff3e1e2c7c28a08bdd27a03f17651151df9832204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 18.68 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.1295, 1.4902, 0.5056, 0.3008, -0.1192, -0.0971, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1326 left_yaw=0.0028 left_pitch=-0.2372 left_roll=0.0011 left_gripper=0.9992 right_x=0.3684 right_y=0.0728 right_z=0.0493 right_yaw=0.2784 right_pitch=-0.0916 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.347, 6.8991, 1.6288, -0.0464, -0.0415, -0.0122, -0.294, -6.188, 7.4872, 1.7802, 0.0171, 0.1099, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.1295, 1.4902, 0.5056, 0.2855, -0.1162, -0.0959, 0.9991]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1318 left_yaw=0.0026 left_pitch=-0.2414 left_roll=0.0014 left_gripper=0.9992 right_x=0.3661 right_y=0.0719 right_z=0.0464 right_yaw=0.2754 right_pitch=-0.107 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5507, -0.0806, -0.0415, -0.0122, -0.212, -6.1197, 7.3094, 1.7802, -0.0122, 0.1001, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, -0.0124, 1.243, 0.5396, 0.0952, -0.2096, -0.1566, 0.999]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1308 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.3606 right_y=0.0359 right_z=0.1106 right_yaw=0.2436 right_pitch=-0.0067 right_roll=-0.0078 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 6.9812, 1.5116, -0.0708, -0.0513, -0.0122, -0.2803, -3.9726, 8.3487, 1.7607, -0.2222, -0.0024, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c965f358eadfa8eb97672bf866e06132a00fa3f031d326239663b03048e936a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa2f2637ed8ab9eef09e5638c94586cdadcc2068031f35c4305c23c8cd71037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d99355505543bea59139bff3e1e2c7c28a08bdd27a03f17651151df9832204",
        "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_01Kgkby31jdFMrKxHtGMgBTq",
      "input": {
        "note": "The arm is free again and the upright can is visible at the left edge of the wrist view, roughly 7 cm to the arm's left. Positioning the open gripper behind the can (toward the base) so it can be approached radially with the jaws straddling it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.105,
          "right_yaw": 0.0,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Kgkby31jdFMrKxHtGMgBTq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6304, -0.0193, -0.0383, 0.9992, 0.5457, 1.1343, 0.3985, 0.0483, 0.3225, 0.2218, 0.999]\nstate[eef_state]: left_x=0.2562 left_y=0.0022 left_z=0.1278 left_yaw=0.0031 left_pitch=-0.2639 left_roll=0.0022 left_gripper=0.9992 right_x=0.2956 right_y=0.1182 right_z=0.0806 right_yaw=0.151 right_pitch=-0.0597 right_roll=-0.0238 right_gripper=0.999\nstate[joint_eff]: [0.0889, -0.9641, 6.8171, 1.6386, -0.0708, -0.022, -0.0122, -0.4034, -2.9744, 6.3111, 1.8779, 0.1832, 0.1685, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2adac022ec93eb94eb494fec2a44a05595d9230d46830a72df8ccdbbf795591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90a2d05c64994d0d4b1cd8340b38a64a6f8a9e8e94a7805514013d623646a89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5c4d54b9055be8841095d733889455051bb969738e12ad5025e2c9927874a59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 5.764 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.1295, 1.4902, 0.5056, 0.2855, -0.1162, -0.0959, 0.9991]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1318 left_yaw=0.0026 left_pitch=-0.2414 left_roll=0.0014 left_gripper=0.9992 right_x=0.3661 right_y=0.0719 right_z=0.0464 right_yaw=0.2754 right_pitch=-0.107 