adhoc

completed
2026-09-18T05:31:11.171283+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
363.5 s
total steps
266
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
Checking the scene: the spray can lies on its side to the right of the burner, aligned roughly along the right arm's forward axis, so the right arm's jaws (closing left–right) will grasp across its diameter at yaw 0. I'll fly the right arm above the can first.
agent noteThe can lies on its side ahead of the right arm, slightly left of the gripper in the wrist view. Moving the right arm to hover ~15 cm above the estimated can centre with the gripper open.
move_to
right_x0.4200right_y0.0500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3904, -0.0189, -0.0345, 0.9993, -0.0212, 0.7933, 0.6079, -0.3958, -0.0177, -0.0124, 0.9993] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1787 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.4171, -1.2786, 10.1812, 2.0342, -0.0464, 0.1636, -0.0904, -0.2667, -1.3744, 9.6889, 1.9072, -0.0464, -0.0366, -0.0806] 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
Checking the scene: the spray can lies on its side to the right of the burner, aligned roughly along the right arm's forward axis, so the right arm's jaws (closing left–right) will grasp across its diameter at yaw 0. I'll fly the right arm above the can first.
move_to({"targets": {"right_x": 0.42, "right_y": 0.05, "right_z": 0.15, "right_gripper": 1.0}, "note": "The can lies on its side ahead of the right arm, slightly left of the gripper in the wrist view. Moving the right arm to hover ~15 cm above the estimated can centre with the gripper open."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe can sits on the jaw column in the wrist view with its body extending under the fingertips and the cap further forward. Advancing ~3 cm to centre on the can body and descending to grasp height (can radius ~3 cm).
move_to
right_x0.4400right_y0.0500right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.165, 1.4059, 0.7921, -0.0673, 0.12, 0.0681, 0.9993] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3997 right_y=0.0488 right_z=0.126 right_yaw=0.0264 right_pitch=-0.094 right_roll=-0.0219 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8584, -0.0513, -0.0073, -0.022, 0.3761, -5.8325, 9.0051, 2.0244, 0.1636, 0.1245, -0.0806] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.05, "right_z": 0.03, "right_gripper": 1.0}, "note": "The can sits on the jaw column in the wrist view with its body extending under the fingertips and the cap further forward. Advancing ~3 cm to centre on the can body and descending to grasp height (can radius ~3 cm)."})
tool
executing move_to over 7 steps (0.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
The can fills the wrist view between the jaws. Closing the gripper.
agent noteThe can body fills the wrist view between the jaws at grasp height. Closing the gripper across the can's diameter.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4141, -0.0189, -0.0383, 0.9992, 0.1528, 1.7721, 0.7288, 0.2764, 0.107, 0.0532, 0.9993] state[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1731 left_yaw=0.0025 left_pitch=-0.0275 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4223 right_y=0.0496 right_z=0.0188 right_yaw=0.0318 right_pitch=-0.1805 right_roll=-0.0358 right_gripper=0.9993 state[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122, -0.759, -7.2, 5.9692, 1.8828, -0.0024, 0.0122, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
The can fills the wrist view between the jaws. Closing the gripper.
move_to({"targets": {"right_gripper": 0.0}, "note": "The can body fills the wrist view between the jaws at grasp height. Closing the gripper across the can's diameter."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
Gripper settled at 0.68 (~6.5 cm) — the can is grasped. Lifting to verify and carry.
agent noteGripper reads 0.68 (~6.5 cm), consistent with the can's diameter. Lifting the can to carry height to confirm it moves with the jaws.
move_to
right_z0.1700
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, 0.1509, 1.7912, 0.7277, 0.2863, 0.1085, 0.0521, 0.6825] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4219 right_y=0.0484 right_z=0.0124 right_yaw=0.029 right_pitch=-0.1906 right_roll=-0.039 right_gripper=0.6825 state[joint_eff]: [-0.1846, -1.0872, 7.0496, 1.8046, -0.0171, -0.0806, -0.0122, -0.0205, -9.4017, 5.4906, 1.4335, -0.0464, -0.0659, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
Gripper settled at 0.68 (~6.5 cm) — the can is grasped. Lifting to verify and carry.
move_to({"targets": {"right_z": 0.17}, "note": "Gripper reads 0.68 (~6.5 cm), consistent with the can's diameter. Lifting the can to carry height to confirm it moves with the jaws."})
tool
executing move_to over 11 steps (1.1s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe can is lifted in the right gripper (visible raised in the overhead view). Carrying it sideways to hover above the burner near the table centre line.
move_to
right_x0.4000right_y0.3200right_z0.1800
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, -0.0391, 0.9992, 0.1509, 1.5276, 1.0698, -0.3931, 0.1085, 0.0483, 0.6895] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.0492 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4145 right_y=0.0473 right_z=0.1367 right_yaw=0.0291 right_pitch=-0.2638 right_roll=-0.0508 right_gripper=0.6895 state[joint_eff]: [-0.0205, -1.0872, 6.9949, 1.7705, -0.0171, -0.0806, -0.0122, -0.3624, -9.6342, 9.6479, 1.9072, 0.0513, -0.022, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.32, "right_z": 0.18}, "note": "The can is lifted in the right gripper (visible raised in the overhead view). Carrying it sideways to hover above the burner near the table centre line."})
tool
executing move_to over 23 steps (2.3s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe right arm is over the burner; the wrist camera shows the coil just below the held can. Lowering the can onto the burner surface, letting contact stop the descent.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.8345, 2.035, 1.8622, -0.9123, 0.4843, 0.5934, 0.6895] state[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.165 left_yaw=0.0027 left_pitch=-0.0675 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3911 right_y=0.3143 right_z=0.1649 right_yaw=0.0637 right_pitch=-0.3204 right_roll=-0.0843 right_gripper=0.6895 state[joint_eff]: [-0.2393, -1.2239, 6.9675, 1.8681, -0.0464, -0.022, -0.0122, 0.212, -10.8513, 8.9504, 1.1502, 0.5788, 0.1685, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "The right arm is over the burner; the wrist camera shows the coil just below the held can. Lowering the can onto the burner surface, letting contact stop the descent."})
tool
executing move_to over 7 steps (0.7s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe descent stopped at z≈0.09, about 2 cm short of the target, consistent with the can resting on the burner top. 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, 0.7986, 0.6067, -0.4587, -0.0189, -0.0387, 0.9992, 0.8375, 2.0407, 1.57, -0.6056, 0.511, 0.5938, 0.6895] state[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.164 left_yaw=0.0027 left_pitch=-0.0725 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3905 right_y=0.3097 right_z=0.0926 right_yaw=0.0506 right_pitch=-0.2976 right_roll=-0.0951 right_gripper=0.6895 state[joint_eff]: [-0.3214, -1.1829, 6.9675, 1.6923, -0.0513, -0.0708, -0.0122, -0.4444, -8.294, 5.6274, 0.823, -0.1978, -0.0366, 1.033] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped at z\u22480.09, about 2 cm short of the target, consistent with the can resting on the burner top. Opening the gripper to release the can."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
Gripper opened; now lifting the arm clear and returning it toward home to verify placement in the overhead view.
agent noteGripper is open and the can appears resting on the burner. Lifting the right arm and moving it back toward home so the overhead camera can confirm the placement.
move_to
right_z0.2000right_x0.3000right_y0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4709, -0.0189, -0.0387, 0.9992, 0.8368, 2.046, 1.5547, -0.6098, 0.5041, 0.5869, 0.9954] state[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1617 left_yaw=0.0028 left_pitch=-0.0847 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3868 right_y=0.3067 right_z=0.0838 right_yaw=0.0527 right_pitch=-0.3199 right_roll=-0.1136 right_gripper=0.9954 state[joint_eff]: [-0.2667, -1.2103, 7.0222, 1.8291, -0.0317, -0.0122, -0.0122, -0.2803, -11.6034, 7.6376, 1.2869, 0.232, 0.022, 0.0269] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
Gripper opened; now lifting the arm clear and returning it toward home to verify placement in the overhead view.
move_to({"targets": {"right_z": 0.2, "right_x": 0.3, "right_y": 0.0}, "note": "Gripper is open and the can appears resting on the burner. Lifting the right arm and moving it back toward home so the overhead camera can confirm the placement."})
tool
executing move_to over 26 steps (2.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
The can rests on the burner plate but near its right edge rather than over the coil. I'll re-grasp and shift it toward the coil centre.
agent noteOverhead view shows the can lying on the burner's right edge, off the coil. Returning above the can to re-grasp it and centre it on the burner.
move_to
right_x0.3900right_y0.3100right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.0311, 1.1091, 1.0088, -0.8413, 0.0784, -0.0765, 0.9965] state[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.0946 left_roll=-0.0015 left_gripper=0.9992 right_x=0.2972 right_y=-0.001 right_z=0.1846 right_yaw=0.0054 right_pitch=-0.3618 right_roll=-0.1154 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.0735, 6.9675, 1.7167, -0.0317, -0.0757, -0.0122, -0.1573, -4.0684, 8.9231, 1.6581, -0.1001, -0.0415, 0.0952] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
The can rests on the burner plate but near its right edge rather than over the coil. I'll re-grasp and shift it toward the coil centre.
move_to({"targets": {"right_x": 0.39, "right_y": 0.31, "right_z": 0.18, "right_gripper": 1.0}, "note": "Overhead view shows the can lying on the burner's right edge, off the coil. Returning above the can to re-grasp it and centre it on the burner."})
tool
executing move_to over 26 steps (2.6s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe wrist view shows the coil roughly under the jaw column and the can off to the right, so the can sits ~5 cm to the arm's right and the burner coil is nearer the base than I assumed. Shifting right and lowering to line up over the can.
move_to
right_x0.3900right_y0.2600right_z0.1200
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4999, -0.0189, -0.0387, 0.9992, 0.8314, 2.0777, 1.9972, -1.1057, 0.4683, 0.6083, 0.9987] state[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.155 left_yaw=0.0028 left_pitch=-0.1178 left_roll=-0.001 left_gripper=0.9992 right_x=0.3814 right_y=0.3053 right_z=0.172 right_yaw=0.0357 right_pitch=-0.4015 right_roll=-0.1401 right_gripper=0.9987 state[joint_eff]: [-0.1983, -1.4838, 7.159, 1.7949, -0.0513, -0.0659, -0.0122, 0.0479, -10.6051, 8.1573, 0.9109, 0.4957, 0.2808, -0.1441] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.26, "right_z": 0.12}, "note": "The wrist view shows the coil roughly under the jaw column and the can off to the right, so the can sits ~5 cm to the arm's right and the burner coil is nearer the base than I assumed. Shifting right and lowering to line up over the can."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe tool has drifted to pitch -0.5 / roll -0.23, which distorts the wrist view; the can still appears to the right of the jaws. Straightening the tool and shifting further right and slightly forward to get over the can.
move_to
right_x0.4100right_y0.2200right_z0.1100right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7444, 1.9972, 1.6184, -0.9077, 0.4362, 0.5453, 0.9987] state[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.152 left_yaw=0.0029 left_pitch=-0.1331 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3743 right_y=0.2482 right_z=0.0967 right_yaw=-0.0269 right_pitch=-0.5003 right_roll=-0.2311 right_gripper=0.9987 state[joint_eff]: [-0.335, -1.306, 6.9265, 1.7314, -0.0415, -0.0464, -0.0122, 0.4855, -14.4752, 8.1162, 1.37, 0.2662, -0.1294, -0.022] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.22, "right_z": 0.11, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The tool has drifted to pitch -0.5 / roll -0.23, which distorts the wrist view; the can still appears to the right of the jaws. Straightening the tool and shifting further right and slightly forward to get over the can."})
tool
executing move_to over 17 steps (1.7s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe can now lies diagonally on the table just right of the burner, ahead and to the right of the jaws in the wrist view. Moving forward-right and yawing the tool clockwise to line the jaws up across the can's axis.
move_to
right_x0.4300right_y0.1600right_z0.1000right_yaw-0.5000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8062, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.6922, 1.7679, 1.0306, -0.2047, 0.5869, 0.4614, 0.9987] state[eef_state]: left_x=0.2741 left_y=0.0016 left_z=0.1493 left_yaw=0.0025 left_pitch=-0.1468 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3844 right_y=0.1962 right_z=0.0751 right_yaw=-0.05 right_pitch=-0.1647 right_roll=-0.1411 right_gripper=0.9987 state[joint_eff]: [0.0068, -1.1145, 6.9812, 1.7021, -0.0659, -0.0464, -0.0122, 0.0752, -9.0735, 6.9538, 1.7314, 0.2613, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.16, "right_z": 0.1, "right_yaw": -0.5, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The can now lies diagonally on the table just right of the burner, ahead and to the right of the jaws in the wrist view. Moving forward-right and yawing the tool clockwise to line the jaws up across the can's axis."})
tool
executing move_to over 6 steps (0.6s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe can is now aligned with the jaw column in the wrist view, but its near end sits above the jaw row, so the can centre is several cm beyond the fingertips. Advancing ~6 cm along the tool's forward direction and descending to grasp height.
move_to
right_x0.4750right_y0.1450right_z0.0400right_yaw-0.4000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5373, -0.0189, -0.0387, 0.9992, 0.6529, 1.9083, 1.2209, -0.3336, 0.7868, 0.7799, 0.9987] state[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1467 left_yaw=0.003 left_pitch=-0.1606 left_roll=-0.0 left_gripper=0.9992 right_x=0.4206 right_y=0.1687 right_z=0.086 right_yaw=-0.3954 right_pitch=-0.0659 right_roll=-0.0614 right_gripper=0.9987 state[joint_eff]: [-0.0479, -1.306, 6.8991, 1.6728, -0.0562, -0.0611, -0.0122, -0.7726, -8.9915, 7.9111, 1.16, 0.5788, 0.1734, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.145, "right_z": 0.04, "right_yaw": -0.4, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The can is now aligned with the jaw column in the wrist view, but its near end sits above the jaw row, so the can centre is several cm beyond the fingertips. Advancing ~6 cm along the tool's forward direction and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe last move stalled (arm still at x=0.42, z=0.09), likely an awkward IK target with pitch pinned at 0. Retrying with a smaller step and pitch left free.
move_to
right_x0.4500right_y0.1500right_z0.0600right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9986] state[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1461 left_yaw=0.003 left_pitch=-0.1636 left_roll=0.0 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9986 state[joint_eff]: [-0.3487, -1.1966, 6.8991, 1.58, -0.0855, -0.0708, -0.0122, -0.4034, -9.1009, 7.9795, 1.2772, 0.5543, 0.1392, -0.0171] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.15, "right_z": 0.06, "right_yaw": -0.4}, "note": "The last move stalled (arm still at x=0.42, z=0.09), likely an awkward IK target with pitch pinned at 0. Retrying with a smaller step and pitch left free."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe arm has not moved at all for two commands; it may be resting on the burner's edge. Lifting straight up to free it before repositioning over the can.
move_to
right_z0.1600right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9987] state[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.003 left_pitch=-0.1804 left_roll=0.0004 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9987 state[joint_eff]: [-0.1573, -1.2786, 7.0769, 1.7167, -0.0562, -0.0464, -0.0122, -0.4034, -9.1145, 7.9795, 1.2967, 0.5397, 0.1245, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_z": 0.16, "right_yaw": -0.4}, "note": "The arm has not moved at all for two commands; it may be resting on the burner's edge. Lifting straight up to free it before repositioning over the can."})
tool
executing move_to over 5 steps (0.5s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe arm is free again. Overhead view shows the can slightly forward and to the right of the gripper; moving forward-right, lowering to 10 cm, and reducing the yaw to match the can's tilt.
move_to
right_x0.4600right_y0.1300right_z0.1000right_yaw-0.2500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.6392, 1.8366, 1.2953, -0.4984, 0.7956, 0.7868, 0.9986] state[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1884 left_roll=0.0009 left_gripper=0.9992 right_x=0.4169 right_y=0.1571 right_z=0.125 right_yaw=-0.4188 right_pitch=-0.0684 right_roll=-0.0759 right_gripper=0.9986 state[joint_eff]: [-0.1709, -0.8274, 6.9402, 1.6484, -0.0317, -0.0513, -0.0122, -0.5949, -11.4803, 8.5265, 1.3895, 0.398, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.13, "right_z": 0.1, "right_yaw": -0.25}, "note": "The arm is free again. Overhead view shows the can slightly forward and to the right of the gripper; moving forward-right, lowering to 10 cm, and reducing the yaw to match the can's tilt."})
tool
executing move_to over 4 steps (0.4s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe can now fills the wrist view aligned with the jaw column, its near end at the jaw row and its body slightly left of centre. Advancing ~5 cm along the can, nudging left, and descending to grasp height.
move_to
right_x0.4850right_y0.1250right_z0.0300right_yaw-0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.4843, 1.8496, 1.1595, -0.2737, 0.6456, 0.5354, 0.9986] state[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1392 left_yaw=0.0029 left_pitch=-0.2014 left_roll=0.0012 left_gripper=0.9992 right_x=0.4374 right_y=0.1141 right_z=0.0828 right_yaw=-0.3402 right_pitch=-0.1407 right_roll=-0.1353 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.1966, 6.8855, 1.6874, -0.0806, -0.0269, -0.0122, 0.9368, -9.5932, 7.4872, 1.8681, 0.2808, -0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_y": 0.125, "right_z": 0.03, "right_yaw": -0.3}, "note": "The can now fills the wrist view aligned with the jaw column, its near end at the jaw row and its body slightly left of centre. Advancing ~5 cm along the can, nudging left, and descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteDescent stopped at z=0.06 with the can sitting left of the jaw column, so a jaw is probably resting on the can. Lifting and shifting ~3 cm toward the tool's left to centre the can between the jaws.
move_to
right_x0.4550right_y0.1500right_z0.1000right_yaw-0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.4908, 0.9987] state[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1375 left_yaw=0.0032 left_pitch=-0.2109 left_roll=0.0011 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3035 right_pitch=-0.1613 right_roll=-0.1521 right_gripper=0.9987 state[joint_eff]: [-0.2256, -0.8957, 6.9128, 1.6093, -0.0513, -0.0464, -0.0122, -0.1162, -9.4154, 7.2274, 1.3162, 0.5055, 0.1587, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.15, "right_z": 0.1, "right_yaw": -0.3}, "note": "Descent stopped at z=0.06 with the can sitting left of the jaw column, so a jaw is probably resting on the can. Lifting and shifting ~3 cm toward the tool's left to centre the can between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe arm froze again on a combined move; a pure vertical lift freed it last time, so lifting straight up first before shifting sideways.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5854, -0.0189, -0.0383, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.498, 0.9986] state[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1375 left_yaw=0.003 left_pitch=-0.2113 left_roll=0.0014 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3075 right_pitch=-0.1607 right_roll=-0.1467 right_gripper=0.9986 state[joint_eff]: [0.1709, -1.1419, 6.8444, 1.5018, -0.0757, -0.0415, -0.0122, -0.4308, -9.6889, 7.1726, 1.3211, 0.4567, 0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14}, "note": "The arm froze again on a combined move; a pure vertical lift freed it last time, so lifting straight up first before shifting sideways."})
tool
executing move_to over 6 steps (0.6s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteLift only reached z=0.08 with very high shoulder effort, so the arm is near its reach limit here. Commanding a slight forward pitch to extend reach while shifting toward the tool's left to centre the can between the jaws and descending.
move_to
right_x0.4550right_y0.1500right_z0.0500right_yaw-0.3000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5888, -0.0189, -0.0383, 0.9992, 0.4774, 1.8977, 1.2388, -0.342, 0.606, 0.4965, 0.9986] state[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1369 left_yaw=0.003 left_pitch=-0.2147 left_roll=0.0015 left_gripper=0.9992 right_x=0.4455 right_y=0.1212 right_z=0.0784 right_yaw=-0.3043 right_pitch=-0.1934 right_roll=-0.168 right_gripper=0.9986 state[joint_eff]: [-0.0342, -0.8137, 6.8581, 1.5263, -0.0415, 0.0171, -0.0122, -0.1299, -16.4308, 10.5778, 1.9267, 0.4127, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.15, "right_z": 0.05, "right_yaw": -0.3, "right_pitch": 0.1}, "note": "Lift only reached z=0.08 with very high shoulder effort, so the arm is near its reach limit here. Commanding a slight forward pitch to extend reach while shifting toward the tool's left to centre the can between the jaws and descending."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe can's near body is now between the jaws but its axis runs diagonally (far end to image upper-left). Yawing the tool counterclockwise to square the jaws across the can and descending to grasp height.
move_to
right_x0.4550right_y0.1450right_z0.0300right_yaw0.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 0.5774, 1.9949, 1.0698, 0.1619, 0.8318, 0.4438, 0.9986] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1354 left_yaw=0.0032 left_pitch=-0.2216 left_roll=0.0013 left_gripper=0.9992 right_x=0.4553 right_y=0.1451 right_z=0.0625 right_yaw=-0.3173 right_pitch=0.0901 right_roll=-0.1516 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.4701, 6.8581, 1.5604, -0.0562, -0.0562, -0.0122, 1.0872, -7.0085, 4.6838, 1.3211, -0.0659, -0.2808, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.145, "right_z": 0.03, "right_yaw": 0.0, "right_pitch": 0.1}, "note": "The can's near body is now between the jaws but its axis runs diagonally (far end to image upper-left). Yawing the tool counterclockwise to square the jaws across the can and descending to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe can body sits between the jaws in the wrist view but the descent has only reached z≈0.06 after a very short motion. Continuing the descent toward table level so the jaws straddle the can fully.
move_to
right_x0.4600right_y0.1300right_z0.0200right_yaw-0.1000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8146, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4969, 1.969, 0.8734, 0.556, 0.6552, 0.2707, 0.9986] state[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1352 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.0016 left_gripper=0.9992 right_x=0.4612 right_y=0.1317 right_z=0.0571 right_yaw=-0.19 right_pitch=0.1603 right_roll=-0.0726 right_gripper=0.9986 state[joint_eff]: [-0.0068, -0.7043, 6.8308, 1.5409, -0.0611, -0.0562, -0.0122, -0.1162, -6.6667, 3.3436, 0.3199, 0.1197, -0.6227, -0.0122] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.13, "right_z": 0.02, "right_yaw": -0.1, "right_pitch": 0.1}, "note": "The can body sits between the jaws in the wrist view but the descent has only reached z\u22480.06 after a very short motion. Continuing the descent toward table level so the jaws straddle the can fully."})
tool
executing move_to over 3 steps (0.3s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
Now at z=0.03 with the can filling the wrist view between the jaws. Closing.