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5507, -0.0806, -0.0415, -0.0122, -0.212, -6.1197, 7.3094, 1.7802, -0.0122, 0.1001, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, -0.0124, 1.243, 0.5396, 0.0952, -0.2096, -0.1566, 0.999]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1308 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.3606 right_y=0.0359 right_z=0.1106 right_yaw=0.2436 right_pitch=-0.0067 right_roll=-0.0078 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 6.9812, 1.5116, -0.0708, -0.0513, -0.0122, -0.2803, -3.9726, 8.3487, 1.7607, -0.2222, -0.0024, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6304, -0.0193, -0.0383, 0.9992, 0.5457, 1.1343, 0.3985, 0.0483, 0.3225, 0.2218, 0.999]\nstate[eef_state]: left_x=0.2562 left_y=0.0022 left_z=0.1278 left_yaw=0.0031 left_pitch=-0.2639 left_roll=0.0022 left_gripper=0.9992 right_x=0.2956 right_y=0.1182 right_z=0.0806 right_yaw=0.151 right_pitch=-0.0597 right_roll=-0.0238 right_gripper=0.999\nstate[joint_eff]: [0.0889, -0.9641, 6.8171, 1.6386, -0.0708, -0.022, -0.0122, -0.4034, -2.9744, 6.3111, 1.8779, 0.1832, 0.1685, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2adac022ec93eb94eb494fec2a44a05595d9230d46830a72df8ccdbbf795591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90a2d05c64994d0d4b1cd8340b38a64a6f8a9e8e94a7805514013d623646a89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c4d54b9055be8841095d733889455051bb969738e12ad5025e2c9927874a59",
        "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_01EydW4ozMTqyYh7vzqFLA7L",
      "input": {
        "note": "The upright can appears in the wrist view with its base at the bottom-left, about 4 cm left of the jaw column and near fingertip distance. Sliding the open gripper left so the jaws straddle the can at mid-height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.305,
          "right_y": 0.16,
          "right_yaw": 0.15,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EydW4ozMTqyYh7vzqFLA7L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6365, -0.0189, -0.0387, 0.9992, 0.6846, 1.2919, 0.4068, 0.1101, 0.4232, 0.3012, 0.999]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1265 left_yaw=0.003 left_pitch=-0.2715 left_roll=0.0018 left_gripper=0.9992 right_x=0.287 right_y=0.1452 right_z=0.0526 right_yaw=0.1625 right_pitch=-0.1066 right_roll=-0.0607 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.306, 7.0906, 1.5165, -0.0611, -0.0366, -0.0171, 0.1846, -4.3282, 8.8821, 2.0684, 0.3346, 0.1392, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edf3d24d5a402335771ea1fbed23687f2fb49cae55d99d4288ef6aaff3b43e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddcfaa8ccae96bd283d99af0418c51726589e2f07fd2e02261b33c78d7521040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d6fbafb45797fd37b8e208e7cfb288edbfefc1789ef17d145e984884132760d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 17.05 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, -0.0124, 1.243, 0.5396, 0.0952, -0.2096, -0.1566, 0.999]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1308 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.3606 right_y=0.0359 right_z=0.1106 right_yaw=0.2436 right_pitch=-0.0067 right_roll=-0.0078 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 6.9812, 1.5116, -0.0708, -0.0513, -0.0122, -0.2803, -3.9726, 8.3487, 1.7607, -0.2222, -0.0024, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0189, 0.8192, 0.6067, -0.6304, -0.0193, -0.0383, 0.9992, 0.5457, 1.1343, 0.3985, 0.0483, 0.3225, 0.2218, 0.999]\nstate[eef_state]: left_x=0.2562 left_y=0.0022 left_z=0.1278 left_yaw=0.0031 left_pitch=-0.2639 left_roll=0.0022 left_gripper=0.9992 right_x=0.2956 right_y=0.1182 right_z=0.0806 right_yaw=0.151 right_pitch=-0.0597 right_roll=-0.0238 right_gripper=0.999\nstate[joint_eff]: [0.0889, -0.9641, 6.8171, 1.6386, -0.0708, -0.022, -0.0122, -0.4034, -2.9744, 6.3111, 1.8779, 0.1832, 0.1685, -0.1148]",