agent noteThe gripper is at z=0.03 with the can body spanning the space between both jaws in the wrist view. Closing the gripper to grasp the can.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 0.4747, 1.9953, 0.8307, 0.5758, 0.5911, 0.2031, 0.9986] state[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1318 left_yaw=0.0033 left_pitch=-0.241 left_roll=0.0018 left_gripper=0.9992 right_x=0.4534 right_y=0.1264 right_z=0.031 right_yaw=-0.1205 right_pitch=0.0965 right_roll=-0.1358 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.4564, 6.8308, 1.7021, -0.0171, -0.0415, -0.0122, 0.8, -9.7436, 7.2, 1.9023, 0.2369, 0.1832, -0.0171] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
Now at z=0.03 with the can filling the wrist view between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at z=0.03 with the can body spanning the space between both jaws in the wrist view. Closing the gripper to grasp the can."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe close was empty (0.009) and the can was ejected forward — it now sits near the far right edge of the table. Opening the gripper and reaching forward with the tool pitched down to see whether it is still reachable.
move_to
right_x0.5200right_y0.0600right_z0.1500right_gripper1.0000right_yaw0.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.4808, 1.9953, 0.836, 0.5552, 0.5922, 0.2272, 0.0087] state[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.131 left_yaw=0.0031 left_pitch=-0.2456 left_roll=0.0022 left_gripper=0.9992 right_x=0.4519 right_y=0.1286 right_z=0.0291 right_yaw=-0.1276 right_pitch=0.086 right_roll=-0.1237 right_gripper=0.0087 state[joint_eff]: [-0.212, -1.1419, 6.8444, 1.5702, -0.0513, -0.0317, -0.0122, -0.6906, -9.2513, 4.5744, 1.7998, 0.2759, -0.0611, 0.6129] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.06, "right_z": 0.15, "right_gripper": 1.0, "right_yaw": 0.0, "right_pitch": 0.3}, "note": "The close was empty (0.009) and the can was ejected forward \u2014 it now sits near the far right edge of the table. Opening the gripper and reaching forward with the tool pitched down to see whether it is still reachable."})
tool
executing move_to over 10 steps (1.0s)
step 217
top_cam
camera top_cam step 217
assistant
agent noteThe can lies diagonally just ahead and right of the fingertips near the far table edge. Reaching further forward with the tool pitched well down, yawing to square the jaws across the can, and descending to grasp height.
move_to
right_x0.5400right_y0.0200right_z0.0500right_yaw0.3000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 0.2058, 1.8603, 0.9184, 0.5545, 0.2893, -0.0326, 0.9942] state[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1305 left_yaw=0.0034 left_pitch=-0.2487 left_roll=0.002 left_gripper=0.9992 right_x=0.5087 right_y=0.0584 right_z=0.112 right_yaw=-0.0226 right_pitch=0.2053 right_roll=-0.1406 right_gripper=0.9942 state[joint_eff]: [-0.0479, -0.8274, 6.8855, 1.536, -0.0415, -0.0562, -0.0122, -0.4855, -11.5487, 8.2667, 2.1465, 0.1978, 0.0317, 0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.54, "right_y": 0.02, "right_z": 0.05, "right_yaw": 0.3, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The can lies diagonally just ahead and right of the fingertips near the far table edge. Reaching further forward with the tool pitched well down, yawing to square the jaws across the can, and descending to grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent noteThe can's near end is just right of and ahead of the right jaw in the wrist view. Shifting ~4 cm right and 3 cm forward so the jaws straddle the can's near body, staying at grasp height.
move_to
right_x0.5650right_y-0.0300right_z0.0300right_yaw0.3000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6312, -0.0189, -0.0387, 0.9992, -0.0528, 2.31, 0.8867, 1.2274, -0.2134, -0.1471, 0.9987] state[eef_state]: left_x=0.256 left_y=0.0021 left_z=0.1278 left_yaw=0.0035 left_pitch=-0.2651 left_roll=0.0023 left_gripper=0.9992 right_x=0.533 right_y=0.0129 right_z=0.0266 right_yaw=0.2264 right_pitch=0.3869 right_roll=-0.1106 right_gripper=0.9987 state[joint_eff]: [-0.0615, -1.1692, 6.7897, 1.619, -0.0806, -0.0513, -0.0122, -0.1846, -10.0855, 5.4632, 2.4737, -0.1538, -0.0415, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.565, "right_y": -0.03, "right_z": 0.03, "right_yaw": 0.3, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The can's near end is just right of and ahead of the right jaw in the wrist view. Shifting ~4 cm right and 3 cm forward so the jaws straddle the can's near body, staying at grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 231
assistant
agent noteThe can body now lies between the jaws but diagonally and biased toward the right jaw. Yawing further counterclockwise to square up on it and nudging right/forward before closing.
move_to
right_x0.5750right_y-0.0500right_z0.0300right_yaw0.6000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, -0.1783, 2.4344, 1.0477, 1.2613, -0.3813, -0.1459, 0.9987] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1268 left_yaw=0.0033 left_pitch=-0.2712 left_roll=0.0027 left_gripper=0.9992 right_x=0.5605 right_y=-0.0306 right_z=0.0247 right_yaw=0.2659 right_pitch=0.4622 right_roll=-0.1091 right_gripper=0.9987 state[joint_eff]: [-0.0889, -1.1556, 6.7897, 1.4725, -0.0317, 0.0073, -0.0122, -0.0205, -10.6872, 4.9983, 2.1465, -0.1538, 0.0806, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.575, "right_y": -0.05, "right_z": 0.03, "right_yaw": 0.6, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The can body now lies between the jaws but diagonally and biased toward the right jaw. Yawing further counterclockwise to square up on it and nudging right/forward before closing."})
tool
executing move_to over 3 steps (0.3s)
step 234
assistant
agent noteThe arm is at its reach limit with the can body lying between the jaws, touching the right jaw. Closing the gripper; the right jaw should push the can into the centre as the left jaw arrives.
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, -0.6376, -0.0189, -0.0387, 0.9992, -0.1894, 2.4454, 1.0679, 1.2583, -0.4274, -0.1425, 0.9987] state[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0035 left_pitch=-0.2734 left_roll=0.0025 left_gripper=0.9992 right_x=0.5625 right_y=-0.0296 right_z=0.0252 right_yaw=0.2974 right_pitch=0.4704 right_roll=-0.1028 right_gripper=0.9987 state[joint_eff]: [-0.0205, -1.1145, 6.7897, 1.4628, -0.0611, -0.0757, -0.0122, -0.0752, -10.6735, 4.9573, 2.1807, -0.0464, 0.0317, -0.1441] 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_gripper": 0.0}, "note": "The arm is at its reach limit with the can body lying between the jaws, touching the right jaw. Closing the gripper; the right jaw should push the can into the centre as the left jaw arrives."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteThe close was empty again; the can has been pushed against the right fence beyond the arm's table-level reach (x>0.56, y<-0.05). Parking the right arm at home before ending the trial.
move_to
right_x0.3000right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6453, -0.0189, -0.0387, 0.9992, -0.1894, 2.4454, 1.0676, 1.2476, -0.4286, -0.1421, 0.0083] state[eef_state]: left_x=0.2534 left_y=0.0021 left_z=0.1251 left_yaw=0.0036 left_pitch=-0.2811 left_roll=0.0027 left_gripper=0.9992 right_x=0.562 right_y=-0.0293 right_z=0.0226 right_yaw=0.2956 right_pitch=0.4607 right_roll=-0.0964 right_gripper=0.0083 state[joint_eff]: [-0.0068, -0.9915, 6.7761, 1.4872, -0.0757, -0.0464, -0.0122, -0.1846, -11.8222, 4.041, 1.9414, -0.0024, 0.0122, 0.5983] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The close was empty again; the can has been pushed against the right fence beyond the arm's table-level reach (x>0.56, y<-0.05). Parking the right arm at home before ending the trial."})
tool
executing move_to over 21 steps (2.1s)
step 265
assistant
agent noteThe can was grasped and placed on the burner's right edge, but while re-grasping to centre it the jaws bumped it off; it rolled and two off-centre closes ejected it further until it came to rest against the right fence at roughly right_x ≈ 0.6, right_y ≈ −0.08, beyond the right arm's table-level reach (~0.56) and far outside the left arm's box. It cannot be recovered from this position.
give_up
hindsight1) The burner (hot plate) is at roughly right_x ≈ 0.33–0.36, right_y ≈ 0.32, with its top surface ~6 cm high; the can, lying on its side (~6.5 cm diameter, ~20 cm long) initially sits at right_x ≈ 0.42, right_y ≈ 0.05 aligned with +x, and is grasped cleanly at yaw 0, z = 0.02–0.03 (gripper settles ≈ 0.68). 2) My first placement at x=0.39, y=0.31 landed the can on the burner's right edge; place at x ≈ 0.34–0.35, y ≈ 0.33 instead. If it lands on the plate at all, consider stopping — my re-grasp attempt knocked it off and lost it. 3) When re-grasping a cylinder near the burner, don't descend until the wrist view shows the can centred between both jaw shadows; a descent that stalls at z ≈ 0.06 means a jaw is standing on the can. 4) Off-centre or diagonal closes on this can eject it 10–20 cm forward; never close unless the can axis is within ~15° of image-vertical and centred on column ~110. 5) Beyond x ≈ 0.44 the right arm's shoulder effort exceeds −10 N·m and combined x/y/z/yaw moves often freeze entirely (joint_pos unchanged); a pure z-lift frees it, and adding positive pitch (0.1–0.5) extends table-level reach to x ≈ 0.56. 6) Wrist pitch/roll drift (to −0.5 / −0.2) after long carries and distort the wrist view; command right_pitch=0, right_roll=0 explicitly when relying on the wrist camera.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6598, -0.0189, -0.0387, 0.9992, 0.0299, 0.8536, 0.5819, -0.2779, 0.0452, -0.0925, 0.9973] state[eef_state]: left_x=0.2507 left_y=0.0022 left_z=0.1218 left_yaw=0.0037 left_pitch=-0.2998 left_roll=0.0032 left_gripper=0.9992 right_x=0.309 right_y=0.0049 right_z=0.1744 right_yaw=0.0424 right_pitch=0.0292 right_roll=-0.1019 right_gripper=0.9973 state[joint_eff]: [0.0068, -0.9778, 6.7624, 1.5702, -0.0806, -0.0366, -0.0122, 0.2256, -1.6205, 9.5658, 1.9658, 0.0317, 0.1343, -0.0952] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The can was grasped and placed on the burner's right edge, but while re-grasping to centre it the jaws bumped it off; it rolled and two off-centre closes ejected it further until it came to rest against the right fence at roughly right_x \u2248 0.6, right_y \u2248 \u22120.08, beyond the right arm's table-level reach (~0.56) and far outside the left arm's box. It cannot be recovered from this position.", "hindsight": "1) The burner (hot plate) is at roughly right_x \u2248 0.33\u20130.36, right_y \u2248 0.32, with its top surface ~6 cm high; the can, lying on its side (~6.5 cm diameter, ~20 cm long) initially sits at right_x \u2248 0.42, right_y \u2248 0.05 aligned with +x, and is grasped cleanly at yaw 0, z = 0.02\u20130.03 (gripper settles \u2248 0.68). 2) My first placement at x=0.39, y=0.31 landed the can on the burner's right edge; place at x \u2248 0.34\u20130.35, y \u2248 0.33 instead. If it lands on the plate at all, consider stopping \u2014 my re-grasp attempt knocked it off and lost it. 3) When re-grasping a cylinder near the burner, don't descend until the wrist view shows the can centred between both jaw shadows; a descent that stalls at z \u2248 0.06 means a jaw is standing on the can. 4) Off-centre or diagonal closes on this can eject it 10\u201320 cm forward; never close unless the can axis is within ~15\u00b0 of image-vertical and centred on column ~110. 5) Beyond x \u2248 0.44 the right arm's shoulder effort exceeds \u221210 N\u00b7m and combined x/y/z/yaw moves often freeze entirely (joint_pos unchanged); a pure z-lift frees it, and adding positive pitch (0.1\u20130.5) extends table-level reach to x \u2248 0.56. 6) Wrist pitch/roll drift (to \u22120.5 / \u22120.2) after long carries and distort the wrist view; command right_pitch=0, right_roll=0 explicitly when relying on the wrist camera."})
tool
give_up: The can was grasped and placed on the burner's right edge, but while re-grasping to centre it the jaws bumped it off; it rolled and two off-centre closes ejected it further until it came to rest against the right fence at roughly right_x ≈ 0.6, right_y ≈ −0.08, beyond the right arm's table-level reach (~0.56) and far outside the left arm's box. It cannot be recovered from this position.
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 · 16.9 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, 0.7925, 0.6041, -0.3904, -0.0189, -0.0345, 0.9993, -0.0212, 0.7933, 0.6079, -0.3958, -0.0177, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1787 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.2786, 10.1812, 2.0342, -0.0464, 0.1636, -0.0904, -0.2667, -1.3744, 9.6889, 1.9072, -0.0464, -0.0366, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ec115a537d7bfe2899b0b35f7b8d8e68de7eb4242c77d3c00468aadcca000c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469bdd6ba6aad23883430e0ab56e7ca9a7335b0312c17bee5cb04818c0ba5ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fbb295311d75327029f6d238689c16ae590b29799b87a48820fae621f219d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 7.403 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, 0.7925, 0.6041, -0.3904, -0.0189, -0.0345, 0.9993, -0.0212, 0.7933, 0.6079, -0.3958, -0.0177, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1787 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.2786, 10.1812, 2.0342, -0.0464, 0.1636, -0.0904, -0.2667, -1.3744, 9.6889, 1.9072, -0.0464, -0.0366, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ec115a537d7bfe2899b0b35f7b8d8e68de7eb4242c77d3c00468aadcca000c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469bdd6ba6aad23883430e0ab56e7ca9a7335b0312c17bee5cb04818c0ba5ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fbb295311d75327029f6d238689c16ae590b29799b87a48820fae621f219d32",
        "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"
    },
    {
      "text": "Checking the scene: the spray can lies on its side to the right of the burner, aligned roughly along the right arm's forward axis, so the right arm's jaws (closing left–right) will grasp across its diameter at yaw 0. I'll fly the right arm above the can first.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BuBPcyULMi3Nb8rcfzhCby",
      "input": {
        "note": "The can lies on its side ahead of the right arm, slightly left of the gripper in the wrist view. Moving the right arm to hover ~15 cm above the estimated can centre with the gripper open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.05,
          "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_01BuBPcyULMi3Nb8rcfzhCby",
      "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, -0.4061, -0.0193, -0.0383, 0.9992, 0.165, 1.4059, 0.7921, -0.0673, 0.12, 0.0681, 0.9993]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3997 right_y=0.0488 right_z=0.126 right_yaw=0.0264 right_pitch=-0.094 right_roll=-0.0219 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8584, -0.0513, -0.0073, -0.022, 0.3761, -5.8325, 9.0051, 2.0244, 0.1636, 0.1245, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a31a9f7cb4137df4d2b90a8dbeb0ba2739f64d2c3c24b7cde38bbbf373f63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:123c69116d872cf2ead9f4f1757bed877051a3848f5f1ba81a66781294c28e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd8b7abd23d7e1ceb73167ec12d18a39b78c53b01bf839d055b5a1a47c30cb11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 6.959 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, 0.7925, 0.6041, -0.3904, -0.0189, -0.0345, 0.9993, -0.0212, 0.7933, 0.6079, -0.3958, -0.0177, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1787 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.2786, 10.1812, 2.0342, -0.0464, 0.1636, -0.0904, -0.2667, -1.3744, 9.6889, 1.9072, -0.0464, -0.0366, -0.0806]",
      "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]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.165, 1.4059, 0.7921, -0.0673, 0.12, 0.0681, 0.9993]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3997 right_y=0.0488 right_z=0.126 right_yaw=0.0264 right_pitch=-0.094 right_roll=-0.0219 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8584, -0.0513, -0.0073, -0.022, 0.3761, -5.8325, 9.0051, 2.0244, 0.1636, 0.1245, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a31a9f7cb4137df4d2b90a8dbeb0ba2739f64d2c3c24b7cde38bbbf373f63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:123c69116d872cf2ead9f4f1757bed877051a3848f5f1ba81a66781294c28e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8b7abd23d7e1ceb73167ec12d18a39b78c53b01bf839d055b5a1a47c30cb11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQgKEAgRGAI4AUIIdGhpbmtpbmcSDL8ob62N1zx2ckXQQRoMH7TFI0dDayurAt2+IjDVtv3MiYX8SDKAE25vpIA83W83cR6uAZ78/FoGS/lYfsNEbJa1Q6huf7BuHY0um54q5gcCJ33NY1jSsNtC1Mu+aG13Iu9ZZ3KIxnbE5aa2HJ067/OghN2awlRXfKye01NBuWci5+wWgTP311V7Ws9vqBAsbbqhnnlc/ToG8DrLNjvscMfJWHFFjjQEH09rrnG+rpL/aH7br6qivmnT+gp90qfpTk5XZRXQiSxkCe57mPwN16ATjXrVQFx9tRMnRtqoOSG7cfOwfzzvdPe/aLVvCjQ6pyr15jcMnfBcDAHQIH1thiWijEU4tabcrJbslSjB8rMA7Nqi6TMhRs/pXq9HRWEp3lfMsBuqEiLFS4YRIiGvD2BZlneSmWWrnSjZnSsenSyNhRcCA/DAwr0i4O17zR4xqg/sgWLn6aROjPX1UjRB2nQFXyHduEOhtwecF0EpyqGpMf+cOaS1WwFfGMqVl0mKuhENULJm0WVibAaOrcQd7UGDUyVGX9XBKL/9csFNO4JMgR+qDTcDg5mqvAxSa3e/+1sWK48qI+PfcGzyL4/kFzBHv7X/m95Jmvi/8rjx0/lBhxZiHgvlRoed4ILsQfmc6yrpZevGfVgi0OVJ4LNoEGNH3iA76/XyhYeJV3luwXhu9xiX3vnOxC7Imh4cseSLdWLetI4BYavcA0Y4UmKrjpAy7En4PIn2vDFvwryDno64mLhDFRuI2Xjt5KRqOTcqrTQVxas5BmOztg62nhi+VzVNVbNQI5dBWMbzq06dmMbRVTO+bW/tZR3JazZj0cuz8njeX6Ov5oqbzh1x5FrF4IHRHOJ2CUAGqPvoOKBiIg/UVO0TKLZJv+c9RAQrhuv36YxW5UPu5y5LFqVpKcocj8aDHNzhurO+SfY1YOZO67jMGLvv6ArCUr7VNyYrQXlCW2rTAjbe00FWbf2gjk/RDTfnMrg9L8HhmPEddHtX+4oQ8GMqRkxyuq2Zmb1KDiXoE5h9tFGwygfLHvf36P8zScok+3ib38uzBTCkdYwSBRFVIbFI8Xu735zoZbvfz11sMU4ieeezZqiwuoavijJdgx4Tl1U7Hon2Y+TbJ3gQs1IFkyZ2KHJqdLRrLUs925xXV1GZkjviXyNwm/uPR/rQr52bJKM5LM22uS0T5aj8eKmaAZbqi1Evq9nLf/Qr0wxFi8PVq6P2lLg0fsBf9ok9dGEWJlZYmoibn5PffuyliYLslKubLNUMW5INPg756k8pOhtN3sIqxI+QBv9kyxU22cIldszUfeKwVHPTBUtL69SPT/jrTGZ7g6EZ/FeoQzzC0TS7Vp6p5pitENACbU9uavcXQU4F2lk0WAlydy86apXiIApIpi0uTr2HJ635wz/49R1U3Yeat/zNMB5+qE3ihQRCwndIORgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M84wdQHTKVywzaeRb3hUej",
      "input": {
        "note": "The can sits on the jaw column in the wrist view with its body extending under the fingertips and the cap further forward. Advancing ~3 cm to centre on the can body and descending to grasp height (can radius ~3 cm).",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.05,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01M84wdQHTKVywzaeRb3hUej",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4141, -0.0189, -0.0383, 0.9992, 0.1528, 1.7721, 0.7288, 0.2764, 0.107, 0.0532, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1731 left_yaw=0.0025 left_pitch=-0.0275 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4223 right_y=0.0496 right_z=0.0188 right_yaw=0.0318 right_pitch=-0.1805 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122, -0.759, -7.2, 5.9692, 1.8828, -0.0024, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70af94175d139d5495f8e6ec6e711f9a2e753706cee4e7f566682cc78fdf8bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2d001c67fce5b1373df48bfc7ffe8029853f336ddde39d333d530e9d2c27f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97320f7f5a0da933db294360de3040549ec94246e2c910323a8ee91796e7c431",
        "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 · 6.119 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, 0.7925, 0.6041, -0.3904, -0.0189, -0.0345, 0.9993, -0.0212, 0.7933, 0.6079, -0.3958, -0.0177, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1787 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.2786, 10.1812, 2.0342, -0.0464, 0.1636, -0.0904, -0.2667, -1.3744, 9.6889, 1.9072, -0.0464, -0.0366, -0.0806]",
      "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]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.165, 1.4059, 0.7921, -0.0673, 0.12, 0.0681, 0.9993]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3997 right_y=0.0488 right_z=0.126 right_yaw=0.0264 right_pitch=-0.094 right_roll=-0.0219 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8584, -0.0513, -0.0073, -0.022, 0.3761, -5.8325, 9.0051, 2.0244, 0.1636, 0.1245, -0.0806]",
      "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, 0.7982, 0.6067, -0.4141, -0.0189, -0.0383, 0.9992, 0.1528, 1.7721, 0.7288, 0.2764, 0.107, 0.0532, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1731 left_yaw=0.0025 left_pitch=-0.0275 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4223 right_y=0.0496 right_z=0.0188 right_yaw=0.0318 right_pitch=-0.1805 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122, -0.759, -7.2, 5.9692, 1.8828, -0.0024, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70af94175d139d5495f8e6ec6e711f9a2e753706cee4e7f566682cc78fdf8bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2d001c67fce5b1373df48bfc7ffe8029853f336ddde39d333d530e9d2c27f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97320f7f5a0da933db294360de3040549ec94246e2c910323a8ee91796e7c431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The can fills the wrist view between the jaws. Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017f5PgdMM1xzdkwnhf2m3sx",
      "input": {
        "note": "The can body fills the wrist view between the jaws at grasp height. Closing the gripper across the can's diameter.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017f5PgdMM1xzdkwnhf2m3sx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.1509, 1.7912, 0.7277, 0.2863, 0.1085, 0.0521, 0.6825]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4219 right_y=0.0484 right_z=0.0124 right_yaw=0.029 right_pitch=-0.1906 right_roll=-0.039 right_gripper=0.6825\nstate[joint_eff]: [-0.1846, -1.0872, 7.0496, 1.8046, -0.0171, -0.0806, -0.0122, -0.0205, -9.4017, 5.4906, 1.4335, -0.0464, -0.0659, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0804f4d93c088a05c89fc9b5a051f586085c417c18e456ea4f95b43033d129eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b80e4997b7f70687e1e1e8b89eeb2d3fc94c4afe2d469ef16c24ffe45370bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7be17996cb4dfbfccd020c35187abe86a33277a0422d3827295ddc6ea6b935df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 8.606 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]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.165, 1.4059, 0.7921, -0.0673, 0.12, 0.0681, 0.9993]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3997 right_y=0.0488 right_z=0.126 right_yaw=0.0264 right_pitch=-0.094 right_roll=-0.0219 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8584, -0.0513, -0.0073, -0.022, 0.3761, -5.8325, 9.0051, 2.0244, 0.1636, 0.1245, -0.0806]",
      "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, 0.7982, 0.6067, -0.4141, -0.0189, -0.0383, 0.9992, 0.1528, 1.7721, 0.7288, 0.2764, 0.107, 0.0532, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1731 left_yaw=0.0025 left_pitch=-0.0275 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4223 right_y=0.0496 right_z=0.0188 right_yaw=0.0318 right_pitch=-0.1805 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122, -0.759, -7.2, 5.9692, 1.8828, -0.0024, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.1509, 1.7912, 0.7277, 0.2863, 0.1085, 0.0521, 0.6825]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4219 right_y=0.0484 right_z=0.0124 right_yaw=0.029 right_pitch=-0.1906 right_roll=-0.039 right_gripper=0.6825\nstate[joint_eff]: [-0.1846, -1.0872, 7.0496, 1.8046, -0.0171, -0.0806, -0.0122, -0.0205, -9.4017, 5.4906, 1.4335, -0.0464, -0.0659, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0804f4d93c088a05c89fc9b5a051f586085c417c18e456ea4f95b43033d129eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b80e4997b7f70687e1e1e8b89eeb2d3fc94c4afe2d469ef16c24ffe45370bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be17996cb4dfbfccd020c35187abe86a33277a0422d3827295ddc6ea6b935df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper settled at 0.68 (~6.5 cm) — the can is grasped. Lifting to verify and carry.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YT13YqMu7FrEiiT7VA4fLh",
      "input": {
        "note": "Gripper reads 0.68 (~6.5 cm), consistent with the can's diameter. Lifting the can to carry height to confirm it moves with the jaws.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01YT13YqMu7FrEiiT7VA4fLh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0391, 0.9992, 0.1509, 1.5276, 1.0698, -0.3931, 0.1085, 0.0483, 0.6895]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.0492 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4145 right_y=0.0473 right_z=0.1367 right_yaw=0.0291 right_pitch=-0.2638 right_roll=-0.0508 right_gripper=0.6895\nstate[joint_eff]: [-0.0205, -1.0872, 6.9949, 1.7705, -0.0171, -0.0806, -0.0122, -0.3624, -9.6342, 9.6479, 1.9072, 0.0513, -0.022, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ffe910b44c11c5635210f9a7f500a793075e70e33c27878da4a28c8880e994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5057fce73942bd4a0a10c15e00893248410586f1fb8e0cfccf54695efd54944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6dc6782bae5ab9b9d99461bcbc525ace185828d074c60931b02f7024423799e8",
        "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 · 6.535 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, 0.7982, 0.6067, -0.4141, -0.0189, -0.0383, 0.9992, 0.1528, 1.7721, 0.7288, 0.2764, 0.107, 0.0532, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1731 left_yaw=0.0025 left_pitch=-0.0275 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4223 right_y=0.0496 right_z=0.0188 right_yaw=0.0318 right_pitch=-0.1805 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122, -0.759, -7.2, 5.9692, 1.8828, -0.0024, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.1509, 1.7912, 0.7277, 0.2863, 0.1085, 0.0521, 0.6825]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4219 right_y=0.0484 right_z=0.0124 right_yaw=0.029 right_pitch=-0.1906 right_roll=-0.039 right_gripper=0.6825\nstate[joint_eff]: [-0.1846, -1.0872, 7.0496, 1.8046, -0.0171, -0.0806, -0.0122, -0.0205, -9.4017, 5.4906, 1.4335, -0.0464, -0.0659, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0391, 0.9992, 0.1509, 1.5276, 1.0698, -0.3931, 0.1085, 0.0483, 0.6895]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.0492 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4145 right_y=0.0473 right_z=0.1367 right_yaw=0.0291 right_pitch=-0.2638 right_roll=-0.0508 right_gripper=0.6895\nstate[joint_eff]: [-0.0205, -1.0872, 6.9949, 1.7705, -0.0171, -0.0806, -0.0122, -0.3624, -9.6342, 9.6479, 1.9072, 0.0513, -0.022, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ffe910b44c11c5635210f9a7f500a793075e70e33c27878da4a28c8880e994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5057fce73942bd4a0a10c15e00893248410586f1fb8e0cfccf54695efd54944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dc6782bae5ab9b9d99461bcbc525ace185828d074c60931b02f7024423799e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAkKEAgRGAI4AUIIdGhpbmtpbmcSDK3rz1Ksvqn9DnezZRoMhSMpsbkhuEgngVt+IjCJKWa5U54M3wSW0nGiieg65Iz38QSj5RmqKF9kuMuiPW8ej7Qmn39xImgnrGxoKy4qzQjA0ydPWO88J6lgUJ4KOFxs6/OnrpbuQnMIfa8a1n5xqIADasqXiHnA5Ps+YxRQ2hRN3nBdo9zn/W8CxzU0RNnAz5pwgo+Un0EnENTC+XaViU50duniR8m2XJNdEe0p3KIpll+UT8qS97PYzFlVVimN2Xz/4NuHnKmZCnYDctckbYHskwzg9Z9tYB/kO3zm0EQFaex/ucDs4digVDhIJ6rGa5HFHwWegUgegtHXUjf0LjALLewtP39uT7U/f76nxQEdc7dUKeRbmA4yaG1CaZ4ev66cZnLUP7pvmQpgyXCzY3hmdvFGSLI1SYfwdIQl+iekHrg0s78Y4i9Uok3v6cVnpBZ6rjh0XK3ZuYOvGQiu3+3vSR5w0XAvry5Gy7lubj9fF0X6YRXqjU9fWF5bx4lphW0uhy3OlsP2fmrSUFAMykx8I3HWzDjT4PtV4Em3iCTk/Ig1JChSCD4W9yIHRjhe1pmf5YxoRsGxcb1S80nU57EKn6t3yiv1yf3jjUS75PnIX0pFHx70Ti7BO0P9vc96X7I+gMMpTsrxUl1K0590FYbQgtA1xIUoQ2Y4Me38zw8mlFpeJrvmhDbgqfpFIXT4iDp7iyupesZKVMMLombET7h38cT0qGdCuvHfMyjOM5Qf871TxqPw6rEawrzSX+q1BT2Cx/ZOEgSdqtXEOA2FqPq98bmA0JQsrIGYWPavKtWnhW1+SJLY1pep/HuMR9DBhfCh7f4xrNuRgEXCNs41f3JQ1X3pGB6zgWf0jBkxlMbc3gC4AeXXtRaSdA2z/ZpR6RTTGy1qaVYusk/dc7JqCfffcPAh3sEJKCK3PePYbOpcCWrfdnKiGf6/ssRYsM/CpIFyoKt7JzEesbOMdGkIypM6iepB9Z7qfWigR6g/XYiJAJDe8Y5ruAwNk9Sk/fcf1LuRbL3vJzBA+wpyxRUFjssZiLBr05vgf8uVnce8SyetBG9NBtAzJtLRdPdQo14ovBRfaSSMoACMgQ/ce3P4M1x5E+54zcrOQM51DeY7ol47D520VfCg2f6/P8AZ/hPhiEtDYbsU3TSh3DQ9EJJgjZrT7Byu56f1Aj9LUrooHTG1Byb8EXN1D3zAh/t/wN3ZhtwHBloK1KaTNCANGrAHB0b6pgxCSSqizbDJMrKvEWo6fRcRywXeGasWeq84NOpxayr12NouFGkppTP9h76QJHC8PWORVMA0Qya9K/5iZTWdn3ovoaoBA0dQP6mSClmOac4EjWzSsaECnhO5W/MAIrw/8fPaoQBeOXGt4uiH61GTEyz1+C1rb3GOW8s6Dn7sKIm1sVE0EDwBJ6sc8DDbNKnnWgxTruQWzLcBIjnjE1TJiVz8MpX6rtrWXk11IkB+neBbM71c1LNYRMjtMHziV8vhrNWz7pW5PVldm6lu0bVLEnyZ7Kbv8AQpFx/X1fgY8Q2rD4X3ZXowOlt1Qo+vDXyv/lo4RWA1Do9+OU8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NrysTLwnMjsTAix9yioZeD",
      "input": {
        "note": "The can is lifted in the right gripper (visible raised in the overhead view). Carrying it sideways to hover above the burner near the table centre line.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.32,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01NrysTLwnMjsTAix9yioZeD",
      "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, -0.4538, -0.0189, -0.0387, 0.9992, 0.8345, 2.035, 1.8622, -0.9123, 0.4843, 0.5934, 0.6895]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.165 left_yaw=0.0027 left_pitch=-0.0675 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3911 right_y=0.3143 right_z=0.1649 right_yaw=0.0637 right_pitch=-0.3204 right_roll=-0.0843 right_gripper=0.6895\nstate[joint_eff]: [-0.2393, -1.2239, 6.9675, 1.8681, -0.0464, -0.022, -0.0122, 0.212, -10.8513, 8.9504, 1.1502, 0.5788, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d44226d5ad64400cc81ea7c14ac785fa8d2181e9d1bd3a8499d4607d133485c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b0256e793063181b6dc470418d6c1dabaef593b1b1caddf44a27d426b333b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ef9967f6de5c3e42f2e926d1ff7a5234b5279c88cb2d835996820f98ce87a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.652 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, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.1509, 1.7912, 0.7277, 0.2863, 0.1085, 0.0521, 0.6825]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4219 right_y=0.0484 right_z=0.0124 right_yaw=0.029 right_pitch=-0.1906 right_roll=-0.039 right_gripper=0.6825\nstate[joint_eff]: [-0.1846, -1.0872, 7.0496, 1.8046, -0.0171, -0.0806, -0.0122, -0.0205, -9.4017, 5.4906, 1.4335, -0.0464, -0.0659, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0391, 0.9992, 0.1509, 1.5276, 1.0698, -0.3931, 0.1085, 0.0483, 0.6895]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.0492 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4145 right_y=0.0473 right_z=0.1367 right_yaw=0.0291 right_pitch=-0.2638 right_roll=-0.0508 right_gripper=0.6895\nstate[joint_eff]: [-0.0205, -1.0872, 6.9949, 1.7705, -0.0171, -0.0806, -0.0122, -0.3624, -9.6342, 9.6479, 1.9072, 0.0513, -0.022, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.8345, 2.035, 1.8622, -0.9123, 0.4843, 0.5934, 0.6895]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.165 left_yaw=0.0027 left_pitch=-0.0675 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3911 right_y=0.3143 right_z=0.1649 right_yaw=0.0637 right_pitch=-0.3204 right_roll=-0.0843 right_gripper=0.6895\nstate[joint_eff]: [-0.2393, -1.2239, 6.9675, 1.8681, -0.0464, -0.022, -0.0122, 0.212, -10.8513, 8.9504, 1.1502, 0.5788, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d44226d5ad64400cc81ea7c14ac785fa8d2181e9d1bd3a8499d4607d133485c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b0256e793063181b6dc470418d6c1dabaef593b1b1caddf44a27d426b333b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ef9967f6de5c3e42f2e926d1ff7a5234b5279c88cb2d835996820f98ce87a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgggKEAgRGAI4AUIIdGhpbmtpbmcSDOhtDBZW/+efEKmyRRoMvcBpiJ/9Aqtxt8B8IjCyTpoaO6jiYMQnhpaDbDStt6T5B9nNuJmmZtuzwEvnuK7B38+keV61SyyTo+MK4AAqnweuHwr4KB7ydi4BnNtVwFjc7abeVkn5iPC0htg41MEt2LwJBc0xucdC5mIBAM6bCxep1r3iWQiMCfQ0pVB95NIsDREAo4YkPI4e007iX2NJt4HcAQvXBVJBLoh+idakp9Elm5Y/5hbGDnmxZNtU9ga0Yl7cEiLr5bLPSRz4+L0i2EJyNXaW0OjfsEd7+STmv4FsVjqqlZQk0s8xme/CCRTmXPIzWV2atpEsenifiLMSPp+soSoO2sDlnBd7w9GArmbBvieovWogFreHYksdJtCShQM1SeC4Q5+tYNE86t8TZM4P8l9QlYQvYyBiaE8/WMKrvaS/UmJnBrwryYs1e4k/VKn8bOEFQ5SiGyLIJ2LjsAWzmNCkahEifT2rOQ8EqeymzaeePsRot4R6HrfuWStqk0aqo+VDMs0PSmuISUZYqvbx5Cm2ZHHA1YlzgHcG0Az3ofMYGJpk/R/o1+0QfY23VKiaA0Cx79fZ9CTP0eOhHRSo2+ZIc0F9MsfidzvXax1DzOyoNpYDvW92jnWhlVNnv19RMRvqk/mqCy39WDgqrfrKXSpjROaI53k/YKFMnnG7JWqUMGX6TT8A9iFJXeD6789JP72zBNC3/aPv3DZ4uTrBN6JcRUKcQTedE4nNotGXVEDgEFdyjey02mMAAbA10/77WVjZYUzlkpp+4gfc/fa2By33ZX7zmco6LOXbgmWYjiUpMROaHDMsyKxb9aJw/03udFD1asVnuYgMg6Gwlm8uLhTx2zpNb2Cz6hL6J6iR7i7I3s/X2PdUeRUzT0uq+fG7yeEP888RX+y2JqpB7xy5w1c8uCFQgOBSR5kR1RV+6tb8rYG9AfUSPe1zdCxrlDAdLHjnUWY5XzJ3cIqD1aFQ9pwfiATgpZfnbpGHww0PjxwO6Jq/0Nw8AVDX/J5+L/K0gpQ7JQM23OX+eW3sdBgU21R4rxOoDlSQPz4FpCJL6JfSTrv/bGesyEO8cU6d9ac4VXhmjylXALDjskZTFN2d3LypE+pyvPUMZGgC4TSuUZjEuZ1vMu+08kUNukgdspIvaXbW0WPpr0fYuoUBFpE+y/lP8XWwpI+VJDWIrv+9U8US4bpp/rHMnZBOnuWi6Xjmv5cn3vb1YWrxH7AGGmi5zTAUDXX0bphKcQ19BRnWNqCB29Q4IC0aHOCpvyouHgN2B2AnVa0z7+lkTtCOz1ShezM1kA54s76xi9/ROKmnF/HHf0Wpg0WEigjeqJ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0135rkX8fAT65pDqCxh2fLJS",
      "input": {
        "note": "The right arm is over the burner; the wrist camera shows the coil just below the held can. Lowering the can onto the burner surface, letting contact stop the descent.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0135rkX8fAT65pDqCxh2fLJS",
      "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, -0.4587, -0.0189, -0.0387, 0.9992, 0.8375, 2.0407, 1.57, -0.6056, 0.511, 0.5938, 0.6895]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.164 left_yaw=0.0027 left_pitch=-0.0725 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3905 right_y=0.3097 right_z=0.0926 right_yaw=0.0506 right_pitch=-0.2976 right_roll=-0.0951 right_gripper=0.6895\nstate[joint_eff]: [-0.3214, -1.1829, 6.9675, 1.6923, -0.0513, -0.0708, -0.0122, -0.4444, -8.294, 5.6274, 0.823, -0.1978, -0.0366, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd92934829b9641c1322a2611a0e7c2f91c3e690c23bece0a574f23ee6ae797b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3eee5d179a095c1880371f9af5c67035d4355433252942fa6cb80ce734e509a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b53b493e74eaeab03bb674290756b9ac92eb02dc66975c2024f45dc5f73ace4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.916 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, 0.7986, 0.6067, -0.4355, -0.0189, -0.0391, 0.9992, 0.1509, 1.5276, 1.0698, -0.3931, 0.1085, 0.0483, 0.6895]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.0492 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4145 right_y=0.0473 right_z=0.1367 right_yaw=0.0291 right_pitch=-0.2638 right_roll=-0.0508 right_gripper=0.6895\nstate[joint_eff]: [-0.0205, -1.0872, 6.9949, 1.7705, -0.0171, -0.0806, -0.0122, -0.3624, -9.6342, 9.6479, 1.9072, 0.0513, -0.022, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.8345, 2.035, 1.8622, -0.9123, 0.4843, 0.5934, 0.6895]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.165 left_yaw=0.0027 left_pitch=-0.0675 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3911 right_y=0.3143 right_z=0.1649 right_yaw=0.0637 right_pitch=-0.3204 right_roll=-0.0843 right_gripper=0.6895\nstate[joint_eff]: [-0.2393, -1.2239, 6.9675, 1.8681, -0.0464, -0.022, -0.0122, 0.212, -10.8513, 8.9504, 1.1502, 0.5788, 0.1685, 1.033]\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, -0.4587, -0.0189, -0.0387, 0.9992, 0.8375, 2.0407, 1.57, -0.6056, 0.511, 0.5938, 0.6895]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.164 left_yaw=0.0027 left_pitch=-0.0725 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3905 right_y=0.3097 right_z=0.0926 right_yaw=0.0506 right_pitch=-0.2976 right_roll=-0.0951 right_gripper=0.6895\nstate[joint_eff]: [-0.3214, -1.1829, 6.9675, 1.6923, -0.0513, -0.0708, -0.0122, -0.4444, -8.294, 5.6274, 0.823, -0.1978, -0.0366, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd92934829b9641c1322a2611a0e7c2f91c3e690c23bece0a574f23ee6ae797b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3eee5d179a095c1880371f9af5c67035d4355433252942fa6cb80ce734e509a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b53b493e74eaeab03bb674290756b9ac92eb02dc66975c2024f45dc5f73ace4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmggKEAgRGAI4AUIIdGhpbmtpbmcSDKxFFFNolsjZG2WyGxoMCZO8sV/Yb16fJkkJIjAL/dGRQaSIvEtK5vL5c31w5hoakl2Fmb0o2RLDp4SxGMezqSsiXezcOfcm4aVgRDsqtwehdVazuOYn7SK/auUOZVSuylAV9T6f07DOUf9++pveQ6E8Z1xbW2jC9riIAKjS63x0oA/oW+Um/jlZuykUV7q7Lt3UkTDB8T0F9mOHEwOoRiYWSgugAQIyvHo1XHqPuyykRsaWz4ZskendjKKMvepajvrypdXvBdOd/sZp/P8qxJNsv5YrM207R7DStnT95TSmoZ2C56qO8gStyvn6cFjeZ0N184yGLmt65lM6xOtKvnxn88Q+XKj8du/Q6pChZgwA7VAkOFgTw7IiNRgHvYDwwnmDjHjGiUdOlwCT/K/70cFaXJb9OsG2meQ7+VyfX3SzZpEi0rnBUfFo7Wi2XX0r1d5XdGFcr8LhNbxNVcH1sx4rY0C7DlM5XdhfWqv9OEXE4moTAqo8tGV/f8wBhIN8Y2hjG0w1dTHtlFRGRNshYbJYvSjwNj5xAgwqjqMoxowN5gaOBxEPMtlDy+f4KSoJirB0CkpB/diP38KbaK5teeiJmWWPu8HQPdP4qRoShDYwfmBcbPzp8uqoEqGCt+r3Ru0CW+T8rcnS0jFv5Byn1Ivw743wk1TUhsau2km+pHy6zKVGyFyyC4GPqJ94Y3RfDnakMwf8Oa7Owl9ZYf+KsgfaeMpL0GnWSkqV8645KOAosigfQTJC7cbIDKS7xdLKrkT71+2l+VpuWkbETQBz7cP71y5Tn25UBGRJh1ltfQBmuhZJFH0/psLsMSRx4acPvQyfBbJCrY6c+mH4Mankofo5Sw/mBwh40TnSVZHydaSPjQAWCu9cXcsL6j8QAeoji9LrfLUxZx8UxxTUrKAjqy5oXVvKHHdjEhTr4n76rxj1wZyeBj0+Z/XAwhi37UCJreyC39kZF3OxfuXSaXZwtv4TgUbp4QhoOBVEQJIGk6NOHWJRutO/sOq6a/RRGgICkUuCsZWCosXmgtgXYVveZHWJv+pXuZ5vNZ8VwzaAU/4BHOrrpoyVLRRWQzTozhY8WVTMTTGaXcd8NeRgmiO7CljHuqAi3pj9FRAebU88Geam1oYQOriqZkoYTtKRyhJjcigiY6N0vYNI1MG7pEIR747fmiQY82UQM8yMEpoIP/Y2cXGEwz0FqMc29Iw9Q7L+QHbMn3CZVVp0WIaSTe675PZeXMRL6DjKW7W0rffWPr6LoXw8eYLRd7oVs66FFaV2kCD5ed+nGYcSctkgIuEt5KiRbTPOUACz5Rw4HyQF+sL0BNoOJnSXSwZZV8+UOyJdsOZIk6/PzFN0Mf4G1sfxnJQJtMYRAQwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0154CJQx6MaSLbcaYDmkuPVW",