      "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]: [-0.0189, 0.8207, 0.6067, -0.6365, -0.0189, -0.0387, 0.9992, 0.6846, 1.2919, 0.4068, 0.1101, 0.4232, 0.3012, 0.999]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1265 left_yaw=0.003 left_pitch=-0.2715 left_roll=0.0018 left_gripper=0.9992 right_x=0.287 right_y=0.1452 right_z=0.0526 right_yaw=0.1625 right_pitch=-0.1066 right_roll=-0.0607 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.306, 7.0906, 1.5165, -0.0611, -0.0366, -0.0171, 0.1846, -4.3282, 8.8821, 2.0684, 0.3346, 0.1392, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edf3d24d5a402335771ea1fbed23687f2fb49cae55d99d4288ef6aaff3b43e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddcfaa8ccae96bd283d99af0418c51726589e2f07fd2e02261b33c78d7521040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d6fbafb45797fd37b8e208e7cfb288edbfefc1789ef17d145e984884132760d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/AYKEAgRGAI4AUIIdGhpbmtpbmcSDElAUpPE5s8TgAdkyhoMtuyf+cadik3tOpBNIjBoWWHsstC0iu1RSpPWHF7XjPuWPy6VvmRm22UPjw4uxm857CvdEPBHHmmrOt+F9SEqmQYv+oj7TDpHkRJSnsorXxERJpuF7USfhpobXZ/0GnXjj3zfTFoak+ExbeTEXY4iu81Qdq8pnF3/wYy0uuRg3Mv5kDvS81rNgklGuk7pLEI5aroXu4Z5euXdVZDkrZCIdKzp5p9PT/e84yZIevoB1jZZ1ILZ9q2owb1DOQJRupDryA9w6eHwcihMZY/btfCCIOrDqNOyKez+k3rXo7ACHa44VJVBlMyr2zchNZOmO5X6pZRMmejI7J8h2fB6kLdIYo5P0idWUsMS4ax7jd4S9xWg9ZL2doosvLBw0qLQNAsdqbXnOST+KsUzFYEHF2uBYzFvJEQfi6kzfQ3kK2/MuuVMIXzDJqwXuoEZD5EN36HEV51N2yrUHeqqSYVfCrxROE1oLhMKXTMyrcRtlartm7PLYAJnJv9dMCntsQUSnd1eZFUhYhSbSD3P3ndt+qkiPps7ZSsRfFmWBygbgDVwgrxubE2hKyZ7nsT/gz02LWkxzZ/n2WSYF31tBoYVQOXKLfOS92P3e4cQ2qanDPhndqAnOdAiic+Z8pSjN/MW30SvgZZj1+kUO6tYm4mld0Jz7j559F9hUK97xoTo19pzCkl7arpofyasOOER/eJUaM+iKZKW2hCr52aRzIr+BMLuP4x7TYWkWPIPHXfX8RVgxJBGP2I9TxEvS7TgeQTTfjtGlI9nym5bK3ZRqAtzRqNqXLWI6lkfrWDCWPkRbVjTcx8Y/h/VKqmVulnbcSuQ3FWNLv5fzoHeDXxpPid1XRGm2xAcL+d4880Y2ewT+jRaEhS0w6yLLeEgo5cXqGPDA5VfVxR3E7atT+YAn2os6bUkHpYLY8KF/YVcfsX8YQfvI+QEGzQQ2hC7abXF+Ji6EGVdPawMlkpe9eVFmxeAY47ks20utVoqK5GGZoyTHb4BboXykKaeKXmq7wxctSwuJRF5r/Qj+iJyPwlunvzlzSfGwL6KECGZWieLETPhHQHZbq6mLUzxozTf/+ZNrckNSAAls2XmoyGXr+7cHLnfPNYxe7CHs5tdOP1AvSHhQv22Y2WtaKGqBLu9MmWKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0198CDNY113i4AszFsDQjjGa",
      "input": {
        "note": "The standing can now fills the wrist view centred on the jaw column, between the two jaws. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0198CDNY113i4AszFsDQjjGa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 0.6945, 1.3018, 0.4141, 0.1753, 0.4332, 0.3099, 0.0158]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.2723 left_roll=0.0018 left_gripper=0.9992 right_x=0.2953 right_y=0.1541 right_z=0.0639 right_yaw=0.1622 right_pitch=-0.0489 right_roll=-0.028 right_gripper=0.0158\nstate[joint_eff]: [-0.0479, -1.1829, 6.7897, 1.4335, -0.0562, -0.0513, -0.0122, -0.0342, -4.1368, 8.2256, 1.8242, 0.2173, 0.0611, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04514747d9b487ecba46604e42d69d1f235f3e2344a19f530f8cd70ddcf19de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:975f2750db14b7674433a5dc8205466353c3ead5714c2f792e8ce02109ab43b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f18d1d730741e679f7947990e5118cfac12b5cfa6aacb1d19dd333aa4c23d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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