      "input": {
        "note": "The descent stopped at z≈0.09, about 2 cm short of the target, consistent with the can resting on the burner top. 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 4 steps (0.4s)",
      "tool_use_id": "toolu_0154CJQx6MaSLbcaYDmkuPVW",
      "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, -0.4709, -0.0189, -0.0387, 0.9992, 0.8368, 2.046, 1.5547, -0.6098, 0.5041, 0.5869, 0.9954]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1617 left_yaw=0.0028 left_pitch=-0.0847 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3868 right_y=0.3067 right_z=0.0838 right_yaw=0.0527 right_pitch=-0.3199 right_roll=-0.1136 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.2103, 7.0222, 1.8291, -0.0317, -0.0122, -0.0122, -0.2803, -11.6034, 7.6376, 1.2869, 0.232, 0.022, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6737ee833e7939c2db94650f231b7d7c9f215c31dc8bbc71ced214a8cef062ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f338b11a7404248fcc3baa69d769ea74e16f13ad99549a27ea3f5a1207eed10e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:842536255d81d4fd123a3a8323a37407516762e54ca1b24cd13291339fc1139a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 13.49 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, -0.4538, -0.0189, -0.0387, 0.9992, 0.8345, 2.035, 1.8622, -0.9123, 0.4843, 0.5934, 0.6895]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.165 left_yaw=0.0027 left_pitch=-0.0675 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3911 right_y=0.3143 right_z=0.1649 right_yaw=0.0637 right_pitch=-0.3204 right_roll=-0.0843 right_gripper=0.6895\nstate[joint_eff]: [-0.2393, -1.2239, 6.9675, 1.8681, -0.0464, -0.022, -0.0122, 0.212, -10.8513, 8.9504, 1.1502, 0.5788, 0.1685, 1.033]\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, -0.4587, -0.0189, -0.0387, 0.9992, 0.8375, 2.0407, 1.57, -0.6056, 0.511, 0.5938, 0.6895]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.164 left_yaw=0.0027 left_pitch=-0.0725 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3905 right_y=0.3097 right_z=0.0926 right_yaw=0.0506 right_pitch=-0.2976 right_roll=-0.0951 right_gripper=0.6895\nstate[joint_eff]: [-0.3214, -1.1829, 6.9675, 1.6923, -0.0513, -0.0708, -0.0122, -0.4444, -8.294, 5.6274, 0.823, -0.1978, -0.0366, 1.033]",
      "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, 0.7986, 0.6067, -0.4709, -0.0189, -0.0387, 0.9992, 0.8368, 2.046, 1.5547, -0.6098, 0.5041, 0.5869, 0.9954]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1617 left_yaw=0.0028 left_pitch=-0.0847 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3868 right_y=0.3067 right_z=0.0838 right_yaw=0.0527 right_pitch=-0.3199 right_roll=-0.1136 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.2103, 7.0222, 1.8291, -0.0317, -0.0122, -0.0122, -0.2803, -11.6034, 7.6376, 1.2869, 0.232, 0.022, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6737ee833e7939c2db94650f231b7d7c9f215c31dc8bbc71ced214a8cef062ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f338b11a7404248fcc3baa69d769ea74e16f13ad99549a27ea3f5a1207eed10e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842536255d81d4fd123a3a8323a37407516762e54ca1b24cd13291339fc1139a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper opened; now lifting the arm clear and returning it toward home to verify placement in the overhead view.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D85ryV8fJn8VfakBqTXf9i",
      "input": {
        "note": "Gripper is open and the can appears resting on the burner. Lifting the right arm and moving it back toward home so the overhead camera can confirm the placement.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01D85ryV8fJn8VfakBqTXf9i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.0311, 1.1091, 1.0088, -0.8413, 0.0784, -0.0765, 0.9965]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.0946 left_roll=-0.0015 left_gripper=0.9992 right_x=0.2972 right_y=-0.001 right_z=0.1846 right_yaw=0.0054 right_pitch=-0.3618 right_roll=-0.1154 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.0735, 6.9675, 1.7167, -0.0317, -0.0757, -0.0122, -0.1573, -4.0684, 8.9231, 1.6581, -0.1001, -0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fec3c7acd86fdc9c6bc1f480437174eb0f0efb6a9038089ab510b37551904f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6f9f689c7366ecfb64e907414366548c589b129022f6b1e91de1fc78b3aefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2944e6d9aa2e142c792945652e76be167855241aa7fb27522b70a36781c5020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 17.62 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, -0.4587, -0.0189, -0.0387, 0.9992, 0.8375, 2.0407, 1.57, -0.6056, 0.511, 0.5938, 0.6895]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.164 left_yaw=0.0027 left_pitch=-0.0725 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3905 right_y=0.3097 right_z=0.0926 right_yaw=0.0506 right_pitch=-0.2976 right_roll=-0.0951 right_gripper=0.6895\nstate[joint_eff]: [-0.3214, -1.1829, 6.9675, 1.6923, -0.0513, -0.0708, -0.0122, -0.4444, -8.294, 5.6274, 0.823, -0.1978, -0.0366, 1.033]",
      "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, 0.7986, 0.6067, -0.4709, -0.0189, -0.0387, 0.9992, 0.8368, 2.046, 1.5547, -0.6098, 0.5041, 0.5869, 0.9954]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1617 left_yaw=0.0028 left_pitch=-0.0847 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3868 right_y=0.3067 right_z=0.0838 right_yaw=0.0527 right_pitch=-0.3199 right_roll=-0.1136 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.2103, 7.0222, 1.8291, -0.0317, -0.0122, -0.0122, -0.2803, -11.6034, 7.6376, 1.2869, 0.232, 0.022, 0.0269]",
      "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, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.0311, 1.1091, 1.0088, -0.8413, 0.0784, -0.0765, 0.9965]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.0946 left_roll=-0.0015 left_gripper=0.9992 right_x=0.2972 right_y=-0.001 right_z=0.1846 right_yaw=0.0054 right_pitch=-0.3618 right_roll=-0.1154 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.0735, 6.9675, 1.7167, -0.0317, -0.0757, -0.0122, -0.1573, -4.0684, 8.9231, 1.6581, -0.1001, -0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fec3c7acd86fdc9c6bc1f480437174eb0f0efb6a9038089ab510b37551904f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6f9f689c7366ecfb64e907414366548c589b129022f6b1e91de1fc78b3aefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2944e6d9aa2e142c792945652e76be167855241aa7fb27522b70a36781c5020",
        "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"
    },
    {
      "text": "The can rests on the burner plate but near its right edge rather than over the coil. I'll re-grasp and shift it toward the coil centre.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MJfQEbxbd3GDjDc5HhW3SR",
      "input": {
        "note": "Overhead view shows the can lying on the burner's right edge, off the coil. Returning above the can to re-grasp it and centre it on the burner.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.31,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01MJfQEbxbd3GDjDc5HhW3SR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4999, -0.0189, -0.0387, 0.9992, 0.8314, 2.0777, 1.9972, -1.1057, 0.4683, 0.6083, 0.9987]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.155 left_yaw=0.0028 left_pitch=-0.1178 left_roll=-0.001 left_gripper=0.9992 right_x=0.3814 right_y=0.3053 right_z=0.172 right_yaw=0.0357 right_pitch=-0.4015 right_roll=-0.1401 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.4838, 7.159, 1.7949, -0.0513, -0.0659, -0.0122, 0.0479, -10.6051, 8.1573, 0.9109, 0.4957, 0.2808, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d68fc915d6fcf0b7e112ccf5b3b7a0bb6904e93dfb7a90883c47faf96f06d23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce410740f33425ed39816b409ca27031b812cde53d4de41b073363b6599a83d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe35ca1d7b5e93d368d5c6f201e3129dfc8c16811c184cabd762bb12aeffd955",
        "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 · 13.08 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, 0.7986, 0.6067, -0.4709, -0.0189, -0.0387, 0.9992, 0.8368, 2.046, 1.5547, -0.6098, 0.5041, 0.5869, 0.9954]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1617 left_yaw=0.0028 left_pitch=-0.0847 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3868 right_y=0.3067 right_z=0.0838 right_yaw=0.0527 right_pitch=-0.3199 right_roll=-0.1136 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.2103, 7.0222, 1.8291, -0.0317, -0.0122, -0.0122, -0.2803, -11.6034, 7.6376, 1.2869, 0.232, 0.022, 0.0269]",
      "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, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.0311, 1.1091, 1.0088, -0.8413, 0.0784, -0.0765, 0.9965]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.0946 left_roll=-0.0015 left_gripper=0.9992 right_x=0.2972 right_y=-0.001 right_z=0.1846 right_yaw=0.0054 right_pitch=-0.3618 right_roll=-0.1154 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.0735, 6.9675, 1.7167, -0.0317, -0.0757, -0.0122, -0.1573, -4.0684, 8.9231, 1.6581, -0.1001, -0.0415, 0.0952]",
      "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, 0.8028, 0.6067, -0.4999, -0.0189, -0.0387, 0.9992, 0.8314, 2.0777, 1.9972, -1.1057, 0.4683, 0.6083, 0.9987]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.155 left_yaw=0.0028 left_pitch=-0.1178 left_roll=-0.001 left_gripper=0.9992 right_x=0.3814 right_y=0.3053 right_z=0.172 right_yaw=0.0357 right_pitch=-0.4015 right_roll=-0.1401 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.4838, 7.159, 1.7949, -0.0513, -0.0659, -0.0122, 0.0479, -10.6051, 8.1573, 0.9109, 0.4957, 0.2808, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d68fc915d6fcf0b7e112ccf5b3b7a0bb6904e93dfb7a90883c47faf96f06d23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce410740f33425ed39816b409ca27031b812cde53d4de41b073363b6599a83d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe35ca1d7b5e93d368d5c6f201e3129dfc8c16811c184cabd762bb12aeffd955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019fZkUurs6as2dCL8KEPgBg",
      "input": {
        "note": "The wrist view shows the coil roughly under the jaw column and the can off to the right, so the can sits ~5 cm to the arm's right and the burner coil is nearer the base than I assumed. Shifting right and lowering to line up over the can.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.26,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019fZkUurs6as2dCL8KEPgBg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7444, 1.9972, 1.6184, -0.9077, 0.4362, 0.5453, 0.9987]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.152 left_yaw=0.0029 left_pitch=-0.1331 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3743 right_y=0.2482 right_z=0.0967 right_yaw=-0.0269 right_pitch=-0.5003 right_roll=-0.2311 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -1.306, 6.9265, 1.7314, -0.0415, -0.0464, -0.0122, 0.4855, -14.4752, 8.1162, 1.37, 0.2662, -0.1294, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aa990da50ae2bb9d8f3a22cfbef053111607a6b2f384c7054c52976a01d6503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35254115e0900b0e47108143650b769604ac8dfa01ec645913e1dd504cdd577a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b69a5af97a49d30ad5514dc9f1dba7eb05e55f1b3d09c62d5a59b0b15d9fda04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 16.83 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, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.0311, 1.1091, 1.0088, -0.8413, 0.0784, -0.0765, 0.9965]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.0946 left_roll=-0.0015 left_gripper=0.9992 right_x=0.2972 right_y=-0.001 right_z=0.1846 right_yaw=0.0054 right_pitch=-0.3618 right_roll=-0.1154 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.0735, 6.9675, 1.7167, -0.0317, -0.0757, -0.0122, -0.1573, -4.0684, 8.9231, 1.6581, -0.1001, -0.0415, 0.0952]",
      "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, 0.8028, 0.6067, -0.4999, -0.0189, -0.0387, 0.9992, 0.8314, 2.0777, 1.9972, -1.1057, 0.4683, 0.6083, 0.9987]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.155 left_yaw=0.0028 left_pitch=-0.1178 left_roll=-0.001 left_gripper=0.9992 right_x=0.3814 right_y=0.3053 right_z=0.172 right_yaw=0.0357 right_pitch=-0.4015 right_roll=-0.1401 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.4838, 7.159, 1.7949, -0.0513, -0.0659, -0.0122, 0.0479, -10.6051, 8.1573, 0.9109, 0.4957, 0.2808, -0.1441]",
      "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, 0.804, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7444, 1.9972, 1.6184, -0.9077, 0.4362, 0.5453, 0.9987]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.152 left_yaw=0.0029 left_pitch=-0.1331 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3743 right_y=0.2482 right_z=0.0967 right_yaw=-0.0269 right_pitch=-0.5003 right_roll=-0.2311 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -1.306, 6.9265, 1.7314, -0.0415, -0.0464, -0.0122, 0.4855, -14.4752, 8.1162, 1.37, 0.2662, -0.1294, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aa990da50ae2bb9d8f3a22cfbef053111607a6b2f384c7054c52976a01d6503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35254115e0900b0e47108143650b769604ac8dfa01ec645913e1dd504cdd577a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69a5af97a49d30ad5514dc9f1dba7eb05e55f1b3d09c62d5a59b0b15d9fda04",
        "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_017evSMvJZ8GEE2GSH9AMmUx",
      "input": {
        "note": "The tool has drifted to pitch -0.5 / roll -0.23, which distorts the wrist view; the can still appears to the right of the jaws. Straightening the tool and shifting further right and slightly forward to get over the can.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.41,
          "right_y": 0.22,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_017evSMvJZ8GEE2GSH9AMmUx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8062, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.6922, 1.7679, 1.0306, -0.2047, 0.5869, 0.4614, 0.9987]\nstate[eef_state]: left_x=0.2741 left_y=0.0016 left_z=0.1493 left_yaw=0.0025 left_pitch=-0.1468 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3844 right_y=0.1962 right_z=0.0751 right_yaw=-0.05 right_pitch=-0.1647 right_roll=-0.1411 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.1145, 6.9812, 1.7021, -0.0659, -0.0464, -0.0122, 0.0752, -9.0735, 6.9538, 1.7314, 0.2613, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7801a14414854e4934b613b8ebd6d0d18932f401fd20e3b8c0544ecd01d579b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41136b6711451fc04f6087d2ddf9898bb5c8fe42e06756285057764311dae485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eea1799a476408f0c1327a6fce96a69513aa3fc3abd314d77a75c4c4025647ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.84 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, 0.8028, 0.6067, -0.4999, -0.0189, -0.0387, 0.9992, 0.8314, 2.0777, 1.9972, -1.1057, 0.4683, 0.6083, 0.9987]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.155 left_yaw=0.0028 left_pitch=-0.1178 left_roll=-0.001 left_gripper=0.9992 right_x=0.3814 right_y=0.3053 right_z=0.172 right_yaw=0.0357 right_pitch=-0.4015 right_roll=-0.1401 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.4838, 7.159, 1.7949, -0.0513, -0.0659, -0.0122, 0.0479, -10.6051, 8.1573, 0.9109, 0.4957, 0.2808, -0.1441]",
      "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, 0.804, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7444, 1.9972, 1.6184, -0.9077, 0.4362, 0.5453, 0.9987]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.152 left_yaw=0.0029 left_pitch=-0.1331 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3743 right_y=0.2482 right_z=0.0967 right_yaw=-0.0269 right_pitch=-0.5003 right_roll=-0.2311 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -1.306, 6.9265, 1.7314, -0.0415, -0.0464, -0.0122, 0.4855, -14.4752, 8.1162, 1.37, 0.2662, -0.1294, -0.022]",
      "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]: [-0.0193, 0.8062, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.6922, 1.7679, 1.0306, -0.2047, 0.5869, 0.4614, 0.9987]\nstate[eef_state]: left_x=0.2741 left_y=0.0016 left_z=0.1493 left_yaw=0.0025 left_pitch=-0.1468 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3844 right_y=0.1962 right_z=0.0751 right_yaw=-0.05 right_pitch=-0.1647 right_roll=-0.1411 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.1145, 6.9812, 1.7021, -0.0659, -0.0464, -0.0122, 0.0752, -9.0735, 6.9538, 1.7314, 0.2613, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7801a14414854e4934b613b8ebd6d0d18932f401fd20e3b8c0544ecd01d579b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41136b6711451fc04f6087d2ddf9898bb5c8fe42e06756285057764311dae485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea1799a476408f0c1327a6fce96a69513aa3fc3abd314d77a75c4c4025647ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8hQKEAgRGAI4AUIIdGhpbmtpbmcSDJE6d2wMsv1/BhZHzRoMCiB0Mshr61QUX/CSIjC9upko29vK3wAIPLU70qQjxPZKQu+ycfJ8xaF5U+3V48YFwVyEVoPIpCAfvtbGX/QqjxSWvxprd1cXIauAfwRRSB/uiaGebyvnmzft9Sb4+T07GOosGpWzjXl1D5q3Q/XyxnbLq7/YmnpfY4OkMhCiXjJv+3sfXNfw1GC9UOq4At4pW7ZS9AogKzM5+5LlvYGNCCe27bdFmKZab/DigYOWeVwgih7/j6VozYBsZBA1fHSkL/Oh+jIESBeQ2Mbn6DFdmnrTaeL9EmV+9BikHrdpmO52z5yYNwsWhoJfBdfaL0cIrE0mxsc8egeuCTUzvpojnwgp6TuDUohQc3xVFW0Gpu+CsQh9QRZqyMRp1BaXdQPVqtu8/4eJppHeiX/jtzsJoMxmiePuwFuR6Q2Myw4aVLhZEtZEmK1OeONOfDoq9I5Nw4jNv0dvqT0arGZvO2rC+enIzCIyOz+lRbf/eG1SGcC7wuOvbZusCAMPuT+jeaiSx29HBexGvPqAP0B/2CO6n9fUM/hRcmh/kAZSGAsQ0/HCoTP8k2Te1ven1Vs5smlFO3uJDb17a5lDrgjR8cPYLUZeWskvVoyFrjH9x+RkE4Ei20mmwNRa3wb9n822Dj+hc3TChe9pQcFmmEamLXxFtf3JxKQKlrb7s13SxG9/sWQASztNdOhB3E7lql6q2TxYmUeC4uJKp3mCEBmwQkVXY2hCcT8S5RnbtYqzYq5EuMzgprqD2BJgC28EY97ZAJwPYv0vjlvLVwg1R8rCrM825bnWQLvkj5YSmvse/+G8P8qAqF5oAaUGkU7LtbrrUqhuzT7zZrpCtV+zbi4vF3US3RCaNHRp0cUv1n0DVV2e/48TDnbsoByg63s86jn7fhP/z8vAG65KtBnMiAVmV3Cro57p7tIfuYXVYwXTJjx3T8zhNPpQxXTFu2tlFqWPU2HrgAIqEDzI1sCyYeTMJMBwjxo8L0oqKcx2nWFBsmtiUzFNfnpPHh+b/F+MgN8vqfLuZAwQyAJ/134KUaokXolINytPHh6LhbddIK23RAgF6ekOeNTNvCAv6pnccge8BtAs5DJZRzFRdeiCpKNRcnGwzuWo49pynP7hDf9yqStVPd4r6e2qs8AissViAWsLH5frjACokaUh7FK8WaprY8Um+4dhHC2WPKZQ41JcS10Y/7yMGjKXhedlJhySpn0nVoAM4R/DkZwdalqFvEvBD7Elr+AzquT1B47Wr6koKKj0vu8aR3OXXKiVt7rSI/EOIiyXe3EmgbkoxUChoHfFInn/gmrvswNJEUqfv064Sr9g+WJDXpIoKnFP3z3vHMZEPsd3x2bhEhbahnUSKOZFiAISTb8lF45/k845eIJEFy1dSm74rcwhVeFF1rDkhF7y/J9SInzpG4QLxdNognPc512EKUys5SoPdG2fU79zbr9WFkPi95C5omldlQ6mDnWjmbu7PWTMbx4MRNRnp7TOkjL7I04ex6VxooCyzDc8g9CElmU4XU8oGYjpxs/XDCAcq6i5UZ596bF5yOcXO7VkRKVBsuRKumkFuwmaPvB4F/vCwnW6Cn5xIFXJL6+fQG70dt+RTCZ7H8AsBM0aZZpMyhijkdMDwlY1ldf5I203zcvcuKx5MWQXgIIecOoxyX12qMfA/9YmuBt9DEZTRxxyS3KLkcROg1ptBv/JvanX+0EUglGZhQqfvTNGdhC8NDcGbZTko4TwSssr7LHniLAlhoJ0RLXApgHNh32itIHVP/7S0VbAUKh2p5n9h7cXXZG1u54B6EwjNzhgUKPvNycntRLgibvwAhaQa3wapS3o9PVJVCW0Qy/DB0/1ghCiqCAFB1QJ204v8yE8BCOEf6rwiuuIN4TisPAOZT33L+RZ9rMEIRdxm86iVTCNtFMp61hYJhwQylLqLzgb/eaK4QHUK3FB6HCj5QMuOyzPmqcyceWE9KoCcAeAkCv/oIcadAgP483Bd8lp5ZeLCeN4kNnNqKPWc1jYmA1mJy1aG+NeFoc2LCK+219SWJ9d6VsosYCqDl7QBsatNvOxo7jv8ipaPLcEdlY7Nt++/nlfxAvPxaxhRL9PKL5/AjG/SWnfNXI4MLAQ/d4qHvsyEPEILpNo0G3GkvuCXg2XAdcrZG4+H6E3C/CI1KLQknKf23aQlJe65/4J5rFGxeclYVEMsUZqW9kdPuq4aWeR3eVQXQhL53bbJw1R8n+seHHTjciNdtwvQG0aGlkEDBf5uspy0h1WnVQJ4lVBDlocRXIGa5YYIR7zkY5hctYluZvJV7E/71tAfUPXHvDOIRTwQ45q3pijl3Ve70CGB80wav1a9oAsnyKNKwCR07kx5GYRuoxmRmvprztW/h9J1Iy6E2hShR0EBkMwQ6mlJsgUwYU/PI103NgpwiVDZWkuM6STh1z/5aenRnEGj2RjkiWxMZtXZNQyzB1sqOhujdUfRysFoVXILH9aQNBW//8p1aSFwvXNs14YH5Oc9do/lVMh2c/6TpZS+GxD0OGMZgpUYnho9yVUDbtIA55XnJ6gNCyEhqKq7xRpGe8KfatB9i8+GuDiZTq6tFQdQRv2ZLAuCjThuaVdUcMxYGqenDc+wArsXgEyTG7SE5Yw8kDSyClL1g8o2714kvpCv576VWv+OKqtA0tVIWZM4emkRzvNdQVnNyTRd1QtlMN8YoK4TcWULmOw805CwT3a3DpMlITtRg0lMkNTAX7ayVzKbztxDeWGnh0Y3xrtGY3JV8ItskKjJXvMN95+sDeYbeC//vXe+X1jcyulucDMYsDnemyREc4wFOFaPSVr2wmvWNVIfVgnbK4ynYvNSU1WHhlTZNO1lrxdFGUP2sz3ofmhVBzguHw5cyQO36+JKnKIkwxbyk91BtUqiJBAyp2vEnF5+kp1lX7VJo2XhQi3FZuyDhHvDhgv8ppFCKhLJiWn1QyGhY1F1qIZJYry1X4qxmkPaO/Qug4/xJ6yVfW+e7anFZgbv1qPuuPdemxlXeKcoRA1UNIY3XxOsERuhnLvMnCBdxiAe/sT/M185OsK2h/AMpQIzbAk+bpb0DujFYs7dICPyzUDggeeTuPRMELdvycs1kF32MN38Ytor98BbtNvK9Tj5Kpjb723bI6Bhtbxw2PjR0Mlk18mtt0tNWHSEcxm7z4x7Lb6eTNqpIVx4bSI9UzJwhzvg/Pgqts7XMWyQYqqXnUd5GwxMbraLs1JiP1edEWqV+ol6mgq3On6IHR97sqfvEvYCOfSdVFQJn3+q3D8tnP4h3BPyrG6PRWS6Gc+xBESY5cT0laXy7irelUBkWx0yMuxxWuk20ckhaVak3Bh19Efd/bRjHUPAU71m9g2oDoUYIpjuSHUQp2P0lBl4dqqzoR9PmeJBYZZBPxJAn74pTEkEeoHNLTInln9wx+yo4jsKz5XMCs1/sP67qSYS1N+taXW16chMvrUCYFVucc0VcHqJQodIdUDx2aQFS5XIqn5q6zHI+1/GmHfY+uUnNvIOU7gQhwNVigiujhlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RLzt3ydiWrHZFnNzcV849Z",
      "input": {
        "note": "The can now lies diagonally on the table just right of the burner, ahead and to the right of the jaws in the wrist view. Moving forward-right and yawing the tool clockwise to line the jaws up across the can's axis.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.43,
          "right_y": 0.16,
          "right_yaw": -0.5,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RLzt3ydiWrHZFnNzcV849Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5373, -0.0189, -0.0387, 0.9992, 0.6529, 1.9083, 1.2209, -0.3336, 0.7868, 0.7799, 0.9987]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1467 left_yaw=0.003 left_pitch=-0.1606 left_roll=-0.0 left_gripper=0.9992 right_x=0.4206 right_y=0.1687 right_z=0.086 right_yaw=-0.3954 right_pitch=-0.0659 right_roll=-0.0614 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.306, 6.8991, 1.6728, -0.0562, -0.0611, -0.0122, -0.7726, -8.9915, 7.9111, 1.16, 0.5788, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f63f6ac34cab12b63411d5ec3c6705cf4ff421bffa8e1d9238b0c577149fe469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4505c506d5abe9136950232ab96e64cb0959e9f552509767fa563c9596e30aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b1e71b444f619c7896c5233d2a9cc41e9f3362d22d054032275151ef71c3d54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 7.632 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, 0.804, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7444, 1.9972, 1.6184, -0.9077, 0.4362, 0.5453, 0.9987]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.152 left_yaw=0.0029 left_pitch=-0.1331 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3743 right_y=0.2482 right_z=0.0967 right_yaw=-0.0269 right_pitch=-0.5003 right_roll=-0.2311 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -1.306, 6.9265, 1.7314, -0.0415, -0.0464, -0.0122, 0.4855, -14.4752, 8.1162, 1.37, 0.2662, -0.1294, -0.022]",
      "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]: [-0.0193, 0.8062, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.6922, 1.7679, 1.0306, -0.2047, 0.5869, 0.4614, 0.9987]\nstate[eef_state]: left_x=0.2741 left_y=0.0016 left_z=0.1493 left_yaw=0.0025 left_pitch=-0.1468 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3844 right_y=0.1962 right_z=0.0751 right_yaw=-0.05 right_pitch=-0.1647 right_roll=-0.1411 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.1145, 6.9812, 1.7021, -0.0659, -0.0464, -0.0122, 0.0752, -9.0735, 6.9538, 1.7314, 0.2613, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5373, -0.0189, -0.0387, 0.9992, 0.6529, 1.9083, 1.2209, -0.3336, 0.7868, 0.7799, 0.9987]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1467 left_yaw=0.003 left_pitch=-0.1606 left_roll=-0.0 left_gripper=0.9992 right_x=0.4206 right_y=0.1687 right_z=0.086 right_yaw=-0.3954 right_pitch=-0.0659 right_roll=-0.0614 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.306, 6.8991, 1.6728, -0.0562, -0.0611, -0.0122, -0.7726, -8.9915, 7.9111, 1.16, 0.5788, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f63f6ac34cab12b63411d5ec3c6705cf4ff421bffa8e1d9238b0c577149fe469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4505c506d5abe9136950232ab96e64cb0959e9f552509767fa563c9596e30aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1e71b444f619c7896c5233d2a9cc41e9f3362d22d054032275151ef71c3d54",
        "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_01C2yGuYiZpxbvcJpCeTtpWX",
      "input": {
        "note": "The can is now aligned with the jaw column in the wrist view, but its near end sits above the jaw row, so the can centre is several cm beyond the fingertips. Advancing ~6 cm along the tool's forward direction and descending to grasp height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.475,
          "right_y": 0.145,
          "right_yaw": -0.4,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C2yGuYiZpxbvcJpCeTtpWX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9986]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1461 left_yaw=0.003 left_pitch=-0.1636 left_roll=0.0 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.1966, 6.8991, 1.58, -0.0855, -0.0708, -0.0122, -0.4034, -9.1009, 7.9795, 1.2772, 0.5543, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368e0411b35076b777f649a4428b5f9cd9a22e43369cdf20b21eb40a48b09bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:902e09e0116100d85b905d94af645b54ba73e589ef24cb7033ea691b1f371036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6d565bd5ec0ec596fa5e3e54dbb445e50786a94fb5f1f516586a37263ca98d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 8.109 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]: [-0.0193, 0.8062, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.6922, 1.7679, 1.0306, -0.2047, 0.5869, 0.4614, 0.9987]\nstate[eef_state]: left_x=0.2741 left_y=0.0016 left_z=0.1493 left_yaw=0.0025 left_pitch=-0.1468 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3844 right_y=0.1962 right_z=0.0751 right_yaw=-0.05 right_pitch=-0.1647 right_roll=-0.1411 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.1145, 6.9812, 1.7021, -0.0659, -0.0464, -0.0122, 0.0752, -9.0735, 6.9538, 1.7314, 0.2613, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8082, 0.6067, -0.5373, -0.0189, -0.0387, 0.9992, 0.6529, 1.9083, 1.2209, -0.3336, 0.7868, 0.7799, 0.9987]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1467 left_yaw=0.003 left_pitch=-0.1606 left_roll=-0.0 left_gripper=0.9992 right_x=0.4206 right_y=0.1687 right_z=0.086 right_yaw=-0.3954 right_pitch=-0.0659 right_roll=-0.0614 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.306, 6.8991, 1.6728, -0.0562, -0.0611, -0.0122, -0.7726, -8.9915, 7.9111, 1.16, 0.5788, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9986]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1461 left_yaw=0.003 left_pitch=-0.1636 left_roll=0.0 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.1966, 6.8991, 1.58, -0.0855, -0.0708, -0.0122, -0.4034, -9.1009, 7.9795, 1.2772, 0.5543, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368e0411b35076b777f649a4428b5f9cd9a22e43369cdf20b21eb40a48b09bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:902e09e0116100d85b905d94af645b54ba73e589ef24cb7033ea691b1f371036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d565bd5ec0ec596fa5e3e54dbb445e50786a94fb5f1f516586a37263ca98d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvggKEAgRGAI4AUIIdGhpbmtpbmcSDEbyMzLtpYpcDI8H6BoM1Xh/arG6dLluOLTEIjDjq5zYJJqAQ4wmfRgJIlWHZXpuYCdGN4UR7KXUW18lBrxZZOdjgNgGV0hVsrN+fwAq2wd0+7VvmGKeLt98/B4rFVRS3oK7eE7sj3OjOxt1Me3MEtMsRAJyiXDM+pHK8zUdVVtbS0YsTnZvdS19fSho6Jxb/6iX/+aaoNlsSnfC8Qsywd1t16CpdOtJHHck+XhtwgMkpanYlWmQaYUF6HsuhvN/6O2Ajb7YO/r7war02g/u3kjnh7dVmyc3RQHYzz2QjNJoeDmJC0nkeKHlfLesxz82X+APzFNl5Tdl9Wp7jEymJpA9R8o0u7XWbQUE+QojEh0xeaK6JIWaDjpiiBfcN0JnMbByrpRAcEKiXndMLFIJEXcqYD4KInHfZQIhF3UWDd+bOMUcTouBg3vA1ReoUop0fAMGeFxOUjQPwOZnhsdsIHbUZMOFYROTNHf09G78FtBPmfidl0WZ8+E88DlYMgFQ6ytvHC0T0gtXnwzFl0q1rnkRIEBaTFlZB1z1IDDWRP6kQfJnEdrnXyHKxRI9qf9As65E8PEgDX5g+PObfb5fXYQ6RfYGnB6tTPlvimBGg1SLtiqKHfEexbBzPrV8Cre/Bk8tyCTsltrmRzajTCRUmQiB3maMZyKLjl5iyvod74dITxMpt9bpAT7s47o+HSXmvwqt9NccXwXEKsaA4xuMo9kmUMOA+BuCNeTS7lKP7hyfj+iaPhnsXB1TU3GTcrxS0GlZoNm3Dw6XxuBg33LfjvCzlrj/9grSRcT7AOBGTwZvjZyTywsk3I0QmtFCbUVIVxj1ifO78b6dN6R68xQXbHq1t6HWc2pfyhrFjoSbIupWMrRcSUiYlILslxfVKx6GhVBvCJGCtJs2gshe/lFKrVats141xYtkBDnOSzp4+cvjUivp00M8Ix6CAbmmrG2E1+jcsbz11XrjpirI6fOXC4yRkDVJlXByYOmoSVIW1AhydvBbB5HjeA1mMWDyEQAJQL5nfhu/9MwINJ/CaEi0hstiWkQYJoF1BhX3gds7/UrrjeceGQT6JWy87dJcdgq1HYjrcMlZnroaHU9AGB9M7n17ziS9G6aYsvzlvDouJvQWjS2UALMfpGlfmZpDvg9+LD9g7D0bfGrnIpxLRCf06bPkC6whjv6qbGyVRcDFE5j2aArpDpsV/2GI4q+PtqXa1eXOMhwapojr5I1DcxlveLKOXX+TgtuEJdWmctyDayVSzEhKt/MMJAzfmdVgTtppbGAQCxyaZZDRhQZEktC46sGa2hNoFchYofsR0KI/i/8EoDw5s8+kbpzVka3UOh00vQy68TBZZDvjRQAtX5MRWDNUj9TIgRCkV1rg6TmgfZazjOQYwzL16Tozy+tx04J4Y9p7svFERE3VYRwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SNy8Twmhcr8T5WitejxHQS",
      "input": {
        "note": "The last move stalled (arm still at x=0.42, z=0.09), likely an awkward IK target with pitch pinned at 0. Retrying with a smaller step and pitch left free.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.15,
          "right_yaw": -0.4,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SNy8Twmhcr8T5WitejxHQS",
      "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, -0.5556, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9987]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.003 left_pitch=-0.1804 left_roll=0.0004 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -1.2786, 7.0769, 1.7167, -0.0562, -0.0464, -0.0122, -0.4034, -9.1145, 7.9795, 1.2967, 0.5397, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91322fcf96d7622ebceb68a7e29cfe081c8275732850d949cbb7c6cd51b5f751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7ef1694049a12349c1e086ce2db326c42f0941f3a4cd6443d9b59443fe1c6bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de1e37c89b56ae5e14a4f09f735949709b729460a19e0e05fc09d3a09c4ca33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 17.74 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, 0.8082, 0.6067, -0.5373, -0.0189, -0.0387, 0.9992, 0.6529, 1.9083, 1.2209, -0.3336, 0.7868, 0.7799, 0.9987]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1467 left_yaw=0.003 left_pitch=-0.1606 left_roll=-0.0 left_gripper=0.9992 right_x=0.4206 right_y=0.1687 right_z=0.086 right_yaw=-0.3954 right_pitch=-0.0659 right_roll=-0.0614 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.306, 6.8991, 1.6728, -0.0562, -0.0611, -0.0122, -0.7726, -8.9915, 7.9111, 1.16, 0.5788, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9986]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1461 left_yaw=0.003 left_pitch=-0.1636 left_roll=0.0 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.1966, 6.8991, 1.58, -0.0855, -0.0708, -0.0122, -0.4034, -9.1009, 7.9795, 1.2772, 0.5543, 0.1392, -0.0171]",
      "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, 0.8097, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9987]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.003 left_pitch=-0.1804 left_roll=0.0004 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -1.2786, 7.0769, 1.7167, -0.0562, -0.0464, -0.0122, -0.4034, -9.1145, 7.9795, 1.2967, 0.5397, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91322fcf96d7622ebceb68a7e29cfe081c8275732850d949cbb7c6cd51b5f751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7ef1694049a12349c1e086ce2db326c42f0941f3a4cd6443d9b59443fe1c6bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de1e37c89b56ae5e14a4f09f735949709b729460a19e0e05fc09d3a09c4ca33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4ggKEAgRGAI4AUIIdGhpbmtpbmcSDI2mxffam/xdo081YRoM1je+CFuf96vsDMHUIjC9wN5syw6+1O+UBCBhU1stPy8NwIAZnShl/IrH2tqNRrNkh1Yt4fd1nL/L+O6cgmEq/wc+uaZ9lAgseos631boqZA1HWk/0CkpzqKiOZLLpVhMVOddYgnjFZE+4/qe93JYi00gccJaXaINlVm9t3OHE51a25D5Wr+qon2pU48oeDU719JLi93sJfuGhlM2XD0mSo8ZxUJl7F1TqcGhTbnUhNCGsuCXpULgo5yrMcB/mayJo/dj0vzzITJ/aOvEwHBDTa6wMbAlqzHoomul/5fM2bWxx1ou6bCcLIHxPFGr8iNPmuDhxyaj2/utuePEG0qS9pi5bTb7My5fdFauEV9oSavuHF5ibsT0RhtI4sHKSyQSnIfHN42ssay7xWuarQkEqquHIoUsPOPA+D0vUZEZVTRvVYG5r1QRHXE9tKXx85G7gOLkgdc0gBidEwtFluVktiBX3/rP9BVoU/pXiQA6CQ4vpM//i1p1D7aVn8yupigUCI+/d8CglGtsCFkIvVRCl4UcmhiXtuN0OLgsTptqG7g2J4JRO9k8QDPJawMDksaKWRCUttvhTiLZDTPBHW5UJxctaKecVt1SyCTE9lQ1+1NKrBjemI1YU+kQmI0lXyx3N+lx7KOJIVZd21V95tpvPzkR/d9g71S2M5ntjQP5o4FMBmy+HiL2fiozDwTQpAZptHlsLz19HEcfccf+xk3cEj83ynDePhi4wu0up5XJh4y05I+yeHR2GCZcYkmMeDI9eiDqc9HKkDUonIogH9Ot946Okk9k3NyNvtuIWrLqSAerkxkxN6EfXFx+5U8hShe9Wkdu/zMwLfJ0uCm0Ipt/z9w9fLgWZMe4GqPyFwMX2c2kBDU11jJDUgZ6k8mzFnmoHN8QiAZfas30v2RG9SHH9PeK2t0/Kdrixc+/5T2pt3IbzKQeAKrseLXmqjX8fdDYz/AoEjZrF3KSVK2WPofED1aKY6hKkoZ3MdLSRBXtQ3vMnWyBslUs3oZOMCvm4JXsSo7qgH1E9zwTNJRL7FglH1mdAznzswC4HfCXHjIZXvGJ6sXcMEUiLqwel26tvh0W2UlzxsQEuRyP3X1WDZIy+ypZCrZekY5KeU9vH/GX9hmUdafVM4Wif/CSvYP+7v1le2X8u6nfoYjB23rI7d6bnDWuCZiXT/Tc9LIp4w3UOYYGx/YpAYpGP7J58/ZkeWpOtQnFd+7RYykqYG321CEprHEJ5UzUh9dbS/ePQt0rJKfZdhMqCV2HZSyCz4C1cdTHytwRqyRDuSHWm8YA4cx8nkXKND9Dk1O50M+d5PQTWzpI/qFKaiBP0gAAhHFP8YFpRGsyI5a9uWngz0CFiFipc4pTT6+i0TP/A/tzQuX8Hi+3plneJLLjHCXkf9Y7H7j7VIMeh9Jgqja9h1nv/gsxHulQErxIVZKJR1L/a5++LToYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XTU1FRXETqqvzp8smr86Rr",
      "input": {
        "note": "The arm has not moved at all for two commands; it may be resting on the burner's edge. Lifting straight up to free it before repositioning over the can.",
        "targets": {
          "right_yaw": -0.4,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XTU1FRXETqqvzp8smr86Rr",
      "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, -0.5636, -0.0189, -0.0383, 0.9992, 0.6392, 1.8366, 1.2953, -0.4984, 0.7956, 0.7868, 0.9986]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1884 left_roll=0.0009 left_gripper=0.9992 right_x=0.4169 right_y=0.1571 right_z=0.125 right_yaw=-0.4188 right_pitch=-0.0684 right_roll=-0.0759 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -0.8274, 6.9402, 1.6484, -0.0317, -0.0513, -0.0122, -0.5949, -11.4803, 8.5265, 1.3895, 0.398, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53295fe98424d5ced4fc005ce2dca168152cf9a733866c72bf3f1b605cb5884d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38c40bad452e3c5bec0e2fd475b366988b0ac2f4932fd688d51d83fa1cc4133c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4a267d4d78e6fcd6e48f330a4b8363556939166d7ea74bcbfd72f8838cb5920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 11.36 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, 0.8082, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9986]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1461 left_yaw=0.003 left_pitch=-0.1636 left_roll=0.0 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.1966, 6.8991, 1.58, -0.0855, -0.0708, -0.0122, -0.4034, -9.1009, 7.9795, 1.2772, 0.5543, 0.1392, -0.0171]",
      "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, 0.8097, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9987]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.003 left_pitch=-0.1804 left_roll=0.0004 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -1.2786, 7.0769, 1.7167, -0.0562, -0.0464, -0.0122, -0.4034, -9.1145, 7.9795, 1.2967, 0.5397, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.6392, 1.8366, 1.2953, -0.4984, 0.7956, 0.7868, 0.9986]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1884 left_roll=0.0009 left_gripper=0.9992 right_x=0.4169 right_y=0.1571 right_z=0.125 right_yaw=-0.4188 right_pitch=-0.0684 right_roll=-0.0759 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -0.8274, 6.9402, 1.6484, -0.0317, -0.0513, -0.0122, -0.5949, -11.4803, 8.5265, 1.3895, 0.398, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53295fe98424d5ced4fc005ce2dca168152cf9a733866c72bf3f1b605cb5884d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38c40bad452e3c5bec0e2fd475b366988b0ac2f4932fd688d51d83fa1cc4133c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a267d4d78e6fcd6e48f330a4b8363556939166d7ea74bcbfd72f8838cb5920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EKhm9KwLPzznLriRzSuJAW",
      "input": {
        "note": "The arm is free again. Overhead view shows the can slightly forward and to the right of the gripper; moving forward-right, lowering to 10 cm, and reducing the yaw to match the can's tilt.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.13,
          "right_yaw": -0.25,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EKhm9KwLPzznLriRzSuJAW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.4843, 1.8496, 1.1595, -0.2737, 0.6456, 0.5354, 0.9986]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1392 left_yaw=0.0029 left_pitch=-0.2014 left_roll=0.0012 left_gripper=0.9992 right_x=0.4374 right_y=0.1141 right_z=0.0828 right_yaw=-0.3402 right_pitch=-0.1407 right_roll=-0.1353 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1966, 6.8855, 1.6874, -0.0806, -0.0269, -0.0122, 0.9368, -9.5932, 7.4872, 1.8681, 0.2808, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:494d58d83c13ab4fcb4e22a7eac139f870ad34aa6edec78a605ff00310ce00cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc10f3fb5996bbb4377867b89a7853cb24555a9a51978e5c11647b8f0bf7b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:086d738cf4ccd8955aa9adb00179131db06fe0da3fcbc2c25fada33e739427dc",
        "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 · 10.16 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, 0.8097, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.6476, 1.9156, 1.2369, -0.3687, 0.8417, 0.865, 0.9987]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.003 left_pitch=-0.1804 left_roll=0.0004 left_gripper=0.9992 right_x=0.4214 right_y=0.158 right_z=0.0909 right_yaw=-0.4778 right_pitch=-0.034 right_roll=-0.038 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -1.2786, 7.0769, 1.7167, -0.0562, -0.0464, -0.0122, -0.4034, -9.1145, 7.9795, 1.2967, 0.5397, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.6392, 1.8366, 1.2953, -0.4984, 0.7956, 0.7868, 0.9986]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1884 left_roll=0.0009 left_gripper=0.9992 right_x=0.4169 right_y=0.1571 right_z=0.125 right_yaw=-0.4188 right_pitch=-0.0684 right_roll=-0.0759 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -0.8274, 6.9402, 1.6484, -0.0317, -0.0513, -0.0122, -0.5949, -11.4803, 8.5265, 1.3895, 0.398, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.4843, 1.8496, 1.1595, -0.2737, 0.6456, 0.5354, 0.9986]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1392 left_yaw=0.0029 left_pitch=-0.2014 left_roll=0.0012 left_gripper=0.9992 right_x=0.4374 right_y=0.1141 right_z=0.0828 right_yaw=-0.3402 right_pitch=-0.1407 right_roll=-0.1353 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1966, 6.8855, 1.6874, -0.0806, -0.0269, -0.0122, 0.9368, -9.5932, 7.4872, 1.8681, 0.2808, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:494d58d83c13ab4fcb4e22a7eac139f870ad34aa6edec78a605ff00310ce00cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dc10f3fb5996bbb4377867b89a7853cb24555a9a51978e5c11647b8f0bf7b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086d738cf4ccd8955aa9adb00179131db06fe0da3fcbc2c25fada33e739427dc",
        "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_01BEJmagmBGucTfThUmmRTds",
      "input": {
        "note": "The can now fills the wrist view aligned with the jaw column, its near end at the jaw row and its body slightly left of centre. Advancing ~5 cm along the can, nudging left, and descending to grasp height.",
        "targets": {
          "right_x": 0.485,
          "right_y": 0.125,
          "right_yaw": -0.3,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BEJmagmBGucTfThUmmRTds",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.4908, 0.9987]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1375 left_yaw=0.0032 left_pitch=-0.2109 left_roll=0.0011 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3035 right_pitch=-0.1613 right_roll=-0.1521 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -0.8957, 6.9128, 1.6093, -0.0513, -0.0464, -0.0122, -0.1162, -9.4154, 7.2274, 1.3162, 0.5055, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09098ae1b181b8dd67c78dff02c31cedecd3d1a6b98b96b3342a0b08d7e8cf2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aab5c17d89c73204182b1034f34dde8b57b3c3fd85051888875fe97c660baad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb0d376139081c5e8f697099ede930953b18ac652d276ae70f618640bd0aa884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.106 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, 0.8097, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.6392, 1.8366, 1.2953, -0.4984, 0.7956, 0.7868, 0.9986]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1884 left_roll=0.0009 left_gripper=0.9992 right_x=0.4169 right_y=0.1571 right_z=0.125 right_yaw=-0.4188 right_pitch=-0.0684 right_roll=-0.0759 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -0.8274, 6.9402, 1.6484, -0.0317, -0.0513, -0.0122, -0.5949, -11.4803, 8.5265, 1.3895, 0.398, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.4843, 1.8496, 1.1595, -0.2737, 0.6456, 0.5354, 0.9986]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1392 left_yaw=0.0029 left_pitch=-0.2014 left_roll=0.0012 left_gripper=0.9992 right_x=0.4374 right_y=0.1141 right_z=0.0828 right_yaw=-0.3402 right_pitch=-0.1407 right_roll=-0.1353 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1966, 6.8855, 1.6874, -0.0806, -0.0269, -0.0122, 0.9368, -9.5932, 7.4872, 1.8681, 0.2808, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.4908, 0.9987]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1375 left_yaw=0.0032 left_pitch=-0.2109 left_roll=0.0011 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3035 right_pitch=-0.1613 right_roll=-0.1521 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -0.8957, 6.9128, 1.6093, -0.0513, -0.0464, -0.0122, -0.1162, -9.4154, 7.2274, 1.3162, 0.5055, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09098ae1b181b8dd67c78dff02c31cedecd3d1a6b98b96b3342a0b08d7e8cf2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aab5c17d89c73204182b1034f34dde8b57b3c3fd85051888875fe97c660baad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0d376139081c5e8f697099ede930953b18ac652d276ae70f618640bd0aa884",
        "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_012KJ6zBnAr9GitqfNQFaBNH",
      "input": {
        "note": "Descent stopped at z=0.06 with the can sitting left of the jaw column, so a jaw is probably resting on the can. Lifting and shifting ~3 cm toward the tool's left to centre the can between the jaws.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.15,
          "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_012KJ6zBnAr9GitqfNQFaBNH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5854, -0.0189, -0.0383, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.498, 0.9986]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1375 left_yaw=0.003 left_pitch=-0.2113 left_roll=0.0014 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3075 right_pitch=-0.1607 right_roll=-0.1467 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1419, 6.8444, 1.5018, -0.0757, -0.0415, -0.0122, -0.4308, -9.6889, 7.1726, 1.3211, 0.4567, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8191611d52da82a2dfdca5207c36c7ecddea73d0417b0db24f2318a9f476855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7d34214ebf9ebb01f4550b0af8eededf81ed537a3ee7ef83dc3d79215db74f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70830bf68b8d0a0e5ec947b74d6276b10a1c43801741c599dfde7f8bef0feef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 14.24 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, 0.8104, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.4843, 1.8496, 1.1595, -0.2737, 0.6456, 0.5354, 0.9986]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1392 left_yaw=0.0029 left_pitch=-0.2014 left_roll=0.0012 left_gripper=0.9992 right_x=0.4374 right_y=0.1141 right_z=0.0828 right_yaw=-0.3402 right_pitch=-0.1407 right_roll=-0.1353 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1966, 6.8855, 1.6874, -0.0806, -0.0269, -0.0122, 0.9368, -9.5932, 7.4872, 1.8681, 0.2808, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.4908, 0.9987]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1375 left_yaw=0.0032 left_pitch=-0.2109 left_roll=0.0011 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3035 right_pitch=-0.1613 right_roll=-0.1521 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -0.8957, 6.9128, 1.6093, -0.0513, -0.0464, -0.0122, -0.1162, -9.4154, 7.2274, 1.3162, 0.5055, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5854, -0.0189, -0.0383, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.498, 0.9986]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1375 left_yaw=0.003 left_pitch=-0.2113 left_roll=0.0014 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3075 right_pitch=-0.1607 right_roll=-0.1467 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1419, 6.8444, 1.5018, -0.0757, -0.0415, -0.0122, -0.4308, -9.6889, 7.1726, 1.3211, 0.4567, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8191611d52da82a2dfdca5207c36c7ecddea73d0417b0db24f2318a9f476855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7d34214ebf9ebb01f4550b0af8eededf81ed537a3ee7ef83dc3d79215db74f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70830bf68b8d0a0e5ec947b74d6276b10a1c43801741c599dfde7f8bef0feef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwcKEAgRGAI4AUIIdGhpbmtpbmcSDJJZxsZ+sVUCpILLJxoMFMrUVDehrnzoyJH6IjDIfmYaFSU1ZffjIHDmWHiv8DfBdk0gok82YRxdBtoLzS3RpwMejU0HVioAAI2fB2Uq5AbWbCxW+IKvLMVMGaH0toFcQ1rLdAlprqOplkLyorXFHlRWVhkUY0XoCouC/XunWrqenuaC9vRZEVOsr8dzOUVcll5Uv+XncfzIdmc5BRPhucX4cTAEDtv8UgMfLnNPihO8NkrUDfnc4NuJjQkFNcV2wEzqVjFMukYoblgj54MAvD6iyvFOVYHQYZdAnp9Bb9eDItVS2qkmxFlNEL2wOs8vBN+X7RaMNMoAE+hYLDniOf9PBVIVxMtbk2LUkbqHSCqIOZARsQcDh7I/CDVWlEuV1CNBa4pnOqC9OH1WnIePXovPgfnV+4LEE9cqLaSf0h4asmzAWi42RYStdc1JlC/oj3deU5C8vRGhlI1ZRaN5+qhkXiYs2NvFGp/NCSqR7/Px/LOMIwoCpf7YoGxvO/fUZvZQS4ooOKBdFzgiwfo+pwNaU+DFdTTl1ysKFMqNqRheElqkdcbJ6oaUnSNsOK/HN67theevknbbqiyDByh9ZifojnI0mi6pD4Ves/PF7mTINIDeDxw7bNhDi5aJ180q6LnJvxPG5s5P0Wd2pGTboShTGKUcoqV024HSZdzYrBCOG4orEKoatVVLGGJZdYb2Xp95lO0IyActR8U6I7+XAb+JuSWDipERNjAYZu0+5Apks6zIYyZpCUEXDTf++Xj39iS2tY5RLYevLd+9+Y3eyG/XxNby0C9OYd1rN12+RGesnyotG5fpviiFVGN/QgXOtOdezafrce3AQlVCl7Sw2WQpJ90ZRp3ecyMVBda5H/JkY//VtbxjFPIbI8MrTq7NQkY7ciRO08+C7ijF28IG+i1xhdjoP9EUDWSv2f+1nX0b7bom/Ae9azauxF8YwD5L7UQ3jZsXu7/s0thOWyHyXfDSRtTaECB0mE6GhwZ7rq+eNvQO0A5Q82m6RCtrDYIUC0AYOkMEDpNRr3/F7eXav+mzRTodTqdOOycKrEU/qb1EXRFDd6LztpqYS7s9iTjYzuBkxQBBj6offaweUXZnaJNNyIAw68cGOfnW+SIP0SHzPbplhDG/AJP4aEPv4OjKUt9ZBzTBwROfbmsyybtYQ44DLuxKKDnPLFghKIPACCXqgz3HgoOv5psv0mV97gswvY0wGcfxQyiwk54dny6SufcZk25zLJ6Few3h/m5cpnyLmb5RGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7FMyNDGaDgMbyLtYDbCMS",
      "input": {
        "note": "The arm froze again on a combined move; a pure vertical lift freed it last time, so lifting straight up first before shifting sideways.",
        "targets": {
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01J7FMyNDGaDgMbyLtYDbCMS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5888, -0.0189, -0.0383, 0.9992, 0.4774, 1.8977, 1.2388, -0.342, 0.606, 0.4965, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1369 left_yaw=0.003 left_pitch=-0.2147 left_roll=0.0015 left_gripper=0.9992 right_x=0.4455 right_y=0.1212 right_z=0.0784 right_yaw=-0.3043 right_pitch=-0.1934 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -0.8137, 6.8581, 1.5263, -0.0415, 0.0171, -0.0122, -0.1299, -16.4308, 10.5778, 1.9267, 0.4127, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5918eff73d91a06482b27cbd5674fb5cd676edf6f0638bc68115b0bcf33a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a67905b5bc34fbb241d79622d48e4dbd2abc3dca069feb0c7859d9c797ac87a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7f21cd2a6aff9ae57086c4aab191ccef4994d38f340bf86d202d6b90301b5ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 11.84 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, 0.8108, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.4908, 0.9987]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1375 left_yaw=0.0032 left_pitch=-0.2109 left_roll=0.0011 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3035 right_pitch=-0.1613 right_roll=-0.1521 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -0.8957, 6.9128, 1.6093, -0.0513, -0.0464, -0.0122, -0.1162, -9.4154, 7.2274, 1.3162, 0.5055, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5854, -0.0189, -0.0383, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.498, 0.9986]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1375 left_yaw=0.003 left_pitch=-0.2113 left_roll=0.0014 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3075 right_pitch=-0.1607 right_roll=-0.1467 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1419, 6.8444, 1.5018, -0.0757, -0.0415, -0.0122, -0.4308, -9.6889, 7.1726, 1.3211, 0.4567, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5888, -0.0189, -0.0383, 0.9992, 0.4774, 1.8977, 1.2388, -0.342, 0.606, 0.4965, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1369 left_yaw=0.003 left_pitch=-0.2147 left_roll=0.0015 left_gripper=0.9992 right_x=0.4455 right_y=0.1212 right_z=0.0784 right_yaw=-0.3043 right_pitch=-0.1934 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -0.8137, 6.8581, 1.5263, -0.0415, 0.0171, -0.0122, -0.1299, -16.4308, 10.5778, 1.9267, 0.4127, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5918eff73d91a06482b27cbd5674fb5cd676edf6f0638bc68115b0bcf33a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a67905b5bc34fbb241d79622d48e4dbd2abc3dca069feb0c7859d9c797ac87a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7f21cd2a6aff9ae57086c4aab191ccef4994d38f340bf86d202d6b90301b5ee",
        "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_01D3E7x4kUmhwB1GnMNSTJ2X",
      "input": {
        "note": "Lift only reached z=0.08 with very high shoulder effort, so the arm is near its reach limit here. Commanding a slight forward pitch to extend reach while shifting toward the tool's left to centre the can between the jaws and descending.",
        "targets": {
          "right_pitch": 0.1,
          "right_x": 0.455,
          "right_y": 0.15,
          "right_yaw": -0.3,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01D3E7x4kUmhwB1GnMNSTJ2X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 0.5774, 1.9949, 1.0698, 0.1619, 0.8318, 0.4438, 0.9986]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1354 left_yaw=0.0032 left_pitch=-0.2216 left_roll=0.0013 left_gripper=0.9992 right_x=0.4553 right_y=0.1451 right_z=0.0625 right_yaw=-0.3173 right_pitch=0.0901 right_roll=-0.1516 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.4701, 6.8581, 1.5604, -0.0562, -0.0562, -0.0122, 1.0872, -7.0085, 4.6838, 1.3211, -0.0659, -0.2808, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf4d1ea54ea3ea3ea6afc5430303be43576d6d7056d00268d652183e5a31a366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f00fc10ef7ff31cc4b9ef46213b664b881d3421872daaea3498068b72c2f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6e13df5579c0e8dabdc80d66a86a5737179dac0f639543535ef3ecf54f92631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 12.8 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, 0.8108, 0.6067, -0.5854, -0.0189, -0.0383, 0.9992, 0.4774, 1.9057, 1.1526, -0.2108, 0.6167, 0.498, 0.9986]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1375 left_yaw=0.003 left_pitch=-0.2113 left_roll=0.0014 left_gripper=0.9992 right_x=0.4439 right_y=0.1186 right_z=0.0618 right_yaw=-0.3075 right_pitch=-0.1607 right_roll=-0.1467 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1419, 6.8444, 1.5018, -0.0757, -0.0415, -0.0122, -0.4308, -9.6889, 7.1726, 1.3211, 0.4567, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8108, 0.6067, -0.5888, -0.0189, -0.0383, 0.9992, 0.4774, 1.8977, 1.2388, -0.342, 0.606, 0.4965, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1369 left_yaw=0.003 left_pitch=-0.2147 left_roll=0.0015 left_gripper=0.9992 right_x=0.4455 right_y=0.1212 right_z=0.0784 right_yaw=-0.3043 right_pitch=-0.1934 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -0.8137, 6.8581, 1.5263, -0.0415, 0.0171, -0.0122, -0.1299, -16.4308, 10.5778, 1.9267, 0.4127, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 0.5774, 1.9949, 1.0698, 0.1619, 0.8318, 0.4438, 0.9986]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1354 left_yaw=0.0032 left_pitch=-0.2216 left_roll=0.0013 left_gripper=0.9992 right_x=0.4553 right_y=0.1451 right_z=0.0625 right_yaw=-0.3173 right_pitch=0.0901 right_roll=-0.1516 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.4701, 6.8581, 1.5604, -0.0562, -0.0562, -0.0122, 1.0872, -7.0085, 4.6838, 1.3211, -0.0659, -0.2808, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf4d1ea54ea3ea3ea6afc5430303be43576d6d7056d00268d652183e5a31a366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f00fc10ef7ff31cc4b9ef46213b664b881d3421872daaea3498068b72c2f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6e13df5579c0e8dabdc80d66a86a5737179dac0f639543535ef3ecf54f92631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XTDQPaa7Ke2H9gew9kVg3D",
      "input": {
        "note": "The can's near body is now between the jaws but its axis runs diagonally (far end to image upper-left). Yawing the tool counterclockwise to square the jaws across the can and descending to grasp height.",
        "targets": {
          "right_pitch": 0.1,
          "right_x": 0.455,
          "right_y": 0.145,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XTDQPaa7Ke2H9gew9kVg3D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8146, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4969, 1.969, 0.8734, 0.556, 0.6552, 0.2707, 0.9986]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1352 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.0016 left_gripper=0.9992 right_x=0.4612 right_y=0.1317 right_z=0.0571 right_yaw=-0.19 right_pitch=0.1603 right_roll=-0.0726 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -0.7043, 6.8308, 1.5409, -0.0611, -0.0562, -0.0122, -0.1162, -6.6667, 3.3436, 0.3199, 0.1197, -0.6227, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff605407cf52752e17a331534ff240a2513cee8c02e20b1c4d6d0bd95c5fc4f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:730d5546351221b1c60b056e63fc2620433522851bc1e13c1b8ca88a77448de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:287c978f2b4ca71a796edb5024d7b8ac27b47ffc0a3de157fa2f7ae5ea7c3517",
        "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 · 4.527 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, 0.8108, 0.6067, -0.5888, -0.0189, -0.0383, 0.9992, 0.4774, 1.8977, 1.2388, -0.342, 0.606, 0.4965, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1369 left_yaw=0.003 left_pitch=-0.2147 left_roll=0.0015 left_gripper=0.9992 right_x=0.4455 right_y=0.1212 right_z=0.0784 right_yaw=-0.3043 right_pitch=-0.1934 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -0.8137, 6.8581, 1.5263, -0.0415, 0.0171, -0.0122, -0.1299, -16.4308, 10.5778, 1.9267, 0.4127, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8143, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 0.5774, 1.9949, 1.0698, 0.1619, 0.8318, 0.4438, 0.9986]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1354 left_yaw=0.0032 left_pitch=-0.2216 left_roll=0.0013 left_gripper=0.9992 right_x=0.4553 right_y=0.1451 right_z=0.0625 right_yaw=-0.3173 right_pitch=0.0901 right_roll=-0.1516 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.4701, 6.8581, 1.5604, -0.0562, -0.0562, -0.0122, 1.0872, -7.0085, 4.6838, 1.3211, -0.0659, -0.2808, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8146, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4969, 1.969, 0.8734, 0.556, 0.6552, 0.2707, 0.9986]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1352 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.0016 left_gripper=0.9992 right_x=0.4612 right_y=0.1317 right_z=0.0571 right_yaw=-0.19 right_pitch=0.1603 right_roll=-0.0726 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -0.7043, 6.8308, 1.5409, -0.0611, -0.0562, -0.0122, -0.1162, -6.6667, 3.3436, 0.3199, 0.1197, -0.6227, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff605407cf52752e17a331534ff240a2513cee8c02e20b1c4d6d0bd95c5fc4f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:730d5546351221b1c60b056e63fc2620433522851bc1e13c1b8ca88a77448de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:287c978f2b4ca71a796edb5024d7b8ac27b47ffc0a3de157fa2f7ae5ea7c3517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3w4KEAgRGAI4AUIIdGhpbmtpbmcSDGNlS2iGFZY0+8UdiRoM4GIYeo6vSsM90YimIjC9sRNLTLtmFBmNArOjdWke08uV9J0m5Czd0SjgF4HPSS36IyTy816CZSthwFLBTXwq/A1Yy1l9yLSIbc/9UC8YqwJWPddi6NQdasPuRDTx4bNXvbToseIJDRyMAczkhImUoeGnwRwKT/5kVev7rKn4nfEOyfNZfWLQ9Cgf6yPW9/BIskXY6I5CrEX5sIOYtXcb63dis/TYCPf2+9B06nalb86GGmbinzIh3Iut2MfUrZKMR0IePumF21mj5XhxF4AZpUFU+3fv7X4Nyj0tKaCAfnmQbWNowV8dhST5NIAkw+2qUSpbOHqKwXKOF4FPOf9BKG5s5WMc1rZ4bYuAfr87AjFQdeqUBYvWM/6g5RgzupCJk6eMOcXeaHeESXb4TTSJPf+eZ+v4ilnb1i+0yNoHpGoFZ6nBfJQKjbROizF0yukA9KkoBfmPpzt7i21a/2d0/Xx+r6EwCpeKWSPW/vfJwyN08Zws77u6a4HhG/b44TzOTaKwf6y7IQEgWs7BB00BAA2MXhoABGlzK4UWx0yWdULqSFey2o1Uls4idWBDDgzoDAb7iph35Pjgly/gHZCYJujdpASCAzF3nt5J0uwtmSNTozghnBTiVM3oG3z3RmppQdW9uaHCHnPl3fXKXJ5tH32wmglsurJDaghQ9DiRCnf1h/raPCf/DaKv896v5rn0cYPN/fBCtQyji/7c+yhc0pkt8VWcAUCUAj7qswV64nFJu2x6E1rzumX0Rk+lenrfjXLAzqky2/dKoESwsuDuSzx6Lyj/ryGqQVBlyXPYDbuJFvNRZ0cf4Gfl1+gpTJylJUmNRDf0AiFe3ar2Xd0lNo254fjazWuVkkZesgeL0EZjPYXRzW46rkWolTEiePP1PKF38O8H6/bUw4ej9SXib6LD2vzinPM0KWukSxZ83iLBfWmLKm+7OjjOf4C5LYyvUb0wyUOcJozjp112QAlFHjO+vsf71+66UlXr5rz1l3YGqm44Tf++geyZv8dx3hA7YD476YQhVY9xW3Km84CcF+hWvx+lUHAFXd3GJDlmkqLV8M1etYWn508TjN+uhn/NkKkNJAPCI2+YXlgI2UQ0TxWySrsw+68wAQVSRVDdao96fZ8OrpPywAaCxeJTNrCntM3t4wbWVq0oGyn6hNTDPiD9zxyKukSFbUIqm+mS1DqwbNh3h5DaKyf11LPEBzP3xHCNderuaOHxEY/JXjO3Pl+baVwjGftDfN2MevTpd0FixTUBrOvKFBYspRnzBvKRFcdB2g+0tjpDv0PeXhEkv1hx+7y8RCrsVNHeEkCHwZ3eKm8HexrkaZLAMIUi15ULqiZmVmY9N5cK6r6/IY/Mmoiji9Io58jZOcGYUKG6gvJT5p1XsIX30Pjd4ZDz1Ezew0g4IPOtIvuNKy1BhlF2vX+Sc//QRlHeXPkaUQHVPsqwBTF7q/mkYML6br8egG0FeUrH1CN/VcfgG5SvfZKbSqJNtUdnUiRH6f9VoOwGnIcX/Q9/lMBHUdjKWuigygoROYYIlXCHdxYoRqPBRblVQfUk7EQgv93zzmIud310xwb/VmEuU8k//DZqOVbDd4QJLOdpUYw/MGy9HntmkSp8uaPOOpsoBUxmlDC6ecgaeFpJD8ypwNePNWyt+WREdBKmfIc8ph0BnW+aFz1RemGWbkuQeeXLdm3I8M31gb4JuPiqNkasunQIONjxNnCUqOTYl5+aDctlKkC5jjgZcJYidiMkLZFyHN70z2KL0amcQu6SHHgTds+7TMrccuwmeqaju6sdp5LUW9y5Ga6woSWo43VmwX0xC7Fz3t9EuQNXJpWMAS/32KI+sOK7Q3VT4V3YkRU39xe7kSTkioV64K/AEEE8rq/37Ld+dygDszX/caBXPvZjfrX7lrgN9KXxqMRKml1EkvfdZe7gY3LK1ZR/hSMWaOJ2ByDrKg/v9THfk6ziyiorCdGjE2ADwmiR58spzJd8UOVTNi3HnQxXMTlv57hcPYhyiqVh/3YaiTLpHI/+g/GL+tddqbV+mdMOp7jn26TWm8eY93q96Q/U3xv5Ou1vBobC6r8C5owcmxJD33edjU0eP5Z59SkTlv8ev1LpgwKq5UnZbOKXv9+5pRRF0rTmtV1erQCBcMpOGBk3N64UPeAYVpkFXis9prR+IpYMW3SuwyKZ89O/HCEkpR7/Wd5ZExF+vLT6WBV7Ku/dX1/M+e9WUOK+MzhbVoZBkpqwTrRKwriz8c0dTPnLc1YSJ7R1BeZWWPV1ukUfvRu9kWL1YsBSkEmsF92mXP+indddihZIRfgbg8kFDBtDDsQbOdMCfU+AtBVnCHDXrSB4RPy6+U2vlNhP2F0P2DJQlFf3SMQMTL9fPhyRK3CCd+hCoaN9/N6EOF80q+kecOYUnTZfBnWxoZNaWkNfDW/FNpbUOvggOFQW7kpVwoVWvCkXZRIln8jmt5MXAbXh354YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cyYXjA4PyNwiLuBf2gGjE",
      "input": {
        "note": "The can body sits between the jaws in the wrist view but the descent has only reached z≈0.06 after a very short motion. Continuing the descent toward table level so the jaws straddle the can fully.",
        "targets": {
          "right_pitch": 0.1,
          "right_x": 0.46,
          "right_y": 0.13,
          "right_yaw": -0.1,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015cyYXjA4PyNwiLuBf2gGjE",
      "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, -0.6079, -0.0189, -0.0387, 0.9992, 0.4747, 1.9953, 0.8307, 0.5758, 0.5911, 0.2031, 0.9986]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1318 left_yaw=0.0033 left_pitch=-0.241 left_roll=0.0018 left_gripper=0.9992 right_x=0.4534 right_y=0.1264 right_z=0.031 right_yaw=-0.1205 right_pitch=0.0965 right_roll=-0.1358 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4564, 6.8308, 1.7021, -0.0171, -0.0415, -0.0122, 0.8, -9.7436, 7.2, 1.9023, 0.2369, 0.1832, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c47b77c5940cf168487559b146afca1ba0d3a746b4a3581c4c6fd739024cad37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e43fe64597cb4229988c54e0d82eb4a2719bf2e1c7d9e51d13f140f8d5aa5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4104b46e6397da70edef54e25006130e8b12059472614772c470f51b1be6a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 12.18 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, 0.8143, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 0.5774, 1.9949, 1.0698, 0.1619, 0.8318, 0.4438, 0.9986]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1354 left_yaw=0.0032 left_pitch=-0.2216 left_roll=0.0013 left_gripper=0.9992 right_x=0.4553 right_y=0.1451 right_z=0.0625 right_yaw=-0.3173 right_pitch=0.0901 right_roll=-0.1516 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.4701, 6.8581, 1.5604, -0.0562, -0.0562, -0.0122, 1.0872, -7.0085, 4.6838, 1.3211, -0.0659, -0.2808, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8146, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4969, 1.969, 0.8734, 0.556, 0.6552, 0.2707, 0.9986]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1352 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.0016 left_gripper=0.9992 right_x=0.4612 right_y=0.1317 right_z=0.0571 right_yaw=-0.19 right_pitch=0.1603 right_roll=-0.0726 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -0.7043, 6.8308, 1.5409, -0.0611, -0.0562, -0.0122, -0.1162, -6.6667, 3.3436, 0.3199, 0.1197, -0.6227, -0.0122]",
      "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, 0.8181, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 0.4747, 1.9953, 0.8307, 0.5758, 0.5911, 0.2031, 0.9986]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1318 left_yaw=0.0033 left_pitch=-0.241 left_roll=0.0018 left_gripper=0.9992 right_x=0.4534 right_y=0.1264 right_z=0.031 right_yaw=-0.1205 right_pitch=0.0965 right_roll=-0.1358 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4564, 6.8308, 1.7021, -0.0171, -0.0415, -0.0122, 0.8, -9.7436, 7.2, 1.9023, 0.2369, 0.1832, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c47b77c5940cf168487559b146afca1ba0d3a746b4a3581c4c6fd739024cad37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e43fe64597cb4229988c54e0d82eb4a2719bf2e1c7d9e51d13f140f8d5aa5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4104b46e6397da70edef54e25006130e8b12059472614772c470f51b1be6a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Now at z=0.03 with the can filling the wrist view between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qwpzwavq63DzLkr2hrvgNU",
      "input": {
        "note": "The gripper is at z=0.03 with the can body spanning the space between both jaws in the wrist view. Closing the gripper to grasp the can.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Qwpzwavq63DzLkr2hrvgNU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.4808, 1.9953, 0.836, 0.5552, 0.5922, 0.2272, 0.0087]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.131 left_yaw=0.0031 left_pitch=-0.2456 left_roll=0.0022 left_gripper=0.9992 right_x=0.4519 right_y=0.1286 right_z=0.0291 right_yaw=-0.1276 right_pitch=0.086 right_roll=-0.1237 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.1419, 6.8444, 1.5702, -0.0513, -0.0317, -0.0122, -0.6906, -9.2513, 4.5744, 1.7998, 0.2759, -0.0611, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e6b034ccd3a72c42b5dbb7de299352cbe5cae86c92e1f339c7f72a390479e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ed34db85e0446a517f0f02e9ce88eb3e11b5f813e5df36f358626e57cf9bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f39f4868afb5f9fc8098c6857cc3d292bfddc4b2101ce4a34389bf4d33f3c872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 11.62 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, 0.8146, 0.6067, -0.593, -0.0189, -0.0383, 0.9992, 0.4969, 1.969, 0.8734, 0.556, 0.6552, 0.2707, 0.9986]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1352 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.0016 left_gripper=0.9992 right_x=0.4612 right_y=0.1317 right_z=0.0571 right_yaw=-0.19 right_pitch=0.1603 right_roll=-0.0726 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -0.7043, 6.8308, 1.5409, -0.0611, -0.0562, -0.0122, -0.1162, -6.6667, 3.3436, 0.3199, 0.1197, -0.6227, -0.0122]",
      "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, 0.8181, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 0.4747, 1.9953, 0.8307, 0.5758, 0.5911, 0.2031, 0.9986]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1318 left_yaw=0.0033 left_pitch=-0.241 left_roll=0.0018 left_gripper=0.9992 right_x=0.4534 right_y=0.1264 right_z=0.031 right_yaw=-0.1205 right_pitch=0.0965 right_roll=-0.1358 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4564, 6.8308, 1.7021, -0.0171, -0.0415, -0.0122, 0.8, -9.7436, 7.2, 1.9023, 0.2369, 0.1832, -0.0171]",
      "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, 0.8188, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.4808, 1.9953, 0.836, 0.5552, 0.5922, 0.2272, 0.0087]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.131 left_yaw=0.0031 left_pitch=-0.2456 left_roll=0.0022 left_gripper=0.9992 right_x=0.4519 right_y=0.1286 right_z=0.0291 right_yaw=-0.1276 right_pitch=0.086 right_roll=-0.1237 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.1419, 6.8444, 1.5702, -0.0513, -0.0317, -0.0122, -0.6906, -9.2513, 4.5744, 1.7998, 0.2759, -0.0611, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e6b034ccd3a72c42b5dbb7de299352cbe5cae86c92e1f339c7f72a390479e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ed34db85e0446a517f0f02e9ce88eb3e11b5f813e5df36f358626e57cf9bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39f4868afb5f9fc8098c6857cc3d292bfddc4b2101ce4a34389bf4d33f3c872",
        "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_01DdWA2wCwpfmz8iokFmxZwX",
      "input": {
        "note": "The close was empty (0.009) and the can was ejected forward — it now sits near the far right edge of the table. Opening the gripper and reaching forward with the tool pitched down to see whether it is still reachable.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.52,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "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_01DdWA2wCwpfmz8iokFmxZwX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 0.2058, 1.8603, 0.9184, 0.5545, 0.2893, -0.0326, 0.9942]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1305 left_yaw=0.0034 left_pitch=-0.2487 left_roll=0.002 left_gripper=0.9992 right_x=0.5087 right_y=0.0584 right_z=0.112 right_yaw=-0.0226 right_pitch=0.2053 right_roll=-0.1406 right_gripper=0.9942\nstate[joint_eff]: [-0.0479, -0.8274, 6.8855, 1.536, -0.0415, -0.0562, -0.0122, -0.4855, -11.5487, 8.2667, 2.1465, 0.1978, 0.0317, 0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89d8cb22af967c4c7cd853e19f4b02de9943a88861fcdfe0f9e280211b68840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e1ea16888179ee98d884cedfa933848ed10eedc4f5184abf5a4273d9fc70aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30e48120a3fbcb8fee87f104650cfb56e8a590d0538389fbdb58db9bd1683b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 11.5 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, 0.8181, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 0.4747, 1.9953, 0.8307, 0.5758, 0.5911, 0.2031, 0.9986]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1318 left_yaw=0.0033 left_pitch=-0.241 left_roll=0.0018 left_gripper=0.9992 right_x=0.4534 right_y=0.1264 right_z=0.031 right_yaw=-0.1205 right_pitch=0.0965 right_roll=-0.1358 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4564, 6.8308, 1.7021, -0.0171, -0.0415, -0.0122, 0.8, -9.7436, 7.2, 1.9023, 0.2369, 0.1832, -0.0171]",
      "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, 0.8188, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.4808, 1.9953, 0.836, 0.5552, 0.5922, 0.2272, 0.0087]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.131 left_yaw=0.0031 left_pitch=-0.2456 left_roll=0.0022 left_gripper=0.9992 right_x=0.4519 right_y=0.1286 right_z=0.0291 right_yaw=-0.1276 right_pitch=0.086 right_roll=-0.1237 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.1419, 6.8444, 1.5702, -0.0513, -0.0317, -0.0122, -0.6906, -9.2513, 4.5744, 1.7998, 0.2759, -0.0611, 0.6129]",
      "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, 0.8188, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 0.2058, 1.8603, 0.9184, 0.5545, 0.2893, -0.0326, 0.9942]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1305 left_yaw=0.0034 left_pitch=-0.2487 left_roll=0.002 left_gripper=0.9992 right_x=0.5087 right_y=0.0584 right_z=0.112 right_yaw=-0.0226 right_pitch=0.2053 right_roll=-0.1406 right_gripper=0.9942\nstate[joint_eff]: [-0.0479, -0.8274, 6.8855, 1.536, -0.0415, -0.0562, -0.0122, -0.4855, -11.5487, 8.2667, 2.1465, 0.1978, 0.0317, 0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89d8cb22af967c4c7cd853e19f4b02de9943a88861fcdfe0f9e280211b68840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e1ea16888179ee98d884cedfa933848ed10eedc4f5184abf5a4273d9fc70aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e48120a3fbcb8fee87f104650cfb56e8a590d0538389fbdb58db9bd1683b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQ4KEAgRGAI4AUIIdGhpbmtpbmcSDOm/OW9cUQ/YuCHilBoMcHZQ0I76UphmvscwIjAAvrY/0oXiFHAm26I8f0C3vbVJs/5WvfO6ke+1JnaWicOOcVP+RS2PGufbzb24Fxkqvg2s3lJT45Iv2H4w/315lohwcURHfhJRSRhNYxeK6PkUOObi6gpLFWOdWbgBtkOBc4IUuF84NyFs/8MXxaEV7+qljLOJVfmFDh+zkv8j3nRwtYmg+LX18TAByEBVF/BLtrCVGvDAEKmb4ftFhpe9RH6OkU3nXyzBWlb69moMhwOd6CUJ3feBaRGur1qufd8qKK0XWumcXOeKjJ0b1N3ApB8x2kVM2K7ywAyRkqt2poN6sRT0DR65o+hA7E26XFCOO11tbbqNd9E8A0NhT6JGQ23Y0MMQe8D4EX6FnEZVf92Azkrn29bwWNrygJsWyl76WYnujwuWvLbCpzXam/r69cz/BiCYYhuqkwo9ro3AUXDbRHM+kP4bZrHaV5j1ZIGY20OOh9gLqWhCcGUPljhEPraxyVoOPC9TJIXax1Tg8zq++zQJeUsj3etWeXJJ391FmtasG7qutcgaWq5IRssS7T//n4RCYJ2VA2wU2NB2J1bhm+xWV5hSrfzSj88PXdZninefOowQQjh2xHfm5meCB+QgytJtDA82m9dfZvMkmPP4zd8s0MO+2ECuS8xAuX3Xpt64nzsFURftv30ZiBeduKs/4GEtDER/F6JVpFMspBJSWkTeCbGV9X048ojb6ruaxrRHTEer/U7eCBfe+vHfl9QgRpDKMJiFhbL/RjS2oxx0kjXzHBYP+J0vtLIuw+7yZJCnFtJK5WEB9IwyVx8j9t5KTzaWiyw2kdymQBx1Osxi5FLAGJkMHEqbOYP60rhhGqjIbfXX4liJKmkM/nzqNeKqOhn2keUk32sYCVCqin/ui8jsWkoiz+l5h+EQl+SKTxvF/zQZkQ+FYFB0jBUXDbenlZ2JNp8HxBZiFb3y8eEPgtF87pDQzqyHgCSh9yWWbK3DhQ4Y2xHvHMG3eUDlSCjuyDodWC4O46yDJwDHKdCCehnDYC+x3ofJjxIOodR1mInEE2H+MuTO8QCvs/c0uF/exUdpUMb5+zSVnmwAGfIe72m+zPkV4yMbbqCRpaL2eaUEKuv4+GcelgUzFWIlWZ+eO/f3vnehnhIA5DI/gi+alvtn6y6R/wp4ucj8bASQayBk4K1hUh0ZwRBEPYM2vpYCa/YVNU+bJyQJzHruj2j2g4IynKZFZ9aGPAnOZWjs1wyDwHU7L/tmkKdewQrPgnEt0xLGkanhC2duKmVRD21bNl24nWsELFBPXVHKEmvcKR+MKXpLGMGax5J2jpi3IyfryrXtXhOHdFzFt89Mgu4jAYdv8dnmwp/Hdb/yFtDYkBz8Nr+LaRTRVDOaXTSmfegYEi70Zg8OzFxDgGqXGRcuN7X/2wn6hSjJipRj1xNRuUaEg3P11P5ILM6PAiZMFqLl4ojd6rhuyb6DYJMuagcu31MhWR0YH653HZJOUu9+5YWG/IBHSl/oXpZQxDwaEhXgkPf7IOq+eCTiKlJTBMfhKfss10FTECty2GFmhwEQjhbfJDm568SY5FeDuMGq/ladKbQpk4yn6C5cjRavRf9P9+Ik2BH2+Mg7qXsx0dbsQD5Z3NqjTsq8ONwcPZqbQy7g5lTYypzHMDXpLASTbEUIy8GLj4NC9Gm4lOrH69oYQFmWml2mRB3fGvEerTLzqXdI/t66K2Ffk86JRBynDbdHzDe1QnYZrMLRwf6mKSn96aahk9raqIN0yR4sZ8FvKxlnzN7zjwMzvT/k0Dk2ClNW94ZxeqX6Nvk8hbsxu4pLKHhIAd7HnmS7WI1AyK2RM7j8aPQcYubFdv+fT+BLvrUE/CjFWuwI8FgtkpRciHVpO7VSU5HR0KxsqxOxW0MiJr2nP4+tekGnWD4ZjHjAjcM2faP8Z8v/2g+L007SMmXYNjuD2Dhfi64cQMR7J6u9nKkLjpOnETkwrIqjeynbMLUll/2ZlIE7U2jViW+ds/XzBfc2TizyLES2I02Ntwk6Hylhe85flXrGX5D1gmeMfnSjR16jmfQaHRbgjbtI1uREGhnH/0R7RC6rQhP+osIcxNqy5hmL+uLHHDhkGi7n5JPkUKt3XeES05GRVzFCzA6WQ73W0m4bFnK9QPELg6avOUpF31k2mu9EhzHYzF76EYg2EmPvhuyUieBu9+DRqgj9WBm0zaRH8C9F+e1M2QerLTW53hYhLt9cfJcDFs+xbnVmbKnHYrlZ4B7Hjk78RhFaaE26HutBMZxZj+gXxgECwmz0lyyOeO3EhPpwNwhr4nQs0kAXmgYzqnDU+96ACypJDg9B1djTwxwsSnrtqMDD974MEv8xfr4DZnD85A78T3Nm7AGoR08BX6IfNaxFNzcMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011RP2FAVsS7kWfC5XY2cLEc",
      "input": {
        "note": "The can lies diagonally just ahead and right of the fingertips near the far table edge. Reaching further forward with the tool pitched well down, yawing to square the jaws across the can, and descending to grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.54,
          "right_y": 0.02,
          "right_yaw": 0.3,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011RP2FAVsS7kWfC5XY2cLEc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6312, -0.0189, -0.0387, 0.9992, -0.0528, 2.31, 0.8867, 1.2274, -0.2134, -0.1471, 0.9987]\nstate[eef_state]: left_x=0.256 left_y=0.0021 left_z=0.1278 left_yaw=0.0035 left_pitch=-0.2651 left_roll=0.0023 left_gripper=0.9992 right_x=0.533 right_y=0.0129 right_z=0.0266 right_yaw=0.2264 right_pitch=0.3869 right_roll=-0.1106 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1692, 6.7897, 1.619, -0.0806, -0.0513, -0.0122, -0.1846, -10.0855, 5.4632, 2.4737, -0.1538, -0.0415, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee50419ef7f52c0f1c928e2ae07c862087a728538af2c4724e2981713dd724a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01fd9526265d48bbc42db20e2431dc5734989581707a3a9b1ddadbd83026d760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aed61029e06473076dd02a8f105f6ad78ef093f068b4371949e20503a7b97686",
        "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 · 10.17 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, 0.8188, 0.6067, -0.6117, -0.0189, -0.0383, 0.9992, 0.4808, 1.9953, 0.836, 0.5552, 0.5922, 0.2272, 0.0087]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.131 left_yaw=0.0031 left_pitch=-0.2456 left_roll=0.0022 left_gripper=0.9992 right_x=0.4519 right_y=0.1286 right_z=0.0291 right_yaw=-0.1276 right_pitch=0.086 right_roll=-0.1237 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.1419, 6.8444, 1.5702, -0.0513, -0.0317, -0.0122, -0.6906, -9.2513, 4.5744, 1.7998, 0.2759, -0.0611, 0.6129]",
      "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, 0.8188, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 0.2058, 1.8603, 0.9184, 0.5545, 0.2893, -0.0326, 0.9942]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1305 left_yaw=0.0034 left_pitch=-0.2487 left_roll=0.002 left_gripper=0.9992 right_x=0.5087 right_y=0.0584 right_z=0.112 right_yaw=-0.0226 right_pitch=0.2053 right_roll=-0.1406 right_gripper=0.9942\nstate[joint_eff]: [-0.0479, -0.8274, 6.8855, 1.536, -0.0415, -0.0562, -0.0122, -0.4855, -11.5487, 8.2667, 2.1465, 0.1978, 0.0317, 0.149]\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, 0.8188, 0.6067, -0.6312, -0.0189, -0.0387, 0.9992, -0.0528, 2.31, 0.8867, 1.2274, -0.2134, -0.1471, 0.9987]\nstate[eef_state]: left_x=0.256 left_y=0.0021 left_z=0.1278 left_yaw=0.0035 left_pitch=-0.2651 left_roll=0.0023 left_gripper=0.9992 right_x=0.533 right_y=0.0129 right_z=0.0266 right_yaw=0.2264 right_pitch=0.3869 right_roll=-0.1106 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1692, 6.7897, 1.619, -0.0806, -0.0513, -0.0122, -0.1846, -10.0855, 5.4632, 2.4737, -0.1538, -0.0415, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee50419ef7f52c0f1c928e2ae07c862087a728538af2c4724e2981713dd724a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01fd9526265d48bbc42db20e2431dc5734989581707a3a9b1ddadbd83026d760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed61029e06473076dd02a8f105f6ad78ef093f068b4371949e20503a7b97686",
        "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_01H7z7xL66SGgwtHrguGasLG",
      "input": {
        "note": "The can's near end is just right of and ahead of the right jaw in the wrist view. Shifting ~4 cm right and 3 cm forward so the jaws straddle the can's near body, staying at grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.565,
          "right_y": -0.03,
          "right_yaw": 0.3,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01H7z7xL66SGgwtHrguGasLG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, -0.1783, 2.4344, 1.0477, 1.2613, -0.3813, -0.1459, 0.9987]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1268 left_yaw=0.0033 left_pitch=-0.2712 left_roll=0.0027 left_gripper=0.9992 right_x=0.5605 right_y=-0.0306 right_z=0.0247 right_yaw=0.2659 right_pitch=0.4622 right_roll=-0.1091 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1556, 6.7897, 1.4725, -0.0317, 0.0073, -0.0122, -0.0205, -10.6872, 4.9983, 2.1465, -0.1538, 0.0806, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ac0807647bacbf17f2544967e9a56c90975f2f369eec8c0e9896f28cd587323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb5beaa738b62d230c797f395a3c2728aa70a65b552ab869b16696191a5fb99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12d1aa06a25586a1b57a768a031fb180d89d72e64147ca64e01bd0b389817c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 10.86 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, 0.8188, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 0.2058, 1.8603, 0.9184, 0.5545, 0.2893, -0.0326, 0.9942]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1305 left_yaw=0.0034 left_pitch=-0.2487 left_roll=0.002 left_gripper=0.9992 right_x=0.5087 right_y=0.0584 right_z=0.112 right_yaw=-0.0226 right_pitch=0.2053 right_roll=-0.1406 right_gripper=0.9942\nstate[joint_eff]: [-0.0479, -0.8274, 6.8855, 1.536, -0.0415, -0.0562, -0.0122, -0.4855, -11.5487, 8.2667, 2.1465, 0.1978, 0.0317, 0.149]\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, 0.8188, 0.6067, -0.6312, -0.0189, -0.0387, 0.9992, -0.0528, 2.31, 0.8867, 1.2274, -0.2134, -0.1471, 0.9987]\nstate[eef_state]: left_x=0.256 left_y=0.0021 left_z=0.1278 left_yaw=0.0035 left_pitch=-0.2651 left_roll=0.0023 left_gripper=0.9992 right_x=0.533 right_y=0.0129 right_z=0.0266 right_yaw=0.2264 right_pitch=0.3869 right_roll=-0.1106 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1692, 6.7897, 1.619, -0.0806, -0.0513, -0.0122, -0.1846, -10.0855, 5.4632, 2.4737, -0.1538, -0.0415, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, -0.1783, 2.4344, 1.0477, 1.2613, -0.3813, -0.1459, 0.9987]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1268 left_yaw=0.0033 left_pitch=-0.2712 left_roll=0.0027 left_gripper=0.9992 right_x=0.5605 right_y=-0.0306 right_z=0.0247 right_yaw=0.2659 right_pitch=0.4622 right_roll=-0.1091 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1556, 6.7897, 1.4725, -0.0317, 0.0073, -0.0122, -0.0205, -10.6872, 4.9983, 2.1465, -0.1538, 0.0806, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ac0807647bacbf17f2544967e9a56c90975f2f369eec8c0e9896f28cd587323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb5beaa738b62d230c797f395a3c2728aa70a65b552ab869b16696191a5fb99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d1aa06a25586a1b57a768a031fb180d89d72e64147ca64e01bd0b389817c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QoKEAgRGAI4AUIIdGhpbmtpbmcSDOb9ageRT/49GgM2OhoM/+cMzhAZ7/pEmL9wIjDEqS6Ybe/XvfwgC8i4agNL53GjsAOYpdTueVgWcbBrrZg5IKPv1Ao4H4f88to4/74qggoYDp5hgqmgA34rsmjnIpH4TmZDJIEJpWnJ+EUe4NW4Vky//oMKrNCraCg+LoMOzoyzfJobomcCEw5Vmw3BG5nKykEizlXWi2dKQ5AM8duC03hOBJdlOlciX3OT/15t4ASUzNXuhs6myzL6cOrUrHgnxMFZPszt4CaoimcOqPf5y/Ile4kIUCmUh8NhHUURYJIkFsBhxR3yA6c627AGoJMaQ/4O+JZPn5zjLOES4y6+b0Cv7bzkck7+3cGoz7pVCzttrDf3rC/EPhF8rCHwy5VkKd7RHy+Hcwp7eriIX1stRZWFF6Z9L+pL0WZ8tmFW+U22gBWi3rWGkO5XQRQ3dt07TZRftHqzI0qzGWq2cCnr0fNQmQ8txtmQNPHhEIBboDRoxAIU81C8x6oDfsuokTemzuHqFDaUKwwQHEHyOIY3OQjKq43DNed9g7ZSQ/Gi75UJk6XWEy7XHxdmUHeRUZZwmezxPuPLGtMkxgQaBth4ahbbGsPDnseElLjmEqeknbX5KFjF/3NJkr5J162zgK2/g8MxHJGIeA1fiY4cdpvhfbMoEaqgzsNa5D+pBfZ0XrOmtWjYOISDrPhW37ovFxhmi6rPEz1NNKFQXt8C247i2wqCUa+mqrej6EZsXolM3FKiAIqa+fEWvsSn1Gp0hwE+LwXeH6DIx2Y4FOSLXtAVBkM6BWsUylCLdNEyI+JovatZQ9UzYsj+rSi7yPGR+VVQbojyV7TkLgiFRNeD+tjmV65xy+m2McqBJOSurDSY89Swrg7fG979+4ncRF/2oKsVPqJVaANIKAAyN3M8DAR/q2ZtB3X6BCRdHJ0Rx4X4NtTwsjc0LyvThfvDRqWKmBaSDidRH7EloMbCFsiLzEn/GYf/XFOyGG7KFAGNOc/1U8vON+wQvxi8bdHFRQonsRbOXVa59miHhsyy4pJYOqZyDUz34B9RnXPcFgA9p2tn8GDlHoS/ODtadB/cP9hhY/WmMnrxFoE4XCiQ86uHQVbUE/EiyKB0avnNZ5jZg7wFcTXR/i7OMLByml0ae33A4EKpe4tUWJ/mabL5irGj0J+UwGZDPb4nCsBwZybPLuRjg9nMAAHveGpd5MN9/VrHt2aChuY8ypQ8YgosK6CixstBNbhXYXUlVzV8nNT6YY4UODg2r8u+hN5z2eiTN+Fk4Huk4MhbK1g8v+5L9OtVLEOS9lh0SAZfUIb2ZKra0GuqTvnAX0krhDE29dmvGQWnuMSUx3yoa4jl/ceYmTGVZo3DGTP8CfaFaeDAgGTi8RQlIr3D5XmXSK5ckZA0ZkqjWtW2G7rpLGY/HnUm84fQomLDeZyyjXWpuADdnOCTUYyFWyVWOYmaZ/xCOrSKp+3h0y8xrjT7Wn1l4gVSWdAwT409zSVoi66pr6uyqF1NYf/GYODimaOgqeg3EOHIeTF7vgx3sCnjZ3MzHOT+F3AhWF99yX4VcVG7WBwBtzTS7d06ooX/MxAkL9MQ2nDxMGg3q2wpxNxWhZiLIjaypFas2itrprcXJ1W22mw8Z8UVaRILTudXfFxUoDIGVXb8hVyc+LYI2CmZYTTPx6vjHMnirQ1iz1SL3vQWKnmEF3YUqRBD1Peyhvq9xECdjd+RKlKgu6EdyfYbXFitu+aZCQ/V2ve5hYieGDT46XRjETKwCYiblzQVzFohu/SE+PmGePO412H7L4WJ0J2N4TV78UxP7IerwMluGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ggxLWfbv6Nc9onWZ7yio2",
      "input": {
        "note": "The can body now lies between the jaws but diagonally and biased toward the right jaw. Yawing further counterclockwise to square up on it and nudging right/forward before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.575,
          "right_y": -0.05,
          "right_yaw": 0.6,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015ggxLWfbv6Nc9onWZ7yio2",
      "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, -0.6376, -0.0189, -0.0387, 0.9992, -0.1894, 2.4454, 1.0679, 1.2583, -0.4274, -0.1425, 0.9987]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0035 left_pitch=-0.2734 left_roll=0.0025 left_gripper=0.9992 right_x=0.5625 right_y=-0.0296 right_z=0.0252 right_yaw=0.2974 right_pitch=0.4704 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.1145, 6.7897, 1.4628, -0.0611, -0.0757, -0.0122, -0.0752, -10.6735, 4.9573, 2.1807, -0.0464, 0.0317, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9df8d470a373dd3a744b5e437780cfda9864c72bcd69a4da4b1fbeae04b235f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:911006424ca17f024e3619770923eba4000607969bbfbc1c7101f5ecfbefcad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f067efd633e4de14a53c960ed98f1250425d1f83a0ea238de1efc40d6028a7aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 17.33 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, 0.8188, 0.6067, -0.6312, -0.0189, -0.0387, 0.9992, -0.0528, 2.31, 0.8867, 1.2274, -0.2134, -0.1471, 0.9987]\nstate[eef_state]: left_x=0.256 left_y=0.0021 left_z=0.1278 left_yaw=0.0035 left_pitch=-0.2651 left_roll=0.0023 left_gripper=0.9992 right_x=0.533 right_y=0.0129 right_z=0.0266 right_yaw=0.2264 right_pitch=0.3869 right_roll=-0.1106 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1692, 6.7897, 1.619, -0.0806, -0.0513, -0.0122, -0.1846, -10.0855, 5.4632, 2.4737, -0.1538, -0.0415, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, -0.1783, 2.4344, 1.0477, 1.2613, -0.3813, -0.1459, 0.9987]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1268 left_yaw=0.0033 left_pitch=-0.2712 left_roll=0.0027 left_gripper=0.9992 right_x=0.5605 right_y=-0.0306 right_z=0.0247 right_yaw=0.2659 right_pitch=0.4622 right_roll=-0.1091 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1556, 6.7897, 1.4725, -0.0317, 0.0073, -0.0122, -0.0205, -10.6872, 4.9983, 2.1465, -0.1538, 0.0806, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8207, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, -0.1894, 2.4454, 1.0679, 1.2583, -0.4274, -0.1425, 0.9987]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0035 left_pitch=-0.2734 left_roll=0.0025 left_gripper=0.9992 right_x=0.5625 right_y=-0.0296 right_z=0.0252 right_yaw=0.2974 right_pitch=0.4704 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.1145, 6.7897, 1.4628, -0.0611, -0.0757, -0.0122, -0.0752, -10.6735, 4.9573, 2.1807, -0.0464, 0.0317, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9df8d470a373dd3a744b5e437780cfda9864c72bcd69a4da4b1fbeae04b235f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:911006424ca17f024e3619770923eba4000607969bbfbc1c7101f5ecfbefcad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f067efd633e4de14a53c960ed98f1250425d1f83a0ea238de1efc40d6028a7aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgsKEAgRGAI4AUIIdGhpbmtpbmcSDCSBr1YoX3h4ovHLoBoMsmYaUz1FK+DM8LBoIjBJGQWX8vXVBeWP7Ti6h2Ku9GWlZBEX1/rKFu74hmOZRsfK9I1CVeqXD3utlz5KDFEq2wqq/30WSfjSHcvjymyeeG9yqvpqekdJ5ryYAc5BkwiIgwPKpKeDXNp81qJQpLte4+UXfdnN0Cx6VOnj1cEluCvcDK7qrB6ysXfFhaJS2OS+f5Fen/diSL/DXUKuu8BOHG6eqCihxDdE1zJ0R2E4yr6YyrsZVRVYTSRJk33jGb7SM4+q9OGBUFKkyqir7HiHH5gA2afhmCouBw74+2VB1iu38UOiv0qWfewCd+WUo//KATjWNLQD/EfU+kJK0+KUhCsI2aGa81sDKJWu91IpJ0im9LqJvhKC8gdS1vWYS8V0+CIrF65551CGtFQVG0b9oIljSMi6h1ca1SM3In0uKXrhdZlYK3BfZAs47RCRpOh3Npc/L1C04DKr/8ViV9H4frAKud/ZXk0GiSuaeqrt5vbdd4lf9/TcJjZK/mbT/oZNyYGIcC6SHUxXJ8vE2bTiL4KK1Fi+dT62O2lqvhR3y0QGSn06+7pubbwCoxcz8ejfA5ieI6Z/2G+IMQR1m0kBmRwBD0EtC0QIeHm1JeQLmJ6jV3HGyKZxqz8RXHoIB2AHQKmhOJWxZ8UsvbDIZMY+REHEGuthdWwl0s5mfNGCfBtIyoE7cBnB5K7slDeG6JK3h8xOqQAAwXWvGT8xmJnPJOORGuwaFRIhW22CNNj7moRYuaYXnAN7VfcLiod1+K2KpokC7KpiShDFrEnHkNv3PDAy2hdO5BlVAqqB02wfIA+EFmZLCYOPgRj207ZFzAD4trXq9MwX++3hr84s2eN5N0aoiIwWKfUAV67YyAlWrOFGPMsqHxYT28dfmzAyrQm4KDcaA2sRYSGiz5GCSIJsoLiCyrxnh821rw+cpirBEKRY+d8EroIgV439tQ2tT/Q0DJMwQk+Ub1yXomyT5S+9zOeUGgUx/j35PMhS/YKvGOpptI+Nb9DvcPJp53/gwyYtlvxluQSKoOgciFnIFThzlWVlVhnwnoFXrSllnyUipvQeMwXjXH8LDlTH4hLSIIUiuqYOsHHkl99VO+l852iu/HhDMq0Gu1os/4xMyHDh//DDOw+Koq9zJ1STPA9r8sNg3tRwx9LjMZnxOYPwT1pFy718a8O6bB8vOw5N+8mxH8Nv5tMIhK681Uh/rrlK+Mdfi1hhEfjG3nDXr6aTiHbSaDKODPhoBR5beSuv5K6iyXqeI3+69DqVS8xsbhOsCbuVz+CSDZTtpWnPL0IJgejyVWEt8bRWamPSY+zv1jzB8ITQFWWBCImDUU2PDY7+R/X/RMSxfNPJ9vKZpn0B16lqgSS8XS/4XmpOkC0hWSW7WXKsFosMSjInFpBGFjgeLHDnFpuhG0V79NA1hXjjlP7DigmBXXHZQURl9UfTEMzMIItRxbTx+qlDQ1E99m6tLvLRYhmKTEINjRcKfbR4JSmHPxQKb9vXOHTjT9WaT5MsqmSooGkk1Y87a2iWUhOCYwtrAgF9AkN+ItZ1kMzRANy7ISZZkkrYc5uRhiAt00JSdk1tdlUZP/D+1JPPti37ezABWwMgN60q+MjugpcU4Tu10GmKs3SAATCFpT3JOkaAaNP/UbdtCwjyBLSpfFjj5G82WDPlHW8sRncojXh+xF/iN2dtAE+zHB2V2zbBlUF+8a9Uz+i8fyf+aVpkjubNrsdkmWnoipKN3tl+Dc+wSQyoA0toeIQefGIjX/9q4Gl7bnha3cyUGB+yoL+cFjon427yAvpDYIATwSC8YnGrmaqBVkc3fxV8tUMasilmd7fDR9TpQMRJ3OJvMxoBIBh9vnNfvWmmn6nMuhhD01pmMkoko1KiFbaPN/aBO8+8jlEhXFoIFqTZbxmQXhI5eZwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015fpTy6tR7W6ES6UFqDs7m4",
      "input": {
        "note": "The arm is at its reach limit with the can body lying between the jaws, touching the right jaw. Closing the gripper; the right jaw should push the can into the centre as the left jaw arrives.",
        "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_015fpTy6tR7W6ES6UFqDs7m4",
      "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, -0.6453, -0.0189, -0.0387, 0.9992, -0.1894, 2.4454, 1.0676, 1.2476, -0.4286, -0.1421, 0.0083]\nstate[eef_state]: left_x=0.2534 left_y=0.0021 left_z=0.1251 left_yaw=0.0036 left_pitch=-0.2811 left_roll=0.0027 left_gripper=0.9992 right_x=0.562 right_y=-0.0293 right_z=0.0226 right_yaw=0.2956 right_pitch=0.4607 right_roll=-0.0964 right_gripper=0.0083\nstate[joint_eff]: [-0.0068, -0.9915, 6.7761, 1.4872, -0.0757, -0.0464, -0.0122, -0.1846, -11.8222, 4.041, 1.9414, -0.0024, 0.0122, 0.5983]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd004bea596e778f48634b4b8ad64810cf9fc360bb22869ac0a1dce9051259b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:640f98decd2fd6490a8202ddd7ca69de1ef99f3bc5a6909051152984b2af43a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c831246a212d507743b75580750b1b581bf87504800becaf2252c8a6d66934d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 16.92 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, 0.8188, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, -0.1783, 2.4344, 1.0477, 1.2613, -0.3813, -0.1459, 0.9987]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1268 left_yaw=0.0033 left_pitch=-0.2712 left_roll=0.0027 left_gripper=0.9992 right_x=0.5605 right_y=-0.0306 right_z=0.0247 right_yaw=0.2659 right_pitch=0.4622 right_roll=-0.1091 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1556, 6.7897, 1.4725, -0.0317, 0.0073, -0.0122, -0.0205, -10.6872, 4.9983, 2.1465, -0.1538, 0.0806, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8207, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, -0.1894, 2.4454, 1.0679, 1.2583, -0.4274, -0.1425, 0.9987]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0035 left_pitch=-0.2734 left_roll=0.0025 left_gripper=0.9992 right_x=0.5625 right_y=-0.0296 right_z=0.0252 right_yaw=0.2974 right_pitch=0.4704 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.1145, 6.7897, 1.4628, -0.0611, -0.0757, -0.0122, -0.0752, -10.6735, 4.9573, 2.1807, -0.0464, 0.0317, -0.1441]",
      "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, 0.8207, 0.6067, -0.6453, -0.0189, -0.0387, 0.9992, -0.1894, 2.4454, 1.0676, 1.2476, -0.4286, -0.1421, 0.0083]\nstate[eef_state]: left_x=0.2534 left_y=0.0021 left_z=0.1251 left_yaw=0.0036 left_pitch=-0.2811 left_roll=0.0027 left_gripper=0.9992 right_x=0.562 right_y=-0.0293 right_z=0.0226 right_yaw=0.2956 right_pitch=0.4607 right_roll=-0.0964 right_gripper=0.0083\nstate[joint_eff]: [-0.0068, -0.9915, 6.7761, 1.4872, -0.0757, -0.0464, -0.0122, -0.1846, -11.8222, 4.041, 1.9414, -0.0024, 0.0122, 0.5983]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd004bea596e778f48634b4b8ad64810cf9fc360bb22869ac0a1dce9051259b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:640f98decd2fd6490a8202ddd7ca69de1ef99f3bc5a6909051152984b2af43a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c831246a212d507743b75580750b1b581bf87504800becaf2252c8a6d66934d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS9gsKEAgRGAI4AUIIdGhpbmtpbmcSDC0TdxNArXo60foJrRoMFkqh0hug8H3q7hcZIjAEG36UZ9mnWWHluJ2SALxp7470pZpwrWL3ZMCIAB4CYdvymykPqDH9jU9luXqBxdoqkwtYud6ZdnGihl41ROIBkXelziUu1bq0+ww5dqh2aw/gv9GJb0rUosfD9JCa9hse72qxF8Ji3+EzDDUUj/6KyiB6Go/+1B8NCiJwkhCoyz575GdU/S8K8vg0XNLgouY01lvwjNMfIFqtw4CklVt8VAXrNhnsATPZfYrIkQwZ7qXk3FvzZRIhF1vcwP6943J96Nv4hDa2K0nvyG+Q1uLxBybO/LlvaFOpQldcXlb/D/2e058jQhxs0KYpFSDsD2hKfnmJg6yhMLhkUMXJ4DsKHDTKO5iW8sS3clXDPuxv4wJ3Uz67HaPB4tUuwbOHq8Ixqq41gQWDDNNE0Cn2LmAfsRf/hrLRw5KgM9a/siRBSlJdhNt9C+KllPjP3IsuK3YgrRyMCoD+Vfgjs7vYh3KmQRyvOOst6OUNIPiFzSq9GmFtCrdnlsbZrMlHQxP2OuAM9iQbxd+3ERXcdeE0uqZAlfVz6Bhfx16hCIHU2RgqiG/IF/+qXT+6uNQ1na/FQu82rDIMSYQ5izIZsBAjl/3iq/9QPSqyDKdKjwadNn82XG17O9Jc/umpZCUZ9s1S9i9QOL80z19quTCdoNQ9hJkAHAwPxfvG7r3aS07UgBLwLRp7ohZI4+vUZYjzGB6Nw3ds8zDmzsDY+tl2rY7q3Clfw/bWvTjnr2jdJ5drcZRmt95bj+oixflw6ahI6WOCv8RhYR02GL4UsXVIQN/3VL6QGwy5BJ1tyLRBc9JUJ8dFsZS+vLAd8MGEMkSl1+uGKJDAKrIlCYS/VteNSOyP5tSAXHZ47VAiO3gRQChPrNDbJ0aAbOLlSLwuPjjxMy33+2A8wm3dFN1fP9ZNJ0OyUMMu4tXnhAUPUWAqsrzxxIo435g3kT8SUGpBQzHTIR+SbxEKvBczZjzDlRRtkiHoqeXWW123jAkNdcGgjmeunbj3Artc3kKJofdXpckzLCRr6EK3GE1MyuYcdC7lGtzkCOXXeaWiDWWoiJ58rwNfXOJPQ9jR6QQ5+Ljl+Iqi/yjFddKv7jJ0LYmtip5NfJYHSdFe0glss81MNeaCG1lWN9/3dMIH60f3XlYND3F87jezvuVubjENKOi78sP39HImhOKPug0qKh+gzTogytXwuabDG3D9VjUBhqIbUw5F3JFjVgwRRnFMgtl5e6mqvRL3kqbJ/CHtSBVZxu59UhqzKB5lYGfLBW9qCbErpNhb+rpG0aD3CzCV/SiCm1ZDI3uUfPcdTGp85o5PKGvVTm5TEu/Hld0xlAIM7kevMmDags2EeLwyVTfltfano3mEmhEx95AwAqHlmEDOdHbWlw0GVo0OR7wGvzpY33pdOq+Kj13bvYqWvrLQLbG/m2OPkaqqUePE9VUQtUxMcPKQRDtnU+R0b9PwjZPkT0tDHwYUEzuo1ZKBYbN6W6kSOmn+XTz9AUOnswiunyoSVRd/M5q1fp8ssO1eI23uFQY1tCNzypfvYgM2UH8fGY2lTxw0lpZi5xDP4e+F4SBVVvjX9dQwDXMgDxasZwZhpHXP1MMy4bQGLzJrSJmll2KP4r9AgXTPVKbgiYrP7z4UvfqHZFuMcpLC2cFtnaz6SN3ZMvHByw9BGyx4kfpyER019/jmleGEvMdxkddqz48fKc3ELwvytl9O3anugydjbb7kL02LUcww0VLr/UbcmiM5bRYB08u11jLgI84DSlxMkKKJjPfwK+EuEKXBdxISzsj2vEremAvJYSWQ5ZycsHr+ncWSjyDlqA/3pl0Zj+k9/VYekQ5dDHVKFz0zTZTe6oiuhh7UaeNAUtscrcksFPov5v4aX9NeJN0IdHOXqHSJN17SxZxHkk/iS6nSQ5RH9IsfkRANf9iq02pSooqxxX96u9WKlZDXE50YhY9m2fgs/Z82ImonIMOnHnD9ikDkXBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QjF62agkUwL7H8NfwxQ8fb",
      "input": {
        "note": "The close was empty again; the can has been pushed against the right fence beyond the arm's table-level reach (x>0.56, y<-0.05). Parking the right arm at home before ending the trial.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "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 21 steps (2.1s)",
      "tool_use_id": "toolu_01QjF62agkUwL7H8NfwxQ8fb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6598, -0.0189, -0.0387, 0.9992, 0.0299, 0.8536, 0.5819, -0.2779, 0.0452, -0.0925, 0.9973]\nstate[eef_state]: left_x=0.2507 left_y=0.0022 left_z=0.1218 left_yaw=0.0037 left_pitch=-0.2998 left_roll=0.0032 left_gripper=0.9992 right_x=0.309 right_y=0.0049 right_z=0.1744 right_yaw=0.0424 right_pitch=0.0292 right_roll=-0.1019 right_gripper=0.9973\nstate[joint_eff]: [0.0068, -0.9778, 6.7624, 1.5702, -0.0806, -0.0366, -0.0122, 0.2256, -1.6205, 9.5658, 1.9658, 0.0317, 0.1343, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959a8b1b94a99b41fdb1bcbfeaaed7dfff35a7033b69f2c741b923c9855be602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:046aefe5ae8a276597f483f91e078c14a68864245803541bdfc5ed53c5b4e962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb52b1450a6bc3a5e9615211df59c8e11bc7e1ef2b9c03943ae9a46169f1fdea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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